+ python -m lidar_slam --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 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 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.19252018643710428 Centerline is valid? [0, False] SLAMing on 0.066559995 meters 0.19851966296593695 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999184e-01 -1.03883855e-03 -7.44099337e-04 2.78091830e-03] [ 1.03814067e-03 9.99999022e-01 -9.37652385e-04 1.72171386e-03] [ 7.45072678e-04 9.36879140e-04 9.99999284e-01 -1.39809876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.2028220040080502 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998785e-01 -1.18442675e-03 -1.01373411e-03 3.64520565e-03] [ 1.18348830e-03 9.99998871e-01 -9.25830518e-04 1.34865010e-03] [ 1.01482954e-03 9.24629651e-04 9.99999058e-01 -1.74281290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters 0.2194783858621376 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999698 0.00147432 -0.00196709 0.00664299] [-0.00147086 0.99999737 0.00175861 0.00569524] [ 0.00196968 -0.00175571 0.99999652 -0.0023267 ] [ 0. 0. 0. 1. ]] SLAMing on 0.246559995 meters 0.22949633037981632 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99996250e-01 -7.83009929e-04 -2.62434959e-03 9.98919429e-03] [ 7.85280726e-04 9.99999318e-01 8.64361394e-04 5.49239228e-03] [ 2.62367100e-03 -8.66419003e-04 9.99996183e-01 -3.41713563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.306559995 meters 0.23382347456223077 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99994759e-01 -8.94300467e-04 -3.11170147e-03 1.11189333e-02] [ 8.98773911e-04 9.99998564e-01 1.43651843e-03 3.60313122e-03] [ 3.11041232e-03 -1.43930761e-03 9.99994127e-01 -3.23452037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36655999499999997 meters 0.23059700872009598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99993361e-01 -8.88314784e-04 -3.53401044e-03 1.16736284e-02] [ 8.95318914e-04 9.99997637e-01 1.98083328e-03 2.56366487e-03] [ 3.53224249e-03 -1.98398419e-03 9.99991794e-01 -2.41628860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42655999499999997 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99955653e-01 8.22704059e-03 -4.58353386e-03 1.16616166e-02] [-8.18198283e-03 9.99918858e-01 9.76387454e-03 8.99387824e-03] [ 4.66348973e-03 -9.72593915e-03 9.99941827e-01 -1.75128651e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48655999499999997 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99997929 0.00495074 -0.00411125 0.00937919] [-0.00492649 0.99997053 0.00588781 0.01077226] [ 0.00414027 -0.00586744 0.99997422 0.00151791] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99999205 0.00166045 -0.00362497 0.0070993 ] [-0.00165319 0.99999662 0.00200604 0.01251527] [ 0.00362829 -0.00200003 0.99999142 0.00320752] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99999205 0.00166045 -0.00362497 0.0070993 ] [-0.00165319 0.99999662 0.00200604 0.01251527] [ 0.00362829 -0.00200003 0.99999142 0.00320752] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99999205 0.00166045 -0.00362497 0.0070993 ] [-0.00165319 0.99999662 0.00200604 0.01251527] [ 0.00362829 -0.00200003 0.99999142 0.00320752] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters 0.1628805108305595 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99999192 0.00158639 -0.0036937 0.00733188] [-0.0015795 0.99999701 0.00186525 0.01265797] [ 0.00369665 -0.00185941 0.99999144 0.00305496] [ 0. 0. 0. 1. ]] SLAMing on 0.7865599950000001 meters 0.15454283706184507 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99999198 0.0015916 -0.00367584 0.00736908] [-0.00158463 0.99999694 0.0018984 0.01237668] [ 0.00367885 -0.00189256 0.99999144 0.00297817] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters 0.14431804289677402 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 0.99999055 0.00254618 -0.00352441 0.00597316] [-0.00254159 0.99999592 0.00130662 0.01624436] [ 0.00352773 -0.00129765 0.99999294 0.00331433] [ 0. 0. 0. 1. ]] SLAMing on 0.906559995 meters 0.1360440272813537 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99989216e-01 3.21703533e-03 -3.34954871e-03 4.94822348e-03] [-3.21462976e-03 9.99994571e-01 7.23312253e-04 1.91806729e-02] [ 3.35185745e-03 -7.12536893e-04 9.99994129e-01 3.44966264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966559995 meters 0.13226535107897955 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99990559e-01 2.91363475e-03 -3.22363645e-03 4.94262214e-03] [-2.91495165e-03 9.99995670e-01 -4.03890745e-04 2.17208333e-02] [ 3.22244570e-03 4.13283676e-04 9.99994723e-01 2.76966026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026559995 meters 0.12838823620259598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 0.99999165 0.00249398 -0.00323845 0.0053379 ] [-0.00249834 0.99999598 -0.00134452 0.0235072 ] [ 0.00323508 0.0013526 0.99999385 0.00203982] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters 0.11253917645923885 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.00 [[ 0.99997575 0.00142102 -0.00681708 -0.0121417 ] [-0.00139877 0.99999368 0.00326762 0.02452713] [ 0.00682168 -0.00325801 0.99997142 0.00322303] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters 0.10471907961180642 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.00 [[ 0.99997529 0.00125122 -0.00691821 -0.01159487] [-0.00122952 0.99999432 0.0031397 0.02419252] [ 0.0069221 -0.00313111 0.99997114 0.0026513 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2065599949999999 meters 0.08954213643565967 Centerline is valid? [False, True] Translation: X:-0.01, Y:0.02, Z:0.00 [[ 9.99971935e-01 -2.98840854e-03 -6.87012532e-03 -1.14647987e-02] [ 2.98313066e-03 9.99995248e-01 -7.78355929e-04 2.29702575e-02] [ 6.87241872e-03 7.57839603e-04 9.99976097e-01 2.32308129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266559995 meters 0.08447684057728969 Centerline is valid? [True, True] Translation: X:0.05, Y:0.02, Z:0.00 [[ 9.99954163e-01 -5.38143448e-03 -7.91905838e-03 4.65961315e-02] [ 5.38153801e-03 9.99985519e-01 -8.23552546e-06 1.94129725e-02] [ 7.91898802e-03 -3.43815657e-05 9.99968644e-01 8.11442034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3265599949999998 meters 0.06520409908068116 Centerline is valid? [True, True] Translation: X:0.11, Y:0.02, Z:0.00 [[ 9.99934964e-01 -7.04319723e-03 -8.96997716e-03 1.05844291e-01] [ 7.04339488e-03 9.99975195e-01 -9.55603903e-06 1.76663563e-02] [ 8.96982196e-03 -5.36236736e-05 9.99959769e-01 2.08180947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.057970008203198906 Centerline is valid? [True, True] Translation: X:0.16, Y:0.02, Z:0.00 [[ 9.99925547e-01 -3.71771876e-03 -1.16223198e-02 1.64724321e-01] [ 3.71776465e-03 9.99993089e-01 -1.76566003e-05 2.16398645e-02] [ 1.16223051e-02 -2.55537639e-05 9.99932458e-01 6.79793078e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.056374186277972936 Centerline is valid? [True, True] Translation: X:0.22, Y:0.02, Z:-0.00 [[ 9.99934273e-01 -3.29752594e-03 -1.09807105e-02 2.23585669e-01] [ 3.29750910e-03 9.99994563e-01 -1.96391660e-05 2.26194004e-02] [ 1.09807155e-02 -1.65711176e-05 9.99939710e-01 -8.30945079e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.055515979482195756 Centerline is valid? [True, True] Translation: X:0.28, Y:0.02, Z:-0.00 [[ 9.99911750e-01 -4.68994567e-03 -1.24296990e-02 2.81328739e-01] [ 4.69005681e-03 9.99989001e-01 -2.02076849e-05 2.11718289e-02] [ 1.24296571e-02 -3.80900929e-05 9.99922748e-01 -4.59095885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.0500485767244906 Centerline is valid? [True, True] Translation: X:0.34, Y:0.02, Z:-0.01 [[ 9.99896383e-01 -6.30441188e-03 -1.29413206e-02 3.40234568e-01] [ 6.30466034e-03 9.99980125e-01 -2.15983416e-05 1.95442691e-02] [ 1.29411996e-02 -5.99945274e-05 9.99916257e-01 -5.19118886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6265599949999998 meters 0.04636625480640335 Centerline is valid? [True, True] Translation: X:0.40, Y:0.02, Z:-0.01 [[ 9.99879044e-01 -9.12341986e-03 -1.25960252e-02 3.98633845e-01] [ 9.12386723e-03 9.99958376e-01 -2.19484267e-05 1.79643331e-02] [ 1.25957012e-02 -9.29786897e-05 9.99920667e-01 -5.77402249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.042437146062151924 Centerline is valid? [True, True] Translation: X:0.46, Y:0.02, Z:-0.00 [[ 9.99909636e-01 -1.01917011e-02 -8.76641608e-03 4.57424496e-01] [ 1.01919503e-02 9.99948061e-01 -1.62497516e-05 1.99018750e-02] [ 8.76612637e-03 -7.30985934e-05 9.99961574e-01 -4.45174795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.04165949485865668 Centerline is valid? [True, True] Translation: X:0.51, Y:0.02, Z:-0.01 [[ 9.99913511e-01 -9.96846376e-03 -8.57905384e-03 5.14945792e-01] [ 9.96868533e-03 9.99950311e-01 -1.69352974e-05 2.10566964e-02] [ 8.57879637e-03 -6.85880555e-05 9.99963199e-01 -5.49508526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.0420777128483784 Centerline is valid? [True, True] Translation: X:0.57, Y:0.02, Z:-0.01 [[ 9.99914989e-01 -1.06665701e-02 -7.49927304e-03 5.73902103e-01] [ 1.06667250e-02 9.99943109e-01 -1.93521140e-05 2.10772664e-02] [ 7.49905281e-03 -6.06422141e-05 9.99971880e-01 -6.66852074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.03843215172173077 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:-0.01 [[ 9.99887572e-01 -1.35538303e-02 -6.41382461e-03 6.31296688e-01] [ 1.35539973e-02 9.99908140e-01 -1.74272644e-05 1.71770606e-02] [ 6.41347164e-03 -6.95076565e-05 9.99979431e-01 -8.88378672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.0374188761449802 Centerline is valid? [True, True] Translation: X:0.69, Y:0.02, Z:-0.01 [[ 9.99913908e-01 -1.21903108e-02 -4.85513046e-03 6.90694926e-01] [ 1.21903791e-02 9.99925694e-01 -1.55229360e-05 1.79845930e-02] [ 4.85495893e-03 -4.36642814e-05 9.99988214e-01 -9.46139759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.030222835780304505 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.01 [[ 9.99941900e-01 -1.07267246e-02 -1.06457829e-03 7.49227929e-01] [ 1.07267267e-02 9.99942467e-01 -3.80111113e-06 1.73179468e-02] [ 1.06455781e-03 -7.61855004e-06 9.99999433e-01 -9.23342279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.029468189464234334 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.01 [[ 9.99951117e-01 -9.84726885e-03 -8.91288829e-04 8.07182190e-01] [ 9.84726947e-03 9.99951514e-01 -3.69379155e-06 1.51265439e-02] [ 8.91281988e-04 -5.08315028e-06 9.99999603e-01 -1.12531946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.02481323518116729 Centerline is valid? [True, True] Translation: X:0.87, Y:0.02, Z:-0.01 [[ 9.99972274e-01 -6.69876468e-03 3.25227961e-03 8.65839847e-01] [ 6.69877522e-03 9.99977563e-01 7.65208427e-06 1.66293578e-02] [-3.25225790e-03 1.41344179e-05 9.99994711e-01 -1.00614467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.0246283580973202 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.01 [[ 9.99963780e-01 -5.37181749e-03 6.60166264e-03 9.25316409e-01] [ 5.37181971e-03 9.99985572e-01 1.73951759e-05 1.76075596e-02] [-6.60166083e-03 1.80683957e-05 9.99978209e-01 -1.02261009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.021886467745783362 Centerline is valid? [True, True] Translation: X:0.99, Y:0.02, Z:-0.01 [[ 9.99946704e-01 -4.07473185e-03 9.48605272e-03 9.86555045e-01] [ 4.07466776e-03 9.99991698e-01 2.60833271e-05 1.75024005e-02] [-9.48608025e-03 1.25705762e-05 9.99955006e-01 -1.03519515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.019810635740425103 Centerline is valid? [True, True] Translation: X:1.05, Y:0.02, Z:-0.01 [[ 9.99933319e-01 -2.45538833e-03 1.12839687e-02 1.04834773e+00] [ 2.45520159e-03 9.99996986e-01 3.04016903e-05 1.78599564e-02] [-1.12840093e-02 -2.69524522e-06 9.99936334e-01 -1.09417777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.018958299874040203 Centerline is valid? [True, True] Translation: X:1.11, Y:0.02, Z:-0.01 [[ 9.99936767e-01 2.14255723e-03 1.10395178e-02 1.11014854e+00] [-2.14300857e-03 9.99997703e-01 2.90549497e-05 2.07997996e-02] [-1.10394302e-02 -5.27108936e-05 9.99939062e-01 -1.21257782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.018772110838128055 Centerline is valid? [True, True] Translation: X:1.17, Y:0.02, Z:-0.01 [[ 9.99930750e-01 5.13006332e-03 1.05913699e-02 1.17225958e+00] [-5.13063965e-03 9.99986838e-01 2.72445672e-05 2.24244108e-02] [-1.05910907e-02 -8.15831827e-05 9.99943909e-01 -1.35670461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.020000216197440003 Centerline is valid? [True, True] Translation: X:1.23, Y:0.02, Z:-0.02 [[ 9.99954926e-01 5.69166114e-03 7.59946187e-03 1.23336179e+00] [-5.69198154e-03 9.99983800e-01 2.05330694e-05 2.10605731e-02] [-7.59922189e-03 -6.37881405e-05 9.99971123e-01 -1.89703042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.01777343494216827 Centerline is valid? [True, True] Translation: X:1.30, Y:0.02, Z:-0.02 [[ 9.99968743e-01 3.30884667e-03 7.18082902e-03 1.29589930e+00] [-3.30906307e-03 9.99994525e-01 1.82543987e-05 1.73797984e-02] [-7.18072930e-03 -4.20156442e-05 9.99974217e-01 -1.96570237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.019458612157489133 Centerline is valid? [True, True] Translation: X:1.36, Y:0.02, Z:-0.02 [[ 9.99948862e-01 4.01648390e-03 9.28118599e-03 1.35838924e+00] [-4.01684825e-03 9.99991932e-01 2.06161437e-05 1.74659148e-02] [-9.28102831e-03 -5.78962052e-05 9.99956929e-01 -1.92571731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.01700859178928391 Centerline is valid? [True, True] Translation: X:1.42, Y:0.02, Z:-0.02 [[ 9.99941148e-01 3.36828750e-03 1.03129052e-02 1.42075981e+00] [-3.36867654e-03 9.99994326e-01 2.03521795e-05 1.71407390e-02] [-1.03127781e-02 -5.50918234e-05 9.99946820e-01 -1.62114979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.01783637542501574 Centerline is valid? [True, True] Translation: X:1.48, Y:0.02, Z:-0.02 [[ 9.99912187e-01 2.68130775e-03 1.29779902e-02 1.48339893e+00] [-2.68181421e-03 9.99996404e-01 2.16217350e-05 1.63399344e-02] [-1.29778856e-02 -5.64243948e-05 9.99915782e-01 -1.68291721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.017284437078683462 Centerline is valid? [True, True] Translation: X:1.54, Y:0.01, Z:-0.02 [[ 9.99917451e-01 7.52503157e-04 1.28267481e-02 1.54454817e+00] [-7.52828982e-04 9.99999716e-01 2.05737163e-05 1.19959140e-02] [-1.28267289e-02 -3.02283656e-05 9.99917734e-01 -1.77054484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.01689438544883971 Centerline is valid? [True, True] Translation: X:1.61, Y:0.01, Z:-0.02 [[ 9.99928713e-01 1.47526366e-03 1.18487519e-02 1.60682517e+00] [-1.47557526e-03 9.99998911e-01 1.75562168e-05 1.20499802e-02] [-1.18487131e-02 -3.50386904e-05 9.99929801e-01 -1.93696918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.018653262082539673 Centerline is valid? [True, True] Translation: X:1.67, Y:0.01, Z:-0.02 [[ 9.99918091e-01 2.66499351e-03 1.25183500e-02 1.67004553e+00] [-2.66542561e-03 9.99996448e-01 1.78334007e-05 1.37409175e-02] [-1.25182580e-02 -5.11986708e-05 9.99921642e-01 -2.21975204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.019084501214092574 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:-0.03 [[ 9.99936946e-01 3.03915830e-03 1.08105546e-02 1.73322805e+00] [-3.03950251e-03 9.99995381e-01 1.54102241e-05 1.30248512e-02] [-1.08104578e-02 -4.82679602e-05 9.99941564e-01 -2.52955539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.02075350201192191 Centerline is valid? [True, True] Translation: X:1.79, Y:0.02, Z:-0.03 [[ 9.99899959e-01 8.23904115e-03 1.14973862e-02 1.79444477e+00] [-8.23973207e-03 9.99966053e-01 1.27252416e-05 1.94001869e-02] [-1.14968910e-02 -1.07459350e-04 9.99933903e-01 -2.51838216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.01960392008840855 Centerline is valid? [True, True] Translation: X:1.86, Y:0.02, Z:-0.03 [[ 9.99913382e-01 8.54202028e-03 1.00131098e-02 1.85604132e+00] [-8.54255802e-03 9.99963512e-01 1.09344137e-05 1.86520257e-02] [-1.00126511e-02 -9.64710382e-05 9.99949867e-01 -2.65849503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.020410163819970177 Centerline is valid? [True, True] Translation: X:1.92, Y:0.01, Z:-0.03 [[ 9.99932726e-01 5.68188822e-03 1.01123796e-02 1.91780741e+00] [-5.68226652e-03 9.99983856e-01 8.67895354e-06 1.36781543e-02] [-1.01121671e-02 -6.61396060e-05 9.99948869e-01 -2.87606112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.019553590381638633 Centerline is valid? [True, True] Translation: X:1.98, Y:0.01, Z:-0.03 [[ 9.99929723e-01 5.27700541e-03 1.06160919e-02 1.98033651e+00] [-5.27737706e-03 9.99986075e-01 6.99523595e-06 1.28314480e-02] [-1.06159071e-02 -6.30198641e-05 9.99943648e-01 -2.69909554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.01964617324858505 Centerline is valid? [True, True] Translation: X:2.04, Y:0.01, Z:-0.03 [[ 9.99945735e-01 5.53124290e-03 8.82793461e-03 2.04098408e+00] [-5.53148870e-03 9.99984701e-01 3.42674729e-06 1.39407126e-02] [-8.82778060e-03 -5.22581819e-05 9.99961033e-01 -2.88014085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.019773372935206052 Centerline is valid? [True, True] Translation: X:2.10, Y:0.02, Z:-0.03 [[ 9.99952606e-01 7.11429619e-03 6.64630131e-03 2.10320467e+00] [-7.11447418e-03 9.99974692e-01 3.13739584e-06 1.60464068e-02] [-6.64611078e-03 -5.04221862e-05 9.99977913e-01 -3.18729306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.01980527820057367 Centerline is valid? [True, True] Translation: X:2.16, Y:0.02, Z:-0.04 [[ 9.99962199e-01 8.09917240e-03 3.16304086e-03 2.16372771e+00] [-8.09921682e-03 9.99967201e-01 1.23464105e-06 1.90357116e-02] [-3.16292712e-03 -2.68527481e-05 9.99994998e-01 -3.66045582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.0203800046671886 Centerline is valid? [True, True] Translation: X:2.22, Y:0.02, Z:-0.04 [[ 9.99980360e-01 6.06402477e-03 1.58362246e-03 2.22471850e+00] [-6.06403460e-03 9.99981614e-01 1.40484388e-06 1.94585273e-02] [-1.58358482e-03 -1.10079577e-05 9.99998746e-01 -4.11010688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.019070416477118837 Centerline is valid? [True, True] Translation: X:2.29, Y:0.02, Z:-0.04 [[ 9.99996947e-01 1.44207620e-03 2.00677229e-03 2.28593878e+00] [-1.44208330e-03 9.99998960e-01 2.08853044e-06 1.59081138e-02] [-2.00676719e-03 -4.98245687e-06 9.99997986e-01 -4.04716412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.01993501973606927 Centerline is valid? [True, True] Translation: X:2.35, Y:0.02, Z:-0.04 [[ 9.99995270e-01 4.46574598e-04 3.04323120e-03 2.34818112e+00] [-4.46580543e-04 9.99999900e-01 1.27405626e-06 1.63609133e-02] [-3.04323033e-03 -2.63309807e-06 9.99995369e-01 -4.08172953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.02069372242862215 Centerline is valid? [True, True] Translation: X:2.41, Y:0.01, Z:-0.04 [[ 9.99988762e-01 -3.42623348e-03 3.27681205e-03 2.40927899e+00] [ 3.42625093e-03 9.99994130e-01 2.87064316e-07 1.44146587e-02] [-3.27679380e-03 1.09401193e-05 9.99994631e-01 -4.14012331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.02128173102043345 Centerline is valid? [True, True] Translation: X:2.47, Y:0.01, Z:-0.04 [[ 9.99952748e-01 -9.52886202e-03 1.92403143e-03 2.46970265e+00] [ 9.52888258e-03 9.99954599e-01 -1.51896287e-06 9.00018779e-03] [-1.92392960e-03 1.98527607e-05 9.99998149e-01 -4.22087951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.026932776352484547 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.00, Z:-0.04 [[ 9.99736703e-01 -2.28757999e-02 1.79526987e-03 2.52877744e+00] [ 2.28758398e-02 9.99738314e-01 -1.66214032e-06 -4.74930605e-03] [-1.79476205e-03 4.27300085e-05 9.99998389e-01 -4.43774037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.022885039759664834 Centerline is valid? [True, True] Translation: X:2.59, Y:0.00, Z:-0.04 [[ 9.99535562e-01 -3.02574969e-02 3.62539318e-03 2.58904585e+00] [ 3.02577067e-02 9.99542131e-01 -3.02040810e-06 1.86220020e-03] [-3.62364184e-03 1.12715089e-04 9.99993428e-01 -3.90559654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.022466341472328417 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.00, Z:-0.04 [[ 9.99314414e-01 -3.65938854e-02 5.62044985e-03 2.64880875e+00] [ 3.65944883e-02 9.99330197e-01 -4.43030863e-06 -2.85741322e-03] [-5.61652314e-03 2.10104757e-04 9.99984205e-01 -3.74764976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.022917660580531546 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.00, Z:-0.04 [[ 9.99348971e-01 -3.55965288e-02 5.87553506e-03 2.70807483e+00] [ 3.55971836e-02 9.99366219e-01 -6.87226579e-06 -3.68915549e-03] [-5.87156663e-03 2.16020292e-04 9.99982739e-01 -3.89273706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.023953193766875092 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.00, Z:-0.04 [[ 9.99350303e-01 -3.55122594e-02 6.15226822e-03 2.76559843e+00] [ 3.55129553e-02 9.99369216e-01 -3.88219015e-06 -4.54099323e-03] [-6.14824960e-03 2.22364894e-04 9.99981075e-01 -4.21134645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.02302707050996523 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.00, Z:-0.04 [[ 9.99334547e-01 -3.57051180e-02 7.45707235e-03 2.82466037e+00] [ 3.57061492e-02 9.99362332e-01 -5.15869698e-06 -4.48019045e-03] [-7.45213302e-03 2.71418602e-04 9.99972196e-01 -4.42567682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.021483143948366 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.00, Z:-0.04 [[ 9.99429321e-01 -3.22781425e-02 9.95762666e-03 2.88485080e+00] [ 3.22797594e-02 9.99478873e-01 -1.65823068e-06 -2.96380693e-03] [-9.95238394e-03 3.23087077e-04 9.99950422e-01 -4.33584077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.02048704542370038 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.00, Z:-0.04 [[ 9.99564177e-01 -2.75126339e-02 1.07009911e-02 2.94460257e+00] [ 2.75142271e-02 9.99621412e-01 -1.66632637e-06 -3.34033383e-03] [-1.06968940e-02 2.96095099e-04 9.99942743e-01 -4.41629209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.018840928852681592 Centerline is valid? [True, True] Translation: X:3.00, Y:0.00, Z:-0.05 [[ 9.99710163e-01 -2.08644276e-02 1.20110827e-02 3.00495940e+00] [ 2.08659485e-02 9.99782282e-01 -1.31055561e-06 1.61923841e-03] [-1.20084404e-02 2.51932810e-04 9.99927864e-01 -4.57078548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.017560226297312145 Centerline is valid? [True, True] Translation: X:3.06, Y:0.00, Z:-0.05 [[ 9.99768490e-01 -1.77623634e-02 1.21435149e-02 3.06375559e+00] [ 1.77636978e-02 9.99842213e-01 -2.02587551e-06 4.50401802e-03] [-1.21415628e-02 2.17739135e-04 9.99926265e-01 -4.84314551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.017958649655453938 Centerline is valid? [True, True] Translation: X:3.12, Y:0.00, Z:-0.05 [[ 9.99785560e-01 -1.76876203e-02 1.07694643e-02 3.12312362e+00] [ 1.76886284e-02 9.99843544e-01 1.63757774e-06 2.74269976e-03] [-1.07678083e-02 1.88859826e-04 9.99942008e-01 -5.15766036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.017520584419133022 Centerline is valid? [True, True] Translation: X:3.18, Y:0.00, Z:-0.05 [[ 9.99820029e-01 -1.56920641e-02 1.06615379e-02 3.18274335e+00] [ 1.56929378e-02 9.99876858e-01 1.70861874e-06 4.64082123e-03] [-1.06602519e-02 1.65602540e-04 9.99943164e-01 -5.32465786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.017349237541376235 Centerline is valid? [True, True] Translation: X:3.24, Y:0.01, Z:-0.05 [[ 9.99850982e-01 -1.42251332e-02 9.78051508e-03 3.24219829e+00] [ 1.42257955e-02 9.99898808e-01 1.85692915e-06 5.16926669e-03] [-9.77955179e-03 1.37278955e-04 9.99952170e-01 -5.47948400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.016319786242539186 Centerline is valid? [True, True] Translation: X:3.30, Y:0.01, Z:-0.06 [[ 9.99850861e-01 -1.36124462e-02 1.06281352e-02 3.30292967e+00] [ 1.36131872e-02 9.99907336e-01 2.62339582e-06 7.46040216e-03] [-1.06271861e-02 1.42059789e-04 9.99943520e-01 -5.55113690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.017020243819359144 Centerline is valid? [True, True] Translation: X:3.36, Y:0.01, Z:-0.06 [[ 9.99861954e-01 -1.29133704e-02 1.04554874e-02 3.36361369e+00] [ 1.29140493e-02 9.99916610e-01 2.58078030e-06 7.69948738e-03] [-1.04546488e-02 1.32442255e-04 9.99945340e-01 -5.57563558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.016737858877297923 Centerline is valid? [True, True] Translation: X:3.42, Y:0.00, Z:-0.06 [[ 9.99849593e-01 -1.46225956e-02 9.32581985e-03 3.42366354e+00] [ 1.46232090e-02 9.99893075e-01 2.41927444e-06 2.93007027e-03] [-9.32485806e-03 1.33954502e-04 9.99956514e-01 -5.75788408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.016956921176006327 Centerline is valid? [True, True] Translation: X:3.48, Y:0.00, Z:-0.06 [[ 9.99814459e-01 -1.65016316e-02 9.93699498e-03 3.48360659e+00] [ 1.65024258e-02 9.99863826e-01 2.06899708e-06 9.50872071e-04] [-9.93567596e-03 1.61915909e-04 9.99950627e-01 -5.72076582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.016139638114428038 Centerline is valid? [True, True] Translation: X:3.54, Y:0.00, Z:-0.06 [[ 9.99821148e-01 -1.59828059e-02 1.01104527e-02 3.54283067e+00] [ 1.59835980e-02 9.99872254e-01 2.45849610e-06 1.42947062e-03] [-1.01092004e-02 1.59143354e-04 9.99948888e-01 -5.72620545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.016945795641724447 Centerline is valid? [True, True] Translation: X:3.60, Y:0.00, Z:-0.06 [[ 9.99822590e-01 -1.59104402e-02 1.00819489e-02 3.60268578e+00] [ 1.59112206e-02 9.99873409e-01 2.80282797e-06 1.37789886e-03] [-1.00807172e-02 1.57613783e-04 9.99949176e-01 -5.89256508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.01711779284563217 Centerline is valid? [True, True] Translation: X:3.66, Y:0.00, Z:-0.06 [[ 9.99868008e-01 -1.31201283e-02 9.58270991e-03 3.66201417e+00] [ 1.31207024e-02 9.99913920e-01 2.96162503e-06 4.57677472e-03] [-9.58192388e-03 1.22770650e-04 9.99954085e-01 -6.11216239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.017951290517706796 Centerline is valid? [True, True] Translation: X:3.72, Y:0.01, Z:-0.06 [[ 9.99895536e-01 -1.03337742e-02 1.01059666e-02 3.72210496e+00] [ 1.03342655e-02 9.99946600e-01 3.60927561e-06 8.74159446e-03] [-1.01054643e-02 1.00828844e-04 9.99948933e-01 -6.21295258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.016476390899676438 Centerline is valid? [True, True] Translation: X:3.78, Y:0.01, Z:-0.06 [[ 9.99909501e-01 -1.01513846e-02 8.82833964e-03 3.78370114e+00] [ 1.01517433e-02 9.99948470e-01 4.18012326e-06 6.55974074e-03] [-8.82792715e-03 8.54432930e-05 9.99961029e-01 -6.34798929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.016807506878364017 Centerline is valid? [True, True] Translation: X:3.85, Y:0.01, Z:-0.06 [[ 9.99905459e-01 -1.05622531e-02 8.80407597e-03 3.84538637e+00] [ 1.05626387e-02 9.99944214e-01 2.70046334e-06 5.66413666e-03] [-8.80361335e-03 9.02940656e-05 9.99961243e-01 -6.31787838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.016806528306265115 Centerline is valid? [True, True] Translation: X:3.91, Y:0.01, Z:-0.06 [[ 9.99909505e-01 -1.00501331e-02 8.94299083e-03 3.90579222e+00] [ 1.00505156e-02 9.99949492e-01 2.17991676e-06 6.46951941e-03] [-8.94256105e-03 8.77019490e-05 9.99960011e-01 -6.40326861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.017006172535101914 Centerline is valid? [True, True] Translation: X:3.97, Y:0.00, Z:-0.07 [[ 9.99889933e-01 -1.30069857e-02 7.13728445e-03 3.96702520e+00] [ 1.30073024e-02 9.99915401e-01 2.04538634e-06 3.75126515e-03] [-7.13670725e-03 9.07916562e-05 9.99974529e-01 -6.73854232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.0188739793956342 Centerline is valid? [True, True] Translation: X:4.03, Y:0.00, Z:-0.07 [[ 9.99833206e-01 -1.64000929e-02 8.03722423e-03 4.02673665e+00] [ 1.64006113e-02 9.99865501e-01 1.41403095e-06 3.75634616e-04] [-8.03616642e-03 1.30401595e-04 9.99967701e-01 -6.82848446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.017851996792433475 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.00, Z:-0.07 [[ 9.99778647e-01 -1.88266583e-02 9.39227923e-03 4.08595371e+00] [ 1.88274824e-02 9.99822747e-01 6.69144917e-07 -1.71259947e-03] [-9.39062702e-03 1.76163975e-04 9.99955892e-01 -6.74752189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.019195804777399073 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.00, Z:-0.07 [[ 9.99722148e-01 -2.10449677e-02 1.06177132e-02 4.14523129e+00] [ 2.10461137e-02 9.99778506e-01 3.79874152e-06 -2.58190513e-03] [-1.06154413e-02 2.19663913e-04 9.99943630e-01 -6.79389786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.018119867202553784 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.00, Z:-0.07 [[ 9.99727059e-01 -2.00481105e-02 1.19950306e-02 4.20388198e+00] [ 2.00494611e-02 9.99798989e-01 7.65598991e-06 -7.23190243e-04] [-1.19927730e-02 2.32839999e-04 9.99928057e-01 -6.80394609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.018315566641668665 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.00, Z:-0.07 [[ 9.99708178e-01 -2.10580495e-02 1.18371436e-02 4.26263704e+00] [ 2.10594026e-02 9.99778226e-01 1.03344737e-05 -1.04400615e-03] [-1.18347361e-02 2.38951715e-04 9.99929939e-01 -6.96301778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.018006001300582115 Centerline is valid? [True, True] Translation: X:4.32, Y:0.00, Z:-0.07 [[ 9.99720691e-01 -1.97890794e-02 1.29202433e-02 4.32047340e+00] [ 1.97905336e-02 9.99804148e-01 1.53044817e-05 3.00841369e-03] [-1.29180157e-02 2.40398302e-04 9.99916530e-01 -7.25227402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.01890956158519383 Centerline is valid? [True, True] Translation: X:4.38, Y:0.00, Z:-0.07 [[ 9.99706138e-01 -2.12564213e-02 1.16534311e-02 4.38001247e+00] [ 2.12576912e-02 9.99774030e-01 1.48990076e-05 9.47094971e-04] [-1.16511145e-02 2.32830411e-04 9.99932096e-01 -7.42376755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.019998207459527302 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.00, Z:-0.08 [[ 9.99722749e-01 -2.19721327e-02 8.46467784e-03 4.43822366e+00] [ 2.19728286e-02 9.99758568e-01 1.07936164e-05 -4.27044785e-03] [-8.46287135e-03 1.75202291e-04 9.99964174e-01 -7.65300915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.01855721644781342 Centerline is valid? [True, True] Translation: X:4.50, Y:0.00, Z:-0.08 [[ 9.99729932e-01 -2.13291202e-02 9.22667497e-03 4.49728818e+00] [ 2.13299259e-02 9.99772491e-01 1.10802068e-05 1.54085548e-04] [-9.22481215e-03 1.85727079e-04 9.99957433e-01 -7.67022860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.019596149013143598 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.00, Z:-0.08 [[ 9.99691980e-01 -2.24096776e-02 1.06654486e-02 4.55465004e+00] [ 2.24107728e-02 9.99748847e-01 1.68331171e-05 -1.33774186e-03] [-1.06631472e-02 2.22193013e-04 9.99943122e-01 -7.87952250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.01863690829541867 Centerline is valid? [True, True] Translation: X:4.61, Y:0.00, Z:-0.08 [[ 9.99695607e-01 -2.10545514e-02 1.28607243e-02 4.61367760e+00] [ 2.10560208e-02 9.99778297e-01 2.11498804e-05 3.16273622e-03] [-1.28583183e-02 2.49652236e-04 9.99917297e-01 -7.88524260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.018412852942724302 Centerline is valid? [True, True] Translation: X:4.67, Y:0.01, Z:-0.08 [[ 9.99733614e-01 -1.88735537e-02 1.32849628e-02 4.67252213e+00] [ 1.88748851e-02 9.99821853e-01 2.51670134e-05 6.80746330e-03] [-1.32830711e-02 2.25591837e-04 9.99911751e-01 -8.00659297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.01808121879700937 Centerline is valid? [True, True] Translation: X:4.73, Y:0.01, Z:-0.08 [[ 9.99780609e-01 -1.71947745e-02 1.19613479e-02 4.73304766e+00] [ 1.71956915e-02 9.99852143e-01 2.61908813e-05 7.58010168e-03] [-1.19600297e-02 1.79498513e-04 9.99928460e-01 -8.19659643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.01853634096271754 Centerline is valid? [True, True] Translation: X:4.79, Y:0.00, Z:-0.08 [[ 9.99785451e-01 -1.70188169e-02 1.18072745e-02 4.79302884e+00] [ 1.70196999e-02 9.99855154e-01 2.57014684e-05 4.48525571e-03] [-1.18060017e-02 1.75260314e-04 9.99930291e-01 -8.41427220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.01867922188178622 Centerline is valid? [True, True] Translation: X:4.85, Y:0.01, Z:-0.09 [[ 9.99797627e-01 -1.63641888e-02 1.17011699e-02 4.85220937e+00] [ 1.63650065e-02 9.99866084e-01 2.58708811e-05 5.64780446e-03] [-1.17000263e-02 1.65624076e-04 9.99931539e-01 -8.64101369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.017798607772454962 Centerline is valid? [True, True] Translation: X:4.91, Y:0.01, Z:-0.09 [[ 9.99801144e-01 -1.41162098e-02 1.40856147e-02 4.91196075e+00] [ 1.41171616e-02 9.99900347e-01 3.18597659e-05 7.61471410e-03] [-1.40846607e-02 1.66995469e-04 9.99900792e-01 -8.74518722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.017528785632742273 Centerline is valid? [True, True] Translation: X:4.97, Y:0.01, Z:-0.09 [[ 9.99832096e-01 -1.13971012e-02 1.43487176e-02 4.97356071e+00] [ 1.13978105e-02 9.99935042e-01 3.23431805e-05 7.62626742e-03] [-1.43481541e-02 1.31206214e-04 9.99897051e-01 -8.79071475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.017630546402702032 Centerline is valid? [True, True] Translation: X:5.04, Y:0.01, Z:-0.09 [[ 9.99868996e-01 -5.89031205e-03 1.50762901e-02 5.03587867e+00] [ 5.89047696e-03 9.99982650e-01 3.34676586e-05 1.08580525e-02] [-1.50762257e-02 5.53432654e-05 9.99886346e-01 -8.90453649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.01821329341786046 Centerline is valid? [True, True] Translation: X:5.10, Y:0.02, Z:-0.09 [[ 9.99882156e-01 -1.29550838e-03 1.52969507e-02 5.09771266e+00] [ 1.29515717e-03 9.99999161e-01 3.28660601e-05 1.57007403e-02] [-1.52969804e-02 -1.30502317e-05 9.99882994e-01 -9.14986605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.016381400109002717 Centerline is valid? [True, True] Translation: X:5.16, Y:0.02, Z:-0.09 [[ 9.99866998e-01 2.89615074e-03 1.60498911e-02 5.15883797e+00] [-2.89705835e-03 9.99995803e-01 3.32993533e-05 1.93755565e-02] [-1.60497273e-02 -7.97923954e-05 9.99871192e-01 -9.33640416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.017840488553854204 Centerline is valid? [True, True] Translation: X:5.22, Y:0.02, Z:-0.10 [[ 9.99853021e-01 4.27945328e-03 1.66018649e-02 5.22068766e+00] [-4.28060014e-03 9.99990838e-01 3.35450365e-05 1.94090016e-02] [-1.66015692e-02 -1.04606051e-04 9.99862179e-01 -9.55216284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.016568195143266646 Centerline is valid? [True, True] Translation: X:5.28, Y:0.02, Z:-0.10 [[ 9.99851093e-01 5.17472612e-03 1.64624843e-02 5.28311141e+00] [-5.17595550e-03 9.99986604e-01 3.20707794e-05 1.94011985e-02] [-1.64620978e-02 -1.17275090e-04 9.99864484e-01 -9.72195805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.01651652278571304 Centerline is valid? [True, True] Translation: X:5.34, Y:0.02, Z:-0.10 [[ 9.99837861e-01 7.65284166e-03 1.62998431e-02 5.34429622e+00] [-7.65432925e-03 9.99970705e-01 2.88789236e-05 2.23514351e-02] [-1.62991446e-02 -1.53638607e-04 9.99867148e-01 -9.99448550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.016930198764185212 Centerline is valid? [True, True] Translation: X:5.41, Y:0.02, Z:-0.10 [[ 9.99826845e-01 1.15063596e-02 1.46247439e-02 5.40652387e+00] [-1.15079228e-02 9.99933781e-01 2.27298842e-05 2.48686963e-02] [-1.46235140e-02 -1.91026372e-04 9.99893052e-01 -1.02402458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.017359063256547843 Centerline is valid? [True, True] Translation: X:5.47, Y:0.03, Z:-0.10 [[ 9.99823831e-01 1.22099040e-02 1.42556912e-02 5.46894911e+00] [-1.22114523e-02 9.99925437e-01 2.15674456e-05 2.50839832e-02] [-1.42543650e-02 -1.95646340e-04 9.99898382e-01 -1.03962691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.018248661987279056 Centerline is valid? [True, True] Translation: X:5.53, Y:0.02, Z:-0.11 [[ 9.99834927e-01 1.22583993e-02 1.34108420e-02 5.53171001e+00] [-1.22597270e-02 9.99924847e-01 1.67921061e-05 2.38532564e-02] [-1.34096283e-02 -1.81202596e-04 9.99910070e-01 -1.05555857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.017124457866747007 Centerline is valid? [True, True] Translation: X:5.59, Y:0.02, Z:-0.11 [[ 9.99821474e-01 1.22701877e-02 1.43687844e-02 5.59406219e+00] [-1.22716475e-02 9.99924700e-01 1.34287907e-05 2.47489877e-02] [-1.43675377e-02 -1.89755051e-04 9.99896764e-01 -1.05356009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.018274106786692987 Centerline is valid? [True, True] Translation: X:5.66, Y:0.02, Z:-0.11 [[ 9.99816291e-01 1.14534076e-02 1.53689241e-02 5.65580356e+00] [-1.14549127e-02 9.99934390e-01 9.90702218e-06 2.34343987e-02] [-1.53678022e-02 -1.85954886e-04 9.99881891e-01 -1.05545382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.01741820033113985 Centerline is valid? [True, True] Translation: X:5.72, Y:0.02, Z:-0.11 [[ 9.99795855e-01 1.19822394e-02 1.62688088e-02 5.71832934e+00] [-1.19839262e-02 9.99928190e-01 6.19316160e-06 2.27299778e-02] [-1.62675663e-02 -2.01156101e-04 9.99867654e-01 -1.05504478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.018037977096289674 Centerline is valid? [True, True] Translation: X:5.78, Y:0.02, Z:-0.11 [[ 9.99826785e-01 1.17055106e-02 1.44699982e-02 5.78001958e+00] [-1.17067630e-02 9.99931473e-01 1.84893261e-06 2.24109361e-02] [-1.44689850e-02 -1.71245452e-04 9.99895304e-01 -1.07931284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.017786365795703498 Centerline is valid? [True, True] Translation: X:5.84, Y:0.02, Z:-0.11 [[ 9.99848966e-01 1.04483470e-02 1.38880044e-02 5.84207514e+00] [-1.04493305e-02 9.99945404e-01 -1.74769365e-06 2.06350753e-02] [-1.38872644e-02 -1.43372919e-04 9.99903557e-01 -1.09501235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.016942718353813346 Centerline is valid? [True, True] Translation: X:5.90, Y:0.02, Z:-0.11 [[ 9.99855700e-01 8.91796259e-03 1.44585459e-02 5.90306628e+00] [-8.91881387e-03 9.99960227e-01 -5.60285596e-06 2.04977410e-02] [-1.44580208e-02 -1.23351032e-04 9.99895470e-01 -1.09951250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.018591987822089834 Centerline is valid? [True, True] Translation: X:5.97, Y:0.02, Z:-0.11 [[ 9.99843018e-01 9.81587977e-03 1.47508466e-02 5.96635214e+00] [-9.81681424e-03 9.99951814e-01 -9.05705630e-06 2.16918889e-02] [-1.47502247e-02 -1.35750686e-04 9.99891200e-01 -1.11603136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.0162923707823515 Centerline is valid? [True, True] Translation: X:6.03, Y:0.02, Z:-0.11 [[ 9.99830005e-01 9.84134547e-03 1.55919729e-02 6.02888891e+00] [-9.84232068e-03 9.99951563e-01 -1.41899870e-05 2.11559276e-02] [-1.55913573e-02 -1.39273622e-04 9.99878438e-01 -1.11402640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.01743474067729897 Centerline is valid? [True, True] Translation: X:6.09, Y:0.02, Z:-0.11 [[ 9.99840166e-01 9.17032685e-03 1.53475814e-02 6.09182765e+00] [-9.17112806e-03 9.99957944e-01 -1.81779437e-05 2.08398868e-02] [-1.53471026e-02 -1.22579596e-04 9.99882219e-01 -1.12234215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.017720650992232353 Centerline is valid? [True, True] Translation: X:6.15, Y:0.02, Z:-0.11 [[ 9.99827923e-01 1.07381333e-02 1.51267192e-02 6.15474488e+00] [-1.07390277e-02 9.99942335e-01 -2.21015693e-05 2.33249671e-02] [-1.51260842e-02 -1.40348490e-04 9.99885584e-01 -1.14126345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.019037378223174212 Centerline is valid? [True, True] Translation: X:6.22, Y:0.02, Z:-0.12 [[ 9.99824686e-01 1.17410887e-02 1.45857757e-02 6.21729813e+00] [-1.17419703e-02 9.99931060e-01 -2.52003895e-05 2.41391235e-02] [-1.45850661e-02 -1.46069773e-04 9.99893622e-01 -1.15631453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.019235579538733533 Centerline is valid? [True, True] Translation: X:6.28, Y:0.03, Z:-0.12 [[ 9.99818416e-01 1.30934852e-02 1.38454068e-02 6.27890970e+00] [-1.30943557e-02 9.99914265e-01 -2.77814931e-05 2.51090122e-02] [-1.38445836e-02 -1.53520233e-04 9.99904147e-01 -1.16694753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.01913876238051903 Centerline is valid? [True, True] Translation: X:6.34, Y:0.03, Z:-0.12 [[ 9.99805430e-01 1.43026575e-02 1.35843969e-02 6.34154118e+00] [-1.43035672e-02 9.99897698e-01 -3.01891657e-05 2.57506062e-02] [-1.35834390e-02 -1.64122043e-04 9.99907727e-01 -1.17813956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.020008031516054153 Centerline is valid? [True, True] Translation: X:6.40, Y:0.03, Z:-0.12 [[ 9.99797063e-01 1.50716264e-02 1.33670461e-02 6.40445161e+00] [-1.50725267e-02 9.99886402e-01 -3.33868814e-05 2.68318068e-02] [-1.33660309e-02 -1.68095054e-04 9.99910656e-01 -1.19773176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.019067461594154934 Centerline is valid? [True, True] Translation: X:6.47, Y:0.03, Z:-0.12 [[ 9.99800197e-01 1.55715804e-02 1.25336604e-02 6.46780623e+00] [-1.55723712e-02 9.99878743e-01 -3.45025096e-05 2.72562113e-02] [-1.25326779e-02 -1.60683197e-04 9.99921450e-01 -1.21212564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.01944572942707458 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:-0.12 [[ 9.99792238e-01 1.65616956e-02 1.18823616e-02 6.52872778e+00] [-1.65624363e-02 9.99862833e-01 -3.60693406e-05 2.92891681e-02] [-1.18813291e-02 -1.60739011e-04 9.99929402e-01 -1.22466772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.02034085313473026 Centerline is valid? [True, True] Translation: X:6.59, Y:0.03, Z:-0.12 [[ 9.99767800e-01 1.88483676e-02 1.04443807e-02 6.59044765e+00] [-1.88490459e-02 9.99822340e-01 -3.34922812e-05 3.06546232e-02] [-1.04431565e-02 -1.63382108e-04 9.99945455e-01 -1.23778427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.020738323099413918 Centerline is valid? [True, True] Translation: X:6.65, Y:0.03, Z:-0.12 [[ 9.99743640e-01 2.01332189e-02 1.03589633e-02 6.65227715e+00] [-2.01339289e-02 9.99797291e-01 -3.57527673e-05 3.17013933e-02] [-1.03575833e-02 -1.72823028e-04 9.99946344e-01 -1.24816005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.020797814669906812 Centerline is valid? [True, True] Translation: X:6.71, Y:0.03, Z:-0.12 [[ 9.99745565e-01 2.08115606e-02 8.69965599e-03 6.71388093e+00] [-2.08120731e-02 9.99783405e-01 -3.16319102e-05 3.25893833e-02] [-8.69842999e-03 -1.49434014e-04 9.99962157e-01 -1.24869635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.0209461845509345 Centerline is valid? [True, True] Translation: X:6.78, Y:0.03, Z:-0.13 [[ 9.99769152e-01 2.05715516e-02 6.20119013e-03 6.77558324e+00] [-2.05718060e-02 9.99788378e-01 -2.27670067e-05 3.26329570e-02] [-6.20034617e-03 -1.04807930e-04 9.99980772e-01 -1.26034301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.023394941010719938 Centerline is valid? [True, True] Translation: X:6.84, Y:0.04, Z:-0.13 [[ 9.99675766e-01 2.51030847e-02 4.26592959e-03 6.83775011e+00] [-2.51032383e-02 9.99684864e-01 -1.75608171e-05 3.82634317e-02] [-4.26502607e-03 -8.95335235e-05 9.99990901e-01 -1.28153734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.022234093972352324 Centerline is valid? [True, True] Translation: X:6.90, Y:0.04, Z:-0.13 [[ 9.99735711e-01 2.29313725e-02 1.63130968e-03 6.89948194e+00] [-2.29313972e-02 9.99737041e-01 -3.60229688e-06 3.58414749e-02] [-1.63096332e-03 -3.38068653e-05 9.99998669e-01 -1.29166587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.0217120091391456 Centerline is valid? [True, True] Translation: X:6.96, Y:0.03, Z:-0.13 [[ 9.99782333e-01 2.08596686e-02 4.01885809e-04 6.96112498e+00] [-2.08596711e-02 9.99782413e-01 2.03315381e-06 3.42397483e-02] [-4.01755953e-04 -1.04159171e-05 9.99999919e-01 -1.28910880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.0221574946327182 Centerline is valid? [True, True] Translation: X:7.02, Y:0.03, Z:-0.13 [[ 9.99838610e-01 1.78783142e-02 -1.76619443e-03 7.02359836e+00] [-1.78783192e-02 9.99840170e-01 1.29786455e-05 3.36466156e-02] [ 1.76614418e-03 1.86000370e-05 9.99998440e-01 -1.30047451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.021078603503189023 Centerline is valid? [True, True] Translation: X:7.09, Y:0.02, Z:-0.13 [[ 9.99967338e-01 6.67703715e-03 -4.55406420e-03 7.08599316e+00] [-6.67697733e-03 9.99977708e-01 2.83400540e-05 2.07564107e-02] [ 4.55415191e-03 2.06825506e-06 9.99989630e-01 -1.29206368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.021277149842565672 Centerline is valid? [True, True] Translation: X:7.15, Y:0.01, Z:-0.13 [[ 9.99991648e-01 -2.31655675e-03 -3.36713017e-03 7.14606973e+00] [ 2.31663062e-03 9.99997316e-01 1.80392716e-05 1.45775240e-02] [ 3.36707935e-03 -2.58395178e-05 9.99994331e-01 -1.28584711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.022310491255939535 Centerline is valid? [True, True] Translation: X:7.20, Y:0.01, Z:-0.13 [[ 9.99965995e-01 -7.98255179e-03 -2.07048868e-03 7.20447902e+00] [ 7.98258859e-03 9.99968139e-01 9.50841624e-06 1.15828608e-02] [ 2.07034681e-03 -2.60359522e-05 9.99997856e-01 -1.27917499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.02387550468841156 Centerline is valid? [True, True] Translation: X:7.26, Y:0.01, Z:-0.13 [[ 9.99921700e-01 -1.24439650e-02 -1.31970186e-03 7.26291549e+00] [ 1.24439830e-02 9.99922571e-01 5.46031648e-06 7.51970737e-03] [ 1.31953173e-03 -2.18822365e-05 9.99999129e-01 -1.27158784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.023977412980013497 Centerline is valid? [True, True] Translation: X:7.32, Y:0.00, Z:-0.13 [[ 9.99823203e-01 -1.87188550e-02 -1.77986930e-03 7.32237170e+00] [ 1.87188994e-02 9.99824786e-01 8.29031368e-06 4.27728987e-03] [ 1.77940226e-03 -4.16060424e-05 9.99998416e-01 -1.25177698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.02695400132367061 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.00, Z:-0.13 [[ 9.99702249e-01 -2.43122685e-02 -2.08013344e-03 7.38110251e+00] [ 2.43123414e-02 9.99704411e-01 9.74359645e-06 -1.49278422e-03] [ 2.07928169e-03 -6.03136097e-05 9.99997836e-01 -1.27883458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.028162249248812412 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.01, Z:-0.13 [[ 9.99488507e-01 -3.19672006e-02 -9.07325781e-04 7.44176262e+00] [ 3.19672178e-02 9.99488918e-01 4.45104832e-06 -6.83703580e-03] [ 9.06719775e-04 -3.34534525e-05 9.99999588e-01 -1.26752193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.027614738309896032 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.01, Z:-0.13 [[ 9.99457722e-01 -3.29281299e-02 -2.19435449e-06 7.50084800e+00] [ 3.29281298e-02 9.99457722e-01 -3.81226852e-06 -5.30717684e-03] [ 2.31869541e-06 3.73794522e-06 1.00000000e+00 -1.26421761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.028255549734079486 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.01, Z:-0.13 [[ 9.99308355e-01 -3.71852799e-02 -2.56118232e-04 7.56078132e+00] [ 3.71852814e-02 9.99308388e-01 9.13393423e-07 -9.17275438e-03] [ 2.55907133e-04 -1.04365902e-05 9.99999967e-01 -1.26133061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.029295539105713305 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.01, Z:-0.13 [[ 9.99030619e-01 -4.40068057e-02 -1.10587423e-03 7.62141386e+00] [ 4.40068385e-02 9.99031230e-01 5.33202544e-06 -1.17202093e-02] [ 1.10456825e-03 -5.39928853e-05 9.99999389e-01 -1.27939690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.03189194107635671 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.01, Z:-0.13 [[ 9.98795651e-01 -4.90591337e-02 6.70191988e-04 7.68120848e+00] [ 4.90591470e-02 9.98795875e-01 -3.47937612e-06 -1.46569229e-02] [-6.69214298e-04 3.63542330e-05 9.99999775e-01 -1.28557470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.03318195701366673 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.02, Z:-0.13 [[ 9.98450157e-01 -5.55597293e-02 3.22504027e-03 7.74178630e+00] [ 5.55600680e-02 9.98455346e-01 -1.54713872e-05 -2.01407068e-02] [-3.21919911e-03 1.94630866e-04 9.99994799e-01 -1.28244093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.034687619656210034 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.02, Z:-0.13 [[ 9.98202995e-01 -5.96979542e-02 5.18998700e-03 7.80231842e+00] [ 5.96988884e-02 9.98216430e-01 -2.51222554e-05 -1.99134741e-02] [-5.17923055e-03 3.34913565e-04 9.99986532e-01 -1.29592493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.03408645089781928 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.02, Z:-0.13 [[ 9.98103976e-01 -6.13489230e-02 4.97619849e-03 7.86230573e+00] [ 6.13498026e-02 9.98116326e-01 -2.41748310e-05 -2.18744853e-02] [-4.96534185e-03 3.29417790e-04 9.99987618e-01 -1.30094817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.03433264140870667 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.02, Z:-0.13 [[ 9.98126021e-01 -6.09321750e-02 5.63178223e-03 7.92141985e+00] [ 6.09333056e-02 9.98141839e-01 -2.92304248e-05 -2.34553006e-02] [-5.61953640e-03 3.72338755e-04 9.99984141e-01 -1.30502447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.03506726706529672 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.02, Z:-0.13 [[ 9.98245695e-01 -5.88529288e-02 6.47040309e-03 7.98087201e+00] [ 5.88543514e-02 9.98266580e-01 -2.95093628e-05 -2.27956898e-02] [-6.45745045e-03 4.10268971e-04 9.99979066e-01 -1.32256911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.0313413682840773 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.02, Z:-0.13 [[ 9.98404519e-01 -5.61147415e-02 6.28904495e-03 8.04037299e+00] [ 5.61160301e-02 9.98424254e-01 -2.84950240e-05 -1.93872635e-02] [-6.27753602e-03 3.81365796e-04 9.99980223e-01 -1.33648772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.030738402536840185 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.02, Z:-0.14 [[ 9.98580447e-01 -5.28161186e-02 6.89548797e-03 8.10053729e+00] [ 5.28175863e-02 9.98604177e-01 -3.07930569e-05 -1.75377113e-02] [-6.88423672e-03 3.94952375e-04 9.99976225e-01 -1.35132652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.02871382891011305 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.01, Z:-0.14 [[ 9.99018205e-01 -4.36050442e-02 7.82472263e-03 8.16055229e+00] [ 4.36066501e-02 9.99048777e-01 -3.46588426e-05 -1.23582993e-02] [-7.81576827e-03 3.75834757e-04 9.99969386e-01 -1.36497733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.02763202780005676 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.01, Z:-0.14 [[ 9.99277996e-01 -3.73099993e-02 7.17294401e-03 8.22004903e+00] [ 3.73111877e-02 9.99303695e-01 -3.18966697e-05 -1.30143979e-02] [-7.16675938e-03 2.99504701e-04 9.99974274e-01 -1.37944368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.02468469146166503 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.01, Z:-0.14 [[ 9.99424207e-01 -3.31058692e-02 7.43343838e-03 8.28001693e+00] [ 3.31070281e-02 9.99451812e-01 -3.28723407e-05 -7.72111314e-03] [-7.42827518e-03 2.78952466e-04 9.99972371e-01 -1.38710915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.025015859154531445 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.01, Z:-0.14 [[ 9.99530916e-01 -2.98183617e-02 6.98661893e-03 8.34024669e+00] [ 2.98193066e-02 9.99555305e-01 -3.10957131e-05 -7.86099595e-03] [-6.98258479e-03 2.39417259e-04 9.99975593e-01 -1.41150389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.023916724236399907 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.01, Z:-0.14 [[ 9.99603436e-01 -2.68625447e-02 8.44836235e-03 8.39822736e+00] [ 2.68638181e-02 9.99639102e-01 -3.72651014e-05 -7.95227825e-03] [-8.44431231e-03 2.64205593e-04 9.99964311e-01 -1.41388443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.022366003929692704 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.00, Z:-0.14 [[ 9.99678173e-01 -2.35881684e-02 9.33539509e-03 8.45704733e+00] [ 2.35895712e-02 9.99721727e-01 -4.01699549e-05 -3.76244223e-03] [-9.33184976e-03 2.60374995e-04 9.99956423e-01 -1.42059669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.021490784807232537 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.00, Z:-0.14 [[ 9.99685496e-01 -2.32995418e-02 9.27578004e-03 8.51548146e+00] [ 2.33009193e-02 9.99728496e-01 -4.04547239e-05 -4.60770482e-03] [-9.27231905e-03 2.56576203e-04 9.99956978e-01 -1.43027251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.024418538282038535 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.01, Z:-0.15 [[ 9.99658725e-01 -2.44134408e-02 9.29614183e-03 8.57309934e+00] [ 2.44148451e-02 9.99701913e-01 -3.75877890e-05 -9.18850014e-03] [-9.29245312e-03 2.64538824e-04 9.99956789e-01 -1.45219162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.022169434619016114 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.01, Z:-0.15 [[ 9.99614481e-01 -2.63991763e-02 8.60069267e-03 8.63143799e+00] [ 2.64004403e-02 9.99651447e-01 -3.34430928e-05 -8.12144225e-03] [-8.59681201e-03 2.60492273e-04 9.99963013e-01 -1.45784589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.021917238074884247 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.01, Z:-0.15 [[ 9.99624660e-01 -2.58705514e-02 9.01411089e-03 8.69024710e+00] [ 2.58719208e-02 9.99665265e-01 -3.53205877e-05 -7.67204287e-03] [-9.01017979e-03 2.68519694e-04 9.99959371e-01 -1.46017117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.02111356319379055 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.01, Z:-0.15 [[ 9.99671075e-01 -2.39281532e-02 9.22957944e-03 8.74838375e+00] [ 2.39294747e-02 9.99713649e-01 -3.27548909e-05 -7.19067552e-03] [-9.22615277e-03 2.53603105e-04 9.99957406e-01 -1.47458974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.021266161224135233 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.01, Z:-0.15 [[ 9.99650392e-01 -2.45611009e-02 9.79010762e-03 8.80671744e+00] [ 2.45626209e-02 9.99698293e-01 -3.50378351e-05 -5.89204545e-03] [-9.78629330e-03 2.75496288e-04 9.99952075e-01 -1.49092077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.021524442656850416 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.01, Z:-0.15 [[ 9.99648986e-01 -2.47056161e-02 9.56746670e-03 8.86415875e+00] [ 2.47070404e-02 9.99694734e-01 -3.06838579e-05 -6.18521827e-03] [-9.56378801e-03 2.67056873e-04 9.99954230e-01 -1.51283914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.02254916468187372 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.01, Z:-0.15 [[ 9.99517894e-01 -2.96764220e-02 9.12630012e-03 8.92352764e+00] [ 2.96779115e-02 9.99559513e-01 -2.78000125e-05 -9.95252610e-03] [-9.12145510e-03 2.98636137e-04 9.99958354e-01 -1.52043577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.024394532560381724 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.01, Z:-0.15 [[ 9.99318832e-01 -3.50957712e-02 1.14086907e-02 8.98255401e+00] [ 3.50984419e-02 9.99383859e-01 -3.38972864e-05 -1.35983686e-02] [-1.14004717e-02 4.34301466e-04 9.99934918e-01 -1.51632356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.02440531696325085 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.01, Z:-0.15 [[ 9.99148415e-01 -3.93765620e-02 1.23260060e-02 9.04320532e+00] [ 3.93799975e-02 9.99224306e-01 -3.60433003e-05 -1.26010663e-02] [-1.23150255e-02 5.21410691e-04 9.99924031e-01 -1.52852684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.026513854279051133 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.02, Z:-0.15 [[ 9.99105437e-01 -4.02394764e-02 1.30042290e-02 9.10142220e+00] [ 4.02433786e-02 9.99189906e-01 -3.84238722e-05 -1.57408894e-02] [-1.29921482e-02 5.61723612e-04 9.99915441e-01 -1.53789458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.02379569200715842 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.01, Z:-0.16 [[ 9.99120641e-01 -4.00743113e-02 1.23285898e-02 9.16047887e+00] [ 4.00777936e-02 9.99196562e-01 -3.54216483e-05 -1.12351088e-02] [-1.23172651e-02 5.29493179e-04 9.99923999e-01 -1.57071252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.023584218371235078 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.01, Z:-0.16 [[ 9.99239170e-01 -3.64924316e-02 1.37616787e-02 9.21996693e+00] [ 3.64963727e-02 9.99333785e-01 -3.52686854e-05 -8.11549821e-03] [-1.37512234e-02 5.37493205e-04 9.99905303e-01 -1.59929752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.02396858529746203 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.01, Z:-0.16 [[ 9.99267856e-01 -3.58866803e-02 1.32626909e-02 9.27859464e+00] [ 3.58902897e-02 9.99355735e-01 -3.41563404e-05 -7.22007667e-03] [-1.32529205e-02 5.10133153e-04 9.99912046e-01 -1.61970132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.022848065991975922 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.01, Z:-0.16 [[ 9.99256986e-01 -3.60679252e-02 1.35860359e-02 9.33700140e+00] [ 3.60716850e-02 9.99349205e-01 -3.17161083e-05 -6.74506407e-03] [-1.35760503e-02 5.21763751e-04 9.99907705e-01 -1.62782449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.022739243350231284 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.01, Z:-0.17 [[ 9.99220262e-01 -3.69144152e-02 1.40069122e-02 9.39627781e+00] [ 3.69184375e-02 9.99318282e-01 -2.86169582e-05 -8.46650583e-03] [-1.39963071e-02 5.45707957e-04 9.99901898e-01 -1.65211492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.02108132371207974 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.01, Z:-0.17 [[ 9.99194118e-01 -3.75208391e-02 1.42583518e-02 9.45497512e+00] [ 3.75250189e-02 9.99295688e-01 -2.56300872e-05 -5.58820617e-03] [-1.42473478e-02 5.60654353e-04 9.99898344e-01 -1.67233517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.0235071473939814 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.01, Z:-0.17 [[ 9.99088815e-01 -4.02303417e-02 1.42498940e-02 9.51367061e+00] [ 4.02347359e-02 9.99190255e-01 -2.16977214e-05 -1.20024752e-02] [-1.42374823e-02 5.95018670e-04 9.99898465e-01 -1.69098878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.02319115990024814 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.01, Z:-0.17 [[ 9.99082062e-01 -4.00128233e-02 1.52973052e-02 9.57234101e+00] [ 4.00178511e-02 9.99198965e-01 -2.25910368e-05 -1.03678832e-02] [-1.52841476e-02 6.34735581e-04 9.99882989e-01 -1.69925373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.02290220813364919 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.01, Z:-0.17 [[ 9.99065936e-01 -4.04791292e-02 1.51226704e-02 9.63137128e+00] [ 4.04840414e-02 9.99180185e-01 -1.87138005e-05 -1.08394478e-02] [-1.51095151e-02 6.30923137e-04 9.99885646e-01 -1.70966522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.022983656971563893 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.01, Z:-0.17 [[ 9.99089692e-01 -4.00403488e-02 1.47158766e-02 9.69056880e+00] [ 4.00449015e-02 9.99197881e-01 -1.47208824e-05 -9.86838466e-03] [-1.47034833e-02 6.04003311e-04 9.99891716e-01 -1.73294023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.021641239571904804 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.00, Z:-0.18 [[ 9.99269291e-01 -3.51047980e-02 1.51174768e-02 9.75075151e+00] [ 3.51089783e-02 9.99383490e-01 -1.11347266e-05 -2.98942517e-03] [-1.51077659e-02 5.41885756e-04 9.99885724e-01 -1.75553399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.02189856684877574 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.01, Z:-0.18 [[ 9.99272286e-01 -3.54596006e-02 1.40540179e-02 9.80856816e+00] [ 3.54632486e-02 9.99370981e-01 -1.03659250e-05 -5.27951952e-03] [-1.40448100e-02 5.08759511e-04 9.99901237e-01 -1.77388612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.022197257102328855 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.01, Z:-0.18 [[ 9.99230106e-01 -3.70454106e-02 1.29163984e-02 9.86755514e+00] [ 3.70485812e-02 9.99313466e-01 -6.19463094e-06 -8.36199236e-03] [-1.29073013e-02 4.84724095e-04 9.99916580e-01 -1.78536803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.022569326154708608 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.00, Z:-0.18 [[ 9.99287196e-01 -3.53223851e-02 1.33202794e-02 9.92640591e+00] [ 3.53255593e-02 9.99375858e-01 -3.01314733e-06 -4.96888965e-03] [-1.33118592e-02 4.73557319e-04 9.99911281e-01 -1.79797640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.021782344381337047 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.01, Z:-0.18 [[ 9.99312859e-01 -3.47951686e-02 1.27713102e-02 9.98549543e+00] [ 3.47980072e-02 9.99394366e-01 -4.54313714e-08 -5.39692298e-03] [-1.27635739e-02 4.44461543e-04 9.99918443e-01 -1.80599276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.02173994739733361 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.00, Z:-0.18 [[ 9.99397841e-01 -3.15251613e-02 1.44954694e-02 1.00450163e+01] [ 3.15284163e-02 9.99502856e-01 3.97133189e-06 -1.32892004e-03] [-1.44883883e-02 4.53050254e-04 9.99894935e-01 -1.81000011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.020584002533545302 Centerline is valid? [True, True] Translation: X:10.10, Y:0.00, Z:-0.18 [[ 9.99416899e-01 -3.08709652e-02 1.45892217e-02 1.01042586e+01] [ 3.08741454e-02 9.99523280e-01 7.24771477e-06 1.08639263e-04] [-1.45824905e-02 4.43186265e-04 9.99893572e-01 -1.81957584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.02261278838957155 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.00, Z:-0.18 [[ 9.99378061e-01 -3.24111800e-02 1.38926677e-02 1.01616855e+01] [ 3.24141650e-02 9.99474523e-01 1.03098154e-05 -3.30002261e-03] [-1.38857016e-02 4.40015820e-04 9.99903492e-01 -1.84174495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.022110082173398545 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.00, Z:-0.19 [[ 9.99342717e-01 -3.38786199e-02 1.28985898e-02 1.02200375e+01] [ 3.38812897e-02 9.99425864e-01 1.15409129e-05 -3.80200076e-03] [-1.28915752e-02 4.25487530e-04 9.99916810e-01 -1.85585062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.021567484334274946 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.00, Z:-0.19 [[ 9.99323985e-01 -3.45604730e-02 1.25358477e-02 1.02788833e+01] [ 3.45630423e-02 9.99402519e-01 1.16976061e-05 -4.63514450e-03] [-1.25287620e-02 4.21587336e-04 9.99921423e-01 -1.87048835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.02047876784959557 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.00, Z:-0.19 [[ 9.99445539e-01 -3.04858631e-02 1.33875325e-02 1.03386804e+01] [ 3.04883736e-02 9.99535121e-01 1.65767710e-05 -1.30477799e-03] [-1.33818143e-02 3.91596513e-04 9.99910383e-01 -1.87329176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.020019623178340912 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.00, Z:-0.19 [[ 9.99522844e-01 -2.81638163e-02 1.26840062e-02 1.03969847e+01] [ 2.81658868e-02 9.99603263e-01 1.54027872e-05 -1.47772814e-03] [-1.26794078e-02 3.41860846e-04 9.99919555e-01 -1.89088807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.018745629763294698 Centerline is valid? [True, True] Translation: X:10.46, Y:0.00, Z:-0.19 [[ 9.99653489e-01 -2.32399377e-02 1.23615416e-02 1.04565535e+01] [ 2.32414918e-02 9.99729880e-01 1.79404020e-05 4.38925401e-03] [-1.23586195e-02 2.69366483e-04 9.99923593e-01 -1.91236121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.018515515383264586 Centerline is valid? [True, True] Translation: X:10.52, Y:0.01, Z:-0.19 [[ 9.99719109e-01 -2.04768057e-02 1.19333183e-02 1.05156689e+01] [ 2.04780270e-02 9.99790303e-01 1.98474192e-05 6.36377436e-03] [-1.19312223e-02 2.24528970e-04 9.99928795e-01 -1.93068598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.01721082276190485 Centerline is valid? [True, True] Translation: X:10.57, Y:0.00, Z:-0.19 [[ 9.99690287e-01 -2.15542174e-02 1.24397075e-02 1.05740301e+01] [ 2.15555794e-02 9.99767651e-01 2.45956470e-05 2.74402641e-03] [-1.24373473e-02 2.43557073e-04 9.99922624e-01 -1.93797410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.01869508685810394 Centerline is valid? [True, True] Translation: X:10.63, Y:0.00, Z:-0.20 [[ 9.99728961e-01 -1.97117568e-02 1.23875702e-02 1.06326289e+01] [ 1.97129582e-02 9.99805680e-01 2.51276578e-05 3.91820515e-03] [-1.23856584e-02 2.19074807e-04 9.99923271e-01 -1.95817441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.019004407094304857 Centerline is valid? [True, True] Translation: X:10.69, Y:0.01, Z:-0.20 [[ 9.99771203e-01 -1.80042836e-02 1.15493738e-02 1.06926262e+01] [ 1.80052069e-02 9.99837893e-01 2.40314920e-05 5.70696993e-03] [-1.15479343e-02 1.83922872e-04 9.99933303e-01 -1.98392468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.018952054591349948 Centerline is valid? [True, True] Translation: X:10.75, Y:0.01, Z:-0.20 [[ 9.99809571e-01 -1.68084532e-02 9.91452496e-03 1.07524748e+01] [ 1.68090724e-02 9.99858717e-01 2.08723742e-05 6.25964641e-03] [-9.91347504e-03 1.45785569e-04 9.99950850e-01 -2.00663003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.017484483070918534 Centerline is valid? [True, True] Translation: X:10.81, Y:0.01, Z:-0.20 [[ 9.99857133e-01 -1.33928952e-02 1.03122802e-02 1.08120440e+01] [ 1.33933795e-02 9.99910304e-01 2.21003006e-05 8.96452428e-03] [-1.03116512e-02 1.16019139e-04 9.99946827e-01 -2.01780117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.01702239301031645 Centerline is valid? [True, True] Translation: X:10.87, Y:0.01, Z:-0.20 [[ 9.99905651e-01 -1.02668463e-02 9.12580893e-03 1.08730323e+01] [ 1.02670886e-02 9.99947292e-01 2.03048003e-05 1.26160532e-02] [-9.12553639e-03 7.33926041e-05 9.99958359e-01 -2.03786191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.016317181125328043 Centerline is valid? [True, True] Translation: X:10.93, Y:0.01, Z:-0.21 [[ 9.99920828e-01 -8.62905349e-03 9.15848307e-03 1.09338443e+01] [ 8.62922635e-03 9.99962767e-01 2.06416928e-05 1.30149083e-02] [-9.15832020e-03 5.83905649e-05 9.99958060e-01 -2.05045104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.01732505014503492 Centerline is valid? [True, True] Translation: X:11.00, Y:0.01, Z:-0.21 [[ 9.99936285e-01 -7.57335181e-03 8.37082710e-03 1.09953143e+01] [ 7.57347063e-03 9.99971321e-01 1.75037390e-05 1.27232607e-02] [-8.37071960e-03 4.58935896e-05 9.99964964e-01 -2.07200050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.015536046179656015 Centerline is valid? [True, True] Translation: X:11.06, Y:0.01, Z:-0.21 [[ 9.99932245e-01 -7.33616496e-03 9.03800828e-03 1.10571102e+01] [ 7.33629855e-03 9.99973089e-01 1.83730796e-05 1.32781848e-02] [-9.03789985e-03 4.79336923e-05 9.99959156e-01 -2.08274309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.015296798692848338 Centerline is valid? [True, True] Translation: X:11.12, Y:0.02, Z:-0.21 [[ 9.99935122e-01 -5.24969412e-03 1.01090292e-02 1.11189326e+01] [ 5.24975990e-03 9.99986220e-01 2.00290681e-05 1.64176855e-02] [-1.01089950e-02 3.30422074e-05 9.99948902e-01 -2.09222868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.016180064270176424 Centerline is valid? [True, True] Translation: X:11.18, Y:0.02, Z:-0.21 [[ 9.99945005e-01 -3.32028532e-03 9.94798938e-03 1.11810950e+01] [ 3.32026022e-03 9.99994488e-01 1.90379287e-05 1.74287238e-02] [-9.94799776e-03 1.39930317e-05 9.99950517e-01 -2.10731882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.015026725359990833 Centerline is valid? [True, True] Translation: X:11.24, Y:0.02, Z:-0.21 [[ 9.99936988e-01 -3.45970423e-03 1.06794801e-02 1.12429845e+01] [ 3.45969201e-03 9.99994015e-01 1.96185351e-05 1.72196863e-02] [-1.06794841e-02 1.73304133e-05 9.99942973e-01 -2.11740352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.014591424840834505 Centerline is valid? [True, True] Translation: X:11.30, Y:0.02, Z:-0.21 [[ 9.99942998e-01 -4.14862786e-03 9.83821634e-03 1.13049236e+01] [ 4.14865634e-03 9.99991394e-01 1.75127487e-05 1.71721715e-02] [-9.83820433e-03 2.33036282e-05 9.99951603e-01 -2.14026987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.012967878200788041 Centerline is valid? [True, True] Translation: X:11.37, Y:0.02, Z:-0.22 [[ 9.99932289e-01 -4.29114945e-03 1.08168076e-02 1.13669538e+01] [ 4.29120175e-03 9.99990793e-01 1.83737105e-05 1.85769814e-02] [-1.08167868e-02 2.80446372e-05 9.99941496e-01 -2.15782158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.013333383126380084 Centerline is valid? [True, True] Translation: X:11.43, Y:0.02, Z:-0.22 [[ 9.99938734e-01 -3.39180262e-03 1.05367834e-02 1.14286439e+01] [ 3.39180982e-03 9.99994248e-01 1.71860406e-05 1.98394294e-02] [-1.05367811e-02 1.85537778e-05 9.99944486e-01 -2.16569619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.012475117563511013 Centerline is valid? [True, True] Translation: X:11.49, Y:0.02, Z:-0.22 [[ 9.99932158e-01 -3.75340000e-03 1.10268348e-02 1.14917469e+01] [ 3.75343699e-03 9.99992956e-01 1.73401618e-05 2.02276144e-02] [-1.10268222e-02 2.40495441e-05 9.99939202e-01 -2.17536060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.014629166320644277 Centerline is valid? [True, True] Translation: X:11.55, Y:0.02, Z:-0.22 [[ 9.99955551e-01 -4.35174346e-03 8.36411068e-03 1.15533107e+01] [ 4.35179319e-03 9.99990531e-01 1.22540925e-05 1.94594035e-02] [-8.36408480e-03 2.41453321e-05 9.99965020e-01 -2.19647737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.014949104484482507 Centerline is valid? [True, True] Translation: X:11.61, Y:0.02, Z:-0.22 [[ 9.99965302e-01 -3.39926324e-03 7.60521444e-03 1.16144459e+01] [ 3.39927932e-03 9.99994222e-01 1.08113018e-05 2.06888849e-02] [-7.60520725e-03 1.50413215e-05 9.99971080e-01 -2.20916703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.013048871593212791 Centerline is valid? [True, True] Translation: X:11.68, Y:0.02, Z:-0.22 [[ 9.99961499e-01 -1.80237135e-03 8.58786087e-03 1.16753798e+01] [ 1.80233362e-03 9.99998376e-01 1.21328927e-05 2.42991792e-02] [-8.58786879e-03 3.34576477e-06 9.99963124e-01 -2.22472790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.013116279025812187 Centerline is valid? [True, True] Translation: X:11.74, Y:0.03, Z:-0.22 [[ 9.99963985e-01 -7.44723812e-04 8.45419062e-03 1.17371400e+01] [ 7.44660374e-04 9.99999723e-01 1.06514878e-05 2.63973498e-02] [-8.45419621e-03 -4.35560339e-06 9.99964263e-01 -2.23728058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.013980598652207757 Centerline is valid? [True, True] Translation: X:11.80, Y:0.03, Z:-0.22 [[ 9.99967854e-01 1.02007329e-03 7.95296537e-03 1.17989598e+01] [-1.02018170e-03 9.99999480e-01 9.57443562e-06 2.80805351e-02] [-7.95295147e-03 -1.76875976e-05 9.99968375e-01 -2.23958043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.015540461155266616 Centerline is valid? [True, True] Translation: X:11.86, Y:0.03, Z:-0.23 [[ 9.99970558e-01 2.34424936e-03 7.30671971e-03 1.18609313e+01] [-2.34437319e-03 9.99997252e-01 8.38295787e-06 3.01180945e-02] [-7.30667998e-03 -2.55123889e-05 9.99973306e-01 -2.25288030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.015593493392881632 Centerline is valid? [True, True] Translation: X:11.92, Y:0.03, Z:-0.23 [[ 9.99970517e-01 2.28537112e-03 7.33095068e-03 1.19235747e+01] [-2.28550409e-03 9.99997388e-01 9.76002757e-06 3.23035731e-02] [-7.33090923e-03 -2.65146575e-05 9.99973128e-01 -2.26793231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.014170899112229561 Centerline is valid? [True, True] Translation: X:11.99, Y:0.03, Z:-0.23 [[ 9.99967772e-01 2.26077324e-03 7.70343500e-03 1.19866469e+01] [-2.26090130e-03 9.99997444e-01 7.91496717e-06 3.32363462e-02] [-7.70339741e-03 -2.53314183e-05 9.99970328e-01 -2.27308904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.01768350271523139 Centerline is valid? [True, True] Translation: X:12.05, Y:0.03, Z:-0.23 [[ 9.99980113e-01 2.44757342e-03 5.81237908e-03 1.20487662e+01] [-2.44764418e-03 9.99997005e-01 5.05947893e-06 3.32241819e-02] [-5.81234929e-03 -1.92860141e-05 9.99983108e-01 -2.29262069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.01741286906925595 Centerline is valid? [True, True] Translation: X:12.11, Y:0.04, Z:-0.23 [[ 9.99983187e-01 3.11095044e-03 4.89363950e-03 1.21098469e+01] [-3.11099475e-03 9.99995161e-01 1.44215407e-06 3.55470302e-02] [-4.89361134e-03 -1.66662166e-05 9.99988026e-01 -2.32531551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.0161407636452353 Centerline is valid? [True, True] Translation: X:12.17, Y:0.04, Z:-0.23 [[ 9.99978241e-01 5.00083806e-03 4.30212538e-03 1.21720555e+01] [-5.00089012e-03 9.99987495e-01 1.34292080e-06 3.78153941e-02] [-4.30206487e-03 -2.28573479e-05 9.99990746e-01 -2.33775268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.017886951622055072 Centerline is valid? [True, True] Translation: X:12.23, Y:0.04, Z:-0.24 [[ 9.99966774e-01 7.33531712e-03 3.55578451e-03 1.22343343e+01] [-7.33536729e-03 9.99973096e-01 1.06803290e-06 4.02276055e-02] [-3.55568101e-03 -2.71509828e-05 9.99993678e-01 -2.35000548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.017696084103063586 Centerline is valid? [True, True] Translation: X:12.30, Y:0.04, Z:-0.24 [[ 9.99964966e-01 7.35965916e-03 3.98781934e-03 1.22969496e+01] [-7.35973093e-03 9.99972917e-01 3.32201985e-06 4.14499377e-02] [-3.98768689e-03 -3.26711808e-05 9.99992049e-01 -2.36002379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.018536945789093675 Centerline is valid? [True, True] Translation: X:12.36, Y:0.04, Z:-0.24 [[ 9.99964254e-01 6.94749466e-03 4.81902847e-03 1.23586777e+01] [-6.94758186e-03 9.99975865e-01 1.35334389e-06 4.12683104e-02] [-4.81890277e-03 -3.48338903e-05 9.99988388e-01 -2.36882750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.018491482005796103 Centerline is valid? [True, True] Translation: X:12.42, Y:0.04, Z:-0.24 [[ 9.99967104e-01 6.02342802e-03 5.43215572e-03 1.24202825e+01] [-6.02351486e-03 9.99981858e-01 -3.74480781e-07 4.03408792e-02] [-5.43205943e-03 -3.23462023e-05 9.99985246e-01 -2.37972987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.017017377670062554 Centerline is valid? [True, True] Translation: X:12.48, Y:0.04, Z:-0.24 [[ 9.99976056e-01 1.65247360e-03 6.71982172e-03 1.24812481e+01] [-1.65248916e-03 9.99998635e-01 -3.23721164e-06 3.65023992e-02] [-6.71981789e-03 -7.86729841e-06 9.99977422e-01 -2.39258379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.018366305253594128 Centerline is valid? [True, True] Translation: X:12.54, Y:0.03, Z:-0.24 [[ 9.99974232e-01 -2.05892892e-03 6.87716184e-03 1.25439079e+01] [ 2.05900793e-03 9.99997880e-01 -4.40828339e-06 3.28401690e-02] [-6.87713819e-03 1.85683006e-05 9.99976352e-01 -2.40409284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.017288902547553355 Centerline is valid? [True, True] Translation: X:12.61, Y:0.03, Z:-0.24 [[ 9.99960272e-01 -6.37432314e-03 6.23083688e-03 1.26059061e+01] [ 6.37448230e-03 9.99979683e-01 -5.68572297e-06 2.76749782e-02] [-6.23067404e-03 4.54038565e-05 9.99980588e-01 -2.40830382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.018399818846120596 Centerline is valid? [True, True] Translation: X:12.67, Y:0.02, Z:-0.24 [[ 9.99944547e-01 -8.59791414e-03 6.08109979e-03 1.26672140e+01] [ 8.59811642e-03 9.99963035e-01 -7.12056257e-06 2.46847225e-02] [-6.08081378e-03 5.94061716e-05 9.99981510e-01 -2.41932354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.018705144285379286 Centerline is valid? [True, True] Translation: X:12.73, Y:0.02, Z:-0.24 [[ 9.99890350e-01 -1.26219387e-02 7.74436254e-03 1.27276749e+01] [ 1.26224176e-02 9.99920334e-01 -1.29546140e-05 1.97200011e-02] [-7.74358206e-03 1.10705771e-04 9.99970012e-01 -2.42631896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.019530137421433225 Centerline is valid? [True, True] Translation: X:12.79, Y:0.02, Z:-0.24 [[ 9.99856758e-01 -1.51867070e-02 7.47182548e-03 1.27884489e+01] [ 1.51872329e-02 9.99884667e-01 -1.36437429e-05 1.53138802e-02] [-7.47075653e-03 1.27118142e-04 9.99972085e-01 -2.43504610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.02121217254644136 Centerline is valid? [True, True] Translation: X:12.85, Y:0.01, Z:-0.24 [[ 9.99818816e-01 -1.76126289e-02 7.22013346e-03 1.28469389e+01] [ 1.76131863e-02 9.99844876e-01 -1.36139076e-05 1.18470783e-02] [-7.21877367e-03 1.40780996e-04 9.99973934e-01 -2.44824086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.019210212382426265 Centerline is valid? [True, True] Translation: X:12.91, Y:0.01, Z:-0.25 [[ 9.99773464e-01 -1.97705588e-02 7.88328532e-03 1.29054851e+01] [ 1.97712993e-02 9.99804529e-01 -1.60116637e-05 1.37891673e-02] [-7.88142780e-03 1.71870830e-04 9.99968926e-01 -2.45160037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.024179300164277263 Centerline is valid? [True, True] Translation: X:12.96, Y:0.00, Z:-0.25 [[ 9.99688195e-01 -2.33971483e-02 8.72271371e-03 1.29632979e+01] [ 2.33981608e-02 9.99726225e-01 -1.40341507e-05 4.63104168e-03] [-8.71999730e-03 2.18125233e-04 9.99961956e-01 -2.48144234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.021551652224545192 Centerline is valid? [True, True] Translation: X:13.02, Y:0.00, Z:-0.25 [[ 9.99490565e-01 -3.00767763e-02 1.06769450e-02 1.30240211e+01] [ 3.00786563e-02 9.99547535e-01 -1.55038327e-05 4.53660408e-03] [-1.06716477e-02 3.36644093e-04 9.99943000e-01 -2.47172831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.02233339188634653 Centerline is valid? [True, True] Translation: X:13.08, Y:0.00, Z:-0.25 [[ 9.99361504e-01 -3.38445897e-02 1.14511426e-02 1.30833239e+01] [ 3.38470020e-02 9.99427026e-01 -1.68743649e-05 1.18778481e-03] [-1.14440103e-02 4.04450436e-04 9.99934433e-01 -2.48623793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.02268260173527266 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.00, Z:-0.25 [[ 9.99191432e-01 -3.80724398e-02 1.29217846e-02 1.31427974e+01] [ 3.80758545e-02 9.99274852e-01 -1.82581665e-05 -2.45520293e-03] [-1.29117193e-02 5.10251395e-04 9.99916510e-01 -2.49917095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.023670501841437503 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.00, Z:-0.25 [[ 9.99137112e-01 -3.94211556e-02 1.30768554e-02 1.32013510e+01] [ 3.94247667e-02 9.99222541e-01 -1.83751540e-05 -3.58596229e-03] [-1.30659644e-02 5.33911274e-04 9.99914494e-01 -2.50875266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.02475234933101493 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.01, Z:-0.25 [[ 9.98960374e-01 -4.34032611e-02 1.39401439e-02 1.32615110e+01] [ 4.34076931e-02 9.99057442e-01 -1.53708878e-05 -8.33389622e-03] [-1.39263373e-02 6.20464394e-04 9.99902831e-01 -2.52643551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.024769534158047498 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.01, Z:-0.25 [[ 9.98938635e-01 -4.34397171e-02 1.53165003e-02 1.33204495e+01] [ 4.34450702e-02 9.99055817e-01 -1.67820028e-05 -7.94244545e-03] [-1.53013097e-02 6.82190621e-04 9.99882695e-01 -2.54942984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.023569016897791957 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.01, Z:-0.26 [[ 9.98966264e-01 -4.30047818e-02 1.47306277e-02 1.33792296e+01] [ 4.30096355e-02 9.99074657e-01 -1.27177136e-05 -8.45970464e-03] [-1.47164499e-02 6.46263494e-04 9.99891498e-01 -2.57291137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.02442069582001762 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.01, Z:-0.26 [[ 9.98946389e-01 -4.38768632e-02 1.34511365e-02 1.34378225e+01] [ 4.38809500e-02 9.99036767e-01 -8.69280698e-06 -9.02540487e-03] [-1.34377985e-02 5.98932296e-04 9.99909529e-01 -2.59356110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.023842887766839984 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.01, Z:-0.26 [[ 9.98876640e-01 -4.45573993e-02 1.61275105e-02 1.34963786e+01] [ 4.45632860e-02 9.99006563e-01 -5.64721995e-06 -1.01722203e-02] [-1.61112372e-02 7.24335739e-04 9.99869943e-01 -2.60223343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.02491498003574912 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.01, Z:-0.26 [[ 9.98856433e-01 -4.45008142e-02 1.74786701e-02 1.35542901e+01] [ 4.45076439e-02 9.99009044e-01 -1.74559424e-06 -1.24991447e-02] [-1.74612718e-02 7.79678023e-04 9.99847236e-01 -2.61091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.023687560141152673 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.01, Z:-0.26 [[ 9.99001040e-01 -4.19396271e-02 1.54269457e-02 1.36135892e+01] [ 4.19446261e-02 9.99119937e-01 -4.84969949e-07 -1.07154000e-02] [-1.54133487e-02 6.47561954e-04 9.99880998e-01 -2.64218096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.022829568025002016 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.00, Z:-0.27 [[ 9.99327969e-01 -3.43185779e-02 1.28780833e-02 1.36744709e+01] [ 3.43213913e-02 9.99410847e-01 2.54090151e-06 -3.73304963e-03] [-1.28705834e-02 4.39454544e-04 9.99917074e-01 -2.67348990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.020021497821756128 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.00, Z:-0.27 [[ 9.99471004e-01 -3.00456031e-02 1.24488119e-02 1.37336807e+01] [ 3.00478997e-02 9.99548460e-01 2.55618447e-06 -2.91085446e-03] [-1.24432675e-02 3.71505818e-04 9.99922511e-01 -2.68237387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.01886370218943157 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.00, Z:-0.27 [[ 9.99570063e-01 -2.66512804e-02 1.22228521e-02 1.37923130e+01] [ 2.66532374e-02 9.99644739e-01 2.78627123e-06 -1.96275438e-03] [-1.22185841e-02 3.22993506e-04 9.99925298e-01 -2.68200043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.019611490451502622 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.00, Z:-0.27 [[ 9.99631975e-01 -2.42859895e-02 1.20874126e-02 1.38513277e+01] [ 2.42877290e-02 9.99705010e-01 2.88271115e-06 -1.74054209e-03] [-1.20839169e-02 2.90694152e-04 9.99926945e-01 -2.68885477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.01721867170721978 Centerline is valid? [True, True] Translation: X:13.91, Y:0.00, Z:-0.27 [[ 9.99732445e-01 -1.99883091e-02 1.16406768e-02 1.39104566e+01] [ 1.99895909e-02 9.99800188e-01 6.24037816e-06 1.86714045e-03] [-1.16384756e-02 2.26453659e-04 9.99932245e-01 -2.68448938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.016728798254480218 Centerline is valid? [True, True] Translation: X:13.97, Y:0.00, Z:-0.27 [[ 9.99790199e-01 -1.69675718e-02 1.14742698e-02 1.39698079e+01] [ 1.69686073e-02 9.99856023e-01 7.11204711e-06 2.87824407e-03] [-1.14727384e-02 1.87591823e-04 9.99934168e-01 -2.68815962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.018747703906445142 Centerline is valid? [True, True] Translation: X:14.03, Y:0.00, Z:-0.27 [[ 9.99844209e-01 -1.34466010e-02 1.14344407e-02 1.40302106e+01] [ 1.34473927e-02 9.99909580e-01 7.64738244e-06 4.99124601e-03] [-1.14335096e-02 1.46117223e-04 9.99934625e-01 -2.69652143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.016977494747132626 Centerline is valid? [True, True] Translation: X:14.09, Y:0.01, Z:-0.27 [[ 9.99879401e-01 -1.07986884e-02 1.11611877e-02 1.40913716e+01] [ 1.07992758e-02 9.99941686e-01 7.63919578e-06 6.46735725e-03] [-1.11606193e-02 1.12894469e-04 9.99937712e-01 -2.69346737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.018510913953389753 Centerline is valid? [True, True] Translation: X:14.15, Y:0.01, Z:-0.27 [[ 9.99919466e-01 -8.20367203e-03 9.68303195e-03 1.41530439e+01] [ 8.20399286e-03 9.99966347e-01 6.58724425e-06 7.64855806e-03] [-9.68276012e-03 7.28528112e-05 9.99953118e-01 -2.71053649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.017920769876262184 Centerline is valid? [True, True] Translation: X:14.22, Y:0.01, Z:-0.27 [[ 9.99945467e-01 -6.92842831e-03 7.81410755e-03 1.42150686e+01] [ 6.92860082e-03 9.99975997e-01 4.99480085e-06 8.30843251e-03] [-7.81395460e-03 4.91463035e-05 9.99969469e-01 -2.72856648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.018147786417934117 Centerline is valid? [True, True] Translation: X:14.28, Y:0.01, Z:-0.27 [[ 9.99944167e-01 -7.25025417e-03 7.68739148e-03 1.42776835e+01] [ 7.25043457e-03 9.99973715e-01 4.40114260e-06 8.24259396e-03] [-7.68722132e-03 5.13360321e-05 9.99970452e-01 -2.74116486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.01780862873018608 Centerline is valid? [True, True] Translation: X:14.34, Y:0.01, Z:-0.27 [[ 9.99920576e-01 -9.49708709e-03 8.28530728e-03 1.43393097e+01] [ 9.49738166e-03 9.99954899e-01 3.79156359e-06 5.30661433e-03] [-8.28496961e-03 7.48974629e-05 9.99965676e-01 -2.72684684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.015486708898523167 Centerline is valid? [True, True] Translation: X:14.40, Y:0.00, Z:-0.27 [[ 9.99909287e-01 -1.02960195e-02 8.68385168e-03 1.44011434e+01] [ 1.02963762e-02 9.99946991e-01 3.63235604e-06 4.11224603e-03] [-8.68342876e-03 8.57801775e-05 9.99962295e-01 -2.71407720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.017403559283878434 Centerline is valid? [True, True] Translation: X:14.46, Y:0.00, Z:-0.27 [[ 9.99855878e-01 -1.49980841e-02 7.95488790e-03 1.44627009e+01] [ 1.49985341e-02 9.99887516e-01 3.09056583e-06 1.18070185e-05] [-7.95403946e-03 1.16221537e-04 9.99968359e-01 -2.73222862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.02093132545910884 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.01, Z:-0.28 [[ 9.99674473e-01 -2.41930032e-02 8.10229541e-03 1.45231367e+01] [ 2.41937765e-02 9.99707288e-01 2.56820071e-06 -8.40544997e-03] [-8.09998590e-03 1.93457759e-04 9.99967176e-01 -2.75588482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.02149220262593602 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.01, Z:-0.28 [[ 9.99456400e-01 -3.21216120e-02 7.42332208e-03 1.45836858e+01] [ 3.21224797e-02 9.99483940e-01 2.35298519e-06 -1.39098727e-02] [-7.41956678e-03 2.36103806e-04 9.99972447e-01 -2.75771709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.022737745722872536 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.02, Z:-0.28 [[ 9.99362633e-01 -3.50195490e-02 6.92522499e-03 1.46437019e+01] [ 3.50203758e-02 9.99386599e-01 1.86819392e-06 -1.64354731e-02] [-6.92104247e-03 2.40656978e-04 9.99976020e-01 -2.76810119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.022324477573516587 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.02, Z:-0.28 [[ 9.99231431e-01 -3.85334496e-02 7.19169379e-03 1.47022953e+01] [ 3.85344312e-02 9.99257273e-01 2.06542692e-06 -2.05361639e-02] [-7.18643191e-03 2.75063990e-04 9.99974139e-01 -2.76013613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.023314569532177885 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.02, Z:-0.28 [[ 9.99231292e-01 -3.83695250e-02 8.03764025e-03 1.47615938e+01] [ 3.83707545e-02 9.99263571e-01 1.24074923e-06 -2.00735742e-02] [-8.03176871e-03 3.07170525e-04 9.99967698e-01 -2.77130214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.021183614585142188 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.02, Z:-0.28 [[ 9.99315352e-01 -3.59636413e-02 8.68582676e-03 1.48206088e+01] [ 3.59649533e-02 9.99353052e-01 5.14664911e-06 -1.93966772e-02] [-8.68039258e-03 3.07242228e-04 9.99962277e-01 -2.76579402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.022199615634252667 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.02, Z:-0.28 [[ 9.99413214e-01 -3.30742288e-02 8.90629870e-03 1.48799378e+01] [ 3.30754908e-02 9.99452856e-01 5.60496130e-06 -1.64505372e-02] [-8.90161105e-03 2.88978528e-04 9.99960338e-01 -2.77488205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.019586789043932934 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.01, Z:-0.28 [[ 9.99583229e-01 -2.80641898e-02 6.76525759e-03 1.49395136e+01] [ 2.80647961e-02 9.99606106e-01 5.32700697e-06 -1.04499071e-02] [-6.76274230e-03 1.84540788e-04 9.99977115e-01 -2.78464647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.01973939460545143 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.01, Z:-0.28 [[ 9.99585397e-01 -2.81664793e-02 5.97357464e-03 1.49978595e+01] [ 2.81669681e-02 9.99603232e-01 2.30163027e-06 -9.61039345e-03] [-5.97126935e-03 1.65956810e-04 9.99982158e-01 -2.80103353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.020642894745926055 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.01, Z:-0.28 [[ 9.99586458e-01 -2.81274496e-02 5.97986119e-03 1.50548570e+01] [ 2.81279187e-02 9.99604332e-01 5.66509046e-06 -9.98909800e-03] [-5.97765449e-03 1.62538302e-04 9.99982120e-01 -2.81919644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.019561341069766407 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.01, Z:-0.28 [[ 9.99576773e-01 -2.84299431e-02 6.16543221e-03 1.51127364e+01] [ 2.84304521e-02 9.99595773e-01 5.10119803e-06 -9.56341704e-03] [-6.16308500e-03 1.70186986e-04 9.99980994e-01 -2.81972565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.022759686624890516 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.01, Z:-0.28 [[ 9.99554370e-01 -2.93099178e-02 5.65595284e-03 1.51705319e+01] [ 2.93103419e-02 9.99570360e-01 7.90673440e-06 -1.42068015e-02] [-5.65375456e-03 1.57874701e-04 9.99984005e-01 -2.84419585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.020211378890793746 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.01, Z:-0.28 [[ 9.99633671e-01 -2.64930468e-02 5.53563023e-03 1.52298217e+01] [ 2.64934159e-02 9.99648988e-01 6.66156580e-06 -8.76352210e-03] [-5.53386364e-03 1.39998628e-04 9.99984678e-01 -2.83722535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.019087161697679295 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.01, Z:-0.29 [[ 9.99751018e-01 -2.19825972e-02 3.82985017e-03 1.52879159e+01] [ 2.19827371e-02 9.99758350e-01 5.57699544e-06 -8.40187503e-03] [-3.82904729e-03 7.86149826e-05 9.99992666e-01 -2.85232287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.019689240932784853 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.01, Z:-0.29 [[ 9.99793816e-01 -1.99617646e-02 3.72211763e-03 1.53464571e+01] [ 1.99618863e-02 9.99800742e-01 4.44458474e-06 -7.22334439e-03] [-3.72146469e-03 6.98568206e-05 9.99993073e-01 -2.86843632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.018209929942932693 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.01, Z:-0.29 [[ 9.99863223e-01 -1.62307217e-02 3.17786727e-03 1.54039662e+01] [ 1.62307864e-02 9.99868272e-01 5.44538802e-06 -6.63496541e-03] [-3.17753704e-03 4.61346416e-05 9.99994951e-01 -2.87615556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.01656245212038077 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.00, Z:-0.29 [[ 9.99928277e-01 -1.16798547e-02 2.64996883e-03 1.54629347e+01] [ 1.16798873e-02 9.99931788e-01 3.15041826e-06 -4.94125288e-03] [-2.64982487e-03 2.78011451e-05 9.99996489e-01 -2.88002341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.015183218700679119 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.00, Z:-0.29 [[ 9.99957568e-01 -8.91503739e-03 2.32052860e-03 1.55216137e+01] [ 8.91505483e-03 9.99960260e-01 2.82963756e-06 -3.62049892e-03] [-2.32046161e-03 1.78581222e-05 9.99997308e-01 -2.87911187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.014482112335784513 Centerline is valid? [True, True] Translation: X:15.58, Y:0.00, Z:-0.29 [[ 9.99992773e-01 -1.96053813e-03 3.25719179e-03 1.55801864e+01] [ 1.96052884e-03 9.99998078e-01 6.04734692e-06 3.99001525e-03] [-3.25719739e-03 3.38515211e-07 9.99994695e-01 -2.85149230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.016207786457018834 Centerline is valid? [True, True] Translation: X:15.64, Y:0.00, Z:-0.29 [[ 9.99995835e-01 -1.74181541e-04 2.88091626e-03 1.56411956e+01] [ 1.74155387e-04 9.99999985e-01 9.32941955e-06 4.88271949e-03] [-2.88091784e-03 -8.82765361e-06 9.99995850e-01 -2.87820331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.014556327662450236 Centerline is valid? [True, True] Translation: X:15.70, Y:0.00, Z:-0.29 [[ 9.99998915e-01 7.36852517e-04 1.27518055e-03 1.57023677e+01] [-7.36858732e-04 9.99999729e-01 4.40348179e-06 4.08768815e-03] [-1.27517696e-03 -5.34310494e-06 9.99999187e-01 -2.87287913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.016645530403712503 Centerline is valid? [True, True] Translation: X:15.76, Y:0.01, Z:-0.29 [[ 9.99993999e-01 1.98840575e-03 2.83700116e-03 1.57635300e+01] [-1.98843931e-03 9.99998023e-01 9.00653000e-06 6.34118669e-03] [-2.83697765e-03 -1.46476806e-05 9.99995976e-01 -2.88534463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.014975144140479898 Centerline is valid? [True, True] Translation: X:15.82, Y:0.01, Z:-0.29 [[ 9.99992921e-01 3.02859454e-03 2.23277201e-03 1.58247241e+01] [-3.02861855e-03 9.99995414e-01 7.37081953e-06 6.88153477e-03] [-2.23273944e-03 -1.41329821e-05 9.99997507e-01 -2.87946854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.014864490441995339 Centerline is valid? [True, True] Translation: X:15.89, Y:0.01, Z:-0.29 [[ 9.99995529e-01 2.24261103e-03 1.97828704e-03 1.58867952e+01] [-2.24263365e-03 9.99997485e-01 9.21694942e-06 5.40885369e-03] [-1.97826139e-03 -1.36534813e-05 9.99998043e-01 -2.88317768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.014340888056517374 Centerline is valid? [True, True] Translation: X:15.95, Y:0.00, Z:-0.29 [[ 9.99999482e-01 -5.83534664e-04 8.33948912e-04 1.59486779e+01] [ 5.83529943e-04 9.99999830e-01 5.90465461e-06 2.22001914e-03] [-8.33952215e-04 -5.41801739e-06 9.99999652e-01 -2.89835882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.015762154906506745 Centerline is valid? [True, True] Translation: X:16.01, Y:0.00, Z:-0.29 [[ 9.99997215e-01 -2.10106930e-03 1.07490340e-03 1.60088560e+01] [ 2.10106742e-03 9.99997793e-01 2.87329408e-06 1.47091090e-03] [-1.07490706e-03 -6.14841575e-07 9.99999422e-01 -2.92522907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.014158905901327694 Centerline is valid? [True, True] Translation: X:16.07, Y:0.00, Z:-0.29 [[ 9.99998121e-01 -1.09898808e-03 1.59719093e-03 1.60691583e+01] [ 1.09898330e-03 9.99999396e-01 3.86502574e-06 2.18765460e-03] [-1.59719421e-03 -2.10973232e-06 9.99998724e-01 -2.89289148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.014101712402367904 Centerline is valid? [True, True] Translation: X:16.13, Y:0.00, Z:-0.29 [[ 9.99997560e-01 -1.40231671e-03 1.70682061e-03 1.61297486e+01] [ 1.40231128e-03 9.99999017e-01 4.37763279e-06 5.02179477e-04] [-1.70682507e-03 -1.98412831e-06 9.99998543e-01 -2.89027543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.015423583008344028 Centerline is valid? [True, True] Translation: X:16.19, Y:0.00, Z:-0.29 [[ 9.99995190e-01 -1.54656847e-03 2.68868106e-03 1.61905040e+01] [ 1.54655608e-03 9.99998804e-01 6.68626179e-06 4.27814091e-04] [-2.68868819e-03 -2.52803357e-06 9.99996385e-01 -2.90831692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.013922363801561881 Centerline is valid? [True, True] Translation: X:16.25, Y:0.00, Z:-0.29 [[ 9.99993973e-01 4.45527889e-04 3.44319713e-03 1.62521574e+01] [-4.45560353e-04 9.99999901e-01 8.66139905e-06 3.66444341e-03] [-3.44319293e-03 -1.01954990e-05 9.99994072e-01 -2.88953894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.013934153470564294 Centerline is valid? [True, True] Translation: X:16.31, Y:0.00, Z:-0.29 [[ 9.99997955e-01 2.50919611e-04 2.00693841e-03 1.63144525e+01] [-2.50936632e-04 9.99999968e-01 8.22909480e-06 1.97407470e-03] [-2.00693628e-03 -8.73269233e-06 9.99997986e-01 -2.89316533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.016576729114765876 Centerline is valid? [True, True] Translation: X:16.38, Y:0.00, Z:-0.29 [[ 9.99997282e-01 -1.74321515e-03 1.54805544e-03 1.63755617e+01] [ 1.74321141e-03 9.99998481e-01 3.76763834e-06 2.93172450e-04] [-1.54805966e-03 -1.06904020e-06 9.99998802e-01 -2.90701361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.01583949489141666 Centerline is valid? [True, True] Translation: X:16.44, Y:0.00, Z:-0.29 [[ 9.99993323e-01 -2.51589067e-03 2.65022948e-03 1.64357472e+01] [ 2.51588437e-03 9.99996835e-01 5.71312429e-06 7.73916939e-04] [-2.65023547e-03 9.54584785e-07 9.99996488e-01 -2.90318849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.014046055120171017 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.00, Z:-0.29 [[ 9.99975527e-01 -5.98633235e-03 3.62073234e-03 1.64958583e+01] [ 5.98634471e-03 9.99982082e-01 7.42411479e-06 -1.69125792e-03] [-3.62071190e-03 1.42510188e-05 9.99993445e-01 -2.87998133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.014412280390778525 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.01, Z:-0.29 [[ 9.99950288e-01 -9.50654524e-03 3.00769308e-03 1.65564657e+01] [ 9.50656970e-03 9.99954812e-01 6.16711113e-06 -5.34092739e-03] [-3.00761580e-03 2.24260394e-05 9.99995477e-01 -2.88593392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.014912000567883475 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.01, Z:-0.29 [[ 9.99906837e-01 -1.34258303e-02 2.46262435e-03 1.66149375e+01] [ 1.34258609e-02 9.99909869e-01 4.09179409e-06 -6.72515352e-03] [-2.46245732e-03 2.89714391e-05 9.99996968e-01 -2.89757784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.01806192087123876 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.01, Z:-0.29 [[ 9.99893589e-01 -1.43865555e-02 2.41597296e-03 1.66735736e+01] [ 1.43865932e-02 9.99896508e-01 1.76451314e-06 -5.03926191e-03] [-2.41574831e-03 3.29932948e-05 9.99997082e-01 -2.92243862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.014981066794600258 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.01, Z:-0.29 [[ 9.99891104e-01 -1.44800293e-02 2.84754871e-03 1.67315458e+01] [ 1.44800793e-02 9.99895158e-01 3.06342133e-06 -6.79590155e-03] [-2.84729452e-03 3.81696434e-05 9.99995946e-01 -2.90234986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.015422495696876414 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.01, Z:-0.29 [[ 9.99876317e-01 -1.55196112e-02 2.54786455e-03 1.67890020e+01] [ 1.55196473e-02 9.99879563e-01 5.57558450e-06 -8.11270104e-03] [-2.54764423e-03 3.39670644e-05 9.99996754e-01 -2.92222935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.015063763981169816 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.01, Z:-0.29 [[ 9.99887264e-01 -1.47122542e-02 3.00131214e-03 1.68481108e+01] [ 1.47123053e-02 9.99891768e-01 5.05770898e-06 -5.90375846e-03] [-3.00106171e-03 3.90990818e-05 9.99995496e-01 -2.92893418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.014212864386416894 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.00, Z:-0.29 [[ 9.99910974e-01 -1.28464423e-02 3.60741171e-03 1.69067472e+01] [ 1.28464986e-02 9.99917480e-01 7.56223056e-06 -3.87412399e-03] [-3.60721117e-03 3.87810521e-05 9.99993493e-01 -2.91793752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.014848447963765611 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.00, Z:-0.29 [[ 9.99910502e-01 -1.29150534e-02 3.49146598e-03 1.69637362e+01] [ 1.29150984e-02 9.99916597e-01 9.66202676e-06 -4.44395760e-03] [-3.49129957e-03 3.54314648e-05 9.99993905e-01 -2.93810963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.014280901723202876 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.00, Z:-0.29 [[ 9.99923124e-01 -1.18509539e-02 3.64702415e-03 1.70223673e+01] [ 1.18509992e-02 9.99929774e-01 9.18296759e-06 -4.84984819e-03] [-3.64687687e-03 3.40386187e-05 9.99993350e-01 -2.94589171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.014204627509276138 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.00, Z:-0.30 [[ 9.99926022e-01 -1.15204732e-02 3.90253490e-03 1.70805804e+01] [ 1.15205198e-02 9.99933637e-01 1.05402598e-05 -4.10419895e-03] [-3.90239734e-03 3.44197507e-05 9.99992385e-01 -2.95802221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.014398236500000085 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.01, Z:-0.30 [[ 9.99889948e-01 -1.40017361e-02 4.90343956e-03 1.71397756e+01] [ 1.40018252e-02 9.99901970e-01 1.61591121e-05 -6.52720149e-03] [-4.90318513e-03 5.24997698e-05 9.99987978e-01 -2.95682018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.016016747960683413 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.01, Z:-0.30 [[ 9.99870163e-01 -1.50712747e-02 5.70216759e-03 1.71975316e+01] [ 1.50714035e-02 9.99886420e-01 2.03971118e-05 -6.59461087e-03] [-5.70182734e-03 6.55452048e-05 9.99983742e-01 -2.96842580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.015588246240549159 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.01, Z:-0.30 [[ 9.99881886e-01 -1.40025195e-02 6.33585550e-03 1.72562220e+01] [ 1.40026403e-02 9.99901958e-01 2.52994963e-05 -5.88910244e-03] [-6.33558858e-03 6.34221975e-05 9.99979928e-01 -2.97106581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.013976197447021587 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.00, Z:-0.30 [[ 9.99901250e-01 -1.25158487e-02 6.39094962e-03 1.73155636e+01] [ 1.25159311e-02 9.99921672e-01 2.71016993e-05 -4.27573744e-03] [-6.39078824e-03 5.28896620e-05 9.99979577e-01 -2.97420916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.013854575935177037 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.00, Z:-0.30 [[ 9.99913020e-01 -1.18294155e-02 5.83236710e-03 1.73747902e+01] [ 1.18294662e-02 9.99930029e-01 2.57918191e-05 -3.63672568e-03] [-5.83226411e-03 4.32042141e-05 9.99982991e-01 -2.98042131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.01488847586057759 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.00, Z:-0.30 [[ 9.99897620e-01 -1.35692290e-02 4.54146809e-03 1.74336916e+01] [ 1.35692766e-02 9.99907933e-01 2.03269797e-05 -3.34481771e-03] [-4.54132579e-03 4.12995380e-05 9.99989687e-01 -3.00202839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.014459526618116801 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.00, Z:-0.30 [[ 9.99873833e-01 -1.53690797e-02 4.01355227e-03 1.74918234e+01] [ 1.53691215e-02 9.99881888e-01 2.04299120e-05 -4.54903726e-03] [-4.01339221e-03 4.12574378e-05 9.99991945e-01 -3.01017742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.0161387812856357 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.01, Z:-0.30 [[ 9.99833940e-01 -1.79815406e-02 2.95920726e-03 1.75510309e+01] [ 1.79815813e-02 9.99838318e-01 1.28578423e-05 -5.99989574e-03] [-2.95896001e-03 4.03555188e-05 9.99995621e-01 -3.00705370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.01762886680028641 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.01, Z:-0.30 [[ 9.99813920e-01 -1.90066484e-02 3.29741299e-03 1.76088813e+01] [ 1.90067019e-02 9.99819356e-01 1.51223833e-05 -5.56443794e-03] [-3.29710476e-03 4.75533765e-05 9.99994563e-01 -2.99024399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.01638799575126142 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.00, Z:-0.30 [[ 9.99820269e-01 -1.82909684e-02 4.98704631e-03 1.76680763e+01] [ 1.82910612e-02 9.99832704e-01 2.70054518e-05 -3.85132446e-03] [-4.98670595e-03 6.42177712e-05 9.99987564e-01 -2.98796583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.013847135890194694 Centerline is valid? [True, True] Translation: X:17.73, Y:0.00, Z:-0.30 [[ 9.99929493e-01 -1.15702205e-02 2.67189323e-03 1.77270510e+01] [ 1.15702263e-02 9.99933063e-01 1.32820900e-05 2.11794273e-03] [-2.67186806e-03 1.76332559e-05 9.99996430e-01 -3.00338481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.013775890261907363 Centerline is valid? [True, True] Translation: X:17.79, Y:0.01, Z:-0.30 [[ 9.99964947e-01 -8.35925888e-03 4.77467119e-04 1.77856620e+01] [ 8.35926017e-03 9.99965061e-01 -7.17177001e-07 6.28746305e-03] [-4.77444442e-04 4.70842374e-06 9.99999886e-01 -3.02059286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.015506394311246252 Centerline is valid? [True, True] Translation: X:17.84, Y:0.01, Z:-0.30 [[ 9.99986295e-01 -4.59321087e-03 -2.51250453e-03 1.78444777e+01] [ 4.59317172e-03 9.99989451e-01 -2.13530169e-05 1.15304943e-02] [ 2.51257610e-03 9.81235954e-06 9.99996843e-01 -3.02221304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.01381428513147505 Centerline is valid? [True, True] Translation: X:17.90, Y:0.01, Z:-0.30 [[ 9.99997231e-01 -2.34824211e-03 1.54847058e-04 1.79029755e+01] [ 2.34824257e-03 9.99997243e-01 -2.79951841e-06 1.46145572e-02] [-1.54840057e-04 3.16312911e-06 9.99999988e-01 -3.00223650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.014359018116718223 Centerline is valid? [True, True] Translation: X:17.96, Y:0.02, Z:-0.30 [[ 9.99998469e-01 -1.74876266e-03 -5.82172216e-05 1.79626481e+01] [ 1.74876261e-03 9.99998471e-01 -9.91318732e-07 1.69454154e-02] [ 5.82188662e-05 8.89509115e-07 9.99999998e-01 -2.98482079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.013796474544748494 Centerline is valid? [True, True] Translation: X:18.02, Y:0.02, Z:-0.30 [[ 9.99999850e-01 4.08352317e-04 3.64174339e-04 1.80219867e+01] [-4.08353100e-04 9.99999917e-01 2.07574333e-06 2.05536046e-02] [-3.64173461e-04 -2.22445474e-06 9.99999934e-01 -2.98809341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.01625402047938555 Centerline is valid? [True, True] Translation: X:18.08, Y:0.02, Z:-0.30 [[ 9.99990070e-01 2.92847197e-03 -3.35913640e-03 1.80829550e+01] [-2.92856914e-03 9.99995711e-01 -2.40090457e-05 2.42973974e-02] [ 3.35905168e-03 3.38462705e-05 9.99994358e-01 -2.99759638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.015551176409657728 Centerline is valid? [True, True] Translation: X:18.14, Y:0.03, Z:-0.30 [[ 9.99967820e-01 5.84372251e-03 -5.49628474e-03 1.81427369e+01] [-5.84403134e-03 9.99982923e-01 -4.01301319e-05 3.05768777e-02] [ 5.49595636e-03 7.22493008e-05 9.99984895e-01 -3.02124316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.015001846975208915 Centerline is valid? [True, True] Translation: X:18.20, Y:0.03, Z:-0.30 [[ 9.99952556e-01 6.83331433e-03 -6.94194261e-03 1.82027184e+01] [-6.83383394e-03 9.99976648e-01 -5.11319563e-05 3.48708832e-02] [ 6.94143110e-03 9.85696134e-05 9.99975903e-01 -3.02740639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.01438414030225162 Centerline is valid? [True, True] Translation: X:18.26, Y:0.04, Z:-0.30 [[ 9.99956095e-01 5.62718624e-03 -7.49289634e-03 1.82622949e+01] [-5.62775948e-03 9.99984163e-01 -5.54230362e-05 3.66220538e-02] [ 7.49246580e-03 9.75888213e-05 9.99971926e-01 -3.00673207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.016200791347653152 Centerline is valid? [True, True] Translation: X:18.32, Y:0.04, Z:-0.30 [[ 9.99958479e-01 3.00999722e-03 -8.60119366e-03 1.83214792e+01] [-3.01066530e-03 9.99995466e-01 -6.47258007e-05 3.77449905e-02] [ 8.60095983e-03 9.06184285e-05 9.99963007e-01 -3.00973843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.013375679421856657 Centerline is valid? [True, True] Translation: X:18.38, Y:0.04, Z:-0.30 [[ 9.99980094e-01 -2.06243712e-03 -5.96304608e-03 1.83802023e+01] [ 2.06220185e-03 9.99997873e-01 -4.56038665e-05 3.66948717e-02] [ 5.96312745e-03 3.33059540e-05 9.99982220e-01 -2.99098657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.013382017061846748 Centerline is valid? [True, True] Translation: X:18.44, Y:0.03, Z:-0.30 [[ 9.99956888e-01 -8.24735431e-03 -4.26650173e-03 1.84377389e+01] [ 8.24728568e-03 9.99965990e-01 -3.36802896e-05 3.47694482e-02] [ 4.26663440e-03 -1.50822108e-06 9.99990898e-01 -2.99631690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.013160098886860577 Centerline is valid? [True, True] Translation: X:18.50, Y:0.04, Z:-0.30 [[ 9.99936502e-01 -1.01296055e-02 -4.93797358e-03 1.84965068e+01] [ 1.01295188e-02 9.99948694e-01 -4.25634468e-05 3.64300325e-02] [ 4.93815138e-03 -7.45855222e-06 9.99987807e-01 -2.98625463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.013696244495209496 Centerline is valid? [True, True] Translation: X:18.56, Y:0.04, Z:-0.30 [[ 9.99887248e-01 -1.36527808e-02 -6.25247791e-03 1.85554616e+01] [ 1.36527328e-02 9.99906796e-01 -5.03558389e-05 3.77095139e-02] [ 6.25258265e-03 -3.50132492e-05 9.99980452e-01 -3.01862527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.017516956488055464 Centerline is valid? [True, True] Translation: X:18.61, Y:0.04, Z:-0.30 [[ 9.99811891e-01 -1.78216717e-02 -7.65309976e-03 1.86143181e+01] [ 1.78217198e-02 9.99841179e-01 -6.19149029e-05 3.77861191e-02] [ 7.65298771e-03 -7.44881432e-05 9.99970713e-01 -3.03556531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.017217161639789993 Centerline is valid? [True, True] Translation: X:18.67, Y:0.04, Z:-0.30 [[ 9.99738374e-01 -2.19514396e-02 -6.42789864e-03 1.86734279e+01] [ 2.19515296e-02 9.99759035e-01 -5.65559901e-05 3.63572485e-02] [ 6.42759123e-03 -8.45610137e-05 9.99979339e-01 -3.04003867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.015862253838611378 Centerline is valid? [True, True] Translation: X:18.73, Y:0.03, Z:-0.30 [[ 9.99582011e-01 -2.88278102e-02 -2.18202958e-03 1.87327847e+01] [ 2.88278299e-02 9.99584391e-01 -2.24122997e-05 3.34622290e-02] [ 2.18176881e-03 -4.05002461e-05 9.99997619e-01 -3.01938079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.01814854553872692 Centerline is valid? [True, True] Translation: X:18.79, Y:0.03, Z:-0.30 [[ 9.99432837e-01 -3.36690041e-02 -6.34165413e-04 1.87920469e+01] [ 3.36690048e-02 9.99433038e-01 -9.55505152e-06 3.20759840e-02] [ 6.34127574e-04 -1.18020861e-05 9.99999799e-01 -3.01558030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.017369494955949735 Centerline is valid? [True, True] Translation: X:18.85, Y:0.03, Z:-0.30 [[ 9.99422976e-01 -3.39630858e-02 4.73246127e-04 1.88499710e+01] [ 3.39630883e-02 9.99423088e-01 2.73084927e-06 3.17853609e-02] [-4.73065854e-04 1.33436265e-05 9.99999888e-01 -3.02984674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.019734406642919776 Centerline is valid? [True, True] Translation: X:18.91, Y:0.03, Z:-0.31 [[ 9.99352601e-01 -3.59767007e-02 -2.37317358e-04 1.89089086e+01] [ 3.59767003e-02 9.99352629e-01 -6.03066210e-06 3.25279581e-02] [ 2.37380689e-04 -2.51113759e-06 9.99999972e-01 -3.06350117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.019842576136435922 Centerline is valid? [True, True] Translation: X:18.97, Y:0.03, Z:-0.31 [[ 9.99280085e-01 -3.79377405e-02 -1.98733817e-04 1.89674281e+01] [ 3.79377401e-02 9.99280105e-01 -5.80192471e-06 3.34474170e-02] [ 1.98810862e-04 -1.74176409e-06 9.99999980e-01 -3.07510167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.020708955893756608 Centerline is valid? [True, True] Translation: X:19.03, Y:0.03, Z:-0.31 [[ 9.99196929e-01 -4.00679804e-02 -2.33299796e-04 1.90261996e+01] [ 4.00679800e-02 9.99196956e-01 -6.21536266e-06 3.22002486e-02] [ 2.33361483e-04 -3.13748028e-06 9.99999973e-01 -3.07223311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.02177076133025113 Centerline is valid? [True, True] Translation: X:19.08, Y:0.03, Z:-0.31 [[ 9.99160390e-01 -4.09696723e-02 4.79989810e-06 1.90840020e+01] [ 4.09696723e-02 9.99160391e-01 -1.35823154e-06 3.01939392e-02] [-4.74022176e-06 1.55374141e-06 1.00000000e+00 -3.08513799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.019518732826211926 Centerline is valid? [True, True] Translation: X:19.14, Y:0.03, Z:-0.31 [[ 9.99212932e-01 -3.95891759e-02 2.49288523e-03 1.91434538e+01] [ 3.95892472e-02 9.99216038e-01 2.07714693e-05 3.25657068e-02] [-2.49175322e-03 7.79363287e-05 9.99996893e-01 -3.07279093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.018000839411021343 Centerline is valid? [True, True] Translation: X:19.20, Y:0.03, Z:-0.31 [[ 9.99389594e-01 -3.48515767e-02 2.40986080e-03 1.92029466e+01] [ 3.48516221e-02 9.99392497e-01 2.31854079e-05 3.40363066e-02] [-2.40920485e-03 6.08163023e-05 9.99997096e-01 -3.06936039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.01956120826033686 Centerline is valid? [True, True] Translation: X:19.26, Y:0.03, Z:-0.31 [[ 9.99509360e-01 -3.13096026e-02 8.65465296e-04 1.92610888e+01] [ 3.13096081e-02 9.99509734e-01 7.19931305e-06 3.46050898e-02] [-8.65266396e-04 1.99015985e-05 9.99999625e-01 -3.08783037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.018138567548201468 Centerline is valid? [True, True] Translation: X:19.32, Y:0.04, Z:-0.31 [[ 9.99643303e-01 -2.66912132e-02 -9.20226658e-04 1.93202869e+01] [ 2.66912122e-02 9.99643726e-01 -1.33267019e-05 3.61151254e-02] [ 9.20254511e-04 -1.12400167e-05 9.99999577e-01 -3.10312728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.018345397498377856 Centerline is valid? [True, True] Translation: X:19.38, Y:0.04, Z:-0.31 [[ 9.99754486e-01 -2.21384261e-02 -9.26238914e-04 1.93791503e+01] [ 2.21384229e-02 9.99754915e-01 -1.36661130e-05 3.66144560e-02] [ 9.26314453e-04 -6.84271108e-06 9.99999571e-01 -3.11280256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.016078198602707608 Centerline is valid? [True, True] Translation: X:19.44, Y:0.03, Z:-0.31 [[ 9.99825341e-01 -1.86274671e-02 -1.51814695e-03 1.94383545e+01] [ 1.86274579e-02 9.99826494e-01 -2.02071235e-05 3.48915486e-02] [ 1.51825995e-03 -8.07562431e-06 9.99998847e-01 -3.12222203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.01699288037576694 Centerline is valid? [True, True] Translation: X:19.50, Y:0.03, Z:-0.31 [[ 9.99827612e-01 -1.84886059e-02 -1.70814168e-03 1.94964009e+01] [ 1.84885930e-02 9.99829071e-01 -2.33472903e-05 3.26457945e-02] [ 1.70828137e-03 -8.23787084e-06 9.99998541e-01 -3.13407470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.016461496119393383 Centerline is valid? [True, True] Translation: X:19.55, Y:0.03, Z:-0.31 [[ 9.99834649e-01 -1.81660026e-02 -8.18658849e-04 1.95539038e+01] [ 1.81660001e-02 9.99834985e-01 -1.04670613e-05 2.67456277e-02] [ 8.18713902e-04 -4.40642616e-06 9.99999665e-01 -3.14630887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.015983844560496403 Centerline is valid? [True, True] Translation: X:19.61, Y:0.02, Z:-0.31 [[ 9.99838092e-01 -1.79848346e-02 5.78840526e-04 1.96131318e+01] [ 1.79848361e-02 9.99838260e-01 2.57683955e-06 2.29234387e-02] [-5.78793248e-04 7.83392965e-06 9.99999832e-01 -3.13763353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.016592159277111773 Centerline is valid? [True, True] Translation: X:19.67, Y:0.02, Z:-0.31 [[ 9.99934421e-01 -1.13984270e-02 1.10890493e-03 1.96716479e+01] [ 1.13984242e-02 9.99935036e-01 8.84427508e-06 2.47697471e-02] [-1.10893370e-03 3.79607366e-06 9.99999385e-01 -3.13992169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.017095009072824515 Centerline is valid? [True, True] Translation: X:19.73, Y:0.03, Z:-0.32 [[ 9.99999235e-01 -1.19119541e-03 -3.33962202e-04 1.97303297e+01] [ 1.19119284e-03 9.99999290e-01 -7.89151602e-06 3.10388210e-02] [ 3.33971366e-04 7.49369659e-06 9.99999944e-01 -3.17030149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.0163968445317383 Centerline is valid? [True, True] Translation: X:19.79, Y:0.03, Z:-0.32 [[ 9.99990227e-01 4.38291773e-03 5.78892946e-04 1.97899549e+01] [-4.38292210e-03 9.99990395e-01 6.27850749e-06 3.30816378e-02] [-5.78859868e-04 -8.81568883e-06 9.99999832e-01 -3.16190536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.017183687838206712 Centerline is valid? [True, True] Translation: X:19.85, Y:0.04, Z:-0.32 [[ 9.99976181e-01 6.78452151e-03 1.26812976e-03 1.98521737e+01] [-6.78454735e-03 9.99976985e-01 1.60741238e-05 3.83177506e-02] [-1.26799152e-03 -2.46774273e-05 9.99999196e-01 -3.16230668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.01708433713969285 Centerline is valid? [True, True] Translation: X:19.91, Y:0.04, Z:-0.32 [[ 9.99980677e-01 6.12558255e-03 1.05979341e-03 1.99144336e+01] [-6.12560321e-03 9.99981238e-01 1.62439063e-05 4.02763172e-02] [-1.05967402e-03 -2.27354663e-05 9.99999438e-01 -3.17947308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.018094841062217044 Centerline is valid? [True, True] Translation: X:19.98, Y:0.04, Z:-0.32 [[ 9.99969430e-01 7.48182288e-03 2.27171794e-03 1.99766863e+01] [-7.48190990e-03 9.99972010e-01 2.98095766e-05 4.22560422e-02] [-2.27143132e-03 -4.68054543e-05 9.99997419e-01 -3.17742820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.019042378222226736 Centerline is valid? [True, True] Translation: X:20.04, Y:0.05, Z:-0.32 [[ 9.99949286e-01 9.64397973e-03 2.90171570e-03 2.00390618e+01] [-9.64411767e-03 9.99953494e-01 3.35501765e-05 4.77047468e-02] [-2.90125719e-03 -6.15329627e-05 9.99995789e-01 -3.19444399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.018378662731152337 Centerline is valid? [True, True] Translation: X:20.10, Y:0.05, Z:-0.32 [[ 9.99937180e-01 1.07863516e-02 3.04798891e-03 2.01015469e+01] [-1.07865152e-02 9.99941823e-01 3.72537757e-05 5.13385560e-02] [-3.04740975e-03 -7.01286141e-05 9.99995354e-01 -3.20249831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.016563988296488162 Centerline is valid? [True, True] Translation: X:20.16, Y:0.05, Z:-0.32 [[ 9.99917820e-01 1.24440627e-02 3.08200662e-03 2.01633343e+01] [-1.24442353e-02 9.99922567e-01 3.68631441e-05 5.28618731e-02] [-3.08130924e-03 -7.52133304e-05 9.99995250e-01 -3.18528570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.02022038798606941 Centerline is valid? [True, True] Translation: X:20.23, Y:0.06, Z:-0.32 [[ 9.99878005e-01 1.52468251e-02 3.39264640e-03 2.02255066e+01] [-1.52470464e-02 9.99883756e-01 3.93783681e-05 5.86746340e-02] [-3.39165163e-03 -9.11014013e-05 9.99994244e-01 -3.20299824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.0202579354623975 Centerline is valid? [True, True] Translation: X:20.29, Y:0.06, Z:-0.32 [[ 9.99832727e-01 1.80072639e-02 3.20266863e-03 2.02876491e+01] [-1.80074735e-02 9.99837852e-01 3.66139418e-05 6.46030321e-02] [-3.20149001e-03 -9.42797877e-05 9.99994871e-01 -3.22557403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.01928652342538811 Centerline is valid? [True, True] Translation: X:20.35, Y:0.07, Z:-0.32 [[ 9.99802186e-01 1.97716258e-02 2.16133577e-03 2.03492612e+01] [-1.97717266e-02 9.99804520e-01 2.52391838e-05 6.84143710e-02] [-2.16041425e-03 -6.79675310e-05 9.99997664e-01 -3.23988812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.021546750845604336 Centerline is valid? [True, True] Translation: X:20.41, Y:0.07, Z:-0.33 [[ 9.99819736e-01 1.88822628e-02 1.98870734e-03 2.04106276e+01] [-1.88823459e-02 9.99821712e-01 2.30082882e-05 7.16148612e-02] [-1.98791833e-03 -6.05556005e-05 9.99998022e-01 -3.25625475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.018763832027406578 Centerline is valid? [True, True] Translation: X:20.47, Y:0.07, Z:-0.32 [[ 9.99797896e-01 1.98498750e-02 3.18586816e-03 2.04731718e+01] [-1.98500862e-02 9.99802967e-01 3.46773148e-05 7.44878378e-02] [-3.18455210e-03 -9.79100639e-05 9.99994925e-01 -3.23729837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.021061483323142116 Centerline is valid? [True, True] Translation: X:20.54, Y:0.08, Z:-0.33 [[ 9.99766794e-01 2.14416058e-02 2.57183764e-03 2.05353539e+01] [-2.14417479e-02 9.99770099e-01 2.76984558e-05 7.75496907e-02] [-2.57065247e-03 -8.28366907e-05 9.99996692e-01 -3.25923995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.0234555826431994 Centerline is valid? [True, True] Translation: X:20.60, Y:0.09, Z:-0.33 [[ 9.99703620e-01 2.43372595e-02 6.08997929e-04 2.05964266e+01] [-2.43372696e-02 9.99703805e-01 9.15671910e-06 8.66386609e-02] [-6.08594697e-04 -2.39753520e-05 9.99999815e-01 -3.30106089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.0230350384314091 Centerline is valid? [True, True] Translation: X:20.66, Y:0.09, Z:-0.33 [[ 9.99682596e-01 2.51887125e-02 4.86249673e-04 2.06583016e+01] [-2.51887194e-02 9.99682714e-01 8.24348063e-06 8.78845996e-02] [-4.85887750e-04 -2.04888707e-05 9.99999882e-01 -3.30883179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.02430837287995653 Centerline is valid? [True, True] Translation: X:20.72, Y:0.09, Z:-0.33 [[ 9.99669655e-01 2.56943540e-02 6.17462832e-04 2.07195640e+01] [-2.56943636e-02 9.99669845e-01 7.47919556e-06 9.05698394e-02] [-6.17066800e-04 -2.33420393e-05 9.99999809e-01 -3.32425326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.024188218646773157 Centerline is valid? [True, True] Translation: X:20.78, Y:0.09, Z:-0.33 [[ 9.99654933e-01 2.62637208e-02 4.81892614e-04 2.07825436e+01] [-2.62637280e-02 9.99655049e-01 8.57519188e-06 9.07520693e-02] [-4.81501168e-04 -2.12285294e-05 9.99999884e-01 -3.32731262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.025253322267329435 Centerline is valid? [True, True] Translation: X:20.84, Y:0.09, Z:-0.33 [[ 9.99652186e-01 2.63557097e-02 9.39616215e-04 2.08443398e+01] [-2.63557321e-02 9.99652627e-01 1.15176725e-05 9.47968520e-02] [-9.38986262e-04 -3.62779398e-05 9.99999558e-01 -3.33847943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.024416198753076424 Centerline is valid? [True, True] Translation: X:20.91, Y:0.10, Z:-0.33 [[ 9.99659697e-01 2.60613489e-02 1.13889321e-03 2.09066639e+01] [-2.60613804e-02 9.99660344e-01 1.28776893e-05 9.74865092e-02] [-1.13817077e-03 -4.25544363e-05 9.99999351e-01 -3.34834056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.02314996739383695 Centerline is valid? [True, True] Translation: X:20.97, Y:0.10, Z:-0.34 [[ 9.99693580e-01 2.46626788e-02 2.12098026e-03 2.09684770e+01] [-2.46627768e-02 9.99695827e-01 2.00708177e-05 9.98977439e-02] [-2.11984011e-03 -7.23739304e-05 9.99997751e-01 -3.36168350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.021335006504598606 Centerline is valid? [True, True] Translation: X:21.03, Y:0.10, Z:-0.34 [[ 9.99717834e-01 2.35957747e-02 2.73722411e-03 2.10303672e+01] [-2.35959288e-02 9.99721577e-01 2.40209378e-05 1.04334149e-01] [-2.73589521e-03 -8.86015050e-05 9.99996254e-01 -3.36827623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.024168589169435303 Centerline is valid? [True, True] Translation: X:21.09, Y:0.11, Z:-0.34 [[ 9.99755259e-01 2.17915751e-02 3.81427368e-03 2.10920685e+01] [-2.17918516e-02 9.99762529e-01 3.09353466e-05 1.06832127e-01] [-3.81269377e-03 -1.14047861e-04 9.99992725e-01 -3.38988257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.02208032693972497 Centerline is valid? [True, True] Translation: X:21.15, Y:0.11, Z:-0.34 [[ 9.99834567e-01 1.74244391e-02 5.21797980e-03 2.11522169e+01] [-1.74248698e-02 9.99848175e-01 3.70890452e-05 1.08388990e-01] [-5.21654133e-03 -1.28005528e-04 9.99986386e-01 -3.38668260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.02228848754851706 Centerline is valid? [True, True] Translation: X:21.21, Y:0.11, Z:-0.34 [[ 9.99871095e-01 1.51821571e-02 5.22444068e-03 2.12132393e+01] [-1.51825693e-02 9.99884737e-01 3.92419866e-05 1.12521935e-01] [-5.22324272e-03 -1.18557361e-04 9.99986352e-01 -3.39693789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.021350689854241645 Centerline is valid? [True, True] Translation: X:21.28, Y:0.12, Z:-0.34 [[ 9.99868122e-01 1.53784930e-02 5.21917365e-03 2.12766604e+01] [-1.53789048e-02 9.99881737e-01 3.87724406e-05 1.15038856e-01] [-5.21796015e-03 -1.19032502e-04 9.99986379e-01 -3.39780328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.021415350028189496 Centerline is valid? [True, True] Translation: X:21.34, Y:0.12, Z:-0.34 [[ 9.99865965e-01 1.50601834e-02 6.42203277e-03 2.13384640e+01] [-1.50607797e-02 9.99886579e-01 4.45028691e-05 1.21561137e-01] [-6.42063416e-03 -1.41217725e-04 9.99979378e-01 -3.40512200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.020947466602953185 Centerline is valid? [True, True] Translation: X:21.40, Y:0.13, Z:-0.34 [[ 9.99856713e-01 1.53105415e-02 7.22082137e-03 2.14015248e+01] [-1.53112876e-02 9.99882774e-01 4.80554523e-05 1.25659555e-01] [-7.21923914e-03 -1.58608639e-04 9.99973928e-01 -3.40407225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.022794050818161302 Centerline is valid? [True, True] Translation: X:21.46, Y:0.13, Z:-0.34 [[ 9.99847590e-01 1.65282922e-02 5.62243880e-03 2.14625771e+01] [-1.65287515e-02 9.99863390e-01 3.52161147e-05 1.34637385e-01] [-5.62108866e-03 -1.28142641e-04 9.99984193e-01 -3.43184729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.02146944054042703 Centerline is valid? [True, True] Translation: X:21.52, Y:0.14, Z:-0.34 [[ 9.99845266e-01 1.69023618e-02 4.87381740e-03 2.15249731e+01] [-1.69027170e-02 9.99857138e-01 3.16781873e-05 1.39148183e-01] [-4.87258568e-03 -1.14054042e-04 9.99988122e-01 -3.44354011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.02153179740678111 Centerline is valid? [True, True] Translation: X:21.59, Y:0.14, Z:-0.35 [[ 9.99862105e-01 1.58430012e-02 4.97689776e-03 2.15872280e+01] [-1.58433506e-02 9.99874486e-01 3.07735805e-05 1.43227268e-01] [-4.97578554e-03 -1.09620073e-04 9.99987615e-01 -3.45544082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.02191846953373068 Centerline is valid? [True, True] Translation: X:21.65, Y:0.15, Z:-0.35 [[ 9.99862542e-01 1.54930694e-02 5.90434828e-03 2.16496527e+01] [-1.54935418e-02 9.99879967e-01 3.42814689e-05 1.48397184e-01] [-5.90310844e-03 -1.25756024e-04 9.99982569e-01 -3.45729463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.02146242110981823 Centerline is valid? [True, True] Translation: X:21.71, Y:0.15, Z:-0.35 [[ 9.99859611e-01 1.54162415e-02 6.56490408e-03 2.17115940e+01] [-1.54168102e-02 9.99881153e-01 3.60281334e-05 1.52970950e-01] [-6.56356845e-03 -1.37232956e-04 9.99978450e-01 -3.46911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.02222840293133495 Centerline is valid? [True, True] Translation: X:21.77, Y:0.16, Z:-0.35 [[ 9.99856944e-01 1.56868156e-02 6.32582777e-03 2.17735372e+01] [-1.56873354e-02 9.99876946e-01 3.25594795e-05 1.58749113e-01] [-6.32453859e-03 -1.31790203e-04 9.99979991e-01 -3.49214797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.02185126623602153 Centerline is valid? [True, True] Translation: X:21.84, Y:0.16, Z:-0.35 [[ 9.99842942e-01 1.65541219e-02 6.32865004e-03 2.18366064e+01] [-1.65546595e-02 9.99862962e-01 3.25672209e-05 1.60520671e-01] [-6.32724365e-03 -1.37330753e-04 9.99979973e-01 -3.49814137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.021320863039378257 Centerline is valid? [True, True] Translation: X:21.90, Y:0.17, Z:-0.35 [[ 9.99840050e-01 1.67781405e-02 6.19421534e-03 2.18999118e+01] [-1.67786492e-02 9.99859228e-01 3.01739322e-05 1.65533142e-01] [-6.19283711e-03 -1.34099672e-04 9.99980815e-01 -3.51129160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.02118369501792753 Centerline is valid? [True, True] Translation: X:21.96, Y:0.17, Z:-0.35 [[ 9.99850520e-01 1.61188964e-02 6.25450496e-03 2.19622611e+01] [-1.61193884e-02 9.99870074e-01 2.82461623e-05 1.66852994e-01] [-6.25323704e-03 -1.29060735e-04 9.99980440e-01 -3.52469520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.019227114685164796 Centerline is valid? [True, True] Translation: X:22.02, Y:0.17, Z:-0.35 [[ 9.99883843e-01 1.40191892e-02 5.98015068e-03 2.20237402e+01] [-1.40195922e-02 9.99901720e-01 2.54665721e-05 1.67092946e-01] [-5.97920593e-03 -1.09302888e-04 9.99982118e-01 -3.52932071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.020293492891988018 Centerline is valid? [True, True] Translation: X:22.09, Y:0.17, Z:-0.35 [[ 9.99895018e-01 1.31614874e-02 6.06039053e-03 2.20859259e+01] [-1.31618777e-02 9.99913378e-01 2.45271116e-05 1.68264420e-01] [-6.05954275e-03 -1.04290656e-04 9.99981635e-01 -3.54381317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.02148533864589448 Centerline is valid? [True, True] Translation: X:22.15, Y:0.17, Z:-0.36 [[ 9.99891791e-01 1.32820429e-02 6.32402372e-03 2.21486974e+01] [-1.32824620e-02 9.99911784e-01 2.42854911e-05 1.70024905e-01] [-6.32314328e-03 -1.08281468e-04 9.99980003e-01 -3.55414494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.020322250857861268 Centerline is valid? [True, True] Translation: X:22.21, Y:0.17, Z:-0.36 [[ 9.99898822e-01 1.24318022e-02 6.91343783e-03 2.22109792e+01] [-1.24322639e-02 9.99922716e-01 2.38023483e-05 1.69469802e-01] [-6.91260763e-03 -1.09749623e-04 9.99976102e-01 -3.55663038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.019856719179508053 Centerline is valid? [True, True] Translation: X:22.27, Y:0.17, Z:-0.36 [[ 9.99897225e-01 1.25071457e-02 7.00795740e-03 2.22730833e+01] [-1.25076102e-02 9.99921777e-01 2.24504195e-05 1.70688875e-01] [-7.00712843e-03 -1.10100912e-04 9.99975444e-01 -3.56594622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.02004146094683121 Centerline is valid? [True, True] Translation: X:22.34, Y:0.17, Z:-0.36 [[ 9.99900307e-01 1.23648540e-02 6.81811323e-03 2.23359083e+01] [-1.23652805e-02 9.99923547e-01 2.04017946e-05 1.70830168e-01] [-6.81733969e-03 -1.04707643e-04 9.99976756e-01 -3.57692331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.020650436511630003 Centerline is valid? [True, True] Translation: X:22.40, Y:0.17, Z:-0.36 [[ 9.99892827e-01 1.27796342e-02 7.14247767e-03 2.23978050e+01] [-1.27800951e-02 9.99918331e-01 1.88889806e-05 1.71786676e-01] [-7.14165296e-03 -1.10168500e-04 9.99974492e-01 -3.59860716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.02038419691749133 Centerline is valid? [True, True] Translation: X:22.46, Y:0.17, Z:-0.36 [[ 9.99901001e-01 1.25374655e-02 6.38744007e-03 2.24602679e+01] [-1.25378224e-02 9.99921398e-01 1.58436907e-05 1.68954681e-01] [-6.38673936e-03 -9.59267116e-05 9.99979600e-01 -3.60743713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.019781608019467923 Centerline is valid? [True, True] Translation: X:22.52, Y:0.17, Z:-0.36 [[ 9.99923671e-01 9.83846545e-03 7.47367725e-03 2.25212790e+01] [-9.83885310e-03 9.99951597e-01 1.51034366e-05 1.66168534e-01] [-7.47316691e-03 -8.86346963e-05 9.99972072e-01 -3.61388087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.018983466321730084 Centerline is valid? [True, True] Translation: X:22.58, Y:0.16, Z:-0.36 [[ 9.99937024e-01 7.32995096e-03 8.49822872e-03 2.25836454e+01] [-7.33034184e-03 9.99973133e-01 1.48484146e-05 1.62044464e-01] [-8.49789155e-03 -7.71424010e-05 9.99963889e-01 -3.61373473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.01852144211941075 Centerline is valid? [True, True] Translation: X:22.65, Y:0.15, Z:-0.36 [[ 9.99965075e-01 2.15426519e-03 8.07509239e-03 2.26453999e+01] [-2.15443469e-03 9.99997679e-01 1.22919821e-05 1.54328896e-01] [-8.07504717e-03 -2.96888120e-05 9.99967396e-01 -3.62116937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.019415445543056783 Centerline is valid? [True, True] Translation: X:22.71, Y:0.15, Z:-0.36 [[ 9.99962940e-01 -9.21255981e-04 8.55976348e-03 2.27075903e+01] [ 9.21197968e-04 9.99999576e-01 1.07201573e-05 1.50120231e-01] [-8.55976972e-03 -2.83452334e-06 9.99963364e-01 -3.63965732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.018674628779722306 Centerline is valid? [True, True] Translation: X:22.77, Y:0.15, Z:-0.36 [[ 9.99953791e-01 -3.08126910e-03 9.10608070e-03 2.27705770e+01] [ 3.08131330e-03 9.99995253e-01 9.17556154e-06 1.46494397e-01] [-9.10606574e-03 1.88835500e-05 9.99958539e-01 -3.64943975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.01894386378950842 Centerline is valid? [True, True] Translation: X:22.83, Y:0.14, Z:-0.37 [[ 9.99947485e-01 -4.18430789e-03 9.35511874e-03 2.28338356e+01] [ 4.18442844e-03 9.99991245e-01 6.68797288e-06 1.42220071e-01] [-9.35506482e-03 3.24582032e-05 9.99956240e-01 -3.65620125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.01872188521244494 Centerline is valid? [True, True] Translation: X:22.90, Y:0.14, Z:-0.37 [[ 9.99956888e-01 -4.26899764e-03 8.24604455e-03 2.28957185e+01] [ 4.26912212e-03 9.99990887e-01 2.50709202e-06 1.36716091e-01] [-8.24598011e-03 3.26963872e-05 9.99966001e-01 -3.66052734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.01847135040430765 Centerline is valid? [True, True] Translation: X:22.96, Y:0.13, Z:-0.37 [[ 9.99969187e-01 -3.86066206e-03 6.83523604e-03 2.29564594e+01] [ 3.86074127e-03 9.99992547e-01 1.60669913e-06 1.33875792e-01] [-6.83519130e-03 2.47824282e-05 9.99976640e-01 -3.68204936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.01861922196527535 Centerline is valid? [True, True] Translation: X:23.02, Y:0.13, Z:-0.37 [[ 9.99978290e-01 -3.40117711e-03 5.64377501e-03 2.30190510e+01] [ 3.40122355e-03 9.99994216e-01 1.36905183e-06 1.29859814e-01] [-5.64374702e-03 1.78267184e-05 9.99984074e-01 -3.69562786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.0190233934903667 Centerline is valid? [True, True] Translation: X:23.08, Y:0.13, Z:-0.37 [[ 9.99977947e-01 -2.67329508e-03 6.07934036e-03 2.30814520e+01] [ 2.67333877e-03 9.99996427e-01 9.39784569e-07 1.25832110e-01] [-6.07932114e-03 1.53123724e-05 9.99981521e-01 -3.70038138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.01891891043551434 Centerline is valid? [True, True] Translation: X:23.14, Y:0.12, Z:-0.37 [[ 9.99973276e-01 -1.86160075e-03 7.06971916e-03 2.31440022e+01] [ 1.86164448e-03 9.99998267e-01 3.95244021e-07 1.21107689e-01] [-7.06970764e-03 1.27660702e-05 9.99975009e-01 -3.70372994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.019189622392829703 Centerline is valid? [True, True] Translation: X:23.21, Y:0.12, Z:-0.37 [[ 9.99976025e-01 -1.51136313e-03 6.75755091e-03 2.32064793e+01] [ 1.51139796e-03 9.99998858e-01 -4.78625867e-08 1.17338853e-01] [-6.75754312e-03 1.02612101e-05 9.99977167e-01 -3.71370180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.018728571467647077 Centerline is valid? [True, True] Translation: X:23.27, Y:0.11, Z:-0.37 [[ 9.99984281e-01 -1.40781346e-03 5.42735773e-03 2.32686192e+01] [ 1.40783526e-03 9.99999009e-01 -1.96588151e-07 1.10195633e-01] [-5.42735208e-03 7.83741063e-06 9.99985272e-01 -3.72486787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.01936064164622177 Centerline is valid? [True, True] Translation: X:23.33, Y:0.10, Z:-0.38 [[ 9.99990389e-01 -1.19088422e-03 4.21942184e-03 2.33295195e+01] [ 1.19089658e-03 9.99999291e-01 -4.17787618e-07 1.03870910e-01] [-4.21941835e-03 5.44267865e-06 9.99991098e-01 -3.75890792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.01861712336931536 Centerline is valid? [True, True] Translation: X:23.39, Y:0.10, Z:-0.38 [[ 9.99990318e-01 -8.57963697e-04 4.31604585e-03 2.33919130e+01] [ 8.57973572e-04 9.99999632e-01 -4.36489132e-07 9.94102536e-02] [-4.31604388e-03 4.13953818e-06 9.99990686e-01 -3.76732089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.0184506260389998 Centerline is valid? [True, True] Translation: X:23.45, Y:0.09, Z:-0.38 [[ 9.99987694e-01 -3.62146325e-04 4.94781185e-03 2.34542746e+01] [ 3.62155839e-04 9.99999934e-01 -1.02698686e-06 9.39710494e-02] [-4.94781115e-03 2.81885317e-06 9.99987760e-01 -3.77728702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.01792987980074414 Centerline is valid? [True, True] Translation: X:23.52, Y:0.09, Z:-0.38 [[ 9.99983048e-01 1.04358750e-03 5.72845794e-03 2.35155455e+01] [-1.04359324e-03 9.99999455e-01 -1.98807044e-06 8.60999187e-02] [-5.72845690e-03 -3.99014324e-06 9.99983592e-01 -3.80224829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.017974817935392233 Centerline is valid? [True, True] Translation: X:23.58, Y:0.08, Z:-0.38 [[ 9.99978731e-01 2.03498051e-03 6.19643468e-03 2.35781732e+01] [-2.03500596e-03 9.99997929e-01 -2.19766445e-06 8.07497600e-02] [-6.19642632e-03 -1.04121638e-05 9.99980802e-01 -3.81118852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.01716772434967324 Centerline is valid? [True, True] Translation: X:23.64, Y:0.07, Z:-0.38 [[ 9.99964094e-01 4.24138351e-03 7.33632354e-03 2.36392360e+01] [-4.24146942e-03 9.99991005e-01 -3.84846312e-06 7.26673411e-02] [-7.33627387e-03 -2.72684670e-05 9.99973089e-01 -3.82225833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.016030593390110762 Centerline is valid? [True, True] Translation: X:23.70, Y:0.07, Z:-0.38 [[ 9.99951790e-01 6.02099681e-03 7.75668104e-03 2.37017073e+01] [-6.02114632e-03 9.99981873e-01 -4.07775358e-06 6.75256370e-02] [-7.75656499e-03 -4.26265545e-05 9.99969916e-01 -3.83583362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.017658856918107774 Centerline is valid? [True, True] Translation: X:23.76, Y:0.06, Z:-0.39 [[ 9.99934856e-01 1.01660012e-02 5.19004510e-03 2.37640904e+01] [-1.01661220e-02 9.99948324e-01 -3.11258645e-06 6.05887871e-02] [-5.18980854e-03 -4.96502479e-05 9.99986532e-01 -3.87338615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.017796115988149647 Centerline is valid? [True, True] Translation: X:23.83, Y:0.06, Z:-0.39 [[ 9.99891960e-01 1.38439175e-02 4.94116426e-03 2.38261329e+01] [-1.38440705e-02 9.99904166e-01 -3.24363725e-06 5.64958638e-02] [-4.94073564e-03 -6.51625395e-05 9.99987792e-01 -3.88618106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.01875492941580418 Centerline is valid? [True, True] Translation: X:23.89, Y:0.06, Z:-0.39 [[ 9.99764076e-01 2.11539321e-02 4.92983187e-03 2.38872295e+01] [-2.11541695e-02 9.99776226e-01 -3.99008051e-06 5.68909500e-02] [-4.92881310e-03 -1.00297360e-04 9.99987848e-01 -3.89331229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.019268890556302157 Centerline is valid? [True, True] Translation: X:23.95, Y:0.06, Z:-0.39 [[ 9.99716287e-01 2.25660690e-02 7.62350272e-03 2.39505753e+01] [-2.25666898e-02 9.99745340e-01 -4.59250088e-06 6.05632120e-02] [-7.62166495e-03 -1.67446023e-04 9.99970941e-01 -3.90792847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.01863868726200542 Centerline is valid? [True, True] Translation: X:24.01, Y:0.06, Z:-0.39 [[ 9.99689673e-01 2.29041157e-02 9.79586486e-03 2.40112604e+01] [-2.29051127e-02 9.99737643e-01 -1.04213431e-05 6.11815808e-02] [-9.79353355e-03 -2.13957279e-04 9.99952019e-01 -3.89787827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.016964123763526278 Centerline is valid? [True, True] Translation: X:24.07, Y:0.06, Z:-0.39 [[ 9.99730631e-01 2.09726953e-02 9.94035583e-03 2.40734152e+01] [-2.09736043e-02 9.99780030e-01 -1.28033188e-05 5.77489180e-02] [-9.93843777e-03 -1.95685220e-04 9.99950593e-01 -3.90277948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.01825228833742689 Centerline is valid? [True, True] Translation: X:24.13, Y:0.06, Z:-0.39 [[ 9.99695342e-01 2.29167545e-02 9.16762128e-03 2.41343484e+01] [-2.29175898e-02 9.99737357e-01 -1.39425546e-05 6.36510710e-02] [-9.16553299e-03 -1.96161477e-04 9.99957976e-01 -3.93995863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.019915443541126843 Centerline is valid? [True, True] Translation: X:24.20, Y:0.06, Z:-0.40 [[ 9.99638789e-01 2.59434203e-02 7.01647002e-03 2.41959921e+01] [-2.59439793e-02 9.99663398e-01 -1.13597864e-05 6.40336862e-02] [-7.01440298e-03 -1.70679470e-04 9.99975384e-01 -3.95942697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.016668245921298203 Centerline is valid? [True, True] Translation: X:24.26, Y:0.06, Z:-0.39 [[ 9.99642702e-01 2.49135231e-02 9.68424030e-03 2.42579865e+01] [-2.49145048e-02 9.99689585e-01 -1.92765733e-05 6.47062262e-02] [-9.68171442e-03 -2.22008366e-04 9.99953106e-01 -3.94757036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.01628789740140808 Centerline is valid? [True, True] Translation: X:24.32, Y:0.06, Z:-0.39 [[ 9.99624309e-01 2.45378130e-02 1.22121208e-02 2.43203685e+01] [-2.45392952e-02 9.99698866e-01 -2.84795071e-05 6.42983359e-02] [-1.22091421e-02 -2.71208030e-04 9.99925429e-01 -3.93092485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.018223617867173504 Centerline is valid? [True, True] Translation: X:24.38, Y:0.06, Z:-0.39 [[ 9.99605412e-01 2.49701771e-02 1.28650521e-02 2.43831397e+01] [-2.49718152e-02 9.99688155e-01 -3.33123987e-05 6.48833736e-02] [-1.28618720e-02 -2.87964450e-04 9.99917241e-01 -3.94403372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.018085784633240683 Centerline is valid? [True, True] Translation: X:24.44, Y:0.07, Z:-0.40 [[ 9.99592784e-01 2.58244061e-02 1.21394099e-02 2.44449679e+01] [-2.58258863e-02 9.99666456e-01 -3.48350676e-05 6.71559587e-02] [-1.21362605e-02 -2.78690138e-04 9.99926314e-01 -3.97013107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.016553855775316782 Centerline is valid? [True, True] Translation: X:24.51, Y:0.07, Z:-0.40 [[ 9.99595939e-01 2.63874500e-02 1.05669847e-02 2.45073889e+01] [-2.63885804e-02 9.99651760e-01 -3.24680949e-05 7.05827540e-02] [-1.05641616e-02 -2.46392750e-04 9.99944167e-01 -3.99818239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.016569620014902208 Centerline is valid? [True, True] Translation: X:24.57, Y:0.07, Z:-0.40 [[ 9.99596566e-01 2.63627614e-02 1.05692698e-02 2.45703454e+01] [-2.63638652e-02 9.99652412e-01 -3.49063116e-05 7.03261970e-02] [-1.05665163e-02 -2.43754575e-04 9.99944143e-01 -3.99587875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.019240930196397953 Centerline is valid? [True, True] Translation: X:24.63, Y:0.07, Z:-0.40 [[ 9.99545801e-01 2.84765864e-02 9.86288233e-03 2.46316849e+01] [-2.84776222e-02 9.99594430e-01 -3.54319466e-05 7.24763861e-02] [-9.85989121e-03 -2.45455583e-04 9.99951360e-01 -4.01764937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.01978855370757276 Centerline is valid? [True, True] Translation: X:24.69, Y:0.07, Z:-0.40 [[ 9.99504161e-01 2.98127872e-02 1.01306020e-02 2.46934173e+01] [-2.98139251e-02 9.99555465e-01 -3.87125423e-05 7.39805235e-02] [-1.01272527e-02 -2.63339663e-04 9.99948683e-01 -4.03016162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.01937790595281919 Centerline is valid? [True, True] Translation: X:24.76, Y:0.08, Z:-0.40 [[ 9.99477728e-01 3.02627242e-02 1.13330792e-02 2.47565585e+01] [-3.02641429e-02 9.99541935e-01 -4.63362335e-05 7.64878327e-02] [-1.13292902e-02 -2.96673896e-04 9.99935778e-01 -4.04234747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.020518309214692818 Centerline is valid? [True, True] Translation: X:24.82, Y:0.08, Z:-0.41 [[ 9.99461874e-01 3.07103922e-02 1.15253615e-02 2.48196086e+01] [-3.07118518e-02 9.99528279e-01 -5.03747005e-05 7.69310111e-02] [-1.15214718e-02 -3.03617601e-04 9.99933580e-01 -4.06064258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.019895589475359354 Centerline is valid? [True, True] Translation: X:24.88, Y:0.08, Z:-0.41 [[ 9.99479464e-01 3.02591451e-02 1.11886197e-02 2.48813721e+01] [-3.02604572e-02 9.99542046e-01 -5.20389234e-05 7.76093236e-02] [-1.11850705e-02 -2.86560913e-04 9.99937404e-01 -4.07342736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.01932282914502067 Centerline is valid? [True, True] Translation: X:24.94, Y:0.08, Z:-0.41 [[ 9.99510191e-01 2.94747771e-02 1.05173775e-02 2.49430115e+01] [-2.94758693e-02 9.99565491e-01 -5.11752380e-05 7.52603435e-02] [-1.05143160e-02 -2.58858672e-04 9.99944690e-01 -4.08453234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.018846038841012835 Centerline is valid? [True, True] Translation: X:25.01, Y:0.07, Z:-0.41 [[ 9.99559311e-01 2.79987024e-02 9.86183000e-03 2.50050298e+01] [-2.79995693e-02 9.99607934e-01 -5.01732348e-05 7.41109655e-02] [-9.85936830e-03 -2.25975869e-04 9.99951370e-01 -4.09845569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.016243218111167253 Centerline is valid? [True, True] Translation: X:25.07, Y:0.07, Z:-0.41 [[ 9.99612465e-01 2.54353950e-02 1.13119443e-02 2.50674651e+01] [-2.54363328e-02 9.99676442e-01 -6.09827115e-05 7.33371134e-02] [-1.13098354e-02 -2.26775302e-04 9.99936016e-01 -4.09927084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.015830066356675172 Centerline is valid? [True, True] Translation: X:25.13, Y:0.07, Z:-0.41 [[ 9.99760346e-01 1.81894251e-02 1.21817873e-02 2.51292183e+01] [-1.81899262e-02 9.99834547e-01 -6.96706557e-05 6.95013134e-02] [-1.21810390e-02 -1.51931852e-04 9.99925797e-01 -4.12380938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.016201673417324463 Centerline is valid? [True, True] Translation: X:25.19, Y:0.07, Z:-0.41 [[ 9.99833082e-01 1.35682776e-02 1.22355992e-02 2.51913446e+01] [-1.35684340e-02 9.99907942e-01 -7.02347416e-05 6.58117208e-02] [-1.22354258e-02 -9.57949020e-05 9.99925140e-01 -4.13925877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.016332576556563408 Centerline is valid? [True, True] Translation: X:25.25, Y:0.06, Z:-0.42 [[ 9.99915732e-01 6.88766539e-03 1.10040867e-02 2.52534893e+01] [-6.88736197e-03 9.99976280e-01 -6.54694850e-05 6.08011280e-02] [-1.10042766e-02 -1.03251602e-05 9.99939451e-01 -4.16540043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.014545129098580623 Centerline is valid? [True, True] Translation: X:25.32, Y:0.06, Z:-0.42 [[ 9.99940765e-01 3.01594863e-03 1.04580316e-02 2.53162001e+01] [-3.01543939e-03 9.99995451e-01 -6.44613317e-05 5.83809680e-02] [-1.04581785e-02 3.29219528e-05 9.99945311e-01 -4.18067442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.014143944926578628 Centerline is valid? [True, True] Translation: X:25.38, Y:0.06, Z:-0.42 [[ 9.99943871e-01 -3.08287796e-03 1.01366193e-02 2.53785091e+01] [ 3.08369931e-03 9.99995243e-01 -6.53998379e-05 5.59923825e-02] [-1.01363695e-02 9.66544531e-05 9.99948621e-01 -4.20047442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.015197514850957147 Centerline is valid? [True, True] Translation: X:25.44, Y:0.05, Z:-0.42 [[ 9.99897917e-01 -9.35711399e-03 1.07981835e-02 2.54401158e+01] [ 9.35844507e-03 9.99956206e-01 -7.27456922e-05 5.30379473e-02] [-1.07970299e-02 1.73792473e-04 9.99941695e-01 -4.21883706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.01600926138836728 Centerline is valid? [True, True] Translation: X:25.50, Y:0.05, Z:-0.42 [[ 9.99848479e-01 -1.31466394e-02 1.14098761e-02 2.55017790e+01] [ 1.31484042e-02 9.99913553e-01 -7.96739091e-05 5.01362736e-02] [-1.14078423e-02 2.29683500e-04 9.99934902e-01 -4.22441138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.018796964065093694 Centerline is valid? [True, True] Translation: X:25.56, Y:0.04, Z:-0.42 [[ 9.99733892e-01 -1.95098082e-02 1.23090437e-02 2.55618795e+01] [ 1.95123922e-02 9.99809611e-01 -8.98555502e-05 4.37065560e-02] [-1.23049472e-02 3.30010528e-04 9.99924237e-01 -4.23453940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.021315259746559286 Centerline is valid? [True, True] Translation: X:25.62, Y:0.04, Z:-0.43 [[ 9.99727261e-01 -2.04286935e-02 1.13169245e-02 2.56213407e+01] [ 2.04309403e-02 9.99791263e-01 -8.29499910e-05 4.37101837e-02] [-1.13128677e-02 3.14142776e-04 9.99935958e-01 -4.28577648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.020407603238819242 Centerline is valid? [True, True] Translation: X:25.68, Y:0.05, Z:-0.43 [[ 9.99740102e-01 -2.00626883e-02 1.08266674e-02 2.56805565e+01] [ 2.00647347e-02 9.99798680e-01 -8.04159621e-05 4.77340547e-02] [-1.08228745e-02 2.97629272e-04 9.99941387e-01 -4.30012625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.020429751934989616 Centerline is valid? [True, True] Translation: X:25.74, Y:0.05, Z:-0.43 [[ 9.99767223e-01 -1.87503974e-02 1.06734786e-02 2.57397231e+01] [ 1.87522840e-02 9.99824158e-01 -7.66893272e-05 4.81617602e-02] [-1.06701638e-02 2.76823577e-04 9.99943034e-01 -4.31742455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.019747098902822842 Centerline is valid? [True, True] Translation: X:25.80, Y:0.05, Z:-0.43 [[ 9.99803756e-01 -1.67742464e-02 1.05391853e-02 2.57990555e+01] [ 1.67759367e-02 9.99859271e-01 -7.19957212e-05 4.82633358e-02] [-1.05364945e-02 2.48786299e-04 9.99944459e-01 -4.32674323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.017857458395881622 Centerline is valid? [True, True] Translation: X:25.86, Y:0.05, Z:-0.43 [[ 9.99848270e-01 -1.23410784e-02 1.22937066e-02 2.58591289e+01] [ 1.23430363e-02 9.99923818e-01 -8.33906957e-05 5.07417816e-02] [-1.22917409e-02 2.35119709e-04 9.99924426e-01 -4.32526930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.018203531391516058 Centerline is valid? [True, True] Translation: X:25.92, Y:0.05, Z:-0.43 [[ 9.99882275e-01 -8.18112793e-03 1.29809493e-02 2.59200757e+01] [ 8.18295506e-03 9.99966515e-01 -8.76467677e-05 5.34225958e-02] [-1.29797975e-02 1.93858974e-04 9.99915740e-01 -4.33798521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.013803143374630773 Centerline is valid? [True, True] Translation: X:25.98, Y:0.06, Z:-0.44 [[ 9.99907907e-01 1.26682255e-03 1.35119787e-02 2.59801195e+01] [-1.26570051e-03 9.99999195e-01 -9.15919874e-05 6.13871461e-02] [-1.35120839e-02 7.44814341e-05 9.99908705e-01 -4.35293692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.017872012978586788 Centerline is valid? [True, True] Translation: X:26.04, Y:0.06, Z:-0.44 [[ 9.99923595e-01 4.13174475e-03 1.16504582e-02 2.60417655e+01] [-4.13109522e-03 9.99991464e-01 -7.98162126e-05 6.38705806e-02] [-1.16506885e-02 3.16809621e-05 9.99932128e-01 -4.39402631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.01720355788483816 Centerline is valid? [True, True] Translation: X:26.10, Y:0.07, Z:-0.44 [[ 9.99900684e-01 6.81277115e-03 1.23372819e-02 2.61041636e+01] [-6.81223523e-03 9.99976793e-01 -8.54631166e-05 6.51640700e-02] [-1.23375779e-02 1.41016206e-06 9.99923889e-01 -4.39945453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.0177730627379519 Centerline is valid? [True, True] Translation: X:26.17, Y:0.07, Z:-0.44 [[ 9.99851384e-01 1.05155099e-02 1.36614267e-02 2.61675520e+01] [-1.05151846e-02 9.99944709e-01 -9.56446513e-05 6.67899037e-02] [-1.36616771e-02 -4.80219863e-05 9.99906674e-01 -4.40866543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.018200244428069386 Centerline is valid? [True, True] Translation: X:26.23, Y:0.07, Z:-0.44 [[ 9.99827529e-01 1.25269186e-02 1.37108908e-02 2.62303873e+01] [-1.25267657e-02 9.99921532e-01 -9.70367801e-05 6.74086890e-02] [-1.37110305e-02 -7.47330724e-05 9.99905997e-01 -4.42356192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.01710776638679748 Centerline is valid? [True, True] Translation: X:26.29, Y:0.07, Z:-0.44 [[ 9.99782865e-01 1.55056227e-02 1.39211716e-02 2.62915252e+01] [-1.55056929e-02 9.99879774e-01 -1.02897747e-04 6.93077667e-02] [-1.39210934e-02 -1.12982007e-04 9.99903091e-01 -4.44314850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.01786845552405711 Centerline is valid? [True, True] Translation: X:26.35, Y:0.07, Z:-0.45 [[ 9.99762941e-01 1.72977450e-02 1.32230918e-02 2.63531261e+01] [-1.72979466e-02 9.99850374e-01 -9.91345965e-05 6.95035051e-02] [-1.32228281e-02 -1.29621239e-04 9.99912566e-01 -4.46520967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.016906523746929455 Centerline is valid? [True, True] Translation: X:26.42, Y:0.07, Z:-0.45 [[ 9.99724243e-01 1.93277902e-02 1.33369224e-02 2.64151851e+01] [-1.93281356e-02 9.99813189e-01 -1.03015009e-04 6.99861756e-02] [-1.33364219e-02 -1.54791241e-04 9.99911054e-01 -4.47468173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.017430243647809325 Centerline is valid? [True, True] Translation: X:26.48, Y:0.07, Z:-0.45 [[ 9.99682786e-01 2.11379468e-02 1.36935836e-02 2.64776574e+01] [-2.11384341e-02 9.99776552e-01 -1.09163745e-04 6.96799556e-02] [-1.36928313e-02 -1.80331798e-04 9.99906233e-01 -4.48329821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.016331066959581496 Centerline is valid? [True, True] Translation: X:26.54, Y:0.07, Z:-0.45 [[ 9.99569452e-01 2.57290962e-02 1.41040510e-02 2.65389250e+01] [-2.57300176e-02 9.99668922e-01 -1.16150118e-04 7.32263224e-02] [-1.41023699e-02 -2.46797372e-04 9.99900526e-01 -4.48825797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.019029980734928564 Centerline is valid? [True, True] Translation: X:26.60, Y:0.08, Z:-0.45 [[ 9.99489445e-01 2.93691190e-02 1.25819231e-02 2.65999412e+01] [-2.93701092e-02 9.99568600e-01 -1.06110362e-04 7.70060650e-02] [-1.25796116e-02 -2.63476269e-04 9.99920839e-01 -4.52655315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.02056051774196595 Centerline is valid? [True, True] Translation: X:26.66, Y:0.08, Z:-0.46 [[ 9.99432277e-01 3.15947255e-02 1.17003039e-02 2.66617755e+01] [-3.15957072e-02 9.99500726e-01 -1.00976463e-04 7.76655930e-02] [-1.16976525e-02 -2.68760240e-04 9.99931544e-01 -4.55177060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.0192771837390744 Centerline is valid? [True, True] Translation: X:26.72, Y:0.08, Z:-0.46 [[ 9.99274295e-01 3.65987613e-02 1.05552540e-02 2.67228265e+01] [-3.65998029e-02 9.99329998e-01 -9.45338117e-05 7.92708926e-02] [-1.05516418e-02 -2.91855008e-04 9.99944287e-01 -4.56453509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.02250408010891106 Centerline is valid? [True, True] Translation: X:26.78, Y:0.08, Z:-0.46 [[ 9.99159709e-01 3.97651628e-02 9.93016040e-03 2.67837425e+01] [-3.97662524e-02 9.99209006e-01 -8.77727098e-05 8.29670911e-02] [-9.92579600e-03 -3.07186310e-04 9.99950691e-01 -4.58475612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.023781970661525213 Centerline is valid? [True, True] Translation: X:26.85, Y:0.08, Z:-0.46 [[ 9.99046072e-01 4.25180296e-02 9.95802770e-03 2.68459075e+01] [-4.25192290e-02 9.99095644e-01 -9.13262781e-05 8.37641495e-02] [-9.95290511e-03 -3.32168501e-04 9.99950413e-01 -4.59292718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.0224290362520911 Centerline is valid? [True, True] Translation: X:26.91, Y:0.08, Z:-0.46 [[ 9.99003086e-01 4.33794406e-02 1.05384594e-02 2.69079006e+01] [-4.33808342e-02 9.99058604e-01 -9.64249300e-05 8.09024498e-02] [-1.05327214e-02 -3.60838356e-04 9.99944464e-01 -4.59611039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.02401005159914222 Centerline is valid? [True, True] Translation: X:26.97, Y:0.08, Z:-0.46 [[ 9.98947206e-01 4.45330450e-02 1.10130656e-02 2.69689872e+01] [-4.45346032e-02 9.99007837e-01 -1.03831923e-04 8.22941528e-02] [-1.10067628e-02 -3.86739898e-04 9.99939349e-01 -4.60814980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.022744200615576842 Centerline is valid? [True, True] Translation: X:27.03, Y:0.08, Z:-0.46 [[ 9.98871164e-01 4.60055838e-02 1.18272666e-02 2.70306062e+01] [-4.60074487e-02 9.98941090e-01 -1.14493200e-04 8.15556930e-02] [-1.18200099e-02 -4.29778406e-04 9.99930049e-01 -4.61062275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.024683737358515503 Centerline is valid? [True, True] Translation: X:27.09, Y:0.08, Z:-0.46 [[ 9.98796339e-01 4.80603935e-02 9.80158645e-03 2.70927147e+01] [-4.80617473e-02 9.98844362e-01 -9.75215276e-05 8.23147264e-02] [-9.79494629e-03 -3.73677226e-04 9.99951959e-01 -4.63718751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.025248263104343444 Centerline is valid? [True, True] Translation: X:27.15, Y:0.08, Z:-0.47 [[ 9.98725275e-01 4.97072652e-02 8.77566986e-03 2.71544618e+01] [-4.97084207e-02 9.98763769e-01 -8.65305451e-05 8.33864727e-02] [-8.76912230e-03 -3.49804447e-04 9.99961489e-01 -4.66462764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.026192490572453268 Centerline is valid? [True, True] Translation: X:27.22, Y:0.08, Z:-0.47 [[ 9.98646001e-01 5.13401977e-02 8.38746539e-03 2.72159974e+01] [-5.13412937e-02 9.98681163e-01 -8.47300520e-05 8.41368576e-02] [-8.38075375e-03 -3.46007997e-04 9.99964821e-01 -4.68216334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.02656490704836016 Centerline is valid? [True, True] Translation: X:27.28, Y:0.08, Z:-0.47 [[ 9.98575115e-01 5.25891898e-02 9.06181838e-03 2.72785202e+01] [-5.25905002e-02 9.98616158e-01 -9.37819371e-05 8.45514420e-02] [-9.05421017e-03 -3.82917253e-04 9.99958936e-01 -4.69150244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.026442244850685262 Centerline is valid? [True, True] Translation: X:27.34, Y:0.08, Z:-0.47 [[ 9.98470587e-01 5.45422958e-02 9.03459931e-03 2.73403438e+01] [-5.45436474e-02 9.98511383e-01 -9.69131876e-05 8.44350421e-02] [-9.02643612e-03 -3.96015032e-04 9.99959182e-01 -4.70249061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.026705003243244263 Centerline is valid? [True, True] Translation: X:27.40, Y:0.08, Z:-0.47 [[ 9.98322497e-01 5.71652086e-02 9.18320152e-03 2.74018139e+01] [-5.71667199e-02 9.98364641e-01 -9.80512715e-05 8.47042982e-02] [-9.17378881e-03 -4.27086719e-04 9.99957829e-01 -4.71504430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.030762057521287644 Centerline is valid? [True, True] Translation: X:27.46, Y:0.09, Z:-0.47 [[ 9.98010742e-01 6.23575941e-02 9.27844972e-03 2.74619336e+01] [-6.23593248e-02 9.98053758e-01 -1.02935672e-04 9.13825743e-02] [-9.26681044e-03 -4.75866954e-04 9.99956949e-01 -4.72938582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.03218569089250739 Centerline is valid? [True, True] Translation: X:27.52, Y:0.10, Z:-0.47 [[ 9.97708764e-01 6.69964319e-02 9.41806478e-03 2.75227169e+01] [-6.69984234e-02 9.97753076e-01 -1.04242522e-04 9.66591982e-02] [-9.40388698e-03 -5.26991814e-04 9.99955644e-01 -4.74555617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.028840760806538728 Centerline is valid? [True, True] Translation: X:27.58, Y:0.09, Z:-0.48 [[ 9.97571221e-01 6.88806038e-02 1.03499026e-02 2.75849264e+01] [-6.88831132e-02 9.97624731e-01 -1.14242097e-04 9.42624346e-02] [-1.03331879e-02 -5.98968888e-04 9.99946432e-01 -4.75113489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.03189548656781165 Centerline is valid? [True, True] Translation: X:27.65, Y:0.10, Z:-0.48 [[ 9.97572390e-01 6.89679200e-02 9.63084373e-03 2.76464320e+01] [-6.89701033e-02 9.97618722e-01 -1.05644177e-04 9.74451118e-02] [-9.61519607e-03 -5.58852573e-04 9.99953617e-01 -4.77674573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.03138955334602876 Centerline is valid? [True, True] Translation: X:27.71, Y:0.10, Z:-0.48 [[ 9.97739193e-01 6.65643910e-02 9.25655539e-03 2.77077914e+01] [-6.65662683e-02 9.97782001e-01 -1.05475853e-04 9.59070492e-02] [-9.24304530e-03 -5.10936957e-04 9.99957152e-01 -4.78849922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.027498911069881643 Centerline is valid? [True, True] Translation: X:27.77, Y:0.09, Z:-0.48 [[ 9.98201661e-01 5.92021796e-02 9.40983467e-03 2.77680345e+01] [-5.92037877e-02 9.98245912e-01 -1.07812107e-04 8.87405428e-02] [-9.39971170e-03 -4.49479629e-04 9.99955721e-01 -4.80314768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.02559752753592219 Centerline is valid? [True, True] Translation: X:27.83, Y:0.08, Z:-0.48 [[ 9.98479660e-01 5.43718925e-02 9.05902009e-03 2.78291200e+01] [-5.43731858e-02 9.98520679e-01 -1.03644781e-04 8.29897593e-02] [-9.05125425e-03 -3.89080577e-04 9.99958961e-01 -4.81423959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.024229569061832344 Centerline is valid? [True, True] Translation: X:27.89, Y:0.08, Z:-0.48 [[ 9.98790301e-01 4.83594903e-02 8.90473735e-03 2.78899782e+01] [-4.83604998e-02 9.98829941e-01 -1.02041485e-04 7.99735860e-02] [-8.89925296e-03 -3.28719503e-04 9.99960347e-01 -4.84042115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.02236968041318451 Centerline is valid? [True, True] Translation: X:27.95, Y:0.08, Z:-0.49 [[ 9.98966653e-01 4.48038758e-02 7.63140107e-03 2.79509985e+01] [-4.48045142e-02 9.98995770e-01 -8.73757275e-05 7.57412116e-02] [-7.62765216e-03 -2.54635779e-04 9.99970877e-01 -4.85746684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.02002982507149567 Centerline is valid? [True, True] Translation: X:28.01, Y:0.07, Z:-0.49 [[ 9.99265220e-01 3.74982993e-02 7.93085172e-03 2.80120514e+01] [-3.74987551e-02 9.99296670e-01 -9.12706147e-05 7.16405972e-02] [-7.92869621e-03 -2.06193516e-04 9.99968546e-01 -4.88330132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.017387884072976968 Centerline is valid? [True, True] Translation: X:28.07, Y:0.07, Z:-0.49 [[ 9.99479737e-01 3.08963299e-02 9.25594162e-03 2.80740290e+01] [-3.08966680e-02 9.99522578e-01 -1.06492008e-04 6.70005976e-02] [-9.25481285e-03 -1.79541152e-04 9.99957157e-01 -4.90004620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.018338224277264115 Centerline is valid? [True, True] Translation: X:28.14, Y:0.07, Z:-0.49 [[ 9.99579174e-01 2.75393601e-02 9.11362371e-03 2.81356417e+01] [-2.75395564e-02 9.99620709e-01 -1.03980549e-04 6.53681682e-02] [-9.11303055e-03 -1.47048363e-04 9.99958465e-01 -4.90798746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.016846975181385924 Centerline is valid? [True, True] Translation: X:28.20, Y:0.06, Z:-0.49 [[ 9.99604187e-01 2.60235424e-02 1.06885057e-02 2.81974446e+01] [-2.60236911e-02 9.99661319e-01 -1.25189499e-04 6.48586921e-02] [-1.06881436e-02 -1.53014423e-04 9.99942868e-01 -4.91087264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.017411640117053272 Centerline is valid? [True, True] Translation: X:28.26, Y:0.07, Z:-0.49 [[ 9.99595421e-01 2.62928423e-02 1.08480923e-02 2.82594047e+01] [-2.62929820e-02 9.99654271e-01 -1.29764419e-04 6.79235161e-02] [-1.08477536e-02 -1.55516775e-04 9.99941149e-01 -4.93371034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.01566243038630719 Centerline is valid? [True, True] Translation: X:28.32, Y:0.07, Z:-0.49 [[ 9.99571958e-01 2.66061959e-02 1.21659932e-02 2.83219543e+01] [-2.66063500e-02 9.99645977e-01 -1.49217561e-04 6.75017606e-02] [-1.21656563e-02 -1.74538985e-04 9.99925980e-01 -4.94521221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.014254250047079484 Centerline is valid? [True, True] Translation: X:28.38, Y:0.07, Z:-0.50 [[ 9.99500158e-01 2.87142349e-02 1.32259719e-02 2.83841245e+01] [-2.87145465e-02 9.99587639e-01 -1.66376479e-04 6.97219626e-02] [-1.32252954e-02 -2.13484470e-04 9.99912519e-01 -4.96197732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.017646399968386045 Centerline is valid? [True, True] Translation: X:28.45, Y:0.07, Z:-0.50 [[ 9.99498177e-01 2.98692649e-02 1.05461908e-02 2.84462568e+01] [-2.98695080e-02 9.99553798e-01 -1.34488871e-04 7.15173526e-02] [-1.05455021e-02 -1.80588149e-04 9.99944378e-01 -4.97742211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.017593172379197067 Centerline is valid? [True, True] Translation: X:28.51, Y:0.08, Z:-0.50 [[ 9.99410656e-01 3.23368328e-02 1.15182827e-02 2.85081712e+01] [-3.23372492e-02 9.99477003e-01 -1.50142966e-04 7.50177356e-02] [-1.15171139e-02 -2.22415099e-04 9.99933651e-01 -4.98775885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.01848757973671037 Centerline is valid? [True, True] Translation: X:28.57, Y:0.08, Z:-0.50 [[ 9.99323251e-01 3.48896456e-02 1.16513311e-02 2.85688485e+01] [-3.48902035e-02 9.99391139e-01 -1.55435822e-04 8.03326288e-02] [-1.16496602e-02 -2.51186683e-04 9.99932109e-01 -5.00650297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.017957530699999523 Centerline is valid? [True, True] Translation: X:28.63, Y:0.08, Z:-0.50 [[ 9.99310076e-01 3.52551594e-02 1.16809902e-02 2.86315488e+01] [-3.52557369e-02 9.99378311e-01 -1.56533427e-04 7.85866416e-02] [-1.16792469e-02 -2.55396487e-04 9.99931763e-01 -5.01786399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.0162003590478476 Centerline is valid? [True, True] Translation: X:28.69, Y:0.08, Z:-0.50 [[ 9.99291315e-01 3.50325100e-02 1.37692393e-02 2.86930481e+01] [-3.50332226e-02 9.99386130e-01 -1.89522059e-04 8.12299873e-02] [-1.37674262e-02 -2.92993078e-04 9.99905182e-01 -5.04063381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.01719166382155016 Centerline is valid? [True, True] Translation: X:28.75, Y:0.08, Z:-0.51 [[ 9.99334324e-01 3.42968191e-02 1.24352974e-02 2.87548365e+01] [-3.42973125e-02 9.99411659e-01 -1.73643735e-04 8.06798673e-02] [-1.24339366e-02 -2.52969135e-04 9.99922664e-01 -5.05424134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.01810141519387715 Centerline is valid? [True, True] Translation: X:28.82, Y:0.08, Z:-0.51 [[ 9.99317941e-01 3.50736656e-02 1.15538613e-02 2.88171010e+01] [-3.50741141e-02 9.99384701e-01 -1.63862552e-04 8.04165073e-02] [-1.15524995e-02 -2.41490663e-04 9.99933238e-01 -5.06227600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.019006458067874165 Centerline is valid? [True, True] Translation: X:28.88, Y:0.09, Z:-0.51 [[ 9.99240388e-01 3.70223009e-02 1.21653683e-02 2.88781942e+01] [-3.70229010e-02 9.99314402e-01 -1.75952131e-04 8.58769911e-02] [-1.21635419e-02 -2.74578752e-04 9.99925984e-01 -5.08878925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.019155636738865337 Centerline is valid? [True, True] Translation: X:28.94, Y:0.09, Z:-0.51 [[ 9.99145650e-01 3.95142013e-02 1.21077450e-02 2.89398662e+01] [-3.95149443e-02 9.99218964e-01 -1.77950391e-04 8.79694107e-02] [-1.21053199e-02 -3.00638508e-04 9.99926683e-01 -5.11130227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.017423980529059926 Centerline is valid? [True, True] Translation: X:29.00, Y:0.09, Z:-0.51 [[ 9.99061616e-01 4.11771439e-02 1.34287451e-02 2.90023441e+01] [-4.11781621e-02 9.99151800e-01 -2.00785892e-04 8.96932329e-02] [-1.34256227e-02 -3.52373566e-04 9.99909810e-01 -5.12936163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.01931209543131545 Centerline is valid? [True, True] Translation: X:29.06, Y:0.09, Z:-0.52 [[ 9.98980963e-01 4.34738139e-02 1.21269950e-02 2.90643767e+01] [-4.34747813e-02 9.99054508e-01 -1.83962642e-04 9.29162397e-02] [-1.21235265e-02 -3.43443276e-04 9.99926448e-01 -5.15249220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.019671524510060902 Centerline is valid? [True, True] Translation: X:29.13, Y:0.09, Z:-0.52 [[ 9.98959416e-01 4.37749731e-02 1.27998407e-02 2.91270868e+01] [-4.37760340e-02 9.99041350e-01 -1.97412465e-04 9.39772325e-02] [-1.27962119e-02 -3.63119220e-04 9.99918059e-01 -5.16578739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.01896607953005471 Centerline is valid? [True, True] Translation: X:29.19, Y:0.09, Z:-0.52 [[ 9.98963912e-01 4.35654613e-02 1.31588017e-02 2.91887457e+01] [-4.35665138e-02 9.99050507e-01 -2.06795651e-04 9.25765361e-02] [-1.31553167e-02 -3.66701723e-04 9.99913398e-01 -5.17644505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.01942295046791619 Centerline is valid? [True, True] Translation: X:29.25, Y:0.09, Z:-0.52 [[ 9.98951563e-01 4.38087313e-02 1.32879761e-02 2.92506114e+01] [-4.38097822e-02 9.99039868e-01 -2.12131896e-04 9.37036089e-02] [-1.32845112e-02 -3.70233852e-04 9.99911688e-01 -5.18781543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.017609897846290693 Centerline is valid? [True, True] Translation: X:29.31, Y:0.09, Z:-0.52 [[ 9.98884614e-01 4.55429608e-02 1.24646370e-02 2.93128772e+01] [-4.55439824e-02 9.98962314e-01 -2.02026732e-04 9.30961887e-02] [-1.24609035e-02 -3.65887813e-04 9.99922293e-01 -5.19866641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.020946792020061753 Centerline is valid? [True, True] Translation: X:29.37, Y:0.10, Z:-0.52 [[ 9.98765608e-01 4.86216297e-02 1.01586425e-02 2.93743711e+01] [-4.86224474e-02 9.98817215e-01 -1.66615968e-04 9.62167295e-02] [-1.01547282e-02 -3.27527762e-04 9.99948386e-01 -5.21133944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.0204222587897363 Centerline is valid? [True, True] Translation: X:29.44, Y:0.10, Z:-0.52 [[ 9.98590229e-01 5.19025254e-02 1.11212816e-02 2.94366743e+01] [-5.19036665e-02 9.98652079e-01 -1.86194472e-04 9.91374029e-02] [-1.11159550e-02 -3.91303311e-04 9.99938139e-01 -5.21597211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.022470585967053407 Centerline is valid? [True, True] Translation: X:29.50, Y:0.10, Z:-0.52 [[ 9.98423383e-01 5.51021080e-02 1.07007724e-02 2.94977591e+01] [-5.51033493e-02 9.98480640e-01 -1.79021674e-04 1.03370373e-01] [-1.06943786e-02 -4.10908976e-04 9.99942729e-01 -5.22950286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.025896476998548874 Centerline is valid? [True, True] Translation: X:29.56, Y:0.11, Z:-0.52 [[ 9.98190853e-01 5.97456483e-02 6.74382286e-03 2.95591577e+01] [-5.97462336e-02 9.98213592e-01 -1.14814496e-04 1.07176039e-01] [-6.73863531e-03 -2.88311236e-04 9.99977254e-01 -5.24614162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.02404918104659286 Centerline is valid? [True, True] Translation: X:29.62, Y:0.11, Z:-0.52 [[ 9.98070697e-01 6.17125919e-02 6.81471298e-03 2.96216370e+01] [-6.17132474e-02 9.98093914e-01 -1.14249545e-04 1.05066298e-01] [-6.80877419e-03 -3.06528945e-04 9.99976773e-01 -5.24887694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.02624812555949584 Centerline is valid? [True, True] Translation: X:29.68, Y:0.11, Z:-0.52 [[ 9.97940314e-01 6.38802380e-02 5.86893253e-03 2.96823737e+01] [-6.38807487e-02 9.97957534e-01 -1.00587978e-04 1.07184356e-01] [-5.86337102e-03 -2.74531006e-04 9.99982773e-01 -5.24523273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.02379569780322301 Centerline is valid? [True, True] Translation: X:29.74, Y:0.11, Z:-0.53 [[ 9.97882476e-01 6.46799002e-02 6.86104000e-03 2.97444409e+01] [-6.46806171e-02 9.97906010e-01 -1.17585824e-04 1.05888279e-01] [-6.85427849e-03 -3.26439468e-04 9.99976456e-01 -5.25649149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.02686107108422859 Centerline is valid? [True, True] Translation: X:29.81, Y:0.11, Z:-0.53 [[ 9.97812374e-01 6.60324959e-02 3.18994454e-03 2.98054146e+01] [-6.60326612e-02 9.97817461e-01 -5.35715754e-05 1.06675054e-01] [-3.18651983e-03 -1.57186147e-04 9.99994911e-01 -5.26937627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.026111415455356838 Centerline is valid? [True, True] Translation: X:29.87, Y:0.10, Z:-0.53 [[ 9.97716156e-01 6.75067122e-02 2.30551020e-03 2.98676283e+01] [-6.75068043e-02 9.97718813e-01 -3.79078195e-05 1.04174051e-01] [-2.30280993e-03 -1.17816382e-04 9.99997342e-01 -5.27473400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.025924535041600166 Centerline is valid? [True, True] Translation: X:29.93, Y:0.11, Z:-0.53 [[ 9.97505588e-01 7.05814458e-02 9.27984190e-04 2.99284029e+01] [-7.05814607e-02 9.97506019e-01 -1.66311850e-05 1.06382838e-01] [-9.26843667e-04 -4.89087796e-05 9.99999569e-01 -5.28426392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.03128978415377095 Centerline is valid? [True, True] Translation: X:29.99, Y:0.11, Z:-0.53 [[ 9.97299273e-01 7.34448098e-02 1.40902874e-04 2.99885066e+01] [-7.34448102e-02 9.97299283e-01 -2.56998203e-06 1.13426925e-01] [-1.40711088e-04 -7.78554365e-06 9.99999990e-01 -5.29467798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.02832370126597172 Centerline is valid? [True, True] Translation: X:30.05, Y:0.11, Z:-0.53 [[ 9.97211855e-01 7.46205111e-02 -5.43091906e-04 3.00505028e+01] [-7.46205144e-02 9.97212003e-01 1.41543892e-05 1.08909475e-01] [ 5.42633975e-04 2.64108727e-05 9.99999852e-01 -5.27932207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.029844615603010223 Centerline is valid? [True, True] Translation: X:30.11, Y:0.11, Z:-0.53 [[ 9.97187707e-01 7.49362619e-02 -1.11089509e-03 3.01119348e+01] [-7.49362809e-02 9.97188324e-01 2.45567091e-05 1.11044509e-01] [ 1.10961180e-03 5.87586978e-05 9.99999383e-01 -5.29115509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.028009027915105338 Centerline is valid? [True, True] Translation: X:30.17, Y:0.11, Z:-0.53 [[ 9.97233989e-01 7.43209127e-02 -8.79634084e-04 3.01738807e+01] [-7.43209231e-02 9.97234376e-01 2.08166939e-05 1.08644913e-01] [ 8.78748462e-04 4.46161024e-05 9.99999613e-01 -5.28368469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.028859831467309985 Centerline is valid? [True, True] Translation: X:30.24, Y:0.11, Z:-0.53 [[ 9.97248814e-01 7.41220665e-02 -8.49485031e-04 3.02351814e+01] [-7.41220775e-02 9.97249175e-01 1.85622235e-05 1.09719697e-01] [ 8.48524116e-04 4.44544399e-05 9.99999639e-01 -5.29363249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.030014482722219113 Centerline is valid? [True, True] Translation: X:30.30, Y:0.11, Z:-0.53 [[ 9.97082053e-01 7.62952649e-02 -2.53228261e-03 3.02966253e+01] [-7.62953855e-02 9.97085258e-01 4.90967439e-05 1.12326557e-01] [ 2.52864750e-03 1.44247995e-04 9.99996793e-01 -5.30374515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.03231757488596279 Centerline is valid? [True, True] Translation: X:30.36, Y:0.12, Z:-0.53 [[ 9.96698848e-01 8.11248213e-02 -3.18893449e-03 3.03572882e+01] [-8.11250394e-02 9.96703930e-01 6.11412150e-05 1.20205741e-01] [ 3.18338361e-03 1.97763057e-04 9.99994913e-01 -5.32129106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.03464198657764828 Centerline is valid? [True, True] Translation: X:30.42, Y:0.12, Z:-0.53 [[ 9.96481766e-01 8.37559777e-02 -3.00434682e-03 3.04185657e+01] [-8.37561812e-02 9.96486276e-01 5.82364383e-05 1.24817873e-01] [ 2.99866803e-03 1.93601068e-04 9.99995485e-01 -5.33336880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.03285904021064509 Centerline is valid? [True, True] Translation: X:30.48, Y:0.12, Z:-0.53 [[ 9.96344555e-01 8.53760571e-02 -2.90793021e-03 3.04805402e+01] [-8.53762522e-02 9.96348780e-01 5.71938636e-05 1.23203183e-01] [ 2.90219571e-03 1.91283389e-04 9.99995770e-01 -5.32444906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.035998617063310166 Centerline is valid? [True, True] Translation: X:30.54, Y:0.13, Z:-0.53 [[ 9.96183347e-01 8.72229302e-02 -3.30143280e-03 3.05408700e+01] [-8.72231950e-02 9.96188792e-01 6.39585844e-05 1.29308218e-01] [ 3.29442901e-03 2.24247040e-04 9.99994548e-01 -5.33559569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.03415328486793461 Centerline is valid? [True, True] Translation: X:30.60, Y:0.13, Z:-0.53 [[ 9.96082570e-01 8.84013598e-02 -2.17092576e-03 3.06032821e+01] [-8.84014676e-02 9.96084925e-01 4.64482874e-05 1.27935761e-01] [ 2.16653251e-03 1.45646694e-04 9.99997642e-01 -5.33792620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.03595647164674264 Centerline is valid? [True, True] Translation: X:30.67, Y:0.13, Z:-0.53 [[ 9.95992936e-01 8.93801521e-02 -3.04283796e-03 3.06650908e+01] [-8.93803723e-02 9.95997563e-01 6.38365964e-05 1.30988628e-01] [ 3.03636491e-03 2.08389190e-04 9.99995369e-01 -5.33917181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.03700586816356418 Centerline is valid? [True, True] Translation: X:30.73, Y:0.13, Z:-0.53 [[ 9.95871623e-01 9.07416125e-02 -2.38121323e-03 3.07271100e+01] [-9.07417472e-02 9.95874456e-01 5.16054201e-05 1.34649991e-01] [ 2.37607219e-03 1.64683076e-04 9.99997164e-01 -5.33621636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.03478839352497823 Centerline is valid? [True, True] Translation: X:30.79, Y:0.13, Z:-0.53 [[ 9.95834227e-01 9.11637225e-02 -1.83504667e-03 3.07901460e+01] [-9.11637994e-02 9.95835910e-01 4.18667934e-05 1.32751643e-01] [ 1.83122211e-03 1.25597441e-04 9.99998315e-01 -5.33254138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.031039068020828738 Centerline is valid? [True, True] Translation: X:30.85, Y:0.13, Z:-0.53 [[ 9.95880585e-01 9.06481349e-02 -2.18538873e-03 3.08519009e+01] [-9.06482444e-02 9.95882972e-01 4.90879585e-05 1.28818449e-01] [ 2.18084116e-03 1.49215907e-04 9.99997611e-01 -5.33435557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.03164661351471225 Centerline is valid? [True, True] Translation: X:30.91, Y:0.13, Z:-0.53 [[ 9.96131841e-01 8.78023165e-02 -3.47966549e-03 3.09112025e+01] [-8.78026012e-02 9.96137891e-01 7.11666365e-05 1.30169200e-01] [ 3.47247524e-03 2.34632329e-04 9.99993943e-01 -5.34739385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.03108732154996574 Centerline is valid? [True, True] Translation: X:30.97, Y:0.13, Z:-0.53 [[ 9.96366751e-01 8.51020256e-02 -3.30793659e-03 3.09724514e+01] [-8.51022658e-02 9.96372219e-01 6.83342896e-05 1.28968879e-01] [ 3.30175151e-03 2.13426885e-04 9.99994526e-01 -5.34974538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.031966378256689146 Centerline is valid? [True, True] Translation: X:31.03, Y:0.13, Z:-0.54 [[ 9.96699355e-01 8.10786870e-02 -4.07938768e-03 3.10324483e+01] [-8.10790204e-02 9.96707673e-01 8.38471806e-05 1.28944816e-01] [ 4.07275522e-03 2.47182326e-04 9.99991676e-01 -5.36135885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.03131453445710824 Centerline is valid? [True, True] Translation: X:31.09, Y:0.13, Z:-0.54 [[ 9.96774058e-01 8.01816540e-02 -3.51856059e-03 3.10948567e+01] [-8.01818797e-02 9.96780247e-01 7.71143688e-05 1.29301610e-01] [ 3.51341485e-03 2.05259200e-04 9.99993807e-01 -5.37751354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.03224843946833368 Centerline is valid? [True, True] Translation: X:31.16, Y:0.13, Z:-0.54 [[ 9.96865346e-01 7.90084420e-02 -4.14102076e-03 3.11557593e+01] [-7.90087449e-02 9.96873919e-01 9.06464494e-05 1.30339138e-01] [ 4.13523743e-03 2.36814549e-04 9.99991422e-01 -5.38847594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.029760877029390443 Centerline is valid? [True, True] Translation: X:31.22, Y:0.13, Z:-0.54 [[ 9.96961319e-01 7.78051616e-02 -3.80594971e-03 3.12184696e+01] [-7.78054146e-02 9.96968561e-01 8.17612628e-05 1.25600911e-01] [ 3.80077365e-03 2.14610679e-04 9.99992754e-01 -5.37731651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.029200203491400477 Centerline is valid? [True, True] Translation: X:31.28, Y:0.13, Z:-0.54 [[ 9.97005693e-01 7.72879848e-02 -2.49315178e-03 3.12811876e+01] [-7.72880900e-02 9.97008800e-01 5.42765540e-05 1.25366913e-01] [ 2.48988919e-03 1.38576906e-04 9.99996891e-01 -5.36970335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.029080196420920093 Centerline is valid? [True, True] Translation: X:31.34, Y:0.12, Z:-0.54 [[ 9.96937843e-01 7.81229931e-02 -3.42554247e-03 3.13431411e+01] [-7.81231863e-02 9.96943710e-01 7.75816708e-05 1.22345279e-01] [ 3.42113393e-03 1.90270189e-04 9.99994130e-01 -5.36329660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.028859896567225547 Centerline is valid? [True, True] Translation: X:31.41, Y:0.12, Z:-0.54 [[ 9.96763083e-01 8.03311040e-02 -3.20476991e-03 3.14054497e+01] [-8.03312923e-02 9.96768217e-01 7.01500870e-05 1.24474735e-01] [ 3.20004802e-03 1.87520291e-04 9.99994862e-01 -5.36872317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.03248471637904145 Centerline is valid? [True, True] Translation: X:31.47, Y:0.13, Z:-0.54 [[ 9.96670904e-01 8.15060387e-02 -1.96823985e-03 3.14669584e+01] [-8.15061051e-02 9.96672841e-01 4.65995713e-05 1.31826495e-01] [ 1.96548935e-03 1.13979127e-04 9.99998062e-01 -5.39387705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.03329239010546305 Centerline is valid? [True, True] Translation: X:31.53, Y:0.13, Z:-0.54 [[ 9.96687391e-01 8.12427958e-02 -3.72205524e-03 3.15294767e+01] [-8.12430373e-02 9.96694317e-01 8.65103609e-05 1.30667520e-01] [ 3.71677965e-03 2.16167287e-04 9.99993069e-01 -5.39694791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.0290088840074694 Centerline is valid? [True, True] Translation: X:31.59, Y:0.13, Z:-0.54 [[ 9.96738551e-01 8.06601073e-02 -2.49174372e-03 3.15920432e+01] [-8.06602171e-02 9.96741655e-01 5.65822519e-05 1.26095453e-01] [ 2.48818869e-03 1.44586878e-04 9.99996894e-01 -5.38902305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.029657827181471808 Centerline is valid? [True, True] Translation: X:31.65, Y:0.13, Z:-0.54 [[ 9.96858426e-01 7.91316801e-02 -3.38476616e-03 3.16540479e+01] [-7.91318640e-02 9.96864154e-01 7.97710586e-05 1.25025626e-01] [ 3.38046447e-03 1.88322403e-04 9.99994268e-01 -5.39661554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.029405545915259134 Centerline is valid? [True, True] Translation: X:31.72, Y:0.12, Z:-0.54 [[ 9.96990836e-01 7.74613069e-02 -3.00321029e-03 3.17157997e+01] [-7.74614518e-02 9.96995345e-01 6.82194564e-05 1.23817868e-01] [ 2.99947105e-03 1.64618856e-04 9.99995488e-01 -5.40557999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.025786218560510592 Centerline is valid? [True, True] Translation: X:31.78, Y:0.12, Z:-0.54 [[ 9.97211244e-01 7.46067892e-02 -1.88706091e-03 3.17766482e+01] [-7.46068417e-02 9.97213025e-01 4.26481146e-05 1.19671468e-01] [ 1.88498356e-03 9.82584752e-05 9.99998219e-01 -5.39497583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.02982395997483573 Centerline is valid? [True, True] Translation: X:31.84, Y:0.12, Z:-0.54 [[ 9.97364187e-01 7.24988141e-02 -2.93280041e-03 3.18369786e+01] [-7.24989273e-02 9.97368488e-01 6.78310860e-05 1.20404436e-01] [ 2.93000038e-03 1.44972588e-04 9.99995697e-01 -5.42143054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.02861426515470247 Centerline is valid? [True, True] Translation: X:31.90, Y:0.12, Z:-0.54 [[ 9.97508663e-01 7.04602470e-02 -3.43823473e-03 3.18986467e+01] [-7.04603926e-02 9.97514575e-01 7.89227561e-05 1.16518094e-01] [ 3.43525017e-03 1.63533236e-04 9.99994086e-01 -5.42497666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.027941144384283648 Centerline is valid? [True, True] Translation: X:31.96, Y:0.11, Z:-0.54 [[ 9.97540285e-01 7.00096771e-02 -3.46765588e-03 3.19612627e+01] [-7.00098205e-02 9.97546299e-01 8.01573658e-05 1.14584438e-01] [ 3.46475908e-03 1.62809764e-04 9.99993984e-01 -5.42674499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.02638792633441936 Centerline is valid? [True, True] Translation: X:32.02, Y:0.11, Z:-0.54 [[ 9.97709516e-01 6.75883611e-02 -2.74506183e-03 3.20227294e+01] [-6.75884430e-02 9.97713285e-01 6.30122634e-05 1.10501951e-01] [ 2.74304355e-03 1.22666520e-04 9.99996230e-01 -5.41298841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.028030033176727292 Centerline is valid? [True, True] Translation: X:32.08, Y:0.11, Z:-0.54 [[ 9.97854909e-01 6.53993955e-02 -2.91536294e-03 3.20835610e+01] [-6.53994784e-02 9.97859160e-01 6.69773069e-05 1.11322558e-01] [ 2.91350189e-03 1.23829581e-04 9.99995748e-01 -5.42985252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.024872006970362504 Centerline is valid? [True, True] Translation: X:32.15, Y:0.10, Z:-0.54 [[ 9.97963830e-01 6.37232610e-02 -2.74606617e-03 3.21460961e+01] [-6.37233228e-02 9.97967602e-01 6.50961852e-05 1.04596435e-01] [ 2.74463321e-03 1.10024822e-04 9.99996227e-01 -5.41294614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.023629301592850087 Centerline is valid? [True, True] Translation: X:32.21, Y:0.10, Z:-0.54 [[ 9.97910074e-01 6.45788689e-02 -2.24812790e-03 3.22077543e+01] [-6.45789060e-02 9.97912602e-01 5.61838449e-05 1.01536502e-01] [ 2.24706345e-03 8.91152152e-05 9.99997471e-01 -5.39849652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.025010839372777583 Centerline is valid? [True, True] Translation: X:32.27, Y:0.10, Z:-0.54 [[ 9.97837664e-01 6.56785321e-02 -2.51515560e-03 3.22688574e+01] [-6.56785826e-02 9.97840829e-01 6.26056507e-05 1.03728423e-01] [ 2.51383680e-03 1.02721579e-04 9.99996835e-01 -5.41733125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.024297591219286582 Centerline is valid? [True, True] Translation: X:32.33, Y:0.10, Z:-0.54 [[ 9.97912278e-01 6.45083573e-02 -3.12376794e-03 3.23305371e+01] [-6.45084289e-02 9.97917159e-01 7.79364252e-05 9.80368181e-02] [ 3.12228918e-03 1.23735647e-04 9.99995118e-01 -5.41561821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.023953817614621904 Centerline is valid? [True, True] Translation: X:32.39, Y:0.09, Z:-0.54 [[ 9.98090949e-01 6.16584509e-02 -3.56269508e-03 3.23923502e+01] [-6.16585386e-02 9.98097299e-01 8.53151189e-05 9.37263928e-02] [ 3.56117673e-03 1.34518324e-04 9.99993650e-01 -5.42204190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.019912089424441004 Centerline is valid? [True, True] Translation: X:32.45, Y:0.09, Z:-0.54 [[ 9.98356815e-01 5.72354889e-02 -2.78733302e-03 3.24532779e+01] [-5.72355263e-02 9.98360701e-01 6.64051965e-05 8.65531535e-02] [ 2.78656449e-03 9.32383923e-05 9.99996113e-01 -5.39546989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.020534166000385854 Centerline is valid? [True, True] Translation: X:32.51, Y:0.08, Z:-0.54 [[ 9.98480422e-01 5.50653505e-02 -2.15737436e-03 3.25149774e+01] [-5.50653662e-02 9.98482750e-01 5.21444606e-05 8.16557893e-02] [ 2.15697244e-03 6.67313861e-05 9.99997672e-01 -5.39509443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.022456584230603115 Centerline is valid? [True, True] Translation: X:32.58, Y:0.08, Z:-0.54 [[ 9.98514007e-01 5.44404880e-02 -2.45155169e-03 3.25769046e+01] [-5.44404977e-02 9.98517015e-01 6.28196275e-05 7.89718447e-02] [ 2.45133601e-03 7.07374163e-05 9.99996993e-01 -5.40960713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.020354185896630725 Centerline is valid? [True, True] Translation: X:32.64, Y:0.07, Z:-0.54 [[ 9.98600749e-01 5.28402771e-02 -2.10943888e-03 3.26386799e+01] [-5.28402783e-02 9.98602975e-01 5.51704639e-05 7.19954951e-02] [ 2.10940717e-03 5.63700712e-05 9.99997774e-01 -5.39503003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.021212678469623804 Centerline is valid? [True, True] Translation: X:32.70, Y:0.07, Z:-0.54 [[ 9.98590281e-01 5.29715497e-02 -3.38617008e-03 3.27006987e+01] [-5.29715592e-02 9.98596018e-01 8.69529854e-05 6.87729933e-02] [ 3.38602199e-03 9.25403026e-05 9.99994263e-01 -5.40939573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.021757096570798655 Centerline is valid? [True, True] Translation: X:32.76, Y:0.07, Z:-0.54 [[ 9.98477545e-01 5.50043957e-02 -4.13615026e-03 3.27631392e+01] [-5.50044265e-02 9.98486105e-01 1.06402245e-04 6.58760161e-02] [ 4.13574116e-03 1.21266321e-04 9.99991440e-01 -5.40936017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.022692979555103746 Centerline is valid? [True, True] Translation: X:32.82, Y:0.06, Z:-0.54 [[ 9.98385034e-01 5.66244061e-02 -4.58267536e-03 3.28248440e+01] [-5.66244575e-02 9.98395541e-01 1.18645801e-04 6.30661655e-02] [ 4.58204089e-03 1.41037313e-04 9.99989492e-01 -5.41172406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.019643961110954015 Centerline is valid? [True, True] Translation: X:32.89, Y:0.06, Z:-0.54 [[ 9.98282529e-01 5.85144843e-02 -2.83688135e-03 3.28872186e+01] [-5.85145053e-02 9.98286556e-01 7.56408341e-05 6.02697408e-02] [ 2.83644659e-03 9.04877856e-05 9.99995973e-01 -5.39368997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.022261657980171864 Centerline is valid? [True, True] Translation: X:32.95, Y:0.06, Z:-0.54 [[ 9.98259100e-01 5.89070630e-02 -2.95406582e-03 3.29494932e+01] [-5.89070851e-02 9.98263467e-01 7.95962268e-05 5.84330276e-02] [ 2.95362477e-03 9.45577491e-05 9.99995634e-01 -5.41346729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.02275262423995106 Centerline is valid? [True, True] Translation: X:33.01, Y:0.05, Z:-0.54 [[ 9.98135883e-01 6.09648950e-02 -2.83573174e-03 3.30118265e+01] [-6.09649214e-02 9.98139906e-01 7.72141329e-05 5.30835817e-02] [ 2.83516437e-03 9.58099662e-05 9.99995976e-01 -5.40234785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.023615751253231974 Centerline is valid? [True, True] Translation: X:33.07, Y:0.05, Z:-0.54 [[ 9.98010916e-01 6.29665404e-02 -3.07014534e-03 3.30736661e+01] [-6.29665796e-02 9.98015633e-01 8.39943342e-05 5.22133058e-02] [ 3.06934187e-03 1.09489288e-04 9.99995284e-01 -5.41273356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.024736757540229207 Centerline is valid? [True, True] Translation: X:33.14, Y:0.05, Z:-0.54 [[ 9.97826163e-01 6.58152702e-02 -3.36130832e-03 3.31360255e+01] [-6.58153436e-02 9.97831816e-01 8.88796949e-05 5.22859266e-02] [ 3.35987002e-03 1.32539177e-04 9.99994347e-01 -5.42799205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.02535313318975423 Centerline is valid? [True, True] Translation: X:33.20, Y:0.05, Z:-0.54 [[ 9.97675186e-01 6.80402034e-02 -3.84102021e-03 3.31983144e+01] [-6.80403153e-02 9.97682567e-01 1.01668507e-04 5.15105177e-02] [ 3.83903645e-03 1.59912080e-04 9.99992618e-01 -5.43119326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.028485508481694573 Centerline is valid? [True, True] Translation: X:33.26, Y:0.05, Z:-0.54 [[ 9.97452182e-01 7.12614610e-02 -3.30890166e-03 3.32588429e+01] [-7.12615617e-02 9.97457659e-01 8.75879076e-05 5.36744484e-02] [ 3.30673094e-03 1.48432750e-04 9.99994522e-01 -5.43996170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.029544198231336975 Centerline is valid? [True, True] Translation: X:33.32, Y:0.05, Z:-0.54 [[ 9.97340233e-01 7.28574552e-02 -2.06167514e-03 3.33214130e+01] [-7.28574899e-02 9.97342360e-01 5.84077281e-05 5.35924625e-02] [ 2.06045139e-03 9.19560983e-05 9.99997873e-01 -5.43614201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.027331739107866536 Centerline is valid? [True, True] Translation: X:33.38, Y:0.05, Z:-0.54 [[ 9.97307055e-01 7.33295481e-02 -1.18965399e-03 3.33846755e+01] [-7.33295567e-02 9.97307763e-01 3.64459036e-05 4.73676706e-02] [ 1.18912372e-03 5.08890432e-05 9.99999292e-01 -5.42253114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.030917498798460216 Centerline is valid? [True, True] Translation: X:33.45, Y:0.05, Z:-0.54 [[ 9.97271436e-01 7.38159498e-02 -9.42971768e-04 3.34460926e+01] [-7.38159567e-02 9.97271881e-01 2.75463177e-05 5.23012051e-02] [ 9.42432586e-04 4.21352074e-05 9.99999555e-01 -5.44576576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.024951796511923682 Centerline is valid? [True, True] Translation: X:33.51, Y:0.04, Z:-0.54 [[ 9.97187147e-01 7.49516141e-02 -2.21465600e-04 3.35079027e+01] [-7.49516137e-02 9.97187172e-01 1.01708804e-05 4.27121709e-02] [ 2.21604979e-04 6.45693286e-06 9.99999975e-01 -5.41482021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.02640898212038043 Centerline is valid? [True, True] Translation: X:33.57, Y:0.04, Z:-0.54 [[ 9.97142200e-01 7.55470942e-02 -2.65184257e-04 3.35688893e+01] [-7.55470939e-02 9.97142235e-01 1.10569652e-05 4.43093358e-02] [ 2.65261744e-04 9.00853340e-06 9.99999965e-01 -5.42709205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.027611354026559027 Centerline is valid? [True, True] Translation: X:33.63, Y:0.04, Z:-0.54 [[ 9.97193157e-01 7.48715489e-02 -2.41934073e-04 3.36309085e+01] [-7.48715485e-02 9.97193186e-01 1.06959530e-05 4.34704063e-02] [ 2.42055832e-04 7.44804760e-06 9.99999971e-01 -5.43384463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.02641406495140257 Centerline is valid? [True, True] Translation: X:33.69, Y:0.04, Z:-0.54 [[ 9.97277305e-01 7.37422888e-02 -2.28421404e-04 3.36933973e+01] [-7.37422888e-02 9.97277331e-01 8.56012424e-06 3.95509267e-02] [ 2.28430731e-04 8.30749948e-06 9.99999974e-01 -5.43562517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.025962446252700378 Centerline is valid? [True, True] Translation: X:33.76, Y:0.04, Z:-0.54 [[ 9.97376737e-01 7.23852999e-02 -1.09847261e-04 3.37560987e+01] [-7.23852998e-02 9.97376743e-01 4.52271597e-06 3.70455194e-02] [ 1.09886482e-04 3.44047523e-06 9.99999994e-01 -5.43835211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.022384491493929768 Centerline is valid? [True, True] Translation: X:33.82, Y:0.03, Z:-0.54 [[ 9.97456572e-01 7.12583484e-02 1.62290659e-03 3.38183444e+01] [-7.12583750e-02 9.97457890e-01 -4.15203512e-05 3.47541989e-02] [-1.62173966e-03 -7.42309392e-05 9.99998682e-01 -5.40602712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.025623609367090825 Centerline is valid? [True, True] Translation: X:33.88, Y:0.03, Z:-0.54 [[ 9.97536131e-01 7.01113988e-02 2.46151674e-03 3.38801321e+01] [-7.01114497e-02 9.97539162e-01 -6.57276084e-05 3.42967581e-02] [-2.46006760e-03 -1.07014843e-04 9.99996968e-01 -5.43111576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.024816010601272715 Centerline is valid? [True, True] Translation: X:33.94, Y:0.03, Z:-0.54 [[ 9.97502313e-01 7.05777473e-02 2.81363530e-03 3.39426069e+01] [-7.05778132e-02 9.97506274e-01 -7.59581975e-05 3.36668959e-02] [-2.81197982e-03 -1.22811749e-04 9.99996039e-01 -5.43484633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.026093247110215743 Centerline is valid? [True, True] Translation: X:34.00, Y:0.04, Z:-0.55 [[ 9.97516812e-01 7.03415717e-02 3.50328577e-03 3.40036989e+01] [-7.03416624e-02 9.97522953e-01 -9.74486636e-05 3.61612030e-02] [-3.50146266e-03 -1.49220265e-04 9.99993859e-01 -5.45059707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.026067689841658196 Centerline is valid? [True, True] Translation: X:34.07, Y:0.03, Z:-0.55 [[ 9.97530761e-01 7.01038384e-02 4.22284024e-03 3.40657413e+01] [-7.01039617e-02 9.97539684e-01 -1.19001507e-04 3.35497584e-02] [-4.22079318e-03 -1.77330167e-04 9.99991077e-01 -5.45666220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.02573757221933779 Centerline is valid? [True, True] Translation: X:34.13, Y:0.03, Z:-0.55 [[ 9.97487374e-01 7.06139725e-02 5.71013040e-03 3.41290760e+01] [-7.06141930e-02 9.97503689e-01 -1.63248300e-04 3.12797631e-02] [-5.70740375e-03 -2.40378132e-04 9.99983684e-01 -5.45753307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.028821173510244567 Centerline is valid? [True, True] Translation: X:34.19, Y:0.04, Z:-0.55 [[ 9.97279847e-01 7.34446882e-02 6.22769561e-03 3.41898259e+01] [-7.34449815e-02 9.97299254e-01 -1.81897724e-04 3.77859084e-02] [-6.22423561e-03 -2.75990055e-04 9.99980591e-01 -5.48127881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.028877492724459497 Centerline is valid? [True, True] Translation: X:34.25, Y:0.04, Z:-0.55 [[ 9.97055609e-01 7.63876661e-02 6.71099745e-03 3.42507229e+01] [-7.63880598e-02 9.97078144e-01 -1.98013998e-04 3.66736651e-02] [-6.70651471e-03 -3.15209107e-04 9.99977461e-01 -5.48771547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.027187661325459737 Centerline is valid? [True, True] Translation: X:34.31, Y:0.04, Z:-0.55 [[ 9.96750152e-01 8.02766832e-02 6.69248160e-03 3.43115424e+01] [-8.02771614e-02 9.96772561e-01 -1.97583922e-04 3.78307044e-02] [-6.68674340e-03 -3.40311621e-04 9.99977586e-01 -5.46532952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.028374877964307488 Centerline is valid? [True, True] Translation: X:34.37, Y:0.04, Z:-0.55 [[ 9.96565952e-01 8.24569166e-02 7.56041352e-03 3.43730994e+01] [-8.24576022e-02 9.96594549e-01 -2.21512326e-04 3.78606911e-02] [-7.55293213e-03 -4.02661929e-04 9.99971395e-01 -5.50549119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.026344672806849732 Centerline is valid? [True, True] Translation: X:34.44, Y:0.03, Z:-0.55 [[ 9.96549112e-01 8.26659839e-02 7.49680464e-03 3.44361021e+01] [-8.26666548e-02 9.96577230e-01 -2.20868386e-04 3.38593709e-02] [-7.48940310e-03 -3.99629568e-04 9.99971874e-01 -5.50187015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.02518702024191309 Centerline is valid? [True, True] Translation: X:34.50, Y:0.03, Z:-0.55 [[ 9.96643659e-01 8.15321126e-02 7.34381743e-03 3.44986114e+01] [-8.15326975e-02 9.96670643e-01 -2.20200594e-04 2.96141195e-02] [-7.33732066e-03 -3.79299719e-04 9.99973010e-01 -5.49105827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.02574041502998361 Centerline is valid? [True, True] Translation: X:34.56, Y:0.03, Z:-0.55 [[ 9.96695478e-01 8.08676326e-02 7.65182312e-03 3.45610612e+01] [-8.08682529e-02 9.96724773e-01 -2.28810400e-04 2.72421820e-02] [-7.64526502e-03 -3.90735276e-04 9.99970698e-01 -5.51139799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.025233948595401005 Centerline is valid? [True, True] Translation: X:34.62, Y:0.02, Z:-0.55 [[ 9.96772682e-01 7.99687473e-02 7.01572818e-03 3.46236689e+01] [-7.99692259e-02 9.96797310e-01 -2.12731971e-04 2.42202745e-02] [-7.01027089e-03 -3.48996934e-04 9.99975367e-01 -5.50672276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.024536479575559444 Centerline is valid? [True, True] Translation: X:34.68, Y:0.02, Z:-0.55 [[ 9.96959918e-01 7.76372097e-02 6.58680501e-03 3.46848454e+01] [-7.76375741e-02 9.96981628e-01 -2.00741677e-04 1.70819661e-02] [-6.58250861e-03 -3.11252157e-04 9.99978287e-01 -5.52986149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.02605156372478993 Centerline is valid? [True, True] Translation: X:34.75, Y:0.01, Z:-0.55 [[ 9.97168983e-01 7.49533013e-02 6.00184965e-03 3.47453743e+01] [-7.49535543e-02 9.97187009e-01 -1.83088961e-04 1.21693567e-02] [-5.99868962e-03 -2.67289330e-04 9.99981972e-01 -5.54942679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.024719118472012785 Centerline is valid? [True, True] Translation: X:34.81, Y:0.01, Z:-0.55 [[ 9.97163446e-01 7.50675088e-02 5.47100859e-03 3.48083877e+01] [-7.50677344e-02 9.97178423e-01 -1.64402701e-04 8.15502710e-03] [-5.46791303e-03 -2.46759856e-04 9.99985020e-01 -5.53210003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.024927148491727072 Centerline is valid? [True, True] Translation: X:34.87, Y:0.01, Z:-0.55 [[ 9.97098913e-01 7.59438568e-02 5.12729849e-03 3.48705429e+01] [-7.59440583e-02 9.97112068e-01 -1.55650054e-04 5.03008000e-03] [-5.12431187e-03 -2.34189356e-04 9.99986843e-01 -5.53133573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.026743983121200625 Centerline is valid? [True, True] Translation: X:34.93, Y:0.00, Z:-0.55 [[ 9.96906756e-01 7.84318281e-02 5.03671969e-03 3.49320248e+01] [-7.84320410e-02 9.96919450e-01 -1.55548294e-04 3.02810472e-03] [-5.03340377e-03 -2.39973060e-04 9.99987304e-01 -5.53564028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.02748476934685652 Centerline is valid? [True, True] Translation: X:34.99, Y:0.00, Z:-0.55 [[ 9.96697211e-01 8.10814489e-02 4.52424766e-03 3.49927210e+01] [-8.10816414e-02 9.96707453e-01 -1.41161711e-04 7.45086606e-04] [-4.52079696e-03 -2.26137942e-04 9.99989756e-01 -5.54235611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.028851635222406427 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.00, Z:-0.55 [[ 9.96208579e-01 8.69102407e-02 3.88281703e-03 3.50536430e+01] [-8.69104259e-02 9.96216123e-01 -1.21333234e-04 -6.53368760e-04] [-3.87867003e-03 -2.16584072e-04 9.99992454e-01 -5.53921647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.03484298426156238 Centerline is valid? [True, True] Translation: X:35.11, Y:0.00, Z:-0.56 [[ 9.95882080e-01 9.05523156e-02 4.37738398e-03 3.51141495e+01] [-9.05525875e-02 9.95891666e-01 -1.36445211e-04 4.52818502e-03] [-4.37175565e-03 -2.60500105e-04 9.99990410e-01 -5.55354990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.03203474659554865 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.00, Z:-0.55 [[ 9.95447021e-01 9.51966060e-02 4.77851817e-03 3.51747931e+01] [-9.51969806e-02 9.95458443e-01 -1.49520003e-04 -2.47283699e-03] [-4.77105006e-03 -3.06061260e-04 9.99988572e-01 -5.54131067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.03183606396616039 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.01, Z:-0.55 [[ 9.95179924e-01 9.79390389e-02 4.98641818e-03 3.52354978e+01] [-9.79394816e-02 9.95192360e-01 -1.55924484e-04 -5.24984219e-03] [-4.97771637e-03 -3.33194296e-04 9.99987556e-01 -5.54780673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.03450819777176999 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.00, Z:-0.56 [[ 9.94908964e-01 1.00651199e-01 5.04878650e-03 3.52965803e+01] [-1.00651688e-01 9.94921712e-01 -1.57973152e-04 -4.84430543e-03] [-5.03904749e-03 -3.50999976e-04 9.99987242e-01 -5.56162714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.03426084990366445 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.01, Z:-0.56 [[ 9.94796979e-01 1.01691753e-01 6.14478874e-03 3.53589818e+01] [-1.01692509e-01 9.94815861e-01 -1.90092086e-04 -8.62235078e-03] [-6.13226410e-03 -4.35775953e-04 9.99981103e-01 -5.56099254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.03538980275227394 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.01, Z:-0.56 [[ 9.94755200e-01 1.02108776e-01 5.99078647e-03 3.54206833e+01] [-1.02109493e-01 9.94773148e-01 -1.86736844e-04 -1.12430077e-02] [-5.97854099e-03 -4.25958725e-04 9.99982038e-01 -5.60128046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.03536324596786807 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.01, Z:-0.56 [[ 9.94613156e-01 1.03408799e-01 7.16167051e-03 3.54832433e+01] [-1.03409839e-01 9.94638806e-01 -2.25859133e-04 -1.24317053e-02] [-7.14663122e-03 -5.15944730e-04 9.99974329e-01 -5.58309971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.03880013273109872 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.01, Z:-0.56 [[ 9.94601238e-01 1.03623959e-01 5.51835721e-03 3.55445373e+01] [-1.03624576e-01 9.94616467e-01 -1.74715630e-04 -1.23533225e-02] [-5.50675368e-03 -3.98065046e-04 9.99984758e-01 -5.63933359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.040338526557216106 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.01, Z:-0.56 [[ 9.94526408e-01 1.04254305e-01 6.94719279e-03 3.56056852e+01] [-1.04255275e-01 9.94550546e-01 -2.23399776e-04 -1.23514521e-02] [-6.93262477e-03 -5.02104516e-04 9.99975843e-01 -5.64263113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.03501457715718048 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.02, Z:-0.56 [[ 9.94402958e-01 1.05378130e-01 7.62931970e-03 3.56669946e+01] [-1.05379323e-01 9.94432068e-01 -2.46557502e-04 -2.11045507e-02] [-7.61282193e-03 -5.58795036e-04 9.99970866e-01 -5.64840632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.035589303077422696 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.02, Z:-0.56 [[ 9.94235665e-01 1.06828775e-01 9.11347754e-03 3.57286060e+01] [-1.06830531e-01 9.94277200e-01 -2.95394083e-04 -2.14711274e-02] [-9.09287952e-03 -6.79906309e-04 9.99958428e-01 -5.64697018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.03579418632773533 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.02, Z:-0.56 [[ 9.94054846e-01 1.08265263e-01 1.15583380e-02 3.57908432e+01] [-1.08268141e-01 9.94121656e-01 -3.78335122e-04 -2.13400226e-02] [-1.15313547e-02 -8.75313905e-04 9.99933129e-01 -5.63360185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.0371954090596897 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.02, Z:-0.57 [[ 9.93992700e-01 1.08871623e-01 1.12018648e-02 3.58532842e+01] [-1.08874334e-01 9.94055453e-01 -3.69400247e-04 -2.01600309e-02] [-1.11754920e-02 -8.52414414e-04 9.99937189e-01 -5.65757399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.036848948700582786 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.02, Z:-0.57 [[ 9.93948705e-01 1.09313917e-01 1.07907412e-02 3.59155664e+01] [-1.09316431e-01 9.94006936e-01 -3.58394444e-04 -2.13835839e-02] [-1.07652491e-02 -8.23379619e-04 9.99941714e-01 -5.67944158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.03746498812789215 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.02, Z:-0.57 [[ 9.93908303e-01 1.09759379e-01 9.95813260e-03 3.59774486e+01] [-1.09761520e-01 9.93957895e-01 -3.32935558e-04 -2.27555756e-02] [-9.93450733e-03 -7.62112356e-04 9.99950361e-01 -5.70600740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.03679216246975013 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.02, Z:-0.57 [[ 9.94179060e-01 1.07081086e-01 1.19011951e-02 3.60386957e+01] [-1.07083897e-01 9.94249907e-01 -4.02675730e-04 -2.44506736e-02] [-1.18758811e-02 -8.74094566e-04 9.99929097e-01 -5.71071290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.03680624829041248 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.03, Z:-0.57 [[ 9.94362192e-01 1.05260741e-01 1.28065236e-02 3.61000340e+01] [-1.05263843e-01 9.94444234e-01 -4.33497830e-04 -2.64634173e-02] [-1.27810038e-02 -9.17010037e-04 9.99917899e-01 -5.72240465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.03483537002996389 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.03, Z:-0.57 [[ 9.94383721e-01 1.04972285e-01 1.34846149e-02 3.61617124e+01] [-1.04975699e-01 9.94474683e-01 -4.56387091e-04 -3.02185502e-02] [-1.34580161e-02 -9.61732980e-04 9.99908974e-01 -5.73379893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.03737752451416904 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.03, Z:-0.58 [[ 9.94278153e-01 1.05945518e-01 1.36565339e-02 3.62228846e+01] [-1.05949062e-01 9.94371449e-01 -4.65736126e-04 -2.72463881e-02] [-1.36290101e-02 -9.83825704e-04 9.99906637e-01 -5.75216948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.03881134925521353 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.02, Z:-0.58 [[ 9.94059787e-01 1.07978281e-01 1.36319628e-02 3.62840905e+01] [-1.07981953e-01 9.94152744e-01 -4.68542888e-04 -2.41699417e-02] [-1.36028457e-02 -1.00624632e-03 9.99906971e-01 -5.77782899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.037434670015607165 Centerline is valid? [True, True] Translation: X:36.35, Y:-0.02, Z:-0.58 [[ 9.93779370e-01 1.10589085e-01 1.31384570e-02 3.63452384e+01] [-1.10592719e-01 9.93865708e-01 -4.51798841e-04 -2.48246161e-02] [-1.31078259e-02 -1.00402932e-03 9.99913585e-01 -5.79716073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.0447373026748119 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.01, Z:-0.58 [[ 9.93497978e-01 1.13164243e-01 1.24748253e-02 3.64053013e+01] [-1.13167722e-01 9.93575806e-01 -4.29006684e-04 -1.49361638e-02] [-1.24432328e-02 -9.85530284e-04 9.99922094e-01 -5.81229592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.040237823044603584 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.02, Z:-0.58 [[ 9.93176081e-01 1.15949994e-01 1.25248091e-02 3.64657441e+01] [-1.15953707e-01 9.93254525e-01 -4.31749276e-04 -1.92340201e-02] [-1.24903846e-02 -1.02349499e-03 9.99921468e-01 -5.82032740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.043351206219077815 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.01, Z:-0.58 [[ 9.92807433e-01 1.19006839e-01 1.30680579e-02 3.65267817e+01] [-1.19011141e-01 9.92892817e-01 -4.50750925e-04 -1.37992665e-02] [-1.30288233e-02 -1.10773561e-03 9.99914508e-01 -5.82744888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.04692038203839415 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.01, Z:-0.58 [[ 9.92416727e-01 1.22198138e-01 1.32911986e-02 3.65876831e+01] [-1.22202871e-01 9.92505037e-01 -4.58541803e-04 -5.63443967e-03] [-1.32476145e-02 -1.16915806e-03 9.99911563e-01 -5.83740555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.044525106891885526 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.01, Z:-0.58 [[ 9.92227160e-01 1.23716913e-01 1.33936127e-02 3.66495030e+01] [-1.23721864e-01 9.92316828e-01 -4.61516766e-04 -5.97644400e-03] [-1.33478047e-02 -1.19915326e-03 9.99910195e-01 -5.84942380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.042872286434078255 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.01, Z:-0.59 [[ 9.92198609e-01 1.23982579e-01 1.30476529e-02 3.67124098e+01] [-1.23987264e-01 9.92283706e-01 -4.52354299e-04 -6.99581764e-03] [-1.30030575e-02 -1.16891748e-03 9.99914773e-01 -5.86385155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.04294413040573809 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.01, Z:-0.59 [[ 9.92341285e-01 1.22931454e-01 1.21091457e-02 3.67738265e+01] [-1.22935361e-01 9.92414589e-01 -4.24018497e-04 -6.32664793e-03] [-1.20694181e-02 -1.06787114e-03 9.99926592e-01 -5.88142912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.04300157505318889 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.01, Z:-0.59 [[ 9.92726018e-01 1.19808291e-01 1.18754963e-02 3.68341873e+01] [-1.19811821e-01 9.92796532e-01 -4.16389328e-04 -5.17816566e-03] [-1.18398384e-02 -1.00946431e-03 9.99929397e-01 -5.89553162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.04410362917371067 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.00, Z:-0.59 [[ 9.93196870e-01 1.16079159e-01 9.25234036e-03 3.68948950e+01] [-1.16081140e-01 9.93239681e-01 -3.24468577e-04 -4.25218867e-03] [-9.22745562e-03 -7.51761037e-04 9.99957144e-01 -5.92618734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.03931957621815906 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.01, Z:-0.59 [[ 9.93405684e-01 1.14217209e-01 9.97879523e-03 3.69559518e+01] [-1.14219422e-01 9.93455485e-01 -3.49743790e-04 -9.11829860e-03] [-9.95343562e-03 -7.92334756e-04 9.99950149e-01 -5.92788445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.035368771870945656 Centerline is valid? [True, True] Translation: X:37.02, Y:-0.01, Z:-0.59 [[ 9.93625748e-01 1.12168914e-01 1.12253056e-02 3.70170908e+01] [-1.12171578e-01 9.93688775e-01 -3.93994992e-04 -1.17140487e-02] [-1.11986542e-02 -8.67676674e-04 9.99936917e-01 -5.93487825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.03697869612406941 Centerline is valid? [True, True] Translation: X:37.08, Y:-0.01, Z:-0.60 [[ 9.93726636e-01 1.11560758e-01 7.84669914e-03 3.70792471e+01] [-1.11562056e-01 9.93757432e-01 -2.73485566e-04 -1.06274731e-02] [-7.82822584e-03 -6.03623996e-04 9.99969177e-01 -5.96243506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.039766019484168955 Centerline is valid? [True, True] Translation: X:37.14, Y:-0.00, Z:-0.60 [[ 9.93548815e-01 1.12950599e-01 1.01446633e-02 3.71405941e+01] [-1.12952793e-01 9.93600291e-01 -3.58199125e-04 -3.34190047e-03] [-1.01201992e-02 -7.89979740e-04 9.99948477e-01 -5.96295269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.03850016588047722 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.01, Z:-0.60 [[ 9.93430224e-01 1.14235814e-01 6.82406525e-03 3.72020235e+01] [-1.14236831e-01 9.93453516e-01 -2.41945954e-04 -6.24588278e-03] [-6.80703051e-03 -5.39203162e-04 9.99976687e-01 -5.99411893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.0405691633556589 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.00, Z:-0.60 [[ 9.93275618e-01 1.15487184e-01 8.13986254e-03 3.72633051e+01] [-1.15488682e-01 9.93308754e-01 -2.87427350e-04 -2.35292523e-04] [-8.11859090e-03 -6.54567417e-04 9.99966829e-01 -5.99668645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.03849761676555651 Centerline is valid? [True, True] Translation: X:37.33, Y:-0.00, Z:-0.60 [[ 9.93345179e-01 1.14899144e-01 7.97137400e-03 3.73259061e+01] [-1.14900541e-01 9.93376960e-01 -2.84039398e-04 -3.81758003e-03] [-7.95121515e-03 -6.33766016e-04 9.99968188e-01 -5.99998652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.040278007500792475 Centerline is valid? [True, True] Translation: X:37.39, Y:-0.00, Z:-0.60 [[ 9.93350199e-01 1.14824882e-01 8.40405731e-03 3.73880669e+01] [-1.14826428e-01 9.93385525e-01 -2.99877816e-04 -7.44928807e-04] [-8.38290231e-03 -6.67124197e-04 9.99964640e-01 -6.00530242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.04338478540987554 Centerline is valid? [True, True] Translation: X:37.45, Y:0.00, Z:-0.60 [[ 9.93303569e-01 1.15274147e-01 7.73895475e-03 3.74496246e+01] [-1.15275458e-01 9.93333525e-01 -2.77963249e-04 3.62014872e-03] [-7.71940517e-03 -6.16009664e-04 9.99970015e-01 -6.01920114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.04014439563571503 Centerline is valid? [True, True] Translation: X:37.51, Y:0.00, Z:-0.60 [[ 9.93383847e-01 1.14654004e-01 6.55679792e-03 3.75121603e+01] [-1.14654917e-01 9.93405352e-01 -2.37799399e-04 1.40886486e-03] [-6.54082280e-03 -5.15543039e-04 9.99978476e-01 -6.03747977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.041867851886937923 Centerline is valid? [True, True] Translation: X:37.57, Y:0.00, Z:-0.61 [[ 9.93368605e-01 1.14803775e-01 6.23768590e-03 3.75746181e+01] [-1.14804612e-01 9.93388066e-01 -2.24978728e-04 3.22963557e-03] [-6.22227114e-03 -4.92628303e-04 9.99980520e-01 -6.05005255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.03867996025565231 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.00, Z:-0.61 [[ 9.93367640e-01 1.14844257e-01 5.61501375e-03 3.76365131e+01] [-1.14844929e-01 9.93383411e-01 -2.03677952e-04 -2.78078321e-03] [-5.60125275e-03 -4.42528770e-04 9.99984215e-01 -6.05594090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.035320584360890445 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.01, Z:-0.61 [[ 9.93565783e-01 1.13119008e-01 5.57903529e-03 3.76976811e+01] [-1.13119624e-01 9.93581355e-01 -2.06080704e-04 -6.57579429e-03] [-5.56653708e-03 -4.26343636e-04 9.99984416e-01 -6.06329976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.03593355818664414 Centerline is valid? [True, True] Translation: X:37.76, Y:-0.01, Z:-0.61 [[ 9.94073106e-01 1.08514532e-01 6.57694147e-03 3.77576286e+01] [-1.08515283e-01 9.94094751e-01 -2.43585371e-04 -7.15460878e-03] [-6.56453555e-03 -4.71557000e-04 9.99978342e-01 -6.06863292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.03550122746904316 Centerline is valid? [True, True] Translation: X:37.82, Y:-0.01, Z:-0.61 [[ 9.94485120e-01 1.04674982e-01 6.51868923e-03 3.78177272e+01] [-1.04675637e-01 9.94506386e-01 -2.41500767e-04 -1.05270471e-02] [-6.50815716e-03 -4.42179030e-04 9.99978724e-01 -6.07713062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.032942008456345255 Centerline is valid? [True, True] Translation: X:37.88, Y:-0.02, Z:-0.61 [[ 9.95155621e-01 9.81073733e-02 6.34294344e-03 3.78779637e+01] [-9.81078611e-02 9.95175760e-01 -2.34945795e-04 -1.70885175e-02] [-6.33539347e-03 -3.88484986e-04 9.99979856e-01 -6.08760488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.0325781981866627 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.02, Z:-0.61 [[ 9.95811324e-01 9.13387432e-02 4.12811635e-03 3.79384734e+01] [-9.13388913e-02 9.95819855e-01 -1.53041088e-04 -2.32458580e-02] [-4.12483881e-03 -2.24657523e-04 9.99991468e-01 -6.11557991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.028474071243157074 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.03, Z:-0.61 [[ 9.96318111e-01 8.56501953e-02 3.77693659e-03 3.79992457e+01] [-8.56502794e-02 9.96325253e-01 -1.39780387e-04 -3.10284672e-02] [-3.77502952e-03 -1.84229943e-04 9.99992858e-01 -6.12563716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.02337057343152462 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.05, Z:-0.61 [[ 9.97196945e-01 7.46716719e-02 4.73222611e-03 3.80597359e+01] [-7.46716794e-02 9.97208158e-01 -1.75343479e-04 -4.63864407e-02] [-4.73210767e-03 -1.78511289e-04 9.99988788e-01 -6.11570635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.02041888114328899 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.06, Z:-0.61 [[ 9.97655973e-01 6.82828877e-02 4.47300094e-03 3.81204340e+01] [-6.82828306e-02 9.97665990e-01 -1.65658368e-04 -6.00318169e-02] [-4.47387255e-03 -1.40159105e-04 9.99989982e-01 -6.10050492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.020897788863274005 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.06, Z:-0.61 [[ 9.97809661e-01 6.60853073e-02 2.93476726e-03 3.81818379e+01] [-6.60852823e-02 9.97813973e-01 -1.05596458e-04 -6.45273965e-02] [-2.93533015e-03 -8.85797574e-05 9.99995688e-01 -6.12069820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.01776028311594382 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.07, Z:-0.61 [[ 9.97940595e-01 6.40383013e-02 3.69668107e-03 3.82441496e+01] [-6.40382401e-02 9.97947436e-01 -1.35050233e-04 -7.01144374e-02] [-3.69774179e-03 -1.01956840e-04 9.99993158e-01 -6.11931648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.01936698669106929 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.07, Z:-0.61 [[ 9.97967041e-01 6.36474638e-02 3.28418996e-03 3.83058029e+01] [-6.36474122e-02 9.97972441e-01 -1.20331297e-04 -7.48784181e-02] [-3.28518985e-03 -8.89435238e-05 9.99994600e-01 -6.11976563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.019590764090799854 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.08, Z:-0.61 [[ 9.97809522e-01 6.60210867e-02 4.16829942e-03 3.83680443e+01] [-6.60210153e-02 9.97818221e-01 -1.54883613e-04 -7.68238744e-02] [-4.16943070e-03 -1.20651016e-04 9.99991301e-01 -6.11257414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.01780100819904042 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.08, Z:-0.61 [[ 9.97714586e-01 6.73684360e-02 5.20571160e-03 3.84304961e+01] [-6.73683306e-02 9.97728154e-01 -1.95792628e-04 -7.81083686e-02] [-5.20707527e-03 -1.55354940e-04 9.99986431e-01 -6.10737857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.018664099676085427 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.08, Z:-0.61 [[ 9.97398476e-01 7.19372654e-02 4.61616172e-03 3.84918336e+01] [-7.19372169e-02 9.97409147e-01 -1.76760236e-04 -7.90003625e-02] [-4.61691757e-03 -1.55773437e-04 9.99989330e-01 -6.11143015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.02062685510363212 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.08, Z:-0.61 [[ 9.97121933e-01 7.57168806e-02 3.84774365e-03 3.85527088e+01] [-7.57168740e-02 9.97129346e-01 -1.47602999e-04 -7.80208968e-02] [-3.84787415e-03 -1.44160933e-04 9.99992587e-01 -6.12992234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.024509378814566142 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.08, Z:-0.62 [[ 9.96754669e-01 8.04618652e-02 2.45311803e-03 3.86132693e+01] [-8.04618770e-02 9.96757682e-01 -9.40377830e-05 -7.88196243e-02] [-2.45273070e-03 -1.03649882e-04 9.99996987e-01 -6.15532343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.025257171773813755 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.08, Z:-0.62 [[ 9.96802532e-01 7.97955568e-02 4.16918279e-03 3.86743666e+01] [-7.97955902e-02 9.96811235e-01 -1.58596820e-04 -7.97311201e-02] [-4.16854357e-03 -1.74592690e-04 9.99991296e-01 -6.15762906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.02383812024642342 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.09, Z:-0.62 [[ 9.96863822e-01 7.90099579e-02 4.46630791e-03 3.87365379e+01] [-7.90099904e-02 9.96873810e-01 -1.69439716e-04 -8.74889834e-02] [-4.46573281e-03 -1.83974623e-04 9.99990012e-01 -6.15588641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.01935125595578633 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.10, Z:-0.61 [[ 9.97175248e-01 7.49357999e-02 5.11369390e-03 3.87974615e+01] [-7.49357672e-02 9.97188343e-01 -1.98258649e-04 -9.52174877e-02] [-5.11417262e-03 -1.85499958e-04 9.99986905e-01 -6.14713572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.02080839622231121 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.10, Z:-0.62 [[ 9.97583456e-01 6.92624841e-02 5.47329043e-03 3.88566634e+01] [-6.92623567e-02 9.97598457e-01 -2.13034599e-04 -1.01654001e-01] [-5.47490139e-03 -1.66573203e-04 9.99984999e-01 -6.16367569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.01759748691398902 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.11, Z:-0.62 [[ 9.97895630e-01 6.45475107e-02 6.15885397e-03 3.89176010e+01] [-6.45472640e-02 9.97914622e-01 -2.39024996e-04 -1.08782807e-01] [-6.16143890e-03 -1.59015174e-04 9.99981006e-01 -6.15413222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.016844559574041806 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.11, Z:-0.62 [[ 9.98078971e-01 6.17057972e-02 5.54631094e-03 3.89785826e+01] [-6.17055639e-02 9.98094373e-01 -2.13336780e-04 -1.13769591e-01] [-5.54890586e-03 -1.29311290e-04 9.99984596e-01 -6.15964612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.017976626391135963 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.12, Z:-0.62 [[ 9.97948077e-01 6.37158050e-02 6.31911840e-03 3.90403719e+01] [-6.37155306e-02 9.97968071e-01 -2.44926782e-04 -1.17740706e-01] [-6.32188411e-03 -1.58201771e-04 9.99980004e-01 -6.15209728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.017656500832571146 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.12, Z:-0.62 [[ 9.97842724e-01 6.53047685e-02 6.72203151e-03 3.91019741e+01] [-6.53044803e-02 9.97865350e-01 -2.62590150e-04 -1.19639129e-01] [-6.72483071e-03 -1.76955104e-04 9.99977372e-01 -6.15020836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.018506291884886474 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.12, Z:-0.62 [[ 9.97786156e-01 6.61793592e-02 6.56348682e-03 3.91642960e+01] [-6.61790953e-02 9.97807727e-01 -2.57631643e-04 -1.21429878e-01] [-6.56614776e-03 -1.77304332e-04 9.99978427e-01 -6.16552721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.018506291884886474 Centerline is valid? [True, True] Translation: X:39.23, Y:-0.12, Z:-0.62 [[ 9.97768043e-01 6.64518941e-02 6.56343804e-03 3.92267236e+01] [-6.64516279e-02 9.97789614e-01 -2.58865010e-04 -1.24008382e-01] [-6.56613238e-03 -1.77863908e-04 9.99978427e-01 -6.17563185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.018197570453508127 Centerline is valid? [True, True] Translation: X:39.29, Y:-0.13, Z:-0.62 [[ 9.97557418e-01 6.95679869e-02 6.28429770e-03 3.92886943e+01] [-6.95677825e-02 9.97577195e-01 -2.51388761e-04 -1.28252321e-01] [-6.28656068e-03 -1.86409932e-04 9.99980222e-01 -6.17216189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.02053271090897248 Centerline is valid? [True, True] Translation: X:39.35, Y:-0.13, Z:-0.62 [[ 9.97496501e-01 7.04348055e-02 6.29827148e-03 3.93496859e+01] [-7.04346242e-02 9.97516366e-01 -2.50870310e-04 -1.28805337e-01] [-6.30029888e-03 -1.93374128e-04 9.99980134e-01 -6.19227539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.0170552756139424 Centerline is valid? [True, True] Translation: X:39.41, Y:-0.14, Z:-0.62 [[ 9.97493038e-01 7.04937212e-02 6.18663776e-03 3.94123810e+01] [-7.04935434e-02 9.97512205e-01 -2.47065225e-04 -1.39001227e-01] [-6.18866323e-03 -1.89672177e-04 9.99980832e-01 -6.18386203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.01850557005527627 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.15, Z:-0.62 [[ 9.97518318e-01 7.02396080e-02 4.85835406e-03 3.94754607e+01] [-7.02394932e-02 9.97530138e-01 -1.94458538e-04 -1.45174111e-01] [-4.86001329e-03 -1.47272374e-04 9.99988179e-01 -6.20931181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.017314814749245226 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.15, Z:-0.62 [[ 9.97569728e-01 6.94589489e-02 5.48557412e-03 3.95371980e+01] [-6.94587763e-02 9.97584798e-01 -2.22200887e-04 -1.52374750e-01] [-5.48775919e-03 -1.59360388e-04 9.99984929e-01 -6.19623453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.019904955348197088 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.16, Z:-0.62 [[ 9.97726168e-01 6.72277567e-02 4.78773377e-03 3.95988892e+01] [-6.72275960e-02 9.97737647e-01 -1.94665324e-04 -1.59997757e-01] [-4.78998914e-03 -1.27645144e-04 9.99988520e-01 -6.22460674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.01611132799995084 Centerline is valid? [True, True] Translation: X:39.66, Y:-0.17, Z:-0.62 [[ 9.97853072e-01 6.53210435e-02 4.73361956e-03 3.96603146e+01] [-6.53208599e-02 9.97864293e-01 -1.93538106e-04 -1.71392894e-01] [-4.73615205e-03 -1.16081506e-04 9.99988778e-01 -6.20583390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.01609191504157144 Centerline is valid? [True, True] Translation: X:39.72, Y:-0.18, Z:-0.62 [[ 9.97880375e-01 6.48838604e-02 4.98410378e-03 3.97217177e+01] [-6.48836440e-02 9.97892815e-01 -2.05271120e-04 -1.78956239e-01] [-4.98692013e-03 -1.18550793e-04 9.99987558e-01 -6.20517873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.01694787216448204 Centerline is valid? [True, True] Translation: X:39.78, Y:-0.18, Z:-0.62 [[ 9.97843205e-01 6.54218709e-02 5.37742502e-03 3.97842502e+01] [-6.54216197e-02 9.97857686e-01 -2.22801372e-04 -1.82416358e-01] [-5.38048097e-03 -1.29479019e-04 9.99985517e-01 -6.22193947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.017116461883265474 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.19, Z:-0.62 [[ 9.97748726e-01 6.68070792e-02 5.85617399e-03 3.98463351e+01] [-6.68067908e-02 9.97765901e-01 -2.45077595e-04 -1.89799805e-01] [-5.85946363e-03 -1.46706332e-04 9.99982822e-01 -6.22207029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.018511294868801494 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.19, Z:-0.62 [[ 9.97598993e-01 6.89869101e-02 6.08729399e-03 3.99074175e+01] [-6.89866275e-02 9.97617552e-01 -2.56631873e-04 -1.93227252e-01] [-6.09049557e-03 -1.63926185e-04 9.99981439e-01 -6.23718858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.01968744890616299 Centerline is valid? [True, True] Translation: X:39.97, Y:-0.20, Z:-0.62 [[ 9.97263048e-01 7.35892589e-02 7.14377888e-03 3.99687910e+01] [-7.35889712e-02 9.97288610e-01 -3.03470980e-04 -1.95470987e-01] [-7.14674152e-03 -2.23062944e-04 9.99974437e-01 -6.24183348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.018777925332213837 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.20, Z:-0.62 [[ 9.96961614e-01 7.75433942e-02 7.38668375e-03 4.00303406e+01] [-7.75431828e-02 9.96988944e-01 -3.15439562e-04 -2.01728620e-01] [-7.38890229e-03 -2.58305833e-04 9.99972668e-01 -6.24197428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.023462870941065434 Centerline is valid? [True, True] Translation: X:40.09, Y:-0.20, Z:-0.63 [[ 9.96508507e-01 8.31527233e-02 7.51135544e-03 4.00912455e+01] [-8.31526359e-02 9.96536770e-01 -3.24468727e-04 -2.02799090e-01] [-7.51232234e-03 -3.01253157e-04 9.99971737e-01 -6.26170397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.023220677932932185 Centerline is valid? [True, True] Translation: X:40.15, Y:-0.20, Z:-0.63 [[ 9.95935695e-01 8.96701684e-02 8.44701622e-03 4.01513556e+01] [-8.96702893e-02 9.95971438e-01 -3.65172955e-04 -2.04993506e-01] [-8.44573201e-03 -3.93757608e-04 9.99964257e-01 -6.25834492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.02699724127637582 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.21, Z:-0.63 [[ 9.95523683e-01 9.41947491e-02 7.74249680e-03 4.02123204e+01] [-9.41949877e-02 9.95553711e-01 -3.34642291e-04 -2.05945617e-01] [-7.73959297e-03 -3.96160065e-04 9.99969970e-01 -6.28149055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.027301137468231325 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.21, Z:-0.63 [[ 9.95264800e-01 9.67677690e-02 9.16387190e-03 4.02738384e+01] [-9.67682113e-02 9.95306865e-01 -3.96158365e-04 -2.08141062e-01] [-9.15919998e-03 -4.92489016e-04 9.99957932e-01 -6.27813122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.02679743640963236 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.21, Z:-0.63 [[ 9.95137274e-01 9.80659786e-02 9.21249724e-03 4.03360486e+01] [-9.80664918e-02 9.95179786e-01 -3.97093476e-04 -2.12243990e-01] [-9.20703238e-03 -5.08274766e-04 9.99957485e-01 -6.28540007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.02726772316491678 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.22, Z:-0.63 [[ 9.94905719e-01 1.00404642e-01 9.02870048e-03 4.03974345e+01] [-1.00405210e-01 9.94946552e-01 -3.91482029e-04 -2.15301879e-01] [-9.02238102e-03 -5.17040857e-04 9.99959164e-01 -6.29891717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.02718511796362053 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.22, Z:-0.63 [[ 9.94828348e-01 1.01221691e-01 8.40995745e-03 4.04590148e+01] [-1.01222199e-01 9.94863776e-01 -3.66353045e-04 -2.19097628e-01] [-8.40384490e-03 -4.86815988e-04 9.99964569e-01 -6.30872149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.029200524164192925 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.22, Z:-0.63 [[ 9.94752612e-01 1.02025059e-01 7.62416574e-03 4.05201358e+01] [-1.02025488e-01 9.94781729e-01 -3.33592933e-04 -2.20492493e-01] [-7.61841562e-03 -4.46016790e-04 9.99970880e-01 -6.31944606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.03053334538938332 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.22, Z:-0.63 [[ 9.94566605e-01 1.03852832e-01 7.20128483e-03 4.05821704e+01] [-1.03853242e-01 9.94592581e-01 -3.17994156e-04 -2.22016204e-01] [-7.19536906e-03 -4.31610406e-04 9.99974020e-01 -6.32847875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.030131441578753988 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.22, Z:-0.63 [[ 9.94348372e-01 1.05925479e-01 7.14897595e-03 4.06434614e+01] [-1.05925931e-01 9.94373972e-01 -3.16492012e-04 -2.24809995e-01] [-7.14228018e-03 -4.42558613e-04 9.99974396e-01 -6.33459199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.03257406098832293 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.22, Z:-0.63 [[ 9.94079416e-01 1.08458044e-01 6.55498298e-03 4.07049743e+01] [-1.08458477e-01 9.94100938e-01 -2.90385733e-04 -2.23936024e-01] [-6.54780940e-03 -4.22276992e-04 9.99978474e-01 -6.34149378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.033687902300694135 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.23, Z:-0.64 [[ 9.93995740e-01 1.09216780e-01 6.64561107e-03 4.07667912e+01] [-1.09217254e-01 9.94017860e-01 -2.92658749e-04 -2.25050848e-01] [-6.63781934e-03 -4.34913839e-04 9.99977875e-01 -6.35112175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.03622575874852804 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.23, Z:-0.64 [[ 9.94069854e-01 1.08641584e-01 4.70444600e-03 4.08275924e+01] [-1.08641814e-01 9.94080939e-01 -2.07410720e-04 -2.25834623e-01] [-4.69913353e-03 -3.04918801e-04 9.99988913e-01 -6.37173193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.03037487584771063 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.24, Z:-0.63 [[ 9.94122875e-01 1.08052238e-01 6.66501491e-03 4.08899154e+01] [-1.08052658e-01 9.94145127e-01 -2.98099005e-04 -2.36014640e-01] [-6.65820236e-03 -4.23825540e-04 9.99977744e-01 -6.34687031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.03132878773824768 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.24, Z:-0.64 [[ 9.94231730e-01 1.07118911e-01 5.36708453e-03 4.09515902e+01] [-1.07119178e-01 9.94246159e-01 -2.38527340e-04 -2.38419638e-01] [-5.36175396e-03 -3.37766231e-04 9.99985569e-01 -6.36521841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.028610805286631256 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.24, Z:-0.64 [[ 9.94148818e-01 1.07860323e-01 5.85478146e-03 4.10133547e+01] [-1.07860643e-01 9.94165989e-01 -2.61971373e-04 -2.43753353e-01] [-5.84888092e-03 -3.71061960e-04 9.99982826e-01 -6.36038823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.034089594584164114 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.24, Z:-0.64 [[ 9.94063748e-01 1.08675397e-01 5.18872483e-03 4.10743960e+01] [-1.08675653e-01 9.94077234e-01 -2.33267324e-04 -2.38793606e-01] [-5.18334365e-03 -3.32005471e-04 9.99986511e-01 -6.38697621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.034641641468959455 Centerline is valid? [True, True] Translation: X:41.14, Y:-0.24, Z:-0.64 [[ 9.93798760e-01 1.11132495e-01 3.68696926e-03 4.11353268e+01] [-1.11132632e-01 9.93805569e-01 -1.68204808e-04 -2.40932443e-01] [-3.68282361e-03 -2.42580870e-04 9.99993189e-01 -6.40298113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.033086926818335013 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.24, Z:-0.64 [[ 9.93455109e-01 1.14129576e-01 4.62447601e-03 4.11968096e+01] [-1.14129825e-01 9.93465822e-01 -2.10919180e-04 -2.43158657e-01] [-4.61833097e-03 -3.18251899e-04 9.99989285e-01 -6.39546140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.03984327424000281 Centerline is valid? [True, True] Translation: X:41.26, Y:-0.24, Z:-0.64 [[ 9.93006014e-01 1.17989542e-01 4.18613920e-03 4.12571066e+01] [-1.17989778e-01 9.93014791e-01 -1.91600094e-04 -2.35661393e-01] [-4.17950495e-03 -3.03661587e-04 9.99991220e-01 -6.41343219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.03810511387972069 Centerline is valid? [True, True] Translation: X:41.32, Y:-0.24, Z:-0.64 [[ 9.92757717e-01 1.20020666e-01 5.21106701e-03 4.13185991e+01] [-1.20021061e-01 9.92771317e-01 -2.37873954e-04 -2.39035800e-01] [-5.20194765e-03 -3.89286589e-04 9.99986394e-01 -6.40427313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.041819461965131255 Centerline is valid? [True, True] Translation: X:41.38, Y:-0.24, Z:-0.64 [[ 9.92552093e-01 1.21768864e-01 3.56176512e-03 4.13797283e+01] [-1.21769059e-01 9.92558446e-01 -1.62755708e-04 -2.36017576e-01] [-3.55507863e-03 -2.72169269e-04 9.99993644e-01 -6.43072247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.04259686861303021 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.23, Z:-0.64 [[ 9.92362532e-01 1.23288670e-01 4.06321642e-03 4.14418379e+01] [-1.23288939e-01 9.92370799e-01 -1.85160321e-04 -2.34810204e-01] [-4.05504550e-03 -3.17203475e-04 9.99991728e-01 -6.42925459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.041627469310732496 Centerline is valid? [True, True] Translation: X:41.50, Y:-0.24, Z:-0.64 [[ 9.92417086e-01 1.22877144e-01 3.08796567e-03 4.15038638e+01] [-1.22877304e-01 9.92421860e-01 -1.38389269e-04 -2.36682767e-01] [-3.08156951e-03 -2.42101022e-04 9.99995223e-01 -6.44763485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.03990725072208974 Centerline is valid? [True, True] Translation: X:41.56, Y:-0.24, Z:-0.64 [[ 9.92800549e-01 1.19728089e-01 3.50062253e-03 4.15641971e+01] [-1.19728261e-01 9.92806687e-01 -1.61218250e-04 -2.39801577e-01] [-3.49474381e-03 -2.59065881e-04 9.99993860e-01 -6.44568044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.031658485026765784 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.25, Z:-0.65 [[ 9.93890771e-01 1.10328528e-01 2.95814699e-03 4.16237921e+01] [-1.10328609e-01 9.93895155e-01 -1.36253982e-04 -2.54307705e-01] [-2.95512067e-03 -1.90946667e-04 9.99995615e-01 -6.45432084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.025471929002603762 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.27, Z:-0.64 [[ 9.95119205e-01 9.86205992e-02 3.42704830e-03 4.16837723e+01] [-9.86206382e-02 9.95125090e-01 -1.58023450e-04 -2.67083230e-01] [-3.42592611e-03 -1.80725521e-04 9.99994115e-01 -6.44820843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.02913628382369875 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.27, Z:-0.65 [[ 9.95691190e-01 9.26636725e-02 3.53535236e-03 4.17437513e+01] [-9.26636760e-02 9.95697452e-01 -1.63181220e-04 -2.66051959e-01] [-3.53526230e-03 -1.65120642e-04 9.99993737e-01 -6.47446762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.0281864470267554 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.27, Z:-0.65 [[ 9.96068489e-01 8.85038973e-02 3.82438042e-03 4.18036074e+01] [-8.85038718e-02 9.96075817e-01 -1.76236762e-04 -2.69653865e-01] [-3.82497050e-03 -1.62928589e-04 9.99992672e-01 -6.48352424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.021229856542440504 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.28, Z:-0.65 [[ 9.96115342e-01 8.79358630e-02 4.63783891e-03 4.18653019e+01] [-8.79358327e-02 9.96126119e-01 -2.10859595e-04 -2.81132762e-01] [-4.63841459e-03 -1.97791749e-04 9.99989223e-01 -6.46539798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.021017031143801324 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.28, Z:-0.65 [[ 9.96112484e-01 8.80010634e-02 3.96645964e-03 4.19279219e+01] [-8.80010419e-02 9.96120366e-01 -1.80291622e-04 -2.82206384e-01] [-3.96693708e-03 -1.69461845e-04 9.99992117e-01 -6.48344039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.02075139473298038 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.28, Z:-0.65 [[ 9.96114520e-01 8.79840271e-02 3.83077895e-03 4.19903924e+01] [-8.79840016e-02 9.96121872e-01 -1.75496609e-04 -2.84372196e-01] [-3.83136359e-03 -1.62232540e-04 9.99992647e-01 -6.48603857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.02136499572392732 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.29, Z:-0.65 [[ 9.96057323e-01 8.85840502e-02 4.76178025e-03 4.20529427e+01] [-8.85840091e-02 9.96068685e-01 -2.19945843e-04 -2.85551107e-01] [-4.76254389e-03 -2.02738918e-04 9.99988638e-01 -6.48870622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.024976826049720718 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.28, Z:-0.65 [[ 9.95753662e-01 9.19448873e-02 4.55882348e-03 4.21128526e+01] [-9.19448648e-02 9.95764076e-01 -2.14955469e-04 -2.80244488e-01] [-4.55927670e-03 -2.05117713e-04 9.99989585e-01 -6.50539867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.024129262514405992 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.28, Z:-0.65 [[ 9.95491172e-01 9.47599423e-02 4.22852045e-03 4.21738620e+01] [-9.47599492e-02 9.95500132e-01 -1.99170164e-04 -2.81866616e-01] [-4.22836602e-03 -2.02422243e-04 9.99991040e-01 -6.51302297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.028526696100563683 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.28, Z:-0.65 [[ 9.95208072e-01 9.77118535e-02 3.64526519e-03 4.22345474e+01] [-9.77118796e-02 9.95214730e-01 -1.71378041e-04 -2.76357599e-01] [-3.64456727e-03 -1.85628903e-04 9.99993341e-01 -6.54402086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.029830683393454648 Centerline is valid? [True, True] Translation: X:42.30, Y:-0.27, Z:-0.65 [[ 9.94959652e-01 1.00207066e-01 3.71955392e-03 4.22964003e+01] [-1.00207110e-01 9.94966585e-01 -1.75195752e-04 -2.73111006e-01] [-3.71838771e-03 -1.98413044e-04 9.99993067e-01 -6.53504369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.03034090149495615 Centerline is valid? [True, True] Translation: X:42.36, Y:-0.27, Z:-0.65 [[ 9.94860249e-01 1.01195955e-01 3.53051841e-03 4.23586529e+01] [-1.01196008e-01 9.94866494e-01 -1.63819348e-04 -2.74191955e-01] [-3.52897233e-03 -1.94297013e-04 9.99993754e-01 -6.54192275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.03009460894219409 Centerline is valid? [True, True] Translation: X:42.42, Y:-0.28, Z:-0.66 [[ 9.94723912e-01 1.02540919e-01 3.11430384e-03 4.24206666e+01] [-1.02540960e-01 9.94728772e-01 -1.46978282e-04 -2.75516267e-01] [-3.11295892e-03 -1.73140895e-04 9.99995140e-01 -6.55798308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.02788590103566064 Centerline is valid? [True, True] Translation: X:42.48, Y:-0.28, Z:-0.65 [[ 9.94783333e-01 1.01963198e-01 3.10255282e-03 4.24826033e+01] [-1.01963243e-01 9.94788157e-01 -1.44313832e-04 -2.78509900e-01] [-3.10109750e-03 -1.72785352e-04 9.99995177e-01 -6.54434440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.0267745068576038 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.28, Z:-0.66 [[ 9.94803382e-01 1.01785095e-01 2.45480913e-03 4.25447533e+01] [-1.01785123e-01 9.94806401e-01 -1.13870200e-04 -2.82819960e-01] [-2.45365013e-03 -1.36584589e-04 9.99996980e-01 -6.55343240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.027890686417467357 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.28, Z:-0.66 [[ 9.94788906e-01 1.01942372e-01 1.66912213e-03 4.26080866e+01] [-1.01942388e-01 9.94790301e-01 -7.60065236e-05 -2.83698251e-01] [-1.66817479e-03 -9.45438491e-05 9.99998604e-01 -6.56449930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.027974190975367293 Centerline is valid? [True, True] Translation: X:42.67, Y:-0.28, Z:-0.65 [[ 9.94657742e-01 1.03210257e-01 1.90228060e-03 4.26697050e+01] [-1.03210276e-01 9.94659555e-01 -8.86666708e-05 -2.79373651e-01] [-1.90127289e-03 -1.08141915e-04 9.99998187e-01 -6.53776027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.027728164276298324 Centerline is valid? [True, True] Translation: X:42.73, Y:-0.28, Z:-0.65 [[ 9.94552242e-01 1.04224832e-01 1.73854044e-03 4.27321089e+01] [-1.04224849e-01 9.94553756e-01 -8.08727489e-05 -2.79940950e-01] [-1.73750087e-03 -1.00766941e-04 9.99998485e-01 -6.53922227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.02807997126596455 Centerline is valid? [True, True] Translation: X:42.79, Y:-0.28, Z:-0.66 [[ 9.94555510e-01 1.04197005e-01 1.52384295e-03 4.27941372e+01] [-1.04197019e-01 9.94556673e-01 -7.07899487e-05 -2.81839954e-01] [-1.52292428e-03 -8.83753589e-05 9.99998836e-01 -6.55028053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.030258363110753562 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.28, Z:-0.66 [[ 9.94576301e-01 1.04009416e-01 1.50148940e-04 4.28573154e+01] [-1.04009416e-01 9.94576312e-01 -2.87224480e-06 -2.83183018e-01] [-1.49633319e-04 -1.27602370e-05 9.99999989e-01 -6.59519078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.02858480311885419 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.28, Z:-0.66 [[ 9.94411048e-01 1.05577032e-01 3.97960928e-04 4.29198798e+01] [-1.05577034e-01 9.94411127e-01 -1.57243808e-05 -2.84777102e-01] [-3.97396909e-04 -2.63790365e-05 9.99999921e-01 -6.57147968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.03306823289374028 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.28, Z:-0.66 [[ 9.94223531e-01 1.07327369e-01 6.37690749e-04 4.29806388e+01] [-1.07327372e-01 9.94223735e-01 -2.97307981e-05 -2.80563766e-01] [-6.37198206e-04 -3.88826130e-05 9.99999796e-01 -6.60126658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.03096325401299217 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.29, Z:-0.66 [[ 9.94110054e-01 1.08371477e-01 9.07279350e-04 4.30427670e+01] [-1.08371485e-01 9.94110466e-01 -4.12568057e-05 -2.86740959e-01] [-9.06406958e-04 -5.73094049e-05 9.99999588e-01 -6.59989924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.028886158574823014 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.29, Z:-0.66 [[ 9.94446794e-01 1.05239602e-01 4.46199008e-04 4.31034389e+01] [-1.05239603e-01 9.94446894e-01 -2.20201219e-05 -2.91175491e-01] [-4.46038607e-04 -2.50599668e-05 9.99999900e-01 -6.60263551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.029813892974142546 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.29, Z:-0.66 [[ 9.94754825e-01 1.02287418e-01 3.50173682e-04 4.31645683e+01] [-1.02287418e-01 9.94754886e-01 -1.69658320e-05 -2.94728130e-01] [-3.50072373e-04 -1.89415187e-05 9.99999939e-01 -6.61817432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.03060447988999649 Centerline is valid? [True, True] Translation: X:43.23, Y:-0.30, Z:-0.66 [[ 9.95038667e-01 9.94885727e-02 2.72395114e-04 4.32256124e+01] [-9.94885728e-02 9.95038705e-01 -1.30648370e-05 -2.98931373e-01] [-2.72343483e-04 -1.41001831e-05 9.99999963e-01 -6.62639948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.024643560266036688 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.30, Z:-0.66 [[ 9.95434391e-01 9.54273560e-02 1.99820331e-03 4.32866026e+01] [-9.54273475e-02 9.95436392e-01 -9.98046867e-05 -3.04396008e-01] [-1.99860839e-03 -9.13342240e-05 9.99997999e-01 -6.57776816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.02592637436621695 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.31, Z:-0.66 [[ 9.95622641e-01 9.34597164e-02 9.15515533e-04 4.33488190e+01] [-9.34597156e-02 9.95623061e-01 -4.37651079e-05 -3.10623744e-01] [-9.15598652e-04 -4.19902891e-05 9.99999580e-01 -6.61774893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.02529205917826568 Centerline is valid? [True, True] Translation: X:43.41, Y:-0.31, Z:-0.66 [[ 9.96016984e-01 8.91636539e-02 -1.00055643e-04 4.34087789e+01] [-8.91636539e-02 9.96016989e-01 5.02546743e-06 -3.13518274e-01] [ 1.00105210e-04 3.91587583e-06 9.99999995e-01 -6.64001797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.023764378572746027 Centerline is valid? [True, True] Translation: X:43.47, Y:-0.32, Z:-0.66 [[ 9.96392427e-01 8.48653723e-02 3.40713549e-06 4.34702032e+01] [-8.48653723e-02 9.96392427e-01 6.86834908e-07 -3.19937587e-01] [-3.33655552e-06 -9.73504924e-07 1.00000000e+00 -6.63896581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.02294406046153006 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.32, Z:-0.66 [[ 9.96950905e-01 7.80139633e-02 1.64751368e-03 4.35302760e+01] [-7.80139327e-02 9.96952265e-01 -8.28937307e-05 -3.24765485e-01] [-1.64895936e-03 -4.58880415e-05 9.99998639e-01 -6.63509814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.02028686078401593 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.34, Z:-0.66 [[ 9.97706548e-01 6.76241974e-02 2.93466582e-03 4.35900867e+01] [-6.76240561e-02 9.97710863e-01 -1.47437837e-04 -3.35132156e-01] [-2.93791833e-03 -5.13543103e-05 9.99995683e-01 -6.63044931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.017275120073868087 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.34, Z:-0.66 [[ 9.98176081e-01 6.02771371e-02 3.34327104e-03 4.36501042e+01] [-6.02769129e-02 9.98181680e-01 -1.67885116e-04 -3.42507030e-01] [-3.34731153e-03 -3.39431499e-05 9.99994397e-01 -6.63041095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.01906194211748863 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.35, Z:-0.66 [[ 9.98843187e-01 4.79582313e-02 3.50640389e-03 4.37115831e+01] [-4.79579189e-02 9.98849342e-01 -1.73172106e-04 -3.53915279e-01] [-3.51067425e-03 4.81194473e-06 9.99993838e-01 -6.62825751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.018038493200122716 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.36, Z:-0.66 [[ 9.99194908e-01 3.98763495e-02 4.40598634e-03 4.37718926e+01] [-3.98757614e-02 9.99204621e-01 -2.21282951e-04 -3.62066011e-01] [-4.41130587e-03 4.54127378e-05 9.99990269e-01 -6.62918294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.020997837478195485 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.37, Z:-0.66 [[ 9.99548917e-01 2.97738945e-02 3.93424059e-03 4.38327640e+01] [-2.97733420e-02 9.99556656e-01 -1.98958498e-04 -3.72208595e-01] [-3.93842013e-03 8.17332610e-05 9.99992241e-01 -6.64233250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.019332178075884873 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.38, Z:-0.66 [[ 9.99718555e-01 2.31065534e-02 5.37560197e-03 4.38935240e+01] [-2.31054223e-02 9.99732997e-01 -2.72437515e-04 -3.79369016e-01] [-5.38046176e-03 1.48155285e-04 9.99985514e-01 -6.62361660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.02124466572155497 Centerline is valid? [True, True] Translation: X:43.96, Y:-0.38, Z:-0.66 [[ 9.99772095e-01 2.04510267e-02 6.12477242e-03 4.39550838e+01] [-2.04495206e-02 9.99790839e-01 -3.08432577e-04 -3.83436071e-01] [-6.12979912e-03 1.83113623e-04 9.99981196e-01 -6.63774772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.021887671740070287 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.39, Z:-0.66 [[ 9.99738462e-01 2.17764652e-02 6.98525261e-03 4.40169964e+01] [-2.17745249e-02 9.99762844e-01 -3.53713989e-04 -3.85507186e-01] [-6.99129866e-03 2.01520922e-04 9.99975540e-01 -6.63611314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.01955575134995167 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.39, Z:-0.66 [[ 9.99622702e-01 2.63255702e-02 7.83700881e-03 4.40786802e+01] [-2.63232357e-02 9.99653403e-01 -4.00894932e-04 -3.85002921e-01] [-7.84484632e-03 1.94448245e-04 9.99969210e-01 -6.62961196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.016975929411249834 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.38, Z:-0.66 [[ 9.99348363e-01 3.53310411e-02 7.38699517e-03 4.41393014e+01] [-3.53292068e-02 9.99375657e-01 -3.78702338e-04 -3.80914182e-01] [-7.39576310e-03 1.17478882e-04 9.99972644e-01 -6.63718640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.01711320657543604 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.38, Z:-0.67 [[ 9.99031679e-01 4.35032340e-02 6.57060595e-03 4.41996901e+01] [-4.35019605e-02 9.99053285e-01 -3.36679137e-04 -3.78464227e-01] [-6.57903209e-03 5.05188830e-05 9.99978357e-01 -6.66431409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.01649270666623349 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.38, Z:-0.67 [[ 9.98920523e-01 4.59354575e-02 6.90819242e-03 4.42615153e+01] [-4.59341210e-02 9.98944409e-01 -3.52083639e-04 -3.80449233e-01] [-6.91707332e-03 3.43818257e-05 9.99976076e-01 -6.67329688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.014551116421854847 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.38, Z:-0.67 [[ 9.98751787e-01 4.93886964e-02 7.45824767e-03 4.43242204e+01] [-4.93872128e-02 9.98779634e-01 -3.83077310e-04 -3.81384850e-01] [-7.46806557e-03 1.42570828e-05 9.99972114e-01 -6.65690441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.018727507522798646 Centerline is valid? [True, True] Translation: X:44.39, Y:-0.38, Z:-0.67 [[ 9.98608685e-01 5.24459123e-02 5.48816074e-03 4.43858377e+01] [-5.24451599e-02 9.98623766e-01 -2.81011778e-04 -3.82898076e-01] [-5.49534567e-03 -7.20666522e-06 9.99984900e-01 -6.69145650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.017737243285940327 Centerline is valid? [True, True] Translation: X:44.45, Y:-0.39, Z:-0.67 [[ 9.98502851e-01 5.43631454e-02 6.05850177e-03 4.44485943e+01] [-5.43622561e-02 9.98521231e-01 -3.11493618e-04 -3.85717742e-01] [-6.06647642e-03 -1.83265591e-05 9.99981599e-01 -6.69725821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.016986082553819486 Centerline is valid? [True, True] Translation: X:44.51, Y:-0.39, Z:-0.67 [[ 9.98389796e-01 5.62833272e-02 7.07121494e-03 4.45101557e+01] [-5.62821426e-02 9.98414837e-01 -3.66571055e-04 -3.89636266e-01] [-7.08063774e-03 -3.20023265e-05 9.99974931e-01 -6.69433157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.019170535209025497 Centerline is valid? [True, True] Translation: X:44.57, Y:-0.39, Z:-0.67 [[ 9.98327825e-01 5.74396252e-02 6.49954643e-03 4.45726031e+01] [-5.74386410e-02 9.98348981e-01 -3.38149361e-04 -3.93312335e-01] [-6.50823873e-03 -3.57411975e-05 9.99978821e-01 -6.71386431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.01802799065524884 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.40, Z:-0.67 [[ 9.98238518e-01 5.89591331e-02 6.60917299e-03 4.46356829e+01] [-5.89581363e-02 9.98260396e-01 -3.45719318e-04 -3.98025509e-01] [-6.61805896e-03 -4.45541829e-05 9.99978099e-01 -6.71306251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.0187612778548382 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.40, Z:-0.67 [[ 9.98076541e-01 6.17382771e-02 5.62171906e-03 4.46978044e+01] [-6.17375925e-02 9.98092372e-01 -2.95391805e-04 -4.02466463e-01] [-5.62923189e-03 -5.22477697e-05 9.99984154e-01 -6.71802655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.018851064413824767 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.40, Z:-0.67 [[ 9.97848885e-01 6.53184821e-02 5.57656553e-03 4.47592742e+01] [-6.53178553e-02 9.97864465e-01 -2.94637265e-04 -4.04024517e-01] [-5.58390184e-03 -7.02458334e-05 9.99984407e-01 -6.72941512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.015410790144985535 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.40, Z:-0.67 [[ 9.97327469e-01 7.26610876e-02 7.63451077e-03 4.48217778e+01] [-7.26600931e-02 9.97356679e-01 -4.07904843e-04 -4.03683934e-01] [-7.64396911e-03 -1.47909559e-04 9.99970774e-01 -6.69442072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.021451478733449346 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.41, Z:-0.67 [[ 9.97033727e-01 7.67577979e-02 5.65578293e-03 4.48834142e+01] [-7.67573271e-02 9.97049759e-01 -3.00578199e-04 -4.06240524e-01] [-5.66216873e-03 -1.34436178e-04 9.99983961e-01 -6.74699392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.018575183716580866 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.41, Z:-0.67 [[ 9.96486153e-01 8.34753269e-02 6.87148776e-03 4.49449058e+01] [-8.34747621e-02 9.96509823e-01 -3.69446407e-04 -4.07977951e-01] [-6.87834471e-03 -2.05447578e-04 9.99976323e-01 -6.72391420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.023622908562447736 Centerline is valid? [True, True] Translation: X:45.01, Y:-0.41, Z:-0.68 [[ 9.96107682e-01 8.79381685e-02 6.03026442e-03 4.50055586e+01] [-8.79378132e-02 9.96125914e-01 -3.24549285e-04 -4.09980092e-01] [-6.03544293e-03 -2.07002230e-04 9.99981765e-01 -6.75950847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.020441342618131242 Centerline is valid? [True, True] Translation: X:45.07, Y:-0.42, Z:-0.67 [[ 9.95870892e-01 9.04646593e-02 7.57047870e-03 4.50675754e+01] [-9.04641863e-02 9.95899627e-01 -4.05602472e-04 -4.16104744e-01] [-7.57612960e-03 -2.80929500e-04 9.99971261e-01 -6.73200870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.02398852927068972 Centerline is valid? [True, True] Translation: X:45.13, Y:-0.42, Z:-0.68 [[ 9.95610061e-01 9.33710055e-02 6.51625412e-03 4.51297302e+01] [-9.33706984e-02 9.95631352e-01 -3.51998525e-04 -4.20322231e-01] [-6.52065335e-03 -2.57973925e-04 9.99978707e-01 -6.75728877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.02295642000752203 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.42, Z:-0.67 [[ 9.95263270e-01 9.69484948e-02 7.21203580e-03 4.51912306e+01] [-9.69482054e-02 9.95289351e-01 -3.90552197e-04 -4.22379471e-01] [-7.21592588e-03 -3.10491671e-04 9.99973917e-01 -6.73887218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.0277432624246081 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.43, Z:-0.68 [[ 9.94981410e-01 9.99156673e-02 5.37154619e-03 4.52520610e+01] [-9.99155502e-02 9.94995879e-01 -2.90816224e-04 -4.26027528e-01] [-5.37372341e-03 -2.47344256e-04 9.99985531e-01 -6.79192921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.028381997271818938 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.43, Z:-0.68 [[ 9.94854327e-01 1.01183188e-01 5.17981321e-03 4.53134628e+01] [-1.01183106e-01 9.94867781e-01 -2.78621031e-04 -4.32452412e-01] [-5.18142104e-03 -2.46922251e-04 9.99986546e-01 -6.80191329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.026951562408262426 Centerline is valid? [True, True] Translation: X:45.38, Y:-0.44, Z:-0.68 [[ 9.94832304e-01 1.01336239e-01 6.29705447e-03 4.53754283e+01] [-1.01336107e-01 9.94852189e-01 -3.40809462e-04 -4.39968747e-01] [-6.29917477e-03 -2.99070723e-04 9.99980115e-01 -6.79441788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.027404335638942595 Centerline is valid? [True, True] Translation: X:45.44, Y:-0.45, Z:-0.68 [[ 9.94892105e-01 1.00726841e-01 6.61844374e-03 4.54370329e+01] [-1.00726670e-01 9.94914071e-01 -3.60076815e-04 -4.46247210e-01] [-6.62105220e-03 -3.08416216e-04 9.99978033e-01 -6.80240900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.027764107011655572 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.45, Z:-0.68 [[ 9.94963351e-01 1.00000334e-01 6.91834738e-03 4.54990405e+01] [-1.00000116e-01 9.94987354e-01 -3.78312262e-04 -4.54005334e-01] [-6.92149951e-03 -3.15428704e-04 9.99975996e-01 -6.81268786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.026027863870406023 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.46, Z:-0.68 [[ 9.94987747e-01 9.98081405e-02 6.14154295e-03 4.55602155e+01] [-9.98079592e-02 9.95006662e-01 -3.36764345e-04 -4.64321727e-01] [-6.14448797e-03 -2.77898471e-04 9.99981084e-01 -6.82054954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.02536420149031895 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.47, Z:-0.68 [[ 9.94864009e-01 1.01026887e-01 6.25865241e-03 4.56216913e+01] [-1.01026713e-01 9.94883654e-01 -3.44846988e-04 -4.71108794e-01] [-6.26146979e-03 -2.89215221e-04 9.99980355e-01 -6.82568274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.023559364547031097 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.48, Z:-0.68 [[ 9.94559883e-01 1.03812958e-01 8.57379113e-03 4.56834128e+01] [-1.03812693e-01 9.94596751e-01 -4.77174153e-04 -4.76259663e-01] [-8.57700166e-03 -4.15490074e-04 9.99963131e-01 -6.79050894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.026929304482291666 Centerline is valid? [True, True] Translation: X:45.75, Y:-0.48, Z:-0.68 [[ 9.94346045e-01 1.05905471e-01 7.74422223e-03 4.57455497e+01] [-1.05905309e-01 9.94376125e-01 -4.32177373e-04 -4.80204738e-01] [-7.74643964e-03 -3.90420386e-04 9.99969920e-01 -6.82965860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.027871908481707678 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.48, Z:-0.68 [[ 9.94000779e-01 1.09057361e-01 8.30322912e-03 4.58053715e+01] [-1.09057274e-01 9.94035359e-01 -4.64646216e-04 -4.81769823e-01] [-8.30437643e-03 -4.43668831e-04 9.99965420e-01 -6.82556110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.03299442518781977 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.48, Z:-0.69 [[ 9.93870341e-01 1.10325270e-01 7.07666795e-03 4.58662242e+01] [-1.10325253e-01 9.93895459e-01 -3.93931932e-04 -4.83540248e-01] [-7.07692879e-03 -3.89217919e-04 9.99974882e-01 -6.87492176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.031206795917828354 Centerline is valid? [True, True] Translation: X:45.93, Y:-0.49, Z:-0.69 [[ 9.93649107e-01 1.12265756e-01 7.60605314e-03 4.59277272e+01] [-1.12265770e-01 9.93678124e-01 -4.26349062e-04 -4.91141535e-01] [-7.60583301e-03 -4.30258050e-04 9.99970983e-01 -6.87258515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.03281597886860891 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.49, Z:-0.69 [[ 9.93329630e-01 1.14964704e-01 8.90854426e-03 4.59884652e+01] [-1.14964816e-01 9.93369438e-01 -5.01285903e-04 -4.94045175e-01] [-8.90710578e-03 -5.26227006e-04 9.99960192e-01 -6.87401010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.03110655520847542 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.50, Z:-0.69 [[ 9.93096676e-01 1.16846213e-01 1.02934466e-02 4.60505929e+01] [-1.16846457e-01 9.93149822e-01 -5.79687689e-04 -4.99828443e-01] [-1.02906689e-02 -6.27066846e-04 9.99946853e-01 -6.87031735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.03333080948189001 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.50, Z:-0.69 [[ 9.92759662e-01 1.19648582e-01 1.06052373e-02 4.61105557e+01] [-1.19648988e-01 9.92816076e-01 -5.98468362e-04 -5.00219453e-01] [-1.06006560e-02 -6.74770660e-04 9.99943584e-01 -6.87298501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.03424597340284359 Centerline is valid? [True, True] Translation: X:46.17, Y:-0.50, Z:-0.69 [[ 9.92476883e-01 1.22043997e-01 9.74164454e-03 4.61713284e+01] [-1.22044456e-01 9.92524483e-01 -5.49618948e-04 -5.03719354e-01] [-9.73589840e-03 -6.43429608e-04 9.99952398e-01 -6.89659503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.034021572356544516 Centerline is valid? [True, True] Translation: X:46.23, Y:-0.51, Z:-0.69 [[ 9.92316081e-01 1.23353679e-01 9.62628110e-03 4.62333669e+01] [-1.23354189e-01 9.92362559e-01 -5.42917799e-04 -5.08359494e-01] [-9.61973185e-03 -6.48696040e-04 9.99953519e-01 -6.91254084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.037542378132931147 Centerline is valid? [True, True] Translation: X:46.29, Y:-0.51, Z:-0.69 [[ 9.92060374e-01 1.25359175e-01 1.00643897e-02 4.62939057e+01] [-1.25359825e-01 9.92111179e-01 -5.68763632e-04 -5.06680685e-01] [-1.00562933e-02 -6.97422272e-04 9.99949191e-01 -6.91925507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.034165388317082 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.51, Z:-0.69 [[ 9.92090247e-01 1.25002395e-01 1.14605049e-02 4.63557905e+01] [-1.25003223e-01 9.92156125e-01 -6.46808816e-04 -5.14039135e-01] [-1.14514628e-02 -7.90907334e-04 9.99934117e-01 -6.88483993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.033970142580914256 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.52, Z:-0.69 [[ 9.92278893e-01 1.23486301e-01 1.15642177e-02 4.64173331e+01] [-1.23486997e-01 9.92345973e-01 -6.56544409e-04 -5.19732962e-01] [-1.15567791e-02 -7.76555361e-04 9.99932917e-01 -6.90728117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.035795787284639405 Centerline is valid? [True, True] Translation: X:46.48, Y:-0.52, Z:-0.69 [[ 9.92354009e-01 1.22967465e-01 1.06077265e-02 4.64793739e+01] [-1.22968027e-01 9.92410450e-01 -6.01660126e-04 -5.23118488e-01] [-1.06012033e-02 -7.07351367e-04 9.99943555e-01 -6.92384287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.03800694452167986 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.52, Z:-0.69 [[ 9.92232206e-01 1.24007850e-01 9.86423602e-03 4.65407935e+01] [-1.24008365e-01 9.92281014e-01 -5.61831458e-04 -5.22518202e-01] [-9.85776563e-03 -6.65780512e-04 9.99951189e-01 -6.92671490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.03691574065311103 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.53, Z:-0.69 [[ 9.92083012e-01 1.25254203e-01 9.09297581e-03 4.66021920e+01] [-1.25254676e-01 9.92124486e-01 -5.19698737e-04 -5.26680583e-01] [-9.08645841e-03 -6.23353447e-04 9.99958523e-01 -6.92925404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.035774732142926195 Centerline is valid? [True, True] Translation: X:46.66, Y:-0.53, Z:-0.69 [[ 9.92110952e-01 1.25069753e-01 8.56830185e-03 4.66639767e+01] [-1.25070152e-01 9.92147779e-01 -4.91323742e-04 -5.32134633e-01] [-8.56247139e-03 -5.84191148e-04 9.99963171e-01 -6.93758163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.034093622711955276 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.54, Z:-0.69 [[ 9.92232513e-01 1.24157582e-01 7.71585906e-03 4.67261308e+01] [-1.24157856e-01 9.92262379e-01 -4.45319940e-04 -5.41736874e-01] [-7.71144651e-03 -5.16123595e-04 9.99970133e-01 -6.94501295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.03549127243262296 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.54, Z:-0.70 [[ 9.92430196e-01 1.22584191e-01 7.44464334e-03 4.67864036e+01] [-1.22584392e-01 9.92458000e-01 -4.30957875e-04 -5.42267549e-01] [-7.44132446e-03 -4.84901473e-04 9.99972195e-01 -6.95615144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.03381950894964795 Centerline is valid? [True, True] Translation: X:46.85, Y:-0.55, Z:-0.70 [[ 9.92615220e-01 1.21105202e-01 6.96811908e-03 4.68474222e+01] [-1.21105343e-01 9.92639579e-01 -4.03312757e-04 -5.48843542e-01] [-6.96567406e-03 -4.43542071e-04 9.99975641e-01 -6.96482888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.03422217954143564 Centerline is valid? [True, True] Translation: X:46.91, Y:-0.55, Z:-0.70 [[ 9.93199000e-01 1.16262246e-01 6.23185954e-03 4.69068551e+01] [-1.16262259e-01 9.93218484e-01 -3.61361869e-04 -5.54764363e-01] [-6.23161083e-03 -3.65625824e-04 9.99980516e-01 -6.98254083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.03175079048666787 Centerline is valid? [True, True] Translation: X:46.97, Y:-0.57, Z:-0.70 [[ 9.93722238e-01 1.11666436e-01 6.83519393e-03 4.69665660e+01] [-1.11666345e-01 9.93745677e-01 -3.96202189e-04 -5.65514680e-01] [-6.83668690e-03 -3.69546197e-04 9.99976561e-01 -6.95913562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.029475661255900162 Centerline is valid? [True, True] Translation: X:47.03, Y:-0.57, Z:-0.69 [[ 9.93681311e-01 1.12050514e-01 6.49109574e-03 4.70290851e+01] [-1.12050459e-01 9.93702448e-01 -3.73316372e-04 -5.71751188e-01] [-6.49204802e-03 -3.56372755e-04 9.99978863e-01 -6.94015699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.034113652793239885 Centerline is valid? [True, True] Translation: X:47.09, Y:-0.57, Z:-0.70 [[ 9.93068046e-01 1.17495696e-01 3.25855376e-03 4.70897886e+01] [-1.17495706e-01 9.93073373e-01 -1.89232371e-04 -5.70315657e-01] [-3.25821696e-03 -1.94945452e-04 9.99994673e-01 -6.99194584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.03311927614228612 Centerline is valid? [True, True] Translation: X:47.15, Y:-0.57, Z:-0.70 [[ 9.92469196e-01 1.22458770e-01 2.95708005e-03 4.71505473e+01] [-1.22458799e-01 9.92473583e-01 -1.72215902e-04 -5.74326994e-01] [-2.95591318e-03 -1.91201493e-04 9.99995613e-01 -6.98715513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.041804392306242596 Centerline is valid? [True, True] Translation: X:47.21, Y:-0.56, Z:-0.70 [[ 9.91429766e-01 1.30605559e-01 3.03440580e-03 4.72112841e+01] [-1.30605627e-01 9.91434385e-01 -1.76551761e-04 -5.63092132e-01] [-3.03147289e-03 -2.21271801e-04 9.99995381e-01 -6.99500099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.03916712741592763 Centerline is valid? [True, True] Translation: X:47.27, Y:-0.57, Z:-0.70 [[ 9.90842433e-01 1.34993156e-01 2.84967540e-03 4.72720180e+01] [-1.34993233e-01 9.90846506e-01 -1.65943530e-04 -5.69947806e-01] [-2.84599216e-03 -2.20263006e-04 9.99995926e-01 -6.99170355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.047699226977916225 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.56, Z:-0.70 [[ 9.90293541e-01 1.38951758e-01 3.33346416e-03 4.73326668e+01] [-1.38951885e-01 9.90299114e-01 -1.94517137e-04 -5.60241332e-01] [-3.32815510e-03 -2.70562064e-04 9.99994425e-01 -6.99946380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.04509225709927127 Centerline is valid? [True, True] Translation: X:47.39, Y:-0.56, Z:-0.70 [[ 9.89562553e-01 1.44054836e-01 3.76280212e-03 4.73934684e+01] [-1.44055036e-01 9.89569653e-01 -2.19267652e-04 -5.64283266e-01] [-3.75514135e-03 -3.25071538e-04 9.99992897e-01 -6.98185852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.04853072097878511 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.56, Z:-0.70 [[ 9.89191300e-01 1.46579539e-01 3.87439343e-03 4.74551290e+01] [-1.46579771e-01 9.89198827e-01 -2.25482212e-04 -5.61622695e-01] [-3.86559652e-03 -3.44862660e-04 9.99992469e-01 -7.01334138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.04566433175280757 Centerline is valid? [True, True] Translation: X:47.52, Y:-0.57, Z:-0.70 [[ 9.89109817e-01 1.47093574e-01 5.02492798e-03 4.75176544e+01] [-1.47093984e-01 9.89122478e-01 -2.89968871e-04 -5.67013525e-01] [-5.01292177e-03 -4.52325619e-04 9.99987333e-01 -7.00372093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.04193123789261558 Centerline is valid? [True, True] Translation: X:47.58, Y:-0.57, Z:-0.70 [[ 9.89251145e-01 1.46038790e-01 7.40561252e-03 4.75791635e+01] [-1.46039604e-01 9.89278649e-01 -4.33732505e-04 -5.73250799e-01] [-7.38955612e-03 -6.52442339e-04 9.99972484e-01 -6.98266933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.04423496985001499 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.57, Z:-0.70 [[ 9.89403399e-01 1.44958148e-01 8.24919683e-03 4.76402444e+01] [-1.44959114e-01 9.89437528e-01 -4.83849242e-04 -5.71315660e-01] [-8.23220280e-03 -7.17074178e-04 9.99965858e-01 -7.00142906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.04493898695010552 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.57, Z:-0.70 [[ 9.89384292e-01 1.44947047e-01 1.04439793e-02 4.77027309e+01] [-1.44948602e-01 9.89438997e-01 -6.11907913e-04 -5.70502303e-01] [-1.04223746e-02 -9.08428122e-04 9.99945273e-01 -6.99606671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.04349688474345508 Centerline is valid? [True, True] Translation: X:47.76, Y:-0.57, Z:-0.70 [[ 9.89449527e-01 1.44426325e-01 1.14310908e-02 4.77647494e+01] [-1.44428116e-01 9.89515066e-01 -6.72966531e-04 -5.72232027e-01] [-1.14084307e-02 -9.85104499e-04 9.99934436e-01 -7.00286015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.04290080105639372 Centerline is valid? [True, True] Translation: X:47.83, Y:-0.57, Z:-0.70 [[ 9.89721434e-01 1.42330090e-01 1.39150766e-02 4.78263950e+01] [-1.42332472e-01 9.89818563e-01 -8.24104245e-04 -5.66244778e-01] [-1.38906960e-02 -1.16493362e-03 9.99902841e-01 -7.01699435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.04378689687984764 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.56, Z:-0.70 [[ 9.89625603e-01 1.42853565e-01 1.52978974e-02 4.78886443e+01] [-1.42856504e-01 9.89742996e-01 -9.06113268e-04 -5.64556977e-01] [-1.52704284e-02 -1.28869126e-03 9.99882570e-01 -6.99809835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.04378689687984764 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.57, Z:-0.70 [[ 9.89585129e-01 1.43133691e-01 1.52976742e-02 4.79512039e+01] [-1.43136605e-01 9.89702523e-01 -9.09866544e-04 -5.68371342e-01] [-1.52703793e-02 -1.28926675e-03 9.99882570e-01 -7.00823467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.04453389753515657 Centerline is valid? [True, True] Translation: X:48.01, Y:-0.57, Z:-0.70 [[ 9.89540939e-01 1.43406471e-01 1.55985273e-02 4.80146787e+01] [-1.43409464e-01 9.89663001e-01 -9.32282362e-04 -5.69890629e-01] [-1.55709807e-02 -1.31444488e-03 9.99877901e-01 -7.01597649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.045349960003578674 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.57, Z:-0.70 [[ 9.89518396e-01 1.43510135e-01 1.60681106e-02 4.80763936e+01] [-1.43513251e-01 9.89647925e-01 -9.65024579e-04 -5.71099679e-01] [-1.60402632e-02 -1.35107721e-03 9.99870434e-01 -7.02418557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.045639419502910734 Centerline is valid? [True, True] Translation: X:48.14, Y:-0.57, Z:-0.70 [[ 9.89486708e-01 1.43770043e-01 1.56916956e-02 4.81396374e+01] [-1.43772987e-01 9.89610243e-01 -9.46153567e-04 -5.71994531e-01] [-1.56646912e-02 -1.31983557e-03 9.99876430e-01 -7.03179863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.04727798724023583 Centerline is valid? [True, True] Translation: X:48.20, Y:-0.57, Z:-0.70 [[ 9.89492151e-01 1.43700096e-01 1.59864075e-02 4.82018136e+01] [-1.43703071e-01 9.89620376e-01 -9.68483929e-04 -5.72338614e-01] [-1.59596458e-02 -1.33898860e-03 9.99871740e-01 -7.04855431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.044065344297312355 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.58, Z:-0.71 [[ 9.89439128e-01 1.44174048e-01 1.49684977e-02 4.82642274e+01] [-1.44176659e-01 9.89551546e-01 -9.10168072e-04 -5.76019568e-01] [-1.49433227e-02 -1.25755209e-03 9.99887552e-01 -7.05863962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.044710764791894744 Centerline is valid? [True, True] Translation: X:48.33, Y:-0.57, Z:-0.71 [[ 9.89166724e-01 1.46095350e-01 1.43296874e-02 4.83256981e+01] [-1.46097889e-01 9.89269751e-01 -8.75081512e-04 -5.73990284e-01] [-1.43037716e-02 -1.22793557e-03 9.99896942e-01 -7.05397954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.042449970805658765 Centerline is valid? [True, True] Translation: X:48.39, Y:-0.57, Z:-0.71 [[ 9.88771013e-01 1.48825514e-01 1.35222363e-02 4.83865183e+01] [-1.48828022e-01 9.88862749e-01 -8.26282374e-04 -5.73236558e-01] [-1.34946076e-02 -1.19548362e-03 9.99908229e-01 -7.06020159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.04471524363209935 Centerline is valid? [True, True] Translation: X:48.45, Y:-0.57, Z:-0.71 [[ 9.88840948e-01 1.48389626e-01 1.31946016e-02 4.84481362e+01] [-1.48391982e-01 9.88928294e-01 -8.05748416e-04 -5.68978414e-01] [-1.31680795e-02 -1.16121605e-03 9.99912623e-01 -7.06677157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.044830448434502984 Centerline is valid? [True, True] Translation: X:48.51, Y:-0.57, Z:-0.71 [[ 9.89010148e-01 1.47318739e-01 1.24946309e-02 4.85095149e+01] [-1.47320724e-01 9.89088478e-01 -7.66446936e-04 -5.72715685e-01] [-1.24712075e-02 -1.08269427e-03 9.99921645e-01 -7.11751591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.0452917821953995 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.57, Z:-0.71 [[ 9.89228528e-01 1.45768539e-01 1.33585960e-02 4.85698015e+01] [-1.45770660e-01 9.89318069e-01 -8.20020179e-04 -5.71548603e-01] [-1.33354335e-02 -1.13610399e-03 9.99910434e-01 -7.09750789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.03903797125184087 Centerline is valid? [True, True] Translation: X:48.63, Y:-0.58, Z:-0.71 [[ 9.89655997e-01 1.42796440e-01 1.37906978e-02 4.86304172e+01] [-1.42798410e-01 9.89751432e-01 -8.46811235e-04 -5.81252214e-01] [-1.37702846e-02 -1.13123791e-03 9.99904545e-01 -7.11610375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.03701374692382895 Centerline is valid? [True, True] Translation: X:48.69, Y:-0.58, Z:-0.71 [[ 9.90104179e-01 1.39656206e-01 1.37789025e-02 4.86912364e+01] [-1.39657868e-01 9.90199457e-01 -8.46288111e-04 -5.82164684e-01] [-1.37620511e-02 -1.08641874e-03 9.99904708e-01 -7.08702825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.03840985042669214 Centerline is valid? [True, True] Translation: X:48.75, Y:-0.58, Z:-0.71 [[ 9.90440923e-01 1.37242864e-01 1.38266073e-02 4.87523136e+01] [-1.37244301e-01 9.90536865e-01 -8.49372187e-04 -5.81840785e-01] [-1.38123345e-02 -1.05637008e-03 9.99904047e-01 -7.12718417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.03874472767601504 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.58, Z:-0.72 [[ 9.90853983e-01 1.34330668e-01 1.27928064e-02 4.88129202e+01] [-1.34331653e-01 9.90936117e-01 -7.86136043e-04 -5.81202661e-01] [-1.27824561e-02 -9.39532801e-04 9.99917860e-01 -7.15112336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.03733669976221442 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.58, Z:-0.72 [[ 9.91328204e-01 1.30865906e-01 1.19375993e-02 4.88735720e+01] [-1.30866515e-01 9.91399726e-01 -7.33509612e-04 -5.83458375e-01] [-1.19309241e-02 -8.35083252e-04 9.99928475e-01 -7.16633281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.03310705818639906 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.59, Z:-0.71 [[ 9.91685589e-01 1.28103104e-01 1.22182986e-02 4.89340889e+01] [-1.28103529e-01 9.91760516e-01 -7.51043868e-04 -5.86264392e-01] [-1.22138371e-02 -8.20407788e-04 9.99925072e-01 -7.13807112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.03332237151882167 Centerline is valid? [True, True] Translation: X:49.00, Y:-0.59, Z:-0.72 [[ 9.91904273e-01 1.26446125e-01 1.17170797e-02 4.89954506e+01] [-1.26446403e-01 9.91973179e-01 -7.20072718e-04 -5.87440825e-01] [-1.17140792e-02 -7.67339374e-04 9.99931093e-01 -7.15574613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.034919022101032836 Centerline is valid? [True, True] Translation: X:49.06, Y:-0.59, Z:-0.72 [[ 9.92019851e-01 1.25567390e-01 1.13774433e-02 4.90583042e+01] [-1.25567593e-01 9.92084820e-01 -6.99345925e-04 -5.85263554e-01] [-1.13752038e-02 -7.34873132e-04 9.99935030e-01 -7.17596682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.036899280232565106 Centerline is valid? [True, True] Translation: X:49.12, Y:-0.58, Z:-0.72 [[ 9.91931826e-01 1.26318143e-01 1.07228264e-02 4.91198815e+01] [-1.26318366e-01 9.91989534e-01 -6.59233080e-04 -5.81157027e-01] [-1.07202047e-02 -7.00575641e-04 9.99942292e-01 -7.18227426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.03492635646750907 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.58, Z:-0.72 [[ 9.91749900e-01 1.27805352e-01 9.89588942e-03 4.91817333e+01] [-1.27805596e-01 9.91799051e-01 -6.10370994e-04 -5.82075176e-01] [-9.89274242e-03 -6.59414673e-04 9.99950848e-01 -7.18522206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.03496997636925532 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.58, Z:-0.72 [[ 9.91742216e-01 1.27967114e-01 8.47319517e-03 4.92445508e+01] [-1.27967290e-01 9.91778251e-01 -5.23636283e-04 -5.84097231e-01] [-8.47053891e-03 -5.64979617e-04 9.99963965e-01 -7.19378125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.03502954641044332 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.58, Z:-0.72 [[ 9.91763007e-01 1.27884618e-01 7.18761451e-03 4.93070734e+01] [-1.27884730e-01 9.91788938e-01 -4.45889505e-04 -5.84137332e-01] [-7.18561897e-03 -4.76969425e-04 9.99974069e-01 -7.20519980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.03431854651440752 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.58, Z:-0.72 [[ 9.91874669e-01 1.27022761e-01 7.06114483e-03 4.93696614e+01] [-1.27022835e-01 9.91899696e-01 -4.39778953e-04 -5.84263850e-01] [-7.05980934e-03 -4.60721032e-04 9.99974973e-01 -7.20190643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.03234277184250916 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.59, Z:-0.72 [[ 9.92254375e-01 1.24069830e-01 6.15900898e-03 4.94302070e+01] [-1.24069810e-01 9.92273416e-01 -3.86946599e-04 -5.89512433e-01] [-6.15942928e-03 -3.80197616e-04 9.99980958e-01 -7.21774738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.031093235802648996 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.59, Z:-0.72 [[ 9.92564559e-01 1.21570412e-01 6.01915221e-03 4.94915943e+01] [-1.21570348e-01 9.92582746e-01 -3.77889161e-04 -5.93942320e-01] [-6.02044677e-03 -3.56671042e-04 9.99981813e-01 -7.22365720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.028328412381543676 Centerline is valid? [True, True] Translation: X:49.55, Y:-0.60, Z:-0.72 [[ 9.92893698e-01 1.18761536e-01 7.60271642e-03 4.95519319e+01] [-1.18761344e-01 9.92922713e-01 -4.78434353e-04 -5.96986692e-01] [-7.60572942e-03 -4.27874363e-04 9.99970984e-01 -7.19758549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.028412976001228198 Centerline is valid? [True, True] Translation: X:49.61, Y:-0.60, Z:-0.72 [[ 9.93056826e-01 1.17439579e-01 6.78864235e-03 4.96137338e+01] [-1.17439411e-01 9.93079959e-01 -4.24824428e-04 -6.00513144e-01] [-6.79155586e-03 -3.75379359e-04 9.99976867e-01 -7.22233092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.027738354938410675 Centerline is valid? [True, True] Translation: X:49.68, Y:-0.60, Z:-0.72 [[ 9.93143626e-01 1.16710608e-01 6.66126569e-03 4.96759970e+01] [-1.16710419e-01 9.93165899e-01 -4.18454496e-04 -6.04302737e-01] [-6.66458001e-03 -3.61853696e-04 9.99977726e-01 -7.23611968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.029586209327510927 Centerline is valid? [True, True] Translation: X:49.74, Y:-0.61, Z:-0.73 [[ 9.93210690e-01 1.16171215e-01 6.06417829e-03 4.97367182e+01] [-1.16171039e-01 9.93229150e-01 -3.82357379e-04 -6.05653346e-01] [-6.06753757e-03 -3.24720458e-04 9.99981540e-01 -7.26354172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.026585767965412004 Centerline is valid? [True, True] Translation: X:49.80, Y:-0.61, Z:-0.72 [[ 9.93127004e-01 1.16814700e-01 7.28555940e-03 4.97992399e+01] [-1.16814449e-01 9.93153650e-01 -4.61350735e-04 -6.09691937e-01] [-7.28957246e-03 -3.92878737e-04 9.99973354e-01 -7.22218717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.0321327113434886 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.61, Z:-0.73 [[ 9.92971409e-01 1.18207386e-01 5.89864563e-03 4.98606307e+01] [-1.18207238e-01 9.92988876e-01 -3.74947935e-04 -6.08453645e-01] [-5.90161111e-03 -3.24950028e-04 9.99982533e-01 -7.27584308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.029486010880200923 Centerline is valid? [True, True] Translation: X:49.92, Y:-0.61, Z:-0.72 [[ 9.92827344e-01 1.19320782e-01 7.51109238e-03 4.99224331e+01] [-1.19320554e-01 9.92855667e-01 -4.80071538e-04 -6.12396780e-01] [-7.51471314e-03 -4.19599552e-04 9.99971676e-01 -7.24640866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.03243062295464929 Centerline is valid? [True, True] Translation: X:49.98, Y:-0.61, Z:-0.73 [[ 9.92602063e-01 1.21237763e-01 6.52295121e-03 4.99835371e+01] [-1.21237623e-01 9.92623425e-01 -4.18207343e-04 -6.13214255e-01] [-6.52553669e-03 -3.75713632e-04 9.99978638e-01 -7.27415826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.03118248785602525 Centerline is valid? [True, True] Translation: X:50.05, Y:-0.62, Z:-0.73 [[ 9.92502241e-01 1.21994812e-01 7.52116376e-03 5.00459772e+01] [-1.21994633e-01 9.92530642e-01 -4.84309186e-04 -6.18579861e-01] [-7.52406870e-03 -4.36863659e-04 9.99971598e-01 -7.25079946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.031447605110001865 Centerline is valid? [True, True] Translation: X:50.11, Y:-0.62, Z:-0.73 [[ 9.92455411e-01 1.22386942e-01 7.32761049e-03 5.01092789e+01] [-1.22386772e-01 9.92482370e-01 -4.73232408e-04 -6.22677335e-01] [-7.33044169e-03 -4.27140532e-04 9.99973041e-01 -7.25748706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.03627089382811747 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.62, Z:-0.73 [[ 9.92387396e-01 1.23004271e-01 6.09961034e-03 5.01704617e+01] [-1.23004156e-01 9.92406077e-01 -3.95432003e-04 -6.23489450e-01] [-6.10193019e-03 -3.57855684e-04 9.99981319e-01 -7.31448239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.027467288145201465 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.64, Z:-0.73 [[ 9.92387075e-01 1.22887045e-01 8.16500228e-03 5.02315615e+01] [-1.22886813e-01 9.92420550e-01 -5.32096705e-04 -6.39040342e-01] [-8.16850384e-03 -4.75325213e-04 9.99966524e-01 -7.26212871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.02880341309183131 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.64, Z:-0.73 [[ 9.92377679e-01 1.22941521e-01 8.48083956e-03 5.02923257e+01] [-1.22941245e-01 9.92413795e-01 -5.55879644e-04 -6.44007117e-01] [-8.48484287e-03 -4.91002426e-04 9.99963883e-01 -7.27784220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.030420221741521328 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.65, Z:-0.73 [[ 9.92269058e-01 1.23842254e-01 8.07548152e-03 5.03544332e+01] [-1.23842032e-01 9.92301804e-01 -5.29472006e-04 -6.49120739e-01] [-8.07888589e-03 -4.74705353e-04 9.99967253e-01 -7.31791044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.029930334477000352 Centerline is valid? [True, True] Translation: X:50.42, Y:-0.66, Z:-0.73 [[ 9.92153571e-01 1.24724936e-01 8.65922368e-03 5.04158061e+01] [-1.24724692e-01 9.92191224e-01 -5.70337954e-04 -6.55246479e-01] [-8.66274111e-03 -5.14156171e-04 9.99962346e-01 -7.32224913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.030231924203952206 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.66, Z:-0.73 [[ 9.91952449e-01 1.26273493e-01 9.23818585e-03 5.04773843e+01] [-1.26273249e-01 9.91995308e-01 -6.12003839e-04 -6.63681631e-01] [-9.24151688e-03 -5.59457039e-04 9.99957140e-01 -7.33497774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.030518068612444636 Centerline is valid? [True, True] Translation: X:50.54, Y:-0.67, Z:-0.73 [[ 9.91485528e-01 1.29724605e-01 1.13126227e-02 5.05383841e+01] [-1.29724448e-01 9.91549799e-01 -7.50784007e-04 -6.68869960e-01] [-1.13144239e-02 -7.23132259e-04 9.99935728e-01 -7.30919317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.03167657420629951 Centerline is valid? [True, True] Translation: X:50.60, Y:-0.67, Z:-0.73 [[ 9.91159082e-01 1.32247662e-01 1.06878075e-02 5.05997729e+01] [-1.32247667e-01 9.91216450e-01 -7.09395958e-04 -6.73223007e-01] [-1.06877466e-02 -7.10313358e-04 9.99942632e-01 -7.32681515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.03260528071269685 Centerline is valid? [True, True] Translation: X:50.66, Y:-0.68, Z:-0.74 [[ 9.90784865e-01 1.35080007e-01 9.93698272e-03 5.06601996e+01] [-1.35080149e-01 9.90834455e-01 -6.59989395e-04 -6.81725173e-01] [-9.93505623e-03 -6.88381599e-04 9.99950409e-01 -7.37036959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.035574205718359765 Centerline is valid? [True, True] Translation: X:50.72, Y:-0.69, Z:-0.74 [[ 9.90402854e-01 1.37799812e-01 1.06488766e-02 5.07202146e+01] [-1.37800132e-01 9.90459804e-01 -7.07176998e-04 -6.85963969e-01] [-1.06447331e-02 -7.67026487e-04 9.99943049e-01 -7.37884994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.03415936886179797 Centerline is valid? [True, True] Translation: X:50.78, Y:-0.69, Z:-0.73 [[ 9.90192494e-01 1.39114102e-01 1.28876362e-02 5.07824743e+01] [-1.39114666e-01 9.90275909e-01 -8.57090720e-04 -6.92932969e-01] [-1.28815490e-02 -9.44174397e-04 9.99916584e-01 -7.34486735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.03694158471017567 Centerline is valid? [True, True] Translation: X:50.84, Y:-0.70, Z:-0.74 [[ 9.90070607e-01 1.40010651e-01 1.25383885e-02 5.08433406e+01] [-1.40011252e-01 9.90149561e-01 -8.34175482e-04 -6.96222703e-01] [-1.25316733e-02 -9.29622845e-04 9.99921043e-01 -7.36976263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.03752599308857579 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.70, Z:-0.74 [[ 9.90068467e-01 1.39987810e-01 1.29554627e-02 5.09053715e+01] [-1.39988410e-01 9.90152764e-01 -8.65027340e-04 -7.02215602e-01] [-1.29489805e-02 -9.57178329e-04 9.99915700e-01 -7.37093550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.0392784086740873 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.71, Z:-0.74 [[ 9.90361903e-01 1.37923710e-01 1.26630178e-02 5.09658191e+01] [-1.37924068e-01 9.90442442e-01 -8.49285550e-04 -7.08711873e-01] [-1.26591269e-02 -9.05434874e-04 9.99919460e-01 -7.39954782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.036550048057261184 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.72, Z:-0.74 [[ 9.90581999e-01 1.36443194e-01 1.14262002e-02 5.10267615e+01] [-1.36443384e-01 9.90647574e-01 -7.66587947e-04 -7.22479485e-01] [-1.14239332e-02 -7.99661203e-04 9.99934425e-01 -7.43068505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.03652053866172546 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.73, Z:-0.74 [[ 9.90684589e-01 1.35645795e-01 1.20109728e-02 5.10880282e+01] [-1.35645948e-01 9.90757048e-01 -8.05720807e-04 -7.29675043e-01] [-1.20092485e-02 -8.31024596e-04 9.99927541e-01 -7.43273952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.03334388705464943 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.74, Z:-0.74 [[ 9.90570208e-01 1.36326093e-01 1.36330544e-02 5.11496805e+01] [-1.36326301e-01 9.90663564e-01 -9.18449578e-04 -7.39026000e-01] [-1.36309789e-02 -9.48755090e-04 9.99906644e-01 -7.40734677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.034188701629483 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.75, Z:-0.74 [[ 9.90513953e-01 1.36732556e-01 1.36497685e-02 5.12119000e+01] [-1.36732757e-01 9.90607542e-01 -9.22954041e-04 -7.45300300e-01] [-1.36477614e-02 -9.52171612e-04 9.99906412e-01 -7.41966539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.030708305953240658 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.76, Z:-0.74 [[ 9.90509547e-01 1.36702556e-01 1.42565186e-02 5.12737071e+01] [-1.36702709e-01 9.90611645e-01 -9.68340876e-04 -7.57684080e-01] [-1.42550480e-02 -9.89753831e-04 9.99897902e-01 -7.42324130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.03303459778933793 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.76, Z:-0.74 [[ 9.90447408e-01 1.37156931e-01 1.42094554e-02 5.13349546e+01] [-1.37157077e-01 9.90548836e-01 -9.68880525e-04 -7.59957329e-01] [-1.42080482e-02 -9.89302172e-04 9.99898571e-01 -7.42895061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.032669347343057424 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.77, Z:-0.74 [[ 9.90275453e-01 1.38356389e-01 1.45614558e-02 5.13964923e+01] [-1.38356620e-01 9.90381973e-01 -9.96417626e-04 -7.67251383e-01] [-1.45592640e-02 -1.02794588e-03 9.99893480e-01 -7.43970388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.03386140116398483 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.77, Z:-0.75 [[ 9.90326026e-01 1.38016468e-01 1.43463087e-02 5.14585696e+01] [-1.38016604e-01 9.90429425e-01 -9.85327587e-04 -7.73833912e-01] [-1.43449977e-02 -1.00423325e-03 9.99896601e-01 -7.45282151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.033066302549067804 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.78, Z:-0.75 [[ 9.90520888e-01 1.36544512e-01 1.49655135e-02 5.15195540e+01] [-1.36544430e-01 9.90633410e-01 -1.03206814e-03 -7.83628082e-01] [-1.49662609e-02 -1.02117246e-03 9.99887478e-01 -7.45485716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.034216212589725015 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.79, Z:-0.75 [[ 9.90438881e-01 1.37064942e-01 1.56212847e-02 5.15812873e+01] [-1.37064910e-01 9.90561482e-01 -1.07778103e-03 -7.88785597e-01] [-1.56215689e-02 -1.07365374e-03 9.99877399e-01 -7.45855967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.037218754441048794 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.79, Z:-0.75 [[ 9.90346639e-01 1.37824317e-01 1.47645436e-02 5.16418642e+01] [-1.37824316e-01 9.90456164e-01 -1.02243751e-03 -7.91825210e-01] [-1.47645499e-02 -1.02234557e-03 9.99890475e-01 -7.48708802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.0317380100144072 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.81, Z:-0.75 [[ 9.90251249e-01 1.38453916e-01 1.52635664e-02 5.17034973e+01] [-1.38453984e-01 9.90368303e-01 -1.05736338e-03 -8.05497478e-01] [-1.52629484e-02 -1.06624616e-03 9.99882946e-01 -7.49029630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.03284381425279309 Centerline is valid? [True, True] Translation: X:51.77, Y:-0.81, Z:-0.75 [[ 9.90227562e-01 1.38703295e-01 1.45179581e-02 5.17659742e+01] [-1.38703332e-01 9.90333463e-01 -1.00921486e-03 -8.12349012e-01] [-1.45176011e-02 -1.01433680e-03 9.99894100e-01 -7.50362634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.03374618388988754 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.82, Z:-0.75 [[ 9.90194654e-01 1.38825330e-01 1.55587702e-02 5.18272778e+01] [-1.38825311e-01 9.90316289e-01 -1.08651464e-03 -8.16847901e-01] [-1.55589393e-02 -1.08409013e-03 9.99878365e-01 -7.49880109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.03311745705922853 Centerline is valid? [True, True] Translation: X:51.89, Y:-0.83, Z:-0.75 [[ 9.90203654e-01 1.38754741e-01 1.56155686e-02 5.18889695e+01] [-1.38754656e-01 9.90326183e-01 -1.09415001e-03 -8.25945393e-01] [-1.56163249e-02 -1.08330151e-03 9.99877471e-01 -7.50607437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.03334730678078488 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.84, Z:-0.75 [[ 9.90356181e-01 1.38008485e-01 1.21775700e-02 5.19511425e+01] [-1.38008343e-01 9.90430696e-01 -8.56084176e-04 -8.35089407e-01] [-1.21791860e-02 -8.32778001e-04 9.99925484e-01 -7.54855748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.03467686365663344 Centerline is valid? [True, True] Translation: X:52.01, Y:-0.84, Z:-0.76 [[ 9.90458496e-01 1.37295116e-01 1.19171867e-02 5.20119672e+01] [-1.37294923e-01 9.90529859e-01 -8.38242665e-04 -8.40958579e-01] [-1.19194159e-02 -8.05924657e-04 9.99928636e-01 -7.56556298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.033195297219274306 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.85, Z:-0.76 [[ 9.90408810e-01 1.37554739e-01 1.30031876e-02 5.20748803e+01] [-1.37554489e-01 9.90493776e-01 -9.17854017e-04 -8.47758027e-01] [-1.30058315e-02 -8.79596124e-04 9.99915034e-01 -7.55140195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.03389097180639679 Centerline is valid? [True, True] Translation: X:52.14, Y:-0.86, Z:-0.76 [[ 9.90501017e-01 1.36955424e-01 1.22860385e-02 5.21363714e+01] [-1.36955113e-01 9.90576872e-01 -8.70657772e-04 -8.55852435e-01] [-1.22895069e-02 -8.20248376e-04 9.99924145e-01 -7.55568289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.029490363635357574 Centerline is valid? [True, True] Translation: X:52.20, Y:-0.87, Z:-0.76 [[ 9.90425184e-01 1.37504925e-01 1.22617382e-02 5.21978913e+01] [-1.37504620e-01 9.90500742e-01 -8.71919267e-04 -8.68768733e-01] [-1.22651539e-02 -8.22474849e-04 9.99924442e-01 -7.55510114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.03181959109650665 Centerline is valid? [True, True] Translation: X:52.26, Y:-0.87, Z:-0.76 [[ 9.90209487e-01 1.39086526e-01 1.18368276e-02 5.22590449e+01] [-1.39086312e-01 9.90279901e-01 -8.45239953e-04 -8.72382061e-01] [-1.18393340e-02 -8.09376083e-04 9.99929585e-01 -7.56804654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.03408951189540333 Centerline is valid? [True, True] Translation: X:52.32, Y:-0.88, Z:-0.76 [[ 9.90098588e-01 1.39904062e-01 1.14734238e-02 5.23201518e+01] [-1.39903907e-01 9.90164746e-01 -8.20134572e-04 -8.76670620e-01] [-1.14753199e-02 -7.93162730e-04 9.99933842e-01 -7.58232782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.034992178586427815 Centerline is valid? [True, True] Translation: X:52.38, Y:-0.88, Z:-0.76 [[ 9.90105351e-01 1.39869526e-01 1.13096946e-02 5.23825651e+01] [-1.39869338e-01 9.90169637e-01 -8.11501992e-04 -8.82329040e-01] [-1.13120206e-02 -7.78407034e-04 9.99935714e-01 -7.59164762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.035930705595326996 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.89, Z:-0.76 [[ 9.90106447e-01 1.39885146e-01 1.10167500e-02 5.24440705e+01] [-1.39884959e-01 9.90167447e-01 -7.91339761e-04 -8.89059092e-01] [-1.10191239e-02 -7.57567015e-04 9.99939001e-01 -7.59737009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.03531126332431257 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.90, Z:-0.76 [[ 9.90228796e-01 1.39032293e-01 1.08144980e-02 5.25062136e+01] [-1.39032025e-01 9.90287578e-01 -7.80224412e-04 -8.98115336e-01] [-1.08179394e-02 -7.30960885e-04 9.99941217e-01 -7.60823681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.037764211685386524 Centerline is valid? [True, True] Translation: X:52.57, Y:-0.90, Z:-0.77 [[ 9.90195262e-01 1.39366661e-01 9.50143498e-03 5.25682634e+01] [-1.39366474e-01 9.90240636e-01 -6.85111579e-04 -9.04429681e-01] [-9.50418872e-03 -6.45787248e-04 9.99954626e-01 -7.66443446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.0364956035863717 Centerline is valid? [True, True] Translation: X:52.63, Y:-0.91, Z:-0.76 [[ 9.90028375e-01 1.40533245e-01 9.70690586e-03 5.26305996e+01] [-1.40533070e-01 9.90075735e-01 -7.03523832e-04 -9.08818047e-01] [-9.70944044e-03 -6.67632723e-04 9.99952639e-01 -7.64238670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.03430387247992037 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.92, Z:-0.77 [[ 9.89791133e-01 1.42217141e-01 9.37002639e-03 5.26919368e+01] [-1.42217058e-01 9.89835263e-01 -6.78620283e-04 -9.16907982e-01] [-9.37129397e-03 -6.60885244e-04 9.99955870e-01 -7.65358869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.03272577135996647 Centerline is valid? [True, True] Translation: X:52.75, Y:-0.93, Z:-0.77 [[ 9.89553943e-01 1.43848763e-01 9.51462481e-03 5.27537438e+01] [-1.43848720e-01 9.89599447e-01 -6.92427270e-04 -9.25244367e-01] [-9.51527226e-03 -6.83472464e-04 9.99954495e-01 -7.65741640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.03124465556097636 Centerline is valid? [True, True] Translation: X:52.81, Y:-0.93, Z:-0.77 [[ 9.89758091e-01 1.42418054e-01 9.79896024e-03 5.28145886e+01] [-1.42417929e-01 9.89806357e-01 -7.14107564e-04 -9.34215358e-01] [-9.80077494e-03 -6.88753884e-04 9.99951734e-01 -7.67741700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.03310134699425544 Centerline is valid? [True, True] Translation: X:52.87, Y:-0.94, Z:-0.77 [[ 9.90160452e-01 1.39586378e-01 9.89554657e-03 5.28740624e+01] [-1.39586103e-01 9.90209674e-01 -7.21871288e-04 -9.37597356e-01] [-9.89942934e-03 -6.66512379e-04 9.99950777e-01 -7.68065727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.03183003266733514 Centerline is valid? [True, True] Translation: X:52.93, Y:-0.95, Z:-0.77 [[ 9.90725812e-01 1.35527466e-01 9.72997369e-03 5.29339342e+01] [-1.35527008e-01 9.90773398e-01 -7.09439552e-04 -9.47821105e-01] [-9.73634765e-03 -6.15814148e-04 9.99952411e-01 -7.72440225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.028972478028234785 Centerline is valid? [True, True] Translation: X:52.99, Y:-0.96, Z:-0.77 [[ 9.91151533e-01 1.32384905e-01 9.63717077e-03 5.29941757e+01] [-1.32384307e-01 9.91198215e-01 -7.02680382e-04 -9.56245781e-01] [-9.64537074e-03 -5.79347440e-04 9.99953315e-01 -7.69558318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.029896375584937823 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.96, Z:-0.77 [[ 9.91691635e-01 1.28297660e-01 9.34942352e-03 5.30535768e+01] [-1.28296913e-01 9.91735568e-01 -6.82064012e-04 -9.63216029e-01] [-9.35966306e-03 -5.23105002e-04 9.99956061e-01 -7.73518330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.02999174908374877 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.97, Z:-0.77 [[ 9.91993046e-01 1.25930945e-01 9.54959009e-03 5.31135101e+01] [-1.25930058e-01 9.92038878e-01 -6.96542628e-04 -9.68420370e-01] [-9.56128091e-03 -5.11614993e-04 9.99954159e-01 -7.74333512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.02626044405773245 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.98, Z:-0.77 [[ 9.92000067e-01 1.25827104e-01 1.01689153e-02 5.31748029e+01] [-1.25826105e-01 9.92052036e-01 -7.40517290e-04 -9.77405839e-01] [-1.01812703e-02 -5.44921808e-04 9.99948021e-01 -7.72460900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.030064314604995156 Centerline is valid? [True, True] Translation: X:53.24, Y:-0.98, Z:-0.78 [[ 9.92100268e-01 1.25105824e-01 9.25155126e-03 5.32359310e+01] [-1.25104946e-01 9.92143284e-01 -6.75834155e-04 -9.78446978e-01] [-9.26341524e-03 -4.86919576e-04 9.99956975e-01 -7.77016801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.02822055199423926 Centerline is valid? [True, True] Translation: X:53.30, Y:-0.99, Z:-0.78 [[ 9.92144626e-01 1.24723758e-01 9.64494250e-03 5.32972789e+01] [-1.24722764e-01 9.92191379e-01 -7.06842103e-04 -9.86133103e-01] [-9.65778881e-03 -5.01654290e-04 9.99953237e-01 -7.78416989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.025085180495196816 Centerline is valid? [True, True] Translation: X:53.36, Y:-0.99, Z:-0.78 [[ 9.91980556e-01 1.26037606e-01 9.43923309e-03 5.33587365e+01] [-1.26036693e-01 9.92025338e-01 -6.93973665e-04 -9.93516628e-01] [-9.45142517e-03 -5.01281339e-04 9.99955209e-01 -7.77137787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.02692068610807821 Centerline is valid? [True, True] Translation: X:53.42, Y:-1.00, Z:-0.78 [[ 9.91737622e-01 1.27916260e-01 9.69117334e-03 5.34207991e+01] [-1.27915350e-01 9.91784831e-01 -7.16268416e-04 -9.95688025e-01] [-9.70318109e-03 -5.29299492e-04 9.99952783e-01 -7.80347041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.030589667509087735 Centerline is valid? [True, True] Translation: X:53.48, Y:-1.00, Z:-0.78 [[ 9.91478146e-01 1.29832080e-01 1.07106442e-02 5.34823417e+01] [-1.29831079e-01 9.91535811e-01 -7.91659142e-04 -9.96762166e-01] [-1.07227700e-02 -6.05661752e-04 9.99942326e-01 -7.82669747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.027999633829947294 Centerline is valid? [True, True] Translation: X:53.54, Y:-1.00, Z:-0.78 [[ 9.91278154e-01 1.31341401e-01 1.08192948e-02 5.35444973e+01] [-1.31340432e-01 9.91336999e-01 -8.03098627e-04 -1.00276400e+00] [-1.08310473e-02 -6.24916727e-04 9.99941147e-01 -7.80628917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.030020993044127295 Centerline is valid? [True, True] Translation: X:53.61, Y:-1.01, Z:-0.79 [[ 9.91358844e-01 1.30799681e-01 9.95415214e-03 5.36050333e+01] [-1.30798832e-01 9.91408654e-01 -7.39075115e-04 -1.00655328e+00] [-9.96530336e-03 -5.69302821e-04 9.99950183e-01 -7.85462565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.03025784709587069 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.02, Z:-0.79 [[ 9.91970650e-01 1.26165888e-01 8.74061543e-03 5.36642900e+01] [-1.26165036e-01 9.92009052e-01 -6.51039025e-04 -1.01643930e+00] [-8.75290855e-03 -4.56948457e-04 9.99961588e-01 -7.89003991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.027942155702941465 Centerline is valid? [True, True] Translation: X:53.73, Y:-1.03, Z:-0.79 [[ 9.92232557e-01 1.23942389e-01 1.06224734e-02 5.37255071e+01] [-1.23941008e-01 9.92289273e-01 -7.90805268e-04 -1.02579261e+00] [-1.06385807e-02 -5.31897324e-04 9.99943267e-01 -7.86619317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.03061131802661806 Centerline is valid? [True, True] Translation: X:53.79, Y:-1.03, Z:-0.79 [[ 9.92358910e-01 1.23018083e-01 9.50504018e-03 5.37866300e+01] [-1.23016942e-01 9.92404319e-01 -7.06905809e-04 -1.03221298e+00] [-9.51980513e-03 -4.67776697e-04 9.99954576e-01 -7.90712658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.03279330773792543 Centerline is valid? [True, True] Translation: X:53.85, Y:-1.04, Z:-0.79 [[ 9.92213456e-01 1.24113715e-01 1.04039852e-02 5.38481757e+01] [-1.24112380e-01 9.92267864e-01 -7.76323149e-04 -1.03711335e+00] [-1.04198925e-02 -5.20985092e-04 9.99945576e-01 -7.91990029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.02742510735643785 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.05, Z:-0.79 [[ 9.91553808e-01 1.29014343e-01 1.32795102e-02 5.39087020e+01] [-1.29012544e-01 9.91642462e-01 -9.95656451e-04 -1.04619852e+00] [-1.32969801e-02 -7.25976443e-04 9.99911328e-01 -7.88947207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.03182794931262942 Centerline is valid? [True, True] Translation: X:53.97, Y:-1.04, Z:-0.79 [[ 9.90772837e-01 1.34801762e-01 1.40595204e-02 5.39692635e+01] [-1.34800322e-01 9.90872223e-01 -1.05431716e-03 -1.04392934e+00] [-1.40733120e-02 -8.50639080e-04 9.99900604e-01 -7.90874934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.03195692622358341 Centerline is valid? [True, True] Translation: X:54.03, Y:-1.05, Z:-0.79 [[ 9.90456843e-01 1.37023834e-01 1.48226443e-02 5.40306509e+01] [-1.37022486e-01 9.90567314e-01 -1.11129147e-03 -1.04776376e+00] [-1.48351004e-02 -9.30349319e-04 9.99889521e-01 -7.91570751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.03380516616479254 Centerline is valid? [True, True] Translation: X:54.09, Y:-1.05, Z:-0.79 [[ 9.89776448e-01 1.41983147e-01 1.35413613e-02 5.40917182e+01] [-1.41982438e-01 9.89868653e-01 -1.01854916e-03 -1.05091895e+00] [-1.35487859e-02 -9.14499523e-04 9.99907793e-01 -7.94250095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.03784291725635991 Centerline is valid? [True, True] Translation: X:54.15, Y:-1.05, Z:-0.80 [[ 9.89453401e-01 1.44331419e-01 1.22641288e-02 5.41514858e+01] [-1.44331013e-01 9.89529033e-01 -9.22791981e-04 -1.05110702e+00] [-1.22688994e-02 -8.57034469e-04 9.99924367e-01 -7.97655502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.03681773663872118 Centerline is valid? [True, True] Translation: X:54.21, Y:-1.06, Z:-0.80 [[ 9.89369347e-01 1.44825673e-01 1.31840871e-02 5.42146638e+01] [-1.44825259e-01 9.89456751e-01 -9.91180370e-04 -1.05600255e+00] [-1.31886323e-02 -9.28745356e-04 9.99912595e-01 -7.98804732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.0396235016312734 Centerline is valid? [True, True] Translation: X:54.28, Y:-1.06, Z:-0.80 [[ 9.89342631e-01 1.45008923e-01 1.31745925e-02 5.42767954e+01] [-1.45008476e-01 9.89429913e-01 -9.94272050e-04 -1.05794010e+00] [-1.31795143e-02 -9.26751855e-04 9.99912717e-01 -8.00093752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.03746693717409692 Centerline is valid? [True, True] Translation: X:54.34, Y:-1.06, Z:-0.80 [[ 9.89233848e-01 1.45555433e-01 1.51660992e-02 5.43382568e+01] [-1.45554834e-01 9.89349518e-01 -1.14920182e-03 -1.06399079e+00] [-1.51718455e-02 -1.07066972e-03 9.99884328e-01 -7.98205390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.03447342320182484 Centerline is valid? [True, True] Translation: X:54.40, Y:-1.07, Z:-0.80 [[ 9.89064345e-01 1.46666189e-01 1.55161117e-02 5.44003466e+01] [-1.46665639e-01 9.89185422e-01 -1.17959025e-03 -1.07137753e+00] [-1.55213175e-02 -1.10898978e-03 9.99878922e-01 -7.99401673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.03431929989226161 Centerline is valid? [True, True] Translation: X:54.46, Y:-1.08, Z:-0.80 [[ 9.88996385e-01 1.47169154e-01 1.50794692e-02 5.44622073e+01] [-1.47168636e-01 9.89110747e-01 -1.15008478e-03 -1.07624404e+00] [-1.50845221e-02 -1.08179523e-03 9.99885637e-01 -8.01014719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.035252670741521934 Centerline is valid? [True, True] Translation: X:54.52, Y:-1.08, Z:-0.81 [[ 9.89032562e-01 1.47073035e-01 1.35688193e-02 5.45237285e+01] [-1.47072566e-01 9.89125160e-01 -1.03789345e-03 -1.08021055e+00] [-1.35739067e-02 -9.69090654e-04 9.99907401e-01 -8.05313127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.0366443860132566 Centerline is valid? [True, True] Translation: X:54.58, Y:-1.08, Z:-0.80 [[ 9.88932597e-01 1.47652414e-01 1.45286988e-02 5.45845681e+01] [-1.47651877e-01 9.89038765e-01 -1.11546468e-03 -1.08174933e+00] [-1.45341474e-02 -1.04207027e-03 9.99893831e-01 -8.04390513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.035125397156054915 Centerline is valid? [True, True] Translation: X:54.65, Y:-1.09, Z:-0.81 [[ 9.88763975e-01 1.48752735e-01 1.47792595e-02 5.46468477e+01] [-1.48752275e-01 9.88873839e-01 -1.13657909e-03 -1.08721585e+00] [-1.47838923e-02 -1.07464001e-03 9.99890135e-01 -8.05395917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.037077311126287024 Centerline is valid? [True, True] Translation: X:54.71, Y:-1.09, Z:-0.81 [[ 9.88678436e-01 1.49330460e-01 1.46752738e-02 5.47084786e+01] [-1.49330013e-01 9.88786764e-01 -1.13242558e-03 -1.08825710e+00] [-1.46798221e-02 -1.07185407e-03 9.99891671e-01 -8.06660436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.036111730490249044 Centerline is valid? [True, True] Translation: X:54.77, Y:-1.09, Z:-0.81 [[ 9.88407424e-01 1.51181729e-01 1.39588117e-02 5.47700411e+01] [-1.51181487e-01 9.88505435e-01 -1.07868481e-03 -1.09233085e+00] [-1.39614387e-02 -1.04413382e-03 9.99901989e-01 -8.10653935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.03633748656193381 Centerline is valid? [True, True] Translation: X:54.83, Y:-1.09, Z:-0.81 [[ 9.88171900e-01 1.52779139e-01 1.32223503e-02 5.48315272e+01] [-1.52779024e-01 9.88259844e-01 -1.02469103e-03 -1.09404645e+00] [-1.32236692e-02 -1.00752689e-03 9.99912056e-01 -8.13620933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.03589384008406836 Centerline is valid? [True, True] Translation: X:54.89, Y:-1.10, Z:-0.81 [[ 9.88165585e-01 1.52758898e-01 1.39102935e-02 5.48933221e+01] [-1.52758722e-01 9.88262922e-01 -1.08150095e-03 -1.09646102e+00] [-1.39122362e-02 -1.05621663e-03 9.99902662e-01 -8.13986746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.037768892757421804 Centerline is valid? [True, True] Translation: X:54.95, Y:-1.10, Z:-0.82 [[ 9.88429237e-01 1.51042806e-01 1.39181564e-02 5.49536479e+01] [-1.51042403e-01 9.88526688e-01 -1.08620794e-03 -1.09753465e+00] [-1.39225330e-02 -1.02859211e-03 9.99902548e-01 -8.15293222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.03544532705703853 Centerline is valid? [True, True] Translation: X:55.02, Y:-1.10, Z:-0.81 [[ 9.88711841e-01 1.49041043e-01 1.53513101e-02 5.50150222e+01] [-1.49040307e-01 9.88830395e-01 -1.19835237e-03 -1.10107916e+00] [-1.53584457e-02 -1.10313879e-03 9.99881444e-01 -8.13220362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.035725395997048694 Centerline is valid? [True, True] Translation: X:55.07, Y:-1.10, Z:-0.81 [[ 9.89213726e-01 1.45778678e-01 1.43101901e-02 5.50747797e+01] [-1.45777691e-01 9.89316742e-01 -1.11762286e-03 -1.10413422e+00] [-1.43202363e-02 -9.80538609e-04 9.99896979e-01 -8.14917652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.03419182965838581 Centerline is valid? [True, True] Translation: X:55.14, Y:-1.11, Z:-0.82 [[ 9.89639045e-01 1.42961902e-01 1.32836103e-02 5.51355914e+01] [-1.42960800e-01 9.89727808e-01 -1.03739613e-03 -1.11161803e+00] [-1.32954666e-02 -8.72387843e-04 9.99911231e-01 -8.17419216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.03287261386081556 Centerline is valid? [True, True] Translation: X:55.20, Y:-1.12, Z:-0.82 [[ 9.90025174e-01 1.40184517e-01 1.40874097e-02 5.51958074e+01] [-1.40182993e-01 9.90125001e-01 -1.10047239e-03 -1.11679470e+00] [-1.41025658e-02 -8.85319889e-04 9.99900162e-01 -8.16584313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.029557831766203777 Centerline is valid? [True, True] Translation: X:55.26, Y:-1.13, Z:-0.82 [[ 9.90306287e-01 1.38177774e-01 1.41548923e-02 5.52566998e+01] [-1.38176032e-01 9.90407069e-01 -1.10567299e-03 -1.12579847e+00] [-1.41718848e-02 -8.60911943e-04 9.99899203e-01 -8.17071809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.029766759375110752 Centerline is valid? [True, True] Translation: X:55.32, Y:-1.13, Z:-0.82 [[ 9.90588364e-01 1.36180452e-01 1.37686894e-02 5.53176480e+01] [-1.36178605e-01 9.90683718e-01 -1.07599019e-03 -1.13063424e+00] [-1.37869452e-02 -8.09137557e-04 9.99904628e-01 -8.19535963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.027944327294441334 Centerline is valid? [True, True] Translation: X:55.38, Y:-1.14, Z:-0.82 [[ 9.90859274e-01 1.34190181e-01 1.38164474e-02 5.53790628e+01] [-1.34188122e-01 9.90955287e-01 -1.08018305e-03 -1.13594795e+00] [-1.38364316e-02 -7.83693736e-04 9.99903965e-01 -8.18902149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.026336315037952553 Centerline is valid? [True, True] Translation: X:55.44, Y:-1.14, Z:-0.82 [[ 9.90992952e-01 1.33218716e-01 1.36287526e-02 5.54410188e+01] [-1.33216618e-01 9.91086372e-01 -1.06573602e-03 -1.14242105e+00] [-1.36492470e-02 -7.59439452e-04 9.99906556e-01 -8.20528890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.026844141852044225 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.15, Z:-0.82 [[ 9.91221022e-01 1.31529281e-01 1.34511312e-02 5.55009304e+01] [-1.31527028e-01 9.91312023e-01 -1.05585594e-03 -1.14664244e+00] [-1.34731440e-02 -7.22600695e-04 9.99908972e-01 -8.20637968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.029444618082581236 Centerline is valid? [True, True] Translation: X:55.56, Y:-1.15, Z:-0.82 [[ 9.91279189e-01 1.31170251e-01 1.26465172e-02 5.55624468e+01] [-1.31168238e-01 9.91359627e-01 -9.92110785e-04 -1.15071211e+00] [-1.26673820e-02 -6.75362601e-04 9.99919537e-01 -8.23479546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.02513207671474181 Centerline is valid? [True, True] Translation: X:55.62, Y:-1.16, Z:-0.82 [[ 9.91177170e-01 1.31933357e-01 1.27045888e-02 5.56241607e+01] [-1.31931348e-01 9.91258352e-01 -9.99802558e-04 -1.15824479e+00] [-1.27254371e-02 -6.85152052e-04 9.99918794e-01 -8.22368600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.028816964844852716 Centerline is valid? [True, True] Translation: X:55.69, Y:-1.16, Z:-0.83 [[ 9.91053020e-01 1.32911118e-01 1.21879735e-02 5.56850050e+01] [-1.32909305e-01 9.91127737e-01 -9.62190164e-04 -1.15907290e+00] [-1.22077243e-02 -6.66313615e-04 9.99925261e-01 -8.26208059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.030270472320265134 Centerline is valid? [True, True] Translation: X:55.75, Y:-1.16, Z:-0.82 [[ 9.90793770e-01 1.34768656e-01 1.28496901e-02 5.57460705e+01] [-1.34766748e-01 9.90876827e-01 -1.01829063e-03 -1.15932071e+00] [-1.28696939e-02 -7.22794939e-04 9.99916921e-01 -8.24516083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.028246250210237665 Centerline is valid? [True, True] Translation: X:55.81, Y:-1.17, Z:-0.82 [[ 9.90586723e-01 1.36274708e-01 1.29285380e-02 5.58081439e+01] [-1.36272899e-01 9.90670806e-01 -1.02488385e-03 -1.16587148e+00] [-1.29475909e-02 -7.46573017e-04 9.99915898e-01 -8.24880432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.027589890533679867 Centerline is valid? [True, True] Translation: X:55.87, Y:-1.17, Z:-0.83 [[ 9.90276907e-01 1.38508840e-01 1.29208398e-02 5.58690696e+01] [-1.38507209e-01 9.90360895e-01 -1.02537761e-03 -1.17026074e+00] [-1.29383183e-02 -7.74221678e-04 9.99915997e-01 -8.25230231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.030833026216216357 Centerline is valid? [True, True] Translation: X:55.93, Y:-1.17, Z:-0.83 [[ 9.89759571e-01 1.42159431e-01 1.29107809e-02 5.59298757e+01] [-1.42158108e-01 9.89843433e-01 -1.02481886e-03 -1.16780483e+00] [-1.29253393e-02 -8.21047914e-04 9.99916127e-01 -8.26597798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.03263071739108709 Centerline is valid? [True, True] Translation: X:55.99, Y:-1.17, Z:-0.83 [[ 9.89617313e-01 1.43197936e-01 1.23258157e-02 5.59917691e+01] [-1.43196819e-01 9.89693748e-01 -9.77707357e-04 -1.17078246e+00] [-1.23387884e-02 -7.97461467e-04 9.99923556e-01 -8.29655508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.03452345179640604 Centerline is valid? [True, True] Translation: X:56.05, Y:-1.17, Z:-0.83 [[ 9.89296501e-01 1.45301280e-01 1.34153638e-02 5.60519656e+01] [-1.45300094e-01 9.89387053e-01 -1.06830343e-03 -1.16958918e+00] [-1.34282131e-02 -8.92384770e-04 9.99909439e-01 -8.27600456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.03619713794900221 Centerline is valid? [True, True] Translation: X:56.11, Y:-1.17, Z:-0.83 [[ 9.89126233e-01 1.46499359e-01 1.29318586e-02 5.61136630e+01] [-1.46498350e-01 9.89210378e-01 -1.03044574e-03 -1.17125567e+00] [-1.29432884e-02 -8.75255031e-04 9.99915849e-01 -8.28369106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.03514690385724422 Centerline is valid? [True, True] Translation: X:56.18, Y:-1.18, Z:-0.83 [[ 9.88952797e-01 1.47678829e-01 1.27800553e-02 5.61756115e+01] [-1.47677898e-01 9.89034981e-01 -1.02171272e-03 -1.17557492e+00] [-1.27908070e-02 -8.76906045e-04 9.99917810e-01 -8.28961958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.03633627313774405 Centerline is valid? [True, True] Translation: X:56.24, Y:-1.18, Z:-0.83 [[ 9.88791022e-01 1.48800064e-01 1.22823235e-02 5.62372522e+01] [-1.48799287e-01 9.88866931e-01 -9.82145577e-04 -1.17693882e+00] [-1.22917268e-02 -8.56464249e-04 9.99924087e-01 -8.30213454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.029906392656569577 Centerline is valid? [True, True] Translation: X:56.30, Y:-1.19, Z:-0.83 [[ 9.88703532e-01 1.49421037e-01 1.17761903e-02 5.62986678e+01] [-1.49420339e-01 9.88773316e-01 -9.44052838e-04 -1.18772683e+00] [-1.17850440e-02 -8.26213964e-04 9.99930213e-01 -8.30873987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.03561874970550605 Centerline is valid? [True, True] Translation: X:56.36, Y:-1.19, Z:-0.84 [[ 9.88818622e-01 1.48707679e-01 1.11247442e-02 5.63604772e+01] [-1.48706981e-01 9.88880900e-01 -8.94546271e-04 -1.18592533e+00] [-1.11340729e-02 -7.69783108e-04 9.99937718e-01 -8.35501929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.03404311789294541 Centerline is valid? [True, True] Translation: X:56.42, Y:-1.19, Z:-0.84 [[ 9.89247741e-01 1.45812864e-01 1.12922788e-02 5.64209506e+01] [-1.45811910e-01 9.89311910e-01 -9.12162661e-04 -1.19155313e+00] [-1.13045910e-02 -7.44193887e-04 9.99935824e-01 -8.35452860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.032895313941358376 Centerline is valid? [True, True] Translation: X:56.48, Y:-1.20, Z:-0.84 [[ 9.90134525e-01 1.39661866e-01 1.13219159e-02 5.64805838e+01] [-1.39660503e-01 9.90199024e-01 -9.14854327e-04 -1.19801609e+00] [-1.13387203e-02 -6.75395610e-04 9.99935487e-01 -8.35200795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.03149787964833531 Centerline is valid? [True, True] Translation: X:56.54, Y:-1.20, Z:-0.83 [[ 9.90255564e-01 1.38796901e-01 1.13727335e-02 5.65421552e+01] [-1.38795482e-01 9.90320641e-01 -9.17784160e-04 -1.20348292e+00] [-1.13900383e-02 -6.69643161e-04 9.99934907e-01 -8.32606015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.032990315168029645 Centerline is valid? [True, True] Translation: X:56.60, Y:-1.21, Z:-0.84 [[ 9.90558789e-01 1.36653569e-01 1.09127499e-02 5.66030826e+01] [-1.36652093e-01 9.90618707e-01 -8.84258740e-04 -1.20903388e+00] [-1.09312114e-02 -6.15339854e-04 9.99940063e-01 -8.38034349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.03315442521810041 Centerline is valid? [True, True] Translation: X:56.66, Y:-1.21, Z:-0.84 [[ 9.90915391e-01 1.34058089e-01 1.07292029e-02 5.66640508e+01] [-1.34056507e-01 9.90973308e-01 -8.69754787e-04 -1.21459239e+00] [-1.07489514e-02 -5.76466064e-04 9.99942062e-01 -8.39361388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.030148485776283422 Centerline is valid? [True, True] Translation: X:56.72, Y:-1.23, Z:-0.84 [[ 9.91278693e-01 1.31344466e-01 1.07324203e-02 5.67245726e+01] [-1.31342720e-01 9.91336639e-01 -8.70378012e-04 -1.22550957e+00] [-1.07537608e-02 -5.46838100e-04 9.99942027e-01 -8.39626163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.03322513039384651 Centerline is valid? [True, True] Translation: X:56.79, Y:-1.22, Z:-0.84 [[ 9.91339084e-01 1.30849626e-01 1.11890864e-02 5.67863315e+01] [-1.30847704e-01 9.91402066e-01 -9.06897522e-04 -1.22410295e+00] [-1.12115506e-02 -5.65023298e-04 9.99936989e-01 -8.39143960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.029551947047979865 Centerline is valid? [True, True] Translation: X:56.85, Y:-1.23, Z:-0.84 [[ 9.91123850e-01 1.32466074e-01 1.12362840e-02 5.68481415e+01] [-1.32464211e-01 9.91187368e-01 -9.13206227e-04 -1.23345484e+00] [-1.12582316e-02 -5.83305025e-04 9.99936454e-01 -8.38367203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.03056859885266402 Centerline is valid? [True, True] Translation: X:56.91, Y:-1.24, Z:-0.84 [[ 9.90935973e-01 1.33875953e-01 1.10962075e-02 5.69092113e+01] [-1.33874193e-01 9.90997922e-01 -9.04572179e-04 -1.23562386e+00] [-1.11174190e-02 -5.89122706e-04 9.99938026e-01 -8.37244191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.026388703431262487 Centerline is valid? [True, True] Translation: X:56.97, Y:-1.25, Z:-0.84 [[ 9.90868697e-01 1.34293060e-01 1.20249556e-02 5.69709531e+01] [-1.34290992e-01 9.90941453e-01 -9.82951362e-04 -1.24881553e+00] [-1.20480305e-02 -6.40867487e-04 9.99927214e-01 -8.40321024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.030162590588936607 Centerline is valid? [True, True] Translation: X:57.03, Y:-1.25, Z:-0.84 [[ 9.90739667e-01 1.35286153e-01 1.15138586e-02 5.70320007e+01] [-1.35284284e-01 9.90806374e-01 -9.44673578e-04 -1.25069461e+00] [-1.15358058e-02 -6.21718529e-04 9.99933267e-01 -8.42961180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.03014775562984157 Centerline is valid? [True, True] Translation: X:57.09, Y:-1.25, Z:-0.84 [[ 9.90401517e-01 1.37732318e-01 1.16035653e-02 5.70937067e+01] [-1.37730554e-01 9.90469274e-01 -9.54830955e-04 -1.25427324e+00] [-1.16244859e-02 -6.52499449e-04 9.99932220e-01 -8.43245204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.03199711168515503 Centerline is valid? [True, True] Translation: X:57.16, Y:-1.26, Z:-0.85 [[ 9.90164276e-01 1.39456372e-01 1.12528700e-02 5.71556892e+01] [-1.39454787e-01 9.90228003e-01 -9.29279172e-04 -1.25845925e+00] [-1.12725009e-02 -6.49127552e-04 9.99936253e-01 -8.45055113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.029526547227995897 Centerline is valid? [True, True] Translation: X:57.22, Y:-1.27, Z:-0.84 [[ 9.89859824e-01 1.41644247e-01 1.06974831e-02 5.72164111e+01] [-1.41642930e-01 9.89917420e-01 -8.84412312e-04 -1.26554883e+00] [-1.07148968e-02 -6.39778643e-04 9.99942389e-01 -8.42172121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.030489713724147934 Centerline is valid? [True, True] Translation: X:57.28, Y:-1.27, Z:-0.85 [[ 9.89883227e-01 1.41489930e-01 1.05733627e-02 5.72783499e+01] [-1.41488647e-01 9.89939493e-01 -8.73019233e-04 -1.27300224e+00] [-1.05905127e-02 -6.31823685e-04 9.99943719e-01 -8.47391572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.03165543455313719 Centerline is valid? [True, True] Translation: X:57.34, Y:-1.28, Z:-0.85 [[ 9.90160031e-01 1.39501000e-01 1.10717885e-02 5.73383995e+01] [-1.39499423e-01 9.90221726e-01 -9.18409968e-04 -1.27986196e+00] [-1.10916446e-02 -6.35135261e-04 9.99938284e-01 -8.48637896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.02867612800322215 Centerline is valid? [True, True] Translation: X:57.40, Y:-1.29, Z:-0.85 [[ 9.90877064e-01 1.34296841e-01 1.12695524e-02 5.73980097e+01] [-1.34294868e-01 9.90940974e-01 -9.35087506e-04 -1.29342032e+00] [-1.12930405e-02 -5.86886293e-04 9.99936059e-01 -8.48568240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.026672493132276532 Centerline is valid? [True, True] Translation: X:57.46, Y:-1.31, Z:-0.85 [[ 9.91700129e-01 1.28001412e-01 1.21034336e-02 5.74573878e+01] [-1.27998667e-01 9.91773831e-01 -1.00436169e-03 -1.30915695e+00] [-1.21324284e-02 -5.53197760e-04 9.99926246e-01 -8.49688592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.02310780767749854 Centerline is valid? [True, True] Translation: X:57.52, Y:-1.33, Z:-0.85 [[ 9.92072759e-01 1.24852540e-01 1.42647862e-02 5.75182324e+01] [-1.24848403e-01 9.92175123e-01 -1.18367713e-03 -1.32622156e+00] [-1.43009511e-02 -6.06641935e-04 9.99897552e-01 -8.45875469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.027304762781996398 Centerline is valid? [True, True] Translation: X:57.58, Y:-1.33, Z:-0.85 [[ 9.91723779e-01 1.27835954e-01 1.19128231e-02 5.75779497e+01] [-1.27833279e-01 9.91795178e-01 -9.88881366e-04 -1.33097239e+00] [-1.19414951e-02 -5.42158073e-04 9.99928551e-01 -8.49906451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.028865785266800153 Centerline is valid? [True, True] Translation: X:57.64, Y:-1.34, Z:-0.85 [[ 9.91063678e-01 1.32962290e-01 1.06684142e-02 5.76379068e+01] [-1.32960428e-01 9.91120950e-01 -8.86803846e-04 -1.33699390e+00] [-1.06916003e-02 -5.39597832e-04 9.99942698e-01 -8.52818582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.0296711555608574 Centerline is valid? [True, True] Translation: X:57.70, Y:-1.34, Z:-0.85 [[ 9.89856054e-01 1.41600455e-01 1.15889657e-02 5.76981029e+01] [-1.41598845e-01 9.89923653e-01 -9.63444724e-04 -1.34255300e+00] [-1.16086155e-02 -6.87312573e-04 9.99932382e-01 -8.51936023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.03439657533920374 Centerline is valid? [True, True] Translation: X:57.76, Y:-1.34, Z:-0.85 [[ 9.88580583e-01 1.50320542e-01 1.05908375e-02 5.77583803e+01] [-1.50319696e-01 9.88637049e-01 -8.80456853e-04 -1.34182905e+00] [-1.06028451e-02 -7.21608924e-04 9.99943528e-01 -8.53218531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.03857126810157594 Centerline is valid? [True, True] Translation: X:57.82, Y:-1.34, Z:-0.85 [[ 9.87793435e-01 1.55426431e-01 1.03321716e-02 5.78190462e+01] [-1.55425899e-01 9.87847180e-01 -8.59315190e-04 -1.34159275e+00] [-1.03401669e-02 -7.57061154e-04 9.99946252e-01 -8.54421522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.043396031981040424 Centerline is valid? [True, True] Translation: X:57.88, Y:-1.34, Z:-0.86 [[ 9.86886484e-01 1.61115534e-01 9.84131726e-03 5.78790471e+01] [-1.61115335e-01 9.86935246e-01 -8.18282524e-04 -1.34270054e+00] [-9.84458089e-03 -7.78035161e-04 9.99951238e-01 -8.56183290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.044682377374647544 Centerline is valid? [True, True] Translation: X:57.94, Y:-1.35, Z:-0.86 [[ 9.86836503e-01 1.61426945e-01 9.74973219e-03 5.79421558e+01] [-1.61426773e-01 9.86884361e-01 -8.09804946e-04 -1.34759664e+00] [-9.75258256e-03 -7.74722720e-04 9.99952142e-01 -8.57925380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.04114311564253528 Centerline is valid? [True, True] Translation: X:58.00, Y:-1.36, Z:-0.86 [[ 9.87178169e-01 1.59325967e-01 9.72105051e-03 5.80025391e+01] [-1.59325652e-01 9.87225748e-01 -8.11775516e-04 -1.35940176e+00] [-9.72620828e-03 -7.47445646e-04 9.99952420e-01 -8.58583649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.03481380832563825 Centerline is valid? [True, True] Translation: X:58.06, Y:-1.38, Z:-0.86 [[ 9.88488238e-01 1.50769266e-01 1.26345212e-02 5.80616742e+01] [-1.50768033e-01 9.88568605e-01 -1.05548011e-03 -1.37605483e+00] [-1.26492250e-02 -8.61552238e-04 9.99919624e-01 -8.56123398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.03092327985825718 Centerline is valid? [True, True] Translation: X:58.12, Y:-1.40, Z:-0.86 [[ 9.90175802e-01 1.39319727e-01 1.19119820e-02 5.81211440e+01] [-1.39317805e-01 9.90247221e-01 -9.95071396e-04 -1.39538433e+00] [-1.19344401e-02 -6.74255571e-04 9.99928555e-01 -8.59105223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.030648721457329612 Centerline is valid? [True, True] Translation: X:58.18, Y:-1.41, Z:-0.86 [[ 9.91108944e-01 1.32504248e-01 1.20700520e-02 5.81799865e+01] [-1.32501766e-01 9.91182256e-01 -1.00859990e-03 -1.40844869e+00] [-1.20972651e-02 -5.99670826e-04 9.99926646e-01 -8.58139641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.02677213402899681 Centerline is valid? [True, True] Translation: X:58.24, Y:-1.42, Z:-0.86 [[ 9.90512394e-01 1.37057519e-01 1.00216180e-02 5.82403605e+01] [-1.37056045e-01 9.90562941e-01 -8.37019594e-04 -1.42123606e+00] [-1.00417632e-02 -5.44445041e-04 9.99949432e-01 -8.58946269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.0436700748707298 Centerline is valid? [True, True] Translation: X:58.30, Y:-1.41, Z:-0.86 [[ 9.86594806e-01 1.62819394e-01 1.09788099e-02 5.83015538e+01] [-1.62819201e-01 9.86655495e-01 -9.17393341e-04 -1.40595598e+00] [-1.09816726e-02 -8.82465555e-04 9.99939310e-01 -8.62102844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.04424370961682225 Centerline is valid? [True, True] Translation: X:58.36, Y:-1.41, Z:-0.86 [[ 9.86342807e-01 1.64283826e-01 1.17767532e-02 5.83636291e+01] [-1.64283707e-01 9.86412639e-01 -9.84091891e-04 -1.40997406e+00] [-1.17784086e-02 -9.64076721e-04 9.99930167e-01 -8.62775457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.04650785028795121 Centerline is valid? [True, True] Translation: X:58.43, Y:-1.41, Z:-0.87 [[ 9.86187868e-01 1.65233873e-01 1.14567175e-02 5.84258612e+01] [-1.65233825e-01 9.86253956e-01 -9.57322921e-04 -1.41253647e+00] [-1.14574152e-02 -9.48937006e-04 9.99933911e-01 -8.65000080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.04049130841952803 Centerline is valid? [True, True] Translation: X:58.49, Y:-1.42, Z:-0.87 [[ 9.86095572e-01 1.65748408e-01 1.19577551e-02 5.84876564e+01] [-1.65748356e-01 9.86167571e-01 -1.00223265e-03 -1.42434868e+00] [-1.19584688e-02 -9.93681083e-04 9.99928001e-01 -8.65134292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.04049130841952803 Centerline is valid? [True, True] Translation: X:58.55, Y:-1.43, Z:-0.87 [[ 9.86047369e-01 1.66034948e-01 1.19575127e-02 5.85500731e+01] [-1.66034883e-01 9.86119368e-01 -1.00511508e-03 -1.42968302e+00] [-1.19584191e-02 -9.94273150e-04 9.99928001e-01 -8.66147761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.03987980817100778 Centerline is valid? [True, True] Translation: X:58.61, Y:-1.44, Z:-0.87 [[ 9.86323770e-01 1.64383385e-01 1.19801455e-02 5.86108759e+01] [-1.64383144e-01 9.86396046e-01 -1.01158653e-03 -1.43603624e+00] [-1.19834561e-02 -9.71582135e-04 9.99927724e-01 -8.68065079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.03960709636442644 Centerline is valid? [True, True] Translation: X:58.67, Y:-1.44, Z:-0.87 [[ 9.86810417e-01 1.61480724e-01 1.13656299e-02 5.86712402e+01] [-1.61480310e-01 9.86875467e-01 -9.60140185e-04 -1.44409129e+00] [-1.13715055e-02 -8.87849116e-04 9.99934948e-01 -8.70403073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.037923176435565115 Centerline is valid? [True, True] Translation: X:58.73, Y:-1.45, Z:-0.87 [[ 9.87660653e-01 1.56167639e-01 1.17517225e-02 5.87309414e+01] [-1.56166818e-01 9.87730195e-01 -9.93122519e-04 -1.45013486e+00] [-1.17626248e-02 -8.54361075e-04 9.99930453e-01 -8.71082762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.033939477902655786 Centerline is valid? [True, True] Translation: X:58.79, Y:-1.46, Z:-0.87 [[ 9.88843749e-01 1.48346553e-01 1.34662660e-02 5.87908433e+01] [-1.48344750e-01 9.88935053e-01 -1.13822712e-03 -1.46033212e+00] [-1.34861146e-02 -8.72121099e-04 9.99908678e-01 -8.70781950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.03286814055717874 Centerline is valid? [True, True] Translation: X:58.85, Y:-1.47, Z:-0.88 [[ 9.90069722e-01 1.40097634e-01 1.16016192e-02 5.88513334e+01] [-1.40095730e-01 9.90137478e-01 -9.80660689e-04 -1.47137178e+00] [-1.16245862e-02 -6.54414852e-04 9.99932218e-01 -8.75573194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.034772791740842496 Centerline is valid? [True, True] Translation: X:58.91, Y:-1.47, Z:-0.88 [[ 9.90379195e-01 1.37929340e-01 1.11600691e-02 5.89116899e+01] [-1.37927439e-01 9.90441887e-01 -9.43545233e-04 -1.46970924e+00] [-1.11835424e-02 -6.04812180e-04 9.99937279e-01 -8.78495274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.030398071484094086 Centerline is valid? [True, True] Translation: X:58.97, Y:-1.47, Z:-0.88 [[ 9.90376742e-01 1.37656794e-01 1.43008910e-02 5.89732818e+01] [-1.37653645e-01 9.90479688e-01 -1.20901072e-03 -1.47428094e+00] [-1.43311706e-02 -7.71193671e-04 9.99897006e-01 -8.76907553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.030944694581231003 Centerline is valid? [True, True] Translation: X:59.04, Y:-1.48, Z:-0.88 [[ 9.90371844e-01 1.37654419e-01 1.46585155e-02 5.90355043e+01] [-1.37651056e-01 9.90480006e-01 -1.24294791e-03 -1.47808071e+00] [-1.46900638e-02 -7.86779521e-04 9.99891786e-01 -8.78071295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:59.10, Y:-1.48, Z:-0.88 [[ 9.90397093e-01 1.37514913e-01 1.42564537e-02 5.90971163e+01] [-1.37511670e-01 9.90499405e-01 -1.21221647e-03 -1.48261198e+00] [-1.42877068e-02 -7.59853081e-04 9.99897637e-01 -8.79691970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:59.16, Y:-1.49, Z:-0.88 [[ 9.90359159e-01 1.37787876e-01 1.42561666e-02 5.91594021e+01] [-1.37784612e-01 9.90461470e-01 -1.21558342e-03 -1.48801839e+00] [-1.42876763e-02 -7.60416204e-04 9.99897637e-01 -8.80703398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.031109402777119096 Centerline is valid? [True, True] Translation: X:59.22, Y:-1.49, Z:-0.88 [[ 9.90384546e-01 1.37638888e-01 1.39279586e-02 5.92211878e+01] [-1.37635704e-01 9.90482202e-01 -1.19143154e-03 -1.49387642e+00] [-1.39593824e-02 -7.37009003e-04 9.99902291e-01 -8.82864626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.029996024392832266 Centerline is valid? [True, True] Translation: X:59.28, Y:-1.50, Z:-0.88 [[ 9.90463694e-01 1.37088241e-01 1.37289968e-02 5.92834442e+01] [-1.37085050e-01 9.90558581e-01 -1.17772522e-03 -1.49843483e+00] [-1.37608278e-02 -7.15546127e-04 9.99905059e-01 -8.84323792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.026641495258853592 Centerline is valid? [True, True] Translation: X:59.34, Y:-1.51, Z:-0.89 [[ 9.91474440e-01 1.29627828e-01 1.32310664e-02 5.93436274e+01] [-1.29624150e-01 9.91562546e-01 -1.13876531e-03 -1.50976067e+00] [-1.32670456e-02 -5.86009044e-04 9.99911817e-01 -8.86933498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.02147613352522115 Centerline is valid? [True, True] Translation: X:59.40, Y:-1.52, Z:-0.89 [[ 9.92073586e-01 1.24562615e-01 1.65576023e-02 5.94035809e+01] [-1.24556145e-01 9.92211537e-01 -1.42546402e-03 -1.51858052e+00] [-1.66062036e-02 -6.48185922e-04 9.99861897e-01 -8.85144601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.02098413912252303 Centerline is valid? [True, True] Translation: X:59.46, Y:-1.53, Z:-0.89 [[ 9.93097201e-01 1.16365571e-01 1.47310075e-02 5.94636477e+01] [-1.16359548e-01 9.93206347e-01 -1.26819963e-03 -1.53008695e+00] [-1.47785049e-02 -4.54647879e-04 9.99890689e-01 -8.89013666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.02082545168507602 Centerline is valid? [True, True] Translation: X:59.52, Y:-1.54, Z:-0.89 [[ 9.93673290e-01 1.11436488e-01 1.39750234e-02 5.95245595e+01] [-1.11430580e-01 9.93771492e-01 -1.20312139e-03 -1.54112036e+00] [-1.40220515e-02 -3.61735379e-04 9.99901621e-01 -8.90434788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.020242500298564305 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.54, Z:-0.89 [[ 9.93362821e-01 1.14209886e-01 1.36531128e-02 5.95869476e+01] [-1.14204506e-01 9.93456566e-01 -1.17563570e-03 -1.54473183e+00] [-1.36980438e-02 -3.91414208e-04 9.99906101e-01 -8.91731035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.02246319009420482 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.55, Z:-0.89 [[ 9.93001629e-01 1.17333999e-01 1.34349527e-02 5.96494117e+01] [-1.17329024e-01 9.93092419e-01 -1.16065146e-03 -1.54650274e+00] [-1.34783336e-02 -4.23781096e-04 9.99909073e-01 -8.93682453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.02421847286840762 Centerline is valid? [True, True] Translation: X:59.71, Y:-1.55, Z:-0.89 [[ 9.92468370e-01 1.21817295e-01 1.29259657e-02 5.97107056e+01] [-1.21813055e-01 9.92552432e-01 -1.11772626e-03 -1.54712602e+00] [-1.29658570e-02 -4.65243410e-04 9.99915832e-01 -8.94960525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.026924051384914053 Centerline is valid? [True, True] Translation: X:59.77, Y:-1.54, Z:-0.89 [[ 9.91543380e-01 1.28886592e-01 1.51648268e-02 5.97709192e+01] [-1.28881577e-01 9.91659124e-01 -1.31163347e-03 -1.54205860e+00] [-1.52073908e-02 -6.53925299e-04 9.99884147e-01 -8.94361435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.025793461868351766 Centerline is valid? [True, True] Translation: X:59.83, Y:-1.55, Z:-0.90 [[ 9.91283001e-01 1.30932045e-01 1.46564661e-02 5.98321433e+01] [-1.30927583e-01 9.91391124e-01 -1.26771740e-03 -1.54975897e+00] [-1.46962753e-02 -6.62268975e-04 9.99891785e-01 -8.95975559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.028966816222075947 Centerline is valid? [True, True] Translation: X:59.89, Y:-1.55, Z:-0.90 [[ 9.90512634e-01 1.36554888e-01 1.54105584e-02 5.98927426e+01] [-1.36550573e-01 9.90632199e-01 -1.33687682e-03 -1.54914135e+00] [-1.54487524e-02 -7.80127190e-04 9.99880357e-01 -8.97005537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.029029421618631 Centerline is valid? [True, True] Translation: X:59.95, Y:-1.55, Z:-0.90 [[ 9.90099210e-01 1.39466552e-01 1.58945225e-02 5.99542836e+01] [-1.39462333e-01 9.90226417e-01 -1.37900442e-03 -1.55010824e+00] [-1.59315011e-02 -8.51336008e-04 9.99872723e-01 -8.98032073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.03055821909722522 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.55, Z:-0.90 [[ 9.89887149e-01 1.41069357e-01 1.49287576e-02 6.00165503e+01] [-1.41065810e-01 9.89999373e-01 -1.29567442e-03 -1.55061809e+00] [-1.49622406e-02 -8.23365820e-04 9.99887720e-01 -9.01794363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.030119753872786054 Centerline is valid? [True, True] Translation: X:60.08, Y:-1.56, Z:-0.90 [[ 9.90295520e-01 1.38176828e-01 1.48979299e-02 6.00775872e+01] [-1.38172952e-01 9.90407270e-01 -1.29411224e-03 -1.55558539e+00] [-1.49338344e-02 -7.76937406e-04 9.99888182e-01 -9.03131583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.028793957940672618 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.56, Z:-0.90 [[ 9.90774490e-01 1.34667169e-01 1.51875925e-02 6.01382314e+01] [-1.34662721e-01 9.90890614e-01 -1.31984461e-03 -1.56255379e+00] [-1.52269826e-02 -7.37534155e-04 9.99883791e-01 -9.04212203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.026929945288714927 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.57, Z:-0.90 [[ 9.91554186e-01 1.28668086e-01 1.62733114e-02 6.01985222e+01] [-1.28662168e-01 9.91687474e-01 -1.41450791e-03 -1.56975788e+00] [-1.63200411e-02 -6.91198287e-04 9.99866580e-01 -9.04577650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.024376735592243154 Centerline is valid? [True, True] Translation: X:60.26, Y:-1.58, Z:-0.91 [[ 9.92070061e-01 1.24848778e-01 1.44836387e-02 6.02593980e+01] [-1.24843682e-01 9.92175625e-01 -1.25900807e-03 -1.57665313e+00] [-1.45274989e-02 -5.59166578e-04 9.99894314e-01 -9.08426440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.022079258863732996 Centerline is valid? [True, True] Translation: X:60.32, Y:-1.58, Z:-0.91 [[ 9.92641957e-01 1.20206145e-01 1.45748819e-02 6.03187493e+01] [-1.20200475e-01 9.92748830e-01 -1.26756868e-03 -1.57914501e+00] [-1.46215665e-02 -4.93665861e-04 9.99892977e-01 -9.10720497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.021647734358732046 Centerline is valid? [True, True] Translation: X:60.38, Y:-1.59, Z:-0.91 [[ 9.93417379e-01 1.13656574e-01 1.42861574e-02 6.03794031e+01] [-1.13650454e-01 9.93520021e-01 -1.24214002e-03 -1.58897904e+00] [-1.43347608e-02 -3.89664799e-04 9.99897176e-01 -9.12721969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.023106717826490947 Centerline is valid? [True, True] Translation: X:60.44, Y:-1.59, Z:-0.91 [[ 9.93482415e-01 1.13103609e-01 1.41515236e-02 6.04402115e+01] [-1.13097548e-01 9.93583127e-01 -1.23044572e-03 -1.59386286e+00] [-1.41998829e-02 -3.78076437e-04 9.99899105e-01 -9.13972466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.023298075758007894 Centerline is valid? [True, True] Translation: X:60.50, Y:-1.60, Z:-0.91 [[ 9.93485442e-01 1.13067125e-01 1.42303156e-02 6.05020457e+01] [-1.13060966e-01 9.93587280e-01 -1.23910322e-03 -1.59838385e+00] [-1.42791624e-02 -3.77862229e-04 9.99897976e-01 -9.14908097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.022091697068161418 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.60, Z:-0.92 [[ 9.93503840e-01 1.12847756e-01 1.46800486e-02 6.05642462e+01] [-1.12841120e-01 9.93612217e-01 -1.28225195e-03 -1.60408594e+00] [-1.47309749e-02 -3.82590882e-04 9.99891420e-01 -9.16219932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.02214687161690445 Centerline is valid? [True, True] Translation: X:60.63, Y:-1.61, Z:-0.92 [[ 9.93506517e-01 1.12818567e-01 1.47231764e-02 6.06271496e+01] [-1.12811836e-01 9.93615533e-01 -1.28954744e-03 -1.61083021e+00] [-1.47746617e-02 -3.79774781e-04 9.99890777e-01 -9.18232502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.022927007232995383 Centerline is valid? [True, True] Translation: X:60.69, Y:-1.62, Z:-0.92 [[ 9.93324900e-01 1.14497905e-01 1.39954599e-02 6.06886321e+01] [-1.14491935e-01 9.93423417e-01 -1.22972956e-03 -1.61534313e+00] [-1.40442191e-02 -3.80846297e-04 9.99901303e-01 -9.20523532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.022586724508292796 Centerline is valid? [True, True] Translation: X:60.75, Y:-1.62, Z:-0.92 [[ 9.93036399e-01 1.17015236e-01 1.36435192e-02 6.07507488e+01] [-1.17009758e-01 9.93130038e-01 -1.20183195e-03 -1.61995514e+00] [-1.36904214e-02 -4.02962005e-04 9.99906201e-01 -9.22272773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.02244917132547933 Centerline is valid? [True, True] Translation: X:60.81, Y:-1.62, Z:-0.92 [[ 9.92544158e-01 1.21131053e-01 1.35411695e-02 6.08115709e+01] [-1.21125985e-01 9.92636421e-01 -1.19680292e-03 -1.62313698e+00] [-1.35864280e-02 -4.52307743e-04 9.99907598e-01 -9.24734363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.02215734677173807 Centerline is valid? [True, True] Translation: X:60.87, Y:-1.63, Z:-0.92 [[ 9.92177416e-01 1.23882818e-01 1.53955598e-02 6.08732684e+01] [-1.23876593e-01 9.92296698e-01 -1.36097901e-03 -1.62830943e+00] [-1.54455650e-02 -5.56816857e-04 9.99880555e-01 -9.24717051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.024944266036630566 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.64, Z:-0.93 [[ 9.92021899e-01 1.25174185e-01 1.49658099e-02 6.09346137e+01] [-1.25168437e-01 9.92134623e-01 -1.32382965e-03 -1.63544284e+00] [-1.50138074e-02 -5.59979032e-04 9.99887130e-01 -9.26795130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.024699641695664548 Centerline is valid? [True, True] Translation: X:61.00, Y:-1.64, Z:-0.93 [[ 9.91887401e-01 1.26083471e-01 1.61969821e-02 6.09955002e+01] [-1.26076788e-01 9.92019444e-01 -1.43713375e-03 -1.64030542e+00] [-1.62489200e-02 -6.16588621e-04 9.99867787e-01 -9.27266896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.024833744431561295 Centerline is valid? [True, True] Translation: X:61.06, Y:-1.65, Z:-0.93 [[ 9.91678330e-01 1.27785027e-01 1.56548908e-02 6.10570088e+01] [-1.27778942e-01 9.91801695e-01 -1.39249703e-03 -1.65119170e+00] [-1.57044875e-02 -6.19456240e-04 9.99876485e-01 -9.29388476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.02712680531750019 Centerline is valid? [True, True] Translation: X:61.12, Y:-1.66, Z:-0.93 [[ 9.91174552e-01 1.31688270e-01 1.52054785e-02 6.11181197e+01] [-1.31682927e-01 9.91290960e-01 -1.35644178e-03 -1.65673927e+00] [-1.52516809e-02 -6.57831343e-04 9.99883470e-01 -9.31006921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.02658216281042934 Centerline is valid? [True, True] Translation: X:61.18, Y:-1.66, Z:-0.93 [[ 9.91016202e-01 1.32846018e-01 1.54538708e-02 6.11795751e+01] [-1.32840633e-01 9.91136451e-01 -1.37903630e-03 -1.66180532e+00] [-1.55000942e-02 -6.86254672e-04 9.99879631e-01 -9.32198076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.02534856378259088 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.67, Z:-0.93 [[ 9.90735368e-01 1.34895468e-01 1.57048918e-02 6.12416738e+01] [-1.34890104e-01 9.90859569e-01 -1.40519754e-03 -1.66822637e+00] [-1.57508971e-02 -7.26255584e-04 9.99875683e-01 -9.33366155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.028925069556578545 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.67, Z:-0.94 [[ 9.90470897e-01 1.37029151e-01 1.37990899e-02 6.13022342e+01] [-1.37025210e-01 9.90566790e-01 -1.23516861e-03 -1.67348874e+00] [-1.38381743e-02 -6.67424630e-04 9.99904025e-01 -9.36275705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.02737703890786484 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.68, Z:-0.94 [[ 9.90349721e-01 1.37881084e-01 1.40084495e-02 6.13632925e+01] [-1.37877061e-01 9.90448553e-01 -1.25714591e-03 -1.68336375e+00] [-1.40479851e-02 -6.86429745e-04 9.99901087e-01 -9.36964927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.029827612463959784 Centerline is valid? [True, True] Translation: X:61.42, Y:-1.69, Z:-0.94 [[ 9.89978230e-01 1.40578827e-01 1.34424099e-02 6.14239223e+01] [-1.40575320e-01 9.90069248e-01 -1.21011632e-03 -1.68975672e+00] [-1.34790334e-02 -6.91682276e-04 9.99908914e-01 -9.38372548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.02959235664815909 Centerline is valid? [True, True] Translation: X:61.48, Y:-1.70, Z:-0.94 [[ 9.89169584e-01 1.46157543e-01 1.34724143e-02 6.14845188e+01] [-1.46154526e-01 9.89261028e-01 -1.21359944e-03 -1.69621942e+00] [-1.35051111e-02 -7.68598659e-04 9.99908506e-01 -9.39615399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.03237678424125084 Centerline is valid? [True, True] Translation: X:61.54, Y:-1.70, Z:-0.94 [[ 9.88636241e-01 1.49681586e-01 1.39213939e-02 6.15446647e+01] [-1.49678711e-01 9.88733893e-01 -1.25416149e-03 -1.69809807e+00] [-1.39522789e-02 -8.43826792e-04 9.99902306e-01 -9.41193395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.03384235064912977 Centerline is valid? [True, True] Translation: X:61.61, Y:-1.70, Z:-0.94 [[ 9.88016892e-01 1.53486596e-01 1.62630498e-02 6.16054142e+01] [-1.53483164e-01 9.88150175e-01 -1.46641363e-03 -1.69938096e+00] [-1.62954104e-02 -1.04726291e-03 9.99866673e-01 -9.41148124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.03734852643435924 Centerline is valid? [True, True] Translation: X:61.67, Y:-1.70, Z:-0.94 [[ 9.87399080e-01 1.57498074e-01 1.54082304e-02 6.16657966e+01] [-1.57495476e-01 9.87518731e-01 -1.38952491e-03 -1.70242133e+00] [-1.54347637e-02 -1.05471098e-03 9.99880321e-01 -9.42660304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.039090237511393115 Centerline is valid? [True, True] Translation: X:61.73, Y:-1.71, Z:-0.94 [[ 9.86700517e-01 1.61831733e-01 1.52505873e-02 6.17266115e+01] [-1.61829700e-01 9.86817742e-01 -1.37545750e-03 -1.70623785e+00] [-1.52721428e-02 -1.11083335e-03 9.99882757e-01 -9.44470344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.03716287730834468 Centerline is valid? [True, True] Translation: X:61.79, Y:-1.71, Z:-0.94 [[ 9.86197007e-01 1.64745504e-01 1.65644833e-02 6.17872202e+01] [-1.64743510e-01 9.86335310e-01 -1.49422383e-03 -1.71141774e+00] [-1.65843015e-02 -1.25529205e-03 9.99861683e-01 -9.44871120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.03675154401548282 Centerline is valid? [True, True] Translation: X:61.85, Y:-1.72, Z:-0.95 [[ 9.85917167e-01 1.66550403e-01 1.51097104e-02 6.18483263e+01] [-1.66548950e-01 9.86032245e-01 -1.36329929e-03 -1.71809097e+00] [-1.51257197e-02 -1.17240622e-03 9.99884912e-01 -9.48789224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.03827104561410769 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.72, Z:-0.95 [[ 9.85931816e-01 1.66462089e-01 1.51270369e-02 6.19090940e+01] [-1.66460567e-01 9.86047163e-01 -1.36852496e-03 -1.72161171e+00] [-1.51437793e-02 -1.16878284e-03 9.99884643e-01 -9.49974885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.03994505908347448 Centerline is valid? [True, True] Translation: X:61.97, Y:-1.73, Z:-0.95 [[ 9.86025373e-01 1.65991966e-01 1.41644057e-02 6.19710588e+01] [-1.65990539e-01 9.86126509e-01 -1.28453431e-03 -1.72704619e+00] [-1.41811183e-02 -1.08457392e-03 9.99898855e-01 -9.52022754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.03817869176115414 Centerline is valid? [True, True] Translation: X:62.03, Y:-1.73, Z:-0.95 [[ 9.86360280e-01 1.63828534e-01 1.59251079e-02 6.20314963e+01] [-1.63826378e-01 9.86488124e-01 -1.44876310e-03 -1.73389202e+00] [-1.59472786e-02 -1.17995036e-03 9.99872138e-01 -9.52180488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.040117053368850436 Centerline is valid? [True, True] Translation: X:62.09, Y:-1.74, Z:-0.95 [[ 9.86577102e-01 1.62406337e-01 1.70236431e-02 6.20915908e+01] [-1.62403655e-01 9.86723190e-01 -1.54910842e-03 -1.73822101e+00] [-1.70492084e-02 -1.23638696e-03 9.99853887e-01 -9.53196133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.03891352215774705 Centerline is valid? [True, True] Translation: X:62.15, Y:-1.75, Z:-0.96 [[ 9.87040185e-01 1.59499701e-01 1.76498941e-02 6.21523532e+01] [-1.59496324e-01 9.87197213e-01 -1.60789460e-03 -1.74681819e+00] [-1.76803850e-02 -1.22803665e-03 9.99842936e-01 -9.55407954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.03520085275557863 Centerline is valid? [True, True] Translation: X:62.21, Y:-1.76, Z:-0.96 [[ 9.87273333e-01 1.58031278e-01 1.78179775e-02 6.22128855e+01] [-1.58027592e-01 9.87433362e-01 -1.62355609e-03 -1.75570732e+00] [-1.78506380e-02 -1.21283844e-03 9.99839929e-01 -9.56232269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.03668289580642893 Centerline is valid? [True, True] Translation: X:62.28, Y:-1.76, Z:-0.96 [[ 9.87245435e-01 1.58377548e-01 1.62173738e-02 6.22758561e+01] [-1.58374531e-01 9.87378004e-01 -1.47827524e-03 -1.76076382e+00] [-1.62468038e-02 -1.10899849e-03 9.99867397e-01 -9.59893312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.036492321014526506 Centerline is valid? [True, True] Translation: X:62.34, Y:-1.77, Z:-0.96 [[ 9.87229494e-01 1.58487380e-01 1.61144975e-02 6.23375884e+01] [-1.58484343e-01 9.87360391e-01 -1.47346528e-03 -1.76636038e+00] [-1.61443422e-02 -1.09924716e-03 9.99869067e-01 -9.62768515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.0365382936435919 Centerline is valid? [True, True] Translation: X:62.40, Y:-1.77, Z:-0.96 [[ 9.87016332e-01 1.59823792e-01 1.59723229e-02 6.23998293e+01] [-1.59820919e-01 9.87144938e-01 -1.46443662e-03 -1.77071714e+00] [-1.60010495e-02 -1.10728845e-03 9.99871362e-01 -9.63923919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.037131773793326196 Centerline is valid? [True, True] Translation: X:62.46, Y:-1.78, Z:-0.97 [[ 9.86822761e-01 1.60967235e-01 1.64434535e-02 6.24618128e+01] [-1.60964327e-01 9.86959071e-01 -1.50889719e-03 -1.77597731e+00] [-1.64718986e-02 -1.15779533e-03 9.99863659e-01 -9.65967602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.035606123545396245 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.78, Z:-0.97 [[ 9.86716922e-01 1.61542187e-01 1.71417213e-02 6.25235754e+01] [-1.61539037e-01 9.86865062e-01 -1.57740233e-03 -1.78499490e+00] [-1.71713829e-02 -1.21260758e-03 9.99851826e-01 -9.66982992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.037480002612999726 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.79, Z:-0.97 [[ 9.86278833e-01 1.64007077e-01 1.88611460e-02 6.25838706e+01] [-1.64003626e-01 9.86458201e-01 -1.74014790e-03 -1.78574272e+00] [-1.88911287e-02 -1.37702529e-03 9.99820598e-01 -9.66427460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.0378448448661409 Centerline is valid? [True, True] Translation: X:62.65, Y:-1.79, Z:-0.97 [[ 9.86190255e-01 1.64515167e-01 1.90667253e-02 6.26456682e+01] [-1.64511721e-01 9.86373558e-01 -1.75985954e-03 -1.79014893e+00] [-1.90964372e-02 -1.40114346e-03 9.99816665e-01 -9.67964231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.03771231347028228 Centerline is valid? [True, True] Translation: X:62.71, Y:-1.80, Z:-0.97 [[ 9.86429508e-01 1.63153271e-01 1.83803140e-02 6.27067807e+01] [-1.63149760e-01 9.86599850e-01 -1.70046515e-03 -1.79565563e+00] [-1.84114515e-02 -1.32135481e-03 9.99829622e-01 -9.70141688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.03392233210569597 Centerline is valid? [True, True] Translation: X:62.77, Y:-1.81, Z:-0.97 [[ 9.87424219e-01 1.57241066e-01 1.63908176e-02 6.27662997e+01] [-1.57237454e-01 9.87559660e-01 -1.51691754e-03 -1.80888689e+00] [-1.64254319e-02 -1.07940930e-03 9.99864511e-01 -9.73151576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.029331202567048586 Centerline is valid? [True, True] Translation: X:62.83, Y:-1.82, Z:-0.97 [[ 9.88900308e-01 1.47674280e-01 1.63855743e-02 6.28254559e+01] [-1.47669360e-01 9.89035621e-01 -1.51643677e-03 -1.82487906e+00] [-1.64298554e-02 -9.20042482e-04 9.99864598e-01 -9.74842004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.024256127202873054 Centerline is valid? [True, True] Translation: X:62.89, Y:-1.84, Z:-0.98 [[ 9.90422845e-01 1.37095010e-01 1.63568521e-02 6.28852329e+01] [-1.37088662e-01 9.90557624e-01 -1.51406705e-03 -1.83899432e+00] [-1.64099756e-02 -7.42772375e-04 9.99865071e-01 -9.75375913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.02279338925326278 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.85, Z:-0.98 [[ 9.91412298e-01 1.29858408e-01 1.54417945e-02 6.29441603e+01] [-1.29851870e-01 9.91532374e-01 -1.42954948e-03 -1.84915072e+00] [-1.54966781e-02 -5.87872945e-04 9.99879746e-01 -9.77083291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.017479119812306314 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.87, Z:-0.98 [[ 9.92738557e-01 1.19421707e-01 1.44434740e-02 6.30037491e+01] [-1.19414885e-01 9.92843541e-01 -1.33693648e-03 -1.86736877e+00] [-1.44997691e-02 -3.97537390e-04 9.99894794e-01 -9.79076385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.01530094702351989 Centerline is valid? [True, True] Translation: X:63.06, Y:-1.88, Z:-0.98 [[ 9.93738363e-01 1.10784695e-01 1.45195214e-02 6.30631506e+01] [-1.10776875e-01 9.93844393e-01 -1.34420652e-03 -1.88111150e+00] [-1.45790624e-02 -2.72637615e-04 9.99893683e-01 -9.80231226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.015425204095886384 Centerline is valid? [True, True] Translation: X:63.12, Y:-1.89, Z:-0.98 [[ 9.94253908e-01 1.06082016e-01 1.43447642e-02 6.31237927e+01] [-1.06073900e-01 9.94357363e-01 -1.32761956e-03 -1.89139959e+00] [-1.44046585e-02 -2.01614151e-04 9.99896227e-01 -9.81339008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.014055251134843676 Centerline is valid? [True, True] Translation: X:63.18, Y:-1.90, Z:-0.98 [[ 9.94652496e-01 1.02294894e-01 1.42185648e-02 6.31844542e+01] [-1.02286486e-01 9.94754108e-01 -1.31921524e-03 -1.90461557e+00] [-1.42789248e-02 -1.42206302e-04 9.99898041e-01 -9.81534434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.01521111244420261 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.91, Z:-0.98 [[ 9.93929255e-01 1.09385578e-01 1.18081364e-02 6.32456627e+01] [-1.09380252e-01 9.93999374e-01 -1.09784836e-03 -1.91220676e+00] [-1.18573689e-02 -2.00393325e-04 9.99929679e-01 -9.84180004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.015649907690988524 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.92, Z:-0.99 [[ 9.93533839e-01 1.13045656e-01 1.05446473e-02 6.33076853e+01] [-1.13041595e-01 9.93589771e-01 -9.82256184e-04 -1.91761676e+00] [-1.05880935e-02 -2.16078986e-04 9.99943921e-01 -9.85917336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.016725402374918298 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.92, Z:-0.99 [[ 9.93143964e-01 1.16495587e-01 9.68736702e-03 6.33698833e+01] [-1.16492303e-01 9.93191183e-01 -9.04532421e-04 -1.92264639e+00] [-9.72678155e-03 -2.30172777e-04 9.99952667e-01 -9.87802689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.018598565840211502 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.93, Z:-0.99 [[ 9.92263586e-01 1.23750450e-01 9.93987412e-03 6.34307428e+01] [-1.23747315e-01 9.92313324e-01 -9.32117725e-04 -1.92609916e+00] [-9.97881951e-03 -3.05126261e-04 9.99950164e-01 -9.88827092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.024728283379886893 Centerline is valid? [True, True] Translation: X:63.49, Y:-1.92, Z:-0.99 [[ 9.91329060e-01 1.30958745e-01 1.07935686e-02 6.34907974e+01] [-1.30955472e-01 9.91387734e-01 -1.01252192e-03 -1.92461035e+00] [-1.08332101e-02 -4.09734469e-04 9.99941235e-01 -9.88285653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.022534105857036413 Centerline is valid? [True, True] Translation: X:63.55, Y:-1.94, Z:-0.99 [[ 9.90798903e-01 1.34828123e-01 1.17860473e-02 6.35513286e+01] [-1.34824496e-01 9.90868878e-01 -1.10535301e-03 -1.93544312e+00] [-1.18274602e-02 -4.93865343e-04 9.99929931e-01 -9.87650608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.023713246443313116 Centerline is valid? [True, True] Translation: X:63.61, Y:-1.94, Z:-0.99 [[ 9.90436256e-01 1.37375605e-01 1.28049434e-02 6.36134752e+01] [-1.37371532e-01 9.90518864e-01 -1.20130112e-03 -1.94124148e+00] [-1.28485674e-02 -5.69222508e-04 9.99917292e-01 -9.87464436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.023737314934482865 Centerline is valid? [True, True] Translation: X:63.67, Y:-1.95, Z:-0.99 [[ 9.90030040e-01 1.40249998e-01 1.30559330e-02 6.36742628e+01] [-1.40245998e-01 9.90115931e-01 -1.22591474e-03 -1.94838857e+00] [-1.30988218e-02 -6.17349943e-04 9.99914016e-01 -9.87559708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.024933067714252112 Centerline is valid? [True, True] Translation: X:63.74, Y:-1.95, Z:-0.99 [[ 9.89758538e-01 1.42259662e-01 1.18416463e-02 6.37359534e+01] [-1.42256513e-01 9.89829201e-01 -1.11211750e-03 -1.95450943e+00] [-1.18794167e-02 -5.83823509e-04 9.99929267e-01 -9.89550407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.024882994418809173 Centerline is valid? [True, True] Translation: X:63.80, Y:-1.96, Z:-0.99 [[ 9.89656298e-01 1.43000302e-01 1.14596950e-02 6.37973596e+01] [-1.42997403e-01 9.89722479e-01 -1.07621146e-03 -1.96101358e+00] [-1.14958163e-02 -5.73627173e-04 9.99933756e-01 -9.90278363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.026889443131156467 Centerline is valid? [True, True] Translation: X:63.86, Y:-1.97, Z:-0.99 [[ 9.89562342e-01 1.43767529e-01 9.86253545e-03 6.38577715e+01] [-1.43765399e-01 9.89611362e-01 -9.28286054e-04 -1.96756853e+00] [-9.89353453e-03 -4.99294422e-04 9.99950933e-01 -9.91447730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.02499139007573279 Centerline is valid? [True, True] Translation: X:63.92, Y:-1.98, Z:-0.99 [[ 9.90166084e-01 1.39611945e-01 8.92362573e-03 6.39182485e+01] [-1.39610004e-01 9.90206209e-01 -8.43161176e-04 -1.97842279e+00] [-8.95394498e-03 -4.10957820e-04 9.99959828e-01 -9.92925906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.02162383755506255 Centerline is valid? [True, True] Translation: X:63.98, Y:-1.99, Z:-0.99 [[ 9.91008617e-01 1.33394721e-01 1.03812541e-02 6.39774964e+01] [-1.33391750e-01 9.91062903e-01 -9.81154632e-04 -1.99331843e+00] [-1.04193567e-02 -4.12440960e-04 9.99945632e-01 -9.91931232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.021943812851301973 Centerline is valid? [True, True] Translation: X:64.04, Y:-2.00, Z:-0.99 [[ 9.91802508e-01 1.27347434e-01 1.05078636e-02 6.40369244e+01] [-1.27344050e-01 9.91858108e-01 -9.93298844e-04 -2.00415975e+00] [-1.05488038e-02 -3.52957619e-04 9.99944298e-01 -9.92486270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.018818571665340306 Centerline is valid? [True, True] Translation: X:64.10, Y:-2.02, Z:-0.99 [[ 9.92412994e-01 1.22676521e-01 8.18044101e-03 6.40972916e+01] [-1.22674314e-01 9.92446681e-01 -7.72858707e-04 -2.02122914e+00] [-8.21346315e-03 -2.36534968e-04 9.99966241e-01 -9.93942410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.01742587435111912 Centerline is valid? [True, True] Translation: X:64.16, Y:-2.03, Z:-0.99 [[ 9.92344626e-01 1.23233351e-01 8.10453819e-03 6.41601481e+01] [-1.23231216e-01 9.92377692e-01 -7.64232703e-04 -2.02827953e+00] [-8.13694186e-03 -2.40349881e-04 9.99966866e-01 -9.94368371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.018790756917815555 Centerline is valid? [True, True] Translation: X:64.22, Y:-2.03, Z:-1.00 [[ 9.92370123e-01 1.23050010e-01 7.76105799e-03 6.42221896e+01] [-1.23048028e-01 9.92400445e-01 -7.34236060e-04 -2.03406494e+00] [-7.79242516e-03 -2.26348948e-04 9.99969613e-01 -9.96161323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.021905078553187567 Centerline is valid? [True, True] Translation: X:64.28, Y:-2.04, Z:-1.00 [[ 9.92348946e-01 1.23240900e-01 7.43309420e-03 6.42843477e+01] [-1.23239075e-01 9.92376760e-01 -7.04786844e-04 -2.03596896e+00] [-7.46328850e-03 -2.16653174e-04 9.99972126e-01 -9.98859317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.019661018943862577 Centerline is valid? [True, True] Translation: X:64.35, Y:-2.05, Z:-1.00 [[ 9.92294851e-01 1.23684514e-01 7.28492453e-03 6.43468818e+01] [-1.23682761e-01 9.92321568e-01 -6.92394527e-04 -2.04654004e+00] [-7.31462622e-03 -2.13960056e-04 9.99973225e-01 -9.98525598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.01807522340134912 Centerline is valid? [True, True] Translation: X:64.41, Y:-2.05, Z:-1.00 [[ 9.92191055e-01 1.24495410e-01 7.60287567e-03 6.44083163e+01] [-1.24493503e-01 9.92220158e-01 -7.25315083e-04 -2.05199116e+00] [-7.63402490e-03 -2.26857492e-04 9.99970835e-01 -9.98028519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.01938435788967879 Centerline is valid? [True, True] Translation: X:64.47, Y:-2.06, Z:-1.00 [[ 9.92124669e-01 1.25078936e-01 6.62583592e-03 6.44700128e+01] [-1.25077494e-01 9.92146773e-01 -6.33243686e-04 -2.05568299e+00] [-6.65300718e-03 -2.00486269e-04 9.99977848e-01 -1.00109304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.020124843268283128 Centerline is valid? [True, True] Translation: X:64.53, Y:-2.06, Z:-1.00 [[ 9.92037499e-01 1.25743585e-01 7.08181620e-03 6.45308683e+01] [-1.25741932e-01 9.92062752e-01 -6.79886340e-04 -2.05894567e+00] [-7.11109741e-03 -2.16008507e-04 9.99974692e-01 -1.00281127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.01920283669710898 Centerline is valid? [True, True] Translation: X:64.59, Y:-2.06, Z:-1.00 [[ 9.91821554e-01 1.27438731e-01 7.02667101e-03 6.45927195e+01] [-1.27437147e-01 9.91846419e-01 -6.74518983e-04 -2.06305203e+00] [-7.05533832e-03 -2.26456441e-04 9.99975085e-01 -1.00334381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.019915018532616336 Centerline is valid? [True, True] Translation: X:64.66, Y:-2.07, Z:-1.01 [[ 9.91737219e-01 1.28098410e-01 6.93433711e-03 6.46551842e+01] [-1.28096872e-01 9.91761436e-01 -6.67340868e-04 -2.06686982e+00] [-6.96269344e-03 -2.26440117e-04 9.99975735e-01 -1.00545328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.019600759887599507 Centerline is valid? [True, True] Translation: X:64.72, Y:-2.07, Z:-1.01 [[ 9.91710747e-01 1.28238284e-01 8.04586388e-03 6.47169047e+01] [-1.28236197e-01 9.91743351e-01 -7.76902793e-04 -2.07261723e+00] [-8.07906069e-03 -2.61308134e-04 9.99967330e-01 -1.00554319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.01987715754049113 Centerline is valid? [True, True] Translation: X:64.78, Y:-2.08, Z:-1.01 [[ 9.91567418e-01 1.29293585e-01 8.78779578e-03 6.47792363e+01] [-1.29291114e-01 9.91606315e-01 -8.51078069e-04 -2.07739504e+00] [-8.82407272e-03 -2.92282624e-04 9.99961024e-01 -1.00569379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.02007644214291219 Centerline is valid? [True, True] Translation: X:64.84, Y:-2.08, Z:-1.01 [[ 9.91559386e-01 1.29420768e-01 7.76203792e-03 6.48414692e+01] [-1.29418836e-01 9.91589733e-01 -7.52822224e-04 -2.08350779e+00] [-7.79418794e-03 -2.58085972e-04 9.99969592e-01 -1.00836348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.025561290150430977 Centerline is valid? [True, True] Translation: X:64.90, Y:-2.08, Z:-1.01 [[ 9.91528494e-01 1.29706860e-01 6.88306538e-03 6.49032295e+01] [-1.29705335e-01 9.91552358e-01 -6.69401968e-04 -2.08263521e+00] [-6.91174573e-03 -2.29039177e-04 9.99976087e-01 -1.01200682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.022880606267885104 Centerline is valid? [True, True] Translation: X:64.96, Y:-2.10, Z:-1.01 [[ 9.91593854e-01 1.29253865e-01 5.92182752e-03 6.49642907e+01] [-1.29252723e-01 9.91611517e-01 -5.76795682e-04 -2.09510974e+00] [-5.94670545e-03 -1.93465278e-04 9.99982299e-01 -1.01146620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.023505867959958036 Centerline is valid? [True, True] Translation: X:65.03, Y:-2.10, Z:-1.01 [[ 9.91725198e-01 1.28225290e-01 6.27741090e-03 6.50263764e+01] [-1.28223974e-01 9.91745046e-01 -6.13302233e-04 -2.10102841e+00] [-6.30423202e-03 -1.96687296e-04 9.99980109e-01 -1.01280130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.02507027479803587 Centerline is valid? [True, True] Translation: X:65.09, Y:-2.11, Z:-1.01 [[ 9.91673943e-01 1.28635094e-01 5.98361279e-03 6.50890027e+01] [-1.28633900e-01 9.91691977e-01 -5.85562687e-04 -2.10636520e+00] [-6.00922471e-03 -1.89008190e-04 9.99981927e-01 -1.01453894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.023916781957211742 Centerline is valid? [True, True] Translation: X:65.15, Y:-2.11, Z:-1.02 [[ 9.91721407e-01 1.28237226e-01 6.62304178e-03 6.51506064e+01] [-1.28235737e-01 9.91743501e-01 -6.50804773e-04 -2.11371775e+00] [-6.65181604e-03 -2.03893617e-04 9.99977856e-01 -1.01564340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.025164915173921297 Centerline is valid? [True, True] Translation: X:65.21, Y:-2.12, Z:-1.02 [[ 9.91665571e-01 1.28670265e-01 6.58467684e-03 6.52137208e+01] [-1.28668793e-01 9.91687411e-01 -6.48368213e-04 -2.11949773e+00] [-6.61336684e-03 -2.04277990e-04 9.99978111e-01 -1.01724445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.026521973691059634 Centerline is valid? [True, True] Translation: X:65.28, Y:-2.12, Z:-1.02 [[ 9.91791855e-01 1.27675149e-01 6.92626034e-03 6.52750457e+01] [-1.27673477e-01 9.91816018e-01 -6.84756138e-04 -2.12382763e+00] [-6.95700229e-03 -2.05164183e-04 9.99975779e-01 -1.01938290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.027293437194567977 Centerline is valid? [True, True] Translation: X:65.34, Y:-2.13, Z:-1.02 [[ 9.91991511e-01 1.26105314e-01 7.09171966e-03 6.53353570e+01] [-1.26103508e-01 9.92016840e-01 -7.02931107e-04 -2.13082575e+00] [-7.12374867e-03 -1.96989039e-04 9.99974606e-01 -1.02101811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.02743622700586885 Centerline is valid? [True, True] Translation: X:65.40, Y:-2.14, Z:-1.02 [[ 9.92282108e-01 1.23798420e-01 7.08307846e-03 6.53956965e+01] [-1.23796549e-01 9.92307371e-01 -7.03659734e-04 -2.13935870e+00] [-7.11570293e-03 -1.78631705e-04 9.99974667e-01 -1.02293614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.02616641296042073 Centerline is valid? [True, True] Translation: X:65.46, Y:-2.15, Z:-1.02 [[ 9.92747878e-01 1.20020876e-01 6.82937685e-03 6.54558685e+01] [-1.20019027e-01 9.92771358e-01 -6.81424369e-04 -2.15351376e+00] [-6.86179488e-03 -1.43172567e-04 9.99976447e-01 -1.02397731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.025412229988424816 Centerline is valid? [True, True] Translation: X:65.52, Y:-2.16, Z:-1.02 [[ 9.93166580e-01 1.16389722e-01 8.57769218e-03 6.55166943e+01] [-1.16386667e-01 9.93203610e-01 -8.56180384e-04 -2.16474544e+00] [-8.61904544e-03 -1.47999258e-04 9.99962844e-01 -1.02437453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.025591469620225665 Centerline is valid? [True, True] Translation: X:65.58, Y:-2.18, Z:-1.02 [[ 9.93408648e-01 1.14125828e-01 1.07029517e-02 6.55782206e+01] [-1.14120934e-01 9.93466290e-01 -1.06884041e-03 -2.17816363e+00] [-1.07550041e-02 -1.59635548e-04 9.99942151e-01 -1.02314180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.025591469620225665 Centerline is valid? [True, True] Translation: X:65.64, Y:-2.18, Z:-1.02 [[ 9.93376389e-01 1.14406279e-01 1.07029616e-02 6.56403140e+01] [-1.14401402e-01 9.93434032e-01 -1.06874380e-03 -2.18445092e+00] [-1.07549573e-02 -1.62768965e-04 9.99942151e-01 -1.02415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.025415684536475188 Centerline is valid? [True, True] Translation: X:65.70, Y:-2.20, Z:-1.03 [[ 9.93621417e-01 1.12353884e-01 9.64805417e-03 6.57011120e+01] [-1.12349800e-01 9.93668249e-01 -9.65929698e-04 -2.19624130e+00] [-9.69549105e-03 -1.24188522e-04 9.99952990e-01 -1.02565572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.026057423543272385 Centerline is valid? [True, True] Translation: X:65.76, Y:-2.20, Z:-1.03 [[ 9.93445165e-01 1.14083957e-01 7.18023250e-03 6.57632207e+01] [-1.14081735e-01 9.93471107e-01 -7.19647982e-04 -2.20098820e+00] [-7.21545381e-03 -1.04202574e-04 9.99973963e-01 -1.02978868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.026160724781891867 Centerline is valid? [True, True] Translation: X:65.83, Y:-2.21, Z:-1.03 [[ 9.93340225e-01 1.15045383e-01 6.30537258e-03 6.58254029e+01] [-1.15043681e-01 9.93360232e-01 -6.33074604e-04 -2.20565955e+00] [-6.33633868e-03 -9.65348040e-05 9.99979921e-01 -1.03246793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.026582993294815786 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.21, Z:-1.03 [[ 9.93174081e-01 1.16403894e-01 7.44167372e-03 6.58879452e+01] [-1.16401546e-01 9.93201953e-01 -7.49403768e-04 -2.20966603e+00] [-7.47831839e-03 -1.21933925e-04 9.99972030e-01 -1.03274723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.026647237750637282 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.21, Z:-1.03 [[ 9.93198279e-01 1.16189340e-01 7.56417926e-03 6.59503664e+01] [-1.16186891e-01 9.93227075e-01 -7.63887994e-04 -2.21455312e+00] [-7.60170328e-03 -1.20166230e-04 9.99971099e-01 -1.03458056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.02707917399903315 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.22, Z:-1.03 [[ 9.93375713e-01 1.14323653e-01 1.16101335e-02 6.60123885e+01] [-1.14317688e-01 9.93443545e-01 -1.17832055e-03 -2.22044912e+00] [-1.16687221e-02 -1.56728597e-04 9.99931906e-01 -1.03312238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.02614194980618531 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.22, Z:-1.03 [[ 9.93347732e-01 1.14278418e-01 1.41678295e-02 6.60731287e+01] [-1.14269467e-01 9.93448745e-01 -1.44239314e-03 -2.22363988e+00] [-1.42398469e-02 -1.86152371e-04 9.99898591e-01 -1.03393060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.028096414195754524 Centerline is valid? [True, True] Translation: X:66.14, Y:-2.23, Z:-1.03 [[ 9.93317060e-01 1.14169081e-01 1.69304066e-02 6.61358788e+01] [-1.14156203e-01 9.93461310e-01 -1.72829606e-03 -2.22988774e+00] [-1.70170219e-02 -2.15964977e-04 9.99855177e-01 -1.03474226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.030103138021290932 Centerline is valid? [True, True] Translation: X:66.20, Y:-2.23, Z:-1.04 [[ 9.93196620e-01 1.14597528e-01 2.06852852e-02 6.61976569e+01] [-1.14578256e-01 9.93411967e-01 -2.11833924e-03 -2.23395640e+00] [-2.07917663e-02 -2.66156540e-04 9.99783792e-01 -1.03723978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.030813944426919808 Centerline is valid? [True, True] Translation: X:66.26, Y:-2.24, Z:-1.04 [[ 9.93107365e-01 1.15109955e-01 2.20784850e-02 6.62598899e+01] [-1.15087994e-01 9.93352714e-01 -2.26700107e-03 -2.23969275e+00] [-2.21926774e-02 -2.89593091e-04 9.99753670e-01 -1.03994693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.03303935989618007 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.24, Z:-1.04 [[ 9.93028546e-01 1.15379512e-01 2.41220912e-02 6.63211607e+01] [-1.15353207e-01 9.93321433e-01 -2.48382129e-03 -2.24433425e+00] [-2.42475723e-02 -3.16055119e-04 9.99705934e-01 -1.04238359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.0353634254714509 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.25, Z:-1.05 [[ 9.92854260e-01 1.16135230e-01 2.74413451e-02 6.63827978e+01] [-1.16101279e-01 9.93233341e-01 -2.83271343e-03 -2.24964605e+00] [-2.75846367e-02 -3.73503672e-04 9.99619402e-01 -1.04638694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.03728139933762904 Centerline is valid? [True, True] Translation: X:66.45, Y:-2.25, Z:-1.05 [[ 9.92775319e-01 1.16897590e-01 2.70576887e-02 6.64451934e+01] [-1.16864671e-01 9.93143901e-01 -2.80022196e-03 -2.25441301e+00] [-2.71995177e-02 -3.82096635e-04 9.99629952e-01 -1.05218931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.0379807179721052 Centerline is valid? [True, True] Translation: X:66.51, Y:-2.25, Z:-1.06 [[ 9.92092122e-01 1.23279677e-01 2.35657243e-02 6.65064394e+01] [-1.23256371e-01 9.92371851e-01 -2.44452074e-03 -2.25370745e+00] [-2.36873212e-02 -4.79435884e-04 9.99719301e-01 -1.05860877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.037824417130899776 Centerline is valid? [True, True] Translation: X:66.57, Y:-2.26, Z:-1.06 [[ 9.91961438e-01 1.24381184e-01 2.32771527e-02 6.65677878e+01] [-1.24358622e-01 9.92234386e-01 -2.42000684e-03 -2.26026115e+00] [-2.33973946e-02 -4.94161159e-04 9.99726121e-01 -1.06064986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:66.63, Y:-2.27, Z:-1.06 [[ 9.91866720e-01 1.25286268e-01 2.24446194e-02 6.66306607e+01] [-1.25265394e-01 9.92120512e-01 -2.33916292e-03 -2.26632931e+00] [-2.25608323e-02 -4.91396235e-04 9.99745351e-01 -1.06224441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:66.69, Y:-2.27, Z:-1.06 [[ 9.91831312e-01 1.25566389e-01 2.24439574e-02 6.66927399e+01] [-1.25545443e-01 9.92085097e-01 -2.34550001e-03 -2.27288820e+00] [-2.25608317e-02 -4.91396221e-04 9.99745351e-01 -1.06325483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.03801599962221417 Centerline is valid? [True, True] Translation: X:66.76, Y:-2.28, Z:-1.06 [[ 9.91749985e-01 1.26347762e-01 2.16381715e-02 6.67554381e+01] [-1.26328348e-01 9.91985891e-01 -2.26730090e-03 -2.27911312e+00] [-2.17512293e-02 -4.84918833e-04 9.99763296e-01 -1.06432383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.03726477887306496 Centerline is valid? [True, True] Translation: X:66.82, Y:-2.28, Z:-1.07 [[ 9.91592011e-01 1.27813275e-01 2.02249756e-02 6.68176856e+01] [-1.27796510e-01 9.91798134e-01 -2.12452869e-03 -2.28477983e+00] [-2.03306360e-02 -4.78015626e-04 9.99793197e-01 -1.06581578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.036415927740421045 Centerline is valid? [True, True] Translation: X:66.88, Y:-2.29, Z:-1.06 [[ 9.91508285e-01 1.28691867e-01 1.87009066e-02 6.68796888e+01] [-1.28677608e-01 9.91684525e-01 -1.96884959e-03 -2.29309037e+00] [-1.87987746e-02 -4.54257237e-04 9.99823184e-01 -1.06467309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.03525742266521317 Centerline is valid? [True, True] Translation: X:66.94, Y:-2.30, Z:-1.06 [[ 9.91682249e-01 1.27629304e-01 1.66456677e-02 6.69404109e+01] [-1.27617787e-01 9.91821866e-01 -1.75668412e-03 -2.30050416e+00] [-1.67337416e-02 -3.82210817e-04 9.99859908e-01 -1.06266875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.03392345972165208 Centerline is valid? [True, True] Translation: X:67.00, Y:-2.31, Z:-1.06 [[ 9.91916125e-01 1.25997062e-01 1.50711893e-02 6.70017480e+01] [-1.25987385e-01 9.92030564e-01 -1.59358598e-03 -2.31137444e+00] [-1.51518676e-02 -3.18076102e-04 9.99885153e-01 -1.06256800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.03232327402597943 Centerline is valid? [True, True] Translation: X:67.06, Y:-2.32, Z:-1.06 [[ 9.92145744e-01 1.24558246e-01 1.14920219e-02 6.70632951e+01] [-1.24552501e-01 9.92212272e-01 -1.21701530e-03 -2.32147776e+00] [-1.15541145e-02 -2.23903525e-04 9.99933224e-01 -1.06258573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.03127508386689713 Centerline is valid? [True, True] Translation: X:67.12, Y:-2.33, Z:-1.06 [[ 9.91987356e-01 1.26018945e-01 8.96161462e-03 6.71244694e+01] [-1.26015499e-01 9.92027817e-01 -9.50487391e-04 -2.32903462e+00] [-9.00995041e-03 -1.86430860e-04 9.99959392e-01 -1.06395582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.031029054602966368 Centerline is valid? [True, True] Translation: X:67.19, Y:-2.33, Z:-1.07 [[ 9.91505488e-01 1.29925459e-01 6.02015354e-03 6.71851648e+01] [-1.29923962e-01 9.91523753e-01 -6.40693331e-04 -2.33296311e+00] [-6.05236761e-03 -1.46911248e-04 9.99981673e-01 -1.06591692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.030739088224229886 Centerline is valid? [True, True] Translation: X:67.25, Y:-2.34, Z:-1.07 [[ 9.91146399e-01 1.32742287e-01 2.88126820e-03 6.72473727e+01] [-1.32741958e-01 9.91150583e-01 -3.05978139e-04 -2.33810190e+00] [-2.89638689e-03 -7.91960507e-05 9.99995802e-01 -1.06819064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.029675407935409043 Centerline is valid? [True, True] Translation: X:67.31, Y:-2.34, Z:-1.07 [[ 9.91046446e-01 1.33517345e-01 2.44632449e-04 6.73093261e+01] [-1.33517343e-01 9.91046476e-01 -2.22256637e-05 -2.34491652e+00] [-2.45409638e-04 -1.06360096e-05 9.99999970e-01 -1.07072868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.028706108454788597 Centerline is valid? [True, True] Translation: X:67.37, Y:-2.35, Z:-1.07 [[ 9.91287328e-01 1.31715378e-01 -7.01347918e-04 6.73694716e+01] [-1.31715355e-01 9.91287576e-01 7.86571361e-05 -2.35281555e+00] [ 7.05597832e-04 1.44064676e-05 9.99999751e-01 -1.07257894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.027757369348672508 Centerline is valid? [True, True] Translation: X:67.43, Y:-2.36, Z:-1.07 [[ 9.91564299e-01 1.29614654e-01 -5.30895213e-04 6.74310732e+01] [-1.29614641e-01 9.91564441e-01 6.07900665e-05 -2.36187419e+00] [ 5.34296099e-04 8.53453249e-06 9.99999857e-01 -1.07255884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.02683865100501284 Centerline is valid? [True, True] Translation: X:67.49, Y:-2.37, Z:-1.07 [[ 9.91829642e-01 1.27568747e-01 4.19235158e-04 6.74928466e+01] [-1.27568741e-01 9.91829731e-01 -4.12986717e-05 -2.36971203e+00] [-4.21078313e-04 -1.25200543e-05 9.99999911e-01 -1.07281895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.02568259641634987 Centerline is valid? [True, True] Translation: X:67.55, Y:-2.38, Z:-1.07 [[ 9.92312134e-01 1.23756248e-01 1.00986953e-03 6.75522698e+01] [-1.23756201e-01 9.92312648e-01 -1.08340598e-04 -2.37981730e+00] [-1.01551413e-03 -1.74699265e-05 9.99999484e-01 -1.07280571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.02521579473436743 Centerline is valid? [True, True] Translation: X:67.61, Y:-2.39, Z:-1.07 [[ 9.92463238e-01 1.22540614e-01 7.20412655e-04 6.76133989e+01] [-1.22540592e-01 9.92463499e-01 -7.39216145e-05 -2.38856382e+00] [-7.24041665e-04 -1.49153086e-05 9.99999738e-01 -1.07349150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.024561423941524132 Centerline is valid? [True, True] Translation: X:67.67, Y:-2.40, Z:-1.07 [[ 9.92669150e-01 1.20840228e-01 2.36621235e-03 6.76737953e+01] [-1.20839970e-01 9.92671969e-01 -2.52119369e-04 -2.39508160e+00] [-2.37933883e-03 -3.56619092e-05 9.99997169e-01 -1.07392456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.02414815319299386 Centerline is valid? [True, True] Translation: X:67.74, Y:-2.40, Z:-1.08 [[ 9.92624628e-01 1.21219403e-01 1.48493368e-03 6.77353454e+01] [-1.21219304e-01 9.92625738e-01 -1.57057530e-04 -2.40195449e+00] [-1.49302181e-03 -2.41034552e-05 9.99998885e-01 -1.07634417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.024158799099134935 Centerline is valid? [True, True] Translation: X:67.80, Y:-2.41, Z:-1.08 [[ 9.92407939e-01 1.22983604e-01 1.23142895e-03 6.77970480e+01] [-1.22983538e-01 9.92408702e-01 -1.29901722e-04 -2.40770599e+00] [-1.23805659e-03 -2.25299882e-05 9.99999233e-01 -1.07832437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.024774031632695807 Centerline is valid? [True, True] Translation: X:67.86, Y:-2.41, Z:-1.08 [[ 9.92040720e-01 1.25917426e-01 -1.06170037e-04 6.78589276e+01] [-1.25917425e-01 9.92040726e-01 1.50839542e-05 -2.41252797e+00] [ 1.07224334e-04 -1.59523911e-06 9.99999994e-01 -1.08132330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.024583465002638007 Centerline is valid? [True, True] Translation: X:67.92, Y:-2.42, Z:-1.08 [[ 9.91438725e-01 1.30561528e-01 -1.71530075e-03 6.79199225e+01] [-1.30561400e-01 9.91440208e-01 1.86993528e-04 -2.42010056e+00] [ 1.72503229e-03 3.85594423e-05 9.99998511e-01 -1.08031838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.025812044900197752 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.42, Z:-1.08 [[ 9.90735644e-01 1.35703953e-01 -5.22698225e-03 6.79808002e+01] [-1.35702841e-01 9.90749421e-01 5.68512539e-04 -2.42291534e+00] [ 5.25577904e-03 1.46070707e-04 9.99986178e-01 -1.08424316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.027038671605587802 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.42, Z:-1.09 [[ 9.90184101e-01 1.39606452e-01 -6.74422655e-03 6.80413619e+01] [-1.39604691e-01 9.90207045e-01 7.33566015e-04 -2.42486527e+00] [ 6.78059119e-03 2.15160257e-04 9.99976988e-01 -1.08795173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.028557510719684185 Centerline is valid? [True, True] Translation: X:68.10, Y:-2.43, Z:-1.09 [[ 9.89653626e-01 1.43368953e-01 -5.57163011e-03 6.81028243e+01] [-1.43367785e-01 9.89669291e-01 6.10420216e-04 -2.42752143e+00] [ 5.60158653e-03 1.94687689e-04 9.99984292e-01 -1.08834292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.028463566712456836 Centerline is valid? [True, True] Translation: X:68.16, Y:-2.43, Z:-1.09 [[ 9.89648962e-01 1.43493495e-01 -2.13290237e-03 6.81645965e+01] [-1.43493318e-01 9.89651258e-01 2.36450287e-04 -2.43411587e+00] [ 2.14475859e-03 7.20544559e-05 9.99997697e-01 -1.08526715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.02847723020251817 Centerline is valid? [True, True] Translation: X:68.23, Y:-2.44, Z:-1.08 [[ 9.89742131e-01 1.42827436e-01 3.29201603e-03 6.82256240e+01] [-1.42827031e-01 9.89747599e-01 -3.58975768e-04 -2.43760181e+00] [-3.30953655e-03 -1.14895435e-04 9.99994517e-01 -1.08181331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.027459876992165653 Centerline is valid? [True, True] Translation: X:68.29, Y:-2.44, Z:-1.08 [[ 9.90055937e-01 1.40395025e-01 8.85882145e-03 6.82855972e+01] [-1.40391990e-01 9.90095528e-01 -9.66714757e-04 -2.44229239e+00] [-8.90680144e-03 -2.86605885e-04 9.99960293e-01 -1.07809317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.02025005838372296 Centerline is valid? [True, True] Translation: X:68.35, Y:-2.46, Z:-1.08 [[ 9.90505449e-01 1.37062883e-01 1.06170009e-02 6.83452409e+01] [-1.37058315e-01 9.90562301e-01 -1.16015592e-03 -2.45885884e+00] [-1.06758152e-02 -3.06007492e-04 9.99942965e-01 -1.07685254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.018193818772533798 Centerline is valid? [True, True] Translation: X:68.41, Y:-2.47, Z:-1.08 [[ 9.91385778e-01 1.30598090e-01 9.91858438e-03 6.84055820e+01] [-1.30593775e-01 9.91435369e-01 -1.08423405e-03 -2.46837325e+00] [-9.97523426e-03 -2.20411153e-04 9.99950222e-01 -1.07969827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.01615965170072674 Centerline is valid? [True, True] Translation: X:68.47, Y:-2.48, Z:-1.08 [[ 9.92300049e-01 1.23480458e-01 9.65349453e-03 6.84657898e+01] [-1.23476033e-01 9.92346993e-01 -1.05540360e-03 -2.47881611e+00] [-9.70993799e-03 -1.44698164e-04 9.99952847e-01 -1.08250639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.013949149809617143 Centerline is valid? [True, True] Translation: X:68.52, Y:-2.50, Z:-1.09 [[ 9.94148861e-01 1.07517343e-01 1.03953843e-02 6.85243829e+01] [-1.07511332e-01 9.94203209e-01 -1.13702320e-03 -2.49662749e+00] [-1.04573742e-02 1.27487068e-05 9.99945320e-01 -1.08538796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:68.59, Y:-2.49, Z:-1.10 [[ 9.93416647e-01 1.14507658e-01 3.37062885e-03 6.85855661e+01] [-1.14507071e-01 9.93422365e-01 -3.67285286e-04 -2.49233866e+00] [-3.39051507e-03 -2.10935192e-05 9.99994252e-01 -1.10055441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:68.65, Y:-2.50, Z:-1.10 [[ 9.93388151e-01 1.14754607e-01 3.37077252e-03 6.86476053e+01] [-1.14754026e-01 9.93393869e-01 -3.65977130e-04 -2.49925310e+00] [-3.39050232e-03 -2.32523723e-05 9.99994252e-01 -1.10156387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:68.71, Y:-2.50, Z:-1.10 [[ 9.93199430e-01 1.16384923e-01 3.07287076e-03 6.87090278e+01] [-1.16384445e-01 9.93204183e-01 -3.34480866e-04 -2.50486829e+00] [-3.09091663e-03 -2.54281531e-05 9.99995223e-01 -1.10325121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:68.77, Y:-2.51, Z:-1.10 [[ 9.93170663e-01 1.16630151e-01 3.07284276e-03 6.87710652e+01] [-1.16629674e-01 9.93175416e-01 -3.34739078e-04 -2.51181316e+00] [-3.09091256e-03 -2.59316175e-05 9.99995223e-01 -1.10426130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.013459246907360296 Centerline is valid? [True, True] Translation: X:68.83, Y:-2.52, Z:-1.11 [[ 9.93020869e-01 1.17897129e-01 3.13379904e-03 6.88334572e+01] [-1.17896636e-01 9.93025813e-01 -3.42254820e-04 -2.51845051e+00] [-3.15229420e-03 -2.95981857e-05 9.99995031e-01 -1.10543975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.013459246907360296 Centerline is valid? [True, True] Translation: X:68.90, Y:-2.53, Z:-1.11 [[ 9.92991831e-01 1.18141457e-01 3.13371444e-03 6.88954919e+01] [-1.18140963e-01 9.92996775e-01 -3.43024120e-04 -2.52542750e+00] [-3.15229370e-03 -2.95998925e-05 9.99995031e-01 -1.10645003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:68.96, Y:-2.53, Z:-1.11 [[ 9.92884410e-01 1.19034162e-01 3.37894757e-03 6.89577244e+01] [-1.19033589e-01 9.92890159e-01 -3.71043544e-04 -2.53275709e+00] [-3.39909064e-03 -3.38049054e-05 9.99994223e-01 -1.10695748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:69.02, Y:-2.54, Z:-1.11 [[ 9.92855303e-01 1.19276696e-01 3.37885612e-03 6.90197563e+01] [-1.19276121e-01 9.92861052e-01 -3.71870927e-04 -2.53976646e+00] [-3.39909018e-03 -3.38028283e-05 9.99994223e-01 -1.10796777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.015102641702615638 Centerline is valid? [True, True] Translation: X:69.08, Y:-2.55, Z:-1.11 [[ 9.92712175e-01 1.20361110e-01 5.97832693e-03 6.90800177e+01] [-1.20359299e-01 9.92730175e-01 -6.62994491e-04 -2.54750766e+00] [-6.01466429e-03 -6.13845376e-05 9.99981910e-01 -1.10655683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.01384153087491069 Centerline is valid? [True, True] Translation: X:69.14, Y:-2.56, Z:-1.10 [[ 9.92440332e-01 1.22412827e-01 8.79132018e-03 6.91428080e+01] [-1.22408969e-01 9.92479264e-01 -9.77601948e-04 -2.55613526e+00] [-8.84487400e-03 -1.05924841e-04 9.99960878e-01 -1.10257572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.013962480976001529 Centerline is valid? [True, True] Translation: X:69.20, Y:-2.56, Z:-1.10 [[ 9.91679560e-01 1.28328526e-01 1.01705234e-02 6.92046186e+01] [-1.28323635e-01 9.91731696e-01 -1.13468955e-03 -2.55990282e+00] [-1.02320434e-02 -1.79870098e-04 9.99947635e-01 -1.10206917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.018042066175599957 Centerline is valid? [True, True] Translation: X:69.27, Y:-2.56, Z:-1.11 [[ 9.91090814e-01 1.32924860e-01 8.36534594e-03 6.92667917e+01] [-1.32921692e-01 9.91126101e-01 -9.36025014e-04 -2.56285622e+00] [-8.41553370e-03 -1.84250143e-04 9.99964572e-01 -1.10747615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.017741185481597584 Centerline is valid? [True, True] Translation: X:69.33, Y:-2.56, Z:-1.11 [[ 9.90030847e-01 1.40731437e-01 5.79525890e-03 6.93279793e+01] [-1.40730046e-01 9.90047793e-01 -6.49073459e-04 -2.56473556e+00] [-5.82892833e-03 -1.72964307e-04 9.99982997e-01 -1.10941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.01956249356637407 Centerline is valid? [True, True] Translation: X:69.39, Y:-2.57, Z:-1.11 [[ 9.89654003e-01 1.43447223e-01 2.80137427e-03 6.93894186e+01] [-1.43446917e-01 9.89657964e-01 -3.10824743e-04 -2.57060120e+00] [-2.81698930e-03 -9.42395510e-05 9.99996028e-01 -1.11405041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.01762814442511067 Centerline is valid? [True, True] Translation: X:69.45, Y:-2.58, Z:-1.11 [[ 9.89858930e-01 1.42028599e-01 2.67882089e-03 6.94500382e+01] [-1.42028314e-01 9.89862551e-01 -2.97371448e-04 -2.58476669e+00] [-2.69389973e-03 -8.61126301e-05 9.99996368e-01 -1.11256309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.018194535792894238 Centerline is valid? [True, True] Translation: X:69.51, Y:-2.59, Z:-1.11 [[ 9.90468023e-01 1.37710716e-01 2.97568829e-03 6.95099953e+01] [-1.37710331e-01 9.90472490e-01 -3.34628459e-04 -2.59268088e+00] [-2.99341932e-03 -7.83442330e-05 9.99995517e-01 -1.11498952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.016370762958961463 Centerline is valid? [True, True] Translation: X:69.57, Y:-2.61, Z:-1.11 [[ 9.90859960e-01 1.34809955e-01 4.77664221e-03 6.95705591e+01] [-1.34808932e-01 9.90871467e-01 -5.37023545e-04 -2.60599521e+00] [-4.80543460e-03 -1.11818908e-04 9.99988448e-01 -1.11303706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.016037026819043846 Centerline is valid? [True, True] Translation: X:69.63, Y:-2.62, Z:-1.11 [[ 9.91371490e-01 1.30893106e-01 7.04008604e-03 6.96303583e+01] [-1.30890776e-01 9.91396478e-01 -7.92590769e-04 -2.61582902e+00] [-7.08326118e-03 -1.35730435e-04 9.99974904e-01 -1.11267156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.015387896928326542 Centerline is valid? [True, True] Translation: X:69.69, Y:-2.63, Z:-1.11 [[ 9.91882562e-01 1.26884732e-01 8.32155106e-03 6.96919379e+01] [-1.26881340e-01 9.91917461e-01 -9.36511683e-04 -2.62849118e+00] [-8.37312083e-03 -1.26939938e-04 9.99964937e-01 -1.11110995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.013942523098695269 Centerline is valid? [True, True] Translation: X:69.75, Y:-2.63, Z:-1.11 [[ 9.91891614e-01 1.26675421e-01 1.02158928e-02 6.97540536e+01] [-1.26670294e-01 9.91944209e-01 -1.14998603e-03 -2.63494135e+00] [-1.02792707e-02 -1.53388647e-04 9.99947155e-01 -1.10964542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.014192280291039248 Centerline is valid? [True, True] Translation: X:69.82, Y:-2.64, Z:-1.11 [[ 9.91606985e-01 1.28840870e-01 1.07525588e-02 6.98163974e+01] [-1.28835286e-01 9.91665265e-01 -1.21328026e-03 -2.63785459e+00] [-1.08192592e-02 -1.82211807e-04 9.99941454e-01 -1.10964383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.016111060589249847 Centerline is valid? [True, True] Translation: X:69.88, Y:-2.64, Z:-1.11 [[ 9.90843727e-01 1.34773374e-01 8.05267694e-03 6.98775249e+01] [-1.34770415e-01 9.90876432e-01 -9.11515993e-04 -2.63645914e+00] [-8.10205589e-03 -1.82092709e-04 9.99967161e-01 -1.11372232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.018995894271396495 Centerline is valid? [True, True] Translation: X:69.94, Y:-2.63, Z:-1.12 [[ 9.90273469e-01 1.39048131e-01 4.90660374e-03 6.99385919e+01] [-1.39047085e-01 9.90285615e-01 -5.55377212e-04 -2.63487109e+00] [-4.93616326e-03 -1.32273627e-04 9.99987808e-01 -1.11912561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.018219016768326084 Centerline is valid? [True, True] Translation: X:70.00, Y:-2.64, Z:-1.12 [[ 9.90111474e-01 1.40219482e-01 4.21491872e-03 7.00003563e+01] [-1.40218733e-01 9.90120438e-01 -4.74351218e-04 -2.64278494e+00] [-4.23979046e-03 -1.21349978e-04 9.99991005e-01 -1.11979910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.017771750177470232 Centerline is valid? [True, True] Translation: X:70.06, Y:-2.65, Z:-1.12 [[ 9.89920103e-01 1.41541179e-01 4.92799872e-03 7.00626626e+01] [-1.41540160e-01 9.89932358e-01 -5.56553059e-04 -2.64688387e+00] [-4.95716057e-03 -1.46566668e-04 9.99987702e-01 -1.11888001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.017207999336828584 Centerline is valid? [True, True] Translation: X:70.12, Y:-2.66, Z:-1.12 [[ 9.90315518e-01 1.38685013e-01 6.45299404e-03 7.01235915e+01] [-1.38683175e-01 9.90336528e-01 -7.33659038e-04 -2.65632805e+00] [-6.49238323e-03 -1.68367768e-04 9.99978910e-01 -1.11839376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.017175132948316713 Centerline is valid? [True, True] Translation: X:70.18, Y:-2.66, Z:-1.12 [[ 9.90478907e-01 1.37449705e-01 7.68856761e-03 7.01848912e+01] [-1.37447069e-01 9.90508729e-01 -8.72697476e-04 -2.66328950e+00] [-7.73554534e-03 -1.92382644e-04 9.99970062e-01 -1.11845071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.01738295330116059 Centerline is valid? [True, True] Translation: X:70.25, Y:-2.67, Z:-1.12 [[ 9.90731964e-01 1.35583636e-01 8.20082174e-03 7.02467621e+01] [-1.35580554e-01 9.90765887e-01 -9.33213452e-04 -2.66863294e+00] [-8.25162289e-03 -1.87307560e-04 9.99965937e-01 -1.12019355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.015166403434443327 Centerline is valid? [True, True] Translation: X:70.31, Y:-2.67, Z:-1.12 [[ 9.90874869e-01 1.34484168e-01 9.00014217e-03 7.03075231e+01] [-1.34480384e-01 9.90915724e-01 -1.02704826e-03 -2.67377481e+00] [-9.05650412e-03 -1.92666260e-04 9.99958970e-01 -1.11830448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.01683237212037384 Centerline is valid? [True, True] Translation: X:70.37, Y:-2.68, Z:-1.12 [[ 9.90900164e-01 1.34364150e-01 7.94604092e-03 7.03703033e+01] [-1.34361189e-01 9.90932009e-01 -9.07700330e-04 -2.68070556e+00] [-7.99594867e-03 -1.68199099e-04 9.99968018e-01 -1.12078122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.015109035031997389 Centerline is valid? [True, True] Translation: X:70.43, Y:-2.68, Z:-1.12 [[ 9.90969583e-01 1.33832229e-01 8.25949356e-03 7.04317047e+01] [-1.33828986e-01 9.91003989e-01 -9.46582499e-04 -2.68476812e+00] [-8.31187432e-03 -1.67325181e-04 9.99965442e-01 -1.12047220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.014376626511674888 Centerline is valid? [True, True] Translation: X:70.49, Y:-2.69, Z:-1.12 [[ 9.91003535e-01 1.33635337e-01 7.32049429e-03 7.04939817e+01] [-1.33632778e-01 9.91030562e-01 -8.39719763e-04 -2.69199681e+00] [-7.36704981e-03 -1.46092738e-04 9.99972852e-01 -1.12136219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.014673724217263583 Centerline is valid? [True, True] Translation: X:70.56, Y:-2.70, Z:-1.12 [[ 9.91076441e-01 1.33129943e-01 6.62621102e-03 7.05559468e+01] [-1.33127824e-01 9.91098583e-01 -7.61797448e-04 -2.69760572e+00] [-6.66864641e-03 -1.27133553e-04 9.99977756e-01 -1.12335926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.014211563213418299 Centerline is valid? [True, True] Translation: X:70.62, Y:-2.71, Z:-1.12 [[ 9.91249252e-01 1.31835942e-01 6.64871102e-03 7.06181135e+01] [-1.31833756e-01 9.91271543e-01 -7.67908104e-04 -2.70504986e+00] [-6.69191592e-03 -1.15336212e-04 9.99977602e-01 -1.12426324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.01509271079339705 Centerline is valid? [True, True] Translation: X:70.68, Y:-2.71, Z:-1.13 [[ 9.91267981e-01 1.31674831e-01 7.03773818e-03 7.06798473e+01] [-1.31672383e-01 9.91292956e-01 -8.12081830e-04 -2.71020598e+00] [-7.08339102e-03 -1.21685040e-04 9.99974905e-01 -1.12599121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.016050441707899512 Centerline is valid? [True, True] Translation: X:70.74, Y:-2.71, Z:-1.13 [[ 9.91119111e-01 1.32815406e-01 6.55557112e-03 7.07422813e+01] [-1.32813297e-01 9.91140784e-01 -7.57818942e-04 -2.71363955e+00] [-6.59814393e-03 -1.19578180e-04 9.99978225e-01 -1.12878571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.016131711224419254 Centerline is valid? [True, True] Translation: X:70.80, Y:-2.72, Z:-1.13 [[ 9.91023676e-01 1.33539347e-01 6.27034972e-03 7.08041283e+01] [-1.33537425e-01 9.91043505e-01 -7.26146848e-04 -2.71782385e+00] [-6.31115854e-03 -1.17697634e-04 9.99980078e-01 -1.13040631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.014740505479071507 Centerline is valid? [True, True] Translation: X:70.87, Y:-2.72, Z:-1.13 [[ 9.90908591e-01 1.34395947e-01 6.15581622e-03 7.08668724e+01] [-1.34394102e-01 9.90927704e-01 -7.14234577e-04 -2.72370360e+00] [-6.19595907e-03 -1.19564215e-04 9.99980798e-01 -1.12931139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.015296607223555941 Centerline is valid? [True, True] Translation: X:70.93, Y:-2.73, Z:-1.13 [[ 9.90840548e-01 1.34921453e-01 5.58667481e-03 7.09289183e+01] [-1.34919934e-01 9.90856291e-01 -6.49647231e-04 -2.72798335e+00] [-5.62324323e-03 -1.10056977e-04 9.99984183e-01 -1.13195286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.01526880990874634 Centerline is valid? [True, True] Translation: X:70.99, Y:-2.73, Z:-1.13 [[ 9.90911620e-01 1.34412714e-01 5.23290726e-03 7.09904383e+01] [-1.34411367e-01 9.90925432e-01 -6.09879622e-04 -2.73474041e+00] [-5.26739647e-03 -9.90254156e-05 9.99986122e-01 -1.13358902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.015236389144237618 Centerline is valid? [True, True] Translation: X:71.05, Y:-2.74, Z:-1.13 [[ 9.90960751e-01 1.33997451e-01 6.43989195e-03 7.10519445e+01] [-1.33995385e-01 9.90981670e-01 -7.53110628e-04 -2.74244494e+00] [-6.48272979e-03 -1.16612730e-04 9.99978980e-01 -1.13370818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.015134879305399654 Centerline is valid? [True, True] Translation: X:71.11, Y:-2.75, Z:-1.13 [[ 9.91115902e-01 1.32763022e-01 7.95290799e-03 7.11125484e+01] [-1.32759808e-01 9.91147801e-01 -9.33141432e-04 -2.75145883e+00] [-8.00639394e-03 -1.30975223e-04 9.99967940e-01 -1.13311720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.01482761995476694 Centerline is valid? [True, True] Translation: X:71.17, Y:-2.76, Z:-1.13 [[ 9.91069654e-01 1.33008564e-01 9.46902109e-03 7.11734971e+01] [-1.33003993e-01 9.91114876e-01 -1.11372044e-03 -2.76185122e+00] [-9.53302202e-03 -1.55643086e-04 9.99954548e-01 -1.13197552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.016073083552725822 Centerline is valid? [True, True] Translation: X:71.23, Y:-2.77, Z:-1.13 [[ 9.90401330e-01 1.38017038e-01 7.51680641e-03 7.12349238e+01] [-1.38014284e-01 9.90429842e-01 -8.86311021e-04 -2.76696972e+00] [-7.56719540e-03 -1.59623040e-04 9.99971356e-01 -1.13415190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.0172124704120465 Centerline is valid? [True, True] Translation: X:71.30, Y:-2.77, Z:-1.14 [[ 9.89925218e-01 1.41458071e-01 6.13808254e-03 7.12963291e+01] [-1.41456306e-01 9.89944236e-01 -7.23011006e-04 -2.77162967e+00] [-6.17863518e-03 -1.52543654e-04 9.99980900e-01 -1.13664340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.018441023666416465 Centerline is valid? [True, True] Translation: X:71.36, Y:-2.78, Z:-1.14 [[ 9.89005807e-01 1.47785689e-01 5.18679689e-03 7.13568992e+01] [-1.47784500e-01 9.89019396e-01 -6.13878303e-04 -2.77518693e+00] [-5.22056515e-03 -1.59398978e-04 9.99986360e-01 -1.13752477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.021815292449404756 Centerline is valid? [True, True] Translation: X:71.42, Y:-2.78, Z:-1.14 [[ 9.88522863e-01 1.51007928e-01 4.37665950e-03 7.14177436e+01] [-1.51007119e-01 9.88532540e-01 -5.16777960e-04 -2.77749445e+00] [-4.40450790e-03 -1.50059912e-04 9.99990289e-01 -1.14176224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.02093356347259581 Centerline is valid? [True, True] Translation: X:71.48, Y:-2.78, Z:-1.14 [[ 9.88106061e-01 1.53720801e-01 4.04079290e-03 7.14797397e+01] [-1.53720130e-01 9.88114312e-01 -4.78116356e-04 -2.78334089e+00] [-4.06626173e-03 -1.48721540e-04 9.99991722e-01 -1.14053332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.022138348579959985 Centerline is valid? [True, True] Translation: X:71.54, Y:-2.79, Z:-1.14 [[ 9.87802747e-01 1.55667608e-01 3.65099677e-03 7.15418045e+01] [-1.55667080e-01 9.87809483e-01 -4.29962293e-04 -2.78807763e+00] [-3.67342043e-03 -1.43622073e-04 9.99993243e-01 -1.14181390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.02171013655078361 Centerline is valid? [True, True] Translation: X:71.60, Y:-2.80, Z:-1.14 [[ 9.88025892e-01 1.54231436e-01 4.18333409e-03 7.16036388e+01] [-1.54230724e-01 9.88034736e-01 -4.94278330e-04 -2.79629026e+00] [-4.20951265e-03 -1.56838858e-04 9.99991128e-01 -1.14243551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.020487719839075304 Centerline is valid? [True, True] Translation: X:71.66, Y:-2.81, Z:-1.14 [[ 9.88491030e-01 1.51193821e-01 5.09043803e-03 7.16644399e+01] [-1.51192704e-01 9.88504122e-01 -6.05701285e-04 -2.80706516e+00] [-5.12349726e-03 -1.70906802e-04 9.99986860e-01 -1.14164058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.018215204747021072 Centerline is valid? [True, True] Translation: X:71.73, Y:-2.82, Z:-1.14 [[ 9.88775641e-01 1.49287916e-01 5.98751430e-03 7.17261463e+01] [-1.49286336e-01 9.88793751e-01 -7.12512366e-04 -2.81865523e+00] [-6.02678621e-03 -1.89339198e-04 9.99981821e-01 -1.14157180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.018173501489039286 Centerline is valid? [True, True] Translation: X:71.79, Y:-2.83, Z:-1.14 [[ 9.89138582e-01 1.46814035e-01 7.10661087e-03 7.17859312e+01] [-1.46811739e-01 9.89164090e-01 -8.46490994e-04 -2.82615560e+00] [-7.15388104e-03 -2.06036997e-04 9.99974389e-01 -1.14335754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.017259009246692287 Centerline is valid? [True, True] Translation: X:71.85, Y:-2.84, Z:-1.14 [[ 9.89489987e-01 1.44327760e-01 8.89176369e-03 7.18470160e+01] [-1.44324050e-01 9.89529910e-01 -1.06090032e-03 -2.83610225e+00] [-8.95178349e-03 -2.33545099e-04 9.99959905e-01 -1.14474730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.018373928288503212 Centerline is valid? [True, True] Translation: X:71.91, Y:-2.84, Z:-1.15 [[ 9.89757143e-01 1.42333444e-01 1.10448486e-02 7.19079803e+01] [-1.42327596e-01 9.89818730e-01 -1.31771960e-03 -2.84183123e+00] [-1.11199536e-02 -2.67764360e-04 9.99938136e-01 -1.14590612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.016816058161450254 Centerline is valid? [True, True] Translation: X:71.97, Y:-2.85, Z:-1.15 [[ 9.89767673e-01 1.41994070e-01 1.40583868e-02 7.19695652e+01] [-1.41984501e-01 9.89867453e-01 -1.68148682e-03 -2.85121193e+00] [-1.41547006e-02 -3.31791729e-04 9.99899762e-01 -1.14598225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.016279352774899163 Centerline is valid? [True, True] Translation: X:72.03, Y:-2.86, Z:-1.15 [[ 9.89662400e-01 1.42584987e-01 1.54225825e-02 7.20322945e+01] [-1.42573478e-01 9.89782494e-01 -1.84882211e-03 -2.85914485e+00] [-1.55286164e-02 -3.69141494e-04 9.99879356e-01 -1.14711279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.017260505989630377 Centerline is valid? [True, True] Translation: X:72.09, Y:-2.86, Z:-1.15 [[ 9.89376328e-01 1.44541236e-01 1.55663786e-02 7.20929800e+01] [-1.44529680e-01 9.89498697e-01 -1.87074014e-03 -2.86315095e+00] [-1.56733104e-02 -3.98937703e-04 9.99877087e-01 -1.14949529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.020094289765446416 Centerline is valid? [True, True] Translation: X:72.15, Y:-2.86, Z:-1.15 [[ 9.87984837e-01 1.53860492e-01 1.45914752e-02 7.21543686e+01] [-1.53851344e-01 9.88092449e-01 -1.75409940e-03 -2.86222204e+00] [-1.46876130e-02 -5.11894466e-04 9.99892000e-01 -1.15321726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.021187211386733393 Centerline is valid? [True, True] Translation: X:72.22, Y:-2.87, Z:-1.16 [[ 9.87709253e-01 1.55694135e-01 1.37756523e-02 7.22159984e+01] [-1.55686165e-01 9.87805182e-01 -1.65565461e-03 -2.86754826e+00] [-1.38654364e-02 -5.09373101e-04 9.99903740e-01 -1.15514626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.023677425141191377 Centerline is valid? [True, True] Translation: X:72.28, Y:-2.87, Z:-1.16 [[ 9.87485150e-01 1.57137879e-01 1.34448906e-02 7.22766566e+01] [-1.57130373e-01 9.87576540e-01 -1.61945205e-03 -2.87043130e+00] [-1.35323358e-02 -5.13415825e-04 9.99908302e-01 -1.15684888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.02329524199392128 Centerline is valid? [True, True] Translation: X:72.34, Y:-2.88, Z:-1.16 [[ 9.87198573e-01 1.58895449e-01 1.38279769e-02 7.23385827e+01] [-1.58887660e-01 9.87295261e-01 -1.66706953e-03 -2.87730300e+00] [-1.39171859e-02 -5.51366233e-04 9.99902999e-01 -1.15938962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.02170953753346652 Centerline is valid? [True, True] Translation: X:72.40, Y:-2.89, Z:-1.16 [[ 9.87248373e-01 1.58481741e-01 1.49729095e-02 7.24002925e+01] [-1.58472503e-01 9.87361734e-01 -1.80903950e-03 -2.88725143e+00] [-1.50703776e-02 -5.86823133e-04 9.99886263e-01 -1.15978576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.019630522556032887 Centerline is valid? [True, True] Translation: X:72.46, Y:-2.90, Z:-1.16 [[ 9.87602888e-01 1.56047499e-01 1.70209616e-02 7.24610458e+01] [-1.56035120e-01 9.87749358e-01 -2.06105242e-03 -2.89809173e+00] [-1.71340660e-02 -6.20366473e-04 9.99853009e-01 -1.15903324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.02219707212031858 Centerline is valid? [True, True] Translation: X:72.52, Y:-2.90, Z:-1.16 [[ 9.88035067e-01 1.53057758e-01 1.89744616e-02 7.25211628e+01] [-1.53041810e-01 9.88217042e-01 -2.29830778e-03 -2.90173621e+00] [-1.91026601e-02 -6.33077274e-04 9.99817327e-01 -1.15847776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.019378434754894903 Centerline is valid? [True, True] Translation: X:72.58, Y:-2.91, Z:-1.16 [[ 9.88227806e-01 1.51714163e-01 1.97133399e-02 7.25827348e+01] [-1.51696659e-01 9.88424209e-01 -2.38900142e-03 -2.91294038e+00] [-1.98475877e-02 -6.29570157e-04 9.99802819e-01 -1.16033400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.018127401316184472 Centerline is valid? [True, True] Translation: X:72.64, Y:-2.92, Z:-1.16 [[ 9.88244617e-01 1.51767825e-01 1.84147934e-02 7.26440977e+01] [-1.51752481e-01 9.88415998e-01 -2.23589223e-03 -2.92015200e+00] [-1.85408129e-02 -5.84882125e-04 9.99827933e-01 -1.16378614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.017200573263263488 Centerline is valid? [True, True] Translation: X:72.71, Y:-2.93, Z:-1.17 [[ 9.88329799e-01 1.51405421e-01 1.67513230e-02 7.27059875e+01] [-1.51392607e-01 9.88471611e-01 -2.03775969e-03 -2.92859817e+00] [-1.68667351e-02 -5.22047833e-04 9.99857610e-01 -1.16637998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.019505680938344507 Centerline is valid? [True, True] Translation: X:72.77, Y:-2.93, Z:-1.17 [[ 9.88360711e-01 1.51318459e-01 1.56789509e-02 7.27671128e+01] [-1.51307164e-01 9.88484947e-01 -1.91105469e-03 -2.93196207e+00] [-1.57875848e-02 -4.83526210e-04 9.99875251e-01 -1.16853968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.017012377345561616 Centerline is valid? [True, True] Translation: X:72.83, Y:-2.94, Z:-1.17 [[ 9.88495537e-01 1.50597075e-01 1.40390395e-02 7.28285479e+01] [-1.50587906e-01 9.88595137e-01 -1.71401503e-03 -2.94330197e+00] [-1.41370518e-02 -4.19813356e-04 9.99899979e-01 -1.17063006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.016498926534935055 Centerline is valid? [True, True] Translation: X:72.89, Y:-2.95, Z:-1.17 [[ 9.88719522e-01 1.49114928e-01 1.40870342e-02 7.28897096e+01] [-1.49105495e-01 9.88819792e-01 -1.72342632e-03 -2.95285603e+00] [-1.41865268e-02 -3.96468954e-04 9.99899288e-01 -1.17130087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.017187525767964982 Centerline is valid? [True, True] Translation: X:72.95, Y:-2.96, Z:-1.17 [[ 9.88534448e-01 1.50403471e-01 1.33581854e-02 7.29516131e+01] [-1.50395064e-01 9.88624622e-01 -1.63740318e-03 -2.95993821e+00] [-1.34525021e-02 -3.90375695e-04 9.99909435e-01 -1.17190153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.016777138778978858 Centerline is valid? [True, True] Translation: X:73.01, Y:-2.97, Z:-1.17 [[ 9.88303253e-01 1.51869930e-01 1.38638201e-02 7.30127458e+01] [-1.51860968e-01 9.88400398e-01 -1.70298745e-03 -2.96762442e+00] [-1.39616379e-02 -4.22305106e-04 9.99902442e-01 -1.17188479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.01954211207173623 Centerline is valid? [True, True] Translation: X:73.07, Y:-2.97, Z:-1.17 [[ 9.87679505e-01 1.55793771e-01 1.47477607e-02 7.30731511e+01] [-1.55784008e-01 9.87789475e-01 -1.81556259e-03 -2.96928241e+00] [-1.48505362e-02 -5.04271314e-04 9.99889598e-01 -1.17155955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.02069529330784837 Centerline is valid? [True, True] Translation: X:73.13, Y:-2.97, Z:-1.17 [[ 9.87071196e-01 1.59657213e-01 1.41431590e-02 7.31340670e+01] [-1.59648626e-01 9.87172368e-01 -1.74137185e-03 -2.97401226e+00] [-1.42397584e-02 -5.39077919e-04 9.99898464e-01 -1.17187723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.023847134147056352 Centerline is valid? [True, True] Translation: X:73.19, Y:-2.97, Z:-1.17 [[ 9.86397217e-01 1.63915144e-01 1.23432754e-02 7.31946216e+01] [-1.63908934e-01 9.86474303e-01 -1.52000969e-03 -2.97461914e+00] [-1.24254767e-02 -5.23839792e-04 9.99922664e-01 -1.17368078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.023891729960113437 Centerline is valid? [True, True] Translation: X:73.26, Y:-2.98, Z:-1.17 [[ 9.86083718e-01 1.65846928e-01 1.15627551e-02 7.32564870e+01] [-1.65841614e-01 9.86151374e-01 -1.42357727e-03 -2.98103123e+00] [-1.16387227e-02 -5.13819602e-04 9.99932136e-01 -1.17465047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.024174206470642664 Centerline is valid? [True, True] Translation: X:73.32, Y:-2.99, Z:-1.18 [[ 9.86254951e-01 1.64838258e-01 1.13806697e-02 7.33185920e+01] [-1.64833043e-01 9.86320488e-01 -1.40114347e-03 -2.98729021e+00] [-1.14559498e-02 -4.94025736e-04 9.99934256e-01 -1.17520490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.021441141989884154 Centerline is valid? [True, True] Translation: X:73.38, Y:-3.00, Z:-1.18 [[ 9.87318394e-01 1.58349320e-01 1.13085007e-02 7.33780341e+01] [-1.58343703e-01 9.87383068e-01 -1.39606539e-03 -2.99918231e+00] [-1.13868881e-02 -4.12268832e-04 9.99935082e-01 -1.17538072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.02011426432507001 Centerline is valid? [True, True] Translation: X:73.44, Y:-3.01, Z:-1.18 [[ 9.87783000e-01 1.55445673e-01 1.10176261e-02 7.34384113e+01] [-1.55440160e-01 9.87844374e-01 -1.36016754e-03 -3.00927339e+00] [-1.10951321e-02 -3.69031197e-04 9.99938379e-01 -1.17587597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.0162801313093848 Centerline is valid? [True, True] Translation: X:73.50, Y:-3.02, Z:-1.18 [[ 9.89191473e-01 1.46276049e-01 1.01758210e-02 7.34980096e+01] [-1.46270857e-01 9.89243780e-01 -1.25668801e-03 -3.02450229e+00] [-1.02501910e-02 -2.45320992e-04 9.99947435e-01 -1.17614059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.012918918225430547 Centerline is valid? [True, True] Translation: X:73.56, Y:-3.04, Z:-1.18 [[ 9.90649451e-01 1.36134971e-01 8.99632916e-03 7.35572542e+01] [-1.36130494e-01 9.90690292e-01 -1.11106596e-03 -3.03988465e+00] [-9.06383089e-03 -1.23997849e-04 9.99958915e-01 -1.17712428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.011985275395705472 Centerline is valid? [True, True] Translation: X:73.62, Y:-3.05, Z:-1.18 [[ 9.91491303e-01 1.29913687e-01 8.21152853e-03 7.36182794e+01] [-1.29909756e-01 9.91525305e-01 -1.01246859e-03 -3.05273105e+00] [-8.27347186e-03 -6.29038657e-05 9.99965772e-01 -1.17809386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.011823991294937344 Centerline is valid? [True, True] Translation: X:73.68, Y:-3.07, Z:-1.18 [[ 9.92561654e-01 1.21571568e-01 6.45891822e-03 7.36782712e+01] [-1.21568948e-01 9.92582669e-01 -7.98174661e-04 -3.06804626e+00] [-6.50804563e-03 7.03367089e-06 9.99978822e-01 -1.17921938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.012808003019946376 Centerline is valid? [True, True] Translation: X:73.74, Y:-3.08, Z:-1.18 [[ 9.93296862e-01 1.15532056e-01 3.69962051e-03 7.37376209e+01] [-1.15531152e-01 9.93303752e-01 -4.58032297e-04 -3.08175635e+00] [-3.72776435e-03 2.75406252e-05 9.99993051e-01 -1.18202273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.013267991107463604 Centerline is valid? [True, True] Translation: X:73.80, Y:-3.09, Z:-1.18 [[ 9.93729275e-01 1.11783828e-01 2.55024214e-03 7.37982860e+01] [-1.11783392e-01 9.93732547e-01 -3.13023967e-04 -3.09375393e+00] [-2.56924964e-03 2.59863617e-05 9.99996699e-01 -1.18158547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.013971446989276009 Centerline is valid? [True, True] Translation: X:73.86, Y:-3.11, Z:-1.18 [[ 9.94159695e-01 1.07827083e-01 4.45219556e-03 7.38593809e+01] [-1.07825701e-01 9.94169661e-01 -5.49996634e-04 -3.10670536e+00] [-4.48554229e-03 6.67233804e-05 9.99989938e-01 -1.17934078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.01422785505448077 Centerline is valid? [True, True] Translation: X:73.92, Y:-3.12, Z:-1.18 [[ 9.94255526e-01 1.06880493e-01 5.70170771e-03 7.39215686e+01] [-1.06878198e-01 9.94271870e-01 -7.06535977e-04 -3.11659065e+00] [-5.74456250e-03 9.30890531e-05 9.99983496e-01 -1.17939192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.014506296512210746 Centerline is valid? [True, True] Translation: X:73.98, Y:-3.13, Z:-1.18 [[ 9.94263826e-01 1.06803216e-01 5.70241120e-03 7.39836400e+01] [-1.06800910e-01 9.94280174e-01 -7.08280232e-04 -3.12592040e+00] [-5.74544100e-03 9.51947083e-05 9.99983490e-01 -1.18007283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.01459973951785207 Centerline is valid? [True, True] Translation: X:74.04, Y:-3.13, Z:-1.18 [[ 9.94195351e-01 1.07406161e-01 6.28662139e-03 7.40449425e+01] [-1.07403354e-01 9.94215221e-01 -7.83427704e-04 -3.13478538e+00] [-6.33439963e-03 1.03675960e-04 9.99979932e-01 -1.18043157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.014082375734311628 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.14, Z:-1.18 [[ 9.93868981e-01 1.10388683e-01 6.22801981e-03 7.41068576e+01] [-1.10385977e-01 9.93888490e-01 -7.77614364e-04 -3.14097457e+00] [-6.27579703e-03 8.53607453e-05 9.99980303e-01 -1.18153695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.013975724603761428 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.15, Z:-1.18 [[ 9.93657269e-01 1.12269957e-01 6.37876657e-03 7.41672320e+01] [-1.12267146e-01 9.93677740e-01 -7.98255952e-04 -3.14747857e+00] [-6.42805851e-03 7.70669127e-05 9.99979337e-01 -1.18351808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.013433147054836753 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.15, Z:-1.18 [[ 9.93525440e-01 1.13403332e-01 6.84727157e-03 7.42289120e+01] [-1.13400109e-01 9.93549032e-01 -8.58465286e-04 -3.15473795e+00] [-6.90045286e-03 7.64257602e-05 9.99976189e-01 -1.18433084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.013017622053043671 Centerline is valid? [True, True] Translation: X:74.29, Y:-3.16, Z:-1.19 [[ 9.93458061e-01 1.14008906e-01 6.56134309e-03 7.42915724e+01] [-1.14005952e-01 9.93479725e-01 -8.23629401e-04 -3.16186444e+00] [-6.61246242e-03 7.02090996e-05 9.99978135e-01 -1.18549343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.012928312439974698 Centerline is valid? [True, True] Translation: X:74.35, Y:-3.17, Z:-1.19 [[ 9.93401967e-01 1.14511274e-01 6.30087282e-03 7.43542092e+01] [-1.14508551e-01 9.93421946e-01 -7.92519894e-04 -3.16911174e+00] [-6.35017780e-03 6.57870075e-05 9.99979835e-01 -1.18754212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.012936897504365448 Centerline is valid? [True, True] Translation: X:74.42, Y:-3.18, Z:-1.19 [[ 9.93336268e-01 1.15100002e-01 5.92011492e-03 7.44168786e+01] [-1.15097599e-01 9.93353908e-01 -7.46080099e-04 -3.17709712e+00] [-5.96664312e-03 5.97174071e-05 9.99982198e-01 -1.18959053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.012677515523595568 Centerline is valid? [True, True] Translation: X:74.48, Y:-3.19, Z:-1.19 [[ 9.93186911e-01 1.16365303e-01 6.23505104e-03 7.44788268e+01] [-1.16362648e-01 9.93206481e-01 -7.88123765e-04 -3.18546661e+00] [-6.28440336e-03 5.72271591e-05 9.99980251e-01 -1.19030964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.012151323328609158 Centerline is valid? [True, True] Translation: X:74.54, Y:-3.19, Z:-1.19 [[ 9.92986971e-01 1.18012571e-01 7.06454009e-03 7.45402655e+01] [-1.18009189e-01 9.93012100e-01 -8.95145057e-04 -3.19236427e+00] [-7.12081215e-03 5.51867356e-05 9.99974645e-01 -1.18962258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.011806984767479807 Centerline is valid? [True, True] Translation: X:74.60, Y:-3.20, Z:-1.19 [[ 9.92735622e-01 1.20042298e-01 8.11370298e-03 7.46014630e+01] [-1.20037883e-01 9.92768777e-01 -1.03071504e-03 -3.20005070e+00] [-8.17876039e-03 4.92758022e-05 9.99966552e-01 -1.19056866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.011497636880188799 Centerline is valid? [True, True] Translation: X:74.66, Y:-3.21, Z:-1.19 [[ 9.92505358e-01 1.21823129e-01 9.60411895e-03 7.46633366e+01] [-1.21816996e-01 9.92551824e-01 -1.22317892e-03 -3.20885322e+00] [-9.68159727e-03 4.40667158e-05 9.99953131e-01 -1.19085183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.01132305512040687 Centerline is valid? [True, True] Translation: X:74.73, Y:-3.22, Z:-1.19 [[ 9.92257398e-01 1.23824962e-01 9.62471272e-03 7.47253544e+01] [-1.23818875e-01 9.92304075e-01 -1.22800652e-03 -3.21727910e+00] [-9.70269952e-03 2.67774509e-05 9.99952927e-01 -1.19134642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.011229755103816593 Centerline is valid? [True, True] Translation: X:74.79, Y:-3.22, Z:-1.19 [[ 9.91887958e-01 1.26817630e-01 8.69298344e-03 7.47874101e+01] [-1.26812762e-01 9.91926050e-01 -1.11114466e-03 -3.22428799e+00] [-8.76370946e-03 -2.50232971e-07 9.99961598e-01 -1.19322541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.01121952247664388 Centerline is valid? [True, True] Translation: X:74.85, Y:-3.23, Z:-1.20 [[ 9.91611322e-01 1.29069399e-01 6.93364311e-03 7.48488419e+01] [-1.29066348e-01 9.91635563e-01 -8.87576823e-04 -3.23193218e+00] [-6.99020610e-03 -1.47687663e-05 9.99975568e-01 -1.19554069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.011158721677436038 Centerline is valid? [True, True] Translation: X:74.91, Y:-3.24, Z:-1.20 [[ 9.91612838e-01 1.29083310e-01 6.44038595e-03 7.49097243e+01] [-1.29080665e-01 9.91633752e-01 -8.26464110e-04 -3.24334921e+00] [-6.49318681e-03 -1.17968772e-05 9.99978919e-01 -1.19711893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.011052074132970251 Centerline is valid? [True, True] Translation: X:74.97, Y:-3.26, Z:-1.20 [[ 9.92026237e-01 1.25813227e-01 7.41462130e-03 7.49710769e+01] [-1.25809624e-01 9.92053946e-01 -9.52297573e-04 -3.25646387e+00] [-7.47551595e-03 1.18734607e-05 9.99972058e-01 -1.19707428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.011094083435308422 Centerline is valid? [True, True] Translation: X:75.03, Y:-3.27, Z:-1.20 [[ 9.92279073e-01 1.23727065e-01 8.59390847e-03 7.50330663e+01] [-1.23722118e-01 9.92316286e-01 -1.10691858e-03 -3.26704025e+00] [-8.66483112e-03 3.51155765e-05 9.99962459e-01 -1.19773156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.01099359000169253 Centerline is valid? [True, True] Translation: X:75.10, Y:-3.28, Z:-1.20 [[ 9.92323306e-01 1.23305523e-01 9.49760183e-03 7.50952450e+01] [-1.23299431e-01 9.92368755e-01 -1.22649966e-03 -3.27708065e+00] [-9.57635749e-03 4.60352895e-05 9.99954145e-01 -1.19825543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.01083572751156799 Centerline is valid? [True, True] Translation: X:75.16, Y:-3.28, Z:-1.20 [[ 9.92032227e-01 1.25686636e-01 8.65619039e-03 7.51579760e+01] [-1.25681649e-01 9.92069992e-01 -1.11987416e-03 -3.28446332e+00] [-8.72829995e-03 2.30269838e-05 9.99961907e-01 -1.19961179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.010589653456640959 Centerline is valid? [True, True] Translation: X:75.22, Y:-3.29, Z:-1.20 [[ 9.91276249e-01 1.31530826e-01 8.42847698e-03 7.52203587e+01] [-1.31526290e-01 9.91312081e-01 -1.09259353e-03 -3.28899469e+00] [-8.49896078e-03 -2.55042946e-05 9.99963883e-01 -1.20048053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.011025677016724788 Centerline is valid? [True, True] Translation: X:75.28, Y:-3.29, Z:-1.20 [[ 9.90588306e-01 1.36560564e-01 9.27473782e-03 7.52826560e+01] [-1.36555261e-01 9.90631721e-01 -1.20564965e-03 -3.29326697e+00] [-9.35249368e-03 -7.22118030e-05 9.99956262e-01 -1.20051117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.012183408530241026 Centerline is valid? [True, True] Translation: X:75.34, Y:-3.30, Z:-1.20 [[ 9.89553620e-01 1.43832723e-01 9.78678208e-03 7.53447580e+01] [-1.43827147e-01 9.89602004e-01 -1.27488926e-03 -3.29513088e+00] [-9.86838995e-03 -1.46033662e-04 9.99951296e-01 -1.20183269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.013137687886119596 Centerline is valid? [True, True] Translation: X:75.41, Y:-3.30, Z:-1.20 [[ 9.89033256e-01 1.47442147e-01 8.60420970e-03 7.54064145e+01] [-1.47437959e-01 9.89070669e-01 -1.12243551e-03 -3.29967691e+00] [-8.67566575e-03 -1.58461075e-04 9.99962353e-01 -1.20390164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.01299737718748083 Centerline is valid? [True, True] Translation: X:75.47, Y:-3.31, Z:-1.21 [[ 9.88828004e-01 1.48857936e-01 7.77775403e-03 7.54678478e+01] [-1.48854547e-01 9.88858580e-01 -1.01611948e-03 -3.30800362e+00] [-7.84235625e-03 -1.52986656e-04 9.99969237e-01 -1.20502425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.012895955080629923 Centerline is valid? [True, True] Translation: X:75.53, Y:-3.32, Z:-1.21 [[ 9.89128039e-01 1.46931992e-01 6.05898376e-03 7.55279068e+01] [-1.46929888e-01 9.89146591e-01 -7.93322320e-04 -3.31687152e+00] [-6.10978756e-03 -1.05548457e-04 9.99981330e-01 -1.20716656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.012444680272339342 Centerline is valid? [True, True] Translation: X:75.59, Y:-3.33, Z:-1.21 [[ 9.89526872e-01 1.44233917e-01 5.75731332e-03 7.55883287e+01] [-1.44231973e-01 9.89543617e-01 -7.53681139e-04 -3.32713802e+00] [-5.80581903e-03 -8.46009172e-05 9.99983143e-01 -1.20856918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.010925835402022795 Centerline is valid? [True, True] Translation: X:75.65, Y:-3.34, Z:-1.21 [[ 9.90402226e-01 1.38067245e-01 6.39276307e-03 7.56496502e+01] [-1.38064699e-01 9.90422856e-01 -8.40034360e-04 -3.34121543e+00] [-6.44751989e-03 -5.06430109e-05 9.99979213e-01 -1.20861973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.010404628810566518 Centerline is valid? [True, True] Translation: X:75.71, Y:-3.35, Z:-1.21 [[ 9.91155514e-01 1.32533051e-01 6.76297869e-03 7.57106875e+01] [-1.32530078e-01 9.91178586e-01 -8.87911205e-04 -3.35419190e+00] [-6.82099724e-03 -1.62400039e-05 9.99976737e-01 -1.21024062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.01063050805990229 Centerline is valid? [True, True] Translation: X:75.77, Y:-3.37, Z:-1.21 [[ 9.92043954e-01 1.25645153e-01 7.87968845e-03 7.57721974e+01] [-1.25640881e-01 9.92075246e-01 -1.03676975e-03 -3.36693543e+00] [-7.94750896e-03 3.85101619e-05 9.99968417e-01 -1.21009304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.01083387089543363 Centerline is valid? [True, True] Translation: X:75.83, Y:-3.38, Z:-1.21 [[ 9.92284034e-01 1.23725874e-01 8.01894762e-03 7.58337679e+01] [-1.23721367e-01 9.92316434e-01 -1.05770985e-03 -3.37646005e+00] [-8.08819959e-03 5.74334429e-05 9.99967288e-01 -1.21000567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.010644697955792625 Centerline is valid? [True, True] Translation: X:75.90, Y:-3.38, Z:-1.21 [[ 9.92021289e-01 1.25814401e-01 8.03112231e-03 7.58951896e+01] [-1.25809931e-01 9.92053796e-01 -1.06134971e-03 -3.38195530e+00] [-8.10083845e-03 4.24865659e-05 9.99967187e-01 -1.21084041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.010430126978144856 Centerline is valid? [True, True] Translation: X:75.96, Y:-3.39, Z:-1.21 [[ 9.91647716e-01 1.28767611e-01 7.32868842e-03 7.59577221e+01] [-1.28763962e-01 9.91674796e-01 -9.69665001e-04 -3.38594490e+00] [-7.39253704e-03 1.78951292e-05 9.99972675e-01 -1.21260395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.010329909927022273 Centerline is valid? [True, True] Translation: X:76.02, Y:-3.39, Z:-1.21 [[ 9.91195814e-01 1.32156191e-01 8.09928886e-03 7.60195168e+01] [-1.32151821e-01 9.91228904e-01 -1.07474690e-03 -3.39007331e+00] [-8.17028368e-03 -5.05114681e-06 9.99966623e-01 -1.21289354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.010373304356356585 Centerline is valid? [True, True] Translation: X:76.08, Y:-3.40, Z:-1.21 [[ 9.90821227e-01 1.34958227e-01 7.71836909e-03 7.60817310e+01] [-1.34954333e-01 9.90851289e-01 -1.02564027e-03 -3.39589187e+00] [-7.78617455e-03 -2.54011960e-05 9.99969687e-01 -1.21370608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.010623211068171955 Centerline is valid? [True, True] Translation: X:76.14, Y:-3.40, Z:-1.22 [[ 9.90368005e-01 1.38272892e-01 7.19875509e-03 7.61433667e+01] [-1.38269576e-01 9.90394167e-01 -9.58693548e-04 -3.40068600e+00] [-7.26216638e-03 -4.59094012e-05 9.99973629e-01 -1.21534180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.011627561883343346 Centerline is valid? [True, True] Translation: X:76.21, Y:-3.40, Z:-1.22 [[ 9.89503827e-01 1.44334051e-01 7.06095652e-03 7.62053864e+01] [-1.44331002e-01 9.89529016e-01 -9.42181167e-04 -3.40182456e+00] [-7.12301018e-03 -8.68230582e-05 9.99974627e-01 -1.21658986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.011967446738411656 Centerline is valid? [True, True] Translation: X:76.27, Y:-3.41, Z:-1.22 [[ 9.89284706e-01 1.45852944e-01 6.53376714e-03 7.62674781e+01] [-1.45850359e-01 9.89306278e-01 -8.72888826e-04 -3.40862956e+00] [-6.59121025e-03 -8.94167195e-05 9.99978274e-01 -1.21755416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.012248559875418254 Centerline is valid? [True, True] Translation: X:76.33, Y:-3.41, Z:-1.22 [[ 9.89141422e-01 1.46886408e-01 4.86103979e-03 7.63298536e+01] [-1.46884988e-01 9.89153364e-01 -6.49623393e-04 -3.41364612e+00] [-4.90373471e-03 -7.14443672e-05 9.99987974e-01 -1.21960342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.011466437646870865 Centerline is valid? [True, True] Translation: X:76.39, Y:-3.42, Z:-1.22 [[ 9.89485884e-01 1.44553770e-01 4.67896583e-03 7.63916145e+01] [-1.44552425e-01 9.89496945e-01 -6.26222299e-04 -3.42280268e+00] [-4.72034519e-03 -5.67177319e-05 9.99988858e-01 -1.22027085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.010809918430436508 Centerline is valid? [True, True] Translation: X:76.45, Y:-3.43, Z:-1.22 [[ 9.89955278e-01 1.41265946e-01 5.69907349e-03 7.64531792e+01] [-1.41263883e-01 9.89971681e-01 -7.65039550e-04 -3.43289703e+00] [-5.74999540e-03 -4.77183101e-05 9.99983468e-01 -1.21993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.010418995992173309 Centerline is valid? [True, True] Translation: X:76.51, Y:-3.44, Z:-1.22 [[ 9.90706964e-01 1.35848953e-01 6.69124282e-03 7.65132744e+01] [-1.35845967e-01 9.90729560e-01 -9.00811454e-04 -3.44384465e+00] [-6.75158635e-03 -1.65381726e-05 9.99977208e-01 -1.21995567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.010355846724216041 Centerline is valid? [True, True] Translation: X:76.58, Y:-3.45, Z:-1.22 [[ 9.90917305e-01 1.34308612e-01 6.64013601e-03 7.65760173e+01] [-1.34305630e-01 9.90939553e-01 -8.94924633e-04 -3.45305019e+00] [-6.70016949e-03 -5.01134603e-06 9.99977554e-01 -1.21960654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.01028238004021809 Centerline is valid? [True, True] Translation: X:76.64, Y:-3.46, Z:-1.22 [[ 9.90694848e-01 1.35898628e-01 7.43513194e-03 7.66390965e+01] [-1.35894915e-01 9.90722748e-01 -1.00470663e-03 -3.45820797e+00] [-7.50269259e-03 -1.50389470e-05 9.99971854e-01 -1.21993667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.010371680427716539 Centerline is valid? [True, True] Translation: X:76.70, Y:-3.46, Z:-1.22 [[ 9.90353708e-01 1.38367995e-01 7.33690256e-03 7.67016406e+01] [-1.38364432e-01 9.90380885e-01 -9.93440680e-04 -3.46303725e+00] [-7.40378845e-03 -3.13086958e-05 9.99972591e-01 -1.22107830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.010579850859059716 Centerline is valid? [True, True] Translation: X:76.76, Y:-3.47, Z:-1.22 [[ 9.89896172e-01 1.41696336e-01 5.26473329e-03 7.67636385e+01] [-1.41694545e-01 9.89910171e-01 -7.13406026e-04 -3.46762315e+00] [-5.31270006e-03 -3.97860967e-05 9.99985887e-01 -1.22319384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.010920094333655263 Centerline is valid? [True, True] Translation: X:76.82, Y:-3.47, Z:-1.23 [[ 9.89699768e-01 1.43112809e-01 3.61851434e-03 7.68243699e+01] [-1.43111973e-01 9.89706382e-01 -4.90247638e-04 -3.47276056e+00] [-3.65142745e-03 -3.26547522e-05 9.99993333e-01 -1.22654613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.010624710552176335 Centerline is valid? [True, True] Translation: X:76.89, Y:-3.48, Z:-1.23 [[ 9.89847287e-01 1.42068688e-01 4.34017039e-03 7.68865036e+01] [-1.42067460e-01 9.89856801e-01 -5.91463089e-04 -3.48046522e+00] [-4.38017557e-03 -3.11388502e-05 9.99990407e-01 -1.22702240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.010480588446032595 Centerline is valid? [True, True] Translation: X:76.95, Y:-3.49, Z:-1.23 [[ 9.89933242e-01 1.41425859e-01 5.55908974e-03 7.69482669e+01] [-1.41423839e-01 9.89948850e-01 -7.56803153e-04 -3.48869052e+00] [-5.61024603e-03 -3.70032146e-05 9.99984262e-01 -1.22718739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.010523972684442048 Centerline is valid? [True, True] Translation: X:77.01, Y:-3.50, Z:-1.23 [[ 9.89904562e-01 1.41606821e-01 6.03877315e-03 7.70105931e+01] [-1.41604431e-01 9.89922980e-01 -8.23601879e-04 -3.49743578e+00] [-6.09454795e-03 -3.98297803e-05 9.99981427e-01 -1.22774459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.01071534792786652 Centerline is valid? [True, True] Translation: X:77.07, Y:-3.50, Z:-1.23 [[ 9.89603212e-01 1.43685147e-01 6.32939638e-03 7.70728555e+01] [-1.43682552e-01 9.89623451e-01 -8.65180379e-04 -3.50401946e+00] [-6.38803267e-03 -5.32385440e-05 9.99979595e-01 -1.22800616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.011828694627846454 Centerline is valid? [True, True] Translation: X:77.13, Y:-3.51, Z:-1.23 [[ 9.88964205e-01 1.48027474e-01 6.13745535e-03 7.71337993e+01] [-1.48025098e-01 9.88983246e-01 -8.42151090e-04 -3.50704764e+00] [-6.19450201e-03 -7.56401465e-05 9.99980811e-01 -1.23080303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.012315550223255794 Centerline is valid? [True, True] Translation: X:77.20, Y:-3.51, Z:-1.23 [[ 9.88332804e-01 1.52199271e-01 5.80082395e-03 7.71950954e+01] [-1.52197222e-01 9.88349823e-01 -7.95596198e-04 -3.51322033e+00] [-5.85433249e-03 -9.65554682e-05 9.99982859e-01 -1.23139281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.013465661167313842 Centerline is valid? [True, True] Translation: X:77.26, Y:-3.52, Z:-1.23 [[ 9.87704410e-01 1.56237958e-01 5.44973935e-03 7.72572554e+01] [-1.56236206e-01 9.87719438e-01 -7.48340384e-04 -3.51814301e+00] [-5.49973266e-03 -1.12307502e-04 9.99984870e-01 -1.23382779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.014013695437104833 Centerline is valid? [True, True] Translation: X:77.32, Y:-3.52, Z:-1.23 [[ 9.87523776e-01 1.57306234e-01 7.17914656e-03 7.73202537e+01] [-1.57303202e-01 9.87549860e-01 -9.88538649e-04 -3.52473936e+00] [-7.24526847e-03 -1.53097322e-04 9.99973741e-01 -1.23485488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.013221789418614039 Centerline is valid? [True, True] Translation: X:77.38, Y:-3.54, Z:-1.23 [[ 9.87573225e-01 1.56964782e-01 7.82190229e-03 7.73814975e+01] [-1.56961150e-01 9.87604188e-01 -1.07986907e-03 -3.53500853e+00] [-7.89444487e-03 -1.61284997e-04 9.99968825e-01 -1.23481351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.012935872721379393 Centerline is valid? [True, True] Translation: X:77.44, Y:-3.54, Z:-1.23 [[ 9.87821712e-01 1.55311694e-01 9.30290528e-03 7.74425923e+01] [-1.55306454e-01 9.87865501e-01 -1.28746490e-03 -3.54451495e+00] [-9.38997754e-03 -1.73015443e-04 9.99955898e-01 -1.23464788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.01200815485610241 Centerline is valid? [True, True] Translation: X:77.50, Y:-3.56, Z:-1.24 [[ 9.88320872e-01 1.52065250e-01 9.90015341e-03 7.75033092e+01] [-1.52059126e-01 9.88370446e-01 -1.37283652e-03 -3.55593415e+00] [-9.99377977e-03 -1.48605683e-04 9.99950050e-01 -1.23566231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.01174987226579926 Centerline is valid? [True, True] Translation: X:77.56, Y:-3.57, Z:-1.24 [[ 9.88598858e-01 1.50301819e-01 9.03671400e-03 7.75647431e+01] [-1.50296624e-01 9.88640152e-01 -1.25505047e-03 -3.56557439e+00] [-9.12269467e-03 -1.17446147e-04 9.99958380e-01 -1.23832028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.011053229327046313 Centerline is valid? [True, True] Translation: X:77.63, Y:-3.58, Z:-1.24 [[ 9.89147655e-01 1.46726877e-01 7.62495372e-03 7.76260107e+01] [-1.46723063e-01 9.89177041e-01 -1.06023597e-03 -3.57730310e+00] [-7.69799427e-03 -7.00266365e-05 9.99970368e-01 -1.24175275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.01069664178919261 Centerline is valid? [True, True] Translation: X:77.69, Y:-3.59, Z:-1.24 [[ 9.89745581e-01 1.42679439e-01 6.80159246e-03 7.76866598e+01] [-1.42676300e-01 9.89768951e-01 -9.47025317e-04 -3.59183410e+00] [-6.86712608e-03 -3.31119238e-05 9.99976420e-01 -1.24282643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.010603993949110905 Centerline is valid? [True, True] Translation: X:77.75, Y:-3.60, Z:-1.24 [[ 9.90123480e-01 1.40028600e-01 6.89104951e-03 7.77474469e+01] [-1.40025301e-01 9.90147459e-01 -9.61237519e-04 -3.60404725e+00] [-6.95775591e-03 -1.31774442e-05 9.99975794e-01 -1.24381323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.010733240813596171 Centerline is valid? [True, True] Translation: X:77.81, Y:-3.62, Z:-1.24 [[ 9.90763440e-01 1.35308562e-01 8.91065033e-03 7.78080098e+01] [-1.35302825e-01 9.90803508e-01 -1.24631504e-03 -3.61774185e+00] [-8.99734071e-03 2.91672091e-05 9.99959523e-01 -1.24405511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.011199953474689375 Centerline is valid? [True, True] Translation: X:77.87, Y:-3.63, Z:-1.24 [[ 9.91210531e-01 1.31862051e-01 1.06809339e-02 7.78682332e+01] [-1.31853571e-01 9.91268074e-01 -1.49742042e-03 -3.63070293e+00] [-1.07851217e-02 7.59396090e-05 9.99941836e-01 -1.24439962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.011588810365481983 Centerline is valid? [True, True] Translation: X:77.93, Y:-3.64, Z:-1.24 [[ 9.91556489e-01 1.29064960e-01 1.25684250e-02 7.79285767e+01] [-1.29052944e-01 9.91636133e-01 -1.76584383e-03 -3.64480681e+00] [-1.26912130e-02 1.28941665e-04 9.99919455e-01 -1.24368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.011278918766939245 Centerline is valid? [True, True] Translation: X:77.99, Y:-3.65, Z:-1.24 [[ 9.91189616e-01 1.31714145e-01 1.39473849e-02 7.79904042e+01] [-1.31699555e-01 9.91287734e-01 -1.96347739e-03 -3.65297805e+00] [-1.40844893e-02 1.09314027e-04 9.99900803e-01 -1.24467821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.010837384308334691 Centerline is valid? [True, True] Translation: X:78.05, Y:-3.66, Z:-1.25 [[ 9.90492478e-01 1.36837499e-01 1.41474285e-02 7.80522946e+01] [-1.36822959e-01 9.90593508e-01 -1.99518127e-03 -3.65830133e+00] [-1.42873664e-02 4.05190224e-05 9.99897930e-01 -1.24676286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.0112979342369391 Centerline is valid? [True, True] Translation: X:78.11, Y:-3.66, Z:-1.25 [[ 9.89020599e-01 1.47198546e-01 1.30706581e-02 7.81143484e+01] [-1.47186999e-01 9.89106960e-01 -1.84625871e-03 -3.66090757e+00] [-1.32000455e-02 -9.78430489e-05 9.99912871e-01 -1.24904376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.012239013432039876 Centerline is valid? [True, True] Translation: X:78.18, Y:-3.67, Z:-1.25 [[ 9.88122292e-01 1.53129928e-01 1.28670705e-02 7.81758285e+01] [-1.53119200e-01 9.88206049e-01 -1.82063874e-03 -3.66592994e+00] [-1.29941112e-02 -1.71181815e-04 9.99915558e-01 -1.25050351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.013049268220906629 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.67, Z:-1.25 [[ 9.87304388e-01 1.58267225e-01 1.34733161e-02 7.82378741e+01] [-1.58255890e-01 9.87396286e-01 -1.91011869e-03 -3.67179131e+00] [-1.36058115e-02 -2.46363071e-04 9.99907406e-01 -1.25158380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.013562460301866613 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.68, Z:-1.25 [[ 9.87044596e-01 1.59818342e-01 1.41796798e-02 7.82991302e+01] [-1.59805935e-01 9.87146402e-01 -2.01103550e-03 -3.68033299e+00] [-1.43188202e-02 -2.81015268e-04 9.99897441e-01 -1.25225299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.013718842944056498 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.69, Z:-1.25 [[ 9.87126103e-01 1.59330100e-01 1.39991589e-02 7.83596937e+01] [-1.59317908e-01 9.87225328e-01 -1.98898243e-03 -3.69044354e+00] [-1.41372290e-02 -2.66940237e-04 9.99900029e-01 -1.25379365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.012950177387148681 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.70, Z:-1.26 [[ 9.87540281e-01 1.56788788e-01 1.34710691e-02 7.84211021e+01] [-1.56777222e-01 9.87632132e-01 -1.91689654e-03 -3.70224254e+00] [-1.36050086e-02 -2.18944246e-04 9.99907424e-01 -1.25548185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.012182805669004117 Centerline is valid? [True, True] Translation: X:78.48, Y:-3.71, Z:-1.26 [[ 9.87908952e-01 1.54403543e-01 1.39803023e-02 7.84825804e+01] [-1.54390792e-01 9.88007849e-01 -1.99332184e-03 -3.71480315e+00] [-1.41204244e-02 -1.89209451e-04 9.99900284e-01 -1.25646041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.01166931612594941 Centerline is valid? [True, True] Translation: X:78.54, Y:-3.73, Z:-1.26 [[ 9.88462742e-01 1.50922915e-01 1.27938262e-02 7.85436541e+01] [-1.50911933e-01 9.88545526e-01 -1.82505212e-03 -3.73045870e+00] [-1.29227218e-02 -1.26745019e-04 9.99916490e-01 -1.25707161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.011476116811378117 Centerline is valid? [True, True] Translation: X:78.61, Y:-3.74, Z:-1.26 [[ 9.88690274e-01 1.49628569e-01 1.01406721e-02 7.86056968e+01] [-1.49621601e-01 9.88742274e-01 -1.44662355e-03 -3.74289531e+00] [-1.02429674e-02 -8.70009661e-05 9.99947536e-01 -1.26083630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.011416138894393283 Centerline is valid? [True, True] Translation: X:78.67, Y:-3.76, Z:-1.26 [[ 9.88773944e-01 1.49147777e-01 9.00161069e-03 7.86670385e+01] [-1.49142248e-01 9.88814915e-01 -1.28615441e-03 -3.75675637e+00] [-9.09275398e-03 -7.08044843e-05 9.99958658e-01 -1.26252166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.011961877670259788 Centerline is valid? [True, True] Translation: X:78.73, Y:-3.76, Z:-1.26 [[ 9.88385424e-01 1.51662199e-01 9.63485982e-03 7.87278941e+01] [-1.51655950e-01 9.88432379e-01 -1.38017751e-03 -3.76375402e+00] [-9.73272817e-03 -9.70364801e-05 9.99952631e-01 -1.26279830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.012429657590268971 Centerline is valid? [True, True] Translation: X:78.79, Y:-3.77, Z:-1.26 [[ 9.87701566e-01 1.56037768e-01 9.89098492e-03 7.87896133e+01] [-1.56031379e-01 9.87751079e-01 -1.41917293e-03 -3.77292924e+00] [-9.99127560e-03 -1.41584691e-04 9.99950076e-01 -1.26116331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.013272220438479363 Centerline is valid? [True, True] Translation: X:78.85, Y:-3.78, Z:-1.26 [[ 9.86944416e-01 1.60749709e-01 1.00125294e-02 7.88515193e+01] [-1.60743378e-01 9.86995185e-01 -1.43919533e-03 -3.77880325e+00] [-1.01136686e-02 -1.89042008e-04 9.99948838e-01 -1.26205749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.013769667787436799 Centerline is valid? [True, True] Translation: X:78.91, Y:-3.79, Z:-1.26 [[ 9.86763861e-01 1.61820697e-01 1.05425183e-02 7.89129586e+01] [-1.61813708e-01 9.86820155e-01 -1.51830234e-03 -3.78706491e+00] [-1.06492623e-02 -2.07718092e-04 9.99943273e-01 -1.26266011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.014284216586595636 Centerline is valid? [True, True] Translation: X:78.97, Y:-3.79, Z:-1.26 [[ 9.86334333e-01 1.64477470e-01 9.57838652e-03 7.89744466e+01] [-1.64471806e-01 9.86380817e-01 -1.38148205e-03 -3.79455252e+00] [-9.67515940e-03 -2.12771351e-04 9.99953172e-01 -1.26357212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.014574021048783957 Centerline is valid? [True, True] Translation: X:79.04, Y:-3.80, Z:-1.27 [[ 9.86440140e-01 1.63949063e-01 7.52023713e-03 7.90354401e+01] [-1.63945549e-01 9.86468792e-01 -1.08555387e-03 -3.80218328e+00] [-7.59645478e-03 -1.62075493e-04 9.99971133e-01 -1.26689331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.014535579580510029 Centerline is valid? [True, True] Translation: X:79.10, Y:-3.81, Z:-1.27 [[ 9.86534446e-01 1.63406917e-01 6.92583600e-03 7.90970071e+01] [-1.63403911e-01 9.86558746e-01 -1.00146681e-03 -3.81197561e+00] [-6.99639068e-03 -1.43727188e-04 9.99975515e-01 -1.26759545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.013457926128182373 Centerline is valid? [True, True] Translation: X:79.16, Y:-3.82, Z:-1.27 [[ 9.87211973e-01 1.59204176e-01 8.15787967e-03 7.91578077e+01] [-1.59199827e-01 9.87245670e-01 -1.18387336e-03 -3.82440872e+00] [-8.24230897e-03 -1.29999078e-04 9.99966023e-01 -1.26700001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.012172032052988769 Centerline is valid? [True, True] Translation: X:79.22, Y:-3.84, Z:-1.27 [[ 9.88083399e-01 1.53662006e-01 8.89858310e-03 7.92191197e+01] [-1.53656604e-01 9.88123464e-01 -1.29164840e-03 -3.83823912e+00] [-8.99137604e-03 -9.10697166e-05 9.99959573e-01 -1.26718585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.011608281040042714 Centerline is valid? [True, True] Translation: X:79.28, Y:-3.85, Z:-1.27 [[ 9.89103774e-01 1.46882616e-01 9.96103368e-03 7.92788688e+01] [-1.46875501e-01 9.89153929e-01 -1.44609228e-03 -3.85193086e+00] [-1.00654014e-02 -3.26964893e-05 9.99949342e-01 -1.26793655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.011576026497157076 Centerline is valid? [True, True] Translation: X:79.34, Y:-3.87, Z:-1.27 [[ 9.90000847e-01 1.40672865e-01 1.04626986e-02 7.93405231e+01] [-1.40664643e-01 9.90056132e-01 -1.52123299e-03 -3.86638251e+00] [-1.05726551e-02 3.42901791e-05 9.99944107e-01 -1.26741311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.012200221073734066 Centerline is valid? [True, True] Translation: X:79.40, Y:-3.88, Z:-1.27 [[ 9.90887059e-01 1.34243100e-01 1.10284852e-02 7.94013707e+01] [-1.34233527e-01 9.90948423e-01 -1.60705837e-03 -3.87719486e+00] [-1.11443965e-02 1.12020880e-04 9.99937893e-01 -1.26829630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.012412729765541244 Centerline is valid? [True, True] Translation: X:79.46, Y:-3.88, Z:-1.27 [[ 9.90989343e-01 1.33712840e-01 7.81010220e-03 7.94628667e+01] [-1.33708016e-01 9.91020115e-01 -1.13886327e-03 -3.88391390e+00] [-7.89224902e-03 8.43280938e-05 9.99968852e-01 -1.27277334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.01312331692074117 Centerline is valid? [True, True] Translation: X:79.52, Y:-3.89, Z:-1.28 [[ 9.91289263e-01 1.31529892e-01 6.74424350e-03 7.95234282e+01] [-1.31526236e-01 9.91312201e-01 -9.84767012e-04 -3.89053726e+00] [-6.81517717e-03 8.91440033e-05 9.99976772e-01 -1.27506158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.01312331692074117 Centerline is valid? [True, True] Translation: X:79.59, Y:-3.90, Z:-1.28 [[ 9.91253450e-01 1.31799527e-01 6.74408991e-03 7.95851734e+01] [-1.31795870e-01 9.91276388e-01 -9.85817397e-04 -3.89967149e+00] [-6.81518735e-03 8.83516970e-05 9.99976772e-01 -1.27607159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.013036481383473526 Centerline is valid? [True, True] Translation: X:79.65, Y:-3.91, Z:-1.28 [[ 9.91332823e-01 1.31151106e-01 7.65644970e-03 7.96475586e+01] [-1.31146352e-01 9.91362384e-01 -1.12188036e-03 -3.90681215e+00] [-7.73745208e-03 1.08041377e-04 9.99970060e-01 -1.27596137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.01254622522332418 Centerline is valid? [True, True] Translation: X:79.71, Y:-3.91, Z:-1.27 [[ 9.91132180e-01 1.32413947e-01 1.11152315e-02 7.97096622e+01] [-1.32403947e-01 9.91194494e-01 -1.63401656e-03 -3.91045585e+00] [-1.12337228e-02 1.47825878e-04 9.99936889e-01 -1.27405874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.012099683039272953 Centerline is valid? [True, True] Translation: X:79.77, Y:-3.91, Z:-1.28 [[ 9.90790980e-01 1.34980084e-01 1.06588632e-02 7.97716899e+01] [-1.34971010e-01 9.90848305e-01 -1.56939096e-03 -3.91462286e+00] [-1.07731531e-02 1.16300876e-04 9.99941961e-01 -1.27590547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.011870061626647 Centerline is valid? [True, True] Translation: X:79.83, Y:-3.92, Z:-1.28 [[ 9.90687886e-01 1.35766502e-01 1.02454943e-02 7.98341121e+01] [-1.35758138e-01 9.90740857e-01 -1.51068523e-03 -3.92175972e+00] [-1.03557303e-02 1.05708323e-04 9.99946372e-01 -1.27743509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.011978805703500647 Centerline is valid? [True, True] Translation: X:79.90, Y:-3.93, Z:-1.28 [[ 9.90562051e-01 1.36707828e-01 9.88905220e-03 7.98957058e+01] [-1.36700055e-01 9.90611407e-01 -1.46094721e-03 -3.92975129e+00] [-9.99593084e-03 9.53248822e-05 9.99950035e-01 -1.27952544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.011847371260497687 Centerline is valid? [True, True] Translation: X:79.96, Y:-3.94, Z:-1.28 [[ 9.90311783e-01 1.38589128e-01 8.69631566e-03 7.99587968e+01] [-1.38583174e-01 9.90349963e-01 -1.28643349e-03 -3.93576144e+00] [-8.79068158e-03 6.88072156e-05 9.99961359e-01 -1.28153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.011716708346014394 Centerline is valid? [True, True] Translation: X:80.02, Y:-3.94, Z:-1.28 [[ 9.90169641e-01 1.39653709e-01 7.80530259e-03 8.00214228e+01] [-1.39648933e-01 9.90200403e-01 -1.15633740e-03 -3.94306489e+00] [-7.89030058e-03 5.49680168e-05 9.99968870e-01 -1.28320950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.011593743922585982 Centerline is valid? [True, True] Translation: X:80.08, Y:-3.95, Z:-1.28 [[ 9.90101207e-01 1.40165104e-01 7.30365155e-03 8.00834813e+01] [-1.40160923e-01 9.90128144e-01 -1.08371857e-03 -3.95078346e+00] [-7.38345048e-03 4.93045244e-05 9.99972741e-01 -1.28442154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.011675742736330248 Centerline is valid? [True, True] Translation: X:80.15, Y:-3.96, Z:-1.29 [[ 9.90096892e-01 1.40161662e-01 7.92795012e-03 8.01459331e+01] [-1.40156714e-01 9.90128631e-01 -1.17905377e-03 -3.95950948e+00] [-8.01494853e-03 5.62220356e-05 9.99967878e-01 -1.28591513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.011943591382010434 Centerline is valid? [True, True] Translation: X:80.21, Y:-3.97, Z:-1.29 [[ 9.90105115e-01 1.40140694e-01 7.24199555e-03 8.02073541e+01] [-1.40136551e-01 9.90131599e-01 -1.07889677e-03 -3.96922303e+00] [-7.32172597e-03 5.33529314e-05 9.99973194e-01 -1.28754793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.011901619961392575 Centerline is valid? [True, True] Translation: X:80.27, Y:-3.98, Z:-1.29 [[ 9.90057598e-01 1.40509162e-01 6.56722399e-03 8.02697558e+01] [-1.40505756e-01 9.90079377e-01 -9.79505106e-04 -3.97825321e+00] [-6.63970248e-03 4.70337004e-05 9.99977956e-01 -1.28878224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.012008265336256927 Centerline is valid? [True, True] Translation: X:80.33, Y:-3.99, Z:-1.29 [[ 9.90026554e-01 1.40719559e-01 6.73999051e-03 8.03322614e+01] [-1.40715962e-01 9.90049495e-01 -1.00731933e-03 -3.98717213e+00] [-6.81467373e-03 4.88486341e-05 9.99976779e-01 -1.29010886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.012406771966152103 Centerline is valid? [True, True] Translation: X:80.39, Y:-4.00, Z:-1.29 [[ 9.90383691e-01 1.38191973e-01 6.56684735e-03 8.03930355e+01] [-1.38188489e-01 9.90405460e-01 -9.83503949e-04 -3.99772770e+00] [-6.63975382e-03 6.65835585e-05 9.99977954e-01 -1.29092691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.013673660137557206 Centerline is valid? [True, True] Translation: X:80.45, Y:-4.01, Z:-1.29 [[ 9.91134803e-01 1.32658218e-01 7.32114684e-03 8.04537464e+01] [-1.32653719e-01 9.91161835e-01 -1.09883621e-03 -4.01161360e+00] [-7.40221099e-03 1.17917453e-04 9.99972596e-01 -1.29146282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.01451682008261454 Centerline is valid? [True, True] Translation: X:80.51, Y:-4.02, Z:-1.29 [[ 9.91708420e-01 1.28250916e-01 8.13092726e-03 8.05146193e+01] [-1.28245188e-01 9.91741737e-01 -1.22408259e-03 -4.02345657e+00] [-8.22076964e-03 1.71180716e-04 9.99966194e-01 -1.29153097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.015452930092706199 Centerline is valid? [True, True] Translation: X:80.58, Y:-4.03, Z:-1.29 [[ 9.92154607e-01 1.24733033e-01 8.42056276e-03 8.05751052e+01] [-1.24726768e-01 9.92190318e-01 -1.26711384e-03 -4.03472396e+00] [-8.51285179e-03 2.06903257e-04 9.99963744e-01 -1.29239164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.017778806006245054 Centerline is valid? [True, True] Translation: X:80.63, Y:-4.05, Z:-1.29 [[ 9.92529544e-01 1.21740708e-01 8.01903713e-03 8.06347410e+01] [-1.21734915e-01 9.92561913e-01 -1.20840361e-03 -4.04783605e+00] [-8.10650275e-03 2.23179481e-04 9.99967117e-01 -1.29470150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.01824538108876082 Centerline is valid? [True, True] Translation: X:80.70, Y:-4.06, Z:-1.30 [[ 9.92516062e-01 1.21863017e-01 7.82761777e-03 8.06971328e+01] [-1.21857491e-01 9.92546904e-01 -1.18090288e-03 -4.05770873e+00] [-7.91318618e-03 2.18211212e-04 9.99968666e-01 -1.29643935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.01534687633722775 Centerline is valid? [True, True] Translation: X:80.76, Y:-4.06, Z:-1.30 [[ 9.92214028e-01 1.24261380e-01 8.39241730e-03 8.07599951e+01] [-1.24255079e-01 9.92249496e-01 -1.27006906e-03 -4.06109825e+00] [-8.48519237e-03 2.17379858e-04 9.99963976e-01 -1.29708866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.015106536104952122 Centerline is valid? [True, True] Translation: X:80.82, Y:-4.07, Z:-1.30 [[ 9.91817816e-01 1.27351540e-01 8.88849689e-03 8.08206863e+01] [-1.27344592e-01 9.91857623e-01 -1.34566190e-03 -4.06880448e+00] [-8.98749551e-03 2.02749435e-04 9.99959591e-01 -1.29855004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.013938811732722297 Centerline is valid? [True, True] Translation: X:80.88, Y:-4.08, Z:-1.30 [[ 9.91339226e-01 1.30942596e-01 1.00287438e-02 8.08826204e+01] [-1.30933923e-01 9.91389933e-01 -1.51937750e-03 -4.07520451e+00] [-1.01413469e-02 1.93115749e-04 9.99948557e-01 -1.29894817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.012756174911904956 Centerline is valid? [True, True] Translation: X:80.94, Y:-4.08, Z:-1.30 [[ 9.90599892e-01 1.36426134e-01 9.98816092e-03 8.09441022e+01] [-1.36417771e-01 9.90650236e-01 -1.51699748e-03 -4.07967995e+00] [-1.01017321e-02 1.40174885e-04 9.99948966e-01 -1.30036187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.011886151064301851 Centerline is valid? [True, True] Translation: X:81.01, Y:-4.08, Z:-1.30 [[ 9.89879833e-01 1.41593221e-01 9.44864278e-03 8.10064134e+01] [-1.41585984e-01 9.89924923e-01 -1.43393979e-03 -4.08451673e+00] [-9.55648313e-03 8.16326932e-05 9.99954332e-01 -1.30250028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.011786135013019065 Centerline is valid? [True, True] Translation: X:81.07, Y:-4.09, Z:-1.30 [[ 9.89583705e-01 1.43592156e-01 1.02656474e-02 8.10680242e+01] [-1.43583690e-01 9.89636947e-01 -1.56090039e-03 -4.09232942e+00] [-1.03833970e-02 7.06620522e-05 9.99946089e-01 -1.30343218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.011832429590464948 Centerline is valid? [True, True] Translation: X:81.13, Y:-4.10, Z:-1.30 [[ 9.89541594e-01 1.43870673e-01 1.04242052e-02 8.11299871e+01] [-1.43861931e-01 9.89596496e-01 -1.58753905e-03 -4.10154071e+00] [-1.05441572e-02 7.12896332e-05 9.99944406e-01 -1.30453118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.012278783027619965 Centerline is valid? [True, True] Translation: X:81.19, Y:-4.11, Z:-1.31 [[ 9.89995986e-01 1.40667239e-01 1.09852666e-02 8.11913698e+01] [-1.40657294e-01 9.90056925e-01 -1.67656597e-03 -4.11286084e+00] [-1.11118772e-02 1.14635702e-04 9.99938255e-01 -1.30578045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.012696879108686722 Centerline is valid? [True, True] Translation: X:81.25, Y:-4.12, Z:-1.31 [[ 9.90439523e-01 1.37474631e-01 1.14138999e-02 8.12527697e+01] [-1.37463648e-01 9.90505275e-01 -1.74497262e-03 -4.12421683e+00] [-1.15454176e-02 1.59293520e-04 9.99933337e-01 -1.30678351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.013788187729723301 Centerline is valid? [True, True] Translation: X:81.31, Y:-4.14, Z:-1.31 [[ 9.90982090e-01 1.33440550e-01 1.21703169e-02 8.13139665e+01] [-1.33427718e-01 9.91056794e-01 -1.86398490e-03 -4.13634551e+00] [-1.23102065e-02 2.23318036e-04 9.99924202e-01 -1.30765025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.015118058495909614 Centerline is valid? [True, True] Translation: X:81.37, Y:-4.15, Z:-1.31 [[ 9.91559856e-01 1.28975429e-01 1.32057135e-02 8.13749412e+01] [-1.28959868e-01 9.91647742e-01 -2.02671087e-03 -4.14843282e+00] [-1.33568118e-02 3.06598066e-04 9.99910747e-01 -1.30836923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.016917447124524546 Centerline is valid? [True, True] Translation: X:81.43, Y:-4.16, Z:-1.31 [[ 9.92248499e-01 1.23522284e-01 1.36073973e-02 8.14345373e+01] [-1.23505234e-01 9.92341721e-01 -2.08948901e-03 -4.16042924e+00] [-1.37612865e-02 3.92707559e-04 9.99905232e-01 -1.30982780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.017047162835882246 Centerline is valid? [True, True] Translation: X:81.50, Y:-4.17, Z:-1.31 [[ 9.92557005e-01 1.21114092e-01 1.27267164e-02 8.14963302e+01] [-1.21098980e-01 9.92638513e-01 -1.95428573e-03 -4.16912671e+00] [-1.28697204e-02 3.98547606e-04 9.99917102e-01 -1.31160734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.017479335641954235 Centerline is valid? [True, True] Translation: X:81.56, Y:-4.18, Z:-1.31 [[ 9.92731604e-01 1.19714874e-01 1.23414180e-02 8.15580844e+01] [-1.19700552e-01 9.92808232e-01 -1.89532191e-03 -4.17733845e+00] [-1.24795596e-02 4.04271408e-04 9.99922046e-01 -1.31383695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.017755099079086515 Centerline is valid? [True, True] Translation: X:81.62, Y:-4.19, Z:-1.32 [[ 9.92723804e-01 1.19735180e-01 1.27646065e-02 8.16207570e+01] [-1.19719819e-01 9.92805776e-01 -1.96354739e-03 -4.18538446e+00] [-1.29078808e-02 4.21083853e-04 9.99916601e-01 -1.31513045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.017081259797328552 Centerline is valid? [True, True] Translation: X:81.68, Y:-4.19, Z:-1.31 [[ 9.92550930e-01 1.20962825e-01 1.45136568e-02 8.16830126e+01] [-1.20943026e-01 9.92656929e-01 -2.23742647e-03 -4.19125451e+00] [-1.46777274e-02 4.65434153e-04 9.99892168e-01 -1.31460896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.01653263129444018 Centerline is valid? [True, True] Translation: X:81.74, Y:-4.20, Z:-1.32 [[ 9.92277257e-01 1.23154141e-01 1.47953377e-02 8.17447435e+01] [-1.23133752e-01 9.92387454e-01 -2.28465701e-03 -4.19695951e+00] [-1.49640724e-02 4.45207749e-04 9.99887933e-01 -1.31577527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.015443680943760654 Centerline is valid? [True, True] Translation: X:81.81, Y:-4.20, Z:-1.32 [[ 9.91550236e-01 1.28906429e-01 1.45348908e-02 8.18066632e+01] [-1.28887312e-01 9.91656698e-01 -2.24831586e-03 -4.20079616e+00] [-1.47034442e-02 3.55955118e-04 9.99891835e-01 -1.31808032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.013713957390199039 Centerline is valid? [True, True] Translation: X:81.87, Y:-4.20, Z:-1.32 [[ 9.90600272e-01 1.36096668e-01 1.37403484e-02 8.18685415e+01] [-1.36080265e-01 9.90695534e-01 -2.12613540e-03 -4.20273239e+00] [-1.39018617e-02 2.36360050e-04 9.99903337e-01 -1.32059653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.012707008103755644 Centerline is valid? [True, True] Translation: X:81.93, Y:-4.21, Z:-1.32 [[ 9.89937388e-01 1.40979757e-01 1.21932613e-02 8.19308643e+01] [-1.40967215e-01 9.90012468e-01 -1.88629727e-03 -4.20710382e+00] [-1.23374104e-02 1.48466101e-04 9.99923880e-01 -1.32261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.012251118741188559 Centerline is valid? [True, True] Translation: X:81.99, Y:-4.21, Z:-1.32 [[ 9.89262538e-01 1.45638975e-01 1.22032367e-02 8.19921381e+01] [-1.45626728e-01 9.89337799e-01 -1.89100633e-03 -4.21270362e+00] [-1.23485275e-02 9.35842961e-05 9.99923750e-01 -1.32421574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.012229993089095892 Centerline is valid? [True, True] Translation: X:82.05, Y:-4.22, Z:-1.32 [[ 9.89097562e-01 1.46749894e-01 1.22670661e-02 8.20542536e+01] [-1.46737570e-01 9.89173626e-01 -1.90360636e-03 -4.22122815e+00] [-1.24136123e-02 8.28129323e-05 9.99922945e-01 -1.32490147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.01227925528078812 Centerline is valid? [True, True] Translation: X:82.12, Y:-4.23, Z:-1.33 [[ 9.89468467e-01 1.44252512e-01 1.19735453e-02 8.21154613e+01] [-1.44240549e-01 9.89540904e-01 -1.86124534e-03 -4.23057481e+00] [-1.21168022e-02 1.14572817e-04 9.99926582e-01 -1.32582007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.012886330926711563 Centerline is valid? [True, True] Translation: X:82.18, Y:-4.24, Z:-1.33 [[ 9.89952117e-01 1.40933150e-01 1.15175178e-02 8.21765796e+01] [-1.40921825e-01 9.90019103e-01 -1.79307786e-03 -4.24193766e+00] [-1.16552667e-02 1.51991602e-04 9.99932064e-01 -1.32644224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.014419032016920673 Centerline is valid? [True, True] Translation: X:82.24, Y:-4.25, Z:-1.33 [[ 9.90778649e-01 1.35039261e-01 1.10483394e-02 8.22373950e+01] [-1.35028434e-01 9.90840225e-01 -1.72351756e-03 -4.25477882e+00] [-1.11798816e-02 2.15784436e-04 9.99937480e-01 -1.32716758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.014567493268855893 Centerline is valid? [True, True] Translation: X:82.30, Y:-4.26, Z:-1.33 [[ 9.91085740e-01 1.32850998e-01 9.98337944e-03 8.22991787e+01] [-1.32842052e-01 9.91135997e-01 -1.55689189e-03 -4.26414225e+00] [-1.01017214e-02 2.16800743e-04 9.99948953e-01 -1.32862607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.015469189795959265 Centerline is valid? [True, True] Translation: X:82.36, Y:-4.27, Z:-1.33 [[ 9.91251122e-01 1.31695882e-01 8.79821002e-03 8.23593314e+01] [-1.31688865e-01 9.91290146e-01 -1.37467475e-03 -4.27351188e+00] [-8.90261789e-03 2.04021599e-04 9.99960350e-01 -1.33116699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.01486891179964821 Centerline is valid? [True, True] Translation: X:82.42, Y:-4.28, Z:-1.33 [[ 9.91194122e-01 1.32183968e-01 7.84931796e-03 8.24214153e+01] [-1.32178402e-01 9.91225185e-01 -1.22596568e-03 -4.28066574e+00] [-7.94249465e-03 1.77659670e-04 9.99968442e-01 -1.33220630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.01533430354145998 Centerline is valid? [True, True] Translation: X:82.48, Y:-4.29, Z:-1.33 [[ 9.91097372e-01 1.32904067e-01 7.90616488e-03 8.24818878e+01] [-1.32898420e-01 9.91128891e-01 -1.23764463e-03 -4.29052557e+00] [-8.00051643e-03 1.75909521e-04 9.99967980e-01 -1.33342943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.014478796953909258 Centerline is valid? [True, True] Translation: X:82.54, Y:-4.30, Z:-1.33 [[ 9.90830070e-01 1.34788526e-01 9.37155712e-03 8.25433605e+01] [-1.34780651e-01 9.90874369e-01 -1.46977131e-03 -4.29843266e+00] [-9.48414406e-03 1.93189045e-04 9.99955006e-01 -1.33282310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.013983352682768053 Centerline is valid? [True, True] Translation: X:82.61, Y:-4.31, Z:-1.33 [[ 9.90435083e-01 1.37596748e-01 1.02703964e-02 8.26052094e+01] [-1.37587410e-01 9.90488314e-01 -1.61371803e-03 -4.30664167e+00] [-1.03947500e-02 1.85205711e-04 9.99945956e-01 -1.33340871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.012836320323811753 Centerline is valid? [True, True] Translation: X:82.67, Y:-4.31, Z:-1.33 [[ 9.89582623e-01 1.43552703e-01 1.09020132e-02 8.26663309e+01] [-1.43542496e-01 9.89642665e-01 -1.71700851e-03 -4.31186769e+00] [-1.10355787e-02 1.34219587e-04 9.99939097e-01 -1.33459335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.011814478728065639 Centerline is valid? [True, True] Translation: X:82.73, Y:-4.32, Z:-1.34 [[ 9.88466321e-01 1.51011211e-01 1.13994067e-02 8.27291205e+01] [-1.51000546e-01 9.88532049e-01 -1.79552264e-03 -4.31510563e+00] [-1.15398229e-02 5.34970245e-05 9.99933413e-01 -1.33545877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.011670750453882677 Centerline is valid? [True, True] Translation: X:82.79, Y:-4.32, Z:-1.34 [[ 9.87716946e-01 1.55873087e-01 1.09002561e-02 8.27902871e+01] [-1.55863629e-01 9.87777091e-01 -1.71711186e-03 -4.32134872e+00] [-1.10346748e-02 -2.93299788e-06 9.99939116e-01 -1.33720490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.011813511682123894 Centerline is valid? [True, True] Translation: X:82.85, Y:-4.33, Z:-1.34 [[ 9.87009593e-01 1.60357383e-01 9.87789117e-03 8.28516968e+01] [-1.60349823e-01 9.87059019e-01 -1.55786412e-03 -4.32829742e+00] [-9.99987658e-03 -4.62912690e-05 9.99949999e-01 -1.33867364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.01187954603022651 Centerline is valid? [True, True] Translation: X:82.91, Y:-4.34, Z:-1.34 [[ 9.86946535e-01 1.60719332e-01 1.02875715e-02 8.29124402e+01] [-1.60711123e-01 9.87000149e-01 -1.62518895e-03 -4.33824676e+00] [-1.04150339e-02 -4.93525583e-05 9.99945761e-01 -1.34028042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.011755467983804115 Centerline is valid? [True, True] Translation: X:82.97, Y:-4.35, Z:-1.34 [[ 9.87443847e-01 1.57606373e-01 1.07181852e-02 8.29736084e+01] [-1.57597234e-01 9.87502016e-01 -1.69722724e-03 -4.35243100e+00] [-1.08517234e-02 -1.32397522e-05 9.99941118e-01 -1.34019849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.011744991457019216 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.37, Z:-1.34 [[ 9.87859979e-01 1.54979706e-01 1.06748185e-02 8.30349398e+01] [-1.54970489e-01 9.87917654e-01 -1.69029178e-03 -4.36605100e+00] [-1.08078026e-02 1.54897587e-05 9.99941594e-01 -1.34100197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.011942516695738759 Centerline is valid? [True, True] Translation: X:83.10, Y:-4.38, Z:-1.34 [[ 9.88400442e-01 1.51532296e-01 1.01256969e-02 8.30953943e+01] [-1.51523792e-01 9.88452306e-01 -1.60621516e-03 -4.38046218e+00] [-1.02521619e-02 5.32997951e-05 9.99947444e-01 -1.34241612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.012206547178368336 Centerline is valid? [True, True] Translation: X:83.16, Y:-4.39, Z:-1.34 [[ 9.88579065e-01 1.50393702e-01 9.65227976e-03 8.31567571e+01] [-1.50385901e-01 9.88626183e-01 -1.53315540e-03 -4.39331534e+00] [-9.77307341e-03 6.40785425e-05 9.99952240e-01 -1.34393276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.012209775014467981 Centerline is valid? [True, True] Translation: X:83.22, Y:-4.40, Z:-1.35 [[ 9.88567234e-01 1.50498759e-01 9.21673293e-03 8.32183913e+01] [-1.50491629e-01 9.88610196e-01 -1.46637566e-03 -4.40420474e+00] [-9.33244386e-03 6.25697793e-05 9.99956450e-01 -1.34507881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.012090465345822182 Centerline is valid? [True, True] Translation: X:83.28, Y:-4.42, Z:-1.35 [[ 9.88417693e-01 1.51558720e-01 7.77291020e-03 8.32796748e+01] [-1.51553669e-01 9.88448255e-01 -1.23817775e-03 -4.41653750e+00] [-7.87077615e-03 4.58237377e-05 9.99969024e-01 -1.34581783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.012077896291286258 Centerline is valid? [True, True] Translation: X:83.34, Y:-4.43, Z:-1.35 [[ 9.87981815e-01 1.54435034e-01 6.46171738e-03 8.33405704e+01] [-1.54431596e-01 9.88002945e-01 -1.03062635e-03 -4.42727083e+00] [-6.54336061e-03 2.03467635e-05 9.99978592e-01 -1.34811037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.011793370741775106 Centerline is valid? [True, True] Translation: X:83.40, Y:-4.44, Z:-1.35 [[ 9.87629940e-01 1.56669385e-01 6.46573749e-03 8.34026783e+01] [-1.56665980e-01 9.87651104e-01 -1.03280761e-03 -4.43735662e+00] [-6.54770211e-03 7.07061597e-06 9.99978564e-01 -1.34927377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.01173085171117746 Centerline is valid? [True, True] Translation: X:83.46, Y:-4.45, Z:-1.35 [[ 9.86794832e-01 1.61815569e-01 7.18896101e-03 8.34648639e+01] [-1.61811478e-01 9.86821018e-01 -1.15095036e-03 -4.44843982e+00] [-7.28045950e-03 -2.75045373e-05 9.99973497e-01 -1.34937298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.011936368512666185 Centerline is valid? [True, True] Translation: X:83.53, Y:-4.46, Z:-1.35 [[ 9.86560861e-01 1.63234654e-01 7.21906472e-03 8.35260331e+01] [-1.63230549e-01 9.86587273e-01 -1.15807343e-03 -4.45821442e+00] [-7.31127509e-03 -3.58619776e-05 9.99973272e-01 -1.35060677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.012032138359656426 Centerline is valid? [True, True] Translation: X:83.59, Y:-4.47, Z:-1.35 [[ 9.86004009e-01 1.66513168e-01 8.33416770e-03 8.35880932e+01] [-1.66507792e-01 9.86039229e-01 -1.33964081e-03 -4.46995543e+00] [-8.44088412e-03 -6.68126572e-05 9.99964373e-01 -1.35047742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.01219625116738266 Centerline is valid? [True, True] Translation: X:83.65, Y:-4.48, Z:-1.35 [[ 9.85573319e-01 1.68992691e-01 9.31146461e-03 8.36501648e+01] [-1.68986061e-01 9.85617300e-01 -1.50000271e-03 -4.48302290e+00] [-9.43103010e-03 -9.51450795e-05 9.99955522e-01 -1.35090111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.012626658822847166 Centerline is valid? [True, True] Translation: X:83.71, Y:-4.49, Z:-1.35 [[ 9.85282589e-01 1.70716409e-01 8.60974669e-03 8.37101531e+01] [-1.70710783e-01 9.85320200e-01 -1.38960910e-03 -4.49391230e+00] [-8.72058642e-03 -1.00618946e-04 9.99961970e-01 -1.35286536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.01318455209673246 Centerline is valid? [True, True] Translation: X:83.77, Y:-4.51, Z:-1.36 [[ 9.84680803e-01 1.74217334e-01 7.21368041e-03 8.37713264e+01] [-1.74213472e-01 9.84707220e-01 -1.16524362e-03 -4.50554655e+00] [-7.30636882e-03 -1.09327285e-04 9.99973302e-01 -1.35562651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.01381693314645164 Centerline is valid? [True, True] Translation: X:83.83, Y:-4.52, Z:-1.36 [[ 9.84218389e-01 1.76815284e-01 7.10758021e-03 8.38326494e+01] [-1.76811589e-01 9.84244045e-01 -1.14986016e-03 -4.51638786e+00] [-7.19890634e-03 -1.24989035e-04 9.99974080e-01 -1.35725353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.01424205731321118 Centerline is valid? [True, True] Translation: X:83.89, Y:-4.53, Z:-1.36 [[ 9.83741089e-01 1.79430073e-01 7.63667513e-03 8.38937494e+01] [-1.79425870e-01 9.83770718e-01 -1.23765527e-03 -4.52979156e+00] [-7.73480995e-03 -1.52684733e-04 9.99970074e-01 -1.35843780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.014579073469324027 Centerline is valid? [True, True] Translation: X:83.95, Y:-4.54, Z:-1.36 [[ 9.83575980e-01 1.80339176e-01 7.48825030e-03 8.39546911e+01] [-1.80335146e-01 9.83604472e-01 -1.21546737e-03 -4.54252699e+00] [-7.58467287e-03 -1.54890204e-04 9.99971224e-01 -1.35980435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.014782547312680777 Centerline is valid? [True, True] Translation: X:84.02, Y:-4.56, Z:-1.36 [[ 9.83392549e-01 1.81291916e-01 8.50500508e-03 8.40162099e+01] [-1.81286733e-01 9.83429310e-01 -1.38292676e-03 -4.55756398e+00] [-8.61478472e-03 -1.81884715e-04 9.99962876e-01 -1.36067697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.014794894526338535 Centerline is valid? [True, True] Translation: X:84.08, Y:-4.57, Z:-1.36 [[ 9.83325302e-01 1.81628392e-01 9.08168960e-03 8.40781136e+01] [-1.81622469e-01 9.83367220e-01 -1.47965305e-03 -4.57084988e+00] [-9.19938286e-03 -1.94458611e-04 9.99957666e-01 -1.36133156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.014441060026879062 Centerline is valid? [True, True] Translation: X:84.14, Y:-4.59, Z:-1.36 [[ 9.83485226e-01 1.80727456e-01 9.71578110e-03 8.41382923e+01] [-1.80720600e-01 9.83533196e-01 -1.58633144e-03 -4.58606623e+00] [-9.84248689e-03 -1.95708262e-04 9.99951542e-01 -1.36150361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.014364126659222688 Centerline is valid? [True, True] Translation: X:84.20, Y:-4.60, Z:-1.36 [[ 9.83820036e-01 1.78892264e-01 9.78237070e-03 8.41979523e+01] [-1.78885191e-01 9.83868653e-01 -1.60042770e-03 -4.60085569e+00] [-9.91087202e-03 -1.75388413e-04 9.99950871e-01 -1.36170806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.014111192008966673 Centerline is valid? [True, True] Translation: X:84.26, Y:-4.61, Z:-1.36 [[ 9.84021541e-01 1.77773494e-01 9.90914879e-03 8.42595521e+01] [-1.77766162e-01 9.84071419e-01 -1.62297235e-03 -4.61229270e+00] [-1.00398316e-02 -1.64471599e-04 9.99949586e-01 -1.36247595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.013927692312014026 Centerline is valid? [True, True] Translation: X:84.32, Y:-4.62, Z:-1.36 [[ 9.84039732e-01 1.77684641e-01 9.69400870e-03 8.43217280e+01] [-1.77677624e-01 9.84087467e-01 -1.58732296e-03 -4.62052504e+00] [-9.82179537e-03 -1.60419564e-04 9.99951752e-01 -1.36390402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.013675485290092342 Centerline is valid? [True, True] Translation: X:84.38, Y:-4.63, Z:-1.37 [[ 9.84165495e-01 1.76999386e-01 9.46023441e-03 8.43828378e+01] [-1.76992644e-01 9.84210951e-01 -1.55188458e-03 -4.62980448e+00] [-9.58554892e-03 -1.47080644e-04 9.99954047e-01 -1.36504872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.01342475874251518 Centerline is valid? [True, True] Translation: X:84.44, Y:-4.64, Z:-1.37 [[ 9.84587844e-01 1.74616376e-01 9.79275845e-03 8.44431421e+01] [-1.74609006e-01 9.84636535e-01 -1.60919936e-03 -4.64051996e+00] [-9.92330031e-03 -1.25505689e-04 9.99950755e-01 -1.36600850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.012459133583010852 Centerline is valid? [True, True] Translation: X:84.50, Y:-4.66, Z:-1.37 [[ 9.85588196e-01 1.68879862e-01 9.77238063e-03 8.45033162e+01] [-1.68872219e-01 9.85636641e-01 -1.60800621e-03 -4.65527213e+00] [-9.90357628e-03 -6.54516653e-05 9.99950956e-01 -1.36635720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.01229145284019057 Centerline is valid? [True, True] Translation: X:84.56, Y:-4.67, Z:-1.37 [[ 9.86719646e-01 1.62179410e-01 9.06531861e-03 8.45635178e+01] [-1.62172532e-01 9.86761288e-01 -1.49364130e-03 -4.66874080e+00] [-9.18754333e-03 3.65953654e-06 9.99957794e-01 -1.36850814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.012662176197083708 Centerline is valid? [True, True] Translation: X:84.62, Y:-4.68, Z:-1.37 [[ 9.87494989e-01 1.57457222e-01 7.80187958e-03 8.46240086e+01] [-1.57451969e-01 9.87525808e-01 -1.28687614e-03 -4.68138741e+00] [-7.90718538e-03 4.23624353e-05 9.99968737e-01 -1.37053337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.013664748188045882 Centerline is valid? [True, True] Translation: X:84.68, Y:-4.70, Z:-1.37 [[ 9.88683996e-01 1.49807335e-01 7.85616529e-03 8.46840028e+01] [-1.49801750e-01 9.88715202e-01 -1.29790826e-03 -4.69614357e+00] [-7.96194623e-03 1.06353810e-04 9.99968298e-01 -1.36954170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.014506348763116652 Centerline is valid? [True, True] Translation: X:84.75, Y:-4.71, Z:-1.37 [[ 9.89217670e-01 1.46199252e-01 8.61284038e-03 8.47452130e+01] [-1.46192383e-01 9.89255152e-01 -1.42517854e-03 -4.70858433e+00] [-8.72865676e-03 1.50680137e-04 9.99961893e-01 -1.36887131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.014882075976426386 Centerline is valid? [True, True] Translation: X:84.81, Y:-4.72, Z:-1.37 [[ 9.89629525e-01 1.43299699e-01 9.92975818e-03 8.48062215e+01] [-1.43290392e-01 9.89679319e-01 -1.64616073e-03 -4.71857956e+00] [-1.00631707e-02 2.06250318e-04 9.99949344e-01 -1.36814266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.01546305737289009 Centerline is valid? [True, True] Translation: X:84.87, Y:-4.73, Z:-1.37 [[ 9.89743554e-01 1.42553954e-01 9.27729116e-03 8.48666256e+01] [-1.42545776e-01 9.89787012e-01 -1.54023265e-03 -4.72874395e+00] [-9.40210855e-03 2.01996674e-04 9.99955779e-01 -1.36910548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.015240157413953436 Centerline is valid? [True, True] Translation: X:84.93, Y:-4.74, Z:-1.37 [[ 9.89602809e-01 1.43596035e-01 8.15224077e-03 8.49289465e+01] [-1.43589747e-01 9.89636373e-01 -1.35447881e-03 -4.73631077e+00] [-8.26225177e-03 1.69817838e-04 9.99965853e-01 -1.37055269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.01474357635523258 Centerline is valid? [True, True] Translation: X:84.99, Y:-4.74, Z:-1.37 [[ 9.89344183e-01 1.45354953e-01 8.36810412e-03 8.49907163e+01] [-1.45348367e-01 9.89379559e-01 -1.39312293e-03 -4.74468526e+00] [-8.48172848e-03 1.61987797e-04 9.99964016e-01 -1.37096813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.014449873069789506 Centerline is valid? [True, True] Translation: X:85.05, Y:-4.75, Z:-1.37 [[ 9.88852153e-01 1.48653367e-01 8.57883549e-03 8.50514263e+01] [-1.48646542e-01 9.88889355e-01 -1.43124490e-03 -4.75279919e+00] [-8.69627847e-03 1.40075361e-04 9.99962177e-01 -1.37170572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.01334801520812545 Centerline is valid? [True, True] Translation: X:85.11, Y:-4.76, Z:-1.37 [[ 9.88356688e-01 1.51934543e-01 8.18235559e-03 8.51129582e+01] [-1.51928446e-01 9.88390552e-01 -1.36531097e-03 -4.75926678e+00] [-8.29480086e-03 1.06281662e-04 9.99965592e-01 -1.37296696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.012643652491079321 Centerline is valid? [True, True] Translation: X:85.17, Y:-4.77, Z:-1.37 [[ 9.87850881e-01 1.55219181e-01 7.59225810e-03 8.51749956e+01] [-1.55214017e-01 9.87880054e-01 -1.26841071e-03 -4.76644271e+00] [-7.69712201e-03 7.45757585e-05 9.99970374e-01 -1.37488151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.012342427262744001 Centerline is valid? [True, True] Translation: X:85.24, Y:-4.77, Z:-1.38 [[ 9.87286504e-01 1.58818983e-01 6.47215282e-03 8.52351448e+01] [-1.58815293e-01 9.87307717e-01 -1.08337908e-03 -4.77458437e+00] [-6.56206759e-03 4.17286948e-05 9.99978469e-01 -1.37681444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.011931430781750846 Centerline is valid? [True, True] Translation: X:85.30, Y:-4.78, Z:-1.38 [[ 9.86347973e-01 1.64559716e-01 6.14622898e-03 8.52967164e+01] [-1.64556501e-01 9.86367122e-01 -1.02854366e-03 -4.78091206e+00] [-6.23169505e-03 3.10001912e-06 9.99980583e-01 -1.37874799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.012035046952316667 Centerline is valid? [True, True] Translation: X:85.36, Y:-4.79, Z:-1.38 [[ 9.85729585e-01 1.68244265e-01 5.57248388e-03 8.53593118e+01] [-1.68241677e-01 9.85745336e-01 -9.33204535e-04 -4.79000957e+00] [-5.65005631e-03 -1.76367165e-05 9.99984038e-01 -1.38026557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.012420428665733405 Centerline is valid? [True, True] Translation: X:85.42, Y:-4.80, Z:-1.38 [[ 9.85070714e-01 1.72063813e-01 5.45276928e-03 8.54202261e+01] [-1.72061383e-01 9.85085805e-01 -9.15199460e-04 -4.79799610e+00] [-5.52891833e-03 -3.66748385e-05 9.99984715e-01 -1.38302628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.012364070912963212 Centerline is valid? [True, True] Translation: X:85.48, Y:-4.81, Z:-1.38 [[ 9.84818142e-01 1.73504710e-01 5.41695479e-03 8.54821759e+01] [-1.73502331e-01 9.84833038e-01 -9.09749459e-04 -4.80957629e+00] [-5.49264186e-03 -4.39165083e-05 9.99984914e-01 -1.38306116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.012410086501196446 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.82, Z:-1.38 [[ 9.84998458e-01 1.72463699e-01 5.85753098e-03 8.55421346e+01] [-1.72460877e-01 9.85015874e-01 -9.87276667e-04 -4.82150461e+00] [-5.94003038e-03 -3.77289335e-05 9.99982357e-01 -1.38435839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.0119078289253026 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.84, Z:-1.38 [[ 9.86035134e-01 1.66413640e-01 6.41991532e-03 8.56020410e+01] [-1.66410122e-01 9.86056033e-01 -1.08208974e-03 -4.83995934e+00] [-6.51047072e-03 -1.36038591e-06 9.99978807e-01 -1.38335034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.012428848843860392 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.86, Z:-1.38 [[ 9.87074396e-01 1.60170921e-01 5.42331396e-03 8.56616943e+01] [-1.60168310e-01 9.87089294e-01 -9.15080183e-04 -4.85668147e+00] [-5.49986439e-03 3.46091848e-05 9.99984875e-01 -1.38430621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.012987012002051202 Centerline is valid? [True, True] Translation: X:85.72, Y:-4.87, Z:-1.39 [[ 9.87646433e-01 1.56580557e-01 6.08711158e-03 8.57224617e+01] [-1.56577189e-01 9.87665189e-01 -1.02881706e-03 -4.86750207e+00] [-6.17312096e-03 6.30046801e-05 9.99980944e-01 -1.38512871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.01364292221079298 Centerline is valid? [True, True] Translation: X:85.78, Y:-4.88, Z:-1.39 [[ 9.88218826e-01 1.52934406e-01 5.88374316e-03 8.57828808e+01] [-1.52931180e-01 9.88236338e-01 -9.96961804e-04 -4.87957756e+00] [-5.96699856e-03 8.54086367e-05 9.99982194e-01 -1.38607678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.014173990967872026 Centerline is valid? [True, True] Translation: X:85.84, Y:-4.89, Z:-1.39 [[ 9.88680202e-01 1.49951077e-01 5.11206416e-03 8.58435057e+01] [-1.49948607e-01 9.88693414e-01 -8.65286510e-04 -4.89235510e+00] [-5.18401481e-03 8.89447428e-05 9.99986559e-01 -1.38696988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.015477770725295483 Centerline is valid? [True, True] Translation: X:85.90, Y:-4.90, Z:-1.39 [[ 9.89171762e-01 1.46688562e-01 4.65729847e-03 8.59031768e+01] [-1.46686470e-01 9.89182721e-01 -7.89373401e-04 -4.90400967e+00] [-4.72271122e-03 9.76632052e-05 9.99988843e-01 -1.38862685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.015886022627217673 Centerline is valid? [True, True] Translation: X:85.96, Y:-4.91, Z:-1.39 [[ 9.89615649e-01 1.43653935e-01 4.94098619e-03 8.59649799e+01] [-1.43651537e-01 9.89627977e-01 -8.38657323e-04 -4.91315596e+00] [-5.01021460e-03 1.20168149e-04 9.99987442e-01 -1.38931132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.01613401849840007 Centerline is valid? [True, True] Translation: X:86.03, Y:-4.92, Z:-1.39 [[ 9.89844041e-01 1.42052468e-01 5.46534557e-03 8.60264223e+01] [-1.42049500e-01 9.89859119e-01 -9.29357940e-04 -4.92435487e+00] [-5.54193974e-03 1.43569814e-04 9.99984633e-01 -1.38908872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.01629256310985063 Centerline is valid? [True, True] Translation: X:86.09, Y:-4.94, Z:-1.39 [[ 9.90059470e-01 1.40499375e-01 6.49393274e-03 8.60876912e+01] [-1.40495136e-01 9.90080750e-01 -1.10663468e-03 -4.93611050e+00] [-6.58499928e-03 1.83268182e-04 9.99978302e-01 -1.38815891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.016599273959042437 Centerline is valid? [True, True] Translation: X:86.15, Y:-4.95, Z:-1.39 [[ 9.90121724e-01 1.40037716e-01 6.95767918e-03 8.61488292e+01] [-1.40032825e-01 9.90146149e-01 -1.18772442e-03 -4.94535228e+00] [-7.05544546e-03 2.01688283e-04 9.99975090e-01 -1.38932467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.01623270461831942 Centerline is valid? [True, True] Translation: X:86.21, Y:-4.95, Z:-1.39 [[ 9.90065593e-01 1.40343568e-01 8.59093448e-03 8.62101468e+01] [-1.40336095e-01 9.90102833e-01 -1.46961810e-03 -4.95395239e+00] [-8.71216002e-03 2.49400120e-04 9.99962017e-01 -1.38956661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.01607689998332437 Centerline is valid? [True, True] Translation: X:86.27, Y:-4.96, Z:-1.39 [[ 9.89940695e-01 1.41164288e-01 9.49019778e-03 8.62714575e+01] [-1.41155178e-01 9.89986147e-01 -1.62628081e-03 -4.96415648e+00] [-9.62473710e-03 2.70330995e-04 9.99953645e-01 -1.38958869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.01601400794921106 Centerline is valid? [True, True] Translation: X:86.33, Y:-4.97, Z:-1.39 [[ 9.89634241e-01 1.43318448e-01 9.15919821e-03 8.63325179e+01] [-1.43310035e-01 9.89676595e-01 -1.57176023e-03 -4.97347640e+00] [-9.28990634e-03 2.42862732e-04 9.99956818e-01 -1.39078959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.01550493221935517 Centerline is valid? [True, True] Translation: X:86.39, Y:-4.98, Z:-1.39 [[ 9.89426281e-01 1.44719791e-01 9.58214052e-03 8.63940807e+01] [-1.44710624e-01 9.89472649e-01 -1.64689857e-03 -4.98239158e+00] [-9.71960478e-03 2.42847190e-04 9.99952734e-01 -1.39221623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.01567221269359078 Centerline is valid? [True, True] Translation: X:86.46, Y:-4.99, Z:-1.39 [[ 9.89344059e-01 1.45264896e-01 9.82051293e-03 8.64561925e+01] [-1.45255270e-01 9.89392768e-01 -1.69021641e-03 -4.99255102e+00] [-9.96187358e-03 2.45724303e-04 9.99950349e-01 -1.39356060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.01642536794253547 Centerline is valid? [True, True] Translation: X:86.52, Y:-5.00, Z:-1.40 [[ 9.89580062e-01 1.43738196e-01 8.40426697e-03 8.65172587e+01] [-1.43731074e-01 9.89615724e-01 -1.44848252e-03 -5.00406698e+00] [-8.52519700e-03 2.25435101e-04 9.99963634e-01 -1.39501603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.017371523642441013 Centerline is valid? [True, True] Translation: X:86.58, Y:-5.02, Z:-1.40 [[ 9.90358481e-01 1.38247563e-01 8.81417486e-03 8.65767932e+01] [-1.38239478e-01 9.90397661e-01 -1.52291220e-03 -5.01572342e+00] [-8.94007706e-03 2.89762079e-04 9.99959995e-01 -1.39550408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.017724167493823044 Centerline is valid? [True, True] Translation: X:86.64, Y:-5.03, Z:-1.40 [[ 9.91004253e-01 1.33499820e-01 9.40048503e-03 8.66371311e+01] [-1.33490406e-01 9.91048774e-01 -1.62474516e-03 -5.02679139e+00] [-9.53324235e-03 3.55254804e-04 9.99954495e-01 -1.39517907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.020220824495309604 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.04, Z:-1.40 [[ 9.91240745e-01 1.31755816e-01 9.06590307e-03 8.66970532e+01] [-1.31746997e-01 9.91282138e-01 -1.56586961e-03 -5.03937475e+00] [-9.19318021e-03 3.57748257e-04 9.99957678e-01 -1.39687203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.018805150427118677 Centerline is valid? [True, True] Translation: X:86.76, Y:-5.05, Z:-1.40 [[ 9.91219900e-01 1.31933911e-01 8.74941688e-03 8.67599394e+01] [-1.31925690e-01 9.91258455e-01 -1.51272901e-03 -5.04668055e+00] [-8.87251371e-03 3.45174239e-04 9.99960579e-01 -1.39753616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.018846681615203854 Centerline is valid? [True, True] Translation: X:86.82, Y:-5.06, Z:-1.40 [[ 9.90971753e-01 1.33804330e-01 8.44904253e-03 8.68218389e+01] [-1.33796699e-01 9.91007719e-01 -1.46460325e-03 -5.05554253e+00] [-8.56903662e-03 3.20926440e-04 9.99963234e-01 -1.39910974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.01834473886672819 Centerline is valid? [True, True] Translation: X:86.88, Y:-5.06, Z:-1.40 [[ 9.90463014e-01 1.37556332e-01 7.82769668e-03 8.68827625e+01] [-1.37549891e-01 9.90493909e-01 -1.35793608e-03 -5.06178833e+00] [-7.94007859e-03 2.68286645e-04 9.99968441e-01 -1.40017062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.016947780788798706 Centerline is valid? [True, True] Translation: X:86.94, Y:-5.07, Z:-1.40 [[ 9.89831484e-01 1.41989253e-01 8.52556480e-03 8.69442253e+01] [-1.41981773e-01 9.89868167e-01 -1.47935604e-03 -5.06566946e+00] [-8.64923786e-03 2.53838380e-04 9.99962562e-01 -1.40011103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.015615575285454621 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.07, Z:-1.40 [[ 9.89418985e-01 1.44793647e-01 9.21255669e-03 8.70063296e+01] [-1.44785045e-01 9.89461843e-01 -1.59748512e-03 -5.07166885e+00] [-9.34677902e-03 2.46741676e-04 9.99956287e-01 -1.39958927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.014841666318834252 Centerline is valid? [True, True] Translation: X:87.07, Y:-5.08, Z:-1.40 [[ 9.88945895e-01 1.48005723e-01 8.96227004e-03 8.70690014e+01] [-1.47997684e-01 9.88986481e-01 -1.55736298e-03 -5.07629496e+00] [-9.09406255e-03 2.13752515e-04 9.99958625e-01 -1.40064002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.01482842346473033 Centerline is valid? [True, True] Translation: X:87.13, Y:-5.09, Z:-1.40 [[ 9.88807575e-01 1.48970630e-01 8.20557115e-03 8.71301406e+01] [-1.48963929e-01 9.88841603e-01 -1.42526071e-03 -5.08526751e+00] [-8.32633212e-03 1.86974465e-04 9.99965318e-01 -1.40185883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.01474031011129015 Centerline is valid? [True, True] Translation: X:87.19, Y:-5.09, Z:-1.40 [[ 9.88649829e-01 1.50063486e-01 7.24331585e-03 8.71922759e+01] [-1.50058284e-01 9.88676350e-01 -1.25947418e-03 -5.09249480e+00] [-7.35029616e-03 1.58259388e-04 9.99972974e-01 -1.40422173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.014617245940282306 Centerline is valid? [True, True] Translation: X:87.25, Y:-5.10, Z:-1.41 [[ 9.88900980e-01 1.48507393e-01 4.51726979e-03 8.72540542e+01] [-1.48505356e-01 9.88911292e-01 -7.85011478e-04 -5.09946767e+00] [-4.58375911e-03 1.05459863e-04 9.99989489e-01 -1.40604906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.01663594281958542 Centerline is valid? [True, True] Translation: X:87.31, Y:-5.11, Z:-1.41 [[ 9.89427819e-01 1.44989298e-01 3.27019867e-03 8.73143856e+01] [-1.44988211e-01 9.89433219e-01 -5.68286069e-04 -5.11096043e+00] [-3.31803859e-03 8.81377920e-05 9.99994491e-01 -1.40775732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.01865314242886525 Centerline is valid? [True, True] Translation: X:87.37, Y:-5.12, Z:-1.41 [[ 9.90602571e-01 1.36736876e-01 3.09402308e-03 8.73740807e+01] [-1.36735852e-01 9.90607397e-01 -5.40963589e-04 -5.12236887e+00] [-3.13893182e-03 1.12816039e-04 9.99995067e-01 -1.40784655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.021678747666987085 Centerline is valid? [True, True] Translation: X:87.43, Y:-5.14, Z:-1.41 [[ 9.91438128e-01 1.30507374e-01 4.27350820e-03 8.74322770e+01] [-1.30505363e-01 9.91447322e-01 -7.47089539e-04 -5.13601650e+00] [-4.33445896e-03 1.82977313e-04 9.99990589e-01 -1.40846560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.02338112901852244 Centerline is valid? [True, True] Translation: X:87.49, Y:-5.15, Z:-1.41 [[ 9.92256382e-01 1.24110114e-01 4.89409392e-03 8.74919378e+01] [-1.24107397e-01 9.92268422e-01 -8.56224781e-04 -5.14731966e+00] [-4.96252101e-03 2.42201246e-04 9.99987657e-01 -1.40819109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.02085420971552062 Centerline is valid? [True, True] Translation: X:87.55, Y:-5.15, Z:-1.41 [[ 9.92202876e-01 1.24562932e-01 4.18684986e-03 8.75547948e+01] [-1.24560961e-01 9.92211689e-01 -7.29189437e-04 -5.15137631e+00] [-4.24507135e-03 2.01985813e-04 9.99990969e-01 -1.40886019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.021201412733010988 Centerline is valid? [True, True] Translation: X:87.61, Y:-5.16, Z:-1.41 [[ 9.91745162e-01 1.28170159e-01 3.73414751e-03 8.76136523e+01] [-1.28168601e-01 9.91752177e-01 -6.54747786e-04 -5.15886822e+00] [-3.78726805e-03 1.70742488e-04 9.99992814e-01 -1.41035536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.020623616168044163 Centerline is valid? [True, True] Translation: X:87.67, Y:-5.16, Z:-1.41 [[ 9.90996680e-01 1.33830383e-01 3.87408297e-03 8.76728464e+01] [-1.33828749e-01 9.91004240e-01 -6.79264970e-04 -5.16461197e+00] [-3.93013894e-03 1.54685653e-04 9.99992265e-01 -1.41146834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.01694143037233368 Centerline is valid? [True, True] Translation: X:87.73, Y:-5.16, Z:-1.41 [[ 9.89549020e-01 1.44142541e-01 3.95783787e-03 8.77344398e+01] [-1.44140919e-01 9.89556928e-01 -6.93568164e-04 -5.16370520e+00] [-4.01647856e-03 1.15833311e-04 9.99991927e-01 -1.41236927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.015401012423004387 Centerline is valid? [True, True] Translation: X:87.79, Y:-5.17, Z:-1.41 [[ 9.88530322e-01 1.50990835e-01 3.09348553e-03 8.77946012e+01] [-1.50989878e-01 9.88535160e-01 -5.42104340e-04 -5.16741236e+00] [-3.13987200e-03 6.88015755e-05 9.99995068e-01 -1.41456467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.01249179020603055 Centerline is valid? [True, True] Translation: X:87.86, Y:-5.17, Z:-1.41 [[ 9.87142008e-01 1.59806042e-01 3.56151599e-03 8.78560945e+01] [-1.59804831e-01 9.87148432e-01 -6.23891463e-04 -5.16852658e+00] [-3.61544655e-03 4.67220136e-05 9.99993463e-01 -1.41348238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.011022975405095772 Centerline is valid? [True, True] Translation: X:87.92, Y:-5.17, Z:-1.41 [[ 9.85947473e-01 1.66966283e-01 5.46270273e-03 8.79181105e+01] [-1.66963545e-01 9.85962605e-01 -9.56807414e-04 -5.17216203e+00] [-5.54577519e-03 3.12896420e-05 9.99984622e-01 -1.41194433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.010755510413915047 Centerline is valid? [True, True] Translation: X:87.98, Y:-5.18, Z:-1.41 [[ 9.85272454e-01 1.70876497e-01 6.27804666e-03 8.79797609e+01] [-1.70872969e-01 9.85292455e-01 -1.09816893e-03 -5.18023428e+00] [-6.37336327e-03 9.24712619e-06 9.99979690e-01 -1.41296854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.010632971233908012 Centerline is valid? [True, True] Translation: X:88.04, Y:-5.19, Z:-1.41 [[ 9.84615252e-01 1.74612687e-01 6.57386917e-03 8.80422298e+01] [-1.74608891e-01 9.84637197e-01 -1.15147193e-03 -5.18978233e+00] [-6.67393772e-03 -1.40991801e-05 9.99977729e-01 -1.41435666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.010626599141540129 Centerline is valid? [True, True] Translation: X:88.10, Y:-5.20, Z:-1.42 [[ 9.84374887e-01 1.75962989e-01 6.56563399e-03 8.81037707e+01] [-1.75959220e-01 9.84396783e-01 -1.15192063e-03 -5.20037545e+00] [-6.66588437e-03 -2.13620997e-05 9.99977783e-01 -1.41603377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.01053490493559461 Centerline is valid? [True, True] Translation: X:88.16, Y:-5.21, Z:-1.42 [[ 9.84367641e-01 1.76006227e-01 6.49273933e-03 8.81642077e+01] [-1.76002528e-01 9.84389053e-01 -1.14117739e-03 -5.21282142e+00] [-6.59223585e-03 -1.94004394e-05 9.99978271e-01 -1.41828995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.010563384353474392 Centerline is valid? [True, True] Translation: X:88.23, Y:-5.23, Z:-1.42 [[ 9.84961642e-01 1.72650193e-01 6.51728248e-03 8.82251861e+01] [-1.72646382e-01 9.84983203e-01 -1.14710482e-03 -5.22934566e+00] [-6.61746164e-03 4.66900212e-06 9.99978104e-01 -1.42011888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.010827234416701711 Centerline is valid? [True, True] Translation: X:88.29, Y:-5.25, Z:-1.42 [[ 9.85671672e-01 1.68521636e-01 7.19819121e-03 8.82858199e+01] [-1.68516859e-01 9.85697954e-01 -1.26945528e-03 -5.24592628e+00] [-7.30917303e-03 3.82495317e-05 9.99973287e-01 -1.42084867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.011623759770827705 Centerline is valid? [True, True] Translation: X:88.35, Y:-5.26, Z:-1.42 [[ 9.86508229e-01 1.63570365e-01 6.80070842e-03 8.83454149e+01] [-1.63565968e-01 9.86531667e-01 -1.20156126e-03 -5.26269035e+00] [-6.90565403e-03 7.29856227e-05 9.99976153e-01 -1.42232385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.013397537546589176 Centerline is valid? [True, True] Translation: X:88.40, Y:-5.28, Z:-1.42 [[ 9.87965698e-01 1.54551116e-01 6.14266004e-03 8.84035937e+01] [-1.54547335e-01 9.87984786e-01 -1.08845975e-03 -5.28232742e+00] [-6.23707733e-03 1.26029157e-04 9.99980541e-01 -1.42401167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.014940469139522796 Centerline is valid? [True, True] Translation: X:88.46, Y:-5.30, Z:-1.43 [[ 9.88896888e-01 1.48486051e-01 5.90228329e-03 8.84626949e+01] [-1.48482452e-01 9.88914490e-01 -1.04577954e-03 -5.29994699e+00] [-5.99213714e-03 1.57782635e-04 9.99982035e-01 -1.42550784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.01863982476002101 Centerline is valid? [True, True] Translation: X:88.52, Y:-5.32, Z:-1.43 [[ 9.89969271e-01 1.41166600e-01 5.73009327e-03 8.85196129e+01] [-1.41163081e-01 9.89985834e-01 -1.01586698e-03 -5.32196325e+00] [-5.81611766e-03 1.96799473e-04 9.99983067e-01 -1.42685409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.0205246443115579 Centerline is valid? [True, True] Translation: X:88.58, Y:-5.34, Z:-1.43 [[ 9.90426773e-01 1.37866097e-01 6.90983255e-03 8.85787126e+01] [-1.37860915e-01 9.90450843e-01 -1.22293394e-03 -5.34050296e+00] [-7.01245061e-03 2.58630680e-04 9.99975379e-01 -1.42734309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.018826449274358656 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.35, Z:-1.43 [[ 9.90372118e-01 1.38163280e-01 8.60096401e-03 8.86396885e+01] [-1.38155240e-01 9.90409413e-01 -1.52486548e-03 -5.35283728e+00] [-8.72915613e-03 3.21916011e-04 9.99961848e-01 -1.42623734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.017635200013929417 Centerline is valid? [True, True] Translation: X:88.70, Y:-5.37, Z:-1.43 [[ 9.89676444e-01 1.42982552e-01 9.82473106e-03 8.86989618e+01] [-1.42972253e-01 9.89725156e-01 -1.74636690e-03 -5.36565681e+00] [-9.97348348e-03 3.23674253e-04 9.99950211e-01 -1.42608533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.014418470814915105 Centerline is valid? [True, True] Translation: X:88.76, Y:-5.37, Z:-1.43 [[ 9.88247313e-01 1.52572431e-01 9.42873160e-03 8.87591262e+01] [-1.52563382e-01 9.88292267e-01 -1.67590814e-03 -5.37299218e+00] [-9.57403991e-03 2.17732544e-04 9.99954144e-01 -1.42769158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.012408999672366132 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.38, Z:-1.43 [[ 9.87047161e-01 1.60166220e-01 9.20238231e-03 8.88198512e+01] [-1.60157930e-01 9.87090048e-01 -1.63560471e-03 -5.38065806e+00] [-9.34554862e-03 1.40584479e-04 9.99956320e-01 -1.42945080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.010436615390027671 Centerline is valid? [True, True] Translation: X:88.88, Y:-5.39, Z:-1.43 [[ 9.85315782e-01 1.70498311e-01 9.11791745e-03 8.88798217e+01] [-1.70490611e-01 9.85357967e-01 -1.62102891e-03 -5.38744240e+00] [-9.26079529e-03 4.27060557e-05 9.99957117e-01 -1.43080945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.01004891089135437 Centerline is valid? [True, True] Translation: X:88.94, Y:-5.40, Z:-1.43 [[ 9.84314857e-01 1.76168938e-01 9.42162276e-03 8.89416109e+01] [-1.76160988e-01 9.84359947e-01 -1.67365094e-03 -5.39602687e+00] [-9.56911339e-03 -1.23228898e-05 9.99954215e-01 -1.43158228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.010193330900332108 Centerline is valid? [True, True] Translation: X:89.00, Y:-5.41, Z:-1.43 [[ 9.83858918e-01 1.78706085e-01 9.26096086e-03 8.90028342e+01] [-1.78698495e-01 9.83902502e-01 -1.64731316e-03 -5.40604946e+00] [-9.40626745e-03 -3.41960262e-05 9.99955760e-01 -1.43384901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.010509296472369546 Centerline is valid? [True, True] Translation: X:89.06, Y:-5.42, Z:-1.44 [[ 9.83048118e-01 1.83112870e-01 9.27760459e-03 8.90637540e+01] [-1.83105425e-01 9.83091894e-01 -1.65291712e-03 -5.41812858e+00] [-9.42340827e-03 -7.38826603e-05 9.99955596e-01 -1.43502684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.010520705375513473 Centerline is valid? [True, True] Translation: X:89.12, Y:-5.43, Z:-1.44 [[ 9.82951504e-01 1.83623536e-01 9.42002298e-03 8.91248736e+01] [-1.83615863e-01 9.82996638e-01 -1.68046371e-03 -5.43291725e+00] [-9.56842361e-03 -7.78513156e-05 9.99954219e-01 -1.43622389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.010402738708641652 Centerline is valid? [True, True] Translation: X:89.18, Y:-5.45, Z:-1.44 [[ 9.83228501e-01 1.82141834e-01 9.27726441e-03 8.91841662e+01] [-1.82134297e-01 9.83272266e-01 -1.65803822e-03 -5.45028227e+00] [-9.42407491e-03 -5.94776023e-05 9.99955591e-01 -1.43788390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.010164540352481068 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.47, Z:-1.44 [[ 9.83683878e-01 1.79697672e-01 8.64726430e-03 8.92448317e+01] [-1.79691018e-01 9.83721884e-01 -1.54684596e-03 -5.46917545e+00] [-8.78446775e-03 -3.22282920e-05 9.99961415e-01 -1.43944476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.010175704435031309 Centerline is valid? [True, True] Translation: X:89.31, Y:-5.49, Z:-1.44 [[ 9.84061260e-01 1.77653499e-01 7.91643068e-03 8.93055804e+01] [-1.77647841e-01 9.84093102e-01 -1.41792242e-03 -5.48681759e+00] [-8.04240371e-03 -1.10143002e-05 9.99967659e-01 -1.44032499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.010521800499891105 Centerline is valid? [True, True] Translation: X:89.36, Y:-5.51, Z:-1.44 [[ 9.84793566e-01 1.73633907e-01 5.73581030e-03 8.93635723e+01] [-1.73630863e-01 9.84810269e-01 -1.02834218e-03 -5.50768208e+00] [-5.82723995e-03 1.67910720e-05 9.99983021e-01 -1.44379788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.010484591695493095 Centerline is valid? [True, True] Translation: X:89.43, Y:-5.52, Z:-1.44 [[ 9.85012208e-01 1.72367231e-01 6.36294793e-03 8.94250924e+01] [-1.72363449e-01 9.85032759e-01 -1.14211517e-03 -5.52219293e+00] [-6.46457539e-03 2.82577360e-05 9.99979104e-01 -1.44314215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.010447087836399466 Centerline is valid? [True, True] Translation: X:89.49, Y:-5.54, Z:-1.44 [[ 9.84911835e-01 1.72897755e-01 7.41910296e-03 8.94859756e+01] [-1.72892605e-01 9.84939777e-01 -1.33493502e-03 -5.53539778e+00] [-7.53817688e-03 3.20852692e-05 9.99971587e-01 -1.44237511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.010485606023238867 Centerline is valid? [True, True] Translation: X:89.55, Y:-5.55, Z:-1.44 [[ 9.85028655e-01 1.72208182e-01 7.93037536e-03 8.95471675e+01] [-1.72202259e-01 9.85060577e-01 -1.42892913e-03 -5.54833081e+00] [-8.05797342e-03 4.19075845e-05 9.99967533e-01 -1.44238992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.010589162130748167 Centerline is valid? [True, True] Translation: X:89.61, Y:-5.56, Z:-1.44 [[ 9.85284071e-01 1.70690217e-01 8.95263853e-03 8.96084694e+01] [-1.70682577e-01 9.85324741e-01 -1.61622802e-03 -5.56029884e+00] [-9.09713056e-03 6.43843139e-05 9.99958618e-01 -1.44225971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.010934994065869733 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.57, Z:-1.44 [[ 9.85570239e-01 1.69069555e-01 8.17243388e-03 8.96694902e+01] [-1.69063115e-01 9.85604119e-01 -1.47763078e-03 -5.57090385e+00] [-8.30460688e-03 7.46517912e-05 9.99965513e-01 -1.44448201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.011847644145049756 Centerline is valid? [True, True] Translation: X:89.73, Y:-5.58, Z:-1.45 [[ 9.86161017e-01 1.65660217e-01 6.56810292e-03 8.97304358e+01] [-1.65655976e-01 9.86182886e-01 -1.18843931e-03 -5.58301722e+00] [-6.67422781e-03 8.39470259e-05 9.99977724e-01 -1.44713319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.012594575340656028 Centerline is valid? [True, True] Translation: X:89.79, Y:-5.59, Z:-1.45 [[ 9.86768303e-01 1.62019220e-01 6.17159186e-03 8.97919322e+01] [-1.62015396e-01 9.86787597e-01 -1.11793050e-03 -5.59371507e+00] [-6.27117653e-03 1.03245484e-04 9.99980331e-01 -1.44826024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.013852112737561926 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.61, Z:-1.45 [[ 9.87269496e-01 1.58921175e-01 6.55758609e-03 8.98520453e+01] [-1.58916776e-01 9.87291265e-01 -1.18995629e-03 -5.60702836e+00] [-6.66335672e-03 1.32697111e-04 9.99977791e-01 -1.44875528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.015097756670074437 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.62, Z:-1.45 [[ 9.87973991e-01 1.54455482e-01 7.13425469e-03 8.99123738e+01] [-1.54450144e-01 9.87999733e-01 -1.29655918e-03 -5.61992530e+00] [-7.24890240e-03 1.79080084e-04 9.99973710e-01 -1.44904914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.016309167905954335 Centerline is valid? [True, True] Translation: X:89.97, Y:-5.63, Z:-1.45 [[ 9.88193774e-01 1.53019667e-01 7.61885088e-03 8.99722154e+01] [-1.53013520e-01 9.88223122e-01 -1.38667170e-03 -5.63319798e+00] [-7.74131264e-03 2.04513149e-04 9.99970015e-01 -1.44993052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.014688794382197737 Centerline is valid? [True, True] Translation: X:90.03, Y:-5.64, Z:-1.45 [[ 9.87944927e-01 1.54641010e-01 7.13991777e-03 9.00338339e+01] [-1.54635645e-01 9.87970711e-01 -1.30068295e-03 -5.64025513e+00] [-7.25516856e-03 1.80917336e-04 9.99973665e-01 -1.45107466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.014061307078226504 Centerline is valid? [True, True] Translation: X:90.09, Y:-5.65, Z:-1.45 [[ 9.87418697e-01 1.57965330e-01 7.16033626e-03 9.00949657e+01] [-1.57960009e-01 9.87444646e-01 -1.30624492e-03 -5.64915219e+00] [-7.27677712e-03 1.58763877e-04 9.99973511e-01 -1.45285669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.012533839260134528 Centerline is valid? [True, True] Translation: X:90.16, Y:-5.66, Z:-1.46 [[ 9.86275873e-01 1.64948039e-01 7.21436106e-03 9.01567096e+01] [-1.64942797e-01 9.86302252e-01 -1.31965607e-03 -5.65578595e+00] [-7.33321524e-03 1.11588044e-04 9.99973105e-01 -1.45510610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.011005663614352523 Centerline is valid? [True, True] Translation: X:90.22, Y:-5.66, Z:-1.46 [[ 9.84974511e-01 1.72558581e-01 6.98199495e-03 9.02183789e+01] [-1.72553872e-01 9.84999256e-01 -1.27578492e-03 -5.66150366e+00] [-7.09740746e-03 5.18453653e-05 9.99974812e-01 -1.45748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.010550571226737372 Centerline is valid? [True, True] Translation: X:90.28, Y:-5.67, Z:-1.46 [[ 9.84234291e-01 1.76746556e-01 6.59663176e-03 9.02805799e+01] [-1.76742428e-01 9.84256397e-01 -1.20822888e-03 -5.66927490e+00] [-6.70632730e-03 2.32755774e-05 9.99977512e-01 -1.45952855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.010316560178338848 Centerline is valid? [True, True] Translation: X:90.34, Y:-5.68, Z:-1.46 [[ 9.83423273e-01 1.81192978e-01 6.91166846e-03 9.03422792e+01] [-1.81188561e-01 9.83447561e-01 -1.26516537e-03 -5.67796957e+00] [-7.02650257e-03 -8.12219390e-06 9.99975314e-01 -1.46116892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.010331227718816298 Centerline is valid? [True, True] Translation: X:90.40, Y:-5.69, Z:-1.46 [[ 9.83160078e-01 1.82598194e-01 7.35936983e-03 9.04037015e+01] [-1.82593212e-01 9.83187622e-01 -1.34889400e-03 -5.68986467e+00] [-7.48194693e-03 -1.75922424e-05 9.99972010e-01 -1.46233356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.010398819434560377 Centerline is valid? [True, True] Translation: X:90.47, Y:-5.70, Z:-1.46 [[ 9.83137203e-01 1.82727386e-01 7.20712687e-03 9.04650768e+01] [-1.82722597e-01 9.83163619e-01 -1.32299455e-03 -5.70411962e+00] [-7.32753228e-03 -1.62197729e-05 9.99973153e-01 -1.46389629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.010430168544756951 Centerline is valid? [True, True] Translation: X:90.53, Y:-5.72, Z:-1.46 [[ 9.83095607e-01 1.82942560e-01 7.41933820e-03 9.05270541e+01] [-1.82937475e-01 9.83123603e-01 -1.36410618e-03 -5.71739599e+00] [-7.54367958e-03 -1.62281998e-05 9.99971546e-01 -1.46497096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.010519155457590183 Centerline is valid? [True, True] Translation: X:90.59, Y:-5.73, Z:-1.47 [[ 9.83039362e-01 1.83230787e-01 7.75184455e-03 9.05886043e+01] [-1.83225226e-01 9.83069925e-01 -1.42767849e-03 -5.73139485e+00] [-7.88219990e-03 -1.68693170e-05 9.99968935e-01 -1.46551214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.01066904795837089 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.75, Z:-1.47 [[ 9.83081633e-01 1.82969052e-01 8.53403576e-03 9.06487998e+01] [-1.82962274e-01 9.83118673e-01 -1.57486760e-03 -5.74601207e+00] [-8.67812195e-03 -1.31831789e-05 9.99962344e-01 -1.46702790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.010886028088831925 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.76, Z:-1.47 [[ 9.82543815e-01 1.85778432e-01 9.69670194e-03 9.07111071e+01] [-1.85769787e-01 9.82591661e-01 -1.79263886e-03 -5.75609308e+00] [-9.86093210e-03 -4.00080329e-05 9.99951379e-01 -1.46860333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.011043545923602944 Centerline is valid? [True, True] Translation: X:90.77, Y:-5.77, Z:-1.47 [[ 9.82126076e-01 1.87980344e-01 9.57917684e-03 9.07727084e+01] [-1.87971989e-01 9.82172789e-01 -1.77331479e-03 -5.76683662e+00] [-9.74175516e-03 -5.89982308e-05 9.99952546e-01 -1.46930983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.011425255177919844 Centerline is valid? [True, True] Translation: X:90.83, Y:-5.78, Z:-1.47 [[ 9.81789679e-01 1.89741119e-01 9.34528936e-03 9.08347083e+01] [-1.89733222e-01 9.81834152e-01 -1.73258952e-03 -5.77759447e+00] [-9.50426773e-03 -7.20733486e-05 9.99954831e-01 -1.47123561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.011342774002717824 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.79, Z:-1.47 [[ 9.81970311e-01 1.88780779e-01 9.80439623e-03 9.08956599e+01] [-1.88772007e-01 9.82019253e-01 -1.82091167e-03 -5.78994735e+00] [-9.97185898e-03 -6.27143534e-05 9.99950278e-01 -1.47232874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.011175309837464054 Centerline is valid? [True, True] Translation: X:90.96, Y:-5.80, Z:-1.47 [[ 9.82571782e-01 1.85547232e-01 1.11766350e-02 9.09565788e+01] [-1.85535586e-01 9.82635346e-01 -2.07912079e-03 -5.80327000e+00] [-1.13683317e-02 -3.07781052e-05 9.99935378e-01 -1.47294433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.011311068676306157 Centerline is valid? [True, True] Translation: X:91.02, Y:-5.82, Z:-1.47 [[ 9.83432913e-01 1.80865078e-01 1.21461315e-02 9.10177302e+01] [-1.80850926e-01 9.83507917e-01 -2.26270492e-03 -5.81722694e+00] [-1.23550608e-02 2.85793609e-05 9.99923673e-01 -1.47308750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.012410043392167133 Centerline is valid? [True, True] Translation: X:91.08, Y:-5.83, Z:-1.47 [[ 9.84900756e-01 1.72646341e-01 1.27961541e-02 9.10780979e+01] [-1.72629886e-01 9.84983868e-01 -2.38790778e-03 -5.83343927e+00] [-1.30162689e-02 1.42853542e-04 9.99915275e-01 -1.47474411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.013468498579234538 Centerline is valid? [True, True] Translation: X:91.14, Y:-5.85, Z:-1.48 [[ 9.85730385e-01 1.67805032e-01 1.33071199e-02 9.11381773e+01] [-1.67786743e-01 9.85820178e-01 -2.48707227e-03 -5.84747254e+00] [-1.35357706e-02 2.18824402e-04 9.99908363e-01 -1.47578305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.01505348154963813 Centerline is valid? [True, True] Translation: X:91.20, Y:-5.86, Z:-1.48 [[ 9.86530431e-01 1.62955472e-01 1.42556502e-02 9.11984312e+01] [-1.62933950e-01 9.86633377e-01 -2.66614480e-03 -5.86123719e+00] [-1.44995631e-02 3.07503588e-04 9.99894829e-01 -1.47638401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.015545666341526454 Centerline is valid? [True, True] Translation: X:91.26, Y:-5.87, Z:-1.48 [[ 9.86789222e-01 1.61330052e-01 1.48204192e-02 9.12596672e+01] [-1.61306554e-01 9.86900448e-01 -2.77529813e-03 -5.87254375e+00] [-1.50740174e-02 3.48003527e-04 9.99886320e-01 -1.47734578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.014751401499898873 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.88, Z:-1.48 [[ 9.86670894e-01 1.62028607e-01 1.50756967e-02 9.13211595e+01] [-1.62004316e-01 9.86786000e-01 -2.82689416e-03 -5.88019293e+00] [-1.53345241e-02 3.46886262e-04 9.99882359e-01 -1.47797015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.01455635169572406 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.89, Z:-1.48 [[ 9.86167358e-01 1.65012035e-01 1.56515505e-02 9.13824196e+01] [-1.64986163e-01 9.86291503e-01 -2.93900696e-03 -5.88758622e+00] [-1.59219628e-02 3.16063475e-04 9.99873188e-01 -1.47904129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.01409548081654294 Centerline is valid? [True, True] Translation: X:91.44, Y:-5.90, Z:-1.48 [[ 9.85778375e-01 1.67327787e-01 1.55694616e-02 9.14446434e+01] [-1.67302411e-01 9.85901279e-01 -2.92751711e-03 -5.89591737e+00] [-1.58398071e-02 2.81074595e-04 9.99874503e-01 -1.48020012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.013153672987413193 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.90, Z:-1.48 [[ 9.85351960e-01 1.69842296e-01 1.53332654e-02 9.15068112e+01] [-1.69817969e-01 9.85471226e-01 -2.88434650e-03 -5.90295297e+00] [-1.56003759e-02 2.38232484e-04 9.99878278e-01 -1.48159756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.012952985694637585 Centerline is valid? [True, True] Translation: X:91.57, Y:-5.91, Z:-1.48 [[ 9.84925881e-01 1.72253061e-01 1.58079658e-02 9.15674569e+01] [-1.72227449e-01 9.85052709e-01 -2.97780763e-03 -5.91055570e+00] [-1.60846160e-02 2.10354183e-04 9.99870612e-01 -1.48249063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.012463511906814165 Centerline is valid? [True, True] Translation: X:91.63, Y:-5.92, Z:-1.48 [[ 9.84579714e-01 1.74258473e-01 1.53873995e-02 9.16296933e+01] [-1.74234395e-01 9.84699931e-01 -2.90206932e-03 -5.91764197e+00] [-1.56576814e-02 1.76304328e-04 9.99877395e-01 -1.48373496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.012333907784404742 Centerline is valid? [True, True] Translation: X:91.69, Y:-5.93, Z:-1.48 [[ 9.84298617e-01 1.75826302e-01 1.55352606e-02 9.16913474e+01] [-1.75801892e-01 9.84421194e-01 -2.93391157e-03 -5.92648623e+00] [-1.58090986e-02 1.56716911e-04 9.99875016e-01 -1.48478774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.012149160571723392 Centerline is valid? [True, True] Translation: X:91.75, Y:-5.93, Z:-1.49 [[ 9.84082732e-01 1.77125039e-01 1.44186721e-02 9.17518668e+01] [-1.77104102e-01 9.84188348e-01 -2.72641655e-03 -5.93491757e+00] [-1.46736058e-02 1.29413472e-04 9.99892328e-01 -1.48632848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.012009989935870484 Centerline is valid? [True, True] Translation: X:91.81, Y:-5.94, Z:-1.49 [[ 9.84016385e-01 1.77576547e-01 1.33537915e-02 9.18142932e+01] [-1.77558593e-01 9.84106984e-01 -2.52771394e-03 -5.94438516e+00] [-1.35904222e-02 1.16231509e-04 9.99907639e-01 -1.48811378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.012253720267972636 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.95, Z:-1.49 [[ 9.84128517e-01 1.77031688e-01 1.22818637e-02 9.18760917e+01] [-1.77016418e-01 9.84205145e-01 -2.32806205e-03 -5.95492178e+00] [-1.25000142e-02 1.17020732e-04 9.99921865e-01 -1.48943103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.01276333191961156 Centerline is valid? [True, True] Translation: X:91.94, Y:-5.97, Z:-1.49 [[ 9.84488391e-01 1.75010910e-01 1.24012022e-02 9.19371195e+01] [-1.74995134e-01 9.84566483e-01 -2.35445087e-03 -5.96710761e+00] [-1.26218626e-02 1.47779507e-04 9.99920330e-01 -1.48923770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.012860452215548964 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.98, Z:-1.49 [[ 9.84771731e-01 1.73456163e-01 1.17301613e-02 9.19979957e+01] [-1.73441906e-01 9.84841578e-01 -2.22973623e-03 -5.97793130e+00] [-1.19391121e-02 1.61279673e-04 9.99928713e-01 -1.49034880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.013546543434539945 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.99, Z:-1.49 [[ 9.85154714e-01 1.71310213e-01 1.10905756e-02 9.20590672e+01] [-1.71297303e-01 9.85217123e-01 -2.11079936e-03 -5.99023712e+00] [-1.12882264e-02 1.79678263e-04 9.99936270e-01 -1.49170658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.014196240883994949 Centerline is valid? [True, True] Translation: X:92.12, Y:-6.00, Z:-1.49 [[ 9.85549785e-01 1.69106076e-01 9.73427957e-03 9.21196947e+01] [-1.69096003e-01 9.85597840e-01 -1.85463006e-03 -6.00216988e+00] [-9.90771413e-03 1.81802487e-04 9.99950901e-01 -1.49343105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.015191541824959038 Centerline is valid? [True, True] Translation: X:92.18, Y:-6.02, Z:-1.49 [[ 9.86368734e-01 1.64339081e-01 8.32992059e-03 9.21802728e+01] [-1.64331510e-01 9.86403886e-01 -1.58994264e-03 -6.01570144e+00] [-8.47795576e-03 1.99401278e-04 9.99964042e-01 -1.49474687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.015917691875508427 Centerline is valid? [True, True] Translation: X:92.24, Y:-6.03, Z:-1.49 [[ 9.86810514e-01 1.61638142e-01 8.83857412e-03 9.22412264e+01] [-1.61629516e-01 9.86850067e-01 -1.68646106e-03 -6.02966632e+00] [-8.99494390e-03 2.35643051e-04 9.99959517e-01 -1.49445349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.017202767318668804 Centerline is valid? [True, True] Translation: X:92.30, Y:-6.04, Z:-1.49 [[ 9.87267429e-01 1.58787418e-01 9.46460131e-03 9.23005272e+01] [-1.58777356e-01 9.87312754e-01 -1.81001665e-03 -6.04337475e+00] [-9.63192946e-03 2.84206117e-04 9.99953572e-01 -1.49481453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.017194716038975127 Centerline is valid? [True, True] Translation: X:92.36, Y:-6.05, Z:-1.50 [[ 9.87327656e-01 1.58394796e-01 9.75645902e-03 9.23618795e+01] [-1.58384094e-01 9.87375816e-01 -1.86488353e-03 -6.05466664e+00] [-9.92867953e-03 2.95983170e-04 9.99950666e-01 -1.49555535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.01726760884901582 Centerline is valid? [True, True] Translation: X:92.42, Y:-6.07, Z:-1.50 [[ 9.87181682e-01 1.59298409e-01 9.81550074e-03 9.24232187e+01] [-1.59287597e-01 9.87230435e-01 -1.87867512e-03 -6.06679192e+00] [-9.98943102e-03 2.91106141e-04 9.99950062e-01 -1.49672741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.017174030503303517 Centerline is valid? [True, True] Translation: X:92.48, Y:-6.08, Z:-1.50 [[ 9.86875391e-01 1.61249854e-01 8.68601674e-03 9.24842248e+01] [-1.61241447e-01 9.86913586e-01 -1.66423062e-03 -6.07850422e+00] [-8.84070487e-03 2.41842336e-04 9.99960891e-01 -1.49849478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.01606958294548023 Centerline is valid? [True, True] Translation: X:92.55, Y:-6.09, Z:-1.50 [[ 9.86678794e-01 1.62470334e-01 8.26727119e-03 9.25451715e+01] [-1.62462746e-01 9.86713404e-01 -1.58580301e-03 -6.08869543e+00] [-8.41507324e-03 2.21554619e-04 9.99964568e-01 -1.49949850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.016085503848784637 Centerline is valid? [True, True] Translation: X:92.61, Y:-6.10, Z:-1.50 [[ 9.86368922e-01 1.64377373e-01 7.51197487e-03 9.26053273e+01] [-1.64371144e-01 9.86397508e-01 -1.44338299e-03 -6.10069707e+00] [-7.64705279e-03 1.88956222e-04 9.99970743e-01 -1.50106960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.015207829863185975 Centerline is valid? [True, True] Translation: X:92.67, Y:-6.11, Z:-1.50 [[ 9.86190238e-01 1.65460981e-01 7.17487257e-03 9.26669272e+01] [-1.65455328e-01 9.86216322e-01 -1.37855913e-03 -6.11073188e+00] [-7.30407419e-03 1.72400657e-04 9.99973310e-01 -1.50179411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.015416549395981154 Centerline is valid? [True, True] Translation: X:92.73, Y:-6.12, Z:-1.50 [[ 9.86133740e-01 1.65789346e-01 7.35798467e-03 9.27282593e+01] [-1.65783397e-01 9.86161174e-01 -1.41543217e-03 -6.12271203e+00] [-7.49082238e-03 1.75973728e-04 9.99971928e-01 -1.50276649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.015981180933191275 Centerline is valid? [True, True] Translation: X:92.79, Y:-6.14, Z:-1.50 [[ 9.86357599e-01 1.64422507e-01 7.99533293e-03 9.27889689e+01] [-1.64415413e-01 9.86389982e-01 -1.54104753e-03 -6.13615034e+00] [-8.13989920e-03 2.05467974e-04 9.99966849e-01 -1.50259189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.017317286388411773 Centerline is valid? [True, True] Translation: X:92.85, Y:-6.15, Z:-1.50 [[ 9.86998651e-01 1.60537515e-01 7.83385747e-03 9.28493492e+01] [-1.60530556e-01 9.87029711e-01 -1.51327560e-03 -6.15085356e+00] [-7.97518758e-03 2.36027484e-04 9.99968170e-01 -1.50251246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.01815711927699263 Centerline is valid? [True, True] Translation: X:92.91, Y:-6.16, Z:-1.50 [[ 9.87213661e-01 1.59190023e-01 8.22951764e-03 9.29103464e+01] [-1.59182303e-01 9.87247927e-01 -1.58899783e-03 -6.16414571e+00] [-8.37752683e-03 2.58686799e-04 9.99964874e-01 -1.50361779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.018143396111814782 Centerline is valid? [True, True] Translation: X:92.97, Y:-6.18, Z:-1.50 [[ 9.87660328e-01 1.56406571e-01 8.00380527e-03 9.29708297e+01] [-1.56399161e-01 9.87692719e-01 -1.54739647e-03 -6.17551973e+00] [-8.14732317e-03 2.76513681e-04 9.99966772e-01 -1.50429970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.019629133603430358 Centerline is valid? [True, True] Translation: X:93.03, Y:-6.19, Z:-1.51 [[ 9.88247773e-01 1.52706850e-01 6.85248590e-03 9.30299661e+01] [-1.52701310e-01 9.88271495e-01 -1.32759958e-03 -6.18907237e+00] [-6.97485003e-03 2.65613755e-04 9.99975640e-01 -1.50597815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.020451379458304244 Centerline is valid? [True, True] Translation: X:93.09, Y:-6.20, Z:-1.51 [[ 9.88643756e-01 1.50131144e-01 6.64554114e-03 9.30903014e+01] [-1.50125886e-01 9.88666053e-01 -1.28606728e-03 -6.20166920e+00] [-6.76329968e-03 2.73794637e-04 9.99977091e-01 -1.50661223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.019822260390574584 Centerline is valid? [True, True] Translation: X:93.15, Y:-6.21, Z:-1.51 [[ 9.88718553e-01 1.49584484e-01 7.75271072e-03 9.31514303e+01] [-1.49577292e-01 9.88748894e-01 -1.50259758e-03 -6.21186724e+00] [-7.89024943e-03 3.26016630e-04 9.99968818e-01 -1.50664497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.020688839331834116 Centerline is valid? [True, True] Translation: X:93.21, Y:-6.22, Z:-1.51 [[ 9.88379702e-01 1.51835895e-01 7.17121653e-03 9.32119708e+01] [-1.51829789e-01 9.88405675e-01 -1.39146946e-03 -6.22330512e+00] [-7.29934613e-03 2.86495872e-04 9.99973318e-01 -1.50826075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.017829383709029582 Centerline is valid? [True, True] Translation: X:93.27, Y:-6.23, Z:-1.51 [[ 9.87662909e-01 1.56428923e-01 7.20905341e-03 9.32730506e+01] [-1.56422846e-01 9.87689185e-01 -1.40268686e-03 -6.22927862e+00] [-7.33972488e-03 2.57721137e-04 9.99973031e-01 -1.50924025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.015265956304620784 Centerline is valid? [True, True] Translation: X:93.33, Y:-6.23, Z:-1.51 [[ 9.86147188e-01 1.65729345e-01 6.89261170e-03 9.33344020e+01] [-1.65724016e-01 9.86171259e-01 -1.34121949e-03 -6.23427000e+00] [-7.01957498e-03 1.80368534e-04 9.99975346e-01 -1.51030373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.013400752587480828 Centerline is valid? [True, True] Translation: X:93.39, Y:-6.24, Z:-1.51 [[ 9.84477490e-01 1.75358691e-01 7.30763451e-03 9.33941979e+01] [-1.75352963e-01 9.84504604e-01 -1.42230654e-03 -6.23945891e+00] [-7.44381364e-03 1.18813403e-04 9.99972287e-01 -1.51181444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.012321175844927203 Centerline is valid? [True, True] Translation: X:93.46, Y:-6.25, Z:-1.51 [[ 9.83411153e-01 1.81222363e-01 7.80767785e-03 9.34554293e+01] [-1.81216012e-01 9.83442143e-01 -1.51919565e-03 -6.24825491e+00] [-7.95371166e-03 7.91176980e-05 9.99968366e-01 -1.51283141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.011672722012946881 Centerline is valid? [True, True] Translation: X:93.52, Y:-6.26, Z:-1.51 [[ 9.82439759e-01 1.86405575e-01 8.06725750e-03 9.35168764e+01] [-1.86398979e-01 9.82472880e-01 -1.56863731e-03 -6.25735447e+00] [-8.21826445e-03 3.73631052e-05 9.99966229e-01 -1.51378568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.011253190852578655 Centerline is valid? [True, True] Translation: X:93.58, Y:-6.27, Z:-1.51 [[ 9.81247403e-01 1.92564562e-01 8.51021718e-03 9.35789499e+01] [-1.92557422e-01 9.81284306e-01 -1.65829450e-03 -6.26626620e+00] [-8.67027132e-03 -1.15083100e-05 9.99962412e-01 -1.51486053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.011536461639002763 Centerline is valid? [True, True] Translation: X:93.64, Y:-6.28, Z:-1.52 [[ 9.80374983e-01 1.96951020e-01 8.67118014e-03 9.36391323e+01] [-1.96943780e-01 9.80413328e-01 -1.68945698e-03 -6.27704801e+00] [-8.83408085e-03 -5.14336367e-05 9.99960977e-01 -1.51739581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.011766674088218297 Centerline is valid? [True, True] Translation: X:93.70, Y:-6.29, Z:-1.52 [[ 9.79959885e-01 1.99012956e-01 8.51282418e-03 9.36997010e+01] [-1.99006040e-01 9.79996857e-01 -1.66040158e-03 -6.29046543e+00] [-8.67298237e-03 -6.69764932e-05 9.99962387e-01 -1.51827761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.012136134153934934 Centerline is valid? [True, True] Translation: X:93.76, Y:-6.31, Z:-1.52 [[ 9.79606500e-01 2.00755550e-01 8.26526958e-03 9.37596025e+01] [-2.00749076e-01 9.79641365e-01 -1.61407411e-03 -6.30525266e+00] [-8.42103430e-03 -7.80877460e-05 9.99964539e-01 -1.52048906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.012255036805122963 Centerline is valid? [True, True] Translation: X:93.82, Y:-6.32, Z:-1.52 [[ 9.79531915e-01 2.01153131e-01 7.39225271e-03 9.38203437e+01] [-2.01147956e-01 9.79559806e-01 -1.44472015e-03 -6.32044391e+00] [-7.53176361e-03 -7.17870256e-05 9.99971633e-01 -1.52269738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.012007991218066125 Centerline is valid? [True, True] Translation: X:93.88, Y:-6.34, Z:-1.52 [[ 9.79967396e-01 1.99017660e-01 7.47494244e-03 9.38784892e+01] [-1.99012280e-01 9.79995902e-01 -1.46419551e-03 -6.34049950e+00] [-7.61681373e-03 -5.27414818e-05 9.99970990e-01 -1.52441298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.011690306559961217 Centerline is valid? [True, True] Translation: X:93.94, Y:-6.36, Z:-1.53 [[ 9.80490820e-01 1.96399445e-01 8.06284869e-03 9.39382116e+01] [-1.96393094e-01 9.80523971e-01 -1.57984899e-03 -6.35925364e+00] [-8.21609788e-03 -3.44603684e-05 9.99966247e-01 -1.52508691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.011610398559765882 Centerline is valid? [True, True] Translation: X:94.00, Y:-6.38, Z:-1.53 [[ 9.81548312e-01 1.91031537e-01 8.35839257e-03 9.39982441e+01] [-1.91024502e-01 9.81583899e-01 -1.63951478e-03 -6.38230058e+00] [-8.51766260e-03 1.26051847e-05 9.99963724e-01 -1.52514720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.012022692880652091 Centerline is valid? [True, True] Translation: X:94.06, Y:-6.40, Z:-1.53 [[ 9.82142084e-01 1.87933079e-01 8.83659106e-03 9.40575077e+01] [-1.87925064e-01 9.82181834e-01 -1.73626016e-03 -6.40116191e+00] [-9.00543994e-03 4.46372326e-05 9.99959449e-01 -1.52558967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.011675871830694724 Centerline is valid? [True, True] Translation: X:94.12, Y:-6.41, Z:-1.52 [[ 9.81735791e-01 1.89928675e-01 1.10424230e-02 9.41186953e+01] [-1.89916239e-01 9.81797890e-01 -2.17368361e-03 -6.41262379e+00] [-1.12542725e-02 3.68475501e-05 9.99936668e-01 -1.52421096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.01176201118982524 Centerline is valid? [True, True] Translation: X:94.18, Y:-6.43, Z:-1.53 [[ 9.81639412e-01 1.90472534e-01 1.02117026e-02 9.41799118e+01] [-1.90461907e-01 9.81692525e-01 -2.01222327e-03 -6.42535087e+00] [-1.04080254e-02 3.03373066e-05 9.99945835e-01 -1.52555848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.011920613354801657 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.44, Z:-1.53 [[ 9.81872296e-01 1.89282468e-01 9.94690110e-03 9.42417607e+01] [-1.89272296e-01 9.81922678e-01 -1.96285943e-03 -6.43867687e+00] [-1.01386226e-02 4.46044954e-05 9.99948602e-01 -1.52709273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.012121784580898081 Centerline is valid? [True, True] Translation: X:94.30, Y:-6.45, Z:-1.53 [[ 9.82252122e-01 1.87318037e-01 9.62920233e-03 9.43013639e+01] [-1.87308374e-01 9.82299317e-01 -1.90378898e-03 -6.45085621e+00] [-9.81537289e-03 6.63705341e-05 9.99951826e-01 -1.52883417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.01317373909075972 Centerline is valid? [True, True] Translation: X:94.36, Y:-6.47, Z:-1.53 [[ 9.83304751e-01 1.81679196e-01 1.02194352e-02 9.43616700e+01] [-1.81667997e-01 9.83357846e-01 -2.02142098e-03 -6.46576638e+00] [-1.04166120e-02 1.31128518e-04 9.99945737e-01 -1.52929388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.013626649703651957 Centerline is valid? [True, True] Translation: X:94.42, Y:-6.48, Z:-1.53 [[ 9.83915283e-01 1.78272373e-01 1.13875556e-02 9.44229017e+01] [-1.78258202e-01 9.83981161e-01 -2.25570960e-03 -6.47839755e+00] [-1.16072709e-02 1.89501967e-04 9.99932615e-01 -1.52934761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.014763380173922671 Centerline is valid? [True, True] Translation: X:94.48, Y:-6.49, Z:-1.53 [[ 9.84593605e-01 1.74421990e-01 1.23451474e-02 9.44836449e+01] [-1.74404989e-01 9.84670962e-01 -2.44891401e-03 -6.49138613e+00] [-1.25830527e-02 2.58129769e-04 9.99920797e-01 -1.53032318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.015366259602805491 Centerline is valid? [True, True] Translation: X:94.54, Y:-6.50, Z:-1.53 [[ 9.84713841e-01 1.73772105e-01 1.19124933e-02 9.45443108e+01] [-1.73756193e-01 9.84785859e-01 -2.36584129e-03 -6.50336551e+00] [-1.21423722e-02 2.59807169e-04 9.99926245e-01 -1.53284143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.015534515958007105 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.51, Z:-1.54 [[ 9.84684109e-01 1.74026794e-01 1.05773377e-02 9.46063900e+01] [-1.74014243e-01 9.84740891e-01 -2.10266969e-03 -6.51441647e+00] [-1.07818578e-02 2.29858021e-04 9.99941848e-01 -1.53565076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.014469687215274897 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.52, Z:-1.54 [[ 9.84366540e-01 1.75860064e-01 9.78533982e-03 9.46681186e+01] [-1.75849386e-01 9.84415156e-01 -1.94781818e-03 -6.52342529e+00] [-9.97538025e-03 1.96621034e-04 9.99950225e-01 -1.53691574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.01531843849576962 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.54, Z:-1.54 [[ 9.84070012e-01 1.77549191e-01 9.08277680e-03 9.47281716e+01] [-1.77540044e-01 9.84111912e-01 -1.81013838e-03 -6.53584098e+00] [-9.25985745e-03 1.68746309e-04 9.99957112e-01 -1.53892669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.01393174724606146 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.54, Z:-1.54 [[ 9.83760477e-01 1.79232136e-01 9.54811398e-03 9.47901584e+01] [-1.79222084e-01 9.83806798e-01 -1.90515758e-03 -6.54456708e+00] [-9.73496490e-03 1.62985843e-04 9.99952601e-01 -1.53900612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.013761805403465405 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.56, Z:-1.54 [[ 9.83545170e-01 1.80378246e-01 1.01285600e-02 9.48507712e+01] [-1.80366967e-01 9.83597307e-01 -2.02378537e-03 -6.55608291e+00] [-1.03274712e-02 1.63626680e-04 9.99946657e-01 -1.53951447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.013679704340318552 Centerline is valid? [True, True] Translation: X:94.91, Y:-6.57, Z:-1.54 [[ 9.83675570e-01 1.79632870e-01 1.06960035e-02 9.49114583e+01] [-1.79620216e-01 9.83733703e-01 -2.14003983e-03 -6.56877448e+00] [-1.09064406e-02 1.83886439e-04 9.99940506e-01 -1.54025615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.014671043330986993 Centerline is valid? [True, True] Translation: X:94.97, Y:-6.58, Z:-1.54 [[ 9.83968870e-01 1.78075581e-01 9.71344272e-03 9.49701985e+01] [-1.78065045e-01 9.84016795e-01 -1.94591727e-03 -6.58380610e+00] [-9.90471112e-03 1.85097403e-04 9.99950930e-01 -1.54201975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.015284906856184421 Centerline is valid? [True, True] Translation: X:95.03, Y:-6.60, Z:-1.54 [[ 9.84540036e-01 1.74971447e-01 8.11845483e-03 9.50305923e+01] [-1.74963965e-01 9.84573491e-01 -1.62847005e-03 -6.59937294e+00] [-8.27815117e-03 1.82856916e-04 9.99965719e-01 -1.54403844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.01619162981500039 Centerline is valid? [True, True] Translation: X:95.09, Y:-6.61, Z:-1.55 [[ 9.84694666e-01 1.74156037e-01 6.78890787e-03 9.50902382e+01] [-1.74150793e-01 9.84718056e-01 -1.36065042e-03 -6.61315030e+00] [-6.92212564e-03 1.57531521e-04 9.99976029e-01 -1.54606910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.01652869110125828 Centerline is valid? [True, True] Translation: X:95.15, Y:-6.63, Z:-1.55 [[ 9.84638625e-01 1.74510990e-01 5.71773986e-03 9.51517146e+01] [-1.74507275e-01 9.84655217e-01 -1.14620773e-03 -6.62575167e+00] [-5.83002823e-03 1.30813203e-04 9.99982997e-01 -1.54804060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.016096084585991807 Centerline is valid? [True, True] Translation: X:95.21, Y:-6.64, Z:-1.55 [[ 9.84549353e-01 1.75032692e-01 5.11161416e-03 9.52134646e+01] [-1.75029725e-01 9.84562615e-01 -1.02561618e-03 -6.63680447e+00] [-5.21222056e-03 1.15085324e-04 9.99986410e-01 -1.54895265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.016249426953309574 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.65, Z:-1.55 [[ 9.84636757e-01 1.74538799e-01 5.16384826e-03 9.52744183e+01] [-1.74535754e-01 9.84650290e-01 -1.03798362e-03 -6.64896958e+00] [-5.26575310e-03 1.20760669e-04 9.99986129e-01 -1.54930272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.016757475791303208 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.66, Z:-1.55 [[ 9.85124769e-01 1.71729708e-01 6.17227056e-03 9.53352561e+01] [-1.71725288e-01 9.85144091e-01 -1.24295395e-03 -6.66230173e+00] [-6.29402799e-03 1.64529783e-04 9.99980179e-01 -1.54858557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.01784020417586843 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.67, Z:-1.55 [[ 9.85445086e-01 1.69847551e-01 7.05638877e-03 9.53957533e+01] [-1.69841710e-01 9.85470328e-01 -1.42336304e-03 -6.67458678e+00] [-7.19561648e-03 2.04176982e-04 9.99974090e-01 -1.54886005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.017015213290007374 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.68, Z:-1.55 [[ 9.85480190e-01 1.69666209e-01 6.49398787e-03 9.54569088e+01] [-1.69661249e-01 9.85501568e-01 -1.31115628e-03 -6.68449300e+00] [-6.62229414e-03 1.90340444e-04 9.99978054e-01 -1.54953937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.017541756943512905 Centerline is valid? [True, True] Translation: X:95.52, Y:-6.70, Z:-1.55 [[ 9.85371354e-01 1.70311423e-01 6.10846297e-03 9.55172344e+01] [-1.70307040e-01 9.85390272e-01 -1.23449117e-03 -6.69676350e+00] [-6.22946793e-03 1.76117992e-04 9.99980581e-01 -1.55116488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.018002452961066936 Centerline is valid? [True, True] Translation: X:95.58, Y:-6.71, Z:-1.55 [[ 9.85291229e-01 1.70779071e-01 5.97520506e-03 9.55777089e+01] [-1.70774876e-01 9.85309332e-01 -1.20910832e-03 -6.70802750e+00] [-6.09391571e-03 1.70908915e-04 9.99981417e-01 -1.55295181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.017275692857736814 Centerline is valid? [True, True] Translation: X:95.64, Y:-6.72, Z:-1.55 [[ 9.85460273e-01 1.69826906e-01 5.18392695e-03 9.56389820e+01] [-1.69823730e-01 9.85473895e-01 -1.04991807e-03 -6.71723853e+00] [-5.28692902e-03 1.54298730e-04 9.99986012e-01 -1.55399276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.018024021493529666 Centerline is valid? [True, True] Translation: X:95.70, Y:-6.73, Z:-1.56 [[ 9.85784979e-01 1.67932552e-01 5.16073178e-03 9.56997264e+01] [-1.67929372e-01 9.85798474e-01 -1.04651364e-03 -6.72988739e+00] [-5.26318522e-03 1.64998977e-04 9.99986136e-01 -1.55506235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.019752264131812452 Centerline is valid? [True, True] Translation: X:95.76, Y:-6.74, Z:-1.56 [[ 9.86221408e-01 1.65352159e-01 5.09876410e-03 9.57587755e+01] [-1.65349003e-01 9.86234572e-01 -1.03751480e-03 -6.74355972e+00] [-5.20013274e-03 1.80143752e-04 9.99986463e-01 -1.55646148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.020758620762924895 Centerline is valid? [True, True] Translation: X:95.82, Y:-6.76, Z:-1.56 [[ 9.86796538e-01 1.61822113e-01 6.79683307e-03 9.58187795e+01] [-1.61816416e-01 9.86819909e-01 -1.38347819e-03 -6.75668295e+00] [-6.93112756e-03 2.65372321e-04 9.99975944e-01 -1.55568620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.019833223834078643 Centerline is valid? [True, True] Translation: X:95.88, Y:-6.77, Z:-1.55 [[ 9.86923484e-01 1.60994543e-01 7.92425464e-03 9.58798460e+01] [-1.60986784e-01 9.86955246e-01 -1.61160335e-03 -6.76682456e+00] [-8.08034404e-03 3.14828925e-04 9.99967304e-01 -1.55497477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.02001141223507172 Centerline is valid? [True, True] Translation: X:95.94, Y:-6.78, Z:-1.56 [[ 9.86716119e-01 1.62270316e-01 7.72297225e-03 9.59407742e+01] [-1.62262970e-01 9.86746297e-01 -1.57255556e-03 -6.77814423e+00] [-7.87579336e-03 2.98513506e-04 9.99968941e-01 -1.55677368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.01934412508904044 Centerline is valid? [True, True] Translation: X:96.00, Y:-6.79, Z:-1.56 [[ 9.86373366e-01 1.64402127e-01 6.28677425e-03 9.60021649e+01] [-1.64397298e-01 9.86393374e-01 -1.28095120e-03 -6.78854754e+00] [-6.41182356e-03 2.29967445e-04 9.99979418e-01 -1.55858626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.01938394998046475 Centerline is valid? [True, True] Translation: X:96.06, Y:-6.80, Z:-1.56 [[ 9.85587873e-01 1.69071061e-01 5.61437112e-03 9.60620141e+01] [-1.69067267e-01 9.85603847e-01 -1.14715903e-03 -6.79921439e+00] [-5.72749717e-03 1.81419649e-04 9.99983581e-01 -1.55979450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.016225577758598734 Centerline is valid? [True, True] Translation: X:96.12, Y:-6.81, Z:-1.56 [[ 9.84842835e-01 1.73332310e-01 6.36403912e-03 9.61235745e+01] [-1.73327523e-01 9.84863381e-01 -1.30043786e-03 -6.80558134e+00] [-6.49311698e-03 1.77663769e-04 9.99978904e-01 -1.55869896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.01482004801643706 Centerline is valid? [True, True] Translation: X:96.18, Y:-6.81, Z:-1.56 [[ 9.83580247e-01 1.80307240e-01 7.69392480e-03 9.61826261e+01] [-1.80300452e-01 9.83610326e-01 -1.57265792e-03 -6.81346200e+00] [-7.85138549e-03 1.59617148e-04 9.99969165e-01 -1.55891542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.014328823243658619 Centerline is valid? [True, True] Translation: X:96.24, Y:-6.82, Z:-1.56 [[ 9.82650238e-01 1.85254923e-01 8.89515953e-03 9.62425107e+01] [-1.85246043e-01 9.82690487e-01 -1.81926681e-03 -6.82444444e+00] [-9.07821679e-03 1.39909862e-04 9.99958782e-01 -1.55941107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.012091673693728778 Centerline is valid? [True, True] Translation: X:96.30, Y:-6.83, Z:-1.56 [[ 9.80941961e-01 1.94093502e-01 8.97671511e-03 9.63044037e+01] [-1.94084825e-01 9.80983032e-01 -1.83626502e-03 -6.82922935e+00] [-9.16241232e-03 5.90252333e-05 9.99958022e-01 -1.55917770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.011874693458084501 Centerline is valid? [True, True] Translation: X:96.37, Y:-6.83, Z:-1.56 [[ 9.78753399e-01 2.04891256e-01 7.83309431e-03 9.63663600e+01] [-2.04885007e-01 9.78784742e-01 -1.60066525e-03 -6.83415624e+00] [-7.99487551e-03 -3.82270305e-05 9.99968040e-01 -1.56122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.012617768443283625 Centerline is valid? [True, True] Translation: X:96.43, Y:-6.84, Z:-1.56 [[ 9.77175972e-01 2.12324958e-01 6.72543574e-03 9.64282599e+01] [-2.12320518e-01 9.77199112e-01 -1.37564732e-03 -6.84229398e+00] [-6.86417409e-03 -8.36984921e-05 9.99976438e-01 -1.56287643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.013657734166586385 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.85, Z:-1.56 [[ 9.75966160e-01 2.17855621e-01 5.38353161e-03 9.64898124e+01] [-2.17852846e-01 9.75981004e-01 -1.10368002e-03 -6.85180908e+00] [-5.49466748e-03 -9.56633343e-05 9.99984900e-01 -1.56475748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.015410881786138045 Centerline is valid? [True, True] Translation: X:96.55, Y:-6.86, Z:-1.57 [[ 9.75072638e-01 2.21823136e-01 5.27691418e-03 9.65501932e+01] [-2.21820530e-01 9.75086910e-01 -1.08160863e-03 -6.86172394e+00] [-5.38537577e-03 -1.15880920e-04 9.99985492e-01 -1.56681038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.014999303501125508 Centerline is valid? [True, True] Translation: X:96.61, Y:-6.88, Z:-1.57 [[ 9.75149192e-01 2.21470970e-01 5.88759368e-03 9.66105068e+01] [-2.21467719e-01 9.75166957e-01 -1.20655882e-03 -6.87749111e+00] [-6.00860456e-03 -1.27337084e-04 9.99981940e-01 -1.56683851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.013802956744335761 Centerline is valid? [True, True] Translation: X:96.67, Y:-6.90, Z:-1.57 [[ 9.75990202e-01 2.17704591e-01 6.91633331e-03 9.66695505e+01] [-2.17699995e-01 9.76014701e-01 -1.41982446e-03 -6.89704252e+00] [-7.05954529e-03 -1.19950957e-04 9.99975074e-01 -1.56678376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.013317551945466093 Centerline is valid? [True, True] Translation: X:96.73, Y:-6.91, Z:-1.57 [[ 9.76277607e-01 2.16405708e-01 7.11362629e-03 9.67299325e+01] [-2.16400796e-01 9.76303517e-01 -1.46221885e-03 -6.91268307e+00] [-7.26149087e-03 -1.11862870e-04 9.99973629e-01 -1.56722922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.012920352560589456 Centerline is valid? [True, True] Translation: X:96.79, Y:-6.93, Z:-1.57 [[ 9.76863816e-01 2.13741922e-01 7.17461879e-03 9.67897408e+01] [-2.13736841e-01 9.76890159e-01 -1.47666306e-03 -6.93052154e+00] [-7.32443929e-03 -9.09816451e-05 9.99973172e-01 -1.56781071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.012521720955464595 Centerline is valid? [True, True] Translation: X:96.85, Y:-6.95, Z:-1.57 [[ 9.77456185e-01 2.11034364e-01 6.62604782e-03 9.68491329e+01] [-2.11029958e-01 9.77478641e-01 -1.36516817e-03 -6.94953987e+00] [-6.76491761e-03 -6.39025244e-05 9.99977116e-01 -1.56975686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.012340296941130986 Centerline is valid? [True, True] Translation: X:96.91, Y:-6.97, Z:-1.57 [[ 9.77599351e-01 2.10368375e-01 6.68254826e-03 9.69092424e+01] [-2.10363869e-01 9.77622189e-01 -1.37814989e-03 -6.96822678e+00] [-6.82292661e-03 -5.84882687e-05 9.99976722e-01 -1.57043203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.012485065358322285 Centerline is valid? [True, True] Translation: X:96.97, Y:-6.98, Z:-1.57 [[ 9.77481079e-01 2.10947138e-01 5.66077867e-03 9.69693436e+01] [-2.10943907e-01 9.77497469e-01 -1.16873103e-03 -6.98341292e+00] [-5.77993729e-03 -5.16942983e-05 9.99983295e-01 -1.57174634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.013061729743325246 Centerline is valid? [True, True] Translation: X:97.03, Y:-7.00, Z:-1.57 [[ 9.77153740e-01 2.12478494e-01 4.84342140e-03 9.70286051e+01] [-2.12476143e-01 9.77165742e-01 -1.00085975e-03 -6.99766224e+00] [-4.94548664e-03 -5.11176528e-05 9.99987770e-01 -1.57466643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.012836199828123313 Centerline is valid? [True, True] Translation: X:97.09, Y:-7.01, Z:-1.57 [[ 9.76984760e-01 2.13265714e-01 4.30286272e-03 9.70898946e+01] [-2.13263867e-01 9.76994234e-01 -8.89052052e-04 -7.01326395e+00] [-4.39347638e-03 -4.90548353e-05 9.99990347e-01 -1.57437264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.012777439994103305 Centerline is valid? [True, True] Translation: X:97.15, Y:-7.03, Z:-1.58 [[ 9.76959489e-01 2.13377109e-01 4.51285580e-03 9.71512075e+01] [-2.13375071e-01 9.76969911e-01 -9.33997776e-04 -7.02776987e+00] [-4.60821807e-03 -5.04529349e-05 9.99989381e-01 -1.57508686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.012717074626403806 Centerline is valid? [True, True] Translation: X:97.21, Y:-7.04, Z:-1.58 [[ 9.77139327e-01 2.12540736e-01 5.01716615e-03 9.72120444e+01] [-2.12538194e-01 9.77152206e-01 -1.04076729e-03 -7.04168818e+00] [-5.12374041e-03 -4.93647805e-05 9.99986872e-01 -1.57536981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.012254339602261627 Centerline is valid? [True, True] Translation: X:97.27, Y:-7.06, Z:-1.57 [[ 9.77773177e-01 2.09569104e-01 6.35640407e-03 9.72725930e+01] [-2.09564943e-01 9.77793838e-01 -1.32124121e-03 -7.05667919e+00] [-6.49214407e-03 -4.02052418e-05 9.99978925e-01 -1.57490329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.012110985712650678 Centerline is valid? [True, True] Translation: X:97.33, Y:-7.07, Z:-1.58 [[ 9.78600573e-01 2.05671506e-01 6.33634372e-03 9.73329751e+01] [-2.05667279e-01 9.78621087e-01 -1.31865159e-03 -7.07238257e+00] [-6.47208863e-03 -1.27453697e-05 9.99979056e-01 -1.57526391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.012172227510283027 Centerline is valid? [True, True] Translation: X:97.39, Y:-7.09, Z:-1.58 [[ 9.79681458e-01 2.00432733e-01 7.13861499e-03 9.73926798e+01] [-2.00427213e-01 9.79707466e-01 -1.48785252e-03 -7.08805404e+00] [-7.29196875e-03 2.68488271e-05 9.99973413e-01 -1.57664375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.013637070730159368 Centerline is valid? [True, True] Translation: X:97.45, Y:-7.10, Z:-1.58 [[ 9.81658102e-01 1.90483474e-01 7.96343662e-03 9.74529002e+01] [-1.90476241e-01 9.81690395e-01 -1.66400497e-03 -7.10478678e+00] [-8.13459470e-03 1.16638488e-04 9.99966907e-01 -1.57739042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.0163640298870604 Centerline is valid? [True, True] Translation: X:97.51, Y:-7.12, Z:-1.58 [[ 9.83904953e-01 1.78524878e-01 7.74020309e-03 9.75110482e+01] [-1.78517667e-01 9.83935376e-01 -1.61833632e-03 -7.12251225e+00] [-7.90477292e-03 2.10526122e-04 9.99968735e-01 -1.57875257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.018864351535194165 Centerline is valid? [True, True] Translation: X:97.57, Y:-7.14, Z:-1.58 [[ 9.85281715e-01 1.70742411e-01 8.18363974e-03 9.75701369e+01] [-1.70734080e-01 9.85315658e-01 -1.71120322e-03 -7.13837965e+00] [-8.35564334e-03 2.88791041e-04 9.99965049e-01 -1.57965502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.02083184113725322 Centerline is valid? [True, True] Translation: X:97.63, Y:-7.15, Z:-1.58 [[ 9.86472023e-01 1.63688503e-01 8.88938762e-03 9.76293477e+01] [-1.63678385e-01 9.86512002e-01 -1.85894442e-03 -7.15062706e+00] [-9.07377541e-03 3.78796057e-04 9.99958761e-01 -1.58016207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.02131955347976936 Centerline is valid? [True, True] Translation: X:97.69, Y:-7.16, Z:-1.58 [[ 9.86799414e-01 1.61692197e-01 9.08573591e-03 9.76905445e+01] [-1.61681545e-01 9.86841157e-01 -1.89977686e-03 -7.16190270e+00] [-9.27335723e-03 4.05702872e-04 9.99956919e-01 -1.58074731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.020568734739847057 Centerline is valid? [True, True] Translation: X:97.75, Y:-7.17, Z:-1.58 [[ 9.86103538e-01 1.65879485e-01 9.15466083e-03 9.77512322e+01] [-1.65868842e-01 9.86145962e-01 -1.91523566e-03 -7.16834652e+00] [-9.34553012e-03 3.70147674e-04 9.99956261e-01 -1.58197249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.018294851741476215 Centerline is valid? [True, True] Translation: X:97.81, Y:-7.17, Z:-1.58 [[ 9.84871383e-01 1.73065253e-01 8.76230306e-03 9.78125426e+01] [-1.73055785e-01 9.84910318e-01 -1.83326221e-03 -7.17284016e+00] [-8.94735668e-03 2.89160251e-04 9.99959930e-01 -1.58348263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.014271816565274662 Centerline is valid? [True, True] Translation: X:97.87, Y:-7.17, Z:-1.59 [[ 9.82423939e-01 1.86471529e-01 8.46012736e-03 9.78746517e+01] [-1.86463196e-01 9.82460352e-01 -1.77022909e-03 -7.17072482e+00] [-8.64183703e-03 1.61613053e-04 9.99962646e-01 -1.58537637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.012578883765391222 Centerline is valid? [True, True] Translation: X:97.94, Y:-7.18, Z:-1.59 [[ 9.80622641e-01 1.95728576e-01 8.34027581e-03 9.79368768e+01] [-1.95720814e-01 9.80658105e-01 -1.74490579e-03 -7.17526410e+00] [-8.52048699e-03 7.87285537e-05 9.99963697e-01 -1.58645840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.01191491272187776 Centerline is valid? [True, True] Translation: X:98.00, Y:-7.18, Z:-1.59 [[ 9.77988887e-01 2.08476000e-01 8.68880796e-03 9.79994189e+01] [-2.08468080e-01 9.78027482e-01 -1.81746420e-03 -7.17505505e+00] [-8.87679064e-03 -3.38793206e-05 9.99960600e-01 -1.58920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.012656916817374807 Centerline is valid? [True, True] Translation: X:98.06, Y:-7.18, Z:-1.59 [[ 9.76333431e-01 2.16094105e-01 8.73900504e-03 9.80615198e+01] [-2.16086381e-01 9.76372535e-01 -1.82983022e-03 -7.18087801e+00] [-8.92794003e-03 -1.01855557e-04 9.99960140e-01 -1.59040446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.014401585052609465 Centerline is valid? [True, True] Translation: X:98.12, Y:-7.19, Z:-1.59 [[ 9.74641694e-01 2.23596183e-01 8.84959283e-03 9.81235382e+01] [-2.23588549e-01 9.74681855e-01 -1.85547196e-03 -7.18613354e+00] [-9.04041400e-03 -1.70247283e-04 9.99959120e-01 -1.59228768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.015084387435278694 Centerline is valid? [True, True] Translation: X:98.18, Y:-7.20, Z:-1.59 [[ 9.73953724e-01 2.26586298e-01 8.53193827e-03 9.81847753e+01] [-2.26579302e-01 9.73991075e-01 -1.79060059e-03 -7.19686000e+00] [-8.71575729e-03 -1.89198504e-04 9.99961999e-01 -1.59353219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.016266541701513378 Centerline is valid? [True, True] Translation: X:98.25, Y:-7.21, Z:-1.60 [[ 9.73716400e-01 2.27630097e-01 7.80455275e-03 9.82450522e+01] [-2.27624256e-01 9.73747661e-01 -1.64055839e-03 -7.20670133e+00] [-7.97310545e-03 -1.79066901e-04 9.99968198e-01 -1.59624097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.015580338717263978 Centerline is valid? [True, True] Translation: X:98.31, Y:-7.22, Z:-1.60 [[ 9.73898661e-01 2.26876829e-01 6.95003896e-03 9.83053194e+01] [-2.26872180e-01 9.73923447e-01 -1.46064009e-03 -7.22046377e+00] [-7.10019129e-03 -1.54255064e-04 9.99974781e-01 -1.59845179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.014348515810003442 Centerline is valid? [True, True] Translation: X:98.37, Y:-7.24, Z:-1.60 [[ 9.74591769e-01 2.23926079e-01 5.29111009e-03 9.83654812e+01] [-2.23923339e-01 9.74606126e-01 -1.11232162e-03 -7.23759978e+00] [-5.40582613e-03 -1.00743546e-04 9.99985383e-01 -1.60028277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.013685890855628727 Centerline is valid? [True, True] Translation: X:98.43, Y:-7.25, Z:-1.60 [[ 9.75254668e-01 2.21036447e-01 4.60662097e-03 9.84253692e+01] [-2.21034335e-01 9.75265545e-01 -9.69100567e-04 -7.25415501e+00] [-4.70688525e-03 -7.31015480e-05 9.99988920e-01 -1.60182456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.012754792016314055 Centerline is valid? [True, True] Translation: X:98.48, Y:-7.27, Z:-1.60 [[ 9.76626147e-01 2.14873689e-01 5.53769187e-03 9.84833288e+01] [-2.14870523e-01 9.76641846e-01 -1.16743889e-03 -7.27376891e+00] [-5.65919351e-03 -4.97354047e-05 9.99983985e-01 -1.60256058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.012160849536111311 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.29, Z:-1.60 [[ 9.77585519e-01 2.10450879e-01 6.08122493e-03 9.85432845e+01] [-2.10446959e-01 9.77604433e-01 -1.28471246e-03 -7.29300987e+00] [-6.21540131e-03 -2.38590002e-05 9.99980684e-01 -1.60164877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.012132723691608786 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.31, Z:-1.60 [[ 9.78819754e-01 2.04621510e-01 6.47509714e-03 9.86029319e+01] [-2.04616941e-01 9.78841171e-01 -1.36751675e-03 -7.31484759e+00] [-6.61791501e-03 1.36378382e-05 9.99978101e-01 -1.60163820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.012314382810588895 Centerline is valid? [True, True] Translation: X:98.66, Y:-7.33, Z:-1.60 [[ 9.79077089e-01 2.03390682e-01 6.34691662e-03 9.86637788e+01] [-2.03386255e-01 9.79097661e-01 -1.34219939e-03 -7.33018107e+00] [-6.48724207e-03 2.32410735e-05 9.99978957e-01 -1.60254299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.012536030958557522 Centerline is valid? [True, True] Translation: X:98.72, Y:-7.35, Z:-1.60 [[ 9.79642855e-01 2.00633629e-01 6.78408657e-03 9.87232401e+01] [-2.00628486e-01 9.79666344e-01 -1.43733851e-03 -7.34695568e+00] [-6.93451972e-03 4.69973862e-05 9.99975955e-01 -1.60390729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.013011171210341033 Centerline is valid? [True, True] Translation: X:98.78, Y:-7.36, Z:-1.60 [[ 9.80226701e-01 1.97723890e-01 7.80242390e-03 9.87831874e+01] [-1.97716974e-01 9.80257750e-01 -1.65567512e-03 -7.36485514e+00] [-7.97575302e-03 8.02653123e-05 9.99968190e-01 -1.60369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.013193316551388518 Centerline is valid? [True, True] Translation: X:98.84, Y:-7.38, Z:-1.60 [[ 9.80506994e-01 1.96300646e-01 8.49064920e-03 9.88429304e+01] [-1.96292374e-01 9.80543750e-01 -1.80504078e-03 -7.38030675e+00] [-8.67978368e-03 1.03205420e-04 9.99962325e-01 -1.60335368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.013920409377968304 Centerline is valid? [True, True] Translation: X:98.90, Y:-7.40, Z:-1.60 [[ 9.81094335e-01 1.93354694e-01 8.23823934e-03 9.89023978e+01] [-1.93346800e-01 9.81128914e-01 -1.75162545e-03 -7.39800301e+00] [-8.42145982e-03 1.25672585e-04 9.99964531e-01 -1.60408613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.014495895528294398 Centerline is valid? [True, True] Translation: X:98.96, Y:-7.41, Z:-1.60 [[ 9.81546801e-01 1.91036802e-01 8.41535036e-03 9.89625022e+01] [-1.91028461e-01 9.81582863e-01 -1.79151046e-03 -7.41362362e+00] [-8.60260813e-03 1.50879932e-04 9.99962985e-01 -1.60496071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.016014203141373768 Centerline is valid? [True, True] Translation: X:99.02, Y:-7.43, Z:-1.61 [[ 9.82530101e-01 1.85884408e-01 9.03254862e-03 9.90225485e+01] [-1.85874546e-01 9.82571596e-01 -1.92669331e-03 -7.43148660e+00] [-9.23326796e-03 2.14113297e-04 9.99957350e-01 -1.60536602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.01742761713217382 Centerline is valid? [True, True] Translation: X:99.08, Y:-7.45, Z:-1.61 [[ 9.83416883e-01 1.81157113e-01 8.56353560e-03 9.90818134e+01] [-1.81148062e-01 9.83454137e-01 -1.82746913e-03 -7.44844059e+00] [-8.75290355e-03 2.45896118e-04 9.99961662e-01 -1.60719334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.018331438499547936 Centerline is valid? [True, True] Translation: X:99.14, Y:-7.46, Z:-1.61 [[ 9.83867485e-01 1.78704439e-01 8.33638701e-03 9.91422551e+01] [-1.78695774e-01 9.83902767e-01 -1.77901212e-03 -7.46371409e+00] [-8.52011161e-03 2.60635047e-04 9.99963669e-01 -1.60892149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.01990704486286073 Centerline is valid? [True, True] Translation: X:99.20, Y:-7.48, Z:-1.61 [[ 9.84229485e-01 1.76720981e-01 7.87496592e-03 9.92015666e+01] [-1.76713191e-01 9.84260955e-01 -1.67979826e-03 -7.47892379e+00] [-8.04787707e-03 2.61696623e-04 9.99967581e-01 -1.61066046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.020120235738501996 Centerline is valid? [True, True] Translation: X:99.26, Y:-7.49, Z:-1.61 [[ 9.84282104e-01 1.76389182e-01 8.69466824e-03 9.92618274e+01] [-1.76379653e-01 9.84320461e-01 -1.85690464e-03 -7.49198518e+00] [-8.88587774e-03 2.94155442e-04 9.99960477e-01 -1.61138229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.01849230722618222 Centerline is valid? [True, True] Translation: X:99.32, Y:-7.50, Z:-1.61 [[ 9.84170381e-01 1.76921733e-01 1.03615740e-02 9.93236632e+01] [-1.76908186e-01 9.84224862e-01 -2.21702039e-03 -7.50221519e+00] [-1.05903578e-02 3.48878545e-04 9.99943860e-01 -1.61065199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.01740543205572304 Centerline is valid? [True, True] Translation: X:99.39, Y:-7.51, Z:-1.61 [[ 9.83655653e-01 1.79777546e-01 1.00791616e-02 9.93851581e+01] [-1.79764877e-01 9.83707242e-01 -2.15652232e-03 -7.51211411e+00] [-1.03026386e-02 3.09396115e-04 9.99946879e-01 -1.61163305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.01571379298318652 Centerline is valid? [True, True] Translation: X:99.45, Y:-7.52, Z:-1.61 [[ 9.82422103e-01 1.86450511e-01 9.11145195e-03 9.94460737e+01] [-1.86440412e-01 9.82464329e-01 -1.95301166e-03 -7.51856173e+00] [-9.31581655e-03 2.19938972e-04 9.99956583e-01 -1.61348030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.014757997035373895 Centerline is valid? [True, True] Translation: X:99.51, Y:-7.53, Z:-1.62 [[ 9.81341302e-01 1.92105231e-01 8.05171049e-03 9.95056595e+01] [-1.92097534e-01 9.81374321e-01 -1.72597300e-03 -7.52700357e+00] [-8.23331036e-03 1.47054865e-04 9.99966095e-01 -1.61584507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.013495291114091434 Centerline is valid? [True, True] Translation: X:99.57, Y:-7.54, Z:-1.62 [[ 9.80284954e-01 1.97461032e-01 7.10979127e-03 9.95675255e+01] [-1.97455186e-01 9.80310733e-01 -1.52209846e-03 -7.53514859e+00] [-7.27035982e-03 8.82250669e-05 9.99973567e-01 -1.61725767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.01256924892550677 Centerline is valid? [True, True] Translation: X:99.63, Y:-7.54, Z:-1.62 [[ 9.78801500e-01 2.04717775e-01 6.18521973e-03 9.96295861e+01] [-2.04713488e-01 9.78821042e-01 -1.32522115e-03 -7.54261158e+00] [-6.32551955e-03 3.09305442e-05 9.99979993e-01 -1.61970678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.012407130511401939 Centerline is valid? [True, True] Translation: X:99.69, Y:-7.55, Z:-1.62 [[ 9.77879694e-01 2.09086700e-01 5.83582832e-03 9.96912302e+01] [-2.09082954e-01 9.77897107e-01 -1.25163546e-03 -7.55196004e+00] [-5.96853996e-03 3.77667252e-06 9.99982188e-01 -1.62185313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.012278913921688669 Centerline is valid? [True, True] Translation: X:99.75, Y:-7.56, Z:-1.62 [[ 9.77114030e-01 2.12630962e-01 6.02053536e-03 9.97533206e+01] [-2.12627034e-01 9.77132577e-01 -1.29255944e-03 -7.56315935e+00] [-6.15769939e-03 -1.71506205e-05 9.99981041e-01 -1.62276306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.012319985765976926 Centerline is valid? [True, True] Translation: X:99.82, Y:-7.58, Z:-1.62 [[ 9.76454405e-01 2.15624937e-01 6.53304242e-03 9.98153356e+01] [-2.15620364e-01 9.76476259e-01 -1.40483235e-03 -7.57515074e+00] [-6.68227772e-03 -3.69022515e-05 9.99977673e-01 -1.62313077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.012399846268400903 Centerline is valid? [True, True] Translation: X:99.88, Y:-7.59, Z:-1.62 [[ 9.76117335e-01 2.17113320e-01 7.53359717e-03 9.98771913e+01] [-2.17107260e-01 9.76146405e-01 -1.62288745e-03 -7.58790274e+00] [-7.70624427e-03 -5.14700731e-05 9.99970305e-01 -1.62355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.012504912419005877 Centerline is valid? [True, True] Translation: X:99.94, Y:-7.60, Z:-1.62 [[ 9.75646993e-01 2.19193337e-01 8.19911804e-03 9.99389388e+01] [-2.19186210e-01 9.75681442e-01 -1.76901850e-03 -7.60024254e+00] [-8.38748437e-03 -7.11960285e-05 9.99964822e-01 -1.62398144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.012786599760435113 Centerline is valid? [True, True] Translation: X:100.00, Y:-7.61, Z:-1.63 [[ 9.75389602e-01 2.20341828e-01 8.03762993e-03 9.99994599e+01] [-2.20334998e-01 9.75422715e-01 -1.73665848e-03 -7.61286660e+00] [-8.22274532e-03 -7.70525510e-05 9.99966190e-01 -1.62523766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.01281352906567692 Centerline is valid? [True, True] Translation: X:100.06, Y:-7.63, Z:-1.63 [[ 9.75455831e-01 2.20076389e-01 7.23220354e-03 1.00059458e+02] [-2.20070839e-01 9.75482639e-01 -1.56424869e-03 -7.62661673e+00] [-7.39914320e-03 -6.57416007e-05 9.99972624e-01 -1.62727484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.01256606342197972 Centerline is valid? [True, True] Translation: X:100.12, Y:-7.64, Z:-1.63 [[ 9.75595067e-01 2.19483538e-01 6.42193015e-03 1.00120119e+02] [-2.19479143e-01 9.75616202e-01 -1.38998359e-03 -7.64210385e+00] [-6.57041762e-03 -5.34185981e-05 9.99978413e-01 -1.62801079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.012443291583299359 Centerline is valid? [True, True] Translation: X:100.18, Y:-7.66, Z:-1.63 [[ 9.76058683e-01 2.17436635e-01 5.54600280e-03 1.00181082e+02] [-2.17433318e-01 9.76074438e-01 -1.20144706e-03 -7.65852447e+00] [-5.67455017e-03 -3.32029551e-05 9.99983899e-01 -1.62940236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.01233934417411467 Centerline is valid? [True, True] Translation: X:100.24, Y:-7.68, Z:-1.63 [[ 9.76592774e-01 2.15026903e-01 5.47585119e-03 1.00241131e+02] [-2.15023621e-01 9.76608125e-01 -1.18821222e-03 -7.67514014e+00] [-5.60325835e-03 -1.70378803e-05 9.99984301e-01 -1.63031930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.012506441672136501 Centerline is valid? [True, True] Translation: X:100.30, Y:-7.70, Z:-1.63 [[ 9.77929590e-01 2.08845057e-01 6.12035154e-03 1.00301377e+02] [-2.08840825e-01 9.77948742e-01 -1.32976238e-03 -7.69610776e+00] [-6.26310439e-03 2.22347139e-05 9.99980386e-01 -1.62994737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.013441475857716064 Centerline is valid? [True, True] Translation: X:100.36, Y:-7.72, Z:-1.63 [[ 9.79188232e-01 2.02820033e-01 7.37834418e-03 1.00361062e+02] [-2.02813686e-01 9.79216027e-01 -1.60645080e-03 -7.71563887e+00] [-7.55081328e-03 7.65885427e-05 9.99971489e-01 -1.63014567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.01535062627816695 Centerline is valid? [True, True] Translation: X:100.42, Y:-7.74, Z:-1.63 [[ 9.81327725e-01 1.92139170e-01 8.85639291e-03 1.00419168e+02] [-1.92129549e-01 9.81367669e-01 -1.93265470e-03 -7.73708950e+00] [-9.06271634e-03 1.94992867e-04 9.99958914e-01 -1.62798836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.016699820680288052 Centerline is valid? [True, True] Translation: X:100.48, Y:-7.76, Z:-1.63 [[ 9.82659421e-01 1.85236042e-01 8.25053980e-03 1.00477834e+02] [-1.85227446e-01 9.82694027e-01 -1.80083993e-03 -7.75511994e+00] [-8.44133664e-03 2.41385913e-04 9.99964342e-01 -1.62838001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.020045120803213908 Centerline is valid? [True, True] Translation: X:100.53, Y:-7.78, Z:-1.63 [[ 9.84342419e-01 1.76136977e-01 6.76509527e-03 1.00534759e+02] [-1.76130984e-01 9.84365632e-01 -1.47643614e-03 -7.77531270e+00] [-6.91938228e-03 2.61775832e-04 9.99976027e-01 -1.63044922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.02080967654753554 Centerline is valid? [True, True] Translation: X:100.59, Y:-7.79, Z:-1.63 [[ 9.84875901e-01 1.73139799e-01 6.48606458e-03 1.00594524e+02] [-1.73134222e-01 9.84897221e-01 -1.41589927e-03 -7.79037482e+00] [-6.63325550e-03 2.71525320e-04 9.99977963e-01 -1.63080346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.022279928254240102 Centerline is valid? [True, True] Translation: X:100.65, Y:-7.80, Z:-1.63 [[ 9.85399099e-01 1.70092362e-01 7.56330645e-03 1.00654561e+02] [-1.70084686e-01 9.85428065e-01 -1.65143335e-03 -7.80426323e+00] [-7.73399064e-03 3.40918334e-04 9.99970034e-01 -1.63075754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.022813928460619855 Centerline is valid? [True, True] Translation: X:100.72, Y:-7.82, Z:-1.63 [[ 9.85693400e-01 1.68389556e-01 7.31295714e-03 1.00715685e+02] [-1.68382334e-01 9.85720468e-01 -1.59670711e-03 -7.81624971e+00] [-7.47740033e-03 3.42490870e-04 9.99971985e-01 -1.63081284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.02401438777574265 Centerline is valid? [True, True] Translation: X:100.78, Y:-7.83, Z:-1.63 [[ 9.85502287e-01 1.69524215e-01 6.83985440e-03 1.00775531e+02] [-1.69517931e-01 9.85525973e-01 -1.49241388e-03 -7.82877489e+00] [-6.99385446e-03 3.11299324e-04 9.99975494e-01 -1.63248762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.019587178493496626 Centerline is valid? [True, True] Translation: X:100.84, Y:-7.83, Z:-1.63 [[ 9.84412640e-01 1.75747906e-01 6.66537283e-03 1.00837385e+02] [-1.75742058e-01 9.84435170e-01 -1.45775086e-03 -7.82950271e+00] [-6.81782410e-03 2.63642033e-04 9.99976724e-01 -1.63262275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.016626475554870443 Centerline is valid? [True, True] Translation: X:100.90, Y:-7.83, Z:-1.63 [[ 9.82263232e-01 1.87328448e-01 8.18512126e-03 1.00899673e+02] [-1.87320028e-01 9.82297308e-01 -1.79027828e-03 -7.82966954e+00] [-8.37559263e-03 2.25287380e-04 9.99964899e-01 -1.63230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.014522905523557538 Centerline is valid? [True, True] Translation: X:100.96, Y:-7.83, Z:-1.63 [[ 9.80501889e-01 1.96305064e-01 8.96477159e-03 1.00961193e+02] [-1.96295337e-01 9.80542857e-01 -1.96099929e-03 -7.83425965e+00] [-9.17529684e-03 1.63020654e-04 9.99957893e-01 -1.63250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.012254000445954748 Centerline is valid? [True, True] Translation: X:101.02, Y:-7.83, Z:-1.63 [[ 9.77850636e-01 2.09092742e-01 9.39990495e-03 1.01024302e+02] [-2.09082635e-01 9.77895814e-01 -2.05634186e-03 -7.83322146e+00] [-9.62209386e-03 4.54383044e-05 9.99953706e-01 -1.63333305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.01188549118159479 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.84, Z:-1.63 [[ 9.76064727e-01 2.17283606e-01 9.24567410e-03 1.01088329e+02] [-2.17274208e-01 9.76108515e-01 -2.02122065e-03 -7.83656507e+00] [-9.46395933e-03 -3.60043316e-05 9.99955215e-01 -1.63492029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.01260954127377211 Centerline is valid? [True, True] Translation: X:101.15, Y:-7.84, Z:-1.64 [[ 9.74403370e-01 2.24603803e-01 9.55010349e-03 1.01150825e+02] [-2.24594095e-01 9.74450163e-01 -2.09099647e-03 -7.84117000e+00] [-9.77574567e-03 -1.07422840e-04 9.99952210e-01 -1.63695090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.014048575126556011 Centerline is valid? [True, True] Translation: X:101.21, Y:-7.85, Z:-1.64 [[ 9.72891094e-01 2.31089046e-01 8.98732634e-03 1.01213130e+02] [-2.31080694e-01 9.72932591e-01 -1.97112154e-03 -7.84645378e+00] [-9.19956730e-03 -1.59111014e-04 9.99957670e-01 -1.63847221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.015007948123375714 Centerline is valid? [True, True] Translation: X:101.27, Y:-7.86, Z:-1.64 [[ 9.72331247e-01 2.33438483e-01 8.85552414e-03 1.01273309e+02] [-2.33430476e-01 9.72371556e-01 -1.94173306e-03 -7.85546669e+00] [-9.06413501e-03 -1.79141485e-04 9.99958904e-01 -1.63993800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.015110906371964238 Centerline is valid? [True, True] Translation: X:101.33, Y:-7.87, Z:-1.64 [[ 9.71903823e-01 2.35244088e-01 7.94847215e-03 1.01334906e+02] [-2.35237687e-01 9.71936309e-01 -1.74415082e-03 -7.86622593e+00] [-8.13570985e-03 -1.74633353e-04 9.99966889e-01 -1.64190159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.014138642414374687 Centerline is valid? [True, True] Translation: X:101.40, Y:-7.88, Z:-1.64 [[ 9.72479004e-01 2.32912083e-01 6.04552255e-03 1.01395114e+02] [-2.32908331e-01 9.72497788e-01 -1.32712480e-03 -7.88172836e+00] [-6.18836071e-03 -1.17451564e-04 9.99980845e-01 -1.64454900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.012991317038307085 Centerline is valid? [True, True] Translation: X:101.45, Y:-7.90, Z:-1.65 [[ 9.73781093e-01 2.27445201e-01 4.36621216e-03 1.01454259e+02] [-2.27443189e-01 9.73790880e-01 -9.58474222e-04 -7.90057727e+00] [-4.46977794e-03 -5.97211416e-05 9.99990009e-01 -1.64679784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.012599588271265403 Centerline is valid? [True, True] Translation: X:101.51, Y:-7.92, Z:-1.65 [[ 9.74294619e-01 2.25254043e-01 3.25744969e-03 1.01514425e+02] [-2.25252912e-01 9.74300064e-01 -7.14879426e-04 -7.91726768e+00] [-3.33476292e-03 -3.72468492e-05 9.99994439e-01 -1.64807158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.012592353947631758 Centerline is valid? [True, True] Translation: X:101.58, Y:-7.93, Z:-1.65 [[ 9.74341175e-01 2.25052789e-01 3.24304161e-03 1.01575222e+02] [-2.25051666e-01 9.74346571e-01 -7.12085370e-04 -7.93212809e+00] [-3.32010327e-03 -3.60378188e-05 9.99994488e-01 -1.64904605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.012797992129620156 Centerline is valid? [True, True] Translation: X:101.63, Y:-7.95, Z:-1.65 [[ 9.74365228e-01 2.24946696e-01 3.37427567e-03 1.01634961e+02] [-2.24945474e-01 9.74371070e-01 -7.42374398e-04 -7.94672793e+00] [-3.45479127e-03 -3.56842399e-05 9.99994032e-01 -1.64964731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.01258501579551378 Centerline is valid? [True, True] Translation: X:101.70, Y:-7.96, Z:-1.65 [[ 9.74239602e-01 2.25479623e-01 4.01722790e-03 1.01695942e+02] [-2.25477888e-01 9.74247883e-01 -8.85487887e-04 -7.96145726e+00] [-4.11343525e-03 -4.31186970e-05 9.99991539e-01 -1.64917740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.012589281645129216 Centerline is valid? [True, True] Translation: X:101.76, Y:-7.98, Z:-1.65 [[ 9.74184768e-01 2.25728307e-01 3.28163333e-03 1.01756765e+02] [-2.25727151e-01 9.74190295e-01 -7.23455311e-04 -7.97775061e+00] [-3.36023968e-03 -3.59745972e-05 9.99994354e-01 -1.64969939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.01244130435286315 Centerline is valid? [True, True] Translation: X:101.82, Y:-7.99, Z:-1.65 [[ 9.74644310e-01 2.23733247e-01 3.45023678e-03 1.01816430e+02] [-2.23731949e-01 9.74650416e-01 -7.62401843e-04 -7.99471008e+00] [-3.53334936e-03 -2.88575834e-05 9.99993757e-01 -1.65064602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.012154296912407034 Centerline is valid? [True, True] Translation: X:101.88, Y:-8.01, Z:-1.65 [[ 9.75477225e-01 2.20071894e-01 3.54189276e-03 1.01875553e+02] [-2.20070500e-01 9.75483655e-01 -7.83664094e-04 -8.01420629e+00] [-3.62752093e-03 -1.50196328e-05 9.99993420e-01 -1.65091997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.012105423509695635 Centerline is valid? [True, True] Translation: X:101.94, Y:-8.03, Z:-1.65 [[ 9.75957900e-01 2.17932779e-01 3.38827427e-03 1.01936643e+02] [-2.17931489e-01 9.75963782e-01 -7.49794233e-04 -8.03149121e+00] [-3.47023772e-03 -6.64405290e-06 9.99993979e-01 -1.65071414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.012228088194037853 Centerline is valid? [True, True] Translation: X:102.00, Y:-8.05, Z:-1.65 [[ 9.76618811e-01 2.14959378e-01 2.85704752e-03 1.01997108e+02] [-2.14958448e-01 9.76622991e-01 -6.32408737e-04 -8.05026036e+00] [-2.92620048e-03 3.47576867e-06 9.99995719e-01 -1.65185688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.012575815293327403 Centerline is valid? [True, True] Translation: X:102.06, Y:-8.07, Z:-1.65 [[ 9.77081047e-01 2.12854900e-01 2.32814257e-03 1.02056348e+02] [-2.12854274e-01 9.77083820e-01 -5.15966599e-04 -8.06713855e+00] [-2.38461645e-03 8.58608813e-06 9.99997157e-01 -1.65363291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.012894901305467847 Centerline is valid? [True, True] Translation: X:102.12, Y:-8.09, Z:-1.65 [[ 9.77751218e-01 2.09752881e-01 2.50698555e-03 1.02115563e+02] [-2.09752144e-01 9.77754432e-01 -5.56235320e-04 -8.08557761e+00] [-2.56788820e-03 1.80141654e-05 9.99996703e-01 -1.65360659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.013254971579647282 Centerline is valid? [True, True] Translation: X:102.18, Y:-8.10, Z:-1.65 [[ 9.78139825e-01 2.07931554e-01 2.63660870e-03 1.02175743e+02] [-2.07930729e-01 9.78143378e-01 -5.85914627e-04 -8.10254952e+00] [-2.70081148e-03 2.48744608e-05 9.99996352e-01 -1.65459990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.013696861350720976 Centerline is valid? [True, True] Translation: X:102.24, Y:-8.12, Z:-1.65 [[ 9.78327086e-01 2.07038180e-01 3.36230622e-03 1.02235324e+02] [-2.07036829e-01 9.78332863e-01 -7.48958439e-04 -8.12154627e+00] [-3.44451766e-03 3.66051112e-05 9.99994067e-01 -1.65405219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.013971648184564617 Centerline is valid? [True, True] Translation: X:102.30, Y:-8.14, Z:-1.66 [[ 9.78196519e-01 2.07658466e-01 3.08735894e-03 1.02295254e+02] [-2.07657328e-01 9.78201391e-01 -6.88266954e-04 -8.13806763e+00] [-3.16298327e-03 3.21476315e-05 9.99994997e-01 -1.65567535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.013205185226138103 Centerline is valid? [True, True] Translation: X:102.36, Y:-8.15, Z:-1.66 [[ 9.77873260e-01 2.09177110e-01 2.97043783e-03 1.02356247e+02] [-2.09176061e-01 9.77877771e-01 -6.62955426e-04 -8.15169326e+00] [-3.04340023e-03 2.69418985e-05 9.99995368e-01 -1.65504241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.012915072778833567 Centerline is valid? [True, True] Translation: X:102.42, Y:-8.17, Z:-1.66 [[ 9.77521525e-01 2.10803870e-01 3.66013968e-03 1.02416452e+02] [-2.10802282e-01 9.77528377e-01 -8.18721527e-04 -8.16563499e+00] [-3.75048007e-03 2.87521195e-05 9.99992967e-01 -1.65531769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.012874068536904612 Centerline is valid? [True, True] Translation: X:102.48, Y:-8.18, Z:-1.66 [[ 9.77276902e-01 2.11926822e-01 4.10828482e-03 1.02475277e+02] [-2.11924824e-01 9.77285537e-01 -9.20758179e-04 -8.18036532e+00] [-4.21010069e-03 2.91881633e-05 9.99991137e-01 -1.65602790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.012406214942087504 Centerline is valid? [True, True] Translation: X:102.54, Y:-8.19, Z:-1.66 [[ 9.76929235e-01 2.13524853e-01 4.05048448e-03 1.02535710e+02] [-2.13522922e-01 9.76937632e-01 -9.08384428e-04 -8.19394857e+00] [-4.15103337e-03 2.25560237e-05 9.99991384e-01 -1.65552789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.012244939669901235 Centerline is valid? [True, True] Translation: X:102.60, Y:-8.21, Z:-1.66 [[ 9.76055378e-01 2.17500245e-01 3.08911354e-03 1.02597612e+02] [-2.17499144e-01 9.76060266e-01 -6.92145935e-04 -8.20682853e+00] [-3.16570290e-03 3.69321067e-06 9.99994989e-01 -1.65729055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.012249045337512686 Centerline is valid? [True, True] Translation: X:102.66, Y:-8.22, Z:-1.66 [[ 9.75327604e-01 2.20752860e-01 2.05886530e-03 1.02658808e+02] [-2.20752380e-01 9.75329777e-01 -4.60672028e-04 -8.21898452e+00] [-2.10976731e-03 -5.19327030e-06 9.99997774e-01 -1.65982052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.012579825624104432 Centerline is valid? [True, True] Translation: X:102.72, Y:-8.23, Z:-1.66 [[ 9.74295066e-01 2.25271210e-01 1.41620600e-03 1.02718762e+02] [-2.25270988e-01 9.74296095e-01 -3.16497986e-04 -8.23064045e+00] [-1.45110186e-03 -1.06676988e-05 9.99998947e-01 -1.66241309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.012705305204915399 Centerline is valid? [True, True] Translation: X:102.78, Y:-8.25, Z:-1.66 [[ 9.73861550e-01 2.27135124e-01 1.82131341e-03 1.02780423e+02] [-2.27134759e-01 9.73863253e-01 -4.07795293e-04 -8.24501262e+00] [-1.86633483e-03 -1.65474256e-05 9.99998258e-01 -1.66260980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.013014100665075742 Centerline is valid? [True, True] Translation: X:102.84, Y:-8.26, Z:-1.66 [[ 9.73656495e-01 2.28010684e-01 2.03888145e-03 1.02840860e+02] [-2.28010223e-01 9.73658630e-01 -4.59118370e-04 -8.26013880e+00] [-2.08985841e-03 -1.78622290e-05 9.99997816e-01 -1.66380439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.013101782818228786 Centerline is valid? [True, True] Translation: X:102.90, Y:-8.28, Z:-1.67 [[ 9.73559274e-01 2.28426154e-01 1.95753148e-03 1.02902229e+02] [-2.28425732e-01 9.73561242e-01 -4.39622387e-04 -8.27518212e+00] [-2.00619803e-03 -1.91521088e-05 9.99997987e-01 -1.66518470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.013253285289699922 Centerline is valid? [True, True] Translation: X:102.96, Y:-8.29, Z:-1.67 [[ 9.73561592e-01 2.28417268e-01 1.83771709e-03 1.02962494e+02] [-2.28416895e-01 9.73563327e-01 -4.13255376e-04 -8.29041217e+00] [-1.88352862e-03 -1.74360695e-05 9.99998226e-01 -1.66763092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.012709217773435182 Centerline is valid? [True, True] Translation: X:103.02, Y:-8.31, Z:-1.67 [[ 9.73835621e-01 2.27247351e-01 1.68051771e-03 1.03022833e+02] [-2.27247038e-01 9.73837071e-01 -3.77384201e-04 -8.30788789e+00] [-1.72231001e-03 -1.43824955e-05 9.99998517e-01 -1.66603879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.012621346900263545 Centerline is valid? [True, True] Translation: X:103.08, Y:-8.33, Z:-1.67 [[ 9.74604416e-01 2.23918305e-01 2.61256717e-03 1.03082180e+02] [-2.23917526e-01 9.74607917e-01 -5.90627987e-04 -8.32605890e+00] [-2.67848107e-03 -9.37093469e-06 9.99996413e-01 -1.66653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.012580295552169465 Centerline is valid? [True, True] Translation: X:103.14, Y:-8.34, Z:-1.67 [[ 9.75114270e-01 2.21687822e-01 2.58253323e-03 1.03142834e+02] [-2.21687053e-01 9.75117690e-01 -5.83934675e-04 -8.34282485e+00] [-2.64772504e-03 -3.11114619e-06 9.99996495e-01 -1.66716126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.012680169393692976 Centerline is valid? [True, True] Translation: X:103.20, Y:-8.36, Z:-1.67 [[ 9.75433018e-01 2.20274024e-01 3.12767471e-03 1.03203117e+02] [-2.20272882e-01 9.75438032e-01 -7.09415166e-04 -8.35764907e+00] [-3.20711860e-03 3.04505374e-06 9.99994857e-01 -1.66829281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.012785070370862893 Centerline is valid? [True, True] Translation: X:103.26, Y:-8.37, Z:-1.67 [[ 9.75699546e-01 2.19081233e-01 3.71606488e-03 1.03263099e+02] [-2.19079605e-01 9.75706622e-01 -8.44802054e-04 -8.37143981e+00] [-3.81086939e-03 1.01589556e-05 9.99992739e-01 -1.66999992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.012911513073696425 Centerline is valid? [True, True] Translation: X:103.32, Y:-8.39, Z:-1.67 [[ 9.76459304e-01 2.15653398e-01 4.56512370e-03 1.03323927e+02] [-2.15650894e-01 9.76469974e-01 -1.03971617e-03 -8.38694620e+00] [-4.68192454e-03 3.07675198e-05 9.99989039e-01 -1.66942529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.013732289973553616 Centerline is valid? [True, True] Translation: X:103.38, Y:-8.40, Z:-1.67 [[ 9.77404130e-01 2.11320177e-01 4.99498088e-03 1.03382946e+02] [-2.11317104e-01 9.77416891e-01 -1.14120122e-03 -8.40250900e+00] [-5.12333753e-03 5.98898891e-05 9.99986874e-01 -1.67076782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.013985542073517784 Centerline is valid? [True, True] Translation: X:103.44, Y:-8.42, Z:-1.67 [[ 9.78040284e-01 2.08353753e-01 5.09089591e-03 1.03444057e+02] [-2.08350524e-01 9.78053530e-01 -1.16253321e-03 -8.41566921e+00] [-5.22138687e-03 7.63134776e-05 9.99986366e-01 -1.67102710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.014844575382577337 Centerline is valid? [True, True] Translation: X:103.50, Y:-8.43, Z:-1.67 [[ 9.79033449e-01 2.03655655e-01 4.22852429e-03 1.03504621e+02] [-2.03653373e-01 9.79042576e-01 -9.68104543e-04 -8.42881015e+00] [-4.33706528e-03 8.66534973e-05 9.99990591e-01 -1.67184125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.01573076505039571 Centerline is valid? [True, True] Translation: X:103.57, Y:-8.44, Z:-1.67 [[ 9.79502030e-01 2.01388860e-01 4.27776164e-03 1.03565516e+02] [-2.01386510e-01 9.79511367e-01 -9.77633538e-04 -8.44226078e+00] [-4.38700066e-03 9.61105464e-05 9.99990372e-01 -1.67274505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.016147289705283355 Centerline is valid? [True, True] Translation: X:103.63, Y:-8.45, Z:-1.67 [[ 9.79992951e-01 1.98969297e-01 5.00337549e-03 1.03626527e+02] [-1.98966041e-01 9.80005716e-01 -1.14539250e-03 -8.45472224e+00] [-5.13123452e-03 1.26974759e-04 9.99986827e-01 -1.67302990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.016606943080648015 Centerline is valid? [True, True] Translation: X:103.69, Y:-8.47, Z:-1.67 [[ 9.80469724e-01 1.96595796e-01 5.40490899e-03 1.03687503e+02] [-1.96591950e-01 9.80484610e-01 -1.23901266e-03 -8.46562132e+00] [-5.54301476e-03 1.52252804e-04 9.99984626e-01 -1.67382330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.01697186102310305 Centerline is valid? [True, True] Translation: X:103.75, Y:-8.48, Z:-1.68 [[ 9.80408092e-01 1.96893945e-01 5.72246252e-03 1.03749072e+02] [-1.96889632e-01 9.80424780e-01 -1.31319166e-03 -8.47756599e+00] [-5.86900354e-03 1.60770189e-04 9.99982764e-01 -1.67505257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.016351600987202963 Centerline is valid? [True, True] Translation: X:103.81, Y:-8.49, Z:-1.68 [[ 9.79747808e-01 2.00130221e-01 6.49054701e-03 1.03810153e+02] [-2.00124710e-01 9.79769293e-01 -1.49435333e-03 -8.48615053e+00] [-6.65830391e-03 1.65170564e-04 9.99977820e-01 -1.67580050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.015238114188507273 Centerline is valid? [True, True] Translation: X:103.87, Y:-8.49, Z:-1.68 [[ 9.78876364e-01 2.04322761e-01 7.29883586e-03 1.03871730e+02] [-2.04315907e-01 9.78903563e-01 -1.68063652e-03 -8.49483766e+00] [-7.48824872e-03 1.53867099e-04 9.99971951e-01 -1.67659064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.01355495339444851 Centerline is valid? [True, True] Translation: X:103.93, Y:-8.50, Z:-1.68 [[ 9.77300704e-01 2.11725617e-01 7.45638965e-03 1.03933791e+02] [-2.11718675e-01 9.77329143e-01 -1.71734328e-03 -8.50003878e+00] [-7.65095248e-03 9.97038624e-05 9.99970726e-01 -1.67858648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.012438927846660317 Centerline is valid? [True, True] Translation: X:104.00, Y:-8.51, Z:-1.68 [[ 9.76241972e-01 2.16582124e-01 6.61786068e-03 1.03996171e+02] [-2.16576768e-01 9.76264401e-01 -1.52412024e-03 -8.50781288e+00] [-6.79087900e-03 5.46352710e-05 9.99976940e-01 -1.68000695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.01193150407411745 Centerline is valid? [True, True] Translation: X:104.06, Y:-8.51, Z:-1.68 [[ 9.74846776e-01 2.22785980e-01 6.33798422e-03 1.04058464e+02] [-2.22781205e-01 9.74867379e-01 -1.45865561e-03 -8.51456134e+00] [-6.50366208e-03 9.98195691e-06 9.99978851e-01 -1.68207260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.011812473601133903 Centerline is valid? [True, True] Translation: X:104.12, Y:-8.52, Z:-1.68 [[ 9.73984661e-01 2.26491309e-01 7.45435991e-03 1.04120189e+02] [-2.26484792e-01 9.74013186e-01 -1.71817836e-03 -8.52385067e+00] [-7.64979732e-03 -1.48197879e-05 9.99970740e-01 -1.68186408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.011822126889575695 Centerline is valid? [True, True] Translation: X:104.18, Y:-8.54, Z:-1.68 [[ 9.73610572e-01 2.28061929e-01 8.37911958e-03 1.04182366e+02] [-2.28053733e-01 9.73646628e-01 -1.93369527e-03 -8.53582092e+00] [-8.59930379e-03 -2.82233442e-05 9.99963025e-01 -1.68225521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.011797591542983203 Centerline is valid? [True, True] Translation: X:104.24, Y:-8.55, Z:-1.68 [[ 9.73369905e-01 2.29063782e-01 8.98949085e-03 1.04243699e+02] [-2.29054364e-01 9.73411415e-01 -2.07751952e-03 -8.54783677e+00] [-9.22635748e-03 -3.68871297e-05 9.99957436e-01 -1.68317450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.011861759250265036 Centerline is valid? [True, True] Translation: X:104.31, Y:-8.56, Z:-1.69 [[ 9.73272814e-01 2.29516933e-01 7.87442877e-03 1.04305684e+02] [-2.29509707e-01 9.73304668e-01 -1.82156111e-03 -8.56075257e+00] [-8.08229739e-03 -3.43819360e-05 9.99967337e-01 -1.68517043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.011854613212551204 Centerline is valid? [True, True] Translation: X:104.37, Y:-8.57, Z:-1.69 [[ 9.73283022e-01 2.29502827e-01 6.97213673e-03 1.04366710e+02] [-2.29497151e-01 9.73307994e-01 -1.61432217e-03 -8.57422803e+00] [-7.15652791e-03 -2.88931570e-05 9.99974391e-01 -1.68672276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.012032817874437428 Centerline is valid? [True, True] Translation: X:104.43, Y:-8.59, Z:-1.69 [[ 9.73254269e-01 2.29625066e-01 6.96104403e-03 1.04427407e+02] [-2.29619389e-01 9.73279163e-01 -1.61480762e-03 -8.58743035e+00] [-7.14583941e-03 -2.67722731e-05 9.99974468e-01 -1.68899242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.011947178167744228 Centerline is valid? [True, True] Translation: X:104.49, Y:-8.60, Z:-1.69 [[ 9.73303573e-01 2.29402081e-01 7.40539307e-03 1.04489002e+02] [-2.29395645e-01 9.73331744e-01 -1.71849855e-03 -8.60226201e+00] [-7.60213129e-03 -2.61441455e-05 9.99971103e-01 -1.68812451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.011999711111158334 Centerline is valid? [True, True] Translation: X:104.55, Y:-8.62, Z:-1.69 [[ 9.73515621e-01 2.28488451e-01 7.76939969e-03 1.04549080e+02] [-2.28481317e-01 9.73546623e-01 -1.80565159e-03 -8.61661690e+00] [-7.97644337e-03 -1.73326417e-05 9.99968188e-01 -1.68883616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.011937055603123897 Centerline is valid? [True, True] Translation: X:104.61, Y:-8.63, Z:-1.69 [[ 9.74200505e-01 2.25544621e-01 7.93729801e-03 1.04609525e+02] [-2.25537061e-01 9.74232839e-01 -1.84674432e-03 -8.63313578e+00] [-8.14929962e-03 8.94438329e-06 9.99966794e-01 -1.68891637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.012124829313561151 Centerline is valid? [True, True] Translation: X:104.67, Y:-8.65, Z:-1.69 [[ 9.74848873e-01 2.22737332e-01 7.59974372e-03 1.04669320e+02] [-2.22730298e-01 9.74878495e-01 -1.77048204e-03 -8.64936391e+00] [-7.80317917e-03 3.32592409e-05 9.99969554e-01 -1.68946164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.01260545525498642 Centerline is valid? [True, True] Translation: X:104.73, Y:-8.67, Z:-1.69 [[ 9.75640839e-01 2.19243125e-01 7.57657005e-03 1.04728859e+02] [-2.19236013e-01 9.75670256e-01 -1.76705636e-03 -8.66611545e+00] [-7.77964899e-03 6.29553399e-05 9.99969736e-01 -1.69006740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.01373631690981229 Centerline is valid? [True, True] Translation: X:104.79, Y:-8.68, Z:-1.69 [[ 9.77079115e-01 2.12755428e-01 7.17856774e-03 1.04788508e+02] [-2.12748844e-01 9.77105478e-01 -1.67747794e-03 -8.68400387e+00] [-7.37111040e-03 1.11796671e-04 9.99972827e-01 -1.69083640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.015467002866747254 Centerline is valid? [True, True] Translation: X:104.85, Y:-8.70, Z:-1.69 [[ 9.78381040e-01 2.06696170e-01 6.87267148e-03 1.04847570e+02] [-2.06689993e-01 9.78405167e-01 -1.60501735e-03 -8.70122221e+00] [-7.05600823e-03 1.49806123e-04 9.99975095e-01 -1.69173298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.01667859117372364 Centerline is valid? [True, True] Translation: X:104.91, Y:-8.72, Z:-1.69 [[ 9.79181109e-01 2.02848950e-01 7.52730026e-03 1.04907974e+02] [-2.02841399e-01 9.79210021e-01 -1.76137596e-03 -8.71737738e+00] [-7.72810111e-03 1.97857956e-04 9.99970118e-01 -1.69264723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.01874764401194158 Centerline is valid? [True, True] Translation: X:104.97, Y:-8.73, Z:-1.69 [[ 9.80045311e-01 1.98639334e-01 7.32139344e-03 1.04966020e+02] [-1.98632066e-01 9.80072632e-01 -1.71415421e-03 -8.73314046e+00] [-7.51599579e-03 2.25685289e-04 9.99971729e-01 -1.69383526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.019708290805919505 Centerline is valid? [True, True] Translation: X:105.03, Y:-8.75, Z:-1.70 [[ 9.80262851e-01 1.97583555e-01 6.74403664e-03 1.05026621e+02] [-1.97577376e-01 9.80286026e-01 -1.57703478e-03 -8.74745402e+00] [-6.92268102e-03 2.13439547e-04 9.99976015e-01 -1.69536931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.017446422765215835 Centerline is valid? [True, True] Translation: X:105.09, Y:-8.76, Z:-1.70 [[ 9.80019549e-01 1.98802186e-01 6.27496998e-03 1.05088120e+02] [-1.98796855e-01 9.80039619e-01 -1.46850458e-03 -8.75564541e+00] [-6.44166111e-03 1.91718895e-04 9.99979234e-01 -1.69538480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.017031999962716433 Centerline is valid? [True, True] Translation: X:105.15, Y:-8.77, Z:-1.70 [[ 9.79390111e-01 2.01868523e-01 6.64150030e-03 1.05148958e+02] [-2.01862594e-01 9.79412612e-01 -1.55822629e-03 -8.76572202e+00] [-6.81932600e-03 1.85440938e-04 9.99976731e-01 -1.69655584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.014694806951205057 Centerline is valid? [True, True] Translation: X:105.21, Y:-8.77, Z:-1.70 [[ 9.77885984e-01 2.09024590e-01 6.90823659e-03 1.05210566e+02] [-2.09018350e-01 9.77910375e-01 -1.62124255e-03 -8.77065494e+00] [-7.09451579e-03 1.41442148e-04 9.99974824e-01 -1.69724612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.01298027711167044 Centerline is valid? [True, True] Translation: X:105.27, Y:-8.78, Z:-1.70 [[ 9.76565182e-01 2.15108091e-01 6.99677707e-03 1.05272458e+02] [-2.15101849e-01 9.76590241e-01 -1.64161346e-03 -8.77712829e+00] [-7.18610854e-03 9.81228656e-05 9.99974175e-01 -1.69816901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.011684794663859594 Centerline is valid? [True, True] Translation: X:105.34, Y:-8.78, Z:-1.70 [[ 9.74453179e-01 2.24489030e-01 6.75857352e-03 1.05335551e+02] [-2.24483439e-01 9.74476616e-01 -1.58459085e-03 -8.78139216e+00] [-6.94179511e-03 2.69217627e-05 9.99975905e-01 -1.69955470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.011423320068215247 Centerline is valid? [True, True] Translation: X:105.40, Y:-8.79, Z:-1.70 [[ 9.73206297e-01 2.29821120e-01 7.19418117e-03 1.05397425e+02] [-2.29814915e-01 9.73232887e-01 -1.68887795e-03 -8.79027222e+00] [-7.38975353e-03 -9.70347491e-06 9.99972695e-01 -1.70028715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.011880132388855673 Centerline is valid? [True, True] Translation: X:105.46, Y:-8.80, Z:-1.70 [[ 9.71468288e-01 2.37034348e-01 8.00518822e-03 1.05459181e+02] [-2.37026887e-01 9.71501268e-01 -1.88197534e-03 -8.79694331e+00] [-8.22314330e-03 -6.91654831e-05 9.99966187e-01 -1.70115909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.012710600784459923 Centerline is valid? [True, True] Translation: X:105.52, Y:-8.81, Z:-1.70 [[ 9.70415248e-01 2.41309902e-01 7.98614202e-03 1.05519811e+02] [-2.41302598e-01 9.70448103e-01 -1.88021735e-03 -8.80605431e+00] [-8.20385144e-03 -1.02485238e-04 9.99966343e-01 -1.70327066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.013566035831753035 Centerline is valid? [True, True] Translation: X:105.58, Y:-8.82, Z:-1.70 [[ 9.69101662e-01 2.46556533e-01 7.20037762e-03 1.05581175e+02] [-2.46550731e-01 9.69128402e-01 -1.69649881e-03 -8.81660553e+00] [-7.39637332e-03 -1.31178549e-04 9.99972638e-01 -1.70491830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.015257513190726452 Centerline is valid? [True, True] Translation: X:105.64, Y:-8.83, Z:-1.71 [[ 9.68393171e-01 2.49340392e-01 6.63598313e-03 1.05641395e+02] [-2.49335537e-01 9.68415897e-01 -1.56242849e-03 -8.82743113e+00] [-6.81596809e-03 -1.41541335e-04 9.99976761e-01 -1.70738917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.016587085176785588 Centerline is valid? [True, True] Translation: X:105.70, Y:-8.84, Z:-1.71 [[ 9.67800380e-01 2.51639370e-01 6.32861126e-03 1.05700662e+02] [-2.51634994e-01 9.67821060e-01 -1.49151507e-03 -8.84067311e+00] [-6.50028718e-03 -1.49011208e-04 9.99978862e-01 -1.70892579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.015568669279769997 Centerline is valid? [True, True] Translation: X:105.76, Y:-8.86, Z:-1.71 [[ 9.67552536e-01 2.52582210e-01 6.65711588e-03 1.05760100e+02] [-2.52577380e-01 9.67575424e-01 -1.57038173e-03 -8.85912051e+00] [-6.83791221e-03 -1.62010062e-04 9.99976608e-01 -1.70817510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.015579302129342828 Centerline is valid? [True, True] Translation: X:105.82, Y:-8.88, Z:-1.71 [[ 9.67160428e-01 2.54042929e-01 7.93077911e-03 1.05819707e+02] [-2.54036101e-01 9.67192922e-01 -1.87360490e-03 -8.87658302e+00] [-8.14656950e-03 -2.02627690e-04 9.99966796e-01 -1.70844073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.01552024262870595 Centerline is valid? [True, True] Translation: X:105.88, Y:-8.90, Z:-1.71 [[ 9.66829420e-01 2.55289581e-01 8.25240920e-03 1.05878743e+02] [-2.55282214e-01 9.66864614e-01 -1.95186201e-03 -8.89527540e+00] [-8.47725247e-03 -2.19575672e-04 9.99964043e-01 -1.70871632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.015695368100655565 Centerline is valid? [True, True] Translation: X:105.94, Y:-8.91, Z:-1.71 [[ 9.66556133e-01 2.56296435e-01 9.02099359e-03 1.05938962e+02] [-2.56287650e-01 9.66598198e-01 -2.13639877e-03 -8.91243260e+00] [-9.26722754e-03 -2.47019909e-04 9.99957028e-01 -1.70911921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.01676642269549408 Centerline is valid? [True, True] Translation: X:106.00, Y:-8.93, Z:-1.71 [[ 9.66196383e-01 2.57634387e-01 9.43781352e-03 1.05997272e+02] [-2.57624805e-01 9.66242439e-01 -2.23817423e-03 -8.92926056e+00] [-9.69584659e-03 -2.68899027e-04 9.99952958e-01 -1.70969621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.017195454290615905 Centerline is valid? [True, True] Translation: X:106.06, Y:-8.95, Z:-1.71 [[ 9.66000822e-01 2.58372166e-01 9.28633733e-03 1.06057219e+02] [-2.58362908e-01 9.66045419e-01 -2.20379242e-03 -8.94606276e+00] [-9.54042226e-03 -2.70379830e-04 9.99954453e-01 -1.71110538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.017100597940559053 Centerline is valid? [True, True] Translation: X:106.12, Y:-8.97, Z:-1.71 [[ 9.66131846e-01 2.57885072e-01 9.19485750e-03 1.06116036e+02] [-2.57875952e-01 9.66175565e-01 -2.18440689e-03 -8.96649326e+00] [-9.44717257e-03 -2.60707577e-04 9.99955340e-01 -1.71212869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.016824250788749242 Centerline is valid? [True, True] Translation: X:106.18, Y:-8.98, Z:-1.71 [[ 9.66666217e-01 2.55868443e-01 9.36833177e-03 1.06175038e+02] [-2.55858857e-01 9.66711581e-01 -2.22811611e-03 -8.98470142e+00] [-9.62657942e-03 -2.43126087e-04 9.99953634e-01 -1.71358593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.014186588816242934 Centerline is valid? [True, True] Translation: X:106.23, Y:-9.01, Z:-1.71 [[ 9.68310591e-01 2.49562531e-01 9.65103729e-03 1.06232570e+02] [-2.49552007e-01 9.68358668e-01 -2.29909077e-03 -9.00969512e+00] [-9.91943253e-03 -1.82201782e-04 9.99950785e-01 -1.71466530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.012406719605713394 Centerline is valid? [True, True] Translation: X:106.29, Y:-9.03, Z:-1.72 [[ 9.69850468e-01 2.43509523e-01 9.65309716e-03 1.06290669e+02] [-2.43498689e-01 9.69898499e-01 -2.30010302e-03 -9.03310562e+00] [-9.92262143e-03 -1.19760506e-04 9.99950762e-01 -1.71542400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.011792409820665822 Centerline is valid? [True, True] Translation: X:106.35, Y:-9.06, Z:-1.72 [[ 9.71557036e-01 2.36587416e-01 1.01647005e-02 1.06348251e+02] [-2.36575028e-01 9.71610206e-01 -2.42160298e-03 -9.05524991e+00] [-1.04490475e-02 -5.19888959e-05 9.99945406e-01 -1.71634085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.011735694857500405 Centerline is valid? [True, True] Translation: X:106.41, Y:-9.08, Z:-1.72 [[ 9.73424998e-01 2.28731243e-01 1.12156719e-02 1.06406574e+02] [-2.28715603e-01 9.73489608e-01 -2.67505518e-03 -9.07912559e+00] [-1.15302088e-02 3.87664246e-05 9.99933524e-01 -1.71652423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.013733639386808681 Centerline is valid? [True, True] Translation: X:106.46, Y:-9.11, Z:-1.72 [[ 9.76313460e-01 2.16084618e-01 1.09300549e-02 1.06462671e+02] [-2.16068927e-01 9.76374622e-01 -2.61076409e-03 -9.10639785e+00] [-1.12359742e-02 1.87278880e-04 9.99936857e-01 -1.71803117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.01591680919462508 Centerline is valid? [True, True] Translation: X:106.52, Y:-9.13, Z:-1.72 [[ 9.77958423e-01 2.08511880e-01 1.09598788e-02 1.06519643e+02] [-2.08495625e-01 9.78019795e-01 -2.61809161e-03 -9.12928240e+00] [-1.12648817e-02 2.75297953e-04 9.99936511e-01 -1.71944690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.019120953564450448 Centerline is valid? [True, True] Translation: X:106.58, Y:-9.15, Z:-1.72 [[ 9.80009950e-01 1.98651498e-01 1.08664938e-02 1.06576479e+02] [-1.98634910e-01 9.80070117e-01 -2.59594726e-03 -9.15428674e+00] [-1.11656146e-02 3.85589138e-04 9.99937588e-01 -1.72113046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.020897653210240553 Centerline is valid? [True, True] Translation: X:106.63, Y:-9.17, Z:-1.72 [[ 9.80992869e-01 1.93721944e-01 1.11713424e-02 1.06634606e+02] [-1.93704090e-01 9.81056370e-01 -2.66900977e-03 -9.17459836e+00] [-1.14767624e-02 4.54344839e-04 9.99934037e-01 -1.72224530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.021864362794927594 Centerline is valid? [True, True] Translation: X:106.69, Y:-9.19, Z:-1.72 [[ 9.81724759e-01 1.89931611e-01 1.19365060e-02 1.06693137e+02] [-1.89910942e-01 9.81797178e-01 -2.85228908e-03 -9.19399143e+00] [-1.22609677e-02 5.33289718e-04 9.99924689e-01 -1.72224060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.02119446452544584 Centerline is valid? [True, True] Translation: X:106.75, Y:-9.21, Z:-1.72 [[ 9.81718980e-01 1.89935413e-01 1.23443464e-02 1.06754623e+02] [-1.89913312e-01 9.81796433e-01 -2.94934082e-03 -9.20850352e+00] [-1.26798195e-02 5.51068162e-04 9.99919456e-01 -1.72332283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.02020752160397997 Centerline is valid? [True, True] Translation: X:106.81, Y:-9.22, Z:-1.72 [[ 9.81202716e-01 1.92518613e-01 1.33347035e-02 1.06814557e+02] [-1.92492995e-01 9.81293160e-01 -3.19087748e-03 -9.22088951e+00] [-1.36995567e-02 5.64060640e-04 9.99905998e-01 -1.72474306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.019320276896546924 Centerline is valid? [True, True] Translation: X:106.87, Y:-9.23, Z:-1.73 [[ 9.80553970e-01 1.95808068e-01 1.31571993e-02 1.06874757e+02] [-1.95783416e-01 9.80642105e-01 -3.14888306e-03 -9.23342464e+00] [-1.35190803e-02 5.11688370e-04 9.99908482e-01 -1.72604914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.017695886668813027 Centerline is valid? [True, True] Translation: X:106.94, Y:-9.24, Z:-1.73 [[ 9.79312944e-01 2.01985757e-01 1.21619213e-02 1.06935023e+02] [-2.01965163e-01 9.79388380e-01 -2.91115950e-03 -9.24332385e+00] [-1.24992571e-02 3.94651776e-04 9.99921803e-01 -1.72779824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.01589416373096365 Centerline is valid? [True, True] Translation: X:107.00, Y:-9.25, Z:-1.73 [[ 9.78200074e-01 2.07332266e-01 1.17450278e-02 1.06995915e+02] [-2.07313444e-01 9.78270531e-01 -2.81142680e-03 -9.25351951e+00] [-1.20727141e-02 3.15235741e-04 9.99927072e-01 -1.72872768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.01372355600080844 Centerline is valid? [True, True] Translation: X:107.06, Y:-9.26, Z:-1.73 [[ 9.76181345e-01 2.16672921e-01 1.10827331e-02 1.07056313e+02] [-2.16656752e-01 9.76244237e-01 -2.65371718e-03 -9.26116063e+00] [-1.13944430e-02 1.89360237e-04 9.99935063e-01 -1.73050737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.012599509588560612 Centerline is valid? [True, True] Translation: X:107.12, Y:-9.27, Z:-1.73 [[ 9.74860445e-01 2.22568480e-01 1.05064276e-02 1.07117706e+02] [-2.22554306e-01 9.74917052e-01 -2.51438739e-03 -9.27136375e+00] [-1.08025188e-02 1.12926108e-04 9.99941645e-01 -1.73229127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.011868681348138009 Centerline is valid? [True, True] Translation: X:107.18, Y:-9.28, Z:-1.73 [[ 9.73631286e-01 2.27899576e-01 1.01932714e-02 1.07178620e+02] [-2.27886500e-01 9.73684641e-01 -2.44191956e-03 -9.28314897e+00] [-1.04815442e-02 5.46203484e-05 9.99945066e-01 -1.73334226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.011739310273363767 Centerline is valid? [True, True] Translation: X:107.24, Y:-9.30, Z:-1.73 [[ 9.73199298e-01 2.29731898e-01 1.03141161e-02 1.07239247e+02] [-2.29718586e-01 9.73253951e-01 -2.47341287e-03 -9.29802471e+00] [-1.06064761e-02 3.77794988e-05 9.99943749e-01 -1.73449709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.011679099365450647 Centerline is valid? [True, True] Translation: X:107.30, Y:-9.31, Z:-1.74 [[ 9.72699509e-01 2.31854133e-01 9.96621116e-03 1.07299462e+02] [-2.31841785e-01 9.72750564e-01 -2.39288868e-03 -9.31242852e+00] [-1.02494387e-02 1.69774608e-05 9.99947473e-01 -1.73625989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.011638449220110501 Centerline is valid? [True, True] Translation: X:107.36, Y:-9.33, Z:-1.74 [[ 9.72385168e-01 2.33168575e-01 9.97503483e-03 1.07360394e+02] [-2.33156247e-01 9.72436330e-01 -2.39760627e-03 -9.32779879e+00] [-1.02591327e-02 5.65508204e-06 9.99947374e-01 -1.73744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.011691974440988216 Centerline is valid? [True, True] Translation: X:107.42, Y:-9.34, Z:-1.74 [[ 9.72262117e-01 2.33717041e-01 9.09508305e-03 1.07420707e+02] [-2.33706796e-01 9.72304656e-01 -2.18831824e-03 -9.34456676e+00] [-9.35463886e-03 2.03620855e-06 9.99956244e-01 -1.73855684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.011793732105487365 Centerline is valid? [True, True] Translation: X:107.48, Y:-9.36, Z:-1.74 [[ 9.72450818e-01 2.32955633e-01 8.43082276e-03 1.07481219e+02] [-2.32946782e-01 9.72487364e-01 -2.03066796e-03 -9.36158179e+00] [-8.67192415e-03 1.07916870e-05 9.99962398e-01 -1.73978085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.012212177455468601 Centerline is valid? [True, True] Translation: X:107.54, Y:-9.38, Z:-1.74 [[ 9.73047874e-01 2.30462377e-01 8.05780588e-03 1.07539761e+02] [-2.30454185e-01 9.73081236e-01 -1.94345227e-03 -9.38121825e+00] [-8.28879233e-03 3.41170176e-05 9.99965647e-01 -1.74055108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.012570341285080484 Centerline is valid? [True, True] Translation: X:107.60, Y:-9.40, Z:-1.74 [[ 9.73611349e-01 2.28078665e-01 7.81434976e-03 1.07599627e+02] [-2.28070872e-01 9.73642706e-01 -1.88629031e-03 -9.39970251e+00] [-8.03860723e-03 5.42880877e-05 9.99967688e-01 -1.74039323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.013107302181122063 Centerline is valid? [True, True] Translation: X:107.66, Y:-9.42, Z:-1.74 [[ 9.74139296e-01 2.25812292e-01 7.83844482e-03 1.07659482e+02] [-2.25804360e-01 9.74170829e-01 -1.89417997e-03 -9.41746068e+00] [-8.06371340e-03 7.52401246e-05 9.99967485e-01 -1.74046004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.013123968845072092 Centerline is valid? [True, True] Translation: X:107.72, Y:-9.43, Z:-1.74 [[ 9.74277676e-01 2.25223397e-01 7.57839430e-03 1.07720425e+02] [-2.25215953e-01 9.74307146e-01 -1.83278472e-03 -9.43246234e+00] [-7.79646972e-03 7.88659445e-05 9.99969604e-01 -1.74127842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.013882720260279917 Centerline is valid? [True, True] Translation: X:107.78, Y:-9.45, Z:-1.74 [[ 9.74517682e-01 2.24201099e-01 7.01099814e-03 1.07779951e+02] [-2.24194685e-01 9.74542898e-01 -1.69781747e-03 -9.44780227e+00] [-7.21317099e-03 8.27246234e-05 9.99973981e-01 -1.74251107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.014173256801006727 Centerline is valid? [True, True] Translation: X:107.84, Y:-9.46, Z:-1.74 [[ 9.75010718e-01 2.22047921e-01 6.98720867e-03 1.07839723e+02] [-2.22041486e-01 9.75035748e-01 -1.69353371e-03 -9.46359109e+00] [-7.18882388e-03 9.97633246e-05 9.99974155e-01 -1.74256675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.015454510193763305 Centerline is valid? [True, True] Translation: X:107.90, Y:-9.48, Z:-1.74 [[ 9.76144737e-01 2.16983163e-01 7.73037764e-03 1.07899855e+02] [-2.16975096e-01 9.76175334e-01 -1.87754133e-03 -9.47971249e+00] [-7.95359883e-03 1.55452656e-04 9.99968358e-01 -1.74259658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.016039642777668787 Centerline is valid? [True, True] Translation: X:107.96, Y:-9.49, Z:-1.74 [[ 9.76963312e-01 2.13244335e-01 8.33910878e-03 1.07960273e+02] [-2.13234815e-01 9.76998881e-01 -2.02484697e-03 -9.49257831e+00] [-8.57908710e-03 2.00012883e-04 9.99963179e-01 -1.74281221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.016477705652620994 Centerline is valid? [True, True] Translation: X:108.02, Y:-9.51, Z:-1.74 [[ 9.77236120e-01 2.11981779e-01 8.56104583e-03 1.08020857e+02] [-2.11971679e-01 9.77273594e-01 -2.08078979e-03 -9.50691345e+00] [-8.80757354e-03 2.18723683e-04 9.99961189e-01 -1.74315017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.01705969337633159 Centerline is valid? [True, True] Translation: X:108.08, Y:-9.52, Z:-1.74 [[ 9.77276235e-01 2.11792547e-01 8.66474000e-03 1.08081116e+02] [-2.11782174e-01 9.77314620e-01 -2.10818951e-03 -9.51964667e+00] [-8.91467591e-03 2.25246034e-04 9.99960238e-01 -1.74345360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.01652975393978936 Centerline is valid? [True, True] Translation: X:108.14, Y:-9.53, Z:-1.74 [[ 9.77003825e-01 2.13059076e-01 8.32806575e-03 1.08141951e+02] [-2.13049520e-01 9.77039297e-01 -2.02851500e-03 -9.53041698e+00] [-8.56904103e-03 2.07576503e-04 9.99963264e-01 -1.74422671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.015991237501830142 Centerline is valid? [True, True] Translation: X:108.20, Y:-9.54, Z:-1.74 [[ 9.76465686e-01 2.15522886e-01 8.04049108e-03 1.08204127e+02] [-2.15514036e-01 9.76498772e-01 -1.96167173e-03 -9.54010308e+00] [-8.27431482e-03 1.82666447e-04 9.99965751e-01 -1.74490599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.015556216276465 Centerline is valid? [True, True] Translation: X:108.26, Y:-9.55, Z:-1.75 [[ 9.76153687e-01 2.16940489e-01 7.79765541e-03 1.08264765e+02] [-2.16932216e-01 9.76184817e-01 -1.90177116e-03 -9.55214706e+00] [-8.02452398e-03 1.64858261e-04 9.99967789e-01 -1.74601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.014466689480029788 Centerline is valid? [True, True] Translation: X:108.33, Y:-9.56, Z:-1.75 [[ 9.74876542e-01 2.22660040e-01 6.18338163e-03 1.08326571e+02] [-2.22654936e-01 9.74896147e-01 -1.51076862e-03 -9.55967687e+00] [-6.36454273e-03 9.60524482e-05 9.99979741e-01 -1.74756164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.013686301948081372 Centerline is valid? [True, True] Translation: X:108.39, Y:-9.57, Z:-1.75 [[ 9.73814426e-01 2.27284902e-01 5.19978356e-03 1.08389019e+02] [-2.27281359e-01 9.73828306e-01 -1.27020632e-03 -9.56808067e+00] [-5.35239514e-03 5.51313680e-05 9.99985674e-01 -1.74949883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.013170126601827696 Centerline is valid? [True, True] Translation: X:108.45, Y:-9.58, Z:-1.75 [[ 9.72645495e-01 2.32261709e-01 3.90385971e-03 1.08449839e+02] [-2.32259759e-01 9.72653329e-01 -9.51929900e-04 -9.57545772e+00] [-4.01819901e-03 1.91808140e-05 9.99991927e-01 -1.75227182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.013048812251209352 Centerline is valid? [True, True] Translation: X:108.51, Y:-9.59, Z:-1.75 [[ 9.72296149e-01 2.33734139e-01 2.92417419e-03 1.08511709e+02] [-2.33733055e-01 9.72300546e-01 -7.12120564e-04 -9.58662553e+00] [-3.00962305e-03 8.91591502e-06 9.99995471e-01 -1.75363183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.013117306991753756 Centerline is valid? [True, True] Translation: X:108.57, Y:-9.60, Z:-1.75 [[ 9.72323010e-01 2.33626096e-01 2.60987544e-03 1.08573993e+02] [-2.33625230e-01 9.72326513e-01 -6.35859108e-04 -9.59818971e+00] [-2.68620437e-03 8.52769052e-06 9.99996392e-01 -1.75418965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.013120736071379993 Centerline is valid? [True, True] Translation: X:108.63, Y:-9.61, Z:-1.75 [[ 9.73130570e-01 2.30242032e-01 2.34516957e-03 1.08634577e+02] [-2.30241322e-01 9.73133396e-01 -5.71936683e-04 -9.61214664e+00] [-2.41384669e-03 1.66141290e-05 9.99997087e-01 -1.75396103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.013711632246458145 Centerline is valid? [True, True] Translation: X:108.69, Y:-9.63, Z:-1.75 [[ 9.73994900e-01 2.26559039e-01 2.22195866e-03 1.08694492e+02] [-2.26558391e-01 9.73997434e-01 -5.42269047e-04 -9.62830554e+00] [-2.28703799e-03 2.47639063e-05 9.99997384e-01 -1.75444734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.015526007710250983 Centerline is valid? [True, True] Translation: X:108.75, Y:-9.65, Z:-1.76 [[ 9.75632552e-01 2.19407785e-01 1.16080632e-03 1.08752175e+02] [-2.19407601e-01 9.75633242e-01 -2.85179131e-04 -9.64630007e+00] [-1.19509176e-03 2.35403131e-05 9.99999286e-01 -1.75543923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.015946734947664427 Centerline is valid? [True, True] Translation: X:108.81, Y:-9.66, Z:-1.76 [[ 9.76645934e-01 2.14855086e-01 1.10062371e-04 1.08811659e+02] [-2.14855084e-01 9.76645940e-01 -2.64788791e-05 -9.66135105e+00] [-1.13181089e-04 2.21302970e-06 9.99999994e-01 -1.75561388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.018153268604082215 Centerline is valid? [True, True] Translation: X:108.87, Y:-9.68, Z:-1.76 [[ 9.77541927e-01 2.10740376e-01 -5.24132646e-04 1.08868802e+02] [-2.10740336e-01 9.77542067e-01 1.30421681e-04 -9.67917216e+00] [ 5.39846824e-04 -1.70367714e-05 9.99999854e-01 -1.75728129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.019188511953203913 Centerline is valid? [True, True] Translation: X:108.93, Y:-9.69, Z:-1.76 [[ 9.78530573e-01 2.06101640e-01 1.77437681e-04 1.08927885e+02] [-2.06101635e-01 9.78530589e-01 -4.33739653e-05 -9.69460754e+00] [-1.82567644e-04 5.87255486e-06 9.99999983e-01 -1.75648064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.019778447445898354 Centerline is valid? [True, True] Translation: X:108.99, Y:-9.71, Z:-1.76 [[ 9.78963230e-01 2.04034386e-01 9.81559658e-04 1.08988455e+02] [-2.04034250e-01 9.78963722e-01 -2.37748303e-04 -9.70931067e+00] [-1.00942013e-03 3.24750583e-05 9.99999490e-01 -1.75669769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.02023288445104032 Centerline is valid? [True, True] Translation: X:109.05, Y:-9.72, Z:-1.76 [[ 9.79398376e-01 2.01933348e-01 1.32098034e-03 1.09049056e+02] [-2.01933094e-01 9.79399265e-01 -3.24333668e-04 -9.72376590e+00] [-1.35926096e-03 5.09022203e-05 9.99999075e-01 -1.75719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.02128493170884402 Centerline is valid? [True, True] Translation: X:109.11, Y:-9.74, Z:-1.76 [[ 9.79294445e-01 2.02436895e-01 1.30118573e-03 1.09108071e+02] [-2.02436652e-01 9.79295308e-01 -3.17223859e-04 -9.73787653e+00] [-1.33846289e-03 4.72478795e-05 9.99999103e-01 -1.75867499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.019128981309889975 Centerline is valid? [True, True] Translation: X:109.17, Y:-9.75, Z:-1.76 [[ 9.78804401e-01 2.04789561e-01 1.78354603e-03 1.09168748e+02] [-2.04789100e-01 9.78806023e-01 -4.39372799e-04 -9.74771556e+00] [-1.83572456e-03 6.48092435e-05 9.99998313e-01 -1.75853720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.018224882754013728 Centerline is valid? [True, True] Translation: X:109.23, Y:-9.76, Z:-1.76 [[ 9.77689677e-01 2.10047643e-01 1.69807158e-03 1.09227631e+02] [-2.10047231e-01 9.77691150e-01 -4.19128845e-04 -9.75715723e+00] [-1.74822659e-03 5.31027099e-05 9.99998470e-01 -1.76017325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.01785438008921447 Centerline is valid? [True, True] Translation: X:109.29, Y:-9.77, Z:-1.76 [[ 9.76887852e-01 2.13747355e-01 1.48109748e-03 1.09287065e+02] [-2.13747049e-01 9.76888974e-01 -3.63794927e-04 -9.76900549e+00] [-1.52462800e-03 3.88066297e-05 9.99998837e-01 -1.76224631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.015441231131817727 Centerline is valid? [True, True] Translation: X:109.35, Y:-9.78, Z:-1.76 [[ 9.76095437e-01 2.17334004e-01 1.90503963e-03 1.09348741e+02] [-2.17333502e-01 9.76097295e-01 -4.69324797e-04 -9.77729508e+00] [-1.96150426e-03 4.40768601e-05 9.99998075e-01 -1.76293268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.015418507479343256 Centerline is valid? [True, True] Translation: X:109.41, Y:-9.79, Z:-1.76 [[ 9.75824706e-01 2.18538879e-01 2.62717765e-03 1.09408999e+02] [-2.18537934e-01 9.75828241e-01 -6.45069858e-04 -9.79090102e+00] [-2.70464699e-03 5.53371275e-05 9.99996341e-01 -1.76394362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.015585506998871974 Centerline is valid? [True, True] Translation: X:109.47, Y:-9.81, Z:-1.76 [[ 9.75832538e-01 2.18495545e-01 3.24873426e-03 1.09470702e+02] [-2.18494095e-01 9.75837943e-01 -7.99049474e-04 -9.80528805e+00] [-3.34482691e-03 6.99092235e-05 9.99994404e-01 -1.76471351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.015601203057670042 Centerline is valid? [True, True] Translation: X:109.53, Y:-9.82, Z:-1.77 [[ 9.75925215e-01 2.18072627e-01 3.78208784e-03 1.09531808e+02] [-2.18070651e-01 9.75932540e-01 -9.32074796e-04 -9.82029132e+00] [-3.89432259e-03 8.48729380e-05 9.99992413e-01 -1.76521049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.015751316804036446 Centerline is valid? [True, True] Translation: X:109.59, Y:-9.83, Z:-1.77 [[ 9.76202182e-01 2.16832677e-01 3.59033952e-03 1.09592154e+02] [-2.16830884e-01 9.76208780e-01 -8.86067514e-04 -9.83480978e+00] [-3.69704935e-03 8.64845513e-05 9.99993162e-01 -1.76629910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.016204161112310128 Centerline is valid? [True, True] Translation: X:109.65, Y:-9.85, Z:-1.77 [[ 9.76394722e-01 2.15973458e-01 2.96871208e-03 1.09652778e+02] [-2.15972227e-01 9.76399232e-01 -7.32747674e-04 -9.84984345e+00] [-3.05690225e-03 7.42916001e-05 9.99995325e-01 -1.76839985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.016727119909624555 Centerline is valid? [True, True] Translation: X:109.71, Y:-9.87, Z:-1.77 [[ 9.76602621e-01 2.15027653e-01 3.22943734e-03 1.09712579e+02] [-2.15026188e-01 9.76607957e-01 -7.98313129e-04 -9.86586851e+00] [-3.32555360e-03 8.52210954e-05 9.99994467e-01 -1.76904504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.017149756186712706 Centerline is valid? [True, True] Translation: X:109.77, Y:-9.88, Z:-1.77 [[ 9.76623674e-01 2.14920874e-01 3.90100391e-03 1.09773691e+02] [-2.14918730e-01 9.76631459e-01 -9.65762451e-04 -9.88247252e+00] [-4.01740565e-03 1.04787669e-04 9.99991925e-01 -1.76972095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.017493039583767907 Centerline is valid? [True, True] Translation: X:109.83, Y:-9.90, Z:-1.77 [[ 9.76537430e-01 2.15313052e-01 3.86478723e-03 1.09834997e+02] [-2.15310946e-01 9.76545073e-01 -9.57916603e-04 -9.89865876e+00] [-3.98039087e-03 1.03310423e-04 9.99992073e-01 -1.77093777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.016581719461651028 Centerline is valid? [True, True] Translation: X:109.90, Y:-9.91, Z:-1.77 [[ 9.76243182e-01 2.16634200e-01 4.34429809e-03 1.09895387e+02] [-2.16631543e-01 9.76252842e-01 -1.07893291e-03 -9.91204311e+00] [-4.47486712e-03 1.12188901e-04 9.99989981e-01 -1.77100392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.015563958286699717 Centerline is valid? [True, True] Translation: X:109.96, Y:-9.92, Z:-1.77 [[ 9.76018856e-01 2.17626353e-01 5.09536445e-03 1.09955852e+02] [-2.17622700e-01 9.76032148e-01 -1.26738669e-03 -9.92495304e+00] [-5.24905625e-03 1.28126339e-04 9.99986215e-01 -1.77107497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.015230573238437699 Centerline is valid? [True, True] Translation: X:110.02, Y:-9.94, Z:-1.77 [[ 9.75897352e-01 2.18164147e-01 5.36323185e-03 1.10015975e+02] [-2.18160099e-01 9.75912080e-01 -1.33560643e-03 -9.93863014e+00] [-5.52542419e-03 1.33371588e-04 9.99984726e-01 -1.77136100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.015050139785096475 Centerline is valid? [True, True] Translation: X:110.08, Y:-9.95, Z:-1.77 [[ 9.75613429e-01 2.19431868e-01 5.30031359e-03 1.10076808e+02] [-2.19427926e-01 9.75627818e-01 -1.32128530e-03 -9.95252202e+00] [-5.46106548e-03 1.26026861e-04 9.99985080e-01 -1.77277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.01607494981295334 Centerline is valid? [True, True] Translation: X:110.14, Y:-9.97, Z:-1.77 [[ 9.75242169e-01 2.21078931e-01 5.17853615e-03 1.10135852e+02] [-2.21075183e-01 9.75255912e-01 -1.29242708e-03 -9.96800005e+00] [-5.33612639e-03 1.15583560e-04 9.99985756e-01 -1.77466691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.014586898793085524 Centerline is valid? [True, True] Translation: X:110.20, Y:-9.98, Z:-1.77 [[ 9.74990730e-01 2.22185686e-01 5.15725999e-03 1.10196750e+02] [-2.22181979e-01 9.75004363e-01 -1.28810388e-03 -9.97981624e+00] [-5.31454924e-03 1.10039107e-04 9.99985872e-01 -1.77454756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.014504879155599629 Centerline is valid? [True, True] Translation: X:110.26, Y:-9.99, Z:-1.78 [[ 9.74476211e-01 2.24424981e-01 5.43523660e-03 1.10256838e+02] [-2.24420889e-01 9.74491363e-01 -1.35922107e-03 -9.99357396e+00] [-5.60163429e-03 1.04747967e-04 9.99984305e-01 -1.77573020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.014149591333492386 Centerline is valid? [True, True] Translation: X:110.32, Y:-10.01, Z:-1.78 [[ 9.74359545e-01 2.24899996e-01 6.59316463e-03 1.10317240e+02] [-2.24893969e-01 9.74381843e-01 -1.65134334e-03 -1.00081583e+01] [-6.79564701e-03 1.26239181e-04 9.99976901e-01 -1.77547954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.014559203901496788 Centerline is valid? [True, True] Translation: X:110.38, Y:-10.02, Z:-1.78 [[ 9.74372815e-01 2.24855121e-01 6.14743972e-03 1.10377260e+02] [-2.24849873e-01 9.74392200e-01 -1.54088125e-03 -1.00249014e+01] [-6.33649235e-03 1.19141759e-04 9.99979917e-01 -1.77819396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.014170795026190886 Centerline is valid? [True, True] Translation: X:110.44, Y:-10.04, Z:-1.78 [[ 9.74648703e-01 2.23616789e-01 7.44566512e-03 1.10437291e+02] [-2.23609031e-01 9.74677130e-01 -1.86931453e-03 -1.00404340e+01] [-7.67512962e-03 1.57007027e-04 9.99970533e-01 -1.77899378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.014847437485913818 Centerline is valid? [True, True] Translation: X:110.50, Y:-10.06, Z:-1.78 [[ 9.75006183e-01 2.21999986e-01 8.88536724e-03 1.10497014e+02] [-2.21988841e-01 9.75046647e-01 -2.23392191e-03 -1.00582614e+01] [-9.15957817e-03 2.05635303e-04 9.99958029e-01 -1.77929987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.016234327168113412 Centerline is valid? [True, True] Translation: X:110.56, Y:-10.08, Z:-1.78 [[ 9.75953380e-01 2.17760927e-01 9.75598757e-03 1.10556033e+02] [-2.17747239e-01 9.76002102e-01 -2.45684341e-03 -1.00775070e+01] [-1.00568689e-02 2.73425278e-04 9.99949391e-01 -1.78106956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.01786663825124551 Centerline is valid? [True, True] Translation: X:110.61, Y:-10.10, Z:-1.78 [[ 9.76620225e-01 2.14706971e-01 1.06702173e-02 1.10613800e+02] [-2.14690403e-01 9.76678455e-01 -2.68815995e-03 -1.00970680e+01] [-1.09985381e-02 3.34518121e-04 9.99939458e-01 -1.78257416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.018372243449987887 Centerline is valid? [True, True] Translation: X:110.67, Y:-10.11, Z:-1.78 [[ 9.77596697e-01 2.10122423e-01 1.23800631e-02 1.10671881e+02] [-2.10099745e-01 9.77674980e-01 -3.11942915e-03 -1.01148138e+01] [-1.27591400e-02 4.48495527e-04 9.99918498e-01 -1.78353654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.01985640064366057 Centerline is valid? [True, True] Translation: X:110.73, Y:-10.13, Z:-1.79 [[ 9.78082189e-01 2.07783905e-01 1.34566212e-02 1.10730721e+02] [-2.07756886e-01 9.78174615e-01 -3.39099295e-03 -1.01330527e+01] [-1.38675190e-02 5.20964088e-04 9.99903706e-01 -1.78512234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.0198756025136694 Centerline is valid? [True, True] Translation: X:110.79, Y:-10.15, Z:-1.79 [[ 9.78281906e-01 2.06756136e-01 1.47109433e-02 1.10790058e+02] [-2.06723671e-01 9.78392331e-01 -3.71091808e-03 -1.01497433e+01] [-1.51603292e-02 5.89223807e-04 9.99884902e-01 -1.78695416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.021209320480465615 Centerline is valid? [True, True] Translation: X:110.85, Y:-10.17, Z:-1.79 [[ 9.77914331e-01 2.08400467e-01 1.58998970e-02 1.10848800e+02] [-2.08362691e-01 9.78043388e-01 -4.01492394e-03 -1.01666772e+01] [-1.63875012e-02 6.13306330e-04 9.99865528e-01 -1.78824547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.017853096156265492 Centerline is valid? [True, True] Translation: X:110.91, Y:-10.18, Z:-1.79 [[ 9.76895207e-01 2.13037313e-01 1.70545600e-02 1.10909629e+02] [-2.12994513e-01 9.77043894e-01 -4.30896844e-03 -1.01756218e+01] [-1.75810248e-02 5.76882916e-04 9.99845275e-01 -1.79058585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.015499537303803062 Centerline is valid? [True, True] Translation: X:110.97, Y:-10.18, Z:-1.79 [[ 9.75577364e-01 2.18834937e-01 1.89757067e-02 1.10969841e+02] [-2.18783035e-01 9.75761750e-01 -4.79479201e-03 -1.01847358e+01] [-1.95650368e-02 5.26127851e-04 9.99808448e-01 -1.79237779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.014355281537672876 Centerline is valid? [True, True] Translation: X:111.03, Y:-10.20, Z:-1.79 [[ 9.74671327e-01 2.22701571e-01 2.04893787e-02 1.11030308e+02] [-2.22641905e-01 9.74886545e-01 -5.17753235e-03 -1.01963537e+01] [-2.11278642e-02 4.84598026e-04 9.99776664e-01 -1.79330590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.013585184404443248 Centerline is valid? [True, True] Translation: X:111.09, Y:-10.21, Z:-1.79 [[ 9.73381145e-01 2.28077741e-01 2.25763245e-02 1.11090442e+02] [-2.28006721e-01 9.73642839e-01 -5.70580987e-03 -1.02071271e+01] [-2.32826449e-02 4.06374024e-04 9.99728840e-01 -1.79413769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.012963223033022088 Centerline is valid? [True, True] Translation: X:111.15, Y:-10.22, Z:-1.80 [[ 9.72568812e-01 2.31535775e-01 2.23850738e-02 1.11151111e+02] [-2.31466814e-01 9.72826336e-01 -5.65980940e-03 -1.02188832e+01] [-2.30872377e-02 3.23152381e-04 9.99733402e-01 -1.79601825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.012193628011055413 Centerline is valid? [True, True] Translation: X:111.21, Y:-10.23, Z:-1.80 [[ 9.71173923e-01 2.37368570e-01 2.18488625e-02 1.11212554e+02] [-2.37304221e-01 9.71419646e-01 -5.52981347e-03 -1.02293603e+01] [-2.25370181e-02 1.85583355e-04 9.99745992e-01 -1.79887367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.01174460436779375 Centerline is valid? [True, True] Translation: X:111.27, Y:-10.24, Z:-1.80 [[ 9.70259499e-01 2.41074549e-01 2.18989884e-02 1.11274135e+02] [-2.41010720e-01 9.70506595e-01 -5.54819364e-03 -1.02406796e+01] [-2.25906410e-02 1.05296625e-04 9.99744793e-01 -1.80134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.011868306889441923 Centerline is valid? [True, True] Translation: X:111.33, Y:-10.26, Z:-1.80 [[ 9.70268363e-01 2.41077949e-01 2.14645349e-02 1.11334721e+02] [-2.41016500e-01 9.70505750e-01 -5.44390655e-03 -1.02558382e+01] [-2.21438604e-02 1.08743222e-04 9.99754789e-01 -1.80361063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.012161216377792486 Centerline is valid? [True, True] Translation: X:111.39, Y:-10.27, Z:-1.81 [[ 9.70961576e-01 2.38335887e-01 2.07273434e-02 1.11394494e+02] [-2.38277837e-01 9.71182772e-01 -5.26277560e-03 -1.02736785e+01] [-2.13843471e-02 1.71086354e-04 9.99771314e-01 -1.80590892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.012874853113759082 Centerline is valid? [True, True] Translation: X:111.45, Y:-10.29, Z:-1.81 [[ 9.72113308e-01 2.33633023e-01 2.02811969e-02 1.11453817e+02] [-2.33576313e-01 9.72324810e-01 -5.15465716e-03 -1.02925492e+01] [-2.09242090e-02 2.73703633e-04 9.99781027e-01 -1.80783939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.015353034782323985 Centerline is valid? [True, True] Translation: X:111.51, Y:-10.32, Z:-1.81 [[ 9.74266140e-01 2.24510436e-01 2.00137930e-02 1.11511236e+02] [-2.24453197e-01 9.74471572e-01 -5.09087013e-03 -1.03152203e+01] [-2.06458258e-02 4.67702569e-04 9.99786743e-01 -1.80970667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.016390169845587024 Centerline is valid? [True, True] Translation: X:111.57, Y:-10.33, Z:-1.81 [[ 9.75596391e-01 2.18695123e-01 1.95991194e-02 1.11569410e+02] [-2.18639045e-01 9.75793066e-01 -4.98602459e-03 -1.03342440e+01] [-2.02151041e-02 5.79214834e-04 9.99795486e-01 -1.81132028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.01840896545537826 Centerline is valid? [True, True] Translation: X:111.63, Y:-10.35, Z:-1.81 [[ 9.77028660e-01 2.12299112e-01 1.85495125e-02 1.11627562e+02] [-2.12247720e-01 9.77204499e-01 -4.71938880e-03 -1.03547488e+01] [-1.91285892e-02 6.73886372e-04 9.99816805e-01 -1.81281632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.01906163875980124 Centerline is valid? [True, True] Translation: X:111.69, Y:-10.37, Z:-1.81 [[ 9.77591441e-01 2.09755669e-01 1.78194709e-02 1.11687515e+02] [-2.09707807e-01 9.77753586e-01 -4.53437171e-03 -1.03720536e+01] [-1.83741617e-02 6.95880809e-04 9.99830939e-01 -1.81408093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.019982360913573555 Centerline is valid? [True, True] Translation: X:111.75, Y:-10.39, Z:-1.82 [[ 9.77575599e-01 2.09904227e-01 1.69163551e-02 1.11746866e+02] [-2.09861091e-01 9.77721730e-01 -4.30602247e-03 -1.03883337e+01] [-1.74433403e-02 6.59377749e-04 9.99847636e-01 -1.81515154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.019699032317113504 Centerline is valid? [True, True] Translation: X:111.81, Y:-10.40, Z:-1.82 [[ 9.77064355e-01 2.12324098e-01 1.62395544e-02 1.11806613e+02] [-2.12284608e-01 9.77199121e-01 -4.13791220e-03 -1.04020368e+01] [-1.67478567e-02 5.95599075e-04 9.99859567e-01 -1.81616764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.018328828106527303 Centerline is valid? [True, True] Translation: X:111.87, Y:-10.41, Z:-1.82 [[ 9.75808480e-01 2.18028197e-01 1.61714526e-02 1.11865336e+02] [-2.17989810e-01 9.75942344e-01 -4.12111874e-03 -1.04121216e+01] [-1.66809255e-02 4.96210723e-04 9.99860741e-01 -1.81660432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.015953496030066478 Centerline is valid? [True, True] Translation: X:111.93, Y:-10.42, Z:-1.82 [[ 9.74871249e-01 2.22206498e-01 1.58214900e-02 1.11926572e+02] [-2.22170308e-01 9.74999538e-01 -4.03167032e-03 -1.04217939e+01] [-1.63218088e-02 4.15294183e-04 9.99866704e-01 -1.81725057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.014449331673080533 Centerline is valid? [True, True] Translation: X:111.99, Y:-10.43, Z:-1.82 [[ 9.73560370e-01 2.27900722e-01 1.55392145e-02 1.11987670e+02] [-2.27866523e-01 9.73684323e-01 -3.96059322e-03 -1.04311328e+01] [-1.60329116e-02 3.15009821e-04 9.99871415e-01 -1.81770510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.01408427259562984 Centerline is valid? [True, True] Translation: X:112.05, Y:-10.44, Z:-1.82 [[ 9.73121338e-01 2.29740367e-01 1.59444353e-02 1.12048724e+02] [-2.29704596e-01 9.73251909e-01 -4.06455155e-03 -1.04445009e+01] [-1.64517436e-02 2.92791774e-04 9.99864618e-01 -1.81852003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.013572101408478206 Centerline is valid? [True, True] Translation: X:112.11, Y:-10.46, Z:-1.82 [[ 9.72425505e-01 2.32621243e-01 1.66130669e-02 1.12109947e+02] [-2.32582752e-01 9.72567371e-01 -4.23950871e-03 -1.04564954e+01] [-1.71435266e-02 2.58693587e-04 9.99853005e-01 -1.81845948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.013389377585689406 Centerline is valid? [True, True] Translation: X:112.17, Y:-10.47, Z:-1.82 [[ 9.72052688e-01 2.34198737e-01 1.62641795e-02 1.12170751e+02] [-2.34161996e-01 9.72188716e-01 -4.15462911e-03 -1.04688577e+01] [-1.67848607e-02 2.30065653e-04 9.99859098e-01 -1.81966306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.013476321500337174 Centerline is valid? [True, True] Translation: X:112.23, Y:-10.48, Z:-1.82 [[ 9.72305862e-01 2.33223326e-01 1.51060011e-02 1.12231489e+02] [-2.33191457e-01 9.72423172e-01 -3.86238813e-03 -1.04834346e+01] [-1.55902245e-02 2.32832212e-04 9.99878438e-01 -1.82088130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.014546446177688098 Centerline is valid? [True, True] Translation: X:112.29, Y:-10.50, Z:-1.82 [[ 9.73315703e-01 2.29051917e-01 1.38478317e-02 1.12291755e+02] [-2.29024662e-01 9.73414168e-01 -3.54434006e-03 -1.04997592e+01] [-1.42915134e-02 2.78266866e-04 9.99897832e-01 -1.82263209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.016284281768365234 Centerline is valid? [True, True] Translation: X:112.35, Y:-10.52, Z:-1.82 [[ 9.74370990e-01 2.24609655e-01 1.23157471e-02 1.12350539e+02] [-2.24587739e-01 9.74448772e-01 -3.15244979e-03 -1.05171707e+01] [-1.27091353e-02 3.05689810e-04 9.99919189e-01 -1.82430877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.01753382156362601 Centerline is valid? [True, True] Translation: X:112.41, Y:-10.53, Z:-1.83 [[ 9.74900372e-01 2.22352400e-01 1.13435438e-02 1.12410475e+02] [-2.22333627e-01 9.74966314e-01 -2.90594808e-03 -1.05346876e+01] [-1.17057176e-02 3.10958635e-04 9.99931437e-01 -1.82536539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.01880092411706326 Centerline is valid? [True, True] Translation: X:112.47, Y:-10.55, Z:-1.83 [[ 9.75445096e-01 2.19998010e-01 1.03798322e-02 1.12470753e+02] [-2.19982124e-01 9.75500270e-01 -2.66228178e-03 -1.05511982e+01] [-1.07112258e-02 3.13532164e-04 9.99942584e-01 -1.82741928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.01804602731933198 Centerline is valid? [True, True] Translation: X:112.53, Y:-10.56, Z:-1.83 [[ 9.75551956e-01 2.19572264e-01 9.29529705e-03 1.12531640e+02] [-2.19559511e-01 9.75596197e-01 -2.38348646e-03 -1.05647510e+01] [-9.59180397e-03 2.84344010e-04 9.99953957e-01 -1.82847728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.01720948331028743 Centerline is valid? [True, True] Translation: X:112.59, Y:-10.58, Z:-1.83 [[ 9.75415818e-01 2.20201481e-01 8.67696813e-03 1.12593487e+02] [-2.20190379e-01 9.75454376e-01 -2.22659674e-03 -1.05782784e+01] [-8.95428643e-03 2.61272782e-04 9.99959875e-01 -1.82942678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.016850284497387173 Centerline is valid? [True, True] Translation: X:112.65, Y:-10.59, Z:-1.83 [[ 9.74588959e-01 2.23876487e-01 7.46182049e-03 1.12651982e+02] [-2.23868354e-01 9.74617504e-01 -1.91865186e-03 -1.05916164e+01] [-7.70196190e-03 1.99431444e-04 9.99970320e-01 -1.83077263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.015519627986815965 Centerline is valid? [True, True] Translation: X:112.71, Y:-10.60, Z:-1.83 [[ 9.73575840e-01 2.28219829e-01 8.11128884e-03 1.12712206e+02] [-2.28210368e-01 9.73609613e-01 -2.08568290e-03 -1.06030965e+01] [-8.37322297e-03 1.79490267e-04 9.99964928e-01 -1.83144873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.014425350529529174 Centerline is valid? [True, True] Translation: X:112.77, Y:-10.61, Z:-1.83 [[ 9.72115447e-01 2.34339800e-01 8.74156379e-03 1.12771497e+02] [-2.34329055e-01 9.72154740e-01 -2.24824491e-03 -1.06138136e+01] [-9.02500594e-03 1.37151224e-04 9.99959264e-01 -1.83223008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.013807673483993532 Centerline is valid? [True, True] Translation: X:112.83, Y:-10.63, Z:-1.83 [[ 9.71459403e-01 2.37061742e-01 8.26788750e-03 1.12832513e+02] [-2.37052232e-01 9.71494580e-01 -2.12604000e-03 -1.06281797e+01] [-8.53621064e-03 1.05440371e-04 9.99963560e-01 -1.83361961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.013246361130682144 Centerline is valid? [True, True] Translation: X:112.89, Y:-10.64, Z:-1.83 [[ 9.70740472e-01 2.40005636e-01 7.76085073e-03 1.12892934e+02] [-2.39997355e-01 9.70771492e-01 -1.99500936e-03 -1.06438517e+01] [-8.01282613e-03 7.40526761e-05 9.99967894e-01 -1.83455986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.01258495624932938 Centerline is valid? [True, True] Translation: X:112.95, Y:-10.66, Z:-1.83 [[ 9.70180688e-01 2.42276941e-01 7.16352197e-03 1.12952891e+02] [-2.42269938e-01 9.70207133e-01 -1.84281188e-03 -1.06582502e+01] [-7.39657094e-03 5.23544753e-05 9.99972644e-01 -1.83489938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.012147211971321549 Centerline is valid? [True, True] Translation: X:113.01, Y:-10.67, Z:-1.84 [[ 9.69047840e-01 2.46775562e-01 6.93581341e-03 1.13013372e+02] [-2.46769100e-01 9.69072661e-01 -1.78592267e-03 -1.06738181e+01] [-7.16202923e-03 1.91000744e-05 9.99974352e-01 -1.83679115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.012075970242268136 Centerline is valid? [True, True] Translation: X:113.07, Y:-10.69, Z:-1.84 [[ 9.67965760e-01 2.51001280e-01 6.37533097e-03 1.13072891e+02] [-2.50995904e-01 9.67986755e-01 -1.64279184e-03 -1.06905046e+01] [-6.58357879e-03 -1.00157085e-05 9.99978328e-01 -1.83881084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.011994587506930336 Centerline is valid? [True, True] Translation: X:113.13, Y:-10.71, Z:-1.84 [[ 9.67383473e-01 2.53234636e-01 6.43703137e-03 1.13133501e+02] [-2.53229194e-01 9.67404889e-01 -1.66023582e-03 -1.07082918e+01] [-6.64764483e-03 -2.39595704e-05 9.99977904e-01 -1.83861993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.012135147431848726 Centerline is valid? [True, True] Translation: X:113.19, Y:-10.73, Z:-1.84 [[ 9.66927916e-01 2.54957530e-01 6.86021760e-03 1.13192711e+02] [-2.54951375e-01 9.66952251e-01 -1.77197789e-03 -1.07265843e+01] [-7.08528196e-03 -3.56470247e-05 9.99974898e-01 -1.84047454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.012059356336376646 Centerline is valid? [True, True] Translation: X:113.25, Y:-10.75, Z:-1.84 [[ 9.66897907e-01 2.55069912e-01 6.91208018e-03 1.13252270e+02] [-2.55063653e-01 9.66922613e-01 -1.78720096e-03 -1.07470036e+01] [-7.13930782e-03 -3.49795523e-05 9.99974514e-01 -1.84029464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.011991031256660047 Centerline is valid? [True, True] Translation: X:113.31, Y:-10.77, Z:-1.84 [[ 9.67431692e-01 2.53048323e-01 6.51667278e-03 1.13311114e+02] [-2.53042702e-01 9.67453640e-01 -1.68666409e-03 -1.07697638e+01] [-6.73138632e-03 -1.72641904e-05 9.99977344e-01 -1.84114480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.012025077002762624 Centerline is valid? [True, True] Translation: X:113.37, Y:-10.79, Z:-1.84 [[ 9.68083517e-01 2.50528571e-01 7.05263931e-03 1.13371037e+02] [-2.50521903e-01 9.68109206e-01 -1.82785537e-03 -1.07905919e+01] [-7.28565504e-03 2.67603060e-06 9.99973459e-01 -1.84232372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.012858736392504904 Centerline is valid? [True, True] Translation: X:113.43, Y:-10.82, Z:-1.84 [[ 9.69889324e-01 2.43436187e-01 7.31592680e-03 1.13427489e+02] [-2.43428789e-01 9.69916914e-01 -1.89885623e-03 -1.08170465e+01] [-7.55809146e-03 6.07731809e-05 9.99971435e-01 -1.84317624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.01380054534138447 Centerline is valid? [True, True] Translation: X:113.49, Y:-10.84, Z:-1.84 [[ 9.71446863e-01 2.37140750e-01 7.43346202e-03 1.13485323e+02] [-2.37132904e-01 9.71475297e-01 -1.93241720e-03 -1.08404337e+01] [-7.67967959e-03 1.14522196e-04 9.99970504e-01 -1.84222516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.016029477298785857 Centerline is valid? [True, True] Translation: X:113.54, Y:-10.87, Z:-1.84 [[ 9.73610611e-01 2.28097453e-01 7.34375586e-03 1.13541684e+02] [-2.28089530e-01 9.73638289e-01 -1.91008462e-03 -1.08662660e+01] [-7.58584733e-03 1.84644827e-04 9.99971210e-01 -1.84200974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.016410828537938935 Centerline is valid? [True, True] Translation: X:113.60, Y:-10.89, Z:-1.84 [[ 9.74603606e-01 2.23840048e-01 6.59127003e-03 1.13600027e+02] [-2.23833569e-01 9.74625874e-01 -1.71428205e-03 -1.08857464e+01] [-6.80774730e-03 1.95397975e-04 9.99976808e-01 -1.84285655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.017239845052139463 Centerline is valid? [True, True] Translation: X:113.66, Y:-10.91, Z:-1.84 [[ 9.75189105e-01 2.21295430e-01 5.87722691e-03 1.13658894e+02] [-2.21290234e-01 9.75206797e-01 -1.52836039e-03 -1.09057447e+01] [-6.06973080e-03 1.89867487e-04 9.99981561e-01 -1.84420862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.017768240229372893 Centerline is valid? [True, True] Translation: X:113.72, Y:-10.93, Z:-1.85 [[ 9.75184600e-01 2.21341832e-01 4.77376590e-03 1.13717572e+02] [-2.21338414e-01 9.75196273e-01 -1.23952956e-03 -1.09252043e+01] [-4.92971845e-03 1.52152368e-04 9.99987837e-01 -1.84591970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.017108868279284022 Centerline is valid? [True, True] Translation: X:113.78, Y:-10.94, Z:-1.85 [[ 9.74337400e-01 2.25039758e-01 4.87214698e-03 1.13777270e+02] [-2.25036227e-01 9.74349572e-01 -1.26839405e-03 -1.09409750e+01] [-5.03261341e-03 1.39434184e-04 9.99987327e-01 -1.84677335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.01609268891827812 Centerline is valid? [True, True] Translation: X:113.84, Y:-10.96, Z:-1.85 [[ 9.73389151e-01 2.29083609e-01 5.85322867e-03 1.13836689e+02] [-2.29078578e-01 9.73406739e-01 -1.52493881e-03 -1.09554223e+01] [-6.04691072e-03 1.43509591e-04 9.99981707e-01 -1.84670654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.014261112357785958 Centerline is valid? [True, True] Translation: X:113.90, Y:-10.97, Z:-1.85 [[ 9.71666536e-01 2.36251898e-01 7.01314217e-03 1.13897043e+02] [-2.36244859e-01 9.71691837e-01 -1.82756432e-03 -1.09676749e+01] [-7.24637854e-03 1.18964302e-04 9.99973738e-01 -1.84626531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.013542934663303597 Centerline is valid? [True, True] Translation: X:113.96, Y:-10.98, Z:-1.85 [[ 9.71097571e-01 2.38577904e-01 7.07748762e-03 1.13957962e+02] [-2.38570810e-01 9.71123357e-01 -1.84257724e-03 -1.09817578e+01] [-7.31271175e-03 1.00840327e-04 9.99973257e-01 -1.84684996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.012730488507803764 Centerline is valid? [True, True] Translation: X:114.02, Y:-10.99, Z:-1.85 [[ 9.69609484e-01 2.44553378e-01 7.14799252e-03 1.14017785e+02] [-2.44546288e-01 9.69635830e-01 -1.86302209e-03 -1.09932556e+01] [-7.38655800e-03 5.83888489e-05 9.99972717e-01 -1.84892713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.012266882601782464 Centerline is valid? [True, True] Translation: X:114.08, Y:-11.01, Z:-1.85 [[ 9.68785054e-01 2.47812220e-01 6.68001026e-03 1.14079006e+02] [-2.47806087e-01 9.68808084e-01 -1.74369407e-03 -1.10066713e+01] [-6.90375663e-03 3.39175499e-05 9.99976168e-01 -1.84976960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.012118339132664167 Centerline is valid? [True, True] Translation: X:114.14, Y:-11.02, Z:-1.85 [[ 9.68224445e-01 2.50027652e-01 5.25329547e-03 1.14140127e+02] [-2.50023902e-01 9.68238696e-01 -1.36928769e-03 -1.10217343e+01] [-5.42880375e-03 1.23283830e-05 9.99985264e-01 -1.85197615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.012265134316713012 Centerline is valid? [True, True] Translation: X:114.20, Y:-11.04, Z:-1.85 [[ 9.68665276e-01 2.48330663e-01 4.41181612e-03 1.14199809e+02] [-2.48327997e-01 9.68675323e-01 -1.15098877e-03 -1.10392395e+01] [-4.55944321e-03 1.93453981e-05 9.99989605e-01 -1.85370715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.013413683532947324 Centerline is valid? [True, True] Translation: X:114.26, Y:-11.06, Z:-1.85 [[ 9.70705769e-01 2.40230719e-01 4.41717727e-03 1.14258238e+02] [-2.40227947e-01 9.70715817e-01 -1.15563369e-03 -1.10616094e+01] [-4.56544256e-03 6.06508634e-05 9.99989576e-01 -1.85424978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.016668997492398314 Centerline is valid? [True, True] Translation: X:114.31, Y:-11.09, Z:-1.85 [[ 9.73721898e-01 2.27691608e-01 4.71142912e-03 1.14314717e+02] [-2.27688302e-01 9.73733287e-01 -1.23366263e-03 -1.10873382e+01] [-4.86856999e-03 1.28507018e-04 9.99988140e-01 -1.85455733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.018922018021245237 Centerline is valid? [True, True] Translation: X:114.37, Y:-11.11, Z:-1.86 [[ 9.75529677e-01 2.19816054e-01 4.76989331e-03 1.14372661e+02] [-2.19812572e-01 9.75541323e-01 -1.24887511e-03 -1.11082238e+01] [-4.92775083e-03 1.69832219e-04 9.99987844e-01 -1.85541251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.021235849955530597 Centerline is valid? [True, True] Translation: X:114.43, Y:-11.13, Z:-1.86 [[ 9.76556109e-01 2.15216727e-01 4.46386651e-03 1.14430204e+02] [-2.15213630e-01 9.76566295e-01 -1.16845941e-03 -1.11258531e+01] [-4.61073359e-03 1.80381255e-04 9.99989354e-01 -1.85724229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.02126254146721708 Centerline is valid? [True, True] Translation: X:114.49, Y:-11.14, Z:-1.86 [[ 9.76238908e-01 2.16679800e-01 2.73091719e-03 1.14490598e+02] [-2.16678654e-01 9.76242723e-01 -7.12282767e-04 -1.11409364e+01] [-2.82037532e-03 1.03626690e-04 9.99996017e-01 -1.85950380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.020798579803426295 Centerline is valid? [True, True] Translation: X:114.55, Y:-11.15, Z:-1.86 [[ 9.75375483e-01 2.20545761e-01 1.49487917e-03 1.14549677e+02] [-2.20545420e-01 9.75376627e-01 -3.91554552e-04 -1.11545588e+01] [-1.54442590e-03 5.22239565e-05 9.99998806e-01 -1.86112740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.01820933759887969 Centerline is valid? [True, True] Translation: X:114.61, Y:-11.16, Z:-1.86 [[ 9.74666850e-01 2.23654456e-01 1.79328353e-03 1.14610671e+02] [-2.23653970e-01 9.74668498e-01 -4.69874145e-04 -1.11638974e+01] [-1.85294641e-03 5.68957729e-05 9.99998282e-01 -1.86080215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.017333586319356175 Centerline is valid? [True, True] Translation: X:114.67, Y:-11.17, Z:-1.86 [[ 9.73826362e-01 2.27273089e-01 3.02632010e-03 1.14671962e+02] [-2.27271721e-01 9.73831061e-01 -7.93237978e-04 -1.11736260e+01] [-3.12740616e-03 8.46790765e-05 9.99995106e-01 -1.86126307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.017212721608736988 Centerline is valid? [True, True] Translation: X:114.73, Y:-11.19, Z:-1.86 [[ 9.73583055e-01 2.28297925e-01 4.01154890e-03 1.14732922e+02] [-2.28295529e-01 9.73591313e-01 -1.05156376e-03 -1.11883780e+01] [-4.14567898e-03 1.07965979e-04 9.99991401e-01 -1.86150178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.016791646400995983 Centerline is valid? [True, True] Translation: X:114.79, Y:-11.20, Z:-1.86 [[ 9.73764010e-01 2.27491687e-01 5.58433395e-03 1.14794660e+02] [-2.27487036e-01 9.73780010e-01 -1.46283604e-03 -1.12019013e+01] [-5.77069581e-03 1.54093507e-04 9.99983338e-01 -1.86074762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.017291224587330404 Centerline is valid? [True, True] Translation: X:114.86, Y:-11.22, Z:-1.86 [[ 9.74098725e-01 2.26026775e-01 6.60083632e-03 1.14855034e+02] [-2.26020221e-01 9.74121070e-01 -1.73225914e-03 -1.12157136e+01] [-6.82155068e-03 1.95468936e-04 9.99976714e-01 -1.86226994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.01873330694543776 Centerline is valid? [True, True] Translation: X:114.91, Y:-11.23, Z:-1.86 [[ 9.74563897e-01 2.24019898e-01 6.34797457e-03 1.14913851e+02] [-2.24013777e-01 9.74584549e-01 -1.66861320e-03 -1.12305806e+01] [-6.56044049e-03 2.04136424e-04 9.99978459e-01 -1.86473682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.018717783869736444 Centerline is valid? [True, True] Translation: X:114.97, Y:-11.24, Z:-1.87 [[ 9.75027877e-01 2.22006244e-01 5.81953870e-03 1.14974492e+02] [-2.22001057e-01 9.75045223e-01 -1.53081617e-03 -1.12441106e+01] [-6.01416416e-03 2.00644695e-04 9.99981895e-01 -1.86634080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.019380798330978756 Centerline is valid? [True, True] Translation: X:115.03, Y:-11.26, Z:-1.87 [[ 9.75287595e-01 2.20876267e-01 5.27090603e-03 1.15034862e+02] [-2.20872004e-01 9.75301820e-01 -1.38488059e-03 -1.12583583e+01] [-5.44661150e-03 1.86461284e-04 9.99985150e-01 -1.86874099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.020080782983575178 Centerline is valid? [True, True] Translation: X:115.10, Y:-11.27, Z:-1.87 [[ 9.75581163e-01 2.19584119e-01 4.92031491e-03 1.15095417e+02] [-2.19580382e-01 9.75593554e-01 -1.29378084e-03 -1.12728814e+01] [-5.08432124e-03 1.81783590e-04 9.99987058e-01 -1.87029207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.021035404628030652 Centerline is valid? [True, True] Translation: X:115.15, Y:-11.29, Z:-1.87 [[ 9.75344149e-01 2.20622699e-01 5.42366082e-03 1.15154449e+02] [-2.20618164e-01 9.75359209e-01 -1.42815880e-03 -1.12887548e+01] [-5.60510178e-03 1.96388242e-04 9.99984272e-01 -1.87172713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.018633220851119556 Centerline is valid? [True, True] Translation: X:115.22, Y:-11.30, Z:-1.87 [[ 9.74525957e-01 2.24220528e-01 4.93086121e-03 1.15215315e+02] [-2.24216811e-01 9.74538418e-01 -1.30132778e-03 -1.12989918e+01] [-5.09709809e-03 1.62595725e-04 9.99986996e-01 -1.87291399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.017204236696492754 Centerline is valid? [True, True] Translation: X:115.28, Y:-11.31, Z:-1.87 [[ 9.73121888e-01 2.30229613e-01 5.30250741e-03 1.15275361e+02] [-2.30225402e-01 9.73136324e-01 -1.39979295e-03 -1.13100559e+01] [-5.48233636e-03 1.41397258e-04 9.99984962e-01 -1.87426149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.01455727772938457 Centerline is valid? [True, True] Translation: X:115.34, Y:-11.32, Z:-1.87 [[ 9.71915678e-01 2.35238740e-01 6.53074135e-03 1.15336588e+02] [-2.35232464e-01 9.71937609e-01 -1.72395065e-03 -1.13203634e+01] [-6.75301311e-03 1.39292282e-04 9.99977188e-01 -1.87374517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.013329600217230198 Centerline is valid? [True, True] Translation: X:115.40, Y:-11.33, Z:-1.87 [[ 9.70386555e-01 2.41441245e-01 7.48722728e-03 1.15397108e+02] [-2.41433175e-01 9.70415433e-01 -1.97715299e-03 -1.13318958e+01] [-7.74308719e-03 1.10937623e-04 9.99970016e-01 -1.87409004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.012680140662143284 Centerline is valid? [True, True] Translation: X:115.46, Y:-11.35, Z:-1.87 [[ 9.69764562e-01 2.43898222e-01 8.38762416e-03 1.15457281e+02] [-2.43888197e-01 9.69800829e-01 -2.21367336e-03 -1.13461168e+01] [-8.67423586e-03 1.01099444e-04 9.99962373e-01 -1.87421897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.012607901502437163 Centerline is valid? [True, True] Translation: X:115.52, Y:-11.36, Z:-1.88 [[ 9.69556510e-01 2.44691083e-01 9.29767651e-03 1.15516546e+02] [-2.44678773e-01 9.69601084e-01 -2.45677175e-03 -1.13631331e+01] [-9.61618737e-03 1.07034960e-04 9.99953758e-01 -1.87507687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.01292576163203993 Centerline is valid? [True, True] Translation: X:115.58, Y:-11.38, Z:-1.88 [[ 9.70168630e-01 2.42276463e-01 8.65704791e-03 1.15575970e+02] [-2.42265677e-01 9.70207246e-01 -2.28944892e-03 -1.13819775e+01] [-8.95381020e-03 1.23845956e-04 9.99959906e-01 -1.87618794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.013639689356032325 Centerline is valid? [True, True] Translation: X:115.64, Y:-11.40, Z:-1.88 [[ 9.70884224e-01 2.39397522e-01 8.52351011e-03 1.15635209e+02] [-2.39386936e-01 9.70921626e-01 -2.25631923e-03 -1.14014467e+01] [-8.81581753e-03 1.50207775e-04 9.99961129e-01 -1.87705181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.015323882023513775 Centerline is valid? [True, True] Translation: X:115.69, Y:-11.42, Z:-1.88 [[ 9.72272082e-01 2.33701191e-01 8.41140577e-03 1.15692613e+02] [-2.33690635e-01 9.72308445e-01 -2.23042908e-03 -1.14236686e+01] [-8.69973480e-03 2.02917169e-04 9.99962136e-01 -1.87731267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.016465296731291146 Centerline is valid? [True, True] Translation: X:115.75, Y:-11.44, Z:-1.88 [[ 9.73120434e-01 2.30144358e-01 8.37827878e-03 1.15751148e+02] [-2.30133764e-01 9.73156473e-01 -2.22048114e-03 -1.14435644e+01] [-8.66440743e-03 2.32670746e-04 9.99962436e-01 -1.87834826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.017189652312044938 Centerline is valid? [True, True] Translation: X:115.81, Y:-11.46, Z:-1.88 [[ 9.74230923e-01 2.25443243e-01 7.03223299e-03 1.15809352e+02] [-2.25435635e-01 9.74256275e-01 -1.86673077e-03 -1.14624570e+01] [-7.27203896e-03 2.33310938e-04 9.99973531e-01 -1.88005358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.017542315915240622 Centerline is valid? [True, True] Translation: X:115.87, Y:-11.48, Z:-1.88 [[ 9.74377148e-01 2.24828085e-01 6.44256443e-03 1.15868849e+02] [-2.24821700e-01 9.74398423e-01 -1.70805916e-03 -1.14795724e+01] [-6.66164429e-03 2.15865523e-04 9.99977788e-01 -1.88128577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.01843950194654966 Centerline is valid? [True, True] Translation: X:115.93, Y:-11.50, Z:-1.88 [[ 9.74248396e-01 2.25412124e-01 5.42565981e-03 1.15927854e+02] [-2.25407602e-01 9.74263487e-01 -1.43908143e-03 -1.14970330e+01] [-5.61040865e-03 1.79037806e-04 9.99984246e-01 -1.88299571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.01769137583963832 Centerline is valid? [True, True] Translation: X:115.99, Y:-11.51, Z:-1.88 [[ 9.73627154e-01 2.28062390e-01 6.14092181e-03 1.15987490e+02] [-2.28056620e-01 9.73646502e-01 -1.63335868e-03 -1.15121657e+01] [-6.35159472e-03 1.89804486e-04 9.99979810e-01 -1.88354416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.015362528056282817 Centerline is valid? [True, True] Translation: X:116.05, Y:-11.52, Z:-1.88 [[ 9.72036493e-01 2.34709128e-01 7.52866654e-03 1.16047097e+02] [-2.34700649e-01 9.72065632e-01 -2.00317299e-03 -1.15230743e+01] [-7.78852098e-03 1.80174324e-04 9.99969653e-01 -1.88344921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.01411624036592412 Centerline is valid? [True, True] Translation: X:116.11, Y:-11.54, Z:-1.88 [[ 9.70485653e-01 2.41035566e-01 7.71058639e-03 1.16106127e+02] [-2.41026873e-01 9.70516274e-01 -2.05143226e-03 -1.15353581e+01] [-7.97771771e-03 1.32427048e-04 9.99968169e-01 -1.88474254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.011164010931026022 Centerline is valid? [True, True] Translation: X:116.17, Y:-11.54, Z:-1.88 [[ 9.67439194e-01 2.52964971e-01 8.37431551e-03 1.16167879e+02] [-2.52955161e-01 9.67475437e-01 -2.22805829e-03 -1.15413055e+01] [-8.66556526e-03 3.71845830e-05 9.99962453e-01 -1.88469904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.011176704314096161 Centerline is valid? [True, True] Translation: X:116.23, Y:-11.55, Z:-1.89 [[ 9.65091141e-01 2.61777144e-01 8.47449984e-03 1.16228921e+02] [-2.61767450e-01 9.65128346e-01 -2.25333045e-03 -1.15508582e+01] [-8.76885043e-03 -4.36789535e-05 9.99961552e-01 -1.88655492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.013976187570595506 Centerline is valid? [True, True] Translation: X:116.29, Y:-11.56, Z:-1.89 [[ 9.61743890e-01 2.73833990e-01 7.97722201e-03 1.16290798e+02] [-2.73825782e-01 9.61776963e-01 -2.12490534e-03 -1.15569887e+01] [-8.25417967e-03 -1.40754323e-04 9.99965924e-01 -1.88790232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.01464950192921703 Centerline is valid? [True, True] Translation: X:116.35, Y:-11.57, Z:-1.89 [[ 9.59730005e-01 2.80829372e-01 7.29259135e-03 1.16350444e+02] [-2.80822711e-01 9.59757693e-01 -1.94288554e-03 -1.15701727e+01] [-7.54473998e-03 -1.83279727e-04 9.99971521e-01 -1.88851848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.01792335614989319 Centerline is valid? [True, True] Translation: X:116.41, Y:-11.58, Z:-1.89 [[ 9.57480906e-01 2.88399400e-01 7.49010088e-03 1.16409857e+02] [-2.88392606e-01 9.57510169e-01 -1.99528447e-03 -1.15801431e+01] [-7.74728661e-03 -2.49642925e-04 9.99969958e-01 -1.89009523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.018306642077180767 Centerline is valid? [True, True] Translation: X:116.47, Y:-11.60, Z:-1.89 [[ 9.56648837e-01 2.91160821e-01 6.95553571e-03 1.16469093e+02] [-2.91155043e-01 9.56674089e-01 -1.85167660e-03 -1.15966118e+01] [-7.19331647e-03 -2.53735036e-04 9.99974096e-01 -1.89093943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.019497243438303925 Centerline is valid? [True, True] Translation: X:116.53, Y:-11.61, Z:-1.89 [[ 9.56402127e-01 2.91987628e-01 6.18030364e-03 1.16527425e+02] [-2.91983070e-01 9.56422068e-01 -1.64739923e-03 -1.16134341e+01] [-6.39199898e-03 -2.28967902e-04 9.99979545e-01 -1.89212271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.018976638111962593 Centerline is valid? [True, True] Translation: X:116.59, Y:-11.63, Z:-1.89 [[ 9.56526521e-01 2.91609418e-01 4.57838031e-03 1.16586919e+02] [-2.91606920e-01 9.56537463e-01 -1.21872103e-03 -1.16342128e+01] [-4.73478281e-03 -1.69348394e-04 9.99988777e-01 -1.89411029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.019042710325300877 Centerline is valid? [True, True] Translation: X:116.65, Y:-11.65, Z:-1.90 [[ 9.56728126e-01 2.90965513e-01 3.21932513e-03 1.16645960e+02] [-2.90964274e-01 9.56733535e-01 -8.57034860e-04 -1.16534083e+01] [-3.32940390e-03 -1.16759246e-04 9.99994451e-01 -1.89622989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.017805253673738804 Centerline is valid? [True, True] Translation: X:116.70, Y:-11.68, Z:-1.90 [[ 9.57461905e-01 2.88552233e-01 2.07605624e-03 1.16704096e+02] [-2.88551714e-01 9.57464153e-01 -5.51766101e-04 -1.16768379e+01] [-2.14696277e-03 -7.07545644e-05 9.99997693e-01 -1.89808508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.01637842944718032 Centerline is valid? [True, True] Translation: X:116.76, Y:-11.70, Z:-1.90 [[ 9.58165390e-01 2.86209121e-01 1.85035765e-03 1.16762267e+02] [-2.86208705e-01 9.58167175e-01 -4.91778072e-04 -1.16996972e+01] [-1.91370333e-03 -5.83837386e-05 9.99998167e-01 -1.89812110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.015024815270198338 Centerline is valid? [True, True] Translation: X:116.82, Y:-11.72, Z:-1.90 [[ 9.59426376e-01 2.81952373e-01 1.97178642e-03 1.16819225e+02] [-2.81951883e-01 9.59428401e-01 -5.27925542e-04 -1.17244584e+01] [-2.04063775e-03 -4.94432035e-05 9.99997917e-01 -1.89802787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.014216355620472193 Centerline is valid? [True, True] Translation: X:116.88, Y:-11.75, Z:-1.90 [[ 9.60303218e-01 2.78946877e-01 2.52375259e-03 1.16877350e+02] [-2.78946071e-01 9.60306533e-01 -6.73060767e-04 -1.17463034e+01] [-2.61132429e-03 -5.76484479e-05 9.99996589e-01 -1.89768885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.01379954618607045 Centerline is valid? [True, True] Translation: X:116.93, Y:-11.77, Z:-1.90 [[ 9.61853498e-01 2.73550886e-01 2.78580187e-03 1.16933946e+02] [-2.73549869e-01 9.61857532e-01 -7.47191754e-04 -1.17682948e+01] [-2.88393947e-03 -4.33667330e-05 9.99995840e-01 -1.89935936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.011490778047863142 Centerline is valid? [True, True] Translation: X:116.99, Y:-11.80, Z:-1.90 [[ 9.63722151e-01 2.66895711e-01 2.50886625e-03 1.16991423e+02] [-2.66894866e-01 9.63725417e-01 -6.71969795e-04 -1.17956589e+01] [-2.59720403e-03 -2.20113470e-05 9.99996627e-01 -1.89782265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.010975460650460553 Centerline is valid? [True, True] Translation: X:117.05, Y:-11.81, Z:-1.90 [[ 9.64880669e-01 2.62669331e-01 3.18065671e-03 1.17050567e+02] [-2.62667955e-01 9.64885911e-01 -8.50432472e-04 -1.18146394e+01] [-3.29235338e-03 -1.48907413e-05 9.99994580e-01 -1.89682085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.010878436712403504 Centerline is valid? [True, True] Translation: X:117.11, Y:-11.83, Z:-1.90 [[ 9.65358116e-01 2.60908914e-01 3.20099193e-03 1.17111444e+02] [-2.60907510e-01 9.65363423e-01 -8.56245382e-04 -1.18308755e+01] [-3.31352258e-03 -8.57940373e-06 9.99994510e-01 -1.89691244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.011183590550551596 Centerline is valid? [True, True] Translation: X:117.17, Y:-11.85, Z:-1.90 [[ 9.66947869e-01 2.54962515e-01 2.43613831e-03 1.17170995e+02] [-2.54961682e-01 9.66950938e-01 -6.51773545e-04 -1.18494091e+01] [-2.52180405e-03 9.10911750e-06 9.99996820e-01 -1.89730765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.012207623766051365 Centerline is valid? [True, True] Translation: X:117.23, Y:-11.87, Z:-1.90 [[ 9.68413551e-01 2.49342372e-01 1.89120056e-03 1.17229730e+02] [-2.49341859e-01 9.68415397e-01 -5.05867843e-04 -1.18684950e+01] [-1.95760203e-03 1.83338105e-05 9.99998084e-01 -1.89808876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.015425952374182428 Centerline is valid? [True, True] Translation: X:117.29, Y:-11.89, Z:-1.90 [[ 9.71298448e-01 2.37861300e-01 1.15216329e-03 1.17287293e+02] [-2.37861100e-01 9.71299131e-01 -3.09973560e-04 -1.18886880e+01] [-1.19282591e-03 2.70220106e-05 9.99999288e-01 -1.89927973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.01844254872750718 Centerline is valid? [True, True] Translation: X:117.34, Y:-11.91, Z:-1.90 [[ 9.73007192e-01 2.30771959e-01 1.14309888e-03 1.17344135e+02] [-2.30771756e-01 9.73007863e-01 -3.08092662e-04 -1.19070229e+01] [-1.18334334e-03 3.59814411e-05 9.99999299e-01 -1.90036717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.02097853524159927 Centerline is valid? [True, True] Translation: X:117.40, Y:-11.92, Z:-1.90 [[ 9.74873032e-01 2.22751898e-01 2.04041747e-03 1.17402163e+02] [-2.22751234e-01 9.74875164e-01 -5.49895467e-04 -1.19242763e+01] [-2.11164257e-03 8.15727527e-05 9.99997767e-01 -1.89905164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.020787068583074393 Centerline is valid? [True, True] Translation: X:117.46, Y:-11.94, Z:-1.90 [[ 9.75476656e-01 2.20069600e-01 3.82956045e-03 1.17463141e+02] [-2.20067244e-01 9.75484159e-01 -1.03129528e-03 -1.19362856e+01] [-3.96263230e-03 1.63243652e-04 9.99992135e-01 -1.89842670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.018855792015243487 Centerline is valid? [True, True] Translation: X:117.52, Y:-11.95, Z:-1.90 [[ 9.75032788e-01 2.22005303e-01 4.97069080e-03 1.17524303e+02] [-2.22001354e-01 9.75045437e-01 -1.33970190e-03 -1.19451171e+01] [-5.14407031e-03 2.02753189e-04 9.99986749e-01 -1.89951800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.018738974844342338 Centerline is valid? [True, True] Translation: X:117.58, Y:-11.95, Z:-1.90 [[ 9.73004776e-01 2.30728554e-01 5.10300742e-03 1.17583872e+02] [-2.30724507e-01 9.73018144e-01 -1.37598333e-03 -1.19532243e+01] [-5.28279745e-03 1.61449474e-04 9.99986033e-01 -1.90330932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.012997398861991456 Centerline is valid? [True, True] Translation: X:117.65, Y:-11.95, Z:-1.90 [[ 9.69590605e-01 2.44684237e-01 4.86658695e-03 1.17647561e+02] [-2.44680734e-01 9.69602814e-01 -1.31187255e-03 -1.19521988e+01] [-5.03965094e-03 8.12192383e-05 9.99987298e-01 -1.90430395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.012046300542892128 Centerline is valid? [True, True] Translation: X:117.71, Y:-11.96, Z:-1.91 [[ 9.68183466e-01 2.50194238e-01 4.86003189e-03 1.17708684e+02] [-2.50190825e-01 9.68195662e-01 -1.30778063e-03 -1.19631611e+01] [-5.03266097e-03 5.02361923e-05 9.99987335e-01 -1.90581743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.011450033622819966 Centerline is valid? [True, True] Translation: X:117.77, Y:-11.96, Z:-1.91 [[ 9.63980295e-01 2.65938488e-01 4.32577151e-03 1.17772265e+02] [-2.65935933e-01 9.63990000e-01 -1.16599918e-03 -1.19631533e+01] [-4.48008454e-03 -2.63778488e-05 9.99989964e-01 -1.90952126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.012570530160405843 Centerline is valid? [True, True] Translation: X:117.83, Y:-11.97, Z:-1.91 [[ 9.61643851e-01 2.74280920e-01 3.32862721e-03 1.17834464e+02] [-2.74279454e-01 9.61649611e-01 -8.98087970e-04 -1.19713031e+01] [-3.44730146e-03 -4.93332816e-05 9.99994057e-01 -1.91083948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.01437281472723891 Centerline is valid? [True, True] Translation: X:117.90, Y:-11.98, Z:-1.91 [[ 9.59559282e-01 2.81495257e-01 2.53061996e-03 1.17895545e+02] [-2.81494433e-01 9.59562618e-01 -6.83178999e-04 -1.19803668e+01] [-2.62059997e-03 -5.68046830e-05 9.99996565e-01 -1.91240130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.015608244346216358 Centerline is valid? [True, True] Translation: X:117.96, Y:-11.99, Z:-1.91 [[ 9.58826860e-01 2.83976993e-01 2.84957892e-03 1.17955195e+02] [-2.83975967e-01 9.58831092e-01 -7.66855465e-04 -1.19929013e+01] [-2.95003417e-03 -7.39303105e-05 9.99995646e-01 -1.91330453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.015053205098710753 Centerline is valid? [True, True] Translation: X:118.02, Y:-12.01, Z:-1.91 [[ 9.58813443e-01 2.84016446e-01 3.38218051e-03 1.18015174e+02] [-2.84014997e-01 9.58819405e-01 -9.11456521e-04 -1.20107710e+01] [-3.50176895e-03 -8.66732231e-05 9.99993865e-01 -1.91312193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.014777044445390226 Centerline is valid? [True, True] Translation: X:118.07, Y:-12.03, Z:-1.91 [[ 9.59227487e-01 2.82610692e-01 3.71820546e-03 1.18074945e+02] [-2.82608917e-01 9.59234689e-01 -1.00542901e-03 -1.20293902e+01] [-3.85077664e-03 -8.63628784e-05 9.99992582e-01 -1.91479784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.01498116593690576 Centerline is valid? [True, True] Translation: X:118.13, Y:-12.05, Z:-1.92 [[ 9.59396996e-01 2.82039628e-01 3.32459808e-03 1.18133264e+02] [-2.82038211e-01 9.59402753e-01 -8.97365341e-04 -1.20468320e+01] [-3.44272114e-03 -7.67340830e-05 9.99994071e-01 -1.91718402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.015607099201070807 Centerline is valid? [True, True] Translation: X:118.19, Y:-12.07, Z:-1.92 [[ 9.59111467e-01 2.83015905e-01 2.68146594e-03 1.18191439e+02] [-2.83014987e-01 9.59115214e-01 -7.23746274e-04 -1.20654236e+01] [-2.77666649e-03 -6.47416991e-05 9.99996143e-01 -1.91965145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.01608186313992188 Centerline is valid? [True, True] Translation: X:118.25, Y:-12.08, Z:-1.92 [[ 9.58666707e-01 2.84516952e-01 2.87190464e-03 1.18251221e+02] [-2.84515904e-01 9.58671006e-01 -7.75857535e-04 -1.20836841e+01] [-2.97395634e-03 -7.33137573e-05 9.99995575e-01 -1.92061630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.015075367244579944 Centerline is valid? [True, True] Translation: X:118.31, Y:-12.11, Z:-1.92 [[ 9.58175427e-01 2.86153866e-01 3.97705599e-03 1.18309040e+02] [-2.86151860e-01 9.58183674e-01 -1.07677710e-03 -1.21062677e+01] [-4.11887405e-03 -1.06300611e-04 9.99991512e-01 -1.92017861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.015153669591167743 Centerline is valid? [True, True] Translation: X:118.37, Y:-12.13, Z:-1.92 [[ 9.58276466e-01 2.85795399e-01 5.21579686e-03 1.18367814e+02] [-2.85791928e-01 9.58290651e-01 -1.41487657e-03 -1.21264979e+01] [-5.40261459e-03 -1.34789719e-04 9.99985397e-01 -1.92045659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.014016200163393784 Centerline is valid? [True, True] Translation: X:118.42, Y:-12.15, Z:-1.92 [[ 9.59332691e-01 2.82201526e-01 6.56400482e-03 1.18424484e+02] [-2.82195913e-01 9.59355137e-01 -1.78543432e-03 -1.21511037e+01] [-6.80106403e-03 -1.39509815e-04 9.99976863e-01 -1.92160182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.012375473290141952 Centerline is valid? [True, True] Translation: X:118.48, Y:-12.18, Z:-1.92 [[ 9.61086107e-01 2.76154018e-01 7.24242168e-03 1.18480362e+02] [-2.76147010e-01 9.61113389e-01 -1.97030185e-03 -1.21784625e+01] [-7.50489522e-03 -1.06343358e-04 9.99971832e-01 -1.92225082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.01124223035078999 Centerline is valid? [True, True] Translation: X:118.54, Y:-12.21, Z:-1.92 [[ 9.62734014e-01 2.70370584e-01 6.55478282e-03 1.18537165e+02] [-2.70364722e-01 9.62756326e-01 -1.78137717e-03 -1.22059997e+01] [-6.79229061e-03 -5.71896393e-05 9.99976930e-01 -1.92328146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.010767660959759178 Centerline is valid? [True, True] Translation: X:118.60, Y:-12.23, Z:-1.92 [[ 9.63697259e-01 2.66891327e-01 7.52409522e-03 1.18595765e+02] [-2.66883465e-01 9.63726631e-01 -2.04875938e-03 -1.22291740e+01] [-7.79796705e-03 -3.36728045e-05 9.99969595e-01 -1.92352161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.010749077590034703 Centerline is valid? [True, True] Translation: X:118.65, Y:-12.25, Z:-1.92 [[ 9.64950593e-01 2.62316612e-01 7.76836289e-03 1.18651901e+02] [-2.62308080e-01 9.64981863e-01 -2.11564479e-03 -1.22542050e+01] [-8.05129806e-03 3.78833829e-06 9.99967588e-01 -1.92351947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.010622528723228934 Centerline is valid? [True, True] Translation: X:118.71, Y:-12.27, Z:-1.92 [[ 9.64951957e-01 2.62255696e-01 9.46942560e-03 1.18711847e+02] [-2.62243004e-01 9.64998420e-01 -2.58012286e-03 -1.22715666e+01] [-9.81463266e-03 6.40399102e-06 9.99951835e-01 -1.92335356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.010462605541701031 Centerline is valid? [True, True] Translation: X:118.77, Y:-12.29, Z:-1.92 [[ 9.64556513e-01 2.63655504e-01 1.07939331e-02 1.18772091e+02] [-2.63639065e-01 9.64616906e-01 -2.94424570e-03 -1.22884043e+01] [-1.11882769e-02 -5.81105773e-06 9.99937409e-01 -1.92294808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.010330917651624857 Centerline is valid? [True, True] Translation: X:118.83, Y:-12.31, Z:-1.92 [[ 9.64691548e-01 2.63137603e-01 1.13498496e-02 1.18832154e+02] [-2.63119348e-01 9.64758313e-01 -3.09947738e-03 -1.23070488e+01] [-1.17654508e-02 3.67461242e-06 9.99930785e-01 -1.92323242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.010418366625710032 Centerline is valid? [True, True] Translation: X:118.89, Y:-12.32, Z:-1.92 [[ 9.64836709e-01 2.62604810e-01 1.13506742e-02 1.18892565e+02] [-2.62586476e-01 9.64903474e-01 -3.10311059e-03 -1.23239132e+01] [-1.17671967e-02 1.34614747e-05 9.99930764e-01 -1.92417092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.010429682056007802 Centerline is valid? [True, True] Translation: X:118.95, Y:-12.34, Z:-1.93 [[ 9.64885986e-01 2.62481255e-01 9.93104314e-03 1.18953223e+02] [-2.62467188e-01 9.64937091e-01 -2.71752870e-03 -1.23381824e+01] [-1.02961322e-02 1.55323980e-05 9.99946993e-01 -1.92720440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.010353821042857625 Centerline is valid? [True, True] Translation: X:119.01, Y:-12.35, Z:-1.93 [[ 9.65059398e-01 2.61882373e-01 8.83073739e-03 1.19013960e+02] [-2.61871209e-01 9.65099799e-01 -2.41821553e-03 -1.23532816e+01] [-9.15583090e-03 2.12057490e-05 9.99958084e-01 -1.92875258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.010408102580556113 Centerline is valid? [True, True] Translation: X:119.07, Y:-12.37, Z:-1.93 [[ 9.65246855e-01 2.61180440e-01 9.12620881e-03 1.19073387e+02] [-2.61168449e-01 9.65289996e-01 -2.50283684e-03 -1.23694277e+01] [-9.46313010e-03 3.23775822e-05 9.99955223e-01 -1.92968553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.010673384450753758 Centerline is valid? [True, True] Translation: X:119.13, Y:-12.39, Z:-1.93 [[ 9.65947698e-01 2.58548677e-01 9.88057344e-03 1.19134230e+02] [-2.58534470e-01 9.65998228e-01 -2.71118046e-03 -1.23853737e+01] [-1.02455886e-02 6.43897085e-05 9.99947511e-01 -1.93046334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.011347599715269567 Centerline is valid? [True, True] Translation: X:119.19, Y:-12.40, Z:-1.93 [[ 9.67016287e-01 2.54510564e-01 1.01918582e-02 1.19194070e+02] [-2.54495186e-01 9.67069987e-01 -2.80002329e-03 -1.24029562e+01] [-1.05688757e-02 1.13889271e-04 9.99944141e-01 -1.93176080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.012725505564837671 Centerline is valid? [True, True] Translation: X:119.25, Y:-12.42, Z:-1.93 [[ 9.67864004e-01 2.51291734e-01 9.57776861e-03 1.19251966e+02] [-2.51277973e-01 9.67911382e-01 -2.63370293e-03 -1.24222269e+01] [-9.93225903e-03 1.42383978e-04 9.99950664e-01 -1.93366462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.013520155122487576 Centerline is valid? [True, True] Translation: X:119.31, Y:-12.44, Z:-1.94 [[ 9.69096412e-01 2.46543465e-01 8.27423722e-03 1.19310711e+02] [-2.46533009e-01 9.69131721e-01 -2.27670713e-03 -1.24406552e+01] [-8.58013302e-03 1.66476112e-04 9.99963176e-01 -1.93527575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.014121523140068919 Centerline is valid? [True, True] Translation: X:119.37, Y:-12.46, Z:-1.94 [[ 9.70128266e-01 2.42476268e-01 7.51046560e-03 1.19370755e+02] [-2.42467509e-01 9.70157320e-01 -2.06935397e-03 -1.24577538e+01] [-7.78810241e-03 1.86494893e-04 9.99969655e-01 -1.93658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.014897710095831806 Centerline is valid? [True, True] Translation: X:119.43, Y:-12.48, Z:-1.94 [[ 9.70870550e-01 2.39516988e-01 6.47971749e-03 1.19430307e+02] [-2.39510401e-01 9.70892156e-01 -1.78568124e-03 -1.24753409e+01] [-6.71880787e-03 1.81705592e-04 9.99977412e-01 -1.93786479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.016226531255646926 Centerline is valid? [True, True] Translation: X:119.49, Y:-12.49, Z:-1.94 [[ 9.71147193e-01 2.38418169e-01 5.46862158e-03 1.19488813e+02] [-2.38413462e-01 9.71162577e-01 -1.50664431e-03 -1.24930250e+01] [-5.67013200e-03 1.59380395e-04 9.99983912e-01 -1.94013907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.016061457809789213 Centerline is valid? [True, True] Translation: X:119.55, Y:-12.51, Z:-1.94 [[ 9.71252563e-01 2.38010589e-01 4.40659953e-03 1.19549196e+02] [-2.38007534e-01 9.71262551e-01 -1.21285441e-03 -1.25080165e+01] [-4.56863730e-03 1.29184065e-04 9.99989555e-01 -1.94082274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.016345469619309706 Centerline is valid? [True, True] Translation: X:119.61, Y:-12.52, Z:-1.94 [[ 9.71229041e-01 2.38105411e-01 4.46810170e-03 1.19609808e+02] [-2.38102267e-01 9.71239309e-01 -1.23061921e-03 -1.25244957e+01] [-4.63261311e-03 1.31347970e-04 9.99989261e-01 -1.94180098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.015677249696287376 Centerline is valid? [True, True] Translation: X:119.67, Y:-12.54, Z:-1.94 [[ 9.70960933e-01 2.39190860e-01 4.75380677e-03 1.19670155e+02] [-2.39187304e-01 9.70972561e-01 -1.31140104e-03 -1.25377686e+01] [-4.92949107e-03 1.36268955e-04 9.99987841e-01 -1.94124423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.015218425979950417 Centerline is valid? [True, True] Translation: X:119.73, Y:-12.55, Z:-1.94 [[ 9.70489434e-01 2.41092988e-01 4.94269460e-03 1.19730194e+02] [-2.41089161e-01 9.70502011e-01 -1.36497614e-03 -1.25520397e+01] [-5.12598123e-03 1.33064823e-04 9.99986853e-01 -1.94177227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.015140064008313595 Centerline is valid? [True, True] Translation: X:119.79, Y:-12.57, Z:-1.94 [[ 9.70105978e-01 2.42621282e-01 5.41347793e-03 1.19790900e+02] [-2.42616695e-01 9.70121072e-01 -1.49854183e-03 -1.25677045e+01] [-5.61530716e-03 1.40344268e-04 9.99984224e-01 -1.94244560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.015241938666858489 Centerline is valid? [True, True] Translation: X:119.85, Y:-12.58, Z:-1.94 [[ 9.69634193e-01 2.44497447e-01 5.52541181e-03 1.19850317e+02] [-2.44492703e-01 9.69649927e-01 -1.52861249e-03 -1.25823697e+01] [-5.73145701e-03 1.31272066e-04 9.99983566e-01 -1.94340268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.013879785100551831 Centerline is valid? [True, True] Translation: X:119.91, Y:-12.59, Z:-1.94 [[ 9.68996935e-01 2.47026885e-01 4.76008172e-03 1.19911179e+02] [-2.47023394e-01 9.69008621e-01 -1.31723111e-03 -1.25946482e+01] [-4.93795172e-03 1.00541364e-04 9.99987803e-01 -1.94395665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.014436583492940894 Centerline is valid? [True, True] Translation: X:119.97, Y:-12.61, Z:-1.94 [[ 9.68712885e-01 2.48135652e-01 4.90358428e-03 1.19969896e+02] [-2.48131948e-01 9.68725290e-01 -1.35959091e-03 -1.26107135e+01] [-5.08758909e-03 1.00317317e-04 9.99987053e-01 -1.94471566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.014357588730330776 Centerline is valid? [True, True] Translation: X:120.03, Y:-12.63, Z:-1.95 [[ 9.68760709e-01 2.47943441e-01 5.17102830e-03 1.20030846e+02] [-2.47939322e-01 9.68774504e-01 -1.43311627e-03 -1.26265683e+01] [-5.36489215e-03 1.06245481e-04 9.99985603e-01 -1.94514932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.015047857428902382 Centerline is valid? [True, True] Translation: X:120.09, Y:-12.64, Z:-1.95 [[ 9.69526000e-01 2.44928942e-01 5.39898544e-03 1.20090499e+02] [-2.44924394e-01 9.69541023e-01 -1.49843462e-03 -1.26431512e+01] [-5.60154788e-03 1.30428088e-04 9.99984303e-01 -1.94570835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.01613117426112851 Centerline is valid? [True, True] Translation: X:120.15, Y:-12.66, Z:-1.95 [[ 9.70956051e-01 2.39159505e-01 6.86134512e-03 1.20149424e+02] [-2.39151980e-01 9.70980271e-01 -1.90913667e-03 -1.26609947e+01] [-7.11881892e-03 2.12783534e-04 9.99974638e-01 -1.94531828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.018922762433843016 Centerline is valid? [True, True] Translation: X:120.21, Y:-12.68, Z:-1.95 [[ 9.72120595e-01 2.34368817e-01 7.26674680e-03 1.20205888e+02] [-2.34360238e-01 9.72147719e-01 -2.02256420e-03 -1.26812900e+01] [-7.53837731e-03 2.63139808e-04 9.99971551e-01 -1.94707802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.019474039953946264 Centerline is valid? [True, True] Translation: X:120.26, Y:-12.70, Z:-1.95 [[ 9.73661102e-01 2.27886271e-01 7.20457842e-03 1.20264448e+02] [-2.27877661e-01 9.73687707e-01 -2.00510190e-03 -1.26983482e+01] [-7.47194464e-03 3.10527249e-04 9.99972036e-01 -1.94727740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.021765639614620393 Centerline is valid? [True, True] Translation: X:120.32, Y:-12.72, Z:-1.95 [[ 9.74499771e-01 2.24287440e-01 6.73352052e-03 1.20322220e+02] [-2.24279832e-01 9.74522983e-01 -1.87411355e-03 -1.27153330e+01] [-6.98231064e-03 3.16130376e-04 9.99975573e-01 -1.94889312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.022097260146467974 Centerline is valid? [True, True] Translation: X:120.38, Y:-12.73, Z:-1.95 [[ 9.74633843e-01 2.23706396e-01 6.65742938e-03 1.20382315e+02] [-2.23698960e-01 9.74656529e-01 -1.85090141e-03 -1.27308357e+01] [-6.90276550e-03 3.14691124e-04 9.99976126e-01 -1.95019520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.02246036220530002 Centerline is valid? [True, True] Translation: X:120.44, Y:-12.74, Z:-1.95 [[ 9.74345780e-01 2.24940997e-01 7.20056574e-03 1.20442896e+02] [-2.24932315e-01 9.74372330e-01 -2.00413700e-03 -1.27446290e+01] [-7.46684459e-03 3.33082504e-04 9.99972067e-01 -1.95124933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.020367051478731236 Centerline is valid? [True, True] Translation: X:120.50, Y:-12.75, Z:-1.95 [[ 9.73486597e-01 2.28579870e-01 8.66533093e-03 1.20504140e+02] [-2.28567399e-01 9.73525092e-01 -2.41646759e-03 -1.27523027e+01] [-8.98827294e-03 3.71786664e-04 9.99959536e-01 -1.95107240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.020838430618248617 Centerline is valid? [True, True] Translation: X:120.56, Y:-12.76, Z:-1.95 [[ 9.72592261e-01 2.32291138e-01 1.02528646e-02 1.20563543e+02] [-2.32273880e-01 9.72646219e-01 -2.85955455e-03 -1.27649290e+01] [-1.06366591e-02 3.99707992e-04 9.99943349e-01 -1.95119272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.017388566298726 Centerline is valid? [True, True] Translation: X:120.63, Y:-12.77, Z:-1.95 [[ 9.71017822e-01 2.38732337e-01 1.14569197e-02 1.20625947e+02] [-2.38711232e-01 9.71085339e-01 -3.19562649e-03 -1.27695944e+01] [-1.18885462e-02 3.68114844e-04 9.99929261e-01 -1.95086509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.015111738607747123 Centerline is valid? [True, True] Translation: X:120.69, Y:-12.77, Z:-1.95 [[ 9.69439730e-01 2.45057078e-01 1.15602299e-02 1.20687612e+02] [-2.45036034e-01 9.69508609e-01 -3.22487991e-03 -1.27732061e+01] [-1.19980220e-02 2.93653820e-04 9.99927978e-01 -1.95260169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.013863210451258831 Centerline is valid? [True, True] Translation: X:120.75, Y:-12.78, Z:-1.95 [[ 9.68379688e-01 2.49211608e-01 1.15911572e-02 1.20748667e+02] [-2.49190750e-01 9.68449026e-01 -3.23335908e-03 -1.27818173e+01] [-1.20312355e-02 2.42710102e-04 9.99927593e-01 -1.95385218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.012202512167836943 Centerline is valid? [True, True] Translation: X:120.81, Y:-12.79, Z:-1.96 [[ 9.67371517e-01 2.53121382e-01 1.10414646e-02 1.20811838e+02] [-2.53102708e-01 9.67434510e-01 -3.08013754e-03 -1.27883261e+01] [-1.14615426e-02 1.85012733e-04 9.99934297e-01 -1.95582824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.012217796314444291 Centerline is valid? [True, True] Translation: X:120.87, Y:-12.80, Z:-1.96 [[ 9.67272801e-01 2.53558514e-01 9.56073310e-03 1.20874149e+02] [-2.53544540e-01 9.67320038e-01 -2.66651812e-03 -1.28006039e+01] [-9.92440708e-03 1.55178783e-04 9.99950740e-01 -1.95880809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.013122621217985023 Centerline is valid? [True, True] Translation: X:120.93, Y:-12.82, Z:-1.96 [[ 9.67780173e-01 2.51622059e-01 9.37425538e-03 1.20932774e+02] [-2.51608501e-01 9.67825557e-01 -2.61793637e-03 -1.28159957e+01] [-9.73137448e-03 1.74944571e-04 9.99952634e-01 -1.96069535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.014883356469458419 Centerline is valid? [True, True] Translation: X:120.99, Y:-12.83, Z:-1.96 [[ 9.68916135e-01 2.47257451e-01 8.07941952e-03 1.20991105e+02] [-2.47247206e-01 9.68949801e-01 -2.25886821e-03 -1.28328716e+01] [-8.38707393e-03 1.91039952e-04 9.99964810e-01 -1.96270339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.014996499281849058 Centerline is valid? [True, True] Translation: X:121.05, Y:-12.85, Z:-1.96 [[ 9.69756489e-01 2.43933147e-01 8.30494011e-03 1.21051133e+02] [-2.43922200e-01 9.69792024e-01 -2.32196349e-03 -1.28481753e+01] [-8.62046854e-03 2.25979902e-04 9.99962818e-01 -1.96294741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.017255528968349317 Centerline is valid? [True, True] Translation: X:121.11, Y:-12.87, Z:-1.96 [[ 9.71111849e-01 2.38445891e-01 9.23766186e-03 1.21108663e+02] [-2.38432092e-01 9.71155736e-01 -2.58352346e-03 -1.28658424e+01] [-9.58723886e-03 3.06335201e-04 9.99953994e-01 -1.96342827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.01981954025847891 Centerline is valid? [True, True] Translation: X:121.17, Y:-12.88, Z:-1.96 [[ 9.72233733e-01 2.33816113e-01 9.57047857e-03 1.21166388e+02] [-2.33801064e-01 9.72280768e-01 -2.67788920e-03 -1.28835349e+01] [-9.93132590e-03 3.65946138e-04 9.99950616e-01 -1.96452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.019673126294333373 Centerline is valid? [True, True] Translation: X:121.23, Y:-12.90, Z:-1.97 [[ 9.72483643e-01 2.32796277e-01 9.02539062e-03 1.21226637e+02] [-2.32782863e-01 9.72525459e-01 -2.52393825e-03 -1.28984752e+01] [-9.36498559e-03 3.53532401e-04 9.99956085e-01 -1.96558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.018459814699258642 Centerline is valid? [True, True] Translation: X:121.29, Y:-12.91, Z:-1.97 [[ 9.72379165e-01 2.33260310e-01 8.26961911e-03 1.21288421e+02] [-2.33249053e-01 9.72414276e-01 -2.31408071e-03 -1.29105037e+01] [-8.58127887e-03 3.21283043e-04 9.99963129e-01 -1.96648756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.017979456794645583 Centerline is valid? [True, True] Translation: X:121.35, Y:-12.92, Z:-1.97 [[ 9.71795614e-01 2.35706950e-01 7.45104711e-03 1.21349263e+02] [-2.35697866e-01 9.71824140e-01 -2.08714237e-03 -1.29234923e+01] [-7.73306142e-03 2.72079889e-04 9.99970062e-01 -1.96862681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.01777080986634627 Centerline is valid? [True, True] Translation: X:121.41, Y:-12.94, Z:-1.97 [[ 9.71564028e-01 2.36656965e-01 7.53788308e-03 1.21410018e+02] [-2.36647670e-01 9.71593231e-01 -2.11488255e-03 -1.29388239e+01] [-7.82425787e-03 2.70921338e-04 9.99969353e-01 -1.96995986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.017352159071314967 Centerline is valid? [True, True] Translation: X:121.47, Y:-12.95, Z:-1.97 [[ 9.71203362e-01 2.38084349e-01 8.93711724e-03 1.21471116e+02] [-2.38071333e-01 9.71244432e-01 -2.50858399e-03 -1.29530811e+01] [-9.27737995e-03 3.08673794e-04 9.99956917e-01 -1.97032807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.01693197400609233 Centerline is valid? [True, True] Translation: X:121.53, Y:-12.97, Z:-1.97 [[ 9.71050935e-01 2.38686588e-01 9.42303182e-03 1.21531166e+02] [-2.38672147e-01 9.71096602e-01 -2.64489429e-03 -1.29685087e+01] [-9.78197497e-03 3.19311837e-04 9.99952104e-01 -1.97125877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.016422260017360076 Centerline is valid? [True, True] Translation: X:121.59, Y:-12.98, Z:-1.97 [[ 9.70572036e-01 2.40587863e-01 1.03635389e-02 1.21591710e+02] [-2.40570469e-01 9.70627307e-01 -2.91206316e-03 -1.29834412e+01] [-1.07597409e-02 3.33205649e-04 9.99942057e-01 -1.97183363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.015538463385557786 Centerline is valid? [True, True] Translation: X:121.65, Y:-13.00, Z:-1.97 [[ 9.69442054e-01 2.45028381e-01 1.19664452e-02 1.21651555e+02] [-2.45005470e-01 9.69515849e-01 -3.36715702e-03 -1.29969114e+01] [-1.24267073e-02 3.32419095e-04 9.99922730e-01 -1.97221220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.014789304988275142 Centerline is valid? [True, True] Translation: X:121.71, Y:-13.01, Z:-1.97 [[ 9.68247841e-01 2.49663731e-01 1.28117012e-02 1.21710571e+02] [-2.49637866e-01 9.68332554e-01 -3.60558315e-03 -1.30101578e+01] [-1.33061706e-02 2.92812361e-04 9.99911426e-01 -1.97331070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.012207281729043838 Centerline is valid? [True, True] Translation: X:121.77, Y:-13.02, Z:-1.98 [[ 9.65261870e-01 2.60938156e-01 1.34462642e-02 1.21771418e+02] [-2.60910751e-01 9.65355509e-01 -3.78442756e-03 -1.30179350e+01] [-1.39679268e-02 1.44688726e-04 9.99902433e-01 -1.97503879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.011511844138865353 Centerline is valid? [True, True] Translation: X:121.83, Y:-13.03, Z:-1.98 [[ 9.63891833e-01 2.65972381e-01 1.30853522e-02 1.21832026e+02] [-2.65946895e-01 9.63980647e-01 -3.68257459e-03 -1.30311911e+01] [-1.35934894e-02 6.95947963e-05 9.99907602e-01 -1.97672568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.011212277641280688 Centerline is valid? [True, True] Translation: X:121.89, Y:-13.05, Z:-1.98 [[ 9.62797874e-01 2.69939690e-01 1.23619823e-02 1.21892418e+02] [-2.69917233e-01 9.62877232e-01 -3.48191626e-03 -1.30454777e+01] [-1.28429787e-02 1.56695170e-05 9.99917525e-01 -1.97868058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.011193095062939609 Centerline is valid? [True, True] Translation: X:121.95, Y:-13.06, Z:-1.98 [[ 9.61893885e-01 2.73130791e-01 1.26382000e-02 1.21951936e+02] [-2.73107550e-01 9.61976907e-01 -3.56313169e-03 -1.30614709e+01] [-1.31308575e-02 -2.42332321e-05 9.99913786e-01 -1.98082736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.01123482551706694 Centerline is valid? [True, True] Translation: X:122.01, Y:-13.08, Z:-1.98 [[ 9.61881571e-01 2.73168370e-01 1.27626306e-02 1.22011138e+02] [-2.73144623e-01 9.61966237e-01 -3.60186863e-03 -1.30793147e+01] [-1.32611363e-02 -2.14728682e-05 9.99912067e-01 -1.98224395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.011369736275539702 Centerline is valid? [True, True] Translation: X:122.07, Y:-13.10, Z:-1.98 [[ 9.62684792e-01 2.70350565e-01 1.21886158e-02 1.22070571e+02] [-2.70328641e-01 9.62761950e-01 -3.44296155e-03 -1.31018181e+01] [-1.26655421e-02 1.95547747e-05 9.99919789e-01 -1.98341405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.011862173920213912 Centerline is valid? [True, True] Translation: X:122.13, Y:-13.13, Z:-1.98 [[ 9.64033319e-01 2.65509505e-01 1.20192386e-02 1.22128961e+02] [-2.65487764e-01 9.64108239e-01 -3.39876026e-03 -1.31252073e+01] [-1.24902501e-02 8.55573624e-05 9.99921990e-01 -1.98467273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.012485066439232808 Centerline is valid? [True, True] Translation: X:122.19, Y:-13.15, Z:-1.99 [[ 9.64833819e-01 2.62587239e-01 1.19851639e-02 1.22186789e+02] [-2.62565355e-01 9.64908248e-01 -3.39235566e-03 -1.31462753e+01] [-1.24553728e-02 1.26170639e-04 9.99922421e-01 -1.98575927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.013033010949197147 Centerline is valid? [True, True] Translation: X:122.24, Y:-13.17, Z:-1.99 [[ 9.65864189e-01 2.58757012e-01 1.22953941e-02 1.22244825e+02] [-2.58733633e-01 9.65942428e-01 -3.48314155e-03 -1.31686207e+01] [-1.27779302e-02 1.83009693e-04 9.99918342e-01 -1.98691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.015402382389572582 Centerline is valid? [True, True] Translation: X:122.30, Y:-13.19, Z:-1.99 [[ 9.66945484e-01 2.54673254e-01 1.25684413e-02 1.22301220e+02] [-2.54648429e-01 9.67027132e-01 -3.56432350e-03 -1.31945150e+01] [-1.30617616e-02 2.45972684e-04 9.99914661e-01 -1.98790101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.014575245812345355 Centerline is valid? [True, True] Translation: X:122.36, Y:-13.21, Z:-1.99 [[ 9.67661126e-01 2.51932469e-01 1.27269991e-02 1.22360103e+02] [-2.51906758e-01 9.67744774e-01 -3.61062377e-03 -1.32143538e+01] [-1.32261203e-02 2.87843159e-04 9.99912490e-01 -1.98800538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.01484022966355933 Centerline is valid? [True, True] Translation: X:122.42, Y:-13.23, Z:-1.99 [[ 9.67695310e-01 2.51813210e-01 1.24857406e-02 1.22419762e+02] [-2.51788415e-01 9.67775813e-01 -3.54532449e-03 -1.32345643e+01] [-1.29761573e-02 2.87029053e-04 9.99915765e-01 -1.98914615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.014623205906311967 Centerline is valid? [True, True] Translation: X:122.48, Y:-13.26, Z:-1.99 [[ 9.67390498e-01 2.53002853e-01 1.20490585e-02 1.22478801e+02] [-2.52979809e-01 9.67465496e-01 -3.42496431e-03 -1.32555841e+01] [-1.25235741e-02 2.65109422e-04 9.99921542e-01 -1.99015974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.014480058991085678 Centerline is valid? [True, True] Translation: X:122.54, Y:-13.27, Z:-1.99 [[ 9.66953098e-01 2.54686301e-01 1.16873919e-02 1.22537521e+02] [-2.54664705e-01 9.67023697e-01 -3.32515541e-03 -1.32748722e+01] [-1.21488564e-02 2.38903112e-04 9.99926171e-01 -1.99130171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.013732799549963027 Centerline is valid? [True, True] Translation: X:122.60, Y:-13.30, Z:-1.99 [[ 9.66171450e-01 2.57641115e-01 1.15665489e-02 1.22596811e+02] [-2.57620131e-01 9.66240661e-01 -3.29446543e-03 -1.32950013e+01] [-1.20248596e-02 2.03242607e-04 9.99927678e-01 -1.99153754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.01406668194333041 Centerline is valid? [True, True] Translation: X:122.65, Y:-13.32, Z:-1.99 [[ 9.65282455e-01 2.60967839e-01 1.12057501e-02 1.22654513e+02] [-2.60948363e-01 9.65347483e-01 -3.19207942e-03 -1.33163042e+01] [-1.16504727e-02 1.57136107e-04 9.99932119e-01 -1.99304056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.012719004712856362 Centerline is valid? [True, True] Translation: X:122.71, Y:-13.33, Z:-1.99 [[ 9.64529407e-01 2.63748094e-01 1.09528481e-02 1.22714868e+02] [-2.63729632e-01 9.64591586e-01 -3.12308581e-03 -1.33328295e+01] [-1.13887331e-02 1.23717496e-04 9.99935139e-01 -1.99308545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.012344823330496179 Centerline is valid? [True, True] Translation: X:122.77, Y:-13.35, Z:-2.00 [[ 9.63004001e-01 2.69289559e-01 1.03164099e-02 1.22772862e+02] [-2.69273489e-01 9.63059256e-01 -2.94245333e-03 -1.33512529e+01] [-1.07276860e-02 5.56586408e-05 9.99942455e-01 -1.99505826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.011911626914488566 Centerline is valid? [True, True] Translation: X:122.83, Y:-13.37, Z:-2.00 [[ 9.62042571e-01 2.72718328e-01 9.94004175e-03 1.22832107e+02] [-2.72703570e-01 9.62093921e-01 -2.83727560e-03 -1.33693390e+01] [-1.03370308e-02 1.88950502e-05 9.99946571e-01 -1.99567593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.01209091968512538 Centerline is valid? [True, True] Translation: X:122.89, Y:-13.39, Z:-2.00 [[ 9.61815571e-01 2.73534824e-01 9.46083417e-03 1.22890446e+02] [-2.73521472e-01 9.61862100e-01 -2.70273640e-03 -1.33893359e+01] [-9.83931035e-03 1.17926698e-05 9.99951593e-01 -1.99751009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.012286804035651137 Centerline is valid? [True, True] Translation: X:122.95, Y:-13.41, Z:-2.00 [[ 9.62367132e-01 2.71604552e-01 8.97053941e-03 1.22948982e+02] [-2.71592443e-01 9.62408939e-01 -2.56488891e-03 -1.34144679e+01] [-9.32996282e-03 3.20340695e-05 9.99956474e-01 -1.99843567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.012573533160595339 Centerline is valid? [True, True] Translation: X:123.01, Y:-13.44, Z:-2.00 [[ 9.63161780e-01 2.68790718e-01 8.42229329e-03 1.23006705e+02] [-2.68779914e-01 9.63198602e-01 -2.41057747e-03 -1.34374428e+01] [-8.76028197e-03 5.80328160e-05 9.99961626e-01 -1.99903550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.013849298820858133 Centerline is valid? [True, True] Translation: X:123.06, Y:-13.47, Z:-2.00 [[ 9.64891956e-01 2.62497860e-01 8.85366609e-03 1.23062020e+02] [-2.62485631e-01 9.64932567e-01 -2.53679948e-03 -1.34655527e+01] [-9.20909518e-03 1.23777284e-04 9.99957588e-01 -1.99993102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.015388260520044977 Centerline is valid? [True, True] Translation: X:123.12, Y:-13.49, Z:-2.00 [[ 9.66562417e-01 2.56276269e-01 8.92006206e-03 1.23118709e+02] [-2.56263559e-01 9.66603558e-01 -2.55918602e-03 -1.34941730e+01] [-9.27802237e-03 1.87726167e-04 9.99956941e-01 -2.00037455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.01644475600753874 Centerline is valid? [True, True] Translation: X:123.18, Y:-13.52, Z:-2.00 [[ 9.67267235e-01 2.53656495e-01 7.24424699e-03 1.23175889e+02] [-2.53648047e-01 9.67294347e-01 -2.07732675e-03 -1.35176779e+01] [-7.53424658e-03 1.71841001e-04 9.99971602e-01 -2.00307585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.01643547661660565 Centerline is valid? [True, True] Translation: X:123.23, Y:-13.54, Z:-2.00 [[ 9.67765785e-01 2.51758024e-01 6.87627342e-03 1.23233237e+02] [-2.51750355e-01 9.67790197e-01 -1.97322380e-03 -1.35413295e+01] [-7.15156493e-03 1.78514209e-04 9.99974411e-01 -2.00377087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.016814880044087512 Centerline is valid? [True, True] Translation: X:123.29, Y:-13.56, Z:-2.00 [[ 9.67645248e-01 2.52209263e-01 7.29115216e-03 1.23291409e+02] [-2.52200638e-01 9.67672699e-01 -2.09420455e-03 -1.35644564e+01] [-7.58362668e-03 1.87613848e-04 9.99971226e-01 -2.00488398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.015755729530275916 Centerline is valid? [True, True] Translation: X:123.35, Y:-13.58, Z:-2.01 [[ 9.66326418e-01 2.57182114e-01 8.40318598e-03 1.23350665e+02] [-2.57170806e-01 9.66362939e-01 -2.41807154e-03 -1.35810828e+01] [-8.74241225e-03 1.75592294e-04 9.99961769e-01 -2.00521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.015149024053741553 Centerline is valid? [True, True] Translation: X:123.41, Y:-13.60, Z:-2.01 [[ 9.65780315e-01 2.59217474e-01 8.64196937e-03 1.23411040e+02] [-2.59205597e-01 9.65818966e-01 -2.48673465e-03 -1.35978568e+01] [-8.99118300e-03 1.61592545e-04 9.99959565e-01 -2.00584557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.01444360481321669 Centerline is valid? [True, True] Translation: X:123.47, Y:-13.61, Z:-2.01 [[ 9.64493412e-01 2.63929493e-01 9.67888297e-03 1.23470815e+02] [-2.63914829e-01 9.64541967e-01 -2.78522743e-03 -1.36149836e+01] [-1.00707925e-02 1.31932764e-04 9.99949280e-01 -2.00529546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.013714962770946674 Centerline is valid? [True, True] Translation: X:123.53, Y:-13.63, Z:-2.01 [[ 9.63463124e-01 2.67678031e-01 9.34244346e-03 1.23532008e+02] [-2.67664513e-01 9.63508414e-01 -2.69171339e-03 -1.36288887e+01] [-9.72203542e-03 9.27260125e-05 9.99952736e-01 -2.00566343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.013308592927669222 Centerline is valid? [True, True] Translation: X:123.59, Y:-13.64, Z:-2.01 [[ 9.62300986e-01 2.71860784e-01 8.27805989e-03 1.23592216e+02] [-2.71850331e-01 9.62336590e-01 -2.38444222e-03 -1.36428197e+01] [-8.61451626e-03 4.41577863e-05 9.99962893e-01 -2.00652076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.013186502345210226 Centerline is valid? [True, True] Translation: X:123.65, Y:-13.66, Z:-2.01 [[ 9.61650544e-01 2.74180574e-01 7.29680319e-03 1.23653152e+02] [-2.74172510e-01 9.61678227e-01 -2.10286990e-03 -1.36582833e+01] [-7.59374283e-03 2.16431405e-05 9.99971167e-01 -2.00744076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.013310126103416272 Centerline is valid? [True, True] Translation: X:123.71, Y:-13.67, Z:-2.01 [[ 9.61128681e-01 2.76027808e-01 6.34882097e-03 1.23713894e+02] [-2.76021735e-01 9.61149650e-01 -1.83102484e-03 -1.36741796e+01] [-6.60758082e-03 7.43790416e-06 9.99978170e-01 -2.00914441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.013558614869279804 Centerline is valid? [True, True] Translation: X:123.77, Y:-13.69, Z:-2.01 [[ 9.61178421e-01 2.75881375e-01 5.05079443e-03 1.23772489e+02] [-2.75877518e-01 9.61191691e-01 -1.45892794e-03 -1.36914415e+01] [-5.25727269e-03 8.88941770e-06 9.99986180e-01 -2.01096105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.013743857020821414 Centerline is valid? [True, True] Translation: X:123.83, Y:-13.71, Z:-2.01 [[ 9.61472699e-01 2.74865056e-01 4.41022254e-03 1.23832435e+02] [-2.74862110e-01 9.61482814e-01 -1.27256557e-03 -1.37105475e+01] [-4.59013698e-03 1.13339835e-05 9.99989465e-01 -2.01154434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.013803677237814305 Centerline is valid? [True, True] Translation: X:123.89, Y:-13.73, Z:-2.01 [[ 9.61874245e-01 2.73461304e-01 4.10515253e-03 1.23892250e+02] [-2.73458736e-01 9.61883005e-01 -1.18536162e-03 -1.37291360e+01] [-4.27282698e-03 1.75789945e-05 9.99990871e-01 -2.01152443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.013885382654241378 Centerline is valid? [True, True] Translation: X:123.95, Y:-13.75, Z:-2.01 [[ 9.62209031e-01 2.72287992e-01 3.60975210e-03 1.23951907e+02] [-2.72285994e-01 9.62215802e-01 -1.04327533e-03 -1.37479719e+01] [-3.75743186e-03 2.09639999e-05 9.99992941e-01 -2.01267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.014887044635840629 Centerline is valid? [True, True] Translation: X:124.01, Y:-13.77, Z:-2.01 [[ 9.63407835e-01 2.68014151e-01 3.70919121e-03 1.24008760e+02] [-2.68012005e-01 9.63414974e-01 -1.07338661e-03 -1.37710704e+01] [-3.86117316e-03 4.00013001e-05 9.99992545e-01 -2.01394766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.015175238431096819 Centerline is valid? [True, True] Translation: X:124.07, Y:-13.79, Z:-2.01 [[ 9.64667932e-01 2.63454735e-01 2.71744465e-03 1.24068001e+02] [-2.63453560e-01 9.64671758e-01 -7.88208587e-04 -1.37898823e+01] [-2.82909939e-03 4.44390821e-05 9.99995997e-01 -2.01398919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.015175238431096819 Centerline is valid? [True, True] Translation: X:124.13, Y:-13.81, Z:-2.01 [[ 9.64594783e-01 2.63722422e-01 2.71816339e-03 1.24127919e+02] [-2.63721255e-01 9.64598612e-01 -7.85736154e-04 -1.38073685e+01] [-2.82915287e-03 4.10795363e-05 9.99995997e-01 -2.01499826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.015274265159103644 Centerline is valid? [True, True] Translation: X:124.19, Y:-13.82, Z:-2.02 [[ 9.64699600e-01 2.63338902e-01 2.70263622e-03 1.24188064e+02] [-2.63337744e-01 9.64703385e-01 -7.82068159e-04 -1.38241847e+01] [-2.81319128e-03 4.27547133e-05 9.99996042e-01 -2.01598389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.01564806912054949 Centerline is valid? [True, True] Translation: X:124.25, Y:-13.84, Z:-2.02 [[ 9.65152681e-01 2.61683389e-01 1.45139185e-03 1.24247136e+02] [-2.61683055e-01 9.65153772e-01 -4.18813104e-04 -1.38419925e+01] [-1.51041275e-03 2.44139374e-05 9.99998859e-01 -2.01770824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.01639094739091545 Centerline is valid? [True, True] Translation: X:124.31, Y:-13.86, Z:-2.02 [[ 9.65830689e-01 2.59173815e-01 -1.20659149e-04 1.24306748e+02] [-2.59173812e-01 9.65830696e-01 3.63232000e-05 -1.38588945e+01] [ 1.25950332e-04 -3.81036966e-06 9.99999992e-01 -2.02010975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.016998543194041326 Centerline is valid? [True, True] Translation: X:124.37, Y:-13.88, Z:-2.02 [[ 9.66214152e-01 2.57740485e-01 2.36083951e-04 1.24366411e+02] [-2.57740477e-01 9.66214180e-01 -6.48455309e-05 -1.38757264e+01] [-2.44820980e-04 1.80627948e-06 9.99999970e-01 -2.02191489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.017530995705912458 Centerline is valid? [True, True] Translation: X:124.43, Y:-13.89, Z:-2.02 [[ 9.66292814e-01 2.57442561e-01 1.23476817e-03 1.24425788e+02] [-2.57442316e-01 9.66293603e-01 -3.56249629e-04 -1.38938616e+01] [-1.28486241e-03 2.63598776e-05 9.99999174e-01 -2.02204422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.015752421474922285 Centerline is valid? [True, True] Translation: X:124.49, Y:-13.91, Z:-2.02 [[ 9.65739695e-01 2.59506394e-01 1.80892092e-03 1.24486363e+02] [-2.59505866e-01 9.65741389e-01 -5.24486996e-04 -1.39080024e+01] [-1.88305753e-03 3.70923225e-05 9.99998226e-01 -2.02135006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.014311260810211859 Centerline is valid? [True, True] Translation: X:124.55, Y:-13.92, Z:-2.02 [[ 9.64181495e-01 2.65233623e-01 2.27371263e-03 1.24546339e+02] [-2.65232794e-01 9.64184175e-01 -6.63914437e-04 -1.39203208e+01] [-2.36837016e-03 3.70708617e-05 9.99997195e-01 -2.02284806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.013300275819787955 Centerline is valid? [True, True] Translation: X:124.61, Y:-13.93, Z:-2.02 [[ 9.62663769e-01 2.70683814e-01 2.95642346e-03 1.24606717e+02] [-2.70682439e-01 9.62668308e-01 -8.63318639e-04 -1.39340812e+01] [-3.07974155e-03 3.08336624e-05 9.99995257e-01 -2.02440642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.012823636480615089 Centerline is valid? [True, True] Translation: X:124.67, Y:-13.95, Z:-2.02 [[ 9.61971743e-01 2.73125005e-01 3.61912280e-03 1.24666481e+02] [-2.73122970e-01 9.61978550e-01 -1.05471143e-03 -1.39509358e+01] [-3.76958657e-03 2.61370302e-05 9.99992895e-01 -2.02416701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.012555778920114618 Centerline is valid? [True, True] Translation: X:124.73, Y:-13.97, Z:-2.03 [[ 9.60976652e-01 2.76584940e-01 4.96435393e-03 1.24725045e+02] [-2.76581140e-01 9.60989475e-01 -1.44988773e-03 -1.39682261e+01] [-5.17170899e-03 2.02615814e-05 9.99986626e-01 -2.02555842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.012334537730369044 Centerline is valid? [True, True] Translation: X:124.78, Y:-13.99, Z:-2.03 [[ 9.59936939e-01 2.80159363e-01 5.63953868e-03 1.24784116e+02] [-2.80154511e-01 9.59953505e-01 -1.64883955e-03 -1.39861274e+01] [-5.87563276e-03 2.83978714e-06 9.99982738e-01 -2.02700643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.012304084939497027 Centerline is valid? [True, True] Translation: X:124.84, Y:-14.00, Z:-2.03 [[ 9.59318616e-01 2.82263872e-01 5.90756397e-03 1.24844652e+02] [-2.82258580e-01 9.59336805e-01 -1.72854005e-03 -1.40048126e+01] [-6.15524795e-03 -9.23996331e-06 9.99981056e-01 -2.02849868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.012234932133236336 Centerline is valid? [True, True] Translation: X:124.90, Y:-14.02, Z:-2.03 [[ 9.58640493e-01 2.84539143e-01 6.77358792e-03 1.24904596e+02] [-2.84532223e-01 9.58664423e-01 -1.98468001e-03 -1.40246737e+01] [-7.05831690e-03 -2.47094000e-05 9.99975089e-01 -2.02994221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.01240670060337251 Centerline is valid? [True, True] Translation: X:124.96, Y:-14.04, Z:-2.03 [[ 9.57722799e-01 2.87588363e-01 7.74433197e-03 1.24963556e+02] [-2.87579390e-01 9.57754108e-01 -2.27235160e-03 -1.40419783e+01] [-8.07066763e-03 -5.08273271e-05 9.99967430e-01 -2.03101799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.012645366037926344 Centerline is valid? [True, True] Translation: X:125.02, Y:-14.06, Z:-2.03 [[ 9.56958845e-01 2.90097222e-01 8.56563557e-03 1.25024137e+02] [-2.90086321e-01 9.56997177e-01 -2.51605965e-03 -1.40583213e+01] [-8.92719097e-03 -7.70081742e-05 9.99960149e-01 -2.03177888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.012653440979745285 Centerline is valid? [True, True] Translation: X:125.08, Y:-14.08, Z:-2.03 [[ 9.56933342e-01 2.90199240e-01 7.93603984e-03 1.25084200e+02] [-2.90189869e-01 9.56966246e-01 -2.33322129e-03 -1.40759497e+01] [-8.27162130e-03 -7.02211191e-05 9.99965787e-01 -2.03371265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.012421469729274806 Centerline is valid? [True, True] Translation: X:125.14, Y:-14.09, Z:-2.04 [[ 9.58001151e-01 2.86643183e-01 8.33543143e-03 1.25142767e+02] [-2.86632683e-01 9.58037413e-01 -2.45375775e-03 -1.40949523e+01] [-8.68900809e-03 -3.85043292e-05 9.99962249e-01 -2.03575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.012321372642085453 Centerline is valid? [True, True] Translation: X:125.20, Y:-14.12, Z:-2.03 [[ 9.59954987e-01 2.79973584e-01 1.00606079e-02 1.25200588e+02] [-2.79957883e-01 9.60007704e-01 -2.96512368e-03 -1.41168979e+01] [-1.04884174e-02 2.98387573e-05 9.99944995e-01 -2.03441464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.012497125934954837 Centerline is valid? [True, True] Translation: X:125.26, Y:-14.14, Z:-2.04 [[ 9.60635637e-01 2.77612279e-01 1.05164077e-02 1.25260989e+02] [-2.77594952e-01 9.60693197e-01 -3.10225000e-03 -1.41359082e+01] [-1.09642640e-02 6.08302284e-05 9.99939889e-01 -2.03548252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.014051750702259797 Centerline is valid? [True, True] Translation: X:125.32, Y:-14.16, Z:-2.04 [[ 9.63029500e-01 2.69121622e-01 1.21546032e-02 1.25317934e+02] [-2.69097732e-01 9.63106182e-01 -3.59074314e-03 -1.41574505e+01] [-1.26725201e-02 1.87215428e-04 9.99919683e-01 -2.03663976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.015474505185975665 Centerline is valid? [True, True] Translation: X:125.38, Y:-14.18, Z:-2.04 [[ 9.64381880e-01 2.64230558e-01 1.22393776e-02 1.25376466e+02] [-2.64205941e-01 9.64459511e-01 -3.61559130e-03 -1.41772109e+01] [-1.27597339e-02 2.53094450e-04 9.99918559e-01 -2.03809978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.016420900729758717 Centerline is valid? [True, True] Translation: X:125.44, Y:-14.19, Z:-2.04 [[ 9.65510289e-01 2.60060224e-01 1.25921012e-02 1.25436070e+02] [-2.60033766e-01 9.65592345e-01 -3.72336287e-03 -1.41947462e+01] [-1.31271351e-02 3.20573673e-04 9.99913784e-01 -2.03915580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.016263816987091628 Centerline is valid? [True, True] Translation: X:125.50, Y:-14.21, Z:-2.04 [[ 9.65789311e-01 2.59007480e-01 1.28891877e-02 1.25496647e+02] [-2.58979659e-01 9.65875255e-01 -3.81169855e-03 -1.42081513e+01] [-1.34366059e-02 3.43260287e-04 9.99909666e-01 -2.04005398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.016009652115946047 Centerline is valid? [True, True] Translation: X:125.56, Y:-14.22, Z:-2.04 [[ 9.65796519e-01 2.59015998e-01 1.21571712e-02 1.25557678e+02] [-2.58991212e-01 9.65872976e-01 -3.59805506e-03 -1.42238179e+01] [-1.26742369e-02 3.26388550e-04 9.99919625e-01 -2.04194361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.01578521222769786 Centerline is valid? [True, True] Translation: X:125.62, Y:-14.24, Z:-2.04 [[ 9.65632323e-01 2.59658462e-01 1.14760541e-02 1.25618789e+02] [-2.59636382e-01 9.65700467e-01 -3.39967971e-03 -1.42394322e+01] [-1.19651864e-02 3.03239441e-04 9.99928369e-01 -2.04345960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.015652288311692384 Centerline is valid? [True, True] Translation: X:125.68, Y:-14.25, Z:-2.05 [[ 9.65261609e-01 2.61047477e-01 1.11463841e-02 1.25678659e+02] [-2.61026700e-01 9.65325922e-01 -3.30545512e-03 -1.42545532e+01] [-1.16227742e-02 2.81125062e-04 9.99932414e-01 -2.04511743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.015106500888839199 Centerline is valid? [True, True] Translation: X:125.74, Y:-14.27, Z:-2.05 [[ 9.64447697e-01 2.64033876e-01 1.12584473e-02 1.25738945e+02] [-2.64012847e-01 9.64513375e-01 -3.34171979e-03 -1.42686064e+01] [-1.17412502e-02 2.50539237e-04 9.99931038e-01 -2.04710500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.013996402698479696 Centerline is valid? [True, True] Translation: X:125.80, Y:-14.28, Z:-2.05 [[ 9.63432586e-01 2.67723160e-01 1.10436371e-02 1.25799474e+02] [-2.67703135e-01 9.63495858e-01 -3.28075486e-03 -1.42840579e+01] [-1.15188326e-02 2.04369873e-04 9.99933635e-01 -2.04785468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.012971190483872626 Centerline is valid? [True, True] Translation: X:125.86, Y:-14.30, Z:-2.05 [[ 9.62582064e-01 2.70756856e-01 1.12469838e-02 1.25860152e+02] [-2.70736259e-01 9.62647752e-01 -3.34417107e-03 -1.42987254e+01] [-1.17323409e-02 1.74072773e-04 9.99931159e-01 -2.04831211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.012169878820492093 Centerline is valid? [True, True] Translation: X:125.92, Y:-14.31, Z:-2.05 [[ 9.60976723e-01 2.76422095e-01 1.07034337e-02 1.25921239e+02] [-2.76403761e-01 9.61036323e-01 -3.18528792e-03 -1.43122022e+01] [-1.11668725e-02 1.02518222e-04 9.99937643e-01 -2.05019037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.011669209104718416 Centerline is valid? [True, True] Translation: X:125.98, Y:-14.33, Z:-2.05 [[ 9.59624607e-01 2.81077983e-01 1.07601299e-02 1.25981603e+02] [-2.81059713e-01 9.59684930e-01 -3.20509212e-03 -1.43282486e+01] [-1.12272153e-02 5.14462550e-05 9.99936972e-01 -2.05114902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.0115373904143196 Centerline is valid? [True, True] Translation: X:126.04, Y:-14.35, Z:-2.05 [[ 9.59259423e-01 2.82316799e-01 1.08896474e-02 1.26042007e+02] [-2.82298136e-01 9.59321230e-01 -3.24642702e-03 -1.43463822e+01] [-1.13631908e-02 4.00385529e-05 9.99935436e-01 -2.05163742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.011629057913146683 Centerline is valid? [True, True] Translation: X:126.10, Y:-14.37, Z:-2.05 [[ 9.59236433e-01 2.82368180e-01 1.15618761e-02 1.26101196e+02] [-2.82347097e-01 9.59306108e-01 -3.45078229e-03 -1.43651506e+01] [-1.20657694e-02 4.56539566e-05 9.99927205e-01 -2.05260833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.01192327808591114 Centerline is valid? [True, True] Translation: X:126.16, Y:-14.39, Z:-2.05 [[ 9.59783799e-01 2.80513114e-01 1.12894549e-02 1.26160373e+02] [-2.80492847e-01 9.59850190e-01 -3.37264754e-03 -1.43852137e+01] [-1.17822573e-02 7.04011092e-05 9.99930584e-01 -2.05322031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.012798954177319737 Centerline is valid? [True, True] Translation: X:126.22, Y:-14.41, Z:-2.06 [[ 9.61138645e-01 2.75876718e-01 1.02245296e-02 1.26217702e+02] [-2.75859805e-01 9.61193021e-01 -3.05700661e-03 -1.44074557e+01] [-1.06711034e-02 1.17670451e-04 9.99943055e-01 -2.05540621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.013597198916529529 Centerline is valid? [True, True] Translation: X:126.28, Y:-14.43, Z:-2.06 [[ 9.62565309e-01 2.70902436e-01 8.93846187e-03 1.26276673e+02] [-2.70889269e-01 9.62606797e-01 -2.67533327e-03 -1.44282715e+01] [-9.32897845e-03 1.53849592e-04 9.99956472e-01 -2.05721367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.015716394876571223 Centerline is valid? [True, True] Translation: X:126.33, Y:-14.45, Z:-2.06 [[ 9.64761147e-01 2.62990961e-01 8.46661896e-03 1.26333270e+02] [-2.62978835e-01 9.64798272e-01 -2.53496940e-03 -1.44530475e+01] [-8.83525338e-03 2.19098392e-04 9.99960944e-01 -2.05800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.018983989077924496 Centerline is valid? [True, True] Translation: X:126.39, Y:-14.48, Z:-2.06 [[ 9.67417991e-01 2.52990515e-01 9.91108237e-03 1.26389352e+02] [-2.52973366e-01 9.67468690e-01 -2.96798488e-03 -1.44781535e+01] [-1.03395339e-02 3.64042097e-04 9.99946479e-01 -2.05821493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.02050046364546657 Centerline is valid? [True, True] Translation: X:126.45, Y:-14.50, Z:-2.06 [[ 9.68444037e-01 2.49007473e-01 1.05558150e-02 1.26446805e+02] [-2.48987780e-01 9.68501466e-01 -3.16143336e-03 -1.44980131e+01] [-1.10105428e-02 4.33402347e-04 9.99939288e-01 -2.05901236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.020037299797488854 Centerline is valid? [True, True] Translation: X:126.51, Y:-14.52, Z:-2.06 [[ 9.69035390e-01 2.46714320e-01 1.01221070e-02 1.26506575e+02] [-2.46696089e-01 9.69088154e-01 -3.03140594e-03 -1.45156505e+01] [-1.05571053e-02 4.40455411e-04 9.99944175e-01 -2.05993960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.020681770039370183 Centerline is valid? [True, True] Translation: X:126.57, Y:-14.53, Z:-2.06 [[ 9.68952372e-01 2.47075519e-01 9.21894449e-03 1.26567335e+02] [-2.47060421e-01 9.68996146e-01 -2.76010655e-03 -1.45329724e+01] [-9.61507643e-03 3.96775484e-04 9.99953695e-01 -2.06225646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.019818564162361822 Centerline is valid? [True, True] Translation: X:126.63, Y:-14.55, Z:-2.06 [[ 9.68242403e-01 2.49842550e-01 9.23851402e-03 1.26627363e+02] [-2.49827471e-01 9.68286404e-01 -2.77032027e-03 -1.45471169e+01] [-9.63767140e-03 3.74306966e-04 9.99953487e-01 -2.06330027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.01822634060421003 Centerline is valid? [True, True] Translation: X:126.69, Y:-14.56, Z:-2.06 [[ 9.66295261e-01 2.57228433e-01 1.03441893e-02 1.26686954e+02] [-2.57209940e-01 9.66350567e-01 -3.10284790e-03 -1.45573074e+01] [-1.07942539e-02 3.37638912e-04 9.99941683e-01 -2.06382693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.016480796046470337 Centerline is valid? [True, True] Translation: X:126.75, Y:-14.57, Z:-2.07 [[ 9.64697981e-01 2.63136767e-01 1.08096046e-02 1.26747508e+02] [-2.63116943e-01 9.64758499e-01 -3.24239635e-03 -1.45688503e+01] [-1.12818516e-02 2.83743093e-04 9.99936318e-01 -2.06505324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.014062526298130318 Centerline is valid? [True, True] Translation: X:126.81, Y:-14.58, Z:-2.07 [[ 9.62444358e-01 2.71230305e-01 1.16180876e-02 1.26809253e+02] [-2.71207988e-01 9.62514457e-01 -3.48520729e-03 -1.45763558e+01] [-1.21278711e-02 2.03399939e-04 9.99926434e-01 -2.06641180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.013037363972705447 Centerline is valid? [True, True] Translation: X:126.87, Y:-14.59, Z:-2.07 [[ 9.60825858e-01 2.76909150e-01 1.16186364e-02 1.26870344e+02] [-2.76887253e-01 9.60896095e-01 -3.48470428e-03 -1.45869479e+01] [-1.21292488e-02 1.31141663e-04 9.99926429e-01 -2.06792586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.012479024313364461 Centerline is valid? [True, True] Translation: X:126.93, Y:-14.60, Z:-2.07 [[ 9.60270651e-01 2.78840170e-01 1.13329807e-02 1.26931305e+02] [-2.78819440e-01 9.60337518e-01 -3.40179229e-03 -1.46008932e+01] [-1.18320429e-02 1.06785978e-04 9.99929993e-01 -2.06901181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.01257440584623767 Centerline is valid? [True, True] Translation: X:126.99, Y:-14.62, Z:-2.07 [[ 9.60552586e-01 2.77883993e-01 1.09186210e-02 1.26991097e+02] [-2.77864657e-01 9.60614633e-01 -3.28017117e-03 -1.46182555e+01] [-1.14000942e-02 1.16878015e-04 9.99935010e-01 -2.07101420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.013460006613911724 Centerline is valid? [True, True] Translation: X:127.05, Y:-14.64, Z:-2.07 [[ 9.61379107e-01 2.75076340e-01 9.12247728e-03 1.27048798e+02] [-2.75062698e-01 9.61422379e-01 -2.74251863e-03 -1.46377728e+01] [-9.52495580e-03 1.27346894e-04 9.99954628e-01 -2.07453104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.014095066014250299 Centerline is valid? [True, True] Translation: X:127.11, Y:-14.66, Z:-2.08 [[ 9.61984087e-01 2.73018495e-01 6.89324644e-03 1.27107631e+02] [-2.73010648e-01 9.62008778e-01 -2.07298849e-03 -1.46585317e+01] [-7.19732778e-03 1.12252267e-04 9.99974093e-01 -2.07644638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.014957917172595153 Centerline is valid? [True, True] Translation: X:127.17, Y:-14.68, Z:-2.08 [[ 9.63031491e-01 2.69367253e-01 3.41024721e-03 1.27166075e+02] [-2.69365306e-01 9.63037527e-01 -1.02665005e-03 -1.46806379e+01] [-3.56074194e-03 7.00940437e-05 9.99993658e-01 -2.07881312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.016646561871686758 Centerline is valid? [True, True] Translation: X:127.22, Y:-14.70, Z:-2.08 [[ 9.63896541e-01 2.66276444e-01 -5.60118972e-04 1.27221891e+02] [-2.66276390e-01 9.63896704e-01 1.70311552e-04 -1.47022136e+01] [ 5.85246785e-04 -1.50162575e-05 9.99999829e-01 -2.08319482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.017612830454131128 Centerline is valid? [True, True] Translation: X:127.28, Y:-14.72, Z:-2.08 [[ 9.65217002e-01 2.61448148e-01 -1.00247989e-03 1.27279002e+02] [-2.61447975e-01 9.65217522e-01 3.02550877e-04 -1.47240850e+01] [ 1.04671252e-03 -2.99309147e-05 9.99999452e-01 -2.08285806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.019590563207967517 Centerline is valid? [True, True] Translation: X:127.34, Y:-14.75, Z:-2.08 [[ 9.66553336e-01 2.56457892e-01 1.99936584e-03 1.27336429e+02] [-2.56457200e-01 9.66555402e-01 -5.99570163e-04 -1.47473108e+01] [-2.08626235e-03 6.67647772e-05 9.99997822e-01 -2.08023314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.02021989756262648 Centerline is valid? [True, True] Translation: X:127.40, Y:-14.77, Z:-2.08 [[ 9.66612529e-01 2.56212394e-01 3.92795169e-03 1.27395963e+02] [-2.56209704e-01 9.66620500e-01 -1.18186434e-03 -1.47666733e+01] [-4.09964692e-03 1.36025538e-04 9.99991587e-01 -2.07910510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.01902672107136597 Centerline is valid? [True, True] Translation: X:127.46, Y:-14.78, Z:-2.08 [[ 9.65978168e-01 2.58494908e-01 8.15855345e-03 1.27455703e+02] [-2.58483307e-01 9.66012582e-01 -2.46399145e-03 -1.47818603e+01] [-8.51819453e-03 2.71312069e-04 9.99963683e-01 -2.07539798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.015508608786424278 Centerline is valid? [True, True] Translation: X:127.52, Y:-14.79, Z:-2.07 [[ 9.64094500e-01 2.65353883e-01 1.04456859e-02 1.27516517e+02] [-2.65335259e-01 9.64151048e-01 -3.15537136e-03 -1.47910193e+01] [-1.09085090e-02 2.70467406e-04 9.99940464e-01 -2.07322355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.013888110419748004 Centerline is valid? [True, True] Translation: X:127.58, Y:-14.80, Z:-2.07 [[ 9.62444458e-01 2.71292041e-01 1.00644543e-02 1.27577194e+02] [-2.71275076e-01 9.62497060e-01 -3.04019734e-03 -1.48034673e+01] [-1.05117890e-02 1.95785486e-04 9.99944730e-01 -2.07422164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.012873357293979537 Centerline is valid? [True, True] Translation: X:127.64, Y:-14.82, Z:-2.08 [[ 9.60441668e-01 2.78345378e-01 8.69791776e-03 1.27636734e+02] [-2.78332990e-01 9.60481046e-01 -2.62806224e-03 -1.48152442e+01] [-9.08569413e-03 1.03183029e-04 9.99958719e-01 -2.07690340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.012544144262615173 Centerline is valid? [True, True] Translation: X:127.70, Y:-14.83, Z:-2.08 [[ 9.59780944e-01 2.80580573e-01 9.75103334e-03 1.27696348e+02] [-2.80565129e-01 9.59830472e-01 -2.94518162e-03 -1.48300458e+01] [-1.01856997e-02 9.09292601e-05 9.99948120e-01 -2.07930703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.0131432158980639 Centerline is valid? [True, True] Translation: X:127.76, Y:-14.85, Z:-2.08 [[ 9.61007013e-01 2.76272412e-01 1.17930154e-02 1.27756164e+02] [-2.76249454e-01 9.61079355e-01 -3.56557513e-03 -1.48469253e+01] [-1.23190936e-02 1.68728662e-04 9.99924103e-01 -2.08203673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.013771459215884166 Centerline is valid? [True, True] Translation: X:127.82, Y:-14.86, Z:-2.09 [[ 9.60998315e-01 2.76534126e-01 3.33398784e-03 1.27815382e+02] [-2.76532299e-01 9.61004097e-01 -1.00621992e-03 -1.48617504e+01] [-3.48223012e-03 4.50203232e-05 9.99993936e-01 -2.09256655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.01407043930519335 Centerline is valid? [True, True] Translation: X:127.87, Y:-14.88, Z:-2.09 [[ 9.61784711e-01 2.73779188e-01 3.88928321e-03 1.27874074e+02] [-2.73776673e-01 9.61792572e-01 -1.17512363e-03 -1.48818917e+01] [-4.06240809e-03 6.54209214e-05 9.99991746e-01 -2.09272654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.01407043930519335 Centerline is valid? [True, True] Translation: X:127.93, Y:-14.90, Z:-2.09 [[ 9.61707647e-01 2.74049770e-01 3.88911786e-03 1.27933795e+02] [-2.74047256e-01 9.61715509e-01 -1.17567059e-03 -1.49000742e+01] [-4.06241722e-03 6.48493232e-05 9.99991746e-01 -2.09373670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:127.99, Y:-14.92, Z:-2.09 [[ 9.62687965e-01 2.70583571e-01 4.05121085e-03 1.27991730e+02] [-2.70580803e-01 9.62696486e-01 -1.22675966e-03 -1.49212786e+01] [-4.23202746e-03 8.48068716e-05 9.99991041e-01 -2.09371331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:128.05, Y:-14.94, Z:-2.09 [[ 9.62611493e-01 2.70855499e-01 4.05111263e-03 1.28051445e+02] [-2.70852732e-01 9.62620014e-01 -1.22708463e-03 -1.49394903e+01] [-4.23204472e-03 8.39508405e-05 9.99991041e-01 -2.09472345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.016395993231032642 Centerline is valid? [True, True] Translation: X:128.11, Y:-14.96, Z:-2.10 [[ 9.63760331e-01 2.66727317e-01 4.75013877e-03 1.28108181e+02] [-2.66723442e-01 9.63772029e-01 -1.44299009e-03 -1.49619196e+01] [-4.96293575e-03 1.23723241e-04 9.99987677e-01 -2.09552698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.017323359851498667 Centerline is valid? [True, True] Translation: X:128.17, Y:-14.98, Z:-2.10 [[ 9.64999101e-01 2.62204802e-01 5.03754451e-03 1.28165620e+02] [-2.62200372e-01 9.65012237e-01 -1.53227856e-03 -1.49830203e+01] [-5.26306289e-03 1.57801391e-04 9.99986138e-01 -2.09586694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.01916684471889058 Centerline is valid? [True, True] Translation: X:128.22, Y:-15.01, Z:-2.10 [[ 9.66201755e-01 2.57731346e-01 5.35933638e-03 1.28222864e+02] [-2.57726264e-01 9.66216599e-01 -1.63009172e-03 -1.50054274e+01] [-5.59840550e-03 1.93755737e-04 9.99984310e-01 -2.09664441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.023208289909503212 Centerline is valid? [True, True] Translation: X:128.28, Y:-15.03, Z:-2.10 [[ 9.68942151e-01 2.47209478e-01 6.21145539e-03 1.28278709e+02] [-2.47202432e-01 9.68962015e-01 -1.88963061e-03 -1.50328025e+01] [-6.48579893e-03 2.95455870e-04 9.99978923e-01 -2.09701770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.023013431637152592 Centerline is valid? [True, True] Translation: X:128.34, Y:-15.05, Z:-2.10 [[ 9.69408746e-01 2.45361374e-01 6.66921787e-03 1.28337583e+02] [-2.45353209e-01 9.69431631e-01 -2.02879129e-03 -1.50525774e+01] [-6.96313777e-03 3.30414015e-04 9.99975702e-01 -2.09651135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.021692386982490503 Centerline is valid? [True, True] Translation: X:128.40, Y:-15.07, Z:-2.10 [[ 9.67750600e-01 2.51836248e-01 6.10577906e-03 1.28396612e+02] [-2.51829528e-01 9.67769826e-01 -1.85814112e-03 -1.50672429e+01] [-6.37693603e-03 2.60601724e-04 9.99979633e-01 -2.09808509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.01926425008877315 Centerline is valid? [True, True] Translation: X:128.46, Y:-15.08, Z:-2.10 [[ 9.66007396e-01 2.58451240e-01 5.71548329e-03 1.28457021e+02] [-2.58445466e-01 9.66024283e-01 -1.73955957e-03 -1.50794429e+01] [-5.97088697e-03 2.03286671e-04 9.99982153e-01 -2.10016787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.015764149763744534 Centerline is valid? [True, True] Translation: X:128.52, Y:-15.09, Z:-2.10 [[ 9.63564678e-01 2.67425175e-01 5.18533134e-03 1.28517567e+02] [-2.67420551e-01 9.63578620e-01 -1.57842782e-03 -1.50891065e+01] [-5.41858576e-03 1.34253134e-04 9.99985310e-01 -2.10147227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.01481677923209091 Centerline is valid? [True, True] Translation: X:128.58, Y:-15.10, Z:-2.10 [[ 9.62437655e-01 2.71458718e-01 4.89129562e-03 1.28576700e+02] [-2.71454655e-01 9.62450078e-01 -1.48881465e-03 -1.51047994e+01] [-5.11177957e-03 1.05126318e-04 9.99986929e-01 -2.10248802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.014050501960710282 Centerline is valid? [True, True] Translation: X:128.64, Y:-15.12, Z:-2.10 [[ 9.61488470e-01 2.74786568e-01 5.68012910e-03 1.28636853e+02] [-2.74781159e-01 9.61505243e-01 -1.72698686e-03 -1.51214313e+01] [-5.93602671e-03 9.96854985e-05 9.99982377e-01 -2.10242020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.01376862033944073 Centerline is valid? [True, True] Translation: X:128.70, Y:-15.14, Z:-2.10 [[ 9.61303422e-01 2.75399556e-01 7.12847322e-03 1.28696112e+02] [-2.75391032e-01 9.61329844e-01 -2.17029035e-03 -1.51398289e+01] [-7.45051105e-03 1.23189944e-04 9.99972237e-01 -2.10254231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.01412538845409665 Centerline is valid? [True, True] Translation: X:128.75, Y:-15.16, Z:-2.10 [[ 9.61539504e-01 2.74576029e-01 7.05591890e-03 1.28754647e+02] [-2.74567642e-01 9.61565384e-01 -2.15008848e-03 -1.51594398e+01] [-7.37509012e-03 1.30067999e-04 9.99972795e-01 -2.10335911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.014692218830088987 Centerline is valid? [True, True] Translation: X:128.81, Y:-15.18, Z:-2.10 [[ 9.62045595e-01 2.72792063e-01 7.26382014e-03 1.28813147e+02] [-2.72783108e-01 9.62073005e-01 -2.21552083e-03 -1.51795692e+01] [-7.59270177e-03 1.49984629e-04 9.99971164e-01 -2.10429773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.01621044055273154 Centerline is valid? [True, True] Translation: X:128.87, Y:-15.20, Z:-2.11 [[ 9.63415860e-01 2.67920764e-01 6.95304667e-03 1.28870803e+02] [-2.67912405e-01 9.63440933e-01 -2.12437309e-03 -1.52014694e+01] [-7.26801343e-03 1.83847278e-04 9.99973571e-01 -2.10539137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.017546120970893923 Centerline is valid? [True, True] Translation: X:128.93, Y:-15.22, Z:-2.11 [[ 9.64939726e-01 2.62369059e-01 7.33496188e-03 1.28928437e+02] [-2.62359593e-01 9.64967575e-01 -2.24136878e-03 -1.52229233e+01] [-7.66606619e-03 2.38388165e-04 9.99970587e-01 -2.10550634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.0186245979920697 Centerline is valid? [True, True] Translation: X:128.99, Y:-15.24, Z:-2.11 [[ 9.66094310e-01 2.58105903e-01 6.56708352e-03 1.28985643e+02] [-2.58098216e-01 9.66116599e-01 -2.00681492e-03 -1.52429531e+01] [-6.86253917e-03 2.43819932e-04 9.99976423e-01 -2.10701271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.01948296041840019 Centerline is valid? [True, True] Translation: X:129.04, Y:-15.26, Z:-2.11 [[ 9.66293432e-01 2.57374671e-01 5.93991211e-03 1.29044779e+02] [-2.57368380e-01 9.66311662e-01 -1.81333126e-03 -1.52627972e+01] [-6.20651188e-03 2.23464533e-04 9.99980714e-01 -2.10883716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.0197830283928789 Centerline is valid? [True, True] Translation: X:129.10, Y:-15.28, Z:-2.11 [[ 9.66466795e-01 2.56740018e-01 5.14749150e-03 1.29104083e+02] [-2.56735280e-01 9.66480483e-01 -1.57223915e-03 -1.52818085e+01] [-5.37860678e-03 1.97974265e-04 9.99985516e-01 -2.11064793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.01857005401892428 Centerline is valid? [True, True] Translation: X:129.16, Y:-15.30, Z:-2.11 [[ 9.66101652e-01 2.58107581e-01 5.29857489e-03 1.29163900e+02] [-2.58102573e-01 9.66116162e-01 -1.61986190e-03 -1.52976930e+01] [-5.53713747e-03 1.97375445e-04 9.99984650e-01 -2.11098917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.01836657873610039 Centerline is valid? [True, True] Translation: X:129.22, Y:-15.32, Z:-2.11 [[ 9.65303629e-01 2.61071672e-01 5.52137357e-03 1.29222158e+02] [-2.61066260e-01 9.65319401e-01 -1.69194244e-03 -1.53150802e+01] [-5.77160726e-03 1.91793835e-04 9.99983326e-01 -2.11131355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.01720719733889066 Centerline is valid? [True, True] Translation: X:129.28, Y:-15.33, Z:-2.11 [[ 9.64573986e-01 2.63740349e-01 6.16884619e-03 1.29281101e+02] [-2.63733645e-01 9.64593692e-01 -1.89065268e-03 -1.53309908e+01] [-6.44907152e-03 1.96742098e-04 9.99979185e-01 -2.11168713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.015914684494284546 Centerline is valid? [True, True] Translation: X:129.34, Y:-15.34, Z:-2.11 [[ 9.63091160e-01 2.69033887e-01 8.72844228e-03 1.29340479e+02] [-2.69020676e-01 9.63130684e-01 -2.67591463e-03 -1.53446208e+01] [-9.12654230e-03 2.29018285e-04 9.99958326e-01 -2.11125283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.01432755202034215 Centerline is valid? [True, True] Translation: X:129.40, Y:-15.36, Z:-2.11 [[ 9.61306497e-01 2.75264930e-01 1.09104080e-02 1.29401354e+02] [-2.75244690e-01 9.61368386e-01 -3.34475460e-03 -1.53569743e+01] [-1.14096150e-02 2.12302449e-04 9.99934886e-01 -2.11100193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.01301008879570098 Centerline is valid? [True, True] Translation: X:129.46, Y:-15.37, Z:-2.11 [[ 9.59837022e-01 2.80351667e-01 1.07626208e-02 1.29462344e+02] [-2.80332295e-01 9.59897349e-01 -3.29904533e-03 -1.53700894e+01] [-1.12559040e-02 1.49435665e-04 9.99936639e-01 -2.11224842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.013137520615597371 Centerline is valid? [True, True] Translation: X:129.52, Y:-15.39, Z:-2.11 [[ 9.59205796e-01 2.82548314e-01 9.52317060e-03 1.29521547e+02] [-2.82533235e-01 9.59253062e-01 -2.92123143e-03 -1.53869204e+01] [-9.96051958e-03 1.11449920e-04 9.99950387e-01 -2.11460043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.01286236657814962 Centerline is valid? [True, True] Translation: X:129.58, Y:-15.40, Z:-2.12 [[ 9.59209981e-01 2.82556564e-01 8.83173436e-03 1.29582744e+02] [-2.82543579e-01 9.59250633e-01 -2.71091477e-03 -1.54035249e+01] [-9.23783354e-03 1.04986678e-04 9.99957325e-01 -2.11538905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.013336784522390533 Centerline is valid? [True, True] Translation: X:129.64, Y:-15.42, Z:-2.12 [[ 9.59920441e-01 2.80156044e-01 8.08313894e-03 1.29641717e+02] [-2.80145062e-01 9.59954466e-01 -2.48349006e-03 -1.54229026e+01] [-8.45521007e-03 1.19501418e-04 9.99964247e-01 -2.11648700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.014900986956281377 Centerline is valid? [True, True] Translation: X:129.70, Y:-15.45, Z:-2.12 [[ 9.61829113e-01 2.73543108e-01 7.67625411e-03 1.29698599e+02] [-2.73532962e-01 9.61859729e-01 -2.36225108e-03 -1.54457154e+01] [-8.02965720e-03 1.72373340e-04 9.99967747e-01 -2.11675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.015944634899359093 Centerline is valid? [True, True] Translation: X:129.76, Y:-15.47, Z:-2.12 [[ 9.63457875e-01 2.67764034e-01 7.16553380e-03 1.29756028e+02] [-2.67755033e-01 9.63484499e-01 -2.20519971e-03 -1.54667460e+01] [-7.49435391e-03 2.06009289e-04 9.99971896e-01 -2.11706440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.019069554253449493 Centerline is valid? [True, True] Translation: X:129.81, Y:-15.49, Z:-2.12 [[ 9.65189617e-01 2.61445610e-01 7.42938865e-03 1.29811494e+02] [-2.61435744e-01 9.65218174e-01 -2.28671281e-03 -1.54902896e+01] [-7.76883197e-03 2.64803713e-04 9.99969787e-01 -2.11765286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.019683521399760855 Centerline is valid? [True, True] Translation: X:129.87, Y:-15.51, Z:-2.12 [[ 9.65805149e-01 2.59150031e-01 7.85335439e-03 1.29870325e+02] [-2.59138935e-01 9.65837032e-01 -2.41663477e-03 -1.55095103e+01] [-8.21133147e-03 2.98888407e-04 9.99966242e-01 -2.11724060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.018396027458976935 Centerline is valid? [True, True] Translation: X:129.93, Y:-15.53, Z:-2.12 [[ 9.65443134e-01 2.60491413e-01 7.98617498e-03 1.29930029e+02] [-2.60479991e-01 9.65476120e-01 -2.45669043e-03 -1.55252530e+01] [-8.35040800e-03 2.91556118e-04 9.99965092e-01 -2.11734865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.01745820984187227 Centerline is valid? [True, True] Translation: X:129.99, Y:-15.54, Z:-2.12 [[ 9.64025876e-01 2.65713977e-01 7.08467083e-03 1.29989876e+02] [-2.65705103e-01 9.64051883e-01 -2.18279579e-03 -1.55385030e+01] [-7.40998960e-03 2.21838432e-04 9.99972521e-01 -2.11938735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.01572725790109701 Centerline is valid? [True, True] Translation: X:130.05, Y:-15.55, Z:-2.12 [[ 9.62442096e-01 2.71395045e-01 7.06691887e-03 1.30050331e+02] [-2.71386369e-01 9.62468024e-01 -2.17731540e-03 -1.55514109e+01] [-7.39259606e-03 1.77674541e-04 9.99972659e-01 -2.12112138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.0131478229128353 Centerline is valid? [True, True] Translation: X:130.11, Y:-15.56, Z:-2.12 [[ 9.59644821e-01 2.81126099e-01 7.06634442e-03 1.30110775e+02] [-2.81117682e-01 9.59670832e-01 -2.17784352e-03 -1.55612530e+01] [-7.39361328e-03 1.03481896e-04 9.99972662e-01 -2.12187931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.01206265239080835 Centerline is valid? [True, True] Translation: X:130.17, Y:-15.57, Z:-2.12 [[ 9.57901559e-01 2.86988425e-01 7.88964988e-03 1.30171422e+02] [-2.86978145e-01 9.57934048e-01 -2.42987939e-03 -1.55749286e+01] [-8.25511151e-03 6.34281684e-05 9.99965924e-01 -2.12258524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.011510284962446524 Centerline is valid? [True, True] Translation: X:130.23, Y:-15.59, Z:-2.12 [[ 9.56003281e-01 2.93212261e-01 9.18127106e-03 1.30230989e+02] [-2.93198595e-01 9.56047368e-01 -2.83097543e-03 -1.55882556e+01] [-9.60780673e-03 1.44860268e-05 9.99953844e-01 -2.12303216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.011385890202368572 Centerline is valid? [True, True] Translation: X:130.29, Y:-15.61, Z:-2.12 [[ 9.55237514e-01 2.95692792e-01 9.33088722e-03 1.30291448e+02] [-2.95678776e-01 9.55283085e-01 -2.87906063e-03 -1.56059169e+01] [-9.76495621e-03 -8.75859091e-06 9.99952322e-01 -2.12326056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.011368236307916042 Centerline is valid? [True, True] Translation: X:130.35, Y:-15.63, Z:-2.12 [[ 9.55318040e-01 2.95426086e-01 9.53259156e-03 1.30350449e+02] [-2.95411411e-01 9.55365599e-01 -2.94453773e-03 -1.56254987e+01] [-9.97700330e-03 -3.06630551e-06 9.99950228e-01 -2.12482061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.0114012776777047 Centerline is valid? [True, True] Translation: X:130.41, Y:-15.65, Z:-2.13 [[ 9.55962012e-01 2.93328034e-01 9.76197655e-03 1.30409746e+02] [-2.93312506e-01 9.56011854e-01 -3.01823321e-03 -1.56465227e+01] [-1.02178977e-02 2.20064871e-05 9.99947796e-01 -2.12532815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.011848249898709763 Centerline is valid? [True, True] Translation: X:130.47, Y:-15.67, Z:-2.13 [[ 9.57243056e-01 2.89155528e-01 8.64945770e-03 1.30467310e+02] [-2.89143146e-01 9.57282130e-01 -2.67663205e-03 -1.56693233e+01] [-9.05393425e-03 6.12560328e-05 9.99959010e-01 -2.12737821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.012352713826030681 Centerline is valid? [True, True] Translation: X:130.53, Y:-15.69, Z:-2.13 [[ 9.58206137e-01 2.85981132e-01 7.46933421e-03 1.30525178e+02] [-2.85971791e-01 9.58235245e-01 -2.31289085e-03 -1.56913308e+01] [-7.81882245e-03 8.02073305e-05 9.99969429e-01 -2.12918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.013303209306701834 Centerline is valid? [True, True] Translation: X:130.58, Y:-15.71, Z:-2.13 [[ 9.59641236e-01 2.81172273e-01 5.55444757e-03 1.30582595e+02] [-2.81167023e-01 9.59657306e-01 -1.72054857e-03 -1.57141525e+01] [-5.81413674e-03 8.93818665e-05 9.99983094e-01 -2.13158478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.014373410638907439 Centerline is valid? [True, True] Translation: X:130.64, Y:-15.74, Z:-2.13 [[ 9.60633382e-01 2.77773615e-01 5.03230112e-03 1.30640523e+02] [-2.77769255e-01 9.60646558e-01 -1.55960544e-03 -1.57362887e+01] [-5.26747999e-03 1.00390516e-04 9.99986122e-01 -2.13352426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.01600544405659 Centerline is valid? [True, True] Translation: X:130.70, Y:-15.76, Z:-2.13 [[ 9.62459972e-01 2.71389295e-01 4.31887854e-03 1.30696565e+02] [-2.71386005e-01 9.62469655e-01 -1.34174968e-03 -1.57612861e+01] [-4.52092604e-03 1.19297166e-04 9.99989773e-01 -2.13431333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.01753668119495886 Centerline is valid? [True, True] Translation: X:130.75, Y:-15.78, Z:-2.14 [[ 9.63463270e-01 2.67805657e-01 4.31943822e-03 1.30754310e+02] [-2.67802332e-01 9.63472943e-01 -1.34137755e-03 -1.57844595e+01] [-4.52089035e-03 1.35612371e-04 9.99989772e-01 -2.13505310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.018673618754651195 Centerline is valid? [True, True] Translation: X:130.81, Y:-15.81, Z:-2.13 [[ 9.64376763e-01 2.64499274e-01 4.19436742e-03 1.30811994e+02] [-2.64496106e-01 9.64385873e-01 -1.30283590e-03 -1.58083371e+01] [-4.38958784e-03 1.47030816e-04 9.99990355e-01 -2.13491550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.017943659075573597 Centerline is valid? [True, True] Translation: X:130.87, Y:-15.83, Z:-2.13 [[ 9.63845607e-01 2.66426643e-01 4.29992907e-03 1.30870435e+02] [-2.66423341e-01 9.63855188e-01 -1.33386291e-03 -1.58293203e+01] [-4.49988556e-03 1.40036437e-04 9.99989866e-01 -2.13449118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.017456386888111703 Centerline is valid? [True, True] Translation: X:130.93, Y:-15.85, Z:-2.14 [[ 9.63288538e-01 2.68426689e-01 4.72278609e-03 1.30929481e+02] [-2.68422721e-01 9.63300105e-01 -1.46668842e-03 -1.58474904e+01] [-4.94315866e-03 1.45141051e-04 9.99987772e-01 -2.13511971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.015341757347620888 Centerline is valid? [True, True] Translation: X:130.99, Y:-15.86, Z:-2.14 [[ 9.61422429e-01 2.75034734e-01 4.77586220e-03 1.30988628e+02] [-2.75030739e-01 9.61434283e-01 -1.48707633e-03 -1.58627325e+01] [-5.00067530e-03 1.16199623e-04 9.99987490e-01 -2.13547669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.01433129747099318 Centerline is valid? [True, True] Translation: X:131.05, Y:-15.88, Z:-2.14 [[ 9.60077262e-01 2.79707685e-01 3.90654394e-03 1.31046594e+02] [-2.79705050e-01 9.60085207e-01 -1.21643030e-03 -1.58793201e+01] [-4.09085995e-03 7.51870033e-05 9.99991630e-01 -2.13823908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.012691430717705782 Centerline is valid? [True, True] Translation: X:131.11, Y:-15.90, Z:-2.14 [[ 9.58733626e-01 2.84282169e-01 3.67193601e-03 1.31105751e+02] [-2.84279885e-01 9.58740656e-01 -1.14051467e-03 -1.58979891e+01] [-3.84466233e-03 4.95922188e-05 9.99992608e-01 -2.13807384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.012870405342971314 Centerline is valid? [True, True] Translation: X:131.16, Y:-15.92, Z:-2.14 [[ 9.58522149e-01 2.84988057e-01 4.13480787e-03 1.31163323e+02] [-2.84985160e-01 9.58531066e-01 -1.28615803e-03 -1.59184754e+01] [-4.32988147e-03 5.44520796e-05 9.99990625e-01 -2.13928044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.012670018237702644 Centerline is valid? [True, True] Translation: X:131.22, Y:-15.94, Z:-2.14 [[ 9.59172334e-01 2.82775062e-01 5.16695795e-03 1.31221412e+02] [-2.82770494e-01 9.59186248e-01 -1.60933650e-03 -1.59393217e+01] [-5.41115523e-03 8.25677958e-05 9.99985356e-01 -2.13887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.012837727650330038 Centerline is valid? [True, True] Translation: X:131.28, Y:-15.96, Z:-2.14 [[ 9.59293555e-01 2.82318702e-01 7.21290314e-03 1.31280748e+02] [-2.82309763e-01 9.59320664e-01 -2.24979262e-03 -1.59583372e+01] [-7.55464556e-03 1.21938586e-04 9.99971456e-01 -2.13834954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.012873457937171191 Centerline is valid? [True, True] Translation: X:131.34, Y:-15.98, Z:-2.14 [[ 9.59643103e-01 2.81124086e-01 7.37310636e-03 1.31339383e+02] [-2.81114696e-01 9.59671417e-01 -2.30180443e-03 -1.59780460e+01] [-7.72285210e-03 1.36222192e-04 9.99970169e-01 -2.13924420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.013534731511951496 Centerline is valid? [True, True] Translation: X:131.40, Y:-16.00, Z:-2.14 [[ 9.59969221e-01 2.80023415e-01 6.78090475e-03 1.31396927e+02] [-2.80015427e-01 9.59993161e-01 -2.11953227e-03 -1.59973102e+01] [-7.10314085e-03 1.35927807e-04 9.99974763e-01 -2.14101825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.014171326677060472 Centerline is valid? [True, True] Translation: X:131.46, Y:-16.02, Z:-2.14 [[ 9.60226708e-01 2.79154480e-01 6.11933389e-03 1.31456199e+02] [-2.79147960e-01 9.60246197e-01 -1.91231522e-03 -1.60152125e+01] [-6.40989846e-03 1.28056579e-04 9.99979448e-01 -2.14284147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.014366550042991522 Centerline is valid? [True, True] Translation: X:131.52, Y:-16.03, Z:-2.14 [[ 9.60598978e-01 2.77892607e-01 5.03014862e-03 1.31515894e+02] [-2.77888181e-01 9.60612141e-01 -1.57251613e-03 -1.60312044e+01] [-5.26901245e-03 1.12738537e-04 9.99986112e-01 -2.14396814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.014470791555898537 Centerline is valid? [True, True] Translation: X:131.58, Y:-16.05, Z:-2.14 [[ 9.60879334e-01 2.76932052e-01 4.42087055e-03 1.31575396e+02] [-2.76928620e-01 9.60889498e-01 -1.38269861e-03 -1.60487256e+01] [-4.63088164e-03 1.04340936e-04 9.99989272e-01 -2.14495410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.014922114248886773 Centerline is valid? [True, True] Translation: X:131.63, Y:-16.07, Z:-2.15 [[ 9.61049183e-01 2.76343039e-01 4.35799985e-03 1.31634869e+02] [-2.76339693e-01 9.61059058e-01 -1.36417324e-03 -1.60664948e+01] [-4.56527501e-03 1.06749242e-04 9.99989573e-01 -2.14618833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.014441964768869536 Centerline is valid? [True, True] Translation: X:131.69, Y:-16.08, Z:-2.15 [[ 9.61230847e-01 2.75696344e-01 5.17540131e-03 1.31694914e+02] [-2.75691604e-01 9.61244770e-01 -1.62213177e-03 -1.60825453e+01] [-5.42204325e-03 1.32428410e-04 9.99985292e-01 -2.14605767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.015100817447005062 Centerline is valid? [True, True] Translation: X:131.75, Y:-16.10, Z:-2.15 [[ 9.61470652e-01 2.74857260e-01 5.26034842e-03 1.31753778e+02] [-2.74852342e-01 9.61485032e-01 -1.65029494e-03 -1.61012015e+01] [-5.51134182e-03 1.40891069e-04 9.99984803e-01 -2.14689178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.015942616351236685 Centerline is valid? [True, True] Translation: X:131.81, Y:-16.12, Z:-2.15 [[ 9.62296650e-01 2.71936489e-01 5.97516239e-03 1.31812696e+02] [-2.71930062e-01 9.62315183e-01 -1.87852541e-03 -1.61208239e+01] [-6.26082909e-03 1.82872433e-04 9.99980384e-01 -2.14785999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.01693134168115905 Centerline is valid? [True, True] Translation: X:131.87, Y:-16.14, Z:-2.15 [[ 9.63033531e-01 2.69293564e-01 6.88434182e-03 1.31871080e+02] [-2.69284970e-01 9.63058110e-01 -2.16360671e-03 -1.61407233e+01] [-7.21266658e-03 2.29776029e-04 9.99973962e-01 -2.14795559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.017860942854544922 Centerline is valid? [True, True] Translation: X:131.93, Y:-16.16, Z:-2.15 [[ 9.63144860e-01 2.68893950e-01 6.92985678e-03 1.31929536e+02] [-2.68885219e-01 9.63169761e-01 -2.17969774e-03 -1.61595274e+01] [-7.26073603e-03 2.36028613e-04 9.99973613e-01 -2.14982379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.017213359492394147 Centerline is valid? [True, True] Translation: X:131.99, Y:-16.18, Z:-2.15 [[ 9.62593602e-01 2.70885771e-01 5.86994889e-03 1.31989640e+02] [-2.70879529e-01 9.62611481e-01 -1.84861692e-03 -1.61768646e+01] [-6.15124421e-03 1.89417828e-04 9.99981063e-01 -2.15245333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.01668985150423296 Centerline is valid? [True, True] Translation: X:132.05, Y:-16.19, Z:-2.15 [[ 9.62312073e-01 2.71891609e-01 5.51606352e-03 1.32049416e+02] [-2.71886121e-01 9.62327867e-01 -1.73590330e-03 -1.61947895e+01] [-5.78023918e-03 1.70739583e-04 9.99983280e-01 -2.15355183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.016336545523057498 Centerline is valid? [True, True] Translation: X:132.11, Y:-16.21, Z:-2.15 [[ 9.62098106e-01 2.72657495e-01 5.01238927e-03 1.32108654e+02] [-2.72652969e-01 9.62111151e-01 -1.57834354e-03 -1.62130611e+01] [-5.25282281e-03 1.51878516e-04 9.99986192e-01 -2.15450882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.016300923364644705 Centerline is valid? [True, True] Translation: X:132.17, Y:-16.23, Z:-2.16 [[ 9.62230650e-01 2.72187775e-01 5.09807480e-03 1.32167720e+02] [-2.72183079e-01 9.62244143e-01 -1.60673548e-03 -1.62318789e+01] [-5.34292637e-03 1.58440426e-04 9.99985714e-01 -2.15527633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.017862681194647928 Centerline is valid? [True, True] Translation: X:132.22, Y:-16.25, Z:-2.16 [[ 9.62989321e-01 2.69483687e-01 5.48720264e-03 1.32224661e+02] [-2.69478179e-01 9.63004936e-01 -1.73346163e-03 -1.62531383e+01] [-5.75134286e-03 1.90623662e-04 9.99983443e-01 -2.15598657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.018563063711684258 Centerline is valid? [True, True] Translation: X:132.28, Y:-16.27, Z:-2.16 [[ 9.63728260e-01 2.66827666e-01 5.55315494e-03 1.32283381e+02] [-2.66821982e-01 9.63744236e-01 -1.75414130e-03 -1.62726874e+01] [-5.81987450e-03 2.08811737e-04 9.99983043e-01 -2.15683042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.020389691976020148 Centerline is valid? [True, True] Translation: X:132.34, Y:-16.29, Z:-2.16 [[ 9.64351975e-01 2.64556171e-01 5.94142594e-03 1.32340827e+02] [-2.64549628e-01 9.64370248e-01 -1.87574666e-03 -1.62930340e+01] [-6.22597476e-03 2.37077975e-04 9.99980590e-01 -2.15821936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.021387091945219337 Centerline is valid? [True, True] Translation: X:132.40, Y:-16.31, Z:-2.16 [[ 9.64355261e-01 2.64540466e-01 6.10513438e-03 1.32399545e+02] [-2.64533543e-01 9.64374555e-01 -1.92956311e-03 -1.63121928e+01] [-6.39808377e-03 2.45771506e-04 9.99979502e-01 -2.15924352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.01853296961090827 Centerline is valid? [True, True] Translation: X:132.46, Y:-16.33, Z:-2.16 [[ 9.64073590e-01 2.65567554e-01 5.99893100e-03 1.32460662e+02] [-2.65560878e-01 9.64092225e-01 -1.89787576e-03 -1.63266467e+01] [-6.28753696e-03 2.36610519e-04 9.99980205e-01 -2.15972133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.017496287732156914 Centerline is valid? [True, True] Translation: X:132.52, Y:-16.34, Z:-2.16 [[ 9.63247179e-01 2.68532904e-01 6.70454953e-03 1.32520505e+02] [-2.68524628e-01 9.63270481e-01 -2.12226195e-03 -1.63421937e+01] [-7.02819181e-03 2.43926169e-04 9.99975272e-01 -2.16091859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.016160270576249636 Centerline is valid? [True, True] Translation: X:132.58, Y:-16.36, Z:-2.16 [[ 9.62365271e-01 2.71674116e-01 6.80148004e-03 1.32579681e+02] [-2.71665673e-01 9.62389279e-01 -2.15351121e-03 -1.63578323e+01] [-7.13072473e-03 2.24735743e-04 9.99974551e-01 -2.16194583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.015073410134122524 Centerline is valid? [True, True] Translation: X:132.64, Y:-16.37, Z:-2.16 [[ 9.60739979e-01 2.77341031e-01 7.78755384e-03 1.32637981e+02] [-2.77330143e-01 9.60771517e-01 -2.46636266e-03 -1.63725065e+01] [-8.16608348e-03 2.09809786e-04 9.99966635e-01 -2.16341628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.01363047090969122 Centerline is valid? [True, True] Translation: X:132.70, Y:-16.39, Z:-2.16 [[ 9.59489421e-01 2.81603255e-01 8.92514084e-03 1.32697714e+02] [-2.81589140e-01 9.59530910e-01 -2.82651074e-03 -1.63873165e+01] [-9.35990314e-03 1.98784416e-04 9.99956175e-01 -2.16401822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.012147504554921033 Centerline is valid? [True, True] Translation: X:132.76, Y:-16.40, Z:-2.17 [[ 9.58218780e-01 2.85868094e-01 9.80832209e-03 1.32757240e+02] [-2.85851265e-01 9.58268962e-01 -3.10663537e-03 -1.64014189e+01] [-1.02870986e-02 1.73115069e-04 9.99947071e-01 -2.16515255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.01135817742550965 Centerline is valid? [True, True] Translation: X:132.82, Y:-16.42, Z:-2.17 [[ 9.57043846e-01 2.89773830e-01 9.90978934e-03 1.32817134e+02] [-2.89756869e-01 9.57095142e-01 -3.13790962e-03 -1.64173384e+01] [-1.03938953e-02 1.31687559e-04 9.99945973e-01 -2.16703268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.010429766547704387 Centerline is valid? [True, True] Translation: X:132.88, Y:-16.43, Z:-2.17 [[ 9.55449878e-01 2.94992143e-01 9.75529219e-03 1.32877375e+02] [-2.94975952e-01 9.55499676e-01 -3.09152920e-03 -1.64322289e+01] [-1.02331553e-02 7.62245898e-05 9.99947637e-01 -2.16853048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.010052528880973952 Centerline is valid? [True, True] Translation: X:132.94, Y:-16.45, Z:-2.17 [[ 9.54549767e-01 2.97877804e-01 1.01763015e-02 1.32937032e+02] [-2.97860319e-01 9.54604008e-01 -3.22786360e-03 -1.64491562e+01] [-1.06758471e-02 5.00400383e-05 9.99943010e-01 -2.16953508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.009876955261732535 Centerline is valid? [True, True] Translation: X:133.00, Y:-16.47, Z:-2.17 [[ 9.53851810e-01 3.00134549e-01 9.27240331e-03 1.32997660e+02] [-3.00120121e-01 9.53896877e-01 -2.94303123e-03 -1.64663281e+01] [-9.72822191e-03 2.43808617e-05 9.99952679e-01 -2.17204228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.009863598754541401 Centerline is valid? [True, True] Translation: X:133.06, Y:-16.49, Z:-2.17 [[ 9.53803380e-01 3.00305148e-01 8.71378639e-03 1.33056210e+02] [-3.00292384e-01 9.53843183e-01 -2.76889978e-03 -1.64863105e+01] [-9.14310060e-03 2.43022795e-05 9.99958201e-01 -2.17397610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.010153068073366946 Centerline is valid? [True, True] Translation: X:133.12, Y:-16.51, Z:-2.18 [[ 9.54356795e-01 2.98548126e-01 8.49257436e-03 1.33115058e+02] [-2.98535925e-01 9.54394580e-01 -2.69937319e-03 -1.65085523e+01] [-8.91115975e-03 4.08266026e-05 9.99960294e-01 -2.17501952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.010467208880369639 Centerline is valid? [True, True] Translation: X:133.17, Y:-16.53, Z:-2.18 [[ 9.55214949e-01 2.95783753e-01 8.73916836e-03 1.33173267e+02] [-2.95770690e-01 9.55254922e-01 -2.78069066e-03 -1.65309081e+01] [-9.17061671e-03 7.13674268e-05 9.99957946e-01 -2.17522547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.01082519651752927 Centerline is valid? [True, True] Translation: X:133.23, Y:-16.55, Z:-2.18 [[ 9.55647704e-01 2.94389760e-01 8.49324440e-03 1.33231392e+02] [-2.94377347e-01 9.55685441e-01 -2.70466594e-03 -1.65526714e+01] [-8.91309597e-03 8.44890380e-05 9.99960274e-01 -2.17658748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.011090922818820414 Centerline is valid? [True, True] Translation: X:133.29, Y:-16.58, Z:-2.18 [[ 9.55972082e-01 2.93369752e-01 7.18098303e-03 1.33289615e+02] [-2.93360841e-01 9.55999049e-01 -2.28804912e-03 -1.65751345e+01] [-7.53625735e-03 8.06918653e-05 9.99971599e-01 -2.17782368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.011221059183867474 Centerline is valid? [True, True] Translation: X:133.35, Y:-16.60, Z:-2.18 [[ 9.56145243e-01 2.92813618e-01 6.81605678e-03 1.33347781e+02] [-2.92805563e-01 9.56169534e-01 -2.17340782e-03 -1.65965491e+01] [-7.15370924e-03 8.23142050e-05 9.99974409e-01 -2.17907350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.011992253091602465 Centerline is valid? [True, True] Translation: X:133.41, Y:-16.62, Z:-2.18 [[ 9.56810797e-01 2.90631900e-01 6.79689487e-03 1.33405314e+02] [-2.90623822e-01 9.56834933e-01 -2.16915589e-03 -1.66202582e+01] [-7.13393234e-03 1.00132213e-04 9.99974548e-01 -2.18011314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.012828880202504292 Centerline is valid? [True, True] Translation: X:133.46, Y:-16.64, Z:-2.18 [[ 9.57424077e-01 2.88608527e-01 6.65252816e-03 1.33463057e+02] [-2.88600728e-01 9.57447181e-01 -2.12478809e-03 -1.66430122e+01] [-6.98267629e-03 1.14398809e-04 9.99975614e-01 -2.18091182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.01324076279674429 Centerline is valid? [True, True] Translation: X:133.52, Y:-16.67, Z:-2.18 [[ 9.58042702e-01 2.86547566e-01 6.68382978e-03 1.33520365e+02] [-2.86539630e-01 9.58066008e-01 -2.13669861e-03 -1.66662141e+01] [-7.01581590e-03 1.31866403e-04 9.99975380e-01 -2.18129819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.013954928685471001 Centerline is valid? [True, True] Translation: X:133.58, Y:-16.69, Z:-2.18 [[ 9.58167099e-01 2.86112830e-01 7.43363041e-03 1.33578039e+02] [-2.86102984e-01 9.58195922e-01 -2.37840111e-03 -1.66882818e+01] [-7.80336542e-03 1.52121852e-04 9.99969542e-01 -2.18160785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.013384335953189672 Centerline is valid? [True, True] Translation: X:133.64, Y:-16.71, Z:-2.18 [[ 9.57918214e-01 2.86946802e-01 7.36400305e-03 1.33636999e+02] [-2.86937148e-01 9.57946508e-01 -2.35830500e-03 -1.67084325e+01] [-7.73102908e-03 1.46057282e-04 9.99970104e-01 -2.18190388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.012567861321085469 Centerline is valid? [True, True] Translation: X:133.70, Y:-16.73, Z:-2.18 [[ 9.57294616e-01 2.89021530e-01 7.31935032e-03 1.33696902e+02] [-2.89012028e-01 9.57322588e-01 -2.34729218e-03 -1.67268441e+01] [-7.68539737e-03 1.31669888e-04 9.99970458e-01 -2.18267261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.011454096803702844 Centerline is valid? [True, True] Translation: X:133.76, Y:-16.74, Z:-2.18 [[ 9.55656070e-01 2.94400339e-01 7.06513896e-03 1.33756911e+02] [-2.94391638e-01 9.55682182e-01 -2.26498297e-03 -1.67431315e+01] [-7.41883917e-03 8.46268998e-05 9.99972476e-01 -2.18411345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.010311628211714042 Centerline is valid? [True, True] Translation: X:133.82, Y:-16.76, Z:-2.19 [[ 9.53636612e-01 3.00891564e-01 6.44042678e-03 1.33817516e+02] [-3.00884472e-01 9.53658359e-01 -2.06603907e-03 -1.67573147e+01] [-6.76362056e-03 3.24260836e-05 9.99977126e-01 -2.18589739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.010141099421552767 Centerline is valid? [True, True] Translation: X:133.88, Y:-16.77, Z:-2.19 [[ 9.52612072e-01 3.04123183e-01 6.27138196e-03 1.33877222e+02] [-3.04116518e-01 9.52632715e-01 -2.01338266e-03 -1.67739865e+01] [-6.58663997e-03 1.07417757e-05 9.99978308e-01 -2.18742005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.01011803139276019 Centerline is valid? [True, True] Translation: X:133.94, Y:-16.79, Z:-2.19 [[ 9.51967280e-01 3.06147087e-01 5.67975130e-03 1.33936347e+02] [-3.06141650e-01 9.51984223e-01 -1.82443584e-03 -1.67913383e+01] [-5.96557934e-03 -2.00521047e-06 9.99982206e-01 -2.18924814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.01011591672652591 Centerline is valid? [True, True] Translation: X:134.00, Y:-16.81, Z:-2.19 [[ 9.51983845e-01 3.06097727e-01 5.56236836e-03 1.33996336e+02] [-3.06092505e-01 9.52000095e-01 -1.78797080e-03 -1.68114209e+01] [-5.84266900e-03 -4.79947534e-07 9.99982931e-01 -2.18957481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.010368600306934093 Centerline is valid? [True, True] Translation: X:134.05, Y:-16.83, Z:-2.19 [[ 9.52427900e-01 3.04718688e-01 5.25513299e-03 1.34054514e+02] [-3.04713998e-01 9.52442398e-01 -1.69082740e-03 -1.68322236e+01] [-5.52043817e-03 9.07860534e-06 9.99984762e-01 -2.19117509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.010613975005382213 Centerline is valid? [True, True] Translation: X:134.11, Y:-16.85, Z:-2.19 [[ 9.53000785e-01 3.02931807e-01 4.67168404e-03 1.34112810e+02] [-3.02928073e-01 9.53012235e-01 -1.50417310e-03 -1.68528213e+01] [-4.90783392e-03 1.82938972e-05 9.99987956e-01 -2.19236638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.011138568341612587 Centerline is valid? [True, True] Translation: X:134.17, Y:-16.88, Z:-2.19 [[ 9.54220987e-01 2.99068526e-01 4.50836682e-03 1.34171196e+02] [-2.99065000e-01 9.54231636e-01 -1.45258758e-03 -1.68751564e+01] [-4.73644947e-03 3.77948282e-05 9.99988782e-01 -2.19316849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.011749264344191707 Centerline is valid? [True, True] Translation: X:134.23, Y:-16.90, Z:-2.19 [[ 9.55081912e-01 2.96303765e-01 4.75603075e-03 1.34228084e+02] [-2.96299793e-01 9.55093752e-01 -1.53526026e-03 -1.68967935e+01] [-4.99735865e-03 5.70883794e-05 9.99987511e-01 -2.19382610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.012759996768691282 Centerline is valid? [True, True] Translation: X:134.29, Y:-16.92, Z:-2.19 [[ 9.56296506e-01 2.92359354e-01 4.79583817e-03 1.34286029e+02] [-2.92355269e-01 9.56308529e-01 -1.54752127e-03 -1.69196352e+01] [-5.03873326e-03 7.78006254e-05 9.99987302e-01 -2.19426216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.013079550446512033 Centerline is valid? [True, True] Translation: X:134.34, Y:-16.94, Z:-2.20 [[ 9.56709072e-01 2.91009028e-01 4.63644985e-03 1.34344770e+02] [-2.91005188e-01 9.56720303e-01 -1.49718642e-03 -1.69402444e+01] [-4.87148047e-03 8.31408666e-05 9.99988131e-01 -2.19539268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.01287702592024649 Centerline is valid? [True, True] Translation: X:134.40, Y:-16.96, Z:-2.19 [[ 9.56749103e-01 2.90848876e-01 6.17129467e-03 1.34403790e+02] [-2.90842051e-01 9.56768999e-01 -1.99582477e-03 -1.69596143e+01] [-6.48498682e-03 1.14631558e-04 9.99978966e-01 -2.19496256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.012866829440665176 Centerline is valid? [True, True] Translation: X:134.46, Y:-16.98, Z:-2.20 [[ 9.56548675e-01 2.91491847e-01 6.86554500e-03 1.34463036e+02] [-2.91483399e-01 9.56573305e-01 -2.22270916e-03 -1.69778577e+01] [-7.21529867e-03 1.24937107e-04 9.99973962e-01 -2.19575503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.012843895652346322 Centerline is valid? [True, True] Translation: X:134.52, Y:-17.00, Z:-2.20 [[ 9.55992819e-01 2.93281214e-01 7.99126578e-03 1.34522096e+02] [-2.93269807e-01 9.56026209e-01 -2.59002982e-03 -1.69961031e+01] [-8.39946662e-03 1.32452928e-04 9.99964715e-01 -2.19707572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.012759182292677088 Centerline is valid? [True, True] Translation: X:134.58, Y:-17.01, Z:-2.20 [[ 9.55724421e-01 2.94150054e-01 8.15943198e-03 1.34581579e+02] [-2.94138174e-01 9.55759242e-01 -2.64679107e-03 -1.70141984e+01] [-8.57700626e-03 1.29602441e-04 9.99963208e-01 -2.19904786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.01324723759014718 Centerline is valid? [True, True] Translation: X:134.64, Y:-17.03, Z:-2.20 [[ 9.55460456e-01 2.94982861e-01 8.96822047e-03 1.34640142e+02] [-2.94968519e-01 9.55502534e-01 -2.91210517e-03 -1.70319825e+01] [-9.42817850e-03 1.37058632e-04 9.99955544e-01 -2.20203599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.012963026928638799 Centerline is valid? [True, True] Translation: X:134.70, Y:-17.05, Z:-2.20 [[ 9.55435343e-01 2.95042003e-01 9.67067950e-03 1.34700319e+02] [-2.95025305e-01 9.55484272e-01 -3.14253172e-03 -1.70505384e+01] [-1.01673610e-02 1.49390703e-04 9.99948300e-01 -2.20312093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.013020830583805078 Centerline is valid? [True, True] Translation: X:134.76, Y:-17.07, Z:-2.20 [[ 9.55706138e-01 2.94110566e-01 1.11692579e-02 1.34760006e+02] [-2.94088180e-01 9.55771385e-01 -3.63358939e-03 -1.70702818e+01] [-1.17439341e-02 1.87896974e-04 9.99931020e-01 -2.20356659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.01383558665983095 Centerline is valid? [True, True] Translation: X:134.82, Y:-17.09, Z:-2.20 [[ 9.56245689e-01 2.92252019e-01 1.35254997e-02 1.34817841e+02] [-2.92218929e-01 9.56341304e-01 -4.40544729e-03 -1.70918144e+01] [-1.42224949e-02 2.60282944e-04 9.99898821e-01 -2.20365041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.013749397132435337 Centerline is valid? [True, True] Translation: X:134.88, Y:-17.11, Z:-2.20 [[ 9.56107228e-01 2.92640762e-01 1.48442540e-02 1.34877681e+02] [-2.92600889e-01 9.56222413e-01 -4.83901037e-03 -1.71108048e+01] [-1.56105001e-02 2.83170872e-04 9.99878109e-01 -2.20456518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.012910057832660636 Centerline is valid? [True, True] Translation: X:134.94, Y:-17.13, Z:-2.21 [[ 9.55430492e-01 2.94763623e-01 1.63395978e-02 1.34937920e+02] [-2.94715529e-01 9.55570159e-01 -5.33176745e-03 -1.71278872e+01] [-1.71852432e-02 2.78599979e-04 9.99852284e-01 -2.20618534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.012451130603824174 Centerline is valid? [True, True] Translation: X:135.00, Y:-17.15, Z:-2.21 [[ 9.54438810e-01 2.97894291e-01 1.74799759e-02 1.34997163e+02] [-2.97839734e-01 9.54598834e-01 -5.70608188e-03 -1.71454891e+01] [-1.83861738e-02 2.39874639e-04 9.99830931e-01 -2.20763738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.012357243614447677 Centerline is valid? [True, True] Translation: X:135.06, Y:-17.16, Z:-2.21 [[ 9.53944201e-01 2.99510134e-01 1.68564897e-02 1.35055501e+02] [-2.99459572e-01 9.54093097e-01 -5.50701657e-03 -1.71641962e+01] [-1.77320677e-02 2.05549320e-04 9.99842753e-01 -2.20974532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.012378573323417456 Centerline is valid? [True, True] Translation: X:135.12, Y:-17.18, Z:-2.21 [[ 9.53854421e-01 2.99824626e-01 1.63382376e-02 1.35115321e+02] [-2.99777102e-01 9.53994316e-01 -5.34176219e-03 -1.71832408e+01] [-1.71881776e-02 1.97433972e-04 9.99852253e-01 -2.21225437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.013176383857404765 Centerline is valid? [True, True] Translation: X:135.17, Y:-17.21, Z:-2.21 [[ 9.54648094e-01 2.97292027e-01 1.62624275e-02 1.35173630e+02] [-2.97244490e-01 9.54786568e-01 -5.32193598e-03 -1.72056846e+01] [-1.71093165e-02 2.46659063e-04 9.99853595e-01 -2.21467166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.015244257784927013 Centerline is valid? [True, True] Translation: X:135.23, Y:-17.23, Z:-2.22 [[ 9.56440319e-01 2.91490138e-01 1.59817309e-02 1.35229228e+02] [-2.91443350e-01 9.56573770e-01 -5.23410234e-03 -1.72308055e+01] [-1.68133938e-02 3.48337329e-04 9.99858584e-01 -2.21700387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.01562929935353696 Centerline is valid? [True, True] Translation: X:135.29, Y:-17.25, Z:-2.22 [[ 9.57509714e-01 2.87933345e-01 1.64175614e-02 1.35287217e+02] [-2.87883433e-01 9.57650359e-01 -5.37768236e-03 -1.72512036e+01] [-1.72706976e-02 4.22839179e-04 9.99850761e-01 -2.21823383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.016176514496326764 Centerline is valid? [True, True] Translation: X:135.35, Y:-17.27, Z:-2.22 [[ 9.58078898e-01 2.85981293e-01 1.73068235e-02 1.35346002e+02] [-2.85925425e-01 9.58235077e-01 -5.67351307e-03 -1.72705524e+01] [-1.82065240e-02 4.87212283e-04 9.99834129e-01 -2.21896216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.016197279772848867 Centerline is valid? [True, True] Translation: X:135.40, Y:-17.29, Z:-2.22 [[ 9.58216674e-01 2.85523377e-01 1.72396703e-02 1.35404705e+02] [-2.85467783e-01 9.58371615e-01 -5.65611871e-03 -1.72906272e+01] [-1.81369648e-02 4.98416788e-04 9.99835387e-01 -2.21970269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.016323667608685817 Centerline is valid? [True, True] Translation: X:135.46, Y:-17.31, Z:-2.22 [[ 9.58048466e-01 2.86118351e-01 1.67160711e-02 1.35464058e+02] [-2.86066097e-01 9.58194167e-01 -5.48872488e-03 -1.73083014e+01] [-1.75876667e-02 4.76563239e-04 9.99845211e-01 -2.22250821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.014872528819779874 Centerline is valid? [True, True] Translation: X:135.52, Y:-17.32, Z:-2.23 [[ 9.56777885e-01 2.90401985e-01 1.55809232e-02 1.35524447e+02] [-2.90357091e-01 9.56904670e-01 -5.11984859e-03 -1.73213247e+01] [-1.63962723e-02 3.74526372e-04 9.99865502e-01 -2.22501134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.014103342158717606 Centerline is valid? [True, True] Translation: X:135.58, Y:-17.34, Z:-2.23 [[ 9.55408757e-01 2.94887922e-01 1.53368984e-02 1.35582530e+02] [-2.94844991e-01 9.55531803e-01 -5.04024986e-03 -1.73372196e+01] [-1.61412030e-02 2.93491187e-04 9.99869679e-01 -2.22595145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.01292827689746121 Centerline is valid? [True, True] Translation: X:135.64, Y:-17.35, Z:-2.23 [[ 9.53548611e-01 3.00834267e-01 1.56137724e-02 1.35641136e+02] [-3.00790561e-01 9.53676415e-01 -5.13156711e-03 -1.73510054e+01] [-1.64342377e-02 1.96723325e-04 9.99864929e-01 -2.22636423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.01230142508673071 Centerline is valid? [True, True] Translation: X:135.70, Y:-17.37, Z:-2.23 [[ 9.52611147e-01 3.03816387e-01 1.50866044e-02 1.35701446e+02] [-3.03775932e-01 9.52730593e-01 -4.95989459e-03 -1.73673477e+01] [-1.58803668e-02 1.41903551e-04 9.99873889e-01 -2.22782942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.012105768204412554 Centerline is valid? [True, True] Translation: X:135.76, Y:-17.38, Z:-2.23 [[ 9.51628364e-01 3.06930823e-01 1.40330824e-02 1.35761569e+02] [-3.06896107e-01 9.51731823e-01 -4.61704748e-03 -1.73845001e+01] [-1.47728453e-02 8.70149893e-05 9.99890872e-01 -2.23045890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.012028733788965016 Centerline is valid? [True, True] Translation: X:135.82, Y:-17.40, Z:-2.23 [[ 9.51155756e-01 3.08429061e-01 1.32000720e-02 1.35821362e+02] [-3.08398444e-01 9.51247344e-01 -4.34622147e-03 -1.74039815e+01] [-1.38970345e-02 6.30518970e-05 9.99903430e-01 -2.23212960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.012008580751088087 Centerline is valid? [True, True] Translation: X:135.88, Y:-17.42, Z:-2.23 [[ 9.50712145e-01 3.09808265e-01 1.28552293e-02 1.35880719e+02] [-3.09779299e-01 9.50799052e-01 -4.23660649e-03 -1.74241306e+01] [-1.35352755e-02 4.55093328e-05 9.99908393e-01 -2.23340003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.01201419309055999 Centerline is valid? [True, True] Translation: X:135.94, Y:-17.44, Z:-2.23 [[ 9.49771027e-01 3.12675832e-01 1.29930749e-02 1.35938847e+02] [-3.12646452e-01 9.49859897e-01 -4.28620651e-03 -1.74444244e+01] [-1.36817940e-02 8.67597071e-06 9.99906400e-01 -2.23351183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.012092800535381212 Centerline is valid? [True, True] Translation: X:136.00, Y:-17.47, Z:-2.24 [[ 9.49057721e-01 3.14886396e-01 1.16619236e-02 1.35997218e+02] [-3.14862859e-01 9.49129368e-01 -3.85002441e-03 -1.74651598e+01] [-1.22809945e-02 -1.80112188e-05 9.99924586e-01 -2.23514098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.012155350989380621 Centerline is valid? [True, True] Translation: X:136.06, Y:-17.49, Z:-2.24 [[ 9.48710602e-01 3.15979076e-01 1.02672729e-02 1.36056662e+02] [-3.15960873e-01 9.48766158e-01 -3.39181079e-03 -1.74861440e+01] [-1.08129823e-02 -2.62096606e-05 9.99941538e-01 -2.23629973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.012171843290755102 Centerline is valid? [True, True] Translation: X:136.11, Y:-17.51, Z:-2.24 [[ 9.48889770e-01 3.15489983e-01 8.61830754e-03 1.36114020e+02] [-3.15477109e-01 9.48928907e-01 -2.85009231e-03 -1.75066624e+01] [-9.07733673e-03 -1.44553153e-05 9.99958800e-01 -2.23935299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.012350939693124006 Centerline is valid? [True, True] Translation: X:136.17, Y:-17.53, Z:-2.24 [[ 9.50529605e-01 3.10545714e-01 7.40464915e-03 1.36170949e+02] [-3.10536062e-01 9.50558446e-01 -2.44858668e-03 -1.75325510e+01] [-7.79894989e-03 2.80435412e-05 9.99969587e-01 -2.24094494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.01310416172550322 Centerline is valid? [True, True] Translation: X:136.23, Y:-17.56, Z:-2.24 [[ 9.52624047e-01 3.04037200e-01 8.29493335e-03 1.36228617e+02] [-3.04024817e-01 9.52660156e-01 -2.74563905e-03 -1.75565558e+01] [-8.73702891e-03 9.36961848e-05 9.99961827e-01 -2.23961269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.013976791810718625 Centerline is valid? [True, True] Translation: X:136.29, Y:-17.58, Z:-2.24 [[ 9.53960819e-01 2.99839151e-01 7.43227454e-03 1.36286971e+02] [-2.99829070e-01 9.53989764e-01 -2.46168911e-03 -1.75789597e+01] [-7.82842461e-03 1.19943000e-04 9.99969350e-01 -2.24017048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.014637489603805624 Centerline is valid? [True, True] Translation: X:136.34, Y:-17.60, Z:-2.24 [[ 9.55132320e-01 2.96088078e-01 7.35535528e-03 1.36344827e+02] [-2.96078070e-01 9.55160629e-01 -2.43921668e-03 -1.76000481e+01] [-7.74776875e-03 1.52015290e-04 9.99969974e-01 -2.24056284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.016471176517970972 Centerline is valid? [True, True] Translation: X:136.40, Y:-17.62, Z:-2.24 [[ 9.56900260e-01 2.90332067e-01 7.01305137e-03 1.36401262e+02] [-2.90322802e-01 9.56925940e-01 -2.32730202e-03 -1.76213095e+01] [-7.38666118e-03 1.90947183e-04 9.99972700e-01 -2.24150428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.01745669617317062 Centerline is valid? [True, True] Translation: X:136.46, Y:-17.64, Z:-2.24 [[ 9.58263748e-01 2.85810619e-01 6.54826560e-03 1.36458814e+02] [-2.85802432e-01 9.58286098e-01 -2.17362566e-03 -1.76404011e+01] [-6.89635719e-03 2.11396432e-04 9.99976198e-01 -2.24248428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.018064759024032585 Centerline is valid? [True, True] Translation: X:136.52, Y:-17.66, Z:-2.24 [[ 9.59375773e-01 2.82048835e-01 6.82506286e-03 1.36517619e+02] [-2.82039846e-01 9.59400017e-01 -2.26548138e-03 -1.76588359e+01] [-7.18694181e-03 2.48508267e-04 9.99974143e-01 -2.24267187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.01995808814269763 Centerline is valid? [True, True] Translation: X:136.58, Y:-17.68, Z:-2.24 [[ 9.59889574e-01 2.80271394e-01 7.74279613e-03 1.36575453e+02] [-2.80259777e-01 9.59920756e-01 -2.56888781e-03 -1.76789975e+01] [-8.15245648e-03 2.95854311e-04 9.99966724e-01 -2.24271256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.019089607729884297 Centerline is valid? [True, True] Translation: X:136.64, Y:-17.69, Z:-2.24 [[ 9.59717271e-01 2.80838503e-01 8.51439750e-03 1.36636457e+02] [-2.80824446e-01 9.59754985e-01 -2.82845803e-03 -1.76939897e+01] [-8.96607536e-03 3.23469059e-04 9.99959752e-01 -2.24197393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.017827676398767034 Centerline is valid? [True, True] Translation: X:136.70, Y:-17.71, Z:-2.24 [[ 9.58932847e-01 2.83496887e-01 8.79260116e-03 1.36697105e+02] [-2.83481998e-01 9.58973107e-01 -2.92189213e-03 -1.77076441e+01] [-9.26021537e-03 3.09354197e-04 9.99957075e-01 -2.24253639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.016717984075262364 Centerline is valid? [True, True] Translation: X:136.76, Y:-17.72, Z:-2.24 [[ 9.57271318e-01 2.89022429e-01 9.88228999e-03 1.36758118e+02] [-2.89003903e-01 9.57322282e-01 -3.28512885e-03 -1.77171459e+01] [-1.04100123e-02 2.88739250e-04 9.99945773e-01 -2.24456020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.016128710907371602 Centerline is valid? [True, True] Translation: X:136.82, Y:-17.73, Z:-2.25 [[ 9.56108520e-01 2.92859071e-01 9.49009357e-03 1.36817698e+02] [-2.92842170e-01 9.56155588e-01 -3.15518399e-03 -1.77304143e+01] [-9.99803025e-03 2.37598697e-04 9.99949990e-01 -2.24607422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.014573499975053346 Centerline is valid? [True, True] Translation: X:136.88, Y:-17.74, Z:-2.25 [[ 9.55112186e-01 2.96111637e-01 8.86622680e-03 1.36878904e+02] [-2.96097036e-01 9.55153319e-01 -2.94653956e-03 -1.77419483e+01] [-9.34111061e-03 1.89012365e-04 9.99956353e-01 -2.24644608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.014870054373890529 Centerline is valid? [True, True] Translation: X:136.94, Y:-17.76, Z:-2.25 [[ 9.55093597e-01 2.96190387e-01 8.21435949e-03 1.36939760e+02] [-2.96177843e-01 9.55128904e-01 -2.73158533e-03 -1.77587157e+01] [-8.65484149e-03 1.76008385e-04 9.99962531e-01 -2.24850073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.015615791515496295 Centerline is valid? [True, True] Translation: X:137.00, Y:-17.77, Z:-2.25 [[ 9.55958221e-01 2.93409079e-01 7.41563732e-03 1.36999394e+02] [-2.93398754e-01 9.55986966e-01 -2.46828044e-03 -1.77744604e+01] [-7.81346851e-03 1.83834230e-04 9.99969457e-01 -2.25044569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.017143291396306905 Centerline is valid? [True, True] Translation: X:137.06, Y:-17.79, Z:-2.25 [[ 9.57365807e-01 2.88779493e-01 7.55747422e-03 1.37057886e+02] [-2.88768596e-01 9.57395609e-01 -2.51915342e-03 -1.77934591e+01] [-7.96297248e-03 2.29390125e-04 9.99968269e-01 -2.25191571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.018728043226713866 Centerline is valid? [True, True] Translation: X:137.12, Y:-17.81, Z:-2.25 [[ 9.58422828e-01 2.85264588e-01 7.05678197e-03 1.37115612e+02] [-2.85254990e-01 9.58448776e-01 -2.35249485e-03 -1.78139031e+01] [-7.43464752e-03 2.41702496e-04 9.99972333e-01 -2.25321297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.0202399306151815 Centerline is valid? [True, True] Translation: X:137.17, Y:-17.83, Z:-2.25 [[ 9.59246657e-01 2.82491880e-01 6.64747321e-03 1.37174005e+02] [-2.82483307e-01 9.59269658e-01 -2.21446567e-03 -1.78339524e+01] [-7.00228793e-03 2.46418573e-04 9.99975453e-01 -2.25491067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.02187770518946184 Centerline is valid? [True, True] Translation: X:137.23, Y:-17.85, Z:-2.26 [[ 9.59492068e-01 2.81686872e-01 5.24188393e-03 1.37232138e+02] [-2.81681527e-01 9.59506366e-01 -1.74675116e-03 -1.78530118e+01] [-5.52165787e-03 1.99452018e-04 9.99984736e-01 -2.25731715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.021173341197424582 Centerline is valid? [True, True] Translation: X:137.29, Y:-17.87, Z:-2.26 [[ 9.58751659e-01 2.84217020e-01 3.99266973e-03 1.37292524e+02] [-2.84213933e-01 9.58759962e-01 -1.33226369e-03 -1.78700653e+01] [-4.20666390e-03 1.42537661e-04 9.99991142e-01 -2.25850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.018038145746167102 Centerline is valid? [True, True] Translation: X:137.35, Y:-17.88, Z:-2.26 [[ 9.56751871e-01 2.90884703e-01 3.45626851e-03 1.37352971e+02] [-2.90882430e-01 9.56758109e-01 -1.15426920e-03 -1.78806272e+01] [-3.64257217e-03 9.89814322e-05 9.99993361e-01 -2.25960966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.017345023572670874 Centerline is valid? [True, True] Translation: X:137.41, Y:-17.90, Z:-2.26 [[ 9.55038350e-01 2.96465535e-01 3.15234914e-03 1.37411369e+02] [-2.96463674e-01 9.55043550e-01 -1.05280446e-03 -1.78957273e+01] [-3.32275095e-03 7.09116274e-05 9.99994477e-01 -2.26209951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.014063209704475513 Centerline is valid? [True, True] Translation: X:137.47, Y:-17.91, Z:-2.26 [[ 9.53109163e-01 3.02610532e-01 3.12879556e-03 1.37471793e+02] [-3.02608732e-01 9.53114297e-01 -1.04475628e-03 -1.79075281e+01] [-3.29825403e-03 4.89659228e-05 9.99994560e-01 -2.26102479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.014074142898468749 Centerline is valid? [True, True] Translation: X:137.53, Y:-17.93, Z:-2.26 [[ 9.52144114e-01 3.05627574e-01 3.65686208e-03 1.37530055e+02] [-3.05625142e-01 9.52151135e-01 -1.22001998e-03 -1.79260907e+01] [-3.85475712e-03 4.40058472e-05 9.99992569e-01 -2.26222985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.013228625246238702 Centerline is valid? [True, True] Translation: X:137.59, Y:-17.94, Z:-2.26 [[ 9.50900473e-01 3.09476026e-01 3.58880260e-03 1.37590682e+02] [-3.09473706e-01 9.50907245e-01 -1.19852728e-03 -1.79421856e+01] [-3.78353385e-03 2.90401144e-05 9.99992842e-01 -2.26341043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.012753647910838545 Centerline is valid? [True, True] Translation: X:137.65, Y:-17.96, Z:-2.26 [[ 9.49925406e-01 3.12456057e-01 3.59660657e-03 1.37649974e+02] [-3.12453755e-01 9.49932214e-01 -1.19961747e-03 -1.79599505e+01] [-3.79136019e-03 1.57738817e-05 9.99992813e-01 -2.26412591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.012480925562160784 Centerline is valid? [True, True] Translation: X:137.71, Y:-17.98, Z:-2.27 [[ 9.48867417e-01 3.15656337e-01 3.42064588e-03 1.37709263e+02] [-3.15654272e-01 9.48873583e-01 -1.14182378e-03 -1.79763379e+01] [-3.60618443e-03 3.69789736e-06 9.99993498e-01 -2.26602638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.012259742461496895 Centerline is valid? [True, True] Translation: X:137.77, Y:-18.00, Z:-2.27 [[ 9.48868345e-01 3.15663575e-01 2.31757426e-03 1.37767687e+02] [-3.15662630e-01 9.48871175e-01 -7.72723680e-04 -1.79960108e+01] [-2.44300013e-03 1.64145585e-06 9.99997016e-01 -2.26507685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.012866293334608127 Centerline is valid? [True, True] Translation: X:137.82, Y:-18.02, Z:-2.27 [[ 9.50139395e-01 3.11824719e-01 6.89207095e-04 1.37824713e+02] [-3.11824636e-01 9.50139645e-01 -2.27349790e-04 -1.80192562e+01] [-7.25736269e-04 1.10224010e-06 9.99999737e-01 -2.26755119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.014449415557876343 Centerline is valid? [True, True] Translation: X:137.88, Y:-18.05, Z:-2.27 [[ 9.52287723e-01 3.05201719e-01 5.36394864e-05 1.37880814e+02] [-3.05201718e-01 9.52287725e-01 -1.43208486e-05 -1.80455838e+01] [-5.54509722e-05 -2.73329517e-06 9.99999998e-01 -2.26753810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.016777963328829387 Centerline is valid? [True, True] Translation: X:137.94, Y:-18.07, Z:-2.27 [[ 9.53912798e-01 3.00083770e-01 -3.24336573e-04 1.37936919e+02] [-3.00083749e-01 9.53912853e-01 1.12524261e-04 -1.80704240e+01] [ 3.43155530e-04 -1.00101978e-05 9.99999941e-01 -2.26866286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.016183445862387992 Centerline is valid? [True, True] Translation: X:138.00, Y:-18.09, Z:-2.27 [[ 9.55401628e-01 2.95309067e-01 -5.33439436e-04 1.37995531e+02] [-2.95309012e-01 9.55401777e-01 1.80334349e-04 -1.80915080e+01] [ 5.62903353e-04 -1.47622572e-05 9.99999841e-01 -2.26631231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.019051487295166425 Centerline is valid? [True, True] Translation: X:138.05, Y:-18.12, Z:-2.27 [[ 9.57055712e-01 2.89900104e-01 -1.51453207e-03 1.38050473e+02] [-2.89899661e-01 9.57056909e-01 5.08986995e-04 -1.81175652e+01] [ 1.59704876e-03 -4.80665784e-05 9.99998724e-01 -2.26767153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.01815368301564631 Centerline is valid? [True, True] Translation: X:138.11, Y:-18.14, Z:-2.27 [[ 9.57563074e-01 2.88215893e-01 -2.13488256e-03 1.38109342e+02] [-2.88214999e-01 9.57565451e-01 7.21675651e-04 -1.81377707e+01] [ 2.25228817e-03 -7.57447805e-05 9.99997461e-01 -2.26616374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.017477177405625162 Centerline is valid? [True, True] Translation: X:138.17, Y:-18.16, Z:-2.27 [[ 9.57095739e-01 2.89763417e-01 -2.21531332e-03 1.38168749e+02] [-2.89762458e-01 9.57098300e-01 7.49444530e-04 -1.81563228e+01] [ 2.33743422e-03 -7.53755354e-05 9.99997265e-01 -2.26631724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.016377290093920954 Centerline is valid? [True, True] Translation: X:138.23, Y:-18.17, Z:-2.27 [[ 9.55576929e-01 2.94726676e-01 -2.98645575e-03 1.38227447e+02] [-2.94724973e-01 9.55581592e-01 1.00539803e-03 -1.81738268e+01] [ 3.15011976e-03 -8.05520705e-05 9.99995035e-01 -2.26760517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.014729654789935558 Centerline is valid? [True, True] Translation: X:138.29, Y:-18.19, Z:-2.27 [[ 9.54152809e-01 2.99305286e-01 -2.96035311e-03 1.38286540e+02] [-2.99303633e-01 9.54157399e-01 9.96743903e-04 -1.81896986e+01] [ 3.12297354e-03 -6.50015533e-05 9.99995121e-01 -2.26797581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.01331650366352663 Centerline is valid? [True, True] Translation: X:138.35, Y:-18.21, Z:-2.27 [[ 9.51894355e-01 3.06421501e-01 -1.73234130e-03 1.38346176e+02] [-3.06420947e-01 9.51895931e-01 5.83585313e-04 -1.82051694e+01] [ 1.82783172e-03 -2.46859049e-05 9.99998329e-01 -2.26879080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.012896769964868595 Centerline is valid? [True, True] Translation: X:138.41, Y:-18.22, Z:-2.27 [[ 9.51128862e-01 3.08792044e-01 -1.16688475e-03 1.38405572e+02] [-3.08791790e-01 9.51129577e-01 3.97154517e-04 -1.82239364e+01] [ 1.23249675e-03 -1.74206942e-05 9.99999240e-01 -2.27002624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.012346385210438047 Centerline is valid? [True, True] Translation: X:138.46, Y:-18.24, Z:-2.27 [[ 9.49665707e-01 3.13264289e-01 -7.28647378e-04 1.38464172e+02] [-3.13264190e-01 9.49665986e-01 2.49385651e-04 -1.82412974e+01] [ 7.70095250e-04 -8.57386999e-06 9.99999703e-01 -2.27193851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.011976396090827023 Centerline is valid? [True, True] Translation: X:138.52, Y:-18.26, Z:-2.27 [[ 9.48314482e-01 3.17330695e-01 -9.34672929e-04 1.38523694e+02] [-3.17330534e-01 9.48314942e-01 3.19304738e-04 -1.82593411e+01] [ 9.87689499e-04 -6.20104729e-06 9.99999512e-01 -2.27386102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.0116356114737221 Centerline is valid? [True, True] Translation: X:138.58, Y:-18.28, Z:-2.27 [[ 9.46844261e-01 3.21691801e-01 -5.75707808e-04 1.38583802e+02] [-3.21691739e-01 9.46844436e-01 1.99142787e-04 -1.82772823e+01] [ 6.09168337e-04 -3.35675921e-06 9.99999814e-01 -2.27394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.011533016805388383 Centerline is valid? [True, True] Translation: X:138.64, Y:-18.30, Z:-2.27 [[ 9.47217002e-01 3.20593112e-01 -9.33321363e-05 1.38642477e+02] [-3.20593110e-01 9.47217006e-01 3.30025461e-05 -1.82992776e+01] [ 9.89861756e-05 -1.33893292e-06 9.99999995e-01 -2.27456009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.011917721551643192 Centerline is valid? [True, True] Translation: X:138.70, Y:-18.32, Z:-2.28 [[ 9.48584511e-01 3.16522990e-01 -7.88990608e-04 1.38698478e+02] [-3.16522875e-01 9.48584839e-01 2.69845386e-04 -1.83228276e+01] [ 8.33836797e-04 -6.23757763e-06 9.99999652e-01 -2.27668268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.013144153102564754 Centerline is valid? [True, True] Translation: X:138.75, Y:-18.35, Z:-2.28 [[ 9.51789261e-01 3.06749949e-01 -1.29268441e-03 1.38754587e+02] [-3.06749637e-01 9.51790139e-01 4.38147904e-04 -1.83513979e+01] [ 1.36476612e-03 -2.04939962e-05 9.99999068e-01 -2.27717509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.016466678153845216 Centerline is valid? [True, True] Translation: X:138.81, Y:-18.38, Z:-2.28 [[ 9.54062232e-01 2.99604942e-01 -1.46176405e-03 1.38808657e+02] [-2.99604536e-01 9.54063351e-01 4.94415891e-04 -1.83794362e+01] [ 1.54274495e-03 -3.37523890e-05 9.99998809e-01 -2.27987495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.01822725538159059 Centerline is valid? [True, True] Translation: X:138.86, Y:-18.41, Z:-2.28 [[ 9.56953018e-01 2.90241878e-01 -7.57221451e-04 1.38864267e+02] [-2.90241766e-01 9.56953317e-01 2.56271788e-04 -1.84059854e+01] [ 7.99006384e-04 -2.54627701e-05 9.99999680e-01 -2.27830812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.01853569936750557 Centerline is valid? [True, True] Translation: X:138.92, Y:-18.43, Z:-2.28 [[ 9.58114005e-01 2.86386719e-01 -4.48325771e-04 1.38920802e+02] [-2.86386679e-01 9.58114110e-01 1.51863873e-04 -1.84282511e+01] [ 4.73039043e-04 -1.71083751e-05 9.99999888e-01 -2.27806611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.019225486517222414 Centerline is valid? [True, True] Translation: X:138.98, Y:-18.45, Z:-2.28 [[ 9.58357563e-01 2.85570878e-01 -2.35890769e-04 1.38979084e+02] [-2.85570866e-01 9.58357592e-01 8.39579888e-05 -1.84504646e+01] [ 2.50043666e-04 -1.30982423e-05 9.99999969e-01 -2.27924083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.017848318439094367 Centerline is valid? [True, True] Translation: X:139.04, Y:-18.47, Z:-2.28 [[ 9.57465158e-01 2.88547241e-01 -9.79929960e-04 1.39037387e+02] [-2.88547052e-01 9.57465659e-01 3.32190480e-04 -1.84691790e+01] [ 1.03410193e-03 -3.53049086e-05 9.99999465e-01 -2.27987618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.016448628116705392 Centerline is valid? [True, True] Translation: X:139.09, Y:-18.49, Z:-2.28 [[ 9.55184889e-01 2.96009191e-01 -6.22121960e-04 1.39094496e+02] [-2.96009117e-01 9.55185091e-01 2.10513250e-04 -1.84868061e+01] [ 6.56555478e-04 -1.69253034e-05 9.99999784e-01 -2.28188784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.014210511204993623 Centerline is valid? [True, True] Translation: X:139.15, Y:-18.50, Z:-2.28 [[ 9.53056822e-01 3.02791044e-01 5.27791359e-04 1.39153577e+02] [-3.02790992e-01 9.53056968e-01 -1.78239246e-04 -1.85033892e+01] [-5.56984479e-04 1.00616600e-05 9.99999845e-01 -2.28212298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.01185023668444302 Centerline is valid? [True, True] Translation: X:139.21, Y:-18.52, Z:-2.28 [[ 9.49818992e-01 3.12788673e-01 2.66994436e-03 1.39212651e+02] [-3.12787370e-01 9.49822744e-01 -9.03379341e-04 -1.85178784e+01] [-2.81854071e-03 2.29219805e-05 9.99996028e-01 -2.28178112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.011369723274533627 Centerline is valid? [True, True] Translation: X:139.27, Y:-18.54, Z:-2.28 [[ 9.48069228e-01 3.18043468e-01 3.61830538e-03 1.39271113e+02] [-3.18041118e-01 9.48076132e-01 -1.22268430e-03 -1.85356091e+01] [-3.81929573e-03 8.41947720e-06 9.99992706e-01 -2.28283107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.011204986841080204 Centerline is valid? [True, True] Translation: X:139.33, Y:-18.55, Z:-2.28 [[ 9.47022107e-01 3.21136689e-01 4.51178416e-03 1.39329579e+02] [-3.21133069e-01 9.47032854e-01 -1.52490493e-03 -1.85543176e+01] [-4.76251075e-03 -4.76441314e-06 9.99988659e-01 -2.28441827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.01097431011401219 Centerline is valid? [True, True] Translation: X:139.39, Y:-18.58, Z:-2.28 [[ 9.46666371e-01 3.22172031e-01 5.28809922e-03 1.39388478e+02] [-3.22167066e-01 9.46681141e-01 -1.78855690e-03 -1.85763417e+01] [-5.58236681e-03 -1.04847447e-05 9.99984418e-01 -2.28389873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.01104503308308513 Centerline is valid? [True, True] Translation: X:139.45, Y:-18.60, Z:-2.29 [[ 9.47467629e-01 3.19796944e-01 5.91666234e-03 1.39447178e+02] [-3.19790667e-01 9.47486103e-01 -2.00357774e-03 -1.86002512e+01] [-6.24669337e-03 6.23165340e-06 9.99980489e-01 -2.28542135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.011807386251836633 Centerline is valid? [True, True] Translation: X:139.50, Y:-18.63, Z:-2.29 [[ 9.49933630e-01 3.12404902e-01 5.41069190e-03 1.39502620e+02] [-3.12399522e-01 9.49949038e-01 -1.83406575e-03 -1.86287840e+01] [-5.71285270e-03 5.19431693e-05 9.99983680e-01 -2.28702131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.013321943813194079 Centerline is valid? [True, True] Translation: X:139.56, Y:-18.66, Z:-2.29 [[ 9.52039620e-01 3.05913887e-01 6.10374094e-03 1.39559227e+02] [-3.05906883e-01 9.52059180e-01 -2.07266892e-03 -1.86558314e+01] [-6.44518080e-03 1.06086561e-04 9.99979224e-01 -2.28857586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.016348232998633923 Centerline is valid? [True, True] Translation: X:139.61, Y:-18.69, Z:-2.29 [[ 9.55037583e-01 2.96416596e-01 6.35734387e-03 1.39613307e+02] [-2.96408781e-01 9.55058726e-01 -2.15985030e-03 -1.86861722e+01] [-6.71185221e-03 1.78365663e-04 9.99977459e-01 -2.28967135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.019320052760893804 Centerline is valid? [True, True] Translation: X:139.67, Y:-18.71, Z:-2.29 [[ 9.56987025e-01 2.90078451e-01 5.50694205e-03 1.39667450e+02] [-2.90072481e-01 9.57002850e-01 -1.87100344e-03 -1.87144807e+01] [-5.81289702e-03 1.93113669e-04 9.99983086e-01 -2.29124335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.017467049185083086 Centerline is valid? [True, True] Translation: X:139.73, Y:-18.73, Z:-2.29 [[ 9.57435411e-01 2.88602645e-01 5.09387893e-03 1.39726373e+02] [-2.88597530e-01 9.57448943e-01 -1.72809509e-03 -1.87341777e+01] [-5.37586182e-03 1.84458548e-04 9.99985533e-01 -2.29186069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.01787879403841475 Centerline is valid? [True, True] Translation: X:139.78, Y:-18.75, Z:-2.29 [[ 9.56977069e-01 2.90106136e-01 5.77234574e-03 1.39784006e+02] [-2.90099580e-01 9.56994456e-01 -1.96066072e-03 -1.87544431e+01] [-6.09290258e-03 2.01752277e-04 9.99981418e-01 -2.29297567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.017330725342191797 Centerline is valid? [True, True] Translation: X:139.84, Y:-18.77, Z:-2.29 [[ 9.55407899e-01 2.95228258e-01 6.00188663e-03 1.39840911e+02] [-2.95221246e-01 9.55426734e-01 -2.04266997e-03 -1.87729596e+01] [-6.33741683e-03 1.79698575e-04 9.99979902e-01 -2.29440873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.014645773062285077 Centerline is valid? [True, True] Translation: X:139.90, Y:-18.79, Z:-2.29 [[ 9.53332480e-01 3.01840322e-01 7.04287752e-03 1.39900818e+02] [-3.01830849e-01 9.53358482e-01 -2.39669948e-03 -1.87879201e+01] [-7.43780757e-03 1.59093764e-04 9.99972326e-01 -2.29460021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.013120276386034446 Centerline is valid? [True, True] Translation: X:139.96, Y:-18.80, Z:-2.29 [[ 9.51583687e-01 3.07265634e-01 8.73589788e-03 1.39960759e+02] [-3.07251286e-01 9.51623775e-01 -2.97287284e-03 -1.88034391e+01] [-9.22674978e-03 1.44821442e-04 9.99957422e-01 -2.29469032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.012071307455365781 Centerline is valid? [True, True] Translation: X:140.02, Y:-18.82, Z:-2.29 [[ 9.49803922e-01 3.12672002e-01 1.04273044e-02 1.40021324e+02] [-3.12651883e-01 9.49861152e-01 -3.54867291e-03 -1.88186083e+01] [-1.10140620e-02 1.10427099e-04 9.99939337e-01 -2.29489375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.0114160093453826 Centerline is valid? [True, True] Translation: X:140.08, Y:-18.83, Z:-2.30 [[ 9.47651132e-01 3.19123211e-01 1.08493494e-02 1.40082094e+02] [-3.19101816e-01 9.47713234e-01 -3.69544248e-03 -1.88335388e+01] [-1.14613735e-02 3.99431567e-05 9.99934316e-01 -2.29550733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.011343686452725637 Centerline is valid? [True, True] Translation: X:140.14, Y:-18.85, Z:-2.30 [[ 9.46405588e-01 3.22846428e-01 9.30846494e-03 1.40142590e+02] [-3.22830842e-01 9.46451364e-01 -3.17229249e-03 -1.88502969e+01] [-9.83417264e-03 -2.78424166e-06 9.99951643e-01 -2.29803989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.011335531392604669 Centerline is valid? [True, True] Translation: X:140.20, Y:-18.87, Z:-2.30 [[ 9.46141387e-01 3.23629350e-01 8.97329066e-03 1.40202706e+02] [-3.23614877e-01 9.46183938e-01 -3.06067458e-03 -1.88698930e+01] [-9.48090761e-03 -8.05946055e-06 9.99955055e-01 -2.29958718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.01141232504771339 Centerline is valid? [True, True] Translation: X:140.26, Y:-18.89, Z:-2.30 [[ 9.46102885e-01 3.23769912e-01 7.89771312e-03 1.40262204e+02] [-3.23758690e-01 9.46135848e-01 -2.69576199e-03 -1.88888308e+01] [-8.34511613e-03 -6.48505319e-06 9.99965179e-01 -2.30197811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.011639206492201425 Centerline is valid? [True, True] Translation: X:140.32, Y:-18.91, Z:-2.30 [[ 9.47370712e-01 3.20065499e-01 6.84179698e-03 1.40319834e+02] [-3.20056965e-01 9.47395417e-01 -2.33738967e-03 -1.89103956e+01] [-7.23000489e-03 2.46097361e-05 9.99973863e-01 -2.30370663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.012241043460623432 Centerline is valid? [True, True] Translation: X:140.38, Y:-18.93, Z:-2.30 [[ 9.48815971e-01 3.15760930e-01 6.57937066e-03 1.40377068e+02] [-3.15752926e-01 9.48838781e-01 -2.24909653e-03 -1.89338167e+01] [-6.95293884e-03 5.65231776e-05 9.99975826e-01 -2.30415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.013476856611940136 Centerline is valid? [True, True] Translation: X:140.43, Y:-18.96, Z:-2.30 [[ 9.51314455e-01 3.08147400e-01 6.78137045e-03 1.40434669e+02] [-3.08138676e-01 9.51338618e-01 -2.32170833e-03 -1.89585159e+01] [-7.16680798e-03 1.19072188e-04 9.99974311e-01 -2.30367990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.014837874451441867 Centerline is valid? [True, True] Translation: X:140.49, Y:-18.98, Z:-2.31 [[ 9.52433581e-01 3.04679267e-01 6.38888660e-03 1.40491718e+02] [-3.04671446e-01 9.52454999e-01 -2.18724928e-03 -1.89816240e+01] [-6.75153649e-03 1.36698345e-04 9.99977199e-01 -2.30588119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.015205336553893119 Centerline is valid? [True, True] Translation: X:140.55, Y:-19.00, Z:-2.31 [[ 9.53118174e-01 3.02543575e-01 5.75604663e-03 1.40550053e+02] [-3.02537192e-01 9.53135545e-01 -1.96988208e-03 -1.90034906e+01] [-6.08226781e-03 1.36112229e-04 9.99981494e-01 -2.30754179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.01589379290402104 Centerline is valid? [True, True] Translation: X:140.61, Y:-19.03, Z:-2.31 [[ 9.53683129e-01 3.00771724e-01 4.98599209e-03 1.40607217e+02] [-3.00766900e-01 9.53696153e-01 -1.70852567e-03 -1.90268694e+01] [-5.26899769e-03 1.29770723e-04 9.99986110e-01 -2.30906007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.015640925910745285 Centerline is valid? [True, True] Translation: X:140.67, Y:-19.05, Z:-2.31 [[ 9.53140115e-01 3.02467794e-01 6.09540647e-03 1.40665357e+02] [-3.02460617e-01 9.53159594e-01 -2.08884300e-03 -1.90476540e+01] [-6.44170290e-03 1.47339660e-04 9.99979241e-01 -2.30938989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.015685796204798395 Centerline is valid? [True, True] Translation: X:140.72, Y:-19.07, Z:-2.31 [[ 9.52155708e-01 3.05540862e-01 6.65507695e-03 1.40722664e+02] [-3.05532358e-01 9.52178955e-01 -2.28385999e-03 -1.90681041e+01] [-7.03463676e-03 1.41248970e-04 9.99975247e-01 -2.31076946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.013497423590700795 Centerline is valid? [True, True] Translation: X:140.78, Y:-19.08, Z:-2.31 [[ 9.50095723e-01 3.11876325e-01 7.16063071e-03 1.40782232e+02] [-3.11866644e-01 9.50122701e-01 -2.45941214e-03 -1.90846954e+01] [-7.57051021e-03 1.03515086e-04 9.99971338e-01 -2.31072956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.012725909828230145 Centerline is valid? [True, True] Translation: X:140.84, Y:-19.10, Z:-2.31 [[ 9.48313973e-01 3.17249923e-01 7.28665022e-03 1.40842157e+02] [-3.17240067e-01 9.48341965e-01 -2.50144325e-03 -1.91022606e+01] [-7.70381887e-03 6.05361834e-05 9.99970323e-01 -2.31233631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.01227360002897388 Centerline is valid? [True, True] Translation: X:140.90, Y:-19.12, Z:-2.31 [[ 9.46185604e-01 3.23556613e-01 6.62725783e-03 1.40900767e+02] [-3.23548597e-01 9.46208813e-01 -2.27751482e-03 -1.91188810e+01] [-7.00767475e-03 1.07117583e-05 9.99975446e-01 -2.31407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.012172784903407122 Centerline is valid? [True, True] Translation: X:140.96, Y:-19.14, Z:-2.31 [[ 9.45135056e-01 3.26608375e-01 6.83346794e-03 1.40960143e+02] [-3.26599934e-01 9.45159759e-01 -2.34810737e-03 -1.91385322e+01] [-7.22563044e-03 -1.25315873e-05 9.99973895e-01 -2.31413451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.012478519083306602 Centerline is valid? [True, True] Translation: X:141.02, Y:-19.16, Z:-2.32 [[ 9.44563751e-01 3.28255317e-01 6.91141035e-03 1.41018327e+02] [-3.28246709e-01 9.44589036e-01 -2.37734031e-03 -1.91587583e+01] [-7.30881704e-03 -2.30982143e-05 9.99973290e-01 -2.31523019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.012410185708481954 Centerline is valid? [True, True] Translation: X:141.08, Y:-19.18, Z:-2.32 [[ 9.44696924e-01 3.27865870e-01 7.18984251e-03 1.41077963e+02] [-3.27856527e-01 9.44724283e-01 -2.47524854e-03 -1.91798599e+01] [-7.60396833e-03 -1.88771191e-05 9.99971089e-01 -2.31593895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.012360775959879914 Centerline is valid? [True, True] Translation: X:141.14, Y:-19.20, Z:-2.32 [[ 9.45296998e-01 3.26124251e-01 7.52057375e-03 1.41136769e+02] [-3.26113952e-01 9.45326913e-01 -2.59167251e-03 -1.92021460e+01] [-7.95460802e-03 -2.66378431e-06 9.99968362e-01 -2.31718666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.012822359652335585 Centerline is valid? [True, True] Translation: X:141.19, Y:-19.23, Z:-2.32 [[ 9.47282078e-01 3.20320507e-01 7.17198709e-03 1.41193263e+02] [-3.20310957e-01 9.47309226e-01 -2.47394338e-03 -1.92281255e+01] [-7.58654434e-03 4.62561749e-05 9.99971221e-01 -2.31916811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.013995724525602712 Centerline is valid? [True, True] Translation: X:141.25, Y:-19.25, Z:-2.32 [[ 9.50034528e-01 3.12056157e-01 7.43981778e-03 1.41249549e+02] [-3.12045597e-01 9.50063651e-01 -2.57000748e-03 -1.92549766e+01] [-7.87028710e-03 1.20033468e-04 9.99969022e-01 -2.32001312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.015539192633202609 Centerline is valid? [True, True] Translation: X:141.31, Y:-19.28, Z:-2.32 [[ 9.51594089e-01 3.07276897e-01 7.04258008e-03 1.41305802e+02] [-3.07267310e-01 9.51620138e-01 -2.43184891e-03 -1.92794809e+01] [-7.44911201e-03 1.50178409e-04 9.99972244e-01 -2.32141746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.016025755250039457 Centerline is valid? [True, True] Translation: X:141.36, Y:-19.30, Z:-2.32 [[ 9.52946285e-01 3.03038589e-01 7.80972960e-03 1.41363766e+02] [-3.03026628e-01 9.52978263e-01 -2.70045232e-03 -1.93016298e+01] [-8.26084382e-03 2.06829986e-04 9.99965857e-01 -2.32166974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.016558279635517793 Centerline is valid? [True, True] Translation: X:141.42, Y:-19.32, Z:-2.32 [[ 9.53152186e-01 3.02377278e-01 8.30010796e-03 1.41422276e+02] [-3.02363747e-01 9.53188298e-01 -2.86940226e-03 -1.93223147e+01] [-8.77920782e-03 2.25325298e-04 9.99961437e-01 -2.32258726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.016726158509783498 Centerline is valid? [True, True] Translation: X:141.48, Y:-19.34, Z:-2.32 [[ 9.52831709e-01 3.03360771e-01 9.16396015e-03 1.41481499e+02] [-3.03344293e-01 9.52875745e-01 -3.17100248e-03 -1.93404492e+01] [-9.69407310e-03 2.41596700e-04 9.99952982e-01 -2.32346350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.015907142443887332 Centerline is valid? [True, True] Translation: X:141.54, Y:-19.36, Z:-2.32 [[ 9.52363467e-01 3.04831831e-01 9.02122441e-03 1.41541113e+02] [-3.04815906e-01 9.52406166e-01 -3.12394864e-03 -1.93574964e+01] [-9.54414874e-03 2.25321860e-04 9.99954428e-01 -2.32402582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.01564241912159507 Centerline is valid? [True, True] Translation: X:141.60, Y:-19.37, Z:-2.33 [[ 9.51495168e-01 3.07536641e-01 8.84078290e-03 1.41599797e+02] [-3.07521441e-01 9.51536219e-01 -3.06395176e-03 -1.93736106e+01] [-9.35460257e-03 1.96604995e-04 9.99956225e-01 -2.32512463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.014752789188619149 Centerline is valid? [True, True] Translation: X:141.66, Y:-19.39, Z:-2.33 [[ 9.50607200e-01 3.10309579e-01 7.34274665e-03 1.41660351e+02] [-3.10299169e-01 9.50635548e-01 -2.54579013e-03 -1.93880540e+01] [-7.77025905e-03 1.41598243e-04 9.99969801e-01 -2.32711641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.014179544455345139 Centerline is valid? [True, True] Translation: X:141.72, Y:-19.40, Z:-2.33 [[ 9.49914795e-01 3.12436747e-01 6.72017487e-03 1.41720235e+02] [-3.12428069e-01 9.49938559e-01 -2.33139602e-03 -1.94043374e+01] [-7.11216702e-03 1.15056310e-04 9.99974702e-01 -2.32857983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.014150525592310947 Centerline is valid? [True, True] Translation: X:141.78, Y:-19.42, Z:-2.33 [[ 9.49471120e-01 3.13768729e-01 7.33331327e-03 1.41778692e+02] [-3.13758416e-01 9.49499432e-01 -2.54669369e-03 -1.94221963e+01] [-7.76204963e-03 1.17123352e-04 9.99969868e-01 -2.32978928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.013520023454934091 Centerline is valid? [True, True] Translation: X:141.84, Y:-19.44, Z:-2.33 [[ 9.49140366e-01 3.14739888e-01 8.44800196e-03 1.41838319e+02] [-3.14726217e-01 9.49177953e-01 -2.93632685e-03 -1.94385436e+01] [-8.94283640e-03 1.28178645e-04 9.99960004e-01 -2.32940858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.013368413222207326 Centerline is valid? [True, True] Translation: X:141.90, Y:-19.46, Z:-2.33 [[ 9.48979423e-01 3.15214398e-01 8.82826786e-03 1.41898011e+02] [-3.15199467e-01 9.49020477e-01 -3.07086339e-03 -1.94570280e+01] [-9.34618733e-03 1.31520844e-04 9.99956315e-01 -2.32984897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.013539453617119696 Centerline is valid? [True, True] Translation: X:141.96, Y:-19.48, Z:-2.33 [[ 9.48893335e-01 3.15476495e-01 8.71900336e-03 1.41956215e+02] [-3.15461915e-01 9.48933383e-01 -3.03576632e-03 -1.94767781e+01] [-9.23146627e-03 1.30104934e-04 9.99957381e-01 -2.33064045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.013889183687125297 Centerline is valid? [True, True] Translation: X:142.02, Y:-19.50, Z:-2.33 [[ 9.49071858e-01 3.14968413e-01 7.58334418e-03 1.42015440e+02] [-3.14957353e-01 9.49102146e-01 -2.64219201e-03 -1.94960047e+01] [-8.02957526e-03 1.19200068e-04 9.99967755e-01 -2.33258597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.014385483479158431 Centerline is valid? [True, True] Translation: X:142.07, Y:-19.52, Z:-2.33 [[ 9.49604136e-01 3.13393930e-01 6.01905585e-03 1.42073724e+02] [-3.13386926e-01 9.49623206e-01 -2.09797176e-03 -1.95162304e+01] [-6.37332673e-03 1.05949254e-04 9.99979685e-01 -2.33470079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.014641854292626861 Centerline is valid? [True, True] Translation: X:142.13, Y:-19.54, Z:-2.34 [[ 9.49894995e-01 3.12523016e-01 5.37240432e-03 1.42132589e+02] [-3.12517416e-01 9.49910182e-01 -1.87359053e-03 -1.95372001e+01] [-5.68884174e-03 1.00744355e-04 9.99983813e-01 -2.33608386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.015690544905809452 Centerline is valid? [True, True] Translation: X:142.19, Y:-19.56, Z:-2.34 [[ 9.51764480e-01 3.06787281e-01 5.09302600e-03 1.42189203e+02] [-3.06782146e-01 9.51778098e-01 -1.77989869e-03 -1.95593395e+01] [-5.39348088e-03 1.31594906e-04 9.99985446e-01 -2.33678469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.017721851245309013 Centerline is valid? [True, True] Translation: X:142.25, Y:-19.58, Z:-2.34 [[ 9.53245840e-01 3.02153220e-01 5.07949161e-03 1.42245075e+02] [-3.02148045e-01 9.53259360e-01 -1.77527360e-03 -1.95825189e+01] [-5.37847756e-03 1.57513712e-04 9.99985523e-01 -2.33741987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.019486818212493807 Centerline is valid? [True, True] Translation: X:142.30, Y:-19.60, Z:-2.34 [[ 9.55513585e-01 2.94902010e-01 5.15677260e-03 1.42302080e+02] [-2.94896571e-01 9.55527479e-01 -1.80235694e-03 -1.96047993e+01] [-5.45895661e-03 2.01461978e-04 9.99985079e-01 -2.33799916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.022412367957413432 Centerline is valid? [True, True] Translation: X:142.36, Y:-19.63, Z:-2.34 [[ 9.57373057e-01 2.88809212e-01 5.10574668e-03 1.42357388e+02] [-2.88803792e-01 9.57386643e-01 -1.78483304e-03 -1.96285156e+01] [-5.40364990e-03 2.34192060e-04 9.99985373e-01 -2.33864691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.02304270211762845 Centerline is valid? [True, True] Translation: X:142.42, Y:-19.65, Z:-2.34 [[ 9.58136251e-01 2.86268593e-01 5.02176195e-03 1.42415400e+02] [-2.86263316e-01 9.58149379e-01 -1.75513502e-03 -1.96479803e+01] [-5.31403813e-03 2.44112258e-04 9.99985851e-01 -2.33922477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.02538175985473296 Centerline is valid? [True, True] Translation: X:142.47, Y:-19.67, Z:-2.34 [[ 9.58370518e-01 2.85473237e-01 5.56610607e-03 1.42473007e+02] [-2.85466752e-01 9.58386642e-01 -1.94364515e-03 -1.96693914e+01] [-5.88934038e-03 2.73793989e-04 9.99982620e-01 -2.33911210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.024956621984550453 Centerline is valid? [True, True] Translation: X:142.53, Y:-19.69, Z:-2.34 [[ 9.58111425e-01 2.86335318e-01 5.88073385e-03 1.42532001e+02] [-2.86328085e-01 9.58129430e-01 -2.05503122e-03 -1.96878043e+01] [-6.22293219e-03 2.85129629e-04 9.99980597e-01 -2.33865673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.02076442217206705 Centerline is valid? [True, True] Translation: X:142.59, Y:-19.70, Z:-2.34 [[ 9.57556120e-01 2.88170896e-01 6.61899186e-03 1.42592955e+02] [-2.88161748e-01 9.57578946e-01 -2.31718413e-03 -1.96988874e+01] [-7.00595227e-03 3.11493582e-04 9.99975409e-01 -2.33696468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.02011001643884164 Centerline is valid? [True, True] Translation: X:142.65, Y:-19.71, Z:-2.34 [[ 9.56794460e-01 2.90661060e-01 7.77883743e-03 1.42653391e+02] [-2.90648505e-01 9.56826018e-01 -2.72349572e-03 -1.97132382e+01] [-8.23460820e-03 3.44918153e-04 9.99966036e-01 -2.33699304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.020300153747699567 Centerline is valid? [True, True] Translation: X:142.71, Y:-19.73, Z:-2.34 [[ 9.56413605e-01 2.91924652e-01 7.28110652e-03 1.42713180e+02] [-2.91913699e-01 9.56441269e-01 -2.54789390e-03 -1.97300348e+01] [-7.70774380e-03 3.11385651e-04 9.99970246e-01 -2.33808765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.021319143370910804 Centerline is valid? [True, True] Translation: X:142.77, Y:-19.75, Z:-2.34 [[ 9.56237969e-01 2.92510886e-01 6.80654860e-03 1.42772672e+02] [-2.92501310e-01 9.56262149e-01 -2.38444831e-03 -1.97463486e+01] [-7.20632188e-03 2.89175631e-04 9.99973992e-01 -2.33913271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.021356139190224763 Centerline is valid? [True, True] Translation: X:142.83, Y:-19.76, Z:-2.34 [[ 9.56149437e-01 2.92831914e-01 5.26536943e-03 1.42833486e+02] [-2.92826193e-01 9.56163909e-01 -1.84367987e-03 -1.97605836e+01] [-5.57444453e-03 2.20995387e-04 9.99984438e-01 -2.34024378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.02112674322632895 Centerline is valid? [True, True] Translation: X:142.89, Y:-19.78, Z:-2.34 [[ 9.55909750e-01 2.93624613e-01 4.59750342e-03 1.42893631e+02] [-2.93620258e-01 9.55920787e-01 -1.61053606e-03 -1.97756476e+01] [-4.86774212e-03 1.89606978e-04 9.99988134e-01 -2.34128333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.019425304729788477 Centerline is valid? [True, True] Translation: X:142.96, Y:-19.79, Z:-2.34 [[ 9.55719529e-01 2.94245605e-01 4.43902518e-03 1.42955543e+02] [-2.94241547e-01 9.55729821e-01 -1.55598516e-03 -1.97867335e+01] [-4.70035054e-03 1.80939767e-04 9.99988937e-01 -2.34136401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.020097191643969916 Centerline is valid? [True, True] Translation: X:143.02, Y:-19.80, Z:-2.34 [[ 9.55521275e-01 2.94896027e-01 3.92764535e-03 1.43015050e+02] [-2.94892853e-01 9.55529334e-01 -1.37738915e-03 -1.98041053e+01] [-4.15916693e-03 1.57890093e-04 9.99991338e-01 -2.34270525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.018856025658261964 Centerline is valid? [True, True] Translation: X:143.08, Y:-19.82, Z:-2.34 [[ 9.54999990e-01 2.96595982e-01 2.41697236e-03 1.43076408e+02] [-2.96594788e-01 9.55003045e-01 -8.46609301e-04 -1.98159114e+01] [-2.55931688e-03 9.16504699e-05 9.99996721e-01 -2.34390114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.01898816068054372 Centerline is valid? [True, True] Translation: X:143.14, Y:-19.83, Z:-2.35 [[ 9.54150547e-01 2.99319635e-01 2.11892487e-03 1.43135130e+02] [-2.99318717e-01 9.54152897e-01 -7.45668722e-04 -1.98309581e+01] [-2.24497159e-03 7.72463466e-05 9.99997477e-01 -2.34552141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.017409088795382274 Centerline is valid? [True, True] Translation: X:143.20, Y:-19.84, Z:-2.35 [[ 9.52365573e-01 3.04937297e-01 3.61385331e-03 1.43196068e+02] [-3.04934663e-01 9.52372423e-01 -1.27203108e-03 -1.98416647e+01] [-3.82962395e-03 1.09449466e-04 9.99992661e-01 -2.34500676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.01599235764944076 Centerline is valid? [True, True] Translation: X:143.26, Y:-19.86, Z:-2.35 [[ 9.50937599e-01 3.09359389e-01 3.80142205e-03 1.43256170e+02] [-3.09356510e-01 9.50945193e-01 -1.33791641e-03 -1.98555469e+01] [-4.02884103e-03 9.62803548e-05 9.99991880e-01 -2.34536086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.014271521492263592 Centerline is valid? [True, True] Translation: X:143.32, Y:-19.86, Z:-2.35 [[ 9.48487797e-01 3.16796469e-01 3.30087102e-03 1.43316791e+02] [-3.16794347e-01 9.48493539e-01 -1.16089175e-03 -1.98648733e+01] [-3.49862124e-03 5.53943772e-05 9.99993878e-01 -2.34763527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.012486035517073233 Centerline is valid? [True, True] Translation: X:143.38, Y:-19.87, Z:-2.35 [[ 9.45737759e-01 3.24914523e-01 3.26245716e-03 1.43378885e+02] [-3.24912494e-01 9.45743386e-01 -1.14864834e-03 -1.98739323e+01] [-3.45865981e-03 2.63070146e-05 9.99994018e-01 -2.34921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.012006111682390701 Centerline is valid? [True, True] Translation: X:143.44, Y:-19.89, Z:-2.35 [[ 9.44036796e-01 3.29826417e-01 3.01045077e-03 1.43439565e+02] [-3.29824723e-01 9.44041596e-01 -1.05719115e-03 -1.98884901e+01] [-3.19068032e-03 5.10625729e-06 9.99994910e-01 -2.35086364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.01187015712962705 Centerline is valid? [True, True] Translation: X:143.50, Y:-19.90, Z:-2.35 [[ 9.42772179e-01 3.33426746e-01 2.68777735e-03 1.43500251e+02] [-3.33425410e-01 9.42776010e-01 -9.43652703e-04 -1.99042231e+01] [-2.84861106e-03 -6.52375303e-06 9.99995943e-01 -2.35190956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.011888826414871677 Centerline is valid? [True, True] Translation: X:143.56, Y:-19.92, Z:-2.35 [[ 9.41948732e-01 3.35742678e-01 3.07264383e-03 1.43560804e+02] [-3.35740940e-01 9.41953743e-01 -1.08039043e-03 -1.99212035e+01] [-3.25702153e-03 -1.39399293e-05 9.99994696e-01 -2.35296030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.011633910960891801 Centerline is valid? [True, True] Translation: X:143.62, Y:-19.94, Z:-2.35 [[ 9.42567424e-01 3.33990304e-01 4.13866658e-03 1.43619403e+02] [-3.33987119e-01 9.42576510e-01 -1.45851874e-03 -1.99427142e+01] [-4.38814102e-03 -7.50907282e-06 9.99990372e-01 -2.35296846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.011936569002433384 Centerline is valid? [True, True] Translation: X:143.68, Y:-19.97, Z:-2.35 [[ 9.43820172e-01 3.30429446e-01 4.45692890e-03 1.43677019e+02] [-3.30425702e-01 9.43830695e-01 -1.57308616e-03 -1.99667382e+01] [-4.72638029e-03 1.20265872e-05 9.99988831e-01 -2.35466806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.012947070163079678 Centerline is valid? [True, True] Translation: X:143.73, Y:-19.99, Z:-2.36 [[ 9.46299575e-01 3.23259447e-01 4.52159057e-03 1.43733067e+02] [-3.23255511e-01 9.46310376e-01 -1.59601591e-03 -1.99938078e+01] [-4.79475529e-03 4.86801070e-05 9.99988504e-01 -2.35540324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.013499332149001899 Centerline is valid? [True, True] Translation: X:143.79, Y:-20.02, Z:-2.36 [[ 9.47762373e-01 3.18945998e-01 4.46479634e-03 1.43790372e+02] [-3.18942107e-01 9.47772887e-01 -1.57700985e-03 -2.00179606e+01] [-4.73459389e-03 7.06190448e-05 9.99988789e-01 -2.35568268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.014996129304266394 Centerline is valid? [True, True] Translation: X:143.85, Y:-20.04, Z:-2.36 [[ 9.49385266e-01 3.14080563e-01 4.58450010e-03 1.43847260e+02] [-3.14076387e-01 9.49396329e-01 -1.62280465e-03 -2.00444812e+01] [-4.86219897e-03 1.00783593e-04 9.99988174e-01 -2.35641386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.01548672823458081 Centerline is valid? [True, True] Translation: X:143.90, Y:-20.07, Z:-2.36 [[ 9.50389072e-01 3.11011960e-01 5.67200962e-03 1.43905000e+02] [-3.11005520e-01 9.50405987e-01 -2.00658161e-03 -2.00681412e+01] [-6.01478278e-03 1.43006938e-04 9.99981901e-01 -2.35656118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.015976562403488603 Centerline is valid? [True, True] Translation: X:143.96, Y:-20.09, Z:-2.36 [[ 9.50661277e-01 3.10177335e-01 5.75817952e-03 1.43962510e+02] [-3.10170664e-01 9.50678704e-01 -2.03993535e-03 -2.00902903e+01] [-6.10692036e-03 1.53269178e-04 9.99981341e-01 -2.35743449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.016093400189446588 Centerline is valid? [True, True] Translation: X:144.02, Y:-20.11, Z:-2.36 [[ 9.50951299e-01 3.09275960e-01 6.32520662e-03 1.44020591e+02] [-3.09267891e-01 9.50972318e-01 -2.24086116e-03 -2.01135999e+01] [-6.70814089e-03 1.74766513e-04 9.99977485e-01 -2.35776698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.01597613640926139 Centerline is valid? [True, True] Translation: X:144.08, Y:-20.14, Z:-2.36 [[ 9.50844777e-01 3.09586256e-01 7.11055183e-03 1.44079525e+02] [-3.09576052e-01 9.50871343e-01 -2.52125089e-03 -2.01360414e+01] [-7.54176460e-03 1.96061676e-04 9.99971541e-01 -2.35800228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.014543144265333019 Centerline is valid? [True, True] Translation: X:144.14, Y:-20.16, Z:-2.36 [[ 9.49903286e-01 3.12456056e-01 7.41356835e-03 1.44138359e+02] [-3.12445028e-01 9.49932197e-01 -2.63150700e-03 -2.01552019e+01] [-7.86461757e-03 1.83344575e-04 9.99969057e-01 -2.35806701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.014807427098910345 Centerline is valid? [True, True] Translation: X:144.20, Y:-20.18, Z:-2.36 [[ 9.48786638e-01 3.15814114e-01 8.08460530e-03 1.44195591e+02] [-3.15801097e-01 9.48821066e-01 -2.87256208e-03 -2.01772427e+01] [-8.57803947e-03 1.72321303e-04 9.99963193e-01 -2.35933266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.013131275765321245 Centerline is valid? [True, True] Translation: X:144.25, Y:-20.20, Z:-2.36 [[ 9.46765709e-01 3.21836341e-01 7.48747787e-03 1.44254339e+02] [-3.21825337e-01 9.46795309e-01 -2.66375532e-03 -2.01955238e+01] [-7.94640219e-03 1.12292109e-04 9.99968421e-01 -2.36079064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.012250069420497918 Centerline is valid? [True, True] Translation: X:144.31, Y:-20.21, Z:-2.36 [[ 9.45547007e-01 3.25402127e-01 7.36972657e-03 1.44313140e+02] [-3.25391586e-01 9.45575724e-01 -2.62025867e-03 -2.02145963e+01] [-7.82127228e-03 7.95307235e-05 9.99969410e-01 -2.36143765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.011988356839824814 Centerline is valid? [True, True] Translation: X:144.37, Y:-20.24, Z:-2.36 [[ 9.44456137e-01 3.28539061e-01 8.04304207e-03 1.44370521e+02] [-3.28526596e-01 9.44490382e-01 -2.86246281e-03 -2.02362420e+01] [-8.53700672e-03 6.11173328e-05 9.99963557e-01 -2.36280417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.012023490379764641 Centerline is valid? [True, True] Translation: X:144.43, Y:-20.26, Z:-2.36 [[ 9.44793409e-01 3.27553728e-01 8.60051547e-03 1.44428765e+02] [-3.27539416e-01 9.44832551e-01 -3.06296177e-03 -2.02609106e+01] [-9.12933152e-03 7.68582832e-05 9.99958324e-01 -2.36329069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.012388803176309136 Centerline is valid? [True, True] Translation: X:144.49, Y:-20.29, Z:-2.36 [[ 9.45553721e-01 3.25330723e-01 9.38520464e-03 1.44486233e+02] [-3.25313535e-01 9.45600290e-01 -3.34601828e-03 -2.02852554e+01] [-9.96321478e-03 1.10705935e-04 9.99950360e-01 -2.36386061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.012514908453002406 Centerline is valid? [True, True] Translation: X:144.54, Y:-20.31, Z:-2.36 [[ 9.46407494e-01 3.22820315e-01 9.99500292e-03 1.44543551e+02] [-3.22800649e-01 9.46460259e-01 -3.56635292e-03 -2.03092507e+01] [-1.06111642e-02 1.48829703e-04 9.99943689e-01 -2.36413990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.013847945525751604 Centerline is valid? [True, True] Translation: X:144.60, Y:-20.34, Z:-2.37 [[ 9.47564232e-01 3.19438716e-01 8.99629852e-03 1.44598286e+02] [-3.19422610e-01 9.47606921e-01 -3.21226287e-03 -2.03366590e+01] [-9.55107587e-03 1.70204242e-04 9.99954373e-01 -2.36613270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.013932047109271765 Centerline is valid? [True, True] Translation: X:144.66, Y:-20.36, Z:-2.37 [[ 9.47992530e-01 3.18239462e-01 5.81440885e-03 1.44655438e+02] [-3.18232712e-01 9.48010354e-01 -2.07604392e-03 -2.03602960e+01] [-6.17279889e-03 1.17739027e-04 9.99980941e-01 -2.36941108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.01470912692423952 Centerline is valid? [True, True] Translation: X:144.71, Y:-20.38, Z:-2.37 [[ 9.48082785e-01 3.17991096e-01 4.54935947e-03 1.44711881e+02] [-3.17986958e-01 9.48093695e-01 -1.62495908e-03 -2.03840307e+01] [-4.82994155e-03 9.39587491e-05 9.99988331e-01 -2.37140921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.014848756175186084 Centerline is valid? [True, True] Translation: X:144.77, Y:-20.41, Z:-2.37 [[ 9.48827423e-01 3.15761700e-01 4.59015374e-03 1.44768371e+02] [-3.15757455e-01 9.48838520e-01 -1.64070063e-03 -2.04091660e+01] [-4.87338510e-03 1.07366483e-04 9.99988119e-01 -2.37048766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.016054187611053608 Centerline is valid? [True, True] Translation: X:144.83, Y:-20.43, Z:-2.37 [[ 9.49891833e-01 3.12545030e-01 4.59458758e-03 1.44825377e+02] [-3.12540725e-01 9.49902936e-01 -1.64536654e-03 -2.04347141e+01] [-4.87866336e-03 1.26924502e-04 9.99988091e-01 -2.37131199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.01880795711215786 Centerline is valid? [True, True] Translation: X:144.88, Y:-20.46, Z:-2.37 [[ 9.51634675e-01 3.07206908e-01 3.91923167e-03 1.44879595e+02] [-3.07203727e-01 9.51642737e-01 -1.40431688e-03 -2.04625185e+01] [-4.16112419e-03 1.32394065e-04 9.99991334e-01 -2.37155875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.01711685220168969 Centerline is valid? [True, True] Translation: X:144.94, Y:-20.48, Z:-2.37 [[ 9.51949571e-01 3.06225588e-01 4.23118993e-03 1.44938059e+02] [-3.06221883e-01 9.51958963e-01 -1.51332929e-03 -2.04826818e+01] [-4.49133934e-03 1.44930219e-04 9.99989903e-01 -2.37025505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.016407878751025805 Centerline is valid? [True, True] Translation: X:145.00, Y:-20.50, Z:-2.37 [[ 9.50930653e-01 3.09377188e-01 4.08032387e-03 1.44995616e+02] [-3.09373755e-01 9.50939398e-01 -1.46304298e-03 -2.05034878e+01] [-4.33277285e-03 1.28907299e-04 9.99990605e-01 -2.37000243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.015378733136750554 Centerline is valid? [True, True] Translation: X:145.05, Y:-20.52, Z:-2.37 [[ 9.49450878e-01 3.13894700e-01 3.62592110e-03 1.45054758e+02] [-3.13892024e-01 9.49457797e-01 -1.29966326e-03 -2.05220715e+01] [-3.85061646e-03 9.58187091e-05 9.99992582e-01 -2.37096144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.013508570921222957 Centerline is valid? [True, True] Translation: X:145.11, Y:-20.54, Z:-2.37 [[ 9.47277069e-01 3.20404582e-01 2.65674092e-03 1.45114219e+02] [-3.20403169e-01 9.47280793e-01 -9.52722945e-04 -2.05379893e+01] [-2.82193645e-03 5.12643868e-05 9.99996017e-01 -2.37214363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.012945435728173365 Centerline is valid? [True, True] Translation: X:145.17, Y:-20.56, Z:-2.37 [[ 9.46361310e-01 3.23106055e-01 1.65789046e-03 1.45173116e+02] [-3.23105515e-01 9.46362762e-01 -5.91116426e-04 -2.05575187e+01] [-1.75995910e-03 2.37361620e-05 9.99998451e-01 -2.37400894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.013046520728064908 Centerline is valid? [True, True] Translation: X:145.23, Y:-20.58, Z:-2.37 [[ 9.46471684e-01 3.22779341e-01 2.20178513e-03 1.45232156e+02] [-3.22778385e-01 9.46474245e-01 -7.86517894e-04 -2.05794031e+01] [-2.33780465e-03 3.37282669e-05 9.99997267e-01 -2.37434955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.013715454870459522 Centerline is valid? [True, True] Translation: X:145.29, Y:-20.60, Z:-2.37 [[ 9.47160026e-01 3.20740347e-01 3.67640115e-03 1.45289707e+02] [-3.20737645e-01 9.47167158e-01 -1.31823564e-03 -2.06028210e+01] [-3.90497779e-03 6.94198525e-05 9.99992373e-01 -2.37432867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.014265657815763859 Centerline is valid? [True, True] Translation: X:145.35, Y:-20.63, Z:-2.37 [[ 9.47540334e-01 3.19606533e-01 4.35651859e-03 1.45347337e+02] [-3.19602718e-01 9.47550345e-01 -1.56412962e-03 -2.06258491e+01] [-4.62792674e-03 8.97207176e-05 9.99989287e-01 -2.37492574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.014307943914195232 Centerline is valid? [True, True] Translation: X:145.41, Y:-20.65, Z:-2.38 [[ 9.47347059e-01 3.20174743e-01 4.65651867e-03 1.45405758e+02] [-3.20170384e-01 9.47358499e-01 -1.67341855e-03 -2.06478921e+01] [-4.94717889e-03 9.44287751e-05 9.99987758e-01 -2.37616998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.01422357714031643 Centerline is valid? [True, True] Translation: X:145.46, Y:-20.67, Z:-2.38 [[ 9.46570108e-01 3.22473943e-01 3.94801473e-03 1.45463282e+02] [-3.22470827e-01 9.46578338e-01 -1.41951217e-03 -2.06673046e+01] [-4.19486091e-03 7.05482145e-05 9.99991199e-01 -2.37876141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.012507057303157093 Centerline is valid? [True, True] Translation: X:145.52, Y:-20.68, Z:-2.38 [[ 9.45120331e-01 3.26705704e-01 3.30795797e-03 1.45523789e+02] [-3.26703535e-01 9.45126119e-01 -1.19136912e-03 -2.06844002e+01] [-3.51566457e-03 4.52656165e-05 9.99993819e-01 -2.37978564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.012465785762517983 Centerline is valid? [True, True] Translation: X:145.58, Y:-20.71, Z:-2.38 [[ 9.44744146e-01 3.27791571e-01 3.34447723e-03 1.45582325e+02] [-3.27789366e-01 9.44750065e-01 -1.20276930e-03 -2.07053831e+01] [-3.55395272e-03 4.00251804e-05 9.99993684e-01 -2.38151706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.01303218555360791 Centerline is valid? [True, True] Translation: X:145.64, Y:-20.73, Z:-2.38 [[ 9.45626229e-01 3.25234591e-01 3.67377095e-03 1.45639947e+02] [-3.25231906e-01 9.45633363e-01 -1.32262900e-03 -2.07289542e+01] [-3.90420508e-03 5.58851450e-05 9.99992377e-01 -2.38263253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.01503279967522474 Centerline is valid? [True, True] Translation: X:145.70, Y:-20.76, Z:-2.38 [[ 9.48287735e-01 3.17367881e-01 5.29149991e-03 1.45695185e+02] [-3.17362157e-01 9.48302489e-01 -1.91071749e-03 -2.07572858e+01] [-5.62434289e-03 1.32588140e-04 9.99984174e-01 -2.38242196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.016388089907633376 Centerline is valid? [True, True] Translation: X:145.75, Y:-20.78, Z:-2.38 [[ 9.50148769e-01 3.11727788e-01 6.56532270e-03 1.45751201e+02] [-3.11718838e-01 9.50171429e-01 -2.37108488e-03 -2.07823037e+01] [-6.97731509e-03 2.06348615e-04 9.99975637e-01 -2.38239977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.019441098766710123 Centerline is valid? [True, True] Translation: X:145.81, Y:-20.81, Z:-2.38 [[ 9.51575860e-01 3.07322833e-01 7.48732075e-03 1.45805798e+02] [-3.07311053e-01 9.51605276e-01 -2.70460560e-03 -2.08088529e+01] [-7.95616099e-03 2.72700979e-04 9.99968312e-01 -2.38348091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.019736485390467757 Centerline is valid? [True, True] Translation: X:145.86, Y:-20.83, Z:-2.38 [[ 9.52229686e-01 3.05298235e-01 7.18421852e-03 1.45863287e+02] [-3.05287345e-01 9.52256747e-01 -2.59338901e-03 -2.08314814e+01] [-7.63297764e-03 2.76251007e-04 9.99970830e-01 -2.38473382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.018897008749392284 Centerline is valid? [True, True] Translation: X:145.92, Y:-20.85, Z:-2.39 [[ 9.51896795e-01 3.06360545e-01 5.97560770e-03 1.45922291e+02] [-3.06353027e-01 9.51915525e-01 -2.15775576e-03 -2.08522138e+01] [-6.34932497e-03 2.23315283e-04 9.99979818e-01 -2.38662742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.016934704057922814 Centerline is valid? [True, True] Translation: X:145.98, Y:-20.87, Z:-2.39 [[ 9.50957417e-01 3.09256707e-01 6.34666998e-03 1.45980971e+02] [-3.09248264e-01 9.50978570e-01 -2.29580095e-03 -2.08693397e+01] [-6.74553899e-03 2.20512273e-04 9.99977224e-01 -2.38779926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.01561422394309738 Centerline is valid? [True, True] Translation: X:146.04, Y:-20.89, Z:-2.39 [[ 9.48966690e-01 3.15293232e-01 7.23877198e-03 1.46039373e+02] [-3.15282420e-01 9.48994276e-01 -2.61904532e-03 -2.08874046e+01] [-7.69532044e-03 2.03129220e-04 9.99970370e-01 -2.38839314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.014322910940166748 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.91, Z:-2.39 [[ 9.47949316e-01 3.18339491e-01 7.21551029e-03 1.46098565e+02] [-3.18328851e-01 9.47976760e-01 -2.60867403e-03 -2.09064271e+01] [-7.67058003e-03 1.75985660e-04 9.99970565e-01 -2.38904785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.013771097202510067 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.93, Z:-2.39 [[ 9.47262530e-01 3.20326412e-01 9.20266619e-03 1.46157424e+02] [-3.20309161e-01 9.47307208e-01 -3.33088466e-03 -2.09269036e+01] [-9.78472235e-03 2.07523943e-04 9.99952107e-01 -2.38845990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.01363373003431555 Centerline is valid? [True, True] Translation: X:146.22, Y:-20.95, Z:-2.39 [[ 9.46915286e-01 3.21319307e-01 1.02637626e-02 1.46216050e+02] [-3.21297869e-01 9.46970883e-01 -3.71835380e-03 -2.09476656e+01] [-1.09142632e-02 2.23241007e-04 9.99940413e-01 -2.38904121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.013551268973491279 Centerline is valid? [True, True] Translation: X:146.27, Y:-20.97, Z:-2.39 [[ 9.46365022e-01 3.22947739e-01 9.89964996e-03 1.46274642e+02] [-3.22927857e-01 9.46416778e-01 -3.58909929e-03 -2.09687576e+01] [-1.05282863e-02 1.99725285e-04 9.99944556e-01 -2.39041733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.013097498755023926 Centerline is valid? [True, True] Translation: X:146.33, Y:-20.99, Z:-2.39 [[ 9.45590639e-01 3.25222232e-01 9.42566555e-03 1.46333029e+02] [-3.25204296e-01 9.45637601e-01 -3.41967141e-03 -2.09888203e+01] [-1.00254169e-02 1.68342343e-04 9.99949730e-01 -2.39223952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.012075686285143198 Centerline is valid? [True, True] Translation: X:146.39, Y:-21.01, Z:-2.39 [[ 9.44105602e-01 3.29543609e-01 8.10070520e-03 1.46392214e+02] [-3.29530506e-01 9.44140349e-01 -2.94058766e-03 -2.10069450e+01] [-8.61725451e-03 1.06795797e-04 9.99962865e-01 -2.39464924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.012308365473944649 Centerline is valid? [True, True] Translation: X:146.45, Y:-21.03, Z:-2.40 [[ 9.43517755e-01 3.31249838e-01 6.91300289e-03 1.46449492e+02] [-3.31240331e-01 9.43543077e-01 -2.51097749e-03 -2.10286654e+01] [-7.35447691e-03 7.92864824e-05 9.99972952e-01 -2.39744596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.01224621893141048 Centerline is valid? [True, True] Translation: X:146.51, Y:-21.05, Z:-2.40 [[ 9.43577238e-01 3.31072664e-01 7.27238403e-03 1.46507914e+02] [-3.31062124e-01 9.43605259e-01 -2.64316994e-03 -2.10514025e+01] [-7.73734113e-03 8.64240859e-05 9.99970063e-01 -2.39801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.012971535259348405 Centerline is valid? [True, True] Translation: X:146.56, Y:-21.08, Z:-2.40 [[ 9.44580328e-01 3.28155378e-01 9.05823886e-03 1.46564443e+02] [-3.28138850e-01 9.44623750e-01 -3.29654412e-03 -2.10769822e+01] [-9.63840624e-03 1.41490648e-04 9.99953539e-01 -2.39738361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.012983125983711192 Centerline is valid? [True, True] Translation: X:146.62, Y:-21.10, Z:-2.40 [[ 9.45249640e-01 3.26205642e-01 9.64351925e-03 1.46622482e+02] [-3.26186778e-01 9.45298814e-01 -3.51241744e-03 -2.11001307e+01] [-1.02617777e-02 1.74522840e-04 9.99947331e-01 -2.39761030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.013529855981510665 Centerline is valid? [True, True] Translation: X:146.68, Y:-21.12, Z:-2.40 [[ 9.45490027e-01 3.25529860e-01 8.88368087e-03 1.46679795e+02] [-3.25513801e-01 9.45531745e-01 -3.23786120e-03 -2.11241831e+01] [-9.45382278e-03 1.69604744e-04 9.99955297e-01 -2.39897915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.013259493878308628 Centerline is valid? [True, True] Translation: X:146.74, Y:-21.15, Z:-2.40 [[ 9.44851878e-01 3.27384101e-01 8.63590434e-03 1.46737946e+02] [-3.27368982e-01 9.44891331e-01 -3.14985487e-03 -2.11452047e+01] [-9.19120356e-03 1.49019072e-04 9.99957749e-01 -2.40012913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.012199766862624813 Centerline is valid? [True, True] Translation: X:146.80, Y:-21.16, Z:-2.40 [[ 9.43196205e-01 3.32165393e-01 6.86078034e-03 1.46796792e+02] [-3.32155970e-01 9.43221154e-01 -2.50335965e-03 -2.11639846e+01] [-7.30276259e-03 8.23101767e-05 9.99973331e-01 -2.40199933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.011779933831075673 Centerline is valid? [True, True] Translation: X:146.86, Y:-21.19, Z:-2.40 [[ 9.41752051e-01 3.36251052e-01 6.18897735e-03 1.46855226e+02] [-3.36243463e-01 9.41772386e-01 -2.25959322e-03 -2.11850792e+01] [-6.58839856e-03 4.69733771e-05 9.99978295e-01 -2.40364000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.011659866811374214 Centerline is valid? [True, True] Translation: X:146.91, Y:-21.21, Z:-2.40 [[ 9.41328565e-01 3.37431471e-01 6.36677043e-03 1.46912360e+02] [-3.37423452e-01 9.41350095e-01 -2.32664342e-03 -2.12069747e+01] [-6.77844266e-03 4.18382523e-05 9.99977025e-01 -2.40444470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.011946701726976613 Centerline is valid? [True, True] Translation: X:146.97, Y:-21.23, Z:-2.40 [[ 9.41820423e-01 3.36040595e-01 7.14211379e-03 1.46969846e+02] [-3.36030450e-01 9.41847501e-01 -2.61183357e-03 -2.12332462e+01] [-7.60446413e-03 5.99104843e-05 9.99971084e-01 -2.40444267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.012242239022549853 Centerline is valid? [True, True] Translation: X:147.03, Y:-21.26, Z:-2.40 [[ 9.42608236e-01 3.33820773e-01 7.30782283e-03 1.47027093e+02] [-3.33810064e-01 9.42636560e-01 -2.67515166e-03 -2.12587653e+01] [-7.78164217e-03 8.21951783e-05 9.99969719e-01 -2.40491154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.01316387466990314 Centerline is valid? [True, True] Translation: X:147.08, Y:-21.29, Z:-2.41 [[ 9.43919499e-01 3.30113940e-01 6.38476233e-03 1.47082702e+02] [-3.30105672e-01 9.43941087e-01 -2.33853762e-03 -2.12865443e+01] [-6.79882336e-03 9.97449957e-05 9.99976883e-01 -2.40676597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.01353025922185339 Centerline is valid? [True, True] Translation: X:147.14, Y:-21.31, Z:-2.41 [[ 9.44449808e-01 3.28597808e-01 6.16769041e-03 1.47139466e+02] [-3.28590049e-01 9.44469941e-01 -2.26075628e-03 -2.13107790e+01] [-6.56807776e-03 1.08529144e-04 9.99978424e-01 -2.40824753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.01415094578639645 Centerline is valid? [True, True] Translation: X:147.20, Y:-21.34, Z:-2.41 [[ 9.45178904e-01 3.26509963e-01 5.29947522e-03 1.47196081e+02] [-3.26504198e-01 9.45193754e-01 -1.94313784e-03 -2.13377280e+01] [-5.64348474e-03 1.06311985e-04 9.99984070e-01 -2.40874215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.014958298338378768 Centerline is valid? [True, True] Translation: X:147.25, Y:-21.36, Z:-2.41 [[ 9.46445373e-01 3.22829395e-01 4.72631688e-03 1.47252425e+02] [-3.22824749e-01 9.46457167e-01 -1.73592121e-03 -2.13643564e+01] [-5.03366287e-03 1.17182533e-04 9.99987324e-01 -2.40950243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.015856110723080453 Centerline is valid? [True, True] Translation: X:147.31, Y:-21.39, Z:-2.41 [[ 9.47559784e-01 3.19536951e-01 5.15671899e-03 1.47308680e+02] [-3.19531372e-01 9.47573805e-01 -1.89397395e-03 -2.13896012e+01] [-5.49156649e-03 1.46920053e-04 9.99984910e-01 -2.40954310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.017003530094734643 Centerline is valid? [True, True] Translation: X:147.36, Y:-21.42, Z:-2.41 [[ 9.48506013e-01 3.16709637e-01 5.59907659e-03 1.47364739e+02] [-3.16703012e-01 9.48522522e-01 -2.05621667e-03 -2.14153549e+01] [-5.96207388e-03 1.77089459e-04 9.99982211e-01 -2.40971005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.017769518841658297 Centerline is valid? [True, True] Translation: X:147.42, Y:-21.44, Z:-2.41 [[ 9.49069446e-01 3.15019152e-01 5.48821742e-03 1.47421449e+02] [-3.15012751e-01 9.49085296e-01 -2.01666877e-03 -2.14416796e+01] [-5.84407574e-03 1.85100242e-04 9.99982906e-01 -2.40942687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.01710414611708161 Centerline is valid? [True, True] Translation: X:147.48, Y:-21.46, Z:-2.41 [[ 9.47956990e-01 3.18373911e-01 3.94956430e-03 1.47479278e+02] [-3.18370615e-01 9.47965210e-01 -1.45365035e-03 -2.14631572e+01] [-4.20685390e-03 1.20572793e-04 9.99991144e-01 -2.41143957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.015508350356045876 Centerline is valid? [True, True] Translation: X:147.54, Y:-21.48, Z:-2.41 [[ 9.46545512e-01 3.22555321e-01 3.10780537e-03 1.47537857e+02] [-3.22553303e-01 9.46550611e-01 -1.14381954e-03 -2.14823366e+01] [-3.31064015e-03 8.02443644e-05 9.99994517e-01 -2.41246024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.015124123202636843 Centerline is valid? [True, True] Translation: X:147.60, Y:-21.50, Z:-2.41 [[ 9.44923605e-01 3.27284633e-01 2.03732629e-03 1.47595174e+02] [-3.27283776e-01 9.44925800e-01 -7.49911125e-04 -2.15026506e+01] [-2.17055656e-03 4.18248830e-05 9.99997643e-01 -2.41451610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.01387479696907874 Centerline is valid? [True, True] Translation: X:147.65, Y:-21.52, Z:-2.42 [[ 9.43523626e-01 3.31301142e-01 1.64912920e-03 1.47654636e+02] [-3.31300588e-01 9.43525067e-01 -6.06185062e-04 -2.15225100e+01] [-1.75682455e-03 2.55924532e-05 9.99998456e-01 -2.41539411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.013391160078678894 Centerline is valid? [True, True] Translation: X:147.71, Y:-21.54, Z:-2.42 [[ 9.42443864e-01 3.34353746e-01 2.67140052e-03 1.47712820e+02] [-3.34352309e-01 9.42447649e-01 -9.80967187e-04 -2.15433840e+01] [-2.84564519e-03 3.13175744e-05 9.99995951e-01 -2.41592225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.012537783764306986 Centerline is valid? [True, True] Translation: X:147.77, Y:-21.56, Z:-2.41 [[ 9.41465877e-01 3.37081084e-01 4.28300760e-03 1.47771042e+02] [-3.37077401e-01 9.41475619e-01 -1.57633415e-03 -2.15648308e+01] [-4.56369966e-03 4.03597469e-05 9.99989585e-01 -2.41479898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.012454898630833159 Centerline is valid? [True, True] Translation: X:147.83, Y:-21.59, Z:-2.42 [[ 9.40981871e-01 3.38421031e-01 4.93196127e-03 1.47828866e+02] [-3.38416155e-01 9.40994795e-01 -1.81721840e-03 -2.15881266e+01] [-5.25593481e-03 4.09141987e-05 9.99986187e-01 -2.41585976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.012468423753733153 Centerline is valid? [True, True] Translation: X:147.89, Y:-21.61, Z:-2.42 [[ 9.40859171e-01 3.38759708e-01 5.08719190e-03 1.47887526e+02] [-3.38754519e-01 9.40872924e-01 -1.87557300e-03 -2.16117178e+01] [-5.42176968e-03 4.13408183e-05 9.99985301e-01 -2.41728803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.012396202792527683 Centerline is valid? [True, True] Translation: X:147.95, Y:-21.64, Z:-2.42 [[ 9.40603442e-01 3.39471186e-01 4.94763521e-03 1.47946020e+02] [-3.39466280e-01 9.40616453e-01 -1.82546525e-03 -2.16353576e+01] [-5.27351994e-03 3.74835756e-05 9.99986094e-01 -2.41786121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.012547386382556704 Centerline is valid? [True, True] Translation: X:148.00, Y:-21.66, Z:-2.42 [[ 9.40655281e-01 3.39345020e-01 3.54964480e-03 1.48003431e+02] [-3.39342493e-01 9.40661978e-01 -1.30985929e-03 -2.16582867e+01] [-3.78351013e-03 2.75807478e-05 9.99992842e-01 -2.42023244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.01333264034134228 Centerline is valid? [True, True] Translation: X:148.06, Y:-21.69, Z:-2.42 [[ 9.41720082e-01 3.36387299e-01 2.62137062e-03 1.48058114e+02] [-3.36385909e-01 9.41723730e-01 -9.67243237e-04 -2.16854389e+01] [-2.79397526e-03 2.90802393e-05 9.99996096e-01 -2.42264158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.014442586043555288 Centerline is valid? [True, True] Translation: X:148.11, Y:-21.71, Z:-2.42 [[ 9.43666959e-01 3.30883315e-01 2.98367794e-03 1.48113194e+02] [-3.30881478e-01 9.43671674e-01 -1.10373720e-03 -2.17139459e+01] [-3.18082058e-03 5.43165633e-05 9.99994940e-01 -2.42325025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.01594551352549386 Centerline is valid? [True, True] Translation: X:148.17, Y:-21.74, Z:-2.42 [[ 9.45259545e-01 3.26304073e-01 3.16936531e-03 1.48169163e+02] [-3.26301971e-01 9.45264855e-01 -1.17366156e-03 -2.17415699e+01] [-3.37886019e-03 7.52446496e-05 9.99994289e-01 -2.42397112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.016867757731410467 Centerline is valid? [True, True] Translation: X:148.22, Y:-21.77, Z:-2.42 [[ 9.47770550e-01 3.18936796e-01 3.21022129e-03 1.48223723e+02] [-3.18934595e-01 9.47775981e-01 -1.18950704e-03 -2.17690580e+01] [-3.42194819e-03 1.03529113e-04 9.99994140e-01 -2.42397254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.017877409871647 Centerline is valid? [True, True] Translation: X:148.28, Y:-21.80, Z:-2.42 [[ 9.48857502e-01 3.15676875e-01 4.18941153e-03 1.48280592e+02] [-3.15673095e-01 9.48866739e-01 -1.55225548e-03 -2.17951352e+01] [-4.46520441e-03 1.50384755e-04 9.99990020e-01 -2.42461193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.019191634352974867 Centerline is valid? [True, True] Translation: X:148.34, Y:-21.82, Z:-2.43 [[ 9.49168375e-01 3.14741629e-01 4.13561326e-03 1.48336125e+02] [-3.14737944e-01 9.49177372e-01 -1.53068428e-03 -2.18200022e+01] [-4.40720059e-03 1.51242695e-04 9.99990277e-01 -2.42596106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.01865322918544695 Centerline is valid? [True, True] Translation: X:148.39, Y:-21.84, Z:-2.43 [[ 9.48216566e-01 3.17600037e-01 3.94474361e-03 1.48393879e+02] [-3.17596695e-01 9.48224762e-01 -1.46312195e-03 -2.18414627e+01] [-4.20519116e-03 1.34518932e-04 9.99991149e-01 -2.42801535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.01686663811101659 Centerline is valid? [True, True] Translation: X:148.45, Y:-21.86, Z:-2.43 [[ 9.47111920e-01 3.20882163e-01 3.69425296e-03 1.48451961e+02] [-3.20879256e-01 9.47119118e-01 -1.37058702e-03 -2.18604940e+01] [-3.93869454e-03 1.12690158e-04 9.99992237e-01 -2.42893895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.016534421261479172 Centerline is valid? [True, True] Translation: X:148.51, Y:-21.88, Z:-2.43 [[ 9.46014430e-01 3.24101390e-01 3.87135737e-03 1.48508785e+02] [-3.24098222e-01 9.46022346e-01 -1.43671185e-03 -2.18806747e+01] [-4.12803089e-03 1.04450104e-04 9.99991474e-01 -2.43033771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.01490322701262072 Centerline is valid? [True, True] Translation: X:148.57, Y:-21.90, Z:-2.43 [[ 9.44384235e-01 3.28794498e-01 5.70918236e-03 1.48567962e+02] [-3.28787696e-01 9.44401484e-01 -2.11862880e-03 -2.18987305e+01] [-6.08835379e-03 1.23690728e-04 9.99981458e-01 -2.43055450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.014073923046966978 Centerline is valid? [True, True] Translation: X:148.63, Y:-21.92, Z:-2.43 [[ 9.43307739e-01 3.31835383e-01 7.46910907e-03 1.48626587e+02] [-3.31823843e-01 9.43337299e-01 -2.77076287e-03 -2.19182979e+01] [-7.96532634e-03 1.35253585e-04 9.99968267e-01 -2.43060598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.013467554082440979 Centerline is valid? [True, True] Translation: X:148.69, Y:-21.94, Z:-2.43 [[ 9.42221928e-01 3.34829671e-01 1.03407264e-02 1.48685779e+02] [-3.34807671e-01 9.42278657e-01 -3.84141851e-03 -2.19386445e+01] [-1.10300667e-02 1.57314213e-04 9.99939155e-01 -2.42977011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.013384345896153435 Centerline is valid? [True, True] Translation: X:148.74, Y:-21.96, Z:-2.43 [[ 9.41655648e-01 3.36373372e-01 1.17301187e-02 1.48743231e+02] [-3.36345173e-01 9.41728692e-01 -4.35838823e-03 -2.19591861e+01] [-1.25126351e-02 1.58732074e-04 9.99921701e-01 -2.43041228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.012959473032650456 Centerline is valid? [True, True] Translation: X:148.80, Y:-21.98, Z:-2.43 [[ 9.41086649e-01 3.37938241e-01 1.23960995e-02 1.48802467e+02] [-3.37906841e-01 9.41168275e-01 -4.60913172e-03 -2.19792485e+01] [-1.32244174e-02 1.48865508e-04 9.99912542e-01 -2.43185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.012380924547016245 Centerline is valid? [True, True] Translation: X:148.86, Y:-22.00, Z:-2.43 [[ 9.40779139e-01 3.38803068e-01 1.21281964e-02 1.48862395e+02] [-3.38773043e-01 9.40857302e-01 -4.51253497e-03 -2.19996410e+01] [-1.29397629e-02 1.36592754e-04 9.99916268e-01 -2.43303107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.012293408505096678 Centerline is valid? [True, True] Translation: X:148.92, Y:-22.02, Z:-2.44 [[ 9.40260301e-01 3.40265616e-01 1.13963781e-02 1.48919521e+02] [-3.40239169e-01 9.40329356e-01 -4.24387721e-03 -2.20202065e+01] [-1.21603943e-02 1.12855058e-04 9.99926053e-01 -2.43556490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.012172275722405666 Centerline is valid? [True, True] Translation: X:148.98, Y:-22.04, Z:-2.44 [[ 9.39942382e-01 3.41143853e-01 1.13661996e-02 1.48978073e+02] [-3.41117577e-01 9.40011096e-01 -4.23534178e-03 -2.20419686e+01] [-1.21292146e-02 1.03766754e-04 9.99926433e-01 -2.43736348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.012134159762179618 Centerline is valid? [True, True] Translation: X:149.04, Y:-22.06, Z:-2.44 [[ 9.40152434e-01 3.40566091e-01 1.13198543e-02 1.49036453e+02] [-3.40539943e-01 9.40220572e-01 -4.22162706e-03 -2.20649267e+01] [-1.20809029e-02 1.14110417e-04 9.99927017e-01 -2.43809642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.012323625384340182 Centerline is valid? [True, True] Translation: X:149.09, Y:-22.09, Z:-2.44 [[ 9.40769646e-01 3.38785192e-01 1.33066788e-02 1.49094062e+02] [-3.38748808e-01 9.40863734e-01 -4.96777651e-03 -2.20885924e+01] [-1.42027806e-02 1.65911767e-04 9.99899122e-01 -2.43781729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.01282602909537975 Centerline is valid? [True, True] Translation: X:149.15, Y:-22.11, Z:-2.44 [[ 9.41279626e-01 3.37346490e-01 1.37844788e-02 1.49150300e+02] [-3.37307229e-01 9.41380532e-01 -5.15039899e-03 -2.21119007e+01] [-1.47139090e-02 1.98361279e-04 9.99891725e-01 -2.43805264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.013256668183748524 Centerline is valid? [True, True] Translation: X:149.21, Y:-22.14, Z:-2.44 [[ 9.41939675e-01 3.35514835e-01 1.33957188e-02 1.49207331e+02] [-3.35477547e-01 9.42034897e-01 -5.00691742e-03 -2.21355041e+01] [-1.42991296e-02 2.22251292e-04 9.99897738e-01 -2.43886672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.013647471922690307 Centerline is valid? [True, True] Translation: X:149.26, Y:-22.16, Z:-2.44 [[ 9.42310632e-01 3.34514179e-01 1.22856539e-02 1.49264663e+02] [-3.34482691e-01 9.42390691e-01 -4.59505816e-03 -2.21581868e+01] [-1.31149980e-02 2.20633571e-04 9.99913970e-01 -2.44029217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.013804590302420344 Centerline is valid? [True, True] Translation: X:149.32, Y:-22.18, Z:-2.44 [[ 9.43083893e-01 3.32364676e-01 1.12469317e-02 1.49321986e+02] [-3.32338101e-01 9.43150926e-01 -4.20926434e-03 -2.21812628e+01] [-1.20065648e-02 2.31905474e-04 9.99927892e-01 -2.44207227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.014721979375931013 Centerline is valid? [True, True] Translation: X:149.38, Y:-22.21, Z:-2.44 [[ 9.43542306e-01 3.31091733e-01 1.03044151e-02 1.49378587e+02] [-3.31069321e-01 9.43598544e-01 -3.85919650e-03 -2.22053027e+01] [-1.10009791e-02 2.29839477e-04 9.99939461e-01 -2.44428702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.014737096376794908 Centerline is valid? [True, True] Translation: X:149.44, Y:-22.23, Z:-2.45 [[ 9.43651644e-01 3.30800158e-01 9.63479740e-03 1.49436585e+02] [-3.30780527e-01 9.43700804e-01 -3.61055035e-03 -2.22278931e+01] [-1.02867367e-02 2.20098414e-04 9.99947066e-01 -2.44623362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.014745647510845129 Centerline is valid? [True, True] Translation: X:149.50, Y:-22.25, Z:-2.45 [[ 9.43390755e-01 3.31564818e-01 8.86872330e-03 1.49495252e+02] [-3.31548200e-01 9.43432421e-01 -3.32536268e-03 -2.22514617e+01] [-9.46961436e-03 1.96707157e-04 9.99955143e-01 -2.44736537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.013826610265096684 Centerline is valid? [True, True] Translation: X:149.55, Y:-22.27, Z:-2.45 [[ 9.42181415e-01 3.34997662e-01 8.41117776e-03 1.49553693e+02] [-3.34982827e-01 9.42218946e-01 -3.15648839e-03 -2.22731428e+01] [-8.98258727e-03 1.56384589e-04 9.99959644e-01 -2.44843640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.012893966524503163 Centerline is valid? [True, True] Translation: X:149.61, Y:-22.29, Z:-2.45 [[ 9.40202091e-01 3.40512073e-01 8.45909887e-03 1.49612080e+02] [-3.40497269e-01 9.40240138e-01 -3.17688589e-03 -2.22931329e+01] [-9.03535229e-03 1.06614687e-04 9.99959175e-01 -2.44868755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.012072662275421166 Centerline is valid? [True, True] Translation: X:149.67, Y:-22.31, Z:-2.45 [[ 9.38811841e-01 3.44316583e-01 8.85541619e-03 1.49671157e+02] [-3.44300505e-01 9.38853601e-01 -3.32831655e-03 -2.23127901e+01] [-9.45993396e-03 7.57387238e-05 9.99955251e-01 -2.44906104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.011492819217416753 Centerline is valid? [True, True] Translation: X:149.73, Y:-22.33, Z:-2.45 [[ 9.36859920e-01 3.49587884e-01 9.04443712e-03 1.49730170e+02] [-3.49571332e-01 9.36903576e-01 -3.40192318e-03 -2.23313822e+01] [-9.66303660e-03 2.54495520e-05 9.99953311e-01 -2.44916930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.01130025587294611 Centerline is valid? [True, True] Translation: X:149.79, Y:-22.35, Z:-2.45 [[ 9.35598521e-01 3.52957380e-01 8.74617814e-03 1.49789460e+02] [-3.52942022e-01 9.35639401e-01 -3.29257807e-03 -2.23508840e+01] [-9.34540860e-03 -6.36262173e-06 9.99956331e-01 -2.45041598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.011276674540021275 Centerline is valid? [True, True] Translation: X:149.85, Y:-22.37, Z:-2.45 [[ 9.35325631e-01 3.53705067e-01 7.66092882e-03 1.49848818e+02] [-3.53693307e-01 9.35357004e-01 -2.88426737e-03 -2.23727958e+01] [-8.18588342e-03 -1.18900550e-05 9.99966495e-01 -2.45206033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.011344939682579167 Centerline is valid? [True, True] Translation: X:149.91, Y:-22.40, Z:-2.45 [[ 9.35806987e-01 3.52477328e-01 5.00152874e-03 1.49906744e+02] [-3.52472297e-01 9.35820353e-01 -1.88337132e-03 -2.23959998e+01] [-5.34437808e-03 -4.28282320e-07 9.99985719e-01 -2.45461547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.011433987923543118 Centerline is valid? [True, True] Translation: X:149.96, Y:-22.42, Z:-2.46 [[ 9.36601278e-01 3.50367821e-01 4.52061589e-03 1.49964836e+02] [-3.50363684e-01 9.36612188e-01 -1.70270530e-03 -2.24203059e+01] [-4.83063708e-03 1.08963240e-05 9.99988332e-01 -2.45613037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.011763499672037816 Centerline is valid? [True, True] Translation: X:150.02, Y:-22.44, Z:-2.46 [[ 9.38024839e-01 3.46525793e-01 5.41079645e-03 1.50022639e+02] [-3.46519784e-01 9.38040443e-01 -2.04107324e-03 -2.24434466e+01] [-5.78283042e-03 3.96293822e-05 9.99983279e-01 -2.45611767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.01301567231977812 Centerline is valid? [True, True] Translation: X:150.08, Y:-22.47, Z:-2.46 [[ 9.40094351e-01 3.40868530e-01 5.59081981e-03 1.50078913e+02] [-3.40862003e-01 9.40110972e-01 -2.11089223e-03 -2.24678872e+01] [-5.97552777e-03 7.87398262e-05 9.99982143e-01 -2.45692136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.014582334690623755 Centerline is valid? [True, True] Translation: X:150.14, Y:-22.49, Z:-2.46 [[ 9.41908526e-01 3.35824304e-01 5.51051886e-03 1.50135494e+02] [-3.35817859e-01 9.41924638e-01 -2.08358146e-03 -2.24935771e+01] [-5.89021078e-03 1.12012503e-04 9.99982646e-01 -2.45728978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.015178474357615846 Centerline is valid? [True, True] Translation: X:150.19, Y:-22.52, Z:-2.46 [[ 9.44272281e-01 3.29117615e-01 5.60838963e-03 1.50192285e+02] [-3.29110823e-01 9.44288924e-01 -2.12023004e-03 -2.25153217e+01] [-5.99374526e-03 1.56292732e-04 9.99982025e-01 -2.45683704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.018026658325805724 Centerline is valid? [True, True] Translation: X:150.25, Y:-22.54, Z:-2.46 [[ 9.45836844e-01 3.24605765e-01 4.87458625e-03 1.50248683e+02] [-3.24600571e-01 9.45849391e-01 -1.84340967e-03 -2.25371645e+01] [-5.20900584e-03 1.61271310e-04 9.99986420e-01 -2.45977225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.019784013220686455 Centerline is valid? [True, True] Translation: X:150.31, Y:-22.56, Z:-2.46 [[ 9.46383446e-01 3.23013982e-01 4.50992876e-03 1.50306270e+02] [-3.23009521e-01 9.46394179e-01 -1.70496820e-03 -2.25584456e+01] [-4.81889890e-03 1.56803752e-04 9.99988377e-01 -2.46094901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.017866248504620333 Centerline is valid? [True, True] Translation: X:150.37, Y:-22.58, Z:-2.46 [[ 9.46226166e-01 3.23469413e-01 4.85606894e-03 1.50365786e+02] [-3.23464240e-01 9.46238612e-01 -1.83703909e-03 -2.25767349e+01] [-5.18922589e-03 1.67489802e-04 9.99986522e-01 -2.46074851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.016101492172683276 Centerline is valid? [True, True] Translation: X:150.43, Y:-22.59, Z:-2.46 [[ 9.45405056e-01 3.25843074e-01 5.96420700e-03 1.50425725e+02] [-3.25835288e-01 9.45423849e-01 -2.26099815e-03 -2.25925443e+01] [-6.37543412e-03 1.94209981e-04 9.99979658e-01 -2.45975893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.014889834118948163 Centerline is valid? [True, True] Translation: X:150.49, Y:-22.61, Z:-2.46 [[ 9.43680619e-01 3.30777419e-01 7.29302865e-03 1.50485626e+02] [-3.30765921e-01 9.43708779e-01 -2.76503340e-03 -2.26086887e+01] [-7.79710577e-03 1.97023091e-04 9.99969583e-01 -2.45977313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.01342369108214526 Centerline is valid? [True, True] Translation: X:150.55, Y:-22.63, Z:-2.46 [[ 9.42008612e-01 3.35496548e-01 7.86390141e-03 1.50545085e+02] [-3.35483338e-01 9.42041420e-01 -2.98214577e-03 -2.26252542e+01] [-8.40862046e-03 1.70999106e-04 9.99964632e-01 -2.46009431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.011483733853856414 Centerline is valid? [True, True] Translation: X:150.61, Y:-22.64, Z:-2.46 [[ 9.39149452e-01 3.43410490e-01 8.21845389e-03 1.50606303e+02] [-3.43396361e-01 9.39185405e-01 -3.11681984e-03 -2.26376907e+01] [-8.78900057e-03 1.04972481e-04 9.99961370e-01 -2.46195769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.01073118680851417 Centerline is valid? [True, True] Translation: X:150.67, Y:-22.65, Z:-2.46 [[ 9.37224303e-01 3.48636566e-01 7.94676742e-03 1.50666579e+02] [-3.48623553e-01 9.37257991e-01 -3.01264980e-03 -2.26541932e+01] [-8.49849115e-03 5.30983096e-05 9.99963886e-01 -2.46372261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.010383869636884833 Centerline is valid? [True, True] Translation: X:150.73, Y:-22.67, Z:-2.47 [[ 9.35127575e-01 3.54233397e-01 7.42427062e-03 1.50725830e+02] [-3.54222199e-01 9.35157046e-01 -2.81656874e-03 -2.26694492e+01] [-7.94058169e-03 4.00962261e-06 9.99968473e-01 -2.46640643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.010316748066709425 Centerline is valid? [True, True] Translation: X:150.79, Y:-22.69, Z:-2.47 [[ 9.34322343e-01 3.56369127e-01 6.54258105e-03 1.50785377e+02] [-3.56360479e-01 9.34345250e-01 -2.48274892e-03 -2.26887617e+01] [-6.99780459e-03 -1.18295256e-05 9.99975515e-01 -2.46806668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.010309157455646135 Centerline is valid? [True, True] Translation: X:150.84, Y:-22.71, Z:-2.47 [[ 9.34305684e-01 3.56399808e-01 7.21560309e-03 1.50844362e+02] [-3.56389267e-01 9.34333547e-01 -2.74117114e-03 -2.27089460e+01] [-7.71873289e-03 -1.04717189e-05 9.99970210e-01 -2.47048079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.01040005779386019 Centerline is valid? [True, True] Translation: X:150.90, Y:-22.73, Z:-2.47 [[ 9.35345963e-01 3.53641023e-01 8.12137005e-03 1.50902906e+02] [-3.53627534e-01 9.35381220e-01 -3.08879027e-03 -2.27334808e+01] [-8.68889997e-03 1.71474476e-05 9.99962251e-01 -2.47072777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.010708325789551193 Centerline is valid? [True, True] Translation: X:150.96, Y:-22.76, Z:-2.47 [[ 9.36718802e-01 3.49970179e-01 8.87462984e-03 1.50959679e+02] [-3.49953889e-01 9.36760839e-01 -3.37717891e-03 -2.27581543e+01] [-9.49531760e-03 5.77557531e-05 9.99954917e-01 -2.47158639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.0109749921300572 Centerline is valid? [True, True] Translation: X:151.02, Y:-22.78, Z:-2.47 [[ 9.37266219e-01 3.48481702e-01 9.61966007e-03 1.51017769e+02] [-3.48462453e-01 9.37315580e-01 -3.66358424e-03 -2.27815492e+01] [-1.02933493e-02 8.16634038e-05 9.99947019e-01 -2.47258492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.011388231692754755 Centerline is valid? [True, True] Translation: X:151.07, Y:-22.81, Z:-2.47 [[ 9.37805156e-01 3.47033554e-01 9.44469962e-03 1.51074597e+02] [-3.47014892e-01 9.37852709e-01 -3.60028481e-03 -2.28051344e+01] [-1.01071568e-02 9.89142433e-05 9.99948916e-01 -2.47433489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.011508220272403804 Centerline is valid? [True, True] Translation: X:151.13, Y:-22.83, Z:-2.48 [[ 9.38123351e-01 3.46193353e-01 8.64526211e-03 1.51132369e+02] [-3.46177664e-01 9.38163180e-01 -3.29731157e-03 -2.28277688e+01] [-9.25217395e-03 1.00488336e-04 9.99957193e-01 -2.47604944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.011814389702484357 Centerline is valid? [True, True] Translation: X:151.19, Y:-22.85, Z:-2.48 [[ 9.38685681e-01 3.44685264e-01 7.82691380e-03 1.51189695e+02] [-3.44672338e-01 9.38718306e-01 -2.98697483e-03 -2.28510400e+01] [-8.37683346e-03 1.06109825e-04 9.99964908e-01 -2.47785926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.012237587170238467 Centerline is valid? [True, True] Translation: X:151.25, Y:-22.88, Z:-2.48 [[ 9.39396654e-01 3.42754255e-01 7.31079835e-03 1.51246347e+02] [-3.42742904e-01 9.39425094e-01 -2.79193593e-03 -2.28754267e+01] [-7.82489535e-03 1.17011015e-04 9.99969378e-01 -2.47862854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.012532657743980066 Centerline is valid? [True, True] Translation: X:151.30, Y:-22.90, Z:-2.48 [[ 9.39850181e-01 3.41504579e-01 7.50070843e-03 1.51303649e+02] [-3.41492575e-01 9.39880101e-01 -2.86636240e-03 -2.28988599e+01] [-8.02864249e-03 1.32514978e-04 9.99967761e-01 -2.47971642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.014219091101262857 Centerline is valid? [True, True] Translation: X:151.36, Y:-22.93, Z:-2.48 [[ 9.41866158e-01 3.35889272e-01 8.15704302e-03 1.51359417e+02] [-3.35874828e-01 9.41901458e-01 -3.12132930e-03 -2.29264767e+01] [-8.73155175e-03 2.00129010e-04 9.99961859e-01 -2.48043273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.015612564112206928 Centerline is valid? [True, True] Translation: X:151.41, Y:-22.95, Z:-2.48 [[ 9.43841341e-01 3.30228032e-01 1.06287726e-02 1.51414367e+02] [-3.30203136e-01 9.43901127e-01 -4.06830614e-03 -2.29536940e+01] [-1.13759792e-02 3.30181485e-04 9.99935237e-01 -2.47958647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.016392271024319505 Centerline is valid? [True, True] Translation: X:151.47, Y:-22.98, Z:-2.48 [[ 9.44814515e-01 3.27399742e-01 1.16164490e-02 1.51471348e+02] [-3.27369790e-01 9.44885840e-01 -4.44640363e-03 -2.29791220e+01] [-1.24319696e-02 3.98152216e-04 9.99922641e-01 -2.47945920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.01722696618627936 Centerline is valid? [True, True] Translation: X:151.53, Y:-23.00, Z:-2.48 [[ 9.44877160e-01 3.27244864e-01 1.08605045e-02 1.51527138e+02] [-3.27218672e-01 9.44939500e-01 -4.15710337e-03 -2.30035109e+01] [-1.16229104e-02 3.74192160e-04 9.99932382e-01 -2.48218087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.01573809234145721 Centerline is valid? [True, True] Translation: X:151.58, Y:-23.02, Z:-2.48 [[ 9.43490581e-01 3.31174839e-01 1.21963050e-02 1.51584703e+02] [-3.31142080e-01 9.43569335e-01 -4.67264419e-03 -2.30244763e+01] [-1.30555216e-02 3.69885974e-04 9.99914705e-01 -2.48185955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.0153393706941846 Centerline is valid? [True, True] Translation: X:151.64, Y:-23.05, Z:-2.48 [[ 9.42620887e-01 3.33638413e-01 1.22992773e-02 1.51643031e+02] [-3.33605310e-01 9.42701063e-01 -4.71193606e-03 -2.30460251e+01] [-1.31666247e-02 3.38465127e-04 9.99913259e-01 -2.48276427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.012082430063720728 Centerline is valid? [True, True] Translation: X:151.70, Y:-23.06, Z:-2.49 [[ 9.39359873e-01 3.42772583e-01 1.04873689e-02 1.51702832e+02] [-3.42749044e-01 9.39418396e-01 -4.02117208e-03 -2.30609802e+01] [-1.12303748e-02 1.82792023e-04 9.99936921e-01 -2.48621067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.010099199271719962 Centerline is valid? [True, True] Translation: X:151.76, Y:-23.08, Z:-2.49 [[ 9.35636832e-01 3.52834619e-01 9.56295883e-03 1.51762699e+02] [-3.52815570e-01 9.35685699e-01 -3.66677900e-03 -2.30776884e+01] [-1.02416904e-02 5.68127172e-05 9.99947551e-01 -2.48825438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.009773172926586892 Centerline is valid? [True, True] Translation: X:151.82, Y:-23.10, Z:-2.49 [[ 9.32826299e-01 3.60183281e-01 1.01537682e-02 1.51822680e+02] [-3.60162244e-01 9.32881559e-01 -3.89290250e-03 -2.30955521e+01] [-1.08744215e-02 -2.56021153e-05 9.99940871e-01 -2.48901281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.010046261314485248 Centerline is valid? [True, True] Translation: X:151.88, Y:-23.12, Z:-2.49 [[ 9.31725010e-01 3.63008275e-01 1.06535382e-02 1.51880965e+02] [-3.62985260e-01 9.31785913e-01 -4.08805314e-03 -2.31162420e+01] [-1.14108140e-02 -5.81359969e-05 9.99934893e-01 -2.49037211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.010239054225241639 Centerline is valid? [True, True] Translation: X:151.94, Y:-23.14, Z:-2.49 [[ 9.30862896e-01 3.65161212e-01 1.23109205e-02 1.51938978e+02] [-3.65130633e-01 9.30944295e-01 -4.72656497e-03 -2.31408475e+01] [-1.31867394e-02 -9.53102267e-05 9.99913047e-01 -2.48938367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.010630851171977677 Centerline is valid? [True, True] Translation: X:152.00, Y:-23.16, Z:-2.49 [[ 9.30241774e-01 3.66730234e-01 1.26165326e-02 1.51996755e+02] [-3.66698205e-01 9.30327320e-01 -4.84819592e-03 -2.31635723e+01] [-1.35154850e-02 -1.16465469e-04 9.99908655e-01 -2.49090422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.010762113875837611 Centerline is valid? [True, True] Translation: X:152.05, Y:-23.19, Z:-2.49 [[ 9.29721692e-01 3.68076169e-01 1.17264541e-02 1.52054833e+02] [-3.68048565e-01 9.29795633e-01 -4.50943621e-03 -2.31866852e+01] [-1.25630218e-02 -1.23383946e-04 9.99921075e-01 -2.49286809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.011522119344539082 Centerline is valid? [True, True] Translation: X:152.11, Y:-23.21, Z:-2.50 [[ 9.28543501e-01 3.71074746e-01 1.05118804e-02 1.52112143e+02] [-3.71052728e-01 9.28602989e-01 -4.04490415e-03 -2.32102278e+01] [-1.12623253e-02 -1.44592440e-04 9.99936568e-01 -2.49552141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.011765967397247001 Centerline is valid? [True, True] Translation: X:152.17, Y:-23.24, Z:-2.50 [[ 9.27833556e-01 3.72897507e-01 8.50537709e-03 1.52168948e+02] [-3.72883155e-01 9.27872530e-01 -3.27434324e-03 -2.32353672e+01] [-9.11290019e-03 -1.33466305e-04 9.99958468e-01 -2.49771023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.0118946008051057 Centerline is valid? [True, True] Translation: X:152.23, Y:-23.26, Z:-2.50 [[ 9.27995390e-01 3.72518870e-01 7.36536959e-03 1.52225617e+02] [-3.72508085e-01 9.28024611e-01 -2.83671430e-03 -2.32620140e+01] [-7.89197386e-03 -1.11201929e-04 9.99968852e-01 -2.50052851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.01114702599101353 Centerline is valid? [True, True] Translation: X:152.28, Y:-23.29, Z:-2.50 [[ 9.29009365e-01 3.69977312e-01 7.64124773e-03 1.52281542e+02] [-3.69965595e-01 9.29040785e-01 -2.94585547e-03 -2.32896680e+01] [-8.18893048e-03 -9.02714446e-05 9.99966466e-01 -2.50079293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.010453764611380506 Centerline is valid? [True, True] Translation: X:152.34, Y:-23.32, Z:-2.50 [[ 9.31521567e-01 3.63568781e-01 9.23639427e-03 1.52335535e+02] [-3.63551309e-01 9.31567357e-01 -3.56450979e-03 -2.33189192e+01] [-9.90026788e-03 -3.74854835e-05 9.99950990e-01 -2.50039331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.010371304464900847 Centerline is valid? [True, True] Translation: X:152.39, Y:-23.34, Z:-2.50 [[ 9.33242958e-01 3.59070592e-01 1.12201110e-02 1.52393274e+02] [-3.59044438e-01 9.33310404e-01 -4.33378427e-03 -2.33428745e+01] [-1.20279809e-02 1.59551861e-05 9.99927661e-01 -2.50022268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.010807645881954044 Centerline is valid? [True, True] Translation: X:152.45, Y:-23.37, Z:-2.50 [[ 9.34761240e-01 3.55131976e-01 1.01343044e-02 1.52450775e+02] [-3.55110381e-01 9.34816172e-01 -3.91683227e-03 -2.33675199e+01] [-1.08647040e-02 6.25062924e-05 9.99940975e-01 -2.50168016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.011312578742958547 Centerline is valid? [True, True] Translation: X:152.51, Y:-23.39, Z:-2.50 [[ 9.35731938e-01 3.52573307e-01 9.88956483e-03 1.52508287e+02] [-3.52552571e-01 9.35784192e-01 -3.82494963e-03 -2.33906314e+01] [-1.06030736e-02 9.25360248e-05 9.99943782e-01 -2.50300391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.012332784875184606 Centerline is valid? [True, True] Translation: X:152.57, Y:-23.41, Z:-2.50 [[ 9.37369758e-01 3.48212445e-01 9.27522742e-03 1.52565845e+02] [-3.48193968e-01 9.37415636e-01 -3.58965223e-03 -2.34133562e+01] [-9.94470479e-03 1.35253197e-04 9.99950541e-01 -2.50437357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.013440959543975345 Centerline is valid? [True, True] Translation: X:152.62, Y:-23.44, Z:-2.51 [[ 9.39081401e-01 3.43591953e-01 8.40785042e-03 1.52623271e+02] [-3.43576555e-01 9.39119024e-01 -3.25722856e-03 -2.34367899e+01] [-9.01512980e-03 1.70062475e-04 9.99959348e-01 -2.50548052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.015211798405187008 Centerline is valid? [True, True] Translation: X:152.68, Y:-23.46, Z:-2.51 [[ 9.41495558e-01 3.36944953e-01 7.36290186e-03 1.52680557e+02] [-3.36932935e-01 9.41524326e-01 -2.85315398e-03 -2.34586021e+01] [-7.89370704e-03 2.05427662e-04 9.99968823e-01 -2.50766813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.01690005597875466 Centerline is valid? [True, True] Translation: X:152.74, Y:-23.48, Z:-2.51 [[ 9.43846166e-01 3.30308169e-01 7.13647117e-03 1.52737462e+02] [-3.30296687e-01 9.43873111e-01 -2.76565759e-03 -2.34817690e+01] [-7.64944254e-03 2.53202532e-04 9.99970711e-01 -2.50842119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.019078647866407398 Centerline is valid? [True, True] Translation: X:152.79, Y:-23.51, Z:-2.51 [[ 9.44961289e-01 3.27108913e-01 6.92255900e-03 1.52793290e+02] [-3.27098032e-01 9.44986606e-01 -2.68171411e-03 -2.35053860e+01] [-7.41893813e-03 2.69760601e-04 9.99972443e-01 -2.50931661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.021863297896988258 Centerline is valid? [True, True] Translation: X:152.85, Y:-23.53, Z:-2.51 [[ 9.45503906e-01 3.25516030e-01 7.85346350e-03 1.52850275e+02] [-3.25501949e-01 9.45536467e-01 -3.04490082e-03 -2.35274518e+01] [-8.41690015e-03 3.22647947e-04 9.99964525e-01 -2.51081876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.022149991096918717 Centerline is valid? [True, True] Translation: X:152.91, Y:-23.55, Z:-2.51 [[ 9.45050358e-01 3.26835220e-01 7.65245019e-03 1.52909483e+02] [-3.26821882e-01 9.45081291e-01 -2.96833258e-03 -2.35480876e+01] [-8.20234313e-03 3.04235592e-04 9.99966314e-01 -2.51206266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.01811074166974306 Centerline is valid? [True, True] Translation: X:152.97, Y:-23.56, Z:-2.51 [[ 9.43572832e-01 3.31079800e-01 7.51515799e-03 1.52970239e+02] [-3.31067065e-01 9.43602722e-01 -2.91581266e-03 -2.35620470e+01] [-8.05669021e-03 2.63260314e-04 9.99967510e-01 -2.51244966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.016663597460505806 Centerline is valid? [True, True] Translation: X:153.03, Y:-23.58, Z:-2.51 [[ 9.42355749e-01 3.34535815e-01 7.17147854e-03 1.53029443e+02] [-3.34524312e-01 9.42383010e-01 -2.78324003e-03 -2.35803041e+01] [-7.68937301e-03 2.23768317e-04 9.99970411e-01 -2.51339607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.01491838443417387 Centerline is valid? [True, True] Translation: X:153.09, Y:-23.60, Z:-2.51 [[ 9.40545227e-01 3.39557268e-01 8.69130059e-03 1.53088838e+02] [-3.39540578e-01 9.40585356e-01 -3.37391842e-03 -2.35963786e+01] [-9.32054858e-03 2.22273635e-04 9.99956538e-01 -2.51369151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.01482108337299725 Centerline is valid? [True, True] Translation: X:153.15, Y:-23.62, Z:-2.52 [[ 9.39869339e-01 3.41409361e-01 9.23435621e-03 1.53146707e+02] [-3.41390620e-01 9.39914678e-01 -3.58376209e-03 -2.36177857e+01] [-9.90303687e-03 2.15745521e-04 9.99950940e-01 -2.51500551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.014027122883402935 Centerline is valid? [True, True] Translation: X:153.21, Y:-23.64, Z:-2.52 [[ 9.38532237e-01 3.45079080e-01 8.81302835e-03 1.53205962e+02] [-3.45062149e-01 9.38573598e-01 -3.42251202e-03 -2.36375091e+01] [-9.45271303e-03 1.71095351e-04 9.99955307e-01 -2.51660544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.013576827225935655 Centerline is valid? [True, True] Translation: X:153.26, Y:-23.66, Z:-2.52 [[ 9.37764659e-01 3.47169248e-01 8.42361565e-03 1.53264597e+02] [-3.47153846e-01 9.37802480e-01 -3.27342685e-03 -2.36583412e+01] [-9.03612078e-03 1.45413440e-04 9.99959163e-01 -2.51843216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.012833986417662658 Centerline is valid? [True, True] Translation: X:153.32, Y:-23.68, Z:-2.52 [[ 9.37231500e-01 3.48613769e-01 8.09658319e-03 1.53323388e+02] [-3.48599576e-01 9.37266464e-01 -3.14831752e-03 -2.36783634e+01] [-8.68620273e-03 1.28236890e-04 9.99962266e-01 -2.51920800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.01354028544146776 Centerline is valid? [True, True] Translation: X:153.38, Y:-23.70, Z:-2.52 [[ 9.37719148e-01 3.47324339e-01 6.97159801e-03 1.53379496e+02] [-3.47313766e-01 9.37745055e-01 -2.71277297e-03 -2.37012836e+01] [-7.47979364e-03 1.22487199e-04 9.99972018e-01 -2.52168520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.014064005638921103 Centerline is valid? [True, True] Translation: X:153.44, Y:-23.73, Z:-2.52 [[ 9.38471099e-01 3.45290953e-01 6.79366217e-03 1.53437097e+02] [-3.45280853e-01 9.38495679e-01 -2.64446431e-03 -2.37254460e+01] [-7.28893219e-03 1.36031857e-04 9.99973426e-01 -2.52239657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.015534859529374856 Centerline is valid? [True, True] Translation: X:153.49, Y:-23.75, Z:-2.52 [[ 9.40762826e-01 3.38982877e-01 7.47762554e-03 1.53492939e+02] [-3.38970406e-01 9.40792520e-01 -2.91504487e-03 -2.37509400e+01] [-8.02304447e-03 2.07672081e-04 9.99967793e-01 -2.52249245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.018674005526528967 Centerline is valid? [True, True] Translation: X:153.55, Y:-23.78, Z:-2.52 [[ 9.43676275e-01 3.30780167e-01 7.71807616e-03 1.53546944e+02] [-3.30766602e-01 9.43707793e-01 -3.00934472e-03 -2.37784149e+01] [-8.27904017e-03 2.86965384e-04 9.99965687e-01 -2.52357558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.02040843548086194 Centerline is valid? [True, True] Translation: X:153.60, Y:-23.80, Z:-2.52 [[ 9.46083144e-01 3.23802900e-01 8.85249887e-03 1.53602770e+02] [-3.23784749e-01 9.46124475e-01 -3.45163397e-03 -2.38033869e+01] [-9.49321494e-03 3.99228595e-04 9.99954859e-01 -2.52356993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.022567717901202197 Centerline is valid? [True, True] Translation: X:153.66, Y:-23.83, Z:-2.52 [[ 9.47078111e-01 3.20846654e-01 1.00237669e-02 1.53657678e+02] [-3.20823217e-01 9.47131030e-01 -3.90833713e-03 -2.38270750e+01] [-1.07477975e-02 4.85643422e-04 9.99942123e-01 -2.52426847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.021135995601552073 Centerline is valid? [True, True] Translation: X:153.72, Y:-23.84, Z:-2.52 [[ 9.47269358e-01 3.20241866e-01 1.12209792e-02 1.53717500e+02] [-3.20212446e-01 9.47335655e-01 -4.37568758e-03 -2.38447707e+01] [-1.20313120e-02 5.51857582e-04 9.99927469e-01 -2.52464435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.022707248787546843 Centerline is valid? [True, True] Translation: X:153.77, Y:-23.87, Z:-2.53 [[ 9.46643104e-01 3.22077514e-01 1.15285937e-02 1.53774108e+02] [-3.22046541e-01 9.46713143e-01 -4.49995183e-03 -2.38658545e+01] [-1.23636045e-02 5.47104629e-04 9.99923418e-01 -2.52582979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.020362555922329727 Centerline is valid? [True, True] Translation: X:153.83, Y:-23.88, Z:-2.53 [[ 9.45079663e-01 3.26601350e-01 1.24895446e-02 1.53834183e+02] [-3.26565389e-01 9.45162038e-01 -4.87526913e-03 -2.38795289e+01] [-1.33969129e-02 5.28864695e-04 9.99910117e-01 -2.52666894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.01881860147214604 Centerline is valid? [True, True] Translation: X:153.89, Y:-23.90, Z:-2.53 [[ 9.44221634e-01 3.29058059e-01 1.28957439e-02 1.53893723e+02] [-3.29019942e-01 9.44309554e-01 -5.03434422e-03 -2.38958130e+01] [-1.38341657e-02 5.10579815e-04 9.99904173e-01 -2.52742512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.017410023697817776 Centerline is valid? [True, True] Translation: X:153.95, Y:-23.91, Z:-2.53 [[ 9.43329718e-01 3.31604643e-01 1.29385053e-02 1.53954336e+02] [-3.31566511e-01 9.43418325e-01 -5.05104627e-03 -2.39104471e+01] [-1.38813733e-02 4.74826999e-04 9.99903536e-01 -2.52986647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.01794338463733506 Centerline is valid? [True, True] Translation: X:154.01, Y:-23.93, Z:-2.53 [[ 9.43121343e-01 3.32146335e-01 1.41754761e-02 1.54012560e+02] [-3.32100557e-01 9.43227728e-01 -5.53839116e-03 -2.39285022e+01] [-1.52102585e-02 5.15691388e-04 9.99884184e-01 -2.53056775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.017796922421248137 Centerline is valid? [True, True] Translation: X:154.07, Y:-23.95, Z:-2.53 [[ 9.42997330e-01 3.32522970e-01 1.35834297e-02 1.54072732e+02] [-3.32480928e-01 9.43095029e-01 -5.31035726e-03 -2.39477509e+01] [-1.45762807e-02 4.91421431e-04 9.99893640e-01 -2.53234632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.018770409926347677 Centerline is valid? [True, True] Translation: X:154.13, Y:-23.97, Z:-2.54 [[ 9.42715659e-01 3.33359306e-01 1.26000148e-02 1.54131476e+02] [-3.33323150e-01 9.42799752e-01 -4.92999739e-03 -2.39660541e+01] [-1.35227514e-02 4.47709103e-04 9.99908463e-01 -2.53543241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.01671166553437169 Centerline is valid? [True, True] Translation: X:154.19, Y:-23.98, Z:-2.54 [[ 9.42335776e-01 3.34415957e-01 1.30097043e-02 1.54191613e+02] [-3.34377485e-01 9.42425470e-01 -5.09217208e-03 -2.39829051e+01] [-1.39635803e-02 4.48383719e-04 9.99902404e-01 -2.53621533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.01593494064933165 Centerline is valid? [True, True] Translation: X:154.25, Y:-24.00, Z:-2.54 [[ 9.41531435e-01 3.36677095e-01 1.29263580e-02 1.54251944e+02] [-3.36639277e-01 9.41620073e-01 -5.06321255e-03 -2.39997783e+01] [-1.38763859e-02 4.15653963e-04 9.99903632e-01 -2.53673206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.016491856020118347 Centerline is valid? [True, True] Translation: X:154.31, Y:-24.02, Z:-2.54 [[ 9.40752772e-01 3.38851574e-01 1.27997152e-02 1.54310336e+02] [-3.38814644e-01 9.40839765e-01 -5.01730125e-03 -2.40187921e+01] [-1.37426015e-02 3.83309094e-04 9.99905493e-01 -2.53852757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.015779357362550452 Centerline is valid? [True, True] Translation: X:154.37, Y:-24.04, Z:-2.54 [[ 9.40285271e-01 3.40153524e-01 1.26170010e-02 1.54370051e+02] [-3.40117715e-01 9.40369847e-01 -4.94889621e-03 -2.40365965e+01] [-1.35480318e-02 3.62108678e-04 9.99908156e-01 -2.54057633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.015932650847479052 Centerline is valid? [True, True] Translation: X:154.43, Y:-24.06, Z:-2.54 [[ 9.40299555e-01 3.40131031e-01 1.21502407e-02 1.54429839e+02] [-3.40097778e-01 9.40377987e-01 -4.76897288e-03 -2.40575694e+01] [-1.30478946e-02 3.51993201e-04 9.99914811e-01 -2.54259048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.016085726551205416 Centerline is valid? [True, True] Translation: X:154.49, Y:-24.08, Z:-2.54 [[ 9.40717995e-01 3.38990218e-01 1.16312627e-02 1.54488272e+02] [-3.38959607e-01 9.40789831e-01 -4.56939368e-03 -2.40774626e+01] [-1.24915534e-02 3.55982626e-04 9.99921914e-01 -2.54470123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.01680825870406901 Centerline is valid? [True, True] Translation: X:154.55, Y:-24.10, Z:-2.55 [[ 9.41037410e-01 3.38100344e-01 1.16940242e-02 1.54546441e+02] [-3.38069316e-01 9.41109993e-01 -4.59540782e-03 -2.40996723e+01] [-1.25590720e-02 3.71059922e-04 9.99921063e-01 -2.54622120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.017455316457513536 Centerline is valid? [True, True] Translation: X:154.60, Y:-24.12, Z:-2.55 [[ 9.41545187e-01 3.36674079e-01 1.19676711e-02 1.54604838e+02] [-3.36641423e-01 9.41621157e-01 -4.70639747e-03 -2.41213262e+01] [-1.28535343e-02 4.02472067e-04 9.99917309e-01 -2.54705511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.018674003231540177 Centerline is valid? [True, True] Translation: X:154.66, Y:-24.14, Z:-2.55 [[ 9.42421406e-01 3.34237793e-01 1.12690148e-02 1.54662890e+02] [-3.34208627e-01 9.42488688e-01 -4.43463957e-03 -2.41420608e+01] [-1.21031431e-02 4.13097283e-04 9.99926669e-01 -2.54901200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.018418974557147038 Centerline is valid? [True, True] Translation: X:154.72, Y:-24.16, Z:-2.55 [[ 9.43793580e-01 3.30357309e-01 1.08501534e-02 1.54720436e+02] [-3.30329975e-01 9.43855840e-01 -4.27332447e-03 -2.41623255e+01] [-1.16527046e-02 4.49005309e-04 9.99932004e-01 -2.55026901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.020382436135480415 Centerline is valid? [True, True] Translation: X:154.78, Y:-24.19, Z:-2.55 [[ 9.44501667e-01 3.28347933e-01 1.02095942e-02 1.54776773e+02] [-3.28323619e-01 9.44556741e-01 -4.02052900e-03 -2.41865488e+01] [-1.09636734e-02 4.45345419e-04 9.99939798e-01 -2.55166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.02191629414816175 Centerline is valid? [True, True] Translation: X:154.83, Y:-24.21, Z:-2.55 [[ 9.45471895e-01 3.25455874e-01 1.27031694e-02 1.54834658e+02] [-3.25417905e-01 9.45557039e-01 -5.00732452e-03 -2.42078020e+01] [-1.36412344e-02 6.00445841e-04 9.99906774e-01 -2.55090903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.021416104483258553 Centerline is valid? [True, True] Translation: X:154.89, Y:-24.23, Z:-2.55 [[ 9.45141496e-01 3.26388043e-01 1.33566118e-02 1.54893484e+02] [-3.26346158e-01 9.45235666e-01 -5.26505839e-03 -2.42286608e+01] [-1.43435979e-02 6.17346238e-04 9.99896935e-01 -2.55091929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.018728363664496376 Centerline is valid? [True, True] Translation: X:154.95, Y:-24.25, Z:-2.55 [[ 9.44377170e-01 3.28567306e-01 1.39744792e-02 1.54952839e+02] [-3.28521629e-01 9.44480358e-01 -5.51295406e-03 -2.42450745e+01] [-1.50099976e-02 6.15389279e-04 9.99887154e-01 -2.55174875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.019008157016611286 Centerline is valid? [True, True] Translation: X:155.01, Y:-24.27, Z:-2.55 [[ 9.43865707e-01 3.30003511e-01 1.46700478e-02 1.55010879e+02] [-3.29953338e-01 9.43979499e-01 -5.78791032e-03 -2.42669139e+01] [-1.57582551e-02 6.22578832e-04 9.99875637e-01 -2.55232983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.017310921175378732 Centerline is valid? [True, True] Translation: X:155.07, Y:-24.28, Z:-2.56 [[ 9.41364633e-01 3.37150530e-01 1.27337233e-02 1.55070908e+02] [-3.37113329e-01 9.41450650e-01 -5.02763811e-03 -2.42801214e+01] [-1.36832430e-02 4.40132832e-04 9.99906283e-01 -2.55560436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.015900236206011525 Centerline is valid? [True, True] Translation: X:155.13, Y:-24.30, Z:-2.56 [[ 9.40243252e-01 3.40301678e-01 1.17215378e-02 1.55130152e+02] [-3.40270400e-01 9.40316243e-01 -4.62806351e-03 -2.42985106e+01] [-1.25968902e-02 3.63013131e-04 9.99920590e-01 -2.55727118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.015653247548667506 Centerline is valid? [True, True] Translation: X:155.19, Y:-24.32, Z:-2.56 [[ 9.39174337e-01 3.43272432e-01 1.07518670e-02 1.55189184e+02] [-3.43246313e-01 9.39235833e-01 -4.24484234e-03 -2.43178711e+01] [-1.15556761e-02 2.96108268e-04 9.99933187e-01 -2.55894640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.01582085477929089 Centerline is valid? [True, True] Translation: X:155.25, Y:-24.34, Z:-2.56 [[ 9.38807174e-01 3.44267381e-01 1.10027102e-02 1.55247519e+02] [-3.44240059e-01 9.38871601e-01 -4.34712679e-03 -2.43391308e+01] [-1.18267061e-02 2.93540225e-04 9.99930019e-01 -2.56024212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.015578356454961107 Centerline is valid? [True, True] Translation: X:155.31, Y:-24.36, Z:-2.56 [[ 9.39149543e-01 3.43311042e-01 1.16475198e-02 1.55305972e+02] [-3.43280307e-01 9.39221710e-01 -4.60539708e-03 -2.43607391e+01] [-1.25206872e-02 3.26792385e-04 9.99921560e-01 -2.56039524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.01621344008945818 Centerline is valid? [True, True] Translation: X:155.36, Y:-24.38, Z:-2.56 [[ 9.39791270e-01 3.41539114e-01 1.19750294e-02 1.55363773e+02] [-3.41506436e-01 9.39867491e-01 -4.73846198e-03 -2.43845082e+01] [-1.28733109e-02 3.63615612e-04 9.99917069e-01 -2.56071645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.016916027920741795 Centerline is valid? [True, True] Translation: X:155.42, Y:-24.41, Z:-2.56 [[ 9.40648903e-01 3.39178322e-01 1.17348999e-02 1.55421205e+02] [-3.39146708e-01 9.40722017e-01 -4.64739686e-03 -2.44073878e+01] [-1.26155750e-02 3.91716088e-04 9.99920344e-01 -2.56194120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.01788472837729558 Centerline is valid? [True, True] Translation: X:155.48, Y:-24.43, Z:-2.56 [[ 9.40757930e-01 3.38898347e-01 1.10647163e-02 1.55478757e+02] [-3.38870214e-01 9.40822922e-01 -4.38253161e-03 -2.44292669e+01] [-1.18951714e-02 3.73398583e-04 9.99929180e-01 -2.56364035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.017355363086089353 Centerline is valid? [True, True] Translation: X:155.54, Y:-24.45, Z:-2.56 [[ 9.40332507e-01 3.40095564e-01 1.04778133e-02 1.55537594e+02] [-3.40070401e-01 9.40390819e-01 -4.15099435e-03 -2.44503588e+01] [-1.12649742e-02 3.40120751e-04 9.99936490e-01 -2.56464100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.016912883645623805 Centerline is valid? [True, True] Translation: X:155.60, Y:-24.47, Z:-2.57 [[ 9.39775780e-01 3.41638675e-01 1.02224848e-02 1.55596996e+02] [-3.41614784e-01 9.39831323e-01 -4.05262213e-03 -2.44699242e+01] [-1.09919439e-02 3.16404180e-04 9.99939537e-01 -2.56584199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.01643060783678244 Centerline is valid? [True, True] Translation: X:155.66, Y:-24.49, Z:-2.57 [[ 9.39731599e-01 3.41794269e-01 9.01110507e-03 1.55656575e+02] [-3.41775695e-01 9.39774760e-01 -3.57414380e-03 -2.44903893e+01] [-9.69003098e-03 2.78959168e-04 9.99953012e-01 -2.56762328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.016906139420162464 Centerline is valid? [True, True] Translation: X:155.72, Y:-24.51, Z:-2.57 [[ 9.39704238e-01 3.41876404e-01 8.74470704e-03 1.55715346e+02] [-3.41858889e-01 9.39744886e-01 -3.47123668e-03 -2.45134427e+01] [-9.40452763e-03 2.72479981e-04 9.99955739e-01 -2.56896435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.01674088336928864 Centerline is valid? [True, True] Translation: X:155.77, Y:-24.53, Z:-2.57 [[ 9.38686613e-01 3.44666297e-01 8.51975119e-03 1.55772997e+02] [-3.44649759e-01 9.38725245e-01 -3.38500580e-03 -2.45332996e+01] [-9.16440293e-03 2.41129437e-04 9.99957977e-01 -2.56992757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.015552275862847815 Centerline is valid? [True, True] Translation: X:155.83, Y:-24.55, Z:-2.57 [[ 9.36970311e-01 3.49315275e-01 8.09165555e-03 1.55832007e+02] [-3.49300501e-01 9.37005231e-01 -3.21820676e-03 -2.45525351e+01] [-8.70609236e-03 1.88944848e-04 9.99962083e-01 -2.57188154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.012530003752228592 Centerline is valid? [True, True] Translation: X:155.89, Y:-24.57, Z:-2.57 [[ 9.32692194e-01 3.60563384e-01 8.90600325e-03 1.55892195e+02] [-3.60545989e-01 9.32734709e-01 -3.54294475e-03 -2.45666562e+01] [-9.58439450e-03 9.34531657e-05 9.99954064e-01 -2.57144626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.01178242898952225 Centerline is valid? [True, True] Translation: X:155.95, Y:-24.59, Z:-2.57 [[ 9.30034723e-01 3.67360417e-01 9.04090168e-03 1.55950594e+02] [-3.67342823e-01 9.30078665e-01 -3.59536268e-03 -2.45859119e+01] [-9.72954370e-03 2.27017862e-05 9.99952667e-01 -2.57223820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.011695829383623844 Centerline is valid? [True, True] Translation: X:156.01, Y:-24.61, Z:-2.57 [[ 9.28678130e-01 3.70767619e-01 9.39704024e-03 1.56008526e+02] [-3.70748761e-01 9.28725671e-01 -3.73944244e-03 -2.46081906e+01] [-1.01137367e-02 -1.12026189e-05 9.99948855e-01 -2.57326280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.011821021771913968 Centerline is valid? [True, True] Translation: X:156.07, Y:-24.63, Z:-2.57 [[ 9.27666708e-01 3.73278949e-01 9.86432422e-03 1.56066649e+02] [-3.73258279e-01 9.27719152e-01 -3.92838827e-03 -2.46312864e+01] [-1.06177071e-02 -3.77056615e-05 9.99943630e-01 -2.57381348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.01188007664145458 Centerline is valid? [True, True] Translation: X:156.12, Y:-24.66, Z:-2.58 [[ 9.26584994e-01 3.75981027e-01 8.86094536e-03 1.56124188e+02] [-3.75964450e-01 9.26627360e-01 -3.53111689e-03 -2.46554087e+01] [-9.53842736e-03 -5.95205251e-05 9.99954506e-01 -2.57512747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.011975269603701348 Centerline is valid? [True, True] Translation: X:156.18, Y:-24.68, Z:-2.58 [[ 9.26152285e-01 3.77037980e-01 9.18189265e-03 1.56181626e+02] [-3.77020207e-01 9.26197796e-01 -3.66150027e-03 -2.46820123e+01] [-9.88477340e-03 -7.06522299e-05 9.99951142e-01 -2.57571692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.01184311059411552 Centerline is valid? [True, True] Translation: X:156.24, Y:-24.71, Z:-2.58 [[ 9.26436112e-01 3.76380776e-01 7.32403634e-03 1.56237723e+02] [-3.76369438e-01 9.26465061e-01 -2.92191350e-03 -2.47104757e+01] [-7.88521584e-03 -4.95772593e-05 9.99968910e-01 -2.57734528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.011665072046396158 Centerline is valid? [True, True] Translation: X:156.29, Y:-24.74, Z:-2.58 [[ 9.27740594e-01 3.73166797e-01 6.62816614e-03 1.56292666e+02] [-3.73157415e-01 9.27764270e-01 -2.64619604e-03 -2.47402069e+01] [-7.13684823e-03 -1.83658641e-05 9.99974532e-01 -2.57976044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.01184574415772095 Centerline is valid? [True, True] Translation: X:156.35, Y:-24.77, Z:-2.58 [[ 9.30069267e-01 3.67331280e-01 6.23612384e-03 1.56346805e+02] [-3.67322832e-01 9.30090173e-01 -2.49143560e-03 -2.47727584e+01] [-6.71533973e-03 2.65370178e-05 9.99977451e-01 -2.57982641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.013148570847406772 Centerline is valid? [True, True] Translation: X:156.40, Y:-24.80, Z:-2.58 [[ 9.32257878e-01 3.61749405e-01 5.71123018e-03 1.56400451e+02] [-3.61742198e-01 9.32275369e-01 -2.28426386e-03 -2.48038695e+01] [-6.15077031e-03 6.35300193e-05 9.99981082e-01 -2.58169105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.013738253734794655 Centerline is valid? [True, True] Translation: X:156.45, Y:-24.84, Z:-2.58 [[ 9.35626135e-01 3.52945961e-01 5.73451327e-03 1.56453844e+02] [-3.52938519e-01 9.35643700e-01 -2.29537300e-03 -2.48354510e+01] [-6.17560384e-03 1.23680349e-04 9.99980923e-01 -2.58004571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.016509566682423815 Centerline is valid? [True, True] Translation: X:156.51, Y:-24.87, Z:-2.58 [[ 9.37926113e-01 3.46782056e-01 6.06735174e-03 1.56505501e+02] [-3.46773597e-01 9.37945721e-01 -2.42839379e-03 -2.48674504e+01] [-6.53297000e-03 1.73656566e-04 9.99978645e-01 -2.58070921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.015997148873628568 Centerline is valid? [True, True] Translation: X:156.56, Y:-24.89, Z:-2.58 [[ 9.38589634e-01 3.44968041e-01 6.82273566e-03 1.56562220e+02] [-3.44957302e-01 9.38614408e-01 -2.73000874e-03 -2.48920800e+01] [-7.34568376e-03 2.08805419e-04 9.99972998e-01 -2.58048289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.016470193899655098 Centerline is valid? [True, True] Translation: X:156.62, Y:-24.92, Z:-2.58 [[ 9.38322397e-01 3.45674222e-01 7.77243452e-03 1.56617787e+02] [-3.45660284e-01 9.38354558e-01 -3.11305653e-03 -2.49174958e+01] [-8.36940275e-03 2.34428751e-04 9.99964948e-01 -2.58051839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.015789679944409052 Centerline is valid? [True, True] Translation: X:156.68, Y:-24.94, Z:-2.58 [[ 9.37700054e-01 3.47370983e-01 7.21178760e-03 1.56676228e+02] [-3.47359022e-01 9.37727763e-01 -2.88995362e-03 -2.49397206e+01] [-7.76657949e-03 2.04830183e-04 9.99969819e-01 -2.58174464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.01631069189790905 Centerline is valid? [True, True] Translation: X:156.73, Y:-24.96, Z:-2.58 [[ 9.37319381e-01 3.48418737e-01 6.06319912e-03 1.56732770e+02] [-3.48410296e-01 9.37338976e-01 -2.43095898e-03 -2.49627274e+01] [-6.53026451e-03 1.66103965e-04 9.99978664e-01 -2.58469621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.015426270627697991 Centerline is valid? [True, True] Translation: X:156.79, Y:-24.98, Z:-2.59 [[ 9.37104352e-01 3.48990512e-01 6.40749335e-03 1.56790860e+02] [-3.48981087e-01 9.37126242e-01 -2.57068479e-03 -2.49847234e+01] [-6.90177477e-03 1.72905910e-04 9.99976168e-01 -2.58520496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.015434540788426595 Centerline is valid? [True, True] Translation: X:156.85, Y:-25.01, Z:-2.59 [[ 9.36325280e-01 3.51056346e-01 7.37639885e-03 1.56848115e+02] [-3.51043896e-01 9.36354318e-01 -2.96222769e-03 -2.50075097e+01] [-7.94683174e-03 1.84168881e-04 9.99968406e-01 -2.58580402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.014450792859172487 Centerline is valid? [True, True] Translation: X:156.91, Y:-25.03, Z:-2.59 [[ 9.35260619e-01 3.53882076e-01 7.41959107e-03 1.56907477e+02] [-3.53869541e-01 9.35290035e-01 -2.98307813e-03 -2.50275478e+01] [-7.99512748e-03 1.64388212e-04 9.99968025e-01 -2.58747057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.013798927871260658 Centerline is valid? [True, True] Translation: X:156.97, Y:-25.05, Z:-2.59 [[ 9.34189930e-01 3.56708958e-01 6.92052134e-03 1.56965684e+02] [-3.56698136e-01 9.34215555e-01 -2.78152855e-03 -2.50491657e+01] [-7.45745483e-03 1.29938894e-04 9.99972184e-01 -2.58864915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.014392309373508256 Centerline is valid? [True, True] Translation: X:157.02, Y:-25.07, Z:-2.59 [[ 9.34025972e-01 3.57144345e-01 6.58794342e-03 1.57022765e+02] [-3.57134532e-01 9.34049197e-01 -2.65026300e-03 -2.50733097e+01] [-7.09998971e-03 1.22632383e-04 9.99974787e-01 -2.59038137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.015455239605962196 Centerline is valid? [True, True] Translation: X:157.08, Y:-25.10, Z:-2.59 [[ 9.35221979e-01 3.54001726e-01 6.52905588e-03 1.57079435e+02] [-3.53992007e-01 9.35244758e-01 -2.62724929e-03 -2.50986138e+01] [-7.03631607e-03 1.45827680e-04 9.99975234e-01 -2.59090237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.016675686634016616 Centerline is valid? [True, True] Translation: X:157.14, Y:-25.12, Z:-2.59 [[ 9.36787892e-01 3.49848273e-01 5.88485780e-03 1.57135595e+02] [-3.49840286e-01 9.36806362e-01 -2.36941645e-03 -2.51241052e+01] [-6.34190848e-03 1.60880307e-04 9.99979877e-01 -2.59247979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.016754935919551333 Centerline is valid? [True, True] Translation: X:157.19, Y:-25.15, Z:-2.59 [[ 9.37834800e-01 3.47022111e-01 6.44530070e-03 1.57192623e+02] [-3.47012450e-01 9.37856927e-01 -2.59705143e-03 -2.51475635e+01] [-6.94600418e-03 1.99005627e-04 9.99975856e-01 -2.59305610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.018758533123911576 Centerline is valid? [True, True] Translation: X:157.25, Y:-25.17, Z:-2.59 [[ 9.39053051e-01 3.43716008e-01 6.21879211e-03 1.57248234e+02] [-3.43706923e-01 9.39073617e-01 -2.50848933e-03 -2.51728736e+01] [-6.70211154e-03 2.18162658e-04 9.99977517e-01 -2.59470831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.019320939059640958 Centerline is valid? [True, True] Translation: X:157.31, Y:-25.20, Z:-2.60 [[ 9.39127319e-01 3.43545937e-01 4.00849046e-03 1.57306277e+02] [-3.43542168e-01 9.39135863e-01 -1.61512178e-03 -2.51959683e+01] [-4.31938568e-03 1.39719480e-04 9.99990662e-01 -2.59814442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.01975611376879164 Centerline is valid? [True, True] Translation: X:157.36, Y:-25.22, Z:-2.60 [[ 9.38805155e-01 3.44416581e-01 4.70093416e-03 1.57363626e+02] [-3.44411399e-01 9.38816911e-01 -1.89619246e-03 -2.52188953e+01] [-5.06639661e-03 1.61099943e-04 9.99987153e-01 -2.59863020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.01627002907686471 Centerline is valid? [True, True] Translation: X:157.42, Y:-25.24, Z:-2.60 [[ 9.37877092e-01 3.46943354e-01 4.10717377e-03 1.57424602e+02] [-3.46939411e-01 9.37886076e-01 -1.65912371e-03 -2.52353955e+01] [-4.42768303e-03 1.31113668e-04 9.99990189e-01 -2.59796732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.015722510495261823 Centerline is valid? [True, True] Translation: X:157.48, Y:-25.26, Z:-2.60 [[ 9.36487611e-01 3.50675998e-01 4.15916049e-03 1.57482137e+02] [-3.50671987e-01 9.36496840e-01 -1.68126728e-03 -2.52559403e+01] [-4.48462073e-03 1.15984910e-04 9.99989937e-01 -2.59909133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.014360378942520815 Centerline is valid? [True, True] Translation: X:157.54, Y:-25.27, Z:-2.60 [[ 9.34658832e-01 3.55494247e-01 6.05869934e-03 1.57541270e+02] [-3.55485834e-01 9.34678459e-01 -2.44947316e-03 -2.52748875e+01] [-6.53370938e-03 1.35639940e-04 9.99978646e-01 -2.59844629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.0144201210816521 Centerline is valid? [True, True] Translation: X:157.60, Y:-25.30, Z:-2.60 [[ 9.34507374e-01 3.55891520e-01 6.09870106e-03 1.57599787e+02] [-3.55883017e-01 9.34527265e-01 -2.46366010e-03 -2.52990888e+01] [-6.57619816e-03 1.31884399e-04 9.99978368e-01 -2.59865676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.014535792488748377 Centerline is valid? [True, True] Translation: X:157.66, Y:-25.32, Z:-2.60 [[ 9.34622234e-01 3.55581967e-01 6.53786160e-03 1.57657984e+02] [-3.55572170e-01 9.34645090e-01 -2.64356219e-03 -2.53230908e+01] [-7.05058328e-03 1.46050366e-04 9.99975134e-01 -2.59920466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.015253735004498963 Centerline is valid? [True, True] Translation: X:157.71, Y:-25.35, Z:-2.60 [[ 9.35005843e-01 3.54576835e-01 6.27236836e-03 1.57714193e+02] [-3.54567772e-01 9.35026869e-01 -2.53962527e-03 -2.53476356e+01] [-6.76532524e-03 1.50584789e-04 9.99977104e-01 -2.60086091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.015330809871133513 Centerline is valid? [True, True] Translation: X:157.77, Y:-25.37, Z:-2.60 [[ 9.35429741e-01 3.53432645e-01 7.52093905e-03 1.57771318e+02] [-3.53419573e-01 9.35459956e-01 -3.04580872e-03 -2.53714845e+01] [-8.11202554e-03 1.91092997e-04 9.99967079e-01 -2.60178607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.015543537147948884 Centerline is valid? [True, True] Translation: X:157.83, Y:-25.40, Z:-2.60 [[ 9.35697574e-01 3.52725119e-01 7.41891112e-03 1.57828837e+02] [-3.52712360e-01 9.35726964e-01 -3.00654782e-03 -2.53960116e+01] [-8.00256012e-03 1.96477847e-04 9.99967960e-01 -2.60299892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.016148426746938418 Centerline is valid? [True, True] Translation: X:157.89, Y:-25.42, Z:-2.60 [[ 9.36512462e-01 3.50558241e-01 7.30264538e-03 1.57885336e+02] [-3.50545797e-01 9.36540909e-01 -2.96144204e-03 -2.54214414e+01] [-7.87738406e-03 2.13515732e-04 9.99968950e-01 -2.60469297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.016158342460209023 Centerline is valid? [True, True] Translation: X:157.94, Y:-25.45, Z:-2.61 [[ 9.36742876e-01 3.49945267e-01 7.14798440e-03 1.57942654e+02] [-3.49933312e-01 9.36770123e-01 -2.90066894e-03 -2.54451685e+01] [-7.71109359e-03 2.15863107e-04 9.99970246e-01 -2.60532048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.01614288318361125 Centerline is valid? [True, True] Translation: X:158.00, Y:-25.47, Z:-2.61 [[ 9.36147309e-01 3.51516404e-01 8.02700199e-03 1.58000329e+02] [-3.51501360e-01 9.36181694e-01 -3.26026120e-03 -2.54685552e+01] [-8.66076762e-03 2.30582632e-04 9.99962468e-01 -2.60565761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.015780595211169465 Centerline is valid? [True, True] Translation: X:158.06, Y:-25.49, Z:-2.61 [[ 9.35233371e-01 3.53941126e-01 8.01383224e-03 1.58057906e+02] [-3.53926200e-01 9.35267681e-01 -3.25722575e-03 -2.54911123e+01] [-8.64794444e-03 2.09961026e-04 9.99962584e-01 -2.60644709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.014516970653247103 Centerline is valid? [True, True] Translation: X:158.12, Y:-25.51, Z:-2.61 [[ 9.33825063e-01 3.57650360e-01 7.54797555e-03 1.58115940e+02] [-3.57637225e-01 9.33855552e-01 -3.06974088e-03 -2.55124054e+01] [-8.14661281e-03 1.67163940e-04 9.99966802e-01 -2.60745487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.01245986981406054 Centerline is valid? [True, True] Translation: X:158.17, Y:-25.53, Z:-2.61 [[ 9.29771900e-01 3.68069126e-01 7.02365493e-03 1.58174071e+02] [-3.68058019e-01 9.29798426e-01 -2.86043096e-03 -2.55307700e+01] [-7.58341962e-03 7.44358100e-05 9.99971243e-01 -2.60946373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.011844036340359418 Centerline is valid? [True, True] Translation: X:158.23, Y:-25.55, Z:-2.61 [[ 9.27388987e-01 3.74019200e-01 7.70095285e-03 1.58232248e+02] [-3.74006067e-01 9.27420960e-01 -3.13436819e-03 -2.55516260e+01] [-8.31433897e-03 2.65754538e-05 9.99965435e-01 -2.61060840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.011672293501249606 Centerline is valid? [True, True] Translation: X:158.29, Y:-25.57, Z:-2.61 [[ 9.25291934e-01 3.79175548e-01 7.79359970e-03 1.58291032e+02] [-3.79162263e-01 9.25324756e-01 -3.17409633e-03 -2.55742940e+01] [-8.41515045e-03 -1.80731716e-05 9.99964592e-01 -2.61152676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.011855102189812726 Centerline is valid? [True, True] Translation: X:158.35, Y:-25.60, Z:-2.61 [[ 9.23351968e-01 3.83852926e-01 8.83594047e-03 1.58348535e+02] [-3.83836029e-01 9.23394242e-01 -3.60219774e-03 -2.56001729e+01] [-9.54177070e-03 -6.54559343e-05 9.99954474e-01 -2.61110828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.012069482836880146 Centerline is valid? [True, True] Translation: X:158.40, Y:-25.63, Z:-2.61 [[ 9.22532852e-01 3.85813461e-01 9.00613665e-03 1.58404454e+02] [-3.85795967e-01 9.22576808e-01 -3.67495127e-03 -2.56281777e+01] [-9.72669847e-03 -8.42679181e-05 9.99952691e-01 -2.61212119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.012036783791136891 Centerline is valid? [True, True] Translation: X:158.46, Y:-25.66, Z:-2.61 [[ 9.22272113e-01 3.86442951e-01 8.71746170e-03 1.58460759e+02] [-3.86426568e-01 9.22313308e-01 -3.55941033e-03 -2.56554348e+01] [-9.41573997e-03 -8.59139254e-05 9.99955667e-01 -2.61342197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.012252665680153036 Centerline is valid? [True, True] Translation: X:158.52, Y:-25.69, Z:-2.62 [[ 9.22092417e-01 3.86896601e-01 7.52292318e-03 1.58516079e+02] [-3.86884403e-01 9.22123101e-01 -3.07322835e-03 -2.56865460e+01] [-8.12608286e-03 -7.67010875e-05 9.99966980e-01 -2.61575580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.012018857747397919 Centerline is valid? [True, True] Translation: X:158.57, Y:-25.72, Z:-2.62 [[ 9.22504672e-01 3.85916667e-01 7.31142546e-03 1.58570407e+02] [-3.85905094e-01 9.22533643e-01 -2.98933028e-03 -2.57182418e+01] [-7.89866834e-03 -6.38451752e-05 9.99968803e-01 -2.61683266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.011799941936389809 Centerline is valid? [True, True] Translation: X:158.63, Y:-25.75, Z:-2.62 [[ 9.23245812e-01 3.84166172e-01 5.78989264e-03 1.58625368e+02] [-3.84158878e-01 9.23263966e-01 -2.36755884e-03 -2.57487406e+01] [-6.25513526e-03 -3.83998824e-05 9.99980436e-01 -2.61837735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.011712587803139366 Centerline is valid? [True, True] Translation: X:158.68, Y:-25.78, Z:-2.62 [[ 9.24538268e-01 3.81057437e-01 4.92141177e-03 1.58680506e+02] [-3.81052118e-01 9.24551367e-01 -2.01335579e-03 -2.57800467e+01] [-5.31730217e-03 -1.38899015e-05 9.99985863e-01 -2.61984100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.011826096987006434 Centerline is valid? [True, True] Translation: X:158.74, Y:-25.81, Z:-2.62 [[ 9.26267064e-01 3.76841389e-01 4.46035186e-03 1.58735533e+02] [-3.76836966e-01 9.26277803e-01 -1.82569512e-03 -2.58126795e+01] [-4.81952240e-03 1.02557926e-05 9.99988386e-01 -2.62033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.012907862163935621 Centerline is valid? [True, True] Translation: X:158.79, Y:-25.85, Z:-2.62 [[ 9.29208117e-01 3.69519538e-01 5.25218096e-03 1.58786925e+02] [-3.69513270e-01 9.29222959e-01 -2.15309710e-03 -2.58486701e+01] [-5.67605858e-03 5.99247355e-05 9.99983889e-01 -2.62086625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.013444352213028131 Centerline is valid? [True, True] Translation: X:158.84, Y:-25.88, Z:-2.62 [[ 9.31299281e-01 3.64209763e-01 5.73567381e-03 1.58840141e+02] [-3.64202169e-01 9.31316937e-01 -2.35428696e-03 -2.58812279e+01] [-6.19918446e-03 1.03600912e-04 9.99980780e-01 -2.61968466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.013984025388804028 Centerline is valid? [True, True] Translation: X:158.89, Y:-25.91, Z:-2.62 [[ 9.31435967e-01 3.63850138e-01 6.33371287e-03 1.58894974e+02] [-3.63840870e-01 9.31457494e-01 -2.59954696e-03 -2.59101529e+01] [-6.84542984e-03 1.16847938e-04 9.99976563e-01 -2.62071731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.013253205388688932 Centerline is valid? [True, True] Translation: X:158.95, Y:-25.94, Z:-2.62 [[ 9.30181622e-01 3.67039681e-01 6.63498046e-03 1.58951156e+02] [-3.67029574e-01 9.30205280e-01 -2.72565969e-03 -2.59361028e+01] [-7.17231912e-03 1.00124499e-04 9.99974274e-01 -2.62122618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.012489260923103818 Centerline is valid? [True, True] Translation: X:159.01, Y:-25.96, Z:-2.62 [[ 9.28599648e-01 3.71032104e-01 6.15402461e-03 1.59008379e+02] [-3.71023479e-01 9.28620037e-01 -2.53067920e-03 -2.59613570e+01] [-6.65371379e-03 6.67001904e-05 9.99977862e-01 -2.62256607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.012166984592730615 Centerline is valid? [True, True] Translation: X:159.07, Y:-25.99, Z:-2.62 [[ 9.27562866e-01 3.73611343e-01 6.45701591e-03 1.59065164e+02] [-3.73601911e-01 9.27585339e-01 -2.65531192e-03 -2.59872569e+01] [-6.98148795e-03 5.06152515e-05 9.99975628e-01 -2.62369746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.011937676049419236 Centerline is valid? [True, True] Translation: X:159.12, Y:-26.01, Z:-2.62 [[ 9.26133208e-01 3.77144137e-01 6.29131833e-03 1.59121882e+02] [-3.77135252e-01 9.26154576e-01 -2.58887665e-03 -2.60129120e+01] [-6.80311291e-03 2.49667059e-05 9.99976858e-01 -2.62454287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.011911519356847982 Centerline is valid? [True, True] Translation: X:159.18, Y:-26.04, Z:-2.63 [[ 9.24954223e-01 3.80042927e-01 5.20185845e-03 1.59179678e+02] [-3.80036897e-01 9.24968850e-01 -2.14091748e-03 -2.60386760e+01] [-5.62519758e-03 3.35252001e-06 9.99984178e-01 -2.62692536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.011814053965438666 Centerline is valid? [True, True] Translation: X:159.24, Y:-26.06, Z:-2.63 [[ 9.24259094e-01 3.81734971e-01 4.85161524e-03 1.59237433e+02] [-3.81729743e-01 9.24271828e-01 -1.99796679e-03 -2.60648595e+01] [-5.24690508e-03 -5.36686379e-06 9.99986235e-01 -2.62758226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.01180995591494239 Centerline is valid? [True, True] Translation: X:159.30, Y:-26.09, Z:-2.63 [[ 9.23884558e-01 3.82636476e-01 5.16244189e-03 1.59295026e+02] [-3.82630559e-01 9.23898981e-01 -2.12796507e-03 -2.60890251e+01] [-5.58381186e-03 -9.31396034e-06 9.99984410e-01 -2.62780841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.011723540505571927 Centerline is valid? [True, True] Translation: X:159.35, Y:-26.11, Z:-2.63 [[ 9.24311709e-01 3.81616010e-01 4.13343908e-03 1.59351968e+02] [-3.81612203e-01 9.24320951e-01 -1.70465767e-03 -2.61131791e+01] [-4.47114900e-03 -1.73575150e-06 9.99990004e-01 -2.62985622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.01190404481853133 Centerline is valid? [True, True] Translation: X:159.41, Y:-26.14, Z:-2.63 [[ 9.25679419e-01 3.78283324e-01 4.39782960e-03 1.59409835e+02] [-3.78278971e-01 9.25689865e-01 -1.81484688e-03 -2.61389220e+01] [-4.75755260e-03 1.63599536e-05 9.99988683e-01 -2.63082488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.012421316903189128 Centerline is valid? [True, True] Translation: X:159.47, Y:-26.16, Z:-2.63 [[ 9.27443164e-01 3.73938087e-01 4.41416794e-03 1.59466008e+02] [-3.73933643e-01 9.27453668e-01 -1.82343840e-03 -2.61644840e+01] [-4.77578932e-03 4.05295768e-05 9.99988595e-01 -2.63119963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.01442113624393619 Centerline is valid? [True, True] Translation: X:159.52, Y:-26.19, Z:-2.63 [[ 9.30190811e-01 3.67045777e-01 4.73852755e-03 1.59521037e+02] [-3.67040550e-01 9.30202876e-01 -1.96065983e-03 -2.61906044e+01] [-5.12744386e-03 8.45560017e-05 9.99986851e-01 -2.63274296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.016091901391889353 Centerline is valid? [True, True] Translation: X:159.58, Y:-26.21, Z:-2.64 [[ 9.32637067e-01 3.60804507e-01 2.86513499e-03 1.59577027e+02] [-3.60802569e-01 9.32641465e-01 -1.18481543e-03 -2.62145003e+01] [-3.09963044e-03 7.12547250e-05 9.99995194e-01 -2.63509125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.01712024886705579 Centerline is valid? [True, True] Translation: X:159.63, Y:-26.24, Z:-2.64 [[ 9.34158634e-01 3.56846711e-01 2.84111139e-03 1.59633995e+02] [-3.56844782e-01 9.34162950e-01 -1.17627090e-03 -2.62390406e+01] [-3.07380940e-03 8.49878466e-05 9.99995272e-01 -2.63538480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.018813414677871666 Centerline is valid? [True, True] Translation: X:159.69, Y:-26.26, Z:-2.64 [[ 9.35505889e-01 3.53301556e-01 2.59637367e-03 1.59690120e+02] [-3.53299931e-01 9.35509488e-01 -1.07535997e-03 -2.62644407e+01] [-2.80885855e-03 8.87069497e-05 9.99996051e-01 -2.63629522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.020309526250028923 Centerline is valid? [True, True] Translation: X:159.75, Y:-26.29, Z:-2.64 [[ 9.36634448e-01 3.50294785e-01 3.07812999e-03 1.59747629e+02] [-3.50292484e-01 9.36639499e-01 -1.27493193e-03 -2.62884563e+01] [-3.32970013e-03 1.15899364e-04 9.99994450e-01 -2.63738842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.018428706021050484 Centerline is valid? [True, True] Translation: X:159.81, Y:-26.31, Z:-2.64 [[ 9.36085424e-01 3.51740894e-01 4.73519244e-03 1.59806536e+02] [-3.51735473e-01 9.36097385e-01 -1.96018605e-03 -2.63080744e+01] [-5.12207886e-03 1.69366437e-04 9.99986868e-01 -2.63588280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.017958539691363247 Centerline is valid? [True, True] Translation: X:159.86, Y:-26.33, Z:-2.64 [[ 9.35170722e-01 3.54156581e-01 5.37007300e-03 1.59863834e+02] [-3.54149622e-01 9.35186122e-01 -2.22744380e-03 -2.63295493e+01] [-5.81088163e-03 1.81230897e-04 9.99983100e-01 -2.63575964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.016393288066492262 Centerline is valid? [True, True] Translation: X:159.92, Y:-26.35, Z:-2.64 [[ 9.33906589e-01 3.57470481e-01 5.77394332e-03 1.59922316e+02] [-3.57462498e-01 9.33924422e-01 -2.39523980e-03 -2.63488210e+01] [-6.24865420e-03 1.72962027e-04 9.99980462e-01 -2.63609824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.01627187139704433 Centerline is valid? [True, True] Translation: X:159.98, Y:-26.37, Z:-2.64 [[ 9.32916780e-01 3.60043528e-01 5.91099941e-03 1.59979649e+02] [-3.60035225e-01 9.32935492e-01 -2.45017888e-03 -2.63715840e+01] [-6.39675219e-03 1.57644982e-04 9.99979528e-01 -2.63738612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.015719473641321254 Centerline is valid? [True, True] Translation: X:160.04, Y:-26.39, Z:-2.64 [[ 9.32223769e-01 3.61836948e-01 5.73305923e-03 1.60038235e+02] [-3.61829162e-01 9.32241387e-01 -2.37791968e-03 -2.63929543e+01] [-6.20501429e-03 1.42365223e-04 9.99980739e-01 -2.63790425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.015559441008677932 Centerline is valid? [True, True] Translation: X:160.10, Y:-26.41, Z:-2.64 [[ 9.32737572e-01 3.60519388e-01 5.13743884e-03 1.60096497e+02] [-3.60513111e-01 9.32751710e-01 -2.13181602e-03 -2.64144439e+01] [-5.56051587e-03 1.36310839e-04 9.99984531e-01 -2.63981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.01666437336934506 Centerline is valid? [True, True] Translation: X:160.15, Y:-26.44, Z:-2.64 [[ 9.33613170e-01 3.58250313e-01 4.81276581e-03 1.60152616e+02] [-3.58244767e-01 9.33625564e-01 -1.99844983e-03 -2.64397849e+01] [-5.20926647e-03 1.41630915e-04 9.99986422e-01 -2.64150127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.018909650966796934 Centerline is valid? [True, True] Translation: X:160.21, Y:-26.47, Z:-2.64 [[ 9.35508940e-01 3.53264171e-01 5.23913941e-03 1.60207118e+02] [-3.53257498e-01 9.35523591e-01 -2.17941829e-03 -2.64681360e+01] [-5.67124891e-03 1.88100011e-04 9.99983901e-01 -2.64146451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.019681800954962546 Centerline is valid? [True, True] Translation: X:160.26, Y:-26.49, Z:-2.64 [[ 9.36914066e-01 3.49528250e-01 4.69424412e-03 1.60263153e+02] [-3.49522852e-01 9.36925807e-01 -1.95166983e-03 -2.64922092e+01] [-5.08032220e-03 1.87801318e-04 9.99987077e-01 -2.64271351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.019681764345031487 Centerline is valid? [True, True] Translation: X:160.32, Y:-26.52, Z:-2.64 [[ 9.37137549e-01 3.48928849e-01 4.67691003e-03 1.60320471e+02] [-3.48923485e-01 9.37149200e-01 -1.94388563e-03 -2.65162319e+01] [-5.06124027e-03 1.89804468e-04 9.99987174e-01 -2.64351180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.018822954292777645 Centerline is valid? [True, True] Translation: X:160.38, Y:-26.54, Z:-2.64 [[ 9.36297235e-01 3.51179935e-01 4.48800079e-03 1.60378464e+02] [-3.51175017e-01 9.36307975e-01 -1.86646366e-03 -2.65387699e+01] [-4.85761551e-03 1.71491009e-04 9.99988187e-01 -2.64409136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.018322380383386336 Centerline is valid? [True, True] Translation: X:160.44, Y:-26.56, Z:-2.65 [[ 9.35886889e-01 3.52271255e-01 4.54899918e-03 1.60436204e+02] [-3.52266209e-01 9.35897929e-01 -1.89318381e-03 -2.65616599e+01] [-4.92431315e-03 1.69347208e-04 9.99987861e-01 -2.64517159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.017563780025645022 Centerline is valid? [True, True] Translation: X:160.49, Y:-26.58, Z:-2.65 [[ 9.34453306e-01 3.56057450e-01 4.48445576e-03 1.60494288e+02] [-3.56052573e-01 9.34464055e-01 -1.86964012e-03 -2.65822328e+01] [-4.85626200e-03 1.50389379e-04 9.99988197e-01 -2.64703746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.01738444395015793 Centerline is valid? [True, True] Translation: X:160.55, Y:-26.61, Z:-2.65 [[ 9.33780559e-01 3.57819218e-01 4.39029402e-03 1.60551683e+02] [-3.57814571e-01 9.33790870e-01 -1.82868944e-03 -2.66051365e+01] [-4.75395669e-03 1.36683480e-04 9.99988691e-01 -2.64808529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.016445628649692196 Centerline is valid? [True, True] Translation: X:160.61, Y:-26.63, Z:-2.65 [[ 9.32034456e-01 3.62322995e-01 5.81546185e-03 1.60608228e+02] [-3.62314895e-01 9.32052586e-01 -2.42773108e-03 -2.66257246e+01] [-6.29993905e-03 1.55700570e-04 9.99980143e-01 -2.64836660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.014578719241336035 Centerline is valid? [True, True] Translation: X:160.67, Y:-26.64, Z:-2.65 [[ 9.30193973e-01 3.67004694e-01 6.83572506e-03 1.60667403e+02] [-3.66993630e-01 9.30219078e-01 -2.85351461e-03 -2.66449113e+01] [-7.40597512e-03 1.45654534e-04 9.99972565e-01 -2.64905627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.013392863447275293 Centerline is valid? [True, True] Translation: X:160.73, Y:-26.67, Z:-2.65 [[ 9.28355026e-01 3.71647254e-01 5.93832959e-03 1.60725751e+02] [-3.71639010e-01 9.28374014e-01 -2.47714245e-03 -2.66653125e+01] [-6.43361407e-03 9.27527163e-05 9.99979300e-01 -2.65130688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.012760755092859176 Centerline is valid? [True, True] Translation: X:160.78, Y:-26.69, Z:-2.65 [[ 9.27411786e-01 3.74010266e-01 4.86835302e-03 1.60784082e+02] [-3.74004754e-01 9.27424561e-01 -2.03136411e-03 -2.66877431e+01] [-5.27478120e-03 6.31238434e-05 9.99986086e-01 -2.65269778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.012518491807328995 Centerline is valid? [True, True] Translation: X:160.84, Y:-26.71, Z:-2.65 [[ 9.26706225e-01 3.75766597e-01 3.87773164e-03 1.60842447e+02] [-3.75763117e-01 9.26714337e-01 -1.61777672e-03 -2.67115874e+01] [-4.20145596e-03 4.20952261e-05 9.99991173e-01 -2.65499138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.012897828256653525 Centerline is valid? [True, True] Translation: X:160.90, Y:-26.74, Z:-2.66 [[ 9.26818732e-01 3.75493845e-01 3.37805889e-03 1.60897855e+02] [-3.75491197e-01 9.26824887e-01 -1.41057891e-03 -2.67368513e+01] [-3.66053275e-03 3.89195743e-05 9.99993299e-01 -2.65737056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.012827294354225137 Centerline is valid? [True, True] Translation: X:160.95, Y:-26.76, Z:-2.66 [[ 9.27448577e-01 3.73926395e-01 4.26468650e-03 1.60954623e+02] [-3.73922150e-01 9.27458380e-01 -1.78271308e-03 -2.67629063e+01] [-4.62192271e-03 5.87139629e-05 9.99989317e-01 -2.65657374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.013885146058674408 Centerline is valid? [True, True] Translation: X:161.01, Y:-26.79, Z:-2.66 [[ 9.29082308e-01 3.69831168e-01 5.56516930e-03 1.61009808e+02] [-3.69823848e-01 9.29098970e-01 -2.32935422e-03 -2.67926154e+01] [-6.03206086e-03 1.06029475e-04 9.99981801e-01 -2.65675259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.015438146249441075 Centerline is valid? [True, True] Translation: X:161.06, Y:-26.82, Z:-2.66 [[ 9.31096565e-01 3.64730868e-01 5.53003820e-03 1.61063870e+02] [-3.64723539e-01 9.31112976e-01 -2.31644649e-03 -2.68226454e+01] [-5.99396987e-03 1.39900267e-04 9.99982026e-01 -2.65844601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.017257202912431005 Centerline is valid? [True, True] Translation: X:161.12, Y:-26.85, Z:-2.66 [[ 9.32705844e-01 3.60601571e-01 5.12995072e-03 1.61117136e+02] [-3.60595192e-01 9.32719938e-01 -2.15047528e-03 -2.68530925e+01] [-5.56027209e-03 1.55925294e-04 9.99984529e-01 -2.65993294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.018521595457528617 Centerline is valid? [True, True] Translation: X:161.17, Y:-26.88, Z:-2.66 [[ 9.33366361e-01 3.58895591e-01 4.60333710e-03 1.61172139e+02] [-3.58890434e-01 9.33377701e-01 -1.92967523e-03 -2.68816068e+01] [-4.98920413e-03 1.49000295e-04 9.99987543e-01 -2.66122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.01823861442122401 Centerline is valid? [True, True] Translation: X:161.23, Y:-26.91, Z:-2.66 [[ 9.33780718e-01 3.57815735e-01 4.63368491e-03 1.61227837e+02] [-3.57810490e-01 9.33792201e-01 -1.94366414e-03 -2.69090121e+01] [-5.02237245e-03 1.56975021e-04 9.99987375e-01 -2.66145268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.018195670894561387 Centerline is valid? [True, True] Translation: X:161.28, Y:-26.94, Z:-2.66 [[ 9.33519209e-01 3.58489928e-01 5.18246564e-03 1.61284281e+02] [-3.58483367e-01 9.33533578e-01 -2.17584019e-03 -2.69357054e+01] [-5.61802248e-03 1.73360882e-04 9.99984204e-01 -2.66187308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.017764683246607127 Centerline is valid? [True, True] Translation: X:161.34, Y:-26.96, Z:-2.66 [[ 9.33104139e-01 3.59555863e-01 6.02061220e-03 1.61340112e+02] [-3.59547014e-01 9.33123541e-01 -2.53011053e-03 -2.69622836e+01] [-6.52769105e-03 1.96163462e-04 9.99978675e-01 -2.66239881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.017680197623061753 Centerline is valid? [True, True] Translation: X:161.40, Y:-26.99, Z:-2.66 [[ 9.32571091e-01 3.60929613e-01 6.40122625e-03 1.61396704e+02] [-3.60919628e-01 9.32593038e-01 -2.69217143e-03 -2.69885056e+01] [-6.94142343e-03 2.00313052e-04 9.99975888e-01 -2.66301322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.016322656540910432 Centerline is valid? [True, True] Translation: X:161.45, Y:-27.01, Z:-2.66 [[ 9.30946395e-01 3.65082497e-01 7.31986360e-03 1.61453465e+02] [-3.65069534e-01 9.30975151e-01 -3.08287698e-03 -2.70123022e+01] [-7.94011554e-03 1.97734021e-04 9.99968457e-01 -2.66357499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.014172555525685214 Centerline is valid? [True, True] Translation: X:161.51, Y:-27.03, Z:-2.66 [[ 9.28118068e-01 3.72204972e-01 7.76602424e-03 1.61511430e+02] [-3.72190622e-01 9.28150547e-01 -3.27151772e-03 -2.70320808e+01] [-8.42571480e-03 1.45913312e-04 9.99964492e-01 -2.66411051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.012871398569297239 Centerline is valid? [True, True] Translation: X:161.57, Y:-27.05, Z:-2.67 [[ 9.25378656e-01 3.78987722e-01 6.53070806e-03 1.61569402e+02] [-3.78977742e-01 9.25401697e-01 -2.75119190e-03 -2.70519419e+01] [-7.08619627e-03 7.09012604e-05 9.99974890e-01 -2.66711255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.012403012842900072 Centerline is valid? [True, True] Translation: X:161.63, Y:-27.07, Z:-2.67 [[ 9.23738391e-01 3.82976792e-01 6.01342430e-03 1.61627597e+02] [-3.82968428e-01 9.23757964e-01 -2.53130428e-03 -2.70735737e+01] [-6.52437938e-03 3.53112916e-05 9.99978715e-01 -2.66870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.012033311387367728 Centerline is valid? [True, True] Translation: X:161.69, Y:-27.09, Z:-2.67 [[ 9.22179202e-01 3.86708664e-01 6.47527916e-03 1.61686292e+02] [-3.86699042e-01 9.22201935e-01 -2.72786420e-03 -2.70941297e+01] [-7.02640369e-03 1.15953764e-05 9.99975314e-01 -2.66985696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.011941664942767556 Centerline is valid? [True, True] Translation: X:161.74, Y:-27.12, Z:-2.67 [[ 9.21791316e-01 3.87628231e-01 6.71752243e-03 1.61744788e+02] [-3.87617888e-01 9.21815792e-01 -2.83168614e-03 -2.71181700e+01] [-7.28995975e-03 6.39183244e-06 9.99973428e-01 -2.67047087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.012111911286435694 Centerline is valid? [True, True] Translation: X:161.80, Y:-27.14, Z:-2.67 [[ 9.22675094e-01 3.85504552e-01 7.54398654e-03 1.61801954e+02] [-3.85491411e-01 9.22705933e-01 -3.18313197e-03 -2.71445470e+01] [-8.18799301e-03 2.88545729e-05 9.99966477e-01 -2.67019947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.012447732136696855 Centerline is valid? [True, True] Translation: X:161.86, Y:-27.17, Z:-2.67 [[ 9.23775016e-01 3.82863495e-01 7.43402922e-03 1.61858699e+02] [-3.82850627e-01 9.23804926e-01 -3.13946773e-03 -2.71706627e+01] [-8.06958040e-03 5.40391041e-05 9.99967439e-01 -2.67165215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.013078417807086084 Centerline is valid? [True, True] Translation: X:161.92, Y:-27.20, Z:-2.67 [[ 9.25497306e-01 3.78697839e-01 6.53326883e-03 1.61915794e+02] [-3.78687787e-01 9.25520362e-01 -2.76036535e-03 -2.71960524e+01] [-7.09201773e-03 8.06415757e-05 9.99974848e-01 -2.67388678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.013767232745381462 Centerline is valid? [True, True] Translation: X:161.97, Y:-27.22, Z:-2.68 [[ 9.26827555e-01 3.75450812e-01 5.23179057e-03 1.61972005e+02] [-3.75444303e-01 9.26842317e-01 -2.21250333e-03 -2.72215782e+01] [-5.67973106e-03 8.63630891e-05 9.99983866e-01 -2.67577270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.014551458725422241 Centerline is valid? [True, True] Translation: X:162.03, Y:-27.25, Z:-2.68 [[ 9.27574504e-01 3.73614933e-01 4.17389091e-03 1.62028682e+02] [-3.73610778e-01 9.27583891e-01 -1.76382852e-03 -2.72474410e+01] [-4.53062665e-03 7.66717373e-05 9.99989734e-01 -2.67756700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.015112806959298525 Centerline is valid? [True, True] Translation: X:162.09, Y:-27.27, Z:-2.68 [[ 9.28862521e-01 3.70409736e-01 3.32331301e-03 1.62085014e+02] [-3.70407080e-01 9.28868463e-01 -1.40464544e-03 -2.72725675e+01] [-3.60721499e-03 7.37438360e-05 9.99993491e-01 -2.67868921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.015770733150540457 Centerline is valid? [True, True] Translation: X:162.14, Y:-27.30, Z:-2.68 [[ 9.29421993e-01 3.68998521e-01 3.85358330e-03 1.62141750e+02] [-3.68994932e-01 9.29429977e-01 -1.63025985e-03 -2.72977331e+01] [-4.18319931e-03 9.32466568e-05 9.99991246e-01 -2.67920223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.016067210362537665 Centerline is valid? [True, True] Translation: X:162.20, Y:-27.32, Z:-2.68 [[ 9.29909374e-01 3.67744462e-01 5.70665166e-03 1.62199048e+02] [-3.67736544e-01 9.29926872e-01 -2.41788597e-03 -2.73224512e+01] [-6.19593291e-03 1.49870475e-04 9.99980794e-01 -2.67785071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.01590998269040708 Centerline is valid? [True, True] Translation: X:162.26, Y:-27.35, Z:-2.68 [[ 9.29865476e-01 3.67849710e-01 6.06520992e-03 1.62257501e+02] [-3.67840758e-01 9.29885243e-01 -2.57141790e-03 -2.73466250e+01] [-6.58584453e-03 1.60041313e-04 9.99978300e-01 -2.67813724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.016225107174617615 Centerline is valid? [True, True] Translation: X:162.31, Y:-27.37, Z:-2.68 [[ 9.29596060e-01 3.68516629e-01 6.83072025e-03 1.62314000e+02] [-3.68505266e-01 9.29621139e-01 -2.89938491e-03 -2.73704926e+01] [-7.41845349e-03 1.78100406e-04 9.99972467e-01 -2.67844954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.015123895005895642 Centerline is valid? [True, True] Translation: X:162.37, Y:-27.39, Z:-2.68 [[ 9.28423970e-01 3.71441049e-01 7.77681140e-03 1.62372689e+02] [-3.71426402e-01 9.28456523e-01 -3.30340755e-03 -2.73916850e+01] [-8.44745244e-03 1.78449668e-04 9.99964304e-01 -2.67778063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.01437373520313011 Centerline is valid? [True, True] Translation: X:162.43, Y:-27.41, Z:-2.68 [[ 9.27280119e-01 3.74278873e-01 8.17957655e-03 1.62431701e+02] [-3.74262746e-01 9.27316180e-01 -3.47828708e-03 -2.74131650e+01] [-8.88690305e-03 1.64035675e-04 9.99960497e-01 -2.67844286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.01363117376929607 Centerline is valid? [True, True] Translation: X:162.49, Y:-27.43, Z:-2.68 [[ 9.25991920e-01 3.77439126e-01 8.86957968e-03 1.62491203e+02] [-3.77420299e-01 9.26034386e-01 -3.77274483e-03 -2.74334132e+01] [-9.63751729e-03 1.45971814e-04 9.99953547e-01 -2.67948588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.013431632015769454 Centerline is valid? [True, True] Translation: X:162.55, Y:-27.46, Z:-2.68 [[ 9.25638506e-01 3.78296349e-01 9.23193260e-03 1.62549113e+02] [-3.78275994e-01 9.25684532e-01 -3.92685094e-03 -2.74554526e+01] [-1.00313706e-02 1.42625956e-04 9.99949674e-01 -2.68032516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.013582949867776764 Centerline is valid? [True, True] Translation: X:162.61, Y:-27.48, Z:-2.68 [[ 9.25814364e-01 3.77863847e-01 9.30998647e-03 1.62607964e+02] [-3.77843100e-01 9.25861161e-01 -3.96250369e-03 -2.74775697e+01] [-1.01170418e-02 1.50828682e-04 9.99948810e-01 -2.68214270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.01427176017534827 Centerline is valid? [True, True] Translation: X:162.66, Y:-27.50, Z:-2.68 [[ 9.27183311e-01 3.74494926e-01 9.20102178e-03 1.62664600e+02] [-3.74474456e-01 9.27228944e-01 -3.92009229e-03 -2.75018269e+01] [-9.99950838e-03 1.89096529e-04 9.99949986e-01 -2.68306600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.015386158753327252 Centerline is valid? [True, True] Translation: X:162.72, Y:-27.53, Z:-2.68 [[ 9.28747037e-01 3.70573602e-01 1.02052906e-02 1.62721114e+02] [-3.70548160e-01 9.28803068e-01 -4.35000406e-03 -2.75270128e+01] [-1.10907019e-02 2.58501748e-04 9.99938463e-01 -2.68323347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.018242016199037623 Centerline is valid? [True, True] Translation: X:162.78, Y:-27.55, Z:-2.68 [[ 9.31230643e-01 3.64235443e-01 1.19177119e-02 1.62775709e+02] [-3.64200213e-01 9.31306818e-01 -5.08099363e-03 -2.75535002e+01] [-1.29497243e-02 3.91143772e-04 9.99916072e-01 -2.68332787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.019564312280187048 Centerline is valid? [True, True] Translation: X:162.83, Y:-27.58, Z:-2.69 [[ 9.33401113e-01 3.58669804e-01 1.08781197e-02 1.62832343e+02] [-3.58640055e-01 9.33464401e-01 -4.63932208e-03 -2.75768167e+01] [-1.18183222e-02 4.29018967e-04 9.99930069e-01 -2.68573216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.02095860910793368 Centerline is valid? [True, True] Translation: X:162.89, Y:-27.60, Z:-2.69 [[ 9.34173064e-01 3.56663094e-01 1.05888661e-02 1.62889075e+02] [-3.56634785e-01 9.34232970e-01 -4.51524845e-03 -2.76005956e+01] [-1.15028903e-02 4.41665504e-04 9.99933742e-01 -2.68745982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.021120046835846618 Centerline is valid? [True, True] Translation: X:162.95, Y:-27.62, Z:-2.69 [[ 9.34493648e-01 3.55819552e-01 1.06802818e-02 1.62948407e+02] [-3.55790666e-01 9.34554566e-01 -4.55696084e-03 -2.76205769e+01] [-1.16027619e-02 4.58506387e-04 9.99932581e-01 -2.68811283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.019894447491502355 Centerline is valid? [True, True] Translation: X:163.01, Y:-27.64, Z:-2.69 [[ 9.33833134e-01 3.57532706e-01 1.12268563e-02 1.63008808e+02] [-3.57500862e-01 9.33900503e-01 -4.79420094e-03 -2.76388811e+01] [-1.21988504e-02 4.63372882e-04 9.99925484e-01 -2.68784654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.01880082969519012 Centerline is valid? [True, True] Translation: X:163.07, Y:-27.66, Z:-2.69 [[ 9.32810283e-01 3.60171987e-01 1.18792176e-02 1.63067866e+02] [-3.60136529e-01 9.32885809e-01 -5.07426052e-03 -2.76572780e+01] [-1.29095600e-02 4.55182205e-04 9.99916565e-01 -2.68876533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.016784581470232478 Centerline is valid? [True, True] Translation: X:163.13, Y:-27.67, Z:-2.69 [[ 9.31523519e-01 3.63481798e-01 1.20381015e-02 1.63127660e+02] [-3.63445655e-01 9.31601207e-01 -5.14257048e-03 -2.76740357e+01] [-1.30839407e-02 4.15229657e-04 9.99914315e-01 -2.68936704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.0160097748742078 Centerline is valid? [True, True] Translation: X:163.19, Y:-27.69, Z:-2.69 [[ 9.29761184e-01 3.67969366e-01 1.19451106e-02 1.63186826e+02] [-3.67934138e-01 9.29837848e-01 -5.10365655e-03 -2.76908322e+01] [-1.29850052e-02 3.50167804e-04 9.99915630e-01 -2.69105069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.016153698534658926 Centerline is valid? [True, True] Translation: X:163.25, Y:-27.71, Z:-2.69 [[ 9.29191935e-01 3.69423008e-01 1.13573494e-02 1.63246163e+02] [-3.69391275e-01 9.29261289e-01 -4.85212168e-03 -2.77108044e+01] [-1.23464305e-02 3.13246547e-04 9.99923731e-01 -2.69273496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.016152211602560914 Centerline is valid? [True, True] Translation: X:163.30, Y:-27.73, Z:-2.69 [[ 9.29526306e-01 3.68603061e-01 1.06127254e-02 1.63304416e+02] [-3.68575268e-01 9.29586838e-01 -4.53673218e-03 -2.77325577e+01] [-1.15377032e-02 3.05423803e-04 9.99933392e-01 -2.69461331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.01868294003584897 Centerline is valid? [True, True] Translation: X:163.36, Y:-27.76, Z:-2.70 [[ 9.31060667e-01 3.64714906e-01 1.04436972e-02 1.63359045e+02] [-3.64687698e-01 9.31119172e-01 -4.46869202e-03 -2.77573454e+01] [-1.13541253e-02 3.51935460e-04 9.99935478e-01 -2.69664895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.018579516695607954 Centerline is valid? [True, True] Translation: X:163.42, Y:-27.78, Z:-2.70 [[ 9.32265223e-01 3.61610098e-01 1.09403133e-02 1.63416673e+02] [-3.61580034e-01 9.32329325e-01 -4.68066263e-03 -2.77794889e+01] [-1.18925498e-02 4.07820134e-04 9.99929198e-01 -2.69790737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.01958314484641641 Centerline is valid? [True, True] Translation: X:163.47, Y:-27.80, Z:-2.70 [[ 9.33358905e-01 3.58721389e-01 1.26537974e-02 1.63474356e+02] [-3.58680875e-01 9.33444534e-01 -5.41587056e-03 -2.78024824e+01] [-1.37544066e-02 5.16275897e-04 9.99905270e-01 -2.69824619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.01850028013298366 Centerline is valid? [True, True] Translation: X:163.53, Y:-27.82, Z:-2.70 [[ 9.33196543e-01 3.59157554e-01 1.22500744e-02 1.63534382e+02] [-3.59119617e-01 9.33276812e-01 -5.24338260e-03 -2.78232624e+01] [-1.33159109e-02 4.93864486e-04 9.99911217e-01 -2.70035165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.019257494304467205 Centerline is valid? [True, True] Translation: X:163.59, Y:-27.85, Z:-2.70 [[ 9.32274663e-01 3.61589271e-01 1.08236986e-02 1.63591157e+02] [-3.61559780e-01 9.32337402e-01 -4.63609433e-03 -2.78471200e+01] [-1.17677010e-02 4.08699190e-04 9.99930675e-01 -2.70239419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.01612836097113725 Centerline is valid? [True, True] Translation: X:163.65, Y:-27.86, Z:-2.70 [[ 9.29602127e-01 3.68424547e-01 1.01606087e-02 1.63650427e+02] [-3.68398922e-01 9.29657603e-01 -4.35606861e-03 -2.78624216e+01] [-1.10507697e-02 3.06253378e-04 9.99938891e-01 -2.70431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.01404780443790939 Centerline is valid? [True, True] Translation: X:163.71, Y:-27.88, Z:-2.71 [[ 9.26504050e-01 3.76155456e-01 9.86503207e-03 1.63708759e+02] [-3.76131736e-01 9.26556544e-01 -4.22931373e-03 -2.78800910e+01] [-1.07313895e-02 2.07924653e-04 9.99942395e-01 -2.70516606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.01264883714763173 Centerline is valid? [True, True] Translation: X:163.77, Y:-27.90, Z:-2.71 [[ 9.23258630e-01 3.84045359e-01 1.01323300e-02 1.63766594e+02] [-3.84020809e-01 9.23314219e-01 -4.34403209e-03 -2.78996977e+01] [-1.10236297e-02 1.19639561e-04 9.99939231e-01 -2.70567381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.011978581328281031 Centerline is valid? [True, True] Translation: X:163.83, Y:-27.92, Z:-2.71 [[ 9.20933536e-01 3.89577353e-01 1.05313174e-02 1.63825382e+02] [-3.89551199e-01 9.20993748e-01 -4.51449223e-03 -2.79208128e+01] [-1.14580214e-02 5.50599654e-05 9.99934353e-01 -2.70664591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.011621681449963893 Centerline is valid? [True, True] Translation: X:163.88, Y:-27.94, Z:-2.71 [[ 9.18706213e-01 3.94816059e-01 9.95857054e-03 1.63883686e+02] [-3.94792951e-01 9.18760186e-01 -4.27157881e-03 -2.79427242e+01] [-1.08360260e-02 -7.24745298e-06 9.99941289e-01 -2.70799678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.012058906809261371 Centerline is valid? [True, True] Translation: X:163.94, Y:-27.96, Z:-2.71 [[ 9.15345867e-01 4.02541151e-01 1.01274966e-02 1.63941552e+02] [-4.02517690e-01 9.15401886e-01 -4.34700646e-03 -2.79645691e+01] [-1.10205785e-02 -9.74821376e-05 9.99939267e-01 -2.70889186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.012653741163876851 Centerline is valid? [True, True] Translation: X:164.00, Y:-27.99, Z:-2.71 [[ 9.14059588e-01 4.05427855e-01 1.11051341e-02 1.63997962e+02] [-4.05399813e-01 9.14127034e-01 -4.77044496e-03 -2.79884292e+01] [-1.20855746e-02 -1.41548335e-04 9.99926957e-01 -2.70974786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.012740134721430239 Centerline is valid? [True, True] Translation: X:164.06, Y:-28.01, Z:-2.71 [[ 9.13614948e-01 4.06421374e-01 1.13751135e-02 1.64055145e+02] [-4.06391992e-01 9.13685746e-01 -4.88938858e-03 -2.80137208e+01] [-1.23804311e-02 -1.55736546e-04 9.99923347e-01 -2.71068436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.012710980691637576 Centerline is valid? [True, True] Translation: X:164.11, Y:-28.04, Z:-2.71 [[ 9.13687842e-01 4.06281394e-01 1.04860318e-02 1.64111256e+02] [-4.06256381e-01 9.13748001e-01 -4.51032960e-03 -2.80432346e+01] [-1.14140536e-02 -1.38983999e-04 9.99934848e-01 -2.71300759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.012294825633706747 Centerline is valid? [True, True] Translation: X:164.17, Y:-28.07, Z:-2.71 [[ 9.14687990e-01 4.04042322e-01 9.78179316e-03 1.64166189e+02] [-4.04020395e-01 9.14740287e-01 -4.21052894e-03 -2.80734745e+01] [-1.06490322e-02 -1.00723683e-04 9.99943292e-01 -2.71481982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.011728090238497612 Centerline is valid? [True, True] Translation: X:164.22, Y:-28.11, Z:-2.72 [[ 9.17059396e-01 3.98633923e-01 9.64676789e-03 1.64218707e+02] [-3.98612269e-01 9.17110132e-01 -4.15510803e-03 -2.81076937e+01] [-1.05035156e-02 -3.48391784e-05 9.99944836e-01 -2.71544806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.012072397199991957 Centerline is valid? [True, True] Translation: X:164.27, Y:-28.14, Z:-2.72 [[ 9.19889611e-01 3.92073758e-01 9.01512541e-03 1.64270803e+02] [-3.92054508e-01 9.19933784e-01 -3.88529850e-03 -2.81434929e+01] [-9.81664202e-03 3.96251693e-05 9.99951815e-01 -2.71752492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.012905308050907659 Centerline is valid? [True, True] Translation: X:164.32, Y:-28.18, Z:-2.72 [[ 9.22529628e-01 3.85833202e-01 8.47499907e-03 1.64323612e+02] [-3.85815904e-01 9.22568550e-01 -3.65496612e-03 -2.81787387e+01] [-9.22897489e-03 1.02025117e-04 9.99957407e-01 -2.71868029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.013333163596773943 Centerline is valid? [True, True] Translation: X:164.38, Y:-28.21, Z:-2.72 [[ 9.23168150e-01 3.84312701e-01 8.01963229e-03 1.64378784e+02] [-3.84297127e-01 9.23202976e-01 -3.46160016e-03 -2.82064434e+01] [-8.73408531e-03 1.13717364e-04 9.99961851e-01 -2.71997316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.014843204820061543 Centerline is valid? [True, True] Translation: X:164.43, Y:-28.24, Z:-2.72 [[ 9.24981960e-01 3.79924605e-01 8.10360329e-03 1.64431461e+02] [-3.79908530e-01 9.25017443e-01 -3.49842791e-03 -2.82390044e+01] [-8.82511323e-03 1.57354695e-04 9.99961046e-01 -2.72157206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.01579700732638826 Centerline is valid? [True, True] Translation: X:164.49, Y:-28.27, Z:-2.72 [[ 9.26285313e-01 3.76682604e-01 1.02827576e-02 1.64485063e+02] [-3.76656479e-01 9.26342354e-01 -4.44289631e-03 -2.82706785e+01] [-1.11989156e-02 2.42322340e-04 9.99937261e-01 -2.72028192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.015352805506703211 Centerline is valid? [True, True] Translation: X:164.54, Y:-28.30, Z:-2.72 [[ 9.26970347e-01 3.74958327e-01 1.14990922e-02 1.64540287e+02] [-3.74925477e-01 9.27041620e-01 -4.97212748e-03 -2.82993485e+01] [-1.25244777e-02 2.97712093e-04 9.99921521e-01 -2.71966376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.016033007174927987 Centerline is valid? [True, True] Translation: X:164.60, Y:-28.33, Z:-2.72 [[ 9.26572071e-01 3.75943861e-01 1.14197514e-02 1.64595851e+02] [-3.75911497e-01 9.26642397e-01 -4.94115774e-03 -2.83260357e+01] [-1.24396237e-02 2.85522925e-04 9.99922584e-01 -2.72163404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.015121931022755582 Centerline is valid? [True, True] Translation: X:164.65, Y:-28.35, Z:-2.72 [[ 9.25553709e-01 3.78449456e-01 1.12401775e-02 1.64653165e+02] [-3.78418246e-01 9.25621924e-01 -4.86664676e-03 -2.83497511e+01] [-1.22459345e-02 2.50854706e-04 9.99924984e-01 -2.72313590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.01388975257275313 Centerline is valid? [True, True] Translation: X:164.71, Y:-28.37, Z:-2.72 [[ 9.23237097e-01 3.84052432e-01 1.17043634e-02 1.64710387e+02] [-3.84018986e-01 9.23311266e-01 -5.07185089e-03 -2.83728575e+01] [-1.27546272e-02 1.87823134e-04 9.99918639e-01 -2.72377894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.012924440181036289 Centerline is valid? [True, True] Translation: X:164.77, Y:-28.40, Z:-2.73 [[ 9.21596386e-01 3.87981415e-01 1.14246740e-02 1.64768231e+02] [-3.87949851e-01 9.21667188e-01 -4.95054328e-03 -2.83956157e+01] [-1.24504659e-02 1.30202211e-04 9.99922481e-01 -2.72507903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.012513290087362985 Centerline is valid? [True, True] Translation: X:164.83, Y:-28.42, Z:-2.73 [[ 9.20304424e-01 3.91047440e-01 1.10302602e-02 1.64825864e+02] [-3.91018202e-01 9.20370519e-01 -4.78268819e-03 -2.84189624e+01] [-1.20221842e-02 8.84966008e-05 9.99927727e-01 -2.72696832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.012879549190948674 Centerline is valid? [True, True] Translation: X:164.88, Y:-28.45, Z:-2.73 [[ 9.20923167e-01 3.89573508e-01 1.15326292e-02 1.64881086e+02] [-3.89541385e-01 9.20995368e-01 -5.00414544e-03 -2.84457288e+01] [-1.25709805e-02 1.15997141e-04 9.99920975e-01 -2.72849419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.01326572597514021 Centerline is valid? [True, True] Translation: X:164.94, Y:-28.47, Z:-2.73 [[ 9.21999239e-01 3.87018573e-01 1.15770354e-02 1.64936752e+02] [-3.86985962e-01 9.22071906e-01 -5.02643851e-03 -2.84727646e+01] [-1.26201841e-02 1.54222316e-04 9.99920350e-01 -2.72953688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.014361889100475646 Centerline is valid? [True, True] Translation: X:164.99, Y:-28.50, Z:-2.73 [[ 9.23649845e-01 3.83080109e-01 1.09815315e-02 1.64991763e+02] [-3.83050452e-01 9.23715102e-01 -4.77083074e-03 -2.85013421e+01] [-1.19714169e-02 2.00096470e-04 9.99928320e-01 -2.73187728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.014566026631255042 Centerline is valid? [True, True] Translation: X:165.05, Y:-28.53, Z:-2.73 [[ 9.24651571e-01 3.80674377e-01 1.03194667e-02 1.65048268e+02] [-3.80648009e-01 9.24709127e-01 -4.48586705e-03 -2.85280007e+01] [-1.12501597e-02 2.19779544e-04 9.99936691e-01 -2.73331309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.015108861627917263 Centerline is valid? [True, True] Translation: X:165.10, Y:-28.56, Z:-2.73 [[ 9.25891933e-01 3.77683920e-01 8.88736671e-03 1.65103388e+02] [-3.77664196e-01 9.25934559e-01 -3.86623762e-03 -2.85558605e+01] [-9.68933575e-03 2.23278016e-04 9.99953032e-01 -2.73487990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.016164003413044654 Centerline is valid? [True, True] Translation: X:165.16, Y:-28.58, Z:-2.74 [[ 9.26587743e-01 3.75993914e-01 7.98321117e-03 1.65157701e+02] [-3.75977930e-01 9.26622107e-01 -3.47378169e-03 -2.85841257e+01] [-8.70354073e-03 2.17252323e-04 9.99962100e-01 -2.73712945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.016503324125883706 Centerline is valid? [True, True] Translation: X:165.21, Y:-28.61, Z:-2.74 [[ 9.26759523e-01 3.75581596e-01 7.43318356e-03 1.65213847e+02] [-3.75567725e-01 9.26789309e-01 -3.23441671e-03 -2.86106735e+01] [-8.10378244e-03 2.05862652e-04 9.99967143e-01 -2.73890330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.01670179661138944 Centerline is valid? [True, True] Translation: X:165.27, Y:-28.64, Z:-2.74 [[ 9.26817168e-01 3.75450768e-01 6.83066931e-03 1.65269466e+02] [-3.75439039e-01 9.26842319e-01 -2.97388030e-03 -2.86377669e+01] [-7.44749903e-03 1.91743399e-04 9.99972249e-01 -2.74042711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.01725676320179474 Centerline is valid? [True, True] Translation: X:165.32, Y:-28.66, Z:-2.74 [[ 9.26587795e-01 3.76005110e-01 7.43072541e-03 1.65324752e+02] [-3.75991225e-01 9.26617567e-01 -3.23782850e-03 -2.86645353e+01] [-8.10288076e-03 2.06244824e-04 9.99967150e-01 -2.74095510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.01588997170691465 Centerline is valid? [True, True] Translation: X:165.38, Y:-28.69, Z:-2.74 [[ 9.26163153e-01 3.77028346e-01 8.45227665e-03 1.65381750e+02] [-3.77010400e-01 9.26201692e-01 -3.68554077e-03 -2.86883161e+01] [-9.21806628e-03 2.26815857e-04 9.99957487e-01 -2.73957522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.01636830144968783 Centerline is valid? [True, True] Translation: X:165.44, Y:-28.71, Z:-2.74 [[ 9.25952586e-01 3.77534294e-01 8.92555844e-03 1.65436388e+02] [-3.77514276e-01 9.25995573e-01 -3.89491312e-03 -2.87146983e+01] [-9.73549087e-03 2.36979137e-04 9.99952581e-01 -2.74029146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.015905220725556925 Centerline is valid? [True, True] Translation: X:165.49, Y:-28.74, Z:-2.74 [[ 9.25928123e-01 3.77605564e-01 8.43499256e-03 1.65493813e+02] [-3.77587674e-01 9.25966515e-01 -3.68245545e-03 -2.87399857e+01] [-9.20103633e-03 2.24739838e-04 9.99957644e-01 -2.74172878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.01616472155992487 Centerline is valid? [True, True] Translation: X:165.55, Y:-28.77, Z:-2.74 [[ 9.25873006e-01 3.77764144e-01 7.30952440e-03 1.65550980e+02] [-3.77750700e-01 9.25901838e-01 -3.19291601e-03 -2.87658561e+01] [-7.97407126e-03 1.95056778e-04 9.99968188e-01 -2.74420253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.01632880780211813 Centerline is valid? [True, True] Translation: X:165.61, Y:-28.79, Z:-2.75 [[ 9.25597524e-01 3.78444952e-01 6.97435794e-03 1.65607188e+02] [-3.78432714e-01 9.25623781e-01 -3.04894433e-03 -2.87913485e+01] [-7.60948916e-03 1.82770118e-04 9.99971031e-01 -2.74555968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.016069716384790104 Centerline is valid? [True, True] Translation: X:165.66, Y:-28.82, Z:-2.75 [[ 9.24972100e-01 3.79986311e-01 6.08419293e-03 1.65664548e+02] [-3.79977023e-01 9.24992098e-01 -2.66100987e-03 -2.88161939e+01] [-6.63897771e-03 1.49506368e-04 9.99977951e-01 -2.74764803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.016451024491198177 Centerline is valid? [True, True] Translation: X:165.72, Y:-28.84, Z:-2.75 [[ 9.24577840e-01 3.80947014e-01 5.93214449e-03 1.65719929e+02] [-3.80938193e-01 9.24596859e-01 -2.59631846e-03 -2.88414882e+01] [-6.47390193e-03 1.40718108e-04 9.99979034e-01 -2.74888312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.015414240317350697 Centerline is valid? [True, True] Translation: X:165.78, Y:-28.86, Z:-2.75 [[ 9.24684798e-01 3.80676605e-01 6.58382587e-03 1.65777876e+02] [-3.80665720e-01 9.24708222e-01 -2.88324840e-03 -2.88647934e+01] [-7.18570314e-03 1.59859150e-04 9.99974170e-01 -2.74874195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.015991224198764527 Centerline is valid? [True, True] Translation: X:165.83, Y:-28.89, Z:-2.75 [[ 9.24759500e-01 3.80498507e-01 6.38378469e-03 1.65833393e+02] [-3.80488246e-01 9.24781521e-01 -2.79883299e-03 -2.88904118e+01] [-6.96855788e-03 1.59292354e-04 9.99975707e-01 -2.74993821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.01575888530335778 Centerline is valid? [True, True] Translation: X:165.89, Y:-28.91, Z:-2.75 [[ 9.24545898e-01 3.81003515e-01 7.15565775e-03 1.65890451e+02] [-3.80990635e-01 9.24573573e-01 -3.13768816e-03 -2.89148126e+01] [-7.81140227e-03 1.74698129e-04 9.99969475e-01 -2.75012524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.015484591152741357 Centerline is valid? [True, True] Translation: X:165.95, Y:-28.94, Z:-2.75 [[ 9.23987310e-01 3.82350967e-01 7.42899685e-03 1.65947814e+02] [-3.82337109e-01 9.24017158e-01 -3.25986528e-03 -2.89382916e+01] [-8.11093320e-03 1.71692980e-04 9.99967091e-01 -2.75026790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.015131141850181301 Centerline is valid? [True, True] Translation: X:166.01, Y:-28.96, Z:-2.75 [[ 9.23027064e-01 3.84655337e-01 7.83014098e-03 1.66005389e+02] [-3.84640003e-01 9.23060261e-01 -3.43840793e-03 -2.89611735e+01] [-8.55029394e-03 1.61958132e-04 9.99963432e-01 -2.75124712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.014203324573717025 Centerline is valid? [True, True] Translation: X:166.06, Y:-28.98, Z:-2.75 [[ 9.21224833e-01 3.88972382e-01 6.73008655e-03 1.66063760e+02] [-3.88961159e-01 9.21249410e-01 -2.95668355e-03 -2.89823686e+01] [-7.35015651e-03 1.06028042e-04 9.99972982e-01 -2.75353082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.01330800745890631 Centerline is valid? [True, True] Translation: X:166.12, Y:-29.00, Z:-2.75 [[ 9.19529053e-01 3.92962274e-01 6.85354805e-03 1.66122732e+02] [-3.92950732e-01 9.19554590e-01 -3.01291706e-03 -2.90033027e+01] [-7.48617431e-03 7.73580521e-05 9.99971975e-01 -2.75432272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.013249259665343197 Centerline is valid? [True, True] Translation: X:166.18, Y:-29.03, Z:-2.76 [[ 9.19424131e-01 3.93200678e-01 7.24524962e-03 1.66180652e+02] [-3.93187770e-01 9.19452674e-01 -3.18716116e-03 -2.90270175e+01] [-7.91485807e-03 8.16093447e-05 9.99968674e-01 -2.75519889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.013836876367419093 Centerline is valid? [True, True] Translation: X:166.24, Y:-29.05, Z:-2.76 [[ 9.20063495e-01 3.91712658e-01 6.66019349e-03 1.66235876e+02] [-3.91701693e-01 9.20087597e-01 -2.93218534e-03 -2.90535324e+01] [-7.27653554e-03 8.89876276e-05 9.99973522e-01 -2.75666139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.01463636556532796 Centerline is valid? [True, True] Translation: X:166.29, Y:-29.08, Z:-2.76 [[ 9.21713896e-01 3.87807980e-01 6.96168385e-03 1.66291953e+02] [-3.87795875e-01 9.21740177e-01 -3.06681408e-03 -2.90811168e+01] [-7.60619868e-03 1.27012876e-04 9.99971064e-01 -2.75746575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.015894115597936475 Centerline is valid? [True, True] Translation: X:166.35, Y:-29.11, Z:-2.76 [[ 9.24068874e-01 3.82172012e-01 6.42410367e-03 1.66346972e+02] [-3.82161542e-01 9.24091189e-01 -2.83358631e-03 -2.91083986e+01] [-7.01937498e-03 1.63383550e-04 9.99975351e-01 -2.75866740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.018033313909119927 Centerline is valid? [True, True] Translation: X:166.40, Y:-29.14, Z:-2.76 [[ 9.26391204e-01 3.76507622e-01 6.43018426e-03 1.66400627e+02] [-3.76496994e-01 9.26413497e-01 -2.83640506e-03 -2.91373322e+01] [-7.02493761e-03 2.06675650e-04 9.99975303e-01 -2.75918645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.019194876402612256 Centerline is valid? [True, True] Translation: X:166.46, Y:-29.16, Z:-2.76 [[ 9.27578820e-01 3.73564927e-01 6.83946900e-03 1.66456167e+02] [-3.73552833e-01 9.27604003e-01 -3.01574379e-03 -2.91644312e+01] [-7.47089493e-03 2.42437044e-04 9.99972063e-01 -2.75905495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.019491976935945694 Centerline is valid? [True, True] Translation: X:166.51, Y:-29.19, Z:-2.76 [[ 9.28319782e-01 3.71732347e-01 6.11917371e-03 1.66512531e+02] [-3.71722618e-01 9.28339921e-01 -2.69933050e-03 -2.91895267e+01] [-6.68410170e-03 2.31206631e-04 9.99977634e-01 -2.75986237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.019972036320422076 Centerline is valid? [True, True] Translation: X:166.57, Y:-29.21, Z:-2.76 [[ 9.28720531e-01 3.70757896e-01 4.09364223e-03 1.66569560e+02] [-3.70753535e-01 9.28729539e-01 -1.80538244e-03 -2.92146585e+01] [-4.47124625e-03 1.58963411e-04 9.99989991e-01 -2.76275747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.021156902451295596 Centerline is valid? [True, True] Translation: X:166.63, Y:-29.24, Z:-2.76 [[ 9.29374688e-01 3.69110871e-01 4.45578622e-03 1.66626195e+02] [-3.69105676e-01 9.29385351e-01 -1.96682529e-03 -2.92407256e+01] [-4.86711904e-03 1.83261652e-04 9.99988139e-01 -2.76292666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.020450482694768016 Centerline is valid? [True, True] Translation: X:166.68, Y:-29.26, Z:-2.76 [[ 9.29994854e-01 3.67536375e-01 5.15593293e-03 1.66683964e+02] [-3.67529384e-01 9.30009120e-01 -2.27789451e-03 -2.92646423e+01] [-5.63227373e-03 2.23473319e-04 9.99984114e-01 -2.76172201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.021618459198861975 Centerline is valid? [True, True] Translation: X:166.74, Y:-29.29, Z:-2.76 [[ 9.30080042e-01 3.67308311e-01 5.97665906e-03 1.66740412e+02] [-3.67298897e-01 9.30099207e-01 -2.64279223e-03 -2.92898016e+01] [-6.52960541e-03 2.62788020e-04 9.99978647e-01 -2.76205309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.020511727109092645 Centerline is valid? [True, True] Translation: X:166.80, Y:-29.31, Z:-2.76 [[ 9.29603135e-01 3.68504623e-01 6.50803720e-03 1.66798865e+02] [-3.68493461e-01 9.29625873e-01 -2.88188487e-03 -2.93124679e+01] [-7.11202766e-03 2.80840064e-04 9.99974670e-01 -2.76177743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.020139571770625867 Centerline is valid? [True, True] Translation: X:166.86, Y:-29.33, Z:-2.76 [[ 9.28608727e-01 3.70998790e-01 6.76235197e-03 1.66856462e+02] [-3.70986796e-01 9.28633309e-01 -2.99560236e-03 -2.93346070e+01] [-7.39111014e-03 2.72999204e-04 9.99972648e-01 -2.76242138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.018398748436011872 Centerline is valid? [True, True] Translation: X:166.92, Y:-29.35, Z:-2.76 [[ 9.26850716e-01 3.75364787e-01 7.00188334e-03 1.66915246e+02] [-3.75352047e-01 9.26877131e-01 -3.10240007e-03 -2.93531527e+01] [-7.65441728e-03 2.47290480e-04 9.99970674e-01 -2.76267348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.017339626564367668 Centerline is valid? [True, True] Translation: X:166.97, Y:-29.37, Z:-2.76 [[ 9.25860171e-01 3.77783383e-01 7.91575574e-03 1.66973634e+02] [-3.77767202e-01 9.25893974e-01 -3.50587048e-03 -2.93741943e+01] [-8.65361015e-03 2.55632952e-04 9.99962524e-01 -2.76296680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.017042298749360894 Centerline is valid? [True, True] Translation: X:167.03, Y:-29.40, Z:-2.76 [[ 9.24828941e-01 3.80298858e-01 8.01298743e-03 1.67032415e+02] [-3.80282350e-01 9.24863624e-01 -3.55136565e-03 -2.93954445e+01] [-8.76150090e-03 2.37208049e-04 9.99961589e-01 -2.76393669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.017167014198611656 Centerline is valid? [True, True] Translation: X:167.09, Y:-29.42, Z:-2.77 [[ 9.24482170e-01 3.81143242e-01 7.90861966e-03 1.67090905e+02] [-3.81127172e-01 9.24515969e-01 -3.50737889e-03 -2.94176746e+01] [-8.64845893e-03 2.28319404e-04 9.99962575e-01 -2.76553271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.016544157529130587 Centerline is valid? [True, True] Translation: X:167.15, Y:-29.44, Z:-2.77 [[ 9.24218637e-01 3.81790168e-01 7.49531252e-03 1.67149931e+02] [-3.81775742e-01 9.24249005e-01 -3.32567333e-03 -2.94405896e+01] [-8.19724451e-03 2.12120773e-04 9.99966380e-01 -2.76620389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.016306115637434452 Centerline is valid? [True, True] Translation: X:167.21, Y:-29.46, Z:-2.77 [[ 9.23957934e-01 3.82405385e-01 8.23756025e-03 1.67208616e+02] [-3.82387953e-01 9.23994626e-01 -3.65851805e-03 -2.94621870e+01] [-9.01049840e-03 2.30372973e-04 9.99959378e-01 -2.76684756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.016427760226002733 Centerline is valid? [True, True] Translation: X:167.27, Y:-29.49, Z:-2.77 [[ 9.23615558e-01 3.83230734e-01 8.27676399e-03 1.67266339e+02] [-3.83213147e-01 9.23652615e-01 -3.67840114e-03 -2.94857270e+01] [-9.05453107e-03 2.25663754e-04 9.99958981e-01 -2.76807078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.015477274653664852 Centerline is valid? [True, True] Translation: X:167.33, Y:-29.51, Z:-2.77 [[ 9.22589245e-01 3.85707049e-01 7.69141771e-03 1.67325195e+02] [-3.85691932e-01 9.22621285e-01 -3.42015798e-03 -2.95067128e+01] [-8.41544474e-03 1.88883213e-04 9.99964572e-01 -2.76970816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.014234209794801262 Centerline is valid? [True, True] Translation: X:167.38, Y:-29.53, Z:-2.77 [[ 9.20602362e-01 3.90433462e-01 7.28031832e-03 1.67383783e+02] [-3.90420034e-01 9.20631138e-01 -3.24113687e-03 -2.95263823e+01] [-7.96793602e-03 1.41416126e-04 9.99968245e-01 -2.77133483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.012992466965415677 Centerline is valid? [True, True] Translation: X:167.44, Y:-29.54, Z:-2.77 [[ 9.18103504e-01 3.96264893e-01 7.75180481e-03 1.67442695e+02] [-3.96249874e-01 9.18136224e-01 -3.45140959e-03 -2.95445987e+01] [-8.48488524e-03 9.70995610e-05 9.99963998e-01 -2.77294963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.012825033265957632 Centerline is valid? [True, True] Translation: X:167.50, Y:-29.57, Z:-2.77 [[ 9.17668753e-01 3.97267353e-01 7.91891423e-03 1.67499618e+02] [-3.97251729e-01 9.17702916e-01 -3.52443998e-03 -2.95685224e+01] [-8.66735562e-03 8.84660702e-05 9.99962434e-01 -2.77409670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.01241421664246519 Centerline is valid? [True, True] Translation: X:167.56, Y:-29.59, Z:-2.77 [[ 9.16800718e-01 3.99258245e-01 8.32444998e-03 1.67557002e+02] [-3.99241038e-01 9.16838507e-01 -3.70756170e-03 -2.95911942e+01] [-9.11245087e-03 7.56331824e-05 9.99958478e-01 -2.77498057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.012249221140850025 Centerline is valid? [True, True] Translation: X:167.62, Y:-29.62, Z:-2.78 [[ 9.16501549e-01 3.99930521e-01 8.97154872e-03 1.67615467e+02] [-3.99910539e-01 9.16545456e-01 -3.99852215e-03 -2.96154191e+01] [-9.82196326e-03 7.68348628e-05 9.99951760e-01 -2.77639199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.012511469464279308 Centerline is valid? [True, True] Translation: X:167.67, Y:-29.64, Z:-2.78 [[ 9.16897113e-01 3.99012898e-01 9.40167049e-03 1.67673075e+02] [-3.98990870e-01 9.16945308e-01 -4.19369974e-03 -2.96417547e+01] [-1.02941579e-02 9.40104921e-05 9.99947009e-01 -2.77765426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.01397496939888339 Centerline is valid? [True, True] Translation: X:167.73, Y:-29.67, Z:-2.78 [[ 9.19549863e-01 3.92859625e-01 9.45328761e-03 1.67726772e+02] [-3.92836991e-01 9.19598438e-01 -4.22030246e-03 -2.96719458e+01] [-1.03512150e-02 1.67177485e-04 9.99946411e-01 -2.77808291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.01473519908689049 Centerline is valid? [True, True] Translation: X:167.78, Y:-29.70, Z:-2.78 [[ 9.21759053e-01 3.87647654e-01 9.46281463e-03 1.67781929e+02] [-3.87624666e-01 9.21807596e-01 -4.22780004e-03 -2.96996373e+01] [-1.03617912e-02 2.28992598e-04 9.99946289e-01 -2.77852371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.017068375850716515 Centerline is valid? [True, True] Translation: X:167.84, Y:-29.73, Z:-2.78 [[ 9.24631431e-01 3.80736252e-01 9.82968579e-03 1.67835657e+02] [-3.80711033e-01 9.24683624e-01 -4.39374256e-03 -2.97288519e+01] [-1.07622065e-02 3.20322637e-04 9.99942034e-01 -2.78054540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.01834776767245565 Centerline is valid? [True, True] Translation: X:167.89, Y:-29.76, Z:-2.78 [[ 9.25655168e-01 3.78259273e-01 9.07921203e-03 1.67891105e+02] [-3.78237645e-01 9.25699637e-01 -4.05778290e-03 -2.97556513e+01] [-9.93951729e-03 3.22007934e-04 9.99950550e-01 -2.78217921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.018902073452638713 Centerline is valid? [True, True] Translation: X:167.95, Y:-29.78, Z:-2.78 [[ 9.25929955e-01 3.77591144e-01 8.86830391e-03 1.67948284e+02] [-3.77570475e-01 9.25972367e-01 -3.96384497e-03 -2.97809254e+01] [-9.70851712e-03 3.21833077e-04 9.99952819e-01 -2.78357430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.01794924251414921 Centerline is valid? [True, True] Translation: X:168.01, Y:-29.80, Z:-2.78 [[ 9.25377587e-01 3.78939278e-01 9.01910203e-03 1.68006066e+02] [-3.78917938e-01 9.25421485e-01 -4.03389507e-03 -2.98030763e+01] [-9.87507208e-03 3.15376546e-04 9.99951191e-01 -2.78426211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.016556431262720234 Centerline is valid? [True, True] Translation: X:168.06, Y:-29.82, Z:-2.79 [[ 9.23724571e-01 3.82961325e-01 8.57554188e-03 1.68064643e+02] [-3.82942169e-01 9.23764339e-01 -3.83932595e-03 -2.98226290e+01] [-9.39209313e-03 2.62543112e-04 9.99955859e-01 -2.78530274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.014815497808780281 Centerline is valid? [True, True] Translation: X:168.12, Y:-29.84, Z:-2.79 [[ 9.21078183e-01 3.89284575e-01 8.51474515e-03 1.68123325e+02] [-3.89265955e-01 9.21117517e-01 -3.81257497e-03 -2.98406570e+01] [-9.32725754e-03 1.97179223e-04 9.99956481e-01 -2.78698814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.01394529813963629 Centerline is valid? [True, True] Translation: X:168.18, Y:-29.86, Z:-2.79 [[ 9.19459073e-01 3.93092449e-01 8.56382977e-03 1.68182298e+02] [-3.93073792e-01 9.19498940e-01 -3.83312248e-03 -2.98616747e+01] [-9.38120391e-03 1.58182205e-04 9.99955983e-01 -2.78801493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.013730730541527623 Centerline is valid? [True, True] Translation: X:168.24, Y:-29.88, Z:-2.79 [[ 9.19007039e-01 3.94150333e-01 8.46034220e-03 1.68240602e+02] [-3.94132146e-01 9.19045969e-01 -3.78919344e-03 -2.98838538e+01] [-9.26895525e-03 1.47802613e-04 9.99957031e-01 -2.78950780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.014346976381055136 Centerline is valid? [True, True] Translation: X:168.30, Y:-29.91, Z:-2.79 [[ 9.20771123e-01 3.90030113e-01 7.55309173e-03 1.68297476e+02] [-3.90015453e-01 9.20802086e-01 -3.38602344e-03 -2.99093330e+01] [-8.27555372e-03 1.71930111e-04 9.99965742e-01 -2.79016251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.01570838340545348 Centerline is valid? [True, True] Translation: X:168.35, Y:-29.94, Z:-2.79 [[ 9.22429465e-01 3.86095949e-01 7.33479423e-03 1.68353056e+02] [-3.86081998e-01 9.22458605e-01 -3.28834485e-03 -2.99358288e+01] [-8.03566068e-03 2.01434164e-04 9.99967693e-01 -2.79104001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.01726060096296194 Centerline is valid? [True, True] Translation: X:168.41, Y:-29.96, Z:-2.79 [[ 9.24725861e-01 3.80583637e-01 6.17881936e-03 1.68408606e+02] [-3.80573603e-01 9.24746479e-01 -2.77163258e-03 -2.99610963e+01] [-6.76867945e-03 2.11504773e-04 9.99977070e-01 -2.79241002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.0191226878815779 Centerline is valid? [True, True] Translation: X:168.46, Y:-29.99, Z:-2.79 [[ 9.25980098e-01 3.77522915e-01 6.10795514e-03 1.68463346e+02] [-3.77513043e-01 9.26000214e-01 -2.73980853e-03 -2.99872079e+01] [-6.69030826e-03 2.31175439e-04 9.99977593e-01 -2.79346965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.020263394757435653 Centerline is valid? [True, True] Translation: X:168.52, Y:-30.01, Z:-2.79 [[ 9.26893809e-01 3.75274846e-01 6.05444192e-03 1.68520892e+02] [-3.75265100e-01 9.26913550e-01 -2.71567228e-03 -3.00115183e+01] [-6.63106775e-03 2.45119071e-04 9.99977984e-01 -2.79416912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.018677423191622997 Centerline is valid? [True, True] Translation: X:168.58, Y:-30.03, Z:-2.79 [[ 9.26367792e-01 3.76593052e-01 4.51517989e-03 1.68579852e+02] [-3.76587657e-01 9.26378780e-01 -2.02314483e-03 -3.00322671e+01] [-4.94466913e-03 1.73815190e-04 9.99987760e-01 -2.79452942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.0171375206220455 Centerline is valid? [True, True] Translation: X:168.64, Y:-30.05, Z:-2.80 [[ 9.24887971e-01 3.80222902e-01 3.57578906e-03 1.68638182e+02] [-3.80219534e-01 9.24894875e-01 -1.60517829e-03 -3.00521732e+01] [-3.91755452e-03 1.25025242e-04 9.99992319e-01 -2.79515098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.015275729706890544 Centerline is valid? [True, True] Translation: X:168.70, Y:-30.07, Z:-2.80 [[ 9.21575659e-01 3.88192679e-01 2.17903761e-03 1.68697267e+02] [-3.88191450e-01 9.21578234e-01 -9.78295368e-04 -3.00687746e+01] [-2.38792073e-03 5.56894297e-05 9.99997147e-01 -2.79609478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.013057270404209821 Centerline is valid? [True, True] Translation: X:168.76, Y:-30.08, Z:-2.80 [[ 9.17551285e-01 3.97612046e-01 2.07399803e-03 1.68757446e+02] [-3.97610956e-01 9.17553628e-01 -9.31168614e-04 -3.00839875e+01] [-2.27324828e-03 2.97506164e-05 9.99997416e-01 -2.79647073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.01201912339266069 Centerline is valid? [True, True] Translation: X:168.82, Y:-30.10, Z:-2.80 [[ 9.14960167e-01 4.03533526e-01 2.93002558e-03 1.68816558e+02] [-4.03531392e-01 9.14964859e-01 -1.31254889e-03 -3.01037046e+01] [-3.21052793e-03 1.85726488e-05 9.99994846e-01 -2.79646085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.011435185539550839 Centerline is valid? [True, True] Translation: X:168.88, Y:-30.12, Z:-2.80 [[ 9.11597545e-01 4.11072342e-01 3.07347303e-03 1.68875939e+02] [-4.11070033e-01 9.11602726e-01 -1.37789779e-03 -3.01223730e+01] [-3.36820206e-03 -7.32441646e-06 9.99994328e-01 -2.79708470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.01153949003040687 Centerline is valid? [True, True] Translation: X:168.93, Y:-30.14, Z:-2.80 [[ 9.09162348e-01 4.16431643e-01 2.91749495e-03 1.68933996e+02] [-4.16429588e-01 9.09167029e-01 -1.30849481e-03 -3.01437499e+01] [-3.19738886e-03 -2.52970067e-05 9.99994888e-01 -2.79771961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.0126473536061184 Centerline is valid? [True, True] Translation: X:168.99, Y:-30.16, Z:-2.80 [[ 9.05356183e-01 4.24640237e-01 3.29408171e-03 1.68992574e+02] [-4.24637665e-01 9.05362174e-01 -1.47908622e-03 -3.01641492e+01] [-3.61041650e-03 -5.96913137e-05 9.99993481e-01 -2.79813629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.01491759847781693 Centerline is valid? [True, True] Translation: X:169.05, Y:-30.18, Z:-2.80 [[ 9.02392410e-01 4.30897163e-01 3.94634919e-03 1.69049548e+02] [-4.30893513e-01 9.02401033e-01 -1.77623116e-03 -3.01848467e+01] [-4.32656255e-03 -9.75987501e-05 9.99990636e-01 -2.79977141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.015254771452562784 Centerline is valid? [True, True] Translation: X:169.11, Y:-30.21, Z:-2.80 [[ 9.01250082e-01 4.33274142e-01 4.66989763e-03 1.69106306e+02] [-4.33269072e-01 9.01262171e-01 -2.09997516e-03 -3.02110145e+01] [-5.11866702e-03 -1.30719426e-04 9.99986891e-01 -2.80037922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.015043587814500136 Centerline is valid? [True, True] Translation: X:169.16, Y:-30.24, Z:-2.80 [[ 9.01157598e-01 4.33473720e-01 3.93927501e-03 1.69162324e+02] [-4.33470115e-01 9.01166201e-01 -1.77141857e-03 -3.02404122e+01] [-4.31780489e-03 -1.11230693e-04 9.99990672e-01 -2.80309671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.014937822842808094 Centerline is valid? [True, True] Translation: X:169.22, Y:-30.27, Z:-2.81 [[ 9.02344622e-01 4.31005362e-01 2.92605375e-03 1.69215250e+02] [-4.31003354e-01 9.02349363e-01 -1.31756198e-03 -3.02716904e+01] [-3.20819902e-03 -7.22440117e-05 9.99994851e-01 -2.80567505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.014237745584414973 Centerline is valid? [True, True] Translation: X:169.27, Y:-30.30, Z:-2.81 [[ 9.03364241e-01 4.28869401e-01 2.02127219e-03 1.69268779e+02] [-4.28868442e-01 9.03366501e-01 -9.08147786e-04 -3.03032287e+01] [-2.21542639e-03 -4.64716223e-05 9.99997545e-01 -2.80708355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.013327459143583189 Centerline is valid? [True, True] Translation: X:169.32, Y:-30.34, Z:-2.81 [[ 9.05072756e-01 4.25254552e-01 1.36837180e-03 1.69321784e+02] [-4.25254106e-01 9.05073790e-01 -6.16332126e-04 -3.03379138e+01] [-1.50057550e-03 -2.40803119e-05 9.99998874e-01 -2.80907254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.012506678821866048 Centerline is valid? [True, True] Translation: X:169.37, Y:-30.37, Z:-2.81 [[ 9.06767315e-01 4.21631377e-01 1.33708744e-04 1.69373476e+02] [-4.21631374e-01 9.06767325e-01 -5.60126198e-05 -3.03746684e+01] [-1.44859398e-04 -5.58538839e-06 9.99999989e-01 -2.81026749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.0124104430954973 Centerline is valid? [True, True] Translation: X:169.43, Y:-30.40, Z:-2.81 [[ 9.07386717e-01 4.20296701e-01 1.70595668e-04 1.69428520e+02] [-4.20296694e-01 9.07386733e-01 -7.27585892e-05 -3.04039814e+01] [-1.85376441e-04 -5.68061800e-06 9.99999983e-01 -2.81146335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.012360899878734427 Centerline is valid? [True, True] Translation: X:169.48, Y:-30.44, Z:-2.81 [[ 9.08817636e-01 4.17193552e-01 -2.11237573e-04 1.69480831e+02] [-4.17193540e-01 9.08817661e-01 9.95647652e-05 -3.04366774e+01] [ 2.33514215e-04 -2.35926359e-06 9.99999973e-01 -2.81373451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.011981054898333711 Centerline is valid? [True, True] Translation: X:169.53, Y:-30.47, Z:-2.81 [[ 9.11140871e-01 4.12094271e-01 7.89969023e-04 1.69531598e+02] [-4.12094120e-01 9.11141214e-01 -3.53323836e-04 -3.04749430e+01] [-8.65376064e-04 -3.61380199e-06 9.99999626e-01 -2.81248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.012000751050822154 Centerline is valid? [True, True] Translation: X:169.59, Y:-30.51, Z:-2.81 [[ 9.12256965e-01 4.09615463e-01 1.54971826e-03 1.69585046e+02] [-4.09614870e-01 9.12258282e-01 -6.97061863e-04 -3.05083573e+01] [-1.69927063e-03 1.11189741e-06 9.99998556e-01 -2.81113339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.012511309133894522 Centerline is valid? [True, True] Translation: X:169.64, Y:-30.55, Z:-2.81 [[ 9.13341143e-01 4.07189141e-01 2.22716163e-03 1.69636824e+02] [-4.07187900e-01 9.13343858e-01 -1.00506723e-03 -3.05451084e+01] [-2.44341686e-03 1.10959810e-05 9.99997015e-01 -2.81136686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.012492547669172793 Centerline is valid? [True, True] Translation: X:169.69, Y:-30.58, Z:-2.81 [[ 9.12986824e-01 4.07982636e-01 2.28637228e-03 1.69690680e+02] [-4.07981330e-01 9.12989687e-01 -1.03226834e-03 -3.05782440e+01] [-2.50858187e-03 9.65019254e-06 9.99996853e-01 -2.81208728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.012597786189321548 Centerline is valid? [True, True] Translation: X:169.75, Y:-30.61, Z:-2.81 [[ 9.12328736e-01 4.09452738e-01 2.17537298e-03 1.69746174e+02] [-4.09451559e-01 9.12331330e-01 -9.82719764e-04 -3.06086093e+01] [-2.38703823e-03 5.85362081e-06 9.99997151e-01 -2.81394795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.012582952513824434 Centerline is valid? [True, True] Translation: X:169.80, Y:-30.64, Z:-2.81 [[ 9.11692882e-01 4.10865137e-01 2.43482836e-03 1.69801449e+02] [-4.10863661e-01 9.11696133e-01 -1.10131964e-03 -3.06383055e+01] [-2.67231745e-03 3.68278371e-06 9.99996429e-01 -2.81463395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.012657225151736085 Centerline is valid? [True, True] Translation: X:169.86, Y:-30.67, Z:-2.82 [[ 9.11154835e-01 4.12054757e-01 2.78294769e-03 1.69855955e+02] [-4.12052829e-01 9.11159085e-01 -1.26045747e-03 -3.06702318e+01] [-3.05508557e-03 1.75044478e-06 9.99995333e-01 -2.81616270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.012636832055663873 Centerline is valid? [True, True] Translation: X:169.91, Y:-30.70, Z:-2.82 [[ 9.10368761e-01 4.13780681e-01 3.77713118e-03 1.69910491e+02] [-4.13777130e-01 9.10376597e-01 -1.71433412e-03 -3.06997666e+01] [-4.14797017e-03 -2.21426718e-06 9.99991397e-01 -2.81696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.012810515021844703 Centerline is valid? [True, True] Translation: X:169.97, Y:-30.72, Z:-2.82 [[ 9.08093380e-01 4.18726679e-01 5.86356170e-03 1.69969156e+02] [-4.18718196e-01 9.08112310e-01 -2.66544448e-03 -3.07218279e+01] [-6.44086527e-03 -3.47074890e-05 9.99979257e-01 -2.81760345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.01290028728829747 Centerline is valid? [True, True] Translation: X:170.03, Y:-30.75, Z:-2.82 [[ 9.07545989e-01 4.19910003e-01 5.98897097e-03 1.70026979e+02] [-4.19901170e-01 9.07565749e-01 -2.72392074e-03 -3.07474159e+01] [-6.57918648e-03 -4.26925751e-05 9.99978356e-01 -2.81892498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.013074068309320985 Centerline is valid? [True, True] Translation: X:170.08, Y:-30.77, Z:-2.82 [[ 9.07552100e-01 4.19900792e-01 5.70183441e-03 1.70083424e+02] [-4.19892773e-01 9.07570010e-01 -2.59529430e-03 -3.07737301e+01] [-6.26458005e-03 -3.87942744e-05 9.99980377e-01 -2.82033043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.013261549134854177 Centerline is valid? [True, True] Translation: X:170.14, Y:-30.80, Z:-2.82 [[ 9.07504042e-01 4.20010166e-01 5.27966202e-03 1.70141347e+02] [-4.20003286e-01 9.07519399e-01 -2.40430898e-03 -3.07979666e+01] [-5.80122992e-03 -3.55552733e-05 9.99983172e-01 -2.82191127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.013256810308004952 Centerline is valid? [True, True] Translation: X:170.20, Y:-30.82, Z:-2.82 [[ 9.08261928e-01 4.18378644e-01 4.42498644e-03 1.70198582e+02] [-4.18373789e-01 9.08272707e-01 -2.01577100e-03 -3.08246231e+01] [-4.86244995e-03 -2.04502823e-05 9.99988178e-01 -2.82379097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.013167249990062885 Centerline is valid? [True, True] Translation: X:170.26, Y:-30.85, Z:-2.83 [[ 9.09399451e-01 4.15905846e-01 3.86856884e-03 1.70255704e+02] [-4.15902110e-01 9.09407679e-01 -1.76297682e-03 -3.08513160e+01] [-4.25133858e-03 -5.69579419e-06 9.99990963e-01 -2.82520459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.013489732304281622 Centerline is valid? [True, True] Translation: X:170.31, Y:-30.88, Z:-2.83 [[ 9.12253771e-01 4.09614065e-01 3.06196019e-03 1.70311267e+02] [-4.09611686e-01 9.12258909e-01 -1.39608951e-03 -3.08779265e+01] [-3.36515836e-03 1.93732420e-05 9.99994338e-01 -2.82661994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.01530194436761112 Centerline is valid? [True, True] Translation: X:170.36, Y:-30.91, Z:-2.83 [[ 9.16739482e-01 3.99468102e-01 3.73584901e-03 1.70364500e+02] [-3.99464458e-01 9.16747092e-01 -1.70788137e-03 -3.09089084e+01] [-4.10707284e-03 7.33433821e-05 9.99991563e-01 -2.82717241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.018790030890288325 Centerline is valid? [True, True] Translation: X:170.42, Y:-30.94, Z:-2.83 [[ 9.20986819e-01 3.89562481e-01 4.93484308e-03 1.70415834e+02] [-3.89555975e-01 9.21000027e-01 -2.25674560e-03 -3.09409142e+01] [-5.42413402e-03 1.56035344e-04 9.99985277e-01 -2.82730034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.020794368824033953 Centerline is valid? [True, True] Translation: X:170.47, Y:-30.97, Z:-2.83 [[ 9.22957713e-01 3.84859099e-01 5.70380747e-03 1.70470117e+02] [-3.84850326e-01 9.22975314e-01 -2.60710785e-03 -3.09685806e+01] [-6.26784267e-03 2.11138136e-04 9.99980335e-01 -2.82870647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.02126482210225709 Centerline is valid? [True, True] Translation: X:170.53, Y:-30.99, Z:-2.83 [[ 9.24360615e-01 3.81476630e-01 5.74761972e-03 1.70525640e+02] [-3.81467644e-01 9.24378453e-01 -2.62917231e-03 -3.09945666e+01] [-6.31594361e-03 2.37772384e-04 9.99980026e-01 -2.82929300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.020239693961259787 Centerline is valid? [True, True] Translation: X:170.58, Y:-31.02, Z:-2.83 [[ 9.24835193e-01 3.80308660e-01 6.72219486e-03 1.70583650e+02] [-3.80296350e-01 9.24859579e-01 -3.07331173e-03 -3.10178156e+01] [-7.38589338e-03 2.85880683e-04 9.99972683e-01 -2.82891690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.020144164732636506 Centerline is valid? [True, True] Translation: X:170.64, Y:-31.04, Z:-2.83 [[ 9.24291217e-01 3.81606333e-01 7.89634319e-03 1.70641487e+02] [-3.81589355e-01 9.24324888e-01 -3.61454770e-03 -3.10419819e+01] [-8.67812083e-03 3.27734185e-04 9.99962291e-01 -2.82900671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.019892330790620385 Centerline is valid? [True, True] Translation: X:170.70, Y:-31.07, Z:-2.83 [[ 9.23817278e-01 3.82746832e-01 8.15476248e-03 1.70698388e+02] [-3.82728772e-01 9.23853211e-01 -3.73251316e-03 -3.10657836e+01] [-8.96241109e-03 3.27097919e-04 9.99959783e-01 -2.83052831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.019988634668979956 Centerline is valid? [True, True] Translation: X:170.76, Y:-31.09, Z:-2.83 [[ 9.23599725e-01 3.83280753e-01 7.70797460e-03 1.70756484e+02] [-3.83264621e-01 9.23631837e-01 -3.52976841e-03 -3.10907110e+01] [-8.47222303e-03 3.05899172e-04 9.99964063e-01 -2.83199842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.020929214502290888 Centerline is valid? [True, True] Translation: X:170.81, Y:-31.12, Z:-2.83 [[ 9.23798273e-01 3.82792287e-01 8.17407408e-03 1.70812095e+02] [-3.82774094e-01 9.23834376e-01 -3.74671388e-03 -3.11166208e+01] [-8.98570380e-03 3.32384004e-04 9.99959573e-01 -2.83339355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.021313913519247395 Centerline is valid? [True, True] Translation: X:170.87, Y:-31.14, Z:-2.83 [[ 9.24297464e-01 3.81581061e-01 8.37206366e-03 1.70869098e+02] [-3.81561907e-01 9.24335312e-01 -3.83968801e-03 -3.11421598e+01] [-9.20374630e-03 3.54553313e-04 9.99957582e-01 -2.83471968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.022706809984727804 Centerline is valid? [True, True] Translation: X:170.93, Y:-31.17, Z:-2.84 [[ 9.24979545e-01 3.79927024e-01 8.26420233e-03 1.70925053e+02] [-3.79908261e-01 9.25016389e-01 -3.79390884e-03 -3.11691850e+01] [-9.08593109e-03 3.69649346e-04 9.99958654e-01 -2.83643973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.021020446656354917 Centerline is valid? [True, True] Translation: X:170.98, Y:-31.19, Z:-2.84 [[ 9.25215011e-01 3.79348575e-01 8.47601776e-03 1.70982144e+02] [-3.79328819e-01 9.25253755e-01 -3.89054074e-03 -3.11929274e+01] [-9.31833835e-03 3.84388882e-04 9.99956509e-01 -2.83660928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.02119833731548559 Centerline is valid? [True, True] Translation: X:171.04, Y:-31.22, Z:-2.84 [[ 9.24269960e-01 3.81635711e-01 8.90082772e-03 1.71036980e+02] [-3.81613987e-01 9.24312738e-01 -4.08999091e-03 -3.12177413e+01] [-9.78803503e-03 3.83575387e-04 9.99952022e-01 -2.83729660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.01935818221621639 Centerline is valid? [True, True] Translation: X:171.09, Y:-31.24, Z:-2.84 [[ 9.22549058e-01 3.85773706e-01 9.04897199e-03 1.71094665e+02] [-3.85751452e-01 9.22593371e-01 -4.15796617e-03 -3.12389674e+01] [-9.95255560e-03 3.45273686e-04 9.99950412e-01 -2.83827870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.017121323271293412 Centerline is valid? [True, True] Translation: X:171.15, Y:-31.26, Z:-2.84 [[ 9.19152082e-01 3.93814465e-01 8.34368511e-03 1.71152993e+02] [-3.93795867e-01 9.19189921e-01 -3.83468359e-03 -3.12589775e+01] [-9.17958512e-03 2.38948686e-04 9.99957838e-01 -2.84053371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.016503797223475964 Centerline is valid? [True, True] Translation: X:171.21, Y:-31.28, Z:-2.84 [[ 9.18025341e-01 3.96446610e-01 7.71747017e-03 1.71210097e+02] [-3.96430806e-01 9.18057758e-01 -3.54525814e-03 -3.12834225e+01] [-8.49058894e-03 1.95193891e-04 9.99963935e-01 -2.84189220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.015982478805747248 Centerline is valid? [True, True] Translation: X:171.27, Y:-31.31, Z:-2.84 [[ 9.16364384e-01 4.00282454e-01 7.09035754e-03 1.71266172e+02] [-4.00269213e-01 9.16391802e-01 -3.25910802e-03 -3.13072834e+01] [-7.80210928e-03 1.48478679e-04 9.99969552e-01 -2.84378683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.01526604843728585 Centerline is valid? [True, True] Translation: X:171.32, Y:-31.33, Z:-2.84 [[ 9.15781807e-01 4.01624450e-01 6.44066673e-03 1.71324136e+02] [-4.01613539e-01 9.15804447e-01 -2.96319804e-03 -3.13310932e+01] [-7.08848402e-03 1.26983899e-04 9.99974868e-01 -2.84436871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.01603411901259042 Centerline is valid? [True, True] Translation: X:171.38, Y:-31.36, Z:-2.85 [[ 9.17032624e-01 3.98762370e-01 6.30381738e-03 1.71379344e+02] [-3.98751857e-01 9.17054279e-01 -2.89927896e-03 -3.13590422e+01] [-6.93706605e-03 1.45074511e-04 9.99975928e-01 -2.84505192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.019024051349210567 Centerline is valid? [True, True] Translation: X:171.43, Y:-31.39, Z:-2.85 [[ 9.20536931e-01 3.90590224e-01 7.14393925e-03 1.71430491e+02] [-3.90576436e-01 9.20564620e-01 -3.29055843e-03 -3.13909072e+01] [-7.86171768e-03 2.38826226e-04 9.99969068e-01 -2.84506388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.022660406812577197 Centerline is valid? [True, True] Translation: X:171.48, Y:-31.42, Z:-2.85 [[ 9.24390745e-01 3.81374003e-01 7.45791228e-03 1.71483174e+02] [-3.81358677e-01 9.24420770e-01 -3.43500764e-03 -3.14232559e+01] [-8.20427163e-03 3.31149710e-04 9.99966290e-01 -2.84566770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.024409113334411116 Centerline is valid? [True, True] Translation: X:171.54, Y:-31.45, Z:-2.85 [[ 9.26177754e-01 3.77001664e-01 8.03200371e-03 1.71537131e+02] [-3.76983721e-01 9.26212495e-01 -3.69967912e-03 -3.14516900e+01] [-8.83412739e-03 3.98625849e-04 9.99960899e-01 -2.84646268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.0252396619050895 Centerline is valid? [True, True] Translation: X:171.59, Y:-31.48, Z:-2.85 [[ 9.27006620e-01 3.74970457e-01 7.47551236e-03 1.71592773e+02] [-3.74954847e-01 9.27036679e-01 -3.44351701e-03 -3.14790290e+01] [-8.22129130e-03 3.89183468e-04 9.99966129e-01 -2.84753852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.02338873942329461 Centerline is valid? [True, True] Translation: X:171.65, Y:-31.50, Z:-2.85 [[ 9.26608776e-01 3.75991615e-01 5.14606468e-03 1.71651125e+02] [-3.75984235e-01 9.26623028e-01 -2.37030419e-03 -3.15019913e+01] [-5.65967654e-03 2.61505467e-04 9.99983950e-01 -2.85010323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.02254603734372133 Centerline is valid? [True, True] Translation: X:171.71, Y:-31.53, Z:-2.85 [[ 9.25375465e-01 3.79026709e-01 4.35914699e-03 1.71708139e+02] [-3.79021445e-01 9.25385709e-01 -2.00821392e-03 -3.15254890e+01] [-4.79505904e-03 2.06141701e-04 9.99988482e-01 -2.85176534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.021897570778983043 Centerline is valid? [True, True] Translation: X:171.76, Y:-31.55, Z:-2.85 [[ 9.24620461e-01 3.80857842e-01 4.93022592e-03 1.71764715e+02] [-3.80851128e-01 9.24633579e-01 -2.27240156e-03 -3.15495057e+01] [-5.42411439e-03 2.23426882e-04 9.99985264e-01 -2.85293783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.0212631952412431 Centerline is valid? [True, True] Translation: X:171.82, Y:-31.57, Z:-2.85 [[ 9.24144826e-01 3.81991455e-01 6.23450170e-03 1.71821622e+02] [-3.81980757e-01 9.24165815e-01 -2.87185514e-03 -3.15746046e+01] [-6.85873747e-03 2.72550387e-04 9.99976441e-01 -2.85237668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.02065668422528803 Centerline is valid? [True, True] Translation: X:171.88, Y:-31.60, Z:-2.85 [[ 9.23553289e-01 3.83387572e-01 7.95561509e-03 1.71879118e+02] [-3.83370161e-01 9.23587492e-01 -3.66947350e-03 -3.15992523e+01] [-8.75453712e-03 3.39008875e-04 9.99961621e-01 -2.85194335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.021085460740942436 Centerline is valid? [True, True] Translation: X:171.94, Y:-31.63, Z:-2.85 [[ 9.23140030e-01 3.84367010e-01 8.63057297e-03 1.71935131e+02] [-3.84346563e-01 9.23180304e-01 -3.98071563e-03 -3.16253123e+01] [-9.49763074e-03 3.57626887e-04 9.99954833e-01 -2.85270734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.02020889477060866 Centerline is valid? [True, True] Translation: X:171.99, Y:-31.65, Z:-2.85 [[ 9.21975376e-01 3.87140775e-01 9.13384014e-03 1.71992139e+02] [-3.87117966e-01 9.22020551e-01 -4.21712273e-03 -3.16477306e+01] [-1.00542085e-02 3.52209702e-04 9.99949393e-01 -2.85327829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.01907035401166756 Centerline is valid? [True, True] Translation: X:172.05, Y:-31.67, Z:-2.85 [[ 9.20372483e-01 3.90940400e-01 8.94971392e-03 1.72050389e+02] [-3.90918679e-01 9.20415945e-01 -4.13219823e-03 -3.16695231e+01] [-9.85290262e-03 3.04551199e-04 9.99951413e-01 -2.85416097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.016972596909416056 Centerline is valid? [True, True] Translation: X:172.11, Y:-31.69, Z:-2.85 [[ 9.19208337e-01 3.93683862e-01 8.30962435e-03 1.72108660e+02] [-3.93665255e-01 9.19245860e-01 -3.83597808e-03 -3.16909210e+01] [-9.14875045e-03 2.54852645e-04 9.99958117e-01 -2.85486636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.016176676580210873 Centerline is valid? [True, True] Translation: X:172.17, Y:-31.71, Z:-2.86 [[ 9.18116166e-01 3.96239444e-01 7.55043572e-03 1.72166175e+02] [-3.96224153e-01 9.18147188e-01 -3.48736193e-03 -3.17138352e+01] [-8.31424168e-03 2.10138368e-04 9.99965414e-01 -2.85611677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.016954775228348793 Centerline is valid? [True, True] Translation: X:172.22, Y:-31.74, Z:-2.86 [[ 9.17871452e-01 3.96812919e-01 7.17670134e-03 1.72222073e+02] [-3.96799108e-01 9.17899487e-01 -3.31654603e-03 -3.17396600e+01] [-7.90353879e-03 1.96454233e-04 9.99968747e-01 -2.85779473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.01692635077278831 Centerline is valid? [True, True] Translation: X:172.28, Y:-31.77, Z:-2.86 [[ 9.18428075e-01 3.95511256e-01 7.79221111e-03 1.72278993e+02] [-3.95494901e-01 9.18461101e-01 -3.60401933e-03 -3.17650432e+01] [-8.58227301e-03 2.28252775e-04 9.99963146e-01 -2.85815161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.018476418208138657 Centerline is valid? [True, True] Translation: X:172.33, Y:-31.79, Z:-2.86 [[ 9.20318007e-01 3.91078622e-01 8.50165226e-03 1.72334015e+02] [-3.91058922e-01 9.20357226e-01 -3.93658844e-03 -3.17925125e+01] [-9.36407267e-03 2.98266259e-04 9.99956112e-01 -2.85837545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.019416102680589548 Centerline is valid? [True, True] Translation: X:172.39, Y:-31.82, Z:-2.86 [[ 9.21596614e-01 3.88054276e-01 8.57675775e-03 1.72390344e+02] [-3.88034095e-01 9.21636462e-01 -3.97147619e-03 -3.18192492e+01] [-9.44580099e-03 3.32024577e-04 9.99955332e-01 -2.85938140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.018876374532643233 Centerline is valid? [True, True] Translation: X:172.45, Y:-31.84, Z:-2.86 [[ 9.22637852e-01 3.85582648e-01 8.08801973e-03 1.72448009e+02] [-3.85564601e-01 9.22673240e-01 -3.74574635e-03 -3.18428631e+01] [-8.90689417e-03 3.37513269e-04 9.99960276e-01 -2.86043754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.019565010012106008 Centerline is valid? [True, True] Translation: X:172.50, Y:-31.87, Z:-2.86 [[ 9.22320214e-01 3.86372940e-01 6.43235841e-03 1.72504496e+02] [-3.86361547e-01 9.22342606e-01 -2.97859255e-03 -3.18660482e+01] [-7.08368578e-03 2.62000174e-04 9.99974876e-01 -2.86283452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.019263853794319927 Centerline is valid? [True, True] Translation: X:172.56, Y:-31.89, Z:-2.86 [[ 9.21537885e-01 3.88238910e-01 6.20280550e-03 1.72562175e+02] [-3.88228359e-01 9.21558729e-01 -2.87219097e-03 -3.18894551e+01] [-6.83134585e-03 2.38727783e-04 9.99976638e-01 -2.86454503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.02162975951915541 Centerline is valid? [True, True] Translation: X:172.62, Y:-31.92, Z:-2.87 [[ 9.20704726e-01 3.90210846e-01 6.18898122e-03 1.72617238e+02] [-3.90200373e-01 9.20725499e-01 -2.86781160e-03 -3.19155868e+01] [-6.81740401e-03 2.25464913e-04 9.99976736e-01 -2.86681960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.01790163612159491 Centerline is valid? [True, True] Translation: X:172.68, Y:-31.93, Z:-2.87 [[ 9.19689159e-01 3.92598317e-01 6.19773405e-03 1.72677911e+02] [-3.92587851e-01 9.19710018e-01 -2.87446308e-03 -3.19336311e+01] [-6.82862747e-03 2.10457446e-04 9.99976663e-01 -2.86643239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.017009443899943254 Centerline is valid? [True, True] Translation: X:172.74, Y:-31.96, Z:-2.87 [[ 9.18901476e-01 3.94430075e-01 6.70774543e-03 1.72736406e+02] [-3.94417862e-01 9.18925933e-01 -3.11119309e-03 -3.19553799e+01] [-7.39106935e-03 2.13225309e-04 9.99972663e-01 -2.86696992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.0173157734121315 Centerline is valid? [True, True] Translation: X:172.79, Y:-31.98, Z:-2.87 [[ 9.18837679e-01 3.94574851e-01 6.92862419e-03 1.72794485e+02] [-3.94561810e-01 9.18863776e-01 -3.21552304e-03 -3.19802000e+01] [-7.63522631e-03 2.20773220e-04 9.99970827e-01 -2.86758510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.01793775265523457 Centerline is valid? [True, True] Translation: X:172.85, Y:-32.00, Z:-2.87 [[ 9.19238614e-01 3.93650001e-01 6.32825445e-03 1.72851793e+02] [-3.93639086e-01 9.19260372e-01 -2.93896312e-03 -3.20040999e+01] [-6.97423638e-03 2.10560083e-04 9.99975658e-01 -2.86888016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.017189770441472997 Centerline is valid? [True, True] Translation: X:172.91, Y:-32.03, Z:-2.87 [[ 9.20002846e-01 3.91862517e-01 6.20735023e-03 1.72909369e+02] [-3.91851963e-01 9.20023760e-01 -2.88445753e-03 -3.20268095e+01] [-6.84122049e-03 2.21346768e-04 9.99976574e-01 -2.86931815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.020167102565335132 Centerline is valid? [True, True] Translation: X:172.96, Y:-32.05, Z:-2.87 [[ 9.21756453e-01 3.87714058e-01 6.54597938e-03 1.72963936e+02] [-3.87702184e-01 9.21779657e-01 -3.04631514e-03 -3.20525676e+01] [-7.21504983e-03 2.70070135e-04 9.99973935e-01 -2.87079254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.020802090980842704 Centerline is valid? [True, True] Translation: X:173.02, Y:-32.08, Z:-2.87 [[ 9.22259124e-01 3.86519658e-01 6.37669043e-03 1.73020795e+02] [-3.86508377e-01 9.22281129e-01 -2.96543308e-03 -3.20784480e+01] [-7.02729943e-03 2.70253453e-04 9.99975272e-01 -2.87199855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.019916586789618936 Centerline is valid? [True, True] Translation: X:173.08, Y:-32.10, Z:-2.87 [[ 9.23330459e-01 3.83959414e-01 6.00257284e-03 1.73078060e+02] [-3.83949341e-01 9.23349929e-01 -2.79491851e-03 -3.21015352e+01] [-6.61561048e-03 2.75949508e-04 9.99978079e-01 -2.87296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.02037488135078117 Centerline is valid? [True, True] Translation: X:173.13, Y:-32.12, Z:-2.87 [[ 9.24587855e-01 3.80924054e-01 5.84496088e-03 1.73134253e+02] [-3.80914437e-01 9.24606284e-01 -2.72224383e-03 -3.21249694e+01] [-6.44125572e-03 2.90523599e-04 9.99979213e-01 -2.87348812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.02151497695299143 Centerline is valid? [True, True] Translation: X:173.19, Y:-32.15, Z:-2.87 [[ 9.24788315e-01 3.80434900e-01 5.98826984e-03 1.73191443e+02] [-3.80424811e-01 9.24807654e-01 -2.78673190e-03 -3.21500288e+01] [-6.59816786e-03 2.99050676e-04 9.99978187e-01 -2.87440795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.020980245191420537 Centerline is valid? [True, True] Translation: X:173.25, Y:-32.17, Z:-2.87 [[ 9.24454814e-01 3.81229037e-01 6.90779870e-03 1.73249758e+02] [-3.81215613e-01 9.24480560e-01 -3.21736742e-03 -3.21709508e+01] [-7.61267949e-03 3.40950087e-04 9.99970965e-01 -2.87459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.02093080443216093 Centerline is valid? [True, True] Translation: X:173.31, Y:-32.19, Z:-2.88 [[ 9.23031751e-01 3.84663802e-01 6.79304361e-03 1.73306219e+02] [-3.84650881e-01 9.23056695e-01 -3.16819305e-03 -3.21914802e+01] [-7.48905357e-03 3.11392564e-04 9.99971908e-01 -2.87593302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.018739559024410195 Centerline is valid? [True, True] Translation: X:173.37, Y:-32.21, Z:-2.88 [[ 9.21388815e-01 3.88596355e-01 5.96028913e-03 1.73365289e+02] [-3.88586494e-01 9.21408060e-01 -2.77906071e-03 -3.22104829e+01] [-6.57179131e-03 2.44507592e-04 9.99978376e-01 -2.87730919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.01831309847737178 Centerline is valid? [True, True] Translation: X:173.42, Y:-32.23, Z:-2.88 [[ 9.19763741e-01 3.92430140e-01 5.76594211e-03 1.73422503e+02] [-3.92420981e-01 9.19781790e-01 -2.68940179e-03 -3.22312110e+01] [-6.35881088e-03 2.10937587e-04 9.99979760e-01 -2.87881974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.01632326527689449 Centerline is valid? [True, True] Translation: X:173.48, Y:-32.25, Z:-2.88 [[ 9.17849206e-01 3.96876815e-01 6.45206479e-03 1.73482432e+02] [-3.96865455e-01 9.17871861e-01 -3.00959634e-03 -3.22484782e+01] [-7.11660773e-03 2.01753982e-04 9.99974656e-01 -2.87896385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.015820157288918883 Centerline is valid? [True, True] Translation: X:173.54, Y:-32.27, Z:-2.88 [[ 9.17404262e-01 3.97910405e-01 6.06056329e-03 1.73540124e+02] [-3.97900415e-01 9.17424262e-01 -2.82526972e-03 -3.22709451e+01] [-6.68431202e-03 1.80413834e-04 9.99977643e-01 -2.87984871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.016798117744073086 Centerline is valid? [True, True] Translation: X:173.60, Y:-32.29, Z:-2.88 [[ 9.17952762e-01 3.96647584e-01 5.78108381e-03 1.73597818e+02] [-3.96638459e-01 9.17970948e-01 -2.69656738e-03 -3.22940289e+01] [-6.37645392e-03 1.82321298e-04 9.99979654e-01 -2.88107416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.01753144895006161 Centerline is valid? [True, True] Translation: X:173.65, Y:-32.32, Z:-2.88 [[ 9.19426213e-01 3.93220745e-01 5.73443098e-03 1.73654397e+02] [-3.93211676e-01 9.19444072e-01 -2.67875429e-03 -3.23172900e+01] [-6.32583033e-03 2.08071698e-04 9.99979970e-01 -2.88147681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.018031072243423377 Centerline is valid? [True, True] Translation: X:173.71, Y:-32.34, Z:-2.88 [[ 9.20191553e-01 3.91427930e-01 5.62862013e-03 1.73711356e+02] [-3.91419172e-01 9.20208742e-01 -2.62731303e-03 -3.23424898e+01] [-6.20790915e-03 2.14481426e-04 9.99980708e-01 -2.88209299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.01967017656576641 Centerline is valid? [True, True] Translation: X:173.77, Y:-32.37, Z:-2.88 [[ 9.20876703e-01 3.89814298e-01 5.55979660e-03 1.73766588e+02] [-3.89805705e-01 9.20893459e-01 -2.59806169e-03 -3.23672745e+01] [-6.13274191e-03 2.25254054e-04 9.99981169e-01 -2.88344056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.019697312058181208 Centerline is valid? [True, True] Translation: X:173.82, Y:-32.39, Z:-2.88 [[ 9.20812123e-01 3.89973409e-01 5.07689002e-03 1.73824625e+02] [-3.89966253e-01 9.20826096e-01 -2.37116291e-03 -3.23920852e+01] [-5.59962330e-03 2.03579773e-04 9.99984301e-01 -2.88463183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.0200326470370066 Centerline is valid? [True, True] Translation: X:173.88, Y:-32.41, Z:-2.89 [[ 9.20365582e-01 3.91034085e-01 4.42030691e-03 1.73882969e+02] [-3.91028667e-01 9.20376181e-01 -2.06583120e-03 -3.24148892e+01] [-4.87615560e-03 1.72853217e-04 9.99988097e-01 -2.88588075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.019019513720266126 Centerline is valid? [True, True] Translation: X:173.94, Y:-32.44, Z:-2.89 [[ 9.19894639e-01 3.92137088e-01 4.72825847e-03 1.73940944e+02] [-3.92130894e-01 9.19906773e-01 -2.21138466e-03 -3.24372398e+01] [-5.21672293e-03 1.80144674e-04 9.99986377e-01 -2.88614020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.018220163246833978 Centerline is valid? [True, True] Translation: X:174.00, Y:-32.46, Z:-2.89 [[ 9.19251675e-01 3.93647817e-01 4.21364984e-03 1.73999982e+02] [-3.93642910e-01 9.19261319e-01 -1.97144824e-03 -3.24583763e+01] [-4.64950160e-03 1.53583712e-04 9.99989179e-01 -2.88688406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.01832891765656498 Centerline is valid? [True, True] Translation: X:174.06, Y:-32.48, Z:-2.89 [[ 9.18660014e-01 3.95035528e-01 3.27269289e-03 1.74057169e+02] [-3.95032577e-01 9.18665836e-01 -1.53123968e-03 -3.24822149e+01] [-3.61140523e-03 1.13868356e-04 9.99993472e-01 -2.88840113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.017184162296459582 Centerline is valid? [True, True] Translation: X:174.12, Y:-32.50, Z:-2.89 [[ 9.17771993e-01 3.97086659e-01 4.09307509e-03 1.74116529e+02] [-3.97082053e-01 9.17781111e-01 -1.91733118e-03 -3.25026074e+01] [-4.51789364e-03 1.34386199e-04 9.99989785e-01 -2.88804746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.01725722345256951 Centerline is valid? [True, True] Translation: X:174.17, Y:-32.53, Z:-2.89 [[ 9.17378157e-01 3.97980137e-01 5.39707369e-03 1.74173369e+02] [-3.97972125e-01 9.17394016e-01 -2.53120012e-03 -3.25270827e+01] [-5.95861048e-03 1.74182811e-04 9.99982232e-01 -2.88785436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.017188287876754943 Centerline is valid? [True, True] Translation: X:174.23, Y:-32.55, Z:-2.89 [[ 9.17096558e-01 3.98622450e-01 5.83497051e-03 1.74230979e+02] [-3.98613085e-01 9.17115101e-01 -2.73865855e-03 -3.25513609e+01] [-6.44303034e-03 1.85718731e-04 9.99979226e-01 -2.88817775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.0164251508466166 Centerline is valid? [True, True] Translation: X:174.29, Y:-32.58, Z:-2.89 [[ 9.16709032e-01 3.99523593e-01 5.04462211e-03 1.74288980e+02] [-3.99516593e-01 9.16722899e-01 -2.37041199e-03 -3.25752503e+01] [-5.57155612e-03 1.57567848e-04 9.99984466e-01 -2.88928251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.016728293204246226 Centerline is valid? [True, True] Translation: X:174.35, Y:-32.60, Z:-2.89 [[ 9.15938183e-01 4.01294092e-01 4.50510855e-03 1.74345562e+02] [-4.01288537e-01 9.15949253e-01 -2.11552935e-03 -3.25992914e+01] [-4.97540024e-03 1.29845688e-04 9.99987614e-01 -2.89098774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.01692676181355721 Centerline is valid? [True, True] Translation: X:174.40, Y:-32.62, Z:-2.89 [[ 9.15641305e-01 4.01976456e-01 3.99109099e-03 1.74402637e+02] [-4.01972103e-01 9.15649997e-01 -1.87417939e-03 -3.26248821e+01] [-4.40781844e-03 1.11768826e-04 9.99990279e-01 -2.89244015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.017460113435137516 Centerline is valid? [True, True] Translation: X:174.46, Y:-32.65, Z:-2.89 [[ 9.15482834e-01 4.02344471e-01 3.17914881e-03 1.74459771e+02] [-4.02341710e-01 9.15488350e-01 -1.49301992e-03 -3.26506096e+01] [-3.51118201e-03 8.77299354e-05 9.99993832e-01 -2.89481092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.018703361394118174 Centerline is valid? [True, True] Translation: X:174.51, Y:-32.68, Z:-2.90 [[ 9.15895341e-01 4.01404671e-01 3.16451254e-03 1.74514967e+02] [-4.01401924e-01 9.15900803e-01 -1.48791095e-03 -3.26772203e+01] [-3.49563398e-03 9.25292816e-05 9.99993886e-01 -2.89658572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.018788187810907138 Centerline is valid? [True, True] Translation: X:174.57, Y:-32.70, Z:-2.90 [[ 9.16011176e-01 4.01131058e-01 4.17134958e-03 1.74572216e+02] [-4.01126275e-01 9.16020665e-01 -1.96300022e-03 -3.27042152e+01] [-4.60846277e-03 1.24892218e-04 9.99989373e-01 -2.89680303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.016533352220902926 Centerline is valid? [True, True] Translation: X:174.63, Y:-32.73, Z:-2.90 [[ 9.15553920e-01 4.02174909e-01 4.04503333e-03 1.74629840e+02] [-4.02170414e-01 9.15562848e-01 -1.90497460e-03 -3.27271153e+01] [-4.46961523e-03 1.17314227e-04 9.99990004e-01 -2.89619297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.018768171976942097 Centerline is valid? [True, True] Translation: X:174.68, Y:-32.75, Z:-2.90 [[ 9.14448371e-01 4.04680744e-01 4.20372387e-03 1.74684190e+02] [-4.04675909e-01 9.14458027e-01 -1.98138372e-03 -3.27548253e+01] [-4.64595688e-03 1.10727332e-04 9.99989201e-01 -2.89920981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.013549542898990987 Centerline is valid? [True, True] Translation: X:174.74, Y:-32.77, Z:-2.90 [[ 9.11411227e-01 4.11475947e-01 4.13764762e-03 1.74744532e+02] [-4.11471318e-01 9.11420616e-01 -1.95345336e-03 -3.27719633e+01] [-4.57493641e-03 7.78760091e-05 9.99989532e-01 -2.89726462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.012553439079197653 Centerline is valid? [True, True] Translation: X:174.80, Y:-32.80, Z:-2.90 [[ 9.08753186e-01 4.17310578e-01 4.41910573e-03 1.74801829e+02] [-4.17305364e-01 9.08763929e-01 -2.08669278e-03 -3.27952091e+01] [-4.88672286e-03 5.21721844e-05 9.99988059e-01 -2.89793655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.01214645207603327 Centerline is valid? [True, True] Translation: X:174.86, Y:-32.82, Z:-2.90 [[ 9.07395488e-01 4.20252360e-01 4.62418340e-03 1.74858268e+02] [-4.20246699e-01 9.07407270e-01 -2.18153765e-03 -3.28205848e+01] [-5.11281398e-03 3.62196133e-05 9.99986929e-01 -2.89874463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.011533428361348286 Centerline is valid? [True, True] Translation: X:174.92, Y:-32.84, Z:-2.90 [[ 9.04224183e-01 4.27027167e-01 5.14057525e-03 1.74915591e+02] [-4.27020270e-01 9.04238795e-01 -2.42707871e-03 -3.28438683e+01] [-5.68473611e-03 -5.06563941e-07 9.99983842e-01 -2.89823208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.011522846073487959 Centerline is valid? [True, True] Translation: X:174.97, Y:-32.87, Z:-2.90 [[ 9.02449027e-01 4.30766911e-01 5.06180566e-03 1.74971734e+02] [-4.30760274e-01 9.02463223e-01 -2.39121425e-03 -3.28703841e+01] [-5.59814943e-03 -2.24758213e-05 9.99984330e-01 -2.89958931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.011589227521355069 Centerline is valid? [True, True] Translation: X:175.03, Y:-32.90, Z:-2.90 [[ 9.02045113e-01 4.31606478e-01 5.51923899e-03 1.75027755e+02] [-4.31598591e-01 9.02061997e-01 -2.60933673e-03 -3.28989741e+01] [-6.10490238e-03 -2.83563292e-05 9.99981365e-01 -2.90020589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.011544442496486772 Centerline is valid? [True, True] Translation: X:175.08, Y:-32.93, Z:-2.90 [[ 9.02165627e-01 4.31357659e-01 5.26792819e-03 1.75082779e+02] [-4.31350461e-01 9.02181007e-01 -2.49214550e-03 -3.29288521e+01] [-5.82763081e-03 -2.39952469e-05 9.99983019e-01 -2.90114740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.01148424824098452 Centerline is valid? [True, True] Translation: X:175.14, Y:-32.96, Z:-2.90 [[ 9.02794691e-01 4.30047658e-01 4.55608483e-03 1.75137278e+02] [-4.30042252e-01 9.02806187e-01 -2.15630996e-03 -3.29616122e+01] [-5.04057763e-03 -1.26038021e-05 9.99987296e-01 -2.90311528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.011400026835474225 Centerline is valid? [True, True] Translation: X:175.19, Y:-32.99, Z:-2.90 [[ 9.03735877e-01 4.28070766e-01 4.10896108e-03 1.75191663e+02] [-4.28066345e-01 9.03745218e-01 -1.94551583e-03 -3.29945947e+01] [-4.54627238e-03 -6.75491760e-07 9.99989666e-01 -2.90362518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.012184224106574354 Centerline is valid? [True, True] Translation: X:175.24, Y:-33.03, Z:-2.91 [[ 9.05952526e-01 4.23356958e-01 4.34824943e-03 1.75241799e+02] [-4.23351935e-01 9.05962960e-01 -2.06255712e-03 -3.30314629e+01] [-4.81255083e-03 2.77390200e-05 9.99988419e-01 -2.90642908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.01291129542736098 Centerline is valid? [True, True] Translation: X:175.29, Y:-33.07, Z:-2.91 [[ 9.08414245e-01 4.18045141e-01 4.67118709e-03 1.75292882e+02] [-4.18039274e-01 9.08426253e-01 -2.21545990e-03 -3.30678822e+01] [-5.16959123e-03 5.98156666e-05 9.99986636e-01 -2.90591643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.013260621910631806 Centerline is valid? [True, True] Translation: X:175.35, Y:-33.10, Z:-2.91 [[ 9.09968324e-01 4.14650807e-01 4.72830845e-03 1.75345912e+02] [-4.14644744e-01 9.09980605e-01 -2.24389135e-03 -3.31004473e+01] [-5.23310035e-03 8.13018081e-05 9.99986304e-01 -2.90581638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.013867256736825415 Centerline is valid? [True, True] Translation: X:175.40, Y:-33.14, Z:-2.91 [[ 9.11979654e-01 4.10209740e-01 4.59123993e-03 1.75398285e+02] [-4.10203949e-01 9.11991205e-01 -2.18223504e-03 -3.31358471e+01] [-5.08234451e-03 1.06809210e-04 9.99987079e-01 -2.90597416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.014928718858376003 Centerline is valid? [True, True] Translation: X:175.45, Y:-33.17, Z:-2.91 [[ 9.12657595e-01 4.08708071e-01 3.71847974e-03 1.75450999e+02] [-4.08704268e-01 9.12665166e-01 -1.76538517e-03 -3.31676627e+01] [-4.11525409e-03 9.14336416e-05 9.99991528e-01 -2.90765539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.014966408946593887 Centerline is valid? [True, True] Translation: X:175.50, Y:-33.20, Z:-2.91 [[ 9.12861391e-01 4.08258980e-01 2.94715288e-03 1.75504407e+02] [-4.08256590e-01 9.12866146e-01 -1.39892270e-03 -3.31991470e+01] [-3.26147885e-03 7.38279404e-05 9.99994679e-01 -2.90829378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.014700576820517702 Centerline is valid? [True, True] Translation: X:175.56, Y:-33.23, Z:-2.91 [[ 9.12748727e-01 4.08509133e-01 3.17026212e-03 1.75560389e+02] [-4.08506366e-01 9.12754229e-01 -1.50558022e-03 -3.32285100e+01] [-3.50871343e-03 7.91441701e-05 9.99993841e-01 -2.90804118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.015696429991495005 Centerline is valid? [True, True] Translation: X:175.61, Y:-33.26, Z:-2.91 [[ 9.12788725e-01 4.08416517e-01 3.56257388e-03 1.75614487e+02] [-4.08413014e-01 9.12795673e-01 -1.69407602e-03 -3.32597254e+01] [-3.94379065e-03 9.13319553e-05 9.99992219e-01 -2.90839658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.015435951537014103 Centerline is valid? [True, True] Translation: X:175.67, Y:-33.29, Z:-2.91 [[ 9.12614974e-01 4.08803820e-01 3.65322688e-03 1.75670964e+02] [-4.08800135e-01 9.12622281e-01 -1.73828228e-03 -3.32879485e+01] [-4.04463269e-03 9.29427968e-05 9.99991816e-01 -2.90885426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.015649589318634714 Centerline is valid? [True, True] Translation: X:175.73, Y:-33.32, Z:-2.91 [[ 9.12145012e-01 4.09857430e-01 2.89201612e-03 1.75725068e+02] [-4.09855124e-01 9.12149594e-01 -1.37683970e-03 -3.33161625e+01] [-3.20225931e-03 7.05698357e-05 9.99994870e-01 -2.90992918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.016029697991853102 Centerline is valid? [True, True] Translation: X:175.78, Y:-33.34, Z:-2.91 [[ 9.11843361e-01 4.10524695e-01 3.34071534e-03 1.75779324e+02] [-4.10521616e-01 9.11849477e-01 -1.59204056e-03 -3.33441543e+01] [-3.69980150e-03 8.02557502e-05 9.99993152e-01 -2.91004926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.0162995963242084 Centerline is valid? [True, True] Translation: X:175.84, Y:-33.37, Z:-2.91 [[ 9.11779669e-01 4.10663869e-01 3.60869468e-03 1.75836140e+02] [-4.10660274e-01 9.11786806e-01 -1.72039307e-03 -3.33722268e+01] [-3.99686347e-03 8.66718704e-05 9.99992009e-01 -2.91127255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.015048485730217496 Centerline is valid? [True, True] Translation: X:175.89, Y:-33.40, Z:-2.91 [[ 9.11475841e-01 4.11345980e-01 2.50510528e-03 1.75894272e+02] [-4.11344252e-01 9.11479282e-01 -1.19345756e-03 -3.33972511e+01] [-2.77427553e-03 5.73470787e-05 9.99996150e-01 -2.91195480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.014419252579102725 Centerline is valid? [True, True] Translation: X:175.95, Y:-33.42, Z:-2.91 [[ 9.11148736e-01 4.12073077e-01 1.93890311e-03 1.75951346e+02] [-4.12072046e-01 9.11150798e-01 -9.23155422e-04 -3.34230862e+01] [-2.14704061e-03 4.21641266e-05 9.99997694e-01 -2.91246656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.015173356671692992 Centerline is valid? [True, True] Translation: X:176.01, Y:-33.45, Z:-2.91 [[ 9.11378241e-01 4.11564654e-01 2.05837555e-03 1.76006334e+02] [-4.11563482e-01 9.11380564e-01 -9.83377767e-04 -3.34498820e+01] [-2.28068700e-03 4.90768922e-05 9.99997398e-01 -2.91435431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.018938927330790903 Centerline is valid? [True, True] Translation: X:176.06, Y:-33.48, Z:-2.92 [[ 9.12309973e-01 4.09490559e-01 2.82757914e-03 1.76059507e+02] [-4.09488333e-01 9.12314352e-01 -1.35236019e-03 -3.34810512e+01] [-3.13341976e-03 7.59110177e-05 9.99995088e-01 -2.91704382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.01684837224702572 Centerline is valid? [True, True] Translation: X:176.12, Y:-33.50, Z:-2.92 [[ 9.12922427e-01 4.08118556e-01 3.44759744e-03 1.76116829e+02] [-4.08115238e-01 9.12928932e-01 -1.64840620e-03 -3.35046271e+01] [-3.82015661e-03 9.78499391e-05 9.99992698e-01 -2.91539390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.01723180341994387 Centerline is valid? [True, True] Translation: X:176.17, Y:-33.53, Z:-2.92 [[ 9.13722405e-01 4.06319012e-01 4.02832003e-03 1.76173362e+02] [-4.06314458e-01 9.13731276e-01 -1.92794975e-03 -3.35302556e+01] [-4.46416464e-03 1.24846215e-04 9.99990028e-01 -2.91524490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.016088491790852897 Centerline is valid? [True, True] Translation: X:176.23, Y:-33.55, Z:-2.92 [[ 9.14212219e-01 4.05206608e-01 4.86048155e-03 1.76230673e+02] [-4.05199949e-01 9.14225125e-01 -2.32842783e-03 -3.35537872e+01] [-5.38706870e-03 1.59210290e-04 9.99985477e-01 -2.91504828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.016977063261549494 Centerline is valid? [True, True] Translation: X:176.29, Y:-33.58, Z:-2.92 [[ 9.14240132e-01 4.05134493e-01 5.56982283e-03 1.76286357e+02] [-4.05125728e-01 9.14257080e-01 -2.67142713e-03 -3.35808111e+01] [-6.17453723e-03 1.85847361e-04 9.99980920e-01 -2.91590080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.01634848375823444 Centerline is valid? [True, True] Translation: X:176.34, Y:-33.60, Z:-2.92 [[ 9.14206534e-01 4.05204050e-01 6.00759681e-03 1.76344343e+02] [-4.05193852e-01 9.14226251e-01 -2.88181349e-03 -3.36045965e+01] [-6.66002521e-03 2.00331426e-04 9.99977802e-01 -2.91668648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.016779619673889266 Centerline is valid? [True, True] Translation: X:176.40, Y:-33.63, Z:-2.92 [[ 9.14405910e-01 4.04755877e-01 5.87471117e-03 1.76400760e+02] [-4.04746100e-01 9.14424759e-01 -2.82041102e-03 -3.36303306e+01] [-6.51355928e-03 2.01234072e-04 9.99978766e-01 -2.91797422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.017691236515788373 Centerline is valid? [True, True] Translation: X:176.46, Y:-33.66, Z:-2.92 [[ 9.14789474e-01 4.03884021e-01 6.15761686e-03 1.76456584e+02] [-4.03873245e-01 9.14810171e-01 -2.95853546e-03 -3.36556535e+01] [-6.82795573e-03 2.19540399e-04 9.99976665e-01 -2.91935247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.018319253518427486 Centerline is valid? [True, True] Translation: X:176.51, Y:-33.68, Z:-2.92 [[ 9.15462035e-01 4.02332403e-01 7.60921137e-03 1.76514154e+02] [-4.02315868e-01 9.15493613e-01 -3.65890557e-03 -3.36795814e+01] [-8.43828067e-03 2.88282658e-04 9.99964356e-01 -2.91955083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.018618983332874046 Centerline is valid? [True, True] Translation: X:176.57, Y:-33.71, Z:-2.92 [[ 9.15867640e-01 4.01392411e-01 8.40225595e-03 1.76570958e+02] [-4.01372183e-01 9.15906121e-01 -4.04319860e-03 -3.37052989e+01] [-9.31858689e-03 3.30602943e-04 9.99956526e-01 -2.92029725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.018775546452503348 Centerline is valid? [True, True] Translation: X:176.63, Y:-33.73, Z:-2.92 [[ 9.16762364e-01 3.99319549e-01 9.52184436e-03 1.76627967e+02] [-3.99293422e-01 9.16811723e-01 -4.58546075e-03 -3.37292778e+01] [-1.05608027e-02 4.01768011e-04 9.99944152e-01 -2.92094990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.01987915328039841 Centerline is valid? [True, True] Translation: X:176.69, Y:-33.75, Z:-2.92 [[ 9.17427597e-01 3.97789537e-01 9.49153564e-03 1.76685311e+02] [-3.97763467e-01 9.17476598e-01 -4.57352924e-03 -3.37522283e+01] [-1.05275639e-02 4.20495819e-04 9.99944495e-01 -2.92257818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.01916047411211713 Centerline is valid? [True, True] Translation: X:176.74, Y:-33.77, Z:-2.92 [[ 9.17076671e-01 3.98588431e-01 9.88144446e-03 1.76744983e+02] [-3.98560190e-01 9.17129804e-01 -4.76420201e-03 -3.37709138e+01] [-1.09615230e-02 4.30788136e-04 9.99939828e-01 -2.92389783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.02042503697759933 Centerline is valid? [True, True] Translation: X:176.80, Y:-33.80, Z:-2.93 [[ 9.16865504e-01 3.99061856e-01 1.03577080e-02 1.76801653e+02] [-3.99030819e-01 9.16923897e-01 -4.99719247e-03 -3.37952591e+01] [-1.14914189e-02 4.48708708e-04 9.99933871e-01 -2.92546409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.02042773454831306 Centerline is valid? [True, True] Translation: X:176.86, Y:-33.82, Z:-2.93 [[ 9.17209309e-01 3.98268333e-01 1.04603449e-02 1.76860292e+02] [-3.98236590e-01 9.17268836e-01 -5.04987056e-03 -3.38176527e+01] [-1.16061519e-02 4.66096213e-04 9.99932538e-01 -2.92651818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.021900050555663783 Centerline is valid? [True, True] Translation: X:176.92, Y:-33.84, Z:-2.93 [[ 9.17723748e-01 3.97098131e-01 9.80803165e-03 1.76916656e+02] [-3.97070114e-01 9.17776045e-01 -4.73881140e-03 -3.38405366e+01] [-1.08833496e-02 4.54443504e-04 9.99940671e-01 -2.92908848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.02047888850009824 Centerline is valid? [True, True] Translation: X:176.98, Y:-33.86, Z:-2.93 [[ 9.17451284e-01 3.97721377e-01 1.00423096e-02 1.76975208e+02] [-3.97692052e-01 9.17506129e-01 -4.85128573e-03 -3.38617726e+01] [-1.11433406e-02 4.57071620e-04 9.99937807e-01 -2.93068922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.01859851359470612 Centerline is valid? [True, True] Translation: X:177.03, Y:-33.88, Z:-2.93 [[ 9.16423194e-01 4.00070066e-01 1.06052642e-02 1.77033280e+02] [-4.00037465e-01 9.16484443e-01 -5.12765518e-03 -3.38822209e+01] [-1.17709810e-02 4.56599126e-04 9.99930615e-01 -2.93150252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.016781767124305055 Centerline is valid? [True, True] Translation: X:177.09, Y:-33.90, Z:-2.93 [[ 9.13584980e-01 4.06493152e-01 1.12161177e-02 1.77091715e+02] [-4.06457162e-01 9.13653742e-01 -5.42361949e-03 -3.39007526e+01] [-1.24523120e-02 3.96065956e-04 9.99922389e-01 -2.93189782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.017051914685874383 Centerline is valid? [True, True] Translation: X:177.15, Y:-33.92, Z:-2.93 [[ 9.11603785e-01 4.10900848e-01 1.17911832e-02 1.77148424e+02] [-4.10861437e-01 9.11679970e-01 -5.70185159e-03 -3.39232755e+01] [-1.30926812e-02 3.53287040e-04 9.99914225e-01 -2.93328000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.01451260049006509 Centerline is valid? [True, True] Translation: X:177.21, Y:-33.94, Z:-2.93 [[ 9.09746278e-01 4.14964576e-01 1.28883929e-02 1.77208863e+02] [-4.14917888e-01 9.09837511e-01 -6.23300573e-03 -3.39404517e+01] [-1.43128199e-02 3.22829020e-04 9.99897514e-01 -2.93391477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.014462115693840146 Centerline is valid? [True, True] Translation: X:177.27, Y:-33.97, Z:-2.93 [[ 9.09582749e-01 4.15313791e-01 1.31786835e-02 1.77266480e+02] [-4.15265005e-01 9.09678157e-01 -6.37388659e-03 -3.39652956e+01] [-1.46355235e-02 3.24931214e-04 9.99892842e-01 -2.93464658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.015611648198463548 Centerline is valid? [True, True] Translation: X:177.32, Y:-33.99, Z:-2.94 [[ 9.11356933e-01 4.11431496e-01 1.23558014e-02 1.77322350e+02] [-4.11388193e-01 9.11440612e-01 -5.98042381e-03 -3.39920916e+01] [-1.37221139e-02 3.67269903e-04 9.99905780e-01 -2.93668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.017311154150753114 Centerline is valid? [True, True] Translation: X:177.38, Y:-34.02, Z:-2.94 [[ 9.13560157e-01 4.06536963e-01 1.16420255e-02 1.77376399e+02] [-4.06498106e-01 9.13634240e-01 -5.63606974e-03 -3.40198101e+01] [-1.29278238e-02 4.16427449e-04 9.99916345e-01 -2.93867020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.01895857981610287 Centerline is valid? [True, True] Translation: X:177.43, Y:-34.05, Z:-2.94 [[ 9.14650776e-01 4.04085180e-01 1.13633043e-02 1.77430969e+02] [-4.04047980e-01 9.14721255e-01 -5.50056639e-03 -3.40480370e+01] [-1.26169533e-02 4.39777165e-04 9.99920306e-01 -2.94036789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.01872789117751773 Centerline is valid? [True, True] Translation: X:177.49, Y:-34.07, Z:-2.94 [[ 9.15727720e-01 4.01640099e-01 1.13125269e-02 1.77487931e+02] [-4.01602997e-01 9.15797470e-01 -5.47969553e-03 -3.40736670e+01] [-1.25608489e-02 4.74764414e-04 9.99920997e-01 -2.94176479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.02032588392777456 Centerline is valid? [True, True] Translation: X:177.54, Y:-34.10, Z:-2.94 [[ 9.16293560e-01 4.00338462e-01 1.16287830e-02 1.77542282e+02] [-4.00299141e-01 9.16367208e-01 -5.63373801e-03 -3.41018203e+01] [-1.29116374e-02 5.07166019e-04 9.99916513e-01 -2.94283650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.01937666275011114 Centerline is valid? [True, True] Translation: X:177.60, Y:-34.13, Z:-2.94 [[ 9.16105323e-01 4.00749326e-01 1.22887761e-02 1.77600159e+02] [-4.00705430e-01 9.16187587e-01 -5.95507733e-03 -3.41261911e+01] [-1.36453174e-02 5.31298728e-04 9.99906757e-01 -2.94305698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.01939134833858518 Centerline is valid? [True, True] Translation: X:177.66, Y:-34.15, Z:-2.94 [[ 9.15174416e-01 4.02853186e-01 1.28490568e-02 1.77655673e+02] [-4.02805329e-01 9.15264460e-01 -6.23176619e-03 -3.41508232e+01] [-1.42707719e-02 5.27484423e-04 9.99898028e-01 -2.94413477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.018544934705685304 Centerline is valid? [True, True] Translation: X:177.71, Y:-34.17, Z:-2.95 [[ 9.13032595e-01 4.07691419e-01 1.26169392e-02 1.77711942e+02] [-4.07645727e-01 9.13119658e-01 -6.11980008e-03 -3.41727622e+01] [-1.40157652e-02 4.44335592e-04 9.99901676e-01 -2.94543764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.016476499990865156 Centerline is valid? [True, True] Translation: X:177.77, Y:-34.20, Z:-2.95 [[ 9.11649855e-01 4.10755263e-01 1.32157599e-02 1.77769481e+02] [-4.10705453e-01 9.11745546e-01 -6.41017066e-03 -3.41954348e+01] [-1.46824216e-02 4.16046487e-04 9.99892121e-01 -2.94610884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.01580769579662697 Centerline is valid? [True, True] Translation: X:177.83, Y:-34.22, Z:-2.95 [[ 9.10618471e-01 4.13039129e-01 1.31406788e-02 1.77827063e+02] [-4.12990109e-01 9.10713201e-01 -6.37453529e-03 -3.42202740e+01] [-1.46003222e-02 3.77799196e-04 9.99893338e-01 -2.94750204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.015912546729239092 Centerline is valid? [True, True] Translation: X:177.88, Y:-34.25, Z:-2.95 [[ 9.10393860e-01 4.13530144e-01 1.32604332e-02 1.77884280e+02] [-4.13480262e-01 9.10490351e-01 -6.43376740e-03 -3.42472270e+01] [-1.47340532e-02 3.74334952e-04 9.99891378e-01 -2.94864936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.016020018381809928 Centerline is valid? [True, True] Translation: X:177.94, Y:-34.27, Z:-2.95 [[ 9.10661566e-01 4.12920643e-01 1.38584134e-02 1.77940485e+02] [-4.12866012e-01 9.10766917e-01 -6.72888633e-03 -3.42747547e+01] [-1.54002805e-02 4.06070298e-04 9.99881326e-01 -2.94876755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.017657907041485 Centerline is valid? [True, True] Translation: X:177.99, Y:-34.30, Z:-2.95 [[ 9.11695895e-01 4.10618757e-01 1.42418763e-02 1.77993668e+02] [-4.10560710e-01 9.11807010e-01 -6.91951482e-03 -3.43044458e+01] [-1.58271252e-02 4.61338403e-04 9.99874637e-01 -2.94994634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.0168667129660382 Centerline is valid? [True, True] Translation: X:178.05, Y:-34.33, Z:-2.95 [[ 9.12185822e-01 4.09522225e-01 1.44420685e-02 1.78050718e+02] [-4.09462363e-01 9.12300010e-01 -7.01895945e-03 -3.43297465e+01] [-1.60499191e-02 4.89111816e-04 9.99871072e-01 -2.95149319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.017391400164068666 Centerline is valid? [True, True] Translation: X:178.11, Y:-34.36, Z:-2.95 [[ 9.12347841e-01 4.09126140e-01 1.54019027e-02 1.78106127e+02] [-4.09057914e-01 9.12477680e-01 -7.49040922e-03 -3.43570245e+01] [-1.71184146e-02 5.33588509e-04 9.99853327e-01 -2.95186396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.01695107473383527 Centerline is valid? [True, True] Translation: X:178.16, Y:-34.38, Z:-2.96 [[ 9.12760129e-01 4.08286865e-01 1.30683671e-02 1.78162398e+02] [-4.08237615e-01 9.12853557e-01 -6.35879027e-03 -3.43829251e+01] [-1.45257159e-02 4.69051229e-04 9.99894386e-01 -2.95531849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.018966911701000014 Centerline is valid? [True, True] Translation: X:178.22, Y:-34.41, Z:-2.96 [[ 9.13007956e-01 4.07747923e-01 1.25739552e-02 1.78216310e+02] [-4.07702225e-01 9.13094419e-01 -6.12196255e-03 -3.44121463e+01] [-1.39774258e-02 4.62970998e-04 9.99902204e-01 -2.95747917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.020711751287873344 Centerline is valid? [True, True] Translation: X:178.27, Y:-34.44, Z:-2.96 [[ 9.14300368e-01 4.04798886e-01 1.38815950e-02 1.78270202e+02] [-4.04742780e-01 9.14405568e-01 -6.76310170e-03 -3.44414141e+01] [-1.54311038e-02 5.65031010e-04 9.99880774e-01 -2.95687290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.022261073781820746 Centerline is valid? [True, True] Translation: X:178.32, Y:-34.47, Z:-2.96 [[ 9.15481592e-01 4.02123438e-01 1.37911660e-02 1.78324223e+02] [-4.02067748e-01 9.15585263e-01 -6.71961335e-03 -3.44701915e+01] [-1.53291024e-02 6.06699275e-04 9.99882318e-01 -2.95803998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.021268513621045686 Centerline is valid? [True, True] Translation: X:178.38, Y:-34.49, Z:-2.96 [[ 9.17910545e-01 3.96543757e-01 1.39025340e-02 1.78379209e+02] [-3.96486515e-01 9.18015550e-01 -6.77447048e-03 -3.44949430e+01] [-1.54491163e-02 7.06190641e-04 9.99880406e-01 -2.95946234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.025171428716640996 Centerline is valid? [True, True] Translation: X:178.43, Y:-34.53, Z:-2.96 [[ 9.18778114e-01 3.94518235e-01 1.42175867e-02 1.78431306e+02] [-3.94458124e-01 9.18887800e-01 -6.92814360e-03 -3.45267443e+01] [-1.57976460e-02 7.57184112e-04 9.99874923e-01 -2.96019039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.025493036233547105 Centerline is valid? [True, True] Translation: X:178.49, Y:-34.55, Z:-2.96 [[ 9.21861557e-01 3.87232988e-01 1.48957170e-02 1.78486127e+02] [-3.87166017e-01 9.21981429e-01 -7.26088560e-03 -3.45536609e+01] [-1.65452289e-02 9.26415875e-04 9.99862689e-01 -2.96040577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.02704855670641401 Centerline is valid? [True, True] Translation: X:178.54, Y:-34.58, Z:-2.96 [[ 9.23465899e-01 3.83361890e-01 1.56331156e-02 1.78540290e+02] [-3.83287560e-01 9.23597622e-01 -7.62090831e-03 -3.45811662e+01] [-1.73602742e-02 1.04567022e-03 9.99848752e-01 -2.96114071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.0282446711719218 Centerline is valid? [True, True] Translation: X:178.60, Y:-34.61, Z:-2.96 [[ 9.23869534e-01 3.82328673e-01 1.70255575e-02 1.78596386e+02] [-3.82240319e-01 9.24025670e-01 -8.30062492e-03 -3.46067243e+01] [-1.89056191e-02 1.16083993e-03 9.99820599e-01 -2.96120902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.02502353335010239 Centerline is valid? [True, True] Translation: X:178.66, Y:-34.63, Z:-2.96 [[ 9.22931608e-01 3.84597515e-01 1.67927933e-02 1.78655256e+02] [-3.84511857e-01 9.23083710e-01 -8.19123596e-03 -3.46272754e+01] [-1.86514830e-02 1.10292241e-03 9.99825438e-01 -2.96262292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.024959302407615132 Centerline is valid? [True, True] Translation: X:178.71, Y:-34.65, Z:-2.96 [[ 9.20226691e-01 3.91064716e-01 1.58500674e-02 1.78711895e+02] [-3.90989344e-01 9.20362725e-01 -7.73226254e-03 -3.46467517e+01] [-1.76116262e-02 9.18226930e-04 9.99844482e-01 -2.96488910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.02396736910209188 Centerline is valid? [True, True] Translation: X:178.77, Y:-34.67, Z:-2.97 [[ 9.17419706e-01 3.97611367e-01 1.56934199e-02 1.78768298e+02] [-3.97538436e-01 9.17553587e-01 -7.65549144e-03 -3.46665055e+01] [-1.74434641e-02 7.84561115e-04 9.99847543e-01 -2.96653505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.018381059227778968 Centerline is valid? [True, True] Translation: X:178.83, Y:-34.68, Z:-2.97 [[ 9.12836551e-01 4.08040023e-01 1.52568593e-02 1.78830453e+02] [-4.07972545e-01 9.12963863e-01 -7.44224019e-03 -3.46774072e+01] [-1.69656931e-02 5.69169130e-04 9.99855910e-01 -2.96876632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.017077230556805725 Centerline is valid? [True, True] Translation: X:178.89, Y:-34.70, Z:-2.97 [[ 9.10672957e-01 4.12844805e-01 1.52948592e-02 1.78888249e+02] [-4.12777660e-01 9.10801260e-01 -7.46108361e-03 -3.46977141e+01] [-1.70108467e-02 4.81230871e-04 9.99855189e-01 -2.96994409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.016555333399348712 Centerline is valid? [True, True] Translation: X:178.95, Y:-34.72, Z:-2.97 [[ 9.10136987e-01 4.14018774e-01 1.54634898e-02 1.78946988e+02] [-4.13950300e-01 9.10268223e-01 -7.54393790e-03 -3.47198578e+01] [-1.71992553e-02 4.64900678e-04 9.99851974e-01 -2.97134323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.019814104538946133 Centerline is valid? [True, True] Translation: X:179.00, Y:-34.75, Z:-2.97 [[ 9.12965933e-01 4.07758198e-01 1.50485048e-02 1.79000554e+02] [-4.07692427e-01 9.13089769e-01 -7.34572172e-03 -3.47460958e+01] [-1.67359140e-02 5.71232260e-04 9.99859782e-01 -2.97369850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:179.06, Y:-34.77, Z:-2.97 [[ 9.17510714e-01 3.97408658e-01 1.55063822e-02 1.79055617e+02] [-3.97337340e-01 9.17641403e-01 -7.56923266e-03 -3.47719443e+01] [-1.72373769e-02 7.83587390e-04 9.99851118e-01 -2.97472333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:179.11, Y:-34.80, Z:-2.98 [[ 9.17401235e-01 3.97661327e-01 1.55062064e-02 1.79111783e+02] [-3.97590040e-01 9.17531940e-01 -7.56959272e-03 -3.47994437e+01] [-1.72375740e-02 7.79240477e-04 9.99851118e-01 -2.97573391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.022084151433087944 Centerline is valid? [True, True] Translation: X:179.17, Y:-34.82, Z:-2.98 [[ 9.18026036e-01 3.96198377e-01 1.59700886e-02 1.79168580e+02] [-3.96122446e-01 9.18164554e-01 -7.80127199e-03 -3.48248135e+01] [-1.77540206e-02 8.35660232e-04 9.99842036e-01 -2.97693800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.02250680335674207 Centerline is valid? [True, True] Translation: X:179.23, Y:-34.85, Z:-2.98 [[ 9.19122464e-01 3.93629714e-01 1.64178325e-02 1.79225594e+02] [-3.93549031e-01 9.19268632e-01 -8.02138100e-03 -3.48478939e+01] [-1.82498523e-02 9.11409394e-04 9.99833042e-01 -2.97785521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.02399383622776658 Centerline is valid? [True, True] Translation: X:179.28, Y:-34.87, Z:-2.98 [[ 9.19612148e-01 3.92498225e-01 1.60823184e-02 1.79282240e+02] [-3.92420614e-01 9.19752306e-01 -7.85854087e-03 -3.48742463e+01] [-1.78762128e-02 9.15776362e-04 9.99839788e-01 -2.97922767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.025393041419814924 Centerline is valid? [True, True] Translation: X:179.34, Y:-34.90, Z:-2.98 [[ 9.20461135e-01 3.90499239e-01 1.61753868e-02 1.79337917e+02] [-3.90420341e-01 9.20602745e-01 -7.90838649e-03 -3.49003884e+01] [-1.79793244e-02 9.64162380e-04 9.99837894e-01 -2.98087579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.027428616343332515 Centerline is valid? [True, True] Translation: X:179.39, Y:-34.93, Z:-2.98 [[ 9.22374973e-01 3.85975946e-01 1.57155745e-02 1.79392413e+02] [-3.85900804e-01 9.22508278e-01 -7.68418603e-03 -3.49272904e+01] [-1.74636586e-02 1.02304803e-03 9.99846975e-01 -2.98307747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.02876781375789599 Centerline is valid? [True, True] Translation: X:179.45, Y:-34.95, Z:-2.98 [[ 9.23919751e-01 3.82261600e-01 1.57595391e-02 1.79447401e+02] [-3.82185497e-01 9.24053498e-01 -7.70576846e-03 -3.49537612e+01] [-1.75082766e-02 1.09644440e-03 9.99846117e-01 -2.98416347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.027018163842465276 Centerline is valid? [True, True] Translation: X:179.51, Y:-34.97, Z:-2.99 [[ 9.25484488e-01 3.78451295e-01 1.59084642e-02 1.79505167e+02] [-3.78373183e-01 9.25620454e-01 -7.77871057e-03 -3.49739420e+01] [-1.76690629e-02 1.17973974e-03 9.99843194e-01 -2.98512109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.026733174908829135 Centerline is valid? [True, True] Translation: X:179.56, Y:-35.00, Z:-2.99 [[ 9.25565121e-01 3.78223208e-01 1.66256524e-02 1.79562656e+02] [-3.78137843e-01 9.25713601e-01 -8.13022370e-03 -3.49982988e+01] [-1.84656318e-02 1.23826315e-03 9.99828729e-01 -2.98547531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.02793457159714377 Centerline is valid? [True, True] Translation: X:179.62, Y:-35.02, Z:-2.99 [[ 9.24533737e-01 3.80725886e-01 1.68869447e-02 1.79617470e+02] [-3.80638146e-01 9.24687154e-01 -8.26251057e-03 -3.50218874e+01] [-1.87608925e-02 1.21115446e-03 9.99823265e-01 -2.98617014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.02610581979534498 Centerline is valid? [True, True] Translation: X:179.67, Y:-35.04, Z:-2.99 [[ 9.23244558e-01 3.83858818e-01 1.64891865e-02 1.79674226e+02] [-3.83775665e-01 9.23391116e-01 -8.06758532e-03 -3.50432891e+01] [-1.83227821e-02 1.12020572e-03 9.99831496e-01 -2.98797900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.025659977349866303 Centerline is valid? [True, True] Translation: X:179.73, Y:-35.06, Z:-2.99 [[ 9.21836973e-01 3.87269623e-01 1.54542558e-02 1.79732182e+02] [-3.87197057e-01 9.21965979e-01 -7.56125004e-03 -3.50628990e+01] [-1.71765406e-02 9.86397469e-04 9.99851986e-01 -2.99002965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.0259293907659151 Centerline is valid? [True, True] Translation: X:179.79, Y:-35.09, Z:-2.99 [[ 9.21152995e-01 3.88875707e-01 1.59010474e-02 1.79789525e+02] [-3.88799116e-01 9.21289702e-01 -7.78023237e-03 -3.50850877e+01] [-1.76750146e-02 9.84471166e-04 9.99843300e-01 -2.99075356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.024376324750055696 Centerline is valid? [True, True] Translation: X:179.85, Y:-35.11, Z:-2.99 [[ 9.20849337e-01 3.89580813e-01 1.62261580e-02 1.79848392e+02] [-3.89501152e-01 9.20991752e-01 -7.94013219e-03 -3.51073178e+01] [-1.80374809e-02 9.91558223e-04 9.99836820e-01 -2.99153569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.027767735174407396 Centerline is valid? [True, True] Translation: X:179.90, Y:-35.13, Z:-2.99 [[ 9.20473441e-01 3.90511757e-01 1.51397382e-02 1.79903835e+02] [-3.90442505e-01 9.20597491e-01 -7.41009178e-03 -3.51326004e+01] [-1.68313330e-02 9.09595364e-04 9.99857929e-01 -2.99291653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.027354263433755726 Centerline is valid? [True, True] Translation: X:179.96, Y:-35.15, Z:-2.99 [[ 9.20081707e-01 3.91455444e-01 1.45700742e-02 1.79959485e+02] [-3.91391385e-01 9.20196661e-01 -7.13368412e-03 -3.51549665e+01] [-1.61998531e-02 8.60970735e-04 9.99868403e-01 -2.99479865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.024287391882306678 Centerline is valid? [True, True] Translation: X:180.02, Y:-35.17, Z:-3.00 [[ 9.19019178e-01 3.93994184e-01 1.31275503e-02 1.80017909e+02] [-3.93942448e-01 9.19112639e-01 -6.42688954e-03 -3.51725787e+01] [-1.45978545e-02 7.34935447e-04 9.99893176e-01 -2.99720042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.022041238860490166 Centerline is valid? [True, True] Translation: X:180.07, Y:-35.19, Z:-3.00 [[ 9.17708166e-01 3.97055383e-01 1.25994215e-02 1.80074919e+02] [-3.97008016e-01 9.17794416e-01 -6.16811241e-03 -3.51921027e+01] [-1.40127610e-02 6.58455777e-04 9.99901600e-01 -2.99812674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.020698659818756383 Centerline is valid? [True, True] Translation: X:180.13, Y:-35.21, Z:-3.00 [[ 9.16133852e-01 4.00705493e-01 1.15703563e-02 1.80131725e+02] [-4.00665844e-01 9.16206747e-01 -5.66380190e-03 -3.52131062e+01] [-1.28703551e-02 5.52954057e-04 9.99917021e-01 -2.99922529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.020487319158649833 Centerline is valid? [True, True] Translation: X:180.19, Y:-35.24, Z:-3.00 [[ 9.14649864e-01 4.04106082e-01 1.06724662e-02 1.80187029e+02] [-4.04072581e-01 9.14712008e-01 -5.22415012e-03 -3.52358264e+01] [-1.18733438e-02 4.65817246e-04 9.99929401e-01 -3.00010202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.02021892127226661 Centerline is valid? [True, True] Translation: X:180.24, Y:-35.26, Z:-3.00 [[ 9.13852849e-01 4.05912186e-01 1.04051783e-02 1.80240774e+02] [-4.05880461e-01 9.13911982e-01 -5.09314218e-03 -3.52581192e+01] [-1.15767856e-02 4.31123918e-04 9.99932894e-01 -3.00038073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.020440080107579132 Centerline is valid? [True, True] Translation: X:180.29, Y:-35.28, Z:-3.00 [[ 9.14206425e-01 4.05114799e-01 1.04217361e-02 1.80294568e+02] [-4.05082935e-01 9.14265719e-01 -5.10001772e-03 -3.52812750e+01] [-1.15943287e-02 4.40801513e-04 9.99932686e-01 -3.00065797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.02027354948800345 Centerline is valid? [True, True] Translation: X:180.35, Y:-35.31, Z:-3.00 [[ 9.14754005e-01 4.03875818e-01 1.04610912e-02 1.80348549e+02] [-4.03843643e-01 9.14813705e-01 -5.11838693e-03 -3.53056401e+01] [-1.16371423e-02 4.57419780e-04 9.99932182e-01 -3.00168868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.020988466788356117 Centerline is valid? [True, True] Translation: X:180.40, Y:-35.33, Z:-3.00 [[ 9.15479131e-01 4.02222988e-01 1.07064825e-02 1.80402483e+02] [-4.02189184e-01 9.15541604e-01 -5.23748889e-03 -3.53300531e+01] [-1.19088686e-02 4.88780321e-04 9.99928967e-01 -3.00234483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.020241626912437853 Centerline is valid? [True, True] Translation: X:180.46, Y:-35.35, Z:-3.00 [[ 9.15735017e-01 4.01657821e-01 1.00186735e-02 1.80456546e+02] [-4.01628196e-01 9.15789703e-01 -4.90022262e-03 -3.53532499e+01] [-1.11432108e-02 4.63523672e-04 9.99937805e-01 -3.00314092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.02068537835958589 Centerline is valid? [True, True] Translation: X:180.51, Y:-35.38, Z:-3.00 [[ 9.15655567e-01 4.01856433e-01 9.28924466e-03 1.80510311e+02] [-4.01830983e-01 9.15702585e-01 -4.54271925e-03 -3.53780169e+01] [-1.03317063e-02 4.26859857e-04 9.99946535e-01 -3.00468821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.020063440566618542 Centerline is valid? [True, True] Translation: X:180.56, Y:-35.40, Z:-3.01 [[ 9.15141240e-01 4.03039153e-01 8.71503382e-03 1.80564463e+02] [-4.03016812e-01 9.15182654e-01 -4.26123692e-03 -3.54006832e+01] [-9.69329310e-03 3.87328491e-04 9.99952944e-01 -3.00542400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.020051631830403514 Centerline is valid? [True, True] Translation: X:180.62, Y:-35.42, Z:-3.01 [[ 9.14445619e-01 4.04613299e-01 8.79139498e-03 1.80618795e+02] [-4.04590641e-01 9.14487802e-01 -4.29815907e-03 -3.54248607e+01] [-9.77871579e-03 3.73516605e-04 9.99952117e-01 -3.00656355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.01796997428873475 Centerline is valid? [True, True] Translation: X:180.67, Y:-35.45, Z:-3.01 [[ 9.12841279e-01 4.08228043e-01 8.40615122e-03 1.80674971e+02] [-4.08207499e-01 9.12879928e-01 -4.10781898e-03 -3.54473710e+01] [-9.35073362e-03 3.18332769e-04 9.99956230e-01 -3.00776407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.01689860014693948 Centerline is valid? [True, True] Translation: X:180.73, Y:-35.47, Z:-3.01 [[ 9.11136410e-01 4.12030978e-01 7.80485437e-03 1.80729734e+02] [-4.12013407e-01 9.11169801e-01 -3.81398303e-03 -3.54706767e+01] [-8.68302676e-03 2.59354156e-04 9.99962268e-01 -3.00853996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.016470494913659147 Centerline is valid? [True, True] Translation: X:180.78, Y:-35.49, Z:-3.01 [[ 9.10151687e-01 4.14221261e-01 6.68230160e-03 1.80782547e+02] [-4.14208437e-01 9.10176195e-01 -3.26573421e-03 -3.54944572e+01] [-7.43480838e-03 2.04447798e-04 9.99972341e-01 -3.00982320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.01617454161123323 Centerline is valid? [True, True] Translation: X:180.84, Y:-35.52, Z:-3.01 [[ 9.09956228e-01 4.14651948e-01 6.58980208e-03 1.80836054e+02] [-4.14639483e-01 9.09980067e-01 -3.22123187e-03 -3.55201459e+01] [-7.33227861e-03 1.98787873e-04 9.99973099e-01 -3.01016026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.016305158329217705 Centerline is valid? [True, True] Translation: X:180.89, Y:-35.55, Z:-3.01 [[ 9.10903444e-01 4.12538220e-01 8.19346193e-03 1.80888043e+02] [-4.12518907e-01 9.10940254e-01 -4.00053768e-03 -3.55473515e+01] [-9.11412899e-03 2.64145592e-04 9.99958431e-01 -3.00911092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.0169661101981555 Centerline is valid? [True, True] Translation: X:180.94, Y:-35.57, Z:-3.01 [[ 9.11227579e-01 4.11805157e-01 8.98959008e-03 1.80938875e+02] [-4.11781878e-01 9.11271872e-01 -4.38873611e-03 -3.55741739e+01] [-9.99926474e-03 2.97387092e-04 9.99949962e-01 -3.00889414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.015721684134083005 Centerline is valid? [True, True] Translation: X:180.99, Y:-35.60, Z:-3.01 [[ 9.10217446e-01 4.14024587e-01 9.37236342e-03 1.80992902e+02] [-4.13999422e-01 9.10265654e-01 -4.57354677e-03 -3.55983849e+01] [-1.04249013e-02 2.82769022e-04 9.99945619e-01 -3.00925744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.014843590335154899 Centerline is valid? [True, True] Translation: X:181.05, Y:-35.62, Z:-3.01 [[ 9.08638022e-01 4.17490753e-01 8.85529853e-03 1.81046252e+02] [-4.17468460e-01 9.08681142e-01 -4.32050107e-03 -3.56232278e+01] [-9.85041203e-03 2.28963712e-04 9.99951457e-01 -3.01033108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.013198736020006199 Centerline is valid? [True, True] Translation: X:181.10, Y:-35.65, Z:-3.01 [[ 9.04875156e-01 4.25593379e-01 8.43963088e-03 1.81099800e+02] [-4.25573488e-01 9.04914503e-01 -4.11686931e-03 -3.56474271e+01] [-9.38925671e-03 1.33569614e-04 9.99955911e-01 -3.01153951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.012093233115857542 Centerline is valid? [True, True] Translation: X:181.15, Y:-35.67, Z:-3.01 [[ 9.01706696e-01 4.32255320e-01 8.96508009e-03 1.81153824e+02] [-4.32233208e-01 9.01751260e-01 -4.37266443e-03 -3.56708060e+01] [-9.97437973e-03 6.78554751e-05 9.99950252e-01 -3.01163132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.011807775947699451 Centerline is valid? [True, True] Translation: X:181.21, Y:-35.69, Z:-3.01 [[ 8.96899025e-01 4.42130015e-01 9.65348287e-03 1.81208366e+02] [-4.42104944e-01 8.96950973e-01 -4.70856141e-03 -3.56934000e+01] [-1.07404972e-02 -4.47483679e-05 9.99942318e-01 -3.01217356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.012439841031511197 Centerline is valid? [True, True] Translation: X:181.26, Y:-35.72, Z:-3.01 [[ 8.94355704e-01 4.47255871e-01 9.48999739e-03 1.81261325e+02] [-4.47231960e-01 8.94406045e-01 -4.62596912e-03 -3.57195339e+01] [-1.05569029e-02 -1.06968264e-04 9.99944269e-01 -3.01364308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.013191868364979778 Centerline is valid? [True, True] Translation: X:181.31, Y:-35.75, Z:-3.02 [[ 8.92444230e-01 4.51067793e-01 9.00787710e-03 1.81313949e+02] [-4.51046469e-01 8.92489677e-01 -4.38841791e-03 -3.57465593e+01] [-1.00189113e-02 -1.46552919e-04 9.99949799e-01 -3.01587087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.013967814345950364 Centerline is valid? [True, True] Translation: X:181.36, Y:-35.78, Z:-3.02 [[ 8.90944345e-01 4.54031142e-01 8.59624989e-03 1.81363959e+02] [-4.54011894e-01 8.90985797e-01 -4.18430434e-03 -3.57770911e+01] [-9.55894105e-03 -1.74817405e-04 9.99954297e-01 -3.01748613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.013441045779301192 Centerline is valid? [True, True] Translation: X:181.41, Y:-35.81, Z:-3.02 [[ 8.92049465e-01 4.51857295e-01 8.52860676e-03 1.81412213e+02] [-4.51838246e-01 8.92090221e-01 -4.15165689e-03 -3.58131260e+01] [-9.48424314e-03 -1.50067416e-04 9.99955012e-01 -3.01776513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.013065767660396894 Centerline is valid? [True, True] Translation: X:181.46, Y:-35.85, Z:-3.02 [[ 8.93684670e-01 4.48601387e-01 9.19276104e-03 1.81460854e+02] [-4.48579128e-01 8.93731939e-01 -4.47061604e-03 -3.58462843e+01] [-1.02213887e-02 -1.28359711e-04 9.99947752e-01 -3.01865824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.012246997794466228 Centerline is valid? [True, True] Translation: X:181.51, Y:-35.89, Z:-3.02 [[ 8.96215821e-01 4.43506892e-01 9.94174478e-03 1.81506958e+02] [-4.43480556e-01 8.96270958e-01 -4.83380010e-03 -3.58872892e+01] [-1.10543208e-02 -7.68423814e-05 9.99938896e-01 -3.01916764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.011932251642695084 Centerline is valid? [True, True] Translation: X:181.56, Y:-35.92, Z:-3.02 [[ 8.97190568e-01 4.41517273e-01 1.05632878e-02 1.81555915e+02] [-4.41487410e-01 8.97252748e-01 -5.13536627e-03 -3.59220583e+01] [-1.17452920e-02 -5.61564187e-05 9.99931020e-01 -3.01972134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.011906885563067182 Centerline is valid? [True, True] Translation: X:181.60, Y:-35.96, Z:-3.02 [[ 8.97374362e-01 4.41128809e-01 1.11636895e-02 1.81604601e+02] [-4.41095438e-01 8.97443798e-01 -5.42620207e-03 -3.59554265e+01] [-1.24124380e-02 -5.49178723e-05 9.99922961e-01 -3.02074976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.012187540163480247 Centerline is valid? [True, True] Translation: X:181.65, Y:-35.99, Z:-3.02 [[ 8.96592135e-01 4.42742766e-01 1.00690711e-02 1.81651389e+02] [-4.42715728e-01 8.96648670e-01 -4.89349026e-03 -3.59914150e+01] [-1.11949766e-02 -7.02712554e-05 9.99937332e-01 -3.02310197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.012324864879688712 Centerline is valid? [True, True] Translation: X:181.70, Y:-36.02, Z:-3.02 [[ 8.95766085e-01 4.44415554e-01 9.89629824e-03 1.81700258e+02] [-4.44389550e-01 8.95820745e-01 -4.80838868e-03 -3.60245900e+01] [-1.10022320e-02 -9.06200194e-05 9.99939470e-01 -3.02354945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.012274331487300703 Centerline is valid? [True, True] Translation: X:181.75, Y:-36.06, Z:-3.02 [[ 8.95184152e-01 4.45552772e-01 1.13164043e-02 1.81751005e+02] [-4.45518892e-01 8.95255669e-01 -5.49581802e-03 -3.60638899e+01] [-1.25797521e-02 -1.21902732e-04 9.99920864e-01 -3.02314627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.012578077435586674 Centerline is valid? [True, True] Translation: X:181.80, Y:-36.10, Z:-3.02 [[ 8.95095039e-01 4.45699461e-01 1.25244454e-02 1.81800832e+02] [-4.45657905e-01 8.95182648e-01 -6.08755619e-03 -3.61030598e+01] [-1.39248867e-02 -1.32676764e-04 9.99903035e-01 -3.02412736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.012469633995295847 Centerline is valid? [True, True] Translation: X:181.86, Y:-36.14, Z:-3.03 [[ 8.95195642e-01 4.45504375e-01 1.22724833e-02 1.81855666e+02] [-4.45464404e-01 8.95279753e-01 -5.96897269e-03 -3.61351605e+01] [-1.36465093e-02 -1.23556111e-04 9.99906874e-01 -3.02562209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.012428260011332175 Centerline is valid? [True, True] Translation: X:181.91, Y:-36.17, Z:-3.03 [[ 8.95456723e-01 4.45004405e-01 1.13285585e-02 1.81907834e+02] [-4.44970261e-01 8.95528374e-01 -5.51344405e-03 -3.61712223e+01] [-1.25985525e-02 -1.03821083e-04 9.99920630e-01 -3.02814910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.012325447380300766 Centerline is valid? [True, True] Translation: X:181.96, Y:-36.21, Z:-3.03 [[ 8.95918814e-01 4.44107505e-01 9.89964366e-03 1.81957934e+02] [-4.44081346e-01 8.95973503e-01 -4.82078734e-03 -3.62116473e+01] [-1.10107662e-02 -7.72129994e-05 9.99939377e-01 -3.03098966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.012376098085805861 Centerline is valid? [True, True] Translation: X:182.01, Y:-36.25, Z:-3.03 [[ 8.95516398e-01 4.44922054e-01 9.73382613e-03 1.82010205e+02] [-4.44896776e-01 8.95569293e-01 -4.74332655e-03 -3.62474917e+01] [-1.08277264e-02 -8.28211624e-05 9.99941375e-01 -3.03195054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.012793017833195386 Centerline is valid? [True, True] Translation: X:182.06, Y:-36.29, Z:-3.03 [[ 8.94457939e-01 4.47028910e-01 1.04952072e-02 1.82060410e+02] [-4.46999619e-01 8.94519503e-01 -5.11855227e-03 -3.62854332e+01] [-1.16763084e-02 -1.13023906e-04 9.99931823e-01 -3.03233317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.013174558037616843 Centerline is valid? [True, True] Translation: X:182.11, Y:-36.32, Z:-3.03 [[ 8.93584095e-01 4.48754549e-01 1.12614459e-02 1.82112769e+02] [-4.48720915e-01 8.93655042e-01 -5.49594822e-03 -3.63194836e+01] [-1.25301796e-02 -1.42154378e-04 9.99921484e-01 -3.03299301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.013530884381724704 Centerline is valid? [True, True] Translation: X:182.16, Y:-36.36, Z:-3.03 [[ 8.92616678e-01 4.50654179e-01 1.20945030e-02 1.82162585e+02] [-4.50615507e-01 8.92698594e-01 -5.90639871e-03 -3.63584280e+01] [-1.34584891e-02 -1.77820605e-04 9.99909415e-01 -3.03450902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.013169408527428218 Centerline is valid? [True, True] Translation: X:182.21, Y:-36.40, Z:-3.04 [[ 8.93004928e-01 4.49885382e-01 1.20557529e-02 1.82214286e+02] [-4.49846832e-01 8.93086288e-01 -5.89154987e-03 -3.63952985e+01] [-1.34173498e-02 -1.62059190e-04 9.99909970e-01 -3.03555176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.01283664384348925 Centerline is valid? [True, True] Translation: X:182.26, Y:-36.43, Z:-3.04 [[ 8.94370520e-01 4.47182699e-01 1.13581004e-02 1.82263088e+02] [-4.47148257e-01 8.94442631e-01 -5.55123338e-03 -3.64349994e+01] [-1.26415848e-02 -1.13895325e-04 9.99920085e-01 -3.03644110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.0125911483258892 Centerline is valid? [True, True] Translation: X:182.31, Y:-36.47, Z:-3.04 [[ 8.95053461e-01 4.45793502e-01 1.21431266e-02 1.82314396e+02] [-4.45753956e-01 8.95135824e-01 -5.93856643e-03 -3.64710218e+01] [-1.35171219e-02 -9.75122725e-05 9.99908635e-01 -3.03652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.012324066198486201 Centerline is valid? [True, True] Translation: X:182.36, Y:-36.51, Z:-3.04 [[ 8.97821337e-01 4.40161815e-01 1.32069384e-02 1.82362852e+02] [-4.40114360e-01 8.97918469e-01 -6.46324942e-03 -3.65131373e+01] [-1.47036295e-02 -9.72001085e-06 9.99891896e-01 -3.03622652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.012937728222001803 Centerline is valid? [True, True] Translation: X:182.41, Y:-36.55, Z:-3.04 [[ 9.01554939e-01 4.32492346e-01 1.22091372e-02 1.82412951e+02] [-4.32451038e-01 9.01637598e-01 -5.97835878e-03 -3.65517011e+01] [-1.35938115e-02 1.09964847e-04 9.99907594e-01 -3.03839748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.015883006220584646 Centerline is valid? [True, True] Translation: X:182.46, Y:-36.59, Z:-3.04 [[ 9.06215045e-01 4.22671703e-01 1.10870719e-02 1.82459761e+02] [-4.22636856e-01 9.06282834e-01 -5.43256333e-03 -3.65921683e+01] [-1.23442137e-02 2.37265417e-04 9.99923779e-01 -3.04064095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.018544283481003992 Centerline is valid? [True, True] Translation: X:182.51, Y:-36.63, Z:-3.04 [[ 9.12478028e-01 4.08962925e-01 1.15400876e-02 1.82506599e+02] [-4.08924053e-01 9.12550892e-01 -5.65585003e-03 -3.66343162e+01] [-1.28439502e-02 4.41819501e-04 9.99917415e-01 -3.03923057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.02045767795711756 Centerline is valid? [True, True] Translation: X:182.56, Y:-36.67, Z:-3.04 [[ 9.15146920e-01 4.02905986e-01 1.31484048e-02 1.82557405e+02] [-4.02854884e-01 9.15241173e-01 -6.44497168e-03 -3.66692349e+01] [-1.46306791e-02 6.01196894e-04 9.99892785e-01 -3.03796601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.022521580444252336 Centerline is valid? [True, True] Translation: X:182.61, Y:-36.70, Z:-3.04 [[ 9.16737171e-01 3.99225649e-01 1.45547639e-02 1.82607432e+02] [-3.99162559e-01 9.16852413e-01 -7.13473216e-03 -3.67033677e+01] [-1.61929384e-02 7.30957391e-04 9.99868619e-01 -3.03733961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.02186273499563845 Centerline is valid? [True, True] Translation: X:182.66, Y:-36.73, Z:-3.04 [[ 9.16126000e-01 4.00627145e-01 1.45273468e-02 1.82663043e+02] [-4.00564446e-01 9.16240903e-01 -7.12266927e-03 -3.67314835e+01] [-1.61640840e-02 7.06123882e-04 9.99869103e-01 -3.03842468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.019527468680111917 Centerline is valid? [True, True] Translation: X:182.72, Y:-36.75, Z:-3.04 [[ 9.12501835e-01 4.08852355e-01 1.34221091e-02 1.82719844e+02] [-4.08799658e-01 9.12600394e-01 -6.58478739e-03 -3.67541839e+01] [-1.49412278e-02 5.21676986e-04 9.99888238e-01 -3.04108528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.014952330201180765 Centerline is valid? [True, True] Translation: X:182.78, Y:-36.77, Z:-3.04 [[ 9.06640459e-01 4.21755698e-01 1.11896910e-02 1.82780099e+02] [-4.21720048e-01 9.06709471e-01 -5.48969486e-03 -3.67708928e+01] [-1.24611089e-02 2.58262448e-04 9.99922324e-01 -3.04393230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.013502532291433361 Centerline is valid? [True, True] Translation: X:182.84, Y:-36.79, Z:-3.05 [[ 9.02929411e-01 4.29676888e-01 9.81073101e-03 1.82837692e+02] [-4.29649945e-01 9.02982699e-01 -4.81354632e-03 -3.67936479e+01] [-1.09271900e-02 1.31112507e-04 9.99940288e-01 -3.04648989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.012832472010736673 Centerline is valid? [True, True] Translation: X:182.90, Y:-36.82, Z:-3.05 [[ 9.00514184e-01 4.34744832e-01 8.43415219e-03 1.82895173e+02] [-4.34725151e-01 9.00553678e-01 -4.13711518e-03 -3.68178716e+01] [-9.39399623e-03 5.89928198e-05 9.99955874e-01 -3.04881174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.012733479566418751 Centerline is valid? [True, True] Translation: X:182.95, Y:-36.84, Z:-3.05 [[ 8.99287398e-01 4.37294226e-01 7.47907226e-03 1.82950847e+02] [-4.37278815e-01 8.99318497e-01 -3.67135416e-03 -3.68428596e+01] [-8.33153000e-03 3.11626745e-05 9.99965292e-01 -3.05125767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.012746253192122248 Centerline is valid? [True, True] Translation: X:183.01, Y:-36.87, Z:-3.05 [[ 8.99612827e-01 4.36633423e-01 6.92933794e-03 1.83006057e+02] [-4.36620177e-01 8.99639513e-01 -3.40116242e-03 -3.68723974e+01] [-7.71896739e-03 3.42405801e-05 9.99970208e-01 -3.05270205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.013240757285508874 Centerline is valid? [True, True] Translation: X:183.06, Y:-36.91, Z:-3.06 [[ 9.01153191e-01 4.33469883e-01 5.17551046e-03 1.83058866e+02] [-4.33462436e-01 9.01168052e-01 -2.54127704e-03 -3.69064062e+01] [-5.76557174e-03 4.66905437e-05 9.99983378e-01 -3.05513818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.013625014237304 Centerline is valid? [True, True] Translation: X:183.11, Y:-36.94, Z:-3.06 [[ 9.02213304e-01 4.31273820e-01 3.74781775e-03 1.83112524e+02] [-4.31269896e-01 9.02221087e-01 -1.84012168e-03 -3.69380738e+01] [-4.17495651e-03 4.38612934e-05 9.99991284e-01 -3.05681147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.013784676900579922 Centerline is valid? [True, True] Translation: X:183.17, Y:-36.97, Z:-3.06 [[ 9.02540092e-01 4.30592909e-01 3.33610546e-03 1.83166194e+02] [-4.30589794e-01 9.02546256e-01 -1.63850053e-03 -3.69706691e+01] [-3.71651620e-03 4.23194576e-05 9.99993093e-01 -3.05725983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.013522389661675838 Centerline is valid? [True, True] Translation: X:183.22, Y:-37.00, Z:-3.06 [[ 9.01705248e-01 4.32338244e-01 3.35981194e-03 1.83220085e+02] [-4.32335092e-01 9.01711507e-01 -1.65120196e-03 -3.70020847e+01] [-3.74345884e-03 3.63328665e-05 9.99992993e-01 -3.05698905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.013451383855136088 Centerline is valid? [True, True] Translation: X:183.27, Y:-37.03, Z:-3.06 [[ 9.01218964e-01 4.33343599e-01 4.20757216e-03 1.83273270e+02] [-4.33338649e-01 9.01228785e-01 -2.07157096e-03 -3.70329022e+01] [-4.68968716e-03 4.36354014e-05 9.99989002e-01 -3.05751413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.012997660432758983 Centerline is valid? [True, True] Translation: X:183.33, Y:-37.06, Z:-3.06 [[ 9.00635087e-01 4.34532334e-01 6.17182575e-03 1.83327415e+02] [-4.34521705e-01 9.00656232e-01 -3.03974970e-03 -3.70634642e+01] [-6.87956285e-03 5.59129821e-05 9.99976334e-01 -3.05623680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.0127685354063968 Centerline is valid? [True, True] Translation: X:183.38, Y:-37.10, Z:-3.06 [[ 8.99375121e-01 4.37093197e-01 8.59822865e-03 1.83379437e+02] [-4.37072642e-01 8.99416218e-01 -4.23930069e-03 -3.70955764e+01] [-9.58635579e-03 5.46710555e-05 9.99954048e-01 -3.05654292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.012343223526755702 Centerline is valid? [True, True] Translation: X:183.43, Y:-37.12, Z:-3.06 [[ 8.98170318e-01 4.39544543e-01 9.52228464e-03 1.83434103e+02] [-4.39519439e-01 8.98220793e-01 -4.69784470e-03 -3.71245783e+01] [-1.06180261e-02 3.42354703e-05 9.99943627e-01 -3.05588159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.012289753041619235 Centerline is valid? [True, True] Translation: X:183.49, Y:-37.15, Z:-3.06 [[ 8.97337598e-01 4.41223170e-01 1.03609785e-02 1.83489427e+02] [-4.41193519e-01 8.97397411e-01 -5.11516693e-03 -3.71532426e+01] [-1.15548455e-02 1.88350283e-05 9.99933240e-01 -3.05633972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.0123009875678502 Centerline is valid? [True, True] Translation: X:183.54, Y:-37.18, Z:-3.06 [[ 8.94167286e-01 4.47603355e-01 1.07749794e-02 1.83544298e+02] [-4.47571708e-01 8.94232203e-01 -5.32297076e-03 -3.71819779e+01] [-1.20179132e-02 -6.29496196e-05 9.99927780e-01 -3.05699348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.013026821992700284 Centerline is valid? [True, True] Translation: X:183.60, Y:-37.21, Z:-3.06 [[ 8.92308740e-01 4.51323076e-01 9.62254836e-03 1.83598424e+02] [-4.51298019e-01 8.92360617e-01 -4.75670196e-03 -3.72091195e+01] [-1.07335926e-02 -9.81902867e-05 9.99942389e-01 -3.06006389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.013205166601563801 Centerline is valid? [True, True] Translation: X:183.65, Y:-37.24, Z:-3.06 [[ 8.90933804e-01 4.54097009e-01 5.73259965e-03 1.83651405e+02] [-4.54088178e-01 8.90952243e-01 -2.83311181e-03 -3.72422861e+01] [-6.39398012e-03 -7.89906555e-05 9.99979555e-01 -3.06439374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.013122914011185993 Centerline is valid? [True, True] Translation: X:183.70, Y:-37.28, Z:-3.07 [[ 8.91908036e-01 4.52202618e-01 3.58440657e-03 1.83703061e+02] [-4.52199148e-01 8.91915238e-01 -1.77187378e-03 -3.72774851e+01] [-3.99823280e-03 -4.05171315e-05 9.99992006e-01 -3.06771938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.012566115801232963 Centerline is valid? [True, True] Translation: X:183.76, Y:-37.31, Z:-3.07 [[ 8.93265424e-01 4.49514398e-01 3.69964202e-03 1.83755091e+02] [-4.49510679e-01 8.93273085e-01 -1.82878688e-03 -3.73124990e+01] [-4.12685667e-03 -2.94365097e-05 9.99991484e-01 -3.06784094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.012342327480482772 Centerline is valid? [True, True] Translation: X:183.81, Y:-37.35, Z:-3.07 [[ 8.94825176e-01 4.46370761e-01 6.40687587e-03 1.83805303e+02] [-4.46359488e-01 8.94848112e-01 -3.17243784e-03 -3.73495874e+01] [-7.14926427e-03 -2.09925880e-05 9.99974443e-01 -3.06616887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.012223699283008371 Centerline is valid? [True, True] Translation: X:183.86, Y:-37.38, Z:-3.06 [[ 8.94933942e-01 4.46125812e-01 8.06221583e-03 1.83858539e+02] [-4.46107923e-01 8.94970256e-01 -3.99522906e-03 -3.73827148e+01] [-8.99781817e-03 -2.11522634e-05 9.99959519e-01 -3.06432093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.012387028600061334 Centerline is valid? [True, True] Translation: X:183.92, Y:-37.41, Z:-3.06 [[ 8.93043728e-01 4.49860540e-01 9.91942561e-03 1.83915539e+02] [-4.49833646e-01 8.93098813e-01 -4.91946611e-03 -3.74100709e+01] [-1.10721009e-02 -6.87930324e-05 9.99938700e-01 -3.06394380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.013559023322566003 Centerline is valid? [True, True] Translation: X:183.97, Y:-37.43, Z:-3.07 [[ 8.88857295e-01 4.58089957e-01 9.28980884e-03 1.83974034e+02] [-4.58066772e-01 8.88905825e-01 -4.61146521e-03 -3.74322265e+01] [-1.03702311e-02 -1.56418255e-04 9.99946215e-01 -3.06555682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.014468420977153748 Centerline is valid? [True, True] Translation: X:184.03, Y:-37.46, Z:-3.07 [[ 8.87052294e-01 4.61605871e-01 7.63195925e-03 1.84031022e+02] [-4.61590349e-01 8.87085110e-01 -3.78896323e-03 -3.74565298e+01] [-8.51920509e-03 -1.61830208e-04 9.99963698e-01 -3.06861407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.015240255594633921 Centerline is valid? [True, True] Translation: X:184.09, Y:-37.48, Z:-3.07 [[ 8.86549515e-01 4.62606024e-01 5.06210421e-03 1.84087395e+02] [-4.62599222e-01 8.86563959e-01 -2.51131758e-03 -3.74812094e+01] [-5.64962979e-03 -1.15318084e-04 9.99984034e-01 -3.07240785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.014380593809088968 Centerline is valid? [True, True] Translation: X:184.14, Y:-37.51, Z:-3.07 [[ 8.86954034e-01 4.61834257e-01 4.65413072e-03 1.84143536e+02] [-4.61828492e-01 8.86966239e-01 -2.30965195e-03 -3.75078350e+01] [-5.19473321e-03 -1.00855065e-04 9.99986502e-01 -3.07306525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.014198708771052298 Centerline is valid? [True, True] Translation: X:184.20, Y:-37.54, Z:-3.07 [[ 8.87431005e-01 4.60909273e-01 5.37149969e-03 1.84199683e+02] [-4.60901563e-01 8.87447255e-01 -2.66804697e-03 -3.75350603e+01] [-5.99665024e-03 -1.08025000e-04 9.99982014e-01 -3.07303370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.013311512214326034 Centerline is valid? [True, True] Translation: X:184.25, Y:-37.57, Z:-3.07 [[ 8.88708738e-01 4.58438337e-01 5.57406386e-03 1.84254744e+02] [-4.58429964e-01 8.88726214e-01 -2.77224724e-03 -3.75651034e+01] [-6.22472108e-03 -9.15975498e-05 9.99980622e-01 -3.07318583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.01224064010690609 Centerline is valid? [True, True] Translation: X:184.31, Y:-37.60, Z:-3.08 [[ 8.92087714e-01 4.51830476e-01 5.36023045e-03 1.84306933e+02] [-4.51822620e-01 8.92103816e-01 -2.66485781e-03 -3.75968879e+01] [-5.98594601e-03 -4.45864522e-05 9.99982083e-01 -3.07555693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.011969383697713715 Centerline is valid? [True, True] Translation: X:184.36, Y:-37.63, Z:-3.08 [[ 8.93888764e-01 4.48259618e-01 5.11781734e-03 1.84360911e+02] [-4.48252391e-01 8.93903415e-01 -2.54545176e-03 -3.76280802e+01] [-5.71585763e-03 -1.87231311e-05 9.99983664e-01 -3.07727854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.01202713852007521 Centerline is valid? [True, True] Translation: X:184.42, Y:-37.66, Z:-3.08 [[ 8.93804268e-01 4.48438538e-01 4.09985288e-03 1.84416445e+02] [-4.48433900e-01 8.93813670e-01 -2.03951550e-03 -3.76566609e+01] [-4.57910190e-03 -1.55853591e-05 9.99989516e-01 -3.07841070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.012276288991145707 Centerline is valid? [True, True] Translation: X:184.47, Y:-37.68, Z:-3.08 [[ 8.92250276e-01 4.51527581e-01 3.50567564e-03 1.84472885e+02] [-4.51524212e-01 8.92257162e-01 -1.74429774e-03 -3.76824249e+01] [-3.91556273e-03 -2.65472924e-05 9.99992334e-01 -3.07992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.013557792137032898 Centerline is valid? [True, True] Translation: X:184.53, Y:-37.71, Z:-3.08 [[ 8.89703149e-01 4.56526290e-01 3.47164481e-03 1.84530226e+02] [-4.56523015e-01 8.89709921e-01 -1.73001115e-03 -3.77052300e+01] [-3.87855240e-03 -4.56893914e-05 9.99992477e-01 -3.08336956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.014018618832876004 Centerline is valid? [True, True] Translation: X:184.59, Y:-37.73, Z:-3.08 [[ 8.88796028e-01 4.58281799e-01 4.40592544e-03 1.84586632e+02] [-4.58276547e-01 8.88806946e-01 -2.19523946e-03 -3.77324803e+01] [-4.92205542e-03 -6.80121798e-05 9.99987884e-01 -3.08348652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.013023181877515952 Centerline is valid? [True, True] Translation: X:184.64, Y:-37.76, Z:-3.08 [[ 8.89065779e-01 4.57742317e-01 5.83197989e-03 1.84640318e+02] [-4.57733078e-01 8.89084903e-01 -2.90934161e-03 -3.77633515e+01] [-6.51685404e-03 -8.28940419e-05 9.99978762e-01 -3.08176521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.01274795271639302 Centerline is valid? [True, True] Translation: X:184.69, Y:-37.79, Z:-3.08 [[ 8.89817823e-01 4.56276734e-01 5.98202566e-03 1.84694780e+02] [-4.56266968e-01 8.89837927e-01 -2.98614801e-03 -3.77927428e+01] [-6.68554318e-03 -7.22729919e-05 9.99977649e-01 -3.08307884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.01253072047162483 Centerline is valid? [True, True] Translation: X:184.75, Y:-37.82, Z:-3.08 [[ 8.90721107e-01 4.54493043e-01 7.21000571e-03 1.84748566e+02] [-4.54478771e-01 8.90750284e-01 -3.60249799e-03 -3.78226418e+01] [-8.05962491e-03 -6.79735381e-05 9.99967518e-01 -3.08400207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.012558253945282743 Centerline is valid? [True, True] Translation: X:184.80, Y:-37.85, Z:-3.08 [[ 8.90763792e-01 4.54397257e-01 7.93726540e-03 1.84804190e+02] [-4.54379933e-01 8.90799151e-01 -3.96842760e-03 -3.78512335e+01] [-8.87375189e-03 -7.16025045e-05 9.99960625e-01 -3.08475292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.012630235258878806 Centerline is valid? [True, True] Translation: X:184.86, Y:-37.88, Z:-3.09 [[ 8.90669334e-01 4.54576992e-01 8.23990061e-03 1.84860458e+02] [-4.54558307e-01 8.90707445e-01 -4.12228158e-03 -3.78772000e+01] [-9.21323518e-03 -7.39254764e-05 9.99957555e-01 -3.08674543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.012459736226591082 Centerline is valid? [True, True] Translation: X:184.92, Y:-37.90, Z:-3.09 [[ 8.90557984e-01 4.54798346e-01 8.05869293e-03 1.84917351e+02] [-4.54780462e-01 8.90594442e-01 -4.03384169e-03 -3.79041592e+01] [-9.01161166e-03 -7.25661696e-05 9.99959392e-01 -3.08877711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.012478689252339466 Centerline is valid? [True, True] Translation: X:184.97, Y:-37.93, Z:-3.09 [[ 8.91249483e-01 4.53458389e-01 7.06029637e-03 1.84972990e+02] [-4.53444597e-01 8.91277447e-01 -3.53699034e-03 -3.79320958e+01] [-7.89656086e-03 -4.91124300e-05 9.99968820e-01 -3.09136877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.012278873821988657 Centerline is valid? [True, True] Translation: X:185.03, Y:-37.96, Z:-3.09 [[ 8.92091817e-01 4.51802512e-01 6.83225696e-03 1.85027896e+02] [-4.51789545e-01 8.92117980e-01 -3.42313971e-03 -3.79626111e+01] [-7.64176240e-03 -3.29873334e-05 9.99970801e-01 -3.09135881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.012265766465052494 Centerline is valid? [True, True] Translation: X:185.08, Y:-37.99, Z:-3.09 [[ 8.93997843e-01 4.48009334e-01 7.44939005e-03 1.85083042e+02] [-4.47993750e-01 8.94028879e-01 -3.73677313e-03 -3.79923134e+01] [-8.33407908e-03 3.38693041e-06 9.99965271e-01 -3.09132668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.012380129264287292 Centerline is valid? [True, True] Translation: X:185.14, Y:-38.02, Z:-3.09 [[ 8.95627231e-01 4.44721113e-01 8.65998331e-03 1.85138792e+02] [-4.44699890e-01 8.95669096e-01 -4.34478563e-03 -3.80208504e+01] [-9.68869733e-03 4.02146919e-05 9.99953063e-01 -3.09207727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.013148402273886067 Centerline is valid? [True, True] Translation: X:185.19, Y:-38.05, Z:-3.09 [[ 8.98406463e-01 4.39043030e-01 1.03462362e-02 1.85192192e+02] [-4.39012304e-01 8.98466027e-01 -5.19567984e-03 -3.80518800e+01] [-1.15768688e-02 1.25707348e-04 9.99932978e-01 -3.09139807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.01382244430611024 Centerline is valid? [True, True] Translation: X:185.25, Y:-38.08, Z:-3.09 [[ 8.99875217e-01 4.36018813e-01 1.05918770e-02 1.85246255e+02] [-4.35986365e-01 8.99937534e-01 -5.32201459e-03 -3.80824801e+01] [-1.18525262e-02 1.71235080e-04 9.99929742e-01 -3.09149312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.014413037245874954 Centerline is valid? [True, True] Translation: X:185.30, Y:-38.11, Z:-3.09 [[ 9.00333177e-01 4.35070024e-01 1.06884747e-02 1.85300396e+02] [-4.35036875e-01 9.00396601e-01 -5.37391016e-03 -3.81114571e+01] [-1.19618935e-02 1.88428960e-04 9.99928436e-01 -3.09230097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.013601190382465751 Centerline is valid? [True, True] Translation: X:185.36, Y:-38.14, Z:-3.09 [[ 8.99612458e-01 4.36577299e-01 9.88367216e-03 1.85357946e+02] [-4.36549020e-01 8.99666737e-01 -4.97155854e-03 -3.81359459e+01] [-1.10624807e-02 1.57768606e-04 9.99938796e-01 -3.09437184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.012876446782136015 Centerline is valid? [True, True] Translation: X:185.42, Y:-38.16, Z:-3.10 [[ 8.97337916e-01 4.41259763e-01 8.63049935e-03 1.85415357e+02] [-4.41238396e-01 8.97379415e-01 -4.34331329e-03 -3.81592904e+01] [-9.66136185e-03 8.93120113e-05 9.99953324e-01 -3.09668856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.012212038547662849 Centerline is valid? [True, True] Translation: X:185.47, Y:-38.18, Z:-3.10 [[ 8.93133754e-01 4.49747036e-01 6.30091430e-03 1.85474213e+02] [-4.49735852e-01 8.93155980e-01 -3.17165504e-03 -3.81796159e+01] [-7.05414174e-03 -1.03488612e-06 9.99975119e-01 -3.09890069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.012426932929433837 Centerline is valid? [True, True] Translation: X:185.53, Y:-38.20, Z:-3.10 [[ 8.90481153e-01 4.54984898e-01 5.66200861e-03 1.85531057e+02] [-4.54975963e-01 8.90499153e-01 -2.85155671e-03 -3.82026727e+01] [-6.33942911e-03 -3.68203099e-05 9.99979905e-01 -3.10109792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.01329557091472237 Centerline is valid? [True, True] Translation: X:185.59, Y:-38.23, Z:-3.10 [[ 8.87746920e-01 4.60289090e-01 6.27380106e-03 1.85588943e+02] [-4.60278238e-01 8.87769085e-01 -3.16172661e-03 -3.82257322e+01] [-7.02499489e-03 -8.08810388e-05 9.99975321e-01 -3.10200193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.013188681296031233 Centerline is valid? [True, True] Translation: X:185.64, Y:-38.25, Z:-3.10 [[ 8.86606614e-01 4.62462458e-01 7.56224204e-03 1.85644614e+02] [-4.62446744e-01 8.86638856e-01 -3.81406592e-03 -3.82532712e+01] [-8.46883993e-03 -1.15558137e-04 9.99964132e-01 -3.10098945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.013439244281811518 Centerline is valid? [True, True] Translation: X:185.70, Y:-38.28, Z:-3.10 [[ 8.86081965e-01 4.63454448e-01 8.29013072e-03 1.85700498e+02] [-4.63435581e-01 8.86120735e-01 -4.18395681e-03 -3.82815398e+01] [-9.28513012e-03 -1.34612881e-04 9.99956883e-01 -3.10058319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.014314930442936467 Centerline is valid? [True, True] Translation: X:185.76, Y:-38.31, Z:-3.10 [[ 8.86067121e-01 4.63482025e-01 8.33488131e-03 1.85756260e+02] [-4.63462920e-01 8.86106311e-01 -4.21034133e-03 -3.83075652e+01] [-9.33700846e-03 -1.32263404e-04 9.99956400e-01 -3.10280849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.013149299434412993 Centerline is valid? [True, True] Translation: X:185.81, Y:-38.34, Z:-3.10 [[ 8.86321186e-01 4.63013713e-01 7.28396675e-03 1.85810535e+02] [-4.62999105e-01 8.86351109e-01 -3.67963952e-03 -3.83393949e+01] [-8.15987557e-03 -1.11127628e-04 9.99966701e-01 -3.10387696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.012956664277301133 Centerline is valid? [True, True] Translation: X:185.86, Y:-38.37, Z:-3.10 [[ 8.86982548e-01 4.61760855e-01 6.23469305e-03 1.85864239e+02] [-4.61750109e-01 8.87004456e-01 -3.15147862e-03 -3.83698460e+01] [-6.98542999e-03 -8.35636554e-05 9.99975598e-01 -3.10499585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.01280504738265345 Centerline is valid? [True, True] Translation: X:185.92, Y:-38.40, Z:-3.11 [[ 8.88703918e-01 4.58473197e-01 2.77037461e-03 1.85917414e+02] [-4.58471064e-01 8.88708235e-01 -1.39850598e-03 -3.84020011e+01] [-3.10323224e-03 -2.72788554e-05 9.99995185e-01 -3.10821510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.012784984087459005 Centerline is valid? [True, True] Translation: X:185.97, Y:-38.43, Z:-3.11 [[ 8.89210162e-01 4.57498124e-01 8.68254607e-04 1.85972493e+02] [-4.57497917e-01 8.89210586e-01 -4.35595008e-04 -3.84298725e+01] [-9.71345087e-04 -9.88916642e-06 9.99999528e-01 -3.11025858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.012849163241143345 Centerline is valid? [True, True] Translation: X:186.03, Y:-38.46, Z:-3.11 [[ 8.89290370e-01 4.57343017e-01 -5.24127510e-05 1.86028866e+02] [-4.57343016e-01 8.89290371e-01 3.10275985e-05 -3.84560400e+01] [ 6.08004101e-05 -3.62193897e-06 9.99999998e-01 -3.11101017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.012809873132040402 Centerline is valid? [True, True] Translation: X:186.08, Y:-38.48, Z:-3.11 [[ 8.89376579e-01 4.57175275e-01 2.60145025e-04 1.86084812e+02] [-4.57175258e-01 8.89376617e-01 -1.27308057e-04 -3.84836798e+01] [-2.89568998e-04 -5.70706414e-06 9.99999958e-01 -3.11072665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.012645293282468701 Centerline is valid? [True, True] Translation: X:186.14, Y:-38.51, Z:-3.11 [[ 8.91081640e-01 4.53840742e-01 1.44606717e-03 1.86139947e+02] [-4.53840153e-01 8.91082813e-01 -7.31728789e-04 -3.85133548e+01] [-1.62065394e-03 -4.25325524e-06 9.99998687e-01 -3.10942173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.012720066618017506 Centerline is valid? [True, True] Translation: X:186.20, Y:-38.54, Z:-3.11 [[ 8.92648218e-01 4.50752592e-01 1.12191995e-03 1.86195566e+02] [-4.50752238e-01 8.92648924e-01 -5.64887438e-04 -3.85434364e+01] [-1.25610511e-03 -1.46216198e-06 9.99999211e-01 -3.10983544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.013516395348356572 Centerline is valid? [True, True] Translation: X:186.25, Y:-38.57, Z:-3.11 [[ 8.95398581e-01 4.45265469e-01 -2.07769473e-04 1.86249305e+02] [-4.45265455e-01 8.95398605e-01 1.09948479e-04 -3.85746009e+01] [ 2.34992758e-04 -5.93514341e-06 9.99999972e-01 -3.11104284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.014016096620047613 Centerline is valid? [True, True] Translation: X:186.30, Y:-38.60, Z:-3.11 [[ 8.97081154e-01 4.41863787e-01 -1.34052351e-03 1.86304219e+02] [-4.41863255e-01 8.97082155e-01 6.86219839e-04 -3.86037752e+01] [ 1.50577542e-03 -2.32668051e-05 9.99998866e-01 -3.11131315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.014393981635215282 Centerline is valid? [True, True] Translation: X:186.36, Y:-38.63, Z:-3.11 [[ 8.98005132e-01 4.39984233e-01 -8.10826231e-04 1.86360563e+02] [-4.39984036e-01 8.98005498e-01 4.17060914e-04 -3.86305280e+01] [ 9.11626639e-04 -1.77722435e-05 9.99999584e-01 -3.11179647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.015457280409831362 Centerline is valid? [True, True] Translation: X:186.41, Y:-38.66, Z:-3.11 [[ 8.98146835e-01 4.39694367e-01 -1.06158992e-03 1.86414485e+02] [-4.39694031e-01 8.98147462e-01 5.44594554e-04 -3.86594624e+01] [ 1.19291945e-03 -2.23511251e-05 9.99999288e-01 -3.11415142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.014742406073113189 Centerline is valid? [True, True] Translation: X:186.47, Y:-38.69, Z:-3.11 [[ 8.98611507e-01 4.38745002e-01 -4.26920833e-04 1.86471335e+02] [-4.38744945e-01 8.98611609e-01 2.22592215e-04 -3.86871694e+01] [ 4.81297238e-04 -1.27145681e-05 9.99999884e-01 -3.11253747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.014627883024935926 Centerline is valid? [True, True] Translation: X:186.53, Y:-38.71, Z:-3.11 [[ 8.99134265e-01 4.37672598e-01 5.19315298e-04 1.86528386e+02] [-4.37672521e-01 8.99134415e-01 -2.59663999e-04 -3.87144389e+01] [-5.80582074e-04 6.18276312e-06 9.99999831e-01 -3.11262239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.01457588599431524 Centerline is valid? [True, True] Translation: X:186.59, Y:-38.74, Z:-3.11 [[ 8.99960121e-01 4.35961912e-01 2.99863894e-03 1.86585476e+02] [-4.35959250e-01 8.99965115e-01 -1.52489342e-03 -3.87402313e+01] [-3.36346589e-03 6.50588827e-05 9.99994341e-01 -3.11204152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.015257336001930489 Centerline is valid? [True, True] Translation: X:186.64, Y:-38.77, Z:-3.11 [[ 9.00388454e-01 4.35065255e-01 4.34228163e-03 1.86640630e+02] [-4.35059642e-01 9.00398919e-01 -2.21233657e-03 -3.87692966e+01] [-4.87229646e-03 1.02810813e-04 9.99988125e-01 -3.11201425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.01653063780160407 Centerline is valid? [True, True] Translation: X:186.70, Y:-38.80, Z:-3.11 [[ 9.01257507e-01 4.33257540e-01 4.77603780e-03 1.86695083e+02] [-4.33250711e-01 9.01270153e-01 -2.43588667e-03 -3.87978370e+01] [-5.35986659e-03 1.26139370e-04 9.99985628e-01 -3.11298113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.017298780013874734 Centerline is valid? [True, True] Translation: X:186.75, Y:-38.82, Z:-3.12 [[ 9.02568593e-01 4.30528141e-01 3.93125809e-03 1.86751452e+02] [-4.30523477e-01 9.02577147e-01 -2.00745777e-03 -3.88245635e+01] [-4.41253077e-03 1.19369432e-04 9.99990258e-01 -3.11597191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.01765885725852067 Centerline is valid? [True, True] Translation: X:186.81, Y:-38.85, Z:-3.12 [[ 9.03181095e-01 4.29248827e-01 3.05844631e-03 1.86807084e+02] [-4.29246006e-01 9.03186268e-01 -1.55929715e-03 -3.88521929e+01] [-3.43167318e-03 9.55018461e-05 9.99994107e-01 -3.11781577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.018395608200380335 Centerline is valid? [True, True] Translation: X:186.86, Y:-38.88, Z:-3.12 [[ 9.03722687e-01 4.28111425e-01 2.43174038e-03 1.86862092e+02] [-4.28109638e-01 9.03725955e-01 -1.23965098e-03 -3.88805150e+01] [-2.72833565e-03 7.92492162e-05 9.99996275e-01 -3.11967071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.017597531949901428 Centerline is valid? [True, True] Translation: X:186.92, Y:-38.91, Z:-3.12 [[ 9.03853986e-01 4.27836726e-01 1.92567050e-03 1.86918892e+02] [-4.27835605e-01 9.03856035e-01 -9.81255517e-04 -3.89056128e+01] [-2.16034605e-03 6.30413054e-05 9.99997664e-01 -3.12140330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.017140002277197204 Centerline is valid? [True, True] Translation: X:186.98, Y:-38.93, Z:-3.12 [[ 9.02937468e-01 4.29769880e-01 1.33384421e-03 1.86975670e+02] [-4.29769346e-01 9.02938452e-01 -6.78727120e-04 -3.89317509e+01] [-1.49607570e-03 3.96027930e-05 9.99998880e-01 -3.12330434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.015839139915896305 Centerline is valid? [True, True] Translation: X:187.03, Y:-38.96, Z:-3.12 [[ 9.01381636e-01 4.33023109e-01 1.46092948e-03 1.87032195e+02] [-4.33022465e-01 9.01382819e-01 -7.47672151e-04 -3.89562268e+01] [-1.64061605e-03 4.13226633e-05 9.99998653e-01 -3.12406620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.015541607379607839 Centerline is valid? [True, True] Translation: X:187.09, Y:-38.98, Z:-3.13 [[ 8.99632825e-01 4.36643337e-01 1.83762511e-03 1.87087071e+02] [-4.36642326e-01 8.99634700e-01 -9.40714017e-04 -3.89820927e+01] [-2.06394782e-03 4.39123053e-05 9.99997869e-01 -3.12554712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.013569105737533609 Centerline is valid? [True, True] Translation: X:187.14, Y:-39.01, Z:-3.12 [[ 8.97136959e-01 4.41739089e-01 3.44290319e-03 1.87144662e+02] [-4.41735575e-01 8.97143564e-01 -1.76294207e-03 -3.90050652e+01] [-3.86753886e-03 6.07476716e-05 9.99992519e-01 -3.12435301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.013120477441479022 Centerline is valid? [True, True] Translation: X:187.20, Y:-39.03, Z:-3.12 [[ 8.95701014e-01 4.44633533e-01 4.55123344e-03 1.87200190e+02] [-4.44627433e-01 8.95712575e-01 -2.33000464e-03 -3.90314716e+01] [-5.11259522e-03 6.33842792e-05 9.99986929e-01 -3.12461184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.01240709177255228 Centerline is valid? [True, True] Translation: X:187.26, Y:-39.06, Z:-3.12 [[ 8.93763227e-01 4.48503903e-01 5.61626866e-03 1.87256555e+02] [-4.48494687e-01 8.93780871e-01 -2.87573233e-03 -3.90568725e+01] [-6.30949067e-03 5.13571533e-05 9.99980094e-01 -3.12499381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.011896407206009978 Centerline is valid? [True, True] Translation: X:187.31, Y:-39.08, Z:-3.13 [[ 8.92178067e-01 4.51647343e-01 5.74236781e-03 1.87312850e+02] [-4.51637762e-01 8.92196546e-01 -2.94205262e-03 -3.90836939e+01] [-6.45209097e-03 3.13646757e-05 9.99979185e-01 -3.12575110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.011642684727566327 Centerline is valid? [True, True] Translation: X:187.37, Y:-39.11, Z:-3.13 [[ 8.89825710e-01 4.56268056e-01 5.44675186e-03 1.87368176e+02] [-4.56259511e-01 8.89842380e-01 -2.79230263e-03 -3.91097098e+01] [-6.12078913e-03 -4.69675815e-07 9.99981268e-01 -3.12833297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.01170567785052272 Centerline is valid? [True, True] Translation: X:187.42, Y:-39.14, Z:-3.13 [[ 8.88530344e-01 4.58793241e-01 4.75284110e-03 1.87424548e+02] [-4.58786770e-01 8.88543056e-01 -2.43680321e-03 -3.91385106e+01] [-5.34109280e-03 -1.53670249e-05 9.99985736e-01 -3.13011376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.011891922847364648 Centerline is valid? [True, True] Translation: X:187.48, Y:-39.17, Z:-3.13 [[ 8.87360702e-01 4.61064869e-01 3.18908748e-03 1.87479546e+02] [-4.61061971e-01 8.87366433e-01 -1.63498757e-03 -3.91679328e+01] [-3.58372451e-03 -1.95432428e-05 9.99993578e-01 -3.13260000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.011901444588693265 Centerline is valid? [True, True] Translation: X:187.53, Y:-39.20, Z:-3.13 [[ 8.86929344e-01 4.61896862e-01 2.76178708e-03 1.87534550e+02] [-4.61894693e-01 8.86933644e-01 -1.41563588e-03 -3.91984040e+01] [-3.10339965e-03 -2.00857901e-05 9.99995184e-01 -3.13336759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.011880753200896698 Centerline is valid? [True, True] Translation: X:187.59, Y:-39.23, Z:-3.13 [[ 8.87482210e-01 4.60835290e-01 2.48244182e-03 1.87588279e+02] [-4.60833533e-01 8.87485682e-01 -1.27282075e-03 -3.92305582e+01] [-2.78969229e-03 -1.43866628e-05 9.99996109e-01 -3.13496099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.011832381000770852 Centerline is valid? [True, True] Translation: X:187.64, Y:-39.26, Z:-3.14 [[ 8.88726435e-01 4.58431426e-01 2.43960035e-03 1.87642191e+02] [-4.58429718e-01 8.88729783e-01 -1.25160319e-03 -3.92638190e+01] [-2.74191972e-03 -6.05245637e-06 9.99996241e-01 -3.13568545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.01191303471778718 Centerline is valid? [True, True] Translation: X:187.69, Y:-39.30, Z:-3.13 [[ 8.91256612e-01 4.53476692e-01 4.53217545e-03 1.87693001e+02] [-4.53470699e-01 8.91268135e-01 -2.33159488e-03 -3.92998263e+01] [-5.09670749e-03 2.28405873e-05 9.99987011e-01 -3.13467987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.012228384311744073 Centerline is valid? [True, True] Translation: X:187.75, Y:-39.33, Z:-3.13 [[ 8.92771927e-01 4.50480436e-01 5.06591704e-03 1.87745277e+02] [-4.50472887e-01 8.92786299e-01 -2.60823104e-03 -3.93333216e+01] [-5.69773838e-03 4.64971809e-05 9.99983767e-01 -3.13437811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.013107403786285474 Centerline is valid? [True, True] Translation: X:187.80, Y:-39.37, Z:-3.14 [[ 8.94456874e-01 4.47139407e-01 3.64019559e-03 1.87796458e+02] [-4.47135482e-01 8.94464280e-01 -1.87409946e-03 -3.93696561e+01] [-4.09400865e-03 4.86405397e-05 9.99991618e-01 -3.13568516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.013638683502976345 Centerline is valid? [True, True] Translation: X:187.85, Y:-39.40, Z:-3.14 [[ 8.95117752e-01 4.45822194e-01 2.60423668e-03 1.87849457e+02] [-4.45820181e-01 8.95121539e-01 -1.34032848e-03 -3.94028947e+01] [-2.92865653e-03 3.87305465e-05 9.99995711e-01 -3.13710296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.013837876514345327 Centerline is valid? [True, True] Translation: X:187.90, Y:-39.44, Z:-3.14 [[ 8.95902841e-01 4.44244331e-01 2.25265508e-03 1.87901904e+02] [-4.44242819e-01 8.95905672e-01 -1.15968324e-03 -3.94355894e+01] [-2.53334917e-03 3.82376659e-05 9.99996790e-01 -3.13764215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.013629443848174199 Centerline is valid? [True, True] Translation: X:187.96, Y:-39.46, Z:-3.14 [[ 8.95333333e-01 4.45381134e-01 3.72410415e-03 1.87957940e+02] [-4.45376987e-01 8.95341076e-01 -1.92284480e-03 -3.94635234e+01] [-4.19074222e-03 6.29567587e-05 9.99991217e-01 -3.13753137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.013203447667070423 Centerline is valid? [True, True] Translation: X:188.01, Y:-39.49, Z:-3.14 [[ 8.94835031e-01 4.46370110e-01 4.89813488e-03 1.88013126e+02] [-4.46362957e-01 8.94848434e-01 -2.52818432e-03 -3.94927528e+01] [-5.51159424e-03 7.59619270e-05 9.99984808e-01 -3.13689534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.013056636226112988 Centerline is valid? [True, True] Translation: X:188.07, Y:-39.52, Z:-3.14 [[ 8.94277211e-01 4.47482802e-01 5.23562025e-03 1.88068444e+02] [-4.47474637e-01 8.94292534e-01 -2.70430263e-03 -3.95214642e+01] [-5.89230502e-03 7.55889471e-05 9.99982637e-01 -3.13686362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.012467378856425772 Centerline is valid? [True, True] Translation: X:188.13, Y:-39.55, Z:-3.14 [[ 8.93792735e-01 4.48451881e-01 5.04542347e-03 1.88126337e+02] [-4.48444309e-01 8.93806973e-01 -2.60689140e-03 -3.95473715e+01] [-5.67870003e-03 6.74291499e-05 9.99983874e-01 -3.13773880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.01278027498713698 Centerline is valid? [True, True] Translation: X:188.18, Y:-39.57, Z:-3.14 [[ 8.93499004e-01 4.49047289e-01 4.00788399e-03 1.88181884e+02] [-4.49042508e-01 8.93507991e-01 -2.07263914e-03 -3.95738502e+01] [-4.51178936e-03 5.21907274e-05 9.99989820e-01 -3.13994650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.012596209986695514 Centerline is valid? [True, True] Translation: X:188.24, Y:-39.60, Z:-3.14 [[ 8.93052001e-01 4.49944519e-01 2.83798679e-03 1.88239782e+02] [-4.49942132e-01 8.93056509e-01 -1.46583201e-03 -3.95996481e+01] [-3.19402566e-03 3.21343779e-05 9.99994899e-01 -3.14153264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.012615617025012845 Centerline is valid? [True, True] Translation: X:188.30, Y:-39.63, Z:-3.14 [[ 8.92947360e-01 4.50156670e-01 1.99587939e-03 1.88296013e+02] [-4.50155491e-01 8.92949591e-01 -1.03063787e-03 -3.96261058e+01] [-2.24616820e-03 2.18492926e-05 9.99997477e-01 -3.14255687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.013114359887272144 Centerline is valid? [True, True] Translation: X:188.35, Y:-39.65, Z:-3.14 [[ 8.93504206e-01 4.49051280e-01 1.78343689e-03 1.88351066e+02] [-4.49050336e-01 8.93505986e-01 -9.21051248e-04 -3.96538638e+01] [-2.00711078e-03 2.21102268e-05 9.99997986e-01 -3.14458355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.014209650505971694 Centerline is valid? [True, True] Translation: X:188.41, Y:-39.68, Z:-3.15 [[ 8.95567406e-01 4.44921041e-01 2.07115113e-03 1.88405644e+02] [-4.44919753e-01 8.95569800e-01 -1.07101546e-03 -3.96832815e+01] [-2.33137772e-03 3.76704895e-05 9.99997282e-01 -3.14523180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.015632165147059566 Centerline is valid? [True, True] Translation: X:188.46, Y:-39.71, Z:-3.15 [[ 8.97293145e-01 4.41426026e-01 2.84174313e-03 1.88459396e+02] [-4.41423576e-01 8.97297643e-01 -1.47227496e-03 -3.97137753e+01] [-3.19978989e-03 6.66498150e-05 9.99994878e-01 -3.14546708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.017328166271594857 Centerline is valid? [True, True] Translation: X:188.51, Y:-39.74, Z:-3.14 [[ 9.00351099e-01 4.35146222e-01 3.95774163e-03 1.88512635e+02] [-4.35141392e-01 9.00359789e-01 -2.05426663e-03 -3.97438835e+01] [-4.45729779e-03 1.27384018e-04 9.99990058e-01 -3.14460308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.017617976784259234 Centerline is valid? [True, True] Translation: X:188.57, Y:-39.77, Z:-3.15 [[ 9.02241569e-01 4.31208339e-01 4.41809629e-03 1.88567398e+02] [-4.31202261e-01 9.02252371e-01 -2.29551211e-03 -3.97715135e+01] [-4.97608182e-03 1.66013340e-04 9.99987605e-01 -3.14507453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.01934949485279059 Centerline is valid? [True, True] Translation: X:188.62, Y:-39.80, Z:-3.15 [[ 9.04211560e-01 4.27063924e-01 4.22602130e-03 1.88621489e+02] [-4.27058323e-01 9.04221418e-01 -2.19459526e-03 -3.97998502e+01] [-4.75849144e-03 1.79620837e-04 9.99988662e-01 -3.14622121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.02091421078825745 Centerline is valid? [True, True] Translation: X:188.68, Y:-39.83, Z:-3.15 [[ 9.04899200e-01 4.25612364e-01 3.39896902e-03 1.88675582e+02] [-4.25608729e-01 9.04905571e-01 -1.76546722e-03 -3.98280659e+01] [-3.82715068e-03 1.50938991e-04 9.99992665e-01 -3.14806260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.021185205839805144 Centerline is valid? [True, True] Translation: X:188.73, Y:-39.85, Z:-3.15 [[ 9.05156117e-01 4.25071713e-01 2.53845797e-03 1.88731773e+02] [-4.25069689e-01 9.05159669e-01 -1.31649071e-03 -3.98544480e+01] [-2.85731274e-03 1.12608080e-04 9.99995912e-01 -3.14917622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.019653651796333434 Centerline is valid? [True, True] Translation: X:188.79, Y:-39.88, Z:-3.15 [[ 9.04869961e-01 4.25677929e-01 2.94191980e-03 1.88788628e+02] [-4.25675209e-01 9.04874734e-01 -1.52723879e-03 -3.98803757e+01] [-3.31218074e-03 1.29650179e-04 9.99994506e-01 -3.14958020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.019572388894190943 Centerline is valid? [True, True] Translation: X:188.84, Y:-39.91, Z:-3.15 [[ 9.03857744e-01 4.27823924e-01 2.80518287e-03 1.88844881e+02] [-4.27821459e-01 9.03862089e-01 -1.45696498e-03 -3.99068107e+01] [-3.15882293e-03 1.16771647e-04 9.99995004e-01 -3.15039669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.018988407967304517 Centerline is valid? [True, True] Translation: X:188.90, Y:-39.93, Z:-3.15 [[ 9.01750229e-01 4.32251546e-01 2.26389925e-03 1.88900664e+02] [-4.32249946e-01 9.01753067e-01 -1.17931524e-03 -3.99294863e+01] [-2.55123892e-03 8.48774574e-05 9.99996742e-01 -3.15157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.018255225174339244 Centerline is valid? [True, True] Translation: X:188.96, Y:-39.95, Z:-3.15 [[ 8.99649353e-01 4.36608877e-01 1.93153890e-03 1.88956718e+02] [-4.36607722e-01 8.99651424e-01 -1.00600846e-03 -3.99524967e+01] [-2.17694394e-03 6.17300644e-05 9.99997629e-01 -3.15236025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.015779403000650716 Centerline is valid? [True, True] Translation: X:189.01, Y:-39.97, Z:-3.15 [[ 8.98633051e-01 4.38691761e-01 2.85975228e-03 1.89014671e+02] [-4.38689251e-01 8.98637598e-01 -1.48633193e-03 -3.99748877e+01] [-3.22192249e-03 8.11244119e-05 9.99994806e-01 -3.15149383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.015352269594300728 Centerline is valid? [True, True] Translation: X:189.07, Y:-40.00, Z:-3.15 [[ 8.98028160e-01 4.39921076e-01 3.85622056e-03 1.89072495e+02] [-4.39916511e-01 8.98036433e-01 -2.00699967e-03 -3.99987527e+01] [-4.34594801e-03 1.05927128e-04 9.99990551e-01 -3.15140427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.016001578223166012 Centerline is valid? [True, True] Translation: X:189.13, Y:-40.03, Z:-3.15 [[ 8.98148787e-01 4.39668798e-01 4.48371756e-03 1.89127986e+02] [-4.39662613e-01 8.98159970e-01 -2.33553608e-03 -4.00257604e+01] [-5.05395797e-03 1.26335920e-04 9.99987221e-01 -3.15232932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.016858968439689984 Centerline is valid? [True, True] Translation: X:189.18, Y:-40.05, Z:-3.15 [[ 8.98908442e-01 4.38112133e-01 4.62297808e-03 1.89184468e+02] [-4.38105528e-01 8.98920318e-01 -2.40999857e-03 -4.00521969e+01] [-5.21153854e-03 1.41015811e-04 9.99986410e-01 -3.15364313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.01853909414479277 Centerline is valid? [True, True] Translation: X:189.24, Y:-40.08, Z:-3.16 [[ 8.99873628e-01 4.36126017e-01 4.64241115e-03 1.89238585e+02] [-4.36119320e-01 8.99885589e-01 -2.42181354e-03 -4.00801514e+01] [-5.23385478e-03 1.54680940e-04 9.99986291e-01 -3.15510394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.020962651587298802 Centerline is valid? [True, True] Translation: X:189.29, Y:-40.11, Z:-3.16 [[ 9.01767144e-01 4.32210514e-01 3.17652889e-03 1.89292908e+02] [-4.32207345e-01 9.01772730e-01 -1.65959354e-03 -4.01076736e+01] [-3.58180090e-03 1.23647813e-04 9.99993578e-01 -3.15802815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.02148024286776923 Centerline is valid? [True, True] Translation: X:189.35, Y:-40.13, Z:-3.16 [[ 9.04050382e-01 4.27414529e-01 3.11880782e-03 1.89348076e+02] [-4.27411446e-01 9.04055751e-01 -1.62949403e-03 -4.01338782e+01] [-3.51604557e-03 1.40130541e-04 9.99993809e-01 -3.15869593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.02076765048548186 Centerline is valid? [True, True] Translation: X:189.40, Y:-40.16, Z:-3.16 [[ 9.05632923e-01 4.24050162e-01 3.23550311e-03 1.89403445e+02] [-4.24046822e-01 9.05638689e-01 -1.69053416e-03 -4.01594838e+01] [-3.64706808e-03 1.58998584e-04 9.99993337e-01 -3.15886083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.022012477219288687 Centerline is valid? [True, True] Translation: X:189.46, Y:-40.19, Z:-3.16 [[ 9.06599485e-01 4.21980125e-01 3.18546839e-03 1.89459128e+02] [-4.21976877e-01 9.06605067e-01 -1.66372349e-03 -4.01876249e+01] [-3.59002002e-03 1.64136855e-04 9.99993542e-01 -3.15983291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.02193987102337646 Centerline is valid? [True, True] Translation: X:189.52, Y:-40.21, Z:-3.16 [[ 9.06452157e-01 4.22293840e-01 3.52127486e-03 1.89516633e+02] [-4.22289883e-01 9.06458979e-01 -1.83668498e-03 -4.02134263e+01] [-3.96751197e-03 1.77868313e-04 9.99992114e-01 -3.15975496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.02200374061645273 Centerline is valid? [True, True] Translation: X:189.57, Y:-40.24, Z:-3.16 [[ 9.05306773e-01 4.24732019e-01 4.72852921e-03 1.89572071e+02] [-4.24724883e-01 9.05319093e-01 -2.47278105e-03 -4.02382801e+01] [-5.33109706e-03 2.30301418e-04 9.99985763e-01 -3.15989643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.018727223233459957 Centerline is valid? [True, True] Translation: X:189.63, Y:-40.26, Z:-3.16 [[ 9.02295924e-01 4.31073864e-01 6.11475275e-03 1.89631413e+02] [-4.31062071e-01 9.02316608e-01 -3.19829346e-03 -4.02567829e+01] [-6.89614369e-03 2.49969166e-04 9.99976190e-01 -3.15945093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.01742924629137109 Centerline is valid? [True, True] Translation: X:189.69, Y:-40.28, Z:-3.16 [[ 8.99615976e-01 4.36630304e-01 6.71370117e-03 1.89688564e+02] [-4.36616241e-01 8.99640998e-01 -3.51174843e-03 -4.02792665e+01] [-7.57325661e-03 2.27914026e-04 9.99971297e-01 -3.15986640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.013863419629950913 Centerline is valid? [True, True] Translation: X:189.75, Y:-40.30, Z:-3.16 [[ 8.95423244e-01 4.45156775e-01 7.25668638e-03 1.89748386e+02] [-4.45140621e-01 8.95452633e-01 -3.79602033e-03 -4.02956442e+01] [-8.18784309e-03 1.68798952e-04 9.99966465e-01 -3.15980799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.013151827413463778 Centerline is valid? [True, True] Translation: X:189.81, Y:-40.32, Z:-3.16 [[ 8.93170251e-01 4.49650549e-01 7.82852895e-03 1.89805045e+02] [-4.49631919e-01 8.93204548e-01 -4.09543432e-03 -4.03183917e+01] [-8.83399195e-03 1.37963601e-04 9.99960970e-01 -3.16108955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.012499520570604673 Centerline is valid? [True, True] Translation: X:189.86, Y:-40.34, Z:-3.16 [[ 8.91527246e-01 4.52899291e-01 7.83599547e-03 1.89862718e+02] [-4.52880763e-01 8.91561676e-01 -4.09794029e-03 -4.03420744e+01] [-8.84222750e-03 1.04653808e-04 9.99960901e-01 -3.16191793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.012736082067891435 Centerline is valid? [True, True] Translation: X:189.92, Y:-40.37, Z:-3.16 [[ 8.91914753e-01 4.52135869e-01 7.82495041e-03 1.89918071e+02] [-4.52117341e-01 8.91949070e-01 -4.09477721e-03 -4.03692131e+01] [-8.83085289e-03 1.14396434e-04 9.99961001e-01 -3.16265701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.014195081055245461 Centerline is valid? [True, True] Translation: X:189.97, Y:-40.40, Z:-3.16 [[ 8.94450778e-01 4.47078552e-01 8.86418718e-03 1.89971125e+02] [-4.47054495e-01 8.94494680e-01 -4.64179120e-03 -4.03991953e+01] [-1.00042136e-02 1.89079026e-04 9.99949939e-01 -3.16291423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.015910214853786925 Centerline is valid? [True, True] Translation: X:190.02, Y:-40.43, Z:-3.16 [[ 8.98909679e-01 4.38032881e-01 9.41193989e-03 1.90023615e+02] [-4.38005215e-01 8.98958897e-01 -4.93289545e-03 -4.04307333e+01] [-1.06217175e-02 3.11748702e-04 9.99943539e-01 -3.16261664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.018351580545368118 Centerline is valid? [True, True] Translation: X:190.08, Y:-40.46, Z:-3.16 [[ 9.01714963e-01 4.32244652e-01 8.64216415e-03 1.90075021e+02] [-4.32221059e-01 9.01756308e-01 -4.52961885e-03 -4.04627028e+01] [-9.75102956e-03 3.49099747e-04 9.99952397e-01 -3.16420470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.01936681040160911 Centerline is valid? [True, True] Translation: X:190.13, Y:-40.49, Z:-3.17 [[ 9.04522801e-01 4.26362980e-01 7.28779084e-03 1.90128571e+02] [-4.26346011e-01 9.04552092e-01 -3.81984097e-03 -4.04923928e+01] [-8.22082524e-03 3.48012705e-04 9.99966148e-01 -3.16578807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.021558883277692294 Centerline is valid? [True, True] Translation: X:190.18, Y:-40.52, Z:-3.17 [[ 9.05109852e-01 4.25121828e-01 6.89835228e-03 1.90181460e+02] [-4.25106588e-01 9.05136076e-01 -3.61573406e-03 -4.05223016e+01] [-7.78107498e-03 3.40101515e-04 9.99969669e-01 -3.16777048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.020288737672935802 Centerline is valid? [True, True] Translation: X:190.24, Y:-40.55, Z:-3.17 [[ 9.04346490e-01 4.26733998e-01 7.45118524e-03 1.90237948e+02] [-4.26716272e-01 9.04377117e-01 -3.90542678e-03 -4.05493640e+01] [-8.40525981e-03 3.52317013e-04 9.99964613e-01 -3.16832010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.01990585539217906 Centerline is valid? [True, True] Translation: X:190.29, Y:-40.58, Z:-3.17 [[ 9.03174594e-01 4.29197867e-01 8.05260326e-03 1.90293145e+02] [-4.29177249e-01 9.03210421e-01 -4.22196452e-03 -4.05769695e+01] [-9.08525334e-03 3.57176969e-04 9.99958664e-01 -3.16950050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.01783043236349049 Centerline is valid? [True, True] Translation: X:190.35, Y:-40.60, Z:-3.17 [[ 9.00954887e-01 4.33834629e-01 8.23444902e-03 1.90349405e+02] [-4.33813255e-01 9.00992460e-01 -4.31814320e-03 -4.06015127e+01] [-9.29253654e-03 3.18239092e-04 9.99956773e-01 -3.17152993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.015525722744548998 Centerline is valid? [True, True] Translation: X:190.41, Y:-40.63, Z:-3.17 [[ 8.98507073e-01 4.38874207e-01 8.62960483e-03 1.90405595e+02] [-4.38850962e-01 8.98548470e-01 -4.52551091e-03 -4.06256817e+01] [-9.74024823e-03 2.79093182e-04 9.99952524e-01 -3.17278549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.015337158724401688 Centerline is valid? [True, True] Translation: X:190.46, Y:-40.65, Z:-3.17 [[ 8.96584350e-01 4.42759629e-01 1.00206935e-02 1.90459941e+02] [-4.42728524e-01 8.96640304e-01 -5.25539311e-03 -4.06532923e+01] [-1.13118336e-02 2.75456388e-04 9.99935981e-01 -3.17368754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.015196385840324336 Centerline is valid? [True, True] Translation: X:190.51, Y:-40.68, Z:-3.17 [[ 8.95556046e-01 4.44822613e-01 1.05930339e-02 1.90514360e+02] [-4.44788001e-01 8.95618654e-01 -5.55519032e-03 -4.06814631e+01] [-1.19583930e-02 2.63329908e-04 9.99928461e-01 -3.17420966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.013522103265210703 Centerline is valid? [True, True] Translation: X:190.57, Y:-40.71, Z:-3.17 [[ 8.93761968e-01 4.48369196e-01 1.24341228e-02 1.90570710e+02] [-4.48321791e-01 8.93848420e-01 -6.52488905e-03 -4.07071432e+01] [-1.40397802e-02 2.57209496e-04 9.99901404e-01 -3.17462715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.01266115267020583 Centerline is valid? [True, True] Translation: X:190.63, Y:-40.73, Z:-3.18 [[ 8.91677325e-01 4.52492589e-01 1.27281114e-02 1.90626926e+02] [-4.52443275e-01 8.91768141e-01 -6.68328463e-03 -4.07336907e+01] [-1.43746610e-02 2.00584969e-04 9.99896659e-01 -3.17677574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.012646509347913008 Centerline is valid? [True, True] Translation: X:190.68, Y:-40.76, Z:-3.18 [[ 8.91008105e-01 4.53828842e-01 1.19974458e-02 1.90681004e+02] [-4.53785100e-01 8.91088858e-01 -6.30321601e-03 -4.07617009e+01] [-1.35513715e-02 1.71954429e-04 9.99908161e-01 -3.17973981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.012922482282931877 Centerline is valid? [True, True] Translation: X:190.73, Y:-40.79, Z:-3.18 [[ 8.91208055e-01 4.53464128e-01 1.08851513e-02 1.90733591e+02] [-4.53428060e-01 8.91274513e-01 -5.72161592e-03 -4.07923201e+01] [-1.22962055e-02 1.63517158e-04 9.99924385e-01 -3.18284420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.013078126880728656 Centerline is valid? [True, True] Translation: X:190.79, Y:-40.82, Z:-3.18 [[ 8.92064237e-01 4.51771374e-01 1.11365608e-02 1.90787451e+02] [-4.51733448e-01 8.92133728e-01 -5.85693157e-03 -4.08235398e+01] [-1.25812955e-02 1.94002193e-04 9.99920834e-01 -3.18346743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.013840655668655649 Centerline is valid? [True, True] Translation: X:190.84, Y:-40.86, Z:-3.18 [[ 8.93872562e-01 4.48175397e-01 1.14304668e-02 1.90840585e+02] [-4.48135101e-01 8.93945607e-01 -6.01520642e-03 -4.08560282e+01] [-1.29140832e-02 2.54434560e-04 9.99916577e-01 -3.18499742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.014711936198833628 Centerline is valid? [True, True] Translation: X:190.89, Y:-40.89, Z:-3.19 [[ 8.95638648e-01 4.44636005e-01 1.14120331e-02 1.90893247e+02] [-4.44595498e-01 8.95711297e-01 -6.00961906e-03 -4.08891618e+01] [-1.28939800e-02 3.08708550e-04 9.99916822e-01 -3.18623199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.015307560348451517 Centerline is valid? [True, True] Translation: X:190.95, Y:-40.92, Z:-3.19 [[ 8.97053868e-01 4.41759596e-01 1.19506451e-02 1.90946488e+02] [-4.41714903e-01 8.97133393e-01 -6.29439866e-03 -4.09209096e+01] [-1.35019338e-02 3.67636595e-04 9.99908777e-01 -3.18724688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.01776445401442826 Centerline is valid? [True, True] Translation: X:191.00, Y:-40.96, Z:-3.19 [[ 8.99587271e-01 4.36587691e-01 1.15727826e-02 1.90996159e+02] [-4.36545337e-01 8.99661604e-01 -6.09649735e-03 -4.09559582e+01] [-1.30732439e-02 4.32287117e-04 9.99914448e-01 -3.18833145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.018474451821273215 Centerline is valid? [True, True] Translation: X:191.05, Y:-40.99, Z:-3.19 [[ 9.00877471e-01 4.33924933e-01 1.13549769e-02 1.91049461e+02] [-4.33883941e-01 9.00948910e-01 -5.98225263e-03 -4.09879707e+01] [-1.28261026e-02 4.62534515e-04 9.99917635e-01 -3.18954153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.01796402883772243 Centerline is valid? [True, True] Translation: X:191.10, Y:-41.02, Z:-3.19 [[ 9.01381095e-01 4.32863414e-01 1.18905919e-02 1.91104362e+02] [-4.32818364e-01 9.01459380e-01 -6.26501000e-03 -4.10175825e+01] [-1.34307792e-02 5.00695040e-04 9.99909678e-01 -3.19050928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.01810593737992959 Centerline is valid? [True, True] Translation: X:191.16, Y:-41.05, Z:-3.19 [[ 9.00971526e-01 4.33720229e-01 1.17078297e-02 1.91158772e+02] [-4.33676576e-01 9.01047462e-01 -6.17238924e-03 -4.10473103e+01] [-1.32264003e-02 4.83735469e-04 9.99912410e-01 -3.19173986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.018818074443312974 Centerline is valid? [True, True] Translation: X:191.21, Y:-41.08, Z:-3.19 [[ 8.99486956e-01 4.36826963e-01 1.02674405e-02 1.91211372e+02] [-4.36793549e-01 8.99545471e-01 -5.41680283e-03 -4.10781639e+01] [-1.16022351e-02 3.87591730e-04 9.99932617e-01 -3.19393380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.017021851875993702 Centerline is valid? [True, True] Translation: X:191.27, Y:-41.10, Z:-3.20 [[ 8.98173623e-01 4.39527403e-01 9.99027125e-03 1.91266326e+02] [-4.39495930e-01 8.98229116e-01 -5.27100715e-03 -4.11048971e+01] [-1.12903046e-02 3.43596038e-04 9.99936203e-01 -3.19519882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.015139473071335332 Centerline is valid? [True, True] Translation: X:191.32, Y:-41.13, Z:-3.20 [[ 8.95341911e-01 4.45267128e-01 1.00022914e-02 1.91321822e+02] [-4.45235931e-01 8.95397739e-01 -5.27785171e-03 -4.11307256e+01] [-1.13060830e-02 2.72102331e-04 9.99936047e-01 -3.19593761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.014019755425229524 Centerline is valid? [True, True] Translation: X:191.38, Y:-41.16, Z:-3.20 [[ 8.93239467e-01 4.49450914e-01 1.08227231e-02 1.91376938e+02] [-4.49414691e-01 8.93304998e-01 -5.71103093e-03 -4.11587028e+01] [-1.22348207e-02 2.37427452e-04 9.99925124e-01 -3.19609859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.01276143835780793 Centerline is valid? [True, True] Translation: X:191.43, Y:-41.19, Z:-3.20 [[ 8.90457400e-01 4.54909849e-01 1.19435453e-02 1.91432404e+02] [-4.54866211e-01 8.90537477e-01 -6.30343094e-03 -4.11854292e+01] [-1.35036675e-02 1.80221545e-04 9.99908805e-01 -3.19626936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.012223511386813912 Centerline is valid? [True, True] Translation: X:191.49, Y:-41.21, Z:-3.20 [[ 8.88711746e-01 4.58295299e-01 1.25240803e-02 1.91487689e+02] [-4.58247649e-01 8.88799978e-01 -6.60994785e-03 -4.12128697e+01] [-1.41607103e-02 1.35207938e-04 9.99899723e-01 -3.19703361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.011792501370280914 Centerline is valid? [True, True] Translation: X:191.54, Y:-41.24, Z:-3.20 [[ 8.86844258e-01 4.61904869e-01 1.22944395e-02 1.91543627e+02] [-4.61859246e-01 8.86929470e-01 -6.49244750e-03 -4.12396771e+01] [-1.39031938e-02 7.94892217e-05 9.99903343e-01 -3.19812768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.011778569441117654 Centerline is valid? [True, True] Translation: X:191.60, Y:-41.27, Z:-3.20 [[ 8.86667991e-01 4.62262914e-01 1.15270275e-02 1.91597507e+02] [-4.62222795e-01 8.86742912e-01 -6.09057191e-03 -4.12710270e+01] [-1.30369555e-02 7.22602940e-05 9.99915013e-01 -3.20017296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.012056297675752978 Centerline is valid? [True, True] Translation: X:191.65, Y:-41.30, Z:-3.20 [[ 8.87756167e-01 4.60183152e-01 1.09751810e-02 1.91650628e+02] [-4.60146579e-01 8.87824001e-01 -5.80258593e-03 -4.13026712e+01] [-1.24142814e-02 1.01089473e-04 9.99922935e-01 -3.20152663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.01321961369585461 Centerline is valid? [True, True] Translation: X:191.70, Y:-41.34, Z:-3.20 [[ 8.91360990e-01 4.53170099e-01 1.06041034e-02 1.91701839e+02] [-4.53135419e-01 8.91424043e-01 -5.60966627e-03 -4.13375752e+01] [-1.19948858e-02 1.95142827e-04 9.99928040e-01 -3.20298034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.015051598726062175 Centerline is valid? [True, True] Translation: X:191.75, Y:-41.37, Z:-3.20 [[ 8.94587463e-01 4.46766653e-01 1.06221097e-02 1.91751572e+02] [-4.46731351e-01 8.94650477e-01 -5.62346438e-03 -4.13716222e+01] [-1.20154519e-02 2.85451322e-04 9.99927771e-01 -3.20431299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.0171239003590849 Centerline is valid? [True, True] Translation: X:191.80, Y:-41.41, Z:-3.21 [[ 8.98908792e-01 4.38016372e-01 1.02294940e-02 1.91802183e+02] [-4.37983066e-01 8.98966911e-01 -5.41539558e-03 -4.14068950e+01] [-1.15680085e-02 3.87601567e-04 9.99933013e-01 -3.20506986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.01784319544919791 Centerline is valid? [True, True] Translation: X:191.86, Y:-41.44, Z:-3.21 [[ 9.01096643e-01 4.33508108e-01 9.77549397e-03 1.91855347e+02] [-4.33477422e-01 9.01149565e-01 -5.17556429e-03 -4.14379483e+01] [-1.10528312e-02 4.26227685e-04 9.99938825e-01 -3.20628641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.019945423065024535 Centerline is valid? [True, True] Translation: X:191.91, Y:-41.47, Z:-3.21 [[ 9.02317116e-01 4.30979680e-01 8.96310320e-03 1.91907168e+02] [-4.30953753e-01 9.02361535e-01 -4.74590172e-03 -4.14690606e+01] [-1.01333468e-02 4.19625396e-04 9.99948568e-01 -3.20758993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.02035288987570792 Centerline is valid? [True, True] Translation: X:191.96, Y:-41.50, Z:-3.21 [[ 9.01529418e-01 4.32622366e-01 9.08826653e-03 1.91961557e+02] [-4.32595805e-01 9.01575135e-01 -4.81098210e-03 -4.14981995e+01] [-1.02750936e-02 4.05695916e-04 9.99947128e-01 -3.20807134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.021098214243759583 Centerline is valid? [True, True] Translation: X:192.02, Y:-41.52, Z:-3.21 [[ 8.99177143e-01 4.37488807e-01 9.16567620e-03 1.92015066e+02] [-4.37461997e-01 8.99223786e-01 -4.85638116e-03 -4.15248563e+01] [-1.03666064e-02 3.57111920e-04 9.99946202e-01 -3.20943155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.016659558447486712 Centerline is valid? [True, True] Translation: X:192.07, Y:-41.55, Z:-3.21 [[ 8.97427064e-01 4.41066541e-01 9.21797934e-03 1.92073571e+02] [-4.41039614e-01 8.97474348e-01 -4.88397417e-03 -4.15454621e+01] [-1.04270576e-02 3.17516549e-04 9.99945586e-01 -3.20982481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.015025172305625766 Centerline is valid? [True, True] Translation: X:192.13, Y:-41.57, Z:-3.21 [[ 8.94782333e-01 4.46404911e-01 9.33982926e-03 1.92130839e+02] [-4.46377553e-01 8.94831039e-01 -4.94886001e-03 -4.15695802e+01] [-1.05667645e-02 2.59062370e-04 9.99944137e-01 -3.21092001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.014820797678075096 Centerline is valid? [True, True] Translation: X:192.19, Y:-41.60, Z:-3.21 [[ 8.93245549e-01 4.49471455e-01 9.37020165e-03 1.92185793e+02] [-4.49444093e-01 8.93294666e-01 -4.96448833e-03 -4.15959174e+01] [-1.06017470e-02 2.23125326e-04 9.99943775e-01 -3.21218244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.01491473427586212 Centerline is valid? [True, True] Translation: X:192.24, Y:-41.62, Z:-3.21 [[ 8.92488966e-01 4.50975333e-01 9.20294832e-03 1.92240313e+02] [-4.50948986e-01 8.92536390e-01 -4.87907593e-03 -4.16239894e+01] [-1.04143092e-02 2.04461217e-04 9.99945749e-01 -3.21355567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.013679112080438345 Centerline is valid? [True, True] Translation: X:192.30, Y:-41.65, Z:-3.21 [[ 8.91425623e-01 4.53072578e-01 9.25186730e-03 1.92297340e+02] [-4.53046053e-01 8.91473615e-01 -4.90594830e-03 -4.16491169e+01] [-1.04705462e-02 1.81766059e-04 9.99945166e-01 -3.21399593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.013773558827973183 Centerline is valid? [True, True] Translation: X:192.35, Y:-41.68, Z:-3.21 [[ 8.91453865e-01 4.53013753e-01 9.40987024e-03 1.92352699e+02] [-4.52986281e-01 8.91503507e-01 -4.99256654e-03 -4.16785280e+01] [-1.06506336e-02 1.88100615e-04 9.99943263e-01 -3.21473371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.0138708697333152 Centerline is valid? [True, True] Translation: X:192.41, Y:-41.71, Z:-3.22 [[ 8.92616755e-01 4.50720838e-01 9.27653962e-03 1.92407322e+02] [-4.50693978e-01 8.92664931e-01 -4.92530329e-03 -4.17074941e+01] [-1.05007784e-02 2.15527706e-04 9.99944842e-01 -3.21632584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.01500946995926839 Centerline is valid? [True, True] Translation: X:192.46, Y:-41.74, Z:-3.22 [[ 8.94276702e-01 4.47443105e-01 7.99045797e-03 1.92461147e+02] [-4.47423014e-01 8.94312372e-01 -4.24588928e-03 -4.17383665e+01] [-9.04575930e-03 2.21885072e-04 9.99959062e-01 -3.21947704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.015891636721431214 Centerline is valid? [True, True] Translation: X:192.51, Y:-41.77, Z:-3.22 [[ 8.95114939e-01 4.45767479e-01 7.78457904e-03 1.92514570e+02] [-4.45748354e-01 8.95148759e-01 -4.13571830e-03 -4.17695209e+01] [-8.81192499e-03 2.31979934e-04 9.99961147e-01 -3.22062133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.017216512044388177 Centerline is valid? [True, True] Translation: X:192.57, Y:-41.80, Z:-3.22 [[ 8.96033306e-01 4.43919524e-01 7.73116306e-03 1.92566578e+02] [-4.43900555e-01 8.96066623e-01 -4.11153235e-03 -4.18009098e+01] [-8.75282665e-03 2.52202345e-04 9.99961661e-01 -3.22158797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.016408729264593924 Centerline is valid? [True, True] Translation: X:192.62, Y:-41.83, Z:-3.22 [[ 8.96536156e-01 4.42908833e-01 7.39504431e-03 1.92622100e+02] [-4.42891456e-01 8.96566620e-01 -3.93119324e-03 -4.18295115e+01] [-8.37131009e-03 2.49254939e-04 9.99964929e-01 -3.22229203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.01728142737009448 Centerline is valid? [True, True] Translation: X:192.67, Y:-41.86, Z:-3.22 [[ 8.97168989e-01 4.41617917e-01 7.83718637e-03 1.92674788e+02] [-4.41598325e-01 8.97203175e-01 -4.16919052e-03 -4.18615950e+01] [-8.87273772e-03 2.79580068e-04 9.99960597e-01 -3.22271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.01745220410311029 Centerline is valid? [True, True] Translation: X:192.73, Y:-41.89, Z:-3.22 [[ 8.96752803e-01 4.42462334e-01 7.84180991e-03 1.92729523e+02] [-4.42442731e-01 8.96787048e-01 -4.17382597e-03 -4.18918372e+01] [-8.87919434e-03 2.73338337e-04 9.99960542e-01 -3.22304809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.016110613631693135 Centerline is valid? [True, True] Translation: X:192.79, Y:-41.92, Z:-3.22 [[ 8.94273457e-01 4.47453547e-01 7.76578011e-03 1.92785142e+02] [-4.47434477e-01 8.94307147e-01 -4.13714390e-03 -4.19182329e+01] [-8.79617236e-03 2.25060217e-04 9.99961288e-01 -3.22394662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.01452651075138129 Centerline is valid? [True, True] Translation: X:192.84, Y:-41.94, Z:-3.22 [[ 8.91585511e-01 4.52781923e-01 7.98789910e-03 1.92840952e+02] [-4.52761950e-01 8.91621275e-01 -4.25661739e-03 -4.19439529e+01] [-9.04950019e-03 1.78521621e-04 9.99959036e-01 -3.22476286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.012672514990784705 Centerline is valid? [True, True] Translation: X:192.90, Y:-41.97, Z:-3.23 [[ 8.87675149e-01 4.60412380e-01 7.29865420e-03 1.92896323e+02] [-4.60395958e-01 8.87705149e-01 -3.88975243e-03 -4.19677699e+01] [-8.26994309e-03 9.25656702e-05 9.99965799e-01 -3.22555832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.012131827272466967 Centerline is valid? [True, True] Translation: X:192.95, Y:-41.99, Z:-3.23 [[ 8.86005010e-01 4.63625293e-01 6.83452233e-03 1.92951429e+02] [-4.63611002e-01 8.86031368e-01 -3.64063261e-03 -4.19946085e+01] [-7.74349053e-03 5.70589803e-05 9.99970017e-01 -3.22696168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.012498119972339043 Centerline is valid? [True, True] Translation: X:193.01, Y:-42.02, Z:-3.23 [[ 8.86387610e-01 4.62903010e-01 6.14883481e-03 1.93005919e+02] [-4.62891418e-01 8.86408935e-01 -3.27655363e-03 -4.20246956e+01] [-6.96710865e-03 5.80536772e-05 9.99975728e-01 -3.22852153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.013123651603184948 Centerline is valid? [True, True] Translation: X:193.06, Y:-42.06, Z:-3.23 [[ 8.89649050e-01 4.56611058e-01 5.55961046e-03 1.93058332e+02] [-4.56601438e-01 8.89666416e-01 -2.96556152e-03 -4.20580108e+01] [-6.30030689e-03 9.97828556e-05 9.99980148e-01 -3.22772137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.014721304873973454 Centerline is valid? [True, True] Translation: X:193.11, Y:-42.09, Z:-3.23 [[ 8.92034454e-01 4.51927943e-01 5.97217477e-03 1.93109784e+02] [-4.51916745e-01 8.92054434e-01 -3.18461731e-03 -4.20917574e+01] [-6.76672254e-03 1.41862585e-04 9.99977095e-01 -3.22838936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.016389572988846343 Centerline is valid? [True, True] Translation: X:193.16, Y:-42.12, Z:-3.23 [[ 8.95031362e-01 4.45957453e-01 6.38840774e-03 1.93161024e+02] [-4.45944456e-01 8.95054137e-01 -3.41082429e-03 -4.21249279e+01] [-7.23905329e-03 2.03919690e-04 9.99973777e-01 -3.22877491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.016692215295503243 Centerline is valid? [True, True] Translation: X:193.21, Y:-42.16, Z:-3.23 [[ 8.96246019e-01 4.43520797e-01 5.68999289e-03 1.93214322e+02] [-4.43510440e-01 8.96264059e-01 -3.03744504e-03 -4.21565384e+01] [-6.44690617e-03 1.98726771e-04 9.99979199e-01 -3.22965078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.018771790254832818 Centerline is valid? [True, True] Translation: X:193.27, Y:-42.19, Z:-3.23 [[ 8.97399855e-01 4.41196239e-01 4.40224307e-03 1.93265784e+02] [-4.41190021e-01 8.97410637e-01 -2.34816181e-03 -4.21904142e+01] [-4.98661992e-03 1.65014355e-04 9.99987553e-01 -3.23102723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.017800919106213293 Centerline is valid? [True, True] Translation: X:193.32, Y:-42.22, Z:-3.23 [[ 8.97502213e-01 4.40987418e-01 4.45808820e-03 1.93321459e+02] [-4.40981033e-01 8.97513269e-01 -2.37903918e-03 -4.22188257e+01] [-5.05031966e-03 1.69260591e-04 9.99987233e-01 -3.23087238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.01857271541848453 Centerline is valid? [True, True] Translation: X:193.38, Y:-42.25, Z:-3.23 [[ 8.96688872e-01 4.42632967e-01 5.01228498e-03 1.93375248e+02] [-4.42624908e-01 8.96702862e-01 -2.67717873e-03 -4.22483065e+01] [-5.67953785e-03 1.82034201e-04 9.99983855e-01 -3.23124416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.016530502068983495 Centerline is valid? [True, True] Translation: X:193.43, Y:-42.28, Z:-3.23 [[ 8.95852152e-01 4.44326027e-01 4.82736230e-03 1.93431879e+02] [-4.44318560e-01 8.95865143e-01 -2.58130223e-03 -4.22752692e+01] [-5.47160538e-03 1.67578493e-04 9.99985017e-01 -3.23095512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.017008434032109727 Centerline is valid? [True, True] Translation: X:193.49, Y:-42.30, Z:-3.23 [[ 8.94452975e-01 4.47137537e-01 4.67955602e-03 1.93485979e+02] [-4.47130565e-01 8.94465205e-01 -2.50106302e-03 -4.23032703e+01] [-5.30401919e-03 1.44710728e-04 9.99985923e-01 -3.23258558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.01562193562728115 Centerline is valid? [True, True] Translation: X:193.54, Y:-42.33, Z:-3.23 [[ 8.93552803e-01 4.48928443e-01 5.16158845e-03 1.93542990e+02] [-4.48919970e-01 8.93567698e-01 -2.76222773e-03 -4.23293990e+01] [-5.85227130e-03 1.51056196e-04 9.99982864e-01 -3.23292231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.014307024084326166 Centerline is valid? [True, True] Translation: X:193.60, Y:-42.35, Z:-3.23 [[ 8.92460470e-01 4.51096146e-01 5.15529514e-03 1.93600310e+02] [-4.51087727e-01 8.92475349e-01 -2.75941099e-03 -4.23549108e+01] [-5.84573349e-03 1.37174865e-04 9.99982904e-01 -3.23322889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.014490687795742108 Centerline is valid? [True, True] Translation: X:193.65, Y:-42.38, Z:-3.23 [[ 8.91430701e-01 4.53121729e-01 5.65715788e-03 1.93654304e+02] [-4.53111636e-01 8.91448642e-01 -3.02731076e-03 -4.23829706e+01] [-6.41480600e-03 1.35313687e-04 9.99979416e-01 -3.23452711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.014049522051465368 Centerline is valid? [True, True] Translation: X:193.71, Y:-42.41, Z:-3.24 [[ 8.90464788e-01 4.55013910e-01 5.89939614e-03 1.93710973e+02] [-4.55002964e-01 8.90484321e-01 -3.15869936e-03 -4.24091671e+01] [-6.69057191e-03 1.28467826e-04 9.99977610e-01 -3.23575033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.016414362663534358 Centerline is valid? [True, True] Translation: X:193.76, Y:-42.44, Z:-3.24 [[ 8.90340015e-01 4.55252355e-01 6.32064043e-03 1.93764640e+02] [-4.55239781e-01 8.90362440e-01 -3.38639050e-03 -4.24408496e+01] [-7.16932308e-03 1.37632007e-04 9.99974291e-01 -3.23862120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.014819082310635593 Centerline is valid? [True, True] Translation: X:193.82, Y:-42.47, Z:-3.24 [[ 8.91800722e-01 4.52373962e-01 7.01932389e-03 1.93820149e+02] [-4.52358340e-01 8.91828328e-01 -3.76382714e-03 -4.24677528e+01] [-7.96268928e-03 1.81334061e-04 9.99968281e-01 -3.23754717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.017352028624536706 Centerline is valid? [True, True] Translation: X:193.87, Y:-42.50, Z:-3.24 [[ 8.94603347e-01 4.46786155e-01 8.18437651e-03 1.93870786e+02] [-4.46764643e-01 8.94640742e-01 -4.39276580e-03 -4.24998308e+01] [-9.28470362e-03 2.73292933e-04 9.99956859e-01 -3.23801425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.018457323145696283 Centerline is valid? [True, True] Translation: X:193.92, Y:-42.53, Z:-3.24 [[ 8.96476253e-01 4.42997783e-01 9.12641682e-03 1.93924625e+02] [-4.42970823e-01 8.96522639e-01 -4.89977344e-03 -4.25296026e+01] [-1.03526281e-02 3.49794163e-04 9.99946349e-01 -3.23832490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.01920829803769219 Centerline is valid? [True, True] Translation: X:193.98, Y:-42.56, Z:-3.24 [[ 8.97133831e-01 4.41665668e-01 9.07345313e-03 1.93978935e+02] [-4.41638961e-01 8.97179640e-01 -4.87048841e-03 -4.25588131e+01] [-1.02916449e-02 3.62289509e-04 9.99946974e-01 -3.23920036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.020599917537470286 Centerline is valid? [True, True] Translation: X:194.03, Y:-42.59, Z:-3.24 [[ 8.98061248e-01 4.39764854e-01 9.63679037e-03 1.94033308e+02] [-4.39734586e-01 8.98112857e-01 -5.17589992e-03 -4.25880248e+01] [-1.09311042e-02 4.10645127e-04 9.99940169e-01 -3.24045677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.022981797491393067 Centerline is valid? [True, True] Translation: X:194.09, Y:-42.62, Z:-3.24 [[ 8.97958028e-01 4.39979155e-01 9.47223615e-03 1.94087354e+02] [-4.39949897e-01 8.98007896e-01 -5.08994062e-03 -4.26176813e+01] [-1.07456106e-02 4.03243722e-04 9.99942183e-01 -3.24260053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.022837642678981206 Centerline is valid? [True, True] Translation: X:194.14, Y:-42.64, Z:-3.24 [[ 8.97127102e-01 4.41674344e-01 9.31320142e-03 1.94143094e+02] [-4.41646119e-01 8.97175362e-01 -5.00756245e-03 -4.26447462e+01] [-1.05672867e-02 3.79280727e-04 9.99944093e-01 -3.24462830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.016381021044134674 Centerline is valid? [True, True] Translation: X:194.20, Y:-42.66, Z:-3.25 [[ 8.94763487e-01 4.46441771e-01 9.38340342e-03 1.94203094e+02] [-4.46413337e-01 8.94812627e-01 -5.04928945e-03 -4.26622260e+01] [-1.06506016e-02 3.29043393e-04 9.99943227e-01 -3.24521874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.015397564986563474 Centerline is valid? [True, True] Translation: X:194.26, Y:-42.69, Z:-3.25 [[ 8.92956015e-01 4.50022010e-01 1.04760152e-02 1.94258817e+02] [-4.49986812e-01 8.93017407e-01 -5.63745799e-03 -4.26887020e+01] [-1.18922441e-02 3.19933324e-04 9.99929234e-01 -3.24593205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.014383636932962275 Centerline is valid? [True, True] Translation: X:194.31, Y:-42.71, Z:-3.25 [[ 8.90880220e-01 4.54073835e-01 1.22224046e-02 1.94314303e+02] [-4.54026288e-01 8.90964004e-01 -6.57828197e-03 -4.27147377e+01] [-1.38767482e-02 3.11168304e-04 9.99903665e-01 -3.24617205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.013160308879228736 Centerline is valid? [True, True] Translation: X:194.37, Y:-42.74, Z:-3.25 [[ 8.89113623e-01 4.57505315e-01 1.28783419e-02 1.94370410e+02] [-4.57452883e-01 8.89206845e-01 -6.93156432e-03 -4.27408752e+01] [-1.46227373e-02 2.71713614e-04 9.99893045e-01 -3.24741992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.011675400765100416 Centerline is valid? [True, True] Translation: X:194.43, Y:-42.77, Z:-3.25 [[ 8.85980975e-01 4.63524389e-01 1.35223196e-02 1.94426940e+02] [-4.63467208e-01 8.86084142e-01 -7.28288953e-03 -4.27655001e+01] [-1.53577099e-02 1.85349845e-04 9.99882046e-01 -3.24874164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.010954700339856516 Centerline is valid? [True, True] Translation: X:194.48, Y:-42.79, Z:-3.25 [[ 8.82290295e-01 4.70499836e-01 1.39190579e-02 1.94484094e+02] [-4.70440105e-01 8.82400079e-01 -7.49714716e-03 -4.27903198e+01] [-1.58095843e-02 6.65771169e-05 9.99875018e-01 -3.25081189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.0107326399138601 Centerline is valid? [True, True] Translation: X:194.54, Y:-42.82, Z:-3.25 [[ 8.80091291e-01 4.74603751e-01 1.38057230e-02 1.94540485e+02] [-4.74545424e-01 8.80199568e-01 -7.44048926e-03 -4.28172362e+01] [-1.56830756e-02 -3.13289780e-06 9.99877013e-01 -3.25221308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.010899995261761922 Centerline is valid? [True, True] Translation: X:194.60, Y:-42.84, Z:-3.25 [[ 8.78005646e-01 4.78464188e-01 1.33456049e-02 1.94596347e+02] [-4.78410068e-01 8.78107064e-01 -7.19660581e-03 -4.28447829e+01] [-1.51621881e-02 -6.60111872e-05 9.99885045e-01 -3.25433400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.010807572317146318 Centerline is valid? [True, True] Translation: X:194.65, Y:-42.88, Z:-3.26 [[ 8.78278621e-01 4.77979356e-01 1.27435828e-02 1.94650203e+02] [-4.77929899e-01 8.78371068e-01 -6.87599550e-03 -4.28764708e+01] [-1.44801784e-02 -5.14994062e-05 9.99895155e-01 -3.25659637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.010912299726338642 Centerline is valid? [True, True] Translation: X:194.70, Y:-42.91, Z:-3.26 [[ 8.81554633e-01 4.71926612e-01 1.21120902e-02 1.94700897e+02] [-4.71881302e-01 8.81637834e-01 -6.53960382e-03 -4.29133359e+01] [-1.37646900e-02 4.95491799e-05 9.99905261e-01 -3.25897043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.011896566079244239 Centerline is valid? [True, True] Translation: X:194.75, Y:-42.95, Z:-3.26 [[ 8.85053475e-01 4.65345165e-01 1.15854700e-02 1.94751281e+02] [-4.65303093e-01 8.85129287e-01 -6.25914724e-03 -4.29508940e+01] [-1.31673027e-02 1.48924974e-04 9.99913296e-01 -3.26021453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.014050148330426301 Centerline is valid? [True, True] Translation: X:194.80, Y:-42.99, Z:-3.26 [[ 8.90640985e-01 4.54569754e-01 1.11791983e-02 1.94798554e+02] [-4.54529673e-01 8.90711091e-01 -6.04389824e-03 -4.29908901e+01] [-1.27048093e-02 3.01666121e-04 9.99919245e-01 -3.26128470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.015390133979315044 Centerline is valid? [True, True] Translation: X:194.85, Y:-43.03, Z:-3.26 [[ 8.93251685e-01 4.49406445e-01 1.16307714e-02 1.94848375e+02] [-4.49362619e-01 8.93327317e-01 -6.28822246e-03 -4.30263225e+01] [-1.32160535e-02 3.90531413e-04 9.99912588e-01 -3.26190379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.017388053172942775 Centerline is valid? [True, True] Translation: X:194.90, Y:-43.06, Z:-3.26 [[ 8.94893011e-01 4.46128736e-01 1.16468999e-02 1.94898166e+02] [-4.46084504e-01 8.94968691e-01 -6.29742618e-03 -4.30628785e+01] [-1.32330735e-02 4.40021111e-04 9.99912342e-01 -3.26303043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.016389684146058084 Centerline is valid? [True, True] Translation: X:194.95, Y:-43.09, Z:-3.26 [[ 8.93382831e-01 4.49177231e-01 1.03407923e-02 1.94951165e+02] [-4.49142549e-01 8.93442606e-01 -5.59280414e-03 -4.30947283e+01] [-1.17510647e-02 3.52025374e-04 9.99930892e-01 -3.26476223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.014632406080632945 Centerline is valid? [True, True] Translation: X:195.01, Y:-43.12, Z:-3.27 [[ 8.90649372e-01 4.54590764e-01 9.53593246e-03 1.95005968e+02] [-4.54561575e-01 8.90700382e-01 -5.15792147e-03 -4.31233973e+01] [-1.08384021e-02 2.59231032e-04 9.99941229e-01 -3.26663332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.011936435455990975 Centerline is valid? [True, True] Translation: X:195.06, Y:-43.15, Z:-3.27 [[ 8.84703524e-01 4.66059236e-01 9.40546825e-03 1.95060789e+02] [-4.66031469e-01 8.84753511e-01 -5.08872415e-03 -4.31477515e+01] [-1.06931679e-02 1.18768003e-04 9.99942819e-01 -3.26824956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.010858048428632841 Centerline is valid? [True, True] Translation: X:195.12, Y:-43.17, Z:-3.27 [[ 8.80795613e-01 4.73398872e-01 9.62269786e-03 1.95117035e+02] [-4.73370259e-01 8.80848175e-01 -5.20487290e-03 -4.31745698e+01] [-1.09401168e-02 2.93302332e-05 9.99940155e-01 -3.26895694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.011051454867506133 Centerline is valid? [True, True] Translation: X:195.17, Y:-43.20, Z:-3.27 [[ 8.77255808e-01 4.79922151e-01 9.84762867e-03 1.95172730e+02] [-4.79892559e-01 8.77311077e-01 -5.32968180e-03 -4.32020753e+01] [-1.11972661e-02 -5.03094036e-05 9.99937307e-01 -3.27012648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.012199146101309575 Centerline is valid? [True, True] Translation: X:195.23, Y:-43.23, Z:-3.27 [[ 8.72847333e-01 4.87881352e-01 1.04556172e-02 1.95228429e+02] [-4.87848515e-01 8.72909939e-01 -5.66259913e-03 -4.32304498e+01] [-1.18894887e-02 -1.58172772e-04 9.99929305e-01 -3.27084239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.013194471537521624 Centerline is valid? [True, True] Translation: X:195.28, Y:-43.26, Z:-3.27 [[ 8.70202350e-01 4.92570455e-01 1.10551781e-02 1.95281940e+02] [-4.92534065e-01 8.70272540e-01 -5.99179892e-03 -4.32614565e+01] [-1.25724011e-02 -2.30974326e-04 9.99920938e-01 -3.27201832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.013769259741204812 Centerline is valid? [True, True] Translation: X:195.34, Y:-43.29, Z:-3.27 [[ 8.69730136e-01 4.93391038e-01 1.16092306e-02 1.95335351e+02] [-4.93350975e-01 8.69807576e-01 -6.29258654e-03 -4.32931510e+01] [-1.32025025e-02 -2.54573081e-04 9.99912811e-01 -3.27303477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.012823352236042751 Centerline is valid? [True, True] Translation: X:195.39, Y:-43.33, Z:-3.27 [[ 8.71095370e-01 4.90963507e-01 1.21528173e-02 1.95386530e+02] [-4.90919301e-01 8.71180110e-01 -6.59209281e-03 -4.33303024e+01] [-1.38237698e-02 -2.23711057e-04 9.99904422e-01 -3.27374270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.01209643357659978 Centerline is valid? [True, True] Translation: X:195.44, Y:-43.37, Z:-3.28 [[ 8.73017277e-01 4.87548617e-01 1.17123637e-02 1.95438085e+02] [-4.87507239e-01 8.73095825e-01 -6.35395610e-03 -4.33659860e+01] [-1.33238784e-02 -1.62748653e-04 9.99911220e-01 -3.27519335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.011018116057759061 Centerline is valid? [True, True] Translation: X:195.49, Y:-43.41, Z:-3.28 [[ 8.76816522e-01 4.80712799e-01 1.03918835e-02 1.95486618e+02] [-4.80679710e-01 8.76878100e-01 -5.64039145e-03 -4.34072735e+01] [-1.18238234e-02 -4.95791428e-05 9.99930095e-01 -3.27772757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.010983434672193182 Centerline is valid? [True, True] Translation: X:195.54, Y:-43.45, Z:-3.28 [[ 8.79083231e-01 4.76583911e-01 8.96932894e-03 1.95538044e+02] [-4.76559026e-01 8.79128987e-01 -4.87025659e-03 -4.34452246e+01] [-1.02062830e-02 6.94623607e-06 9.99947915e-01 -3.28007458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.011776192170918697 Centerline is valid? [True, True] Translation: X:195.59, Y:-43.48, Z:-3.28 [[ 8.81828351e-01 4.71530851e-01 6.11689395e-03 1.95586898e+02] [-4.71519148e-01 8.81849565e-01 -3.32237919e-03 -4.34847442e+01] [-6.96078456e-03 4.55355333e-05 9.99975772e-01 -3.28416807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.012491949250910924 Centerline is valid? [True, True] Translation: X:195.64, Y:-43.52, Z:-3.29 [[ 8.83075882e-01 4.69206942e-01 4.67253587e-03 1.95637430e+02] [-4.69200079e-01 8.83088242e-01 -2.53832813e-03 -4.35211219e+01] [-5.31726267e-03 4.91821520e-05 9.99985862e-01 -3.28589803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.012908499029934196 Centerline is valid? [True, True] Translation: X:195.69, Y:-43.56, Z:-3.29 [[ 8.84214606e-01 4.67064962e-01 3.85374493e-03 1.95688503e+02] [-4.67060272e-01 8.84223003e-01 -2.09388018e-03 -4.35571802e+01] [-4.38554798e-03 5.15082879e-05 9.99990382e-01 -3.28635110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.013391238817925286 Centerline is valid? [True, True] Translation: X:195.74, Y:-43.59, Z:-3.29 [[ 8.85170239e-01 4.65249124e-01 4.11098675e-03 1.95739699e+02] [-4.65243759e-01 8.85179783e-01 -2.23519316e-03 -4.35923195e+01] [-4.67888402e-03 6.59155312e-05 9.99989052e-01 -3.28673496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.014097252970373376 Centerline is valid? [True, True] Translation: X:195.79, Y:-43.63, Z:-3.29 [[ 8.86139459e-01 4.63381798e-01 5.84531461e-03 1.95790020e+02] [-4.63370887e-01 8.86158731e-01 -3.18189138e-03 -4.36295101e+01] [-6.65430713e-03 1.11050892e-04 9.99977854e-01 -3.28620771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.013776653473828107 Centerline is valid? [True, True] Translation: X:195.84, Y:-43.66, Z:-3.28 [[ 8.85607730e-01 4.64362417e-01 8.15441092e-03 1.95843768e+02] [-4.64341184e-01 8.85645259e-01 -4.44308634e-03 -4.36600460e+01] [-9.28511768e-03 1.48402792e-04 9.99956881e-01 -3.28495944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.012818450473953944 Centerline is valid? [True, True] Translation: X:195.90, Y:-43.69, Z:-3.28 [[ 8.84335663e-01 4.66762507e-01 9.12124668e-03 1.95898895e+02] [-4.66736023e-01 8.84382690e-01 -4.97416846e-03 -4.36897155e+01] [-1.03884280e-02 1.41620161e-04 9.99946029e-01 -3.28430755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.012394359488851626 Centerline is valid? [True, True] Translation: X:195.95, Y:-43.72, Z:-3.29 [[ 8.83561681e-01 4.68233908e-01 8.70416882e-03 1.95953427e+02] [-4.68209865e-01 8.83604546e-01 -4.74649528e-03 -4.37190455e+01] [-9.91351317e-03 1.18443640e-04 9.99950853e-01 -3.28523103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.012167838117322674 Centerline is valid? [True, True] Translation: X:196.01, Y:-43.75, Z:-3.29 [[ 8.82165578e-01 4.70879730e-01 7.49489080e-03 1.96007658e+02] [-4.70861982e-01 8.82197412e-01 -4.08900679e-03 -4.37465518e+01] [-8.53740368e-03 7.81218945e-05 9.99963553e-01 -3.28812096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.012079683570205313 Centerline is valid? [True, True] Translation: X:196.06, Y:-43.77, Z:-3.29 [[ 8.81288417e-01 4.72535369e-01 6.40711370e-03 1.96063615e+02] [-4.72522436e-01 8.81311705e-01 -3.49651752e-03 -4.37735361e+01] [-7.29889250e-03 5.39354196e-05 9.99973361e-01 -3.29108062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.011850985837326404 Centerline is valid? [True, True] Translation: X:196.12, Y:-43.80, Z:-3.29 [[ 8.80671043e-01 4.73691674e-01 5.89174715e-03 1.96120445e+02] [-4.73680755e-01 8.80690749e-01 -3.21659695e-03 -4.38009241e+01] [-6.71248241e-03 4.19565501e-05 9.99977470e-01 -3.29216483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.011847729782898272 Centerline is valid? [True, True] Translation: X:196.18, Y:-43.83, Z:-3.29 [[ 8.80860170e-01 4.73328378e-01 6.75333984e-03 1.96176297e+02] [-4.73313997e-01 8.80886056e-01 -3.69007299e-03 -4.38297727e+01] [-7.69553916e-03 5.39880546e-05 9.99970387e-01 -3.29148067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.012074366344948224 Centerline is valid? [True, True] Translation: X:196.23, Y:-43.86, Z:-3.29 [[ 8.81105627e-01 4.72863683e-01 7.26708045e-03 1.96230349e+02] [-4.72846988e-01 8.81135593e-01 -3.97404645e-03 -4.38589957e+01] [-8.28246548e-03 6.53375853e-05 9.99965698e-01 -3.29305690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.012194468320407303 Centerline is valid? [True, True] Translation: X:196.29, Y:-43.89, Z:-3.30 [[ 8.81162745e-01 4.72771205e-01 6.29320334e-03 1.96285863e+02] [-4.72758671e-01 8.81185215e-01 -3.44316132e-03 -4.38871153e+01] [-7.17330527e-03 5.88190357e-05 9.99974270e-01 -3.29559043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.01199883260081821 Centerline is valid? [True, True] Translation: X:196.34, Y:-43.92, Z:-3.30 [[ 8.81034086e-01 4.73019754e-01 5.59029405e-03 1.96341106e+02] [-4.73009862e-01 8.81051820e-01 -3.05954311e-03 -4.39161488e+01] [-6.37256308e-03 5.12975453e-05 9.99979694e-01 -3.29706023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.012229671697907325 Centerline is valid? [True, True] Translation: X:196.40, Y:-43.95, Z:-3.30 [[ 8.81241257e-01 4.72635163e-01 5.46345647e-03 1.96395057e+02] [-4.72625696e-01 8.81258191e-01 -2.99197149e-03 -4.39469048e+01] [-6.22882670e-03 5.44788053e-05 9.99980599e-01 -3.29905324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.012297988841097453 Centerline is valid? [True, True] Translation: X:196.45, Y:-43.98, Z:-3.30 [[ 8.81496218e-01 4.72155915e-01 5.76278994e-03 1.96450072e+02] [-4.72145359e-01 8.81515053e-01 -3.15793913e-03 -4.39777134e+01] [-6.57102571e-03 6.28368747e-05 9.99978409e-01 -3.29973565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.012590551158728676 Centerline is valid? [True, True] Translation: X:196.50, Y:-44.01, Z:-3.30 [[ 8.82547260e-01 4.70184342e-01 6.08417512e-03 1.96503490e+02] [-4.70172508e-01 8.82568228e-01 -3.33694525e-03 -4.40096620e+01] [-6.93867906e-03 8.44000108e-05 9.99975924e-01 -3.30018952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.013409718791879497 Centerline is valid? [True, True] Translation: X:196.56, Y:-44.04, Z:-3.30 [[ 8.83570586e-01 4.68255581e-01 6.30324296e-03 1.96555800e+02] [-4.68242813e-01 8.83593063e-01 -3.45953059e-03 -4.40409304e+01] [-7.18944625e-03 1.05291261e-04 9.99974150e-01 -3.30108372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.01383006918415075 Centerline is valid? [True, True] Translation: X:196.61, Y:-44.07, Z:-3.30 [[ 8.85105649e-01 4.65345609e-01 6.43843696e-03 1.96609634e+02] [-4.65332197e-01 8.85129056e-01 -3.53554049e-03 -4.40726356e+01] [-7.34409588e-03 1.33314847e-04 9.99973023e-01 -3.30140764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.015381590642673883 Centerline is valid? [True, True] Translation: X:196.66, Y:-44.10, Z:-3.30 [[ 8.87284350e-01 4.61163344e-01 7.40626706e-03 1.96662001e+02] [-4.61145415e-01 8.87315238e-01 -4.07122822e-03 -4.41046734e+01] [-8.44919484e-03 1.96970982e-04 9.99964286e-01 -3.30270034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.015487074373269814 Centerline is valid? [True, True] Translation: X:196.72, Y:-44.13, Z:-3.30 [[ 8.88065875e-01 4.59655632e-01 7.46338453e-03 1.96717008e+02] [-4.59637371e-01 8.88097210e-01 -4.10280679e-03 -4.41325110e+01] [-8.51408923e-03 2.13112258e-04 9.99963732e-01 -3.30313762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.016287520257527142 Centerline is valid? [True, True] Translation: X:196.77, Y:-44.16, Z:-3.30 [[ 8.88305092e-01 4.59204716e-01 6.71506405e-03 1.96769890e+02] [-4.59189901e-01 8.88330451e-01 -3.69395766e-03 -4.41623606e+01] [-7.66147865e-03 1.97871802e-04 9.99970631e-01 -3.30466786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.016231376119013877 Centerline is valid? [True, True] Translation: X:196.82, Y:-44.19, Z:-3.31 [[ 8.88464290e-01 4.58906031e-01 6.03817106e-03 1.96824531e+02] [-4.58894048e-01 8.88484790e-01 -3.32121830e-03 -4.41910806e+01] [-6.88895026e-03 1.79903095e-04 9.99976255e-01 -3.30520003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.016086532134658542 Centerline is valid? [True, True] Translation: X:196.88, Y:-44.22, Z:-3.31 [[ 8.88148711e-01 4.59518073e-01 5.91670258e-03 1.96880376e+02] [-4.59506569e-01 8.88168402e-01 -3.25619651e-03 -4.42187099e+01] [-6.75130942e-03 1.73223033e-04 9.99977195e-01 -3.30684300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.015969132830945327 Centerline is valid? [True, True] Translation: X:196.94, Y:-44.25, Z:-3.31 [[ 8.87088416e-01 4.61558990e-01 6.11890213e-03 1.96936669e+02] [-4.61546719e-01 8.87109504e-01 -3.36961425e-03 -4.42451320e+01] [-6.98341199e-03 1.64986563e-04 9.99975602e-01 -3.30838064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.01544028793215326 Centerline is valid? [True, True] Translation: X:196.99, Y:-44.27, Z:-3.31 [[ 8.86273905e-01 4.63105447e-01 7.20484738e-03 1.96991823e+02] [-4.63088460e-01 8.86303172e-01 -3.97067838e-03 -4.42735120e+01] [-8.22452187e-03 1.82626955e-04 9.99966161e-01 -3.30815427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.014869999288965494 Centerline is valid? [True, True] Translation: X:197.05, Y:-44.30, Z:-3.31 [[ 8.86097965e-01 4.63417080e-01 8.66061662e-03 1.97047052e+02] [-4.63392515e-01 8.86140261e-01 -4.77655895e-03 -4.43011727e+01] [-9.88806007e-03 2.19234244e-04 9.99951088e-01 -3.30749205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.015305447585083102 Centerline is valid? [True, True] Translation: X:197.10, Y:-44.33, Z:-3.31 [[ 8.86247299e-01 4.63130021e-01 8.73547036e-03 1.97102146e+02] [-4.63104987e-01 8.86290320e-01 -4.82068974e-03 -4.43300750e+01] [-9.97476896e-03 2.26883371e-04 9.99950225e-01 -3.30818088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.015008774280429285 Centerline is valid? [True, True] Translation: X:197.16, Y:-44.36, Z:-3.31 [[ 8.86058662e-01 4.63496670e-01 8.41927048e-03 1.97158528e+02] [-4.63473410e-01 8.86098634e-01 -4.64842522e-03 -4.43589728e+01] [-9.61483369e-03 2.16669425e-04 9.99953753e-01 -3.30945299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.015460364178898236 Centerline is valid? [True, True] Translation: X:197.21, Y:-44.39, Z:-3.31 [[ 8.86003471e-01 4.63605105e-01 8.25560577e-03 1.97213043e+02] [-4.63582717e-01 8.86041907e-01 -4.56116580e-03 -4.43877587e+01] [-9.42939243e-03 2.14052581e-04 9.99955519e-01 -3.31071421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.015753520501022505 Centerline is valid? [True, True] Translation: X:197.27, Y:-44.42, Z:-3.31 [[ 8.85908798e-01 4.63784537e-01 8.33701708e-03 1.97268397e+02] [-4.63761686e-01 8.85947999e-01 -4.60891648e-03 -4.44169258e+01] [-9.52370779e-03 2.16690558e-04 9.99954625e-01 -3.31198186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.015890275022042027 Centerline is valid? [True, True] Translation: X:197.32, Y:-44.45, Z:-3.31 [[ 8.85989998e-01 4.63628540e-01 8.38452837e-03 1.97324268e+02] [-4.63605392e-01 8.86029643e-01 -4.63821040e-03 -4.44459365e+01] [-9.57934739e-03 2.22295462e-04 9.99954092e-01 -3.31346108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.016469873527368957 Centerline is valid? [True, True] Translation: X:197.38, Y:-44.48, Z:-3.32 [[ 8.86129838e-01 4.63370423e-01 7.85887452e-03 1.97378390e+02] [-4.63350051e-01 8.86164661e-01 -4.35022843e-03 -4.44765737e+01] [-8.98002406e-03 2.13457300e-04 9.99959656e-01 -3.31534090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.01674089655776943 Centerline is valid? [True, True] Translation: X:197.43, Y:-44.51, Z:-3.32 [[ 8.87841911e-01 4.60118120e-01 5.29685381e-03 1.97431215e+02] [-4.60108795e-01 8.87857695e-01 -2.93423073e-03 -4.45071032e+01] [-6.05294514e-03 1.68003993e-04 9.99981667e-01 -3.31728835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.018991586804540942 Centerline is valid? [True, True] Translation: X:197.48, Y:-44.54, Z:-3.32 [[ 8.89763488e-01 4.56392921e-01 5.14171708e-03 1.97481690e+02] [-4.56384065e-01 8.89778324e-01 -2.84943811e-03 -4.45399147e+01] [-5.87545179e-03 1.88728253e-04 9.99982722e-01 -3.31889958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.01883039541935408 Centerline is valid? [True, True] Translation: X:197.54, Y:-44.57, Z:-3.32 [[ 8.92255261e-01 4.51483194e-01 6.59362861e-03 1.97535289e+02] [-4.51468510e-01 8.92279579e-01 -3.65207819e-03 -4.45699599e+01] [-7.53221208e-03 2.81770286e-04 9.99971593e-01 -3.31841165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.01987455345060498 Centerline is valid? [True, True] Translation: X:197.59, Y:-44.60, Z:-3.32 [[ 8.93688221e-01 4.48631864e-01 7.12840987e-03 1.97588074e+02] [-4.48614594e-01 8.93716588e-01 -3.95038182e-03 -4.46011437e+01] [-8.14304531e-03 3.32501001e-04 9.99966790e-01 -3.31893116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.022585418911210558 Centerline is valid? [True, True] Translation: X:197.64, Y:-44.63, Z:-3.32 [[ 8.95454771e-01 4.45084320e-01 7.79112084e-03 1.97639027e+02] [-4.45063532e-01 8.95488575e-01 -4.32028287e-03 -4.46341487e+01] [-8.89974985e-03 4.01074148e-04 9.99960316e-01 -3.31969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.021221631479817094 Centerline is valid? [True, True] Translation: X:197.69, Y:-44.66, Z:-3.32 [[ 8.95784297e-01 4.44420335e-01 7.81401407e-03 1.97694769e+02] [-4.44399385e-01 8.95818284e-01 -4.33464354e-03 -4.46614061e+01] [-8.92634041e-03 4.10362563e-04 9.99960075e-01 -3.32046149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.021971145123143104 Centerline is valid? [True, True] Translation: X:197.75, Y:-44.69, Z:-3.32 [[ 8.94964451e-01 4.46082352e-01 7.01190107e-03 1.97749308e+02] [-4.46065517e-01 8.94991849e-01 -3.89168938e-03 -4.46883339e+01] [-8.01160825e-03 3.55156373e-04 9.99967843e-01 -3.32220048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.020459470775192532 Centerline is valid? [True, True] Translation: X:197.81, Y:-44.71, Z:-3.32 [[ 8.93015470e-01 4.49993942e-01 5.36872307e-03 1.97806400e+02] [-4.49984126e-01 8.93031573e-01 -2.98242478e-03 -4.47121906e+01] [-6.13651230e-03 2.47511304e-04 9.99981141e-01 -3.32423985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.02045065224315163 Centerline is valid? [True, True] Translation: X:197.86, Y:-44.74, Z:-3.33 [[ 8.91440150e-01 4.53117936e-01 4.31212916e-03 1.97860623e+02] [-4.53111639e-01 8.91450561e-01 -2.39586850e-03 -4.47391018e+01] [-4.92966095e-03 1.81897469e-04 9.99987833e-01 -3.32621161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.018807032759337806 Centerline is valid? [True, True] Translation: X:197.92, Y:-44.76, Z:-3.33 [[ 8.88695398e-01 4.58482841e-01 3.73808418e-03 1.97918062e+02] [-4.58478156e-01 8.88703250e-01 -2.07684451e-03 -4.47619870e+01] [-4.27424513e-03 1.31852215e-04 9.99990857e-01 -3.32835323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.0170076559088939 Centerline is valid? [True, True] Translation: X:197.97, Y:-44.79, Z:-3.33 [[ 8.86709909e-01 4.62314343e-01 3.31428639e-03 1.97974390e+02] [-4.62310687e-01 8.86716098e-01 -1.84132484e-03 -4.47866774e+01] [-3.79010198e-03 1.00490960e-04 9.99992812e-01 -3.32877535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.014892579994231518 Centerline is valid? [True, True] Translation: X:198.03, Y:-44.81, Z:-3.33 [[ 8.83564206e-01 4.68294894e-01 3.76644038e-03 1.98031637e+02] [-4.68290225e-01 8.83572230e-01 -2.09270515e-03 -4.48101435e+01] [-4.30792526e-03 8.52521483e-05 9.99990717e-01 -3.32907857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.013669848467892317 Centerline is valid? [True, True] Translation: X:198.09, Y:-44.83, Z:-3.33 [[ 8.80542243e-01 4.73947478e-01 4.37561039e-03 1.98088734e+02] [-4.73941246e-01 8.80553113e-01 -2.43138445e-03 -4.48341267e+01] [-5.00530588e-03 6.71544809e-05 9.99987471e-01 -3.33046805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.013116403134389632 Centerline is valid? [True, True] Translation: X:198.15, Y:-44.86, Z:-3.33 [[ 8.78782176e-01 4.77206385e-01 3.99413052e-03 1.98145040e+02] [-4.77201237e-01 8.78791252e-01 -2.21709093e-03 -4.48611176e+01] [-4.56801690e-03 4.23359691e-05 9.99989566e-01 -3.33215277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.012612381407874558 Centerline is valid? [True, True] Translation: X:198.20, Y:-44.89, Z:-3.33 [[ 8.77051201e-01 4.80371878e-01 4.90406236e-03 1.98200898e+02] [-4.80364151e-01 8.77064911e-01 -2.72478976e-03 -4.48876197e+01] [-5.61009339e-03 3.40443748e-05 9.99984263e-01 -3.33314910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.012276039292543105 Centerline is valid? [True, True] Translation: X:198.26, Y:-44.92, Z:-3.33 [[ 8.76704038e-01 4.81002523e-01 5.15770049e-03 1.98255738e+02] [-4.80993980e-01 8.76719209e-01 -2.86701822e-03 -4.49177513e+01] [-5.90089810e-03 3.27035675e-05 9.99982589e-01 -3.33292578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.012462626949356376 Centerline is valid? [True, True] Translation: X:198.31, Y:-44.95, Z:-3.33 [[ 8.76883219e-01 4.80675140e-01 5.21826931e-03 1.98310467e+02] [-4.80666377e-01 8.76898745e-01 -2.90269887e-03 -4.49495256e+01] [-5.97114900e-03 3.70813259e-05 9.99982172e-01 -3.33387297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.012598335444287274 Centerline is valid? [True, True] Translation: X:198.37, Y:-44.98, Z:-3.33 [[ 8.77040386e-01 4.80386381e-01 5.39311906e-03 1.98365080e+02] [-4.80377002e-01 8.77056967e-01 -3.00215146e-03 -4.49814353e+01] [-6.17226532e-03 4.22777097e-05 9.99980950e-01 -3.33492618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.012671610236225116 Centerline is valid? [True, True] Translation: X:198.42, Y:-45.01, Z:-3.34 [[ 8.77089920e-01 4.80297354e-01 5.26535792e-03 1.98419358e+02] [-4.80288402e-01 8.77105723e-01 -2.93284419e-03 -4.50132785e+01] [-6.02691287e-03 4.34777363e-05 9.99981837e-01 -3.33668025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.013124235934508429 Centerline is valid? [True, True] Translation: X:198.47, Y:-45.05, Z:-3.34 [[ 8.77974969e-01 4.78691858e-01 3.74947267e-03 1.98472162e+02] [-4.78687302e-01 8.77982975e-01 -2.08883442e-03 -4.50468508e+01] [-4.29188119e-03 3.91193791e-05 9.99990789e-01 -3.33884215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.013380060579606976 Centerline is valid? [True, True] Translation: X:198.53, Y:-45.08, Z:-3.34 [[ 8.78815898e-01 4.77147221e-01 3.62581167e-03 1.98525350e+02] [-4.77142943e-01 8.78823377e-01 -2.02094012e-03 -4.50797320e+01] [-4.15073402e-03 4.60038515e-05 9.99991385e-01 -3.33963203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.01338025515205351 Centerline is valid? [True, True] Translation: X:198.58, Y:-45.11, Z:-3.34 [[ 8.79549785e-01 4.75779052e-01 5.14476017e-03 1.98578434e+02] [-4.75770398e-01 8.79564829e-01 -2.87061319e-03 -4.51141177e+01] [-5.89092772e-03 7.71226180e-05 9.99982645e-01 -3.33850366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.013604570841493904 Centerline is valid? [True, True] Translation: X:198.63, Y:-45.15, Z:-3.34 [[ 8.79480008e-01 4.75897730e-01 6.02211222e-03 1.98630247e+02] [-4.75885850e-01 8.79500621e-01 -3.36388151e-03 -4.51461026e+01] [-6.89731501e-03 9.26285504e-05 9.99976209e-01 -3.33909328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.013229191440737285 Centerline is valid? [True, True] Translation: X:198.68, Y:-45.18, Z:-3.34 [[ 8.78194149e-01 4.78252650e-01 7.03133208e-03 1.98684248e+02] [-4.78236497e-01 8.78222292e-01 -3.93170485e-03 -4.51778738e+01] [-8.05542084e-03 9.01605767e-05 9.99967551e-01 -3.34006286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.012149333089370561 Centerline is valid? [True, True] Translation: X:198.74, Y:-45.21, Z:-3.34 [[ 8.74715308e-01 4.84589187e-01 6.81532764e-03 1.98738441e+02] [-4.84574209e-01 8.74741858e-01 -3.81012279e-03 -4.52073425e+01] [-7.80799667e-03 3.02407257e-05 9.99969517e-01 -3.34081115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.012034873513852077 Centerline is valid? [True, True] Translation: X:198.79, Y:-45.24, Z:-3.34 [[ 8.71324697e-01 4.90661843e-01 6.65050395e-03 1.98793288e+02] [-4.90647736e-01 8.71350076e-01 -3.72070965e-03 -4.52363209e+01] [-7.62052738e-03 -2.11085031e-05 9.99970963e-01 -3.34232545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.01299267489136322 Centerline is valid? [True, True] Translation: X:198.85, Y:-45.27, Z:-3.34 [[ 8.65962481e-01 5.00068821e-01 6.33685910e-03 1.98848210e+02] [-5.00056247e-01 8.65985661e-01 -3.54755610e-03 -4.52651641e+01] [-7.26165132e-03 -9.67354970e-05 9.99973629e-01 -3.34306855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.013959921366820997 Centerline is valid? [True, True] Translation: X:198.90, Y:-45.30, Z:-3.34 [[ 8.63468860e-01 5.04360477e-01 6.48361785e-03 1.98902328e+02] [-5.04347442e-01 8.63493191e-01 -3.62858341e-03 -4.52958000e+01] [-7.42867393e-03 -1.36827297e-04 9.99972398e-01 -3.34437944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.01531794093067856 Centerline is valid? [True, True] Translation: X:198.95, Y:-45.33, Z:-3.35 [[ 8.61701915e-01 5.07364457e-01 7.14964271e-03 1.98954475e+02] [-5.07348686e-01 8.61731557e-01 -4.00433875e-03 -4.53283963e+01] [-8.19273191e-03 -1.76815464e-04 9.99966423e-01 -3.34525891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.015029301409917114 Centerline is valid? [True, True] Translation: X:199.01, Y:-45.36, Z:-3.35 [[ 8.61239915e-01 5.08146481e-01 7.27759825e-03 1.99006218e+02] [-5.08130151e-01 8.61270642e-01 -4.07808074e-03 -4.53631790e+01] [-8.34024409e-03 -1.85761188e-04 9.99965202e-01 -3.34569096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.014401061421967312 Centerline is valid? [True, True] Translation: X:199.06, Y:-45.40, Z:-3.35 [[ 8.61818327e-01 5.07168973e-01 6.98597204e-03 1.99056414e+02] [-5.07153877e-01 8.61846625e-01 -3.91672635e-03 -4.54011535e+01] [-8.00727851e-03 -1.67456253e-04 9.99967927e-01 -3.34746117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.014733702890927333 Centerline is valid? [True, True] Translation: X:199.11, Y:-45.43, Z:-3.35 [[ 8.62212464e-01 5.06508306e-01 6.24518015e-03 1.99109032e+02] [-5.06496211e-01 8.62235070e-01 -3.50320323e-03 -4.54330610e+01] [-7.15921488e-03 -1.42654591e-04 9.99974362e-01 -3.34949043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.014147999683138303 Centerline is valid? [True, True] Translation: X:199.16, Y:-45.47, Z:-3.35 [[ 8.62878699e-01 5.05375457e-01 5.99985163e-03 1.99158795e+02] [-5.05364257e-01 8.62899549e-01 -3.36705850e-03 -4.54705752e+01] [-6.87889799e-03 -1.26747498e-04 9.99976332e-01 -3.34957680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.014820101027945063 Centerline is valid? [True, True] Translation: X:199.21, Y:-45.50, Z:-3.35 [[ 8.61206118e-01 5.08209079e-01 6.89601288e-03 1.99214183e+02] [-5.08194350e-01 8.61233710e-01 -3.87289827e-03 -4.54984030e+01] [-7.90732082e-03 -1.69151097e-04 9.99968722e-01 -3.35027071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.01525962205912491 Centerline is valid? [True, True] Translation: X:199.27, Y:-45.53, Z:-3.35 [[ 8.60552006e-01 5.09340246e-01 4.77069616e-03 1.99269875e+02] [-5.09333213e-01 8.60565221e-01 -2.67944273e-03 -4.55254317e+01] [-5.47024321e-03 -1.24074188e-04 9.99985030e-01 -3.35400389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.01352217497637517 Centerline is valid? [True, True] Translation: X:199.32, Y:-45.56, Z:-3.36 [[ 8.63833469e-01 5.03761995e-01 3.94845341e-03 1.99321364e+02] [-5.03757105e-01 8.63842490e-01 -2.22092644e-03 -4.55585442e+01] [-4.52966016e-03 -7.05508671e-05 9.99989739e-01 -3.35602493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.012857620139978588 Centerline is valid? [True, True] Translation: X:199.37, Y:-45.59, Z:-3.36 [[ 8.66464306e-01 4.99221802e-01 4.14710071e-03 1.99372433e+02] [-4.99216365e-01 8.66474229e-01 -2.33038187e-03 -4.55920034e+01] [-4.75673333e-03 -5.11078355e-05 9.99988685e-01 -3.35675193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.012083148419104524 Centerline is valid? [True, True] Translation: X:199.42, Y:-45.63, Z:-3.36 [[ 8.70325288e-01 4.92453702e-01 4.82135991e-03 1.99422773e+02] [-4.92446239e-01 8.70338642e-01 -2.71120310e-03 -4.56298383e+01] [-5.53135784e-03 -1.46319350e-05 9.99984702e-01 -3.35619394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.01231914288737398 Centerline is valid? [True, True] Translation: X:199.48, Y:-45.66, Z:-3.36 [[ 8.72935058e-01 4.87818342e-01 4.20117234e-03 1.99476095e+02] [-4.87812617e-01 8.72945168e-01 -2.36322487e-03 -4.56614124e+01] [-4.82021753e-03 1.35569650e-05 9.99988383e-01 -3.35819817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.012536537325870258 Centerline is valid? [True, True] Translation: X:199.53, Y:-45.69, Z:-3.36 [[ 8.73999025e-01 4.85907584e-01 4.41852758e-03 1.99530516e+02] [-4.85901222e-01 8.74010194e-01 -2.48669489e-03 -4.56926222e+01] [-5.07014205e-03 2.64009649e-05 9.99987146e-01 -3.35869808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.012725436390735242 Centerline is valid? [True, True] Translation: X:199.59, Y:-45.72, Z:-3.36 [[ 8.74530610e-01 4.84949848e-01 4.45604617e-03 1.99585101e+02] [-4.84943356e-01 8.74541962e-01 -2.50951854e-03 -4.57238659e+01] [-5.11399000e-03 3.37207951e-05 9.99986923e-01 -3.35866036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.012647035896332004 Centerline is valid? [True, True] Translation: X:199.64, Y:-45.75, Z:-3.36 [[ 8.74267345e-01 4.85429207e-01 3.88525968e-03 1.99640489e+02] [-4.85424273e-01 8.74275977e-01 -2.18872902e-03 -4.57543053e+01] [-4.45926219e-03 2.75349482e-05 9.99990057e-01 -3.35909707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.0127290232962087 Centerline is valid? [True, True] Translation: X:199.70, Y:-45.78, Z:-3.36 [[ 8.73041227e-01 4.87641007e-01 2.29447148e-03 1.99695855e+02] [-4.87639296e-01 8.73044242e-01 -1.29161406e-03 -4.57819439e+01] [-2.63301909e-03 8.75786560e-06 9.99996534e-01 -3.36256932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.012391802192902753 Centerline is valid? [True, True] Translation: X:199.75, Y:-45.81, Z:-3.36 [[ 8.71501722e-01 4.90387641e-01 2.17040493e-03 1.99751310e+02] [-4.90386119e-01 8.71504424e-01 -1.22198881e-03 -4.58108438e+01] [-2.49076571e-03 6.28899938e-07 9.99996898e-01 -3.36269797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.012261978188243282 Centerline is valid? [True, True] Translation: X:199.81, Y:-45.84, Z:-3.36 [[ 8.69346276e-01 4.94196202e-01 2.67700146e-03 1.99807304e+02] [-4.94193897e-01 8.69350398e-01 -1.50938405e-03 -4.58387301e+01] [-3.07318415e-03 -1.07803852e-05 9.99995278e-01 -3.36263611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.012297036258250137 Centerline is valid? [True, True] Translation: X:199.86, Y:-45.87, Z:-3.36 [[ 8.68335404e-01 4.95965996e-01 3.36993614e-03 1.99861675e+02] [-4.95962346e-01 8.68341943e-01 -1.90297766e-03 -4.58676881e+01] [-3.87006910e-03 -1.89385588e-05 9.99992511e-01 -3.36348841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.012136746771890097 Centerline is valid? [True, True] Translation: X:199.92, Y:-45.90, Z:-3.36 [[ 8.67627840e-01 4.97191806e-01 4.71589130e-03 1.99916224e+02] [-4.97184655e-01 8.67640656e-01 -2.66679386e-03 -4.58974993e+01] [-5.41760708e-03 -3.08841937e-05 9.99985324e-01 -3.36267240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.012029130348331932 Centerline is valid? [True, True] Translation: X:199.97, Y:-45.93, Z:-3.36 [[ 8.67446148e-01 4.97507586e-01 4.83548030e-03 1.99970760e+02] [-4.97500066e-01 8.67459625e-01 -2.73556656e-03 -4.59291670e+01] [-5.55554904e-03 -3.26950920e-05 9.99984567e-01 -3.36239147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.012011503864190141 Centerline is valid? [True, True] Translation: X:200.03, Y:-45.96, Z:-3.36 [[ 8.66821062e-01 4.98597133e-01 4.70583896e-03 2.00025350e+02] [-4.98590018e-01 8.66833835e-01 -2.66381151e-03 -4.59601002e+01] [-5.40734922e-03 -3.72364072e-05 9.99985379e-01 -3.36227538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.012329555178514409 Centerline is valid? [True, True] Translation: X:200.08, Y:-45.99, Z:-3.37 [[ 8.65604312e-01 5.00716794e-01 3.44490039e-03 2.00080585e+02] [-5.00712996e-01 8.65611166e-01 -1.95045934e-03 -4.59883067e+01] [-3.95857199e-03 -3.65803834e-05 9.99992164e-01 -3.36508089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.012668880734369992 Centerline is valid? [True, True] Translation: X:200.14, Y:-46.02, Z:-3.37 [[ 8.64400159e-01 5.02803653e-01 9.23515759e-04 2.00135548e+02] [-5.02803384e-01 8.64400652e-01 -5.19820582e-04 -4.60177600e+01] [-1.05965531e-03 -1.50138554e-05 9.99999438e-01 -3.36868258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.013486192459324418 Centerline is valid? [True, True] Translation: X:200.19, Y:-46.05, Z:-3.37 [[ 8.63184749e-01 5.04884285e-01 -1.98708862e-03 2.00188599e+02] [-5.04883023e-01 8.63187036e-01 1.12924963e-03 -4.60473805e+01] [ 2.28536953e-03 2.84962468e-05 9.99997388e-01 -3.37332809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.013141559924958966 Centerline is valid? [True, True] Translation: X:200.24, Y:-46.08, Z:-3.37 [[ 8.63017645e-01 5.05169056e-01 -2.18375522e-03 2.00241699e+02] [-5.05167520e-01 8.63020407e-01 1.24617949e-03 -4.60806757e+01] [ 2.51415663e-03 2.76873222e-05 9.99996839e-01 -3.37336179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.012921234585129292 Centerline is valid? [True, True] Translation: X:200.29, Y:-46.11, Z:-3.37 [[ 8.64158276e-01 5.03219250e-01 -9.27359304e-04 2.00292296e+02] [-5.03218971e-01 8.64158774e-01 5.29738611e-04 -4.61148376e+01] [ 1.06796035e-03 8.88678954e-06 9.99999430e-01 -3.37301068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.012236834312999318 Centerline is valid? [True, True] Translation: X:200.34, Y:-46.15, Z:-3.37 [[ 8.66370773e-01 4.99397227e-01 2.02317997e-03 2.00342554e+02] [-4.99395905e-01 8.66373135e-01 -1.14924811e-03 -4.61511979e+01] [-2.32676009e-03 -1.46928137e-05 9.99997293e-01 -3.37114515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.011743993695626146 Centerline is valid? [True, True] Translation: X:200.39, Y:-46.19, Z:-3.37 [[ 8.67688099e-01 4.97092118e-01 4.09743509e-03 2.00394656e+02] [-4.97086675e-01 8.67697774e-01 -2.32617985e-03 -4.61850143e+01] [-4.71166097e-03 -1.83818143e-05 9.99988900e-01 -3.36869419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.011711544453505513 Centerline is valid? [True, True] Translation: X:200.45, Y:-46.22, Z:-3.37 [[ 8.68109438e-01 4.96350260e-01 4.73524156e-03 2.00447455e+02] [-4.96342967e-01 8.68122353e-01 -2.69078129e-03 -4.62154029e+01] [-5.44633904e-03 -1.44112059e-05 9.99985168e-01 -3.36992652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.011737311087143161 Centerline is valid? [True, True] Translation: X:200.50, Y:-46.25, Z:-3.37 [[ 8.68217983e-01 4.96170513e-01 3.51512206e-03 2.00501108e+02] [-4.96166493e-01 8.68225099e-01 -1.99717052e-03 -4.62465452e+01] [-4.04285432e-03 -1.01064211e-05 9.99991828e-01 -3.37127291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.0118524341124034 Centerline is valid? [True, True] Translation: X:200.56, Y:-46.28, Z:-3.37 [[ 8.67777996e-01 4.96946187e-01 2.41614077e-03 2.00555408e+02] [-4.96944292e-01 8.67781359e-01 -1.37210257e-03 -4.62764675e+01] [-2.77854306e-03 -1.00069455e-05 9.99996140e-01 -3.37352317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.011921546322480294 Centerline is valid? [True, True] Translation: X:200.61, Y:-46.31, Z:-3.38 [[ 8.67167036e-01 4.98014882e-01 1.58399360e-03 2.00610813e+02] [-4.98014072e-01 8.67168482e-01 -8.98502332e-04 -4.63051412e+01] [-1.82105686e-03 -9.69949886e-06 9.99998342e-01 -3.37570168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.01220698002159029 Centerline is valid? [True, True] Translation: X:200.67, Y:-46.33, Z:-3.38 [[ 8.65638201e-01 5.00669255e-01 -8.95565858e-04 2.00666923e+02] [-5.00668990e-01 8.65638664e-01 5.15322864e-04 -4.63314682e+01] [ 1.03324275e-03 2.29889681e-06 9.99999466e-01 -3.37937873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.012438573115538825 Centerline is valid? [True, True] Translation: X:200.72, Y:-46.36, Z:-3.38 [[ 8.64686504e-01 5.02307799e-01 -2.03079574e-03 2.00722002e+02] [-5.02306452e-01 8.64688889e-01 1.16355236e-03 -4.63606995e+01] [ 2.34046794e-03 1.39737792e-05 9.99997261e-01 -3.38096834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.012517912866382546 Centerline is valid? [True, True] Translation: X:200.78, Y:-46.39, Z:-3.38 [[ 8.64112985e-01 5.03295882e-01 -1.41549440e-03 2.00776376e+02] [-5.03295225e-01 8.64114145e-01 8.13538690e-04 -4.63915787e+01] [ 1.63259941e-03 9.42222721e-06 9.99998667e-01 -3.38168303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.01243428103501516 Centerline is valid? [True, True] Translation: X:200.83, Y:-46.42, Z:-3.38 [[ 8.63819880e-01 5.03800010e-01 -8.74732318e-04 2.00831299e+02] [-5.03799757e-01 8.63820323e-01 5.05054617e-04 -4.64230416e+01] [ 1.01005807e-03 4.41370977e-06 9.99999490e-01 -3.38178430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.011970149734357591 Centerline is valid? [True, True] Translation: X:200.88, Y:-46.46, Z:-3.38 [[ 8.63468160e-01 5.04400420e-01 1.71824848e-03 2.00884339e+02] [-5.04399473e-01 8.63469870e-01 -9.77819671e-04 -4.64554476e+01] [-1.97686844e-03 -2.23674750e-05 9.99998046e-01 -3.37870987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.012289224336780608 Centerline is valid? [True, True] Translation: X:200.94, Y:-46.49, Z:-3.38 [[ 8.62838002e-01 5.05462641e-01 4.25447460e-03 2.00937081e+02] [-5.05456804e-01 8.62848490e-01 -2.42974768e-03 -4.64861069e+01] [-4.89911366e-03 -5.39745044e-05 9.99987998e-01 -3.37784797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.012143376498918567 Centerline is valid? [True, True] Translation: X:200.99, Y:-46.52, Z:-3.38 [[ 8.62448037e-01 5.06121911e-01 4.89855787e-03 2.00991546e+02] [-5.06114175e-01 8.62461945e-01 -2.79908935e-03 -4.65182311e+01] [-5.64150020e-03 -6.51604573e-05 9.99984084e-01 -3.37805386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.012865777806920121 Centerline is valid? [True, True] Translation: X:201.05, Y:-46.55, Z:-3.38 [[ 8.61857067e-01 5.07129665e-01 4.67967777e-03 2.01045391e+02] [-5.07122602e-01 8.61869769e-01 -2.67738818e-03 -4.65464335e+01] [-5.39105577e-03 -6.56444423e-05 9.99985466e-01 -3.38118444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.01313234098501242 Centerline is valid? [True, True] Translation: X:201.10, Y:-46.58, Z:-3.38 [[ 8.60449040e-01 5.09527230e-01 3.07439406e-03 2.01098781e+02] [-5.09524202e-01 8.60454530e-01 -1.75736982e-03 -4.65771426e+01] [-3.54080407e-03 -5.43510044e-05 9.99993730e-01 -3.38280246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.013102371061030809 Centerline is valid? [True, True] Translation: X:201.15, Y:-46.61, Z:-3.38 [[ 8.59693213e-01 5.10807985e-01 1.66792970e-03 2.01152691e+02] [-5.10807100e-01 8.59694830e-01 -9.51630865e-04 -4.66087210e+01] [-1.92001118e-03 -3.38797365e-05 9.99998156e-01 -3.38444288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.013602371283512084 Centerline is valid? [True, True] Translation: X:201.21, Y:-46.64, Z:-3.39 [[ 8.58897512e-01 5.12147301e-01 4.54619687e-04 2.01208095e+02] [-5.12147237e-01 8.58897632e-01 -2.56244850e-04 -4.66377308e+01] [-5.21706881e-04 -1.27441527e-05 9.99999864e-01 -3.38666893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.013651050471165943 Centerline is valid? [True, True] Translation: X:201.26, Y:-46.67, Z:-3.39 [[ 8.59262778e-01 5.11532793e-01 1.29613817e-03 2.01262320e+02] [-5.11532257e-01 8.59263755e-01 -7.41150240e-04 -4.66666428e+01] [-1.49284721e-03 -2.61736716e-05 9.99998885e-01 -3.38716819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.011668971976326568 Centerline is valid? [True, True] Translation: X:201.31, Y:-46.70, Z:-3.38 [[ 8.62188481e-01 5.06579672e-01 2.83887385e-03 2.01313099e+02] [-5.06577056e-01 8.62193154e-01 -1.62839356e-03 -4.67015134e+01] [-3.27256868e-03 -3.41261930e-05 9.99994645e-01 -3.38464798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.010990548949844076 Centerline is valid? [True, True] Translation: X:201.36, Y:-46.74, Z:-3.38 [[ 8.65217851e-01 5.01383835e-01 3.51012914e-03 2.01364666e+02] [-5.01379803e-01 8.65224970e-01 -2.01075936e-03 -4.67365881e+01] [-4.04521362e-03 -2.01629624e-05 9.99991818e-01 -3.38459331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.011420024852929674 Centerline is valid? [True, True] Translation: X:201.41, Y:-46.77, Z:-3.39 [[ 8.70370200e-01 4.92386731e-01 3.31989575e-03 2.01414362e+02] [-4.92383054e-01 8.70376532e-01 -1.90294612e-03 -4.67731358e+01] [-3.82654477e-03 2.16071935e-05 9.99992679e-01 -3.38595046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.012737974134467539 Centerline is valid? [True, True] Translation: X:201.47, Y:-46.81, Z:-3.39 [[ 8.73881954e-01 4.86130676e-01 2.70112799e-03 2.01467068e+02] [-4.86128204e-01 8.73886128e-01 -1.55069330e-03 -4.68059114e+01] [-3.11431786e-03 4.20283894e-05 9.99995150e-01 -3.38744688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.014491903586577455 Centerline is valid? [True, True] Translation: X:201.52, Y:-46.84, Z:-3.39 [[ 8.76250492e-01 4.81852778e-01 1.72495302e-03 2.01518669e+02] [-4.81851762e-01 8.76252189e-01 -9.90537302e-04 -4.68377248e+01] [-1.98878701e-03 3.67871479e-05 9.99998022e-01 -3.38950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.014022121786798793 Centerline is valid? [True, True] Translation: X:201.57, Y:-46.87, Z:-3.39 [[ 8.76998123e-01 4.80491531e-01 1.47683333e-03 2.01573437e+02] [-4.80490790e-01 8.76999366e-01 -8.44522168e-04 -4.68679481e+01] [-1.70096765e-03 3.10395413e-05 9.99998553e-01 -3.38896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.013507666162367695 Centerline is valid? [True, True] Translation: X:201.63, Y:-46.90, Z:-3.39 [[ 8.77170150e-01 4.80175578e-01 1.98550904e-03 2.01629574e+02] [-4.80174234e-01 8.77172396e-01 -1.13694386e-03 -4.68975104e+01] [-2.28756639e-03 4.39029380e-05 9.99997383e-01 -3.38821548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.013744228691171997 Centerline is valid? [True, True] Translation: X:201.68, Y:-46.93, Z:-3.39 [[ 8.76444499e-01 4.81496463e-01 2.48931525e-03 2.01683532e+02] [-4.81494347e-01 8.76448032e-01 -1.42863659e-03 -4.69256182e+01] [-2.86963892e-03 5.35294633e-05 9.99995881e-01 -3.38916918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.013291266298806231 Centerline is valid? [True, True] Translation: X:201.74, Y:-46.96, Z:-3.39 [[ 8.75202533e-01 4.83749594e-01 2.61842139e-03 2.01738385e+02] [-4.83747260e-01 8.75206449e-01 -1.50356547e-03 -4.69550642e+01] [-3.01900847e-03 4.92701337e-05 9.99995442e-01 -3.38976953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.0122370596681066 Centerline is valid? [True, True] Translation: X:201.80, Y:-46.98, Z:-3.39 [[ 8.72729089e-01 4.88197345e-01 2.70004946e-03 2.01795566e+02] [-4.88194874e-01 8.72733264e-01 -1.55380498e-03 -4.69814900e+01] [-3.11498644e-03 3.79005032e-05 9.99995148e-01 -3.39001807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.011375300999611329 Centerline is valid? [True, True] Translation: X:201.85, Y:-47.01, Z:-3.39 [[ 8.70994347e-01 4.91281743e-01 3.33113373e-03 2.01851582e+02] [-4.91278009e-01 8.71000717e-01 -1.91549482e-03 -4.70084854e+01] [-3.84246750e-03 3.18724141e-05 9.99992617e-01 -3.39013079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.010960041785545879 Centerline is valid? [True, True] Translation: X:201.91, Y:-47.03, Z:-3.39 [[ 8.69288968e-01 4.94291944e-01 3.48781215e-03 2.01907428e+02] [-4.94287870e-01 8.69295965e-01 -2.00698458e-03 -4.70349088e+01] [-4.02397733e-03 2.06663155e-05 9.99991904e-01 -3.39142471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.010752472501602979 Centerline is valid? [True, True] Translation: X:201.96, Y:-47.06, Z:-3.39 [[ 8.69396954e-01 4.94104059e-01 3.18031671e-03 2.01962432e+02] [-4.94100671e-01 8.69402771e-01 -1.83006222e-03 -4.70648363e+01] [-3.66921733e-03 1.96539058e-05 9.99993268e-01 -3.39194439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.01134036018808741 Centerline is valid? [True, True] Translation: X:202.02, Y:-47.10, Z:-3.39 [[ 8.71274587e-01 4.90784395e-01 3.35725519e-03 2.02016281e+02] [-4.90780586e-01 8.71281055e-01 -1.93394596e-03 -4.70955682e+01] [-3.87426334e-03 3.73222997e-05 9.99992494e-01 -3.39290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.012368296142919196 Centerline is valid? [True, True] Translation: X:202.07, Y:-47.13, Z:-3.39 [[ 8.73673193e-01 4.86501979e-01 3.31294257e-03 2.02070045e+02] [-4.86498235e-01 8.73679473e-01 -1.90944873e-03 -4.71273406e+01] [-3.82340051e-03 5.64934550e-05 9.99992689e-01 -3.39401576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.013768433563052294 Centerline is valid? [True, True] Translation: X:202.12, Y:-47.16, Z:-3.40 [[ 8.75015011e-01 4.84089579e-01 2.45143807e-03 2.02121873e+02] [-4.84087511e-01 8.75018444e-01 -1.41575676e-03 -4.71587902e+01] [-2.83040662e-03 5.20978600e-05 9.99995993e-01 -3.39664059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.014771782591499609 Centerline is valid? [True, True] Translation: X:202.18, Y:-47.19, Z:-3.40 [[ 8.75900982e-01 4.82488233e-01 1.60444003e-03 2.02175238e+02] [-4.82487351e-01 8.75902451e-01 -9.23129281e-04 -4.71898867e+01] [-1.85073197e-03 3.44478214e-05 9.99998287e-01 -3.39851894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.013387284176188547 Centerline is valid? [True, True] Translation: X:202.23, Y:-47.22, Z:-3.40 [[ 8.74946226e-01 4.84219831e-01 5.06962565e-04 2.02231345e+02] [-4.84219745e-01 8.74946373e-01 -2.88673884e-04 -4.72175546e+01] [-5.83346677e-04 7.09284172e-06 9.99999830e-01 -3.39899532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.012761761536292136 Centerline is valid? [True, True] Translation: X:202.29, Y:-47.25, Z:-3.40 [[ 8.73386957e-01 4.87026920e-01 5.53482767e-05 2.02286498e+02] [-4.87026919e-01 8.73386958e-01 -2.74622970e-05 -4.72463370e+01] [-6.17153411e-05 -2.97088873e-06 9.99999998e-01 -3.40006221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.011712819665292612 Centerline is valid? [True, True] Translation: X:202.34, Y:-47.27, Z:-3.40 [[ 8.70461179e-01 4.92237012e-01 2.44086986e-04 2.02342746e+02] [-4.92236993e-01 8.70461214e-01 -1.36756242e-04 -4.72727146e+01] [-2.79784738e-04 -1.10764369e-06 9.99999961e-01 -3.40103521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.010743600928312676 Centerline is valid? [True, True] Translation: X:202.40, Y:-47.30, Z:-3.40 [[ 8.66175417e-01 4.99735753e-01 2.07959958e-03 2.02399796e+02] [-4.99734311e-01 8.66177913e-01 -1.20034719e-03 -4.72987566e+01] [-2.40115963e-03 4.63963471e-07 9.99997117e-01 -3.40072030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.010727389383653889 Centerline is valid? [True, True] Translation: X:202.46, Y:-47.33, Z:-3.40 [[ 8.63086771e-01 5.05045055e-01 3.27375387e-03 2.02455111e+02] [-5.05041507e-01 8.63092980e-01 -1.89329947e-03 -4.73267721e+01] [-3.78175552e-03 -1.92998610e-05 9.99992849e-01 -3.40033259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.011571569184147678 Centerline is valid? [True, True] Translation: X:202.51, Y:-47.35, Z:-3.40 [[ 8.59215980e-01 5.11597141e-01 4.03314358e-03 2.02511687e+02] [-5.11591816e-01 8.59225443e-01 -2.33490786e-03 -4.73535331e+01] [-4.65991177e-03 -5.71331011e-05 9.99989141e-01 -3.40172484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.011642553782027542 Centerline is valid? [True, True] Translation: X:202.57, Y:-47.38, Z:-3.40 [[ 8.58143096e-01 5.13392394e-01 4.32159132e-03 2.02565371e+02] [-5.13386293e-01 8.58153975e-01 -2.50381379e-03 -4.73837520e+01] [-4.99402973e-03 -7.00152303e-05 9.99987527e-01 -3.40268269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.012333844553507549 Centerline is valid? [True, True] Translation: X:202.62, Y:-47.41, Z:-3.40 [[ 8.55935547e-01 5.17066071e-01 4.12524842e-03 2.02619981e+02] [-5.17060551e-01 8.55945483e-01 -2.39086956e-03 -4.74140352e+01] [-4.76722528e-03 -8.65729766e-05 9.99988633e-01 -3.40438895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.013178850730374446 Centerline is valid? [True, True] Translation: X:202.67, Y:-47.44, Z:-3.41 [[ 8.54727158e-01 5.19063827e-01 3.77222357e-03 2.02672959e+02] [-5.19059225e-01 8.54735477e-01 -2.18743410e-03 -4.74448074e+01] [-4.35967122e-03 -8.83481147e-05 9.99990493e-01 -3.40674070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.013406051656814357 Centerline is valid? [True, True] Translation: X:202.73, Y:-47.48, Z:-3.41 [[ 8.54344902e-01 5.19692638e-01 3.78822365e-03 2.02727045e+02] [-5.19688001e-01 8.54353295e-01 -2.19720149e-03 -4.74776839e+01] [-4.37835079e-03 -9.15264870e-05 9.99990411e-01 -3.40863087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.013930046378153984 Centerline is valid? [True, True] Translation: X:202.78, Y:-47.51, Z:-3.41 [[ 8.54866863e-01 5.18834598e-01 3.64792794e-03 2.02778215e+02] [-5.18830282e-01 8.54874642e-01 -2.11780130e-03 -4.75115328e+01] [-4.21730968e-03 -8.22173315e-05 9.99991104e-01 -3.41104276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.012655901159103462 Centerline is valid? [True, True] Translation: X:202.83, Y:-47.55, Z:-3.41 [[ 8.56221686e-01 5.16589503e-01 4.43957030e-03 2.02827507e+02] [-5.16583070e-01 8.56233192e-01 -2.57943736e-03 -4.75509131e+01] [-5.13381771e-03 -8.48366495e-05 9.99986818e-01 -3.41055900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.011968635714371177 Centerline is valid? [True, True] Translation: X:202.88, Y:-47.59, Z:-3.41 [[ 8.57050684e-01 5.15206295e-01 5.15738421e-03 2.02878208e+02] [-5.15197575e-01 8.57066197e-01 -2.99884831e-03 -4.75869142e+01] [-5.96524520e-03 -8.69068390e-05 9.99982204e-01 -3.41066745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.01193160457398537 Centerline is valid? [True, True] Translation: X:202.93, Y:-47.62, Z:-3.41 [[ 8.57528821e-01 5.14397101e-01 6.32007390e-03 2.02928340e+02] [-5.14383961e-01 8.57552105e-01 -3.67810386e-03 -4.76231910e+01] [-7.31179864e-03 -9.68645772e-05 9.99973264e-01 -3.41100713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.011808649495683417 Centerline is valid? [True, True] Translation: X:202.98, Y:-47.66, Z:-3.41 [[ 8.57455539e-01 5.14511471e-01 6.92421473e-03 2.02979635e+02] [-5.14495683e-01 8.57483489e-01 -4.03206039e-03 -4.76605751e+01] [-8.01194113e-03 -1.05166073e-04 9.99967898e-01 -3.41176260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.011783670197802795 Centerline is valid? [True, True] Translation: X:203.03, Y:-47.70, Z:-3.41 [[ 8.57273135e-01 5.14817023e-01 6.79749246e-03 2.03031885e+02] [-5.14801797e-01 8.57300077e-01 -3.96069769e-03 -4.76960786e+01] [-7.86652541e-03 -1.03961611e-04 9.99969053e-01 -3.41315229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.0120558902239989 Centerline is valid? [True, True] Translation: X:203.08, Y:-47.73, Z:-3.41 [[ 8.56597178e-01 5.15938023e-01 7.01652263e-03 2.03083259e+02] [-5.15921815e-01 8.56625906e-01 -4.09117826e-03 -4.77337772e+01] [-8.12132948e-03 -1.15485341e-04 9.99967015e-01 -3.41403213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.012428906570787986 Centerline is valid? [True, True] Translation: X:203.14, Y:-47.77, Z:-3.41 [[ 8.55900511e-01 5.17080756e-01 7.86170408e-03 2.03136483e+02] [-5.17060424e-01 8.55936605e-01 -4.58758238e-03 -4.77665452e+01] [-9.10127087e-03 -1.38461943e-04 9.99958573e-01 -3.41465566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.012616209660432058 Centerline is valid? [True, True] Translation: X:203.19, Y:-47.80, Z:-3.42 [[ 8.55254300e-01 5.18138323e-01 8.52999610e-03 2.03190123e+02] [-5.18114404e-01 8.55296821e-01 -4.98113764e-03 -4.78000763e+01] [-9.87659686e-03 -1.59374465e-04 9.99951213e-01 -3.41504536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.012906114388038134 Centerline is valid? [True, True] Translation: X:203.24, Y:-47.83, Z:-3.42 [[ 8.55477435e-01 5.17756106e-01 9.32590588e-03 2.03241640e+02] [-5.17727446e-01 8.55528250e-01 -5.45019687e-03 -4.78328910e+01] [-1.08004487e-02 -1.65757002e-04 9.99941660e-01 -3.41631097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.012079284559771947 Centerline is valid? [True, True] Translation: X:203.29, Y:-47.87, Z:-3.42 [[ 8.57173887e-01 5.14953494e-01 8.70779535e-03 2.03293186e+02] [-5.14928340e-01 8.57218108e-01 -5.09121188e-03 -4.78665622e+01] [-1.00862172e-02 -1.19836720e-04 9.99949126e-01 -3.41822560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.011155871686978354 Centerline is valid? [True, True] Translation: X:203.35, Y:-47.90, Z:-3.42 [[ 8.57978223e-01 5.13620164e-01 8.22781247e-03 2.03346833e+02] [-5.13597613e-01 8.58017668e-01 -4.81395538e-03 -4.78988661e+01] [-9.53215302e-03 -9.55159634e-05 9.99954563e-01 -3.41957062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.011001268629589481 Centerline is valid? [True, True] Translation: X:203.40, Y:-47.93, Z:-3.42 [[ 8.57796886e-01 5.13922660e-01 8.24627557e-03 2.03402877e+02] [-5.13900027e-01 8.57836517e-01 -4.82421366e-03 -4.79271092e+01] [-9.55322903e-03 -9.95657818e-05 9.99954362e-01 -3.42147613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.012110966513316297 Centerline is valid? [True, True] Translation: X:203.46, Y:-47.95, Z:-3.42 [[ 8.57349861e-01 5.14668881e-01 8.19500897e-03 2.03458804e+02] [-5.14646531e-01 8.57389020e-01 -4.79748618e-03 -4.79549222e+01] [-9.49542755e-03 -1.04408828e-04 9.99954912e-01 -3.42381041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.011194720388454545 Centerline is valid? [True, True] Translation: X:203.51, Y:-47.99, Z:-3.42 [[ 8.58015825e-01 5.13550339e-01 8.65410935e-03 2.03510978e+02] [-5.13525322e-01 8.58059462e-01 -5.06980455e-03 -4.79883619e+01] [-1.00293403e-02 -9.41317534e-05 9.99949700e-01 -3.42441228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.010252156760516938 Centerline is valid? [True, True] Translation: X:203.56, Y:-48.02, Z:-3.43 [[ 8.60263467e-01 5.09772741e-01 8.86114497e-03 2.03562274e+02] [-5.09746283e-01 8.60309102e-01 -5.19387535e-03 -4.80243679e+01] [-1.02710197e-02 -4.88344968e-05 9.99947250e-01 -3.42565903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.010096956057654538 Centerline is valid? [True, True] Translation: X:203.61, Y:-48.06, Z:-3.43 [[ 8.62081544e-01 5.06688584e-01 9.06032795e-03 2.03614167e+02] [-5.06660721e-01 8.62129154e-01 -5.31365428e-03 -4.80587969e+01] [-1.05035408e-02 -9.70900545e-06 9.99944836e-01 -3.42578746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.010039299273707359 Centerline is valid? [True, True] Translation: X:203.67, Y:-48.09, Z:-3.43 [[ 8.62562561e-01 5.05857301e-01 9.70668547e-03 2.03667841e+02] [-5.05825232e-01 8.62617175e-01 -5.69599500e-03 -4.80917293e+01] [-1.12545143e-02 3.26560878e-06 9.99936666e-01 -3.42539734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.010044106945952492 Centerline is valid? [True, True] Translation: X:203.72, Y:-48.12, Z:-3.43 [[ 8.62552349e-01 5.05888010e-01 8.98698459e-03 2.03721574e+02] [-5.05860490e-01 8.62599166e-01 -5.27670863e-03 -4.81236125e+01] [-1.04215890e-02 5.27700353e-06 9.99945694e-01 -3.42700057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.010081528647933697 Centerline is valid? [True, True] Translation: X:203.78, Y:-48.16, Z:-3.43 [[ 8.62528861e-01 5.05948203e-01 7.77046127e-03 2.03775596e+02] [-5.05927612e-01 8.62563862e-01 -4.56469140e-03 -4.81554188e+01] [-9.01201650e-03 5.88716013e-06 9.99959391e-01 -3.42928925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.010164362354310133 Centerline is valid? [True, True] Translation: X:203.83, Y:-48.19, Z:-3.43 [[ 8.63025710e-01 5.05122209e-01 6.17883644e-03 2.03828587e+02] [-5.05109156e-01 8.63047828e-01 -3.63135702e-03 -4.81868749e+01] [-7.16691045e-03 1.29676062e-05 9.99974317e-01 -3.43215202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.010110900049621981 Centerline is valid? [True, True] Translation: X:203.88, Y:-48.22, Z:-3.43 [[ 8.63230645e-01 5.04767490e-01 6.52949705e-03 2.03883375e+02] [-5.04752888e-01 8.63255339e-01 -3.83947334e-03 -4.82176916e+01] [-7.57466452e-03 1.85685551e-05 9.99971312e-01 -3.43184412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.010432441352104043 Centerline is valid? [True, True] Translation: X:203.94, Y:-48.25, Z:-3.43 [[ 8.64688066e-01 5.02259618e-01 7.05868874e-03 2.03936151e+02] [-5.02242442e-01 8.64716875e-01 -4.15400493e-03 -4.82504363e+01] [-8.19015620e-03 4.67454189e-05 9.99966459e-01 -3.43187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.010932302674346734 Centerline is valid? [True, True] Translation: X:203.99, Y:-48.28, Z:-3.43 [[ 8.66211410e-01 4.99630560e-01 6.86275298e-03 2.03988749e+02] [-4.99614221e-01 8.66238592e-01 -4.04120376e-03 -4.82831839e+01] [-7.96389037e-03 7.18078178e-05 9.99968285e-01 -3.43299242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.011353652764488959 Centerline is valid? [True, True] Translation: X:204.04, Y:-48.31, Z:-3.43 [[ 8.67304213e-01 4.97748428e-01 5.46846427e-03 2.04042968e+02] [-4.97738011e-01 8.67321450e-01 -3.22100452e-03 -4.83135194e+01] [-6.34616629e-03 7.17282589e-05 9.99979860e-01 -3.43463492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.011154250565519122 Centerline is valid? [True, True] Translation: X:204.10, Y:-48.34, Z:-3.44 [[ 8.66542390e-01 4.99083714e-01 4.44211521e-03 2.04098887e+02] [-4.99076858e-01 8.66553774e-01 -2.61662898e-03 -4.83423413e+01] [-5.15524861e-03 5.04630249e-05 9.99986710e-01 -3.43628621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.01130298979837768 Centerline is valid? [True, True] Translation: X:204.15, Y:-48.37, Z:-3.44 [[ 8.66366999e-01 4.99398734e-01 3.02121489e-03 2.04152548e+02] [-4.99395564e-01 8.66372266e-01 -1.77966470e-03 -4.83726784e+01] [-3.50625909e-03 3.30614530e-05 9.99993853e-01 -3.43771434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.011648041280265796 Centerline is valid? [True, True] Translation: X:204.21, Y:-48.40, Z:-3.44 [[ 8.66338890e-01 4.99450812e-01 2.41144232e-03 2.04205945e+02] [-4.99448793e-01 8.66342245e-01 -1.42013293e-03 -4.84039554e+01] [-2.79842090e-03 2.59244273e-05 9.99996084e-01 -3.43936854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.011097156004511359 Centerline is valid? [True, True] Translation: X:204.26, Y:-48.43, Z:-3.44 [[ 8.65999513e-01 5.00037864e-01 2.64173110e-03 2.04260572e+02] [-5.00035441e-01 8.66003542e-01 -1.55675538e-03 -4.84343631e+01] [-3.06618513e-03 2.71902238e-05 9.99995299e-01 -3.43907182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.01065098663824425 Centerline is valid? [True, True] Translation: X:204.32, Y:-48.46, Z:-3.44 [[ 8.64279752e-01 5.02996959e-01 3.81705558e-03 2.04315885e+02] [-5.02991911e-01 8.64288180e-01 -2.25367819e-03 -4.84634845e+01] [-4.43262930e-03 2.78603465e-05 9.99990175e-01 -3.43874636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.01040767901872198 Centerline is valid? [True, True] Translation: X:204.37, Y:-48.49, Z:-3.44 [[ 8.62569104e-01 5.05919648e-01 4.45528566e-03 2.04370608e+02] [-5.05912798e-01 8.62580610e-01 -2.63274488e-03 -4.84935640e+01] [-5.17500039e-03 1.69383602e-05 9.99986609e-01 -3.43840024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.01010135836597384 Centerline is valid? [True, True] Translation: X:204.43, Y:-48.52, Z:-3.44 [[ 8.59514468e-01 5.11079963e-01 5.67017877e-03 2.04425334e+02] [-5.11068958e-01 8.59533171e-01 -3.35392179e-03 -4.85216977e+01] [-6.58782896e-03 -1.51080518e-05 9.99978300e-01 -3.43777389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.010790034450856238 Centerline is valid? [True, True] Translation: X:204.48, Y:-48.55, Z:-3.44 [[ 8.55949852e-01 5.17023108e-01 6.07911849e-03 2.04481163e+02] [-5.17010595e-01 8.55971437e-01 -3.59762187e-03 -4.85495893e+01] [-7.06360543e-03 -6.35847580e-05 9.99975050e-01 -3.43773037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.011325961317601354 Centerline is valid? [True, True] Translation: X:204.54, Y:-48.58, Z:-3.44 [[ 8.53735508e-01 5.20681718e-01 5.12167815e-03 2.04535108e+02] [-5.20672895e-01 8.53750867e-01 -3.03210108e-03 -4.85795747e+01] [-5.95139676e-03 -7.81066360e-05 9.99982287e-01 -3.43893117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.012430172406353981 Centerline is valid? [True, True] Translation: X:204.59, Y:-48.61, Z:-3.44 [[ 8.51733246e-01 5.23965166e-01 3.31399288e-03 2.04589374e+02] [-5.23961490e-01 8.51739690e-01 -1.96373779e-03 -4.86094912e+01] [-3.85158947e-03 -6.38238901e-05 9.99992581e-01 -3.44102960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.012995934977280044 Centerline is valid? [True, True] Translation: X:204.64, Y:-48.64, Z:-3.44 [[ 8.50677189e-01 5.25684583e-01 2.01000277e-03 2.04642197e+02] [-5.25683242e-01 8.50679562e-01 -1.18813415e-03 -4.86411393e+01] [-2.33445208e-03 -4.59061554e-05 9.99997274e-01 -3.44298912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.013151781420345067 Centerline is valid? [True, True] Translation: X:204.70, Y:-48.67, Z:-3.44 [[ 8.50572278e-01 5.25856876e-01 1.16012559e-03 2.04695010e+02] [-5.25856432e-01 8.50573069e-01 -6.84008744e-04 -4.86739958e+01] [-1.34646228e-03 -2.82606269e-05 9.99999093e-01 -3.44447839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.013038244618450509 Centerline is valid? [True, True] Translation: X:204.75, Y:-48.71, Z:-3.45 [[ 8.51180390e-01 5.24871940e-01 1.17918596e-03 2.04746209e+02] [-5.24871480e-01 8.51181206e-01 -6.95753291e-04 -4.87090861e+01] [-1.36888231e-03 -2.67095214e-05 9.99999063e-01 -3.44504997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.012300094027383255 Centerline is valid? [True, True] Translation: X:204.80, Y:-48.75, Z:-3.44 [[ 8.52694154e-01 5.22408265e-01 1.51149847e-03 2.04797218e+02] [-5.22407502e-01 8.52695493e-01 -8.93610369e-04 -4.87455047e+01] [-1.75567738e-03 -2.76418038e-05 9.99998458e-01 -3.44422443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.012126783511558988 Centerline is valid? [True, True] Translation: X:204.85, Y:-48.78, Z:-3.45 [[ 8.53753862e-01 5.20674170e-01 1.65914161e-03 2.04848932e+02] [-5.20673244e-01 8.53755473e-01 -9.82253093e-04 -4.87773025e+01] [-1.92793504e-03 -2.52682722e-05 9.99998141e-01 -3.44566019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.01152020914826855 Centerline is valid? [True, True] Translation: X:204.90, Y:-48.81, Z:-3.45 [[ 8.55084249e-01 5.18486686e-01 1.57574770e-03 2.04902516e+02] [-5.18485847e-01 8.55085701e-01 -9.32783004e-04 -4.88091788e+01] [-1.83103490e-03 -1.93948259e-05 9.99998323e-01 -3.44607634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.011371556612051265 Centerline is valid? [True, True] Translation: X:204.96, Y:-48.84, Z:-3.45 [[ 8.55771064e-01 5.17351560e-01 1.80268216e-03 2.04955873e+02] [-5.17350457e-01 8.55772962e-01 -1.06843795e-03 -4.88401374e+01] [-2.09544469e-03 -1.82801562e-05 9.99997804e-01 -3.44754555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.011166636546351411 Centerline is valid? [True, True] Translation: X:205.01, Y:-48.87, Z:-3.45 [[ 8.56985646e-01 5.15334472e-01 2.44644282e-03 2.05008297e+02] [-5.15332425e-01 8.56989138e-01 -1.45244587e-03 -4.88732764e+01] [-2.84507035e-03 -1.60060474e-05 9.99995953e-01 -3.44821771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.011107999679905597 Centerline is valid? [True, True] Translation: X:205.06, Y:-48.91, Z:-3.45 [[ 8.58005193e-01 5.13637204e-01 1.97770359e-03 2.05061154e+02] [-5.13635863e-01 8.58007473e-01 -1.17334719e-03 -4.89082529e+01] [-2.29955923e-03 -9.08150507e-06 9.99997356e-01 -3.44887851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.01127496979570736 Centerline is valid? [True, True] Translation: X:205.12, Y:-48.94, Z:-3.45 [[ 8.57668483e-01 5.14202210e-01 9.27890304e-04 2.05115324e+02] [-5.14201917e-01 8.57668985e-01 -5.48746234e-04 -4.89383459e+01] [-1.07798926e-03 -6.48062345e-06 9.99999419e-01 -3.45202092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.011253873698116918 Centerline is valid? [True, True] Translation: X:205.17, Y:-48.97, Z:-3.45 [[ 8.56911184e-01 5.15461724e-01 1.56024100e-03 2.05170412e+02] [-5.15460893e-01 8.56912604e-01 -9.25757375e-04 -4.89682925e+01] [-1.81418267e-03 -1.09513711e-05 9.99998354e-01 -3.45222543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.011126836695090231 Centerline is valid? [True, True] Translation: X:205.22, Y:-49.00, Z:-3.45 [[ 8.56740275e-01 5.15737581e-01 3.29360101e-03 2.05224211e+02] [-5.15733851e-01 8.56746606e-01 -1.96171336e-03 -4.89991207e+01] [-3.83351080e-03 -1.79426866e-05 9.99992652e-01 -3.45140802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.011020990932745682 Centerline is valid? [True, True] Translation: X:205.28, Y:-49.03, Z:-3.45 [[ 8.56804079e-01 5.15616899e-01 5.09730133e-03 2.05276733e+02] [-5.15607936e-01 8.56819241e-01 -3.04037308e-03 -4.90301633e+01] [-5.93513360e-03 -2.32049594e-05 9.99982387e-01 -3.45053087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.010941831191890555 Centerline is valid? [True, True] Translation: X:205.33, Y:-49.06, Z:-3.45 [[ 8.57382262e-01 5.14652476e-01 5.33714695e-03 2.05329760e+02] [-5.14642622e-01 8.57398874e-01 -3.18487727e-03 -4.90623443e+01] [-6.21516875e-03 -1.60660209e-05 9.99980686e-01 -3.45246785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.010985252024502559 Centerline is valid? [True, True] Translation: X:205.38, Y:-49.10, Z:-3.45 [[ 8.57785348e-01 5.13981180e-01 5.25775015e-03 2.05382374e+02] [-5.13971593e-01 8.57801461e-01 -3.13924353e-03 -4.90951853e+01] [-6.12361785e-03 -9.53712214e-06 9.99981250e-01 -3.45440947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.01083446558320675 Centerline is valid? [True, True] Translation: X:205.44, Y:-49.13, Z:-3.45 [[ 8.58770153e-01 5.12339933e-01 4.64945746e-03 2.05436019e+02] [-5.12332410e-01 8.58782739e-01 -2.77655351e-03 -4.91284639e+01] [-5.41541306e-03 2.35353621e-06 9.99985337e-01 -3.45456207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.010914793101016047 Centerline is valid? [True, True] Translation: X:205.49, Y:-49.16, Z:-3.46 [[ 8.60129701e-01 5.10049142e-01 5.17400735e-03 2.05489491e+02] [-5.10039768e-01 8.60145262e-01 -3.09234428e-03 -4.91625140e+01] [-6.02764546e-03 2.08676531e-05 9.99981833e-01 -3.45597784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.01121259446549701 Centerline is valid? [True, True] Translation: X:205.54, Y:-49.20, Z:-3.46 [[ 8.61580911e-01 5.07583376e-01 6.11971353e-03 2.05541476e+02] [-5.07570174e-01 8.61602643e-01 -3.66113974e-03 -4.91970978e+01] [-7.13109502e-03 4.81840483e-05 9.99974572e-01 -3.45736610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.011259982545903812 Centerline is valid? [True, True] Translation: X:205.59, Y:-49.23, Z:-3.46 [[ 8.62130087e-01 5.06645124e-01 6.51399708e-03 2.05594880e+02] [-5.06630121e-01 8.62154693e-01 -3.89947934e-03 -4.92299378e+01] [-7.59172534e-03 6.16713325e-05 9.99971181e-01 -3.45865113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.011331941405933982 Centerline is valid? [True, True] Translation: X:205.65, Y:-49.26, Z:-3.46 [[ 8.62219678e-01 5.06492373e-01 6.53470821e-03 2.05648702e+02] [-5.06477251e-01 8.62244438e-01 -3.91442430e-03 -4.92631081e+01] [-7.61714186e-03 6.54126140e-05 9.99970987e-01 -3.46028659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.011193668702826303 Centerline is valid? [True, True] Translation: X:205.70, Y:-49.30, Z:-3.46 [[ 8.61847902e-01 5.07129870e-01 6.12285286e-03 2.05703098e+02] [-5.07116596e-01 8.61869649e-01 -3.66963960e-03 -4.92950477e+01] [-7.13808489e-03 5.76708873e-05 9.99974522e-01 -3.46170722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.01118940267804418 Centerline is valid? [True, True] Translation: X:205.76, Y:-49.33, Z:-3.46 [[ 8.61082447e-01 5.08438870e-01 5.18985114e-03 2.05755870e+02] [-5.08429348e-01 8.61098086e-01 -3.11190821e-03 -4.93264497e+01] [-6.05118598e-03 4.09369026e-05 9.99981691e-01 -3.46467756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.011113946226353213 Centerline is valid? [True, True] Translation: X:205.81, Y:-49.36, Z:-3.47 [[ 8.60915355e-01 5.08730485e-01 4.24793307e-03 2.05809559e+02] [-5.08724107e-01 8.60925835e-01 -2.54752469e-03 -4.93588021e+01] [-4.95315880e-03 3.21771661e-05 9.99987733e-01 -3.46570399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.011753999483291195 Centerline is valid? [True, True] Translation: X:205.86, Y:-49.39, Z:-3.47 [[ 8.62220965e-01 5.06518598e-01 3.73068573e-03 2.05861254e+02] [-5.06513646e-01 8.62229035e-01 -2.24017882e-03 -4.93918011e+01] [-4.35139779e-03 4.18859141e-05 9.99990532e-01 -3.46726275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.011931549752529523 Centerline is valid? [True, True] Translation: X:205.92, Y:-49.42, Z:-3.47 [[ 8.62566972e-01 5.05926811e-01 4.03499708e-03 2.05915303e+02] [-5.05921017e-01 8.62576408e-01 -2.42187496e-03 -4.94247875e+01] [-4.70578476e-03 4.76395218e-05 9.99988927e-01 -3.46773767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.012532303981312908 Centerline is valid? [True, True] Translation: X:205.97, Y:-49.46, Z:-3.47 [[ 8.64437390e-01 5.02715319e-01 5.03061371e-03 2.05967935e+02] [-5.02706236e-01 8.64452024e-01 -3.02303748e-03 -4.94582740e+01] [-5.86845145e-03 8.43057409e-05 9.99982777e-01 -3.46769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.013202591029403363 Centerline is valid? [True, True] Translation: X:206.02, Y:-49.49, Z:-3.47 [[ 8.65790961e-01 5.00378377e-01 5.24325361e-03 2.06020331e+02] [-5.00368456e-01 8.65806831e-01 -3.15276451e-03 -4.94917204e+01] [-6.11721998e-03 1.06076302e-04 9.99981284e-01 -3.46872996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.01399122504413609 Centerline is valid? [True, True] Translation: X:206.07, Y:-49.53, Z:-3.47 [[ 8.66865608e-01 4.98516186e-01 5.06265699e-03 2.06072860e+02] [-4.98506896e-01 8.66880383e-01 -3.04573787e-03 -4.95250003e+01] [-5.90706766e-03 1.16475993e-04 9.99982546e-01 -3.46997040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.013665228305462677 Centerline is valid? [True, True] Translation: X:206.13, Y:-49.55, Z:-3.47 [[ 8.66116606e-01 4.99809404e-01 5.70838462e-03 2.06127732e+02] [-4.99797603e-01 8.66135408e-01 -3.43670389e-03 -4.95545507e+01] [-6.66193096e-03 1.23549359e-04 9.99977801e-01 -3.47035970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.012880955321994991 Centerline is valid? [True, True] Translation: X:206.18, Y:-49.58, Z:-3.47 [[ 8.64471989e-01 5.02647688e-01 5.78645661e-03 2.06182633e+02] [-5.02635612e-01 8.64491348e-01 -3.48568921e-03 -4.95830845e+01] [-6.75441530e-03 1.04801520e-04 9.99977183e-01 -3.47146580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.011504974456042729 Centerline is valid? [True, True] Translation: X:206.24, Y:-49.61, Z:-3.47 [[ 8.60908861e-01 5.08729197e-01 5.52599654e-03 2.06239139e+02] [-5.08718299e-01 8.60926594e-01 -3.33038002e-03 -4.96091506e+01] [-6.45173893e-03 5.59781114e-05 9.99979186e-01 -3.47281748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.010942809122809694 Centerline is valid? [True, True] Translation: X:206.29, Y:-49.64, Z:-3.47 [[ 8.58389612e-01 5.12969586e-01 5.42944406e-03 2.06294850e+02] [-5.12959139e-01 8.58406782e-01 -3.27391500e-03 -4.96377036e+01] [-6.34009042e-03 2.52116720e-05 9.99979901e-01 -3.47407806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.01081142563059342 Centerline is valid? [True, True] Translation: X:206.35, Y:-49.66, Z:-3.47 [[ 8.54212229e-01 5.19891324e-01 5.87184326e-03 2.06350948e+02] [-5.19879250e-01 8.54232410e-01 -3.54325650e-03 -4.96631414e+01] [-6.85802714e-03 -2.59564421e-05 9.99976483e-01 -3.47499485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.011996281462015408 Centerline is valid? [True, True] Translation: X:206.41, Y:-49.69, Z:-3.48 [[ 8.49948044e-01 5.26834989e-01 5.76336923e-03 2.06407358e+02] [-5.26823497e-01 8.49967581e-01 -3.48063335e-03 -4.96884605e+01] [-6.73239644e-03 -7.79208267e-05 9.99977334e-01 -3.47663779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.012380258406053979 Centerline is valid? [True, True] Translation: X:206.46, Y:-49.72, Z:-3.48 [[ 8.47869140e-01 5.30182609e-01 4.93177377e-03 2.06460919e+02] [-5.30174255e-01 8.47883479e-01 -2.97759586e-03 -4.97187940e+01] [-5.76023904e-03 -9.00878437e-05 9.99983406e-01 -3.47791960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.012796157314201325 Centerline is valid? [True, True] Translation: X:206.51, Y:-49.75, Z:-3.48 [[ 8.46588765e-01 5.32227202e-01 4.65488859e-03 2.06514935e+02] [-5.32219786e-01 8.46601557e-01 -2.81141676e-03 -4.97499517e+01] [-5.43714841e-03 -9.73099631e-05 9.99985214e-01 -3.47911026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.01261351872491471 Centerline is valid? [True, True] Translation: X:206.57, Y:-49.78, Z:-3.48 [[ 8.46601931e-01 5.32198862e-01 5.43520755e-03 2.06567406e+02] [-5.32188733e-01 8.46619371e-01 -3.28530370e-03 -4.97823367e+01] [-6.34998688e-03 -1.11211764e-04 9.99979832e-01 -3.47929463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.012382835164469204 Centerline is valid? [True, True] Translation: X:206.62, Y:-49.82, Z:-3.48 [[ 8.47305418e-01 5.31086031e-01 4.59968174e-03 2.06618874e+02] [-5.31078756e-01 8.47317898e-01 -2.78114548e-03 -4.98164901e+01] [-5.37442018e-03 -8.63136221e-05 9.99985554e-01 -3.48095010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.0118031459163095 Centerline is valid? [True, True] Translation: X:206.67, Y:-49.85, Z:-3.48 [[ 8.48833487e-01 5.28654973e-01 2.37296289e-03 2.06670091e+02] [-5.28653031e-01 8.48836803e-01 -1.43331813e-03 -4.98525800e+01] [-2.77198899e-03 -3.78256043e-05 9.99996157e-01 -3.48435851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.011199981958602936 Centerline is valid? [True, True] Translation: X:206.72, Y:-49.89, Z:-3.49 [[ 8.50730966e-01 5.25601069e-01 5.82768338e-04 2.06721111e+02] [-5.25600953e-01 8.50731166e-01 -3.48574262e-04 -4.98887366e+01] [-6.78990192e-04 -9.76067485e-06 9.99999769e-01 -3.48601650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.010945259817757236 Centerline is valid? [True, True] Translation: X:206.77, Y:-49.93, Z:-3.49 [[ 8.56033655e-01 5.16919661e-01 -6.67449787e-04 2.06769182e+02] [-5.16919498e-01 8.56033915e-01 4.10347745e-04 -4.99302585e+01] [ 7.83476471e-04 -6.25367033e-06 9.99999693e-01 -3.48704817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.012039249082842363 Centerline is valid? [True, True] Translation: X:206.82, Y:-49.97, Z:-3.49 [[ 8.60474840e-01 5.09492929e-01 6.82269718e-05 2.06817727e+02] [-5.09492927e-01 8.60474843e-01 -3.67906225e-05 -4.99693663e+01] [-7.74521551e-05 -3.10375454e-06 9.99999997e-01 -3.48650717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.01395547725952224 Centerline is valid? [True, True] Translation: X:206.87, Y:-50.00, Z:-3.48 [[ 8.64749922e-01 5.02197612e-01 2.26511306e-03 2.06869474e+02] [-5.02195735e-01 8.64752887e-01 -1.37397947e-03 -5.00042950e+01] [-2.64877227e-03 5.06185191e-05 9.99996491e-01 -3.48474486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.017094279988664855 Centerline is valid? [True, True] Translation: X:206.92, Y:-50.04, Z:-3.49 [[ 8.68707993e-01 4.95322656e-01 1.37451221e-03 2.06918808e+02] [-4.95321956e-01 8.68709079e-01 -8.34322178e-04 -5.00393954e+01] [-1.60730991e-03 4.39562700e-05 9.99998707e-01 -3.48539577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.021204179142907065 Centerline is valid? [True, True] Translation: X:206.97, Y:-50.07, Z:-3.49 [[ 8.72758566e-01 4.88152107e-01 8.18777683e-05 2.06967287e+02] [-4.88152104e-01 8.72758569e-01 -4.97084160e-05 -5.00746953e+01] [-9.57247921e-05 3.41464096e-06 9.99999995e-01 -3.48720883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.02372573535335113 Centerline is valid? [True, True] Translation: X:207.02, Y:-50.11, Z:-3.49 [[ 8.74808393e-01 4.84468963e-01 3.16678395e-04 2.07019494e+02] [-4.84468926e-01 8.74808450e-01 -1.89955145e-04 -5.01064787e+01] [-3.69060308e-04 1.27535132e-05 9.99999932e-01 -3.48838875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.02003987796933421 Centerline is valid? [True, True] Translation: X:207.08, Y:-50.13, Z:-3.49 [[ 8.74640458e-01 4.84767070e-01 2.22632617e-03 2.07078464e+02] [-4.84765205e-01 8.74643286e-01 -1.34832356e-03 -5.01286838e+01] [-2.60086410e-03 1.00052876e-04 9.99996613e-01 -3.48603838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.018058766586137052 Centerline is valid? [True, True] Translation: X:207.14, Y:-50.15, Z:-3.49 [[ 8.70860814e-01 4.91515987e-01 3.67118145e-03 2.07135382e+02] [-4.91510945e-01 8.70868541e-01 -2.23055129e-03 -5.01535265e+01] [-4.29346805e-03 1.38073847e-04 9.99990773e-01 -3.48504354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.015953689120534305 Centerline is valid? [True, True] Translation: X:207.19, Y:-50.18, Z:-3.49 [[ 8.67152240e-01 4.98022384e-01 4.54952639e-03 2.07191734e+02] [-4.98014729e-01 8.67164164e-01 -2.76431488e-03 -5.01784946e+01] [-5.32187694e-03 1.31350685e-04 9.99985830e-01 -3.48615384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.012234736813805444 Centerline is valid? [True, True] Translation: X:207.25, Y:-50.20, Z:-3.49 [[ 8.60843863e-01 5.08829051e-01 6.39071340e-03 2.07252535e+02] [-5.08814236e-01 8.60867579e-01 -3.88387138e-03 -5.01955605e+01] [-7.47778456e-03 9.17208843e-05 9.99972037e-01 -3.48688241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.011296249990221087 Centerline is valid? [True, True] Translation: X:207.31, Y:-50.22, Z:-3.49 [[ 8.53769841e-01 5.20595453e-01 7.57848457e-03 2.07312419e+02] [-5.20575093e-01 8.53803475e-01 -4.60422446e-03 -5.02165754e+01] [-8.86747478e-03 -1.42223263e-05 9.99960683e-01 -3.48739660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.013050742944828398 Centerline is valid? [True, True] Translation: X:207.37, Y:-50.24, Z:-3.49 [[ 8.47038419e-01 5.31459258e-01 8.77342220e-03 2.07371914e+02] [-5.31432498e-01 8.47083843e-01 -5.33510796e-03 -5.02382416e+01] [-1.02672167e-02 -1.43440270e-04 9.99947280e-01 -3.48803790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.015304244109468608 Centerline is valid? [True, True] Translation: X:207.43, Y:-50.26, Z:-3.49 [[ 8.43386366e-01 5.37206496e-01 1.04220237e-02 2.07429154e+02] [-5.37169164e-01 8.43450720e-01 -6.33816057e-03 -5.02616161e+01] [-1.21953644e-02 -2.52871550e-04 9.99925602e-01 -3.48958970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.016040210028725847 Centerline is valid? [True, True] Translation: X:207.49, Y:-50.29, Z:-3.49 [[ 8.41518390e-01 5.40076851e-01 1.27981921e-02 2.07485368e+02] [-5.40020813e-01 8.41615629e-01 -7.78813479e-03 -5.02893256e+01] [-1.49773498e-02 -3.57431417e-04 9.99887769e-01 -3.49034397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.015477919751896326 Centerline is valid? [True, True] Translation: X:207.54, Y:-50.32, Z:-3.49 [[ 8.42766285e-01 5.38098716e-01 1.39556945e-02 2.07538825e+02] [-5.38031726e-01 8.42881754e-01 -8.49763799e-03 -5.03212797e+01] [-1.63355684e-02 -3.47083604e-04 9.99866505e-01 -3.49281200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.01475778548126646 Centerline is valid? [True, True] Translation: X:207.59, Y:-50.35, Z:-3.50 [[ 8.44283727e-01 5.35708029e-01 1.42090343e-02 2.07591534e+02] [-5.35638165e-01 8.44403231e-01 -8.65675467e-03 -5.03539345e+01] [-1.66356475e-02 -3.02144000e-04 9.99861572e-01 -3.49537585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.01416680893756054 Centerline is valid? [True, True] Translation: X:207.64, Y:-50.39, Z:-3.50 [[ 8.45215856e-01 5.34239579e-01 1.40793579e-02 2.07644406e+02] [-5.34170704e-01 8.45333071e-01 -8.58242686e-03 -5.03867460e+01] [-1.64868190e-02 -2.66777271e-04 9.99864048e-01 -3.49735237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.012980986768854388 Centerline is valid? [True, True] Translation: X:207.69, Y:-50.42, Z:-3.50 [[ 8.49053422e-01 5.28146412e-01 1.30251790e-02 2.07694717e+02] [-5.28086680e-01 8.49153314e-01 -7.94409548e-03 -5.04223837e+01] [-1.52560195e-02 -1.33462101e-04 9.99883611e-01 -3.50179527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.012567176399691612 Centerline is valid? [True, True] Translation: X:207.74, Y:-50.46, Z:-3.50 [[ 8.55441473e-01 5.17753515e-01 1.22956927e-02 2.07742616e+02] [-5.17699203e-01 8.55529833e-01 -7.49930351e-03 -5.04622283e+01] [-1.44021227e-02 4.97449342e-05 9.99896283e-01 -3.50454150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.014765353504025453 Centerline is valid? [True, True] Translation: X:207.79, Y:-50.50, Z:-3.51 [[ 8.63155163e-01 5.04747599e-01 1.38933932e-02 2.07788741e+02] [-5.04676469e-01 8.63266915e-01 -8.47909274e-03 -5.05041768e+01] [-1.62735084e-02 3.07104060e-04 9.99867531e-01 -3.50585592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.017060474365422386 Centerline is valid? [True, True] Translation: X:207.84, Y:-50.54, Z:-3.51 [[ 8.68043069e-01 4.96259277e-01 1.50983551e-02 2.07836626e+02] [-4.96173932e-01 8.68174216e-01 -9.21732820e-03 -5.05425124e+01] [-1.76821873e-02 5.09627617e-04 9.99843528e-01 -3.50610624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.02106330674682719 Centerline is valid? [True, True] Translation: X:207.88, Y:-50.58, Z:-3.51 [[ 8.73561957e-01 4.86432844e-01 1.65104910e-02 2.07882267e+02] [-4.86329013e-01 8.73717624e-01 -1.00799440e-02 -5.05826417e+01] [-1.93287228e-02 7.75924788e-04 9.99812882e-01 -3.50587605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.02174876176841818 Centerline is valid? [True, True] Translation: X:207.93, Y:-50.62, Z:-3.51 [[ 8.75674502e-01 4.82582120e-01 1.75688342e-02 2.07933399e+02] [-4.82463767e-01 8.75850248e-01 -1.07264236e-02 -5.06159568e+01] [-2.05640480e-02 9.16529677e-04 9.99788118e-01 -3.50628391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.019521967867160133 Centerline is valid? [True, True] Translation: X:207.99, Y:-50.64, Z:-3.51 [[ 8.73522903e-01 4.86443784e-01 1.81709429e-02 2.07988803e+02] [-4.86317978e-01 8.73711459e-01 -1.10955247e-02 -5.06431671e+01] [-2.12735100e-02 8.55338712e-04 9.99773327e-01 -3.50785377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.018260118781926262 Centerline is valid? [True, True] Translation: X:208.04, Y:-50.67, Z:-3.51 [[ 8.70305986e-01 4.92200235e-01 1.75048523e-02 2.08043301e+02] [-4.92084626e-01 8.70481736e-01 -1.06896165e-02 -5.06709939e+01] [-2.04990860e-02 6.89368547e-04 9.99789634e-01 -3.50937566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.014644147034929547 Centerline is valid? [True, True] Translation: X:208.10, Y:-50.69, Z:-3.51 [[ 8.64372287e-01 5.02561596e-01 1.70994729e-02 2.08102060e+02] [-5.02453276e-01 8.64541296e-01 -1.04428272e-02 -5.06927109e+01] [-2.00313644e-02 4.34804284e-04 9.99799258e-01 -3.51158343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.013029035456395359 Centerline is valid? [True, True] Translation: X:208.16, Y:-50.72, Z:-3.51 [[ 8.58994754e-01 5.11700678e-01 1.70419950e-02 2.08157900e+02] [-5.11594851e-01 8.59163760e-01 -1.04087382e-02 -5.07164744e+01] [-1.99680229e-02 2.22454611e-04 9.99800594e-01 -3.51148743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.012202726548280063 Centerline is valid? [True, True] Translation: X:208.22, Y:-50.74, Z:-3.51 [[ 8.54271617e-01 5.19553246e-01 1.68650288e-02 2.08216150e+02] [-5.19451114e-01 8.54438074e-01 -1.03013462e-02 -5.07410656e+01] [-1.97622206e-02 3.95896419e-05 9.99804707e-01 -3.51262644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.01227392107503208 Centerline is valid? [True, True] Translation: X:208.27, Y:-50.77, Z:-3.51 [[ 8.51730757e-01 5.23727525e-01 1.62541529e-02 2.08271944e+02] [-5.23633367e-01 8.51885835e-01 -9.93078008e-03 -5.07698456e+01] [-1.90477055e-02 -5.28659917e-05 9.99818575e-01 -3.51396219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.01246039544815899 Centerline is valid? [True, True] Translation: X:208.33, Y:-50.80, Z:-3.52 [[ 8.49629372e-01 5.27158048e-01 1.53076163e-02 2.08327012e+02] [-5.27074992e-01 8.49767250e-01 -9.35807526e-03 -5.07979691e+01] [-1.79410957e-02 -1.17366146e-04 9.99839039e-01 -3.51607904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.012811560802612169 Centerline is valid? [True, True] Translation: X:208.38, Y:-50.83, Z:-3.52 [[ 8.48071878e-01 5.29703439e-01 1.37243386e-02 2.08380796e+02] [-5.29636941e-01 8.48182908e-01 -8.39437021e-03 -5.08273564e+01] [-1.60872762e-02 -1.49887422e-04 9.99870580e-01 -3.51792709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.012979211577960842 Centerline is valid? [True, True] Translation: X:208.43, Y:-50.86, Z:-3.52 [[ 8.47352209e-01 5.30875972e-01 1.28427519e-02 2.08434661e+02] [-5.30817823e-01 8.47449513e-01 -7.85882646e-03 -5.08607914e+01] [-1.50556460e-02 -1.57967630e-04 9.99886645e-01 -3.51932277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.013023253737510829 Centerline is valid? [True, True] Translation: X:208.49, Y:-50.89, Z:-3.52 [[ 8.46991862e-01 5.31474781e-01 1.18043378e-02 2.08487984e+02] [-5.31425656e-01 8.47074102e-01 -7.22755880e-03 -5.08941589e+01] [-1.38404140e-02 -1.51444466e-04 9.99904205e-01 -3.52106450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.012933336109565888 Centerline is valid? [True, True] Translation: X:208.54, Y:-50.93, Z:-3.52 [[ 8.46711663e-01 5.31970801e-01 9.29658216e-03 2.08538886e+02] [-5.31940334e-01 8.46762689e-01 -5.69475232e-03 -5.09292011e+01] [-1.09014409e-02 -1.23413811e-04 9.99940570e-01 -3.52345241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.013247056942058372 Centerline is valid? [True, True] Translation: X:208.59, Y:-50.96, Z:-3.53 [[ 8.46221226e-01 5.32769981e-01 8.11075172e-03 2.08590206e+02] [-5.32746805e-01 8.46260087e-01 -4.97070863e-03 -5.09622488e+01] [-9.51204980e-03 -1.14657919e-04 9.99954753e-01 -3.52587157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.013693749778090628 Centerline is valid? [True, True] Translation: X:208.64, Y:-51.00, Z:-3.53 [[ 8.45254224e-01 5.34341489e-01 4.94670468e-03 2.08641148e+02] [-5.34332897e-01 8.45268695e-01 -3.03127876e-03 -5.09978969e+01] [-5.80103261e-03 -8.09858651e-05 9.99983171e-01 -3.52917027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.013996697677778228 Centerline is valid? [True, True] Translation: X:208.69, Y:-51.03, Z:-3.53 [[ 8.44262467e-01 5.35909652e-01 4.66172194e-03 2.08691427e+02] [-5.35902038e-01 8.44275333e-01 -2.85794942e-03 -5.10344176e+01] [-5.46737952e-03 -8.53668647e-05 9.99985050e-01 -3.52985470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.014051377439331044 Centerline is valid? [True, True] Translation: X:208.74, Y:-51.07, Z:-3.53 [[ 8.44443183e-01 5.35620036e-01 5.18525476e-03 2.08740892e+02] [-5.35610597e-01 8.44459098e-01 -3.18121357e-03 -5.10728413e+01] [-6.08265729e-03 -9.09232836e-05 9.99981496e-01 -3.52886815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.013767196256978594 Centerline is valid? [True, True] Translation: X:208.79, Y:-51.11, Z:-3.53 [[ 8.45485003e-01 5.33969190e-01 5.65815324e-03 2.08790606e+02] [-5.33957898e-01 8.45503931e-01 -3.47366463e-03 -5.11109472e+01] [-6.63882069e-03 -8.42842580e-05 9.99977959e-01 -3.52871797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.012825417145993777 Centerline is valid? [True, True] Translation: X:208.84, Y:-51.15, Z:-3.53 [[ 8.48003018e-01 5.29947169e-01 6.84682195e-03 2.08837481e+02] [-5.29930477e-01 8.48030656e-01 -4.20655842e-03 -5.11530394e+01] [-8.03556864e-03 -6.11653823e-05 9.99967712e-01 -3.52735298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.012673519204912699 Centerline is valid? [True, True] Translation: X:208.88, Y:-51.19, Z:-3.53 [[ 8.50375497e-01 5.26137718e-01 6.37301717e-03 2.08884580e+02] [-5.26123127e-01 8.50399377e-01 -3.91839873e-03 -5.11935263e+01] [-7.48122720e-03 -2.08814555e-05 9.99972015e-01 -3.52856182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.012654634612235595 Centerline is valid? [True, True] Translation: X:208.93, Y:-51.23, Z:-3.53 [[ 8.51965100e-01 5.23574426e-01 5.02875791e-03 2.08933465e+02] [-5.23565304e-01 8.51979942e-01 -3.09056775e-03 -5.12346576e+01] [-5.90254311e-03 1.72697795e-07 9.99982580e-01 -3.52952880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.012673270566860207 Centerline is valid? [True, True] Translation: X:208.98, Y:-51.27, Z:-3.53 [[ 8.52741953e-01 5.22316127e-01 4.12628865e-03 2.08983718e+02] [-5.22309965e-01 8.52751936e-01 -2.53702369e-03 -5.12714660e+01] [-4.84382902e-03 8.22485830e-06 9.99988269e-01 -3.53080993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.012940228114392424 Centerline is valid? [True, True] Translation: X:209.03, Y:-51.31, Z:-3.53 [[ 8.54435088e-01 5.19548634e-01 3.14597201e-03 2.09031842e+02] [-5.19545027e-01 8.54440880e-01 -1.93592345e-03 -5.13101055e+01] [-3.69385347e-03 1.96468063e-05 9.99993178e-01 -3.53242907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.01332162950803708 Centerline is valid? [True, True] Translation: X:209.08, Y:-51.35, Z:-3.53 [[ 8.55874571e-01 5.17173143e-01 3.26476962e-03 2.09081946e+02] [-5.17169245e-01 8.55880797e-01 -2.00806980e-03 -5.13479903e+01] [-3.83277339e-03 3.02174429e-05 9.99992654e-01 -3.53232415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.01379780476257315 Centerline is valid? [True, True] Translation: X:209.13, Y:-51.39, Z:-3.53 [[ 8.57795398e-01 5.13985453e-01 2.45138981e-03 2.09131013e+02] [-5.13983243e-01 8.57798900e-01 -1.50742990e-03 -5.13873944e+01] [-2.87759652e-03 3.30931470e-05 9.99995859e-01 -3.53214180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.013899946056746635 Centerline is valid? [True, True] Translation: X:209.18, Y:-51.42, Z:-3.53 [[ 8.57681438e-01 5.14176482e-01 2.25742773e-03 2.09182409e+02] [-5.14174609e-01 8.57684409e-01 -1.38803005e-03 -5.14236143e+01] [-2.64985298e-03 2.97755930e-05 9.99996489e-01 -3.53283508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.013357282473829736 Centerline is valid? [True, True] Translation: X:209.24, Y:-51.46, Z:-3.53 [[ 8.55035105e-01 5.18565905e-01 2.09083626e-03 2.09235258e+02] [-5.18564309e-01 8.55037661e-01 -1.28660143e-03 -5.14556189e+01] [-2.45493139e-03 1.58563277e-05 9.99996987e-01 -3.53424664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.013204838364295951 Centerline is valid? [True, True] Translation: X:209.29, Y:-51.49, Z:-3.54 [[ 8.53702873e-01 5.20757643e-01 1.69775911e-03 2.09288341e+02] [-5.20756595e-01 8.53704561e-01 -1.04476382e-03 -5.14867825e+01] [-1.99345344e-03 7.79862422e-06 9.99998013e-01 -3.53574157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.013033529182753984 Centerline is valid? [True, True] Translation: X:209.34, Y:-51.52, Z:-3.54 [[ 8.49911606e-01 5.26923533e-01 1.36117258e-03 2.09343222e+02] [-5.26922868e-01 8.49912696e-01 -8.36934571e-04 -5.15166877e+01] [-1.59787838e-03 -5.91255285e-06 9.99998723e-01 -3.53702742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.013277504336925285 Centerline is valid? [True, True] Translation: X:209.40, Y:-51.55, Z:-3.54 [[ 8.47683820e-01 5.30500358e-01 1.22952176e-03 2.09397308e+02] [-5.30499820e-01 8.47684711e-01 -7.55935590e-04 -5.15478138e+01] [-1.44327090e-03 -1.14667042e-05 9.99998958e-01 -3.53808941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.013271555751180487 Centerline is valid? [True, True] Translation: X:209.45, Y:-51.58, Z:-3.54 [[ 8.47153912e-01 5.31345367e-01 1.53333789e-03 2.09450669e+02] [-5.31344529e-01 8.47155299e-01 -9.43693572e-04 -5.15808793e+01] [-1.80040252e-03 -1.52769958e-05 9.99998379e-01 -3.53816043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.013337719517056174 Centerline is valid? [True, True] Translation: X:209.50, Y:-51.61, Z:-3.54 [[ 8.46859484e-01 5.31810940e-01 2.47774210e-03 2.09504208e+02] [-5.31808740e-01 8.46863108e-01 -1.52972085e-03 -5.16126944e+01] [-2.91183066e-03 -2.22262955e-05 9.99995760e-01 -3.53840692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.013415914682074767 Centerline is valid? [True, True] Translation: X:209.56, Y:-51.64, Z:-3.54 [[ 8.46992107e-01 5.31599976e-01 2.41602232e-03 2.09557253e+02] [-5.31597882e-01 8.46995552e-01 -1.49210529e-03 -5.16449817e+01] [-2.83956330e-03 -2.05509478e-05 9.99995968e-01 -3.54013577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.013534420145325509 Centerline is valid? [True, True] Translation: X:209.61, Y:-51.68, Z:-3.54 [[ 8.47602107e-01 5.30632070e-01 5.24853495e-04 2.09608949e+02] [-5.30631972e-01 8.47602269e-01 -3.22859664e-04 -5.16769783e+01] [-6.16186705e-04 -4.84751385e-06 9.99999810e-01 -3.54345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.013611306559991666 Centerline is valid? [True, True] Translation: X:209.66, Y:-51.71, Z:-3.55 [[ 8.48725400e-01 5.28832071e-01 -1.35517520e-03 2.09660909e+02] [-5.28831396e-01 8.48726482e-01 8.44854372e-04 -5.17111156e+01] [ 1.59695917e-03 -3.90172920e-07 9.99998725e-01 -3.54559698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.013775344591409954 Centerline is valid? [True, True] Translation: X:209.71, Y:-51.74, Z:-3.55 [[ 8.49317290e-01 5.27878238e-01 -2.16928368e-03 2.09712819e+02] [-5.27876511e-01 8.49320061e-01 1.35035799e-03 -5.17449414e+01] [ 2.55524075e-03 -1.76848648e-06 9.99996735e-01 -3.54700175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.013825223208507051 Centerline is valid? [True, True] Translation: X:209.77, Y:-51.78, Z:-3.55 [[ 8.49787772e-01 5.27118405e-01 -2.63264586e-03 2.09766091e+02] [-5.27115855e-01 8.49791850e-01 1.63939825e-03 -5.17793072e+01] [ 3.10135799e-03 -5.43121142e-06 9.99995191e-01 -3.54805604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.013752938345611624 Centerline is valid? [True, True] Translation: X:209.82, Y:-51.81, Z:-3.55 [[ 8.50138294e-01 5.26557379e-01 -1.48588116e-03 2.09817529e+02] [-5.26556563e-01 8.50139592e-01 9.27233666e-04 -5.18132980e+01] [ 1.75144813e-03 -5.87636804e-06 9.99998466e-01 -3.54781662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.013151644613013219 Centerline is valid? [True, True] Translation: X:209.87, Y:-51.85, Z:-3.54 [[ 8.50353768e-01 5.26210901e-01 -7.46671457e-04 2.09870167e+02] [-5.26210692e-01 8.50354096e-01 4.68677205e-04 -5.18468682e+01] [ 8.81558185e-04 -5.63492272e-06 9.99999611e-01 -3.54440182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.013725409601189838 Centerline is valid? [True, True] Translation: X:209.92, Y:-51.88, Z:-3.55 [[ 8.50142579e-01 5.26552285e-01 -5.35065444e-04 2.09922480e+02] [-5.26552177e-01 8.50142748e-01 3.37624721e-04 -5.18798208e+01] [ 6.32659075e-04 -5.28927661e-06 9.99999800e-01 -3.54831309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.013250189079900367 Centerline is valid? [True, True] Translation: X:209.98, Y:-51.91, Z:-3.55 [[ 8.49319785e-01 5.27878364e-01 -5.79930021e-04 2.09977241e+02] [-5.27878237e-01 8.49319983e-01 3.65997801e-04 -5.19113883e+01] [ 6.85748476e-04 -4.71673581e-06 9.99999765e-01 -3.54699045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.013144993864082296 Centerline is valid? [True, True] Translation: X:210.03, Y:-51.94, Z:-3.55 [[ 8.48067252e-01 5.29888175e-01 -6.77085827e-04 2.10032060e+02] [-5.29888003e-01 8.48067522e-01 4.26814453e-04 -5.19423793e+01] [ 8.00378430e-04 -3.18770364e-06 9.99999680e-01 -3.54746473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.013138108023950176 Centerline is valid? [True, True] Translation: X:210.09, Y:-51.97, Z:-3.55 [[ 8.47073692e-01 5.31474322e-01 -1.09814399e-03 2.10085431e+02] [-5.31473876e-01 8.47074403e-01 6.88763992e-04 -5.19734314e+01] [ 1.29627004e-03 2.00985336e-07 9.99999160e-01 -3.54815553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.01331506008606966 Centerline is valid? [True, True] Translation: X:210.14, Y:-52.00, Z:-3.55 [[ 8.46381954e-01 5.32573403e-01 -1.77689303e-03 2.10138783e+02] [-5.32572242e-01 8.46383820e-01 1.11213927e-03 -5.20049346e+01] [ 2.09622931e-03 5.02929910e-06 9.99997803e-01 -3.54986443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.013235245560621108 Centerline is valid? [True, True] Translation: X:210.19, Y:-52.04, Z:-3.55 [[ 8.46539640e-01 5.32324213e-01 -1.25299049e-03 2.10191148e+02] [-5.32323632e-01 8.46540568e-01 7.86099449e-04 -5.20377073e+01] [ 1.47916705e-03 1.53210642e-06 9.99998906e-01 -3.55017661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.013198868164288344 Centerline is valid? [True, True] Translation: X:210.24, Y:-52.07, Z:-3.55 [[ 8.47870708e-01 5.30202922e-01 -3.52011934e-04 2.10242975e+02] [-5.30202875e-01 8.47870781e-01 2.24349806e-04 -5.20718602e+01] [ 4.17411556e-04 -3.58188910e-06 9.99999913e-01 -3.55059252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.013299904732445203 Centerline is valid? [True, True] Translation: X:210.29, Y:-52.11, Z:-3.55 [[ 8.50343464e-01 5.26227984e-01 3.18975503e-04 2.10294420e+02] [-5.26227948e-01 8.50343524e-01 -1.93775272e-04 -5.21082704e+01] [-3.73208724e-04 -3.07828835e-06 9.99999930e-01 -3.55139654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.01378963710285314 Centerline is valid? [True, True] Translation: X:210.34, Y:-52.14, Z:-3.55 [[ 8.52526156e-01 5.22684389e-01 4.27671880e-04 2.10344960e+02] [-5.22684323e-01 8.52526264e-01 -2.62534600e-04 -5.21442075e+01] [-5.01824247e-04 2.80226838e-07 9.99999874e-01 -3.55182265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.014955501072510476 Centerline is valid? [True, True] Translation: X:210.40, Y:-52.18, Z:-3.55 [[ 8.56187348e-01 5.16663441e-01 1.45389174e-03 2.10395018e+02] [-5.16662651e-01 8.56188582e-01 -9.04103856e-04 -5.21811098e+01] [-1.71192292e-03 2.29107229e-05 9.99998534e-01 -3.55215543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.015958505478756102 Centerline is valid? [True, True] Translation: X:210.45, Y:-52.22, Z:-3.55 [[ 8.57903966e-01 5.13805918e-01 2.06510645e-03 2.10446081e+02] [-5.13804308e-01 8.57906450e-01 -1.28686660e-03 -5.22162751e+01] [-2.43286782e-03 4.29473642e-05 9.99997040e-01 -3.55299350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.016938012220720538 Centerline is valid? [True, True] Translation: X:210.50, Y:-52.25, Z:-3.55 [[ 8.59125305e-01 5.11758092e-01 2.71381911e-03 2.10496630e+02] [-5.11755289e-01 8.59129589e-01 -1.69519309e-03 -5.22501881e+01] [-3.19905108e-03 6.75720038e-05 9.99994881e-01 -3.55421339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.01634903464873001 Centerline is valid? [True, True] Translation: X:210.55, Y:-52.28, Z:-3.56 [[ 8.57419323e-01 5.14611863e-01 2.59510377e-03 2.10550035e+02] [-5.14609316e-01 8.57423249e-01 -1.61998940e-03 -5.22797918e+01] [-3.05876807e-03 5.35456406e-05 9.99995321e-01 -3.55632850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.014322704804474834 Centerline is valid? [True, True] Translation: X:210.61, Y:-52.31, Z:-3.56 [[ 8.54834053e-01 5.18896334e-01 2.30988821e-03 2.10606121e+02] [-5.18894333e-01 8.54837173e-01 -1.44170363e-03 -5.23070147e+01] [-2.72267304e-03 3.38294541e-05 9.99996293e-01 -3.55683152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.01321427151228818 Centerline is valid? [True, True] Translation: X:210.66, Y:-52.33, Z:-3.56 [[ 8.50005744e-01 5.26771285e-01 1.49961781e-03 2.10662314e+02] [-5.26770456e-01 8.50007066e-01 -9.34874467e-04 -5.23340478e+01] [-1.76715076e-03 4.69430864e-06 9.99998439e-01 -3.55865897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.013009055429143124 Centerline is valid? [True, True] Translation: X:210.72, Y:-52.36, Z:-3.56 [[ 8.45060670e-01 5.34665466e-01 2.30282426e-03 2.10719134e+02] [-5.34663530e-01 8.45063808e-01 -1.43887120e-03 -5.23604909e+01] [-2.71534818e-03 -1.53026854e-05 9.99996313e-01 -3.55950787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.013311346057308935 Centerline is valid? [True, True] Translation: X:210.77, Y:-52.39, Z:-3.56 [[ 8.42170375e-01 5.39204657e-01 2.71983349e-03 2.10773899e+02] [-5.39201973e-01 8.42174766e-01 -1.70147255e-03 -5.23891906e+01] [-3.20801706e-03 -3.36098078e-05 9.99994854e-01 -3.56001989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.01390325826096461 Centerline is valid? [True, True] Translation: X:210.83, Y:-52.42, Z:-3.56 [[ 8.39129004e-01 5.43917789e-01 3.99416511e-03 2.10828570e+02] [-5.43912040e-01 8.39138507e-01 -2.50193992e-03 -5.24179266e+01] [-4.71250737e-03 -7.30241407e-05 9.99988893e-01 -3.56030985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.014385129151399273 Centerline is valid? [True, True] Translation: X:210.88, Y:-52.45, Z:-3.56 [[ 8.38039640e-01 5.45589477e-01 4.65661427e-03 2.10881895e+02] [-5.45581677e-01 8.38052572e-01 -2.91893236e-03 -5.24492294e+01] [-5.49502634e-03 -9.43824034e-05 9.99984898e-01 -3.56079277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.015665896440437938 Centerline is valid? [True, True] Translation: X:210.94, Y:-52.48, Z:-3.56 [[ 8.37538671e-01 5.46360515e-01 4.37754191e-03 2.10935283e+02] [-5.46353624e-01 8.37550106e-01 -2.74548070e-03 -5.24783554e+01] [-5.16643293e-03 -9.22396275e-05 9.99986650e-01 -3.56330041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.014558612125526057 Centerline is valid? [True, True] Translation: X:210.99, Y:-52.51, Z:-3.56 [[ 8.37642767e-01 5.46204913e-01 3.84567615e-03 2.10988347e+02] [-5.46199593e-01 8.37651591e-01 -2.41187191e-03 -5.25124403e+01] [-4.53871303e-03 -8.02196943e-05 9.99989697e-01 -3.56443839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.01418716986972064 Centerline is valid? [True, True] Translation: X:211.04, Y:-52.55, Z:-3.57 [[ 8.38309064e-01 5.45184269e-01 3.46790618e-03 2.11040278e+02] [-5.45179929e-01 8.38316234e-01 -2.17626631e-03 -5.25458765e+01] [-4.09366821e-03 -6.62490712e-05 9.99991619e-01 -3.56577405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.013421156446766365 Centerline is valid? [True, True] Translation: X:211.09, Y:-52.58, Z:-3.57 [[ 8.40251713e-01 5.42190854e-01 2.47710209e-03 2.11091230e+02] [-5.42188629e-01 8.40255364e-01 -1.55400676e-03 -5.25819086e+01] [-2.92396657e-03 -3.72997395e-05 9.99995725e-01 -3.56648287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.012591729700688293 Centerline is valid? [True, True] Translation: X:211.14, Y:-52.62, Z:-3.57 [[ 8.43040647e-01 5.37847819e-01 1.47997701e-03 2.11141983e+02] [-5.37847016e-01 8.43041946e-01 -9.29676306e-04 -5.26187899e+01] [-1.74770707e-03 -1.22463027e-05 9.99998473e-01 -3.56737128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.012591529979115354 Centerline is valid? [True, True] Translation: X:211.19, Y:-52.65, Z:-3.57 [[ 8.45063772e-01 5.34665372e-01 4.01662526e-04 2.11193649e+02] [-5.34665315e-01 8.45063867e-01 -2.47526490e-04 -5.26549401e+01] [-4.71774331e-04 -5.57935145e-06 9.99999889e-01 -3.56884284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.012866401365968876 Centerline is valid? [True, True] Translation: X:211.24, Y:-52.69, Z:-3.57 [[ 8.49183133e-01 5.28098265e-01 4.78227595e-04 2.11242960e+02] [-5.28098181e-01 8.49183268e-01 -2.96608079e-04 -5.26936099e+01] [-5.62741084e-04 -6.76545401e-07 9.99999842e-01 -3.56872977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.014264775273173732 Centerline is valid? [True, True] Translation: X:211.29, Y:-52.73, Z:-3.57 [[ 8.52301353e-01 5.23047755e-01 1.85731511e-03 2.11291208e+02] [-5.23046451e-01 8.52303376e-01 -1.16807044e-03 -5.27309250e+01] [-2.19395256e-03 2.40859411e-05 9.99997593e-01 -3.56933036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.014699614370376117 Centerline is valid? [True, True] Translation: X:211.34, Y:-52.77, Z:-3.57 [[ 8.55685775e-01 5.17481826e-01 3.79655200e-03 2.11342080e+02] [-5.17476315e-01 8.55694194e-01 -2.38948833e-03 -5.27663074e+01] [-4.48520429e-03 8.00254346e-05 9.99989938e-01 -3.56637504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.014837971797071157 Centerline is valid? [True, True] Translation: X:211.39, Y:-52.80, Z:-3.57 [[ 8.56446056e-01 5.16214192e-01 4.80223045e-03 2.11394480e+02] [-5.16205340e-01 8.56459512e-01 -3.02516593e-03 -5.27997226e+01] [-5.67454953e-03 1.11954428e-04 9.99983893e-01 -3.56655380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.01587098695754 Centerline is valid? [True, True] Translation: X:211.44, Y:-52.83, Z:-3.57 [[ 8.57623551e-01 5.14254434e-01 4.92157842e-03 2.11444958e+02] [-5.14245092e-01 8.57637663e-01 -3.10243502e-03 -5.28335361e+01] [-5.81637198e-03 1.29823794e-04 9.99983076e-01 -3.56752040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.01647140299547677 Centerline is valid? [True, True] Translation: X:211.50, Y:-52.87, Z:-3.57 [[ 8.58428325e-01 5.12933535e-01 1.25500929e-06 2.11497279e+02] [-5.12933535e-01 8.58428325e-01 4.89392643e-07 -5.28664943e+01] [-8.26309847e-07 -1.06384487e-06 1.00000000e+00 -3.57244021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.01780194957111827 Centerline is valid? [True, True] Translation: X:211.55, Y:-52.90, Z:-3.57 [[ 8.60087367e-01 5.10146336e-01 -6.61293504e-04 2.11548941e+02] [-5.10146165e-01 8.60087620e-01 4.18886597e-04 -5.29005696e+01] [ 7.82463819e-04 -2.29227252e-05 9.99999694e-01 -3.57368507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.01754696901030469 Centerline is valid? [True, True] Translation: X:211.60, Y:-52.93, Z:-3.57 [[ 8.60218854e-01 5.09924840e-01 4.25417570e-04 2.11603155e+02] [-5.09924772e-01 8.60218959e-01 -2.63483661e-04 -5.29322315e+01] [-5.00309123e-04 9.72265543e-06 9.99999875e-01 -3.57241694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.01673031712139198 Centerline is valid? [True, True] Translation: X:211.66, Y:-52.96, Z:-3.57 [[ 8.59993107e-01 5.10298557e-01 2.69063580e-03 2.11658745e+02] [-5.10295745e-01 8.59997311e-01 -1.69624226e-03 -5.29609416e+01] [-3.17952953e-03 8.57366520e-05 9.99994942e-01 -3.57051034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.01731968269395987 Centerline is valid? [True, True] Translation: X:211.71, Y:-52.99, Z:-3.57 [[ 8.58599543e-01 5.12620661e-01 5.18477499e-03 2.11710983e+02] [-5.12610208e-01 8.58615183e-01 -3.27748369e-03 -5.29907259e+01] [-6.13183238e-03 1.56277412e-04 9.99981188e-01 -3.56892841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.014582790155303218 Centerline is valid? [True, True] Translation: X:211.77, Y:-53.02, Z:-3.57 [[ 8.56444311e-01 5.16201183e-01 6.28339128e-03 2.11768158e+02] [-5.16185925e-01 8.56467345e-01 -3.97199838e-03 -5.30154672e+01] [-7.43186971e-03 1.58397275e-04 9.99972371e-01 -3.56742387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.012533332811805962 Centerline is valid? [True, True] Translation: X:211.83, Y:-53.04, Z:-3.57 [[ 8.51090031e-01 5.24990248e-01 5.56761176e-03 2.11827458e+02] [-5.24978454e-01 8.51108239e-01 -3.51975615e-03 -5.30363724e+01] [-6.58647789e-03 7.27531515e-05 9.99978306e-01 -3.56916129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.01128191024398401 Centerline is valid? [True, True] Translation: X:211.89, Y:-53.06, Z:-3.57 [[ 8.44542131e-01 5.35476605e-01 3.65991882e-03 2.11887977e+02] [-5.35471620e-01 8.44550061e-01 -2.31062438e-03 -5.30566413e+01] [-4.32826996e-03 -8.36301946e-06 9.99990633e-01 -3.57061171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.011775378759261181 Centerline is valid? [True, True] Translation: X:211.94, Y:-53.08, Z:-3.57 [[ 8.40649580e-01 5.41572125e-01 2.81359722e-03 2.11944776e+02] [-5.41569212e-01 8.40654288e-01 -1.77651315e-03 -5.30813318e+01] [-3.32737257e-03 -3.03325969e-05 9.99994464e-01 -3.57351101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.012781541763095408 Centerline is valid? [True, True] Translation: X:212.00, Y:-53.11, Z:-3.57 [[ 8.37014032e-01 5.47173058e-01 3.02561327e-03 2.12002334e+02] [-5.47169722e-01 8.37019499e-01 -1.91149375e-03 -5.31063003e+01] [-3.57841518e-03 -5.55768752e-05 9.99993596e-01 -3.57448548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.012796586231577471 Centerline is valid? [True, True] Translation: X:212.06, Y:-53.14, Z:-3.57 [[ 8.35440914e-01 5.49556697e-01 5.09075896e-03 2.12056568e+02] [-5.49547271e-01 8.35456417e-01 -3.22059267e-03 -5.31378037e+01] [-6.02300551e-03 -1.06997805e-04 9.99981856e-01 -3.57224941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.013444973472379738 Centerline is valid? [True, True] Translation: X:212.11, Y:-53.17, Z:-3.57 [[ 8.34128778e-01 5.51552510e-01 4.36005125e-03 2.12111879e+02] [-5.51545615e-01 8.34140167e-01 -2.75980039e-03 -5.31663519e+01] [-5.15906871e-03 -1.02738216e-04 9.99986687e-01 -3.57367982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.016643184942590497 Centerline is valid? [True, True] Translation: X:212.17, Y:-53.19, Z:-3.58 [[ 8.29764479e-01 5.58113702e-01 7.87114112e-05 2.12167714e+02] [-5.58113699e-01 8.29764482e-01 -4.99239631e-05 -5.31900901e+01] [-9.31751814e-05 -2.50478569e-06 9.99999996e-01 -3.57869243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.016643184942590497 Centerline is valid? [True, True] Translation: X:212.22, Y:-53.22, Z:-3.58 [[ 8.29609710e-01 5.58343732e-01 8.11041953e-05 2.12220420e+02] [-5.58343730e-01 8.29609714e-01 -4.61514182e-05 -5.32236118e+01] [-9.30531835e-05 -6.99635429e-06 9.99999996e-01 -3.57970176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:212.27, Y:-53.26, Z:-3.58 [[ 8.29636943e-01 5.58303191e-01 2.98609364e-04 2.12271236e+02] [-5.58303161e-01 8.29636997e-01 -1.84762192e-04 -5.32591689e+01] [-3.50890698e-04 -1.34290113e-05 9.99999938e-01 -3.57916388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:212.32, Y:-53.29, Z:-3.58 [[ 8.29476605e-01 5.58541380e-01 2.98871073e-04 2.12323928e+02] [-5.58541349e-01 8.29476659e-01 -1.84351144e-04 -5.32927044e+01] [-3.50874322e-04 -1.40168916e-05 9.99999938e-01 -3.58017431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.015818549941213986 Centerline is valid? [True, True] Translation: X:212.37, Y:-53.33, Z:-3.58 [[ 8.29706899e-01 5.58198947e-01 6.30028041e-04 2.12374786e+02] [-5.58198807e-01 8.29707138e-01 -3.96015563e-04 -5.33259086e+01] [-7.43794233e-04 -2.31040566e-05 9.99999723e-01 -3.58103176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.014846958377346632 Centerline is valid? [True, True] Translation: X:212.42, Y:-53.36, Z:-3.58 [[ 8.30478702e-01 5.57050027e-01 6.27273455e-04 2.12424420e+02] [-5.57049888e-01 8.30478939e-01 -3.94073296e-04 -5.33630493e+01] [-7.40455933e-04 -2.21531289e-05 9.99999726e-01 -3.58078705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.015020311037355348 Centerline is valid? [True, True] Translation: X:212.48, Y:-53.40, Z:-3.58 [[ 8.31156134e-01 5.56038744e-01 6.29683216e-04 2.12475255e+02] [-5.56038603e-01 8.31156372e-01 -3.96222211e-04 -5.33966952e+01] [-7.43680118e-04 -2.08056545e-05 9.99999723e-01 -3.58268052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.015108181707611034 Centerline is valid? [True, True] Translation: X:212.53, Y:-53.43, Z:-3.58 [[ 8.31525887e-01 5.55485768e-01 5.10815670e-04 2.12525574e+02] [-5.55485676e-01 8.31526044e-01 -3.20529005e-04 -5.34325826e+01] [-6.02805834e-04 -1.72226223e-05 9.99999818e-01 -3.58355196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.015297016777709217 Centerline is valid? [True, True] Translation: X:212.58, Y:-53.47, Z:-3.58 [[ 8.31374778e-01 5.55712132e-01 -7.50751443e-05 2.12576178e+02] [-5.55712129e-01 8.31374781e-01 5.30806591e-05 -5.34697999e+01] [ 9.19131476e-05 -2.40975292e-06 9.99999996e-01 -3.58351488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.015477643800236808 Centerline is valid? [True, True] Translation: X:212.63, Y:-53.50, Z:-3.58 [[ 8.30805808e-01 5.56562405e-01 6.36484281e-07 2.12627807e+02] [-5.56562405e-01 8.30805808e-01 4.20112296e-06 -5.35045883e+01] [ 1.80939203e-06 -3.84456058e-06 1.00000000e+00 -3.58360063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.014865179354437373 Centerline is valid? [True, True] Translation: X:212.68, Y:-53.54, Z:-3.58 [[ 8.29963453e-01 5.57817645e-01 3.75903256e-04 2.12678886e+02] [-5.57817595e-01 8.29963538e-01 -2.34874817e-04 -5.35399206e+01] [-4.43003313e-04 -1.47479359e-05 9.99999902e-01 -3.58292318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.015763126734076528 Centerline is valid? [True, True] Translation: X:212.73, Y:-53.57, Z:-3.58 [[ 8.29253739e-01 5.58871536e-01 9.17966365e-04 2.12730341e+02] [-5.58871232e-01 8.29254247e-01 -5.82892776e-04 -5.35735709e+01] [-1.08698969e-03 -2.96589797e-05 9.99999409e-01 -3.58378606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.01698881002198246 Centerline is valid? [True, True] Translation: X:212.78, Y:-53.61, Z:-3.59 [[ 8.28583813e-01 5.59863123e-01 1.46574150e-03 2.12781954e+02] [-5.59862351e-01 8.28585108e-01 -9.31025690e-04 -5.36065379e+01] [-1.73573853e-03 -4.91806629e-05 9.99998492e-01 -3.58523413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.016821538105020337 Centerline is valid? [True, True] Translation: X:212.83, Y:-53.64, Z:-3.59 [[ 8.26896761e-01 5.62353459e-01 5.77307592e-04 2.12832328e+02] [-5.62353340e-01 8.26896962e-01 -3.67098752e-04 -5.36428067e+01] [-6.83813147e-04 -2.10980841e-05 9.99999766e-01 -3.58546677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.018267453718864977 Centerline is valid? [True, True] Translation: X:212.88, Y:-53.68, Z:-3.59 [[ 8.25554478e-01 5.64321469e-01 1.04120671e-03 2.12883056e+02] [-5.64321084e-01 8.25555133e-01 -6.60527763e-04 -5.36764896e+01] [-1.23232354e-03 -4.22732492e-05 9.99999240e-01 -3.58644037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.018790681728347997 Centerline is valid? [True, True] Translation: X:212.93, Y:-53.71, Z:-3.59 [[ 8.25835514e-01 5.63906749e-01 2.20972952e-03 2.12933182e+02] [-5.63904995e-01 8.25838466e-01 -1.40881668e-03 -5.37117426e+01] [-2.61932087e-03 -8.26266655e-05 9.99996566e-01 -3.58763637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.016333467866326654 Centerline is valid? [True, True] Translation: X:212.98, Y:-53.75, Z:-3.59 [[ 8.27563216e-01 5.61361842e-01 3.46498312e-03 2.12980813e+02] [-5.61357493e-01 8.27570462e-01 -2.21272761e-03 -5.37510332e+01] [-4.10965853e-03 -1.13922257e-04 9.99991549e-01 -3.58715450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.013856194929823297 Centerline is valid? [True, True] Translation: X:213.03, Y:-53.79, Z:-3.59 [[ 8.32715342e-01 5.53673495e-01 5.55159479e-03 2.13026512e+02] [-5.53662152e-01 8.32733839e-01 -3.54601918e-03 -5.37928401e+01] [-6.58633768e-03 -1.20883344e-04 9.99978303e-01 -3.58726458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.012279938335550135 Centerline is valid? [True, True] Translation: X:213.07, Y:-53.83, Z:-3.59 [[ 8.37117338e-01 5.46986582e-01 6.34359586e-03 2.13073750e+02] [-5.46971581e-01 8.37141370e-01 -4.05172866e-03 -5.38332759e+01] [-7.52672774e-03 -7.79943478e-05 9.99971671e-01 -3.58786787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.011525983230763988 Centerline is valid? [True, True] Translation: X:213.12, Y:-53.88, Z:-3.59 [[ 8.42904435e-01 5.38025976e-01 6.33738805e-03 2.13119751e+02] [-5.38010757e-01 8.42928259e-01 -4.04668670e-03 -5.38763763e+01] [-7.51918604e-03 1.38722745e-06 9.99971731e-01 -3.58940427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.012028276132593224 Centerline is valid? [True, True] Translation: X:213.17, Y:-53.91, Z:-3.59 [[ 8.45727350e-01 5.33586339e-01 5.55592788e-03 2.13168567e+02] [-5.33574537e-01 8.45745599e-01 -3.54906319e-03 -5.39146427e+01] [-6.59263319e-03 3.70381624e-05 9.99978268e-01 -3.59158319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.013215964226911622 Centerline is valid? [True, True] Translation: X:213.22, Y:-53.95, Z:-3.59 [[ 8.49077399e-01 5.28241818e-01 5.30586792e-03 2.13216563e+02] [-5.28230940e-01 8.49093974e-01 -3.39097236e-03 -5.39547775e+01] [-6.29643388e-03 7.64743959e-05 9.99980174e-01 -3.59361097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.013788105005894108 Centerline is valid? [True, True] Translation: X:213.27, Y:-53.99, Z:-3.59 [[ 8.51482771e-01 5.24344803e-01 6.29430345e-03 2.13265846e+02] [-5.24329365e-01 8.51506026e-01 -4.02557688e-03 -5.39925163e+01] [-7.47042763e-03 1.27421227e-04 9.99972088e-01 -3.59396037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.014009288672102122 Centerline is valid? [True, True] Translation: X:213.32, Y:-54.03, Z:-3.59 [[ 8.52085639e-01 5.23356422e-01 6.93677809e-03 2.13317001e+02] [-5.23337616e-01 8.52113861e-01 -4.43936883e-03 -5.40283439e+01] [-8.23429695e-03 1.52445518e-04 9.99966086e-01 -3.59468283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.013770720035761488 Centerline is valid? [True, True] Translation: X:213.37, Y:-54.06, Z:-3.60 [[ 8.51402289e-01 5.24462963e-01 7.26243128e-03 2.13368336e+02] [-5.24442365e-01 8.51433249e-01 -4.65052908e-03 -5.40629243e+01] [-8.62250572e-03 1.50744464e-04 9.99962814e-01 -3.59616490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.013148968887064301 Centerline is valid? [True, True] Translation: X:213.42, Y:-54.10, Z:-3.60 [[ 8.49393454e-01 5.27716927e-01 6.75323432e-03 2.13421444e+02] [-5.27699203e-01 8.49420292e-01 -4.32648751e-03 -5.40953780e+01] [-8.01949496e-03 1.11213799e-04 9.99967837e-01 -3.59796728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.012017855718108796 Centerline is valid? [True, True] Translation: X:213.48, Y:-54.12, Z:-3.60 [[ 8.44788487e-01 5.35064398e-01 6.20507208e-03 2.13476729e+02] [-5.35049619e-01 8.44811274e-01 -3.97710331e-03 -5.41246564e+01] [-7.37012124e-03 3.97896355e-05 9.99972839e-01 -3.60058490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.01152989232965039 Centerline is valid? [True, True] Translation: X:213.53, Y:-54.16, Z:-3.60 [[ 8.41682876e-01 5.39929984e-01 6.74895336e-03 2.13531552e+02] [-5.39912626e-01 8.41709934e-01 -4.32944893e-03 -5.41551204e+01] [-8.01826038e-03 1.77896702e-07 9.99967853e-01 -3.60129568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.011772475783053068 Centerline is valid? [True, True] Translation: X:213.59, Y:-54.19, Z:-3.60 [[ 8.38237312e-01 5.45245658e-01 8.08588635e-03 2.13586637e+02] [-5.45220980e-01 8.38276308e-01 -5.18795896e-03 -5.41865058e+01] [-9.60691905e-03 -5.98541095e-05 9.99953851e-01 -3.60149833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.012088481016924288 Centerline is valid? [True, True] Translation: X:213.64, Y:-54.22, Z:-3.60 [[ 8.36553939e-01 5.47802469e-01 9.48488275e-03 2.13640239e+02] [-5.47768622e-01 8.36607701e-01 -6.09027391e-03 -5.42201225e+01] [-1.12713930e-02 -1.00678534e-04 9.99936471e-01 -3.60140049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.012243086864951083 Centerline is valid? [True, True] Translation: X:213.69, Y:-54.25, Z:-3.60 [[ 8.35028552e-01 5.50108571e-01 1.03863936e-02 2.13692859e+02] [-5.50068103e-01 8.35093133e-01 -6.67398124e-03 -5.42530163e+01] [-1.23450203e-02 -1.40258932e-04 9.99923787e-01 -3.60219757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.012575565347256406 Centerline is valid? [True, True] Translation: X:213.74, Y:-54.29, Z:-3.61 [[ 8.34512008e-01 5.50918520e-01 8.85957752e-03 2.13744485e+02] [-5.50889094e-01 8.34559026e-01 -5.69549290e-03 -5.42858158e+01] [-1.05315929e-02 -1.27687409e-04 9.99944533e-01 -3.60548960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.012226749789780847 Centerline is valid? [True, True] Translation: X:213.80, Y:-54.32, Z:-3.61 [[ 8.35303169e-01 5.49738509e-01 7.49576018e-03 2.13796299e+02] [-5.49717386e-01 8.35336796e-01 -4.82005695e-03 -5.43221975e+01] [-8.91125521e-03 -9.43408434e-05 9.99960290e-01 -3.60757451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.011810979996926178 Centerline is valid? [True, True] Translation: X:213.85, Y:-54.36, Z:-3.61 [[ 8.38463989e-01 5.44922347e-01 6.14612250e-03 2.13845193e+02] [-5.44908002e-01 8.38486515e-01 -3.95406471e-03 -5.43613767e+01] [-7.30809905e-03 -3.37304568e-05 9.99973295e-01 -3.60967090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.011787908173164635 Centerline is valid? [True, True] Translation: X:213.89, Y:-54.40, Z:-3.61 [[ 8.41188629e-01 5.40712381e-01 5.64018648e-03 2.13894693e+02] [-5.40700198e-01 8.41207537e-01 -3.62974486e-03 -5.44001164e+01] [-6.70721537e-03 3.65015201e-06 9.99977506e-01 -3.61040816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.01269547895367713 Centerline is valid? [True, True] Translation: X:213.94, Y:-54.44, Z:-3.61 [[ 8.45555916e-01 5.33857228e-01 5.62608476e-03 2.13942237e+02] [-5.33844936e-01 8.45574631e-01 -3.62335515e-03 -5.44410118e+01] [-6.69162888e-03 6.02925259e-05 9.99977609e-01 -3.61067600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.013729801420933031 Centerline is valid? [True, True] Translation: X:213.99, Y:-54.48, Z:-3.61 [[ 8.48400074e-01 5.29318335e-01 6.27817223e-03 2.13990596e+02] [-5.29302882e-01 8.48423296e-01 -4.04601216e-03 -5.44806736e+01] [-7.46817599e-03 1.09582354e-04 9.99972107e-01 -3.60954654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.013874887747487123 Centerline is valid? [True, True] Translation: X:214.04, Y:-54.52, Z:-3.61 [[ 8.49227464e-01 5.27985055e-01 6.67061714e-03 2.14041906e+02] [-5.27967549e-01 8.49253652e-01 -4.30146111e-03 -5.45163336e+01] [-7.93615315e-03 1.31049530e-04 9.99968500e-01 -3.60884025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.013893326248890246 Centerline is valid? [True, True] Translation: X:214.09, Y:-54.55, Z:-3.61 [[ 8.48277279e-01 5.29515286e-01 6.26257015e-03 2.14093395e+02] [-5.29499884e-01 8.48300389e-01 -4.04029573e-03 -5.45500472e+01] [-7.45193904e-03 1.11260903e-04 9.99972228e-01 -3.60980910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.013102618383153778 Centerline is valid? [True, True] Translation: X:214.15, Y:-54.58, Z:-3.61 [[ 8.45283527e-01 5.34289656e-01 5.50655444e-03 2.14147252e+02] [-5.34277840e-01 8.45301461e-01 -3.55389935e-03 -5.45810662e+01] [-6.55351017e-03 6.20225693e-05 9.99978524e-01 -3.61074753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.012450235911173974 Centerline is valid? [True, True] Translation: X:214.20, Y:-54.61, Z:-3.61 [[ 8.41243655e-01 5.40633609e-01 4.94094456e-03 2.14202646e+02] [-5.40624197e-01 8.41258165e-01 -3.19012554e-03 -5.46097151e+01] [-5.88129904e-03 1.24786795e-05 9.99982705e-01 -3.61257826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.012353809997429858 Centerline is valid? [True, True] Translation: X:214.26, Y:-54.64, Z:-3.61 [[ 8.39602956e-01 5.43184484e-01 4.18243389e-03 2.14256451e+02] [-5.43177770e-01 8.39613373e-01 -2.70061153e-03 -5.46416288e+01] [-4.97855771e-03 -4.36368842e-06 9.99987607e-01 -3.61372422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.012610899989160566 Centerline is valid? [True, True] Translation: X:214.31, Y:-54.67, Z:-3.62 [[ 8.36997885e-01 5.47196692e-01 3.21243550e-03 2.14310407e+02] [-5.47192758e-01 8.37004050e-01 -2.07512288e-03 -5.46710752e+01] [-3.82432190e-03 -2.09479807e-05 9.99992687e-01 -3.61673460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.012914641664813943 Centerline is valid? [True, True] Translation: X:214.37, Y:-54.70, Z:-3.62 [[ 8.34162921e-01 5.51509004e-01 3.16853955e-03 2.14365020e+02] [-5.51505205e-01 8.34168938e-01 -2.04738141e-03 -5.47017382e+01] [-3.77224656e-03 -3.96163967e-05 9.99992884e-01 -3.61624026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.013260763197255488 Centerline is valid? [True, True] Translation: X:214.42, Y:-54.73, Z:-3.62 [[ 8.32479280e-01 5.54045330e-01 3.46709175e-03 2.14419162e+02] [-5.54040797e-01 8.32486498e-01 -2.24191643e-03 -5.47330138e+01] [-4.12843039e-03 -5.45613033e-05 9.99991477e-01 -3.61606801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.013389172516560547 Centerline is valid? [True, True] Translation: X:214.47, Y:-54.77, Z:-3.62 [[ 8.31731123e-01 5.55168884e-01 3.29379541e-03 2.14472033e+02] [-5.55164798e-01 8.31737643e-01 -2.13074744e-03 -5.47653634e+01] [-3.92249831e-03 -5.63903039e-05 9.99992305e-01 -3.61637274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.013690565022854718 Centerline is valid? [True, True] Translation: X:214.53, Y:-54.80, Z:-3.62 [[ 8.30317606e-01 5.57287760e-01 1.73915421e-03 2.14525281e+02] [-5.57286629e-01 8.30319427e-01 -1.12339823e-03 -5.47971468e+01] [-2.07010961e-03 -3.64300557e-05 9.99997857e-01 -3.61713966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.014271142611488024 Centerline is valid? [True, True] Translation: X:214.58, Y:-54.83, Z:-3.62 [[ 8.28920366e-01 5.59366553e-01 2.92660998e-04 2.14578988e+02] [-5.59366522e-01 8.28920418e-01 -1.85181636e-04 -5.48285645e+01] [-3.46177091e-04 -1.02039349e-05 9.99999940e-01 -3.61933828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.014552324866442024 Centerline is valid? [True, True] Translation: X:214.63, Y:-54.86, Z:-3.62 [[ 8.27854875e-01 5.60941888e-01 -7.10183712e-04 2.14631865e+02] [-5.60941695e-01 8.27855179e-01 4.65633718e-04 -5.48603107e+01] [ 8.49122721e-04 1.28945118e-05 9.99999639e-01 -3.62049711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.01491272381841752 Centerline is valid? [True, True] Translation: X:214.68, Y:-54.89, Z:-3.62 [[ 8.28073469e-01 5.60619177e-01 -6.84884706e-04 2.14683118e+02] [-5.60618998e-01 8.28073752e-01 4.47556237e-04 -5.48933793e+01] [ 8.18043657e-04 1.33499322e-05 9.99999665e-01 -3.62201984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.01426423212440823 Centerline is valid? [True, True] Translation: X:214.73, Y:-54.93, Z:-3.62 [[ 8.29207371e-01 5.58940795e-01 -5.69195453e-04 2.14733096e+02] [-5.58940670e-01 8.29207566e-01 3.74636726e-04 -5.49298392e+01] [ 6.81380926e-04 7.49495314e-06 9.99999768e-01 -3.62152548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.014095894000137986 Centerline is valid? [True, True] Translation: X:214.78, Y:-54.96, Z:-3.62 [[ 8.30057443e-01 5.57677852e-01 -2.34705127e-04 2.14783241e+02] [-5.57677830e-01 8.30057476e-01 1.56903905e-04 -5.49643558e+01] [ 2.82320577e-04 6.50591464e-07 9.99999960e-01 -3.62236969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.013130025521185813 Centerline is valid? [True, True] Translation: X:214.83, Y:-55.00, Z:-3.62 [[ 8.32171076e-01 5.54518537e-01 7.01723953e-04 2.14833357e+02] [-5.54518353e-01 8.32171372e-01 -4.51831604e-04 -5.50016365e+01] [-8.34503585e-04 -1.31176189e-05 9.99999652e-01 -3.62183911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.0126177291660317 Centerline is valid? [True, True] Translation: X:214.88, Y:-55.04, Z:-3.62 [[ 8.34478238e-01 5.51036595e-01 2.17742820e-03 2.14882169e+02] [-5.51034784e-01 8.34481079e-01 -1.41300979e-03 -5.50380321e+01] [-2.59564273e-03 -2.07127616e-05 9.99996631e-01 -3.62204992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.012256380660600882 Centerline is valid? [True, True] Translation: X:214.93, Y:-55.07, Z:-3.62 [[ 8.35585397e-01 5.49354677e-01 2.54608376e-03 2.14933372e+02] [-5.49352190e-01 8.35589276e-01 -1.65342098e-03 -5.50739681e+01] [-3.03579484e-03 -1.71222645e-05 9.99995392e-01 -3.62207994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.012343386618954682 Centerline is valid? [True, True] Translation: X:214.99, Y:-55.11, Z:-3.62 [[ 8.35936033e-01 5.48824970e-01 1.44987207e-03 2.14985409e+02] [-5.48824165e-01 8.35937290e-01 -9.40027835e-04 -5.51073473e+01] [-1.72791288e-03 -9.92169016e-06 9.99998507e-01 -3.62494920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.012447720056666787 Centerline is valid? [True, True] Translation: X:215.04, Y:-55.14, Z:-3.63 [[ 8.36390010e-01 5.48134756e-01 2.01388754e-04 2.15037906e+02] [-5.48134742e-01 8.36390034e-01 -1.26552332e-04 -5.51407085e+01] [-2.37807278e-04 -4.54106666e-06 9.99999972e-01 -3.62829216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.012506989811309863 Centerline is valid? [True, True] Translation: X:215.09, Y:-55.18, Z:-3.63 [[ 8.37604875e-01 5.46276343e-01 4.80505898e-04 2.15089886e+02] [-5.46276256e-01 8.37605013e-01 -3.08112561e-04 -5.51758388e+01] [-5.70788752e-04 -4.41237946e-06 9.99999837e-01 -3.62996863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.012641543068831232 Centerline is valid? [True, True] Translation: X:215.14, Y:-55.21, Z:-3.63 [[ 8.39989999e-01 5.42596287e-01 2.46406199e-03 2.15140632e+02] [-5.42593918e-01 8.39993613e-01 -1.60357273e-03 -5.52119968e+01] [-2.93988894e-03 1.00000062e-05 9.99995678e-01 -3.62915840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.01314637696902821 Centerline is valid? [True, True] Translation: X:215.19, Y:-55.25, Z:-3.63 [[ 8.42355224e-01 5.38909486e-01 3.77383716e-03 2.15190908e+02] [-5.38903874e-01 8.42363677e-01 -2.45983800e-03 -5.52481084e+01] [-4.50457338e-03 3.83219213e-05 9.99989854e-01 -3.62945572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.013411917266602296 Centerline is valid? [True, True] Translation: X:215.24, Y:-55.28, Z:-3.63 [[ 8.44076311e-01 5.36200980e-01 4.86729489e-03 2.15242605e+02] [-5.36191582e-01 8.44090341e-01 -3.17550159e-03 -5.52832350e+01] [-5.81114367e-03 7.05631189e-05 9.99983113e-01 -3.62874865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.014201036280663276 Centerline is valid? [True, True] Translation: X:215.29, Y:-55.32, Z:-3.63 [[ 8.45201100e-01 5.34419735e-01 5.53603887e-03 2.15293339e+02] [-5.34407520e-01 8.45219224e-01 -3.61465435e-03 -5.53170149e+01] [-6.61090911e-03 9.66090315e-05 9.99978143e-01 -3.62968273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.01471678372698765 Centerline is valid? [True, True] Translation: X:215.35, Y:-55.35, Z:-3.63 [[ 8.45920568e-01 5.33286212e-01 4.92026268e-03 2.15345678e+02] [-5.33276538e-01 8.45934871e-01 -3.21356667e-03 -5.53506657e+01] [-5.87597257e-03 9.45614927e-05 9.99982732e-01 -3.63140675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.01464858243417244 Centerline is valid? [True, True] Translation: X:215.40, Y:-55.38, Z:-3.63 [[ 8.46058286e-01 5.33069743e-01 4.69314563e-03 2.15398849e+02] [-5.33060933e-01 8.46071297e-01 -3.06612220e-03 -5.53840458e+01] [-5.60519279e-03 9.23855015e-05 9.99984287e-01 -3.63206544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.01461438410538121 Centerline is valid? [True, True] Translation: X:215.45, Y:-55.42, Z:-3.63 [[ 8.45998814e-01 5.33163879e-01 4.72070097e-03 2.15452574e+02] [-5.33154957e-01 8.46011979e-01 -3.08599892e-03 -5.54163476e+01] [-5.63911273e-03 9.38863087e-05 9.99984096e-01 -3.63314547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.014042071366243213 Centerline is valid? [True, True] Translation: X:215.51, Y:-55.45, Z:-3.63 [[ 8.44386044e-01 5.35714734e-01 4.68328877e-03 2.15506932e+02] [-5.35705978e-01 8.44399028e-01 -3.06380478e-03 -5.54471445e+01] [-5.59588985e-03 7.81682058e-05 9.99984340e-01 -3.63436970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.013465023864200457 Centerline is valid? [True, True] Translation: X:215.56, Y:-55.48, Z:-3.64 [[ 8.42388128e-01 5.38851019e-01 4.67130017e-03 2.15560919e+02] [-5.38842348e-01 8.42401078e-01 -3.05758869e-03 -5.54784276e+01] [-5.58269308e-03 5.85820605e-05 9.99984415e-01 -3.63510448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.012642497883314417 Centerline is valid? [True, True] Translation: X:215.62, Y:-55.51, Z:-3.64 [[ 8.39307116e-01 5.43631299e-01 5.34566148e-03 2.15616844e+02] [-5.43620012e-01 8.39324138e-01 -3.50328625e-03 -5.55074169e+01] [-6.39123877e-03 3.43245218e-05 9.99979575e-01 -3.63540598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.012256041321056553 Centerline is valid? [True, True] Translation: X:215.67, Y:-55.54, Z:-3.64 [[ 8.37050293e-01 5.47093386e-01 5.96948272e-03 2.15671561e+02] [-5.47079404e-01 8.37071578e-01 -3.91132591e-03 -5.55375807e+01] [-7.13674486e-03 8.19544734e-06 9.99974533e-01 -3.63610921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.012169474379708377 Centerline is valid? [True, True] Translation: X:215.73, Y:-55.57, Z:-3.64 [[ 8.35719183e-01 5.49116656e-01 6.65923873e-03 2.15725723e+02] [-5.49099300e-01 8.35745714e-01 -4.36585347e-03 -5.55702161e+01] [-7.96279309e-03 -7.95582620e-06 9.99968296e-01 -3.63643187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.012201804682085607 Centerline is valid? [True, True] Translation: X:215.78, Y:-55.60, Z:-3.64 [[ 8.34685998e-01 5.50673818e-01 7.59149163e-03 2.15779041e+02] [-5.50651290e-01 8.34720520e-01 -4.98101238e-03 -5.56019428e+01] [-9.07968694e-03 -2.26833718e-05 9.99958779e-01 -3.63757747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.012152716499527321 Centerline is valid? [True, True] Translation: X:215.83, Y:-55.63, Z:-3.64 [[ 8.33005163e-01 5.53203335e-01 8.27454852e-03 2.15833580e+02] [-5.53176663e-01 8.33046257e-01 -5.43249955e-03 -5.56337365e+01] [-9.89835855e-03 -5.19869729e-05 9.99951009e-01 -3.63793408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.012504414449161226 Centerline is valid? [True, True] Translation: X:215.89, Y:-55.66, Z:-3.64 [[ 8.30425901e-01 5.57060605e-01 8.73525817e-03 2.15887594e+02] [-5.57031050e-01 8.30471837e-01 -5.73901665e-03 -5.56645000e+01] [-1.04513660e-02 -9.99819581e-05 9.99945378e-01 -3.63919569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.012682467561418121 Centerline is valid? [True, True] Translation: X:215.94, Y:-55.70, Z:-3.64 [[ 8.29275773e-01 5.58766687e-01 9.02666275e-03 2.15940094e+02] [-5.58735193e-01 8.29324891e-01 -5.93382728e-03 -5.56976043e+01] [-1.08016611e-02 -1.22734943e-04 9.99941653e-01 -3.64024034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.014427607069650348 Centerline is valid? [True, True] Translation: X:215.99, Y:-55.73, Z:-3.64 [[ 8.26160584e-01 5.63366432e-01 8.77221756e-03 2.15994721e+02] [-5.63336913e-01 8.26207137e-01 -5.76976900e-03 -5.57255697e+01] [-1.04981629e-02 -1.74958230e-04 9.99944877e-01 -3.64374727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.014160386983331913 Centerline is valid? [True, True] Translation: X:216.05, Y:-55.76, Z:-3.65 [[ 8.24597576e-01 5.65653840e-01 8.63542555e-03 2.16046447e+02] [-5.65625331e-01 8.24642768e-01 -5.68247696e-03 -5.57595145e+01] [-1.03354561e-02 -1.98658710e-04 9.99946568e-01 -3.64549865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.014805528059259313 Centerline is valid? [True, True] Translation: X:216.10, Y:-55.79, Z:-3.65 [[ 8.23672972e-01 5.67002718e-01 8.41152911e-03 2.16097973e+02] [-5.66975708e-01 8.23715895e-01 -5.53819960e-03 -5.57926000e+01] [-1.00688844e-02 -2.07467353e-04 9.99949286e-01 -3.64790859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.014847019752102066 Centerline is valid? [True, True] Translation: X:216.15, Y:-55.83, Z:-3.65 [[ 8.23727561e-01 5.66918086e-01 8.76295071e-03 2.16149318e+02] [-5.66888736e-01 8.23774143e-01 -5.77254456e-03 -5.58274877e+01] [-1.04912521e-02 -2.12613997e-04 9.99944943e-01 -3.64930599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.014401997710709411 Centerline is valid? [True, True] Translation: X:216.20, Y:-55.86, Z:-3.65 [[ 8.25305326e-01 5.64615165e-01 8.99075191e-03 2.16197728e+02] [-5.64584090e-01 8.25354276e-01 -5.92660494e-03 -5.58647387e+01] [-1.07668066e-02 -1.84776861e-04 9.99942019e-01 -3.65070713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.013201750651842733 Centerline is valid? [True, True] Translation: X:216.25, Y:-55.90, Z:-3.65 [[ 8.27243182e-01 5.61766019e-01 9.36255266e-03 2.16245846e+02] [-5.61732122e-01 8.27296148e-01 -6.17301524e-03 -5.59045365e+01] [-1.12133939e-02 -1.52661811e-04 9.99937116e-01 -3.65080558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.012365912664660347 Centerline is valid? [True, True] Translation: X:216.29, Y:-55.95, Z:-3.65 [[ 8.30870159e-01 5.56370700e-01 1.03161719e-02 2.16292590e+02] [-5.56329076e-01 8.30934196e-01 -6.80600265e-03 -5.59463003e+01] [-1.23587204e-02 -8.42818489e-05 9.99923625e-01 -3.65171565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.012097849302282832 Centerline is valid? [True, True] Translation: X:216.34, Y:-55.99, Z:-3.65 [[ 8.32968629e-01 5.53213527e-01 1.08653953e-02 2.16341220e+02] [-5.53167030e-01 8.33039490e-01 -7.17251462e-03 -5.59850852e+01] [-1.30192355e-02 -3.58987940e-05 9.99915246e-01 -3.65263696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.012164875121881186 Centerline is valid? [True, True] Translation: X:216.39, Y:-56.03, Z:-3.65 [[ 8.35077491e-01 5.50015632e-01 1.13308832e-02 2.16389616e+02] [-5.49964715e-01 8.35154359e-01 -7.48388812e-03 -5.60251265e+01] [-1.35792920e-02 1.80405474e-05 9.99907797e-01 -3.65353519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.01222633616510536 Centerline is valid? [True, True] Translation: X:216.44, Y:-56.06, Z:-3.66 [[ 8.36524705e-01 5.47820048e-01 1.09367623e-02 2.16439332e+02] [-5.47772367e-01 8.36596194e-01 -7.22784251e-03 -5.60641417e+01] [-1.31092108e-02 5.54126363e-05 9.99914069e-01 -3.65566403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.012299774983349486 Centerline is valid? [True, True] Translation: X:216.49, Y:-56.10, Z:-3.66 [[ 8.37344287e-01 5.46573826e-01 1.05639326e-02 2.16489733e+02] [-5.46529190e-01 8.37410919e-01 -6.98556101e-03 -5.61014949e+01] [-1.26644773e-02 7.58220621e-05 9.99919799e-01 -3.65714206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.012526350966932866 Centerline is valid? [True, True] Translation: X:216.54, Y:-56.14, Z:-3.66 [[ 8.38505074e-01 5.44802001e-01 1.00010521e-02 2.16539127e+02] [-5.44761822e-01 8.38564708e-01 -6.61724985e-03 -5.61393064e+01] [-1.19916203e-02 1.00406237e-04 9.99928093e-01 -3.65928639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.012546445405786128 Centerline is valid? [True, True] Translation: X:216.59, Y:-56.18, Z:-3.66 [[ 8.38405909e-01 5.44963289e-01 9.51549036e-03 2.16589460e+02] [-5.44926892e-01 8.38459900e-01 -6.29908561e-03 -5.61755912e+01] [-1.14111275e-02 9.59440215e-05 9.99934886e-01 -3.66105094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.012224461715565977 Centerline is valid? [True, True] Translation: X:216.64, Y:-56.21, Z:-3.66 [[ 8.36871588e-01 5.47319854e-01 9.32319619e-03 2.16640010e+02] [-5.47285019e-01 8.36923517e-01 -6.17536343e-03 -5.62111520e+01] [-1.11827012e-02 6.55405940e-05 9.99937469e-01 -3.66193469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.011993027526070824 Centerline is valid? [True, True] Translation: X:216.69, Y:-56.24, Z:-3.66 [[ 8.34842016e-01 5.50398407e-01 1.00201014e-02 2.16691965e+02] [-5.50358344e-01 8.34902146e-01 -6.64079172e-03 -5.62445676e+01] [-1.20208853e-02 2.93655271e-05 9.99927746e-01 -3.66279227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.011840292275386593 Centerline is valid? [True, True] Translation: X:216.74, Y:-56.28, Z:-3.66 [[ 8.31089978e-01 5.56035453e-01 1.06781537e-02 2.16743930e+02] [-5.55990366e-01 8.31158572e-01 -7.08100495e-03 -5.62775860e+01] [-1.28125287e-02 -5.19983217e-05 9.99917915e-01 -3.66352876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.012431555425344203 Centerline is valid? [True, True] Translation: X:216.80, Y:-56.31, Z:-3.66 [[ 8.27720372e-01 5.61031356e-01 1.10816718e-02 2.16796515e+02] [-5.60983183e-01 8.27794540e-01 -7.35304273e-03 -5.63109724e+01] [-1.32986350e-02 -1.30368287e-04 9.99911561e-01 -3.66445498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.013207075561277723 Centerline is valid? [True, True] Translation: X:216.85, Y:-56.34, Z:-3.67 [[ 8.25884997e-01 5.63727503e-01 1.11925764e-02 2.16848515e+02] [-5.63678553e-01 8.25960818e-01 -7.43071785e-03 -5.63435394e+01] [-1.34335296e-02 -1.72096872e-04 9.99909751e-01 -3.66551019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.01366747463045484 Centerline is valid? [True, True] Translation: X:216.90, Y:-56.38, Z:-3.67 [[ 8.23647968e-01 5.66973246e-01 1.20566565e-02 2.16900286e+02] [-5.66916733e-01 8.23736172e-01 -8.00858269e-03 -5.63771574e+01] [-1.44721562e-02 -2.38867439e-04 9.99895244e-01 -3.66602026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.013990952113038262 Centerline is valid? [True, True] Translation: X:216.95, Y:-56.41, Z:-3.67 [[ 8.23055064e-01 5.67833108e-01 1.20798922e-02 2.16952503e+02] [-5.67776406e-01 8.23143668e-01 -8.02834719e-03 -5.64110051e+01] [-1.45022481e-02 -2.50905945e-04 9.99894805e-01 -3.66690868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.013745993548811718 Centerline is valid? [True, True] Translation: X:217.00, Y:-56.45, Z:-3.67 [[ 8.23216669e-01 5.67613368e-01 1.13745714e-02 2.17004895e+02] [-5.67563024e-01 8.23295215e-01 -7.56321881e-03 -5.64460456e+01] [-1.36576143e-02 -2.29618344e-04 9.99906704e-01 -3.66836205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.01350463652888853 Centerline is valid? [True, True] Translation: X:217.06, Y:-56.48, Z:-3.67 [[ 8.23642367e-01 5.67006218e-01 1.08258721e-02 2.17056844e+02] [-5.66960506e-01 8.23713486e-01 -7.20264720e-03 -5.64800296e+01] [-1.30013626e-02 -2.05436530e-04 9.99915458e-01 -3.67010377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.01319333013516878 Centerline is valid? [True, True] Translation: X:217.11, Y:-56.51, Z:-3.67 [[ 8.24210399e-01 5.66204568e-01 9.46596617e-03 2.17108179e+02] [-5.66169535e-01 8.24264738e-01 -6.30066208e-03 -5.65142527e+01] [-1.13699258e-02 -1.66270462e-04 9.99935346e-01 -3.67254276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.013250322642627842 Centerline is valid? [True, True] Translation: X:217.16, Y:-56.55, Z:-3.67 [[ 8.24496640e-01 5.65803965e-01 8.43581788e-03 2.17159367e+02] [-5.65776097e-01 8.24539783e-01 -5.61738392e-03 -5.65482342e+01] [-1.01340055e-02 -1.41269944e-04 9.99948640e-01 -3.67484727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.013118260484454409 Centerline is valid? [True, True] Translation: X:217.21, Y:-56.58, Z:-3.68 [[ 8.25160133e-01 5.64850223e-01 7.41482576e-03 2.17210655e+02] [-5.64828633e-01 8.25193440e-01 -4.93987081e-03 -5.65827616e+01] [-8.90895270e-03 -1.11921443e-04 9.99960308e-01 -3.67648425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.012683953692690217 Centerline is valid? [True, True] Translation: X:217.26, Y:-56.62, Z:-3.68 [[ 8.25904331e-01 5.63765192e-01 7.13057228e-03 2.17262247e+02] [-5.63745166e-01 8.25935106e-01 -4.75272442e-03 -5.66179274e+01] [-8.56881057e-03 -9.45299741e-05 9.99963283e-01 -3.67697479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.012235648689347916 Centerline is valid? [True, True] Translation: X:217.31, Y:-56.65, Z:-3.68 [[ 8.27430885e-01 5.61522309e-01 7.12933589e-03 2.17313348e+02] [-5.61502185e-01 8.27461595e-01 -4.75439823e-03 -5.66535705e+01] [-8.56895232e-03 -6.92017488e-05 9.99963283e-01 -3.67690081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.01196114297897044 Centerline is valid? [True, True] Translation: X:217.36, Y:-56.69, Z:-3.68 [[ 8.29110249e-01 5.59025486e-01 8.16702260e-03 2.17363362e+02] [-5.58998921e-01 8.29150471e-01 -5.45004500e-03 -5.66899670e+01] [-9.81840469e-03 -4.66686543e-05 9.99951797e-01 -3.67707958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.011885289395226362 Centerline is valid? [True, True] Translation: X:217.41, Y:-56.73, Z:-3.68 [[ 8.30100598e-01 5.57543336e-01 8.85588619e-03 2.17413998e+02] [-5.57511978e-01 8.30147835e-01 -5.91323646e-03 -5.67253279e+01] [-1.06485803e-02 -2.86815030e-05 9.99943302e-01 -3.67722999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.011949992263480199 Centerline is valid? [True, True] Translation: X:217.46, Y:-56.76, Z:-3.68 [[ 8.31188979e-01 5.55910054e-01 9.42832075e-03 2.17464961e+02] [-5.55874365e-01 8.31242451e-01 -6.29908189e-03 -5.67600505e+01] [-1.13389434e-02 -5.23436090e-06 9.99935712e-01 -3.67901774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.011888990127427225 Centerline is valid? [True, True] Translation: X:217.52, Y:-56.80, Z:-3.68 [[ 8.31208241e-01 5.55884188e-01 9.25357187e-03 2.17517168e+02] [-5.55849771e-01 8.31259748e-01 -6.18567206e-03 -5.67954137e+01] [-1.11306391e-02 -2.01421462e-06 9.99938053e-01 -3.68011841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.011885182554089081 Centerline is valid? [True, True] Translation: X:217.57, Y:-56.83, Z:-3.68 [[ 8.31275860e-01 5.55786990e-01 9.01472719e-03 2.17569456e+02] [-5.55754284e-01 8.31324739e-01 -6.02948555e-03 -5.68312605e+01] [-1.08452754e-02 2.19253806e-06 9.99941188e-01 -3.68127183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.011865316934894924 Centerline is valid? [True, True] Translation: X:217.62, Y:-56.87, Z:-3.68 [[ 8.30736544e-01 5.56599145e-01 8.61309400e-03 2.17621839e+02] [-5.56569298e-01 8.30781193e-01 -5.76410352e-03 -5.68663785e+01] [-1.03638916e-02 -5.33224608e-06 9.99946293e-01 -3.68300906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.011907602054061096 Centerline is valid? [True, True] Translation: X:217.68, Y:-56.90, Z:-3.69 [[ 8.29597572e-01 5.58305076e-01 7.95680667e-03 2.17675679e+02] [-5.58279655e-01 8.29635728e-01 -5.32769897e-03 -5.68995608e+01] [-9.57573248e-03 -2.22771556e-05 9.99954151e-01 -3.68566873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.011979058893350906 Centerline is valid? [True, True] Translation: X:217.73, Y:-56.93, Z:-3.69 [[ 8.28902949e-01 5.59347670e-01 7.07708246e-03 2.17727863e+02] [-5.59327579e-01 8.28933160e-01 -4.74087684e-03 -5.69339135e+01] [-8.51822674e-03 -2.86806101e-05 9.99963719e-01 -3.68792698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.012119090344843509 Centerline is valid? [True, True] Translation: X:217.78, Y:-56.97, Z:-3.69 [[ 8.29694922e-01 5.58183445e-01 6.13016381e-03 2.17778536e+02] [-5.58168324e-01 8.29717568e-01 -4.10853473e-03 -5.69694984e+01] [-7.37962068e-03 -1.28328556e-05 9.99972770e-01 -3.69058385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.012004788439862437 Centerline is valid? [True, True] Translation: X:217.83, Y:-57.01, Z:-3.69 [[ 8.31354165e-01 5.55703922e-01 6.58817316e-03 2.17829744e+02] [-5.55686358e-01 8.31380269e-01 -4.41815283e-03 -5.70068255e+01] [-7.93246203e-03 1.20918040e-05 9.99968537e-01 -3.69064950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.012470466187136485 Centerline is valid? [True, True] Translation: X:217.88, Y:-57.04, Z:-3.69 [[ 8.34672305e-01 5.50680515e-01 8.55062744e-03 2.17879032e+02] [-5.50650610e-01 8.34716098e-01 -5.73952919e-03 -5.70441306e+01] [-1.02979933e-02 8.22178458e-05 9.99946971e-01 -3.68960515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.012961616114863666 Centerline is valid? [True, True] Translation: X:217.93, Y:-57.08, Z:-3.69 [[ 8.36670966e-01 5.47612348e-01 1.01198392e-02 2.17929230e+02] [-5.47570179e-01 8.36732153e-01 -6.79732541e-03 -5.70808119e+01] [-1.21898941e-02 1.45802668e-04 9.99925690e-01 -3.68945105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.014513480359883308 Centerline is valid? [True, True] Translation: X:217.98, Y:-57.12, Z:-3.69 [[ 8.40079186e-01 5.42366358e-01 1.02808221e-02 2.17977619e+02] [-5.42322395e-01 8.40142060e-01 -6.90929973e-03 -5.71178610e+01] [-1.23847228e-02 2.28838840e-04 9.99923280e-01 -3.69044866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.016375387882341365 Centerline is valid? [True, True] Translation: X:218.03, Y:-57.15, Z:-3.69 [[ 8.42876436e-01 5.38034654e-01 8.83313926e-03 2.18026613e+02] [-5.38001938e-01 8.42922681e-01 -5.93871909e-03 -5.71537584e+01] [-1.06408901e-02 2.53360344e-04 9.99943352e-01 -3.69306738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.01811114768483713 Centerline is valid? [True, True] Translation: X:218.08, Y:-57.19, Z:-3.69 [[ 8.44900075e-01 5.34853757e-01 8.67878959e-03 2.18076853e+02] [-5.34821979e-01 8.44944598e-01 -5.83754751e-03 -5.71897476e+01] [-1.04553306e-02 2.90536905e-04 9.99945299e-01 -3.69499606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.02159790865536957 Centerline is valid? [True, True] Translation: X:218.13, Y:-57.23, Z:-3.70 [[ 8.48505626e-01 5.29117645e-01 8.52762085e-03 2.18125107e+02] [-5.29086637e-01 8.48548401e-01 -5.73945499e-03 -5.72264735e+01] [-1.02729459e-02 3.58109610e-04 9.99947168e-01 -3.69606624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.02070301938803717 Centerline is valid? [True, True] Translation: X:218.18, Y:-57.26, Z:-3.70 [[ 8.51166850e-01 5.24826926e-01 8.46706131e-03 2.18178781e+02] [-5.24796132e-01 8.51208865e-01 -5.69988017e-03 -5.72576011e+01] [-1.01986882e-02 4.08068027e-04 9.99947909e-01 -3.69633162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.020543124886424412 Centerline is valid? [True, True] Translation: X:218.23, Y:-57.29, Z:-3.70 [[ 8.51544135e-01 5.24222173e-01 7.98121294e-03 2.18231449e+02] [-5.24194792e-01 8.51581447e-01 -5.37204619e-03 -5.72897961e+01] [-9.61279859e-03 3.90824167e-04 9.99953720e-01 -3.69751001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.02047156645942414 Centerline is valid? [True, True] Translation: X:218.28, Y:-57.32, Z:-3.70 [[ 8.50814843e-01 5.25410317e-01 7.62242835e-03 2.18284377e+02] [-5.25385370e-01 8.50848910e-01 -5.13272849e-03 -5.73222976e+01] [-9.18232335e-03 3.62289245e-04 9.99957776e-01 -3.69882827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.01929508656693086 Centerline is valid? [True, True] Translation: X:218.34, Y:-57.35, Z:-3.70 [[ 8.48643536e-01 5.28917853e-01 7.07482816e-03 2.18339172e+02] [-5.28896453e-01 8.48672971e-01 -4.76755771e-03 -5.73506967e+01] [-8.52586182e-03 3.04105511e-04 9.99963608e-01 -3.69994074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.017952683660736237 Centerline is valid? [True, True] Translation: X:218.39, Y:-57.38, Z:-3.70 [[ 8.45337987e-01 5.34193006e-01 6.44363802e-03 2.18393028e+02] [-5.34175396e-01 8.45362514e-01 -4.34358201e-03 -5.73782567e+01] [-7.76752116e-03 2.29761977e-04 9.99969806e-01 -3.70149713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.016426982760135867 Centerline is valid? [True, True] Translation: X:218.45, Y:-57.41, Z:-3.70 [[ 8.42369809e-01 5.38863860e-01 6.23263267e-03 2.18447914e+02] [-5.38847513e-01 8.42392846e-01 -4.20120534e-03 -5.74078174e+01] [-7.51420291e-03 1.80529926e-04 9.99971752e-01 -3.70265218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.014348302102868096 Centerline is valid? [True, True] Translation: X:218.50, Y:-57.43, Z:-3.70 [[ 8.37919057e-01 5.45754336e-01 6.62257868e-03 2.18504426e+02] [-5.45736087e-01 8.37945218e-01 -4.46489766e-03 -5.74332683e+01] [-7.98609539e-03 1.27042668e-04 9.99968103e-01 -3.70409854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.013224127115596947 Centerline is valid? [True, True] Translation: X:218.56, Y:-57.46, Z:-3.71 [[ 8.34683045e-01 5.50685755e-01 7.02947566e-03 2.18559405e+02] [-5.50665381e-01 8.34712641e-01 -4.73767931e-03 -5.74612879e+01] [-8.47656470e-03 8.35717009e-05 9.99964070e-01 -3.70613087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.012256217568148039 Centerline is valid? [True, True] Translation: X:218.61, Y:-57.49, Z:-3.71 [[ 8.32590709e-01 5.53844011e-01 7.03731140e-03 2.18613998e+02] [-5.53823688e-01 8.32620447e-01 -4.74487960e-03 -5.74921537e+01] [-8.48733251e-03 5.31129189e-05 9.99963981e-01 -3.70577540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.01198298403292878 Centerline is valid? [True, True] Translation: X:218.67, Y:-57.52, Z:-3.71 [[ 8.27734952e-01 5.61073742e-01 7.14877588e-03 2.18669626e+02] [-5.61053015e-01 8.27765821e-01 -4.82272731e-03 -5.75201596e+01] [-8.62341800e-03 -1.89023073e-05 9.99962817e-01 -3.70654224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.012972527407340456 Centerline is valid? [True, True] Translation: X:218.72, Y:-57.55, Z:-3.71 [[ 8.23223656e-01 5.67672804e-01 7.09927449e-03 2.18724869e+02] [-5.67652584e-01 8.23254262e-01 -4.79202960e-03 -5.75476571e+01] [-8.56481286e-03 -8.50093850e-05 9.99963318e-01 -3.70883728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.016601184718893495 Centerline is valid? [True, True] Translation: X:218.78, Y:-57.57, Z:-3.71 [[ 8.16899089e-01 5.76749317e-01 6.00869751e-03 2.18781392e+02] [-5.76735049e-01 8.16921173e-01 -4.05960355e-03 -5.75710380e+01] [-7.25000579e-03 -1.49140010e-04 9.99973707e-01 -3.71172709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.017134186326688543 Centerline is valid? [True, True] Translation: X:218.83, Y:-57.60, Z:-3.71 [[ 8.13914005e-01 5.80963683e-01 5.01915882e-03 2.18833243e+02] [-5.80953810e-01 8.13929465e-01 -3.39063240e-03 -5.76034921e+01] [-6.05507554e-03 -1.56216250e-04 9.99981656e-01 -3.71227126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.018239261195068135 Centerline is valid? [True, True] Translation: X:218.89, Y:-57.64, Z:-3.71 [[ 8.11942542e-01 5.83719856e-01 4.52085162e-03 2.18886184e+02] [-5.83711893e-01 8.11955112e-01 -3.05311873e-03 -5.76351689e+01] [-5.45289461e-03 -1.59917877e-04 9.99985120e-01 -3.71325822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.017811681589759567 Centerline is valid? [True, True] Translation: X:218.94, Y:-57.67, Z:-3.71 [[ 8.11750731e-01 5.83988062e-01 4.32380790e-03 2.18938619e+02] [-5.83980790e-01 8.11762231e-01 -2.91852285e-03 -5.76703861e+01] [-5.21428644e-03 -1.55907696e-04 9.99986393e-01 -3.71376427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.016597035465477313 Centerline is valid? [True, True] Translation: X:218.99, Y:-57.71, Z:-3.71 [[ 8.13822697e-01 5.81089282e-01 5.27875246e-03 2.18987348e+02] [-5.81078342e-01 8.13839800e-01 -3.56931662e-03 -5.77073408e+01] [-6.37015048e-03 -1.62577848e-04 9.99979697e-01 -3.71337181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.014875910051611468 Centerline is valid? [True, True] Translation: X:219.04, Y:-57.75, Z:-3.71 [[ 8.16566746e-01 5.77223525e-01 5.63488851e-03 2.19035778e+02] [-5.77210967e-01 8.16586176e-01 -3.81025640e-03 -5.77461082e+01] [-6.80074168e-03 -1.41190775e-04 9.99976865e-01 -3.71309706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.012836361340158938 Centerline is valid? [True, True] Translation: X:219.08, Y:-57.79, Z:-3.71 [[ 8.21773342e-01 5.69784701e-01 5.82827370e-03 2.19082647e+02] [-5.69771074e-01 8.21794006e-01 -3.94150786e-03 -5.77875050e+01] [-7.03545126e-03 -8.17556778e-05 9.99975248e-01 -3.71365995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.012040408126329881 Centerline is valid? [True, True] Translation: X:219.13, Y:-57.83, Z:-3.71 [[ 8.25716485e-01 5.64060199e-01 5.32707091e-03 2.19130000e+02] [-5.64048706e-01 8.25733668e-01 -3.60087944e-03 -5.78266583e+01] [-6.42985458e-03 -3.14219370e-05 9.99979328e-01 -3.71485860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.012318864200317541 Centerline is valid? [True, True] Translation: X:219.18, Y:-57.87, Z:-3.72 [[ 8.32234706e-01 5.54408646e-01 4.05555025e-03 2.19175528e+02] [-5.54401870e-01 8.32244587e-01 -2.74133132e-03 -5.78701375e+01] [-4.89502753e-03 3.30264177e-05 9.99988019e-01 -3.71558638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.012793900411967762 Centerline is valid? [True, True] Translation: X:219.23, Y:-57.91, Z:-3.72 [[ 8.34506949e-01 5.50985092e-01 3.68501001e-03 2.19225274e+02] [-5.50979461e-01 8.34515084e-01 -2.49168073e-03 -5.79076425e+01] [-4.44807537e-03 4.89600604e-05 9.99990106e-01 -3.71611097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.016587375349355313 Centerline is valid? [True, True] Translation: X:219.27, Y:-57.95, Z:-3.72 [[ 8.41741844e-01 5.39872612e-01 2.86899796e-03 2.19268865e+02] [-5.39869124e-01 8.41746729e-01 -1.94246039e-03 -5.79512637e+01] [-3.46365081e-03 8.61667724e-05 9.99993998e-01 -3.71810689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.01950059357245912 Centerline is valid? [True, True] Translation: X:219.32, Y:-57.99, Z:-3.72 [[ 8.46454130e-01 5.32452924e-01 3.04773278e-03 2.19315789e+02] [-5.32448937e-01 8.46459608e-01 -2.06445450e-03 -5.79915901e+01] [-3.67900753e-03 1.24703959e-04 9.99993225e-01 -3.71840763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.021112033401233583 Centerline is valid? [True, True] Translation: X:219.36, Y:-58.03, Z:-3.72 [[ 8.52501218e-01 5.22709434e-01 4.06465827e-03 2.19363432e+02] [-5.22702226e-01 8.52510879e-01 -2.75400223e-03 -5.80311052e+01] [-4.90470834e-03 2.23184330e-04 9.99987947e-01 -3.71636590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.022677340089216576 Centerline is valid? [True, True] Translation: X:219.41, Y:-58.07, Z:-3.72 [[ 8.55034129e-01 5.18549532e-01 4.79800596e-03 2.19411906e+02] [-5.18539433e-01 8.55047542e-01 -3.24935056e-03 -5.80687053e+01] [-5.78747242e-03 2.90350341e-04 9.99983210e-01 -3.71596143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.024618600193900362 Centerline is valid? [True, True] Translation: X:219.46, Y:-58.10, Z:-3.72 [[ 8.56685599e-01 5.15802538e-01 6.12595498e-03 2.19462069e+02] [-5.15785970e-01 8.56707408e-01 -4.15327370e-03 -5.81048800e+01] [-7.39042013e-03 3.98368138e-04 9.99972611e-01 -3.71568121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.024737160326508835 Centerline is valid? [True, True] Translation: X:219.51, Y:-58.14, Z:-3.72 [[ 8.55949419e-01 5.17036012e-01 4.93508505e-03 2.19514487e+02] [-5.17025293e-01 8.55963589e-01 -3.34367474e-03 -5.81377736e+01] [-5.95305336e-03 3.10452662e-04 9.99982232e-01 -3.71823016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.023426408009690928 Centerline is valid? [True, True] Translation: X:219.57, Y:-58.17, Z:-3.72 [[ 8.53206072e-01 5.21556121e-01 4.31417389e-03 2.19569430e+02] [-5.21547969e-01 8.53216943e-01 -2.92643233e-03 -5.81663011e+01] [-5.20722495e-03 2.46801205e-04 9.99986412e-01 -3.72097552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.021137484167605677 Centerline is valid? [True, True] Translation: X:219.62, Y:-58.19, Z:-3.72 [[ 8.51315342e-01 5.24629975e-01 5.05749514e-03 2.19623927e+02] [-5.24618821e-01 8.51330322e-01 -3.43146276e-03 -5.81945961e+01] [-6.10584719e-03 2.67999751e-04 9.99981323e-01 -3.72131280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.021143735339006365 Centerline is valid? [True, True] Translation: X:219.68, Y:-58.22, Z:-3.72 [[ 8.49609552e-01 5.27374378e-01 6.31461477e-03 2.19677675e+02] [-5.27357062e-01 8.49632961e-01 -4.28489739e-03 -5.82227497e+01] [-7.62484994e-03 3.10433053e-04 9.99970882e-01 -3.72243049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.021199590535832025 Centerline is valid? [True, True] Translation: X:219.73, Y:-58.25, Z:-3.72 [[ 8.48855775e-01 5.28579134e-01 6.92624529e-03 2.19732928e+02] [-5.28558356e-01 8.48883969e-01 -4.69807519e-03 -5.82525733e+01] [-8.36288311e-03 3.27063428e-04 9.99964977e-01 -3.72284087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.019111815690877058 Centerline is valid? [True, True] Translation: X:219.79, Y:-58.28, Z:-3.72 [[ 8.48718500e-01 5.28784116e-01 8.01660647e-03 2.19789916e+02] [-5.28756260e-01 8.48756276e-01 -5.44081510e-03 -5.82812630e+01] [-9.68116165e-03 3.78889576e-04 9.99953065e-01 -3.72252453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.018349702466612935 Centerline is valid? [True, True] Translation: X:219.85, Y:-58.31, Z:-3.72 [[ 8.48285412e-01 5.29467839e-01 8.69868603e-03 2.19847076e+02] [-5.29435032e-01 8.48329913e-01 -5.90800865e-03 -5.83081291e+01] [-1.05074561e-02 4.06288436e-04 9.99944713e-01 -3.72350891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.018290405781758327 Centerline is valid? [True, True] Translation: X:219.90, Y:-58.34, Z:-3.73 [[ 8.46551650e-01 5.32224999e-01 9.31958118e-03 2.19902004e+02] [-5.32187451e-01 8.46602851e-01 -6.33471134e-03 -5.83353685e+01] [-1.12614757e-02 4.02896183e-04 9.99936506e-01 -3.72517695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.01698212072917979 Centerline is valid? [True, True] Translation: X:219.96, Y:-58.36, Z:-3.73 [[ 8.44161362e-01 5.36017494e-01 8.76593019e-03 2.19957169e+02] [-5.35984475e-01 8.44206809e-01 -5.95879451e-03 -5.83633463e+01] [-1.05942761e-02 3.31781596e-04 9.99943824e-01 -3.72683843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.014519330780738806 Centerline is valid? [True, True] Translation: X:220.01, Y:-58.39, Z:-3.73 [[ 8.39374241e-01 5.43495036e-01 8.00180511e-03 2.20014509e+02] [-5.43467856e-01 8.39412353e-01 -5.43972811e-03 -5.83877793e+01] [-9.67327928e-03 2.17243786e-04 9.99953189e-01 -3.72915937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.01328554112999906 Centerline is valid? [True, True] Translation: X:220.07, Y:-58.42, Z:-3.73 [[ 8.36176647e-01 5.48402720e-01 7.94172594e-03 2.20068568e+02] [-5.48376164e-01 8.36214345e-01 -5.39926766e-03 -5.84166239e+01] [-9.60195823e-03 1.59688320e-04 9.99953887e-01 -3.73069113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.011435139850980726 Centerline is valid? [True, True] Translation: X:220.12, Y:-58.44, Z:-3.73 [[ 8.32163568e-01 5.54470174e-01 8.16225464e-03 2.20124708e+02] [-5.54442408e-01 8.32203592e-01 -5.54962253e-03 -5.84425618e+01] [-9.86975779e-03 9.26935647e-05 9.99951288e-01 -3.73123252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.010794633794727846 Centerline is valid? [True, True] Translation: X:220.18, Y:-58.47, Z:-3.73 [[ 8.30181081e-01 5.57420430e-01 9.04643461e-03 2.20179110e+02] [-5.57386506e-01 8.30230366e-01 -6.14997196e-03 -5.84731068e+01] [-1.09387447e-02 6.32297864e-05 9.99940168e-01 -3.73178518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.010473567913095777 Centerline is valid? [True, True] Translation: X:220.23, Y:-58.50, Z:-3.73 [[ 8.27455600e-01 5.61432888e-01 1.05044471e-02 2.20232797e+02] [-5.61387410e-01 8.27522273e-01 -7.14587764e-03 -5.85027731e+01] [-1.27045947e-02 1.58320922e-05 9.99919293e-01 -3.73183256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.010512608199118501 Centerline is valid? [True, True] Translation: X:220.29, Y:-58.53, Z:-3.73 [[ 8.24308841e-01 5.66048563e-01 1.01960217e-02 2.20288251e+02] [-5.66006031e-01 8.24371895e-01 -6.93911038e-03 -5.85329022e+01] [-1.23331872e-02 -5.10397376e-05 9.99923942e-01 -3.73376471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.01144709889551121 Centerline is valid? [True, True] Translation: X:220.34, Y:-58.56, Z:-3.74 [[ 8.20157473e-01 5.72058914e-01 9.50359823e-03 2.20343292e+02] [-5.72022321e-01 8.20212523e-01 -6.47158867e-03 -5.85630380e+01] [-1.14971003e-02 -1.28548505e-04 9.99933898e-01 -3.73598881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.012603794284614118 Centerline is valid? [True, True] Translation: X:220.40, Y:-58.60, Z:-3.74 [[ 8.17138194e-01 5.76377399e-01 8.61779241e-03 2.20395392e+02] [-5.76347521e-01 8.17183618e-01 -5.87109953e-03 -5.85958395e+01] [-1.04262879e-02 -1.69343633e-04 9.99945630e-01 -3.73836675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.012896486007453335 Centerline is valid? [True, True] Translation: X:220.45, Y:-58.63, Z:-3.74 [[ 8.16470639e-01 5.77331295e-01 8.01695371e-03 2.20446358e+02] [-5.77305462e-01 8.16509981e-01 -5.46399042e-03 -5.86307874e+01] [-9.70045538e-03 -1.67043414e-04 9.99952936e-01 -3.73962309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.013330161527659446 Centerline is valid? [True, True] Translation: X:220.50, Y:-58.67, Z:-3.74 [[ 8.15774606e-01 5.78323014e-01 7.36778207e-03 2.20496027e+02] [-5.78301216e-01 8.15807860e-01 -5.02379942e-03 -5.86678618e+01] [-8.91607335e-03 -1.62509342e-04 9.99960238e-01 -3.74153289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.012490818705931349 Centerline is valid? [True, True] Translation: X:220.54, Y:-58.71, Z:-3.74 [[ 8.15818403e-01 5.78268555e-01 6.76836207e-03 2.20544926e+02] [-5.78250146e-01 8.15846466e-01 -4.61661265e-03 -5.87083441e+01] [-8.19158620e-03 -1.47488786e-04 9.99966438e-01 -3.74174886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.012749679584127037 Centerline is valid? [True, True] Translation: X:220.59, Y:-58.75, Z:-3.74 [[ 8.15777714e-01 5.78319574e-01 7.29323770e-03 2.20592881e+02] [-5.78298167e-01 8.15810300e-01 -4.97836119e-03 -5.87481205e+01] [-8.82898216e-03 -1.56429885e-04 9.99961012e-01 -3.74195192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.012543139783016159 Centerline is valid? [True, True] Translation: X:220.64, Y:-58.79, Z:-3.74 [[ 8.15422736e-01 5.78806574e-01 8.28927115e-03 2.20642419e+02] [-5.78778907e-01 8.15464848e-01 -5.66205958e-03 -5.87879230e+01] [-1.00368465e-02 -1.80683187e-04 9.99949613e-01 -3.74135884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.013477127823712133 Centerline is valid? [True, True] Translation: X:220.69, Y:-58.83, Z:-3.74 [[ 8.14515523e-01 5.80057273e-01 9.90063695e-03 2.20690436e+02] [-5.80017830e-01 8.14575661e-01 -6.76830197e-03 -5.88263029e+01] [-1.19908207e-02 -2.29658946e-04 9.99928081e-01 -3.74086660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.013659150269710964 Centerline is valid? [True, True] Translation: X:220.74, Y:-58.87, Z:-3.74 [[ 8.13534357e-01 5.81424572e-01 1.03593883e-02 2.20739526e+02] [-5.81381454e-01 8.13600270e-01 -7.08555697e-03 -5.88650200e+01] [-1.25481181e-02 -2.58412215e-04 9.99921236e-01 -3.74126276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.014528168719602831 Centerline is valid? [True, True] Translation: X:220.79, Y:-58.90, Z:-3.74 [[ 8.11808249e-01 5.83844515e-01 9.64101460e-03 2.20788537e+02] [-5.83807303e-01 8.11865449e-01 -6.59735304e-03 -5.89038777e+01] [-1.16790350e-02 -2.72709112e-04 9.99931761e-01 -3.74290228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.015109949652795981 Centerline is valid? [True, True] Translation: X:220.84, Y:-58.94, Z:-3.74 [[ 8.11298727e-01 5.84560686e-01 9.12033953e-03 2.20838908e+02] [-5.84527396e-01 8.11349946e-01 -6.24410258e-03 -5.89394445e+01] [-1.10498439e-02 -2.65255844e-04 9.99938913e-01 -3.74449199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.014318973067253143 Centerline is valid? [True, True] Translation: X:220.89, Y:-58.98, Z:-3.75 [[ 8.10898844e-01 5.85129381e-01 8.16529845e-03 2.20886144e+02] [-5.85102704e-01 8.10939917e-01 -5.59259398e-03 -5.89811677e+01] [-9.89395750e-03 -2.42510210e-04 9.99951024e-01 -3.74654808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.013327580255698133 Centerline is valid? [True, True] Translation: X:220.93, Y:-59.02, Z:-3.75 [[ 8.13383194e-01 5.81683639e-01 7.20574682e-03 2.20931361e+02] [-5.81662695e-01 8.13415093e-01 -4.93922296e-03 -5.90243019e+01] [-8.73432841e-03 -1.73833165e-04 9.99961840e-01 -3.74830493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.013094307204549793 Centerline is valid? [True, True] Translation: X:220.98, Y:-59.06, Z:-3.75 [[ 8.16055040e-01 5.77930376e-01 7.11709187e-03 2.20978211e+02] [-5.77909809e-01 8.16086064e-01 -4.87742269e-03 -5.90643816e+01] [-8.62697022e-03 -1.32791833e-04 9.99962778e-01 -3.75026037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.010615845292745537 Centerline is valid? [True, True] Translation: X:221.02, Y:-59.11, Z:-3.75 [[ 8.21052865e-01 5.70799085e-01 7.78450493e-03 2.21020526e+02] [-5.70774116e-01 8.21089765e-01 -5.33921973e-03 -5.91122319e+01] [-9.43939905e-03 -5.94122622e-05 9.99955446e-01 -3.75001756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.010263212447504205 Centerline is valid? [True, True] Translation: X:221.06, Y:-59.16, Z:-3.75 [[ 8.24780513e-01 5.65390181e-01 8.42905377e-03 2.21064771e+02] [-5.65360629e-01 8.24823583e-01 -5.78065883e-03 -5.91568621e+01] [-1.02208101e-02 2.31961979e-06 9.99947766e-01 -3.75037492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.010436694007398155 Centerline is valid? [True, True] Translation: X:221.11, Y:-59.20, Z:-3.75 [[ 8.25807078e-01 5.63892678e-01 8.22912128e-03 2.21113482e+02] [-5.63864411e-01 8.25848078e-01 -5.64607906e-03 -5.91970403e+01] [-9.97978663e-03 2.24634163e-05 9.99950200e-01 -3.75132747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.010341123955065827 Centerline is valid? [True, True] Translation: X:221.16, Y:-59.24, Z:-3.75 [[ 8.25270946e-01 5.64680814e-01 7.96521183e-03 2.21162497e+02] [-5.64654338e-01 8.25309383e-01 -5.46815690e-03 -5.92370783e+01] [-9.66152735e-03 1.51196025e-05 9.99953326e-01 -3.75257804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.010335490891868589 Centerline is valid? [True, True] Translation: X:221.21, Y:-59.27, Z:-3.75 [[ 8.23659367e-01 5.67032499e-01 7.70663517e-03 2.21213239e+02] [-5.67007789e-01 8.23695420e-01 -5.29362503e-03 -5.92741499e+01] [-9.34957752e-03 -9.57832078e-06 9.99956292e-01 -3.75419311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.010526775602587829 Centerline is valid? [True, True] Translation: X:221.26, Y:-59.31, Z:-3.76 [[ 8.21121053e-01 5.70709440e-01 7.13804517e-03 2.21263313e+02] [-5.70688355e-01 8.21152077e-01 -4.90593720e-03 -5.93103605e+01] [-8.66128529e-03 -4.52309387e-05 9.99962489e-01 -3.75691600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.010755534446042754 Centerline is valid? [True, True] Translation: X:221.31, Y:-59.35, Z:-3.76 [[ 8.19835231e-01 5.72561102e-01 6.63161911e-03 2.21313526e+02] [-5.72542947e-01 8.19862050e-01 -4.55990060e-03 -5.93461310e+01] [-8.04783455e-03 -5.85195845e-05 9.99967614e-01 -3.75884856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.010759703451382793 Centerline is valid? [True, True] Translation: X:221.36, Y:-59.39, Z:-3.76 [[ 8.18910690e-01 5.73875911e-01 7.19171068e-03 2.21362956e+02] [-5.73854589e-01 8.18942265e-01 -4.94747906e-03 -5.93859433e+01] [-8.72883489e-03 -7.54526872e-05 9.99961900e-01 -3.75865980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.010900555270710323 Centerline is valid? [True, True] Translation: X:221.41, Y:-59.42, Z:-3.76 [[ 8.18970138e-01 5.73787945e-01 7.43686255e-03 2.21412278e+02] [-5.73765102e-01 8.19003900e-01 -5.12039187e-03 -5.94229055e+01] [-9.02883857e-03 -7.35641613e-05 9.99959236e-01 -3.75971284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.010680611273154337 Centerline is valid? [True, True] Translation: X:221.46, Y:-59.46, Z:-3.76 [[ 8.19222640e-01 5.73411493e-01 8.57467568e-03 2.21461250e+02] [-5.73381082e-01 8.19267510e-01 -5.90605935e-03 -5.94614265e+01] [-1.04115555e-02 -7.81792866e-05 9.99945795e-01 -3.75939323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.010617951382052794 Centerline is valid? [True, True] Translation: X:221.51, Y:-59.50, Z:-3.76 [[ 8.19560855e-01 5.72930902e-01 8.37775783e-03 2.21510682e+02] [-5.72901818e-01 8.19603670e-01 -5.77324272e-03 -5.94982255e+01] [-1.01741102e-02 -6.81089564e-05 9.99948240e-01 -3.76071334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.010442855393289945 Centerline is valid? [True, True] Translation: X:221.56, Y:-59.54, Z:-3.76 [[ 8.19953159e-01 5.72391463e-01 6.69547805e-03 2.21560895e+02] [-5.72372858e-01 8.19980494e-01 -4.61528533e-03 -5.95368918e+01] [-8.13191133e-03 -4.79921199e-05 9.99966934e-01 -3.76275585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.010442665266052534 Centerline is valid? [True, True] Translation: X:221.61, Y:-59.57, Z:-3.77 [[ 8.20116089e-01 5.72166262e-01 5.94721852e-03 2.21610863e+02] [-5.72151562e-01 8.20137652e-01 -4.10158865e-03 -5.95727838e+01] [-7.22432847e-03 -3.89315233e-05 9.99973903e-01 -3.76519695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.010407601379119048 Centerline is valid? [True, True] Translation: X:221.66, Y:-59.61, Z:-3.77 [[ 8.20516247e-01 5.71603748e-01 4.71632876e-03 2.21661649e+02] [-5.71594491e-01 8.20529801e-01 -3.25317912e-03 -5.96091273e+01] [-5.72941768e-03 -2.65412169e-05 9.99983586e-01 -3.76699014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.01034989924979774 Centerline is valid? [True, True] Translation: X:221.71, Y:-59.64, Z:-3.77 [[ 8.20615826e-01 5.71461416e-01 4.63869874e-03 2.21713484e+02] [-5.71452448e-01 8.20628936e-01 -3.20147591e-03 -5.96445138e+01] [-5.63617037e-03 -2.36139573e-05 9.99984116e-01 -3.76815741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.010178712837815808 Centerline is valid? [True, True] Translation: X:221.77, Y:-59.68, Z:-3.77 [[ 8.21879038e-01 5.69634962e-01 5.55489639e-03 2.21765706e+02] [-5.69622023e-01 8.21897810e-01 -3.83935583e-03 -5.96791649e+01] [-6.75258849e-03 -8.70524868e-06 9.99977201e-01 -3.76857194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.010509266912760403 Centerline is valid? [True, True] Translation: X:221.82, Y:-59.72, Z:-3.77 [[ 8.25235982e-01 5.64748528e-01 6.68386773e-03 2.21815812e+02] [-5.64729640e-01 8.25263048e-01 -4.61899565e-03 -5.97172475e+01] [-8.12452006e-03 3.71831925e-05 9.99966995e-01 -3.76818341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.011153420349456702 Centerline is valid? [True, True] Translation: X:221.87, Y:-59.75, Z:-3.77 [[ 8.27878446e-01 5.60864921e-01 6.91514694e-03 2.21865657e+02] [-5.60844539e-01 8.27907322e-01 -4.78223712e-03 -5.97541052e+01] [-8.40728983e-03 8.07886330e-05 9.99964655e-01 -3.76865407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.012175845937232524 Centerline is valid? [True, True] Translation: X:221.92, Y:-59.79, Z:-3.77 [[ 8.29989941e-01 5.57737357e-01 6.76302998e-03 2.21916754e+02] [-5.57717738e-01 8.30017486e-01 -4.67938821e-03 -5.97895039e+01] [-8.22330276e-03 1.11983357e-04 9.99966182e-01 -3.77045460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.013483733191200395 Centerline is valid? [True, True] Translation: X:221.97, Y:-59.82, Z:-3.77 [[ 8.33740138e-01 5.52133578e-01 5.08863167e-03 2.21966756e+02] [-5.52122359e-01 8.33755657e-01 -3.52202512e-03 -5.98244934e+01] [-6.18730377e-03 1.26906392e-04 9.99980850e-01 -3.77270121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.014530282235506677 Centerline is valid? [True, True] Translation: X:222.02, Y:-59.86, Z:-3.77 [[ 8.36537164e-01 5.47889427e-01 4.76947012e-03 2.22018273e+02] [-5.47879486e-01 8.36550747e-01 -3.30390769e-03 -5.98592939e+01] [-5.80007988e-03 1.50746726e-04 9.99983168e-01 -3.77340668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.014668912432029342 Centerline is valid? [True, True] Translation: X:222.07, Y:-59.89, Z:-3.77 [[ 8.37265092e-01 5.46768183e-01 5.63203291e-03 2.22070044e+02] [-5.46754296e-01 8.37284013e-01 -3.90137591e-03 -5.98928338e+01] [-6.84875934e-03 1.87147674e-04 9.99976529e-01 -3.77360202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.015034086075031657 Centerline is valid? [True, True] Translation: X:222.12, Y:-59.93, Z:-3.77 [[ 8.36893851e-01 5.47339691e-01 5.28631148e-03 2.22122381e+02] [-5.47327474e-01 8.36910529e-01 -3.66105880e-03 -5.99272294e+01] [-6.42801253e-03 1.70574094e-04 9.99979326e-01 -3.77457169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.014492918894919507 Centerline is valid? [True, True] Translation: X:222.17, Y:-59.96, Z:-3.78 [[ 8.35258471e-01 5.49841804e-01 4.15656722e-03 2.22174479e+02] [-5.49834276e-01 8.35268805e-01 -2.87970243e-03 -5.99605193e+01] [-5.05523171e-03 1.19872717e-04 9.99987215e-01 -3.77710927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.013080839110901596 Centerline is valid? [True, True] Translation: X:222.23, Y:-59.99, Z:-3.78 [[ 8.31370410e-01 5.55690757e-01 5.57002633e-03 2.22227251e+02] [-5.55677327e-01 8.31389060e-01 -3.86505509e-03 -5.99911634e+01] [-6.77863434e-03 1.18155085e-04 9.99977018e-01 -3.77744052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.011294334453565622 Centerline is valid? [True, True] Translation: X:222.28, Y:-60.02, Z:-3.78 [[ 8.27964492e-01 5.60742078e-01 6.56672567e-03 2.22280594e+02] [-5.60723568e-01 8.27990527e-01 -4.55701428e-03 -6.00213995e+01] [-7.99249631e-03 9.09281612e-05 9.99968055e-01 -3.77667487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.010030732326058988 Centerline is valid? [True, True] Translation: X:222.34, Y:-60.05, Z:-3.78 [[ 8.21448348e-01 5.70236965e-01 7.23990693e-03 2.22336384e+02] [-5.70214844e-01 8.21480252e-01 -5.02275749e-03 -6.00493830e+01] [-8.81160255e-03 -2.36656195e-06 9.99961177e-01 -3.77788300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.011077323190667773 Centerline is valid? [True, True] Translation: X:222.39, Y:-60.08, Z:-3.78 [[ 8.14371467e-01 5.80301417e-01 7.02709427e-03 2.22392457e+02] [-5.80280928e-01 8.14401777e-01 -4.87744582e-03 -6.00780103e+01] [-8.55326678e-03 -1.05636078e-04 9.99963415e-01 -3.77928342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.011974978389460765 Centerline is valid? [True, True] Translation: X:222.45, Y:-60.11, Z:-3.78 [[ 8.12076812e-01 5.83510442e-01 6.84217636e-03 2.22445460e+02] [-5.83491111e-01 8.12105625e-01 -4.75152017e-03 -6.01105269e+01] [-8.32913154e-03 -1.33749728e-04 9.99965303e-01 -3.78089796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.013942884679301566 Centerline is valid? [True, True] Translation: X:222.50, Y:-60.14, Z:-3.78 [[ 8.08606188e-01 5.88312767e-01 6.64234451e-03 2.22498833e+02] [-5.88294690e-01 8.08633450e-01 -4.61523813e-03 -6.01409769e+01] [-8.08642547e-03 -1.75745895e-04 9.99967289e-01 -3.78295120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.015098854856350366 Centerline is valid? [True, True] Translation: X:222.55, Y:-60.17, Z:-3.78 [[ 8.06048908e-01 5.91806047e-01 7.12459705e-03 2.22551786e+02] [-5.91785350e-01 8.06080364e-01 -4.95444212e-03 -6.01740061e+01] [-8.67506659e-03 -2.22709494e-04 9.99962346e-01 -3.78334565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.015405938696547956 Centerline is valid? [True, True] Translation: X:222.60, Y:-60.21, Z:-3.78 [[ 8.05330340e-01 5.92786488e-01 6.87195433e-03 2.22602823e+02] [-5.92767277e-01 8.05359627e-01 -4.77775381e-03 -6.02096790e+01] [-8.36658248e-03 -2.25799563e-04 9.99964974e-01 -3.78434124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.014590396472599127 Centerline is valid? [True, True] Translation: X:222.65, Y:-60.25, Z:-3.79 [[ 8.05558828e-01 5.92498029e-01 4.58925283e-03 2.22652902e+02] [-5.92489459e-01 8.05571886e-01 -3.19021877e-03 -6.02485571e+01] [-5.58717139e-03 -1.49175031e-04 9.99984381e-01 -3.78663563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.014387202798349874 Centerline is valid? [True, True] Translation: X:222.70, Y:-60.29, Z:-3.79 [[ 8.07324537e-01 5.90097371e-01 3.49063510e-03 2.22700704e+02] [-5.90092381e-01 8.07332077e-01 -2.42877265e-03 -6.02866479e+01] [-4.25131404e-03 -9.89894208e-05 9.99990958e-01 -3.78941637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.013078497369276697 Centerline is valid? [True, True] Translation: X:222.75, Y:-60.33, Z:-3.79 [[ 8.08931655e-01 5.87886163e-01 4.40878776e-03 2.22748243e+02] [-5.87878168e-01 8.08943661e-01 -3.06788949e-03 -6.03273056e+01] [-5.37003070e-03 -1.10117148e-04 9.99985575e-01 -3.78864143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.0119851736503501 Centerline is valid? [True, True] Translation: X:222.79, Y:-60.37, Z:-3.79 [[ 8.11594909e-01 5.84191612e-01 5.81933242e-03 2.22793945e+02] [-5.84177545e-01 8.11615764e-01 -4.05550102e-03 -6.03689893e+01] [-7.09225161e-03 -1.08099349e-04 9.99974844e-01 -3.78734187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.011330282069767252 Centerline is valid? [True, True] Translation: X:222.84, Y:-60.41, Z:-3.79 [[ 8.12783862e-01 5.82530835e-01 6.34186251e-03 2.22841731e+02] [-5.82514092e-01 8.12808597e-01 -4.41781717e-03 -6.04083055e+01] [-7.72823509e-03 -1.03493778e-04 9.99970131e-01 -3.78756473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.012002860996947839 Centerline is valid? [True, True] Translation: X:222.89, Y:-60.44, Z:-3.79 [[ 8.11982863e-01 5.83651200e-01 5.92507916e-03 2.22890277e+02] [-5.83636591e-01 8.12004474e-01 -4.13078221e-03 -6.04447035e+01] [-7.22212679e-03 -1.03968638e-04 9.99973915e-01 -3.78870566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.012838423323345904 Centerline is valid? [True, True] Translation: X:222.94, Y:-60.48, Z:-3.79 [[ 8.09782423e-01 5.86714401e-01 4.31734947e-03 2.22941323e+02] [-5.86706684e-01 8.09793926e-01 -3.01077224e-03 -6.04799754e+01] [-5.26262681e-03 -9.49473466e-05 9.99986148e-01 -3.79062772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.0142671030584658 Centerline is valid? [True, True] Translation: X:222.99, Y:-60.51, Z:-3.79 [[ 8.07067184e-01 5.90453926e-01 2.59248569e-03 2.22994502e+02] [-5.90451172e-01 8.07071345e-01 -1.80512754e-03 -6.05116209e+01] [-3.15816555e-03 -7.38770123e-05 9.99995010e-01 -3.79245013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.015181293334352752 Centerline is valid? [True, True] Translation: X:223.05, Y:-60.54, Z:-3.79 [[ 8.05948948e-01 5.91979882e-01 2.47222663e-03 2.23047210e+02] [-5.91977383e-01 8.05952736e-01 -1.72178171e-03 -6.05446960e+01] [-3.01175795e-03 -7.58340979e-05 9.99995462e-01 -3.79351549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.01589051805403501 Centerline is valid? [True, True] Translation: X:223.10, Y:-60.58, Z:-3.79 [[ 8.05601366e-01 5.92453558e-01 2.28501213e-03 2.23099030e+02] [-5.92451423e-01 8.05604603e-01 -1.59220428e-03 -6.05775735e+01] [-2.78412338e-03 -7.10767407e-05 9.99996122e-01 -3.79460655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.015299521368899765 Centerline is valid? [True, True] Translation: X:223.15, Y:-60.61, Z:-3.79 [[ 8.05312516e-01 5.92846882e-01 2.07992984e-03 2.23150476e+02] [-5.92845116e-01 8.05315199e-01 -1.44864650e-03 -6.06139399e+01] [-2.53382467e-03 -6.64630940e-05 9.99996788e-01 -3.79430950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.017297511758084375 Centerline is valid? [True, True] Translation: X:223.20, Y:-60.65, Z:-3.80 [[ 8.04393557e-01 5.94091620e-01 2.48050626e-03 2.23203223e+02] [-5.94089105e-01 8.04397377e-01 -1.73064086e-03 -6.06454756e+01] [-3.02347196e-03 -8.15253877e-05 9.99995426e-01 -3.79590621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.017981770436732394 Centerline is valid? [True, True] Translation: X:223.26, Y:-60.68, Z:-3.80 [[ 8.03948963e-01 5.94690022e-01 3.13730616e-03 2.23256238e+02] [-5.94685997e-01 8.03955078e-01 -2.19050404e-03 -6.06802443e+01] [-3.82492412e-03 -1.04658593e-04 9.99992679e-01 -3.79662273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.01812793552082736 Centerline is valid? [True, True] Translation: X:223.31, Y:-60.71, Z:-3.80 [[ 8.04250773e-01 5.94283236e-01 2.85120679e-03 2.23307679e+02] [-5.94279905e-01 8.04255822e-01 -1.99194316e-03 -6.07147419e+01] [-3.47687808e-03 -9.23930761e-05 9.99993951e-01 -3.79797749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.014723020316760772 Centerline is valid? [True, True] Translation: X:223.36, Y:-60.76, Z:-3.80 [[ 8.05485138e-01 5.92611282e-01 2.35796022e-03 2.23355748e+02] [-5.92608993e-01 8.05488587e-01 -1.64886418e-03 -6.07554213e+01] [-2.87644556e-03 -6.92128321e-05 9.99995861e-01 -3.79660631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.013703011719058784 Centerline is valid? [True, True] Translation: X:223.41, Y:-60.79, Z:-3.80 [[ 8.08616726e-01 5.88329730e-01 2.66839987e-03 2.23405458e+02] [-5.88326767e-01 8.08621126e-01 -1.86812691e-03 -6.07923757e+01] [-3.25679911e-03 -5.92924050e-05 9.99994695e-01 -3.79803008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.011939998574832668 Centerline is valid? [True, True] Translation: X:223.45, Y:-60.83, Z:-3.80 [[ 8.13662095e-01 5.81325200e-01 3.87395366e-03 2.23453626e+02] [-5.81318871e-01 8.13671316e-01 -2.71290857e-03 -6.08316787e+01] [-4.72920709e-03 -4.46114987e-05 9.99988816e-01 -3.79809236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.011379309002005967 Centerline is valid? [True, True] Translation: X:223.50, Y:-60.87, Z:-3.80 [[ 8.18416545e-01 5.74608517e-01 4.40584458e-03 2.23502159e+02] [-5.74600233e-01 8.18428404e-01 -3.08543255e-03 -6.08715738e+01] [-5.37878417e-03 -6.43027355e-06 9.99985534e-01 -3.79962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.013186444527360596 Centerline is valid? [True, True] Translation: X:223.55, Y:-60.91, Z:-3.80 [[ 8.26501496e-01 5.62926588e-01 2.98892113e-03 2.23547281e+02] [-5.62922707e-01 8.26506899e-01 -2.09087778e-03 -6.09148133e+01] [-3.64737463e-03 4.55820432e-05 9.99993347e-01 -3.80168355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.01583255544776044 Centerline is valid? [True, True] Translation: X:223.59, Y:-60.95, Z:-3.80 [[ 8.31561151e-01 5.55426881e-01 2.65193941e-03 2.23593947e+02] [-5.55423777e-01 8.31565376e-01 -1.85806987e-03 -6.09542931e+01] [-3.23728294e-03 7.21485180e-05 9.99994757e-01 -3.80361175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.02076902858263467 Centerline is valid? [True, True] Translation: X:223.64, Y:-60.99, Z:-3.81 [[ 8.38205445e-01 5.45351951e-01 1.69755175e-03 2.23638993e+02] [-5.45350660e-01 8.38207161e-01 -1.18867242e-03 -6.09942927e+01] [-2.07114485e-03 7.05907281e-05 9.99997853e-01 -3.80556405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.021508622141069758 Centerline is valid? [True, True] Translation: X:223.69, Y:-61.03, Z:-3.81 [[ 8.42241134e-01 5.39095986e-01 2.32176171e-03 2.23689227e+02] [-5.39093545e-01 8.42244326e-01 -1.62650211e-03 -6.10302205e+01] [-2.83233139e-03 1.18260230e-04 9.99995982e-01 -3.80521109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.024423495633868107 Centerline is valid? [True, True] Translation: X:223.74, Y:-61.07, Z:-3.81 [[ 8.47181146e-01 5.31293095e-01 3.42840494e-03 2.23737963e+02] [-5.31287701e-01 8.47188055e-01 -2.40377082e-03 -6.10672067e+01] [-4.18161055e-03 2.14959946e-04 9.99991234e-01 -3.80500850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.026708124812728783 Centerline is valid? [True, True] Translation: X:223.79, Y:-61.10, Z:-3.81 [[ 8.48965554e-01 5.28425900e-01 4.85351050e-03 2.23788710e+02] [-5.28415047e-01 8.48979366e-01 -3.40220681e-03 -6.11013531e+01] [-5.91834446e-03 3.23688414e-04 9.99982434e-01 -3.80509276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.025259758049581083 Centerline is valid? [True, True] Translation: X:223.84, Y:-61.13, Z:-3.81 [[ 8.47442405e-01 5.30858886e-01 5.49659829e-03 2.23843307e+02] [-5.30844991e-01 8.47460158e-01 -3.85684635e-03 -6.11312337e+01] [-6.70558921e-03 3.50613476e-04 9.99977456e-01 -3.80517720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.020709187650819957 Centerline is valid? [True, True] Translation: X:223.90, Y:-61.16, Z:-3.81 [[ 8.43866300e-01 5.36516556e-01 6.29702215e-03 2.23901193e+02] [-5.36498479e-01 8.43889722e-01 -4.41809851e-03 -6.11553255e+01] [-7.68437526e-03 3.49941634e-04 9.99970414e-01 -3.80582977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.017599399976276523 Centerline is valid? [True, True] Translation: X:223.96, Y:-61.18, Z:-3.81 [[ 8.35899199e-01 5.48836792e-01 7.12074513e-03 2.23960093e+02] [-5.48814094e-01 8.35929484e-01 -4.99873082e-03 -6.11768130e+01] [-8.69592819e-03 2.70469802e-04 9.99962153e-01 -3.80745592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.01420359696780716 Centerline is valid? [True, True] Translation: X:224.02, Y:-61.20, Z:-3.81 [[ 8.30180222e-01 5.57433809e-01 8.26727620e-03 2.24017973e+02] [-5.57403628e-01 8.30221359e-01 -5.80443849e-03 -6.12004065e+01] [-1.00992595e-02 2.10520284e-04 9.99948979e-01 -3.80856831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.011860072544645226 Centerline is valid? [True, True] Translation: X:224.08, Y:-61.23, Z:-3.81 [[ 8.24721358e-01 5.65468412e-01 8.95300166e-03 2.24076024e+02] [-5.65433486e-01 8.24769944e-01 -6.28592580e-03 -6.12251139e+01] [-1.09386592e-02 1.21810329e-04 9.99940164e-01 -3.80935078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.010892497877249996 Centerline is valid? [True, True] Translation: X:224.14, Y:-61.25, Z:-3.81 [[ 8.18381930e-01 5.74594602e-01 9.59476646e-03 2.24136028e+02] [-5.74555108e-01 8.18438173e-01 -6.73680518e-03 -6.12472463e+01] [-1.17236550e-02 5.57545093e-07 9.99931276e-01 -3.81100089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.010993537432774574 Centerline is valid? [True, True] Translation: X:224.19, Y:-61.28, Z:-3.81 [[ 8.15939659e-01 5.78049176e-01 1.00808748e-02 2.24191666e+02] [-5.78005794e-01 8.16001929e-01 -7.08192230e-03 -6.12771038e+01] [-1.23197127e-02 -4.83827989e-05 9.99924108e-01 -3.81254094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.011254310693838523 Centerline is valid? [True, True] Translation: X:224.25, Y:-61.31, Z:-3.82 [[ 8.14921308e-01 5.79486417e-01 9.93749841e-03 2.24247414e+02] [-5.79444316e-01 8.14981894e-01 -6.98547261e-03 -6.13061121e+01] [-1.21468678e-02 -6.56164912e-05 9.99926222e-01 -3.81587738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.011130303037518535 Centerline is valid? [True, True] Translation: X:224.30, Y:-61.34, Z:-3.82 [[ 8.15870580e-01 5.78146408e-01 1.00959326e-02 2.24300252e+02] [-5.78102801e-01 8.15933042e-01 -7.10084472e-03 -6.13399838e+01] [-1.23429328e-02 -4.31165950e-05 9.99923822e-01 -3.81818796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.01115493609265503 Centerline is valid? [True, True] Translation: X:224.35, Y:-61.38, Z:-3.82 [[ 8.19250591e-01 5.73326532e-01 1.11873278e-02 2.24351377e+02] [-5.73272464e-01 8.19326972e-01 -7.87369989e-03 -6.13758377e+01] [-1.36802805e-02 3.71463077e-05 9.99906420e-01 -3.81982188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.011612070095733869 Centerline is valid? [True, True] Translation: X:224.40, Y:-61.41, Z:-3.82 [[ 8.21802513e-01 5.69651469e-01 1.17402453e-02 2.24401322e+02] [-5.69591471e-01 8.21886362e-01 -8.26824861e-03 -6.14127223e+01] [-1.43591675e-02 1.07723904e-04 9.99896896e-01 -3.82028619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.012323868779056581 Centerline is valid? [True, True] Translation: X:224.45, Y:-61.45, Z:-3.82 [[ 8.24056940e-01 5.66385469e-01 1.17329006e-02 2.24450349e+02] [-5.66325147e-01 8.24140444e-01 -8.26776061e-03 -6.14497329e+01] [-1.43522974e-02 1.68468837e-04 9.99896986e-01 -3.82184972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.01312107664539767 Centerline is valid? [True, True] Translation: X:224.50, Y:-61.49, Z:-3.82 [[ 8.25528987e-01 5.64267183e-01 1.02194916e-02 2.24500779e+02] [-5.64221242e-01 8.25592220e-01 -7.20251313e-03 -6.14863810e+01] [-1.25012746e-02 1.79829114e-04 9.99921840e-01 -3.82487622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.012782402117412274 Centerline is valid? [True, True] Translation: X:224.55, Y:-61.52, Z:-3.83 [[ 8.25178405e-01 5.64780628e-01 1.01706704e-02 2.24553315e+02] [-5.64735121e-01 8.25241063e-01 -7.17156445e-03 -6.15217466e+01] [-1.24436156e-02 1.74085317e-04 9.99922560e-01 -3.82588150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.012205168595452693 Centerline is valid? [True, True] Translation: X:224.61, Y:-61.56, Z:-3.83 [[ 8.23228542e-01 5.67620495e-01 1.00866976e-02 2.24605482e+02] [-5.67575895e-01 8.23290323e-01 -7.11676980e-03 -6.15555249e+01] [-1.23439049e-02 1.33761623e-04 9.99923802e-01 -3.82651795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.011833342330902533 Centerline is valid? [True, True] Translation: X:224.66, Y:-61.59, Z:-3.83 [[ 8.20701868e-01 5.71267155e-01 1.01134186e-02 2.24656685e+02] [-5.71222545e-01 8.20764175e-01 -7.13953624e-03 -6.15889788e+01] [-1.23793142e-02 8.24180063e-05 9.99923370e-01 -3.82747118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.01157538693753201 Centerline is valid? [True, True] Translation: X:224.71, Y:-61.62, Z:-3.83 [[ 8.15592844e-01 5.78527036e-01 1.07135710e-02 2.24710042e+02] [-5.78477546e-01 8.15663207e-01 -7.56709577e-03 -6.16209001e+01] [-1.31164352e-02 -2.58911008e-05 9.99913976e-01 -3.82801244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.012827589703195183 Centerline is valid? [True, True] Translation: X:224.76, Y:-61.65, Z:-3.83 [[ 8.09886222e-01 5.86487209e-01 1.08194637e-02 2.24763881e+02] [-5.86437386e-01 8.09958475e-01 -7.64602305e-03 -6.16511486e+01] [-1.32476110e-02 -1.52529284e-04 9.99912235e-01 -3.82958798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.014463646064092098 Centerline is valid? [True, True] Translation: X:224.82, Y:-61.68, Z:-3.83 [[ 8.05809753e-01 5.92074761e-01 1.08682397e-02 2.24815926e+02] [-5.92024944e-01 8.05883005e-01 -7.68422343e-03 -6.16840367e+01] [-1.33081644e-02 -2.42246804e-04 9.99911413e-01 -3.83049356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.016241346019118297 Centerline is valid? [True, True] Translation: X:224.87, Y:-61.72, Z:-3.83 [[ 8.00890422e-01 5.98705132e-01 1.12559817e-02 2.24866225e+02] [-5.98652285e-01 8.00969434e-01 -7.96289327e-03 -6.17187958e+01] [-1.37831224e-02 -3.61014238e-04 9.99904943e-01 -3.83075535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.018017294596562063 Centerline is valid? [True, True] Translation: X:224.92, Y:-61.75, Z:-3.83 [[ 7.98475380e-01 6.01925719e-01 1.10677839e-02 2.24916737e+02] [-6.01874937e-01 7.98551978e-01 -7.82937496e-03 -6.17534702e+01] [-1.35509029e-02 -4.09858573e-04 9.99908098e-01 -3.83168746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.019692434279137257 Centerline is valid? [True, True] Translation: X:224.97, Y:-61.79, Z:-3.83 [[ 7.96660048e-01 6.04335183e-01 1.05714092e-02 2.24966401e+02] [-6.04289021e-01 7.96730069e-01 -7.48167162e-03 -6.17901052e+01] [-1.29439970e-02 -4.27837649e-04 9.99916131e-01 -3.83299914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.020286401416590077 Centerline is valid? [True, True] Translation: X:225.01, Y:-61.83, Z:-3.83 [[ 7.96611475e-01 6.04403959e-01 1.02962406e-02 2.25014371e+02] [-6.04360134e-01 7.96677904e-01 -7.29014963e-03 -6.18289192e+01] [-1.26089827e-02 -4.15220524e-04 9.99920417e-01 -3.83442321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.02007836321910203 Centerline is valid? [True, True] Translation: X:225.06, Y:-61.87, Z:-3.84 [[ 7.97303227e-01 6.03504686e-01 9.46882207e-03 2.25062199e+02] [-6.03467519e-01 7.97359367e-01 -6.70764971e-03 -6.18682353e+01] [-1.15981520e-02 -3.66095805e-04 9.99932672e-01 -3.83636820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.01925436391337003 Centerline is valid? [True, True] Translation: X:225.11, Y:-61.91, Z:-3.84 [[ 7.99321807e-01 6.00855115e-01 7.60129799e-03 2.25106224e+02] [-6.00831010e-01 7.99357907e-01 -5.38831487e-03 -6.19100404e+01] [-9.31375420e-03 -2.60097973e-04 9.99956592e-01 -3.83927989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.01708122383236946 Centerline is valid? [True, True] Translation: X:225.15, Y:-61.95, Z:-3.84 [[ 8.00726147e-01 5.98995556e-01 6.47776265e-03 2.25152164e+02] [-5.98977995e-01 8.00752322e-01 -4.59128897e-03 -6.19533722e+01] [-7.93724518e-03 -2.03672158e-04 9.99968479e-01 -3.84066332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.015708997011600185 Centerline is valid? [True, True] Translation: X:225.20, Y:-62.00, Z:-3.84 [[ 8.02753811e-01 5.96282366e-01 5.80165678e-03 2.25197068e+02] [-5.96268204e-01 8.02774760e-01 -4.11264451e-03 -6.19984390e+01] [-7.10972103e-03 -1.57902411e-04 9.99974713e-01 -3.84144085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.014769491967704622 Centerline is valid? [True, True] Translation: X:225.24, Y:-62.04, Z:-3.84 [[ 8.04093282e-01 5.94468399e-01 6.42777916e-03 2.25242297e+02] [-5.94450961e-01 8.04118958e-01 -4.55590757e-03 -6.20419214e+01] [-7.87704216e-03 -1.57624826e-04 9.99968963e-01 -3.84097982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.01455761790042961 Centerline is valid? [True, True] Translation: X:225.29, Y:-62.08, Z:-3.84 [[ 8.04429101e-01 5.94004375e-01 7.25418472e-03 2.25290018e+02] [-5.93982118e-01 8.04461791e-01 -5.14495162e-03 -6.20821001e+01] [-8.89183821e-03 -1.70107199e-04 9.99960452e-01 -3.84110384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.014958595697622742 Centerline is valid? [True, True] Translation: X:225.34, Y:-62.12, Z:-3.84 [[ 8.03293555e-01 5.95541704e-01 7.03876079e-03 2.25337817e+02] [-5.95520787e-01 8.03324372e-01 -4.99460797e-03 -6.21223819e+01] [-8.62890543e-03 -1.79591970e-04 9.99962754e-01 -3.84222900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.015498524005855734 Centerline is valid? [True, True] Translation: X:225.39, Y:-62.16, Z:-3.84 [[ 8.01521021e-01 5.97931134e-01 6.51247164e-03 2.25386882e+02] [-5.97913290e-01 8.01547456e-01 -4.62316277e-03 -6.21605355e+01] [-7.98438803e-03 -1.88331203e-04 9.99968107e-01 -3.84326660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.018225373141442656 Centerline is valid? [True, True] Translation: X:225.44, Y:-62.19, Z:-3.84 [[ 7.97726654e-01 6.02989963e-01 5.94057501e-03 2.25436701e+02] [-6.02975224e-01 7.97748744e-01 -4.22146208e-03 -6.21946645e+01] [-7.28458552e-03 -2.14446731e-04 9.99973444e-01 -3.84481456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.020317519989968988 Centerline is valid? [True, True] Translation: X:225.49, Y:-62.23, Z:-3.85 [[ 7.94890993e-01 6.06727881e-01 5.43956077e-03 2.25487454e+02] [-6.06715610e-01 7.94909572e-01 -3.86535454e-03 -6.22293160e+01] [-6.66917729e-03 -2.27730930e-04 9.99977735e-01 -3.84669894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.021617073171630703 Centerline is valid? [True, True] Translation: X:225.54, Y:-62.27, Z:-3.85 [[ 7.92207463e-01 6.10234963e-01 4.54145362e-03 2.25536412e+02] [-6.10226467e-01 7.92220451e-01 -3.22727613e-03 -6.22664174e+01] [-5.56722917e-03 -2.14642961e-04 9.99984480e-01 -3.84820618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.02215847361739537 Centerline is valid? [True, True] Translation: X:225.59, Y:-62.30, Z:-3.85 [[ 7.91786386e-01 6.10785092e-01 3.98643053e-03 2.25585547e+02] [-6.10778565e-01 7.91796397e-01 -2.83012218e-03 -6.23047780e+01] [-4.88503776e-03 -1.93974108e-04 9.99988049e-01 -3.84938206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.020619263753873067 Centerline is valid? [True, True] Translation: X:225.63, Y:-62.35, Z:-3.85 [[ 7.92863750e-01 6.09383740e-01 4.30467856e-03 2.25633157e+02] [-6.09376092e-01 7.92875411e-01 -3.05944678e-03 -6.23457514e+01] [-5.27745091e-03 -1.97443750e-04 9.99986055e-01 -3.84971089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.021007191121036196 Centerline is valid? [True, True] Translation: X:225.68, Y:-62.38, Z:-3.85 [[ 7.95003936e-01 6.06584898e-01 4.84793700e-03 2.25681168e+02] [-6.06575130e-01 7.95018693e-01 -3.44811677e-03 -6.23829845e+01] [-5.94577610e-03 -1.99371616e-04 9.99982304e-01 -3.85078981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.01924560972619757 Centerline is valid? [True, True] Translation: X:225.73, Y:-62.42, Z:-3.85 [[ 7.98631021e-01 6.01788769e-01 6.22647440e-03 2.25725524e+02] [-6.01772504e-01 7.98655266e-01 -4.42943375e-03 -6.24238231e+01] [-7.63839005e-03 -2.09437899e-04 9.99970805e-01 -3.85134083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.016248428078284617 Centerline is valid? [True, True] Translation: X:225.77, Y:-62.47, Z:-3.85 [[ 8.01000745e-01 5.98631369e-01 6.18788251e-03 2.25770503e+02] [-5.98615212e-01 8.01024627e-01 -4.40172738e-03 -6.24665290e+01] [-7.59165836e-03 -1.78373692e-04 9.99971167e-01 -3.85138721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.01613205323018162 Centerline is valid? [True, True] Translation: X:225.82, Y:-62.51, Z:-3.85 [[ 8.04008230e-01 5.94591167e-01 5.66660505e-03 2.25817223e+02] [-5.94577514e-01 8.04028189e-01 -4.03135908e-03 -6.25051654e+01] [-6.95312069e-03 -1.27990058e-04 9.99975819e-01 -3.85431916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.014056299578048211 Centerline is valid? [True, True] Translation: X:225.86, Y:-62.55, Z:-3.86 [[ 8.05461448e-01 5.92621718e-01 5.59951188e-03 2.25864944e+02] [-5.92608344e-01 8.05480904e-01 -3.98296999e-03 -6.25461669e+01] [-6.87069441e-03 -1.10188686e-04 9.99976390e-01 -3.85505261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.01415609529486699 Centerline is valid? [True, True] Translation: X:225.92, Y:-62.58, Z:-3.86 [[ 8.05227675e-01 5.92934878e-01 6.05160360e-03 2.25916345e+02] [-5.92919274e-01 8.05250405e-01 -4.30343942e-03 -6.25821461e+01] [-7.42471558e-03 -1.22863890e-04 9.99972429e-01 -3.85582110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.014457986188139708 Centerline is valid? [True, True] Translation: X:225.97, Y:-62.62, Z:-3.86 [[ 8.03236570e-01 5.95651831e-01 3.14790389e-03 2.25967603e+02] [-5.95647632e-01 8.03242734e-01 -2.23789364e-03 -6.26165011e+01] [-3.86153637e-03 -7.74834869e-05 9.99992541e-01 -3.85707973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.019502970373825368 Centerline is valid? [True, True] Translation: X:226.02, Y:-62.64, Z:-3.87 [[ 7.98562402e-01 6.01911309e-01 -9.30924968e-04 2.26023706e+02] [-6.01910944e-01 7.98562944e-01 6.63368001e-04 -6.26405660e+01] [ 1.14269088e-03 3.05931822e-05 9.99999347e-01 -3.86514810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.019522970322033182 Centerline is valid? [True, True] Translation: X:226.07, Y:-62.67, Z:-3.86 [[ 7.95400890e-01 6.06082495e-01 -1.19714582e-03 2.26074298e+02] [-6.06081896e-01 7.95401790e-01 8.53221194e-04 -6.26739922e+01] [ 1.46933436e-03 4.69155129e-05 9.99998919e-01 -3.86448632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.02058980787257648 Centerline is valid? [True, True] Translation: X:226.13, Y:-62.71, Z:-3.86 [[ 7.92808934e-01 6.09470133e-01 3.88949038e-04 2.26126673e+02] [-6.09470071e-01 7.92809029e-01 -2.75753818e-04 -6.27082028e+01] [-4.76426025e-04 -1.84327077e-05 9.99999886e-01 -3.86188437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.02043552624722167 Centerline is valid? [True, True] Translation: X:226.18, Y:-62.74, Z:-3.86 [[ 7.92345673e-01 6.10070646e-01 1.46356848e-03 2.26178681e+02] [-6.10069767e-01 7.92347021e-01 -1.03787545e-03 -6.27436883e+01] [-1.79283147e-03 -7.05227560e-05 9.99998390e-01 -3.86124436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.0203895875705835 Centerline is valid? [True, True] Translation: X:226.23, Y:-62.78, Z:-3.86 [[ 7.93005992e-01 6.09203830e-01 3.49153719e-03 2.26231149e+02] [-6.09198769e-01 7.93013663e-01 -2.48803177e-03 -6.27777741e+01] [-4.28455518e-03 -1.54016055e-04 9.99990809e-01 -3.85988618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.020386791014375457 Centerline is valid? [True, True] Translation: X:226.28, Y:-62.81, Z:-3.86 [[ 7.93039809e-01 6.09153391e-01 4.47295604e-03 2.26282785e+02] [-6.09145090e-01 7.93052398e-01 -3.18641813e-03 -6.28123500e+01] [-5.48830592e-03 -1.97722786e-04 9.99984920e-01 -3.85875022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.020116886207699414 Centerline is valid? [True, True] Translation: X:226.33, Y:-62.85, Z:-3.86 [[ 7.93796326e-01 6.08157069e-01 5.68966495e-03 2.26334559e+02] [-6.08143587e-01 7.93816680e-01 -4.05658537e-03 -6.28467775e+01] [-6.98359201e-03 -2.40030684e-04 9.99975586e-01 -3.85804501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.02050467547974987 Centerline is valid? [True, True] Translation: X:226.39, Y:-62.88, Z:-3.86 [[ 7.94384104e-01 6.07381498e-01 6.45068851e-03 2.26386029e+02] [-6.07364118e-01 7.94410251e-01 -4.60235926e-03 -6.28801959e+01] [-7.91988094e-03 -2.61875698e-04 9.99968603e-01 -3.85899695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.019503597507941603 Centerline is valid? [True, True] Translation: X:226.44, Y:-62.91, Z:-3.86 [[ 7.96375180e-01 6.04774441e-01 5.86933234e-03 2.26436121e+02] [-6.04759955e-01 7.96396780e-01 -4.19117467e-03 -6.29148771e+01] [-7.20903270e-03 -2.11789678e-04 9.99973992e-01 -3.86106377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.01616085449055745 Centerline is valid? [True, True] Translation: X:226.48, Y:-62.95, Z:-3.86 [[ 7.99096258e-01 6.01186251e-01 4.50136474e-03 2.26483371e+02] [-6.01177674e-01 7.99108924e-01 -3.21438916e-03 -6.29545473e+01] [-5.52952731e-03 -1.37513634e-04 9.99984703e-01 -3.86244413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.014355642803993974 Centerline is valid? [True, True] Translation: X:226.53, Y:-62.99, Z:-3.86 [[ 8.02008338e-01 5.97295520e-01 4.54833728e-03 2.26531345e+02] [-5.97286700e-01 8.02021227e-01 -3.24794041e-03 -6.29933478e+01] [-5.58784331e-03 -1.11786075e-04 9.99984382e-01 -3.86329503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.013309081593786156 Centerline is valid? [True, True] Translation: X:226.58, Y:-63.03, Z:-3.87 [[ 8.04985199e-01 5.93273970e-01 4.98257599e-03 2.26579167e+02] [-5.93263304e-01 8.05000614e-01 -3.55875364e-03 -6.30314711e+01] [-6.12229263e-03 -9.12354904e-05 9.99981254e-01 -3.86517789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:226.63, Y:-63.07, Z:-3.87 [[ 8.04142787e-01 5.94413904e-01 5.14667579e-03 2.26630061e+02] [-5.94402561e-01 8.04159250e-01 -3.67370438e-03 -6.30674029e+01] [-6.32244790e-03 -1.05014393e-04 9.99980008e-01 -3.86630596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:226.68, Y:-63.10, Z:-3.87 [[ 8.03974702e-01 5.94641234e-01 5.14597363e-03 2.26680802e+02] [-5.94629889e-01 8.03991164e-01 -3.67468743e-03 -6.31037642e+01] [-6.32243799e-03 -1.05593997e-04 9.99980008e-01 -3.86731605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:226.73, Y:-63.14, Z:-3.87 [[ 8.03058975e-01 5.95877829e-01 5.08882966e-03 2.26731860e+02] [-5.95866743e-01 8.03075090e-01 -3.63646865e-03 -6.31396449e+01] [-6.25360338e-03 -1.11965569e-04 9.99980440e-01 -3.86844132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:226.78, Y:-63.18, Z:-3.87 [[ 8.02892861e-01 5.96101640e-01 5.08814504e-03 2.26782581e+02] [-5.96090553e-01 8.02908975e-01 -3.63742607e-03 -6.31760385e+01] [-6.25359297e-03 -1.12531766e-04 9.99980440e-01 -3.86945143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.014331922108116712 Centerline is valid? [True, True] Translation: X:226.83, Y:-63.21, Z:-3.87 [[ 8.01995052e-01 5.97308235e-01 5.17773437e-03 2.26832527e+02] [-5.97296761e-01 8.02011756e-01 -3.70437422e-03 -6.32120720e+01] [-6.36525707e-03 -1.21754176e-04 9.99979734e-01 -3.87015941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.014312285449668774 Centerline is valid? [True, True] Translation: X:226.88, Y:-63.25, Z:-3.87 [[ 8.01172830e-01 5.98410188e-01 5.22903578e-03 2.26882353e+02] [-5.98398499e-01 8.01189884e-01 -3.74266778e-03 -6.32485446e+01] [-6.42910110e-03 -1.30523420e-04 9.99979325e-01 -3.87090017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.01606586104792151 Centerline is valid? [True, True] Translation: X:226.93, Y:-63.28, Z:-3.87 [[ 7.99763980e-01 6.00292647e-01 5.12969348e-03 2.26933276e+02] [-6.00281423e-01 7.99780419e-01 -3.67365210e-03 -6.32824267e+01] [-6.30789474e-03 -1.41205073e-04 9.99980095e-01 -3.87287023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.01572401907022935 Centerline is valid? [True, True] Translation: X:226.98, Y:-63.32, Z:-3.87 [[ 7.98146112e-01 6.02438088e-01 5.57976536e-03 2.26982339e+02] [-6.02424844e-01 7.98165598e-01 -3.99823081e-03 -6.33197249e+01] [-6.86226327e-03 -1.70216902e-04 9.99976440e-01 -3.87296338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.016685743295486777 Centerline is valid? [True, True] Translation: X:227.03, Y:-63.36, Z:-3.87 [[ 7.96669771e-01 6.04384334e-01 6.07064668e-03 2.27032656e+02] [-6.04368697e-01 7.96692874e-01 -4.35235994e-03 -6.33555897e+01] [-7.46693912e-03 -2.01515225e-04 9.99972102e-01 -3.87378539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.016829121575628967 Centerline is valid? [True, True] Translation: X:227.08, Y:-63.39, Z:-3.87 [[ 7.96005812e-01 6.05252641e-01 6.63238991e-03 2.27082865e+02] [-6.05233981e-01 7.96033410e-01 -4.75800230e-03 -6.33921582e+01] [-8.15939741e-03 -2.26750268e-04 9.99966686e-01 -3.87443143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.01662966294131192 Centerline is valid? [True, True] Translation: X:227.13, Y:-63.43, Z:-3.88 [[ 7.95366506e-01 6.06089967e-01 6.86104418e-03 2.27133284e+02] [-6.06070007e-01 7.95396061e-01 -4.92473145e-03 -6.34288169e+01] [-8.44207784e-03 -2.41306649e-04 9.99964336e-01 -3.87564959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.01738181905054008 Centerline is valid? [True, True] Translation: X:227.18, Y:-63.46, Z:-3.88 [[ 7.94614217e-01 6.07090380e-01 5.43284448e-03 2.27184119e+02] [-6.07077882e-01 7.94632765e-01 -3.90066733e-03 -6.34641584e+01] [-6.68517384e-03 -1.98634003e-04 9.99977634e-01 -3.87818634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.01725714771074752 Centerline is valid? [True, True] Translation: X:227.23, Y:-63.50, Z:-3.88 [[ 7.94399199e-01 6.07378058e-01 4.66971885e-03 2.27234594e+02] [-6.07368826e-01 7.94412906e-01 -3.35334246e-03 -6.35009467e+01] [-5.74643155e-03 -1.72349094e-04 9.99983474e-01 -3.87956315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.01777629816813124 Centerline is valid? [True, True] Translation: X:227.28, Y:-63.54, Z:-3.88 [[ 7.94647979e-01 6.07055919e-01 4.20718684e-03 2.27284640e+02] [-6.07048410e-01 7.94659102e-01 -3.02322316e-03 -6.35367485e+01] [-5.17854483e-03 -1.51567904e-04 9.99986580e-01 -3.88135033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.01631645500267378 Centerline is valid? [True, True] Translation: X:227.33, Y:-63.58, Z:-3.88 [[ 7.96084818e-01 6.05172638e-01 3.87824727e-03 2.27332939e+02] [-6.05166231e-01 7.96094255e-01 -2.78753910e-03 -6.35756675e+01] [-4.77439276e-03 -1.27866732e-04 9.99988594e-01 -3.88169211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.014987773615840782 Centerline is valid? [True, True] Translation: X:227.38, Y:-63.61, Z:-3.88 [[ 7.99791285e-01 6.00262627e-01 4.32194342e-03 2.27379457e+02] [-6.00254571e-01 7.99802955e-01 -3.11172149e-03 -6.36141263e+01] [-5.32455323e-03 -1.05538566e-04 9.99985819e-01 -3.88275585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.013267509830279406 Centerline is valid? [True, True] Translation: X:227.43, Y:-63.66, Z:-3.88 [[ 8.03602972e-01 5.95141993e-01 5.31702255e-03 2.27425998e+02] [-5.95129689e-01 8.03620557e-01 -3.82797482e-03 -6.36551844e+01] [-6.55105719e-03 -8.81460310e-05 9.99978538e-01 -3.88276727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.012102141629667114 Centerline is valid? [True, True] Translation: X:227.47, Y:-63.70, Z:-3.88 [[ 8.08284422e-01 5.88753148e-01 6.78409675e-03 2.27471358e+02] [-5.88732884e-01 8.08312890e-01 -4.88497835e-03 -6.36975740e+01] [-8.35971923e-03 -4.55689479e-05 9.99965056e-01 -3.88118038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.012051398976712896 Centerline is valid? [True, True] Translation: X:227.52, Y:-63.74, Z:-3.88 [[ 8.13239054e-01 5.81895206e-01 6.34112200e-03 2.27517773e+02] [-5.81877305e-01 8.13263775e-01 -4.56436527e-03 -6.37395175e+01] [-7.81298709e-03 2.21651160e-05 9.99969478e-01 -3.88243514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.012631264183782008 Centerline is valid? [True, True] Translation: X:227.57, Y:-63.78, Z:-3.88 [[ 8.16317207e-01 5.77581005e-01 5.13806400e-03 2.27565735e+02] [-5.77569157e-01 8.16333375e-01 -3.69989350e-03 -6.37782974e+01] [-6.33136133e-03 5.26994373e-05 9.99979955e-01 -3.88488290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.013919322569991371 Centerline is valid? [True, True] Translation: X:227.61, Y:-63.82, Z:-3.89 [[ 8.19061473e-01 5.73691207e-01 4.08682840e-03 2.27612030e+02] [-5.73683660e-01 8.19071667e-01 -2.94343647e-03 -6.38181490e+01] [-5.03602897e-03 6.63087348e-05 9.99987317e-01 -3.88752122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.013689889216076704 Centerline is valid? [True, True] Translation: X:227.66, Y:-63.85, Z:-3.89 [[ 8.19997187e-01 5.72352120e-01 4.20294019e-03 2.27661738e+02] [-5.72344114e-01 8.20007954e-01 -3.02825515e-03 -6.38546786e+01] [-5.17967264e-03 7.76326253e-05 9.99986582e-01 -3.88716821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.014140219184124373 Centerline is valid? [True, True] Translation: X:227.71, Y:-63.89, Z:-3.89 [[ 8.20999774e-01 5.70910399e-01 4.54832459e-03 2.27711488e+02] [-5.70900989e-01 8.21012367e-01 -3.27923450e-03 -6.38921167e+01] [-5.60637981e-03 9.56077748e-05 9.99984280e-01 -3.88802562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.013966394530705485 Centerline is valid? [True, True] Translation: X:227.76, Y:-63.93, Z:-3.89 [[ 8.19777154e-01 5.72659844e-01 5.11090879e-03 2.27760969e+02] [-5.72647979e-01 8.19793080e-01 -3.68762254e-03 -6.39273877e+01] [-6.30164101e-03 9.62771201e-05 9.99980140e-01 -3.88919837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.01285559539369331 Centerline is valid? [True, True] Translation: X:227.81, Y:-63.96, Z:-3.89 [[ 8.17443387e-01 5.75987683e-01 4.94942991e-03 2.27812970e+02] [-5.75976609e-01 8.17458368e-01 -3.57236110e-03 -6.39614070e+01] [-6.10358889e-03 6.94470979e-05 9.99981371e-01 -3.88934406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.012378614285113299 Centerline is valid? [True, True] Translation: X:227.86, Y:-63.99, Z:-3.89 [[ 8.14500624e-01 5.80135098e-01 5.65690350e-03 2.27864128e+02] [-5.80120710e-01 8.14520267e-01 -4.08609804e-03 -6.39946906e+01] [-6.97815144e-03 4.64425321e-05 9.99975651e-01 -3.89046893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.011893495513230585 Centerline is valid? [True, True] Translation: X:227.92, Y:-64.03, Z:-3.89 [[ 8.09174318e-01 5.87532865e-01 6.48503861e-03 2.27919160e+02] [-5.87514157e-01 8.09200304e-01 -4.68863043e-03 -6.40253703e+01] [-8.00241969e-03 -1.61326625e-05 9.99967980e-01 -3.89150495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.012422150446249716 Centerline is valid? [True, True] Translation: X:227.97, Y:-64.06, Z:-3.89 [[ 8.05173935e-01 5.93006812e-01 6.15273468e-03 2.27972351e+02] [-5.92990138e-01 8.05197440e-01 -4.44742793e-03 -6.40580376e+01] [-7.59152127e-03 -6.75579357e-05 9.99971182e-01 -3.89238217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.01369821807106241 Centerline is valid? [True, True] Translation: X:228.03, Y:-64.09, Z:-3.89 [[ 7.99798399e-01 6.00236153e-01 6.25147979e-03 2.28026019e+02] [-6.00219127e-01 7.99822819e-01 -4.52297748e-03 -6.40898588e+01] [-7.71493080e-03 -1.34787597e-04 9.99970230e-01 -3.89387749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.015780873883149332 Centerline is valid? [True, True] Translation: X:228.08, Y:-64.12, Z:-3.89 [[ 7.95826624e-01 6.05481432e-01 7.22632644e-03 2.28077747e+02] [-6.05458889e-01 7.95859403e-01 -5.22909159e-03 -6.41207796e+01] [-8.91725772e-03 -2.13793273e-04 9.99960218e-01 -3.89470200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.016419355125000666 Centerline is valid? [True, True] Translation: X:228.13, Y:-64.16, Z:-3.90 [[ 7.94414388e-01 6.07329908e-01 7.49416006e-03 2.28129175e+02] [-6.07305747e-01 7.94449699e-01 -5.42273349e-03 -6.41560689e+01] [-9.24712143e-03 -2.43348960e-04 9.99957215e-01 -3.89544165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.017895917539537166 Centerline is valid? [True, True] Translation: X:228.18, Y:-64.19, Z:-3.90 [[ 7.93656681e-01 6.08321093e-01 7.38379606e-03 2.28179686e+02] [-6.08297656e-01 7.93690989e-01 -5.34573947e-03 -6.41902912e+01] [-9.11237847e-03 -2.48863984e-04 9.99958450e-01 -3.89700154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.017384394287512303 Centerline is valid? [True, True] Translation: X:228.23, Y:-64.23, Z:-3.90 [[ 7.93396699e-01 6.08664316e-01 7.03054938e-03 2.28230301e+02] [-6.08643066e-01 7.93427812e-01 -5.09171423e-03 -6.42282931e+01] [-8.67737817e-03 -2.39345870e-04 9.99962322e-01 -3.89874173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.016283663741698873 Centerline is valid? [True, True] Translation: X:228.28, Y:-64.27, Z:-3.90 [[ 7.94465929e-01 6.07273395e-01 6.55062014e-03 2.28278682e+02] [-6.07254878e-01 7.94492908e-01 -4.74681309e-03 -6.42675357e+01] [-8.08703455e-03 -2.06714760e-04 9.99967278e-01 -3.89997593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.014848334047004454 Centerline is valid? [True, True] Translation: X:228.33, Y:-64.31, Z:-3.90 [[ 7.97321454e-01 6.03505917e-01 7.68807935e-03 2.28325783e+02] [-6.03480185e-01 7.97358496e-01 -5.57632865e-03 -6.43079076e+01] [-9.49550272e-03 -1.93477083e-04 9.99954898e-01 -3.89977029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.013845604913061593 Centerline is valid? [True, True] Translation: X:228.37, Y:-64.35, Z:-3.90 [[ 7.98266189e-01 6.02249099e-01 8.19232932e-03 2.28374217e+02] [-6.02219823e-01 7.98308202e-01 -5.94131949e-03 -6.43473700e+01] [-1.01181580e-02 -1.90828641e-04 9.99948792e-01 -3.89966867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.01324435659701056 Centerline is valid? [True, True] Translation: X:228.42, Y:-64.39, Z:-3.90 [[ 8.00985128e-01 5.98619788e-01 8.78487020e-03 2.28421951e+02] [-5.98585864e-01 8.01033286e-01 -6.37479736e-03 -6.43866778e+01] [-1.08530533e-02 -1.52381238e-04 9.99941092e-01 -3.89985433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.011723858223237722 Centerline is valid? [True, True] Translation: X:228.47, Y:-64.43, Z:-3.90 [[ 8.06631129e-01 5.90987825e-01 8.92255674e-03 2.28466675e+02] [-5.90952321e-01 8.06680475e-01 -6.47814232e-03 -6.44303048e+01] [-1.10261555e-02 -4.73343650e-05 9.99939209e-01 -3.90020559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.011748022966373525 Centerline is valid? [True, True] Translation: X:228.51, Y:-64.47, Z:-3.90 [[ 8.10710921e-01 5.85375478e-01 9.12976065e-03 2.28514338e+02] [-5.85337910e-01 8.10762326e-01 -6.63187561e-03 -6.44717844e+01] [-1.12842033e-02 3.25389599e-05 9.99936331e-01 -3.90120303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.013961116235143506 Centerline is valid? [True, True] Translation: X:228.56, Y:-64.52, Z:-3.90 [[ 8.17688287e-01 5.75598289e-01 8.51318684e-03 2.28557064e+02] [-5.75565044e-01 8.17732587e-01 -6.18837788e-03 -6.45159032e+01] [-1.05235300e-02 1.60271349e-04 9.99944613e-01 -3.90288584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.014915102122567052 Centerline is valid? [True, True] Translation: X:228.60, Y:-64.56, Z:-3.90 [[ 8.22043618e-01 5.69368319e-01 8.00048612e-03 2.28604637e+02] [-5.69338643e-01 8.22082517e-01 -5.81759344e-03 -6.45555447e+01] [-9.88941317e-03 2.27329652e-04 9.99951073e-01 -3.90302846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.01690174954153787 Centerline is valid? [True, True] Translation: X:228.65, Y:-64.59, Z:-3.90 [[ 8.25648445e-01 5.64128053e-01 8.01161294e-03 2.28652333e+02] [-5.64098051e-01 8.25687263e-01 -5.82517844e-03 -6.45945832e+01] [-9.90123332e-03 2.90214269e-04 9.99950939e-01 -3.90302602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.017142871232999533 Centerline is valid? [True, True] Translation: X:228.70, Y:-64.63, Z:-3.90 [[ 8.26255756e-01 5.63238405e-01 7.99533387e-03 2.28703118e+02] [-5.63208460e-01 8.26294383e-01 -5.81575976e-03 -6.46298894e+01] [-9.88215872e-03 3.02265300e-04 9.99951125e-01 -3.90392948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.017746395491232907 Centerline is valid? [True, True] Translation: X:228.75, Y:-64.66, Z:-3.90 [[ 8.25769498e-01 5.63953959e-01 7.78898130e-03 2.28754052e+02] [-5.63925543e-01 8.25806181e-01 -5.66863732e-03 -6.46643945e+01] [-9.62903937e-03 2.88582282e-04 9.99953598e-01 -3.90489744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.016900389661883352 Centerline is valid? [True, True] Translation: X:228.81, Y:-64.70, Z:-3.91 [[ 8.25143230e-01 5.64867792e-01 7.93899550e-03 2.28805918e+02] [-5.64838287e-01 8.25181372e-01 -5.78047772e-03 -6.46988976e+01] [-9.81631688e-03 2.85473438e-04 9.99951778e-01 -3.90547315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.015636788319350996 Centerline is valid? [True, True] Translation: X:228.86, Y:-64.73, Z:-3.91 [[ 8.22443301e-01 5.68791691e-01 7.93906494e-03 2.28859911e+02] [-5.68762324e-01 8.22481583e-01 -5.78490623e-03 -6.47288031e+01] [-9.82014129e-03 2.42316358e-04 9.99951752e-01 -3.90639169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.014145780877637003 Centerline is valid? [True, True] Translation: X:228.91, Y:-64.76, Z:-3.91 [[ 8.19533522e-01 5.72982191e-01 7.49767009e-03 2.28914735e+02] [-5.72956166e-01 8.19567798e-01 -5.46406309e-03 -6.47586956e+01] [-9.27565980e-03 1.82146556e-04 9.99956964e-01 -3.90771664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.012506918561344125 Centerline is valid? [True, True] Translation: X:228.97, Y:-64.79, Z:-3.91 [[ 8.13681737e-01 5.81265330e-01 7.25584982e-03 2.28971381e+02] [-5.81241278e-01 8.13714083e-01 -5.28839318e-03 -6.47854837e+01] [-8.97814679e-03 8.56695222e-05 9.99959692e-01 -3.90915787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.011837494908526171 Centerline is valid? [True, True] Translation: X:229.03, Y:-64.81, Z:-3.91 [[ 8.09086747e-01 5.87646072e-01 7.12253555e-03 2.29026480e+02] [-5.87623152e-01 8.09118097e-01 -5.19005094e-03 -6.48148919e+01] [-8.81288545e-03 1.38346337e-05 9.99961166e-01 -3.91026110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.011954652567079263 Centerline is valid? [True, True] Translation: X:229.08, Y:-64.84, Z:-3.91 [[ 8.04515088e-01 5.93891637e-01 6.94235713e-03 2.29082236e+02] [-5.93870073e-01 8.04545040e-01 -5.06123203e-03 -6.48443243e+01] [-8.59126237e-03 -5.10205970e-05 9.99963093e-01 -3.91196989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.013424230015530126 Centerline is valid? [True, True] Translation: X:229.14, Y:-64.87, Z:-3.91 [[ 7.99141064e-01 6.01107002e-01 6.62805602e-03 2.29138660e+02] [-6.01087560e-01 7.99168541e-01 -4.83606171e-03 -6.48722387e+01] [-8.20392442e-03 -1.19346523e-04 9.99966340e-01 -3.91367506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.013864612558303072 Centerline is valid? [True, True] Translation: X:229.19, Y:-64.91, Z:-3.91 [[ 7.96856077e-01 6.04126413e-01 7.18815147e-03 2.29190534e+02] [-6.04103673e-01 7.96888481e-01 -5.24414524e-03 -6.49056619e+01] [-8.89628175e-03 -1.63559704e-04 9.99960414e-01 -3.91393947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.01427533760024169 Centerline is valid? [True, True] Translation: X:229.24, Y:-64.94, Z:-3.91 [[ 7.95824103e-01 6.05477829e-01 7.78431988e-03 2.29243300e+02] [-6.05451197e-01 7.95862150e-01 -5.68208781e-03 -6.49392537e+01] [-9.63562375e-03 -1.91083346e-04 9.99953558e-01 -3.91416529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.014354488207934387 Centerline is valid? [True, True] Translation: X:229.29, Y:-64.97, Z:-3.92 [[ 7.96291495e-01 6.04875314e-01 6.76093464e-03 2.29293966e+02] [-6.04855177e-01 7.96320181e-01 -4.93804920e-03 -6.49736416e+01] [-8.37077276e-03 -1.57259740e-04 9.99964952e-01 -3.91685869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.013750090773872613 Centerline is valid? [True, True] Translation: X:229.34, Y:-65.01, Z:-3.92 [[ 7.96973404e-01 6.03991454e-01 5.26468472e-03 2.29343463e+02] [-6.03979233e-01 7.96990784e-01 -3.84396744e-03 -6.50117382e+01] [-6.51762869e-03 -1.16220425e-04 9.99978753e-01 -3.91960538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.013517751143410427 Centerline is valid? [True, True] Translation: X:229.39, Y:-65.05, Z:-3.92 [[ 7.98168980e-01 6.02422198e-01 3.71145629e-03 2.29393062e+02] [-6.02416095e-01 7.98177606e-01 -2.71263807e-03 -6.50499562e+01] [-4.59655469e-03 -7.06974449e-05 9.99989433e-01 -3.92225341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.01286809273744035 Centerline is valid? [True, True] Translation: X:229.44, Y:-65.09, Z:-3.92 [[ 8.00438854e-01 5.99401763e-01 3.89458064e-03 2.29440229e+02] [-5.99395015e-01 8.00448326e-01 -2.84490671e-03 -6.50902441e+01] [-4.82265266e-03 -5.72183529e-05 9.99988369e-01 -3.92292041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.012273798579487587 Centerline is valid? [True, True] Translation: X:229.49, Y:-65.13, Z:-3.92 [[ 8.01771219e-01 5.97610524e-01 4.95725865e-03 2.29487824e+02] [-5.97599537e-01 8.01786542e-01 -3.62426421e-03 -6.51302337e+01] [-6.14056171e-03 -5.66247414e-05 9.99981145e-01 -3.92166569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.012077523002433938 Centerline is valid? [True, True] Translation: X:229.54, Y:-65.17, Z:-3.92 [[ 8.03297342e-01 5.95531925e-01 7.42340184e-03 2.29535415e+02] [-5.95507148e-01 8.03331640e-01 -5.43264719e-03 -6.51710313e+01] [-9.19876841e-03 -5.66578142e-05 9.99957689e-01 -3.92076513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.011981842742428013 Centerline is valid? [True, True] Translation: X:229.58, Y:-65.21, Z:-3.92 [[ 8.03648476e-01 5.95056940e-01 7.50774989e-03 2.29584197e+02] [-5.95031551e-01 8.03683542e-01 -5.49696445e-03 -6.52103940e+01] [-9.30486187e-03 -4.97209663e-05 9.99956708e-01 -3.92176258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.01215951039939373 Centerline is valid? [True, True] Translation: X:229.63, Y:-65.25, Z:-3.92 [[ 8.03010937e-01 5.95929981e-01 6.39468139e-03 2.29632556e+02] [-5.95911572e-01 8.03036397e-01 -4.68431305e-03 -6.52493919e+01] [-7.92668449e-03 -4.91100228e-05 9.99968582e-01 -3.92390740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.012823379774577388 Centerline is valid? [True, True] Translation: X:229.68, Y:-65.29, Z:-3.93 [[ 8.00443084e-01 5.99379804e-01 5.89234376e-03 2.29681116e+02] [-5.99364243e-01 8.00464768e-01 -4.31960810e-03 -6.52857598e+01] [-7.30569944e-03 -7.40597214e-05 9.99973310e-01 -3.92538305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.013982204209904295 Centerline is valid? [True, True] Translation: X:229.73, Y:-65.32, Z:-3.93 [[ 7.97614542e-01 6.03147475e-01 4.91587767e-03 2.29731492e+02] [-6.03136720e-01 7.97629685e-01 -3.60307643e-03 -6.53204052e+01] [-6.09423641e-03 -9.10801737e-05 9.99981426e-01 -3.92760667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.01537653263098437 Centerline is valid? [True, True] Translation: X:229.78, Y:-65.36, Z:-3.93 [[ 7.93234610e-01 6.08897215e-01 4.79959312e-03 2.29781427e+02] [-6.08887055e-01 7.93249119e-01 -3.51985214e-03 -6.53551119e+01] [-5.95050118e-03 -1.30341584e-04 9.99982287e-01 -3.92895053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.017036848707009996 Centerline is valid? [True, True] Translation: X:229.83, Y:-65.39, Z:-3.93 [[ 7.90738611e-01 6.12132368e-01 5.13932489e-03 2.29832067e+02] [-6.12120779e-01 7.90755295e-01 -3.77022385e-03 -6.53899656e+01] [-6.37182442e-03 -1.64625981e-04 9.99979686e-01 -3.93030450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.018469910026245092 Centerline is valid? [True, True] Translation: X:229.88, Y:-65.43, Z:-3.93 [[ 7.89111893e-01 6.14217404e-01 6.27694776e-03 2.29881146e+02] [-6.14200158e-01 7.89136827e-01 -4.60799389e-03 -6.54266215e+01] [-7.78368068e-03 -2.19079527e-04 9.99969683e-01 -3.93004972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.01902809716980076 Centerline is valid? [True, True] Translation: X:229.93, Y:-65.46, Z:-3.93 [[ 7.88669874e-01 6.14774640e-01 7.20917911e-03 2.29931382e+02] [-6.14751890e-01 7.88702781e-01 -5.29502601e-03 -6.54649258e+01] [-8.94114732e-03 -2.55828980e-04 9.99959994e-01 -3.92991505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.020204469741187708 Centerline is valid? [True, True] Translation: X:229.98, Y:-65.50, Z:-3.93 [[ 7.87525678e-01 6.16231277e-01 7.89429553e-03 2.29981482e+02] [-6.16204031e-01 7.87565188e-01 -5.80227820e-03 -6.55019501e+01] [-9.79281765e-03 -2.95053660e-04 9.99952006e-01 -3.93027697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.018947464748241008 Centerline is valid? [True, True] Translation: X:230.03, Y:-65.54, Z:-3.93 [[ 7.86477296e-01 6.17575486e-01 7.34726229e-03 2.30029654e+02] [-6.17551923e-01 7.86511562e-01 -5.40238907e-03 -6.55412760e+01] [-9.11508979e-03 -2.88459604e-04 9.99958415e-01 -3.93218473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.01822018234970998 Centerline is valid? [True, True] Translation: X:230.08, Y:-65.58, Z:-3.93 [[ 7.86459979e-01 6.17603611e-01 6.81763201e-03 2.30078928e+02] [-6.17583309e-01 7.86489484e-01 -5.01477760e-03 -6.55798521e+01] [-8.45914064e-03 -2.66533845e-04 9.99964185e-01 -3.93436165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.018280106667759654 Centerline is valid? [True, True] Translation: X:230.13, Y:-65.62, Z:-3.94 [[ 7.87300047e-01 6.16530299e-01 7.00187961e-03 2.30127176e+02] [-6.16508811e-01 7.87331139e-01 -5.15388752e-03 -6.56180506e+01] [-8.69032566e-03 -2.59064592e-04 9.99962205e-01 -3.93543003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.01730953328844474 Centerline is valid? [True, True] Translation: X:230.18, Y:-65.66, Z:-3.94 [[ 7.88024195e-01 6.15593646e-01 7.89503885e-03 2.30175748e+02] [-6.15566244e-01 7.88063694e-01 -5.81486438e-03 -6.56574688e+01] [-9.80138705e-03 -2.77665596e-04 9.99951927e-01 -3.93546331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.01776275341762014 Centerline is valid? [True, True] Translation: X:230.22, Y:-65.69, Z:-3.94 [[ 7.88887385e-01 6.14479058e-01 8.49593012e-03 2.30224701e+02] [-6.14447222e-01 7.88933082e-01 -6.26119731e-03 -6.56939608e+01] [-1.05500950e-02 -2.80921091e-04 9.99944307e-01 -3.93618195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.016742472421817936 Centerline is valid? [True, True] Translation: X:230.27, Y:-65.73, Z:-3.94 [[ 7.89663666e-01 6.13475599e-01 8.88729576e-03 2.30273538e+02] [-6.13440653e-01 7.89713627e-01 -6.55380665e-03 -6.57332645e+01] [-1.10390190e-02 -2.76525531e-04 9.99939030e-01 -3.93696391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.01594437257315013 Centerline is valid? [True, True] Translation: X:230.32, Y:-65.77, Z:-3.94 [[ 7.90027330e-01 6.13008305e-01 8.81115470e-03 2.30322944e+02] [-6.12973924e-01 7.90076418e-01 -6.49777983e-03 -6.57715279e+01] [-1.09446785e-02 -2.67584428e-04 9.99940069e-01 -3.93831400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.01558097370188189 Centerline is valid? [True, True] Translation: X:230.37, Y:-65.81, Z:-3.94 [[ 7.90363952e-01 6.12574362e-01 8.80201943e-03 2.30372791e+02] [-6.12539989e-01 7.90412920e-01 -6.49440565e-03 -6.58088027e+01] [-1.09355363e-02 -2.58644772e-04 9.99940172e-01 -3.94003631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.015475280420663146 Centerline is valid? [True, True] Translation: X:230.42, Y:-65.85, Z:-3.94 [[ 7.91367953e-01 6.11291637e-01 7.70048343e-03 2.30422383e+02] [-6.11265246e-01 7.91405389e-01 -5.68402078e-03 -6.58459197e+01] [-9.56879846e-03 -2.08886012e-04 9.99954196e-01 -3.94276657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.014183763478436221 Centerline is valid? [True, True] Translation: X:230.47, Y:-65.89, Z:-3.94 [[ 7.94883474e-01 6.06718681e-01 7.25982789e-03 2.30468059e+02] [-6.06694992e-01 7.94916614e-01 -5.36323417e-03 -6.58857752e+01] [-9.02493216e-03 -1.41355015e-04 9.99959264e-01 -3.94407649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.012470399786147043 Centerline is valid? [True, True] Translation: X:230.51, Y:-65.93, Z:-3.94 [[ 7.99845545e-01 6.00146993e-01 8.40779956e-03 2.30512119e+02] [-6.00114860e-01 7.99889730e-01 -6.21086484e-03 -6.59288670e+01] [-1.04527444e-02 -7.79128824e-05 9.99945366e-01 -3.94244523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.012081120054800977 Centerline is valid? [True, True] Translation: X:230.56, Y:-65.97, Z:-3.94 [[ 8.03950617e-01 5.94626186e-01 9.11614806e-03 2.30558721e+02] [-5.94588040e-01 8.04002301e-01 -6.73523041e-03 -6.59697963e+01] [-1.13343484e-02 -5.55995578e-06 9.99935764e-01 -3.94312138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.012510699266506057 Centerline is valid? [True, True] Translation: X:230.61, Y:-66.01, Z:-3.94 [[ 8.07921697e-01 5.89217333e-01 9.24474741e-03 2.30606546e+02] [-5.89177706e-01 8.07974584e-01 -6.83387951e-03 -6.60098831e+01] [-1.14961612e-02 7.44404569e-05 9.99933914e-01 -3.94422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.013595867070354315 Centerline is valid? [True, True] Translation: X:230.65, Y:-66.05, Z:-3.94 [[ 8.12183895e-01 5.83309584e-01 1.03561110e-02 2.30654664e+02] [-5.83259315e-01 8.12249897e-01 -7.66003005e-03 -6.60489441e+01] [-1.28799191e-02 1.81054834e-04 9.99917034e-01 -3.94382472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.01582995632269152 Centerline is valid? [True, True] Translation: X:230.70, Y:-66.09, Z:-3.95 [[ 8.16760528e-01 5.76915105e-01 8.43811917e-03 2.30700611e+02] [-5.76881364e-01 8.16804082e-01 -6.24375657e-03 -6.60890009e+01] [-1.04944077e-02 2.31860216e-04 9.99944905e-01 -3.94675275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.017020345924986385 Centerline is valid? [True, True] Translation: X:230.75, Y:-66.13, Z:-3.95 [[ 8.19893382e-01 5.72456800e-01 8.24953277e-03 2.30749443e+02] [-5.72424297e-01 8.19934833e-01 -6.10682898e-03 -6.61264655e+01] [-1.02599751e-02 2.84715664e-04 9.99947325e-01 -3.94810680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.01895162447951301 Centerline is valid? [True, True] Translation: X:230.80, Y:-66.16, Z:-3.95 [[ 8.24010094e-01 5.66507442e-01 8.75692113e-03 2.30799200e+02] [-5.66470445e-01 8.24056534e-01 -6.48561522e-03 -6.61629343e+01] [-1.08903474e-02 3.83675389e-04 9.99940625e-01 -3.94918344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.020966122662349755 Centerline is valid? [True, True] Translation: X:230.85, Y:-66.20, Z:-3.95 [[ 8.25280575e-01 5.64651833e-01 8.95993765e-03 2.30848191e+02] [-5.64612959e-01 8.25329105e-01 -6.63895401e-03 -6.61994064e+01] [-1.11435949e-02 4.20102874e-04 9.99937820e-01 -3.95050794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.021065209268511655 Centerline is valid? [True, True] Translation: X:230.90, Y:-66.23, Z:-3.95 [[ 8.25399461e-01 5.64477707e-01 8.98044881e-03 2.30900034e+02] [-5.64438610e-01 8.25448204e-01 -6.65718218e-03 -6.62343057e+01] [-1.11707263e-02 4.25922542e-04 9.99937515e-01 -3.95135827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.018247862057916477 Centerline is valid? [True, True] Translation: X:230.96, Y:-66.26, Z:-3.95 [[ 8.22345911e-01 5.68906739e-01 9.60857214e-03 2.30955503e+02] [-5.68862223e-01 8.22401949e-01 -7.12781530e-03 -6.62617483e+01] [-1.19571706e-02 3.95576059e-04 9.99928432e-01 -3.95199591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.01617842203959096 Centerline is valid? [True, True] Translation: X:231.01, Y:-66.29, Z:-3.95 [[ 8.18247771e-01 5.74788476e-01 9.42303309e-03 2.31009585e+02] [-5.74746046e-01 8.18301971e-01 -6.99048436e-03 -6.62910818e+01] [-1.17289364e-02 3.04097236e-04 9.99931167e-01 -3.95330996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.013206362836256048 Centerline is valid? [True, True] Translation: X:231.07, Y:-66.31, Z:-3.95 [[ 8.10124338e-01 5.86186801e-01 9.14289196e-03 2.31067225e+02] [-5.86147570e-01 8.10175917e-01 -6.78301797e-03 -6.63148833e+01] [-1.13834665e-02 1.36004028e-04 9.99935197e-01 -3.95448413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.012055553986854645 Centerline is valid? [True, True] Translation: X:231.12, Y:-66.34, Z:-3.96 [[ 8.04137463e-01 5.94369428e-01 9.37678477e-03 2.31124307e+02] [-5.94328731e-01 8.04192131e-01 -6.95537440e-03 -6.63424478e+01] [-1.16747984e-02 2.01845366e-05 9.99931847e-01 -3.95514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.01287727005730062 Centerline is valid? [True, True] Translation: X:231.18, Y:-66.37, Z:-3.96 [[ 7.96327061e-01 6.04794776e-01 9.30006100e-03 2.31183115e+02] [-6.04755404e-01 7.96381355e-01 -6.90210031e-03 -6.63652642e+01] [-1.15807494e-02 -1.27932897e-04 9.99932933e-01 -3.95744159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.013609719079096676 Centerline is valid? [True, True] Translation: X:231.24, Y:-66.40, Z:-3.96 [[ 7.92601149e-01 6.09671674e-01 9.15791926e-03 2.31236775e+02] [-6.09633774e-01 7.92654031e-01 -6.80066103e-03 -6.63968698e+01] [-1.14052320e-02 -1.92765139e-04 9.99934940e-01 -3.95862862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.014958333609385515 Centerline is valid? [True, True] Translation: X:231.29, Y:-66.43, Z:-3.96 [[ 7.90153960e-01 6.12834055e-01 9.54679806e-03 2.31290160e+02] [-6.12793087e-01 7.90211592e-01 -7.09028906e-03 -6.64277686e+01] [-1.18891611e-02 -2.47791882e-04 9.99929291e-01 -3.95940557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.014918879474380756 Centerline is valid? [True, True] Translation: X:231.34, Y:-66.46, Z:-3.96 [[ 7.90139896e-01 6.12856144e-01 9.28934402e-03 2.31342009e+02] [-6.12817348e-01 7.90194462e-01 -6.89995531e-03 -6.64639928e+01] [-1.15690682e-02 -2.40741195e-04 9.99933047e-01 -3.96050751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.014064789692961379 Centerline is valid? [True, True] Translation: X:231.39, Y:-66.50, Z:-3.96 [[ 7.91392792e-01 6.11249656e-01 8.44429974e-03 2.31392366e+02] [-6.11217470e-01 7.91437818e-01 -6.27566654e-03 -6.65007342e+01] [-1.05191372e-02 -1.94786257e-04 9.99944653e-01 -3.96304536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.013247733696657353 Centerline is valid? [True, True] Translation: X:231.44, Y:-66.54, Z:-3.97 [[ 7.93585613e-01 6.08419352e-01 6.91140883e-03 2.31440690e+02] [-6.08397668e-01 7.93615698e-01 -5.13819923e-03 -6.65395292e+01] [-8.61118239e-03 -1.27284026e-04 9.99962915e-01 -3.96556761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.012196888456674949 Centerline is valid? [True, True] Translation: X:231.49, Y:-66.58, Z:-3.97 [[ 7.98914792e-01 6.01418793e-01 5.53078830e-03 2.31485714e+02] [-6.01404731e-01 7.98933936e-01 -4.11297813e-03 -6.65820352e+01] [-6.89235681e-03 -4.03231857e-05 9.99976247e-01 -3.96788864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.012154099517810529 Centerline is valid? [True, True] Translation: X:231.53, Y:-66.63, Z:-3.97 [[ 8.04473617e-01 5.93967319e-01 5.00230692e-03 2.31530504e+02] [-5.93955664e-01 8.04489169e-01 -3.72103825e-03 -6.66276462e+01] [-6.23447686e-03 2.23285743e-05 9.99980565e-01 -3.96869155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.012154099517810529 Centerline is valid? [True, True] Translation: X:231.58, Y:-66.67, Z:-3.97 [[ 8.04311524e-01 5.94186806e-01 5.00128625e-03 2.31580514e+02] [-5.94175146e-01 8.04327072e-01 -3.72240896e-03 -6.66650074e+01] [-6.23447622e-03 2.23364319e-05 9.99980565e-01 -3.96970172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.014115503209150013 Centerline is valid? [True, True] Translation: X:231.62, Y:-66.71, Z:-3.97 [[ 8.10284201e-01 5.86017838e-01 4.75475677e-03 2.31622350e+02] [-5.86007129e-01 8.10298147e-01 -3.54371573e-03 -6.67104453e+01] [-5.92945123e-03 8.50955042e-05 9.99982417e-01 -3.97060578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.015057388237298108 Centerline is valid? [True, True] Translation: X:231.67, Y:-66.75, Z:-3.97 [[ 8.14012542e-01 5.80827399e-01 4.80774450e-03 2.31668553e+02] [-5.80816360e-01 8.14026730e-01 -3.58302554e-03 -6.67522300e+01] [-5.99475194e-03 1.24211064e-04 9.99982024e-01 -3.97039585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.016792164262339492 Centerline is valid? [True, True] Translation: X:231.71, Y:-66.80, Z:-3.97 [[ 8.19654365e-01 5.72833868e-01 5.29922085e-03 2.31712843e+02] [-5.72820293e-01 8.19671470e-01 -3.94881524e-03 -6.67950006e+01] [-6.60563526e-03 2.01162400e-04 9.99978162e-01 -3.96982127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.018955045970321657 Centerline is valid? [True, True] Translation: X:231.76, Y:-66.84, Z:-3.97 [[ 8.24660373e-01 5.65598478e-01 5.79914502e-03 2.31756704e+02] [-5.65582018e-01 8.24680714e-01 -4.32445465e-03 -6.68381381e+01] [-7.22834803e-03 2.86314244e-04 9.99973834e-01 -3.96909493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.021012091234522863 Centerline is valid? [True, True] Translation: X:231.80, Y:-66.88, Z:-3.97 [[ 8.26770406e-01 5.62506983e-01 6.04886548e-03 2.31802384e+02] [-5.62489001e-01 8.26792469e-01 -4.50964092e-03 -6.68784133e+01] [-7.53786093e-03 3.26017360e-04 9.99971537e-01 -3.96978539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.02252437322458559 Centerline is valid? [True, True] Translation: X:231.85, Y:-66.92, Z:-3.97 [[ 8.27498541e-01 5.61435570e-01 6.02204948e-03 2.31849355e+02] [-5.61417697e-01 8.27520385e-01 -4.49245774e-03 -6.69169215e+01] [-7.50559427e-03 3.36617071e-04 9.99971776e-01 -3.97071738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.021810903679693173 Centerline is valid? [True, True] Translation: X:231.90, Y:-66.95, Z:-3.97 [[ 8.25407803e-01 5.64506631e-01 5.85006400e-03 2.31899896e+02] [-5.64489826e-01 8.25428478e-01 -4.36616287e-03 -6.69517694e+01] [-7.29353732e-03 3.01563292e-04 9.99973356e-01 -3.97178758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.020848784154909934 Centerline is valid? [True, True] Translation: X:231.95, Y:-66.99, Z:-3.97 [[ 8.24034249e-01 5.66510033e-01 5.82575634e-03 2.31950521e+02] [-5.66493417e-01 8.24054794e-01 -4.34809636e-03 -6.69869487e+01] [-7.26398265e-03 2.82727704e-04 9.99973577e-01 -3.97282167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.016930793851511 Centerline is valid? [True, True] Translation: X:232.01, Y:-67.02, Z:-3.97 [[ 8.17785635e-01 5.75498616e-01 5.29127723e-03 2.32005235e+02] [-5.75485092e-01 8.17802732e-01 -3.94980616e-03 -6.70152937e+01] [-6.60032896e-03 1.85043579e-04 9.99978200e-01 -3.97399586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.01455962136164978 Centerline is valid? [True, True] Translation: X:232.06, Y:-67.05, Z:-3.98 [[ 8.12600474e-01 5.82803391e-01 4.54718189e-03 2.32059371e+02] [-5.82793517e-01 8.12613189e-01 -3.39422676e-03 -6.70457165e+01] [-5.67326685e-03 1.08082146e-04 9.99983901e-01 -3.97547005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.01286697530554523 Centerline is valid? [True, True] Translation: X:232.11, Y:-67.08, Z:-3.98 [[ 8.07060259e-01 5.90453312e-01 4.31573581e-03 2.32113100e+02] [-5.90444524e-01 8.07071796e-01 -3.22186770e-03 -6.70762867e+01] [-5.38547110e-03 5.20388037e-05 9.99985497e-01 -3.97640311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.01201499928826051 Centerline is valid? [True, True] Translation: X:232.17, Y:-67.10, Z:-3.98 [[ 7.99004871e-01 6.01298998e-01 5.54365912e-03 2.32169571e+02] [-6.01284769e-01 7.99024101e-01 -4.13664469e-03 -6.71039126e+01] [-6.91687755e-03 -2.81185388e-05 9.99976078e-01 -3.97588102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.013286473697119295 Centerline is valid? [True, True] Translation: X:232.23, Y:-67.13, Z:-3.98 [[ 7.92382872e-01 6.09990613e-01 6.39029077e-03 2.32225370e+02] [-6.09971947e-01 7.92408631e-01 -4.77334752e-03 -6.71336704e+01] [-7.97541874e-03 -1.15579286e-04 9.99968189e-01 -3.97645205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.01459749470286001 Centerline is valid? [True, True] Translation: X:232.28, Y:-67.17, Z:-3.98 [[ 7.88929243e-01 6.14447723e-01 6.68176260e-03 2.32277693e+02] [-6.14427468e-01 7.88957520e-01 -4.99187415e-03 -6.71672268e+01] [-8.33887255e-03 -1.67222988e-04 9.99965217e-01 -3.97743710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.01726448684775978 Centerline is valid? [True, True] Translation: X:232.33, Y:-67.20, Z:-3.98 [[ 7.84582288e-01 6.19984286e-01 7.07940278e-03 2.32329722e+02] [-6.19961761e-01 7.84614190e-01 -5.29029999e-03 -6.71985477e+01] [-8.83450275e-03 -2.38283342e-04 9.99960947e-01 -3.97834026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.018741011199960387 Centerline is valid? [True, True] Translation: X:232.38, Y:-67.23, Z:-3.98 [[ 7.82454986e-01 6.22667518e-01 7.02545177e-03 2.32380723e+02] [-6.22645457e-01 7.82486479e-01 -5.24828058e-03 -6.72331001e+01] [-8.76525487e-03 -2.67822326e-04 9.99961549e-01 -3.97950426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.018901499195547174 Centerline is valid? [True, True] Translation: X:232.43, Y:-67.27, Z:-3.98 [[ 7.81318374e-01 6.24095968e-01 6.76917225e-03 2.32430027e+02] [-6.24075524e-01 7.81347649e-01 -5.05881288e-03 -6.72714707e+01] [-8.44626155e-03 -2.71931266e-04 9.99964293e-01 -3.98072681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.019322198127647978 Centerline is valid? [True, True] Translation: X:232.48, Y:-67.31, Z:-3.98 [[ 7.81867916e-01 6.23413829e-01 6.14487899e-03 2.32477999e+02] [-6.23396945e-01 7.81892026e-01 -4.59435264e-03 -6.73090042e+01] [-7.66881486e-03 -2.38521865e-04 9.99970566e-01 -3.98295827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.016874173312555404 Centerline is valid? [True, True] Translation: X:232.52, Y:-67.35, Z:-3.98 [[ 7.84786895e-01 6.19744134e-01 5.17089379e-03 2.32522594e+02] [-6.19732077e-01 7.84803912e-01 -3.86948891e-03 -6.73513281e+01] [-6.45623073e-03 -1.67844558e-04 9.99979144e-01 -3.98483173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.015137531672183123 Centerline is valid? [True, True] Translation: X:232.57, Y:-67.39, Z:-3.99 [[ 7.87893766e-01 6.15791610e-01 4.90981781e-03 2.32567668e+02] [-6.15780661e-01 7.87909053e-01 -3.67435005e-03 -6.73932431e+01] [-6.13112383e-03 -1.28373361e-04 9.99981196e-01 -3.98597435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.012782243969374486 Centerline is valid? [True, True] Translation: X:232.61, Y:-67.44, Z:-3.99 [[ 7.93651829e-01 6.08350814e-01 5.10506245e-03 2.32609141e+02] [-6.08338821e-01 7.93668244e-01 -3.82054610e-03 -6.74407704e+01] [-6.37595828e-03 -7.34242736e-05 9.99979671e-01 -3.98529348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.012092256556910513 Centerline is valid? [True, True] Translation: X:232.65, Y:-67.48, Z:-3.99 [[ 7.97568964e-01 6.03202534e-01 5.51820249e-03 2.32654316e+02] [-6.03188397e-01 7.97588052e-01 -4.12988464e-03 -6.74847471e+01] [-6.89240925e-03 -3.46479036e-05 9.99976246e-01 -3.98570891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.012081014329149327 Centerline is valid? [True, True] Translation: X:232.70, Y:-67.53, Z:-3.99 [[ 8.02279750e-01 5.96921122e-01 5.69003414e-03 2.32698326e+02] [-5.96905942e-01 8.02299927e-01 -4.25709386e-03 -6.75314301e+01] [-7.10626322e-03 1.89650146e-05 9.99974750e-01 -3.98588935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.012536717109878687 Centerline is valid? [True, True] Translation: X:232.74, Y:-67.57, Z:-3.99 [[ 8.04907163e-01 5.93372167e-01 5.82498113e-03 2.32743624e+02] [-5.93356142e-01 8.04928238e-01 -4.36122984e-03 -6.75746033e+01] [-7.27652420e-03 5.40968082e-05 9.99973524e-01 -3.98645712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.0136916096844796 Centerline is valid? [True, True] Translation: X:232.79, Y:-67.62, Z:-3.99 [[ 8.08425573e-01 5.88570663e-01 5.71556623e-03 2.32788359e+02] [-5.88555098e-01 8.08445772e-01 -4.28143243e-03 -6.76189673e+01] [-7.14065087e-03 9.72938212e-05 9.99974500e-01 -3.98765293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.014810182982979245 Centerline is valid? [True, True] Translation: X:232.83, Y:-67.66, Z:-3.99 [[ 8.11625844e-01 5.84149749e-01 5.70608556e-03 2.32833396e+02] [-5.84134101e-01 8.11645890e-01 -4.27790029e-03 -6.76617615e+01] [-7.13025528e-03 1.38935276e-04 9.99974570e-01 -3.98804019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.015672396080675024 Centerline is valid? [True, True] Translation: X:232.88, Y:-67.70, Z:-3.99 [[ 8.13360498e-01 5.81730067e-01 5.90164116e-03 2.32880559e+02] [-5.81713266e-01 8.13381892e-01 -4.42430252e-03 -6.77025275e+01] [-7.37403785e-03 1.65489952e-04 9.99972798e-01 -3.98866432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.017576786256090663 Centerline is valid? [True, True] Translation: X:232.93, Y:-67.74, Z:-3.99 [[ 8.16564075e-01 5.77215704e-01 6.71890075e-03 2.32926051e+02] [-5.77193731e-01 8.16591682e-01 -5.04212782e-03 -6.77445084e+01] [-8.39699382e-03 2.39113048e-04 9.99964716e-01 -3.98902128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.018517657021424532 Centerline is valid? [True, True] Translation: X:232.97, Y:-67.78, Z:-3.99 [[ 8.18828781e-01 5.73991114e-01 7.32317847e-03 2.32973631e+02] [-5.73964890e-01 8.18861474e-01 -5.49461388e-03 -6.77838101e+01] [-9.15052826e-03 2.95900662e-04 9.99958089e-01 -3.98901558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.018444657568285523 Centerline is valid? [True, True] Translation: X:233.02, Y:-67.82, Z:-3.99 [[ 8.20650231e-01 5.71381703e-01 7.49324357e-03 2.33022295e+02] [-5.71354113e-01 8.20684372e-01 -5.62487900e-03 -6.78213130e+01] [-9.36354083e-03 3.34762714e-04 9.99956105e-01 -3.98892696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.021093916404714606 Centerline is valid? [True, True] Translation: X:233.07, Y:-67.86, Z:-3.99 [[ 8.21939154e-01 5.69541189e-01 6.23379507e-03 2.33068921e+02] [-5.69522031e-01 8.21962740e-01 -4.68096427e-03 -6.78606079e+01] [-7.78994923e-03 2.97184192e-04 9.99969614e-01 -3.99161941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.01998158008380168 Centerline is valid? [True, True] Translation: X:233.12, Y:-67.90, Z:-3.99 [[ 8.21580224e-01 5.70065895e-01 5.55082344e-03 2.33121088e+02] [-5.70050710e-01 8.21598933e-01 -4.16899450e-03 -6.78963212e+01] [-6.93715220e-03 2.60912589e-04 9.99975904e-01 -3.99332993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.019177481069623227 Centerline is valid? [True, True] Translation: X:233.17, Y:-67.93, Z:-3.99 [[ 8.20441283e-01 5.71704278e-01 5.50632215e-03 2.33173357e+02] [-5.71689353e-01 8.20459723e-01 -4.13831168e-03 -6.79306038e+01] [-6.88360604e-03 2.47336000e-04 9.99976277e-01 -3.99371843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.01856469317480641 Centerline is valid? [True, True] Translation: X:233.23, Y:-67.97, Z:-3.99 [[ 8.19940145e-01 5.72416591e-01 6.11598206e-03 2.33225171e+02] [-5.72398177e-01 8.19962909e-01 -4.59937524e-03 -6.79652592e+01] [-7.64763714e-03 2.70435416e-04 9.99970720e-01 -3.99354708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.018804890605786242 Centerline is valid? [True, True] Translation: X:233.28, Y:-68.00, Z:-3.99 [[ 8.19238932e-01 5.73408543e-01 7.08619922e-03 2.33277222e+02] [-5.73383816e-01 8.19269521e-01 -5.33399562e-03 -6.80003651e+01] [-8.86406570e-03 3.06704924e-04 9.99960666e-01 -3.99391572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.019480558212198962 Centerline is valid? [True, True] Translation: X:233.33, Y:-68.04, Z:-4.00 [[ 8.18483028e-01 5.74486598e-01 7.11907657e-03 2.33327382e+02] [-5.74461684e-01 8.18513934e-01 -5.35849340e-03 -6.80353196e+01] [-8.90544602e-03 2.96199196e-04 9.99960302e-01 -3.99542253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.01796230987966357 Centerline is valid? [True, True] Translation: X:233.38, Y:-68.07, Z:-4.00 [[ 8.16730889e-01 5.76984453e-01 6.29254869e-03 2.33381486e+02] [-5.76965050e-01 8.16755094e-01 -4.73784360e-03 -6.80667947e+01] [-7.87313330e-03 2.38962540e-04 9.99968978e-01 -3.99789344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.01677087025992538 Centerline is valid? [True, True] Translation: X:233.43, Y:-68.10, Z:-4.00 [[ 8.13971052e-01 5.80876122e-01 5.83591319e-03 2.33434591e+02] [-5.80859504e-01 8.13991950e-01 -4.39799216e-03 -6.80986822e+01] [-7.30507499e-03 1.89992666e-04 9.99973300e-01 -3.99995666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.015915875892385765 Centerline is valid? [True, True] Translation: X:233.49, Y:-68.13, Z:-4.00 [[ 8.12192950e-01 5.83365578e-01 5.21673673e-03 2.33487034e+02] [-5.83352363e-01 8.12209690e-01 -3.92939650e-03 -6.81325167e+01] [-6.52935879e-03 1.48232441e-04 9.99978673e-01 -4.00174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.01608628940592293 Centerline is valid? [True, True] Translation: X:233.54, Y:-68.17, Z:-4.00 [[ 8.11462804e-01 5.84381494e-01 5.13695908e-03 2.33536130e+02] [-5.84368680e-01 8.11479051e-01 -3.87246722e-03 -6.81683493e+01] [-6.43153286e-03 1.40485112e-04 9.99979308e-01 -4.00335816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.01472430049116074 Centerline is valid? [True, True] Translation: X:233.59, Y:-68.20, Z:-4.00 [[ 8.10181196e-01 5.86159003e-01 4.90435192e-03 2.33588987e+02] [-5.86147358e-01 8.10196031e-01 -3.69665916e-03 -6.82015961e+01] [-6.14031651e-03 1.20290819e-04 9.99981141e-01 -4.00410861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.014542977388135318 Centerline is valid? [True, True] Translation: X:233.64, Y:-68.24, Z:-4.00 [[ 8.09713365e-01 5.86797524e-01 5.73876262e-03 2.33640112e+02] [-5.86781561e-01 8.09733689e-01 -4.33044360e-03 -6.82378934e+01] [-7.18796300e-03 1.39017969e-04 9.99974157e-01 -4.00482816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.014249067700096393 Centerline is valid? [True, True] Translation: X:233.69, Y:-68.27, Z:-4.01 [[ 8.08370810e-01 5.88644098e-01 5.89577677e-03 2.33690738e+02] [-5.88627305e-01 8.08392300e-01 -4.44805073e-03 -6.82733068e+01] [-7.38441936e-03 1.25259174e-04 9.99972727e-01 -4.00583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.01356611644547252 Centerline is valid? [True, True] Translation: X:233.74, Y:-68.31, Z:-4.01 [[ 8.05631742e-01 5.92392982e-01 5.29628205e-03 2.33742414e+02] [-5.92379489e-01 8.05649147e-01 -3.99921798e-03 -6.83085857e+01] [-6.63605378e-03 8.44880996e-05 9.99977978e-01 -4.00791221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.012851378548298306 Centerline is valid? [True, True] Translation: X:233.79, Y:-68.34, Z:-4.01 [[ 8.02804906e-01 5.96219619e-01 5.14281307e-03 2.33794472e+02] [-5.96206983e-01 8.02821377e-01 -3.88203093e-03 -6.83431961e+01] [-6.44330327e-03 5.03324098e-05 9.99979240e-01 -4.00858742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.012458016283778737 Centerline is valid? [True, True] Translation: X:233.85, Y:-68.38, Z:-4.01 [[ 7.97639420e-01 6.03117598e-01 4.52974450e-03 2.33847211e+02] [-6.03107899e-01 7.97652282e-01 -3.42043063e-03 -6.83766357e+01] [-5.67608294e-03 -3.65438958e-06 9.99983891e-01 -4.00999444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.012570731652476649 Centerline is valid? [True, True] Translation: X:233.90, Y:-68.41, Z:-4.01 [[ 7.94170546e-01 6.07677001e-01 4.66964980e-03 2.33898233e+02] [-6.07666760e-01 7.94184274e-01 -3.52807828e-03 -6.84123324e+01] [-5.85249446e-03 -3.56951115e-05 9.99982873e-01 -4.01125488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.013591715156061892 Centerline is valid? [True, True] Translation: X:233.95, Y:-68.45, Z:-4.01 [[ 7.89589222e-01 6.13618408e-01 4.61634344e-03 2.33949010e+02] [-6.13608490e-01 7.89602713e-01 -3.48957850e-03 -6.84477667e+01] [-5.78634690e-03 -7.72939507e-05 9.99983256e-01 -4.01210170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.014266949504280757 Centerline is valid? [True, True] Translation: X:234.00, Y:-68.48, Z:-4.01 [[ 7.86936289e-01 6.17005015e-01 6.00741190e-03 2.33998951e+02] [-6.16988289e-01 7.86959208e-01 -4.54489586e-03 -6.84849224e+01] [-7.53181165e-03 -1.29959311e-04 9.99971627e-01 -4.01178481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.016655948444554283 Centerline is valid? [True, True] Translation: X:234.05, Y:-68.52, Z:-4.01 [[ 7.83385687e-01 6.21487998e-01 7.71585751e-03 2.34048804e+02] [-6.21460563e-01 7.83423654e-01 -5.84355480e-03 -6.85198315e+01] [-9.67648446e-03 -2.17343960e-04 9.99953158e-01 -4.01109878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.01628092862008215 Centerline is valid? [True, True] Translation: X:234.10, Y:-68.56, Z:-4.01 [[ 7.80905179e-01 6.24601771e-01 7.72851039e-03 2.34096614e+02] [-6.24574397e-01 7.80943380e-01 -5.85326082e-03 -6.85591856e+01] [-9.69148610e-03 -2.56188028e-04 9.99953004e-01 -4.01190617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.018923578306727248 Centerline is valid? [True, True] Translation: X:234.15, Y:-68.59, Z:-4.02 [[ 7.77508917e-01 6.28844502e-01 5.87162940e-03 2.34145585e+02] [-6.28828816e-01 7.77531052e-01 -4.44784808e-03 -6.85942620e+01] [-7.36237900e-03 -2.34008218e-04 9.99972870e-01 -4.01548171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.019495330294178013 Centerline is valid? [True, True] Translation: X:234.19, Y:-68.63, Z:-4.02 [[ 7.76075009e-01 6.30622416e-01 4.79058535e-03 2.34194704e+02] [-6.30612011e-01 7.76089767e-01 -3.62833978e-03 -6.86325931e+01] [-6.00603667e-03 -2.05136835e-04 9.99981943e-01 -4.01824841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.019888739052105277 Centerline is valid? [True, True] Translation: X:234.24, Y:-68.67, Z:-4.02 [[ 7.75917397e-01 6.30822972e-01 3.81718626e-03 2.34241274e+02] [-6.30816379e-01 7.75926769e-01 -2.88875653e-03 -6.86733296e+01] [-4.78415098e-03 -1.66507163e-04 9.99988542e-01 -4.02056277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.01919113002499761 Centerline is valid? [True, True] Translation: X:234.29, Y:-68.72, Z:-4.02 [[ 7.77048700e-01 6.29430091e-01 3.61637918e-03 2.34287132e+02] [-6.29424154e-01 7.77057101e-01 -2.73792225e-03 -6.87154711e+01] [-4.53346377e-03 -1.48737472e-04 9.99989713e-01 -4.02154531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.016874575157756873 Centerline is valid? [True, True] Translation: X:234.33, Y:-68.76, Z:-4.02 [[ 7.80546983e-01 6.25075720e-01 5.17222977e-03 2.34328803e+02] [-6.25063436e-01 7.80564101e-01 -3.92247777e-03 -6.87619597e+01] [-6.48910249e-03 -1.71293516e-04 9.99978931e-01 -4.02028305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.01599981290822062 Centerline is valid? [True, True] Translation: X:234.37, Y:-68.80, Z:-4.02 [[ 7.82728989e-01 6.22330552e-01 6.32573898e-03 2.34374192e+02] [-6.22312087e-01 7.82754528e-01 -4.79737983e-03 -6.88044776e+01] [-7.93705687e-03 -1.81535569e-04 9.99968485e-01 -4.02019576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.014951491015077192 Centerline is valid? [True, True] Translation: X:234.42, Y:-68.85, Z:-4.02 [[ 7.83961100e-01 6.20758518e-01 7.99098721e-03 2.34418219e+02] [-6.20728970e-01 7.84001798e-01 -6.06028494e-03 -6.88489520e+01] [-1.00269218e-02 -2.09209615e-04 9.99949707e-01 -4.01907972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.015097932645478106 Centerline is valid? [True, True] Translation: X:234.47, Y:-68.89, Z:-4.02 [[ 7.83955918e-01 6.20763759e-01 8.09156903e-03 2.34466773e+02] [-6.20733432e-01 7.83997648e-01 -6.13956662e-03 -6.88894160e+01] [-1.01549915e-02 -2.09557824e-04 9.99948415e-01 -4.02024124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.014702230867788442 Centerline is valid? [True, True] Translation: X:234.51, Y:-68.93, Z:-4.02 [[ 7.83911774e-01 6.20825089e-01 7.65106202e-03 2.34514484e+02] [-6.20797948e-01 7.83949086e-01 -5.80838038e-03 -6.89312058e+01] [-9.60403135e-03 -1.96505838e-04 9.99953861e-01 -4.02220357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.014948456225637303 Centerline is valid? [True, True] Translation: X:234.56, Y:-68.97, Z:-4.02 [[ 7.84227749e-01 6.20432410e-01 7.10376613e-03 2.34562924e+02] [-6.20408967e-01 7.84259902e-01 -5.39622191e-03 -6.89690491e+01] [-8.91918990e-03 -1.75373250e-04 9.99960208e-01 -4.02435414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.014245822314287244 Centerline is valid? [True, True] Translation: X:234.61, Y:-69.01, Z:-4.03 [[ 7.85133841e-01 6.19296437e-01 6.06428629e-03 2.34611643e+02] [-6.19279309e-01 7.85157248e-01 -4.60791809e-03 -6.90068443e+01] [-7.61508559e-03 -1.37654594e-04 9.99970995e-01 -4.02675149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.014000919057437193 Centerline is valid? [True, True] Translation: X:234.66, Y:-69.04, Z:-4.03 [[ 7.86487287e-01 6.17577373e-01 5.99466444e-03 2.34661102e+02] [-6.17560567e-01 7.86510124e-01 -4.55753275e-03 -6.90429191e+01] [-7.52949337e-03 -1.17626802e-04 9.99971646e-01 -4.02849393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.013347418015580002 Centerline is valid? [True, True] Translation: X:234.71, Y:-69.08, Z:-4.03 [[ 7.88016382e-01 6.15607116e-01 7.61975202e-03 2.34709746e+02] [-6.15579822e-01 7.88053212e-01 -5.79815600e-03 -6.90825169e+01] [-9.57415614e-03 -1.21523680e-04 9.99954159e-01 -4.02724294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.013142651232164812 Centerline is valid? [True, True] Translation: X:234.76, Y:-69.12, Z:-4.03 [[ 7.88593218e-01 6.14861830e-01 8.10352055e-03 2.34758539e+02] [-6.14830920e-01 7.88634843e-01 -6.16633650e-03 -6.91214994e+01] [-1.01821636e-02 -1.19563853e-04 9.99948153e-01 -4.02749975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.012731759685372865 Centerline is valid? [True, True] Translation: X:234.81, Y:-69.16, Z:-4.03 [[ 7.89132564e-01 6.14175406e-01 7.63987461e-03 2.34807893e+02] [-6.14147878e-01 7.89169539e-01 -5.81580926e-03 -6.91607436e+01] [-9.60108334e-03 -1.02568304e-04 9.99953903e-01 -4.03004763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.012755784845066663 Centerline is valid? [True, True] Translation: X:234.86, Y:-69.20, Z:-4.03 [[ 7.88749236e-01 6.14677591e-01 6.78981979e-03 2.34858353e+02] [-6.14655846e-01 7.88778455e-01 -5.17110517e-03 -6.91988938e+01] [-8.53422603e-03 -9.46971804e-05 9.99963578e-01 -4.03171206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.012964636702600594 Centerline is valid? [True, True] Translation: X:234.91, Y:-69.24, Z:-4.03 [[ 7.88026411e-01 6.15604699e-01 6.72529628e-03 2.34908581e+02] [-6.15583375e-01 7.88055102e-01 -5.12490291e-03 -6.92364465e+01] [-8.45481836e-03 -1.01421732e-04 9.99964252e-01 -4.03264951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.01315993053081841 Centerline is valid? [True, True] Translation: X:234.96, Y:-69.27, Z:-4.03 [[ 7.87295048e-01 6.16528852e-01 7.66044469e-03 2.34958836e+02] [-6.16501188e-01 7.87332305e-01 -5.84175170e-03 -6.92735471e+01] [-9.63292405e-03 -1.23491075e-04 9.99953595e-01 -4.03296608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.013516096330819903 Centerline is valid? [True, True] Translation: X:235.01, Y:-69.31, Z:-4.03 [[ 7.86264725e-01 6.17824067e-01 9.01134928e-03 2.35010091e+02] [-6.17785813e-01 7.86316346e-01 -6.87695963e-03 -6.93101090e+01] [-1.13345224e-02 -1.59972973e-04 9.99935749e-01 -4.03384470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.013415258452652009 Centerline is valid? [True, True] Translation: X:235.06, Y:-69.35, Z:-4.03 [[ 7.85683893e-01 6.18556409e-01 9.42274770e-03 2.35059526e+02] [-6.18514583e-01 7.85740376e-01 -7.19529822e-03 -6.93487111e+01] [-1.18545312e-02 -1.74876950e-04 9.99929717e-01 -4.03411136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.013573185984134902 Centerline is valid? [True, True] Translation: X:235.11, Y:-69.39, Z:-4.04 [[ 7.85525158e-01 6.18760113e-01 9.28167793e-03 2.35109470e+02] [-6.18719496e-01 7.85579973e-01 -7.09169098e-03 -6.93865771e+01] [-1.16795558e-02 -1.72053416e-04 9.99931777e-01 -4.03564098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.013597784032502605 Centerline is valid? [True, True] Translation: X:235.16, Y:-69.42, Z:-4.04 [[ 7.85950678e-01 6.18228430e-01 8.66829349e-03 2.35158686e+02] [-6.18192930e-01 7.85998464e-01 -6.62690760e-03 -6.94232530e+01] [-1.09102080e-02 -1.50255230e-04 9.99940471e-01 -4.03733408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.013119013759477261 Centerline is valid? [True, True] Translation: X:235.21, Y:-69.46, Z:-4.04 [[ 7.86749025e-01 6.17208698e-01 8.91036052e-03 2.35207700e+02] [-6.17171086e-01 7.86799469e-01 -6.81515186e-03 -6.94614635e+01] [-1.12170379e-02 -1.37402799e-04 9.99937078e-01 -4.03892338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.01266129063084091 Centerline is valid? [True, True] Translation: X:235.26, Y:-69.50, Z:-4.04 [[ 7.88340235e-01 6.15184813e-01 8.20489821e-03 2.35255700e+02] [-6.15152782e-01 7.88382925e-01 -6.27839988e-03 -6.95007214e+01] [-1.03309779e-02 -9.77507235e-05 9.99946629e-01 -4.04012457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.012571619422624143 Centerline is valid? [True, True] Translation: X:235.31, Y:-69.54, Z:-4.04 [[ 7.88965597e-01 6.14390250e-01 7.60962805e-03 2.35305107e+02] [-6.14362640e-01 7.89002290e-01 -5.82518945e-03 -6.95394932e+01] [-9.58295357e-03 -7.91971059e-05 9.99954079e-01 -4.04147238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.012421746953288572 Centerline is valid? [True, True] Translation: X:235.36, Y:-69.58, Z:-4.04 [[ 7.89638967e-01 6.13534601e-01 6.75237877e-03 2.35355292e+02] [-6.13512809e-01 7.89667835e-01 -5.17134342e-03 -6.95767778e+01] [-8.50493445e-03 -5.91765866e-05 9.99963831e-01 -4.04399394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.012333623125808971 Centerline is valid? [True, True] Translation: X:235.40, Y:-69.61, Z:-4.05 [[ 7.90523992e-01 6.12393693e-01 6.76633188e-03 2.35404315e+02] [-6.12371739e-01 7.90552948e-01 -5.18560202e-03 -6.96132210e+01] [-8.52477358e-03 -4.41676103e-05 9.99963662e-01 -4.04609441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.01225449269772434 Centerline is valid? [True, True] Translation: X:235.45, Y:-69.65, Z:-4.05 [[ 7.90923877e-01 6.11871012e-01 7.29975379e-03 2.35452980e+02] [-6.11845411e-01 7.90957561e-01 -5.59721871e-03 -6.96512401e+01] [-9.19857133e-03 -3.93469393e-05 9.99957691e-01 -4.04625059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.012262649342668065 Centerline is valid? [True, True] Translation: X:235.50, Y:-69.69, Z:-4.05 [[ 7.91109859e-01 6.11628504e-01 7.46748507e-03 2.35503311e+02] [-6.11601678e-01 7.91145102e-01 -5.72846240e-03 -6.96883233e+01] [-9.41155512e-03 -3.52833142e-05 9.99955710e-01 -4.04648822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.012285682697050106 Centerline is valid? [True, True] Translation: X:235.55, Y:-69.73, Z:-4.05 [[ 7.90584067e-01 6.12298123e-01 8.23663176e-03 2.35554577e+02] [-6.12265480e-01 7.90626971e-01 -6.32261025e-03 -6.97256478e+01] [-1.03834256e-02 -4.44503728e-05 9.99946090e-01 -4.04671785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.012390021875331485 Centerline is valid? [True, True] Translation: X:235.61, Y:-69.76, Z:-4.05 [[ 7.89531915e-01 6.13653193e-01 8.31350985e-03 2.35605609e+02] [-6.13619972e-01 7.89575681e-01 -6.38550790e-03 -6.97602931e+01] [-1.04826325e-02 -5.97734064e-05 9.99945054e-01 -4.04825092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.012313775447309123 Centerline is valid? [True, True] Translation: X:235.66, Y:-69.80, Z:-4.05 [[ 7.88994764e-01 6.14343640e-01 8.31585724e-03 2.35656065e+02] [-6.14310405e-01 7.89038584e-01 -6.39055431e-03 -6.97985161e+01] [-1.04875286e-02 -6.64037347e-05 9.99945002e-01 -4.04895407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.012328102341922421 Centerline is valid? [True, True] Translation: X:235.71, Y:-69.84, Z:-4.05 [[ 7.88670730e-01 6.14764742e-01 7.92418143e-03 2.35706942e+02] [-6.14734552e-01 7.88710535e-01 -6.09279745e-03 -6.98360741e+01] [-9.99552243e-03 -6.60571153e-05 9.99950041e-01 -4.04995894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.01240873678725009 Centerline is valid? [True, True] Translation: X:235.76, Y:-69.87, Z:-4.05 [[ 7.88296755e-01 6.15247298e-01 7.68033879e-03 2.35757583e+02] [-6.15218930e-01 7.88334166e-01 -5.90855277e-03 -6.98736323e+01] [-9.68989461e-03 -6.73968353e-05 9.99953050e-01 -4.05095141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.012612818252085644 Centerline is valid? [True, True] Translation: X:235.81, Y:-69.91, Z:-4.05 [[ 7.87174286e-01 6.16688172e-01 7.23473824e-03 2.35807693e+02] [-6.16663030e-01 7.87207528e-01 -5.56916975e-03 -6.99086437e+01] [-9.12968152e-03 -7.74883748e-05 9.99958321e-01 -4.05285485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.012899245496844628 Centerline is valid? [True, True] Translation: X:235.86, Y:-69.94, Z:-4.05 [[ 7.85640592e-01 6.18638809e-01 7.40840611e-03 2.35858342e+02] [-6.18612507e-01 7.85675514e-01 -5.70547642e-03 -6.99444469e+01] [-9.35023242e-03 -1.00478806e-04 9.99956281e-01 -4.05360023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.012968261398491072 Centerline is valid? [True, True] Translation: X:235.91, Y:-69.98, Z:-4.05 [[ 7.84916511e-01 6.19557123e-01 7.41907752e-03 2.35909121e+02] [-6.19530762e-01 7.84951565e-01 -5.71621574e-03 -6.99811054e+01] [-9.36513868e-03 -1.09594633e-04 9.99956140e-01 -4.05429363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.01312331942495718 Centerline is valid? [True, True] Translation: X:235.96, Y:-70.02, Z:-4.06 [[ 7.84796493e-01 6.19711089e-01 7.25473315e-03 2.35958860e+02] [-6.19685859e-01 7.84830017e-01 -5.59293745e-03 -7.00181436e+01] [-9.15973769e-03 -1.06337849e-04 9.99958043e-01 -4.05562908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.013280417807879192 Centerline is valid? [True, True] Translation: X:236.01, Y:-70.06, Z:-4.06 [[ 7.85179221e-01 6.19219064e-01 7.83215289e-03 2.36007157e+02] [-6.19189594e-01 7.85218275e-01 -6.04210946e-03 -7.00551435e+01] [-9.89133895e-03 -1.05448766e-04 9.99951074e-01 -4.05605949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.01284390888831103 Centerline is valid? [True, True] Translation: X:236.06, Y:-70.09, Z:-4.06 [[ 7.85187429e-01 6.19208143e-01 7.87251988e-03 2.36056284e+02] [-6.19178345e-01 7.85226887e-01 -6.07561998e-03 -7.00947911e+01] [-9.94378765e-03 -1.03993397e-04 9.99950554e-01 -4.05615566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.012816924416341706 Centerline is valid? [True, True] Translation: X:236.11, Y:-70.13, Z:-4.06 [[ 7.84573341e-01 6.19991142e-01 7.46030512e-03 2.36106129e+02] [-6.19964389e-01 7.84608802e-01 -5.76048466e-03 -7.01335331e+01] [-9.42487053e-03 -1.05600815e-04 9.99955579e-01 -4.05763755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.012936458372373979 Centerline is valid? [True, True] Translation: X:236.16, Y:-70.17, Z:-4.06 [[ 7.84262022e-01 6.20387186e-01 7.26777089e-03 2.36155050e+02] [-6.20361783e-01 7.84295689e-01 -5.61519883e-03 -7.01713297e+01] [-9.18367879e-03 -1.04860120e-04 9.99957824e-01 -4.05928294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.013193485359853194 Centerline is valid? [True, True] Translation: X:236.20, Y:-70.21, Z:-4.06 [[ 7.83854580e-01 6.20907558e-01 6.76768812e-03 2.36203925e+02] [-6.20885528e-01 7.83883789e-01 -5.23136331e-03 -7.02091705e+01] [-8.55327402e-03 -1.01331521e-04 9.99963415e-01 -4.06057004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.012813290866047518 Centerline is valid? [True, True] Translation: X:236.25, Y:-70.25, Z:-4.06 [[ 7.84616031e-01 6.19944534e-01 6.81607851e-03 2.36251707e+02] [-6.19922125e-01 7.84645631e-01 -5.27177198e-03 -7.02481960e+01] [-8.61641245e-03 -8.91210716e-05 9.99962874e-01 -4.06123226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.012754892690221955 Centerline is valid? [True, True] Translation: X:236.30, Y:-70.29, Z:-4.06 [[ 7.85313697e-01 6.19054608e-01 7.33414511e-03 2.36300223e+02] [-6.19028594e-01 7.85347939e-01 -5.67578213e-03 -7.02875810e+01] [-9.27347483e-03 -8.27760862e-05 9.99956997e-01 -4.06133514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.012769590979872335 Centerline is valid? [True, True] Translation: X:236.35, Y:-70.33, Z:-4.06 [[ 7.84603821e-01 6.19957907e-01 7.00271277e-03 2.36350459e+02] [-6.19934207e-01 7.84635066e-01 -5.42146764e-03 -7.03259670e+01] [-8.85565572e-03 -8.75169703e-05 9.99960784e-01 -4.06194101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.013048485839470946 Centerline is valid? [True, True] Translation: X:236.40, Y:-70.36, Z:-4.06 [[ 7.83930993e-01 6.20810904e-01 6.78376403e-03 2.36400805e+02] [-6.20788669e-01 7.83960339e-01 -5.25505295e-03 -7.03623760e+01] [-8.58059612e-03 -9.16849688e-05 9.99963182e-01 -4.06396278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.013237563981093941 Centerline is valid? [True, True] Translation: X:236.45, Y:-70.40, Z:-4.06 [[ 7.83208226e-01 6.21726037e-01 6.45057365e-03 2.36450245e+02] [-6.21705942e-01 7.83234783e-01 -4.99957149e-03 -7.03996770e+01] [-8.16067742e-03 -9.46544592e-05 9.99966697e-01 -4.06494193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.013085620752755586 Centerline is valid? [True, True] Translation: X:236.50, Y:-70.44, Z:-4.06 [[ 7.83150759e-01 6.21797463e-01 6.54245114e-03 2.36499288e+02] [-6.21776776e-01 7.83178081e-01 -5.07296934e-03 -7.04393125e+01] [-8.27826379e-03 -9.50443856e-05 9.99965730e-01 -4.06471923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.012974214920616574 Centerline is valid? [True, True] Translation: X:236.55, Y:-70.48, Z:-4.07 [[ 7.84254101e-01 6.20402495e-01 6.80069782e-03 2.36547254e+02] [-6.20380056e-01 7.84283583e-01 -5.27707264e-03 -7.04777467e+01] [-8.60758468e-03 -8.04514393e-05 9.99962951e-01 -4.06563039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.012871950227112794 Centerline is valid? [True, True] Translation: X:236.60, Y:-70.52, Z:-4.07 [[ 7.85017448e-01 6.19437831e-01 6.66180844e-03 2.36595162e+02] [-6.19416245e-01 7.85045711e-01 -5.17168679e-03 -7.05156528e+01] [-8.43336260e-03 -6.65680107e-05 9.99964436e-01 -4.06709260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.012599210647775909 Centerline is valid? [True, True] Translation: X:236.64, Y:-70.55, Z:-4.07 [[ 7.85085636e-01 6.19351600e-01 6.64373552e-03 2.36644087e+02] [-6.19330114e-01 7.85113744e-01 -5.15936535e-03 -7.05546130e+01] [-8.41154926e-03 -6.41218469e-05 9.99964620e-01 -4.06759087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.01264330153514276 Centerline is valid? [True, True] Translation: X:236.69, Y:-70.59, Z:-4.07 [[ 7.85387590e-01 6.18971004e-01 6.42101973e-03 2.36693110e+02] [-6.18950897e-01 7.85413836e-01 -4.98934325e-03 -7.05930221e+01] [-8.13141654e-03 -5.57276506e-05 9.99966938e-01 -4.06926881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.012470292588862564 Centerline is valid? [True, True] Translation: X:236.74, Y:-70.63, Z:-4.07 [[ 7.86285745e-01 6.17835003e-01 5.88525951e-03 2.36742296e+02] [-6.17818066e-01 7.86307769e-01 -4.57489975e-03 -7.06327879e+01] [-7.45415848e-03 -3.88411930e-05 9.99972217e-01 -4.07070731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.012242407861293955 Centerline is valid? [True, True] Translation: X:236.79, Y:-70.67, Z:-4.07 [[ 7.87937257e-01 6.15718652e-01 6.73950096e-03 2.36789596e+02] [-6.15696329e-01 7.87966079e-01 -5.24299996e-03 -7.06729747e+01] [-8.53871101e-03 -1.83309864e-05 9.99963544e-01 -4.07019923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.012264245836805866 Centerline is valid? [True, True] Translation: X:236.84, Y:-70.71, Z:-4.07 [[ 7.88564283e-01 6.14918590e-01 6.44199867e-03 2.36838768e+02] [-6.14898152e-01 7.88590595e-01 -5.01354714e-03 -7.07124905e+01] [-8.16302291e-03 -7.66887161e-06 9.99966682e-01 -4.07126699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.012178043392201354 Centerline is valid? [True, True] Translation: X:236.89, Y:-70.75, Z:-4.07 [[ 7.89100079e-01 6.14238717e-01 5.64483451e-03 2.36888211e+02] [-6.14222993e-01 7.89120269e-01 -4.39499169e-03 -7.07517835e+01] [-7.15402738e-03 9.01131848e-07 9.99974410e-01 -4.07369626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.012111050111196843 Centerline is valid? [True, True] Translation: X:236.94, Y:-70.79, Z:-4.07 [[ 7.88606821e-01 6.14870661e-01 5.77517651e-03 2.36937698e+02] [-6.14854200e-01 7.88627967e-01 -4.49921177e-03 -7.07905299e+01] [-7.32089903e-03 -2.78244713e-06 9.99973202e-01 -4.07486412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.0121054154019443 Centerline is valid? [True, True] Translation: X:236.99, Y:-70.83, Z:-4.08 [[ 7.88468624e-01 6.15042533e-01 6.31760551e-03 2.36987084e+02] [-6.15022812e-01 7.88493933e-01 -4.92519744e-03 -7.08290979e+01] [-8.01059952e-03 -2.10785716e-06 9.99967915e-01 -4.07542940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.012120761537218635 Centerline is valid? [True, True] Translation: X:237.04, Y:-70.87, Z:-4.08 [[ 7.88258369e-01 6.15313193e-01 6.19832546e-03 2.37036118e+02] [-6.15294197e-01 7.88282738e-01 -4.83494570e-03 -7.08682123e+01] [-7.86103884e-03 -2.60727153e-06 9.99969102e-01 -4.07697103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.012138446136739077 Centerline is valid? [True, True] Translation: X:237.08, Y:-70.91, Z:-4.08 [[ 7.88075400e-01 6.15553954e-01 5.52208246e-03 2.37084825e+02] [-6.15538870e-01 7.88094747e-01 -4.30930549e-03 -7.09075855e+01] [-7.00453421e-03 -2.99874395e-06 9.99975468e-01 -4.07861655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.012160390117604067 Centerline is valid? [True, True] Translation: X:237.13, Y:-70.95, Z:-4.08 [[ 7.87619940e-01 6.16139378e-01 5.20560573e-03 2.37134492e+02] [-6.16125972e-01 7.87637142e-01 -4.06436808e-03 -7.09469339e+01] [-6.60434564e-03 -6.13155079e-06 9.99978191e-01 -4.08050671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.012055280386062508 Centerline is valid? [True, True] Translation: X:237.18, Y:-70.99, Z:-4.08 [[ 7.86816296e-01 6.17164617e-01 5.28700966e-03 2.37183980e+02] [-6.17150797e-01 7.86834058e-01 -4.13019292e-03 -7.09860143e+01] [-6.70900820e-03 -1.31791281e-05 9.99977494e-01 -4.08134794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.01221381583976071 Centerline is valid? [True, True] Translation: X:237.23, Y:-71.03, Z:-4.08 [[ 7.85317471e-01 6.19069985e-01 5.36870326e-03 2.37233650e+02] [-6.19055762e-01 7.85335821e-01 -4.19660946e-03 -7.10254139e+01] [-6.81422994e-03 -2.78559537e-05 9.99976782e-01 -4.08251486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.012622704884814635 Centerline is valid? [True, True] Translation: X:237.28, Y:-71.06, Z:-4.08 [[ 7.82196861e-01 6.23008984e-01 5.27980227e-03 2.37281739e+02] [-6.22995297e-01 7.82214678e-01 -4.13010209e-03 -7.10631038e+01] [-6.70302954e-03 -5.87390939e-05 9.99977533e-01 -4.08370528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.013408880384462772 Centerline is valid? [True, True] Translation: X:237.33, Y:-71.10, Z:-4.08 [[ 7.78487992e-01 6.27637397e-01 5.26725810e-03 2.37330947e+02] [-6.27623869e-01 7.78505805e-01 -4.12194816e-03 -7.11004629e+01] [-6.68767982e-03 -9.69697625e-05 9.99977633e-01 -4.08425621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.014113907270417624 Centerline is valid? [True, True] Translation: X:237.38, Y:-71.14, Z:-4.09 [[ 7.76233142e-01 6.30421390e-01 5.56603560e-03 2.37380229e+02] [-6.30406338e-01 7.76253087e-01 -4.35825931e-03 -7.11377077e+01] [-7.06819221e-03 -1.25838798e-04 9.99975012e-01 -4.08534961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.014892662929936832 Centerline is valid? [True, True] Translation: X:237.43, Y:-71.18, Z:-4.09 [[ 7.73401163e-01 6.33889751e-01 5.86726457e-03 2.37429306e+02] [-6.33873091e-01 7.73423401e-01 -4.59864653e-03 -7.11756647e+01] [-7.45291462e-03 -1.62502553e-04 9.99972213e-01 -4.08589317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.01586045294503212 Centerline is valid? [True, True] Translation: X:237.48, Y:-71.21, Z:-4.09 [[ 7.72329463e-01 6.35196379e-01 5.72361325e-03 2.37478184e+02] [-6.35180569e-01 7.72350653e-01 -4.48490626e-03 -7.12128153e+01] [-7.26943264e-03 -1.71702675e-04 9.99973563e-01 -4.08769494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.015387501357791482 Centerline is valid? [True, True] Translation: X:237.53, Y:-71.25, Z:-4.09 [[ 7.72739665e-01 6.34706864e-01 4.53947016e-03 2.37525834e+02] [-6.34696910e-01 7.72752988e-01 -3.55703585e-03 -7.12532919e+01] [-5.76556420e-03 -1.32524995e-04 9.99983370e-01 -4.08977813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.01508728507125406 Centerline is valid? [True, True] Translation: X:237.57, Y:-71.29, Z:-4.09 [[ 7.73977915e-01 6.33198626e-01 4.20556335e-03 2.37573821e+02] [-6.33190050e-01 7.73989333e-01 -3.29743102e-03 -7.12926106e+01] [-5.34298996e-03 -1.10782077e-04 9.99985720e-01 -4.09098579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.0137790356802041 Centerline is valid? [True, True] Translation: X:237.62, Y:-71.33, Z:-4.09 [[ 7.75874834e-01 6.30866830e-01 5.02828665e-03 2.37621465e+02] [-6.30854494e-01 7.75891120e-01 -3.94676856e-03 -7.13334639e+01] [-6.39128833e-03 -1.09918827e-04 9.99979569e-01 -4.09005751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.013968867660794186 Centerline is valid? [True, True] Translation: X:237.67, Y:-71.37, Z:-4.09 [[ 7.76156273e-01 6.30517231e-01 5.42775236e-03 2.37669785e+02] [-6.30502846e-01 7.76175243e-01 -4.26065371e-03 -7.13709313e+01] [-6.89930259e-03 -1.15280212e-04 9.99976193e-01 -4.09036543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.015236927154741177 Centerline is valid? [True, True] Translation: X:237.72, Y:-71.41, Z:-4.09 [[ 7.75197550e-01 6.31692044e-01 5.82402999e-03 2.37719516e+02] [-6.31675496e-01 7.75219416e-01 -4.57430878e-03 -7.14064116e+01] [-7.40445560e-03 -1.32904075e-04 9.99972578e-01 -4.09184108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.014722804050703453 Centerline is valid? [True, True] Translation: X:237.77, Y:-71.45, Z:-4.09 [[ 7.74208788e-01 6.32912193e-01 4.78625417e-03 2.37767779e+02] [-6.32901036e-01 7.74223573e-01 -3.75987528e-03 -7.14456015e+01] [-6.08530172e-03 -1.18296742e-04 9.99981477e-01 -4.09237123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.016197195281556307 Centerline is valid? [True, True] Translation: X:237.82, Y:-71.48, Z:-4.09 [[ 7.72631639e-01 6.34844911e-01 3.50556289e-03 2.37818253e+02] [-6.34838944e-01 7.72639586e-01 -2.75416922e-03 -7.14804360e+01] [-4.45700697e-03 -9.75095620e-05 9.99990063e-01 -4.09455348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.015952980430489053 Centerline is valid? [True, True] Translation: X:237.87, Y:-71.52, Z:-4.09 [[ 7.70618513e-01 6.37289222e-01 3.09123151e-03 2.37868103e+02] [-6.37284601e-01 7.70624706e-01 -2.42885674e-03 -7.15171861e+01] [-3.93006359e-03 -9.82722684e-05 9.99992272e-01 -4.09391060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.018268261413079866 Centerline is valid? [True, True] Translation: X:237.92, Y:-71.55, Z:-4.10 [[ 7.68618229e-01 6.39697845e-01 3.56168082e-03 2.37919507e+02] [-6.39691725e-01 7.68626471e-01 -2.80097667e-03 -7.15503636e+01] [-4.52938090e-03 -1.25496021e-04 9.99989734e-01 -4.09535273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.018698303885826946 Centerline is valid? [True, True] Translation: X:237.97, Y:-71.59, Z:-4.10 [[ 7.66845403e-01 6.41826236e-01 2.68542130e-03 2.37969763e+02] [-6.41822761e-01 7.66850098e-01 -2.11425177e-03 -7.15868266e+01] [-3.41629784e-03 -1.02260264e-04 9.99994159e-01 -4.09608772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.018011079790950454 Centerline is valid? [True, True] Translation: X:238.02, Y:-71.63, Z:-4.10 [[ 7.67106930e-01 6.41515652e-01 2.15109034e-03 2.38018416e+02] [-6.41513430e-01 7.67109941e-01 -1.69055705e-03 -7.16261816e+01] [-2.73464160e-03 -8.31153093e-05 9.99996257e-01 -4.09661580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.01667479055011879 Centerline is valid? [True, True] Translation: X:238.06, Y:-71.67, Z:-4.10 [[ 7.70188224e-01 6.37814442e-01 1.68454088e-03 2.38064060e+02] [-6.37813063e-01 7.70190064e-01 -1.32718463e-03 -7.16675199e+01] [-2.14391417e-03 -5.22402013e-05 9.99997700e-01 -4.09726970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.014019389984528839 Centerline is valid? [True, True] Translation: X:238.11, Y:-71.71, Z:-4.10 [[ 7.73754485e-01 6.33482193e-01 2.07541592e-03 2.38108442e+02] [-6.33480085e-01 7.73757267e-01 -1.63508590e-03 -7.17113704e+01] [-2.64166595e-03 -4.95795991e-05 9.99996510e-01 -4.09582138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.012365047986189266 Centerline is valid? [True, True] Translation: X:238.15, Y:-71.76, Z:-4.10 [[ 7.79239326e-01 6.26723062e-01 2.06777118e-03 2.38152335e+02] [-6.26720945e-01 7.79242069e-01 -1.62924702e-03 -7.17552643e+01] [-2.63238098e-03 -2.63421568e-05 9.99996535e-01 -4.09597269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.012161532896326592 Centerline is valid? [True, True] Translation: X:238.20, Y:-71.80, Z:-4.10 [[ 7.80770717e-01 6.24814709e-01 1.91496334e-03 2.38199764e+02] [-6.24812896e-01 7.80773065e-01 -1.50556733e-03 -7.17957895e+01] [-2.43585242e-03 -2.09909057e-05 9.99997033e-01 -4.09654839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.01185808252564448 Centerline is valid? [True, True] Translation: X:238.24, Y:-71.84, Z:-4.10 [[ 7.84911322e-01 6.19606540e-01 1.39713173e-03 2.38244375e+02] [-6.19605568e-01 7.84912565e-01 -1.09764466e-03 -7.18393953e+01] [-1.77673406e-03 -4.11687487e-06 9.99998422e-01 -4.09683435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.011937782202775594 Centerline is valid? [True, True] Translation: X:238.29, Y:-71.88, Z:-4.10 [[ 7.84540968e-01 6.20076666e-01 6.31415208e-04 2.38293978e+02] [-6.20076469e-01 7.84541222e-01 -4.93605743e-04 -7.18762090e+01] [-8.01444662e-04 -4.27178582e-06 9.99999679e-01 -4.09963638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.011911979445272154 Centerline is valid? [True, True] Translation: X:238.34, Y:-71.91, Z:-4.10 [[ 7.83845683e-01 6.20955652e-01 1.56118926e-04 2.38344574e+02] [-6.20955641e-01 7.83845698e-01 -1.17575090e-04 -7.19135605e+01] [-1.95382066e-04 -4.78220084e-06 9.99999981e-01 -4.10032533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.011917436211467743 Centerline is valid? [True, True] Translation: X:238.39, Y:-71.95, Z:-4.10 [[ 7.81775358e-01 6.23560155e-01 -1.47161948e-04 2.38394973e+02] [-6.23560143e-01 7.81775372e-01 1.21446135e-04 -7.19495342e+01] [ 1.90776558e-04 -3.17927044e-06 9.99999982e-01 -4.10079243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.012546253822084937 Centerline is valid? [True, True] Translation: X:238.45, Y:-71.98, Z:-4.10 [[ 7.78741049e-01 6.27344721e-01 -9.89876261e-04 2.38446871e+02] [-6.27344229e-01 7.78741678e-01 7.85353192e-04 -7.19823236e+01] [ 1.26354508e-03 9.40639139e-06 9.99999202e-01 -4.10361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.01313279328904536 Centerline is valid? [True, True] Translation: X:238.50, Y:-72.02, Z:-4.11 [[ 7.76234079e-01 6.30442832e-01 -1.57799509e-03 2.38498747e+02] [-6.30441586e-01 7.76235683e-01 1.25339030e-03 -7.20170202e+01] [ 2.01508703e-03 2.19094604e-05 9.99997969e-01 -4.10537870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.013901327621337896 Centerline is valid? [True, True] Translation: X:238.55, Y:-72.05, Z:-4.11 [[ 7.73162244e-01 6.34207936e-01 -6.62100869e-04 2.38551050e+02] [-6.34207716e-01 7.73162527e-01 5.28742676e-04 -7.20503116e+01] [ 8.47244382e-04 1.11056057e-05 9.99999641e-01 -4.10557159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.013901547547830191 Centerline is valid? [True, True] Translation: X:238.60, Y:-72.09, Z:-4.11 [[ 7.72168896e-01 6.35417341e-01 1.36728145e-06 2.38601794e+02] [-6.35417341e-01 7.72168896e-01 4.76860866e-06 -7.20880014e+01] [ 1.97428416e-06 -4.55096563e-06 1.00000000e+00 -4.10578568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.013971316185228191 Centerline is valid? [True, True] Translation: X:238.65, Y:-72.13, Z:-4.11 [[ 7.72292778e-01 6.35264716e-01 1.61396979e-03 2.38651350e+02] [-6.35263441e-01 7.72294464e-01 -1.27376107e-03 -7.21257476e+01] [-2.05563540e-03 -4.15795255e-05 9.99997886e-01 -4.10608418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.013667492358508466 Centerline is valid? [True, True] Translation: X:238.70, Y:-72.16, Z:-4.11 [[ 7.73060315e-01 6.34327377e-01 2.55505059e-03 2.38699681e+02] [-6.34324162e-01 7.73064535e-01 -2.02045337e-03 -7.21648730e+01] [-3.25684788e-03 -5.87980030e-05 9.99994695e-01 -4.10629679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.012826591805207005 Centerline is valid? [True, True] Translation: X:238.75, Y:-72.20, Z:-4.11 [[ 7.74885729e-01 6.32091625e-01 3.50506735e-03 2.38747366e+02] [-6.32085537e-01 7.74893653e-01 -2.77493211e-03 -7.22041827e+01] [-4.47006579e-03 -6.52470852e-05 9.99990007e-01 -4.10677319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.012317256442287872 Centerline is valid? [True, True] Translation: X:238.80, Y:-72.24, Z:-4.11 [[ 7.76302795e-01 6.30345858e-01 4.25095244e-03 2.38795369e+02] [-6.30336862e-01 7.76314431e-01 -3.36818347e-03 -7.22442094e+01] [-5.42319622e-03 -6.48017852e-05 9.99985292e-01 -4.10747138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.011900179569283853 Centerline is valid? [True, True] Translation: X:238.84, Y:-72.28, Z:-4.11 [[ 7.78952663e-01 6.27071062e-01 3.82518717e-03 2.38841984e+02] [-6.27063732e-01 7.78962054e-01 -3.03218114e-03 -7.22833701e+01] [-4.88106870e-03 -3.67105694e-05 9.99988087e-01 -4.11040847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.011915208689245057 Centerline is valid? [True, True] Translation: X:238.89, Y:-72.32, Z:-4.11 [[ 7.81790610e-01 6.23535120e-01 2.71951112e-03 2.38889165e+02] [-6.23531398e-01 7.81795340e-01 -2.15456523e-03 -7.23246312e+01] [-3.46954821e-03 -1.12817025e-05 9.99993981e-01 -4.11364654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.011882596962424778 Centerline is valid? [True, True] Translation: X:238.94, Y:-72.37, Z:-4.12 [[ 7.84172874e-01 6.20539895e-01 1.77269939e-03 2.38936319e+02] [-6.20538307e-01 7.84174877e-01 -1.40387307e-03 -7.23650221e+01] [-2.26126558e-03 8.51296614e-07 9.99997443e-01 -4.11558383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.012128629175711947 Centerline is valid? [True, True] Translation: X:238.98, Y:-72.41, Z:-4.12 [[ 7.86149486e-01 6.18030272e-01 2.75090608e-03 2.38983620e+02] [-6.18026421e-01 7.86154299e-01 -2.18177805e-03 -7.24061267e+01] [-3.51104153e-03 1.50710520e-05 9.99993836e-01 -4.11581862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.012201171875941398 Centerline is valid? [True, True] Translation: X:239.03, Y:-72.45, Z:-4.12 [[ 7.85884602e-01 6.18366282e-01 2.92118550e-03 2.39032449e+02] [-6.18361935e-01 7.85890031e-01 -2.31859375e-03 -7.24455538e+01] [-3.72947076e-03 1.57972052e-05 9.99993045e-01 -4.11715776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.012105583567615475 Centerline is valid? [True, True] Translation: X:239.08, Y:-72.48, Z:-4.12 [[ 7.85443978e-01 6.18925116e-01 3.07547496e-03 2.39081611e+02] [-6.18920296e-01 7.85449999e-01 -2.44270642e-03 -7.24843569e+01] [-3.92748416e-03 1.51351761e-05 9.99992287e-01 -4.11790817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.011984692847913663 Centerline is valid? [True, True] Translation: X:239.13, Y:-72.52, Z:-4.12 [[ 7.84025733e-01 6.20720159e-01 3.18328970e-03 2.39130911e+02] [-6.20715001e-01 7.84032196e-01 -2.53046089e-03 -7.25222771e+01] [-4.06650970e-03 8.03078432e-06 9.99991732e-01 -4.11824679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.011965073321535237 Centerline is valid? [True, True] Translation: X:239.18, Y:-72.56, Z:-4.12 [[ 7.82292284e-01 6.22902427e-01 3.36891399e-03 2.39179990e+02] [-6.22896663e-01 7.82299538e-01 -2.67947181e-03 -7.25597463e+01] [-4.30454935e-03 -2.35516493e-06 9.99990735e-01 -4.11937490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.012133145818760347 Centerline is valid? [True, True] Translation: X:239.23, Y:-72.60, Z:-4.12 [[ 7.79488985e-01 6.26399683e-01 4.51206658e-03 2.39229697e+02] [-6.26389379e-01 7.79502044e-01 -3.59297493e-03 -7.25954845e+01] [-5.76780348e-03 -2.56262033e-05 9.99983366e-01 -4.12024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.0125180848548912 Centerline is valid? [True, True] Translation: X:239.28, Y:-72.63, Z:-4.12 [[ 7.76860522e-01 6.29652788e-01 5.00966305e-03 2.39278545e+02] [-6.29640140e-01 7.76876672e-01 -3.99125733e-03 -7.26331236e+01] [-6.40499667e-03 -5.36346911e-05 9.99979486e-01 -4.12009187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.012858444966008317 Centerline is valid? [True, True] Translation: X:239.33, Y:-72.67, Z:-4.12 [[ 7.75692822e-01 6.31092982e-01 4.72165480e-03 2.39327441e+02] [-6.31081764e-01 7.75707190e-01 -3.76339321e-03 -7.26720664e+01] [-6.03767262e-03 -6.05131362e-05 9.99981771e-01 -4.12110389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.013289518910042125 Centerline is valid? [True, True] Translation: X:239.38, Y:-72.71, Z:-4.12 [[ 7.74225293e-01 6.32892706e-01 4.69228142e-03 2.39376352e+02] [-6.32881649e-01 7.74239509e-01 -3.74181278e-03 -7.27104486e+01] [-6.00111568e-03 -7.26527051e-05 9.99981991e-01 -4.12147025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.0136903019737573 Centerline is valid? [True, True] Translation: X:239.43, Y:-72.75, Z:-4.12 [[ 7.73049788e-01 6.34332753e-01 3.99785710e-03 2.39425115e+02] [-6.34324742e-01 7.73060122e-01 -3.18887937e-03 -7.27491619e+01] [-5.11339453e-03 -7.07771564e-05 9.99986924e-01 -4.12253276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.015102734113655623 Centerline is valid? [True, True] Translation: X:239.47, Y:-72.79, Z:-4.13 [[ 7.72121867e-01 6.35469742e-01 2.45550540e-03 2.39473945e+02] [-6.35466722e-01 7.72125770e-01 -1.95961236e-03 -7.27857523e+01] [-3.14123336e-03 -4.73324116e-05 9.99995065e-01 -4.12676403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.014609028452439308 Centerline is valid? [True, True] Translation: X:239.52, Y:-72.83, Z:-4.13 [[ 7.71855752e-01 6.35795736e-01 1.57524824e-03 2.39520848e+02] [-6.35794499e-01 7.71857358e-01 -1.25446709e-03 -7.28264124e+01] [-2.01345177e-03 -3.32665289e-05 9.99997972e-01 -4.12677019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.014520289260326984 Centerline is valid? [True, True] Translation: X:239.57, Y:-72.87, Z:-4.13 [[ 7.72730293e-01 6.34732303e-01 1.67280575e-03 2.39567236e+02] [-6.34730903e-01 7.72732103e-01 -1.33350595e-03 -7.28662048e+01] [-2.13905001e-03 -3.13410626e-05 9.99997712e-01 -4.12720160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.013746543801295774 Centerline is valid? [True, True] Translation: X:239.61, Y:-72.91, Z:-4.13 [[ 7.74992883e-01 6.31967148e-01 1.88563772e-03 2.39611219e+02] [-6.31965359e-01 7.74995176e-01 -1.50400755e-03 -7.29104495e+01] [-2.41184350e-03 -2.60625737e-05 9.99997091e-01 -4.12523334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.013652806907072977 Centerline is valid? [True, True] Translation: X:239.66, Y:-72.95, Z:-4.13 [[ 7.77284413e-01 6.29143432e-01 2.73568004e-03 2.39656241e+02] [-6.29139636e-01 7.77289226e-01 -2.18574769e-03 -7.29514458e+01] [-3.50156342e-03 -2.21771352e-05 9.99993869e-01 -4.12669189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.013325100449728823 Centerline is valid? [True, True] Translation: X:239.70, Y:-73.00, Z:-4.12 [[ 7.80995573e-01 6.24528023e-01 3.26561945e-03 2.39700548e+02] [-6.24522565e-01 7.81002400e-01 -2.61089759e-03 -7.29959728e+01] [-4.18103533e-03 -3.53576386e-07 9.99991259e-01 -4.12499917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.013714401572888762 Centerline is valid? [True, True] Translation: X:239.75, Y:-73.04, Z:-4.13 [[ 7.81921140e-01 6.23370159e-01 2.99602807e-03 2.39747385e+02] [-6.23365554e-01 7.81926880e-01 -2.39594596e-03 -7.30360623e+01] [-3.83623609e-03 5.82010104e-06 9.99992642e-01 -4.12837890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.01390977383501917 Centerline is valid? [True, True] Translation: X:239.79, Y:-73.08, Z:-4.13 [[ 7.84200422e-01 6.20503848e-01 2.16136531e-03 2.39793896e+02] [-6.20501442e-01 7.84203401e-01 -1.72818193e-03 -7.30776790e+01] [-2.76729357e-03 1.41107096e-05 9.99996171e-01 -4.12787195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.014621271204150639 Centerline is valid? [True, True] Translation: X:239.84, Y:-73.12, Z:-4.13 [[ 7.87028691e-01 6.16914678e-01 1.45551098e-03 2.39838783e+02] [-6.16913583e-01 7.87030037e-01 -1.16277922e-03 -7.31203735e+01] [-1.86286643e-03 1.72161186e-05 9.99998265e-01 -4.12834496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.014935161651272552 Centerline is valid? [True, True] Translation: X:239.89, Y:-73.16, Z:-4.13 [[ 7.88911427e-01 6.14503444e-01 2.06812352e-03 2.39886310e+02] [-6.14501217e-01 7.88914137e-01 -1.65504008e-03 -7.31607547e+01] [-2.64859971e-03 3.48156160e-05 9.99996492e-01 -4.12781536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.015520370349788584 Centerline is valid? [True, True] Translation: X:239.93, Y:-73.20, Z:-4.13 [[ 7.89712320e-01 6.13469844e-01 3.03339318e-03 2.39934179e+02] [-6.13465031e-01 7.89718144e-01 -2.43086256e-03 -7.32005575e+01] [-3.88678651e-03 5.88014739e-05 9.99992445e-01 -4.12824217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.015864123100816384 Centerline is valid? [True, True] Translation: X:239.98, Y:-73.24, Z:-4.13 [[ 7.89037356e-01 6.14326710e-01 4.76900858e-03 2.39981735e+02] [-6.14314796e-01 7.89051763e-01 -3.82708083e-03 -7.32397140e+01] [-6.11407261e-03 9.00372052e-05 9.99981305e-01 -4.12811648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.014725248542725335 Centerline is valid? [True, True] Translation: X:240.03, Y:-73.28, Z:-4.13 [[ 7.87601460e-01 6.16167565e-01 4.63378698e-03 2.40033118e+02] [-6.16156330e-01 7.87615088e-01 -3.72162426e-03 -7.32756630e+01] [-5.94278469e-03 7.60195229e-05 9.99982339e-01 -4.12871950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.013424850141367309 Centerline is valid? [True, True] Translation: X:240.09, Y:-73.31, Z:-4.13 [[ 7.83095951e-01 6.21885715e-01 4.34611002e-03 2.40087232e+02] [-6.21875912e-01 7.83108011e-01 -3.49185838e-03 -7.33083839e+01] [-5.57501042e-03 3.17190275e-05 9.99984459e-01 -4.13037245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.013127235851629889 Centerline is valid? [True, True] Translation: X:240.14, Y:-73.34, Z:-4.13 [[ 7.76607150e-01 6.29967188e-01 4.76213040e-03 2.40140995e+02] [-6.29955577e-01 7.76621749e-01 -3.82489920e-03 -7.33406008e+01] [-6.10793504e-03 -2.94865423e-05 9.99981346e-01 -4.13135788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.013917242906198656 Centerline is valid? [True, True] Translation: X:240.19, Y:-73.37, Z:-4.13 [[ 7.71926567e-01 6.35684029e-01 5.93213170e-03 2.40193979e+02] [-6.35666151e-01 7.71949355e-01 -4.76835659e-03 -7.33744613e+01] [-7.61047337e-03 -9.00341971e-05 9.99971036e-01 -4.13264123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.015613674935253024 Centerline is valid? [True, True] Translation: X:240.25, Y:-73.41, Z:-4.13 [[ 7.66120554e-01 6.42641327e-01 8.45114970e-03 2.40247824e+02] [-6.42605400e-01 7.66167133e-01 -6.79886981e-03 -7.34061527e+01] [-1.08442279e-02 -2.22000526e-04 9.99941175e-01 -4.13360255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.016588068034171434 Centerline is valid? [True, True] Translation: X:240.30, Y:-73.44, Z:-4.13 [[ 7.63510018e-01 6.45712956e-01 1.03552205e-02 2.40298470e+02] [-6.45659223e-01 7.63580170e-01 -8.33621053e-03 -7.34420611e+01] [-1.32898402e-02 -3.21163376e-04 9.99911635e-01 -4.13392369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.01846672876180862 Centerline is valid? [True, True] Translation: X:240.35, Y:-73.48, Z:-4.13 [[ 7.60683909e-01 6.49006211e-01 1.22852629e-02 2.40350520e+02] [-6.48930981e-01 7.60782976e-01 -9.89165448e-03 -7.34767443e+01] [-1.57661641e-02 -4.47865316e-04 9.99875606e-01 -4.13468719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.01862736957443307 Centerline is valid? [True, True] Translation: X:240.40, Y:-73.51, Z:-4.14 [[ 7.59216658e-01 6.50714256e-01 1.26894702e-02 2.40400314e+02] [-6.50634206e-01 7.59322533e-01 -1.02186546e-02 -7.35144949e+01] [-1.62848248e-02 -4.98030573e-04 9.99867269e-01 -4.13710134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.020729965661004008 Centerline is valid? [True, True] Translation: X:240.45, Y:-73.55, Z:-4.14 [[ 7.57931249e-01 6.52233276e-01 1.14880930e-02 2.40450720e+02] [-6.52167777e-01 7.58018157e-01 -9.25547804e-03 -7.35490172e+01] [-1.47449139e-02 -4.77148061e-04 9.99891174e-01 -4.14082565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.02064857956241833 Centerline is valid? [True, True] Translation: X:240.50, Y:-73.59, Z:-4.14 [[ 7.58163482e-01 6.51978206e-01 1.06091462e-02 2.40498964e+02] [-6.51922273e-01 7.58237582e-01 -8.55093807e-03 -7.35883149e+01] [-1.36192786e-02 -4.33329731e-04 9.99907159e-01 -4.14419204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.01933252508333459 Centerline is valid? [True, True] Translation: X:240.54, Y:-73.63, Z:-4.15 [[ 7.60829864e-01 6.48876716e-01 9.84506643e-03 2.40544775e+02] [-6.48828235e-01 7.60893480e-01 -7.93943509e-03 -7.36296828e+01] [-1.26427614e-02 -3.47197750e-04 9.99920017e-01 -4.14830872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.015420168071821326 Centerline is valid? [True, True] Translation: X:240.58, Y:-73.68, Z:-4.15 [[ 7.65723778e-01 6.43071871e-01 1.12100713e-02 2.40584864e+02] [-6.43008372e-01 7.65805777e-01 -9.04131724e-03 -7.36780756e+01] [-1.43989542e-02 -2.85018127e-04 9.99896289e-01 -4.14811864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.014571793368310593 Centerline is valid? [True, True] Translation: X:240.63, Y:-73.72, Z:-4.15 [[ 7.68448214e-01 6.39781699e-01 1.29120123e-02 2.40630289e+02] [-6.39696971e-01 7.68556642e-01 -1.04150471e-02 -7.37215204e+01] [-1.65869694e-02 -2.56350796e-04 9.99862394e-01 -4.14794933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.014212889512864323 Centerline is valid? [True, True] Translation: X:240.68, Y:-73.76, Z:-4.15 [[ 7.70085015e-01 6.37789129e-01 1.39318630e-02 2.40675296e+02] [-6.37690117e-01 7.70210994e-01 -1.12401297e-02 -7.37629700e+01] [-1.78993066e-02 -2.28355889e-04 9.99839769e-01 -4.14819430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.013633051606000361 Centerline is valid? [True, True] Translation: X:240.72, Y:-73.80, Z:-4.15 [[ 7.71100842e-01 6.36557119e-01 1.40898778e-02 2.40722184e+02] [-6.36455546e-01 7.71229534e-01 -1.13729116e-02 -7.38043754e+01] [-1.81060378e-02 -1.97919145e-04 9.99836053e-01 -4.15051304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.01327504691034276 Centerline is valid? [True, True] Translation: X:240.77, Y:-73.85, Z:-4.15 [[ 7.72447315e-01 6.34928520e-01 1.38173838e-02 2.40767893e+02] [-6.34830478e-01 7.72570872e-01 -1.11585169e-02 -7.38462590e+01] [-1.77597688e-02 -1.52329918e-04 9.99842271e-01 -4.15244975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.013262799066759872 Centerline is valid? [True, True] Translation: X:240.82, Y:-73.89, Z:-4.15 [[ 7.72810720e-01 6.34495429e-01 1.33844158e-02 2.40815111e+02] [-6.34403282e-01 7.72926603e-01 -1.08140265e-02 -7.38856239e+01] [-1.72066214e-02 -1.33921728e-04 9.99851946e-01 -4.15363785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.0129290536064334 Centerline is valid? [True, True] Translation: X:240.86, Y:-73.93, Z:-4.16 [[ 7.74365738e-01 6.32596824e-01 1.33776238e-02 2.40861444e+02] [-6.32504432e-01 7.74481278e-01 -1.08117146e-02 -7.39263253e+01] [-1.72001755e-02 -8.91850310e-05 9.99852062e-01 -4.15520803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.012696627658691393 Centerline is valid? [True, True] Translation: X:240.91, Y:-73.97, Z:-4.16 [[ 7.77066305e-01 6.29275218e-01 1.34408922e-02 2.40907439e+02] [-6.29181356e-01 7.77182540e-01 -1.08683166e-02 -7.39678825e+01] [-1.72851890e-02 -1.13561684e-05 9.99850600e-01 -4.15658629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.012809847909345945 Centerline is valid? [True, True] Translation: X:240.95, Y:-74.01, Z:-4.16 [[ 7.79000154e-01 6.26880557e-01 1.33988025e-02 2.40954991e+02] [-6.26786834e-01 7.79115373e-01 -1.08397155e-02 -7.40097108e+01] [-1.72344199e-02 4.59470631e-05 9.99851475e-01 -4.15746795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.013059587122176234 Centerline is valid? [True, True] Translation: X:241.00, Y:-74.05, Z:-4.16 [[ 7.81499337e-01 6.23770698e-01 1.29962266e-02 2.41001933e+02] [-6.23681995e-01 7.81607384e-01 -1.05197999e-02 -7.40509587e+01] [-1.67198896e-02 1.15704134e-04 9.99860206e-01 -4.15908698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.013373080400791815 Centerline is valid? [True, True] Translation: X:241.05, Y:-74.09, Z:-4.16 [[ 7.83114021e-01 6.21744718e-01 1.28815846e-02 2.41048678e+02] [-6.21657214e-01 7.83219943e-01 -1.04321210e-02 -7.40911427e+01] [-1.65752300e-02 1.61610213e-04 9.99862608e-01 -4.15993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.013794528279811332 Centerline is valid? [True, True] Translation: X:241.10, Y:-74.13, Z:-4.16 [[ 7.84432602e-01 6.20078903e-01 1.29478493e-02 2.41095673e+02] [-6.19990219e-01 7.84539428e-01 -1.04887321e-02 -7.41317965e+01] [-1.66619398e-02 2.00163516e-04 9.99861160e-01 -4.16065127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.01425182430901308 Centerline is valid? [True, True] Translation: X:241.14, Y:-74.17, Z:-4.16 [[ 7.85427228e-01 6.18832302e-01 1.22740487e-02 2.41143939e+02] [-6.18752383e-01 7.85523096e-01 -9.94754923e-03 -7.41715239e+01] [-1.57974135e-02 2.18479132e-04 9.99875189e-01 -4.16196453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.01403609539290189 Centerline is valid? [True, True] Translation: X:241.19, Y:-74.21, Z:-4.16 [[ 7.84810732e-01 6.19620190e-01 1.19555439e-02 2.41193364e+02] [-6.19544386e-01 7.84901764e-01 -9.69402582e-03 -7.42092464e+01] [-1.53905416e-02 2.00985392e-04 9.99881538e-01 -4.16339839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.01341267617565057 Centerline is valid? [True, True] Translation: X:241.24, Y:-74.24, Z:-4.16 [[ 7.82830188e-01 6.22128720e-01 1.15218266e-02 2.41244678e+02] [-6.22058522e-01 7.82914959e-01 -9.34679594e-03 -7.42449811e+01] [-1.48355206e-02 1.49703602e-04 9.99889936e-01 -4.16406651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.013424582063663135 Centerline is valid? [True, True] Translation: X:241.29, Y:-74.28, Z:-4.17 [[ 7.81847338e-01 6.23373478e-01 1.09657547e-02 2.41292629e+02] [-6.23309950e-01 7.81924224e-01 -8.90023973e-03 -7.42824055e+01] [-1.41225627e-02 1.23564704e-04 9.99900264e-01 -4.16505279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.012912127495396294 Centerline is valid? [True, True] Translation: X:241.34, Y:-74.32, Z:-4.17 [[ 7.78641606e-01 6.27389665e-01 9.97286458e-03 2.41344871e+02] [-6.27337429e-01 7.78705468e-01 -8.09595986e-03 -7.43171131e+01] [-1.28452457e-02 4.74999605e-05 9.99917495e-01 -4.16636638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.012764939694816284 Centerline is valid? [True, True] Translation: X:241.40, Y:-74.35, Z:-4.17 [[ 7.76029882e-01 6.30635503e-01 8.74556716e-03 2.41396820e+02] [-6.30595508e-01 7.76079160e-01 -7.10227241e-03 -7.43536690e+01] [-1.12661975e-02 -3.33974392e-06 9.99936534e-01 -4.16773632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.013100768105181734 Centerline is valid? [True, True] Translation: X:241.45, Y:-74.39, Z:-4.17 [[ 7.72579845e-01 6.34881517e-01 6.77076484e-03 2.41448390e+02] [-6.34857687e-01 7.72609511e-01 -5.50090402e-03 -7.43868239e+01] [-8.72357960e-03 -4.85845323e-05 9.99961948e-01 -4.17024102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.013329748263314798 Centerline is valid? [True, True] Translation: X:241.50, Y:-74.42, Z:-4.17 [[ 7.70683300e-01 6.37196791e-01 5.24405379e-03 2.41498923e+02] [-6.37182546e-01 7.70701139e-01 -4.26114893e-03 -7.44236532e+01] [-6.75678865e-03 -5.74232239e-05 9.99977171e-01 -4.17092832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.013319634251018278 Centerline is valid? [True, True] Translation: X:241.55, Y:-74.46, Z:-4.17 [[ 7.70689642e-01 6.37192097e-01 4.86892917e-03 2.41546795e+02] [-6.37179808e-01 7.70705020e-01 -3.95778142e-03 -7.44622600e+01] [-6.27437520e-03 -5.21622037e-05 9.99980315e-01 -4.17149150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.013263880731305387 Centerline is valid? [True, True] Translation: X:241.59, Y:-74.50, Z:-4.17 [[ 7.71512191e-01 6.36200796e-01 4.18154718e-03 2.41594755e+02] [-6.36191713e-01 7.71523522e-01 -3.39984296e-03 -7.45025806e+01] [-5.38914480e-03 -3.72453673e-05 9.99985478e-01 -4.17208049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.013153348858454329 Centerline is valid? [True, True] Translation: X:241.64, Y:-74.54, Z:-4.17 [[ 7.73119432e-01 6.34249775e-01 3.68315652e-03 2.41641917e+02] [-6.34242700e-01 7.73128205e-01 -2.99595492e-03 -7.45433991e+01] [-4.74773593e-03 -1.97841696e-05 9.99988729e-01 -4.17333894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.013258632240848311 Centerline is valid? [True, True] Translation: X:241.69, Y:-74.58, Z:-4.17 [[ 7.74159207e-01 6.32985838e-01 2.54002460e-03 2.41689342e+02] [-6.32982466e-01 7.74163374e-01 -2.06588824e-03 -7.45839939e+01] [-3.27407201e-03 -8.46463330e-06 9.99994640e-01 -4.17405286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.013185266349347425 Centerline is valid? [True, True] Translation: X:241.74, Y:-74.62, Z:-4.17 [[ 7.74138705e-01 6.33012821e-01 2.00847238e-03 2.41737774e+02] [-6.33010716e-01 7.74141310e-01 -1.63254869e-03 -7.46234693e+01] [-2.58826569e-03 -7.56540832e-06 9.99996650e-01 -4.17446263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.013272341119282683 Centerline is valid? [True, True] Translation: X:241.79, Y:-74.66, Z:-4.18 [[ 7.74239143e-01 6.32891363e-01 1.50736335e-03 2.41785248e+02] [-6.32890178e-01 7.74240610e-01 -1.22487286e-03 -7.46625936e+01] [-1.94227337e-03 -5.65094459e-06 9.99998114e-01 -4.17639000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.01329135570326879 Centerline is valid? [True, True] Translation: X:241.83, Y:-74.70, Z:-4.18 [[ 7.73915183e-01 6.33288741e-01 8.11768980e-04 2.41833244e+02] [-6.33288400e-01 7.73915609e-01 -6.57924923e-04 -7.47024773e+01] [-1.04489713e-03 -4.90579035e-06 9.99999454e-01 -4.17769254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.01346583531339167 Centerline is valid? [True, True] Translation: X:241.88, Y:-74.74, Z:-4.18 [[ 7.72965412e-01 6.34448103e-01 2.75870288e-04 2.41881347e+02] [-6.34448065e-01 7.72965461e-01 -2.20854760e-04 -7.47406680e+01] [-3.53359088e-04 -4.31227975e-06 9.99999938e-01 -4.17888680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.013220682982510156 Centerline is valid? [True, True] Translation: X:241.93, Y:-74.78, Z:-4.18 [[ 7.71808051e-01 6.35855530e-01 -2.77270969e-04 2.41929739e+02] [-6.35855489e-01 7.71808101e-01 2.29413706e-04 -7.47789302e+01] [ 3.59873953e-04 -7.59077577e-07 9.99999935e-01 -4.17760922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.013277984755260186 Centerline is valid? [True, True] Translation: X:241.98, Y:-74.82, Z:-4.18 [[ 7.70752996e-01 6.37134007e-01 2.74984195e-04 2.41978792e+02] [-6.37133970e-01 7.70753045e-01 -2.18918790e-04 -7.48175628e+01] [-3.51425512e-04 -6.46945889e-06 9.99999938e-01 -4.17817854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.013301955085801924 Centerline is valid? [True, True] Translation: X:242.03, Y:-74.86, Z:-4.18 [[ 7.69863993e-01 6.38207851e-01 4.13493102e-04 2.42028566e+02] [-6.38207764e-01 7.69864104e-01 -3.32451112e-04 -7.48563125e+01] [-5.30506406e-04 -7.95236744e-06 9.99999859e-01 -4.17849485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.013189371211640386 Centerline is valid? [True, True] Translation: X:242.08, Y:-74.90, Z:-4.18 [[ 7.70038964e-01 6.37996239e-01 8.90850112e-04 2.42076831e+02] [-6.37995828e-01 7.70039479e-01 -7.24063611e-04 -7.48957788e+01] [-1.14793962e-03 -1.08014620e-05 9.99999341e-01 -4.17847552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.013094632783887223 Centerline is valid? [True, True] Translation: X:242.12, Y:-74.94, Z:-4.18 [[ 7.70382656e-01 6.37580203e-01 1.43116056e-03 2.42124335e+02] [-6.37579135e-01 7.70383986e-01 -1.16691402e-03 -7.49350778e+01] [-1.84654445e-03 -1.35077895e-05 9.99998295e-01 -4.17832579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.013018685562170614 Centerline is valid? [True, True] Translation: X:242.17, Y:-74.97, Z:-4.18 [[ 7.70355398e-01 6.37614321e-01 7.33102714e-04 2.42172507e+02] [-6.37614043e-01 7.70355747e-01 -5.95530287e-04 -7.49736917e+01] [-9.44468529e-04 -8.66661363e-06 9.99999554e-01 -4.17926785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.013349192973749757 Centerline is valid? [True, True] Translation: X:242.22, Y:-75.01, Z:-4.18 [[ 7.69381722e-01 6.38789280e-01 -1.45933317e-04 2.42221776e+02] [-6.38789268e-01 7.69381736e-01 1.24285124e-04 -7.50106518e+01] [ 1.91670433e-04 -2.40206610e-06 9.99999982e-01 -4.18189824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.013478482157020083 Centerline is valid? [True, True] Translation: X:242.27, Y:-75.05, Z:-4.18 [[ 7.68810570e-01 6.39476348e-01 -5.54910096e-04 2.42269846e+02] [-6.39476184e-01 7.68810770e-01 4.57692457e-04 -7.50485455e+01] [ 7.19304359e-04 2.97299242e-06 9.99999741e-01 -4.18291493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.013502738107864247 Centerline is valid? [True, True] Translation: X:242.32, Y:-75.09, Z:-4.18 [[ 7.68325207e-01 6.40059552e-01 -3.83071644e-04 2.42319052e+02] [-6.40059472e-01 7.68325302e-01 3.19889229e-04 -7.50880611e+01] [ 4.99071793e-04 -5.90323892e-07 9.99999875e-01 -4.18407697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.01358363494945571 Centerline is valid? [True, True] Translation: X:242.37, Y:-75.13, Z:-4.19 [[ 7.68279175e-01 6.40114620e-01 -6.18106830e-04 2.42366709e+02] [-6.40114415e-01 7.68279424e-01 5.12529916e-04 -7.51274116e+01] [ 8.02956652e-04 1.89303063e-06 9.99999678e-01 -4.18557300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.013407006105828333 Centerline is valid? [True, True] Translation: X:242.41, Y:-75.17, Z:-4.19 [[ 7.68494272e-01 6.39856662e-01 -7.06259159e-05 2.42414512e+02] [-6.39856659e-01 7.68494276e-01 6.28040943e-05 -7.51673705e+01] [ 9.44612300e-05 -3.07412413e-06 9.99999996e-01 -4.18679505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.013306997318937743 Centerline is valid? [True, True] Translation: X:242.46, Y:-75.21, Z:-4.19 [[ 7.69566764e-01 6.38565671e-01 9.38015094e-04 2.42460575e+02] [-6.38565210e-01 7.69567335e-01 -7.67729346e-04 -7.52074433e+01] [-1.21211138e-03 -8.16481780e-06 9.99999265e-01 -4.18784704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.013148715316873652 Centerline is valid? [True, True] Translation: X:242.51, Y:-75.25, Z:-4.19 [[ 7.70327773e-01 6.37646795e-01 1.29866472e-03 2.42507193e+02] [-6.37645909e-01 7.70328868e-01 -1.06281155e-03 -7.52470272e+01] [-1.67809730e-03 -9.37499132e-06 9.99998592e-01 -4.19028673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.013168403098762615 Centerline is valid? [True, True] Translation: X:242.55, Y:-75.29, Z:-4.19 [[ 7.71206174e-01 6.36582984e-01 1.77249757e-03 2.42554195e+02] [-6.36581327e-01 7.71208211e-01 -1.45252789e-03 -7.52871752e+01] [-2.29161922e-03 -8.14038154e-06 9.99997374e-01 -4.19222919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.012810169781593609 Centerline is valid? [True, True] Translation: X:242.60, Y:-75.33, Z:-4.19 [[ 7.72876746e-01 6.34555054e-01 1.19110895e-03 2.42600618e+02] [-6.34554307e-01 7.72877664e-01 -9.73971065e-04 -7.53294979e+01] [-1.53861977e-03 -3.06372760e-06 9.99998816e-01 -4.19189273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.013066158923410398 Centerline is valid? [True, True] Translation: X:242.65, Y:-75.37, Z:-4.19 [[ 7.74278670e-01 6.32843139e-01 1.44968828e-03 2.42646824e+02] [-6.32842022e-01 7.74280027e-01 -1.18928564e-03 -7.53711327e+01] [-1.87509594e-03 3.41483931e-06 9.99998242e-01 -4.19280340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.012916859470546336 Centerline is valid? [True, True] Translation: X:242.69, Y:-75.41, Z:-4.19 [[ 7.75272139e-01 6.31623108e-01 2.31508343e-03 2.42694739e+02] [-6.31620250e-01 7.75275596e-01 -1.90009349e-03 -7.54126462e+01] [-2.99497064e-03 1.08359702e-05 9.99995515e-01 -4.19211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.012874968974821276 Centerline is valid? [True, True] Translation: X:242.74, Y:-75.45, Z:-4.19 [[ 7.75002636e-01 6.31951373e-01 2.89418413e-03 2.42742833e+02] [-6.31946896e-01 7.75008040e-01 -2.37879281e-03 -7.54520675e+01] [-3.74629735e-03 1.46000226e-05 9.99992982e-01 -4.19252838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.012579475564591356 Centerline is valid? [True, True] Translation: X:242.79, Y:-75.49, Z:-4.19 [[ 7.73941663e-01 6.33247667e-01 3.41964035e-03 2.42791497e+02] [-6.33241419e-01 7.73949218e-01 -2.81306163e-03 -7.54913057e+01] [-4.42799269e-03 1.16876877e-05 9.99990196e-01 -4.19298683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.012600352747815107 Centerline is valid? [True, True] Translation: X:242.84, Y:-75.53, Z:-4.19 [[ 7.73097691e-01 6.34277308e-01 3.50092308e-03 2.42840588e+02] [-6.34270765e-01 7.73105618e-01 -2.88098495e-03 -7.55308066e+01] [-4.53392668e-03 6.74965531e-06 9.99989722e-01 -4.19424022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.012377882982090927 Centerline is valid? [True, True] Translation: X:242.89, Y:-75.57, Z:-4.20 [[ 7.70721665e-01 6.37161538e-01 3.64559894e-03 2.42891675e+02] [-6.37154466e-01 7.70730287e-01 -3.00197621e-03 -7.55676327e+01] [-4.72251729e-03 -9.12154022e-06 9.99988849e-01 -4.19553937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.012368771941814629 Centerline is valid? [True, True] Translation: X:242.94, Y:-75.61, Z:-4.20 [[ 7.69073247e-01 6.39145546e-01 4.39447957e-03 2.42942301e+02] [-6.39135284e-01 7.69085802e-01 -3.62196546e-03 -7.56053357e+01] [-5.69469493e-03 -2.31102087e-05 9.99983785e-01 -4.19701129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.01228951918532023 Centerline is valid? [True, True] Translation: X:242.99, Y:-75.64, Z:-4.20 [[ 7.67542943e-01 6.40973189e-01 5.58585627e-03 2.42992138e+02] [-6.40956626e-01 7.67563268e-01 -4.60798967e-03 -7.56435243e+01] [-7.24109592e-03 -4.34616342e-05 9.99973782e-01 -4.19633401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.012139587427285657 Centerline is valid? [True, True] Translation: X:243.04, Y:-75.68, Z:-4.20 [[ 7.67553050e-01 6.40949305e-01 6.80469465e-03 2.43041393e+02] [-6.40924683e-01 7.67583211e-01 -5.61832086e-03 -7.56814648e+01] [-8.82422822e-03 -4.89374504e-05 9.99961065e-01 -4.19725680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.012125884764112013 Centerline is valid? [True, True] Translation: X:243.09, Y:-75.72, Z:-4.20 [[ 7.67656935e-01 6.40815928e-01 7.60102864e-03 2.43090044e+02] [-6.40785161e-01 7.67694564e-01 -6.27961726e-03 -7.57193427e+01] [-9.85934713e-03 -5.00346188e-05 9.99951394e-01 -4.19874908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.012137198060291475 Centerline is valid? [True, True] Translation: X:243.14, Y:-75.76, Z:-4.20 [[ 7.67732732e-01 6.40724507e-01 7.65234530e-03 2.43138616e+02] [-6.40693281e-01 7.67770867e-01 -6.32577177e-03 -7.57578649e+01] [-9.92832479e-03 -4.63041749e-05 9.99950712e-01 -4.20039218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.012032351196926952 Centerline is valid? [True, True] Translation: X:243.19, Y:-75.80, Z:-4.20 [[ 7.67640929e-01 6.40835306e-01 7.58389210e-03 2.43187646e+02] [-6.40804629e-01 7.67678389e-01 -6.27048425e-03 -7.57976639e+01] [-9.84033776e-03 -4.63128081e-05 9.99951582e-01 -4.20153486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.0120930558558744 Centerline is valid? [True, True] Translation: X:243.24, Y:-75.84, Z:-4.20 [[ 7.67772432e-01 6.40685836e-01 6.86669492e-03 2.43236754e+02] [-6.40660658e-01 7.67803137e-01 -5.68013776e-03 -7.58364355e+01] [-8.91145371e-03 -3.81681043e-05 9.99960291e-01 -4.20285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.011930377319335533 Centerline is valid? [True, True] Translation: X:243.29, Y:-75.88, Z:-4.20 [[ 7.67629669e-01 6.40849444e-01 7.52871901e-03 2.43285850e+02] [-6.40819144e-01 7.67666587e-01 -6.23187027e-03 -7.58755101e+01] [-9.77323662e-03 -4.07787566e-05 9.99952240e-01 -4.20341154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.011855463849044609 Centerline is valid? [True, True] Translation: X:243.33, Y:-75.92, Z:-4.20 [[ 7.67401416e-01 6.41121500e-01 7.63474642e-03 2.43334548e+02] [-6.41090318e-01 7.67439392e-01 -6.32327559e-03 -7.59150661e+01] [-9.91319308e-03 -4.20713647e-05 9.99950862e-01 -4.20302124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.011912209446611793 Centerline is valid? [True, True] Translation: X:243.38, Y:-75.95, Z:-4.20 [[ 7.67095218e-01 6.41498654e-01 6.66361822e-03 2.43382835e+02] [-6.41474891e-01 7.67124159e-01 -5.52165239e-03 -7.59533638e+01] [-8.65395510e-03 -3.89106236e-05 9.99962553e-01 -4.20463824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.011925207625373871 Centerline is valid? [True, True] Translation: X:243.43, Y:-75.99, Z:-4.21 [[ 7.66480286e-01 6.42237224e-01 6.27054023e-03 2.43432408e+02] [-6.42216188e-01 7.66505933e-01 -5.19823710e-03 -7.59927876e+01] [-8.14490766e-03 -4.26961902e-05 9.99966829e-01 -4.20552858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.011997204581868114 Centerline is valid? [True, True] Translation: X:243.48, Y:-76.03, Z:-4.21 [[ 7.65322798e-01 6.43617135e-01 6.16423451e-03 2.43482346e+02] [-6.43596828e-01 7.65347621e-01 -5.11298322e-03 -7.60304547e+01] [-8.00858583e-03 -5.41991468e-05 9.99967929e-01 -4.20589272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.012257748827946294 Centerline is valid? [True, True] Translation: X:243.53, Y:-76.07, Z:-4.21 [[ 7.64697341e-01 6.44361703e-01 5.99777376e-03 2.43531022e+02] [-6.44342477e-01 7.64720859e-01 -4.97785538e-03 -7.60681902e+01] [-7.79416207e-03 -5.80676379e-05 9.99969623e-01 -4.20743053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.01215883046409985 Centerline is valid? [True, True] Translation: X:243.58, Y:-76.11, Z:-4.21 [[ 7.65078112e-01 6.43912083e-01 5.71949481e-03 2.43579777e+02] [-6.43894572e-01 7.65099488e-01 -4.74893870e-03 -7.61084201e+01] [-7.43388156e-03 -4.94426135e-05 9.99972367e-01 -4.20708104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.012097160411035255 Centerline is valid? [True, True] Translation: X:243.63, Y:-76.15, Z:-4.21 [[ 7.66034753e-01 6.42775117e-01 5.55929276e-03 2.43628234e+02] [-6.42758526e-01 7.66054925e-01 -4.61837659e-03 -7.61489965e+01] [-7.22730115e-03 -3.54458424e-05 9.99973882e-01 -4.20742992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.012141062423810545 Centerline is valid? [True, True] Translation: X:243.68, Y:-76.19, Z:-4.21 [[ 7.67114219e-01 6.41492296e-01 4.83833603e-03 2.43675349e+02] [-6.41479685e-01 7.67129476e-01 -4.02237877e-03 -7.61894497e+01] [-6.29195517e-03 -1.80703254e-05 9.99980205e-01 -4.20846044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.012239403827184794 Centerline is valid? [True, True] Translation: X:243.72, Y:-76.23, Z:-4.21 [[ 7.68543894e-01 6.39780993e-01 4.53487267e-03 2.43722886e+02] [-6.39769886e-01 7.68557273e-01 -3.76984415e-03 -7.62312111e+01] [-5.89718401e-03 -3.98426551e-06 9.99982611e-01 -4.20898056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.012522812647979184 Centerline is valid? [True, True] Translation: X:243.77, Y:-76.27, Z:-4.21 [[ 7.70953316e-01 6.36879283e-01 3.97028846e-03 2.43768927e+02] [-6.36870723e-01 7.70963539e-01 -3.30208115e-03 -7.62729783e+01] [-5.16397471e-03 1.71899280e-05 9.99986666e-01 -4.20843223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.012825946116559175 Centerline is valid? [True, True] Translation: X:243.82, Y:-76.31, Z:-4.21 [[ 7.72153339e-01 6.35426431e-01 3.53145714e-03 2.43815789e+02] [-6.35419640e-01 7.72161414e-01 -2.93802504e-03 -7.63134442e+01] [-4.59375370e-03 2.46486240e-05 9.99989448e-01 -4.20922779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.012686585523273208 Centerline is valid? [True, True] Translation: X:243.86, Y:-76.35, Z:-4.21 [[ 7.72296789e-01 6.35253274e-01 3.30867786e-03 2.43864268e+02] [-6.35247309e-01 7.72303876e-01 -2.75305924e-03 -7.63537902e+01] [-4.30419463e-03 2.43501044e-05 9.99990737e-01 -4.20872913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.012627276275062677 Centerline is valid? [True, True] Translation: X:243.91, Y:-76.39, Z:-4.21 [[ 7.70708116e-01 6.37182640e-01 2.69864506e-03 2.43912703e+02] [-6.37178682e-01 7.70712841e-01 -2.24603188e-03 -7.63924945e+01] [-3.51101292e-03 1.15158960e-05 9.99993836e-01 -4.21030538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.012768540606195516 Centerline is valid? [True, True] Translation: X:243.96, Y:-76.43, Z:-4.21 [[ 7.68706783e-01 6.39596594e-01 2.46532732e-03 2.43961705e+02] [-6.39593296e-01 7.68710737e-01 -2.05401155e-03 -7.64311276e+01] [-3.20886237e-03 2.12578401e-06 9.99994852e-01 -4.21355257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.012523586403755328 Centerline is valid? [True, True] Translation: X:244.01, Y:-76.47, Z:-4.21 [[ 7.65937258e-01 6.42911593e-01 2.19092441e-03 2.44011930e+02] [-6.42909006e-01 7.65940392e-01 -1.82387509e-03 -7.64689882e+01] [-2.85070794e-03 -1.15911496e-05 9.99995937e-01 -4.21315357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.01277348221441562 Centerline is valid? [True, True] Translation: X:244.06, Y:-76.51, Z:-4.21 [[ 7.62387653e-01 6.47114864e-01 2.72395695e-03 2.44061440e+02] [-6.47110881e-01 7.62392518e-01 -2.27073092e-03 -7.65060817e+01] [-3.54614813e-03 -3.15249685e-05 9.99993712e-01 -4.21311059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.013172298796472293 Centerline is valid? [True, True] Translation: X:244.11, Y:-76.54, Z:-4.21 [[ 7.60029515e-01 6.49874693e-01 4.24494205e-03 2.44111000e+02] [-6.49865039e-01 7.60041367e-01 -3.54285145e-03 -7.65446271e+01] [-5.52874105e-03 -6.59677605e-05 9.99984714e-01 -4.21322251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.013493454262001355 Centerline is valid? [True, True] Translation: X:244.16, Y:-76.58, Z:-4.21 [[ 7.58939913e-01 6.51142902e-01 4.80925824e-03 2.44159458e+02] [-6.51130517e-01 7.58955146e-01 -4.01688010e-03 -7.65841868e+01] [-6.26557426e-03 -8.28841670e-05 9.99980368e-01 -4.21429725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.013689543744466489 Centerline is valid? [True, True] Translation: X:244.21, Y:-76.62, Z:-4.22 [[ 7.58843509e-01 6.51252546e-01 5.16229525e-03 2.44206983e+02] [-6.51238250e-01 7.58861063e-01 -4.31597078e-03 -7.66237152e+01] [-6.72825182e-03 -8.67377095e-05 9.99977361e-01 -4.21574902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.01324755283153753 Centerline is valid? [True, True] Translation: X:244.25, Y:-76.67, Z:-4.22 [[ 7.58819063e-01 6.51281458e-01 5.10798810e-03 2.44254112e+02] [-6.51267462e-01 7.58836251e-01 -4.27064109e-03 -7.66655618e+01] [-6.65751589e-03 -8.60225750e-05 9.99977835e-01 -4.21633339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.013447484265605315 Centerline is valid? [True, True] Translation: X:244.30, Y:-76.71, Z:-4.22 [[ 7.58735367e-01 6.51383782e-01 4.45105821e-03 2.44301768e+02] [-6.51373146e-01 7.58748419e-01 -3.72308061e-03 -7.67052146e+01] [-5.80238771e-03 -7.44668584e-05 9.99983163e-01 -4.21886911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.01338071349411362 Centerline is valid? [True, True] Translation: X:244.35, Y:-76.75, Z:-4.22 [[ 7.58713958e-01 6.51409926e-01 4.27062586e-03 2.44349575e+02] [-6.51400128e-01 7.58725973e-01 -3.57362605e-03 -7.67454501e+01] [-5.56813024e-03 -7.05262717e-05 9.99984495e-01 -4.22067777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.01341152384589489 Centerline is valid? [True, True] Translation: X:244.40, Y:-76.79, Z:-4.22 [[ 7.59446838e-01 6.50561663e-01 3.16602321e-03 2.44396734e+02] [-6.50556270e-01 7.59453436e-01 -2.64932463e-03 -7.67874132e+01] [-4.12799625e-03 -4.76550378e-05 9.99991479e-01 -4.22355476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.01363552131809106 Centerline is valid? [True, True] Translation: X:244.44, Y:-76.83, Z:-4.23 [[ 7.60428246e-01 6.49415135e-01 2.97727195e-03 2.44442679e+02] [-6.49410350e-01 7.60434074e-01 -2.49333058e-03 -7.68281552e+01] [-3.88322565e-03 -3.74722227e-05 9.99992460e-01 -4.22731373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.01323399991808471 Centerline is valid? [True, True] Translation: X:244.49, Y:-76.87, Z:-4.23 [[ 7.60748690e-01 6.49040883e-01 2.71332352e-03 2.44488782e+02] [-6.49036907e-01 7.60753528e-01 -2.27204348e-03 -7.68707126e+01] [-3.53881954e-03 -3.25930028e-05 9.99993738e-01 -4.22717995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.013374634300261942 Centerline is valid? [True, True] Translation: X:244.53, Y:-76.91, Z:-4.23 [[ 7.60245277e-01 6.49625174e-01 3.77522835e-03 2.44534493e+02] [-6.49617460e-01 7.60254649e-01 -3.16606764e-03 -7.69115426e+01] [-4.92689215e-03 -4.54662805e-05 9.99987862e-01 -4.22778354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.013142547148748228 Centerline is valid? [True, True] Translation: X:244.58, Y:-76.95, Z:-4.23 [[ 7.59548456e-01 6.50433334e-01 4.75613365e-03 2.44581762e+02] [-6.50421094e-01 7.59563344e-01 -3.99084582e-03 -7.69537605e+01] [-6.20836394e-03 -6.22488671e-05 9.99980726e-01 -4.22708478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.013687153335546487 Centerline is valid? [True, True] Translation: X:244.63, Y:-76.99, Z:-4.23 [[ 7.57189499e-01 6.53166493e-01 6.13140623e-03 2.44628907e+02] [-6.53146199e-01 7.57214316e-01 -5.14990266e-03 -7.69936737e+01] [-8.00653244e-03 -1.05252465e-04 9.99967942e-01 -4.22740286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.014184703590390936 Centerline is valid? [True, True] Translation: X:244.68, Y:-77.03, Z:-4.23 [[ 7.54800945e-01 6.55925373e-01 6.11872714e-03 2.44676268e+02] [-6.55905223e-01 7.54825734e-01 -5.14299523e-03 -7.70330221e+01] [-7.99199376e-03 -1.31367433e-04 9.99968055e-01 -4.22875477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.01540824716534601 Centerline is valid? [True, True] Translation: X:244.72, Y:-77.07, Z:-4.23 [[ 7.50978641e-01 6.60303982e-01 5.45264366e-03 2.44724850e+02] [-6.60288084e-01 7.50998420e-01 -4.58476045e-03 -7.70717809e+01] [-7.12226236e-03 -1.57258461e-04 9.99974624e-01 -4.23180717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.016434090391446568 Centerline is valid? [True, True] Translation: X:244.77, Y:-77.11, Z:-4.23 [[ 7.49080117e-01 6.62460014e-01 5.07028491e-03 2.44772498e+02] [-6.62446327e-01 7.49097258e-01 -4.26180225e-03 -7.71109200e+01] [-6.62141011e-03 -1.66360287e-04 9.99978064e-01 -4.23370100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.018453284601579918 Centerline is valid? [True, True] Translation: X:244.82, Y:-77.15, Z:-4.24 [[ 7.47413545e-01 6.64339652e-01 5.08125205e-03 2.44820166e+02] [-6.64325926e-01 7.47430796e-01 -4.27429528e-03 -7.71494857e+01] [-6.63746810e-03 -1.80941281e-04 9.99977955e-01 -4.23507094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.01856402935411694 Centerline is valid? [True, True] Translation: X:244.87, Y:-77.19, Z:-4.24 [[ 7.46411977e-01 6.65470016e-01 4.33796765e-03 2.44866309e+02] [-6.65460029e-01 7.46424565e-01 -3.64957324e-03 -7.71902734e+01] [-5.66664718e-03 -1.62658901e-04 9.99983931e-01 -4.23819853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.01752423461233135 Centerline is valid? [True, True] Translation: X:244.91, Y:-77.23, Z:-4.24 [[ 7.46190158e-01 6.65719190e-01 4.26710937e-03 2.44911919e+02] [-6.65709537e-01 7.46202341e-01 -3.58866494e-03 -7.72341057e+01] [-5.57317012e-03 -1.62828948e-04 9.99984457e-01 -4.23852778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.017058967999943702 Centerline is valid? [True, True] Translation: X:244.96, Y:-77.28, Z:-4.24 [[ 7.46873747e-01 6.64947900e-01 4.88842192e-03 2.44956842e+02] [-6.64935191e-01 7.46889724e-01 -4.11489171e-03 -7.72768049e+01] [-6.38730069e-03 -1.77179171e-04 9.99979585e-01 -4.23901725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.016555017485731616 Centerline is valid? [True, True] Translation: X:245.00, Y:-77.32, Z:-4.24 [[ 7.47720926e-01 6.63989595e-01 5.58881533e-03 2.45002820e+02] [-6.63972934e-01 7.47741788e-01 -4.70755466e-03 -7.73190170e+01] [-7.30475808e-03 -1.90884986e-04 9.99973302e-01 -4.23961926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.016265704919302786 Centerline is valid? [True, True] Translation: X:245.05, Y:-77.36, Z:-4.24 [[ 7.48571482e-01 6.63016997e-01 7.01407060e-03 2.45048473e+02] [-6.62990664e-01 7.48604309e-01 -5.91338377e-03 -7.73618736e+01] [-9.17143743e-03 -2.23672869e-04 9.99957916e-01 -4.23965815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.01590633252557334 Centerline is valid? [True, True] Translation: X:245.09, Y:-77.40, Z:-4.24 [[ 7.49541724e-01 6.61919841e-01 7.02348866e-03 2.45094214e+02] [-6.61893383e-01 7.49574600e-01 -5.92192166e-03 -7.74037131e+01] [-9.18446614e-03 -2.10073302e-04 9.99957800e-01 -4.24124660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.01616414054488674 Centerline is valid? [True, True] Translation: X:245.14, Y:-77.44, Z:-4.24 [[ 7.50155057e-01 6.61226654e-01 6.83390986e-03 2.45140532e+02] [-6.61201550e-01 7.50186160e-01 -5.76497828e-03 -7.74433074e+01] [-8.93866189e-03 -1.93964183e-04 9.99960031e-01 -4.24346487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.016305826107386897 Centerline is valid? [True, True] Translation: X:245.19, Y:-77.48, Z:-4.24 [[ 7.50399164e-01 6.60943438e-01 7.40713922e-03 2.45186467e+02] [-6.60913901e-01 7.50435693e-01 -6.25180812e-03 -7.74831544e+01] [-9.69067321e-03 -2.04129689e-04 9.99953023e-01 -4.24480867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.015943695383227388 Centerline is valid? [True, True] Translation: X:245.23, Y:-77.53, Z:-4.24 [[ 7.50536005e-01 6.60773615e-01 8.59855447e-03 2.45232470e+02] [-6.60733758e-01 7.50585223e-01 -7.26120338e-03 -7.75252486e+01] [-1.12519595e-02 -2.31560631e-04 9.99936668e-01 -4.24404161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.016786275707113683 Centerline is valid? [True, True] Translation: X:245.28, Y:-77.56, Z:-4.25 [[ 7.49389072e-01 6.62072951e-01 8.68483458e-03 2.45280514e+02] [-6.62032337e-01 7.49439353e-01 -7.33762083e-03 -7.75646685e+01] [-1.13667971e-02 -2.50908468e-04 9.99935364e-01 -4.24526469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.017672972246520632 Centerline is valid? [True, True] Translation: X:245.33, Y:-77.60, Z:-4.25 [[ 7.48402778e-01 6.63189954e-01 8.50684245e-03 2.45328922e+02] [-6.63151023e-01 7.48451079e-01 -7.19052506e-03 -7.76031746e+01] [-1.11356394e-02 -2.59912338e-04 9.99937963e-01 -4.24798687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.019064948615531294 Centerline is valid? [True, True] Translation: X:245.38, Y:-77.64, Z:-4.25 [[ 7.46887706e-01 6.64897681e-01 8.35635210e-03 2.45377633e+02] [-6.64860186e-01 7.46934399e-01 -7.06651557e-03 -7.76415764e+01] [-1.09401567e-02 -2.77912205e-04 9.99940116e-01 -4.25013243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.020191360525302352 Centerline is valid? [True, True] Translation: X:245.43, Y:-77.68, Z:-4.25 [[ 7.45831510e-01 6.66086136e-01 8.03858248e-03 2.45426249e+02] [-6.66051477e-01 7.45874775e-01 -6.80073086e-03 -7.76807632e+01] [-1.05256484e-02 -2.81910375e-04 9.99944564e-01 -4.25163097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.02147539368560925 Centerline is valid? [True, True] Translation: X:245.47, Y:-77.72, Z:-4.25 [[ 7.44853872e-01 6.67187376e-01 7.32900093e-03 2.45473244e+02] [-6.67158595e-01 7.44889879e-01 -6.20294600e-03 -7.77192604e+01] [-9.59782588e-03 -2.69317616e-04 9.99953904e-01 -4.25403960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.02186351808559285 Centerline is valid? [True, True] Translation: X:245.52, Y:-77.76, Z:-4.26 [[ 7.45112739e-01 6.66893212e-01 7.77494775e-03 2.45519580e+02] [-6.66860775e-01 7.45153250e-01 -6.58336687e-03 -7.77591424e+01] [-1.01839303e-02 -2.79457160e-04 9.99948103e-01 -4.25543145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.015457450911804685 Centerline is valid? [True, True] Translation: X:245.56, Y:-77.81, Z:-4.25 [[ 7.47532629e-01 6.64165070e-01 8.92901646e-03 2.45558116e+02] [-6.64122040e-01 7.47585904e-01 -7.56520628e-03 -7.78086789e+01] [-1.16997526e-02 -2.74718083e-04 9.99931518e-01 -4.25308464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.01886995926344319 Centerline is valid? [True, True] Translation: X:245.61, Y:-77.85, Z:-4.25 [[ 7.49605813e-01 6.61812876e-01 9.73875575e-03 2.45607809e+02] [-6.61761491e-01 7.49669027e-01 -8.25100261e-03 -7.78453952e+01] [-1.27614633e-02 -2.59734010e-04 9.99918535e-01 -4.25479347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.014245265147997805 Centerline is valid? [True, True] Translation: X:245.65, Y:-77.89, Z:-4.25 [[ 7.51848397e-01 6.59267831e-01 9.48236348e-03 2.45649023e+02] [-6.59218855e-01 7.51908162e-01 -8.03845452e-03 -7.78936707e+01] [-1.24293610e-02 -2.07253652e-04 9.99922731e-01 -4.25440793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.01621769110403812 Centerline is valid? [True, True] Translation: X:245.70, Y:-77.93, Z:-4.26 [[ 7.53405746e-01 6.57497916e-01 8.73341714e-03 2.45697276e+02] [-6.57456243e-01 7.53456345e-01 -7.40440837e-03 -7.79306229e+01] [-1.14486316e-02 -1.63315808e-04 9.99934449e-01 -4.25801271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.01369753143177088 Centerline is valid? [True, True] Translation: X:245.74, Y:-77.98, Z:-4.26 [[ 7.54015863e-01 6.56823607e-01 6.54425064e-03 2.45741525e+02] [-6.56800187e-01 7.54044253e-01 -5.54786375e-03 -7.79760002e+01] [-8.57862247e-03 -1.15087764e-04 9.99963196e-01 -4.25969301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.013468752847566266 Centerline is valid? [True, True] Translation: X:245.79, Y:-78.02, Z:-4.26 [[ 7.53974276e-01 6.56880053e-01 5.60250493e-03 2.45788954e+02] [-6.56862877e-01 7.53995084e-01 -4.75123098e-03 -7.80170645e+01] [-7.34525003e-03 -9.77715707e-05 9.99973019e-01 -4.26119983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.013389391118089074 Centerline is valid? [True, True] Translation: X:245.84, Y:-78.06, Z:-4.26 [[ 7.53776998e-01 6.57109803e-01 5.19078693e-03 2.45836581e+02] [-6.57095051e-01 7.53794865e-01 -4.40410026e-03 -7.80576618e+01] [-6.80676598e-03 -9.11309304e-05 9.99976830e-01 -4.26219052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.013282731445906007 Centerline is valid? [True, True] Translation: X:245.88, Y:-78.10, Z:-4.26 [[ 7.54002838e-01 6.56847794e-01 5.54027147e-03 2.45884097e+02] [-6.56830956e-01 7.54023187e-01 -4.70415137e-03 -7.80976457e+01] [-7.26740461e-03 -9.20783178e-05 9.99973588e-01 -4.26242214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.013167131672395757 Centerline is valid? [True, True] Translation: X:245.93, Y:-78.14, Z:-4.26 [[ 7.54015388e-01 6.56829631e-01 5.96911794e-03 2.45932197e+02] [-6.56810064e-01 7.54039009e-01 -5.07077896e-03 -7.81387885e+01] [-7.83158565e-03 -9.71313680e-05 9.99969328e-01 -4.26230652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.013197149925355594 Centerline is valid? [True, True] Translation: X:245.98, Y:-78.18, Z:-4.26 [[ 7.54754831e-01 6.55976751e-01 6.29660368e-03 2.45978476e+02] [-6.55954916e-01 7.54781090e-01 -5.35298010e-03 -7.81788648e+01] [-8.26398789e-03 -9.01005421e-05 9.99965849e-01 -4.26216709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.012878747865516032 Centerline is valid? [True, True] Translation: X:246.03, Y:-78.22, Z:-4.26 [[ 7.55146702e-01 6.55525899e-01 6.26537145e-03 2.46026515e+02] [-6.55504249e-01 7.55172688e-01 -5.32832222e-03 -7.82199881e+01] [-8.22429061e-03 -8.33126561e-05 9.99966176e-01 -4.26304384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.01274564424321442 Centerline is valid? [True, True] Translation: X:246.07, Y:-78.26, Z:-4.26 [[ 7.55411800e-01 6.55222113e-01 6.08230094e-03 2.46074267e+02] [-6.55201678e-01 7.55436282e-01 -5.17533863e-03 -7.82606218e+01] [-7.98578713e-03 -7.56219198e-05 9.99968110e-01 -4.26403412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.012813694635595488 Centerline is valid? [True, True] Translation: X:246.12, Y:-78.30, Z:-4.26 [[ 7.55324250e-01 6.55321081e-01 6.28948995e-03 2.46121759e+02] [-6.55299205e-01 7.55350432e-01 -5.35512655e-03 -7.83005656e+01] [-8.26009627e-03 -7.66408160e-05 9.99965882e-01 -4.26495268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.01286447720921982 Centerline is valid? [True, True] Translation: X:246.17, Y:-78.34, Z:-4.27 [[ 7.54724347e-01 6.56018588e-01 5.54728424e-03 2.46169191e+02] [-6.56001572e-01 7.54744730e-01 -4.72545202e-03 -7.83398624e+01] [-7.28676790e-03 -7.26134950e-05 9.99973449e-01 -4.26528069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.01286906924675679 Centerline is valid? [True, True] Translation: X:246.22, Y:-78.38, Z:-4.27 [[ 7.54860401e-01 6.55862211e-01 5.52585227e-03 2.46218013e+02] [-6.55845312e-01 7.54880623e-01 -4.70874591e-03 -7.83794490e+01] [-7.25964730e-03 -6.96584777e-05 9.99973646e-01 -4.26697284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.012930848467109337 Centerline is valid? [True, True] Translation: X:246.27, Y:-78.42, Z:-4.27 [[ 7.54700628e-01 6.56045846e-01 5.55060732e-03 2.46265136e+02] [-6.56028779e-01 7.54721037e-01 -4.73272537e-03 -7.84188450e+01] [-7.29404493e-03 -6.95673342e-05 9.99973396e-01 -4.26803429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.013171031367273487 Centerline is valid? [True, True] Translation: X:246.31, Y:-78.46, Z:-4.27 [[ 7.53841777e-01 6.57031860e-01 5.63112033e-03 2.46313354e+02] [-6.57014304e-01 7.53862805e-01 -4.80373640e-03 -7.84590212e+01] [-7.40130003e-03 -7.84694125e-05 9.99972607e-01 -4.26833545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.013452646957008254 Centerline is valid? [True, True] Translation: X:246.36, Y:-78.50, Z:-4.27 [[ 7.52585554e-01 6.58473017e-01 5.31693172e-03 2.46361440e+02] [-6.58457384e-01 7.52604331e-01 -4.53820762e-03 -7.84981836e+01] [-6.98983310e-03 -8.55834534e-05 9.99975567e-01 -4.26873109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.013984670320342802 Centerline is valid? [True, True] Translation: X:246.41, Y:-78.54, Z:-4.27 [[ 7.49899291e-01 6.61535087e-01 4.73104302e-03 2.46410586e+02] [-6.61522762e-01 7.49914207e-01 -4.03941986e-03 -7.85367621e+01] [-6.22009434e-03 -1.00534558e-04 9.99980650e-01 -4.26908300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.014821338597887517 Centerline is valid? [True, True] Translation: X:246.46, Y:-78.58, Z:-4.27 [[ 7.47959179e-01 6.63729189e-01 4.54210895e-03 2.46459089e+02] [-6.63717858e-01 7.47972961e-01 -3.87985477e-03 -7.85751047e+01] [-5.97254755e-03 -1.12705837e-04 9.99982158e-01 -4.27058447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.016302451891714052 Centerline is valid? [True, True] Translation: X:246.51, Y:-78.61, Z:-4.27 [[ 7.45413380e-01 6.66590326e-01 4.02872589e-03 2.46507340e+02] [-6.66581446e-01 7.45424257e-01 -3.44271760e-03 -7.86122228e+01] [-5.29799225e-03 -1.19226166e-04 9.99985958e-01 -4.27200010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.01592002826084826 Centerline is valid? [True, True] Translation: X:246.55, Y:-78.65, Z:-4.27 [[ 7.44249404e-01 6.67888782e-01 4.17123322e-03 2.46554357e+02] [-6.67879276e-01 7.44261081e-01 -3.56590480e-03 -7.86530913e+01] [-5.48611436e-03 -1.31957701e-04 9.99984942e-01 -4.27190883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.017724673732162213 Centerline is valid? [True, True] Translation: X:246.60, Y:-78.69, Z:-4.27 [[ 7.43641712e-01 6.68562365e-01 4.62267499e-03 2.46603557e+02] [-6.68550688e-01 7.43656064e-01 -3.95417328e-03 -7.86912577e+01] [-6.08129172e-03 -1.50004359e-04 9.99981498e-01 -4.27291774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.01582221535613195 Centerline is valid? [True, True] Translation: X:246.65, Y:-78.73, Z:-4.27 [[ 7.44051765e-01 6.68098539e-01 5.59587150e-03 2.46648789e+02] [-6.68081374e-01 7.44072787e-01 -4.79228915e-03 -7.87347524e+01] [-7.36545708e-03 -1.72786313e-04 9.99972860e-01 -4.27129054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.017425122606371347 Centerline is valid? [True, True] Translation: X:246.70, Y:-78.77, Z:-4.27 [[ 7.45042784e-01 6.66991858e-01 5.75432256e-03 2.46696773e+02] [-6.66973678e-01 7.45064986e-01 -4.92736667e-03 -7.87722273e+01] [-7.57385771e-03 -1.66882697e-04 9.99971304e-01 -4.27366308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.014111815419955976 Centerline is valid? [True, True] Translation: X:246.74, Y:-78.82, Z:-4.27 [[ 7.48779512e-01 6.62800543e-01 4.96814798e-03 2.46739319e+02] [-6.62786876e-01 7.48795987e-01 -4.25765708e-03 -7.88174067e+01] [-6.54210669e-03 -1.04776886e-04 9.99978595e-01 -4.27396316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.012972364887345243 Centerline is valid? [True, True] Translation: X:246.78, Y:-78.86, Z:-4.28 [[ 7.51997996e-01 6.59152590e-01 4.10818173e-03 2.46784281e+02] [-6.59143205e-01 7.52009215e-01 -3.51808863e-03 -7.88606266e+01] [-5.40834775e-03 -6.22844690e-05 9.99985373e-01 -4.27573462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.012282795528622468 Centerline is valid? [True, True] Translation: X:246.83, Y:-78.91, Z:-4.28 [[ 7.58270465e-01 6.51930431e-01 3.55176479e-03 2.46826842e+02] [-6.51923332e-01 7.58278783e-01 -3.04238779e-03 -7.89058909e+01] [-4.67665307e-03 -8.52552947e-06 9.99989064e-01 -4.27619658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.012620092955914106 Centerline is valid? [True, True] Translation: X:246.87, Y:-78.95, Z:-4.28 [[ 7.62324072e-01 6.47187252e-01 3.26637600e-03 2.46870597e+02] [-6.47181193e-01 7.62331070e-01 -2.80069796e-03 -7.89486795e+01] [-4.30263592e-03 2.11023612e-05 9.99990743e-01 -4.27712965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.01380102236713672 Centerline is valid? [True, True] Translation: X:246.92, Y:-78.99, Z:-4.28 [[ 7.67643967e-01 6.40867535e-01 3.39736606e-03 2.46915458e+02] [-6.40860909e-01 7.67651483e-01 -2.91491200e-03 -7.89923316e+01] [-4.47606556e-03 6.03755140e-05 9.99989981e-01 -4.27838848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.014267576067213133 Centerline is valid? [True, True] Translation: X:246.96, Y:-79.03, Z:-4.28 [[ 7.69615182e-01 6.38499473e-01 3.30068717e-03 2.46961859e+02] [-6.38493207e-01 7.69622257e-01 -2.82957236e-03 -7.90340517e+01] [-4.34696277e-03 7.02155099e-05 9.99990549e-01 -4.27875880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.014716334409766623 Centerline is valid? [True, True] Translation: X:247.01, Y:-79.07, Z:-4.28 [[ 7.70144189e-01 6.37860616e-01 3.42968039e-03 2.47007430e+02] [-6.37853829e-01 7.70151821e-01 -2.94355243e-03 -7.90746050e+01] [-4.51895077e-03 7.93250221e-05 9.99989786e-01 -4.27885639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.014417550496816733 Centerline is valid? [True, True] Translation: X:247.06, Y:-79.11, Z:-4.28 [[ 7.68416795e-01 6.39943746e-01 2.76245161e-03 2.47056651e+02] [-6.39939363e-01 7.68421758e-01 -2.36924581e-03 -7.91126658e+01] [-3.63891196e-03 5.27667439e-05 9.99993378e-01 -4.28041386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.012928843568708449 Centerline is valid? [True, True] Translation: X:247.11, Y:-79.15, Z:-4.28 [[ 7.64598481e-01 6.44502658e-01 2.34217074e-03 2.47109024e+02] [-6.44499522e-01 7.64602068e-01 -2.01077995e-03 -7.91477199e+01] [-3.08678161e-03 2.79113704e-05 9.99995235e-01 -4.28124771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.012538763708137723 Centerline is valid? [True, True] Translation: X:247.16, Y:-79.18, Z:-4.28 [[ 7.61239911e-01 6.48464764e-01 2.69216967e-03 2.47157687e+02] [-6.48460647e-01 7.61244671e-01 -2.31079658e-03 -7.91841640e+01] [-3.54786998e-03 1.33044945e-05 9.99993706e-01 -4.28238513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.012350571233605721 Centerline is valid? [True, True] Translation: X:247.21, Y:-79.22, Z:-4.28 [[ 7.57926700e-01 6.52332491e-01 3.07223671e-03 2.47207358e+02] [-6.52327153e-01 7.57932927e-01 -2.63901099e-03 -7.92200397e+01] [-4.05006197e-03 -3.92653151e-06 9.99991798e-01 -4.28332095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.012608744352813787 Centerline is valid? [True, True] Translation: X:247.26, Y:-79.25, Z:-4.28 [[ 7.52422042e-01 6.58667493e-01 4.26668666e-03 2.47260308e+02] [-6.58657281e-01 7.52434138e-01 -3.66813723e-03 -7.92539738e+01] [-5.62648345e-03 -5.02969244e-05 9.99984170e-01 -4.28318151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.013722297735489575 Centerline is valid? [True, True] Translation: X:247.31, Y:-79.29, Z:-4.28 [[ 7.48238872e-01 6.63418597e-01 3.78889749e-03 2.47310650e+02] [-6.63410598e-01 7.48248461e-01 -3.25870010e-03 -7.92898735e+01] [-4.99691897e-03 -7.53086639e-05 9.99987512e-01 -4.28496464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.015060520235830974 Centerline is valid? [True, True] Translation: X:247.36, Y:-79.33, Z:-4.29 [[ 7.44559544e-01 6.67549534e-01 2.95048283e-03 2.47360808e+02] [-6.67544705e-01 7.44565386e-01 -2.54023139e-03 -7.93268005e+01] [-3.89255766e-03 -7.82256628e-05 9.99992421e-01 -4.28732541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.016340886783469042 Centerline is valid? [True, True] Translation: X:247.41, Y:-79.36, Z:-4.29 [[ 7.41316322e-01 6.71149497e-01 2.90916734e-03 2.47410258e+02] [-6.71144829e-01 7.41322024e-01 -2.50498768e-03 -7.93645227e+01] [-3.83785104e-03 -9.54843578e-05 9.99992631e-01 -4.28780533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.018337937709240925 Centerline is valid? [True, True] Translation: X:247.46, Y:-79.40, Z:-4.29 [[ 7.38596509e-01 6.74138593e-01 3.51497418e-03 2.47460161e+02] [-6.74131819e-01 7.38604860e-01 -3.02503067e-03 -7.94003883e+01] [-4.63546693e-03 -1.35278845e-04 9.99989247e-01 -4.28944424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.01900171440279243 Centerline is valid? [True, True] Translation: X:247.51, Y:-79.44, Z:-4.29 [[ 7.37820855e-01 6.74989315e-01 3.13206338e-03 2.47507980e+02] [-6.74983943e-01 7.37827492e-01 -2.69598356e-03 -7.94396980e+01] [-4.13068257e-03 -1.24939597e-04 9.99991461e-01 -4.29158546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.018734229540639143 Centerline is valid? [True, True] Translation: X:247.55, Y:-79.48, Z:-4.29 [[ 7.38003555e-01 6.74789358e-01 3.17401792e-03 2.47553780e+02] [-6.74783833e-01 7.38010370e-01 -2.73346925e-03 -7.94822822e+01] [-4.18697410e-03 -1.24465956e-04 9.99991227e-01 -4.29271230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.018090605931223906 Centerline is valid? [True, True] Translation: X:247.60, Y:-79.52, Z:-4.29 [[ 7.38774001e-01 6.73944917e-01 3.35018882e-03 2.47599195e+02] [-6.73938746e-01 7.38781587e-01 -2.88684660e-03 -7.95247392e+01] [-4.42063341e-03 -1.25094838e-04 9.99990221e-01 -4.29352337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.015981188084091876 Centerline is valid? [True, True] Translation: X:247.64, Y:-79.57, Z:-4.29 [[ 7.40571798e-01 6.71968300e-01 3.46640153e-03 2.47641574e+02] [-6.71961665e-01 7.40579901e-01 -2.98844103e-03 -7.95701925e+01] [-4.57528494e-03 -1.16133799e-04 9.99989527e-01 -4.29342130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.015906874333582142 Centerline is valid? [True, True] Translation: X:247.69, Y:-79.61, Z:-4.29 [[ 7.40944718e-01 6.71555782e-01 3.70902966e-03 2.47686080e+02] [-6.71548171e-01 7.40953991e-01 -3.19961705e-03 -7.96133244e+01] [-4.89694166e-03 -1.20052734e-04 9.99988003e-01 -4.29425775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.01658405151555891 Centerline is valid? [True, True] Translation: X:247.73, Y:-79.65, Z:-4.29 [[ 7.39979782e-01 6.72617450e-01 3.96084234e-03 2.47731993e+02] [-6.72608773e-01 7.39990371e-01 -3.41896453e-03 -7.96548189e+01] [-5.23064039e-03 -1.34132678e-04 9.99986311e-01 -4.29499966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.01686101019557356 Centerline is valid? [True, True] Translation: X:247.78, Y:-79.70, Z:-4.30 [[ 7.38341277e-01 6.74412777e-01 4.42321770e-03 2.47778917e+02] [-6.74401975e-01 7.38354508e-01 -3.82051355e-03 -7.96961322e+01] [-5.84250588e-03 -1.62183901e-04 9.99982919e-01 -4.29546923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.018651196363484703 Centerline is valid? [True, True] Translation: X:247.83, Y:-79.73, Z:-4.30 [[ 7.35388848e-01 6.77632119e-01 4.23710484e-03 2.47827071e+02] [-6.77622249e-01 7.35401033e-01 -3.66167908e-03 -7.97346573e+01] [-5.59724263e-03 -1.78398549e-04 9.99984319e-01 -4.29697731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.020063766997476945 Centerline is valid? [True, True] Translation: X:247.87, Y:-79.77, Z:-4.30 [[ 7.33712493e-01 6.79447583e-01 4.11812264e-03 2.47874682e+02] [-6.79438272e-01 7.33724027e-01 -3.56189701e-03 -7.97736948e+01] [-5.44168784e-03 -1.84601788e-04 9.99985177e-01 -4.29832223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.020990275866356323 Centerline is valid? [True, True] Translation: X:247.92, Y:-79.81, Z:-4.30 [[ 7.31265494e-01 6.82076398e-01 4.75020974e-03 2.47922176e+02] [-6.82064050e-01 7.31280885e-01 -4.11079726e-03 -7.98134657e+01] [-6.27761537e-03 -2.33863105e-04 9.99980268e-01 -4.29786516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.022334183774389726 Centerline is valid? [True, True] Translation: X:247.97, Y:-79.85, Z:-4.30 [[ 7.29591408e-01 6.83864059e-01 5.13103089e-03 2.47970227e+02] [-6.83849706e-01 7.29609400e-01 -4.43877450e-03 -7.98523447e+01] [-6.77916672e-03 -2.70362231e-04 9.99976985e-01 -4.29859335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.023450101838388134 Centerline is valid? [True, True] Translation: X:248.02, Y:-79.89, Z:-4.30 [[ 7.28790671e-01 6.84714984e-01 5.43593409e-03 2.48017785e+02] [-6.84698883e-01 7.28810884e-01 -4.70479227e-03 -7.98916745e+01] [-7.18320969e-03 -2.93169282e-04 9.99974157e-01 -4.29970394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.021962434350922034 Centerline is valid? [True, True] Translation: X:248.06, Y:-79.93, Z:-4.30 [[ 7.29893507e-01 6.83533429e-01 6.12536163e-03 2.48062152e+02] [-6.83512917e-01 7.29919141e-01 -5.30467336e-03 -7.99349596e+01] [-8.09694027e-03 -3.14917154e-04 9.99967170e-01 -4.30024867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.02025199511972996 Centerline is valid? [True, True] Translation: X:248.11, Y:-79.98, Z:-4.30 [[ 7.31121331e-01 6.82223086e-01 5.76715991e-03 2.48105754e+02] [-6.82204846e-01 7.31144023e-01 -4.99656093e-03 -7.99789243e+01] [-7.62539371e-03 -2.81292162e-04 9.99970887e-01 -4.29996312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.020023958237930257 Centerline is valid? [True, True] Translation: X:248.15, Y:-80.02, Z:-4.30 [[ 7.31327283e-01 6.82003469e-01 5.62795088e-03 2.48152562e+02] [-6.81986076e-01 7.31348887e-01 -4.87826549e-03 -8.00201453e+01] [-7.44298960e-03 -2.70575491e-04 9.99972264e-01 -4.30134283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.02058699908808956 Centerline is valid? [True, True] Translation: X:248.20, Y:-80.06, Z:-4.30 [[ 7.32277072e-01 6.80988754e-01 4.96048136e-03 2.48199310e+02] [-6.80975207e-01 7.32293838e-01 -4.30150160e-03 -8.00596249e+01] [-6.56180415e-03 -2.28073822e-04 9.99978445e-01 -4.30355661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.018896084693003277 Centerline is valid? [True, True] Translation: X:248.24, Y:-80.10, Z:-4.30 [[ 7.33328912e-01 6.79861013e-01 4.20831271e-03 2.48243784e+02] [-6.79851240e-01 7.33340964e-01 -3.64990301e-03 -8.01027220e+01] [-5.56755486e-03 -1.84447212e-04 9.99984484e-01 -4.30420146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.017068003404732943 Centerline is valid? [True, True] Translation: X:248.29, Y:-80.15, Z:-4.31 [[ 7.37323457e-01 6.75528918e-01 3.84724751e-03 2.48287566e+02] [-6.75520669e-01 7.37333482e-01 -3.34096057e-03 -8.01463363e+01] [-5.09361988e-03 -1.35526614e-04 9.99987018e-01 -4.30548170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.014731413454188108 Centerline is valid? [True, True] Translation: X:248.33, Y:-80.19, Z:-4.31 [[ 7.41708291e-01 6.70711250e-01 3.90249052e-03 2.48330265e+02] [-6.70702698e-01 7.41718550e-01 -3.38869495e-03 -8.01914519e+01] [-5.16738544e-03 -1.03987777e-04 9.99986644e-01 -4.30514080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.012916371161227319 Centerline is valid? [True, True] Translation: X:248.37, Y:-80.24, Z:-4.31 [[ 7.49120887e-01 6.62419792e-01 4.23270624e-03 2.48371088e+02] [-6.62409590e-01 7.49132843e-01 -3.67680189e-03 -8.02371584e+01] [-5.60644561e-03 -4.94161139e-05 9.99984283e-01 -4.30541582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.012591747854011305 Centerline is valid? [True, True] Translation: X:248.41, Y:-80.28, Z:-4.31 [[ 7.56569740e-01 6.53905292e-01 3.17767044e-03 2.48411934e+02] [-6.53899479e-01 7.56576413e-01 -2.75730784e-03 -8.02830326e+01] [-4.20716869e-03 8.21862659e-06 9.99991150e-01 -4.30804398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.013300330263691585 Centerline is valid? [True, True] Translation: X:248.46, Y:-80.33, Z:-4.31 [[ 7.61025954e-01 6.48717867e-01 2.15083785e-03 2.48455869e+02] [-6.48715185e-01 7.61028993e-01 -1.86528589e-03 -8.03270326e+01] [-2.84689425e-03 2.42498050e-05 9.99995947e-01 -4.30948891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.014467795014855886 Centerline is valid? [True, True] Translation: X:248.50, Y:-80.37, Z:-4.31 [[ 7.64872235e-01 6.44180022e-01 1.60112566e-03 2.48500561e+02] [-6.44178521e-01 7.64873910e-01 -1.39111733e-03 -8.03707207e+01] [-2.12078924e-03 3.26162644e-05 9.99997751e-01 -4.31039982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.015767230760392964 Centerline is valid? [True, True] Translation: X:248.55, Y:-80.41, Z:-4.31 [[ 7.68955040e-01 6.39298268e-01 2.42286521e-03 2.48545161e+02] [-6.39294803e-01 7.68958854e-01 -2.10613216e-03 -8.04141988e+01] [-3.20953030e-03 7.05958048e-05 9.99994847e-01 -4.30928080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.016226343340482022 Centerline is valid? [True, True] Translation: X:248.59, Y:-80.45, Z:-4.31 [[ 7.69517394e-01 6.38620754e-01 2.55185124e-03 2.48592139e+02] [-6.38616915e-01 7.69521622e-01 -2.21575521e-03 -8.04546045e+01] [-3.37873197e-03 7.54068143e-05 9.99994289e-01 -4.30876551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.016163746615340997 Centerline is valid? [True, True] Translation: X:248.64, Y:-80.49, Z:-4.31 [[ 7.68453560e-01 6.39900976e-01 2.42219373e-03 2.48640470e+02] [-6.39897520e-01 7.68457375e-01 -2.10395754e-03 -8.04936932e+01] [-3.20767712e-03 6.68378989e-05 9.99994853e-01 -4.30991771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.015194981932869474 Centerline is valid? [True, True] Translation: X:248.69, Y:-80.53, Z:-4.31 [[ 7.64870086e-01 6.44183879e-01 9.39128338e-04 2.48691311e+02] [-6.44183366e-01 7.64870662e-01 -8.13064150e-04 -8.05299754e+01] [-1.24207453e-03 1.69175929e-05 9.99999228e-01 -4.31212924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.013957242179900919 Centerline is valid? [True, True] Translation: X:248.74, Y:-80.57, Z:-4.31 [[ 7.61290999e-01 6.48410137e-01 5.55472358e-04 2.48741938e+02] [-6.48409960e-01 7.61291202e-01 -4.79031875e-04 -8.05660123e+01] [-7.33485343e-04 4.50884518e-06 9.99999731e-01 -4.31305088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.013566874132937088 Centerline is valid? [True, True] Translation: X:248.79, Y:-80.60, Z:-4.31 [[ 7.59037789e-01 6.51046520e-01 2.54416903e-04 2.48790356e+02] [-6.51046484e-01 7.59037831e-01 -2.16796521e-04 -8.06043931e+01] [-3.34256675e-04 -1.08047807e-06 9.99999944e-01 -4.31416704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.012615957365368987 Centerline is valid? [True, True] Translation: X:248.84, Y:-80.64, Z:-4.31 [[ 7.52281543e-01 6.58841555e-01 5.34336845e-04 2.48843372e+02] [-6.58841392e-01 7.52281733e-01 -4.63214453e-04 -8.06388805e+01] [-7.07156779e-04 -3.57554765e-06 9.99999750e-01 -4.31316054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.013134000376566571 Centerline is valid? [True, True] Translation: X:248.90, Y:-80.67, Z:-4.31 [[ 7.46627769e-01 6.65239735e-01 1.75201906e-03 2.48895340e+02] [-6.65237991e-01 7.46629824e-01 -1.52353492e-03 -8.06741217e+01] [-2.32162565e-03 -2.79961624e-05 9.99997305e-01 -4.31254463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.013909996064558743 Centerline is valid? [True, True] Translation: X:248.94, Y:-80.71, Z:-4.31 [[ 7.44043499e-01 6.68126793e-01 2.42078173e-03 2.48944631e+02] [-6.68123462e-01 7.44047436e-01 -2.11021175e-03 -8.07111650e+01] [-3.21106544e-03 -4.72917321e-05 9.99994843e-01 -4.31360250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.014444251789489567 Centerline is valid? [True, True] Translation: X:248.99, Y:-80.75, Z:-4.31 [[ 7.41801277e-01 6.70611895e-01 3.24818926e-03 2.48993772e+02] [-6.70605923e-01 7.41808385e-01 -2.83141849e-03 -8.07492630e+01] [-4.30831695e-03 -7.79051042e-05 9.99990716e-01 -4.31328555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.014570212375885929 Centerline is valid? [True, True] Translation: X:249.04, Y:-80.79, Z:-4.31 [[ 7.41659055e-01 6.70770287e-01 3.01129413e-03 2.49041785e+02] [-6.70765153e-01 7.41665165e-01 -2.62531496e-03 -8.07894550e+01] [-3.99435523e-03 -7.27825508e-05 9.99992020e-01 -4.31478562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.01401343541194671 Centerline is valid? [True, True] Translation: X:249.09, Y:-80.83, Z:-4.32 [[ 7.42631929e-01 6.69696062e-01 2.23681812e-03 2.49087988e+02] [-6.69693224e-01 7.42635296e-01 -1.95015849e-03 -8.08309140e+01] [-2.96715355e-03 -4.97319782e-05 9.99995597e-01 -4.31672285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.01352907396599096 Centerline is valid? [True, True] Translation: X:249.13, Y:-80.87, Z:-4.32 [[ 7.45431536e-01 6.66580737e-01 1.39504127e-03 2.49132241e+02] [-6.66579630e-01 7.45432841e-01 -1.21526002e-03 -8.08734965e+01] [-1.84997850e-03 -2.40129485e-05 9.99998288e-01 -4.31840376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.0132012993336682 Centerline is valid? [True, True] Translation: X:249.18, Y:-80.92, Z:-4.32 [[ 7.48593143e-01 6.63028812e-01 1.04900980e-03 2.49176104e+02] [-6.63028184e-01 7.48593878e-01 -9.13107703e-04 -8.09164423e+01] [-1.39069903e-03 -1.19768987e-05 9.99999033e-01 -4.31985850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.01306928107582861 Centerline is valid? [True, True] Translation: X:249.22, Y:-80.96, Z:-4.32 [[ 7.54230978e-01 6.56607387e-01 1.53981098e-03 2.49218492e+02] [-6.56606014e-01 7.54232550e-01 -1.34284988e-03 -8.09621893e+01] [-2.04310071e-03 1.76982911e-06 9.99997913e-01 -4.32047177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.013598850566997838 Centerline is valid? [True, True] Translation: X:249.26, Y:-81.01, Z:-4.32 [[ 7.58103541e-01 6.52130809e-01 2.10451858e-03 2.49262125e+02] [-6.52128218e-01 7.58106462e-01 -1.83810745e-03 -8.10064078e+01] [-2.79413563e-03 2.10598120e-05 9.99996096e-01 -4.32064923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.015465700513611635 Centerline is valid? [True, True] Translation: X:249.30, Y:-81.05, Z:-4.32 [[ 7.63602385e-01 6.45681543e-01 2.59671205e-03 2.49303063e+02] [-6.45677552e-01 7.63606798e-01 -2.27073323e-03 -8.10520159e+01] [-3.44903751e-03 5.72986296e-05 9.99994050e-01 -4.32092531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.016412918076135596 Centerline is valid? [True, True] Translation: X:249.35, Y:-81.09, Z:-4.32 [[ 7.67868066e-01 6.40600238e-01 3.15725239e-03 2.49347178e+02] [-6.40594284e-01 7.67874551e-01 -2.76356486e-03 -8.10942992e+01] [-4.19471407e-03 9.95353682e-05 9.99991197e-01 -4.32018346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.01689478470759102 Centerline is valid? [True, True] Translation: X:249.39, Y:-81.13, Z:-4.32 [[ 7.69552280e-01 6.38569401e-01 4.29048522e-03 2.49393830e+02] [-6.38558362e-01 7.69564225e-01 -3.75797589e-03 -8.11348591e+01] [-5.70153234e-03 1.52233701e-04 9.99983735e-01 -4.31987019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.017699775654939014 Centerline is valid? [True, True] Translation: X:249.44, Y:-81.18, Z:-4.32 [[ 7.69392468e-01 6.38760443e-01 4.50860318e-03 2.49439219e+02] [-6.38748233e-01 7.69405661e-01 -3.95277098e-03 -8.11756728e+01] [-5.99381855e-03 1.61369908e-04 9.99982024e-01 -4.32132672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.016743732282744023 Centerline is valid? [True, True] Translation: X:249.49, Y:-81.21, Z:-4.32 [[ 7.67464629e-01 6.41074117e-01 4.69245123e-03 2.49489549e+02] [-6.41060935e-01 7.67478960e-01 -4.11381659e-03 -8.12127768e+01] [-6.23861893e-03 1.49061551e-04 9.99980529e-01 -4.32267372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.015083497678466467 Centerline is valid? [True, True] Translation: X:249.54, Y:-81.25, Z:-4.32 [[ 7.64595180e-01 6.44485242e-01 5.74312672e-03 2.49540741e+02] [-6.44465546e-01 7.64616734e-01 -5.04092066e-03 -8.12475456e+01] [-7.64008977e-03 1.53016343e-04 9.99970802e-01 -4.32293660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.014698801157502205 Centerline is valid? [True, True] Translation: X:249.59, Y:-81.29, Z:-4.32 [[ 7.62581879e-01 6.46858671e-01 6.53736177e-03 2.49590128e+02] [-6.46833251e-01 7.62609886e-01 -5.73646973e-03 -8.12855018e+01] [-8.69614190e-03 1.45944893e-04 9.99962177e-01 -4.32340596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.013980196450837444 Centerline is valid? [True, True] Translation: X:249.64, Y:-81.32, Z:-4.33 [[ 7.59522107e-01 6.50441311e-01 7.22984816e-03 2.49641836e+02] [-6.50410345e-01 7.59556507e-01 -6.34787728e-03 -8.13209792e+01] [-9.62039983e-03 1.18985088e-04 9.99953716e-01 -4.32536147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.013312829963890388 Centerline is valid? [True, True] Translation: X:249.69, Y:-81.35, Z:-4.33 [[ 7.55709856e-01 6.54866071e-01 7.28304764e-03 2.49694489e+02] [-6.54834821e-01 7.55744947e-01 -6.39780174e-03 -8.13547429e+01] [-9.69382975e-03 6.56886364e-05 9.99953012e-01 -4.32802294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.01285818694209932 Centerline is valid? [True, True] Translation: X:249.75, Y:-81.39, Z:-4.33 [[ 7.52916854e-01 6.58071930e-01 7.58591761e-03 2.49745397e+02] [-6.58038145e-01 7.52955068e-01 -6.66822475e-03 -8.13917077e+01] [-1.01000266e-02 2.87956419e-05 9.99948993e-01 -4.32938568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.012748150506988456 Centerline is valid? [True, True] Translation: X:249.80, Y:-81.43, Z:-4.33 [[ 7.48879718e-01 6.62657010e-01 8.05322256e-03 2.49797195e+02] [-6.62619186e-01 7.48923017e-01 -7.08015173e-03 -8.14259335e+01] [-1.07229559e-02 -3.40377437e-05 9.99942507e-01 -4.33099671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.013051211509396234 Centerline is valid? [True, True] Translation: X:249.85, Y:-81.46, Z:-4.33 [[ 7.45800199e-01 6.66123863e-01 7.81422934e-03 2.49847188e+02] [-6.66088403e-01 7.45841131e-01 -6.87359237e-03 -8.14624798e+01] [-1.04068376e-02 -7.86409891e-05 9.99945844e-01 -4.33271499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.013852096298774414 Centerline is valid? [True, True] Translation: X:249.90, Y:-81.50, Z:-4.33 [[ 7.41484223e-01 6.70925200e-01 7.77967252e-03 2.49898169e+02] [-6.70890282e-01 7.41525020e-01 -6.84649572e-03 -8.14981622e+01] [-1.03623083e-02 -1.42738133e-04 9.99946300e-01 -4.33495954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.015308271646106916 Centerline is valid? [True, True] Translation: X:249.95, Y:-81.53, Z:-4.34 [[ 7.39156029e-01 6.73488055e-01 7.88698714e-03 2.49947452e+02] [-6.73452273e-01 7.39198085e-01 -6.94460387e-03 -8.15349144e+01] [-1.05071535e-02 -1.78363594e-04 9.99944782e-01 -4.33684151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.015021816297568867 Centerline is valid? [True, True] Translation: X:249.99, Y:-81.58, Z:-4.34 [[ 7.37713030e-01 6.75060817e-01 8.50757529e-03 2.49993734e+02] [-6.75019245e-01 7.37762054e-01 -7.49469737e-03 -8.15760047e+01] [-1.13359427e-02 -2.13841141e-04 9.99935723e-01 -4.33656146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.014796953799166812 Centerline is valid? [True, True] Translation: X:250.04, Y:-81.62, Z:-4.34 [[ 7.37220657e-01 6.75592090e-01 9.00170695e-03 2.50040616e+02] [-6.75545540e-01 7.37275576e-01 -7.93399062e-03 -8.16184378e+01] [-1.19968800e-02 -2.31961204e-04 9.99928008e-01 -4.33689166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.015410163319718489 Centerline is valid? [True, True] Translation: X:250.09, Y:-81.66, Z:-4.34 [[ 7.36102195e-01 6.76809704e-01 9.06554707e-03 2.50086558e+02] [-6.76762518e-01 7.36157974e-01 -7.99569677e-03 -8.16595376e+01] [-1.20852399e-02 -2.49572522e-04 9.99926940e-01 -4.33847596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.01592264705509631 Centerline is valid? [True, True] Translation: X:250.13, Y:-81.70, Z:-4.34 [[ 7.35056786e-01 6.77956437e-01 8.16031970e-03 2.50133420e+02] [-6.77918266e-01 7.35102041e-01 -7.19816536e-03 -8.17008473e+01] [-1.08787102e-02 -2.40969485e-04 9.99940796e-01 -4.34063055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.016480121515399397 Centerline is valid? [True, True] Translation: X:250.18, Y:-81.74, Z:-4.34 [[ 7.34133202e-01 6.78962942e-01 7.60038180e-03 2.50177950e+02] [-6.78929853e-01 7.34172505e-01 -6.70718940e-03 -8.17437220e+01] [-1.01339244e-02 -2.36155673e-04 9.99948623e-01 -4.34194649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.016202006241486024 Centerline is valid? [True, True] Translation: X:250.22, Y:-81.79, Z:-4.34 [[ 7.33872149e-01 6.79243508e-01 7.74115324e-03 2.50221820e+02] [-6.79209166e-01 7.33912936e-01 -6.83454176e-03 -8.17888166e+01] [-1.03236506e-02 -2.42182386e-04 9.99946680e-01 -4.34166168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.01656529899197721 Centerline is valid? [True, True] Translation: X:250.27, Y:-81.83, Z:-4.34 [[ 7.33748464e-01 6.79377869e-01 7.67487829e-03 2.50267061e+02] [-6.79344080e-01 7.33788562e-01 -6.77982222e-03 -8.18322613e+01] [-1.02377991e-02 -2.39198994e-04 9.99947564e-01 -4.34190048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.016134554452900476 Centerline is valid? [True, True] Translation: X:250.31, Y:-81.88, Z:-4.34 [[ 7.33726976e-01 6.79397817e-01 7.95805709e-03 2.50311781e+02] [-6.79361447e-01 7.33770091e-01 -7.03405809e-03 -8.18763451e+01] [-1.06183080e-02 -2.45319007e-04 9.99943594e-01 -4.34253348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.01552369747720017 Centerline is valid? [True, True] Translation: X:250.36, Y:-81.92, Z:-4.34 [[ 7.33517595e-01 6.79624626e-01 7.89334360e-03 2.50356449e+02] [-6.79588819e-01 7.33560023e-01 -6.98068449e-03 -8.19209126e+01] [-1.05344864e-02 -2.43773151e-04 9.99944481e-01 -4.34273804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.01619002948454265 Centerline is valid? [True, True] Translation: X:250.40, Y:-81.96, Z:-4.34 [[ 7.33229689e-01 6.79941565e-01 7.32740700e-03 2.50401219e+02] [-6.79910679e-01 7.33266266e-01 -6.48479125e-03 -8.19627134e+01] [-9.78221948e-03 -2.27140791e-04 9.99952127e-01 -4.34422942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.016048903521927196 Centerline is valid? [True, True] Translation: X:250.45, Y:-82.01, Z:-4.35 [[ 7.33062905e-01 6.80128002e-01 6.68414085e-03 2.50446213e+02] [-6.80102309e-01 7.33093348e-01 -5.91545038e-03 -8.20062507e+01] [-8.92336264e-03 -2.09502387e-04 9.99960164e-01 -4.34564701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.016096236062105314 Centerline is valid? [True, True] Translation: X:250.49, Y:-82.05, Z:-4.35 [[ 7.32409221e-01 6.80840370e-01 5.75530261e-03 2.50490701e+02] [-6.80821325e-01 7.32431809e-01 -5.09588616e-03 -8.20502294e+01] [-7.68485173e-03 -1.86058742e-04 9.99970454e-01 -4.34694964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.01668815132914899 Centerline is valid? [True, True] Translation: X:250.54, Y:-82.09, Z:-4.35 [[ 7.31095841e-01 6.82250802e-01 5.71964940e-03 2.50535306e+02] [-6.82232016e-01 7.31118187e-01 -5.06683107e-03 -8.20940641e+01] [-7.63858927e-03 -1.97788824e-04 9.99970806e-01 -4.34686493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.017215039664497573 Centerline is valid? [True, True] Translation: X:250.58, Y:-82.14, Z:-4.35 [[ 7.29526632e-01 6.83931553e-01 5.34080798e-03 2.50580774e+02] [-6.83915203e-01 7.29546154e-01 -4.73322608e-03 -8.21361303e+01] [-7.13356859e-03 -1.99645294e-04 9.99974536e-01 -4.34829043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.019544187982004295 Centerline is valid? [True, True] Translation: X:250.63, Y:-82.18, Z:-4.35 [[ 7.27874492e-01 6.85687925e-01 5.54911968e-03 2.50625983e+02] [-6.85670304e-01 7.27895610e-01 -4.92077030e-03 -8.21772461e+01] [-7.41329263e-03 -2.23163399e-04 9.99972496e-01 -4.34949194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.019603603421091065 Centerline is valid? [True, True] Translation: X:250.67, Y:-82.22, Z:-4.35 [[ 7.25491562e-01 6.88208336e-01 5.59289600e-03 2.50669721e+02] [-6.88190480e-01 7.25513077e-01 -4.96372485e-03 -8.22214238e+01] [-7.47379601e-03 -2.47837283e-04 9.99972040e-01 -4.34876966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.02125229859145235 Centerline is valid? [True, True] Translation: X:250.71, Y:-82.26, Z:-4.35 [[ 7.24564911e-01 6.89184068e-01 5.56864814e-03 2.50714737e+02] [-6.89166401e-01 7.24586264e-01 -4.94148961e-03 -8.22620243e+01] [-7.44056186e-03 -2.57295212e-04 9.99972286e-01 -4.34966793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.020892175476872707 Centerline is valid? [True, True] Translation: X:250.76, Y:-82.31, Z:-4.35 [[ 7.23365819e-01 6.90445070e-01 5.24379409e-03 2.50757375e+02] [-6.90429429e-01 7.23384781e-01 -4.65433258e-03 -8.23069431e+01] [-7.00684182e-03 -2.53684657e-04 9.99975420e-01 -4.34957634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.020768649809278613 Centerline is valid? [True, True] Translation: X:250.80, Y:-82.35, Z:-4.35 [[ 7.22887980e-01 6.90943450e-01 5.48792419e-03 2.50800484e+02] [-6.90926316e-01 7.22908761e-01 -4.87326656e-03 -8.23515054e+01] [-7.33442009e-03 -2.68925425e-04 9.99973067e-01 -4.35156884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.022103560147088298 Centerline is valid? [True, True] Translation: X:250.85, Y:-82.39, Z:-4.35 [[ 7.23478382e-01 6.90332683e-01 4.45169273e-03 2.50846173e+02] [-6.90321390e-01 7.23492047e-01 -3.95434764e-03 -8.23924501e+01] [-5.95057970e-03 -2.12213681e-04 9.99982273e-01 -4.35498722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.02169858602694122 Centerline is valid? [True, True] Translation: X:250.89, Y:-82.44, Z:-4.36 [[ 7.23718584e-01 6.90080729e-01 4.47194625e-03 2.50891518e+02] [-6.90069318e-01 7.23732370e-01 -3.97400626e-03 -8.24355234e+01] [-5.97887740e-03 -2.09890717e-04 9.99982104e-01 -4.35661213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.02018669653175954 Centerline is valid? [True, True] Translation: X:250.93, Y:-82.48, Z:-4.36 [[ 7.24676503e-01 6.89080397e-01 3.48882817e-03 2.50933807e+02] [-6.89073428e-01 7.24684885e-01 -3.10303949e-03 -8.24821425e+01] [-4.66654472e-03 -1.55358981e-04 9.99989100e-01 -4.35850804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.021673614269493265 Centerline is valid? [True, True] Translation: X:250.98, Y:-82.52, Z:-4.36 [[ 7.26159270e-01 6.87518212e-01 3.37978957e-03 2.50979393e+02] [-6.87511663e-01 7.26167122e-01 -3.00415296e-03 -8.25233155e+01] [-4.51970194e-03 -1.42151223e-04 9.99989776e-01 -4.36128985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.019948646697682405 Centerline is valid? [True, True] Translation: X:251.02, Y:-82.57, Z:-4.36 [[ 7.26929146e-01 6.86703423e-01 3.52494086e-03 2.51022542e+02] [-6.86696282e-01 7.26937679e-01 -3.13494216e-03 -8.25676722e+01] [-4.71518784e-03 -1.41682959e-04 9.99988873e-01 -4.36168563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.02092982025273933 Centerline is valid? [True, True] Translation: X:251.07, Y:-82.61, Z:-4.36 [[ 7.28520029e-01 6.85011383e-01 4.23941274e-03 2.51068302e+02] [-6.85001008e-01 7.28532347e-01 -3.77325348e-03 -8.26087210e+01] [-5.67327090e-03 -1.55111275e-04 9.99983895e-01 -4.36369684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.018133267715732267 Centerline is valid? [True, True] Translation: X:251.11, Y:-82.66, Z:-4.36 [[ 7.28468966e-01 6.85065636e-01 4.24738801e-03 2.51111435e+02] [-6.85055216e-01 7.28481332e-01 -3.78159236e-03 -8.26553183e+01] [-5.68478185e-03 -1.54922634e-04 9.99983829e-01 -4.36281966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.017407877451434774 Centerline is valid? [True, True] Translation: X:251.16, Y:-82.70, Z:-4.36 [[ 7.28409356e-01 6.85131366e-01 3.84986443e-03 2.51157206e+02] [-6.85122799e-01 7.28419517e-01 -3.42890525e-03 -8.26981860e+01] [-5.15356692e-03 -1.39983226e-04 9.99986710e-01 -4.36402800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.017639422294616985 Centerline is valid? [True, True] Translation: X:251.20, Y:-82.74, Z:-4.37 [[ 7.28027159e-01 6.85541463e-01 3.05915267e-03 2.51204640e+02] [-6.85536055e-01 7.28033577e-01 -2.72555747e-03 -8.27389404e+01] [-4.09564851e-03 -1.12879594e-04 9.99991606e-01 -4.36612008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.018317097666721762 Centerline is valid? [True, True] Translation: X:251.25, Y:-82.78, Z:-4.37 [[ 7.26923162e-01 6.86706252e-01 4.15215471e-03 2.51253067e+02] [-6.86696286e-01 7.26935002e-01 -3.70313198e-03 -8.27784729e+01] [-5.56131048e-03 -1.59376816e-04 9.99984523e-01 -4.36706055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.01766101435079703 Centerline is valid? [True, True] Translation: X:251.30, Y:-82.82, Z:-4.37 [[ 7.27337995e-01 6.86258036e-01 5.41741183e-03 2.51299505e+02] [-6.86241030e-01 7.27358142e-01 -4.83548927e-03 -8.28202276e+01] [-7.25879197e-03 -2.00615199e-04 9.99973634e-01 -4.36722943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.01758089749281014 Centerline is valid? [True, True] Translation: X:251.35, Y:-82.86, Z:-4.37 [[ 7.28689531e-01 6.84810835e-01 6.75922445e-03 2.51345047e+02] [-6.84784257e-01 7.28720843e-01 -6.03765784e-03 -8.28605441e+01] [-9.06024125e-03 -2.29032427e-04 9.99958929e-01 -4.36824884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.015453607232250508 Centerline is valid? [True, True] Translation: X:251.39, Y:-82.91, Z:-4.37 [[ 7.32494917e-01 6.80725750e-01 7.97803059e-03 2.51387184e+02] [-6.80688421e-01 7.32538334e-01 -7.13181999e-03 -8.29053979e+01] [-1.06990267e-02 -2.06531160e-04 9.99942742e-01 -4.36918496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.014410757558936357 Centerline is valid? [True, True] Translation: X:251.43, Y:-82.95, Z:-4.37 [[ 7.35796012e-01 6.77158329e-01 7.79914564e-03 2.51430260e+02] [-6.77122466e-01 7.35837329e-01 -6.97078193e-03 -8.29504590e+01] [-1.04592255e-02 -1.51903187e-04 9.99945289e-01 -4.37101930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.013684677418917254 Centerline is valid? [True, True] Translation: X:251.47, Y:-83.00, Z:-4.37 [[ 7.40774747e-01 6.71719504e-01 6.75883398e-03 2.51471285e+02] [-6.71692313e-01 7.40805578e-01 -6.04424556e-03 -8.29957500e+01] [-9.06701955e-03 -6.24323524e-05 9.99958892e-01 -4.37341297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.013477345805481999 Centerline is valid? [True, True] Translation: X:251.51, Y:-83.04, Z:-4.38 [[ 7.44636997e-01 6.67432919e-01 7.00302052e-03 2.51514135e+02] [-6.67403528e-01 7.44669926e-01 -6.26351688e-03 -8.30403440e+01] [-9.39541612e-03 -9.79420248e-06 9.99955862e-01 -4.37526701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.013504207955048713 Centerline is valid? [True, True] Translation: X:251.56, Y:-83.08, Z:-4.38 [[ 7.47830341e-01 6.63833760e-01 8.63251235e-03 2.51558471e+02] [-6.63788804e-01 7.47880162e-01 -7.72567304e-03 -8.30847191e+01] [-1.15846473e-02 4.73276550e-05 9.99932895e-01 -4.37548556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.013765204093476167 Centerline is valid? [True, True] Translation: X:251.60, Y:-83.13, Z:-4.38 [[ 7.49158212e-01 6.62320909e-01 9.64298258e-03 2.51602392e+02] [-6.62264612e-01 7.49220266e-01 -8.63578249e-03 -8.31280303e+01] [-1.29443773e-02 8.33612442e-05 9.99916215e-01 -4.37565347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.013656984808441961 Centerline is valid? [True, True] Translation: X:251.65, Y:-83.17, Z:-4.38 [[ 7.48666600e-01 6.62858490e-01 1.08140568e-02 2.51649917e+02] [-6.62787660e-01 7.48744692e-01 -9.69036107e-03 -8.31688556e+01] [-1.45203057e-02 8.74262925e-05 9.99894571e-01 -4.37553422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.013316624926751881 Centerline is valid? [True, True] Translation: X:251.70, Y:-83.21, Z:-4.38 [[ 7.47000352e-01 6.64736318e-01 1.07750223e-02 2.51698683e+02] [-6.64666117e-01 7.47078058e-01 -9.66065369e-03 -8.32080192e+01] [-1.44715701e-02 5.47195035e-05 9.99895280e-01 -4.37738772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.013273964876084413 Centerline is valid? [True, True] Translation: X:251.75, Y:-83.25, Z:-4.38 [[ 7.45727691e-01 6.66162281e-01 1.08639813e-02 2.51746495e+02] [-6.66090999e-01 7.45806821e-01 -9.74509566e-03 -8.32482021e+01] [-1.45942465e-02 3.07875307e-05 9.99893498e-01 -4.37884428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.013385214396250398 Centerline is valid? [True, True] Translation: X:251.80, Y:-83.28, Z:-4.38 [[ 7.39803804e-01 6.72738351e-01 1.06509823e-02 2.51798056e+02] [-6.72670438e-01 7.39880465e-01 -9.55927010e-03 -8.32834188e+01] [-1.43113414e-02 -9.26165662e-05 9.99897583e-01 -4.37997580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.01406042651898922 Centerline is valid? [True, True] Translation: X:251.85, Y:-83.32, Z:-4.38 [[ 7.35047509e-01 6.77919339e-01 1.14249555e-02 2.51848749e+02] [-6.77841735e-01 7.35136266e-01 -1.02593175e-02 -8.33198941e+01] [-1.53538889e-02 -2.03225932e-04 9.99882101e-01 -4.37955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.014766842361792362 Centerline is valid? [True, True] Translation: X:251.90, Y:-83.36, Z:-4.38 [[ 7.32179373e-01 6.81006890e-01 1.19574924e-02 2.51898128e+02] [-6.80922201e-01 7.32276955e-01 -1.07432294e-02 -8.33576821e+01] [-1.60724094e-02 -2.76151112e-04 9.99870792e-01 -4.37998735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.01602433333388874 Centerline is valid? [True, True] Translation: X:251.95, Y:-83.39, Z:-4.38 [[ 7.29675748e-01 6.83677658e-01 1.25763011e-02 2.51946751e+02] [-6.83584270e-01 7.29784036e-01 -1.13051563e-02 -8.33948004e+01] [-1.69070666e-02 -3.47863276e-04 9.99857005e-01 -4.37937968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.016528617804196524 Centerline is valid? [True, True] Translation: X:252.00, Y:-83.43, Z:-4.38 [[ 7.27262211e-01 6.86244482e-01 1.25772589e-02 2.51995256e+02] [-6.86151374e-01 7.27370846e-01 -1.13112448e-02 -8.34343099e+01] [-1.69106108e-02 -4.03662580e-04 9.99856924e-01 -4.37967412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.018095837416021082 Centerline is valid? [True, True] Translation: X:252.05, Y:-83.47, Z:-4.38 [[ 7.24223928e-01 6.89467773e-01 1.15712041e-02 2.52046358e+02] [-6.89389298e-01 7.24316229e-01 -1.04113579e-02 -8.34706088e+01] [-1.55595066e-02 -4.36909769e-04 9.99878848e-01 -4.38144100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.019465204670951065 Centerline is valid? [True, True] Translation: X:252.10, Y:-83.51, Z:-4.38 [[ 7.22727500e-01 6.91056807e-01 1.02689081e-02 2.52095121e+02] [-6.90995154e-01 7.22800328e-01 -9.24023695e-03 -8.35076712e+01] [-1.38078988e-02 -4.17592416e-04 9.99904579e-01 -4.38385192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.019603825683511822 Centerline is valid? [True, True] Translation: X:252.14, Y:-83.55, Z:-4.39 [[ 7.22983207e-01 6.90803457e-01 9.26644118e-03 2.52141973e+02] [-6.90753193e-01 7.23042493e-01 -8.34139832e-03 -8.35484488e+01] [-1.24622975e-02 -3.70132927e-04 9.99922274e-01 -4.38570867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.01882019493355748 Centerline is valid? [True, True] Translation: X:252.19, Y:-83.59, Z:-4.39 [[ 7.24770815e-01 6.88942773e-01 8.06978467e-03 2.52187234e+02] [-6.88904495e-01 7.24815681e-01 -7.26809327e-03 -8.35915533e+01] [-1.08564068e-02 -2.91609052e-04 9.99941025e-01 -4.38712984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.017620594001179424 Centerline is valid? [True, True] Translation: X:252.23, Y:-83.63, Z:-4.39 [[ 7.27736116e-01 6.85812935e-01 7.79503150e-03 2.52229977e+02] [-6.85777023e-01 7.27777825e-01 -7.02226881e-03 -8.36340188e+01] [-1.04890139e-02 -2.35294870e-04 9.99944961e-01 -4.38754607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.014259935450714217 Centerline is valid? [True, True] Translation: X:252.27, Y:-83.68, Z:-4.39 [[ 7.31374228e-01 6.81926757e-01 8.22421306e-03 2.52270047e+02] [-6.81886533e-01 7.31420442e-01 -7.40903765e-03 -8.36813061e+01] [-1.10677786e-02 -1.89200935e-04 9.99938732e-01 -4.38637535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.013829632636148583 Centerline is valid? [True, True] Translation: X:252.31, Y:-83.72, Z:-4.39 [[ 7.33840004e-01 6.79277753e-01 7.78352005e-03 2.52313761e+02] [-6.79241578e-01 7.33881267e-01 -7.01168437e-03 -8.37243545e+01] [-1.04750608e-02 -1.41435957e-04 9.99945125e-01 -4.38769027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.01313584330000862 Centerline is valid? [True, True] Translation: X:252.36, Y:-83.77, Z:-4.39 [[ 7.35818654e-01 6.77141851e-01 7.05843647e-03 2.52357527e+02] [-6.77111999e-01 7.35852501e-01 -6.35907160e-03 -8.37681572e+01] [-9.49996164e-03 -1.00228517e-04 9.99954869e-01 -4.38894622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.012866723259102967 Centerline is valid? [True, True] Translation: X:252.40, Y:-83.81, Z:-4.39 [[ 7.38216052e-01 6.74536114e-01 6.17184070e-03 2.52400427e+02] [-6.74513179e-01 7.38241850e-01 -5.56265579e-03 -8.38111290e+01] [-8.30852332e-03 -5.65460918e-05 9.99965482e-01 -4.39008316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.012730396537339586 Centerline is valid? [True, True] Translation: X:252.45, Y:-83.85, Z:-4.39 [[ 7.39129139e-01 6.73538778e-01 5.79920748e-03 2.52446388e+02] [-6.73518486e-01 7.39151888e-01 -5.22834046e-03 -8.38547825e+01] [-7.80798520e-03 -4.14546619e-05 9.99969516e-01 -4.39072095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.01265093524260303 Centerline is valid? [True, True] Translation: X:252.49, Y:-83.90, Z:-4.39 [[ 7.39273261e-01 6.73385827e-01 5.15493957e-03 2.52492086e+02] [-6.73369777e-01 7.39291233e-01 -4.64932986e-03 -8.38980221e+01] [-6.94179447e-03 -3.40552627e-05 9.99975905e-01 -4.39066622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.012629945547088954 Centerline is valid? [True, True] Translation: X:252.54, Y:-83.94, Z:-4.39 [[ 7.39002814e-01 6.73687614e-01 4.45418804e-03 2.52539392e+02] [-6.73675627e-01 7.39016237e-01 -4.01881446e-03 -8.39399746e+01] [-5.99914281e-03 -3.07627230e-05 9.99982005e-01 -4.39259477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.012630446212813453 Centerline is valid? [True, True] Translation: X:252.59, Y:-83.98, Z:-4.39 [[ 7.38486163e-01 6.74254561e-01 4.35594493e-03 2.52586108e+02] [-6.74243093e-01 7.38499009e-01 -3.93256427e-03 -8.39808350e+01] [-5.86841040e-03 -3.28214880e-05 9.99982780e-01 -4.39452411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.01246041627839585 Centerline is valid? [True, True] Translation: X:252.63, Y:-84.02, Z:-4.39 [[ 7.38933912e-01 6.73761962e-01 4.63595234e-03 2.52632161e+02] [-6.73748948e-01 7.38948454e-01 -4.18768535e-03 -8.40243604e+01] [-6.24723291e-03 -2.90452956e-05 9.99980485e-01 -4.39421298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.012355194822555284 Centerline is valid? [True, True] Translation: X:252.68, Y:-84.07, Z:-4.39 [[ 7.39272182e-01 6.73387269e-01 5.12130049e-03 2.52678082e+02] [-6.73371353e-01 7.39289920e-01 -4.62974198e-03 -8.40667952e+01] [-6.90373513e-03 -2.58975904e-05 9.99976169e-01 -4.39451751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.012172202313244812 Centerline is valid? [True, True] Translation: X:252.72, Y:-84.11, Z:-4.39 [[ 7.40700059e-01 6.71802068e-01 6.73823876e-03 2.52723219e+02] [-6.71774408e-01 7.40730708e-01 -6.09611744e-03 -8.41090228e+01] [-9.08660467e-03 -1.11818073e-05 9.99958716e-01 -4.39369152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.01228384197189988 Centerline is valid? [True, True] Translation: X:252.77, Y:-84.15, Z:-4.39 [[ 7.41993098e-01 6.70369207e-01 7.16719583e-03 2.52769440e+02] [-6.70337816e-01 7.42027712e-01 -6.48742121e-03 -8.41510779e+01] [-9.66722534e-03 9.17936134e-06 9.99953271e-01 -4.39462573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.012318112732012153 Centerline is valid? [True, True] Translation: X:252.82, Y:-84.19, Z:-4.40 [[ 7.43186077e-01 6.69043849e-01 7.40157195e-03 2.52816415e+02] [-6.69010266e-01 7.43222933e-01 -6.70346091e-03 -8.41928778e+01] [-9.98592730e-03 3.01911937e-05 9.99950139e-01 -4.39613504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.012286918014578029 Centerline is valid? [True, True] Translation: X:252.86, Y:-84.23, Z:-4.40 [[ 7.43541041e-01 6.68652017e-01 7.15537961e-03 2.52863414e+02] [-6.68620581e-01 7.43575469e-01 -6.48387962e-03 -8.42343814e+01] [-9.65602394e-03 3.67965303e-05 9.99953379e-01 -4.39671249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.012227912800533505 Centerline is valid? [True, True] Translation: X:252.91, Y:-84.28, Z:-4.40 [[ 7.43426548e-01 6.68782404e-01 6.86032077e-03 2.52911241e+02] [-6.68753482e-01 7.43458200e-01 -6.21975515e-03 -8.42751802e+01] [-9.26002453e-03 3.60676998e-05 9.99957124e-01 -4.39764494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.012303767011562116 Centerline is valid? [True, True] Translation: X:252.96, Y:-84.31, Z:-4.40 [[ 7.42878285e-01 6.69395814e-01 6.41067068e-03 2.52958867e+02] [-6.69370555e-01 7.42905945e-01 -5.81524580e-03 -8.43141943e+01] [-8.65522656e-03 2.89056359e-05 9.99962542e-01 -4.39923062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.012332018420390268 Centerline is valid? [True, True] Translation: X:253.01, Y:-84.35, Z:-4.40 [[ 7.42052179e-01 6.70322023e-01 5.19125226e-03 2.53008167e+02] [-6.70305474e-01 7.42070337e-01 -4.71030021e-03 -8.43540509e+01] [-7.00969228e-03 1.55637309e-05 9.99975432e-01 -4.40154987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.012261809437597353 Centerline is valid? [True, True] Translation: X:253.06, Y:-84.40, Z:-4.40 [[ 7.41497138e-01 6.70940188e-01 4.61082865e-03 2.53056199e+02] [-6.70927133e-01 7.41511473e-01 -4.18533297e-03 -8.43950385e+01] [-6.22709043e-03 9.88236802e-06 9.99980611e-01 -4.40268304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.012130646203069449 Centerline is valid? [True, True] Translation: X:253.10, Y:-84.44, Z:-4.40 [[ 7.40770723e-01 6.71743331e-01 4.43096164e-03 2.53104542e+02] [-6.71731278e-01 7.40783975e-01 -4.02406084e-03 -8.44353809e+01] [-5.98552141e-03 4.49093201e-06 9.99982087e-01 -4.40251898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.012067127753755557 Centerline is valid? [True, True] Translation: X:253.15, Y:-84.48, Z:-4.40 [[ 7.39727777e-01 6.72890164e-01 4.65219775e-03 2.53152579e+02] [-6.72876883e-01 7.39742406e-01 -4.22762587e-03 -8.44766865e+01] [-6.28615582e-03 -3.06403734e-06 9.99980242e-01 -4.40263824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.011954565429339847 Centerline is valid? [True, True] Translation: X:253.20, Y:-84.52, Z:-4.40 [[ 7.37410463e-01 6.75425450e-01 5.12541312e-03 2.53202397e+02] [-6.75409369e-01 7.37428275e-01 -4.66092378e-03 -8.45159748e+01] [-6.92773110e-03 -2.47380760e-05 9.99976003e-01 -4.40276530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.011987219675031987 Centerline is valid? [True, True] Translation: X:253.25, Y:-84.56, Z:-4.40 [[ 7.36464570e-01 6.76455673e-01 5.25916843e-03 2.53249885e+02] [-6.76438747e-01 7.36483347e-01 -4.78540184e-03 -8.45573419e+01] [-7.11040219e-03 -3.32263930e-05 9.99974720e-01 -4.40350681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.011978762272925325 Centerline is valid? [True, True] Translation: X:253.30, Y:-84.60, Z:-4.41 [[ 7.35980810e-01 6.76986945e-01 4.57436631e-03 2.53297507e+02] [-6.76974140e-01 7.35995024e-01 -4.16386535e-03 -8.45988305e+01] [-6.18559332e-03 -3.22027052e-05 9.99980869e-01 -4.40532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.011922720321403759 Centerline is valid? [True, True] Translation: X:253.34, Y:-84.64, Z:-4.41 [[ 7.37272697e-01 6.75582568e-01 4.14301769e-03 2.53343068e+02] [-6.75572034e-01 7.37284337e-01 -3.77276498e-03 -8.46424581e+01] [-5.60339630e-03 -1.73502775e-05 9.99984301e-01 -4.40605511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.01258524310701369 Centerline is valid? [True, True] Translation: X:253.39, Y:-84.69, Z:-4.41 [[ 7.41371239e-01 6.71088176e-01 3.05730121e-03 2.53385836e+02] [-6.71082398e-01 7.41377542e-01 -2.78463149e-03 -8.46876105e+01] [-4.13534773e-03 1.27446709e-05 9.99991449e-01 -4.40568811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.013378203592494697 Centerline is valid? [True, True] Translation: X:253.43, Y:-84.73, Z:-4.41 [[ 7.44204373e-01 6.67947633e-01 2.41043865e-03 2.53428436e+02] [-6.67944019e-01 7.44208276e-01 -2.19746839e-03 -8.47312082e+01] [-3.26166220e-03 2.53275118e-05 9.99994680e-01 -4.40641943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.014427627052648018 Centerline is valid? [True, True] Translation: X:253.47, Y:-84.78, Z:-4.41 [[ 7.47809255e-01 6.63911737e-01 1.58865609e-03 2.53471585e+02] [-6.63910157e-01 7.47810942e-01 -1.44887164e-03 -8.47760732e+01] [-2.14993730e-03 2.87547042e-05 9.99997688e-01 -4.40698398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.015627875974204272 Centerline is valid? [True, True] Translation: X:253.51, Y:-84.82, Z:-4.41 [[ 7.50068289e-01 6.61359598e-01 1.02202442e-03 2.53513908e+02] [-6.61358943e-01 7.50068985e-01 -9.30688773e-04 -8.48196077e+01] [-1.38210877e-03 2.21551419e-05 9.99999045e-01 -4.40815252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.01599741268357226 Centerline is valid? [True, True] Translation: X:253.56, Y:-84.86, Z:-4.41 [[ 7.50266109e-01 6.61135799e-01 4.69518921e-04 2.53559069e+02] [-6.61135663e-01 7.50266256e-01 -4.23836331e-04 -8.48628256e+01] [-6.32477575e-04 7.57433146e-06 9.99999800e-01 -4.40990225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.015240948576378699 Centerline is valid? [True, True] Translation: X:253.61, Y:-84.90, Z:-4.41 [[ 7.48395445e-01 6.63252783e-01 -6.59532091e-05 2.53605017e+02] [-6.63252780e-01 7.48395447e-01 6.54302483e-05 -8.49039939e+01] [ 9.27558754e-05 -5.22405049e-06 9.99999996e-01 -4.41032346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.01465288442553415 Centerline is valid? [True, True] Translation: X:253.65, Y:-84.94, Z:-4.41 [[ 7.46061380e-01 6.65877169e-01 -1.14460376e-04 2.53652221e+02] [-6.65877160e-01 7.46061388e-01 1.09772184e-04 -8.49442172e+01] [ 1.58489258e-04 -5.68023677e-06 9.99999987e-01 -4.41201604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.013266813383191167 Centerline is valid? [True, True] Translation: X:253.70, Y:-84.98, Z:-4.41 [[ 7.41147744e-01 6.71341764e-01 5.07163986e-04 2.53701025e+02] [-6.71341608e-01 7.41147917e-01 -4.58923392e-04 -8.49825837e+01] [-6.83977972e-04 -3.50249382e-07 9.99999766e-01 -4.41300747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.012711480699511389 Centerline is valid? [True, True] Translation: X:253.75, Y:-85.02, Z:-4.41 [[ 7.36132246e-01 6.76836930e-01 1.04255744e-03 2.53749397e+02] [-6.76836264e-01 7.36132984e-01 -9.49136652e-04 -8.50211279e+01] [-1.40987166e-03 -6.95058721e-06 9.99999006e-01 -4.41439928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.013087623739413402 Centerline is valid? [True, True] Translation: X:253.80, Y:-85.06, Z:-4.42 [[ 7.32515251e-01 6.80748859e-01 1.54886122e-03 2.53796758e+02] [-6.80747392e-01 7.32516888e-01 -1.41323964e-03 -8.50615316e+01] [-2.09662828e-03 -1.91636442e-05 9.99997802e-01 -4.41503181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.014331851231906287 Centerline is valid? [True, True] Translation: X:253.84, Y:-85.10, Z:-4.42 [[ 7.26832747e-01 6.86810386e-01 2.37739710e-03 2.53844765e+02] [-6.86806941e-01 7.26836633e-01 -2.17592564e-03 -8.51010035e+01] [-3.22242763e-03 -5.12788223e-05 9.99994807e-01 -4.41561223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.01568335492168237 Centerline is valid? [True, True] Translation: X:253.89, Y:-85.14, Z:-4.42 [[ 7.23150881e-01 6.90684200e-01 2.85289205e-03 2.53891714e+02] [-6.90679267e-01 7.23156504e-01 -2.61177644e-03 -8.51420333e+01] [-3.86700016e-03 -8.17249568e-05 9.99992520e-01 -4.41637255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.02074020383894565 Centerline is valid? [True, True] Translation: X:253.94, Y:-85.18, Z:-4.42 [[ 7.17694408e-01 6.96344334e-01 4.39374860e-03 2.53940956e+02] [-6.96332724e-01 7.17707837e-01 -4.02474187e-03 -8.51769392e+01] [-5.95603400e-03 -1.70976199e-04 9.99982248e-01 -4.41997741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.019966264179256146 Centerline is valid? [True, True] Translation: X:253.98, Y:-85.22, Z:-4.42 [[ 7.16088176e-01 6.97993919e-01 4.71304152e-03 2.53984917e+02] [-6.97980616e-01 7.16103658e-01 -4.31409421e-03 -8.52204235e+01] [-6.38623780e-03 -2.00339772e-04 9.99979588e-01 -4.42089300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.018992678360156622 Centerline is valid? [True, True] Translation: X:254.03, Y:-85.27, Z:-4.42 [[ 7.16587386e-01 6.97480180e-01 4.89054650e-03 2.54027532e+02] [-6.97465829e-01 7.16604045e-01 -4.47883422e-03 -8.52659663e+01] [-6.62848350e-03 -2.01512957e-04 9.99978011e-01 -4.42327417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.018152356254770477 Centerline is valid? [True, True] Translation: X:254.07, Y:-85.31, Z:-4.42 [[ 7.18912342e-01 6.95081318e-01 5.19666765e-03 2.54069760e+02] [-6.95065016e-01 7.18931100e-01 -4.76414957e-03 -8.53111808e+01] [-7.04751735e-03 -1.87015952e-04 9.99975148e-01 -4.42449432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.01633750372009591 Centerline is valid? [True, True] Translation: X:254.11, Y:-85.36, Z:-4.43 [[ 7.22714137e-01 6.91126147e-01 5.37829204e-03 2.54111162e+02] [-6.91108573e-01 7.22734132e-01 -4.93093381e-03 -8.53575995e+01] [-7.29497251e-03 -1.53328166e-04 9.99973380e-01 -4.42596865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.013609239107686952 Centerline is valid? [True, True] Translation: X:254.15, Y:-85.41, Z:-4.43 [[ 7.30673972e-01 6.82702966e-01 5.67515838e-03 2.54146716e+02] [-6.82683130e-01 7.30696008e-01 -5.20469754e-03 -8.54083398e+01] [-7.70007802e-03 -7.13978545e-05 9.99970351e-01 -4.42739988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.01276962175245897 Centerline is valid? [True, True] Translation: X:254.18, Y:-85.46, Z:-4.43 [[ 7.37092703e-01 6.75767163e-01 5.75234122e-03 2.54184578e+02] [-6.75746589e-01 7.37115148e-01 -5.27311039e-03 -8.54585065e+01] [-7.80353270e-03 -3.53764804e-07 9.99969552e-01 -4.42887388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.013980645110143597 Centerline is valid? [True, True] Translation: X:254.22, Y:-85.51, Z:-4.43 [[ 7.44440407e-01 6.67651588e-01 7.05960733e-03 2.54224343e+02] [-6.67620193e-01 7.44473872e-01 -6.47552002e-03 -8.55073443e+01] [-9.57908443e-03 1.07502347e-04 9.99954114e-01 -4.42880414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.015430201449954942 Centerline is valid? [True, True] Translation: X:254.27, Y:-85.55, Z:-4.43 [[ 7.48150446e-01 6.63480713e-01 8.01579664e-03 2.54267889e+02] [-6.63439950e-01 7.48193363e-01 -7.35688587e-03 -8.55511243e+01] [-1.08785177e-02 1.86057720e-04 9.99940810e-01 -4.42961950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.016879802406866335 Centerline is valid? [True, True] Translation: X:254.31, Y:-85.59, Z:-4.43 [[ 7.50432924e-01 6.60895967e-01 8.18215582e-03 2.54310532e+02] [-6.60853295e-01 7.50477493e-01 -7.51363490e-03 -8.55943059e+01] [-1.11062548e-02 2.31274372e-04 9.99938297e-01 -4.43067093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.01829851650213502 Centerline is valid? [True, True] Translation: X:254.36, Y:-85.64, Z:-4.43 [[ 7.52976481e-01 6.57991418e-01 8.58559371e-03 2.54356565e+02] [-6.57944219e-01 7.53025372e-01 -7.88635458e-03 -8.56362681e+01] [-1.16543235e-02 2.89397773e-04 9.99932044e-01 -4.43259468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.018598558375350384 Centerline is valid? [True, True] Translation: X:254.40, Y:-85.67, Z:-4.44 [[ 7.54257718e-01 6.56521361e-01 8.66004268e-03 2.54404909e+02] [-6.56473243e-01 7.54307366e-01 -7.95480305e-03 -8.56748823e+01] [-1.17548321e-02 3.14885300e-04 9.99930860e-01 -4.43526411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.019431336209528582 Centerline is valid? [True, True] Translation: X:254.45, Y:-85.72, Z:-4.44 [[ 7.55675686e-01 6.54882291e-01 9.13473594e-03 2.54452415e+02] [-6.54828580e-01 7.55730808e-01 -8.39502051e-03 -8.57153625e+01] [-1.24011516e-02 3.62226716e-04 9.99923037e-01 -4.43665376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.01748003807603957 Centerline is valid? [True, True] Translation: X:254.50, Y:-85.75, Z:-4.44 [[ 7.55413836e-01 6.55185035e-01 9.08336486e-03 2.54502552e+02] [-6.55131904e-01 7.55468360e-01 -8.35140215e-03 -8.57532590e+01] [-1.23339085e-02 3.57962615e-04 9.99923870e-01 -4.43807610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.01720883003985129 Centerline is valid? [True, True] Translation: X:254.55, Y:-85.79, Z:-4.44 [[ 7.54129256e-01 6.56661149e-01 9.23043169e-03 2.54550825e+02] [-6.56606322e-01 7.54185665e-01 -8.49238584e-03 -8.57932947e+01] [-1.25380791e-02 3.43596814e-04 9.99921336e-01 -4.44037983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.016060336158151334 Centerline is valid? [True, True] Translation: X:254.60, Y:-85.83, Z:-4.44 [[ 7.51060829e-01 6.60158950e-01 9.88892746e-03 2.54600860e+02] [-6.60096298e-01 7.51125866e-01 -9.10006544e-03 -8.58304579e+01] [-1.34353189e-02 3.07058288e-04 9.99909695e-01 -4.44240044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.01577236471295887 Centerline is valid? [True, True] Translation: X:254.65, Y:-85.87, Z:-4.44 [[ 7.49832668e-01 6.61550946e-01 1.00655408e-02 2.54647749e+02] [-6.61486156e-01 7.49900169e-01 -9.26293968e-03 -8.58715197e+01] [-1.36760573e-02 2.87438863e-04 9.99906437e-01 -4.44312547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.014335324938042276 Centerline is valid? [True, True] Translation: X:254.70, Y:-85.91, Z:-4.44 [[ 7.46297027e-01 6.65523981e-01 1.08893856e-02 2.54697790e+02] [-6.65448489e-01 7.46376430e-01 -1.00266511e-02 -8.59083419e+01] [-1.48005576e-02 2.36534702e-04 9.99890438e-01 -4.44326930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.012873243407352714 Centerline is valid? [True, True] Translation: X:254.75, Y:-85.94, Z:-4.44 [[ 7.41809789e-01 6.70504445e-01 1.19175153e-02 2.54749241e+02] [-6.70414642e-01 7.41905497e-01 -1.09745561e-02 -8.59436081e+01] [-1.62001588e-02 1.51356374e-04 9.99868757e-01 -4.44430451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.01228063095853548 Centerline is valid? [True, True] Translation: X:254.80, Y:-85.98, Z:-4.45 [[ 7.38262363e-01 6.74411341e-01 1.17484934e-02 2.54798821e+02] [-6.74324543e-01 7.38355835e-01 -1.08199755e-02 -8.59815345e+01] [-1.59716828e-02 6.56832424e-05 9.99872442e-01 -4.44590998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.012149330057630267 Centerline is valid? [True, True] Translation: X:254.85, Y:-86.02, Z:-4.45 [[ 7.35016830e-01 6.77962444e-01 1.08252005e-02 2.54847984e+02] [-6.77889071e-01 7.35096541e-01 -9.97406368e-03 -8.60204198e+01] [-1.47196080e-02 -7.18044216e-06 9.99891661e-01 -4.44836358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.01228542421258997 Centerline is valid? [True, True] Translation: X:254.90, Y:-86.06, Z:-4.45 [[ 7.31777576e-01 6.81481623e-01 9.18567282e-03 2.54896726e+02] [-6.81429019e-01 7.31835223e-01 -8.46751966e-03 -8.60580726e+01] [-1.24928580e-02 -6.30430017e-05 9.99921959e-01 -4.45147120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.012276891034227076 Centerline is valid? [True, True] Translation: X:254.94, Y:-86.10, Z:-4.45 [[ 7.31730689e-01 6.81543242e-01 8.30713712e-03 2.54943075e+02] [-6.81500194e-01 7.31777840e-01 -7.66024467e-03 -8.61004124e+01] [-1.12997668e-02 -5.60794415e-05 9.99936154e-01 -4.45423720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.012090246593758602 Centerline is valid? [True, True] Translation: X:254.99, Y:-86.15, Z:-4.46 [[ 7.35558811e-01 6.77420390e-01 7.40613284e-03 2.54985190e+02] [-6.77385933e-01 7.35596095e-01 -6.83252439e-03 -8.61478161e+01] [-1.00764137e-02 8.91331767e-06 9.99949232e-01 -4.45652321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.012614186916693103 Centerline is valid? [True, True] Translation: X:255.03, Y:-86.19, Z:-4.46 [[ 7.39690697e-01 6.72902398e-01 7.74818858e-03 2.55025394e+02] [-6.72864384e-01 7.39731273e-01 -7.15288248e-03 -8.61939661e+01] [-1.05447692e-02 7.74404884e-05 9.99944399e-01 -4.45727928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.013673256472598025 Centerline is valid? [True, True] Translation: X:255.07, Y:-86.24, Z:-4.46 [[ 7.44039737e-01 6.68089306e-01 7.84537867e-03 2.55066687e+02] [-6.68050027e-01 7.44081082e-01 -7.24596704e-03 -8.62398802e+01] [-1.06785509e-02 1.50181970e-04 9.99942971e-01 -4.45814358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.016090836819211193 Centerline is valid? [True, True] Translation: X:255.11, Y:-86.29, Z:-4.46 [[ 7.49962776e-01 6.61415118e-01 9.26698681e-03 2.55105854e+02] [-6.61359739e-01 7.50019970e-01 -8.56383740e-03 -8.62876701e+01] [-1.26146767e-02 2.93747292e-04 9.99920389e-01 -4.45723020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.017050193149275535 Centerline is valid? [True, True] Translation: X:255.15, Y:-86.33, Z:-4.46 [[ 7.53654479e-01 6.57193644e-01 1.00717844e-02 2.55148121e+02] [-6.57127787e-01 7.53721669e-01 -9.31219019e-03 -8.63327509e+01] [-1.37112344e-02 3.99724439e-04 9.99905917e-01 -4.45680832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.01764354783497994 Centerline is valid? [True, True] Translation: X:255.19, Y:-86.38, Z:-4.46 [[ 7.54684826e-01 6.56025014e-01 9.05509422e-03 2.55192681e+02] [-6.55971702e-01 7.54739053e-01 -8.37184086e-03 -8.63758462e+01] [-1.23263703e-02 3.78215689e-04 9.99923956e-01 -4.45867320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.017474482869268698 Centerline is valid? [True, True] Translation: X:255.24, Y:-86.42, Z:-4.46 [[ 7.52878993e-01 6.58107467e-01 8.23303971e-03 2.55239169e+02] [-6.58063484e-01 7.52923942e-01 -7.61507608e-03 -8.64174972e+01] [-1.12103911e-02 3.15368022e-04 9.99937112e-01 -4.46054796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.016800071239263806 Centerline is valid? [True, True] Translation: X:255.29, Y:-86.46, Z:-4.46 [[ 7.50852929e-01 6.60414956e-01 8.48322797e-03 2.55285462e+02] [-6.60368360e-01 7.50900793e-01 -7.85044411e-03 -8.64588904e+01] [-1.15546133e-02 2.92473618e-04 9.99933200e-01 -4.46098352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.015944700710601313 Centerline is valid? [True, True] Translation: X:255.33, Y:-86.50, Z:-4.46 [[ 7.48571441e-01 6.62995880e-01 8.78988545e-03 2.55331919e+02] [-6.62945969e-01 7.48622998e-01 -8.13938935e-03 -8.64994804e+01] [-1.19766920e-02 2.65695283e-04 9.99928242e-01 -4.46141932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.013701126553077552 Centerline is valid? [True, True] Translation: X:255.38, Y:-86.54, Z:-4.46 [[ 7.43880886e-01 6.68242909e-01 9.62507429e-03 2.55380967e+02] [-6.68183485e-01 7.43943126e-01 -8.91378553e-03 -8.65372070e+01] [-1.31170818e-02 1.99478991e-04 9.99913947e-01 -4.46131846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.01248712168179714 Centerline is valid? [True, True] Translation: X:255.43, Y:-86.57, Z:-4.46 [[ 7.37529525e-01 6.75248044e-01 9.50154112e-03 2.55429125e+02] [-6.75190698e-01 7.37590722e-01 -8.80045231e-03 -8.65735953e+01] [-1.29507368e-02 7.52412304e-05 9.99916133e-01 -4.46246312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.012125390226789875 Centerline is valid? [True, True] Translation: X:255.48, Y:-86.61, Z:-4.46 [[ 7.32699357e-01 6.80487508e-01 9.40231759e-03 2.55478371e+02] [-6.80431791e-01 7.32759682e-01 -8.70784096e-03 -8.66121103e+01] [-1.28152162e-02 -1.74063155e-05 9.99917882e-01 -4.46348404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.013456171809416407 Centerline is valid? [True, True] Translation: X:255.53, Y:-86.65, Z:-4.46 [[ 7.25680467e-01 6.87962751e-01 9.75259654e-03 2.55528734e+02] [-6.87903412e-01 7.25745982e-01 -9.03684049e-03 -8.66474900e+01] [-1.32949174e-02 -1.50985806e-04 9.99911607e-01 -4.46356757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.01516243723400786 Centerline is valid? [True, True] Translation: X:255.58, Y:-86.69, Z:-4.46 [[ 7.21037897e-01 6.92826021e-01 9.82119304e-03 2.55577369e+02] [-6.92766239e-01 7.21104741e-01 -9.10442819e-03 -8.66856335e+01] [-1.33898936e-02 -2.39153216e-04 9.99910323e-01 -4.46389339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.016201106568185922 Centerline is valid? [True, True] Translation: X:255.62, Y:-86.73, Z:-4.47 [[ 7.18895709e-01 6.95050280e-01 9.69888792e-03 2.55624441e+02] [-6.94992123e-01 7.18961079e-01 -8.99528884e-03 -8.67256526e+01] [-1.32253009e-02 -2.73976166e-04 9.99912504e-01 -4.46557305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.014892342138474178 Centerline is valid? [True, True] Translation: X:255.67, Y:-86.77, Z:-4.47 [[ 7.19202668e-01 6.94743049e-01 8.92291140e-03 2.55667619e+02] [-6.94693789e-01 7.19257976e-01 -8.27671307e-03 -8.67697451e+01] [-1.21680641e-02 -2.46057007e-04 9.99925936e-01 -4.46696035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.013694280879537947 Centerline is valid? [True, True] Translation: X:255.71, Y:-86.82, Z:-4.47 [[ 7.22381284e-01 6.91455651e-01 7.37316461e-03 2.55709207e+02] [-6.91421820e-01 7.22418894e-01 -6.84162776e-03 -8.68162153e+01] [-1.00571956e-02 -1.55703049e-04 9.99949413e-01 -4.47006364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.012363434995598246 Centerline is valid? [True, True] Translation: X:255.75, Y:-86.87, Z:-4.47 [[ 7.29022983e-01 6.84461029e-01 6.21209290e-03 2.55745835e+02] [-6.84436721e-01 7.29049448e-01 -5.76865116e-03 -8.68657329e+01] [-8.47733981e-03 -4.63052244e-05 9.99964066e-01 -4.47100389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.012250563072820101 Centerline is valid? [True, True] Translation: X:255.79, Y:-86.92, Z:-4.47 [[ 7.34143674e-01 6.78970126e-01 5.71266787e-03 2.55786303e+02] [-6.78949423e-01 7.34165900e-01 -5.30209149e-03 -8.69151500e+01] [-7.79400768e-03 1.38843669e-05 9.99969626e-01 -4.47205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.013183331960360513 Centerline is valid? [True, True] Translation: X:255.83, Y:-86.96, Z:-4.47 [[ 7.39020333e-01 6.73656814e-01 5.95350702e-03 2.55826187e+02] [-6.73634125e-01 7.39044309e-01 -5.52935449e-03 -8.69637195e+01] [-8.12479281e-03 7.58199018e-05 9.99966990e-01 -4.47242844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.01572965361318059 Centerline is valid? [True, True] Translation: X:255.86, Y:-87.01, Z:-4.47 [[ 7.45908459e-01 6.66010875e-01 7.07711876e-03 2.55863255e+02] [-6.65978410e-01 7.45942006e-01 -6.57882073e-03 -8.70142908e+01] [-9.66068632e-03 1.93989730e-04 9.99953316e-01 -4.47213451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.017817960118986887 Centerline is valid? [True, True] Translation: X:255.90, Y:-87.06, Z:-4.47 [[ 7.51766763e-01 6.59389512e-01 7.22539238e-03 2.55902604e+02] [-6.59355374e-01 7.51801431e-01 -6.71561803e-03 -8.70624972e+01] [-9.86026842e-03 2.84477137e-04 9.99951346e-01 -4.47173265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.020111555612867305 Centerline is valid? [True, True] Translation: X:255.94, Y:-87.11, Z:-4.47 [[ 7.54775720e-01 6.55948464e-01 6.72494578e-03 2.55942507e+02] [-6.55918718e-01 7.54805615e-01 -6.25457667e-03 -8.71082497e+01] [-9.17870680e-03 3.09784800e-04 9.99957827e-01 -4.47339903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.020677622412917377 Centerline is valid? [True, True] Translation: X:255.99, Y:-87.15, Z:-4.47 [[ 7.54501901e-01 6.56265958e-01 6.47106330e-03 2.55987579e+02] [-6.56238446e-01 7.54529593e-01 -6.01620084e-03 -8.71523819e+01] [-8.83083657e-03 2.92674442e-04 9.99960965e-01 -4.47432062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.019870334012924984 Centerline is valid? [True, True] Translation: X:256.03, Y:-87.19, Z:-4.48 [[ 7.52041170e-01 6.59087372e-01 6.15749031e-03 2.56034088e+02] [-6.59062513e-01 7.52066335e-01 -5.72988780e-03 -8.71924914e+01] [-8.40733787e-03 2.50940490e-04 9.99964626e-01 -4.47555115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.019151985819759125 Centerline is valid? [True, True] Translation: X:256.08, Y:-87.23, Z:-4.48 [[ 7.50616118e-01 6.60705353e-01 6.62422705e-03 2.56080427e+02] [-6.60676657e-01 7.50645306e-01 -6.16277547e-03 -8.72337891e+01] [-9.04422368e-03 2.49406419e-04 9.99959069e-01 -4.47614090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.01770490527940029 Centerline is valid? [True, True] Translation: X:256.13, Y:-87.27, Z:-4.48 [[ 7.47323337e-01 6.64425827e-01 6.79341041e-03 2.56127929e+02] [-6.64395756e-01 7.47354183e-01 -6.32488658e-03 -8.72738029e+01] [-9.27950168e-03 2.13222297e-04 9.99956922e-01 -4.47669660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.01680456925936541 Centerline is valid? [True, True] Translation: X:256.18, Y:-87.31, Z:-4.48 [[ 7.44799759e-01 6.67263860e-01 5.67986957e-03 2.56175394e+02] [-6.67242934e-01 7.44821401e-01 -5.28648665e-03 -8.73143804e+01] [-7.75796989e-03 1.47521145e-04 9.99969896e-01 -4.48000595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.013715149238061221 Centerline is valid? [True, True] Translation: X:256.23, Y:-87.35, Z:-4.48 [[ 7.40300146e-01 6.72248021e-01 6.18813097e-03 2.56226024e+02] [-6.72223315e-01 7.40326001e-01 -5.76435633e-03 -8.73508020e+01] [-8.45631138e-03 1.07547915e-04 9.99964239e-01 -4.47937675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.013504429036712406 Centerline is valid? [True, True] Translation: X:256.27, Y:-87.39, Z:-4.48 [[ 7.37054101e-01 6.75802740e-01 6.47362871e-03 2.56272972e+02] [-6.75775849e-01 7.37082527e-01 -6.02914014e-03 -8.73907392e+01] [-8.84610804e-03 6.90805245e-05 9.99960870e-01 -4.48232348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.01237003850795731 Centerline is valid? [True, True] Translation: X:256.32, Y:-87.43, Z:-4.48 [[ 7.32024947e-01 6.81248829e-01 6.28567933e-03 2.56322872e+02] [-6.81223650e-01 7.32051934e-01 -5.85708780e-03 -8.74273578e+01] [-8.59157791e-03 5.58097725e-06 9.99963092e-01 -4.48478739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.012267361894922462 Centerline is valid? [True, True] Translation: X:256.37, Y:-87.47, Z:-4.48 [[ 7.28434262e-01 6.85083714e-01 6.62040056e-03 2.56371377e+02] [-6.85055923e-01 7.28464345e-01 -6.17086904e-03 -8.74680461e+01] [-9.05028764e-03 -4.02721772e-05 9.99959044e-01 -4.48343646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.012957228547101976 Centerline is valid? [True, True] Translation: X:256.42, Y:-87.51, Z:-4.48 [[ 7.24162738e-01 6.89594092e-01 6.95106387e-03 2.56419851e+02] [-6.89563619e-01 7.24196092e-01 -6.48354319e-03 -8.75050837e+01] [-9.50494637e-03 -9.80603696e-05 9.99954822e-01 -4.48498130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.01379854296772616 Centerline is valid? [True, True] Translation: X:256.47, Y:-87.55, Z:-4.49 [[ 7.20565393e-01 6.93343311e-01 7.78247119e-03 2.56466769e+02] [-6.93305290e-01 7.20607401e-01 -7.26287888e-03 -8.75452518e+01] [-1.06437748e-02 -1.62249274e-04 9.99943340e-01 -4.48538170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.015565154068245579 Centerline is valid? [True, True] Translation: X:256.51, Y:-87.58, Z:-4.49 [[ 7.16916906e-01 6.97113936e-01 7.89370218e-03 2.56514359e+02] [-6.97075001e-01 7.16960329e-01 -7.37085158e-03 -8.75831276e+01] [-1.07977947e-02 -2.18214351e-04 9.99941678e-01 -4.48667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.016199405684252804 Centerline is valid? [True, True] Translation: X:256.56, Y:-87.62, Z:-4.49 [[ 7.13488499e-01 7.00638313e-01 6.33377407e-03 2.56560904e+02] [-7.00613372e-01 7.13516579e-01 -5.91566442e-03 -8.76225431e+01] [-8.66399394e-03 -2.16768281e-04 9.99962443e-01 -4.49022174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.01631624901806467 Centerline is valid? [True, True] Translation: X:256.61, Y:-87.66, Z:-4.49 [[ 7.12384531e-01 7.01768534e-01 5.40414169e-03 2.56605757e+02] [-7.01750412e-01 7.12405001e-01 -5.04711621e-03 -8.76647520e+01] [-7.39184491e-03 -1.96871140e-04 9.99972661e-01 -4.49278191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.01635280238579141 Centerline is valid? [True, True] Translation: X:256.65, Y:-87.71, Z:-4.49 [[ 7.13287284e-01 7.00848868e-01 5.66693702e-03 2.56649013e+02] [-7.00828896e-01 7.13309769e-01 -5.29459652e-03 -8.77102809e+01] [-7.75299351e-03 -1.94984844e-04 9.99969926e-01 -4.49334908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.01515355662629311 Centerline is valid? [True, True] Translation: X:256.69, Y:-87.76, Z:-4.49 [[ 7.16668442e-01 6.97372601e-01 7.60267299e-03 2.56689130e+02] [-6.97336433e-01 7.16708736e-01 -7.10548154e-03 -8.77572430e+01] [-1.04040703e-02 -2.09346476e-04 9.99945854e-01 -4.49219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.013870503082628419 Centerline is valid? [True, True] Translation: X:256.73, Y:-87.80, Z:-4.49 [[ 7.18886208e-01 6.95075179e-01 8.55076689e-03 2.56730744e+02] [-6.95029272e-01 7.18937032e-01 -7.99091958e-03 -8.78036474e+01] [-1.17017528e-02 -1.98471407e-04 9.99931512e-01 -4.49213822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.013329087848252048 Centerline is valid? [True, True] Translation: X:256.77, Y:-87.85, Z:-4.49 [[ 7.20683443e-01 6.93206184e-01 8.97557840e-03 2.56770590e+02] [-6.93155402e-01 7.20739312e-01 -8.39240084e-03 -8.78517274e+01] [-1.22867164e-02 -1.73206317e-04 9.99924500e-01 -4.49180456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.014530106380126947 Centerline is valid? [True, True] Translation: X:256.82, Y:-87.89, Z:-4.50 [[ 7.18001946e-01 6.96020839e-01 5.31013875e-03 2.56817467e+02] [-6.96003127e-01 7.18021570e-01 -4.96717456e-03 -8.78902810e+01] [-7.27005117e-03 -1.29432175e-04 9.99973564e-01 -4.49820193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.015212305914498667 Centerline is valid? [True, True] Translation: X:256.87, Y:-87.93, Z:-4.50 [[ 7.16356061e-01 6.97723298e-01 4.02408443e-03 2.56865448e+02] [-6.97713164e-01 7.16367354e-01 -3.76230873e-03 -8.79301975e+01] [-5.50777317e-03 -1.12504010e-04 9.99984826e-01 -4.50139273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.015053092866664819 Centerline is valid? [True, True] Translation: X:256.91, Y:-87.97, Z:-4.50 [[ 7.15620307e-01 6.98477020e-01 4.17471237e-03 2.56911316e+02] [-6.98466114e-01 7.15632474e-01 -3.90517457e-03 -8.79720304e+01] [-5.71523444e-03 -1.21272896e-04 9.99983661e-01 -4.50141451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.01577919319955556 Centerline is valid? [True, True] Translation: X:256.96, Y:-88.01, Z:-4.50 [[ 7.14489566e-01 6.99624766e-01 5.46320425e-03 2.56958860e+02] [-6.99606088e-01 7.14510433e-01 -5.11495472e-03 -8.80100749e+01] [-7.48206543e-03 -1.67509175e-04 9.99971995e-01 -4.50128486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.015536028647899021 Centerline is valid? [True, True] Translation: X:257.00, Y:-88.05, Z:-4.50 [[ 7.14916857e-01 6.99175850e-01 6.85697473e-03 2.57004510e+02] [-6.99146367e-01 7.14949712e-01 -6.42391894e-03 -8.80525121e+01] [-9.39384109e-03 -2.01461029e-04 9.99955857e-01 -4.50140963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.014151876118005505 Centerline is valid? [True, True] Translation: X:257.05, Y:-88.10, Z:-4.50 [[ 7.16727455e-01 6.97296262e-01 8.92630988e-03 2.57047902e+02] [-6.97246073e-01 7.16783002e-01 -8.36905852e-03 -8.80977785e+01] [-1.22339404e-02 -2.25500502e-04 9.99925137e-01 -4.49973783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.013851770924970737 Centerline is valid? [True, True] Translation: X:257.09, Y:-88.14, Z:-4.50 [[ 7.19529861e-01 6.94398980e-01 9.31858964e-03 2.57092531e+02] [-6.94344026e-01 7.19590177e-01 -8.73787545e-03 -8.81396129e+01] [-1.27731374e-02 -1.83144741e-04 9.99918403e-01 -4.50034203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.01301867057556381 Centerline is valid? [True, True] Translation: X:257.14, Y:-88.18, Z:-4.50 [[ 7.21479836e-01 6.92374663e-01 9.17458541e-03 2.57137206e+02] [-6.92321182e-01 7.21538153e-01 -8.60670536e-03 -8.81829209e+01] [-1.25788781e-02 -1.42195442e-04 9.99920873e-01 -4.50132132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.012615175426477394 Centerline is valid? [True, True] Translation: X:257.18, Y:-88.23, Z:-4.50 [[ 7.23219172e-01 6.90570522e-01 8.14759857e-03 2.57182315e+02] [-6.90528193e-01 7.23265059e-01 -7.64648445e-03 -8.82260703e+01] [-1.11733101e-02 -9.60623659e-05 9.99937572e-01 -4.50328837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.012280489435244433 Centerline is valid? [True, True] Translation: X:257.23, Y:-88.27, Z:-4.51 [[ 7.26341636e-01 6.87300230e-01 6.79866859e-03 2.57226747e+02] [-6.87270579e-01 7.26373453e-01 -6.38424391e-03 -8.82701540e+01] [-9.32626468e-03 -3.53827347e-05 9.99956509e-01 -4.50640049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.012239676412761259 Centerline is valid? [True, True] Translation: X:257.27, Y:-88.32, Z:-4.51 [[ 7.30376925e-01 6.83014037e-01 6.43217959e-03 2.57270847e+02] [-6.82987337e-01 7.30405247e-01 -6.03915377e-03 -8.83153882e+01] [-8.82292452e-03 1.77613468e-05 9.99961077e-01 -4.50914633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.013164025568652812 Centerline is valid? [True, True] Translation: X:257.31, Y:-88.36, Z:-4.51 [[ 7.35153995e-01 6.77866375e-01 6.76626101e-03 2.57310707e+02] [-6.77836562e-01 7.35185127e-01 -6.35804161e-03 -8.83617688e+01] [-9.28435708e-03 8.77205885e-05 9.99956896e-01 -4.50962938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.013755740859318931 Centerline is valid? [True, True] Translation: X:257.35, Y:-88.41, Z:-4.51 [[ 7.38882407e-01 6.73794976e-01 7.28824486e-03 2.57353388e+02] [-6.73760178e-01 7.38918336e-01 -6.84945191e-03 -8.84069721e+01] [-1.00005441e-02 1.50410359e-04 9.99949982e-01 -4.50902505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.013945203739589518 Centerline is valid? [True, True] Translation: X:257.40, Y:-88.45, Z:-4.51 [[ 7.39648579e-01 6.72954556e-01 7.22117076e-03 2.57399054e+02] [-6.72920323e-01 7.39683810e-01 -6.78970121e-03 -8.84489382e+01] [-9.91054346e-03 1.62720290e-04 9.99950876e-01 -4.51065624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.01373321566687653 Centerline is valid? [True, True] Translation: X:257.45, Y:-88.49, Z:-4.51 [[ 7.38730118e-01 6.73964306e-01 7.06590249e-03 2.57446232e+02] [-6.73931544e-01 7.38763895e-01 -6.64690980e-03 -8.84887841e+01] [-9.69981360e-03 1.48337887e-04 9.99952945e-01 -4.51196915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:257.49, Y:-88.53, Z:-4.51 [[ 7.38718702e-01 6.73975346e-01 7.20505139e-03 2.57491018e+02] [-6.73941249e-01 7.38753822e-01 -6.78115139e-03 -8.85312647e+01] [-9.89308811e-03 1.53582014e-04 9.99951050e-01 -4.51300597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:257.54, Y:-88.57, Z:-4.51 [[ 7.38532805e-01 6.74179062e-01 7.20334051e-03 2.57536396e+02] [-6.74144957e-01 7.38567918e-01 -6.78296802e-03 -8.85741192e+01] [-9.89309121e-03 1.53348722e-04 9.99951050e-01 -4.51401612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.014085278552676604 Centerline is valid? [True, True] Translation: X:257.58, Y:-88.62, Z:-4.51 [[ 7.38604480e-01 6.74100922e-01 7.16722027e-03 2.57583267e+02] [-6.74067118e-01 7.38639237e-01 -6.75262354e-03 -8.86168206e+01] [-9.84593986e-03 1.56330483e-04 9.99951515e-01 -4.51469000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.014519489944416661 Centerline is valid? [True, True] Translation: X:257.63, Y:-88.66, Z:-4.52 [[ 7.40357575e-01 6.72174785e-01 7.19160733e-03 2.57629508e+02] [-6.72140619e-01 7.40392480e-01 -6.77971177e-03 -8.86588636e+01] [-9.88176328e-03 1.85639566e-04 9.99951157e-01 -4.51579887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.01542654835092811 Centerline is valid? [True, True] Translation: X:257.67, Y:-88.70, Z:-4.52 [[ 7.42515784e-01 6.69793461e-01 6.85784431e-03 2.57674172e+02] [-6.69762262e-01 7.42547423e-01 -6.46817351e-03 -8.87013713e+01] [-9.42461494e-03 2.09595600e-04 9.99955565e-01 -4.51714300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.01574887621011966 Centerline is valid? [True, True] Translation: X:257.72, Y:-88.74, Z:-4.52 [[ 7.43959146e-01 6.68192223e-01 6.62881812e-03 2.57719943e+02] [-6.68162985e-01 7.43988644e-01 -6.25480072e-03 -8.87425445e+01] [-9.11117460e-03 2.24185304e-04 9.99958467e-01 -4.51854173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.016484762057099582 Centerline is valid? [True, True] Translation: X:257.77, Y:-88.78, Z:-4.52 [[ 7.44912213e-01 6.67134816e-01 6.07724290e-03 2.57765803e+02] [-6.67110189e-01 7.44936970e-01 -5.73641488e-03 -8.87843813e+01] [-8.35412500e-03 2.18934847e-04 9.99965080e-01 -4.52024925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.01668229120937766 Centerline is valid? [True, True] Translation: X:257.81, Y:-88.83, Z:-4.52 [[ 7.44209653e-01 6.67923749e-01 5.46415138e-03 2.57813043e+02] [-6.67903833e-01 7.44229688e-01 -5.16156841e-03 -8.88256020e+01] [-7.51411780e-03 1.91761384e-04 9.99971750e-01 -4.52148949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.01589077387219945 Centerline is valid? [True, True] Translation: X:257.86, Y:-88.86, Z:-4.52 [[ 7.41932599e-01 6.70458644e-01 4.60695152e-03 2.57861949e+02] [-6.70444546e-01 7.41946889e-01 -4.35020839e-03 -8.88642208e+01] [-6.33474817e-03 1.38855894e-04 9.99979926e-01 -4.52335406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.014450075299098279 Centerline is valid? [True, True] Translation: X:257.91, Y:-88.90, Z:-4.53 [[ 7.38077678e-01 6.74706608e-01 3.51207535e-03 2.57911979e+02] [-6.74698447e-01 7.38086029e-01 -3.31960877e-03 -8.89009955e+01] [-4.83197573e-03 8.05373481e-05 9.99988323e-01 -4.52597000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.013061251414895909 Centerline is valid? [True, True] Translation: X:257.96, Y:-88.94, Z:-4.53 [[ 7.33503963e-01 6.79670640e-01 4.44500901e-03 2.57961655e+02] [-6.79657651e-01 7.33517428e-01 -4.20239671e-03 -8.89378101e+01] [-6.11673724e-03 6.13902554e-05 9.99981291e-01 -4.52685584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.01213354733019303 Centerline is valid? [True, True] Translation: X:258.01, Y:-88.98, Z:-4.53 [[ 7.28869449e-01 6.84632723e-01 5.23073210e-03 2.58011927e+02] [-6.84614864e-01 7.28888218e-01 -4.94505412e-03 -8.89757215e+01] [-7.19816487e-03 2.32619263e-05 9.99974093e-01 -4.52617504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.012064349317781447 Centerline is valid? [True, True] Translation: X:258.06, Y:-89.01, Z:-4.53 [[ 7.25959198e-01 6.87715830e-01 5.49364527e-03 2.58060004e+02] [-6.87696225e-01 7.25979984e-01 -5.19275719e-03 -8.90149597e+01] [-7.55941782e-03 -8.22926482e-06 9.99971427e-01 -4.52747909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.012115250467659646 Centerline is valid? [True, True] Translation: X:258.11, Y:-89.06, Z:-4.53 [[ 7.23690326e-01 6.90102124e-01 5.60090279e-03 2.58107921e+02] [-6.90081800e-01 7.23711999e-01 -5.29644755e-03 -8.90557783e+01] [-7.70853026e-03 -3.20932291e-05 9.99970288e-01 -4.52848480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.012154348506434012 Centerline is valid? [True, True] Translation: X:258.16, Y:-89.10, Z:-4.53 [[ 7.21642352e-01 6.92238320e-01 6.19865245e-03 2.58155888e+02] [-6.92213472e-01 7.21668971e-01 -5.86557442e-03 -8.90961960e+01] [-8.53375053e-03 -5.79438168e-05 9.99963585e-01 -4.52893038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.012372580943788918 Centerline is valid? [True, True] Translation: X:258.20, Y:-89.14, Z:-4.53 [[ 7.20908393e-01 6.93012447e-01 4.98371651e-03 2.58201302e+02] [-6.92996388e-01 7.20925617e-01 -4.71815595e-03 -8.91369413e+01] [-6.86262971e-03 -5.23393193e-05 9.99976451e-01 -4.53201123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.01264506522672197 Centerline is valid? [True, True] Translation: X:258.25, Y:-89.18, Z:-4.53 [[ 7.20736739e-01 6.93195739e-01 4.26859054e-03 2.58246927e+02] [-6.93183956e-01 7.20749378e-01 -4.04192854e-03 -8.91791219e+01] [-5.87843161e-03 -4.57520857e-05 9.99982721e-01 -4.53480002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.012415629545898671 Centerline is valid? [True, True] Translation: X:258.29, Y:-89.22, Z:-4.53 [[ 7.20817436e-01 6.93114813e-01 3.75246812e-03 2.58291370e+02] [-6.93105702e-01 7.20827202e-01 -3.55403861e-03 -8.92234426e+01] [-5.16823790e-03 -3.90440564e-05 9.99986644e-01 -4.53466131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.012215219136362384 Centerline is valid? [True, True] Translation: X:258.34, Y:-89.27, Z:-4.54 [[ 7.21880063e-01 6.92001998e-01 4.73384277e-03 2.58335430e+02] [-6.91987435e-01 7.21895584e-01 -4.48961229e-03 -8.92680050e+01] [-6.52416086e-03 -3.47981093e-05 9.99978717e-01 -4.53517461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.011942054119157722 Centerline is valid? [True, True] Translation: X:258.38, Y:-89.31, Z:-4.53 [[ 7.23955520e-01 6.89816184e-01 6.48367523e-03 2.58377375e+02] [-6.89788762e-01 7.23984553e-01 -6.15070309e-03 -8.93135236e+01] [-8.93693524e-03 -1.95308602e-05 9.99960065e-01 -4.53413940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.012058943714927982 Centerline is valid? [True, True] Translation: X:258.42, Y:-89.36, Z:-4.54 [[ 7.26072588e-01 6.87589946e-01 6.21789014e-03 2.58420391e+02] [-6.87564625e-01 7.26099212e-01 -5.90090413e-03 -8.93595349e+01] [-8.57220749e-03 9.28343143e-06 9.99963258e-01 -4.53574849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.012528546339297958 Centerline is valid? [True, True] Translation: X:258.46, Y:-89.41, Z:-4.54 [[ 7.30049063e-01 6.83359000e-01 6.98868154e-03 2.58460180e+02] [-6.83326768e-01 7.30082510e-01 -6.63745500e-03 -8.94070685e+01] [-9.63807878e-03 7.01146295e-05 9.99953550e-01 -4.53619957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.013484052300221767 Centerline is valid? [True, True] Translation: X:258.50, Y:-89.45, Z:-4.54 [[ 7.33506466e-01 6.79652484e-01 6.38480369e-03 2.58501295e+02] [-6.79625422e-01 7.33534245e-01 -6.06611545e-03 -8.94544725e+01] [-8.80632258e-03 1.10260005e-04 9.99961218e-01 -4.53704761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.01445587252360108 Centerline is valid? [True, True] Translation: X:258.54, Y:-89.50, Z:-4.54 [[ 7.35788058e-01 6.77184640e-01 6.07440061e-03 2.58542733e+02] [-6.77160037e-01 7.35813119e-01 -5.77395873e-03 -8.95000986e+01] [-8.37965982e-03 1.35068533e-04 9.99964881e-01 -4.53887400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.014076784240473973 Centerline is valid? [True, True] Translation: X:258.59, Y:-89.54, Z:-4.54 [[ 7.36443545e-01 6.76468810e-01 6.39171509e-03 2.58587475e+02] [-6.76441519e-01 7.36471266e-01 -6.07825187e-03 -8.95438024e+01] [-8.81906231e-03 1.52667890e-04 9.99961100e-01 -4.53916488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.014137669554581438 Centerline is valid? [True, True] Translation: X:258.63, Y:-89.59, Z:-4.54 [[ 7.35730606e-01 6.77239390e-01 6.87638432e-03 2.58631351e+02] [-6.77207800e-01 7.35762723e-01 -6.54299578e-03 -8.95865804e+01] [-9.49056172e-03 1.57141143e-04 9.99954951e-01 -4.53992661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.013569626001598332 Centerline is valid? [True, True] Translation: X:258.68, Y:-89.63, Z:-4.54 [[ 7.33922343e-01 6.79197392e-01 6.99262498e-03 2.58676957e+02] [-6.79164786e-01 7.33955642e-01 -6.65653601e-03 -8.96286060e+01] [-9.65337846e-03 1.36235861e-04 9.99953396e-01 -4.54020410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.01217408490146522 Centerline is valid? [True, True] Translation: X:258.73, Y:-89.67, Z:-4.54 [[ 7.26543420e-01 6.87078708e-01 7.58345985e-03 2.58725684e+02] [-6.87040725e-01 7.26582995e-01 -7.22458206e-03 -8.96666243e+01] [-1.04738695e-02 3.88267994e-05 9.99945147e-01 -4.54037142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.012082490811739646 Centerline is valid? [True, True] Translation: X:258.77, Y:-89.71, Z:-4.54 [[ 7.21610576e-01 6.92267138e-01 6.66225092e-03 2.58774693e+02] [-6.92238061e-01 7.21641329e-01 -6.34494948e-03 -8.97066809e+01] [-9.20015562e-03 -3.32810110e-05 9.99957677e-01 -4.54276308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.012835997271022494 Centerline is valid? [True, True] Translation: X:258.82, Y:-89.75, Z:-4.55 [[ 7.17197270e-01 6.96847124e-01 5.67107020e-03 2.58822049e+02] [-6.96826177e-01 7.17219687e-01 -5.40373137e-03 -8.97457931e+01] [-7.83297786e-03 -7.62087810e-05 9.99969319e-01 -4.54578345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.014128822180641227 Centerline is valid? [True, True] Translation: X:258.87, Y:-89.79, Z:-4.55 [[ 7.12095556e-01 7.02057423e-01 5.94085602e-03 2.58868924e+02] [-7.02034578e-01 7.12120324e-01 -5.66529941e-03 -8.97864869e+01] [-8.20796981e-03 -1.36451817e-04 9.99966305e-01 -4.54614554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.015610550285482357 Centerline is valid? [True, True] Translation: X:258.91, Y:-89.83, Z:-4.55 [[ 7.09152915e-01 7.05024035e-01 6.57674005e-03 2.58914905e+02] [-7.04996160e-01 7.09183385e-01 -6.27222299e-03 -8.98266777e+01] [-9.08618273e-03 -1.88611266e-04 9.99958702e-01 -4.54699481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.015264746020469365 Centerline is valid? [True, True] Translation: X:258.96, Y:-89.87, Z:-4.55 [[ 7.08750427e-01 7.05419123e-01 7.52950125e-03 2.58957982e+02] [-7.05382598e-01 7.08790387e-01 -7.18177421e-03 -8.98724827e+01] [-1.04029990e-02 -2.21093613e-04 9.99945863e-01 -4.54710194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.014907682004853396 Centerline is valid? [True, True] Translation: X:259.00, Y:-89.92, Z:-4.55 [[ 7.08957294e-01 7.05211676e-01 7.48645970e-03 2.59001928e+02] [-7.05175513e-01 7.08996789e-01 -7.14494085e-03 -8.99168137e+01] [-1.03465716e-02 -2.13810123e-04 9.99946450e-01 -4.54786473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.014683355548054534 Centerline is valid? [True, True] Translation: X:259.04, Y:-89.96, Z:-4.55 [[ 7.09799582e-01 7.04366862e-01 7.20257292e-03 2.59044545e+02] [-7.04333314e-01 7.09836098e-01 -6.87721295e-03 -8.99626063e+01] [-9.95672717e-03 -1.91569179e-04 9.99950412e-01 -4.55025546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.015219540658901206 Centerline is valid? [True, True] Translation: X:259.09, Y:-90.01, Z:-4.55 [[ 7.09570975e-01 7.04607075e-01 6.15642557e-03 2.59088724e+02] [-7.04582557e-01 7.09597663e-01 -5.88027050e-03 -9.00058894e+01] [-8.51186539e-03 -1.65240798e-04 9.99963760e-01 -4.55339105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.015297556118017603 Centerline is valid? [True, True] Translation: X:259.13, Y:-90.05, Z:-4.55 [[ 7.09329137e-01 7.04852510e-01 5.92578302e-03 2.59133393e+02] [-7.04829782e-01 7.09353871e-01 -5.66253981e-03 -9.00499683e+01] [-8.19473252e-03 -1.60063879e-04 9.99966410e-01 -4.55493092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.014362406623423033 Centerline is valid? [True, True] Translation: X:259.17, Y:-90.10, Z:-4.56 [[ 7.10515319e-01 7.03664028e-01 4.99175227e-03 2.59173888e+02] [-7.03647857e-01 7.10532843e-01 -4.77200034e-03 -9.00969294e+01] [-6.90468892e-03 -1.21856447e-04 9.99976155e-01 -4.55649563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.013565673372767421 Centerline is valid? [True, True] Translation: X:259.22, Y:-90.14, Z:-4.56 [[ 7.13052173e-01 7.01088838e-01 5.57129034e-03 2.59215603e+02] [-7.01068581e-01 7.13073930e-01 -5.33058301e-03 -9.01439150e+01] [-7.70995415e-03 -1.04872811e-04 9.99970272e-01 -4.55709624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.012314848138132327 Centerline is valid? [True, True] Translation: X:259.25, Y:-90.19, Z:-4.56 [[ 7.19903813e-01 6.94036666e-01 7.18375145e-03 2.59252466e+02] [-6.94002596e-01 7.19939654e-01 -6.87690085e-03 -9.01941544e+01] [-9.94468887e-03 -3.48350079e-05 9.99950550e-01 -4.55576022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.012773714142468279 Centerline is valid? [True, True] Translation: X:259.29, Y:-90.25, Z:-4.55 [[ 7.28117012e-01 6.85403226e-01 8.24825386e-03 2.59289130e+02] [-6.85357758e-01 7.28163724e-01 -7.89524038e-03 -9.02457983e+01] [-1.14175025e-02 9.56540620e-05 9.99934814e-01 -4.55431356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.013637373554735745 Centerline is valid? [True, True] Translation: X:259.33, Y:-90.29, Z:-4.56 [[ 7.31579963e-01 6.81718103e-01 7.15448099e-03 2.59333489e+02] [-6.81683690e-01 7.31614933e-01 -6.85103642e-03 -9.02885168e+01] [-9.90480068e-03 1.34987969e-04 9.99950937e-01 -4.55765101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.014360310095746275 Centerline is valid? [True, True] Translation: X:259.38, Y:-90.33, Z:-4.56 [[ 7.34145814e-01 6.78970763e-01 5.35028376e-03 2.59377675e+02] [-6.78951424e-01 7.34165298e-01 -5.12628253e-03 -9.03326686e+01] [-7.40858863e-03 1.30856084e-04 9.99972547e-01 -4.55878244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.015596802315352973 Centerline is valid? [True, True] Translation: X:259.42, Y:-90.38, Z:-4.56 [[ 7.36168985e-01 6.76788554e-01 3.53249400e-03 2.59421217e+02] [-6.76780110e-01 7.36177454e-01 -3.38213042e-03 -9.03757857e+01] [-4.88952959e-03 9.90978474e-05 9.99988041e-01 -4.56160255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.017766878748229385 Centerline is valid? [True, True] Translation: X:259.47, Y:-90.42, Z:-4.56 [[ 7.42118325e-01 6.70258807e-01 3.67756223e-03 2.59465412e+02] [-6.70249562e-01 7.42127421e-01 -3.52347657e-03 -9.04176686e+01] [-5.09086098e-03 1.49952060e-04 9.99987030e-01 -4.56197959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.01785876112943867 Centerline is valid? [True, True] Translation: X:259.51, Y:-90.46, Z:-4.56 [[ 7.43091197e-01 6.69175289e-01 4.46152506e-03 2.59510931e+02] [-6.69161654e-01 7.43104565e-01 -4.27615034e-03 -9.04603544e+01] [-6.17687379e-03 1.92088187e-04 9.99980904e-01 -4.56181723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.018562109808099986 Centerline is valid? [True, True] Translation: X:259.56, Y:-90.50, Z:-4.56 [[ 7.44451109e-01 6.67656905e-01 5.17729389e-03 2.59556751e+02] [-6.67638483e-01 7.44469073e-01 -4.96550013e-03 -9.05027022e+01] [-7.16958563e-03 2.40011443e-04 9.99974269e-01 -4.56058043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.01948908024222875 Centerline is valid? [True, True] Translation: X:259.60, Y:-90.54, Z:-4.56 [[ 7.43099177e-01 6.69156482e-01 5.76329059e-03 2.59603573e+02] [-6.69133672e-01 7.43121483e-01 -5.53089323e-03 -9.05426461e+01] [-7.98385810e-03 2.53590413e-04 9.99968096e-01 -4.56203237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.0168374418553203 Centerline is valid? [True, True] Translation: X:259.65, Y:-90.58, Z:-4.56 [[ 7.40995270e-01 6.71486582e-01 5.63740075e-03 2.59653539e+02] [-6.71464806e-01 7.41016680e-01 -5.41249188e-03 -9.05797306e+01] [-7.81182366e-03 2.25314679e-04 9.99969462e-01 -4.56302253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.016157444732092748 Centerline is valid? [True, True] Translation: X:259.70, Y:-90.62, Z:-4.56 [[ 7.37680241e-01 6.75123802e-01 5.97609300e-03 2.59700760e+02] [-6.75099403e-01 7.37704420e-01 -5.74332703e-03 -9.06173971e+01] [-8.28604700e-03 2.02282052e-04 9.99965650e-01 -4.56371331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.015330847010072987 Centerline is valid? [True, True] Translation: X:259.75, Y:-90.66, Z:-4.56 [[ 7.35390886e-01 6.77618215e-01 5.81375647e-03 2.59748849e+02] [-6.77595219e-01 7.35413847e-01 -5.58498702e-03 -9.06571114e+01] [-8.06000595e-03 1.67774968e-04 9.99967504e-01 -4.56475930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.013848032499384707 Centerline is valid? [True, True] Translation: X:259.80, Y:-90.69, Z:-4.57 [[ 7.32143072e-01 6.81126788e-01 5.72887529e-03 2.59798659e+02] [-6.81104527e-01 7.32165474e-01 -5.50837556e-03 -9.06941173e+01] [-7.94638685e-03 1.30956107e-04 9.99968418e-01 -4.56563329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.013242729205854733 Centerline is valid? [True, True] Translation: X:259.85, Y:-90.73, Z:-4.57 [[ 7.29341266e-01 6.84120482e-01 6.36268490e-03 2.59845858e+02] [-6.84093148e-01 7.29369011e-01 -6.11638334e-03 -9.07337009e+01] [-8.82508831e-03 1.08261623e-04 9.99961052e-01 -4.56651180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.012521691568910679 Centerline is valid? [True, True] Translation: X:259.89, Y:-90.77, Z:-4.57 [[ 7.26032277e-01 6.87642641e-01 4.97308982e-03 2.59894490e+02] [-6.87626019e-01 7.26049307e-01 -4.78140094e-03 -9.07728370e+01] [-6.89860359e-03 5.18254545e-05 9.99976203e-01 -4.57023675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.012144231189227054 Centerline is valid? [True, True] Translation: X:259.94, Y:-90.81, Z:-4.57 [[ 7.22847179e-01 6.90996733e-01 3.93328487e-03 2.59940949e+02] [-6.90986381e-01 7.22857880e-01 -3.78239222e-03 -9.08138998e+01] [-5.45682663e-03 1.62452684e-05 9.99985111e-01 -4.57179870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.012166120424179276 Centerline is valid? [True, True] Translation: X:259.99, Y:-90.86, Z:-4.57 [[ 7.22256297e-01 6.91617838e-01 3.25701444e-03 2.59986406e+02] [-6.91610746e-01 7.22263641e-01 -3.13204739e-03 -9.08572971e+01] [-4.51860295e-03 9.55476454e-06 9.99989791e-01 -4.57333575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.012399149357431518 Centerline is valid? [True, True] Translation: X:260.03, Y:-90.90, Z:-4.58 [[ 7.22493564e-01 6.91369497e-01 3.35697714e-03 2.60030134e+02] [-6.91361949e-01 7.22501363e-01 -3.23051425e-03 -9.09012350e+01] [-4.65889957e-03 1.31394989e-05 9.99989147e-01 -4.57615290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.012345755629300468 Centerline is valid? [True, True] Translation: X:260.07, Y:-90.95, Z:-4.57 [[ 7.23839278e-01 6.89956692e-01 4.05740476e-03 2.60073118e+02] [-6.89945628e-01 7.23850649e-01 -3.90747650e-03 -9.09468495e+01] [-5.63294463e-03 2.89962905e-05 9.99984134e-01 -4.57473135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.012529814728278863 Centerline is valid? [True, True] Translation: X:260.12, Y:-90.99, Z:-4.57 [[ 7.25482377e-01 6.88220366e-01 5.29609927e-03 2.60115576e+02] [-6.88201434e-01 7.25501705e-01 -5.10511867e-03 -9.09935480e+01] [-7.35577569e-03 5.88905167e-05 9.99972944e-01 -4.57330413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.0127643783363896 Centerline is valid? [True, True] Translation: X:260.16, Y:-91.04, Z:-4.57 [[ 7.26579367e-01 6.87056685e-01 5.96108895e-03 2.60158686e+02] [-6.87032627e-01 7.26603816e-01 -5.75015874e-03 -9.10391749e+01] [-8.28203498e-03 8.24840968e-05 9.99965700e-01 -4.57335800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.012830070464570877 Centerline is valid? [True, True] Translation: X:260.20, Y:-91.08, Z:-4.57 [[ 7.25877631e-01 6.87797298e-01 6.04495813e-03 2.60200855e+02] [-6.87772551e-01 7.25902797e-01 -5.83503593e-03 -9.10829071e+01] [-8.40137396e-03 7.79657826e-05 9.99964705e-01 -4.57439992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.01255017103140686 Centerline is valid? [True, True] Translation: X:260.25, Y:-91.13, Z:-4.58 [[ 7.24159614e-01 6.89607937e-01 5.80925473e-03 2.60245727e+02] [-6.89585113e-01 7.24182912e-01 -5.61090763e-03 -9.11266135e+01] [-8.07628944e-03 5.72171193e-05 9.99967385e-01 -4.57557838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.011991556309712341 Centerline is valid? [True, True] Translation: X:260.29, Y:-91.17, Z:-4.58 [[ 7.20337351e-01 6.93602666e-01 5.42604097e-03 2.60291795e+02] [-6.93582869e-01 7.20357787e-01 -5.24050218e-03 -9.11688069e+01] [-7.54351715e-03 1.15203973e-05 9.99971547e-01 -4.57629172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.012210616539727187 Centerline is valid? [True, True] Translation: X:260.34, Y:-91.21, Z:-4.58 [[ 7.15538638e-01 6.98554378e-01 5.12233268e-03 2.60338278e+02] [-6.98536847e-01 7.15556972e-01 -4.94916267e-03 -9.12100771e+01] [-7.12258012e-03 -3.68209990e-05 9.99974633e-01 -4.57888297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.012404288578934983 Centerline is valid? [True, True] Translation: X:260.38, Y:-91.25, Z:-4.58 [[ 7.13964325e-01 7.00166599e-01 4.65575209e-03 2.60383003e+02] [-7.00152127e-01 7.13979504e-01 -4.50197081e-03 -9.12525014e+01] [-6.47624116e-03 -4.54881733e-05 9.99979028e-01 -4.57999670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.012669289396506389 Centerline is valid? [True, True] Translation: X:260.43, Y:-91.30, Z:-4.58 [[ 7.11237125e-01 7.02937270e-01 4.57663325e-03 2.60428105e+02] [-7.02923346e-01 7.11251846e-01 -4.42499951e-03 -9.12958000e+01] [-6.36563593e-03 -6.97984263e-05 9.99979737e-01 -4.58044698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.013243533340471077 Centerline is valid? [True, True] Translation: X:260.47, Y:-91.34, Z:-4.58 [[ 7.09215388e-01 7.04978487e-01 4.34343999e-03 2.60471180e+02] [-7.04965971e-01 7.09228684e-01 -4.20163557e-03 -9.13387273e+01] [-6.04255492e-03 -8.21127931e-05 9.99981740e-01 -4.58195413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.013419130276671746 Centerline is valid? [True, True] Translation: X:260.51, Y:-91.38, Z:-4.58 [[ 7.09386397e-01 7.04801289e-01 5.10709361e-03 2.60513445e+02] [-7.04783958e-01 7.09404775e-01 -4.94355735e-03 -9.13831550e+01] [-7.10722218e-03 -9.25053123e-05 9.99974739e-01 -4.58237899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.012800360860700702 Centerline is valid? [True, True] Translation: X:260.56, Y:-91.43, Z:-4.58 [[ 7.10523740e-01 7.03644897e-01 6.31460009e-03 2.60555144e+02] [-7.03618322e-01 7.10551792e-01 -6.11610130e-03 -9.14291038e+01] [-8.79041388e-03 -9.74331525e-05 9.99961359e-01 -4.58105103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.01214040603710207 Centerline is valid? [True, True] Translation: X:260.59, Y:-91.48, Z:-4.58 [[ 7.13869947e-01 7.00248237e-01 6.48884534e-03 2.60593635e+02] [-7.00220006e-01 7.13899435e-01 -6.28808159e-03 -9.14781438e+01] [-9.03560107e-03 -5.47468482e-05 9.99959177e-01 -4.58166615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.012128906958503126 Centerline is valid? [True, True] Translation: X:260.64, Y:-91.52, Z:-4.58 [[ 7.14839290e-01 6.99267196e-01 5.49338415e-03 2.60636595e+02] [-6.99246924e-01 7.14860397e-01 -5.32474695e-03 -9.15248630e+01] [-7.65042365e-03 -3.48936423e-05 9.99970734e-01 -4.58339786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.012206679932160075 Centerline is valid? [True, True] Translation: X:260.68, Y:-91.57, Z:-4.59 [[ 7.15053594e-01 6.99056259e-01 4.32475085e-03 2.60679365e+02] [-6.99043680e-01 7.15066672e-01 -4.19377270e-03 -9.15692206e+01] [-6.02416826e-03 -2.44175061e-05 9.99981854e-01 -4.58585699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.012387593869375697 Centerline is valid? [True, True] Translation: X:260.72, Y:-91.61, Z:-4.59 [[ 7.14152187e-01 6.99983892e-01 3.03404351e-03 2.60721728e+02] [-6.99977709e-01 7.14158631e-01 -2.94200780e-03 -9.16132877e+01] [-4.22614643e-03 -2.27215205e-05 9.99991070e-01 -4.58896818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.012373486934886465 Centerline is valid? [True, True] Translation: X:260.77, Y:-91.66, Z:-4.59 [[ 7.13789067e-01 7.00355371e-01 2.74265964e-03 2.60765836e+02] [-7.00350323e-01 7.13794335e-01 -2.65936641e-03 -9.16588533e+01] [-3.82019646e-03 -2.25958960e-05 9.99992703e-01 -4.58922869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.012395730045321225 Centerline is valid? [True, True] Translation: X:260.81, Y:-91.70, Z:-4.59 [[ 7.13464799e-01 7.00686697e-01 2.47660390e-03 2.60810411e+02] [-7.00682580e-01 7.13469097e-01 -2.40211607e-03 -9.17037432e+01] [-3.45011112e-03 -2.14879481e-05 9.99994048e-01 -4.59021761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.012484755245312262 Centerline is valid? [True, True] Translation: X:260.86, Y:-91.75, Z:-4.59 [[ 7.11720325e-01 7.02458768e-01 2.42058622e-03 2.60855931e+02] [-7.02454839e-01 7.11724440e-01 -2.34940251e-03 -9.17461225e+01] [-3.37314876e-03 -2.82349910e-05 9.99994311e-01 -4.59052326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.012941550779757989 Centerline is valid? [True, True] Translation: X:260.90, Y:-91.79, Z:-4.59 [[ 7.09310883e-01 7.04890615e-01 2.70064861e-03 2.60901046e+02] [-7.04885728e-01 7.09316023e-01 -2.62513301e-03 -9.17877084e+01] [-3.76604495e-03 -4.16132509e-05 9.99992908e-01 -4.59163509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.012908779749020185 Centerline is valid? [True, True] Translation: X:260.95, Y:-91.83, Z:-4.59 [[ 7.08174019e-01 7.06027342e-01 3.86675747e-03 2.60946293e+02] [-7.06017340e-01 7.08184572e-01 -3.75863416e-03 -9.18310444e+01] [-5.39207647e-03 -6.82307700e-05 9.99985460e-01 -4.59059447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.012972981051623146 Centerline is valid? [True, True] Translation: X:260.99, Y:-91.87, Z:-4.59 [[ 7.08147464e-01 7.06044406e-01 5.33539239e-03 2.60991086e+02] [-7.06025321e-01 7.08167557e-01 -5.19205206e-03 -9.18740329e+01] [-7.44417111e-03 -9.01836220e-05 9.99972288e-01 -4.59102035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.012550931373482996 Centerline is valid? [True, True] Translation: X:261.03, Y:-91.92, Z:-4.59 [[ 7.09587518e-01 7.04600290e-01 4.89760192e-03 2.61033769e+02] [-7.04584161e-01 7.09604416e-01 -4.76782488e-03 -9.19189365e+01] [-6.83477075e-03 -6.75837166e-05 9.99976640e-01 -4.59239857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.012541704521069763 Centerline is valid? [True, True] Translation: X:261.08, Y:-91.96, Z:-4.59 [[ 7.10477693e-01 7.03705024e-01 4.54815192e-03 2.61076969e+02] [-7.03691076e-01 7.10492249e-01 -4.43095996e-03 -9.19624453e+01] [-6.34951547e-03 -5.23957017e-05 9.99979840e-01 -4.59369839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.01237848811676544 Centerline is valid? [True, True] Translation: X:261.12, Y:-92.01, Z:-4.60 [[ 7.11262373e-01 7.02918009e-01 3.47983272e-03 2.61121897e+02] [-7.02909844e-01 7.11270885e-01 -3.38813401e-03 -9.20071062e+01] [-4.85668411e-03 -3.61564416e-05 9.99988206e-01 -4.59527651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.012464954818071701 Centerline is valid? [True, True] Translation: X:261.17, Y:-92.05, Z:-4.60 [[ 7.11463046e-01 7.02719603e-01 2.34365286e-03 2.61166356e+02] [-7.02715898e-01 7.11466906e-01 -2.28212962e-03 -9.20495303e+01] [-3.27112867e-03 -2.32712372e-05 9.99994650e-01 -4.59754793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.01236277136993302 Centerline is valid? [True, True] Translation: X:261.21, Y:-92.09, Z:-4.60 [[ 7.11265092e-01 7.02921382e-01 1.87056609e-03 2.61210885e+02] [-7.02919026e-01 7.11267552e-01 -1.82014948e-03 -9.20934627e+01] [-2.60989495e-03 -2.02477076e-05 9.99996594e-01 -4.59652449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.012450051869208884 Centerline is valid? [True, True] Translation: X:261.26, Y:-92.14, Z:-4.60 [[ 7.11069214e-01 7.03120670e-01 1.37683652e-03 2.61255867e+02] [-7.03119390e-01 7.11070547e-01 -1.34172366e-03 -9.21356255e+01] [-1.92242153e-03 -1.40220666e-05 9.99998152e-01 -4.59738564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.012745070281712493 Centerline is valid? [True, True] Translation: X:261.30, Y:-92.18, Z:-4.60 [[ 7.10296896e-01 7.03901563e-01 9.53997315e-04 2.61300716e+02] [-7.03900952e-01 7.10297536e-01 -9.27147737e-04 -9.21768767e+01] [-1.33024268e-03 -1.29694593e-05 9.99999115e-01 -4.59954717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.012618682685666755 Centerline is valid? [True, True] Translation: X:261.35, Y:-92.22, Z:-4.60 [[ 7.09183881e-01 7.05022892e-01 9.71964118e-04 2.61346654e+02] [-7.05022260e-01 7.09184547e-01 -9.44077449e-04 -9.22198523e+01] [-1.35489815e-03 -1.57318301e-05 9.99999082e-01 -4.59921783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.01264083218963391 Centerline is valid? [True, True] Translation: X:261.39, Y:-92.26, Z:-4.60 [[ 7.08021118e-01 7.06190182e-01 1.23449176e-03 2.61391924e+02] [-7.06189161e-01 7.08022193e-01 -1.20127456e-03 -9.22630309e+01] [-1.72237586e-03 -2.12569447e-05 9.99998516e-01 -4.59800907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.01348023096433191 Centerline is valid? [True, True] Translation: X:261.44, Y:-92.30, Z:-4.60 [[ 7.06495093e-01 7.07717054e-01 1.12053214e-03 2.61437774e+02] [-7.07716212e-01 7.06495981e-01 -1.09156002e-03 -9.23028753e+01] [-1.56416709e-03 -2.18369635e-05 9.99998776e-01 -4.60006007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.013805769124537251 Centerline is valid? [True, True] Translation: X:261.48, Y:-92.34, Z:-4.60 [[ 7.05177855e-01 7.09029708e-01 1.03292347e-03 2.61483903e+02] [-7.09028994e-01 7.05178611e-01 -1.00613246e-03 -9.23449260e+01] [-1.44177334e-03 -2.28703584e-05 9.99998960e-01 -4.60064682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.01310089415062371 Centerline is valid? [True, True] Translation: X:261.53, Y:-92.39, Z:-4.60 [[ 7.04898825e-01 7.09307152e-01 1.00508122e-03 2.61527956e+02] [-7.09306478e-01 7.04899541e-01 -9.78265803e-04 -9.23900889e+01] [-1.40237223e-03 -2.33322079e-05 9.99999016e-01 -4.59939403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.01392632157304006 Centerline is valid? [True, True] Translation: X:261.57, Y:-92.43, Z:-4.60 [[ 7.03821961e-01 7.10375242e-01 1.28933631e-03 2.61574571e+02] [-7.10374124e-01 7.03823142e-01 -1.26045247e-03 -9.24294335e+01] [-1.80285896e-03 -2.87770234e-05 9.99998374e-01 -4.60172335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.01390408461729013 Centerline is valid? [True, True] Translation: X:261.62, Y:-92.47, Z:-4.60 [[ 7.03177758e-01 7.11013864e-01 5.70647740e-04 2.61619858e+02] [-7.11013648e-01 7.03177990e-01 -5.54055000e-04 -9.24722092e+01] [-7.95207717e-04 -1.61391782e-05 9.99999684e-01 -4.60302929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.013882615354304776 Centerline is valid? [True, True] Translation: X:261.66, Y:-92.51, Z:-4.60 [[ 7.02592604e-01 7.11592309e-01 -1.38028997e-04 2.61664387e+02] [-7.11592295e-01 7.02592617e-01 1.38376364e-04 -9.25148841e+01] [ 1.95445710e-04 9.98161434e-07 9.99999981e-01 -4.60437477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.013615091474477627 Centerline is valid? [True, True] Translation: X:261.71, Y:-92.56, Z:-4.61 [[ 7.03356412e-01 7.10837115e-01 -5.94821781e-04 2.61707997e+02] [-7.10836871e-01 7.03356664e-01 5.89159024e-04 -9.25592025e+01] [ 8.37167964e-04 8.43247579e-06 9.99999650e-01 -4.60585064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.013475340022137051 Centerline is valid? [True, True] Translation: X:261.75, Y:-92.60, Z:-4.61 [[ 7.04318064e-01 7.09884446e-01 -3.71364051e-04 2.61750773e+02] [-7.09884350e-01 7.04318162e-01 3.70038136e-04 -9.26037200e+01] [ 5.24242763e-04 3.00098426e-06 9.99999863e-01 -4.60632937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.013659842447517773 Centerline is valid? [True, True] Translation: X:261.79, Y:-92.65, Z:-4.61 [[ 7.04706317e-01 7.09499101e-01 -1.79030962e-04 2.61794190e+02] [-7.09499078e-01 7.04706340e-01 1.80844409e-04 -9.26468584e+01] [ 2.54473199e-04 -4.19895573e-07 9.99999968e-01 -4.60775408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.012729544554516574 Centerline is valid? [True, True] Translation: X:261.84, Y:-92.69, Z:-4.61 [[ 7.06700528e-01 7.07512323e-01 8.22646605e-04 2.61835581e+02] [-7.07511867e-01 7.06701007e-01 -8.02817034e-04 -9.26929507e+01] [-1.14936813e-03 -1.46810133e-05 9.99999339e-01 -4.60637196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.012424234501287998 Centerline is valid? [True, True] Translation: X:261.88, Y:-92.74, Z:-4.61 [[ 7.08239737e-01 7.05969765e-01 1.77924256e-03 2.61878279e+02] [-7.05967605e-01 7.08241972e-01 -1.74651142e-03 -9.27388325e+01] [-2.49311851e-03 -1.91388165e-05 9.99996892e-01 -4.60652677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.012411327517898951 Centerline is valid? [True, True] Translation: X:261.92, Y:-92.78, Z:-4.61 [[ 7.08490400e-01 7.05719136e-01 1.36169825e-03 2.61921856e+02] [-7.05717877e-01 7.08491709e-01 -1.33297613e-03 -9.27824962e+01] [-1.90545868e-03 -1.65740024e-05 9.99998184e-01 -4.60955567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.012368007953089845 Centerline is valid? [True, True] Translation: X:261.96, Y:-92.83, Z:-4.61 [[ 7.10817711e-01 7.03375711e-01 8.88839924e-04 2.61964578e+02] [-7.03375176e-01 7.10818267e-01 -8.68094318e-04 -9.28291465e+01] [-1.24240011e-03 -8.13112136e-06 9.99999228e-01 -4.61171299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.01219405906432392 Centerline is valid? [True, True] Translation: X:262.01, Y:-92.87, Z:-4.61 [[ 7.12981721e-01 7.01177762e-01 2.60999718e-03 2.62007316e+02] [-7.01173066e-01 7.12986498e-01 -2.56616211e-03 -9.28749415e+01] [-3.66022855e-03 -4.33049905e-07 9.99993301e-01 -4.61192955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.012312162644017707 Centerline is valid? [True, True] Translation: X:262.05, Y:-92.92, Z:-4.61 [[ 7.13326648e-01 7.00822725e-01 3.54973278e-03 2.62051114e+02] [-7.00814041e-01 7.13335480e-01 -3.48896748e-03 -9.29195317e+01] [-4.97729804e-03 1.07091107e-06 9.99987613e-01 -4.61166020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.012355023334027625 Centerline is valid? [True, True] Translation: X:262.10, Y:-92.96, Z:-4.61 [[ 7.12430959e-01 7.01733866e-01 3.42189772e-03 2.62096390e+02] [-7.01725802e-01 7.12439177e-01 -3.36422624e-03 -9.29634927e+01] [-4.79868548e-03 -4.45499736e-06 9.99988486e-01 -4.61404052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.012468250660805983 Centerline is valid? [True, True] Translation: X:262.14, Y:-93.01, Z:-4.62 [[ 7.10782349e-01 7.03399439e-01 4.20500351e-03 2.62141575e+02] [-7.03387265e-01 7.10794787e-01 -4.13841422e-03 -9.30064195e+01] [-5.89985282e-03 -1.62341378e-05 9.99982596e-01 -4.61548610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.012632963118101876 Centerline is valid? [True, True] Translation: X:262.19, Y:-93.05, Z:-4.62 [[ 7.09142018e-01 7.05050910e-01 4.56201327e-03 2.62187643e+02] [-7.05036602e-01 7.09156691e-01 -4.49185650e-03 -9.30486499e+01] [-6.40216976e-03 -3.10221531e-05 9.99979505e-01 -4.61671644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.012634364003526853 Centerline is valid? [True, True] Translation: X:262.23, Y:-93.09, Z:-4.62 [[ 7.07282779e-01 7.06910537e-01 5.34446379e-03 2.62234145e+02] [-7.06890923e-01 7.07302969e-01 -5.26625911e-03 -9.30907275e+01] [-7.50292916e-03 -5.32185632e-05 9.99971851e-01 -4.61854705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.012934532054466897 Centerline is valid? [True, True] Translation: X:262.28, Y:-93.13, Z:-4.62 [[ 7.05331436e-01 7.08849993e-01 6.26517851e-03 2.62278879e+02] [-7.08823073e-01 7.05359256e-01 -6.17826225e-03 -9.31329022e+01] [-8.79866281e-03 -8.31804986e-05 9.99961288e-01 -4.61847122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.012800792282239902 Centerline is valid? [True, True] Translation: X:262.32, Y:-93.18, Z:-4.62 [[ 7.04014290e-01 7.10142271e-01 7.86351154e-03 2.62323894e+02] [-7.10099884e-01 7.04058194e-01 -7.75973381e-03 -9.31762744e+01] [-1.10468847e-02 -1.20915139e-04 9.99938974e-01 -4.61743215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.013577242385029897 Centerline is valid? [True, True] Translation: X:262.37, Y:-93.22, Z:-4.62 [[ 7.02576372e-01 7.11548423e-01 9.23491368e-03 2.62370680e+02] [-7.11489998e-01 7.02637044e-01 -9.11959770e-03 -9.32158325e+01] [-1.29778278e-02 -1.63334853e-04 9.99915771e-01 -4.61929755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.013828973474319085 Centerline is valid? [True, True] Translation: X:262.42, Y:-93.26, Z:-4.62 [[ 7.01763796e-01 7.12335255e-01 1.02985080e-02 2.62416542e+02] [-7.12262607e-01 7.01839331e-01 -1.01750260e-02 -9.32585716e+01] [-1.44759277e-02 -1.94777316e-04 9.99895199e-01 -4.61998559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.014045125663147154 Centerline is valid? [True, True] Translation: X:262.46, Y:-93.30, Z:-4.62 [[ 7.00002731e-01 7.14059140e-01 1.07574064e-02 2.62462390e+02] [-7.13979987e-01 7.00085344e-01 -1.06343378e-02 -9.33010866e+01] [-1.51246486e-02 -2.36507395e-04 9.99885588e-01 -4.62117742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.015331225801909706 Centerline is valid? [True, True] Translation: X:262.51, Y:-93.34, Z:-4.63 [[ 6.97162159e-01 7.16848071e-01 9.68333171e-03 2.62510793e+02] [-7.16784149e-01 6.97229355e-01 -9.57657475e-03 -9.33407233e+01] [-1.36164523e-02 -2.64433145e-04 9.99907257e-01 -4.62517610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.015498871223817209 Centerline is valid? [True, True] Translation: X:262.56, Y:-93.38, Z:-4.63 [[ 6.94981411e-01 7.18969261e-01 9.16733943e-03 2.62556627e+02] [-7.18912103e-01 6.95041811e-01 -9.07022285e-03 -9.33821791e+01] [-1.28928956e-02 -2.86874990e-04 9.99916842e-01 -4.62781835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.014848381650670102 Centerline is valid? [True, True] Translation: X:262.60, Y:-93.43, Z:-4.63 [[ 6.95659362e-01 7.18301115e-01 1.00777260e-02 2.62600373e+02] [-7.18231888e-01 6.95732290e-01 -9.97677860e-03 -9.34270168e+01] [-1.41777306e-02 -2.97704704e-04 9.99899447e-01 -4.62762737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.013843146605753618 Centerline is valid? [True, True] Translation: X:262.64, Y:-93.47, Z:-4.63 [[ 6.97521761e-01 7.16465718e-01 1.18434820e-02 2.62642897e+02] [-7.16369797e-01 6.97622235e-01 -1.17274020e-02 -9.34727385e+01] [-1.66645579e-02 -3.04194699e-04 9.99861090e-01 -4.62658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.013518550096784047 Centerline is valid? [True, True] Translation: X:262.69, Y:-93.52, Z:-4.63 [[ 6.99723277e-01 7.14315197e-01 1.18799948e-02 2.62686085e+02] [-7.14218273e-01 6.99824075e-01 -1.17695100e-02 -9.35165720e+01] [-1.67210463e-02 -2.49509256e-04 9.99860162e-01 -4.62724471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.012884992520204554 Centerline is valid? [True, True] Translation: X:262.73, Y:-93.56, Z:-4.63 [[ 7.00634535e-01 7.13433364e-01 1.11392875e-02 2.62729737e+02] [-7.13347958e-01 7.00723049e-01 -1.10408165e-02 -9.35610008e+01] [-1.56824423e-02 -2.10610624e-04 9.99877001e-01 -4.63074675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.013143767985790873 Centerline is valid? [True, True] Translation: X:262.77, Y:-93.60, Z:-4.63 [[ 7.00104336e-01 7.13954872e-01 1.10615826e-02 2.62774526e+02] [-7.13870635e-01 7.00191683e-01 -1.09692077e-02 -9.36048343e+01] [-1.55767475e-02 -2.16949123e-04 9.99878652e-01 -4.63119684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.013421999541958374 Centerline is valid? [True, True] Translation: X:262.82, Y:-93.65, Z:-4.63 [[ 6.99448498e-01 7.14606738e-01 1.04407147e-02 2.62819758e+02] [-7.14531682e-01 6.99526386e-01 -1.03591333e-02 -9.36472882e+01] [-1.47062619e-02 -2.14541229e-04 9.99891834e-01 -4.63267473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.013269810362636284 Centerline is valid? [True, True] Translation: X:262.86, Y:-93.69, Z:-4.64 [[ 6.99014132e-01 7.15040191e-01 9.83711729e-03 2.62864917e+02] [-7.14973540e-01 6.99083315e-01 -9.76499075e-03 -9.36906471e+01] [-1.38593254e-02 -2.07412046e-04 9.99903933e-01 -4.63523209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.013497765221274364 Centerline is valid? [True, True] Translation: X:262.91, Y:-93.73, Z:-4.64 [[ 6.98996413e-01 7.15060439e-01 9.62202802e-03 2.62908411e+02] [-7.14996600e-01 6.99062607e-01 -9.55685420e-03 -9.37342341e+01] [-1.35601284e-02 -1.99510517e-04 9.99908037e-01 -4.63644138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.013125592241782875 Centerline is valid? [True, True] Translation: X:262.95, Y:-93.78, Z:-4.64 [[ 7.00122068e-01 7.13959683e-01 9.52161285e-03 2.62950660e+02] [-7.13897001e-01 7.00186790e-01 -9.46210623e-03 -9.37798101e+01] [-1.34224699e-02 -1.72821478e-04 9.99909900e-01 -4.63767436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.012732993868027852 Centerline is valid? [True, True] Translation: X:262.99, Y:-93.83, Z:-4.64 [[ 7.01321342e-01 7.12767583e-01 1.05237334e-02 2.62991905e+02] [-7.12690792e-01 7.01400276e-01 -1.04636295e-02 -9.38260409e+01] [-1.48394854e-02 -1.61801236e-04 9.99889876e-01 -4.63787848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.012604540192399186 Centerline is valid? [True, True] Translation: X:263.03, Y:-93.87, Z:-4.64 [[ 7.01412684e-01 7.12660980e-01 1.16006218e-02 2.63034155e+02] [-7.12567553e-01 7.01508588e-01 -1.15405265e-02 -9.38722486e+01] [-1.63624187e-02 -1.71555023e-04 9.99866112e-01 -4.63744293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.012813537671053619 Centerline is valid? [True, True] Translation: X:263.08, Y:-93.92, Z:-4.64 [[ 7.00494676e-01 7.13569468e-01 1.12170728e-02 2.63078277e+02] [-7.13482138e-01 7.00584457e-01 -1.11650264e-02 -9.39164353e+01] [-1.58255288e-02 -1.82139555e-04 9.99874752e-01 -4.63888868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.013356978183833898 Centerline is valid? [True, True] Translation: X:263.12, Y:-93.96, Z:-4.64 [[ 6.97555150e-01 7.16462537e-01 9.91194114e-03 2.63122875e+02] [-7.16394570e-01 6.97625535e-01 -9.87081368e-03 -9.39593010e+01] [-1.39868915e-02 -2.15423893e-04 9.99902155e-01 -4.64230327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.014022320346984035 Centerline is valid? [True, True] Translation: X:263.17, Y:-94.00, Z:-4.64 [[ 6.95685174e-01 7.18284969e-01 9.42556649e-03 2.63167119e+02] [-7.18223618e-01 6.95748983e-01 -9.39083037e-03 -9.40022615e+01] [-1.33031206e-02 -2.36603004e-04 9.99911482e-01 -4.64419808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.014205375416988589 Centerline is valid? [True, True] Translation: X:263.21, Y:-94.05, Z:-4.65 [[ 6.94768443e-01 7.19175746e-01 9.11357584e-03 2.63210769e+02] [-7.19118410e-01 6.94828172e-01 -9.08426334e-03 -9.40463030e+01] [-1.28655511e-02 -2.42280672e-04 9.99917206e-01 -4.64576712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.013737105666650415 Centerline is valid? [True, True] Translation: X:263.25, Y:-94.09, Z:-4.65 [[ 6.95102716e-01 7.18851749e-01 9.18566724e-03 2.63252054e+02] [-7.18793416e-01 6.95163367e-01 -9.16064221e-03 -9.40927795e+01] [-1.29706830e-02 -2.35009854e-04 9.99915850e-01 -4.64656554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.013865076859051724 Centerline is valid? [True, True] Translation: X:263.29, Y:-94.14, Z:-4.65 [[ 6.95979444e-01 7.18004790e-01 9.04072256e-03 2.63292669e+02] [-7.17948154e-01 6.96038129e-01 -9.02062014e-03 -9.41387470e+01] [-1.27695361e-02 -2.12603878e-04 9.99918444e-01 -4.64723500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.013813481634199517 Centerline is valid? [True, True] Translation: X:263.33, Y:-94.19, Z:-4.65 [[ 6.96017979e-01 7.17990630e-01 6.95905609e-03 2.63334122e+02] [-7.17957058e-01 6.96052748e-01 -6.94512980e-03 -9.41862847e+01] [-9.83040824e-03 -1.62368234e-04 9.99951667e-01 -4.65082571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.014296633171458118 Centerline is valid? [True, True] Translation: X:263.38, Y:-94.23, Z:-4.65 [[ 6.95768856e-01 7.18240901e-01 5.97557919e-03 2.63377217e+02] [-7.18216134e-01 6.95794501e-01 -5.96626604e-03 -9.42308246e+01] [-8.44299144e-03 -1.40615289e-04 9.99964347e-01 -4.65311747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.014296633171458118 Centerline is valid? [True, True] Translation: X:263.42, Y:-94.28, Z:-4.65 [[ 6.95575338e-01 7.18428326e-01 5.97414105e-03 2.63421302e+02] [-7.18403553e-01 6.95600978e-01 -5.96770542e-03 -9.42750168e+01] [-8.44298697e-03 -1.40855450e-04 9.99964347e-01 -4.65412763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.014031530668625631 Centerline is valid? [True, True] Translation: X:263.46, Y:-94.32, Z:-4.66 [[ 6.96278410e-01 7.17751231e-01 5.43560289e-03 2.63462623e+02] [-7.17730682e-01 6.96299616e-01 -5.43253711e-03 -9.43212111e+01] [-7.68401841e-03 -1.18740665e-04 9.99970470e-01 -4.65514965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.013173445644892659 Centerline is valid? [True, True] Translation: X:264.06, Y:-93.90, Z:-3.66 [[ 7.65924447e-01 -6.42701023e-01 -1.71795712e-02 2.64058814e+02] [-6.42494295e-01 -7.66115623e-01 1.63686660e-02 -9.38985014e+01] [-2.36816963e-02 -1.49938495e-03 -9.99718425e-01 -3.66204440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.012702771079689255 Centerline is valid? [True, True] Translation: X:264.08, Y:-93.92, Z:-3.66 [[ 8.13071542e-01 -5.81883070e-01 -1.80765016e-02 2.64083096e+02] [-5.81697541e-01 -8.13271089e-01 1.47684136e-02 -9.39208222e+01] [-2.32945860e-02 -1.49272026e-03 -9.99727530e-01 -3.66335166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.011938948940813139 Centerline is valid? [True, True] Translation: X:264.11, Y:-93.94, Z:-3.67 [[ 8.51875911e-01 -5.23435058e-01 -1.79770032e-02 2.64109074e+02] [-5.23285822e-01 -8.52064585e-01 1.25654798e-02 -9.39405297e+01] [-2.18947804e-02 -1.29711866e-03 -9.99759439e-01 -3.66687008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.01197503814032471 Centerline is valid? [True, True] Translation: X:264.13, Y:-93.96, Z:-3.67 [[ 8.88982063e-01 -4.57595151e-01 -1.78204823e-02 2.64132913e+02] [-4.57474933e-01 -8.89159800e-01 1.05610689e-02 -9.39607630e+01] [-2.06779504e-02 -1.23617691e-03 -9.99785424e-01 -3.66847855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.012368616728155068 Centerline is valid? [True, True] Translation: X:264.16, Y:-93.98, Z:-3.67 [[ 9.20232249e-01 -3.90878652e-01 -1.96592647e-02 2.64159784e+02] [-3.90762916e-01 -9.20441523e-01 9.57841949e-03 -9.39792317e+01] [-2.18392032e-02 -1.13225892e-03 -9.99760855e-01 -3.66730820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.012790111529930329 Centerline is valid? [True, True] Translation: X:264.19, Y:-94.00, Z:-3.67 [[ 9.46700390e-01 -3.21419136e-01 -2.11686071e-02 2.64187248e+02] [-3.21314165e-01 -9.46936463e-01 8.27898608e-03 -9.39963084e+01] [-2.27063505e-02 -1.03594605e-03 -9.99741641e-01 -3.66754884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.014226457442774263 Centerline is valid? [True, True] Translation: X:264.22, Y:-94.01, Z:-3.67 [[ 9.67416237e-01 -2.52251370e-01 -2.17961170e-02 2.64215824e+02] [-2.52166434e-01 -9.67661328e-01 6.60633790e-03 -9.40097674e+01] [-2.27577173e-02 -8.94829440e-04 -9.99740609e-01 -3.66771725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.015247760207223121 Centerline is valid? [True, True] Translation: X:264.25, Y:-94.02, Z:-3.67 [[ 9.83590295e-01 -1.79034737e-01 -2.22866271e-02 2.64245944e+02] [-1.78969943e-01 -9.83842415e-01 4.88494338e-03 -9.40198623e+01] [-2.28011036e-02 -8.16146525e-04 -9.99739688e-01 -3.66874613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.015646980492182633 Centerline is valid? [True, True] Translation: X:264.27, Y:-94.03, Z:-3.67 [[ 9.94278545e-01 -1.04448622e-01 -2.23754236e-02 2.64273328e+02] [-1.04405191e-01 -9.94530001e-01 3.10372420e-03 -9.40306695e+01] [-2.25772098e-02 -7.49856007e-04 -9.99744821e-01 -3.67038378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.016480846100066567 Centerline is valid? [True, True] Translation: X:264.30, Y:-94.04, Z:-3.67 [[ 9.99384305e-01 -2.70276967e-02 -2.23721820e-02 2.64300178e+02] [-2.70045208e-02 -9.99634417e-01 1.33744311e-03 -9.40363086e+01] [-2.24001511e-02 -7.32469598e-04 -9.99748817e-01 -3.67132349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.015941892552224727 Centerline is valid? [True, True] Translation: X:264.33, Y:-94.05, Z:-3.67 [[ 9.98446957e-01 5.13187547e-02 -2.16808440e-02 2.64329075e+02] [ 5.13228317e-02 -9.98682047e-01 -3.68702677e-04 -9.40457088e+01] [-2.16711911e-02 -7.44592244e-04 -9.99764875e-01 -3.67203675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.01567573686078962 Centerline is valid? [True, True] Translation: X:264.36, Y:-94.05, Z:-3.67 [[ 9.91106864e-01 1.31463448e-01 -2.06045140e-02 2.64358096e+02] [ 1.31451926e-01 -9.91320690e-01 -1.91848577e-03 -9.40496831e+01] [-2.06778918e-02 -8.07078637e-04 -9.99785864e-01 -3.67377561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.014676516815779084 Centerline is valid? [True, True] Translation: X:264.39, Y:-94.05, Z:-3.68 [[ 9.76904641e-01 2.12894476e-01 -1.82555339e-02 2.64388358e+02] [ 2.12874954e-01 -9.77074757e-01 -3.02854977e-03 -9.40518836e+01] [-1.84817828e-02 -9.27541612e-04 -9.99828767e-01 -3.67615373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.013821125748921055 Centerline is valid? [True, True] Translation: X:264.42, Y:-94.05, Z:-3.68 [[ 9.56112806e-01 2.92418790e-01 -1.84269664e-02 2.64418568e+02] [ 2.92384266e-01 -9.56289848e-01 -4.60081851e-03 -9.40495359e+01] [-1.89668867e-02 -9.88853560e-04 -9.99819623e-01 -3.67573160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.012754038063896233 Centerline is valid? [True, True] Translation: X:264.45, Y:-94.05, Z:-3.68 [[ 9.28279497e-01 3.71397478e-01 -1.90023129e-02 2.64450337e+02] [ 3.71343242e-01 -9.28473342e-01 -6.43812027e-03 -9.40500522e+01] [-2.00342426e-02 -1.08000545e-03 -9.99798711e-01 -3.67520108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.01244830969289806 Centerline is valid? [True, True] Translation: X:264.48, Y:-94.05, Z:-3.68 [[ 8.95028631e-01 4.45629762e-01 -1.83810948e-02 2.64482054e+02] [ 4.45561528e-01 -8.95216635e-01 -7.88044432e-03 -9.40461594e+01] [-1.99668223e-02 -1.13668537e-03 -9.99799997e-01 -3.67684035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.01247120758652755 Centerline is valid? [True, True] Translation: X:264.52, Y:-94.04, Z:-3.68 [[ 8.55783382e-01 5.17040819e-01 -1.74239807e-02 2.64515246e+02] [ 5.16961607e-01 -8.55959907e-01 -9.12876468e-03 -9.40424131e+01] [-1.96341729e-02 -1.19528396e-03 -9.99806517e-01 -3.67727204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.012459896340348867 Centerline is valid? [True, True] Translation: X:264.54, Y:-94.03, Z:-3.68 [[ 8.12141436e-01 5.83223704e-01 -1.66252457e-02 2.64543746e+02] [ 5.83131366e-01 -8.12310685e-01 -1.04480323e-02 -9.40319584e+01] [-1.95984048e-02 -1.20942227e-03 -9.99807201e-01 -3.67757831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.01241357049542724 Centerline is valid? [True, True] Translation: X:264.57, Y:-94.02, Z:-3.68 [[ 7.63690615e-01 6.45392505e-01 -1.56575336e-02 2.64573590e+02] [ 6.45288695e-01 -7.63850141e-01 -1.16388737e-02 -9.40206975e+01] [-1.94716511e-02 -1.21513079e-03 -9.99809671e-01 -3.67848974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.012434614832950833 Centerline is valid? [True, True] Translation: X:264.60, Y:-94.01, Z:-3.68 [[ 7.10636127e-01 7.03411880e-01 -1.44229909e-02 2.64603641e+02] [ 7.03300735e-01 -7.10781435e-01 -1.25629205e-02 -9.40078850e+01] [-1.90885017e-02 -1.21603495e-03 -9.99817058e-01 -3.67959924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.01244926758295455 Centerline is valid? [True, True] Translation: X:264.63, Y:-93.99, Z:-3.68 [[ 6.53456168e-01 7.56858274e-01 -1.26724278e-02 2.64630027e+02] [ 7.56750578e-01 -6.53577915e-01 -1.28246684e-02 -9.39919417e+01] [-1.79888753e-02 -1.20950842e-03 -9.99837456e-01 -3.68143844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.012402750130596791 Centerline is valid? [True, True] Translation: X:264.65, Y:-93.97, Z:-3.68 [[ 5.92106811e-01 8.05780283e-01 -1.12986957e-02 2.64654839e+02] [ 8.05670841e-01 -5.92213372e-01 -1.33348530e-02 -9.39725054e+01] [-1.74362003e-02 -1.20737239e-03 -9.99847249e-01 -3.68382967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.01253331628462056 Centerline is valid? [True, True] Translation: X:264.68, Y:-93.95, Z:-3.68 [[ 5.27088064e-01 8.49712845e-01 -1.28939442e-02 2.64678486e+02] [ 8.49512634e-01 -5.27244360e-01 -1.84843036e-02 -9.39520050e+01] [-2.25046096e-02 -1.21071269e-03 -9.99746006e-01 -3.67962424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.01263795074669868 Centerline is valid? [True, True] Translation: X:264.70, Y:-93.93, Z:-3.68 [[ 4.62600140e-01 8.86489191e-01 -1.17483704e-02 2.64696950e+02] [ 8.86261871e-01 -4.62747964e-01 -2.01051682e-02 -9.39282075e+01] [-2.32595488e-02 -1.11147910e-03 -9.99728842e-01 -3.68021574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.012801858254331402 Centerline is valid? [True, True] Translation: X:264.71, Y:-93.91, Z:-3.68 [[ 3.93230769e-01 9.19384843e-01 -1.00535170e-02 2.64714178e+02] [ 9.19150684e-01 -3.93357807e-01 -2.07763357e-02 -9.39052700e+01] [-2.30560776e-02 -1.07080257e-03 -9.99733600e-01 -3.68175586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.0133405417322021 Centerline is valid? [True, True] Translation: X:264.73, Y:-93.88, Z:-3.68 [[ 3.25439778e-01 9.45525613e-01 -8.38251852e-03 2.64729644e+02] [ 9.45282182e-01 -3.25546373e-01 -2.14745462e-02 -9.38794824e+01] [-2.30336320e-02 -9.35173837e-04 -9.99734253e-01 -3.68322115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.01600591510938173 Centerline is valid? [True, True] Translation: X:264.74, Y:-93.85, Z:-3.69 [[ 2.62964345e-01 9.64784350e-01 -6.39623607e-03 2.64736045e+02] [ 9.64556953e-01 -2.63041298e-01 -2.09561546e-02 -9.38519901e+01] [-2.19006442e-02 -6.58812498e-04 -9.99759935e-01 -3.68584693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.018911597353384966 Centerline is valid? [True, True] Translation: X:264.74, Y:-93.82, Z:-3.69 [[ 1.98070623e-01 9.80177849e-01 -4.40592443e-03 2.64743302e+02] [ 9.79985348e-01 -1.98119065e-01 -1.94307495e-02 -9.38247640e+01] [-1.99184879e-02 -4.69080737e-04 -9.99801497e-01 -3.68927687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.020320699064421088 Centerline is valid? [True, True] Translation: X:264.75, Y:-93.80, Z:-3.69 [[ 1.24588972e-01 9.92204290e-01 -2.86976672e-03 2.64754316e+02] [ 9.92007704e-01 -1.24621422e-01 -1.97538935e-02 -9.37980182e+01] [-1.99575323e-02 -3.85713397e-04 -9.99800754e-01 -3.69047445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.02055512675403434 Centerline is valid? [True, True] Translation: X:264.77, Y:-93.77, Z:-3.69 [[ 4.63000335e-02 9.98926712e-01 -1.31578982e-03 2.64767383e+02] [ 9.98713175e-01 -4.63173451e-02 -2.06566375e-02 -9.37712283e+01] [-2.06954109e-02 -3.57693617e-04 -9.99785763e-01 -3.69079151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.01860843360539384 Centerline is valid? [True, True] Translation: X:264.78, Y:-93.74, Z:-3.69 [[-3.57231329e-02 9.99361658e-01 3.67725708e-04 2.64781501e+02] [ 9.99130250e-01 3.57227754e-02 -2.15087723e-02 -9.37423378e+01] [-2.15081786e-02 -4.00954854e-04 -9.99768592e-01 -3.69219401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.018729659974124003 Centerline is valid? [True, True] Translation: X:264.79, Y:-93.71, Z:-3.69 [[-1.21545957e-01 9.92583379e-01 2.19441567e-03 2.64790291e+02] [ 9.92332073e-01 1.21564575e-01 -2.23407703e-02 -9.37136630e+01] [-2.24418405e-02 -5.37841270e-04 -9.99748006e-01 -3.69202330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.014869243516409005 Centerline is valid? [True, True] Translation: X:264.81, Y:-93.68, Z:-3.69 [[-2.07700714e-01 9.78181630e-01 4.59490564e-03 2.64805673e+02] [ 9.77864350e-01 2.07750411e-01 -2.49214943e-02 -9.36816644e+01] [-2.53323414e-02 -6.83017735e-04 -9.99678851e-01 -3.69041338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.013165658714256647 Centerline is valid? [True, True] Translation: X:264.81, Y:-93.65, Z:-3.69 [[-2.93406255e-01 9.55970752e-01 5.71765246e-03 2.64812008e+02] [ 9.55720525e-01 2.93460394e-01 -2.18923804e-02 -9.36494690e+01] [-2.26063799e-02 -9.58883549e-04 -9.99743983e-01 -3.69401193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.012631639610555558 Centerline is valid? [True, True] Translation: X:264.82, Y:-93.62, Z:-3.70 [[-3.77209013e-01 9.26102672e-01 6.87039014e-03 2.64817921e+02] [ 9.25886979e-01 3.77269695e-01 -2.00219625e-02 -9.36153924e+01] [-2.11343830e-02 -1.19125995e-03 -9.99775934e-01 -3.69590021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.015091475134198382 Centerline is valid? [True, True] Translation: X:264.83, Y:-93.58, Z:-3.70 [[-4.64719405e-01 8.85413886e-01 8.83890138e-03 2.64826275e+02] [ 8.85183508e-01 4.64800732e-01 -2.02592183e-02 -9.35769448e+01] [-2.20461210e-02 -1.59080214e-03 -9.99755689e-01 -3.69591999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:264.82, Y:-93.54, Z:-3.69 [[-5.36487208e-01 8.43829650e-01 1.15324614e-02 2.64822651e+02] [ 8.43560478e-01 5.36608314e-01 -2.13831121e-02 -9.35429547e+01] [-2.42321187e-02 -1.74343748e-03 -9.99704839e-01 -3.69348009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:264.81, Y:-93.51, Z:-3.69 [[-6.00891986e-01 7.99222071e-01 1.31492253e-02 2.64811030e+02] [ 7.98964181e-01 6.01033328e-01 -2.03758869e-02 -9.35125417e+01] [-2.41879812e-02 -1.73794718e-03 -9.99705917e-01 -3.69429686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.016594297740149717 Centerline is valid? [True, True] Translation: X:264.80, Y:-93.48, Z:-3.69 [[-6.61355507e-01 7.49916679e-01 1.52927513e-02 2.64796253e+02] [ 7.49652536e-01 6.61529981e-01 -1.99789689e-02 -9.34833930e+01] [-2.50991755e-02 -1.74895126e-03 -9.99683436e-01 -3.69452348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.015856726409820287 Centerline is valid? [True, True] Translation: X:264.78, Y:-93.46, Z:-3.70 [[-7.17111694e-01 6.96745098e-01 1.72361924e-02 2.64778762e+02] [ 6.96484075e-01 7.17316728e-01 -1.91480076e-02 -9.34559858e+01] [-2.57050896e-02 -1.72652667e-03 -9.99668079e-01 -3.69515521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.01482033317519174 Centerline is valid? [True, True] Translation: X:264.76, Y:-93.43, Z:-3.70 [[-7.66281638e-01 6.42210141e-01 1.94572815e-02 2.64756966e+02] [ 6.41948272e-01 7.66526923e-01 -1.84090145e-02 -9.34326462e+01] [-2.67369859e-02 -1.61592154e-03 -9.99641197e-01 -3.69542152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.01286861553274113 Centerline is valid? [True, True] Translation: X:264.77, Y:-93.42, Z:-3.69 [[-8.02020843e-01 5.96896556e-01 2.18419195e-02 2.64769397e+02] [ 5.96635244e-01 8.02317362e-01 -1.76984780e-02 -9.34240149e+01] [-2.80883118e-02 -1.16288928e-03 -9.99604769e-01 -3.69486060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.013423831303241304 Centerline is valid? [True, True] Translation: X:264.79, Y:-93.42, Z:-3.70 [[-8.33666411e-01 5.51872525e-01 2.09053159e-02 2.64785111e+02] [ 5.51676571e-01 8.33928154e-01 -1.47239447e-02 -9.34213882e+01] [-2.55592721e-02 -7.41885126e-04 -9.99673033e-01 -3.69814280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.017213627217585504 Centerline is valid? [True, True] Translation: X:264.80, Y:-93.42, Z:-3.70 [[-8.62911757e-01 5.04962713e-01 1.98986953e-02 2.64801020e+02] [ 5.04817770e-01 8.63141065e-01 -1.21045588e-02 -9.34177477e+01] [-2.32877320e-02 -3.99951125e-04 -9.99728724e-01 -3.70026775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.02001087960255788 Centerline is valid? [True, True] Translation: X:265.16, Y:-92.81, Z:-4.69 [[-8.61229494e-01 -5.08200531e-01 -3.99740507e-03 2.65164931e+02] [ 5.08196361e-01 -8.61238736e-01 2.07339808e-03 -9.28129921e+01] [-4.49642209e-03 -2.45795129e-04 9.99989861e-01 -4.69098103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.023522164252593996 Centerline is valid? [True, True] Translation: X:265.16, Y:-92.84, Z:-4.69 [[-8.29637083e-01 -5.58294545e-01 -3.08399859e-03 2.65161005e+02] [ 5.58293806e-01 -8.29642480e-01 1.17546057e-03 -9.28385381e+01] [-3.21486946e-03 -7.46571638e-04 9.99994554e-01 -4.69162767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.025089221262951083 Centerline is valid? [True, True] Translation: X:264.71, Y:-93.42, Z:-3.70 [[-8.14220774e-01 5.80146064e-01 2.17962170e-02 2.64714180e+02] [ 5.79950403e-01 8.14512374e-01 -1.50705832e-02 -9.34207341e+01] [-2.64964280e-02 3.69942933e-04 -9.99648840e-01 -3.69957146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.024151440271184616 Centerline is valid? [True, True] Translation: X:264.73, Y:-93.40, Z:-3.70 [[-8.53147684e-01 5.21168326e-01 2.28605555e-02 2.64730766e+02] [ 5.20993214e-01 8.53453825e-01 -1.35144314e-02 -9.33960937e+01] [-2.65537221e-02 3.80388452e-04 -9.99647315e-01 -3.70008263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.02496639589763566 Centerline is valid? [True, True] Translation: X:264.75, Y:-93.37, Z:-3.70 [[-8.88281150e-01 4.58674525e-01 2.39641023e-02 2.64745244e+02] [ 4.58518922e-01 8.88604267e-01 -1.19522139e-02 -9.33731168e+01] [-2.67767796e-02 3.71068017e-04 -9.99641369e-01 -3.70009335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.02127895630313564 Centerline is valid? [True, True] Translation: X:264.76, Y:-93.34, Z:-3.70 [[-9.20020322e-01 3.91090488e-01 2.47151104e-02 2.64756991e+02] [ 3.90957323e-01 9.20352192e-01 -1.02085432e-02 -9.33407969e+01] [-2.67390702e-02 2.70486155e-04 -9.99642411e-01 -3.70132312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.020926978213140802 Centerline is valid? [True, True] Translation: X:265.02, Y:-92.68, Z:-4.69 [[-9.28434942e-01 -3.71489738e-01 -1.98291706e-03 2.65016681e+02] [ 3.71490703e-01 -9.28436665e-01 -1.28700693e-04 -9.26780270e+01] [-1.79320192e-03 -8.56125473e-04 9.99998026e-01 -4.69332824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.017931524297950037 Centerline is valid? [True, True] Translation: X:264.71, Y:-93.31, Z:-3.70 [[-9.28720612e-01 3.70091706e-01 2.25865684e-02 2.64705817e+02] [ 3.69974429e-01 9.28995177e-01 -9.32111575e-03 -9.33096119e+01] [-2.44324807e-02 -3.00259596e-04 -9.99701437e-01 -3.70400412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.013779157940751229 Centerline is valid? [True, True] Translation: X:264.70, Y:-93.27, Z:-3.71 [[-9.57108174e-01 2.88952993e-01 2.12158247e-02 2.64702641e+02] [ 2.88865946e-01 9.57343037e-01 -7.12569340e-03 -9.32655786e+01] [-2.23698125e-02 -6.91530122e-04 -9.99749525e-01 -3.70616532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.012337833166646684 Centerline is valid? [True, True] Translation: X:264.71, Y:-93.22, Z:-3.71 [[-9.78202727e-01 2.06603253e-01 2.08451755e-02 2.64707214e+02] [ 2.06534386e-01 9.78424288e-01 -5.42769108e-03 -9.32241949e+01] [-2.15168047e-02 -1.00413667e-03 -9.99767982e-01 -3.70611540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.012787782754889005 Centerline is valid? [True, True] Translation: X:264.70, Y:-93.19, Z:-3.71 [[-9.91440754e-01 1.28935726e-01 2.05136556e-02 2.64698126e+02] [ 1.28883765e-01 9.91652270e-01 -3.84072888e-03 -9.31875505e+01] [-2.08376203e-02 -1.16397796e-03 -9.99782196e-01 -3.70660936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.015078283199873452 Centerline is valid? [True, True] Translation: X:264.79, Y:-92.59, Z:-4.69 [[-9.75081982e-01 -2.21688922e-01 -8.31563999e-03 2.64794894e+02] [ 2.21691329e-01 -9.75116681e-01 6.42843755e-04 -9.25877962e+01] [-8.25123060e-03 -1.21667992e-03 9.99965218e-01 -4.69253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.016161931787526732 Centerline is valid? [True, True] Translation: X:264.65, Y:-93.17, Z:-3.71 [[-9.93662983e-01 1.10612082e-01 1.99710935e-02 2.64647459e+02] [ 1.10560253e-01 9.93862594e-01 -3.68432940e-03 -9.31661379e+01] [-2.02560541e-02 -1.45297260e-03 -9.99793769e-01 -3.70736266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.017758311727460865 Centerline is valid? [True, True] Translation: X:264.74, Y:-92.59, Z:-4.70 [[-9.74033250e-01 -2.26379601e-01 -3.39172001e-03 2.64735136e+02] [ 2.26380617e-01 -9.74038915e-01 8.63540535e-05 -9.25888277e+01] [-3.32321608e-03 -6.83707950e-04 9.99994244e-01 -4.69864682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.01805851136268085 Centerline is valid? [True, True] Translation: X:264.60, Y:-93.16, Z:-3.70 [[-9.94359438e-01 1.03263939e-01 2.42047033e-02 2.64595152e+02] [ 1.03193175e-01 9.94652643e-01 -4.15794512e-03 -9.31550925e+01] [-2.45046379e-02 -1.63673178e-03 -9.99698376e-01 -3.70312333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.015693440706571558 Centerline is valid? [True, True] Translation: X:264.69, Y:-92.58, Z:-4.70 [[-9.75714944e-01 -2.19031785e-01 -2.32914839e-03 2.64692145e+02] [ 2.19032812e-01 -9.75717475e-01 -1.92235979e-04 -9.25789400e+01] [-2.23048500e-03 -6.97727440e-04 9.99997269e-01 -4.69995671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.01433665446091544 Centerline is valid? [True, True] Translation: X:264.55, Y:-93.16, Z:-3.70 [[-9.93839747e-01 1.07980148e-01 2.49568465e-02 2.64554661e+02] [ 1.07909726e-01 9.94152012e-01 -4.15541178e-03 -9.31607927e+01] [-2.52596012e-02 -1.43672691e-03 -9.99679893e-01 -3.70339502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.012953232183316742 Centerline is valid? [True, True] Translation: X:264.56, Y:-93.15, Z:-3.70 [[-9.98558941e-01 4.78508902e-02 2.42967917e-02 2.64556969e+02] [ 4.78086123e-02 9.98853824e-01 -2.31830379e-03 -9.31454402e+01] [-2.43798762e-02 -1.15336709e-03 -9.99702101e-01 -3.70364618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.012369152234694297 Centerline is valid? [True, True] Translation: X:264.56, Y:-93.13, Z:-3.71 [[-9.99644637e-01 -1.45267850e-02 2.23510908e-02 2.64556315e+02] [-1.45442102e-02 9.99894037e-01 -6.17246156e-04 -9.31284460e+01] [-2.23397558e-02 -9.42105773e-04 -9.99749993e-01 -3.70701480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.013599456692549366 Centerline is valid? [True, True] Translation: X:264.56, Y:-93.11, Z:-3.71 [[-9.97072890e-01 -7.33859350e-02 2.14512550e-02 2.64559559e+02] [-7.33835728e-02 9.97303386e-01 8.98339942e-04 -9.31131366e+01] [-2.14593348e-02 -6.78459332e-04 -9.99769492e-01 -3.70864337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.015454447473109147 Centerline is valid? [True, True] Translation: X:264.56, Y:-93.10, Z:-3.71 [[-9.90687390e-01 -1.34900261e-01 1.84503598e-02 2.64556595e+02] [-1.34887012e-01 9.90859035e-01 1.96637360e-03 -9.30958399e+01] [-1.85469700e-02 -5.40652369e-04 -9.99827844e-01 -3.71111546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.01678431513466437 Centerline is valid? [True, True] Translation: X:264.54, Y:-93.08, Z:-3.71 [[-9.79492050e-01 -2.00631203e-01 1.85052382e-02 2.64540834e+02] [-2.00603931e-01 9.79666741e-01 3.33750245e-03 -9.30762362e+01] [-1.87985735e-02 -4.43166406e-04 -9.99823193e-01 -3.71173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.01821382704554848 Centerline is valid? [True, True] Translation: X:264.51, Y:-93.06, Z:-3.71 [[-9.63389305e-01 -2.67316001e-01 2.05718681e-02 2.64512016e+02] [-2.67261801e-01 9.63608874e-01 5.39135293e-03 -9.30606005e+01] [-2.12644296e-02 -3.04102768e-04 -9.99773840e-01 -3.70958449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.018831159724105418 Centerline is valid? [True, True] Translation: X:264.46, Y:-93.05, Z:-3.71 [[-9.41525131e-01 -3.36288382e-01 2.09893114e-02 2.64459196e+02] [-3.36211199e-01 9.41759020e-01 7.20958571e-03 -9.30531403e+01] [-2.21913733e-02 -2.68835422e-04 -9.99753705e-01 -3.70967347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.01950084212388188 Centerline is valid? [True, True] Translation: X:264.40, Y:-93.05, Z:-3.71 [[-9.14264733e-01 -4.04632879e-01 1.98048415e-02 2.64396373e+02] [-4.04544903e-01 9.14479167e-01 8.44239473e-03 -9.30530801e+01] [-2.15271854e-02 -2.93363924e-04 -9.99768220e-01 -3.71151982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.0179058689286267 Centerline is valid? [True, True] Translation: X:264.32, Y:-93.06, Z:-3.72 [[-8.81563133e-01 -4.71763289e-01 1.69068728e-02 2.64324449e+02] [-4.71685014e-01 8.81725153e-01 8.60241693e-03 -9.30576943e+01] [-1.89655195e-02 -3.91144925e-04 -9.99820062e-01 -3.71531961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.01650123626538884 Centerline is valid? [True, True] Translation: X:264.24, Y:-93.07, Z:-3.72 [[-8.41323821e-01 -5.40310734e-01 1.54447006e-02 2.64242980e+02] [-5.40230825e-01 8.41465416e-01 9.30639813e-03 -9.30712256e+01] [-1.80245282e-02 -5.14008899e-04 -9.99837413e-01 -3.71706063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.013185076970281054 Centerline is valid? [True, True] Translation: X:264.15, Y:-93.09, Z:-3.72 [[-7.90140798e-01 -6.12720674e-01 1.58396535e-02 2.64149797e+02] [-6.12616326e-01 7.90299193e-01 1.13323975e-02 -9.30888478e+01] [-1.94616596e-02 -7.49440693e-04 -9.99810323e-01 -3.71718082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.013054344523707677 Centerline is valid? [True, True] Translation: X:264.07, Y:-93.12, Z:-3.72 [[-7.40631406e-01 -6.71736927e-01 1.53173644e-02 2.64065765e+02] [-6.71614915e-01 7.40789363e-01 1.28267458e-02 -9.31232454e+01] [-1.99631394e-02 -7.87479628e-04 -9.99800407e-01 -3.71805097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.012817784004046233 Centerline is valid? [True, True] Translation: X:263.98, Y:-93.17, Z:-3.72 [[-6.86789729e-01 -7.26707516e-01 1.46987915e-02 2.63979316e+02] [-7.26566035e-01 6.86946520e-01 1.43623056e-02 -9.31688719e+01] [-2.05344791e-02 -8.15758667e-04 -9.99788813e-01 -3.71905002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.0127518004775454 Centerline is valid? [True, True] Translation: X:263.89, Y:-93.22, Z:-3.72 [[-6.29088760e-01 -7.77194941e-01 1.46749820e-02 2.63894916e+02] [-7.77013473e-01 6.29259361e-01 1.68142760e-02 -9.32228045e+01] [-2.23023400e-02 -8.24986678e-04 -9.99750931e-01 -3.71911916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.01308152266568396 Centerline is valid? [True, True] Translation: X:263.81, Y:-93.29, Z:-3.72 [[-5.69905648e-01 -8.21593678e-01 1.38340578e-02 2.63813310e+02] [-8.21383969e-01 5.70073002e-01 1.85781484e-02 -9.32887089e+01] [-2.31501121e-02 -7.75281556e-04 -9.99731700e-01 -3.71934572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.014261867547019967 Centerline is valid? [True, True] Translation: X:263.74, Y:-93.36, Z:-3.72 [[-5.10960297e-01 -8.59513560e-01 1.24906279e-02 2.63741436e+02] [-8.59286478e-01 5.11112551e-01 1.97663625e-02 -9.33606612e+01] [-2.33735733e-02 -6.33201192e-04 -9.99726600e-01 -3.72093641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.015473402216076005 Centerline is valid? [True, True] Translation: X:263.67, Y:-93.44, Z:-3.72 [[-4.50251048e-01 -8.92832733e-01 1.11222507e-02 2.63672256e+02] [-8.92585115e-01 4.50388166e-01 2.10312183e-02 -9.34439404e+01] [-2.37866903e-02 -4.58227327e-04 -9.99716952e-01 -3.72341376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.01877406446994181 Centerline is valid? [True, True] Translation: X:263.61, Y:-93.54, Z:-3.73 [[-3.88942985e-01 -9.21212580e-01 9.52561134e-03 2.63611290e+02] [-9.20951289e-01 3.89059540e-01 2.19407779e-02 -9.35353047e+01] [-2.39181506e-02 -2.38912375e-04 -9.99713892e-01 -3.72556541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.018569766908810216 Centerline is valid? [True, True] Translation: X:263.55, Y:-93.63, Z:-3.73 [[-3.19231383e-01 -9.47644615e-01 7.81075046e-03 2.63548430e+02] [-9.47375301e-01 3.19326867e-01 2.25918288e-02 -9.36337937e+01] [-2.39032074e-02 -1.87691317e-04 -9.99714260e-01 -3.72782215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.019555105711849433 Centerline is valid? [True, True] Translation: X:263.49, Y:-93.74, Z:-3.73 [[-2.49382277e-01 -9.68383673e-01 6.44534455e-03 2.63494763e+02] [-9.68062963e-01 2.49465553e-01 2.49206439e-02 -9.37366317e+01] [-2.57406361e-02 -2.47324020e-05 -9.99668655e-01 -3.72872075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.02010947871410158 Centerline is valid? [True, True] Translation: X:263.45, Y:-93.85, Z:-3.73 [[-1.75732083e-01 -9.84427659e-01 4.51864269e-03 2.63447682e+02] [-9.84100135e-01 1.75790168e-01 2.53917679e-02 -9.38477771e+01] [-2.57906916e-02 1.53513917e-05 -9.99667365e-01 -3.73144692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.019834074390563144 Centerline is valid? [True, True] Translation: X:263.41, Y:-93.96, Z:-3.73 [[-9.91957781e-02 -9.95064571e-01 2.58771164e-03 2.63407475e+02] [-9.94719194e-01 9.92295215e-02 2.62150031e-02 -9.39641293e+01] [-2.63423982e-02 2.63711876e-05 -9.99652978e-01 -3.73283689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.019317271239410596 Centerline is valid? [True, True] Translation: X:263.38, Y:-94.08, Z:-3.73 [[-1.91314360e-02 -9.99816828e-01 5.47046637e-04 2.63376260e+02] [-9.99438776e-01 1.91392442e-02 2.74922391e-02 -9.40823427e+01] [-2.74976733e-02 -2.07736093e-05 -9.99621867e-01 -3.73416245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.018989924958549998 Centerline is valid? [True, True] Translation: X:263.35, Y:-94.21, Z:-3.74 [[ 6.16648733e-02 -9.98095865e-01 -1.44488875e-03 2.63354229e+02] [-9.97753495e-01 -6.16815636e-02 2.61409057e-02 -9.42056675e+01] [-2.61802529e-02 -1.70332836e-04 -9.99657224e-01 -3.73655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.016515025536636953 Centerline is valid? [True, True] Translation: X:263.34, Y:-94.33, Z:-3.74 [[ 1.42856383e-01 -9.89738226e-01 -3.20885503e-03 2.63338050e+02] [-9.89433695e-01 -1.42892031e-01 2.45525932e-02 -9.43287519e+01] [-2.47591598e-02 -3.32545376e-04 -9.99693390e-01 -3.74059340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.013951843200961343 Centerline is valid? [True, True] Translation: X:263.33, Y:-94.46, Z:-3.74 [[ 2.27268344e-01 -9.73820575e-01 -4.75271483e-03 2.63329808e+02] [-9.73551099e-01 -2.27317292e-01 2.29152046e-02 -9.44558564e+01] [-2.33956720e-02 -5.80889864e-04 -9.99726115e-01 -3.74371571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.012200312956119497 Centerline is valid? [True, True] Translation: X:263.33, Y:-94.58, Z:-3.75 [[ 3.10880098e-01 -9.50427562e-01 -6.40424514e-03 2.63330292e+02] [-9.50168413e-01 -3.10944977e-01 2.22083150e-02 -9.45809172e+01] [-2.30987625e-02 -8.19011692e-04 -9.99732853e-01 -3.74554612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.011971734625464867 Centerline is valid? [True, True] Translation: X:263.34, Y:-94.70, Z:-3.75 [[ 3.85849223e-01 -9.22525474e-01 -8.19312059e-03 2.63343243e+02] [-9.22265866e-01 -3.85935162e-01 2.19025862e-02 -9.46994705e+01] [-2.33677071e-02 -8.94860408e-04 -9.99726537e-01 -3.74665832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.01221612762360506 Centerline is valid? [True, True] Translation: X:263.36, Y:-94.83, Z:-3.75 [[ 4.64794796e-01 -8.85359208e-01 -1.02406640e-02 2.63362996e+02] [-8.85087134e-01 -4.64906171e-01 2.19776766e-02 -9.48255635e+01] [-2.42190862e-02 -1.15122978e-03 -9.99706012e-01 -3.74794034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.014539076323895261 Centerline is valid? [True, True] Translation: X:263.39, Y:-94.94, Z:-3.75 [[ 5.38783687e-01 -8.42364030e-01 -1.16180370e-02 2.63387510e+02] [-8.42110931e-01 -5.38907206e-01 2.06930706e-02 -9.49414672e+01] [-2.36921422e-02 -1.36541295e-03 -9.99718369e-01 -3.74846334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.014326345693509338 Centerline is valid? [True, True] Translation: X:263.42, Y:-95.04, Z:-3.75 [[ 6.04279582e-01 -7.96661431e-01 -1.32947771e-02 2.63422610e+02] [-7.96413419e-01 -6.04424062e-01 1.99303506e-02 -9.50425303e+01] [-2.39134248e-02 -1.45536506e-03 -9.99712974e-01 -3.75085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.014705321956791938 Centerline is valid? [True, True] Translation: X:263.47, Y:-95.14, Z:-3.75 [[ 6.63692488e-01 -7.47848923e-01 -1.53058892e-02 2.63467089e+02] [-7.47596568e-01 -6.63867286e-01 1.94832650e-02 -9.51423314e+01] [-2.47316179e-02 -1.48826638e-03 -9.99693019e-01 -3.75143591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.015013609780363793 Centerline is valid? [True, True] Translation: X:263.52, Y:-95.23, Z:-3.75 [[ 7.17316669e-01 -6.96518771e-01 -1.78437186e-02 2.63518756e+02] [-6.96250844e-01 -7.17537059e-01 1.93734439e-02 -9.52347626e+01] [-2.62974967e-02 -1.47319011e-03 -9.99653076e-01 -3.75104634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.013390993025589095 Centerline is valid? [True, True] Translation: X:263.58, Y:-95.32, Z:-3.75 [[ 7.65009194e-01 -6.43719354e-01 -1.96551814e-02 2.63577381e+02] [-6.43460533e-01 -7.65260452e-01 1.83025220e-02 -9.53155656e+01] [-2.68230207e-02 -1.35426412e-03 -9.99639281e-01 -3.75358773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.01241361302050229 Centerline is valid? [True, True] Translation: X:263.61, Y:-95.34, Z:-3.76 [[ 8.09236899e-01 -5.87154966e-01 -1.96134433e-02 2.63606112e+02] [-5.86946237e-01 -8.09473670e-01 1.57000585e-02 -9.53357654e+01] [-2.50949332e-02 -1.19302990e-03 -9.99684361e-01 -3.75577975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.011888699081038153 Centerline is valid? [True, True] Translation: X:263.64, Y:-95.35, Z:-3.76 [[ 8.48191142e-01 -5.29295266e-01 -2.04525940e-02 2.63637835e+02] [-5.29113344e-01 -8.48437132e-01 1.39105188e-02 -9.53520776e+01] [-2.47155119e-02 -9.77038436e-04 -9.99694048e-01 -3.75735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.011927635218283071 Centerline is valid? [True, True] Translation: X:263.67, Y:-95.37, Z:-3.76 [[ 8.85536379e-01 -4.64054626e-01 -2.18775180e-02 2.63665570e+02] [-4.63887806e-01 -8.85806129e-01 1.24741697e-02 -9.53737763e+01] [-2.51679357e-02 -8.97617184e-04 -9.99682834e-01 -3.75840446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.01316434902476411 Centerline is valid? [True, True] Translation: X:263.70, Y:-95.39, Z:-3.76 [[ 9.15103089e-01 -4.02499164e-01 -2.40989612e-02 2.63697493e+02] [-4.02341545e-01 -9.15420138e-01 1.12805638e-02 -9.53861686e+01] [-2.66010919e-02 -6.26865520e-04 -9.99645932e-01 -3.75809683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.015293023777486307 Centerline is valid? [True, True] Translation: X:263.73, Y:-95.40, Z:-3.76 [[ 9.41331357e-01 -3.36538017e-01 -2.52475689e-02 2.63728363e+02] [-3.36404925e-01 -9.41669785e-01 9.47330026e-03 -9.53961847e+01] [-2.69629984e-02 -4.24108072e-04 -9.99636342e-01 -3.75773947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.018760602144983162 Centerline is valid? [True, True] Translation: X:263.76, Y:-95.40, Z:-3.76 [[ 9.61827887e-01 -2.72420754e-01 -2.59624331e-02 2.63761901e+02] [-2.72318050e-01 -9.62178215e-01 7.48082313e-03 -9.53992237e+01] [-2.70184191e-02 -1.25225149e-04 -9.99634928e-01 -3.75906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.020177900213802953 Centerline is valid? [True, True] Translation: X:263.79, Y:-95.41, Z:-3.76 [[ 9.78530517e-01 -2.04465447e-01 -2.59211785e-02 2.63789444e+02] [-2.04395920e-01 -9.78873779e-01 5.33229502e-03 -9.54063019e+01] [-2.64638320e-02 8.03697254e-05 -9.99649768e-01 -3.76104151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.019439090612005286 Centerline is valid? [True, True] Translation: X:263.82, Y:-95.42, Z:-3.76 [[ 9.91437168e-01 -1.28105895e-01 -2.53223649e-02 2.63816455e+02] [-1.28065913e-01 -9.91760493e-01 3.20109540e-03 -9.54197499e+01] [-2.55238003e-02 6.92468192e-05 -9.99674212e-01 -3.76274387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.019520349810924445 Centerline is valid? [True, True] Translation: X:263.84, Y:-95.43, Z:-3.76 [[ 9.98552149e-01 -4.79981580e-02 -2.42854447e-02 2.63844108e+02] [-4.79833161e-02 -9.98847424e-01 1.19384290e-03 -9.54300364e+01] [-2.43147561e-02 -2.68182196e-05 -9.99704352e-01 -3.76431742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.018741472685645185 Centerline is valid? [True, True] Translation: X:263.87, Y:-95.44, Z:-3.77 [[ 9.99091129e-01 3.49524533e-02 -2.43975715e-02 2.63872536e+02] [ 3.49452774e-02 -9.99388968e-01 -7.20545910e-04 -9.54389225e+01] [-2.44078487e-02 -1.32688877e-04 -9.99702075e-01 -3.76568749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.016552976419727913 Centerline is valid? [True, True] Translation: X:263.90, Y:-95.45, Z:-3.77 [[ 9.92498242e-01 1.19632441e-01 -2.52055390e-02 2.63902247e+02] [ 1.19600668e-01 -9.92818215e-01 -2.76978511e-03 -9.54498998e+01] [-2.53558744e-02 -2.65592451e-04 -9.99678453e-01 -3.76503443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.015284825791830044 Centerline is valid? [True, True] Translation: X:263.93, Y:-95.46, Z:-3.77 [[ 9.78789767e-01 2.03521855e-01 -2.34402805e-02 2.63931720e+02] [ 2.03474789e-01 -9.79070294e-01 -4.40103298e-03 -9.54556560e+01] [-2.38453887e-02 -4.61820076e-04 -9.99715552e-01 -3.76720377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.013857145142315199 Centerline is valid? [True, True] Translation: X:263.96, Y:-95.46, Z:-3.77 [[ 9.58680358e-01 2.83529673e-01 -2.33001349e-02 2.63963827e+02] [ 2.83459923e-01 -9.58963304e-01 -6.31289922e-03 -9.54611648e+01] [-2.41338686e-02 -5.52601965e-04 -9.99708583e-01 -3.76761448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.013083940340510934 Centerline is valid? [True, True] Translation: X:264.00, Y:-95.46, Z:-3.77 [[ 9.32107664e-01 3.61437945e-01 -2.31929798e-02 2.63995212e+02] [ 3.61343076e-01 -9.32395948e-01 -8.30531850e-03 -9.54614024e+01] [-2.46268976e-02 -6.39171621e-04 -9.99696508e-01 -3.76781922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.01252495471858619 Centerline is valid? [True, True] Translation: X:264.03, Y:-95.46, Z:-3.77 [[ 9.00174242e-01 4.35030870e-01 -2.08440987e-02 2.64027243e+02] [ 4.34932169e-01 -9.00415266e-01 -9.29287463e-03 -9.54597016e+01] [-2.28110320e-02 -7.00562686e-04 -9.99739549e-01 -3.77038231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.012438311757108522 Centerline is valid? [True, True] Translation: X:264.06, Y:-95.45, Z:-3.77 [[ 8.63153557e-01 5.04563399e-01 -1.95374685e-02 2.64058862e+02] [ 5.04452702e-01 -8.63374350e-01 -1.05926203e-02 -9.54536737e+01] [-2.22127977e-02 -7.12670872e-04 -9.99753011e-01 -3.77130130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.012357001244295795 Centerline is valid? [True, True] Translation: X:264.09, Y:-95.45, Z:-3.77 [[ 8.20840124e-01 5.70869942e-01 -1.81383480e-02 2.64089590e+02] [ 5.70749843e-01 -8.21040186e-01 -1.17315402e-02 -9.54452031e+01] [-2.15894963e-02 -7.22740404e-04 -9.99766658e-01 -3.77208083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.012272940254267502 Centerline is valid? [True, True] Translation: X:264.12, Y:-95.43, Z:-3.77 [[ 7.73265051e-01 6.33860355e-01 -1.67991586e-02 2.64118922e+02] [ 6.33731239e-01 -7.73447159e-01 -1.28144317e-02 -9.54333446e+01] [-2.11158217e-02 -7.37199413e-04 -9.99776764e-01 -3.77386132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.01239246376188401 Centerline is valid? [True, True] Translation: X:264.15, Y:-95.42, Z:-3.77 [[ 7.20276273e-01 6.93488516e-01 -1.66062980e-02 2.64146346e+02] [ 6.93328062e-01 -7.20467284e-01 -1.49362397e-02 -9.54199032e+01] [-2.23224052e-02 -7.55393374e-04 -9.99750539e-01 -3.77207579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.01203492101451293 Centerline is valid? [True, True] Translation: X:264.17, Y:-95.40, Z:-3.77 [[ 6.63086905e-01 7.48375819e-01 -1.57920871e-02 2.64174900e+02] [ 7.48190759e-01 -6.63274485e-01 -1.66597181e-02 -9.54045192e+01] [-2.29422186e-02 -7.68652681e-04 -9.99736497e-01 -3.77306913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.012124734269262975 Centerline is valid? [True, True] Translation: X:264.20, Y:-95.39, Z:-3.77 [[ 6.02019836e-01 7.98349316e-01 -1.45081976e-02 2.64200105e+02] [ 7.98148035e-01 -6.02194126e-01 -1.79429508e-02 -9.53856471e+01] [-2.30614939e-02 -7.77677126e-04 -9.99733746e-01 -3.77462883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.012034827546735485 Centerline is valid? [True, True] Translation: X:264.22, Y:-95.37, Z:-3.78 [[ 5.37883950e-01 8.42926191e-01 -1.25016887e-02 2.64224223e+02] [ 8.42731249e-01 -5.38028655e-01 -1.81441113e-02 -9.53658645e+01] [-2.20204134e-02 -7.76137456e-04 -9.99757220e-01 -3.77622290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.012420312554838168 Centerline is valid? [True, True] Translation: X:264.24, Y:-95.34, Z:-3.77 [[ 4.71362037e-01 8.81862961e-01 -1.16424940e-02 2.64244025e+02] [ 8.81631544e-01 -4.71505224e-01 -2.02149319e-02 -9.53441732e+01] [-2.33162964e-02 -7.35838513e-04 -9.99727867e-01 -3.77481831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.012715656705177294 Centerline is valid? [True, True] Translation: X:264.26, Y:-95.32, Z:-3.78 [[ 4.03893734e-01 9.14752772e-01 -9.85990810e-03 2.64260066e+02] [ 9.14519004e-01 -4.04013526e-01 -2.06896657e-02 -9.53191102e+01] [-2.29094653e-02 -6.60647019e-04 -9.99737325e-01 -3.77738133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.01289318198372903 Centerline is valid? [True, True] Translation: X:264.28, Y:-95.29, Z:-3.78 [[ 3.31729266e-01 9.43338709e-01 -8.23250149e-03 2.64277284e+02] [ 9.43094426e-01 -3.31830787e-01 -2.14763219e-02 -9.52945240e+01] [-2.29912432e-02 -6.39701767e-04 -9.99735462e-01 -3.77761658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.013176591455046401 Centerline is valid? [True, True] Translation: X:264.29, Y:-95.27, Z:-3.78 [[ 2.57778612e-01 9.66182177e-01 -6.49523511e-03 2.64291265e+02] [ 9.65932976e-01 -2.57859695e-01 -2.19513974e-02 -9.52685820e+01] [-2.28839083e-02 -6.15361010e-04 -9.99737940e-01 -3.77812286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.013176591455046401 Centerline is valid? [True, True] Translation: X:264.30, Y:-95.24, Z:-3.78 [[ 1.81309516e-01 9.83414627e-01 -4.74656797e-03 2.64304564e+02] [ 9.83160615e-01 -1.81370601e-01 -2.23586690e-02 -9.52424603e+01] [-2.28487300e-02 -6.12799235e-04 -9.99738746e-01 -3.77877084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.014190822029455881 Centerline is valid? [True, True] Translation: X:264.31, Y:-95.22, Z:-3.78 [[ 1.05983471e-01 9.94363486e-01 -2.96005099e-03 2.64310293e+02] [ 9.94109765e-01 -1.06023313e-01 -2.24684864e-02 -9.52159400e+01] [-2.26556768e-02 -5.61327414e-04 -9.99743170e-01 -3.77891042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.014541386479361679 Centerline is valid? [True, True] Translation: X:264.32, Y:-95.19, Z:-3.78 [[ 3.19889210e-02 9.99487515e-01 -1.19028684e-03 2.64317079e+02] [ 9.99227338e-01 -3.20077566e-02 -2.28085775e-02 -9.51881982e+01] [-2.28349869e-02 -4.59745368e-04 -9.99739142e-01 -3.77983162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.01498551657596629 Centerline is valid? [True, True] Translation: X:264.32, Y:-95.16, Z:-3.78 [[-4.37435201e-02 9.99042605e-01 6.14942032e-04 2.64323023e+02] [ 9.98777508e-01 4.37460802e-02 -2.30167337e-02 -9.51600512e+01] [-2.30215989e-02 -3.92642684e-04 -9.99734891e-01 -3.78043822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.016149611297956296 Centerline is valid? [True, True] Translation: X:264.32, Y:-95.13, Z:-3.78 [[-1.18976574e-01 9.92894124e-01 2.41512546e-03 2.64324003e+02] [ 9.92630591e-01 1.19000641e-01 -2.28769856e-02 -9.51335645e+01] [-2.30018261e-02 -3.24497950e-04 -9.99735370e-01 -3.78076401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.016445176169706335 Centerline is valid? [True, True] Translation: X:264.32, Y:-95.11, Z:-3.78 [[-1.96228377e-01 9.80549668e-01 4.09536934e-03 2.64324562e+02] [ 9.80299638e-01 1.96270830e-01 -2.21445544e-02 -9.51060579e+01] [-2.25176370e-02 -3.30700881e-04 -9.99746391e-01 -3.78176340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.015201780235901591 Centerline is valid? [True, True] Translation: X:264.33, Y:-95.08, Z:-3.78 [[-2.75134296e-01 9.61390161e-01 5.48432348e-03 2.64327124e+02] [ 9.61167987e-01 2.75188636e-01 -2.06715938e-02 -9.50766515e+01] [-2.13826903e-02 -4.16108238e-04 -9.99771278e-01 -3.78344074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.013990041467416206 Centerline is valid? [True, True] Translation: X:264.33, Y:-95.05, Z:-3.79 [[-3.52749289e-01 9.35694556e-01 6.60589079e-03 2.64329874e+02] [ 9.35502517e-01 3.52810770e-01 -1.89631521e-02 -9.50457923e+01] [-2.00743475e-02 -5.09410947e-04 -9.99798360e-01 -3.78510162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.01309442280148315 Centerline is valid? [True, True] Translation: X:264.33, Y:-95.02, Z:-3.79 [[-4.30740147e-01 9.02442122e-01 7.81933079e-03 2.64328528e+02] [ 9.02265406e-01 4.30810636e-01 -1.78699064e-02 -9.50167549e+01] [-1.94952071e-02 -6.42174426e-04 -9.99809744e-01 -3.78526722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.012252474152745808 Centerline is valid? [True, True] Translation: X:264.32, Y:-94.99, Z:-3.78 [[-5.06605070e-01 8.62124673e-01 9.60991647e-03 2.64324145e+02] [ 8.61939260e-01 5.06695603e-01 -1.78963018e-02 -9.49886606e+01] [-2.02981457e-02 -7.83192919e-04 -9.99793665e-01 -3.78369301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.01243289346655227 Centerline is valid? [True, True] Translation: X:264.32, Y:-94.96, Z:-3.78 [[-5.80912110e-01 8.13882665e-01 1.16674115e-02 2.64317583e+02] [ 8.13682980e-01 5.81028414e-01 -1.80552196e-02 -9.49591339e+01] [-2.14739278e-02 -9.94921551e-04 -9.99768914e-01 -3.78321497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.013113923556063698 Centerline is valid? [True, True] Translation: X:264.31, Y:-94.93, Z:-3.78 [[-6.48282813e-01 7.61291899e-01 1.28077552e-02 2.64309242e+02] [ 7.61107500e-01 6.48408318e-01 -1.67936426e-02 -9.49288570e+01] [-2.10895191e-02 -1.13895132e-03 -9.99776943e-01 -3.78489688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.015095506485102514 Centerline is valid? [True, True] Translation: X:264.30, Y:-94.90, Z:-3.79 [[-7.11595405e-01 7.02456941e-01 1.36464986e-02 2.64297613e+02] [ 7.02291826e-01 7.11725071e-01 -1.52844618e-02 -9.48989790e+01] [-2.04492315e-02 -1.29252838e-03 -9.99790057e-01 -3.78603115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.015497272674383356 Centerline is valid? [True, True] Translation: X:264.28, Y:-94.87, Z:-3.79 [[-7.65810263e-01 6.42908097e-01 1.42765292e-02 2.64280922e+02] [ 6.42763392e-01 7.65942192e-01 -1.37032943e-02 -9.48736447e+01] [-1.97449550e-02 -1.31769311e-03 -9.99804181e-01 -3.78748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.015750666477727913 Centerline is valid? [True, True] Translation: X:264.29, Y:-94.85, Z:-3.79 [[-8.10044090e-01 5.86204425e-01 1.38904701e-02 2.64291336e+02] [ 5.86091950e-01 8.10162270e-01 -1.15465562e-02 -9.48504384e+01] [-1.80221771e-02 -1.21212693e-03 -9.99836853e-01 -3.78919960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.016328931706991845 Centerline is valid? [True, True] Translation: X:264.31, Y:-94.83, Z:-3.79 [[-8.49651116e-01 5.27104381e-01 1.59359199e-02 2.64311092e+02] [ 5.26983448e-01 8.49799623e-01 -1.13598450e-02 -9.48332213e+01] [-1.95301628e-02 -1.25393898e-03 -9.99808482e-01 -3.78810770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.016104278438744207 Centerline is valid? [True, True] Translation: X:264.69, Y:-94.28, Z:-4.77 [[-7.82812109e-01 -6.22258114e-01 -2.04802584e-04 2.64690312e+02] [ 6.22258146e-01 -7.82812039e-01 -3.35071515e-04 -9.42816692e+01] [ 4.81790400e-05 -3.89738115e-04 9.99999923e-01 -4.77167356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.016525027213365392 Centerline is valid? [True, True] Translation: X:264.27, Y:-94.81, Z:-3.79 [[-8.50833878e-01 5.25114938e-01 1.83306654e-02 2.64272609e+02] [ 5.24959743e-01 8.51030332e-01 -1.28312938e-02 -9.48137913e+01] [-2.23378564e-02 -1.29443807e-03 -9.99749641e-01 -3.78500050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.014780666397592568 Centerline is valid? [True, True] Translation: X:264.66, Y:-94.25, Z:-4.77 [[-7.88897148e-01 -6.14523594e-01 -1.42920609e-03 2.64662396e+02] [ 6.14523714e-01 -7.88898245e-01 4.05150731e-04 -9.42518780e+01] [-1.37647286e-03 -5.58658780e-04 9.99998897e-01 -4.77093585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.013019546787851189 Centerline is valid? [True, True] Translation: X:264.23, Y:-94.81, Z:-3.79 [[-8.45881357e-01 5.33160329e-01 1.49931125e-02 2.64233326e+02] [ 5.33056205e-01 8.46013681e-01 -1.05799372e-02 -9.48124664e+01] [-1.83251810e-02 -9.57199985e-04 -9.99831622e-01 -3.79129462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.012688174087386801 Centerline is valid? [True, True] Translation: X:264.64, Y:-94.22, Z:-4.77 [[-7.98006712e-01 -6.02642089e-01 -2.79277746e-03 2.64639060e+02] [ 6.02640369e-01 -7.98011459e-01 1.51586350e-03 -9.42228278e+01] [-3.14219156e-03 -4.73371193e-04 9.99994951e-01 -4.76755302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.01285340237739122 Centerline is valid? [True, True] Translation: X:264.20, Y:-94.79, Z:-3.79 [[-8.46103898e-01 5.32700796e-01 1.83862712e-02 2.64201325e+02] [ 5.32550890e-01 8.46303136e-01 -1.26708711e-02 -9.47912379e+01] [-2.23101422e-02 -9.29248347e-04 -9.99750666e-01 -3.78830578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.012873642220858877 Centerline is valid? [True, True] Translation: X:264.60, Y:-94.20, Z:-4.77 [[-8.00939725e-01 -5.98744872e-01 3.66632172e-04 2.64597660e+02] [ 5.98744433e-01 -8.00939669e-01 -8.66436923e-04 -9.42020747e+01] [ 8.12424915e-04 -4.74444779e-04 9.99999557e-01 -4.77152154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.012612733506363192 Centerline is valid? [True, True] Translation: X:264.16, Y:-94.77, Z:-3.79 [[-8.46046961e-01 5.32799702e-01 1.81388628e-02 2.64163309e+02] [ 5.32655662e-01 8.46240962e-01 -1.24169085e-02 -9.47687251e+01] [-2.19655739e-02 -8.43519739e-04 -9.99758372e-01 -3.79198467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.012522600512596823 Centerline is valid? [True, True] Translation: X:264.18, Y:-94.75, Z:-3.79 [[-8.79635264e-01 4.75286037e-01 1.85737766e-02 2.64184076e+02] [ 4.75161985e-01 8.79831019e-01 -1.08842129e-02 -9.47481007e+01] [-2.15148992e-02 -7.48584932e-04 -9.99768248e-01 -3.79231072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.012466254534075523 Centerline is valid? [True, True] Translation: X:264.19, Y:-94.72, Z:-3.79 [[-9.10558084e-01 4.12930972e-01 1.92870002e-02 2.64193432e+02] [ 4.12821494e-01 9.10762040e-01 -9.53522925e-03 -9.47213478e+01] [-2.15032592e-02 -7.20291827e-04 -9.99768519e-01 -3.79440314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.012493875380006797 Centerline is valid? [True, True] Translation: X:264.50, Y:-94.09, Z:-4.77 [[-8.83269439e-01 -4.68865749e-01 -8.23416058e-05 2.64502609e+02] [ 4.68865721e-01 -8.83269291e-01 -5.42618577e-04 -9.40910619e+01] [ 1.81685454e-04 -5.17885563e-04 9.99999849e-01 -4.76594172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.012487927851372626 Centerline is valid? [True, True] Translation: X:264.16, Y:-94.70, Z:-3.80 [[-9.10864204e-01 4.12271202e-01 1.89435381e-02 2.64157930e+02] [ 4.12166953e-01 9.11060933e-01 -9.29404444e-03 -9.47015100e+01] [-2.10903844e-02 -6.57712005e-04 -9.99777357e-01 -3.79748855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.012658685706901826 Centerline is valid? [True, True] Translation: X:264.18, Y:-94.68, Z:-3.80 [[-9.37064699e-01 3.48631153e-01 1.91329601e-02 2.64175376e+02] [ 3.48545060e-01 9.37259805e-01 -7.77165201e-03 -9.46776204e+01] [-2.06419945e-02 -6.13842020e-04 -9.99786743e-01 -3.79827706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.012742855353832773 Centerline is valid? [True, True] Translation: X:264.18, Y:-94.65, Z:-3.80 [[-9.59197755e-01 2.81897181e-01 2.17634058e-02 2.64182225e+02] [ 2.81810820e-01 9.59444443e-01 -7.00156421e-03 -9.46485930e+01] [-2.28545000e-02 -5.82721447e-04 -9.99738632e-01 -3.79783083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.012914149447603798 Centerline is valid? [True, True] Translation: X:264.19, Y:-94.62, Z:-3.80 [[-9.76700885e-01 2.13364837e-01 2.30396734e-02 2.64190571e+02] [ 2.13291652e-01 9.76972425e-01 -5.61713100e-03 -9.46216367e+01] [-2.37076238e-02 -5.72086817e-04 -9.99718771e-01 -3.79747738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.012948114738542987 Centerline is valid? [True, True] Translation: X:264.20, Y:-94.59, Z:-3.80 [[-9.89379854e-01 1.43515401e-01 2.30398434e-02 2.64195007e+02] [ 1.43462959e-01 9.89647917e-01 -3.92174782e-03 -9.45945144e+01] [-2.33641643e-02 -5.74734165e-04 -9.99726855e-01 -3.79823434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.01277974688338145 Centerline is valid? [True, True] Translation: X:264.30, Y:-93.92, Z:-4.76 [[-9.80841250e-01 -1.94808706e-01 1.00288102e-04 2.64299985e+02] [ 1.94808577e-01 -9.80840990e-01 -7.55219747e-04 -9.39234456e+01] [ 2.45490062e-04 -7.21213699e-04 9.99999710e-01 -4.76366592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.012702728767106963 Centerline is valid? [True, True] Translation: X:264.14, Y:-94.58, Z:-3.80 [[-9.90231311e-01 1.37425643e-01 2.35826778e-02 2.64144185e+02] [ 1.37371679e-01 9.90511890e-01 -3.90095883e-03 -9.45783038e+01] [-2.38950145e-02 -6.23259531e-04 -9.99714279e-01 -3.79986178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.012647949888120503 Centerline is valid? [True, True] Translation: X:264.14, Y:-94.54, Z:-3.80 [[-9.97824833e-01 5.96100582e-02 2.81468339e-02 2.64139356e+02] [ 5.95637866e-02 9.98221420e-01 -2.48026131e-03 -9.45416252e+01] [-2.82446211e-02 -7.98334317e-04 -9.99600722e-01 -3.79603391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.012647949888120503 Centerline is valid? [True, True] Translation: X:264.19, Y:-93.90, Z:-4.77 [[-9.91443390e-01 -1.30341349e-01 7.15104364e-03 2.64190659e+02] [ 1.30333605e-01 -9.91469000e-01 -1.54045507e-03 -9.38994053e+01] [ 7.29082308e-03 -5.95252698e-04 9.99973244e-01 -4.77125729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:264.08, Y:-94.54, Z:-3.80 [[-9.98071089e-01 5.48769865e-02 2.90278675e-02 2.64078317e+02] [ 5.48298879e-02 9.98492786e-01 -2.41661580e-03 -9.45387293e+01] [-2.91167329e-02 -8.20359640e-04 -9.99575681e-01 -3.79682753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:264.07, Y:-94.51, Z:-3.80 [[-9.99444705e-01 -1.62322648e-02 2.90997407e-02 2.64074385e+02] [-1.62491005e-02 9.99867916e-01 -3.42157192e-04 -9.45120455e+01] [-2.90903431e-02 -8.14811804e-04 -9.99576454e-01 -3.79713675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.012725093356251924 Centerline is valid? [True, True] Translation: X:264.08, Y:-93.87, Z:-4.77 [[-9.98280515e-01 -5.78053427e-02 9.72397982e-03 2.64080511e+02] [ 5.77973956e-02 -9.98327731e-01 -1.09654542e-03 -9.38661994e+01] [ 9.77110489e-03 -5.32639222e-04 9.99952120e-01 -4.77222155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.013292965640534195 Centerline is valid? [True, True] Translation: X:264.01, Y:-94.52, Z:-3.80 [[-9.99071321e-01 -2.41993963e-02 3.56494754e-02 2.64009786e+02] [-2.42181815e-02 9.99706692e-01 -9.51525434e-05 -9.45170161e+01] [-3.56367165e-02 -9.58429641e-04 -9.99364351e-01 -3.79539442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.014944371124244743 Centerline is valid? [True, True] Translation: X:264.00, Y:-93.86, Z:-4.78 [[-9.98122037e-01 -5.84295603e-02 1.83952755e-02 2.64004249e+02] [ 5.84135789e-02 -9.98291480e-01 -1.40535183e-03 -9.38640945e+01] [ 1.84459609e-02 -3.28178750e-04 9.99829805e-01 -4.78093176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.015719162661192207 Centerline is valid? [True, True] Translation: X:263.94, Y:-94.52, Z:-3.80 [[-9.98473821e-01 -4.26357298e-02 3.51030474e-02 2.63935170e+02] [-4.26601181e-02 9.99089641e-01 5.42646152e-05 -9.45189195e+01] [-3.50734046e-02 -1.44331835e-03 -9.99383697e-01 -3.79894827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.016502040305711105 Centerline is valid? [True, True] Translation: X:263.93, Y:-93.87, Z:-4.77 [[-9.97404972e-01 -7.09987116e-02 1.19375520e-02 2.63926694e+02] [ 7.09855843e-02 -9.97476183e-01 -1.52033901e-03 -9.38674133e+01] [ 1.20153659e-02 -6.68999581e-04 9.99927589e-01 -4.76885847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.02070482258471703 Centerline is valid? [True, True] Translation: X:263.87, Y:-94.51, Z:-3.80 [[-9.97749697e-01 -5.95500823e-02 3.08111938e-02 2.63865479e+02] [-5.95753736e-02 9.98223805e-01 9.73250983e-05 -9.45109729e+01] [-3.07622629e-02 -1.73848230e-03 -9.99525218e-01 -3.80367569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.021418138804267118 Centerline is valid? [True, True] Translation: X:263.86, Y:-93.88, Z:-4.77 [[-9.96930157e-01 -7.79283750e-02 7.57822417e-03 2.63858423e+02] [ 7.79212046e-02 -9.96958753e-01 -1.23733088e-03 -9.38774780e+01] [ 7.65160010e-03 -6.43028109e-04 9.99970519e-01 -4.76559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.024492499361567895 Centerline is valid? [True, True] Translation: X:263.80, Y:-94.51, Z:-3.81 [[-9.96798070e-01 -7.56675775e-02 2.58462038e-02 2.63800506e+02] [-7.56908702e-02 9.97131328e-01 7.73319645e-05 -9.45062395e+01] [-2.57779110e-02 -1.87923730e-03 -9.99665928e-01 -3.81157112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.02417055962946116 Centerline is valid? [True, True] Translation: X:263.79, Y:-93.89, Z:-4.76 [[-9.96623844e-01 -8.18860007e-02 5.96628734e-03 2.63791956e+02] [ 8.18825980e-02 -9.96641651e-01 -8.12781215e-04 -9.38864383e+01] [ 6.01280587e-03 -3.21502030e-04 9.99981871e-01 -4.76471870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.02279120182054616 Centerline is valid? [True, True] Translation: X:263.74, Y:-94.51, Z:-3.81 [[-9.96692875e-01 -7.71512522e-02 2.55146430e-02 2.63740464e+02] [-7.71717563e-02 9.97017797e-01 1.81536786e-04 -9.45136991e+01] [-2.54525589e-02 -1.78807339e-03 -9.99674432e-01 -3.81176891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.019766210119881607 Centerline is valid? [True, True] Translation: X:263.74, Y:-93.87, Z:-4.76 [[-9.97884526e-01 -6.49978246e-02 1.32503718e-03 2.63735930e+02] [ 6.49969575e-02 -9.97885225e-01 -6.87392968e-04 -9.38746073e+01] [ 1.36691408e-03 -5.99815420e-04 9.99998886e-01 -4.76197408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.011932374603640657 Centerline is valid? [True, True] Translation: X:263.67, Y:-94.56, Z:-3.81 [[-9.99072511e-01 -3.78055928e-02 2.06120213e-02 2.63674895e+02] [-3.78111740e-02 9.99284895e-01 1.19022462e-04 -9.45571948e+01] [-2.06017813e-02 -6.60452654e-04 -9.99787543e-01 -3.80634138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:263.66, Y:-93.85, Z:-4.77 [[-9.99780712e-01 -2.09293090e-02 7.02020355e-04 2.63658298e+02] [ 2.09289096e-02 -9.99780803e-01 -5.71458504e-04 -9.38450280e+01] [ 7.13826706e-04 -5.56640669e-04 9.99999590e-01 -4.77225558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:263.60, Y:-94.56, Z:-3.81 [[-9.98875852e-01 -4.25483666e-02 2.08966402e-02 2.63597692e+02] [-4.25523956e-02 9.99094205e-01 2.52006491e-04 -9.45606286e+01] [-2.08884346e-02 -6.37478902e-04 -9.99781610e-01 -3.80645286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.012151709866976947 Centerline is valid? [True, True] Translation: X:263.58, Y:-93.85, Z:-4.77 [[-9.99878802e-01 -1.55214853e-02 1.21029529e-03 2.63580562e+02] [ 1.55207882e-02 -9.99879375e-01 -5.83304283e-04 -9.38478017e+01] [ 1.21920305e-03 -5.64448851e-04 9.99999097e-01 -4.77415906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:263.52, Y:-94.56, Z:-3.81 [[-9.98657656e-01 -4.73401372e-02 2.10189694e-02 2.63522360e+02] [-4.73428248e-02 9.98878631e-01 3.69997829e-04 -9.45645215e+01] [-2.10129152e-02 -6.25596223e-04 -9.99779009e-01 -3.80622214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:263.50, Y:-93.85, Z:-4.77 [[-9.99948180e-01 -1.01350907e-02 9.57781252e-04 2.63497716e+02] [ 1.01345142e-02 -9.99948462e-01 -6.04780231e-04 -9.38518132e+01] [ 9.63861391e-04 -5.95042244e-04 9.99999358e-01 -4.77488025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:263.44, Y:-94.57, Z:-3.81 [[-9.98396673e-01 -5.25757433e-02 2.09732088e-02 2.63442111e+02] [-5.25772382e-02 9.98616745e-01 4.80515403e-04 -9.45686454e+01] [-2.09694610e-02 -6.22968418e-04 -9.99779923e-01 -3.80706352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.011858890942003871 Centerline is valid? [True, True] Translation: X:263.41, Y:-93.86, Z:-4.78 [[-9.99988036e-01 -4.83393648e-03 7.49326285e-04 2.63413387e+02] [ 4.83347870e-03 -9.99988132e-01 -6.11531335e-04 -9.38557789e+01] [ 7.52273495e-04 -6.07902166e-04 9.99999532e-01 -4.77612672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.011785227868055803 Centerline is valid? [True, True] Translation: X:263.36, Y:-94.57, Z:-3.81 [[-9.98055649e-01 -5.88865224e-02 2.04279205e-02 2.63359501e+02] [-5.88873939e-02 9.98264475e-01 5.59397511e-04 -9.45741200e+01] [-2.04254083e-02 -6.44637156e-04 -9.99791172e-01 -3.80708638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.01157997938755314 Centerline is valid? [True, True] Translation: X:263.33, Y:-93.86, Z:-4.78 [[-9.99995073e-01 -2.97521760e-03 -1.00124399e-03 2.63327401e+02] [ 2.97594761e-03 -9.99995307e-01 -7.28401716e-04 -9.38605311e+01] [-9.99072142e-04 -7.31377777e-04 9.99999233e-01 -4.77719835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.0116626698680202 Centerline is valid? [True, True] Translation: X:263.28, Y:-94.57, Z:-3.81 [[-9.97146121e-01 -7.42467560e-02 1.36759889e-02 2.63284481e+02] [-7.42508615e-02 9.97239573e-01 2.08010936e-04 -9.45718080e+01] [-1.36536815e-02 -8.08036660e-04 -9.99906458e-01 -3.81104302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.01240945002180164 Centerline is valid? [True, True] Translation: X:263.25, Y:-93.88, Z:-4.77 [[-9.99891861e-01 -1.25882999e-02 -7.60263371e-03 2.63247890e+02] [ 1.25944161e-02 -9.99920401e-01 -7.57147648e-04 -9.38758530e+01] [-7.59249735e-03 -8.52816504e-04 9.99970813e-01 -4.77451842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.013919938381165892 Centerline is valid? [True, True] Translation: X:263.21, Y:-94.57, Z:-3.81 [[-9.95830375e-01 -9.04883696e-02 1.15637344e-02 2.63211218e+02] [-9.04930067e-02 9.95897083e-01 1.22677495e-04 -9.45686678e+01] [-1.15273903e-02 -9.24271121e-04 -9.99933130e-01 -3.81149694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.014295069729336555 Centerline is valid? [True, True] Translation: X:263.17, Y:-93.89, Z:-4.78 [[-9.99851828e-01 -1.53719584e-02 -7.74756146e-03 2.63171538e+02] [ 1.53771142e-02 -9.99881581e-01 -6.06341490e-04 -9.38858907e+01] [-7.73732334e-03 -7.25386785e-04 9.99969803e-01 -4.77670805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.014522691769376343 Centerline is valid? [True, True] Translation: X:263.14, Y:-94.57, Z:-3.81 [[-9.95151673e-01 -9.74832332e-02 1.30448208e-02 2.63137512e+02] [-9.74877086e-02 9.95236686e-01 2.93881952e-04 -9.45726700e+01] [-1.30113328e-02 -9.79252573e-04 -9.99914870e-01 -3.81016382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.013785463460727577 Centerline is valid? [True, True] Translation: X:263.10, Y:-93.89, Z:-4.78 [[-9.99944262e-01 -8.77131541e-03 -5.87673004e-03 2.63095102e+02] [ 8.77473003e-03 -9.99961347e-01 -5.55508405e-04 -9.38889476e+01] [-5.87163035e-03 -6.07044162e-04 9.99982578e-01 -4.77995523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.012050833753349718 Centerline is valid? [True, True] Translation: X:263.06, Y:-94.59, Z:-3.81 [[-9.95549182e-01 -9.31155116e-02 1.45371443e-02 2.63058583e+02] [-9.31183038e-02 9.95654933e-01 4.86152155e-04 -9.45903555e+01] [-1.45192477e-02 -8.69685839e-04 -9.99894212e-01 -3.80910183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.01126687828294131 Centerline is valid? [True, True] Translation: X:263.02, Y:-93.88, Z:-4.78 [[-9.99914374e-01 1.21350229e-02 -4.89749394e-03 2.63017437e+02] [-1.21325358e-02 -9.99926254e-01 -5.37209344e-04 -9.38794704e+01] [-4.90365181e-03 -4.77744324e-04 9.99987863e-01 -4.78205392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.011400820466221432 Centerline is valid? [True, True] Translation: X:262.98, Y:-94.61, Z:-3.81 [[-9.96391185e-01 -8.40118544e-02 1.21084955e-02 2.62977504e+02] [-8.40136844e-02 9.96464536e-01 3.58344723e-04 -9.46080979e+01] [-1.20957916e-02 -6.60227800e-04 -9.99926625e-01 -3.81089532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.011595082664259404 Centerline is valid? [True, True] Translation: X:262.97, Y:-94.58, Z:-3.81 [[-9.88226721e-01 -1.52526984e-01 1.19777938e-02 2.62969937e+02] [-1.52523257e-01 9.88299117e-01 1.22945929e-03 -9.45837717e+01] [-1.20251687e-02 -6.11907594e-04 -9.99927508e-01 -3.81176957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.011591621852216738 Centerline is valid? [True, True] Translation: X:262.86, Y:-93.86, Z:-4.78 [[-9.95156916e-01 9.80821117e-02 -6.52776608e-03 2.62862416e+02] [-9.80765486e-02 -9.95178189e-01 -1.16772031e-03 -9.38618501e+01] [-6.61082289e-03 -5.21844172e-04 9.99978012e-01 -4.78154394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.011403329897323022 Centerline is valid? [True, True] Translation: X:262.87, Y:-94.60, Z:-3.81 [[-9.86763971e-01 -1.61589238e-01 1.36302311e-02 2.62865796e+02] [-1.61583041e-01 9.86857883e-01 1.56201691e-03 -9.45960723e+01] [-1.37035061e-02 -6.61072173e-04 -9.99905884e-01 -3.81110807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.011374279996982789 Centerline is valid? [True, True] Translation: X:262.85, Y:-94.56, Z:-3.81 [[-9.71603151e-01 -2.36267465e-01 1.28453301e-02 2.62851008e+02] [-2.36256316e-01 9.71687806e-01 2.40033722e-03 -9.45642461e+01] [-1.30487722e-02 -7.02615147e-04 -9.99914614e-01 -3.81106076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.01139219901510711 Centerline is valid? [True, True] Translation: X:262.82, Y:-94.54, Z:-3.81 [[-9.51328844e-01 -3.07939305e-01 1.21167187e-02 2.62824188e+02] [-3.07924111e-01 9.51405718e-01 3.14660162e-03 -9.45397301e+01] [-1.24968778e-02 -7.37576969e-04 -9.99921639e-01 -3.81199977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.011660244150676432 Centerline is valid? [True, True] Translation: X:262.79, Y:-94.52, Z:-3.81 [[-9.25659124e-01 -3.78195803e-01 1.10959835e-02 2.62786733e+02] [-3.78178436e-01 9.25725308e-01 3.70456643e-03 -9.45205891e+01] [-1.16728842e-02 -7.67095978e-04 -9.99931575e-01 -3.81300024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.011895524956505645 Centerline is valid? [True, True] Translation: X:262.73, Y:-94.51, Z:-3.81 [[-8.94536920e-01 -4.46873937e-01 1.03626075e-02 2.62728523e+02] [-4.46854100e-01 8.94596584e-01 4.28532993e-03 -9.45142113e+01] [-1.11853555e-02 -7.97187798e-04 -9.99937124e-01 -3.81387591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.012256281303087839 Centerline is valid? [True, True] Translation: X:262.66, Y:-94.52, Z:-3.81 [[-8.58415459e-01 -5.12855595e-01 1.01014526e-02 2.62663130e+02] [-5.12831051e-01 8.58474503e-01 5.08339989e-03 -9.45150130e+01] [-1.12788896e-02 -8.16669510e-04 -9.99936058e-01 -3.81433479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.012673101367157021 Centerline is valid? [True, True] Translation: X:262.59, Y:-94.53, Z:-3.82 [[-8.16874273e-01 -5.76730453e-01 9.92001781e-03 2.62589142e+02] [-5.76700187e-01 8.16934067e-01 5.96862210e-03 -9.45270963e+01] [-1.15462866e-02 -8.45262290e-04 -9.99932982e-01 -3.81548442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.013234555484769496 Centerline is valid? [True, True] Translation: X:262.51, Y:-94.55, Z:-3.82 [[-7.71073011e-01 -6.36690045e-01 8.49698430e-03 2.62511339e+02] [-6.36663038e-01 7.71119367e-01 5.92439325e-03 -9.45501348e+01] [-1.03241914e-02 -8.41576094e-04 -9.99946350e-01 -3.81806189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.013222201043263045 Centerline is valid? [True, True] Translation: X:262.43, Y:-94.58, Z:-3.82 [[-7.20602895e-01 -6.93299574e-01 8.19564548e-03 2.62431558e+02] [-6.93267740e-01 7.20648993e-01 6.69855990e-03 -9.45838993e+01] [-1.05502924e-02 -8.54774962e-04 -9.99943979e-01 -3.81950720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.013413323624425877 Centerline is valid? [True, True] Translation: X:262.35, Y:-94.63, Z:-3.82 [[-6.65062394e-01 -7.46734159e-01 8.95026388e-03 2.62346237e+02] [-7.46684130e-01 6.65122004e-01 8.69079974e-03 -9.46303764e+01] [-1.24427345e-02 -9.03095923e-04 -9.99922178e-01 -3.81909049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.01374164629220436 Centerline is valid? [True, True] Translation: X:262.27, Y:-94.68, Z:-3.82 [[-6.05526781e-01 -7.95769391e-01 9.40180801e-03 2.62266644e+02] [-7.95696960e-01 6.05599014e-01 1.07788045e-02 -9.46829163e+01] [-1.42711683e-02 -9.54135284e-04 -9.99897706e-01 -3.81945786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.014586358401709805 Centerline is valid? [True, True] Translation: X:262.19, Y:-94.75, Z:-3.82 [[-5.41770334e-01 -8.40472724e-01 9.51347037e-03 2.62185770e+02] [-8.40374614e-01 5.41852903e-01 1.28817226e-02 -9.47490314e+01] [-1.59816380e-02 -1.01594386e-03 -9.99871769e-01 -3.81949956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.014571026033683376 Centerline is valid? [True, True] Translation: X:262.11, Y:-94.82, Z:-3.82 [[-4.75997962e-01 -8.79402457e-01 8.78974326e-03 2.62111387e+02] [-8.79290532e-01 4.76077991e-01 1.40679303e-02 -9.48232713e+01] [-1.65559758e-02 -1.03243188e-03 -9.99862407e-01 -3.82080365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.014061522870483675 Centerline is valid? [True, True] Translation: X:262.05, Y:-94.91, Z:-3.82 [[-4.10134887e-01 -9.11989963e-01 7.98007263e-03 2.62045741e+02] [-9.11861948e-01 4.10211305e-01 1.53125322e-02 -9.49055939e+01] [-1.72383917e-02 -9.96520908e-04 -9.99850911e-01 -3.82242805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.013486055237343276 Centerline is valid? [True, True] Translation: X:261.99, Y:-95.00, Z:-3.82 [[-3.43984700e-01 -9.38952523e-01 6.53340685e-03 2.61985156e+02] [-9.38829716e-01 3.44045560e-01 1.52123647e-02 -9.49996019e+01] [-1.65314778e-02 -9.00935795e-04 -9.99862940e-01 -3.82434206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.01251967889246947 Centerline is valid? [True, True] Translation: X:261.93, Y:-95.09, Z:-3.83 [[-2.75192829e-01 -9.61373721e-01 5.42921996e-03 2.61933656e+02] [-9.61241797e-01 2.75245128e-01 1.59476582e-02 -9.50947385e+01] [-1.68260259e-02 -8.30111975e-04 -9.99858088e-01 -3.82634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.012304977497707939 Centerline is valid? [True, True] Translation: X:261.88, Y:-95.20, Z:-3.83 [[-2.01866564e-01 -9.79404692e-01 4.04230877e-03 2.61884081e+02] [-9.79280177e-01 2.01905440e-01 1.56373963e-02 -9.52005226e+01] [-1.61315035e-02 -8.01885386e-04 -9.99869557e-01 -3.82887957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.012366575611025703 Centerline is valid? [True, True] Translation: X:261.15, Y:-95.15, Z:-4.80 [[-2.79032291e-01 9.60281716e-01 -8.61171645e-05 2.61147402e+02] [-9.60279139e-01 -2.79031747e-01 -2.29338982e-03 -9.51486683e+01] [-2.22632973e-03 -5.57233298e-04 9.99997366e-01 -4.79791157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.013131590310174187 Centerline is valid? [True, True] Translation: X:261.82, Y:-95.50, Z:-3.83 [[-1.86655068e-01 -9.82416682e-01 4.16516885e-03 2.61817319e+02] [-9.82269445e-01 1.86699307e-01 1.70324979e-02 -9.54990527e+01] [-1.75106442e-02 -9.12116029e-04 -9.99846261e-01 -3.83155106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.014079535665834864 Centerline is valid? [True, True] Translation: X:261.77, Y:-95.60, Z:-3.83 [[-1.05977983e-01 -9.94363993e-01 2.98610577e-03 2.61771985e+02] [-9.94191676e-01 1.06015289e-01 1.85383106e-02 -9.55971620e+01] [-1.87504014e-02 -1.00410874e-03 -9.99823692e-01 -3.83193379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.01600786352623819 Centerline is valid? [True, True] Translation: X:261.73, Y:-95.71, Z:-3.83 [[-2.59180716e-02 -9.99662843e-01 1.56630271e-03 2.61731842e+02] [-9.99481053e-01 2.59432751e-02 1.90937733e-02 -9.57096440e+01] [-1.91279707e-02 -1.07061610e-03 -9.99816470e-01 -3.83178826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.015198177610447085 Centerline is valid? [True, True] Translation: X:261.71, Y:-95.83, Z:-3.84 [[ 5.23579712e-02 -9.98628373e-01 1.27390565e-04 2.61705873e+02] [-9.98466360e-01 -5.23471782e-02 1.80194445e-02 -9.58272412e+01] [-1.79880600e-02 -1.07065675e-03 -9.99837629e-01 -3.83527442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.014106187319259177 Centerline is valid? [True, True] Translation: X:260.99, Y:-95.95, Z:-4.80 [[-5.36731911e-02 9.98558398e-01 5.61341152e-04 2.60989268e+02] [-9.98555030e-01 -5.36714994e-02 -2.68739937e-03 -9.59496715e+01] [-2.65339719e-03 -7.04771331e-04 9.99996231e-01 -4.80352611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.013722601588828454 Centerline is valid? [True, True] Translation: X:261.72, Y:-96.11, Z:-3.84 [[ 5.74617870e-02 -9.98347700e-01 1.14860840e-04 2.61716816e+02] [-9.98248390e-01 -5.74544475e-02 1.41116040e-02 -9.61119749e+01] [-1.40816881e-02 -9.25537633e-04 -9.99900420e-01 -3.84156262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.013602801361218702 Centerline is valid? [True, True] Translation: X:261.70, Y:-96.23, Z:-3.84 [[ 1.33186010e-01 -9.91090628e-01 -9.23973659e-04 2.61700303e+02] [-9.90997496e-01 -1.33186188e-01 1.36162349e-02 -9.62317499e+01] [-1.36179833e-02 -8.97836406e-04 -9.99906868e-01 -3.84304965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.013079409349973847 Centerline is valid? [True, True] Translation: X:261.69, Y:-96.35, Z:-3.84 [[ 2.06680830e-01 -9.78406551e-01 -1.91183791e-03 2.61694428e+02] [-9.78317855e-01 -2.06687890e-01 1.32018773e-02 -9.63537676e+01] [-1.33119570e-02 -8.58189797e-04 -9.99911024e-01 -3.84399872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.01292241936219749 Centerline is valid? [True, True] Translation: X:261.70, Y:-96.47, Z:-3.84 [[ 2.80126265e-01 -9.59957839e-01 -3.19735183e-03 2.61695237e+02] [-9.59856309e-01 -2.80143224e-01 1.39871556e-02 -9.64718557e+01] [-1.43227961e-02 -8.49171314e-04 -9.99897063e-01 -3.84341985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.012983153385004014 Centerline is valid? [True, True] Translation: X:261.70, Y:-96.59, Z:-3.84 [[ 3.52662054e-01 -9.35738844e-01 -4.72136923e-03 2.61704304e+02] [-9.35619903e-01 -3.52692626e-01 1.49435176e-02 -9.65869405e+01] [-1.56484220e-02 -8.52604576e-04 -9.99877192e-01 -3.84267765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.013123977414763554 Centerline is valid? [True, True] Translation: X:261.73, Y:-96.71, Z:-3.84 [[ 4.23533137e-01 -9.05859603e-01 -6.16936967e-03 2.61726927e+02] [-9.05732190e-01 -4.23577200e-01 1.52169298e-02 -9.67116611e+01] [-1.63976063e-02 -8.57077305e-04 -9.99865183e-01 -3.84253440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.012975822198721428 Centerline is valid? [True, True] Translation: X:261.75, Y:-96.82, Z:-3.84 [[ 4.91783446e-01 -8.70688436e-01 -7.11974884e-03 2.61752982e+02] [-8.70570949e-01 -4.91834250e-01 1.43280497e-02 -9.68205407e+01] [-1.59770035e-02 -8.48051129e-04 -9.99872000e-01 -3.84430751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.012596610277585095 Centerline is valid? [True, True] Translation: X:261.79, Y:-96.93, Z:-3.85 [[ 5.55058710e-01 -8.31778652e-01 -7.35538998e-03 2.61789840e+02] [-8.31685864e-01 -5.55106878e-01 1.24490474e-02 -9.69287730e+01] [-1.44378795e-02 -7.92578351e-04 -9.99895454e-01 -3.84690172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.012275430811781686 Centerline is valid? [True, True] Translation: X:261.83, Y:-97.03, Z:-3.85 [[ 6.15086742e-01 -7.88425676e-01 -7.29747875e-03 2.61834755e+02] [-7.88355288e-01 -6.15129581e-01 1.05611802e-02 -9.70321902e+01] [-1.28156007e-02 -7.43035980e-04 -9.99917601e-01 -3.85028852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.012102427592397175 Centerline is valid? [True, True] Translation: X:261.89, Y:-97.13, Z:-3.85 [[ 6.71639714e-01 -7.40844660e-01 -7.02034226e-03 2.61889220e+02] [-7.40792867e-01 -6.71676036e-01 8.78807623e-03 -9.71346365e+01] [-1.12259950e-02 -7.01801536e-04 -9.99936740e-01 -3.85307422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.012117076684920786 Centerline is valid? [True, True] Translation: X:261.94, Y:-97.22, Z:-3.85 [[ 7.25005333e-01 -6.88702748e-01 -7.46942973e-03 2.61940132e+02] [-6.88656274e-01 -7.25043492e-01 8.02939806e-03 -9.72220901e+01] [-1.09455299e-02 -6.77486769e-04 -9.99939866e-01 -3.85467987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.012101839006614401 Centerline is valid? [True, True] Translation: X:261.96, Y:-97.25, Z:-3.85 [[ 7.77531712e-01 -6.28782035e-01 -8.80842612e-03 2.61957622e+02] [-6.28731098e-01 -7.77581281e-01 8.03474237e-03 -9.72498611e+01] [-1.19013689e-02 -7.09135566e-04 -9.99928925e-01 -3.85425306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.012188431060347019 Centerline is valid? [True, True] Translation: X:261.98, Y:-97.28, Z:-3.85 [[ 8.25732990e-01 -5.63971780e-01 -1.00428953e-02 2.61976736e+02] [-5.63918931e-01 -8.25793728e-01 7.75609320e-03 -9.72762727e+01] [-1.26675776e-02 -7.41083266e-04 -9.99919488e-01 -3.85455687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.012330688521935817 Centerline is valid? [True, True] Translation: X:262.00, Y:-97.30, Z:-3.86 [[ 8.68311891e-01 -4.95910292e-01 -1.03654113e-02 2.61998146e+02] [-4.95864282e-01 -8.68373422e-01 6.79804700e-03 -9.73009638e+01] [-1.23722691e-02 -7.62987831e-04 -9.99923169e-01 -3.85596268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.012834549871326408 Centerline is valid? [True, True] Translation: X:262.02, Y:-97.32, Z:-3.86 [[ 9.05979737e-01 -4.23160878e-01 -1.16441895e-02 2.62022762e+02] [-4.23114198e-01 -9.06054196e-01 6.33789757e-03 -9.73229681e+01] [-1.32322171e-02 -8.15184865e-04 -9.99912118e-01 -3.85780249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.013160899677301016 Centerline is valid? [True, True] Translation: X:262.05, Y:-97.34, Z:-3.86 [[ 9.37114063e-01 -3.48733081e-01 -1.42292014e-02 2.62048903e+02] [-3.48678570e-01 -9.37221678e-01 6.22745480e-03 -9.73433924e+01] [-1.55076355e-02 -8.74417882e-04 -9.99879367e-01 -3.85562724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.01359821956532043 Centerline is valid? [True, True] Translation: X:262.08, Y:-97.36, Z:-3.86 [[ 9.61665314e-01 -2.73912467e-01 -1.31066267e-02 2.62076274e+02] [-2.73874748e-01 -9.61754242e-01 4.62600591e-03 -9.73579126e+01] [-1.38724745e-02 -8.59095344e-04 -9.99903404e-01 -3.85766511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.012880766149575822 Centerline is valid? [True, True] Translation: X:262.11, Y:-97.37, Z:-3.86 [[ 9.79715011e-01 -2.00021603e-01 -1.22415263e-02 2.62105977e+02] [-1.99995548e-01 -9.79791149e-01 3.32929966e-03 -9.73683356e+01] [-1.26600710e-02 -8.13514095e-04 -9.99919527e-01 -3.85979260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.012751967796480634 Centerline is valid? [True, True] Translation: X:262.13, Y:-97.38, Z:-3.86 [[ 9.92370496e-01 -1.22802095e-01 -1.09747338e-02 2.62134027e+02] [-1.22785691e-01 -9.92430861e-01 2.15877680e-03 -9.73809865e+01] [-1.11567668e-02 -7.94766137e-04 -9.99937445e-01 -3.86121843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.012649246278588015 Centerline is valid? [True, True] Translation: X:262.16, Y:-97.39, Z:-3.86 [[ 9.98950440e-01 -4.48581162e-02 -9.26104100e-03 2.62161023e+02] [-4.48490206e-02 -9.98993071e-01 1.18758907e-03 -9.73935195e+01] [-9.30498880e-03 -7.70994007e-04 -9.99956410e-01 -3.86300408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.012798615484181807 Centerline is valid? [True, True] Translation: X:262.19, Y:-97.40, Z:-3.86 [[ 9.99424066e-01 3.32296132e-02 -6.87958311e-03 2.62188195e+02] [ 3.32339201e-02 -9.99447469e-01 5.12629175e-04 -9.74020200e+01] [-6.85874746e-03 -7.40969449e-04 -9.99976204e-01 -3.86442336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.012317850184607324 Centerline is valid? [True, True] Translation: X:262.22, Y:-97.41, Z:-3.87 [[ 9.94054384e-01 1.08833244e-01 -3.34756132e-03 2.62217249e+02] [ 1.08834950e-01 -9.94059779e-01 3.31091578e-04 -9.74085426e+01] [-3.29164229e-03 -6.93454702e-04 -9.99994342e-01 -3.86665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.012167006700668686 Centerline is valid? [True, True] Translation: X:262.25, Y:-97.41, Z:-3.87 [[ 9.82949456e-01 1.83873857e-01 -8.78703113e-04 2.62245926e+02] [ 1.83874350e-01 -9.82949621e-01 5.16484146e-04 -9.74113419e+01] [-7.68752959e-04 -6.69248773e-04 -9.99999481e-01 -3.86835770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.011983315336647317 Centerline is valid? [True, True] Translation: X:262.27, Y:-97.41, Z:-3.87 [[ 9.67270630e-01 2.53739352e-01 1.96698351e-03 2.62273898e+02] [ 2.53737367e-01 -9.67272401e-01 1.20453560e-03 -9.74067387e+01] [ 2.20824694e-03 -6.66014691e-04 -9.99997340e-01 -3.87047865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.012439983771450317 Centerline is valid? [True, True] Translation: X:262.30, Y:-97.40, Z:-3.87 [[ 9.46615735e-01 3.22338838e-01 4.04021817e-03 2.62300884e+02] [ 3.22332669e-01 -9.46624100e-01 2.11278751e-03 -9.74008891e+01] [ 4.50560136e-03 -6.97703594e-04 -9.99989606e-01 -3.87184294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.013294251858095341 Centerline is valid? [True, True] Translation: X:262.33, Y:-97.40, Z:-3.87 [[ 9.20189198e-01 3.91428983e-01 5.93210807e-03 2.62328442e+02] [ 3.91415515e-01 -9.20208019e-01 3.33116561e-03 -9.73958605e+01] [ 6.76268818e-03 -7.43383482e-04 -9.99976856e-01 -3.87369438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.013519144625967969 Centerline is valid? [True, True] Translation: X:262.36, Y:-97.39, Z:-3.87 [[ 8.87938956e-01 4.59932153e-01 5.17939596e-03 2.62357219e+02] [ 4.59919235e-01 -8.87953744e-01 3.52774513e-03 -9.73926186e+01] [ 6.22158745e-03 -7.50318494e-04 -9.99980364e-01 -3.87259360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.014595264742506251 Centerline is valid? [True, True] Translation: X:262.38, Y:-97.39, Z:-3.87 [[ 8.51734959e-01 5.23965875e-01 2.70594193e-03 2.62384318e+02] [ 5.23960328e-01 -8.51738947e-01 2.51829803e-03 -9.73851074e+01] [ 3.62425836e-03 -7.27116248e-04 -9.99993168e-01 -3.87001180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.016870987699005316 Centerline is valid? [True, True] Translation: X:262.41, Y:-97.38, Z:-3.87 [[ 8.11129533e-01 5.84866538e-01 -1.14751723e-04 2.62409938e+02] [ 5.84866453e-01 -8.11129271e-01 7.33302135e-04 -9.73759343e+01] [ 3.35805400e-04 -6.61917452e-04 -9.99999725e-01 -3.86520212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.017475134925544172 Centerline is valid? [True, True] Translation: X:262.44, Y:-97.37, Z:-3.86 [[ 7.65256929e-01 6.43718900e-01 -2.79467962e-03 2.62436657e+02] [ 6.43717108e-01 -7.65261827e-01 -1.61874660e-03 -9.73657555e+01] [-3.18067941e-03 -5.60226036e-04 -9.99994785e-01 -3.86022684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.01894128677286188 Centerline is valid? [True, True] Translation: X:262.46, Y:-97.35, Z:-3.86 [[ 7.12712084e-01 7.01447634e-01 -3.56400314e-03 2.62457818e+02] [ 7.01442324e-01 -7.12720806e-01 -2.77833508e-03 -9.73507038e+01] [-4.48899576e-03 -5.19789658e-04 -9.99989789e-01 -3.85967176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.01920424363161512 Centerline is valid? [True, True] Translation: X:262.48, Y:-97.33, Z:-3.86 [[ 6.55344718e-01 7.55319414e-01 -3.98535617e-03 2.62477265e+02] [ 7.55309781e-01 -6.55356653e-01 -3.84597504e-03 -9.73317864e+01] [-5.51676930e-03 -4.89739070e-04 -9.99984663e-01 -3.85864238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.018580380252287736 Centerline is valid? [True, True] Translation: X:262.50, Y:-97.31, Z:-3.86 [[ 5.92557884e-01 8.05509968e-01 -5.37077868e-03 2.62496918e+02] [ 8.05483094e-01 -5.92582075e-01 -6.59316356e-03 -9.73125247e+01] [-8.49348615e-03 -4.19240384e-04 -9.99963842e-01 -3.85613772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.0156652019459972 Centerline is valid? [True, True] Translation: X:262.52, Y:-97.30, Z:-3.85 [[ 5.25805227e-01 8.50582686e-01 -6.16089878e-03 2.62524261e+02] [ 8.50532369e-01 -5.25841189e-01 -9.25927136e-03 -9.72980121e+01] [-1.11154302e-02 -3.71470547e-04 -9.99938153e-01 -3.85482808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.014834901836037244 Centerline is valid? [True, True] Translation: X:262.55, Y:-97.28, Z:-3.85 [[ 4.52863181e-01 8.91545869e-01 -7.80405276e-03 2.62548681e+02] [ 8.91425547e-01 -4.52930304e-01 -1.46503979e-02 -9.72798425e+01] [-1.65961937e-02 -3.22106184e-04 -9.99862222e-01 -3.84934736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.013113290807727404 Centerline is valid? [True, True] Translation: X:262.58, Y:-97.26, Z:-3.84 [[ 3.72502220e-01 9.27989124e-01 -8.84775222e-03 2.62578552e+02] [ 9.27753979e-01 -3.72607039e-01 -2.08937597e-02 -9.72620425e+01] [-2.26859165e-02 -4.25565436e-04 -9.99742551e-01 -3.84265643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.01265821864338185 Centerline is valid? [True, True] Translation: X:262.60, Y:-97.24, Z:-3.84 [[ 2.89724416e-01 9.57078131e-01 -7.82392472e-03 2.62603344e+02] [ 9.56786244e-01 -2.89829341e-01 -2.36439434e-02 -9.72410218e+01] [-2.48967041e-02 -6.35595854e-04 -9.99689827e-01 -3.83989101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.01291764163629147 Centerline is valid? [True, True] Translation: X:262.62, Y:-97.22, Z:-3.84 [[ 2.08141202e-01 9.78079313e-01 -6.17226722e-03 2.62623118e+02] [ 9.77754439e-01 -2.08231217e-01 -2.52193855e-02 -9.72157011e+01] [-2.59518180e-02 -7.85768450e-04 -9.99662886e-01 -3.83925048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.01364285178855695 Centerline is valid? [True, True] Translation: X:262.65, Y:-97.19, Z:-3.84 [[ 1.23973237e-01 9.92275261e-01 -4.52137540e-03 2.62646014e+02] [ 9.91877026e-01 -1.24051647e-01 -2.81274781e-02 -9.71892634e+01] [-2.84710847e-02 -9.97593886e-04 -9.99594119e-01 -3.83836842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.014568170616654968 Centerline is valid? [True, True] Translation: X:262.66, Y:-97.16, Z:-3.84 [[ 4.27393042e-02 9.99083457e-01 -2.36606166e-03 2.62661359e+02] [ 9.98649275e-01 -4.27905270e-02 -2.94719459e-02 -9.71604978e+01] [-2.95461786e-02 -1.10325530e-03 -9.99562808e-01 -3.83645033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.015533982725726498 Centerline is valid? [True, True] Translation: X:262.68, Y:-97.13, Z:-3.83 [[-3.85057916e-02 9.99258376e-01 -3.49710247e-05 2.62675069e+02] [ 9.98801211e-01 3.84871165e-02 -3.02470187e-02 -9.71307640e+01] [-3.02232408e-02 -1.19961450e-03 -9.99542454e-01 -3.83490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.01569997835488063 Centerline is valid? [True, True] Translation: X:262.68, Y:-97.10, Z:-3.84 [[-1.17242402e-01 9.93100346e-01 2.43336185e-03 2.62682211e+02] [ 9.92612612e-01 1.17261136e-01 -3.11452859e-02 -9.70987315e+01] [-3.12157329e-02 -1.23616245e-03 -9.99511906e-01 -3.83526163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.015874180447580336 Centerline is valid? [True, True] Translation: X:262.68, Y:-97.07, Z:-3.84 [[-1.94659555e-01 9.80858228e-01 4.97946788e-03 2.62683449e+02] [ 9.80353500e-01 1.94719236e-01 -3.14870578e-02 -9.70668066e+01] [-3.18539379e-02 -1.24761788e-03 -9.99491756e-01 -3.83617279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.015549975895592065 Centerline is valid? [True, True] Translation: X:262.68, Y:-97.04, Z:-3.84 [[-2.69465459e-01 9.62982020e-01 7.34812566e-03 2.62680957e+02] [ 9.62494062e-01 2.69562987e-01 -3.06753258e-02 -9.70353276e+01] [-3.15205699e-02 -1.19341342e-03 -9.99502391e-01 -3.83852823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.014538417444721452 Centerline is valid? [True, True] Translation: X:262.68, Y:-97.00, Z:-3.84 [[-3.42183961e-01 9.39582833e-01 9.70759339e-03 2.62676150e+02] [ 9.39106400e-01 3.42319775e-01 -2.99389661e-02 -9.70038486e+01] [-3.14532398e-02 -1.12817094e-03 -9.99504588e-01 -3.84025351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.013690518622980945 Centerline is valid? [True, True] Translation: X:262.67, Y:-96.97, Z:-3.84 [[-4.09778956e-01 9.12108631e-01 1.17920335e-02 2.62665266e+02] [ 9.11662079e-01 4.09947487e-01 -2.85536742e-02 -9.69748632e+01] [-3.08781672e-02 -9.50345052e-04 -9.99522704e-01 -3.84142900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.01300139269410748 Centerline is valid? [True, True] Translation: X:262.65, Y:-96.95, Z:-3.85 [[-4.74607769e-01 8.80103683e-01 1.28442068e-02 2.62648167e+02] [ 8.79737827e-01 4.74780947e-01 -2.53851832e-02 -9.69488887e+01] [-2.84397779e-02 -7.48470548e-04 -9.99595227e-01 -3.84527941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.012668664415894608 Centerline is valid? [True, True] Translation: X:262.63, Y:-96.92, Z:-3.85 [[-5.40183292e-01 8.41421081e-01 1.45799927e-02 2.62634022e+02] [ 8.41080074e-01 5.40379589e-01 -2.39626347e-02 -9.69222224e+01] [-2.80413965e-02 -6.81273516e-04 -9.99606531e-01 -3.84913017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.012988289639577887 Centerline is valid? [True, True] Translation: X:262.62, Y:-96.90, Z:-3.85 [[-6.05430486e-01 7.95730356e-01 1.63440124e-02 2.62616868e+02] [ 7.95408199e-01 6.05650634e-01 -2.26518564e-02 -9.68989917e+01] [-2.79235312e-02 -7.13962995e-04 -9.99609807e-01 -3.85041091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.013277475974458641 Centerline is valid? [True, True] Translation: X:262.60, Y:-96.88, Z:-3.85 [[-6.70680627e-01 7.41556658e-01 1.67695983e-02 2.62598818e+02] [ 7.41291887e-01 6.70889682e-01 -1.98336440e-02 -9.68756408e+01] [-2.59583212e-02 -8.70873693e-04 -9.99662647e-01 -3.85347322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.014344599914658179 Centerline is valid? [True, True] Translation: X:262.58, Y:-96.85, Z:-3.86 [[-7.30429756e-01 6.82767590e-01 1.73433069e-02 2.62580160e+02] [ 6.82542404e-01 7.30634955e-01 -1.75621680e-02 -9.68534400e+01] [-2.46625054e-02 -9.90387663e-04 -9.99695344e-01 -3.85527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.015650307732717698 Centerline is valid? [True, True] Translation: X:263.06, Y:-96.37, Z:-4.85 [[-6.57228445e-01 -7.53677405e-01 4.59776658e-03 2.63058112e+02] [ 7.53654707e-01 -6.57244413e-01 -5.86204753e-03 -9.63712999e+01] [ 7.43994917e-03 -3.87575960e-04 9.99972248e-01 -4.85285889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.016195642165362647 Centerline is valid? [True, True] Translation: X:263.02, Y:-96.32, Z:-4.85 [[-6.55132541e-01 -7.55508422e-01 2.89455770e-03 2.63024004e+02] [ 7.55501706e-01 -6.55138928e-01 -3.18709096e-03 -9.63231796e+01] [ 4.30421149e-03 9.88762776e-05 9.99990732e-01 -4.84859691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.0166816591001441 Centerline is valid? [True, True] Translation: X:262.98, Y:-96.28, Z:-4.85 [[-6.56556158e-01 -7.54272826e-01 2.55250796e-03 2.62983494e+02] [ 7.54267601e-01 -6.56561115e-01 -2.80861354e-03 -9.62833898e+01] [ 3.79433835e-03 8.12615406e-05 9.99992798e-01 -4.85028352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.014374730138852045 Centerline is valid? [True, True] Translation: X:262.94, Y:-96.24, Z:-4.85 [[-6.59190239e-01 -7.51972959e-01 2.21320924e-03 2.62943776e+02] [ 7.51969024e-01 -6.59193952e-01 -2.43337861e-03 -9.62406377e+01] [ 3.28876906e-03 6.02053651e-05 9.99994590e-01 -4.84897509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.01537396003037319 Centerline is valid? [True, True] Translation: X:262.90, Y:-96.20, Z:-4.85 [[-6.60248540e-01 -7.51046837e-01 7.17067782e-04 2.62902854e+02] [ 7.51046425e-01 -6.60248929e-01 -7.86787949e-04 -9.62010078e+01] [ 1.06435784e-03 1.90755997e-05 9.99999433e-01 -4.84880641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.01460976322815608 Centerline is valid? [True, True] Translation: X:262.87, Y:-96.16, Z:-4.85 [[-6.61268929e-01 -7.50148890e-01 2.16013700e-04 2.62867547e+02] [ 7.50148853e-01 -6.61268964e-01 -2.34173917e-04 -9.61563151e+01] [ 3.18508459e-04 7.19049394e-06 9.99999949e-01 -4.84748368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.013591562750985869 Centerline is valid? [True, True] Translation: X:262.83, Y:-96.11, Z:-4.85 [[-6.62224367e-01 -7.49304854e-01 1.05967354e-03 2.62831522e+02] [ 7.49303955e-01 -6.62225214e-01 -1.16111528e-03 -9.61121047e+01] [ 1.57177186e-03 2.50987396e-05 9.99998764e-01 -4.84908952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.013796179495457897 Centerline is valid? [True, True] Translation: X:262.79, Y:-96.07, Z:-4.85 [[-6.62564794e-01 -7.49002092e-01 1.93902686e-03 2.62793104e+02] [ 7.48999076e-01 -6.62567630e-01 -2.12610695e-03 -9.60706800e+01] [ 2.87719499e-03 4.36457151e-05 9.99995860e-01 -4.85145081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.014062611362700162 Centerline is valid? [True, True] Translation: X:262.75, Y:-96.03, Z:-4.85 [[-6.62154296e-01 -7.49365021e-01 1.93721945e-03 2.62754805e+02] [ 7.49362015e-01 -6.62157128e-01 -2.12306983e-03 -9.60278430e+01] [ 2.87369794e-03 4.58788674e-05 9.99995870e-01 -4.85109430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.014038442504891868 Centerline is valid? [True, True] Translation: X:262.72, Y:-95.99, Z:-4.85 [[-6.62301473e-01 -7.49236565e-01 1.15306358e-03 2.62716572e+02] [ 7.49235503e-01 -6.62302476e-01 -1.26146502e-03 -9.59851757e+01] [ 1.70881258e-03 2.84460334e-05 9.99998540e-01 -4.85068001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.013607271636273767 Centerline is valid? [True, True] Translation: X:262.68, Y:-95.94, Z:-4.85 [[-6.63074532e-01 -7.48553209e-01 -5.07441818e-04 2.62678961e+02] [ 7.48553000e-01 -6.63074726e-01 5.59581720e-04 -9.59413470e+01] [-7.55348537e-04 -8.80270875e-06 9.99999715e-01 -4.85006569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.013927562339096455 Centerline is valid? [True, True] Translation: X:262.64, Y:-95.90, Z:-4.85 [[-6.63611780e-01 -7.48076094e-01 -1.25016092e-03 2.62640844e+02] [ 7.48074833e-01 -6.63612958e-01 1.37344399e-03 -9.58992705e+01] [-1.85706360e-03 -2.37803138e-05 9.99998275e-01 -4.85086241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.013527182011977808 Centerline is valid? [True, True] Translation: X:262.60, Y:-95.86, Z:-4.85 [[-6.63111245e-01 -7.48520212e-01 -9.83880018e-04 2.62604641e+02] [ 7.48519432e-01 -6.63111975e-01 1.08107777e-03 -9.58551515e+01] [-1.46163118e-03 -1.95784875e-05 9.99998932e-01 -4.85079592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.013309433081214022 Centerline is valid? [True, True] Translation: X:262.56, Y:-95.81, Z:-4.85 [[-6.63446844e-01 -7.48223349e-01 -3.24002899e-04 2.62564940e+02] [ 7.48223263e-01 -6.63446923e-01 3.57882334e-04 -9.58132944e+01] [-4.82734645e-04 -4.99060100e-06 9.99999883e-01 -4.85238074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.013441070088977023 Centerline is valid? [True, True] Translation: X:262.52, Y:-95.77, Z:-4.85 [[-6.64310629e-01 -7.47456573e-01 -2.43007296e-04 2.62524929e+02] [ 7.47456525e-01 -6.64310673e-01 2.69610789e-04 -9.57730458e+01] [-3.62954697e-04 -2.53207656e-06 9.99999934e-01 -4.85415610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.012824681593702652 Centerline is valid? [True, True] Translation: X:262.49, Y:-95.73, Z:-4.85 [[-6.65879107e-01 -7.46059659e-01 -1.16011097e-05 2.62486317e+02] [ 7.46059659e-01 -6.65879107e-01 1.59640695e-05 -9.57301094e+01] [-1.96350851e-05 1.97502038e-06 1.00000000e+00 -4.85445106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.0125693159525534 Centerline is valid? [True, True] Translation: X:262.45, Y:-95.69, Z:-4.85 [[-6.68129049e-01 -7.44045400e-01 -1.24035094e-04 2.62449463e+02] [ 7.44045387e-01 -6.68129061e-01 1.39328604e-04 -9.56877711e+01] [-1.86538258e-04 8.01748029e-07 9.99999983e-01 -4.85468024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.012283486249344673 Centerline is valid? [True, True] Translation: X:262.41, Y:-95.64, Z:-4.85 [[-6.68987730e-01 -7.43273372e-01 -3.34853770e-04 2.62411258e+02] [ 7.43273280e-01 -6.68987814e-01 3.69204947e-04 -9.56448668e+01] [-4.98433298e-04 -1.89428099e-06 9.99999876e-01 -4.85480655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.012250143647931842 Centerline is valid? [True, True] Translation: X:262.37, Y:-95.60, Z:-4.86 [[-6.69693859e-01 -7.42637172e-01 -4.06201005e-04 2.62372000e+02] [ 7.42637038e-01 -6.69693982e-01 4.46940351e-04 -9.56046160e+01] [-6.03944888e-04 -2.34670269e-06 9.99999818e-01 -4.85643437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.011981320633946432 Centerline is valid? [True, True] Translation: X:262.33, Y:-95.56, Z:-4.86 [[-6.71447043e-01 -7.41052157e-01 -7.54361741e-04 2.62333582e+02] [ 7.41051697e-01 -6.71447467e-01 8.26058431e-04 -9.55622481e+01] [-1.11866666e-03 -4.36655746e-06 9.99999374e-01 -4.85698447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.01195307232211374 Centerline is valid? [True, True] Translation: X:262.29, Y:-95.52, Z:-4.86 [[-6.71728089e-01 -7.40797519e-01 -6.40619342e-04 2.62294404e+02] [ 7.40797187e-01 -6.71728394e-01 7.01617646e-04 -9.55205484e+01] [-9.50078814e-04 -3.27272629e-06 9.99999549e-01 -4.85758284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.0122563304306446 Centerline is valid? [True, True] Translation: X:262.25, Y:-95.48, Z:-4.86 [[-6.70936307e-01 -7.41514849e-01 4.47667315e-04 2.62253805e+02] [ 7.41514691e-01 -6.70936456e-01 -4.84301123e-04 -9.54785784e+01] [ 6.59472796e-04 7.01668427e-06 9.99999783e-01 -4.85954907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.012367671852705285 Centerline is valid? [True, True] Translation: X:262.21, Y:-95.44, Z:-4.86 [[-6.70363671e-01 -7.42031293e-01 1.45210157e-03 2.62212509e+02] [ 7.42029617e-01 -6.70365243e-01 -1.57715890e-03 -9.54372368e+01] [ 2.14373968e-03 2.02323481e-05 9.99997702e-01 -4.86194274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.01262788933552858 Centerline is valid? [True, True] Translation: X:262.17, Y:-95.40, Z:-4.86 [[-6.69569993e-01 -7.42745705e-01 2.20053008e-03 2.62172210e+02] [ 7.42741859e-01 -6.69573608e-01 -2.39039130e-03 -9.53957180e+01] [ 3.24886973e-03 3.38915130e-05 9.99994722e-01 -4.86321973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.012449293997916859 Centerline is valid? [True, True] Translation: X:262.13, Y:-95.35, Z:-4.86 [[-6.70682143e-01 -7.41744407e-01 8.34823988e-04 2.62133193e+02] [ 7.41743856e-01 -6.70682663e-01 -9.04367240e-04 -9.53524699e+01] [ 1.23071132e-03 1.26826049e-05 9.99999243e-01 -4.86125035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.012089288172150688 Centerline is valid? [True, True] Translation: X:262.09, Y:-95.31, Z:-4.86 [[-6.71844061e-01 -7.40692494e-01 -4.32372515e-04 2.62094777e+02] [ 7.40692343e-01 -6.71844200e-01 4.73055049e-04 -9.53092408e+01] [-6.40875291e-04 -2.43578584e-06 9.99999795e-01 -4.85977779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.011986766001302707 Centerline is valid? [True, True] Translation: X:262.06, Y:-95.27, Z:-4.86 [[-6.73067323e-01 -7.39580096e-01 -1.28871487e-03 2.62056366e+02] [ 7.39578766e-01 -6.73068556e-01 1.40294487e-03 -9.52664827e+01] [-1.90498355e-03 -8.82980489e-06 9.99998185e-01 -4.85947861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.011893485333975433 Centerline is valid? [True, True] Translation: X:262.02, Y:-95.22, Z:-4.86 [[-6.73243706e-01 -7.39418695e-01 -1.70475421e-03 2.62016516e+02] [ 7.39416372e-01 -6.73245864e-01 1.85324779e-03 -9.52243359e+01] [-2.51804478e-03 -1.28357636e-05 9.99996830e-01 -4.85973289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.012353414276850924 Centerline is valid? [True, True] Translation: X:261.98, Y:-95.19, Z:-4.86 [[-6.71793587e-01 -7.40738391e-01 -1.15170793e-04 2.61975448e+02] [ 7.40738380e-01 -6.71793597e-01 1.27236749e-04 -9.51852485e+01] [-1.71620146e-04 1.65404972e-07 9.99999985e-01 -4.86337375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.012692399880070659 Centerline is valid? [True, True] Translation: X:261.93, Y:-95.14, Z:-4.87 [[-6.71123439e-01 -7.41344458e-01 1.31349889e-03 2.61934966e+02] [ 7.41343096e-01 -6.71124724e-01 -1.42091965e-03 -9.51436950e+01] [ 1.93491248e-03 2.01408534e-05 9.99998128e-01 -4.86605505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.012316280842657082 Centerline is valid? [True, True] Translation: X:261.90, Y:-95.10, Z:-4.87 [[-6.72933652e-01 -7.39700103e-01 2.01430355e-03 2.61897081e+02] [ 7.39696894e-01 -6.72936667e-01 -2.17883008e-03 -9.51004108e+01] [ 2.96717955e-03 2.37659920e-05 9.99995598e-01 -4.86618668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.011892259823453679 Centerline is valid? [True, True] Translation: X:261.86, Y:-95.06, Z:-4.86 [[-6.77574653e-01 -7.35453593e-01 7.75638801e-04 2.61860796e+02] [ 7.35453117e-01 -6.77575097e-01 -8.36705846e-04 -9.50550345e+01] [ 1.14091186e-03 3.51530078e-06 9.99999349e-01 -4.86440700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.011946068118118904 Centerline is valid? [True, True] Translation: X:261.82, Y:-95.01, Z:-4.86 [[-6.81013415e-01 -7.32270846e-01 -3.70324601e-04 2.61824141e+02] [ 7.32270734e-01 -6.81013515e-01 4.04358563e-04 -9.50109210e+01] [-5.48296046e-04 4.19573870e-06 9.99999850e-01 -4.86396955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.012321439062896391 Centerline is valid? [True, True] Translation: X:261.79, Y:-94.97, Z:-4.86 [[-6.84021101e-01 -7.29461991e-01 -5.80719158e-04 2.61787574e+02] [ 7.29461718e-01 -6.84021347e-01 6.31645040e-04 -9.49668476e+01] [-8.57985349e-04 8.44614068e-06 9.99999632e-01 -4.86368381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.012887436321729966 Centerline is valid? [True, True] Translation: X:261.75, Y:-94.92, Z:-4.86 [[-6.87161959e-01 -7.26504071e-01 -5.26094817e-04 2.61749473e+02] [ 7.26503846e-01 -6.87162161e-01 5.71851445e-04 -9.49227955e+01] [-7.76964854e-04 1.07446517e-05 9.99999698e-01 -4.86457120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.012864531678222614 Centerline is valid? [True, True] Translation: X:261.71, Y:-94.88, Z:-4.86 [[-6.88278142e-01 -7.25446878e-01 1.60643557e-04 2.61709546e+02] [ 7.25446858e-01 -6.88278161e-01 -1.70268005e-04 -9.48807876e+01] [ 2.34087844e-04 -6.53383013e-07 9.99999973e-01 -4.86414860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.012969580333200477 Centerline is valid? [True, True] Translation: X:261.67, Y:-94.84, Z:-4.86 [[-6.87832320e-01 -7.25869580e-01 2.30480831e-04 2.61670479e+02] [ 7.25869538e-01 -6.87832358e-01 -2.46039709e-04 -9.48402206e+01] [ 3.37124914e-04 -1.93504984e-06 9.99999943e-01 -4.86450098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.012358236326159894 Centerline is valid? [True, True] Translation: X:261.63, Y:-94.80, Z:-4.86 [[-6.85666154e-01 -7.27916153e-01 -1.56039154e-05 2.61627614e+02] [ 7.27916152e-01 -6.85666154e-01 2.00511328e-05 -9.48012888e+01] [-2.52946204e-05 2.39004108e-06 1.00000000e+00 -4.86497240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.01214792782745444 Centerline is valid? [True, True] Translation: X:261.59, Y:-94.76, Z:-4.87 [[-6.84380532e-01 -7.29125003e-01 -1.32311380e-04 2.61586138e+02] [ 7.29124988e-01 -6.84380545e-01 1.46286829e-04 -9.47615479e+01] [-1.97212719e-04 3.64432478e-06 9.99999981e-01 -4.86576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.011950939402916144 Centerline is valid? [True, True] Translation: X:261.54, Y:-94.72, Z:-4.87 [[-6.82863433e-01 -7.30545775e-01 -6.34763144e-04 2.61544477e+02] [ 7.30545452e-01 -6.82863728e-01 6.87687213e-04 -9.47225851e+01] [-9.35843715e-04 5.87312340e-06 9.99999562e-01 -4.86538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.011840588140572945 Centerline is valid? [True, True] Translation: X:261.50, Y:-94.68, Z:-4.86 [[-6.82347463e-01 -7.31027398e-01 -9.39920029e-04 2.61503981e+02] [ 7.31026692e-01 -6.82348110e-01 1.01595571e-03 -9.46820402e+01] [-1.38404412e-03 6.12817444e-06 9.99999042e-01 -4.86436747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.011827680528876505 Centerline is valid? [True, True] Translation: X:261.46, Y:-94.64, Z:-4.86 [[-6.82045237e-01 -7.31308337e-01 -1.55247744e-03 2.61462658e+02] [ 7.31306420e-01 -6.82047004e-01 1.67465804e-03 -9.46428519e+01] [-2.28355397e-03 6.85582662e-06 9.99997393e-01 -4.86342275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.011975713627964802 Centerline is valid? [True, True] Translation: X:261.42, Y:-94.60, Z:-4.86 [[-6.83426143e-01 -7.30016406e-01 -2.18061907e-03 2.61421095e+02] [ 7.30012626e-01 -6.83429621e-01 2.34934631e-03 -9.46034366e+01] [-3.20536102e-03 1.37252322e-05 9.99994863e-01 -4.86410564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.012256957828303407 Centerline is valid? [True, True] Translation: X:261.38, Y:-94.56, Z:-4.87 [[-6.85006064e-01 -7.28534752e-01 -1.95131995e-03 2.61382760e+02] [ 7.28531722e-01 -6.85008843e-01 2.10144740e-03 -9.45626123e+01] [-2.86764888e-03 1.79057281e-05 9.99995888e-01 -4.86585969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.012275391507155491 Centerline is valid? [True, True] Translation: X:261.34, Y:-94.52, Z:-4.87 [[-6.86426405e-01 -7.27197036e-01 -1.80587606e-03 2.61342453e+02] [ 7.27194439e-01 -6.86428780e-01 1.94349279e-03 -9.45210005e+01] [-2.65290750e-03 2.08417400e-05 9.99996481e-01 -4.86561460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.012282488292474553 Centerline is valid? [True, True] Translation: X:261.30, Y:-94.48, Z:-4.87 [[-6.87279920e-01 -7.26391333e-01 -1.39375086e-03 2.61302145e+02] [ 7.26389784e-01 -6.87281333e-01 1.50003343e-03 -9.44798405e+01] [-2.04751023e-03 1.85364708e-05 9.99997904e-01 -4.86646420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.012322338043641672 Centerline is valid? [True, True] Translation: X:261.26, Y:-94.44, Z:-4.87 [[-6.86777793e-01 -7.26867019e-01 -7.73852570e-04 2.61262031e+02] [ 7.26866542e-01 -6.86778229e-01 8.33337565e-04 -9.44404362e+01] [-1.13719069e-03 9.83019267e-06 9.99999353e-01 -4.86771174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.012099525608501728 Centerline is valid? [True, True] Translation: X:261.22, Y:-94.40, Z:-4.87 [[-6.84520488e-01 -7.28993568e-01 -2.81068717e-04 2.61219465e+02] [ 7.28993504e-01 -6.84520546e-01 3.05187690e-04 -9.44032266e+01] [-4.14877175e-04 4.00995795e-06 9.99999914e-01 -4.86941898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.01192442340666022 Centerline is valid? [True, True] Translation: X:261.18, Y:-94.36, Z:-4.87 [[-6.82502393e-01 -7.30883190e-01 4.96533728e-04 2.61177383e+02] [ 7.30882999e-01 -6.82502573e-01 -5.28639213e-04 -9.43644778e+01] [ 7.25259060e-04 2.11053234e-06 9.99999737e-01 -4.87017792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.011954560702790436 Centerline is valid? [True, True] Translation: X:261.14, Y:-94.32, Z:-4.87 [[-6.81775814e-01 -7.31560998e-01 4.95853522e-04 2.61137011e+02] [ 7.31560808e-01 -6.81775994e-01 -5.27557460e-04 -9.43237143e+01] [ 7.24001490e-04 3.07108631e-06 9.99999738e-01 -4.87033743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.012097747828371651 Centerline is valid? [True, True] Translation: X:261.10, Y:-94.28, Z:-4.87 [[-6.81315611e-01 -7.31989475e-01 6.69176602e-04 2.61097675e+02] [ 7.31989128e-01 -6.81315939e-01 -7.12601560e-04 -9.42837771e+01] [ 9.77537527e-04 4.32342983e-06 9.99999522e-01 -4.87135213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.0120801526110282 Centerline is valid? [True, True] Translation: X:261.06, Y:-94.24, Z:-4.87 [[-6.80452015e-01 -7.32792104e-01 8.87861265e-04 2.61056918e+02] [ 7.32791492e-01 -6.80452594e-01 -9.46669491e-04 -9.42429551e+01] [ 1.29785943e-03 6.45401836e-06 9.99999158e-01 -4.87080066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.012167507525454115 Centerline is valid? [True, True] Translation: X:261.02, Y:-94.20, Z:-4.87 [[-6.80152101e-01 -7.33071017e-01 6.79792619e-05 2.61017839e+02] [ 7.33071013e-01 -6.80152104e-01 -6.89112896e-05 -9.42031243e+01] [ 9.67531068e-05 2.96346797e-06 9.99999995e-01 -4.87082780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.012131209356865456 Centerline is valid? [True, True] Translation: X:260.98, Y:-94.16, Z:-4.87 [[-6.79831908e-01 -7.33366707e-01 -1.35994642e-03 2.60976578e+02] [ 7.33365261e-01 -6.79833268e-01 1.45639568e-03 -9.41615969e+01] [-1.99260892e-03 -7.23320995e-06 9.99998015e-01 -4.86992489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.01224605273129186 Centerline is valid? [True, True] Translation: X:260.94, Y:-94.12, Z:-4.87 [[-6.79411824e-01 -7.33756185e-01 -1.19787407e-03 2.60937398e+02] [ 7.33755063e-01 -6.79412880e-01 1.28290732e-03 -9.41216486e+01] [-1.75519226e-03 -7.32376248e-06 9.99998460e-01 -4.87041995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.012226706556439934 Centerline is valid? [True, True] Translation: X:260.90, Y:-94.08, Z:-4.87 [[-6.79751327e-01 -7.33442624e-01 -2.23910564e-04 2.60897797e+02] [ 7.33442584e-01 -6.79751364e-01 2.42515041e-04 -9.40799772e+01] [-3.30074380e-04 6.24378692e-07 9.99999946e-01 -4.87227407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.012223687244531002 Centerline is valid? [True, True] Translation: X:260.86, Y:-94.04, Z:-4.87 [[-6.80455169e-01 -7.32789678e-01 2.24418677e-04 2.60859701e+02] [ 7.32789640e-01 -6.80455206e-01 -2.35820334e-04 -9.40371153e+01] [ 3.25513564e-04 3.98651599e-06 9.99999947e-01 -4.87313168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.012200371036270585 Centerline is valid? [True, True] Translation: X:260.82, Y:-93.99, Z:-4.87 [[-6.81453786e-01 -7.31859472e-01 1.56533512e-03 2.60821351e+02] [ 7.31857578e-01 -6.81455584e-01 -1.66524173e-03 -9.39930368e+01] [ 2.28542929e-03 1.08170805e-05 9.99997388e-01 -4.87442612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.012235350653450876 Centerline is valid? [True, True] Translation: X:260.78, Y:-93.95, Z:-4.87 [[-6.81744856e-01 -7.31589280e-01 1.03747026e-03 2.60783549e+02] [ 7.31588450e-01 -6.81745646e-01 -1.10199756e-03 -9.39490495e+01] [ 1.51350043e-03 7.72008793e-06 9.99998855e-01 -4.87464224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.012192006714818474 Centerline is valid? [True, True] Translation: X:260.75, Y:-93.90, Z:-4.87 [[-6.82803259e-01 -7.30601952e-01 7.05389625e-04 2.60746461e+02] [ 7.30601570e-01 -6.82803623e-01 -7.47411658e-04 -9.39048890e+01] [ 1.02770301e-03 5.02365148e-06 9.99999472e-01 -4.87497218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.012278706840441628 Centerline is valid? [True, True] Translation: X:260.71, Y:-93.86, Z:-4.88 [[-6.84643722e-01 -7.28877761e-01 4.28379548e-04 2.60711076e+02] [ 7.28877621e-01 -6.84643856e-01 -4.52247337e-04 -9.38598329e+01] [ 6.22920452e-04 2.60796548e-06 9.99999806e-01 -4.87524109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.012248846947785667 Centerline is valid? [True, True] Translation: X:260.67, Y:-93.82, Z:-4.87 [[-6.85675115e-01 -7.27907648e-01 -3.05764978e-04 2.60674143e+02] [ 7.27907574e-01 -6.85675183e-01 3.28592180e-04 -9.38164575e+01] [-4.48840219e-04 2.73883773e-06 9.99999899e-01 -4.87485960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.012147212903703087 Centerline is valid? [True, True] Translation: X:260.64, Y:-93.77, Z:-4.87 [[-6.84849870e-01 -7.28680788e-01 -2.22834441e-03 2.60636708e+02] [ 7.28676929e-01 -6.84853495e-01 2.37138556e-03 -9.37734527e+01] [-3.25407255e-03 2.99930504e-07 9.99994705e-01 -4.87276681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.012190022901049825 Centerline is valid? [True, True] Translation: X:260.60, Y:-93.73, Z:-4.87 [[-6.83402936e-01 -7.30037982e-01 -2.22983246e-03 2.60597233e+02] [ 7.30034130e-01 -6.83406574e-01 2.37150897e-03 -9.37318647e+01] [-3.25517378e-03 -7.15760616e-06 9.99994702e-01 -4.87382164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.012379827769723795 Centerline is valid? [True, True] Translation: X:260.56, Y:-93.69, Z:-4.87 [[-6.80621176e-01 -7.32633700e-01 -1.63593423e-03 2.60557499e+02] [ 7.32631635e-01 -6.80623142e-01 1.73959907e-03 -9.36890734e+01] [-2.38794360e-03 -1.45292107e-05 9.99997149e-01 -4.87477672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.012575137124813203 Centerline is valid? [True, True] Translation: X:260.52, Y:-93.65, Z:-4.88 [[-6.80232770e-01 -7.32995090e-01 -1.25588112e-03 2.60519269e+02] [ 7.32993873e-01 -6.80233929e-01 1.33586257e-03 -9.36484525e+01] [-1.83347365e-03 -1.18556683e-05 9.99998319e-01 -4.87658310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.012592119194229442 Centerline is valid? [True, True] Translation: X:260.48, Y:-93.60, Z:-4.88 [[-6.80682371e-01 -7.32578640e-01 2.12950730e-04 2.60482209e+02] [ 7.32578606e-01 -6.80682405e-01 -2.22180143e-04 -9.36042874e+01] [ 3.07716241e-04 4.76904243e-06 9.99999953e-01 -4.87899595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.01262178322902899 Centerline is valid? [True, True] Translation: X:260.45, Y:-93.56, Z:-4.88 [[-6.81555383e-01 -7.31766171e-01 7.28093000e-04 2.60446309e+02] [ 7.31765769e-01 -6.81555772e-01 -7.67606509e-04 -9.35611604e+01] [ 1.05794446e-03 9.62718586e-06 9.99999440e-01 -4.88020269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.012322148711476811 Centerline is valid? [True, True] Translation: X:260.41, Y:-93.52, Z:-4.88 [[-6.83475128e-01 -7.29973761e-01 2.40293695e-04 2.60411192e+02] [ 7.29973718e-01 -6.83475170e-01 -2.50846006e-04 -9.35157545e+01] [ 3.47345776e-04 3.96107572e-06 9.99999940e-01 -4.88032563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.012300422340345792 Centerline is valid? [True, True] Translation: X:260.37, Y:-93.47, Z:-4.88 [[-6.84528541e-01 -7.28986059e-01 4.64173956e-05 2.60374508e+02] [ 7.28986058e-01 -6.84528543e-01 -4.55370734e-05 -9.34710501e+01] [ 6.49699235e-05 2.66620781e-06 9.99999998e-01 -4.88035732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.012292374751214068 Centerline is valid? [True, True] Translation: X:260.34, Y:-93.42, Z:-4.88 [[-6.85206223e-01 -7.28349008e-01 -3.93373606e-04 2.60339464e+02] [ 7.28348887e-01 -6.85206336e-01 4.19463439e-04 -9.34249081e+01] [-5.75057867e-04 9.05730731e-07 9.99999835e-01 -4.87983657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.012326680542475262 Centerline is valid? [True, True] Translation: X:260.30, Y:-93.38, Z:-4.88 [[-6.85235330e-01 -7.28321552e-01 -5.10046781e-04 2.60302132e+02] [ 7.28321350e-01 -6.85235520e-01 5.42528179e-04 -9.33817522e+01] [-7.44637136e-04 2.81515361e-07 9.99999723e-01 -4.88018443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.012478071483163895 Centerline is valid? [True, True] Translation: X:260.26, Y:-93.34, Z:-4.88 [[-6.84015410e-01 -7.29467431e-01 -4.30260663e-04 2.60263601e+02] [ 7.29467288e-01 -6.84015546e-01 4.57887143e-04 -9.33388649e+01] [-6.28318740e-04 -6.59217082e-07 9.99999803e-01 -4.88110550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.012576577157421743 Centerline is valid? [True, True] Translation: X:260.22, Y:-93.30, Z:-4.88 [[-6.82559732e-01 -7.30829340e-01 -8.29669283e-04 2.60223693e+02] [ 7.30828811e-01 -6.82560236e-01 8.78876251e-04 -9.32968234e+01] [-1.20860781e-03 -6.46067723e-06 9.99999270e-01 -4.88111919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.013019442700950757 Centerline is valid? [True, True] Translation: X:260.18, Y:-93.26, Z:-4.88 [[-6.80837029e-01 -7.32434934e-01 8.96717784e-05 2.60183259e+02] [ 7.32434928e-01 -6.80837035e-01 -9.11940534e-05 -9.32569178e+01] [ 1.27845578e-04 3.59045420e-06 9.99999992e-01 -4.88283334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.013124952635217301 Centerline is valid? [True, True] Translation: X:260.14, Y:-93.22, Z:-4.88 [[-6.79972254e-01 -7.33237766e-01 3.34338189e-04 2.60142104e+02] [ 7.33237683e-01 -6.79972336e-01 -3.48844382e-04 -9.32166732e+01] [ 4.83126594e-04 7.94485801e-06 9.99999883e-01 -4.88373588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.013426483806741708 Centerline is valid? [True, True] Translation: X:260.10, Y:-93.18, Z:-4.89 [[-6.78955671e-01 -7.34178721e-01 8.95458342e-04 2.60098981e+02] [ 7.34178119e-01 -6.78956262e-01 -9.40204949e-04 -9.31769592e+01] [ 1.29825552e-03 1.90684388e-05 9.99999157e-01 -4.88564073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.013628389144927899 Centerline is valid? [True, True] Translation: X:260.06, Y:-93.14, Z:-4.89 [[-6.78915261e-01 -7.34216024e-01 9.47900110e-04 2.60058212e+02] [ 7.34215351e-01 -6.78915923e-01 -9.94485517e-04 -9.31364097e+01] [ 1.37371168e-03 2.07914170e-05 9.99999056e-01 -4.88644580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.013822076963094463 Centerline is valid? [True, True] Translation: X:260.02, Y:-93.10, Z:-4.89 [[-6.78545840e-01 -7.34556755e-01 1.38421054e-03 2.60017611e+02] [ 7.34555319e-01 -6.78547252e-01 -1.45294010e-03 -9.30957788e+01] [ 2.00651922e-03 3.08927508e-05 9.99997986e-01 -4.88739256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.01467181837029259 Centerline is valid? [True, True] Translation: X:259.98, Y:-93.06, Z:-4.89 [[-6.77685974e-01 -7.35347734e-01 2.33037237e-03 2.59976641e+02] [ 7.35343664e-01 -6.77689978e-01 -2.44730388e-03 -9.30563526e+01] [ 3.37888937e-03 5.51210406e-05 9.99994290e-01 -4.88958753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.013900497895630332 Centerline is valid? [True, True] Translation: X:259.94, Y:-93.01, Z:-4.89 [[-6.77929279e-01 -7.35126186e-01 1.17602253e-03 2.59938445e+02] [ 7.35125154e-01 -6.77930298e-01 -1.23233403e-03 -9.30141669e+01] [ 1.70318232e-03 2.90884249e-05 9.99998549e-01 -4.88771969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.01416353815545953 Centerline is valid? [True, True] Translation: X:259.90, Y:-92.97, Z:-4.89 [[-6.79211383e-01 -7.33942701e-01 9.25786703e-05 2.59898333e+02] [ 7.33942695e-01 -6.79211389e-01 -9.41012412e-05 -9.29739207e+01] [ 1.31945406e-04 4.03280457e-06 9.99999991e-01 -4.88784958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.012904364124603496 Centerline is valid? [True, True] Translation: X:259.86, Y:-92.93, Z:-4.89 [[-6.81491249e-01 -7.31826247e-01 -1.47605198e-04 2.59861056e+02] [ 7.31826230e-01 -6.81491265e-01 1.58133507e-04 -9.29294157e+01] [-2.16317904e-04 -2.54754335e-07 9.99999977e-01 -4.88744535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.012487918632051724 Centerline is valid? [True, True] Translation: X:259.82, Y:-92.89, Z:-4.89 [[-6.83292384e-01 -7.30144842e-01 -1.65982933e-04 2.59822386e+02] [ 7.30144821e-01 -6.83292404e-01 1.76183554e-04 -9.28853930e+01] [-2.42054391e-04 -8.06698825e-07 9.99999971e-01 -4.88777660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.012255903552808837 Centerline is valid? [True, True] Translation: X:259.78, Y:-92.84, Z:-4.89 [[-6.85916241e-01 -7.27680442e-01 2.90839249e-04 2.59784578e+02] [ 7.27680380e-01 -6.85916303e-01 -3.01818692e-04 -9.28414372e+01] [ 4.19118941e-04 4.61567198e-06 9.99999912e-01 -4.88877186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.012356278713419674 Centerline is valid? [True, True] Translation: X:259.74, Y:-92.80, Z:-4.89 [[-6.86084958e-01 -7.27520757e-01 9.89678519e-04 2.59744234e+02] [ 7.27520023e-01 -6.86085672e-01 -1.03350106e-03 -9.28025092e+01] [ 1.43089772e-03 1.09414095e-05 9.99998976e-01 -4.89095356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.012339684325408233 Centerline is valid? [True, True] Translation: X:259.70, Y:-92.76, Z:-4.89 [[-6.85649270e-01 -7.27930442e-01 1.53291175e-03 2.59702827e+02] [ 7.27928679e-01 -6.85650984e-01 -1.60199680e-03 -9.27630829e+01] [ 2.21718469e-03 1.74424904e-05 9.99997542e-01 -4.89174174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.012248335821131036 Centerline is valid? [True, True] Translation: X:259.66, Y:-92.72, Z:-4.89 [[-6.85634059e-01 -7.27944964e-01 1.43778148e-03 2.59662848e+02] [ 7.27943416e-01 -6.85635566e-01 -1.50139365e-03 -9.27224009e+01] [ 2.07872606e-03 1.72169354e-05 9.99997839e-01 -4.89155648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.012401569892258095 Centerline is valid? [True, True] Translation: X:259.62, Y:-92.68, Z:-4.89 [[-6.85467793e-01 -7.28102111e-01 1.10460124e-03 2.59621789e+02] [ 7.28101200e-01 -6.85468683e-01 -1.15194212e-03 -9.26822312e+01] [ 1.59590105e-03 1.46422646e-05 9.99998726e-01 -4.89199138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.012292960887476086 Centerline is valid? [True, True] Translation: X:259.58, Y:-92.64, Z:-4.89 [[-6.86311031e-01 -7.27308033e-01 4.41332841e-04 2.59581343e+02] [ 7.27307888e-01 -6.86311173e-01 -4.57854684e-04 -9.26421835e+01] [ 6.35893048e-04 6.75413645e-06 9.99999798e-01 -4.89251590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.012328748804909966 Centerline is valid? [True, True] Translation: X:259.54, Y:-92.60, Z:-4.89 [[-6.87216318e-01 -7.26450720e-01 1.75612001e-03 2.59541965e+02] [ 7.26448412e-01 -6.87218562e-01 -1.83123973e-03 -9.26007683e+01] [ 2.53714369e-03 1.72727670e-05 9.99996781e-01 -4.89426353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.012418113053653224 Centerline is valid? [True, True] Translation: X:259.50, Y:-92.56, Z:-4.90 [[-6.88877461e-01 -7.24867065e-01 3.94722876e-03 2.59504339e+02] [ 7.24855367e-01 -6.88888770e-01 -4.11827922e-03 -9.25580486e+01] [ 5.70440654e-03 2.41802188e-05 9.99983729e-01 -4.89769301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.012208217060630452 Centerline is valid? [True, True] Translation: X:259.47, Y:-92.52, Z:-4.90 [[-6.89951060e-01 -7.23845727e-01 3.85995688e-03 2.59466033e+02] [ 7.23834540e-01 -6.89961857e-01 -4.02428391e-03 -9.25160562e+01] [ 5.57618373e-03 1.74111640e-05 9.99984453e-01 -4.89740920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.012078620680183743 Centerline is valid? [True, True] Translation: X:259.43, Y:-92.48, Z:-4.90 [[-6.89853833e-01 -7.23943949e-01 2.61679096e-03 2.59425427e+02] [ 7.23938819e-01 -6.89858796e-01 -2.72540143e-03 -9.24760419e+01] [ 3.77825413e-03 1.42679406e-05 9.99992862e-01 -4.89735103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.01193714732045308 Centerline is valid? [True, True] Translation: X:259.39, Y:-92.43, Z:-4.90 [[-6.91644248e-01 -7.22236918e-01 1.43814205e-03 2.59387946e+02] [ 7.22235370e-01 -6.91645743e-01 -1.49528122e-03 -9.24325910e+01] [ 2.07463212e-03 4.47439750e-06 9.99997848e-01 -4.89551343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.011882736194927095 Centerline is valid? [True, True] Translation: X:259.35, Y:-92.39, Z:-4.89 [[-6.92874322e-01 -7.21058345e-01 1.92815371e-04 2.59349794e+02] [ 7.21058318e-01 -6.92874349e-01 -1.97305803e-04 -9.23900385e+01] [ 2.75865820e-04 2.32300200e-06 9.99999962e-01 -4.89458852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.01195667884431873 Centerline is valid? [True, True] Translation: X:259.31, Y:-92.35, Z:-4.89 [[-6.91865095e-01 -7.22026219e-01 -9.10744163e-04 2.59309325e+02] [ 7.22025592e-01 -6.91865694e-01 9.51457243e-04 -9.23499119e+01] [-1.31708972e-03 6.99461602e-07 9.99999133e-01 -4.89418295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.011988365382337109 Centerline is valid? [True, True] Translation: X:259.27, Y:-92.31, Z:-4.90 [[-6.90065369e-01 -7.23747030e-01 -1.48699861e-04 2.59267091e+02] [ 7.23747013e-01 -6.90065385e-01 1.58176506e-04 -9.23110702e+01] [-2.17092403e-04 1.53104862e-06 9.99999976e-01 -4.89602540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.013114142068821309 Centerline is valid? [True, True] Translation: X:259.22, Y:-92.28, Z:-4.90 [[-6.85310186e-01 -7.28250918e-01 7.40366959e-04 2.59222063e+02] [ 7.28250515e-01 -6.85310586e-01 -7.66455132e-04 -9.22756046e+01] [ 1.06555297e-03 1.39131098e-05 9.99999432e-01 -4.89975203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.013156671082112107 Centerline is valid? [True, True] Translation: X:259.18, Y:-92.23, Z:-4.90 [[-6.84111659e-01 -7.29376442e-01 1.11569880e-03 2.59180909e+02] [ 7.29375526e-01 -6.84112568e-01 -1.15614674e-03 -9.22342059e+01] [ 1.60652976e-03 2.28299364e-05 9.99998709e-01 -4.90050564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.013682829622079805 Centerline is valid? [True, True] Translation: X:259.14, Y:-92.19, Z:-4.90 [[-6.84477601e-01 -7.29033665e-01 5.73531296e-04 2.59140793e+02] [ 7.29033424e-01 -6.84477842e-01 -5.92106093e-04 -9.21940496e+01] [ 8.24234738e-04 1.28401265e-05 9.99999660e-01 -4.90157872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.012781799405658639 Centerline is valid? [True, True] Translation: X:259.10, Y:-92.15, Z:-4.90 [[-6.86360211e-01 -7.27261727e-01 2.02891614e-04 2.59103205e+02] [ 7.27261698e-01 -6.86360241e-01 -2.07063057e-04 -9.21507114e+01] [ 2.89845773e-04 5.43545613e-06 9.99999958e-01 -4.90133663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.012086354735663102 Centerline is valid? [True, True] Translation: X:259.07, Y:-92.11, Z:-4.90 [[-6.90144774e-01 -7.23670421e-01 -1.14549182e-03 2.59065951e+02] [ 7.23669441e-01 -6.90145725e-01 1.19122091e-03 -9.21063911e+01] [-1.65260762e-03 -6.84253968e-06 9.99998634e-01 -4.90056374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.011810161224242012 Centerline is valid? [True, True] Translation: X:259.03, Y:-92.06, Z:-4.90 [[-6.94076800e-01 -7.19896042e-01 -2.66158007e-03 2.59029666e+02] [ 7.19890743e-01 -6.94081903e-01 2.76229118e-03 -9.20623958e+01] [-3.83591705e-03 1.19536782e-06 9.99992643e-01 -4.89890284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.011949853105240178 Centerline is valid? [True, True] Translation: X:258.99, Y:-92.02, Z:-4.90 [[-6.95829591e-01 -7.18205594e-01 -1.38043226e-03 2.58992151e+02] [ 7.18204163e-01 -6.95830960e-01 1.43355615e-03 -9.20209671e+01] [-1.99013555e-03 6.07858937e-06 9.99998020e-01 -4.90124172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.011914936256613778 Centerline is valid? [True, True] Translation: X:258.95, Y:-91.98, Z:-4.90 [[-6.92272434e-01 -7.21635746e-01 8.52727970e-04 2.58947340e+02] [ 7.21635209e-01 -6.92272960e-01 -8.79657477e-04 -9.19835407e+01] [ 1.22511279e-03 6.39590436e-06 9.99999250e-01 -4.90467043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.011914936256613778 Centerline is valid? [True, True] Translation: X:258.91, Y:-91.94, Z:-4.91 [[-6.92500661e-01 -7.21416736e-01 8.53203373e-04 2.58907825e+02] [ 7.21416200e-01 -6.92501187e-01 -8.79197641e-04 -9.19427880e+01] [ 1.22511224e-03 6.66978761e-06 9.99999250e-01 -4.90510996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.012119507208843198 Centerline is valid? [True, True] Translation: X:258.87, Y:-91.90, Z:-4.91 [[-6.92544136e-01 -7.21374944e-01 9.00177748e-04 2.58868246e+02] [ 7.21374348e-01 -6.92544721e-01 -9.27048307e-04 -9.19030863e+01] [ 1.29216277e-03 7.34326741e-06 9.99999165e-01 -4.90696046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.012166569592180891 Centerline is valid? [True, True] Translation: X:258.83, Y:-91.86, Z:-4.91 [[-6.92257380e-01 -7.21650057e-01 9.56175394e-04 2.58828924e+02] [ 7.21649385e-01 -6.92258041e-01 -9.84700775e-04 -9.18614244e+01] [ 1.37252947e-03 8.35700647e-06 9.99999058e-01 -4.90647230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.012251869809001063 Centerline is valid? [True, True] Translation: X:258.79, Y:-91.82, Z:-4.91 [[-6.92386309e-01 -7.21526414e-01 9.12854502e-04 2.58788617e+02] [ 7.21525802e-01 -6.92386911e-01 -9.39432919e-04 -9.18201721e+01] [ 1.30987417e-03 8.19758611e-06 9.99999142e-01 -4.90707583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.012125674772822592 Centerline is valid? [True, True] Translation: X:258.75, Y:-91.78, Z:-4.91 [[-6.91673605e-01 -7.22210235e-01 -7.96690720e-06 2.58748413e+02] [ 7.22210235e-01 -6.91673605e-01 1.17566011e-05 -9.17798255e+01] [-1.40012374e-05 2.37794872e-06 1.00000000e+00 -4.90539108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.012153115088636816 Centerline is valid? [True, True] Translation: X:258.71, Y:-91.74, Z:-4.91 [[-6.91159879e-01 -7.22700807e-01 -1.25123607e-03 2.58707028e+02] [ 7.22699648e-01 -6.91161011e-01 1.29404969e-03 -9.17402472e+01] [-1.80001634e-03 -9.87264034e-06 9.99998380e-01 -4.90524026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.012096219561074513 Centerline is valid? [True, True] Translation: X:258.67, Y:-91.70, Z:-4.90 [[-6.91665607e-01 -7.22214979e-01 -2.05236742e-03 2.58667382e+02] [ 7.22211871e-01 -6.91668652e-01 2.11898102e-03 -9.16983677e+01] [-2.94991804e-03 -1.66178173e-05 9.99995649e-01 -4.90442839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.012081064473403808 Centerline is valid? [True, True] Translation: X:258.63, Y:-91.66, Z:-4.90 [[-6.92273579e-01 -7.21631012e-01 -2.44421823e-03 2.58628703e+02] [ 7.21626608e-01 -6.92277893e-01 2.52125852e-03 -9.16564316e+01] [-3.51149658e-03 -1.84122562e-05 9.99993835e-01 -4.90373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.012112657095086033 Centerline is valid? [True, True] Translation: X:258.59, Y:-91.61, Z:-4.90 [[-6.92119673e-01 -7.21779244e-01 -2.25425411e-03 2.58587870e+02] [ 7.21775503e-01 -6.92123343e-01 2.32392664e-03 -9.16148855e+01] [-3.23758391e-03 -1.86300468e-05 9.99994759e-01 -4.90438456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.012312451141250944 Centerline is valid? [True, True] Translation: X:258.55, Y:-91.57, Z:-4.91 [[-6.91159719e-01 -7.22700410e-01 -1.53622370e-03 2.58545793e+02] [ 7.22698674e-01 -6.91161426e-01 1.58382381e-03 -9.15748774e+01] [-2.20640868e-03 -1.55516129e-05 9.99997566e-01 -4.90571178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.012884302066089932 Centerline is valid? [True, True] Translation: X:258.50, Y:-91.54, Z:-4.91 [[-6.89075255e-01 -7.24689164e-01 -9.53683672e-04 2.58503311e+02] [ 7.24688497e-01 -6.89075914e-01 9.83150679e-04 -9.15367647e+01] [-1.36963909e-03 -1.36587820e-05 9.99999062e-01 -4.90744739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.013257813251742547 Centerline is valid? [True, True] Translation: X:258.46, Y:-91.50, Z:-4.91 [[-6.87035601e-01 -7.26622976e-01 -1.06485688e-03 2.58462068e+02] [ 7.26622147e-01 -6.87036426e-01 1.09773805e-03 -9.14963555e+01] [-1.52923715e-03 -1.95634761e-05 9.99998831e-01 -4.90670623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.01365150984967808 Centerline is valid? [True, True] Translation: X:258.42, Y:-91.46, Z:-4.91 [[-6.86278002e-01 -7.27338775e-01 -9.00667115e-04 2.58420517e+02] [ 7.27338182e-01 -6.86278592e-01 9.28569436e-04 -9.14564826e+01] [-1.29349312e-03 -1.78328052e-05 9.99999163e-01 -4.90735912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.0137774991500538 Centerline is valid? [True, True] Translation: X:258.38, Y:-91.42, Z:-4.91 [[-6.86589462e-01 -7.27045002e-01 -6.89975014e-04 2.58380180e+02] [ 7.27044654e-01 -6.86589808e-01 7.11851035e-04 -9.14164032e+01] [-9.91277549e-04 -1.28932262e-05 9.99999509e-01 -4.90842951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.013470734006252818 Centerline is valid? [True, True] Translation: X:258.34, Y:-91.38, Z:-4.91 [[-6.88535470e-01 -7.25202516e-01 -4.66065880e-04 2.58341221e+02] [ 7.25202357e-01 -6.88535627e-01 4.81314065e-04 -9.13751142e+01] [-6.69953135e-04 -6.59026872e-06 9.99999776e-01 -4.90937608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.012820278936827623 Centerline is valid? [True, True] Translation: X:258.30, Y:-91.33, Z:-4.91 [[-6.91254471e-01 -7.22610727e-01 -9.96692643e-04 2.58302663e+02] [ 7.22610000e-01 -6.91255190e-01 1.02512945e-03 -9.13315068e+01] [-1.42973850e-03 -1.15947513e-05 9.99998978e-01 -4.90925744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.012042475068466554 Centerline is valid? [True, True] Translation: X:258.27, Y:-91.29, Z:-4.91 [[-6.95512033e-01 -7.18511665e-01 -1.99985517e-03 2.58265410e+02] [ 7.18508732e-01 -6.95514908e-01 2.05282982e-03 -9.12871963e+01] [-2.86591125e-03 -9.14555882e-06 9.99995893e-01 -4.90767602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.011928554093601896 Centerline is valid? [True, True] Translation: X:258.23, Y:-91.24, Z:-4.91 [[-6.98450799e-01 -7.15656683e-01 -1.41172459e-03 2.58226155e+02] [ 7.15655216e-01 -6.98452226e-01 1.44929861e-03 -9.12449298e+01] [-2.02322242e-03 1.95570715e-06 9.99997953e-01 -4.90854354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.011918177228643877 Centerline is valid? [True, True] Translation: X:258.19, Y:-91.20, Z:-4.91 [[-6.99657611e-01 -7.14477711e-01 -9.09917931e-04 2.58186483e+02] [ 7.14477099e-01 -6.99658202e-01 9.35036092e-04 -9.12032899e+01] [-1.30469399e-03 4.08959410e-06 9.99999149e-01 -4.90933530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.011984448440340415 Centerline is valid? [True, True] Translation: X:258.15, Y:-91.16, Z:-4.91 [[-7.00505495e-01 -7.13646954e-01 -2.77773108e-04 2.58146242e+02] [ 7.13646896e-01 -7.00505550e-01 2.87364393e-04 -9.11617916e+01] [-3.99658327e-04 3.06841983e-06 9.99999920e-01 -4.90929903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.012067886574114908 Centerline is valid? [True, True] Translation: X:258.11, Y:-91.12, Z:-4.91 [[-7.00338778e-01 -7.13810527e-01 3.57038212e-04 2.58105238e+02] [ 7.13810436e-01 -7.00338869e-01 -3.61575629e-04 -9.11217746e+01] [ 5.08144228e-04 1.63216810e-06 9.99999871e-01 -4.91052301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.012061115323190147 Centerline is valid? [True, True] Translation: X:258.06, Y:-91.08, Z:-4.91 [[-6.99345660e-01 -7.14782812e-01 1.08551241e-03 2.58062478e+02] [ 7.14781957e-01 -6.99346503e-01 -1.10617811e-03 -9.10819192e+01] [ 1.54982641e-03 2.30382095e-06 9.99998799e-01 -4.91172141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.012151587604950715 Centerline is valid? [True, True] Translation: X:258.02, Y:-91.04, Z:-4.91 [[-6.97638565e-01 -7.16447064e-01 2.00917629e-03 2.58019276e+02] [ 7.16444135e-01 -6.97641459e-01 -2.04845363e-03 -9.10434963e+01] [ 2.86929326e-03 1.03823190e-05 9.99995884e-01 -4.91380579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.012373366480792848 Centerline is valid? [True, True] Translation: X:257.98, Y:-91.00, Z:-4.91 [[-6.95275210e-01 -7.18741402e-01 1.78286309e-03 2.57977786e+02] [ 7.18739107e-01 -6.95277496e-01 -1.81660182e-03 -9.10033878e+01] [ 2.54525152e-03 1.83752107e-05 9.99996761e-01 -4.91168624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.01265346578291799 Centerline is valid? [True, True] Translation: X:257.94, Y:-90.97, Z:-4.91 [[-6.93371044e-01 -7.20579705e-01 1.21826384e-03 2.57935130e+02] [ 7.20578640e-01 -6.93372114e-01 -1.23917566e-03 -9.09653761e+01] [ 1.73763501e-03 1.86463800e-05 9.99998490e-01 -4.91167436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.013387727700567943 Centerline is valid? [True, True] Translation: X:257.89, Y:-90.93, Z:-4.91 [[-6.90938297e-01 -7.22912932e-01 1.07861577e-03 2.57891263e+02] [ 7.22912099e-01 -6.90939138e-01 -1.09753701e-03 -9.09282037e+01] [ 1.53868155e-03 2.14140408e-05 9.99998816e-01 -4.91268289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.014171915287251561 Centerline is valid? [True, True] Translation: X:257.85, Y:-90.89, Z:-4.91 [[-6.87887368e-01 -7.25817411e-01 2.31892309e-04 2.57847013e+02] [ 7.25817374e-01 -6.87887407e-01 -2.33219494e-04 -9.08903661e+01] [ 3.28790569e-04 7.88272251e-06 9.99999946e-01 -4.91186045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.014240263425462318 Centerline is valid? [True, True] Translation: X:257.81, Y:-90.85, Z:-4.91 [[-6.87077221e-01 -7.26584316e-01 -3.53303899e-04 2.57806152e+02] [ 7.26584225e-01 -6.87077312e-01 3.63169966e-04 -9.08497241e+01] [-5.06620695e-04 -7.17922845e-06 9.99999872e-01 -4.91070193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.015524776820994322 Centerline is valid? [True, True] Translation: X:257.76, Y:-90.81, Z:-4.91 [[-6.86926398e-01 -7.26725880e-01 1.27286776e-03 2.57762553e+02] [ 7.26724732e-01 -6.86927576e-01 -1.29228855e-03 -9.08124819e+01] [ 1.81350750e-03 3.73173633e-05 9.99998355e-01 -4.91463108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.014033154841104994 Centerline is valid? [True, True] Translation: X:257.72, Y:-90.77, Z:-4.91 [[-6.88036309e-01 -7.25674258e-01 1.70552532e-03 2.57723181e+02] [ 7.25672193e-01 -6.88038421e-01 -1.73179727e-03 -9.07699768e+01] [ 2.43018765e-03 4.61129010e-05 9.99997046e-01 -4.91410418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.013536489044875874 Centerline is valid? [True, True] Translation: X:257.68, Y:-90.73, Z:-4.92 [[-6.90422894e-01 -7.23402325e-01 2.30309779e-03 2.57683533e+02] [ 7.23398547e-01 -6.90426733e-01 -2.33839513e-03 -9.07273827e+01] [ 3.28172075e-03 5.15760633e-05 9.99994614e-01 -4.91516345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.01274784851092462 Centerline is valid? [True, True] Translation: X:257.65, Y:-90.68, Z:-4.92 [[-6.94349950e-01 -7.19626810e-01 3.92437180e-03 2.57647571e+02] [ 7.19615782e-01 -6.94361038e-01 -3.98447069e-03 -9.06817067e+01] [ 5.59226281e-03 5.74228558e-05 9.99984362e-01 -4.91610955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.012459468626939797 Centerline is valid? [True, True] Translation: X:257.61, Y:-90.64, Z:-4.92 [[-6.96679917e-01 -7.17368801e-01 4.37001497e-03 2.57609036e+02] [ 7.17355094e-01 -6.96693621e-01 -4.43477092e-03 -9.06383205e+01] [ 6.22592785e-03 4.52366664e-05 9.99980618e-01 -4.91691952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.012405551712586494 Centerline is valid? [True, True] Translation: X:257.57, Y:-90.60, Z:-4.92 [[-6.99461845e-01 -7.14657816e-01 4.16344305e-03 2.57570387e+02] [ 7.14645347e-01 -6.99474235e-01 -4.22165783e-03 -9.05973796e+01] [ 5.92926190e-03 2.24966245e-05 9.99982422e-01 -4.91998601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.01198345177365431 Centerline is valid? [True, True] Translation: X:257.53, Y:-90.55, Z:-4.92 [[-7.02100389e-01 -7.12068389e-01 3.69505711e-03 2.57533884e+02] [ 7.12058542e-01 -7.02110112e-01 -3.74473167e-03 -9.05522007e+01] [ 5.26084201e-03 1.91941865e-06 9.99986162e-01 -4.91661591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.011968889768560819 Centerline is valid? [True, True] Translation: X:257.49, Y:-90.51, Z:-4.92 [[-7.02658836e-01 -7.11518246e-01 3.51375314e-03 2.57494580e+02] [ 7.11509346e-01 -7.02667621e-01 -3.55881349e-03 -9.05099353e+01] [ 5.00116130e-03 -5.63543893e-07 9.99987494e-01 -4.91633659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.012014701172821034 Centerline is valid? [True, True] Translation: X:257.46, Y:-90.47, Z:-4.92 [[-7.03018276e-01 -7.11163664e-01 3.39804472e-03 2.57456690e+02] [ 7.11155350e-01 -7.03026489e-01 -3.43870624e-03 -9.04689436e+01] [ 4.83439837e-03 -9.35648947e-07 9.99988314e-01 -4.91675998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.011917362232660385 Centerline is valid? [True, True] Translation: X:257.42, Y:-90.43, Z:-4.92 [[-7.01860662e-01 -7.12302940e-01 4.01658622e-03 2.57415100e+02] [ 7.12291349e-01 -7.01872155e-01 -4.06344707e-03 -9.04289875e+01] [ 5.71353532e-03 9.00596592e-06 9.99983678e-01 -4.91772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.012027649628667085 Centerline is valid? [True, True] Translation: X:257.37, Y:-90.39, Z:-4.92 [[-7.00539295e-01 -7.13603874e-01 3.76925121e-03 2.57373967e+02] [ 7.13593700e-01 -7.00549435e-01 -3.81059510e-03 -9.03892451e+01] [ 5.35980223e-03 2.02423155e-05 9.99985636e-01 -4.91918558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.012209979259969651 Centerline is valid? [True, True] Translation: X:257.33, Y:-90.35, Z:-4.92 [[-6.97876554e-01 -7.16212874e-01 2.72684229e-03 2.57332291e+02] [ 7.16207578e-01 -6.97881880e-01 -2.75446535e-03 -9.03486086e+01] [ 3.87579737e-03 3.07083274e-05 9.99992489e-01 -4.91758947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.012951303908063209 Centerline is valid? [True, True] Translation: X:257.29, Y:-90.31, Z:-4.92 [[-6.95714533e-01 -7.18312442e-01 2.91976537e-03 2.57290758e+02] [ 7.18306395e-01 -6.95720658e-01 -2.94767591e-03 -9.03095593e+01] [ 4.14869336e-03 4.65451661e-05 9.99991393e-01 -4.91854791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.013027098336642217 Centerline is valid? [True, True] Translation: X:257.25, Y:-90.27, Z:-4.92 [[-6.94851113e-01 -7.19146327e-01 3.23895280e-03 2.57249334e+02] [ 7.19138902e-01 -6.94858659e-01 -3.26859845e-03 -9.02690755e+01] [ 4.60121497e-03 5.80676921e-05 9.99989413e-01 -4.91888562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.013544088571347234 Centerline is valid? [True, True] Translation: X:257.21, Y:-90.23, Z:-4.92 [[-6.94667382e-01 -7.19322864e-01 3.44189505e-03 2.57208727e+02] [ 7.19314493e-01 -6.94675906e-01 -3.47079158e-03 -9.02301764e+01] [ 4.88762130e-03 6.47592877e-05 9.99988053e-01 -4.92109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.012809294924100973 Centerline is valid? [True, True] Translation: X:257.17, Y:-90.19, Z:-4.92 [[-6.96112058e-01 -7.17929062e-01 2.42168028e-03 2.57170038e+02] [ 7.17924916e-01 -6.96116270e-01 -2.44010200e-03 -9.01864914e+01] [ 3.43759118e-03 4.00001876e-05 9.99994091e-01 -4.91922853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.011973986319189734 Centerline is valid? [True, True] Translation: X:257.13, Y:-90.14, Z:-4.92 [[-7.01345625e-01 -7.12820966e-01 7.64297474e-04 2.57133182e+02] [ 7.12820553e-01 -7.01346042e-01 -7.67514361e-04 -9.01415431e+01] [ 1.08313734e-03 6.51410821e-06 9.99999413e-01 -4.91806778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.011879374686877161 Centerline is valid? [True, True] Translation: X:257.09, Y:-90.10, Z:-4.92 [[-7.02883928e-01 -7.11303526e-01 1.21545235e-03 2.57093280e+02] [ 7.11302477e-01 -7.02884979e-01 -1.22173711e-03 -9.00991889e+01] [ 1.72334912e-03 5.81489063e-06 9.99998515e-01 -4.91869276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.012027384709428494 Centerline is valid? [True, True] Translation: X:257.06, Y:-90.05, Z:-4.92 [[-7.07133444e-01 -7.07077613e-01 1.88206671e-03 2.57056079e+02] [ 7.07075080e-01 -7.07135949e-01 -1.89240610e-03 -9.00544953e+01] [ 2.66895501e-03 -7.42117209e-06 9.99996438e-01 -4.91969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.012341365518475714 Centerline is valid? [True, True] Translation: X:257.02, Y:-90.01, Z:-4.92 [[-7.09042397e-01 -7.05161933e-01 2.35104977e-03 2.57017508e+02] [ 7.05157973e-01 -7.09046295e-01 -2.36319584e-03 -9.00129186e+01] [ 3.33343887e-03 -1.77445537e-05 9.99994444e-01 -4.92129052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.012630281467970132 Centerline is valid? [True, True] Translation: X:256.98, Y:-89.97, Z:-4.92 [[-7.10414147e-01 -7.03779350e-01 2.52314174e-03 2.56977833e+02] [ 7.03774786e-01 -7.10418627e-01 -2.53467616e-03 -8.99711582e+01] [ 3.57633963e-03 -2.49462675e-05 9.99993605e-01 -4.92237118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.012561973514646007 Centerline is valid? [True, True] Translation: X:256.94, Y:-89.93, Z:-4.92 [[-7.09395830e-01 -7.04804715e-01 2.80525608e-03 2.56936292e+02] [ 7.04799087e-01 -7.09401376e-01 -2.81677943e-03 -8.99321104e+01] [ 3.97533195e-03 -2.10696555e-05 9.99992098e-01 -4.92372086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.012308217203902806 Centerline is valid? [True, True] Translation: X:256.89, Y:-89.89, Z:-4.92 [[-7.07347597e-01 -7.06853769e-01 4.13832512e-03 2.56894112e+02] [ 7.06841562e-01 -7.07359702e-01 -4.15421156e-03 -8.98931963e+01] [ 5.86370452e-03 -1.33313725e-05 9.99982808e-01 -4.92479890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.012382295770002182 Centerline is valid? [True, True] Translation: X:256.85, Y:-89.86, Z:-4.93 [[-7.04003589e-01 -7.10182162e-01 4.49933473e-03 2.56851254e+02] [ 7.10167816e-01 -7.04017966e-01 -4.51409629e-03 -8.98554728e+01] [ 6.37344315e-03 1.73427326e-05 9.99979689e-01 -4.92633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.01240340377600247 Centerline is valid? [True, True] Translation: X:256.81, Y:-89.82, Z:-4.93 [[-7.02381160e-01 -7.11789767e-01 4.00422598e-03 2.56809402e+02] [ 7.11778447e-01 -7.02392573e-01 -4.01440212e-03 -8.98168469e+01] [ 5.66994894e-03 3.04813332e-05 9.99983925e-01 -4.92613636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.012736306395849585 Centerline is valid? [True, True] Translation: X:256.77, Y:-89.78, Z:-4.93 [[-6.99503219e-01 -7.14622745e-01 3.09489721e-03 2.56766607e+02] [ 7.14616023e-01 -6.99510064e-01 -3.10002116e-03 -8.97784646e+01] [ 4.38025738e-03 4.31883480e-05 9.99990406e-01 -4.92590255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.013885432497737854 Centerline is valid? [True, True] Translation: X:256.72, Y:-89.74, Z:-4.93 [[-6.97136558e-01 -7.16931512e-01 3.13463463e-03 2.56723120e+02] [ 7.16924646e-01 -6.97143603e-01 -3.13826304e-03 -8.97408841e+01] [ 4.43521014e-03 5.94989288e-05 9.99990163e-01 -4.92788158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.0142002912263201 Centerline is valid? [True, True] Translation: X:256.68, Y:-89.70, Z:-4.93 [[-6.94826670e-01 -7.19174036e-01 2.14569146e-03 2.56680681e+02] [ 7.19170836e-01 -6.94829981e-01 -2.14616716e-03 -8.97009799e+01] [ 3.03435845e-03 5.19045429e-05 9.99995395e-01 -4.92692916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.01377345467302034 Centerline is valid? [True, True] Translation: X:256.64, Y:-89.66, Z:-4.93 [[-6.95091772e-01 -7.18920600e-01 7.73944383e-04 2.56640663e+02] [ 7.18920186e-01 -6.95092203e-01 -7.71655511e-04 -8.96593000e+01] [ 1.09272175e-03 2.00328429e-05 9.99999403e-01 -4.92578367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.013544046235481768 Centerline is valid? [True, True] Translation: X:256.60, Y:-89.62, Z:-4.93 [[-6.96203469e-01 -7.17844352e-01 4.63767933e-04 2.56600540e+02] [ 7.17844204e-01 -6.96203624e-01 -4.60884170e-04 -8.96178509e+01] [ 6.53720013e-04 1.20439648e-05 9.99999786e-01 -4.92616294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.013733408245635112 Centerline is valid? [True, True] Translation: X:256.56, Y:-89.58, Z:-4.93 [[-6.96556654e-01 -7.17500547e-01 1.33901709e-03 2.56560120e+02] [ 7.17499305e-01 -6.96557940e-01 -1.33539021e-03 -8.95769546e+01] [ 1.89084619e-03 3.05688937e-05 9.99998212e-01 -4.92840370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.014001335704824768 Centerline is valid? [True, True] Translation: X:256.08, Y:-90.05, Z:-3.92 [[-7.65352992e-01 6.43455328e-01 1.41434957e-02 2.56077356e+02] [ 6.43324674e-01 7.65483197e-01 -1.29937951e-02 -9.00488356e+01] [-1.91875351e-02 -8.45980192e-04 -9.99815544e-01 -3.92484032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.013918085220996235 Centerline is valid? [True, True] Translation: X:256.09, Y:-90.03, Z:-3.92 [[-8.09204814e-01 5.87296972e-01 1.64266564e-02 2.56093296e+02] [ 5.87153555e-01 8.09371046e-01 -1.30081793e-02 -9.00321914e+01] [-2.09349244e-02 -8.81311598e-04 -9.99780452e-01 -3.92407275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.01407045972962741 Centerline is valid? [True, True] Translation: X:256.51, Y:-89.49, Z:-4.93 [[-7.47125679e-01 -6.64674616e-01 3.29774746e-03 2.56508965e+02] [ 6.64666062e-01 -7.47132879e-01 -3.38913868e-03 -8.94937454e+01] [ 4.71653000e-03 -3.40211714e-04 9.99988819e-01 -4.93219955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.013882539741025112 Centerline is valid? [True, True] Translation: X:256.06, Y:-90.01, Z:-3.93 [[-8.11427542e-01 5.84265028e-01 1.48230082e-02 2.56058222e+02] [ 5.84148099e-01 8.11562477e-01 -1.17194422e-02 -9.00098052e+01] [-1.88770575e-02 -8.50646103e-04 -9.99821451e-01 -3.92557227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.014914629260256575 Centerline is valid? [True, True] Translation: X:256.08, Y:-89.99, Z:-3.93 [[-8.51119330e-01 5.24770865e-01 1.45404845e-02 2.56076310e+02] [ 5.24677170e-01 8.51243110e-01 -9.95161299e-03 -8.99870830e+01] [-1.75998038e-02 -8.40949924e-04 -9.99844758e-01 -3.92542769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.01421981755041582 Centerline is valid? [True, True] Translation: X:256.08, Y:-89.96, Z:-3.93 [[-8.86393682e-01 4.62689407e-01 1.49917578e-02 2.56084289e+02] [ 4.62606903e-01 8.86520049e-01 -8.77813664e-03 -8.99625246e+01] [-1.73520447e-02 -8.45594242e-04 -9.99849084e-01 -3.92643177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.01442710732889358 Centerline is valid? [True, True] Translation: X:256.10, Y:-89.94, Z:-3.93 [[-9.16766932e-01 3.99134557e-01 1.51656747e-02 2.56100284e+02] [ 3.99064830e-01 9.16891988e-01 -7.50622280e-03 -8.99403426e+01] [-1.69012785e-02 -8.29369458e-04 -9.99856819e-01 -3.92625131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.014406396513221028 Centerline is valid? [True, True] Translation: X:256.11, Y:-89.92, Z:-3.93 [[-9.42504904e-01 3.33862117e-01 1.48523942e-02 2.56109537e+02] [ 3.33807141e-01 9.42621580e-01 -6.11140879e-03 -8.99152750e+01] [-1.60405552e-02 -8.02197514e-04 -9.99871020e-01 -3.92734993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.01431676132414926 Centerline is valid? [True, True] Translation: X:256.10, Y:-89.88, Z:-3.93 [[-9.63934860e-01 2.65705656e-01 1.51687014e-02 2.56100404e+02] [ 2.65659467e-01 9.64053863e-01 -5.01976579e-03 -8.98847094e+01] [-1.59572253e-02 -8.09018122e-04 -9.99872348e-01 -3.92849709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.014297382019323469 Centerline is valid? [True, True] Translation: X:256.13, Y:-89.86, Z:-3.93 [[-9.80365402e-01 1.96478818e-01 1.67258085e-02 2.56126823e+02] [ 1.96435663e-01 9.80507715e-01 -4.20122675e-03 -8.98631396e+01] [-1.72252363e-02 -8.33192069e-04 -9.99851287e-01 -3.92802759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.014509283773471196 Centerline is valid? [True, True] Translation: X:256.13, Y:-89.83, Z:-3.93 [[-9.91789912e-01 1.26565688e-01 1.82728380e-02 2.56130626e+02] [ 1.26528344e-01 9.91957862e-01 -3.19021851e-03 -8.98349931e+01] [-1.85296575e-02 -8.51994613e-04 -9.99827948e-01 -3.92596625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.013904137214732852 Centerline is valid? [True, True] Translation: X:256.13, Y:-89.81, Z:-3.93 [[-9.98115556e-01 5.87489365e-02 1.77172318e-02 2.56133535e+02] [ 5.87256711e-02 9.98272479e-01 -1.83102124e-03 -8.98107236e+01] [-1.77941954e-02 -7.87114456e-04 -9.99841361e-01 -3.92716504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.01307234591972168 Centerline is valid? [True, True] Translation: X:256.20, Y:-89.13, Z:-4.93 [[-9.88750867e-01 -1.49569299e-01 8.64769021e-04 2.56197419e+02] [ 1.49568815e-01 -9.88751136e-01 -6.00034305e-04 -8.91306160e+01] [ 9.44788062e-04 -4.63941962e-04 9.99999446e-01 -4.93075240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.01212369166000618 Centerline is valid? [True, True] Translation: X:256.08, Y:-89.82, Z:-3.93 [[-9.97496323e-01 6.93825473e-02 1.36802100e-02 2.56083528e+02] [ 6.93687561e-02 9.97589988e-01 -1.48063278e-03 -8.98185946e+01] [-1.37499706e-02 -5.27946603e-04 -9.99905325e-01 -3.93199322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.013318913297515913 Centerline is valid? [True, True] Translation: X:256.15, Y:-89.11, Z:-4.93 [[-9.92280688e-01 -1.24011731e-01 -3.56077232e-04 2.56153731e+02] [ 1.24011800e-01 -9.92280727e-01 -1.77445504e-04 -8.91126415e+01] [-3.31323251e-04 -2.20233526e-04 9.99999921e-01 -4.92846991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.015133200081234767 Centerline is valid? [True, True] Translation: X:256.03, Y:-89.83, Z:-3.93 [[-9.96547152e-01 8.15697432e-02 1.54968027e-02 2.56031256e+02] [ 8.15556967e-02 9.96667600e-01 -1.53727616e-03 -8.98281413e+01] [-1.55705564e-02 -2.68115636e-04 -9.99878736e-01 -3.93161975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.01587448813759221 Centerline is valid? [True, True] Translation: X:256.03, Y:-89.80, Z:-3.93 [[-9.99775595e-01 1.36470794e-02 1.62023446e-02 2.56034876e+02] [ 1.36420399e-02 9.99906854e-01 -4.21522217e-04 -8.97992787e+01] [-1.62065879e-02 -2.00394594e-04 -9.99868645e-01 -3.93100236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.016561695234477702 Centerline is valid? [True, True] Translation: X:256.04, Y:-89.08, Z:-4.93 [[-9.99254005e-01 -3.86142702e-02 6.09750595e-04 2.56040431e+02] [ 3.86139678e-02 -9.99254077e-01 -5.00182931e-04 -8.90778980e+01] [ 6.28609966e-04 -4.76264908e-04 9.99999689e-01 -4.93067365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.015125173798684617 Centerline is valid? [True, True] Translation: X:255.97, Y:-89.79, Z:-3.93 [[-9.99849251e-01 9.09522859e-03 1.47902378e-02 2.55965696e+02] [ 9.09079868e-03 9.99958611e-01 -3.66721029e-04 -8.97943975e+01] [-1.47929611e-02 -2.32210672e-04 -9.99890551e-01 -3.93300614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.013849626373790943 Centerline is valid? [True, True] Translation: X:255.96, Y:-89.76, Z:-3.93 [[-9.97605827e-01 -6.75009303e-02 1.50411890e-02 2.55955110e+02] [-6.74978000e-02 9.97719166e-01 7.16253551e-04 -8.97583939e+01] [-1.50552304e-02 -3.00708453e-04 -9.99886618e-01 -3.93295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.013583785589122769 Centerline is valid? [True, True] Translation: X:255.90, Y:-89.07, Z:-4.93 [[-9.99676272e-01 2.53482233e-02 2.19515821e-03 2.55902100e+02] [-2.53490786e-02 -9.99678595e-01 -3.62678706e-04 -8.90735345e+01] [ 2.18525941e-03 -4.18206535e-04 9.99997525e-01 -4.93310833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.012124293588161555 Centerline is valid? [True, True] Translation: X:255.87, Y:-89.75, Z:-3.93 [[-9.96146447e-01 -8.56690013e-02 1.87903614e-02 2.55869109e+02] [-8.56632419e-02 9.96323527e-01 1.11266959e-03 -8.97474977e+01] [-1.88166005e-02 -5.01261415e-04 -9.99822826e-01 -3.93053562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.012072223502524914 Centerline is valid? [True, True] Translation: X:255.82, Y:-89.10, Z:-4.93 [[-9.99877970e-01 1.50984345e-02 4.01028865e-03 2.55816284e+02] [-1.51005133e-02 -9.99885861e-01 -4.88593216e-04 -8.91029823e+01] [ 4.00245393e-03 -5.49091010e-04 9.99991839e-01 -4.93416223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.012515314188838963 Centerline is valid? [True, True] Translation: X:255.79, Y:-89.74, Z:-3.93 [[-9.94733626e-01 -1.00936391e-01 1.78005104e-02 2.55792615e+02] [-1.00932584e-01 9.94892643e-01 1.11443142e-03 -8.97390978e+01] [-1.78220835e-02 -6.88089098e-04 -9.99840937e-01 -3.93200478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.013196299241094485 Centerline is valid? [True, True] Translation: X:255.78, Y:-89.71, Z:-3.93 [[-9.84381807e-01 -1.75369973e-01 1.54217682e-02 2.55781650e+02] [-1.75359895e-01 9.84502337e-01 2.01389064e-03 -8.97084642e+01] [-1.55359428e-02 -7.21922355e-04 -9.99879049e-01 -3.93488277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.013807881410773314 Centerline is valid? [True, True] Translation: X:255.76, Y:-89.68, Z:-3.94 [[-9.68799567e-01 -2.47468068e-01 1.36731201e-02 2.55761206e+02] [-2.47454064e-01 9.68895771e-01 2.73345000e-03 -8.96805649e+01] [-1.39242698e-02 -7.35303970e-04 -9.99902782e-01 -3.93589711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.014706942150606177 Centerline is valid? [True, True] Translation: X:255.74, Y:-89.65, Z:-3.94 [[-9.47543908e-01 -3.19338892e-01 1.35356901e-02 2.55741365e+02] [-3.19318043e-01 9.47640256e-01 3.73259525e-03 -8.96538519e+01] [-1.40189276e-02 -7.85392179e-04 -9.99901422e-01 -3.93583015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.014741896566207053 Centerline is valid? [True, True] Translation: X:255.71, Y:-89.64, Z:-3.94 [[-9.21235791e-01 -3.88767942e-01 1.35685203e-02 2.55706034e+02] [-3.88738844e-01 9.21335337e-01 4.82785597e-03 -8.96356085e+01] [-1.43780729e-02 -8.27017197e-04 -9.99896288e-01 -3.93536374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.016296574757695883 Centerline is valid? [True, True] Translation: X:255.66, Y:-89.62, Z:-3.93 [[-8.89565906e-01 -4.56523119e-01 1.60978559e-02 2.55658841e+02] [-4.56467209e-01 8.89711055e-01 7.20589441e-03 -8.96221733e+01] [-1.76120978e-02 -9.38025376e-04 -9.99844455e-01 -3.93298524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.016487073884792244 Centerline is valid? [True, True] Translation: X:255.60, Y:-89.62, Z:-3.93 [[-8.53325281e-01 -5.21088840e-01 1.73892423e-02 2.55597013e+02] [-5.21004297e-01 8.53501852e-01 9.43987404e-03 -8.96246110e+01] [-1.97607635e-02 -1.00458678e-03 -9.99804232e-01 -3.93206107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.015849577845845016 Centerline is valid? [True, True] Translation: X:255.53, Y:-89.64, Z:-3.93 [[-8.13888408e-01 -5.80763910e-01 1.72899104e-02 2.55530031e+02] [-5.80657993e-01 8.14071450e-01 1.11341756e-02 -8.96373869e+01] [-2.05415497e-02 -9.77548228e-04 -9.99788522e-01 -3.93133557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.014760562425690151 Centerline is valid? [True, True] Translation: X:255.46, Y:-89.66, Z:-3.93 [[-7.70896164e-01 -6.36784586e-01 1.49831780e-02 2.55461883e+02] [-6.36685892e-01 7.71041265e-01 1.12446733e-02 -8.96598856e+01] [-1.87130831e-02 -8.71102554e-04 -9.99824515e-01 -3.93335903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.01302917719332336 Centerline is valid? [True, True] Translation: X:255.39, Y:-89.70, Z:-3.94 [[-7.26609110e-01 -6.86954627e-01 1.15126786e-02 2.55392387e+02] [-6.86883152e-01 7.26699982e-01 9.93337745e-03 -8.96963087e+01] [-1.51900430e-02 -6.90182448e-04 -9.99884386e-01 -3.93781186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.012554488788617346 Centerline is valid? [True, True] Translation: X:255.32, Y:-89.74, Z:-3.94 [[-6.78421031e-01 -7.34616372e-01 9.14826992e-03 2.55320280e+02] [-7.34560712e-01 6.78482467e-01 9.06099930e-03 -8.97415362e+01] [-1.28632992e-02 -5.72787180e-04 -9.99917100e-01 -3.94040727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.012615831746023447 Centerline is valid? [True, True] Translation: X:255.24, Y:-89.80, Z:-3.94 [[-6.24273693e-01 -7.81155449e-01 8.86123889e-03 2.55242993e+02] [-7.81088311e-01 6.24336363e-01 1.02545510e-02 -8.97965816e+01] [-1.35427921e-02 -5.19763701e-04 -9.99908157e-01 -3.94090523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.012936551904874647 Centerline is valid? [True, True] Translation: X:255.17, Y:-89.86, Z:-3.94 [[-5.67171991e-01 -8.23552644e-01 8.77357668e-03 2.55168648e+02] [-8.23466103e-01 5.67239668e-01 1.19472053e-02 -8.98608171e+01] [-1.48158732e-02 -4.48622792e-04 -9.99890138e-01 -3.94031710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.013467089748892663 Centerline is valid? [True, True] Translation: X:255.09, Y:-89.94, Z:-3.94 [[-5.06135413e-01 -8.62417276e-01 7.96149395e-03 2.55092318e+02] [-8.62322507e-01 5.06197875e-01 1.27908112e-02 -8.99392366e+01] [-1.50611079e-02 -3.91492910e-04 -9.99886498e-01 -3.94100517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.014297105094406456 Centerline is valid? [True, True] Translation: X:255.03, Y:-90.02, Z:-3.94 [[-4.44702410e-01 -8.95651911e-01 6.88621574e-03 2.55027941e+02] [-8.95554696e-01 4.44755624e-01 1.31993132e-02 -9.00175950e+01] [-1.48846733e-02 -2.97216445e-04 -9.99889173e-01 -3.94301805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.015568389598676492 Centerline is valid? [True, True] Translation: X:254.96, Y:-90.11, Z:-3.94 [[-3.79092290e-01 -9.25340909e-01 5.76528429e-03 2.54964833e+02] [-9.25243200e-01 3.79136054e-01 1.34488895e-02 -9.01073079e+01] [-1.46306348e-02 -2.35919756e-04 -9.99892939e-01 -3.94365320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.015354258995657644 Centerline is valid? [True, True] Translation: X:254.90, Y:-90.20, Z:-3.94 [[-3.08921086e-01 -9.51075941e-01 4.72402723e-03 2.54903200e+02] [-9.50974841e-01 3.08957134e-01 1.38687367e-02 -9.02039785e+01] [-1.46497437e-02 -2.08085841e-04 -9.99892665e-01 -3.94457666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.017260755357439622 Centerline is valid? [True, True] Translation: X:254.86, Y:-90.31, Z:-3.94 [[-2.38944539e-01 -9.71027043e-01 3.46240250e-03 2.54855391e+02] [-9.70935314e-01 2.38969561e-01 1.33478373e-02 -9.03083572e+01] [-1.37885198e-02 -1.72376043e-04 -9.99904919e-01 -3.94496938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.017397324041217913 Centerline is valid? [True, True] Translation: X:254.81, Y:-90.42, Z:-3.95 [[-1.63485098e-01 -9.86543084e-01 2.31640498e-03 2.54810008e+02] [-9.86460354e-01 1.63501390e-01 1.27775667e-02 -9.04193974e+01] [-1.29843555e-02 -1.96099924e-04 -9.99915680e-01 -3.94640787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.015784259653335273 Centerline is valid? [True, True] Translation: X:254.77, Y:-90.54, Z:-3.95 [[-8.25760698e-02 -9.96583976e-01 1.25356540e-03 2.54769169e+02] [-9.96515286e-01 8.25851004e-02 1.17041297e-02 -9.05369530e+01] [-1.17676740e-02 -2.82716052e-04 -9.99930719e-01 -3.94801843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.014169201233910545 Centerline is valid? [True, True] Translation: X:254.74, Y:-90.66, Z:-3.95 [[ 7.26093034e-04 -9.99999672e-01 3.58272045e-04 2.54735282e+02] [-9.99936462e-01 -7.22016768e-04 1.12494623e-02 -9.06569241e+01] [-1.12491999e-02 -3.66417437e-04 -9.99936659e-01 -3.94886844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.012785204949378511 Centerline is valid? [True, True] Translation: X:254.71, Y:-90.78, Z:-3.95 [[ 8.83373930e-02 -9.96090552e-01 -3.41096850e-04 2.54707826e+02] [-9.96045795e-01 -8.83366616e-02 9.45561757e-03 -9.07773839e+01] [-9.44878268e-03 -4.95536522e-04 -9.99955236e-01 -3.95029065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.013034955022675815 Centerline is valid? [True, True] Translation: X:254.69, Y:-90.90, Z:-3.95 [[ 1.74854477e-01 -9.84593785e-01 -9.95444304e-04 2.54690755e+02] [-9.84552860e-01 -1.74856305e-01 8.99661941e-03 -9.09016210e+01] [-9.03207527e-03 -5.93031643e-04 -9.99959034e-01 -3.95098095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.01402647239241305 Centerline is valid? [True, True] Translation: X:254.69, Y:-91.02, Z:-3.95 [[ 2.56025480e-01 -9.66668850e-01 -1.51236422e-03 2.54686059e+02] [-9.66634197e-01 -2.56029146e-01 8.21003224e-03 -9.10248638e+01] [-8.32359175e-03 -6.40074467e-04 -9.99965153e-01 -3.95243447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.015603979089126087 Centerline is valid? [True, True] Translation: X:254.69, Y:-91.14, Z:-3.95 [[ 3.35046545e-01 -9.42198746e-01 -2.31004800e-03 2.54688883e+02] [-9.42159917e-01 -3.35053780e-01 8.58232932e-03 -9.11442178e+01] [-8.86025023e-03 -6.99045162e-04 -9.99960503e-01 -3.95206541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.017140743490883237 Centerline is valid? [True, True] Translation: X:254.70, Y:-91.27, Z:-3.95 [[ 4.12984032e-01 -9.10731356e-01 -3.54765965e-03 2.54703265e+02] [-9.10679325e-01 -4.12998488e-01 9.76813652e-03 -9.12657408e+01] [-1.03613263e-02 -8.03304106e-04 -9.99945997e-01 -3.95083719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.01898658667880514 Centerline is valid? [True, True] Translation: X:254.73, Y:-91.39, Z:-3.95 [[ 4.84143111e-01 -8.74973924e-01 -5.10677352e-03 2.54731197e+02] [-8.74904463e-01 -4.84169232e-01 1.10605746e-02 -9.13868193e+01] [-1.21502569e-02 -8.86962045e-04 -9.99925790e-01 -3.94982606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.01838694908649819 Centerline is valid? [True, True] Translation: X:254.76, Y:-91.49, Z:-3.95 [[ 5.48702358e-01 -8.35993596e-01 -6.35845454e-03 2.54763232e+02] [-8.35917476e-01 -5.48738470e-01 1.13166091e-02 -9.14881489e+01] [-1.29497414e-02 -8.94306832e-04 -9.99915749e-01 -3.95000317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.018435911754384054 Centerline is valid? [True, True] Translation: X:254.80, Y:-91.59, Z:-3.95 [[ 6.08320290e-01 -7.93657928e-01 -7.31559175e-03 2.54804608e+02] [-7.93582898e-01 -6.08363678e-01 1.09462016e-02 -9.15873979e+01] [-1.31380800e-02 -8.53268054e-04 -9.99913328e-01 -3.94992973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.016482377042287152 Centerline is valid? [True, True] Translation: X:254.86, Y:-91.68, Z:-3.95 [[ 6.65343476e-01 -7.46495353e-01 -7.92125559e-03 2.54857750e+02] [-7.46427373e-01 -6.65390132e-01 1.01068957e-02 -9.16833306e+01] [-1.28154760e-02 -8.11915151e-04 -9.99917549e-01 -3.95220565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.01565737165677457 Centerline is valid? [True, True] Translation: X:254.91, Y:-91.77, Z:-3.95 [[ 7.18038409e-01 -6.95949576e-01 -8.66204352e-03 2.54913065e+02] [-6.95885657e-01 -7.18090244e-01 9.46331840e-03 -9.17694050e+01] [-1.28061214e-02 -7.67234241e-04 -9.99917704e-01 -3.95392260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.016923818051723338 Centerline is valid? [True, True] Translation: X:254.97, Y:-91.86, Z:-3.95 [[ 7.69707180e-01 -6.38316314e-01 -1.01558446e-02 2.54968610e+02] [-6.38246645e-01 -7.69773758e-01 9.46474797e-03 -9.18644742e+01] [-1.38592057e-02 -8.03150754e-04 -9.99903634e-01 -3.95223097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.016600702876160268 Centerline is valid? [True, True] Translation: X:254.99, Y:-91.89, Z:-3.95 [[ 8.16893274e-01 -5.76653936e-01 -1.24746698e-02 2.54992238e+02] [-5.76570538e-01 -8.16988077e-01 9.84361800e-03 -9.18887479e+01] [-1.58680176e-02 -8.48658263e-04 -9.99873735e-01 -3.95128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.015459437239568162 Centerline is valid? [True, True] Translation: X:255.02, Y:-91.91, Z:-3.95 [[ 8.58486137e-01 -5.12677251e-01 -1.27901987e-02 2.55017751e+02] [-5.12606127e-01 -8.58581030e-01 8.57754083e-03 -9.19122938e+01] [-1.53789320e-02 -8.07365672e-04 -9.99881411e-01 -3.95300786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.015163769828202837 Centerline is valid? [True, True] Translation: X:255.04, Y:-91.93, Z:-3.96 [[ 8.95912152e-01 -4.44041440e-01 -1.29851851e-02 2.55043904e+02] [-4.43981760e-01 -8.96005896e-01 7.32331527e-03 -9.19339880e+01] [-1.48866579e-02 -7.95861790e-04 -9.99888871e-01 -3.95509922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.015232626854001978 Centerline is valid? [True, True] Translation: X:255.07, Y:-91.95, Z:-3.96 [[ 9.27866919e-01 -3.72674571e-01 -1.32907774e-02 2.55071767e+02] [-3.72624027e-01 -9.27961767e-01 6.18821019e-03 -9.19542712e+01] [-1.46395219e-02 -7.89372533e-04 -9.99892525e-01 -3.95623339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.01585634603358501 Centerline is valid? [True, True] Translation: X:255.10, Y:-91.97, Z:-3.95 [[ 9.53685962e-01 -3.00465296e-01 -1.42720501e-02 2.55099754e+02] [-3.00419405e-01 -9.53792433e-01 5.30806010e-03 -9.19728738e+01] [-1.52074613e-02 -7.74621607e-04 -9.99884060e-01 -3.95489538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.014728827843663292 Centerline is valid? [True, True] Translation: X:255.13, Y:-91.99, Z:-3.96 [[ 9.73784119e-01 -2.27050898e-01 -1.38700775e-02 2.55130540e+02] [-2.27017145e-01 -9.73882620e-01 3.98212368e-03 -9.19861664e+01] [-1.44119722e-02 -7.28983389e-04 -9.99895876e-01 -3.95662877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.01457466192709442 Centerline is valid? [True, True] Translation: X:255.16, Y:-92.00, Z:-3.96 [[ 9.88460049e-01 -1.50888128e-01 -1.33979305e-02 2.55161739e+02] [-1.50864531e-01 -9.88550592e-01 2.76064368e-03 -9.19984124e+01] [-1.36610805e-02 -7.07513488e-04 -9.99906433e-01 -3.95873965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.014469805517252585 Centerline is valid? [True, True] Translation: X:255.19, Y:-92.01, Z:-3.96 [[ 9.97189354e-01 -7.38568419e-02 -1.25920641e-02 2.55190853e+02] [-7.38422960e-02 -9.97268620e-01 1.61684472e-03 -9.20069084e+01] [-1.26770854e-02 -6.82473413e-04 -9.99919410e-01 -3.96054162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.014430179025027688 Centerline is valid? [True, True] Translation: X:255.22, Y:-92.01, Z:-3.96 [[ 9.99909887e-01 3.55460450e-03 -1.29453476e-02 2.55220002e+02] [ 3.56301714e-03 -9.99993456e-01 6.26852681e-04 -9.20137157e+01] [-1.29430347e-02 -6.72920689e-04 -9.99916009e-01 -3.96131409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.01420391433268481 Centerline is valid? [True, True] Translation: X:255.25, Y:-92.02, Z:-3.96 [[ 9.96712232e-01 7.99630879e-02 -1.30625677e-02 2.55248120e+02] [ 7.99647287e-02 -9.96797614e-01 -3.97467906e-04 -9.20167521e+01] [-1.30525191e-02 -6.48383558e-04 -9.99914602e-01 -3.96212223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.013872836765285118 Centerline is valid? [True, True] Translation: X:255.28, Y:-92.02, Z:-3.96 [[ 9.87766867e-01 1.55457313e-01 -1.22327600e-02 2.55277758e+02] [ 1.55453016e-01 -9.87842422e-01 -1.30721086e-03 -9.20186470e+01] [-1.22872548e-02 -6.10399867e-04 -9.99924323e-01 -3.96397263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.01360895317660667 Centerline is valid? [True, True] Translation: X:255.31, Y:-92.02, Z:-3.97 [[ 9.73115453e-01 2.30055742e-01 -1.09850590e-02 2.55306812e+02] [ 2.30047701e-01 -9.73177284e-01 -2.00715582e-03 -9.20186688e+01] [-1.11521676e-02 -5.73893236e-04 -9.99937648e-01 -3.96561305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.013532377600832842 Centerline is valid? [True, True] Translation: X:255.34, Y:-92.02, Z:-3.97 [[ 9.52382485e-01 3.04701121e-01 -1.11726816e-02 2.55336712e+02] [ 3.04687054e-01 -9.52447851e-01 -2.98177380e-03 -9.20173974e+01] [-1.15499464e-02 -5.64382299e-04 -9.99933138e-01 -3.96546277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.013531860958208101 Centerline is valid? [True, True] Translation: X:255.37, Y:-92.01, Z:-3.97 [[ 9.25946550e-01 3.77448375e-01 -1.24784367e-02 2.55365713e+02] [ 3.77422159e-01 -9.26030460e-01 -4.48343192e-03 -9.20127476e+01] [-1.32476766e-02 -5.58220219e-04 -9.99912090e-01 -3.96517829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.013620717416074632 Centerline is valid? [True, True] Translation: X:255.40, Y:-92.01, Z:-3.97 [[ 8.93316351e-01 4.49253917e-01 -1.25225477e-02 2.55396070e+02] [ 4.49218567e-01 -8.93403939e-01 -5.66404970e-03 -9.20085319e+01] [-1.37322899e-02 -5.65572706e-04 -9.99905548e-01 -3.96514206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.013678498635268667 Centerline is valid? [True, True] Translation: X:255.43, Y:-92.01, Z:-3.96 [[ 8.54356130e-01 5.19538030e-01 -1.24835480e-02 2.55428116e+02] [ 5.19492630e-01 -8.54447120e-01 -6.89396975e-03 -9.20056518e+01] [-1.42482111e-02 -5.95205857e-04 -9.99898312e-01 -3.96353541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.013697346579286096 Centerline is valid? [True, True] Translation: X:255.46, Y:-92.00, Z:-3.96 [[ 8.10897982e-01 5.85060208e-01 -1.22071941e-02 2.55458166e+02] [ 5.85004906e-01 -8.10989638e-01 -8.06642401e-03 -9.19973919e+01] [-1.46192516e-02 -6.00221468e-04 -9.99892953e-01 -3.96395640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.013889295254702935 Centerline is valid? [True, True] Translation: X:255.49, Y:-91.99, Z:-3.96 [[ 7.62176934e-01 6.47265877e-01 -1.15414501e-02 2.55485977e+02] [ 6.47203562e-01 -7.62264071e-01 -9.00195149e-03 -9.19874140e+01] [-1.46242888e-02 -6.08587821e-04 -9.99892874e-01 -3.96345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.013849543422308826 Centerline is valid? [True, True] Translation: X:255.51, Y:-91.97, Z:-3.96 [[ 7.08965564e-01 7.05154809e-01 -1.11590555e-02 2.55512800e+02] [ 7.05080865e-01 -7.09053113e-01 -1.02301540e-02 -9.19737766e+01] [-1.51262053e-02 -6.15209592e-04 -9.99885403e-01 -3.96420031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.013977816170679858 Centerline is valid? [True, True] Translation: X:255.54, Y:-91.96, Z:-3.96 [[ 6.50990996e-01 7.59012909e-01 -1.04941419e-02 2.55539929e+02] [ 7.58929501e-01 -6.51075272e-01 -1.12695446e-02 -9.19592758e+01] [-1.53862061e-02 -6.27941879e-04 -9.99881428e-01 -3.96364746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.014076696896727622 Centerline is valid? [True, True] Translation: X:255.56, Y:-91.94, Z:-3.96 [[ 5.89839833e-01 8.07456353e-01 -1.01591973e-02 2.55561672e+02] [ 8.07354524e-01 -5.89926980e-01 -1.28386543e-02 -9.19412660e+01] [-1.63598376e-02 -6.29324158e-04 -9.99865971e-01 -3.96408679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.014106114379786518 Centerline is valid? [True, True] Translation: X:255.58, Y:-91.92, Z:-3.96 [[ 5.26426018e-01 8.50170064e-01 -9.30107254e-03 2.55580375e+02] [ 8.50056939e-01 -5.26507838e-01 -1.38815180e-02 -9.19204371e+01] [-1.66987387e-02 -5.98849007e-04 -9.99860387e-01 -3.96262326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.013626347131242922 Centerline is valid? [True, True] Translation: X:255.60, Y:-91.90, Z:-3.96 [[ 4.60629181e-01 8.87552480e-01 -8.44708102e-03 2.55597257e+02] [ 8.87424691e-01 -4.60706293e-01 -1.50708441e-02 -9.18973893e+01] [-1.72677885e-02 -5.54077678e-04 -9.99850747e-01 -3.96428130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.01360982911382898 Centerline is valid? [True, True] Translation: X:255.61, Y:-91.87, Z:-3.97 [[ 3.94024251e-01 9.19069680e-01 -7.47084671e-03 2.55612464e+02] [ 9.18926516e-01 -3.94094789e-01 -1.62282442e-02 -9.18729752e+01] [-1.78591090e-02 -4.70837359e-04 -9.99840403e-01 -3.96556525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.01370028444783482 Centerline is valid? [True, True] Translation: X:255.63, Y:-91.85, Z:-3.97 [[ 3.22483272e-01 9.46555698e-01 -6.07032428e-03 2.55626344e+02] [ 9.46412813e-01 -3.22540101e-01 -1.64520988e-02 -9.18494775e+01] [-1.75307509e-02 -4.39506003e-04 -9.99846228e-01 -3.96578011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.013705044033582327 Centerline is valid? [True, True] Translation: X:255.64, Y:-91.82, Z:-3.97 [[ 2.47880789e-01 9.68778334e-01 -4.86358261e-03 2.55640050e+02] [ 9.68624321e-01 -2.47928129e-01 -1.72791117e-02 -9.18249928e+01] [-1.79454480e-02 -4.27824542e-04 -9.99838876e-01 -3.96579443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.013689278889972952 Centerline is valid? [True, True] Translation: X:255.65, Y:-91.80, Z:-3.96 [[ 1.70517878e-01 9.85347410e-01 -3.75978649e-03 2.55651274e+02] [ 9.85161045e-01 -1.70558767e-01 -1.91682520e-02 -9.17992252e+01] [-1.95286520e-02 -4.35465533e-04 -9.99809203e-01 -3.96470401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.013677336544590057 Centerline is valid? [True, True] Translation: X:255.66, Y:-91.77, Z:-3.96 [[ 8.88807600e-02 9.96039370e-01 -2.40501814e-03 2.55661379e+02] [ 9.95814507e-01 -8.89118106e-02 -2.11697466e-02 -9.17736458e+01] [-2.12997356e-02 -5.13368787e-04 -9.99773003e-01 -3.96359688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.013824954179186983 Centerline is valid? [True, True] Translation: X:255.67, Y:-91.75, Z:-3.96 [[ 7.89666309e-03 9.99968546e-01 -7.41986168e-04 2.55666904e+02] [ 9.99734526e-01 -7.91087224e-03 -2.16401177e-02 -9.17471465e+01] [-2.16453068e-02 -5.70904472e-04 -9.99765550e-01 -3.96349551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.013668822241821626 Centerline is valid? [True, True] Translation: X:255.67, Y:-91.72, Z:-3.96 [[-7.02584882e-02 9.97528418e-01 8.94234214e-04 2.55667730e+02] [ 9.97313919e-01 7.02619309e-02 -2.06931997e-02 -9.17195188e+01] [-2.07048854e-02 -5.62040702e-04 -9.99785473e-01 -3.96453322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.013472977618021707 Centerline is valid? [True, True] Translation: X:255.66, Y:-91.69, Z:-3.97 [[-1.45875896e-01 9.89300190e-01 2.31439973e-03 2.55662932e+02] [ 9.89114221e-01 1.45893364e-01 -1.91881137e-02 -9.16937595e+01] [-1.93204601e-02 -5.09877595e-04 -9.99813212e-01 -3.96583554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.013347511154805607 Centerline is valid? [True, True] Translation: X:255.65, Y:-91.67, Z:-3.97 [[-2.20205278e-01 9.75446981e-01 3.58086482e-03 2.55652809e+02] [ 9.75282280e-01 2.20233919e-01 -1.79303039e-02 -9.16677633e+01] [-1.82786887e-02 -4.55993552e-04 -9.99832827e-01 -3.96727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.013549739126484505 Centerline is valid? [True, True] Translation: X:255.64, Y:-91.64, Z:-3.97 [[-2.91935796e-01 9.56427903e-01 4.37693531e-03 2.55639219e+02] [ 9.56299590e-01 2.91968346e-01 -1.56709646e-02 -9.16447974e+01] [-1.62660744e-02 -3.89254095e-04 -9.99867623e-01 -3.96811257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.013934197285563247 Centerline is valid? [True, True] Translation: X:255.63, Y:-91.62, Z:-3.97 [[-3.63929664e-01 9.31410701e-01 5.41344665e-03 2.55625180e+02] [ 9.31292668e-01 3.63969749e-01 -1.48320108e-02 -9.16220059e+01] [-1.57850244e-02 -3.56305547e-04 -9.99875345e-01 -3.96908974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.014762305356577271 Centerline is valid? [True, True] Translation: X:255.61, Y:-91.60, Z:-3.97 [[-4.33679259e-01 9.01037784e-01 7.29468028e-03 2.55608690e+02] [ 9.00898403e-01 4.33740499e-01 -1.58507439e-02 -9.16016190e+01] [-1.74461174e-02 -3.02373056e-04 -9.99847759e-01 -3.96701370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.01523298016169139 Centerline is valid? [True, True] Translation: X:255.59, Y:-91.58, Z:-3.96 [[-5.02694197e-01 8.64413007e-01 9.41791071e-03 2.55589515e+02] [ 8.64250824e-01 5.02782333e-01 -1.67462756e-02 -9.15824847e+01] [-1.92108576e-02 -2.78818459e-04 -9.99815416e-01 -3.96460951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.015157552915358136 Centerline is valid? [True, True] Translation: X:255.57, Y:-91.57, Z:-3.96 [[-5.69098089e-01 8.22203235e-01 1.04501839e-02 2.55567979e+02] [ 8.22055278e-01 5.69193955e-01 -1.56000708e-02 -9.15666550e+01] [-1.87746101e-02 -2.87341650e-04 -9.99823700e-01 -3.96443304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.015108431363740748 Centerline is valid? [True, True] Translation: X:255.54, Y:-91.55, Z:-3.97 [[-6.32134470e-01 7.74781354e-01 1.09482932e-02 2.55544614e+02] [ 7.74656729e-01 6.32229199e-01 -1.38993711e-02 -9.15537154e+01] [-1.76908042e-02 -3.05102591e-04 -9.99843459e-01 -3.96554895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.013851371677890948 Centerline is valid? [True, True] Translation: X:255.52, Y:-91.54, Z:-3.97 [[-6.93420993e-01 7.20445555e-01 1.12039612e-02 2.55521831e+02] [ 7.20342758e-01 6.93511402e-01 -1.21756745e-02 -9.15397583e+01] [-1.65419855e-02 -3.72175995e-04 -9.99863103e-01 -3.96669774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.012518118134227764 Centerline is valid? [True, True] Translation: X:255.51, Y:-91.51, Z:-3.97 [[-7.52016973e-01 6.59043242e-01 1.15099059e-02 2.55507646e+02] [ 6.58956213e-01 7.52104898e-01 -1.07206020e-02 -9.15140355e+01] [-1.57219969e-02 -4.77550709e-04 -9.99876288e-01 -3.97059192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.012680396719329414 Centerline is valid? [True, True] Translation: X:255.53, Y:-91.49, Z:-3.97 [[-8.00462288e-01 5.99234144e-01 1.33628510e-02 2.55525773e+02] [ 5.99139310e-01 8.00573639e-01 -1.06740554e-02 -9.14883550e+01] [-1.70942047e-02 -5.37969518e-04 -9.99853739e-01 -3.97092182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.014310922848091582 Centerline is valid? [True, True] Translation: X:255.54, Y:-91.46, Z:-3.97 [[-8.45674165e-01 5.33499124e-01 1.46250607e-02 2.55540990e+02] [ 5.33404854e-01 8.45800328e-01 -1.00532235e-02 -9.14565702e+01] [-1.77332670e-02 -7.00673046e-04 -9.99842508e-01 -3.96993010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.015125266285236515 Centerline is valid? [True, True] Translation: X:255.91, Y:-90.89, Z:-4.98 [[-7.86506121e-01 -6.17568453e-01 4.16264612e-03 2.55909249e+02] [ 6.17557958e-01 -7.86517090e-01 -3.61041096e-03 -9.08935019e+01] [ 5.50366822e-03 -2.68935082e-04 9.99984819e-01 -4.97632871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.01606419570513176 Centerline is valid? [True, True] Translation: X:255.50, Y:-91.43, Z:-3.97 [[-8.51013311e-01 5.24962691e-01 1.38028160e-02 2.55503837e+02] [ 5.24878358e-01 8.51124872e-01 -9.44260191e-03 -9.14286414e+01] [-1.67049337e-02 -7.90980544e-04 -9.99860150e-01 -3.97139814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.01656337416291489 Centerline is valid? [True, True] Translation: X:255.50, Y:-91.40, Z:-3.97 [[-8.86438564e-01 4.62662359e-01 1.30466034e-02 2.55504634e+02] [ 4.62599349e-01 8.86534237e-01 -7.67397946e-03 -9.13972885e+01] [-1.51167220e-02 -7.67161116e-04 -9.99885442e-01 -3.97178704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.01632475858537595 Centerline is valid? [True, True] Translation: X:255.53, Y:-91.38, Z:-3.97 [[-9.16440406e-01 3.99961044e-01 1.29670763e-02 2.55531123e+02] [ 3.99909593e-01 9.16531848e-01 -6.45673534e-03 -9.13827643e+01] [-1.44671810e-02 -7.31554964e-04 -9.99895077e-01 -3.97244678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.0156664279346067 Centerline is valid? [True, True] Translation: X:255.83, Y:-90.78, Z:-4.98 [[-8.68200852e-01 -4.96205176e-01 2.77559122e-03 2.55825008e+02] [ 4.96202049e-01 -8.68205274e-01 -1.76856140e-03 -9.07786114e+01] [ 3.28735225e-03 -1.58212465e-04 9.99994584e-01 -4.97639363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.014104434551480749 Centerline is valid? [True, True] Translation: X:255.81, Y:-90.80, Z:-4.98 [[-8.33720335e-01 -5.52171485e-01 4.12961621e-03 2.55811728e+02] [ 5.52162960e-01 -8.33730512e-01 -3.08205814e-03 -9.07984570e+01] [ 5.14481166e-03 -2.89353435e-04 9.99986724e-01 -4.97646550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.013904635203597962 Centerline is valid? [True, True] Translation: X:255.44, Y:-91.38, Z:-3.97 [[-8.86575495e-01 4.62349715e-01 1.47184833e-02 2.55439029e+02] [ 4.62272888e-01 8.86697389e-01 -8.45674374e-03 -9.13785378e+01] [-1.69608138e-02 -6.93585978e-04 -9.99855914e-01 -3.97113095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.014016731471944648 Centerline is valid? [True, True] Translation: X:255.77, Y:-90.78, Z:-4.98 [[-8.36445660e-01 -5.48030756e-01 4.57688322e-03 2.55771191e+02] [ 5.48021440e-01 -8.36458165e-01 -3.19973453e-03 -9.07768972e+01] [ 5.58192428e-03 -1.68173930e-04 9.99984407e-01 -4.97847173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.013542507379943886 Centerline is valid? [True, True] Translation: X:255.40, Y:-91.36, Z:-3.97 [[-8.86961716e-01 4.61595866e-01 1.51053065e-02 2.55404119e+02] [ 4.61516315e-01 8.87090092e-01 -8.59414910e-03 -9.13647509e+01] [-1.73667915e-02 -6.51335830e-04 -9.99848974e-01 -3.97017069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.012750642058221682 Centerline is valid? [True, True] Translation: X:255.42, Y:-91.35, Z:-3.97 [[-9.16483859e-01 3.99794122e-01 1.48995530e-02 2.55416351e+02] [ 3.99730586e-01 9.16604768e-01 -7.15242455e-03 -9.13453397e+01] [-1.65164986e-02 -5.99274614e-04 -9.99863414e-01 -3.97170841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.012775785036055047 Centerline is valid? [True, True] Translation: X:255.43, Y:-91.32, Z:-3.97 [[-9.41945384e-01 3.35445065e-01 1.46800057e-02 2.55427829e+02] [ 3.35394947e-01 9.42059600e-01 -5.82573835e-03 -9.13225338e+01] [-1.57836555e-02 -5.63927613e-04 -9.99875271e-01 -3.97187054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.01262121834945673 Centerline is valid? [True, True] Translation: X:255.68, Y:-90.66, Z:-4.98 [[-9.10466366e-01 -4.13566023e-01 3.76051327e-03 2.55682081e+02] [ 4.13561441e-01 -9.10474103e-01 -1.96014363e-03 -9.06615676e+01] [ 4.23449875e-03 -2.29441563e-04 9.99991008e-01 -4.97722957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.012595259832661338 Centerline is valid? [True, True] Translation: X:255.38, Y:-91.31, Z:-3.97 [[-9.42670188e-01 3.33440966e-01 1.37854401e-02 2.55382894e+02] [ 3.33397026e-01 9.42770831e-01 -5.43903267e-03 -9.13106889e+01] [-1.48101071e-02 -5.31189220e-04 -9.99890183e-01 -3.97373570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.012561183098291892 Centerline is valid? [True, True] Translation: X:255.39, Y:-91.28, Z:-3.97 [[-9.64207697e-01 2.64788180e-01 1.38107752e-02 2.55393139e+02] [ 2.64752934e-01 9.64306448e-01 -4.35403644e-03 -9.12847945e+01] [-1.44707169e-02 -5.41752208e-04 -9.99895147e-01 -3.97488017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.012995033908453813 Centerline is valid? [True, True] Translation: X:255.40, Y:-91.26, Z:-3.97 [[-9.80653800e-01 1.95287769e-01 1.34466339e-02 2.55400240e+02] [ 1.95261814e-01 9.80745836e-01 -3.22956531e-03 -9.12556978e+01] [-1.38184248e-02 -5.41471374e-04 -9.99904374e-01 -3.97427720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.013124975591533455 Centerline is valid? [True, True] Translation: X:255.41, Y:-91.23, Z:-3.97 [[-9.92102149e-01 1.24697838e-01 1.35563538e-02 2.55405336e+02] [ 1.24678631e-01 9.92194612e-01 -2.25615981e-03 -9.12279475e+01] [-1.37318795e-02 -5.48153372e-04 -9.99905563e-01 -3.97494086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.012733560077184795 Centerline is valid? [True, True] Translation: X:255.51, Y:-90.54, Z:-4.97 [[-9.77172316e-01 -2.12446033e-01 9.73593668e-04 2.55509004e+02] [ 2.12445503e-01 -9.77172720e-01 -6.19830109e-04 -9.05373513e+01] [ 1.08304962e-03 -3.98845227e-04 9.99999334e-01 -4.97450301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.012779157273744431 Centerline is valid? [True, True] Translation: X:255.35, Y:-91.22, Z:-3.98 [[-9.92703687e-01 1.20032462e-01 1.14716103e-02 2.55349901e+02] [ 1.20018194e-01 9.92769823e-01 -1.92671859e-03 -9.12177738e+01] [-1.16199373e-02 -5.35858702e-04 -9.99932343e-01 -3.97676888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.012535846220842013 Centerline is valid? [True, True] Translation: X:255.46, Y:-90.53, Z:-4.97 [[-9.78427825e-01 -2.06588650e-01 -3.46881102e-04 2.55458662e+02] [ 2.06588746e-01 -9.78427830e-01 -2.68409310e-04 -9.05324123e+01] [-2.83947807e-04 -3.34280870e-04 9.99999904e-01 -4.97405343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.012387277584199793 Centerline is valid? [True, True] Translation: X:255.31, Y:-91.21, Z:-3.98 [[-9.92709210e-01 1.20028445e-01 1.10270643e-02 2.55306445e+02] [ 1.20015590e-01 9.92770334e-01 -1.82256256e-03 -9.12138351e+01] [-1.11661017e-02 -4.85855005e-04 -9.99937539e-01 -3.97714632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.012177405247062902 Centerline is valid? [True, True] Translation: X:255.31, Y:-91.19, Z:-3.98 [[-9.98593226e-01 5.18421167e-02 1.11339264e-02 2.55312304e+02] [ 5.18338115e-02 9.98655190e-01 -1.03340214e-03 -9.11863407e+01] [-1.11725271e-02 -4.54834532e-04 -9.99937482e-01 -3.97556654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.011968377051044341 Centerline is valid? [True, True] Translation: X:255.36, Y:-90.49, Z:-4.98 [[-9.91955093e-01 -1.26589651e-01 -3.92496470e-04 2.55357971e+02] [ 1.26589763e-01 -9.91955118e-01 -2.73855711e-04 -9.04946599e+01] [-3.54671584e-04 -3.21338602e-04 9.99999885e-01 -4.97729428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.011993878283981109 Centerline is valid? [True, True] Translation: X:255.25, Y:-91.18, Z:-3.98 [[-9.98629006e-01 5.12545283e-02 1.06340220e-02 2.55254991e+02] [ 5.12471916e-02 9.98685537e-01 -9.61454843e-04 -9.11842212e+01] [-1.06693229e-02 -4.15172929e-04 -9.99942995e-01 -3.97516909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.012011660443086323 Centerline is valid? [True, True] Translation: X:255.30, Y:-90.49, Z:-4.98 [[-9.92743894e-01 -1.20246779e-01 -5.23405814e-04 2.55302956e+02] [ 1.20246923e-01 -9.92743982e-01 -2.53289026e-04 -9.04930197e+01] [-4.89150783e-04 -3.14389073e-04 9.99999831e-01 -4.97825787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.011944043523082974 Centerline is valid? [True, True] Translation: X:255.20, Y:-91.18, Z:-3.97 [[-9.98863828e-01 4.64728930e-02 1.05510071e-02 2.55199781e+02] [ 4.64658552e-02 9.98919463e-01 -9.11321186e-04 -9.11771640e+01] [-1.05819580e-02 -4.20024202e-04 -9.99943921e-01 -3.97364855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.011948352934872229 Centerline is valid? [True, True] Translation: X:255.19, Y:-91.15, Z:-3.97 [[-9.99647932e-01 -2.44472221e-02 1.03124144e-02 2.55192850e+02] [-2.44501956e-02 9.99701036e-01 -1.62348161e-04 -9.11500352e+01] [-1.03053624e-02 -4.14431553e-04 -9.99946812e-01 -3.97472799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.011943798575045638 Centerline is valid? [True, True] Translation: X:255.19, Y:-90.47, Z:-4.98 [[-9.98960895e-01 -4.55575145e-02 -1.28162209e-03 2.55189801e+02] [ 4.55579295e-02 -9.98961655e-01 -2.96475603e-04 -9.04667965e+01] [-1.26678463e-03 -3.54555582e-04 9.99999135e-01 -4.97860559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.011948142355464679 Centerline is valid? [True, True] Translation: X:255.13, Y:-91.15, Z:-3.97 [[-9.99574973e-01 -2.74612403e-02 9.78541036e-03 2.55133214e+02] [-2.74638522e-02 9.99622788e-01 -1.32615034e-04 -9.11488123e+01] [-9.77807742e-03 -4.01303733e-04 -9.99952113e-01 -3.97456465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.011955326247708325 Centerline is valid? [True, True] Translation: X:255.13, Y:-91.12, Z:-3.97 [[-9.95254681e-01 -9.68223014e-02 9.67274663e-03 2.55126673e+02] [-9.68214265e-02 9.95301612e-01 5.59780879e-04 -9.11220302e+01] [-9.68149958e-03 -3.79404587e-04 -9.99953061e-01 -3.97436908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.011994320724470982 Centerline is valid? [True, True] Translation: X:255.07, Y:-90.45, Z:-4.98 [[-9.99407471e-01 3.44137460e-02 -6.33896057e-04 2.55068811e+02] [-3.44135655e-02 -9.99407635e-01 -2.93512026e-04 -9.04479497e+01] [-6.43621407e-04 -2.71523488e-04 9.99999756e-01 -4.98166487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.011974398123629198 Centerline is valid? [True, True] Translation: X:255.05, Y:-91.13, Z:-3.97 [[-9.94812912e-01 -1.01047912e-01 1.16871770e-02 2.55045623e+02] [-1.01045298e-01 9.94881492e-01 8.15423621e-04 -9.11264037e+01] [-1.17097530e-02 -3.69740344e-04 -9.99931370e-01 -3.97253502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.011840431939240217 Centerline is valid? [True, True] Translation: X:254.98, Y:-90.46, Z:-4.98 [[-9.99279919e-01 3.79422154e-02 1.78119152e-04 2.54980561e+02] [-3.79422797e-02 -9.99279863e-01 -3.72432395e-04 -9.04632209e+01] [ 1.63859971e-04 -3.78922460e-04 9.99999915e-01 -4.98361347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.011844357787815656 Centerline is valid? [True, True] Translation: X:254.96, Y:-91.13, Z:-3.97 [[-9.93852810e-01 -1.10105885e-01 1.15449797e-02 2.54962303e+02] [-1.10103265e-01 9.93919778e-01 8.64236285e-04 -9.11274102e+01] [-1.15699411e-02 -4.12216294e-04 -9.99932981e-01 -3.97231988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.011988871006345077 Centerline is valid? [True, True] Translation: X:254.95, Y:-91.10, Z:-3.97 [[-9.83133658e-01 -1.82558894e-01 1.09754509e-02 2.54952936e+02] [-1.82552336e-01 9.83194828e-01 1.60491177e-03 -9.10990405e+01] [-1.10839974e-02 -4.25751416e-04 -9.99938480e-01 -3.97355084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.01216326429466482 Centerline is valid? [True, True] Translation: X:254.94, Y:-91.07, Z:-3.97 [[-9.67022572e-01 -2.54495920e-01 9.95852045e-03 2.54935294e+02] [-2.54487156e-01 9.67073744e-01 2.15883035e-03 -9.10713221e+01] [-1.01800372e-02 -4.46677864e-04 -9.99948082e-01 -3.97400433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.01257941484054953 Centerline is valid? [True, True] Translation: X:254.91, Y:-91.05, Z:-3.97 [[-9.44949398e-01 -3.27054145e-01 1.03063562e-02 2.54908430e+02] [-3.27040363e-01 9.45005471e-01 3.04298328e-03 -9.10471243e+01] [-1.07347833e-02 -4.95129254e-04 -9.99942258e-01 -3.97446620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.01366537139209717 Centerline is valid? [True, True] Translation: X:254.87, Y:-91.03, Z:-3.97 [[-9.16670372e-01 -3.99497191e-01 1.08361819e-02 2.54869606e+02] [-3.99476563e-01 9.16734241e-01 4.09967306e-03 -9.10268023e+01] [-1.15717069e-02 -5.70751875e-04 -9.99932883e-01 -3.97400365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.01414643719439038 Centerline is valid? [True, True] Translation: X:254.82, Y:-91.02, Z:-3.97 [[-8.84321750e-01 -4.66760350e-01 1.04794235e-02 2.54817339e+02] [-4.66735445e-01 8.84383640e-01 4.85824735e-03 -9.10190012e+01] [-1.15354679e-02 -5.94864565e-04 -9.99933287e-01 -3.97409487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.014817995550903419 Centerline is valid? [True, True] Translation: X:254.75, Y:-91.02, Z:-3.97 [[-8.45525687e-01 -5.33816119e-01 1.12545210e-02 2.54748138e+02] [-5.33779236e-01 8.45600319e-01 6.31084052e-03 -9.10241105e+01] [-1.28856549e-02 -6.71451849e-04 -9.99916751e-01 -3.97390729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.01535793199946152 Centerline is valid? [True, True] Translation: X:254.68, Y:-91.04, Z:-3.97 [[-8.02776285e-01 -5.96176749e-01 1.11139800e-02 2.54681529e+02] [-5.96131521e-01 8.02852906e-01 7.37699039e-03 -9.10351524e+01] [-1.33208813e-02 -7.03320847e-04 -9.99911026e-01 -3.97470693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.01585946406188259 Centerline is valid? [True, True] Translation: X:254.61, Y:-91.06, Z:-3.97 [[-7.55936866e-01 -6.54549890e-01 1.11308982e-02 2.54608210e+02] [-6.54492825e-01 7.56018460e-01 8.67357225e-03 -9.10577322e+01] [-1.40924502e-02 -7.28419957e-04 -9.99900431e-01 -3.97444894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.015162586840946634 Centerline is valid? [True, True] Translation: X:254.53, Y:-91.09, Z:-3.97 [[-7.05352035e-01 -7.08780632e-01 1.04174302e-02 2.54531312e+02] [-7.08718054e-01 7.05428591e-01 9.44581469e-03 -9.10935901e+01] [-1.40437636e-02 -7.20396239e-04 -9.99901122e-01 -3.97461841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.014951160947925474 Centerline is valid? [True, True] Translation: X:254.46, Y:-91.14, Z:-3.98 [[-6.51848376e-01 -7.58296518e-01 8.94911122e-03 2.54456090e+02] [-7.58238734e-01 6.51909461e-01 9.38492287e-03 -9.11391026e+01] [-1.29505646e-02 -6.68016038e-04 -9.99915915e-01 -3.97675378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.013755871294970128 Centerline is valid? [True, True] Translation: X:254.38, Y:-91.19, Z:-3.98 [[-5.94629535e-01 -8.03960224e-01 7.97963123e-03 2.54382144e+02] [-8.03901644e-01 5.94682738e-01 9.72560976e-03 -9.11945486e+01] [-1.25643523e-02 -6.31703854e-04 -9.99920866e-01 -3.97862328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.013817671918166446 Centerline is valid? [True, True] Translation: X:254.31, Y:-91.26, Z:-3.98 [[-5.34406372e-01 -8.45194155e-01 7.52793711e-03 2.54306509e+02] [-8.45125734e-01 5.34459047e-01 1.07713065e-02 -9.12603910e+01] [-1.31272194e-02 -6.05798541e-04 -9.99913651e-01 -3.97812984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.01319216571293108 Centerline is valid? [True, True] Translation: X:254.24, Y:-91.34, Z:-3.98 [[-4.70139751e-01 -8.82561940e-01 7.28260542e-03 2.54235648e+02] [-8.82475146e-01 4.70195768e-01 1.23917709e-02 -9.13359443e+01] [-1.43607556e-02 -6.00854199e-04 -9.99896699e-01 -3.97821780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.013222927560452354 Centerline is valid? [True, True] Translation: X:254.17, Y:-91.42, Z:-3.98 [[-4.01829462e-01 -9.15689737e-01 6.73717922e-03 2.54166282e+02] [-9.15585445e-01 4.01885474e-01 1.38332576e-02 -9.14192048e+01] [-1.53745465e-02 -6.09852769e-04 -9.99881619e-01 -3.97818738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.013320164061633475 Centerline is valid? [True, True] Translation: X:254.10, Y:-91.51, Z:-3.98 [[-3.30148800e-01 -9.43911153e-01 5.78836650e-03 2.54103736e+02] [-9.43797620e-01 3.30198947e-01 1.46529342e-02 -9.15102023e+01] [-1.57423805e-02 -6.25397878e-04 -9.99875885e-01 -3.97879422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.013697994702566817 Centerline is valid? [True, True] Translation: X:254.05, Y:-91.61, Z:-3.98 [[-2.56204618e-01 -9.66611880e-01 4.54617575e-03 2.54045426e+02] [-9.66500658e-01 2.56244166e-01 1.46767331e-02 -9.16064439e+01] [-1.53516356e-02 -6.33635050e-04 -9.99881956e-01 -3.97943915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.013816188909994169 Centerline is valid? [True, True] Translation: X:254.00, Y:-91.71, Z:-3.98 [[-1.80000240e-01 -9.83660139e-01 3.55593390e-03 2.53995914e+02] [-9.83534843e-01 1.80034118e-01 1.57139939e-02 -9.17135831e+01] [-1.60974188e-02 -6.68862226e-04 -9.99870204e-01 -3.98052410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.014170689031454457 Centerline is valid? [True, True] Translation: X:253.95, Y:-91.82, Z:-3.98 [[-1.03293396e-01 -9.94648021e-01 2.40592872e-03 2.53953666e+02] [-9.94511711e-01 1.03319105e-01 1.64808518e-02 -9.18197619e+01] [-1.66412250e-02 -6.90361141e-04 -9.99861287e-01 -3.98100079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.014979109643158017 Centerline is valid? [True, True] Translation: X:253.92, Y:-91.93, Z:-3.98 [[-2.53932270e-02 -9.99676879e-01 1.14953189e-03 2.53918123e+02] [-9.99532909e-01 2.54090961e-02 1.69806291e-02 -9.19329048e+01] [-1.70043508e-02 -7.17801988e-04 -9.99855158e-01 -3.98077853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.01494093147481576 Centerline is valid? [True, True] Translation: X:253.89, Y:-92.05, Z:-3.98 [[ 5.26220446e-02 -9.98614487e-01 -1.61645927e-04 2.53893618e+02] [-9.98468376e-01 -5.26171129e-02 1.70979910e-02 -9.20490224e+01] [-1.70828068e-02 -7.38332897e-04 -9.99853806e-01 -3.98272783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.014944640823645473 Centerline is valid? [True, True] Translation: X:253.88, Y:-92.17, Z:-3.98 [[ 1.28566830e-01 -9.91699991e-01 -1.30297561e-03 2.53876465e+02] [-9.91579674e-01 -1.28571548e-01 1.54630764e-02 -9.21659367e+01] [-1.55022583e-02 -6.96034581e-04 -9.99879591e-01 -3.98492667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.014193552364580598 Centerline is valid? [True, True] Translation: X:253.87, Y:-92.28, Z:-3.99 [[ 2.01992246e-01 -9.79384718e-01 -2.16952316e-03 2.53866752e+02] [-9.79290098e-01 -2.02002920e-01 1.36280761e-02 -9.22848588e+01] [-1.37853795e-02 -6.28173155e-04 -9.99904780e-01 -3.98650433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.013533544607891702 Centerline is valid? [True, True] Translation: X:253.87, Y:-92.41, Z:-3.99 [[ 2.75802032e-01 -9.61209449e-01 -3.10401343e-03 2.53866915e+02] [-9.61121401e-01 -2.75818827e-01 1.30240729e-02 -9.24066874e+01] [-1.33750072e-02 -6.08732031e-04 -9.99910365e-01 -3.98781275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.014064999908630705 Centerline is valid? [True, True] Translation: X:253.87, Y:-92.52, Z:-3.99 [[ 3.49046158e-01 -9.37095340e-01 -4.37081872e-03 2.53871597e+02] [-9.36997982e-01 -3.49072964e-01 1.35221219e-02 -9.25212596e+01] [-1.41972521e-02 -6.24396390e-04 -9.99899019e-01 -3.98795381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.014164523442203878 Centerline is valid? [True, True] Translation: X:253.89, Y:-92.64, Z:-3.99 [[ 4.21500868e-01 -9.06809416e-01 -5.80528622e-03 2.53888791e+02] [-9.06700512e-01 -4.21540317e-01 1.40692114e-02 -9.26394291e+01] [-1.52052556e-02 -6.66528832e-04 -9.99884171e-01 -3.98870285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.015378233448250563 Centerline is valid? [True, True] Translation: X:253.91, Y:-92.75, Z:-3.99 [[ 4.92973834e-01 -8.70007250e-01 -8.01143415e-03 2.53909882e+02] [-8.69865785e-01 -4.93038319e-01 1.57076958e-02 -9.27541289e+01] [-1.76157533e-02 -7.74610589e-04 -9.99844531e-01 -3.98600214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.015870405721999964 Centerline is valid? [True, True] Translation: X:253.94, Y:-92.87, Z:-3.98 [[ 5.58209887e-01 -8.29627387e-01 -1.09599869e-02 2.53943318e+02] [-8.29436718e-01 -5.58316826e-01 1.78059698e-02 -9.28660772e+01] [-2.08914653e-02 -8.48852817e-04 -9.99781389e-01 -3.98364319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.015295210758295631 Centerline is valid? [True, True] Translation: X:253.99, Y:-92.97, Z:-3.98 [[ 6.17534937e-01 -7.86446615e-01 -1.23419061e-02 2.53985625e+02] [-7.86263568e-01 -6.17657757e-01 1.69851793e-02 -9.29680893e+01] [-2.09810108e-02 -7.84950514e-04 -9.99779566e-01 -3.98489209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.013490972436812357 Centerline is valid? [True, True] Translation: X:254.03, Y:-93.06, Z:-3.99 [[ 6.70782842e-01 -7.41562171e-01 -1.16587297e-02 2.54033757e+02] [-7.41434191e-01 -6.70883880e-01 1.37898506e-02 -9.30587225e+01] [-1.80476853e-02 -6.05814331e-04 -9.99836944e-01 -3.98878037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.012402950134464455 Centerline is valid? [True, True] Translation: X:254.09, Y:-93.15, Z:-3.99 [[ 7.22186927e-01 -6.91599517e-01 -1.16683652e-02 2.54087727e+02] [-6.91497655e-01 -7.22281002e-01 1.18805519e-02 -9.31474046e+01] [-1.66444225e-02 -5.11332123e-04 -9.99861341e-01 -3.99204813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.011841312743259511 Centerline is valid? [True, True] Translation: X:254.11, Y:-93.17, Z:-3.99 [[ 7.70118963e-01 -6.37802225e-01 -1.11850436e-02 2.54112040e+02] [-6.37727042e-01 -7.70200071e-01 9.80153307e-03 -9.31709055e+01] [-1.48661610e-02 -4.15341694e-04 -9.99889406e-01 -3.99481359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.01190740164338926 Centerline is valid? [True, True] Translation: X:254.13, Y:-93.20, Z:-3.99 [[ 8.15790422e-01 -5.78209330e-01 -1.26474564e-02 2.54133227e+02] [-5.78132836e-01 -8.15888373e-01 9.41205963e-03 -9.31979291e+01] [-1.57610533e-02 -3.66358248e-04 -9.99875720e-01 -3.99474840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.012098181090608756 Centerline is valid? [True, True] Translation: X:254.16, Y:-93.22, Z:-3.99 [[ 8.57555949e-01 -5.14199983e-01 -1.40061587e-02 2.54156839e+02] [-5.14125005e-01 -8.57670255e-01 8.78712900e-03 -9.32194761e+01] [-1.65310073e-02 -3.34538343e-04 -9.99863298e-01 -3.99468252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.012495531296373737 Centerline is valid? [True, True] Translation: X:254.18, Y:-93.24, Z:-3.99 [[ 8.93688631e-01 -4.48417085e-01 -1.55803925e-02 2.54182866e+02] [-4.48343587e-01 -8.93824392e-01 8.12309431e-03 -9.32409457e+01] [-1.75686692e-02 -2.74147944e-04 -9.99845621e-01 -3.99439212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.012615065004027157 Centerline is valid? [True, True] Translation: X:254.21, Y:-93.26, Z:-4.00 [[ 9.25270682e-01 -3.78935302e-01 -1.67988710e-02 2.54209197e+02] [-3.78868263e-01 -9.25423137e-01 7.13142519e-03 -9.32628209e+01] [-1.82484126e-02 -2.33939583e-04 -9.99833456e-01 -3.99528888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.013369516792703524 Centerline is valid? [True, True] Translation: X:254.24, Y:-93.28, Z:-3.99 [[ 9.51110840e-01 -3.08357043e-01 -1.74385621e-02 2.54237212e+02] [-3.08301847e-01 -9.51270678e-01 5.83677217e-03 -9.32807538e+01] [-1.83886026e-02 -1.75076382e-04 -9.99830900e-01 -3.99499464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.013407923363996951 Centerline is valid? [True, True] Translation: X:254.27, Y:-93.30, Z:-4.00 [[ 9.72268582e-01 -2.33161449e-01 -1.81533418e-02 2.54267511e+02] [-2.33117592e-01 -9.72438024e-01 4.52524742e-03 -9.32958859e+01] [-1.87081131e-02 -1.67892552e-04 -9.99824974e-01 -3.99532217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.01322183663763976 Centerline is valid? [True, True] Translation: X:254.30, Y:-93.31, Z:-4.00 [[ 9.87614529e-01 -1.55867009e-01 -1.79726821e-02 2.54295968e+02] [-1.55837864e-01 -9.87778033e-01 3.01948438e-03 -9.33096635e+01] [-1.82236586e-02 -1.81262249e-04 -9.99833919e-01 -3.99615387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.012506862669599326 Centerline is valid? [True, True] Translation: X:254.32, Y:-93.33, Z:-4.00 [[ 9.97007918e-01 -7.55977828e-02 -1.61303164e-02 2.54323944e+02] [-7.55839461e-02 -9.97138364e-01 1.46659829e-03 -9.33264662e+01] [-1.61950288e-02 -2.43017145e-04 -9.99868822e-01 -3.99814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.012269832334565352 Centerline is valid? [True, True] Translation: X:254.35, Y:-93.34, Z:-4.00 [[ 9.99863394e-01 5.19071922e-03 -1.56923523e-02 2.54353903e+02] [ 5.19455148e-03 -9.99986488e-01 2.03461361e-04 -9.33389820e+01] [-1.56910841e-02 -2.84948299e-04 -9.99876847e-01 -3.99917143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.012058938145335808 Centerline is valid? [True, True] Translation: X:254.38, Y:-93.35, Z:-4.00 [[ 9.96066987e-01 8.72813507e-02 -1.52486833e-02 2.54383152e+02] [ 8.72764087e-02 -9.96183641e-01 -9.90529516e-04 -9.33487827e+01] [-1.52769437e-02 -3.44216569e-04 -9.99883241e-01 -4.00004605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.011887311213112416 Centerline is valid? [True, True] Translation: X:254.42, Y:-93.36, Z:-4.00 [[ 9.85807529e-01 1.67277095e-01 -1.42087537e-02 2.54415000e+02] [ 1.67265241e-01 -9.85909849e-01 -2.02700742e-03 -9.33550430e+01] [-1.43476222e-02 -3.78391445e-04 -9.99896996e-01 -4.00115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.011802012534614414 Centerline is valid? [True, True] Translation: X:254.45, Y:-93.36, Z:-4.00 [[ 9.68952056e-01 2.46921052e-01 -1.27242920e-02 2.54448878e+02] [ 2.46905395e-01 -9.69035510e-01 -2.81171363e-03 -9.33637461e+01] [-1.30245621e-02 -4.17280652e-04 -9.99915090e-01 -4.00339174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.011919528953294291 Centerline is valid? [True, True] Translation: X:254.48, Y:-93.37, Z:-4.00 [[ 9.46566756e-01 3.22290572e-01 -1.18390765e-02 2.54482758e+02] [ 3.22270853e-01 -9.46640699e-01 -3.58948586e-03 -9.33660434e+01] [-1.23642091e-02 -4.17701281e-04 -9.99923473e-01 -4.00407276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.011903355236073505 Centerline is valid? [True, True] Translation: X:254.52, Y:-93.36, Z:-4.00 [[ 9.18684250e-01 3.94799058e-01 -1.23674325e-02 2.54515572e+02] [ 3.94769265e-01 -9.18767400e-01 -4.86748814e-03 -9.33639412e+01] [-1.32844736e-02 -4.10597559e-04 -9.99911673e-01 -4.00299351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.011918012069818221 Centerline is valid? [True, True] Translation: X:254.55, Y:-93.36, Z:-4.00 [[ 8.85166093e-01 4.65080088e-01 -1.34721544e-02 2.54547886e+02] [ 4.65033160e-01 -8.85268517e-01 -6.61916385e-03 -9.33590475e+01] [-1.50049154e-02 -4.05939099e-04 -9.99887338e-01 -4.00326177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.012024941431721888 Centerline is valid? [True, True] Translation: X:254.58, Y:-93.35, Z:-4.00 [[ 8.46201008e-01 5.32664148e-01 -1.45862658e-02 2.54580474e+02] [ 5.32593174e-01 -8.46326617e-01 -8.70447595e-03 -9.33516934e+01] [-1.69813073e-02 -4.02809288e-04 -9.99855726e-01 -4.00190593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.012177926154030187 Centerline is valid? [True, True] Translation: X:254.61, Y:-93.34, Z:-4.00 [[ 8.01178915e-01 5.98214940e-01 -1.58502931e-02 2.54612214e+02] [ 5.98108399e-01 -8.01335574e-01 -1.12978763e-02 -9.33401291e+01] [-1.94599621e-02 -4.28573160e-04 -9.99810545e-01 -4.00033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.012178867318046988 Centerline is valid? [True, True] Translation: X:254.64, Y:-93.33, Z:-4.00 [[ 7.51084460e-01 6.60026048e-01 -1.54191478e-02 2.54641295e+02] [ 6.59899282e-01 -7.51242578e-01 -1.29432299e-02 -9.33254624e+01] [-2.01263892e-02 -4.53625747e-04 -9.99797341e-01 -4.00051279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.012184846498066162 Centerline is valid? [True, True] Translation: X:254.67, Y:-93.31, Z:-4.00 [[ 6.95714606e-01 7.18191734e-01 -1.34841170e-02 2.54669789e+02] [ 7.18070217e-01 -6.95845096e-01 -1.32198575e-02 -9.33091856e+01] [-1.88772490e-02 -4.85294879e-04 -9.99821691e-01 -4.00293009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.012364687116766741 Centerline is valid? [True, True] Translation: X:254.70, Y:-93.29, Z:-4.00 [[ 6.35538785e-01 7.71977587e-01 -1.18767529e-02 2.54698130e+02] [ 7.71857921e-01 -6.35649535e-01 -1.36021486e-02 -9.32912277e+01] [-1.80500063e-02 -5.22472741e-04 -9.99836949e-01 -4.00418934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.012891529841577952 Centerline is valid? [True, True] Translation: X:254.73, Y:-93.27, Z:-4.01 [[ 5.69391891e-01 8.22001992e-01 -1.02761666e-02 2.54725632e+02] [ 8.21886496e-01 -5.69484305e-01 -1.37917999e-02 -9.32719767e+01] [-1.71890026e-02 -5.92903501e-04 -9.99852082e-01 -4.00601893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.013683443431562787 Centerline is valid? [True, True] Translation: X:254.75, Y:-93.25, Z:-4.01 [[ 5.00393254e-01 8.65748996e-01 -9.23407504e-03 2.54751406e+02] [ 8.65624903e-01 -5.00478024e-01 -1.46722196e-02 -9.32500986e+01] [-1.73239110e-02 -6.51365591e-04 -9.99849718e-01 -4.00576538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.014369168378312312 Centerline is valid? [True, True] Translation: X:254.77, Y:-93.23, Z:-4.01 [[ 4.28190655e-01 9.03646732e-01 -8.68025086e-03 2.54773460e+02] [ 9.03494443e-01 -4.28278002e-01 -1.66055305e-02 -9.32260577e+01] [-1.87230939e-02 -7.32225441e-04 -9.99824439e-01 -4.00577015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.0161382994670038 Centerline is valid? [True, True] Translation: X:254.79, Y:-93.20, Z:-4.00 [[ 3.52699735e-01 9.35705740e-01 -7.59368896e-03 2.54792131e+02] [ 9.35536128e-01 -3.52780533e-01 -1.78339065e-02 -9.32010132e+01] [-1.93661944e-02 -8.14156257e-04 -9.99812126e-01 -4.00477202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.016565952356075053 Centerline is valid? [True, True] Translation: X:254.81, Y:-93.17, Z:-4.00 [[ 2.76950113e-01 9.60865842e-01 -5.95554906e-03 2.54806221e+02] [ 9.60703411e-01 -2.77012916e-01 -1.76861539e-02 -9.31720243e+01] [-1.86437852e-02 -8.23333975e-04 -9.99825851e-01 -4.00469043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.016196480031007442 Centerline is valid? [True, True] Translation: X:254.82, Y:-93.14, Z:-4.00 [[ 1.99854427e-01 9.79814499e-01 -4.66421425e-03 2.54818343e+02] [ 9.79638524e-01 -1.99907022e-01 -1.85888551e-02 -9.31425442e+01] [-1.91460390e-02 -8.54178958e-04 -9.99816333e-01 -4.00490931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.016972232157967098 Centerline is valid? [True, True] Translation: X:254.83, Y:-93.11, Z:-4.00 [[ 1.21659133e-01 9.92566234e-01 -3.36559386e-03 2.54825193e+02] [ 9.92364001e-01 -1.21702350e-01 -2.00556116e-02 -9.31131775e+01] [-2.03161236e-02 -8.99945855e-04 -9.99793201e-01 -4.00416948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.016678800400459496 Centerline is valid? [True, True] Translation: X:254.83, Y:-93.08, Z:-4.00 [[ 4.37257719e-02 9.99041923e-01 -1.81451126e-03 2.54831338e+02] [ 9.98827799e-01 -4.37540021e-02 -2.07030212e-02 -9.30830761e+01] [-2.07625783e-02 -9.07128700e-04 -9.99784023e-01 -4.00438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.016805720791608456 Centerline is valid? [True, True] Translation: X:254.83, Y:-93.05, Z:-4.00 [[-3.36174075e-02 9.99434756e-01 -1.95546793e-04 2.54833265e+02] [ 9.99241404e-01 3.36070539e-02 -1.96769474e-02 -9.30529033e+01] [-1.96592534e-02 -8.56886411e-04 -9.99806371e-01 -4.00479378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.015985117496792597 Centerline is valid? [True, True] Translation: X:254.83, Y:-93.02, Z:-4.01 [[-1.11374938e-01 9.93777716e-01 1.21401930e-03 2.54833688e+02] [ 9.93613135e-01 1.11378609e-01 -1.81036853e-02 -9.30226988e+01] [-1.81262548e-02 -8.10031304e-04 -9.99835378e-01 -4.00748746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.01607219186983169 Centerline is valid? [True, True] Translation: X:254.83, Y:-92.99, Z:-4.01 [[-1.89210955e-01 9.81933584e-01 2.37727336e-03 2.54834084e+02] [ 9.81796273e-01 1.89224295e-01 -1.64391091e-02 -9.29927297e+01] [-1.65919512e-02 -7.76461400e-04 -9.99862043e-01 -4.00891694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.016732345622869797 Centerline is valid? [True, True] Translation: X:254.83, Y:-92.96, Z:-4.01 [[-2.67259244e-01 9.63617682e-01 3.66863603e-03 2.54834447e+02] [ 9.63481143e-01 2.67283207e-01 -1.62411198e-02 -9.29626398e+01] [-1.66307950e-02 -8.05927775e-04 -9.99861374e-01 -4.00865221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.018059688190272108 Centerline is valid? [True, True] Translation: X:254.83, Y:-92.93, Z:-4.01 [[-3.43072619e-01 9.39295453e-01 5.02300677e-03 2.54832752e+02] [ 9.39156480e-01 3.43108377e-01 -1.61785947e-02 -9.29335800e+01] [-1.69199161e-02 -8.33043494e-04 -9.99856501e-01 -4.00706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.01920036844648167 Centerline is valid? [True, True] Translation: X:254.82, Y:-92.91, Z:-4.01 [[-4.16838284e-01 9.08957596e-01 6.47560349e-03 2.54824854e+02] [ 9.08813548e-01 4.16887673e-01 -1.62050340e-02 -9.29065820e+01] [-1.74292880e-02 -8.69762372e-04 -9.99847720e-01 -4.00689329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.01789170092496299 Centerline is valid? [True, True] Translation: X:254.81, Y:-92.88, Z:-4.01 [[-4.85006107e-01 8.74475330e-01 7.87226413e-03 2.54813613e+02] [ 8.74330671e-01 4.85069261e-01 -1.59276730e-02 -9.28796210e+01] [-1.77469505e-02 -8.42056719e-04 -9.99842156e-01 -4.00671912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.016231177345611886 Centerline is valid? [True, True] Translation: X:254.80, Y:-92.85, Z:-4.01 [[-5.50429502e-01 8.34837160e-01 8.61852453e-03 2.54801746e+02] [ 8.34711682e-01 5.50496413e-01 -1.44950873e-02 -9.28528812e+01] [-1.68455043e-02 -7.84540561e-04 -9.99857797e-01 -4.00832181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.0157231041313172 Centerline is valid? [True, True] Translation: X:254.79, Y:-92.83, Z:-4.01 [[-6.12185017e-01 7.90667113e-01 8.66152051e-03 2.54788398e+02] [ 7.90571285e-01 6.12245887e-01 -1.23295120e-02 -9.28263732e+01] [-1.50515199e-02 -7.00393085e-04 -9.99886474e-01 -4.00948641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.014241318503936281 Centerline is valid? [True, True] Translation: X:254.77, Y:-92.80, Z:-4.01 [[-6.69696860e-01 7.42588832e-01 8.24266907e-03 2.54773258e+02] [ 7.42521141e-01 6.69747309e-01 -1.00447316e-02 -9.28016713e+01] [-1.29796110e-02 -6.06569193e-04 -9.99915577e-01 -4.01135679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.013846502453469238 Centerline is valid? [True, True] Translation: X:254.76, Y:-92.78, Z:-4.01 [[-7.24101552e-01 6.89641427e-01 8.46434719e-03 2.54756522e+02] [ 6.89585066e-01 7.24150805e-01 -8.83443562e-03 -9.27777186e+01] [-1.22220566e-02 -5.60141125e-04 -9.99925151e-01 -4.01229329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.013373563732011493 Centerline is valid? [True, True] Translation: X:254.78, Y:-92.76, Z:-4.01 [[-7.69543500e-01 6.38525399e-01 9.38700848e-03 2.54776367e+02] [ 6.38469810e-01 7.69600586e-01 -8.44032024e-03 -9.27627409e+01] [-1.26136061e-02 -5.01872063e-04 -9.99920319e-01 -4.01210881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.013521165151830213 Centerline is valid? [True, True] Translation: X:254.79, Y:-92.74, Z:-4.01 [[-8.13335847e-01 5.81680693e-01 1.15053178e-02 2.54794467e+02] [ 5.81612924e-01 8.13417037e-01 -8.89552958e-03 -9.27412102e+01] [-1.45329794e-02 -5.43411529e-04 -9.99894243e-01 -4.01044229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.014011637520495737 Centerline is valid? [True, True] Translation: X:254.81, Y:-92.72, Z:-4.01 [[-8.53555270e-01 5.20855028e-01 1.23871149e-02 2.54809748e+02] [ 5.20790220e-01 8.53644952e-01 -8.23662702e-03 -9.27156956e+01] [-1.48642867e-02 -5.79328084e-04 -9.99889353e-01 -4.01036293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.014790059317006023 Centerline is valid? [True, True] Translation: X:254.83, Y:-92.69, Z:-4.01 [[-8.89297093e-01 4.57139008e-01 1.32138791e-02 2.54826063e+02] [ 4.57078115e-01 8.89395044e-01 -7.48677879e-03 -9.26887514e+01] [-1.51748572e-02 -6.18195659e-04 -9.99884664e-01 -4.00964274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.014364910069615539 Centerline is valid? [True, True] Translation: X:254.84, Y:-92.67, Z:-4.01 [[-9.19361689e-01 3.93169499e-01 1.38502617e-02 2.54839311e+02] [ 3.93114669e-01 9.19465803e-01 -6.59502095e-03 -9.26658945e+01] [-1.53278031e-02 -6.18468561e-04 -9.99882331e-01 -4.01021062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.014566761063089597 Centerline is valid? [True, True] Translation: X:255.12, Y:-92.06, Z:-5.01 [[-8.73180036e-01 -4.87369878e-01 5.21793854e-03 2.55122983e+02] [ 4.87360400e-01 -8.73195619e-01 -3.04144377e-03 -9.20572550e+01] [ 6.03858915e-03 -1.12711364e-04 9.99981761e-01 -5.00659752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.012761768641408487 Centerline is valid? [True, True] Translation: X:254.80, Y:-92.66, Z:-4.01 [[-9.18183935e-01 3.95943273e-01 1.29300364e-02 2.54798940e+02] [ 3.95896251e-01 9.18274835e-01 -6.12264514e-03 -9.26552704e+01] [-1.42975472e-02 -5.02761486e-04 -9.99897658e-01 -4.01136990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.012599359556442175 Centerline is valid? [True, True] Translation: X:254.81, Y:-92.63, Z:-4.01 [[-9.42620297e-01 3.33627787e-01 1.26283419e-02 2.54811751e+02] [ 3.33591586e-01 9.42704783e-01 -4.93423913e-03 -9.26326415e+01] [-1.35509976e-02 -4.38405347e-04 -9.99908085e-01 -4.01007703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.011553130518679003 Centerline is valid? [True, True] Translation: X:255.06, Y:-91.99, Z:-5.01 [[-9.12897865e-01 -4.08168981e-01 3.94601174e-03 2.55059533e+02] [ 4.08164408e-01 -9.12906379e-01 -1.93861049e-03 -9.19889259e+01] [ 4.39361996e-03 -1.59131831e-04 9.99990335e-01 -5.00603908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.011633030687971984 Centerline is valid? [True, True] Translation: X:254.77, Y:-92.63, Z:-4.01 [[-9.40627145e-01 3.39165564e-01 1.36855858e-02 2.54773003e+02] [ 3.39124880e-01 9.40726647e-01 -5.26217921e-03 -9.26290421e+01] [-1.46591452e-02 -3.08625957e-04 -9.99892501e-01 -4.01047241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.011679980474508547 Centerline is valid? [True, True] Translation: X:254.78, Y:-92.60, Z:-4.01 [[-9.61918839e-01 2.72966564e-01 1.41916088e-02 2.54780104e+02] [ 2.72932452e-01 9.62023478e-01 -4.32483496e-03 -9.26040902e+01] [-1.48331962e-02 -2.86789642e-04 -9.99889941e-01 -4.01072719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.011720329396093921 Centerline is valid? [True, True] Translation: X:254.79, Y:-92.58, Z:-4.01 [[-9.78945368e-01 2.03550212e-01 1.52734121e-02 2.54789302e+02] [ 2.03520765e-01 9.79064464e-01 -3.47461865e-03 -9.25766222e+01] [-1.56609144e-02 -2.93005328e-04 -9.99877317e-01 -4.00937342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.011785925277373677 Centerline is valid? [True, True] Translation: X:254.79, Y:-92.55, Z:-4.01 [[-9.91163877e-01 1.31623536e-01 1.64138367e-02 2.54788840e+02] [ 1.31600069e-01 9.91299722e-01 -2.50642205e-03 -9.25470481e+01] [-1.66009359e-02 -3.24212952e-04 -9.99862142e-01 -4.00843239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.011750129998873739 Centerline is valid? [True, True] Translation: X:254.89, Y:-91.86, Z:-5.01 [[-9.79403013e-01 -2.01780017e-01 7.38669155e-03 2.54886489e+02] [ 2.01772161e-01 -9.79430829e-01 -1.80152018e-03 -9.18588705e+01] [ 7.59826421e-03 -2.73985581e-04 9.99971095e-01 -5.00942359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.012052408618067598 Centerline is valid? [True, True] Translation: X:254.74, Y:-92.54, Z:-4.01 [[-9.92275124e-01 1.22997810e-01 1.61745759e-02 2.54736497e+02] [ 1.22974877e-01 9.92406861e-01 -2.40868930e-03 -9.25375210e+01] [-1.63480236e-02 -4.01015991e-04 -9.99866282e-01 -4.00921247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.012405488036404195 Centerline is valid? [True, True] Translation: X:254.74, Y:-92.51, Z:-4.01 [[-9.98672231e-01 4.87663903e-02 1.66016324e-02 2.54738168e+02] [ 4.87520146e-02 9.98810106e-01 -1.26977530e-03 -9.25067726e+01] [-1.66438006e-02 -4.58726306e-04 -9.99861377e-01 -4.00898847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.012331611941934845 Centerline is valid? [True, True] Translation: X:254.73, Y:-92.48, Z:-4.01 [[-9.99601853e-01 -2.32856827e-02 1.59346418e-02 2.54733696e+02] [-2.32901715e-02 9.99728743e-01 -9.61600138e-05 -9.24794193e+01] [-1.59280803e-02 -4.67242268e-04 -9.99873031e-01 -4.01034556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.012436882609705135 Centerline is valid? [True, True] Translation: X:254.73, Y:-92.45, Z:-4.01 [[-9.95377636e-01 -9.49147674e-02 1.46475147e-02 2.54727104e+02] [-9.49113268e-02 9.95485295e-01 9.31430901e-04 -9.24530452e+01] [-1.46697920e-02 -4.63089563e-04 -9.99892286e-01 -4.01199118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.012595026212962468 Centerline is valid? [True, True] Translation: X:254.72, Y:-92.43, Z:-4.01 [[-9.85910875e-01 -1.66631716e-01 1.46156649e-02 2.54717966e+02] [-1.66620607e-01 9.86019087e-01 1.98311323e-03 -9.24267065e+01] [-1.47417742e-02 -4.80098069e-04 -9.99891219e-01 -4.01256025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.012950583526014662 Centerline is valid? [True, True] Translation: X:254.71, Y:-92.40, Z:-4.01 [[-9.71095092e-01 -2.38279329e-01 1.40457425e-02 2.54706627e+02] [-2.38261848e-01 9.71196535e-01 2.92953526e-03 -9.23990428e+01] [-1.43392241e-02 -5.01707241e-04 -9.99897062e-01 -4.01220300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.013180682164945143 Centerline is valid? [True, True] Translation: X:254.68, Y:-92.38, Z:-4.01 [[-9.51213116e-01 -3.08209924e-01 1.41510220e-02 2.54679599e+02] [-3.08183982e-01 9.51318226e-01 4.03311305e-03 -9.23776029e+01] [-1.47051706e-02 -5.24768288e-04 -9.99891735e-01 -4.01180341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.013524496006126742 Centerline is valid? [True, True] Translation: X:254.65, Y:-92.36, Z:-4.01 [[-9.25885687e-01 -3.77561208e-01 1.35361938e-02 2.54649386e+02] [-3.77529436e-01 9.25984468e-01 4.92847733e-03 -9.23596972e+01] [-1.43951071e-02 -5.47105011e-04 -9.99896235e-01 -4.01270452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.013868147980454774 Centerline is valid? [True, True] Translation: X:254.60, Y:-92.35, Z:-4.01 [[-8.95500275e-01 -4.44878384e-01 1.27467872e-02 2.54599852e+02] [-4.44842035e-01 8.95590820e-01 5.71372296e-03 -9.23499404e+01] [-1.39578174e-02 -5.53666259e-04 -9.99902432e-01 -4.01229679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.014737228722598708 Centerline is valid? [True, True] Translation: X:254.53, Y:-92.35, Z:-4.01 [[-8.59556450e-01 -5.10867106e-01 1.33232461e-02 2.54526751e+02] [-5.10816425e-01 8.59659491e-01 7.22069835e-03 -9.23548879e+01] [-1.51422723e-02 -5.99135112e-04 -9.99885170e-01 -4.01057231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.01500794015155346 Centerline is valid? [True, True] Translation: X:254.46, Y:-92.36, Z:-4.01 [[-8.18926518e-01 -5.73738695e-01 1.35376947e-02 2.54462840e+02] [-5.73672826e-01 8.19038165e-01 8.71623600e-03 -9.23642771e+01] [-1.60887305e-02 -6.28250770e-04 -9.99870371e-01 -4.01077088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.01469634079627005 Centerline is valid? [True, True] Translation: X:254.39, Y:-92.39, Z:-4.01 [[-7.75358637e-01 -6.31380623e-01 1.33226447e-02 2.54390421e+02] [-6.31300557e-01 7.75472854e-01 1.00726862e-02 -9.23872193e+01] [-1.66910482e-02 -6.00648747e-04 -9.99860514e-01 -4.01075712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.013309273441998054 Centerline is valid? [True, True] Translation: X:254.31, Y:-92.42, Z:-4.01 [[-7.27934937e-01 -6.85537780e-01 1.21934541e-02 2.54313740e+02] [-6.85453954e-01 7.28036851e-01 1.07340906e-02 -9.24236262e+01] [-1.62359085e-02 -5.44331785e-04 -9.99868041e-01 -4.01285123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.012311785176041154 Centerline is valid? [True, True] Translation: X:254.24, Y:-92.47, Z:-4.02 [[-6.77599475e-01 -7.35365919e-01 9.79365009e-03 2.54235992e+02] [-7.35298536e-01 6.77670099e-01 9.96495431e-03 -9.24706296e+01] [-1.39647516e-02 -4.49008759e-04 -9.99902387e-01 -4.01696281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.012109217741018941 Centerline is valid? [True, True] Translation: X:254.16, Y:-92.52, Z:-4.02 [[-6.22651057e-01 -7.82448024e-01 8.98611896e-03 2.54156627e+02] [-7.82375695e-01 6.22715768e-01 1.06462856e-02 -9.25245949e+01] [-1.39259631e-02 -4.01600088e-04 -9.99902948e-01 -4.01730693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.012179636215336537 Centerline is valid? [True, True] Translation: X:254.08, Y:-92.59, Z:-4.02 [[-5.64753470e-01 -8.25210656e-01 8.99395570e-03 2.54077173e+02] [-8.25115714e-01 5.64824974e-01 1.25222723e-02 -9.25933130e+01] [-1.54135234e-02 -3.49057420e-04 -9.99881144e-01 -4.01569833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.011918546184956962 Centerline is valid? [True, True] Translation: X:254.00, Y:-92.67, Z:-4.02 [[-5.00759915e-01 -8.65547449e-01 8.19272018e-03 2.54001230e+02] [-8.65442560e-01 5.00826813e-01 1.34788346e-02 -9.26653398e+01] [-1.57697049e-02 -3.40668649e-04 -9.99875592e-01 -4.01844009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.011894499210534173 Centerline is valid? [True, True] Translation: X:253.93, Y:-92.75, Z:-4.02 [[-4.33142205e-01 -9.01294399e-01 7.49906560e-03 2.53926190e+02] [-9.01172775e-01 4.33206981e-01 1.48101989e-02 -9.27498622e+01] [-1.65969969e-02 -3.43031544e-04 -9.99862202e-01 -4.01984944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.011966106513894853 Centerline is valid? [True, True] Translation: X:253.86, Y:-92.84, Z:-4.02 [[-3.61480467e-01 -9.32357008e-01 6.50238747e-03 2.53856583e+02] [-9.32224167e-01 3.61538755e-01 1.57426324e-02 -9.28393318e+01] [-1.70286187e-02 -3.71028621e-04 -9.99854934e-01 -4.02066538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.012019912151537684 Centerline is valid? [True, True] Translation: X:253.79, Y:-92.94, Z:-4.02 [[-2.85839298e-01 -9.58262939e-01 5.29484305e-03 2.53792481e+02] [-9.58125257e-01 2.85888013e-01 1.62491838e-02 -9.29360252e+01] [-1.70847227e-02 -4.28467573e-04 -9.99853954e-01 -4.02260549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.012359746622713826 Centerline is valid? [True, True] Translation: X:253.74, Y:-93.04, Z:-4.02 [[-2.08942128e-01 -9.77919626e-01 4.04876715e-03 2.53736160e+02] [-9.77777582e-01 2.08980812e-01 1.66739259e-02 -9.30357231e+01] [-1.71518740e-02 -4.74908200e-04 -9.99852783e-01 -4.02286697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.013050029792057301 Centerline is valid? [True, True] Translation: X:253.69, Y:-93.15, Z:-4.02 [[-1.29254391e-01 -9.91607726e-01 2.72411855e-03 2.53685440e+02] [-9.91467174e-01 1.29281959e-01 1.67038498e-02 -9.31462927e+01] [-1.69158459e-02 -5.41828179e-04 -9.99856770e-01 -4.02349983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.014419542516386824 Centerline is valid? [True, True] Translation: X:253.64, Y:-93.25, Z:-4.02 [[-5.97471574e-02 -9.98212512e-01 1.43476866e-03 2.53636784e+02] [-9.98083848e-01 5.97625020e-02 1.60335796e-02 -9.32508704e+01] [-1.60906651e-02 -4.74058622e-04 -9.99870424e-01 -4.02254529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.013502632788115084 Centerline is valid? [True, True] Translation: X:253.61, Y:-93.36, Z:-4.03 [[ 1.72629290e-02 -9.99850942e-01 2.92316821e-04 2.53606210e+02] [-9.99754043e-01 -1.72571835e-02 1.39299512e-02 -9.33616045e+01] [-1.39228302e-02 -5.32716682e-04 -9.99902931e-01 -4.02594149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.013442309151319888 Centerline is valid? [True, True] Translation: X:253.58, Y:-93.48, Z:-4.03 [[ 9.30523251e-02 -9.95661000e-01 -6.61814120e-04 2.53583564e+02] [-9.95583697e-01 -9.30533539e-02 1.24167629e-02 -9.34789635e+01] [-1.24244705e-02 -4.96517305e-04 -9.99922690e-01 -4.02676042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.01284100537765725 Centerline is valid? [True, True] Translation: X:253.57, Y:-93.60, Z:-4.03 [[ 1.66784073e-01 -9.85992382e-01 -1.44740541e-03 2.53571785e+02] [-9.85928184e-01 -1.66789743e-01 1.12604013e-02 -9.35954004e+01] [-1.13440822e-02 -4.51017799e-04 -9.99935552e-01 -4.02766487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.012409946890683669 Centerline is valid? [True, True] Translation: X:253.57, Y:-93.71, Z:-4.03 [[ 2.39630647e-01 -9.70861598e-01 -2.21613781e-03 2.53567773e+02] [-9.70802485e-01 -2.39640531e-01 1.07215405e-02 -9.37147764e+01] [-1.09402084e-02 -4.17777601e-04 -9.99940067e-01 -4.02746669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.011980260868412368 Centerline is valid? [True, True] Translation: X:253.57, Y:-93.83, Z:-4.03 [[ 3.10424942e-01 -9.50590980e-01 -3.62539925e-03 2.53572748e+02] [-9.50510553e-01 -3.10445861e-01 1.23715757e-02 -9.38316380e+01] [-1.28857985e-02 -3.94465433e-04 -9.99916897e-01 -4.02561562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.011965311937579493 Centerline is valid? [True, True] Translation: X:253.59, Y:-93.95, Z:-4.02 [[ 3.79808092e-01 -9.25053897e-01 -4.59354952e-03 2.53585438e+02] [-9.24974448e-01 -3.79835701e-01 1.21288950e-02 -9.39453894e+01] [-1.29646757e-02 -3.57736521e-04 -9.99915891e-01 -4.02367168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.011833445476929204 Centerline is valid? [True, True] Translation: X:253.61, Y:-94.06, Z:-4.02 [[ 4.44767914e-01 -8.95623430e-01 -6.33826822e-03 2.53610165e+02] [-8.95523248e-01 -4.44812985e-01 1.33985356e-02 -9.40569118e+01] [-1.48193865e-02 -2.83172205e-04 -9.99890147e-01 -4.02466144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.012010562893371188 Centerline is valid? [True, True] Translation: X:253.64, Y:-94.17, Z:-4.02 [[ 5.08924680e-01 -8.60776406e-01 -7.72322940e-03 2.53641804e+02] [-8.60670580e-01 -5.08983230e-01 1.34990646e-02 -9.41666144e+01] [-1.55506706e-02 -2.22850808e-04 -9.99879056e-01 -4.02460762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.012781717831756339 Centerline is valid? [True, True] Translation: X:253.68, Y:-94.27, Z:-4.02 [[ 5.68957025e-01 -8.22324346e-01 -8.40078529e-03 2.53679768e+02] [-8.22230915e-01 -5.69019023e-01 1.23965194e-02 -9.42703042e+01] [-1.49741664e-02 -1.45701436e-04 -9.99887870e-01 -4.02413655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.013151760798451402 Centerline is valid? [True, True] Translation: X:253.73, Y:-94.37, Z:-4.03 [[ 6.27984611e-01 -7.78177650e-01 -8.65295908e-03 2.53725126e+02] [-7.78101205e-01 -6.28044212e-01 1.09079170e-02 -9.43703402e+01] [-1.39227381e-02 -1.17126151e-04 -9.99903067e-01 -4.02588991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.013326852854974824 Centerline is valid? [True, True] Translation: X:253.78, Y:-94.47, Z:-4.03 [[ 6.84360194e-01 -7.29088440e-01 -9.00956902e-03 2.53775985e+02] [-7.29023251e-01 -6.84419488e-01 9.75003655e-03 -9.44658691e+01] [-1.32749636e-02 -1.04351597e-04 -9.99911878e-01 -4.02777504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.01287322270213217 Centerline is valid? [True, True] Translation: X:253.83, Y:-94.56, Z:-4.03 [[ 7.39380629e-01 -6.73230316e-01 -8.78789645e-03 2.53834356e+02] [-6.73180351e-01 -7.39432836e-01 8.20343290e-03 -9.45629095e+01] [-1.20208589e-02 -1.49620157e-04 -9.99927736e-01 -4.02906400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.01211805707233143 Centerline is valid? [True, True] Translation: X:253.85, Y:-94.59, Z:-4.03 [[ 7.93399108e-01 -6.08644698e-01 -8.33591578e-03 2.53851166e+02] [-6.08607934e-01 -7.93442862e-01 6.69385539e-03 -9.45926595e+01] [-1.06882525e-02 -2.37594415e-04 -9.99942851e-01 -4.02960360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.011701364032804307 Centerline is valid? [True, True] Translation: X:253.87, Y:-94.62, Z:-4.03 [[ 8.40784017e-01 -5.41304624e-01 -8.45813050e-03 2.53870778e+02] [-5.41273836e-01 -8.40826513e-01 5.78011063e-03 -9.46233656e+01] [-1.02406210e-02 -2.81659898e-04 -9.99947524e-01 -4.03067188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.011761746667655231 Centerline is valid? [True, True] Translation: X:253.89, Y:-94.65, Z:-4.03 [[ 8.83844597e-01 -4.67702088e-01 -8.57241563e-03 2.53891794e+02] [-4.67676200e-01 -8.83886098e-01 4.93334937e-03 -9.46546113e+01] [-9.88437680e-03 -3.51199417e-04 -9.99951087e-01 -4.03066200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.012347600720069428 Centerline is valid? [True, True] Translation: X:253.92, Y:-94.68, Z:-4.03 [[ 9.19560003e-01 -3.92839015e-01 -9.32245620e-03 2.53915602e+02] [-3.92814372e-01 -9.19607170e-01 4.41833141e-03 -9.46814695e+01] [-1.03086905e-02 -4.00926069e-04 -9.99946784e-01 -4.03012995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.012546503489544853 Centerline is valid? [True, True] Translation: X:253.94, Y:-94.70, Z:-4.03 [[ 9.48011859e-01 -3.18073795e-01 -1.01279496e-02 2.53943863e+02] [-3.18050838e-01 -9.48065863e-01 3.84488162e-03 -9.47031105e+01] [-1.08249193e-02 -4.23790533e-04 -9.99941319e-01 -4.03025632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.012751830141538419 Centerline is valid? [True, True] Translation: X:253.97, Y:-94.72, Z:-4.03 [[ 9.69908793e-01 -2.43193074e-01 -1.15785329e-02 2.53973525e+02] [-2.43170381e-01 -9.69977804e-01 3.35040158e-03 -9.47213040e+01] [-1.20457143e-02 -4.34027700e-04 -9.99927354e-01 -4.02889774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.012643722625739286 Centerline is valid? [True, True] Translation: X:254.01, Y:-94.73, Z:-4.03 [[ 9.85529839e-01 -1.69046534e-01 -1.24179299e-02 2.54006866e+02] [-1.69027870e-01 -9.85607986e-01 2.54508541e-03 -9.47321039e+01] [-1.26694488e-02 -4.09281368e-04 -9.99919656e-01 -4.02948411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.012213599297955933 Centerline is valid? [True, True] Translation: X:254.04, Y:-94.74, Z:-4.03 [[ 9.95145314e-01 -9.75554752e-02 -1.29897460e-02 2.54036838e+02] [-9.75428159e-02 -9.95230033e-01 1.60608415e-03 -9.47400723e+01] [-1.30844677e-02 -3.31230714e-04 -9.99914340e-01 -4.03010983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.012432124481405913 Centerline is valid? [True, True] Translation: X:254.07, Y:-94.74, Z:-4.03 [[ 9.99617082e-01 -2.41397865e-02 -1.35262902e-02 2.54066656e+02] [-2.41339696e-02 -9.99708557e-01 5.93126581e-04 -9.47432632e+01] [-1.35366660e-02 -2.66456386e-04 -9.99908340e-01 -4.03038269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.013415316869956256 Centerline is valid? [True, True] Translation: X:254.10, Y:-94.74, Z:-4.03 [[ 9.98742863e-01 4.81997402e-02 -1.37651305e-02 2.54096905e+02] [ 4.81976744e-02 -9.98837700e-01 -4.81968030e-04 -9.47404478e+01] [-1.37723620e-02 -1.82085148e-04 -9.99905140e-01 -4.03095095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.013512471544814261 Centerline is valid? [True, True] Translation: X:254.13, Y:-94.74, Z:-4.03 [[ 9.92235208e-01 1.23678015e-01 -1.31545156e-02 2.54127673e+02] [ 1.23669167e-01 -9.92322390e-01 -1.48705781e-03 -9.47430314e+01] [-1.32374367e-02 -1.51296885e-04 -9.99912370e-01 -4.03217630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.013812723513495195 Centerline is valid? [True, True] Translation: X:254.16, Y:-94.75, Z:-4.03 [[ 9.80037540e-01 1.98323981e-01 -1.39290240e-02 2.54159187e+02] [ 1.98305416e-01 -9.80136515e-01 -2.71545199e-03 -9.47466461e+01] [-1.41908843e-02 -1.00956015e-04 -9.99899299e-01 -4.03302876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.014483057160534605 Centerline is valid? [True, True] Translation: X:254.19, Y:-94.75, Z:-4.03 [[ 9.61798530e-01 2.73403904e-01 -1.39245375e-02 2.54188628e+02] [ 2.73376469e-01 -9.61899318e-01 -3.87400358e-03 -9.47463600e+01] [-1.44531708e-02 -8.06299414e-05 -9.99895544e-01 -4.03227060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.014344441178553633 Centerline is valid? [True, True] Translation: X:254.22, Y:-94.74, Z:-4.03 [[ 9.37966401e-01 3.46487685e-01 -1.28574945e-02 2.54219911e+02] [ 3.46456172e-01 -9.38054518e-01 -4.67346597e-03 -9.47448768e+01] [-1.36803292e-02 -7.10042653e-05 -9.99906417e-01 -4.03390974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.014521552294255169 Centerline is valid? [True, True] Translation: X:254.25, Y:-94.74, Z:-4.03 [[ 9.07893818e-01 4.19027586e-01 -1.20290518e-02 2.54251560e+02] [ 4.18991977e-01 -9.07973500e-01 -5.46327300e-03 -9.47415643e+01] [-1.32113224e-02 -8.00044202e-05 -9.99912723e-01 -4.03317940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.014412985340657951 Centerline is valid? [True, True] Translation: X:254.28, Y:-94.73, Z:-4.03 [[ 8.71522704e-01 4.90215958e-01 -1.16829071e-02 2.54281616e+02] [ 4.90173420e-01 -8.71601001e-01 -6.45856823e-03 -9.47342937e+01] [-1.33489267e-02 -9.78616789e-05 -9.99910894e-01 -4.03306358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.014024704961017119 Centerline is valid? [True, True] Translation: X:254.31, Y:-94.72, Z:-4.03 [[ 8.29429689e-01 5.58497922e-01 -1.12455541e-02 2.54311285e+02] [ 5.58448556e-01 -8.29505911e-01 -7.42654622e-03 -9.47248216e+01] [-1.34759642e-02 -1.20265523e-04 -9.99909188e-01 -4.03247691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.013547521755972545 Centerline is valid? [True, True] Translation: X:254.34, Y:-94.71, Z:-4.03 [[ 7.81446766e-01 6.23878873e-01 -1.07751215e-02 2.54339715e+02] [ 6.23822293e-01 -7.81521035e-01 -8.40349662e-03 -9.47129941e+01] [-1.36637481e-02 -1.54875774e-04 -9.99906635e-01 -4.03181697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.012637777681103822 Centerline is valid? [True, True] Translation: X:254.37, Y:-94.70, Z:-4.03 [[ 7.26705530e-01 6.86871533e-01 -1.03232774e-02 2.54371524e+02] [ 6.86806551e-01 -7.26778816e-01 -9.45059748e-03 -9.47038399e+01] [-1.39940857e-02 -2.22293098e-04 -9.99902053e-01 -4.03202370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.012281197253382057 Centerline is valid? [True, True] Translation: X:254.40, Y:-94.69, Z:-4.03 [[ 6.67334288e-01 7.44703515e-01 -9.03458157e-03 2.54400767e+02] [ 7.44640993e-01 -6.67395380e-01 -9.65386095e-03 -9.46897835e+01] [-1.32189022e-02 -2.85167376e-04 -9.99912586e-01 -4.03230634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.012240921020004595 Centerline is valid? [True, True] Translation: X:254.43, Y:-94.67, Z:-4.03 [[ 6.04857369e-01 7.96289847e-01 -8.36919288e-03 2.54429146e+02] [ 7.96220836e-01 -6.04915182e-01 -1.04882549e-02 -9.46729548e+01] [-1.34143427e-02 -3.19827462e-04 -9.99909973e-01 -4.03236236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.012244056064961812 Centerline is valid? [True, True] Translation: X:254.46, Y:-94.65, Z:-4.03 [[ 5.38555407e-01 8.42561160e-01 -6.98317787e-03 2.54456903e+02] [ 8.42498541e-01 -5.38600567e-01 -1.02780746e-02 -9.46541843e+01] [-1.24210500e-02 -3.48004491e-04 -9.99922795e-01 -4.03207694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.012242418858694225 Centerline is valid? [True, True] Translation: X:254.48, Y:-94.63, Z:-4.03 [[ 4.71320400e-01 8.81941587e-01 -6.00977542e-03 2.54477704e+02] [ 8.81878878e-01 -4.71358591e-01 -1.05225207e-02 -9.46319045e+01] [-1.21130079e-02 -3.40415331e-04 -9.99926577e-01 -4.03190948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.012090493690126939 Centerline is valid? [True, True] Translation: X:254.49, Y:-94.61, Z:-4.03 [[ 4.04360753e-01 9.14585992e-01 -4.98437688e-03 2.54494940e+02] [ 9.14525182e-01 -4.04391366e-01 -1.05505825e-02 -9.46063433e+01] [-1.16650539e-02 -2.92096711e-04 -9.99931918e-01 -4.03279948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.012242534208763095 Centerline is valid? [True, True] Translation: X:254.51, Y:-94.58, Z:-4.03 [[ 3.34366187e-01 9.42433513e-01 -4.28103596e-03 2.54509733e+02] [ 9.42365748e-01 -3.34393495e-01 -1.13042796e-02 -9.45811755e+01] [-1.20850825e-02 -2.54532783e-04 -9.99926940e-01 -4.03221886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.012597721753707752 Centerline is valid? [True, True] Translation: X:254.52, Y:-94.55, Z:-4.03 [[ 2.64063310e-01 9.64498896e-01 -3.52819160e-03 2.54523306e+02] [ 9.64422316e-01 -2.64086809e-01 -1.21554420e-02 -9.45538356e+01] [-1.26556593e-02 -1.92860459e-04 -9.99919895e-01 -4.03233769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.013047690439289973 Centerline is valid? [True, True] Translation: X:254.54, Y:-94.53, Z:-4.03 [[ 1.90723135e-01 9.81640562e-01 -2.54792616e-03 2.54535615e+02] [ 9.81563451e-01 -1.90740092e-01 -1.23048522e-02 -9.45266554e+01] [-1.25649337e-02 -1.54131196e-04 -9.99921046e-01 -4.03263198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.013885396450518511 Centerline is valid? [True, True] Translation: X:254.54, Y:-94.50, Z:-4.03 [[ 1.17486993e-01 9.93073201e-01 -1.55689361e-03 2.54543678e+02] [ 9.92997172e-01 -1.17497263e-01 -1.22886263e-02 -9.44985083e+01] [-1.23864362e-02 -1.02237207e-04 -9.99923280e-01 -4.03245483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.014619036571080789 Centerline is valid? [True, True] Translation: X:254.55, Y:-94.47, Z:-4.03 [[ 4.21459425e-02 9.99111293e-01 -5.86154460e-04 2.54549452e+02] [ 9.99035984e-01 -4.21499626e-02 -1.22671504e-02 -9.44704695e+01] [-1.22809549e-02 -6.85787828e-05 -9.99924584e-01 -4.03332106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.015408817355740836 Centerline is valid? [True, True] Translation: X:254.55, Y:-94.44, Z:-4.03 [[-3.27294009e-02 9.99464178e-01 3.79530426e-04 2.54554289e+02] [ 9.99388350e-01 3.27315928e-02 -1.23113145e-02 -9.44424823e+01] [-1.23171404e-02 -2.36436604e-05 -9.99924141e-01 -4.03451068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.01576849362929604 Centerline is valid? [True, True] Translation: X:254.56, Y:-94.41, Z:-4.04 [[-1.09568607e-01 9.93978661e-01 1.06848767e-03 2.54558433e+02] [ 9.93926597e-01 1.09573804e-01 -1.01735864e-02 -9.44138636e+01] [-1.02294061e-02 -5.27073841e-05 -9.99947677e-01 -4.03647966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.01596602522910023 Centerline is valid? [True, True] Translation: X:254.56, Y:-94.39, Z:-4.04 [[-1.88757550e-01 9.82022369e-01 1.62915828e-03 2.54560913e+02] [ 9.81981465e-01 1.88764557e-01 -8.96351937e-03 -9.43862621e+01] [-9.10990387e-03 -9.21287140e-05 -9.99958500e-01 -4.03728697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.014602271679881977 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.36, Z:-4.04 [[-2.68121927e-01 9.63382685e-01 2.10601264e-03 2.54565395e+02] [ 9.63348943e-01 2.68130165e-01 -8.06400245e-03 -9.43560489e+01] [-8.33340584e-03 -1.33310826e-04 -9.99965268e-01 -4.03816246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.013134285691218916 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.32, Z:-4.04 [[-3.48728099e-01 9.37220486e-01 2.54445895e-03 2.54571823e+02] [ 9.37191398e-01 3.48737329e-01 -7.38642567e-03 -9.43236527e+01] [-7.81005727e-03 -1.91209143e-04 -9.99969483e-01 -4.03869299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.012355285771232426 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.29, Z:-4.04 [[-4.26899184e-01 9.04292936e-01 3.37229361e-03 2.54573107e+02] [ 9.04260184e-01 4.26912437e-01 -7.69997295e-03 -9.42912243e+01] [-8.40270523e-03 -2.37681325e-04 -9.99964668e-01 -4.03884943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.01237858510097816 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.26, Z:-4.04 [[-5.06003121e-01 8.62520371e-01 4.41041094e-03 2.54574797e+02] [ 8.62481640e-01 5.06022230e-01 -8.18065089e-03 -9.42565083e+01] [-9.28774402e-03 -3.35536420e-04 -9.99956812e-01 -4.03782957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.013400453704856036 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.22, Z:-4.04 [[-5.78518594e-01 8.15653344e-01 5.08514292e-03 2.54572014e+02] [ 8.15615404e-01 5.78540798e-01 -7.87766022e-03 -9.42215279e+01] [-9.36740255e-03 -4.09852018e-04 -9.99956041e-01 -4.03827122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.013843438437485634 Centerline is valid? [True, True] Translation: X:254.56, Y:-94.19, Z:-4.04 [[-6.42693570e-01 7.66104566e-01 5.36361261e-03 2.54561923e+02] [ 7.66072197e-01 6.42715810e-01 -7.05521876e-03 -9.41897303e+01] [-8.85231393e-03 -4.25429236e-04 -9.99960727e-01 -4.03907293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.014142003666248846 Centerline is valid? [True, True] Translation: X:254.55, Y:-94.16, Z:-4.04 [[-7.01471035e-01 7.12670467e-01 6.26046793e-03 2.54546918e+02] [ 7.12636306e-01 7.01498831e-01 -6.99188958e-03 -9.41599554e+01] [-9.37462414e-03 -4.43171284e-04 -9.99955959e-01 -4.03927072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.013889109673253835 Centerline is valid? [True, True] Translation: X:254.53, Y:-94.13, Z:-4.04 [[-7.54686217e-01 6.56042020e-01 7.58824314e-03 2.54529668e+02] [ 6.56002686e-01 7.54724228e-01 -7.19829414e-03 -9.41322506e+01] [-1.04494144e-02 -4.54545491e-04 -9.99945300e-01 -4.03793783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.013513101820120546 Centerline is valid? [True, True] Translation: X:254.54, Y:-94.11, Z:-4.04 [[-7.98652995e-01 6.01736838e-01 8.13459241e-03 2.54543167e+02] [ 6.01700210e-01 7.98694311e-01 -6.65248237e-03 -9.41101312e+01] [-1.05000964e-02 -4.18439003e-04 -9.99944785e-01 -4.03753734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.013274810001828424 Centerline is valid? [True, True] Translation: X:254.56, Y:-94.09, Z:-4.04 [[-8.38833782e-01 5.44321267e-01 8.49968580e-03 2.54556487e+02] [ 5.44288330e-01 8.38876744e-01 -6.00185988e-03 -9.40889955e+01] [-1.03971287e-02 -4.08283034e-04 -9.99945865e-01 -4.03826025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.012961060301348113 Centerline is valid? [True, True] Translation: X:254.57, Y:-94.07, Z:-4.04 [[-8.74454952e-01 4.85034852e-01 8.35041016e-03 2.54570314e+02] [ 4.85008527e-01 8.74494738e-01 -5.06778713e-03 -9.40685423e+01] [-9.76044313e-03 -3.81531416e-04 -9.99952293e-01 -4.03855564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.012773523205830169 Centerline is valid? [True, True] Translation: X:254.58, Y:-94.05, Z:-4.04 [[-9.05844390e-01 4.23515010e-01 8.99875551e-03 2.54577548e+02] [ 4.23490042e-01 9.05889011e-01 -4.61344064e-03 -9.40452816e+01] [-1.01057351e-02 -3.68175972e-04 -9.99948868e-01 -4.03853208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.01261152042931339 Centerline is valid? [True, True] Translation: X:254.59, Y:-94.02, Z:-4.04 [[-9.33134406e-01 3.59409724e-01 9.21032233e-03 2.54590693e+02] [ 3.59388443e-01 9.33179792e-01 -3.92714626e-03 -9.40235725e+01] [-1.00063412e-02 -3.54471897e-04 -9.99949872e-01 -4.03829759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.012106126134347561 Centerline is valid? [True, True] Translation: X:254.83, Y:-93.44, Z:-5.03 [[-8.98937793e-01 -4.38053803e-01 4.43952282e-03 2.54829186e+02] [ 4.38048488e-01 -8.98948756e-01 -2.15799794e-03 -9.34404816e+01] [ 4.93622272e-03 4.82035238e-06 9.99987817e-01 -5.02922742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.01204898007916214 Centerline is valid? [True, True] Translation: X:254.55, Y:-94.02, Z:-4.04 [[-9.32213075e-01 3.61720242e-01 1.17153371e-02 2.54547651e+02] [ 3.61687536e-01 9.32286636e-01 -4.87380301e-03 -9.40205110e+01] [-1.26850055e-02 -3.06131473e-04 -9.99919495e-01 -4.03781530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.011926456328726302 Centerline is valid? [True, True] Translation: X:254.55, Y:-94.00, Z:-4.04 [[-9.55119093e-01 2.95988270e-01 1.17670247e-02 2.54553057e+02] [ 2.95962082e-01 9.55191531e-01 -3.94777184e-03 -9.39976392e+01] [-1.24082565e-02 -2.87999141e-04 -9.99922973e-01 -4.03858433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.011826023795152742 Centerline is valid? [True, True] Translation: X:254.56, Y:-93.98, Z:-4.04 [[-9.73388962e-01 2.28881473e-01 1.12782599e-02 2.54561306e+02] [ 2.28862905e-01 9.73454261e-01 -2.92774755e-03 -9.39770715e+01] [-1.16489773e-02 -2.68661836e-04 -9.99932112e-01 -4.03900923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.011849184821973795 Centerline is valid? [True, True] Translation: X:254.56, Y:-93.95, Z:-4.04 [[-9.86956053e-01 1.60604885e-01 1.11274953e-02 2.54563841e+02] [ 1.60591797e-01 9.87018747e-01 -2.06575442e-03 -9.39539347e+01] [-1.13148167e-02 -2.51824369e-04 -9.99935954e-01 -4.03915578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.011806915645818235 Centerline is valid? [True, True] Translation: X:254.68, Y:-93.29, Z:-5.03 [[-9.73775588e-01 -2.27472363e-01 4.17463340e-03 2.54679098e+02] [ 2.27469432e-01 -9.73784518e-01 -1.17046305e-03 -9.32872794e+01] [ 4.33144137e-03 -1.90166856e-04 9.99990601e-01 -5.02857103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.011838053490196135 Centerline is valid? [True, True] Translation: X:254.51, Y:-93.95, Z:-4.04 [[-9.87770435e-01 1.55515694e-01 1.11550972e-02 2.54513136e+02] [ 1.55502729e-01 9.87833386e-01 -2.02562024e-03 -9.39539219e+01] [-1.13343932e-02 -2.66199733e-04 -9.99935728e-01 -4.03995066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.01202499320008364 Centerline is valid? [True, True] Translation: X:254.51, Y:-93.93, Z:-4.04 [[-9.96547980e-01 8.23311232e-02 1.06634645e-02 2.54514376e+02] [ 8.23232620e-02 9.96604987e-01 -1.17480644e-03 -9.39272213e+01] [-1.07239850e-02 -2.92899801e-04 -9.99942454e-01 -4.04006765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.0125077061501735 Centerline is valid? [True, True] Translation: X:254.51, Y:-93.90, Z:-4.04 [[-9.99906406e-01 8.07300601e-03 1.10455888e-02 2.54509842e+02] [ 8.06886029e-03 9.99967358e-01 -4.19841213e-04 -9.39002141e+01] [-1.10486176e-02 -3.30676606e-04 -9.99938907e-01 -4.03984631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.013132212455527805 Centerline is valid? [True, True] Translation: X:254.53, Y:-93.21, Z:-5.03 [[-9.95221303e-01 -9.75492006e-02 4.32564595e-03 2.54526095e+02] [ 9.75474237e-02 -9.95230684e-01 -6.20389974e-04 -9.32123813e+01] [ 4.36553413e-03 -1.95469700e-04 9.99990452e-01 -5.02886744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.01367412714258812 Centerline is valid? [True, True] Translation: X:254.45, Y:-93.90, Z:-4.04 [[-9.99935020e-01 -4.95475048e-03 1.02667623e-02 2.54447377e+02] [-4.95875167e-03 9.99987639e-01 -3.64303581e-04 -9.38998011e+01] [-1.02648303e-02 -4.15190233e-04 -9.99947229e-01 -4.04036079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.014319694259625561 Centerline is valid? [True, True] Translation: X:254.45, Y:-93.21, Z:-5.03 [[-9.95180879e-01 -9.79996773e-02 3.32892393e-03 2.54451169e+02] [ 9.79985938e-02 -9.95186434e-01 -4.87431855e-04 -9.32079118e+01] [ 3.36066809e-03 -1.58852998e-04 9.99994340e-01 -5.02811208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.014328082130868308 Centerline is valid? [True, True] Translation: X:254.37, Y:-93.90, Z:-4.04 [[-9.99894277e-01 -1.04335507e-02 1.01280131e-02 2.54374253e+02] [-1.04372997e-02 9.99945480e-01 -3.17380565e-04 -9.39047008e+01] [-1.01241495e-02 -4.23056119e-04 -9.99948660e-01 -4.04125231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.013846137377718195 Centerline is valid? [True, True] Translation: X:254.40, Y:-93.20, Z:-5.03 [[-9.95796366e-01 -9.14944170e-02 4.28581603e-03 2.54400209e+02] [ 9.14933399e-02 -9.95805588e-01 -4.47131109e-04 -9.32048347e+01] [ 4.30874955e-03 -5.31279108e-05 9.99990716e-01 -5.03027205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.013508461649208285 Centerline is valid? [True, True] Translation: X:254.32, Y:-93.91, Z:-4.04 [[-9.99869898e-01 -1.04312229e-02 1.23035191e-02 2.54322147e+02] [-1.04354462e-02 9.99945510e-01 -2.79107634e-04 -9.39054203e+01] [-1.22999372e-02 -4.07464033e-04 -9.99924270e-01 -4.03782107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.013110512727266807 Centerline is valid? [True, True] Translation: X:254.34, Y:-93.20, Z:-5.03 [[-9.96475616e-01 -8.36550653e-02 6.17868076e-03 2.54336168e+02] [ 8.36530246e-02 -9.96494769e-01 -5.88427323e-04 -9.32040407e+01] [ 6.20624799e-03 -6.94881457e-05 9.99980739e-01 -5.03151544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.013813193429270317 Centerline is valid? [True, True] Translation: X:254.26, Y:-93.91, Z:-4.04 [[-9.99787046e-01 -1.67337149e-02 1.20766239e-02 2.54262046e+02] [-1.67376408e-02 9.99859891e-01 -2.24078561e-04 -9.39057149e+01] [-1.20711822e-02 -4.26165036e-04 -9.99927050e-01 -4.03983359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.014765605589238322 Centerline is valid? [True, True] Translation: X:254.26, Y:-93.88, Z:-4.04 [[-9.95860202e-01 -9.01333586e-02 1.17659129e-02 2.54257316e+02] [-9.01323580e-02 9.95929605e-01 6.16359550e-04 -9.38762759e+01] [-1.17735755e-02 -4.46681527e-04 -9.99930589e-01 -4.03913337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.014256720207271771 Centerline is valid? [True, True] Translation: X:254.25, Y:-93.85, Z:-4.04 [[-9.86890026e-01 -1.60916734e-01 1.24048886e-02 2.54246358e+02] [-1.60909881e-01 9.86967878e-01 1.55509052e-03 -9.38516688e+01] [-1.24934667e-02 -4.61365832e-04 -9.99921847e-01 -4.03906565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.013940613794791362 Centerline is valid? [True, True] Translation: X:254.24, Y:-93.83, Z:-4.04 [[-9.73327029e-01 -2.29110034e-01 1.19618989e-02 2.54241519e+02] [-2.29098188e-01 9.73400434e-01 2.36988308e-03 -9.38271400e+01] [-1.21866815e-02 -4.33778097e-04 -9.99925646e-01 -4.04024959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.013446259797951818 Centerline is valid? [True, True] Translation: X:254.22, Y:-93.80, Z:-4.04 [[-9.54972413e-01 -2.96492907e-01 1.09382620e-02 2.54224394e+02] [-2.96478230e-01 9.55034971e-01 2.97704456e-03 -9.38030347e+01] [-1.13290953e-02 -3.99961133e-04 -9.99935744e-01 -4.04131701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.014017744856491491 Centerline is valid? [True, True] Translation: X:254.01, Y:-93.14, Z:-5.03 [[-9.79215102e-01 2.02775803e-01 4.44505988e-03 2.54010788e+02] [-2.02774437e-01 -9.79225178e-01 7.60700234e-04 -9.31408829e+01] [ 4.50696615e-03 -1.56455357e-04 9.99989831e-01 -5.03113250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.014418286079117727 Centerline is valid? [True, True] Translation: X:254.09, Y:-93.84, Z:-4.04 [[-9.52342458e-01 -3.04835267e-01 1.09225898e-02 2.54093606e+02] [-3.04820378e-01 9.52404995e-01 3.04350473e-03 -9.38353973e+01] [-1.13304967e-02 -4.30969187e-04 -9.99935715e-01 -4.04091476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.01394530317845987 Centerline is valid? [True, True] Translation: X:254.06, Y:-93.82, Z:-4.04 [[-9.27344294e-01 -3.74031227e-01 1.15412675e-02 2.54064011e+02] [-3.74008355e-01 9.27415997e-01 4.16152844e-03 -9.38192821e+01] [-1.22600977e-02 -4.57360826e-04 -9.99924738e-01 -4.04186458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.01447588308071462 Centerline is valid? [True, True] Translation: X:254.01, Y:-93.81, Z:-4.04 [[-8.97246464e-01 -4.41377832e-01 1.15927847e-02 2.54013866e+02] [-4.41347826e-01 8.97321225e-01 5.16877720e-03 -9.38085681e+01] [-1.26838354e-02 -4.78783245e-04 -9.99919442e-01 -4.04092626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.014962480100809387 Centerline is valid? [True, True] Translation: X:253.95, Y:-93.81, Z:-4.04 [[-8.61475586e-01 -5.07666528e-01 1.15979098e-02 2.53951793e+02] [-5.07628442e-01 8.61553500e-01 6.23948852e-03 -9.38072837e+01] [-1.31597992e-02 -5.12261831e-04 -9.99913275e-01 -4.04037438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.014852353748790766 Centerline is valid? [True, True] Translation: X:253.88, Y:-93.82, Z:-4.04 [[-8.21615078e-01 -5.69936533e-01 1.10005550e-02 2.53880239e+02] [-5.69893638e-01 8.21688560e-01 7.01090730e-03 -9.38210325e+01] [-1.30348024e-02 -5.08879173e-04 -9.99914914e-01 -4.04145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.014593599057227236 Centerline is valid? [True, True] Translation: X:253.81, Y:-93.84, Z:-4.04 [[-7.78133898e-01 -6.28019579e-01 9.95213747e-03 2.53806278e+02] [-6.27975853e-01 7.78197396e-01 7.42574042e-03 -9.38436276e+01] [-1.24082378e-02 -4.71481671e-04 -9.99922904e-01 -4.04139914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.013819860519856678 Centerline is valid? [True, True] Translation: X:253.73, Y:-93.87, Z:-4.04 [[-7.31163012e-01 -6.82155985e-01 7.99138819e-03 2.53732689e+02] [-6.82121164e-01 7.31206571e-01 6.90412002e-03 -9.38744263e+01] [-1.05530423e-02 -4.03057831e-04 -9.99944234e-01 -4.04355206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.01322375480799305 Centerline is valid? [True, True] Translation: X:253.65, Y:-93.92, Z:-4.04 [[-6.79008346e-01 -7.34098839e-01 6.82352921e-03 2.53652888e+02] [-7.34067180e-01 6.79042529e-01 6.82788771e-03 -9.39164926e+01] [-9.64581097e-03 -3.72736105e-04 -9.99953409e-01 -4.04449204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.013256158908867086 Centerline is valid? [True, True] Translation: X:253.57, Y:-93.96, Z:-4.04 [[-6.23230601e-01 -7.82015034e-01 6.00861903e-03 2.53574174e+02] [-7.81983959e-01 6.23259468e-01 6.98016080e-03 -9.39647823e+01] [-9.20351939e-03 -3.48393890e-04 -9.99957586e-01 -4.04441600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.012634380718104816 Centerline is valid? [True, True] Translation: X:253.50, Y:-94.03, Z:-4.05 [[-5.62569444e-01 -8.26731357e-01 5.55745430e-03 2.53495373e+02] [-8.26696934e-01 5.62596787e-01 7.55212506e-03 -9.40285735e+01] [-9.37018452e-03 -3.45735639e-04 -9.99956039e-01 -4.04572985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.012650708843850517 Centerline is valid? [True, True] Translation: X:253.41, Y:-94.10, Z:-4.04 [[-4.98655768e-01 -8.66782012e-01 5.60083980e-03 2.53414618e+02] [-8.66735057e-01 4.98687097e-01 9.02882374e-03 -9.41044235e+01] [-1.06190885e-02 -3.52169164e-04 -9.99943554e-01 -4.04485327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.012807679695052872 Centerline is valid? [True, True] Translation: X:253.34, Y:-94.18, Z:-4.04 [[-4.30496537e-01 -9.02574563e-01 5.64721369e-03 2.53340276e+02] [-9.02508074e-01 4.30533409e-01 1.09617392e-02 -9.41824296e+01] [-1.23251011e-02 -3.77665187e-04 -9.99923972e-01 -4.04280089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.012644466267402992 Centerline is valid? [True, True] Translation: X:253.27, Y:-94.27, Z:-4.04 [[-3.61202873e-01 -9.32474979e-01 4.78525057e-03 2.53273443e+02] [-9.32406052e-01 3.61234386e-01 1.13434231e-02 -9.42686939e+01] [-1.23060553e-02 -3.64519563e-04 -9.99924211e-01 -4.04299699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.01236471968920053 Centerline is valid? [True, True] Translation: X:253.21, Y:-94.37, Z:-4.04 [[-2.90403856e-01 -9.56896273e-01 3.88886533e-03 2.53211323e+02] [-9.56825624e-01 2.90429691e-01 1.16327229e-02 -9.43680956e+01] [-1.22607512e-02 -3.42778396e-04 -9.99924775e-01 -4.04349779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.012094032631393558 Centerline is valid? [True, True] Translation: X:253.16, Y:-94.47, Z:-4.04 [[-2.18978819e-01 -9.75725114e-01 2.96290234e-03 2.53160391e+02] [-9.75653801e-01 2.18998649e-01 1.18004978e-02 -9.44668996e+01] [-1.21629137e-02 -3.06707843e-04 -9.99925982e-01 -4.04394944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.012075933470194963 Centerline is valid? [True, True] Translation: X:253.11, Y:-94.57, Z:-4.04 [[-1.43833513e-01 -9.89599986e-01 1.94645086e-03 2.53112063e+02] [-9.89535297e-01 1.43846374e-01 1.13188322e-02 -9.45729965e+01] [-1.14811061e-02 -2.98054431e-04 -9.99934046e-01 -4.04442178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.012061919219445922 Centerline is valid? [True, True] Translation: X:253.07, Y:-94.69, Z:-4.04 [[-6.56731441e-02 -9.97840563e-01 1.11792748e-03 2.53070497e+02] [-9.97767447e-01 6.56818698e-02 1.20835890e-02 -9.46863579e+01] [-1.21309228e-02 -3.21864371e-04 -9.99926366e-01 -4.04483373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.012264411306164085 Centerline is valid? [True, True] Translation: X:253.04, Y:-94.80, Z:-4.04 [[ 1.24023228e-02 -9.99923071e-01 1.84217965e-04 2.53037931e+02] [-9.99845720e-01 -1.23990712e-02 1.24418434e-02 -9.48010132e+01] [-1.24386021e-02 -3.38497302e-04 -9.99922580e-01 -4.04453968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.012177299393647598 Centerline is valid? [True, True] Translation: X:253.02, Y:-94.92, Z:-4.04 [[ 8.92521746e-02 -9.96008731e-01 -8.10124275e-04 2.53016356e+02] [-9.95925681e-01 -8.92551977e-02 1.28665530e-02 -9.49204632e+01] [-1.28875069e-02 -3.41544264e-04 -9.99916894e-01 -4.04452333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.012130502683097044 Centerline is valid? [True, True] Translation: X:253.00, Y:-95.04, Z:-4.04 [[ 1.65411880e-01 -9.86222684e-01 -1.93081307e-03 2.53002861e+02] [-9.86128763e-01 -1.65422783e-01 1.36149408e-02 -9.50365261e+01] [-1.37467639e-02 -3.48042658e-04 -9.99905448e-01 -4.04490218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.012286294273914231 Centerline is valid? [True, True] Translation: X:253.00, Y:-95.16, Z:-4.05 [[ 2.42072278e-01 -9.70253362e-01 -3.07021407e-03 2.52997494e+02] [-9.70154756e-01 -2.42091462e-01 1.38374164e-02 -9.51557421e+01] [-1.41690724e-02 -3.71072112e-04 -9.99899545e-01 -4.04508089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.012618286765868444 Centerline is valid? [True, True] Translation: X:253.00, Y:-95.28, Z:-4.05 [[ 3.18365565e-01 -9.47960053e-01 -3.88660995e-03 2.52999972e+02] [-9.47873399e-01 -3.18389038e-01 1.28233931e-02 -9.52779800e+01] [-1.33935184e-02 -3.98512616e-04 -9.99910223e-01 -4.04584711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.01279534463467777 Centerline is valid? [True, True] Translation: X:253.01, Y:-95.40, Z:-4.05 [[ 3.91289062e-01 -9.20256397e-01 -4.58623767e-03 2.53012828e+02] [-9.20180578e-01 -3.91315729e-01 1.18196712e-02 -9.53974920e+01] [-1.26717950e-02 -4.04741236e-04 -9.99919628e-01 -4.04644629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.012963472019514059 Centerline is valid? [True, True] Translation: X:253.03, Y:-95.51, Z:-4.05 [[ 4.61475607e-01 -8.87135204e-01 -5.60301844e-03 2.53033297e+02] [-8.87058438e-01 -4.61509430e-01 1.16779133e-02 -9.55133032e+01] [-1.29457339e-02 -4.18867354e-04 -9.99916113e-01 -4.04503356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.01286174939075959 Centerline is valid? [True, True] Translation: X:253.06, Y:-95.62, Z:-4.05 [[ 5.27803329e-01 -8.49344020e-01 -6.19526862e-03 2.53063373e+02] [-8.49276237e-01 -5.27839531e-01 1.07378799e-02 -9.56227414e+01] [-1.23902618e-02 -4.05994334e-04 -9.99923155e-01 -4.04559763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.013250122903630309 Centerline is valid? [True, True] Translation: X:253.10, Y:-95.73, Z:-4.04 [[ 5.90423112e-01 -8.07059323e-01 -7.46981628e-03 2.53100564e+02] [-8.06985903e-01 -5.90470225e-01 1.08934014e-02 -9.57307292e+01] [-1.32023253e-02 -4.03679547e-04 -9.99912764e-01 -4.04397393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.01280970861525067 Centerline is valid? [True, True] Translation: X:253.15, Y:-95.84, Z:-4.04 [[ 6.49506185e-01 -7.60305053e-01 -8.82847902e-03 2.53148948e+02] [-7.60226335e-01 -6.49566061e-01 1.09476956e-02 -9.58355191e+01] [-1.40582686e-02 -3.98953773e-04 -9.99901098e-01 -4.04385877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.012922470142653665 Centerline is valid? [True, True] Translation: X:253.19, Y:-95.93, Z:-4.04 [[ 7.04954032e-01 -7.09186761e-01 -9.69277940e-03 2.53194424e+02] [-7.09112097e-01 -7.05020559e-01 1.02978239e-02 -9.59253680e+01] [-1.41366891e-02 -3.86225355e-04 -9.99899997e-01 -4.04330083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.012528381109679201 Centerline is valid? [True, True] Translation: X:253.25, Y:-96.01, Z:-4.04 [[ 7.56708315e-01 -6.53664972e-01 -1.07065860e-02 2.53251440e+02] [-6.53592242e-01 -7.56783955e-01 9.75839415e-03 -9.60148145e+01] [-1.44812929e-02 -3.86516435e-04 -9.99895066e-01 -4.04443353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.012421585650942467 Centerline is valid? [True, True] Translation: X:253.27, Y:-96.04, Z:-4.04 [[ 8.05476202e-01 -5.92517487e-01 -1.14505582e-02 2.53272453e+02] [-5.92450636e-01 -8.05557493e-01 8.90899655e-03 -9.60417825e+01] [-1.45028192e-02 -3.92094202e-04 -9.99894752e-01 -4.04412966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.012631388582559296 Centerline is valid? [True, True] Translation: X:253.30, Y:-96.07, Z:-4.04 [[ 8.49822848e-01 -5.26915188e-01 -1.27087170e-02 2.53295697e+02] [-5.26848946e-01 -8.49917769e-01 8.36510164e-03 -9.60677167e+01] [-1.52090635e-02 -4.13280337e-04 -9.99884250e-01 -4.04373307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.013201528026946454 Centerline is valid? [True, True] Translation: X:253.32, Y:-96.09, Z:-4.04 [[ 8.89145593e-01 -4.57440298e-01 -1.29803379e-02 2.53319483e+02] [-4.57384424e-01 -8.89240231e-01 7.16242954e-03 -9.60918398e+01] [-1.48190226e-02 -4.31438285e-04 -9.99890099e-01 -4.04356383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.013706210533925567 Centerline is valid? [True, True] Translation: X:253.35, Y:-96.11, Z:-4.04 [[ 9.22747224e-01 -3.85234208e-01 -1.14963483e-02 2.53346545e+02] [-3.85198611e-01 -9.22818741e-01 5.25364709e-03 -9.61126146e+01] [-1.26329302e-02 -4.19410873e-04 -9.99920113e-01 -4.04412586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.013225767093947283 Centerline is valid? [True, True] Translation: X:253.38, Y:-96.13, Z:-4.05 [[ 9.49855134e-01 -3.12520074e-01 -1.03163813e-02 2.53376815e+02] [-3.12497183e-01 -9.49911077e-01 3.80231299e-03 -9.61287886e+01] [-1.09879440e-02 -3.87806411e-04 -9.99939556e-01 -4.04662950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.012595018666529524 Centerline is valid? [True, True] Translation: X:253.41, Y:-96.14, Z:-4.05 [[ 9.70632098e-01 -2.40370194e-01 -9.77236821e-03 2.53407923e+02] [-2.40354434e-01 -9.70681231e-01 2.77391013e-03 -9.61419197e+01] [-1.01526197e-02 -3.43614181e-04 -9.99948402e-01 -4.04723795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.01221379113301554 Centerline is valid? [True, True] Translation: X:253.44, Y:-96.15, Z:-4.05 [[ 9.85936874e-01 -1.66869019e-01 -9.12200767e-03 2.53440299e+02] [-1.66859015e-01 -9.85979025e-01 1.85225055e-03 -9.61529649e+01] [-9.30319146e-03 -3.04112902e-04 -9.99956678e-01 -4.04682813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.011903821015754115 Centerline is valid? [True, True] Translation: X:253.47, Y:-96.16, Z:-4.05 [[ 9.95785612e-01 -9.12577001e-02 -9.11298377e-03 2.53469063e+02] [-9.12512722e-02 -9.95827270e-01 1.11954803e-03 -9.61591694e+01] [-9.17712513e-03 -2.83258462e-04 -9.99957849e-01 -4.04646639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.011701901974198445 Centerline is valid? [True, True] Translation: X:253.50, Y:-96.17, Z:-4.05 [[ 9.99828990e-01 -1.56052914e-02 -9.92301208e-03 2.53498539e+02] [-1.56019292e-02 -9.99878196e-01 4.16153516e-04 -9.61656809e+01] [-9.92829762e-03 -2.61264217e-04 -9.99950679e-01 -4.04679376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.01168961137782363 Centerline is valid? [True, True] Translation: X:253.53, Y:-96.17, Z:-4.05 [[ 9.98040167e-01 6.17459405e-02 -1.01618812e-02 2.53527957e+02] [ 6.17453026e-02 -9.98091867e-01 -3.76788275e-04 -9.61705395e+01] [-1.01657561e-02 -2.51398598e-04 -9.99948296e-01 -4.04662001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.011674928750983492 Centerline is valid? [True, True] Translation: X:253.56, Y:-96.18, Z:-4.05 [[ 9.90267431e-01 1.38866952e-01 -9.29433215e-03 2.53558723e+02] [ 1.38863118e-01 -9.90311018e-01 -1.05968380e-03 -9.61755361e+01] [-9.35143459e-03 -2.41269589e-04 -9.99956245e-01 -4.04718039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.011542716458894037 Centerline is valid? [True, True] Translation: X:253.59, Y:-96.18, Z:-4.05 [[ 9.76331671e-01 2.16099402e-01 -8.80437668e-03 2.53589375e+02] [ 2.16092838e-01 -9.76371338e-01 -1.70151369e-03 -9.61790296e+01] [-8.96403713e-03 -2.41321042e-04 -9.99959793e-01 -4.04798105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.011597883017909214 Centerline is valid? [True, True] Translation: X:253.62, Y:-96.18, Z:-4.05 [[ 9.56093803e-01 2.92936924e-01 -8.52048027e-03 2.53620559e+02] [ 2.92927616e-01 -9.56131736e-01 -2.34856300e-03 -9.61788823e+01] [-8.83468241e-03 -2.50437441e-04 -9.99960942e-01 -4.04807277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.011813916485177253 Centerline is valid? [True, True] Translation: X:253.65, Y:-96.18, Z:-4.05 [[ 9.29506456e-01 3.68718240e-01 -8.03790214e-03 2.53651527e+02] [ 3.68706913e-01 -9.29541171e-01 -2.90233124e-03 -9.61764716e+01] [-8.54170343e-03 -2.65894460e-04 -9.99963484e-01 -4.04800931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.012025254330870134 Centerline is valid? [True, True] Translation: X:253.68, Y:-96.17, Z:-4.05 [[ 8.96399857e-01 4.43199748e-01 -6.42490727e-03 2.53683184e+02] [ 4.43190586e-01 -8.96422838e-01 -2.86350509e-03 -9.61735834e+01] [-7.02853834e-03 -2.80612871e-04 -9.99975260e-01 -4.04996993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.012497977618448322 Centerline is valid? [True, True] Translation: X:253.71, Y:-96.17, Z:-4.05 [[ 8.57509776e-01 5.14440689e-01 -5.26903038e-03 2.53713522e+02] [ 5.14433017e-01 -8.57525915e-01 -2.82426364e-03 -9.61682052e+01] [-5.97124623e-03 -2.88729520e-04 -9.99982130e-01 -4.05060991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.014054507521640775 Centerline is valid? [True, True] Translation: X:253.74, Y:-96.16, Z:-4.05 [[ 8.11916042e-01 5.83748923e-01 -5.43471199e-03 2.53742922e+02] [ 5.83738465e-01 -8.11934166e-01 -3.50914666e-03 -9.61593981e+01] [-6.46108893e-03 -3.23317971e-04 -9.99979075e-01 -4.05070991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.01405569456880856 Centerline is valid? [True, True] Translation: X:253.77, Y:-96.15, Z:-4.05 [[ 7.62093505e-01 6.47444769e-01 -5.36292209e-03 2.53771952e+02] [ 6.47431850e-01 -7.62112297e-01 -4.10451936e-03 -9.61472526e+01] [-6.74459846e-03 -3.44099022e-04 -9.99977196e-01 -4.05112121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.014670040153462183 Centerline is valid? [True, True] Translation: X:253.80, Y:-96.13, Z:-4.05 [[ 7.06800992e-01 7.07387826e-01 -5.90093592e-03 2.53802303e+02] [ 7.07367678e-01 -7.06825516e-01 -5.35321584e-03 -9.61346426e+01] [-7.95773180e-03 -3.90473083e-04 -9.99968261e-01 -4.04980196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.015231549945960016 Centerline is valid? [True, True] Translation: X:253.83, Y:-96.12, Z:-4.05 [[ 6.48573296e-01 7.61123251e-01 -6.63902684e-03 2.53827913e+02] [ 7.61090078e-01 -6.48607129e-01 -7.11933734e-03 -9.61173080e+01] [-9.72481332e-03 -4.35485371e-04 -9.99952618e-01 -4.04905102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.01501983171640682 Centerline is valid? [True, True] Translation: X:253.85, Y:-96.10, Z:-4.05 [[ 5.87260847e-01 8.09366635e-01 -7.09565483e-03 2.53850815e+02] [ 8.09316939e-01 -5.87303525e-01 -8.98115260e-03 -9.60969136e+01] [-1.14363484e-02 -4.68354368e-04 -9.99934493e-01 -4.04886549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.01556559986765561 Centerline is valid? [True, True] Translation: X:253.87, Y:-96.08, Z:-4.05 [[ 5.22944559e-01 8.52340979e-01 -6.62150175e-03 2.53871892e+02] [ 8.52283598e-01 -5.22986270e-01 -9.90096305e-03 -9.60758049e+01] [-1.19019510e-02 -4.65742587e-04 -9.99929061e-01 -4.04777927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.014127009548223312 Centerline is valid? [True, True] Translation: X:253.89, Y:-96.05, Z:-4.05 [[ 4.57327298e-01 8.89278286e-01 -5.98937699e-03 2.53887699e+02] [ 8.89214073e-01 -4.57366310e-01 -1.06953299e-02 -9.60498782e+01] [-1.22504639e-02 -4.34571965e-04 -9.99924866e-01 -4.04833289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.013418625196815009 Centerline is valid? [True, True] Translation: X:253.90, Y:-96.02, Z:-4.05 [[ 3.88576715e-01 9.21403070e-01 -4.95162570e-03 2.53902142e+02] [ 9.21340788e-01 -3.88608061e-01 -1.07204674e-02 -9.60244415e+01] [-1.18021133e-02 -3.96410702e-04 -9.99930274e-01 -4.04907228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.012688681196275602 Centerline is valid? [True, True] Translation: X:253.92, Y:-96.00, Z:-4.05 [[ 3.18206165e-01 9.48012845e-01 -4.05984153e-03 2.53915958e+02] [ 9.47949418e-01 -3.18231863e-01 -1.09718923e-02 -9.59988804e+01] [-1.16934658e-02 -3.57200631e-04 -9.99931565e-01 -4.04993447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.01300297561992593 Centerline is valid? [True, True] Translation: X:253.93, Y:-95.97, Z:-4.05 [[ 2.41371927e-01 9.70427959e-01 -3.02806985e-03 2.53932438e+02] [ 9.70369583e-01 -2.41390640e-01 -1.06504004e-02 -9.59737662e+01] [-1.10663941e-02 -3.67639197e-04 -9.99938698e-01 -4.05016961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.013308840071718994 Centerline is valid? [True, True] Translation: X:253.95, Y:-95.95, Z:-4.05 [[ 1.63098360e-01 9.86607312e-01 -2.22210252e-03 2.53946723e+02] [ 9.86545335e-01 -1.63113036e-01 -1.10652730e-02 -9.59480076e+01] [-1.12795332e-02 -3.87476986e-04 -9.99936309e-01 -4.05051167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.013993336321177321 Centerline is valid? [True, True] Translation: X:253.96, Y:-95.92, Z:-4.05 [[ 8.36547880e-02 9.96493906e-01 -1.33100687e-03 2.53958734e+02] [ 9.96432887e-01 -8.36644047e-02 -1.10348968e-02 -9.59215886e+01] [-1.11075653e-02 -4.03137064e-04 -9.99938228e-01 -4.05011275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.01393496351922939 Centerline is valid? [True, True] Translation: X:253.97, Y:-95.89, Z:-4.05 [[ 4.55346038e-03 9.99989534e-01 -4.44803207e-04 2.53969928e+02] [ 9.99936321e-01 -4.55781016e-03 -1.03237497e-02 -9.58929306e+01] [-1.03256690e-02 -3.97766098e-04 -9.99946610e-01 -4.05079163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.014187332563276145 Centerline is valid? [True, True] Translation: X:253.98, Y:-95.86, Z:-4.05 [[-7.51110149e-02 9.97175131e-01 3.05038717e-04 2.53979906e+02] [ 9.97132358e-01 7.51106209e-02 -9.24425162e-03 -9.58635822e+01] [-9.24104947e-03 -3.90181146e-04 -9.99957224e-01 -4.05155877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.01447057478237817 Centerline is valid? [True, True] Translation: X:253.98, Y:-95.83, Z:-4.05 [[-1.53356511e-01 9.88170223e-01 1.17910691e-03 2.53984842e+02] [ 9.88116619e-01 1.53360484e-01 -1.03009426e-02 -9.58339492e+01] [-1.03599132e-02 -4.14621491e-04 -9.99946249e-01 -4.05135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.01456207704561696 Centerline is valid? [True, True] Translation: X:253.99, Y:-95.81, Z:-4.05 [[-2.29734105e-01 9.73250899e-01 2.21990752e-03 2.53985974e+02] [ 9.73185712e-01 2.29744429e-01 -1.12723828e-02 -9.58058621e+01] [-1.14808681e-02 -4.29268493e-04 -9.99934001e-01 -4.05048568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.01433307470833378 Centerline is valid? [True, True] Translation: X:253.99, Y:-95.78, Z:-4.05 [[-3.05439030e-01 9.52205603e-01 3.38934263e-03 2.53985920e+02] [ 9.52129605e-01 3.05457503e-01 -1.20386207e-02 -9.57757042e+01] [-1.24985423e-02 -4.49971180e-04 -9.99921789e-01 -4.04985660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.014330855892714208 Centerline is valid? [True, True] Translation: X:253.98, Y:-95.75, Z:-4.05 [[-3.79240871e-01 9.25286769e-01 4.55602090e-03 2.53984165e+02] [ 9.25204613e-01 3.79267953e-01 -1.23387388e-02 -9.57460177e+01] [-1.31448245e-02 -4.64102484e-04 -9.99913495e-01 -4.04957743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.013786970820226549 Centerline is valid? [True, True] Translation: X:253.98, Y:-95.72, Z:-4.05 [[-4.48259919e-01 8.93886381e-01 5.49381832e-03 2.53976905e+02] [ 8.93807101e-01 4.48293378e-01 -1.19127185e-02 -9.57171323e+01] [-1.31114592e-02 -4.29580413e-04 -9.99913949e-01 -4.04933425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.013514441209745402 Centerline is valid? [True, True] Translation: X:253.97, Y:-95.69, Z:-4.05 [[-5.16041108e-01 8.56541748e-01 6.14887189e-03 2.53968298e+02] [ 8.56471271e-01 5.16077579e-01 -1.09951981e-02 -9.56893300e+01] [-1.25911411e-02 -4.07642071e-04 -9.99920645e-01 -4.04976178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.013148159043043619 Centerline is valid? [True, True] Translation: X:253.96, Y:-95.66, Z:-4.05 [[-5.79896360e-01 8.14666568e-01 6.21247130e-03 2.53956315e+02] [ 8.14612961e-01 5.79929523e-01 -9.35263742e-03 -9.56627449e+01] [-1.12220765e-02 -3.62800751e-04 -9.99936965e-01 -4.05109864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.01299296747721274 Centerline is valid? [True, True] Translation: X:253.94, Y:-95.64, Z:-4.05 [[-6.41393147e-01 7.67191299e-01 5.68697077e-03 2.53943548e+02] [ 7.67156493e-01 6.41418274e-01 -7.31531552e-03 -9.56362547e+01] [-9.25997339e-03 -3.29196693e-04 -9.99957071e-01 -4.05301505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.01312583198093594 Centerline is valid? [True, True] Translation: X:253.93, Y:-95.61, Z:-4.05 [[-6.99572596e-01 7.14546423e-01 4.64676329e-03 2.53929038e+02] [ 7.14527751e-01 6.99587964e-01 -5.17438366e-03 -9.56101139e+01] [-6.94815701e-03 -2.99615683e-04 -9.99975816e-01 -4.05454855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.013350069593353817 Centerline is valid? [True, True] Translation: X:253.91, Y:-95.58, Z:-4.05 [[-7.54526003e-01 6.56246254e-01 5.60042041e-03 2.53913994e+02] [ 6.56224949e-01 7.54546718e-01 -5.29776521e-03 -9.55836310e+01] [-7.70241741e-03 -3.22166016e-04 -9.99970284e-01 -4.05378878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.014606490769603589 Centerline is valid? [True, True] Translation: X:254.37, Y:-95.08, Z:-5.06 [[-6.85898662e-01 -7.27693330e-01 2.33294106e-03 2.54374738e+02] [ 7.27689103e-01 -6.85902630e-01 -2.48022687e-03 -9.50780575e+01] [ 3.40501495e-03 -3.52850473e-06 9.99994203e-01 -5.05655226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.01519033555808829 Centerline is valid? [True, True] Translation: X:254.33, Y:-95.04, Z:-5.06 [[-6.83524931e-01 -7.29919938e-01 3.24838980e-03 2.54332884e+02] [ 7.29912364e-01 -6.83532643e-01 -3.32675746e-03 -9.50379973e+01] [ 4.64864707e-03 9.71182103e-05 9.99989190e-01 -5.05787195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.015157336401142169 Centerline is valid? [True, True] Translation: X:254.29, Y:-95.00, Z:-5.06 [[-6.83386298e-01 -7.30050937e-01 2.96603163e-03 2.54292704e+02] [ 7.30044632e-01 -6.83392729e-01 -3.03540648e-03 -9.49977736e+01] [ 4.24296579e-03 9.09802742e-05 9.99990994e-01 -5.05760480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.01532039152460465 Centerline is valid? [True, True] Translation: X:254.25, Y:-94.96, Z:-5.06 [[-6.83834476e-01 -7.29631328e-01 2.92129763e-03 2.54252088e+02] [ 7.29625216e-01 -6.83840710e-01 -2.98772465e-03 -9.49572370e+01] [ 4.17763975e-03 8.83432903e-05 9.99991270e-01 -5.05783783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.015084916518062746 Centerline is valid? [True, True] Translation: X:254.21, Y:-94.92, Z:-5.06 [[-6.84944102e-01 -7.28591012e-01 2.59124933e-03 2.54213049e+02] [ 7.28586203e-01 -6.84948999e-01 -2.64837030e-03 -9.49159237e+01] [ 3.70445243e-03 7.39628975e-05 9.99993136e-01 -5.05748425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.0138670616635644 Centerline is valid? [True, True] Translation: X:254.18, Y:-94.87, Z:-5.06 [[-6.87731884e-01 -7.25959612e-01 2.73817072e-03 2.54176935e+02] [ 7.25954226e-01 -6.87737332e-01 -2.79708583e-03 -9.48702939e+01] [ 3.91371357e-03 6.41415018e-05 9.99992339e-01 -5.05577427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.013606418150340409 Centerline is valid? [True, True] Translation: X:254.14, Y:-94.83, Z:-5.06 [[-6.89287617e-01 -7.24480319e-01 3.29374961e-03 2.54137621e+02] [ 7.24472517e-01 -6.89295483e-01 -3.36290416e-03 -9.48274513e+01] [ 4.70672460e-03 6.82228783e-05 9.99988921e-01 -5.05576203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.01368037442837674 Centerline is valid? [True, True] Translation: X:254.10, Y:-94.79, Z:-5.06 [[-6.90126939e-01 -7.23675239e-01 4.35395239e-03 2.54097028e+02] [ 7.23661605e-01 -6.90140668e-01 -4.44299057e-03 -9.47872389e+01] [ 6.22012187e-03 8.45606868e-05 9.99980651e-01 -5.05730830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.014140012614868887 Centerline is valid? [True, True] Translation: X:254.06, Y:-94.75, Z:-5.06 [[-6.89556864e-01 -7.24199104e-01 6.85489836e-03 2.54055852e+02] [ 7.24165367e-01 -6.89590920e-01 -6.99165930e-03 -9.47476672e+01] [ 9.79042906e-03 1.42933329e-04 9.99952062e-01 -5.05956922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.014441590093972452 Centerline is valid? [True, True] Translation: X:254.02, Y:-94.71, Z:-5.06 [[-6.88758258e-01 -7.24943573e-01 8.29924594e-03 2.54015022e+02] [ 7.24894209e-01 -6.88808232e-01 -8.46196696e-03 -9.47071691e+01] [ 1.18510375e-02 1.87825699e-04 9.99929756e-01 -5.05962279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.014757622011091875 Centerline is valid? [True, True] Translation: X:253.97, Y:-94.67, Z:-5.06 [[-6.87237071e-01 -7.26383265e-01 8.51825812e-03 2.53972430e+02] [ 7.26331435e-01 -6.87289824e-01 -8.68008379e-03 -9.46680345e+01] [ 1.21595797e-02 2.21803287e-04 9.99926045e-01 -5.05939823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.014830015773892381 Centerline is valid? [True, True] Translation: X:253.93, Y:-94.63, Z:-5.06 [[-6.88037262e-01 -7.25630774e-01 8.04404569e-03 2.53932084e+02] [ 7.25584567e-01 -6.88084253e-01 -8.19120909e-03 -9.46283271e+01] [ 1.14787746e-02 2.00778338e-04 9.99934097e-01 -5.05866547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.013678129584568547 Centerline is valid? [True, True] Translation: X:253.90, Y:-94.58, Z:-5.06 [[-6.91265045e-01 -7.22565408e-01 7.20205740e-03 2.53895002e+02] [ 7.22528244e-01 -6.91302548e-01 -7.32963175e-03 -9.45830747e+01] [ 1.02749390e-02 1.36971666e-04 9.99947202e-01 -5.05556201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.014132278128708894 Centerline is valid? [True, True] Translation: X:253.86, Y:-94.54, Z:-5.06 [[-6.93446607e-01 -7.20469650e-01 7.43545645e-03 2.53855608e+02] [ 7.20429973e-01 -6.93486460e-01 -7.56199674e-03 -9.45433605e+01] [ 1.06045775e-02 1.12884702e-04 9.99943764e-01 -5.05837055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.012997753538641878 Centerline is valid? [True, True] Translation: X:253.82, Y:-94.50, Z:-5.06 [[-6.95648058e-01 -7.18337729e-01 8.04285243e-03 2.53817954e+02] [ 7.18291211e-01 -6.95694545e-01 -8.17535118e-03 -9.44993369e+01] [ 1.14680318e-02 8.99430448e-05 9.99934236e-01 -5.05657017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.012948917307531916 Centerline is valid? [True, True] Translation: X:253.78, Y:-94.46, Z:-5.06 [[-6.96804980e-01 -7.17211951e-01 8.35686115e-03 2.53777380e+02] [ 7.17161707e-01 -6.96855086e-01 -8.48971638e-03 -9.44571610e+01] [ 1.19124472e-02 7.75441527e-05 9.99929041e-01 -5.05682178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.012866656565312355 Centerline is valid? [True, True] Translation: X:253.74, Y:-94.42, Z:-5.06 [[-6.98323742e-01 -7.15733224e-01 8.36078306e-03 2.53738478e+02] [ 7.15682896e-01 -6.98373788e-01 -8.48785309e-03 -9.44164531e+01] [ 1.19139902e-02 5.64001070e-05 9.99929024e-01 -5.05674916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.012890403980234142 Centerline is valid? [True, True] Translation: X:253.70, Y:-94.38, Z:-5.06 [[-6.99648170e-01 -7.14443932e-01 7.89344527e-03 2.53697412e+02] [ 7.14399046e-01 -6.99692695e-01 -8.00846581e-03 -9.43758796e+01] [ 1.12445858e-02 3.59613224e-05 9.99936777e-01 -5.05760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.01278344232092541 Centerline is valid? [True, True] Translation: X:253.66, Y:-94.34, Z:-5.06 [[-6.99684900e-01 -7.14419117e-01 6.80924495e-03 2.53655413e+02] [ 7.14385757e-01 -6.99718032e-01 -6.90404249e-03 -9.43363895e+01] [ 9.69693141e-03 3.37733293e-05 9.99952983e-01 -5.05748350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.01276169668269431 Centerline is valid? [True, True] Translation: X:253.61, Y:-94.30, Z:-5.06 [[-6.99134825e-01 -7.14963304e-01 6.16202783e-03 2.53613772e+02] [ 7.14936040e-01 -6.99161979e-01 -6.24385529e-03 -9.42967997e+01] [ 8.77238298e-03 4.01590971e-05 9.99961521e-01 -5.05762626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.012782395622566431 Centerline is valid? [True, True] Translation: X:253.57, Y:-94.26, Z:-5.06 [[-6.98679221e-01 -7.15413688e-01 5.53191269e-03 2.53571617e+02] [ 7.15391757e-01 -6.98701119e-01 -5.60182244e-03 -9.42582168e+01] [ 7.87277404e-03 4.36078050e-05 9.99969008e-01 -5.05761863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.012721146109799861 Centerline is valid? [True, True] Translation: X:253.53, Y:-94.22, Z:-5.06 [[-6.99217171e-01 -7.14890146e-01 5.23706892e-03 2.53530564e+02] [ 7.14870501e-01 -6.99236782e-01 -5.29991020e-03 -9.42188850e+01] [ 7.45080480e-03 3.80378665e-05 9.99972242e-01 -5.05803987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.012578543189275957 Centerline is valid? [True, True] Translation: X:253.49, Y:-94.18, Z:-5.06 [[-7.00159963e-01 -7.13957230e-01 6.41087249e-03 2.53489850e+02] [ 7.13927788e-01 -7.00189312e-01 -6.48396489e-03 -9.41792778e+01] [ 9.11809801e-03 3.70873934e-05 9.99958429e-01 -5.05935169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.012535337479321104 Centerline is valid? [True, True] Translation: X:253.45, Y:-94.14, Z:-5.06 [[-7.01872410e-01 -7.12266452e-01 7.18481794e-03 2.53448563e+02] [ 7.12229422e-01 -7.01909183e-01 -7.26286144e-03 -9.41381813e+01] [ 1.02161822e-02 1.96366617e-05 9.99947813e-01 -5.06121850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.012469598863650894 Centerline is valid? [True, True] Translation: X:253.41, Y:-94.10, Z:-5.06 [[-7.03440425e-01 -7.10719466e-01 7.02910168e-03 2.53409398e+02] [ 7.10683996e-01 -7.03475543e-01 -7.10053829e-03 -9.40973497e+01] [ 9.99129191e-03 6.64393098e-07 9.99950086e-01 -5.06178001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.012440950596651004 Centerline is valid? [True, True] Translation: X:253.37, Y:-94.06, Z:-5.06 [[-7.05400946e-01 -7.08785089e-01 5.76218291e-03 2.53370080e+02] [ 7.08761220e-01 -7.05424480e-01 -5.81689779e-03 -9.40559594e+01] [ 8.18771530e-03 -1.92334168e-05 9.99966480e-01 -5.06063781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.012624091716242607 Centerline is valid? [True, True] Translation: X:253.33, Y:-94.02, Z:-5.06 [[-7.06237478e-01 -7.07953196e-01 5.55843821e-03 2.53330752e+02] [ 7.07930989e-01 -7.06259351e-01 -5.60744683e-03 -9.40161575e+01] [ 7.89550887e-03 -2.51984480e-05 9.99968830e-01 -5.06220181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.012449787898688211 Centerline is valid? [True, True] Translation: X:253.29, Y:-93.98, Z:-5.06 [[-7.05832868e-01 -7.08356082e-01 5.62341641e-03 2.53289130e+02] [ 7.08333393e-01 -7.05855269e-01 -5.66948996e-03 -9.39762845e+01] [ 7.98533580e-03 -1.84587378e-05 9.99968117e-01 -5.06253529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.012361906262974776 Centerline is valid? [True, True] Translation: X:253.25, Y:-93.94, Z:-5.06 [[-7.04364457e-01 -7.09812896e-01 6.03027299e-03 2.53247605e+02] [ 7.09786890e-01 -7.04390270e-01 -6.07601276e-03 -9.39369494e+01] [ 8.56049784e-03 4.81280536e-07 9.99963358e-01 -5.06473789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.01222545468530002 Centerline is valid? [True, True] Translation: X:253.21, Y:-93.90, Z:-5.06 [[-7.03370553e-01 -7.10804097e-01 5.23465704e-03 2.53205476e+02] [ 7.10784551e-01 -7.03390031e-01 -5.27130589e-03 -9.38972882e+01] [ 7.42887140e-03 1.30320190e-05 9.99972405e-01 -5.06413045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.012208878312789303 Centerline is valid? [True, True] Translation: X:253.16, Y:-93.86, Z:-5.06 [[-7.03268156e-01 -7.10908336e-01 4.82061462e-03 2.53164979e+02] [ 7.10891785e-01 -7.03284678e-01 -4.85107103e-03 -9.38569583e+01] [ 6.83893123e-03 1.53315490e-05 9.99976614e-01 -5.06389602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.012186782847782594 Centerline is valid? [True, True] Translation: X:253.13, Y:-93.82, Z:-5.06 [[-7.03710915e-01 -7.10478582e-01 3.33657332e-03 2.53125969e+02] [ 7.10470661e-01 -7.03718825e-01 -3.35501935e-03 -9.38169591e+01] [ 4.73167884e-03 9.57371324e-06 9.99988806e-01 -5.06330782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.012183940965465285 Centerline is valid? [True, True] Translation: X:253.09, Y:-93.78, Z:-5.06 [[-7.04596547e-01 -7.09601649e-01 3.03413473e-03 2.53086450e+02] [ 7.09595098e-01 -7.04603080e-01 -3.04894974e-03 -9.37757499e+01] [ 4.30140044e-03 4.72766573e-06 9.99990749e-01 -5.06319404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.012132123813653273 Centerline is valid? [True, True] Translation: X:253.05, Y:-93.74, Z:-5.06 [[-7.06046681e-01 -7.08159478e-01 2.87028146e-03 2.53047385e+02] [ 7.08153612e-01 -7.06052515e-01 -2.88231389e-03 -9.37355729e+01] [ 4.06770734e-03 -2.44797051e-06 9.99991727e-01 -5.06490757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.012158104840554105 Centerline is valid? [True, True] Translation: X:253.01, Y:-93.69, Z:-5.07 [[-7.07217666e-01 -7.06991932e-01 2.36223881e-03 2.53008214e+02] [ 7.06987958e-01 -7.07221611e-01 -2.37052383e-03 -9.36942014e+01] [ 3.34656756e-03 -6.40193165e-06 9.99994400e-01 -5.06551051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.012132111446923928 Centerline is valid? [True, True] Translation: X:252.97, Y:-93.65, Z:-5.07 [[-7.07694119e-01 -7.06515204e-01 2.30227859e-03 2.52967585e+02] [ 7.06511431e-01 -7.07697864e-01 -2.30909786e-03 -9.36522538e+01] [ 3.26073038e-03 -7.54883483e-06 9.99994684e-01 -5.06505441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.012036608564898747 Centerline is valid? [True, True] Translation: X:252.93, Y:-93.61, Z:-5.07 [[-7.07213334e-01 -7.06996999e-01 2.13132747e-03 2.52928706e+02] [ 7.06993771e-01 -7.07216546e-01 -2.13666136e-03 -9.36112071e+01] [ 3.01792322e-03 -4.24015961e-06 9.99995446e-01 -5.06570222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.012140844924248743 Centerline is valid? [True, True] Translation: X:252.89, Y:-93.57, Z:-5.07 [[-7.05836993e-01 -7.08370657e-01 2.26953412e-03 2.52888174e+02] [ 7.08367009e-01 -7.05840642e-01 -2.27364044e-03 -9.35713298e+01] [ 3.21250960e-03 2.84356383e-06 9.99994840e-01 -5.06652658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.01226808321148567 Centerline is valid? [True, True] Translation: X:252.85, Y:-93.53, Z:-5.07 [[-7.03186694e-01 -7.11003653e-01 1.50961205e-03 2.52845654e+02] [ 7.11002047e-01 -7.03188315e-01 -1.51096333e-03 -9.35324861e+01] [ 2.13584200e-03 1.08479468e-05 9.99997719e-01 -5.06699606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.012919502841351198 Centerline is valid? [True, True] Translation: X:252.80, Y:-93.49, Z:-5.07 [[-6.99731020e-01 -7.14406117e-01 6.31539592e-04 2.52803300e+02] [ 7.14405838e-01 -6.99731305e-01 -6.31186437e-04 -9.34920992e+01] [ 8.92831475e-04 9.51484194e-06 9.99999601e-01 -5.06612425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.013290193685836045 Centerline is valid? [True, True] Translation: X:252.76, Y:-93.45, Z:-5.07 [[-6.97941836e-01 -7.16154359e-01 -3.56552767e-04 2.52761615e+02] [ 7.16154270e-01 -6.97941927e-01 3.57827605e-04 -9.34517795e+01] [-5.05112925e-04 -5.60393065e-06 9.99999872e-01 -5.06538235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.01407542244289908 Centerline is valid? [True, True] Translation: X:252.72, Y:-93.41, Z:-5.07 [[-6.94966902e-01 -7.19041365e-01 -7.21188405e-04 2.52718812e+02] [ 7.19041003e-01 -6.94967276e-01 7.22253115e-04 -9.34122165e+01] [-1.02053221e-03 -1.66220241e-05 9.99999479e-01 -5.06573824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.014941802022938657 Centerline is valid? [True, True] Translation: X:252.24, Y:-93.89, Z:-4.05 [[-7.68090845e-01 6.40324488e-01 4.58301587e-03 2.52239256e+02] [ 6.40310621e-01 7.68104454e-01 -4.22562246e-03 -9.38861208e+01] [-6.22600445e-03 -3.11108185e-04 -9.99980570e-01 -4.05296185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.015000552805699691 Centerline is valid? [True, True] Translation: X:252.26, Y:-93.87, Z:-4.05 [[-8.11392746e-01 5.84484208e-01 4.47466139e-03 2.52257276e+02] [ 5.84473240e-01 8.11405028e-01 -3.59322640e-03 -9.38670197e+01] [-5.73094684e-03 -3.00197989e-04 -9.99983533e-01 -4.05322072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.014633014060831848 Centerline is valid? [True, True] Translation: X:252.27, Y:-93.85, Z:-4.05 [[-8.50219464e-01 5.26407117e-01 4.73385005e-03 2.52273231e+02] [ 5.26396997e-01 8.50232592e-01 -3.27741582e-03 -9.38470962e+01] [-5.75012861e-03 -2.94638274e-04 -9.99983424e-01 -4.05361082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.014613941891166252 Centerline is valid? [True, True] Translation: X:252.29, Y:-93.83, Z:-4.05 [[-8.84674899e-01 4.66177194e-01 5.39880689e-03 2.52288225e+02] [ 4.66166448e-01 8.84691323e-01 -3.17892217e-03 -9.38251240e+01] [-6.25821863e-03 -2.95570018e-04 -9.99980373e-01 -4.05360428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.014340091932124824 Centerline is valid? [True, True] Translation: X:252.30, Y:-93.80, Z:-4.05 [[-9.14500975e-01 4.04533186e-01 6.39277676e-03 2.52299080e+02] [ 4.04521033e-01 9.14523272e-01 -3.14933340e-03 -9.38026505e+01] [-7.12035300e-03 -2.94055805e-04 -9.99974607e-01 -4.05270010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.013299301401493302 Centerline is valid? [True, True] Translation: X:252.31, Y:-93.78, Z:-4.05 [[-9.39583395e-01 3.42254071e-01 6.72263997e-03 2.52314061e+02] [ 3.42243253e-01 9.39607407e-01 -2.73448258e-03 -9.37845702e+01] [-7.25253011e-03 -2.68496255e-04 -9.99973664e-01 -4.05364757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.012883436686176404 Centerline is valid? [True, True] Translation: X:252.32, Y:-93.76, Z:-4.05 [[-9.60371286e-01 2.78656828e-01 6.11274813e-03 2.52320171e+02] [ 2.78649630e-01 9.60390711e-01 -2.01641081e-03 -9.37605018e+01] [-6.43251316e-03 -2.33188034e-04 -9.99979284e-01 -4.05373928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.012534117170690489 Centerline is valid? [True, True] Translation: X:252.53, Y:-93.10, Z:-5.07 [[-9.36804955e-01 -3.49851972e-01 -2.71776635e-04 2.52534444e+02] [ 3.49852007e-01 -9.36804977e-01 -9.43265619e-05 -9.30976236e+01] [-2.21601370e-04 -1.83447192e-04 9.99999959e-01 -5.06592672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.012539605396680465 Centerline is valid? [True, True] Translation: X:252.28, Y:-93.76, Z:-4.06 [[-9.58461412e-01 2.85173244e-01 5.28606456e-03 2.52283948e+02] [ 2.85167936e-01 9.58475974e-01 -1.74789972e-03 -9.37592903e+01] [-5.56502011e-03 -1.67878312e-04 -9.99984501e-01 -4.05527830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.012450729476370312 Centerline is valid? [True, True] Translation: X:252.30, Y:-93.73, Z:-4.05 [[-9.76581460e-01 2.15061053e-01 6.11522408e-03 2.52296738e+02] [ 2.15055694e-01 9.76600590e-01 -1.52862893e-03 -9.37296339e+01] [-6.30087999e-03 -1.77716915e-04 -9.99980133e-01 -4.05435461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.012462827283754375 Centerline is valid? [True, True] Translation: X:252.45, Y:-93.05, Z:-5.07 [[-9.59930025e-01 -2.80234103e-01 1.78708486e-03 2.52449312e+02] [ 2.80233419e-01 -9.59931684e-01 -6.27330616e-04 -9.30498763e+01] [ 1.89127881e-03 -1.01392594e-04 9.99998206e-01 -5.06692023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.012397264596131115 Centerline is valid? [True, True] Translation: X:252.25, Y:-93.72, Z:-4.06 [[-9.77813149e-01 2.09372311e-01 6.68438346e-03 2.52249288e+02] [ 2.09366058e-01 9.77835977e-01 -1.62964848e-03 -9.37168728e+01] [-6.87743390e-03 -1.94008695e-04 -9.99976331e-01 -4.05589952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.012494154992844031 Centerline is valid? [True, True] Translation: X:252.39, Y:-93.04, Z:-5.07 [[-9.60106666e-01 -2.79631649e-01 1.15325537e-03 2.52393569e+02] [ 2.79631218e-01 -9.60107342e-01 -5.22466183e-04 -9.30448403e+01] [ 1.25334702e-03 -1.79137062e-04 9.99999199e-01 -5.06579724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.012713768514380731 Centerline is valid? [True, True] Translation: X:252.20, Y:-93.70, Z:-4.06 [[-9.79731396e-01 2.00223569e-01 6.07565424e-03 2.52200327e+02] [ 2.00218278e-01 9.79750208e-01 -1.47320633e-03 -9.36954107e+01] [-6.24759414e-03 -2.26889468e-04 -9.99980458e-01 -4.05650158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.01303042074581879 Centerline is valid? [True, True] Translation: X:252.34, Y:-93.05, Z:-5.07 [[-9.59338470e-01 -2.82255487e-01 1.24110911e-03 2.52343193e+02] [ 2.82255069e-01 -9.59339264e-01 -5.03312029e-04 -9.30460226e+01] [ 1.33270728e-03 -1.32537254e-04 9.99999103e-01 -5.06516988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.013588229712925698 Centerline is valid? [True, True] Translation: X:252.15, Y:-93.68, Z:-4.06 [[-9.81379124e-01 1.92008104e-01 5.28226533e-03 2.52150270e+02] [ 1.92003968e-01 9.81393309e-01 -1.28393340e-03 -9.36765846e+01] [-5.43050547e-03 -2.45809535e-04 -9.99985224e-01 -4.05767171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.01379006549014271 Centerline is valid? [True, True] Translation: X:252.29, Y:-93.05, Z:-5.06 [[-9.59747915e-01 -2.80862849e-01 1.03109563e-05 2.52291873e+02] [ 2.80862843e-01 -9.59747902e-01 -1.70168224e-04 -9.30459317e+01] [ 5.76898506e-05 -1.60422634e-04 9.99999985e-01 -5.06466909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.013426218514217122 Centerline is valid? [True, True] Translation: X:252.11, Y:-93.66, Z:-4.06 [[-9.82251167e-01 1.87460423e-01 6.42150285e-03 2.52109564e+02] [ 1.87454652e-01 9.82272121e-01 -1.49437043e-03 -9.36614412e+01] [-6.58779854e-03 -2.64106519e-04 -9.99978265e-01 -4.05719391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.013782145757927603 Centerline is valid? [True, True] Translation: X:252.11, Y:-93.63, Z:-4.06 [[-9.93055809e-01 1.17470814e-01 6.38504472e-03 2.52110752e+02] [ 1.17466693e-01 9.93076301e-01 -1.01791898e-03 -9.36315135e+01] [-6.46041237e-03 -2.60820264e-04 -9.99979097e-01 -4.05697146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.014171438727552535 Centerline is valid? [True, True] Translation: X:252.20, Y:-93.01, Z:-5.07 [[-9.78015771e-01 -2.08524119e-01 1.68645533e-03 2.52196490e+02] [ 2.08523634e-01 -9.78017220e-01 -4.60879035e-04 -9.30108886e+01] [ 1.74548674e-03 -9.90811723e-05 9.99998472e-01 -5.06640295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.013762656647014128 Centerline is valid? [True, True] Translation: X:252.06, Y:-93.62, Z:-4.06 [[-9.93496880e-01 1.13602183e-01 7.64807729e-03 2.52062440e+02] [ 1.13596669e-01 9.93526279e-01 -1.15298901e-03 -9.36203033e+01] [-7.72954784e-03 -2.76694885e-04 -9.99970088e-01 -4.05638759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.013434896369229494 Centerline is valid? [True, True] Translation: X:252.06, Y:-93.59, Z:-4.06 [[-9.99020600e-01 4.32770318e-02 9.21628216e-03 2.52061186e+02] [ 4.32725105e-02 9.99063068e-01 -6.89521541e-04 -9.35937127e+01] [-9.23748758e-03 -2.90034557e-04 -9.99957291e-01 -4.05612074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.01350986446724575 Centerline is valid? [True, True] Translation: X:252.06, Y:-93.57, Z:-4.05 [[-9.99546172e-01 -2.76003031e-02 1.20695615e-02 2.52055893e+02] [-2.76021692e-02 9.99618987e-01 1.19654982e-05 -9.35651390e+01] [-1.20652931e-02 -3.21186012e-04 -9.99927160e-01 -4.05318565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.01340614974211306 Centerline is valid? [True, True] Translation: X:252.05, Y:-93.54, Z:-4.05 [[-9.95063401e-01 -9.83132866e-02 1.35398024e-02 2.52048033e+02] [-9.83087591e-02 9.95155458e-01 1.00116715e-03 -9.35388141e+01] [-1.35726363e-02 -3.34856384e-04 -9.99907831e-01 -4.05269512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.013483853990038522 Centerline is valid? [True, True] Translation: X:252.04, Y:-93.51, Z:-4.05 [[-9.85530636e-01 -1.68910776e-01 1.40895131e-02 2.52039952e+02] [-1.68898479e-01 9.85631286e-01 2.06681810e-03 -9.35137339e+01] [-1.42361727e-02 -3.42784760e-04 -9.99898602e-01 -4.05310754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.013442321552550679 Centerline is valid? [True, True] Translation: X:252.02, Y:-93.49, Z:-4.05 [[-9.70860960e-01 -2.39228322e-01 1.40998761e-02 2.52022312e+02] [-2.39208360e-01 9.70963277e-01 3.11051465e-03 -9.34896434e+01] [-1.44345851e-02 -3.52930984e-04 -9.99895754e-01 -4.05299886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.014065858870491789 Centerline is valid? [True, True] Translation: X:252.00, Y:-93.47, Z:-4.05 [[-9.50266877e-01 -3.11110919e-01 1.42428442e-02 2.52001294e+02] [-3.11082364e-01 9.50373522e-01 4.23459786e-03 -9.34670138e+01] [-1.48534516e-02 -4.06699556e-04 -9.99889599e-01 -4.05391196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.015213529568825997 Centerline is valid? [True, True] Translation: X:251.97, Y:-93.45, Z:-4.05 [[-9.24206323e-01 -3.81638469e-01 1.39553219e-02 2.51968952e+02] [-3.81602369e-01 9.24311566e-01 5.26884998e-03 -9.34471526e+01] [-1.49098613e-02 -4.55879435e-04 -9.99888738e-01 -4.05393343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.015637929946599707 Centerline is valid? [True, True] Translation: X:251.92, Y:-93.44, Z:-4.06 [[-8.92307820e-01 -4.51247475e-01 1.27464191e-02 2.51924947e+02] [-4.51209382e-01 8.92398715e-01 5.88448303e-03 -9.34358466e+01] [-1.40302461e-02 -5.00533657e-04 -9.99901446e-01 -4.05644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.01703473902560741 Centerline is valid? [True, True] Translation: X:251.86, Y:-93.44, Z:-4.06 [[-8.55853676e-01 -5.17074013e-01 1.22045374e-02 2.51862805e+02] [-5.17030172e-01 8.55940526e-01 6.75401342e-03 -9.34353222e+01] [-1.39386830e-02 -5.29666869e-04 -9.99902712e-01 -4.05601513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.017373370098543423 Centerline is valid? [True, True] Translation: X:251.80, Y:-93.44, Z:-4.05 [[-8.15240707e-01 -5.78975921e-01 1.30181917e-02 2.51801294e+02] [-5.78913240e-01 8.15344438e-01 8.53864144e-03 -9.34424942e+01] [-1.55579780e-02 -5.75355444e-04 -9.99878802e-01 -4.05463880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.015334592587052701 Centerline is valid? [True, True] Translation: X:251.73, Y:-93.47, Z:-4.05 [[-7.72534593e-01 -6.34841442e-01 1.29091219e-02 2.51734011e+02] [-6.34764107e-01 7.72642261e-01 9.92294596e-03 -9.34671872e+01] [-1.62736304e-02 -5.28428187e-04 -9.99867436e-01 -4.05486833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.014655873509754147 Centerline is valid? [True, True] Translation: X:251.66, Y:-93.50, Z:-4.06 [[-7.26364800e-01 -6.87211543e-01 1.15962108e-02 2.51661266e+02] [-6.87133431e-01 7.26457229e-01 1.03702609e-02 -9.35005957e+01] [-1.55507142e-02 -4.35551626e-04 -9.99878985e-01 -4.05506574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.012670635222357063 Centerline is valid? [True, True] Translation: X:251.59, Y:-93.55, Z:-4.06 [[-6.79363107e-01 -7.33737558e-01 9.74504291e-03 2.51590544e+02] [-7.33667986e-01 6.79432938e-01 1.01079317e-02 -9.35489301e+01] [-1.40376723e-02 -2.82670093e-04 -9.99901427e-01 -4.05843189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.012431720010013756 Centerline is valid? [True, True] Translation: X:251.52, Y:-93.61, Z:-4.06 [[-6.28797104e-01 -7.77528762e-01 7.95152118e-03 2.51518007e+02] [-7.77469852e-01 6.28847356e-01 9.57242706e-03 -9.36073493e+01] [-1.24431304e-02 -1.62953585e-04 -9.99922568e-01 -4.05994766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.012731723451537433 Centerline is valid? [True, True] Translation: X:251.44, Y:-93.67, Z:-4.06 [[-5.71600563e-01 -8.20498211e-01 7.44864923e-03 2.51444393e+02] [-8.20430942e-01 5.71649084e-01 1.05068286e-02 -9.36739108e+01] [-1.28788476e-02 -1.05393144e-04 -9.99917059e-01 -4.05987930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.012545494092342619 Centerline is valid? [True, True] Translation: X:251.36, Y:-93.75, Z:-4.06 [[-5.05906743e-01 -8.62564573e-01 6.38156242e-03 2.51364519e+02] [-8.62499226e-01 5.05946973e-01 1.06182313e-02 -9.37481487e+01] [-1.23876424e-02 -1.32257828e-04 -9.99923261e-01 -4.06037956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.012419690163498049 Centerline is valid? [True, True] Translation: X:251.28, Y:-93.83, Z:-4.06 [[-4.32512186e-01 -9.01609800e-01 5.74262798e-03 2.51284664e+02] [-9.01536950e-01 4.32550252e-01 1.14633383e-02 -9.38309223e+01] [-1.28194333e-02 -2.19157827e-04 -9.99917804e-01 -4.05934223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.013167701381217613 Centerline is valid? [True, True] Translation: X:251.21, Y:-93.92, Z:-4.06 [[-3.55582690e-01 -9.34629396e-01 5.37061748e-03 2.51210318e+02] [-9.34536343e-01 3.55623095e-01 1.31923740e-02 -9.39190143e+01] [-1.42398962e-02 -3.28057376e-04 -9.99898554e-01 -4.05817113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.013613985196978717 Centerline is valid? [True, True] Translation: X:251.15, Y:-94.02, Z:-4.06 [[-2.78802601e-01 -9.60337496e-01 4.58302199e-03 2.51145145e+02] [-9.60230605e-01 2.78839974e-01 1.43336581e-02 -9.40178117e+01] [-1.50430790e-02 -4.04496823e-04 -9.99886765e-01 -4.05894882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.0147182821918039 Centerline is valid? [True, True] Translation: X:251.09, Y:-94.12, Z:-4.06 [[-2.00339914e-01 -9.79720786e-01 3.33169026e-03 2.51085732e+02] [-9.79620758e-01 2.00367093e-01 1.40070832e-02 -9.41165504e+01] [-1.43905916e-02 -4.57615100e-04 -9.99896345e-01 -4.05912007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.014760870302264799 Centerline is valid? [True, True] Translation: X:251.04, Y:-94.23, Z:-4.06 [[-1.24056292e-01 -9.92273086e-01 2.03927090e-03 2.51037813e+02] [-9.92191054e-01 1.24072273e-01 1.27664614e-02 -9.42258022e+01] [-1.29208330e-02 -4.39586477e-04 -9.99916426e-01 -4.06057698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.014243852667093106 Centerline is valid? [True, True] Translation: X:251.00, Y:-94.33, Z:-4.06 [[-5.00944003e-02 -9.98744088e-01 8.93378344e-04 2.51002137e+02] [-9.98688979e-01 5.01010268e-02 1.04981386e-02 -9.43283597e+01] [-1.05297130e-02 -3.66309148e-04 -9.99944494e-01 -4.06326748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.013606789013572845 Centerline is valid? [True, True] Translation: X:250.98, Y:-94.44, Z:-4.06 [[ 2.24134806e-02 -9.99748782e-01 9.86096023e-05 2.50975336e+02] [-9.99707349e-01 -2.24116535e-02 9.10678084e-03 -9.44418221e+01] [-9.10228304e-03 -3.02695400e-04 -9.99958528e-01 -4.06403893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.012816219472694014 Centerline is valid? [True, True] Translation: X:250.96, Y:-94.55, Z:-4.06 [[ 9.46639436e-02 -9.95509053e-01 -6.81141489e-04 2.50958331e+02] [-9.95458783e-01 -9.46660110e-02 1.00078454e-02 -9.45545974e+01] [-1.00273817e-02 -2.69333839e-04 -9.99949688e-01 -4.06419521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.012551480934527662 Centerline is valid? [True, True] Translation: X:250.95, Y:-94.67, Z:-4.06 [[ 1.66304878e-01 -9.86073149e-01 -1.55945242e-03 2.50948376e+02] [-9.86016136e-01 -1.66312036e-01 1.06059562e-02 -9.46691044e+01] [-1.07176043e-02 -2.26176997e-04 -9.99942539e-01 -4.06299505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.01254011183109328 Centerline is valid? [True, True] Translation: X:250.95, Y:-94.79, Z:-4.06 [[ 2.39804133e-01 -9.70818098e-01 -2.48969775e-03 2.50947442e+02] [-9.70756401e-01 -2.39816966e-01 1.09468039e-02 -9.47909334e+01] [-1.12244271e-02 -2.08198792e-04 -9.99936982e-01 -4.06254508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.012627284863966729 Centerline is valid? [True, True] Translation: X:250.95, Y:-94.91, Z:-4.06 [[ 3.12378889e-01 -9.49951315e-01 -3.45379326e-03 2.50954321e+02] [-9.49886237e-01 -3.12397922e-01 1.11209068e-02 -9.49085518e+01] [-1.16432778e-02 -1.93225811e-04 -9.99932196e-01 -4.06289529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.01287328204944401 Centerline is valid? [True, True] Translation: X:250.96, Y:-95.03, Z:-4.06 [[ 3.87174518e-01 -9.21993772e-01 -4.83496390e-03 2.50964002e+02] [-9.21914139e-01 -3.87204634e-01 1.21198778e-02 -9.50251363e+01] [-1.30465723e-02 -2.35086259e-04 -9.99914862e-01 -4.06079539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.013142132921218753 Centerline is valid? [True, True] Translation: X:250.99, Y:-95.15, Z:-4.06 [[ 4.59097235e-01 -8.88361959e-01 -6.53898507e-03 2.50987076e+02] [-8.88262914e-01 -4.59143713e-01 1.32682339e-02 -9.51463414e+01] [-1.47893281e-02 -2.83071554e-04 -9.99890592e-01 -4.06044450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.013292128294230742 Centerline is valid? [True, True] Translation: X:251.01, Y:-95.26, Z:-4.06 [[ 5.27942358e-01 -8.49241514e-01 -8.10662511e-03 2.51013730e+02] [-8.49131578e-01 -5.28004489e-01 1.36683604e-02 -9.52561518e+01] [-1.58880735e-02 -3.32515036e-04 -9.99873721e-01 -4.06040311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.01384456006064428 Centerline is valid? [True, True] Translation: X:251.05, Y:-95.37, Z:-4.06 [[ 5.92555506e-01 -8.05476389e-01 -9.26066380e-03 2.51048390e+02] [-8.05368359e-01 -5.92627756e-01 1.31965920e-02 -9.53650602e+01] [-1.61176696e-02 -3.61467618e-04 -9.99870037e-01 -4.05925728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.013457511079891937 Centerline is valid? [True, True] Translation: X:251.09, Y:-95.47, Z:-4.06 [[ 6.52304393e-01 -7.57884988e-01 -1.04558572e-02 2.51093635e+02] [-7.57778534e-01 -6.52388084e-01 1.27075658e-02 -9.54662882e+01] [-1.64521500e-02 -3.65976867e-04 -9.99864587e-01 -4.06110487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.013111227971360032 Centerline is valid? [True, True] Translation: X:251.14, Y:-95.56, Z:-4.06 [[ 7.06572609e-01 -7.07551872e-01 -1.12024971e-02 2.51142458e+02] [-7.07455520e-01 -7.06661333e-01 1.16810637e-02 -9.55560854e+01] [-1.61813300e-02 -3.28251218e-04 -9.99869020e-01 -4.06241743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.01280235035428692 Centerline is valid? [True, True] Translation: X:251.20, Y:-95.64, Z:-4.06 [[ 7.57257254e-01 -6.53023208e-01 -1.10517247e-02 2.51198174e+02] [-6.52947996e-01 -7.57337840e-01 9.91513441e-03 -9.56426969e+01] [-1.48447022e-02 -2.92105933e-04 -9.99889769e-01 -4.06397628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.012797810761932695 Centerline is valid? [True, True] Translation: X:251.22, Y:-95.67, Z:-4.06 [[ 8.05852312e-01 -5.92015496e-01 -1.09408746e-02 2.51220898e+02] [-5.91956099e-01 -8.05926529e-01 8.39079396e-03 -9.56696217e+01] [-1.37850211e-02 -2.85223280e-04 -9.99904941e-01 -4.06453296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.01293338178856787 Centerline is valid? [True, True] Translation: X:251.25, Y:-95.69, Z:-4.07 [[ 8.50721598e-01 -5.25508476e-01 -1.06585459e-02 2.51245940e+02] [-5.25462757e-01 -8.50788311e-01 6.93835689e-03 -9.56941665e+01] [-1.27143316e-02 -3.01941158e-04 -9.99919124e-01 -4.06554091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.013248166068631256 Centerline is valid? [True, True] Translation: X:251.27, Y:-95.72, Z:-4.07 [[ 8.89709380e-01 -4.56391141e-01 -1.11510531e-02 2.51272067e+02] [-4.56350825e-01 -8.89779201e-01 6.07434626e-03 -9.57170137e+01] [-1.26942529e-02 -3.15610573e-04 -9.99919375e-01 -4.06518384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.013825241092736773 Centerline is valid? [True, True] Translation: X:251.30, Y:-95.74, Z:-4.06 [[ 9.24113561e-01 -3.81913057e-01 -1.25117265e-02 2.51299456e+02] [-3.81872489e-01 -9.24198179e-01 5.57922157e-03 -9.57389213e+01] [-1.36940924e-02 -3.77950174e-04 -9.99906160e-01 -4.06446410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.015505541656242823 Centerline is valid? [True, True] Translation: X:251.33, Y:-95.76, Z:-4.06 [[ 9.52434553e-01 -3.04459076e-01 -1.31564894e-02 2.51326220e+02] [-3.04423619e-01 -9.52525316e-01 4.66721610e-03 -9.57614432e+01] [-1.39528655e-02 -4.40071771e-04 -9.99902557e-01 -4.06122284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.016044299196276066 Centerline is valid? [True, True] Translation: X:251.36, Y:-95.78, Z:-4.06 [[ 9.73879396e-01 -2.26631355e-01 -1.40410098e-02 2.51357533e+02] [-2.26600571e-01 -9.73980488e-01 3.76687060e-03 -9.57773264e+01] [-1.45293606e-02 -4.86776820e-04 -9.99894325e-01 -4.06028814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.015988199482830947 Centerline is valid? [True, True] Translation: X:251.39, Y:-95.79, Z:-4.06 [[ 9.88612976e-01 -1.49837345e-01 -1.38979481e-02 2.51391238e+02] [-1.49815734e-01 -9.88710545e-01 2.58920840e-03 -9.57889393e+01] [-1.41290079e-02 -4.77593734e-04 -9.99900067e-01 -4.06100359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.016432266159152425 Centerline is valid? [True, True] Translation: X:251.42, Y:-95.80, Z:-4.06 [[ 9.97143250e-01 -7.43287034e-02 -1.34381098e-02 2.51422390e+02] [-7.43161082e-02 -9.97233702e-01 1.43490051e-03 -9.57974861e+01] [-1.35075903e-02 -4.32133335e-04 -9.99908675e-01 -4.06049287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.01412326465704738 Centerline is valid? [True, True] Translation: X:251.45, Y:-95.80, Z:-4.06 [[ 9.99919242e-01 7.83303784e-04 -1.26844917e-02 2.51453296e+02] [ 7.88008658e-04 -9.99999623e-01 3.65921677e-04 -9.58017583e+01] [-1.26842003e-02 -3.75887615e-04 -9.99919482e-01 -4.06287387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.012999553056252623 Centerline is valid? [True, True] Translation: X:251.48, Y:-95.80, Z:-4.06 [[ 9.97275979e-01 7.28237691e-02 -1.17184104e-02 2.51484309e+02] [ 7.28221209e-02 -9.97344783e-01 -5.67852343e-04 -9.58029700e+01] [-1.17286486e-02 -2.87053998e-04 -9.99931176e-01 -4.06449592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.012461195905648946 Centerline is valid? [True, True] Translation: X:251.51, Y:-95.81, Z:-4.06 [[ 9.89703348e-01 1.42636978e-01 -1.19153424e-02 2.51514988e+02] [ 1.42628970e-01 -9.89775053e-01 -1.52354011e-03 -9.58053312e+01] [-1.20108218e-02 -1.91620265e-04 -9.99927849e-01 -4.06439411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.012479510534577196 Centerline is valid? [True, True] Translation: X:251.55, Y:-95.81, Z:-4.06 [[ 9.75885909e-01 2.17960386e-01 -1.18306012e-02 2.51546751e+02] [ 2.17946480e-01 -9.75957602e-01 -2.46796515e-03 -9.58066243e+01] [-1.20840838e-02 -1.69985474e-04 -9.99926970e-01 -4.06389930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.012593499478819551 Centerline is valid? [True, True] Translation: X:251.58, Y:-95.80, Z:-4.07 [[ 9.56720594e-01 2.90811260e-01 -1.07012037e-02 2.51577162e+02] [ 2.90794658e-01 -9.56780431e-01 -3.11038621e-03 -9.58037788e+01] [-1.11432377e-02 -1.36082336e-04 -9.99937903e-01 -4.06500597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.01251250770591999 Centerline is valid? [True, True] Translation: X:251.61, Y:-95.80, Z:-4.07 [[ 9.30829366e-01 3.65338825e-01 -9.17787195e-03 2.51608193e+02] [ 3.65322605e-01 -9.30874600e-01 -3.44563282e-03 -9.58011080e+01] [-9.80227133e-03 -1.45587878e-04 -9.99951946e-01 -4.06588390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.012420354455609425 Centerline is valid? [True, True] Translation: X:251.64, Y:-95.80, Z:-4.07 [[ 8.97971635e-01 4.39972975e-01 -8.40979489e-03 2.51639613e+02] [ 4.39955510e-01 -8.98010997e-01 -3.92415646e-03 -9.57980066e+01] [-9.27861108e-03 -1.76154406e-04 -9.99956937e-01 -4.06523094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.012473583332999904 Centerline is valid? [True, True] Translation: X:251.67, Y:-95.79, Z:-4.06 [[ 8.59503815e-01 5.11058428e-01 -8.51321616e-03 2.51671672e+02] [ 5.11035652e-01 -8.59545952e-01 -4.82896707e-03 -9.57922193e+01] [-9.78538480e-03 -2.00041356e-04 -9.99952102e-01 -4.06493913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.01279161822392568 Centerline is valid? [True, True] Translation: X:251.70, Y:-95.78, Z:-4.07 [[ 8.14426294e-01 5.80215173e-01 -7.75662947e-03 2.51702619e+02] [ 5.80191616e-01 -8.14463195e-01 -5.23378854e-03 -9.57837459e+01] [-9.35421274e-03 -2.37796382e-04 -9.99956220e-01 -4.06524577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.01355145913787357 Centerline is valid? [True, True] Translation: X:251.73, Y:-95.77, Z:-4.07 [[ 7.63704130e-01 6.45532907e-01 -6.57781560e-03 2.51732974e+02] [ 6.45511937e-01 -7.63732410e-01 -5.21005625e-03 -9.57736066e+01] [-8.38695372e-03 -2.67117014e-04 -9.99964793e-01 -4.06555383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.014471506180500868 Centerline is valid? [True, True] Translation: X:251.76, Y:-95.76, Z:-4.07 [[ 7.08710274e-01 7.05475632e-01 -5.82071861e-03 2.51758792e+02] [ 7.05455089e-01 -7.08734119e-01 -5.39135725e-03 -9.57571786e+01] [-7.92881303e-03 -2.85345291e-04 -9.99968526e-01 -4.06520185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.013983180831332022 Centerline is valid? [True, True] Translation: X:251.78, Y:-95.74, Z:-4.07 [[ 6.50612776e-01 7.59385136e-01 -6.10171745e-03 2.51783446e+02] [ 7.59356104e-01 -6.50641315e-01 -6.64732779e-03 -9.57377491e+01] [-9.01791138e-03 -3.08540002e-04 -9.99959290e-01 -4.06528998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.014083706427152518 Centerline is valid? [True, True] Translation: X:251.81, Y:-95.72, Z:-4.06 [[ 5.88878774e-01 8.08193625e-01 -6.69726924e-03 2.51808565e+02] [ 8.08147801e-01 -5.88916758e-01 -8.61301846e-03 -9.57180256e+01] [-1.09051207e-02 -3.40359655e-04 -9.99940479e-01 -4.06320659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.01395411892001806 Centerline is valid? [True, True] Translation: X:251.83, Y:-95.70, Z:-4.06 [[ 5.24014478e-01 8.51684815e-01 -6.46549063e-03 2.51829234e+02] [ 8.51628043e-01 -5.24054246e-01 -9.83983964e-03 -9.56953074e+01] [-1.17687098e-02 -3.49974701e-04 -9.99930685e-01 -4.06268599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.013421152910990197 Centerline is valid? [True, True] Translation: X:251.84, Y:-95.67, Z:-4.06 [[ 4.58354088e-01 8.88751884e-01 -5.62312200e-03 2.51844508e+02] [ 8.88693191e-01 -4.58388472e-01 -1.02186987e-02 -9.56691945e+01] [-1.16594620e-02 -3.13447899e-04 -9.99931977e-01 -4.06305630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.012839976234912691 Centerline is valid? [True, True] Translation: X:251.86, Y:-95.64, Z:-4.06 [[ 3.90532501e-01 9.20577060e-01 -4.71622923e-03 2.51858146e+02] [ 9.20518083e-01 -3.90560884e-01 -1.04237536e-02 -9.56434540e+01] [-1.14378431e-02 -2.70559705e-04 -9.99934549e-01 -4.06387358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.012635015877071306 Centerline is valid? [True, True] Translation: X:251.87, Y:-95.62, Z:-4.07 [[ 3.18671226e-01 9.47859861e-01 -3.21469288e-03 2.51872699e+02] [ 9.47818894e-01 -3.18687352e-01 -8.81565958e-03 -9.56177952e+01] [-9.38049183e-03 -2.37649599e-04 -9.99955974e-01 -4.06552985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.01248867703790866 Centerline is valid? [True, True] Translation: X:251.89, Y:-95.59, Z:-4.07 [[ 2.43870949e-01 9.69804561e-01 -2.46433587e-03 2.51889302e+02] [ 9.69764208e-01 -2.43883290e-01 -8.84996038e-03 -9.55926907e+01] [-9.18374228e-03 -2.31576485e-04 -9.99957802e-01 -4.06661171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.012379210236036518 Centerline is valid? [True, True] Translation: X:251.90, Y:-95.57, Z:-4.07 [[ 1.69028411e-01 9.85609034e-01 -2.05648684e-03 2.51903121e+02] [ 9.85551226e-01 -1.69040775e-01 -1.06769719e-02 -9.55675486e+01] [-1.08709501e-02 -2.22061526e-04 -9.99940885e-01 -4.06502061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.012445793151956552 Centerline is valid? [True, True] Translation: X:251.92, Y:-95.54, Z:-4.06 [[ 9.14579713e-02 9.95807998e-01 -1.36752776e-03 2.51915757e+02] [ 9.95730862e-01 -9.14679107e-02 -1.23964441e-02 -9.55403125e+01] [-1.24695631e-02 -2.27935967e-04 -9.99922226e-01 -4.06391294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.012519572293915131 Centerline is valid? [True, True] Translation: X:251.92, Y:-95.51, Z:-4.06 [[ 1.46437175e-02 9.99892685e-01 -4.24678006e-04 2.51924662e+02] [ 9.99790818e-01 -1.46482882e-02 -1.42739978e-02 -9.55117685e+01] [-1.42786868e-02 -2.15564779e-04 -9.99898031e-01 -4.06322106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.012489256363497542 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.48, Z:-4.06 [[-6.12520133e-02 9.98122057e-01 7.41341485e-04 2.51929772e+02] [ 9.98008896e-01 6.12562326e-02 -1.50305481e-02 -9.54834009e+01] [-1.50477334e-02 -1.80785935e-04 -9.99886760e-01 -4.06289005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.012566147548624187 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.45, Z:-4.06 [[-1.33715833e-01 9.91018150e-01 1.76121415e-03 2.51932760e+02] [ 9.90921941e-01 1.33727393e-01 -1.38091252e-02 -9.54545148e+01] [-1.39206163e-02 -1.01272931e-04 -9.99903098e-01 -4.06344838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.013239625975158034 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.43, Z:-4.07 [[-2.04882058e-01 9.78784055e-01 2.26172285e-03 2.51930332e+02] [ 9.78722066e-01 2.04894536e-01 -1.10157407e-02 -9.54269836e+01] [-1.12454460e-02 -4.33295623e-05 -9.99936767e-01 -4.06652589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.01395117934470388 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.40, Z:-4.07 [[-2.77891847e-01 9.60608887e-01 2.58602062e-03 2.51928879e+02] [ 9.60566188e-01 2.77903877e-01 -9.05728297e-03 -9.53989257e+01] [-9.41917167e-03 -3.29011253e-05 -9.99955638e-01 -4.06797104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.01388059998426879 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.37, Z:-4.07 [[-3.51822060e-01 9.36061288e-01 3.24098544e-03 2.51927375e+02] [ 9.36020795e-01 3.51836986e-01 -8.70672678e-03 -9.53697773e+01] [-9.29032843e-03 -2.95887789e-05 -9.99956844e-01 -4.06815078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.014080152552821204 Centerline is valid? [True, True] Translation: X:251.92, Y:-95.34, Z:-4.07 [[-4.23152251e-01 9.06051018e-01 3.70482942e-03 2.51923659e+02] [ 9.06015734e-01 4.23168468e-01 -7.99606972e-03 -9.53408931e+01] [-8.81261410e-03 -2.69211556e-05 -9.99961168e-01 -4.06822231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.01453505729563396 Centerline is valid? [True, True] Translation: X:251.92, Y:-95.31, Z:-4.07 [[-4.90346598e-01 8.71518275e-01 4.01370810e-03 2.51917398e+02] [ 8.71488872e-01 4.90363025e-01 -7.15888575e-03 -9.53129636e+01] [-8.20727380e-03 -1.24333298e-05 -9.99966320e-01 -4.06949722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.015675327028437887 Centerline is valid? [True, True] Translation: X:251.91, Y:-95.29, Z:-4.07 [[-5.54264738e-01 8.32331279e-01 3.90421831e-03 2.51909287e+02] [ 8.32310518e-01 5.54278488e-01 -5.87861928e-03 -9.52862940e+01] [-7.05698292e-03 -8.78940503e-06 -9.99975099e-01 -4.06949272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.015836912702292143 Centerline is valid? [True, True] Translation: X:251.90, Y:-95.26, Z:-4.07 [[-6.18104725e-01 7.86084192e-01 4.26520540e-03 2.51899059e+02] [ 7.86065316e-01 6.18119440e-01 -5.44761838e-03 -9.52583840e+01] [-6.91869307e-03 -1.44686270e-05 -9.99976065e-01 -4.06860847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.014062322197137656 Centerline is valid? [True, True] Translation: X:251.89, Y:-95.23, Z:-4.07 [[-6.80183943e-01 7.33026041e-01 4.75681624e-03 2.51892610e+02] [ 7.33007758e-01 6.80200575e-01 -5.17725193e-03 -9.52253092e+01] [-7.03064962e-03 -3.47004247e-05 -9.99975284e-01 -4.06891490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.01305880683672602 Centerline is valid? [True, True] Translation: X:251.88, Y:-95.19, Z:-4.07 [[-7.39919455e-01 6.72675835e-01 5.14016190e-03 2.51884547e+02] [ 6.72658847e-01 7.39937305e-01 -4.78129559e-03 -9.51910300e+01] [-7.01965955e-03 -8.01982526e-05 -9.99975359e-01 -4.06740172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.012321322728725869 Centerline is valid? [True, True] Translation: X:251.91, Y:-95.16, Z:-4.07 [[-7.90569859e-01 6.12339170e-01 6.32769778e-03 2.51905598e+02] [ 6.12318371e-01 7.90595173e-01 -5.04832269e-03 -9.51620238e+01] [-8.09393305e-03 -1.16486159e-04 -9.99967237e-01 -4.06620045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.012277086120630814 Centerline is valid? [True, True] Translation: X:251.92, Y:-95.13, Z:-4.07 [[-8.35117315e-01 5.50029988e-01 6.78838944e-03 2.51920324e+02] [ 5.50010218e-01 8.35144889e-01 -4.66634982e-03 -9.51313043e+01] [-8.23592109e-03 -1.63265982e-04 -9.99966071e-01 -4.06613629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.012920717992217917 Centerline is valid? [True, True] Translation: X:251.93, Y:-95.10, Z:-4.07 [[-8.75876652e-01 4.82492073e-01 6.44130543e-03 2.51932987e+02] [ 4.82477151e-01 8.75900309e-01 -3.80105818e-03 -9.50984326e+01] [-7.47592185e-03 -2.21475419e-04 -9.99972030e-01 -4.06681381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.013788014017364878 Centerline is valid? [True, True] Translation: X:251.94, Y:-95.07, Z:-4.07 [[-9.10188911e-01 4.14148086e-01 6.12450607e-03 2.51942578e+02] [ 4.14136816e-01 9.10209480e-01 -3.06578845e-03 -9.50678175e+01] [-6.84427391e-03 -2.54063204e-04 -9.99976545e-01 -4.06707156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.014502509660740596 Centerline is valid? [True, True] Translation: X:251.95, Y:-95.04, Z:-4.07 [[-9.37740007e-01 3.47282902e-01 6.18593026e-03 2.51951655e+02] [ 3.47273494e-01 9.37760373e-01 -2.56963830e-03 -9.50416293e+01] [-6.69331171e-03 -2.61443024e-04 -9.99977565e-01 -4.06832572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.014278501917545641 Centerline is valid? [True, True] Translation: X:252.17, Y:-94.48, Z:-5.08 [[-8.97452404e-01 -4.41103891e-01 2.55748551e-03 2.52171219e+02] [ 4.41101973e-01 -8.97456047e-01 -1.30125882e-03 -9.44811005e+01] [ 2.86922116e-03 -3.97059521e-05 9.99995883e-01 -5.08339617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.014298100178365686 Centerline is valid? [True, True] Translation: X:251.91, Y:-95.02, Z:-4.07 [[-9.38808606e-01 3.44350862e-01 7.80284552e-03 2.51906039e+02] [ 3.44336408e-01 9.38840988e-01 -3.16805543e-03 -9.50243286e+01] [-8.41655382e-03 -2.87393903e-04 -9.99964539e-01 -4.06697990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.01439298393089302 Centerline is valid? [True, True] Translation: X:252.13, Y:-94.46, Z:-5.09 [[-8.99504822e-01 -4.36853320e-01 7.08890200e-03 2.52125929e+02] [ 4.36841814e-01 -8.99532723e-01 -3.17952741e-03 -9.44631750e+01] [ 7.76568643e-03 2.36728567e-04 9.99969819e-01 -5.08728258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.013806870268317886 Centerline is valid? [True, True] Translation: X:251.87, Y:-95.02, Z:-4.06 [[-9.38540829e-01 3.44948769e-01 1.23068784e-02 2.51868420e+02] [ 3.44914713e-01 9.38621462e-01 -4.85718371e-03 -9.50170591e+01] [-1.32269798e-02 -3.13841785e-04 -9.99912470e-01 -4.06385851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.012939258752538802 Centerline is valid? [True, True] Translation: X:251.87, Y:-95.00, Z:-4.07 [[-9.59726252e-01 2.80678256e-01 1.20514313e-02 2.51873502e+02] [ 2.80652653e-01 9.59801879e-01 -3.80029675e-03 -9.49963079e+01] [-1.26336470e-02 -2.64978405e-04 -9.99920157e-01 -4.06574139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.012429542415134756 Centerline is valid? [True, True] Translation: X:252.07, Y:-94.39, Z:-5.09 [[-9.33829124e-01 -3.57641475e-01 7.46614869e-03 2.52065137e+02] [ 3.57629676e-01 -9.33858969e-01 -2.90534887e-03 -9.43939304e+01] [ 8.01140317e-03 -4.29830479e-05 9.99967907e-01 -5.08538809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.012271764126551519 Centerline is valid? [True, True] Translation: X:251.83, Y:-95.00, Z:-4.07 [[-9.57911397e-01 2.86846197e-01 1.11809675e-02 2.51831964e+02] [ 2.86824984e-01 9.57976639e-01 -3.49116619e-03 -9.50001437e+01] [-1.17125334e-02 -1.37247062e-04 -9.99931397e-01 -4.06777350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.0127665479565096 Centerline is valid? [True, True] Translation: X:251.84, Y:-94.98, Z:-4.07 [[-9.74122224e-01 2.25734605e-01 1.13921426e-02 2.51838535e+02] [ 2.25718615e-01 9.74188835e-01 -2.68714282e-03 -9.49833836e+01] [-1.17046793e-02 -4.61868853e-05 -9.99931497e-01 -4.06764192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.01355239250828816 Centerline is valid? [True, True] Translation: X:251.99, Y:-94.32, Z:-5.08 [[-9.62642998e-01 -2.70621271e-01 9.08768499e-03 2.51994635e+02] [ 2.70608558e-01 -9.62685890e-01 -2.62397710e-03 -9.43225724e+01] [ 9.45869013e-03 -6.67478491e-05 9.99955263e-01 -5.08496924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.013465329587041224 Centerline is valid? [True, True] Translation: X:251.79, Y:-94.98, Z:-4.07 [[-9.73744924e-01 2.27261052e-01 1.31619517e-02 2.51792862e+02] [ 2.27240860e-01 9.73833873e-01 -3.02967213e-03 -9.49845430e+01] [-1.35060808e-02 4.08053553e-05 -9.99908788e-01 -4.06764096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.013307097672498621 Centerline is valid? [True, True] Translation: X:251.95, Y:-94.31, Z:-5.08 [[-9.63208933e-01 -2.68627282e-01 8.24220940e-03 2.51947209e+02] [ 2.68614831e-01 -9.63244152e-01 -2.60297791e-03 -9.43088587e+01] [ 8.63849089e-03 -2.93231896e-04 9.99962645e-01 -5.08420682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.01259882169869028 Centerline is valid? [True, True] Translation: X:251.74, Y:-94.98, Z:-4.07 [[-9.76077294e-01 2.17133854e-01 1.12252187e-02 2.51742119e+02] [ 2.17118770e-01 9.76141837e-01 -2.56010351e-03 -9.49758270e+01] [-1.15132907e-02 -6.16532341e-05 -9.99933718e-01 -4.06901349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.01220132164206218 Centerline is valid? [True, True] Translation: X:251.89, Y:-94.30, Z:-5.09 [[-9.60652315e-01 -2.77627826e-01 8.36176916e-03 2.51886450e+02] [ 2.77616240e-01 -9.60688699e-01 -2.53905417e-03 -9.42983534e+01] [ 8.73796923e-03 -1.17785358e-04 9.99961816e-01 -5.08546507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.012428274203117599 Centerline is valid? [True, True] Translation: X:251.68, Y:-94.96, Z:-4.07 [[-9.79368813e-01 2.01656293e-01 1.30945410e-02 2.51683036e+02] [ 2.01635404e-01 9.79456327e-01 -2.91001510e-03 -9.49600605e+01] [-1.34123539e-02 -2.09654974e-04 -9.99910028e-01 -4.06669012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.013177472102906875 Centerline is valid? [True, True] Translation: X:251.69, Y:-94.93, Z:-4.07 [[-9.92034072e-01 1.25211063e-01 1.38054621e-02 2.51687160e+02] [ 1.25194684e-01 9.92130081e-01 -2.04771574e-03 -9.49303591e+01] [-1.39532109e-02 -3.03033324e-04 -9.99902603e-01 -4.06661526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.014376599971034973 Centerline is valid? [True, True] Translation: X:251.78, Y:-94.26, Z:-5.09 [[-9.75444612e-01 -2.20043252e-01 9.42215305e-03 2.51781687e+02] [ 2.20032563e-01 -9.75490115e-01 -2.16927983e-03 -9.42580588e+01] [ 9.66855255e-03 -4.28318353e-05 9.99953258e-01 -5.08621385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.015595991344070602 Centerline is valid? [True, True] Translation: X:251.63, Y:-94.92, Z:-4.07 [[-9.93738735e-01 1.11048743e-01 1.23086372e-02 2.51631597e+02] [ 1.11035058e-01 9.93814875e-01 -1.79184380e-03 -9.49170438e+01] [-1.24314888e-02 -4.13934352e-04 -9.99922640e-01 -4.06820595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.016336368786939504 Centerline is valid? [True, True] Translation: X:251.73, Y:-94.26, Z:-5.09 [[-9.75657645e-01 -2.19153752e-01 7.98706613e-03 2.51729458e+02] [ 2.19146880e-01 -9.75690335e-01 -1.73642140e-03 -9.42583217e+01] [ 8.17344649e-03 5.61878059e-05 9.99966595e-01 -5.08614194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.014994497316823717 Centerline is valid? [True, True] Translation: X:251.59, Y:-94.91, Z:-4.07 [[-9.93617213e-01 1.12148772e-01 1.21443803e-02 2.51588455e+02] [ 1.12136104e-01 9.93691366e-01 -1.72129123e-03 -9.49098207e+01] [-1.22608066e-02 -3.48481107e-04 -9.99924773e-01 -4.06788091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.014038978652160939 Centerline is valid? [True, True] Translation: X:251.59, Y:-94.88, Z:-4.07 [[-9.99044410e-01 4.20109986e-02 1.20558359e-02 2.51588744e+02] [ 4.20038739e-02 9.99117092e-01 -8.43685421e-04 -9.48849130e+01] [-1.20806358e-02 -3.36487393e-04 -9.99926970e-01 -4.06948971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.014104057116428925 Centerline is valid? [True, True] Translation: X:251.63, Y:-94.22, Z:-5.08 [[-9.89929428e-01 -1.41308218e-01 8.46846451e-03 2.51633408e+02] [ 1.41303500e-01 -9.89965648e-01 -1.15593939e-03 -9.42179690e+01] [ 8.54683270e-03 5.23252579e-05 9.99963474e-01 -5.08466112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.01351533258707235 Centerline is valid? [True, True] Translation: X:251.53, Y:-94.88, Z:-4.07 [[-9.99022429e-01 4.15030699e-02 1.52211009e-02 2.51533843e+02] [ 4.14931594e-02 9.99138321e-01 -9.66465477e-04 -9.48839145e+01] [-1.52480965e-02 -3.33949122e-04 -9.99883685e-01 -4.06554596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.012588584762676854 Centerline is valid? [True, True] Translation: X:251.54, Y:-94.86, Z:-4.06 [[-9.99582861e-01 -2.29820406e-02 1.74908588e-02 2.51536616e+02] [-2.29828292e-02 9.99735848e-01 1.55953535e-04 -9.48616131e+01] [-1.74898227e-02 -2.46100940e-04 -9.99847011e-01 -4.06387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.012452207168716336 Centerline is valid? [True, True] Translation: X:251.53, Y:-94.84, Z:-4.06 [[-9.95895914e-01 -8.88091084e-02 1.74433860e-02 2.51533573e+02] [-8.87981981e-02 9.96048653e-01 1.40054034e-03 -9.48376421e+01] [-1.74988419e-02 -1.54148844e-04 -9.99846872e-01 -4.06443306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.013126592910829373 Centerline is valid? [True, True] Translation: X:251.53, Y:-94.82, Z:-4.07 [[-9.88450070e-01 -1.50500059e-01 1.77817983e-02 2.51530688e+02] [-1.50475512e-01 9.88610000e-01 2.71811238e-03 -9.48165180e+01] [-1.79883397e-02 1.09931703e-05 -9.99838197e-01 -4.06679411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.015047875764768646 Centerline is valid? [True, True] Translation: X:251.52, Y:-94.79, Z:-4.07 [[-9.76979305e-01 -2.12598733e-01 1.76979127e-02 2.51518452e+02] [-2.12560764e-01 9.77139576e-01 4.02126996e-03 -9.47946820e+01] [-1.81482478e-02 1.66815698e-04 -9.99835293e-01 -4.06712880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.015805563953391825 Centerline is valid? [True, True] Translation: X:251.49, Y:-94.77, Z:-4.07 [[-9.60461532e-01 -2.77840678e-01 1.78382341e-02 2.51491756e+02] [-2.77787679e-01 9.60627133e-01 5.43290880e-03 -9.47734807e+01] [-1.86453747e-02 2.62858267e-04 -9.99826125e-01 -4.06771657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.015886772336372312 Centerline is valid? [True, True] Translation: X:251.44, Y:-94.76, Z:-4.07 [[-9.38280273e-01 -3.45483306e-01 1.64746452e-02 2.51443029e+02] [-3.45424988e-01 9.38424857e-01 6.35337242e-03 -9.47588677e+01] [-1.76552007e-02 2.70489882e-04 -9.99844098e-01 -4.06984885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.014262210821987678 Centerline is valid? [True, True] Translation: X:251.38, Y:-94.75, Z:-4.07 [[-9.07974572e-01 -4.18767450e-01 1.46969186e-02 2.51376448e+02] [-4.18710062e-01 9.08093499e-01 6.93407675e-03 -9.47502354e+01] [-1.62499418e-02 1.42217685e-04 -9.99867951e-01 -4.07225245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.012973281642713958 Centerline is valid? [True, True] Translation: X:251.31, Y:-94.75, Z:-4.07 [[-8.71397236e-01 -4.90406435e-01 1.29763523e-02 2.51306143e+02] [-4.90351768e-01 8.71493849e-01 7.32226684e-03 -9.47488211e+01] [-1.48996980e-02 1.76257843e-05 -9.99888993e-01 -4.07328507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.012015659908364779 Centerline is valid? [True, True] Translation: X:251.23, Y:-94.75, Z:-4.07 [[-8.24973406e-01 -5.65033680e-01 1.24828102e-02 2.51225518e+02] [-5.64972543e-01 8.25067817e-01 8.31403817e-03 -9.47518864e+01] [-1.49968766e-02 -1.93584636e-04 -9.99887522e-01 -4.07241149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.01368277533143526 Centerline is valid? [True, True] Translation: X:251.14, Y:-94.77, Z:-4.07 [[-7.72082406e-01 -6.35424328e-01 1.11660927e-02 2.51142466e+02] [-6.35365076e-01 7.72163048e-01 8.68605195e-03 -9.47655898e+01] [-1.41413729e-02 -3.88197458e-04 -9.99899930e-01 -4.07310315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.016631855731826305 Centerline is valid? [True, True] Translation: X:251.06, Y:-94.79, Z:-4.07 [[-7.16466975e-01 -6.97556985e-01 9.45127905e-03 2.51058961e+02] [-6.97504938e-01 7.16529151e-01 8.53440414e-03 -9.47913160e+01] [-1.27253502e-02 -4.77695094e-04 -9.99918915e-01 -4.07320851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.017545064009634653 Centerline is valid? [True, True] Translation: X:250.98, Y:-94.83, Z:-4.07 [[-6.60439679e-01 -7.50835947e-01 8.05054105e-03 2.50977825e+02] [-7.50788815e-01 6.60488570e-01 8.42638870e-03 -9.48316235e+01] [-1.16441259e-02 -4.79134726e-04 -9.99932090e-01 -4.07357662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.019008168693747635 Centerline is valid? [True, True] Translation: X:250.90, Y:-94.88, Z:-4.07 [[-6.00152777e-01 -7.99847857e-01 7.74915468e-03 2.50901096e+02] [-7.99792217e-01 6.00202573e-01 9.44892839e-03 -9.48765661e+01] [-1.22087677e-02 -5.26912981e-04 -9.99925331e-01 -4.07277350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.0184603526140547 Centerline is valid? [True, True] Translation: X:250.83, Y:-94.94, Z:-4.07 [[-5.38462126e-01 -8.42613134e-01 7.85148558e-03 2.50825141e+02] [-8.42538491e-01 5.38519065e-01 1.12297782e-02 -9.49352859e+01] [-1.36905333e-02 -5.68368577e-04 -9.99906119e-01 -4.06991689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.015848323109222618 Centerline is valid? [True, True] Translation: X:250.76, Y:-95.01, Z:-4.07 [[-4.77446250e-01 -8.78634840e-01 6.77460605e-03 2.50756916e+02] [-8.78560508e-01 4.77494060e-01 1.14393076e-02 -9.50056927e+01] [-1.32858083e-02 -4.90246816e-04 -9.99911620e-01 -4.06949671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.014043517323617373 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.08, Z:-4.07 [[-4.14893327e-01 -9.09850568e-01 5.95576696e-03 2.50693136e+02] [-9.09770653e-01 4.14935867e-01 1.20659096e-02 -9.50848879e+01] [-1.34494360e-02 -4.12316631e-04 -9.99909467e-01 -4.06954137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.012295187200272933 Centerline is valid? [True, True] Translation: X:250.64, Y:-95.17, Z:-4.07 [[-3.54084218e-01 -9.35195309e-01 5.83965078e-03 2.50639812e+02] [-9.35081465e-01 3.54132248e-01 1.45946995e-02 -9.51741486e+01] [-1.57169032e-02 -2.92796448e-04 -9.99876439e-01 -4.06794147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.011939818415019057 Centerline is valid? [True, True] Translation: X:250.59, Y:-95.27, Z:-4.07 [[-2.90538827e-01 -9.56846024e-01 5.73374146e-03 2.50592326e+02] [-9.56669408e-01 2.90595363e-01 1.83841978e-02 -9.52723485e+01] [-1.92570452e-02 -1.43971787e-04 -9.99814556e-01 -4.06596740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.012109853944312897 Centerline is valid? [True, True] Translation: X:250.54, Y:-95.37, Z:-4.07 [[-2.18194272e-01 -9.75894741e-01 4.55134919e-03 2.50539930e+02] [-9.75692538e-01 2.18241710e-01 1.98652145e-02 -9.53744499e+01] [-2.03796526e-02 -1.06241438e-04 -9.99792308e-01 -4.06532199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.012389878209619017 Centerline is valid? [True, True] Translation: X:250.49, Y:-95.49, Z:-4.06 [[-1.39789159e-01 -9.90174942e-01 3.54624849e-03 2.50488787e+02] [-9.89886713e-01 1.39834029e-01 2.38901467e-02 -9.54868498e+01] [-2.41513109e-02 -1.70800747e-04 -9.99708300e-01 -4.06382503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.012919359896833451 Centerline is valid? [True, True] Translation: X:250.45, Y:-95.60, Z:-4.06 [[-6.24421794e-02 -9.98046594e-01 1.99278915e-03 2.50445118e+02] [-9.97637398e-01 6.24736384e-02 2.85773693e-02 -9.55955912e+01] [-2.86460429e-02 -2.03647766e-04 -9.99589597e-01 -4.06117619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.012358579528966143 Centerline is valid? [True, True] Translation: X:250.42, Y:-95.71, Z:-4.07 [[ 1.34991682e-02 -9.99908863e-01 -1.96330053e-04 2.50416719e+02] [-9.99521620e-01 -1.34994039e-02 2.78262007e-02 -9.57121101e+01] [-2.78263151e-02 -1.79394432e-04 -9.99612757e-01 -4.06512430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.0120097714148822 Centerline is valid? [True, True] Translation: X:250.40, Y:-95.82, Z:-4.07 [[ 8.69771247e-02 -9.96208755e-01 -1.75971591e-03 2.50397845e+02] [-9.95980874e-01 -8.69948659e-02 2.13070714e-02 -9.58248677e+01] [-2.13793774e-02 -1.00584420e-04 -9.99771430e-01 -4.07061177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.011307288540050133 Centerline is valid? [True, True] Translation: X:250.38, Y:-95.94, Z:-4.08 [[ 1.63187809e-01 -9.86592195e-01 -2.36198822e-03 2.50380429e+02] [-9.86478687e-01 -1.63204863e-01 1.49656899e-02 -9.59444680e+01] [-1.51505208e-02 -1.12167105e-04 -9.99885218e-01 -4.07568105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.010755682042321576 Centerline is valid? [True, True] Translation: X:250.37, Y:-96.07, Z:-4.08 [[ 2.42113313e-01 -9.70246166e-01 -1.87665460e-03 2.50373336e+02] [-9.70211793e-01 -2.42120535e-01 8.16847914e-03 -9.60687369e+01] [-8.37981218e-03 -1.56945125e-04 -9.99964876e-01 -4.08243788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.012367214800053145 Centerline is valid? [True, True] Translation: X:250.36, Y:-96.19, Z:-4.08 [[ 3.28525829e-01 -9.44494001e-01 -1.36440435e-03 2.50364060e+02] [-9.44482953e-01 -3.28528592e-01 4.57336497e-03 -9.61904806e+01] [-4.76776162e-03 -2.13811866e-04 -9.99988611e-01 -4.08414987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.011635145685216208 Centerline is valid? [True, True] Translation: X:250.38, Y:-96.30, Z:-4.08 [[ 3.97324595e-01 -9.17677085e-01 -1.39093781e-03 2.50378464e+02] [-9.17669685e-01 -3.97326984e-01 3.69005781e-03 -9.63034313e+01] [-3.93893862e-03 -1.89729266e-04 -9.99992224e-01 -4.08381266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.01313408786431468 Centerline is valid? [True, True] Translation: X:250.41, Y:-96.40, Z:-4.08 [[ 4.39881392e-01 -8.98052136e-01 -2.59256142e-03 2.50410515e+02] [-8.98036027e-01 -4.39889031e-01 5.37910846e-03 -9.63954046e+01] [-5.97115918e-03 -3.79561613e-05 -9.99982172e-01 -4.07935144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.01597331896015748 Centerline is valid? [True, True] Translation: X:250.43, Y:-96.50, Z:-4.07 [[ 4.98017829e-01 -8.67135178e-01 -7.40438791e-03 2.50434113e+02] [-8.67046898e-01 -4.98072803e-01 1.23757781e-02 -9.65032494e+01] [-1.44193967e-02 2.56593436e-04 -9.99896002e-01 -4.07042061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:250.47, Y:-96.61, Z:-4.07 [[ 5.61041873e-01 -8.27746933e-01 -8.18733839e-03 2.50470928e+02] [-8.27665950e-01 -5.61101540e-01 1.15817909e-02 -9.66068004e+01] [-1.41807200e-02 2.78511571e-04 -9.99899410e-01 -4.07107504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:250.52, Y:-96.71, Z:-4.07 [[ 6.22356560e-01 -7.82681648e-01 -9.04157616e-03 2.50515046e+02] [-7.82605499e-01 -6.22422172e-01 1.09212349e-02 -9.67080304e+01] [-1.41755276e-02 2.79085055e-04 -9.99899483e-01 -4.07131473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.01616488897465229 Centerline is valid? [True, True] Translation: X:250.56, Y:-96.80, Z:-4.07 [[ 6.78694287e-01 -7.34359456e-01 -9.50021305e-03 2.50563575e+02] [-7.34293392e-01 -6.78760714e-01 9.85432432e-03 -9.68032729e+01] [-1.36849876e-02 2.87870055e-04 -9.99906315e-01 -4.07225422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:250.62, Y:-96.89, Z:-4.07 [[ 7.31200418e-01 -6.82088222e-01 -1.00799876e-02 2.50616240e+02] [-6.82029113e-01 -7.31269830e-01 8.98473163e-03 -9.68882530e+01] [-1.34995704e-02 3.05205440e-04 -9.99908830e-01 -4.07242547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:250.64, Y:-96.92, Z:-4.07 [[ 7.82251087e-01 -6.22870607e-01 -1.07444570e-02 2.50637327e+02] [-6.22817100e-01 -7.82324815e-01 8.16964378e-03 -9.69166656e+01] [-1.34942863e-02 3.01118846e-04 -9.99908903e-01 -4.07253301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:250.66, Y:-96.94, Z:-4.07 [[ 8.28522047e-01 -5.59841491e-01 -1.13455777e-02 2.50660708e+02] [-5.59793951e-01 -8.28599671e-01 7.30195135e-03 -9.69434403e+01] [-1.34888773e-02 3.01358097e-04 -9.99908976e-01 -4.07264200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:250.69, Y:-96.97, Z:-4.07 [[ 8.69207482e-01 -4.94299297e-01 -1.21060774e-02 2.50685710e+02] [-4.94256529e-01 -8.69291723e-01 6.51030241e-03 -9.69709093e+01] [-1.37417507e-02 3.24704210e-04 -9.99905525e-01 -4.07328438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:250.71, Y:-97.00, Z:-4.07 [[ 9.05177024e-01 -4.24848765e-01 -1.25730888e-02 2.50712259e+02] [-4.24812744e-01 -9.05264283e-01 5.54174341e-03 -9.69952016e+01] [-1.37363711e-02 3.24949570e-04 -9.99905599e-01 -4.07339272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.01781859403762215 Centerline is valid? [True, True] Translation: X:250.74, Y:-97.02, Z:-4.07 [[ 9.35323862e-01 -3.53558540e-01 -1.28698085e-02 2.50741298e+02] [-3.53529953e-01 -9.35412341e-01 4.50827244e-03 -9.70162760e+01] [-1.36325159e-02 3.33167996e-04 -9.99907017e-01 -4.07330987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.018193082497575713 Centerline is valid? [True, True] Translation: X:250.77, Y:-97.03, Z:-4.07 [[ 9.60551614e-01 -2.77776308e-01 -1.34506466e-02 2.50771584e+02] [-2.77753726e-01 -9.60645731e-01 3.55631640e-03 -9.70345293e+01] [-1.39091667e-02 3.19941753e-04 -9.99903212e-01 -4.07333334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.015241105229954215 Centerline is valid? [True, True] Translation: X:250.80, Y:-97.06, Z:-4.08 [[ 9.80710200e-01 -1.95089921e-01 -1.21419304e-02 2.50802052e+02] [-1.95077287e-01 -9.80785343e-01 2.22776960e-03 -9.70587118e+01] [-1.23432428e-02 1.83818481e-04 -9.99923802e-01 -4.07528356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.012919138509103796 Centerline is valid? [True, True] Translation: X:250.83, Y:-97.08, Z:-4.08 [[ 9.94117002e-01 -1.07735736e-01 -1.11533956e-02 2.50831066e+02] [-1.07729436e-01 -9.94179566e-01 1.16589011e-03 -9.70775990e+01] [-1.12140860e-02 4.25178332e-05 -9.99937119e-01 -4.07732118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.011544471849532664 Centerline is valid? [True, True] Translation: X:250.86, Y:-97.09, Z:-4.08 [[ 9.99677562e-01 -2.24891144e-02 -1.17903130e-02 2.50862795e+02] [-2.24871854e-02 -9.99747087e-01 2.96168335e-04 -9.70937472e+01] [-1.17939916e-02 -3.09418864e-05 -9.99930448e-01 -4.07730820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.01097355124015074 Centerline is valid? [True, True] Translation: X:250.90, Y:-97.11, Z:-4.08 [[ 9.97762602e-01 6.55769475e-02 -1.30174608e-02 2.50895653e+02] [ 6.55732807e-02 -9.97847505e-01 -7.08755045e-04 -9.71086400e+01] [-1.30359188e-02 -1.46428333e-04 -9.99915018e-01 -4.07528537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.01114177463690764 Centerline is valid? [True, True] Translation: X:250.93, Y:-97.12, Z:-4.08 [[ 9.88497551e-01 1.50694526e-01 -1.27965377e-02 2.50930891e+02] [ 1.50685034e-01 -9.88580347e-01 -1.70832824e-03 -9.71214471e+01] [-1.29078414e-02 -2.39568424e-04 -9.99916662e-01 -4.07655627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.01185830380708294 Centerline is valid? [True, True] Translation: X:250.97, Y:-97.13, Z:-4.08 [[ 9.72561573e-01 2.32351179e-01 -1.17011169e-02 2.50967037e+02] [ 2.32337937e-01 -9.72631917e-01 -2.49749019e-03 -9.71272898e+01] [-1.19611746e-02 -2.89650379e-04 -9.99928421e-01 -4.07788339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.01229382946812277 Centerline is valid? [True, True] Translation: X:251.00, Y:-97.13, Z:-4.08 [[ 9.50814252e-01 3.09531879e-01 -1.19278503e-02 2.51001840e+02] [ 3.09511705e-01 -9.50889013e-01 -3.54818853e-03 -9.71268962e+01] [-1.24403393e-02 -3.18141061e-04 -9.99922565e-01 -4.07819088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.012761207339835384 Centerline is valid? [True, True] Translation: X:251.04, Y:-97.12, Z:-4.08 [[ 9.23501823e-01 3.83388697e-01 -1.25494966e-02 2.51035279e+02] [ 3.83358248e-01 -9.23587025e-01 -4.84367033e-03 -9.71213747e+01] [-1.34475607e-02 -3.37814641e-04 -9.99909520e-01 -4.07640593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.012695588229940102 Centerline is valid? [True, True] Translation: X:251.07, Y:-97.11, Z:-4.08 [[ 8.90942877e-01 4.53938411e-01 -1.26770648e-02 2.51068047e+02] [ 4.53897815e-01 -8.91032999e-01 -6.08020228e-03 -9.71110333e+01] [-1.40557204e-02 -3.36979084e-04 -9.99901157e-01 -4.07524837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.012237874566980111 Centerline is valid? [True, True] Translation: X:251.10, Y:-97.09, Z:-4.07 [[ 8.54379650e-01 5.19503533e-01 -1.23082698e-02 2.51095652e+02] [ 5.19454534e-01 -8.54468252e-01 -7.14091551e-03 -9.70935243e+01] [-1.42267566e-02 -2.92533660e-04 -9.99898752e-01 -4.07408235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.011561350656549453 Centerline is valid? [True, True] Translation: X:251.12, Y:-97.08, Z:-4.08 [[ 8.12623128e-01 5.82667994e-01 -1.19021154e-02 2.51123664e+02] [ 5.82610103e-01 -8.12710245e-01 -8.21736633e-03 -9.70758395e+01] [-1.44609675e-02 -2.56670767e-04 -9.99895402e-01 -4.07505154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.011222918099028832 Centerline is valid? [True, True] Translation: X:251.15, Y:-97.06, Z:-4.08 [[ 7.66147055e-01 6.42571691e-01 -1.09686897e-02 2.51150347e+02] [ 6.42509887e-01 -7.66225537e-01 -8.91463735e-03 -9.70566064e+01] [-1.41327837e-02 -2.17568399e-04 -9.99900104e-01 -4.07701464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.011734098173362907 Centerline is valid? [True, True] Translation: X:251.18, Y:-97.04, Z:-4.07 [[ 7.13422826e-01 7.00662418e-01 -1.00023290e-02 2.51175632e+02] [ 7.00597788e-01 -7.13492907e-01 -9.51897989e-03 -9.70387814e+01] [-1.38061823e-02 -2.16552052e-04 -9.99904667e-01 -4.07480724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.011569280860379177 Centerline is valid? [True, True] Translation: X:251.20, Y:-97.02, Z:-4.08 [[ 6.55764317e-01 7.54909768e-01 -9.18714782e-03 2.51199202e+02] [ 7.54840500e-01 -6.55828629e-01 -1.02288459e-02 -9.70178889e+01] [-1.37470502e-02 -2.27119116e-04 -9.99905479e-01 -4.07556229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.011529386237104328 Centerline is valid? [True, True] Translation: X:251.22, Y:-96.99, Z:-4.08 [[ 5.94525336e-01 8.04038970e-01 -7.80759721e-03 2.51218899e+02] [ 8.03974505e-01 -5.94576559e-01 -1.01838178e-02 -9.69942985e+01] [-1.28304006e-02 -2.22571427e-04 -9.99917662e-01 -4.07681100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.011369166638371541 Centerline is valid? [True, True] Translation: X:251.24, Y:-96.97, Z:-4.08 [[ 5.30532690e-01 8.47641569e-01 -6.23176396e-03 2.51237690e+02] [ 8.47587499e-01 -5.30569250e-01 -9.57612241e-03 -9.69700689e+01] [-1.14235018e-02 -2.01519246e-04 -9.99934729e-01 -4.07896937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.011309233813375038 Centerline is valid? [True, True] Translation: X:251.25, Y:-96.95, Z:-4.08 [[ 4.63153464e-01 8.86263443e-01 -5.09687428e-03 2.51251064e+02] [ 8.86214192e-01 -4.63181470e-01 -9.34514251e-03 -9.69453344e+01] [-1.06430359e-02 -1.88687195e-04 -9.99943343e-01 -4.07904033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.011528388114573735 Centerline is valid? [True, True] Translation: X:251.27, Y:-96.92, Z:-4.08 [[ 3.90189751e-01 9.20726812e-01 -3.75458077e-03 2.51266385e+02] [ 9.20689022e-01 -3.90207763e-01 -8.34430072e-03 -9.69205151e+01] [-9.14788795e-03 -2.00940679e-04 -9.99958137e-01 -4.08018775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.012386560916409169 Centerline is valid? [True, True] Translation: X:251.28, Y:-96.90, Z:-4.08 [[ 3.12314298e-01 9.49973587e-01 -3.15658350e-03 2.51284316e+02] [ 9.49932759e-01 -3.12330152e-01 -8.81079001e-03 -9.68978498e+01] [-9.35591399e-03 -2.46806382e-04 -9.99956202e-01 -4.07928833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.013562672713495483 Centerline is valid? [True, True] Translation: X:251.30, Y:-96.87, Z:-4.08 [[ 2.31937516e-01 9.72726655e-01 -2.80063630e-03 2.51302829e+02] [ 9.72671444e-01 -2.31954205e-01 -1.03686256e-02 -9.68727862e+01] [-1.07354578e-02 -3.19225692e-04 -9.99942322e-01 -4.07831337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.014621030999712776 Centerline is valid? [True, True] Translation: X:251.32, Y:-96.85, Z:-4.08 [[ 1.52436328e-01 9.88311234e-01 -2.01740300e-03 2.51317132e+02] [ 9.88252610e-01 -1.52449271e-01 -1.07702715e-02 -9.68469052e+01] [-1.09519319e-02 -3.51923132e-04 -9.99939964e-01 -4.07800188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.0153409631095033 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.82, Z:-4.08 [[ 7.37339219e-02 9.97277347e-01 -1.09597512e-03 2.51327672e+02] [ 9.97225802e-01 -7.37412602e-02 -1.01452247e-02 -9.68197466e+01] [-1.01984214e-02 -3.44887463e-04 -9.99947935e-01 -4.07812887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.01369234721371331 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.79, Z:-4.08 [[-2.29027430e-03 9.99997335e-01 -2.89374659e-04 2.51334104e+02] [ 9.99950290e-01 2.28735819e-03 -9.70489934e-03 -9.67910878e+01] [-9.70421158e-03 -3.11587155e-04 -9.99952864e-01 -4.07931895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.013336468979375429 Centerline is valid? [True, True] Translation: X:251.34, Y:-96.76, Z:-4.08 [[-7.86191661e-02 9.96904622e-01 4.48489472e-04 2.51340267e+02] [ 9.96861119e-01 7.86199271e-02 -9.31751254e-03 -9.67621389e+01] [-9.32393153e-03 -2.85453349e-04 -9.99956490e-01 -4.07971925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.011950149086133798 Centerline is valid? [True, True] Translation: X:251.34, Y:-96.73, Z:-4.08 [[-1.48635012e-01 9.88891514e-01 1.09889710e-03 2.51339122e+02] [ 9.88853287e-01 1.48638931e-01 -8.69740013e-03 -9.67342827e+01] [-8.76412407e-03 -2.06090168e-04 -9.99961573e-01 -4.07935126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.011278257827904899 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.71, Z:-4.08 [[-2.17421505e-01 9.76075722e-01 2.01862209e-03 2.51334879e+02] [ 9.76027824e-01 2.17430835e-01 -9.67046402e-03 -9.67067138e+01] [-9.87801584e-03 -1.32335507e-04 -9.99951202e-01 -4.07955195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.01138901604622014 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.68, Z:-4.08 [[-2.89557388e-01 9.57156083e-01 2.95823448e-03 2.51333256e+02] [ 9.57102829e-01 2.89572484e-01 -1.00970691e-02 -9.66783867e+01] [-1.05210945e-02 -9.23463788e-05 -9.99944647e-01 -4.07981747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.01173549697909244 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.65, Z:-4.08 [[-3.60506313e-01 9.32747514e-01 4.15612603e-03 2.51331570e+02] [ 9.32683952e-01 3.60530266e-01 -1.08891134e-02 -9.66502344e+01] [-1.16552027e-02 -4.92420750e-05 -9.99932075e-01 -4.07959471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.011865410344212167 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.62, Z:-4.08 [[-4.32123869e-01 9.01799572e-01 5.14721596e-03 2.51328608e+02] [ 9.01734431e-01 4.32154522e-01 -1.08390540e-02 -9.66229741e+01] [-1.19990469e-02 -4.23920968e-05 -9.99928008e-01 -4.07873145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.011654121494744457 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.59, Z:-4.08 [[-5.03451856e-01 8.64001436e-01 6.14382191e-03 2.51325007e+02] [ 8.63935433e-01 5.03489338e-01 -1.06795895e-02 -9.65931168e+01] [-1.23205295e-02 -6.87936988e-05 -9.99924097e-01 -4.07854201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.011690737707351694 Centerline is valid? [True, True] Translation: X:251.32, Y:-96.56, Z:-4.08 [[-5.74520854e-01 8.18450016e-01 8.08452854e-03 2.51319213e+02] [ 8.18365390e-01 5.74577714e-01 -1.17702473e-02 -9.65648568e+01] [-1.42785491e-02 -1.46154203e-04 -9.99898046e-01 -4.07736737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.012122589348467702 Centerline is valid? [True, True] Translation: X:251.31, Y:-96.53, Z:-4.08 [[-6.41747855e-01 7.66855782e-01 9.58644702e-03 2.51312940e+02] [ 7.66764503e-01 6.41819406e-01 -1.18341483e-02 -9.65337575e+01] [-1.52278528e-02 -2.43991980e-04 -9.99884020e-01 -4.07724879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.012852949151343962 Centerline is valid? [True, True] Translation: X:251.30, Y:-96.50, Z:-4.08 [[-7.03023611e-01 7.11090187e-01 1.04186219e-02 2.51302131e+02] [ 7.11005496e-01 7.03100739e-01 -1.09788710e-02 -9.65045623e+01] [-1.51323082e-02 -3.10708118e-04 -9.99885452e-01 -4.07692670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.012993468658117324 Centerline is valid? [True, True] Translation: X:251.29, Y:-96.48, Z:-4.08 [[-7.57227346e-01 6.53064942e-01 1.06267291e-02 2.51285349e+02] [ 6.52994751e-01 7.57301843e-01 -9.57983585e-03 -9.64799376e+01] [-1.43038965e-02 -3.14915350e-04 -9.99897644e-01 -4.07846853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.012455224114673421 Centerline is valid? [True, True] Translation: X:251.30, Y:-96.46, Z:-4.08 [[-8.00491284e-01 5.99262638e-01 9.89923630e-03 2.51296235e+02] [ 5.99212827e-01 8.00552450e-01 -7.73070490e-03 -9.64562613e+01] [-1.25575805e-02 -2.56612526e-04 -9.99921118e-01 -4.08085758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.012245809074487917 Centerline is valid? [True, True] Translation: X:251.32, Y:-96.44, Z:-4.08 [[-8.39910696e-01 5.42646621e-01 9.20148481e-03 2.51317610e+02] [ 5.42611190e-01 8.39961069e-01 -6.20477130e-03 -9.64389520e+01] [-1.10958872e-02 -2.18625160e-04 -9.99938415e-01 -4.08180207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.011816787885939671 Centerline is valid? [True, True] Translation: X:251.33, Y:-96.42, Z:-4.08 [[-8.74943691e-01 4.84139035e-01 9.10667333e-03 2.51333336e+02] [ 4.84110605e-01 8.74991063e-01 -5.24994695e-03 -9.64199975e+01] [-1.05099620e-02 -1.84770826e-04 -9.99944752e-01 -4.08266976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.011798732556471772 Centerline is valid? [True, True] Translation: X:251.35, Y:-96.40, Z:-4.08 [[-9.06734997e-01 4.21559303e-01 1.09269870e-02 2.51345081e+02] [ 4.21526185e-01 9.06800816e-01 -5.28735629e-03 -9.63979855e+01] [-1.21375350e-02 -1.88219836e-04 -9.99926320e-01 -4.08142504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.012014171332685218 Centerline is valid? [True, True] Translation: X:251.36, Y:-96.37, Z:-4.08 [[-9.34566278e-01 3.55537219e-01 1.33849727e-02 2.51359260e+02] [ 3.55497403e-01 9.34662099e-01 -5.32521898e-03 -9.63743281e+01] [-1.44037402e-02 -2.18447060e-04 -9.99896237e-01 -4.07920118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.012586806970679407 Centerline is valid? [True, True] Translation: X:251.37, Y:-96.35, Z:-4.08 [[-9.58231066e-01 2.85499860e-01 1.68242058e-02 2.51366731e+02] [ 2.85450418e-01 9.58378705e-01 -5.32133331e-03 -9.63463916e+01] [-1.76432005e-02 -2.96590295e-04 -9.99844303e-01 -4.07550884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.01308116763886571 Centerline is valid? [True, True] Translation: X:251.37, Y:-96.32, Z:-4.08 [[-9.76376088e-01 2.15402899e-01 1.70682691e-02 2.51368528e+02] [ 2.15364241e-01 9.76525211e-01 -4.09338483e-03 -9.63196965e+01] [-1.75493221e-02 -3.20788245e-04 -9.99845947e-01 -4.07576134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.013205844197212298 Centerline is valid? [True, True] Translation: X:251.37, Y:-96.29, Z:-4.08 [[-9.89412700e-01 1.44474550e-01 1.37699862e-02 2.51373852e+02] [ 1.44456427e-01 9.89508473e-01 -2.30703369e-03 -9.62948958e+01] [-1.39588257e-02 -2.93445424e-04 -9.99902528e-01 -4.07937069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.01304989175081363 Centerline is valid? [True, True] Translation: X:251.37, Y:-96.27, Z:-4.08 [[-9.97222530e-01 7.34735611e-02 1.22009019e-02 2.51371935e+02] [ 7.34646778e-02 9.97297127e-01 -1.17528485e-03 -9.62685828e+01] [-1.22542768e-02 -2.75685203e-04 -9.99924876e-01 -4.08115672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.013705188406257493 Centerline is valid? [True, True] Translation: X:251.44, Y:-95.59, Z:-5.10 [[-9.85874278e-01 -1.67176797e-01 1.01895188e-02 2.51439653e+02] [ 1.67169178e-01 -9.85926926e-01 -1.60098309e-03 -9.55899394e+01] [ 1.03137682e-02 1.25005433e-04 9.99946804e-01 -5.09635914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.013766648410289928 Centerline is valid? [True, True] Translation: X:251.32, Y:-96.27, Z:-4.08 [[-9.97505656e-01 6.90027828e-02 1.48688113e-02 2.51319056e+02] [ 6.89903210e-02 9.97616416e-01 -1.35003842e-03 -9.62659775e+01] [-1.49265266e-02 -3.20866901e-04 -9.99888542e-01 -4.07840724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.014003167219292482 Centerline is valid? [True, True] Translation: X:251.32, Y:-96.24, Z:-4.08 [[-9.99896698e-01 -2.67342606e-03 1.41225133e-02 2.51317543e+02] [-2.67765976e-03 9.99996376e-01 -2.80883271e-04 -9.62384331e+01] [-1.41217112e-02 -3.18669541e-04 -9.99900233e-01 -4.07950868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.014001841784161993 Centerline is valid? [True, True] Translation: X:251.33, Y:-95.56, Z:-5.10 [[-9.95418495e-01 -9.50418620e-02 1.04433458e-02 2.51334959e+02] [ 9.50369045e-02 -9.95473276e-01 -9.71081262e-04 -9.55564377e+01] [ 1.04883651e-02 2.58710122e-05 9.99944995e-01 -5.09533604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.013904048507320951 Centerline is valid? [True, True] Translation: X:251.26, Y:-96.24, Z:-4.08 [[-9.99854438e-01 -8.39471947e-03 1.48536663e-02 2.51260202e+02] [-8.39898809e-03 9.99964703e-01 -2.25018945e-04 -9.62389541e+01] [-1.48512530e-02 -3.49741957e-04 -9.99889653e-01 -4.08072903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.013714793187547567 Centerline is valid? [True, True] Translation: X:251.26, Y:-95.55, Z:-5.10 [[-9.95742193e-01 -9.12862183e-02 1.28183722e-02 2.51264457e+02] [ 9.12810841e-02 -9.95824679e-01 -9.86251771e-04 -9.55545886e+01] [ 1.28548826e-02 1.88022409e-04 9.99917355e-01 -5.09629603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.013988037317134137 Centerline is valid? [True, True] Translation: X:251.19, Y:-96.24, Z:-4.08 [[-9.99782632e-01 -1.28755821e-02 1.63984174e-02 2.51193946e+02] [-1.28799764e-02 9.99917036e-01 -1.62383010e-04 -9.62387621e+01] [-1.63949661e-02 -3.73558943e-04 -9.99865524e-01 -4.07959236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.013525221343674065 Centerline is valid? [True, True] Translation: X:251.20, Y:-95.55, Z:-5.09 [[-9.96158475e-01 -8.66931914e-02 1.23524670e-02 2.51198654e+02] [ 8.66871402e-02 -9.96235057e-01 -1.02546952e-03 -9.55547994e+01] [ 1.23948619e-02 4.92698838e-05 9.99923180e-01 -5.09397504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.01399175029470705 Centerline is valid? [True, True] Translation: X:251.13, Y:-96.24, Z:-4.08 [[-9.99716091e-01 -1.79290878e-02 1.56934614e-02 2.51131419e+02] [-1.79326706e-02 9.99839193e-01 -8.75974558e-05 -9.62362217e+01] [-1.56893672e-02 -3.68998260e-04 -9.99876846e-01 -4.08207011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.01369538164680805 Centerline is valid? [True, True] Translation: X:251.13, Y:-95.56, Z:-5.09 [[-9.96531166e-01 -8.21908703e-02 1.30497311e-02 2.51127241e+02] [ 8.21858931e-02 -9.96616594e-01 -9.18133499e-04 -9.55580646e+01] [ 1.30810408e-02 1.57555163e-04 9.99914427e-01 -5.09386224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.01379897294660371 Centerline is valid? [True, True] Translation: X:251.06, Y:-96.24, Z:-4.08 [[-9.99653518e-01 -1.99618456e-02 1.71571784e-02 2.51061214e+02] [-1.99649022e-02 9.99800681e-01 -6.87042714e-06 -9.62357581e+01] [-1.71536215e-02 -3.49409434e-04 -9.99852805e-01 -4.08099685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.013391522474703913 Centerline is valid? [True, True] Translation: X:251.06, Y:-96.21, Z:-4.08 [[-9.95777352e-01 -9.01353223e-02 1.74094655e-02 2.51063016e+02] [-9.01274621e-02 9.95929470e-01 1.23716191e-03 -9.62096273e+01] [-1.74501118e-02 -3.37133136e-04 -9.99847678e-01 -4.08167558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.013222341620211669 Centerline is valid? [True, True] Translation: X:251.06, Y:-96.18, Z:-4.08 [[-9.87029261e-01 -1.59550897e-01 1.77974436e-02 2.51055492e+02] [-1.59530835e-01 9.87189651e-01 2.55052177e-03 -9.61836408e+01] [-1.79763901e-02 -3.21801407e-04 -9.99838360e-01 -4.08235573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.013664904445342558 Centerline is valid? [True, True] Translation: X:250.96, Y:-95.51, Z:-5.10 [[-9.97458653e-01 6.95665626e-02 1.53860261e-02 2.50955638e+02] [-6.95563749e-02 -9.97577304e-01 1.19693566e-03 -9.55138454e+01] [ 1.54320171e-02 1.23697633e-04 9.99880912e-01 -5.09589985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.013401557351702531 Centerline is valid? [True, True] Translation: X:250.96, Y:-96.20, Z:-4.08 [[-9.86239861e-01 -1.64150941e-01 1.96317461e-02 2.50956788e+02] [-1.64124877e-01 9.86435181e-01 2.94256027e-03 -9.61966053e+01] [-1.98484690e-02 -3.19987672e-04 -9.99802949e-01 -4.08196726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.013686583187808465 Centerline is valid? [True, True] Translation: X:250.95, Y:-96.17, Z:-4.08 [[-9.71954970e-01 -2.34261807e-01 2.06141039e-02 2.50946713e+02] [-2.34216405e-01 9.72173490e-01 4.62398743e-03 -9.61699810e+01] [-2.11237090e-02 -3.33853743e-04 -9.99776814e-01 -4.08107570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.013055017056735898 Centerline is valid? [True, True] Translation: X:250.92, Y:-96.15, Z:-4.08 [[-9.52725769e-01 -3.03248247e-01 1.88178065e-02 2.50923794e+02] [-3.03195658e-01 9.52911538e-01 5.65620991e-03 -9.61476517e+01] [-1.96469407e-02 -3.16660292e-04 -9.99806930e-01 -4.08462522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.013030305556402116 Centerline is valid? [True, True] Translation: X:250.89, Y:-96.13, Z:-4.09 [[-9.28675372e-01 -3.70526863e-01 1.64893037e-02 2.50890076e+02] [-3.70473907e-01 9.28821707e-01 6.27070188e-03 -9.61299765e+01] [-1.76390867e-02 -2.85410382e-04 -9.99844378e-01 -4.08627610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.012681485655913208 Centerline is valid? [True, True] Translation: X:250.83, Y:-96.12, Z:-4.09 [[-8.99329876e-01 -4.36986101e-01 1.57772377e-02 2.50834840e+02] [-4.36924170e-01 8.99468217e-01 7.36181928e-03 -9.61249725e+01] [-1.74081366e-02 -2.72752477e-04 -9.99848430e-01 -4.08912140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.012915513955200781 Centerline is valid? [True, True] Translation: X:250.77, Y:-96.13, Z:-4.09 [[-8.63982923e-01 -5.03266302e-01 1.60168244e-02 2.50769386e+02] [-5.03186439e-01 8.64131317e-01 8.97072658e-03 -9.61268285e+01] [-1.83553040e-02 -3.08894271e-04 -9.99831480e-01 -4.08898957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.013787595988235042 Centerline is valid? [True, True] Translation: X:250.70, Y:-96.13, Z:-4.09 [[-8.22969066e-01 -5.67871611e-01 1.56124843e-02 2.50696728e+02] [-5.67777661e-01 8.23117067e-01 1.03354937e-02 -9.61344771e+01] [-1.87201357e-02 -3.58628193e-04 -9.99824699e-01 -4.08779375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.01360751148216212 Centerline is valid? [True, True] Translation: X:250.62, Y:-96.15, Z:-4.09 [[-7.77336841e-01 -6.28906323e-01 1.49757425e-02 2.50617639e+02] [-6.28799348e-01 7.77480984e-01 1.16059963e-02 -9.61548310e+01] [-1.89424394e-02 -3.94968605e-04 -9.99820498e-01 -4.08827971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.014220919004210584 Centerline is valid? [True, True] Translation: X:250.54, Y:-96.19, Z:-4.09 [[-7.27436626e-01 -6.86020319e-01 1.45628815e-02 2.50536781e+02] [-6.85894433e-01 7.27582258e-01 1.31485409e-02 -9.61852663e+01] [-1.96158604e-02 -4.23869122e-04 -9.99807501e-01 -4.08723047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.014746864450794168 Centerline is valid? [True, True] Translation: X:250.45, Y:-96.23, Z:-4.09 [[-6.73004301e-01 -7.39494232e-01 1.46113827e-02 2.50453213e+02] [-7.39335104e-01 6.73162727e-01 1.53475445e-02 -9.62278531e+01] [-2.11852589e-02 -4.73744656e-04 -9.99775455e-01 -4.08649656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.014978241106718353 Centerline is valid? [True, True] Translation: X:250.37, Y:-96.28, Z:-4.09 [[-6.14020901e-01 -7.89159600e-01 1.43338535e-02 2.50370574e+02] [-7.88964755e-01 6.14187950e-01 1.75435966e-02 -9.62785749e+01] [-2.26483778e-02 -5.36770160e-04 -9.99743348e-01 -4.08699392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.015019937345804719 Centerline is valid? [True, True] Translation: X:250.29, Y:-96.34, Z:-4.09 [[-5.52688494e-01 -8.33298944e-01 1.21778409e-02 2.50289327e+02] [-8.33116675e-01 5.52822405e-01 1.74354578e-02 -9.63375697e+01] [-2.12611319e-02 -5.09185422e-04 -9.99773827e-01 -4.08854019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.0146054879023261 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.40, Z:-4.09 [[-4.89303890e-01 -8.72059116e-01 9.72633024e-03 2.50215286e+02] [-8.71904451e-01 4.89400351e-01 1.64293959e-02 -9.64043072e+01] [-1.90874739e-02 -4.41463285e-04 -9.99817720e-01 -4.09132633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.013978249417754501 Centerline is valid? [True, True] Translation: X:250.14, Y:-96.48, Z:-4.09 [[-4.23724005e-01 -9.05759476e-01 7.59860103e-03 2.50142608e+02] [-9.05629096e-01 4.23791972e-01 1.53722374e-02 -9.64833112e+01] [-1.71437758e-02 -3.67928181e-04 -9.99852967e-01 -4.09368277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.013103061804950652 Centerline is valid? [True, True] Translation: X:250.08, Y:-96.57, Z:-4.10 [[-3.54952563e-01 -9.34862539e-01 6.38048791e-03 2.50076740e+02] [-9.34728346e-01 3.55009741e-01 1.58430699e-02 -9.65686556e+01] [-1.70762279e-02 -3.40484640e-04 -9.99854133e-01 -4.09518815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.01363583723238416 Centerline is valid? [True, True] Translation: X:250.01, Y:-96.66, Z:-4.09 [[-2.84407438e-01 -9.58688780e-01 5.31338672e-03 2.50012814e+02] [-9.58541599e-01 2.84456892e-01 1.68011605e-02 -9.66607846e+01] [-1.76185136e-02 -3.14727188e-04 -9.99844732e-01 -4.09254311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.012466435892564335 Centerline is valid? [True, True] Translation: X:249.96, Y:-96.76, Z:-4.10 [[-2.11398936e-01 -9.77391945e-01 3.93392915e-03 2.49958878e+02] [-9.77247470e-01 2.11435335e-01 1.68071650e-02 -9.67580584e+01] [-1.72589593e-02 -2.91405509e-04 -9.99851011e-01 -4.09509379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.012369059690983699 Centerline is valid? [True, True] Translation: X:249.91, Y:-96.86, Z:-4.09 [[-1.36302879e-01 -9.90663599e-01 2.67568978e-03 2.49911098e+02] [-9.90512252e-01 1.36328831e-01 1.73184324e-02 -9.68604221e+01] [-1.75215142e-02 -2.89751314e-04 -9.99846445e-01 -4.09459218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.013007478714635123 Centerline is valid? [True, True] Translation: X:249.87, Y:-96.97, Z:-4.09 [[-5.96303268e-02 -9.98219561e-01 1.38988785e-03 2.49869409e+02] [-9.98054914e-01 5.96457379e-02 1.81321420e-02 -9.69702164e+01] [-1.81827598e-02 -3.05958842e-04 -9.99834633e-01 -4.09173359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.013436852745035513 Centerline is valid? [True, True] Translation: X:249.84, Y:-97.09, Z:-4.09 [[ 2.01752879e-02 -9.99796458e-01 -7.48168809e-06 2.49837453e+02] [-9.99608006e-01 -2.01716304e-02 1.94149243e-02 -9.70872744e+01] [-1.94111235e-02 -3.84222934e-04 -9.99811513e-01 -4.09291804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.015144023754859485 Centerline is valid? [True, True] Translation: X:249.81, Y:-97.20, Z:-4.09 [[ 1.00676913e-01 -9.94917730e-01 -1.69400389e-03 2.49811623e+02] [-9.94679273e-01 -1.00689880e-01 2.17874210e-02 -9.72002541e+01] [-2.18472605e-02 -5.08499740e-04 -9.99761191e-01 -4.08998987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.01638488768393983 Centerline is valid? [True, True] Translation: X:249.80, Y:-97.32, Z:-4.09 [[ 1.83171388e-01 -9.83075055e-01 -3.41734783e-03 2.49795056e+02] [-9.82829403e-01 -1.83202044e-01 2.19857970e-02 -9.73198995e+01] [-2.22397537e-02 -6.68499027e-04 -9.99752443e-01 -4.09044346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.017694913231135288 Centerline is valid? [True, True] Translation: X:249.79, Y:-97.44, Z:-4.09 [[ 2.62526072e-01 -9.64914132e-01 -4.55844698e-03 2.49787734e+02] [-9.64718260e-01 -2.62564686e-01 1.94541610e-02 -9.74359111e+01] [-1.99684820e-02 -7.09607410e-04 -9.99800358e-01 -4.09360394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.019103113062767706 Centerline is valid? [True, True] Translation: X:249.79, Y:-97.55, Z:-4.09 [[ 3.38124710e-01 -9.41084949e-01 -5.54977932e-03 2.49789089e+02] [-9.40921451e-01 -3.38169498e-01 1.75560332e-02 -9.75546313e+01] [-1.83984847e-02 -7.14222234e-04 -9.99830478e-01 -4.09485976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.02070544767942156 Centerline is valid? [True, True] Translation: X:249.80, Y:-97.67, Z:-4.10 [[ 4.11669613e-01 -9.11316201e-01 -5.55979417e-03 2.49797266e+02] [-9.11210873e-01 -4.11706651e-01 1.38700489e-02 -9.76691018e+01] [-1.49290045e-02 -6.43732770e-04 -9.99888349e-01 -4.09768382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.020999985306593288 Centerline is valid? [True, True] Translation: X:249.82, Y:-97.78, Z:-4.10 [[ 4.81094150e-01 -8.76649592e-01 -5.82336704e-03 2.49816497e+02] [-8.76569643e-01 -4.81129020e-01 1.18543981e-02 -9.77819750e+01] [-1.31939442e-02 -5.98494821e-04 -9.99912777e-01 -4.09951477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.020782770818112112 Centerline is valid? [True, True] Translation: X:249.84, Y:-97.89, Z:-4.10 [[ 5.47915263e-01 -8.36503987e-01 -7.06712525e-03 2.49842931e+02] [-8.36418568e-01 -5.47960454e-01 1.19716443e-02 -9.78920979e+01] [-1.38868334e-02 -6.48371863e-04 -9.99903363e-01 -4.10065584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.021853452880872537 Centerline is valid? [True, True] Translation: X:249.87, Y:-97.99, Z:-4.10 [[ 6.10177715e-01 -7.92219309e-01 -8.46894543e-03 2.49872409e+02] [-7.92126887e-01 -6.10236097e-01 1.21202167e-02 -9.79934543e+01] [-1.47699259e-02 -6.87006746e-04 -9.99890683e-01 -4.09927316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.022115244842386014 Centerline is valid? [True, True] Translation: X:249.91, Y:-98.09, Z:-4.10 [[ 6.68045345e-01 -7.44045137e-01 -1.05948485e-02 2.49910211e+02] [-7.43933259e-01 -6.68128931e-01 1.29243448e-02 -9.80912295e+01] [-1.66950207e-02 -7.52188169e-04 -9.99860345e-01 -4.09830491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.021959663831619774 Centerline is valid? [True, True] Translation: X:249.96, Y:-98.19, Z:-4.10 [[ 7.21858200e-01 -6.91942397e-01 -1.16815667e-02 2.49961373e+02] [-6.91834703e-01 -7.21952327e-01 1.22303935e-02 -9.81888078e+01] [-1.68962620e-02 -7.46896617e-04 -9.99856969e-01 -4.09815407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.018712851631022334 Centerline is valid? [True, True] Translation: X:250.01, Y:-98.27, Z:-4.10 [[ 7.68878987e-01 -6.39264487e-01 -1.28848084e-02 2.50009979e+02] [-6.39159772e-01 -7.68986644e-01 1.15899917e-02 -9.82682807e+01] [-1.73173157e-02 -6.75849886e-04 -9.99849816e-01 -4.09922182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.01681813145927079 Centerline is valid? [True, True] Translation: X:250.04, Y:-98.30, Z:-4.10 [[ 8.13333801e-01 -5.81643813e-01 -1.33642597e-02 2.50037948e+02] [-5.81553626e-01 -8.13443390e-01 1.02582593e-02 -9.82952181e+01] [-1.68377218e-02 -5.71355305e-04 -9.99858072e-01 -4.09981471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.013332532306430226 Centerline is valid? [True, True] Translation: X:250.07, Y:-98.32, Z:-4.10 [[ 8.50317321e-01 -5.26138679e-01 -1.17704869e-02 2.50067929e+02] [-5.26082837e-01 -8.50398718e-01 7.67258594e-03 -9.83189341e+01] [-1.40464512e-02 -3.31881582e-04 -9.99901289e-01 -4.10389547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.011820797429913602 Centerline is valid? [True, True] Translation: X:250.10, Y:-98.35, Z:-4.10 [[ 8.83462970e-01 -4.68307748e-01 -1.34548962e-02 2.50095962e+02] [-4.68250426e-01 -8.83565404e-01 7.32911228e-03 -9.83462843e+01] [-1.53205609e-02 -1.74738416e-04 -9.99882618e-01 -4.10224490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:250.13, Y:-98.37, Z:-4.10 [[ 9.16707137e-01 -3.99305134e-01 -1.42630825e-02 2.50126186e+02] [-3.99254251e-01 -9.16818077e-01 6.37620746e-03 -9.83678959e+01] [-1.56227042e-02 -1.50518569e-04 -9.99877947e-01 -4.10196698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:250.16, Y:-98.39, Z:-4.10 [[ 9.45115161e-01 -3.26405923e-01 -1.47141117e-02 2.50158819e+02] [-3.26363895e-01 -9.45229682e-01 5.23997344e-03 -9.83872363e+01] [-1.56185734e-02 -1.50223558e-04 -9.99878011e-01 -4.10204988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.01177499266944854 Centerline is valid? [True, True] Translation: X:250.19, Y:-98.40, Z:-4.10 [[ 9.67266452e-01 -2.53328372e-01 -1.48440507e-02 2.50193180e+02] [-2.53296638e-01 -9.67380340e-01 4.01143031e-03 -9.84037914e+01] [-1.53760520e-02 -1.20173816e-04 -9.99881774e-01 -4.10290270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.01177499266944854 Centerline is valid? [True, True] Translation: X:250.23, Y:-98.42, Z:-4.10 [[ 9.84100462e-01 -1.76968995e-01 -1.51081328e-02 2.50228325e+02] [-1.76946274e-01 -9.84216420e-01 2.83822882e-03 -9.84189212e+01] [-1.53719509e-02 -1.19774493e-04 -9.99881837e-01 -4.10298544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.011890768001386703 Centerline is valid? [True, True] Translation: X:250.26, Y:-98.43, Z:-4.10 [[ 9.94578803e-01 -1.02952177e-01 -1.46237491e-02 2.50261762e+02] [-1.02940080e-01 -9.94686305e-01 1.57951922e-03 -9.84296358e+01] [-1.47086579e-02 -6.55864342e-05 -9.99891820e-01 -4.10336000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.012283449317673806 Centerline is valid? [True, True] Translation: X:250.30, Y:-98.44, Z:-4.10 [[ 9.99440817e-01 -3.06743244e-02 -1.33093704e-02 2.50295444e+02] [-3.06717356e-02 -9.99529432e-01 3.98636638e-04 -9.84376031e+01] [-1.33153353e-02 9.80776113e-06 -9.99911347e-01 -4.10493647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.012831469759305372 Centerline is valid? [True, True] Translation: X:250.33, Y:-98.44, Z:-4.11 [[ 9.98965548e-01 4.36675142e-02 -1.26879034e-02 2.50329854e+02] [ 4.36632850e-02 -9.99046118e-01 -6.10277710e-04 -9.84435722e+01] [-1.27024499e-02 5.56508645e-05 -9.99919319e-01 -4.10595629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.012917352785454611 Centerline is valid? [True, True] Translation: X:250.36, Y:-98.45, Z:-4.11 [[ 9.92435366e-01 1.22117996e-01 -1.26190131e-02 2.50364732e+02] [ 1.22107467e-01 -9.92515588e-01 -1.60436701e-03 -9.84493232e+01] [-1.27204893e-02 5.13548350e-05 -9.99919090e-01 -4.10611564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.012164834534659717 Centerline is valid? [True, True] Translation: X:250.40, Y:-98.46, Z:-4.11 [[ 9.78585894e-01 2.05435631e-01 -1.28782443e-02 2.50399504e+02] [ 2.05418160e-01 -9.78670629e-01 -2.67933082e-03 -9.84566717e+01] [-1.31539895e-02 -2.34698964e-05 -9.99913482e-01 -4.10501316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.011456272395095503 Centerline is valid? [True, True] Translation: X:250.44, Y:-98.46, Z:-4.11 [[ 9.57762433e-01 2.87253034e-01 -1.32971976e-02 2.50436808e+02] [ 2.87226849e-01 -9.57854730e-01 -3.87991174e-03 -9.84636302e+01] [-1.38513000e-02 -1.03278442e-04 -9.99904061e-01 -4.10582333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.011970726805340302 Centerline is valid? [True, True] Translation: X:250.47, Y:-98.47, Z:-4.10 [[ 9.29411941e-01 3.68790251e-01 -1.36818871e-02 2.50474594e+02] [ 3.68753766e-01 -9.29512616e-01 -5.19205420e-03 -9.84673473e+01] [-1.46322656e-02 -2.19690210e-04 -9.99892919e-01 -4.10486349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.012333220057576429 Centerline is valid? [True, True] Translation: X:250.51, Y:-98.46, Z:-4.11 [[ 8.96412513e-01 4.43015910e-01 -1.34725229e-02 2.50511936e+02] [ 4.42970306e-01 -8.96513710e-01 -6.36201786e-03 -9.84631570e+01] [-1.48967766e-02 -2.64935174e-04 -9.99889002e-01 -4.10532588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.013070168472009334 Centerline is valid? [True, True] Translation: X:250.55, Y:-98.45, Z:-4.11 [[ 8.57869147e-01 5.13734551e-01 -1.17190974e-02 2.50546706e+02] [ 5.13691036e-01 -8.57949144e-01 -6.69227046e-03 -9.84543375e+01] [-1.34924401e-02 -2.78902930e-04 -9.99908934e-01 -4.10631987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.013328819038404507 Centerline is valid? [True, True] Translation: X:250.58, Y:-98.44, Z:-4.11 [[ 8.14394779e-01 5.80212698e-01 -1.06943511e-02 2.50579230e+02] [ 5.80167248e-01 -8.14464943e-01 -7.26783069e-03 -9.84389157e+01] [-1.29270618e-02 -2.85628906e-04 -9.99916401e-01 -4.10717575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.013442794556903337 Centerline is valid? [True, True] Translation: X:250.61, Y:-98.42, Z:-4.11 [[ 7.64675481e-01 6.44348219e-01 -9.31568142e-03 2.50613005e+02] [ 6.44305215e-01 -7.64732162e-01 -7.45046769e-03 -9.84244483e+01] [-1.19246968e-02 -3.04952163e-04 -9.99928852e-01 -4.10874561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.014636176323294135 Centerline is valid? [True, True] Translation: X:250.65, Y:-98.41, Z:-4.11 [[ 7.10764080e-01 7.03377443e-01 -8.63686878e-03 2.50645737e+02] [ 7.03330952e-01 -7.10816480e-01 -8.09341998e-03 -9.84082774e+01] [-1.18319577e-02 -3.22064935e-04 -9.99929948e-01 -4.10762459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.014653644844120297 Centerline is valid? [True, True] Translation: X:250.68, Y:-98.39, Z:-4.11 [[ 6.52153085e-01 7.58035868e-01 -8.83044881e-03 2.50675516e+02] [ 7.57973919e-01 -6.52212762e-01 -9.69798595e-03 -9.83862299e+01] [-1.31107526e-02 -3.68678440e-04 -9.99913982e-01 -4.10783347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.014640710302719588 Centerline is valid? [True, True] Translation: X:250.70, Y:-98.36, Z:-4.11 [[ 5.90103558e-01 8.07281201e-01 -8.65177196e-03 2.50702985e+02] [ 8.07204222e-01 -5.90166842e-01 -1.11553757e-02 -9.83628537e+01] [-1.41115140e-02 -4.00919955e-04 -9.99900347e-01 -4.10746462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.015025590617542014 Centerline is valid? [True, True] Translation: X:250.73, Y:-98.34, Z:-4.11 [[ 5.25327315e-01 8.50857944e-01 -8.48364240e-03 2.50726878e+02] [ 8.50759778e-01 -5.25395641e-01 -1.29313980e-02 -9.83377397e+01] [-1.54600514e-02 -4.24325143e-04 -9.99880396e-01 -4.10596276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.01405749433084529 Centerline is valid? [True, True] Translation: X:250.74, Y:-98.31, Z:-4.11 [[ 4.59891957e-01 8.87944072e-01 -7.39673292e-03 2.50744049e+02] [ 8.87842018e-01 -4.59951285e-01 -1.34672512e-02 -9.83074653e+01] [-1.53603027e-02 -3.73649765e-04 -9.99881954e-01 -4.10649595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.01371624478825138 Centerline is valid? [True, True] Translation: X:250.76, Y:-98.28, Z:-4.11 [[ 3.91544077e-01 9.20139803e-01 -5.99830687e-03 2.50758735e+02] [ 9.20043980e-01 -3.91589891e-01 -1.32827996e-02 -9.82778109e+01] [-1.45709090e-02 -3.17904606e-04 -9.99893788e-01 -4.10708559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.012791523883434632 Centerline is valid? [True, True] Translation: X:250.77, Y:-98.25, Z:-4.11 [[ 3.21353586e-01 9.46946573e-01 -4.90511362e-03 2.50769213e+02] [ 9.46848740e-01 -3.21390907e-01 -1.36143070e-02 -9.82457858e+01] [-1.44684803e-02 -2.69394262e-04 -9.99895290e-01 -4.10892948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.012384234106961513 Centerline is valid? [True, True] Translation: X:250.78, Y:-98.22, Z:-4.11 [[ 2.47034415e-01 9.68999255e-01 -3.80017359e-03 2.50783488e+02] [ 9.68900037e-01 -2.47063510e-01 -1.38686871e-02 -9.82150549e+01] [-1.43776317e-02 -2.55945323e-04 -9.99896604e-01 -4.11024490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.012709663003383902 Centerline is valid? [True, True] Translation: X:250.80, Y:-98.18, Z:-4.11 [[ 1.68461001e-01 9.85704116e-01 -2.87874112e-03 2.50796370e+02] [ 9.85588787e-01 -1.68485334e-01 -1.50809810e-02 -9.81846916e+01] [-1.53504107e-02 -2.96697811e-04 -9.99882131e-01 -4.11001631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.01436213518567209 Centerline is valid? [True, True] Translation: X:250.81, Y:-98.15, Z:-4.11 [[ 8.50626145e-02 9.96373909e-01 -1.83972406e-03 2.50809068e+02] [ 9.96233800e-01 -8.50815138e-02 -1.67138370e-02 -9.81549196e+01] [-1.68097576e-02 -4.11072618e-04 -9.99858622e-01 -4.10832839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.015294467544100377 Centerline is valid? [True, True] Translation: X:250.82, Y:-98.12, Z:-4.11 [[ 2.79786814e-03 9.99995953e-01 -5.16425017e-04 2.50817293e+02] [ 9.99860506e-01 -2.80599214e-03 -1.64649712e-02 -9.81231725e+01] [-1.64663536e-02 -4.70286161e-04 -9.99864310e-01 -4.10842875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.016573624618362547 Centerline is valid? [True, True] Translation: X:250.82, Y:-98.09, Z:-4.11 [[-7.91830403e-02 9.96859789e-01 7.79713156e-04 2.50819580e+02] [ 9.96722894e-01 7.91850945e-02 -1.65285791e-02 -9.80914858e+01] [-1.65384175e-02 -5.31625190e-04 -9.99863090e-01 -4.10888120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.016409511485072508 Centerline is valid? [True, True] Translation: X:250.82, Y:-98.06, Z:-4.11 [[-1.57700419e-01 9.87484915e-01 2.03002506e-03 2.50821884e+02] [ 9.87353861e-01 1.57712580e-01 -1.60964516e-02 -9.80597267e+01] [-1.62151636e-02 -5.34064079e-04 -9.99868383e-01 -4.10951106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.016771481663321063 Centerline is valid? [True, True] Translation: X:250.82, Y:-98.03, Z:-4.11 [[-2.35357009e-01 9.71904079e-01 3.08856104e-03 2.50819957e+02] [ 9.71788984e-01 2.35376697e-01 -1.49660229e-02 -9.80287178e+01] [-1.52725140e-02 -5.20928793e-04 -9.99883233e-01 -4.11019972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.018657635066209943 Centerline is valid? [True, True] Translation: X:250.82, Y:-98.00, Z:-4.11 [[-3.11269838e-01 9.50313457e-01 3.92694453e-03 2.50815064e+02] [ 9.50216524e-01 3.11294212e-01 -1.35820274e-02 -9.79994335e+01] [-1.41296185e-02 -4.96227883e-04 -9.99900049e-01 -4.11070500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.01700536862255192 Centerline is valid? [True, True] Translation: X:250.81, Y:-97.97, Z:-4.11 [[-3.84527415e-01 9.23099943e-01 5.01625108e-03 2.50805523e+02] [ 9.23003840e-01 3.84559814e-01 -1.33289414e-02 -9.79705498e+01] [-1.42329936e-02 -4.95324365e-04 -9.99898583e-01 -4.11191944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.017227541919364 Centerline is valid? [True, True] Translation: X:250.79, Y:-97.94, Z:-4.11 [[-4.54538971e-01 8.90705724e-01 6.13483046e-03 2.50794020e+02] [ 8.90609772e-01 4.54580113e-01 -1.30825843e-02 -9.79442925e+01] [-1.44415047e-02 -4.82804455e-04 -9.99895599e-01 -4.11209968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.015291451046067443 Centerline is valid? [True, True] Translation: X:250.78, Y:-97.92, Z:-4.11 [[-5.19293434e-01 8.54565698e-01 7.19709666e-03 2.50778096e+02] [ 8.54472034e-01 5.19343132e-01 -1.26591372e-02 -9.79195825e+01] [-1.45558271e-02 -4.24088985e-04 -9.99893968e-01 -4.11262747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.014445554992816214 Centerline is valid? [True, True] Translation: X:250.76, Y:-97.90, Z:-4.11 [[-5.81901204e-01 8.13221702e-01 7.83912135e-03 2.50763042e+02] [ 8.13139343e-01 5.81953891e-01 -1.15792113e-02 -9.78953121e+01] [-1.39784731e-02 -3.63659022e-04 -9.99902230e-01 -4.11324638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.013526928746773106 Centerline is valid? [True, True] Translation: X:250.74, Y:-97.87, Z:-4.11 [[-6.40518799e-01 7.67902156e-01 7.87062586e-03 2.50744343e+02] [ 7.67838694e-01 6.40567092e-01 -9.87627817e-03 -9.78732186e+01] [-1.26256792e-02 -2.82570750e-04 -9.99920253e-01 -4.11415373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.012733488599224779 Centerline is valid? [True, True] Translation: X:250.73, Y:-97.85, Z:-4.11 [[-6.97450518e-01 7.16582410e-01 8.51033133e-03 2.50727903e+02] [ 7.16524500e-01 6.97502390e-01 -9.11359248e-03 -9.78499468e+01] [-1.24666165e-02 -2.58418892e-04 -9.99922255e-01 -4.11491140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.012476661900628142 Centerline is valid? [True, True] Translation: X:250.71, Y:-97.83, Z:-4.11 [[-7.50418438e-01 6.60882469e-01 1.03213394e-02 2.50711057e+02] [ 6.60815213e-01 7.50489371e-01 -9.43180582e-03 -9.78259150e+01] [-1.39793706e-02 -2.57302935e-04 -9.99902251e-01 -4.11386738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.01262725311732662 Centerline is valid? [True, True] Translation: X:250.73, Y:-97.81, Z:-4.11 [[-7.94900477e-01 6.06633831e-01 1.13413532e-02 2.50731221e+02] [ 6.06567671e-01 7.94981342e-01 -8.96245037e-03 -9.78104264e+01] [-1.44530898e-02 -2.44957864e-04 -9.99895519e-01 -4.11292907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.01302240131094716 Centerline is valid? [True, True] Translation: X:250.75, Y:-97.79, Z:-4.11 [[-8.35245278e-01 5.49756807e-01 1.15229993e-02 2.50748051e+02] [ 5.49700790e-01 8.35324730e-01 -7.85093760e-03 -9.77925311e+01] [-1.39415527e-02 -2.23256724e-04 -9.99902787e-01 -4.11209054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.012182418975132864 Centerline is valid? [True, True] Translation: X:250.76, Y:-97.77, Z:-4.12 [[-8.71586688e-01 4.90118042e-01 1.09977257e-02 2.50762346e+02] [ 4.90076144e-01 8.71656048e-01 -6.41152789e-03 -9.77740440e+01] [-1.27286396e-02 -1.98479365e-04 -9.99918968e-01 -4.11502088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.012350990720965386 Centerline is valid? [True, True] Translation: X:251.13, Y:-97.15, Z:-5.08 [[-8.26453822e-01 -5.62941702e-01 8.40957433e-03 2.51126827e+02] [ 5.62912813e-01 -8.26496606e-01 -5.70303533e-03 -9.71505066e+01] [ 1.01609611e-02 2.05618053e-05 9.99948376e-01 -5.07764486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.013180173513029981 Centerline is valid? [True, True] Translation: X:250.72, Y:-97.75, Z:-4.11 [[-8.75064094e-01 4.83862656e-01 1.18220947e-02 2.50723829e+02] [ 4.83814534e-01 8.75143911e-01 -6.82880466e-03 -9.77531563e+01] [-1.36502378e-02 -2.55940515e-04 -9.99906798e-01 -4.11421791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.014146064446944972 Centerline is valid? [True, True] Translation: X:250.74, Y:-97.73, Z:-4.11 [[-9.08216231e-01 4.18305729e-01 1.27904576e-02 2.50739149e+02] [ 4.18259563e-01 9.08306241e-01 -6.22186243e-03 -9.77281426e+01] [-1.42202932e-02 -3.01065235e-04 -9.99898841e-01 -4.11314468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.014266469108625801 Centerline is valid? [True, True] Translation: X:250.75, Y:-97.70, Z:-4.11 [[-9.36652540e-01 3.49999026e-01 1.35166619e-02 2.50748393e+02] [ 3.49957137e-01 9.36749997e-01 -5.42633314e-03 -9.77026431e+01] [-1.45609443e-02 -3.52336412e-04 -9.99893922e-01 -4.11443196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.014565804756687893 Centerline is valid? [True, True] Translation: X:250.76, Y:-97.68, Z:-4.12 [[-9.59698345e-01 2.80674950e-01 1.41654362e-02 2.50758356e+02] [ 2.80638347e-01 9.59802802e-01 -4.54961208e-03 -9.76770097e+01] [-1.48729875e-02 -3.90890589e-04 -9.99889315e-01 -4.11549275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.01572562663828363 Centerline is valid? [True, True] Translation: X:250.76, Y:-97.65, Z:-4.12 [[-9.77515576e-01 2.10394256e-01 1.40554857e-02 2.50763975e+02] [ 2.10366526e-01 9.77616537e-01 -3.43978562e-03 -9.76482309e+01] [-1.44645864e-02 -4.05640310e-04 -9.99895300e-01 -4.11524889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.015467114325276306 Centerline is valid? [True, True] Translation: X:250.93, Y:-96.96, Z:-5.08 [[-9.47264047e-01 -3.20222756e-01 1.21742656e-02 2.50932133e+02] [ 3.20199801e-01 -9.47342240e-01 -3.84282521e-03 -9.69595735e+01] [ 1.27637561e-02 2.58027252e-04 9.99918507e-01 -5.07808039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.015089178759057917 Centerline is valid? [True, True] Translation: X:250.72, Y:-97.64, Z:-4.12 [[-9.78706193e-01 2.04691884e-01 1.53433989e-02 2.50721660e+02] [ 2.04659243e-01 9.78826346e-01 -3.68502492e-03 -9.76380698e+01] [-1.57728177e-02 -4.66388322e-04 -9.99875493e-01 -4.11524453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.015217507342480943 Centerline is valid? [True, True] Translation: X:250.73, Y:-97.61, Z:-4.12 [[-9.90538217e-01 1.36285571e-01 1.61333124e-02 2.50726028e+02] [ 1.36260006e-01 9.90669489e-01 -2.67850058e-03 -9.76119382e+01] [-1.63478213e-02 -4.54831947e-04 -9.99866262e-01 -4.11532341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.015909621081718336 Centerline is valid? [True, True] Translation: X:250.73, Y:-97.58, Z:-4.11 [[-9.97599830e-01 6.74602719e-02 1.56106096e-02 2.50728351e+02] [ 6.74455523e-02 9.97721876e-01 -1.46807820e-03 -9.75842846e+01] [-1.56740837e-02 -4.11688372e-04 -9.99877069e-01 -4.11476722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.014046317999598549 Centerline is valid? [True, True] Translation: X:250.80, Y:-96.88, Z:-5.08 [[-9.84988262e-01 -1.72248486e-01 1.13394390e-02 2.50800312e+02] [ 1.72237913e-01 -9.85053528e-01 -1.90985785e-03 -9.68780820e+01] [ 1.14989246e-02 7.18937515e-05 9.99933883e-01 -5.07627616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.013274841940376706 Centerline is valid? [True, True] Translation: X:250.68, Y:-97.59, Z:-4.12 [[-9.97378550e-01 7.12086804e-02 1.28589021e-02 2.50680037e+02] [ 7.11994943e-02 9.97461408e-01 -1.17134782e-03 -9.75860325e+01] [-1.29096687e-02 -2.52729866e-04 -9.99916635e-01 -4.11761796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.011603730934692321 Centerline is valid? [True, True] Translation: X:250.67, Y:-97.57, Z:-4.12 [[-9.99882623e-01 7.53850484e-03 1.33383692e-02 2.50673044e+02] [ 7.53570037e-03 9.99971572e-01 -2.60503361e-04 -9.75658743e+01] [-1.33399538e-02 -1.59958830e-04 -9.99911006e-01 -4.11872328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.011394776974076063 Centerline is valid? [True, True] Translation: X:250.69, Y:-97.54, Z:-4.12 [[-9.98251902e-01 -5.73069823e-02 1.44585740e-02 2.50686402e+02] [-5.73020553e-02 9.98356602e-01 7.55155112e-04 -9.75430972e+01] [-1.44780885e-02 -7.46709790e-05 -9.99895184e-01 -4.11902325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.011504273593518783 Centerline is valid? [True, True] Translation: X:250.65, Y:-96.80, Z:-5.08 [[-9.99888421e-01 -7.02990445e-03 1.31805535e-02 2.50651329e+02] [ 7.02919385e-03 -9.99975290e-01 -1.00238788e-04 -9.68035384e+01] [ 1.31809325e-02 -7.57893760e-06 9.99913128e-01 -5.07558402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.011519395669560081 Centerline is valid? [True, True] Translation: X:250.60, Y:-97.55, Z:-4.12 [[-9.98079819e-01 -5.99085804e-02 1.57364818e-02 2.50604571e+02] [-5.99015993e-02 9.98203868e-01 9.15024151e-04 -9.75488010e+01] [-1.57630348e-02 -2.93732893e-05 -9.99875755e-01 -4.11861124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.011517651937959146 Centerline is valid? [True, True] Translation: X:250.56, Y:-96.81, Z:-5.07 [[-9.99928096e-01 -1.30651768e-03 1.19203583e-02 2.50562609e+02] [ 1.30388037e-03 -9.99999124e-01 -2.29013499e-04 -9.68089317e+01] [ 1.19206470e-02 -2.13454311e-04 9.99928924e-01 -5.07480966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.011320208921705254 Centerline is valid? [True, True] Translation: X:250.52, Y:-97.55, Z:-4.12 [[-9.97529182e-01 -6.93762000e-02 1.10667984e-02 2.50522836e+02] [-6.93729683e-02 9.97590564e-01 6.76096551e-04 -9.75490743e+01] [-1.10870387e-02 -9.33106146e-05 -9.99938533e-01 -4.12147832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.011276227927512879 Centerline is valid? [True, True] Translation: X:250.52, Y:-97.52, Z:-4.12 [[-9.89561348e-01 -1.43803995e-01 9.42065522e-03 2.50518879e+02] [-1.43798680e-01 9.89606182e-01 1.24262635e-03 -9.75181272e+01] [-9.50143328e-03 -1.25022783e-04 -9.99954853e-01 -4.12299166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.011435602143357353 Centerline is valid? [True, True] Translation: X:250.51, Y:-97.49, Z:-4.12 [[-9.76336947e-01 -2.16065107e-01 9.05733308e-03 2.50505537e+02] [-2.16057176e-01 9.76378947e-01 1.85687460e-03 -9.74909058e+01] [-9.24459515e-03 -1.43966528e-04 -9.99957257e-01 -4.12343191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.01246918590708457 Centerline is valid? [True, True] Translation: X:250.48, Y:-97.46, Z:-4.12 [[-9.56680765e-01 -2.90970134e-01 9.91437245e-03 2.50483935e+02] [-2.90956810e-01 9.56732113e-01 2.79271614e-03 -9.74611311e+01] [-1.02979955e-02 -2.12916362e-04 -9.99946952e-01 -4.12168349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.014132422788702637 Centerline is valid? [True, True] Translation: X:250.45, Y:-97.44, Z:-4.12 [[-9.31024701e-01 -3.64781101e-01 1.13028900e-02 2.50450234e+02] [-3.64758236e-01 9.31093257e-01 4.09592114e-03 -9.74351215e+01] [-1.20181593e-02 -3.09418451e-04 -9.99927731e-01 -4.11837904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.014631913957076822 Centerline is valid? [True, True] Translation: X:250.40, Y:-97.42, Z:-4.12 [[-9.00793908e-01 -4.34101787e-01 1.12238093e-02 2.50403474e+02] [-4.34072909e-01 9.00863761e-01 5.01933804e-03 -9.74222878e+01] [-1.22900266e-02 -3.50562409e-04 -9.99924413e-01 -4.11869290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.014702828319323397 Centerline is valid? [True, True] Translation: X:250.34, Y:-97.42, Z:-4.12 [[-8.66440712e-01 -4.99181332e-01 9.92420672e-03 2.50337905e+02] [-4.99152912e-01 8.66497484e-01 5.33678847e-03 -9.74235494e+01] [-1.12633253e-02 -3.29685882e-04 -9.99936512e-01 -4.11975895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.01384470840857672 Centerline is valid? [True, True] Translation: X:250.27, Y:-97.43, Z:-4.12 [[-8.28788789e-01 -5.59485759e-01 9.21026712e-03 2.50271077e+02] [-5.59455067e-01 8.28839913e-01 5.86740316e-03 -9.74339773e+01] [-1.09165655e-02 -2.89892656e-04 -9.99940371e-01 -4.11988070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.01249875892984984 Centerline is valid? [True, True] Translation: X:250.20, Y:-97.45, Z:-4.12 [[-7.88673633e-01 -6.14747627e-01 8.90256066e-03 2.50201088e+02] [-6.14711633e-01 7.88723846e-01 6.65608075e-03 -9.74544151e+01] [-1.11134717e-02 -2.23032213e-04 -9.99938219e-01 -4.11924107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.011528814399705678 Centerline is valid? [True, True] Translation: X:250.13, Y:-97.49, Z:-4.12 [[-7.44783871e-01 -6.67251901e-01 8.47863869e-03 2.50126081e+02] [-6.67210944e-01 7.44832114e-01 7.39439216e-03 -9.74860738e+01] [-1.12490846e-02 -1.49816509e-04 -9.99936716e-01 -4.11886188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.011298414969310833 Centerline is valid? [True, True] Translation: X:250.05, Y:-97.53, Z:-4.12 [[-6.95279654e-01 -7.18698718e-01 7.63905303e-03 2.50045414e+02] [-7.18656980e-01 6.95321610e-01 7.74620041e-03 -9.75302778e+01] [-1.08787830e-02 -1.04083240e-04 -9.99940819e-01 -4.12005418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.011337600093931942 Centerline is valid? [True, True] Translation: X:249.96, Y:-97.58, Z:-4.12 [[-6.42248279e-01 -7.66466645e-01 6.78455466e-03 2.49964421e+02] [-7.66424830e-01 6.42284111e-01 8.00626360e-03 -9.75849272e+01] [-1.04941457e-02 -5.78421296e-05 -9.99944933e-01 -4.12074548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.011380367235114729 Centerline is valid? [True, True] Translation: X:249.88, Y:-97.65, Z:-4.12 [[-5.82868665e-01 -8.12543677e-01 6.07393116e-03 2.49881524e+02] [-8.12500447e-01 5.82900310e-01 8.38166740e-03 -9.76475405e+01] [-1.03509672e-02 -4.96604962e-05 -9.99946426e-01 -4.12165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.011315119804632201 Centerline is valid? [True, True] Translation: X:249.80, Y:-97.72, Z:-4.12 [[-5.18833382e-01 -8.54856144e-01 5.73535343e-03 2.49803012e+02] [-8.54805068e-01 5.18865079e-01 9.34487188e-03 -9.77168506e+01] [-1.09643957e-02 -5.41776929e-05 -9.99939888e-01 -4.12128009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.011476202079809355 Centerline is valid? [True, True] Translation: X:249.73, Y:-97.80, Z:-4.12 [[-4.52792476e-01 -8.91599429e-01 5.42512770e-03 2.49727114e+02] [-8.91536562e-01 4.52824973e-01 1.05878295e-02 -9.77985748e+01] [-1.18967360e-02 -4.26101814e-05 -9.99929230e-01 -4.12022958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.011665614352346546 Centerline is valid? [True, True] Translation: X:249.66, Y:-97.89, Z:-4.12 [[-3.84771467e-01 -9.23001698e-01 4.33405541e-03 2.49657625e+02] [-9.22943954e-01 3.84795874e-01 1.03244246e-02 -9.78860579e+01] [-1.11971881e-02 -2.75462480e-05 -9.99937309e-01 -4.12043573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.012138630661808422 Centerline is valid? [True, True] Translation: X:249.60, Y:-97.98, Z:-4.12 [[-3.16657145e-01 -9.48534714e-01 3.18564138e-03 2.49595747e+02] [-9.48486515e-01 3.16673169e-01 9.56215290e-03 -9.79835293e+01] [-1.00788411e-02 6.38614573e-06 -9.99949207e-01 -4.12167343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.012670616437024778 Centerline is valid? [True, True] Translation: X:249.54, Y:-98.08, Z:-4.12 [[-2.45782876e-01 -9.69322645e-01 2.09488772e-03 2.49541852e+02] [-9.69286792e-01 2.45791803e-01 8.33700022e-03 -9.80820698e+01] [-8.59614933e-03 1.85448905e-05 -9.99963052e-01 -4.12301219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.012615742668018695 Centerline is valid? [True, True] Translation: X:249.49, Y:-98.19, Z:-4.12 [[-1.72597315e-01 -9.84991561e-01 1.33855708e-03 2.49491466e+02] [-9.84960744e-01 1.72602503e-01 7.79158050e-03 -9.81911314e+01] [-7.90567934e-03 2.63796962e-05 -9.99968749e-01 -4.12352620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.013210537989106257 Centerline is valid? [True, True] Translation: X:249.45, Y:-98.30, Z:-4.12 [[-9.84704713e-02 -9.95139729e-01 6.97667968e-04 2.49449968e+02] [-9.95112121e-01 9.84729363e-02 7.41271652e-03 -9.83012361e+01] [-7.44539012e-03 3.56758384e-05 -9.99972282e-01 -4.12338775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.013483569422033104 Centerline is valid? [True, True] Translation: X:248.73, Y:-98.35, Z:-5.08 [[-1.32137818e-01 9.91230985e-01 8.55082024e-04 2.48727687e+02] [-9.91216330e-01 -1.32140515e-01 5.39184219e-03 -9.83497625e+01] [ 5.45755203e-03 -1.35105004e-04 9.99985098e-01 -5.07538740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.014200184912789264 Centerline is valid? [True, True] Translation: X:249.42, Y:-98.58, Z:-4.12 [[-9.11637618e-02 -9.95835670e-01 6.98124374e-04 2.49422153e+02] [-9.95800198e-01 9.11664071e-02 8.40541927e-03 -9.85840140e+01] [-8.43406182e-03 7.10772493e-05 -9.99964430e-01 -4.12278561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.013755858810993124 Centerline is valid? [True, True] Translation: X:249.39, Y:-98.70, Z:-4.12 [[-1.32371480e-02 -9.99912384e-01 4.83419524e-05 2.49386270e+02] [-9.99873954e-01 1.32370631e-02 8.76673255e-03 -9.87042595e+01] [-8.76660435e-03 6.77106771e-05 -9.99961570e-01 -4.12220846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.013288835577672825 Centerline is valid? [True, True] Translation: X:249.36, Y:-98.82, Z:-4.12 [[ 6.57700327e-02 -9.97834602e-01 -6.40894050e-04 2.49360492e+02] [-9.97794600e-01 -6.57731348e-02 8.93483743e-03 -9.88247072e+01] [-8.95764356e-03 5.18360714e-05 -9.99959878e-01 -4.12240445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.012969991577696918 Centerline is valid? [True, True] Translation: X:249.34, Y:-98.94, Z:-4.12 [[ 1.44511857e-01 -9.89502326e-01 -1.21248232e-03 2.49344145e+02] [-9.89468654e-01 -1.44516942e-01 8.16308963e-03 -9.89404195e+01] [-8.25262041e-03 2.00500144e-05 -9.99965946e-01 -4.12261557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.011823068420520791 Centerline is valid? [True, True] Translation: X:249.33, Y:-99.06, Z:-4.12 [[ 2.24960635e-01 -9.74366591e-01 -1.56783505e-03 2.49333279e+02] [-9.74341982e-01 -2.24966097e-01 6.92514196e-03 -9.90618113e+01] [-7.10033669e-03 -3.02768248e-05 -9.99974792e-01 -4.12375000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.011408499644560805 Centerline is valid? [True, True] Translation: X:249.33, Y:-99.18, Z:-4.12 [[ 3.04326754e-01 -9.52565473e-01 -2.06076898e-03 2.49331442e+02] [-9.52542034e-01 -3.04333723e-01 6.68269045e-03 -9.91827391e+01] [-6.99286168e-03 -7.07524138e-05 -9.99975547e-01 -4.12386086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.011311498430323126 Centerline is valid? [True, True] Translation: X:249.34, Y:-99.30, Z:-4.12 [[ 3.79732911e-01 -9.25091964e-01 -2.78819118e-03 2.49342059e+02] [-9.25065119e-01 -3.79743134e-01 7.04829968e-03 -9.93039224e+01] [-7.57912185e-03 -9.72129517e-05 -9.99971273e-01 -4.12388948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.011543288028770901 Centerline is valid? [True, True] Translation: X:249.36, Y:-99.42, Z:-4.12 [[ 4.52431114e-01 -8.91794333e-01 -2.99242486e-03 2.49359330e+02] [-8.91773057e-01 -4.52440994e-01 6.16123768e-03 -9.94197733e+01] [-6.84845253e-03 -1.18971756e-04 -9.99976542e-01 -4.12435338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.011656953122460692 Centerline is valid? [True, True] Translation: X:249.39, Y:-99.53, Z:-4.12 [[ 5.20034685e-01 -8.54138890e-01 -3.26843407e-03 2.49387426e+02] [-8.54120513e-01 -5.20044941e-01 5.60431597e-03 -9.95310387e+01] [-6.48659683e-03 -1.22802102e-04 -9.99978954e-01 -4.12478029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.011789042540166017 Centerline is valid? [True, True] Translation: X:249.42, Y:-99.64, Z:-4.13 [[ 5.84826013e-01 -8.11150358e-01 -3.69196646e-03 2.49424785e+02] [-8.11132751e-01 -5.84837651e-01 5.34625732e-03 -9.96412980e+01] [-6.49581953e-03 -1.31955443e-04 -9.99978893e-01 -4.12556659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.012158041306570092 Centerline is valid? [True, True] Translation: X:249.46, Y:-99.74, Z:-4.13 [[ 6.46920333e-01 -7.62547106e-01 -3.99917606e-03 2.49464968e+02] [-7.62531105e-01 -6.46932677e-01 4.94214216e-03 -9.97433664e+01] [-6.35581388e-03 -1.47676113e-04 -9.99979791e-01 -4.12570566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.012554864615332187 Centerline is valid? [True, True] Translation: X:249.52, Y:-99.84, Z:-4.13 [[ 7.04929011e-01 -7.09260599e-01 -4.94895505e-03 2.49515291e+02] [-7.09241341e-01 -7.04946361e-01 5.22950684e-03 -9.98437859e+01] [-7.19783100e-03 -1.76427572e-04 -9.99974080e-01 -4.12527323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.012915229711870823 Centerline is valid? [True, True] Translation: X:249.57, Y:-99.93, Z:-4.12 [[ 7.57674481e-01 -6.52608210e-01 -5.64839916e-03 2.49567791e+02] [-6.52588149e-01 -7.57695510e-01 5.12071959e-03 -9.99331714e+01] [-7.62159033e-03 -1.93760204e-04 -9.99970936e-01 -4.12494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.013918713928640771 Centerline is valid? [True, True] Translation: X:249.59, Y:-99.96, Z:-4.12 [[ 8.08390886e-01 -5.88607598e-01 -6.72833736e-03 2.49590134e+02] [-5.88584734e-01 -8.08418851e-01 5.19349101e-03 -9.99630801e+01] [-8.49624302e-03 -2.38174148e-04 -9.99963878e-01 -4.12393636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.01369660705733636 Centerline is valid? [True, True] Translation: X:249.62, Y:-99.99, Z:-4.12 [[ 8.51899488e-01 -5.23663013e-01 -6.65667940e-03 2.49616224e+02] [-5.23644923e-01 -8.51925464e-01 4.35859640e-03 -9.99891555e+01] [-7.95343042e-03 -2.27349666e-04 -9.99968345e-01 -4.12461355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.014009660809517398 Centerline is valid? [True, True] Translation: X:249.64, Y:-100.01, Z:-4.13 [[ 8.89372032e-01 -4.57144320e-01 -6.03811843e-03 2.49643884e+02] [-4.57132290e-01 -8.89392508e-01 3.32217221e-03 -1.00010821e+02] [-6.88896945e-03 -1.94428145e-04 -9.99976252e-01 -4.12531451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.01288608673028978 Centerline is valid? [True, True] Translation: X:249.68, Y:-100.03, Z:-4.13 [[ 9.21613070e-01 -3.88041351e-01 -7.29785809e-03 2.49675001e+02] [-3.88027486e-01 -9.21641943e-01 3.28621514e-03 -1.00027798e+02] [-8.00119947e-03 -1.96849307e-04 -9.99967971e-01 -4.12604323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.012614619901621112 Centerline is valid? [True, True] Translation: X:249.71, Y:-100.05, Z:-4.13 [[ 9.48752753e-01 -3.15933520e-01 -7.36379291e-03 2.49706113e+02] [-3.15922485e-01 -9.48781312e-01 2.64702555e-03 -1.00045276e+02] [-7.82291319e-03 -1.84985025e-04 -9.99969383e-01 -4.12620966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.012447556329483677 Centerline is valid? [True, True] Translation: X:249.74, Y:-100.06, Z:-4.13 [[ 9.69971853e-01 -2.43118402e-01 -6.93162652e-03 2.49738400e+02] [-2.43111018e-01 -9.69996607e-01 1.90150469e-03 -1.00057567e+02] [-7.18594499e-03 -1.59251249e-04 -9.99974168e-01 -4.12615141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.011724302949854274 Centerline is valid? [True, True] Translation: X:249.77, Y:-100.07, Z:-4.13 [[ 9.85595040e-01 -1.68979596e-01 -6.95073243e-03 2.49771837e+02] [-1.68974388e-01 -9.85619539e-01 1.33404868e-03 -1.00069776e+02] [-7.07620470e-03 -1.40336003e-04 -9.99974954e-01 -4.12676844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.011449184780853132 Centerline is valid? [True, True] Translation: X:249.80, Y:-100.08, Z:-4.13 [[ 9.95373359e-01 -9.58919841e-02 -6.05010110e-03 2.49801722e+02] [-9.58895801e-02 -9.95391740e-01 6.86839083e-04 -1.00075957e+02] [-6.08808303e-03 -1.03519671e-04 -9.99981462e-01 -4.12661523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.011374450810634698 Centerline is valid? [True, True] Translation: X:249.83, Y:-100.08, Z:-4.13 [[ 9.99744520e-01 -2.18888103e-02 -5.63686022e-03 2.49831814e+02] [-2.18880245e-02 -9.99760408e-01 2.01062002e-04 -1.00080527e+02] [-5.63991068e-03 -7.76308999e-05 -9.99984093e-01 -4.12687887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.011931477577557218 Centerline is valid? [True, True] Translation: X:249.86, Y:-100.08, Z:-4.13 [[ 9.98744349e-01 4.97206377e-02 -6.13054422e-03 2.49861970e+02] [ 4.97199208e-02 -9.98763164e-01 -2.69380900e-04 -1.00080938e+02] [-6.13635553e-03 -3.57675209e-05 -9.99981172e-01 -4.12516385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.012644582584226361 Centerline is valid? [True, True] Translation: X:249.89, Y:-100.08, Z:-4.12 [[ 9.92294883e-01 1.23713445e-01 -6.77116841e-03 2.49892047e+02] [ 1.23710583e-01 -9.92317985e-01 -8.41418207e-04 -1.00080845e+02] [-6.82324694e-03 -2.73021325e-06 -9.99976721e-01 -4.12480942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.013397227598261181 Centerline is valid? [True, True] Translation: X:249.92, Y:-100.08, Z:-4.12 [[ 9.80223753e-01 1.97759077e-01 -7.26234367e-03 2.49920866e+02] [ 1.97753432e-01 -9.80250655e-01 -1.49454893e-03 -1.00077443e+02] [-7.41447776e-03 2.88389803e-05 -9.99972512e-01 -4.12431476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.013033156858627574 Centerline is valid? [True, True] Translation: X:249.95, Y:-100.08, Z:-4.12 [[ 9.61590227e-01 2.74375185e-01 -7.90525812e-03 2.49951403e+02] [ 2.74365599e-01 -9.61622721e-01 -2.29381072e-03 -1.00078521e+02] [-8.23124056e-03 3.67750905e-05 -9.99966122e-01 -4.12385829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.012482606351041122 Centerline is valid? [True, True] Translation: X:249.98, Y:-100.08, Z:-4.12 [[ 9.36109855e-01 3.51625710e-01 -7.59606200e-03 2.49982484e+02] [ 3.51614039e-01 -9.36140673e-01 -2.86490936e-03 -1.00077875e+02] [-8.11835838e-03 1.09878439e-05 -9.99967046e-01 -4.12417442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.01190536738562566 Centerline is valid? [True, True] Translation: X:250.01, Y:-100.08, Z:-4.13 [[ 9.04381473e-01 4.26669320e-01 -6.88786815e-03 2.50013429e+02] [ 4.26657098e-01 -9.04407702e-01 -3.22950532e-03 -1.00076022e+02] [-7.60737184e-03 -1.80530583e-05 -9.99971063e-01 -4.12519206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.011367811281748958 Centerline is valid? [True, True] Translation: X:250.04, Y:-100.07, Z:-4.13 [[ 8.65564760e-01 5.00764900e-01 -5.67109205e-03 2.50044384e+02] [ 5.00754612e-01 -8.65583336e-01 -3.21051097e-03 -1.00071894e+02] [-6.51651398e-03 -6.09203501e-05 -9.99978765e-01 -4.12613549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.011286491667179599 Centerline is valid? [True, True] Translation: X:250.07, Y:-100.06, Z:-4.13 [[ 8.21763123e-01 5.69808051e-01 -4.91487459e-03 2.50074192e+02] [ 5.69798457e-01 -8.21777816e-01 -3.30745020e-03 -1.00064022e+02] [-5.92354666e-03 -8.25473597e-05 -9.99982452e-01 -4.12632636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.011524838846110046 Centerline is valid? [True, True] Translation: X:250.10, Y:-100.05, Z:-4.13 [[ 7.71007605e-01 6.36809833e-01 -4.52874024e-03 2.50104596e+02] [ 6.36799719e-01 -7.71020897e-01 -3.59092099e-03 -1.00054208e+02] [-5.77848716e-03 -1.15273116e-04 -9.99983298e-01 -4.12642462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.012616260936758824 Centerline is valid? [True, True] Translation: X:250.13, Y:-100.04, Z:-4.13 [[ 7.14230991e-01 6.99893568e-01 -4.80471221e-03 2.50133470e+02] [ 6.99879249e-01 -7.14247133e-01 -4.47987047e-03 -1.00042286e+02] [-6.56718445e-03 -1.63056048e-04 -9.99978423e-01 -4.12600462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.013220631547045624 Centerline is valid? [True, True] Translation: X:250.16, Y:-100.03, Z:-4.13 [[ 6.54183071e-01 7.56323828e-01 -4.33326422e-03 2.50161690e+02] [ 7.56309094e-01 -6.54197396e-01 -4.72455631e-03 -1.00027688e+02] [-6.40810468e-03 -1.86562380e-04 -9.99979450e-01 -4.12512006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.014523808390647423 Centerline is valid? [True, True] Translation: X:250.19, Y:-100.01, Z:-4.12 [[ 5.90088020e-01 8.07329632e-01 -3.87221617e-03 2.50187040e+02] [ 8.07314498e-01 -5.90100689e-01 -4.94760095e-03 -1.00010233e+02] [-6.27934229e-03 -2.06576204e-04 -9.99980263e-01 -4.12420919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.014076272531220381 Centerline is valid? [True, True] Translation: X:250.21, Y:-99.99, Z:-4.12 [[ 5.24981238e-01 8.51107484e-01 -3.27879053e-03 2.50208943e+02] [ 8.51093198e-01 -5.24991439e-01 -4.93539045e-03 -9.99895641e+01] [-5.92188471e-03 -1.99568931e-04 -9.99982446e-01 -4.12498378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.014088832894207204 Centerline is valid? [True, True] Translation: X:250.23, Y:-99.97, Z:-4.12 [[ 4.58042216e-01 8.88923928e-01 -3.40264519e-03 2.50226643e+02] [ 8.88902738e-01 -4.58054806e-01 -6.14141200e-03 -9.99668136e+01] [-7.01784606e-03 -2.11594662e-04 -9.99975352e-01 -4.12483876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.01366856440524963 Centerline is valid? [True, True] Translation: X:250.24, Y:-99.94, Z:-4.12 [[ 3.87911740e-01 9.21691199e-01 -3.13296947e-03 2.50244639e+02] [ 9.21665463e-01 -3.87924332e-01 -6.89111496e-03 -9.99435794e+01] [-7.56683510e-03 -2.14405360e-04 -9.99971348e-01 -4.12427400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.01363892937861485 Centerline is valid? [True, True] Translation: X:250.26, Y:-99.92, Z:-4.12 [[ 3.15659356e-01 9.48867264e-01 -3.17585400e-03 2.50258481e+02] [ 9.48826481e-01 -3.15675244e-01 -8.80050529e-03 -9.99182392e+01] [-9.35304986e-03 -2.35372539e-04 -9.99956232e-01 -4.12259947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.01324301576836096 Centerline is valid? [True, True] Translation: X:250.27, Y:-99.89, Z:-4.12 [[ 2.41877533e-01 9.70303191e-01 -2.64120803e-03 2.50269610e+02] [ 9.70255314e-01 -2.41891843e-01 -9.64170578e-03 -9.98922734e+01] [-9.99426456e-03 -2.30534125e-04 -9.99950030e-01 -4.12285275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.012746256851251223 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.87, Z:-4.12 [[ 1.68935431e-01 9.85625399e-01 -1.84184185e-03 2.50275976e+02] [ 9.85578443e-01 -1.68945365e-01 -9.62269017e-03 -9.98658885e+01] [-9.79553848e-03 -1.89666315e-04 -9.99952005e-01 -4.12323437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.011836444373979276 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.84, Z:-4.12 [[ 9.69446295e-02 9.95289284e-01 -9.90144741e-04 2.50277418e+02] [ 9.95249990e-01 -9.69496014e-02 -8.84494829e-03 -9.98391436e+01] [-8.89927639e-03 -1.27971308e-04 -9.99960392e-01 -4.12485604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.011467100629226127 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.81, Z:-4.13 [[ 2.26966377e-02 9.99742360e-01 -2.76678938e-04 2.50281953e+02] [ 9.99708854e-01 -2.26981423e-02 -8.18542007e-03 -9.98130640e+01] [-8.18959127e-03 -9.08168708e-05 -9.99966461e-01 -4.12650483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.01153561614240126 Centerline is valid? [True, True] Translation: X:250.29, Y:-99.79, Z:-4.13 [[-5.14856921e-02 9.98673683e-01 3.15160159e-04 2.50286147e+02] [ 9.98647416e-01 5.14866238e-02 -7.24329244e-03 -9.97876096e+01] [-7.24991207e-03 -5.81920461e-05 -9.99973717e-01 -4.12666410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.0118806223035726 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.76, Z:-4.13 [[-1.25965208e-01 9.92034290e-01 8.56231853e-04 2.50283478e+02] [ 9.92009565e-01 1.25968113e-01 -7.00416807e-03 -9.97622933e+01] [-7.05623281e-03 -3.28912972e-05 -9.99975104e-01 -4.12767233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.012358720904400785 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.74, Z:-4.13 [[-2.01614364e-01 9.79463610e-01 1.63869416e-03 2.50279295e+02] [ 9.79430779e-01 2.01621023e-01 -8.01945983e-03 -9.97372572e+01] [-8.18516427e-03 -1.18507929e-05 -9.99966501e-01 -4.12724931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.012396426664712357 Centerline is valid? [True, True] Translation: X:250.29, Y:-99.71, Z:-4.13 [[-2.75740578e-01 9.61226533e-01 3.26882615e-03 2.50285007e+02] [ 9.61160693e-01 2.75759950e-01 -1.12504573e-02 -9.97088464e+01] [-1.17156494e-02 3.96596028e-05 -9.99931369e-01 -4.12536128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.012818783167684084 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.68, Z:-4.12 [[-3.49167059e-01 9.37048109e-01 4.81723014e-03 2.50284451e+02] [ 9.36961800e-01 3.49200280e-01 -1.27180761e-02 -9.96815498e+01] [-1.35996273e-02 7.28273716e-05 -9.99907518e-01 -4.12341998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.013446579201501649 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.65, Z:-4.12 [[-4.18425580e-01 9.08229843e-01 6.21185689e-03 2.50281840e+02] [ 9.08134442e-01 4.18471666e-01 -1.31643185e-02 -9.96544179e+01] [-1.45557131e-02 1.32913576e-04 -9.99894051e-01 -4.12346282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.014656736725701544 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.63, Z:-4.12 [[-4.83899399e-01 8.75096474e-01 6.89437315e-03 2.50276194e+02] [ 8.75013305e-01 4.83948471e-01 -1.20662095e-02 -9.96273488e+01] [-1.38956187e-02 1.93836711e-04 -9.99903432e-01 -4.12409130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.0182760777327726 Centerline is valid? [True, True] Translation: X:250.26, Y:-99.61, Z:-4.12 [[-5.48640514e-01 8.36028657e-01 7.04774908e-03 2.50263684e+02] [ 8.35964383e-01 5.48685742e-01 -1.03685790e-02 -9.96057912e+01] [-1.25354286e-02 2.03044705e-04 -9.99921408e-01 -4.12341061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.015090064746250666 Centerline is valid? [True, True] Translation: X:250.26, Y:-99.58, Z:-4.13 [[-6.11922886e-01 7.90885719e-01 7.08251072e-03 2.50258377e+02] [ 7.90836201e-01 6.11963844e-01 -8.85198769e-03 -9.95765876e+01] [-1.13351511e-02 1.84372027e-04 -9.99935738e-01 -4.12771929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.014000665475821893 Centerline is valid? [True, True] Translation: X:250.25, Y:-99.55, Z:-4.13 [[-6.74763421e-01 7.38005989e-01 6.44092838e-03 2.50251087e+02] [ 7.37973856e-01 6.74794153e-01 -6.88758813e-03 -9.95470329e+01] [-9.42938210e-03 1.05744229e-04 -9.99955537e-01 -4.12819026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.012043176581103127 Centerline is valid? [True, True] Translation: X:250.24, Y:-99.52, Z:-4.13 [[-7.36582342e-01 6.76314350e-01 6.73453049e-03 2.50241995e+02] [ 6.76286308e-01 7.36613128e-01 -6.15864159e-03 -9.95167416e+01] [-9.12592125e-03 1.81241203e-05 -9.99958358e-01 -4.12718686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.010948904133847267 Centerline is valid? [True, True] Translation: X:250.26, Y:-99.49, Z:-4.13 [[-7.87947515e-01 6.15701492e-01 7.09829249e-03 2.50261366e+02] [ 6.15675889e-01 7.87979486e-01 -5.61518290e-03 -9.94875330e+01] [-9.05058535e-03 -5.42218789e-05 -9.99959041e-01 -4.12704547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.011902711359606764 Centerline is valid? [True, True] Translation: X:250.28, Y:-99.45, Z:-4.13 [[-8.36345473e-01 5.48150542e-01 7.56522792e-03 2.50277992e+02] [ 5.48126305e-01 8.36379672e-01 -5.15730326e-03 -9.94528006e+01] [-9.15438142e-03 -1.66586808e-04 -9.99958084e-01 -4.12548767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.012748773994663856 Centerline is valid? [True, True] Translation: X:250.64, Y:-98.90, Z:-5.08 [[-7.80096915e-01 -6.25626268e-01 6.36994750e-03 2.50644278e+02] [ 6.25606301e-01 -7.80122917e-01 -4.99906725e-03 -9.88993606e+01] [ 8.09688981e-03 8.53223614e-05 9.99967216e-01 -5.08259234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.013977151016287428 Centerline is valid? [True, True] Translation: X:250.24, Y:-99.42, Z:-4.12 [[-8.44473162e-01 5.35537210e-01 8.06075699e-03 2.50237304e+02] [ 5.35509578e-01 8.44511584e-01 -5.44755373e-03 -9.94193708e+01] [-9.72477039e-03 -2.83700344e-04 -9.99952673e-01 -4.12478982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.014556878283196946 Centerline is valid? [True, True] Translation: X:250.25, Y:-99.40, Z:-4.12 [[-8.80898610e-01 4.73231624e-01 8.33482881e-03 2.50254044e+02] [ 4.73207254e-01 8.80937991e-01 -4.81156254e-03 -9.93973543e+01] [-9.61945090e-03 -2.94397296e-04 -9.99953689e-01 -4.12418952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.015447680734528488 Centerline is valid? [True, True] Translation: X:250.26, Y:-99.37, Z:-4.12 [[-9.12311613e-01 4.09383860e-01 9.61128029e-03 2.50261166e+02] [ 4.09357380e-01 9.12362182e-01 -4.66738622e-03 -9.93712432e+01] [-1.06797212e-02 -3.23662130e-04 -9.99942918e-01 -4.12249253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.01414345648410924 Centerline is valid? [True, True] Translation: X:250.27, Y:-99.36, Z:-4.12 [[-9.38297238e-01 3.45679337e-01 1.02023831e-02 2.50272786e+02] [ 3.45655314e-01 9.38352653e-01 -4.08693020e-03 -9.93552701e+01] [-1.09862005e-02 -3.08247400e-04 -9.99939602e-01 -4.12341159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.013743656700470668 Centerline is valid? [True, True] Translation: X:250.52, Y:-98.73, Z:-5.08 [[-8.94694007e-01 -4.46615792e-01 7.54768115e-03 2.50524739e+02] [ 4.46600801e-01 -8.94725838e-01 -3.66054523e-03 -9.87318978e+01] [ 8.38796265e-03 9.57325685e-05 9.99964816e-01 -5.08401135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.01340805478797257 Centerline is valid? [True, True] Translation: X:250.23, Y:-99.35, Z:-4.12 [[-9.38667431e-01 3.44692878e-01 9.50125871e-03 2.50232607e+02] [ 3.44672351e-01 9.38715479e-01 -3.77098514e-03 -9.93458515e+01] [-1.02188103e-02 -2.64879756e-04 -9.99947752e-01 -4.12386747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.012575298380721946 Centerline is valid? [True, True] Translation: X:250.24, Y:-99.33, Z:-4.12 [[-9.59724534e-01 2.80759182e-01 1.01538678e-02 2.50240958e+02] [ 2.80740872e-01 9.59778217e-01 -3.21502601e-03 -9.93274162e+01] [-1.06481092e-02 -2.34933636e-04 -9.99943280e-01 -4.12321346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.012001947065587831 Centerline is valid? [True, True] Translation: X:250.24, Y:-99.31, Z:-4.12 [[-9.76695828e-01 2.14420051e-01 9.44997016e-03 2.50244415e+02] [ 2.14408068e-01 9.76741523e-01 -2.27531214e-03 -9.93054701e+01] [-9.71805079e-03 -1.96138033e-04 -9.99952759e-01 -4.12383840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.011193898910430999 Centerline is valid? [True, True] Translation: X:250.25, Y:-99.29, Z:-4.12 [[-9.88890424e-01 1.48389553e-01 8.73328676e-03 2.50252812e+02] [ 1.48382420e-01 9.88928975e-01 -1.46275983e-03 -9.92866431e+01] [-8.85365861e-03 -1.50642959e-04 -9.99960794e-01 -4.12483434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.01066717052127285 Centerline is valid? [True, True] Translation: X:250.38, Y:-98.58, Z:-5.08 [[-9.72851098e-01 -2.31334808e-01 6.70434517e-03 2.50376720e+02] [ 2.31329398e-01 -9.72874199e-01 -1.58213870e-03 -9.85771247e+01] [ 6.88848819e-03 1.17267596e-05 9.99976274e-01 -5.08258339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.010498326583808344 Centerline is valid? [True, True] Translation: X:250.21, Y:-99.29, Z:-4.12 [[-9.88862096e-01 1.48584123e-01 8.63217487e-03 2.50207781e+02] [ 1.48577455e-01 9.88899765e-01 -1.41225689e-03 -9.92891060e+01] [-8.74619465e-03 -1.13980738e-04 -9.99961745e-01 -4.12469717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.011409647879523591 Centerline is valid? [True, True] Translation: X:250.33, Y:-98.57, Z:-5.08 [[-9.73324441e-01 -2.29342691e-01 6.43917679e-03 2.50325221e+02] [ 2.29337403e-01 -9.73345740e-01 -1.55778976e-03 -9.85707703e+01] [ 6.62481299e-03 -3.94907663e-05 9.99978055e-01 -5.08455826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.011873634573975098 Centerline is valid? [True, True] Translation: X:250.16, Y:-99.27, Z:-4.12 [[-9.90361202e-01 1.38166307e-01 9.73453131e-03 2.50155213e+02] [ 1.38157791e-01 9.90409025e-01 -1.54515113e-03 -9.92724493e+01] [-9.85465549e-03 -1.85356393e-04 -9.99951425e-01 -4.12253122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.012444716477312639 Centerline is valid? [True, True] Translation: X:250.16, Y:-99.24, Z:-4.12 [[-9.97920580e-01 6.33498969e-02 1.18872128e-02 2.50158737e+02] [ 6.33422865e-02 9.97991344e-01 -1.01600025e-03 -9.92414485e+01] [-1.19276990e-02 -2.60924316e-04 -9.99928828e-01 -4.12112070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.012867350587389493 Centerline is valid? [True, True] Translation: X:250.22, Y:-98.54, Z:-5.09 [[-9.86206924e-01 -1.65259664e-01 9.22750302e-03 2.50218731e+02] [ 1.65252883e-01 -9.86250091e-01 -1.49783712e-03 -9.85406922e+01] [ 9.34815775e-03 4.76941319e-05 9.99956304e-01 -5.08680201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.01251962403022169 Centerline is valid? [True, True] Translation: X:250.10, Y:-99.23, Z:-4.12 [[-9.98303151e-01 5.75697656e-02 8.74881093e-03 2.50103400e+02] [ 5.75655894e-02 9.98341461e-01 -7.28626466e-04 -9.92349859e+01] [-8.77624754e-03 -2.23759639e-04 -9.99961463e-01 -4.12343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.012601230914626326 Centerline is valid? [True, True] Translation: X:250.11, Y:-99.21, Z:-4.12 [[-9.99905205e-01 -1.19251507e-02 6.88274503e-03 2.50106312e+02] [-1.19260927e-02 9.99928877e-01 -9.58323562e-05 -9.92081809e+01] [-6.88111270e-03 -1.77907527e-04 -9.99976309e-01 -4.12447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.011282394694737324 Centerline is valid? [True, True] Translation: X:250.11, Y:-99.19, Z:-4.12 [[-9.96973439e-01 -7.75280824e-02 5.77566527e-03 2.50105606e+02] [-7.75275240e-02 9.96990160e-01 3.20834839e-04 -9.91852419e+01] [-5.78315516e-03 -1.27909216e-04 -9.99983269e-01 -4.12498669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.010246200542066475 Centerline is valid? [True, True] Translation: X:250.07, Y:-98.47, Z:-5.09 [[-9.99971445e-01 -5.01537762e-03 5.65295343e-03 2.50071054e+02] [ 5.01596886e-03 -9.99987416e-01 9.04161970e-05 -9.84730296e+01] [ 5.65242882e-03 1.18768653e-04 9.99984018e-01 -5.08530648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.010305718168443797 Centerline is valid? [True, True] Translation: X:250.03, Y:-99.20, Z:-4.12 [[-9.97435184e-01 -7.10302871e-02 8.81768863e-03 2.50033500e+02] [-7.10280365e-02 9.97474157e-01 5.68531701e-04 -9.91987676e+01] [-8.83579950e-03 -5.92295874e-05 -9.99960962e-01 -4.12182998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.010477200114017657 Centerline is valid? [True, True] Translation: X:249.99, Y:-98.47, Z:-5.09 [[-9.99950639e-01 6.69510653e-03 7.34132038e-03 2.49986765e+02] [-6.69518761e-03 -9.99977587e-01 1.35316727e-05 -9.84730818e+01] [ 7.34124644e-03 -3.56205126e-05 9.99973052e-01 -5.08705047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.010489032940520868 Centerline is valid? [True, True] Translation: X:249.95, Y:-99.21, Z:-4.12 [[-9.97333042e-01 -7.24041985e-02 9.18884646e-03 2.49950406e+02] [-7.24013095e-02 9.97375371e-01 6.47106264e-04 -9.92069924e+01] [-9.21158236e-03 -1.99040572e-05 -9.99957572e-01 -4.12200648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.010311055556536842 Centerline is valid? [True, True] Translation: X:249.94, Y:-99.18, Z:-4.12 [[-9.89481979e-01 -1.44382723e-01 8.89054247e-03 2.49936831e+02] [-1.44377171e-01 9.89521919e-01 1.26661962e-03 -9.91788890e+01] [-8.98026463e-03 -3.02940808e-05 -9.99959676e-01 -4.12178765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.010222412684073394 Centerline is valid? [True, True] Translation: X:249.93, Y:-99.15, Z:-4.12 [[-9.76284202e-01 -2.16301446e-01 9.10173191e-03 2.49933367e+02] [-2.16292501e-01 9.76326627e-01 1.96768446e-03 -9.91496699e+01] [-9.31187621e-03 -4.76171100e-05 -9.99956642e-01 -4.12168718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.010112149285573727 Centerline is valid? [True, True] Translation: X:249.91, Y:-99.12, Z:-4.12 [[-9.56810848e-01 -2.90595899e-01 8.18683027e-03 2.49909061e+02] [-2.90586101e-01 9.56845868e-01 2.38808615e-03 -9.91232102e+01] [-8.52750276e-03 -9.40323584e-05 -9.99963636e-01 -4.12139184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.010859707504423994 Centerline is valid? [True, True] Translation: X:249.88, Y:-99.10, Z:-4.12 [[-9.31641705e-01 -3.63294947e-01 7.77913849e-03 2.49877456e+02] [-3.63283482e-01 9.31674173e-01 2.88923314e-03 -9.90996829e+01] [-8.29726622e-03 -1.34302429e-04 -9.99965568e-01 -4.12003236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.0123842754342442 Centerline is valid? [True, True] Translation: X:249.83, Y:-99.08, Z:-4.12 [[-8.99298510e-01 -4.37272113e-01 7.43562328e-03 2.49827567e+02] [-4.37258998e-01 8.99329227e-01 3.39252292e-03 -9.90843319e+01] [-8.17052900e-03 -2.00402379e-04 -9.99966601e-01 -4.12006395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.014019276557112818 Centerline is valid? [True, True] Translation: X:249.76, Y:-99.08, Z:-4.12 [[-8.62385416e-01 -5.06200476e-01 7.24375587e-03 2.49762997e+02] [-5.06184949e-01 8.62415804e-01 3.97214665e-03 -9.90824486e+01] [-8.25783207e-03 -2.41158851e-04 -9.99965874e-01 -4.11935882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.017610245683474145 Centerline is valid? [True, True] Translation: X:249.69, Y:-99.08, Z:-4.12 [[-8.20366196e-01 -5.71805656e-01 6.13159985e-03 2.49693054e+02] [-5.71791945e-01 8.20389072e-01 3.96764586e-03 -9.90849128e+01] [-7.29901985e-03 -2.51076858e-04 -9.99973330e-01 -4.11859703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.015187619896518385 Centerline is valid? [True, True] Translation: X:249.62, Y:-99.11, Z:-4.12 [[-7.74596446e-01 -6.32435812e-01 5.02882666e-03 2.49620984e+02] [-6.32424434e-01 7.74612734e-01 3.80091062e-03 -9.91071367e+01] [-6.29922516e-03 -2.36180997e-04 -9.99980132e-01 -4.12010492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.016008325403082453 Centerline is valid? [True, True] Translation: X:249.54, Y:-99.13, Z:-4.12 [[-7.24223173e-01 -6.89559699e-01 2.86653903e-03 2.49544503e+02] [-6.89555224e-01 7.24228826e-01 2.49007490e-03 -9.91335665e+01] [-3.79308549e-03 -1.73267018e-04 -9.99992791e-01 -4.12132118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.018091184862512148 Centerline is valid? [True, True] Translation: X:249.46, Y:-99.17, Z:-4.12 [[-6.70303013e-01 -7.42084095e-01 2.25088449e-03 2.49462810e+02] [-7.42080675e-01 6.70306774e-01 2.25843617e-03 -9.91708183e+01] [-3.18473268e-03 -1.56501308e-04 -9.99994916e-01 -4.12148079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.015622487040425471 Centerline is valid? [True, True] Translation: X:249.39, Y:-99.22, Z:-4.12 [[-6.14053575e-01 -7.89260108e-01 2.58609325e-03 2.49386336e+02] [-7.89254256e-01 6.14058997e-01 3.04423780e-03 -9.92225869e+01] [-3.99070929e-03 -1.71759997e-04 -9.99992022e-01 -4.11964730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.014549401187849947 Centerline is valid? [True, True] Translation: X:249.31, Y:-99.29, Z:-4.12 [[-5.56252849e-01 -8.31009822e-01 2.33313002e-03 2.49308868e+02] [-8.31003638e-01 5.56257721e-01 3.20961780e-03 -9.92869073e+01] [-3.96504551e-03 -1.53480492e-04 -9.99992127e-01 -4.11913454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.013196958954029704 Centerline is valid? [True, True] Translation: X:249.24, Y:-99.36, Z:-4.12 [[-4.95355530e-01 -8.68688820e-01 1.62246228e-03 2.49236946e+02] [-8.68684926e-01 4.95358173e-01 2.60367073e-03 -9.93578201e+01] [-3.06547960e-03 -1.19665828e-04 -9.99995294e-01 -4.11965082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.011459684988496418 Centerline is valid? [True, True] Translation: X:249.17, Y:-99.43, Z:-4.12 [[-4.33717146e-01 -9.01048342e-01 1.14956184e-03 2.49173179e+02] [-9.01045720e-01 4.33718660e-01 2.17584262e-03 -9.94342813e+01] [-2.45912581e-03 -9.21075244e-05 -9.99996972e-01 -4.11938631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.010731205112114322 Centerline is valid? [True, True] Translation: X:249.11, Y:-99.52, Z:-4.12 [[-3.66400853e-01 -9.30456730e-01 8.29964665e-04 2.49108119e+02] [-9.30454822e-01 3.66401784e-01 1.88592950e-03 -9.95225654e+01] [-2.05887633e-03 -8.12384483e-05 -9.99997877e-01 -4.11898621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.010413786864604915 Centerline is valid? [True, True] Translation: X:249.05, Y:-99.62, Z:-4.12 [[-2.96812686e-01 -9.54935398e-01 7.84306339e-04 2.49049011e+02] [-9.54932717e-01 2.96813712e-01 2.26408453e-03 -9.96183105e+01] [-2.39484734e-03 -7.69507728e-05 -9.99997129e-01 -4.11800093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.010599584367697989 Centerline is valid? [True, True] Translation: X:248.99, Y:-99.72, Z:-4.12 [[-2.22514895e-01 -9.74929200e-01 4.20069108e-04 2.48991382e+02] [-9.74928028e-01 2.22515280e-01 1.51320806e-03 -9.97209319e+01] [-1.56874251e-03 -7.28258155e-05 -9.99998767e-01 -4.11723817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.01079322907437129 Centerline is valid? [True, True] Translation: X:248.94, Y:-99.83, Z:-4.12 [[-1.45825737e-01 -9.89310258e-01 2.58566025e-04 2.48940863e+02] [-9.89309464e-01 1.45825948e-01 1.25556910e-03 -9.98306803e+01] [-1.27985302e-03 -7.27075263e-05 -9.99999178e-01 -4.11654683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.011050924398746132 Centerline is valid? [True, True] Translation: X:248.90, Y:-99.94, Z:-4.12 [[-6.79433611e-02 -9.97689167e-01 1.58237168e-04 2.48899866e+02] [-9.97688409e-01 6.79435049e-02 1.23199003e-03 -9.99427228e+01] [-1.23989430e-03 -7.41658449e-05 -9.99999229e-01 -4.11661532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.011258982423995012 Centerline is valid? [True, True] Translation: X:248.87, Y:-100.06, Z:-4.12 [[ 9.80710709e-03 -9.99951907e-01 6.21881978e-05 2.48868912e+02] [-9.99949459e-01 -9.80694539e-03 2.21414239e-03 -1.00057293e+02] [-2.21342603e-03 -8.38993863e-05 -9.99997547e-01 -4.11635005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.011479601049195069 Centerline is valid? [True, True] Translation: X:248.84, Y:-100.18, Z:-4.11 [[ 8.73942903e-02 -9.96173784e-01 -1.76124851e-04 2.48844352e+02] [-9.96169009e-01 -8.73944170e-02 3.08554257e-03 -1.00176542e+02] [-3.08912894e-03 -9.42086842e-05 -9.99995224e-01 -4.11410498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.01154722040504001 Centerline is valid? [True, True] Translation: X:248.83, Y:-100.30, Z:-4.11 [[ 1.63331528e-01 -9.86571182e-01 -3.39954821e-04 2.48831315e+02] [-9.86567773e-01 -1.63331858e-01 2.59506854e-03 -1.00298247e+02] [-2.61574529e-03 -8.84680383e-05 -9.99996575e-01 -4.11436816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.011318943221706184 Centerline is valid? [True, True] Translation: X:248.83, Y:-100.41, Z:-4.12 [[ 2.37281900e-01 -9.71440806e-01 -2.48033282e-04 2.48827362e+02] [-9.71439900e-01 -2.37282018e-01 1.32849828e-03 -1.00407356e+02] [-1.34941127e-03 -7.42791682e-05 -9.99999087e-01 -4.11591275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.011109292303709084 Centerline is valid? [True, True] Translation: X:248.84, Y:-100.53, Z:-4.12 [[ 3.07775434e-01 -9.51458987e-01 2.78025175e-04 2.48835533e+02] [-9.51458757e-01 -3.07775554e-01 -6.64461255e-04 -1.00525075e+02] [ 7.17776985e-04 -6.00246364e-05 -9.99999741e-01 -4.11766477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.011057365259432716 Centerline is valid? [True, True] Translation: X:248.85, Y:-100.64, Z:-4.12 [[ 3.77951663e-01 -9.25825248e-01 3.88115638e-04 2.48849533e+02] [-9.25824914e-01 -3.77951857e-01 -7.89334502e-04 -1.00641831e+02] [ 8.77474838e-04 -6.09968393e-05 -9.99999613e-01 -4.11724524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.011027494823943215 Centerline is valid? [True, True] Translation: X:248.87, Y:-100.76, Z:-4.12 [[ 4.46413288e-01 -8.94826885e-01 1.50578140e-04 2.48871529e+02] [-8.94826873e-01 -4.46413309e-01 -1.61657271e-04 -1.00756462e+02] [ 2.11875358e-04 -6.25754122e-05 -9.99999976e-01 -4.11663163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.010950676967037826 Centerline is valid? [True, True] Translation: X:248.90, Y:-100.87, Z:-4.12 [[ 5.12366201e-01 -8.58766590e-01 -9.04850010e-04 2.48903711e+02] [-8.58765036e-01 -5.12366997e-01 1.63486647e-03 -1.00870204e+02] [-1.86758399e-03 -6.05967728e-05 -9.99998254e-01 -4.11621319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.011026649633782866 Centerline is valid? [True, True] Translation: X:248.94, Y:-100.98, Z:-4.12 [[ 5.75499826e-01 -8.17800480e-01 -1.52494834e-03 2.48940971e+02] [-8.17797349e-01 -5.75501844e-01 2.26365215e-03 -1.00977051e+02] [-2.72882640e-03 -5.56327117e-05 -9.99996275e-01 -4.11609954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.011089670718888086 Centerline is valid? [True, True] Translation: X:248.99, Y:-101.08, Z:-4.11 [[ 6.35172425e-01 -7.72363949e-01 -3.14964430e-03 2.48986451e+02] [-7.72354121e-01 -6.35180233e-01 3.89664962e-03 -1.01084003e+02] [-5.01022349e-03 -4.24036315e-05 -9.99987448e-01 -4.11304353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.011182341489489586 Centerline is valid? [True, True] Translation: X:249.04, Y:-101.18, Z:-4.11 [[ 6.91692402e-01 -7.22178110e-01 -4.51643950e-03 2.49036408e+02] [-7.22162423e-01 -6.91707146e-01 4.76007940e-03 -1.01178970e+02] [-6.56167863e-03 -3.09078607e-05 -9.99978471e-01 -4.11241747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.011332202931021588 Centerline is valid? [True, True] Translation: X:249.09, Y:-101.27, Z:-4.11 [[ 7.44395285e-01 -6.67717169e-01 -5.42606933e-03 2.49090536e+02] [-6.67699191e-01 -7.44415060e-01 4.89987049e-03 -1.01267177e+02] [-7.31097538e-03 -2.44583930e-05 -9.99973274e-01 -4.11208847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.0112633638490402 Centerline is valid? [True, True] Translation: X:249.11, Y:-101.30, Z:-4.11 [[ 7.93885030e-01 -6.08029546e-01 -6.82859060e-03 2.49110128e+02] [-6.08006907e-01 -7.93914398e-01 5.24693450e-03 -1.01295110e+02] [-8.61160760e-03 -1.36324986e-05 -9.99962919e-01 -4.11328004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.01105916169073692 Centerline is valid? [True, True] Translation: X:249.13, Y:-101.32, Z:-4.11 [[ 8.39138369e-01 -5.43879535e-01 -6.46918731e-03 2.49129927e+02] [-5.43863185e-01 -8.39163304e-01 4.21714253e-03 -1.01323413e+02] [-7.72232212e-03 -2.04132861e-05 -9.99970182e-01 -4.11469968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.01094469999303852 Centerline is valid? [True, True] Translation: X:249.15, Y:-101.35, Z:-4.12 [[ 8.79755821e-01 -4.75394056e-01 -5.49422821e-03 2.49152519e+02] [-4.75384524e-01 -8.79772976e-01 3.01072779e-03 -1.01346952e+02] [-6.26495560e-03 -3.68342364e-05 -9.99980374e-01 -4.11559571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.010673862644647533 Centerline is valid? [True, True] Translation: X:249.18, Y:-101.37, Z:-4.12 [[ 9.16240861e-01 -4.00594513e-01 -5.16919876e-03 2.49177612e+02] [-4.00587721e-01 -9.16255440e-01 2.33372138e-03 -1.01369076e+02] [-5.67118247e-03 -6.75333340e-05 -9.99983916e-01 -4.11668355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.010944324748484578 Centerline is valid? [True, True] Translation: X:249.20, Y:-101.39, Z:-4.12 [[ 9.46235356e-01 -3.23437965e-01 -5.15105231e-03 2.49204862e+02] [-3.23432640e-01 -9.46249372e-01 1.85809908e-03 -1.01390599e+02] [-5.47515980e-03 -9.21805955e-05 -9.99985007e-01 -4.11605400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.011624989623312282 Centerline is valid? [True, True] Translation: X:249.23, Y:-101.41, Z:-4.12 [[ 9.70179760e-01 -2.42308576e-01 -6.14710281e-03 2.49232051e+02] [-2.42302811e-01 -9.70199225e-01 1.67710657e-03 -1.01414224e+02] [-6.37029168e-03 -1.37634559e-04 -9.99979700e-01 -4.11531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.012275623022907533 Centerline is valid? [True, True] Translation: X:249.26, Y:-101.43, Z:-4.12 [[ 9.86573462e-01 -1.63155797e-01 -7.27950001e-03 2.49263362e+02] [-1.63150086e-01 -9.86600303e-01 1.37553668e-03 -1.01430922e+02] [-7.40638370e-03 -1.69416935e-04 -9.99972558e-01 -4.11514875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.013274038765757409 Centerline is valid? [True, True] Translation: X:249.29, Y:-101.45, Z:-4.11 [[ 9.96607047e-01 -8.18367247e-02 -8.78318308e-03 2.49291927e+02] [-8.18315830e-02 -9.96645725e-01 9.43799831e-04 -1.01445326e+02] [-8.83095936e-03 -2.21855787e-04 -9.99960982e-01 -4.11404801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.013874478978988438 Centerline is valid? [True, True] Translation: X:249.32, Y:-101.46, Z:-4.11 [[ 9.99952183e-01 -2.27676590e-03 -9.51043452e-03 2.49321496e+02] [-2.27432258e-03 -9.99997378e-01 2.67716529e-04 -1.01455184e+02] [-9.51101911e-03 -2.46073932e-04 -9.99954739e-01 -4.11281143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.013775503330620388 Centerline is valid? [True, True] Translation: X:249.35, Y:-101.46, Z:-4.11 [[ 9.97033653e-01 7.63735393e-02 -9.53815304e-03 2.49352041e+02] [ 7.63724396e-02 -9.97079245e-01 -4.80013275e-04 -1.01460581e+02] [-9.54695475e-03 -2.49862628e-04 -9.99954396e-01 -4.11396325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.013329506223516314 Centerline is valid? [True, True] Translation: X:249.38, Y:-101.46, Z:-4.11 [[ 9.88287563e-01 1.52378278e-01 -8.27973653e-03 2.49382370e+02] [ 1.52374713e-01 -9.88322223e-01 -1.06341302e-03 -1.01461732e+02] [-8.34508865e-03 -2.10664618e-04 -9.99965157e-01 -4.11490270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.012646652113763727 Centerline is valid? [True, True] Translation: X:249.41, Y:-101.46, Z:-4.11 [[ 9.73691145e-01 2.27717196e-01 -8.39244253e-03 2.49412477e+02] [ 2.27710509e-01 -9.73727292e-01 -1.75659276e-03 -1.01461897e+02] [-8.57195671e-03 -2.00668545e-04 -9.99963240e-01 -4.11438191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.013286985455530474 Centerline is valid? [True, True] Translation: X:249.44, Y:-101.46, Z:-4.11 [[ 9.53265841e-01 3.01962355e-01 -1.01475843e-02 2.49442219e+02] [ 3.01947684e-01 -9.53319825e-01 -2.98459436e-03 -1.01459810e+02] [-1.05751284e-02 -2.18927721e-04 -9.99944058e-01 -4.11177992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.011986753945583324 Centerline is valid? [True, True] Translation: X:249.47, Y:-101.46, Z:-4.11 [[ 9.27142898e-01 3.74537450e-01 -1.13024239e-02 2.49472156e+02] [ 3.74512592e-01 -9.27211760e-01 -4.32099305e-03 -1.01455272e+02] [-1.20981141e-02 -2.26722054e-04 -9.99926789e-01 -4.11185789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.012118819629576363 Centerline is valid? [True, True] Translation: X:249.50, Y:-101.45, Z:-4.11 [[ 8.95483707e-01 4.44938007e-01 -1.17941206e-02 2.49501262e+02] [ 4.44902713e-01 -8.95561343e-01 -5.60857839e-03 -1.01449738e+02] [-1.30578282e-02 -2.24845673e-04 -9.99914718e-01 -4.11078590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.011628382954187872 Centerline is valid? [True, True] Translation: X:249.53, Y:-101.44, Z:-4.11 [[ 8.58969112e-01 5.11920943e-01 -1.04409309e-02 2.49528929e+02] [ 5.11885769e-01 -8.59032545e-01 -6.00380952e-03 -1.01439163e+02] [-1.20425753e-02 -1.87477009e-04 -9.99927468e-01 -4.11212732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.011346619390490597 Centerline is valid? [True, True] Translation: X:249.56, Y:-101.43, Z:-4.11 [[ 8.17156602e-01 5.76339589e-01 -9.36835461e-03 2.49556200e+02] [ 5.76303981e-01 -8.17210286e-01 -6.40853469e-03 -1.01427348e+02] [-1.13494080e-02 -1.62243622e-04 -9.99935580e-01 -4.11286975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.011012846570930409 Centerline is valid? [True, True] Translation: X:249.58, Y:-101.41, Z:-4.11 [[ 7.70980357e-01 6.36811788e-01 -7.74832485e-03 2.49581390e+02] [ 6.36781277e-01 -7.71019281e-01 -6.23492203e-03 -1.01413347e+02] [-9.94457970e-03 -1.26985785e-04 -9.99950543e-01 -4.11472197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.010973169274878566 Centerline is valid? [True, True] Translation: X:249.61, Y:-101.40, Z:-4.11 [[ 7.19294258e-01 6.94668450e-01 -7.17739225e-03 2.49607095e+02] [ 6.94635507e-01 -7.19330057e-01 -6.76619522e-03 -1.01399264e+02] [-9.86317632e-03 -1.18786135e-04 -9.99951351e-01 -4.11418729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.010897511687176255 Centerline is valid? [True, True] Translation: X:249.63, Y:-101.38, Z:-4.11 [[ 6.62749571e-01 7.48818015e-01 -5.88095974e-03 2.49632151e+02] [ 7.48790014e-01 -6.62775654e-01 -6.47669522e-03 -1.01383712e+02] [-8.74762300e-03 -1.11176942e-04 -9.99961733e-01 -4.11405589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.01089742139516018 Centerline is valid? [True, True] Translation: X:249.66, Y:-101.37, Z:-4.11 [[ 6.02346621e-01 7.98219529e-01 -4.91239781e-03 2.49656017e+02] [ 7.98194379e-01 -6.02366643e-01 -6.33726777e-03 -1.01366458e+02] [-8.01759548e-03 -1.03816493e-04 -9.99967853e-01 -4.11498729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.0107512230232795 Centerline is valid? [True, True] Translation: X:249.68, Y:-101.35, Z:-4.11 [[ 5.39649942e-01 8.41877853e-01 -4.42948404e-03 2.49676596e+02] [ 8.41850825e-01 -5.39668114e-01 -6.74650268e-03 -1.01347382e+02] [-8.07018248e-03 -8.82150112e-05 -9.99967432e-01 -4.11454819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.010627283815683435 Centerline is valid? [True, True] Translation: X:249.70, Y:-101.33, Z:-4.11 [[ 4.75543951e-01 8.79683456e-01 -3.86873767e-03 2.49696851e+02] [ 8.79655298e-01 -4.75559684e-01 -7.03867936e-03 -1.01326866e+02] [-8.03162545e-03 -5.59541935e-05 -9.99967744e-01 -4.11449026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.010921748773542458 Centerline is valid? [True, True] Translation: X:249.71, Y:-101.31, Z:-4.11 [[ 4.09831808e-01 9.12156180e-01 -2.99875155e-03 2.49714004e+02] [ 9.12132102e-01 -4.09842779e-01 -6.62756883e-03 -1.01305350e+02] [-7.27439453e-03 -1.90690363e-05 -9.99973541e-01 -4.11382049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.011562754075488412 Centerline is valid? [True, True] Translation: X:249.73, Y:-101.28, Z:-4.11 [[ 3.40444248e-01 9.40262155e-01 -2.18960472e-03 2.49727429e+02] [ 9.40242723e-01 -3.40451289e-01 -6.04494575e-03 -1.01281991e+02] [-6.42928747e-03 -7.92899425e-07 -9.99979332e-01 -4.11321520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.012833598304324803 Centerline is valid? [True, True] Translation: X:249.74, Y:-101.26, Z:-4.11 [[ 2.71594387e-01 9.62410622e-01 -1.51106496e-03 2.49739774e+02] [ 9.62395176e-01 -2.71598590e-01 -5.45265913e-03 -1.01257333e+02] [-5.65810017e-03 2.66699898e-05 -9.99983992e-01 -4.11302461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.012925016668992574 Centerline is valid? [True, True] Translation: X:249.76, Y:-101.23, Z:-4.11 [[ 1.98063493e-01 9.80188669e-01 -1.01295933e-03 2.49756707e+02] [ 9.80174905e-01 -1.98066080e-01 -5.19454051e-03 -1.01232933e+02] [-5.29226263e-03 3.59715271e-05 -9.99985995e-01 -4.11414001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.01336689398673294 Centerline is valid? [True, True] Translation: X:249.77, Y:-101.21, Z:-4.11 [[ 1.21062255e-01 9.92644655e-01 -7.20221791e-04 2.49771430e+02] [ 9.92624065e-01 -1.21064383e-01 -6.39378886e-03 -1.01208841e+02] [-6.43395355e-03 5.91370145e-05 -9.99979300e-01 -4.11281173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.01316662460494174 Centerline is valid? [True, True] Translation: X:249.78, Y:-101.18, Z:-4.11 [[ 4.08975763e-02 9.99163314e-01 -2.43521590e-04 2.49784342e+02] [ 9.99135169e-01 -4.08982522e-02 -7.49986224e-03 -1.01182745e+02] [-7.50354682e-03 6.34152036e-05 -9.99971846e-01 -4.11150226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.012381119854937603 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.16, Z:-4.11 [[-4.19882467e-02 9.99118035e-01 3.73539894e-04 2.49795963e+02] [ 9.99085783e-01 4.19898927e-02 -8.02794469e-03 -1.01155707e+02] [-8.03654923e-03 3.61190753e-05 -9.99967706e-01 -4.11035777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.012176163980109142 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.13, Z:-4.11 [[-1.21718316e-01 9.92564181e-01 9.98962553e-04 2.49797976e+02] [ 9.92532310e-01 1.21722413e-01 -7.95411892e-03 -1.01127755e+02] [-8.01656966e-03 2.33406506e-05 -9.99967867e-01 -4.10997411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.011313509350406894 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.10, Z:-4.11 [[-2.03560248e-01 9.79061142e-01 1.58296320e-03 2.49803542e+02] [ 9.79031014e-01 2.03566403e-01 -7.68072506e-03 -1.01098583e+02] [-7.84213757e-03 -1.37202306e-05 -9.99969250e-01 -4.11113915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.011047642886094148 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.07, Z:-4.11 [[-2.82487420e-01 9.59268674e-01 2.11391164e-03 2.49803403e+02] [ 9.59240817e-01 2.82495326e-01 -7.31059786e-03 -1.01070442e+02] [-7.60999767e-03 -3.74015942e-05 -9.99971043e-01 -4.11099331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.010831858376649593 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.04, Z:-4.11 [[-3.59374640e-01 9.33190193e-01 2.43535217e-03 2.49798193e+02] [ 9.33167656e-01 3.59382887e-01 -6.48588909e-03 -1.01041751e+02] [-6.92779199e-03 -5.82721803e-05 -9.99976001e-01 -4.11190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.01071410413880306 Centerline is valid? [True, True] Translation: X:249.80, Y:-101.01, Z:-4.11 [[-4.32156184e-01 9.01794110e-01 2.90122365e-03 2.49795003e+02] [ 9.01772786e-01 4.32165917e-01 -6.20182514e-03 -1.01011790e+02] [-6.84657936e-03 -6.39125465e-05 -9.99976560e-01 -4.11289387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.010784694906067673 Centerline is valid? [True, True] Translation: X:249.79, Y:-100.98, Z:-4.11 [[-5.01519149e-01 8.65139132e-01 3.58137062e-03 2.49786416e+02] [ 8.65116151e-01 5.01531932e-01 -6.30611644e-03 -1.00982997e+02] [-7.25183982e-03 -6.43365841e-05 -9.99973703e-01 -4.11265206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.010783623793714127 Centerline is valid? [True, True] Translation: X:249.78, Y:-100.95, Z:-4.11 [[-5.67671194e-01 8.23239756e-01 5.07151486e-03 2.49777017e+02] [ 8.23205870e-01 5.67693844e-01 -7.46967457e-03 -1.00953503e+02] [-9.02840084e-03 -6.54182796e-05 -9.99959241e-01 -4.11100528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.010795007042893913 Centerline is valid? [True, True] Translation: X:249.77, Y:-100.92, Z:-4.11 [[-6.30108324e-01 7.76479065e-01 6.61523354e-03 2.49765463e+02] [ 7.76435224e-01 6.30143045e-01 -8.25140857e-03 -1.00924386e+02] [-1.05755894e-02 -6.29808883e-05 -9.99944075e-01 -4.11065259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.010980550561961991 Centerline is valid? [True, True] Translation: X:249.75, Y:-100.90, Z:-4.11 [[-6.87621607e-01 7.26016687e-01 8.73474729e-03 2.49751799e+02] [ 7.25957364e-01 6.87677082e-01 -9.28098649e-03 -1.00897017e+02] [-1.27448366e-02 -4.07527198e-05 -9.99918780e-01 -4.10886780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.011222812547007379 Centerline is valid? [True, True] Translation: X:249.73, Y:-100.87, Z:-4.11 [[-7.40264768e-01 6.72244702e-01 9.75360509e-03 2.49733274e+02] [ 6.72186387e-01 7.40329022e-01 -8.85441266e-03 -1.00874977e+02] [-1.31732089e-02 1.63082806e-06 -9.99913230e-01 -4.10927050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.011436342161961838 Centerline is valid? [True, True] Translation: X:249.75, Y:-100.86, Z:-4.11 [[-7.84358157e-01 6.20221872e-01 1.03494084e-02 2.49751548e+02] [ 6.20168578e-01 7.84426432e-01 -8.13064376e-03 -1.00858342e+02] [-1.31611526e-02 4.10411265e-05 -9.99913387e-01 -4.10993386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.011352389889836525 Centerline is valid? [True, True] Translation: X:249.77, Y:-100.84, Z:-4.11 [[-8.26487182e-01 5.62865670e-01 1.00586128e-02 2.49765706e+02] [ 5.62824436e-01 8.26548387e-01 -6.81308153e-03 -1.00837218e+02] [-1.21487799e-02 3.03085227e-05 -9.99926200e-01 -4.11013733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.011003818089403254 Centerline is valid? [True, True] Translation: X:249.78, Y:-100.81, Z:-4.11 [[-8.64755202e-01 5.02099523e-01 9.72163935e-03 2.49780532e+02] [ 5.02067967e-01 8.64809845e-01 -5.62915553e-03 -1.00813957e+02] [-1.12337657e-02 1.30821820e-05 -9.99936899e-01 -4.11138056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.010599761719782535 Centerline is valid? [True, True] Translation: X:249.79, Y:-100.79, Z:-4.11 [[-9.01009179e-01 4.33698197e-01 9.39859555e-03 2.49791833e+02] [ 4.33673910e-01 9.01058195e-01 -4.59014178e-03 -1.00785479e+02] [-1.04594178e-02 -5.98342029e-05 -9.99945297e-01 -4.11211961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.011135527852162075 Centerline is valid? [True, True] Translation: X:249.80, Y:-100.75, Z:-4.11 [[-9.32513610e-01 3.61010326e-01 9.48213391e-03 2.49797586e+02] [ 3.60990080e-01 9.32561807e-01 -3.82608211e-03 -1.00753564e+02] [-1.02239311e-02 -1.44917367e-04 -9.99947724e-01 -4.11118058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.012006801140349575 Centerline is valid? [True, True] Translation: X:249.80, Y:-100.73, Z:-4.11 [[-9.57019933e-01 2.89851673e-01 9.94265835e-03 2.49804991e+02] [ 2.89833931e-01 9.57071560e-01 -3.21278827e-03 -1.00725644e+02] [-1.04470676e-02 -1.92982664e-04 -9.99945409e-01 -4.11102240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.013295450074631983 Centerline is valid? [True, True] Translation: X:250.00, Y:-100.10, Z:-5.11 [[-9.23412743e-01 -3.83713381e-01 8.54091369e-03 2.50000137e+02] [ 3.83697902e-01 -9.23452236e-01 -3.44776362e-03 -1.00104739e+02] [ 9.21007888e-03 9.34218025e-05 9.99957582e-01 -5.10810423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.013573938828346427 Centerline is valid? [True, True] Translation: X:249.76, Y:-100.71, Z:-4.11 [[-9.60044444e-01 2.79646366e-01 1.06101737e-02 2.49758962e+02] [ 2.79626057e-01 9.60103032e-01 -3.38177543e-03 -1.00707347e+02] [-1.11325612e-02 -2.79773671e-04 -9.99937992e-01 -4.10959598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.014049748039772044 Centerline is valid? [True, True] Translation: X:249.95, Y:-100.09, Z:-5.11 [[-9.23855916e-01 -3.82602894e-01 1.02602642e-02 2.49950894e+02] [ 3.82582509e-01 -9.23912850e-01 -3.95854344e-03 -1.00090493e+02] [ 1.09941401e-02 2.68273843e-04 9.99939527e-01 -5.11075048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.01310958981718495 Centerline is valid? [True, True] Translation: X:249.71, Y:-100.70, Z:-4.11 [[-9.60138948e-01 2.79315268e-01 1.07788021e-02 2.49714272e+02] [ 2.79294790e-01 9.60199417e-01 -3.39110336e-03 -1.00700974e+02] [-1.12969864e-02 -2.45467142e-04 -9.99936157e-01 -4.10862617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.012028980331709889 Centerline is valid? [True, True] Translation: X:249.72, Y:-100.68, Z:-4.11 [[-9.76724759e-01 2.14273059e-01 9.78784425e-03 2.49721716e+02] [ 2.14260388e-01 9.76773782e-01 -2.33761708e-03 -1.00680760e+02] [-1.00613980e-02 -1.86061169e-04 -9.99949366e-01 -4.11007700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.011442069705269025 Centerline is valid? [True, True] Translation: X:249.72, Y:-100.66, Z:-4.11 [[-9.88733603e-01 1.49412845e-01 9.03683843e-03 2.49717268e+02] [ 1.49405425e-01 9.88774891e-01 -1.49449973e-03 -1.00659615e+02] [-9.15869640e-03 -1.27509417e-04 -9.99958050e-01 -4.11049530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.011143608591310483 Centerline is valid? [True, True] Translation: X:249.84, Y:-99.99, Z:-5.11 [[-9.73228556e-01 -2.29718284e-01 7.46239730e-03 2.49842453e+02] [ 2.29711716e-01 -9.73257165e-01 -1.73736418e-03 -9.99850955e+01] [ 7.66193596e-03 2.33476567e-05 9.99970647e-01 -5.10859523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.010901616499518669 Centerline is valid? [True, True] Translation: X:249.68, Y:-100.66, Z:-4.11 [[-9.88650709e-01 1.49889645e-01 1.01425081e-02 2.49677580e+02] [ 1.49880797e-01 9.88702729e-01 -1.63120065e-03 -1.00663736e+02] [-1.02724255e-02 -9.25204751e-05 -9.99947233e-01 -4.11036192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.011085671223034069 Centerline is valid? [True, True] Translation: X:249.68, Y:-100.64, Z:-4.11 [[-9.96815621e-01 7.89411190e-02 1.12657983e-02 2.49680614e+02] [ 7.89349277e-02 9.96879275e-01 -9.93851491e-04 -1.00639122e+02] [-1.13090966e-02 -1.01421716e-04 -9.99936045e-01 -4.10949972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.01144730210118683 Centerline is valid? [True, True] Translation: X:249.74, Y:-99.94, Z:-5.11 [[-9.87493687e-01 -1.57298272e-01 1.06522650e-02 2.49741039e+02] [ 1.57289816e-01 -9.87551138e-01 -1.63224287e-03 -9.99365874e+01] [ 1.07764054e-02 6.36632808e-05 9.99941931e-01 -5.10930339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.011920510167771098 Centerline is valid? [True, True] Translation: X:249.62, Y:-100.63, Z:-4.11 [[-9.97534570e-01 6.90911649e-02 1.22960637e-02 2.49621284e+02] [ 6.90837032e-02 9.97610334e-01 -1.03106373e-03 -1.00633356e+02] [-1.23379177e-02 -1.79064098e-04 -9.99923869e-01 -4.11023504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.012412484832061942 Centerline is valid? [True, True] Translation: X:249.68, Y:-99.94, Z:-5.11 [[-9.87152561e-01 -1.59367473e-01 1.14816710e-02 2.49683936e+02] [ 1.59358142e-01 -9.87219324e-01 -1.72898885e-03 -9.99351514e+01] [ 1.16104721e-02 1.22921989e-04 9.99932589e-01 -5.10902159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.013223641731207833 Centerline is valid? [True, True] Translation: X:249.57, Y:-100.63, Z:-4.11 [[-9.98172895e-01 5.91260258e-02 1.24492981e-02 2.49569178e+02] [ 5.91182409e-02 9.98250494e-01 -9.92731193e-04 -1.00625403e+02] [-1.24862143e-02 -2.54936763e-04 -9.99922012e-01 -4.11070123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.013517873719225283 Centerline is valid? [True, True] Translation: X:249.62, Y:-99.93, Z:-5.11 [[-9.87194751e-01 -1.59207765e-01 9.97050169e-03 2.49620101e+02] [ 1.59200272e-01 -9.87245098e-01 -1.54587187e-03 -9.99341404e+01] [ 1.00894437e-02 6.12299848e-05 9.99949098e-01 -5.10697508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.013457185216873885 Centerline is valid? [True, True] Translation: X:249.51, Y:-100.62, Z:-4.11 [[-9.98396010e-01 5.56337333e-02 1.05021553e-02 2.49513551e+02] [ 5.56283733e-02 9.98451221e-01 -8.02025581e-04 -1.00621009e+02] [-1.05305094e-02 -2.16521325e-04 -9.99944529e-01 -4.11258598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.012537704153596702 Centerline is valid? [True, True] Translation: X:249.52, Y:-100.60, Z:-4.11 [[-9.99878876e-01 -1.22395854e-02 9.61386653e-03 2.49518784e+02] [-1.22406644e-02 9.99925079e-01 -5.33953883e-05 -1.00596040e+02] [-9.61249271e-03 -1.71069034e-04 -9.99953784e-01 -4.11331913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.01239701912809259 Centerline is valid? [True, True] Translation: X:249.52, Y:-99.90, Z:-5.11 [[-9.96821991e-01 -7.91613831e-02 8.91033943e-03 2.49524317e+02] [ 7.91592861e-02 -9.96861807e-01 -5.88318160e-04 -9.99005807e+01] [ 8.92894914e-03 1.18887630e-04 9.99960129e-01 -5.10630757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.011946509454533658 Centerline is valid? [True, True] Translation: X:249.46, Y:-100.60, Z:-4.11 [[-9.99861520e-01 -1.23051376e-02 1.12037911e-02 2.49456732e+02] [-1.23059480e-02 9.99924279e-01 -3.38857053e-06 -1.00598265e+02] [-1.12029011e-02 -1.41261372e-04 -9.99937236e-01 -4.11238694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.011651818850656047 Centerline is valid? [True, True] Translation: X:249.46, Y:-99.90, Z:-5.11 [[-9.97710225e-01 -6.68838272e-02 1.00429310e-02 2.49455848e+02] [ 6.68810732e-02 -9.97760768e-01 -6.10199702e-04 -9.98975175e+01] [ 1.00612550e-02 6.28795222e-05 9.99949382e-01 -5.10751046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.011513556002926027 Centerline is valid? [True, True] Translation: X:249.39, Y:-100.60, Z:-4.11 [[-9.99898241e-01 -8.16956004e-03 1.16947143e-02 2.49393000e+02] [-8.16951485e-03 9.99966628e-01 5.16365875e-05 -1.00601798e+02] [-1.16947458e-02 -4.39088088e-05 -9.99931613e-01 -4.11249251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.011522924230715562 Centerline is valid? [True, True] Translation: X:249.39, Y:-100.58, Z:-4.11 [[-9.96907964e-01 -7.77373341e-02 1.14638193e-02 2.49391102e+02] [-7.77324926e-02 9.96973874e-01 8.67970746e-04 -1.00575727e+02] [-1.14966021e-02 -2.58243029e-05 -9.99933912e-01 -4.11242278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.011729240486028492 Centerline is valid? [True, True] Translation: X:249.34, Y:-99.87, Z:-5.11 [[-9.99835076e-01 1.41036476e-02 1.14415105e-02 2.49339085e+02] [-1.41024681e-02 -9.99900538e-01 1.83759559e-04 -9.98712373e+01] [ 1.14429642e-02 2.23757161e-05 9.99934527e-01 -5.10699145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.01168516854443152 Centerline is valid? [True, True] Translation: X:249.31, Y:-100.58, Z:-4.11 [[-9.96252978e-01 -8.54253413e-02 1.35097991e-02 2.49308958e+02] [-8.54182522e-02 9.96344573e-01 1.10194239e-03 -1.00579304e+02] [-1.35545488e-02 -5.61700418e-05 -9.99908131e-01 -4.11234776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.011764435688882607 Centerline is valid? [True, True] Translation: X:249.30, Y:-100.55, Z:-4.11 [[-9.87025335e-01 -1.60011125e-01 1.33202128e-02 2.49300352e+02] [-1.59998036e-01 9.87115205e-01 2.04948576e-03 -1.00549321e+02] [-1.34765251e-02 -1.08313522e-04 -9.99909182e-01 -4.11297792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.011916385554390788 Centerline is valid? [True, True] Translation: X:249.28, Y:-100.52, Z:-4.11 [[-9.72742879e-01 -2.31577149e-01 1.19714230e-02 2.49284324e+02] [-2.31561179e-01 9.72816534e-01 2.72245440e-03 -1.00523175e+02] [-1.22764565e-02 -1.23868695e-04 -9.99924634e-01 -4.11440948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.011805129767102256 Centerline is valid? [True, True] Translation: X:249.26, Y:-100.50, Z:-4.12 [[-9.53743754e-01 -3.00411813e-01 1.12068983e-02 2.49263296e+02] [-3.00392504e-01 9.53809587e-01 3.40798667e-03 -1.00501361e+02] [-1.17130465e-02 -1.16122257e-04 -9.99931393e-01 -4.11544147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.011612250095215146 Centerline is valid? [True, True] Translation: X:249.23, Y:-100.49, Z:-4.12 [[-9.30628325e-01 -3.65792151e-01 1.12704774e-02 2.49227432e+02] [-3.65766409e-01 9.30696565e-01 4.34029809e-03 -1.00486182e+02] [-1.20770416e-02 -8.31577234e-05 -9.99927066e-01 -4.11610451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.011666507207842515 Centerline is valid? [True, True] Translation: X:249.17, Y:-100.48, Z:-4.12 [[-9.02592346e-01 -4.30355081e-01 1.10255008e-02 2.49170907e+02] [-4.30323582e-01 9.02659682e-01 5.20703606e-03 -1.00482808e+02] [-1.21931495e-02 -4.47021032e-05 -9.99925660e-01 -4.11626045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.012213609997210925 Centerline is valid? [True, True] Translation: X:249.11, Y:-100.49, Z:-4.12 [[-8.71252538e-01 -4.90704608e-01 1.13138462e-02 2.49105338e+02] [-4.90662745e-01 8.71325993e-01 6.40966988e-03 -1.00489648e+02] [-1.30033029e-02 3.31582969e-05 -9.99915453e-01 -4.11580571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.01298989180488013 Centerline is valid? [True, True] Translation: X:249.03, Y:-100.51, Z:-4.11 [[-8.34294859e-01 -5.51203094e-01 1.12799078e-02 2.49031179e+02] [-5.51151340e-01 8.34371105e-01 7.55372535e-03 -1.00506257e+02] [-1.35752659e-02 8.50979110e-05 -9.99907848e-01 -4.11497777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.013226409344861344 Centerline is valid? [True, True] Translation: X:248.95, Y:-100.53, Z:-4.12 [[-7.92143433e-01 -6.10225105e-01 1.15803031e-02 2.48952016e+02] [-6.10157466e-01 7.92228063e-01 9.08641203e-03 -1.00530990e+02] [-1.47189979e-02 1.31933208e-04 -9.99891661e-01 -4.11564349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.013228903166336613 Centerline is valid? [True, True] Translation: X:248.86, Y:-100.57, Z:-4.12 [[-7.43593559e-01 -6.68525764e-01 1.19130834e-02 2.48864489e+02] [-6.68437001e-01 7.43688970e-01 1.08945732e-02 -1.00568354e+02] [-1.61429316e-02 1.37988712e-04 -9.99869685e-01 -4.11509682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.012674972998866232 Centerline is valid? [True, True] Translation: X:248.78, Y:-100.61, Z:-4.11 [[-6.87493498e-01 -7.26081922e-01 1.25591501e-02 2.48777185e+02] [-7.25958813e-01 6.87608200e-01 1.33703012e-02 -1.00610115e+02] [-1.83437086e-02 7.45694551e-05 -9.99831737e-01 -4.11322428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.01221895785836345 Centerline is valid? [True, True] Translation: X:248.69, Y:-100.66, Z:-4.11 [[-6.26925077e-01 -7.78991188e-01 1.17335790e-02 2.48690602e+02] [-7.78855171e-01 6.27034871e-01 1.45565727e-02 -1.00664002e+02] [-1.86968050e-02 -1.28782017e-05 -9.99825199e-01 -4.11409713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.01226799334512843 Centerline is valid? [True, True] Translation: X:248.60, Y:-100.73, Z:-4.12 [[-5.60128317e-01 -8.28338610e-01 1.05554006e-02 2.48603875e+02] [-8.28196499e-01 5.60227745e-01 1.53438379e-02 -1.00729803e+02] [-1.86233217e-02 -1.47427714e-04 -9.99826560e-01 -4.11516132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.013002621424996861 Centerline is valid? [True, True] Translation: X:248.52, Y:-100.80, Z:-4.12 [[-4.89936066e-01 -8.71718815e-01 8.30411093e-03 2.48523873e+02] [-8.71601955e-01 4.90006375e-01 1.42752837e-02 -1.00802345e+02] [-1.65131007e-02 -2.43902974e-04 -9.99863620e-01 -4.11650254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.01341840110871884 Centerline is valid? [True, True] Translation: X:248.45, Y:-100.88, Z:-4.12 [[-4.19256001e-01 -9.07848679e-01 5.93135278e-03 2.48449875e+02] [-9.07766211e-01 4.19297879e-01 1.22390482e-02 -1.00883509e+02] [-1.35982074e-02 -2.52987242e-04 -9.99907508e-01 -4.11929807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.01385931409990196 Centerline is valid? [True, True] Translation: X:248.38, Y:-100.97, Z:-4.12 [[-3.46257725e-01 -9.38129646e-01 4.28434614e-03 2.48382711e+02] [-9.38066772e-01 3.46284134e-01 1.08641248e-02 -1.00968977e+02] [-1.16755586e-02 -2.57215629e-04 -9.99931805e-01 -4.12074687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.014503215588936797 Centerline is valid? [True, True] Translation: X:248.32, Y:-101.06, Z:-4.12 [[-2.71262710e-01 -9.62498298e-01 3.68350569e-03 2.48320100e+02] [-9.62424093e-01 2.71287550e-01 1.19553179e-02 -1.01063827e+02] [-1.25062624e-02 -3.02062698e-04 -9.99921748e-01 -4.11927548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.015747446578639843 Centerline is valid? [True, True] Translation: X:248.26, Y:-101.17, Z:-4.12 [[-1.93136148e-01 -9.81166018e-01 3.41660890e-03 2.48262479e+02] [-9.81048803e-01 1.93165905e-01 1.51716743e-02 -1.01169830e+02] [-1.55459036e-02 -4.21661347e-04 -9.99879066e-01 -4.11698281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.016380405714269197 Centerline is valid? [True, True] Translation: X:248.21, Y:-101.28, Z:-4.11 [[-1.15276923e-01 -9.93330071e-01 2.56925160e-03 2.48214376e+02] [-9.93173033e-01 1.15304401e-01 1.76698106e-02 -1.01275574e+02] [-1.78482002e-02 -5.14790016e-04 -9.99840576e-01 -4.11435442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.01728755216762884 Centerline is valid? [True, True] Translation: X:248.18, Y:-101.38, Z:-4.11 [[-3.79949904e-02 -9.99277026e-01 1.34384400e-03 2.48175418e+02] [-9.99078336e-01 3.80142443e-02 1.99347897e-02 -1.01382597e+02] [-1.99714626e-02 -5.85183285e-04 -9.99800379e-01 -4.11212182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.01697187040194667 Centerline is valid? [True, True] Translation: X:248.15, Y:-101.50, Z:-4.11 [[ 3.72035212e-02 -9.99307694e-01 -1.77206491e-04 2.48147959e+02] [-9.99127381e-01 -3.72001757e-02 1.89900983e-02 -1.01497601e+02] [-1.89835434e-02 -5.29446665e-04 -9.99819656e-01 -4.11303921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.015132932668266902 Centerline is valid? [True, True] Translation: X:248.13, Y:-101.61, Z:-4.12 [[ 1.08475156e-01 -9.94098289e-01 -1.31583875e-03 2.48132734e+02] [-9.93979842e-01 -1.08482549e-01 1.53496316e-02 -1.01609239e+02] [-1.54017880e-02 -3.57136492e-04 -9.99881322e-01 -4.11646253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.013133699198606427 Centerline is valid? [True, True] Translation: X:248.13, Y:-101.73, Z:-4.12 [[ 1.80478537e-01 -9.83576728e-01 -2.07803994e-03 2.48127183e+02] [-9.83494362e-01 -1.80490321e-01 1.27312040e-02 -1.01729281e+02] [-1.28971820e-02 -2.53968503e-04 -9.99916796e-01 -4.12023075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.012438919626809103 Centerline is valid? [True, True] Translation: X:248.13, Y:-101.84, Z:-4.12 [[ 2.51582444e-01 -9.67831453e-01 -2.92437234e-03 2.48125722e+02] [-9.67756801e-01 -2.51599365e-01 1.20222526e-02 -1.01836423e+02] [-1.23712845e-02 -1.94506485e-04 -9.99923454e-01 -4.12056434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.012497137118394641 Centerline is valid? [True, True] Translation: X:248.13, Y:-101.96, Z:-4.12 [[ 3.24477132e-01 -9.45883314e-01 -4.39849239e-03 2.48134131e+02] [-9.45787697e-01 -3.24506878e-01 1.34506025e-02 -1.01962536e+02] [-1.41500415e-02 -2.04372922e-04 -9.99899862e-01 -4.11885447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.012636461931106409 Centerline is valid? [True, True] Translation: X:248.15, Y:-102.08, Z:-4.12 [[ 3.97073785e-01 -9.17766942e-01 -6.02079661e-03 2.48145780e+02] [-9.17652225e-01 -3.97119358e-01 1.45123699e-02 -1.02075323e+02] [-1.57099483e-02 -2.37484260e-04 -9.99876563e-01 -4.11786081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.01310422997571818 Centerline is valid? [True, True] Translation: X:248.17, Y:-102.19, Z:-4.12 [[ 4.67878011e-01 -8.83760104e-01 -7.63182016e-03 2.48167470e+02] [-8.83632551e-01 -4.67940165e-01 1.50171866e-02 -1.02194910e+02] [-1.68428256e-02 -2.82486687e-04 -9.99858110e-01 -4.11679561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.013900793192811725 Centerline is valid? [True, True] Translation: X:248.20, Y:-102.31, Z:-4.12 [[ 5.35373502e-01 -8.44571641e-01 -8.59974407e-03 2.48196374e+02] [-8.44453507e-01 -5.35442482e-01 1.41287771e-02 -1.02308748e+02] [-1.65374327e-02 -3.02088821e-04 -9.99863202e-01 -4.11601368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.013596032619527935 Centerline is valid? [True, True] Translation: X:248.23, Y:-102.41, Z:-4.12 [[ 5.99039692e-01 -8.00663262e-01 -9.47564613e-03 2.48233082e+02] [-8.00554751e-01 -5.99114549e-01 1.31851367e-02 -1.02414295e+02] [-1.62338521e-02 -3.12646723e-04 -9.99868173e-01 -4.11859882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.013137130627502954 Centerline is valid? [True, True] Translation: X:248.28, Y:-102.52, Z:-4.12 [[ 6.58020513e-01 -7.52919407e-01 -1.10168643e-02 2.48279554e+02] [-7.52805725e-01 -6.58112654e-01 1.30872111e-02 -1.02517765e+02] [-1.71039530e-02 -3.18094855e-04 -9.99853666e-01 -4.11959212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.013032327703376922 Centerline is valid? [True, True] Translation: X:248.32, Y:-102.60, Z:-4.12 [[ 7.13002014e-01 -7.01062202e-01 -1.18286910e-02 2.48321387e+02] [-7.00958619e-01 -7.13100061e-01 1.20547851e-02 -1.02604581e+02] [-1.68861944e-02 -3.03663136e-04 -9.99857372e-01 -4.12008729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.01244339927535694 Centerline is valid? [True, True] Translation: X:248.38, Y:-102.69, Z:-4.12 [[ 7.63862015e-01 -6.45264346e-01 -1.21961575e-02 2.48377847e+02] [-6.45176107e-01 -7.63959320e-01 1.06746433e-02 -1.02693980e+02] [-1.62053349e-02 -2.85285074e-04 -9.99868644e-01 -4.12291591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.012644127443990875 Centerline is valid? [True, True] Translation: X:248.40, Y:-102.72, Z:-4.12 [[ 8.11616569e-01 -5.84063269e-01 -1.21919487e-02 2.48398287e+02] [-5.83992474e-01 -8.11708093e-01 9.09733174e-03 -1.02721607e+02] [-1.52097207e-02 -2.63538901e-04 -9.99884291e-01 -4.12355721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.012383544813391087 Centerline is valid? [True, True] Translation: X:248.42, Y:-102.75, Z:-4.12 [[ 8.54715236e-01 -5.18948970e-01 -1.24028815e-02 2.48422567e+02] [-5.18890017e-01 -8.54805184e-01 7.82609344e-03 -1.02747338e+02] [-1.46633905e-02 -2.53349932e-04 -9.99892455e-01 -4.12437857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.012333182704809278 Centerline is valid? [True, True] Translation: X:248.45, Y:-102.77, Z:-4.12 [[ 8.92778662e-01 -4.50303812e-01 -1.31429434e-02 2.48447549e+02] [-4.50250723e-01 -8.92875360e-01 6.91931275e-03 -1.02771711e+02] [-1.48508033e-02 -2.59794992e-04 -9.99889687e-01 -4.12499542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.012949092393170516 Centerline is valid? [True, True] Translation: X:248.47, Y:-102.80, Z:-4.13 [[ 9.25636347e-01 -3.78136427e-01 -1.44980994e-02 2.48474656e+02] [-3.78085135e-01 -9.25749836e-01 6.23474026e-03 -1.02795092e+02] [-1.57791956e-02 -2.89586326e-04 -9.99875459e-01 -4.12512397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.01292911829349047 Centerline is valid? [True, True] Translation: X:248.50, Y:-102.82, Z:-4.13 [[ 9.52468394e-01 -3.04211546e-01 -1.61026100e-02 2.48503041e+02] [-3.04162470e-01 -9.52604449e-01 5.47319262e-03 -1.02816450e+02] [-1.70044264e-02 -3.15233342e-04 -9.99855365e-01 -4.12507944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.013244696923570635 Centerline is valid? [True, True] Translation: X:248.53, Y:-102.84, Z:-4.12 [[ 9.73433213e-01 -2.28201916e-01 -1.87527497e-02 2.48534134e+02] [-2.28152354e-01 -9.73613759e-01 4.76979788e-03 -1.02835299e+02] [-1.93464122e-02 -3.64595681e-04 -9.99812774e-01 -4.12260875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.013906436596995966 Centerline is valid? [True, True] Translation: X:248.57, Y:-102.85, Z:-4.12 [[ 9.88222453e-01 -1.51759375e-01 -1.96335505e-02 2.48565916e+02] [-1.51722068e-01 -9.88417401e-01 3.38465631e-03 -1.02849856e+02] [-1.99197963e-02 -3.65950479e-04 -9.99801514e-01 -4.12051654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.012818953494466748 Centerline is valid? [True, True] Translation: X:248.60, Y:-102.86, Z:-4.12 [[ 9.96942287e-01 -7.56447286e-02 -1.95946833e-02 2.48596856e+02] [-7.56236434e-02 -9.97134779e-01 1.81588738e-03 -1.02858538e+02] [-1.96759025e-02 -3.28513577e-04 -9.99806357e-01 -4.12264475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.012167552538624183 Centerline is valid? [True, True] Translation: X:248.63, Y:-102.86, Z:-4.12 [[ 9.99823461e-01 -1.52449674e-03 -1.87276187e-02 2.48626694e+02] [-1.51980523e-03 -9.99998810e-01 2.64742786e-04 -1.02862710e+02] [-1.87280000e-02 -2.36233715e-04 -9.99824588e-01 -4.12338390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.011125069809809172 Centerline is valid? [True, True] Translation: X:248.66, Y:-102.87, Z:-4.13 [[ 9.97214581e-01 7.23614635e-02 -1.80803266e-02 2.48657836e+02] [ 7.23523067e-02 -9.97378462e-01 -1.16092711e-03 -1.02867381e+02] [-1.81169347e-02 -1.50459894e-04 -9.99835864e-01 -4.12588971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.010981786528754348 Centerline is valid? [True, True] Translation: X:248.69, Y:-102.87, Z:-4.13 [[ 9.89162098e-01 1.45674148e-01 -1.83680993e-02 2.48689433e+02] [ 1.45650297e-01 -9.89332623e-01 -2.63682610e-03 -1.02869400e+02] [-1.85562773e-02 -6.70706906e-05 -9.99827815e-01 -4.12506760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.011744512205031369 Centerline is valid? [True, True] Translation: X:248.72, Y:-102.87, Z:-4.12 [[ 9.76370116e-01 2.15334053e-01 -1.82384720e-02 2.48718628e+02] [ 2.15295088e-01 -9.76540445e-01 -4.09693741e-03 -1.02865004e+02] [-1.86928157e-02 7.34738193e-05 -9.99825271e-01 -4.12438278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.013113656259359884 Centerline is valid? [True, True] Translation: X:248.75, Y:-102.86, Z:-4.13 [[ 9.58593409e-01 2.84275502e-01 -1.69149176e-02 2.48747707e+02] [ 2.84227689e-01 -9.58742615e-01 -5.21721042e-03 -1.02857619e+02] [-1.77001774e-02 1.93495572e-04 -9.99843321e-01 -4.12550427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.012809137450137564 Centerline is valid? [True, True] Translation: X:248.78, Y:-102.86, Z:-4.13 [[ 9.34753000e-01 3.54943859e-01 -1.58646121e-02 2.48780016e+02] [ 3.54888213e-01 -9.34887584e-01 -6.28978132e-03 -1.02857104e+02] [-1.70641482e-02 2.49228102e-04 -9.99854366e-01 -4.12793613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.013433002831122809 Centerline is valid? [True, True] Translation: X:248.81, Y:-102.85, Z:-4.13 [[ 9.05145426e-01 4.24840890e-01 -1.48988424e-02 2.48811730e+02] [ 4.24778224e-01 -9.05267993e-01 -7.30213961e-03 -1.02853646e+02] [-1.65896927e-02 2.80794454e-04 -9.99862342e-01 -4.12852033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.013971255278319175 Centerline is valid? [True, True] Translation: X:248.84, Y:-102.85, Z:-4.13 [[ 8.68930666e-01 4.94714475e-01 -1.47338428e-02 2.48841575e+02] [ 4.94637792e-01 -8.69055526e-01 -8.71480630e-03 -1.02847411e+02] [-1.71158683e-02 2.84646977e-04 -9.99853472e-01 -4.12750793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.01326792689370242 Centerline is valid? [True, True] Translation: X:248.87, Y:-102.84, Z:-4.13 [[ 8.26160570e-01 5.63260745e-01 -1.40016172e-02 2.48874376e+02] [ 5.63174861e-01 -8.26279174e-01 -9.83884917e-03 -1.02841510e+02] [-1.71110822e-02 2.43110433e-04 -9.99853565e-01 -4.12739418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.01231467439293131 Centerline is valid? [True, True] Translation: X:248.91, Y:-102.83, Z:-4.13 [[ 7.77712370e-01 6.28481643e-01 -1.32020608e-02 2.48906634e+02] [ 6.28386852e-01 -7.77824394e-01 -1.09168268e-02 -1.02832251e+02] [-1.71299102e-02 1.94149829e-04 -9.99853253e-01 -4.12769607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.01165261665016295 Centerline is valid? [True, True] Translation: X:248.94, Y:-102.82, Z:-4.13 [[ 7.23576028e-01 6.90128425e-01 -1.26683811e-02 2.48938780e+02] [ 6.90019362e-01 -7.23686906e-01 -1.22695594e-02 -1.02821288e+02] [-1.76355132e-02 1.36530828e-04 -9.99844473e-01 -4.12765621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.011176605359835941 Centerline is valid? [True, True] Translation: X:248.97, Y:-102.81, Z:-4.13 [[ 6.65956969e-01 7.45910402e-01 -1.09081159e-02 2.48968791e+02] [ 7.45808042e-01 -6.66046292e-01 -1.23572293e-02 -1.02806265e+02] [-1.64826960e-02 9.40223846e-05 -9.99864147e-01 -4.12823754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.01077176750298783 Centerline is valid? [True, True] Translation: X:249.00, Y:-102.79, Z:-4.13 [[ 6.04681339e-01 7.96419639e-01 -8.73136917e-03 2.48998087e+02] [ 7.96335143e-01 -6.04744372e-01 -1.16010693e-02 -1.02789235e+02] [-1.45195658e-02 6.18540306e-05 -9.99894584e-01 -4.12988522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.010663000065582023 Centerline is valid? [True, True] Translation: X:249.03, Y:-102.77, Z:-4.13 [[ 5.41777244e-01 8.40494694e-01 -6.78873848e-03 2.49026524e+02] [ 8.40427136e-01 -5.41819771e-01 -1.06566942e-02 -1.02770107e+02] [-1.26351676e-02 6.81143685e-05 -9.99920171e-01 -4.13082947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.01121649025843755 Centerline is valid? [True, True] Translation: X:249.05, Y:-102.75, Z:-4.13 [[ 4.76746372e-01 8.79020443e-01 -5.99638256e-03 2.49050672e+02] [ 8.78948134e-01 -4.76784070e-01 -1.12751224e-02 -1.02746722e+02] [-1.27700428e-02 1.04864436e-04 -9.99918454e-01 -4.13050210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.012889064065305862 Centerline is valid? [True, True] Translation: X:249.07, Y:-102.72, Z:-4.13 [[ 4.11547139e-01 9.11371682e-01 -5.53257164e-03 2.49069532e+02] [ 9.11282837e-01 -4.11584279e-01 -1.27268365e-02 -1.02722302e+02] [-1.38759979e-02 1.95955583e-04 -9.99903705e-01 -4.12867121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.013917894136480653 Centerline is valid? [True, True] Translation: X:249.09, Y:-102.70, Z:-4.13 [[ 3.42275953e-01 9.39586274e-01 -4.98042714e-03 2.49087964e+02] [ 9.39474798e-01 -3.42312075e-01 -1.44757191e-02 -1.02695555e+02] [-1.53060473e-02 2.75704767e-04 -9.99882818e-01 -4.12755845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.014269339351043363 Centerline is valid? [True, True] Translation: X:249.11, Y:-102.67, Z:-4.13 [[ 2.68753144e-01 9.63200952e-01 -3.95891779e-03 2.49105655e+02] [ 9.63079115e-01 -2.68782128e-01 -1.53227291e-02 -1.02668435e+02] [-1.58229536e-02 3.05280573e-04 -9.99874763e-01 -4.12718764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.014269339351043363 Centerline is valid? [True, True] Translation: X:249.12, Y:-102.64, Z:-4.13 [[ 1.92482447e-01 9.81296575e-01 -2.74597177e-03 2.49120171e+02] [ 9.81172869e-01 -1.92501791e-01 -1.55840547e-02 -1.02640045e+02] [-1.58211840e-02 3.05383990e-04 -9.99874791e-01 -4.12722030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.013791941048701557 Centerline is valid? [True, True] Translation: X:249.14, Y:-102.61, Z:-4.13 [[ 1.13742026e-01 9.93509188e-01 -1.49804302e-03 2.49135085e+02] [ 9.93387536e-01 -1.13751545e-01 -1.55496041e-02 -1.02610721e+02] [-1.56190793e-02 2.80506222e-04 -9.99877975e-01 -4.12730214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.012450003507408585 Centerline is valid? [True, True] Translation: X:249.15, Y:-102.58, Z:-4.13 [[ 3.08995294e-02 9.99522463e-01 -2.56922343e-04 2.49148836e+02] [ 9.99418693e-01 -3.09000238e-02 -1.44036460e-02 -1.02579860e+02] [-1.44047066e-02 1.88292890e-04 -9.99896229e-01 -4.12893941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.011259660144770516 Centerline is valid? [True, True] Translation: X:249.16, Y:-102.55, Z:-4.13 [[-5.29655869e-02 9.98595996e-01 8.26896131e-04 2.49159624e+02] [ 9.98502503e-01 5.29719432e-02 -1.36646967e-02 -1.02548112e+02] [-1.36893137e-02 1.01899175e-04 -9.99906292e-01 -4.12889512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.009732760441395377 Centerline is valid? [True, True] Translation: X:249.17, Y:-102.51, Z:-4.13 [[-1.41655187e-01 9.89914453e-01 1.78418761e-03 2.49174994e+02] [ 9.89831857e-01 1.41666416e-01 -1.27875846e-02 -1.02513814e+02] [-1.29113742e-02 -4.53819503e-05 -9.99916644e-01 -4.13036003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.01063844322378933 Centerline is valid? [True, True] Translation: X:249.19, Y:-102.48, Z:-4.13 [[-2.29303641e-01 9.73351108e-01 2.73153877e-03 2.49185532e+02] [ 9.73272247e-01 2.29319837e-01 -1.23913132e-02 -1.02479958e+02] [-1.26874944e-02 -1.82842354e-04 -9.99919494e-01 -4.12918083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.01297481950976671 Centerline is valid? [True, True] Translation: X:249.19, Y:-102.44, Z:-4.13 [[-3.13402501e-01 9.49613167e-01 3.70213274e-03 2.49188732e+02] [ 9.49535265e-01 3.13424225e-01 -1.21670112e-02 -1.02444607e+02] [-1.27142921e-02 -2.97866150e-04 -9.99919126e-01 -4.12877391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.01389139700421674 Centerline is valid? [True, True] Translation: X:249.19, Y:-102.41, Z:-4.13 [[-3.90540129e-01 9.20575048e-01 4.47090154e-03 2.49186386e+02] [ 9.20504489e-01 3.90565574e-01 -1.14025064e-02 -1.02409341e+02] [-1.22430431e-02 -3.37651401e-04 -9.99924994e-01 -4.12924321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.015287583518939038 Centerline is valid? [True, True] Translation: X:249.18, Y:-102.38, Z:-4.13 [[-4.63887043e-01 8.85880052e-01 5.03440463e-03 2.49178854e+02] [ 8.85819390e-01 4.63914226e-01 -1.03729533e-02 -1.02375575e+02] [-1.15247243e-02 -3.52305370e-04 -9.99933526e-01 -4.12965379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.01550587599901681 Centerline is valid? [True, True] Translation: X:249.17, Y:-102.34, Z:-4.13 [[-5.32700911e-01 8.46285137e-01 5.58620244e-03 2.49166729e+02] [ 8.46231533e-01 5.32730086e-01 -9.53141838e-03 -1.02343597e+02] [-1.10422358e-02 -3.50174605e-04 -9.99938971e-01 -4.13059917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.016635411855477154 Centerline is valid? [True, True] Translation: X:249.15, Y:-102.31, Z:-4.13 [[-5.97651437e-01 8.01721677e-01 7.42370806e-03 2.49152676e+02] [ 8.01651161e-01 5.97697403e-01 -1.06410273e-02 -1.02314840e+02] [-1.29682733e-02 -4.08401109e-04 -9.99915825e-01 -4.12793416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.01654134390051905 Centerline is valid? [True, True] Translation: X:249.13, Y:-102.29, Z:-4.13 [[-6.58420973e-01 7.52604756e-01 8.24036713e-03 2.49134738e+02] [ 7.52537974e-01 6.58472411e-01 -1.00340267e-02 -1.02287459e+02] [-1.29777107e-02 -4.05424462e-04 -9.99915704e-01 -4.12696070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.015709181240551692 Centerline is valid? [True, True] Translation: X:249.11, Y:-102.26, Z:-4.13 [[-7.14954086e-01 6.99113285e-01 9.01502211e-03 2.49111765e+02] [ 6.99050579e-01 7.15010809e-01 -9.37185235e-03 -1.02264231e+02] [-1.29978247e-02 -3.98487709e-04 -9.99915445e-01 -4.12883686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.015610551347526161 Centerline is valid? [True, True] Translation: X:249.09, Y:-102.24, Z:-4.13 [[-7.66629139e-01 6.42027726e-01 8.95331726e-03 2.49087093e+02] [ 6.41978486e-01 7.66681338e-01 -7.95925816e-03 -1.02242603e+02] [-1.19744057e-02 -3.53962176e-04 -9.99928242e-01 -4.13013908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.01559636229126287 Centerline is valid? [True, True] Translation: X:249.10, Y:-102.23, Z:-4.13 [[-8.09191144e-01 5.87478333e-01 8.88263569e-03 2.49104296e+02] [ 5.87438634e-01 8.09239835e-01 -6.83671367e-03 -1.02227005e+02] [-1.12046038e-02 -3.14204778e-04 -9.99937177e-01 -4.13031521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.013618803823620986 Centerline is valid? [True, True] Translation: X:249.12, Y:-102.21, Z:-4.13 [[-8.47033844e-01 5.31481609e-01 7.80803915e-03 2.49115395e+02] [ 5.31456406e-01 8.47069798e-01 -5.18134862e-03 -1.02213772e+02] [-9.36774564e-03 -2.39145213e-04 -9.99956093e-01 -4.13217057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.01350704754935199 Centerline is valid? [True, True] Translation: X:249.13, Y:-102.20, Z:-4.13 [[-8.81153967e-01 4.72777639e-01 6.99936693e-03 2.49129546e+02] [ 4.72761028e-01 8.81181746e-01 -3.96755437e-03 -1.02196699e+02] [-8.04348536e-03 -1.86998372e-04 -9.99967633e-01 -4.13282040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.011630616927860486 Centerline is valid? [True, True] Translation: X:249.14, Y:-102.19, Z:-4.14 [[-9.09724304e-01 4.15180345e-01 5.19343575e-03 2.49137535e+02] [ 4.15172904e-01 9.09739122e-01 -2.48793937e-03 -1.02185171e+02] [-5.75761521e-03 -1.07165108e-04 -9.99983419e-01 -4.13580997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.011981920979850782 Centerline is valid? [True, True] Translation: X:249.15, Y:-102.16, Z:-4.13 [[-9.36378318e-01 3.50899214e-01 8.08616972e-03 2.49146219e+02] [ 3.50884924e-01 9.36413223e-01 -3.16951456e-03 -1.02163683e+02] [-8.68417642e-03 -1.30549670e-04 -9.99962283e-01 -4.13419080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.01189544478706464 Centerline is valid? [True, True] Translation: X:249.15, Y:-102.14, Z:-4.13 [[-9.58329647e-01 2.85491368e-01 9.94818007e-03 2.49151121e+02] [ 2.85474584e-01 9.58381272e-01 -3.09833830e-03 -1.02141058e+02] [-1.04186983e-02 -1.29276885e-04 -9.99945716e-01 -4.13101759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.011595292193730304 Centerline is valid? [True, True] Translation: X:249.36, Y:-101.49, Z:-5.10 [[-9.31222902e-01 -3.64340284e-01 8.94783751e-03 2.49360848e+02] [ 3.64324198e-01 -9.31265887e-01 -3.42440337e-03 -1.01491855e+02] [ 9.58046393e-03 7.10308818e-05 9.99954104e-01 -5.09603383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.011432499516206469 Centerline is valid? [True, True] Translation: X:249.11, Y:-102.14, Z:-4.13 [[-9.58192888e-01 2.85948650e-01 9.98793505e-03 2.49110528e+02] [ 2.85932180e-01 9.58244938e-01 -3.07022357e-03 -1.02137564e+02] [-1.04488145e-02 -8.59943388e-05 -9.99945406e-01 -4.13050479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.011181965587767193 Centerline is valid? [True, True] Translation: X:249.12, Y:-102.12, Z:-4.13 [[-9.75410392e-01 2.20239143e-01 8.32393789e-03 2.49117232e+02] [ 2.20230671e-01 9.75445907e-01 -1.93234237e-03 -1.02116389e+02] [-8.54512857e-03 -5.16403934e-05 -9.99963488e-01 -4.13098127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.011028388712216286 Centerline is valid? [True, True] Translation: X:249.12, Y:-102.09, Z:-4.13 [[-9.88138739e-01 1.53431824e-01 6.36455720e-03 2.49120778e+02] [ 1.53428448e-01 9.88159235e-01 -1.01815727e-03 -1.02094213e+02] [-6.44541371e-03 -2.95765071e-05 -9.99979228e-01 -4.13315917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.011036718835263063 Centerline is valid? [True, True] Translation: X:249.13, Y:-102.07, Z:-4.13 [[-9.96326048e-01 8.54800184e-02 5.25089744e-03 2.49133257e+02] [ 8.54787328e-02 9.96339885e-01 -4.69189186e-04 -1.02071570e+02] [-5.27178485e-03 -1.86253483e-05 -9.99986104e-01 -4.13312393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.011236170901027435 Centerline is valid? [True, True] Translation: X:249.13, Y:-102.05, Z:-4.13 [[-9.99855016e-01 1.68447713e-02 2.49021656e-03 2.49128868e+02] [ 1.68446611e-02 9.99858117e-01 -6.52250195e-05 -1.02047999e+02] [-2.49096194e-03 -2.32687089e-05 -9.99996897e-01 -4.13401427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.011102701427470553 Centerline is valid? [True, True] Translation: X:249.13, Y:-102.02, Z:-4.13 [[-9.98552092e-01 -5.37575878e-02 1.95987136e-03 2.49126915e+02] [-5.37575344e-02 9.98554015e-01 7.99824107e-05 -1.02021970e+02] [-1.96133708e-03 -2.54912485e-05 -9.99998076e-01 -4.13369279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.010910780551036716 Centerline is valid? [True, True] Translation: X:249.09, Y:-101.29, Z:-5.10 [[-9.99995208e-01 -2.56136776e-03 1.73877029e-03 2.49086541e+02] [ 2.56138459e-03 -9.99996720e-01 7.45371199e-06 -1.01294788e+02] [ 1.73874550e-03 1.19073357e-05 9.99998488e-01 -5.09561192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.010710136664332667 Centerline is valid? [True, True] Translation: X:249.05, Y:-102.02, Z:-4.13 [[-9.97953253e-01 -6.38859110e-02 2.80968463e-03 2.49049995e+02] [-6.38857554e-02 9.97957208e-01 1.45201070e-04 -1.02024831e+02] [-2.81322134e-03 -3.45949452e-05 -9.99996042e-01 -4.13104640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.010911398659294394 Centerline is valid? [True, True] Translation: X:249.00, Y:-101.31, Z:-5.10 [[-9.99971489e-01 -7.15016841e-03 2.42840609e-03 2.49000599e+02] [ 7.15016533e-03 -9.99974437e-01 -9.95238314e-06 -1.01305834e+02] [ 2.42841517e-03 7.41140562e-06 9.99997051e-01 -5.09908660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.011245000317016383 Centerline is valid? [True, True] Translation: X:248.97, Y:-102.02, Z:-4.13 [[-9.96862296e-01 -7.90035796e-02 4.89869935e-03 2.48968577e+02] [-7.90030252e-02 9.96874329e-01 3.06879079e-04 -1.02023921e+02] [-4.90763217e-03 -8.10958850e-05 -9.99987954e-01 -4.12594007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.011640153430995028 Centerline is valid? [True, True] Translation: X:248.92, Y:-101.31, Z:-5.10 [[-9.99957782e-01 -7.66557778e-03 5.06677921e-03 2.48915616e+02] [ 7.66595153e-03 -9.99970615e-01 5.43466305e-05 -1.01312622e+02] [ 5.06621372e-03 9.31860199e-05 9.99987162e-01 -5.10221399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.01231736615500037 Centerline is valid? [True, True] Translation: X:248.89, Y:-102.03, Z:-4.12 [[-9.95842493e-01 -9.07360201e-02 8.04391042e-03 2.48886674e+02] [-9.07343772e-02 9.95874966e-01 5.69692937e-04 -1.02029483e+02] [-8.06242069e-03 -1.62534769e-04 -9.99967485e-01 -4.12431542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:248.87, Y:-102.00, Z:-4.12 [[-9.85824150e-01 -1.67590805e-01 8.00419348e-03 2.48865809e+02] [-1.67587034e-01 9.85856621e-01 1.14432870e-03 -1.02000381e+02] [-8.08276610e-03 -2.13292174e-04 -9.99967311e-01 -4.12329933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:248.77, Y:-101.30, Z:-5.10 [[-9.98313786e-01 5.76254362e-02 6.99240790e-03 2.48766799e+02] [-5.76231892e-02 -9.98338267e-01 5.22549846e-04 -1.01303215e+02] [ 7.01090054e-03 1.18743872e-04 9.99975416e-01 -5.10425214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.014067928831221849 Centerline is valid? [True, True] Translation: X:248.78, Y:-102.01, Z:-4.12 [[-9.84668531e-01 -1.74241272e-01 8.23790428e-03 2.48775868e+02] [-1.74237076e-01 9.84702965e-01 1.22980227e-03 -1.02013815e+02] [-8.32617108e-03 -2.24400759e-04 -9.99965312e-01 -4.12343805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.01407741741829944 Centerline is valid? [True, True] Translation: X:248.67, Y:-101.32, Z:-5.10 [[-9.97967986e-01 6.32051723e-02 8.06259118e-03 2.48672795e+02] [-6.32014607e-02 -9.98000533e-01 7.14560338e-04 -1.01315011e+02] [ 8.09163420e-03 2.03540802e-04 9.99967241e-01 -5.10394110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.013418477409496136 Centerline is valid? [True, True] Translation: X:248.68, Y:-102.03, Z:-4.12 [[-9.84117440e-01 -1.77336883e-01 8.03077468e-03 2.48681657e+02] [-1.77332599e-01 9.84150188e-01 1.24807384e-03 -1.02029793e+02] [-8.12481794e-03 -1.95866913e-04 -9.99966974e-01 -4.12405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.012696658423049258 Centerline is valid? [True, True] Translation: X:248.67, Y:-102.00, Z:-4.13 [[-9.69273512e-01 -2.45871275e-01 7.49497408e-03 2.48674684e+02] [-2.45865331e-01 9.69302473e-01 1.71872198e-03 -1.02004522e+02] [-7.68748128e-03 -1.76842594e-04 -9.99970435e-01 -4.12527096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.013634329679064708 Centerline is valid? [True, True] Translation: X:248.65, Y:-101.98, Z:-4.12 [[-9.48773088e-01 -3.15822785e-01 9.25177258e-03 2.48653503e+02] [-3.15810071e-01 9.48818169e-01 2.84264673e-03 -1.01979539e+02] [-9.67602252e-03 -2.24776240e-04 -9.99953161e-01 -4.12341446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.014353618105190844 Centerline is valid? [True, True] Translation: X:248.62, Y:-101.96, Z:-4.12 [[-9.23038259e-01 -3.84586481e-01 9.67522882e-03 2.48622052e+02] [-3.84568209e-01 9.23088931e-01 3.75739843e-03 -1.01961689e+02] [-1.03761413e-02 -2.52562913e-04 -9.99946135e-01 -4.12278631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.013882846935466443 Centerline is valid? [True, True] Translation: X:248.58, Y:-101.95, Z:-4.12 [[-8.92662154e-01 -4.50630861e-01 9.27931015e-03 2.48575307e+02] [-4.50609415e-01 8.92710347e-01 4.40351660e-03 -1.01954466e+02] [-1.02680967e-02 -2.50491901e-04 -9.99947250e-01 -4.12412345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.013422036087264264 Centerline is valid? [True, True] Translation: X:248.51, Y:-101.96, Z:-4.13 [[-8.57906833e-01 -5.13749200e-01 7.59111593e-03 2.48507927e+02] [-5.13731195e-01 8.57940393e-01 4.30609325e-03 -1.01961364e+02] [-8.72497694e-03 -2.05566229e-04 -9.99961916e-01 -4.12571570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.01295651744894507 Centerline is valid? [True, True] Translation: X:248.45, Y:-101.97, Z:-4.13 [[-8.17514588e-01 -5.75867379e-01 6.83085218e-03 2.48445125e+02] [-5.75849237e-01 8.17543103e-01 4.57512823e-03 -1.01970197e+02] [-8.21918319e-03 -1.93306948e-04 -9.99966203e-01 -4.12757513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.013617819367727747 Centerline is valid? [True, True] Translation: X:248.37, Y:-101.99, Z:-4.13 [[-7.71597548e-01 -6.36075125e-01 6.75716171e-03 2.48367555e+02] [-6.36053089e-01 7.71627106e-01 5.29876060e-03 -1.01990256e+02] [-8.58441895e-03 -2.09402894e-04 -9.99963131e-01 -4.12643277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.014230540444958181 Centerline is valid? [True, True] Translation: X:248.28, Y:-102.03, Z:-4.12 [[-7.21200566e-01 -6.92688643e-01 7.22410163e-03 2.48279012e+02] [-6.92657216e-01 7.21236706e-01 6.60264711e-03 -1.02028495e+02] [-9.78386592e-03 -2.41993286e-04 -9.99952108e-01 -4.12484876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.013475980275504007 Centerline is valid? [True, True] Translation: X:248.21, Y:-102.07, Z:-4.13 [[-6.66295246e-01 -7.45653600e-01 7.16616891e-03 2.48205855e+02] [-7.45614679e-01 6.66333729e-01 7.62308676e-03 -1.02066881e+02] [-1.04592421e-02 -2.63974262e-04 -9.99945266e-01 -4.12605445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.014653530617405482 Centerline is valid? [True, True] Translation: X:248.12, Y:-102.12, Z:-4.13 [[-6.06063021e-01 -7.95396057e-01 5.72074752e-03 2.48118714e+02] [-7.95364573e-01 6.06089965e-01 7.08170326e-03 -1.02123598e+02] [-9.10004651e-03 -2.58121436e-04 -9.99958560e-01 -4.12782108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.014919731910112253 Centerline is valid? [True, True] Translation: X:248.04, Y:-102.18, Z:-4.13 [[-5.43416445e-01 -8.39444671e-01 5.58675651e-03 2.48038269e+02] [-8.39405538e-01 5.43445089e-01 8.11029662e-03 -1.02184093e+02] [-9.84424066e-03 -2.82285801e-04 -9.99951504e-01 -4.12688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.015248725648953783 Centerline is valid? [True, True] Translation: X:247.96, Y:-102.26, Z:-4.13 [[-4.78474486e-01 -8.78084474e-01 5.46111700e-03 2.47959115e+02] [-8.78034292e-01 4.78505555e-01 9.39232825e-03 -1.02257583e+02] [-1.08604324e-02 -3.01058574e-04 -9.99940978e-01 -4.12560158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.01474967276036652 Centerline is valid? [True, True] Translation: X:247.89, Y:-102.34, Z:-4.13 [[-4.10520715e-01 -9.11839925e-01 4.54902565e-03 2.47887995e+02] [-9.11791453e-01 4.10545818e-01 9.40621804e-03 -1.02338633e+02] [-1.04445486e-02 -2.86315356e-04 -9.99945413e-01 -4.12724813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.013883160083289414 Centerline is valid? [True, True] Translation: X:247.82, Y:-102.42, Z:-4.13 [[-3.41894451e-01 -9.39731888e-01 3.48752133e-03 2.47823746e+02] [-9.39689980e-01 3.41912153e-01 8.87818744e-03 -1.02422221e+02] [-9.53554177e-03 -2.41785826e-04 -9.99954506e-01 -4.12747988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.012100614272819691 Centerline is valid? [True, True] Translation: X:247.77, Y:-102.52, Z:-4.13 [[-2.74239595e-01 -9.61657857e-01 2.60982185e-03 2.47766570e+02] [-9.61620302e-01 2.74251955e-01 8.50063375e-03 -1.02515131e+02] [-8.89044998e-03 -1.78447321e-04 -9.99960463e-01 -4.12758140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.0105983191598227 Centerline is valid? [True, True] Translation: X:247.72, Y:-102.62, Z:-4.13 [[-2.08375857e-01 -9.78047088e-01 1.84289709e-03 2.47718294e+02] [-9.78012789e-01 2.08383985e-01 8.19147277e-03 -1.02618917e+02] [-8.39567633e-03 -9.54717620e-05 -9.99964751e-01 -4.12877081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.010350146973910353 Centerline is valid? [True, True] Translation: X:247.68, Y:-102.72, Z:-4.13 [[-1.42343314e-01 -9.89816477e-01 1.31274603e-03 2.47677962e+02] [-9.89775028e-01 1.42349367e-01 9.05821504e-03 -1.02721577e+02] [-9.15283906e-03 -9.94688506e-06 -9.99958112e-01 -4.12825010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.011058199782568055 Centerline is valid? [True, True] Translation: X:247.64, Y:-102.83, Z:-4.13 [[-7.19978318e-02 -9.97404596e-01 6.18981509e-04 2.47642171e+02] [-9.97361656e-01 7.20004758e-02 9.25517866e-03 -1.02834725e+02] [-9.27572470e-03 4.90043730e-05 -9.99956978e-01 -4.12842127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.012511191349722672 Centerline is valid? [True, True] Translation: X:247.62, Y:-102.95, Z:-4.13 [[-3.00988870e-04 -9.99999949e-01 -1.07159573e-04 2.47616156e+02] [-9.99949422e-01 2.99896387e-04 1.00530044e-02 -1.02946711e+02] [-1.00529718e-02 1.10179996e-04 -9.99949462e-01 -4.12774437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.013642596661074664 Centerline is valid? [True, True] Translation: X:247.60, Y:-103.07, Z:-4.13 [[ 7.11961453e-02 -9.97461852e-01 -9.80950341e-04 2.47597503e+02] [-9.97400177e-01 -7.12026531e-02 1.10936825e-02 -1.03066162e+02] [-1.11353713e-02 1.88572617e-04 -9.99937982e-01 -4.12765824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.014281310242246489 Centerline is valid? [True, True] Translation: X:247.59, Y:-103.19, Z:-4.13 [[ 1.47379412e-01 -9.89077684e-01 -2.15486138e-03 2.47585189e+02] [-9.88993881e-01 -1.47394979e-01 1.28772734e-02 -1.03188145e+02] [-1.30542395e-02 2.33299745e-04 -9.99914763e-01 -4.12575683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.013152394839078369 Centerline is valid? [True, True] Translation: X:247.58, Y:-103.31, Z:-4.12 [[ 2.28588405e-01 -9.73516930e-01 -3.48241941e-03 2.47576966e+02] [-9.73415688e-01 -2.28614859e-01 1.40408112e-02 -1.03312749e+02] [-1.44651002e-02 1.80275048e-04 -9.99895359e-01 -4.12288988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.011732060205687258 Centerline is valid? [True, True] Translation: X:247.58, Y:-103.44, Z:-4.12 [[ 3.08962819e-01 -9.51063274e-01 -4.54153006e-03 2.47579595e+02] [-9.50964570e-01 -3.08996184e-01 1.37019978e-02 -1.03440437e+02] [-1.44347824e-02 8.54263172e-05 -9.99895809e-01 -4.12212403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.010647722334672776 Centerline is valid? [True, True] Translation: X:247.58, Y:-103.57, Z:-4.13 [[ 3.94707275e-01 -9.18795278e-01 -4.62637478e-03 2.47584696e+02] [-9.18728742e-01 -3.94734371e-01 1.10577912e-02 -1.03567165e+02] [-1.19860355e-02 -1.14207159e-04 -9.99928158e-01 -4.12507065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.012540385545188678 Centerline is valid? [True, True] Translation: X:247.60, Y:-103.69, Z:-4.13 [[ 4.72221307e-01 -8.81469087e-01 -4.39145918e-03 2.47601753e+02] [-8.81427158e-01 -4.72241688e-01 8.59965766e-03 -1.03688514e+02] [-9.65416249e-03 -1.90190200e-04 -9.99953379e-01 -4.12603698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.01315076380137374 Centerline is valid? [True, True] Translation: X:247.63, Y:-103.80, Z:-4.13 [[ 5.40756049e-01 -8.41166500e-01 -4.67073239e-03 2.47631716e+02] [-8.41131776e-01 -5.40776181e-01 7.64579021e-03 -1.03800883e+02] [-8.95720341e-03 -2.05805870e-04 -9.99959862e-01 -4.12734708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.014056829049785361 Centerline is valid? [True, True] Translation: X:247.67, Y:-103.92, Z:-4.13 [[ 6.07203886e-01 -7.94532571e-01 -4.62974945e-03 2.47673053e+02] [-7.94506612e-01 -6.07221495e-01 6.42647120e-03 -1.03915348e+02] [-7.91732406e-03 -2.23811737e-04 -9.99968632e-01 -4.12894875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.017701226566691868 Centerline is valid? [True, True] Translation: X:247.71, Y:-104.02, Z:-4.12 [[ 6.69122581e-01 -7.43118644e-01 -7.04649459e-03 2.47707685e+02] [-7.43072009e-01 -6.69159597e-01 8.33206667e-03 -1.04016361e+02] [-1.09069436e-02 -3.39121068e-04 -9.99940460e-01 -4.12378464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.01593565604272721 Centerline is valid? [True, True] Translation: X:247.76, Y:-104.11, Z:-4.12 [[ 7.24758053e-01 -6.88944227e-01 -9.03419470e-03 2.47759964e+02] [-6.88883514e-01 -7.24814240e-01 9.15539207e-03 -1.04110308e+02] [-1.28556675e-02 -4.11936338e-04 -9.99917278e-01 -4.12373047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.016844917976553297 Centerline is valid? [True, True] Translation: X:247.82, Y:-104.21, Z:-4.12 [[ 7.74462187e-01 -6.32519943e-01 -1.12624161e-02 2.47821679e+02] [-6.32444307e-01 -7.74543936e-01 9.79233491e-03 -1.04207528e+02] [-1.49170832e-02 -4.60942190e-04 -9.99888628e-01 -4.12166431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.014910375400843442 Centerline is valid? [True, True] Translation: X:247.85, Y:-104.23, Z:-4.12 [[ 8.18269359e-01 -5.74683871e-01 -1.31796859e-02 2.47849266e+02] [-5.74601190e-01 -8.18375391e-01 9.75668309e-03 -1.04228974e+02] [-1.63929390e-02 -4.10531591e-04 -9.99865542e-01 -4.12010414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.012621981115486128 Centerline is valid? [True, True] Translation: X:247.88, Y:-104.25, Z:-4.12 [[ 8.57833272e-01 -5.13773275e-01 -1.26134934e-02 2.47877270e+02] [-5.13712702e-01 -8.57925951e-01 7.89452411e-03 -1.04248585e+02] [-1.48774388e-02 -2.92473665e-04 -9.99889282e-01 -4.12271582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.010713898428622083 Centerline is valid? [True, True] Translation: X:247.91, Y:-104.26, Z:-4.13 [[ 8.90414007e-01 -4.55017467e-01 -1.10453681e-02 2.47908033e+02] [-4.54980889e-01 -8.90482505e-01 5.77048562e-03 -1.04261716e+02] [-1.24613788e-02 -1.12689842e-04 -9.99922348e-01 -4.12526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.010550787300634438 Centerline is valid? [True, True] Translation: X:247.94, Y:-104.28, Z:-4.13 [[ 9.22275243e-01 -3.86373095e-01 -1.11448362e-02 2.47936641e+02] [-3.86343846e-01 -9.22342575e-01 4.75474757e-03 -1.04279409e+02] [-1.21164635e-02 -7.94470843e-05 -9.99926590e-01 -4.12537083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.010463214045893827 Centerline is valid? [True, True] Translation: X:247.97, Y:-104.29, Z:-4.13 [[ 9.48355242e-01 -3.17045482e-01 -1.02224386e-02 2.47966590e+02] [-3.17026728e-01 -9.48410334e-01 3.44846836e-03 -1.04294693e+02] [-1.07883877e-02 -2.95867706e-05 -9.99941803e-01 -4.12824479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.010737588329022897 Centerline is valid? [True, True] Translation: X:248.00, Y:-104.31, Z:-4.13 [[ 9.69453681e-01 -2.45038801e-01 -1.07492119e-02 2.47995645e+02] [-2.45023809e-01 -9.69513273e-01 2.71057181e-03 -1.04309785e+02] [-1.10856989e-02 6.03902529e-06 -9.99938552e-01 -4.12710576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.011823220835594983 Centerline is valid? [True, True] Translation: X:248.02, Y:-104.32, Z:-4.13 [[ 9.84422032e-01 -1.75392298e-01 -1.22802234e-02 2.48024849e+02] [-1.75379930e-01 -9.84498619e-01 2.08525795e-03 -1.04320902e+02] [-1.24556012e-02 1.00930854e-04 -9.99922421e-01 -4.12651060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.013003833886770214 Centerline is valid? [True, True] Translation: X:248.05, Y:-104.33, Z:-4.13 [[ 9.94624282e-01 -1.02912402e-01 -1.14706330e-02 2.48053071e+02] [-1.02907299e-01 -9.94690412e-01 1.03575862e-03 -1.04328087e+02] [-1.15163210e-02 1.50221184e-04 -9.99933674e-01 -4.12799959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.014983604520554743 Centerline is valid? [True, True] Translation: X:248.08, Y:-104.34, Z:-4.13 [[ 9.99295908e-01 -3.59932134e-02 -1.05913799e-02 2.48081411e+02] [-3.59938927e-02 -9.99352002e-01 1.26529296e-04 -1.04335433e+02] [-1.05890709e-02 2.54784785e-04 -9.99943902e-01 -4.13069982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.01723813985219485 Centerline is valid? [True, True] Translation: X:248.11, Y:-104.35, Z:-4.13 [[ 9.99159090e-01 3.88334156e-02 -1.31559045e-02 2.48109551e+02] [ 3.88251330e-02 -9.99245629e-01 -8.84488084e-04 -1.04345568e+02] [-1.31803277e-02 3.72964569e-04 -9.99913066e-01 -4.12884056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.016366668633480932 Centerline is valid? [True, True] Translation: X:248.14, Y:-104.35, Z:-4.13 [[ 9.92593501e-01 1.20660113e-01 -1.41166571e-02 2.48139636e+02] [ 1.20642845e-01 -9.92693816e-01 -2.07158781e-03 -1.04354658e+02] [-1.42634762e-02 3.53170925e-04 -9.99898209e-01 -4.12810430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.015701360169177433 Centerline is valid? [True, True] Translation: X:248.17, Y:-104.36, Z:-4.13 [[ 9.79581774e-01 2.00566098e-01 -1.38848302e-02 2.48170068e+02] [ 2.00541376e-01 -9.79680122e-01 -3.16479505e-03 -1.04358763e+02] [-1.42374428e-02 3.15692586e-04 -9.99898593e-01 -4.12821775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.015031162774537381 Centerline is valid? [True, True] Translation: X:248.20, Y:-104.36, Z:-4.13 [[ 9.60090027e-01 2.79355028e-01 -1.37079872e-02 2.48200465e+02] [ 2.79322412e-01 -9.60187842e-01 -4.27769417e-03 -1.04359766e+02] [-1.43572380e-02 2.78023448e-04 -9.99896891e-01 -4.12852650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.013274842688907737 Centerline is valid? [True, True] Translation: X:248.23, Y:-104.36, Z:-4.13 [[ 9.33128722e-01 3.59276460e-01 -1.38280077e-02 2.48232574e+02] [ 3.59233834e-01 -9.33231153e-01 -5.53781987e-03 -1.04363414e+02] [-1.48943359e-02 2.00010570e-04 -9.99889053e-01 -4.12942601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.01157126143909893 Centerline is valid? [True, True] Translation: X:248.27, Y:-104.37, Z:-4.13 [[ 8.97987322e-01 4.39836161e-01 -1.27640846e-02 2.48266596e+02] [ 4.39790890e-01 -8.98078030e-01 -6.31061992e-03 -1.04365446e+02] [-1.42387828e-02 5.33285495e-05 -9.99898622e-01 -4.12872134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.010808041541831011 Centerline is valid? [True, True] Translation: X:248.30, Y:-104.37, Z:-4.13 [[ 8.57631976e-01 5.14122579e-01 -1.20568657e-02 2.48301716e+02] [ 5.14072360e-01 -8.57716720e-01 -7.18581608e-03 -1.04365314e+02] [-1.40357656e-02 -3.53157516e-05 -9.99901493e-01 -4.13048179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.011339055807307227 Centerline is valid? [True, True] Translation: X:248.34, Y:-104.36, Z:-4.13 [[ 8.08998110e-01 5.87698216e-01 -1.15267037e-02 2.48338192e+02] [ 5.87641629e-01 -8.09080204e-01 -8.15714403e-03 -1.04364122e+02] [-1.41199667e-02 -1.74456807e-04 -9.99900293e-01 -4.13028692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.012942372937884465 Centerline is valid? [True, True] Translation: X:248.37, Y:-104.36, Z:-4.13 [[ 7.54852806e-01 6.55811309e-01 -1.04291990e-02 2.48374172e+02] [ 6.55753927e-01 -7.54924794e-01 -8.67997511e-03 -1.04358525e+02] [-1.35656867e-02 -2.86884609e-04 -9.99907941e-01 -4.13008069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.013838651460394862 Centerline is valid? [True, True] Translation: X:248.41, Y:-104.35, Z:-4.13 [[ 6.98781586e-01 7.15275195e-01 -9.25689870e-03 2.48406020e+02] [ 7.15218412e-01 -6.98842825e-01 -9.01825743e-03 -1.04346187e+02] [-1.29196531e-02 -3.18912156e-04 -9.99916487e-01 -4.13019550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.01536362049918924 Centerline is valid? [True, True] Translation: X:248.44, Y:-104.33, Z:-4.13 [[ 6.39454399e-01 7.68785406e-01 -8.18971636e-03 2.48435689e+02] [ 7.68728814e-01 -6.39506757e-01 -9.33370792e-03 -1.04331327e+02] [-1.24129974e-02 -3.27190366e-04 -9.99922902e-01 -4.12943004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.014867615899081997 Centerline is valid? [True, True] Translation: X:248.46, Y:-104.31, Z:-4.13 [[ 5.76310116e-01 8.17191778e-01 -8.01550071e-03 2.48462545e+02] [ 8.17121418e-01 -5.76365738e-01 -1.07295611e-02 -1.04311472e+02] [-1.33879691e-02 -3.66082694e-04 -9.99910310e-01 -4.12972563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.014798728613010558 Centerline is valid? [True, True] Translation: X:248.49, Y:-104.29, Z:-4.13 [[ 5.10911895e-01 8.59589856e-01 -8.62066615e-03 2.48488493e+02] [ 8.59481313e-01 -5.10984440e-01 -1.36665360e-02 -1.04289558e+02] [-1.61526420e-02 -4.26905675e-04 -9.99869446e-01 -4.12640612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.01471287693336748 Centerline is valid? [True, True] Translation: X:248.51, Y:-104.26, Z:-4.13 [[ 4.45700975e-01 8.95150451e-01 -7.50402913e-03 2.48507251e+02] [ 8.95036902e-01 -4.45763996e-01 -1.42619780e-02 -1.04264602e+02] [-1.61116421e-02 -3.59805476e-04 -9.99870134e-01 -4.12589235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.011881650999485337 Centerline is valid? [True, True] Translation: X:248.52, Y:-104.24, Z:-4.13 [[ 3.83611238e-01 9.23477058e-01 -5.70451112e-03 2.48518823e+02] [ 9.23381837e-01 -3.83653608e-01 -1.32624113e-02 -1.04235493e+02] [-1.44360888e-02 -1.79831955e-04 -9.99895778e-01 -4.12906639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.011535664425886298 Centerline is valid? [True, True] Translation: X:248.53, Y:-104.21, Z:-4.13 [[ 3.23867255e-01 9.46093480e-01 -4.13872934e-03 2.48525925e+02] [ 9.46015351e-01 -3.23893698e-01 -1.21584859e-02 -1.04205902e+02] [-1.28435726e-02 2.24339612e-05 -9.99917518e-01 -4.13046405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.012262754963802894 Centerline is valid? [True, True] Translation: X:248.54, Y:-104.18, Z:-4.13 [[ 2.54001501e-01 9.67199366e-01 -2.93676141e-03 2.48538107e+02] [ 9.67130940e-01 -2.54018465e-01 -1.15049482e-02 -1.04179088e+02] [-1.18735702e-02 8.20413034e-05 -9.99929503e-01 -4.13093693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.016472011207381017 Centerline is valid? [True, True] Translation: X:248.54, Y:-104.15, Z:-4.13 [[ 1.93812173e-01 9.81036475e-01 -2.06813886e-03 2.48539322e+02] [ 9.80963821e-01 -1.93822996e-01 -1.19427311e-02 -1.04149786e+02] [-1.21171077e-02 2.85877275e-04 -9.99926544e-01 -4.13087229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.018850141362411605 Centerline is valid? [True, True] Translation: X:248.54, Y:-104.12, Z:-4.13 [[ 1.21638321e-01 9.92573807e-01 -1.16441648e-03 2.48544692e+02] [ 9.92495224e-01 -1.21643349e-01 -1.24950692e-02 -1.04123825e+02] [-1.25439219e-02 3.64201447e-04 -9.99921256e-01 -4.12987173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.02092627008294983 Centerline is valid? [True, True] Translation: X:248.55, Y:-104.10, Z:-4.13 [[ 5.77948429e-02 9.98328466e-01 -1.73695124e-04 2.48551265e+02] [ 9.98258737e-01 -5.77928610e-02 -1.18100925e-02 -1.04096423e+02] [-1.18003899e-02 5.09169766e-04 -9.99930243e-01 -4.13217440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.029122811738525635 Centerline is valid? [True, True] Translation: X:248.55, Y:-104.07, Z:-4.13 [[-1.18527767e-02 9.99929548e-01 6.40146142e-04 2.48548772e+02] [ 9.99878606e-01 1.18586431e-02 -1.01067332e-02 -1.04071212e+02] [-1.01136124e-02 5.20275581e-04 -9.99948721e-01 -4.13207262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.031108682163807126 Centerline is valid? [True, True] Translation: X:248.55, Y:-104.05, Z:-4.13 [[-8.76096407e-02 9.96154134e-01 1.22183819e-03 2.48548004e+02] [ 9.96117117e-01 8.76169337e-02 -8.60008593e-03 -1.04045095e+02] [-8.67406487e-03 4.63643497e-04 -9.99962272e-01 -4.13234619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.02223488269456177 Centerline is valid? [True, True] Translation: X:248.57, Y:-104.01, Z:-4.13 [[-1.71612366e-01 9.85163726e-01 1.27655359e-03 2.48571244e+02] [ 9.85146855e-01 1.71616906e-01 -5.77156171e-03 -1.04013712e+02] [-5.90501141e-03 2.67121395e-04 -9.99982530e-01 -4.13439809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.0205869333373259 Centerline is valid? [True, True] Translation: X:248.58, Y:-103.98, Z:-4.13 [[-2.56791328e-01 9.66465898e-01 1.37211202e-03 2.48580369e+02] [ 9.66455337e-01 2.56794940e-01 -4.52104544e-03 -1.03983388e+02] [-4.72178766e-03 1.65119719e-04 -9.99988839e-01 -4.13448916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.015233550150393974 Centerline is valid? [True, True] Translation: X:248.60, Y:-103.95, Z:-4.13 [[-3.49404603e-01 9.36970450e-01 1.67335976e-03 2.48595920e+02] [ 9.36960690e-01 3.49408602e-01 -4.27722321e-03 -1.03948932e+02] [-4.59231805e-03 7.33908325e-05 -9.99989453e-01 -4.13225421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.010671315540119077 Centerline is valid? [True, True] Translation: X:248.61, Y:-103.91, Z:-4.13 [[-4.45775553e-01 8.95143354e-01 1.59103346e-03 2.48614637e+02] [ 8.95137279e-01 4.45778390e-01 -3.29835477e-03 -1.03906738e+02] [-3.66174869e-03 -4.61325601e-05 -9.99993295e-01 -4.13152630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.012385598646248087 Centerline is valid? [True, True] Translation: X:248.62, Y:-103.87, Z:-4.13 [[-5.25264121e-01 8.50937596e-01 1.67659724e-03 2.48619538e+02] [ 8.50932722e-01 5.25266789e-01 -2.88154088e-03 -1.03867079e+02] [-3.33267232e-03 -8.68985818e-05 -9.99994443e-01 -4.13046574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.01319798815429692 Centerline is valid? [True, True] Translation: X:248.61, Y:-103.83, Z:-4.13 [[-5.93299246e-01 8.04980936e-01 1.30280554e-03 2.48613255e+02] [ 8.04978695e-01 5.93300672e-01 -1.90111086e-03 -1.03831086e+02] [-2.30331340e-03 -7.91969358e-05 -9.99997344e-01 -4.13016693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.014205985704488005 Centerline is valid? [True, True] Translation: X:248.60, Y:-103.80, Z:-4.13 [[-6.55646554e-01 7.55067538e-01 7.80597916e-04 2.48602180e+02] [ 7.55066890e-01 6.55647015e-01 -9.91602242e-04 -1.03798654e+02] [-1.26052336e-03 -6.07369524e-05 -9.99999204e-01 -4.13004617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.013859414433606615 Centerline is valid? [True, True] Translation: X:248.58, Y:-103.77, Z:-4.13 [[-7.11521388e-01 7.02661604e-01 1.99623222e-03 2.48583133e+02] [ 7.02658479e-01 7.11524183e-01 -2.09741660e-03 -1.03770845e+02] [-2.89414161e-03 -8.96872721e-05 -9.99995808e-01 -4.12813590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.012199650029020962 Centerline is valid? [True, True] Translation: X:248.56, Y:-103.74, Z:-4.13 [[-7.62438107e-01 6.47053061e-01 3.23579420e-03 2.48562569e+02] [ 6.47046647e-01 7.62444966e-01 -2.88288141e-03 -1.03743225e+02] [-4.33249223e-03 -1.04308855e-04 -9.99990609e-01 -4.12710677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.011849137776731312 Centerline is valid? [True, True] Translation: X:248.58, Y:-103.72, Z:-4.12 [[-8.04827076e-01 5.93488273e-01 5.00468307e-03 2.48578656e+02] [ 5.93475889e-01 8.04842628e-01 -3.83588349e-03 -1.03724743e+02] [-6.30453414e-03 -1.17064160e-04 -9.99980119e-01 -4.12476483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.01139662408472846 Centerline is valid? [True, True] Translation: X:248.59, Y:-103.70, Z:-4.12 [[-8.43403773e-01 5.37241696e-01 6.43712832e-03 2.48590987e+02] [ 5.37224992e-01 8.43428329e-01 -4.23807063e-03 -1.03704533e+02] [-7.70612464e-03 -1.16218553e-04 -9.99970301e-01 -4.12296527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.011003721200101206 Centerline is valid? [True, True] Translation: X:248.60, Y:-103.69, Z:-4.12 [[-8.77589211e-01 4.79367737e-01 6.61436080e-03 2.48602448e+02] [ 4.79353367e-01 8.77614132e-01 -3.71269797e-03 -1.03685369e+02] [-7.58460413e-03 -8.76075656e-05 -9.99971233e-01 -4.12242270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.010475440654306856 Centerline is valid? [True, True] Translation: X:248.61, Y:-103.67, Z:-4.12 [[-9.05704047e-01 4.23872701e-01 5.66689204e-03 2.48613309e+02] [ 4.23864242e-01 9.05721775e-01 -2.67789148e-03 -1.03672678e+02] [-6.26771261e-03 -2.33842537e-05 -9.99980357e-01 -4.12496370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.011117439058260821 Centerline is valid? [True, True] Translation: X:248.88, Y:-103.12, Z:-5.11 [[-8.79806962e-01 -4.75312728e-01 4.18570451e-03 2.48878332e+02] [ 4.75307053e-01 -8.79816917e-01 -2.32332563e-03 -1.03115541e+02] [ 4.78695988e-03 -5.45831851e-05 9.99988541e-01 -5.10795435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.014102795182837803 Centerline is valid? [True, True] Translation: X:248.58, Y:-103.68, Z:-4.13 [[-8.99013446e-01 4.37894757e-01 4.79639442e-03 2.48575130e+02] [ 4.37888981e-01 8.99026237e-01 -2.25052236e-03 -1.03679068e+02] [-5.29757637e-03 7.70384001e-05 -9.99985965e-01 -4.12660512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.016711690654229623 Centerline is valid? [True, True] Translation: X:248.59, Y:-103.67, Z:-4.13 [[-9.23711382e-01 3.83065656e-01 4.24103438e-03 2.48588875e+02] [ 3.83062167e-01 9.23721111e-01 -1.63881032e-03 -1.03665137e+02] [-4.54530494e-03 1.10792073e-04 -9.99989664e-01 -4.12811550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.018219176038029215 Centerline is valid? [True, True] Translation: X:248.60, Y:-103.64, Z:-4.13 [[-9.46381260e-01 3.23007581e-01 5.34908625e-03 2.48597884e+02] [ 3.23003495e-01 9.46396360e-01 -1.63470147e-03 -1.03643945e+02] [-5.59037672e-03 1.80722718e-04 -9.99984357e-01 -4.12807081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.01864952604523971 Centerline is valid? [True, True] Translation: X:248.60, Y:-103.62, Z:-4.13 [[-9.66277028e-01 2.57432968e-01 6.08054285e-03 2.48604803e+02] [ 2.57429300e-01 9.66296134e-01 -1.39174907e-03 -1.03618625e+02] [-6.23388715e-03 2.20494741e-04 -9.99980545e-01 -4.12882763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.01868041198475408 Centerline is valid? [True, True] Translation: X:248.76, Y:-102.96, Z:-5.11 [[-9.69387247e-01 -2.45429048e-01 7.27646616e-03 2.48756192e+02] [ 2.45420663e-01 -9.69414538e-01 -2.03750497e-03 -1.02955366e+02] [ 7.55397498e-03 -1.89336178e-04 9.99971450e-01 -5.10576638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.0184244476174304 Centerline is valid? [True, True] Translation: X:248.55, Y:-103.60, Z:-4.13 [[-9.68166788e-01 2.50157172e-01 8.62897794e-03 2.48553226e+02] [ 2.50149910e-01 9.68205197e-01 -1.92829049e-03 -1.03604606e+02] [-8.83699698e-03 2.91631245e-04 -9.99960910e-01 -4.12827118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.017949210347679552 Centerline is valid? [True, True] Translation: X:248.70, Y:-102.95, Z:-5.10 [[-9.68971231e-01 -2.47067944e-01 7.22389978e-03 2.48699619e+02] [ 2.47058531e-01 -9.68998102e-01 -2.18172693e-03 -1.02949217e+02] [ 7.53897997e-03 -3.29304565e-04 9.99971527e-01 -5.10409352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.01619980530853672 Centerline is valid? [True, True] Translation: X:248.51, Y:-103.59, Z:-4.13 [[-9.70271817e-01 2.41914024e-01 7.08564981e-03 2.48507213e+02] [ 2.41909074e-01 9.70297668e-01 -1.56041736e-03 -1.03585614e+02] [-7.25267633e-03 2.00054001e-04 -9.99973679e-01 -4.13220879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.016522476123717527 Centerline is valid? [True, True] Translation: X:248.50, Y:-103.55, Z:-4.13 [[-9.85298323e-01 1.70643374e-01 8.24944653e-03 2.48498872e+02] [ 1.70639252e-01 9.85332833e-01 -1.20625321e-03 -1.03550784e+02] [-8.33428963e-03 2.19160115e-04 -9.99965245e-01 -4.13172598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.01625558632166891 Centerline is valid? [True, True] Translation: X:248.50, Y:-103.52, Z:-4.13 [[-9.95016167e-01 9.93173696e-02 8.88185100e-03 2.48503408e+02] [ 9.93154544e-02 9.95055781e-01 -6.57526754e-04 -1.03518561e+02] [-8.90324101e-03 2.27855317e-04 -9.99960339e-01 -4.13118447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.015009478059777075 Centerline is valid? [True, True] Translation: X:248.50, Y:-103.48, Z:-4.13 [[-9.99576110e-01 2.74176879e-02 9.79136556e-03 2.48498758e+02] [ 2.74187474e-02 9.99624035e-01 -2.60408839e-05 -1.03482701e+02] [-9.78839833e-03 2.42437133e-04 -9.99952063e-01 -4.13123321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.015298415803690391 Centerline is valid? [True, True] Translation: X:248.49, Y:-103.45, Z:-4.13 [[-9.98966654e-01 -4.39248909e-02 1.16716999e-02 2.48492349e+02] [-4.39184609e-02 9.99034793e-01 8.06776314e-04 -1.03449590e+02] [-1.16958719e-02 2.93339537e-04 -9.99931558e-01 -4.13004595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.01564658374326285 Centerline is valid? [True, True] Translation: X:248.48, Y:-103.42, Z:-4.13 [[-9.93318993e-01 -1.14796763e-01 1.17932717e-02 2.48480843e+02] [-1.14785075e-01 9.93388953e-01 1.66547013e-03 -1.03421846e+02] [-1.19064965e-02 3.00651525e-04 -9.99929070e-01 -4.12955024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.018008209034574212 Centerline is valid? [True, True] Translation: X:248.47, Y:-103.39, Z:-4.13 [[-9.83373455e-01 -1.81204444e-01 1.18994651e-02 2.48466064e+02] [-1.81186743e-01 9.83445382e-01 2.55818849e-03 -1.03392651e+02] [-1.21660291e-02 3.59629331e-04 -9.99925926e-01 -4.12885079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.018863996352662355 Centerline is valid? [True, True] Translation: X:248.44, Y:-103.37, Z:-4.13 [[-9.68277996e-01 -2.49592268e-01 1.18920834e-02 2.48442285e+02] [-2.49568512e-01 9.68350943e-01 3.46529199e-03 -1.03370199e+02] [-1.23806202e-02 3.87476430e-04 -9.99923282e-01 -4.12902274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.022126097668241494 Centerline is valid? [True, True] Translation: X:248.41, Y:-103.35, Z:-4.13 [[-9.49564367e-01 -3.13372678e-01 1.11838052e-02 2.48406607e+02] [-3.13345447e-01 9.49630123e-01 4.15458086e-03 -1.03352522e+02] [-1.19224105e-02 4.40647500e-04 -9.99928828e-01 -4.12958302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.020982935736682192 Centerline is valid? [True, True] Translation: X:248.35, Y:-103.34, Z:-4.13 [[-9.25512089e-01 -3.78560018e-01 1.09401141e-02 2.48350683e+02] [-3.78527315e-01 9.25576618e-01 4.99949810e-03 -1.03340107e+02] [-1.20185239e-02 4.85963894e-04 -9.99927657e-01 -4.13120561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.022230792059980894 Centerline is valid? [True, True] Translation: X:248.28, Y:-103.34, Z:-4.13 [[-8.95832789e-01 -4.44271766e-01 1.03059346e-02 2.48282520e+02] [-4.44235982e-01 8.95891933e-01 5.66008863e-03 -1.03338380e+02] [-1.17476212e-02 4.92226004e-04 -9.99930873e-01 -4.13160443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.018917182392954226 Centerline is valid? [True, True] Translation: X:248.21, Y:-103.34, Z:-4.13 [[-8.59403806e-01 -5.11205210e-01 9.71242530e-03 2.48206988e+02] [-5.11166513e-01 8.59458566e-01 6.30632020e-03 -1.03337388e+02] [-1.15712509e-02 4.55009011e-04 -9.99932947e-01 -4.13267759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.021424024458219643 Centerline is valid? [True, True] Translation: X:248.13, Y:-103.35, Z:-4.13 [[-8.16416136e-01 -5.77388950e-01 9.31091475e-03 2.48128900e+02] [-5.77345734e-01 8.16469130e-01 7.07551035e-03 -1.03350111e+02] [-1.16873960e-02 4.00943903e-04 -9.99931620e-01 -4.13121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.017366597173497648 Centerline is valid? [True, True] Translation: X:248.04, Y:-103.37, Z:-4.13 [[-7.69902708e-01 -6.38093802e-01 9.28011279e-03 2.48044844e+02] [-6.38041150e-01 7.69958533e-01 8.20659478e-03 -1.03370168e+02] [-1.23818793e-02 3.97185709e-04 -9.99923263e-01 -4.13236642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.01717479534636089 Centerline is valid? [True, True] Translation: X:247.97, Y:-103.40, Z:-4.13 [[-7.19247636e-01 -6.94699571e-01 8.68012638e-03 2.47966018e+02] [-6.94642521e-01 7.19299911e-01 8.91096899e-03 -1.03404025e+02] [-1.24340605e-02 3.79608510e-04 -9.99922622e-01 -4.13239805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.014733881810652254 Centerline is valid? [True, True] Translation: X:247.88, Y:-103.44, Z:-4.13 [[-6.61311541e-01 -7.50068686e-01 8.00080961e-03 2.47879317e+02] [-7.50008054e-01 6.61359865e-01 9.54190457e-03 -1.03442898e+02] [-1.24484982e-02 3.09499972e-04 -9.99922467e-01 -4.13288191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.013617485901843482 Centerline is valid? [True, True] Translation: X:247.80, Y:-103.49, Z:-4.13 [[-5.98058188e-01 -8.01420452e-01 7.18772174e-03 2.47796617e+02] [-8.01358087e-01 5.98101338e-01 1.00002983e-02 -1.03490233e+02] [-1.23134296e-02 2.20821316e-04 -9.99924162e-01 -4.13249764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.012711711143205792 Centerline is valid? [True, True] Translation: X:247.72, Y:-103.55, Z:-4.13 [[-5.32883704e-01 -8.46158308e-01 7.14676168e-03 2.47718155e+02] [-8.46077384e-01 5.32931593e-01 1.17037294e-02 -1.03547518e+02] [-1.37119429e-02 1.90013230e-04 -9.99905969e-01 -4.13154915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.012906460007892707 Centerline is valid? [True, True] Translation: X:247.65, Y:-103.61, Z:-4.13 [[-4.67172696e-01 -8.84144023e-01 6.24657307e-03 2.47647862e+02] [-8.84059888e-01 4.67214422e-01 1.21982607e-02 -1.03614742e+02] [-1.37035083e-02 1.76349637e-04 -9.99906087e-01 -4.13108962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.01241858695219415 Centerline is valid? [True, True] Translation: X:247.58, Y:-103.69, Z:-4.13 [[-3.98007439e-01 -9.17367558e-01 5.18095819e-03 2.47580134e+02] [-9.17284914e-01 3.98041131e-01 1.23144388e-02 -1.03686698e+02] [-1.33591011e-02 1.48823448e-04 -9.99910752e-01 -4.13205993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.011757963656160978 Centerline is valid? [True, True] Translation: X:247.52, Y:-103.76, Z:-4.13 [[-3.26817606e-01 -9.45077900e-01 4.24440345e-03 2.47516978e+02] [-9.44992939e-01 3.26845140e-01 1.26727928e-02 -1.03764673e+02] [-1.33640390e-02 1.30760512e-04 -9.99910689e-01 -4.13352846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.011838588254091864 Centerline is valid? [True, True] Translation: X:247.46, Y:-103.85, Z:-4.14 [[-2.55024555e-01 -9.66930014e-01 2.97068836e-03 2.47462118e+02] [-9.66858924e-01 2.55041829e-01 1.17254593e-02 -1.03850499e+02] [-1.20953483e-02 1.18043497e-04 -9.99926842e-01 -4.13513259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.01191707852762526 Centerline is valid? [True, True] Translation: X:247.41, Y:-103.94, Z:-4.14 [[-1.82318334e-01 -9.83237591e-01 1.96604096e-03 2.47414157e+02] [-9.83173322e-01 1.82328897e-01 1.12424654e-02 -1.03939520e+02] [-1.14124807e-02 1.16748552e-04 -9.99934869e-01 -4.13576332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.012690428493165172 Centerline is valid? [True, True] Translation: X:247.37, Y:-104.03, Z:-4.13 [[-1.09049371e-01 -9.94035542e-01 1.25508623e-03 2.47374383e+02] [-9.93952448e-01 1.09056485e-01 1.28535686e-02 -1.04034846e+02] [-1.29137793e-02 1.54177546e-04 -9.99916602e-01 -4.13401996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.012512999092520119 Centerline is valid? [True, True] Translation: X:247.34, Y:-104.13, Z:-4.14 [[-3.44653832e-02 -9.99405855e-01 2.73254627e-04 2.47341681e+02] [-9.99328275e-01 3.44661128e-02 1.24533871e-02 -1.04134170e+02] [-1.24554060e-02 1.56139685e-04 -9.99922416e-01 -4.13567163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.012734257533822606 Centerline is valid? [True, True] Translation: X:247.32, Y:-104.24, Z:-4.14 [[ 4.08129038e-02 -9.99166625e-01 -6.01788803e-04 2.47316555e+02] [-9.99103142e-01 -4.08170949e-02 1.12639294e-02 -1.04236709e+02] [-1.12791056e-02 1.41535418e-04 -9.99936379e-01 -4.13700010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.012586066532121748 Centerline is valid? [True, True] Translation: X:247.30, Y:-104.34, Z:-4.14 [[ 1.17582181e-01 -9.93062092e-01 -1.45348930e-03 2.47298189e+02] [-9.92998521e-01 -1.17591101e-01 1.12369716e-02 -1.04338828e+02] [-1.13299280e-02 1.22045092e-04 -9.99935807e-01 -4.13607662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.011978235041282084 Centerline is valid? [True, True] Translation: X:247.29, Y:-104.45, Z:-4.14 [[ 1.95190435e-01 -9.80762916e-01 -2.19033994e-03 2.47287238e+02] [-9.80705789e-01 -1.95202707e-01 1.05857835e-02 -1.04446146e+02] [-1.08097041e-02 8.18353857e-05 -9.99941570e-01 -4.13612287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.011008820185599245 Centerline is valid? [True, True] Translation: X:247.28, Y:-104.56, Z:-4.14 [[ 2.75100432e-01 -9.61410839e-01 -2.99167699e-03 2.47281146e+02] [-9.61354296e-01 -2.75116699e-01 1.04268314e-02 -1.04555929e+02] [-1.08475291e-02 7.63569315e-06 -9.99941164e-01 -4.13525658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.01102350090461502 Centerline is valid? [True, True] Translation: X:247.28, Y:-104.67, Z:-4.13 [[ 3.53561205e-01 -9.35404327e-01 -3.63590450e-03 2.47284694e+02] [-9.35352773e-01 -3.53579893e-01 9.82091600e-03 -1.04668671e+02] [-1.04721100e-02 -7.14415397e-05 -9.99945163e-01 -4.13495075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.0114595171022222 Centerline is valid? [True, True] Translation: X:247.30, Y:-104.77, Z:-4.14 [[ 4.28394064e-01 -9.03582508e-01 -4.14452352e-03 2.47297268e+02] [-9.03537247e-01 -4.28414092e-01 9.04486003e-03 -1.04770263e+02] [-9.94834959e-03 -1.30032977e-04 -9.99950505e-01 -4.13771540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.012462950327030813 Centerline is valid? [True, True] Translation: X:247.32, Y:-104.87, Z:-4.14 [[ 4.98852088e-01 -8.66675339e-01 -4.52229315e-03 2.47318150e+02] [-8.66636700e-01 -4.98872559e-01 8.18534330e-03 -1.04872388e+02] [-9.35008314e-03 -1.64090385e-04 -9.99956274e-01 -4.13814407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.012745141287516113 Centerline is valid? [True, True] Translation: X:247.35, Y:-104.97, Z:-4.14 [[ 5.64196383e-01 -8.25623567e-01 -5.30721133e-03 2.47346302e+02] [-8.25583826e-01 -5.64221312e-01 8.10290229e-03 -1.04965744e+02] [-9.68438883e-03 -1.90080333e-04 -9.99953087e-01 -4.13812550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.012595533808590903 Centerline is valid? [True, True] Translation: X:247.38, Y:-105.05, Z:-4.14 [[ 6.24730821e-01 -7.80818093e-01 -5.87420760e-03 2.47379426e+02] [-7.80780658e-01 -6.24758408e-01 7.64825628e-03 -1.05054959e+02] [-9.64185748e-03 -1.91633751e-04 -9.99953498e-01 -4.13848934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.013273043991487096 Centerline is valid? [True, True] Translation: X:247.42, Y:-105.14, Z:-4.14 [[ 6.82085356e-01 -7.31238013e-01 -7.10887041e-03 2.47422047e+02] [-7.31194946e-01 -6.82122366e-01 7.93904201e-03 -1.05140688e+02] [-1.06544488e-02 -2.17134175e-04 -9.99943216e-01 -4.13818902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.013227882535419597 Centerline is valid? [True, True] Translation: X:247.47, Y:-105.22, Z:-4.14 [[ 7.35415831e-01 -6.77566452e-01 -8.20114853e-03 2.47468977e+02] [-6.77520675e-01 -7.35461520e-01 7.87964575e-03 -1.05223523e+02] [-1.13706128e-02 -2.38368539e-04 -9.99935324e-01 -4.13763771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.013526336433979167 Centerline is valid? [True, True] Translation: X:247.50, Y:-105.26, Z:-4.14 [[ 7.87450563e-01 -6.16316266e-01 -8.71043001e-03 2.47498542e+02] [-6.16274850e-01 -7.87498693e-01 7.14965778e-03 -1.05255468e+02] [-1.12659026e-02 -2.61983088e-04 -9.99936503e-01 -4.13734564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.014577434755911986 Centerline is valid? [True, True] Translation: X:247.53, Y:-105.28, Z:-4.14 [[ 8.34481954e-01 -5.50949665e-01 -9.71256956e-03 2.47530921e+02] [-5.50908117e-01 -8.34538421e-01 6.77283380e-03 -1.05283074e+02] [-1.18370030e-02 -3.01074179e-04 -9.99929895e-01 -4.13624290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.014531125304639517 Centerline is valid? [True, True] Translation: X:247.56, Y:-105.31, Z:-4.14 [[ 8.75276280e-01 -4.83508175e-01 -1.05488890e-02 2.47563445e+02] [-4.83468665e-01 -8.75339788e-01 6.18916227e-03 -1.05310765e+02] [-1.22263728e-02 -3.17169644e-04 -9.99925205e-01 -4.13614955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.015341949424170954 Centerline is valid? [True, True] Translation: X:247.60, Y:-105.33, Z:-4.14 [[ 9.10876330e-01 -4.12529464e-01 -1.11244472e-02 2.47600315e+02] [-4.12494187e-01 -9.10944197e-01 5.40520730e-03 -1.05330281e+02] [-1.23635579e-02 -3.34705599e-04 -9.99923512e-01 -4.13581971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.015469173072939242 Centerline is valid? [True, True] Translation: X:247.64, Y:-105.35, Z:-4.14 [[ 9.40360338e-01 -3.39957587e-01 -1.22993098e-02 2.47638106e+02] [-3.39923518e-01 -9.40440701e-01 4.82605636e-03 -1.05347431e+02] [-1.32074260e-02 -3.57407323e-04 -9.99912714e-01 -4.13573165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.015767733355781126 Centerline is valid? [True, True] Translation: X:247.68, Y:-105.36, Z:-4.14 [[ 9.63834484e-01 -2.66199669e-01 -1.26816318e-02 2.47677826e+02] [-2.66171874e-01 -9.63917847e-01 3.86231246e-03 -1.05356792e+02] [-1.32521975e-02 -3.47136225e-04 -9.99912126e-01 -4.13585018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.014182469291392512 Centerline is valid? [True, True] Translation: X:247.72, Y:-105.37, Z:-4.14 [[ 9.81429418e-01 -1.91437383e-01 -1.21665567e-02 2.47717238e+02] [-1.91418751e-01 -9.81504780e-01 2.68881025e-03 -1.05366700e+02] [-1.24562723e-02 -3.09970400e-04 -9.99922370e-01 -4.13801804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.013527098177076346 Centerline is valid? [True, True] Translation: X:247.76, Y:-105.37, Z:-4.14 [[ 9.93048394e-01 -1.17088545e-01 -1.20481984e-02 2.47756452e+02] [-1.17076669e-01 -9.93121444e-01 1.68880960e-03 -1.05370823e+02] [-1.21630645e-02 -2.66506725e-04 -9.99925992e-01 -4.13829078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.012709200272179276 Centerline is valid? [True, True] Translation: X:247.79, Y:-105.37, Z:-4.14 [[ 9.98997689e-01 -4.26319006e-02 -1.36432753e-02 2.47792058e+02] [-4.26245683e-02 -9.99090817e-01 8.27895169e-04 -1.05369154e+02] [-1.36661658e-02 -2.45526639e-04 -9.99906583e-01 -4.13798514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.012215706693074032 Centerline is valid? [True, True] Translation: X:247.83, Y:-105.37, Z:-4.14 [[ 9.99348958e-01 3.31548303e-02 -1.42273356e-02 2.47826826e+02] [ 3.31545758e-02 -9.99450204e-01 -2.53811923e-04 -1.05369700e+02] [-1.42279286e-02 -2.18054597e-04 -9.99898754e-01 -4.13753631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.011939522626425423 Centerline is valid? [True, True] Translation: X:247.86, Y:-105.37, Z:-4.14 [[ 9.93810038e-01 1.10185351e-01 -1.41702836e-02 2.47861075e+02] [ 1.10177045e-01 -9.93911036e-01 -1.36792080e-03 -1.05369911e+02] [-1.42347261e-02 -2.01786542e-04 -9.99898661e-01 -4.13797115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.011694531840156761 Centerline is valid? [True, True] Translation: X:247.89, Y:-105.37, Z:-4.14 [[ 9.82095132e-01 1.87847070e-01 -1.42348288e-02 2.47893958e+02] [ 1.87830394e-01 -9.82198267e-01 -2.51153057e-03 -1.05367105e+02] [-1.44532078e-02 -2.07171562e-04 -9.99895525e-01 -4.13886390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.012242059878220007 Centerline is valid? [True, True] Translation: X:247.93, Y:-105.37, Z:-4.14 [[ 9.64140672e-01 2.65054209e-01 -1.33802249e-02 2.47926326e+02] [ 2.65031727e-01 -9.64233489e-01 -3.45860119e-03 -1.05365474e+02] [-1.38183777e-02 -2.11606026e-04 -9.99904499e-01 -4.13820754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.012549719237336717 Centerline is valid? [True, True] Translation: X:247.96, Y:-105.36, Z:-4.14 [[ 9.39577285e-01 3.42088849e-01 -1.30286502e-02 2.47957268e+02] [ 3.42059572e-01 -9.39667579e-01 -4.48213449e-03 -1.05357593e+02] [-1.37758884e-02 -2.45262763e-04 -9.99905078e-01 -4.13779361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.013516244245727033 Centerline is valid? [True, True] Translation: X:247.99, Y:-105.35, Z:-4.14 [[ 9.08674126e-01 4.17361832e-01 -1.09742489e-02 2.47986557e+02] [ 4.17334748e-01 -9.08740357e-01 -4.76143074e-03 -1.05346930e+02] [-1.19599823e-02 -2.53346494e-04 -9.99928445e-01 -4.13841483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.01427136183136241 Centerline is valid? [True, True] Translation: X:248.02, Y:-105.34, Z:-4.14 [[ 8.71503106e-01 4.90307821e-01 -8.97646886e-03 2.48015102e+02] [ 4.90284807e-01 -8.71549296e-01 -4.75738039e-03 -1.05335068e+02] [-1.01560159e-02 -2.54954518e-04 -9.99948394e-01 -4.13933053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.014727584256019315 Centerline is valid? [True, True] Translation: X:248.04, Y:-105.32, Z:-4.14 [[ 8.29452953e-01 5.58514666e-01 -8.31663265e-03 2.48043741e+02] [ 5.58489777e-01 -8.29494604e-01 -5.27934667e-03 -1.05323678e+02] [-9.84719445e-03 -2.65784627e-04 -9.99951480e-01 -4.13911447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.015630300286857687 Centerline is valid? [True, True] Translation: X:248.07, Y:-105.31, Z:-4.14 [[ 7.82564469e-01 6.22519067e-01 -7.92863254e-03 2.48067922e+02] [ 6.22490670e-01 -7.82604584e-01 -5.95246097e-03 -1.05307716e+02] [-9.91050462e-03 -2.77315319e-04 -9.99950851e-01 -4.13837063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.015476993064810022 Centerline is valid? [True, True] Translation: X:248.09, Y:-105.29, Z:-4.14 [[ 7.32156112e-01 6.81095864e-01 -7.47339776e-03 2.48091088e+02] [ 6.81064066e-01 -7.32194204e-01 -6.58684310e-03 -1.05289478e+02] [-9.95825012e-03 -2.67265229e-04 -9.99950380e-01 -4.13776927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.013823705574030213 Centerline is valid? [True, True] Translation: X:248.11, Y:-105.27, Z:-4.14 [[ 6.79028069e-01 7.34075923e-01 -7.30894025e-03 2.48111116e+02] [ 7.34037237e-01 -6.79067360e-01 -7.54023482e-03 -1.05268276e+02] [-1.04983676e-02 -2.45003214e-04 -9.99944861e-01 -4.13752075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.013694775441612224 Centerline is valid? [True, True] Translation: X:248.13, Y:-105.25, Z:-4.14 [[ 6.23119893e-01 7.82099160e-01 -6.51941525e-03 2.48130815e+02] [ 7.82059538e-01 -6.23153967e-01 -7.87480987e-03 -1.05249087e+02] [-1.02214817e-02 -1.91620197e-04 -9.99947741e-01 -4.13603626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.012536885522987448 Centerline is valid? [True, True] Translation: X:248.15, Y:-105.23, Z:-4.14 [[ 5.61366392e-01 8.27548735e-01 -5.55564031e-03 2.48151891e+02] [ 8.27511107e-01 -5.61393858e-01 -7.89332697e-03 -1.05230362e+02] [-9.65101510e-03 -1.66305572e-04 -9.99953414e-01 -4.13644231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.012476667779855904 Centerline is valid? [True, True] Translation: X:248.17, Y:-105.21, Z:-4.13 [[ 4.95958995e-01 8.68330068e-01 -5.25062379e-03 2.48173538e+02] [ 8.68284831e-01 -4.95986761e-01 -8.86480228e-03 -1.05211142e+02] [-1.03018143e-02 -1.62458560e-04 -9.99946922e-01 -4.13485200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.012141577898649891 Centerline is valid? [True, True] Translation: X:248.19, Y:-105.19, Z:-4.13 [[ 4.27623422e-01 9.03947634e-01 -4.10904379e-03 2.48193528e+02] [ 9.03908947e-01 -4.27643141e-01 -8.36414919e-03 -1.05190419e+02] [-9.31795726e-03 -1.37495357e-04 -9.99956577e-01 -4.13493386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.01178293728438676 Centerline is valid? [True, True] Translation: X:248.21, Y:-105.17, Z:-4.14 [[ 3.56088941e-01 9.34446186e-01 -3.31547208e-03 2.48210605e+02] [ 9.34408965e-01 -3.56104353e-01 -8.34117201e-03 -1.05167773e+02] [-8.97503040e-03 -1.27807727e-04 -9.99959715e-01 -4.13623419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.011468466944218679 Centerline is valid? [True, True] Translation: X:248.23, Y:-105.14, Z:-4.14 [[ 2.83768587e-01 9.58890062e-01 -2.28848266e-03 2.48226592e+02] [ 9.58861614e-01 -2.83777798e-01 -7.38693283e-03 -1.05144101e+02] [-7.73267705e-03 -9.81586829e-05 -9.99970098e-01 -4.13586958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.010894021899926084 Centerline is valid? [True, True] Translation: X:248.24, Y:-105.12, Z:-4.14 [[ 2.13195378e-01 9.77008557e-01 -1.41753982e-03 2.48239335e+02] [ 9.76988515e-01 -2.13200085e-01 -6.25821313e-03 -1.05119091e+02] [-6.41654739e-03 -5.06980063e-05 -9.99979412e-01 -4.13606338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.010865125465512925 Centerline is valid? [True, True] Translation: X:248.25, Y:-105.09, Z:-4.14 [[ 1.40054082e-01 9.90143498e-01 -8.40992148e-04 2.48248757e+02] [ 9.90126691e-01 -1.40056605e-01 -5.76911272e-03 -1.05093771e+02] [-5.83003595e-03 -2.47009864e-05 -9.99983005e-01 -4.13808776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.011022788027124697 Centerline is valid? [True, True] Translation: X:248.26, Y:-105.07, Z:-4.14 [[ 6.53696031e-02 9.97861035e-01 -4.11527079e-04 2.48258060e+02] [ 9.97841623e-01 -6.53708983e-02 -6.22419540e-03 -1.05068163e+02] [-6.23778396e-03 -3.76566571e-06 -9.99980545e-01 -4.13909835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.011052261489444137 Centerline is valid? [True, True] Translation: X:248.27, Y:-105.04, Z:-4.14 [[-1.27802037e-02 9.99918324e-01 1.09262407e-04 2.48267909e+02] [ 9.99885445e-01 1.27806695e-02 -8.10873271e-03 -1.05042009e+02] [-8.10946687e-03 5.61863459e-06 -9.99967118e-01 -4.13663995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.011102389540426532 Centerline is valid? [True, True] Translation: X:248.27, Y:-105.01, Z:-4.13 [[-9.16660059e-02 9.95789436e-01 8.61483495e-04 2.48274300e+02] [ 9.95745979e-01 9.16700538e-02 -9.30306485e-03 -1.05014993e+02] [-9.34286594e-03 5.04392886e-06 -9.99956354e-01 -4.13465521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.011098461502452944 Centerline is valid? [True, True] Translation: X:248.28, Y:-104.99, Z:-4.13 [[-1.70575065e-01 9.85343174e-01 1.72507219e-03 2.48277402e+02] [ 9.85292530e-01 1.70583788e-01 -9.99012896e-03 -1.04987527e+02] [-1.01379747e-02 -4.36615725e-06 -9.99948609e-01 -4.13420178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.011022433626687048 Centerline is valid? [True, True] Translation: X:248.28, Y:-104.96, Z:-4.13 [[-2.49716828e-01 9.68316231e-01 2.27672077e-03 2.48280139e+02] [ 9.68274890e-01 2.49727205e-01 -8.94763372e-03 -1.04960023e+02] [-9.23269807e-03 -2.98831610e-05 -9.99957377e-01 -4.13470589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.011128851624282699 Centerline is valid? [True, True] Translation: X:248.28, Y:-104.93, Z:-4.14 [[-3.27175681e-01 9.44959726e-01 2.68139128e-03 2.48281326e+02] [ 9.44926721e-01 3.27186665e-01 -7.89804231e-03 -1.04931280e+02] [-8.34064737e-03 -5.03290991e-05 -9.99965215e-01 -4.13542930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.011162308202762495 Centerline is valid? [True, True] Translation: X:248.28, Y:-104.90, Z:-4.14 [[-4.00599136e-01 9.16247820e-01 3.20389379e-03 2.48278022e+02] [ 9.16217450e-01 4.00611944e-01 -7.46025892e-03 -1.04903869e+02] [-8.11896409e-03 -5.31098790e-05 -9.99967039e-01 -4.13547868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.011330525689763971 Centerline is valid? [True, True] Translation: X:248.27, Y:-104.88, Z:-4.14 [[-4.72835039e-01 8.81142568e-01 3.84716136e-03 2.48274900e+02] [ 8.81112198e-01 4.72850684e-01 -7.31610280e-03 -1.04875832e+02] [-8.26566249e-03 -6.95289533e-05 -9.99965836e-01 -4.13550451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.011569376631272658 Centerline is valid? [True, True] Translation: X:248.27, Y:-104.85, Z:-4.14 [[-5.41736674e-01 8.40538303e-01 4.09108617e-03 2.48269139e+02] [ 8.40513235e-01 5.41752116e-01 -6.49202078e-03 -1.04849661e+02] [-7.67314672e-03 -7.83536688e-05 -9.99970558e-01 -4.13551385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.011852471609194103 Centerline is valid? [True, True] Translation: X:248.26, Y:-104.82, Z:-4.14 [[-6.07167242e-01 7.94559273e-01 4.84780581e-03 2.48261292e+02] [ 7.94532707e-01 6.07186588e-01 -6.49814276e-03 -1.04821758e+02] [-8.10668226e-03 -9.37191412e-05 -9.99967136e-01 -4.13524272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.01232723002298788 Centerline is valid? [True, True] Translation: X:248.25, Y:-104.80, Z:-4.13 [[-6.68922715e-01 7.43307231e-01 6.06313525e-03 2.48251146e+02] [ 7.43275069e-01 6.68950182e-01 -6.91567214e-03 -1.04796310e+02] [-9.19640453e-03 -1.19472910e-04 -9.99957705e-01 -4.13372656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.012387140695064693 Centerline is valid? [True, True] Translation: X:248.24, Y:-104.77, Z:-4.13 [[-7.25382822e-01 6.88312237e-01 6.78423944e-03 2.48236721e+02] [ 6.88280495e-01 7.25414536e-01 -6.61142560e-03 -1.04771861e+02] [-9.47211105e-03 -1.26354877e-04 -9.99955131e-01 -4.13350488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.012385405654675545 Centerline is valid? [True, True] Translation: X:248.25, Y:-104.75, Z:-4.13 [[-7.71853670e-01 6.35751109e-01 7.90189335e-03 2.48251326e+02] [ 6.35716110e-01 7.71894107e-01 -6.67197648e-03 -1.04749844e+02] [-1.03411414e-02 -1.26428631e-04 -9.99946521e-01 -4.13266519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.011937254904511918 Centerline is valid? [True, True] Translation: X:248.28, Y:-104.74, Z:-4.13 [[-8.14032350e-01 5.80763461e-01 8.07060501e-03 2.48276847e+02] [ 5.80733594e-01 8.14072350e-01 -5.89091051e-03 -1.04736806e+02] [-9.99128196e-03 -1.08520275e-04 -9.99950080e-01 -4.13231422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.011944395393406115 Centerline is valid? [True, True] Translation: X:248.29, Y:-104.72, Z:-4.13 [[-8.52338538e-01 5.22912628e-01 9.02217768e-03 2.48292289e+02] [ 5.22882103e-01 8.52386282e-01 -5.65085758e-03 -1.04715985e+02] [-1.06452853e-02 -9.89084545e-05 -9.99943332e-01 -4.13113795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.011667016891457794 Centerline is valid? [True, True] Translation: X:248.31, Y:-104.70, Z:-4.13 [[-8.85550555e-01 4.64422043e-01 1.06009290e-02 2.48307671e+02] [ 4.64387876e-01 8.85614002e-01 -5.63376594e-03 -1.04698366e+02] [-1.20047763e-02 -6.60416481e-05 -9.99927938e-01 -4.13085041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.011622606724906753 Centerline is valid? [True, True] Translation: X:248.66, Y:-104.05, Z:-5.11 [[-8.50653849e-01 -5.25653154e-01 8.76304659e-03 2.48658923e+02] [ 5.25624844e-01 -8.50698984e-01 -5.45551355e-03 -1.04054309e+02] [ 1.03224227e-02 -3.46786054e-05 9.99946722e-01 -5.10696158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.011598471999129173 Centerline is valid? [True, True] Translation: X:248.27, Y:-104.69, Z:-4.13 [[-8.83783087e-01 4.67839104e-01 7.35039225e-03 2.48271767e+02] [ 4.67823008e-01 8.83813653e-01 -3.88073083e-03 -1.04686174e+02] [-8.31193466e-03 8.95834286e-06 -9.99965455e-01 -4.13414241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.011616785427047112 Centerline is valid? [True, True] Translation: X:248.29, Y:-104.66, Z:-4.13 [[-9.14088382e-01 4.05457060e-01 6.85582626e-03 2.48286717e+02] [ 4.05445795e-01 9.14114091e-01 -3.02252142e-03 -1.04663783e+02] [-7.49251005e-03 1.68142106e-05 -9.99971931e-01 -4.13477998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.01205266963059327 Centerline is valid? [True, True] Translation: X:248.30, Y:-104.64, Z:-4.13 [[-9.39223811e-01 3.43237296e-01 6.84039333e-03 2.48300403e+02] [ 3.43228527e-01 9.39248719e-01 -2.45386245e-03 -1.04642241e+02] [-7.26708779e-03 4.30920879e-05 -9.99973593e-01 -4.13499813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.01252813042785791 Centerline is valid? [True, True] Translation: X:248.31, Y:-104.62, Z:-4.13 [[-9.60362431e-01 2.78636586e-01 8.10265130e-03 2.48309129e+02] [ 2.78627355e-01 9.60396609e-01 -2.26951027e-03 -1.04617143e+02] [-8.41412742e-03 7.80678967e-05 -9.99964598e-01 -4.13369363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.01258991574560031 Centerline is valid? [True, True] Translation: X:248.32, Y:-104.59, Z:-4.13 [[-9.77456276e-01 2.10942462e-01 9.08334549e-03 2.48318827e+02] [ 2.10934295e-01 9.77498475e-01 -1.85878808e-03 -1.04590487e+02] [-9.27105370e-03 9.91050065e-05 -9.99957018e-01 -4.13374545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.013110278911489361 Centerline is valid? [True, True] Translation: X:248.32, Y:-104.56, Z:-4.13 [[-9.89918895e-01 1.41258375e-01 1.03273156e-02 2.48320963e+02] [ 1.41251908e-01 9.89972756e-01 -1.35663747e-03 -1.04562626e+02] [-1.04153975e-02 1.15791965e-04 -9.99945752e-01 -4.13252242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.012819809543555504 Centerline is valid? [True, True] Translation: X:248.33, Y:-104.53, Z:-4.13 [[-9.97475220e-01 7.00435283e-02 1.17084961e-02 2.48325755e+02] [ 7.00401856e-02 9.97543928e-01 -6.95800663e-04 -1.04534010e+02] [-1.17284755e-02 1.26021319e-04 -9.99931211e-01 -4.13218157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.012361380966142392 Centerline is valid? [True, True] Translation: X:248.37, Y:-103.80, Z:-5.11 [[-9.93480134e-01 -1.13519077e-01 1.05186860e-02 2.48370018e+02] [ 1.13510733e-01 -9.93535799e-01 -1.38888200e-03 -1.03796500e+02] [ 1.06083557e-02 -1.85842924e-04 9.99943713e-01 -5.10568512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.011838651069435881 Centerline is valid? [True, True] Translation: X:248.26, Y:-104.53, Z:-4.13 [[-9.98047812e-01 6.15502326e-02 1.05893481e-02 2.48262479e+02] [ 6.15474910e-02 9.98103985e-01 -5.84895024e-04 -1.04525860e+02] [-1.06052710e-02 6.79946092e-05 -9.99943760e-01 -4.13427314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.011405596858877088 Centerline is valid? [True, True] Translation: X:248.26, Y:-104.50, Z:-4.13 [[-9.99884584e-01 -1.13649444e-02 1.00825138e-02 2.48262094e+02] [-1.13639112e-02 9.99935416e-01 1.59759350e-04 -1.04496131e+02] [-1.00836783e-02 4.51641195e-05 -9.99949157e-01 -4.13497675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.011148379584609288 Centerline is valid? [True, True] Translation: X:248.26, Y:-104.47, Z:-4.13 [[-9.96346844e-01 -8.48503249e-02 9.66378200e-03 2.48256254e+02] [-8.48461527e-02 9.96393708e-01 8.41631999e-04 -1.04467174e+02] [-9.70034433e-03 1.86226626e-05 -9.99952950e-01 -4.13458062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.01101438519692518 Centerline is valid? [True, True] Translation: X:248.24, Y:-104.44, Z:-4.13 [[-9.87231539e-01 -1.59047791e-01 8.81407023e-03 2.48238937e+02] [-1.59041604e-01 9.87270885e-01 1.40289729e-03 -1.04438260e+02] [-8.92500263e-03 -1.68194152e-05 -9.99960171e-01 -4.13407878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.010755666300507729 Centerline is valid? [True, True] Translation: X:248.23, Y:-104.41, Z:-4.14 [[-9.72659810e-01 -2.32113150e-01 7.50862196e-03 2.48229482e+02] [-2.32106565e-01 9.72688791e-01 1.74895454e-03 -1.04408994e+02] [-7.70950776e-03 -4.16626594e-05 -9.99970280e-01 -4.13595068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.011069159747930976 Centerline is valid? [True, True] Translation: X:248.21, Y:-104.38, Z:-4.13 [[-9.52023420e-01 -3.05932541e-01 7.52919128e-03 2.48207533e+02] [-3.05923653e-01 9.52053188e-01 2.33341943e-03 -1.04382140e+02] [-7.88205950e-03 -8.18877555e-05 -9.99968933e-01 -4.13472034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.011552929937488968 Centerline is valid? [True, True] Translation: X:248.17, Y:-104.36, Z:-4.13 [[-9.26332849e-01 -3.76601299e-01 8.88333564e-03 2.48172046e+02] [-3.76585270e-01 9.26375435e-01 3.47686438e-03 -1.04363104e+02] [-9.53869556e-03 -1.24599661e-04 -9.99954498e-01 -4.13331513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.011656708687998193 Centerline is valid? [True, True] Translation: X:248.12, Y:-104.36, Z:-4.13 [[-8.96032732e-01 -4.43905532e-01 8.55702157e-03 2.48116453e+02] [-4.43886679e-01 8.96073581e-01 4.09319182e-03 -1.04356946e+02] [-9.48471145e-03 -1.30714037e-04 -9.99955011e-01 -4.13359940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.012009848870720775 Centerline is valid? [True, True] Translation: X:248.05, Y:-104.36, Z:-4.13 [[-8.60816997e-01 -5.08822226e-01 9.69739535e-03 2.48050929e+02] [-5.08791930e-01 8.60871604e-01 5.55450959e-03 -1.04360232e+02] [-1.11744702e-02 -1.52540227e-04 -9.99937552e-01 -4.13157908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.011829510644774712 Centerline is valid? [True, True] Translation: X:247.98, Y:-104.37, Z:-4.13 [[-8.20925263e-01 -5.70953846e-01 9.66532833e-03 2.47981329e+02] [-5.70916457e-01 8.20982145e-01 6.53582352e-03 -1.04373847e+02] [-1.16667156e-02 -1.52672366e-04 -9.99931930e-01 -4.13220137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.011682678156687627 Centerline is valid? [True, True] Translation: X:247.91, Y:-104.40, Z:-4.13 [[-7.77637687e-01 -6.28644104e-01 9.28532926e-03 2.47906805e+02] [-6.28601168e-01 7.77693111e-01 7.34825766e-03 -1.04398893e+02] [-1.18405755e-02 -1.22486721e-04 -9.99929890e-01 -4.13219670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.011007214366720851 Centerline is valid? [True, True] Translation: X:247.83, Y:-104.44, Z:-4.13 [[-7.30079800e-01 -6.83303213e-01 8.95572386e-03 2.47827924e+02] [-6.83253347e-01 7.30134721e-01 8.25547855e-03 -1.04435591e+02] [-1.21798800e-02 -9.18701770e-05 -9.99925818e-01 -4.13315561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.010871767683225193 Centerline is valid? [True, True] Translation: X:247.75, Y:-104.48, Z:-4.13 [[-6.79359162e-01 -7.33758215e-01 8.36723539e-03 2.47748970e+02] [-7.33703341e-01 6.79410686e-01 8.97371830e-03 -1.04483483e+02] [-1.22693287e-02 -4.26908132e-05 -9.99924728e-01 -4.13335849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.010816723727346982 Centerline is valid? [True, True] Translation: X:247.67, Y:-104.54, Z:-4.13 [[-6.22726195e-01 -7.82405755e-01 7.30211273e-03 2.47666658e+02] [-7.82352497e-01 6.22769006e-01 9.12888404e-03 -1.04540550e+02] [-1.16900209e-02 -2.80308959e-05 -9.99931669e-01 -4.13385265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.0107347139098255 Centerline is valid? [True, True] Translation: X:247.59, Y:-104.61, Z:-4.14 [[-5.64400893e-01 -8.25480455e-01 5.80089811e-03 2.47590167e+02] [-8.25436689e-01 5.64430703e-01 8.50022176e-03 -1.04607977e+02] [-1.02909719e-02 9.25861683e-06 -9.99947047e-01 -4.13625969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.011037787081415515 Centerline is valid? [True, True] Translation: X:247.52, Y:-104.68, Z:-4.14 [[-5.02713612e-01 -8.64438439e-01 5.02094856e-03 2.47515332e+02] [-8.64394479e-01 5.02738683e-01 8.71790494e-03 -1.04683999e+02] [-1.00603172e-02 4.25292641e-05 -9.99949393e-01 -4.13648489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.011193607574666638 Centerline is valid? [True, True] Translation: X:247.44, Y:-104.77, Z:-4.14 [[-4.36460646e-01 -8.99710394e-01 4.82811836e-03 2.47441510e+02] [-8.99653657e-01 4.36487344e-01 1.01042061e-02 -1.04770598e+02] [-1.11982718e-02 6.64539851e-05 -9.99937295e-01 -4.13664908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.011226589682472 Centerline is valid? [True, True] Translation: X:247.37, Y:-104.86, Z:-4.14 [[-3.66203462e-01 -9.30525693e-01 4.11814661e-03 2.47373208e+02] [-9.30464767e-01 3.66226610e-01 1.06483440e-02 -1.04861928e+02] [-1.14167325e-02 6.76700941e-05 -9.99934825e-01 -4.13584052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.011208636760514293 Centerline is valid? [True, True] Translation: X:247.31, Y:-104.96, Z:-4.13 [[-2.92391532e-01 -9.56292004e-01 3.57704199e-03 2.47310147e+02] [-9.56217959e-01 2.92413405e-01 1.19002181e-02 -1.04961088e+02] [-1.24260585e-02 5.90912173e-05 -9.99922792e-01 -4.13437775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.0108440156691528 Centerline is valid? [True, True] Translation: X:247.25, Y:-105.07, Z:-4.13 [[-2.15280583e-01 -9.76548722e-01 2.61979634e-03 2.47252393e+02] [-9.76475111e-01 2.15296522e-01 1.19902311e-02 -1.05068623e+02] [-1.22730779e-02 2.30980343e-05 -9.99924683e-01 -4.13385502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.01045780111942441 Centerline is valid? [True, True] Translation: X:247.20, Y:-105.18, Z:-4.14 [[-1.36981884e-01 -9.90572300e-01 1.57533843e-03 2.47203410e+02] [-9.90507606e-01 1.36990942e-01 1.13209926e-02 -1.05179583e+02] [-1.14300688e-02 -9.61380159e-06 -9.99934675e-01 -4.13547778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.010398194604973774 Centerline is valid? [True, True] Translation: X:247.16, Y:-105.29, Z:-4.14 [[-5.57363423e-02 -9.98445349e-01 5.87330343e-04 2.47160374e+02] [-9.98400168e-01 5.57394076e-02 9.49853734e-03 -1.05292833e+02] [-9.51650788e-03 -5.69769857e-05 -9.99954715e-01 -4.13588837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.010601805213708074 Centerline is valid? [True, True] Translation: X:247.13, Y:-105.41, Z:-4.14 [[ 2.51991283e-02 -9.99682442e-01 -1.39769625e-04 2.47128265e+02] [-9.99639695e-01 -2.51993434e-02 9.24516468e-03 -1.05408880e+02] [-9.24575090e-03 -9.32508252e-05 -9.99957253e-01 -4.13703791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.01093327540575125 Centerline is valid? [True, True] Translation: X:247.11, Y:-105.53, Z:-4.14 [[ 1.04740690e-01 -9.94499194e-01 -8.60599758e-04 2.47106199e+02] [-9.94455581e-01 -1.04744157e-01 9.31442753e-03 -1.05529052e+02] [-9.35333347e-03 -1.19771330e-04 -9.99956249e-01 -4.13697093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.010982046788402087 Centerline is valid? [True, True] Translation: X:247.09, Y:-105.65, Z:-4.14 [[ 1.81043529e-01 -9.83473789e-01 -1.59580550e-03 2.47094311e+02] [-9.83429397e-01 -1.81050520e-01 9.34502636e-03 -1.05651291e+02] [-9.47950990e-03 -1.22494509e-04 -9.99955061e-01 -4.13633514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.011133484304627572 Centerline is valid? [True, True] Translation: X:247.09, Y:-105.77, Z:-4.14 [[ 2.55878692e-01 -9.66706142e-01 -2.30864822e-03 2.47091258e+02] [-9.66662458e-01 -2.55889079e-01 9.19081221e-03 -1.05768613e+02] [-9.47557248e-03 -1.20049450e-04 -9.99955099e-01 -4.13569633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.010538657861453839 Centerline is valid? [True, True] Translation: X:247.10, Y:-105.89, Z:-4.14 [[ 3.26744366e-01 -9.45108767e-01 -2.74543134e-03 2.47101802e+02] [-9.45073100e-01 -3.26755888e-01 8.21131188e-03 -1.05888390e+02] [-8.65766870e-03 -8.83665919e-05 -9.99962518e-01 -4.13673580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.010176716024321318 Centerline is valid? [True, True] Translation: X:247.13, Y:-106.02, Z:-4.14 [[ 3.95156855e-01 -9.18608300e-01 -3.13881222e-03 2.47126661e+02] [-9.18578199e-01 -3.95169317e-01 7.43657619e-03 -1.06019401e+02] [-8.07166289e-03 -5.53695745e-05 -9.99967422e-01 -4.13711299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.010137926171107434 Centerline is valid? [True, True] Translation: X:247.16, Y:-106.15, Z:-4.14 [[ 4.60773475e-01 -8.87509340e-01 -3.86990146e-03 2.47161878e+02] [-8.87477672e-01 -4.60789725e-01 7.49738615e-03 -1.06146648e+02] [-8.43721106e-03 -2.01455335e-05 -9.99964406e-01 -4.13627071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.010680896272617516 Centerline is valid? [True, True] Translation: X:247.17, Y:-106.22, Z:-4.14 [[ 5.22503888e-01 -8.52620775e-01 -5.24422579e-03 2.47174545e+02] [-8.52578622e-01 -5.22530203e-01 8.47828202e-03 -1.06215377e+02] [-9.96902575e-03 4.11794808e-05 -9.99950307e-01 -4.13575759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.010914347319008266 Centerline is valid? [True, True] Translation: X:247.21, Y:-106.32, Z:-4.14 [[ 5.84590544e-01 -8.11305278e-01 -6.13520065e-03 2.47213609e+02] [-8.11261787e-01 -5.84622734e-01 8.40074821e-03 -1.06321562e+02] [-1.04023491e-02 6.62558752e-05 -9.99945892e-01 -4.13528549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.011516238455252919 Centerline is valid? [True, True] Translation: X:247.26, Y:-106.43, Z:-4.14 [[ 6.42787529e-01 -7.66009368e-01 -7.33760831e-03 2.47263553e+02] [-7.65961322e-01 -6.42829400e-01 8.57997457e-03 -1.06427195e+02] [-1.12891712e-02 1.05223504e-04 -9.99936270e-01 -4.13560210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.012043382103509552 Centerline is valid? [True, True] Translation: X:247.31, Y:-106.52, Z:-4.14 [[ 6.98354999e-01 -7.15707680e-01 -7.92541343e-03 2.47311815e+02] [-7.15663544e-01 -6.98399959e-01 7.94917471e-03 -1.06518752e+02] [-1.12243938e-02 1.20583567e-04 -9.99936997e-01 -4.13548158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.012560967128009146 Centerline is valid? [True, True] Translation: X:247.33, Y:-106.55, Z:-4.14 [[ 7.50249551e-01 -6.61106969e-01 -7.94895932e-03 2.47329704e+02] [-6.61071842e-01 -7.50291647e-01 6.81645227e-03 -1.06545454e+02] [-1.04704419e-02 1.40792923e-04 -9.99945174e-01 -4.13665476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.012769069232214247 Centerline is valid? [True, True] Translation: X:247.35, Y:-106.57, Z:-4.14 [[ 7.98867051e-01 -6.01458927e-01 -7.65469764e-03 2.47348873e+02] [-6.01432957e-01 -7.98903711e-01 5.59091991e-03 -1.06571592e+02] [-9.47807504e-03 1.37385737e-04 -9.99955073e-01 -4.13812006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.01219772012904049 Centerline is valid? [True, True] Translation: X:247.37, Y:-106.60, Z:-4.14 [[ 8.43755350e-01 -5.36682389e-01 -6.99449074e-03 2.47367502e+02] [-5.36665042e-01 -8.43784333e-01 4.31647093e-03 -1.06601553e+02] [-8.21841563e-03 1.11653230e-04 -9.99966222e-01 -4.13909573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.0119283398830853 Centerline is valid? [True, True] Translation: X:247.39, Y:-106.63, Z:-4.14 [[ 8.83998747e-01 -4.67436552e-01 -7.02030785e-03 2.47389794e+02] [-4.67422633e-01 -8.84026618e-01 3.60849770e-03 -1.06627744e+02] [-7.89288273e-03 9.15433287e-05 -9.99968847e-01 -4.13912503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.011149430532633009 Centerline is valid? [True, True] Translation: X:247.41, Y:-106.65, Z:-4.14 [[ 9.19747118e-01 -3.92411714e-01 -8.84792678e-03 2.47413255e+02] [-3.92394282e-01 -9.19789673e-01 3.69940618e-03 -1.06653961e+02] [-9.58992200e-03 6.93577014e-05 -9.99954013e-01 -4.13742843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.010524868400956136 Centerline is valid? [True, True] Translation: X:247.44, Y:-106.68, Z:-4.14 [[ 9.49076821e-01 -3.14894209e-01 -9.73787083e-03 2.47439217e+02] [-3.14877935e-01 -9.49126776e-01 3.20144217e-03 -1.06677187e+02] [-1.02505895e-02 2.78261089e-05 -9.99947461e-01 -4.13621494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.010214373184925983 Centerline is valid? [True, True] Translation: X:247.47, Y:-106.70, Z:-4.14 [[ 9.72476165e-01 -2.32774677e-01 -1.02984796e-02 2.47467267e+02] [-2.32761119e-01 -9.72530692e-01 2.51269875e-03 -1.06699453e+02] [-1.06004801e-02 -4.64540073e-05 -9.99943812e-01 -4.13528306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.010466284095483143 Centerline is valid? [True, True] Translation: X:247.50, Y:-106.71, Z:-4.14 [[ 9.88317436e-01 -1.52069183e-01 -1.01788551e-02 2.47498631e+02] [-1.52060209e-01 -9.88369848e-01 1.65431434e-03 -1.06714548e+02] [-1.03120436e-02 -8.71888819e-05 -9.99946826e-01 -4.13600375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.010635420337000693 Centerline is valid? [True, True] Translation: X:247.53, Y:-106.73, Z:-4.14 [[ 9.97437335e-01 -7.09329643e-02 -9.34228286e-03 2.47527170e+02] [-7.09287961e-02 -9.97481078e-01 7.77149612e-04 -1.06729602e+02] [-9.37387591e-03 -1.12521161e-04 -9.99956058e-01 -4.13770594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.011105817387476812 Centerline is valid? [True, True] Translation: X:247.56, Y:-106.74, Z:-4.14 [[ 9.99921721e-01 9.20723224e-03 -8.47224625e-03 2.47556618e+02] [ 9.20791412e-03 -9.99957605e-01 4.14799457e-05 -1.06740563e+02] [-8.47150516e-03 -1.19488415e-04 -9.99964109e-01 -4.13740414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.01112523283780984 Centerline is valid? [True, True] Translation: X:247.59, Y:-106.75, Z:-4.14 [[ 9.96040288e-01 8.84628762e-02 -8.83541350e-03 2.47587581e+02] [ 8.84605761e-02 -9.96079466e-01 -6.51550146e-04 -1.06748870e+02] [-8.85841195e-03 -1.32615573e-04 -9.99960755e-01 -4.13714727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.010548823855797432 Centerline is valid? [True, True] Translation: X:247.62, Y:-106.75, Z:-4.14 [[ 9.86654490e-01 1.62544173e-01 -9.60780547e-03 2.47619034e+02] [ 1.62537528e-01 -9.86701262e-01 -1.47371988e-03 -1.06750031e+02] [-9.71957836e-03 -1.07576608e-04 -9.99952758e-01 -4.13601973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.010384288292041171 Centerline is valid? [True, True] Translation: X:247.65, Y:-106.75, Z:-4.14 [[ 9.71357169e-01 2.37434641e-01 -9.48899870e-03 2.47649994e+02] [ 2.37424212e-01 -9.71403512e-01 -2.22718616e-03 -1.06748629e+02] [-9.74645781e-03 -8.95247962e-05 -9.99952498e-01 -4.13566370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.009886687566122192 Centerline is valid? [True, True] Translation: X:247.68, Y:-106.74, Z:-4.14 [[ 9.51446750e-01 3.07675728e-01 -9.20483566e-03 2.47680014e+02] [ 3.07661712e-01 -9.51491274e-01 -2.93696696e-03 -1.06744187e+02] [-9.66195426e-03 -3.76078363e-05 -9.99953322e-01 -4.13708041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.010634358809972294 Centerline is valid? [True, True] Translation: X:247.71, Y:-106.73, Z:-4.14 [[ 9.28052876e-01 3.72358967e-01 -8.16445650e-03 2.47707737e+02] [ 3.72344100e-01 -9.28088787e-01 -3.32775587e-03 -1.06734005e+02] [-8.81646027e-03 4.83462026e-05 -9.99961133e-01 -4.13781948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.01211175083850664 Centerline is valid? [True, True] Translation: X:247.73, Y:-106.72, Z:-4.14 [[ 8.99130984e-01 4.37620750e-01 -7.18009003e-03 2.47734487e+02] [ 4.37605924e-01 -8.99159647e-01 -3.60345966e-03 -1.06722568e+02] [-8.03299593e-03 9.79322891e-05 -9.99967730e-01 -4.13825038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.015096531962488488 Centerline is valid? [True, True] Translation: X:247.76, Y:-106.71, Z:-4.14 [[ 8.67403635e-01 4.97564467e-01 -6.36677829e-03 2.47758644e+02] [ 4.97549639e-01 -8.67426984e-01 -3.84491507e-03 -1.06707443e+02] [-7.43580840e-03 1.67305065e-04 -9.99972340e-01 -4.13942786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.01766940441366586 Centerline is valid? [True, True] Translation: X:247.78, Y:-106.69, Z:-4.14 [[ 8.30787134e-01 5.56557469e-01 -6.04324897e-03 2.47784255e+02] [ 5.56540680e-01 -8.30809081e-01 -4.32931227e-03 -1.06694487e+02] [-7.43029720e-03 2.33423048e-04 -9.99972368e-01 -4.13976449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.020527769994734237 Centerline is valid? [True, True] Translation: X:247.81, Y:-106.68, Z:-4.14 [[ 7.88242729e-01 6.15334204e-01 -6.10059583e-03 2.47807856e+02] [ 6.15312801e-01 -7.88266280e-01 -5.14081510e-03 -1.06679741e+02] [-7.97221335e-03 2.98435414e-04 -9.99968177e-01 -4.14031615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.021775500015650276 Centerline is valid? [True, True] Translation: X:247.83, Y:-106.67, Z:-4.14 [[ 7.42477645e-01 6.69845544e-01 -5.82184179e-03 2.47833852e+02] [ 6.69821017e-01 -7.42500380e-01 -5.74380006e-03 -1.06668282e+02] [-8.17017861e-03 3.65051149e-04 -9.99966557e-01 -4.14181591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.02316084143453413 Centerline is valid? [True, True] Translation: X:247.86, Y:-106.66, Z:-4.14 [[ 6.90000028e-01 7.23790946e-01 -5.16021260e-03 2.47859734e+02] [ 7.23766530e-01 -6.90019221e-01 -5.95691578e-03 -1.06655674e+02] [-7.87220759e-03 3.75482886e-04 -9.99968943e-01 -4.14167662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.023301489925661223 Centerline is valid? [True, True] Translation: X:247.89, Y:-106.64, Z:-4.14 [[ 6.32008443e-01 7.74945921e-01 -4.91400245e-03 2.47888964e+02] [ 7.74917367e-01 -6.32027417e-01 -6.66467003e-03 -1.06643627e+02] [-8.27054313e-03 4.04181891e-04 -9.99965717e-01 -4.14243445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.02346681074311713 Centerline is valid? [True, True] Translation: X:247.92, Y:-106.63, Z:-4.14 [[ 5.68100358e-01 8.22945731e-01 -4.72311415e-03 2.47915339e+02] [ 8.22910851e-01 -5.68119832e-01 -7.58863624e-03 -1.06628118e+02] [-8.92833062e-03 4.24405079e-04 -9.99960052e-01 -4.14167902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.021498473434504842 Centerline is valid? [True, True] Translation: X:247.95, Y:-106.61, Z:-4.14 [[ 4.97356919e-01 8.67537349e-01 -3.87859126e-03 2.47947224e+02] [ 8.67505191e-01 -4.97371915e-01 -7.47807109e-03 -1.06614079e+02] [-8.41660834e-03 3.54572340e-04 -9.99964517e-01 -4.14274031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.018922289664723636 Centerline is valid? [True, True] Translation: X:247.98, Y:-106.60, Z:-4.14 [[ 4.23401219e-01 9.05936834e-01 -3.14005817e-03 2.47978892e+02] [ 9.05906470e-01 -4.23412758e-01 -7.42322108e-03 -1.06596743e+02] [-8.05451010e-03 2.98401841e-04 -9.99967517e-01 -4.14367547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.01608812868945439 Centerline is valid? [True, True] Translation: X:248.01, Y:-106.58, Z:-4.14 [[ 3.42638937e-01 9.39464329e-01 -2.30959506e-03 2.48014489e+02] [ 9.39438855e-01 -3.42646661e-01 -6.92115340e-03 -1.06577969e+02] [-7.29355177e-03 2.01733297e-04 -9.99973381e-01 -4.14418827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.014730399196384364 Centerline is valid? [True, True] Translation: X:248.04, Y:-106.55, Z:-4.14 [[ 2.62009416e-01 9.65064054e-01 -1.56132145e-03 2.48043840e+02] [ 9.65043696e-01 -2.62014033e-01 -6.26983793e-03 -1.06553724e+02] [-6.45988334e-03 1.36013153e-04 -9.99979125e-01 -4.14439707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.01315547618754139 Centerline is valid? [True, True] Translation: X:248.08, Y:-106.53, Z:-4.14 [[ 1.77282031e-01 9.84159484e-01 -1.09172755e-03 2.48076104e+02] [ 9.84137792e-01 -1.77285373e-01 -6.53469692e-03 -1.06528035e+02] [-6.62473127e-03 8.40740035e-05 -9.99978053e-01 -4.14335550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.012380925040643854 Centerline is valid? [True, True] Translation: X:248.10, Y:-106.50, Z:-4.14 [[ 9.42573858e-02 9.95547586e-01 -7.41558546e-04 2.48102674e+02] [ 9.95510766e-01 -9.42602777e-02 -8.56246257e-03 -1.06498032e+02] [-8.59423845e-03 6.88458221e-05 -9.99963066e-01 -4.14209538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.01269263490846225 Centerline is valid? [True, True] Translation: X:248.12, Y:-106.47, Z:-4.14 [[ 1.45684456e-02 9.99893872e-01 -7.01048460e-05 2.48118129e+02] [ 9.99854596e-01 -1.45684947e-02 -8.86266449e-03 -1.06465998e+02] [-8.86274523e-03 5.90205927e-05 -9.99960723e-01 -4.14054064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.012562131403355697 Centerline is valid? [True, True] Translation: X:248.14, Y:-106.43, Z:-4.14 [[-6.24147173e-02 9.98050059e-01 6.95397524e-04 2.48136159e+02] [ 9.98001852e-01 6.24185376e-02 -9.80964504e-03 -1.06431134e+02] [-9.83392250e-03 8.17417956e-05 -9.99951642e-01 -4.14151986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.013675002800362056 Centerline is valid? [True, True] Translation: X:248.14, Y:-106.40, Z:-4.14 [[-1.37265569e-01 9.90532217e-01 2.02251858e-03 2.48142585e+02] [ 9.90441585e-01 1.37280370e-01 -1.34002481e-02 -1.06396738e+02] [-1.35510296e-02 1.63793830e-04 -9.99908167e-01 -4.13791160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.01513060271340325 Centerline is valid? [True, True] Translation: X:248.15, Y:-106.36, Z:-4.14 [[-2.07478477e-01 9.78234295e-01 3.21637129e-03 2.48145576e+02] [ 9.78136363e-01 2.07503226e-01 -1.38443432e-02 -1.06360135e+02] [-1.42104188e-02 2.73646462e-04 -9.99898989e-01 -4.13766520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.016179238379404035 Centerline is valid? [True, True] Translation: X:248.15, Y:-106.32, Z:-4.14 [[-2.77870080e-01 9.60610191e-01 4.03469586e-03 2.48146125e+02] [ 9.60525694e-01 2.77899170e-01 -1.27452708e-02 -1.06323463e+02] [-1.33644757e-02 3.33899625e-04 -9.99910636e-01 -4.13980575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.019391168645124593 Centerline is valid? [True, True] Translation: X:248.14, Y:-106.29, Z:-4.14 [[-3.44167408e-01 9.38896441e-01 4.71885024e-03 2.48141270e+02] [ 9.38824277e-01 3.44199499e-01 -1.16482235e-02 -1.06289188e+02] [-1.25607015e-02 4.21232268e-04 -9.99921023e-01 -4.14068264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.01968075559540582 Centerline is valid? [True, True] Translation: X:248.14, Y:-106.25, Z:-4.14 [[-4.11136555e-01 9.11560498e-01 4.91846461e-03 2.48140269e+02] [ 9.11507373e-01 4.11165745e-01 -9.85081921e-03 -1.06250853e+02] [-1.10019218e-02 4.33184889e-04 -9.99939383e-01 -4.14216580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.020527019324109576 Centerline is valid? [True, True] Translation: X:248.14, Y:-106.21, Z:-4.14 [[-4.79700857e-01 8.77415397e-01 5.41379277e-03 2.48135540e+02] [ 8.77369310e-01 4.79731212e-01 -9.00322607e-03 -1.06212752e+02] [-1.04967345e-02 4.31040367e-04 -9.99944815e-01 -4.14213460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.02172920961673346 Centerline is valid? [True, True] Translation: X:248.13, Y:-106.18, Z:-4.14 [[-5.47495847e-01 8.36786775e-01 6.01584972e-03 2.48129171e+02] [ 8.36744414e-01 5.47528738e-01 -8.43009863e-03 -1.06175773e+02] [-1.03480456e-02 4.18284657e-04 -9.99946370e-01 -4.14106276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.019775544432829865 Centerline is valid? [True, True] Translation: X:248.12, Y:-106.13, Z:-4.14 [[-6.14206454e-01 7.89117219e-01 6.66678627e-03 2.48122306e+02] [ 7.89077323e-01 6.14242516e-01 -7.94411073e-03 -1.06134818e+02] [-1.03638581e-02 3.81285790e-04 -9.99946221e-01 -4.14131889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.0187672071504772 Centerline is valid? [True, True] Translation: X:248.11, Y:-106.10, Z:-4.14 [[-6.75315458e-01 7.37491820e-01 7.40591575e-03 2.48108428e+02] [ 7.37453397e-01 6.75355964e-01 -7.53720810e-03 -1.06096625e+02] [-1.05602587e-02 3.71524580e-04 -9.99944170e-01 -4.14138242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.018201630688867362 Centerline is valid? [True, True] Translation: X:248.09, Y:-106.06, Z:-4.14 [[-7.35341130e-01 6.77654328e-01 7.61799727e-03 2.48094067e+02] [ 6.77621995e-01 7.35380533e-01 -6.62607880e-03 -1.06059269e+02] [-1.00923179e-02 2.89694232e-04 -9.99949029e-01 -4.14101020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.016580702726351457 Centerline is valid? [True, True] Translation: X:248.11, Y:-106.02, Z:-4.14 [[-7.85371439e-01 6.18990573e-01 6.50941994e-03 2.48106404e+02] [ 6.18971203e-01 7.85398394e-01 -4.90026036e-03 -1.06023662e+02] [-8.14570293e-03 1.80618957e-04 -9.99966807e-01 -4.14174935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.015485503730391809 Centerline is valid? [True, True] Translation: X:248.11, Y:-105.99, Z:-4.14 [[-8.29771461e-01 5.58069034e-01 6.18669854e-03 2.48113587e+02] [ 5.58054672e-01 8.29794515e-01 -4.00579359e-03 -1.05989101e+02] [-7.36919787e-03 1.28622826e-04 -9.99972839e-01 -4.14214477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.013518340800200972 Centerline is valid? [True, True] Translation: X:248.12, Y:-105.95, Z:-4.14 [[-8.69728379e-01 4.93488550e-01 6.44971921e-03 2.48121720e+02] [ 4.93475754e-01 8.69752288e-01 -3.55483906e-03 -1.05952559e+02] [-7.36393041e-03 9.10356422e-05 -9.99972882e-01 -4.14276345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.012446152068132639 Centerline is valid? [True, True] Translation: X:248.12, Y:-105.91, Z:-4.14 [[-9.06464592e-01 4.22233363e-01 6.39773417e-03 2.48120080e+02] [ 4.22223011e-01 9.06487169e-01 -2.95672965e-03 -1.05910371e+02] [-7.04789383e-03 2.10998432e-05 -9.99975163e-01 -4.14165896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.012198589551981949 Centerline is valid? [True, True] Translation: X:248.12, Y:-105.87, Z:-4.14 [[-9.37754133e-01 3.47243612e-01 6.24975170e-03 2.48120166e+02] [ 3.47235534e-01 9.37774958e-01 -2.36914641e-03 -1.05870692e+02] [-6.68353159e-03 -5.15409709e-05 -9.99977664e-01 -4.14184106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.01391450732279057 Centerline is valid? [True, True] Translation: X:248.11, Y:-105.83, Z:-4.14 [[-9.63531445e-01 2.67540465e-01 5.40866772e-03 2.48110007e+02] [ 2.67535556e-01 9.63546618e-01 -1.62520460e-03 -1.05828603e+02] [-5.64631148e-03 -1.18924810e-04 -9.99984052e-01 -4.14127039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.015011367395911693 Centerline is valid? [True, True] Translation: X:248.20, Y:-105.47, Z:-5.10 [[-9.29240925e-01 -3.69442680e-01 4.83837576e-03 2.48203147e+02] [ 3.69438111e-01 -9.29253518e-01 -1.83897889e-03 -1.05474409e+02] [ 5.17547498e-03 7.86259599e-05 9.99986604e-01 -5.10150001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.01579559416955052 Centerline is valid? [True, True] Translation: X:248.06, Y:-105.81, Z:-4.14 [[-9.66172271e-01 2.57822606e-01 6.21665716e-03 2.48064977e+02] [ 2.57816101e-01 9.66192255e-01 -1.83985374e-03 -1.05813030e+02] [-6.48084189e-03 -1.74861351e-04 -9.99978984e-01 -4.14016961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.016896377737544776 Centerline is valid? [True, True] Translation: X:248.06, Y:-105.78, Z:-4.14 [[-9.82441503e-01 1.86430007e-01 7.24888640e-03 2.48057013e+02] [ 1.86423321e-01 9.82468222e-01 -1.59330481e-03 -1.05783508e+02] [-7.41884035e-03 -2.13967290e-04 -9.99972457e-01 -4.13907007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.016073315437406994 Centerline is valid? [True, True] Translation: X:248.13, Y:-105.42, Z:-5.10 [[-9.52903400e-01 -3.03198228e-01 6.77832314e-03 2.48126694e+02] [ 3.03191904e-01 -9.52927490e-01 -1.96664549e-03 -1.05424014e+02] [ 7.05553389e-03 1.81109520e-04 9.99975093e-01 -5.10316889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.015060153978263437 Centerline is valid? [True, True] Translation: X:248.01, Y:-105.79, Z:-4.14 [[-9.82619298e-01 1.85486343e-01 7.35737761e-03 2.48012021e+02] [ 1.85479647e-01 9.82646823e-01 -1.58825432e-03 -1.05786967e+02] [-7.52430322e-03 -1.96005547e-04 -9.99971673e-01 -4.13953961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.014324633369292645 Centerline is valid? [True, True] Translation: X:248.01, Y:-105.77, Z:-4.14 [[-9.92582006e-01 1.21373199e-01 7.03618434e-03 2.48006896e+02] [ 1.21369129e-01 9.92606934e-01 -1.00411899e-03 -1.05768538e+02] [-7.10603850e-03 -1.42694872e-04 -9.99974742e-01 -4.14007830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.013368070277314084 Centerline is valid? [True, True] Translation: X:248.00, Y:-105.75, Z:-4.14 [[-9.98446763e-01 5.53628418e-02 6.24636747e-03 2.48001993e+02] [ 5.53611445e-02 9.98466297e-01 -4.44445719e-04 -1.05748942e+02] [-6.26139318e-03 -9.79493378e-05 -9.99980392e-01 -4.14021036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.012539586902834549 Centerline is valid? [True, True] Translation: X:247.99, Y:-105.73, Z:-4.14 [[-9.99924735e-01 -1.09438588e-02 5.54579214e-03 2.47992695e+02] [-1.09440362e-02 9.99940112e-01 -1.64257187e-06 -1.05729897e+02] [-5.54544204e-03 -6.23357981e-05 -9.99984622e-01 -4.14034007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.012211268272697336 Centerline is valid? [True, True] Translation: X:247.99, Y:-105.28, Z:-5.10 [[-9.97872238e-01 -6.50111696e-02 4.95430497e-03 2.47993199e+02] [ 6.50104877e-02 -9.97884536e-01 -2.98726514e-04 -1.05280464e+02] [ 4.96324487e-03 2.39908872e-05 9.99987683e-01 -5.10200734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.012497458750785147 Centerline is valid? [True, True] Translation: X:247.95, Y:-105.75, Z:-4.14 [[-9.99979337e-01 -2.37572895e-03 5.97339153e-03 2.47951774e+02] [-2.37563226e-03 9.99997178e-01 2.32820439e-05 -1.05752390e+02] [-5.97342999e-03 9.09098121e-06 -9.99982159e-01 -4.13979966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.013696260820579835 Centerline is valid? [True, True] Translation: X:247.94, Y:-105.74, Z:-4.14 [[-9.97839072e-01 -6.53941188e-02 6.38716927e-03 2.47943909e+02] [-6.53923728e-02 9.97859512e-01 4.82041779e-04 -1.05738114e+02] [-6.40502031e-03 6.33279668e-05 -9.99979486e-01 -4.13912626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.014622161242398386 Centerline is valid? [True, True] Translation: X:247.90, Y:-105.23, Z:-5.10 [[-9.99582238e-01 2.82876254e-02 5.92959334e-03 2.47904038e+02] [-2.82876398e-02 -9.99599821e-01 8.14619628e-05 -1.05227644e+02] [ 5.92952481e-03 -8.63062696e-05 9.99982416e-01 -5.10343569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.015418810666754133 Centerline is valid? [True, True] Translation: X:247.89, Y:-105.76, Z:-4.14 [[-9.98073184e-01 -6.15595923e-02 7.76762425e-03 2.47885430e+02] [-6.15565853e-02 9.98103399e-01 6.25829548e-04 -1.05758639e+02] [-7.79141797e-03 1.46475266e-04 -9.99969636e-01 -4.13833662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.01649480796300177 Centerline is valid? [True, True] Translation: X:247.87, Y:-105.74, Z:-4.14 [[-9.91279968e-01 -1.31529991e-01 7.99291413e-03 2.47872591e+02] [-1.31524407e-01 9.91312179e-01 1.22261819e-03 -1.05737672e+02] [-8.08428408e-03 1.60693625e-04 -9.99967309e-01 -4.13772025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.01573072058509619 Centerline is valid? [True, True] Translation: X:247.79, Y:-105.20, Z:-5.10 [[-9.94227223e-01 1.07058862e-01 7.11543457e-03 2.47785019e+02] [-1.07057588e-01 -9.94252663e-01 5.60799500e-04 -1.05196368e+02] [ 7.13457833e-03 -2.04199131e-04 9.99974528e-01 -5.10339531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.014565156322624832 Centerline is valid? [True, True] Translation: X:247.80, Y:-105.75, Z:-4.14 [[-9.90092426e-01 -1.40212063e-01 7.58719285e-03 2.47798587e+02] [-1.40207003e-01 9.90121489e-01 1.19742190e-03 -1.05752471e+02] [-7.68013567e-03 1.21780780e-04 -9.99970500e-01 -4.14014510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.013097293692581473 Centerline is valid? [True, True] Translation: X:247.78, Y:-105.73, Z:-4.14 [[-9.76207816e-01 -2.16755340e-01 5.95162477e-03 2.47777808e+02] [-2.16750977e-01 9.76225957e-01 1.37629859e-03 -1.05727401e+02] [-6.10845066e-03 5.35329533e-05 -9.99981342e-01 -4.14180220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.012062982465607044 Centerline is valid? [True, True] Translation: X:247.75, Y:-105.70, Z:-4.14 [[-9.55383228e-01 -2.95331751e-01 4.69524391e-03 2.47750322e+02] [-2.95328231e-01 9.55394765e-01 1.44186499e-03 -1.05702650e+02] [-4.91163996e-03 -9.10444561e-06 -9.99987938e-01 -4.14198276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.012115458438221163 Centerline is valid? [True, True] Translation: X:247.72, Y:-105.68, Z:-4.14 [[-9.29135847e-01 -3.69708330e-01 4.72524092e-03 2.47717422e+02] [-3.69703799e-01 9.29147862e-01 1.83091492e-03 -1.05682359e+02] [-5.06735200e-03 -4.57708363e-05 -9.99987160e-01 -4.14124618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.013548292627514048 Centerline is valid? [True, True] Translation: X:247.68, Y:-105.67, Z:-4.14 [[-8.96197395e-01 -4.43628362e-01 4.90984083e-03 2.47675326e+02] [-4.43622294e-01 8.96210839e-01 2.32223360e-03 -1.05667037e+02] [-5.43046125e-03 -9.69351507e-05 -9.99985250e-01 -4.13990650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.014232599527731362 Centerline is valid? [True, True] Translation: X:247.63, Y:-105.66, Z:-4.14 [[-8.59924953e-01 -5.10394306e-01 5.16988484e-03 2.47625509e+02] [-5.10385952e-01 8.59940484e-01 2.92295914e-03 -1.05662948e+02] [-5.93765497e-03 -1.25111094e-04 -9.99982364e-01 -4.13912430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.015189252378389317 Centerline is valid? [True, True] Translation: X:247.56, Y:-105.67, Z:-4.14 [[-8.18789901e-01 -5.74063830e-01 5.81530010e-03 2.47563470e+02] [-5.74050753e-01 8.18810535e-01 3.87810011e-03 -1.05672804e+02] [-6.98790599e-03 -1.62928200e-04 -9.99975571e-01 -4.13821480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.016006727097447843 Centerline is valid? [True, True] Translation: X:247.50, Y:-105.69, Z:-4.14 [[-7.73321389e-01 -6.33991849e-01 5.32586667e-03 2.47499364e+02] [-6.33978292e-01 7.73339710e-01 4.14943992e-03 -1.05690384e+02] [-6.74941527e-03 -1.67633214e-04 -9.99977208e-01 -4.13754300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.016448216653018335 Centerline is valid? [True, True] Translation: X:247.43, Y:-105.72, Z:-4.14 [[-7.23847725e-01 -6.89940334e-01 5.17742946e-03 2.47427999e+02] [-6.89924409e-01 7.23866220e-01 4.69104751e-03 -1.05720046e+02] [-6.98430918e-03 -1.76430892e-04 -9.99975594e-01 -4.13716641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.016148495240631458 Centerline is valid? [True, True] Translation: X:247.36, Y:-105.76, Z:-4.14 [[-6.69314458e-01 -7.42955189e-01 5.97859425e-03 2.47358911e+02] [-7.42928532e-01 6.69341120e-01 6.29765512e-03 -1.05760211e+02] [-8.68059453e-03 -2.26556630e-04 -9.99962297e-01 -4.13729424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.015416277189397906 Centerline is valid? [True, True] Translation: X:247.29, Y:-105.81, Z:-4.14 [[-6.11181538e-01 -7.91468161e-01 5.93948482e-03 2.47285140e+02] [-7.91434714e-01 6.11210346e-01 7.28057924e-03 -1.05811908e+02] [-9.39262123e-03 -2.50958855e-04 -9.99955857e-01 -4.13734793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.016967178652342423 Centerline is valid? [True, True] Translation: X:247.21, Y:-105.87, Z:-4.14 [[-5.48820197e-01 -8.35920677e-01 5.74572193e-03 2.47213087e+02] [-8.35880094e-01 5.48850202e-01 8.24163973e-03 -1.05870106e+02] [-1.00428977e-02 -2.79556245e-04 -9.99949530e-01 -4.13613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.016490274588197653 Centerline is valid? [True, True] Translation: X:247.14, Y:-105.94, Z:-4.14 [[-4.84398899e-01 -8.74832762e-01 5.03428072e-03 2.47143766e+02] [-8.74791233e-01 4.84424982e-01 8.52848041e-03 -1.05938935e+02] [-9.89972542e-03 -2.72758112e-04 -9.99950959e-01 -4.13690046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.016783007772336395 Centerline is valid? [True, True] Translation: X:247.07, Y:-106.01, Z:-4.14 [[-4.17099814e-01 -9.08850531e-01 4.29612507e-03 2.47074724e+02] [-9.08808685e-01 4.17121854e-01 8.72545218e-03 -1.06014872e+02] [-9.72213951e-03 -2.64971294e-04 -9.99952704e-01 -4.13664843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.015353229199237931 Centerline is valid? [True, True] Translation: X:246.49, Y:-105.84, Z:-5.10 [[-5.19431320e-01 8.54499519e-01 4.65568990e-03 2.46485409e+02] [-8.54461134e-01 -5.19452133e-01 8.10254304e-03 -1.05836206e+02] [ 9.34202718e-03 2.30608560e-04 9.99956336e-01 -5.10452038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.01481852715940299 Centerline is valid? [True, True] Translation: X:246.97, Y:-106.25, Z:-4.14 [[-4.14109280e-01 -9.10217340e-01 4.23050022e-03 2.46974405e+02] [-9.10174877e-01 4.14130837e-01 8.79449431e-03 -1.06250248e+02] [-9.75688181e-03 -2.08613311e-04 -9.99952379e-01 -4.13848470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.01251798453753831 Centerline is valid? [True, True] Translation: X:246.92, Y:-106.34, Z:-4.14 [[-3.50156432e-01 -9.36684168e-01 3.63911065e-03 2.46920720e+02] [-9.36637723e-01 3.50175313e-01 9.32876939e-03 -1.06339023e+02] [-1.00124373e-02 -1.41999712e-04 -9.99949864e-01 -4.14015423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.011660671041155394 Centerline is valid? [True, True] Translation: X:246.87, Y:-106.44, Z:-4.14 [[-2.83774436e-01 -9.58886863e-01 2.83772058e-03 2.46867458e+02] [-9.58841546e-01 2.83788615e-01 9.32265671e-03 -1.06436927e+02] [-9.74468584e-03 -7.53927305e-05 -9.99952517e-01 -4.14013737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.011666486337615547 Centerline is valid? [True, True] Translation: X:246.83, Y:-106.53, Z:-4.14 [[-2.19144708e-01 -9.75689750e-01 2.26038539e-03 2.46827640e+02] [-9.75636681e-01 2.19156364e-01 1.01762141e-02 -1.06534573e+02] [-1.04242057e-02 2.47485783e-05 -9.99945666e-01 -4.13946984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.012241714281440516 Centerline is valid? [True, True] Translation: X:246.79, Y:-106.64, Z:-4.14 [[-1.48830297e-01 -9.88861448e-01 1.60582223e-03 2.46787871e+02] [-9.88797237e-01 1.48838933e-01 1.12692426e-02 -1.06641097e+02] [-1.13827285e-02 8.93721403e-05 -9.99935211e-01 -4.13862912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.012733901901427312 Centerline is valid? [True, True] Translation: X:246.76, Y:-106.76, Z:-4.14 [[-7.62377754e-02 -9.97089342e-01 8.03427871e-04 2.46756309e+02] [-9.97011604e-01 7.62418646e-02 1.24515271e-02 -1.06755891e+02] [-1.24765398e-02 1.48249819e-04 -9.99922154e-01 -4.13731038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.013025970989572927 Centerline is valid? [True, True] Translation: X:246.73, Y:-106.87, Z:-4.14 [[ 5.60675950e-04 -9.99999829e-01 -1.68773759e-04 2.46730571e+02] [-9.99911824e-01 -5.62865822e-04 1.32675481e-02 -1.06871398e+02] [-1.32676408e-02 1.61320082e-04 -9.99911968e-01 -4.13660610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.012804061926531425 Centerline is valid? [True, True] Translation: X:246.71, Y:-106.99, Z:-4.14 [[ 8.03696901e-02 -9.96764397e-01 -1.20415308e-03 2.46713793e+02] [-9.96674700e-01 -8.03786125e-02 1.33723814e-02 -1.06994006e+02] [-1.34259018e-02 1.25414763e-04 -9.99909861e-01 -4.13592614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.011458521295432988 Centerline is valid? [True, True] Translation: X:246.70, Y:-107.12, Z:-4.14 [[ 1.64937713e-01 -9.86302226e-01 -1.86274114e-03 2.46699278e+02] [-9.86239993e-01 -1.64948231e-01 1.10795471e-02 -1.07122763e+02] [-1.12350379e-02 9.67463888e-06 -9.99936885e-01 -4.13803703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.011445998979061343 Centerline is valid? [True, True] Translation: X:246.69, Y:-107.24, Z:-4.14 [[ 2.47501923e-01 -9.68883438e-01 -2.77166128e-03 2.46692973e+02] [-9.68819269e-01 -2.47517431e-01 1.11509943e-02 -1.07243734e+02] [-1.14900482e-02 -7.46536745e-05 -9.99933984e-01 -4.13860970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.012941441356584402 Centerline is valid? [True, True] Translation: X:246.70, Y:-107.37, Z:-4.14 [[ 3.29851686e-01 -9.44025139e-01 -3.79501801e-03 2.46695573e+02] [-9.43955976e-01 -3.29873464e-01 1.14285898e-02 -1.07371308e+02] [-1.20407518e-02 -1.87409672e-04 -9.99927490e-01 -4.13789726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.013583263815676216 Centerline is valid? [True, True] Translation: X:246.71, Y:-107.49, Z:-4.14 [[ 4.05215079e-01 -9.14208095e-01 -4.92936476e-03 2.46710675e+02] [-9.14132788e-01 -4.05244984e-01 1.17366328e-02 -1.07493077e+02] [-1.27273250e-02 -2.49766636e-04 -9.99918973e-01 -4.13828323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.01437444375936934 Centerline is valid? [True, True] Translation: X:246.73, Y:-107.61, Z:-4.14 [[ 4.76733064e-01 -8.79027952e-01 -5.95365445e-03 2.46730564e+02] [-8.78951574e-01 -4.76770149e-01 1.15912279e-02 -1.07607351e+02] [-1.30275380e-02 -2.92947646e-04 -9.99915095e-01 -4.13837616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.014095775952895327 Centerline is valid? [True, True] Translation: X:246.76, Y:-107.72, Z:-4.14 [[ 5.42513594e-01 -8.40016781e-01 -7.12799065e-03 2.46760342e+02] [-8.39936816e-01 -5.42560335e-01 1.15943611e-02 -1.07718267e+02] [-1.36068229e-02 -3.03036735e-04 -9.99907377e-01 -4.13773228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.01378231850512544 Centerline is valid? [True, True] Translation: X:246.80, Y:-107.82, Z:-4.14 [[ 6.03574308e-01 -7.97266557e-01 -8.00575310e-03 2.46797913e+02] [-7.97190289e-01 -6.03627336e-01 1.10309600e-02 -1.07823310e+02] [-1.36271069e-02 -2.75895402e-04 -9.99907109e-01 -4.13692431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.012346648986388714 Centerline is valid? [True, True] Translation: X:246.85, Y:-107.93, Z:-4.14 [[ 6.58582371e-01 -7.52459944e-01 -8.56119576e-03 2.46848902e+02] [-7.52392488e-01 -6.58637985e-01 1.00771119e-02 -1.07925399e+02] [-1.32213518e-02 -1.95228882e-04 -9.99912575e-01 -4.13731431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.01169150575908262 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.01, Z:-4.14 [[ 7.10587890e-01 -7.03549593e-01 -9.10061086e-03 2.46897401e+02] [-7.03489600e-01 -7.10646153e-01 9.18848142e-03 -1.08013408e+02] [-1.29318665e-02 -1.27038524e-04 -9.99916372e-01 -4.13633050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.011085085752482272 Centerline is valid? [True, True] Translation: X:246.95, Y:-108.09, Z:-4.14 [[ 7.55984947e-01 -6.54514682e-01 -9.86361221e-03 2.46954618e+02] [-6.54458878e-01 -7.56049292e-01 8.54663585e-03 -1.08093286e+02] [-1.30512757e-02 -5.79946979e-06 -9.99914828e-01 -4.13726565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.01162540978393373 Centerline is valid? [True, True] Translation: X:246.98, Y:-108.12, Z:-4.14 [[ 8.00904992e-01 -5.98707173e-01 -1.00456029e-02 2.46976647e+02] [-5.98661261e-01 -8.00967986e-01 7.41478861e-03 -1.08116537e+02] [-1.24854935e-02 7.53720917e-05 -9.99922050e-01 -4.13779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.012581017053212655 Centerline is valid? [True, True] Translation: X:247.00, Y:-108.14, Z:-4.14 [[ 8.42587272e-01 -5.38476552e-01 -9.47057497e-03 2.46999687e+02] [-5.38444149e-01 -8.42640486e-01 5.90846344e-03 -1.08137377e+02] [-1.11618589e-02 1.20979586e-04 -9.99937697e-01 -4.13828276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.013357838831152661 Centerline is valid? [True, True] Translation: X:247.02, Y:-108.16, Z:-4.14 [[ 8.79616447e-01 -4.75600066e-01 -8.91530762e-03 2.47024472e+02] [-4.75577474e-01 -8.79661612e-01 4.63838953e-03 -1.08158103e+02] [-1.00484722e-02 1.59915761e-04 -9.99949500e-01 -4.14033333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.014515866948179633 Centerline is valid? [True, True] Translation: X:247.05, Y:-108.18, Z:-4.14 [[ 9.13115482e-01 -4.07608218e-01 -8.69813611e-03 2.47049322e+02] [-4.07591516e-01 -9.13156893e-01 3.69400066e-03 -1.08175863e+02] [-9.44846797e-03 1.72237292e-04 -9.99955347e-01 -4.13989089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.014968314535598813 Centerline is valid? [True, True] Translation: X:247.08, Y:-108.19, Z:-4.14 [[ 9.41130293e-01 -3.37903680e-01 -9.74042194e-03 2.47075240e+02] [-3.37888000e-01 -9.41180671e-01 3.26267232e-03 -1.08194941e+02] [-1.02699658e-02 2.20571929e-04 -9.99947238e-01 -4.13985067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.015985687027512685 Centerline is valid? [True, True] Translation: X:247.10, Y:-108.21, Z:-4.14 [[ 9.63925468e-01 -2.65970323e-01 -1.03672430e-02 2.47103176e+02] [-2.65957832e-01 -9.63981182e-01 2.59072185e-03 -1.08209649e+02] [-1.06828823e-02 2.59986710e-04 -9.99942903e-01 -4.14050963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.01839024778296635 Centerline is valid? [True, True] Translation: X:247.13, Y:-108.22, Z:-4.14 [[ 9.80688671e-01 -1.95298355e-01 -1.04059481e-02 2.47129752e+02] [-1.95290784e-01 -9.80743826e-01 1.74870586e-03 -1.08218916e+02] [-1.05470887e-02 3.17249738e-04 -9.99944328e-01 -4.14108932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.018679606666929662 Centerline is valid? [True, True] Translation: X:247.16, Y:-108.23, Z:-4.14 [[ 9.92632621e-01 -1.20786120e-01 -9.54948267e-03 2.47156037e+02] [-1.20783572e-01 -9.92678505e-01 8.45223123e-04 -1.08230510e+02] [-9.58165740e-03 3.14424580e-04 -9.99954045e-01 -4.14259962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.019529718640031227 Centerline is valid? [True, True] Translation: X:247.18, Y:-108.24, Z:-4.14 [[ 9.99021737e-01 -4.33360060e-02 -8.80678901e-03 2.47182757e+02] [-4.33369054e-02 -9.99060511e-01 8.87694474e-05 -1.08240435e+02] [-8.80236204e-03 2.92976375e-04 -9.99961216e-01 -4.14276722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.018393593004349385 Centerline is valid? [True, True] Translation: X:247.21, Y:-108.25, Z:-4.14 [[ 9.99163007e-01 4.02805527e-02 -7.12480736e-03 2.47210073e+02] [ 4.02781257e-02 -9.99188390e-01 -4.83861651e-04 -1.08250988e+02] [-7.13851501e-03 1.96482776e-04 -9.99974501e-01 -4.14356665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.01649465312235983 Centerline is valid? [True, True] Translation: X:247.24, Y:-108.26, Z:-4.14 [[ 9.92182034e-01 1.24621294e-01 -6.65921198e-03 2.47238940e+02] [ 1.24617527e-01 -9.92204371e-01 -9.79288397e-04 -1.08257150e+02] [-6.72933941e-03 1.41777826e-04 -9.99977348e-01 -4.14382166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.013014988119471767 Centerline is valid? [True, True] Translation: X:247.27, Y:-108.27, Z:-4.14 [[ 9.76999815e-01 2.13128562e-01 -6.89767914e-03 2.47269410e+02] [ 2.13122752e-01 -9.77024161e-01 -1.57513578e-03 -1.08265710e+02] [-7.07490560e-03 6.88550064e-05 -9.99974970e-01 -4.14258139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.012136780107271053 Centerline is valid? [True, True] Translation: X:247.30, Y:-108.26, Z:-4.14 [[ 9.56206592e-01 2.92595691e-01 -7.53093983e-03 2.47299295e+02] [ 2.92586215e-01 -9.56236247e-01 -2.35529436e-03 -1.08261351e+02] [-7.89050662e-03 4.86988079e-05 -9.99968868e-01 -4.14135967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.010982977520041085 Centerline is valid? [True, True] Translation: X:247.33, Y:-108.27, Z:-4.14 [[ 9.26410595e-01 3.76411227e-01 -8.83157498e-03 2.47333814e+02] [ 3.76394524e-01 -9.26452690e-01 -3.54628154e-03 -1.08266727e+02] [-9.51689658e-03 -3.88436622e-05 -9.99954713e-01 -4.13879209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.011831671370459717 Centerline is valid? [True, True] Translation: X:247.36, Y:-108.26, Z:-4.14 [[ 8.91361960e-01 4.53209130e-01 -8.67988152e-03 2.47364733e+02] [ 4.53188711e-01 -8.91404215e-01 -4.30315527e-03 -1.08260808e+02] [-9.68751223e-03 -9.79554055e-05 -9.99953070e-01 -4.13820801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.013738406843245638 Centerline is valid? [True, True] Translation: X:247.40, Y:-108.25, Z:-4.14 [[ 8.49467719e-01 5.27587924e-01 -7.45503970e-03 2.47396037e+02] [ 5.27569158e-01 -8.49500418e-01 -4.45230443e-03 -1.08251625e+02] [-8.68204139e-03 -1.50960137e-04 -9.99962299e-01 -4.13947268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.013869707857723335 Centerline is valid? [True, True] Translation: X:247.43, Y:-108.24, Z:-4.14 [[ 8.03326958e-01 5.95502627e-01 -6.51300549e-03 2.47427037e+02] [ 5.95484759e-01 -8.03353342e-01 -4.61627477e-03 -1.08239653e+02] [-7.98124848e-03 -1.70017537e-04 -9.99968135e-01 -4.14110198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.017506243014095486 Centerline is valid? [True, True] Translation: X:247.46, Y:-108.23, Z:-4.14 [[ 7.51033168e-01 6.60237865e-01 -5.92808370e-03 2.47459055e+02] [ 6.60219402e-01 -7.51056536e-01 -4.94166575e-03 -1.08229302e+02] [-7.71500086e-03 -2.02480997e-04 -9.99970218e-01 -4.14024887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.01882421616680322 Centerline is valid? [True, True] Translation: X:247.48, Y:-108.21, Z:-4.14 [[ 6.95245673e-01 7.18747520e-01 -5.95456535e-03 2.47483509e+02] [ 7.18724047e-01 -6.95271131e-01 -5.81366978e-03 -1.08207695e+02] [-8.31859812e-03 -2.37760545e-04 -9.99965372e-01 -4.13935010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.017154420290080026 Centerline is valid? [True, True] Translation: X:247.51, Y:-108.19, Z:-4.14 [[ 6.34611940e-01 7.72801322e-01 -6.76778592e-03 2.47509007e+02] [ 7.72762649e-01 -6.34647946e-01 -7.73782266e-03 -1.08186941e+02] [-1.02749610e-02 -3.19377529e-04 -9.99947160e-01 -4.13826127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.017511848912480255 Centerline is valid? [True, True] Translation: X:247.53, Y:-108.16, Z:-4.14 [[ 5.71670849e-01 8.20450449e-01 -7.31442466e-03 2.47533896e+02] [ 8.20391719e-01 -5.71717511e-01 -9.82416592e-03 -1.08164488e+02] [-1.22420260e-02 -3.84504150e-04 -9.99924990e-01 -4.13685616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.016903628996580922 Centerline is valid? [True, True] Translation: X:247.55, Y:-108.14, Z:-4.14 [[ 5.07500783e-01 8.61620047e-01 -7.33825912e-03 2.47553446e+02] [ 8.61541154e-01 -5.07553676e-01 -1.16664360e-02 -1.08138797e+02] [-1.37765955e-02 -4.01486850e-04 -9.99905018e-01 -4.13649021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.014676447544397588 Centerline is valid? [True, True] Translation: X:247.57, Y:-108.11, Z:-4.14 [[ 4.42276451e-01 8.96861029e-01 -5.64228873e-03 2.47569983e+02] [ 8.96796633e-01 -4.42312335e-01 -1.07516279e-02 -1.08111207e+02] [-1.21383699e-02 -3.04793706e-04 -9.99926281e-01 -4.13948618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.013761541839693756 Centerline is valid? [True, True] Translation: X:247.59, Y:-108.08, Z:-4.14 [[ 3.74203503e-01 9.27338300e-01 -3.92637077e-03 2.47585969e+02] [ 9.27293143e-01 -3.74224039e-01 -9.15397518e-03 -1.08084070e+02] [-9.95817411e-03 -2.15447108e-04 -9.99950393e-01 -4.14101778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.012114926045555495 Centerline is valid? [True, True] Translation: X:247.60, Y:-108.06, Z:-4.14 [[ 3.05523636e-01 9.52180495e-01 -2.75902844e-03 2.47599591e+02] [ 9.52145775e-01 -3.05536060e-01 -8.13261406e-03 -1.08055778e+02] [-8.58669916e-03 -1.42291455e-04 -9.99963123e-01 -4.14269160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.011704512164521544 Centerline is valid? [True, True] Translation: X:247.61, Y:-108.03, Z:-4.14 [[ 2.32940501e-01 9.72488457e-01 -2.21910966e-03 2.47612667e+02] [ 9.72449179e-01 -2.32951039e-01 -8.74120300e-03 -1.08027316e+02] [-9.01766292e-03 -1.21791167e-04 -9.99959333e-01 -4.14246107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.01151794400310658 Centerline is valid? [True, True] Translation: X:247.62, Y:-108.00, Z:-4.14 [[ 1.59111915e-01 9.87259098e-01 -1.69491823e-03 2.47623238e+02] [ 9.87209715e-01 -1.59120910e-01 -9.87491787e-03 -1.07999653e+02] [-1.00187994e-02 -1.02022646e-04 -9.99949805e-01 -4.14160843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.011457137987677335 Centerline is valid? [True, True] Translation: X:247.63, Y:-107.97, Z:-4.14 [[ 8.17211659e-02 9.96654812e-01 -9.14730340e-04 2.47629524e+02] [ 9.96605020e-01 -8.17262271e-02 -9.96286258e-03 -1.07970044e+02] [-1.00042924e-02 -9.74481024e-05 -9.99949951e-01 -4.14189187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.011153185488874433 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.94, Z:-4.14 [[ 4.77095576e-03 9.99988610e-01 -1.37343495e-04 2.47637040e+02] [ 9.99933445e-01 -4.77213523e-03 -1.05039243e-02 -1.07940442e+02] [-1.05044601e-02 -8.72205961e-05 -9.99944823e-01 -4.14164133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.01110893090205393 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.91, Z:-4.14 [[-7.20224545e-02 9.97402757e-01 7.11649562e-04 2.47640732e+02] [ 9.97343526e-01 7.20259332e-02 -1.08700013e-02 -1.07910960e+02] [-1.08930265e-02 -7.31250941e-05 -9.99940667e-01 -4.14048644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.01092373881873821 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.88, Z:-4.14 [[-1.47322599e-01 9.89087091e-01 1.66682400e-03 2.47643793e+02] [ 9.89020205e-01 1.47332021e-01 -1.15025804e-02 -1.07880822e+02] [-1.16226303e-02 -4.60674263e-05 -9.99932454e-01 -4.14104747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.010967995220395623 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.85, Z:-4.14 [[-2.22913905e-01 9.74834481e-01 2.66926000e-03 2.47643433e+02] [ 9.74763033e-01 2.22929884e-01 -1.18024036e-02 -1.07851883e+02] [-1.21004478e-02 -2.90238935e-05 -9.99926786e-01 -4.14086377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.010883764246795038 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.82, Z:-4.14 [[-2.97727462e-01 9.54644257e-01 3.56376777e-03 2.47642900e+02] [ 9.54575154e-01 2.97748790e-01 -1.14862756e-02 -1.07822003e+02] [-1.20264146e-02 -1.78955055e-05 -9.99927680e-01 -4.14245584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.010851530283180887 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.79, Z:-4.14 [[-3.72635214e-01 9.27967626e-01 4.36829649e-03 2.47641393e+02] [ 9.27902882e-01 3.72660816e-01 -1.09616902e-02 -1.07792875e+02] [-1.17999865e-02 -3.13568495e-05 -9.99930377e-01 -4.14180029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.01082558411715827 Centerline is valid? [True, True] Translation: X:247.64, Y:-107.76, Z:-4.14 [[-4.47172129e-01 8.94433880e-01 5.01218311e-03 2.47638511e+02] [ 8.94375969e-01 4.47200213e-01 -1.01781777e-02 -1.07761674e+02] [-1.13451564e-02 -6.86212759e-05 -9.99935639e-01 -4.14187813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.011000926334481258 Centerline is valid? [True, True] Translation: X:247.63, Y:-107.73, Z:-4.14 [[-5.17914845e-01 8.55414960e-01 5.42768991e-03 2.47631692e+02] [ 8.55366137e-01 5.17943277e-01 -9.13964442e-03 -1.07731323e+02] [-1.06294241e-02 -9.08953710e-05 -9.99943502e-01 -4.14225896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.011459605129871748 Centerline is valid? [True, True] Translation: X:247.62, Y:-107.70, Z:-4.14 [[-5.85399676e-01 8.10726130e-01 5.51017876e-03 2.47622005e+02] [ 8.10688476e-01 5.85425598e-01 -7.81434022e-03 -1.07703580e+02] [-9.56108950e-03 -1.07473809e-04 -9.99954286e-01 -4.14229160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.011661872678444311 Centerline is valid? [True, True] Translation: X:247.61, Y:-107.68, Z:-4.14 [[-6.48209388e-01 7.61440417e-01 5.75154869e-03 2.47609024e+02] [ 7.61408859e-01 6.48234894e-01 -6.93342283e-03 -1.07675122e+02] [-9.00774293e-03 -1.15029653e-04 -9.99959423e-01 -4.14230687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.012201013375704567 Centerline is valid? [True, True] Translation: X:247.59, Y:-107.65, Z:-4.14 [[-7.07412314e-01 7.06770905e-01 6.53495551e-03 2.47593634e+02] [ 7.06738915e-01 7.07442484e-01 -6.72589839e-03 -1.07648224e+02] [-9.37677445e-03 -1.39475978e-04 -9.99956027e-01 -4.14059444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.01241202799717237 Centerline is valid? [True, True] Translation: X:247.58, Y:-107.62, Z:-4.14 [[-7.61385215e-01 6.48255553e-01 7.56924316e-03 2.47576515e+02] [ 6.48221406e-01 7.61422821e-01 -6.65550254e-03 -1.07622619e+02] [-1.00778610e-02 -1.60855780e-04 -9.99949204e-01 -4.13998238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.012350281112673485 Centerline is valid? [True, True] Translation: X:248.00, Y:-107.14, Z:-5.11 [[-6.94829950e-01 -7.19135200e-01 7.47695293e-03 2.48003298e+02] [ 7.19096582e-01 -6.94870150e-01 -7.45521902e-03 -1.07136185e+02] [ 1.05568218e-02 1.96541835e-04 9.99944256e-01 -5.10637313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.012584571135985585 Centerline is valid? [True, True] Translation: X:247.96, Y:-107.09, Z:-5.11 [[-6.95011300e-01 -7.18959450e-01 7.52346980e-03 2.47963150e+02] [ 7.18919905e-01 -6.95052000e-01 -7.54237663e-03 -1.07094240e+02] [ 1.06518657e-02 1.66735206e-04 9.99943253e-01 -5.10772305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.012465427290132001 Centerline is valid? [True, True] Translation: X:247.92, Y:-107.05, Z:-5.11 [[-6.96062406e-01 -7.17949641e-01 6.74096268e-03 2.47924774e+02] [ 7.17917882e-01 -6.96095032e-01 -6.75426262e-03 -1.07049770e+02] [ 9.54157106e-03 1.38069360e-04 9.99954469e-01 -5.10780887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.012395521580826336 Centerline is valid? [True, True] Translation: X:247.89, Y:-107.01, Z:-5.11 [[-6.96994214e-01 -7.17046242e-01 6.61459708e-03 2.47886007e+02] [ 7.17015658e-01 -6.97025588e-01 -6.62384433e-03 -1.07006633e+02] [ 9.36014611e-03 1.25988511e-04 9.99956185e-01 -5.10812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.01259491622360572 Centerline is valid? [True, True] Translation: X:247.85, Y:-106.97, Z:-5.11 [[-6.97479198e-01 -7.16573586e-01 6.71299595e-03 2.47846779e+02] [ 7.16542094e-01 -6.97511492e-01 -6.71907562e-03 -1.06966332e+02] [ 9.49710393e-03 1.23728702e-04 9.99954894e-01 -5.10912660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.012558355957600822 Centerline is valid? [True, True] Translation: X:247.81, Y:-106.92, Z:-5.11 [[-6.98017724e-01 -7.16053331e-01 6.23573603e-03 2.47809037e+02] [ 7.16026173e-01 -6.98045568e-01 -6.23738674e-03 -1.06923180e+02] [ 8.81912944e-03 1.11143711e-04 9.99961105e-01 -5.11043689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.012705565937638295 Centerline is valid? [True, True] Translation: X:247.77, Y:-106.88, Z:-5.11 [[-6.98130212e-01 -7.15941727e-01 6.45376646e-03 2.47770975e+02] [ 7.15912669e-01 -6.98160032e-01 -6.45142184e-03 -1.06880036e+02] [ 9.12460389e-03 1.16400673e-04 9.99958363e-01 -5.11159820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.012619361634339485 Centerline is valid? [True, True] Translation: X:247.28, Y:-107.37, Z:-4.13 [[-7.63606625e-01 6.45645130e-01 6.87664977e-03 2.47283126e+02] [ 6.45617388e-01 7.63637577e-01 -5.98661284e-03 -1.07365004e+02] [-9.11649559e-03 -1.31732560e-04 -9.99958435e-01 -4.13407213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.012903350894536578 Centerline is valid? [True, True] Translation: X:247.30, Y:-107.35, Z:-4.14 [[-8.07573678e-01 5.89732684e-01 6.33367639e-03 2.47303023e+02] [ 5.89713385e-01 8.07598506e-01 -4.77250119e-03 -1.07351547e+02] [-7.92956753e-03 -1.19092603e-04 -9.99968553e-01 -4.13523337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.012992001572411007 Centerline is valid? [True, True] Translation: X:247.32, Y:-107.33, Z:-4.14 [[-8.47353874e-01 5.30999625e-01 5.55065157e-03 2.47318333e+02] [ 5.30987438e-01 8.47372048e-01 -3.59907925e-03 -1.07331835e+02] [-6.61457672e-03 -1.02367492e-04 -9.99978118e-01 -4.13574834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.013100720120067563 Centerline is valid? [True, True] Translation: X:247.33, Y:-107.31, Z:-4.14 [[-8.81367224e-01 4.72408006e-01 4.74267893e-03 2.47332609e+02] [ 4.72401067e-01 8.81379984e-01 -2.56054183e-03 -1.07309799e+02] [-5.38972274e-03 -1.63310623e-05 -9.99985475e-01 -4.13593631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.013768381445966572 Centerline is valid? [True, True] Translation: X:247.68, Y:-106.69, Z:-5.11 [[-8.31939930e-01 -5.54855058e-01 3.43761493e-03 2.47683692e+02] [ 5.54849950e-01 -8.31947029e-01 -2.38214799e-03 -1.06694772e+02] [ 4.18166039e-03 -7.44435644e-05 9.99991254e-01 -5.10923898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.013606033478034464 Centerline is valid? [True, True] Translation: X:247.29, Y:-107.29, Z:-4.13 [[-8.84381766e-01 4.66720943e-01 6.36021517e-03 2.47291368e+02] [ 4.66707771e-01 8.84404626e-01 -3.50904154e-03 -1.07291855e+02] [-7.26274689e-03 -1.34970511e-04 -9.99973617e-01 -4.13417113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.014262755742231547 Centerline is valid? [True, True] Translation: X:247.31, Y:-107.27, Z:-4.13 [[-9.15644695e-01 4.01885283e-01 9.11110513e-03 2.47307190e+02] [ 4.01863287e-01 9.15690003e-01 -4.20908134e-03 -1.07267632e+02] [-1.00345157e-02 -1.92604342e-04 -9.99949634e-01 -4.13101036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.014549221606164921 Centerline is valid? [True, True] Translation: X:247.61, Y:-106.63, Z:-5.11 [[-8.68652746e-01 -4.95354701e-01 8.13187868e-03 2.47610792e+02] [ 4.95334419e-01 -8.68690798e-01 -4.48452396e-03 -1.06627971e+02] [ 9.28551821e-03 1.32505349e-04 9.99956880e-01 -5.11292119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.015268975794544197 Centerline is valid? [True, True] Translation: X:247.27, Y:-107.25, Z:-4.13 [[-9.18525052e-01 3.95279285e-01 8.12505208e-03 2.47272224e+02] [ 3.95261842e-01 9.18560964e-01 -3.71905406e-03 -1.07247820e+02] [-8.93342070e-03 -2.04521271e-04 -9.99960075e-01 -4.13380164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.014589933802018685 Centerline is valid? [True, True] Translation: X:247.56, Y:-106.61, Z:-5.11 [[-8.70720463e-01 -4.91720654e-01 7.52818335e-03 2.47562475e+02] [ 4.91703993e-01 -8.70752989e-01 -4.05162276e-03 -1.06608689e+02] [ 8.54745475e-03 1.73806969e-04 9.99963455e-01 -5.11154256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.01389527267113711 Centerline is valid? [True, True] Translation: X:247.23, Y:-107.24, Z:-4.13 [[-9.18137168e-01 3.96181305e-01 8.03209336e-03 2.47231535e+02] [ 3.96164602e-01 9.18172286e-01 -3.64157660e-03 -1.07235014e+02] [-8.81757010e-03 -1.61435759e-04 -9.99961111e-01 -4.13480207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.013346462563941477 Centerline is valid? [True, True] Translation: X:247.24, Y:-107.21, Z:-4.14 [[-9.42193943e-01 3.34976615e-01 7.82563876e-03 2.47243289e+02] [ 3.34964079e-01 9.42226435e-01 -2.90013921e-03 -1.07214806e+02] [-8.34500252e-03 -1.11185723e-04 -9.99965174e-01 -4.13551406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.012614620219053893 Centerline is valid? [True, True] Translation: X:247.26, Y:-107.19, Z:-4.14 [[-9.62486222e-01 2.71217625e-01 7.82770763e-03 2.47257052e+02] [ 2.71208011e-01 9.62518049e-01 -2.28495628e-03 -1.07193514e+02] [-8.15403029e-03 -7.63019237e-05 -9.99966752e-01 -4.13565109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.012346632581706738 Centerline is valid? [True, True] Translation: X:247.27, Y:-107.17, Z:-4.14 [[-9.78431510e-01 2.06429898e-01 7.64710690e-03 2.47268700e+02] [ 2.06423269e-01 9.78461392e-01 -1.65485482e-03 -1.07170892e+02] [-7.82401038e-03 -4.06212951e-05 -9.99969391e-01 -4.13565762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.012352000001169388 Centerline is valid? [True, True] Translation: X:247.27, Y:-107.14, Z:-4.14 [[-9.90339755e-01 1.38456047e-01 7.55593591e-03 2.47265055e+02] [ 1.38451822e-01 9.90368579e-01 -1.08182279e-03 -1.07144303e+02] [-7.63294642e-03 -2.52390150e-05 -9.99970868e-01 -4.13558691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.01236271869520854 Centerline is valid? [True, True] Translation: X:247.28, Y:-107.12, Z:-4.13 [[-9.97545007e-01 6.94766547e-02 8.77233086e-03 2.47277796e+02] [ 6.94738602e-02 9.97583578e-01 -6.23258030e-04 -1.07118826e+02] [-8.79443509e-03 -1.22802483e-05 -9.99961328e-01 -4.13458267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.012381151517646962 Centerline is valid? [True, True] Translation: X:247.28, Y:-107.09, Z:-4.13 [[-9.99963047e-01 5.00282438e-05 8.59658724e-03 2.47277127e+02] [ 5.00347669e-05 9.99999999e-01 5.43826042e-07 -1.07092146e+02] [-8.59658720e-03 9.73934194e-07 -9.99963049e-01 -4.13433356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.012313287277941332 Centerline is valid? [True, True] Translation: X:247.28, Y:-106.36, Z:-5.11 [[-9.97989008e-01 -6.29400507e-02 7.51599993e-03 2.47281062e+02] [ 6.29377591e-02 -9.98017307e-01 -5.41264719e-04 -1.06361397e+02] [ 7.53516524e-03 -6.71360470e-05 9.99971608e-01 -5.11057472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.012284363185793375 Centerline is valid? [True, True] Translation: X:247.21, Y:-107.09, Z:-4.14 [[-9.99966964e-01 -3.88863318e-03 7.13792336e-03 2.47210573e+02] [-3.88851090e-03 9.99992439e-01 3.10101256e-05 -1.07091631e+02] [-7.13798997e-03 3.25320838e-06 -9.99974524e-01 -4.13516267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.012657593986539886 Centerline is valid? [True, True] Translation: X:247.20, Y:-106.37, Z:-5.11 [[-9.97649002e-01 -6.82463091e-02 6.23781605e-03 2.47203808e+02] [ 6.82445576e-02 -9.97668501e-01 -4.93467190e-04 -1.06372894e+02] [ 6.25694990e-03 -6.66100533e-05 9.99980423e-01 -5.11212072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.01322989592161829 Centerline is valid? [True, True] Translation: X:247.14, Y:-107.08, Z:-4.13 [[-9.99716715e-01 -2.24874274e-02 7.79781157e-03 2.47137544e+02] [-2.24875633e-02 9.99747120e-01 7.02565562e-05 -1.07076744e+02] [-7.79741955e-03 -1.05117128e-04 -9.99969594e-01 -4.13213134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.013359798938495803 Centerline is valid? [True, True] Translation: X:247.13, Y:-107.05, Z:-4.13 [[-9.95472766e-01 -9.46922626e-02 8.20658355e-03 2.47132949e+02] [-9.46900385e-02 9.95506585e-01 6.60007536e-04 -1.07048941e+02] [-8.23220558e-03 -1.20062185e-04 -9.99966108e-01 -4.13171307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.013741590073854757 Centerline is valid? [True, True] Translation: X:247.12, Y:-107.02, Z:-4.13 [[-9.86068707e-01 -1.66128950e-01 8.34723493e-03 2.47121527e+02] [-1.66124113e-01 9.86104029e-01 1.27431141e-03 -1.07022039e+02] [-8.44294201e-03 -1.30118402e-04 -9.99964349e-01 -4.13149527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.013884555170456166 Centerline is valid? [True, True] Translation: X:247.02, Y:-106.34, Z:-5.11 [[-9.97456705e-01 7.08490532e-02 7.78025885e-03 2.47019794e+02] [-7.08462860e-02 -9.97487045e-01 6.31047041e-04 -1.06337687e+02] [ 7.80541650e-03 7.82396586e-05 9.99969534e-01 -5.11402714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.013523245994017117 Centerline is valid? [True, True] Translation: X:247.03, Y:-107.03, Z:-4.13 [[-9.85033090e-01 -1.72219380e-01 7.09199028e-03 2.47031065e+02] [-1.72215744e-01 9.85058614e-01 1.12490931e-03 -1.07033772e+02] [-7.17975729e-03 -1.13279480e-04 -9.99974219e-01 -4.13234097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.012782286212416855 Centerline is valid? [True, True] Translation: X:247.02, Y:-107.01, Z:-4.13 [[-9.71031578e-01 -2.38884678e-01 5.63784499e-03 2.47018935e+02] [-2.38881099e-01 9.71047942e-01 1.30972266e-03 -1.07010058e+02] [-5.78749045e-03 -7.49925475e-05 -9.99983250e-01 -4.13296426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.012551239249529606 Centerline is valid? [True, True] Translation: X:247.00, Y:-106.99, Z:-4.13 [[-9.52104468e-01 -3.05718892e-01 5.74806129e-03 2.46999384e+02] [-3.05713724e-01 9.52121817e-01 1.77878890e-03 -1.06989370e+02] [-6.01666393e-03 -6.36683627e-05 -9.99981898e-01 -4.13284407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.01227480095637855 Centerline is valid? [True, True] Translation: X:246.97, Y:-106.97, Z:-4.13 [[-9.28407514e-01 -3.71509476e-01 6.34020848e-03 2.46965169e+02] [-3.71501207e-01 9.28429161e-01 2.47919756e-03 -1.06974360e+02] [-6.80747983e-03 -5.36894656e-05 -9.99976827e-01 -4.13215445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.012257765546809116 Centerline is valid? [True, True] Translation: X:246.91, Y:-106.97, Z:-4.13 [[-8.98870177e-01 -4.38166804e-01 6.50052666e-03 2.46907500e+02] [-4.38155778e-01 8.98893681e-01 3.10889810e-03 -1.06969688e+02] [-7.20549828e-03 -5.37475324e-05 -9.99974039e-01 -4.13186142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.0122227361244034 Centerline is valid? [True, True] Translation: X:246.84, Y:-106.97, Z:-4.13 [[-8.63902589e-01 -5.03608298e-01 7.14133233e-03 2.46843639e+02] [-5.03591692e-01 8.63932103e-01 4.09007879e-03 -1.06971027e+02] [-8.22942387e-03 -6.28859761e-05 -9.99966136e-01 -4.13129784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.012196674660158066 Centerline is valid? [True, True] Translation: X:246.77, Y:-106.98, Z:-4.13 [[-8.23866840e-01 -5.66746275e-01 6.48761021e-03 2.46770827e+02] [-5.66729323e-01 8.23892381e-01 4.38394360e-03 -1.06983932e+02] [-7.82967632e-03 -6.49331824e-05 -9.99969346e-01 -4.13138131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.012349791919528575 Centerline is valid? [True, True] Translation: X:246.69, Y:-107.01, Z:-4.13 [[-7.78803536e-01 -6.27235587e-01 6.36951176e-03 2.46693318e+02] [-6.27215377e-01 7.78829579e-01 5.03566848e-03 -1.07006491e+02] [-8.11931464e-03 -7.32592963e-05 -9.99967035e-01 -4.13151062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.012387443674951861 Centerline is valid? [True, True] Translation: X:246.61, Y:-107.04, Z:-4.13 [[-7.28744146e-01 -6.84753104e-01 6.71981173e-03 2.46610202e+02] [-6.84725157e-01 7.28775122e-01 6.18720047e-03 -1.07042097e+02] [-9.13393634e-03 -9.23380197e-05 -9.99958280e-01 -4.13113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.012855383535179715 Centerline is valid? [True, True] Translation: X:246.53, Y:-107.08, Z:-4.13 [[-6.74607552e-01 -7.38151811e-01 6.04603319e-03 2.46527374e+02] [-7.38123438e-01 6.74634638e-01 6.47267601e-03 -1.07084253e+02] [-8.85668093e-03 -9.62026837e-05 -9.99960774e-01 -4.13039187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.012637997866793331 Centerline is valid? [True, True] Translation: X:246.45, Y:-107.14, Z:-4.13 [[-6.15999087e-01 -7.87726215e-01 5.70401951e-03 2.46445258e+02] [-7.87694073e-01 6.16025486e-01 7.11678234e-03 -1.07141678e+02] [-9.11989740e-03 -1.09090935e-04 -9.99958407e-01 -4.13321188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.012580394752334328 Centerline is valid? [True, True] Translation: X:246.37, Y:-107.20, Z:-4.13 [[-5.54835074e-01 -8.31945659e-01 4.94587165e-03 2.46367119e+02] [-8.31914218e-01 5.54857108e-01 7.23352894e-03 -1.07202425e+02] [-8.76215504e-03 -1.01125384e-04 -9.99961606e-01 -4.13290419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.012380530870791571 Centerline is valid? [True, True] Translation: X:246.29, Y:-107.28, Z:-4.13 [[-4.91279293e-01 -8.70993417e-01 3.88883852e-03 2.46290143e+02] [-8.70967395e-01 4.91294678e-01 6.73319764e-03 -1.07278172e+02] [-7.77513649e-03 -7.91709813e-05 -9.99969770e-01 -4.13461165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.012131416765072225 Centerline is valid? [True, True] Translation: X:246.22, Y:-107.36, Z:-4.14 [[-4.25248357e-01 -9.05071266e-01 3.13666394e-03 2.46220168e+02] [-9.05047678e-01 4.25259921e-01 6.53460249e-03 -1.07355641e+02] [-7.24817841e-03 -6.00014356e-05 -9.99973730e-01 -4.13562280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.01182463882532294 Centerline is valid? [True, True] Translation: X:246.15, Y:-107.45, Z:-4.14 [[-3.58322031e-01 -9.33593839e-01 2.80462370e-03 2.46154980e+02] [-9.33565977e-01 3.58333005e-01 7.21281192e-03 -1.07445484e+02] [-7.73882601e-03 -3.37918506e-05 -9.99970054e-01 -4.13633867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.011828099022719776 Centerline is valid? [True, True] Translation: X:246.09, Y:-107.55, Z:-4.14 [[-2.88347351e-01 -9.57522638e-01 2.49062857e-03 2.46093492e+02] [-9.57487305e-01 2.88358107e-01 8.22577569e-03 -1.07545035e+02] [-8.59455937e-03 -1.28646062e-05 -9.99963066e-01 -4.13760182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.011848918845342235 Centerline is valid? [True, True] Translation: X:246.04, Y:-107.65, Z:-4.14 [[-2.14937585e-01 -9.76625766e-01 1.98669985e-03 2.46038407e+02] [-9.76584255e-01 2.14946767e-01 9.00450201e-03 -1.07645086e+02] [-9.22106338e-03 -4.77387152e-06 -9.99957485e-01 -4.13686164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.011962988382438502 Centerline is valid? [True, True] Translation: X:245.99, Y:-107.76, Z:-4.14 [[-1.39617804e-01 -9.90204186e-01 1.59318715e-03 2.45988766e+02] [-9.90139750e-01 1.39626894e-01 1.12963034e-02 -1.07760397e+02] [-1.14080987e-02 -3.12851293e-07 -9.99934926e-01 -4.13628298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.011949444845912273 Centerline is valid? [True, True] Translation: X:245.95, Y:-107.86, Z:-4.14 [[-6.30148041e-02 -9.98012318e-01 7.39663014e-04 2.45950072e+02] [-9.97943747e-01 6.30191450e-02 1.16989044e-02 -1.07864159e+02] [-1.17222636e-02 -9.37910857e-07 -9.99931292e-01 -4.13657573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.011892337439698003 Centerline is valid? [True, True] Translation: X:245.92, Y:-107.98, Z:-4.14 [[ 1.38371779e-02 -9.99904248e-01 -1.67566780e-04 2.45918700e+02] [-9.99830617e-01 -1.38381925e-02 1.21343248e-02 -1.07984702e+02] [-1.21354817e-02 -3.66414688e-07 -9.99926362e-01 -4.13774914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.01178772430270741 Centerline is valid? [True, True] Translation: X:245.90, Y:-108.10, Z:-4.14 [[ 9.04060424e-02 -9.95904395e-01 -1.08809326e-03 2.45897269e+02] [-9.95832595e-01 -9.04125901e-02 1.19584964e-02 -1.08101450e+02] [-1.20078964e-02 2.43841100e-06 -9.99927903e-01 -4.13839433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.011800464702169418 Centerline is valid? [True, True] Translation: X:245.88, Y:-108.22, Z:-4.14 [[ 1.67152170e-01 -9.85929169e-01 -1.95606154e-03 2.45884159e+02] [-9.85861184e-01 -1.67163615e-01 1.15780540e-02 -1.08217561e+02] [-1.17421234e-02 -6.89170536e-06 -9.99931059e-01 -4.13850499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.01168837446430765 Centerline is valid? [True, True] Translation: X:245.88, Y:-108.33, Z:-4.14 [[ 2.45464281e-01 -9.69401185e-01 -2.93742875e-03 2.45876955e+02] [-9.69329415e-01 -2.45481851e-01 1.17960372e-02 -1.08331977e+02] [-1.21561779e-02 -4.81696948e-05 -9.99926110e-01 -4.13926020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.011916015155391436 Centerline is valid? [True, True] Translation: X:245.88, Y:-108.45, Z:-4.14 [[ 3.22185106e-01 -9.46668113e-01 -4.03001634e-03 2.45880530e+02] [-9.46590449e-01 -3.22210296e-01 1.21262858e-02 -1.08451963e+02] [-1.27780808e-02 -9.21336982e-05 -9.99918353e-01 -4.13946713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.012731592730097744 Centerline is valid? [True, True] Translation: X:245.89, Y:-108.57, Z:-4.14 [[ 3.99035272e-01 -9.16918521e-01 -5.59263465e-03 2.45892394e+02] [-9.16821863e-01 -3.99074418e-01 1.33146384e-02 -1.08573258e+02] [-1.44403160e-02 -1.85560639e-04 -9.99895716e-01 -4.13846223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.013700211734304673 Centerline is valid? [True, True] Translation: X:245.92, Y:-108.69, Z:-4.14 [[ 4.71906863e-01 -8.81618952e-01 -7.20671582e-03 2.45915239e+02] [-8.81507270e-01 -4.71961811e-01 1.40350099e-02 -1.08694495e+02] [-1.57748254e-02 -2.70445098e-04 -9.99875533e-01 -4.13776937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.01404919465208391 Centerline is valid? [True, True] Translation: X:245.94, Y:-108.80, Z:-4.14 [[ 5.40260626e-01 -8.41455138e-01 -8.46792199e-03 2.45942715e+02] [-8.41342339e-01 -5.40326889e-01 1.37812019e-02 -1.08801233e+02] [-1.61717091e-02 -3.21019468e-04 -9.99869178e-01 -4.13812705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.015510401842308296 Centerline is valid? [True, True] Translation: X:245.98, Y:-108.91, Z:-4.14 [[ 6.03437605e-01 -7.97351523e-01 -9.67496778e-03 2.45978955e+02] [-7.97239931e-01 -6.03515065e-01 1.33438910e-02 -1.08907913e+02] [-1.64787606e-02 -3.38934990e-04 -9.99864159e-01 -4.13630691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.015043827742888864 Centerline is valid? [True, True] Translation: X:246.02, Y:-109.01, Z:-4.14 [[ 6.64237177e-01 -7.47436286e-01 -1.13124171e-02 2.46023204e+02] [-7.47317515e-01 -6.64333379e-01 1.33302068e-02 -1.09006439e+02] [-1.74786965e-02 -4.00451500e-04 -9.99847156e-01 -4.13709007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.015815144699509443 Centerline is valid? [True, True] Translation: X:246.07, Y:-109.10, Z:-4.14 [[ 7.20061794e-01 -6.93797667e-01 -1.24824105e-02 2.46073293e+02] [-6.93682989e-01 -7.20169850e-01 1.26212984e-02 -1.09102160e+02] [-1.77460831e-02 -4.29278913e-04 -9.99842434e-01 -4.13645841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.016306356528369544 Centerline is valid? [True, True] Translation: X:246.13, Y:-109.19, Z:-4.14 [[ 7.71322032e-01 -6.36305409e-01 -1.33322786e-02 2.46129669e+02] [-6.36200269e-01 -7.71437118e-01 1.15754708e-02 -1.09191033e+02] [-1.76505492e-02 -4.46416426e-04 -9.99844117e-01 -4.13685946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.017458122480031882 Centerline is valid? [True, True] Translation: X:246.15, Y:-109.22, Z:-4.14 [[ 8.18928070e-01 -5.73734678e-01 -1.36138278e-02 2.46152439e+02] [-5.73646479e-01 -8.19041103e-01 1.00691503e-02 -1.09216181e+02] [-1.69273052e-02 -4.36385450e-04 -9.99856628e-01 -4.13631334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.01620342628040765 Centerline is valid? [True, True] Translation: X:246.18, Y:-109.24, Z:-4.14 [[ 8.61599740e-01 -5.07397007e-01 -1.39343512e-02 2.46178641e+02] [-5.07322448e-01 -8.61712300e-01 8.70893204e-03 -1.09238894e+02] [-1.64262879e-02 -4.34404401e-04 -9.99864985e-01 -4.13802511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.0173341536775444 Centerline is valid? [True, True] Translation: X:246.20, Y:-109.26, Z:-4.14 [[ 8.98598377e-01 -4.38534978e-01 -1.44232227e-02 2.46204132e+02] [-4.38470783e-01 -8.98714019e-01 7.51559339e-03 -1.09261218e+02] [-1.62582030e-02 -4.29338286e-04 -9.99867735e-01 -4.13715411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.0180040400384584 Centerline is valid? [True, True] Translation: X:246.23, Y:-109.28, Z:-4.14 [[ 9.30137921e-01 -3.66915753e-01 -1.47064076e-02 2.46233551e+02] [-3.66862675e-01 -9.30254079e-01 6.25514487e-03 -1.09276562e+02] [-1.59758069e-02 -4.22915413e-04 -9.99872289e-01 -4.13707442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.016524555304116423 Centerline is valid? [True, True] Translation: X:246.26, Y:-109.29, Z:-4.14 [[ 9.56035442e-01 -2.92886791e-01 -1.46137591e-02 2.46264853e+02] [-2.92845971e-01 -9.56147038e-01 4.90700679e-03 -1.09291401e+02] [-1.54101000e-02 -4.11691915e-04 -9.99881173e-01 -4.13957387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.01726076902053975 Centerline is valid? [True, True] Translation: X:246.30, Y:-109.31, Z:-4.14 [[ 9.76149922e-01 -2.16625370e-01 -1.43101348e-02 2.46295257e+02] [-2.16596021e-01 -9.76254724e-01 3.58845560e-03 -1.09305757e+02] [-1.47476872e-02 -4.03352392e-04 -9.99891166e-01 -4.14019262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.016847734877045717 Centerline is valid? [True, True] Translation: X:246.33, Y:-109.32, Z:-4.14 [[ 9.90207952e-01 -1.38883906e-01 -1.41235067e-02 2.46326961e+02] [-1.38863968e-01 -9.90308587e-01 2.38747955e-03 -1.09318399e+02] [-1.43182124e-02 -4.02855058e-04 -9.99897408e-01 -4.14135525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.019642162195248964 Centerline is valid? [True, True] Translation: X:246.35, Y:-109.33, Z:-4.14 [[ 9.98247913e-01 -5.71875223e-02 -1.51885365e-02 2.46354913e+02] [-5.71735077e-02 -9.98363337e-01 1.35567991e-03 -1.09332986e+02] [-1.52412059e-02 -4.84922733e-04 -9.99883728e-01 -4.13913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.020552601560105 Centerline is valid? [True, True] Translation: X:246.38, Y:-109.34, Z:-4.14 [[ 9.99585341e-01 2.42581208e-02 -1.55141455e-02 2.46384935e+02] [ 2.42635978e-02 -9.99705582e-01 1.64877978e-04 -1.09340836e+02] [-1.55055782e-02 -5.41238596e-04 -9.99879635e-01 -4.13853525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.022615545122416356 Centerline is valid? [True, True] Translation: X:246.42, Y:-109.35, Z:-4.14 [[ 9.94345319e-01 1.05067197e-01 -1.54360447e-02 2.46415219e+02] [ 1.05063581e-01 -9.94464955e-01 -1.04729744e-03 -1.09346758e+02] [-1.54606421e-02 -5.80390818e-04 -9.99880309e-01 -4.13796951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.0226830725386789 Centerline is valid? [True, True] Translation: X:246.45, Y:-109.34, Z:-4.14 [[ 9.83096976e-01 1.82540397e-01 -1.41187471e-02 2.46446108e+02] [ 1.82529365e-01 -9.83198208e-01 -2.07703901e-03 -1.09344638e+02] [-1.42606704e-02 -5.35155170e-04 -9.99898168e-01 -4.13896862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.01981755830068972 Centerline is valid? [True, True] Translation: X:246.48, Y:-109.34, Z:-4.14 [[ 9.65971610e-01 2.58401894e-01 -1.12831481e-02 2.46478070e+02] [ 2.58389443e-01 -9.66037409e-01 -2.57284926e-03 -1.09343903e+02] [-1.15647723e-02 -4.30147023e-04 -9.99933033e-01 -4.14171409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.02093541246448758 Centerline is valid? [True, True] Translation: X:246.51, Y:-109.35, Z:-4.14 [[ 9.43039633e-01 3.32546993e-01 -9.42066213e-03 2.46510178e+02] [ 3.32534209e-01 -9.43086617e-01 -2.93822260e-03 -1.09345371e+02] [-9.86159746e-03 -3.61832066e-04 -9.99951308e-01 -4.14160760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.020706073784139304 Centerline is valid? [True, True] Translation: X:246.54, Y:-109.34, Z:-4.14 [[ 9.14123879e-01 4.05338786e-01 -8.83188646e-03 2.46541715e+02] [ 4.05323525e-01 -9.14166477e-01 -3.53446569e-03 -1.09341035e+02] [-9.50647056e-03 -3.48831868e-04 -9.99954752e-01 -4.14141763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.02056773388529021 Centerline is valid? [True, True] Translation: X:246.57, Y:-109.33, Z:-4.14 [[ 8.79527366e-01 4.75771559e-01 -8.54614996e-03 2.46573582e+02] [ 4.75752940e-01 -8.79568815e-01 -4.22374243e-03 -1.09334876e+02] [-9.52646351e-03 -3.50958916e-04 -9.99954561e-01 -4.14110823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.02092646773666026 Centerline is valid? [True, True] Translation: X:246.61, Y:-109.33, Z:-4.14 [[ 8.39604514e-01 5.43125357e-01 -8.89425232e-03 2.46605605e+02] [ 5.43099615e-01 -8.39651537e-01 -5.30143376e-03 -1.09326386e+02] [-1.03474157e-02 -3.79357301e-04 -9.99946392e-01 -4.13994067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.019471789546882598 Centerline is valid? [True, True] Translation: X:246.64, Y:-109.31, Z:-4.14 [[ 7.95441879e-01 6.05973211e-01 -8.28762982e-03 2.46635841e+02] [ 6.05944938e-01 -7.95484971e-01 -5.86452637e-03 -1.09313653e+02] [-1.01464308e-02 -3.56957460e-04 -9.99948460e-01 -4.14027097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.01916200149721345 Centerline is valid? [True, True] Translation: X:246.66, Y:-109.30, Z:-4.14 [[ 7.48062904e-01 6.63589701e-01 -7.11338747e-03 2.46664062e+02] [ 6.63563359e-01 -7.48096667e-01 -5.91989430e-03 -1.09300690e+02] [-9.24988235e-03 -2.91729959e-04 -9.99957176e-01 -4.13967307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.018662964876770587 Centerline is valid? [True, True] Translation: X:246.69, Y:-109.28, Z:-4.14 [[ 6.95706899e-01 7.18297104e-01 -6.41720103e-03 2.46689531e+02] [ 7.18269935e-01 -6.95736446e-01 -6.25284183e-03 -1.09282293e+02] [-8.95607882e-03 -2.59137369e-04 -9.99959860e-01 -4.13935782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.016200603294952782 Centerline is valid? [True, True] Translation: X:246.72, Y:-109.26, Z:-4.14 [[ 6.39809370e-01 7.68508563e-01 -6.20956956e-03 2.46715035e+02] [ 7.68475982e-01 -6.39839457e-01 -7.08060290e-03 -1.09263119e+02] [-9.41463157e-03 -2.41668981e-04 -9.99955652e-01 -4.13971968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.016496120689043388 Centerline is valid? [True, True] Translation: X:246.74, Y:-109.24, Z:-4.14 [[ 5.78462945e-01 8.15687425e-01 -5.88602150e-03 2.46740975e+02] [ 8.15649396e-01 -5.78492840e-01 -7.88020835e-03 -1.09244604e+02] [-9.83280815e-03 -2.42521346e-04 -9.99951627e-01 -4.13887500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.01577665021269355 Centerline is valid? [True, True] Translation: X:246.77, Y:-109.22, Z:-4.14 [[ 5.13247014e-01 8.58222952e-01 -5.55583934e-03 2.46766595e+02] [ 8.58177860e-01 -5.13277023e-01 -8.80100061e-03 -1.09224216e+02] [-1.04049054e-02 -2.50811024e-04 -9.99945836e-01 -4.13874668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.016012674461339672 Centerline is valid? [True, True] Translation: X:246.79, Y:-109.20, Z:-4.14 [[ 4.44603016e-01 8.95715125e-01 -4.75118275e-03 2.46790875e+02] [ 8.95669725e-01 -4.44628335e-01 -9.02152943e-03 -1.09202222e+02] [-1.01932308e-02 -2.44491353e-04 -9.99948018e-01 -4.13838073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.015608494251344746 Centerline is valid? [True, True] Translation: X:246.81, Y:-109.18, Z:-4.14 [[ 3.74353487e-01 9.27278866e-01 -3.65665900e-03 2.46811669e+02] [ 9.27239979e-01 -3.74371287e-01 -8.49482716e-03 -1.09177786e+02] [-9.24602183e-03 -2.10532241e-04 -9.99957232e-01 -4.13911126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.014455906240311657 Centerline is valid? [True, True] Translation: X:246.83, Y:-109.15, Z:-4.14 [[ 3.03218249e-01 9.52918571e-01 -2.21145074e-03 2.46831738e+02] [ 9.52896498e-01 -3.03226281e-01 -6.48737124e-03 -1.09152045e+02] [-6.85250652e-03 -1.40194321e-04 -9.99976511e-01 -4.14044575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.014337090460197993 Centerline is valid? [True, True] Translation: X:246.85, Y:-109.13, Z:-4.14 [[ 2.30109768e-01 9.73163477e-01 -1.53008552e-03 2.46849163e+02] [ 9.73145079e-01 -2.30114828e-01 -5.98514133e-03 -1.09126315e+02] [-6.17661631e-03 -1.11755709e-04 -9.99980918e-01 -4.14037384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.013649989741747132 Centerline is valid? [True, True] Translation: X:246.86, Y:-109.10, Z:-4.14 [[ 1.56191262e-01 9.87726149e-01 -1.15985439e-03 2.46862828e+02] [ 9.87703504e-01 -1.56195535e-01 -6.68894433e-03 -1.09097848e+02] [-6.78800929e-03 -1.00837588e-04 -9.99976956e-01 -4.14004973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.01344826347905586 Centerline is valid? [True, True] Translation: X:246.87, Y:-109.07, Z:-4.14 [[ 8.02700297e-02 9.96772931e-01 -6.68351937e-04 2.46873413e+02] [ 9.96747290e-01 -8.02727591e-02 -7.15011782e-03 -1.09068937e+02] [-7.18069435e-03 -9.22378124e-05 -9.99974214e-01 -4.13888931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.012616940555975602 Centerline is valid? [True, True] Translation: X:246.88, Y:-109.04, Z:-4.14 [[ 5.68240316e-03 9.99983848e-01 -1.19800894e-04 2.46883308e+02] [ 9.99950110e-01 -5.68319556e-03 -8.21449299e-03 -1.09039024e+02] [-8.21504116e-03 -7.31168562e-05 -9.99966253e-01 -4.13844293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.01238818923674181 Centerline is valid? [True, True] Translation: X:246.89, Y:-109.01, Z:-4.14 [[-6.96927467e-02 9.97568360e-01 5.37381816e-04 2.46889896e+02] [ 9.97532984e-01 6.96948010e-02 -8.40117308e-03 -1.09008934e+02] [-8.41819717e-03 -4.94447412e-05 -9.99964565e-01 -4.13745772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.012192540292621323 Centerline is valid? [True, True] Translation: X:246.89, Y:-108.98, Z:-4.14 [[-1.42503765e-01 9.89793443e-01 1.27176783e-03 2.46894855e+02] [ 9.89753690e-01 1.42509440e-01 -8.87094050e-03 -1.08977667e+02] [-8.96163766e-03 -5.40551863e-06 -9.99959844e-01 -4.13766900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.012242773506035191 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.95, Z:-4.14 [[-2.17375940e-01 9.76086012e-01 1.94909556e-03 2.46897101e+02] [ 9.76047391e-01 2.17384677e-01 -8.68283629e-03 -1.08946309e+02] [-8.89889855e-03 1.49699385e-05 -9.99960404e-01 -4.13817160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.012148676411728145 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.91, Z:-4.14 [[-2.92814732e-01 9.56166171e-01 2.40527698e-03 2.46901010e+02] [ 9.56134356e-01 2.92824610e-01 -7.80001734e-03 -1.08913161e+02] [-8.16243701e-03 1.58079727e-05 -9.99966687e-01 -4.14014147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.012022164607751837 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.88, Z:-4.14 [[-3.68806885e-01 9.29501378e-01 2.94461899e-03 2.46902815e+02] [ 9.29471706e-01 3.68818640e-01 -7.42688383e-03 -1.08880688e+02] [-7.98932912e-03 -2.14585389e-06 -9.99968085e-01 -4.13960915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.012065846319359636 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.85, Z:-4.14 [[-4.45988498e-01 8.95030480e-01 3.83407628e-03 2.46904231e+02] [ 8.94996345e-01 4.46004974e-01 -7.81701585e-03 -1.08846013e+02] [-8.70648454e-03 -5.48148984e-05 -9.99962096e-01 -4.13951611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.012802967968540902 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.81, Z:-4.14 [[-5.20346316e-01 8.53942325e-01 4.71356262e-03 2.46902725e+02] [ 8.53905210e-01 5.20367651e-01 -7.96244855e-03 -1.08810367e+02] [-9.25225733e-03 -1.18295095e-04 -9.99957190e-01 -4.13959377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.01359869583948942 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.78, Z:-4.14 [[-5.88701142e-01 8.08329978e-01 5.79766995e-03 2.46895479e+02] [ 8.08287970e-01 5.88729666e-01 -8.24242184e-03 -1.08776905e+02] [-1.00758570e-02 -1.66136275e-04 -9.99949223e-01 -4.13952920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.013894376197464744 Centerline is valid? [True, True] Translation: X:246.88, Y:-108.75, Z:-4.14 [[-6.51343294e-01 7.58757325e-01 6.26379884e-03 2.46883158e+02] [ 7.58719607e-01 6.51373388e-01 -7.56751268e-03 -1.08745789e+02] [-9.82197754e-03 -1.76581640e-04 -9.99951748e-01 -4.13996390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.014607677182028602 Centerline is valid? [True, True] Translation: X:246.87, Y:-108.71, Z:-4.14 [[-7.10623619e-01 7.03547707e-01 5.89027251e-03 2.46869875e+02] [ 7.03521469e-01 7.10648009e-01 -6.07860515e-03 -1.08714107e+02] [-8.46249915e-03 -1.75667217e-04 -9.99964177e-01 -4.14086776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.014482252408553806 Centerline is valid? [True, True] Translation: X:246.85, Y:-108.69, Z:-4.14 [[-7.63700599e-01 6.45546100e-01 5.62382137e-03 2.46851968e+02] [ 6.45527052e-01 7.63721289e-01 -4.96161398e-03 -1.08685012e+02] [-7.49798266e-03 -1.58858740e-04 -9.99971877e-01 -4.14150534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.014214947977125334 Centerline is valid? [True, True] Translation: X:246.87, Y:-108.66, Z:-4.14 [[-8.06804673e-01 5.90790810e-01 5.69538699e-03 2.46869048e+02] [ 5.90774829e-01 8.06824763e-01 -4.34779959e-03 -1.08664159e+02] [-7.16381930e-03 -1.43133757e-04 -9.99974329e-01 -4.14061657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.013783910045730713 Centerline is valid? [True, True] Translation: X:246.88, Y:-108.64, Z:-4.14 [[-8.46170133e-01 5.32869011e-01 6.83546644e-03 2.46880518e+02] [ 5.32850134e-01 8.46197727e-01 -4.48788237e-03 -1.08641219e+02] [-8.17560961e-03 -1.55232810e-04 -9.99966567e-01 -4.14014988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.014108802752629452 Centerline is valid? [True, True] Translation: X:246.89, Y:-108.62, Z:-4.14 [[-8.81726208e-01 4.71686748e-01 8.39674037e-03 2.46892663e+02] [ 4.71663408e-01 8.81766170e-01 -4.69582073e-03 -1.08617105e+02] [-9.61891801e-03 -1.79993033e-04 -9.99953721e-01 -4.13862549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.014768620595633216 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.59, Z:-4.14 [[-9.13443707e-01 4.06824118e-01 1.07112830e-02 2.46900032e+02] [ 4.06793130e-01 9.13506476e-01 -5.02667386e-03 -1.08590720e+02] [-1.18297985e-02 -2.34307279e-04 -9.99929998e-01 -4.13609884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.014531637502364502 Centerline is valid? [True, True] Translation: X:246.90, Y:-108.57, Z:-4.14 [[-9.40197686e-01 3.40428416e-01 1.16963664e-02 2.46904450e+02] [ 3.40398679e-01 9.40270402e-01 -4.50677398e-03 -1.08565415e+02] [-1.25319810e-02 -2.55830793e-04 -9.99921439e-01 -4.13567010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.016016878288303248 Centerline is valid? [True, True] Translation: X:246.91, Y:-108.54, Z:-4.13 [[-9.61785215e-01 2.73555865e-01 1.16785540e-02 2.46908053e+02] [ 2.73532646e-01 9.61856086e-01 -3.57232703e-03 -1.08538550e+02] [-1.22103192e-02 -2.41345551e-04 -9.99925422e-01 -4.13420315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.014301722989124369 Centerline is valid? [True, True] Translation: X:246.92, Y:-108.52, Z:-4.14 [[-9.78573401e-01 2.05613152e-01 1.08319527e-02 2.46915165e+02] [ 2.05598176e-01 9.78633326e-01 -2.49049035e-03 -1.08517767e+02] [-1.11125875e-02 -2.10097891e-04 -9.99938231e-01 -4.13693776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.013850659149918667 Centerline is valid? [True, True] Translation: X:246.91, Y:-108.49, Z:-4.14 [[-9.90519988e-01 1.37017452e-01 9.81692836e-03 2.46914393e+02] [ 1.37008963e-01 9.90568618e-01 -1.53523166e-03 -1.08494614e+02] [-9.93469469e-03 -1.75670464e-04 -9.99950634e-01 -4.13798920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.014056207471684581 Centerline is valid? [True, True] Translation: X:247.01, Y:-107.90, Z:-5.11 [[-9.71673586e-01 -2.36137820e-01 9.45365377e-03 2.47007393e+02] [ 2.36128204e-01 -9.71719561e-01 -2.13672942e-03 -1.07895823e+02] [ 9.69086292e-03 1.56070741e-04 9.99953030e-01 -5.10980400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.014595811605184418 Centerline is valid? [True, True] Translation: X:246.86, Y:-108.49, Z:-4.14 [[-9.91586656e-01 1.29061595e-01 9.95027996e-03 2.46864271e+02] [ 1.29052870e-01 9.91636555e-01 -1.51672354e-03 -1.08489169e+02] [-1.00628121e-02 -2.19850636e-04 -9.99949344e-01 -4.13822905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.01680336167533852 Centerline is valid? [True, True] Translation: X:246.86, Y:-108.46, Z:-4.14 [[-9.98440843e-01 5.46745708e-02 1.12505539e-02 2.46861837e+02] [ 5.46678573e-02 9.98504186e-01 -9.03627576e-04 -1.08458823e+02] [-1.12831306e-02 -2.87175003e-04 -9.99936302e-01 -4.13609785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.01830868376589411 Centerline is valid? [True, True] Translation: X:246.91, Y:-107.86, Z:-5.11 [[-9.84412950e-01 -1.75490364e-01 1.15877732e-02 2.46906167e+02] [ 1.75482112e-01 -9.84481094e-01 -1.73304407e-03 -1.07858956e+02] [ 1.17120762e-02 3.27415888e-04 9.99931358e-01 -5.11229477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.01917827536378557 Centerline is valid? [True, True] Translation: X:246.81, Y:-108.46, Z:-4.14 [[-9.98994590e-01 4.33045594e-02 1.15984798e-02 2.46807693e+02] [ 4.32971886e-02 9.99061844e-01 -8.85963367e-04 -1.08455465e+02] [-1.16259648e-02 -3.82891045e-04 -9.99932343e-01 -4.13573373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.01833692536317273 Centerline is valid? [True, True] Translation: X:246.80, Y:-108.43, Z:-4.14 [[-9.99533398e-01 -2.88044498e-02 1.01631661e-02 2.46804470e+02] [-2.88064860e-02 9.99585006e-01 -5.39890870e-05 -1.08433874e+02] [-1.01573934e-02 -3.46728999e-04 -9.99948352e-01 -4.13798626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.02114328695812566 Centerline is valid? [True, True] Translation: X:246.80, Y:-107.82, Z:-5.11 [[-9.94456372e-01 -1.04788861e-01 8.70739841e-03 2.46803197e+02] [ 1.04786667e-01 -9.94494470e-01 -7.09051965e-04 -1.07822852e+02] [ 8.73376031e-03 2.07298014e-04 9.99961839e-01 -5.10916597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.018482792363818102 Centerline is valid? [True, True] Translation: X:246.75, Y:-108.44, Z:-4.14 [[-9.99389858e-01 -3.40974307e-02 7.56816524e-03 2.46746807e+02] [-3.40984904e-02 9.99418477e-01 -1.09914858e-05 -1.08438743e+02] [-7.56338940e-03 -2.69047789e-04 -9.99971361e-01 -4.14057491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.019393677545316197 Centerline is valid? [True, True] Translation: X:246.74, Y:-108.41, Z:-4.14 [[-9.94254849e-01 -1.06728400e-01 8.14516404e-03 2.46738725e+02] [-1.06727317e-01 9.94288166e-01 5.68767170e-04 -1.08412136e+02] [-8.15934382e-03 -3.03811990e-04 -9.99966666e-01 -4.13963613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.020885434555217644 Centerline is valid? [True, True] Translation: X:246.73, Y:-108.39, Z:-4.14 [[-9.83667891e-01 -1.79736256e-01 9.61032129e-03 2.46734911e+02] [-1.79731514e-01 9.83714759e-01 1.36194262e-03 -1.08385838e+02] [-9.69860536e-03 -3.87578375e-04 -9.99952892e-01 -4.13821978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.02224845958926108 Centerline is valid? [True, True] Translation: X:246.64, Y:-107.77, Z:-5.11 [[-9.99381108e-01 3.38491257e-02 9.57275413e-03 2.46643533e+02] [-3.38439661e-02 -9.99426883e-01 7.00508012e-04 -1.07771520e+02] [ 9.59097941e-03 3.76094507e-04 9.99953935e-01 -5.11036928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.02219676674017179 Centerline is valid? [True, True] Translation: X:246.66, Y:-108.40, Z:-4.14 [[-9.82286060e-01 -1.87151725e-01 9.39828984e-03 2.46660391e+02] [-1.87147066e-01 9.82330937e-01 1.38055826e-03 -1.08398522e+02] [-9.49060473e-03 -4.02759237e-04 -9.99954882e-01 -4.13723850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.022553223757210104 Centerline is valid? [True, True] Translation: X:246.57, Y:-107.78, Z:-5.11 [[-9.99224054e-01 3.83347462e-02 9.04081272e-03 2.46568760e+02] [-3.83299462e-02 -9.99264890e-01 7.03661837e-04 -1.07777682e+02] [ 9.06114143e-03 3.56581968e-04 9.99958883e-01 -5.11096392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.021716063698380167 Centerline is valid? [True, True] Translation: X:246.58, Y:-108.42, Z:-4.14 [[-9.81693888e-01 -1.90264463e-01 8.74894353e-03 2.46584793e+02] [-1.90260139e-01 9.81732808e-01 1.33163293e-03 -1.08417810e+02] [-8.84248732e-03 -3.57319300e-04 -9.99960841e-01 -4.13714778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.021987882815076843 Centerline is valid? [True, True] Translation: X:246.57, Y:-108.40, Z:-4.14 [[-9.65855867e-01 -2.58981569e-01 7.14086243e-03 2.46571725e+02] [-2.58976712e-01 9.65882220e-01 1.61270251e-03 -1.08396267e+02] [-7.31489228e-03 -2.91678894e-04 -9.99973203e-01 -4.13799312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.022211271791672014 Centerline is valid? [True, True] Translation: X:246.56, Y:-108.37, Z:-4.14 [[-9.45186564e-01 -3.26481706e-01 5.66174832e-03 2.46556756e+02] [-3.26477315e-01 9.45203492e-01 1.70922915e-03 -1.08374275e+02] [-5.90953633e-03 -2.32891963e-04 -9.99982511e-01 -4.13873497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.02016604234957661 Centerline is valid? [True, True] Translation: X:246.53, Y:-108.36, Z:-4.14 [[-9.19465392e-01 -3.93152978e-01 3.75876048e-03 2.46533001e+02] [-3.93150396e-01 9.19473061e-01 1.43368663e-03 -1.08359792e+02] [-4.01973718e-03 -1.59532931e-04 -9.99991908e-01 -4.14091404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.019714650958615434 Centerline is valid? [True, True] Translation: X:246.49, Y:-108.35, Z:-4.14 [[-8.88643794e-01 -4.58588438e-01 2.97518048e-03 2.46493697e+02] [-4.58586359e-01 8.88648765e-01 1.38702441e-03 -1.08348975e+02] [-3.27996381e-03 -1.31806545e-04 -9.99994612e-01 -4.14124813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.0212683242723506 Centerline is valid? [True, True] Translation: X:246.43, Y:-108.35, Z:-4.14 [[-8.52841538e-01 -5.22157366e-01 3.60517055e-03 2.46433318e+02] [-5.22153494e-01 8.52849142e-01 2.01740918e-03 -1.08347166e+02] [-4.12807168e-03 -1.61922055e-04 -9.99991466e-01 -4.13921447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.021004595226178466 Centerline is valid? [True, True] Translation: X:246.37, Y:-108.36, Z:-4.14 [[-8.11951457e-01 -5.83708608e-01 4.36948326e-03 2.46367583e+02] [-5.83701485e-01 8.11963188e-01 2.89082222e-03 -1.08357733e+02] [-5.23525738e-03 -2.03266554e-04 -9.99986275e-01 -4.13895240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.020597052588818568 Centerline is valid? [True, True] Translation: X:246.30, Y:-108.38, Z:-4.14 [[-7.66045515e-01 -6.42771500e-01 4.36674840e-03 2.46299137e+02] [-6.42762642e-01 7.66057930e-01 3.38134329e-03 -1.08375207e+02] [-5.51861333e-03 -2.16519876e-04 -9.99984749e-01 -4.13933318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.022246420384320016 Centerline is valid? [True, True] Translation: X:246.22, Y:-108.40, Z:-4.14 [[-7.15999231e-01 -6.98089759e-01 3.97353223e-03 2.46220578e+02] [-6.98080604e-01 7.16010226e-01 3.58138157e-03 -1.08402944e+02] [-5.34521551e-03 -2.09579331e-04 -9.99985692e-01 -4.13902481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.01969333086418778 Centerline is valid? [True, True] Translation: X:246.13, Y:-108.46, Z:-4.14 [[-6.62166461e-01 -7.49348284e-01 3.56768360e-03 2.46133933e+02] [-7.49339002e-01 6.62176041e-01 3.73492716e-03 -1.08455327e+02] [-5.16119586e-03 -2.00260969e-04 -9.99986661e-01 -4.13917703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.019360285190738555 Centerline is valid? [True, True] Translation: X:246.07, Y:-108.49, Z:-4.14 [[-6.04569940e-01 -7.96542967e-01 3.80653425e-03 2.46067807e+02] [-7.96529454e-01 6.04581882e-01 4.64513684e-03 -1.08491578e+02] [-6.00141272e-03 -2.23706540e-04 -9.99981966e-01 -4.13908629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.019533351433869348 Centerline is valid? [True, True] Translation: X:245.99, Y:-108.55, Z:-4.14 [[-5.43754524e-01 -8.39234895e-01 3.97594192e-03 2.45989163e+02] [-8.39215694e-01 5.43769004e-01 5.68237313e-03 -1.08551383e+02] [-6.93083980e-03 -2.46856754e-04 -9.99975951e-01 -4.13802901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.017913228946868066 Centerline is valid? [True, True] Translation: X:245.91, Y:-108.62, Z:-4.14 [[-4.80137876e-01 -8.77186590e-01 3.36245896e-03 2.45913259e+02] [-8.77168243e-01 4.80149597e-01 5.67779430e-03 -1.08624815e+02] [-6.59496834e-03 -2.23318127e-04 -9.99978228e-01 -4.13818728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.018963441160636658 Centerline is valid? [True, True] Translation: X:245.84, Y:-108.70, Z:-4.14 [[-4.14297342e-01 -9.10137912e-01 2.58713430e-03 2.45839277e+02] [-9.10122856e-01 4.14305379e-01 5.23834771e-03 -1.08704245e+02] [-5.83948250e-03 -1.84376520e-04 -9.99982933e-01 -4.13818782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.015919207802734835 Centerline is valid? [True, True] Translation: X:245.78, Y:-108.78, Z:-4.14 [[-3.47531030e-01 -9.37666501e-01 1.92755159e-03 2.45782427e+02] [-9.37654270e-01 3.47536347e-01 4.79141162e-03 -1.08782315e+02] [-5.16264040e-03 -1.42212759e-04 -9.99986663e-01 -4.13959519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.014954389980810423 Centerline is valid? [True, True] Translation: X:245.72, Y:-108.88, Z:-4.14 [[-2.78117183e-01 -9.60545428e-01 1.82017099e-03 2.45722317e+02] [-9.60528117e-01 2.78123102e-01 5.76859399e-03 -1.08880038e+02] [-6.04722819e-03 -1.43980304e-04 -9.99981705e-01 -4.13895814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.014455378055809369 Centerline is valid? [True, True] Translation: X:245.67, Y:-108.99, Z:-4.14 [[-2.05883215e-01 -9.78575550e-01 1.41206031e-03 2.45667979e+02] [-9.78556800e-01 2.05888014e-01 6.05928460e-03 -1.08986153e+02] [-6.22019405e-03 -1.34276224e-04 -9.99980645e-01 -4.13856707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.013594794776863556 Centerline is valid? [True, True] Translation: X:245.63, Y:-109.08, Z:-4.14 [[-1.33484233e-01 -9.91050290e-01 1.13227218e-03 2.45628187e+02] [-9.91022628e-01 1.33488968e-01 7.40586216e-03 -1.09078478e+02] [-7.49072768e-03 -1.33541528e-04 -9.99971935e-01 -4.13817120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.012770668238868722 Centerline is valid? [True, True] Translation: X:245.59, Y:-109.19, Z:-4.14 [[-6.02184500e-02 -9.98184988e-01 6.84174598e-04 2.45594049e+02] [-9.98143010e-01 6.02221928e-02 9.15525381e-03 -1.09191079e+02] [-9.17983940e-03 -1.31588899e-04 -9.99957856e-01 -4.13725818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.012724795248575985 Centerline is valid? [True, True] Translation: X:245.57, Y:-109.30, Z:-4.14 [[ 1.52028083e-02 -9.99884430e-01 -2.42548882e-05 2.45565805e+02] [-9.99835983e-01 -1.52023105e-02 9.84358141e-03 -1.09304679e+02] [-9.84281252e-03 -1.25399171e-04 -9.99951550e-01 -4.13592794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.012254330273879174 Centerline is valid? [True, True] Translation: X:245.55, Y:-109.42, Z:-4.14 [[ 8.93772214e-02 -9.95997523e-01 -8.04611326e-04 2.45549428e+02] [-9.95946398e-01 -8.93807864e-02 1.00919868e-02 -1.09421215e+02] [-1.01235106e-02 -1.00643985e-04 -9.99948751e-01 -4.13614356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.01218033864624915 Centerline is valid? [True, True] Translation: X:245.54, Y:-109.54, Z:-4.14 [[ 1.65532034e-01 -9.86203443e-01 -1.38395166e-03 2.45537714e+02] [-9.86164417e-01 -1.65537796e-01 8.77384091e-03 -1.09544897e+02] [-8.88188842e-03 -8.75478497e-05 -9.99960551e-01 -4.13764763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.012403247206755492 Centerline is valid? [True, True] Translation: X:245.53, Y:-109.67, Z:-4.14 [[ 2.42545729e-01 -9.70138064e-01 -1.92530504e-03 2.45534685e+02] [-9.70104269e-01 -2.42553351e-01 8.09811257e-03 -1.09671902e+02] [-8.32327644e-03 -9.64159749e-05 -9.99965356e-01 -4.13902997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.012630980939154816 Centerline is valid? [True, True] Translation: X:245.53, Y:-109.78, Z:-4.14 [[ 3.18092236e-01 -9.48055514e-01 -2.84100130e-03 2.45534808e+02] [-9.48014191e-01 -3.18104899e-01 8.85249488e-03 -1.09782750e+02] [-9.29639302e-03 -1.22600340e-04 -9.99956780e-01 -4.13865469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.013479177034247688 Centerline is valid? [True, True] Translation: X:245.55, Y:-109.91, Z:-4.14 [[ 3.92990437e-01 -9.19534159e-01 -3.93018938e-03 2.45546469e+02] [-9.19483761e-01 -3.93010052e-01 9.62876592e-03 -1.09907882e+02] [-1.03985831e-02 -1.70267613e-04 -9.99945919e-01 -4.13768817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.013900276630719235 Centerline is valid? [True, True] Translation: X:245.56, Y:-110.02, Z:-4.14 [[ 4.63798503e-01 -8.85928427e-01 -4.66587779e-03 2.45564999e+02] [-8.85879484e-01 -4.63821935e-01 9.31412429e-03 -1.10020776e+02] [-1.04157839e-02 -1.86471490e-04 -9.99945737e-01 -4.13741186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.0141621468289767 Centerline is valid? [True, True] Translation: X:245.60, Y:-110.13, Z:-4.14 [[ 5.30944797e-01 -8.47388000e-01 -5.58568417e-03 2.45595142e+02] [-8.47337071e-01 -5.30974139e-01 9.29250211e-03 -1.10133793e+02] [-1.08402086e-02 -2.00848381e-04 -9.99941223e-01 -4.13743453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.013794999250767763 Centerline is valid? [True, True] Translation: X:245.63, Y:-110.24, Z:-4.14 [[ 5.93466395e-01 -8.04834163e-01 -6.29347675e-03 2.45632917e+02] [-8.04785474e-01 -5.93499734e-01 8.85480468e-03 -1.10239239e+02] [-1.08618261e-02 -1.90130341e-04 -9.99940991e-01 -4.13784352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.014078502486466988 Centerline is valid? [True, True] Translation: X:245.68, Y:-110.34, Z:-4.14 [[ 6.50773662e-01 -7.59236217e-01 -7.34898285e-03 2.45680584e+02] [-7.59184958e-01 -6.50815135e-01 8.82377092e-03 -1.10343729e+02] [-1.14821557e-02 -1.63040481e-04 -9.99934065e-01 -4.13650933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.012672047791262667 Centerline is valid? [True, True] Translation: X:245.73, Y:-110.43, Z:-4.14 [[ 7.04759284e-01 -7.09403300e-01 -7.83007518e-03 2.45730610e+02] [-7.09357503e-01 -7.04802768e-01 8.06169265e-03 -1.10432999e+02] [-1.12376500e-02 -1.27230157e-04 -9.99936848e-01 -4.13807986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.012080361675360097 Centerline is valid? [True, True] Translation: X:245.79, Y:-110.52, Z:-4.14 [[ 7.53897829e-01 -6.56955466e-01 -6.89776015e-03 2.45790920e+02] [-6.56927168e-01 -7.53929381e-01 6.09795669e-03 -1.10523308e+02] [-9.20651002e-03 -6.59102679e-05 -9.99957617e-01 -4.13914270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.011843372714894605 Centerline is valid? [True, True] Translation: X:245.81, Y:-110.55, Z:-4.14 [[ 8.01708010e-01 -5.97686386e-01 -5.93721899e-03 2.45812613e+02] [-5.97669631e-01 -8.01729993e-01 4.47544983e-03 -1.10547343e+02] [-7.43496198e-03 -3.95084873e-05 -9.99972360e-01 -4.14037444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.01181146839018045 Centerline is valid? [True, True] Translation: X:245.84, Y:-110.57, Z:-4.14 [[ 8.45389556e-01 -5.34125479e-01 -5.14491284e-03 2.45835748e+02] [-5.34115392e-01 -8.45405211e-01 3.28278351e-03 -1.10567889e+02] [-6.10295444e-03 -2.72537546e-05 -9.99981376e-01 -4.14112924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.011920140565298495 Centerline is valid? [True, True] Translation: X:245.86, Y:-110.59, Z:-4.14 [[ 8.84995920e-01 -4.65550465e-01 -6.70718016e-03 2.45859385e+02] [-4.65536760e-01 -8.85021335e-01 3.57239283e-03 -1.10589670e+02] [-7.59912668e-03 -3.91141647e-05 -9.99971125e-01 -4.13975783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.012059970833397621 Centerline is valid? [True, True] Translation: X:245.88, Y:-110.61, Z:-4.14 [[ 9.19267596e-01 -3.93545056e-01 -8.32915987e-03 2.45884416e+02] [-3.93528326e-01 -9.19305328e-01 3.62922123e-03 -1.10610755e+02] [-9.08530311e-03 -5.84651391e-05 -9.99958726e-01 -4.13835195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.012251863434827131 Centerline is valid? [True, True] Translation: X:245.91, Y:-110.63, Z:-4.14 [[ 9.47763447e-01 -3.18820211e-01 -9.90564083e-03 2.45911107e+02] [-3.18801867e-01 -9.47815207e-01 3.42106535e-03 -1.10631165e+02] [-1.04794218e-02 -8.44239009e-05 -9.99945086e-01 -4.13672509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.012412715785635929 Centerline is valid? [True, True] Translation: X:245.94, Y:-110.65, Z:-4.14 [[ 9.69859551e-01 -2.43446300e-01 -1.03126181e-02 2.45938950e+02] [-2.43431562e-01 -9.69914373e-01 2.68025747e-03 -1.10645988e+02] [-1.06548553e-02 -8.90565631e-05 -9.99943231e-01 -4.13631698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.012203530209877897 Centerline is valid? [True, True] Translation: X:245.97, Y:-110.65, Z:-4.14 [[ 9.85763546e-01 -1.67863536e-01 -9.59503097e-03 2.45969165e+02] [-1.67854865e-01 -9.85810239e-01 1.70767132e-03 -1.10654475e+02] [-9.74553552e-03 -7.27875034e-05 -9.99952508e-01 -4.13676872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.011862362756161763 Centerline is valid? [True, True] Translation: X:246.00, Y:-110.67, Z:-4.14 [[ 9.95836872e-01 -9.07020361e-02 -9.05892831e-03 2.45996910e+02] [-9.06977019e-02 -9.95878073e-01 8.88966179e-04 -1.10666245e+02] [-9.10221911e-03 -6.36413198e-05 -9.99958572e-01 -4.13835000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.012080237973968186 Centerline is valid? [True, True] Translation: X:246.02, Y:-110.68, Z:-4.14 [[ 9.99882170e-01 -1.26535268e-02 -8.69099906e-03 2.46024006e+02] [-1.26525305e-02 -9.99919939e-01 1.69611431e-04 -1.10676154e+02] [-8.69244943e-03 -5.96283146e-05 -9.99962218e-01 -4.13723216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.011663782562804757 Centerline is valid? [True, True] Translation: X:246.05, Y:-110.68, Z:-4.14 [[ 9.97882594e-01 6.45503324e-02 -7.97389624e-03 2.46053037e+02] [ 6.45486458e-02 -9.97914451e-01 -4.68959478e-04 -1.10681467e+02] [-7.98753778e-03 -4.67377040e-05 -9.99968098e-01 -4.13823870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.011635600947626685 Centerline is valid? [True, True] Translation: X:246.08, Y:-110.69, Z:-4.14 [[ 9.89963007e-01 1.41102515e-01 -7.95773813e-03 2.46082742e+02] [ 1.41098248e-01 -9.89994989e-01 -1.09794311e-03 -1.10686353e+02] [-8.03304341e-03 -3.58998445e-05 -9.99967734e-01 -4.13857862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.011663943418198087 Centerline is valid? [True, True] Translation: X:246.11, Y:-110.69, Z:-4.14 [[ 9.76416813e-01 2.15739106e-01 -8.17591933e-03 2.46111341e+02] [ 2.15731680e-01 -9.76451042e-01 -1.79002905e-03 -1.10687828e+02] [-8.36956421e-03 -1.59903501e-05 -9.99964974e-01 -4.13811941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.0118399271467353 Centerline is valid? [True, True] Translation: X:246.14, Y:-110.69, Z:-4.14 [[ 9.57538859e-01 2.88183870e-01 -8.33008419e-03 2.46140021e+02] [ 2.88172837e-01 -9.57575092e-01 -2.52166679e-03 -1.10687609e+02] [-8.70338483e-03 1.40899491e-05 -9.99962125e-01 -4.13795122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.012151289263046714 Centerline is valid? [True, True] Translation: X:246.17, Y:-110.69, Z:-4.14 [[ 9.33008790e-01 3.59761078e-01 -8.15870124e-03 2.46169372e+02] [ 3.59746971e-01 -9.33044461e-01 -3.18617130e-03 -1.10685135e+02] [-8.75869141e-03 3.76577716e-05 -9.99961641e-01 -4.13750045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.012548167141938621 Centerline is valid? [True, True] Translation: X:246.20, Y:-110.68, Z:-4.14 [[ 9.03437502e-01 4.28647361e-01 -7.88164780e-03 2.46197901e+02] [ 4.28630402e-01 -9.03471879e-01 -3.81359375e-03 -1.10680031e+02] [-8.75553404e-03 6.70297425e-05 -9.99961667e-01 -4.13772090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.01297331719219633 Centerline is valid? [True, True] Translation: X:246.22, Y:-110.67, Z:-4.14 [[ 8.67815513e-01 4.96833310e-01 -7.27303917e-03 2.46224717e+02] [ 4.96815121e-01 -8.67845987e-01 -4.25196314e-03 -1.10672454e+02] [-8.42439477e-03 7.65637423e-05 -9.99964511e-01 -4.13766852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.012915315310855073 Centerline is valid? [True, True] Translation: X:246.25, Y:-110.66, Z:-4.14 [[ 8.25695288e-01 5.64068240e-01 -7.36968758e-03 2.46251275e+02] [ 5.64044980e-01 -8.25728173e-01 -5.12305866e-03 -1.10663804e+02] [-8.97511334e-03 7.32501124e-05 -9.99959720e-01 -4.13705435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.012636803620562399 Centerline is valid? [True, True] Translation: X:246.28, Y:-110.65, Z:-4.14 [[ 7.77749674e-01 6.28526357e-01 -7.75008563e-03 2.46278466e+02] [ 6.28494349e-01 -7.77788284e-01 -6.34332952e-03 -1.10652923e+02] [-1.00148756e-02 6.26374379e-05 -9.99949848e-01 -4.13545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.012265873806248351 Centerline is valid? [True, True] Translation: X:246.31, Y:-110.64, Z:-4.13 [[ 7.24330490e-01 6.89413335e-01 -7.38880635e-03 2.46305403e+02] [ 6.89376950e-01 -7.24368174e-01 -7.08303139e-03 -1.10641372e+02] [-1.02353525e-02 3.67828196e-05 -9.99947617e-01 -4.13466290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.012079472502172273 Centerline is valid? [True, True] Translation: X:246.33, Y:-110.63, Z:-4.13 [[ 6.65669287e-01 7.46212624e-01 -7.14985157e-03 2.46329458e+02] [ 7.46169520e-01 -6.65707684e-01 -8.02039174e-03 -1.10626926e+02] [-1.07446287e-02 3.92713839e-06 -9.99942275e-01 -4.13365738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.011913141836659803 Centerline is valid? [True, True] Translation: X:246.35, Y:-110.61, Z:-4.13 [[ 6.03992314e-01 7.96966902e-01 -6.08628110e-03 2.46354849e+02] [ 7.96926644e-01 -6.04022978e-01 -8.01040205e-03 -1.10611009e+02] [-1.00602789e-02 -1.20983031e-05 -9.99949394e-01 -4.13395882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.011802348453167279 Centerline is valid? [True, True] Translation: X:246.38, Y:-110.59, Z:-4.13 [[ 5.40029201e-01 8.41634424e-01 -4.46759585e-03 2.46376832e+02] [ 8.41605758e-01 -5.40047680e-01 -6.94628024e-03 -1.10591889e+02] [-8.25894334e-03 -8.76022903e-06 -9.99965894e-01 -4.13446763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.011762079544747742 Centerline is valid? [True, True] Translation: X:246.40, Y:-110.57, Z:-4.14 [[ 4.74952577e-01 8.80006314e-01 -2.98944383e-03 2.46395497e+02] [ 8.79988761e-01 -4.74961984e-01 -5.55817024e-03 -1.10569732e+02] [-6.31109708e-03 9.19030407e-06 -9.99980085e-01 -4.13543405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.011707582446900473 Centerline is valid? [True, True] Translation: X:246.42, Y:-110.55, Z:-4.14 [[ 4.06440259e-01 9.13674668e-01 -2.21723834e-03 2.46415810e+02] [ 9.13660830e-01 -4.06446307e-01 -5.02865978e-03 -1.10548564e+02] [-5.49574739e-03 1.80459618e-05 -9.99984898e-01 -4.13559285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.012013008701900165 Centerline is valid? [True, True] Translation: X:246.43, Y:-110.53, Z:-4.13 [[ 3.37114318e-01 9.41460992e-01 -2.26632288e-03 2.46433596e+02] [ 9.41438712e-01 -3.37121932e-01 -6.47721893e-03 -1.10525371e+02] [-6.86207611e-03 4.99591494e-05 -9.99976454e-01 -4.13437367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.012480965975429187 Centerline is valid? [True, True] Translation: X:246.45, Y:-110.50, Z:-4.13 [[ 2.64449926e-01 9.64397260e-01 -2.03999814e-03 2.46448042e+02] [ 9.64366277e-01 -2.64457783e-01 -7.73073637e-03 -1.10501409e+02] [-7.99499436e-03 7.70872500e-05 -9.99968037e-01 -4.13292202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.013406528843666188 Centerline is valid? [True, True] Translation: X:246.46, Y:-110.48, Z:-4.13 [[ 1.91512973e-01 9.81488677e-01 -1.66104328e-03 2.46457274e+02] [ 9.81445968e-01 -1.91520136e-01 -9.15690914e-03 -1.10476446e+02] [-9.30552587e-03 1.23442656e-04 -9.99956695e-01 -4.13129749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.013654035782445544 Centerline is valid? [True, True] Translation: X:246.47, Y:-110.45, Z:-4.13 [[ 1.16145402e-01 9.93231824e-01 -8.87991658e-04 2.46465733e+02] [ 9.93193266e-01 -1.16148718e-01 -8.75279222e-03 -1.10449985e+02] [-8.79669088e-03 1.34649235e-04 -9.99961299e-01 -4.13180077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.013087667461307802 Centerline is valid? [True, True] Translation: X:246.48, Y:-110.42, Z:-4.13 [[ 3.86166385e-02 9.99254083e-01 -1.80699097e-04 2.46477506e+02] [ 9.99222687e-01 -3.86168577e-02 -7.92215830e-03 -1.10422816e+02] [-7.92322705e-03 1.25368485e-04 -9.99968603e-01 -4.13318984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.013163861632034814 Centerline is valid? [True, True] Translation: X:246.48, Y:-110.40, Z:-4.13 [[-4.00316516e-02 9.99198336e-01 3.91068595e-04 2.46484199e+02] [ 9.99173522e-01 4.00334139e-02 -7.04264805e-03 -1.10396514e+02] [-7.05265802e-03 1.08816552e-04 -9.99975124e-01 -4.13373500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.012767602725338098 Centerline is valid? [True, True] Translation: X:246.49, Y:-110.37, Z:-4.13 [[-1.20120205e-01 9.92759044e-01 7.86080807e-04 2.46488641e+02] [ 9.92741830e-01 1.20122751e-01 -5.84667823e-03 -1.10368926e+02] [-5.89876888e-03 7.80711138e-05 -9.99982599e-01 -4.13406148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.01181552369697126 Centerline is valid? [True, True] Translation: X:246.49, Y:-110.34, Z:-4.13 [[-2.01540778e-01 9.79479426e-01 1.16980278e-03 2.46492502e+02] [ 9.79464351e-01 2.01544167e-01 -5.43444193e-03 -1.10341134e+02] [-5.55869098e-03 5.05184635e-05 -9.99984549e-01 -4.13364620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.010863215866938862 Centerline is valid? [True, True] Translation: X:246.50, Y:-110.31, Z:-4.13 [[-2.83867280e-01 9.58862237e-01 1.60561014e-03 2.46496039e+02] [ 9.58847189e-01 2.83871820e-01 -5.37191565e-03 -1.10312276e+02] [-5.60671453e-03 1.46236902e-05 -9.99984282e-01 -4.13352396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.010735960068696756 Centerline is valid? [True, True] Translation: X:246.50, Y:-110.28, Z:-4.13 [[-3.62993063e-01 9.31789509e-01 2.08480272e-03 2.46495855e+02] [ 9.31773905e-01 3.62999050e-01 -5.39251107e-03 -1.10283577e+02] [-5.78146665e-03 -1.48793383e-05 -9.99983287e-01 -4.13237165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.01131158878764897 Centerline is valid? [True, True] Translation: X:246.50, Y:-110.25, Z:-4.13 [[-4.41561248e-01 8.97226655e-01 2.82745553e-03 2.46495556e+02] [ 8.97207319e-01 4.41570295e-01 -5.89081252e-03 -1.10252979e+02] [-6.53391438e-03 -6.43407334e-05 -9.99978652e-01 -4.13116991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.012422618487786955 Centerline is valid? [True, True] Translation: X:246.49, Y:-110.23, Z:-4.13 [[-5.14668592e-01 8.57383100e-01 3.23425319e-03 2.46489614e+02] [ 8.57364996e-01 5.14678745e-01 -5.57255746e-03 -1.10225014e+02] [-6.44241797e-03 -9.50848253e-05 -9.99979243e-01 -4.13042322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.012962556221938551 Centerline is valid? [True, True] Translation: X:246.48, Y:-110.20, Z:-4.13 [[-5.81612331e-01 8.13459294e-01 3.32772669e-03 2.46477631e+02] [ 8.13445012e-01 5.81621842e-01 -4.82137078e-03 -1.10198517e+02] [-5.85746740e-03 -9.72460153e-05 -9.99982840e-01 -4.13043922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.012681946376187657 Centerline is valid? [True, True] Translation: X:246.46, Y:-110.17, Z:-4.13 [[-6.44301121e-01 7.64761689e-01 3.95282763e-03 2.46464851e+02] [ 7.64746243e-01 6.44313237e-01 -4.86185027e-03 -1.10172096e+02] [-6.26501599e-03 -1.09585499e-04 -9.99980369e-01 -4.12937818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.012607313769525674 Centerline is valid? [True, True] Translation: X:246.45, Y:-110.15, Z:-4.13 [[-7.02060819e-01 7.12102660e-01 4.51749300e-03 2.46449375e+02] [ 7.12086878e-01 7.02075344e-01 -4.74229113e-03 -1.10147559e+02] [-6.54861858e-03 -1.12529304e-04 -9.99978551e-01 -4.12906093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.011836519011535792 Centerline is valid? [True, True] Translation: X:246.43, Y:-110.13, Z:-4.13 [[-7.53518609e-01 6.57412240e-01 4.34197159e-03 2.46430893e+02] [ 6.57400696e-01 7.53531114e-01 -3.89672658e-03 -1.10125521e+02] [-5.83356644e-03 -8.18408453e-05 -9.99982981e-01 -4.12965749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.011587176311813533 Centerline is valid? [True, True] Translation: X:246.45, Y:-110.11, Z:-4.13 [[-7.96858093e-01 6.04148527e-01 4.66236112e-03 2.46453878e+02] [ 6.04137663e-01 7.96871729e-01 -3.62381286e-03 -1.10111933e+02] [-5.90462497e-03 -7.09566586e-05 -9.99982565e-01 -4.12992893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.010656455799162395 Centerline is valid? [True, True] Translation: X:246.47, Y:-110.10, Z:-4.13 [[-8.33488212e-01 5.52517047e-01 4.72373889e-03 2.46469670e+02] [ 5.52507995e-01 8.33501597e-01 -3.16287012e-03 -1.10098290e+02] [-5.68478357e-03 -2.63114644e-05 -9.99983841e-01 -4.13010561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.010998349687965613 Centerline is valid? [True, True] Translation: X:246.88, Y:-109.51, Z:-5.12 [[-7.96805418e-01 -6.04213686e-01 5.19111685e-03 2.46877869e+02] [ 6.04201411e-01 -7.96822325e-01 -3.85198713e-03 -1.09513910e+02] [ 6.46382114e-03 6.71959133e-05 9.99979107e-01 -5.11924391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.012529749376161359 Centerline is valid? [True, True] Translation: X:246.44, Y:-110.10, Z:-4.13 [[-8.25085703e-01 5.64980022e-01 5.58191181e-03 2.46443399e+02] [ 5.64967840e-01 8.25104579e-01 -3.71115691e-03 -1.10100321e+02] [-6.70239050e-03 9.15781524e-05 -9.99977535e-01 -4.13030006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.014676347114493457 Centerline is valid? [True, True] Translation: X:246.46, Y:-110.08, Z:-4.13 [[-8.58330815e-01 5.13069670e-01 5.26551473e-03 2.46457811e+02] [ 5.13060992e-01 8.58346955e-01 -2.98712135e-03 -1.10081049e+02] [-6.05223990e-03 1.37591913e-04 -9.99981676e-01 -4.13163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.016216665479988165 Centerline is valid? [True, True] Translation: X:246.48, Y:-110.06, Z:-4.13 [[-8.90061998e-01 4.55808776e-01 5.29145611e-03 2.46481869e+02] [ 4.55801811e-01 8.90077712e-01 -2.52524319e-03 -1.10062410e+02] [-5.86083515e-03 1.64232276e-04 -9.99982812e-01 -4.13231071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.017124220172631457 Centerline is valid? [True, True] Translation: X:246.50, Y:-110.04, Z:-4.13 [[-9.18547879e-01 3.95264600e-01 5.97404557e-03 2.46495058e+02] [ 3.95257691e-01 9.18567283e-01 -2.34616485e-03 -1.10037920e+02] [-6.41491872e-03 2.06222708e-04 -9.99979403e-01 -4.13288184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.0174839710838907 Centerline is valid? [True, True] Translation: X:246.51, Y:-110.01, Z:-4.13 [[-9.43840985e-01 3.30348817e-01 5.81847509e-03 2.46510243e+02] [ 3.30343856e-01 9.43858897e-01 -1.82183039e-03 -1.10011263e+02] [-6.09365900e-03 2.02579306e-04 -9.99981413e-01 -4.13293126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.017082066561027055 Centerline is valid? [True, True] Translation: X:246.51, Y:-109.98, Z:-4.13 [[-9.65477908e-01 2.60422801e-01 5.68981148e-03 2.46513516e+02] [ 2.60419377e-01 9.65494657e-01 -1.34757142e-03 -1.09976387e+02] [-5.84442090e-03 1.80686721e-04 -9.99982905e-01 -4.13257699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.014418516803782892 Centerline is valid? [True, True] Translation: X:246.52, Y:-109.94, Z:-4.13 [[-9.83118573e-01 1.82868368e-01 6.08540235e-03 2.46517808e+02] [ 1.82865730e-01 9.83137397e-01 -9.91872534e-04 -1.09938832e+02] [-6.16416874e-03 1.37683232e-04 -9.99980992e-01 -4.13254948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.012471632771868534 Centerline is valid? [True, True] Translation: X:246.51, Y:-109.90, Z:-4.13 [[-9.94571225e-01 1.03874487e-01 6.17812529e-03 2.46514800e+02] [ 1.03873007e-01 9.94590410e-01 -5.60878693e-04 -1.09901847e+02] [-6.20296516e-03 8.39066413e-05 -9.99980758e-01 -4.13212141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.010311550517374028 Centerline is valid? [True, True] Translation: X:246.51, Y:-109.86, Z:-4.13 [[-9.99819535e-01 1.80825661e-02 5.82389285e-03 2.46506230e+02] [ 1.80822085e-02 9.99836497e-01 -1.14049590e-04 -1.09856432e+02] [-5.82500294e-03 -8.72016322e-06 -9.99983034e-01 -4.13126631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.011481841198821972 Centerline is valid? [True, True] Translation: X:246.51, Y:-109.22, Z:-5.12 [[-9.95256907e-01 -9.72164081e-02 3.55798299e-03 2.46511441e+02] [ 9.72152062e-02 -9.95263254e-01 -5.09632643e-04 -1.09221593e+02] [ 3.59067438e-03 -1.61325358e-04 9.99993540e-01 -5.11668638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.012634089629083552 Centerline is valid? [True, True] Translation: X:246.44, Y:-109.84, Z:-4.13 [[-9.99991923e-01 -3.47462046e-03 2.02013219e-03 2.46442275e+02] [-3.47470001e-03 9.99993963e-01 -3.58670834e-05 -1.09835009e+02] [-2.01999537e-03 -4.28861470e-05 -9.99997959e-01 -4.13408635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.013417872604112006 Centerline is valid? [True, True] Translation: X:246.45, Y:-109.24, Z:-5.12 [[-9.94862815e-01 -1.01216880e-01 1.76713384e-03 2.46449643e+02] [ 1.01216760e-01 -9.94864384e-01 -1.57544204e-04 -1.09235282e+02] [ 1.77400465e-03 2.21286904e-05 9.99998426e-01 -5.11635683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.0134159555556833 Centerline is valid? [True, True] Translation: X:246.38, Y:-109.83, Z:-4.13 [[-9.99950868e-01 -9.15287187e-03 3.80601905e-03 2.46384353e+02] [-9.15311349e-03 9.99958108e-01 -4.60710056e-05 -1.09825312e+02] [-3.80543792e-03 -8.09056664e-05 -9.99992756e-01 -4.13153572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.012040793089147886 Centerline is valid? [True, True] Translation: X:246.40, Y:-109.24, Z:-5.12 [[-9.95726594e-01 -9.21309121e-02 6.35963941e-03 2.46395855e+02] [ 9.21308541e-02 -9.95746862e-01 -3.02708306e-04 -1.09235695e+02] [ 6.36047979e-03 2.84504300e-04 9.99979731e-01 -5.12026455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.010743775802183324 Centerline is valid? [True, True] Translation: X:246.34, Y:-109.83, Z:-4.13 [[-9.99968546e-01 1.83868204e-03 7.71531273e-03 2.46338538e+02] [ 1.83832020e-03 9.99998309e-01 -5.39895247e-05 -1.09833978e+02] [-7.71539896e-03 -3.98046113e-05 -9.99970235e-01 -4.12839316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.010748145779008214 Centerline is valid? [True, True] Translation: X:246.34, Y:-109.81, Z:-4.13 [[-9.98159826e-01 -6.02677790e-02 6.69007421e-03 2.46337573e+02] [-6.02662586e-02 9.98182245e-01 4.28821069e-04 -1.09813745e+02] [-6.70375739e-03 2.48462215e-05 -9.99977529e-01 -4.13052964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.013900371232660169 Centerline is valid? [True, True] Translation: X:246.34, Y:-109.80, Z:-4.13 [[-9.93219597e-01 -1.16112313e-01 5.72384191e-03 2.46337112e+02] [-1.16109757e-01 9.93236084e-01 7.78014101e-04 -1.09797331e+02] [-5.77546334e-03 1.08144959e-04 -9.99983316e-01 -4.13167369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.018975093938899235 Centerline is valid? [True, True] Translation: X:246.33, Y:-109.78, Z:-4.13 [[-9.84919320e-01 -1.72957594e-01 4.42762949e-03 2.46330658e+02] [-1.72955176e-01 9.84929261e-01 9.26258921e-04 -1.09778966e+02] [-4.52110536e-03 1.46508871e-04 -9.99989769e-01 -4.13283572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.022103675771818564 Centerline is valid? [True, True] Translation: X:246.31, Y:-109.76, Z:-4.13 [[-9.72418807e-01 -2.33197906e-01 4.51674203e-03 2.46309712e+02] [-2.33194423e-01 9.72429276e-01 1.29044219e-03 -1.09758726e+02] [-4.69314060e-03 2.01571201e-04 -9.99988967e-01 -4.13359721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.022710937410900578 Centerline is valid? [True, True] Translation: X:246.27, Y:-109.74, Z:-4.13 [[-9.54408698e-01 -2.98454037e-01 5.40598753e-03 2.46267627e+02] [-2.98447597e-01 9.54423968e-01 1.97998915e-03 -1.09740013e+02] [-5.75053983e-03 2.76314876e-04 -9.99983427e-01 -4.13381261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.0217829829845963 Centerline is valid? [True, True] Translation: X:246.21, Y:-109.73, Z:-4.13 [[-9.29757289e-01 -3.68115393e-01 6.51465416e-03 2.46207594e+02] [-3.68103770e-01 9.29780050e-01 2.94490445e-03 -1.09727788e+02] [-7.14126013e-03 3.39977619e-04 -9.99974443e-01 -4.13292848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.02125941208342437 Centerline is valid? [True, True] Translation: X:246.14, Y:-109.72, Z:-4.13 [[-8.98526681e-01 -4.38866607e-01 6.77535175e-03 2.46135576e+02] [-4.38851253e-01 8.98552161e-01 3.68662494e-03 -1.09724625e+02] [-7.70594354e-03 3.39159260e-04 -9.99970251e-01 -4.13245541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.017712395753173012 Centerline is valid? [True, True] Translation: X:246.06, Y:-109.72, Z:-4.13 [[-8.58724308e-01 -5.12407055e-01 5.61896712e-03 2.46056443e+02] [-5.12394346e-01 8.58742661e-01 3.61610866e-03 -1.09722355e+02] [-6.67816637e-03 2.26113423e-04 -9.99977675e-01 -4.13331552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.014092334069137081 Centerline is valid? [True, True] Translation: X:245.97, Y:-109.73, Z:-4.13 [[-8.10532220e-01 -5.85671486e-01 5.14107645e-03 2.45968911e+02] [-5.85658703e-01 8.10548514e-01 3.87156283e-03 -1.09728394e+02] [-6.43455584e-03 1.27110250e-04 -9.99979290e-01 -4.13306657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.0116279905380315 Centerline is valid? [True, True] Translation: X:245.88, Y:-109.75, Z:-4.13 [[-7.58404284e-01 -6.51763176e-01 5.26358463e-03 2.45884294e+02] [-6.51746866e-01 7.58422546e-01 4.61127320e-03 -1.09745658e+02] [-6.99747932e-03 6.66845609e-05 -9.99975515e-01 -4.13271064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.010672107249093623 Centerline is valid? [True, True] Translation: X:245.80, Y:-109.77, Z:-4.13 [[-6.98879296e-01 -7.15219494e-01 5.36710382e-03 2.45798501e+02] [-7.15198682e-01 6.98899903e-01 5.45625839e-03 -1.09765872e+02] [-7.65349070e-03 -2.52795566e-05 -9.99970711e-01 -4.13296067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.011270051842904548 Centerline is valid? [True, True] Translation: X:245.71, Y:-109.80, Z:-4.13 [[-6.38312376e-01 -7.69761012e-01 5.02949498e-03 2.45714655e+02] [-7.69738127e-01 6.38332185e-01 5.93611598e-03 -1.09798188e+02] [-7.77987917e-03 -8.22977557e-05 -9.99969733e-01 -4.13220829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.011377869230247247 Centerline is valid? [True, True] Translation: X:245.64, Y:-109.84, Z:-4.13 [[-5.79005096e-01 -8.15311403e-01 4.51827530e-03 2.45637467e+02] [-8.15287694e-01 5.79022719e-01 6.21822970e-03 -1.09842251e+02] [-7.68597763e-03 -8.33075677e-05 -9.99970459e-01 -4.13116929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.010863928444168341 Centerline is valid? [True, True] Translation: X:245.57, Y:-109.90, Z:-4.13 [[-5.19927293e-01 -8.54200749e-01 4.08542414e-03 2.45567805e+02] [-8.54175169e-01 5.19943341e-01 6.61072419e-03 -1.09897641e+02] [-7.77107463e-03 -5.25719228e-05 -9.99969803e-01 -4.13047508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.010585075571271411 Centerline is valid? [True, True] Translation: X:245.50, Y:-109.96, Z:-4.13 [[-4.60121238e-01 -8.87847660e-01 3.87027509e-03 2.45503619e+02] [-8.87816294e-01 4.60137515e-01 7.46297405e-03 -1.09960977e+02] [-8.40684281e-03 -2.22043198e-06 -9.99964662e-01 -4.13002621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.011793040132878012 Centerline is valid? [True, True] Translation: X:245.44, Y:-110.03, Z:-4.13 [[-4.01603344e-01 -9.15807686e-01 3.32228007e-03 2.45444152e+02] [-9.15774544e-01 4.01617076e-01 7.79162070e-03 -1.10032048e+02] [-8.46991053e-03 8.66814136e-05 -9.99964126e-01 -4.12970946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.013278651820085505 Centerline is valid? [True, True] Translation: X:245.39, Y:-110.11, Z:-4.13 [[-3.38236181e-01 -9.41056156e-01 3.09790394e-03 2.45386760e+02] [-9.41011983e-01 3.38250325e-01 9.11951330e-03 -1.10111678e+02] [-9.62984115e-03 1.69384621e-04 -9.99953618e-01 -4.12896372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.013936443449062554 Centerline is valid? [True, True] Translation: X:245.33, Y:-110.20, Z:-4.13 [[-2.67932991e-01 -9.63433661e-01 2.73738287e-03 2.45331988e+02] [-9.63374912e-01 2.67946889e-01 1.06415795e-02 -1.10200688e+02] [-1.09859291e-02 2.14104235e-04 -9.99939630e-01 -4.12805040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.013550152461311965 Centerline is valid? [True, True] Translation: X:245.28, Y:-110.30, Z:-4.13 [[-1.94334063e-01 -9.80933211e-01 2.07562668e-03 2.45280975e+02] [-9.80863876e-01 1.94345010e-01 1.16650550e-02 -1.10296591e+02] [-1.18460275e-02 2.31010301e-04 -9.99929807e-01 -4.12814423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.013418263972874375 Centerline is valid? [True, True] Translation: X:245.24, Y:-110.40, Z:-4.13 [[-1.17267909e-01 -9.93099572e-01 1.21555938e-03 2.45236011e+02] [-9.93026391e-01 1.17274026e-01 1.20577440e-02 -1.10396654e+02] [-1.21170940e-02 2.06903875e-04 -9.99926564e-01 -4.12802252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.012314497665129409 Centerline is valid? [True, True] Translation: X:245.20, Y:-110.50, Z:-4.13 [[-3.72093238e-02 -9.99307457e-01 2.68744181e-04 2.45198267e+02] [-9.99249556e-01 3.72100610e-02 1.07580961e-02 -1.10501574e+02] [-1.07606457e-02 1.31758978e-04 -9.99942094e-01 -4.13037678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.011710056635494615 Centerline is valid? [True, True] Translation: X:245.17, Y:-110.60, Z:-4.13 [[ 4.24404310e-02 -9.99098894e-01 -4.58652997e-04 2.45168730e+02] [-9.99057453e-01 -4.24428482e-02 9.10005836e-03 -1.10604374e+02] [-9.11132478e-03 7.20102957e-05 -9.99958488e-01 -4.13071811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.0106999491600002 Centerline is valid? [True, True] Translation: X:245.14, Y:-110.72, Z:-4.13 [[ 1.26886437e-01 -9.91916742e-01 -1.00448256e-03 2.45143360e+02] [-9.91884910e-01 -1.26890412e-01 7.94658838e-03 -1.10717185e+02] [-8.00981326e-03 -1.19831945e-05 -9.99967921e-01 -4.13193610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.011732462339551707 Centerline is valid? [True, True] Translation: X:245.13, Y:-110.83, Z:-4.13 [[ 2.12142597e-01 -9.77237261e-01 -1.68972284e-03 2.45126804e+02] [-9.77202156e-01 -2.12149300e-01 8.28380259e-03 -1.10827422e+02] [-8.45371407e-03 -1.06146598e-04 -9.99964261e-01 -4.13160170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.013505235968213729 Centerline is valid? [True, True] Translation: X:245.12, Y:-110.94, Z:-4.13 [[ 2.91851446e-01 -9.56460814e-01 -2.33349823e-03 2.45120968e+02] [-9.56425493e-01 -2.91860726e-01 8.22152131e-03 -1.10936303e+02] [-8.54461945e-03 -1.67645686e-04 -9.99963480e-01 -4.13108164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.016628407102998333 Centerline is valid? [True, True] Translation: X:245.12, Y:-111.04, Z:-4.13 [[ 3.69615647e-01 -9.29179150e-01 -3.22178306e-03 2.45123357e+02] [-9.29137758e-01 -3.69629604e-01 8.77394287e-03 -1.11044330e+02] [-9.34343118e-03 -2.49506288e-04 -9.99956318e-01 -4.13053382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.016734488230145565 Centerline is valid? [True, True] Translation: X:245.14, Y:-111.14, Z:-4.13 [[ 4.40375442e-01 -8.97805648e-01 -3.80638981e-03 2.45137927e+02] [-8.97766753e-01 -4.40391813e-01 8.36116769e-03 -1.11144235e+02] [-9.18300648e-03 -2.64802700e-04 -9.99957800e-01 -4.13087230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.01644337257353338 Centerline is valid? [True, True] Translation: X:245.16, Y:-111.24, Z:-4.13 [[ 5.06734950e-01 -8.62090576e-01 -4.41928554e-03 2.45163752e+02] [-8.62053121e-01 -5.06754151e-01 8.04029775e-03 -1.11243366e+02] [-9.17095621e-03 -2.64640989e-04 -9.99957911e-01 -4.13141165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.015924669862744784 Centerline is valid? [True, True] Translation: X:245.20, Y:-111.33, Z:-4.13 [[ 5.68150768e-01 -8.22902779e-01 -5.97674367e-03 2.45195066e+02] [-8.22851842e-01 -5.68182131e-01 9.16034829e-03 -1.11332732e+02] [-1.09339550e-02 -2.86484380e-04 -9.99940181e-01 -4.12955288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.0147872823768782 Centerline is valid? [True, True] Translation: X:245.24, Y:-111.42, Z:-4.13 [[ 6.26918761e-01 -7.79050368e-01 -7.30688678e-03 2.45236196e+02] [-7.78991987e-01 -6.26961274e-01 9.54177240e-03 -1.11423390e+02] [-1.20146563e-02 -2.89909886e-04 -9.99927779e-01 -4.12957692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.014283946010247147 Centerline is valid? [True, True] Translation: X:245.28, Y:-111.51, Z:-4.13 [[ 6.82390674e-01 -7.30940860e-01 -8.27205963e-03 2.45281776e+02] [-7.30882206e-01 -6.82440754e-01 9.26376827e-03 -1.11505722e+02] [-1.24164574e-02 -2.75607879e-04 -9.99922875e-01 -4.13085129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.014109490154403112 Centerline is valid? [True, True] Translation: X:245.34, Y:-111.59, Z:-4.13 [[ 7.35222161e-01 -6.77771866e-01 -8.58320072e-03 2.45336932e+02] [-6.77721497e-01 -7.35272214e-01 8.26703956e-03 -1.11589545e+02] [-1.19141558e-02 -2.61091049e-04 -9.99928990e-01 -4.13212570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.013952655892485896 Centerline is valid? [True, True] Translation: X:245.37, Y:-111.62, Z:-4.13 [[ 7.86043722e-01 -6.18099852e-01 -9.37230783e-03 2.45366106e+02] [-6.18051827e-01 -7.86099549e-01 7.70963640e-03 -1.11617578e+02] [-1.21328921e-02 -2.67539318e-04 -9.99926358e-01 -4.13233444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.014516197826125588 Centerline is valid? [True, True] Translation: X:245.40, Y:-111.64, Z:-4.13 [[ 8.32040019e-01 -5.54614173e-01 -1.06078188e-02 2.45398667e+02] [-5.54564667e-01 -8.32107587e-01 7.41571728e-03 -1.11640398e+02] [-1.29397084e-02 -2.87452017e-04 -9.99916237e-01 -4.13163084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.01495711804613291 Centerline is valid? [True, True] Translation: X:245.43, Y:-111.66, Z:-4.13 [[ 8.73074532e-01 -4.87429591e-01 -1.23796663e-02 2.45432519e+02] [-4.87375281e-01 -8.73162235e-01 7.28335025e-03 -1.11661730e+02] [-1.43595775e-02 -3.25364275e-04 -9.99896843e-01 -4.13070497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.014556185667234758 Centerline is valid? [True, True] Translation: X:245.47, Y:-111.68, Z:-4.13 [[ 9.08662859e-01 -4.17336025e-01 -1.27456197e-02 2.45469070e+02] [-4.17289916e-01 -9.08752186e-01 6.21212466e-03 -1.11677049e+02] [-1.41751532e-02 -3.26108394e-04 -9.99899474e-01 -4.13231836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.015104316459802362 Centerline is valid? [True, True] Translation: X:245.50, Y:-111.69, Z:-4.13 [[ 9.39230138e-01 -3.43040511e-01 -1.30366952e-02 2.45504221e+02] [-3.43002239e-01 -9.39320544e-01 5.13615506e-03 -1.11692868e+02] [-1.40075449e-02 -3.52415966e-04 -9.99901827e-01 -4.13340303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.016212793915060822 Centerline is valid? [True, True] Translation: X:245.54, Y:-111.71, Z:-4.13 [[ 9.63751894e-01 -2.66447346e-01 -1.37149070e-02 2.45539172e+02] [-2.66414555e-01 -9.63849396e-01 4.19846288e-03 -1.11709072e+02] [-1.43377742e-02 -3.92425696e-04 -9.99897132e-01 -4.13230334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.017566168843884056 Centerline is valid? [True, True] Translation: X:245.58, Y:-111.72, Z:-4.13 [[ 9.82136034e-01 -1.87568421e-01 -1.50631247e-02 2.45575826e+02] [-1.87539095e-01 -9.82251430e-01 3.34900013e-03 -1.11717816e+02] [-1.54239425e-02 -4.64248927e-04 -9.99880936e-01 -4.13193362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.01767536102126957 Centerline is valid? [True, True] Translation: X:245.61, Y:-111.72, Z:-4.13 [[ 9.93851091e-01 -1.09660712e-01 -1.53146058e-02 2.45612875e+02] [-1.09640343e-01 -9.93968965e-01 2.16592500e-03 -1.11724741e+02] [-1.54597598e-02 -4.73508286e-04 -9.99880379e-01 -4.13247367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.018222903349535483 Centerline is valid? [True, True] Translation: X:245.64, Y:-111.73, Z:-4.13 [[ 9.99359223e-01 -3.23231557e-02 -1.53739247e-02 2.45644688e+02] [-3.23122750e-02 -9.99477365e-01 9.55674813e-04 -1.11725062e+02] [-1.53967802e-02 -4.58295956e-04 -9.99881358e-01 -4.13264851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.016149402467023097 Centerline is valid? [True, True] Translation: X:245.68, Y:-111.72, Z:-4.13 [[ 9.98919029e-01 4.42765648e-02 -1.41548662e-02 2.45677516e+02] [ 4.42777436e-02 -9.99019233e-01 -2.30251620e-04 -1.11724322e+02] [-1.41511783e-02 -3.96742812e-04 -9.99899788e-01 -4.13475694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.015776878540980737 Centerline is valid? [True, True] Translation: X:245.71, Y:-111.72, Z:-4.13 [[ 9.92994380e-01 1.17268839e-01 -1.44976398e-02 2.45708619e+02] [ 1.17261238e-01 -9.93100150e-01 -1.37621198e-03 -1.11718773e+02] [-1.45589950e-02 -3.33440422e-04 -9.99893957e-01 -4.13474398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.013014110080377271 Centerline is valid? [True, True] Translation: X:245.74, Y:-111.71, Z:-4.13 [[ 9.82087076e-01 1.87773469e-01 -1.56875347e-02 2.45738665e+02] [ 1.87753618e-01 -9.82212330e-01 -2.74200396e-03 -1.11706557e+02] [-1.59233656e-02 -2.52504744e-04 -9.99873183e-01 -4.13478954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.01233461466007108 Centerline is valid? [True, True] Translation: X:245.77, Y:-111.70, Z:-4.13 [[ 9.65603159e-01 2.59525292e-01 -1.60362658e-02 2.45766243e+02] [ 2.59492674e-01 -9.65736294e-01 -4.11862188e-03 -1.11697188e+02] [-1.65556904e-02 -1.84339190e-04 -9.99862928e-01 -4.13424707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.011557469997591009 Centerline is valid? [True, True] Translation: X:245.79, Y:-111.69, Z:-4.14 [[ 9.43206625e-01 3.31866898e-01 -1.50208008e-02 2.45794593e+02] [ 3.31827109e-01 -9.43326213e-01 -5.14062930e-03 -1.11688919e+02] [-1.58755199e-02 -1.35633302e-04 -9.99873967e-01 -4.13627909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.01226127736734622 Centerline is valid? [True, True] Translation: X:245.82, Y:-111.69, Z:-4.14 [[ 9.13479469e-01 4.06638492e-01 -1.41561567e-02 2.45823905e+02] [ 4.06592456e-01 -9.13589136e-01 -6.12087203e-03 -1.11685227e+02] [-1.54218931e-02 -1.64495592e-04 -9.99881062e-01 -4.13545480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.012159365347444046 Centerline is valid? [True, True] Translation: X:245.85, Y:-111.68, Z:-4.14 [[ 8.77617337e-01 4.79146874e-01 -1.43555837e-02 2.45854297e+02] [ 4.79086754e-01 -8.77734714e-01 -7.59309519e-03 -1.11680232e+02] [-1.62386020e-02 -2.13738019e-04 -9.99868122e-01 -4.13706972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.012508917492015091 Centerline is valid? [True, True] Translation: X:245.89, Y:-111.67, Z:-4.14 [[ 8.35955281e-01 5.48584645e-01 -1.52857552e-02 2.45885096e+02] [ 5.48499137e-01 -8.36094974e-01 -9.68973207e-03 -1.11674264e+02] [-1.80959813e-02 -2.84040828e-04 -9.99836214e-01 -4.13654629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.013285890215143814 Centerline is valid? [True, True] Translation: X:245.91, Y:-111.67, Z:-4.14 [[ 7.89757250e-01 6.13234796e-01 -1.50522537e-02 2.45914505e+02] [ 6.13130998e-01 -7.89900617e-01 -1.12869100e-02 -1.11666730e+02] [-1.88113104e-02 -3.15084312e-04 -9.99823002e-01 -4.13519143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.014311576798425181 Centerline is valid? [True, True] Translation: X:245.94, Y:-111.66, Z:-4.13 [[ 7.38877884e-01 6.73689960e-01 -1.41884059e-02 2.45942035e+02] [ 6.73574273e-01 -7.39014025e-01 -1.24887816e-02 -1.11655450e+02] [-1.88989978e-02 -3.29260675e-04 -9.99821344e-01 -4.13450051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.013499845013915079 Centerline is valid? [True, True] Translation: X:245.97, Y:-111.64, Z:-4.14 [[ 6.84278962e-01 7.29104927e-01 -1.29733381e-02 2.45966547e+02] [ 7.28982555e-01 -6.84401860e-01 -1.33614319e-02 -1.11638559e+02] [-1.86208625e-02 -3.14390417e-04 -9.99826567e-01 -4.13696557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.012968627736937022 Centerline is valid? [True, True] Translation: X:245.99, Y:-111.62, Z:-4.14 [[ 6.26271748e-01 7.79524871e-01 -1.11657448e-02 2.45989661e+02] [ 7.79408612e-01 -6.26371218e-01 -1.34652246e-02 -1.11619810e+02] [-1.74903786e-02 -2.69787919e-04 -9.99846995e-01 -4.13942046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.012581526162758764 Centerline is valid? [True, True] Translation: X:246.01, Y:-111.60, Z:-4.14 [[ 5.65856864e-01 8.24455266e-01 -8.91760805e-03 2.46010733e+02] [ 8.24358200e-01 -5.65927096e-01 -1.26522979e-02 -1.11600310e+02] [-1.54779696e-02 -1.91913714e-04 -9.99880191e-01 -4.13979547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.012128161216432941 Centerline is valid? [True, True] Translation: X:246.03, Y:-111.58, Z:-4.14 [[ 5.01291238e-01 8.65245303e-01 -7.59341900e-03 2.46030014e+02] [ 8.65150704e-01 -5.01348722e-01 -1.27952510e-02 -1.11578521e+02] [-1.48779818e-02 -1.55304562e-04 -9.99889305e-01 -4.14030639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.011980421695340488 Centerline is valid? [True, True] Translation: X:246.05, Y:-111.56, Z:-4.14 [[ 4.33516806e-01 9.01118660e-01 -6.95260824e-03 2.46048247e+02] [ 9.01007815e-01 -4.33572533e-01 -1.41342467e-02 -1.11555166e+02] [-1.57510934e-02 -1.36920872e-04 -9.99875934e-01 -4.14075964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.012491397927233087 Centerline is valid? [True, True] Translation: X:246.06, Y:-111.53, Z:-4.14 [[ 3.62213864e-01 9.32073587e-01 -6.32021439e-03 2.46064301e+02] [ 9.31938268e-01 -3.62268974e-01 -1.58825685e-02 -1.11531896e+02] [-1.70933401e-02 -1.37163162e-04 -9.99853889e-01 -4.13811386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.012283077452182949 Centerline is valid? [True, True] Translation: X:246.08, Y:-111.51, Z:-4.14 [[ 2.87091756e-01 9.57885690e-01 -5.77306747e-03 2.46081763e+02] [ 9.57704179e-01 -2.87149741e-01 -1.86475386e-02 -1.11508017e+02] [-1.95199452e-02 -1.75336241e-04 -9.99809452e-01 -4.13825639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.013171277827205605 Centerline is valid? [True, True] Translation: X:246.10, Y:-111.48, Z:-4.13 [[ 2.11357902e-01 9.77397320e-01 -4.72403127e-03 2.46095856e+02] [ 9.77172750e-01 -2.11410605e-01 -2.09516717e-02 -1.11482972e+02] [-2.14768180e-02 -1.87893259e-04 -9.99769329e-01 -4.13392159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.012584865996715287 Centerline is valid? [True, True] Translation: X:246.10, Y:-111.46, Z:-4.14 [[ 1.36596935e-01 9.90621831e-01 -3.10887521e-03 2.46101919e+02] [ 9.90387592e-01 -1.36632240e-01 -2.15417800e-02 -1.11455008e+02] [-2.17645302e-02 -1.36450316e-04 -9.99763115e-01 -4.13558018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.011819676898882773 Centerline is valid? [True, True] Translation: X:246.11, Y:-111.43, Z:-4.14 [[ 6.20532813e-02 9.98071918e-01 -1.35519803e-03 2.46109257e+02] [ 9.97854539e-01 -6.20680490e-02 -2.08297176e-02 -1.11427238e+02] [-2.08736707e-02 -5.97381815e-05 -9.99782119e-01 -4.13930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.012041982787222679 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.40, Z:-4.14 [[-1.47742645e-02 9.99890826e-01 2.41207507e-04 2.46117084e+02] [ 9.99728426e-01 1.47762121e-02 -1.80204718e-02 -1.11400633e+02] [-1.80220686e-02 -2.50972153e-05 -9.99837589e-01 -4.13858630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.011752329765564562 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.37, Z:-4.14 [[-9.42631572e-02 9.95546171e-01 1.50982374e-03 2.46121515e+02] [ 9.95410841e-01 9.42752375e-02 -1.64145718e-02 -1.11373071e+02] [-1.64838031e-02 -4.43944391e-05 -9.99864132e-01 -4.14097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.011722526180278643 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.35, Z:-4.14 [[-1.72217034e-01 9.85055468e-01 2.64919406e-03 2.46123653e+02] [ 9.84934708e-01 1.72237402e-01 -1.54239819e-02 -1.11345174e+02] [-1.56497680e-02 -4.69892434e-05 -9.99877534e-01 -4.14084784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.011677420627786608 Centerline is valid? [True, True] Translation: X:246.13, Y:-111.32, Z:-4.14 [[-2.48624020e-01 9.68592738e-01 3.76892500e-03 2.46127047e+02] [ 9.68478838e-01 2.48652582e-01 -1.48537391e-02 -1.11316428e+02] [-1.53243768e-02 -4.28722291e-05 -9.99882574e-01 -4.14058938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.011836014874080125 Centerline is valid? [True, True] Translation: X:246.13, Y:-111.29, Z:-4.14 [[-3.23603627e-01 9.46178784e-01 5.13824082e-03 2.46127255e+02] [ 9.46057424e-01 3.23644415e-01 -1.51539559e-02 -1.11287944e+02] [-1.60013145e-02 -4.28042067e-05 -9.99871970e-01 -4.13985996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.01205957876290518 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.26, Z:-4.14 [[-3.97238632e-01 9.17692527e-01 6.47269999e-03 2.46124919e+02] [ 9.17568541e-01 3.97291359e-01 -1.50847128e-02 -1.11258832e+02] [-1.64146760e-02 -5.30848155e-05 -9.99865269e-01 -4.13904517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.012080622302954256 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.23, Z:-4.14 [[-4.69133943e-01 8.83099252e-01 7.00385840e-03 2.46123098e+02] [ 8.82998622e-01 4.69186217e-01 -1.33314240e-02 -1.11229144e+02] [-1.50590844e-02 -6.98261996e-05 -9.99886603e-01 -4.13933157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.01207815693130317 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.20, Z:-4.14 [[-5.37878637e-01 8.42997503e-01 6.46382271e-03 2.46118688e+02] [ 8.42935020e-01 5.37917470e-01 -1.02639284e-02 -1.11198945e+02] [-1.21294691e-02 -7.21652762e-05 -9.99926433e-01 -4.14002548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.012173004856098959 Centerline is valid? [True, True] Translation: X:246.11, Y:-111.17, Z:-4.14 [[-6.02315454e-01 7.98231169e-01 6.56466468e-03 2.46109389e+02] [ 7.98182553e-01 6.02351223e-01 -8.80996133e-03 -1.11171046e+02] [-1.09866195e-02 -6.65750391e-05 -9.99939643e-01 -4.14080721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.012329154268675408 Centerline is valid? [True, True] Translation: X:246.10, Y:-111.14, Z:-4.14 [[-6.64222477e-01 7.47506965e-01 6.46833632e-03 2.46097773e+02] [ 7.47470401e-01 6.64253966e-01 -7.39380656e-03 -1.11143873e+02] [-9.82353995e-03 -7.62425679e-05 -9.99951745e-01 -4.14096945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.012581512242875353 Centerline is valid? [True, True] Translation: X:246.08, Y:-111.12, Z:-4.14 [[-7.21547402e-01 6.92329067e-01 7.05767653e-03 2.46083115e+02] [ 6.92294751e-01 7.21581912e-01 -6.89357492e-03 -1.11118107e+02] [-9.86531402e-03 -8.80486482e-05 -9.99951333e-01 -4.14042866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.012758818760415437 Centerline is valid? [True, True] Translation: X:246.10, Y:-111.10, Z:-4.14 [[-7.69506139e-01 6.38599825e-01 7.11091506e-03 2.46102194e+02] [ 6.38571422e-01 7.69538988e-01 -6.02372655e-03 -1.11096166e+02] [-9.31887710e-03 -9.44674215e-05 -9.99956574e-01 -4.13974461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.01287631557434835 Centerline is valid? [True, True] Translation: X:246.12, Y:-111.08, Z:-4.14 [[-8.13092859e-01 5.82096883e-01 6.57422294e-03 2.46121848e+02] [ 5.82076980e-01 8.13119432e-01 -4.81440901e-03 -1.11076623e+02] [-8.14808091e-03 -8.78577524e-05 -9.99966800e-01 -4.14007485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.01276497710245582 Centerline is valid? [True, True] Translation: X:246.52, Y:-110.53, Z:-5.11 [[-7.59208887e-01 -6.50821647e-01 5.74891609e-03 2.46516608e+02] [ 6.50803440e-01 -7.59230651e-01 -4.86832586e-03 -1.10529562e+02] [ 7.53316516e-03 4.53381128e-05 9.99971624e-01 -5.11032564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.012692648678308034 Centerline is valid? [True, True] Translation: X:246.08, Y:-111.05, Z:-4.14 [[-8.15164561e-01 5.79198627e-01 5.97402354e-03 2.46082265e+02] [ 5.79182346e-01 8.15186447e-01 -4.34346367e-03 -1.11049826e+02] [-7.38567122e-03 -8.05886876e-05 -9.99972722e-01 -4.14022348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.012802585892764184 Centerline is valid? [True, True] Translation: X:246.10, Y:-111.03, Z:-4.14 [[-8.54587032e-01 5.19270801e-01 6.23215805e-03 2.46102534e+02] [ 5.19256249e-01 8.54609752e-01 -3.88849567e-03 -1.11032614e+02] [-7.34524530e-03 -8.69709617e-05 -9.99973020e-01 -4.14066055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.012987919135204822 Centerline is valid? [True, True] Translation: X:246.11, Y:-111.01, Z:-4.14 [[-8.89830314e-01 4.56245032e-01 6.51785101e-03 2.46111655e+02] [ 4.56231986e-01 8.89854180e-01 -3.45167042e-03 -1.11006599e+02] [-7.37474445e-03 -9.77488719e-05 -9.99972801e-01 -4.14062158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.01372156133262173 Centerline is valid? [True, True] Translation: X:246.13, Y:-110.98, Z:-4.14 [[-9.20721004e-01 3.90154408e-01 7.23677591e-03 2.46128294e+02] [ 3.90141308e-01 9.20749436e-01 -3.19950828e-03 -1.10982487e+02] [-7.91155959e-03 -1.22489258e-04 -9.99968696e-01 -4.13932750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.014107852188310939 Centerline is valid? [True, True] Translation: X:246.14, Y:-110.96, Z:-4.14 [[-9.46755613e-01 3.21832638e-01 8.80692385e-03 2.46140245e+02] [ 3.21817065e-01 9.46796560e-01 -3.17041359e-03 -1.10957420e+02] [-9.35870777e-03 -1.67388480e-04 -9.99956192e-01 -4.13795462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.014482518926268083 Centerline is valid? [True, True] Translation: X:246.15, Y:-110.93, Z:-4.14 [[-9.67350509e-01 2.53278286e-01 9.11607127e-03 2.46146683e+02] [ 2.53265324e-01 9.67393446e-01 -2.56847321e-03 -1.10932135e+02] [-9.46936609e-03 -1.75829127e-04 -9.99955149e-01 -4.13826679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.01382173988926704 Centerline is valid? [True, True] Translation: X:246.15, Y:-110.91, Z:-4.14 [[-9.82670614e-01 1.85169980e-01 8.39900932e-03 2.46149395e+02] [ 1.85161906e-01 9.82706495e-01 -1.73572004e-03 -1.10909177e+02] [-8.57516426e-03 -1.50464506e-04 -9.99963221e-01 -4.13991381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.014166376036427697 Centerline is valid? [True, True] Translation: X:246.16, Y:-110.88, Z:-4.14 [[-9.93202565e-01 1.16187429e-01 7.01050795e-03 2.46155181e+02] [ 1.16183702e-01 9.93227299e-01 -9.37877927e-04 -1.10883480e+02] [-7.07199750e-03 -1.16995993e-04 -9.99974986e-01 -4.14039860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.013069335605584993 Centerline is valid? [True, True] Translation: X:246.16, Y:-110.86, Z:-4.14 [[-9.98865375e-01 4.72659786e-02 5.82154600e-03 2.46158784e+02] [ 4.72646687e-02 9.98882335e-01 -3.62444434e-04 -1.10861030e+02] [-5.83217076e-03 -8.68797521e-05 -9.99982989e-01 -4.14246135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.013228313796576567 Centerline is valid? [True, True] Translation: X:246.20, Y:-110.17, Z:-5.11 [[-9.90064382e-01 -1.40501193e-01 5.65106281e-03 2.46200174e+02] [ 1.40499345e-01 -9.90080506e-01 -7.24652906e-04 -1.10169914e+02] [ 5.69682172e-03 7.65175940e-05 9.99983770e-01 -5.10925077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.012587124268005501 Centerline is valid? [True, True] Translation: X:246.11, Y:-110.86, Z:-4.14 [[-9.98903331e-01 4.61503848e-02 7.89166002e-03 2.46105543e+02] [ 4.61482266e-02 9.98934499e-01 -4.55452364e-04 -1.10861589e+02] [-7.90427075e-03 -9.07667687e-05 -9.99968757e-01 -4.14028083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.012355908295432979 Centerline is valid? [True, True] Translation: X:246.10, Y:-110.84, Z:-4.14 [[-9.99684926e-01 -2.35163166e-02 8.77672449e-03 2.46104498e+02] [-2.35161811e-02 9.99723449e-01 1.18652663e-04 -1.10835471e+02] [-8.77708755e-03 -8.77797633e-05 -9.99961477e-01 -4.13973447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.012310657530284583 Centerline is valid? [True, True] Translation: X:246.10, Y:-110.81, Z:-4.14 [[-9.95529081e-01 -9.39550284e-02 9.71085245e-03 2.46097349e+02] [-9.39514566e-02 9.95576438e-01 8.24353622e-04 -1.10808838e+02] [-9.74534806e-03 -9.16807284e-05 -9.99952509e-01 -4.13943272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.012317018710056308 Centerline is valid? [True, True] Translation: X:246.04, Y:-110.11, Z:-5.11 [[-9.99905263e-01 9.28067001e-03 1.01653349e-02 2.46041161e+02] [-9.27893875e-03 -9.99956926e-01 2.17461269e-04 -1.10111462e+02] [ 1.01669152e-02 1.23117148e-04 9.99948308e-01 -5.11158853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.012932793700849628 Centerline is valid? [True, True] Translation: X:246.02, Y:-110.81, Z:-4.14 [[-9.94914658e-01 -1.00106627e-01 1.11124399e-02 2.46018296e+02] [-1.00101671e-01 9.94976708e-01 1.00272702e-03 -1.10813870e+02] [-1.11569985e-02 -1.14745988e-04 -9.99937752e-01 -4.13888709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.013301334791034172 Centerline is valid? [True, True] Translation: X:245.96, Y:-110.12, Z:-5.11 [[-9.99859460e-01 1.17171393e-02 1.19903341e-02 2.45958199e+02] [-1.17141441e-02 -9.99931336e-01 3.20002924e-04 -1.10121915e+02] [ 1.19932603e-02 1.79501450e-04 9.99928062e-01 -5.11120675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.013632273613172138 Centerline is valid? [True, True] Translation: X:245.94, Y:-110.82, Z:-4.14 [[-9.94019085e-01 -1.08539763e-01 1.20490004e-02 2.45939259e+02] [-1.08533803e-01 9.94092095e-01 1.14935226e-03 -1.10817366e+02] [-1.21025664e-02 -1.65245758e-04 -9.99926748e-01 -4.13993886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.01424341071780068 Centerline is valid? [True, True] Translation: X:245.87, Y:-110.14, Z:-5.11 [[-9.99847554e-01 1.26920850e-02 1.19908389e-02 2.45869965e+02] [-1.26892966e-02 -9.99919440e-01 3.08599784e-04 -1.10135268e+02] [ 1.19937897e-02 1.56397428e-04 9.99928060e-01 -5.11047329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.014322013490346574 Centerline is valid? [True, True] Translation: X:245.86, Y:-110.82, Z:-4.14 [[-9.93001000e-01 -1.17496339e-01 1.19842944e-02 2.45856736e+02] [-1.17490328e-01 9.93073294e-01 1.20683467e-03 -1.10819163e+02] [-1.20430814e-02 -2.09650658e-04 -9.99927457e-01 -4.14159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.01492837762046375 Centerline is valid? [True, True] Translation: X:245.85, Y:-110.79, Z:-4.14 [[-9.81617776e-01 -1.90460971e-01 1.22947421e-02 2.45845135e+02] [-1.90449217e-01 9.81694737e-01 2.13066037e-03 -1.10789259e+02] [-1.24754912e-02 -2.50029900e-04 -9.99922147e-01 -4.14102085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.015282967628849882 Centerline is valid? [True, True] Translation: X:245.83, Y:-110.76, Z:-4.14 [[-9.65216325e-01 -2.61115521e-01 1.32714047e-02 2.45831065e+02] [-2.61094951e-01 9.65307516e-01 3.29019981e-03 -1.10761887e+02] [-1.36701089e-02 -2.89342178e-04 -9.99906518e-01 -4.13989036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.015060423734405222 Centerline is valid? [True, True] Translation: X:245.81, Y:-110.74, Z:-4.14 [[-9.44308046e-01 -3.28755150e-01 1.42255244e-02 2.45805837e+02] [-3.28722683e-01 9.44415141e-01 4.63021446e-03 -1.10741089e+02] [-1.49570075e-02 -3.03903779e-04 -9.99888092e-01 -4.13959897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.014349707951975071 Centerline is valid? [True, True] Translation: X:245.77, Y:-110.73, Z:-4.14 [[-9.19138236e-01 -3.93707867e-01 1.33798040e-02 2.45771953e+02] [-3.93670168e-01 9.19235580e-01 5.45411093e-03 -1.10725572e+02] [-1.44465182e-02 -2.54147785e-04 -9.99895611e-01 -4.14057101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.01420987144931664 Centerline is valid? [True, True] Translation: X:245.72, Y:-110.72, Z:-4.14 [[-8.88678520e-01 -4.58350714e-01 1.28495999e-02 2.45715010e+02] [-4.58306461e-01 8.88771384e-01 6.37304609e-03 -1.10720850e+02] [-1.43414469e-02 -2.25465466e-04 -9.99897131e-01 -4.13995641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.013360265023883775 Centerline is valid? [True, True] Translation: X:245.65, Y:-110.73, Z:-4.14 [[-8.53869902e-01 -5.20322919e-01 1.30479963e-02 2.45652235e+02] [-5.20265685e-01 8.53969567e-01 7.71979303e-03 -1.10725289e+02] [-1.51593770e-02 -1.96725795e-04 -9.99885071e-01 -4.13968864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.013107604338877822 Centerline is valid? [True, True] Translation: X:245.58, Y:-110.74, Z:-4.14 [[-8.13967289e-01 -5.80753374e-01 1.35193248e-02 2.45580347e+02] [-5.80677001e-01 8.14079533e-01 9.41991993e-03 -1.10740151e+02] [-1.64764559e-02 -1.82854294e-04 -9.99864237e-01 -4.13872116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.012744705321644777 Centerline is valid? [True, True] Translation: X:245.50, Y:-110.77, Z:-4.14 [[-7.69968795e-01 -6.37963000e-01 1.22989736e-02 2.45504624e+02] [-6.37884442e-01 7.70067005e-01 1.00123654e-02 -1.10765507e+02] [-1.58585525e-02 -1.36114977e-04 -9.99874236e-01 -4.13974552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.012449953087777467 Centerline is valid? [True, True] Translation: X:245.42, Y:-110.80, Z:-4.14 [[-7.20786732e-01 -6.93064865e-01 1.12951181e-02 2.45424093e+02] [-6.92982312e-01 7.20875217e-01 1.06974813e-02 -1.10801666e+02] [-1.55564192e-02 -1.16714512e-04 -9.99878985e-01 -4.14109744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.012358874017715479 Centerline is valid? [True, True] Translation: X:245.34, Y:-110.85, Z:-4.14 [[-6.67500050e-01 -7.44543707e-01 9.91724747e-03 2.45343685e+02] [-7.44463590e-01 6.67573712e-01 1.09226198e-02 -1.10845996e+02] [-1.47528615e-02 -9.21803825e-05 -9.99891166e-01 -4.14044579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.012168739717325145 Centerline is valid? [True, True] Translation: X:245.26, Y:-110.90, Z:-4.14 [[-6.08984501e-01 -7.93133478e-01 8.78427968e-03 2.45260191e+02] [-7.93053258e-01 6.09047844e-01 1.12806816e-02 -1.10902083e+02] [-1.42971328e-02 -9.66413518e-05 -9.99897786e-01 -4.14153721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.011931139196000366 Centerline is valid? [True, True] Translation: X:245.18, Y:-110.96, Z:-4.14 [[-5.46823468e-01 -8.37207673e-01 8.21016036e-03 2.45180649e+02] [-8.37116210e-01 5.46885089e-01 1.23753480e-02 -1.10964561e+02] [-1.48507506e-02 -1.05727618e-04 -9.99889716e-01 -4.14208517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.011864681446040859 Centerline is valid? [True, True] Translation: X:245.10, Y:-111.04, Z:-4.14 [[-4.82281929e-01 -8.75988194e-01 6.98746223e-03 2.45104095e+02] [-8.75899003e-01 4.82332536e-01 1.25004312e-02 -1.11037713e+02] [-1.43205105e-02 -9.15791215e-05 -9.99897452e-01 -4.14144778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.01216042943769685 Centerline is valid? [True, True] Translation: X:245.03, Y:-111.12, Z:-4.14 [[-4.14768854e-01 -9.09911215e-01 5.32726924e-03 2.45031798e+02] [-9.09838451e-01 4.14803057e-01 1.15072638e-02 -1.11119266e+02] [-1.26803560e-02 -7.40997727e-05 -9.99919598e-01 -4.14111063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.011911886033453507 Centerline is valid? [True, True] Translation: X:244.96, Y:-111.21, Z:-4.14 [[-3.43942599e-01 -9.38980937e-01 4.27653400e-03 2.44964334e+02] [-9.38911017e-01 3.43969177e-01 1.14589681e-02 -1.11206570e+02] [-1.22307485e-02 -7.40576023e-05 -9.99925199e-01 -4.14233114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.01177760009738357 Centerline is valid? [True, True] Translation: X:244.90, Y:-111.30, Z:-4.14 [[-2.71036291e-01 -9.62563193e-01 3.38064003e-03 2.44903010e+02] [-9.62491775e-01 2.71057363e-01 1.17255774e-02 -1.11303999e+02] [-1.22029566e-02 -7.57812232e-05 -9.99925538e-01 -4.14280589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.0119804146542664 Centerline is valid? [True, True] Translation: X:244.85, Y:-111.41, Z:-4.14 [[-1.95179960e-01 -9.80764473e-01 2.41483070e-03 2.44847308e+02] [-9.80695128e-01 1.95194876e-01 1.16630295e-02 -1.11407263e+02] [-1.19100475e-02 -9.18230846e-05 -9.99929069e-01 -4.14181938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.012126519382553089 Centerline is valid? [True, True] Translation: X:244.80, Y:-111.52, Z:-4.14 [[-1.18650962e-01 -9.92934990e-01 1.43363825e-03 2.44801182e+02] [-9.92872066e-01 1.18659583e-01 1.11786860e-02 -1.11515535e+02] [-1.12698234e-02 -9.70575212e-05 -9.99936489e-01 -4.14218397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.012159153730658578 Centerline is valid? [True, True] Translation: X:244.76, Y:-111.63, Z:-4.14 [[-3.96893374e-02 -9.99211902e-01 5.75246447e-04 2.44762991e+02] [-9.99147985e-01 3.96933053e-02 1.13024302e-02 -1.11626781e+02] [-1.13163562e-02 -1.26170362e-04 -9.99935960e-01 -4.14350798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.012857695443338354 Centerline is valid? [True, True] Translation: X:244.73, Y:-111.74, Z:-4.14 [[ 3.86541160e-02 -9.99252599e-01 -3.21058157e-04 2.44732091e+02] [-9.99175652e-01 -3.86551240e-02 1.24015350e-02 -1.11742785e+02] [-1.24046766e-02 -1.58576879e-04 -9.99923046e-01 -4.14094832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.013363651689834596 Centerline is valid? [True, True] Translation: X:244.71, Y:-111.86, Z:-4.14 [[ 1.17680531e-01 -9.93050804e-01 -1.18040583e-03 2.44710946e+02] [-9.92984528e-01 -1.17686316e-01 1.14742627e-02 -1.11858661e+02] [-1.15334434e-02 -1.78172609e-04 -9.99933472e-01 -4.14120012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.013941218834399206 Centerline is valid? [True, True] Translation: X:244.70, Y:-111.98, Z:-4.14 [[ 1.94300115e-01 -9.80940422e-01 -1.83129622e-03 2.44697996e+02] [-9.80888290e-01 -1.94308671e-01 1.01144990e-02 -1.11975057e+02] [-1.02775576e-02 -1.68951292e-04 -9.99947170e-01 -4.14163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.013235574720505672 Centerline is valid? [True, True] Translation: X:244.70, Y:-112.09, Z:-4.14 [[ 2.67577507e-01 -9.63533066e-01 -2.51175177e-03 2.44696765e+02] [-9.63485199e-01 -2.67589254e-01 9.60539875e-03 -1.12091874e+02] [-9.92723709e-03 -1.50153003e-04 -9.99950712e-01 -4.14233700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.012647834501419283 Centerline is valid? [True, True] Translation: X:244.71, Y:-112.20, Z:-4.14 [[ 3.36751493e-01 -9.41587455e-01 -3.39072407e-03 2.44706883e+02] [-9.41536269e-01 -3.36768544e-01 9.81844515e-03 -1.12204202e+02] [-1.03868140e-02 -1.13886381e-04 -9.99946049e-01 -4.14223832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.01198927759191781 Centerline is valid? [True, True] Translation: X:244.73, Y:-112.32, Z:-4.14 [[ 4.02903123e-01 -9.15232936e-01 -4.21264335e-03 2.44725084e+02] [-9.15181363e-01 -4.02925142e-01 9.71614427e-03 -1.12316122e+02] [-1.05899152e-02 -5.93321960e-05 -9.99943924e-01 -4.14231567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.012004655416603496 Centerline is valid? [True, True] Translation: X:244.75, Y:-112.42, Z:-4.14 [[ 4.70732296e-01 -8.82262203e-01 -4.95086671e-03 2.44748223e+02] [-8.82212346e-01 -4.70758328e-01 9.37943704e-03 -1.12424929e+02] [-1.06057845e-02 -4.74881985e-05 -9.99943756e-01 -4.14163757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.011908781555614971 Centerline is valid? [True, True] Translation: X:244.78, Y:-112.53, Z:-4.14 [[ 5.34915656e-01 -8.44885689e-01 -5.78048023e-03 2.44783545e+02] [-8.44835872e-01 -5.34946887e-01 9.17477647e-03 -1.12534601e+02] [-1.08438872e-02 -2.41745127e-05 -9.99941203e-01 -4.14147286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.012108887840420714 Centerline is valid? [True, True] Translation: X:244.83, Y:-112.64, Z:-4.14 [[ 5.96820045e-01 -8.02348466e-01 -6.54004706e-03 2.44825461e+02] [-8.02300114e-01 -5.96855877e-01 8.80843512e-03 -1.12637632e+02] [-1.09708999e-02 -9.97014094e-06 -9.99939818e-01 -4.14053656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.012019248741611472 Centerline is valid? [True, True] Translation: X:244.87, Y:-112.74, Z:-4.14 [[ 6.56251460e-01 -7.54509528e-01 -7.02805095e-03 2.44870597e+02] [-7.54466087e-01 -6.56289091e-01 8.09644544e-03 -1.12735586e+02] [-1.07212784e-02 -1.08780410e-05 -9.99942525e-01 -4.14128376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.012024894838571712 Centerline is valid? [True, True] Translation: X:244.93, Y:-112.83, Z:-4.14 [[ 7.12349919e-01 -7.01792387e-01 -6.71103217e-03 2.44926477e+02] [-7.01761003e-01 -7.12381531e-01 6.63694805e-03 -1.12834067e+02] [-9.43857499e-03 -1.82887432e-05 -9.99955455e-01 -4.14213241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.012169328791826474 Centerline is valid? [True, True] Translation: X:244.95, Y:-112.86, Z:-4.14 [[ 7.66719759e-01 -6.41943714e-01 -7.00569116e-03 2.44947046e+02] [-6.41916416e-01 -7.66751763e-01 5.92019530e-03 -1.12860742e+02] [-9.17205821e-03 -4.20625477e-05 -9.99957935e-01 -4.14194814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.012407213589816736 Centerline is valid? [True, True] Translation: X:244.97, Y:-112.88, Z:-4.14 [[ 8.16243892e-01 -5.77659932e-01 -7.41020035e-03 2.44972169e+02] [-5.77635366e-01 -8.16277525e-01 5.32781376e-03 -1.12884637e+02] [-9.12644454e-03 -6.84016464e-05 -9.99958351e-01 -4.14215585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.013162447619247534 Centerline is valid? [True, True] Translation: X:245.00, Y:-112.91, Z:-4.14 [[ 8.60835200e-01 -5.08836221e-01 -6.96118610e-03 2.44998234e+02] [-5.08818715e-01 -8.60863341e-01 4.22175884e-03 -1.12905438e+02] [-8.14081373e-03 -9.22568526e-05 -9.99966859e-01 -4.14200916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.014623999398678745 Centerline is valid? [True, True] Translation: X:245.03, Y:-112.92, Z:-4.14 [[ 8.99755855e-01 -4.36319985e-01 -8.01703397e-03 2.45028185e+02] [-4.36301294e-01 -8.99791560e-01 4.04096627e-03 -1.12921894e+02] [-8.97681385e-03 -1.38040761e-04 -9.99959698e-01 -4.14146924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.015002700033118386 Centerline is valid? [True, True] Translation: X:245.06, Y:-112.93, Z:-4.14 [[ 9.31590267e-01 -3.63381784e-01 -9.65676279e-03 2.45060877e+02] [-3.63360327e-01 -9.31640300e-01 3.95267784e-03 -1.12933853e+02] [-1.04329605e-02 -1.73391716e-04 -9.99945560e-01 -4.13933664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.015205237590459164 Centerline is valid? [True, True] Translation: X:245.09, Y:-112.94, Z:-4.14 [[ 9.57164227e-01 -2.89367462e-01 -1.01545362e-02 2.45094496e+02] [-2.89349207e-01 -9.57218074e-01 3.25518057e-03 -1.12941873e+02] [-1.06620490e-02 -1.77535388e-04 -9.99943143e-01 -4.13902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.01510732615644866 Centerline is valid? [True, True] Translation: X:245.13, Y:-112.94, Z:-4.14 [[ 9.76727765e-01 -2.14218475e-01 -1.06450890e-02 2.45129735e+02] [-2.14203790e-01 -9.76785757e-01 2.51432991e-03 -1.12944197e+02] [-1.09365872e-02 -1.75597433e-04 -9.99940178e-01 -4.13864782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.014863105499871479 Centerline is valid? [True, True] Translation: X:245.17, Y:-112.94, Z:-4.14 [[ 9.90342822e-01 -1.38264707e-01 -1.01963760e-02 2.45165677e+02] [-1.38255769e-01 -9.90395298e-01 1.57973119e-03 -1.12940799e+02] [-1.03168639e-02 -1.54767647e-04 -9.99946768e-01 -4.14006455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.013885623802685126 Centerline is valid? [True, True] Translation: X:245.20, Y:-112.94, Z:-4.14 [[ 9.98124335e-01 -6.04968193e-02 -9.37803620e-03 2.45196415e+02] [-6.04928349e-02 -9.98168380e-01 7.08204936e-04 -1.12940774e+02] [-9.40370335e-03 -1.39572585e-04 -9.99955774e-01 -4.14198750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.01424755777712107 Centerline is valid? [True, True] Translation: X:245.23, Y:-112.94, Z:-4.14 [[ 9.99752094e-01 2.00651095e-02 -9.65102476e-03 2.45226275e+02] [ 2.00657594e-02 -9.99798662e-01 -2.94945280e-05 -1.12943032e+02] [-9.64967345e-03 -1.64167924e-04 -9.99953427e-01 -4.14236448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.015365678226219905 Centerline is valid? [True, True] Translation: X:245.26, Y:-112.94, Z:-4.14 [[ 9.94850812e-01 1.00780809e-01 -1.07280399e-02 2.45256237e+02] [ 1.00777219e-01 -9.94908631e-01 -8.76070644e-04 -1.12944455e+02] [-1.07617106e-02 -2.09582434e-04 -9.99942069e-01 -4.14090396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.014851697615382678 Centerline is valid? [True, True] Translation: X:245.29, Y:-112.95, Z:-4.14 [[ 9.83070553e-01 1.82846182e-01 -1.18136631e-02 2.45287631e+02] [ 1.82836473e-01 -9.83141491e-01 -1.90585194e-03 -1.12948368e+02] [-1.19629801e-02 -2.86381573e-04 -9.99928400e-01 -4.14152949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.015768345210217822 Centerline is valid? [True, True] Translation: X:245.32, Y:-112.95, Z:-4.14 [[ 9.65119856e-01 2.61589277e-01 -1.07104622e-02 2.45319304e+02] [ 2.61576498e-01 -9.65179240e-01 -2.60189676e-03 -1.12951565e+02] [-1.10181441e-02 -2.90462970e-04 -9.99939256e-01 -4.14212435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.016711430511176666 Centerline is valid? [True, True] Translation: X:245.35, Y:-112.95, Z:-4.14 [[ 9.41330353e-01 3.37381773e-01 -8.40861563e-03 2.45349526e+02] [ 3.37370616e-01 -9.41367877e-01 -2.75461350e-03 -1.12950156e+02] [-8.84495703e-03 -2.43818538e-04 -9.99960853e-01 -4.14316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.01615296896008287 Centerline is valid? [True, True] Translation: X:245.38, Y:-112.94, Z:-4.14 [[ 9.12403003e-01 4.09227499e-01 -7.32215014e-03 2.45379855e+02] [ 4.09216178e-01 -9.12432359e-01 -3.05124899e-03 -1.12943972e+02] [-7.92962171e-03 -2.12373549e-04 -9.99968538e-01 -4.14385173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.015285094787110858 Centerline is valid? [True, True] Translation: X:245.41, Y:-112.93, Z:-4.14 [[ 8.79018278e-01 4.76740267e-01 -6.75161541e-03 2.45408252e+02] [ 4.76727771e-01 -8.79044188e-01 -3.45640315e-03 -1.12933831e+02] [-7.58277485e-03 -1.80441020e-04 -9.99971234e-01 -4.14343015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.01445845658019956 Centerline is valid? [True, True] Translation: X:245.44, Y:-112.92, Z:-4.14 [[ 8.40500389e-01 5.41767652e-01 -6.84888373e-03 2.45436332e+02] [ 5.41751288e-01 -8.40528276e-01 -4.21413477e-03 -1.12923249e+02] [-8.03976233e-03 -1.68409666e-04 -9.99967666e-01 -4.14249347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.01379667105555458 Centerline is valid? [True, True] Translation: X:245.46, Y:-112.91, Z:-4.14 [[ 7.97312936e-01 6.03526035e-01 -6.95753456e-03 2.45463194e+02] [ 6.03504733e-01 -7.97343277e-01 -5.07299265e-03 -1.12910816e+02] [-8.60922654e-03 -1.54142375e-04 -9.99962928e-01 -4.14161440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.013546596892041435 Centerline is valid? [True, True] Translation: X:245.49, Y:-112.90, Z:-4.14 [[ 7.48824333e-01 6.62732377e-01 -6.92198915e-03 2.45488791e+02] [ 6.62705856e-01 -7.48856311e-01 -5.93075786e-03 -1.12896227e+02] [-9.11408051e-03 -1.46146939e-04 -9.99958455e-01 -4.14123417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.01331790548009656 Centerline is valid? [True, True] Translation: X:245.51, Y:-112.88, Z:-4.14 [[ 6.95256837e-01 7.18725807e-01 -7.15161162e-03 2.45512454e+02] [ 7.18690029e-01 -6.95293601e-01 -7.17295198e-03 -1.12880051e+02] [-1.01278555e-02 -1.52748054e-04 -9.99948700e-01 -4.14154995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.013598653013795632 Centerline is valid? [True, True] Translation: X:245.54, Y:-112.86, Z:-4.14 [[ 6.37154745e-01 7.70707274e-01 -6.64290179e-03 2.45536226e+02] [ 7.70667829e-01 -6.37189355e-01 -7.79889598e-03 -1.12864245e+02] [-1.02434522e-02 -1.50367126e-04 -9.99947523e-01 -4.14038884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.01348474123247132 Centerline is valid? [True, True] Translation: X:245.56, Y:-112.85, Z:-4.14 [[ 5.74657291e-01 8.18371527e-01 -6.08616969e-03 2.45558686e+02] [ 8.18328450e-01 -5.74689498e-01 -8.39814055e-03 -1.12845856e+02] [-1.03704569e-02 -1.54433120e-04 -9.99946213e-01 -4.13977175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.013942859441945819 Centerline is valid? [True, True] Translation: X:245.58, Y:-112.83, Z:-4.14 [[ 5.09174291e-01 8.60647205e-01 -5.28488011e-03 2.45577785e+02] [ 8.60603802e-01 -5.09201696e-01 -8.64453650e-03 -1.12826137e+02] [-1.01309661e-02 -1.46612170e-04 -9.99948670e-01 -4.13890315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.013423803726653435 Centerline is valid? [True, True] Translation: X:245.59, Y:-112.80, Z:-4.14 [[ 4.40712297e-01 8.97639668e-01 -3.96217029e-03 2.45593020e+02] [ 8.97605855e-01 -4.40730090e-01 -7.79211399e-03 -1.12802719e+02] [-8.74075828e-03 -1.22386793e-04 -9.99961791e-01 -4.14065909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.013245709070379072 Centerline is valid? [True, True] Translation: X:245.61, Y:-112.78, Z:-4.14 [[ 3.69713623e-01 9.29140987e-01 -2.97695607e-03 2.45608164e+02] [ 9.29113104e-01 -3.69725594e-01 -7.19893486e-03 -1.12779082e+02] [-7.78948229e-03 -1.04384603e-04 -9.99969656e-01 -4.14125576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.013021091811575729 Centerline is valid? [True, True] Translation: X:245.62, Y:-112.76, Z:-4.14 [[ 2.95300006e-01 9.55402075e-01 -2.18656816e-03 2.45624963e+02] [ 9.55378314e-01 -2.95308084e-01 -6.73889624e-03 -1.12755859e+02] [-7.08406670e-03 -9.90037099e-05 -9.99974903e-01 -4.14139618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.013893677875766636 Centerline is valid? [True, True] Translation: X:245.64, Y:-112.73, Z:-4.14 [[ 2.18752536e-01 9.75779197e-01 -1.51215528e-03 2.45641249e+02] [ 9.75758841e-01 -2.18757741e-01 -6.30352459e-03 -1.12732210e+02] [-6.48164383e-03 -9.65868925e-05 -9.99978989e-01 -4.14011389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.013258369707653702 Centerline is valid? [True, True] Translation: X:245.65, Y:-112.71, Z:-4.14 [[ 1.42020049e-01 9.89863239e-01 -1.03593481e-03 2.45651790e+02] [ 9.89841626e-01 -1.42023794e-01 -6.54190613e-03 -1.12705848e+02] [-6.62271979e-03 -9.63295697e-05 -9.99978065e-01 -4.14074295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.013829609749287474 Centerline is valid? [True, True] Translation: X:245.66, Y:-112.68, Z:-4.14 [[ 6.58206788e-02 9.97831352e-01 -4.81660897e-04 2.45661754e+02] [ 9.97812668e-01 -6.58223942e-02 -6.10677083e-03 -1.12679765e+02] [-6.12523147e-03 -7.86555432e-05 -9.99981238e-01 -4.13972571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.012569188928554222 Centerline is valid? [True, True] Translation: X:245.67, Y:-112.65, Z:-4.14 [[-1.12532037e-02 9.99936681e-01 -1.98986546e-06 2.45666886e+02] [ 9.99918888e-01 1.12529916e-02 -5.96545877e-03 -1.12652325e+02] [-5.96505865e-03 -6.91202267e-05 -9.99982206e-01 -4.14113826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.012495797256875555 Centerline is valid? [True, True] Translation: X:245.67, Y:-112.62, Z:-4.14 [[-8.82182514e-02 9.96101049e-01 4.89734921e-04 2.45672611e+02] [ 9.96081407e-01 8.82195875e-02 -6.25585311e-03 -1.12624655e+02] [-6.27466606e-03 -6.40645734e-05 -9.99980312e-01 -4.14035839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.012312432018592466 Centerline is valid? [True, True] Translation: X:245.68, Y:-112.60, Z:-4.14 [[-1.65235468e-01 9.86253595e-01 1.04259372e-03 2.45676600e+02] [ 9.86231486e-01 1.65238745e-01 -6.60402585e-03 -1.12596519e+02] [-6.68552111e-03 -6.29805495e-05 -9.99977650e-01 -4.14005269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.011972000131444475 Centerline is valid? [True, True] Translation: X:245.68, Y:-112.57, Z:-4.14 [[-2.39548536e-01 9.70883147e-01 1.55357507e-03 2.45676882e+02] [ 9.70861467e-01 2.39553570e-01 -6.48837543e-03 -1.12568387e+02] [-6.67161881e-03 -4.59746690e-05 -9.99977743e-01 -4.13972232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.01159011590179051 Centerline is valid? [True, True] Translation: X:245.68, Y:-112.54, Z:-4.14 [[-3.11775692e-01 9.50154029e-01 1.79953790e-03 2.45676241e+02] [ 9.50137791e-01 3.11780885e-01 -5.55495335e-03 -1.12540090e+02] [-5.83912282e-03 -2.20904572e-05 -9.99982952e-01 -4.14120786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.011517543924502934 Centerline is valid? [True, True] Translation: X:245.67, Y:-112.51, Z:-4.14 [[-3.80045847e-01 9.24966615e-01 1.38393600e-03 2.45671217e+02] [ 9.24960526e-01 3.80048367e-01 -3.35617954e-03 -1.12512783e+02] [-3.63031665e-03 4.58406763e-06 -9.99993410e-01 -4.14346849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.012234889585773122 Centerline is valid? [True, True] Translation: X:245.66, Y:-112.49, Z:-4.14 [[-4.45636164e-01 8.95213255e-01 1.27970639e-03 2.45664641e+02] [ 8.95209694e-01 4.45638001e-01 -2.52485328e-03 -1.12487111e+02] [-2.83056792e-03 2.04396376e-05 -9.99995994e-01 -4.14341112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.012874724336521662 Centerline is valid? [True, True] Translation: X:245.66, Y:-112.46, Z:-4.14 [[-5.10699520e-01 8.59757512e-01 1.73776420e-03 2.45657416e+02] [ 8.59752795e-01 5.10702476e-01 -2.84828832e-03 -1.12459714e+02] [-3.33631775e-03 3.94281517e-05 -9.99994434e-01 -4.14320002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.013806759684792067 Centerline is valid? [True, True] Translation: X:245.65, Y:-112.43, Z:-4.14 [[-5.72909048e-01 8.19615873e-01 2.24561873e-03 2.45649212e+02] [ 8.19610003e-01 5.72913446e-01 -3.10269729e-03 -1.12432379e+02] [-3.82956511e-03 6.29682257e-05 -9.99992665e-01 -4.14281236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.014187362869514674 Centerline is valid? [True, True] Translation: X:245.64, Y:-112.41, Z:-4.14 [[-6.35320143e-01 7.72241900e-01 3.28064749e-03 2.45640968e+02] [ 7.72232290e-01 6.35328608e-01 -3.85359363e-03 -1.12405492e+02] [-5.06019567e-03 8.51562653e-05 -9.99987194e-01 -4.14233231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.013503036249226946 Centerline is valid? [True, True] Translation: X:245.63, Y:-112.38, Z:-4.14 [[-6.95515594e-01 7.18501936e-01 3.60926802e-03 2.45630672e+02] [ 7.18492811e-01 6.95524954e-01 -3.62188426e-03 -1.12376511e+02] [-5.11266683e-03 7.41561412e-05 -9.99986927e-01 -4.14264944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.012337460102842078 Centerline is valid? [True, True] Translation: X:245.62, Y:-112.35, Z:-4.14 [[-7.53665964e-01 6.57243493e-01 4.31339544e-03 2.45620528e+02] [ 6.57233097e-01 7.53678305e-01 -3.69709777e-03 -1.12347274e+02] [-5.68080602e-03 4.85294887e-05 -9.99983863e-01 -4.14276427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.011536726702068392 Centerline is valid? [True, True] Translation: X:245.64, Y:-112.32, Z:-4.14 [[-8.01201670e-01 5.98372997e-01 5.06368871e-03 2.45638702e+02] [ 5.98361238e-01 8.01217671e-01 -3.75134718e-03 -1.12318043e+02] [-6.30182173e-03 2.43294157e-05 -9.99980143e-01 -4.14270774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.011379220666897694 Centerline is valid? [True, True] Translation: X:245.66, Y:-112.28, Z:-4.14 [[-8.45131737e-01 5.34521740e-01 6.23354668e-03 2.45655890e+02] [ 5.34507025e-01 8.45154725e-01 -3.96627399e-03 -1.12283009e+02] [-7.38837111e-03 -2.01495348e-05 -9.99972705e-01 -4.14137672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.011693041244451724 Centerline is valid? [True, True] Translation: X:245.67, Y:-112.25, Z:-4.14 [[-8.82887977e-01 4.69543401e-01 6.14933483e-03 2.45669915e+02] [ 4.69531615e-01 8.82909391e-01 -3.32715846e-03 -1.12251073e+02] [-6.99155076e-03 -5.02010856e-05 -9.99975558e-01 -4.14141475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.012827554489251216 Centerline is valid? [True, True] Translation: X:245.68, Y:-112.21, Z:-4.14 [[-9.16596882e-01 3.99764853e-01 6.18207769e-03 2.45676483e+02] [ 3.99755068e-01 9.16617725e-01 -2.79854635e-03 -1.12214224e+02] [-6.78536246e-03 -9.38219722e-05 -9.99976975e-01 -4.14310969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.0145237531958843 Centerline is valid? [True, True] Translation: X:245.69, Y:-112.18, Z:-4.14 [[-9.44312758e-01 3.28991953e-01 6.14080875e-03 2.45688988e+02] [ 3.28984140e-01 9.44332716e-01 -2.27077458e-03 -1.12180710e+02] [-6.54603317e-03 -1.24092720e-04 -9.99978567e-01 -4.14278458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.015512734600705824 Centerline is valid? [True, True] Translation: X:245.89, Y:-111.63, Z:-5.11 [[-9.04516206e-01 -4.26397479e-01 5.96853143e-03 2.45887017e+02] [ 4.26389094e-01 -9.04535889e-01 -2.67690192e-03 -1.11629196e+02] [ 6.54017511e-03 1.23615540e-04 9.99978605e-01 -5.10950979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.01509924357731913 Centerline is valid? [True, True] Translation: X:245.65, Y:-112.16, Z:-4.14 [[-9.45439323e-01 3.25729385e-01 6.69738988e-03 2.45646833e+02] [ 3.25720208e-01 9.45463035e-01 -2.44868019e-03 -1.12159837e+02] [-7.12974165e-03 -1.33603319e-04 -9.99974574e-01 -4.14141820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.013947998628699502 Centerline is valid? [True, True] Translation: X:245.65, Y:-112.14, Z:-4.14 [[-9.65130239e-01 2.61633907e-01 8.44517989e-03 2.45653618e+02] [ 2.61622715e-01 9.65167178e-01 -2.42337198e-03 -1.12136855e+02] [-8.78504672e-03 -1.29418684e-04 -9.99961402e-01 -4.14055799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.013674534912494249 Centerline is valid? [True, True] Translation: X:245.65, Y:-112.11, Z:-4.14 [[-9.81035959e-01 1.93602014e-01 9.31170182e-03 2.45654926e+02] [ 1.93592037e-01 9.81080141e-01 -1.96977328e-03 -1.12110497e+02] [-9.51687781e-03 -1.29747095e-04 -9.99954705e-01 -4.13989156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.013535679632968268 Centerline is valid? [True, True] Translation: X:245.66, Y:-112.08, Z:-4.14 [[-9.92121750e-01 1.24772316e-01 1.12384450e-02 2.45657759e+02] [ 1.24762722e-01 9.92185391e-01 -1.55359049e-03 -1.12084481e+02] [-1.13444660e-02 -1.39211932e-04 -9.99935640e-01 -4.13808415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.012935357410541382 Centerline is valid? [True, True] Translation: X:245.74, Y:-111.50, Z:-5.11 [[-9.77032436e-01 -2.12737698e-01 1.22593123e-02 2.45735777e+02] [ 2.12723827e-01 -9.77109319e-01 -2.43960748e-03 -1.11498113e+02] [ 1.24976848e-02 2.24272184e-04 9.99921876e-01 -5.11436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.0124671282693729 Centerline is valid? [True, True] Translation: X:245.61, Y:-112.09, Z:-4.14 [[-9.92113413e-01 1.24725533e-01 1.24304729e-02 2.45610160e+02] [ 1.24714399e-01 9.92191277e-01 -1.66988372e-03 -1.12086636e+02] [-1.25416839e-02 -1.06455077e-04 -9.99921344e-01 -4.13784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.011645591839582282 Centerline is valid? [True, True] Translation: X:245.61, Y:-112.07, Z:-4.14 [[-9.98132020e-01 6.01110393e-02 1.09148525e-02 2.45610467e+02] [ 6.01071659e-02 9.98191696e-01 -6.82865926e-04 -1.12068782e+02] [-1.09361629e-02 -2.55294939e-05 -9.99940198e-01 -4.13979648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.011639476299053847 Centerline is valid? [True, True] Translation: X:245.61, Y:-112.05, Z:-4.14 [[-9.99963622e-01 -1.90306689e-03 8.31458610e-03 2.45612688e+02] [-1.90254658e-03 9.99998188e-01 7.04877579e-05 -1.12052383e+02] [-8.31470517e-03 5.46663064e-05 -9.99965431e-01 -4.14446892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.012999221644948726 Centerline is valid? [True, True] Translation: X:245.61, Y:-111.40, Z:-5.11 [[-9.98964780e-01 -4.47365010e-02 8.24704910e-03 2.45610882e+02] [ 4.47345005e-02 -9.98998820e-01 -4.26979759e-04 -1.11402554e+02] [ 8.25789390e-03 -5.76101187e-05 9.99965901e-01 -5.10708096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.015181827246654357 Centerline is valid? [True, True] Translation: X:245.55, Y:-112.07, Z:-4.14 [[-9.99928313e-01 7.46570557e-03 9.36119224e-03 2.45550031e+02] [ 7.46718072e-03 9.99972113e-01 1.22639342e-04 -1.12067529e+02] [-9.36001559e-03 1.92532265e-04 -9.99956176e-01 -4.14386795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.01658467685085592 Centerline is valid? [True, True] Translation: X:245.55, Y:-111.39, Z:-5.11 [[-9.99535972e-01 -2.86828757e-02 1.02534732e-02 2.45548030e+02] [ 2.86797666e-02 -9.99588550e-01 -4.50166608e-04 -1.11393515e+02] [ 1.02621665e-02 -1.55890499e-04 9.99947330e-01 -5.10858167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.018149148589654312 Centerline is valid? [True, True] Translation: X:245.49, Y:-112.08, Z:-4.14 [[-9.99881446e-01 1.08120418e-02 1.09632453e-02 2.45487701e+02] [ 1.08148578e-02 9.99941498e-01 1.97603584e-04 -1.12075021e+02] [-1.09604675e-02 3.16146096e-04 -9.99939882e-01 -4.14270995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.017467328044504148 Centerline is valid? [True, True] Translation: X:245.48, Y:-111.39, Z:-5.11 [[-9.99793548e-01 -1.71576049e-02 1.08847234e-02 2.45478558e+02] [ 1.71531198e-02 -9.99852747e-01 -5.05287733e-04 -1.11392143e+02] [ 1.08917901e-02 -3.18476452e-04 9.99940632e-01 -5.10789002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.018437934847431222 Centerline is valid? [True, True] Translation: X:245.42, Y:-112.08, Z:-4.14 [[-9.99900103e-01 9.84233610e-03 1.01445331e-02 2.45419098e+02] [ 9.84517988e-03 9.99951509e-01 2.30423990e-04 -1.12077356e+02] [-1.01417732e-02 3.30275724e-04 -9.99948516e-01 -4.14419488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.016520536548128358 Centerline is valid? [True, True] Translation: X:245.41, Y:-112.05, Z:-4.15 [[-9.97892772e-01 -6.42613735e-02 8.97169324e-03 2.45411094e+02] [-6.42563831e-02 9.97933067e-01 8.43691919e-04 -1.12045516e+02] [-9.00736615e-03 2.65425510e-04 -9.99959398e-01 -4.14531767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.01606306838836252 Centerline is valid? [True, True] Translation: X:245.40, Y:-112.02, Z:-4.14 [[-9.90123950e-01 -1.39931616e-01 8.58525935e-03 2.45397430e+02] [-1.39924476e-01 9.90161147e-01 1.42970264e-03 -1.12016102e+02] [-8.70085084e-03 2.14294907e-04 -9.99962124e-01 -4.14470259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.013215956836065976 Centerline is valid? [True, True] Translation: X:245.37, Y:-111.98, Z:-4.14 [[-9.75230256e-01 -2.21002341e-01 9.16041357e-03 2.45373903e+02] [-2.20991365e-01 9.75273269e-01 2.20623269e-03 -1.11983296e+02] [-9.42148907e-03 1.27212575e-04 -9.99955609e-01 -4.14444188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.011645435874085848 Centerline is valid? [True, True] Translation: X:245.35, Y:-111.95, Z:-4.14 [[-9.54299983e-01 -2.98713627e-01 9.03943150e-03 2.45346431e+02] [-2.98699806e-01 9.54342793e-01 2.87380747e-03 -1.11953681e+02] [-9.48516176e-03 4.23979863e-05 -9.99955014e-01 -4.14414971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.01187820625614173 Centerline is valid? [True, True] Translation: X:245.31, Y:-111.93, Z:-4.14 [[-9.25319733e-01 -3.79103322e-01 8.00396973e-03 2.45307841e+02] [-3.79089883e-01 9.25354346e-01 3.19298657e-03 -1.11925624e+02] [-8.61697999e-03 -7.96904770e-05 -9.99962870e-01 -4.14388200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.013185276460557076 Centerline is valid? [True, True] Translation: X:245.26, Y:-111.91, Z:-4.14 [[-8.91978632e-01 -4.52024310e-01 6.93844714e-03 2.45263236e+02] [-4.52011802e-01 8.92005608e-01 3.36540498e-03 -1.11908894e+02] [-7.71037863e-03 -1.34390668e-04 -9.99970266e-01 -4.14422982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.015443392610965903 Centerline is valid? [True, True] Translation: X:245.21, Y:-111.90, Z:-4.14 [[-8.52454325e-01 -5.22770556e-01 5.70692957e-03 2.45205001e+02] [-5.22760168e-01 8.52473411e-01 3.29999368e-03 -1.11903055e+02] [-6.59014525e-03 -1.70261581e-04 -9.99978270e-01 -4.14428220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.01701337851806322 Centerline is valid? [True, True] Translation: X:245.14, Y:-111.91, Z:-4.14 [[-8.10413207e-01 -5.85833086e-01 5.47986325e-03 2.45135967e+02] [-5.85821226e-01 8.10431712e-01 3.73242249e-03 -1.11912292e+02] [-6.62763154e-03 -1.85415728e-04 -9.99978020e-01 -4.14379128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.017094565711917916 Centerline is valid? [True, True] Translation: X:245.07, Y:-111.93, Z:-4.14 [[-7.64314157e-01 -6.44818750e-01 5.71389473e-03 2.45069591e+02] [-6.44802752e-01 7.64335486e-01 4.54706694e-03 -1.11930565e+02] [-7.29936653e-03 -2.08947414e-04 -9.99973337e-01 -4.14283104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.01691319024101706 Centerline is valid? [True, True] Translation: X:244.99, Y:-111.96, Z:-4.14 [[-7.14645885e-01 -6.99454152e-01 6.71928223e-03 2.44993784e+02] [-6.99426548e-01 7.14677427e-01 6.21933629e-03 -1.11963065e+02] [-9.15225993e-03 -2.55021287e-04 -9.99958085e-01 -4.14097709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.01685966059875877 Centerline is valid? [True, True] Translation: X:244.92, Y:-112.01, Z:-4.14 [[-6.61780767e-01 -7.49663460e-01 7.13541140e-03 2.44917542e+02] [-7.49624240e-01 6.61819178e-01 7.67297886e-03 -1.12006997e+02] [-1.04745040e-02 -2.71047512e-04 -9.99945104e-01 -4.13889248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.014875470245909603 Centerline is valid? [True, True] Translation: X:244.85, Y:-112.06, Z:-4.14 [[-6.04728704e-01 -7.96405353e-01 6.45813748e-03 2.44850385e+02] [-7.96364311e-01 6.04763136e-01 8.08912685e-03 -1.12055520e+02] [-1.03478674e-02 -2.51303007e-04 -9.99946428e-01 -4.14050593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.01431906905920608 Centerline is valid? [True, True] Translation: X:244.78, Y:-112.12, Z:-4.14 [[-5.46895774e-01 -8.37185118e-01 5.10789685e-03 2.44778241e+02] [-8.37151586e-01 5.46919598e-01 7.49499976e-03 -1.12121434e+02] [-9.06831115e-03 -1.77100255e-04 -9.99958866e-01 -4.14090742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.01318613077678299 Centerline is valid? [True, True] Translation: X:244.71, Y:-112.19, Z:-4.14 [[-4.85760854e-01 -8.74084136e-01 3.64908841e-03 2.44711324e+02] [-8.74061169e-01 4.85774547e-01 6.33731619e-03 -1.12193156e+02] [-7.31198181e-03 -1.11106358e-04 -9.99973261e-01 -4.14317455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.01223973472566739 Centerline is valid? [True, True] Translation: X:244.65, Y:-112.28, Z:-4.14 [[-4.23493596e-01 -9.05895113e-01 2.68661109e-03 2.44649348e+02] [-9.05877724e-01 4.23502114e-01 5.61329334e-03 -1.12276251e+02] [-6.22284048e-03 -5.65473588e-05 -9.99980636e-01 -4.14386912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.011895918637225987 Centerline is valid? [True, True] Translation: X:244.59, Y:-112.36, Z:-4.14 [[-3.56448337e-01 -9.34311798e-01 2.45897595e-03 2.44589452e+02] [-9.34290268e-01 3.56456816e-01 6.34290177e-03 -1.12364216e+02] [-6.80276670e-03 -3.64805104e-05 -9.99976860e-01 -4.14334772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.011935179057613488 Centerline is valid? [True, True] Translation: X:244.54, Y:-112.46, Z:-4.14 [[-2.88081157e-01 -9.57603109e-01 2.35227932e-03 2.44536117e+02] [-9.57571375e-01 2.88090760e-01 7.79588122e-03 -1.12462434e+02] [-8.14303003e-03 -6.62886444e-06 -9.99966845e-01 -4.14163597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.012074574763332612 Centerline is valid? [True, True] Translation: X:244.49, Y:-112.56, Z:-4.14 [[-2.17677273e-01 -9.76019159e-01 1.79064736e-03 2.44488446e+02] [-9.75985119e-01 2.17684636e-01 8.15152393e-03 -1.12563578e+02] [-8.34583995e-03 2.67563203e-05 -9.99965173e-01 -4.14170156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.013215911130064371 Centerline is valid? [True, True] Translation: X:244.45, Y:-112.67, Z:-4.14 [[-1.50049300e-01 -9.88678019e-01 9.90958863e-04 2.44452699e+02] [-9.88652798e-01 1.50052551e-01 7.06231534e-03 -1.12671432e+02] [-7.13105185e-03 7.99812235e-05 -9.99974571e-01 -4.14266166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.013496033221639381 Centerline is valid? [True, True] Translation: X:244.42, Y:-112.79, Z:-4.14 [[-7.59034739e-02 -9.97115087e-01 4.06849917e-04 2.44415556e+02] [-9.97093919e-01 7.59045138e-02 6.49774405e-03 -1.12785346e+02] [-6.50988037e-03 8.75337673e-05 -9.99978807e-01 -4.14363073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.013528232909101077 Centerline is valid? [True, True] Translation: X:244.38, Y:-112.90, Z:-4.15 [[-7.87856246e-04 -9.99999688e-01 -5.24425320e-05 2.44384541e+02] [-9.99992419e-01 7.87650533e-04 3.81343895e-03 -1.12903353e+02] [-3.81339645e-03 5.54465761e-05 -9.99992727e-01 -4.14502175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.013817503297608256 Centerline is valid? [True, True] Translation: X:244.36, Y:-113.02, Z:-4.14 [[ 7.58208427e-02 -9.97121356e-01 -4.49102675e-04 2.44364512e+02] [-9.97109257e-01 -7.58221354e-02 4.91262054e-03 -1.13023407e+02] [-4.93253078e-03 7.53254053e-05 -9.99987832e-01 -4.14407853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.014132547014457524 Centerline is valid? [True, True] Translation: X:244.35, Y:-113.14, Z:-4.14 [[ 1.52173072e-01 -9.88353410e-01 -9.44996476e-04 2.44353010e+02] [-9.88337786e-01 -1.52175981e-01 5.55801861e-03 -1.13143541e+02] [-5.63709241e-03 8.81949567e-05 -9.99984108e-01 -4.14356641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.013914358947697705 Centerline is valid? [True, True] Translation: X:244.35, Y:-113.26, Z:-4.14 [[ 2.27322718e-01 -9.73818360e-01 -1.47784132e-03 2.44345831e+02] [-9.73800445e-01 -2.27327502e-01 5.90772035e-03 -1.13259005e+02] [-6.08900052e-03 9.61634883e-05 -9.99981457e-01 -4.14324918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.013538454562446005 Centerline is valid? [True, True] Translation: X:244.35, Y:-113.38, Z:-4.15 [[ 3.01590813e-01 -9.53436071e-01 -1.62474852e-03 2.44350204e+02] [-9.53423625e-01 -3.01595179e-01 4.87230966e-03 -1.13379685e+02] [-5.13545210e-03 7.96297951e-05 -9.99986810e-01 -4.14502210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.013514969156774623 Centerline is valid? [True, True] Translation: X:244.36, Y:-113.50, Z:-4.15 [[ 3.74760114e-01 -9.27119901e-01 -1.88305661e-03 2.44364275e+02] [-9.27109126e-01 -3.74764838e-01 4.47051015e-03 -1.13500201e+02] [-4.85040234e-03 7.04300740e-05 -9.99988234e-01 -4.14594086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.013550508704740359 Centerline is valid? [True, True] Translation: X:244.39, Y:-113.62, Z:-4.15 [[ 4.45247528e-01 -8.95405140e-01 -2.06719316e-03 2.44387599e+02] [-8.95396137e-01 -4.45252323e-01 4.01589357e-03 -1.13619556e+02] [-4.51627430e-03 6.28900823e-05 -9.99989800e-01 -4.14593401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.012786523692531379 Centerline is valid? [True, True] Translation: X:244.41, Y:-113.73, Z:-4.15 [[ 5.14118010e-01 -8.57715767e-01 -2.51685877e-03 2.44412928e+02] [-8.57706038e-01 -5.14124167e-01 4.08566403e-03 -1.13730772e+02] [-4.79831637e-03 5.82115056e-05 -9.99988486e-01 -4.14550608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.012668149712011537 Centerline is valid? [True, True] Translation: X:244.45, Y:-113.84, Z:-4.14 [[ 5.80363953e-01 -8.14347234e-01 -4.03296427e-03 2.44449969e+02] [-8.14328374e-01 -5.80377962e-01 5.54266190e-03 -1.13841777e+02] [-6.85429497e-03 6.73960638e-05 -9.99976507e-01 -4.14351192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.012276649925603754 Centerline is valid? [True, True] Translation: X:244.50, Y:-113.95, Z:-4.14 [[ 6.42323634e-01 -7.66415093e-01 -5.31551249e-03 2.44495498e+02] [-7.66389688e-01 -6.42345625e-01 6.24051669e-03 -1.13948273e+02] [-8.19722237e-03 6.53226041e-05 -9.99966400e-01 -4.14325466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.012088401800926431 Centerline is valid? [True, True] Translation: X:244.54, Y:-114.04, Z:-4.14 [[ 6.99901122e-01 -7.14216748e-01 -5.73207423e-03 2.44542661e+02] [-7.14193395e-01 -6.99924592e-01 5.77581386e-03 -1.14044763e+02] [-8.13720271e-03 5.13109532e-05 -9.99966891e-01 -4.14395084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.012023536989485318 Centerline is valid? [True, True] Translation: X:244.59, Y:-114.14, Z:-4.14 [[ 7.52512081e-01 -6.58551900e-01 -5.91302923e-03 2.44594303e+02] [-6.58532028e-01 -7.52535311e-01 5.11611205e-03 -1.14135346e+02] [-7.81898859e-03 4.39830021e-05 -9.99969430e-01 -4.14380488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.012418915802034266 Centerline is valid? [True, True] Translation: X:244.62, Y:-114.16, Z:-4.14 [[ 8.00158650e-01 -5.99746918e-01 -7.05469403e-03 2.44616295e+02] [-5.99724397e-01 -8.00189746e-01 5.19791555e-03 -1.14162348e+02] [-8.76252765e-03 7.17150274e-05 -9.99961606e-01 -4.14295064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.013572824168166882 Centerline is valid? [True, True] Translation: X:244.64, Y:-114.18, Z:-4.14 [[ 8.41530723e-01 -5.40137828e-01 -8.78457595e-03 2.44642779e+02] [-5.40110189e-01 -8.41576560e-01 5.46611969e-03 -1.14184105e+02] [-1.03453512e-02 1.44731313e-04 -9.99946475e-01 -4.14224449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.014715456388530284 Centerline is valid? [True, True] Translation: X:244.67, Y:-114.20, Z:-4.14 [[ 8.79357447e-01 -4.76080080e-01 -8.84525709e-03 2.44670352e+02] [-4.76058014e-01 -8.79401914e-01 4.58711245e-03 -1.14203478e+02] [-9.96236887e-03 1.77144029e-04 -9.99950359e-01 -4.14278267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.014784414300636916 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.23, Z:-4.14 [[ 9.12776010e-01 -4.08359087e-01 -9.10004663e-03 2.44697467e+02] [-4.08340990e-01 -9.12821349e-01 3.84971731e-03 -1.14225729e+02] [-9.87878388e-03 2.01992444e-04 -9.99951183e-01 -4.14406632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.014969943320014802 Centerline is valid? [True, True] Translation: X:244.73, Y:-114.24, Z:-4.14 [[ 9.41999362e-01 -3.35471519e-01 -9.80116020e-03 2.44725806e+02] [-3.35455657e-01 -9.42050326e-01 3.26893450e-03 -1.14244247e+02] [-1.03298206e-02 2.08520419e-04 -9.99946624e-01 -4.14368213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.014269300368967425 Centerline is valid? [True, True] Translation: X:244.75, Y:-114.27, Z:-4.14 [[ 9.65941114e-01 -2.58566480e-01 -1.00568553e-02 2.44754307e+02] [-2.58554456e-01 -9.65993448e-01 2.50040221e-03 -1.14265199e+02] [-1.03613766e-02 1.85003468e-04 -9.99946302e-01 -4.14290721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.013280365303167996 Centerline is valid? [True, True] Translation: X:244.78, Y:-114.28, Z:-4.14 [[ 9.84346470e-01 -1.75913809e-01 -1.07869932e-02 2.44783605e+02] [-1.75904641e-01 -9.84405565e-01 1.80035829e-03 -1.14282928e+02] [-1.09354840e-02 1.25305835e-04 -9.99940198e-01 -4.14282550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.012167662347663434 Centerline is valid? [True, True] Translation: X:244.81, Y:-114.30, Z:-4.14 [[ 9.96060144e-01 -8.80079317e-02 -1.08992039e-02 2.44811111e+02] [-8.80027979e-02 -9.96119774e-01 9.50659218e-04 -1.14298742e+02] [-1.09405781e-02 1.22466789e-05 -9.99940150e-01 -4.14245618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.012257566191632551 Centerline is valid? [True, True] Translation: X:244.84, Y:-114.31, Z:-4.14 [[ 9.99934338e-01 -2.21830194e-03 -1.12427402e-02 2.44841026e+02] [-2.21735413e-03 -9.99997537e-01 9.67677090e-05 -1.14312328e+02] [-1.12429272e-02 -7.18322186e-05 -9.99936794e-01 -4.14260893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.01360719686016756 Centerline is valid? [True, True] Translation: X:244.87, Y:-114.32, Z:-4.14 [[ 9.96512277e-01 8.26902208e-02 -1.12075173e-02 2.44871762e+02] [ 8.26866445e-02 -9.96575289e-01 -7.82888977e-04 -1.14321229e+02] [-1.12338721e-02 -1.46553525e-04 -9.99936887e-01 -4.14178723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.014678848967157647 Centerline is valid? [True, True] Translation: X:244.90, Y:-114.33, Z:-4.14 [[ 9.85957796e-01 1.66658048e-01 -1.05980497e-02 2.44904113e+02] [ 1.66650678e-01 -9.86014732e-01 -1.58099967e-03 -1.14325008e+02] [-1.07133195e-02 -2.07373223e-04 -9.99942589e-01 -4.14316500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.014450167121744828 Centerline is valid? [True, True] Translation: X:244.94, Y:-114.33, Z:-4.14 [[ 9.69496348e-01 2.44904653e-01 -9.92682853e-03 2.44936075e+02] [ 2.44894066e-01 -9.69547144e-01 -2.28713212e-03 -1.14325952e+02] [-1.01846576e-02 -2.13655165e-04 -9.99948112e-01 -4.14437207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.014736325852855172 Centerline is valid? [True, True] Translation: X:244.97, Y:-114.32, Z:-4.14 [[ 9.47378488e-01 3.19992437e-01 -8.87922972e-03 2.44967486e+02] [ 3.19980309e-01 -9.47420077e-01 -2.79270850e-03 -1.14322243e+02] [-9.30600610e-03 -1.95426711e-04 -9.99956679e-01 -4.14469226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.014298990369330342 Centerline is valid? [True, True] Translation: X:245.00, Y:-114.32, Z:-4.14 [[ 9.19966189e-01 3.91888496e-01 -9.25295661e-03 2.44998244e+02] [ 3.91870794e-01 -9.20012700e-01 -3.72988476e-03 -1.14315267e+02] [-9.97453653e-03 -1.94595577e-04 -9.99950234e-01 -4.14403723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.014179701556641352 Centerline is valid? [True, True] Translation: X:245.02, Y:-114.30, Z:-4.14 [[ 8.87648592e-01 4.60413104e-01 -9.98754083e-03 2.45024916e+02] [ 4.60386331e-01 -8.87704759e-01 -4.96869640e-03 -1.14303113e+02] [-1.11536405e-02 -1.87670911e-04 -9.99937779e-01 -4.14243004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.013309401344986004 Centerline is valid? [True, True] Translation: X:245.05, Y:-114.29, Z:-4.14 [[ 8.50514968e-01 5.25871666e-01 -9.12578190e-03 2.45051793e+02] [ 5.25843237e-01 -8.50563913e-01 -5.46991637e-03 -1.14288678e+02] [-1.06385348e-02 -1.46484949e-04 -9.99943398e-01 -4.14287384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.01234061296669239 Centerline is valid? [True, True] Translation: X:245.07, Y:-114.27, Z:-4.14 [[ 8.11226591e-01 5.84674425e-01 -8.19971140e-03 2.45074512e+02] [ 5.84645334e-01 -8.11268028e-01 -5.83264262e-03 -1.14269060e+02] [-1.00623607e-02 -6.23282270e-05 -9.99949371e-01 -4.14414843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.012243679127748298 Centerline is valid? [True, True] Translation: X:245.10, Y:-114.25, Z:-4.14 [[ 7.66814353e-01 6.41824734e-01 -7.53389626e-03 2.45097051e+02] [ 6.41793793e-01 -7.66851362e-01 -6.30202527e-03 -1.14251151e+02] [-9.82217430e-03 -2.72443003e-06 -9.99951761e-01 -4.14473431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.012346093859563537 Centerline is valid? [True, True] Translation: X:245.12, Y:-114.24, Z:-4.15 [[ 7.16269821e-01 6.97799175e-01 -5.81846930e-03 2.45122261e+02] [ 6.97775921e-01 -7.16293453e-01 -5.69673327e-03 -1.14236254e+02] [-8.14290724e-03 2.04103387e-05 -9.99966846e-01 -4.14626379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.012422201042518611 Centerline is valid? [True, True] Translation: X:245.15, Y:-114.22, Z:-4.15 [[ 6.59922699e-01 7.51312216e-01 -5.65553362e-03 2.45147105e+02] [ 7.51284268e-01 -6.59946932e-01 -6.48033209e-03 -1.14221215e+02] [-8.60110472e-03 2.76048040e-05 -9.99963009e-01 -4.14595721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.012911103152015073 Centerline is valid? [True, True] Translation: X:245.17, Y:-114.20, Z:-4.14 [[ 6.02094350e-01 7.98403631e-01 -5.83407523e-03 2.45168568e+02] [ 7.98365033e-01 -6.02122610e-01 -7.85084000e-03 -1.14203336e+02] [-9.78096776e-03 6.92247380e-05 -9.99952163e-01 -4.14455249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.013581339254145841 Centerline is valid? [True, True] Translation: X:245.19, Y:-114.18, Z:-4.14 [[ 5.40895271e-01 8.41071775e-01 -5.52947453e-03 2.45187352e+02] [ 8.41025674e-01 -5.40923522e-01 -8.80682453e-03 -1.14183389e+02] [-1.03981944e-02 1.13139691e-04 -9.99945931e-01 -4.14435740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.01442536145476896 Centerline is valid? [True, True] Translation: X:245.21, Y:-114.16, Z:-4.14 [[ 4.76982534e-01 8.78902000e-01 -4.35164695e-03 2.45206034e+02] [ 8.78862714e-01 -4.77002364e-01 -8.31111973e-03 -1.14162441e+02] [-9.38040563e-03 1.39758700e-04 -9.99955993e-01 -4.14459841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.015442997157709543 Centerline is valid? [True, True] Translation: X:245.22, Y:-114.14, Z:-4.15 [[ 4.11140778e-01 9.11567376e-01 -2.85999835e-03 2.45224441e+02] [ 9.11542851e-01 -4.11150701e-01 -6.68823671e-03 -1.14141053e+02] [-7.27266872e-03 1.42795798e-04 -9.99973544e-01 -4.14612591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.015932008425531705 Centerline is valid? [True, True] Translation: X:245.24, Y:-114.12, Z:-4.15 [[ 3.39149222e-01 9.40730890e-01 -1.78814459e-03 2.45241353e+02] [ 9.40716019e-01 -3.39153918e-01 -5.29067577e-03 -1.14119582e+02] [-5.58355836e-03 1.12192315e-04 -9.99984406e-01 -4.14721215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.014905460072628454 Centerline is valid? [True, True] Translation: X:245.26, Y:-114.10, Z:-4.15 [[ 2.61470589e-01 9.65210544e-01 -1.31786451e-03 2.45260817e+02] [ 9.65196466e-01 -2.61473895e-01 -5.21384491e-03 -1.14096316e+02] [-5.37704525e-03 9.12689336e-05 -9.99985539e-01 -4.14661799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.01284617366864237 Centerline is valid? [True, True] Translation: X:245.29, Y:-114.07, Z:-4.14 [[ 1.76107157e-01 9.84370454e-01 -1.03850249e-03 2.45287018e+02] [ 9.84351649e-01 -1.76110213e-01 -6.08480094e-03 -1.14072641e+02] [-6.17258916e-03 4.93253546e-05 -9.99980948e-01 -4.14432167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.012319818609687385 Centerline is valid? [True, True] Translation: X:245.31, Y:-114.05, Z:-4.14 [[ 8.73227703e-02 9.96179848e-01 -6.66253238e-04 2.45309621e+02] [ 9.96152803e-01 -8.73253090e-02 -7.34058567e-03 -1.14046343e+02] [-7.37072429e-03 -2.26897545e-05 -9.99972836e-01 -4.14345500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.013074889653463349 Centerline is valid? [True, True] Translation: X:245.32, Y:-114.02, Z:-4.14 [[ 2.28402263e-03 9.99997388e-01 -8.30576562e-05 2.45323864e+02] [ 9.99974043e-01 -2.28453687e-03 -6.83328243e-03 -1.14018796e+02] [-6.83345433e-03 -6.74481286e-05 -9.99976649e-01 -4.14357676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.01378534544043977 Centerline is valid? [True, True] Translation: X:245.34, Y:-113.99, Z:-4.15 [[-8.24479643e-02 9.96595330e-01 2.83658093e-04 2.45337062e+02] [ 9.96586031e-01 8.24484205e-02 -4.30595238e-03 -1.13988509e+02] [-4.31467920e-03 -7.23273157e-05 -9.99990689e-01 -4.14599589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.014539279947262083 Centerline is valid? [True, True] Translation: X:245.34, Y:-113.96, Z:-4.15 [[-1.62388188e-01 9.86726907e-01 2.94466953e-04 2.45344321e+02] [ 9.86724781e-01 1.62388449e-01 -2.04880212e-03 -1.13956946e+02] [-2.06942621e-03 -4.21434238e-05 -9.99997858e-01 -4.14717212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.01461730485002809 Centerline is valid? [True, True] Translation: X:245.35, Y:-113.93, Z:-4.15 [[-2.40078980e-01 9.70753276e-01 4.00236038e-04 2.45348069e+02] [ 9.70751639e-01 2.40079310e-01 -1.78332386e-03 -1.13925179e+02] [-1.82725587e-03 -3.96087836e-05 -9.99998330e-01 -4.14648828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.014733626176119338 Centerline is valid? [True, True] Translation: X:245.35, Y:-113.89, Z:-4.14 [[-3.15719910e-01 9.48851744e-01 1.14273942e-03 2.45348084e+02] [ 9.48844597e-01 3.15721969e-01 -3.68361021e-03 -1.13893469e+02] [-3.85598791e-03 -7.87069593e-05 -9.99992563e-01 -4.14421518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.015199243336240101 Centerline is valid? [True, True] Translation: X:245.34, Y:-113.86, Z:-4.14 [[-3.89609274e-01 9.20976840e-01 2.50458872e-03 2.45343844e+02] [ 9.20955483e-01 3.89617300e-01 -6.27354075e-03 -1.13863955e+02] [-6.75361684e-03 -1.37614940e-04 -9.99977185e-01 -4.14157700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.015156354209030054 Centerline is valid? [True, True] Translation: X:245.33, Y:-113.83, Z:-4.14 [[-4.59874203e-01 8.87976660e-01 3.62883088e-03 2.45334909e+02] [ 8.87946230e-01 4.59888493e-01 -7.35297323e-03 -1.13834697e+02] [-8.19812618e-03 -1.59236002e-04 -9.99966382e-01 -4.14032878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.013680082017752709 Centerline is valid? [True, True] Translation: X:245.32, Y:-113.81, Z:-4.14 [[-5.23628973e-01 8.51935020e-01 4.40696559e-03 2.45319727e+02] [ 8.51902858e-01 5.23647503e-01 -7.40359394e-03 -1.13809386e+02] [-8.61507747e-03 -1.22429708e-04 -9.99962882e-01 -4.14046793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.012524686700548793 Centerline is valid? [True, True] Translation: X:245.30, Y:-113.79, Z:-4.14 [[-5.81508532e-01 8.13529327e-01 4.22633775e-03 2.45299929e+02] [ 8.13507346e-01 5.81523888e-01 -5.98038279e-03 -1.13789059e+02] [-7.32293315e-03 -3.94868048e-05 -9.99973186e-01 -4.14141126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.012248017588563581 Centerline is valid? [True, True] Translation: X:245.28, Y:-113.77, Z:-4.14 [[-6.38494192e-01 7.69617702e-01 3.70943646e-03 2.45283160e+02] [ 7.69604761e-01 6.38504967e-01 -4.46303123e-03 -1.13765806e+02] [-5.80332144e-03 5.18043842e-06 -9.99983161e-01 -4.14317458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.012670878963243933 Centerline is valid? [True, True] Translation: X:245.26, Y:-113.74, Z:-4.14 [[-6.91964289e-01 7.21925842e-01 2.91563704e-03 2.45264702e+02] [ 7.21919617e-01 6.91970431e-01 -2.99813259e-03 -1.13744116e+02] [-4.18196401e-03 3.02548920e-05 -9.99991255e-01 -4.14409336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.013023767697666748 Centerline is valid? [True, True] Translation: X:245.25, Y:-113.72, Z:-4.14 [[-7.45292812e-01 6.66730339e-01 3.04629689e-03 2.45246892e+02] [ 6.66724965e-01 7.45299037e-01 -2.67712415e-03 -1.13722070e+02] [-4.05532203e-03 3.58008030e-05 -9.99991777e-01 -4.14408620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.012822629277421718 Centerline is valid? [True, True] Translation: X:245.26, Y:-113.70, Z:-4.14 [[-7.91904597e-01 6.10637598e-01 2.97203984e-03 2.45261471e+02] [ 6.10633417e-01 7.91910173e-01 -2.25982225e-03 -1.13699441e+02] [-3.73352101e-03 2.52632142e-05 -9.99993030e-01 -4.14282408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.012424361121136564 Centerline is valid? [True, True] Translation: X:245.28, Y:-113.68, Z:-4.14 [[-8.35071790e-01 5.50132849e-01 2.99220795e-03 2.45280424e+02] [ 5.50129367e-01 8.35077151e-01 -1.95757674e-03 -1.13676545e+02] [-3.57565176e-03 1.13843541e-05 -9.99993607e-01 -4.14170976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.012304903400566043 Centerline is valid? [True, True] Translation: X:245.29, Y:-113.65, Z:-4.14 [[-8.74854651e-01 4.84368304e-01 4.08486465e-03 2.45294881e+02] [ 4.84362960e-01 8.74864187e-01 -2.27518640e-03 -1.13650855e+02] [-4.67572997e-03 -1.19002639e-05 -9.99989069e-01 -4.13905538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.012507965900748477 Centerline is valid? [True, True] Translation: X:245.31, Y:-113.62, Z:-4.14 [[-9.08587030e-01 4.17664235e-01 5.11814380e-03 2.45306061e+02] [ 4.17657387e-01 9.08601445e-01 -2.39209345e-03 -1.13624498e+02] [-5.64944473e-03 -3.57945166e-05 -9.99984041e-01 -4.13724726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.013204332683252717 Centerline is valid? [True, True] Translation: X:245.60, Y:-112.99, Z:-5.12 [[-8.70567749e-01 -4.92025158e-01 4.79970104e-03 2.45597974e+02] [ 4.92017839e-01 -8.70580980e-01 -2.68381240e-03 -1.12989521e+02] [ 5.49903166e-03 2.50980158e-05 9.99984880e-01 -5.11577629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.013770084044176003 Centerline is valid? [True, True] Translation: X:245.26, Y:-113.60, Z:-4.14 [[-9.13282455e-01 4.07304053e-01 4.30888735e-03 2.45263409e+02] [ 4.07299171e-01 9.13292617e-01 -1.99528328e-03 -1.13602688e+02] [-4.74796197e-03 -6.72509622e-05 -9.99988726e-01 -4.13708928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.013755599893423216 Centerline is valid? [True, True] Translation: X:245.27, Y:-113.58, Z:-4.14 [[-9.40305379e-01 3.40324627e-01 2.22297145e-03 2.45274649e+02] [ 3.40323577e-01 9.40308006e-01 -8.46296548e-04 -1.13580034e+02] [-2.37829341e-03 -3.92476000e-05 -9.99997171e-01 -4.13798641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.013466828000797782 Centerline is valid? [True, True] Translation: X:245.28, Y:-113.56, Z:-4.14 [[-9.61739877e-01 2.73962674e-01 9.28271107e-04 2.45280542e+02] [ 2.73962528e-01 9.61740325e-01 -2.82902982e-04 -1.13556505e+02] [-9.70260613e-04 -1.77675805e-05 -9.99999529e-01 -4.13898616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.012999979392584269 Centerline is valid? [True, True] Translation: X:245.29, Y:-113.53, Z:-4.14 [[-9.78423670e-01 2.06604877e-01 1.24382075e-03 2.45288014e+02] [ 2.06604684e-01 9.78424460e-01 -2.82983371e-04 -1.13531836e+02] [-1.27545039e-03 -1.98984362e-05 -9.99999186e-01 -4.13856877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.013017326961986824 Centerline is valid? [True, True] Translation: X:245.45, Y:-112.85, Z:-5.12 [[-9.56115406e-01 -2.92984577e-01 1.83521895e-03 2.45448661e+02] [ 2.92984168e-01 -9.56117165e-01 -4.94114608e-04 -1.12846737e+02] [ 1.89945230e-03 6.52595071e-05 9.99998194e-01 -5.11628793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.013116496451177831 Centerline is valid? [True, True] Translation: X:245.24, Y:-113.52, Z:-4.14 [[-9.78929413e-01 2.04180625e-01 2.73422297e-03 2.45243457e+02] [ 2.04179730e-01 9.78933231e-01 -6.05576440e-04 -1.13517667e+02] [-2.80026870e-03 -3.45436821e-05 -9.99996079e-01 -4.13515070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.013416831029512572 Centerline is valid? [True, True] Translation: X:245.25, Y:-113.49, Z:-4.13 [[-9.91102768e-01 1.33055747e-01 3.38706834e-03 2.45248980e+02] [ 1.33054814e-01 9.91108554e-01 -5.00406709e-04 -1.13490131e+02] [-3.42353440e-03 -4.52887260e-05 -9.99994139e-01 -4.13461520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.013512736515928884 Centerline is valid? [True, True] Translation: X:245.35, Y:-112.80, Z:-5.12 [[-9.74038455e-01 -2.26319780e-01 5.33342692e-03 2.45353036e+02] [ 2.26317528e-01 -9.74053035e-01 -1.03008838e-03 -1.12804904e+02] [ 5.42817005e-03 2.03702305e-04 9.99985247e-01 -5.11996766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.014347935129574697 Centerline is valid? [True, True] Translation: X:245.19, Y:-113.48, Z:-4.13 [[-9.92331025e-01 1.23404082e-01 7.11119041e-03 2.45193542e+02] [ 1.23399958e-01 9.92356496e-01 -1.01747341e-03 -1.13479874e+02] [-7.18239637e-03 -1.32149836e-04 -9.99974198e-01 -4.13062769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.01457500614616123 Centerline is valid? [True, True] Translation: X:245.30, Y:-112.80, Z:-5.12 [[-9.74499621e-01 -2.24271476e-01 7.26588678e-03 2.45299004e+02] [ 2.24266398e-01 -9.74526697e-01 -1.51669633e-03 -1.12798671e+02] [ 7.42095236e-03 1.51474256e-04 9.99972453e-01 -5.12215452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.01447739209728616 Centerline is valid? [True, True] Translation: X:245.14, Y:-113.48, Z:-4.13 [[-9.92605860e-01 1.21224700e-01 6.17893551e-03 2.45144499e+02] [ 1.21221690e-01 9.92625086e-01 -8.60653993e-04 -1.13475456e+02] [-6.23769891e-03 -1.05269189e-04 -9.99980540e-01 -4.13187795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.01309410429664135 Centerline is valid? [True, True] Translation: X:245.15, Y:-113.45, Z:-4.14 [[-9.98561778e-01 5.35217702e-02 3.12982756e-03 2.45153117e+02] [ 5.35213629e-02 9.98566682e-01 -2.13781449e-04 -1.13453035e+02] [-3.13678349e-03 -4.59613466e-05 -9.99995079e-01 -4.13527541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.013010328782790829 Centerline is valid? [True, True] Translation: X:245.20, Y:-112.76, Z:-5.12 [[-9.89486677e-01 -1.44603527e-01 2.43650436e-03 2.45198971e+02] [ 1.44603076e-01 -9.89489677e-01 -3.60935825e-04 -1.12755062e+02] [ 2.46308850e-03 -4.81516443e-06 9.99996967e-01 -5.11718024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.012846331506776046 Centerline is valid? [True, True] Translation: X:245.10, Y:-113.45, Z:-4.13 [[-9.98708423e-01 5.06007902e-02 4.58763144e-03 2.45100275e+02] [ 5.05999864e-02 9.98718958e-01 -2.91170957e-04 -1.13449583e+02] [-4.59648797e-03 -5.86607983e-05 -9.99989434e-01 -4.13357661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.013027857814288977 Centerline is valid? [True, True] Translation: X:245.10, Y:-113.42, Z:-4.13 [[-9.99723227e-01 -2.25554714e-02 6.68731167e-03 2.45098824e+02] [-2.25556159e-02 9.99745588e-01 5.38154784e-05 -1.13421235e+02] [-6.68682417e-03 -9.70358497e-05 -9.99977638e-01 -4.13205231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.013679411321228983 Centerline is valid? [True, True] Translation: X:245.09, Y:-113.39, Z:-4.13 [[-9.95406531e-01 -9.54441649e-02 7.49993387e-03 2.45093073e+02] [-9.54423862e-02 9.95434778e-01 5.95525178e-04 -1.13391856e+02] [-7.52253441e-03 -1.23021934e-04 -9.99971698e-01 -4.13123364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.014434274805248332 Centerline is valid? [True, True] Translation: X:245.04, Y:-112.71, Z:-5.12 [[-9.99951843e-01 -5.53041917e-03 8.10717865e-03 2.45037282e+02] [ 5.53163116e-03 -9.99984692e-01 1.27079959e-04 -1.12707833e+02] [ 8.10635175e-03 1.71919761e-04 9.99967128e-01 -5.12220590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.013996790020511476 Centerline is valid? [True, True] Translation: X:245.02, Y:-113.40, Z:-4.13 [[-9.94721218e-01 -1.02297482e-01 8.05748726e-03 2.45016486e+02] [-1.02295336e-01 9.94753840e-01 6.79178861e-04 -1.13395471e+02] [-8.08469468e-03 -1.48649739e-04 -9.99967307e-01 -4.13132094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.013385809984616751 Centerline is valid? [True, True] Translation: X:244.97, Y:-112.71, Z:-5.12 [[-9.99972058e-01 1.77977652e-03 7.26053614e-03 2.44966235e+02] [-1.77913867e-03 -9.99998413e-01 9.43096660e-05 -1.12709796e+02] [ 7.26069247e-03 8.13895302e-05 9.99973638e-01 -5.12071444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.012787203268062427 Centerline is valid? [True, True] Translation: X:244.95, Y:-113.41, Z:-4.13 [[-9.94887568e-01 -1.00832073e-01 5.62316783e-03 2.44945917e+02] [-1.00830848e-01 9.94903457e-01 5.01759979e-04 -1.13407799e+02] [-5.64510261e-03 -6.77940132e-05 -9.99984064e-01 -4.13272287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.012138220751560755 Centerline is valid? [True, True] Translation: X:244.94, Y:-113.38, Z:-4.13 [[-9.85699079e-01 -1.68447835e-01 4.75945436e-03 2.44942853e+02] [-1.68446088e-01 9.85710569e-01 7.68369557e-04 -1.13383615e+02] [-4.82087465e-03 -4.43303031e-05 -9.99988379e-01 -4.13342807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.01178817852488693 Centerline is valid? [True, True] Translation: X:244.93, Y:-113.36, Z:-4.13 [[-9.72112205e-01 -2.34470713e-01 4.62018972e-03 2.44930725e+02] [-2.34468185e-01 9.72123184e-01 1.08901449e-03 -1.13360956e+02] [-4.74673555e-03 -2.46432190e-05 -9.99988734e-01 -4.13286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.011667718379693694 Centerline is valid? [True, True] Translation: X:244.90, Y:-113.34, Z:-4.13 [[-9.53704871e-01 -3.00689731e-01 5.71877483e-03 2.44902928e+02] [-3.00684402e-01 9.53722017e-01 1.79026833e-03 -1.13342114e+02] [-5.99243677e-03 -1.21587625e-05 -9.99982045e-01 -4.13151590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.011648674398695418 Centerline is valid? [True, True] Translation: X:244.87, Y:-113.33, Z:-4.13 [[-9.29757270e-01 -3.68119466e-01 6.28318667e-03 2.44865951e+02] [-3.68111085e-01 9.29778500e-01 2.48394977e-03 -1.13327237e+02] [-6.75636214e-03 -3.44031245e-06 -9.99977176e-01 -4.13127055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.011728175316172384 Centerline is valid? [True, True] Translation: X:244.81, Y:-113.32, Z:-4.13 [[-9.00750083e-01 -4.34289328e-01 6.48593885e-03 2.44805694e+02] [-4.34278019e-01 9.00773434e-01 3.13413652e-03 -1.13322613e+02] [-7.20348346e-03 6.37305079e-06 -9.99974055e-01 -4.13061699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.011782978491105836 Centerline is valid? [True, True] Translation: X:244.74, Y:-113.33, Z:-4.13 [[-8.66486346e-01 -4.99155408e-01 6.72986658e-03 2.44736587e+02] [-4.99140254e-01 8.66512480e-01 3.88945985e-03 -1.13327326e+02] [-7.77295829e-03 1.10165358e-05 -9.99969790e-01 -4.12993427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.011667495120824184 Centerline is valid? [True, True] Translation: X:244.66, Y:-113.34, Z:-4.13 [[-8.27173255e-01 -5.61903399e-01 6.99832687e-03 2.44663204e+02] [-5.61883130e-01 8.27202859e-01 4.77265762e-03 -1.13339105e+02] [-8.47080853e-03 1.55729324e-05 -9.99964122e-01 -4.13001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.01167670154854689 Centerline is valid? [True, True] Translation: X:244.58, Y:-113.36, Z:-4.13 [[-7.82456963e-01 -6.22666901e-01 6.85797596e-03 2.44579598e+02] [-6.22642877e-01 7.82487016e-01 5.46960906e-03 -1.13364308e+02] [-8.77202167e-03 9.66381039e-06 -9.99961525e-01 -4.12965022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.011654433152885803 Centerline is valid? [True, True] Translation: X:244.50, Y:-113.40, Z:-4.13 [[-7.33045841e-01 -6.80140882e-01 7.22322338e-03 2.44496603e+02] [-6.80107791e-01 7.33081428e-01 6.70915226e-03 -1.13397028e+02] [-9.85837965e-03 5.54566289e-06 -9.99951405e-01 -4.12857119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.011637560097646018 Centerline is valid? [True, True] Translation: X:244.41, Y:-113.44, Z:-4.13 [[-6.79200240e-01 -7.33915114e-01 7.45925535e-03 2.44410020e+02] [-7.33870862e-01 6.79241199e-01 8.05924224e-03 -1.13441738e+02] [-1.09814332e-02 -2.90901566e-07 -9.99939702e-01 -4.12754593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.011664217419197789 Centerline is valid? [True, True] Translation: X:244.33, Y:-113.49, Z:-4.13 [[-6.21270675e-01 -7.83567726e-01 6.66078978e-03 2.44328836e+02] [-7.83522811e-01 6.21306380e-01 8.38970652e-03 -1.13493255e+02] [-1.07122945e-02 -6.60209643e-06 -9.99942622e-01 -4.12886568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.01156610963860402 Centerline is valid? [True, True] Translation: X:244.25, Y:-113.56, Z:-4.13 [[-5.59349158e-01 -8.28916210e-01 5.14164273e-03 2.44245784e+02] [-8.28881438e-01 5.59372789e-01 7.59236496e-03 -1.13556192e+02] [-9.16952942e-03 -1.50292767e-05 -9.99957959e-01 -4.13041398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.011473311135498819 Centerline is valid? [True, True] Translation: X:244.17, Y:-113.63, Z:-4.13 [[-4.94470064e-01 -8.69184741e-01 4.15225692e-03 2.44167448e+02] [-8.69154379e-01 4.94487498e-01 7.26502740e-03 -1.13627079e+02] [-8.36789010e-03 -1.66137215e-05 -9.99964988e-01 -4.13129779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.011414327797049813 Centerline is valid? [True, True] Translation: X:244.09, Y:-113.71, Z:-4.13 [[-4.28043843e-01 -9.03751293e-01 3.47397696e-03 2.44091023e+02] [-9.03721639e-01 4.28057940e-01 7.32112175e-03 -1.13712342e+02] [-8.10353667e-03 -5.74706100e-06 -9.99967166e-01 -4.13166912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.011565923106530556 Centerline is valid? [True, True] Translation: X:244.03, Y:-113.80, Z:-4.13 [[-3.59749537e-01 -9.33043868e-01 3.06759560e-03 2.44025479e+02] [-9.33009654e-01 3.59762615e-01 7.99036289e-03 -1.13796633e+02] [-8.55896532e-03 1.24330399e-05 -9.99963371e-01 -4.13111899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.012066461499023818 Centerline is valid? [True, True] Translation: X:243.96, Y:-113.89, Z:-4.13 [[-2.91269342e-01 -9.56636605e-01 2.92856487e-03 2.43964591e+02] [-9.56586237e-01 2.91284058e-01 9.81676477e-03 -1.13894312e+02] [-1.02441208e-02 5.78977660e-05 -9.99947526e-01 -4.12997700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.012304024041786958 Centerline is valid? [True, True] Translation: X:243.91, Y:-114.00, Z:-4.13 [[-2.19796708e-01 -9.75543007e-01 2.29098343e-03 2.43909441e+02] [-9.75485618e-01 2.19808628e-01 1.05818975e-02 -1.13999295e+02] [-1.08266740e-02 9.10448346e-05 -9.99941386e-01 -4.12995569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.012984687753283555 Centerline is valid? [True, True] Translation: X:243.86, Y:-114.10, Z:-4.13 [[-1.47983387e-01 -9.88988507e-01 1.62800859e-03 2.43864265e+02] [-9.88917383e-01 1.47992270e-01 1.18615857e-02 -1.14101169e+02] [-1.19719047e-02 1.45351640e-04 -9.99928324e-01 -4.12899045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.013101000363515495 Centerline is valid? [True, True] Translation: X:243.83, Y:-114.21, Z:-4.13 [[-7.31529837e-02 -9.97320471e-01 7.20277923e-04 2.43825927e+02] [-9.97247531e-01 7.31563455e-02 1.20628354e-02 -1.14212153e+02] [-1.20832056e-02 1.64137025e-04 -9.99926982e-01 -4.12939168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.01379847397967324 Centerline is valid? [True, True] Translation: X:243.80, Y:-114.33, Z:-4.13 [[ 5.42644318e-04 -9.99999835e-01 -1.89947771e-04 2.43796579e+02] [-9.99938457e-01 -5.44715804e-04 1.10809065e-02 -1.14327396e+02] [-1.10810081e-02 1.83923090e-04 -9.99938587e-01 -4.13018348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.013696472739557897 Centerline is valid? [True, True] Translation: X:243.77, Y:-114.44, Z:-4.13 [[ 7.67628502e-02 -9.97048938e-01 -9.38571493e-04 2.43774775e+02] [-9.96999151e-01 -7.67683979e-02 9.96524388e-03 -1.14442544e+02] [-1.00078885e-02 1.70794458e-04 -9.99949905e-01 -4.13139706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.013613110106220567 Centerline is valid? [True, True] Translation: X:243.76, Y:-114.56, Z:-4.13 [[ 1.56137909e-01 -9.87733940e-01 -1.61760339e-03 2.43760669e+02] [-9.87689348e-01 -1.56146232e-01 9.38653915e-03 -1.14563191e+02] [-9.52398597e-03 1.32095049e-04 -9.99954637e-01 -4.13131203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.012021311777368909 Centerline is valid? [True, True] Translation: X:243.75, Y:-114.69, Z:-4.13 [[ 2.38644362e-01 -9.71104160e-01 -2.36186047e-03 2.43750455e+02] [-9.71059114e-01 -2.38656042e-01 9.35363493e-03 -1.14688297e+02] [-9.64702607e-03 6.13138936e-05 -9.99953464e-01 -4.13150776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.011585155549889325 Centerline is valid? [True, True] Translation: X:243.75, Y:-114.81, Z:-4.13 [[ 3.18446412e-01 -9.47935934e-01 -3.05736781e-03 2.43751291e+02] [-9.47892203e-01 -3.18461088e-01 9.10534927e-03 -1.14809988e+02] [-9.60494044e-03 -1.51069069e-06 -9.99953872e-01 -4.13132551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.012092770201110999 Centerline is valid? [True, True] Translation: X:243.76, Y:-114.93, Z:-4.13 [[ 3.98338616e-01 -9.17229862e-01 -3.96568759e-03 2.43759266e+02] [-9.17182029e-01 -3.98358345e-01 9.36778225e-03 -1.14932167e+02] [-1.01721744e-02 -9.42920318e-05 -9.99948258e-01 -4.13019056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.012664797534309777 Centerline is valid? [True, True] Translation: X:243.78, Y:-115.05, Z:-4.13 [[ 4.71158210e-01 -8.82035765e-01 -4.78021913e-03 2.43780317e+02] [-8.81987251e-01 -4.71182437e-01 9.25201770e-03 -1.15048659e+02] [-1.04129658e-02 -1.43071763e-04 -9.99945773e-01 -4.13024721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.01381610910966583 Centerline is valid? [True, True] Translation: X:243.81, Y:-115.16, Z:-4.13 [[ 5.39331019e-01 -8.42077736e-01 -5.20950324e-03 2.43807417e+02] [-8.42035478e-01 -5.39356153e-01 8.43761045e-03 -1.15160165e+02] [-9.91490153e-03 -1.64078491e-04 -9.99950833e-01 -4.12988669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.013421763741869161 Centerline is valid? [True, True] Translation: X:243.84, Y:-115.26, Z:-4.13 [[ 6.02022112e-01 -7.98463321e-01 -5.06969058e-03 2.43843744e+02] [-7.98432960e-01 -6.02043441e-01 6.96444406e-03 -1.15263349e+02] [-8.61302709e-03 -1.44941262e-04 -9.99962897e-01 -4.13130363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.013432112878364797 Centerline is valid? [True, True] Translation: X:243.89, Y:-115.36, Z:-4.13 [[ 6.60471789e-01 -7.50825714e-01 -6.14517551e-03 2.43887131e+02] [-7.50791048e-01 -6.60500359e-01 7.21646259e-03 -1.15363605e+02] [-9.47719631e-03 -1.52527194e-04 -9.99955079e-01 -4.12967557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.013442914881144194 Centerline is valid? [True, True] Translation: X:243.94, Y:-115.46, Z:-4.13 [[ 7.14777906e-01 -6.99310842e-01 -7.54261483e-03 2.43935140e+02] [-6.99269528e-01 -7.14817684e-01 7.60301676e-03 -1.15455721e+02] [-1.07084665e-02 -1.60147684e-04 -9.99942650e-01 -4.12803353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.013191743980665886 Centerline is valid? [True, True] Translation: X:243.99, Y:-115.54, Z:-4.13 [[ 7.64608367e-01 -6.44440361e-01 -8.40632851e-03 2.43987817e+02] [-6.44399278e-01 -7.64654562e-01 7.27820061e-03 -1.15538325e+02] [-1.11183037e-02 -1.47941059e-04 -9.99938179e-01 -4.12792083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.012675811739082719 Centerline is valid? [True, True] Translation: X:244.01, Y:-115.56, Z:-4.13 [[ 8.11094941e-01 -5.84831668e-01 -9.84463428e-03 2.44014589e+02] [-5.84786637e-01 -8.11154673e-01 7.25855154e-03 -1.15563873e+02] [-1.22305519e-02 -1.30363862e-04 -9.99925196e-01 -4.12676063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.01248263436884492 Centerline is valid? [True, True] Translation: X:244.04, Y:-115.59, Z:-4.13 [[ 8.53146446e-01 -5.21569437e-01 -1.03181323e-02 2.44042649e+02] [-5.21529847e-01 -8.53208833e-01 6.42701905e-03 -1.15586509e+02] [-1.21556584e-02 -1.01974480e-04 -9.99926112e-01 -4.12676968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.012139879272068931 Centerline is valid? [True, True] Translation: X:244.08, Y:-115.60, Z:-4.13 [[ 8.88604709e-01 -4.58557893e-01 -1.03116643e-02 2.44075027e+02] [-4.58526643e-01 -8.88664536e-01 5.35347491e-03 -1.15602481e+02] [-1.16184885e-02 -2.89502001e-05 -9.99932503e-01 -4.12713437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.012087579535622471 Centerline is valid? [True, True] Translation: X:244.11, Y:-115.62, Z:-4.13 [[ 9.19697377e-01 -3.92498297e-01 -1.00906664e-02 2.44105710e+02] [-3.92475029e-01 -9.19752731e-01 4.27382879e-03 -1.15619646e+02] [-1.09583885e-02 2.97054432e-05 -9.99939955e-01 -4.12891835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.013026998966659334 Centerline is valid? [True, True] Translation: X:244.14, Y:-115.63, Z:-4.13 [[ 9.45256339e-01 -3.26191738e-01 -9.45531986e-03 2.44138449e+02] [-3.26176454e-01 -9.45303624e-01 3.15911497e-03 -1.15631363e+02] [-9.96862532e-03 9.79292542e-05 -9.99950307e-01 -4.13029489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.013523435371772032 Centerline is valid? [True, True] Translation: X:244.17, Y:-115.64, Z:-4.13 [[ 9.67104213e-01 -2.54242695e-01 -8.37219776e-03 2.44169760e+02] [-2.54234157e-01 -9.67140445e-01 2.08654038e-03 -1.15644017e+02] [-8.62757871e-03 1.10596653e-04 -9.99962776e-01 -4.13277755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.01351941251945892 Centerline is valid? [True, True] Translation: X:244.20, Y:-115.66, Z:-4.13 [[ 9.84098465e-01 -1.77418508e-01 -8.53719738e-03 2.44200686e+02] [-1.77412780e-01 -9.84135489e-01 1.42970420e-03 -1.15658345e+02] [-8.65541491e-03 1.07638214e-04 -9.99962535e-01 -4.13300387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.013155702596030095 Centerline is valid? [True, True] Translation: X:244.23, Y:-115.67, Z:-4.13 [[ 9.95257854e-01 -9.67399289e-02 -1.01582866e-02 2.44229707e+02] [-9.67358715e-02 -9.95309689e-01 8.91168713e-04 -1.15671691e+02] [-1.01968527e-02 9.57280492e-05 -9.99948006e-01 -4.13225042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.012783811335043851 Centerline is valid? [True, True] Translation: X:244.26, Y:-115.68, Z:-4.13 [[ 9.99815433e-01 -1.58878702e-02 -1.08016328e-02 2.44259973e+02] [-1.58877350e-02 -9.99873777e-01 9.83290839e-05 -1.15682778e+02] [-1.08018316e-02 7.33025443e-05 -9.99941656e-01 -4.13228871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.012519396313657087 Centerline is valid? [True, True] Translation: X:244.29, Y:-115.69, Z:-4.13 [[ 9.97710585e-01 6.66660426e-02 -1.13678273e-02 2.44291089e+02] [ 6.66613761e-02 -9.97775344e-01 -7.89333264e-04 -1.15693143e+02] [-1.13951595e-02 2.97311440e-05 -9.99935073e-01 -4.13284842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.012326308986436848 Centerline is valid? [True, True] Translation: X:244.32, Y:-115.70, Z:-4.13 [[ 9.89044693e-01 1.47091802e-01 -1.24337003e-02 2.44322259e+02] [ 1.47080156e-01 -9.89122845e-01 -1.85089963e-03 -1.15698171e+02] [-1.25707092e-02 1.87187859e-06 -9.99920986e-01 -4.13360522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.01236885684936333 Centerline is valid? [True, True] Translation: X:244.35, Y:-115.70, Z:-4.13 [[ 9.74293652e-01 2.24941928e-01 -1.23696622e-02 2.44353406e+02] [ 2.24923921e-01 -9.74372172e-01 -2.84618638e-03 -1.15698936e+02] [-1.26928813e-02 -9.21160681e-06 -9.99919442e-01 -4.13423522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.012190578812289299 Centerline is valid? [True, True] Translation: X:244.38, Y:-115.70, Z:-4.14 [[ 9.53841563e-01 3.00127236e-01 -1.04840784e-02 2.44384698e+02] [ 3.00109154e-01 -9.53899178e-01 -3.29444421e-03 -1.15697355e+02] [-1.09895062e-02 -3.99007375e-06 -9.99939614e-01 -4.13667854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.012264776092519912 Centerline is valid? [True, True] Translation: X:244.41, Y:-115.69, Z:-4.14 [[ 9.27849479e-01 3.72827011e-01 -9.76546826e-03 2.44413691e+02] [ 3.72806275e-01 -9.27900867e-01 -3.93213861e-03 -1.15691829e+02] [-1.05273940e-02 7.80491159e-06 -9.99944585e-01 -4.13707272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.0122761246733608 Centerline is valid? [True, True] Translation: X:244.44, Y:-115.68, Z:-4.14 [[ 8.96229882e-01 4.43479546e-01 -9.89402258e-03 2.44443198e+02] [ 4.43452290e-01 -8.96284493e-01 -4.91675959e-03 -1.15682686e+02] [-1.10483413e-02 1.90198948e-05 -9.99938965e-01 -4.13732671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.012266496610702619 Centerline is valid? [True, True] Translation: X:244.47, Y:-115.67, Z:-4.14 [[ 8.58553837e-01 5.12607316e-01 -1.09109444e-02 2.44471826e+02] [ 5.12565667e-01 -8.58623165e-01 -6.53433526e-03 -1.15672681e+02] [-1.27179377e-02 1.75031226e-05 -9.99919124e-01 -4.13678224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.012187145261588626 Centerline is valid? [True, True] Translation: X:244.50, Y:-115.66, Z:-4.14 [[ 8.15211002e-01 5.79049540e-01 -1.15175223e-02 2.44503272e+02] [ 5.78991660e-01 -8.15292359e-01 -8.18699863e-03 -1.15664843e+02] [-1.41308257e-02 5.58200879e-06 -9.99900155e-01 -4.13688372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.012374534729034502 Centerline is valid? [True, True] Translation: X:244.53, Y:-115.65, Z:-4.14 [[ 7.65966197e-01 6.42760645e-01 -1.24313231e-02 2.44532148e+02] [ 6.42676607e-01 -7.66067068e-01 -1.03935956e-02 -1.15655000e+02] [-1.62038214e-02 -2.81776696e-05 -9.99868709e-01 -4.13511465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.01255514475465224 Centerline is valid? [True, True] Translation: X:244.56, Y:-115.64, Z:-4.13 [[ 7.12776420e-01 7.01285951e-01 -1.21568727e-02 2.44558285e+02] [ 7.01184973e-01 -7.12880083e-01 -1.19004584e-02 -1.15640150e+02] [-1.70120168e-02 -4.18503271e-05 -9.99855284e-01 -4.13398624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.012327264844869758 Centerline is valid? [True, True] Translation: X:244.59, Y:-115.62, Z:-4.14 [[ 6.54553024e-01 7.55922958e-01 -1.18667723e-02 2.44585465e+02] [ 7.55800709e-01 -6.54660582e-01 -1.35945394e-02 -1.15624815e+02] [-1.80451325e-02 -7.05679939e-05 -9.99837171e-01 -4.13529613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.01232874328556233 Centerline is valid? [True, True] Translation: X:244.61, Y:-115.61, Z:-4.14 [[ 5.92888686e-01 8.05215281e-01 -1.05526233e-02 2.44609162e+02] [ 8.05090144e-01 -5.92982584e-01 -1.41955705e-02 -1.15607120e+02] [-1.76880121e-02 -7.94198361e-05 -9.99843552e-01 -4.13506016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.012245663928981182 Centerline is valid? [True, True] Translation: X:244.63, Y:-115.59, Z:-4.14 [[ 5.28365299e-01 8.48966936e-01 -9.23320387e-03 2.44630873e+02] [ 8.48839676e-01 -5.28445963e-01 -1.46992335e-02 -1.15586656e+02] [-1.73584126e-02 -7.09448781e-05 -9.99849329e-01 -4.13523006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.012167565547172647 Centerline is valid? [True, True] Translation: X:244.65, Y:-115.56, Z:-4.14 [[ 4.61478692e-01 8.87117654e-01 -7.72558114e-03 2.44650375e+02] [ 8.86995039e-01 -4.61543352e-01 -1.47490662e-02 -1.15563929e+02] [-1.66498476e-02 -4.61723527e-05 -9.99861381e-01 -4.13610276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.01208773723337518 Centerline is valid? [True, True] Translation: X:244.67, Y:-115.54, Z:-4.14 [[ 3.91394004e-01 9.20203995e-01 -5.94491771e-03 2.44669210e+02] [ 9.20098997e-01 -3.91439149e-01 -1.39006884e-02 -1.15540362e+02] [-1.51185425e-02 -2.92667563e-05 -9.99885708e-01 -4.13689355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.012079282743260885 Centerline is valid? [True, True] Translation: X:244.68, Y:-115.52, Z:-4.14 [[ 3.18532026e-01 9.47902246e-01 -4.32213957e-03 2.44684533e+02] [ 9.47815907e-01 -3.18561347e-01 -1.27935279e-02 -1.15516752e+02] [-1.35038805e-02 -2.14442634e-05 -9.99908818e-01 -4.13667220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.011947078617441579 Centerline is valid? [True, True] Translation: X:244.70, Y:-115.49, Z:-4.14 [[ 2.42942074e-01 9.70035269e-01 -3.27495086e-03 2.44699859e+02] [ 9.69948582e-01 -2.42964145e-01 -1.29681084e-02 -1.15491203e+02] [-1.33752182e-02 -2.60347916e-05 -9.99910547e-01 -4.13640421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.01203774262881288 Centerline is valid? [True, True] Translation: X:244.71, Y:-115.46, Z:-4.14 [[ 1.64781328e-01 9.86327350e-01 -2.33939940e-03 2.44711627e+02] [ 9.86231996e-01 -1.64797926e-01 -1.37147424e-02 -1.15464323e+02] [-1.39127537e-02 -4.72570717e-05 -9.99903212e-01 -4.13575032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.01223843654957526 Centerline is valid? [True, True] Translation: X:244.72, Y:-115.44, Z:-4.14 [[ 8.49114620e-02 9.96387708e-01 -1.25649551e-03 2.44721450e+02] [ 9.96291642e-01 -8.49207232e-02 -1.38360325e-02 -1.15438768e+02] [-1.38927553e-02 -7.69982255e-05 -9.99903488e-01 -4.13521686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.012331319685935867 Centerline is valid? [True, True] Translation: X:244.73, Y:-115.41, Z:-4.13 [[ 5.10581939e-03 9.99986952e-01 -1.64437661e-04 2.44729022e+02] [ 9.99895307e-01 -5.10757772e-03 -1.35384085e-02 -1.15410968e+02] [-1.35390717e-02 -9.52957773e-05 -9.99908338e-01 -4.13474051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.012388088844463073 Centerline is valid? [True, True] Translation: X:244.73, Y:-115.38, Z:-4.14 [[-7.48444320e-02 9.97194879e-01 8.27708192e-04 2.44734351e+02] [ 9.97116828e-01 7.48489301e-02 -1.24767421e-02 -1.15382567e+02] [-1.25036964e-02 -1.08492908e-04 -9.99921820e-01 -4.13555479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.012220434012254946 Centerline is valid? [True, True] Translation: X:244.74, Y:-115.35, Z:-4.14 [[-1.52881661e-01 9.88243019e-01 1.71282637e-03 2.44740392e+02] [ 9.88173069e-01 1.52891219e-01 -1.17584015e-02 -1.15353375e+02] [-1.18820344e-02 -1.05075064e-04 -9.99929401e-01 -4.13686708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.01219120542373389 Centerline is valid? [True, True] Translation: X:244.74, Y:-115.33, Z:-4.14 [[-2.29333843e-01 9.73344798e-01 2.42768308e-03 2.44743835e+02] [ 9.73285955e-01 2.29346674e-01 -1.07029920e-02 -1.15325900e+02] [-1.09744826e-02 -9.17284369e-05 -9.99939774e-01 -4.13638335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.012164418890405839 Centerline is valid? [True, True] Translation: X:244.74, Y:-115.30, Z:-4.14 [[-3.04762110e-01 9.52423799e-01 2.99387763e-03 2.44744840e+02] [ 9.52375126e-01 3.04776804e-01 -9.62910443e-03 -1.15296754e+02] [-1.00834527e-02 -8.32916020e-05 -9.99949157e-01 -4.13647880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.012292222674347996 Centerline is valid? [True, True] Translation: X:244.74, Y:-115.27, Z:-4.14 [[-3.79130109e-01 9.25337203e-01 3.37939953e-03 2.44743267e+02] [ 9.25298488e-01 3.79145161e-01 -8.46496058e-03 -1.15267687e+02] [-9.11422593e-03 -8.23681583e-05 -9.99958461e-01 -4.13685104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.012512336545790582 Centerline is valid? [True, True] Translation: X:244.74, Y:-115.24, Z:-4.14 [[-4.51069190e-01 8.92479874e-01 4.03235507e-03 2.44738879e+02] [ 8.92442436e-01 4.51087205e-01 -8.17506686e-03 -1.15239982e+02] [-9.11502642e-03 -8.88760077e-05 -9.99958453e-01 -4.13683263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.012562342430973553 Centerline is valid? [True, True] Translation: X:244.73, Y:-115.21, Z:-4.14 [[-5.19768764e-01 8.54295567e-01 4.41780513e-03 2.44732753e+02] [ 8.54263289e-01 5.19787531e-01 -7.42664830e-03 -1.15211747e+02] [-8.64087274e-03 -8.61710634e-05 -9.99962663e-01 -4.13642841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.012711306584547959 Centerline is valid? [True, True] Translation: X:244.72, Y:-115.19, Z:-4.14 [[-5.84982794e-01 8.11028166e-01 5.33336462e-03 2.44724006e+02] [ 8.10993035e-01 5.85007099e-01 -7.54920892e-03 -1.15186133e+02] [-9.24267723e-03 -9.08357646e-05 -9.99957281e-01 -4.13526853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.012841110337136709 Centerline is valid? [True, True] Translation: X:244.71, Y:-115.16, Z:-4.13 [[-6.46718724e-01 7.62704516e-01 6.05916595e-03 2.44711228e+02] [ 7.62669689e-01 6.46747102e-01 -7.28922518e-03 -1.15162576e+02] [-9.47827297e-03 -9.29361969e-05 -9.99955076e-01 -4.13461027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.012433986540389885 Centerline is valid? [True, True] Translation: X:244.70, Y:-115.14, Z:-4.14 [[-7.03417023e-01 7.10743662e-01 6.92370861e-03 2.44697769e+02] [ 7.10708076e-01 7.03451092e-01 -7.11279274e-03 -1.15137152e+02] [-9.92586274e-03 -8.25238753e-05 -9.99950734e-01 -4.13528352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.012480008988360275 Centerline is valid? [True, True] Translation: X:244.68, Y:-115.11, Z:-4.14 [[-7.56625300e-01 6.53810606e-01 7.06025479e-03 2.44684045e+02] [ 6.53781229e-01 7.56658236e-01 -6.19828120e-03 -1.15113143e+02] [-9.39470192e-03 -7.39143212e-05 -9.99955866e-01 -4.13538519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.012542445394793524 Centerline is valid? [True, True] Translation: X:244.70, Y:-115.09, Z:-4.14 [[-8.01502156e-01 5.97941223e-01 7.78383842e-03 2.44702877e+02] [ 5.97911890e-01 8.01539946e-01 -5.92340595e-03 -1.15091106e+02] [-9.78090603e-03 -9.35731001e-05 -9.99952161e-01 -4.13608892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.01294688079354128 Centerline is valid? [True, True] Translation: X:244.73, Y:-115.07, Z:-4.14 [[-8.42518086e-01 5.38593969e-01 8.93373403e-03 2.44730839e+02] [ 5.38562217e-01 8.42565442e-01 -5.84938477e-03 -1.15074524e+02] [-1.06776989e-02 -1.16840855e-04 -9.99942985e-01 -4.13524898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.013233775335726769 Centerline is valid? [True, True] Translation: X:244.75, Y:-115.05, Z:-4.13 [[-8.79278707e-01 4.76206470e-01 9.81596786e-03 2.44745630e+02] [ 4.76175004e-01 8.79333485e-01 -5.47613006e-03 -1.15049025e+02] [-1.12392778e-02 -1.40926033e-04 -9.99936827e-01 -4.13470212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.013092877866305091 Centerline is valid? [True, True] Translation: X:244.76, Y:-115.03, Z:-4.14 [[-9.10725917e-01 4.12872481e-01 1.07059812e-02 2.44756662e+02] [ 4.12842062e-01 9.10788830e-01 -5.01388582e-03 -1.15025391e+02] [-1.18209835e-02 -1.46396427e-04 -9.99930119e-01 -4.13560850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.012882368288075857 Centerline is valid? [True, True] Translation: X:245.06, Y:-114.40, Z:-5.12 [[-8.69857138e-01 -4.93200218e-01 1.01047314e-02 2.45058282e+02] [ 4.93168628e-01 -8.69915817e-01 -5.58341076e-03 -1.14397989e+02] [ 1.15440051e-02 1.26566828e-04 9.99933358e-01 -5.11750279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.012408209027951506 Centerline is valid? [True, True] Translation: X:244.72, Y:-115.01, Z:-4.14 [[-9.10727077e-01 4.12880406e-01 1.02937740e-02 2.44719379e+02] [ 4.12852798e-01 9.10785244e-01 -4.77568041e-03 -1.15011477e+02] [-1.13472023e-02 -9.95280551e-05 -9.99935613e-01 -4.13662281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.012286727751790606 Centerline is valid? [True, True] Translation: X:244.73, Y:-114.99, Z:-4.14 [[-9.37164437e-01 3.48711695e-01 1.10893026e-02 2.44732060e+02] [ 3.48686194e-01 9.37230039e-01 -4.21801980e-03 -1.14988429e+02] [-1.18641004e-02 -8.62914192e-05 -9.99929615e-01 -4.13614653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.012118517342236837 Centerline is valid? [True, True] Translation: X:244.74, Y:-114.96, Z:-4.14 [[-9.58893771e-01 2.83479731e-01 1.27270844e-02 2.44738699e+02] [ 2.83453823e-01 9.58978226e-01 -3.83310156e-03 -1.14964628e+02] [-1.32916034e-02 -6.79964747e-05 -9.99911660e-01 -4.13551423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.01249463561391028 Centerline is valid? [True, True] Translation: X:244.95, Y:-114.29, Z:-5.12 [[-9.34339785e-01 -3.56142849e-01 1.30933765e-02 2.44947614e+02] [ 3.56109579e-01 -9.34431516e-01 -4.86925849e-03 -1.14290161e+02] [ 1.39690152e-02 1.13134858e-04 9.99902422e-01 -5.12022610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.012186510997008366 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.95, Z:-4.14 [[-9.60241732e-01 2.78834210e-01 1.36857387e-02 2.44696864e+02] [ 2.78804573e-01 9.60339250e-01 -4.06622683e-03 -1.14951957e+02] [-1.42767552e-02 -8.89141512e-05 -9.99898078e-01 -4.13602480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.012279894813779897 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.92, Z:-4.14 [[-9.77768011e-01 2.09230036e-01 1.38747405e-02 2.44703034e+02] [ 2.09207509e-01 9.77866444e-01 -3.07182778e-03 -1.14924796e+02] [-1.42103618e-02 -1.00835039e-04 -9.99899023e-01 -4.13637723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.012881830916045214 Centerline is valid? [True, True] Translation: X:244.71, Y:-114.89, Z:-4.14 [[-9.90528704e-01 1.36543473e-01 1.44487509e-02 2.44706559e+02] [ 1.36526819e-01 9.90634069e-01 -2.13743323e-03 -1.14894488e+02] [-1.46052775e-02 -1.44546961e-04 -9.99893327e-01 -4.13571440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.01352358328386634 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.86, Z:-4.14 [[-9.97868201e-01 6.33409134e-02 1.57156565e-02 2.44703739e+02] [ 6.33299690e-02 9.97991929e-01 -1.19359246e-03 -1.14864404e+02] [-1.57597016e-02 -1.95775915e-04 -9.99875789e-01 -4.13512560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.014029424490688931 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.83, Z:-4.14 [[-9.99808342e-01 -1.07700429e-02 1.63488759e-02 2.44698012e+02] [-1.07727447e-02 9.99941969e-01 -7.71943564e-05 -1.14834320e+02] [-1.63470958e-02 -2.53301828e-04 -9.99866345e-01 -4.13612518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.014639451335482922 Centerline is valid? [True, True] Translation: X:244.70, Y:-114.81, Z:-4.14 [[-9.96388518e-01 -8.33839682e-02 1.60323181e-02 2.44698455e+02] [-8.33775925e-02 9.96517455e-01 1.06684488e-03 -1.14805144e+02] [-1.60654426e-02 -2.73744098e-04 -9.99870905e-01 -4.13644486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.014928951637013318 Centerline is valid? [True, True] Translation: X:244.69, Y:-114.78, Z:-4.14 [[-9.87947589e-01 -1.54033280e-01 1.52745176e-02 2.44687176e+02] [-1.54018971e-01 9.88065625e-01 2.11583939e-03 -1.14777524e+02] [-1.54181355e-02 -2.62227065e-04 -9.99881099e-01 -4.13698016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.012949541605273254 Centerline is valid? [True, True] Translation: X:244.68, Y:-114.76, Z:-4.14 [[-9.75335911e-01 -2.20268611e-01 1.41985956e-02 2.44676988e+02] [-2.20248121e-01 9.75439236e-01 3.01038501e-03 -1.14755560e+02] [-1.45129606e-02 -1.91077406e-04 -9.99894663e-01 -4.13974821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.012291933278796074 Centerline is valid? [True, True] Translation: X:244.66, Y:-114.73, Z:-4.14 [[-9.58383984e-01 -2.85147229e-01 1.38273815e-02 2.44662052e+02] [-2.85119373e-01 9.58483721e-01 3.98750273e-03 -1.14734237e+02] [-1.43903455e-02 -1.20895592e-04 -9.99896446e-01 -4.13949885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.01184023684195908 Centerline is valid? [True, True] Translation: X:244.63, Y:-114.72, Z:-4.14 [[-9.38132786e-01 -3.46007818e-01 1.36185814e-02 2.44629035e+02] [-3.45971379e-01 9.38231629e-01 5.02140008e-03 -1.14721963e+02] [-1.45148275e-02 -8.99347767e-07 -9.99894654e-01 -4.14039197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.012937304165434413 Centerline is valid? [True, True] Translation: X:244.57, Y:-114.72, Z:-4.14 [[-9.12180960e-01 -4.09565054e-01 1.35041712e-02 2.44571352e+02] [-4.09519024e-01 9.12280912e-01 6.14060521e-03 -1.14719308e+02] [-1.48345750e-02 7.11281344e-05 -9.99889959e-01 -4.13698315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.012952686602621062 Centerline is valid? [True, True] Translation: X:244.51, Y:-114.72, Z:-4.14 [[-8.82293332e-01 -4.70494866e-01 1.38945422e-02 2.44506725e+02] [-4.70433455e-01 8.82402715e-01 7.60346394e-03 -1.14720975e+02] [-1.58379725e-02 1.72028025e-04 -9.99874557e-01 -4.14006974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.01374697641039659 Centerline is valid? [True, True] Translation: X:244.43, Y:-114.73, Z:-4.14 [[-8.46623729e-01 -5.32020410e-01 1.35109419e-02 2.44433723e+02] [-5.31948374e-01 8.46731500e-01 8.75757281e-03 -1.14733245e+02] [-1.60993476e-02 2.27245367e-04 -9.99870371e-01 -4.13967952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.01411588591548235 Centerline is valid? [True, True] Translation: X:244.36, Y:-114.75, Z:-4.14 [[-8.06010523e-01 -5.91742422e-01 1.37091900e-02 2.44355277e+02] [-5.91650731e-01 8.06127051e-01 1.04206254e-02 -1.14752871e+02] [-1.72176751e-02 2.88081432e-04 -9.99851723e-01 -4.13948001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.014771650771500113 Centerline is valid? [True, True] Translation: X:244.27, Y:-114.79, Z:-4.14 [[-7.60019246e-01 -6.49787795e-01 1.21065021e-02 2.44270046e+02] [-6.49699324e-01 7.60115610e-01 1.07260830e-02 -1.14785854e+02] [-1.61720191e-02 2.86443300e-04 -9.99869183e-01 -4.13974470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.013599271420526703 Centerline is valid? [True, True] Translation: X:244.18, Y:-114.83, Z:-4.14 [[-7.07842835e-01 -7.06303868e-01 9.66267001e-03 2.44183041e+02] [-7.06233732e-01 7.07908749e-01 9.95588673e-03 -1.14825850e+02] [-1.38721699e-02 2.23099593e-04 -9.99903752e-01 -4.14259536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.012121783694315102 Centerline is valid? [True, True] Translation: X:244.09, Y:-114.88, Z:-4.14 [[-6.46523448e-01 -7.62857918e-01 7.43153137e-03 2.44090975e+02] [-7.62805876e-01 6.46566152e-01 8.91103806e-03 -1.14875416e+02] [-1.16028326e-02 9.23792595e-05 -9.99932681e-01 -4.14463731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.011309568799870539 Centerline is valid? [True, True] Translation: X:244.00, Y:-114.93, Z:-4.15 [[-5.76279518e-01 -8.17230357e-01 6.03826874e-03 2.43995801e+02] [-8.17186533e-01 5.76311149e-01 8.46349438e-03 -1.14931355e+02] [-1.03965461e-02 -5.70534302e-05 -9.99945953e-01 -4.14553618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.012623180663784978 Centerline is valid? [True, True] Translation: X:243.91, Y:-115.00, Z:-4.15 [[-5.04802141e-01 -8.63218846e-01 5.29359783e-03 2.43909493e+02] [-8.63174504e-01 5.04829873e-01 8.75073532e-03 -1.14996045e+02] [-1.02261660e-02 -1.51908746e-04 -9.99947700e-01 -4.14518156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.01585522829806295 Centerline is valid? [True, True] Translation: X:243.82, Y:-115.07, Z:-4.14 [[-4.28079014e-01 -9.03730007e-01 4.52017804e-03 2.43822996e+02] [-9.03685882e-01 4.28102799e-01 8.93425252e-03 -1.15070747e+02] [-1.00092530e-02 -2.60255066e-04 -9.99949872e-01 -4.14460541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.017414159615283697 Centerline is valid? [True, True] Translation: X:243.75, Y:-115.15, Z:-4.14 [[-3.54301690e-01 -9.35123927e-01 3.68161232e-03 2.43752697e+02] [-9.35081681e-01 3.54320697e-01 8.89340387e-03 -1.15145812e+02] [-9.62090619e-03 -2.91660220e-04 -9.99953675e-01 -4.14434762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.017808287719921774 Centerline is valid? [True, True] Translation: X:243.69, Y:-115.24, Z:-4.14 [[-2.79971132e-01 -9.60003111e-01 3.19244531e-03 2.43685190e+02] [-9.59953679e-01 2.79989132e-01 9.74786566e-03 -1.15237200e+02] [-1.02518314e-02 -3.35478635e-04 -9.99947392e-01 -4.14330288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.016972438534869953 Centerline is valid? [True, True] Translation: X:243.63, Y:-115.33, Z:-4.14 [[-2.07351217e-01 -9.78262936e-01 2.66483996e-03 2.43631440e+02] [-9.78202530e-01 2.07368043e-01 1.08768262e-02 -1.15327194e+02] [-1.11929986e-02 -3.51430029e-04 -9.99937295e-01 -4.14243054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.015812420144049332 Centerline is valid? [True, True] Translation: X:243.59, Y:-115.42, Z:-4.14 [[-1.37580307e-01 -9.90488691e-01 1.95255344e-03 2.43585217e+02] [-9.90418460e-01 1.37593812e-01 1.17990061e-02 -1.15424350e+02] [-1.19554414e-02 -3.10534084e-04 -9.99928483e-01 -4.14132014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.01467234089867027 Centerline is valid? [True, True] Translation: X:243.55, Y:-115.52, Z:-4.14 [[-6.70056096e-02 -9.97752007e-01 1.08710522e-03 2.43547836e+02] [-9.97675204e-01 6.70139429e-02 1.23822223e-02 -1.15525000e+02] [-1.24272383e-02 -2.54899575e-04 -9.99922746e-01 -4.14068223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.012311545295308845 Centerline is valid? [True, True] Translation: X:243.52, Y:-115.63, Z:-4.14 [[ 6.19931108e-04 -9.99999798e-01 1.40820024e-04 2.43523047e+02] [-9.99918336e-01 -6.18083075e-04 1.27647457e-02 -1.15633750e+02] [-1.27646561e-02 -1.48721787e-04 -9.99918517e-01 -4.14223922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.011584439873742624 Centerline is valid? [True, True] Translation: X:243.50, Y:-115.74, Z:-4.14 [[ 7.10394466e-02 -9.97473107e-01 -8.93410824e-04 2.43504108e+02] [-9.97380257e-01 -7.10450238e-02 1.36098256e-02 -1.15744847e+02] [-1.36389074e-02 -7.57641607e-05 -9.99906983e-01 -4.14294038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.011927332768509475 Centerline is valid? [True, True] Translation: X:243.49, Y:-115.84, Z:-4.14 [[ 1.36368321e-01 -9.90656324e-01 -1.93098154e-03 2.43494435e+02] [-9.90563490e-01 -1.36381977e-01 1.35620640e-02 -1.15844330e+02] [-1.36986955e-02 6.33239209e-05 -9.99906166e-01 -4.14256709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.013401629773569351 Centerline is valid? [True, True] Translation: X:243.49, Y:-115.96, Z:-4.14 [[ 2.01779399e-01 -9.79426817e-01 -2.86087601e-03 2.43494836e+02] [-9.79341797e-01 -2.01799582e-01 1.29063608e-02 -1.15957153e+02] [-1.32181595e-02 1.97537726e-04 -9.99912617e-01 -4.14464579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.01524949627231082 Centerline is valid? [True, True] Translation: X:243.50, Y:-116.07, Z:-4.15 [[ 2.68389087e-01 -9.63302806e-01 -3.87316108e-03 2.43500812e+02] [-9.63218414e-01 -2.68416857e-01 1.27544953e-02 -1.16066496e+02] [-1.33260628e-02 3.07532723e-04 -9.99911157e-01 -4.14599395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.017046042687004284 Centerline is valid? [True, True] Translation: X:243.51, Y:-116.18, Z:-4.15 [[ 3.38350114e-01 -9.41008069e-01 -4.79727463e-03 2.43514618e+02] [-9.40927555e-01 -3.38383943e-01 1.23143463e-02 -1.16182136e+02] [-1.32112199e-02 3.47327426e-04 -9.99912668e-01 -4.14573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.017053893578546142 Centerline is valid? [True, True] Translation: X:243.53, Y:-116.30, Z:-4.15 [[ 4.07847917e-01 -9.13033160e-01 -5.52493635e-03 2.43532640e+02] [-9.12960838e-01 -4.07885183e-01 1.14972045e-02 -1.16295934e+02] [-1.27508686e-02 3.54939623e-04 -9.99918641e-01 -4.14637209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.0169145492452325 Centerline is valid? [True, True] Translation: X:243.56, Y:-116.41, Z:-4.15 [[ 4.77210399e-01 -8.78767013e-01 -6.22672472e-03 2.43558848e+02] [-8.78701115e-01 -4.77250904e-01 1.07668421e-02 -1.16410033e+02] [-1.24332557e-02 3.33380932e-04 -9.99922649e-01 -4.14641051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.01626734738646666 Centerline is valid? [True, True] Translation: X:243.59, Y:-116.52, Z:-4.15 [[ 5.43776302e-01 -8.39200671e-01 -7.04038462e-03 2.43592382e+02] [-8.39137793e-01 -5.43821784e-01 1.02777172e-02 -1.16518597e+02] [-1.24537817e-02 3.19073784e-04 -9.99922398e-01 -4.14679780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.014513254044156708 Centerline is valid? [True, True] Translation: X:243.63, Y:-116.63, Z:-4.15 [[ 6.11302066e-01 -7.91351205e-01 -8.54714973e-03 2.43630891e+02] [-7.91279705e-01 -6.11361761e-01 1.06407683e-02 -1.16629337e+02] [-1.36459853e-02 2.58462474e-04 -9.99906856e-01 -4.14574638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.012894833436758959 Centerline is valid? [True, True] Translation: X:243.67, Y:-116.73, Z:-4.15 [[ 6.73794650e-01 -7.38862102e-01 -9.14131280e-03 2.43674599e+02] [-7.38797631e-01 -6.73856634e-01 9.76207901e-03 -1.16731698e+02] [-1.33727645e-02 1.75943632e-04 -9.99910565e-01 -4.14568878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.011530084557434702 Centerline is valid? [True, True] Translation: X:243.72, Y:-116.83, Z:-4.15 [[ 7.33245803e-01 -6.79910861e-01 -8.47426594e-03 2.43723239e+02] [-6.79866353e-01 -7.33294768e-01 7.77977910e-03 -1.16829744e+02] [-1.15036912e-02 5.68779046e-05 -9.99933829e-01 -4.14663324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.011119479673038505 Centerline is valid? [True, True] Translation: X:243.74, Y:-116.86, Z:-4.15 [[ 7.87300838e-01 -6.16528904e-01 -7.03565210e-03 2.43742834e+02] [-6.16504261e-01 -7.87332274e-01 5.51235999e-03 -1.16864467e+02] [-8.93792523e-03 -2.37614385e-06 -9.99960056e-01 -4.14735319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.011355894146867336 Centerline is valid? [True, True] Translation: X:243.76, Y:-116.90, Z:-4.15 [[ 8.36948896e-01 -5.47255816e-01 -5.25524104e-03 2.43763859e+02] [-5.47244673e-01 -8.36965394e-01 3.49253748e-03 -1.16900199e+02] [-6.30976633e-03 -4.71727227e-05 -9.99980092e-01 -4.14806449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.012404891667924835 Centerline is valid? [True, True] Translation: X:243.79, Y:-116.93, Z:-4.15 [[ 8.80005761e-01 -4.74927006e-01 -5.84803981e-03 2.43789796e+02] [-4.74915842e-01 -8.80025188e-01 3.25770093e-03 -1.16931904e+02] [-6.69359248e-03 -8.94688415e-05 -9.99977594e-01 -4.14715502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.013289395213507516 Centerline is valid? [True, True] Translation: X:243.82, Y:-116.96, Z:-4.15 [[ 9.16116281e-01 -4.00863218e-01 -6.29597298e-03 2.43818773e+02] [-4.00852837e-01 -9.16137908e-01 2.88740722e-03 -1.16959699e+02] [-6.92543487e-03 -1.21442134e-04 -9.99976012e-01 -4.14597740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.013576733013850815 Centerline is valid? [True, True] Translation: X:243.85, Y:-116.98, Z:-4.15 [[ 9.44997169e-01 -3.27017028e-01 -6.34142369e-03 2.43850917e+02] [-3.27008769e-01 -9.45018438e-01 2.32753415e-03 -1.16982332e+02] [-6.75390561e-03 -1.25812030e-04 -9.99977184e-01 -4.14575083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.014487129800443053 Centerline is valid? [True, True] Translation: X:243.88, Y:-117.00, Z:-4.14 [[ 9.68096886e-01 -2.50440550e-01 -8.24319754e-03 2.43884332e+02] [-2.50429947e-01 -9.68131965e-01 2.31101274e-03 -1.17000892e+02] [-8.55927433e-03 -1.72940709e-04 -9.99963354e-01 -4.14382973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.014798998861440817 Centerline is valid? [True, True] Translation: X:243.92, Y:-117.01, Z:-4.14 [[ 9.84633799e-01 -1.74273393e-01 -1.11832763e-02 2.43920475e+02] [-1.74259544e-01 -9.84697280e-01 2.20849815e-03 -1.17011249e+02] [-1.13970242e-02 -2.25769288e-04 -9.99935026e-01 -4.14050994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.014304157776822054 Centerline is valid? [True, True] Translation: X:243.96, Y:-117.02, Z:-4.14 [[ 9.95145893e-01 -9.75427816e-02 -1.30405786e-02 2.43958208e+02] [-9.75311228e-02 -9.95231302e-01 1.52854907e-03 -1.17018330e+02] [-1.31274909e-02 -2.49267063e-04 -9.99913800e-01 -4.13928447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.01398668149291831 Centerline is valid? [True, True] Translation: X:243.99, Y:-117.02, Z:-4.14 [[ 9.99697269e-01 -2.08474698e-02 -1.30672577e-02 2.43992840e+02] [-2.08426967e-02 -9.99782642e-01 5.01364794e-04 -1.17018362e+02] [-1.30748696e-02 -2.28856126e-04 -9.99914494e-01 -4.13955346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.0139752201480037 Centerline is valid? [True, True] Translation: X:244.03, Y:-117.02, Z:-4.14 [[ 9.98291439e-01 5.71835975e-02 -1.20099855e-02 2.44027024e+02] [ 5.71819585e-02 -9.98363658e-01 -4.80095933e-04 -1.17017040e+02] [-1.20177867e-02 -2.07478834e-04 -9.99927762e-01 -4.14089588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.013561397306619493 Centerline is valid? [True, True] Translation: X:244.06, Y:-117.02, Z:-4.14 [[ 9.90502321e-01 1.37106871e-01 -1.03371893e-02 2.44060488e+02] [ 1.37101516e-01 -9.90556241e-01 -1.22826000e-03 -1.17016448e+02] [-1.04079703e-02 -2.00649946e-04 -9.99945815e-01 -4.14326180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.014558418733153165 Centerline is valid? [True, True] Translation: X:244.09, Y:-117.02, Z:-4.14 [[ 9.75999052e-01 2.17540580e-01 -1.00968356e-02 2.44093955e+02] [ 2.17531410e-01 -9.76051249e-01 -2.01102067e-03 -1.17015288e+02] [-1.02925076e-02 -2.33624620e-04 -9.99947003e-01 -4.14261914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.015925860940333606 Centerline is valid? [True, True] Translation: X:244.13, Y:-117.01, Z:-4.14 [[ 9.55428362e-01 2.95055682e-01 -9.93927831e-03 2.44125864e+02] [ 2.95042466e-01 -9.55480026e-01 -2.80406991e-03 -1.17012528e+02] [-1.03241387e-02 -2.53421264e-04 -9.99946673e-01 -4.14144673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.015400483788754426 Centerline is valid? [True, True] Translation: X:244.16, Y:-117.00, Z:-4.14 [[ 9.28939801e-01 3.70107247e-01 -9.56412714e-03 2.44157808e+02] [ 3.70090533e-01 -9.28988997e-01 -3.52717598e-03 -1.17003777e+02] [-1.01904023e-02 -2.63058760e-04 -9.99948042e-01 -4.14179181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.015645628835521848 Centerline is valid? [True, True] Translation: X:244.19, Y:-116.99, Z:-4.14 [[ 8.97227872e-01 4.41463400e-01 -9.60266818e-03 2.44189476e+02] [ 4.41441318e-01 -8.97279217e-01 -4.42371790e-03 -1.16994347e+02] [-1.05691841e-02 -2.69931501e-04 -9.99944108e-01 -4.14064858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.014281388609798136 Centerline is valid? [True, True] Translation: X:244.22, Y:-116.98, Z:-4.14 [[ 8.62564060e-01 5.05856257e-01 -9.62758706e-03 2.44216510e+02] [ 5.05827626e-01 -8.62617759e-01 -5.38657188e-03 -1.16976913e+02] [-1.10297587e-02 -2.23636198e-04 -9.99939145e-01 -4.13943867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.01219165912646712 Centerline is valid? [True, True] Translation: X:244.24, Y:-116.96, Z:-4.14 [[ 8.24232370e-01 5.66190373e-01 -8.33440447e-03 2.44242356e+02] [ 5.66163078e-01 -8.24274495e-01 -5.56108844e-03 -1.16959451e+02] [-1.00184718e-02 -1.35002984e-04 -9.99949805e-01 -4.14109928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.011049632910418916 Centerline is valid? [True, True] Translation: X:244.26, Y:-116.94, Z:-4.14 [[ 7.86453000e-01 6.17619986e-01 -6.10181838e-03 2.44262976e+02] [ 6.17601329e-01 -7.86476670e-01 -4.80061409e-03 -1.16935638e+02] [-7.76389301e-03 6.96621466e-06 -9.99969861e-01 -4.14229922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.013350523367521508 Centerline is valid? [True, True] Translation: X:244.28, Y:-116.91, Z:-4.14 [[ 7.46107021e-01 6.65803713e-01 -5.45245447e-03 2.44279321e+02] [ 6.65784735e-01 -7.46126934e-01 -5.02847120e-03 -1.16910537e+02] [-7.41619793e-03 1.21616719e-04 -9.99972492e-01 -4.14283678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.017454123700733053 Centerline is valid? [True, True] Translation: X:244.29, Y:-116.89, Z:-4.14 [[ 7.01423027e-01 7.12720671e-01 -5.91466893e-03 2.44294159e+02] [ 7.12692134e-01 -7.01447915e-01 -6.38315486e-03 -1.16886977e+02] [-8.69823860e-03 2.61953775e-04 -9.99962135e-01 -4.14175706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.019186466532071747 Centerline is valid? [True, True] Translation: X:244.32, Y:-116.87, Z:-4.14 [[ 6.47767922e-01 7.61818287e-01 -5.44207137e-03 2.44315160e+02] [ 7.61787250e-01 -6.47790706e-01 -6.88373466e-03 -1.16869820e+02] [-8.76947820e-03 3.13361916e-04 -9.99961498e-01 -4.14168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.020173618075759146 Centerline is valid? [True, True] Translation: X:244.34, Y:-116.85, Z:-4.14 [[ 5.88925660e-01 8.08173811e-01 -4.65386507e-03 2.44337413e+02] [ 8.08144066e-01 -5.88943957e-01 -6.94149732e-03 -1.16853497e+02] [-8.35080206e-03 3.27032454e-04 -9.99965078e-01 -4.14166790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.021200010705220793 Centerline is valid? [True, True] Translation: X:244.36, Y:-116.84, Z:-4.14 [[ 5.26081951e-01 8.50424784e-01 -3.93295485e-03 2.44358201e+02] [ 8.50396089e-01 -5.26096545e-01 -6.99404383e-03 -1.16836082e+02] [-8.01702217e-03 3.34870800e-04 -9.99967807e-01 -4.14169057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.022240678045013798 Centerline is valid? [True, True] Translation: X:244.38, Y:-116.82, Z:-4.14 [[ 4.59091226e-01 8.88383814e-01 -3.07347438e-03 2.44376583e+02] [ 8.88359105e-01 -4.59101406e-01 -6.63321609e-03 -1.16816005e+02] [-7.30387821e-03 3.14902355e-04 -9.99973277e-01 -4.14159229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.021757566300106276 Centerline is valid? [True, True] Translation: X:244.40, Y:-116.80, Z:-4.14 [[ 3.88017853e-01 9.21649561e-01 -2.05713149e-03 2.44400452e+02] [ 9.21632954e-01 -3.88023223e-01 -5.53853901e-03 -1.16797158e+02] [-5.90280684e-03 2.53131837e-04 -9.99982546e-01 -4.14139636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.01957966026500414 Centerline is valid? [True, True] Translation: X:244.43, Y:-116.78, Z:-4.14 [[ 3.09354179e-01 9.50946288e-01 -1.07246480e-03 2.44426482e+02] [ 9.50938850e-01 -3.09356004e-01 -3.76382465e-03 -1.16777340e+02] [-3.91096850e-03 1.44506441e-04 -9.99992342e-01 -4.14191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.018904857422065872 Centerline is valid? [True, True] Translation: X:244.45, Y:-116.75, Z:-4.14 [[ 2.27782344e-01 9.73711915e-01 -5.56902655e-04 2.44445230e+02] [ 9.73708027e-01 -2.27783009e-01 -2.75304903e-03 -1.16754807e+02] [-2.80752961e-03 8.48353763e-05 -9.99996055e-01 -4.14158153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.014815595546913867 Centerline is valid? [True, True] Translation: X:244.47, Y:-116.73, Z:-4.14 [[ 1.39605281e-01 9.90207152e-01 -4.02102981e-04 2.44472838e+02] [ 9.90201628e-01 -1.39605846e-01 -3.30798012e-03 -1.16731395e+02] [-3.33172150e-03 6.36484696e-05 -9.99994448e-01 -4.14006681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.013909277900423246 Centerline is valid? [True, True] Translation: X:244.49, Y:-116.70, Z:-4.14 [[ 5.75341624e-02 9.98343525e-01 -1.62348318e-04 2.44488389e+02] [ 9.98336201e-01 -5.75343622e-02 -3.82446803e-03 -1.16704151e+02] [-3.82747350e-03 5.79593614e-05 -9.99992674e-01 -4.13873832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.012421425340814977 Centerline is valid? [True, True] Translation: X:244.51, Y:-116.67, Z:-4.14 [[-3.09630567e-02 9.99520515e-01 1.72321196e-04 2.44507743e+02] [ 9.99509173e-01 3.09635263e-02 -4.76157396e-03 -1.16674680e+02] [-4.76462653e-03 2.48037321e-05 -9.99988649e-01 -4.13620969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.012209247361464804 Centerline is valid? [True, True] Translation: X:244.52, Y:-116.64, Z:-4.14 [[-1.13952816e-01 9.93486025e-01 5.24012225e-04 2.44516187e+02] [ 9.93475577e-01 1.13954020e-01 -4.55631096e-03 -1.16643802e+02] [-4.58634456e-03 1.38888409e-06 -9.99989483e-01 -4.13604810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.012352879589584942 Centerline is valid? [True, True] Translation: X:244.52, Y:-116.61, Z:-4.14 [[-1.97732006e-01 9.80255899e-01 6.52385043e-04 2.44523140e+02] [ 9.80250192e-01 1.97733081e-01 -3.34511009e-03 -1.16612827e+02] [-3.40806200e-03 -2.19347657e-05 -9.99994192e-01 -4.13664228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.012656457357445205 Centerline is valid? [True, True] Translation: X:244.53, Y:-116.58, Z:-4.14 [[-2.77782010e-01 9.60643869e-01 7.14957022e-04 2.44528169e+02] [ 9.60640415e-01 2.77782928e-01 -2.57631234e-03 -1.16579965e+02] [-2.67352151e-03 -2.88366098e-05 -9.99996426e-01 -4.13654671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.01335324458074457 Centerline is valid? [True, True] Translation: X:244.53, Y:-116.55, Z:-4.14 [[-3.55955712e-01 9.34502324e-01 9.68761087e-04 2.44529165e+02] [ 9.34498537e-01 3.55957028e-01 -2.66051134e-03 -1.16547818e+02] [-2.83109135e-03 -4.17183900e-05 -9.99995992e-01 -4.13575612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.013389218130127525 Centerline is valid? [True, True] Translation: X:244.53, Y:-116.52, Z:-4.14 [[-4.29358152e-01 9.03133423e-01 1.26380577e-03 2.44526268e+02] [ 9.03129170e-01 4.29360009e-01 -2.77216103e-03 -1.16515981e+02] [-3.04625893e-03 -4.88700788e-05 -9.99995359e-01 -4.13570438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.014655062581067524 Centerline is valid? [True, True] Translation: X:244.52, Y:-116.48, Z:-4.13 [[-5.00296050e-01 8.65851517e-01 2.23887584e-03 2.44522238e+02] [ 8.65842120e-01 5.00301053e-01 -4.03484631e-03 -1.16484585e+02] [-4.61368974e-03 -8.01046646e-05 -9.99989354e-01 -4.13322595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.01447938284010877 Centerline is valid? [True, True] Translation: X:244.51, Y:-116.46, Z:-4.13 [[-5.68063597e-01 8.22973574e-01 4.27158357e-03 2.44509955e+02] [ 8.22948356e-01 5.68079638e-01 -6.44428169e-03 -1.16456344e+02] [-7.73007318e-03 -1.45469168e-04 -9.99970112e-01 -4.13076141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.01457513534321455 Centerline is valid? [True, True] Translation: X:244.49, Y:-116.43, Z:-4.13 [[-6.31274149e-01 7.75541187e-01 5.36807891e-03 2.44494969e+02] [ 7.75510847e-01 6.31296950e-01 -6.86204967e-03 -1.16429088e+02] [-8.71065399e-03 -1.68831141e-04 -9.99962047e-01 -4.13022654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.014180002035287858 Centerline is valid? [True, True] Translation: X:244.48, Y:-116.40, Z:-4.13 [[-6.88624593e-01 7.25097240e-01 5.49195886e-03 2.44477826e+02] [ 7.25072532e-01 6.88646478e-01 -5.98760518e-03 -1.16404308e+02] [-8.12361412e-03 -1.41143664e-04 -9.99966993e-01 -4.13076445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.012719140895712161 Centerline is valid? [True, True] Translation: X:244.45, Y:-116.38, Z:-4.13 [[-7.38348476e-01 6.74410335e-01 3.49675263e-03 2.44454168e+02] [ 6.74402454e-01 7.38356755e-01 -3.26078729e-03 -1.16384978e+02] [-4.78095957e-03 -4.93787775e-05 -9.99988570e-01 -4.13340433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.012080821319289977 Centerline is valid? [True, True] Translation: X:244.47, Y:-116.37, Z:-4.14 [[-7.79636410e-01 6.26226922e-01 2.62891727e-03 2.44469359e+02] [ 6.26223314e-01 7.79640842e-01 -2.12566301e-03 -1.16374465e+02] [-3.38075867e-03 -1.09549936e-05 -9.99994285e-01 -4.13527740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.012906228366888178 Centerline is valid? [True, True] Translation: X:244.49, Y:-116.37, Z:-4.14 [[-8.15502558e-01 5.78751378e-01 1.55551264e-03 2.44485557e+02] [ 5.78750358e-01 8.15504042e-01 -1.08698478e-03 -1.16368271e+02] [-1.89762078e-03 1.38146321e-05 -9.99998199e-01 -4.13607418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.01432948296522107 Centerline is valid? [True, True] Translation: X:244.50, Y:-116.36, Z:-4.14 [[-8.51079324e-01 5.25034998e-01 1.49520550e-03 2.44501384e+02] [ 5.25034236e-01 8.51080637e-01 -8.94779550e-04 -1.16355099e+02] [-1.74233103e-03 2.35057044e-05 -9.99998482e-01 -4.13620477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.016039440949464596 Centerline is valid? [True, True] Translation: X:244.88, Y:-115.73, Z:-5.12 [[-8.34266155e-01 -5.51351862e-01 3.33282949e-03 2.44883677e+02] [ 5.51347764e-01 -8.34272810e-01 -2.12655126e-03 -1.15730786e+02] [ 3.95296702e-03 6.34383468e-05 9.99992185e-01 -5.12057803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.015697196734175838 Centerline is valid? [True, True] Translation: X:244.46, Y:-116.34, Z:-4.13 [[-8.49549076e-01 5.27487661e-01 4.80990360e-03 2.44464631e+02] [ 5.27479994e-01 8.49562684e-01 -2.84642633e-03 -1.16343442e+02] [-5.58776937e-03 1.18949059e-04 -9.99984381e-01 -4.13218575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.01593920386469972 Centerline is valid? [True, True] Translation: X:244.48, Y:-116.32, Z:-4.13 [[-8.84984402e-01 4.65584565e-01 5.79831400e-03 2.44475585e+02] [ 4.65575568e-01 8.85003387e-01 -2.89754917e-03 -1.16319108e+02] [-6.48058169e-03 1.35267512e-04 -9.99978992e-01 -4.13083235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.014159187132632756 Centerline is valid? [True, True] Translation: X:244.49, Y:-116.29, Z:-4.13 [[-9.17095515e-01 3.98628893e-01 5.55167286e-03 2.44488061e+02] [ 3.98622277e-01 9.17112313e-01 -2.29901687e-03 -1.16291311e+02] [-6.00796209e-03 1.04602416e-04 -9.99981947e-01 -4.13208688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.01397461742994743 Centerline is valid? [True, True] Translation: X:244.50, Y:-116.27, Z:-4.13 [[-9.43808755e-01 3.30454131e-01 5.01018746e-03 2.44499245e+02] [ 3.30449909e-01 9.43822050e-01 -1.67220718e-03 -1.16265807e+02] [-5.28131316e-03 7.73722092e-05 -9.99986051e-01 -4.13226145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.012842810492218937 Centerline is valid? [True, True] Translation: X:244.51, Y:-116.24, Z:-4.13 [[-9.66315845e-01 2.57335500e-01 3.48244718e-03 2.44513292e+02] [ 2.57333944e-01 9.66322120e-01 -8.95242172e-04 -1.16236400e+02] [-3.59554334e-03 3.10651732e-05 -9.99993536e-01 -4.13249861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.012306613523320126 Centerline is valid? [True, True] Translation: X:244.69, Y:-115.54, Z:-5.12 [[-9.51396228e-01 -3.07955563e-01 2.93064780e-03 2.44688821e+02] [ 3.07953909e-01 -9.51400740e-01 -1.01112242e-03 -1.15537052e+02] [ 3.09960126e-03 -5.94736137e-05 9.99995194e-01 -5.12235917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.011987969094428825 Centerline is valid? [True, True] Translation: X:244.46, Y:-116.21, Z:-4.13 [[-9.70649018e-01 2.40478713e-01 3.23601579e-03 2.44462507e+02] [ 2.40477318e-01 9.70654413e-01 -8.19086241e-04 -1.16210518e+02] [-3.33802581e-03 -1.68568557e-05 -9.99994429e-01 -4.13208535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.012831073931926638 Centerline is valid? [True, True] Translation: X:244.46, Y:-116.18, Z:-4.13 [[-9.86547107e-01 1.63428315e-01 3.99906997e-03 2.44463335e+02] [ 1.63426761e-01 9.86555210e-01 -7.14374602e-04 -1.16176141e+02] [-4.06205235e-03 -5.12091430e-05 -9.99991749e-01 -4.13108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.013667388787233505 Centerline is valid? [True, True] Translation: X:244.47, Y:-116.14, Z:-4.13 [[-9.96010682e-01 8.91289865e-02 4.32968041e-03 2.44465240e+02] [ 8.91278310e-02 9.96020089e-01 -4.59470887e-04 -1.16144780e+02] [-4.35340084e-03 -7.17428880e-05 -9.99990521e-01 -4.13021773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.014009350710096145 Centerline is valid? [True, True] Translation: X:244.46, Y:-116.11, Z:-4.13 [[-9.99854503e-01 1.62099949e-02 5.31111479e-03 2.44457368e+02] [ 1.62092499e-02 9.99868605e-01 -1.83306442e-04 -1.16114937e+02] [-5.31338833e-03 -9.71905855e-05 -9.99985879e-01 -4.12909568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.01368311518138591 Centerline is valid? [True, True] Translation: X:244.49, Y:-115.44, Z:-5.13 [[-9.93090956e-01 -1.17195497e-01 5.96396515e-03 2.44489576e+02] [ 1.17194301e-01 -9.93108852e-01 -5.50919196e-04 -1.15442252e+02] [ 5.98743184e-03 1.51829856e-04 9.99982064e-01 -5.12617981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.012759340012218413 Centerline is valid? [True, True] Translation: X:244.41, Y:-116.12, Z:-4.13 [[-9.99825891e-01 1.75961954e-02 6.20986862e-03 2.44406855e+02] [ 1.75953664e-02 9.99845172e-01 -1.88113340e-04 -1.16120005e+02] [-6.21221724e-03 -7.88156739e-05 -9.99980701e-01 -4.12862471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.012194488978374695 Centerline is valid? [True, True] Translation: X:244.40, Y:-116.10, Z:-4.13 [[-9.98800792e-01 -4.84320646e-02 7.16333430e-03 2.44402385e+02] [-4.84312048e-02 9.98826478e-01 2.93548433e-04 -1.16097265e+02] [-7.16914513e-03 -5.37325026e-05 -9.99974300e-01 -4.12778620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.011922954555029628 Centerline is valid? [True, True] Translation: X:244.39, Y:-115.40, Z:-5.13 [[-9.99545562e-01 -2.90283948e-02 8.12543127e-03 2.44385389e+02] [ 2.90284087e-02 -9.99578580e-01 -1.16256812e-04 -1.15401590e+02] [ 8.12538180e-03 1.19664360e-04 9.99966981e-01 -5.12726927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.012129019746536995 Centerline is valid? [True, True] Translation: X:244.34, Y:-116.11, Z:-4.13 [[-9.99043237e-01 -4.26433397e-02 9.70344846e-03 2.44336894e+02] [-4.26409855e-02 9.99090358e-01 4.49471673e-04 -1.16112057e+02] [-9.71378877e-03 3.52770303e-05 -9.99952819e-01 -4.12674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.01250536442074288 Centerline is valid? [True, True] Translation: X:244.31, Y:-115.39, Z:-5.13 [[-9.99850852e-01 -1.37240500e-02 1.04844558e-02 2.44310156e+02] [ 1.37234020e-02 -9.99905821e-01 -1.33754939e-04 -1.15393811e+02] [ 1.04853040e-02 1.01474110e-05 9.99945028e-01 -5.12789991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.013775280654664865 Centerline is valid? [True, True] Translation: X:244.26, Y:-116.12, Z:-4.13 [[-9.99237523e-01 -3.77463502e-02 9.97928337e-03 2.44258765e+02] [-3.77430794e-02 9.99287343e-01 5.15948403e-04 -1.16123991e+02] [-9.99164673e-03 1.38906119e-04 -9.99950073e-01 -4.12782001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.014963810398421642 Centerline is valid? [True, True] Translation: X:244.23, Y:-115.39, Z:-5.13 [[-9.99956221e-01 3.54057087e-03 8.66140329e-03 2.44228861e+02] [-3.54218525e-03 -9.99993712e-01 -1.71054257e-04 -1.15389472e+02] [ 8.66074319e-03 -2.01727063e-04 9.99962475e-01 -5.12547492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.01661783284205567 Centerline is valid? [True, True] Translation: X:244.18, Y:-116.13, Z:-4.13 [[-9.99458396e-01 -3.19788549e-02 7.76325013e-03 2.44178589e+02] [-3.19763547e-02 9.99488526e-01 4.45996542e-04 -1.16132521e+02] [-7.77354189e-03 1.97514549e-04 -9.99969766e-01 -4.13049144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.019322689037277803 Centerline is valid? [True, True] Translation: X:244.18, Y:-116.11, Z:-4.13 [[-9.95541459e-01 -9.39715460e-02 8.15789078e-03 2.44175353e+02] [-9.39660416e-02 9.95574843e-01 1.05626899e-03 -1.16108124e+02] [-8.22105006e-03 2.84994867e-04 -9.99966166e-01 -4.12986122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.02120745152148459 Centerline is valid? [True, True] Translation: X:244.17, Y:-116.08, Z:-4.13 [[-9.87585728e-01 -1.56865088e-01 8.23244529e-03 2.44165683e+02] [-1.56856589e-01 9.87619975e-01 1.67206764e-03 -1.16081057e+02] [-8.39281645e-03 3.59996849e-04 -9.99964715e-01 -4.12971519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.022911888469716778 Centerline is valid? [True, True] Translation: X:244.14, Y:-116.06, Z:-4.13 [[-9.74330043e-01 -2.24984681e-01 7.92847057e-03 2.44139073e+02] [-2.24974089e-01 9.74362229e-01 2.21488557e-03 -1.16058482e+02] [-8.22351758e-03 3.74329112e-04 -9.99966116e-01 -4.12983341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.022464350851130816 Centerline is valid? [True, True] Translation: X:244.09, Y:-116.04, Z:-4.13 [[-9.55045456e-01 -2.96340946e-01 8.37983832e-03 2.44092262e+02] [-2.96325894e-01 9.55082137e-01 3.01267340e-03 -1.16037975e+02] [-8.89621237e-03 3.94076958e-04 -9.99960350e-01 -4.13020422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.020654111466266174 Centerline is valid? [True, True] Translation: X:244.02, Y:-116.03, Z:-4.13 [[-9.29637955e-01 -3.68382015e-01 8.24404142e-03 2.44024343e+02] [-3.68363938e-01 9.29674433e-01 3.66848591e-03 -1.16028202e+02] [-9.01567876e-03 3.73556176e-04 -9.99959288e-01 -4.13069926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.01867697231417214 Centerline is valid? [True, True] Translation: X:243.95, Y:-116.02, Z:-4.13 [[-8.97501351e-01 -4.40942542e-01 7.81018797e-03 2.43953085e+02] [-4.40922744e-01 8.97535277e-01 4.19047761e-03 -1.16019530e+02] [-8.85767907e-03 3.17269805e-04 -9.99960720e-01 -4.13109492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.018311227819477926 Centerline is valid? [True, True] Translation: X:243.87, Y:-116.02, Z:-4.13 [[-8.60233201e-01 -5.09843797e-01 7.62512891e-03 2.43873970e+02] [-5.09820796e-01 8.60266947e-01 4.85125919e-03 -1.16024903e+02] [-9.03303078e-03 2.85764924e-04 -9.99959161e-01 -4.13099605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.017974848776700688 Centerline is valid? [True, True] Translation: X:243.79, Y:-116.04, Z:-4.13 [[-8.18831559e-01 -5.73985857e-01 7.42391559e-03 2.43792052e+02] [-5.73959170e-01 8.18865165e-01 5.54190172e-03 -1.16042441e+02] [-9.26015908e-03 2.76859600e-04 -9.99957085e-01 -4.13194920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.01725438484069197 Centerline is valid? [True, True] Translation: X:243.70, Y:-116.07, Z:-4.13 [[-7.71481017e-01 -6.36215784e-01 6.82032968e-03 2.43702970e+02] [-6.36188162e-01 7.71511128e-01 5.93317288e-03 -1.16066287e+02] [-9.03673847e-03 2.38317247e-04 -9.99959139e-01 -4.13204716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.016598555552040956 Centerline is valid? [True, True] Translation: X:243.61, Y:-116.10, Z:-4.13 [[-7.19534640e-01 -6.94425972e-01 6.51695045e-03 2.43614413e+02] [-6.94394728e-01 7.19564120e-01 6.59085571e-03 -1.16102223e+02] [-9.26622509e-03 2.17012956e-04 -9.99957044e-01 -4.13063094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.015039653753891375 Centerline is valid? [True, True] Translation: X:243.52, Y:-116.15, Z:-4.13 [[-6.63885948e-01 -7.47805428e-01 6.51842705e-03 2.43524898e+02] [-7.47766129e-01 6.63917913e-01 7.66947413e-03 -1.16146269e+02] [-1.00629749e-02 2.17397137e-04 -9.99949343e-01 -4.13113275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.016712508394433986 Centerline is valid? [True, True] Translation: X:243.44, Y:-116.20, Z:-4.13 [[-6.09583131e-01 -7.92685496e-01 7.62311579e-03 2.43442239e+02] [-7.92616249e-01 6.09630695e-01 1.04832411e-02 -1.16198189e+02] [-1.29571986e-02 3.48201501e-04 -9.99915991e-01 -4.12902773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.01671225935363503 Centerline is valid? [True, True] Translation: X:243.36, Y:-116.26, Z:-4.13 [[-5.49979726e-01 -8.35149693e-01 6.87689838e-03 2.43363205e+02] [-8.35075479e-01 5.50022584e-01 1.11401111e-02 -1.16264334e+02] [-1.30861098e-02 3.84106030e-04 -9.99914299e-01 -4.12953399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.02113229731672244 Centerline is valid? [True, True] Translation: X:243.29, Y:-116.34, Z:-4.13 [[-4.92165705e-01 -8.70481338e-01 5.92947392e-03 2.43292470e+02] [-8.70405897e-01 4.92201184e-01 1.14703704e-02 -1.16341974e+02] [-1.29032374e-02 4.84273843e-04 -9.99916633e-01 -4.12997464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.020201169100454372 Centerline is valid? [True, True] Translation: X:243.22, Y:-116.43, Z:-4.13 [[-4.29099826e-01 -9.03243969e-01 4.86536209e-03 2.43217992e+02] [-9.03171237e-01 4.29127082e-01 1.14745028e-02 -1.16425905e+02] [-1.24521341e-02 5.29452063e-04 -9.99922329e-01 -4.13140010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.021302723082870224 Centerline is valid? [True, True] Translation: X:243.15, Y:-116.51, Z:-4.13 [[-3.62691674e-01 -9.31901322e-01 3.83097790e-03 2.43153221e+02] [-9.31832038e-01 3.62711479e-01 1.13770228e-02 -1.16508580e+02] [-1.19918023e-02 5.56523520e-04 -9.99927941e-01 -4.13149207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.02096143665833243 Centerline is valid? [True, True] Translation: X:243.09, Y:-116.61, Z:-4.13 [[-2.89554883e-01 -9.57157676e-01 2.67462186e-03 2.43089874e+02] [-9.57099863e-01 2.89566822e-01 1.05312806e-02 -1.16606951e+02] [-1.08545778e-02 4.89503504e-04 -9.99940968e-01 -4.13245965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.019472214269774343 Centerline is valid? [True, True] Translation: X:243.03, Y:-116.71, Z:-4.13 [[-2.09699323e-01 -9.77764190e-01 1.83938710e-03 2.43030467e+02] [-9.77707363e-01 2.09706982e-01 1.05495979e-02 -1.16710741e+02] [-1.07007514e-02 4.13861227e-04 -9.99942660e-01 -4.13226988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.017296870560700756 Centerline is valid? [True, True] Translation: X:242.98, Y:-116.82, Z:-4.13 [[-1.25811230e-01 -9.92053823e-01 8.63779761e-04 2.42976914e+02] [-9.92013885e-01 1.25813919e-01 8.90563699e-03 -1.16818544e+02] [-8.94354675e-03 2.63547630e-04 -9.99959971e-01 -4.13219422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.01479308806245645 Centerline is valid? [True, True] Translation: X:242.93, Y:-116.93, Z:-4.13 [[-4.38867778e-02 -9.99036499e-01 1.54082936e-04 2.42934555e+02] [-9.99009114e-01 4.38867159e-02 7.39912807e-03 -1.16932718e+02] [-7.39876120e-03 1.70793632e-04 -9.99972614e-01 -4.13340157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.013529301327300658 Centerline is valid? [True, True] Translation: X:242.90, Y:-117.04, Z:-4.13 [[ 3.94498928e-02 -9.99221497e-01 -3.25039654e-04 2.42900281e+02] [-9.99204035e-01 -3.94511252e-02 5.90806214e-03 -1.17043273e+02] [-5.91628587e-03 9.17085163e-05 -9.99982494e-01 -4.13351709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.012920992640194872 Centerline is valid? [True, True] Translation: X:242.88, Y:-117.16, Z:-4.13 [[ 1.18532375e-01 -9.92949991e-01 -6.24983003e-04 2.42876811e+02] [-9.92938602e-01 -1.18534009e-01 4.75612451e-03 -1.17157188e+02] [-4.79667553e-03 5.68150182e-05 -9.99988494e-01 -4.13265133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.013028994762065567 Centerline is valid? [True, True] Translation: X:242.87, Y:-117.27, Z:-4.13 [[ 1.93387422e-01 -9.81122046e-01 -9.14040994e-04 2.42865924e+02] [-9.81112346e-01 -1.93389575e-01 4.36308286e-03 -1.17266606e+02] [-4.45748278e-03 5.30115566e-05 -9.99990064e-01 -4.13210564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.0135198043087019 Centerline is valid? [True, True] Translation: X:242.86, Y:-117.38, Z:-4.13 [[ 2.65214715e-01 -9.64188489e-01 -1.30902514e-03 2.42863305e+02] [-9.64177932e-01 -2.65217937e-01 4.51237246e-03 -1.17375817e+02] [-4.69795453e-03 6.53855734e-05 -9.99988962e-01 -4.13071858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.014909369321171184 Centerline is valid? [True, True] Translation: X:242.87, Y:-117.48, Z:-4.13 [[ 3.33874635e-01 -9.42615836e-01 -1.76442223e-03 2.42869432e+02] [-9.42604059e-01 -3.33879285e-01 4.71293550e-03 -1.17481187e+02] [-5.03159167e-03 8.96219377e-05 -9.99987337e-01 -4.12981603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.014885341773774098 Centerline is valid? [True, True] Translation: X:242.88, Y:-117.59, Z:-4.13 [[ 4.00612859e-01 -9.16245186e-01 -2.02368276e-03 2.42881838e+02] [-9.16234784e-01 -4.00617957e-01 4.36721012e-03 -1.17586487e+02] [-4.81215890e-03 1.04608004e-04 -9.99988416e-01 -4.13019973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.01682047754880432 Centerline is valid? [True, True] Translation: X:242.90, Y:-117.69, Z:-4.13 [[ 4.62007017e-01 -8.86874109e-01 -1.95707249e-03 2.42902869e+02] [-8.86867197e-01 -4.62011148e-01 3.50357436e-03 -1.17685708e+02] [-4.01141870e-03 1.16987454e-04 -9.99991947e-01 -4.13055339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.018621575626376 Centerline is valid? [True, True] Translation: X:242.93, Y:-117.79, Z:-4.13 [[ 5.24057919e-01 -8.51679820e-01 -2.18682129e-03 2.42932883e+02] [-8.51673430e-01 -5.24062465e-01 3.30180041e-03 -1.17787177e+02] [-3.95810773e-03 1.32122940e-04 -9.99992158e-01 -4.13004092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.018553446011277966 Centerline is valid? [True, True] Translation: X:242.96, Y:-117.88, Z:-4.13 [[ 5.84554225e-01 -8.11351335e-01 -2.31723603e-03 2.42964137e+02] [-8.11345861e-01 -5.84558802e-01 2.98361430e-03 -1.17883188e+02] [-3.77532016e-03 1.35995516e-04 -9.99992864e-01 -4.13012266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.020569709464140915 Centerline is valid? [True, True] Translation: X:243.00, Y:-117.98, Z:-4.13 [[ 6.42987142e-01 -7.65872515e-01 -2.61265650e-03 2.43004213e+02] [-7.65867089e-01 -6.42992434e-01 2.88647706e-03 -1.17976033e+02] [-3.89059180e-03 1.44979993e-04 -9.99992421e-01 -4.12956613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.01881108989898155 Centerline is valid? [True, True] Translation: X:243.04, Y:-118.07, Z:-4.13 [[ 6.99781053e-01 -7.14350669e-01 -3.09824103e-03 2.43041474e+02] [-7.14344615e-01 -6.99787895e-01 2.94510588e-03 -1.18068315e+02] [-4.27194992e-03 1.52282500e-04 -9.99990864e-01 -4.12922410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.01769049993461334 Centerline is valid? [True, True] Translation: X:243.06, Y:-118.11, Z:-4.13 [[ 7.56419305e-01 -6.54078338e-01 -3.37093277e-03 2.43060502e+02] [-6.54072627e-01 -7.56426804e-01 2.73639935e-03 -1.18111773e+02] [-4.33968344e-03 1.34969564e-04 -9.99990574e-01 -4.12846040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.016328945542897995 Centerline is valid? [True, True] Translation: X:243.08, Y:-118.15, Z:-4.13 [[ 8.07511526e-01 -5.89839047e-01 -3.87737385e-03 2.43083808e+02] [-5.89833006e-01 -8.07520825e-01 2.67264422e-03 -1.18152419e+02] [-4.70749005e-03 1.28812061e-04 -9.99988911e-01 -4.12821483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.015260692766082712 Centerline is valid? [True, True] Translation: X:243.11, Y:-118.19, Z:-4.13 [[ 8.53857445e-01 -5.20490092e-01 -4.18670280e-03 2.43110677e+02] [-5.20484448e-01 -8.53867702e-01 2.42617632e-03 -1.18192485e+02] [-4.83769103e-03 1.07504982e-04 -9.99988293e-01 -4.12866125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.014646239782883477 Centerline is valid? [True, True] Translation: X:243.14, Y:-118.23, Z:-4.13 [[ 8.93186947e-01 -4.49673871e-01 -3.23839401e-03 2.43141724e+02] [-4.49671192e-01 -8.93192815e-01 1.55358868e-03 -1.18228171e+02] [-3.59111850e-03 6.85673673e-05 -9.99993550e-01 -4.12967298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.014848263841358242 Centerline is valid? [True, True] Translation: X:243.18, Y:-118.26, Z:-4.13 [[ 9.25879349e-01 -3.77804228e-01 -3.37599129e-03 2.43178171e+02] [-3.77801977e-01 -9.25885501e-01 1.30579947e-03 -1.18256048e+02] [-3.61911795e-03 6.64434195e-05 -9.99993449e-01 -4.12928455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.014393285699481995 Centerline is valid? [True, True] Translation: X:243.22, Y:-118.29, Z:-4.13 [[ 9.52709081e-01 -3.03870663e-01 -2.83305690e-03 2.43216816e+02] [-3.03869482e-01 -9.52713292e-01 8.48856405e-04 -1.18285563e+02] [-2.95703352e-03 5.21663261e-05 -9.99995627e-01 -4.13011574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.014602792748901467 Centerline is valid? [True, True] Translation: X:243.26, Y:-118.31, Z:-4.13 [[ 9.73652495e-01 -2.28002978e-01 -3.93195898e-03 2.43257700e+02] [-2.28001412e-01 -9.73660432e-01 8.48081030e-04 -1.18308292e+02] [-4.02175788e-03 7.07559855e-05 -9.99991910e-01 -4.12892706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.01421578521710924 Centerline is valid? [True, True] Translation: X:243.30, Y:-118.33, Z:-4.13 [[ 9.88436134e-01 -1.51575746e-01 -4.33616821e-03 2.43300664e+02] [-1.51574639e-01 -9.88445642e-01 5.84860886e-04 -1.18329730e+02] [-4.37471729e-03 7.91554975e-05 -9.99990428e-01 -4.12867693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.01502876604697073 Centerline is valid? [True, True] Translation: X:243.35, Y:-118.34, Z:-4.13 [[ 9.97145819e-01 -7.54064889e-02 -3.75206196e-03 2.43345090e+02] [-7.54062321e-02 -9.97152875e-01 2.10054447e-04 -1.18344482e+02] [-3.75721883e-03 7.34739415e-05 -9.99992939e-01 -4.12899256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.01603800929338392 Centerline is valid? [True, True] Translation: X:243.39, Y:-118.35, Z:-4.13 [[ 9.99991301e-01 -4.24325114e-04 -4.14940095e-03 2.43388479e+02] [-4.24717482e-04 -9.99999905e-01 -9.36794559e-05 -1.18354700e+02] [-4.14936081e-03 9.54409641e-05 -9.99991387e-01 -4.12866334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.01705384153715285 Centerline is valid? [True, True] Translation: X:243.43, Y:-118.36, Z:-4.13 [[ 9.97349928e-01 7.25847210e-02 -4.95786085e-03 2.43432214e+02] [ 7.25831158e-02 -9.97362240e-01 -5.03172734e-04 -1.18361403e+02] [-4.98130586e-03 1.41982302e-04 -9.99987583e-01 -4.12840586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.017995469721629638 Centerline is valid? [True, True] Translation: X:243.48, Y:-118.37, Z:-4.13 [[ 9.89144262e-01 1.46877040e-01 -4.55685577e-03 2.43476290e+02] [ 1.46874790e-01 -9.89154747e-01 -8.26441675e-04 -1.18365443e+02] [-4.62882083e-03 1.48182807e-04 -9.99989276e-01 -4.12896190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.019367202432894068 Centerline is valid? [True, True] Translation: X:243.52, Y:-118.37, Z:-4.13 [[ 9.75180589e-01 2.21347920e-01 -5.28369070e-03 2.43520749e+02] [ 2.21343612e-01 -9.75194884e-01 -1.39382165e-03 -1.18365501e+02] [-5.46114766e-03 1.89716630e-04 -9.99985070e-01 -4.12900621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.01841520888103565 Centerline is valid? [True, True] Translation: X:243.57, Y:-118.37, Z:-4.13 [[ 9.54390633e-01 2.98531121e-01 -4.20592436e-03 2.43566774e+02] [ 2.98527542e-01 -9.54399889e-01 -1.46928659e-03 -1.18365747e+02] [-4.45276151e-03 1.46689098e-04 -9.99990076e-01 -4.13042912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.019281009908200555 Centerline is valid? [True, True] Translation: X:243.61, Y:-118.36, Z:-4.13 [[ 9.27233724e-01 3.74461841e-01 -3.99389349e-03 2.43609669e+02] [ 3.74457743e-01 -9.27242315e-01 -1.75707043e-03 -1.18358435e+02] [-4.36126288e-03 1.33670613e-04 -9.99990481e-01 -4.13044333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.01662058518526329 Centerline is valid? [True, True] Translation: X:243.66, Y:-118.35, Z:-4.13 [[ 8.93505865e-01 4.49025988e-01 -4.78873649e-03 2.43656889e+02] [ 4.49018639e-01 -8.93518685e-01 -2.57324680e-03 -1.18354804e+02] [-5.43428022e-03 1.48979161e-04 -9.99985223e-01 -4.13012416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.016272771833213056 Centerline is valid? [True, True] Translation: X:243.70, Y:-118.34, Z:-4.13 [[ 8.54142004e-01 5.20011560e-01 -5.42346084e-03 2.43700620e+02] [ 5.19999884e-01 -8.54159208e-01 -3.48828945e-03 -1.18342046e+02] [-6.44644985e-03 1.59295532e-04 -9.99979209e-01 -4.12926318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.014954936231132433 Centerline is valid? [True, True] Translation: X:243.74, Y:-118.33, Z:-4.13 [[ 8.08195300e-01 5.88893056e-01 -5.03258471e-03 2.43744816e+02] [ 5.88880646e-01 -8.08210958e-01 -3.82524240e-03 -1.18327342e+02] [-6.32004879e-03 1.27951191e-04 -9.99980020e-01 -4.13112492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.01413500361999007 Centerline is valid? [True, True] Translation: X:243.79, Y:-118.31, Z:-4.13 [[ 7.57684136e-01 6.52589679e-01 -6.43907888e-03 2.43788454e+02] [ 6.52564403e-01 -7.57711481e-01 -5.74550798e-03 -1.18308832e+02] [-8.62842320e-03 1.51366574e-04 -9.99962763e-01 -4.12922459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.014213526039596143 Centerline is valid? [True, True] Translation: X:243.83, Y:-118.28, Z:-4.13 [[ 7.03688720e-01 7.10479980e-01 -6.35484743e-03 2.43826349e+02] [ 7.10449016e-01 -7.03717397e-01 -6.63481444e-03 -1.18283485e+02] [-9.18591951e-03 1.54048976e-04 -9.99957797e-01 -4.12898107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.014505362711061643 Centerline is valid? [True, True] Translation: X:243.86, Y:-118.25, Z:-4.13 [[ 6.46610071e-01 7.62795870e-01 -6.15442431e-03 2.43861554e+02] [ 7.62758758e-01 -6.46639336e-01 -7.52634830e-03 -1.18253929e+02] [-9.72076025e-03 1.72271564e-04 -9.99952737e-01 -4.12960231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.015030302750757197 Centerline is valid? [True, True] Translation: X:243.90, Y:-118.22, Z:-4.13 [[ 5.87529173e-01 8.09180298e-01 -6.05937403e-03 2.43895042e+02] [ 8.09133295e-01 -5.87560376e-01 -8.72444535e-03 -1.18222384e+02] [-1.06198974e-02 2.23024888e-04 -9.99943582e-01 -4.12991568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.017094080827908413 Centerline is valid? [True, True] Translation: X:243.92, Y:-118.19, Z:-4.13 [[ 5.24831708e-01 8.51188604e-01 -5.44412136e-03 2.43920476e+02] [ 8.51137613e-01 -5.24859880e-01 -9.32043870e-03 -1.18186793e+02] [-1.07908521e-02 2.57965301e-04 -9.99941744e-01 -4.12945369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.016902457941025358 Centerline is valid? [True, True] Translation: X:243.95, Y:-118.15, Z:-4.13 [[ 4.59975098e-01 8.87921523e-01 -4.27534691e-03 2.43947875e+02] [ 8.87877526e-01 -4.59994886e-01 -8.84330084e-03 -1.18151135e+02] [-9.81879486e-03 2.71713733e-04 -9.99951758e-01 -4.13220764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.017242213782946582 Centerline is valid? [True, True] Translation: X:243.97, Y:-118.11, Z:-4.13 [[ 3.89710352e-01 9.20930683e-01 -3.53823560e-03 2.43972995e+02] [ 9.20886053e-01 -3.89726316e-01 -9.07058379e-03 -1.18113210e+02] [-9.73232245e-03 2.76588592e-04 -9.99952602e-01 -4.13253739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.01708591013433558 Centerline is valid? [True, True] Translation: X:244.00, Y:-118.07, Z:-4.13 [[ 3.15073429e-01 9.49063033e-01 -2.84489770e-03 2.43995395e+02] [ 9.49016402e-01 -3.15086161e-01 -9.41168499e-03 -1.18074719e+02] [-9.82867020e-03 2.65517285e-04 -9.99951662e-01 -4.13246996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.016351284808439514 Centerline is valid? [True, True] Translation: X:244.02, Y:-118.03, Z:-4.13 [[ 2.38509461e-01 9.71137976e-01 -2.06593438e-03 2.44015438e+02] [ 9.71091990e-01 -2.38518279e-01 -9.45392606e-03 -1.18034330e+02] [-9.67382973e-03 2.48638484e-04 -9.99953177e-01 -4.13312036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.015951206575493267 Centerline is valid? [True, True] Translation: X:244.03, Y:-117.99, Z:-4.13 [[ 1.57361429e-01 9.87540177e-01 -1.33377524e-03 2.44031742e+02] [ 9.87492644e-01 -1.57366943e-01 -9.69137059e-03 -1.17993724e+02] [-9.78050996e-03 2.07954686e-04 -9.99952148e-01 -4.13271373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.014229132549187501 Centerline is valid? [True, True] Translation: X:244.05, Y:-117.95, Z:-4.13 [[ 7.36796029e-02 9.97281803e-01 -5.66326632e-04 2.44045772e+02] [ 9.97234768e-01 -7.36816288e-02 -9.68680367e-03 -1.17950818e+02] [-9.70220090e-03 1.48959240e-04 -9.99952921e-01 -4.13310099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.013446887205226344 Centerline is valid? [True, True] Translation: X:244.06, Y:-117.91, Z:-4.13 [[-6.81832571e-03 9.99976737e-01 1.90746533e-04 2.44057000e+02] [ 9.99931221e-01 6.81983545e-03 -9.54169793e-03 -1.17907036e+02] [-9.54277682e-03 1.25675009e-04 -9.99954459e-01 -4.13381887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.012817260598990233 Centerline is valid? [True, True] Translation: X:244.06, Y:-117.86, Z:-4.13 [[-8.91381505e-02 9.96018836e-01 9.31935012e-04 2.44062698e+02] [ 9.95974098e-01 8.91429800e-02 -9.44064059e-03 -1.17862772e+02] [-9.48613132e-03 8.66618901e-05 -9.99955002e-01 -4.13394976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.012446123308803002 Centerline is valid? [True, True] Translation: X:244.06, Y:-117.82, Z:-4.13 [[-1.71510465e-01 9.85180217e-01 2.02497528e-03 2.44063419e+02] [ 9.85115089e-01 1.71522411e-01 -1.13279907e-02 -1.17818105e+02] [-1.15074409e-02 5.19647589e-05 -9.99933786e-01 -4.13249858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.012382379856848001 Centerline is valid? [True, True] Translation: X:244.06, Y:-117.77, Z:-4.13 [[-2.48193393e-01 9.68705195e-01 3.20690777e-03 2.44059105e+02] [ 9.68627277e-01 2.48214104e-01 -1.22864839e-02 -1.17773495e+02] [-1.26979805e-02 5.68742149e-05 -9.99919376e-01 -4.13203803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.013391541494735936 Centerline is valid? [True, True] Translation: X:244.04, Y:-117.73, Z:-4.13 [[-3.18206031e-01 9.48012525e-01 4.14418569e-03 2.44041992e+02] [ 9.47937160e-01 3.18232991e-01 -1.19542524e-02 -1.17734372e+02] [-1.26515977e-02 1.24512396e-04 -9.99919958e-01 -4.13243889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.014107451627568934 Centerline is valid? [True, True] Translation: X:244.03, Y:-117.69, Z:-4.14 [[-3.84948991e-01 9.22926418e-01 4.59367613e-03 2.44026567e+02] [ 9.22866604e-01 3.84976350e-01 -1.05091435e-02 -1.17694624e+02] [-1.14676228e-02 1.93866111e-04 -9.99934226e-01 -4.13551051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.014107451627568934 Centerline is valid? [True, True] Translation: X:244.02, Y:-117.65, Z:-4.14 [[-4.56057741e-01 8.89933788e-01 5.40271076e-03 2.44016522e+02] [ 8.89876303e-01 4.56089701e-01 -1.01168490e-02 -1.17652909e+02] [-1.14674465e-02 1.93876964e-04 -9.99934228e-01 -4.13551377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.016352645828553187 Centerline is valid? [True, True] Translation: X:243.99, Y:-117.62, Z:-4.13 [[-5.18988314e-01 8.54758539e-01 6.24263689e-03 2.43993962e+02] [ 8.54702816e-01 5.19025788e-01 -9.76359289e-03 -1.17618387e+02] [-1.15856039e-02 2.68408716e-04 -9.99932849e-01 -4.13481738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.017051645086685947 Centerline is valid? [True, True] Translation: X:243.97, Y:-117.58, Z:-4.14 [[-5.82887619e-01 8.12523943e-01 6.84588250e-03 2.43971756e+02] [ 8.12473519e-01 5.82927750e-01 -9.05645125e-03 -1.17583662e+02] [-1.13492384e-02 2.83204947e-04 -9.99935555e-01 -4.13523691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.016246062070718832 Centerline is valid? [True, True] Translation: X:243.95, Y:-117.55, Z:-4.14 [[-6.45013931e-01 7.64125055e-01 8.36237201e-03 2.43950474e+02] [ 7.64066983e-01 6.45068062e-01 -9.42552405e-03 -1.17547833e+02] [-1.25965782e-02 3.09818024e-04 -9.99920612e-01 -4.13569595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.01662670672304094 Centerline is valid? [True, True] Translation: X:243.93, Y:-117.52, Z:-4.14 [[-7.03503376e-01 7.10631314e-01 9.28089976e-03 2.43926469e+02] [ 7.10575150e-01 7.03564526e-01 -8.93944430e-03 -1.17515981e+02] [-1.28823609e-02 3.05847495e-04 -9.99916972e-01 -4.13530640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.015550912369365436 Centerline is valid? [True, True] Translation: X:243.93, Y:-117.49, Z:-4.14 [[-7.53082996e-01 6.57850243e-01 9.95278944e-03 2.43933804e+02] [ 6.57797816e-01 7.53148706e-01 -8.31020814e-03 -1.17485832e+02] [-1.29628029e-02 2.88646709e-04 -9.99915938e-01 -4.13682388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.014885556325219306 Centerline is valid? [True, True] Translation: X:243.94, Y:-117.46, Z:-4.14 [[-8.00457848e-01 5.99302350e-01 1.01944361e-02 2.43941094e+02] [ 5.99257300e-01 8.00522731e-01 -7.35160268e-03 -1.17455637e+02] [-1.25667106e-02 2.24442198e-04 -9.99921011e-01 -4.13670710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.013782458374637225 Centerline is valid? [True, True] Translation: X:244.15, Y:-117.14, Z:-5.12 [[-7.78473258e-01 -6.27610955e-01 9.15842773e-03 2.44154700e+02] [ 6.27563665e-01 -7.78527087e-01 -7.70850946e-03 -1.17139996e+02] [ 1.19680290e-02 -2.53371998e-04 9.99928348e-01 -5.11830990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.012347099959506672 Centerline is valid? [True, True] Translation: X:243.90, Y:-117.42, Z:-4.14 [[-8.10614344e-01 5.85509973e-01 9.08058762e-03 2.43901594e+02] [ 5.85473901e-01 8.10665202e-01 -6.49937252e-03 -1.17418746e+02] [-1.11667638e-02 4.79624678e-05 -9.99937649e-01 -4.13790001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.012172771559596118 Centerline is valid? [True, True] Translation: X:243.90, Y:-117.38, Z:-4.14 [[-8.54044019e-01 5.20099001e-01 1.02879817e-02 2.43900924e+02] [ 5.20060712e-01 8.54105982e-01 -6.31098910e-03 -1.17380649e+02] [-1.20693659e-02 -3.94873936e-05 -9.99927162e-01 -4.13726866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.013315140304669383 Centerline is valid? [True, True] Translation: X:243.90, Y:-117.34, Z:-4.14 [[-8.94216196e-01 4.47519663e-01 1.01757579e-02 2.43899929e+02] [ 4.47488445e-01 8.94274075e-01 -5.28876723e-03 -1.17341712e+02] [-1.14667438e-02 -1.75767225e-04 -9.99934239e-01 -4.13828131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.014774800740628485 Centerline is valid? [True, True] Translation: X:244.05, Y:-117.03, Z:-5.12 [[-8.43162077e-01 -5.37586293e-01 8.87071423e-03 2.44048767e+02] [ 5.37557684e-01 -8.43208734e-01 -5.54681341e-03 -1.17030914e+02] [ 1.04617546e-02 9.16578849e-05 9.99945270e-01 -5.11634957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.015684586570135904 Centerline is valid? [True, True] Translation: X:244.02, Y:-117.05, Z:-5.12 [[-8.03787933e-01 -5.94858092e-01 8.29512276e-03 2.44022588e+02] [ 5.94829395e-01 -8.03830701e-01 -5.84760703e-03 -1.17046446e+02] [ 1.01463707e-02 2.33946886e-04 9.99948497e-01 -5.11629869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.013964525891516073 Centerline is valid? [True, True] Translation: X:243.81, Y:-117.33, Z:-4.14 [[-8.65736790e-01 5.00426056e-01 8.57748502e-03 2.43812892e+02] [ 5.00399306e-01 8.65779259e-01 -5.17769157e-03 -1.17333962e+02] [-1.00172604e-02 -1.90350526e-04 -9.99949808e-01 -4.13881819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.013269200483066134 Centerline is valid? [True, True] Translation: X:243.82, Y:-117.31, Z:-4.14 [[-8.97222595e-01 4.41478532e-01 9.39790486e-03 2.43817413e+02] [ 4.41452466e-01 8.97271799e-01 -4.79998133e-03 -1.17312513e+02] [-1.05515637e-02 -1.57923435e-04 -9.99944318e-01 -4.13806494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.012830424960896284 Centerline is valid? [True, True] Translation: X:243.99, Y:-116.97, Z:-5.12 [[-8.52385677e-01 -5.22826930e-01 9.52146534e-03 2.43988849e+02] [ 5.22796850e-01 -8.52438833e-01 -5.61164915e-03 -1.16971565e+02] [ 1.10503881e-02 1.94502718e-04 9.99938924e-01 -5.11747896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.012960757866013679 Centerline is valid? [True, True] Translation: X:243.77, Y:-117.31, Z:-4.14 [[-8.97094750e-01 4.41727650e-01 9.88394949e-03 2.43774583e+02] [ 4.41699328e-01 8.97149190e-01 -5.00354157e-03 -1.17306749e+02] [-1.10775799e-02 -1.22917025e-04 -9.99938634e-01 -4.13737235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.013247607476145618 Centerline is valid? [True, True] Translation: X:243.77, Y:-117.28, Z:-4.14 [[-9.27324242e-01 3.74130737e-01 9.79495637e-03 2.43771100e+02] [ 3.74108135e-01 9.27375958e-01 -4.11521635e-03 -1.17282317e+02] [-1.06232360e-02 -1.51767026e-04 -9.99943560e-01 -4.13842433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.013973050856224719 Centerline is valid? [True, True] Translation: X:243.77, Y:-117.25, Z:-4.14 [[-9.52636063e-01 3.03915521e-01 1.09492811e-02 2.43765849e+02] [ 3.03892941e-01 9.52698962e-01 -3.71046736e-03 -1.17254529e+02] [-1.15590374e-02 -2.07315794e-04 -9.99933171e-01 -4.13757368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.01581316970723308 Centerline is valid? [True, True] Translation: X:243.76, Y:-117.23, Z:-4.14 [[-9.72959779e-01 2.30657071e-01 1.21072350e-02 2.43762846e+02] [ 2.30635529e-01 9.73035063e-01 -3.16539336e-03 -1.17229386e+02] [-1.25108846e-02 -2.87441870e-04 -9.99921695e-01 -4.13580622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.015633138591637112 Centerline is valid? [True, True] Translation: X:243.75, Y:-117.21, Z:-4.14 [[-9.87103867e-01 1.59670441e-01 1.14588846e-02 2.43752651e+02] [ 1.59656332e-01 9.87170334e-01 -2.14158365e-03 -1.17206317e+02] [-1.16538185e-02 -2.84482021e-04 -9.99932051e-01 -4.13701724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.015701446398958218 Centerline is valid? [True, True] Translation: X:243.75, Y:-117.19, Z:-4.14 [[-9.95810317e-01 9.08705222e-02 1.02157133e-02 2.43745587e+02] [ 9.08633234e-02 9.95862688e-01 -1.16758414e-03 -1.17187834e+02] [-1.02795467e-02 -2.34458674e-04 -9.99947137e-01 -4.13801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.014980298714081524 Centerline is valid? [True, True] Translation: X:243.74, Y:-117.17, Z:-4.14 [[-9.99705098e-01 2.25852765e-02 8.92312050e-03 2.43742400e+02] [ 2.25827634e-02 9.99744904e-01 -3.82310260e-04 -1.17169226e+02] [-8.92947883e-03 -1.80688797e-04 -9.99960115e-01 -4.13932944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.013553893178322845 Centerline is valid? [True, True] Translation: X:243.73, Y:-117.16, Z:-4.14 [[-9.98975435e-01 -4.44970320e-02 8.25198336e-03 2.43734915e+02] [-4.44966225e-02 9.99009508e-01 2.33298353e-04 -1.17155280e+02] [-8.25419092e-03 -1.34126066e-04 -9.99965925e-01 -4.14045305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.013181701116541425 Centerline is valid? [True, True] Translation: X:243.73, Y:-117.14, Z:-4.14 [[-9.93637174e-01 -1.12201898e-01 9.79290058e-03 2.43730537e+02] [-1.12197712e-01 9.93685422e-01 9.77523082e-04 -1.17139244e+02] [-9.84074249e-03 -1.27437770e-04 -9.99951571e-01 -4.13937544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.012895385698240813 Centerline is valid? [True, True] Translation: X:243.72, Y:-117.12, Z:-4.14 [[-9.83430370e-01 -1.80961001e-01 1.08546866e-02 2.43717613e+02] [-1.80951365e-01 9.83490265e-01 1.87154261e-03 -1.17121851e+02] [-1.10141548e-02 -1.23638517e-04 -9.99939335e-01 -4.13894235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.012817980864365083 Centerline is valid? [True, True] Translation: X:243.70, Y:-117.10, Z:-4.14 [[-9.68197494e-01 -2.49920655e-01 1.15446352e-02 2.43698248e+02] [-2.49904436e-01 9.68266312e-01 2.84997932e-03 -1.17102412e+02] [-1.18905500e-02 -1.25712706e-04 -9.99929297e-01 -4.13886218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.0125232621928492 Centerline is valid? [True, True] Translation: X:243.68, Y:-117.09, Z:-4.14 [[-9.48314903e-01 -3.17077359e-01 1.26804078e-02 2.43679664e+02] [-3.17050711e-01 9.48399670e-01 4.11252046e-03 -1.17090670e+02] [-1.33300817e-02 -1.20367845e-04 -9.99911143e-01 -4.13897889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.012492832928848792 Centerline is valid? [True, True] Translation: X:243.65, Y:-117.08, Z:-4.14 [[-9.23481028e-01 -3.83453316e-01 1.20973816e-02 2.43646998e+02] [-3.83421887e-01 9.23560255e-01 4.91047791e-03 -1.17080312e+02] [-1.30555999e-02 -1.03667703e-04 -9.99914767e-01 -4.13903785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.012120746565417803 Centerline is valid? [True, True] Translation: X:243.60, Y:-117.09, Z:-4.14 [[-8.95148189e-01 -4.45660380e-01 9.82580796e-03 2.43601530e+02] [-4.45633975e-01 8.95202114e-01 4.85136728e-03 -1.17087438e+02] [-1.09581462e-02 -3.60212240e-05 -9.99939957e-01 -4.14195186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.012087297154529249 Centerline is valid? [True, True] Translation: X:243.54, Y:-117.10, Z:-4.14 [[-8.61681547e-01 -5.07367835e-01 9.09896312e-03 2.43540994e+02] [-5.07339531e-01 8.61729587e-01 5.35910640e-03 -1.17097436e+02] [-1.05598839e-02 1.57941610e-06 -9.99944243e-01 -4.14340126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.0123202043294347 Centerline is valid? [True, True] Translation: X:243.48, Y:-117.11, Z:-4.14 [[-8.23503037e-01 -5.67256537e-01 7.92274027e-03 2.43476410e+02] [-5.67229914e-01 8.23541146e-01 5.49583485e-03 -1.17114565e+02] [-9.64225085e-03 3.18214003e-05 -9.99953512e-01 -4.14349795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.012475182510090785 Centerline is valid? [True, True] Translation: X:243.40, Y:-117.15, Z:-4.14 [[-7.79688111e-01 -6.26116058e-01 8.07042634e-03 2.43401831e+02] [-6.26081899e-01 7.79729876e-01 6.54027850e-03 -1.17145480e+02] [-1.03877259e-02 4.66295410e-05 -9.99946045e-01 -4.14347838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.012361293878624589 Centerline is valid? [True, True] Translation: X:243.32, Y:-117.19, Z:-4.14 [[-7.29564883e-01 -6.83865004e-01 7.98358965e-03 2.43318670e+02] [-6.83823589e-01 7.29608563e-01 7.52628935e-03 -1.17185462e+02] [-1.09718613e-02 3.15494855e-05 -9.99939807e-01 -4.14338489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.012538363279010326 Centerline is valid? [True, True] Translation: X:243.24, Y:-117.23, Z:-4.14 [[-6.74123574e-01 -7.38574618e-01 8.05861993e-03 2.43240948e+02] [-7.38521768e-01 6.74171739e-01 8.83539702e-03 -1.17230731e+02] [-1.19584938e-02 4.68317373e-06 -9.99928495e-01 -4.14235141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.012566294758395411 Centerline is valid? [True, True] Translation: X:243.16, Y:-117.29, Z:-4.14 [[-6.15792090e-01 -7.87869515e-01 7.85678489e-03 2.43158969e+02] [-7.87805493e-01 6.15842209e-01 1.00437968e-02 -1.17290807e+02] [-1.27517411e-02 -4.72768977e-06 -9.99918693e-01 -4.14261116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.012643013370876675 Centerline is valid? [True, True] Translation: X:243.09, Y:-117.36, Z:-4.14 [[-5.54544952e-01 -8.32129620e-01 6.33971947e-03 2.43085335e+02] [-8.32075258e-01 5.54581190e-01 9.51148658e-03 -1.17355957e+02] [-1.14306789e-02 -5.76844923e-07 -9.99934668e-01 -4.14397083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.012739256258751509 Centerline is valid? [True, True] Translation: X:243.01, Y:-117.44, Z:-4.15 [[-4.90708076e-01 -8.71310460e-01 4.86487004e-03 2.43011354e+02] [-8.71267415e-01 4.90732190e-01 8.66078627e-03 -1.17435115e+02] [-9.93358200e-03 1.13150265e-05 -9.99950661e-01 -4.14531619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.012773010255624563 Centerline is valid? [True, True] Translation: X:242.94, Y:-117.52, Z:-4.15 [[-4.23111763e-01 -9.06069153e-01 3.88910905e-03 2.42942377e+02] [-9.06030589e-01 4.23129636e-01 8.35956642e-03 -1.17516494e+02] [-9.21994257e-03 1.33791260e-05 -9.99957495e-01 -4.14618627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.012862641395006638 Centerline is valid? [True, True] Translation: X:242.88, Y:-117.61, Z:-4.15 [[-3.51684432e-01 -9.36113958e-01 2.95256513e-03 2.42875470e+02] [-9.36080887e-01 3.51696826e-01 7.86866316e-03 -1.17609947e+02] [-8.40437321e-03 3.44654396e-06 -9.99964683e-01 -4.14703542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.013087405145039914 Centerline is valid? [True, True] Translation: X:242.81, Y:-117.71, Z:-4.15 [[-2.75642160e-01 -9.61257684e-01 2.25029089e-03 2.42814738e+02] [-9.61226420e-01 2.75651344e-01 7.75281061e-03 -1.17707414e+02] [-8.07274448e-03 -2.60375971e-05 -9.99967415e-01 -4.14685100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.013490031555490313 Centerline is valid? [True, True] Translation: X:242.76, Y:-117.82, Z:-4.15 [[-1.97058303e-01 -9.80389880e-01 1.92566024e-03 2.42759076e+02] [-9.80346448e-01 1.97067699e-01 9.22837974e-03 -1.17815657e+02] [-9.42689554e-03 -6.92853347e-05 -9.99955563e-01 -4.14509939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.01418025023034877 Centerline is valid? [True, True] Translation: X:242.71, Y:-117.93, Z:-4.14 [[-1.18866072e-01 -9.92909403e-01 1.33187391e-03 2.42712022e+02] [-9.92856278e-01 1.18873490e-01 1.02715077e-02 -1.17928606e+02] [-1.03570011e-02 -1.01425611e-04 -9.99946360e-01 -4.14326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.01407355102740031 Centerline is valid? [True, True] Translation: X:242.68, Y:-118.03, Z:-4.14 [[-4.09570191e-02 -9.99160782e-01 5.03499119e-04 2.42677339e+02] [-9.99114024e-01 4.09599738e-02 9.66681162e-03 -1.18033888e+02] [-9.67932238e-03 -1.07129242e-04 -9.99953149e-01 -4.14464967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.014242211778228802 Centerline is valid? [True, True] Translation: X:242.65, Y:-118.15, Z:-4.14 [[ 3.65913325e-02 -9.99330284e-01 -2.40513005e-04 2.42651346e+02] [-9.99283645e-01 -3.65919486e-02 9.65533472e-03 -1.18147651e+02] [-9.65766923e-03 -1.12960851e-04 -9.99953357e-01 -4.14477682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.014217022422162544 Centerline is valid? [True, True] Translation: X:242.63, Y:-118.27, Z:-4.14 [[ 1.13480987e-01 -9.93539676e-01 -9.88630205e-04 2.42634205e+02] [-9.93492578e-01 -1.13485234e-01 9.67464578e-03 -1.18266416e+02] [-9.72433937e-03 -1.15691579e-04 -9.99952711e-01 -4.14494480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.014492877589661023 Centerline is valid? [True, True] Translation: X:242.63, Y:-118.40, Z:-4.15 [[ 1.90741593e-01 -9.81638756e-01 -1.73130061e-03 2.42628511e+02] [-9.81592003e-01 -1.90749407e-01 9.58143727e-03 -1.18401605e+02] [-9.73575473e-03 -1.28147775e-04 -9.99952598e-01 -4.14532072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.014861654909279183 Centerline is valid? [True, True] Translation: X:242.62, Y:-118.51, Z:-4.14 [[ 2.66909608e-01 -9.63717777e-01 -2.70324720e-03 2.42624619e+02] [-9.63662397e-01 -2.66923253e-01 1.03325233e-02 -1.18506976e+02] [-1.06791959e-02 -1.52832062e-04 -9.99942964e-01 -4.14465347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.015222568225669043 Centerline is valid? [True, True] Translation: X:242.63, Y:-118.63, Z:-4.14 [[ 3.41932928e-01 -9.39716123e-01 -3.93448062e-03 2.42633008e+02] [-9.39647230e-01 -3.41955508e-01 1.13804289e-02 -1.18627583e+02] [-1.20397898e-02 -1.94319552e-04 -9.99927500e-01 -4.14356138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.01566327019374269 Centerline is valid? [True, True] Translation: X:242.65, Y:-118.75, Z:-4.14 [[ 4.13672758e-01 -9.10411682e-01 -5.04159004e-03 2.42648873e+02] [-9.10337730e-01 -4.13703425e-01 1.16057488e-02 -1.18745312e+02] [-1.26517324e-02 -2.11432505e-04 -9.99919941e-01 -4.14291899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.015131858576712209 Centerline is valid? [True, True] Translation: X:242.68, Y:-118.86, Z:-4.14 [[ 4.81498921e-01 -8.76428453e-01 -5.65298720e-03 2.42675343e+02] [-8.76363339e-01 -4.81532066e-01 1.06849446e-02 -1.18859362e+02] [-1.20866840e-02 -1.90718535e-04 -9.99926935e-01 -4.14419028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.01466304488399859 Centerline is valid? [True, True] Translation: X:242.71, Y:-118.96, Z:-4.15 [[ 5.45654742e-01 -8.37987373e-01 -6.16969253e-03 2.42706377e+02] [-8.37930474e-01 -5.45689598e-01 9.76644902e-03 -1.18963975e+02] [-1.15508980e-02 -1.59335839e-04 -9.99933273e-01 -4.14539858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.014413055281136629 Centerline is valid? [True, True] Translation: X:242.75, Y:-119.07, Z:-4.15 [[ 6.06327721e-01 -7.95185295e-01 -6.85870960e-03 2.42750148e+02] [-7.95131956e-01 -6.06366498e-01 9.21103310e-03 -1.19073782e+02] [-1.14833698e-02 -1.31325527e-04 -9.99934055e-01 -4.14535366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.014033636557349627 Centerline is valid? [True, True] Translation: X:242.79, Y:-119.17, Z:-4.14 [[ 6.61708063e-01 -7.49724664e-01 -7.44099108e-03 2.42794238e+02] [-7.49676005e-01 -6.61749895e-01 8.54192498e-03 -1.19167607e+02] [-1.13281669e-02 -7.39281617e-05 -9.99935832e-01 -4.14485277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.01391433534972597 Centerline is valid? [True, True] Translation: X:242.85, Y:-119.26, Z:-4.14 [[ 7.13909194e-01 -7.00185048e-01 -8.63493154e-03 2.42847484e+02] [-7.00133399e-01 -7.13961412e-01 8.50441269e-03 -1.19259222e+02] [-1.21196705e-02 -2.57744372e-05 -9.99926554e-01 -4.14426523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.014026385235688665 Centerline is valid? [True, True] Translation: X:242.87, Y:-119.28, Z:-4.15 [[ 7.62775044e-01 -6.46613299e-01 -8.09153461e-03 2.42869310e+02] [-6.46577438e-01 -7.62817960e-01 6.81011359e-03 -1.19283360e+02] [-1.05758779e-02 3.72190226e-05 -9.99944073e-01 -4.14600385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.01450912178001113 Centerline is valid? [True, True] Translation: X:242.89, Y:-119.31, Z:-4.15 [[ 8.07916605e-01 -5.89251348e-01 -7.32181815e-03 2.42891814e+02] [-5.89228027e-01 -8.07949777e-01 5.24300212e-03 -1.19306690e+02] [-9.00510741e-03 7.83119947e-05 -9.99959450e-01 -4.14736922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.014767213591805077 Centerline is valid? [True, True] Translation: X:242.92, Y:-119.33, Z:-4.15 [[ 8.50589975e-01 -5.25778838e-01 -7.30130726e-03 2.42915077e+02] [-5.25760361e-01 -8.50621306e-01 4.40874761e-03 -1.19328624e+02] [-8.52867371e-03 8.87014171e-05 -9.99963626e-01 -4.14747637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.0160750154214475 Centerline is valid? [True, True] Translation: X:242.94, Y:-119.35, Z:-4.15 [[ 8.85872072e-01 -4.63866763e-01 -7.63532959e-03 2.42941087e+02] [-4.63850972e-01 -8.85904963e-01 3.83040765e-03 -1.19346578e+02] [-8.54097518e-03 1.48403896e-04 -9.99963514e-01 -4.14808167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.017153960006029468 Centerline is valid? [True, True] Translation: X:242.97, Y:-119.37, Z:-4.15 [[ 9.17014511e-01 -3.98757189e-01 -8.78020138e-03 2.42965665e+02] [-3.98741220e-01 -9.17056517e-01 3.57555077e-03 -1.19367975e+02] [-9.47771747e-03 2.22196269e-04 -9.99955061e-01 -4.14779298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.018798711142549843 Centerline is valid? [True, True] Translation: X:242.99, Y:-119.38, Z:-4.15 [[ 9.44194766e-01 -3.29228885e-01 -1.02266679e-02 2.42992667e+02] [-3.29212890e-01 -9.44250103e-01 3.25826998e-03 -1.19384409e+02] [-1.07292488e-02 2.90309425e-04 -9.99942398e-01 -4.14677485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.020129957894187516 Centerline is valid? [True, True] Translation: X:243.02, Y:-119.40, Z:-4.15 [[ 9.65683218e-01 -2.59443383e-01 -1.20438623e-02 2.43020755e+02] [-2.59428344e-01 -9.65758237e-01 2.82186390e-03 -1.19400330e+02] [-1.23635731e-02 3.99492636e-04 -9.99923488e-01 -4.14640253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.020987931997971228 Centerline is valid? [True, True] Translation: X:243.05, Y:-119.41, Z:-4.15 [[ 9.82528566e-01 -1.85683799e-01 -1.26152236e-02 2.43046276e+02] [-1.85674311e-01 -9.82609448e-01 1.92945780e-03 -1.19412079e+02] [-1.27541070e-02 4.46575553e-04 -9.99918563e-01 -4.14708332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.02091964954379002 Centerline is valid? [True, True] Translation: X:243.07, Y:-119.43, Z:-4.15 [[ 9.93961271e-01 -1.09057176e-01 -1.21459208e-02 2.43073448e+02] [-1.09054393e-01 -9.94035383e-01 8.93160846e-04 -1.19425135e+02] [-1.21708807e-02 4.36798734e-04 -9.99925837e-01 -4.14806577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.019804644606488907 Centerline is valid? [True, True] Translation: X:243.10, Y:-119.44, Z:-4.15 [[ 9.99503247e-01 -2.92224229e-02 -1.18029371e-02 2.43100726e+02] [-2.92251441e-02 -9.99572853e-01 -5.81097142e-05 -1.19442358e+02] [-1.17961974e-02 4.03023385e-04 -9.99930341e-01 -4.14799999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.019514475140183746 Centerline is valid? [True, True] Translation: X:243.13, Y:-119.45, Z:-4.15 [[ 9.98586014e-01 5.18995538e-02 -1.15068677e-02 2.43130201e+02] [ 5.18919259e-02 -9.98652244e-01 -9.60681608e-04 -1.19452266e+02] [-1.15412182e-02 3.62209692e-04 -9.99933332e-01 -4.14830678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.017060802643708538 Centerline is valid? [True, True] Translation: X:243.16, Y:-119.47, Z:-4.15 [[ 9.90618066e-01 1.36210240e-01 -1.10733020e-02 2.43161924e+02] [ 1.36198561e-01 -9.90679914e-01 -1.80561503e-03 -1.19467936e+02] [-1.12160412e-02 2.80507070e-04 -9.99937059e-01 -4.15053820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.016550485086824693 Centerline is valid? [True, True] Translation: X:243.19, Y:-119.48, Z:-4.15 [[ 9.75875949e-01 2.18058393e-01 -1.08013341e-02 2.43192626e+02] [ 2.18042485e-01 -9.75935698e-01 -2.64348280e-03 -1.19476176e+02] [-1.11178412e-02 2.24561553e-04 -9.99938170e-01 -4.14995255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.014764083394913889 Centerline is valid? [True, True] Translation: X:243.23, Y:-119.49, Z:-4.15 [[ 9.53640864e-01 3.00791156e-01 -9.68419884e-03 2.43227073e+02] [ 3.00774256e-01 -9.53690025e-01 -3.19116789e-03 -1.19486943e+02] [-1.01955989e-02 1.30470402e-04 -9.99948015e-01 -4.15034639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.013967834659744108 Centerline is valid? [True, True] Translation: X:243.26, Y:-119.49, Z:-4.15 [[ 9.25149756e-01 3.79477462e-01 -9.73570757e-03 2.43261462e+02] [ 3.79455556e-01 -9.25200978e-01 -4.07813525e-03 -1.19490660e+02] [-1.05550466e-02 7.86175022e-05 -9.99944291e-01 -4.15002578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.013685711339429064 Centerline is valid? [True, True] Translation: X:243.30, Y:-119.49, Z:-4.15 [[ 8.88866245e-01 4.58042724e-01 -1.06612522e-02 2.43296594e+02] [ 4.58009894e-01 -8.88930179e-01 -5.48395825e-03 -1.19493521e+02] [-1.19889960e-02 -8.45360900e-06 -9.99928129e-01 -4.14731318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.013661787523588166 Centerline is valid? [True, True] Translation: X:243.33, Y:-119.49, Z:-4.15 [[ 8.47631511e-01 5.30476748e-01 -1.07350202e-02 2.43331704e+02] [ 5.30435282e-01 -8.47699483e-01 -6.63305757e-03 -1.19489462e+02] [-1.26187539e-02 -7.18448739e-05 -9.99920378e-01 -4.14798377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.01454805650078214 Centerline is valid? [True, True] Translation: X:243.37, Y:-119.48, Z:-4.15 [[ 7.99881173e-01 6.00052177e-01 -1.12913186e-02 2.43366050e+02] [ 5.99995270e-01 -7.99960848e-01 -8.26549887e-03 -1.19482641e+02] [-1.39923434e-02 -1.63320823e-04 -9.99902089e-01 -4.14599916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.014747283113186852 Centerline is valid? [True, True] Translation: X:243.40, Y:-119.47, Z:-4.15 [[ 7.48022063e-01 6.63580976e-01 -1.11032259e-02 2.43400148e+02] [ 6.63512307e-01 -7.48104430e-01 -9.54888267e-03 -1.19470691e+02] [-1.46428293e-02 -2.24352095e-04 -9.99892763e-01 -4.14700633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.014680956695536408 Centerline is valid? [True, True] Translation: X:243.43, Y:-119.46, Z:-4.15 [[ 6.92841309e-01 7.21022462e-01 -9.87571249e-03 2.43433003e+02] [ 7.20953991e-01 -6.92911650e-01 -9.93923652e-03 -1.19455492e+02] [-1.40094090e-02 -2.33620690e-04 -9.99901836e-01 -4.14783513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.015293584104948342 Centerline is valid? [True, True] Translation: X:243.46, Y:-119.44, Z:-4.15 [[ 6.33572011e-01 7.73637659e-01 -8.44271919e-03 2.43462455e+02] [ 7.73573752e-01 -6.33628219e-01 -9.94638701e-03 -1.19438478e+02] [-1.30444447e-02 -2.29313544e-04 -9.99914891e-01 -4.14710042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.015108994292990304 Centerline is valid? [True, True] Translation: X:243.49, Y:-119.42, Z:-4.15 [[ 5.70358451e-01 8.21366854e-01 -6.90854631e-03 2.43488328e+02] [ 8.21311172e-01 -5.70400248e-01 -9.56636047e-03 -1.19415820e+02] [-1.17981279e-02 -2.17811730e-04 -9.99930376e-01 -4.14838512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.01527928023228391 Centerline is valid? [True, True] Translation: X:243.51, Y:-119.39, Z:-4.15 [[ 5.03105344e-01 8.64208644e-01 -5.33223008e-03 2.43512694e+02] [ 8.64164337e-01 -5.03133559e-01 -8.75327527e-03 -1.19391296e+02] [-1.02474801e-02 -2.04103496e-04 -9.99947472e-01 -4.14931444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.01590895473745017 Centerline is valid? [True, True] Translation: X:243.53, Y:-119.37, Z:-4.15 [[ 4.32699997e-01 9.01528339e-01 -4.16746238e-03 2.43533712e+02] [ 9.01490799e-01 -4.32720021e-01 -8.22942470e-03 -1.19365495e+02] [-9.22240398e-03 -1.96056947e-04 -9.99957454e-01 -4.14869889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.016584448790523072 Centerline is valid? [True, True] Translation: X:243.55, Y:-119.34, Z:-4.15 [[ 3.58604568e-01 9.33483203e-01 -3.44589364e-03 2.43551118e+02] [ 9.33445670e-01 -3.58621060e-01 -8.37355543e-03 -1.19336892e+02] [-9.05234337e-03 -2.13759266e-04 -9.99959004e-01 -4.14823033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.016292539657065373 Centerline is valid? [True, True] Translation: X:243.57, Y:-119.31, Z:-4.15 [[ 2.83280539e-01 9.59032501e-01 -2.96634591e-03 2.43567132e+02] [ 9.58988429e-01 -2.83295968e-01 -9.19714725e-03 -1.19307765e+02] [-9.66071696e-03 -2.39318573e-04 -9.99953306e-01 -4.14694613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.017268008407530303 Centerline is valid? [True, True] Translation: X:243.58, Y:-119.28, Z:-4.15 [[ 2.05503103e-01 9.78653173e-01 -2.53796062e-03 2.43579690e+02] [ 9.78595054e-01 -2.05518568e-01 -1.06695067e-02 -1.19278370e+02] [-1.09633446e-02 -2.91018978e-04 -9.99939858e-01 -4.14503837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.0171119319531531 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.25, Z:-4.15 [[ 1.28200385e-01 9.91746733e-01 -1.75452807e-03 2.43585936e+02] [ 9.91683276e-01 -1.28212037e-01 -1.12229351e-02 -1.19246633e+02] [-1.13552608e-02 -3.01151550e-04 -9.99935482e-01 -4.14513353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.016993707032260323 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.21, Z:-4.15 [[ 5.14797294e-02 9.98673697e-01 -8.27398561e-04 2.43590122e+02] [ 9.98615749e-01 -5.14856582e-02 -1.07616384e-02 -1.19214648e+02] [-1.07899644e-02 -2.72247000e-04 -9.99941750e-01 -4.14561708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.015470697814387105 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.18, Z:-4.15 [[-2.30524955e-02 9.99734256e-01 1.34308809e-05 2.43588463e+02] [ 9.99698683e-01 2.30517886e-02 -8.43554859e-03 -1.19183108e+02] [-8.43361650e-03 -1.81033612e-04 -9.99964420e-01 -4.14711387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.014504841630338 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.15, Z:-4.15 [[-9.90504428e-02 9.95082271e-01 5.33107963e-04 2.43588515e+02] [ 9.95060004e-01 9.90517934e-02 -6.65810524e-03 -1.19152413e+02] [-6.67816778e-03 -1.29013861e-04 -9.99977692e-01 -4.14883998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.014158232040524223 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.12, Z:-4.15 [[-1.75460399e-01 9.84486032e-01 9.48952025e-04 2.43587804e+02] [ 9.84468079e-01 1.75462931e-01 -5.94646297e-03 -1.19122042e+02] [-6.02071564e-03 -1.09155786e-04 -9.99981869e-01 -4.14935739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.014249781890293502 Centerline is valid? [True, True] Translation: X:243.59, Y:-119.09, Z:-4.15 [[-2.52055228e-01 9.67711831e-01 1.40515340e-03 2.43585187e+02] [ 9.67694300e-01 2.52059121e-01 -5.82588340e-03 -1.19092450e+02] [-5.99195803e-03 -1.08685431e-04 -9.99982042e-01 -4.14925698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.014123815132965884 Centerline is valid? [True, True] Translation: X:243.58, Y:-119.06, Z:-4.15 [[-3.28426035e-01 9.44527451e-01 2.05760638e-03 2.43583246e+02] [ 9.44506371e-01 3.28432455e-01 -6.31166221e-03 -1.19062520e+02] [-6.63732293e-03 -1.29491859e-04 -9.99977964e-01 -4.14811250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.014382189193313891 Centerline is valid? [True, True] Translation: X:243.58, Y:-119.03, Z:-4.15 [[-4.01585318e-01 9.15817430e-01 2.76906825e-03 2.43579595e+02] [ 9.15793161e-01 4.01594840e-01 -6.66869278e-03 -1.19032308e+02] [-7.21934860e-03 -1.42155344e-04 -9.99973930e-01 -4.14740722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.014326272007463253 Centerline is valid? [True, True] Translation: X:243.57, Y:-119.00, Z:-4.15 [[-4.71368364e-01 8.81928411e-01 3.76087076e-03 2.43571203e+02] [ 8.81897653e-01 4.71383341e-01 -7.36718641e-03 -1.19003428e+02] [-8.27014283e-03 -1.55955503e-04 -9.99965790e-01 -4.14578475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.013657346481775329 Centerline is valid? [True, True] Translation: X:243.56, Y:-118.97, Z:-4.15 [[-5.37848693e-01 8.43029461e-01 4.48450889e-03 2.43562157e+02] [ 8.42997804e-01 5.37867367e-01 -7.30741842e-03 -1.18974813e+02] [-8.57244000e-03 -1.49854301e-04 -9.99963245e-01 -4.14570954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.013449386093190744 Centerline is valid? [True, True] Translation: X:243.55, Y:-118.95, Z:-4.15 [[-6.00369681e-01 7.99707049e-01 4.98817972e-03 2.43550639e+02] [ 7.99677654e-01 6.00390389e-01 -6.85785480e-03 -1.18947967e+02] [-8.47912999e-03 -1.28312232e-04 -9.99964043e-01 -4.14564455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.012452202584917667 Centerline is valid? [True, True] Translation: X:243.53, Y:-118.92, Z:-4.15 [[-6.57551778e-01 7.53392742e-01 5.00360790e-03 2.43534162e+02] [ 7.53370000e-01 6.57570810e-01 -5.85421741e-03 -1.18923901e+02] [-7.70075140e-03 -7.98829830e-05 -9.99970346e-01 -4.14649936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.01198499968562162 Centerline is valid? [True, True] Translation: X:243.52, Y:-118.90, Z:-4.15 [[-7.10875577e-01 7.03301340e-01 4.81029183e-03 2.43515956e+02] [ 7.03284902e-01 7.10891851e-01 -4.80860349e-03 -1.18903119e+02] [-6.80149454e-03 -3.53131641e-05 -9.99976869e-01 -4.14685301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.011875034821406746 Centerline is valid? [True, True] Translation: X:243.54, Y:-118.89, Z:-4.15 [[-7.57282539e-01 6.53062901e-01 5.65713433e-03 2.43538759e+02] [ 6.53044480e-01 7.57303669e-01 -4.90513641e-03 -1.18890585e+02] [-7.48753120e-03 -2.02138129e-05 -9.99971968e-01 -4.14594406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.011921570818993116 Centerline is valid? [True, True] Translation: X:243.56, Y:-118.87, Z:-4.15 [[-8.00223290e-01 5.99660586e-01 7.06166472e-03 2.43556434e+02] [ 5.99637193e-01 8.00254448e-01 -5.29674758e-03 -1.18873826e+02] [-8.82737936e-03 -4.14396236e-06 -9.99961038e-01 -4.14632143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.012113306060653894 Centerline is valid? [True, True] Translation: X:243.57, Y:-118.85, Z:-4.14 [[-8.40492666e-01 5.41764665e-01 7.94519484e-03 2.43570513e+02] [ 5.41740440e-01 8.40530218e-01 -5.12326244e-03 -1.18851506e+02] [-9.45377891e-03 -1.83115556e-06 -9.99955312e-01 -4.14438526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.012014261429395524 Centerline is valid? [True, True] Translation: X:243.59, Y:-118.83, Z:-4.15 [[-8.77101953e-01 4.80233858e-01 8.22231227e-03 2.43587092e+02] [ 4.80212659e-01 8.77140491e-01 -4.51221534e-03 -1.18831476e+02] [-9.37904160e-03 -9.21444414e-06 -9.99956016e-01 -4.14626381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.012050963460030211 Centerline is valid? [True, True] Translation: X:243.60, Y:-118.81, Z:-4.15 [[-9.09445703e-01 4.15740895e-01 8.24752861e-03 2.43599319e+02] [ 4.15723594e-01 9.09483099e-01 -3.79285043e-03 -1.18807875e+02] [-9.07783091e-03 -2.06992849e-05 -9.99958795e-01 -4.14671585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.01200959621008413 Centerline is valid? [True, True] Translation: X:243.89, Y:-118.18, Z:-5.11 [[-8.76580918e-01 -4.81186363e-01 8.09802396e-03 2.43893751e+02] [ 4.81166147e-01 -8.76618322e-01 -4.41090942e-03 -1.18175649e+02] [ 9.22134564e-03 2.99759512e-05 9.99957482e-01 -5.10927648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.012118014887503166 Centerline is valid? [True, True] Translation: X:243.55, Y:-118.79, Z:-4.15 [[-9.12649768e-01 4.08657311e-01 8.34282774e-03 2.43554204e+02] [ 4.08639647e-01 9.12687898e-01 -3.80007202e-03 -1.18786887e+02] [-9.16732513e-03 -5.89246706e-05 -9.99957977e-01 -4.14612180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.012165773503161418 Centerline is valid? [True, True] Translation: X:243.85, Y:-118.16, Z:-5.11 [[-8.77103970e-01 -4.80234357e-01 7.97416696e-03 2.43850103e+02] [ 4.80215049e-01 -8.77140217e-01 -4.30671216e-03 -1.18157146e+02] [ 9.06269368e-03 5.18806405e-05 9.99958932e-01 -5.10983813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.011885451090848074 Centerline is valid? [True, True] Translation: X:243.84, Y:-118.18, Z:-5.11 [[-8.43961341e-01 -5.36338025e-01 8.41299692e-03 2.43838988e+02] [ 5.36311847e-01 -8.44003271e-01 -5.29919259e-03 -1.18181831e+02] [ 9.94275540e-03 3.96762382e-05 9.99950569e-01 -5.11079959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.01184330972795198 Centerline is valid? [True, True] Translation: X:243.47, Y:-118.78, Z:-4.14 [[-8.82296888e-01 4.70599075e-01 9.41869035e-03 2.43469330e+02] [ 4.70572087e-01 8.82347160e-01 -5.03988953e-03 -1.18783490e+02] [-1.06823220e-02 -1.45060821e-05 -9.99942942e-01 -4.14383425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.012048525886791091 Centerline is valid? [True, True] Translation: X:243.48, Y:-118.77, Z:-4.14 [[-9.10323362e-01 4.13770807e-01 1.02516376e-02 2.43482792e+02] [ 4.13745427e-01 9.10381082e-01 -4.58335315e-03 -1.18766412e+02] [-1.12293547e-02 6.92347444e-05 -9.99936946e-01 -4.14438557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.012975459480013687 Centerline is valid? [True, True] Translation: X:243.50, Y:-118.75, Z:-4.14 [[-9.34921762e-01 3.54709263e-01 1.01310150e-02 2.43503156e+02] [ 3.54689946e-01 9.34976642e-01 -3.70413319e-03 -1.18750112e+02] [-1.07861527e-02 1.30294433e-04 -9.99941819e-01 -4.14485993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.014873092823501638 Centerline is valid? [True, True] Translation: X:243.51, Y:-118.73, Z:-4.15 [[-9.55371675e-01 2.95275522e-01 8.79366840e-03 2.43509050e+02] [ 2.95264776e-01 9.55412127e-01 -2.52571904e-03 -1.18730219e+02] [-9.14736044e-03 1.83460103e-04 -9.99958145e-01 -4.14622767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.015724227515490564 Centerline is valid? [True, True] Translation: X:243.53, Y:-118.71, Z:-4.15 [[-9.72779382e-01 2.31591282e-01 8.10881211e-03 2.43526816e+02] [ 2.31585003e-01 9.72813155e-01 -1.71789084e-03 -1.18708856e+02] [-8.28620764e-03 2.06750486e-04 -9.99965647e-01 -4.14780498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.015952992023829344 Centerline is valid? [True, True] Translation: X:243.53, Y:-118.68, Z:-4.15 [[-9.86577057e-01 1.63104132e-01 7.92163521e-03 2.43530998e+02] [ 1.63100565e-01 9.86608838e-01 -1.09850450e-03 -1.18681910e+02] [-7.99472593e-03 2.08263841e-04 -9.99968020e-01 -4.14741968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.015962591527862974 Centerline is valid? [True, True] Translation: X:243.64, Y:-117.95, Z:-5.11 [[-9.83720226e-01 -1.79469626e-01 9.22877406e-03 2.43636874e+02] [ 1.79460270e-01 -9.83763503e-01 -1.83891261e-03 -1.17945299e+02] [ 9.40896005e-03 -1.52777249e-04 9.99955723e-01 -5.11020785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.015181431891013395 Centerline is valid? [True, True] Translation: X:243.48, Y:-118.67, Z:-4.14 [[-9.87999939e-01 1.54125067e-01 1.00789430e-02 2.43477618e+02] [ 1.54119242e-01 9.88051324e-01 -1.35682375e-03 -1.18670095e+02] [-1.01676335e-02 2.12817267e-04 -9.99948286e-01 -4.14474232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.0137102963659755 Centerline is valid? [True, True] Translation: X:243.57, Y:-117.95, Z:-5.11 [[-9.82749768e-01 -1.84679932e-01 9.80900649e-03 2.43573363e+02] [ 1.84668496e-01 -9.82798695e-01 -2.06691627e-03 -1.17946391e+02] [ 1.00219967e-02 -2.19847014e-04 9.99949754e-01 -5.11158314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.012219862866125237 Centerline is valid? [True, True] Translation: X:243.42, Y:-118.65, Z:-4.15 [[-9.90178368e-01 1.39511578e-01 9.12792455e-03 2.43420176e+02] [ 1.39506520e-01 9.90220436e-01 -1.19167724e-03 -1.18650873e+02] [-9.20491019e-03 9.34319592e-05 -9.99957630e-01 -4.14507049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.011261376279639065 Centerline is valid? [True, True] Translation: X:243.42, Y:-118.62, Z:-4.15 [[-9.97960597e-01 6.33495222e-02 7.84118376e-03 2.43419249e+02] [ 6.33478499e-02 9.97991401e-01 -4.61709354e-04 -1.18618192e+02] [-7.85468304e-03 3.59543888e-05 -9.99969151e-01 -4.14589545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.011064764791339466 Centerline is valid? [True, True] Translation: X:243.41, Y:-118.58, Z:-4.15 [[-9.99852147e-01 -1.61171805e-02 5.99333583e-03 2.43411919e+02] [-1.61170335e-02 9.99870110e-01 7.28191442e-05 -1.18583257e+02] [-5.99373100e-03 -2.37864170e-05 -9.99982037e-01 -4.14710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.01231362180759774 Centerline is valid? [True, True] Translation: X:243.40, Y:-117.90, Z:-5.11 [[-9.97846257e-01 -6.53774322e-02 5.35144085e-03 2.43403473e+02] [ 6.53763646e-02 -9.97860607e-01 -3.74371041e-04 -1.17903978e+02] [ 5.36446743e-03 -2.37069937e-05 9.99985611e-01 -5.10852838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.013601929687991671 Centerline is valid? [True, True] Translation: X:243.35, Y:-118.57, Z:-4.15 [[-9.99493608e-01 -3.13727272e-02 5.31780065e-03 2.43346367e+02] [-3.13727050e-02 9.99507752e-01 8.76042249e-05 -1.18572207e+02] [-5.31793136e-03 -7.92739286e-05 -9.99985857e-01 -4.14655781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.015009212846239057 Centerline is valid? [True, True] Translation: X:243.34, Y:-118.54, Z:-4.15 [[-9.94392285e-01 -1.05608272e-01 5.55673297e-03 2.43335508e+02] [-1.05607193e-01 9.94407805e-01 4.88095364e-04 -1.18542088e+02] [-5.57720554e-03 -1.01472706e-04 -9.99984442e-01 -4.14602187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.01680977927626986 Centerline is valid? [True, True] Translation: X:243.28, Y:-117.89, Z:-5.11 [[-9.99981985e-01 -4.71819201e-04 5.98393264e-03 2.43280159e+02] [ 4.72629145e-04 -9.99999879e-01 1.33939714e-04 -1.17893530e+02] [ 5.98386872e-03 1.36765482e-04 9.99982087e-01 -5.11001313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.018493624002794445 Centerline is valid? [True, True] Translation: X:243.26, Y:-118.54, Z:-4.15 [[-9.93226174e-01 -1.16037718e-01 6.08403603e-03 2.43260397e+02] [-1.16036444e-01 9.93244797e-01 5.63210263e-04 -1.18541055e+02] [-6.10829077e-03 -1.46574732e-04 -9.99981333e-01 -4.14561935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.01897194450039083 Centerline is valid? [True, True] Translation: X:243.20, Y:-117.90, Z:-5.11 [[-9.99983702e-01 9.04261139e-04 5.63728233e-03 2.43204690e+02] [-9.03659946e-04 -9.99999586e-01 1.09191960e-04 -1.17904962e+02] [ 5.63737873e-03 1.04095995e-04 9.99984104e-01 -5.10986927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.015861631055115653 Centerline is valid? [True, True] Translation: X:243.20, Y:-118.55, Z:-4.15 [[-9.92465246e-01 -1.22427429e-01 4.92551533e-03 2.43197528e+02] [-1.22426557e-01 9.92477460e-01 4.79328539e-04 -1.18551537e+02] [-4.94714590e-03 -1.27296967e-04 -9.99987755e-01 -4.14801389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.01762633467247028 Centerline is valid? [True, True] Translation: X:243.13, Y:-117.91, Z:-5.11 [[-9.99979243e-01 4.68775924e-03 4.42015525e-03 2.43134083e+02] [-4.68736269e-03 -9.99989009e-01 1.00068270e-04 -1.17909199e+02] [ 4.42057576e-03 7.93473226e-05 9.99990226e-01 -5.10788263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.01590392582372462 Centerline is valid? [True, True] Translation: X:243.13, Y:-118.56, Z:-4.15 [[-9.91823218e-01 -1.27550214e-01 4.20092445e-03 2.43129175e+02] [-1.27549541e-01 9.91832108e-01 4.28849913e-04 -1.18558364e+02] [-4.22131165e-03 -1.10482686e-04 -9.99991084e-01 -4.14884412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.016176324902904115 Centerline is valid? [True, True] Translation: X:243.11, Y:-118.53, Z:-4.15 [[-9.80211727e-01 -1.97894892e-01 4.75209075e-03 2.43106349e+02] [-1.97893191e-01 9.80223238e-01 8.30280079e-04 -1.18533685e+02] [-4.82241796e-03 -1.26556132e-04 -9.99988364e-01 -4.14810449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.017349579060376784 Centerline is valid? [True, True] Translation: X:243.10, Y:-118.50, Z:-4.15 [[-9.63360471e-01 -2.68151668e-01 5.59336444e-03 2.43104245e+02] [-2.68148083e-01 9.63376696e-01 1.39531467e-03 -1.18504311e+02] [-5.76267291e-03 -1.55658949e-04 -9.99983384e-01 -4.14760795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.016248789899186936 Centerline is valid? [True, True] Translation: X:242.95, Y:-117.88, Z:-5.11 [[-9.88617577e-01 1.50339633e-01 5.76897274e-03 2.42951124e+02] [-1.50336099e-01 -9.88634395e-01 1.04394226e-03 -1.17881161e+02] [ 5.86035077e-03 1.64774810e-04 9.99982814e-01 -5.10778638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.015698528461397316 Centerline is valid? [True, True] Translation: X:243.01, Y:-118.53, Z:-4.15 [[-9.61960462e-01 -2.73134245e-01 5.45467297e-03 2.43006773e+02] [-2.73130713e-01 9.61975916e-01 1.39658701e-03 -1.18529643e+02] [-5.62871977e-03 -1.46377235e-04 -9.99984148e-01 -4.14827132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.015274372193793274 Centerline is valid? [True, True] Translation: X:242.98, Y:-118.51, Z:-4.15 [[-9.40708063e-01 -3.39171539e-01 5.56835226e-03 2.42981861e+02] [-3.39166476e-01 9.40724533e-01 1.85846685e-03 -1.18510136e+02] [-5.86862464e-03 -1.40323665e-04 -9.99982770e-01 -4.14864934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.01517969225041279 Centerline is valid? [True, True] Translation: X:242.95, Y:-118.49, Z:-4.15 [[-9.13023168e-01 -4.07851601e-01 6.76506626e-03 2.42952942e+02] [-4.07841921e-01 9.13048212e-01 2.81615624e-03 -1.18491646e+02] [-7.32540548e-03 -1.87861731e-04 -9.99973151e-01 -4.14813123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.015762225599828258 Centerline is valid? [True, True] Translation: X:242.90, Y:-118.48, Z:-4.15 [[-8.80592638e-01 -4.73814951e-01 7.48321002e-03 2.42901169e+02] [-4.73799950e-01 8.80624406e-01 3.77677815e-03 -1.18483675e+02] [-8.37939133e-03 -2.19741502e-04 -9.99964868e-01 -4.14677181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.016253337548161124 Centerline is valid? [True, True] Translation: X:242.84, Y:-118.49, Z:-4.15 [[-8.42701799e-01 -5.38337096e-01 6.84457979e-03 2.42837773e+02] [-5.38321429e-01 8.42729567e-01 4.11289125e-03 -1.18486858e+02] [-7.98225169e-03 -2.18643113e-04 -9.99968117e-01 -4.14735407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.015950876304366 Centerline is valid? [True, True] Translation: X:242.77, Y:-118.50, Z:-4.15 [[-8.01050493e-01 -5.98568794e-01 5.78852145e-03 2.42771004e+02] [-5.98554855e-01 8.01071385e-01 4.08932500e-03 -1.18499224e+02] [-7.08476122e-03 -1.88991809e-04 -9.99974885e-01 -4.14811842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.016076035952436202 Centerline is valid? [True, True] Translation: X:242.70, Y:-118.52, Z:-4.15 [[-7.55719761e-01 -6.54878606e-01 4.65341580e-03 2.42695803e+02] [-6.54867388e-01 7.55734073e-01 3.83606059e-03 -1.18523693e+02] [-6.02889889e-03 -1.48383458e-04 -9.99981815e-01 -4.14821803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.014763575552244775 Centerline is valid? [True, True] Translation: X:242.62, Y:-118.56, Z:-4.15 [[-7.06030763e-01 -7.08167405e-01 4.41457195e-03 2.42619182e+02] [-7.08154770e-01 7.06044551e-01 4.23243536e-03 -1.18559407e+02] [-6.11415723e-03 -1.37970617e-04 -9.99981299e-01 -4.14832217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.014260629772946943 Centerline is valid? [True, True] Translation: X:242.54, Y:-118.60, Z:-4.15 [[-6.52793168e-01 -7.57519442e-01 5.03733672e-03 2.42542999e+02] [-7.57498633e-01 6.52812586e-01 5.61675402e-03 -1.18601894e+02] [-7.54323718e-03 -1.49197026e-04 -9.99971538e-01 -4.14728473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.01314145562184108 Centerline is valid? [True, True] Translation: X:242.47, Y:-118.66, Z:-4.15 [[-5.96872728e-01 -8.02320735e-01 4.93813207e-03 2.42466258e+02] [-8.02295041e-01 5.96893141e-01 6.42230945e-03 -1.18657190e+02] [-8.10028920e-03 -1.28537506e-04 -9.99967184e-01 -4.14648743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.01264862920765445 Centerline is valid? [True, True] Translation: X:242.39, Y:-118.72, Z:-4.15 [[-5.37053508e-01 -8.43534427e-01 4.81671126e-03 2.42390126e+02] [-8.43502348e-01 5.37075096e-01 7.35735868e-03 -1.18722225e+02] [-8.79312100e-03 -1.11611970e-04 -9.99961334e-01 -4.14590913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.012127407764109475 Centerline is valid? [True, True] Translation: X:242.32, Y:-118.80, Z:-4.15 [[-4.74693925e-01 -8.80141800e-01 4.01112550e-03 2.42318462e+02] [-8.80111702e-01 4.74710865e-01 7.27920038e-03 -1.18796969e+02] [-8.31085338e-03 -7.48462949e-05 -9.99965461e-01 -4.14641686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.012082037316858972 Centerline is valid? [True, True] Translation: X:242.25, Y:-118.88, Z:-4.15 [[-4.07184773e-01 -9.13338783e-01 3.58157382e-03 2.42247779e+02] [-9.13304940e-01 4.07200518e-01 7.86287935e-03 -1.18878917e+02] [-8.63989138e-03 -6.94243216e-05 -9.99962673e-01 -4.14625337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.012224201752091695 Centerline is valid? [True, True] Translation: X:242.18, Y:-118.97, Z:-4.15 [[-3.35436408e-01 -9.42057489e-01 3.17858690e-03 2.42182084e+02] [-9.42017523e-01 3.35451457e-01 8.67795359e-03 -1.18968394e+02] [-9.24139278e-03 -8.33829760e-05 -9.99957294e-01 -4.14585210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.012771972261325837 Centerline is valid? [True, True] Translation: X:242.12, Y:-119.07, Z:-4.15 [[-2.60976246e-01 -9.65341320e-01 2.74481174e-03 2.42120301e+02] [-9.65292143e-01 2.60990658e-01 9.74451120e-03 -1.19067182e+02] [-1.01231495e-02 -1.06459250e-04 -9.99948754e-01 -4.14513796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.013240629398943023 Centerline is valid? [True, True] Translation: X:242.07, Y:-119.17, Z:-4.15 [[-1.84620740e-01 -9.82807751e-01 2.02673994e-03 2.42067646e+02] [-9.82755810e-01 1.84631822e-01 1.01048667e-02 -1.19169086e+02] [-1.03053420e-02 -1.26222477e-04 -9.99946891e-01 -4.14527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.012902533942875634 Centerline is valid? [True, True] Translation: X:242.03, Y:-119.27, Z:-4.15 [[-1.09008508e-01 -9.94039993e-01 1.27932292e-03 2.42025073e+02] [-9.93984657e-01 1.09015939e-01 1.04893689e-02 -1.19272159e+02] [-1.05663188e-02 -1.28196897e-04 -9.99944167e-01 -4.14631234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.013123576413719936 Centerline is valid? [True, True] Translation: X:241.99, Y:-119.38, Z:-4.15 [[-3.41803178e-02 -9.99415585e-01 4.40056095e-04 2.41990904e+02] [-9.99367831e-01 3.41829867e-02 9.77044892e-03 -1.19378036e+02] [-9.77978136e-03 -1.05820856e-04 -9.99952171e-01 -4.14649616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.012418963356423882 Centerline is valid? [True, True] Translation: X:241.97, Y:-119.50, Z:-4.15 [[ 3.99926807e-02 -9.99199934e-01 -2.77821026e-04 2.41967797e+02] [-9.99161773e-01 -3.99935815e-02 8.73299650e-03 -1.19495469e+02] [-8.73712058e-03 -7.16677912e-05 -9.99961828e-01 -4.14898609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.012153774794843697 Centerline is valid? [True, True] Translation: X:241.95, Y:-119.61, Z:-4.15 [[ 1.14584886e-01 -9.93412993e-01 -9.63770091e-04 2.41951537e+02] [-9.93373749e-01 -1.14588926e-01 8.83019190e-03 -1.19611999e+02] [-8.88246474e-03 -5.44226262e-05 -9.99960549e-01 -4.14896714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.012104862693432729 Centerline is valid? [True, True] Translation: X:241.94, Y:-119.73, Z:-4.15 [[ 1.87902285e-01 -9.82186096e-01 -1.79008509e-03 2.41944996e+02] [-9.82139872e-01 -1.87910809e-01 9.52891166e-03 -1.19725626e+02] [-9.69554088e-03 -3.23903354e-05 -9.99952997e-01 -4.14874542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.012293038200647545 Centerline is valid? [True, True] Translation: X:241.95, Y:-119.84, Z:-4.15 [[ 2.61539114e-01 -9.65188767e-01 -2.81689637e-03 2.41945239e+02] [-9.65131713e-01 -2.61554282e-01 1.04944734e-02 -1.19839625e+02] [-1.08659191e-02 -2.60392560e-05 -9.99940964e-01 -4.14776983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.012295482512866966 Centerline is valid? [True, True] Translation: X:241.96, Y:-119.96, Z:-4.15 [[ 3.34021277e-01 -9.42557244e-01 -3.95313920e-03 2.41955700e+02] [-9.42490620e-01 -3.34044669e-01 1.12067483e-02 -1.19958264e+02] [-1.18835268e-02 -1.74957605e-05 -9.99929388e-01 -4.14795783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.012341010040444982 Centerline is valid? [True, True] Translation: X:241.97, Y:-120.08, Z:-4.15 [[ 4.05112797e-01 -9.14254248e-01 -4.77406397e-03 2.41974548e+02] [-9.14190352e-01 -4.05140926e-01 1.08087904e-02 -1.20075493e+02] [-1.18161512e-02 -1.43760836e-05 -9.99930187e-01 -4.14760924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.012211474342034899 Centerline is valid? [True, True] Translation: X:242.00, Y:-120.19, Z:-4.15 [[ 4.73213989e-01 -8.80932162e-01 -5.20056899e-03 2.42002434e+02] [-8.80878898e-01 -4.73242565e-01 9.68713933e-03 -1.20185889e+02] [-1.09948432e-02 -3.01836591e-06 -9.99939555e-01 -4.14982463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.012219881759879585 Centerline is valid? [True, True] Translation: X:242.04, Y:-120.29, Z:-4.15 [[ 5.39462659e-01 -8.41988567e-01 -5.94068622e-03 2.42035277e+02] [-8.41937420e-01 -5.39495368e-01 9.28053959e-03 -1.20293837e+02] [-1.10190809e-02 -4.81853820e-06 -9.99939288e-01 -4.14971952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.012019549066582343 Centerline is valid? [True, True] Translation: X:242.08, Y:-120.40, Z:-4.15 [[ 6.03741895e-01 -7.97153197e-01 -6.51961371e-03 2.42079041e+02] [-7.97106287e-01 -6.03777095e-01 8.64793417e-03 -1.20403975e+02] [-1.08301218e-02 -2.42950794e-05 -9.99941352e-01 -4.15060211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.012163796407557732 Centerline is valid? [True, True] Translation: X:242.12, Y:-120.50, Z:-4.15 [[ 6.65062126e-01 -7.46752656e-01 -7.26912834e-03 2.42122988e+02] [-7.46707102e-01 -6.65101848e-01 8.24839335e-03 -1.20503872e+02] [-1.09942203e-02 -5.77842538e-05 -9.99939560e-01 -4.15000706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.012548047989484636 Centerline is valid? [True, True] Translation: X:242.18, Y:-120.60, Z:-4.15 [[ 7.23414223e-01 -6.90372835e-01 -7.56375648e-03 2.42175416e+02] [-6.90333547e-01 -7.23453756e-01 7.36590079e-03 -1.20601923e+02] [-1.05572458e-02 -1.07082559e-04 -9.99944265e-01 -4.15054740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.013037132412509787 Centerline is valid? [True, True] Translation: X:242.19, Y:-120.63, Z:-4.15 [[ 7.77044307e-01 -6.29394731e-01 -8.02607491e-03 2.42193014e+02] [-6.29359329e-01 -7.77085745e-01 6.67688473e-03 -1.20630977e+02] [-1.04393445e-02 -1.36950148e-04 -9.99945499e-01 -4.15080258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.013886193003136628 Centerline is valid? [True, True] Translation: X:242.21, Y:-120.66, Z:-4.15 [[ 8.26001839e-01 -5.63606746e-01 -8.27030386e-03 2.42213286e+02] [-5.63576405e-01 -8.26043223e-01 5.85056681e-03 -1.20658874e+02] [-1.01290474e-02 -1.71630829e-04 -9.99948685e-01 -4.15088116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.014547963279161701 Centerline is valid? [True, True] Translation: X:242.24, Y:-120.68, Z:-4.15 [[ 8.68376844e-01 -4.95825714e-01 -8.86103383e-03 2.42237576e+02] [-4.95797635e-01 -8.68422031e-01 5.28028017e-03 -1.20683113e+02] [-1.03132157e-02 -1.91993422e-04 -9.99946799e-01 -4.15039899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.014970449017289444 Centerline is valid? [True, True] Translation: X:242.26, Y:-120.70, Z:-4.15 [[ 9.04773878e-01 -4.25806471e-01 -8.54864865e-03 2.42264777e+02] [-4.25785535e-01 -9.04814244e-01 4.22642265e-03 -1.20703642e+02] [-9.53457717e-03 -1.84065870e-04 -9.99954528e-01 -4.15038709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.0147482402088427 Centerline is valid? [True, True] Translation: X:242.29, Y:-120.72, Z:-4.15 [[ 9.34652473e-01 -3.55468700e-01 -8.17048929e-03 2.42294919e+02] [-3.55453671e-01 -9.34688172e-01 3.27236102e-03 -1.20718848e+02] [-8.80008162e-03 -1.54289909e-04 -9.99961267e-01 -4.15019154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.014463548999892264 Centerline is valid? [True, True] Translation: X:242.33, Y:-120.73, Z:-4.15 [[ 9.59099059e-01 -2.82944108e-01 -8.46330257e-03 2.42326997e+02] [-2.82931798e-01 -9.59136389e-01 2.64302863e-03 -1.20729819e+02] [-8.86529084e-03 -1.40388854e-04 -9.99960693e-01 -4.15005004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.013957990406393716 Centerline is valid? [True, True] Translation: X:242.36, Y:-120.74, Z:-4.15 [[ 9.77782156e-01 -2.09388134e-01 -9.93296807e-03 2.42359219e+02] [-2.09375904e-01 -9.77832598e-01 2.26722107e-03 -1.20736508e+02] [-1.01875092e-02 -1.37124140e-04 -9.99948097e-01 -4.14833874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.013781354763702442 Centerline is valid? [True, True] Translation: X:242.39, Y:-120.74, Z:-4.15 [[ 9.90959094e-01 -1.33722097e-01 -1.08845892e-02 2.42391483e+02] [-1.33712562e-01 -9.91018861e-01 1.60234420e-03 -1.20741114e+02] [-1.10011020e-02 -1.32451253e-04 -9.99939477e-01 -4.14676836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.01285270088692124 Centerline is valid? [True, True] Translation: X:242.42, Y:-120.75, Z:-4.15 [[ 9.98300944e-01 -5.72321680e-02 -1.09409193e-02 2.42420115e+02] [-5.72274603e-02 -9.98360889e-01 7.43129583e-04 -1.20747154e+02] [-1.09655169e-02 -1.15745938e-04 -9.99939870e-01 -4.14814677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.012546129499084173 Centerline is valid? [True, True] Translation: X:242.45, Y:-120.76, Z:-4.15 [[ 9.99746876e-01 2.03538746e-02 -9.58667815e-03 2.42448859e+02] [ 2.03538416e-02 -9.99792834e-01 -1.01014741e-04 -1.20755480e+02] [-9.58674815e-03 -9.41365569e-05 -9.99954042e-01 -4.15011272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.012481843207857894 Centerline is valid? [True, True] Translation: X:242.48, Y:-120.76, Z:-4.15 [[ 9.95123469e-01 9.82325647e-02 -8.92442356e-03 2.42478298e+02] [ 9.82293796e-02 -9.95163482e-01 -7.95598713e-04 -1.20763872e+02] [-8.95941413e-03 -8.49216382e-05 -9.99959860e-01 -4.15084735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.012458049454331039 Centerline is valid? [True, True] Translation: X:242.51, Y:-120.77, Z:-4.15 [[ 9.84387364e-01 1.75810841e-01 -8.48909483e-03 2.42508467e+02] [ 1.75805014e-01 -9.84423964e-01 -1.43374512e-03 -1.20769744e+02] [-8.60893632e-03 -8.10648537e-05 -9.99962939e-01 -4.15081994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.012498531105516776 Centerline is valid? [True, True] Translation: X:242.54, Y:-120.77, Z:-4.15 [[ 9.67698859e-01 2.51965534e-01 -8.50222843e-03 2.42538430e+02] [ 2.51956527e-01 -9.67736206e-01 -2.13189924e-03 -1.20771729e+02] [-8.76507941e-03 -7.91554834e-05 -9.99961583e-01 -4.15029017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.01259304285680395 Centerline is valid? [True, True] Translation: X:242.57, Y:-120.77, Z:-4.15 [[ 9.45211054e-01 3.26364582e-01 -7.88817964e-03 2.42567044e+02] [ 3.26353836e-01 -9.45243966e-01 -2.64938292e-03 -1.20769954e+02] [-8.32091895e-03 -7.01116655e-05 -9.99965378e-01 -4.14973466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.012336427514914088 Centerline is valid? [True, True] Translation: X:242.60, Y:-120.77, Z:-4.15 [[ 9.17472539e-01 3.97725363e-01 -7.65996179e-03 2.42596084e+02] [ 3.97712004e-01 -9.17504514e-01 -3.26029793e-03 -1.20766099e+02] [-8.32475270e-03 -5.52249267e-05 -9.99965347e-01 -4.14928822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.012392884376979219 Centerline is valid? [True, True] Translation: X:242.62, Y:-120.76, Z:-4.15 [[ 8.83915595e-01 4.67582505e-01 -7.73449959e-03 2.42623508e+02] [ 4.67565105e-01 -8.83949432e-01 -4.03411831e-03 -1.20759640e+02] [-8.72318967e-03 -5.05620335e-05 -9.99961951e-01 -4.14870641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.01232616343737544 Centerline is valid? [True, True] Translation: X:242.65, Y:-120.75, Z:-4.15 [[ 8.44711882e-01 5.35177217e-01 -6.86892844e-03 2.42653210e+02] [ 5.35159962e-01 -8.44739808e-01 -4.29785432e-03 -1.20751964e+02] [-8.10257101e-03 -4.55268663e-05 -9.99967173e-01 -4.14901097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.012532587698730405 Centerline is valid? [True, True] Translation: X:242.68, Y:-120.74, Z:-4.15 [[ 7.99325295e-01 6.00864635e-01 -6.38467143e-03 2.42682536e+02] [ 6.00846035e-01 -7.99350791e-01 -4.72812729e-03 -1.20743349e+02] [-7.94455663e-03 -5.68927702e-05 -9.99968440e-01 -4.14860828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.012893211302736194 Centerline is valid? [True, True] Translation: X:242.71, Y:-120.73, Z:-4.15 [[ 7.48041597e-01 6.63622388e-01 -6.25256416e-03 2.42710623e+02] [ 6.63600115e-01 -7.48067723e-01 -5.43767550e-03 -1.20731948e+02] [-8.28590464e-03 -8.15948291e-05 -9.99965668e-01 -4.14829337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.014175535169721767 Centerline is valid? [True, True] Translation: X:242.74, Y:-120.72, Z:-4.15 [[ 6.89731148e-01 7.24035369e-01 -6.61278454e-03 2.42738887e+02] [ 7.24004098e-01 -6.89762831e-01 -6.73067777e-03 -1.20718972e+02] [-9.43450175e-03 -1.45325010e-04 -9.99955484e-01 -4.14757774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.014775948461628413 Centerline is valid? [True, True] Translation: X:242.77, Y:-120.70, Z:-4.15 [[ 6.26938373e-01 7.79049802e-01 -5.44807355e-03 2.42767470e+02] [ 7.79022776e-01 -6.26962020e-01 -6.49151372e-03 -1.20704935e+02] [-8.47294768e-03 -1.74394328e-04 -9.99964089e-01 -4.14851024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.015689191852553765 Centerline is valid? [True, True] Translation: X:242.79, Y:-120.69, Z:-4.15 [[ 5.62151043e-01 8.27022159e-01 -4.53362623e-03 2.42791896e+02] [ 8.26997782e-01 -5.62169296e-01 -6.35233242e-03 -1.20687932e+02] [-7.80218514e-03 -1.78328544e-04 -9.99969547e-01 -4.14886144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.018274731860709378 Centerline is valid? [True, True] Translation: X:242.82, Y:-120.67, Z:-4.15 [[ 4.93833740e-01 8.69549417e-01 -3.47102558e-03 2.42816620e+02] [ 8.69530284e-01 -4.93845910e-01 -5.77086449e-03 -1.20669908e+02] [-6.73220363e-03 -1.68314262e-04 -9.99977324e-01 -4.14899084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.018343112660172863 Centerline is valid? [True, True] Translation: X:242.83, Y:-120.65, Z:-4.15 [[ 4.22731582e-01 9.06249088e-01 -3.25587407e-03 2.42834067e+02] [ 9.06225645e-01 -4.22744075e-01 -6.52128350e-03 -1.20645413e+02] [-7.28630869e-03 -1.93804098e-04 -9.99973436e-01 -4.14808238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.018669529692225104 Centerline is valid? [True, True] Translation: X:242.85, Y:-120.62, Z:-4.15 [[ 3.49972279e-01 9.36754918e-01 -3.10274079e-03 2.42847738e+02] [ 9.36723584e-01 -3.49985961e-01 -7.66518151e-03 -1.20618950e+02] [-8.26631220e-03 -2.23809430e-04 -9.99965808e-01 -4.14729809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.016742309147708932 Centerline is valid? [True, True] Translation: X:242.86, Y:-120.59, Z:-4.15 [[ 2.75855698e-01 9.61194719e-01 -2.88907866e-03 2.42861491e+02] [ 9.61151308e-01 -2.75870708e-01 -9.13872329e-03 -1.20592161e+02] [-9.58110473e-03 -2.55872838e-04 -9.99954067e-01 -4.14694139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.015843027374704607 Centerline is valid? [True, True] Translation: X:242.88, Y:-120.57, Z:-4.15 [[ 2.01199138e-01 9.79547456e-01 -2.38494950e-03 2.42875096e+02] [ 9.79493445e-01 -2.01213097e-01 -1.02897972e-02 -1.20565366e+02] [-1.05592277e-02 -2.65744081e-04 -9.99944214e-01 -4.14629359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.01560550934998025 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.54, Z:-4.15 [[ 1.25062943e-01 9.92147517e-01 -1.60127470e-03 2.42887189e+02] [ 9.92090450e-01 -1.25072929e-01 -1.06442881e-02 -1.20537596e+02] [-1.07609801e-02 -2.57403341e-04 -9.99942066e-01 -4.14574947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.014697004757769548 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.51, Z:-4.15 [[ 4.99499829e-02 9.98751410e-01 -7.87750668e-04 2.42894221e+02] [ 9.98689866e-01 -4.99556519e-02 -1.10898655e-02 -1.20508637e+02] [-1.11153714e-02 -2.32780014e-04 -9.99938195e-01 -4.14582898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.01561720067489061 Centerline is valid? [True, True] Translation: X:242.90, Y:-120.48, Z:-4.15 [[-2.61566564e-02 9.99657853e-01 7.54409931e-05 2.42901127e+02] [ 9.99606605e-01 2.61560795e-02 -1.01239575e-02 -1.20480815e+02] [-1.01224669e-02 -1.89397564e-04 -9.99948749e-01 -4.14536134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.01328949845880491 Centerline is valid? [True, True] Translation: X:242.90, Y:-120.45, Z:-4.15 [[-1.01570875e-01 9.94828087e-01 6.58570959e-04 2.42900465e+02] [ 9.94798630e-01 1.01572936e-01 -7.65662518e-03 -1.20452531e+02] [-7.68391877e-03 -1.22544634e-04 -9.99970471e-01 -4.14890886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.013245095352959653 Centerline is valid? [True, True] Translation: X:242.90, Y:-120.42, Z:-4.15 [[-1.78485531e-01 9.83941818e-01 1.18900655e-03 2.42903670e+02] [ 9.83915656e-01 1.78489457e-01 -7.17603443e-03 -1.20423763e+02] [-7.27302550e-03 -1.10936154e-04 -9.99973545e-01 -4.14849605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.014244841202774038 Centerline is valid? [True, True] Translation: X:242.91, Y:-120.40, Z:-4.15 [[-2.55638991e-01 9.66769924e-01 2.14966223e-03 2.42905391e+02] [ 9.66730930e-01 2.55647990e-01 -8.68417528e-03 -1.20395620e+02] [-8.94515630e-03 -1.41868839e-04 -9.99959981e-01 -4.14528609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.014131368502170111 Centerline is valid? [True, True] Translation: X:242.90, Y:-120.37, Z:-4.14 [[-3.31935916e-01 9.43296948e-01 3.06865885e-03 2.42902192e+02] [ 9.43251837e-01 3.31950057e-01 -9.22664651e-03 -1.20367624e+02] [-9.72210897e-03 -1.68137256e-04 -9.99952725e-01 -4.14449031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.013939925580536972 Centerline is valid? [True, True] Translation: X:242.90, Y:-120.34, Z:-4.15 [[-4.05494652e-01 9.14092244e-01 3.07517718e-03 2.42898492e+02] [ 9.14063229e-01 4.05506288e-01 -7.28445622e-03 -1.20338453e+02] [-7.90566861e-03 -1.42901653e-04 -9.99968740e-01 -4.14614037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.013735896271589791 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.31, Z:-4.15 [[-4.75743630e-01 8.79579998e-01 2.65037840e-03 2.42893494e+02] [ 8.79565112e-01 4.75751002e-01 -5.11840867e-03 -1.20309146e+02] [-5.76297007e-03 -1.03869946e-04 -9.99983389e-01 -4.14765116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.013861082303446374 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.28, Z:-4.15 [[-5.44026249e-01 8.39064432e-01 2.51397222e-03 2.42888006e+02] [ 8.39054689e-01 5.44032050e-01 -4.04439453e-03 -1.20279503e+02] [-4.76118906e-03 -9.08966091e-05 -9.99988661e-01 -4.14877031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.014637628348603656 Centerline is valid? [True, True] Translation: X:242.88, Y:-120.25, Z:-4.15 [[-6.08756112e-01 7.93349486e-01 3.54812828e-03 2.42881643e+02] [ 7.93334859e-01 6.08766440e-01 -4.81903451e-03 -1.20250379e+02] [-5.98315998e-03 -1.18762860e-04 -9.99982094e-01 -4.14657289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.014651440063855534 Centerline is valid? [True, True] Translation: X:242.87, Y:-120.22, Z:-4.15 [[-6.69129990e-01 7.43132776e-01 4.32830959e-03 2.42870183e+02] [ 7.43115940e-01 6.69143976e-01 -5.00388409e-03 -1.20223667e+02] [-6.61481256e-03 -1.31813058e-04 -9.99978113e-01 -4.14629342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.014606248870706169 Centerline is valid? [True, True] Translation: X:242.86, Y:-120.20, Z:-4.15 [[-7.24732345e-01 6.89014229e-01 4.73505440e-03 2.42855286e+02] [ 6.88998366e-01 7.24747802e-01 -4.67719864e-03 -1.20198704e+02] [-6.65437668e-03 -1.27272398e-04 -9.99977851e-01 -4.14642601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.014557639753745374 Centerline is valid? [True, True] Translation: X:242.88, Y:-120.18, Z:-4.15 [[-7.71052688e-01 6.36751761e-01 4.99470757e-03 2.42877049e+02] [ 6.36737387e-01 7.71068856e-01 -4.28010026e-03 -1.20182893e+02] [-6.57662483e-03 -1.19865759e-04 -9.99978367e-01 -4.14659964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.014014990776758976 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.16, Z:-4.15 [[-8.12975632e-01 5.82278522e-01 4.72701263e-03 2.42894571e+02] [ 5.82267994e-01 8.12989369e-01 -3.50278621e-03 -1.20163266e+02] [-5.88260819e-03 -9.52916708e-05 -9.99982693e-01 -4.14711063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.013620966558385211 Centerline is valid? [True, True] Translation: X:242.91, Y:-120.14, Z:-4.15 [[-8.50416697e-01 5.26092977e-01 4.19772162e-03 2.42910729e+02] [ 5.26086193e-01 8.50427055e-01 -2.67254338e-03 -1.20142525e+02] [-4.97586234e-03 -6.44121272e-05 -9.99987618e-01 -4.14751211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.013059448129930405 Centerline is valid? [True, True] Translation: X:243.29, Y:-119.56, Z:-5.11 [[-7.99444927e-01 -6.00727922e-01 3.71120781e-03 2.43293294e+02] [ 6.00721674e-01 -7.99453540e-01 -2.73997521e-03 -1.19560738e+02] [ 4.61291784e-03 3.89436869e-05 9.99989360e-01 -5.10790409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.012788912529155684 Centerline is valid? [True, True] Translation: X:242.88, Y:-120.13, Z:-4.15 [[-8.50025686e-01 5.26717280e-01 5.02394053e-03 2.42879759e+02] [ 5.26707721e-01 8.50040531e-01 -3.17370120e-03 -1.20127496e+02] [-5.94219634e-03 -5.15792744e-05 -9.99982344e-01 -4.14751701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.01290332319576995 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.10, Z:-4.15 [[-8.85620844e-01 4.64367543e-01 6.20536597e-03 2.42894031e+02] [ 4.64355606e-01 8.85642581e-01 -3.33023849e-03 -1.20101328e+02] [-7.04219099e-03 -6.78321417e-05 -9.99975201e-01 -4.14646847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.013169860177205773 Centerline is valid? [True, True] Translation: X:242.91, Y:-120.08, Z:-4.15 [[-9.16812078e-01 3.99272971e-01 6.05874268e-03 2.42907545e+02] [ 3.99263723e-01 9.16832095e-01 -2.71841126e-03 -1.20075861e+02] [-6.64023788e-03 -7.32361175e-05 -9.99977951e-01 -4.14685347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.01323110030648159 Centerline is valid? [True, True] Translation: X:242.92, Y:-120.05, Z:-4.15 [[-9.42829515e-01 3.33235433e-01 5.16262753e-03 2.42919540e+02] [ 3.33230080e-01 9.42843647e-01 -1.88973217e-03 -1.20051073e+02] [-5.49727629e-03 -6.13524769e-05 -9.99984888e-01 -4.14747590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.013117367208741392 Centerline is valid? [True, True] Translation: X:242.92, Y:-120.03, Z:-4.15 [[-9.63869350e-01 2.66312265e-01 5.80110904e-03 2.42924441e+02] [ 2.66307048e-01 9.63886805e-01 -1.66813136e-03 -1.20025110e+02] [-6.03585630e-03 -6.29844659e-05 -9.99981782e-01 -4.14732157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.013339009598868828 Centerline is valid? [True, True] Translation: X:242.93, Y:-120.00, Z:-4.15 [[-9.80369637e-01 1.97077579e-01 5.98357980e-03 2.42926477e+02] [ 1.97073501e-01 9.80387895e-01 -1.26945705e-03 -1.19997541e+02] [-6.11641073e-03 -6.53321315e-05 -9.99981292e-01 -4.14707379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.013182820480150334 Centerline is valid? [True, True] Translation: X:242.94, Y:-119.97, Z:-4.15 [[-9.91943970e-01 1.26542506e-01 5.84418461e-03 2.42936681e+02] [ 1.26539917e-01 9.91961184e-01 -8.12200266e-04 -1.19972029e+02] [-5.89998214e-03 -6.61345199e-05 -9.99982593e-01 -4.14793648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.013049777462853194 Centerline is valid? [True, True] Translation: X:242.94, Y:-119.95, Z:-4.15 [[-9.98452145e-01 5.53748085e-02 5.19076319e-03 2.42939943e+02] [ 5.53737433e-02 9.98465636e-01 -3.48802698e-04 -1.19945748e+02] [-5.20211356e-03 -6.08308131e-05 -9.99986467e-01 -4.14884236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.01401676391981979 Centerline is valid? [True, True] Translation: X:242.93, Y:-119.92, Z:-4.15 [[-9.99841475e-01 -1.63916238e-02 6.95263865e-03 2.42933958e+02] [-1.63918254e-02 9.99865645e-01 2.79988879e-05 -1.19915603e+02] [-6.95216347e-03 -8.59719891e-05 -9.99975830e-01 -4.14528936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.013216829742785726 Centerline is valid? [True, True] Translation: X:242.93, Y:-119.89, Z:-4.15 [[-9.96163642e-01 -8.71416965e-02 8.02018374e-03 2.42927796e+02] [-8.71396550e-02 9.96195922e-01 6.04307222e-04 -1.19891658e+02] [-8.04233470e-03 -9.68871613e-05 -9.99967655e-01 -4.14516068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.01376663985707699 Centerline is valid? [True, True] Translation: X:242.93, Y:-119.86, Z:-4.15 [[-9.87564911e-01 -1.57055386e-01 7.01085428e-03 2.42926617e+02] [-1.57052004e-01 9.87589793e-01 1.03379261e-03 -1.19864185e+02] [-7.08621082e-03 -8.01314092e-05 -9.99974889e-01 -4.14557051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.013223048657543547 Centerline is valid? [True, True] Translation: X:242.91, Y:-119.84, Z:-4.15 [[-9.73802085e-01 -2.27304749e-01 6.48466737e-03 2.42914632e+02] [-2.27300236e-01 9.73823673e-01 1.43443546e-03 -1.19840338e+02] [-6.64097659e-03 -7.71101811e-05 -9.99977946e-01 -4.14709328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.013889617239948962 Centerline is valid? [True, True] Translation: X:242.90, Y:-119.81, Z:-4.15 [[-9.54037503e-01 -2.99619748e-01 6.35999451e-03 2.42896872e+02] [-2.99613787e-01 9.54058697e-01 1.89270224e-03 -1.19813533e+02] [-6.63489905e-03 -9.98331215e-05 -9.99977984e-01 -4.14677103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.014592764336276307 Centerline is valid? [True, True] Translation: X:242.86, Y:-119.79, Z:-4.15 [[-9.29145839e-01 -3.69644694e-01 7.12810835e-03 2.42861431e+02] [-3.69634906e-01 9.29173172e-01 2.69327762e-03 -1.19794232e+02] [-7.61880282e-03 -1.32349967e-04 -9.99970968e-01 -4.14525316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.015246902255247967 Centerline is valid? [True, True] Translation: X:242.82, Y:-119.78, Z:-4.14 [[-8.99118184e-01 -4.37641098e-01 7.53396149e-03 2.42815363e+02] [-4.37627205e-01 8.99149734e-01 3.49080900e-03 -1.19781369e+02] [-8.30188096e-03 -1.58416663e-04 -9.99965526e-01 -4.14459455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.015586883508373499 Centerline is valid? [True, True] Translation: X:242.76, Y:-119.78, Z:-4.14 [[-8.64353375e-01 -5.02835044e-01 7.08248284e-03 2.42755400e+02] [-5.02819641e-01 8.64382377e-01 3.93875987e-03 -1.19780771e+02] [-8.10251985e-03 -1.56731099e-04 -9.99967162e-01 -4.14479449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.015780200818476905 Centerline is valid? [True, True] Translation: X:242.69, Y:-119.79, Z:-4.15 [[-8.25087406e-01 -5.64977006e-01 5.63524220e-03 2.42687059e+02] [-5.64964886e-01 8.25106640e-01 3.70277459e-03 -1.19790910e+02] [-6.74165825e-03 -1.28601286e-04 -9.99977267e-01 -4.14670490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.015661321254883794 Centerline is valid? [True, True] Translation: X:242.62, Y:-119.81, Z:-4.15 [[-7.81549878e-01 -6.23827885e-01 4.30791007e-03 2.42615365e+02] [-6.23819091e-01 7.81561745e-01 3.31367657e-03 -1.19808616e+02] [-5.43406156e-03 -9.75530244e-05 -9.99985231e-01 -4.14782618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.014271419063597805 Centerline is valid? [True, True] Translation: X:242.54, Y:-119.84, Z:-4.15 [[-7.32608761e-01 -6.80640924e-01 3.51219684e-03 2.42539603e+02] [-6.80633655e-01 7.32617175e-01 3.14676354e-03 -1.19838643e+02] [-4.71491177e-03 -8.51728341e-05 -9.99988881e-01 -4.14870078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.014301274841998324 Centerline is valid? [True, True] Translation: X:242.46, Y:-119.88, Z:-4.15 [[-6.79158806e-01 -7.33983084e-01 3.48550401e-03 2.42457337e+02] [-7.33974110e-01 6.79167744e-01 3.63063327e-03 -1.19878597e+02] [-5.03206530e-03 -9.24931424e-05 -9.99987335e-01 -4.14807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.014680353628777074 Centerline is valid? [True, True] Translation: X:242.37, Y:-119.93, Z:-4.15 [[-6.21798008e-01 -7.83168698e-01 3.74536365e-03 2.42373581e+02] [-7.83155533e-01 6.21809279e-01 4.54226799e-03 -1.19928431e+02] [-5.88626398e-03 -1.08829073e-04 -9.99982670e-01 -4.14715491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.014726940295625171 Centerline is valid? [True, True] Translation: X:242.29, Y:-119.98, Z:-4.15 [[-5.60396253e-01 -8.28215358e-01 3.91921274e-03 2.42294292e+02] [-8.28196686e-01 5.60409942e-01 5.56293252e-03 -1.19984694e+02] [-6.80367193e-03 -1.28432468e-04 -9.99976847e-01 -4.14656660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.014665459091377868 Centerline is valid? [True, True] Translation: X:242.21, Y:-120.06, Z:-4.15 [[-4.95355864e-01 -8.68682859e-01 3.55772793e-03 2.42213398e+02] [-8.68662400e-01 4.95368621e-01 5.96353166e-03 -1.20055369e+02] [-6.94280452e-03 -1.36394102e-04 -9.99975889e-01 -4.14633026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.01536882113264465 Centerline is valid? [True, True] Translation: X:242.14, Y:-120.13, Z:-4.15 [[-4.27174948e-01 -9.04164808e-01 2.75044999e-03 2.42135800e+02] [-9.04147939e-01 4.27183783e-01 5.52441709e-03 -1.20132775e+02] [-6.16993115e-03 -1.26921111e-04 -9.99980958e-01 -4.14615951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.014984209960672653 Centerline is valid? [True, True] Translation: X:242.07, Y:-120.21, Z:-4.15 [[-3.57155215e-01 -9.34042488e-01 2.18728788e-03 2.42069662e+02] [-9.34026958e-01 3.57161892e-01 5.38743102e-03 -1.20214108e+02] [-5.81330535e-03 -1.18836761e-04 -9.99983096e-01 -4.14699853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.014747140110777324 Centerline is valid? [True, True] Translation: X:242.01, Y:-120.31, Z:-4.15 [[-2.86040821e-01 -9.58215962e-01 1.67886649e-03 2.42008345e+02] [-9.58201560e-01 2.86045729e-01 5.25465208e-03 -1.20305323e+02] [-5.51532408e-03 -1.05647493e-04 -9.99984785e-01 -4.14757001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.013989110562214425 Centerline is valid? [True, True] Translation: X:241.96, Y:-120.40, Z:-4.15 [[-2.14907446e-01 -9.76633805e-01 1.09591334e-03 2.41956092e+02] [-9.76622871e-01 2.14910227e-01 4.62183267e-03 -1.20399081e+02] [-4.74936101e-03 -7.70277789e-05 -9.99988719e-01 -4.14837501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.013195824269345499 Centerline is valid? [True, True] Translation: X:241.91, Y:-120.51, Z:-4.15 [[-1.42390316e-01 -9.89810354e-01 6.78693606e-04 2.41909041e+02] [-9.89800986e-01 1.42391921e-01 4.30686171e-03 -1.20506744e+02] [-4.35961680e-03 -5.85162016e-05 -9.99990495e-01 -4.14841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.012675132036515081 Centerline is valid? [True, True] Translation: X:241.87, Y:-120.61, Z:-4.15 [[-7.19110057e-02 -9.97410979e-01 3.81658269e-04 2.41872135e+02] [-9.97399485e-01 7.19120094e-02 4.78860957e-03 -1.20609942e+02] [-4.80365758e-03 -3.63120304e-05 -9.99988462e-01 -4.14726051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.012295730554991708 Centerline is valid? [True, True] Translation: X:241.85, Y:-120.72, Z:-4.15 [[-3.86868496e-03 -9.99992516e-01 1.72028458e-05 2.41845913e+02] [-9.99970977e-01 3.86871454e-03 6.56335290e-03 -1.20720988e+02] [-6.56337034e-03 8.18919813e-06 -9.99978461e-01 -4.14575789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.012687600686330269 Centerline is valid? [True, True] Translation: X:241.83, Y:-120.84, Z:-4.15 [[ 6.68389386e-02 -9.97763644e-01 -5.15834072e-04 2.41826749e+02] [-9.97739544e-01 -6.68409095e-02 6.93505032e-03 -1.20837465e+02] [-6.95401990e-03 5.11366491e-05 -9.99975819e-01 -4.14516652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.01409516988582135 Centerline is valid? [True, True] Translation: X:241.82, Y:-120.95, Z:-4.15 [[ 1.35297457e-01 -9.90804499e-01 -1.02154494e-03 2.41817698e+02] [-9.90781805e-01 -1.35301273e-01 6.70680038e-03 -1.20947989e+02] [-6.78334432e-03 1.04715109e-04 -9.99976987e-01 -4.14596911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.01500118696260731 Centerline is valid? [True, True] Translation: X:241.81, Y:-121.07, Z:-4.15 [[ 2.07156179e-01 -9.78307046e-01 -1.28120069e-03 2.41814976e+02] [-9.78291467e-01 -2.07160112e-01 5.52216147e-03 -1.21067212e+02] [-5.66778315e-03 1.09437835e-04 -9.99983932e-01 -4.14672001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.015159122386541202 Centerline is valid? [True, True] Translation: X:241.82, Y:-121.19, Z:-4.15 [[ 2.81270667e-01 -9.59627169e-01 -1.58375751e-03 2.41818027e+02] [-9.59613972e-01 -2.81275106e-01 5.03387857e-03 -1.21185077e+02] [-5.27611821e-03 1.03913454e-04 -9.99986076e-01 -4.14638650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.014305048195950203 Centerline is valid? [True, True] Translation: X:241.83, Y:-121.31, Z:-4.15 [[ 3.56968179e-01 -9.34114003e-01 -2.17928241e-03 2.41830951e+02] [-9.34098215e-01 -3.56974818e-01 5.43184193e-03 -1.21313895e+02] [-5.85190855e-03 9.66690891e-05 -9.99982873e-01 -4.14550081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.013730672431834684 Centerline is valid? [True, True] Translation: X:241.85, Y:-121.43, Z:-4.14 [[ 4.30907667e-01 -9.02390909e-01 -3.03812422e-03 2.41847892e+02] [-9.02369887e-01 -4.30918368e-01 6.16012337e-03 -1.21425636e+02] [-6.86802286e-03 8.70674214e-05 -9.99976411e-01 -4.14490964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.012604595286664837 Centerline is valid? [True, True] Translation: X:241.87, Y:-121.54, Z:-4.15 [[ 5.05130913e-01 -8.63034059e-01 -3.86954374e-03 2.41872599e+02] [-8.63009331e-01 -5.05145732e-01 6.53332749e-03 -1.21543723e+02] [-7.59316765e-03 3.92666712e-05 -9.99971171e-01 -4.14516483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.012360529657604744 Centerline is valid? [True, True] Translation: X:241.91, Y:-121.66, Z:-4.15 [[ 5.76286319e-01 -8.17237413e-01 -4.13391562e-03 2.41905247e+02] [-8.17216107e-01 -5.76301145e-01 5.90128232e-03 -1.21658875e+02] [-7.20512901e-03 -2.25258349e-05 -9.99974042e-01 -4.14522931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.012698888204264826 Centerline is valid? [True, True] Translation: X:241.95, Y:-121.76, Z:-4.15 [[ 6.40648402e-01 -7.67823585e-01 -4.07031178e-03 2.41946198e+02] [-7.67807571e-01 -6.40661330e-01 4.95930955e-03 -1.21764949e+02] [-6.41556620e-03 -5.19575411e-05 -9.99979419e-01 -4.14559530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.013373700726618504 Centerline is valid? [True, True] Translation: X:242.00, Y:-121.87, Z:-4.15 [[ 7.01115711e-01 -7.13039750e-01 -3.32801909e-03 2.41995743e+02] [-7.13031266e-01 -7.01123606e-01 3.47878535e-03 -1.21868661e+02] [-4.81386498e-03 -6.60493987e-05 -9.99988411e-01 -4.14666799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.014136531683420163 Centerline is valid? [True, True] Translation: X:242.05, Y:-121.96, Z:-4.15 [[ 7.55324151e-01 -6.55340533e-01 -3.76998710e-03 2.42045570e+02] [-6.55331794e-01 -7.55333555e-01 3.38536428e-03 -1.21958798e+02] [-5.06616419e-03 -8.64549878e-05 -9.99987163e-01 -4.14634304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.01636147773412555 Centerline is valid? [True, True] Translation: X:242.07, Y:-121.99, Z:-4.15 [[ 8.07113842e-01 -5.90375054e-01 -4.95395140e-03 2.42065822e+02] [-5.90362888e-01 -8.07129034e-01 3.79249484e-03 -1.21989923e+02] [-6.23747235e-03 -1.36346025e-04 -9.99980537e-01 -4.14540253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.016256530598395377 Centerline is valid? [True, True] Translation: X:242.09, Y:-122.02, Z:-4.15 [[ 8.52305028e-01 -5.23013370e-01 -5.75795818e-03 2.42091952e+02] [-5.23000081e-01 -8.52324461e-01 3.73207597e-03 -1.22016459e+02] [-6.85957423e-03 -1.69454517e-04 -9.99976458e-01 -4.14566939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.017536820706881555 Centerline is valid? [True, True] Translation: X:242.12, Y:-122.04, Z:-4.14 [[ 8.92073191e-01 -4.51833882e-01 -7.18089526e-03 2.42118820e+02] [-4.51817169e-01 -8.92102063e-01 3.89295206e-03 -1.22042363e+02] [-8.16505912e-03 -2.28346399e-04 -9.99966639e-01 -4.14376386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.017162802782633622 Centerline is valid? [True, True] Translation: X:242.15, Y:-122.06, Z:-4.14 [[ 9.24529218e-01 -3.81011880e-01 -8.69901397e-03 2.42149740e+02] [-3.80992326e-01 -9.24570105e-01 3.86902291e-03 -1.22061423e+02] [-9.51699195e-03 -2.62767156e-04 -9.99954678e-01 -4.14302205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.01624021409544706 Centerline is valid? [True, True] Translation: X:242.18, Y:-122.08, Z:-4.14 [[ 9.50615045e-01 -3.10243135e-01 -8.95731528e-03 2.42182239e+02] [-3.10227018e-01 -9.50657215e-01 3.17111844e-03 -1.22076088e+02] [-9.49915413e-03 -2.35711695e-04 -9.99954854e-01 -4.14358306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.014236743837870913 Centerline is valid? [True, True] Translation: X:242.22, Y:-122.08, Z:-4.15 [[ 9.70153664e-01 -2.42364424e-01 -7.83286501e-03 2.42216586e+02] [-2.42355361e-01 -9.70185274e-01 2.10064692e-03 -1.22083579e+02] [-8.10845237e-03 -1.39613483e-04 -9.99967116e-01 -4.14528891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.013596229131853462 Centerline is valid? [True, True] Translation: X:242.25, Y:-122.09, Z:-4.15 [[ 9.85596347e-01 -1.68946601e-01 -7.54228595e-03 2.42250638e+02] [-1.68940818e-01 -9.85625200e-01 1.40200214e-03 -1.22093632e+02] [-7.67073059e-03 -1.07608232e-04 -9.99970574e-01 -4.14569909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.012315974569741605 Centerline is valid? [True, True] Translation: X:242.28, Y:-122.09, Z:-4.15 [[ 9.94748315e-01 -1.02088457e-01 -7.33052888e-03 2.42280617e+02] [-1.02085513e-01 -9.94775325e-01 7.75753330e-04 -1.22089848e+02] [-7.37142471e-03 -2.33385185e-05 -9.99972830e-01 -4.14519998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.012407384024840692 Centerline is valid? [True, True] Translation: X:242.31, Y:-122.09, Z:-4.15 [[ 9.99466582e-01 -3.17350501e-02 -7.70962971e-03 2.42310000e+02] [-3.17343862e-02 -9.99496316e-01 2.08457374e-04 -1.22092236e+02] [-7.71236190e-03 3.63141878e-05 -9.99970259e-01 -4.14624469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.01459311896280252 Centerline is valid? [True, True] Translation: X:242.34, Y:-122.09, Z:-4.14 [[ 9.99369068e-01 3.43351605e-02 -9.08642448e-03 2.42338339e+02] [ 3.43323309e-02 -9.99410363e-01 -4.67259034e-04 -1.22087474e+02] [-9.09711020e-03 1.55006094e-04 -9.99958608e-01 -4.14471873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.016220321847751733 Centerline is valid? [True, True] Translation: X:242.37, Y:-122.09, Z:-4.14 [[ 9.94590367e-01 1.03342614e-01 -1.05026786e-02 2.42366517e+02] [ 1.03333900e-01 -9.94645780e-01 -1.37045163e-03 -1.22086477e+02] [-1.05880710e-02 2.77755248e-04 -9.99943906e-01 -4.14460499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.018882850996245603 Centerline is valid? [True, True] Translation: X:242.39, Y:-122.08, Z:-4.14 [[ 9.84222959e-01 1.76642769e-01 -1.01241344e-02 2.42393473e+02] [ 1.76630117e-01 -9.84274978e-01 -2.13763252e-03 -1.22083444e+02] [-1.03425295e-02 3.15679964e-04 -9.99946465e-01 -4.14399618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.019699670209518634 Centerline is valid? [True, True] Translation: X:242.42, Y:-122.08, Z:-4.15 [[ 9.67849323e-01 2.51377620e-01 -8.77382627e-03 2.42420037e+02] [ 2.51364512e-01 -9.67889046e-01 -2.58406942e-03 -1.22078678e+02] [-9.14166755e-03 2.95561283e-04 -9.99958170e-01 -4.14531338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.01847206645109551 Centerline is valid? [True, True] Translation: X:242.45, Y:-122.08, Z:-4.15 [[ 9.44545729e-01 3.28280583e-01 -8.07616893e-03 2.42448893e+02] [ 3.28266201e-01 -9.44580219e-01 -3.08400415e-03 -1.22078584e+02] [-8.64100810e-03 2.61849654e-04 -9.99962632e-01 -4.14577006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.016783771875599256 Centerline is valid? [True, True] Translation: X:242.48, Y:-122.08, Z:-4.15 [[ 9.13533352e-01 4.06682788e-01 -8.11943165e-03 2.42478007e+02] [ 4.06664589e-01 -9.13569407e-01 -3.85361081e-03 -1.22077410e+02] [-8.98486155e-03 2.18516668e-04 -9.99959611e-01 -4.14522936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.01523186855501879 Centerline is valid? [True, True] Translation: X:242.51, Y:-122.07, Z:-4.14 [[ 8.76256463e-01 4.81774360e-01 -8.25090601e-03 2.42507279e+02] [ 4.81751065e-01 -8.76295289e-01 -4.74105279e-03 -1.22074273e+02] [-9.51434774e-03 1.79495387e-04 -9.99954721e-01 -4.14463437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.013007435841059102 Centerline is valid? [True, True] Translation: X:242.54, Y:-122.07, Z:-4.14 [[ 8.30237662e-01 5.57353099e-01 -7.93398752e-03 2.42540120e+02] [ 5.57326687e-01 -8.30275567e-01 -5.42655544e-03 -1.22074333e+02] [-9.61190347e-03 8.35077237e-05 -9.99953801e-01 -4.14436612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.012341595570049402 Centerline is valid? [True, True] Translation: X:242.57, Y:-122.07, Z:-4.14 [[ 7.77289678e-01 6.29102001e-01 -7.17142823e-03 2.42573543e+02] [ 6.29075462e-01 -7.77322759e-01 -5.77855030e-03 -1.22071238e+02] [-9.20981194e-03 -1.97620242e-05 -9.99957589e-01 -4.14425379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.01286623458526995 Centerline is valid? [True, True] Translation: X:242.60, Y:-122.06, Z:-4.14 [[ 7.21294537e-01 6.92603203e-01 -5.91559335e-03 2.42603972e+02] [ 6.92580691e-01 -7.21318791e-01 -5.58466896e-03 -1.22062227e+02] [-8.13498825e-03 -6.88345134e-05 -9.99966908e-01 -4.14384658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.013774628861791378 Centerline is valid? [True, True] Translation: X:242.63, Y:-122.05, Z:-4.14 [[ 6.60247697e-01 7.51029590e-01 -5.24718654e-03 2.42633859e+02] [ 7.51007241e-01 -6.60268537e-01 -5.79511041e-03 -1.22050466e+02] [-7.81685158e-03 -1.14466783e-04 -9.99969441e-01 -4.14335477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.014477446587877826 Centerline is valid? [True, True] Translation: X:242.66, Y:-122.03, Z:-4.14 [[ 5.97640388e-01 8.01751255e-01 -4.57072601e-03 2.42659114e+02] [ 8.01729405e-01 -5.97657853e-01 -5.92041244e-03 -1.22033949e+02] [-7.47842840e-03 -1.26207855e-04 -9.99972028e-01 -4.14262265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.014332819842044564 Centerline is valid? [True, True] Translation: X:242.68, Y:-122.01, Z:-4.14 [[ 5.32557356e-01 8.46385186e-01 -3.84437407e-03 2.42681461e+02] [ 8.46364770e-01 -5.32571217e-01 -5.88005099e-03 -1.22014129e+02] [-7.02419103e-03 -1.22278365e-04 -9.99975323e-01 -4.14318110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.014925062529031679 Centerline is valid? [True, True] Translation: X:242.70, Y:-121.99, Z:-4.14 [[ 4.64420256e-01 8.85610505e-01 -2.80355807e-03 2.42700510e+02] [ 8.85595690e-01 -4.64428706e-01 -5.12358071e-03 -1.21992309e+02] [-5.83954974e-03 -1.03324276e-04 -9.99982944e-01 -4.14441943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.014642088961131719 Centerline is valid? [True, True] Translation: X:242.72, Y:-121.97, Z:-4.14 [[ 3.93376683e-01 9.19369988e-01 -3.68936333e-03 2.42717946e+02] [ 9.19333328e-01 -3.93393950e-01 -8.21166805e-03 -1.21969040e+02] [-9.00093436e-03 -1.61475929e-04 -9.99959478e-01 -4.14246327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.01502703597752982 Centerline is valid? [True, True] Translation: X:242.73, Y:-121.95, Z:-4.14 [[ 3.19370625e-01 9.47617157e-01 -4.91209281e-03 2.42734393e+02] [ 9.47517865e-01 -3.19408281e-01 -1.37202621e-02 -1.21945244e+02] [-1.45705188e-02 -2.72447025e-04 -9.99893807e-01 -4.13714769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.01454941208321272 Centerline is valid? [True, True] Translation: X:242.74, Y:-121.92, Z:-4.14 [[ 2.45721910e-01 9.69332248e-01 -3.96685294e-03 2.42744995e+02] [ 9.69222408e-01 -2.45753792e-01 -1.45944412e-02 -1.21918403e+02] [-1.51217317e-02 -2.58588785e-04 -9.99885627e-01 -4.13895995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.013829114237945864 Centerline is valid? [True, True] Translation: X:242.75, Y:-121.89, Z:-4.14 [[ 1.73520798e-01 9.84827001e-01 -2.51213329e-03 2.42753469e+02] [ 9.84737534e-01 -1.73538898e-01 -1.32755137e-02 -1.21892897e+02] [-1.35100372e-02 -1.70214207e-04 -9.99908721e-01 -4.14140528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.013268895516027992 Centerline is valid? [True, True] Translation: X:242.76, Y:-121.87, Z:-4.14 [[ 9.98902280e-02 9.94997568e-01 -1.33460321e-03 2.42759500e+02] [ 9.94922268e-01 -9.98990880e-02 -1.22414640e-02 -1.21866304e+02] [-1.23135526e-02 -1.05023817e-04 -9.99924180e-01 -4.14274723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.01263754266272921 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.84, Z:-4.15 [[ 2.57831512e-02 9.99667510e-01 -3.15509813e-04 2.42765028e+02] [ 9.99613063e-01 -2.57850399e-02 -1.04334284e-02 -1.21839885e+02] [-1.04380948e-02 -4.63810688e-05 -9.99945521e-01 -4.14514547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.012775317419601246 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.81, Z:-4.15 [[-4.42812913e-02 9.99019000e-01 4.52243048e-04 2.42765699e+02] [ 9.98974912e-01 4.42835858e-02 -9.38560339e-03 -1.21814863e+02] [-9.39642306e-03 3.61728217e-05 -9.99955852e-01 -4.14607019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.013422760333949955 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.79, Z:-4.15 [[-1.15106471e-01 9.93352414e-01 1.21726300e-03 2.42767382e+02] [ 9.93306382e-01 1.15112857e-01 -9.56351592e-03 -1.21788727e+02] [-9.64006425e-03 1.08292535e-04 -9.99953528e-01 -4.14739761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.01515453018344073 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.76, Z:-4.15 [[-1.83395030e-01 9.83037352e-01 1.95627688e-03 2.42767703e+02] [ 9.82992351e-01 1.83405357e-01 -9.40809445e-03 -1.21762430e+02] [-9.60729992e-03 1.97607445e-04 -9.99953829e-01 -4.14928871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.018098394544975263 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.74, Z:-4.15 [[-2.54661016e-01 9.67026351e-01 2.79329627e-03 2.42765278e+02] [ 9.66978847e-01 2.54676203e-01 -9.58855416e-03 -1.21737885e+02] [-9.98377063e-03 2.59227454e-04 -9.99950127e-01 -4.14813627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.018117629009071805 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.71, Z:-4.15 [[-3.24329706e-01 9.45937186e-01 3.61683964e-03 2.42768264e+02] [ 9.45888988e-01 3.24349712e-01 -9.55439586e-03 -1.21709902e+02] [-1.02109792e-02 3.22354391e-04 -9.99947815e-01 -4.14857331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.019561781178710144 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.68, Z:-4.15 [[-3.94446274e-01 9.18910727e-01 3.90033431e-03 2.42766512e+02] [ 9.18873490e-01 3.94465429e-01 -8.27855243e-03 -1.21683033e+02] [-9.14579768e-03 3.18469639e-04 -9.99958126e-01 -4.14857590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.018957191303167135 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.65, Z:-4.15 [[-4.67422349e-01 8.84021608e-01 4.70576571e-03 2.42766419e+02] [ 8.83983234e-01 4.67445935e-01 -8.24253340e-03 -1.21654028e+02] [-9.48626869e-03 3.07073668e-04 -9.99954957e-01 -4.14899528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.012562464986947734 Centerline is valid? [True, True] Translation: X:242.79, Y:-121.61, Z:-4.15 [[-5.56702878e-01 8.30687183e-01 6.38047845e-03 2.42785930e+02] [ 8.30634195e-01 5.56739435e-01 -9.38275274e-03 -1.21608613e+02] [-1.13463964e-02 7.64381273e-05 -9.99935625e-01 -4.14683454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:242.78, Y:-121.58, Z:-4.15 [[-6.25104998e-01 7.80516348e-01 6.16213925e-03 2.42781696e+02] [ 7.80478469e-01 6.25135370e-01 -7.68951318e-03 -1.21575569e+02] [-9.85396194e-03 2.66388311e-06 -9.99951449e-01 -4.14734777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.55, Z:-4.15 [[-6.84316082e-01 7.29154303e-01 6.74546287e-03 2.42768764e+02] [ 7.29118920e-01 6.84349327e-01 -7.18319649e-03 -1.21547928e+02] [-9.85391161e-03 2.66772524e-06 -9.99951449e-01 -4.14734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.01215708109769183 Centerline is valid? [True, True] Translation: X:242.75, Y:-121.52, Z:-4.15 [[-7.41516206e-01 6.70895756e-01 7.25261045e-03 2.42754910e+02] [ 6.70863284e-01 7.41551673e-01 -6.60082684e-03 -1.21520178e+02] [-9.80665212e-03 -2.91100134e-05 -9.99951913e-01 -4.14669911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.012309341231144105 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.50, Z:-4.15 [[-7.88972022e-01 6.14380436e-01 7.73482794e-03 2.42772663e+02] [ 6.14350186e-01 7.89009934e-01 -6.09692155e-03 -1.21495856e+02] [-9.84868540e-03 -5.84075455e-05 -9.99951499e-01 -4.14641154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.012560666903106466 Centerline is valid? [True, True] Translation: X:242.79, Y:-121.47, Z:-4.15 [[-8.32194891e-01 5.54416023e-01 8.63350299e-03 2.42789904e+02] [ 5.54385005e-01 8.32239668e-01 -5.86532067e-03 -1.21472436e+02] [-1.04369714e-02 -9.48052989e-05 -9.99945529e-01 -4.14682868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.01344242251507996 Centerline is valid? [True, True] Translation: X:242.80, Y:-121.44, Z:-4.15 [[-8.72116211e-01 4.89195196e-01 1.00684567e-02 2.42801404e+02] [ 4.89160317e-01 8.72174312e-01 -5.84411335e-03 -1.21441852e+02] [-1.16403614e-02 -1.71656537e-04 -9.99932234e-01 -4.14559150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.016672844483592738 Centerline is valid? [True, True] Translation: X:243.11, Y:-120.90, Z:-5.11 [[-8.15355954e-01 -5.78869084e-01 1.02592903e-02 2.43110425e+02] [ 5.78826897e-01 -8.15420461e-01 -6.99254510e-03 -1.20899612e+02] [ 1.24134034e-02 2.36939909e-04 9.99922923e-01 -5.11281229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.016015701031901388 Centerline is valid? [True, True] Translation: X:242.76, Y:-121.41, Z:-4.14 [[-8.78720273e-01 4.77229296e-01 1.01430159e-02 2.42761650e+02] [ 4.77193670e-01 8.78778763e-01 -5.83836863e-03 -1.21407462e+02] [-1.16997075e-02 -2.90109897e-04 -9.99931514e-01 -4.14441572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.015056948261905652 Centerline is valid? [True, True] Translation: X:242.78, Y:-121.39, Z:-4.15 [[-9.09068987e-01 4.16541430e-01 9.31740034e-03 2.42776433e+02] [ 4.16516994e-01 9.09116706e-01 -4.51756967e-03 -1.21388290e+02] [-1.03523592e-02 -2.25926909e-04 -9.99946387e-01 -4.14574091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.014118763057078161 Centerline is valid? [True, True] Translation: X:242.79, Y:-121.37, Z:-4.15 [[-9.34939609e-01 3.54695941e-01 8.87225737e-03 2.42788666e+02] [ 3.54678225e-01 9.34981690e-01 -3.54911780e-03 -1.21367833e+02] [-9.55425586e-03 -1.71414309e-04 -9.99954342e-01 -4.14664809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.01270610173217976 Centerline is valid? [True, True] Translation: X:242.80, Y:-121.35, Z:-4.15 [[-9.55730019e-01 2.94078171e-01 9.90761175e-03 2.42795713e+02] [ 2.94061107e-01 9.55781364e-01 -3.17002965e-03 -1.21347374e+02] [-1.04017472e-02 -1.16249212e-04 -9.99945894e-01 -4.14621020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.012054502821554064 Centerline is valid? [True, True] Translation: X:242.80, Y:-121.33, Z:-4.15 [[-9.73013399e-01 2.30476323e-01 1.12066915e-02 2.42804632e+02] [ 2.30460199e-01 9.73077931e-01 -2.72712481e-03 -1.21326639e+02] [-1.15335219e-02 -7.08326253e-05 -9.99933484e-01 -4.14600110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.012051574592074068 Centerline is valid? [True, True] Translation: X:242.81, Y:-121.31, Z:-4.14 [[-9.85453554e-01 1.69452382e-01 1.29299609e-02 2.42810280e+02] [ 1.69438248e-01 9.85538375e-01 -2.18885355e-03 -1.21308095e+02] [-1.31138791e-02 3.38164076e-05 -9.99914009e-01 -4.14469742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.012934345614298662 Centerline is valid? [True, True] Translation: X:242.82, Y:-121.29, Z:-4.14 [[-9.94251702e-01 1.06165334e-01 1.38735679e-02 2.42815658e+02] [ 1.06156900e-01 9.94348482e-01 -1.34501178e-03 -1.21287509e+02] [-1.39379548e-02 1.35494720e-04 -9.99902853e-01 -4.14429544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.014645092023218504 Centerline is valid? [True, True] Translation: X:242.89, Y:-120.61, Z:-5.11 [[-9.89670507e-01 -1.42670121e-01 1.40542956e-02 2.42889439e+02] [ 1.42653967e-01 -9.89770287e-01 -2.15040365e-03 -1.20609949e+02] [ 1.42173226e-02 -1.23290039e-04 9.99898921e-01 -5.11031600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.016731521987369054 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.30, Z:-4.15 [[-9.92508179e-01 1.21403235e-01 1.37393281e-02 2.42767499e+02] [ 1.21397240e-01 9.92603189e-01 -1.27265041e-03 -1.21299453e+02] [-1.37922048e-02 4.04800570e-04 -9.99904801e-01 -4.14681270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.020451044122624266 Centerline is valid? [True, True] Translation: X:242.77, Y:-121.28, Z:-4.15 [[-9.97979535e-01 6.24371396e-02 1.17665654e-02 2.42774623e+02] [ 6.24385219e-02 9.98048781e-01 -2.50206405e-04 -1.21281176e+02] [-1.17592284e-02 4.84986078e-04 -9.99930740e-01 -4.14931503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.02237776250992393 Centerline is valid? [True, True] Translation: X:242.79, Y:-120.56, Z:-5.11 [[-9.99087166e-01 -4.14094172e-02 1.04925747e-02 2.42794953e+02] [ 4.14017935e-02 -9.99142133e-01 -9.42839851e-04 -1.20556780e+02] [ 1.05226159e-02 -5.07567783e-04 9.99944507e-01 -5.10582837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.02456058906324153 Centerline is valid? [True, True] Translation: X:242.70, Y:-121.29, Z:-4.15 [[-9.97733098e-01 6.62596837e-02 1.17608935e-02 2.42702981e+02] [ 6.62620097e-02 9.97802240e-01 -1.92208895e-04 -1.21285045e+02] [-1.17477816e-02 5.87527262e-04 -9.99930820e-01 -4.15009370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.02390893916540535 Centerline is valid? [True, True] Translation: X:242.70, Y:-121.25, Z:-4.15 [[-9.99895389e-01 -6.36275845e-03 1.29895037e-02 2.42697820e+02] [-6.35403624e-03 9.99979559e-01 7.12641613e-04 -1.21254541e+02] [-1.29937726e-02 6.30031285e-04 -9.99915379e-01 -4.14972234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.021263622046574445 Centerline is valid? [True, True] Translation: X:242.69, Y:-121.22, Z:-4.15 [[-9.96404495e-01 -8.37268144e-02 1.29577631e-02 2.42688515e+02] [-8.37125263e-02 9.96488593e-01 1.64210684e-03 -1.21218559e+02] [-1.30497515e-02 5.51475552e-04 -9.99914696e-01 -4.14934148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.01799276869569429 Centerline is valid? [True, True] Translation: X:242.67, Y:-121.18, Z:-4.15 [[-9.86654427e-01 -1.62406864e-01 1.17069507e-02 2.42670084e+02] [-1.62390506e-01 9.86723793e-01 2.34089017e-03 -1.21182988e+02] [-1.19317034e-02 4.08551998e-04 -9.99928731e-01 -4.15014411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.01733095691579497 Centerline is valid? [True, True] Translation: X:242.65, Y:-121.16, Z:-4.15 [[-9.71467140e-01 -2.36959928e-01 1.00791087e-02 2.42645224e+02] [-2.36943855e-01 9.71519375e-01 2.77727001e-03 -1.21155272e+02] [-1.04501511e-02 3.09843677e-04 -9.99945348e-01 -4.15028505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.01576493360690077 Centerline is valid? [True, True] Translation: X:242.61, Y:-121.13, Z:-4.15 [[-9.50346229e-01 -3.11065538e-01 8.95971513e-03 2.42609973e+02] [-3.11049390e-01 9.50388435e-01 3.17808275e-03 -1.21128367e+02] [-9.50380165e-03 2.33365028e-04 -9.99954811e-01 -4.15022073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.014514129458011114 Centerline is valid? [True, True] Translation: X:242.56, Y:-121.11, Z:-4.15 [[-9.24390340e-01 -3.81348720e-01 8.69788978e-03 2.42558698e+02] [-3.81329683e-01 9.24431235e-01 3.81630436e-03 -1.21111890e+02] [-9.49594378e-03 2.10991335e-04 -9.99954890e-01 -4.15062273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.014322906433172846 Centerline is valid? [True, True] Translation: X:242.49, Y:-121.11, Z:-4.15 [[-8.92921945e-01 -4.50132284e-01 8.44548818e-03 2.42491190e+02] [-4.50110096e-01 8.92961864e-01 4.47349534e-03 -1.21106033e+02] [-9.55516354e-03 1.93082665e-04 -9.99954330e-01 -4.14990202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.014479575321393488 Centerline is valid? [True, True] Translation: X:242.42, Y:-121.11, Z:-4.15 [[-8.57267679e-01 -5.14809885e-01 7.93147585e-03 2.42420992e+02] [-5.14785798e-01 8.57304349e-01 4.98353147e-03 -1.21109871e+02] [-9.36526000e-03 1.89209331e-04 -9.99956127e-01 -4.14953554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.014726952964039348 Centerline is valid? [True, True] Translation: X:242.34, Y:-121.12, Z:-4.15 [[-8.17777489e-01 -5.75482746e-01 7.71930437e-03 2.42343469e+02] [-5.75454642e-01 8.17813893e-01 5.69125448e-03 -1.21123412e+02] [-9.58817311e-03 2.12070268e-04 -9.99954010e-01 -4.14962541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.015434472114599815 Centerline is valid? [True, True] Translation: X:242.26, Y:-121.15, Z:-4.15 [[-7.74023420e-01 -6.33115464e-01 7.24946358e-03 2.42264030e+02] [-6.33084846e-01 7.74057333e-01 6.23078060e-03 -1.21148661e+02] [-9.55630400e-03 2.33244574e-04 -9.99954310e-01 -4.14937935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.016770469340734423 Centerline is valid? [True, True] Translation: X:242.18, Y:-121.18, Z:-4.15 [[-7.28391571e-01 -6.85112844e-01 8.13081202e-03 2.42182123e+02] [-6.85064746e-01 7.28436867e-01 8.12557424e-03 -1.21184303e+02] [-1.14897185e-02 3.48467115e-04 -9.99933930e-01 -4.14940161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.0190772937136531 Centerline is valid? [True, True] Translation: X:242.10, Y:-121.23, Z:-4.15 [[-6.80143943e-01 -7.33037126e-01 7.79676760e-03 2.42100676e+02] [-7.32981238e-01 6.80188482e-01 9.06279600e-03 -1.21230917e+02] [-1.19466374e-02 4.49121439e-04 -9.99928536e-01 -4.15004845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.02045441657933879 Centerline is valid? [True, True] Translation: X:242.02, Y:-121.29, Z:-4.15 [[-6.25927984e-01 -7.79849817e-01 6.95853988e-03 2.42019207e+02] [-7.79792768e-01 6.25966474e-01 9.44520252e-03 -1.21287756e+02] [-1.17216521e-02 4.85797498e-04 -9.99931181e-01 -4.15066948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.019967666175169183 Centerline is valid? [True, True] Translation: X:241.94, Y:-121.35, Z:-4.15 [[-5.66419724e-01 -8.24094469e-01 6.08292804e-03 2.41939871e+02] [-8.24037317e-01 5.66452173e-01 9.71778173e-03 -1.21350946e+02] [-1.14540580e-02 4.91783542e-04 -9.99934279e-01 -4.15141054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.021211618848058514 Centerline is valid? [True, True] Translation: X:241.86, Y:-121.42, Z:-4.15 [[-5.03964597e-01 -8.63709521e-01 5.05457874e-03 2.41861057e+02] [-8.63656024e-01 5.03989711e-01 9.62513524e-03 -1.21424191e+02] [-1.08607766e-02 4.85310025e-04 -9.99940902e-01 -4.15212329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.020673012064734896 Centerline is valid? [True, True] Translation: X:241.78, Y:-121.50, Z:-4.15 [[-4.33815341e-01 -9.00989212e-01 4.76338086e-03 2.41783230e+02] [-9.00921865e-01 4.33841212e-01 1.10270828e-02 -1.21504383e+02] [-1.20018336e-02 4.92283732e-04 -9.99927854e-01 -4.15194643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.019400006553779704 Centerline is valid? [True, True] Translation: X:241.71, Y:-121.60, Z:-4.15 [[-3.59585270e-01 -9.33103120e-01 4.12322639e-03 2.41710021e+02] [-9.33026566e-01 3.59608623e-01 1.19610045e-02 -1.21595838e+02] [-1.26435984e-02 4.53921271e-04 -9.99919963e-01 -4.15144077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.015521625272932134 Centerline is valid? [True, True] Translation: X:241.64, Y:-121.69, Z:-4.15 [[-2.78583280e-01 -9.60407205e-01 3.05875763e-03 2.41638236e+02] [-9.60336280e-01 2.78599893e-01 1.16759766e-02 -1.21688409e+02] [-1.20658616e-02 3.15295939e-04 -9.99927155e-01 -4.15220964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.01416681331110951 Centerline is valid? [True, True] Translation: X:241.58, Y:-121.79, Z:-4.15 [[-1.98381822e-01 -9.80122739e-01 2.01716762e-03 2.41580063e+02] [-9.80060392e-01 1.98391959e-01 1.10570949e-02 -1.21787091e+02] [-1.12374999e-02 2.16580541e-04 -9.99936834e-01 -4.15189032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.012081230559059006 Centerline is valid? [True, True] Translation: X:241.53, Y:-121.89, Z:-4.15 [[-1.14768633e-01 -9.93391646e-01 1.09499422e-03 2.41525729e+02] [-9.93337291e-01 1.14773809e-01 1.03922293e-02 -1.21887769e+02] [-1.04492304e-02 1.05003369e-04 -9.99945400e-01 -4.15157673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.011349683158284357 Centerline is valid? [True, True] Translation: X:241.49, Y:-121.99, Z:-4.15 [[-3.38301643e-02 -9.99427544e-01 3.23749087e-04 2.41485248e+02] [-9.99366338e-01 3.38316755e-02 1.10607830e-02 -1.21993468e+02] [-1.10654042e-02 5.06441671e-05 -9.99938775e-01 -4.15101368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.011120841453131755 Centerline is valid? [True, True] Translation: X:241.45, Y:-122.10, Z:-4.15 [[ 4.81694351e-02 -9.98839025e-01 -5.53916111e-04 2.41451665e+02] [-9.98767766e-01 -4.81726150e-02 1.19310382e-02 -1.22102026e+02] [-1.19438701e-02 -2.14778127e-05 -9.99928669e-01 -4.15004399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.011291355167958516 Centerline is valid? [True, True] Translation: X:241.43, Y:-122.21, Z:-4.15 [[ 1.27625305e-01 -9.91821431e-01 -1.42467618e-03 2.41429400e+02] [-9.91753442e-01 -1.27633238e-01 1.16132489e-02 -1.22210026e+02] [-1.17001051e-02 -6.92169302e-05 -9.99931549e-01 -4.14980655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.012032183299894925 Centerline is valid? [True, True] Translation: X:241.42, Y:-122.32, Z:-4.15 [[ 2.08338304e-01 -9.78054396e-01 -2.17938861e-03 2.41415362e+02] [-9.77993861e-01 -2.08349659e-01 1.08824166e-02 -1.22321795e+02] [-1.10976702e-02 -1.35795532e-04 -9.99938410e-01 -4.14997323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.013050054192377659 Centerline is valid? [True, True] Translation: X:241.41, Y:-122.43, Z:-4.15 [[ 2.85230163e-01 -9.58454423e-01 -2.97888680e-03 2.41411663e+02] [-9.58395483e-01 -2.85245663e-01 1.06306399e-02 -1.22429821e+02] [-1.10386983e-02 -1.77227501e-04 -9.99939056e-01 -4.14975748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.013081622730196646 Centerline is valid? [True, True] Translation: X:241.42, Y:-122.53, Z:-4.15 [[ 3.57405559e-01 -9.33941388e-01 -3.84053036e-03 2.41418337e+02] [-9.33881716e-01 -3.57426143e-01 1.05590183e-02 -1.22533729e+02] [-1.12342102e-02 -1.87250750e-04 -9.99936877e-01 -4.14987637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.01303622650484795 Centerline is valid? [True, True] Translation: X:241.44, Y:-122.64, Z:-4.15 [[ 4.26199572e-01 -9.04617717e-01 -4.55090368e-03 2.41435393e+02] [-9.04561673e-01 -4.26223832e-01 1.00709430e-02 -1.22637933e+02] [-1.10500570e-02 -1.75658529e-04 -9.99938931e-01 -4.15031349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.012149598685866694 Centerline is valid? [True, True] Translation: X:241.46, Y:-122.74, Z:-4.15 [[ 4.92916020e-01 -8.70063004e-01 -4.91588410e-03 2.41459172e+02] [-8.70016490e-01 -4.92940508e-01 8.99794599e-03 -1.22735936e+02] [-1.02520183e-02 -1.58331499e-04 -9.99947434e-01 -4.15205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.01194822131507184 Centerline is valid? [True, True] Translation: X:241.49, Y:-122.83, Z:-4.15 [[ 5.56481900e-01 -8.30841446e-01 -5.51250001e-03 2.41492111e+02] [-8.30798021e-01 -5.56509183e-01 8.49571728e-03 -1.22834773e+02] [-1.01263509e-02 -1.47938788e-04 -9.99948716e-01 -4.15229814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.011546968046004713 Centerline is valid? [True, True] Translation: X:241.53, Y:-122.93, Z:-4.15 [[ 6.16155969e-01 -7.87596962e-01 -6.54579967e-03 2.41528939e+02] [-7.87550109e-01 -6.16190723e-01 8.59177260e-03 -1.22926620e+02] [-1.08003150e-02 -1.38726727e-04 -9.99941665e-01 -4.15155577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.01065045181502049 Centerline is valid? [True, True] Translation: X:241.57, Y:-123.01, Z:-4.15 [[ 6.69727136e-01 -7.42571163e-01 -7.32338938e-03 2.41574499e+02] [-7.42525439e-01 -6.69767170e-01 8.24080310e-03 -1.23010308e+02] [-1.10243485e-02 -8.12865424e-05 -9.99939227e-01 -4.15131929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.010476592577130097 Centerline is valid? [True, True] Translation: X:241.63, Y:-123.09, Z:-4.15 [[ 7.17416015e-01 -6.96600994e-01 -7.83041563e-03 2.41628173e+02] [-6.96559794e-01 -7.17458747e-01 7.57626556e-03 -1.23089031e+02] [-1.08956343e-02 1.90184396e-05 -9.99940641e-01 -4.15099211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.01115804638319475 Centerline is valid? [True, True] Translation: X:241.66, Y:-123.11, Z:-4.15 [[ 7.64827465e-01 -6.44188410e-01 -7.76157578e-03 2.41658109e+02] [-6.44156478e-01 -7.64866841e-01 6.41463480e-03 -1.23114899e+02] [-1.00688053e-02 9.35804434e-05 -9.99949304e-01 -4.15201198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.01331822731639921 Centerline is valid? [True, True] Translation: X:241.69, Y:-123.14, Z:-4.15 [[ 8.05896544e-01 -5.92010982e-01 -7.33193176e-03 2.41690012e+02] [-5.91988601e-01 -8.05929874e-01 5.15114084e-03 -1.23137175e+02] [-8.95855478e-03 1.89133421e-04 -9.99959853e-01 -4.15341815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.015686741473423887 Centerline is valid? [True, True] Translation: X:241.72, Y:-123.16, Z:-4.15 [[ 8.46226488e-01 -5.32768251e-01 -7.66308751e-03 2.41720715e+02] [-5.32749020e-01 -8.46261148e-01 4.53336360e-03 -1.23159012e+02] [-8.90020543e-03 2.46250000e-04 -9.99960362e-01 -4.15327942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.017862420934857893 Centerline is valid? [True, True] Translation: X:241.75, Y:-123.18, Z:-4.15 [[ 8.82005791e-01 -4.71165934e-01 -8.27325880e-03 2.41752840e+02] [-4.71148576e-01 -8.82044534e-01 4.05693403e-03 -1.23178783e+02] [-9.20887181e-03 3.19694794e-04 -9.99957546e-01 -4.15274893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.01835569561986555 Centerline is valid? [True, True] Translation: X:241.78, Y:-123.20, Z:-4.15 [[ 9.14883833e-01 -4.03620021e-01 -8.85723427e-03 2.41784439e+02] [-4.03604889e-01 -9.14926636e-01 3.51350096e-03 -1.23199229e+02] [-9.52183888e-03 3.60377823e-04 -9.99954601e-01 -4.15302349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.01927897446242455 Centerline is valid? [True, True] Translation: X:241.82, Y:-123.22, Z:-4.15 [[ 9.43859768e-01 -3.30205490e-01 -9.64747812e-03 2.41816395e+02] [-3.30192276e-01 -9.43908997e-01 2.97770517e-03 -1.23217817e+02] [-1.00895960e-02 3.74986653e-04 -9.99949028e-01 -4.15240186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.017980723149109264 Centerline is valid? [True, True] Translation: X:241.85, Y:-123.24, Z:-4.15 [[ 9.67908627e-01 -2.51109204e-01 -9.85176429e-03 2.41849457e+02] [-2.51099656e-01 -9.67958707e-01 2.21449468e-03 -1.23237528e+02] [-1.00921810e-02 3.30346121e-04 -9.99949018e-01 -4.15197660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.016302826899522248 Centerline is valid? [True, True] Translation: X:241.88, Y:-123.25, Z:-4.15 [[ 9.85697544e-01 -1.68308123e-01 -8.52801375e-03 2.41884329e+02] [-1.68303804e-01 -9.85734409e-01 1.22676661e-03 -1.23253623e+02] [-8.61283138e-03 2.26076327e-04 -9.99962883e-01 -4.15230801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.014182000146362285 Centerline is valid? [True, True] Translation: X:241.92, Y:-123.27, Z:-4.15 [[ 9.96285764e-01 -8.57077406e-02 -8.29822148e-03 2.41916454e+02] [-8.57062480e-02 -9.96320306e-01 5.35975863e-04 -1.23269762e+02] [-8.31362384e-03 1.77224306e-04 -9.99965426e-01 -4.15242201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.011998412794279685 Centerline is valid? [True, True] Translation: X:241.95, Y:-123.29, Z:-4.15 [[ 9.99964138e-01 1.18274871e-03 -8.38590527e-03 2.41950473e+02] [ 1.18181429e-03 -9.99999295e-01 -1.16381882e-04 -1.23285986e+02] [-8.38603700e-03 1.06467126e-04 -9.99964831e-01 -4.15209666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.010987813425710613 Centerline is valid? [True, True] Translation: X:241.99, Y:-123.30, Z:-4.15 [[ 9.96275884e-01 8.58722072e-02 -7.76702849e-03 2.41985861e+02] [ 8.58692179e-02 -9.96306159e-01 -7.18148227e-04 -1.23296859e+02] [-7.80000729e-03 4.85250984e-05 -9.99969578e-01 -4.15223644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.010476496815034592 Centerline is valid? [True, True] Translation: X:242.02, Y:-123.31, Z:-4.15 [[ 9.84936638e-01 1.72779767e-01 -6.85350289e-03 2.42021735e+02] [ 1.72775738e-01 -9.84960482e-01 -1.18013349e-03 -1.23305348e+02] [-6.95433270e-03 -2.17623014e-05 -9.99975818e-01 -4.15200533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.011129977733323046 Centerline is valid? [True, True] Translation: X:242.06, Y:-123.31, Z:-4.15 [[ 9.66901180e-01 2.55067244e-01 -6.54286202e-03 2.42058631e+02] [ 2.55061831e-01 -9.66923315e-01 -1.66282163e-03 -1.23307095e+02] [-6.75057716e-03 -6.10501690e-05 -9.99977213e-01 -4.15138373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.012182077455352143 Centerline is valid? [True, True] Translation: X:242.10, Y:-123.31, Z:-4.15 [[ 9.42225789e-01 3.34911126e-01 -6.71569162e-03 2.42095457e+02] [ 3.34903382e-01 -9.42249716e-01 -2.27980485e-03 -1.23305704e+02] [-7.09139053e-03 -1.01016910e-04 -9.99974851e-01 -4.15034047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.012895772474123266 Centerline is valid? [True, True] Translation: X:242.13, Y:-123.30, Z:-4.15 [[ 9.11412061e-01 4.11433641e-01 -7.10034414e-03 2.42132534e+02] [ 4.11422366e-01 -9.11439707e-01 -3.04924920e-03 -1.23300630e+02] [-7.72609928e-03 -1.42117887e-04 -9.99970143e-01 -4.14958938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.013894284196205343 Centerline is valid? [True, True] Translation: X:242.17, Y:-123.29, Z:-4.15 [[ 8.75180526e-01 4.83727372e-01 -8.17783102e-03 2.42167538e+02] [ 4.83708301e-01 -8.75218711e-01 -4.29968534e-03 -1.23290946e+02] [-9.23726622e-03 -1.92683878e-04 -9.99957317e-01 -4.14834845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.013812774575410192 Centerline is valid? [True, True] Translation: X:242.20, Y:-123.28, Z:-4.15 [[ 8.33800036e-01 5.52011803e-01 -7.77623541e-03 2.42201124e+02] [ 5.51990079e-01 -8.33836272e-01 -4.90156989e-03 -1.23277803e+02] [-9.18983157e-03 -2.05475646e-04 -9.99957752e-01 -4.14849896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.014300766598549826 Centerline is valid? [True, True] Translation: X:242.23, Y:-123.26, Z:-4.15 [[ 7.88001494e-01 6.15629925e-01 -7.31026360e-03 2.42232604e+02] [ 6.15605819e-01 -7.88035376e-01 -5.45185384e-03 -1.23262542e+02] [-9.11707070e-03 -2.04171834e-04 -9.99958418e-01 -4.14843508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.013684423529888787 Centerline is valid? [True, True] Translation: X:242.26, Y:-123.24, Z:-4.15 [[ 7.38359733e-01 6.74369112e-01 -7.15573960e-03 2.42261059e+02] [ 6.74340038e-01 -7.38394380e-01 -6.26522052e-03 -1.23240507e+02] [-9.50882911e-03 -1.99415164e-04 -9.99954770e-01 -4.14915410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.01290948743192156 Centerline is valid? [True, True] Translation: X:242.29, Y:-123.22, Z:-4.15 [[ 6.85094117e-01 7.28431558e-01 -5.78934489e-03 2.42288518e+02] [ 7.28407429e-01 -6.85118561e-01 -5.93086970e-03 -1.23218496e+02] [-8.28662029e-03 -1.53797882e-04 -9.99965654e-01 -4.14973587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.011553089821093257 Centerline is valid? [True, True] Translation: X:242.31, Y:-123.19, Z:-4.15 [[ 6.30756777e-01 7.75967132e-01 -4.57151467e-03 2.42309888e+02] [ 7.75947763e-01 -6.30773337e-01 -5.48338377e-03 -1.23191546e+02] [-7.13851514e-03 -8.85751077e-05 -9.99974517e-01 -4.15087548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.010482505910409449 Centerline is valid? [True, True] Translation: X:242.33, Y:-123.16, Z:-4.15 [[ 5.74847623e-01 8.18252701e-01 -3.56756409e-03 2.42325206e+02] [ 8.18237222e-01 -5.74858693e-01 -5.03304231e-03 -1.23161005e+02] [-6.16914569e-03 -2.58813222e-05 -9.99980970e-01 -4.15282361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.010453483882994939 Centerline is valid? [True, True] Translation: X:242.34, Y:-123.13, Z:-4.15 [[ 5.13820190e-01 8.57892439e-01 -3.06196152e-03 2.42339852e+02] [ 8.57877107e-01 -5.13829313e-01 -5.12888843e-03 -1.23133231e+02] [-5.97336019e-03 8.53973063e-06 -9.99982159e-01 -4.15278159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.011555002339119278 Centerline is valid? [True, True] Translation: X:242.35, Y:-123.10, Z:-4.15 [[ 4.52079229e-01 8.91973151e-01 -2.87554926e-03 2.42347877e+02] [ 8.91954252e-01 -4.52088370e-01 -5.80680655e-03 -1.23102583e+02] [-6.47951791e-03 6.02782360e-05 -9.99979006e-01 -4.15206594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.012268700087715865 Centerline is valid? [True, True] Translation: X:242.36, Y:-123.07, Z:-4.15 [[ 3.85291107e-01 9.22791095e-01 -2.71249034e-03 2.42361118e+02] [ 9.22766309e-01 -3.85300641e-01 -6.76425244e-03 -1.23074933e+02] [-7.28711618e-03 1.03211614e-04 -9.99973443e-01 -4.15238163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.014401204648813157 Centerline is valid? [True, True] Translation: X:242.37, Y:-123.05, Z:-4.15 [[ 3.17139715e-01 9.48375428e-01 -2.53958422e-03 2.42366153e+02] [ 9.48340643e-01 -3.17149838e-01 -8.12432245e-03 -1.23046286e+02] [-8.51033650e-03 1.68154377e-04 -9.99963772e-01 -4.15184686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.01461184792651115 Centerline is valid? [True, True] Translation: X:242.38, Y:-123.02, Z:-4.15 [[ 2.44659038e-01 9.69607804e-01 -1.63161626e-03 2.42375554e+02] [ 9.69581519e-01 -2.44664423e-01 -7.14135421e-03 -1.23019072e+02] [-7.32351122e-03 1.65211881e-04 -9.99973169e-01 -4.15325725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.013814210777751952 Centerline is valid? [True, True] Translation: X:242.39, Y:-122.99, Z:-4.15 [[ 1.67480446e-01 9.85875024e-01 -8.58710425e-04 2.42389646e+02] [ 9.85857804e-01 -1.67482597e-01 -5.82831759e-03 -1.22993051e+02] [-5.88981179e-03 1.29562854e-04 -9.99982647e-01 -4.15474842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.012827999042750195 Centerline is valid? [True, True] Translation: X:242.40, Y:-122.97, Z:-4.16 [[ 8.60675386e-02 9.96289264e-01 -2.85256075e-04 2.42403798e+02] [ 9.96280452e-01 -8.60679773e-02 -4.19106561e-03 -1.22965767e+02] [-4.20006509e-03 7.65196502e-05 -9.99991177e-01 -4.15614800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.012387315602865956 Centerline is valid? [True, True] Translation: X:242.41, Y:-122.94, Z:-4.16 [[ 3.50620091e-03 9.99993852e-01 4.48105502e-05 2.42414458e+02] [ 9.99984703e-01 -3.50597713e-03 -4.27797514e-03 -1.22938171e+02] [-4.27779174e-03 5.98093051e-05 -9.99990848e-01 -4.15580058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.010903407610451896 Centerline is valid? [True, True] Translation: X:242.43, Y:-122.91, Z:-4.15 [[-8.29506292e-02 9.96553555e-01 4.52156270e-04 2.42430334e+02] [ 9.96540670e-01 8.29518561e-02 -5.06785128e-03 -1.22908042e+02] [-5.08789241e-03 3.02106592e-05 -9.99987056e-01 -4.15430701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.010647829066960475 Centerline is valid? [True, True] Translation: X:242.44, Y:-122.88, Z:-4.15 [[-1.66228202e-01 9.86086941e-01 8.54480689e-04 2.42438921e+02] [ 9.86073972e-01 1.66230398e-01 -5.05742325e-03 -1.22878128e+02] [-5.12909969e-03 1.89479405e-06 -9.99986846e-01 -4.15318814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.011064522730339746 Centerline is valid? [True, True] Translation: X:242.44, Y:-122.85, Z:-4.15 [[-2.48743803e-01 9.68568400e-01 1.33189876e-03 2.42443816e+02] [ 9.68553849e-01 2.48747367e-01 -5.30936698e-03 -1.22848150e+02] [-5.47379139e-03 -3.06564625e-05 -9.99985018e-01 -4.15159206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.011406072953705906 Centerline is valid? [True, True] Translation: X:242.44, Y:-122.82, Z:-4.15 [[-3.26151684e-01 9.45315603e-01 1.86809102e-03 2.42441048e+02] [ 9.45299260e-01 3.26157031e-01 -5.55886423e-03 -1.22818375e+02] [-5.86417211e-03 -4.71278754e-05 -9.99982804e-01 -4.15092000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.011408788193739333 Centerline is valid? [True, True] Translation: X:242.44, Y:-122.79, Z:-4.15 [[-3.99597701e-01 9.16688912e-01 1.76515598e-03 2.42435638e+02] [ 9.16679540e-01 3.99601597e-01 -4.14530202e-03 -1.22788904e+02] [-4.50531155e-03 -3.83707884e-05 -9.99989850e-01 -4.15119707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.011304036071918344 Centerline is valid? [True, True] Translation: X:242.43, Y:-122.76, Z:-4.15 [[-4.69134387e-01 8.83125171e-01 1.69097328e-03 2.42427785e+02] [ 8.83119224e-01 4.69137434e-01 -3.24092265e-03 -1.22760070e+02] [-3.65543923e-03 -2.70972487e-05 -9.99993319e-01 -4.15138553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.011439304485539058 Centerline is valid? [True, True] Translation: X:242.42, Y:-122.73, Z:-4.15 [[-5.36913926e-01 8.43635828e-01 1.42327943e-03 2.42417028e+02] [ 8.43632763e-01 5.36915812e-01 -2.27426236e-03 -1.22732587e+02] [-2.68283044e-03 -2.03579745e-05 -9.99996401e-01 -4.15129434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.0122009080672157 Centerline is valid? [True, True] Translation: X:242.41, Y:-122.70, Z:-4.15 [[-6.05305344e-01 7.95990070e-01 2.29110061e-03 2.42407747e+02] [ 7.95984068e-01 6.05309678e-01 -3.09153816e-03 -1.22704051e+02] [-3.84765905e-03 -4.76449828e-05 -9.99992597e-01 -4.14964987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.013197731150393665 Centerline is valid? [True, True] Translation: X:242.40, Y:-122.68, Z:-4.15 [[-6.69409038e-01 7.42885927e-01 3.46969542e-03 2.42397067e+02] [ 7.42875241e-01 6.69418024e-01 -3.98551355e-03 -1.22675362e+02] [-5.28345859e-03 -9.03879687e-05 -9.99986038e-01 -4.14792692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.01545975792209774 Centerline is valid? [True, True] Translation: X:242.38, Y:-122.65, Z:-4.15 [[-7.29379775e-01 6.84094698e-01 4.42581913e-03 2.42383098e+02] [ 6.84080921e-01 7.29393189e-01 -4.34390546e-03 -1.22649155e+02] [-6.19980503e-03 -1.40738359e-04 -9.99980771e-01 -4.14624511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.016308531041407042 Centerline is valid? [True, True] Translation: X:242.40, Y:-122.63, Z:-4.15 [[-7.76394143e-01 6.30233494e-01 4.22823257e-03 2.42400024e+02] [ 6.30223226e-01 7.76405645e-01 -3.59985650e-03 -1.22630744e+02] [-5.55157378e-03 -1.30177130e-04 -9.99984581e-01 -4.14617350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.014144038893126215 Centerline is valid? [True, True] Translation: X:242.85, Y:-122.11, Z:-5.11 [[-7.02841273e-01 -7.11341830e-01 2.63534992e-03 2.42845369e+02] [ 7.11336782e-01 -7.02846214e-01 -2.67985303e-03 -1.22110793e+02] [ 3.75853727e-03 -8.88998732e-06 9.99992937e-01 -5.10874003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.01291575984503852 Centerline is valid? [True, True] Translation: X:242.36, Y:-122.62, Z:-4.15 [[-7.72415194e-01 6.35114520e-01 2.07726046e-03 2.42361078e+02] [ 6.35112093e-01 7.72417986e-01 -1.75611129e-03 -1.22624481e+02] [-2.71984512e-03 -3.71538055e-05 -9.99996301e-01 -4.14861493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.011834379278518235 Centerline is valid? [True, True] Translation: X:242.37, Y:-122.62, Z:-4.15 [[-8.10063901e-01 5.86340983e-01 8.53972647e-04 2.42374925e+02] [ 5.86340650e-01 8.10064351e-01 -6.24730446e-04 -1.22616425e+02] [-1.05807786e-03 -5.35270516e-06 -9.99999440e-01 -4.14951545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.011910996202592608 Centerline is valid? [True, True] Translation: X:242.39, Y:-122.61, Z:-4.15 [[-8.45443650e-01 5.34063722e-01 9.88015942e-04 2.42393848e+02] [ 5.34063361e-01 8.45444227e-01 -6.20387585e-04 -1.22609442e+02] [-1.16663888e-03 3.16037121e-06 -9.99999319e-01 -4.14891248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.01206207759651849 Centerline is valid? [True, True] Translation: X:242.41, Y:-122.59, Z:-4.15 [[-8.80294283e-01 4.74425446e-01 1.57238539e-03 2.42409471e+02] [ 4.74424706e-01 8.80295687e-01 -8.37798786e-04 -1.22590576e+02] [-1.78163714e-03 8.46899353e-06 -9.99998413e-01 -4.14829799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.01215777263632957 Centerline is valid? [True, True] Translation: X:242.42, Y:-122.57, Z:-4.15 [[-9.11821306e-01 4.10583605e-01 1.73496009e-03 2.42422520e+02] [ 4.10582879e-01 9.11822956e-01 -7.72100492e-04 -1.22567041e+02] [-1.89898824e-03 8.32722958e-06 -9.99998197e-01 -4.14781426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.011901004947590544 Centerline is valid? [True, True] Translation: X:242.43, Y:-122.53, Z:-4.15 [[-9.40319051e-01 3.40278843e-01 3.22341061e-03 2.42427645e+02] [ 3.40276839e-01 9.40324576e-01 -1.16793844e-03 -1.22534595e+02] [-3.42847696e-03 -1.38279530e-06 -9.99994123e-01 -4.14577885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.011990888975272026 Centerline is valid? [True, True] Translation: X:242.45, Y:-122.51, Z:-4.14 [[-9.62718467e-01 2.70461780e-01 4.85580146e-03 2.42445001e+02] [ 2.70458267e-01 9.62730713e-01 -1.37865649e-03 -1.22509615e+02] [-5.04770309e-03 -1.39664202e-05 -9.99987260e-01 -4.14430760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.012035367802027573 Centerline is valid? [True, True] Translation: X:242.66, Y:-121.79, Z:-5.11 [[-9.39982371e-01 -3.41186351e-01 5.00165915e-03 2.42655865e+02] [ 3.41181698e-01 -9.39995677e-01 -1.78211229e-03 -1.21790202e+02] [ 5.30957037e-03 3.13204230e-05 9.99985904e-01 -5.11211132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.012030819491415393 Centerline is valid? [True, True] Translation: X:242.40, Y:-122.50, Z:-4.15 [[-9.64183461e-01 2.65216646e-01 3.22236312e-03 2.42399848e+02] [ 2.65215112e-01 9.64188846e-01 -9.02129630e-04 -1.22495099e+02] [-3.34622637e-03 -1.51990738e-05 -9.99994401e-01 -4.14588489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.01189163730025035 Centerline is valid? [True, True] Translation: X:242.41, Y:-122.47, Z:-4.15 [[-9.80423736e-01 1.96891626e-01 1.72782238e-03 2.42408745e+02] [ 1.96891307e-01 9.80425259e-01 -3.54359173e-04 -1.22469132e+02] [-1.76377106e-03 -7.22893735e-06 -9.99998445e-01 -4.14729390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.011948906520646837 Centerline is valid? [True, True] Translation: X:242.56, Y:-121.74, Z:-5.11 [[-9.62874745e-01 -2.69945719e-01 1.23876267e-03 2.42563857e+02] [ 2.69945463e-01 -9.62875541e-01 -3.72441516e-04 -1.21741497e+02] [ 1.29331327e-03 -2.42161675e-05 9.99999163e-01 -5.10825187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.012022419058657 Centerline is valid? [True, True] Translation: X:242.36, Y:-122.46, Z:-4.15 [[-9.81644126e-01 1.90710903e-01 2.04010066e-03 2.42361972e+02] [ 1.90710463e-01 9.81646246e-01 -4.09977273e-04 -1.22456768e+02] [-2.08084429e-03 -1.33832399e-05 -9.99997835e-01 -4.14675988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.01266141906507292 Centerline is valid? [True, True] Translation: X:242.51, Y:-121.74, Z:-5.11 [[-9.62519566e-01 -2.71177859e-01 4.31891559e-03 2.42505554e+02] [ 2.71175975e-01 -9.62529239e-01 -1.02706615e-03 -1.21737797e+02] [ 4.43560013e-03 1.82614885e-04 9.99990146e-01 -5.11298807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.012454862012800959 Centerline is valid? [True, True] Translation: X:242.31, Y:-122.44, Z:-4.14 [[-9.83129443e-01 1.82847809e-01 4.81423549e-03 2.42310909e+02] [ 1.82845358e-01 9.83141229e-01 -9.48204752e-04 -1.22441800e+02] [-4.90645055e-03 -5.19473983e-05 -9.99987962e-01 -4.14313305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.01237149739202178 Centerline is valid? [True, True] Translation: X:242.32, Y:-122.42, Z:-4.14 [[-9.93532642e-01 1.13481946e-01 3.83900852e-03 2.42317012e+02] [ 1.13480950e-01 9.93540058e-01 -4.76874494e-04 -1.22416248e+02] [-3.86832540e-03 -3.81360410e-05 -9.99992517e-01 -4.14382407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.012287266719131506 Centerline is valid? [True, True] Translation: X:242.32, Y:-122.39, Z:-4.14 [[-9.99019560e-01 4.40998141e-02 3.88917587e-03 2.42316645e+02] [ 4.40993518e-02 9.99027129e-01 -2.04585561e-04 -1.22389720e+02] [-3.89441439e-03 -3.28748415e-05 -9.99992416e-01 -4.14353993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.012279743216129763 Centerline is valid? [True, True] Translation: X:242.37, Y:-121.66, Z:-5.11 [[-9.92086041e-01 -1.25468986e-01 4.77712088e-03 2.42366180e+02] [ 1.25468003e-01 -9.92097538e-01 -5.06226962e-04 -1.21659692e+02] [ 4.80288564e-03 9.71551123e-05 9.99988461e-01 -5.11417713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.012177010469826957 Centerline is valid? [True, True] Translation: X:242.26, Y:-122.39, Z:-4.14 [[-9.99020582e-01 4.39076044e-02 5.47710133e-03 2.42264240e+02] [ 4.39068145e-02 9.99035596e-01 -2.64421108e-04 -1.22391866e+02] [-5.48342929e-03 -2.36800570e-05 -9.99984966e-01 -4.14197270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.0120708574351639 Centerline is valid? [True, True] Translation: X:242.31, Y:-121.65, Z:-5.11 [[-9.93113500e-01 -1.17035056e-01 5.32645039e-03 2.42307443e+02] [ 1.17033457e-01 -9.93127784e-01 -6.12016267e-04 -1.21653495e+02] [ 5.36147323e-03 1.55712833e-05 9.99985627e-01 -5.11464599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.012121064219038422 Centerline is valid? [True, True] Translation: X:242.21, Y:-122.39, Z:-4.14 [[-9.99024997e-01 4.39486885e-02 4.19142950e-03 2.42206153e+02] [ 4.39483016e-02 9.99033790e-01 -1.84423259e-04 -1.22392203e+02] [-4.19548485e-03 -3.72381976e-08 -9.99991199e-01 -4.14233204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.012173426354905216 Centerline is valid? [True, True] Translation: X:242.25, Y:-121.65, Z:-5.11 [[-9.94069909e-01 -1.08674300e-01 3.86177037e-03 2.42245954e+02] [ 1.08673405e-01 -9.94077410e-01 -4.41537617e-04 -1.21648841e+02] [ 3.88688247e-03 -1.92475252e-05 9.99992446e-01 -5.11395493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.01227495769497724 Centerline is valid? [True, True] Translation: X:242.14, Y:-122.39, Z:-4.14 [[-9.99064938e-01 4.30175579e-02 4.32889698e-03 2.42144272e+02] [ 4.30172193e-02 9.99074316e-01 -1.71334424e-04 -1.22391581e+02] [-4.33226018e-03 1.50428951e-05 -9.99990616e-01 -4.14182362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.012497330321073523 Centerline is valid? [True, True] Translation: X:242.15, Y:-122.36, Z:-4.14 [[-9.99662724e-01 -2.53858637e-02 5.47681171e-03 2.42150973e+02] [-2.53852959e-02 9.99677726e-01 1.73182290e-04 -1.22364607e+02] [-5.47944306e-03 3.40933937e-05 -9.99984987e-01 -4.13996325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.012577871218738584 Centerline is valid? [True, True] Translation: X:242.13, Y:-121.62, Z:-5.12 [[-9.99606012e-01 -2.75412966e-02 5.41266943e-03 2.42130626e+02] [ 2.75406883e-02 -9.99620666e-01 -1.86895951e-04 -1.21617872e+02] [ 5.41576357e-03 -3.77536746e-05 9.99985334e-01 -5.11635579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.012556704777236416 Centerline is valid? [True, True] Translation: X:242.08, Y:-122.37, Z:-4.14 [[-9.99595661e-01 -2.80365424e-02 4.73984356e-03 2.42076156e+02] [-2.80360351e-02 9.99606898e-01 1.73455898e-04 -1.22365404e+02] [-4.74284342e-03 4.04993430e-05 -9.99988752e-01 -4.14138629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.012156539672570724 Centerline is valid? [True, True] Translation: X:242.05, Y:-121.63, Z:-5.11 [[-9.99746161e-01 -2.20794615e-02 4.48447615e-03 2.42051783e+02] [ 2.20789921e-02 -9.99756217e-01 -1.54158622e-04 -1.21625847e+02] [ 4.48678665e-03 -5.51067768e-05 9.99989933e-01 -5.11475841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.012225590887455218 Centerline is valid? [True, True] Translation: X:242.00, Y:-122.36, Z:-4.14 [[-9.99394101e-01 -3.45224573e-02 4.43069493e-03 2.42000768e+02] [-3.45219791e-02 9.99403922e-01 1.84387023e-04 -1.22362341e+02] [-4.43441938e-03 3.13189450e-05 -9.99990167e-01 -4.14118720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.011913272028753903 Centerline is valid? [True, True] Translation: X:241.99, Y:-122.33, Z:-4.14 [[-9.94157804e-01 -1.07793868e-01 5.54462112e-03 2.41993747e+02] [-1.07792039e-01 9.94173265e-01 6.28458033e-04 -1.22331097e+02] [-5.58005800e-03 2.71204405e-05 -9.99984431e-01 -4.14056215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.011679938533009028 Centerline is valid? [True, True] Translation: X:241.98, Y:-122.30, Z:-4.14 [[-9.83643154e-01 -1.80035533e-01 5.77515547e-03 2.41981373e+02] [-1.80032322e-01 9.83660107e-01 1.07548041e-03 -1.22302005e+02] [-5.87441474e-03 1.81743009e-05 -9.99982745e-01 -4.14025752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.011422608639541245 Centerline is valid? [True, True] Translation: X:241.96, Y:-122.27, Z:-4.14 [[-9.67698110e-01 -2.52063061e-01 4.95787787e-03 2.41964976e+02] [-2.52059734e-01 9.67710811e-01 1.29510619e-03 -1.22273000e+02] [-5.12424044e-03 3.59044286e-06 -9.99986871e-01 -4.14114933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.011378997011116405 Centerline is valid? [True, True] Translation: X:241.94, Y:-122.25, Z:-4.14 [[-9.46530437e-01 -3.22591703e-01 3.83733560e-03 2.41936382e+02] [-3.22589070e-01 9.46538216e-01 1.30325258e-03 -1.22248984e+02] [-4.05260326e-03 -4.31429074e-06 -9.99991788e-01 -4.14159827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.011576747655887185 Centerline is valid? [True, True] Translation: X:241.89, Y:-122.23, Z:-4.14 [[-9.20431722e-01 -3.90884972e-01 3.79269609e-03 2.41893241e+02] [-3.90881685e-01 9.20439536e-01 1.60318625e-03 -1.22233765e+02] [-4.11760884e-03 -6.87195627e-06 -9.99991523e-01 -4.14116423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.011696791582814118 Centerline is valid? [True, True] Translation: X:241.83, Y:-122.23, Z:-4.14 [[-8.89204939e-01 -4.57490831e-01 4.08844976e-03 2.41830501e+02] [-4.57486033e-01 8.89214338e-01 2.09539863e-03 -1.22231276e+02] [-4.59413380e-03 -7.16985013e-06 -9.99989447e-01 -4.14055929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.011800877274331241 Centerline is valid? [True, True] Translation: X:241.76, Y:-122.24, Z:-4.14 [[-8.53330949e-01 -5.21343192e-01 5.25046487e-03 2.41762073e+02] [-5.21333357e-01 8.53347102e-01 3.20230922e-03 -1.22236937e+02] [-6.14997109e-03 -4.61291468e-06 -9.99981089e-01 -4.13952766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.01188541554316346 Centerline is valid? [True, True] Translation: X:241.69, Y:-122.25, Z:-4.14 [[-8.12238528e-01 -5.83286493e-01 6.74094620e-03 2.41685450e+02] [-5.83266455e-01 8.12266500e-01 4.83488293e-03 -1.22253717e+02] [-8.29556668e-03 -4.68959730e-06 -9.99965591e-01 -4.13865331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.01188831858005767 Centerline is valid? [True, True] Translation: X:241.61, Y:-122.28, Z:-4.14 [[-7.66057389e-01 -6.42738084e-01 6.62056230e-03 2.41605054e+02] [-6.42714184e-01 7.66085997e-01 5.54276204e-03 -1.22281294e+02] [-8.63446433e-03 -9.05547577e-06 -9.99962722e-01 -4.13858719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.0120738016014581 Centerline is valid? [True, True] Translation: X:241.52, Y:-122.32, Z:-4.14 [[-7.14583448e-01 -6.99514011e-01 7.11656861e-03 2.41521641e+02] [-6.99479670e-01 7.14618883e-01 6.93127308e-03 -1.22317677e+02] [-9.93415694e-03 -2.49220548e-05 -9.99950655e-01 -4.13806929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.012151634994163645 Centerline is valid? [True, True] Translation: X:241.44, Y:-122.37, Z:-4.14 [[-6.59564846e-01 -7.51615909e-01 6.90938658e-03 2.41437774e+02] [-7.51575140e-01 6.59601035e-01 7.82842972e-03 -1.22365406e+02] [-1.04414109e-02 -2.95661418e-05 -9.99945487e-01 -4.13763565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.011998587330789698 Centerline is valid? [True, True] Translation: X:241.36, Y:-122.43, Z:-4.14 [[-6.01934171e-01 -7.98523147e-01 6.00312514e-03 2.41355802e+02] [-7.98483674e-01 6.01964105e-01 7.93966974e-03 -1.22425414e+02] [-9.95367592e-03 -1.42388989e-05 -9.99950461e-01 -4.13832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.011950987737016675 Centerline is valid? [True, True] Translation: X:241.28, Y:-122.49, Z:-4.14 [[-5.41335753e-01 -8.40793483e-01 4.68206374e-03 2.41279192e+02] [-8.40761937e-01 5.41356000e-01 7.28323617e-03 -1.22491775e+02] [-8.65836081e-03 6.17515726e-06 -9.99962516e-01 -4.13903762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.012104640358369412 Centerline is valid? [True, True] Translation: X:241.21, Y:-122.57, Z:-4.14 [[-4.79557666e-01 -8.77501775e-01 3.88326366e-03 2.41207690e+02] [-8.77472301e-01 4.79573387e-01 7.19213610e-03 -1.22567688e+02] [-8.17342209e-03 4.15877078e-05 -9.99966596e-01 -4.14018944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.012472192094146335 Centerline is valid? [True, True] Translation: X:241.14, Y:-122.65, Z:-4.14 [[-4.14213686e-01 -9.10173444e-01 3.36501965e-03 2.41138209e+02] [-9.10142033e-01 4.14227349e-01 7.56191636e-03 -1.22653697e+02] [-8.27653862e-03 6.96034178e-05 -9.99965746e-01 -4.13979655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.013158768925281955 Centerline is valid? [True, True] Translation: X:241.08, Y:-122.75, Z:-4.14 [[-3.46842103e-01 -9.37919060e-01 2.89711560e-03 2.41075899e+02] [-9.37883767e-01 3.46854186e-01 8.13717765e-03 -1.22745913e+02] [-8.63689069e-03 1.05158121e-04 -9.99962696e-01 -4.13963127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.01298908045004839 Centerline is valid? [True, True] Translation: X:241.02, Y:-122.85, Z:-4.14 [[-2.75283618e-01 -9.61360812e-01 2.07820875e-03 2.41016591e+02] [-9.61330404e-01 2.75291441e-01 7.64697417e-03 -1.22845884e+02] [-7.92361438e-03 1.07241458e-04 -9.99968602e-01 -4.14025620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.0132118895441145 Centerline is valid? [True, True] Translation: X:240.96, Y:-122.96, Z:-4.14 [[-2.00697459e-01 -9.79651992e-01 1.58255615e-03 2.40964355e+02] [-9.79616895e-01 2.00703666e-01 8.29322276e-03 -1.22956279e+02] [-8.44209702e-03 1.14129995e-04 -9.99964358e-01 -4.13931217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.01286207518451075 Centerline is valid? [True, True] Translation: X:240.92, Y:-123.07, Z:-4.14 [[-1.22692315e-01 -9.92444237e-01 1.01600398e-03 2.40919189e+02] [-9.92402904e-01 1.22696478e-01 9.05811739e-03 -1.23066800e+02] [-9.11433651e-03 1.03076089e-04 -9.99958458e-01 -4.13880848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.012315842979784908 Centerline is valid? [True, True] Translation: X:240.88, Y:-123.18, Z:-4.14 [[-4.39307615e-02 -9.99034526e-01 3.21869891e-04 2.40882047e+02] [-9.98991697e-01 4.39318587e-02 9.25095457e-03 -1.23178261e+02] [-9.25616336e-03 8.48561306e-05 -9.99957157e-01 -4.13862687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.011824594194112406 Centerline is valid? [True, True] Translation: X:240.85, Y:-123.30, Z:-4.14 [[ 3.68147332e-02 -9.99322029e-01 -3.96849855e-04 2.40853774e+02] [-9.99277604e-01 -3.68168386e-02 9.42290725e-03 -1.23300282e+02] [-9.43112955e-03 4.96613551e-05 -9.99955525e-01 -4.13866641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.01157869340545811 Centerline is valid? [True, True] Translation: X:240.83, Y:-123.42, Z:-4.14 [[ 1.16963467e-01 -9.93135688e-01 -1.02627347e-03 2.40834036e+02] [-9.93098558e-01 -1.16967968e-01 8.58770193e-03 -1.23418764e+02] [-8.64879438e-03 1.47433108e-05 -9.99962598e-01 -4.13934794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.011594982445813341 Centerline is valid? [True, True] Translation: X:240.16, Y:-123.62, Z:-5.12 [[ 4.70435275e-02 9.98892764e-01 -3.90997765e-04 2.40155602e+02] [-9.98855482e-01 4.70451498e-02 8.63021441e-03 -1.23617054e+02] [ 8.63905327e-03 -1.54454675e-05 9.99962683e-01 -5.11792701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.012280168146316075 Centerline is valid? [True, True] Translation: X:240.86, Y:-123.70, Z:-4.14 [[ 1.36865307e-01 -9.90589089e-01 -1.06965721e-03 2.40857867e+02] [-9.90554444e-01 -1.36869467e-01 8.28507970e-03 -1.23704904e+02] [-8.35351297e-03 -7.43862779e-05 -9.99965106e-01 -4.13753385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.012873328971617411 Centerline is valid? [True, True] Translation: X:240.85, Y:-123.83, Z:-4.14 [[ 2.18082859e-01 -9.75929000e-01 -1.56639725e-03 2.40849573e+02] [-9.75899982e-01 -2.18088455e-01 7.52667776e-03 -1.23826917e+02] [-7.68711626e-03 -1.12792363e-04 -9.99970447e-01 -4.13959539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.013377458858464067 Centerline is valid? [True, True] Translation: X:240.85, Y:-123.95, Z:-4.14 [[ 2.94750320e-01 -9.55572573e-01 -1.81845607e-03 2.40851040e+02] [-9.55551962e-01 -2.94755908e-01 6.27715879e-03 -1.23949013e+02] [-6.53428144e-03 -1.12565296e-04 -9.99978645e-01 -4.13986738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.013855679936300975 Centerline is valid? [True, True] Translation: X:240.86, Y:-124.07, Z:-4.14 [[ 3.69162280e-01 -9.29363164e-01 -1.82236095e-03 2.40861295e+02] [-9.29350461e-01 -3.69166764e-01 4.86020526e-03 -1.24065589e+02] [-5.18965083e-03 -1.00592468e-04 -9.99986529e-01 -4.14046132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.013669866950551562 Centerline is valid? [True, True] Translation: X:240.88, Y:-124.18, Z:-4.14 [[ 4.38816218e-01 -8.98573143e-01 -2.57565077e-03 2.40881704e+02] [-8.98556105e-01 -4.38823762e-01 5.53455452e-03 -1.24180443e+02] [-6.10345881e-03 -1.14285562e-04 -9.99981367e-01 -4.13929201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.013443841589464742 Centerline is valid? [True, True] Translation: X:240.91, Y:-124.29, Z:-4.14 [[ 5.05329619e-01 -8.62920190e-01 -3.27456977e-03 2.40910640e+02] [-8.62900559e-01 -5.05340215e-01 5.82174205e-03 -1.24290058e+02] [-6.67847055e-03 -1.16270609e-04 -9.99977692e-01 -4.13747965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.012839081870273383 Centerline is valid? [True, True] Translation: X:240.95, Y:-124.40, Z:-4.14 [[ 5.68606485e-01 -8.22597572e-01 -4.46095217e-03 2.40948258e+02] [-8.22570489e-01 -5.68623969e-01 6.67624161e-03 -1.24396641e+02] [-8.02846447e-03 -1.26706663e-04 -9.99967763e-01 -4.13713409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.012292254020173657 Centerline is valid? [True, True] Translation: X:241.00, Y:-124.50, Z:-4.14 [[ 6.26109634e-01 -7.79713286e-01 -5.82384951e-03 2.40996484e+02] [-7.79678007e-01 -6.26136711e-01 7.41792129e-03 -1.24503291e+02] [-9.43037776e-03 -1.03704605e-04 -9.99955528e-01 -4.13555477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.011468298444436552 Centerline is valid? [True, True] Translation: X:241.04, Y:-124.59, Z:-4.14 [[ 6.80346635e-01 -7.32865980e-01 -5.99263435e-03 2.41041113e+02] [-7.32836837e-01 -6.80373024e-01 6.53594004e-03 -1.24590718e+02] [-8.86719486e-03 -5.50816035e-05 -9.99960684e-01 -4.13666877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.011118227435254804 Centerline is valid? [True, True] Translation: X:241.09, Y:-124.68, Z:-4.14 [[ 7.29732665e-01 -6.83720290e-01 -4.09909107e-03 2.41093798e+02] [-6.83709514e-01 -7.29744178e-01 3.83876637e-03 -1.24678644e+02] [-5.61593030e-03 1.31434689e-06 -9.99984231e-01 -4.13869530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.011516996903040273 Centerline is valid? [True, True] Translation: X:241.12, Y:-124.70, Z:-4.14 [[ 7.77983855e-01 -6.28270199e-01 -4.20470546e-03 2.41115812e+02] [-6.28261208e-01 -7.77995217e-01 3.36110030e-03 -1.24702183e+02] [-5.38291989e-03 2.67715613e-05 -9.99985512e-01 -4.13946887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.012911141943744629 Centerline is valid? [True, True] Translation: X:241.14, Y:-124.72, Z:-4.14 [[ 8.19744848e-01 -5.72715745e-01 -3.88072014e-03 2.41139856e+02] [-5.72709697e-01 -8.19754031e-01 2.63294150e-03 -1.24723576e+02] [-4.68916302e-03 6.41858259e-05 -9.99989004e-01 -4.13941648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.015830578690709005 Centerline is valid? [True, True] Translation: X:241.16, Y:-124.74, Z:-4.14 [[ 8.56774368e-01 -5.15673779e-01 -4.27025385e-03 2.41164158e+02] [-5.15668054e-01 -8.56785002e-01 2.43287034e-03 -1.24743751e+02] [-4.91325690e-03 1.17612542e-04 -9.99987923e-01 -4.13906902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.01769487562454988 Centerline is valid? [True, True] Translation: X:241.19, Y:-124.76, Z:-4.14 [[ 8.90881296e-01 -4.54206140e-01 -5.22481783e-03 2.41189202e+02] [-4.54199531e-01 -8.90896598e-01 2.45722052e-03 -1.24764781e+02] [-5.77085708e-03 1.84018001e-04 -9.99983332e-01 -4.13813448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.021723458874191602 Centerline is valid? [True, True] Translation: X:241.22, Y:-124.78, Z:-4.14 [[ 9.19287558e-01 -3.93534040e-01 -6.43003468e-03 2.41216855e+02] [-3.93526651e-01 -9.19309998e-01 2.42978134e-03 -1.24781291e+02] [-6.86739683e-03 2.96722256e-04 -9.99976375e-01 -4.13794135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.021936204459946804 Centerline is valid? [True, True] Translation: X:241.24, Y:-124.80, Z:-4.14 [[ 9.45572510e-01 -3.25359661e-01 -5.80685023e-03 2.41242527e+02] [-3.25355407e-01 -9.45590295e-01 1.68914104e-03 -1.24803313e+02] [-6.04047958e-03 2.92084784e-04 -9.99981713e-01 -4.13850038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.024404443463542546 Centerline is valid? [True, True] Translation: X:241.27, Y:-124.82, Z:-4.14 [[ 9.67751879e-01 -2.51846479e-01 -5.44527102e-03 2.41268577e+02] [-2.51844096e-01 -9.67767159e-01 1.13031527e-03 -1.24817741e+02] [-5.55442039e-03 2.77494626e-04 -9.99984536e-01 -4.13814504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.02356775529874733 Centerline is valid? [True, True] Translation: X:241.29, Y:-124.84, Z:-4.14 [[ 9.84478844e-01 -1.75430012e-01 -5.07120372e-03 2.41293545e+02] [-1.75429016e-01 -9.84491872e-01 6.44007998e-04 -1.24838432e+02] [-5.10553717e-03 2.55624030e-04 -9.99986934e-01 -4.13806123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.021255085403131833 Centerline is valid? [True, True] Translation: X:241.32, Y:-124.86, Z:-4.14 [[ 9.95761297e-01 -9.18827872e-02 -4.12227551e-03 2.41320804e+02] [-9.18827530e-02 -9.95769813e-01 1.98072066e-04 -1.24858961e+02] [-4.12303692e-03 1.81533526e-04 -9.99991484e-01 -4.13923915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.01952637678965478 Centerline is valid? [True, True] Translation: X:241.35, Y:-124.87, Z:-4.14 [[ 9.99975203e-01 -6.33679132e-03 -3.07207033e-03 2.41349893e+02] [-6.33710687e-03 -9.99979916e-01 -9.29923740e-05 -1.24874659e+02] [-3.07141935e-03 1.12458106e-04 -9.99995277e-01 -4.13988884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.014915732806105423 Centerline is valid? [True, True] Translation: X:241.38, Y:-124.90, Z:-4.14 [[ 9.96201580e-01 8.70642585e-02 -1.49222397e-03 2.41381290e+02] [ 8.70641135e-02 -9.96202697e-01 -1.62026606e-04 -1.24896562e+02] [-1.50066427e-03 3.14920040e-05 -9.99998874e-01 -4.14000865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.012287595647284455 Centerline is valid? [True, True] Translation: X:241.42, Y:-124.91, Z:-4.14 [[ 9.84476100e-01 1.75507298e-01 -1.99905726e-03 2.41415123e+02] [ 1.75506893e-01 -9.84478130e-01 -3.77809232e-04 -1.24910599e+02] [-2.03433643e-03 2.10958299e-05 -9.99997931e-01 -4.13910136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.011398378445010507 Centerline is valid? [True, True] Translation: X:241.45, Y:-124.93, Z:-4.14 [[ 9.63915848e-01 2.66191321e-01 -2.90140159e-03 2.41452511e+02] [ 2.66190153e-01 -9.63920215e-01 -7.88612689e-04 -1.24927083e+02] [-3.00664150e-03 -1.21682643e-05 -9.99995480e-01 -4.13708788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.012295769889364306 Centerline is valid? [True, True] Translation: X:241.49, Y:-124.93, Z:-4.14 [[ 9.37459760e-01 3.48084138e-01 -2.57508798e-03 2.41488551e+02] [ 3.48082919e-01 -9.37463296e-01 -9.21712065e-04 -1.24932470e+02] [-2.73488381e-03 -3.22761684e-05 -9.99996260e-01 -4.13621429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.014728907269512715 Centerline is valid? [True, True] Translation: X:241.53, Y:-124.93, Z:-4.14 [[ 9.03523938e-01 4.28535270e-01 -1.42001559e-03 2.41525834e+02] [ 4.28534797e-01 -9.03525053e-01 -6.37020051e-04 -1.24934533e+02] [-1.55600522e-03 -3.29632268e-05 -9.99998789e-01 -4.13617797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.016455489329712154 Centerline is valid? [True, True] Translation: X:241.56, Y:-124.93, Z:-4.13 [[ 8.64091889e-01 5.03329448e-01 -2.16188701e-03 2.41562045e+02] [ 5.03328064e-01 -8.64094591e-01 -1.18211744e-03 -1.24930322e+02] [-2.46306939e-03 -6.66803092e-05 -9.99996964e-01 -4.13465711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.017856404400950796 Centerline is valid? [True, True] Translation: X:241.60, Y:-124.92, Z:-4.13 [[ 8.20511715e-01 5.71619479e-01 -3.42012671e-03 2.41596993e+02] [ 5.71615119e-01 -8.20518834e-01 -2.23582640e-03 -1.24920436e+02] [-4.08432030e-03 -1.20474378e-04 -9.99991652e-01 -4.13223521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.017463210739416816 Centerline is valid? [True, True] Translation: X:241.63, Y:-124.91, Z:-4.13 [[ 7.72908713e-01 6.34498159e-01 -4.92015418e-03 2.41629071e+02] [ 6.34486817e-01 -7.72924350e-01 -3.79837598e-03 -1.24905045e+02] [-6.21296954e-03 -1.85975072e-04 -9.99980682e-01 -4.13004762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.01720103233760213 Centerline is valid? [True, True] Translation: X:241.66, Y:-124.89, Z:-4.13 [[ 7.22665385e-01 6.91183413e-01 -4.49781382e-03 2.41656973e+02] [ 6.91171435e-01 -7.22679363e-01 -4.07249314e-03 -1.24885857e+02] [-6.06531693e-03 -1.65710613e-04 -9.99981592e-01 -4.12990561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.01595855066912112 Centerline is valid? [True, True] Translation: X:241.68, Y:-124.86, Z:-4.13 [[ 6.69129044e-01 7.43134241e-01 -4.22157772e-03 2.41682181e+02] [ 7.43120799e-01 -6.69142345e-01 -4.47212015e-03 -1.24862435e+02] [-6.14822204e-03 -1.44716728e-04 -9.99981089e-01 -4.13010579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.014337790034584021 Centerline is valid? [True, True] Translation: X:241.70, Y:-124.84, Z:-4.13 [[ 6.12562874e-01 7.90411495e-01 -4.04888975e-03 2.41704236e+02] [ 7.90395527e-01 -6.12576243e-01 -5.02576658e-03 -1.24837165e+02] [-6.45267735e-03 -1.21626326e-04 -9.99979174e-01 -4.13005171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.013800998274704011 Centerline is valid? [True, True] Translation: X:241.73, Y:-124.81, Z:-4.13 [[ 5.50330873e-01 8.34937318e-01 -3.95025682e-03 2.41726853e+02] [ 8.34917342e-01 -5.50345038e-01 -5.77674927e-03 -1.24812397e+02] [-6.99722778e-03 -1.19014450e-04 -9.99975512e-01 -4.13011075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.01400840578437802 Centerline is valid? [True, True] Translation: X:241.75, Y:-124.79, Z:-4.13 [[ 4.84348808e-01 8.74868974e-01 -3.24186141e-03 2.41745938e+02] [ 8.74850775e-01 -4.84359647e-01 -5.64395980e-03 -1.24786749e+02] [-6.50795217e-03 -1.02499763e-04 -9.99978818e-01 -4.13000322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.013887709117732098 Centerline is valid? [True, True] Translation: X:241.76, Y:-124.76, Z:-4.13 [[ 4.13328955e-01 9.10578063e-01 -2.60101474e-03 2.41763535e+02] [ 9.10561567e-01 -4.13337127e-01 -5.48194484e-03 -1.24759575e+02] [-6.06683467e-03 -1.02537519e-04 -9.99981591e-01 -4.13184075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.01428005678008132 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.73, Z:-4.13 [[ 3.38989209e-01 9.40787563e-01 -2.25331035e-03 2.41781321e+02] [ 9.40769049e-01 -3.38996677e-01 -5.90331235e-03 -1.24732718e+02] [-6.31762756e-03 -1.18685458e-04 -9.99980037e-01 -4.13218096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.015531329510155227 Centerline is valid? [True, True] Translation: X:241.80, Y:-124.70, Z:-4.13 [[ 2.60541003e-01 9.65460535e-01 -2.08342754e-03 2.41797373e+02] [ 9.65434583e-01 -2.60549280e-01 -7.08082323e-03 -1.24704819e+02] [-7.37909093e-03 -1.66568216e-04 -9.99972760e-01 -4.13104258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.01634740272417876 Centerline is valid? [True, True] Translation: X:241.81, Y:-124.68, Z:-4.13 [[ 1.81302788e-01 9.83425753e-01 -1.75699048e-03 2.41812007e+02] [ 9.83390448e-01 -1.81311172e-01 -8.33575681e-03 -1.24675692e+02] [-8.51615993e-03 -2.16511699e-04 -9.99963713e-01 -4.13025322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.0178049905439496 Centerline is valid? [True, True] Translation: X:241.82, Y:-124.65, Z:-4.13 [[ 9.94971832e-02 9.95037242e-01 -1.09448775e-03 2.41824866e+02] [ 9.95001700e-01 -9.95028840e-02 -8.41382771e-03 -1.24645872e+02] [-8.48097660e-03 -2.51865015e-04 -9.99964004e-01 -4.12939513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.018069808367203066 Centerline is valid? [True, True] Translation: X:241.83, Y:-124.62, Z:-4.13 [[ 1.90459089e-02 9.99818528e-01 -4.04651029e-04 2.41834551e+02] [ 9.99787075e-01 -1.90485211e-02 -7.93468186e-03 -1.24615017e+02] [-7.94094994e-03 -2.53441640e-04 -9.99968438e-01 -4.13037891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.018907211052106177 Centerline is valid? [True, True] Translation: X:241.84, Y:-124.58, Z:-4.13 [[-6.02760512e-02 9.98181731e-01 1.70667053e-04 2.41841080e+02] [ 9.98162389e-01 6.02759462e-02 -6.21734289e-03 -1.24583659e+02] [-6.21632521e-03 -2.04403445e-04 -9.99980658e-01 -4.13187577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.01836358908388773 Centerline is valid? [True, True] Translation: X:241.84, Y:-124.55, Z:-4.13 [[-1.37517973e-01 9.90499134e-01 5.22116105e-04 2.41844268e+02] [ 9.90486953e-01 1.37518873e-01 -4.91484422e-03 -1.24552038e+02] [-4.93994976e-03 -1.58730225e-04 -9.99987786e-01 -4.13248028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.01789045553810143 Centerline is valid? [True, True] Translation: X:241.84, Y:-124.52, Z:-4.13 [[-2.11980143e-01 9.77273713e-01 7.12964563e-04 2.41843257e+02] [ 9.77266225e-01 2.11981311e-01 -3.82747813e-03 -1.24520597e+02] [-3.89162893e-03 -1.14593174e-04 -9.99992421e-01 -4.13305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.015927280736732892 Centerline is valid? [True, True] Translation: X:241.84, Y:-124.49, Z:-4.13 [[-2.85335173e-01 9.58427115e-01 1.14230602e-03 2.41841872e+02] [ 9.58417703e-01 2.85337435e-01 -4.24901448e-03 -1.24489196e+02] [-4.39831336e-03 -1.17586972e-04 -9.99990320e-01 -4.13257491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.015075547704130936 Centerline is valid? [True, True] Translation: X:241.84, Y:-124.46, Z:-4.13 [[-3.55227093e-01 9.34778175e-01 1.86427325e-03 2.41837406e+02] [ 9.34763431e-01 3.55231963e-01 -5.25163546e-03 -1.24458410e+02] [-5.57136366e-03 -1.22868738e-04 -9.99984472e-01 -4.13146060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.014354199514353752 Centerline is valid? [True, True] Translation: X:241.83, Y:-124.43, Z:-4.13 [[-4.23575485e-01 9.05857213e-01 2.55317657e-03 2.41830166e+02] [ 9.05839136e-01 4.23583165e-01 -5.72375420e-03 -1.24429797e+02] [-6.26638664e-03 -1.11674704e-04 -9.99980360e-01 -4.13077547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.012788575836009819 Centerline is valid? [True, True] Translation: X:241.82, Y:-124.40, Z:-4.13 [[-4.86818662e-01 8.73496111e-01 3.48339640e-03 2.41819337e+02] [ 8.73472624e-01 4.86831118e-01 -6.40602287e-03 -1.24401411e+02] [-7.29146183e-03 -7.59200801e-05 -9.99973414e-01 -4.12981169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.012217875512618263 Centerline is valid? [True, True] Translation: X:241.81, Y:-124.37, Z:-4.13 [[-5.49104650e-01 8.35743807e-01 4.04628109e-03 2.41808136e+02] [ 8.35720635e-01 5.49119557e-01 -6.22358040e-03 -1.24372629e+02] [-7.42321085e-03 -3.58363403e-05 -9.99972447e-01 -4.12890912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.01220110820467322 Centerline is valid? [True, True] Translation: X:241.79, Y:-124.35, Z:-4.13 [[-6.05955753e-01 7.95486735e-01 4.29881296e-03 2.41791944e+02] [ 7.95467039e-01 6.05971001e-01 -5.59780671e-03 -1.24347342e+02] [-7.05793698e-03 2.75408377e-05 -9.99975092e-01 -4.12848328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.012400317913585935 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.32, Z:-4.13 [[-6.64585546e-01 7.47198402e-01 4.53869183e-03 2.41778848e+02] [ 7.47181416e-01 6.64601043e-01 -5.03830849e-03 -1.24319611e+02] [-6.78103538e-03 4.28391928e-05 -9.99977008e-01 -4.12887530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.013079840740236378 Centerline is valid? [True, True] Translation: X:241.76, Y:-124.30, Z:-4.13 [[-7.17901181e-01 6.96126050e-01 5.13975032e-03 2.41761912e+02] [ 6.96108973e-01 7.17919576e-01 -4.87651531e-03 -1.24296008e+02] [-7.08459671e-03 7.69702170e-05 -9.99974901e-01 -4.12945021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.012860945396917699 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.27, Z:-4.13 [[-7.65954487e-01 6.42864721e-01 6.21890568e-03 2.41777618e+02] [ 6.42844378e-01 7.65979729e-01 -5.11475675e-03 -1.24271698e+02] [-8.05165235e-03 8.01176675e-05 -9.99967582e-01 -4.12881781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.012230971517926844 Centerline is valid? [True, True] Translation: X:241.80, Y:-124.24, Z:-4.13 [[-8.13427807e-01 5.81607363e-01 8.25093713e-03 2.41795557e+02] [ 5.81577851e-01 8.13469652e-01 -5.85904569e-03 -1.24244772e+02] [-1.01195511e-02 3.26515946e-05 -9.99948796e-01 -4.12708014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.012083048069299896 Centerline is valid? [True, True] Translation: X:242.18, Y:-123.71, Z:-5.13 [[-7.72617316e-01 -6.34812605e-01 8.68564390e-03 2.42177195e+02] [ 6.34773015e-01 -7.72666135e-01 -7.08969972e-03 -1.23710045e+02] [ 1.12117336e-02 3.57875993e-05 9.99937146e-01 -5.12954928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.012932272883531782 Centerline is valid? [True, True] Translation: X:241.76, Y:-124.21, Z:-4.13 [[-8.23840423e-01 5.66749953e-01 9.02488411e-03 2.41759152e+02] [ 5.66714271e-01 8.23889844e-01 -6.36077193e-03 -1.24207218e+02] [-1.10404776e-02 -1.25730415e-04 -9.99939044e-01 -4.12728641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.013777901296294224 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.18, Z:-4.13 [[-8.63691413e-01 5.03949651e-01 8.47887070e-03 2.41775572e+02] [ 5.03923681e-01 8.63733018e-01 -5.11829087e-03 -1.24182228e+02] [-9.90284149e-03 -1.47920144e-04 -9.99950955e-01 -4.12833796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.01403925287794865 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.16, Z:-4.13 [[-8.99044200e-01 4.37793241e-01 7.52364978e-03 2.41783065e+02] [ 4.37776396e-01 8.99075665e-01 -3.84386082e-03 -1.24155825e+02] [-8.44714672e-03 -1.62124486e-04 -9.99964309e-01 -4.13160726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.014379924580707725 Centerline is valid? [True, True] Translation: X:241.80, Y:-124.13, Z:-4.13 [[-9.28344223e-01 3.71643546e-01 7.62087578e-03 2.41795552e+02] [ 3.71629503e-01 9.28375487e-01 -3.23530776e-03 -1.24132090e+02] [-8.27741551e-03 -1.71336986e-04 -9.99965727e-01 -4.13205117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.01581531573016668 Centerline is valid? [True, True] Translation: X:241.80, Y:-124.11, Z:-4.13 [[-9.52675899e-01 3.03883443e-01 7.96773231e-03 2.41804806e+02] [ 3.03871193e-01 9.52709200e-01 -2.73478725e-03 -1.24105992e+02] [-8.42198844e-03 -1.84201576e-04 -9.99964517e-01 -4.13102931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.014752389904630821 Centerline is valid? [True, True] Translation: X:241.80, Y:-124.08, Z:-4.13 [[-9.71762534e-01 2.35788535e-01 9.01909672e-03 2.41804870e+02] [ 2.35776441e-01 9.71804366e-01 -2.39664137e-03 -1.24081456e+02] [-9.32989813e-03 -2.02475764e-04 -9.99956455e-01 -4.13116377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.014471268994929235 Centerline is valid? [True, True] Translation: X:241.81, Y:-124.06, Z:-4.13 [[-9.85683404e-01 1.68204950e-01 1.16327878e-02 2.41810007e+02] [ 1.68190435e-01 9.85752018e-01 -2.22204121e-03 -1.24059868e+02] [-1.18408024e-02 -2.33705508e-04 -9.99929868e-01 -4.12918322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.013240331709866195 Centerline is valid? [True, True] Translation: X:241.94, Y:-123.42, Z:-5.13 [[-9.63685697e-01 -2.66678589e-01 1.38711334e-02 2.41944044e+02] [ 2.66657244e-01 -9.63785429e-01 -3.40029626e-03 -1.23415592e+02] [ 1.42755825e-02 4.22021332e-04 9.99898010e-01 -5.12882614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.012518304534121075 Centerline is valid? [True, True] Translation: X:241.77, Y:-124.07, Z:-4.13 [[-9.84246811e-01 1.76149355e-01 1.51531911e-02 2.41766148e+02] [ 1.76126570e-01 9.84363444e-01 -2.83572199e-03 -1.24068553e+02] [-1.54157580e-02 -1.22170745e-04 -9.99881163e-01 -4.12774802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.012524095433343905 Centerline is valid? [True, True] Translation: X:241.78, Y:-124.06, Z:-4.13 [[-9.92869509e-01 1.18224696e-01 1.52662933e-02 2.41777230e+02] [ 1.18211795e-01 9.92986866e-01 -1.74789660e-03 -1.24056298e+02] [-1.53658733e-02 6.92226914e-05 -9.99881936e-01 -4.12832302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.013245378278654294 Centerline is valid? [True, True] Translation: X:241.87, Y:-123.35, Z:-5.13 [[-9.85691334e-01 -1.68029838e-01 1.33628974e-02 2.41866224e+02] [ 1.68012178e-01 -9.85781897e-01 -2.44142893e-03 -1.23347386e+02] [ 1.35831353e-02 -1.61365840e-04 9.99907732e-01 -5.12542439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.014297765168818833 Centerline is valid? [True, True] Translation: X:241.73, Y:-124.06, Z:-4.13 [[-9.91931535e-01 1.26271687e-01 1.12823539e-02 2.41729578e+02] [ 1.26265693e-01 9.91995678e-01 -1.24488198e-03 -1.24061239e+02] [-1.13492397e-02 1.89736547e-04 -9.99935577e-01 -4.13341216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.015131727635478615 Centerline is valid? [True, True] Translation: X:241.73, Y:-124.04, Z:-4.13 [[-9.98396620e-01 5.53102770e-02 1.20400677e-02 2.41730924e+02] [ 5.53086603e-02 9.98469195e-01 -4.67465049e-04 -1.24035697e+02] [-1.20474923e-02 1.99204487e-04 -9.99927406e-01 -4.13282564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.013341964558227438 Centerline is valid? [True, True] Translation: X:241.73, Y:-124.00, Z:-4.13 [[-9.99719236e-01 -1.93068923e-02 1.37365287e-02 2.41728775e+02] [-1.93026245e-02 9.99813589e-01 4.43217121e-04 -1.24002525e+02] [-1.37425252e-02 1.77941625e-04 -9.99905551e-01 -4.13331864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.013141591983277967 Centerline is valid? [True, True] Translation: X:241.71, Y:-123.29, Z:-5.12 [[-9.99596980e-01 -2.43037437e-02 1.46698684e-02 2.41705959e+02] [ 2.42992664e-02 -9.99704612e-01 -4.83393455e-04 -1.23288436e+02] [ 1.46772834e-02 -1.26731596e-04 9.99892275e-01 -5.12454554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.012767183617815297 Centerline is valid? [True, True] Translation: X:241.65, Y:-124.00, Z:-4.13 [[-9.99481427e-01 -2.89693939e-02 1.40588838e-02 2.41654526e+02] [-2.89649434e-02 9.99580293e-01 5.20120796e-04 -1.23996406e+02] [-1.40680508e-02 1.12636301e-04 -9.99901034e-01 -4.13208775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.012591860481742203 Centerline is valid? [True, True] Translation: X:241.64, Y:-123.97, Z:-4.13 [[-9.94835148e-01 -1.00626287e-01 1.33183615e-02 2.41642138e+02] [-1.00615955e-01 9.94924289e-01 1.44531993e-03 -1.23968535e+02] [-1.33961985e-02 9.78154103e-05 -9.99910262e-01 -4.13380963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.012651328377660654 Centerline is valid? [True, True] Translation: X:241.64, Y:-123.94, Z:-4.14 [[-9.85121458e-01 -1.71458692e-01 1.17315694e-02 2.41637492e+02] [-1.71445517e-01 9.85191306e-01 2.12718418e-03 -1.23940814e+02] [-1.19225644e-02 8.42097996e-05 -9.99928920e-01 -4.13546449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.012360578242672157 Centerline is valid? [True, True] Translation: X:241.62, Y:-123.91, Z:-4.14 [[-9.70091189e-01 -2.42516175e-01 1.04398488e-02 2.41620648e+02] [-2.42501436e-01 9.70147360e-01 2.67451345e-03 -1.23912687e+02] [-1.07768046e-02 6.28436009e-05 -9.99941927e-01 -4.13676022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.01208875913944408 Centerline is valid? [True, True] Translation: X:241.44, Y:-123.25, Z:-5.12 [[-9.82485091e-01 1.86082583e-01 9.81417003e-03 2.41438124e+02] [-1.86074455e-01 -9.82534101e-01 1.74289350e-03 -1.23252787e+02] [ 9.96707885e-03 -1.13799461e-04 9.99950321e-01 -5.11960510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.011839865853857098 Centerline is valid? [True, True] Translation: X:241.50, Y:-123.93, Z:-4.14 [[-9.66460330e-01 -2.56638329e-01 9.54977055e-03 2.41498832e+02] [-2.56626060e-01 9.66507510e-01 2.50953178e-03 -1.23931824e+02] [-9.87396700e-03 -2.53570756e-05 -9.99951251e-01 -4.13743631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.012121512623255115 Centerline is valid? [True, True] Translation: X:241.47, Y:-123.91, Z:-4.14 [[-9.44087626e-01 -3.29541658e-01 1.00424414e-02 2.41469302e+02] [-3.29523855e-01 9.44141033e-01 3.42623747e-03 -1.23908214e+02] [-1.06105690e-02 -7.45556183e-05 -9.99943704e-01 -4.13783715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.013015070273870248 Centerline is valid? [True, True] Translation: X:241.43, Y:-123.89, Z:-4.14 [[-9.15576536e-01 -4.01980885e-01 1.14444638e-02 2.41429245e+02] [-4.01951648e-01 9.15648045e-01 4.85073590e-03 -1.23887302e+02] [-1.24290040e-02 -1.58901113e-04 -9.99922744e-01 -4.13602240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.013415192838594846 Centerline is valid? [True, True] Translation: X:241.37, Y:-123.88, Z:-4.14 [[-8.82317091e-01 -4.70507166e-01 1.18135017e-02 2.41372131e+02] [-4.70468181e-01 8.82396148e-01 6.06039355e-03 -1.23881469e+02] [-1.32756470e-02 -2.10687832e-04 -9.99911853e-01 -4.13575134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.01404702125447154 Centerline is valid? [True, True] Translation: X:241.30, Y:-123.88, Z:-4.14 [[-8.43957487e-01 -5.36269981e-01 1.22583559e-02 2.41303913e+02] [-5.36217926e-01 8.44046467e-01 7.47647170e-03 -1.23884608e+02] [-1.43560294e-02 -2.63325926e-04 -9.99896912e-01 -4.13527422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.013927886361546404 Centerline is valid? [True, True] Translation: X:241.23, Y:-123.90, Z:-4.14 [[-8.02240135e-01 -5.96876211e-01 1.22292862e-02 2.41234165e+02] [-5.96811901e-01 8.02333296e-01 8.76566977e-03 -1.23898916e+02] [-1.50439833e-02 -2.66411447e-04 -9.99886797e-01 -4.13519324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.012724708142134031 Centerline is valid? [True, True] Translation: X:241.16, Y:-123.93, Z:-4.14 [[-7.59466350e-01 -6.50440206e-01 1.17644310e-02 2.41163351e+02] [-6.50365762e-01 7.59557442e-01 9.84219685e-03 -1.23926634e+02] [-1.53375217e-02 -1.76365834e-04 -9.99882358e-01 -4.13599412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.012343460692616942 Centerline is valid? [True, True] Translation: X:241.09, Y:-123.96, Z:-4.14 [[-7.10966487e-01 -7.03143406e-01 1.07705600e-02 2.41085840e+02] [-7.03065322e-01 7.11048055e-01 1.04793707e-02 -1.23964184e+02] [-1.50268861e-02 -1.21925830e-04 -9.99887083e-01 -4.13651520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.012074291782099138 Centerline is valid? [True, True] Translation: X:241.01, Y:-124.01, Z:-4.14 [[-6.65857083e-01 -7.46022608e-01 9.19857265e-03 2.41013792e+02] [-7.45949909e-01 6.65920614e-01 1.04148891e-02 -1.24014866e+02] [-1.38952619e-02 7.31532405e-05 -9.99903454e-01 -4.13875293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.01356649592422301 Centerline is valid? [True, True] Translation: X:240.94, Y:-124.07, Z:-4.14 [[-6.16012316e-01 -7.87695416e-01 8.04721696e-03 2.40938335e+02] [-7.87623606e-01 6.16064838e-01 1.06381798e-02 -1.24074960e+02] [-1.33372529e-02 2.15071735e-04 -9.99911032e-01 -4.13990587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.01774132490281501 Centerline is valid? [True, True] Translation: X:240.87, Y:-124.14, Z:-4.14 [[-5.67851462e-01 -8.23101095e-01 7.02172909e-03 2.40869859e+02] [-8.23028710e-01 5.67894715e-01 1.09240343e-02 -1.24144061e+02] [-1.29791874e-02 4.24144215e-04 -9.99915677e-01 -4.14146159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.021348832832609847 Centerline is valid? [True, True] Translation: X:240.80, Y:-124.22, Z:-4.14 [[-5.11731189e-01 -8.59121620e-01 6.42130258e-03 2.40799021e+02] [-8.59039398e-01 5.11771154e-01 1.18995393e-02 -1.24223146e+02] [-1.35093889e-02 5.73213493e-04 -9.99908580e-01 -4.14113624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.026167634536674176 Centerline is valid? [True, True] Translation: X:240.73, Y:-124.31, Z:-4.14 [[-4.53860879e-01 -8.91051071e-01 6.18803625e-03 2.40732138e+02] [-8.90942608e-01 4.53902343e-01 1.39259784e-02 -1.24310194e+02] [-1.52175221e-02 8.07271638e-04 -9.99883881e-01 -4.13899242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.028014613013185644 Centerline is valid? [True, True] Translation: X:240.66, Y:-124.41, Z:-4.14 [[-3.88465048e-01 -9.21447942e-01 5.34753504e-03 2.40664346e+02] [-9.21325457e-01 3.88500763e-01 1.50519011e-02 -1.24406800e+02] [-1.59470647e-02 9.20317321e-04 -9.99872414e-01 -4.13907772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.0257028591786286 Centerline is valid? [True, True] Translation: X:240.60, Y:-124.51, Z:-4.14 [[-3.16328227e-01 -9.48640486e-01 4.20493693e-03 2.40598732e+02] [-9.48514013e-01 3.16354836e-01 1.55172700e-02 -1.24507909e+02] [-1.60505627e-02 9.20108896e-04 -9.99870758e-01 -4.14061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.02466849644973227 Centerline is valid? [True, True] Translation: X:240.54, Y:-124.62, Z:-4.14 [[-2.37085660e-01 -9.71484674e-01 2.81384999e-03 2.40538622e+02] [-9.71372225e-01 2.37101088e-01 1.48011397e-02 -1.24617540e+02] [-1.50462473e-02 7.75842253e-04 -9.99886498e-01 -4.14111168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.0219093340433132 Centerline is valid? [True, True] Translation: X:240.49, Y:-124.73, Z:-4.14 [[-1.54945419e-01 -9.87921846e-01 1.53081575e-03 2.40485129e+02] [-9.87826882e-01 1.54951771e-01 1.37113012e-02 -1.24731137e+02] [-1.37828966e-02 6.12322361e-04 -9.99904824e-01 -4.14153615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.01724658640797229 Centerline is valid? [True, True] Translation: X:240.43, Y:-124.85, Z:-4.14 [[-6.50963319e-02 -9.97878908e-01 3.89935274e-04 2.40434392e+02] [-9.97815415e-01 6.50965907e-02 1.12619893e-02 -1.24853217e+02] [-1.12634851e-02 3.44030769e-04 -9.99936506e-01 -4.14302539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.014473337406486245 Centerline is valid? [True, True] Translation: X:240.40, Y:-124.97, Z:-4.14 [[ 2.18797827e-02 -9.99760496e-01 -4.74282187e-04 2.40397460e+02] [-9.99696762e-01 -2.18837442e-02 1.12909850e-02 -1.24973916e+02] [-1.12986598e-02 2.27094069e-04 -9.99936142e-01 -4.14248252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.011695935862040624 Centerline is valid? [True, True] Translation: X:239.77, Y:-125.12, Z:-5.12 [[-2.10262213e-02 9.99778832e-01 4.29554261e-04 2.39769999e+02] [-9.99705217e-01 -2.10298862e-02 1.21335560e-02 -1.25117049e+02] [ 1.21399059e-02 -1.74304802e-04 9.99926293e-01 -5.11686367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.01140611824375535 Centerline is valid? [True, True] Translation: X:240.38, Y:-125.26, Z:-4.14 [[ 5.55953161e-02 -9.98453182e-01 -6.35301185e-04 2.40380640e+02] [-9.98375785e-01 -5.55989167e-02 1.24318885e-02 -1.25256124e+02] [-1.24479807e-02 -5.68854503e-05 -9.99922519e-01 -4.13972188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.012607632159234262 Centerline is valid? [True, True] Translation: X:240.35, Y:-125.38, Z:-4.14 [[ 1.40284432e-01 -9.90110049e-01 -1.53899371e-03 2.40354239e+02] [-9.90037076e-01 -1.40292779e-01 1.20217972e-02 -1.25378252e+02] [-1.21188120e-02 -1.62810156e-04 -9.99926551e-01 -4.13920778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.012874478612112581 Centerline is valid? [True, True] Translation: X:240.34, Y:-125.49, Z:-4.14 [[ 2.17942775e-01 -9.75958828e-01 -2.30479921e-03 2.40343654e+02] [-9.75895037e-01 -2.17954885e-01 1.11599557e-02 -1.25494646e+02] [-1.13939996e-02 -1.82989606e-04 -9.99935070e-01 -4.13990384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.013300984802791838 Centerline is valid? [True, True] Translation: X:240.34, Y:-125.61, Z:-4.14 [[ 2.91608496e-01 -9.56533180e-01 -2.95985100e-03 2.40341223e+02] [-9.56477810e-01 -2.91623467e-01 1.02933487e-02 -1.25605452e+02] [-1.07090916e-02 -1.70596133e-04 -9.99942641e-01 -4.13925297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.012788466362011378 Centerline is valid? [True, True] Translation: X:240.35, Y:-125.72, Z:-4.14 [[ 3.62044576e-01 -9.32153357e-01 -3.72077903e-03 2.40350515e+02] [-9.32099759e-01 -3.62063664e-01 9.99710674e-03 -1.25716434e+02] [-1.06659955e-02 -1.51261029e-04 -9.99943105e-01 -4.13887220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.01234211039876799 Centerline is valid? [True, True] Translation: X:240.37, Y:-125.83, Z:-4.14 [[ 4.29841659e-01 -9.02892291e-01 -4.65396457e-03 2.40370512e+02] [-9.02836031e-01 -4.29866833e-01 1.00800465e-02 -1.25827293e+02] [-1.11017813e-02 -1.31057013e-04 -9.99938365e-01 -4.13826331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.01184288089595895 Centerline is valid? [True, True] Translation: X:240.40, Y:-125.93, Z:-4.14 [[ 4.96248434e-01 -8.68162129e-01 -5.65769299e-03 2.40397137e+02] [-8.68102886e-01 -4.96280670e-01 1.01427820e-02 -1.25932984e+02] [-1.16133828e-02 -1.21880050e-04 -9.99932555e-01 -4.13845912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.011782757512097418 Centerline is valid? [True, True] Translation: X:240.43, Y:-126.04, Z:-4.14 [[ 5.60091355e-01 -8.28403887e-01 -6.68387437e-03 2.40430886e+02] [-8.28342410e-01 -5.60131223e-01 1.00928059e-02 -1.26036898e+02] [-1.21047664e-02 -1.16356743e-04 -9.99926728e-01 -4.13829717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.011626958641574267 Centerline is valid? [True, True] Translation: X:240.47, Y:-126.13, Z:-4.14 [[ 6.18949256e-01 -7.85392195e-01 -7.80500391e-03 2.40473778e+02] [-7.85328059e-01 -6.18998459e-01 1.00373198e-02 -1.26134251e+02] [-1.27145180e-02 -8.31030501e-05 -9.99919164e-01 -4.13760560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.011327981288841459 Centerline is valid? [True, True] Translation: X:240.52, Y:-126.23, Z:-4.14 [[ 6.74418201e-01 -7.38305499e-01 -8.06722511e-03 2.40521989e+02] [-7.38251962e-01 -6.74466448e-01 8.89106603e-03 -1.26226764e+02] [-1.20053956e-02 -4.06519919e-05 -9.99927932e-01 -4.13890519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.011256406111800905 Centerline is valid? [True, True] Translation: X:240.57, Y:-126.31, Z:-4.14 [[ 7.24926401e-01 -6.88786524e-01 -7.40529850e-03 2.40573808e+02] [-6.88750828e-01 -7.24964223e-01 7.01233309e-03 -1.26308412e+02] [-1.01985770e-02 1.69800817e-05 -9.99947993e-01 -4.14097506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.011422122233764462 Centerline is valid? [True, True] Translation: X:240.60, Y:-126.33, Z:-4.14 [[ 7.74335507e-01 -6.32731373e-01 -7.45200281e-03 2.40598779e+02] [-6.32702683e-01 -7.74371363e-01 6.02550892e-03 -1.26332852e+02] [-9.58314610e-03 4.91366651e-05 -9.99954079e-01 -4.14137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.012122375273115995 Centerline is valid? [True, True] Translation: X:240.63, Y:-126.35, Z:-4.14 [[ 8.18760396e-01 -5.74085853e-01 -7.53966901e-03 2.40627154e+02] [-5.74062516e-01 -8.18795106e-01 5.17716184e-03 -1.26354731e+02] [-9.14557946e-03 8.93862857e-05 -9.99958174e-01 -4.14229880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.013055935030336693 Centerline is valid? [True, True] Translation: X:240.66, Y:-126.38, Z:-4.14 [[ 8.58581403e-01 -5.12604786e-01 -8.62016431e-03 2.40655138e+02] [-5.12580667e-01 -8.58624663e-01 4.97474478e-03 -1.26375984e+02] [-9.95156366e-03 1.47306216e-04 -9.99950471e-01 -4.14206927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.014320461098032384 Centerline is valid? [True, True] Translation: X:240.68, Y:-126.39, Z:-4.14 [[ 8.93833757e-01 -4.48298910e-01 -9.44997619e-03 2.40684859e+02] [-4.48276283e-01 -8.93883686e-01 4.50879931e-03 -1.26394573e+02] [-1.04684694e-02 2.06083171e-04 -9.99945183e-01 -4.14251353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.01668550948812097 Centerline is valid? [True, True] Translation: X:240.72, Y:-126.41, Z:-4.14 [[ 9.22815804e-01 -3.85118425e-01 -9.73605660e-03 2.40716511e+02] [-3.85100361e-01 -9.22867114e-01 3.74178665e-03 -1.26408859e+02] [-1.04261174e-02 2.96379054e-04 -9.99945603e-01 -4.14351586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.019213964635869468 Centerline is valid? [True, True] Translation: X:240.75, Y:-126.42, Z:-4.14 [[ 9.48404016e-01 -3.16925268e-01 -9.39131997e-03 2.40747488e+02] [-3.16913169e-01 -9.48450455e-01 2.78898409e-03 -1.26421110e+02] [-9.79110122e-03 3.31149262e-04 -9.99952011e-01 -4.14348215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.021815575159604347 Centerline is valid? [True, True] Translation: X:240.78, Y:-126.43, Z:-4.14 [[ 9.68903598e-01 -2.47276621e-01 -8.94933978e-03 2.40779503e+02] [-2.47269497e-01 -9.68944860e-01 1.91136652e-03 -1.26430032e+02] [-9.14405304e-03 3.60968843e-04 -9.99958127e-01 -4.14447340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.020928743823209785 Centerline is valid? [True, True] Translation: X:240.81, Y:-126.44, Z:-4.15 [[ 9.85098683e-01 -1.71827921e-01 -7.46657175e-03 2.40806608e+02] [-1.71825328e-01 -9.85126932e-01 9.92170789e-04 -1.26444945e+02] [-7.52600357e-03 3.05560005e-04 -9.99971633e-01 -4.14570669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.02063443730674666 Centerline is valid? [True, True] Translation: X:240.84, Y:-126.46, Z:-4.15 [[ 9.95610567e-01 -9.32794702e-02 -7.65111370e-03 2.40835202e+02] [-9.32790582e-02 -9.95639919e-01 4.11455423e-04 -1.26457256e+02] [-7.65613457e-03 3.04039313e-04 -9.99970645e-01 -4.14537820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.018588799524050646 Centerline is valid? [True, True] Translation: X:240.87, Y:-126.47, Z:-4.14 [[ 9.99902362e-01 -1.10808478e-02 -8.51354724e-03 2.40865324e+02] [-1.10830372e-02 -9.99938559e-01 -2.10031581e-04 -1.26473252e+02] [-8.51069683e-03 3.04367036e-04 -9.99963737e-01 -4.14442153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.016069000374920202 Centerline is valid? [True, True] Translation: X:240.90, Y:-126.49, Z:-4.14 [[ 9.96938635e-01 7.73947652e-02 -1.11089385e-02 2.40896683e+02] [ 7.73867599e-02 -9.97000486e-01 -1.14932433e-03 -1.26488468e+02] [-1.11645688e-02 2.86121072e-04 -9.99937633e-01 -4.14250717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.012966718811210825 Centerline is valid? [True, True] Translation: X:240.93, Y:-126.51, Z:-4.14 [[ 9.85940017e-01 1.66692477e-01 -1.16576525e-02 2.40930633e+02] [ 1.66678832e-01 -9.86008920e-01 -2.13923814e-03 -1.26505327e+02] [-1.18511443e-02 1.66076586e-04 -9.99929759e-01 -4.14183122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.011824473228089667 Centerline is valid? [True, True] Translation: X:240.97, Y:-126.51, Z:-4.14 [[ 9.68205748e-01 2.49935889e-01 -1.04728351e-02 2.40965326e+02] [ 2.49920395e-01 -9.68262384e-01 -2.78410935e-03 -1.26513614e+02] [-1.08363012e-02 7.82155898e-05 -9.99941283e-01 -4.14194472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.011239385710501846 Centerline is valid? [True, True] Translation: X:241.00, Y:-126.52, Z:-4.14 [[ 9.43289125e-01 3.31875682e-01 -8.00987968e-03 2.41001292e+02] [ 3.31863727e-01 -9.43323132e-01 -2.81683869e-03 -1.26520024e+02] [-8.49074505e-03 -1.09522189e-06 -9.99963953e-01 -4.14355151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.011384800149875477 Centerline is valid? [True, True] Translation: X:241.04, Y:-126.52, Z:-4.14 [[ 9.12999717e-01 4.07879700e-01 -8.10347477e-03 2.41035718e+02] [ 4.07863942e-01 -9.13035678e-01 -3.58554870e-03 -1.26518797e+02] [-8.86123410e-03 -3.15102084e-05 -9.99960738e-01 -4.14235830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.011643061088437249 Centerline is valid? [True, True] Translation: X:241.07, Y:-126.52, Z:-4.14 [[ 8.76255529e-01 4.81758110e-01 -9.23967556e-03 2.41071610e+02] [ 4.81732302e-01 -8.76304238e-01 -4.98722756e-03 -1.26516323e+02] [-1.04994042e-02 -8.09644467e-05 -9.99944876e-01 -4.14149213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.012165519584013252 Centerline is valid? [True, True] Translation: X:241.11, Y:-126.51, Z:-4.14 [[ 8.33438948e-01 5.52534109e-01 -9.25090924e-03 2.41107397e+02] [ 5.52501837e-01 -8.33490276e-01 -5.97316600e-03 -1.26510786e+02] [-1.10109209e-02 -1.32875162e-04 -9.99939369e-01 -4.14097148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.012781912870896696 Centerline is valid? [True, True] Translation: X:241.14, Y:-126.50, Z:-4.14 [[ 7.86090631e-01 6.18040419e-01 -9.35742491e-03 2.41141560e+02] [ 6.17999215e-01 -7.86146304e-01 -7.13856084e-03 -1.26499899e+02] [-1.17682241e-02 -1.71325453e-04 -9.99930737e-01 -4.14010680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.012840949716387398 Centerline is valid? [True, True] Translation: X:241.17, Y:-126.48, Z:-4.14 [[ 7.34619757e-01 6.78404107e-01 -1.00836627e-02 2.41173559e+02] [ 6.78344098e-01 -7.34688930e-01 -9.02556052e-03 -1.26483984e+02] [-1.35313327e-02 -2.09838010e-04 -9.99908425e-01 -4.13883055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.013129302966008102 Centerline is valid? [True, True] Translation: X:241.20, Y:-126.46, Z:-4.14 [[ 6.80340134e-01 7.32829251e-01 -9.92931713e-03 2.41200626e+02] [ 7.32755504e-01 -6.80412558e-01 -1.03981785e-02 -1.26464748e+02] [-1.43761215e-02 -2.01463599e-04 -9.99896638e-01 -4.13767015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.012354862249394867 Centerline is valid? [True, True] Translation: X:241.23, Y:-126.44, Z:-4.14 [[ 6.22723670e-01 7.82390331e-01 -8.97779173e-03 2.41225266e+02] [ 7.82312834e-01 -6.22788360e-01 -1.10130660e-02 -1.26440954e+02] [-1.42077805e-02 -1.65344843e-04 -9.99899051e-01 -4.13874438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.011808263375382967 Centerline is valid? [True, True] Translation: X:241.24, Y:-126.41, Z:-4.14 [[ 5.63146264e-01 8.26319633e-01 -7.88351266e-03 2.41244439e+02] [ 8.26241173e-01 -5.63201433e-01 -1.13873027e-02 -1.26414428e+02] [-1.38495574e-02 -1.00965785e-04 -9.99904085e-01 -4.13926982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.011453811604257924 Centerline is valid? [True, True] Translation: X:241.26, Y:-126.39, Z:-4.14 [[ 5.01410756e-01 8.65187022e-01 -6.21847713e-03 2.41259370e+02] [ 8.65121081e-01 -5.01449315e-01 -1.06817139e-02 -1.26385222e+02] [-1.23599313e-02 -2.38094301e-05 -9.99923613e-01 -4.14061226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.011358523465111599 Centerline is valid? [True, True] Translation: X:241.27, Y:-126.36, Z:-4.14 [[ 4.34897391e-01 9.00465322e-01 -5.14418039e-03 2.41274580e+02] [ 9.00401976e-01 -4.34927813e-01 -1.06807519e-02 -1.26357869e+02] [-1.18549939e-02 1.32009542e-05 -9.99929727e-01 -4.14155135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.011446194424308226 Centerline is valid? [True, True] Translation: X:241.29, Y:-126.33, Z:-4.14 [[ 3.66223816e-01 9.30517929e-01 -4.06197746e-03 2.41288761e+02] [ 9.30459139e-01 -3.66246339e-01 -1.04598828e-02 -1.26330736e+02] [-1.12207928e-02 5.11541358e-05 -9.99937044e-01 -4.14291144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.011749675033502318 Centerline is valid? [True, True] Translation: X:241.30, Y:-126.30, Z:-4.14 [[ 2.94707750e-01 9.55581735e-01 -3.29979915e-03 2.41302728e+02] [ 9.55518671e-01 -2.94726212e-01 -1.09786109e-02 -1.26303404e+02] [-1.14634974e-02 8.24620325e-05 -9.99934289e-01 -4.14316324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.012881214660461772 Centerline is valid? [True, True] Translation: X:241.31, Y:-126.28, Z:-4.14 [[ 2.24925942e-01 9.74372580e-01 -2.52916464e-03 2.41308302e+02] [ 9.74302809e-01 -2.24940105e-01 -1.16613047e-02 -1.26275417e+02] [-1.19313661e-02 1.58757738e-04 -9.99928806e-01 -4.14307286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.013889306660552787 Centerline is valid? [True, True] Translation: X:241.32, Y:-126.25, Z:-4.14 [[ 1.52631768e-01 9.88281881e-01 -1.57099381e-03 2.41315342e+02] [ 9.88214405e-01 -1.52639708e-01 -1.15502852e-02 -1.26247501e+02] [-1.16547336e-02 2.10461736e-04 -9.99932059e-01 -4.14397996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.01586548587508575 Centerline is valid? [True, True] Translation: X:241.32, Y:-126.22, Z:-4.14 [[ 8.15300037e-02 9.96670690e-01 -6.28392427e-04 2.41318239e+02] [ 9.96609332e-01 -8.15319594e-02 -1.10624613e-02 -1.26219607e+02] [-1.10768650e-02 2.75660756e-04 -9.99938612e-01 -4.14452868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.01796316653489005 Centerline is valid? [True, True] Translation: X:241.32, Y:-126.19, Z:-4.15 [[ 8.68167782e-03 9.99962293e-01 2.02894161e-04 2.41318704e+02] [ 9.99918573e-01 -8.67940009e-03 -9.35499211e-03 -1.26192789e+02] [-9.35287836e-03 2.84094667e-04 -9.99956221e-01 -4.14581605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.016881090596232644 Centerline is valid? [True, True] Translation: X:241.33, Y:-126.16, Z:-4.15 [[-6.86227094e-02 9.97642252e-01 9.27817549e-04 2.41328622e+02] [ 9.97599535e-01 6.86283613e-02 -9.23669116e-03 -1.26164413e+02] [-9.27858797e-03 2.91743582e-04 -9.99956910e-01 -4.14646770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.016761521836877482 Centerline is valid? [True, True] Translation: X:241.34, Y:-126.14, Z:-4.15 [[-1.48628082e-01 9.88891747e-01 1.67508531e-03 2.41335661e+02] [ 9.88848208e-01 1.48637264e-01 -9.28363564e-03 -1.26135880e+02] [-9.42949076e-03 2.76596151e-04 -9.99955503e-01 -4.14571103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.014883969692925676 Centerline is valid? [True, True] Translation: X:241.34, Y:-126.11, Z:-4.14 [[-2.30468237e-01 9.73076819e-01 2.42825100e-03 2.41344848e+02] [ 9.73032942e-01 2.30480911e-01 -9.24357417e-03 -1.26105152e+02] [-9.55437325e-03 2.32417972e-04 -9.99954329e-01 -4.14489399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.01274985017229523 Centerline is valid? [True, True] Translation: X:241.35, Y:-126.07, Z:-4.14 [[-3.15739084e-01 9.48839692e-01 3.47407596e-03 2.41353333e+02] [ 9.48787324e-01 3.15758161e-01 -9.96986254e-03 -1.26072461e+02] [-1.05567691e-02 1.48283964e-04 -9.99944265e-01 -4.14359699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.011611050669364307 Centerline is valid? [True, True] Translation: X:241.36, Y:-126.04, Z:-4.14 [[-3.95599276e-01 9.18414431e-01 4.01825827e-03 2.41358315e+02] [ 9.18368831e-01 3.95619677e-01 -9.15212460e-03 -1.26038765e+02] [-9.99514534e-03 6.96692822e-05 -9.99950045e-01 -4.14336273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.011241168360610608 Centerline is valid? [True, True] Translation: X:241.36, Y:-126.01, Z:-4.14 [[-4.73928491e-01 8.80553126e-01 4.23991384e-03 2.41361051e+02] [ 8.80517609e-01 4.73947457e-01 -7.90877640e-03 -1.26005266e+02] [-8.97359417e-03 -1.48756703e-05 -9.99959736e-01 -4.14229680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.011854395578698086 Centerline is valid? [True, True] Translation: X:241.36, Y:-125.97, Z:-4.14 [[-5.47540788e-01 8.36767196e-01 4.44366288e-03 2.41357914e+02] [ 8.36738545e-01 5.47558814e-01 -6.92480717e-03 -1.25971628e+02] [-8.22761825e-03 -7.34303653e-05 -9.99966150e-01 -4.14228541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.012702856736699623 Centerline is valid? [True, True] Translation: X:241.35, Y:-125.94, Z:-4.14 [[-6.15176689e-01 7.88376039e-01 4.56754258e-03 2.41349906e+02] [ 7.88353050e-01 6.15193636e-01 -6.02151683e-03 -1.25940223e+02] [-7.55714272e-03 -1.03460665e-04 -9.99971439e-01 -4.14248394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.014046071239017374 Centerline is valid? [True, True] Translation: X:241.34, Y:-125.91, Z:-4.14 [[-6.79303087e-01 7.33843190e-01 4.63549193e-03 2.41339501e+02] [ 7.33824725e-01 6.79318889e-01 -5.20761223e-03 -1.25908280e+02] [-6.97054800e-03 -1.35908471e-04 -9.99975696e-01 -4.14238260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.01455674810844088 Centerline is valid? [True, True] Translation: X:241.32, Y:-125.88, Z:-4.14 [[-7.35620681e-01 6.77374744e-01 5.06652600e-03 2.41324066e+02] [ 6.77357290e-01 7.35638114e-01 -4.86480670e-03 -1.25880306e+02] [-7.02242683e-03 -1.46804102e-04 -9.99975332e-01 -4.14182261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.015015755187437892 Centerline is valid? [True, True] Translation: X:241.34, Y:-125.86, Z:-4.14 [[-7.83709555e-01 6.21098439e-01 6.00525040e-03 2.41342342e+02] [ 6.21078342e-01 7.83732539e-01 -4.99999372e-03 -1.25859100e+02] [-7.81199844e-03 -1.88811888e-04 -9.99969468e-01 -4.14085220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.015783781555826347 Centerline is valid? [True, True] Translation: X:241.36, Y:-125.84, Z:-4.14 [[-8.26135071e-01 5.63428958e-01 6.97521552e-03 2.41359548e+02] [ 5.63406658e-01 8.26164489e-01 -5.01746399e-03 -1.25836821e+02] [-8.58965988e-03 -2.15220105e-04 -9.99963085e-01 -4.13967243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.015685281419380127 Centerline is valid? [True, True] Translation: X:241.37, Y:-125.82, Z:-4.14 [[-8.63344661e-01 5.04540724e-01 8.64022030e-03 2.41369501e+02] [ 5.04512637e-01 8.63387861e-01 -5.32916989e-03 -1.25815051e+02] [-1.01486446e-02 -2.41810042e-04 -9.99948472e-01 -4.13804381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.01504657926292316 Centerline is valid? [True, True] Translation: X:241.39, Y:-125.80, Z:-4.14 [[-8.95568163e-01 4.44810271e-01 1.00741757e-02 2.41385095e+02] [ 4.44779114e-01 8.95624791e-01 -5.27005719e-03 -1.25798027e+02] [-1.13668571e-02 -2.38912496e-04 -9.99935367e-01 -4.13629607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.012541333725564036 Centerline is valid? [True, True] Translation: X:241.39, Y:-125.79, Z:-4.14 [[-9.21188810e-01 3.88958528e-01 1.10652957e-02 2.41393650e+02] [ 3.88928640e-01 9.21255255e-01 -4.82377038e-03 -1.25788694e+02] [-1.20702084e-02 -1.39992897e-04 -9.99927143e-01 -4.13692565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.01174798293762671 Centerline is valid? [True, True] Translation: X:241.41, Y:-125.77, Z:-4.14 [[-9.44615814e-01 3.28022635e-01 1.01051588e-02 2.41406104e+02] [ 3.28003137e-01 9.44669861e-01 -3.57701963e-03 -1.25773504e+02] [-1.07193824e-02 -6.43855103e-05 -9.99942544e-01 -4.13790848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.011487517174495709 Centerline is valid? [True, True] Translation: X:241.41, Y:-125.76, Z:-4.14 [[-9.63569925e-01 2.67340126e-01 7.89027732e-03 2.41414436e+02] [ 2.67331254e-01 9.63602230e-01 -2.17804825e-03 -1.25760451e+02] [-8.18536851e-03 1.06159371e-05 -9.99966499e-01 -4.14114594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.011811067766372927 Centerline is valid? [True, True] Translation: X:241.42, Y:-125.74, Z:-4.14 [[-9.79345142e-01 2.02056212e-01 7.50860374e-03 2.41419885e+02] [ 2.02050576e-01 9.79373925e-01 -1.50973480e-03 -1.25740161e+02] [-7.65878202e-03 3.85662642e-05 -9.99970670e-01 -4.14244325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.012275603017201998 Centerline is valid? [True, True] Translation: X:241.57, Y:-125.04, Z:-5.12 [[-9.67181152e-01 -2.53919524e-01 9.24633817e-03 2.41569987e+02] [ 2.53908549e-01 -9.67225347e-01 -2.36167359e-03 -1.25036512e+02] [ 9.54296767e-03 6.35581246e-05 9.99954463e-01 -5.11500616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.01270953820797686 Centerline is valid? [True, True] Translation: X:241.38, Y:-125.74, Z:-4.14 [[-9.78937556e-01 2.03878782e-01 1.07099904e-02 2.41375590e+02] [ 2.03867886e-01 9.78996133e-01 -2.11096651e-03 -1.25743348e+02] [-1.09154205e-02 1.16918716e-04 -9.99940418e-01 -4.14182636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.013275984102383015 Centerline is valid? [True, True] Translation: X:241.38, Y:-125.72, Z:-4.14 [[-9.90640516e-01 1.36012850e-01 1.14835903e-02 2.41379774e+02] [ 1.36005450e-01 9.90707062e-01 -1.42655091e-03 -1.25719942e+02] [-1.15709033e-02 1.48631732e-04 -9.99933044e-01 -4.14145779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.013487023202610582 Centerline is valid? [True, True] Translation: X:241.38, Y:-125.69, Z:-4.14 [[-9.97678113e-01 6.71671395e-02 1.12676175e-02 2.41382278e+02] [ 6.71647240e-02 9.97741724e-01 -5.93070048e-04 -1.25693736e+02] [-1.12820069e-02 1.65093414e-04 -9.99936343e-01 -4.14249743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.013277112059146789 Centerline is valid? [True, True] Translation: X:241.43, Y:-124.95, Z:-5.11 [[-9.94373264e-01 -1.05354202e-01 1.10591029e-02 2.41426930e+02] [ 1.05345759e-01 -9.94434745e-01 -1.34487471e-03 -1.24952770e+02] [ 1.11392444e-02 -1.72277863e-04 9.99937942e-01 -5.11349884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.013057761317990175 Centerline is valid? [True, True] Translation: X:241.32, Y:-125.69, Z:-4.14 [[-9.98061616e-01 6.11574287e-02 1.15230313e-02 2.41318524e+02] [ 6.11550829e-02 9.98128121e-01 -5.56156089e-04 -1.25688222e+02] [-1.15354746e-02 1.49613888e-04 -9.99933453e-01 -4.14441173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.012705023908925278 Centerline is valid? [True, True] Translation: X:241.32, Y:-125.66, Z:-4.15 [[-9.99878484e-01 -1.10887837e-02 1.09570307e-02 2.41318564e+02] [-1.10867016e-02 9.99938509e-01 2.50747301e-04 -1.25657459e+02] [-1.09591375e-02 1.29239501e-04 -9.99939939e-01 -4.14506160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.012523468402601637 Centerline is valid? [True, True] Translation: X:241.31, Y:-124.93, Z:-5.11 [[-9.99397561e-01 -3.31086337e-02 1.04083137e-02 2.41305181e+02] [ 3.31051868e-02 -9.99451746e-01 -5.03331604e-04 -1.24929038e+02] [ 1.04192719e-02 -1.58459210e-04 9.99945705e-01 -5.11207857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.012344859698225252 Centerline is valid? [True, True] Translation: X:241.25, Y:-125.65, Z:-4.15 [[-9.99774905e-01 -1.84878661e-02 1.04085670e-02 2.41247223e+02] [-1.84858851e-02 9.99829080e-01 2.86508709e-04 -1.25652778e+02] [-1.04120849e-02 9.40326439e-05 -9.99945788e-01 -4.14615362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.01195342977963738 Centerline is valid? [True, True] Translation: X:241.23, Y:-124.94, Z:-5.11 [[-9.99391518e-01 -3.33327568e-02 1.02723702e-02 2.41229370e+02] [ 3.33299498e-02 -9.99444304e-01 -4.44377633e-04 -1.24938433e+02] [ 1.02814742e-02 -1.01729653e-04 9.99947139e-01 -5.11099871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.011457159786592378 Centerline is valid? [True, True] Translation: X:241.17, Y:-125.64, Z:-4.14 [[-9.99425635e-01 -3.21038061e-02 1.08510308e-02 2.41173191e+02] [-3.21019168e-02 9.99484540e-01 3.48285768e-04 -1.25642626e+02] [-1.08566189e-02 -2.53164859e-07 -9.99941065e-01 -4.14488251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.012100172485775608 Centerline is valid? [True, True] Translation: X:241.16, Y:-125.61, Z:-4.14 [[-9.93644504e-01 -1.12028333e-01 1.09659924e-02 2.41163270e+02] [-1.12022611e-01 9.93705008e-01 1.13656802e-03 -1.25607147e+02] [-1.10242894e-02 -9.90945350e-05 -9.99939226e-01 -4.14330890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.013178129413758899 Centerline is valid? [True, True] Translation: X:241.15, Y:-125.58, Z:-4.14 [[-9.82003398e-01 -1.88527160e-01 1.12621733e-02 2.41147412e+02] [-1.88516784e-01 9.82067961e-01 1.98550728e-03 -1.25576967e+02] [-1.14345416e-02 -1.73333784e-04 -9.99934608e-01 -4.14347165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.01669799653112818 Centerline is valid? [True, True] Translation: X:241.03, Y:-124.93, Z:-5.12 [[-9.96294427e-01 8.50564496e-02 1.27599260e-02 2.41026126e+02] [-8.50456534e-02 -9.96376090e-01 1.38733028e-03 -1.24930942e+02] [ 1.28316866e-02 2.97013176e-04 9.99917626e-01 -5.11603201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.01658642814980971 Centerline is valid? [True, True] Translation: X:241.05, Y:-125.58, Z:-4.14 [[-9.78846431e-01 -2.04185786e-01 1.29549360e-02 2.41048980e+02] [-2.04172413e-01 9.78932098e-01 2.36062038e-03 -1.25583095e+02] [-1.31640078e-02 -3.34355712e-04 -9.99913295e-01 -4.14171638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.018028215008723453 Centerline is valid? [True, True] Translation: X:241.04, Y:-125.55, Z:-4.14 [[-9.61179434e-01 -2.75562634e-01 1.41184703e-02 2.41036994e+02] [-2.75539018e-01 9.61283035e-01 3.62984212e-03 -1.25554793e+02] [-1.45720948e-02 -4.01259838e-04 -9.99893741e-01 -4.14016466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.016815838458131976 Centerline is valid? [True, True] Translation: X:241.02, Y:-125.54, Z:-4.14 [[-9.39467942e-01 -3.42358769e-01 1.38006891e-02 2.41015302e+02] [-3.42327731e-01 9.39569226e-01 4.62546120e-03 -1.25536057e+02] [-1.45502699e-02 -3.78886056e-04 -9.99894067e-01 -4.14110470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.015982297909908603 Centerline is valid? [True, True] Translation: X:240.98, Y:-125.52, Z:-4.14 [[-9.13660681e-01 -4.06265909e-01 1.31214044e-02 2.40980508e+02] [-4.06229126e-01 9.13754838e-01 5.47657249e-03 -1.25523723e+02] [-1.42146915e-02 -3.26567695e-04 -9.99898913e-01 -4.14118366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.013384986781523538 Centerline is valid? [True, True] Translation: X:240.93, Y:-125.53, Z:-4.14 [[-8.84073626e-01 -4.67189633e-01 1.21520223e-02 2.40929150e+02] [-4.67149094e-01 8.84157109e-01 6.15875084e-03 -1.25526624e+02] [-1.36216015e-02 -2.32017032e-04 -9.99907195e-01 -4.14282713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.012981093915551533 Centerline is valid? [True, True] Translation: X:240.87, Y:-125.54, Z:-4.14 [[-8.49349088e-01 -5.27709536e-01 1.13477924e-02 2.40865727e+02] [-5.27665124e-01 8.49424874e-01 6.84835579e-03 -1.25535259e+02] [-1.32530398e-02 -1.71189562e-04 -9.99912160e-01 -4.14282722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.01199266960277684 Centerline is valid? [True, True] Translation: X:240.80, Y:-125.56, Z:-4.14 [[-8.11706104e-01 -5.83972453e-01 1.04582655e-02 2.40799320e+02] [-5.83925213e-01 8.11773471e-01 7.42812224e-03 -1.25555673e+02] [-1.28275612e-02 -7.73927360e-05 -9.99917720e-01 -4.14389562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.011817660546147028 Centerline is valid? [True, True] Translation: X:240.72, Y:-125.59, Z:-4.14 [[-7.69858521e-01 -6.38134599e-01 1.01040217e-02 2.40723175e+02] [-6.38079531e-01 7.69924823e-01 8.38327110e-03 -1.25587391e+02] [-1.31289924e-02 6.76328578e-06 -9.99913811e-01 -4.14350500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.012078086762388385 Centerline is valid? [True, True] Translation: X:240.64, Y:-125.63, Z:-4.14 [[-7.22072099e-01 -6.91755699e-01 9.27018812e-03 2.40643066e+02] [-6.91697772e-01 7.22131601e-01 8.95223503e-03 -1.25626739e+02] [-1.28870554e-02 5.19906719e-05 -9.99916957e-01 -4.14352556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.01225104222363345 Centerline is valid? [True, True] Translation: X:240.56, Y:-125.68, Z:-4.14 [[-6.68905961e-01 -7.43297516e-01 8.58007891e-03 2.40560377e+02] [-7.43234980e-01 6.68960983e-01 9.64195374e-03 -1.25675853e+02] [-1.29065783e-02 7.25455516e-05 -9.99916704e-01 -4.14384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.013167335893394217 Centerline is valid? [True, True] Translation: X:240.48, Y:-125.74, Z:-4.14 [[-6.14006601e-01 -7.89265422e-01 7.48251455e-03 2.40480038e+02] [-7.89204369e-01 6.14052179e-01 9.81755305e-03 -1.25735941e+02] [-1.23433095e-02 1.22809199e-04 -9.99923811e-01 -4.14414861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.013768044900426473 Centerline is valid? [True, True] Translation: X:240.40, Y:-125.80, Z:-4.14 [[-5.54793550e-01 -8.31963448e-01 6.39827774e-03 2.40399946e+02] [-8.31904889e-01 5.54830422e-01 9.87213068e-03 -1.25803571e+02] [-1.17632110e-02 1.54235891e-04 -9.99930799e-01 -4.14434521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.014068003051871619 Centerline is valid? [True, True] Translation: X:240.32, Y:-125.88, Z:-4.15 [[-4.93024624e-01 -8.70000983e-01 5.00096267e-03 2.40321190e+02] [-8.69952558e-01 4.93049955e-01 9.18089624e-03 -1.25879740e+02] [-1.04531132e-02 1.75807644e-04 -9.99945349e-01 -4.14516525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.014761808880105313 Centerline is valid? [True, True] Translation: X:240.25, Y:-125.96, Z:-4.15 [[-4.27751180e-01 -9.03886829e-01 4.18674107e-03 2.40249405e+02] [-9.03838825e-01 4.27771622e-01 9.31765593e-03 -1.25962773e+02] [-1.02130755e-02 2.01499197e-04 -9.99947825e-01 -4.14604624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.01478660649546268 Centerline is valid? [True, True] Translation: X:240.18, Y:-126.06, Z:-4.15 [[-3.58461108e-01 -9.33538180e-01 3.47858587e-03 2.40180380e+02] [-9.33488250e-01 3.58477921e-01 9.65752684e-03 -1.26055499e+02] [-1.02626663e-02 2.14628733e-04 -9.99947314e-01 -4.14651088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.015116948672088269 Centerline is valid? [True, True] Translation: X:240.12, Y:-126.15, Z:-4.15 [[-2.86158328e-01 -9.58179708e-01 2.24909674e-03 2.40116463e+02] [-9.58145029e-01 2.86167111e-01 8.15404821e-03 -1.26154307e+02] [-8.45666105e-03 1.78387938e-04 -9.99964226e-01 -4.14670811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.015033945400925513 Centerline is valid? [True, True] Translation: X:240.06, Y:-126.26, Z:-4.15 [[-2.11813297e-01 -9.77309217e-01 1.34948007e-03 2.40059654e+02] [-9.77284697e-01 2.11817544e-01 6.92457244e-03 -1.26261110e+02] [-7.05329203e-03 1.47890300e-04 -9.99975114e-01 -4.14755780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.014738750515855001 Centerline is valid? [True, True] Translation: X:240.01, Y:-126.37, Z:-4.15 [[-1.35808482e-01 -9.90734840e-01 7.30204994e-04 2.40009847e+02] [-9.90714965e-01 1.35810384e-01 6.27676565e-03 -1.26367113e+02] [-6.31777983e-03 1.29013001e-04 -9.99980034e-01 -4.14845029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.014010907650853003 Centerline is valid? [True, True] Translation: X:239.32, Y:-126.40, Z:-5.11 [[-1.65361125e-01 9.86232384e-01 1.17592323e-03 2.39324708e+02] [-9.86212630e-01 -1.65365257e-01 6.24341284e-03 -1.26397142e+02] [ 6.35191278e-03 -1.27292577e-04 9.99979818e-01 -5.10977289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.013400606016908727 Centerline is valid? [True, True] Translation: X:239.96, Y:-126.64, Z:-4.15 [[-1.19725790e-01 -9.92806745e-01 7.08084502e-04 2.39958958e+02] [-9.92784648e-01 1.19727850e-01 6.62457496e-03 -1.26644744e+02] [-6.66170014e-03 9.01570501e-05 -9.99977807e-01 -4.14669914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.012246494477485433 Centerline is valid? [True, True] Translation: X:239.91, Y:-126.76, Z:-4.15 [[-3.71848096e-02 -9.99308385e-01 2.04438982e-04 2.39912043e+02] [-9.99285092e-01 3.71853388e-02 6.82316493e-03 -1.26762373e+02] [-6.82604806e-03 4.94252623e-05 -9.99976701e-01 -4.14667936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.011807929020392266 Centerline is valid? [True, True] Translation: X:239.88, Y:-126.88, Z:-4.15 [[ 4.40291401e-02 -9.99030186e-01 -3.50137403e-04 2.39878127e+02] [-9.99001917e-01 -4.40305282e-02 7.51543194e-03 -1.26880879e+02] [-7.52356010e-03 1.88899308e-05 -9.99971697e-01 -4.14612894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.011808141292997263 Centerline is valid? [True, True] Translation: X:239.85, Y:-126.99, Z:-4.14 [[ 1.26372943e-01 -9.91982275e-01 -1.02216021e-03 2.39848764e+02] [-9.91947823e-01 -1.26377073e-01 8.26747964e-03 -1.26992167e+02] [-8.33037088e-03 -3.08561365e-05 -9.99965301e-01 -4.14422294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.012301667865777927 Centerline is valid? [True, True] Translation: X:239.83, Y:-127.11, Z:-4.14 [[ 2.05739824e-01 -9.78605159e-01 -1.75152465e-03 2.39831858e+02] [-9.78566746e-01 -2.05747267e-01 8.67094642e-03 -1.27111113e+02] [-8.84580431e-03 -6.99752066e-05 -9.99960873e-01 -4.14382783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.012643834281728192 Centerline is valid? [True, True] Translation: X:239.83, Y:-127.23, Z:-4.14 [[ 2.81468556e-01 -9.59567471e-01 -2.39176048e-03 2.39827443e+02] [-9.59530195e-01 -2.81478705e-01 8.45841007e-03 -1.27229127e+02] [-8.78964480e-03 -8.58100708e-05 -9.99961367e-01 -4.14374645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.012927805278809563 Centerline is valid? [True, True] Translation: X:239.83, Y:-127.34, Z:-4.14 [[ 3.54786104e-01 -9.34942829e-01 -2.95399338e-03 2.39831479e+02] [-9.34908201e-01 -3.54798389e-01 8.04730805e-03 -1.27343505e+02] [-8.57184505e-03 -9.33604301e-05 -9.99963257e-01 -4.14320324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.012354705383029603 Centerline is valid? [True, True] Translation: X:239.84, Y:-127.45, Z:-4.14 [[ 4.25073286e-01 -9.05151969e-01 -3.55161031e-03 2.39843936e+02] [-9.05118480e-01 -4.25088113e-01 7.78675000e-03 -1.27450631e+02] [-8.55793942e-03 -9.53112803e-05 -9.99963376e-01 -4.14466723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.012638903827038311 Centerline is valid? [True, True] Translation: X:239.86, Y:-127.56, Z:-4.14 [[ 4.92597352e-01 -8.70248640e-01 -3.89280307e-03 2.39863828e+02] [-8.70219981e-01 -4.92612725e-01 7.06312145e-03 -1.27555958e+02] [-8.06431616e-03 -9.16799063e-05 -9.99967479e-01 -4.14426669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.012337086516064102 Centerline is valid? [True, True] Translation: X:239.89, Y:-127.66, Z:-4.14 [[ 5.56407942e-01 -8.30899602e-01 -4.00664975e-03 2.39894297e+02] [-8.30877065e-01 -5.56422362e-01 6.12031929e-03 -1.27660139e+02] [-7.31476038e-03 -7.63608830e-05 -9.99973244e-01 -4.14416475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.012135976908905456 Centerline is valid? [True, True] Translation: X:239.93, Y:-127.76, Z:-4.14 [[ 6.16257180e-01 -7.87533483e-01 -4.25450403e-03 2.39932886e+02] [-7.87514046e-01 -6.16271863e-01 5.53338396e-03 -1.27758335e+02] [-6.97965627e-03 -5.95059135e-05 -9.99975640e-01 -4.14406890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.011930013373670445 Centerline is valid? [True, True] Translation: X:239.98, Y:-127.85, Z:-4.14 [[ 6.73357394e-01 -7.39297189e-01 -5.43018711e-03 2.39977940e+02] [-7.39272415e-01 -6.73379286e-01 6.05255811e-03 -1.27851986e+02] [-8.13121472e-03 -6.11472128e-05 -9.99966939e-01 -4.14395686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.012027151440186208 Centerline is valid? [True, True] Translation: X:240.03, Y:-127.94, Z:-4.14 [[ 7.27737530e-01 -6.85817846e-01 -7.20903289e-03 2.40028401e+02] [-6.85783073e-01 -7.27773231e-01 6.90662077e-03 -1.27940569e+02] [-9.98322494e-03 -8.23744132e-05 -9.99950163e-01 -4.14275161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.01215408813931329 Centerline is valid? [True, True] Translation: X:240.05, Y:-127.97, Z:-4.14 [[ 7.79757360e-01 -6.26030098e-01 -8.04839035e-03 2.40051995e+02] [-6.25995470e-01 -7.79798889e-01 6.58515494e-03 -1.27971836e+02] [-1.03986310e-02 -9.65671278e-05 -9.99945928e-01 -4.14280720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.012163879546676646 Centerline is valid? [True, True] Translation: X:240.08, Y:-128.00, Z:-4.14 [[ 8.26610757e-01 -5.62714733e-01 -8.17226293e-03 2.40079779e+02] [-5.62686055e-01 -8.26651148e-01 5.68189431e-03 -1.27999412e+02] [-9.95289617e-03 -9.82965697e-05 -9.99950464e-01 -4.14293288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.012046920332099415 Centerline is valid? [True, True] Translation: X:240.11, Y:-128.02, Z:-4.14 [[ 8.67510389e-01 -4.97347710e-01 -8.42494361e-03 2.40110175e+02] [-4.97323299e-01 -8.67551294e-01 4.92829460e-03 -1.28021816e+02] [-9.76014676e-03 -8.54260109e-05 -9.99952365e-01 -4.14331883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.011882353947395835 Centerline is valid? [True, True] Translation: X:240.14, Y:-128.04, Z:-4.14 [[ 9.03383006e-01 -4.28762005e-01 -7.89227445e-03 2.40142113e+02] [-4.28744973e-01 -9.03417477e-01 3.82228916e-03 -1.28043711e+02] [-8.76887104e-03 -6.92180675e-05 -9.99961550e-01 -4.14393781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.011855554210972246 Centerline is valid? [True, True] Translation: X:240.17, Y:-128.06, Z:-4.15 [[ 9.34051617e-01 -3.57075393e-01 -6.68877860e-03 2.40174760e+02] [-3.57065816e-01 -9.34075565e-01 2.61576724e-03 -1.28061688e+02] [-7.18185077e-03 -5.49274307e-05 -9.99974209e-01 -4.14516850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.011988870135022063 Centerline is valid? [True, True] Translation: X:240.21, Y:-128.08, Z:-4.14 [[ 9.59381850e-01 -2.82021148e-01 -7.10901551e-03 2.40207644e+02] [-2.82012911e-01 -9.59408186e-01 2.15637927e-03 -1.28079552e+02] [-7.42859223e-03 -6.39569709e-05 -9.99972406e-01 -4.14497312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.01244785220228623 Centerline is valid? [True, True] Translation: X:240.24, Y:-128.10, Z:-4.14 [[ 9.79191685e-01 -2.02808281e-01 -7.24185639e-03 2.40241640e+02] [-2.02802062e-01 -9.79218460e-01 1.59068634e-03 -1.28095987e+02] [-7.41396382e-03 -8.89234312e-05 -9.99972512e-01 -4.14435619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.012865689708096116 Centerline is valid? [True, True] Translation: X:240.28, Y:-128.11, Z:-4.14 [[ 9.92348504e-01 -1.23245337e-01 -7.41849349e-03 2.40276786e+02] [-1.23241081e-01 -9.92376227e-01 1.02983261e-03 -1.28110377e+02] [-7.48885864e-03 -1.07689686e-04 -9.99971952e-01 -4.14408375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.014083490245130692 Centerline is valid? [True, True] Translation: X:240.31, Y:-128.12, Z:-4.14 [[ 9.99115037e-01 -4.13710345e-02 -7.58823127e-03 2.40309033e+02] [-4.13687905e-02 -9.99143843e-01 4.52509913e-04 -1.28120626e+02] [-7.60045535e-03 -1.38193508e-04 -9.99971107e-01 -4.14314676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.013831918143481595 Centerline is valid? [True, True] Translation: X:240.34, Y:-128.13, Z:-4.14 [[ 9.99228408e-01 3.85029370e-02 -7.75320099e-03 2.40342643e+02] [ 3.85029648e-02 -9.99258475e-01 -1.45733517e-04 -1.28128828e+02] [-7.75306296e-03 -1.52900154e-04 -9.99969933e-01 -4.14356469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.016170640958611596 Centerline is valid? [True, True] Translation: X:240.38, Y:-128.14, Z:-4.14 [[ 9.92662539e-01 1.20663122e-01 -7.84183899e-03 2.40375765e+02] [ 1.20660846e-01 -9.92693495e-01 -7.64458573e-04 -1.28135764e+02] [-7.87678451e-03 -1.87353541e-04 -9.99968960e-01 -4.14268014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.01563491603291488 Centerline is valid? [True, True] Translation: X:240.41, Y:-128.14, Z:-4.14 [[ 9.79865576e-01 1.99502475e-01 -7.88764869e-03 2.40409482e+02] [ 1.99497670e-01 -9.79897301e-01 -1.39939287e-03 -1.28136356e+02] [-8.00826800e-03 -2.02350638e-04 -9.99967913e-01 -4.14303351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.016610707498660914 Centerline is valid? [True, True] Translation: X:240.44, Y:-128.13, Z:-4.14 [[ 9.61205323e-01 2.75713572e-01 -8.14574932e-03 2.40441351e+02] [ 2.75705549e-01 -9.61239814e-01 -2.11421966e-03 -1.28133144e+02] [-8.41293761e-03 -2.13629092e-04 -9.99964588e-01 -4.14236742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.01519738177754716 Centerline is valid? [True, True] Translation: X:240.47, Y:-128.13, Z:-4.14 [[ 9.36849805e-01 3.49641789e-01 -7.94111931e-03 2.40474338e+02] [ 3.49631111e-01 -9.36883437e-01 -2.74052934e-03 -1.28127253e+02] [-8.39810673e-03 -2.08997994e-04 -9.99964713e-01 -4.14338687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.015593848021826293 Centerline is valid? [True, True] Translation: X:240.51, Y:-128.12, Z:-4.14 [[ 9.06742459e-01 4.21600847e-01 -8.41661870e-03 2.40505625e+02] [ 4.21584978e-01 -9.06781493e-01 -3.66483913e-03 -1.28119803e+02] [-9.17713335e-03 -2.25254761e-04 -9.99957864e-01 -4.14258428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.015753425692333886 Centerline is valid? [True, True] Translation: X:240.53, Y:-128.11, Z:-4.14 [[ 8.71696797e-01 4.89980098e-01 -8.01240658e-03 2.40533928e+02] [ 4.89961589e-01 -8.71733595e-01 -4.26389986e-03 -1.28107413e+02] [-9.07391006e-03 -2.08943612e-04 -9.99958809e-01 -4.14269378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.014602109755975638 Centerline is valid? [True, True] Translation: X:240.56, Y:-128.09, Z:-4.14 [[ 8.31829651e-01 5.54978029e-01 -7.66933792e-03 2.40562284e+02] [ 5.54956538e-01 -8.31864984e-01 -4.88775004e-03 -1.28093120e+02] [-9.09244755e-03 -1.90373814e-04 -9.99958645e-01 -4.14384745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.013857115482239822 Centerline is valid? [True, True] Translation: X:240.59, Y:-128.07, Z:-4.14 [[ 7.88385283e-01 6.15146669e-01 -6.57434021e-03 2.40587454e+02] [ 6.15126737e-01 -7.88412682e-01 -4.95390963e-03 -1.28074713e+02] [-8.23067420e-03 -1.38462996e-04 -9.99966118e-01 -4.14435473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.012896119465603626 Centerline is valid? [True, True] Translation: X:240.61, Y:-128.06, Z:-4.14 [[ 7.39958836e-01 6.72625553e-01 -5.98207923e-03 2.40612492e+02] [ 6.72604755e-01 -7.39983009e-01 -5.29054066e-03 -1.28057865e+02] [-7.98518983e-03 -1.08792632e-04 -9.99968112e-01 -4.14448536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.012369163745904296 Centerline is valid? [True, True] Translation: X:240.63, Y:-128.04, Z:-4.14 [[ 6.88331987e-01 7.25373918e-01 -5.63514598e-03 2.40633980e+02] [ 7.25350482e-01 -6.88355049e-01 -5.83133550e-03 -1.28037445e+02] [-8.10887987e-03 -7.35610997e-05 -9.99967120e-01 -4.14391133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.012227588009039432 Centerline is valid? [True, True] Translation: X:240.65, Y:-128.02, Z:-4.14 [[ 6.31499295e-01 7.75355432e-01 -5.70916166e-03 2.40653329e+02] [ 7.75324567e-01 -6.31525099e-01 -6.91852873e-03 -1.28016684e+02] [-8.96979771e-03 -5.74072761e-05 -9.99959769e-01 -4.14283516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.012242559224643155 Centerline is valid? [True, True] Translation: X:240.67, Y:-127.99, Z:-4.14 [[ 5.69201946e-01 8.22178528e-01 -5.62255118e-03 2.40672294e+02] [ 8.22139431e-01 -5.69229712e-01 -8.01820126e-03 -1.27994991e+02] [-9.79291609e-03 -5.85452660e-05 -9.99952047e-01 -4.14243084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.012374619845349296 Centerline is valid? [True, True] Translation: X:240.69, Y:-127.97, Z:-4.14 [[ 5.01513454e-01 8.65134149e-01 -5.21140589e-03 2.40692456e+02] [ 8.65089085e-01 -5.01540524e-01 -8.83046499e-03 -1.27974457e+02] [-1.02532681e-02 -7.97333532e-05 -9.99947431e-01 -4.14253050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.012991519975901152 Centerline is valid? [True, True] Translation: X:240.72, Y:-127.95, Z:-4.14 [[ 4.27371111e-01 9.04066796e-01 -4.14267601e-03 2.40715887e+02] [ 9.04027093e-01 -4.27391171e-01 -8.47358677e-03 -1.27954796e+02] [-9.43123160e-03 -1.23725156e-04 -9.99955517e-01 -4.14351884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.013413766792254265 Centerline is valid? [True, True] Translation: X:240.74, Y:-127.93, Z:-4.14 [[ 3.51981317e-01 9.35999910e-01 -3.64986072e-03 2.40739244e+02] [ 9.35954347e-01 -3.52000202e-01 -9.23678021e-03 -1.27933695e+02] [-9.93037715e-03 -1.64928945e-04 -9.99950679e-01 -4.14385520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.014565116067567224 Centerline is valid? [True, True] Translation: X:240.76, Y:-127.91, Z:-4.14 [[ 2.75385740e-01 9.61328865e-01 -3.08338156e-03 2.40760215e+02] [ 9.61276430e-01 -2.75402930e-01 -1.00424751e-02 -1.27911665e+02] [-1.05032935e-02 -1.98427572e-04 -9.99944819e-01 -4.14390789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.014452685079601181 Centerline is valid? [True, True] Translation: X:240.77, Y:-127.89, Z:-4.14 [[ 1.99110784e-01 9.79973906e-01 -2.45758995e-03 2.40774611e+02] [ 9.79912021e-01 -1.99125834e-01 -1.10151348e-02 -1.27886452e+02] [-1.12839143e-02 -2.14989819e-04 -9.99936312e-01 -4.14355156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.014646004653487905 Centerline is valid? [True, True] Translation: X:240.79, Y:-127.86, Z:-4.14 [[ 1.21273596e-01 9.92617759e-01 -1.64323191e-03 2.40788027e+02] [ 9.92550386e-01 -1.21284513e-01 -1.15671383e-02 -1.27860168e+02] [-1.16810455e-02 -2.28202011e-04 -9.99931748e-01 -4.14321573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.01492128727215333 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.83, Z:-4.14 [[ 4.33270364e-02 9.99060753e-01 -6.16146065e-04 2.40796653e+02] [ 9.99012635e-01 -4.33309979e-02 -9.80716344e-03 -1.27833422e+02] [-9.82465031e-03 -1.90622377e-04 -9.99951719e-01 -4.14455057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.014464793513038636 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.81, Z:-4.14 [[-3.29881705e-02 9.99455731e-01 1.51825611e-04 2.40800396e+02] [ 9.99408645e-01 3.29880903e-02 -9.70290903e-03 -1.27805841e+02] [-9.70263647e-03 -1.68345389e-04 -9.99952914e-01 -4.14393372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.012959022207993809 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.78, Z:-4.14 [[-1.06038240e-01 9.94361521e-01 1.02821874e-03 2.40800208e+02] [ 9.94301821e-01 1.06043141e-01 -1.08968083e-02 -1.27778185e+02] [-1.09444024e-02 -1.33118603e-04 -9.99940099e-01 -4.14273155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.012780713314441491 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.75, Z:-4.14 [[-1.81047233e-01 9.83472657e-01 1.85261484e-03 2.40798598e+02] [ 9.83415191e-01 1.81056682e-01 -1.06320676e-02 -1.27751522e+02] [-1.07917761e-02 -1.03016843e-04 -9.99941762e-01 -4.14268394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.01193679017797262 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.72, Z:-4.14 [[-2.55116818e-01 9.66906704e-01 2.61446363e-03 2.40797822e+02] [ 9.66852900e-01 2.55130203e-01 -1.02004656e-02 -1.27723805e+02] [-1.05299272e-02 -7.45085691e-05 -9.99944556e-01 -4.14490142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.011875677183380721 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.70, Z:-4.14 [[-3.29020567e-01 9.44315968e-01 3.58021647e-03 2.40796094e+02] [ 9.44257857e-01 3.29040039e-01 -1.04762538e-02 -1.27696801e+02] [-1.10709283e-02 -6.62554211e-05 -9.99938713e-01 -4.14344361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.011749999944604843 Centerline is valid? [True, True] Translation: X:240.79, Y:-127.67, Z:-4.14 [[-4.02147267e-01 9.15564236e-01 4.43903411e-03 2.40792600e+02] [ 9.15506543e-01 4.02171760e-01 -1.02783930e-02 -1.27668988e+02] [-1.11957832e-02 -6.94628588e-05 -9.99937323e-01 -4.14408337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.011989491571824589 Centerline is valid? [True, True] Translation: X:240.79, Y:-127.64, Z:-4.14 [[-4.73976988e-01 8.80520540e-01 5.42156503e-03 2.40787600e+02] [ 8.80460763e-01 4.74007986e-01 -1.02603638e-02 -1.27642348e+02] [-1.16043262e-02 -8.97010401e-05 -9.99932664e-01 -4.14364502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.012361953865068403 Centerline is valid? [True, True] Translation: X:240.78, Y:-127.62, Z:-4.14 [[-5.43322661e-01 8.39502626e-01 5.98561434e-03 2.40779419e+02] [ 8.39449417e-01 5.43355619e-01 -9.45234020e-03 -1.27616010e+02] [-1.11875816e-02 -1.11050162e-04 -9.99937411e-01 -4.14336128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.012641126677022647 Centerline is valid? [True, True] Translation: X:240.77, Y:-127.59, Z:-4.15 [[-6.08386282e-01 7.93619149e-01 5.89727290e-03 2.40765865e+02] [ 7.93580109e-01 6.08414854e-01 -7.87249654e-03 -1.27593123e+02] [-9.83575243e-03 -1.09560432e-04 -9.99951622e-01 -4.14543215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.012569514276372169 Centerline is valid? [True, True] Translation: X:240.75, Y:-127.57, Z:-4.15 [[-6.68510659e-01 7.43685411e-01 5.05061144e-03 2.40750120e+02] [ 7.43663237e-01 6.68529732e-01 -5.74339106e-03 -1.27572329e+02] [-7.64776005e-03 -8.35640887e-05 -9.99970752e-01 -4.14689790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.012562484401544097 Centerline is valid? [True, True] Translation: X:240.73, Y:-127.55, Z:-4.15 [[-7.24311007e-01 6.89452688e-01 5.34384860e-03 2.40731302e+02] [ 6.89433134e-01 7.24330715e-01 -5.19312991e-03 -1.27554092e+02] [-7.45113105e-03 -7.72148625e-05 -9.99972237e-01 -4.14635932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.01218240301724711 Centerline is valid? [True, True] Translation: X:240.75, Y:-127.53, Z:-4.14 [[-7.71537514e-01 6.36127419e-01 8.47175019e-03 2.40747172e+02] [ 6.36087366e-01 7.71584015e-01 -7.13934809e-03 -1.27533363e+02] [-1.10782021e-02 -1.19501613e-04 -9.99938628e-01 -4.14384109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.01218240301724711 Centerline is valid? [True, True] Translation: X:240.77, Y:-127.51, Z:-4.14 [[-8.14593670e-01 5.79962889e-01 8.95544717e-03 2.40765710e+02] [ 5.79926225e-01 8.14642887e-01 -6.52226687e-03 -1.27513692e+02] [-1.10781641e-02 -1.19498638e-04 -9.99938628e-01 -4.14384146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.012168494139227567 Centerline is valid? [True, True] Translation: X:240.78, Y:-127.49, Z:-4.14 [[-8.54002228e-01 5.20180797e-01 9.59866468e-03 2.40784267e+02] [ 5.20146202e-01 8.54056158e-01 -6.00058568e-03 -1.27493389e+02] [-1.13191881e-02 -1.31804559e-04 -9.99935927e-01 -4.14392313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.012333419209482905 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.47, Z:-4.14 [[-8.88948097e-01 4.57888098e-01 1.04771482e-02 2.40798333e+02] [ 4.57854364e-01 8.89009825e-01 -5.55999488e-03 -1.27468863e+02] [-1.18601432e-02 -1.45538830e-04 -9.99929655e-01 -4.14366014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.012896557837682562 Centerline is valid? [True, True] Translation: X:240.81, Y:-127.44, Z:-4.14 [[-9.20001271e-01 3.91758234e-01 1.10971913e-02 2.40812804e+02] [ 3.91727419e-01 9.20068180e-01 -4.91669490e-03 -1.27442336e+02] [-1.21363283e-02 -1.76291453e-04 -9.99926337e-01 -4.14257103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.013021224895910085 Centerline is valid? [True, True] Translation: X:240.83, Y:-127.42, Z:-4.14 [[-9.45705163e-01 3.24835893e-01 1.11079809e-02 2.40827688e+02] [ 3.24811237e-01 9.45770379e-01 -4.00621616e-03 -1.27419171e+02] [-1.18069621e-02 -1.80702297e-04 -9.99930279e-01 -4.14337090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.013253773188477638 Centerline is valid? [True, True] Translation: X:240.84, Y:-127.39, Z:-4.14 [[-9.66478620e-01 2.56545146e-01 1.01816191e-02 2.40836230e+02] [ 2.56529082e-01 9.66532234e-01 -2.87581962e-03 -1.27393308e+02] [-1.05786406e-02 -1.67536769e-04 -9.99944031e-01 -4.14393833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.012978788126874233 Centerline is valid? [True, True] Translation: X:240.84, Y:-127.37, Z:-4.15 [[-9.82265943e-01 1.87295041e-01 8.61302266e-03 2.40840665e+02] [ 1.87286585e-01 9.82303694e-01 -1.78530911e-03 -1.27367653e+02] [-8.79498352e-03 -1.40544739e-04 -9.99961314e-01 -4.14524064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.013039353878095489 Centerline is valid? [True, True] Translation: X:240.85, Y:-127.34, Z:-4.15 [[-9.93170494e-01 1.16356820e-01 8.57090255e-03 2.40845667e+02] [ 1.16351225e-01 9.93207465e-01 -1.15026340e-03 -1.27342150e+02] [-8.64652539e-03 -1.45172659e-04 -9.99962608e-01 -4.14548508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.013040632647545153 Centerline is valid? [True, True] Translation: X:240.94, Y:-126.64, Z:-5.11 [[-9.76180741e-01 -2.16775734e-01 8.91300808e-03 2.40940999e+02] [ 2.16768390e-01 -9.76221413e-01 -1.79359090e-03 -1.26644571e+02] [ 9.08987633e-03 1.81189519e-04 9.99958670e-01 -5.11204286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.013840134969842962 Centerline is valid? [True, True] Translation: X:240.79, Y:-127.33, Z:-4.14 [[-9.93960087e-01 1.09294246e-01 9.90522390e-03 2.40793471e+02] [ 1.09286813e-01 9.94009420e-01 -1.29024360e-03 -1.27332125e+02] [-9.98690207e-03 -1.99940283e-04 -9.99950110e-01 -4.14302241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.01381823355004639 Centerline is valid? [True, True] Translation: X:240.80, Y:-127.30, Z:-4.14 [[-9.99212418e-01 3.81471640e-02 1.09242105e-02 2.40795248e+02] [ 3.81424525e-02 9.99272107e-01 -6.39384546e-04 -1.27304847e+02] [-1.09406496e-02 -2.22204798e-04 -9.99940125e-01 -4.14221434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.01385812832626728 Centerline is valid? [True, True] Translation: X:240.83, Y:-126.61, Z:-5.11 [[-9.89290146e-01 -1.45616457e-01 1.00426552e-02 2.40831869e+02] [ 1.45610529e-01 -9.89341106e-01 -1.32284921e-03 -1.26608985e+02] [ 1.01282403e-02 1.53634656e-04 9.99948696e-01 -5.11436772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.013950474911800024 Centerline is valid? [True, True] Translation: X:240.74, Y:-127.30, Z:-4.14 [[-9.99399083e-01 3.33798061e-02 9.34139667e-03 2.40739123e+02] [ 3.33765204e-02 9.99442720e-01 -5.07456026e-04 -1.27302869e+02] [-9.35312968e-03 -1.95367770e-04 -9.99956239e-01 -4.14367160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.014604690647733395 Centerline is valid? [True, True] Translation: X:240.73, Y:-127.27, Z:-4.14 [[-9.99225069e-01 -3.83470364e-02 8.87505569e-03 2.40730084e+02] [-3.83472248e-02 9.99264464e-01 1.49005505e-04 -1.27274206e+02] [-8.87424168e-03 -1.91443720e-04 -9.99960605e-01 -4.14301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.014979072416706362 Centerline is valid? [True, True] Translation: X:240.73, Y:-126.58, Z:-5.12 [[-9.97296889e-01 -7.25853749e-02 1.14140012e-02 2.40728809e+02] [ 7.25853622e-02 -9.97362117e-01 -4.15920102e-04 -1.26580931e+02] [ 1.14140821e-02 4.13693587e-04 9.99934772e-01 -5.11727736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.01688952117765322 Centerline is valid? [True, True] Translation: X:240.67, Y:-127.27, Z:-4.14 [[-9.98918740e-01 -4.48106020e-02 1.23838980e-02 2.40670648e+02] [-4.48107765e-02 9.98995458e-01 2.63526958e-04 -1.27273000e+02] [-1.23832667e-02 -2.91690069e-04 -9.99923282e-01 -4.13875943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.015417605861072473 Centerline is valid? [True, True] Translation: X:240.65, Y:-126.58, Z:-5.12 [[-9.97370646e-01 -7.15938615e-02 1.12300200e-02 2.40650318e+02] [ 7.15914526e-02 -9.97433849e-01 -6.16879686e-04 -1.26582017e+02] [ 1.12453669e-02 1.88715752e-04 9.99936751e-01 -5.11514344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.016398879981382855 Centerline is valid? [True, True] Translation: X:240.60, Y:-127.27, Z:-4.14 [[-9.98554558e-01 -5.28539351e-02 9.75993878e-03 2.40603467e+02] [-5.28539865e-02 9.98602219e-01 2.52848874e-04 -1.27273872e+02] [-9.75966058e-03 -2.63368276e-04 -9.99952339e-01 -4.14239345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.01569797440663246 Centerline is valid? [True, True] Translation: X:240.60, Y:-127.25, Z:-4.14 [[-9.92397212e-01 -1.22700521e-01 9.61022140e-03 2.40597004e+02] [-1.22697212e-01 9.92443711e-01 9.35462530e-04 -1.27249037e+02] [-9.65238553e-03 -2.50796964e-04 -9.99953383e-01 -4.14237653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.015700950060411435 Centerline is valid? [True, True] Translation: X:240.54, Y:-126.56, Z:-5.11 [[-9.99961930e-01 3.54934522e-03 7.97119319e-03 2.40536085e+02] [-3.54846897e-03 -9.99993696e-01 1.24066965e-04 -1.26561425e+02] [ 7.97158330e-03 9.57767102e-05 9.99968222e-01 -5.11285446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.01633599521703873 Centerline is valid? [True, True] Translation: X:240.52, Y:-127.25, Z:-4.14 [[-9.91723650e-01 -1.28173878e-01 7.46052512e-03 2.40523633e+02] [-1.28171766e-01 9.91751691e-01 7.62543324e-04 -1.27253925e+02] [-7.49672654e-03 -1.99996431e-04 -9.99971879e-01 -4.14397944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.016040125930525232 Centerline is valid? [True, True] Translation: X:240.46, Y:-126.57, Z:-5.11 [[-9.99941642e-01 7.99895204e-03 7.26147991e-03 2.40463615e+02] [-7.99744594e-03 -9.99967992e-01 2.36423239e-04 -1.26571697e+02] [ 7.26313862e-03 1.78336149e-04 9.99973607e-01 -5.11316869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.0156480495353382 Centerline is valid? [True, True] Translation: X:240.45, Y:-127.26, Z:-4.14 [[-9.91119798e-01 -1.32774361e-01 7.24676916e-03 2.40454878e+02] [-1.32772223e-01 9.91146272e-01 7.77572502e-04 -1.27260132e+02] [-7.28584992e-03 -1.91502147e-04 -9.99973440e-01 -4.14497053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.015114959386664099 Centerline is valid? [True, True] Translation: X:240.45, Y:-127.23, Z:-4.15 [[-9.79555850e-01 -2.01053642e-01 6.91159965e-03 2.40451649e+02] [-2.01049864e-01 9.79580218e-01 1.24425443e-03 -1.27233460e+02] [-7.02062818e-03 -1.70759465e-04 -9.99975341e-01 -4.14513734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.014209062124531463 Centerline is valid? [True, True] Translation: X:240.44, Y:-127.21, Z:-4.15 [[-9.63746508e-01 -2.66739364e-01 6.54058105e-03 2.40438533e+02] [-2.66734195e-01 9.63768692e-01 1.66645303e-03 -1.27209106e+02] [-6.74811587e-03 -1.38558327e-04 -9.99977222e-01 -4.14512352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.012554200121746233 Centerline is valid? [True, True] Translation: X:240.42, Y:-127.19, Z:-4.15 [[-9.44435836e-01 -3.28650613e-01 5.45211378e-03 2.40415507e+02] [-3.28645608e-01 9.44451570e-01 1.81541938e-03 -1.27191799e+02] [-5.74589612e-03 -7.72661242e-05 -9.99983489e-01 -4.14586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.011410498847081882 Centerline is valid? [True, True] Translation: X:240.38, Y:-127.18, Z:-4.15 [[-9.20649855e-01 -3.90358966e-01 4.87052571e-03 2.40377248e+02] [-3.90353709e-01 9.20662737e-01 2.02624185e-03 -1.27181113e+02] [-5.27507321e-03 -3.57685140e-05 -9.99986086e-01 -4.14684138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.011247788438741088 Centerline is valid? [True, True] Translation: X:240.32, Y:-127.18, Z:-4.15 [[-8.90717438e-01 -4.54532804e-01 4.73035543e-03 2.40315069e+02] [-4.54526522e-01 8.90729998e-01 2.38977635e-03 -1.27178844e+02] [-5.29970122e-03 -2.14565369e-05 -9.99985956e-01 -4.14625755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.011246242001225882 Centerline is valid? [True, True] Translation: X:240.25, Y:-127.18, Z:-4.14 [[-8.55028863e-01 -5.18551189e-01 5.50525984e-03 2.40246745e+02] [-5.18540606e-01 8.55046586e-01 3.31303449e-03 -1.27181662e+02] [-6.42523160e-03 -2.19606604e-05 -9.99979358e-01 -4.14469511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.011193362101270275 Centerline is valid? [True, True] Translation: X:240.17, Y:-127.20, Z:-4.14 [[-8.14038856e-01 -5.80781804e-01 5.76511944e-03 2.40174592e+02] [-5.80767455e-01 8.14059270e-01 4.08260450e-03 -1.27196173e+02] [-7.06425133e-03 -2.47950481e-05 -9.99975048e-01 -4.14464656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.011298929293376784 Centerline is valid? [True, True] Translation: X:240.09, Y:-127.22, Z:-4.14 [[-7.68103588e-01 -6.40296557e-01 6.09890857e-03 2.40094398e+02] [-6.40276693e-01 7.68127801e-01 5.04371127e-03 -1.27222736e+02] [-7.91421219e-03 -3.08962826e-05 -9.99968682e-01 -4.14403416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.011293186459749601 Centerline is valid? [True, True] Translation: X:240.01, Y:-127.26, Z:-4.14 [[-7.17625218e-01 -6.96402400e-01 6.14360130e-03 2.40013324e+02] [-6.96377312e-01 7.17651514e-01 5.91134068e-03 -1.27258172e+02] [-8.52563661e-03 -3.61374109e-05 -9.99963655e-01 -4.14355322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.011301885383245551 Centerline is valid? [True, True] Translation: X:239.93, Y:-127.30, Z:-4.14 [[-6.62458261e-01 -7.49073068e-01 6.21219950e-03 2.39929049e+02] [-7.49040807e-01 6.62487387e-01 6.95216688e-03 -1.27304892e+02] [-9.32318478e-03 -4.76705394e-05 -9.99956537e-01 -4.14409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.011337580531284603 Centerline is valid? [True, True] Translation: X:239.85, Y:-127.36, Z:-4.14 [[-6.03297194e-01 -7.97496258e-01 5.67581505e-03 2.39846821e+02] [-7.97461831e-01 6.03323890e-01 7.41029208e-03 -1.27360003e+02] [-9.33403502e-03 -5.56374473e-05 -9.99956435e-01 -4.14453480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.01129451479664047 Centerline is valid? [True, True] Translation: X:239.76, Y:-127.43, Z:-4.15 [[-5.40708810e-01 -8.41198308e-01 4.40335065e-03 2.39764625e+02] [-8.41171189e-01 5.40726737e-01 6.75479745e-03 -1.27428142e+02] [-8.06313362e-03 -5.15932144e-05 -9.99967491e-01 -4.14650214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.01117754370923313 Centerline is valid? [True, True] Translation: X:239.69, Y:-127.50, Z:-4.15 [[-4.75081117e-01 -8.79933306e-01 3.91271228e-03 2.39690384e+02] [-8.79904374e-01 4.75097227e-01 7.13564384e-03 -1.27499291e+02] [-8.13780943e-03 -5.28030047e-05 -9.99966886e-01 -4.14742266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.011256514517450808 Centerline is valid? [True, True] Translation: X:239.62, Y:-127.58, Z:-4.15 [[-4.06081587e-01 -9.13830185e-01 3.48391870e-03 2.39616876e+02] [-9.13797821e-01 4.06096527e-01 7.69117479e-03 -1.27582432e+02] [-8.44323496e-03 -6.03528505e-05 -9.99964353e-01 -4.14700484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.011359845768961718 Centerline is valid? [True, True] Translation: X:239.55, Y:-127.68, Z:-4.15 [[-3.34279790e-01 -9.42468769e-01 3.10495596e-03 2.39548185e+02] [-9.42430136e-01 3.34294202e-01 8.53374269e-03 -1.27675318e+02] [-9.08075474e-03 -7.35463571e-05 -9.99958766e-01 -4.14644342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.011700362985845146 Centerline is valid? [True, True] Translation: X:239.49, Y:-127.77, Z:-4.15 [[-2.59843697e-01 -9.65647536e-01 2.46766111e-03 2.39487563e+02] [-9.65607158e-01 2.59855399e-01 8.83112249e-03 -1.27767066e+02] [-9.16898673e-03 -8.80797103e-05 -9.99957960e-01 -4.14602797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.011792170523042367 Centerline is valid? [True, True] Translation: X:239.43, Y:-127.88, Z:-4.14 [[-1.84932010e-01 -9.82749490e-01 1.89534421e-03 2.39431546e+02] [-9.82703105e-01 1.84941697e-01 9.54863553e-03 -1.27876127e+02] [-9.73444486e-03 -9.67122794e-05 -9.99952615e-01 -4.14475220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.011859306686195312 Centerline is valid? [True, True] Translation: X:239.39, Y:-127.98, Z:-4.14 [[-1.10325132e-01 -9.93894828e-01 1.19832455e-03 2.39388050e+02] [-9.93844496e-01 1.10331605e-01 1.00027569e-02 -1.27977801e+02] [-1.00739014e-02 -8.73927782e-05 -9.99949253e-01 -4.14362696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.011663209763651084 Centerline is valid? [True, True] Translation: X:239.35, Y:-128.09, Z:-4.14 [[-3.55019462e-02 -9.99369511e-01 4.38861930e-04 2.39353782e+02] [-9.99316262e-01 3.55045850e-02 1.03166508e-02 -1.28090616e+02] [-1.03257279e-02 -7.23006818e-05 -9.99946686e-01 -4.14428249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.01158146084084214 Centerline is valid? [True, True] Translation: X:239.33, Y:-128.20, Z:-4.14 [[ 3.87107512e-02 -9.99250404e-01 -3.28489000e-04 2.39329021e+02] [-9.99204601e-01 -3.87121220e-02 9.56752645e-03 -1.28204646e+02] [-9.57307117e-03 -4.21384155e-05 -9.99954176e-01 -4.14441880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.011449408788408116 Centerline is valid? [True, True] Translation: X:239.31, Y:-128.32, Z:-4.14 [[ 1.14125592e-01 -9.93465864e-01 -9.62964147e-04 2.39311643e+02] [-9.93428371e-01 -1.14129651e-01 8.63104257e-03 -1.28320306e+02] [-8.68454892e-03 -2.83869372e-05 -9.99962288e-01 -4.14475077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.011409682302855235 Centerline is valid? [True, True] Translation: X:239.30, Y:-128.44, Z:-4.15 [[ 1.89335083e-01 -9.81911627e-01 -1.33532091e-03 2.39303643e+02] [-9.81886541e-01 -1.89339791e-01 7.01880977e-03 -1.28437590e+02] [-7.14468030e-03 -1.77732979e-05 -9.99974476e-01 -4.14630273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.011469198737564247 Centerline is valid? [True, True] Translation: X:239.30, Y:-128.56, Z:-4.14 [[ 2.63948766e-01 -9.64534140e-01 -2.22309914e-03 2.39304177e+02] [-9.64499318e-01 -2.63958127e-01 8.19591120e-03 -1.28557402e+02] [-8.49204124e-03 -1.91230394e-05 -9.99963942e-01 -4.14474793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.0114790660461972 Centerline is valid? [True, True] Translation: X:239.31, Y:-128.67, Z:-4.14 [[ 3.37935728e-01 -9.41165388e-01 -2.67519711e-03 2.39312839e+02] [-9.41135326e-01 -3.37946316e-01 7.52236061e-03 -1.28674246e+02] [-7.98385845e-03 -2.43519058e-05 -9.99968128e-01 -4.14481003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.01163242309599528 Centerline is valid? [True, True] Translation: X:239.33, Y:-128.79, Z:-4.15 [[ 4.11391443e-01 -9.11453614e-01 -3.06437042e-03 2.39328528e+02] [-9.11427559e-01 -4.11402853e-01 6.89184440e-03 -1.28791047e+02] [-7.54228722e-03 -4.22941628e-05 -9.99971556e-01 -4.14507233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.01219681957711605 Centerline is valid? [True, True] Translation: X:239.35, Y:-128.91, Z:-4.14 [[ 4.83243785e-01 -8.75476940e-01 -3.94621290e-03 2.39353813e+02] [-8.75446427e-01 -4.83259891e-01 7.30972555e-03 -1.28909238e+02] [-8.30654257e-03 -7.76814590e-05 -9.99965497e-01 -4.14424049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.012334459011783087 Centerline is valid? [True, True] Translation: X:239.39, Y:-129.02, Z:-4.14 [[ 5.49739043e-01 -8.35322966e-01 -4.74630858e-03 2.39385624e+02] [-8.35290372e-01 -5.49759524e-01 7.37972211e-03 -1.29017506e+02] [-8.77377970e-03 -9.23755060e-05 -9.99961505e-01 -4.14365130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.012537765018750273 Centerline is valid? [True, True] Translation: X:239.43, Y:-129.13, Z:-4.14 [[ 6.13594831e-01 -7.89605464e-01 -4.95924816e-03 2.39431102e+02] [-7.89578296e-01 -6.13614863e-01 6.55090562e-03 -1.29130746e+02] [-8.21569925e-03 -1.03887119e-04 -9.99966245e-01 -4.14372243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.012761690553332749 Centerline is valid? [True, True] Translation: X:239.47, Y:-129.22, Z:-4.14 [[ 6.72146965e-01 -7.40400757e-01 -5.01758222e-03 2.39472042e+02] [-7.40379039e-01 -6.72165686e-01 5.67181975e-03 -1.29222406e+02] [-7.57206623e-03 -9.73837307e-05 -9.99971327e-01 -4.14426152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.012292474516261434 Centerline is valid? [True, True] Translation: X:239.53, Y:-129.32, Z:-4.15 [[ 7.25306493e-01 -6.88413837e-01 -4.10866861e-03 2.39530154e+02] [-6.88402292e-01 -7.25318127e-01 3.98733384e-03 -1.29318432e+02] [-5.72502761e-03 -6.36222326e-05 -9.99983610e-01 -4.14562643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.011963058050691611 Centerline is valid? [True, True] Translation: X:239.55, Y:-129.34, Z:-4.14 [[ 7.74880704e-01 -6.32092552e-01 -4.34750786e-03 2.39552103e+02] [-6.32082277e-01 -7.74892899e-01 3.60428044e-03 -1.29343896e+02] [-5.64709179e-03 -4.49046968e-05 -9.99984054e-01 -4.14494969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.011569724009825557 Centerline is valid? [True, True] Translation: X:239.58, Y:-129.37, Z:-4.15 [[ 8.20244412e-01 -5.71997529e-01 -4.23458729e-03 2.39575369e+02] [-5.71989742e-01 -8.20255342e-01 2.98477292e-03 -1.29368218e+02] [-5.18072558e-03 -2.61028113e-05 -9.99986580e-01 -4.14532571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.011399338822941807 Centerline is valid? [True, True] Translation: X:239.60, Y:-129.39, Z:-4.15 [[ 8.61002423e-01 -5.08579435e-01 -4.66752412e-03 2.39600014e+02] [-5.08571887e-01 -8.61015074e-01 2.77089997e-03 -1.29391051e+02] [-5.42803137e-03 -1.19800378e-05 -9.99985268e-01 -4.14511450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.011479326868782634 Centerline is valid? [True, True] Translation: X:239.63, Y:-129.41, Z:-4.14 [[ 8.96452937e-01 -4.43092035e-01 -6.44834264e-03 2.39626694e+02] [-4.43080662e-01 -8.96476128e-01 3.17459776e-03 -1.29411030e+02] [-7.18742423e-03 1.12584412e-05 -9.99974170e-01 -4.14278015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.011444663650096509 Centerline is valid? [True, True] Translation: X:239.65, Y:-129.43, Z:-4.14 [[ 9.28165311e-01 -3.72114127e-01 -6.34280135e-03 2.39653484e+02] [-3.72105543e-01 -9.28186983e-01 2.52764586e-03 -1.29432534e+02] [-6.82787838e-03 1.41183312e-05 -9.99976690e-01 -4.14273468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.011563494118986875 Centerline is valid? [True, True] Translation: X:239.68, Y:-129.45, Z:-4.14 [[ 9.54658687e-01 -2.97622875e-01 -6.88586705e-03 2.39681350e+02] [-2.97615203e-01 -9.54683521e-01 2.13702144e-03 -1.29453159e+02] [-7.20985026e-03 9.21263599e-06 -9.99974009e-01 -4.14161276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.011516219620190291 Centerline is valid? [True, True] Translation: X:239.71, Y:-129.47, Z:-4.14 [[ 9.75367991e-01 -2.20464397e-01 -7.26160700e-03 2.39709979e+02] [-2.20458265e-01 -9.75395022e-01 1.64429159e-03 -1.29472967e+02] [-7.44544307e-03 -2.90810222e-06 -9.99972282e-01 -4.14009756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.01152486856982264 Centerline is valid? [True, True] Translation: X:239.74, Y:-129.49, Z:-4.14 [[ 9.89933602e-01 -1.41411454e-01 -5.85360913e-03 2.39739007e+02] [-1.41408895e-01 -9.89950908e-01 8.50868495e-04 -1.29488896e+02] [-5.91510823e-03 -1.45509136e-05 -9.99982505e-01 -4.14050302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.011588815054584638 Centerline is valid? [True, True] Translation: X:239.77, Y:-129.50, Z:-4.14 [[ 9.98011918e-01 -6.28104620e-02 -5.20163402e-03 2.39768037e+02] [-6.28095222e-02 -9.98025473e-01 3.43997276e-04 -1.29500372e+02] [-5.21296988e-03 -1.66012338e-05 -9.99986412e-01 -4.14121066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.011857735059490164 Centerline is valid? [True, True] Translation: X:239.80, Y:-129.51, Z:-4.14 [[ 9.99799178e-01 1.92446829e-02 -5.58988631e-03 2.39797780e+02] [ 1.92445996e-02 -9.99814803e-01 -6.86936083e-05 -1.29512773e+02] [-5.59017306e-03 -3.88953109e-05 -9.99984374e-01 -4.14058605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.01209439272164984 Centerline is valid? [True, True] Translation: X:239.83, Y:-129.52, Z:-4.14 [[ 9.95081596e-01 9.89158451e-02 -5.31726331e-03 2.39827780e+02] [ 9.89146754e-02 -9.95095801e-01 -4.83153918e-04 -1.29519267e+02] [-5.33897797e-03 -4.51778028e-05 -9.99985747e-01 -4.14057428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.012714294672920467 Centerline is valid? [True, True] Translation: X:239.86, Y:-129.53, Z:-4.14 [[ 9.83439834e-01 1.81174960e-01 -4.66122654e-03 2.39859249e+02] [ 1.81173226e-01 -9.83450878e-01 -7.95255283e-04 -1.29527325e+02] [-4.72816768e-03 -6.24037244e-05 -9.99988820e-01 -4.14067170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.013336139143067686 Centerline is valid? [True, True] Translation: X:239.89, Y:-129.53, Z:-4.14 [[ 9.65769142e-01 2.59355379e-01 -4.97511076e-03 2.39890045e+02] [ 2.59352347e-01 -9.65781953e-01 -1.25648913e-03 -1.29530646e+02] [-5.13074941e-03 -7.68282242e-05 -9.99986835e-01 -4.13994415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.0137394810372556 Centerline is valid? [True, True] Translation: X:239.92, Y:-129.53, Z:-4.14 [[ 9.42037225e-01 3.35480460e-01 -4.32766353e-03 2.39921223e+02] [ 3.35477284e-01 -9.42047162e-01 -1.46168453e-03 -1.29527979e+02] [-4.56722975e-03 -7.48715710e-05 -9.99989567e-01 -4.14041444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.013906662880179714 Centerline is valid? [True, True] Translation: X:239.95, Y:-129.52, Z:-4.14 [[ 9.12240532e-01 4.09628094e-01 -4.69421405e-03 2.39953221e+02] [ 4.09623186e-01 -9.12252605e-01 -2.00727202e-03 -1.29523889e+02] [-5.10454401e-03 -9.17440154e-05 -9.99986968e-01 -4.14075429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.014552732369565844 Centerline is valid? [True, True] Translation: X:239.99, Y:-129.52, Z:-4.14 [[ 8.76011239e-01 4.82247055e-01 -6.48744866e-03 2.39985920e+02] [ 4.82235107e-01 -8.76035248e-01 -3.39798037e-03 -1.29519209e+02] [-7.32189972e-03 -1.51806507e-04 -9.99973183e-01 -4.13874073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.0164489082919742 Centerline is valid? [True, True] Translation: X:240.02, Y:-129.51, Z:-4.14 [[ 8.34355455e-01 5.51187090e-01 -6.61560279e-03 2.40016503e+02] [ 5.51171454e-01 -8.34381663e-01 -4.15559516e-03 -1.29512344e+02] [-7.81044807e-03 -1.79087916e-04 -9.99969482e-01 -4.13698383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.015853411793594768 Centerline is valid? [True, True] Translation: X:240.04, Y:-129.50, Z:-4.14 [[ 7.88590908e-01 6.14889298e-01 -5.96080133e-03 2.40043152e+02] [ 6.14873357e-01 -7.88613417e-01 -4.43084893e-03 -1.29496955e+02] [-7.42524950e-03 -1.71010746e-04 -9.99972418e-01 -4.13821300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.01733054968784855 Centerline is valid? [True, True] Translation: X:240.07, Y:-129.48, Z:-4.14 [[ 7.38518150e-01 6.74212302e-01 -5.35858590e-03 2.40069782e+02] [ 6.74196097e-01 -7.38537573e-01 -4.67712351e-03 -1.29483000e+02] [-7.11089123e-03 -1.58597096e-04 -9.99974705e-01 -4.13681797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.01491522865879336 Centerline is valid? [True, True] Translation: X:240.09, Y:-129.46, Z:-4.14 [[ 6.83963707e-01 7.29499605e-01 -4.89629220e-03 2.40093924e+02] [ 7.29482481e-01 -6.83981215e-01 -5.00068770e-03 -1.29464432e+02] [-6.99697159e-03 -1.51470489e-04 -9.99975509e-01 -4.13804049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.014185048984334103 Centerline is valid? [True, True] Translation: X:240.12, Y:-129.45, Z:-4.14 [[ 6.26299167e-01 7.79569317e-01 -4.58616695e-03 2.40118068e+02] [ 7.79550043e-01 -6.26315943e-01 -5.48367849e-03 -1.29446100e+02] [-7.14729697e-03 -1.40723377e-04 -9.99974448e-01 -4.13810508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.013954239867051974 Centerline is valid? [True, True] Translation: X:240.14, Y:-129.43, Z:-4.14 [[ 5.64583148e-01 8.25364222e-01 -4.44636691e-03 2.40142173e+02] [ 8.25340550e-01 -5.64600639e-01 -6.25264547e-03 -1.29426645e+02] [-7.67113146e-03 -1.39628645e-04 -9.99970567e-01 -4.13741809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.013744492127940908 Centerline is valid? [True, True] Translation: X:240.16, Y:-129.41, Z:-4.14 [[ 4.99343793e-01 8.66393996e-01 -4.14975344e-03 2.40164293e+02] [ 8.66366317e-01 -4.99361017e-01 -6.92673381e-03 -1.29405236e+02] [-8.07350569e-03 -1.36385068e-04 -9.99967399e-01 -4.13684679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.013156331109718715 Centerline is valid? [True, True] Translation: X:240.19, Y:-129.38, Z:-4.14 [[ 4.30793167e-01 9.02443938e-01 -3.49075486e-03 2.40185145e+02] [ 9.02416627e-01 -4.30807292e-01 -7.02199663e-03 -1.29383196e+02] [-7.84080094e-03 -1.25087053e-04 -9.99969253e-01 -4.13738345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.013376251782011557 Centerline is valid? [True, True] Translation: X:240.20, Y:-129.36, Z:-4.14 [[ 3.58824496e-01 9.33399969e-01 -3.07868895e-03 2.40204436e+02] [ 9.33368689e-01 -3.58837680e-01 -7.64267098e-03 -1.29359631e+02] [-8.23841846e-03 -1.31174305e-04 -9.99966055e-01 -4.13697897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.013748170097138534 Centerline is valid? [True, True] Translation: X:240.22, Y:-129.34, Z:-4.14 [[ 2.82729872e-01 9.59195362e-01 -2.84205618e-03 2.40223126e+02] [ 9.59152758e-01 -2.82744106e-01 -9.04200055e-03 -1.29335032e+02] [-9.47661962e-03 -1.69522358e-04 -9.99955081e-01 -4.13652936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.014073547873848886 Centerline is valid? [True, True] Translation: X:240.24, Y:-129.31, Z:-4.14 [[ 2.06945056e-01 9.78350438e-01 -2.04062084e-03 2.40237530e+02] [ 9.78310243e-01 -2.06955054e-01 -8.86978893e-03 -1.29309289e+02] [-9.10007868e-03 -1.60801306e-04 -9.99958581e-01 -4.13604796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.013330101216163218 Centerline is valid? [True, True] Translation: X:240.25, Y:-129.28, Z:-4.14 [[ 1.31595736e-01 9.91302630e-01 -1.28762421e-03 2.40248039e+02] [ 9.91264885e-01 -1.31601963e-01 -8.65164017e-03 -1.29281719e+02] [-8.74584753e-03 -1.37857706e-04 -9.99961745e-01 -4.13703739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.012279110475197462 Centerline is valid? [True, True] Translation: X:240.25, Y:-129.25, Z:-4.14 [[ 5.93317301e-02 9.98238207e-01 -4.76816615e-04 2.40252737e+02] [ 9.98214624e-01 -5.93336061e-02 -6.86200735e-03 -1.29253905e+02] [-6.87820917e-03 -6.88305499e-05 -9.99976342e-01 -4.13863330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.011822693465283123 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.23, Z:-4.14 [[-1.45099088e-02 9.99894724e-01 6.24344758e-05 2.40256369e+02] [ 9.99870778e-01 1.45099934e-02 -6.92009911e-03 -1.29225412e+02] [-6.92027651e-03 -3.79835991e-05 -9.99976054e-01 -4.13852572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.011702434819153177 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.20, Z:-4.14 [[-8.56434792e-02 9.96325614e-01 6.81511995e-04 2.40257627e+02] [ 9.96295287e-01 8.56461897e-02 -7.77373907e-03 -1.29197415e+02] [-7.80354426e-03 1.32171291e-05 -9.99969552e-01 -4.13720321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.011971346671346873 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.17, Z:-4.14 [[-1.59267557e-01 9.87234365e-01 1.46751534e-03 2.40260137e+02] [ 9.87195459e-01 1.59274309e-01 -8.76468991e-03 -1.29169252e+02] [-8.88654057e-03 5.27937235e-05 -9.99960513e-01 -4.13637616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.01261157572179112 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.14, Z:-4.14 [[-2.31810185e-01 9.72758250e-01 2.32920484e-03 2.40261205e+02] [ 9.72713394e-01 2.31821864e-01 -9.34221626e-03 -1.29141289e+02] [-9.62767855e-03 1.00027864e-04 -9.99953648e-01 -4.13593954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.01269018378256785 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.11, Z:-4.14 [[-3.06680746e-01 9.51808614e-01 2.69854339e-03 2.40262145e+02] [ 9.51774416e-01 3.06692604e-01 -8.06890314e-03 -1.29112911e+02] [-8.50767482e-03 9.38273249e-05 -9.99963805e-01 -4.13658780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.01252152643458989 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.09, Z:-4.14 [[-3.81726819e-01 9.24270165e-01 3.04927006e-03 2.40260610e+02] [ 9.24242202e-01 3.81738991e-01 -7.18985610e-03 -1.29086065e+02] [-7.80939476e-03 7.37031735e-05 -9.99969504e-01 -4.13678065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.012052841884862905 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.06, Z:-4.14 [[-4.55842681e-01 8.90053180e-01 3.57587478e-03 2.40258286e+02] [ 8.90026618e-01 4.55856704e-01 -6.87640350e-03 -1.29056406e+02] [-7.75045130e-03 4.80655348e-05 -9.99969964e-01 -4.13681418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.011632794411639266 Centerline is valid? [True, True] Translation: X:240.26, Y:-129.02, Z:-4.14 [[-5.30692889e-01 8.47551493e-01 4.63941600e-03 2.40260172e+02] [ 8.47518893e-01 5.30713168e-01 -7.43367845e-03 -1.29022725e+02] [-8.76262443e-03 -1.30075807e-05 -9.99961607e-01 -4.13655174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.012499185382247119 Centerline is valid? [True, True] Translation: X:240.26, Y:-128.99, Z:-4.13 [[-6.02578539e-01 7.98037568e-01 5.92836534e-03 2.40259832e+02] [ 7.97997242e-01 6.02607692e-01 -8.02314880e-03 -1.28989349e+02] [-9.97525271e-03 -1.03758089e-04 -9.99950241e-01 -4.13442164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.013335349549856079 Centerline is valid? [True, True] Translation: X:240.25, Y:-128.96, Z:-4.13 [[-6.66287619e-01 7.45662162e-01 6.98203798e-03 2.40249481e+02] [ 7.45618770e-01 6.66324182e-01 -8.04570592e-03 -1.28959342e+02] [-1.06516792e-02 -1.54815663e-04 -9.99943257e-01 -4.13380715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.014907350810888113 Centerline is valid? [True, True] Translation: X:240.24, Y:-128.93, Z:-4.13 [[-7.24785965e-01 6.88929439e-01 7.84427613e-03 2.40236480e+02] [ 6.88886161e-01 7.24828387e-01 -7.72439214e-03 -1.28932342e+02] [-1.10073152e-02 -1.94717743e-04 -9.99939399e-01 -4.13307198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.014773448821781247 Centerline is valid? [True, True] Translation: X:240.26, Y:-128.91, Z:-4.14 [[-7.73618493e-01 6.33607851e-01 7.45112442e-03 2.40256787e+02] [ 6.33575917e-01 7.73654348e-01 -6.36454366e-03 -1.28911412e+02] [-9.79721963e-03 -2.02875686e-04 -9.99951986e-01 -4.13518676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.014815744706290386 Centerline is valid? [True, True] Translation: X:240.27, Y:-128.89, Z:-4.14 [[-8.16843925e-01 5.76817126e-01 6.92863625e-03 2.40270992e+02] [ 5.76794458e-01 8.16873289e-01 -5.11701230e-03 -1.28885828e+02] [-8.61139821e-03 -1.83401419e-04 -9.99962904e-01 -4.13682771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.014815744706290386 Centerline is valid? [True, True] Translation: X:240.29, Y:-128.86, Z:-4.14 [[-8.55598966e-01 5.17588165e-01 7.27323373e-03 2.40285939e+02] [ 5.17567631e-01 8.55629860e-01 -4.61406621e-03 -1.28863586e+02] [-8.61138202e-03 -1.83399925e-04 -9.99962905e-01 -4.13682787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.015429686616019803 Centerline is valid? [True, True] Translation: X:240.30, Y:-128.84, Z:-4.14 [[-8.90353647e-01 4.55189336e-01 8.54704025e-03 2.40300633e+02] [ 4.55166060e-01 8.90394645e-01 -4.60810519e-03 -1.28838770e+02] [-9.70779921e-03 -2.12520624e-04 -9.99952856e-01 -4.13637889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.016335398107198314 Centerline is valid? [True, True] Translation: X:240.31, Y:-128.81, Z:-4.13 [[-9.21130465e-01 3.89104287e-01 1.07944179e-02 2.40306076e+02] [ 3.89073952e-01 9.21193668e-01 -4.86687617e-03 -1.28807502e+02] [-1.18374718e-02 -2.83201065e-04 -9.99929895e-01 -4.13444350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.016977356632123613 Centerline is valid? [True, True] Translation: X:240.57, Y:-128.24, Z:-5.12 [[-8.68711979e-01 -4.95177455e-01 1.17807195e-02 2.40573741e+02] [ 4.95138345e-01 -8.68791756e-01 -6.23727599e-03 -1.28236118e+02] [ 1.33235504e-02 4.14689564e-04 9.99911152e-01 -5.12292279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.017788671485198134 Centerline is valid? [True, True] Translation: X:240.56, Y:-128.26, Z:-5.12 [[-8.32493194e-01 -5.53915887e-01 1.15009775e-02 2.40555558e+02] [ 5.53869450e-01 -8.32572542e-01 -7.18291890e-03 -1.28262877e+02] [ 1.35541310e-02 3.90309009e-04 9.99908062e-01 -5.12303650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.017697506001061007 Centerline is valid? [True, True] Translation: X:240.22, Y:-128.79, Z:-4.13 [[-8.96630295e-01 4.42619458e-01 1.19218057e-02 2.40222712e+02] [ 4.42574529e-01 8.96709465e-01 -6.31836743e-03 -1.28789748e+02] [-1.34870283e-02 -3.88952127e-04 -9.99908970e-01 -4.13476699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.01670904109329378 Centerline is valid? [True, True] Translation: X:240.24, Y:-128.77, Z:-4.14 [[-9.25076779e-01 3.79630779e-01 1.06501120e-02 2.40239603e+02] [ 3.79601644e-01 9.25138028e-01 -4.71400849e-03 -1.28770413e+02] [-1.16424063e-02 -3.18019758e-04 -9.99932174e-01 -4.13741265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.0169035127120499 Centerline is valid? [True, True] Translation: X:240.25, Y:-128.74, Z:-4.14 [[-9.48855931e-01 3.15554338e-01 9.89349229e-03 2.40247552e+02] [ 3.15534307e-01 9.48907473e-01 -3.56504654e-03 -1.28744681e+02] [-1.05129747e-02 -2.60979327e-04 -9.99944703e-01 -4.13841197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.014760744627477096 Centerline is valid? [True, True] Translation: X:240.46, Y:-128.16, Z:-5.12 [[-9.07260558e-01 -4.20470763e-01 9.08938985e-03 2.40461807e+02] [ 4.20451992e-01 -9.07306063e-01 -3.97863398e-03 -1.28155682e+02] [ 9.91975779e-03 2.11994385e-04 9.99950776e-01 -5.11741434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.014485831684850074 Centerline is valid? [True, True] Translation: X:240.21, Y:-128.74, Z:-4.14 [[-9.48077128e-01 3.17882184e-01 1.00337072e-02 2.40210381e+02] [ 3.17862161e-01 9.48130201e-01 -3.57338398e-03 -1.28736415e+02] [-1.06491759e-02 -1.98507766e-04 -9.99943276e-01 -4.13966264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.013739642597081379 Centerline is valid? [True, True] Translation: X:240.22, Y:-128.71, Z:-4.14 [[-9.67583694e-01 2.52293223e-01 1.13984229e-02 2.40217180e+02] [ 2.52273389e-01 9.67650812e-01 -3.16917744e-03 -1.28711134e+02] [-1.18292551e-02 -1.90925649e-04 -9.99930014e-01 -4.13951694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.01328304610283065 Centerline is valid? [True, True] Translation: X:240.38, Y:-128.10, Z:-5.12 [[-9.38540181e-01 -3.44943973e-01 1.24894044e-02 2.40382476e+02] [ 3.44917598e-01 -9.38623230e-01 -4.27570472e-03 -1.28100048e+02] [ 1.31977237e-02 2.94894695e-04 9.99912863e-01 -5.11868827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.013033339776530374 Centerline is valid? [True, True] Translation: X:240.17, Y:-128.70, Z:-4.14 [[-9.67462076e-01 2.52725143e-01 1.21298476e-02 2.40173216e+02] [ 2.52703333e-01 9.67538102e-01 -3.32354469e-03 -1.28700574e+02] [-1.25760330e-02 -1.50150528e-04 -9.99920907e-01 -4.13925460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.012506796568326562 Centerline is valid? [True, True] Translation: X:240.34, Y:-128.09, Z:-5.12 [[-9.41559274e-01 -3.36656596e-01 1.13344580e-02 2.40343068e+02] [ 3.36633597e-01 -9.41627487e-01 -3.93658942e-03 -1.28088693e+02] [ 1.19981160e-02 1.09027109e-04 9.99928014e-01 -5.11820368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.012098066204960274 Centerline is valid? [True, True] Translation: X:240.13, Y:-128.69, Z:-4.14 [[-9.67207409e-01 2.53729787e-01 1.14465604e-02 2.40131673e+02] [ 2.53710984e-01 9.67275136e-01 -3.09005115e-03 -1.28692816e+02] [-1.18560113e-02 -8.46022703e-05 -9.99929711e-01 -4.14052954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.012067758501049504 Centerline is valid? [True, True] Translation: X:240.30, Y:-128.08, Z:-5.12 [[-9.43390623e-01 -3.31517723e-01 1.04943590e-02 2.40301740e+02] [ 3.31497600e-01 -9.43448991e-01 -3.65278145e-03 -1.28077580e+02] [ 1.11118542e-02 3.28550537e-05 9.99938261e-01 -5.11598578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.012152723454184817 Centerline is valid? [True, True] Translation: X:240.09, Y:-128.68, Z:-4.14 [[-9.68248188e-01 2.49732916e-01 1.13541935e-02 2.40087277e+02] [ 2.49714679e-01 9.68314754e-01 -3.01930346e-03 -1.28680044e+02] [-1.17484525e-02 -8.81263261e-05 -9.99930981e-01 -4.14041212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.012247693026601792 Centerline is valid? [True, True] Translation: X:240.25, Y:-128.07, Z:-5.12 [[-9.44212155e-01 -3.29135186e-01 1.15514220e-02 2.40248762e+02] [ 3.29112103e-01 -9.44282805e-01 -3.89984463e-03 -1.28066772e+02] [ 1.21913853e-02 1.19432087e-04 9.99925675e-01 -5.11633982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.012136905523101987 Centerline is valid? [True, True] Translation: X:240.04, Y:-128.67, Z:-4.14 [[-9.69253722e-01 2.45801209e-01 1.13572910e-02 2.40042526e+02] [ 2.45783226e-01 9.69320255e-01 -2.97458286e-03 -1.28665777e+02] [-1.17400082e-02 -9.16938939e-05 -9.99931080e-01 -4.14122657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.012014067161182994 Centerline is valid? [True, True] Translation: X:240.05, Y:-128.64, Z:-4.14 [[-9.83868683e-01 1.78591105e-01 1.03745605e-02 2.40046004e+02] [ 1.78580541e-01 9.83923378e-01 -1.94342756e-03 -1.28638497e+02] [-1.05548515e-02 -5.93828819e-05 -9.99944294e-01 -4.14091051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.01184842939546696 Centerline is valid? [True, True] Translation: X:240.17, Y:-128.02, Z:-5.12 [[-9.67579614e-01 -2.52374820e-01 9.83059616e-03 2.40166845e+02] [ 2.52362139e-01 -9.67629552e-01 -2.53019349e-03 -1.28020550e+02] [ 1.01509325e-02 3.27066288e-05 9.99948477e-01 -5.11533339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.011947403695300984 Centerline is valid? [True, True] Translation: X:240.00, Y:-128.63, Z:-4.14 [[-9.83163730e-01 1.82406142e-01 1.08202980e-02 2.40003990e+02] [ 1.82395358e-01 9.83223270e-01 -1.98359348e-03 -1.28634356e+02] [-1.10005885e-02 2.33749672e-05 -9.99939491e-01 -4.14195523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.012313782418149712 Centerline is valid? [True, True] Translation: X:240.00, Y:-128.61, Z:-4.14 [[-9.93183767e-01 1.15908297e-01 1.22992568e-02 2.40004870e+02] [ 1.15900325e-01 9.93259916e-01 -1.36138232e-03 -1.28608220e+02] [-1.23741542e-02 7.33850326e-05 -9.99923435e-01 -4.14048008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.012914422879727806 Centerline is valid? [True, True] Translation: X:240.08, Y:-127.98, Z:-5.12 [[-9.86055590e-01 -1.65894999e-01 1.31614198e-02 2.40078921e+02] [ 1.65879934e-01 -9.86143422e-01 -2.23571666e-03 -1.27975339e+02] [ 1.33499418e-02 -2.13254590e-05 9.99910885e-01 -5.11735007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.013398378561737473 Centerline is valid? [True, True] Translation: X:239.96, Y:-128.61, Z:-4.14 [[-9.92830248e-01 1.18824087e-01 1.29975026e-02 2.39959013e+02] [ 1.18816121e-01 9.92915308e-01 -1.38612148e-03 -1.28605976e+02] [-1.30701239e-02 1.68129509e-04 -9.99914568e-01 -4.14010514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.013566530462761175 Centerline is valid? [True, True] Translation: X:239.96, Y:-128.58, Z:-4.14 [[-9.98715479e-01 4.89242053e-02 1.31838762e-02 2.39955461e+02] [ 4.89223403e-02 9.98802478e-01 -4.64124011e-04 -1.28577230e+02] [-1.31907951e-02 1.81458241e-04 -9.99912981e-01 -4.14029075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.01311601403892706 Centerline is valid? [True, True] Translation: X:239.95, Y:-128.55, Z:-4.14 [[-9.99615775e-01 -2.39712179e-02 1.39169810e-02 2.39949839e+02] [-2.39665737e-02 9.99712635e-01 5.00418828e-04 -1.28547510e+02] [-1.39249774e-02 1.66684203e-04 -9.99903029e-01 -4.14041436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.01256164687155181 Centerline is valid? [True, True] Translation: X:239.94, Y:-128.52, Z:-4.14 [[-9.95150762e-01 -9.74755131e-02 1.31713829e-02 2.39939725e+02] [-9.74652990e-02 9.95237916e-01 1.41670277e-03 -1.28518381e+02] [-1.32467535e-02 1.26080076e-04 -9.99912250e-01 -4.14125264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.012160802073061581 Centerline is valid? [True, True] Translation: X:239.93, Y:-128.49, Z:-4.14 [[-9.84909905e-01 -1.72628905e-01 1.23183053e-02 2.39928348e+02] [-1.72614655e-01 9.84986933e-01 2.21884534e-03 -1.28488145e+02] [-1.25164066e-02 5.90427358e-05 -9.99921665e-01 -4.14148134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.011847093817464344 Centerline is valid? [True, True] Translation: X:239.81, Y:-127.88, Z:-5.12 [[-9.93823486e-01 1.10347912e-01 1.17565377e-02 2.39813870e+02] [-1.10341452e-01 -9.93893016e-01 1.19875392e-03 -1.27883822e+02] [ 1.18170207e-02 -1.05883633e-04 9.99930171e-01 -5.11526151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.011945250436576137 Centerline is valid? [True, True] Translation: X:239.84, Y:-128.50, Z:-4.14 [[-9.82373884e-01 -1.86623708e-01 1.06368567e-02 2.39836613e+02] [-1.86613243e-01 9.82431468e-01 1.97689221e-03 -1.28496598e+02] [-1.08189177e-02 -4.29310488e-05 -9.99941473e-01 -4.14228919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.012222393393349696 Centerline is valid? [True, True] Translation: X:239.82, Y:-128.47, Z:-4.14 [[-9.65802068e-01 -2.59086885e-01 1.00175811e-02 2.39819734e+02] [-2.59073718e-01 9.65854016e-01 2.61294976e-03 -1.28470008e+02] [-1.03525020e-02 -7.16996964e-05 -9.99946409e-01 -4.14256287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.012377897999289938 Centerline is valid? [True, True] Translation: X:239.79, Y:-128.45, Z:-4.14 [[-9.44411225e-01 -3.28617429e-01 9.90064216e-03 2.39794137e+02] [-3.28600307e-01 9.44463116e-01 3.35562351e-03 -1.28448340e+02] [-1.04535077e-02 -8.42655434e-05 -9.99945357e-01 -4.14221843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.013006525905284274 Centerline is valid? [True, True] Translation: X:239.58, Y:-127.89, Z:-5.12 [[-9.69083066e-01 2.46486606e-01 1.10618184e-02 2.39579566e+02] [-2.46468646e-01 -9.69146185e-01 2.97991074e-03 -1.27891791e+02] [ 1.14550272e-02 1.61389646e-04 9.99934376e-01 -5.11598368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.012845297267312821 Centerline is valid? [True, True] Translation: X:239.67, Y:-128.49, Z:-4.14 [[-9.41219177e-01 -3.37606331e-01 1.13324975e-02 2.39665618e+02] [-3.37583618e-01 9.41287388e-01 3.91845027e-03 -1.28490825e+02] [-1.19900306e-02 -1.37544961e-04 -9.99928108e-01 -4.14254541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.013399551347469767 Centerline is valid? [True, True] Translation: X:239.63, Y:-128.47, Z:-4.14 [[-9.14370171e-01 -4.04719405e-01 1.13751058e-02 2.39632918e+02] [-4.04690039e-01 9.14440913e-01 4.87747866e-03 -1.28473890e+02] [-1.23758724e-02 -1.43571014e-04 -9.99923406e-01 -4.14132855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.01325733404299322 Centerline is valid? [True, True] Translation: X:239.58, Y:-128.47, Z:-4.14 [[-8.82842738e-01 -4.69529157e-01 1.14485927e-02 2.39578638e+02] [-4.69491690e-01 8.82916957e-01 5.93300427e-03 -1.28472955e+02] [-1.28938751e-02 -1.37109415e-04 -9.99916861e-01 -4.14166939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.01268846522225142 Centerline is valid? [True, True] Translation: X:239.52, Y:-128.48, Z:-4.14 [[-8.47090950e-01 -5.31320882e-01 1.16207850e-02 2.39520485e+02] [-5.31272727e-01 8.47170648e-01 7.15416432e-03 -1.28480357e+02] [-1.36459448e-02 -1.13578262e-04 -9.99906883e-01 -4.14281886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.01242804549145855 Centerline is valid? [True, True] Translation: X:239.45, Y:-128.50, Z:-4.14 [[-8.06139678e-01 -5.91623743e-01 1.09620591e-02 2.39450443e+02] [-5.91570670e-01 8.06214201e-01 7.92494334e-03 -1.28497506e+02] [-1.35263523e-02 -9.62213630e-05 -9.99908510e-01 -4.14360245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.01238359600101699 Centerline is valid? [True, True] Translation: X:239.38, Y:-128.53, Z:-4.14 [[-7.60163971e-01 -6.49647859e-01 1.04113231e-02 2.39376482e+02] [-6.49588549e-01 7.60235260e-01 8.77874066e-03 -1.28525000e+02] [-1.36181450e-02 -8.97939244e-05 -9.99907265e-01 -4.14366114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.01252962359518736 Centerline is valid? [True, True] Translation: X:239.30, Y:-128.56, Z:-4.14 [[-7.09385316e-01 -7.04746952e-01 1.02081240e-02 2.39298249e+02] [-7.04675906e-01 7.09458754e-01 1.00071844e-02 -1.28561874e+02] [-1.42947757e-02 -9.44693478e-05 -9.99897820e-01 -4.14323706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.012493466080464543 Centerline is valid? [True, True] Translation: X:239.22, Y:-128.61, Z:-4.14 [[-6.53531642e-01 -7.56845877e-01 8.98397200e-03 2.39217612e+02] [-7.56776605e-01 6.53593381e-01 1.02402249e-02 -1.28610804e+02] [-1.36221367e-02 -1.06548815e-04 -9.99907209e-01 -4.14400236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.012610050664935443 Centerline is valid? [True, True] Translation: X:239.14, Y:-128.67, Z:-4.14 [[-5.93680240e-01 -8.04665851e-01 7.52604647e-03 2.39138130e+02] [-8.04603597e-01 5.93727931e-01 1.00098102e-02 -1.28668523e+02] [-1.25229764e-02 -1.12857556e-04 -9.99921578e-01 -4.14478580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.012548460321792633 Centerline is valid? [True, True] Translation: X:239.06, Y:-128.74, Z:-4.15 [[-5.30115077e-01 -8.47902379e-01 6.28973947e-03 2.39060572e+02] [-8.47845354e-01 5.30152376e-01 9.83432374e-03 -1.28736705e+02] [-1.16730668e-02 -1.19403100e-04 -9.99931860e-01 -4.14647818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.012822673801588072 Centerline is valid? [True, True] Translation: X:238.99, Y:-128.81, Z:-4.15 [[-4.63254209e-01 -8.86207382e-01 5.65812736e-03 2.38986697e+02] [-8.86144853e-01 4.63288742e-01 1.05281408e-02 -1.28812629e+02] [-1.19514628e-02 -1.36714885e-04 -9.99928569e-01 -4.14578788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.012847056692437067 Centerline is valid? [True, True] Translation: X:238.92, Y:-128.89, Z:-4.14 [[-3.94801816e-01 -9.18751802e-01 5.16259136e-03 2.38919401e+02] [-9.18677867e-01 3.94835543e-01 1.16563875e-02 -1.28893063e+02] [-1.27477015e-02 -1.40795485e-04 -9.99918735e-01 -4.14477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.012741362967367132 Centerline is valid? [True, True] Translation: X:238.86, Y:-128.99, Z:-4.14 [[-3.24185633e-01 -9.45983190e-01 4.41353766e-03 2.38857310e+02] [-9.45901206e-01 3.24215646e-01 1.24548533e-02 -1.28985318e+02] [-1.32130198e-02 -1.37086106e-04 -9.99912695e-01 -4.14473099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.01255409179038758 Centerline is valid? [True, True] Translation: X:238.80, Y:-129.08, Z:-4.15 [[-2.52037583e-01 -9.67710888e-01 3.56284387e-03 2.38802298e+02] [-9.67621177e-01 2.52062732e-01 1.31771355e-02 -1.29080104e+02] [-1.36497177e-02 -1.26349806e-04 -9.99906830e-01 -4.14511631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.0123269810448591 Centerline is valid? [True, True] Translation: X:238.75, Y:-129.18, Z:-4.15 [[-1.77629495e-01 -9.84094277e-01 2.49337189e-03 2.38752871e+02] [-9.84006539e-01 1.77646954e-01 1.31412127e-02 -1.29183094e+02] [-1.33751321e-02 -1.19227272e-04 -9.99910542e-01 -4.14590185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.012409399492848142 Centerline is valid? [True, True] Translation: X:238.71, Y:-129.29, Z:-4.15 [[-1.01205674e-01 -9.94864544e-01 1.39651961e-03 2.38710090e+02] [-9.94785505e-01 1.01215238e-01 1.25408882e-02 -1.29292438e+02] [-1.26178341e-02 -1.20028421e-04 -9.99920385e-01 -4.14629710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.012491776674513224 Centerline is valid? [True, True] Translation: X:238.68, Y:-129.41, Z:-4.15 [[-2.39422417e-02 -9.99713260e-01 4.09662111e-04 2.38675451e+02] [-9.99641534e-01 2.39454314e-02 1.19757905e-02 -1.29405181e+02] [-1.19821661e-02 -1.22787991e-04 -9.99928204e-01 -4.14713159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.012900579999050386 Centerline is valid? [True, True] Translation: X:238.65, Y:-129.54, Z:-4.15 [[ 5.47902917e-02 -9.98497757e-01 -5.03334279e-04 2.38647974e+02] [-9.98427517e-01 -5.47924080e-02 1.18442149e-02 -1.29535798e+02] [-1.18540009e-02 -1.46405197e-04 -9.99929728e-01 -4.14667294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.01316115181166899 Centerline is valid? [True, True] Translation: X:238.63, Y:-129.64, Z:-4.15 [[ 1.33008187e-01 -9.91113967e-01 -1.38770719e-03 2.38628853e+02] [-9.91046306e-01 -1.33015323e-01 1.15820424e-02 -1.29640394e+02] [-1.16637103e-02 -1.65224369e-04 -9.99931963e-01 -4.14678618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.013787176547034099 Centerline is valid? [True, True] Translation: X:238.62, Y:-129.76, Z:-4.15 [[ 2.11549398e-01 -9.77364588e-01 -2.30509382e-03 2.38618243e+02] [-9.77295676e-01 -2.11561859e-01 1.16078588e-02 -1.29758248e+02] [-1.18327801e-02 -2.02877316e-04 -9.99929970e-01 -4.14628390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.013936354709888656 Centerline is valid? [True, True] Translation: X:238.62, Y:-129.87, Z:-4.15 [[ 2.86949157e-01 -9.57940472e-01 -3.19893392e-03 2.38617235e+02] [-9.57872233e-01 -2.86966905e-01 1.14359210e-02 -1.29872631e+02] [-1.18729198e-02 -2.17357926e-04 -9.99929491e-01 -4.14634827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.013879904216717741 Centerline is valid? [True, True] Translation: X:238.63, Y:-129.99, Z:-4.15 [[ 3.59228543e-01 -9.33242022e-01 -3.76609627e-03 2.38626076e+02] [-9.33184808e-01 -3.59248229e-01 1.03356045e-02 -1.29988828e+02] [-1.09985838e-02 -1.98380298e-04 -9.99939494e-01 -4.14602802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.013999620978848 Centerline is valid? [True, True] Translation: X:238.65, Y:-130.11, Z:-4.15 [[ 4.29013474e-01 -9.03288083e-01 -4.25196289e-03 2.38645636e+02] [-9.03239521e-01 -4.29034507e-01 9.36797334e-03 -1.30106025e+02] [-1.02862175e-02 -1.78445857e-04 -9.99947080e-01 -4.14599212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.014274925073587193 Centerline is valid? [True, True] Translation: X:238.67, Y:-130.22, Z:-4.15 [[ 4.97002948e-01 -8.67735092e-01 -4.88671763e-03 2.38671805e+02] [-8.67689572e-01 -4.97026940e-01 8.88976843e-03 -1.30219013e+02] [-1.01427943e-02 -1.78087192e-04 -9.99948545e-01 -4.14552973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.014789751682765747 Centerline is valid? [True, True] Translation: X:238.70, Y:-130.32, Z:-4.14 [[ 5.62651370e-01 -8.26672798e-01 -5.96002209e-03 2.38701947e+02] [-8.26622572e-01 -5.62682899e-01 9.11476513e-03 -1.30322594e+02] [-1.08885309e-02 -2.01746295e-04 -9.99940698e-01 -4.14405418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.015090535226334056 Centerline is valid? [True, True] Translation: X:238.74, Y:-130.43, Z:-4.14 [[ 6.24285335e-01 -7.81164791e-01 -7.02784444e-03 2.38744177e+02] [-7.81111350e-01 -6.24324854e-01 9.13983716e-03 -1.30427581e+02] [-1.15273769e-02 -2.16337238e-04 -9.99933534e-01 -4.14344854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.014656500501116602 Centerline is valid? [True, True] Translation: X:238.79, Y:-130.52, Z:-4.15 [[ 6.82435786e-01 -7.30907371e-01 -7.47080606e-03 2.38792532e+02] [-7.30860073e-01 -6.82476643e-01 8.31776945e-03 -1.30523755e+02] [-1.11781696e-02 -2.16229670e-04 -9.99937499e-01 -4.14508507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.014762322013234625 Centerline is valid? [True, True] Translation: X:238.85, Y:-130.62, Z:-4.15 [[ 7.36954894e-01 -6.75894356e-01 -8.01899693e-03 2.38845309e+02] [-6.75850921e-01 -7.36998485e-01 7.66585150e-03 -1.30616491e+02] [-1.10912944e-02 -2.29740309e-04 -9.99938463e-01 -4.14528700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.01571194419967693 Centerline is valid? [True, True] Translation: X:238.87, Y:-130.64, Z:-4.14 [[ 7.88463757e-01 -6.15015206e-01 -9.01111487e-03 2.38867073e+02] [-6.14971264e-01 -7.88515205e-01 7.35630862e-03 -1.30643566e+02] [-1.16296428e-02 -2.58606026e-04 -9.99932340e-01 -4.14455259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.015399056251704183 Centerline is valid? [True, True] Translation: X:238.89, Y:-130.67, Z:-4.15 [[ 8.34350964e-01 -5.51147976e-01 -9.71480243e-03 2.38891000e+02] [-5.51106853e-01 -8.34407477e-01 6.73791294e-03 -1.30668798e+02] [-1.18196909e-02 -2.67889964e-04 -9.99930109e-01 -4.14505104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.015857620603467435 Centerline is valid? [True, True] Translation: X:238.92, Y:-130.69, Z:-4.15 [[ 8.74996090e-01 -4.84030161e-01 -9.83086561e-03 2.38916125e+02] [-4.83996252e-01 -8.75051276e-01 5.73523343e-03 -1.30691028e+02] [-1.13785375e-02 -2.60204724e-04 -9.99935229e-01 -4.14536442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.01698924838390248 Centerline is valid? [True, True] Translation: X:238.94, Y:-130.71, Z:-4.15 [[ 9.10168587e-01 -4.14134375e-01 -9.26620037e-03 2.38944155e+02] [-4.14110269e-01 -9.10215724e-01 4.47450699e-03 -1.30711165e+02] [-1.02872884e-02 -2.35326976e-04 -9.99947057e-01 -4.14571681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.014809868672507453 Centerline is valid? [True, True] Translation: X:238.97, Y:-130.73, Z:-4.15 [[ 9.39599105e-01 -3.42166563e-01 -8.69284153e-03 2.38973938e+02] [-3.42149852e-01 -9.39639292e-01 3.38808020e-03 -1.30728052e+02] [-9.32742322e-03 -2.09182684e-04 -9.99956477e-01 -4.14861775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.014992415399823987 Centerline is valid? [True, True] Translation: X:239.00, Y:-130.75, Z:-4.15 [[ 9.63439308e-01 -2.67795459e-01 -8.38407682e-03 2.39004045e+02] [-2.67783552e-01 -9.63475767e-01 2.53280580e-03 -1.30746762e+02] [-8.75612874e-03 -1.95086792e-04 -9.99961645e-01 -4.14899766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.015518923976844972 Centerline is valid? [True, True] Translation: X:239.04, Y:-130.76, Z:-4.15 [[ 9.81571043e-01 -1.90860532e-01 -9.51545776e-03 2.39035067e+02] [-1.90849342e-01 -9.81617139e-01 2.07890173e-03 -1.30762581e+02] [-9.73731671e-03 -2.24570891e-04 -9.99952566e-01 -4.14765831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.017220267978467343 Centerline is valid? [True, True] Translation: X:239.07, Y:-130.78, Z:-4.15 [[ 9.93613647e-01 -1.12368595e-01 -1.02576223e-02 2.39066861e+02] [-1.12359997e-01 -9.93666562e-01 1.41248033e-03 -1.30776339e+02] [-1.03513747e-02 -2.50913320e-04 -9.99946392e-01 -4.14603861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.017383955959800097 Centerline is valid? [True, True] Translation: X:239.10, Y:-130.78, Z:-4.15 [[ 9.99398244e-01 -3.26336059e-02 -1.17557784e-02 2.39097656e+02] [-3.26277674e-02 -9.99467336e-01 6.88148002e-04 -1.30782614e+02] [-1.17719733e-02 -3.04169100e-04 -9.99930662e-01 -4.14550935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.01614902931625228 Centerline is valid? [True, True] Translation: X:239.13, Y:-130.79, Z:-4.15 [[ 9.98861483e-01 4.62169847e-02 -1.18206436e-02 2.39128928e+02] [ 4.62174377e-02 -9.98931376e-01 -2.34988675e-04 -1.30788061e+02] [-1.18188723e-02 -3.11598724e-04 -9.99930106e-01 -4.14674348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.016607309315820964 Centerline is valid? [True, True] Translation: X:239.16, Y:-130.79, Z:-4.15 [[ 9.92218173e-01 1.24058335e-01 -1.06125443e-02 2.39158279e+02] [ 1.24054236e-01 -9.92274887e-01 -1.04622031e-03 -1.30792318e+02] [-1.06603535e-02 -2.78452273e-04 -9.99943138e-01 -4.14730459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.018480147538965933 Centerline is valid? [True, True] Translation: X:239.19, Y:-130.80, Z:-4.15 [[ 9.79559030e-01 2.00933831e-01 -9.47112871e-03 2.39188473e+02] [ 2.00926870e-01 -9.79604785e-01 -1.69064275e-03 -1.30795450e+02] [-9.61767032e-03 -2.46919876e-04 -9.99953719e-01 -4.14685552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.01746337616209626 Centerline is valid? [True, True] Translation: X:239.22, Y:-130.79, Z:-4.15 [[ 9.60806528e-01 2.77106741e-01 -7.91646209e-03 2.39218770e+02] [ 2.77099138e-01 -9.60839117e-01 -2.06355509e-03 -1.30789220e+02] [-8.17827147e-03 -2.10967623e-04 -9.99966535e-01 -4.14871347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.016365315007481857 Centerline is valid? [True, True] Translation: X:239.25, Y:-130.79, Z:-4.15 [[ 9.35882842e-01 3.52226132e-01 -7.74968876e-03 2.39249418e+02] [ 3.52215976e-01 -9.35914902e-01 -2.68366281e-03 -1.30785064e+02] [-8.19830537e-03 -2.17970213e-04 -9.99966370e-01 -4.14982223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.016877782637203322 Centerline is valid? [True, True] Translation: X:239.28, Y:-130.78, Z:-4.15 [[ 9.04851175e-01 4.25646089e-01 -8.35206020e-03 2.39280358e+02] [ 4.25630538e-01 -9.04889685e-01 -3.64734186e-03 -1.30781369e+02] [-9.11016992e-03 -2.54590315e-04 -9.99958469e-01 -4.14904574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.016910277067757495 Centerline is valid? [True, True] Translation: X:239.31, Y:-130.77, Z:-4.15 [[ 8.68404332e-01 4.95793307e-01 -7.93173707e-03 2.39311487e+02] [ 4.95775313e-01 -8.68440516e-01 -4.23189138e-03 -1.30774178e+02] [-8.98638526e-03 -2.57366619e-04 -9.99959589e-01 -4.14889163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.017261718011147453 Centerline is valid? [True, True] Translation: X:239.34, Y:-130.76, Z:-4.15 [[ 8.27094389e-01 5.62010318e-01 -7.69891169e-03 2.39340877e+02] [ 5.61988857e-01 -8.27130180e-01 -4.91823926e-03 -1.30764354e+02] [-9.13210342e-03 -2.58854486e-04 -9.99958268e-01 -4.14902244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.015727520367915655 Centerline is valid? [True, True] Translation: X:239.37, Y:-130.75, Z:-4.15 [[ 7.82339537e-01 6.22812412e-01 -7.03904960e-03 2.39369046e+02] [ 6.22789761e-01 -7.82371171e-01 -5.31640314e-03 -1.30751219e+02] [-8.81827134e-03 -2.24615645e-04 -9.99961093e-01 -4.14868630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.015451494865065153 Centerline is valid? [True, True] Translation: X:239.40, Y:-130.74, Z:-4.15 [[ 7.32745119e-01 6.80465255e-01 -7.18518999e-03 2.39396449e+02] [ 6.80435487e-01 -7.32780313e-01 -6.36870748e-03 -1.30736694e+02] [-9.59884993e-03 -2.22418926e-04 -9.99953905e-01 -4.14849815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.014874277937064839 Centerline is valid? [True, True] Translation: X:239.42, Y:-130.72, Z:-4.15 [[ 6.78132608e-01 7.34907167e-01 -6.90083561e-03 2.39423000e+02] [ 7.34872352e-01 -6.78167684e-01 -7.15671991e-03 -1.30720803e+02] [-9.93944846e-03 -2.18028161e-04 -9.99950579e-01 -4.14863725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.014848595371382592 Centerline is valid? [True, True] Translation: X:239.45, Y:-130.70, Z:-4.15 [[ 6.19571443e-01 7.84913362e-01 -6.49924060e-03 2.39447457e+02] [ 7.84873702e-01 -6.19605495e-01 -7.89321347e-03 -1.30704537e+02] [-1.02224539e-02 -2.10673368e-04 -9.99947727e-01 -4.14842177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.014384167632398978 Centerline is valid? [True, True] Translation: X:239.47, Y:-130.69, Z:-4.15 [[ 5.57164219e-01 8.30384997e-01 -5.36554721e-03 2.39471958e+02] [ 8.30349607e-01 -5.57190024e-01 -7.66857877e-03 -1.30685855e+02] [-9.35750214e-03 -1.82622319e-04 -9.99956201e-01 -4.14968844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.01389302368836277 Centerline is valid? [True, True] Translation: X:239.50, Y:-130.67, Z:-4.15 [[ 4.91655027e-01 8.70779997e-01 -4.18710820e-03 2.39495159e+02] [ 8.70750968e-01 -4.91672833e-01 -7.11171648e-03 -1.30665373e+02] [-8.25142780e-03 -1.49417365e-04 -9.99965945e-01 -4.15083059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.013825609006572658 Centerline is valid? [True, True] Translation: X:239.52, Y:-130.64, Z:-4.15 [[ 4.23342048e-01 9.05963860e-01 -3.31572980e-03 2.39515018e+02] [ 9.05938359e-01 -4.23355014e-01 -6.79872037e-03 -1.30643076e+02] [-7.56312579e-03 -1.25662610e-04 -9.99971391e-01 -4.15195336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.013501430238460342 Centerline is valid? [True, True] Translation: X:239.53, Y:-130.62, Z:-4.15 [[ 3.51929213e-01 9.36022777e-01 -2.68151351e-03 2.39534476e+02] [ 9.35998050e-01 -3.51939410e-01 -6.80453246e-03 -1.30619626e+02] [-7.31292765e-03 -1.15177658e-04 -9.99973254e-01 -4.15280497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.013554226584607908 Centerline is valid? [True, True] Translation: X:239.55, Y:-130.60, Z:-4.15 [[ 2.77471024e-01 9.60731673e-01 -2.11716377e-03 2.39552662e+02] [ 9.60706772e-01 -2.77479078e-01 -6.91803679e-03 -1.30595407e+02] [-7.23384571e-03 -1.14418813e-04 -9.99973829e-01 -4.15183505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.01394782064453615 Centerline is valid? [True, True] Translation: X:239.57, Y:-130.57, Z:-4.15 [[ 2.00431852e-01 9.79706337e-01 -1.60189940e-03 2.39569936e+02] [ 9.79679798e-01 -2.00438215e-01 -7.21222141e-03 -1.30569346e+02] [-7.38694088e-03 -1.23789589e-04 -9.99972709e-01 -4.15082196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.013656017966954313 Centerline is valid? [True, True] Translation: X:239.59, Y:-130.54, Z:-4.15 [[ 1.22753554e-01 9.92436681e-01 -1.00005425e-03 2.39585310e+02] [ 9.92411378e-01 -1.22757567e-01 -7.08776438e-03 -1.30542591e+02] [-7.15692158e-03 -1.22416949e-04 -9.99974381e-01 -4.15073633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.013756517655806457 Centerline is valid? [True, True] Translation: X:239.60, Y:-130.51, Z:-4.15 [[ 4.54390708e-02 9.98967051e-01 -3.49840771e-04 2.39596975e+02] [ 9.98951041e-01 -4.54403234e-02 -5.65646956e-03 -1.30514446e+02] [-5.66652359e-03 -9.24490818e-05 -9.99983941e-01 -4.15124037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.01357570499492581 Centerline is valid? [True, True] Translation: X:239.61, Y:-130.49, Z:-4.15 [[-3.23272666e-02 9.99477335e-01 6.74215920e-05 2.39606807e+02] [ 9.99469027e-01 3.23272728e-02 -4.07571499e-03 -1.30485124e+02] [-4.07576431e-03 -6.43709321e-05 -9.99991692e-01 -4.15274170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.013788798567983375 Centerline is valid? [True, True] Translation: X:239.61, Y:-130.46, Z:-4.15 [[-1.10617440e-01 9.93862994e-01 3.62245550e-04 2.39613863e+02] [ 9.93855717e-01 1.10618016e-01 -3.80382182e-03 -1.30455673e+02] [-3.82054862e-03 -6.07492201e-05 -9.99992700e-01 -4.15194393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.014095879074312166 Centerline is valid? [True, True] Translation: X:239.62, Y:-130.43, Z:-4.15 [[-1.87746963e-01 9.82217034e-01 8.80420623e-04 2.39617645e+02] [ 9.82204182e-01 1.87749011e-01 -5.02521807e-03 -1.30426116e+02] [-5.10115289e-03 -7.87166129e-05 -9.99986986e-01 -4.14996386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.013913134492390029 Centerline is valid? [True, True] Translation: X:239.62, Y:-130.40, Z:-4.15 [[-2.62817991e-01 9.64844169e-01 1.56008954e-03 2.39615252e+02] [ 9.64825134e-01 2.62822606e-01 -6.06117083e-03 -1.30396735e+02] [-6.25811213e-03 -8.77711361e-05 -9.99980414e-01 -4.14869913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.013295037666936264 Centerline is valid? [True, True] Translation: X:239.61, Y:-130.37, Z:-4.15 [[-3.36751860e-01 9.41590983e-01 2.14601444e-03 2.39611014e+02] [ 9.41570195e-01 3.36758686e-01 -6.25741963e-03 -1.30366601e+02] [-6.61461891e-03 -8.65744580e-05 -9.99978119e-01 -4.14913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.01301918066295077 Centerline is valid? [True, True] Translation: X:239.60, Y:-130.34, Z:-4.15 [[-4.08046068e-01 9.12957602e-01 2.61232918e-03 2.39604745e+02] [ 9.12937693e-01 4.08054423e-01 -6.02962388e-03 -1.30336622e+02] [-6.57076343e-03 -7.54705421e-05 -9.99978409e-01 -4.14954169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.012480476291125673 Centerline is valid? [True, True] Translation: X:239.60, Y:-130.31, Z:-4.15 [[-4.75826170e-01 8.79534643e-01 2.87550918e-03 2.39597019e+02] [ 8.79517900e-01 4.75834855e-01 -5.42711769e-03 -1.30306731e+02] [-6.14160551e-03 -5.33028327e-05 -9.99981139e-01 -4.15086904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.012320875550708325 Centerline is valid? [True, True] Translation: X:239.59, Y:-130.28, Z:-4.15 [[-5.41590918e-01 8.40636270e-01 3.15257732e-03 2.39587823e+02] [ 8.40621603e-01 5.41600092e-01 -4.96587396e-03 -1.30277112e+02] [-5.88192993e-03 -3.93476315e-05 -9.99982701e-01 -4.15072706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.012142043319696264 Centerline is valid? [True, True] Translation: X:239.58, Y:-130.25, Z:-4.15 [[-6.05014218e-01 7.96207586e-01 3.35801684e-03 2.39577493e+02] [ 7.96195025e-01 6.05023536e-01 -4.47252683e-03 -1.30247771e+02] [-5.59273902e-03 -3.23060242e-05 -9.99984360e-01 -4.15073959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.012157705001285964 Centerline is valid? [True, True] Translation: X:239.57, Y:-130.22, Z:-4.15 [[-6.66523937e-01 7.45474160e-01 3.75728731e-03 2.39565856e+02] [ 7.45461972e-01 6.66534526e-01 -4.26302014e-03 -1.30219162e+02] [-5.68233308e-03 -4.04901561e-05 -9.99983855e-01 -4.15075173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.01294546198388518 Centerline is valid? [True, True] Translation: X:239.55, Y:-130.19, Z:-4.15 [[-7.25388380e-01 6.88325128e-01 4.49632102e-03 2.39553413e+02] [ 6.88311327e-01 7.25402312e-01 -4.35924781e-03 -1.30191302e+02] [-6.26222147e-03 -6.72790183e-05 -9.99980390e-01 -4.14981574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.01308150369911948 Centerline is valid? [True, True] Translation: X:240.00, Y:-129.73, Z:-5.11 [[-6.59217652e-01 -7.51938221e-01 4.58256342e-03 2.40002925e+02] [ 7.51921186e-01 -6.59233570e-01 -5.06261490e-03 -1.29729884e+02] [ 6.82775329e-03 1.08361415e-04 9.99976685e-01 -5.10770807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.014138672774683822 Centerline is valid? [True, True] Translation: X:239.96, Y:-129.69, Z:-5.11 [[-6.56418381e-01 -7.54379799e-01 5.10176428e-03 2.39961251e+02] [ 7.54358618e-01 -6.56438193e-01 -5.65466076e-03 -1.29689131e+02] [ 7.61475477e-03 1.36736588e-04 9.99970998e-01 -5.10912626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.015105064715010922 Centerline is valid? [True, True] Translation: X:239.92, Y:-129.65, Z:-5.11 [[-6.55816100e-01 -7.54901419e-01 5.39353390e-03 2.39921488e+02] [ 7.54877792e-01 -6.55838261e-01 -5.97451247e-03 -1.29647633e+02] [ 8.04745383e-03 1.53277495e-04 9.99967607e-01 -5.11059940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.014618247658300805 Centerline is valid? [True, True] Translation: X:239.89, Y:-129.60, Z:-5.11 [[-6.56111417e-01 -7.54642491e-01 5.70256418e-03 2.39885559e+02] [ 7.54616103e-01 -6.56136178e-01 -6.31286408e-03 -1.29603208e+02] [ 8.50561414e-03 1.61304567e-04 9.99963814e-01 -5.11023938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.014565164614009285 Centerline is valid? [True, True] Translation: X:239.85, Y:-129.56, Z:-5.11 [[-6.56967569e-01 -7.53899226e-01 5.43794091e-03 2.39848425e+02] [ 7.53875235e-01 -6.56990057e-01 -6.01615201e-03 -1.29559987e+02] [ 8.10824546e-03 1.47112224e-04 9.99967117e-01 -5.11040290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.014172578866800853 Centerline is valid? [True, True] Translation: X:239.81, Y:-129.52, Z:-5.11 [[-6.57681676e-01 -7.53279968e-01 4.90949073e-03 2.39812866e+02] [ 7.53260422e-01 -6.57699987e-01 -5.42805803e-03 -1.29515560e+02] [ 7.31781937e-03 1.28190762e-04 9.99973216e-01 -5.10946765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.01457787785508901 Centerline is valid? [True, True] Translation: X:239.78, Y:-129.47, Z:-5.11 [[-6.57055259e-01 -7.53830112e-01 4.30697509e-03 2.39775337e+02] [ 7.53815100e-01 -6.57069363e-01 -4.75889648e-03 -1.29472358e+02] [ 6.41738085e-03 1.19804902e-04 9.99979401e-01 -5.10914338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.015326127760691586 Centerline is valid? [True, True] Translation: X:239.74, Y:-129.43, Z:-5.11 [[-6.55812356e-01 -7.54907899e-01 4.92112221e-03 2.39736178e+02] [ 7.54888353e-01 -6.55830802e-01 -5.43446464e-03 -1.29430001e+02] [ 7.32994381e-03 1.50908779e-04 9.99973124e-01 -5.10994920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.016549432922053943 Centerline is valid? [True, True] Translation: X:239.70, Y:-129.39, Z:-5.11 [[-6.54061187e-01 -7.56417129e-01 6.09016972e-03 2.39696548e+02] [ 7.56387294e-01 -6.54089506e-01 -6.72155722e-03 -1.29388619e+02] [ 9.06781712e-03 2.10217306e-04 9.99958864e-01 -5.11171054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.018026280165609476 Centerline is valid? [True, True] Translation: X:239.66, Y:-129.35, Z:-5.11 [[-6.52088246e-01 -7.58113679e-01 6.67593957e-03 2.39657554e+02] [ 7.58077956e-01 -6.52122368e-01 -7.36408570e-03 -1.29345954e+02] [ 9.93634362e-03 2.58848897e-04 9.99950600e-01 -5.11290911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.017925545575904964 Centerline is valid? [True, True] Translation: X:239.62, Y:-129.30, Z:-5.11 [[-6.51981154e-01 -7.58207386e-01 6.49116955e-03 2.39620898e+02] [ 7.58173660e-01 -6.52013416e-01 -7.15588594e-03 -1.29301851e+02] [ 9.65797521e-03 2.55931007e-04 9.99953328e-01 -5.11257839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.016351217863375202 Centerline is valid? [True, True] Translation: X:239.59, Y:-129.25, Z:-5.11 [[-6.53227020e-01 -7.57146448e-01 4.86991637e-03 2.39585945e+02] [ 7.57127457e-01 -6.53245147e-01 -5.36576039e-03 -1.29254579e+02] [ 7.24391566e-03 1.82087725e-04 9.99973746e-01 -5.11027341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.0162060980547145 Centerline is valid? [True, True] Translation: X:239.55, Y:-129.21, Z:-5.11 [[-6.54085341e-01 -7.56410119e-01 4.01231137e-03 2.39549109e+02] [ 7.56397230e-01 -6.54097631e-01 -4.41802233e-03 -1.29211032e+02] [ 5.96628016e-03 1.45137564e-04 9.99982191e-01 -5.10938802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.016455325394305154 Centerline is valid? [True, True] Translation: X:239.51, Y:-129.17, Z:-5.11 [[-6.54563857e-01 -7.55997709e-01 3.69066725e-03 2.39512184e+02] [ 7.55986812e-01 -6.54574248e-01 -4.06130106e-03 -1.29167209e+02] [ 5.48615004e-03 1.31714881e-04 9.99984942e-01 -5.10967482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.016164155757890212 Centerline is valid? [True, True] Translation: X:239.48, Y:-129.12, Z:-5.11 [[-6.54892209e-01 -7.55711410e-01 4.05699449e-03 2.39475261e+02] [ 7.55698254e-01 -6.54904759e-01 -4.46157885e-03 -1.29123075e+02] [ 6.02861105e-03 1.44010429e-04 9.99981817e-01 -5.11028469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.015347993617588977 Centerline is valid? [True, True] Translation: X:239.44, Y:-129.08, Z:-5.11 [[-6.56116092e-01 -7.54643963e-01 4.91549876e-03 2.39439425e+02] [ 7.54624642e-01 -6.56134484e-01 -5.40257817e-03 -1.29077316e+02] [ 7.30225125e-03 1.64638013e-04 9.99973325e-01 -5.11157005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.01705840026030416 Centerline is valid? [True, True] Translation: X:239.40, Y:-129.04, Z:-5.11 [[-6.56497514e-01 -7.54309780e-01 5.26969994e-03 2.39400740e+02] [ 7.54287594e-01 -6.56518641e-01 -5.78796369e-03 -1.29036333e+02] [ 7.82557386e-03 1.75085517e-04 9.99969364e-01 -5.11278134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.015415157356823327 Centerline is valid? [True, True] Translation: X:239.37, Y:-128.99, Z:-5.11 [[-6.56403596e-01 -7.54389842e-01 5.50323905e-03 2.39365830e+02] [ 7.54365677e-01 -6.56426639e-01 -6.04096674e-03 -1.28989634e+02] [ 8.16971665e-03 1.86142366e-04 9.99966610e-01 -5.11194112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.01550900476676528 Centerline is valid? [True, True] Translation: X:239.33, Y:-128.94, Z:-5.11 [[-6.57010300e-01 -7.53860840e-01 5.59455848e-03 2.39328039e+02] [ 7.53835877e-01 -6.57034093e-01 -6.13766806e-03 -1.28944989e+02] [ 8.30276326e-03 1.84867761e-04 9.99965514e-01 -5.11253102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.015655707811855362 Centerline is valid? [True, True] Translation: X:239.29, Y:-128.90, Z:-5.11 [[-6.58114024e-01 -7.52897947e-01 5.53293294e-03 2.39291516e+02] [ 7.52873530e-01 -6.58137259e-01 -6.06596742e-03 -1.28902322e+02] [ 8.20848373e-03 1.73500529e-04 9.99966295e-01 -5.11252719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.015125894367881849 Centerline is valid? [True, True] Translation: X:239.25, Y:-128.86, Z:-5.11 [[-6.60142777e-01 -7.51125479e-01 4.69349258e-03 2.39254685e+02] [ 7.51107883e-01 -6.60159449e-01 -5.14296331e-03 -1.28856686e+02] [ 6.96146425e-03 1.30229186e-04 9.99975760e-01 -5.11097743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.014892721669622442 Centerline is valid? [True, True] Translation: X:239.22, Y:-128.81, Z:-5.11 [[-6.61639689e-01 -7.49810085e-01 4.21402063e-03 2.39216608e+02] [ 7.49795890e-01 -6.61653100e-01 -4.61502564e-03 -1.28813239e+02] [ 6.24861259e-03 1.06171221e-04 9.99980472e-01 -5.11041370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.014249835430054859 Centerline is valid? [True, True] Translation: X:239.18, Y:-128.77, Z:-5.11 [[-6.63603298e-01 -7.48076822e-01 3.42508335e-03 2.39179121e+02] [ 7.48067432e-01 -6.63612133e-01 -3.74892233e-03 -1.28768935e+02] [ 5.07740877e-03 7.43960826e-05 9.99987107e-01 -5.10997009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.013554968386545374 Centerline is valid? [True, True] Translation: X:239.14, Y:-128.73, Z:-5.11 [[-6.65746792e-01 -7.46165914e-01 4.19978331e-03 2.39142390e+02] [ 7.46151776e-01 -6.65760034e-01 -4.59392754e-03 -1.28725398e+02] [ 6.22388002e-03 7.52832550e-05 9.99980629e-01 -5.11151426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.013480565379416304 Centerline is valid? [True, True] Translation: X:239.10, Y:-128.68, Z:-5.11 [[-6.66761306e-01 -7.45254552e-01 5.00135845e-03 2.39104795e+02] [ 7.45234496e-01 -6.66780058e-01 -5.46805079e-03 -1.28684042e+02] [ 7.40989582e-03 8.13001580e-05 9.99972543e-01 -5.11277423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.01321925260303781 Centerline is valid? [True, True] Translation: X:239.07, Y:-128.64, Z:-5.11 [[-6.67550979e-01 -7.44545436e-01 5.27115496e-03 2.39066096e+02] [ 7.44523161e-01 -6.67571785e-01 -5.75973259e-03 -1.28640336e+02] [ 7.80725693e-03 7.95818263e-05 9.99969520e-01 -5.11290679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.012982197150678342 Centerline is valid? [True, True] Translation: X:239.03, Y:-128.60, Z:-5.11 [[-6.69229333e-01 -7.43036791e-01 5.33162941e-03 2.39028309e+02] [ 7.43013984e-01 -6.69250568e-01 -5.82209796e-03 -1.28597859e+02] [ 7.89422900e-03 6.51564771e-05 9.99968838e-01 -5.11291228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.012784648423532635 Centerline is valid? [True, True] Translation: X:238.99, Y:-128.56, Z:-5.11 [[-6.70872863e-01 -7.41556618e-01 4.83581121e-03 2.38990408e+02] [ 7.41537841e-01 -6.70890290e-01 -5.27732509e-03 -1.28555255e+02] [ 7.15773412e-03 4.55228101e-05 9.99974382e-01 -5.11288786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.01261068689856187 Centerline is valid? [True, True] Translation: X:238.95, Y:-128.51, Z:-5.11 [[-6.72491771e-01 -7.40092156e-01 4.29170977e-03 2.38952023e+02] [ 7.40077356e-01 -6.72505464e-01 -4.68059882e-03 -1.28512900e+02] [ 6.35027274e-03 2.85330290e-05 9.99979836e-01 -5.11268875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.012509176346272962 Centerline is valid? [True, True] Translation: X:238.91, Y:-128.47, Z:-5.11 [[-6.73019119e-01 -7.39611341e-01 4.50881860e-03 2.38912871e+02] [ 7.39595015e-01 -6.73034222e-01 -4.91424786e-03 -1.28470991e+02] [ 6.66922266e-03 2.73169918e-05 9.99977760e-01 -5.11294602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.012589692137519457 Centerline is valid? [True, True] Translation: X:238.87, Y:-128.43, Z:-5.11 [[-6.72976017e-01 -7.39647865e-01 4.93124844e-03 2.38873324e+02] [ 7.39628362e-01 -6.72994083e-01 -5.37129148e-03 -1.28429158e+02] [ 7.29156529e-03 3.25408636e-05 9.99973416e-01 -5.11355484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.012616587316255 Centerline is valid? [True, True] Translation: X:238.83, Y:-128.39, Z:-5.11 [[-6.72202474e-01 -7.40345060e-01 5.74678639e-03 2.38834116e+02] [ 7.40318632e-01 -6.72227037e-01 -6.25562095e-03 -1.28387463e+02] [ 8.49446326e-03 4.94091624e-05 9.99963920e-01 -5.11373498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.012550857974680578 Centerline is valid? [True, True] Translation: X:238.79, Y:-128.35, Z:-5.11 [[-6.72306197e-01 -7.40254916e-01 5.19972524e-03 2.38794771e+02] [ 7.40233306e-01 -6.72326303e-01 -5.65636895e-03 -1.28347313e+02] [ 7.68306696e-03 4.61979061e-05 9.99970484e-01 -5.11446004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.012528336199334708 Centerline is valid? [True, True] Translation: X:238.76, Y:-128.31, Z:-5.11 [[-6.72908896e-01 -7.39708337e-01 5.01925469e-03 2.38755713e+02] [ 7.39688212e-01 -6.72927614e-01 -5.45667594e-03 -1.28305461e+02] [ 7.41394377e-03 4.08377390e-05 9.99972516e-01 -5.11498590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.012484486620214393 Centerline is valid? [True, True] Translation: X:238.72, Y:-128.26, Z:-5.12 [[-6.74159569e-01 -7.38568934e-01 4.98044917e-03 2.38718127e+02] [ 7.38549113e-01 -6.74177965e-01 -5.41101328e-03 -1.28263144e+02] [ 7.35411540e-03 3.04199347e-05 9.99972958e-01 -5.11592452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.012386497443096807 Centerline is valid? [True, True] Translation: X:238.68, Y:-128.22, Z:-5.12 [[-6.74874043e-01 -7.37912989e-01 5.42646124e-03 2.38679778e+02] [ 7.37889467e-01 -6.74895858e-01 -5.89197896e-03 -1.28220180e+02] [ 8.01006403e-03 2.77849320e-05 9.99967919e-01 -5.11632330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.012467613418407403 Centerline is valid? [True, True] Translation: X:238.64, Y:-128.18, Z:-5.12 [[-6.74933586e-01 -7.37856919e-01 5.64105258e-03 2.38640426e+02] [ 7.37831528e-01 -6.74957159e-01 -6.12123391e-03 -1.28178031e+02] [ 8.32406361e-03 3.07200859e-05 9.99965354e-01 -5.11664211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.01252427481009721 Centerline is valid? [True, True] Translation: X:238.60, Y:-128.14, Z:-5.12 [[-6.74442671e-01 -7.38303845e-01 5.87503232e-03 2.38601138e+02] [ 7.38276356e-01 -6.74468258e-01 -6.37107631e-03 -1.28137027e+02] [ 8.66631295e-03 4.04717283e-05 9.99962446e-01 -5.11703220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.012637168965165065 Centerline is valid? [True, True] Translation: X:238.56, Y:-128.10, Z:-5.12 [[-6.74127622e-01 -7.38586815e-01 6.43945502e-03 2.38561496e+02] [ 7.38553843e-01 -6.74158375e-01 -6.97898615e-03 -1.28095419e+02] [ 9.49579968e-03 5.11569164e-05 9.99954913e-01 -5.11843304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.012696533111829094 Centerline is valid? [True, True] Translation: X:238.52, Y:-128.05, Z:-5.12 [[-6.73916904e-01 -7.38778031e-01 6.55955234e-03 2.38522366e+02] [ 7.38743868e-01 -6.73948824e-01 -7.10494053e-03 -1.28053818e+02] [ 9.66977656e-03 5.76895478e-05 9.99953245e-01 -5.11861985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.012914401852098653 Centerline is valid? [True, True] Translation: X:238.48, Y:-128.01, Z:-5.12 [[-6.73830562e-01 -7.38860004e-01 6.18614861e-03 2.38484399e+02] [ 7.38829661e-01 -6.73858955e-01 -6.69636782e-03 -1.28012683e+02] [ 9.11626999e-03 5.82927909e-05 9.99958444e-01 -5.11839839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.012450177146854414 Centerline is valid? [True, True] Translation: X:238.45, Y:-127.97, Z:-5.12 [[-6.74120428e-01 -7.38596155e-01 6.11299314e-03 2.38447158e+02] [ 7.38566551e-01 -6.74148141e-01 -6.61306573e-03 -1.27969684e+02] [ 9.00544789e-03 5.68495623e-05 9.99959449e-01 -5.11636335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.012431900901606101 Centerline is valid? [True, True] Translation: X:238.41, Y:-127.93, Z:-5.12 [[-6.73625434e-01 -7.39043333e-01 6.61261788e-03 2.38408427e+02] [ 7.39008758e-01 -6.73657885e-01 -7.14903950e-03 -1.27927873e+02] [ 9.73809216e-03 7.10076984e-05 9.99952581e-01 -5.11694163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.012537616984883421 Centerline is valid? [True, True] Translation: X:238.37, Y:-127.89, Z:-5.12 [[-6.73266127e-01 -7.39368897e-01 6.80858033e-03 2.38369695e+02] [ 7.39332305e-01 -6.73300548e-01 -7.35627935e-03 -1.27886170e+02] [ 1.00232250e-02 8.10696779e-05 9.99949763e-01 -5.11732361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.012327861472070899 Centerline is valid? [True, True] Translation: X:238.33, Y:-127.84, Z:-5.12 [[-6.73787644e-01 -7.38895211e-01 6.63905302e-03 2.38331432e+02] [ 7.38860436e-01 -6.73820348e-01 -7.16901936e-03 -1.27842354e+02] [ 9.77068309e-03 7.49369438e-05 9.99952263e-01 -5.11647233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.012287814684774608 Centerline is valid? [True, True] Translation: X:238.29, Y:-127.80, Z:-5.12 [[-6.75542664e-01 -7.37294052e-01 6.29205612e-03 2.38294258e+02] [ 7.37262790e-01 -6.75571964e-01 -6.78979470e-03 -1.27799685e+02] [ 9.25681196e-03 5.21028514e-05 9.99957153e-01 -5.11696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.011928873101379342 Centerline is valid? [True, True] Translation: X:238.26, Y:-127.75, Z:-5.11 [[-6.79226089e-01 -7.33907693e-01 5.60527498e-03 2.38259312e+02] [ 7.33882798e-01 -6.79249217e-01 -6.04482455e-03 -1.27754206e+02] [ 8.24372188e-03 7.81235576e-06 9.99966020e-01 -5.11483320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.012006338659649682 Centerline is valid? [True, True] Translation: X:238.22, Y:-127.71, Z:-5.12 [[-6.81972409e-01 -7.31356124e-01 5.64386539e-03 2.38223206e+02] [ 7.31330831e-01 -6.81995762e-01 -6.08240968e-03 -1.27711535e+02] [ 8.29749985e-03 -2.05028191e-05 9.99965575e-01 -5.11517527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.012181064490955065 Centerline is valid? [True, True] Translation: X:238.18, Y:-127.67, Z:-5.12 [[-6.83576965e-01 -7.29850556e-01 6.37958515e-03 2.38184207e+02] [ 7.29818214e-01 -6.83606732e-01 -6.87102233e-03 -1.27669819e+02] [ 9.37594682e-03 -4.09351510e-05 9.99956044e-01 -5.11617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.01224702955116826 Centerline is valid? [True, True] Translation: X:238.15, Y:-127.63, Z:-5.12 [[-6.84103067e-01 -7.29352792e-01 6.89190308e-03 2.38145081e+02] [ 7.29315067e-01 -6.84137781e-01 -7.41822102e-03 -1.27628449e+02] [ 1.01255115e-02 -4.84589990e-05 9.99948735e-01 -5.11613214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.012257376142050637 Centerline is valid? [True, True] Translation: X:238.11, Y:-127.59, Z:-5.12 [[-6.84575267e-01 -7.28913336e-01 6.48487774e-03 2.38105448e+02] [ 7.28879958e-01 -6.84605979e-01 -6.97563749e-03 -1.27588746e+02] [ 9.52422126e-03 -4.86514736e-05 9.99954642e-01 -5.11547305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.012157517313777311 Centerline is valid? [True, True] Translation: X:238.06, Y:-127.55, Z:-5.11 [[-6.84959362e-01 -7.28553217e-01 6.39397057e-03 2.38064843e+02] [ 7.28520794e-01 -6.84989203e-01 -6.87352219e-03 -1.27548804e+02] [ 9.38752750e-03 -4.99428642e-05 9.99955935e-01 -5.11440079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.012192094220408931 Centerline is valid? [True, True] Translation: X:238.02, Y:-127.51, Z:-5.11 [[-6.85653368e-01 -7.27898053e-01 6.62442143e-03 2.38023974e+02] [ 7.27863265e-01 -6.85685366e-01 -7.11659962e-03 -1.27509606e+02] [ 9.72242784e-03 -5.78474852e-05 9.99952734e-01 -5.11478214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.012301079665918958 Centerline is valid? [True, True] Translation: X:237.98, Y:-127.47, Z:-5.11 [[-6.87028006e-01 -7.26599030e-01 6.80950558e-03 2.37982395e+02] [ 7.26562252e-01 -6.87061747e-01 -7.31090468e-03 -1.27470300e+02] [ 9.99064705e-03 -7.52665486e-05 9.99950089e-01 -5.11467323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.012541082308086074 Centerline is valid? [True, True] Translation: X:237.94, Y:-127.43, Z:-5.12 [[-6.88096653e-01 -7.25580212e-01 7.50676967e-03 2.37940157e+02] [ 7.25535505e-01 -6.88137592e-01 -8.05509653e-03 -1.27430052e+02] [ 1.10103091e-02 -9.62570344e-05 9.99939380e-01 -5.11514901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.012386450539269286 Centerline is valid? [True, True] Translation: X:237.90, Y:-127.39, Z:-5.11 [[-6.88422853e-01 -7.25270858e-01 7.49386927e-03 2.37898897e+02] [ 7.25226342e-01 -6.88463632e-01 -8.03619429e-03 -1.27389659e+02] [ 1.09876740e-02 -9.75484023e-05 9.99939629e-01 -5.11432761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.012401941064685331 Centerline is valid? [True, True] Translation: X:237.86, Y:-127.35, Z:-5.11 [[-6.88859079e-01 -7.24860464e-01 7.10473827e-03 2.37858023e+02] [ 7.24820479e-01 -6.88895709e-01 -7.61413846e-03 -1.27349333e+02] [ 1.04136116e-02 -9.54086122e-05 9.99945772e-01 -5.11387929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.012343552534863134 Centerline is valid? [True, True] Translation: X:237.82, Y:-127.31, Z:-5.11 [[-6.88883639e-01 -7.24837816e-01 7.03368701e-03 2.37817556e+02] [ 7.24798674e-01 -6.88919540e-01 -7.53328149e-03 -1.27308446e+02] [ 1.03060517e-02 -9.15473523e-05 9.99946887e-01 -5.11363906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.012147516749871953 Centerline is valid? [True, True] Translation: X:237.77, Y:-127.27, Z:-5.11 [[-6.87424418e-01 -7.26225260e-01 6.67397795e-03 2.37774927e+02] [ 7.26190130e-01 -6.87456812e-01 -7.14337519e-03 -1.27270966e+02] [ 9.77577111e-03 -6.39536166e-05 9.99952214e-01 -5.11373350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.011906606748790953 Centerline is valid? [True, True] Translation: X:237.73, Y:-127.23, Z:-5.11 [[-6.85996129e-01 -7.27573061e-01 6.83756846e-03 2.37731978e+02] [ 7.27536296e-01 -6.86030203e-01 -7.31432960e-03 -1.27232071e+02] [ 1.00124876e-02 -4.30225603e-05 9.99949873e-01 -5.11409675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.011618908079659134 Centerline is valid? [True, True] Translation: X:237.69, Y:-127.20, Z:-5.11 [[-6.82723127e-01 -7.30641542e-01 7.21585779e-03 2.37686759e+02] [ 7.30600818e-01 -6.82761259e-01 -7.71420705e-03 -1.27195689e+02] [ 1.05630283e-02 5.24404243e-06 9.99944210e-01 -5.11377365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.011637055632330657 Centerline is valid? [True, True] Translation: X:237.64, Y:-127.16, Z:-5.11 [[-6.80462299e-01 -7.32747248e-01 7.24774224e-03 2.37643492e+02] [ 7.32706333e-01 -6.80500896e-01 -7.74345153e-03 -1.27157582e+02] [ 1.06060879e-02 4.13398072e-05 9.99943753e-01 -5.11364118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.012221352214455033 Centerline is valid? [True, True] Translation: X:237.60, Y:-127.12, Z:-5.11 [[-6.76538926e-01 -7.36366155e-01 7.74387949e-03 2.37598154e+02] [ 7.36319721e-01 -6.76583235e-01 -8.27011523e-03 -1.27121255e+02] [ 1.13292120e-02 1.06916312e-04 9.99935817e-01 -5.11395546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.012773617339157087 Centerline is valid? [True, True] Translation: X:237.55, Y:-127.08, Z:-5.11 [[-6.74439754e-01 -7.38290955e-01 7.58174650e-03 2.37554858e+02] [ 7.38246619e-01 -6.74482354e-01 -8.09218120e-03 -1.27082846e+02] [ 1.10881384e-02 1.39510021e-04 9.99938515e-01 -5.11464709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.013029253359128056 Centerline is valid? [True, True] Translation: X:237.51, Y:-127.04, Z:-5.11 [[-6.72537028e-01 -7.40032214e-01 6.80212233e-03 2.37511422e+02] [ 7.39996657e-01 -6.72571408e-01 -7.25592587e-03 -1.27043477e+02] [ 9.94453188e-03 1.53668974e-04 9.99950540e-01 -5.11332470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.013038067890974284 Centerline is valid? [True, True] Translation: X:237.47, Y:-127.00, Z:-5.11 [[-6.72874456e-01 -7.39738916e-01 5.12866337e-03 2.37470036e+02] [ 7.39718717e-01 -6.72893991e-01 -5.46771382e-03 -1.27003298e+02] [ 7.49572746e-03 1.14683329e-04 9.99971900e-01 -5.11213174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.012365983746460975 Centerline is valid? [True, True] Translation: X:237.43, Y:-126.96, Z:-5.11 [[-6.74618164e-01 -7.38151132e-01 4.82069432e-03 2.37429931e+02] [ 7.38133266e-01 -6.74635381e-01 -5.13659029e-03 -1.26960551e+02] [ 7.04379089e-03 9.30777312e-05 9.99975188e-01 -5.11202934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.011768535044853251 Centerline is valid? [True, True] Translation: X:237.39, Y:-126.92, Z:-5.11 [[-6.79220743e-01 -7.33917074e-01 4.99101481e-03 2.37391466e+02] [ 7.33897830e-01 -6.79239078e-01 -5.31512937e-03 -1.26918360e+02] [ 7.29095650e-03 5.27488188e-05 9.99973419e-01 -5.11308354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.011450583814470405 Centerline is valid? [True, True] Translation: X:237.35, Y:-126.88, Z:-5.11 [[-6.83174721e-01 -7.30240084e-01 4.66048748e-03 2.37354358e+02] [ 7.30223240e-01 -6.83190617e-01 -4.95985413e-03 -1.26875692e+02] [ 6.80588562e-03 1.47493036e-05 9.99976840e-01 -5.11338231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.011684629494718006 Centerline is valid? [True, True] Translation: X:237.32, Y:-126.83, Z:-5.11 [[-6.90032443e-01 -7.23766085e-01 4.22878747e-03 2.37317403e+02] [ 7.23752110e-01 -6.90045399e-01 -4.49784654e-03 -1.26831012e+02] [ 6.17344412e-03 -4.30661797e-05 9.99980943e-01 -5.11233456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.012589823808418749 Centerline is valid? [True, True] Translation: X:237.28, Y:-126.79, Z:-5.11 [[-6.94381305e-01 -7.19591718e-01 4.72892217e-03 2.37279479e+02] [ 7.19574166e-01 -6.94397401e-01 -5.02679013e-03 -1.26787617e+02] [ 6.90098782e-03 -8.76988644e-05 9.99976184e-01 -5.11343714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.014461420361575737 Centerline is valid? [True, True] Translation: X:237.24, Y:-126.74, Z:-5.11 [[-6.99933916e-01 -7.14191363e-01 4.81761311e-03 2.37242015e+02] [ 7.14173032e-01 -6.99950481e-01 -5.11895080e-03 -1.26743826e+02] [ 7.02800107e-03 -1.42317923e-04 9.99975293e-01 -5.11470477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.01506887049645037 Centerline is valid? [True, True] Translation: X:237.20, Y:-126.70, Z:-5.11 [[-7.03079204e-01 -7.11098086e-01 4.37539919e-03 2.37201930e+02] [ 7.11082923e-01 -7.03092802e-01 -4.64643634e-03 -1.26701966e+02] [ 6.38038366e-03 -1.55541120e-04 9.99979633e-01 -5.11444202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.015395215105412597 Centerline is valid? [True, True] Translation: X:237.16, Y:-126.66, Z:-5.11 [[-7.03761172e-01 -7.10425984e-01 3.89014823e-03 2.37161090e+02] [ 7.10414001e-01 -7.03771910e-01 -4.12880142e-03 -1.26660713e+02] [ 5.67098486e-03 -1.42074358e-04 9.99983910e-01 -5.11459069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.014940799607811407 Centerline is valid? [True, True] Translation: X:237.12, Y:-126.62, Z:-5.11 [[-7.02729283e-01 -7.11447991e-01 3.64841492e-03 2.37118425e+02] [ 7.11437475e-01 -7.02738743e-01 -3.87019241e-03 -1.26620398e+02] [ 5.31732313e-03 -1.24078440e-04 9.99985855e-01 -5.11482145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.013593070969939914 Centerline is valid? [True, True] Translation: X:237.07, Y:-126.58, Z:-5.12 [[-6.98193697e-01 -7.15900802e-01 3.40626816e-03 2.37073607e+02] [ 7.15891699e-01 -6.98202002e-01 -3.61111187e-03 -1.26583605e+02] [ 4.96346113e-03 -8.27364525e-05 9.99987679e-01 -5.11572499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.01191752867138727 Centerline is valid? [True, True] Translation: X:237.03, Y:-126.55, Z:-5.12 [[-6.91202016e-01 -7.22655110e-01 3.06046376e-03 2.37025567e+02] [ 7.22647835e-01 -6.91208790e-01 -3.24273431e-03 -1.26548501e+02] [ 4.45879797e-03 -2.97469870e-05 9.99990059e-01 -5.11642244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.01161377372640065 Centerline is valid? [True, True] Translation: X:236.98, Y:-126.51, Z:-5.12 [[-6.85740546e-01 -7.27840217e-01 2.91923988e-03 2.36981193e+02] [ 7.27833653e-01 -6.85746759e-01 -3.09114415e-03 -1.26512238e+02] [ 4.25171832e-03 4.99814814e-06 9.99990961e-01 -5.11622586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.012840359154014028 Centerline is valid? [True, True] Translation: X:236.93, Y:-126.48, Z:-5.12 [[-6.77330492e-01 -7.35673710e-01 2.75608905e-03 2.36933052e+02] [ 7.35667930e-01 -6.77336098e-01 -2.91672882e-03 -1.26477953e+02] [ 4.01255932e-03 5.19769616e-05 9.99991948e-01 -5.11666972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.014745131203542736 Centerline is valid? [True, True] Translation: X:236.89, Y:-126.44, Z:-5.12 [[-6.71364617e-01 -7.41119474e-01 3.38770156e-03 2.36887132e+02] [ 7.41110820e-01 -6.71373156e-01 -3.58307935e-03 -1.26441765e+02] [ 4.92990177e-03 1.05109583e-04 9.99987842e-01 -5.11731017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.016179926325404513 Centerline is valid? [True, True] Translation: X:236.84, Y:-126.40, Z:-5.12 [[-6.69433058e-01 -7.42864910e-01 3.33260692e-03 2.36843798e+02] [ 7.42856567e-01 -6.69441343e-01 -3.52270517e-03 -1.26403732e+02] [ 4.84787891e-03 1.17433641e-04 9.99988242e-01 -5.11714489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.01583487335114134 Centerline is valid? [True, True] Translation: X:236.80, Y:-126.36, Z:-5.12 [[-6.70118380e-01 -7.42247606e-01 3.13817231e-03 2.36804270e+02] [ 7.42240211e-01 -6.70125720e-01 -3.31509233e-03 -1.26362168e+02] [ 4.56358932e-03 1.07773375e-04 9.99989581e-01 -5.11687619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.014846378601380822 Centerline is valid? [True, True] Translation: X:236.77, Y:-126.32, Z:-5.12 [[-6.72740852e-01 -7.39869664e-01 3.55335214e-03 2.36766277e+02] [ 7.39860160e-01 -6.72750228e-01 -3.75157992e-03 -1.26318260e+02] [ 5.16619864e-03 1.05142613e-04 9.99986650e-01 -5.11761990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.01437492298267876 Centerline is valid? [True, True] Translation: X:236.73, Y:-126.28, Z:-5.12 [[-6.74644165e-01 -7.38130552e-01 4.30563050e-03 2.36727760e+02] [ 7.38116579e-01 -6.74657895e-01 -4.54316360e-03 -1.26275213e+02] [ 6.25827547e-03 1.13038449e-04 9.99980410e-01 -5.11834351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.013309797246407067 Centerline is valid? [True, True] Translation: X:236.69, Y:-126.23, Z:-5.12 [[-6.76384123e-01 -7.36528986e-01 5.43791353e-03 2.36690686e+02] [ 7.36506662e-01 -6.76405971e-01 -5.73586170e-03 -1.26229726e+02] [ 7.90286558e-03 1.25413757e-04 9.99968764e-01 -5.11874380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.013776779839230148 Centerline is valid? [True, True] Translation: X:236.65, Y:-126.19, Z:-5.12 [[-6.77244745e-01 -7.35733405e-01 5.99270538e-03 2.36652304e+02] [ 7.35706299e-01 -6.77271245e-01 -6.31680500e-03 -1.26188344e+02] [ 8.70617149e-03 1.30848107e-04 9.99962092e-01 -5.11953993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.01326240386135407 Centerline is valid? [True, True] Translation: X:236.62, Y:-126.14, Z:-5.12 [[-6.78919643e-01 -7.34187518e-01 6.06688712e-03 2.36615973e+02] [ 7.34159709e-01 -6.78946740e-01 -6.39104312e-03 -1.26144197e+02] [ 8.81131731e-03 1.15059369e-04 9.99961173e-01 -5.11917618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.012634082746633277 Centerline is valid? [True, True] Translation: X:236.58, Y:-126.10, Z:-5.12 [[-6.80662864e-01 -7.32566654e-01 6.64556913e-03 2.36579746e+02] [ 7.32533253e-01 -6.80695296e-01 -6.99621647e-03 -1.26099146e+02] [ 9.64880253e-03 1.06035636e-04 9.99953444e-01 -5.11922178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.012708817202141563 Centerline is valid? [True, True] Translation: X:236.54, Y:-126.06, Z:-5.12 [[-6.81033877e-01 -7.32219219e-01 6.91905315e-03 2.36541160e+02] [ 7.32183041e-01 -6.81069015e-01 -7.27954919e-03 -1.26057049e+02] [ 1.00425785e-02 1.08393769e-04 9.99949566e-01 -5.11908543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.012657776436492584 Centerline is valid? [True, True] Translation: X:236.50, Y:-126.01, Z:-5.12 [[-6.81063594e-01 -7.32186485e-01 7.43855582e-03 2.36502778e+02] [ 7.32144716e-01 -6.81104204e-01 -7.82165399e-03 -1.26013627e+02] [ 1.07933410e-02 1.19055564e-04 9.99941743e-01 -5.11880006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.013116086614124878 Centerline is valid? [True, True] Translation: X:236.46, Y:-125.97, Z:-5.12 [[-6.79603278e-01 -7.33543492e-01 7.30271045e-03 2.36463701e+02] [ 7.33503358e-01 -6.79642498e-01 -7.67449380e-03 -1.25971122e+02] [ 1.05928074e-02 1.40951494e-04 9.99943885e-01 -5.11844429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.013743144434969316 Centerline is valid? [True, True] Translation: X:236.42, Y:-125.93, Z:-5.12 [[-6.77707379e-01 -7.35295552e-01 7.29108817e-03 2.36424298e+02] [ 7.35255693e-01 -6.77746576e-01 -7.65798225e-03 -1.25928044e+02] [ 1.05723903e-02 1.70943010e-04 9.99944096e-01 -5.11830452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.014303790889910094 Centerline is valid? [True, True] Translation: X:236.38, Y:-125.89, Z:-5.12 [[-6.76097158e-01 -7.36775023e-01 7.42962614e-03 2.36384460e+02] [ 7.36733770e-01 -6.76137949e-01 -7.79911025e-03 -1.25885560e+02] [ 1.07696418e-02 2.00700210e-04 9.99941986e-01 -5.11838065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.015691922195095204 Centerline is valid? [True, True] Translation: X:236.34, Y:-125.84, Z:-5.12 [[-6.72935890e-01 -7.39661433e-01 7.63239701e-03 2.36344131e+02] [ 7.39618132e-01 -6.72979122e-01 -8.00748161e-03 -1.25843631e+02] [ 1.10592692e-02 2.56537455e-04 9.99938812e-01 -5.11902559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.016795894232185523 Centerline is valid? [True, True] Translation: X:236.30, Y:-125.80, Z:-5.12 [[-6.70763144e-01 -7.41628329e-01 8.01408444e-03 2.36303437e+02] [ 7.41580783e-01 -6.70810948e-01 -8.40324289e-03 -1.25801755e+02] [ 1.16080186e-02 3.06505393e-04 9.99932578e-01 -5.11910319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.01836922781306641 Centerline is valid? [True, True] Translation: X:236.26, Y:-125.76, Z:-5.12 [[-6.68102981e-01 -7.44029467e-01 7.65245282e-03 2.36263593e+02] [ 7.43986324e-01 -6.68146721e-01 -8.01930164e-03 -1.25760122e+02] [ 1.10795580e-02 3.35600919e-04 9.99938564e-01 -5.11860242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.019001875529647407 Centerline is valid? [True, True] Translation: X:236.22, Y:-125.72, Z:-5.12 [[-6.67076123e-01 -7.44955597e-01 7.11373782e-03 2.36224105e+02] [ 7.44918410e-01 -6.67113971e-01 -7.45062389e-03 -1.25717869e+02] [ 1.02960579e-02 3.29020969e-04 9.99946940e-01 -5.11771635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.019471653081010076 Centerline is valid? [True, True] Translation: X:236.19, Y:-125.67, Z:-5.12 [[-6.66914374e-01 -7.45102714e-01 6.86762314e-03 2.36185916e+02] [ 7.45068108e-01 -6.66949655e-01 -7.18839150e-03 -1.25674766e+02] [ 9.93644890e-03 3.22805361e-04 9.99950580e-01 -5.11697793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.01794708166151656 Centerline is valid? [True, True] Translation: X:236.15, Y:-125.63, Z:-5.12 [[-6.69188628e-01 -7.43064104e-01 6.50511358e-03 2.36149230e+02] [ 7.43032995e-01 -6.69220187e-01 -6.80508362e-03 -1.25629444e+02] [ 9.40996669e-03 2.79629455e-04 9.99955686e-01 -5.11692182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.015996907968406797 Centerline is valid? [True, True] Translation: X:236.11, Y:-125.58, Z:-5.12 [[-6.72368398e-01 -7.40173665e-01 7.98021559e-03 2.36113858e+02] [ 7.40126698e-01 -6.72415689e-01 -8.34338500e-03 -1.25582658e+02] [ 1.15415760e-02 2.96542214e-04 9.99933350e-01 -5.11812089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.01523515276374395 Centerline is valid? [True, True] Translation: X:236.08, Y:-125.54, Z:-5.12 [[-6.74867167e-01 -7.37885474e-01 8.90696200e-03 2.36076391e+02] [ 7.37826834e-01 -6.74925879e-01 -9.30703115e-03 -1.25537832e+02] [ 1.28790623e-02 2.90785817e-04 9.99917019e-01 -5.11898930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.013744203046020686 Centerline is valid? [True, True] Translation: X:236.04, Y:-125.49, Z:-5.12 [[-6.79383664e-01 -7.33719089e-01 9.70237108e-03 2.36041669e+02] [ 7.33649162e-01 -6.79452901e-01 -1.01323083e-02 -1.25490600e+02] [ 1.40265722e-02 2.34411684e-04 9.99901595e-01 -5.11911170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.012580428999140626 Centerline is valid? [True, True] Translation: X:236.01, Y:-125.44, Z:-5.12 [[-6.82926567e-01 -7.30425614e-01 9.47243991e-03 2.36005988e+02] [ 7.30358719e-01 -6.82992236e-01 -9.88670323e-03 -1.25443573e+02] [ 1.36911042e-02 1.66386786e-04 9.99906259e-01 -5.11764472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.01186410555523013 Centerline is valid? [True, True] Translation: X:235.97, Y:-125.40, Z:-5.12 [[-6.87486986e-01 -7.26150901e-01 8.15560295e-03 2.35971708e+02] [ 7.26101064e-01 -6.87535355e-01 -8.50765086e-03 -1.25397324e+02] [ 1.17851037e-02 7.28927344e-05 9.99930551e-01 -5.11619652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.01178152776374761 Centerline is valid? [True, True] Translation: X:235.94, Y:-125.35, Z:-5.12 [[-6.89848727e-01 -7.23907136e-01 8.19706909e-03 2.35936031e+02] [ 7.23856700e-01 -6.89897425e-01 -8.54523646e-03 -1.25353009e+02] [ 1.18410945e-02 3.85828854e-05 9.99929891e-01 -5.11604928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.011834504708160422 Centerline is valid? [True, True] Translation: X:235.90, Y:-125.31, Z:-5.12 [[-6.90224267e-01 -7.23539933e-01 8.96805622e-03 2.35897776e+02] [ 7.23479607e-01 -6.90282525e-01 -9.34316250e-03 -1.25310064e+02] [ 1.29506437e-02 3.93282976e-05 9.99916136e-01 -5.11664900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.012088564044837097 Centerline is valid? [True, True] Translation: X:235.86, Y:-125.27, Z:-5.12 [[-6.88957576e-01 -7.24741627e-01 9.32915050e-03 2.35859208e+02] [ 7.24676539e-01 -6.89020732e-01 -9.71308078e-03 -1.25268460e+02] [ 1.34674521e-02 6.87159101e-05 9.99909307e-01 -5.11720609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.012176715271176917 Centerline is valid? [True, True] Translation: X:235.82, Y:-125.23, Z:-5.12 [[-6.86906900e-01 -7.26699126e-01 8.20310120e-03 2.35819613e+02] [ 7.26649006e-01 -6.86955872e-01 -8.53531421e-03 -1.25227325e+02] [ 1.18377739e-02 9.78091091e-05 9.99929926e-01 -5.11593461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.012433620541326589 Centerline is valid? [True, True] Translation: X:235.78, Y:-125.19, Z:-5.12 [[-6.85152662e-01 -7.28356196e-01 7.94238610e-03 2.35778969e+02] [ 7.28309376e-01 -6.85198683e-01 -8.25937458e-03 -1.25185231e+02] [ 1.14578792e-02 1.25581791e-04 9.99934348e-01 -5.11548221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.013722368784338836 Centerline is valid? [True, True] Translation: X:235.74, Y:-125.15, Z:-5.12 [[-6.80934642e-01 -7.32298853e-01 8.14888970e-03 2.35737779e+02] [ 7.32249906e-01 -6.80983370e-01 -8.46906667e-03 -1.25145023e+02] [ 1.17511462e-02 2.00142835e-04 9.99930933e-01 -5.11582774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.01637729032843769 Centerline is valid? [True, True] Translation: X:235.69, Y:-125.11, Z:-5.12 [[-6.77670433e-01 -7.35316909e-01 8.47513458e-03 2.35694870e+02] [ 7.35264243e-01 -6.77723375e-01 -8.80456229e-03 -1.25107369e+02] [ 1.22179403e-02 2.64871870e-04 9.99925323e-01 -5.11758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.01980369135436344 Centerline is valid? [True, True] Translation: X:235.65, Y:-125.07, Z:-5.12 [[-6.73138135e-01 -7.39466677e-01 8.60727183e-03 2.35652232e+02] [ 7.39412760e-01 -6.73193072e-01 -8.93630120e-03 -1.25070181e+02] [ 1.24024527e-02 3.48961499e-04 9.99923026e-01 -5.11809218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.018956828516875034 Centerline is valid? [True, True] Translation: X:235.61, Y:-125.03, Z:-5.12 [[-6.70943815e-01 -7.41451647e-01 9.15710307e-03 2.35614155e+02] [ 7.41390875e-01 -6.71006173e-01 -9.50188202e-03 -1.25026290e+02] [ 1.31896588e-02 4.13763679e-04 9.99912927e-01 -5.11645786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.019678545074658358 Centerline is valid? [True, True] Translation: X:235.57, Y:-124.98, Z:-5.12 [[-6.70861831e-01 -7.41529284e-01 8.87270423e-03 2.35573994e+02] [ 7.41472308e-01 -6.70920379e-01 -9.20113265e-03 -1.24984813e+02] [ 1.27757874e-02 4.06175794e-04 9.99918304e-01 -5.11640068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.01871341915631552 Centerline is valid? [True, True] Translation: X:235.54, Y:-124.94, Z:-5.12 [[-6.71933018e-01 -7.40560441e-01 8.73224936e-03 2.35536342e+02] [ 7.40505235e-01 -6.71989647e-01 -9.05048891e-03 -1.24940398e+02] [ 1.25704152e-02 3.84954035e-04 9.99920915e-01 -5.11594887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.016918548845149185 Centerline is valid? [True, True] Translation: X:235.50, Y:-124.89, Z:-5.12 [[-6.73670088e-01 -7.38976430e-01 9.08006756e-03 2.35499542e+02] [ 7.38916661e-01 -6.73731175e-01 -9.40596756e-03 -1.24894515e+02] [ 1.30683129e-02 3.72894197e-04 9.99914536e-01 -5.11503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.015717007350024778 Centerline is valid? [True, True] Translation: X:235.46, Y:-124.85, Z:-5.11 [[-6.76966767e-01 -7.35957713e-01 9.06865560e-03 2.35464305e+02] [ 7.35897893e-01 -6.77027432e-01 -9.38868043e-03 -1.24848289e+02] [ 1.30494004e-02 3.17779918e-04 9.99914802e-01 -5.11457450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.017446458392742434 Centerline is valid? [True, True] Translation: X:235.42, Y:-124.81, Z:-5.12 [[-6.78861314e-01 -7.34214406e-01 8.74772424e-03 2.35424370e+02] [ 7.34158647e-01 -6.78917616e-01 -9.05270694e-03 -1.24807429e+02] [ 1.25856119e-02 2.76684869e-04 9.99920760e-01 -5.11649710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.014050505823790834 Centerline is valid? [True, True] Translation: X:235.39, Y:-124.76, Z:-5.11 [[-6.81583920e-01 -7.31688666e-01 8.66343265e-03 2.35390438e+02] [ 7.31633832e-01 -6.81638938e-01 -8.96070069e-03 -1.24758940e+02] [ 1.24617762e-02 2.30990923e-04 9.99922322e-01 -5.11304984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.01343402721150435 Centerline is valid? [True, True] Translation: X:235.35, Y:-124.71, Z:-5.11 [[-6.84765379e-01 -7.28705979e-01 9.16360009e-03 2.35353442e+02] [ 7.28644429e-01 -6.84826664e-01 -9.47290817e-03 -1.24714943e+02] [ 1.31784425e-02 1.90286602e-04 9.99913142e-01 -5.11323039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.013258210266634516 Centerline is valid? [True, True] Translation: X:235.31, Y:-124.67, Z:-5.11 [[-6.85675853e-01 -7.27852643e-01 8.89691939e-03 2.35314030e+02] [ 7.27794625e-01 -6.85733549e-01 -9.19148681e-03 -1.24673887e+02] [ 1.27909641e-02 1.72749556e-04 9.99918177e-01 -5.11297779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.012738487765468254 Centerline is valid? [True, True] Translation: X:235.27, Y:-124.63, Z:-5.11 [[-6.87134115e-01 -7.26480970e-01 8.49169250e-03 2.35274458e+02] [ 7.26428080e-01 -6.87186568e-01 -8.76728298e-03 -1.24632988e+02] [ 1.22046413e-02 1.44304651e-04 9.99925510e-01 -5.11209002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.012245361694234293 Centerline is valid? [True, True] Translation: X:235.23, Y:-124.59, Z:-5.11 [[-6.88825031e-01 -7.24880510e-01 8.26574962e-03 2.35234614e+02] [ 7.24830346e-01 -6.88874613e-01 -8.52854279e-03 -1.24592152e+02] [ 1.18762395e-02 1.16592406e-04 9.99929468e-01 -5.11045592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.012219100161915387 Centerline is valid? [True, True] Translation: X:235.19, Y:-124.55, Z:-5.11 [[-6.89335553e-01 -7.24393604e-01 8.39055144e-03 2.35194562e+02] [ 7.24341944e-01 -6.89386607e-01 -8.65185275e-03 -1.24551765e+02] [ 1.20516806e-02 1.13598639e-04 9.99927369e-01 -5.11007635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.012521635562888432 Centerline is valid? [True, True] Translation: X:235.15, Y:-124.51, Z:-5.11 [[-6.88705609e-01 -7.24986245e-01 8.91789672e-03 2.35151239e+02] [ 7.24928002e-01 -6.88763331e-01 -9.19050831e-03 -1.24512913e+02] [ 1.28053124e-02 1.35278429e-04 9.99917999e-01 -5.11063531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.012822623240227175 Centerline is valid? [True, True] Translation: X:235.11, Y:-124.47, Z:-5.11 [[-6.87436264e-01 -7.26181112e-01 9.61117157e-03 2.35107250e+02] [ 7.26113654e-01 -6.87503427e-01 -9.89944474e-03 -1.24474920e+02] [ 1.37965032e-02 1.73565601e-04 9.99904809e-01 -5.11141194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.01305346564064684 Centerline is valid? [True, True] Translation: X:235.06, Y:-124.44, Z:-5.11 [[-6.86516330e-01 -7.27049693e-01 9.69914658e-03 2.35064298e+02] [ 7.26981159e-01 -6.86584813e-01 -9.98446108e-03 -1.24435157e+02] [ 1.39184861e-02 1.96601241e-04 9.99903114e-01 -5.11115964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.013094323584678547 Centerline is valid? [True, True] Translation: X:235.02, Y:-124.40, Z:-5.11 [[-6.85638771e-01 -7.27881440e-01 9.38536449e-03 2.35022307e+02] [ 7.27817420e-01 -6.85702972e-01 -9.65595768e-03 -1.24395183e+02] [ 1.34639647e-02 2.10332808e-04 9.99909335e-01 -5.10991659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.01336280292799064 Centerline is valid? [True, True] Translation: X:234.98, Y:-124.36, Z:-5.11 [[-6.85291948e-01 -7.28209907e-01 9.23458375e-03 2.34981411e+02] [ 7.28148038e-01 -6.85354131e-01 -9.49477079e-03 -1.24355696e+02] [ 1.32431463e-02 2.17454069e-04 9.99912282e-01 -5.10953104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.015076280309969258 Centerline is valid? [True, True] Translation: X:234.94, Y:-124.32, Z:-5.11 [[-6.84282890e-01 -7.29156701e-01 9.35053024e-03 2.34938382e+02] [ 7.29093433e-01 -6.84346730e-01 -9.60828940e-03 -1.24318116e+02] [ 1.34049534e-02 2.42622150e-04 9.99910120e-01 -5.11076008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.014062575295503678 Centerline is valid? [True, True] Translation: X:234.90, Y:-124.28, Z:-5.11 [[-6.83344644e-01 -7.30035554e-01 9.39083345e-03 2.34898982e+02] [ 7.29971897e-01 -6.83409116e-01 -9.64419171e-03 -1.24275951e+02] [ 1.34583840e-02 2.64737758e-04 9.99909397e-01 -5.10787404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.014305761612202709 Centerline is valid? [True, True] Translation: X:234.86, Y:-124.24, Z:-5.11 [[-6.82584376e-01 -7.30744119e-01 9.57090846e-03 2.34857560e+02] [ 7.30678143e-01 -6.82651412e-01 -9.82349028e-03 -1.24235044e+02] [ 1.37120519e-02 2.87892642e-04 9.99905944e-01 -5.10742405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.015201290804285365 Centerline is valid? [True, True] Translation: X:234.81, Y:-124.20, Z:-5.11 [[-6.80692597e-01 -7.32502020e-01 9.91866137e-03 2.34814955e+02] [ 7.32431430e-01 -6.80764773e-01 -1.01746543e-02 -1.24195458e+02] [ 1.42052301e-02 3.38927449e-04 9.99899043e-01 -5.10742068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.016006645311899197 Centerline is valid? [True, True] Translation: X:234.77, Y:-124.16, Z:-5.11 [[-6.78656334e-01 -7.34384299e-01 1.02606803e-02 2.34772825e+02] [ 7.34309060e-01 -6.78733781e-01 -1.05195011e-02 -1.24155353e+02] [ 1.46896268e-02 3.95384410e-04 9.99892023e-01 -5.10772820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.018358553404200652 Centerline is valid? [True, True] Translation: X:234.73, Y:-124.12, Z:-5.11 [[-6.75722540e-01 -7.37061149e-01 1.18283782e-02 2.34730203e+02] [ 7.36961664e-01 -6.75825854e-01 -1.21210723e-02 -1.24117846e+02] [ 1.69278953e-02 5.26579527e-04 9.99856574e-01 -5.11014088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.018715797346218723 Centerline is valid? [True, True] Translation: X:234.69, Y:-124.08, Z:-5.11 [[-6.74568197e-01 -7.38103723e-01 1.26744473e-02 2.34688924e+02] [ 7.37989812e-01 -6.74686992e-01 -1.29807908e-02 -1.24076563e+02] [ 1.81324548e-02 5.97184356e-04 9.99835415e-01 -5.11051245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.019384262992264582 Centerline is valid? [True, True] Translation: X:234.65, Y:-124.04, Z:-5.11 [[-6.74349573e-01 -7.38316267e-01 1.19055992e-02 2.34648833e+02] [ 7.38215920e-01 -6.74454419e-01 -1.21857491e-02 -1.24035747e+02] [ 1.70267208e-02 5.71448171e-04 9.99854872e-01 -5.10979403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.01894883998447922 Centerline is valid? [True, True] Translation: X:234.61, Y:-123.99, Z:-5.11 [[-6.75064776e-01 -7.37673070e-01 1.12245349e-02 2.34609584e+02] [ 7.37583889e-01 -6.75157880e-01 -1.14822729e-02 -1.23993278e+02] [ 1.60484967e-02 5.27758134e-04 9.99871075e-01 -5.10833082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.0168581821454987 Centerline is valid? [True, True] Translation: X:234.57, Y:-123.95, Z:-5.11 [[-6.77251415e-01 -7.35685781e-01 9.84647770e-03 2.34572258e+02] [ 7.35617023e-01 -6.77322856e-01 -1.00670154e-02 -1.23948126e+02] [ 1.40754045e-02 4.25336174e-04 9.99900846e-01 -5.10590397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.01680103742006746 Centerline is valid? [True, True] Translation: X:234.53, Y:-123.91, Z:-5.11 [[-6.78412961e-01 -7.34627470e-01 8.85066713e-03 2.34531926e+02] [ 7.34571891e-01 -6.78470593e-01 -9.04379890e-03 -1.23906664e+02] [ 1.26487405e-02 3.66020899e-04 9.99919935e-01 -5.10522839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.01740583370807821 Centerline is valid? [True, True] Translation: X:234.49, Y:-123.87, Z:-5.11 [[-6.78397853e-01 -7.34641877e-01 8.81275738e-03 2.34490283e+02] [ 7.34586846e-01 -6.78454992e-01 -8.99943600e-03 -1.23866986e+02] [ 1.25904218e-02 3.68537587e-04 9.99920670e-01 -5.10535835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.017462066435314883 Centerline is valid? [True, True] Translation: X:234.45, Y:-123.83, Z:-5.11 [[-6.76921257e-01 -7.36001132e-01 8.94121074e-03 2.34448357e+02] [ 7.35944673e-01 -6.76980185e-01 -9.12509530e-03 -1.23827312e+02] [ 1.27691030e-02 4.03265421e-04 9.99918390e-01 -5.10578405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.018418203537673483 Centerline is valid? [True, True] Translation: X:234.41, Y:-123.79, Z:-5.11 [[-6.76320649e-01 -7.36552769e-01 8.96657282e-03 2.34405881e+02] [ 7.36496107e-01 -6.76379955e-01 -9.14553138e-03 -1.23788266e+02] [ 1.28009766e-02 4.18534263e-04 9.99917977e-01 -5.10644990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.018891478594911436 Centerline is valid? [True, True] Translation: X:234.36, Y:-123.75, Z:-5.11 [[-6.74758538e-01 -7.37985791e-01 8.82542490e-03 2.34363296e+02] [ 7.37931085e-01 -6.74816106e-01 -8.99647538e-03 -1.23748358e+02] [ 1.25948099e-02 4.42106795e-04 9.99920585e-01 -5.10579820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.01993229363199263 Centerline is valid? [True, True] Translation: X:234.32, Y:-123.71, Z:-5.11 [[-6.73176180e-01 -7.39432391e-01 8.57729524e-03 2.34320144e+02] [ 7.39380899e-01 -6.73230665e-01 -8.73830024e-03 -1.23709936e+02] [ 1.22358804e-02 4.59472700e-04 9.99925033e-01 -5.10573774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.021190184978013903 Centerline is valid? [True, True] Translation: X:234.28, Y:-123.67, Z:-5.11 [[-6.71801243e-01 -7.40681053e-01 8.64105175e-03 2.34276823e+02] [ 7.40628956e-01 -6.71856636e-01 -8.79832051e-03 -1.23670935e+02] [ 1.23222973e-02 4.89090490e-04 9.99923958e-01 -5.10611739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.021686199677458527 Centerline is valid? [True, True] Translation: X:234.23, Y:-123.63, Z:-5.11 [[-6.69766676e-01 -7.42525231e-01 8.29945515e-03 2.34234204e+02] [ 7.42477370e-01 -6.69817905e-01 -8.44565025e-03 -1.23631823e+02] [ 1.18302321e-02 5.05542532e-04 9.99929893e-01 -5.10516817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.022777575221906432 Centerline is valid? [True, True] Translation: X:234.19, Y:-123.59, Z:-5.11 [[-6.69994048e-01 -7.42330714e-01 7.28608235e-03 2.34192895e+02] [ 7.42293867e-01 -6.70033517e-01 -7.40949847e-03 -1.23594205e+02] [ 1.03822177e-02 4.44094381e-04 9.99946005e-01 -5.10521386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.021569431391047073 Centerline is valid? [True, True] Translation: X:234.15, Y:-123.55, Z:-5.10 [[-6.71129561e-01 -7.41319161e-01 5.56899391e-03 2.34152670e+02] [ 7.41297626e-01 -6.71152585e-01 -5.66011439e-03 -1.23552772e+02] [ 7.93359592e-03 3.29611880e-04 9.99968474e-01 -5.10276812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.02241094991017538 Centerline is valid? [True, True] Translation: X:234.11, Y:-123.51, Z:-5.10 [[-6.70778810e-01 -7.41641021e-01 4.93802467e-03 2.34110141e+02] [ 7.41624118e-01 -6.70796920e-01 -5.01601372e-03 -1.23513588e+02] [ 7.03249328e-03 2.97522475e-04 9.99975227e-01 -5.10256679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.023590371759461597 Centerline is valid? [True, True] Translation: X:234.07, Y:-123.48, Z:-5.10 [[-6.71149193e-01 -7.41307691e-01 4.65497228e-03 2.34067611e+02] [ 7.41292682e-01 -6.71165277e-01 -4.72539397e-03 -1.23477032e+02] [ 6.62722665e-03 2.79252545e-04 9.99978001e-01 -5.10376926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.022192995976363598 Centerline is valid? [True, True] Translation: X:234.03, Y:-123.44, Z:-5.10 [[-6.71217788e-01 -7.41246807e-01 4.45552626e-03 2.34027091e+02] [ 7.41233074e-01 -6.71232522e-01 -4.52006380e-03 -1.23435990e+02] [ 6.34117699e-03 2.68636197e-04 9.99979858e-01 -5.10411293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.022302544210821364 Centerline is valid? [True, True] Translation: X:233.99, Y:-123.40, Z:-5.10 [[-6.71524835e-01 -7.40966335e-01 4.82553960e-03 2.33985460e+02] [ 7.40950240e-01 -6.71542111e-01 -4.89235775e-03 -1.23396321e+02] [ 6.86562544e-03 2.90144993e-04 9.99976389e-01 -5.10494703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.02167056419645893 Centerline is valid? [True, True] Translation: X:233.94, Y:-123.36, Z:-5.11 [[-6.72268815e-01 -7.40283958e-01 5.85689359e-03 2.33944725e+02] [ 7.40260253e-01 -6.72294238e-01 -5.93423466e-03 -1.23356441e+02] [ 8.33057454e-03 3.46224634e-04 9.99965240e-01 -5.10645226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.020928036894369104 Centerline is valid? [True, True] Translation: X:233.90, Y:-123.32, Z:-5.11 [[-6.73431484e-01 -7.39223785e-01 6.18315167e-03 2.33903858e+02] [ 7.39197353e-01 -6.73459776e-01 -6.26126720e-03 -1.23315613e+02] [ 8.79258158e-03 3.54034879e-04 9.99961282e-01 -5.10660676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.02090983307988861 Centerline is valid? [True, True] Translation: X:233.86, Y:-123.27, Z:-5.11 [[-6.74960664e-01 -7.37832758e-01 5.56092245e-03 2.33861770e+02] [ 7.37811346e-01 -6.74983503e-01 -5.62919618e-03 -1.23274976e+02] [ 7.90693625e-03 3.03425688e-04 9.99968694e-01 -5.10674171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.016646145945068684 Centerline is valid? [True, True] Translation: X:233.83, Y:-123.23, Z:-5.11 [[-6.79283807e-01 -7.33863190e-01 4.28101212e-03 2.33825157e+02] [ 7.33850437e-01 -6.79297268e-01 -4.33102187e-03 -1.23229890e+02] [ 6.08645736e-03 1.99629588e-04 9.99981457e-01 -5.10565898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.014440141797310575 Centerline is valid? [True, True] Translation: X:233.79, Y:-123.19, Z:-5.11 [[-6.85915721e-01 -7.27673390e-01 3.32578229e-03 2.33788487e+02] [ 7.27665626e-01 -6.85923775e-01 -3.36337330e-03 -1.23187005e+02] [ 4.72867039e-03 1.13066829e-04 9.99988813e-01 -5.10502811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.012838713251540297 Centerline is valid? [True, True] Translation: X:233.75, Y:-123.14, Z:-5.10 [[-6.90650260e-01 -7.23182196e-01 3.11918702e-03 2.33749835e+02] [ 7.23175329e-01 -6.90657299e-01 -3.15260625e-03 -1.23143667e+02] [ 4.43419799e-03 7.83707723e-05 9.99990166e-01 -5.10486718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.011071327877929867 Centerline is valid? [True, True] Translation: X:233.71, Y:-123.10, Z:-5.11 [[-6.96891837e-01 -7.17164536e-01 4.09840860e-03 2.33713087e+02] [ 7.17152589e-01 -6.96903886e-01 -4.13987389e-03 -1.23098878e+02] [ 5.82516762e-03 5.41400193e-05 9.99983032e-01 -5.10572026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.010609931691947898 Centerline is valid? [True, True] Translation: X:233.67, Y:-123.06, Z:-5.11 [[-7.00773894e-01 -7.13368192e-01 4.66601941e-03 2.33673698e+02] [ 7.13352639e-01 -7.00789427e-01 -4.71070661e-03 -1.23055390e+02] [ 6.63036533e-03 2.73770488e-05 9.99978019e-01 -5.10657465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.010639154238000421 Centerline is valid? [True, True] Translation: X:233.64, Y:-123.01, Z:-5.11 [[-7.06598942e-01 -7.07597820e-01 4.82291220e-03 2.33635464e+02] [ 7.07581087e-01 -7.06615400e-01 -4.86631294e-03 -1.23010952e+02] [ 6.85133646e-03 -2.59301190e-05 9.99976529e-01 -5.10650832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.01141629449952457 Centerline is valid? [True, True] Translation: X:233.60, Y:-122.97, Z:-5.11 [[-7.11813833e-01 -7.02350122e-01 5.03722966e-03 2.33597925e+02] [ 7.02331751e-01 -7.11831652e-01 -5.08044594e-03 -1.22967089e+02] [ 7.15391133e-03 -7.85253740e-05 9.99974407e-01 -5.10594203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.01217960795501899 Centerline is valid? [True, True] Translation: X:233.56, Y:-122.92, Z:-5.11 [[-7.14718577e-01 -6.99391405e-01 5.38691846e-03 2.33558759e+02] [ 6.99370336e-01 -7.14738868e-01 -5.42986762e-03 -1.22924720e+02] [ 7.64784275e-03 -1.13376283e-04 9.99970748e-01 -5.10568135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.012901746845999172 Centerline is valid? [True, True] Translation: X:233.52, Y:-122.88, Z:-5.11 [[-7.16798430e-01 -6.97252435e-01 6.24927376e-03 2.33517984e+02] [ 6.97224030e-01 -7.16825654e-01 -6.29557124e-03 -1.22883161e+02] [ 8.86924212e-03 -1.55511747e-04 9.99960655e-01 -5.10664936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.012914340705165006 Centerline is valid? [True, True] Translation: X:233.48, Y:-122.84, Z:-5.11 [[-7.16594349e-01 -6.97456210e-01 6.88290544e-03 2.33476067e+02] [ 6.97421805e-01 -7.16627384e-01 -6.92955269e-03 -1.22844527e+02] [ 9.76553808e-03 -1.65389963e-04 9.99952302e-01 -5.10716438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.01239950541884608 Centerline is valid? [True, True] Translation: X:233.43, Y:-122.81, Z:-5.11 [[-7.15018519e-01 -6.99068041e-01 7.23823930e-03 2.33432947e+02] [ 6.99030115e-01 -7.15055139e-01 -7.28327435e-03 -1.22805796e+02] [ 1.02672445e-02 -1.47928785e-04 9.99947280e-01 -5.10730589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.011338514824363459 Centerline is valid? [True, True] Translation: X:233.39, Y:-122.77, Z:-5.11 [[-7.12499772e-01 -7.01632099e-01 7.51485045e-03 2.33388596e+02] [ 7.01591406e-01 -7.12539392e-01 -7.55733216e-03 -1.22768278e+02] [ 1.06570938e-02 -1.12242945e-04 9.99943205e-01 -5.10671499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.010587241491912291 Centerline is valid? [True, True] Translation: X:233.34, Y:-122.73, Z:-5.11 [[-7.08111800e-01 -7.06058543e-01 7.68194371e-03 2.33342939e+02] [ 7.06016327e-01 -7.08153466e-01 -7.72105303e-03 -1.22732028e+02] [ 1.08915105e-02 -4.37910811e-05 9.99940685e-01 -5.10736283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.010366804023635922 Centerline is valid? [True, True] Translation: X:233.30, Y:-122.69, Z:-5.11 [[-7.05019726e-01 -7.09144788e-01 7.80095547e-03 2.33299276e+02] [ 7.09101496e-01 -7.05062883e-01 -7.83571536e-03 -1.22694552e+02] [ 1.10568209e-02 7.33529988e-06 9.99938871e-01 -5.10694199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.010807777161615512 Centerline is valid? [True, True] Translation: X:233.25, Y:-122.66, Z:-5.11 [[-7.00292916e-01 -7.13813393e-01 7.76348420e-03 2.33253487e+02] [ 7.13770849e-01 -7.00335943e-01 -7.79372486e-03 -1.22658276e+02] [ 1.10003122e-02 8.34583936e-05 9.99939491e-01 -5.10641583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.011302719049695457 Centerline is valid? [True, True] Translation: X:233.21, Y:-122.62, Z:-5.11 [[-6.97128610e-01 -7.16909814e-01 7.21240317e-03 2.33209377e+02] [ 7.16873303e-01 -6.97165907e-01 -7.23637641e-03 -1.22620212e+02] [ 1.02160709e-02 1.25694253e-04 9.99947807e-01 -5.10556899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.013146522217318638 Centerline is valid? [True, True] Translation: X:233.16, Y:-122.58, Z:-5.11 [[-6.93229781e-01 -7.20686811e-01 6.55672200e-03 2.33164716e+02] [ 7.20656841e-01 -6.93260768e-01 -6.57459833e-03 -1.22583890e+02] [ 9.28374443e-03 1.67439206e-04 9.99956891e-01 -5.10528199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.01450685541501543 Centerline is valid? [True, True] Translation: X:233.12, Y:-122.55, Z:-5.10 [[-6.90320726e-01 -7.23477137e-01 6.17468745e-03 2.33121677e+02] [ 7.23450701e-01 -6.90348313e-01 -6.18789581e-03 -1.22545521e+02] [ 8.73948621e-03 1.95449234e-04 9.99961791e-01 -5.10487890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.015051907198508192 Centerline is valid? [True, True] Translation: X:233.08, Y:-122.51, Z:-5.11 [[-6.88612957e-01 -7.25099634e-01 6.53579550e-03 2.33079122e+02] [ 7.25070121e-01 -6.88643934e-01 -6.54611771e-03 -1.22506206e+02] [ 9.24742348e-03 2.31168565e-04 9.99957215e-01 -5.10536474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.018135810252345477 Centerline is valid? [True, True] Translation: X:233.04, Y:-122.47, Z:-5.11 [[-6.85585290e-01 -7.27949322e-01 7.91172242e-03 2.33035755e+02] [ 7.27906304e-01 -6.85630861e-01 -7.92060323e-03 -1.22469853e+02] [ 1.11903188e-02 3.28743557e-04 9.99937332e-01 -5.10770678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.017160314255583894 Centerline is valid? [True, True] Translation: X:233.00, Y:-122.43, Z:-5.11 [[-6.84901571e-01 -7.28588125e-01 8.31751379e-03 2.32996557e+02] [ 7.28540683e-01 -6.84951979e-01 -8.32218956e-03 -1.22427294e+02] [ 1.17605460e-02 3.59766468e-04 9.99930778e-01 -5.10721811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.016279717824507604 Centerline is valid? [True, True] Translation: X:232.96, Y:-122.38, Z:-5.11 [[-6.87077293e-01 -7.26542310e-01 7.81438465e-03 2.32958697e+02] [ 7.26500351e-01 -6.87121661e-01 -7.81434873e-03 -1.22382994e+02] [ 1.10468879e-02 3.08091614e-04 9.99938934e-01 -5.10646468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.014311730115657905 Centerline is valid? [True, True] Translation: X:232.54, Y:-122.81, Z:-4.15 [[-7.69007584e-01 6.39191532e-01 7.84352202e-03 2.32541588e+02] [ 6.39155341e-01 7.69047551e-01 -6.80541519e-03 -1.22808253e+02] [-1.03820052e-02 -2.20186898e-04 -9.99946081e-01 -4.15250157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.012656170677670308 Centerline is valid? [True, True] Translation: X:232.55, Y:-122.79, Z:-4.15 [[-8.09310240e-01 5.87323672e-01 8.23651122e-03 2.32552210e+02] [ 5.87291165e-01 8.09352134e-01 -6.18150460e-03 -1.22791223e+02] [-1.02967819e-02 -1.65524704e-04 -9.99946973e-01 -4.15269199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.010415862722783248 Centerline is valid? [True, True] Translation: X:232.57, Y:-122.78, Z:-4.15 [[-8.44045321e-01 5.36199058e-01 8.83551451e-03 2.32567882e+02] [ 5.36168756e-01 8.44091562e-01 -5.70086273e-03 -1.22783410e+02] [-1.05147805e-02 -7.44596847e-05 -9.99944715e-01 -4.15356941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.010171320835695217 Centerline is valid? [True, True] Translation: X:232.58, Y:-122.77, Z:-4.15 [[-8.75166579e-01 4.83741729e-01 8.79767033e-03 2.32584925e+02] [ 4.83716734e-01 8.75210796e-01 -4.91771371e-03 -1.22766986e+02] [-1.00787194e-02 -4.82383239e-05 -9.99949207e-01 -4.15367215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.01076709088024935 Centerline is valid? [True, True] Translation: X:232.60, Y:-122.75, Z:-4.15 [[-9.03619297e-01 4.28256309e-01 8.28859144e-03 2.32600328e+02] [ 4.28239021e-01 9.03657307e-01 -3.84865406e-03 -1.22754615e+02] [-9.13825660e-03 7.17802029e-05 -9.99958243e-01 -4.15483918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.011569248899844412 Centerline is valid? [True, True] Translation: X:232.61, Y:-122.73, Z:-4.15 [[-9.30245420e-01 3.66837275e-01 8.59494462e-03 2.32611212e+02] [ 3.66822688e-01 9.30285119e-01 -3.27313426e-03 -1.22734673e+02] [-9.19645673e-03 1.08002535e-04 -9.99957706e-01 -4.15430320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.012086958740692624 Centerline is valid? [True, True] Translation: X:232.62, Y:-122.71, Z:-4.15 [[-9.53256274e-01 3.02014835e-01 9.46122814e-03 2.32619744e+02] [ 3.02001389e-01 9.53303215e-01 -2.85313800e-03 -1.22711978e+02] [-9.88110921e-03 1.37532339e-04 -9.99951171e-01 -4.15381850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.011830862884460164 Centerline is valid? [True, True] Translation: X:232.63, Y:-122.69, Z:-4.15 [[-9.72238009e-01 2.33778596e-01 1.00410357e-02 2.32625014e+02] [ 2.33767662e-01 9.72289847e-01 -2.26567814e-03 -1.22685658e+02] [-1.02924641e-02 1.44491026e-04 -9.99947021e-01 -4.15371129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.011216474581609058 Centerline is valid? [True, True] Translation: X:232.77, Y:-122.02, Z:-5.10 [[-9.61389428e-01 -2.75017747e-01 9.77783043e-03 2.32774690e+02] [ 2.75001948e-01 -9.61439138e-01 -2.95153864e-03 -1.22016931e+02] [ 1.02125144e-02 -1.48655626e-04 9.99947840e-01 -5.10390906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.010573363992770764 Centerline is valid? [True, True] Translation: X:232.58, Y:-122.67, Z:-4.15 [[-9.74727318e-01 2.23182876e-01 9.80098333e-03 2.32575471e+02] [ 2.23172312e-01 9.74776589e-01 -2.17254448e-03 -1.22671810e+02] [-1.00386438e-02 6.96696585e-05 -9.99949609e-01 -4.15422230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.010142149355146091 Centerline is valid? [True, True] Translation: X:232.72, Y:-122.01, Z:-5.10 [[-9.59594332e-01 -2.81227100e-01 9.48871910e-03 2.32719735e+02] [ 2.81212551e-01 -9.59641242e-01 -2.86161928e-03 -1.22011142e+02] [ 9.91053107e-03 -7.76467360e-05 9.99950886e-01 -5.10464026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.010161265660465279 Centerline is valid? [True, True] Translation: X:232.52, Y:-122.65, Z:-4.15 [[-9.78080766e-01 2.08006042e-01 9.56567975e-03 2.32521439e+02] [ 2.07995627e-01 9.78127540e-01 -2.08203078e-03 -1.22653166e+02] [-9.78952978e-03 -4.67747020e-05 -9.99952080e-01 -4.15424934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.01040326141801336 Centerline is valid? [True, True] Translation: X:232.67, Y:-122.01, Z:-5.10 [[-9.58475424e-01 -2.85039117e-01 8.80701553e-03 2.32665897e+02] [ 2.85027128e-01 -9.58515885e-01 -2.61435999e-03 -1.22005418e+02] [ 9.18685915e-03 4.43853775e-06 9.99957800e-01 -5.10307984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.010748636220207141 Centerline is valid? [True, True] Translation: X:232.47, Y:-122.64, Z:-4.16 [[-9.79964414e-01 1.99023933e-01 7.69551558e-03 2.32466982e+02] [ 1.99017154e-01 9.79994626e-01 -1.64463378e-03 -1.22638813e+02] [-7.86888540e-03 -8.01429731e-05 -9.99969037e-01 -4.15554898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.010916507857402433 Centerline is valid? [True, True] Translation: X:232.48, Y:-122.61, Z:-4.16 [[-9.91777092e-01 1.27752386e-01 7.58469165e-03 2.32476167e+02] [ 1.27747961e-01 9.91806090e-01 -1.06707098e-03 -1.22612899e+02] [-7.65886423e-03 -8.93676659e-05 -9.99970666e-01 -4.15588910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.011345339942752814 Centerline is valid? [True, True] Translation: X:232.57, Y:-121.96, Z:-5.10 [[-9.75650629e-01 -2.19183777e-01 8.02005100e-03 2.32569814e+02] [ 2.19177469e-01 -9.75683583e-01 -1.66793811e-03 -1.21961938e+02] [ 8.19061708e-03 1.30489612e-04 9.99966448e-01 -5.10284373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.013579353293450357 Centerline is valid? [True, True] Translation: X:232.42, Y:-122.60, Z:-4.15 [[-9.93015976e-01 1.17598058e-01 9.48516895e-03 2.32424728e+02] [ 1.17591029e-01 9.93061260e-01 -1.29726225e-03 -1.22600883e+02] [-9.57190935e-03 -1.72831357e-04 -9.99954173e-01 -4.15234838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.01364249852167764 Centerline is valid? [True, True] Translation: X:232.43, Y:-122.58, Z:-4.15 [[-9.98999802e-01 4.34465623e-02 1.05731401e-02 2.32425936e+02] [ 4.34417148e-02 9.99055726e-01 -6.87810137e-04 -1.22575258e+02] [-1.05930391e-02 -2.27806855e-04 -9.99943866e-01 -4.15203581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.013380887339059684 Centerline is valid? [True, True] Translation: X:232.42, Y:-122.55, Z:-4.15 [[-9.99540430e-01 -2.82479822e-02 1.09991412e-02 2.32421919e+02] [-2.82489584e-02 9.99600916e-01 6.66227583e-05 -1.22550773e+02] [-1.09966335e-02 -2.44122141e-04 -9.99939505e-01 -4.15221720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.01322980145138375 Centerline is valid? [True, True] Translation: X:232.42, Y:-121.89, Z:-5.11 [[-9.96574881e-01 -8.19814989e-02 1.08416481e-02 2.32420793e+02] [ 8.19791817e-02 -9.96633824e-01 -6.58717224e-04 -1.21891324e+02] [ 1.08591559e-02 2.32328403e-04 9.99941011e-01 -5.10581083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.012969606408724386 Centerline is valid? [True, True] Translation: X:232.36, Y:-122.56, Z:-4.15 [[-9.99504844e-01 -2.98024437e-02 1.00935915e-02 2.32361150e+02] [-2.98029000e-02 9.99555789e-01 1.05238995e-04 -1.22559159e+02] [-1.00922442e-02 -1.95631413e-04 -9.99949053e-01 -4.15248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.011917550871747496 Centerline is valid? [True, True] Translation: X:232.36, Y:-121.88, Z:-5.10 [[-9.97258811e-01 -7.33825866e-02 9.47948642e-03 2.32358414e+02] [ 7.33806704e-02 -9.97303853e-01 -5.50276270e-04 -1.21882395e+02] [ 9.49430902e-03 1.46843210e-04 9.99954917e-01 -5.10466405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.01167155748072163 Centerline is valid? [True, True] Translation: X:232.30, Y:-122.57, Z:-4.15 [[-9.99508601e-01 -2.98759085e-02 9.48613754e-03 2.32298317e+02] [-2.98759059e-02 9.99553605e-01 1.42018475e-04 -1.22569967e+02] [-9.48614591e-03 -1.41458265e-04 -9.99954996e-01 -4.15309266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.01160900979901418 Centerline is valid? [True, True] Translation: X:232.28, Y:-121.88, Z:-5.11 [[-9.97741369e-01 -6.64429739e-02 9.87377244e-03 2.32283904e+02] [ 6.64414343e-02 -9.97790209e-01 -4.84229781e-04 -1.21875611e+02] [ 9.88412714e-03 1.72891519e-04 9.99951136e-01 -5.10555907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.011497666139034956 Centerline is valid? [True, True] Translation: X:232.23, Y:-122.58, Z:-4.15 [[-9.99384155e-01 -3.36056720e-02 1.00980300e-02 2.32234148e+02] [-3.36053889e-02 9.99435160e-01 1.97763067e-04 -1.22578514e+02] [-1.00989722e-02 -1.41706949e-04 -9.99948994e-01 -4.15189882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.011269684892488642 Centerline is valid? [True, True] Translation: X:232.23, Y:-122.55, Z:-4.15 [[-9.94453541e-01 -1.04763435e-01 9.31541327e-03 2.32230266e+02] [-1.04760095e-01 9.94497162e-01 8.47095981e-04 -1.22554170e+02] [-9.35289674e-03 -1.33485985e-04 -9.99956252e-01 -4.15284250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.010927703959023852 Centerline is valid? [True, True] Translation: X:232.22, Y:-122.53, Z:-4.15 [[-9.84881801e-01 -1.73020462e-01 8.47105228e-03 2.32222213e+02] [-1.73014964e-01 9.84918225e-01 1.38316027e-03 -1.22531260e+02] [-8.58260880e-03 -1.03369432e-04 -9.99963163e-01 -4.15254304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.010714841775844348 Centerline is valid? [True, True] Translation: X:232.21, Y:-122.51, Z:-4.15 [[-9.70860857e-01 -2.39520239e-01 7.69743234e-03 2.32214442e+02] [-2.39513266e-01 9.70891369e-01 1.82894046e-03 -1.22507830e+02] [-7.91143888e-03 -6.79904582e-05 -9.99968702e-01 -4.15130464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.0096567273821334 Centerline is valid? [True, True] Translation: X:232.19, Y:-122.49, Z:-4.15 [[-9.53212314e-01 -3.02212429e-01 7.34382788e-03 2.32193756e+02] [-3.02203566e-01 9.53240603e-01 2.31459672e-03 -1.22493678e+02] [-7.69993482e-03 -1.30288721e-05 -9.99970355e-01 -4.15230247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.009873071651743203 Centerline is valid? [True, True] Translation: X:232.15, Y:-122.49, Z:-4.15 [[-9.31027734e-01 -3.64891528e-01 6.44448992e-03 2.32151258e+02] [-3.64882547e-01 9.31050037e-01 2.56032041e-03 -1.22485927e+02] [-6.93438181e-03 3.22474097e-05 -9.99975956e-01 -4.15333734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.010110996188261643 Centerline is valid? [True, True] Translation: X:232.09, Y:-122.48, Z:-4.15 [[-9.02639370e-01 -4.30363159e-01 5.45143577e-03 2.32094628e+02] [-4.30355028e-01 9.02655831e-01 2.64577507e-03 -1.22481719e+02] [-6.05941440e-03 4.21279490e-05 -9.99981641e-01 -4.15362263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.010490273433788336 Centerline is valid? [True, True] Translation: X:232.02, Y:-122.49, Z:-4.15 [[-8.69289448e-01 -4.94272587e-01 5.51955233e-03 2.32023509e+02] [-4.94262205e-01 8.69306969e-01 3.20411768e-03 -1.22488823e+02] [-6.38189284e-03 5.71995817e-05 -9.99979634e-01 -4.15344425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.010682626886642952 Centerline is valid? [True, True] Translation: X:231.95, Y:-122.50, Z:-4.15 [[-8.30464244e-01 -5.57047252e-01 5.24383328e-03 2.31948202e+02] [-5.57035671e-01 8.30480798e-01 3.59248652e-03 -1.22503910e+02] [-6.35608759e-03 6.24294167e-05 -9.99979798e-01 -4.15309005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.011074606073230806 Centerline is valid? [True, True] Translation: X:231.87, Y:-122.53, Z:-4.15 [[-7.87308593e-01 -6.16535648e-01 5.38280693e-03 2.31867202e+02] [-6.16520554e-01 7.87326990e-01 4.31491595e-03 -1.22529334e+02] [-6.89832868e-03 7.85592994e-05 -9.99976203e-01 -4.15239113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.011146173395298567 Centerline is valid? [True, True] Translation: X:231.78, Y:-122.57, Z:-4.15 [[-7.39155817e-01 -6.73513923e-01 5.26062047e-03 2.31781417e+02] [-6.73496017e-01 7.39174532e-01 4.91197217e-03 -1.22565641e+02] [-7.19679832e-03 8.77058680e-05 -9.99974099e-01 -4.15180173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.011183458173889731 Centerline is valid? [True, True] Translation: X:231.69, Y:-122.61, Z:-4.15 [[-6.85362880e-01 -7.28183391e-01 5.16456511e-03 2.31693749e+02] [-7.28161780e-01 6.85382333e-01 5.61074809e-03 -1.22611499e+02] [-7.62535525e-03 8.47595460e-05 -9.99970923e-01 -4.15121145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.010986078188171655 Centerline is valid? [True, True] Translation: X:231.61, Y:-122.67, Z:-4.15 [[-6.26716451e-01 -7.79231272e-01 5.01147345e-03 2.31606691e+02] [-7.79205408e-01 6.26736484e-01 6.34922782e-03 -1.22666891e+02] [-8.08839011e-03 7.41983196e-05 -9.99967286e-01 -4.15083154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.010618510400065475 Centerline is valid? [True, True] Translation: X:231.52, Y:-122.73, Z:-4.15 [[-5.63521999e-01 -8.26088621e-01 4.53293692e-03 2.31521514e+02] [-8.26061131e-01 5.63540228e-01 6.73936248e-03 -1.22731694e+02] [-8.12180296e-03 5.32960186e-05 -9.99967016e-01 -4.15101699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.010484341159328118 Centerline is valid? [True, True] Translation: X:231.44, Y:-122.81, Z:-4.15 [[-4.96624046e-01 -8.67957706e-01 3.73869317e-03 2.31439630e+02] [-8.67932665e-01 4.96638117e-01 6.59318026e-03 -1.22806467e+02] [-7.57937915e-03 2.93979294e-05 -9.99971276e-01 -4.15023703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.010351373171555068 Centerline is valid? [True, True] Translation: X:231.36, Y:-122.89, Z:-4.15 [[-4.24997470e-01 -9.05188615e-01 3.27430135e-03 2.31360905e+02] [-9.05161823e-01 4.25010083e-01 6.96444524e-03 -1.22889287e+02] [-7.69574763e-03 -3.90096340e-06 -9.99970387e-01 -4.15062284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.010492254880403694 Centerline is valid? [True, True] Translation: X:231.29, Y:-122.98, Z:-4.15 [[-3.51347152e-01 -9.36240405e-01 3.01386931e-03 2.31288827e+02] [-9.36206774e-01 3.51360077e-01 7.93551969e-03 -1.22980291e+02] [-8.48850752e-03 -3.34826210e-05 -9.99963971e-01 -4.15015235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.011101715973123764 Centerline is valid? [True, True] Translation: X:231.22, Y:-123.08, Z:-4.15 [[-2.73086547e-01 -9.61985773e-01 2.66646253e-03 2.31221698e+02] [-9.61943174e-01 2.73099549e-01 9.05351252e-03 -1.23076232e+02] [-9.43755995e-03 -9.25929589e-05 -9.99955461e-01 -4.14975147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.012107244855014389 Centerline is valid? [True, True] Translation: X:231.16, Y:-123.18, Z:-4.15 [[-1.94284172e-01 -9.80943191e-01 2.02901782e-03 2.31162331e+02] [-9.80896929e-01 1.94294716e-01 9.52778273e-03 -1.23177995e+02] [-9.74044104e-03 -1.39159970e-04 -9.99952551e-01 -4.14871081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.012641514250714343 Centerline is valid? [True, True] Translation: X:231.12, Y:-123.28, Z:-4.15 [[-1.16565547e-01 -9.93182174e-01 1.28197685e-03 2.31115165e+02] [-9.93136278e-01 1.16572487e-01 9.54930048e-03 -1.23280799e+02] [-9.63363824e-03 -1.60058283e-04 -9.99953583e-01 -4.14865292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.013325126768810988 Centerline is valid? [True, True] Translation: X:231.07, Y:-123.40, Z:-4.15 [[-3.74319451e-02 -9.99299032e-01 5.43055729e-04 2.31074904e+02] [-9.99253296e-01 3.74354285e-02 9.56240039e-03 -1.23396934e+02] [-9.57602697e-03 -1.84710981e-04 -9.99954132e-01 -4.14925288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.013879160328474933 Centerline is valid? [True, True] Translation: X:231.04, Y:-123.51, Z:-4.15 [[ 4.09939020e-02 -9.99159377e-01 -1.97116939e-04 2.31044476e+02] [-9.99111118e-01 -4.09938598e-02 9.82224321e-03 -1.23507852e+02] [-9.82206700e-03 -2.05710351e-04 -9.99951741e-01 -4.14902845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.014837076678035358 Centerline is valid? [True, True] Translation: X:231.02, Y:-123.63, Z:-4.15 [[ 1.19742486e-01 -9.92804470e-01 -1.01074057e-03 2.31022553e+02] [-9.92750022e-01 -1.19746507e-01 1.04003533e-02 -1.23627735e+02] [-1.04465499e-02 -2.41951429e-04 -9.99945404e-01 -4.14793501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.015206662149208478 Centerline is valid? [True, True] Translation: X:231.01, Y:-123.75, Z:-4.15 [[ 1.96454985e-01 -9.80511246e-01 -1.77042559e-03 2.31010910e+02] [-9.80459370e-01 -1.96462808e-01 1.00890775e-02 -1.23746292e+02] [-1.02402767e-02 -2.46219215e-04 -9.99947537e-01 -4.14764458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.015603925691227205 Centerline is valid? [True, True] Translation: X:231.01, Y:-123.86, Z:-4.15 [[ 2.70302609e-01 -9.62773068e-01 -2.12602380e-03 2.31008907e+02] [-9.62737239e-01 -2.70310896e-01 8.30833229e-03 -1.23864496e+02] [-8.57372596e-03 -1.98961610e-04 -9.99963225e-01 -4.14890810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.015442718275966716 Centerline is valid? [True, True] Translation: X:231.02, Y:-123.98, Z:-4.15 [[ 3.41901940e-01 -9.39733045e-01 -2.20642068e-03 2.31015295e+02] [-9.39710582e-01 -3.41909027e-01 6.49912225e-03 -1.23979605e+02] [-6.86183509e-03 -1.48665650e-04 -9.99976446e-01 -4.15057966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.013936584063116316 Centerline is valid? [True, True] Translation: X:231.03, Y:-124.09, Z:-4.15 [[ 4.12419169e-01 -9.10989977e-01 -2.77330942e-03 2.31032785e+02] [-9.10966900e-01 -4.12428467e-01 6.48584986e-03 -1.24093453e+02] [-7.05233596e-03 -1.48495728e-04 -9.99975121e-01 -4.15107300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.01392231594884986 Centerline is valid? [True, True] Translation: X:231.06, Y:-124.21, Z:-4.15 [[ 4.80560369e-01 -8.76953574e-01 -3.76304234e-03 2.31055351e+02] [-8.76923909e-01 -4.80575073e-01 7.21506855e-03 -1.24206866e+02] [-8.13570450e-03 -1.67374207e-04 -9.99966891e-01 -4.14983234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.0142658316988766 Centerline is valid? [True, True] Translation: X:231.08, Y:-124.32, Z:-4.15 [[ 5.45296745e-01 -8.38231648e-01 -4.37768536e-03 2.31085000e+02] [-8.38202230e-01 -5.45314293e-01 7.02452708e-03 -1.24316103e+02] [-8.27539531e-03 -1.61066120e-04 -9.99965745e-01 -4.14864999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.013724610669514381 Centerline is valid? [True, True] Translation: X:231.12, Y:-124.42, Z:-4.15 [[ 6.06661727e-01 -7.94945984e-01 -4.73608420e-03 2.31124059e+02] [-7.94919876e-01 -6.06680197e-01 6.44436939e-03 -1.24421577e+02] [-7.99621407e-03 -1.44744802e-04 -9.99968019e-01 -4.14963420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.013421991009207818 Centerline is valid? [True, True] Translation: X:231.17, Y:-124.52, Z:-4.15 [[ 6.64795108e-01 -7.47009499e-01 -4.92667867e-03 2.31169018e+02] [-7.46987528e-01 -6.64813351e-01 5.73068593e-03 -1.24521817e+02] [-7.55619858e-03 -1.29564452e-04 -9.99971443e-01 -4.15024494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.012966052684075642 Centerline is valid? [True, True] Translation: X:231.22, Y:-124.62, Z:-4.15 [[ 7.18809931e-01 -6.95188003e-01 -5.09148327e-03 2.31220240e+02] [-6.95169428e-01 -7.18827954e-01 5.08318364e-03 -1.24617266e+02] [-7.19366878e-03 -1.14399367e-04 -9.99974119e-01 -4.15049936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.013020804463198903 Centerline is valid? [True, True] Translation: X:231.24, Y:-124.65, Z:-4.15 [[ 7.71119930e-01 -6.36671883e-01 -4.79238801e-03 2.31238623e+02] [-6.36658763e-01 -7.71134815e-01 4.08847986e-03 -1.24647689e+02] [-6.29859742e-03 -1.01592480e-04 -9.99980158e-01 -4.15148879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.013518330481915364 Centerline is valid? [True, True] Translation: X:231.26, Y:-124.68, Z:-4.15 [[ 8.19155881e-01 -5.73550096e-01 -4.89192036e-03 2.31260083e+02] [-5.73539103e-01 -8.19170481e-01 3.55244860e-03 -1.24677045e+02] [-6.04482399e-03 -1.04301549e-04 -9.99981724e-01 -4.15133104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.01346680573294702 Centerline is valid? [True, True] Translation: X:231.28, Y:-124.71, Z:-4.15 [[ 8.62025214e-01 -5.06841175e-01 -4.95518937e-03 2.31282087e+02] [-5.06832088e-01 -8.62039449e-01 3.03693175e-03 -1.24706130e+02] [-5.81081078e-03 -1.06462769e-04 -9.99983111e-01 -4.15151028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.013569283401573535 Centerline is valid? [True, True] Translation: X:231.31, Y:-124.73, Z:-4.15 [[ 8.99374245e-01 -4.37153247e-01 -4.79645274e-03 2.31307310e+02] [-4.37146416e-01 -8.99387029e-01 2.44593786e-03 -1.24734075e+02] [-5.38311706e-03 -1.03061384e-04 -9.99985506e-01 -4.15162942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.014127173155935624 Centerline is valid? [True, True] Translation: X:231.33, Y:-124.76, Z:-4.15 [[ 9.30867457e-01 -3.65326098e-01 -4.75598463e-03 2.31334104e+02] [-3.65320782e-01 -9.30879601e-01 1.97344623e-03 -1.24759943e+02] [-5.14820049e-03 -9.95568478e-05 -9.99986743e-01 -4.15125988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.013819666362468619 Centerline is valid? [True, True] Translation: X:231.37, Y:-124.78, Z:-4.15 [[ 9.56320119e-01 -2.92278497e-01 -5.01110402e-03 2.31365039e+02] [-2.92273950e-01 -9.56333243e-01 1.63308580e-03 -1.24780526e+02] [-5.26960122e-03 -9.71376336e-05 -9.99986111e-01 -4.15067976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.013067624140267487 Centerline is valid? [True, True] Translation: X:231.40, Y:-124.80, Z:-4.15 [[ 9.75373814e-01 -2.20477603e-01 -5.96231272e-03 2.31397749e+02] [-2.20472926e-01 -9.75392033e-01 1.43885913e-03 -1.24795478e+02] [-6.13282853e-03 -8.88969850e-05 -9.99981190e-01 -4.14922926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.012191823303087924 Centerline is valid? [True, True] Translation: X:231.43, Y:-124.81, Z:-4.15 [[ 9.88960950e-01 -1.48025620e-01 -6.68246974e-03 2.31432154e+02] [-1.48021779e-01 -9.88983524e-01 1.06847225e-03 -1.24806702e+02] [-6.76701374e-03 -6.75262730e-05 -9.99977101e-01 -4.14886928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.011808976716992816 Centerline is valid? [True, True] Translation: X:231.46, Y:-124.82, Z:-4.15 [[ 9.97305041e-01 -7.30557490e-02 -6.74630433e-03 2.31462973e+02] [-7.30537525e-02 -9.97327857e-01 5.42222605e-04 -1.24815763e+02] [-6.76788972e-03 -4.79184901e-05 -9.99977096e-01 -4.14910007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.011632691136905618 Centerline is valid? [True, True] Translation: X:231.49, Y:-124.82, Z:-4.15 [[ 9.99977085e-01 2.99943723e-03 -6.06897382e-03 2.31494326e+02] [ 2.99955894e-03 -9.99995501e-01 1.09517174e-05 -1.24822507e+02] [-6.06891366e-03 -2.91557111e-05 -9.99981584e-01 -4.14974548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.011606026078761267 Centerline is valid? [True, True] Translation: X:231.53, Y:-124.83, Z:-4.15 [[ 9.96785270e-01 7.99254793e-02 -5.57173816e-03 2.31526783e+02] [ 7.99243382e-02 -9.96800841e-01 -4.27521238e-04 -1.24826832e+02] [-5.58808312e-03 -1.91706123e-05 -9.99984386e-01 -4.15049775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.011581338732049976 Centerline is valid? [True, True] Translation: X:231.56, Y:-124.83, Z:-4.15 [[ 9.87649500e-01 1.56572745e-01 -5.78285822e-03 2.31559326e+02] [ 1.56570140e-01 -9.87666429e-01 -9.03297731e-04 -1.24831709e+02] [-5.85296674e-03 -1.32813708e-05 -9.99982871e-01 -4.15089907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.011603603911199134 Centerline is valid? [True, True] Translation: X:231.59, Y:-124.83, Z:-4.15 [[ 9.72366155e-01 2.33375735e-01 -6.31083417e-03 2.31592127e+02] [ 2.33370916e-01 -9.72386634e-01 -1.49967641e-03 -1.24834881e+02] [-6.48655888e-03 -1.45305662e-05 -9.99978962e-01 -4.15108141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.0116501925948952 Centerline is valid? [True, True] Translation: X:231.62, Y:-124.83, Z:-4.15 [[ 9.50932430e-01 3.09329514e-01 -6.53945987e-03 2.31623565e+02] [ 3.09322338e-01 -9.50954916e-01 -2.10714239e-03 -1.24834596e+02] [-6.87053284e-03 -1.90509785e-05 -9.99976397e-01 -4.15047285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.011732593641169945 Centerline is valid? [True, True] Translation: X:231.66, Y:-124.83, Z:-4.15 [[ 9.23448863e-01 3.83651345e-01 -7.33777398e-03 2.31656991e+02] [ 3.83639483e-01 -9.23478015e-01 -3.01699408e-03 -1.24833239e+02] [-7.93374679e-03 -2.90200687e-05 -9.99968527e-01 -4.15033516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.011986017810897814 Centerline is valid? [True, True] Translation: X:231.69, Y:-124.83, Z:-4.15 [[ 8.89791796e-01 4.56284413e-01 -8.66567206e-03 2.31689449e+02] [ 4.56263345e-01 -8.89833991e-01 -4.38494017e-03 -1.24829233e+02] [-9.71178940e-03 -5.21447319e-05 -9.99952838e-01 -4.14922874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.011963300301461836 Centerline is valid? [True, True] Translation: X:231.72, Y:-124.82, Z:-4.15 [[ 8.51078471e-01 5.24967412e-01 -8.64021265e-03 2.31722364e+02] [ 5.24941064e-01 -8.51122326e-01 -5.25984053e-03 -1.24822104e+02] [-1.01151227e-02 -5.90653934e-05 -9.99948839e-01 -4.14948039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.011996766651144998 Centerline is valid? [True, True] Translation: X:231.75, Y:-124.81, Z:-4.15 [[ 8.07963128e-01 5.89175543e-01 -8.23180012e-03 2.31753103e+02] [ 5.89145587e-01 -8.08005060e-01 -5.94143376e-03 -1.24811215e+02] [-1.01518836e-02 -4.92693096e-05 -9.99948467e-01 -4.14992465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.012108824546732939 Centerline is valid? [True, True] Translation: X:231.78, Y:-124.80, Z:-4.15 [[ 7.61292393e-01 6.48367245e-01 -7.33546860e-03 2.31781063e+02] [ 6.48337376e-01 -7.61327732e-01 -6.22346429e-03 -1.24795908e+02] [-9.61978607e-03 -1.79824469e-05 -9.99953729e-01 -4.14968363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.011958247042268355 Centerline is valid? [True, True] Translation: X:231.81, Y:-124.78, Z:-4.15 [[ 7.09726646e-01 7.04444698e-01 -6.76430571e-03 2.31809739e+02] [ 7.04412664e-01 -7.09758880e-01 -6.71798364e-03 -1.24780085e+02] [-9.53347400e-03 3.06939280e-06 -9.99954555e-01 -4.15116318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.012044757538872172 Centerline is valid? [True, True] Translation: X:231.84, Y:-124.76, Z:-4.15 [[ 6.53516940e-01 7.56881811e-01 -6.74787803e-03 2.31836883e+02] [ 7.56841167e-01 -6.53551776e-01 -7.84376283e-03 -1.24762811e+02] [-1.03468891e-02 1.89600023e-05 -9.99946469e-01 -4.15085588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.012099875715326195 Centerline is valid? [True, True] Translation: X:231.86, Y:-124.74, Z:-4.15 [[ 5.91735150e-01 8.06105038e-01 -6.64684872e-03 2.31861565e+02] [ 8.06053923e-01 -5.91772480e-01 -9.07778707e-03 -1.24743968e+02] [-1.12510720e-02 1.39272009e-05 -9.99936705e-01 -4.15002620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.012133156505125347 Centerline is valid? [True, True] Translation: X:231.89, Y:-124.72, Z:-4.15 [[ 5.24456312e-01 8.51410153e-01 -6.80645825e-03 2.31886709e+02] [ 8.51338940e-01 -5.24500477e-01 -1.10117366e-02 -1.24723254e+02] [-1.29454950e-02 -1.94281723e-05 -9.99916203e-01 -4.14916960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.0124270361158774 Centerline is valid? [True, True] Translation: X:231.91, Y:-124.70, Z:-4.15 [[ 4.52932687e-01 8.91523650e-01 -6.12878683e-03 2.31908634e+02] [ 8.91444078e-01 -4.52974145e-01 -1.19112987e-02 -1.24700237e+02] [-1.33953865e-02 -6.84541901e-05 -9.99910275e-01 -4.14829957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.012558443300171748 Centerline is valid? [True, True] Translation: X:231.93, Y:-124.67, Z:-4.15 [[ 3.79909540e-01 9.25008722e-01 -5.25406749e-03 2.31928344e+02] [ 9.24923732e-01 -3.79945857e-01 -1.25393659e-02 -1.24674410e+02] [-1.35952840e-02 -9.57869864e-05 -9.99907575e-01 -4.14886118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.012533196831872997 Centerline is valid? [True, True] Translation: X:231.95, Y:-124.65, Z:-4.15 [[ 3.05228949e-01 9.52270758e-01 -3.96135608e-03 2.31946266e+02] [ 9.52194895e-01 -3.05254637e-01 -1.20203529e-02 -1.24647295e+02] [-1.26558529e-02 -1.03023341e-04 -9.99919906e-01 -4.15053358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.012699418809085473 Centerline is valid? [True, True] Translation: X:231.96, Y:-124.62, Z:-4.15 [[ 2.30550017e-01 9.73056093e-01 -2.92056997e-03 2.31960073e+02] [ 9.72982876e-01 -2.30568498e-01 -1.19369108e-02 -1.24620007e+02] [-1.22886752e-02 -8.96095726e-05 -9.99924487e-01 -4.15009510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.012416941444905629 Centerline is valid? [True, True] Translation: X:231.97, Y:-124.59, Z:-4.15 [[ 1.56032583e-01 9.87750275e-01 -1.79628122e-03 2.31969577e+02] [ 9.87688764e-01 -1.56042913e-01 -1.10233503e-02 -1.24590192e+02] [-1.11686142e-02 -5.41649569e-05 -9.99937628e-01 -4.15262486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.012301075922004839 Centerline is valid? [True, True] Translation: X:231.98, Y:-124.56, Z:-4.15 [[ 8.10108612e-02 9.96712775e-01 -9.41038667e-04 2.31976905e+02] [ 9.96648805e-01 -8.10163234e-02 -1.12922585e-02 -1.24560077e+02] [-1.13313777e-02 -2.30894809e-05 -9.99935798e-01 -4.15257085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.012318496138316133 Centerline is valid? [True, True] Translation: X:231.98, Y:-124.53, Z:-4.15 [[ 4.79428439e-03 9.99988506e-01 -5.93857208e-05 2.31984799e+02] [ 9.99909063e-01 -4.79465206e-03 -1.26046115e-02 -1.24529750e+02] [-1.26047514e-02 1.04977167e-06 -9.99920557e-01 -4.15197122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.012543250337806754 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.50, Z:-4.15 [[-7.04192917e-02 9.97516901e-01 1.07498463e-03 2.31989003e+02] [ 9.97410748e-01 7.04274803e-02 -1.45523076e-02 -1.24499969e+02] [-1.45918812e-02 4.74380278e-05 -9.99893532e-01 -4.15081495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.012697835004933856 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.47, Z:-4.15 [[-1.46856187e-01 9.89155140e-01 2.31717828e-03 2.31991785e+02] [ 9.89039725e-01 1.46874448e-01 -1.51102217e-02 -1.24469538e+02] [-1.52866877e-02 7.27518337e-05 -9.99883149e-01 -4.15078970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.012868282006928449 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.44, Z:-4.15 [[-2.22539950e-01 9.74917674e-01 3.39103510e-03 2.31990111e+02] [ 9.74810678e-01 2.22565766e-01 -1.44437404e-02 -1.24440544e+02] [-1.48361861e-02 9.13079606e-05 -9.99889934e-01 -4.15104405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.01273098718387298 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.41, Z:-4.15 [[-2.98280675e-01 9.54468943e-01 4.20415645e-03 2.31988767e+02] [ 9.54378110e-01 2.98310290e-01 -1.31679254e-02 -1.24410674e+02] [-1.38225190e-02 8.46172107e-05 -9.99904461e-01 -4.15287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.012522370332742519 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.38, Z:-4.15 [[-3.74170785e-01 9.27347372e-01 4.80376622e-03 2.31986054e+02] [ 9.27272652e-01 3.74201617e-01 -1.17719539e-02 -1.24380507e+02] [-1.27142676e-02 4.96798156e-05 -9.99919169e-01 -4.15441229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.012432449094925082 Centerline is valid? [True, True] Translation: X:231.98, Y:-124.35, Z:-4.15 [[-4.48130589e-01 8.93949498e-01 5.76800880e-03 2.31982438e+02] [ 8.93875882e-01 4.48167708e-01 -1.14722648e-02 -1.24349793e+02] [-1.28406607e-02 1.48111503e-05 -9.99917555e-01 -4.15446149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.012388761700892415 Centerline is valid? [True, True] Translation: X:231.98, Y:-124.32, Z:-4.15 [[-5.21385453e-01 8.53290450e-01 7.25381073e-03 2.31978547e+02] [ 8.53206273e-01 5.21435907e-01 -1.19854666e-02 -1.24317934e+02] [-1.40094815e-02 -6.00511006e-05 -9.99901861e-01 -4.15458504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.01291560844406286 Centerline is valid? [True, True] Translation: X:231.97, Y:-124.29, Z:-4.15 [[-5.90315478e-01 8.07124982e-01 8.76924299e-03 2.31971752e+02] [ 8.07032557e-01 5.90380594e-01 -1.22150212e-02 -1.24288759e+02] [-1.50362396e-02 -1.33651490e-04 -9.99886940e-01 -4.15367056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.01303758060720898 Centerline is valid? [True, True] Translation: X:231.96, Y:-124.26, Z:-4.15 [[-6.52529263e-01 7.57702680e-01 9.60253220e-03 2.31959602e+02] [ 7.57617288e-01 6.52599898e-01 -1.13762440e-02 -1.24260713e+02] [-1.48864221e-02 -1.48287723e-04 -9.99889180e-01 -4.15358759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.012813297192254188 Centerline is valid? [True, True] Translation: X:231.94, Y:-124.24, Z:-4.15 [[-7.08665341e-01 7.05482118e-01 9.40299748e-03 2.31942460e+02] [ 7.05417942e-01 7.08727712e-01 -9.51615366e-03 -1.24235515e+02] [-1.33776411e-02 -1.10725151e-04 -9.99910509e-01 -4.15372989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.012545336521986127 Centerline is valid? [True, True] Translation: X:231.92, Y:-124.21, Z:-4.15 [[-7.59853573e-01 6.50025115e-01 9.48137471e-03 2.31922312e+02] [ 6.49973406e-01 7.59912722e-01 -8.19920239e-03 -1.24213666e+02] [-1.25347047e-02 -6.75518215e-05 -9.99921435e-01 -4.15359117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.012463654921506214 Centerline is valid? [True, True] Translation: X:231.94, Y:-124.20, Z:-4.15 [[-8.00424645e-01 5.99349878e-01 1.00055712e-02 2.31935795e+02] [ 5.99303155e-01 8.00487179e-01 -7.48366004e-03 -1.24198657e+02] [-1.24946622e-02 6.26445730e-06 -9.99921939e-01 -4.15264960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.012973527354178982 Centerline is valid? [True, True] Translation: X:231.96, Y:-124.19, Z:-4.15 [[-8.37268657e-01 5.46686189e-01 1.07427892e-02 2.31955264e+02] [ 5.46642576e-01 8.37337568e-01 -6.90583680e-03 -1.24188003e+02] [-1.27706666e-02 9.04252500e-05 -9.99918448e-01 -4.15253342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.013670251237120087 Centerline is valid? [True, True] Translation: X:231.97, Y:-124.17, Z:-4.15 [[-8.71631000e-01 4.90037657e-01 1.10677101e-02 2.31974206e+02] [ 4.90000236e-01 8.71701253e-01 -6.05758186e-03 -1.24173655e+02] [-1.26161800e-02 1.43204444e-04 -9.99920403e-01 -4.15303425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.013901956076900517 Centerline is valid? [True, True] Translation: X:231.99, Y:-124.15, Z:-4.15 [[-9.02498798e-01 4.30542011e-01 1.13796617e-02 2.31986343e+02] [ 4.30510434e-01 9.02570518e-01 -5.21777618e-03 -1.24152627e+02] [-1.25174190e-02 1.90026365e-04 -9.99921636e-01 -4.15420658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.015127196041770393 Centerline is valid? [True, True] Translation: X:232.00, Y:-124.13, Z:-4.15 [[-9.29594997e-01 3.68403265e-01 1.14967719e-02 2.31999528e+02] [ 3.68378061e-01 9.29666061e-01 -4.31503535e-03 -1.24133117e+02] [-1.22778318e-02 2.23923275e-04 -9.99924600e-01 -4.15344421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.015698236792934743 Centerline is valid? [True, True] Translation: X:232.26, Y:-123.46, Z:-5.10 [[-9.18584182e-01 -3.95079676e-01 1.07308472e-02 2.32260680e+02] [ 3.95049601e-01 -9.18646826e-01 -4.88082235e-03 -1.23455943e+02] [ 1.17861724e-02 -2.44229302e-04 9.99930511e-01 -5.10452305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.015609843217809987 Centerline is valid? [True, True] Translation: X:231.96, Y:-124.12, Z:-4.15 [[-9.30063093e-01 3.67223784e-01 1.13725578e-02 2.31955360e+02] [ 3.67199615e-01 9.30132587e-01 -4.22059172e-03 -1.24122720e+02] [-1.21278883e-02 2.50582263e-04 -9.99926423e-01 -4.15402658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.01508656581400954 Centerline is valid? [True, True] Translation: X:231.96, Y:-124.10, Z:-4.15 [[-9.54663931e-01 2.97468491e-01 1.13699238e-02 2.31959552e+02] [ 2.97449981e-01 9.54731613e-01 -3.32496353e-03 -1.24095130e+02] [-1.18442976e-02 2.07760866e-04 -9.99929832e-01 -4.15474227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.013747905537888135 Centerline is valid? [True, True] Translation: X:232.17, Y:-123.40, Z:-5.10 [[-9.43348750e-01 -3.31628407e-01 1.07581035e-02 2.32170868e+02] [ 3.31604112e-01 -9.43410064e-01 -4.02042822e-03 -1.23397454e+02] [ 1.14825913e-02 -2.25234591e-04 9.99934048e-01 -5.10218794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.012873691874305435 Centerline is valid? [True, True] Translation: X:231.91, Y:-124.07, Z:-4.16 [[-9.58941465e-01 2.83402362e-01 1.06942869e-02 2.31914769e+02] [ 2.83385588e-01 9.59001093e-01 -3.08426523e-03 -1.24074511e+02] [-1.11299209e-02 7.29769656e-05 -9.99938058e-01 -4.15535194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.012545256279336755 Centerline is valid? [True, True] Translation: X:232.11, Y:-123.39, Z:-5.10 [[-9.40304699e-01 -3.40144448e-01 1.13502255e-02 2.32114460e+02] [ 3.40119473e-01 -9.40373200e-01 -4.12184772e-03 -1.23390092e+02] [ 1.20754715e-02 -1.53600572e-05 9.99927089e-01 -5.10290836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.013032154985171407 Centerline is valid? [True, True] Translation: X:231.87, Y:-124.05, Z:-4.15 [[-9.63841102e-01 2.66197162e-01 1.22229831e-02 2.31865821e+02] [ 2.66174483e-01 9.63918597e-01 -3.47602488e-03 -1.24050834e+02] [-1.27072686e-02 -9.68894526e-05 -9.99919255e-01 -4.15347689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.014042521851987592 Centerline is valid? [True, True] Translation: X:231.86, Y:-124.02, Z:-4.15 [[-9.81464462e-01 1.91211746e-01 1.28677050e-02 2.31864325e+02] [ 1.91192890e-01 9.81548794e-01 -2.69138515e-03 -1.24018211e+02] [-1.31449047e-02 -1.81285185e-04 -9.99913586e-01 -4.15289726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.016127282313451036 Centerline is valid? [True, True] Translation: X:232.00, Y:-123.35, Z:-5.11 [[-9.56718659e-01 -2.90740364e-01 1.26272790e-02 2.32003813e+02] [ 2.90717536e-01 -9.56801969e-01 -3.64777954e-03 -1.23349420e+02] [ 1.31423621e-02 1.81072670e-04 9.99913619e-01 -5.10562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.0159171760768827 Centerline is valid? [True, True] Translation: X:231.82, Y:-124.00, Z:-4.15 [[-9.84205676e-01 1.76594817e-01 1.23878195e-02 2.31816808e+02] [ 1.76576812e-01 9.84283583e-01 -2.54113010e-03 -1.24004623e+02] [-1.26418778e-02 -3.13592986e-04 -9.99920039e-01 -4.15412651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.019245936151559197 Centerline is valid? [True, True] Translation: X:231.95, Y:-123.34, Z:-5.10 [[-9.55718640e-01 -2.94086477e-01 1.07250160e-02 2.31948517e+02] [ 2.94070055e-01 -9.55778799e-01 -3.11297916e-03 -1.23343474e+02] [ 1.11662280e-02 1.78773839e-04 9.99937640e-01 -5.10401090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.019815328735957094 Centerline is valid? [True, True] Translation: X:231.77, Y:-123.99, Z:-4.15 [[-9.86129680e-01 1.65614002e-01 1.09661290e-02 2.31767224e+02] [ 1.65599697e-01 9.86190587e-01 -2.20616983e-03 -1.23987608e+02] [-1.11800658e-02 -3.59581895e-04 -9.99937436e-01 -4.15424043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.01937836249835942 Centerline is valid? [True, True] Translation: X:231.88, Y:-123.33, Z:-5.10 [[-9.55215854e-01 -2.95704404e-01 1.10261794e-02 2.31881564e+02] [ 2.95689311e-01 -9.55279414e-01 -3.01212874e-03 -1.23330844e+02] [ 1.14237820e-02 3.83090269e-04 9.99934673e-01 -5.10356287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.020360564885884093 Centerline is valid? [True, True] Translation: X:231.72, Y:-123.98, Z:-4.15 [[-9.87501233e-01 1.57065149e-01 1.31092992e-02 2.31716971e+02] [ 1.57044665e-01 9.87588121e-01 -2.58407809e-03 -1.23978559e+02] [-1.33524568e-02 -4.93034797e-04 -9.99910730e-01 -4.15378572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.02034326158751895 Centerline is valid? [True, True] Translation: X:231.71, Y:-123.95, Z:-4.15 [[-9.96141471e-01 8.66193524e-02 1.41158613e-02 2.31710567e+02] [ 8.66031609e-02 9.96241342e-01 -1.75545307e-03 -1.23951323e+02] [-1.42148608e-02 -5.26201401e-04 -9.99898825e-01 -4.15272355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.020780515618057063 Centerline is valid? [True, True] Translation: X:231.72, Y:-123.93, Z:-4.15 [[-9.99776908e-01 1.63050543e-02 1.34267821e-02 2.31718116e+02] [ 1.62970133e-02 9.99866944e-01 -7.08081108e-04 -1.23925834e+02] [-1.34365408e-02 -4.89106695e-04 -9.99909606e-01 -4.15275562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.01944563576053429 Centerline is valid? [True, True] Translation: X:231.75, Y:-123.26, Z:-5.10 [[-9.87800644e-01 -1.55179117e-01 1.30126860e-02 2.31754397e+02] [ 1.55171712e-01 -9.87886245e-01 -1.58296844e-03 -1.23255314e+02] [ 1.31006971e-02 4.55543515e-04 9.99914078e-01 -5.10387107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.020008632419788952 Centerline is valid? [True, True] Translation: X:231.67, Y:-123.93, Z:-4.15 [[-9.99819538e-01 1.46341958e-02 1.21133221e-02 2.31670284e+02] [ 1.46281477e-02 9.99892830e-01 -5.87747912e-04 -1.23928353e+02] [-1.21206252e-02 -4.10446380e-04 -9.99926458e-01 -4.15432043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.019093444356127476 Centerline is valid? [True, True] Translation: X:231.67, Y:-123.90, Z:-4.15 [[-9.98418432e-01 -5.50832731e-02 1.12457552e-02 2.31667031e+02] [-5.50839558e-02 9.98481695e-01 2.49254713e-04 -1.23903225e+02] [-1.12424105e-02 -3.70600181e-04 -9.99936733e-01 -4.15440022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.018796669840137902 Centerline is valid? [True, True] Translation: X:231.66, Y:-123.22, Z:-5.10 [[-9.96798700e-01 -7.91457884e-02 1.13268176e-02 2.31660318e+02] [ 7.91449992e-02 -9.96862980e-01 -5.18604821e-04 -1.23223559e+02] [ 1.13323306e-02 3.79516362e-04 9.99935715e-01 -5.10310545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.01989255542924222 Centerline is valid? [True, True] Translation: X:231.61, Y:-123.90, Z:-4.15 [[-9.97959501e-01 -6.29287735e-02 1.08075662e-02 2.31610151e+02] [-6.29293511e-02 9.98017943e-01 2.86948822e-04 -1.23902422e+02] [-1.08042023e-02 -3.93749822e-04 -9.99941555e-01 -4.15456180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.021495125800414246 Centerline is valid? [True, True] Translation: X:231.60, Y:-123.87, Z:-4.15 [[-9.90478425e-01 -1.37217056e-01 1.11341244e-02 2.31601058e+02] [-1.37213452e-01 9.90540902e-01 1.09057393e-03 -1.23872233e+02] [-1.11784510e-02 -4.47561691e-04 -9.99937419e-01 -4.15332712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.025010017492131616 Centerline is valid? [True, True] Translation: X:231.59, Y:-123.84, Z:-4.15 [[-9.78036069e-01 -2.08097119e-01 1.18759194e-02 2.31592587e+02] [-2.08087856e-01 9.78108045e-01 2.02402503e-03 -1.23841293e+02] [-1.20371261e-02 -4.91665128e-04 -9.99927430e-01 -4.15108818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.02235300064926428 Centerline is valid? [True, True] Translation: X:231.58, Y:-123.82, Z:-4.15 [[-9.60720463e-01 -2.77277981e-01 1.15374523e-02 2.31581385e+02] [-2.77264024e-01 9.60789616e-01 2.82416586e-03 -1.23821075e+02] [-1.18681434e-02 -4.85686520e-04 -9.99929453e-01 -4.15277962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.023136462472747966 Centerline is valid? [True, True] Translation: X:231.56, Y:-123.80, Z:-4.15 [[-9.38598572e-01 -3.44849907e-01 1.05480829e-02 2.31564916e+02] [-3.44833463e-01 9.38657734e-01 3.39741486e-03 -1.23796910e+02] [-1.10726378e-02 -4.48523214e-04 -9.99938596e-01 -4.15301052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.0237623993623124 Centerline is valid? [True, True] Translation: X:231.53, Y:-123.78, Z:-4.15 [[-9.11781801e-01 -4.10569488e-01 9.30827098e-03 2.31528927e+02] [-4.10552514e-01 9.11829226e-01 3.75452130e-03 -1.23780364e+02] [-1.00290454e-02 -3.98229858e-04 -9.99949629e-01 -4.15279791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.021489658227020984 Centerline is valid? [True, True] Translation: X:231.49, Y:-123.77, Z:-4.15 [[-8.80236078e-01 -4.74470633e-01 7.87822578e-03 2.31486821e+02] [-4.74454951e-01 8.80271271e-01 3.87163370e-03 -1.23773323e+02] [-8.77195230e-03 -3.29911568e-04 -9.99961471e-01 -4.15380447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.020816099969018825 Centerline is valid? [True, True] Translation: X:231.42, Y:-123.78, Z:-4.15 [[-8.43955010e-01 -5.36366141e-01 7.16269284e-03 2.31424500e+02] [-5.36349773e-01 8.43985352e-01 4.20081619e-03 -1.23777848e+02] [-8.29838341e-03 -2.96408805e-04 -9.99965524e-01 -4.15412269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.02013916584473825 Centerline is valid? [True, True] Translation: X:231.35, Y:-123.79, Z:-4.15 [[-8.04124391e-01 -5.94425720e-01 6.48281332e-03 2.31354645e+02] [-5.94408918e-01 8.04150483e-01 4.47652980e-03 -1.23791481e+02] [-7.87412191e-03 -2.53755251e-04 -9.99968966e-01 -4.15449272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.019624213534255034 Centerline is valid? [True, True] Translation: X:231.28, Y:-123.81, Z:-4.15 [[-7.59705763e-01 -6.50236150e-01 6.33270136e-03 2.31283073e+02] [-6.50216114e-01 7.59732120e-01 5.10984770e-03 -1.23812878e+02] [-8.13376433e-03 -2.35643724e-04 -9.99966893e-01 -4.15367597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.016664096975360063 Centerline is valid? [True, True] Translation: X:231.21, Y:-123.85, Z:-4.15 [[-7.13668931e-01 -7.00450143e-01 6.80102734e-03 2.31213401e+02] [-7.00421043e-01 7.13701307e-01 6.38800886e-03 -1.23846134e+02] [-9.32838382e-03 -2.04659217e-04 -9.99956469e-01 -4.15251809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.016071990223215125 Centerline is valid? [True, True] Translation: X:231.13, Y:-123.89, Z:-4.15 [[-6.61061837e-01 -7.50304198e-01 6.39213776e-03 2.31132593e+02] [-7.50271729e-01 6.61092716e-01 6.98238235e-03 -1.23892044e+02] [-9.46470650e-03 -1.80053748e-04 -9.99955192e-01 -4.15211496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.01325864874465203 Centerline is valid? [True, True] Translation: X:231.06, Y:-123.95, Z:-4.15 [[-6.09358924e-01 -7.92873852e-01 5.72336653e-03 2.31060526e+02] [-7.92840323e-01 6.09385794e-01 7.29217601e-03 -1.23948692e+02] [-9.26951394e-03 -9.41632477e-05 -9.99957033e-01 -4.15376779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.012700311015846856 Centerline is valid? [True, True] Translation: X:230.98, Y:-124.01, Z:-4.15 [[-5.52075668e-01 -8.33781489e-01 4.56996730e-03 2.30984288e+02] [-8.33753468e-01 5.52094581e-01 6.83579122e-03 -1.24013449e+02] [-8.22261037e-03 -3.63520758e-05 -9.99966193e-01 -4.15461251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.01262875075722979 Centerline is valid? [True, True] Translation: X:230.91, Y:-124.09, Z:-4.16 [[-4.92697248e-01 -8.70193437e-01 3.57837900e-03 2.30910643e+02] [-8.70170247e-01 4.92710242e-01 6.35286679e-03 -1.24090068e+02] [-7.29132696e-03 1.62410442e-05 -9.99973418e-01 -4.15568632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.012983541585269112 Centerline is valid? [True, True] Translation: X:230.84, Y:-124.17, Z:-4.16 [[-4.29062553e-01 -9.03270138e-01 2.89552125e-03 2.30841263e+02] [-9.03248810e-01 4.29072320e-01 6.20740877e-03 -1.24170983e+02] [-6.84935499e-03 4.79905340e-05 -9.99976542e-01 -4.15626266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.012808673020889597 Centerline is valid? [True, True] Translation: X:230.77, Y:-124.26, Z:-4.16 [[-3.59984391e-01 -9.32955412e-01 2.33177546e-03 2.30772148e+02] [-9.32934828e-01 3.59991939e-01 6.19771858e-03 -1.24260962e+02] [-6.62161546e-03 5.56874154e-05 -9.99978075e-01 -4.15673541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.012783035228154242 Centerline is valid? [True, True] Translation: X:230.71, Y:-124.36, Z:-4.16 [[-2.86721265e-01 -9.58012055e-01 1.95413176e-03 2.30708362e+02] [-9.57988545e-01 2.86727919e-01 6.71183822e-03 -1.24356924e+02] [-6.99032606e-03 5.23909012e-05 -9.99975566e-01 -4.15580813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.01257205035927098 Centerline is valid? [True, True] Translation: X:230.65, Y:-124.46, Z:-4.16 [[-2.10697394e-01 -9.77550059e-01 1.57824735e-03 2.30651518e+02] [-9.77521038e-01 2.10703300e-01 7.53257527e-03 -1.24462204e+02] [-7.69601132e-03 4.43239860e-05 -9.99970384e-01 -4.15581528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.012300979859628502 Centerline is valid? [True, True] Translation: X:230.60, Y:-124.57, Z:-4.16 [[-1.30824427e-01 -9.91405061e-01 9.87275094e-04 2.30600149e+02] [-9.91376183e-01 1.30828151e-01 7.56693239e-03 -1.24572961e+02] [-7.63105844e-03 1.11785756e-05 -9.99970883e-01 -4.15558475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.012221264972042607 Centerline is valid? [True, True] Translation: X:230.56, Y:-124.69, Z:-4.16 [[-5.05534497e-02 -9.98721290e-01 3.66054044e-04 2.30557792e+02] [-9.98697382e-01 5.05547724e-02 6.91040016e-03 -1.24688788e+02] [-6.92006954e-03 -1.62326484e-05 -9.99976056e-01 -4.15562376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.012624003942054198 Centerline is valid? [True, True] Translation: X:230.52, Y:-124.81, Z:-4.16 [[ 3.29437879e-02 -9.99457194e-01 -1.56760768e-04 2.30522717e+02] [-9.99435577e-01 -3.29441064e-02 6.57361758e-03 -1.24812725e+02] [-6.57521372e-03 -5.98875744e-05 -9.99978381e-01 -4.15578104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.013292962932223195 Centerline is valid? [True, True] Translation: X:230.50, Y:-124.92, Z:-4.16 [[ 1.14304592e-01 -9.93445505e-01 -6.99404484e-04 2.30498975e+02] [-9.93421375e-01 -1.14306691e-01 6.92477689e-03 -1.24923841e+02] [-6.95933508e-03 -9.67304306e-05 -9.99975779e-01 -4.15556741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.014866357051074164 Centerline is valid? [True, True] Translation: X:230.48, Y:-125.05, Z:-4.15 [[ 1.96269876e-01 -9.80549013e-01 -1.32983348e-03 2.30482566e+02] [-9.80520958e-01 -1.96274322e-01 7.41903222e-03 -1.25046621e+02] [-7.53573689e-03 -1.52202933e-04 -9.99971594e-01 -4.15465466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.01556103756340932 Centerline is valid? [True, True] Translation: X:230.48, Y:-125.17, Z:-4.16 [[ 2.73716516e-01 -9.61808628e-01 -1.85285816e-03 2.30478465e+02] [-9.61782185e-01 -2.73722734e-01 7.13404186e-03 -1.25165655e+02] [-7.36875241e-03 -1.70659107e-04 -9.99972836e-01 -4.15515035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.016474335086374584 Centerline is valid? [True, True] Translation: X:230.48, Y:-125.28, Z:-4.15 [[ 3.48810362e-01 -9.37190418e-01 -2.33496397e-03 2.30482919e+02] [-9.37165771e-01 -3.48818129e-01 6.79928968e-03 -1.25284095e+02] [-7.18670690e-03 -1.83414389e-04 -9.99974158e-01 -4.15489715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.01705541546665564 Centerline is valid? [True, True] Translation: X:230.50, Y:-125.40, Z:-4.15 [[ 4.19660582e-01 -9.07674847e-01 -3.37160266e-03 2.30497796e+02] [-9.07641255e-01 -4.19674069e-01 7.81203815e-03 -1.25399448e+02] [-8.50576474e-03 -2.18198812e-04 -9.99963802e-01 -4.15316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.01592302023304128 Centerline is valid? [True, True] Translation: X:230.52, Y:-125.51, Z:-4.15 [[ 4.86789872e-01 -8.73509906e-01 -4.00810243e-03 2.30524798e+02] [-8.73476658e-01 -4.86806327e-01 7.62417158e-03 -1.25511884e+02] [-8.61095902e-03 -2.10385591e-04 -9.99962903e-01 -4.15319024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.014569271141193876 Centerline is valid? [True, True] Translation: X:230.56, Y:-125.61, Z:-4.15 [[ 5.49404771e-01 -8.35544620e-01 -4.42556000e-03 2.30558354e+02] [-8.35514897e-01 -5.49422567e-01 7.04986552e-03 -1.25614482e+02] [-8.32197975e-03 -1.75608439e-04 -9.99965356e-01 -4.15432494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.013286246338404731 Centerline is valid? [True, True] Translation: X:230.60, Y:-125.71, Z:-4.16 [[ 6.06467609e-01 -7.95097175e-01 -4.18575186e-03 2.30601807e+02] [-7.95077062e-01 -6.06482045e-01 5.65630487e-03 -1.25714290e+02] [-7.03589538e-03 -1.02370396e-04 -9.99975243e-01 -4.15567796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.012281104987165897 Centerline is valid? [True, True] Translation: X:230.65, Y:-125.81, Z:-4.16 [[ 6.60678578e-01 -7.50655660e-01 -4.46068106e-03 2.30647936e+02] [-7.50637972e-01 -6.60693634e-01 5.15342702e-03 -1.25806009e+02] [-6.81559273e-03 -5.64022526e-05 -9.99976772e-01 -4.15613586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.011925138117295937 Centerline is valid? [True, True] Translation: X:230.70, Y:-125.89, Z:-4.16 [[ 7.08000078e-01 -7.06196991e-01 -4.65824739e-03 2.30701944e+02] [-7.06181895e-01 -7.08015402e-01 4.61745029e-03 -1.25890373e+02] [-6.55894040e-03 2.04148049e-05 -9.99978490e-01 -4.15576560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.013579782091094507 Centerline is valid? [True, True] Translation: X:230.73, Y:-125.91, Z:-4.16 [[ 7.53453386e-01 -6.57479353e-01 -5.37537181e-03 2.30727263e+02] [-6.57463597e-01 -7.53472554e-01 4.55294846e-03 -1.25910354e+02] [-7.04366474e-03 1.03676851e-04 -9.99975188e-01 -4.15574903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.015423603277082892 Centerline is valid? [True, True] Translation: X:230.75, Y:-125.93, Z:-4.16 [[ 7.98486996e-01 -6.01987631e-01 -5.42296456e-03 2.30752485e+02] [-6.01974959e-01 -7.98505398e-01 3.90862418e-03 -1.25931347e+02] [-6.68320989e-03 1.43503289e-04 -9.99977657e-01 -4.15623561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.017975607076647884 Centerline is valid? [True, True] Translation: X:230.78, Y:-125.95, Z:-4.16 [[ 8.39322440e-01 -5.43603955e-01 -5.70803702e-03 2.30778800e+02] [-5.43592910e-01 -8.39341828e-01 3.47055958e-03 -1.25947924e+02] [-6.67760414e-03 1.89929911e-04 -9.99977687e-01 -4.15594484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.018734639631481437 Centerline is valid? [True, True] Translation: X:230.81, Y:-125.97, Z:-4.16 [[ 8.78875962e-01 -4.77013149e-01 -5.95814596e-03 2.30805146e+02] [-4.77003680e-01 -8.78896136e-01 3.01195423e-03 -1.25965785e+02] [-6.67333324e-03 1.94923381e-04 -9.99977714e-01 -4.15552911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.01623666225974048 Centerline is valid? [True, True] Translation: X:230.83, Y:-125.99, Z:-4.15 [[ 9.14869778e-01 -4.03687158e-01 -7.06878820e-03 2.30827879e+02] [-4.03676758e-01 -9.14897065e-01 2.90432069e-03 -1.25992091e+02] [-7.63965055e-03 1.96430275e-04 -9.99970798e-01 -4.15491029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.015480516050085573 Centerline is valid? [True, True] Translation: X:230.85, Y:-126.01, Z:-4.15 [[ 9.45026356e-01 -3.26888858e-01 -8.29829846e-03 2.30854002e+02] [-3.26877983e-01 -9.45062770e-01 2.67289573e-03 -1.26012488e+02] [-8.71615276e-03 1.86574155e-04 -9.99961996e-01 -4.15343644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.013752776250482126 Centerline is valid? [True, True] Translation: X:230.88, Y:-126.03, Z:-4.15 [[ 9.69640162e-01 -2.44394021e-01 -8.33773090e-03 2.30881381e+02] [-2.44386012e-01 -9.69676002e-01 1.98201578e-03 -1.26033383e+02] [-8.56929037e-03 1.15782703e-04 -9.99963276e-01 -4.15330914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.012464980788962757 Centerline is valid? [True, True] Translation: X:230.91, Y:-126.05, Z:-4.15 [[ 9.87096897e-01 -1.59947660e-01 -7.51410771e-03 2.30910107e+02] [-1.59943356e-01 -9.87125496e-01 1.17417350e-03 -1.26054260e+02] [-7.60517360e-03 4.28085861e-05 -9.99971079e-01 -4.15435127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.0122075501889927 Centerline is valid? [True, True] Translation: X:230.94, Y:-126.07, Z:-4.16 [[ 9.96999889e-01 -7.71630088e-02 -6.09032886e-03 2.30937725e+02] [-7.71615929e-02 -9.97018490e-01 4.67470031e-04 -1.26068646e+02] [-6.10824188e-03 3.87190713e-06 -9.99981345e-01 -4.15525540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.012457410347315236 Centerline is valid? [True, True] Translation: X:230.97, Y:-126.08, Z:-4.16 [[ 9.99967263e-01 7.16067765e-03 -3.76794828e-03 2.30965533e+02] [ 7.16070183e-03 -9.99974362e-01 -7.07348620e-06 -1.26081303e+02] [-3.76790233e-03 -1.99078995e-05 -9.99992901e-01 -4.15603128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.01261121362453084 Centerline is valid? [True, True] Translation: X:231.00, Y:-126.09, Z:-4.16 [[ 9.96209262e-01 8.69174418e-02 -3.53039741e-03 2.30996600e+02] [ 8.69169808e-02 -9.96215518e-01 -2.84078477e-04 -1.26086793e+02] [-3.54172806e-03 -2.38498744e-05 -9.99993728e-01 -4.15608561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.012723470055091848 Centerline is valid? [True, True] Translation: X:231.03, Y:-126.10, Z:-4.16 [[ 9.85921677e-01 1.67159361e-01 -4.02426115e-03 2.31028486e+02] [ 1.67158126e-01 -9.85929889e-01 -6.43804593e-04 -1.26095436e+02] [-4.07525731e-03 -3.79470477e-05 -9.99991695e-01 -4.15571535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.013077694126993052 Centerline is valid? [True, True] Translation: X:231.06, Y:-126.10, Z:-4.15 [[ 9.69601196e-01 2.44622559e-01 -5.77267496e-03 2.31059925e+02] [ 2.44618596e-01 -9.69618379e-01 -1.39373936e-03 -1.26100002e+02] [-5.93823183e-03 -6.07322896e-05 -9.99982367e-01 -4.15377818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.01311078966247825 Centerline is valid? [True, True] Translation: X:231.09, Y:-126.10, Z:-4.15 [[ 9.47481079e-01 3.19722021e-01 -7.57857608e-03 2.31091704e+02] [ 3.19712479e-01 -9.47511384e-01 -2.47137936e-03 -1.26098432e+02] [-7.97094151e-03 -8.13801676e-05 -9.99968228e-01 -4.15186100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.012507455110990705 Centerline is valid? [True, True] Translation: X:231.12, Y:-126.09, Z:-4.15 [[ 9.20666993e-01 3.90276155e-01 -7.53726425e-03 2.31123368e+02] [ 3.90263608e-01 -9.20697844e-01 -3.12997997e-03 -1.26094032e+02] [-8.16109949e-03 -5.98506937e-05 -9.99966696e-01 -4.15216643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.012265311394777798 Centerline is valid? [True, True] Translation: X:231.15, Y:-126.09, Z:-4.15 [[ 8.88716069e-01 4.58407285e-01 -6.81981572e-03 2.31153380e+02] [ 4.58394064e-01 -8.88742235e-01 -3.48156708e-03 -1.26086973e+02] [-7.65703398e-03 -3.20384350e-05 -9.99970684e-01 -4.15246410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.012158404398912586 Centerline is valid? [True, True] Translation: X:231.18, Y:-126.08, Z:-4.15 [[ 8.51753106e-01 5.23902163e-01 -6.57039904e-03 2.31181168e+02] [ 5.23886652e-01 -8.51778447e-01 -4.03144893e-03 -1.26077075e+02] [-7.70860911e-03 -8.34520996e-06 -9.99970288e-01 -4.15174970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.012186963532807871 Centerline is valid? [True, True] Translation: X:231.21, Y:-126.07, Z:-4.15 [[ 8.09734974e-01 5.86758424e-01 -6.61999419e-03 2.31210308e+02] [ 5.86738681e-01 -8.09762034e-01 -4.81340310e-03 -1.26065773e+02] [-8.18492478e-03 1.33741695e-05 -9.99966503e-01 -4.15173372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.012140377100366716 Centerline is valid? [True, True] Translation: X:231.24, Y:-126.05, Z:-4.15 [[ 7.61734729e-01 6.47859047e-01 -6.23357256e-03 2.31238285e+02] [ 6.47837152e-01 -7.61760234e-01 -5.32643336e-03 -1.26053403e+02] [-8.19926573e-03 1.89893751e-05 -9.99966385e-01 -4.15195014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.012166145550384463 Centerline is valid? [True, True] Translation: X:231.26, Y:-126.04, Z:-4.15 [[ 7.08798787e-01 7.05386937e-01 -5.79209444e-03 2.31263196e+02] [ 7.05363153e-01 -7.08822452e-01 -5.79266901e-03 -1.26038138e+02] [-8.19163963e-03 2.03067725e-05 -9.99966448e-01 -4.15126827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.012118818666811868 Centerline is valid? [True, True] Translation: X:231.29, Y:-126.02, Z:-4.15 [[ 6.51221498e-01 7.58869338e-01 -5.28090341e-03 2.31287593e+02] [ 7.58844163e-01 -6.51242909e-01 -6.18136909e-03 -1.26020074e+02] [-8.13000238e-03 1.80577088e-05 -9.99966951e-01 -4.15123645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.011959306373155287 Centerline is valid? [True, True] Translation: X:231.31, Y:-126.00, Z:-4.15 [[ 5.88847314e-01 8.08231646e-01 -4.52180413e-03 2.31313814e+02] [ 8.08207711e-01 -5.88864675e-01 -6.22011814e-03 -1.26002831e+02] [-7.69002705e-03 8.14290024e-06 -9.99970431e-01 -4.15227096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.012009142379854496 Centerline is valid? [True, True] Translation: X:231.34, Y:-125.98, Z:-4.15 [[ 5.22480444e-01 8.52638648e-01 -4.63910523e-03 2.31337655e+02] [ 8.52605111e-01 -5.22501039e-01 -7.56237270e-03 -1.25982594e+02] [-8.87190854e-03 -4.13298925e-06 -9.99960644e-01 -4.15134497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.01202103955450339 Centerline is valid? [True, True] Translation: X:231.36, Y:-125.96, Z:-4.15 [[ 4.52895853e-01 8.91554505e-01 -3.98881544e-03 2.31359809e+02] [ 8.91520242e-01 -4.52913418e-01 -7.81630440e-03 -1.25960634e+02] [-8.77524943e-03 -1.61378570e-05 -9.99961497e-01 -4.15125434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.012081021859607653 Centerline is valid? [True, True] Translation: X:231.38, Y:-125.94, Z:-4.15 [[ 3.80028550e-01 9.24968210e-01 -3.48017905e-03 2.31381398e+02] [ 9.24930213e-01 -3.80044484e-01 -8.38400554e-03 -1.25937512e+02] [-9.07756145e-03 -3.27612780e-05 -9.99958798e-01 -4.15227567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.012137787865792296 Centerline is valid? [True, True] Translation: X:231.40, Y:-125.91, Z:-4.15 [[ 3.05562212e-01 9.52167882e-01 -2.83870589e-03 2.31399857e+02] [ 9.52128051e-01 -3.05575395e-01 -8.70931080e-03 -1.25913091e+02] [-9.16016469e-03 -4.15752297e-05 -9.99958044e-01 -4.15238332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.012259865615845035 Centerline is valid? [True, True] Translation: X:231.42, Y:-125.89, Z:-4.15 [[ 2.28570005e-01 9.73525492e-01 -1.96696377e-03 2.31416228e+02] [ 9.73491321e-01 -2.28578463e-01 -8.15690121e-03 -1.25887016e+02] [-8.39055682e-03 -5.03992003e-05 -9.99964797e-01 -4.15262568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.012293192697960137 Centerline is valid? [True, True] Translation: X:231.43, Y:-125.86, Z:-4.15 [[ 1.50326379e-01 9.88635659e-01 -1.22991287e-03 2.31431647e+02] [ 9.88605609e-01 -1.50331400e-01 -7.70841230e-03 -1.25859573e+02] [-7.80570580e-03 -5.71210506e-05 -9.99969533e-01 -4.15294914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.01238451302699649 Centerline is valid? [True, True] Translation: X:231.44, Y:-125.83, Z:-4.15 [[ 7.08574570e-02 9.97486224e-01 -6.73870250e-04 2.31443779e+02] [ 9.97450641e-01 -7.08606214e-02 -8.42557268e-03 -1.25831074e+02] [-8.45214354e-03 -7.51376596e-05 -9.99964277e-01 -4.15284779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.012777560324335918 Centerline is valid? [True, True] Translation: X:231.45, Y:-125.80, Z:-4.15 [[-9.12981216e-03 9.99958322e-01 -1.29253757e-05 2.31453079e+02] [ 9.99916694e-01 9.12931414e-03 -9.12474548e-03 -1.25803056e+02] [-9.12424718e-03 -9.62315112e-05 -9.99958369e-01 -4.15169575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.013337370778283314 Centerline is valid? [True, True] Translation: X:231.46, Y:-125.77, Z:-4.15 [[-9.01590856e-02 9.95927146e-01 6.77956279e-04 2.31459637e+02] [ 9.95888369e-01 9.01615583e-02 -8.78915797e-03 -1.25773842e+02] [-8.81448661e-03 -1.17253673e-04 -9.99961145e-01 -4.15088613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.013433530526712723 Centerline is valid? [True, True] Translation: X:231.46, Y:-125.74, Z:-4.15 [[-1.69335192e-01 9.85557505e-01 1.41314940e-03 2.31463893e+02] [ 9.85516227e-01 1.69341034e-01 -9.02108668e-03 -1.25744055e+02] [-9.13010386e-03 -1.34905775e-04 -9.99958311e-01 -4.15059774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.013802436502506888 Centerline is valid? [True, True] Translation: X:231.47, Y:-125.71, Z:-4.15 [[-2.48202004e-01 9.68705936e-01 2.13908609e-03 2.31465839e+02] [ 9.68664296e-01 2.48211171e-01 -8.98313707e-03 -1.25713944e+02] [-9.23296327e-03 -1.57576300e-04 -9.99957363e-01 -4.14989593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.01424053496056108 Centerline is valid? [True, True] Translation: X:231.47, Y:-125.68, Z:-4.15 [[-3.24959553e-01 9.45723985e-01 2.72643733e-03 2.31466180e+02] [ 9.45686273e-01 3.24970948e-01 -8.44722201e-03 -1.25683388e+02] [-8.87475338e-03 -1.66651129e-04 -9.99960605e-01 -4.14949198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.015140334783013666 Centerline is valid? [True, True] Translation: X:231.46, Y:-125.65, Z:-4.15 [[-4.00197657e-01 9.16423067e-01 3.25548605e-03 2.31463603e+02] [ 9.16388990e-01 4.00210858e-01 -7.90491834e-03 -1.25654243e+02] [-8.54713037e-03 -1.80238224e-04 -9.99963456e-01 -4.14900583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.014817208037374116 Centerline is valid? [True, True] Translation: X:231.46, Y:-125.62, Z:-4.15 [[-4.71297509e-01 8.81966155e-01 3.78926894e-03 2.31457260e+02] [ 8.81934486e-01 4.71312707e-01 -7.47629877e-03 -1.25624870e+02] [-8.37977309e-03 -1.81674038e-04 -9.99964873e-01 -4.14984884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.015197394704828698 Centerline is valid? [True, True] Translation: X:231.45, Y:-125.60, Z:-4.15 [[-5.38265015e-01 8.42765958e-01 4.03907389e-03 2.31448256e+02] [ 8.42739932e-01 5.38280144e-01 -6.62516495e-03 -1.25598112e+02] [-7.75761676e-03 -1.62205649e-04 -9.99969896e-01 -4.14972439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.014524519021818002 Centerline is valid? [True, True] Translation: X:231.43, Y:-125.57, Z:-4.15 [[-6.01440086e-01 7.98904605e-01 4.61024602e-03 2.31434707e+02] [ 7.98879163e-01 6.01457736e-01 -6.37770251e-03 -1.25572372e+02] [-7.86804404e-03 -1.52776472e-04 -9.99969035e-01 -4.14991469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.01375387824695633 Centerline is valid? [True, True] Translation: X:231.42, Y:-125.55, Z:-4.15 [[-6.60796323e-01 7.50544378e-01 5.59967384e-03 2.31420923e+02] [ 7.50515459e-01 6.60820031e-01 -6.59029921e-03 -1.25546897e+02] [-8.64668866e-03 -1.52203696e-04 -9.99962605e-01 -4.14832475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.01417297448344679 Centerline is valid? [True, True] Translation: X:231.41, Y:-125.52, Z:-4.15 [[-7.17214153e-01 6.96823753e-01 6.36526571e-03 2.31406626e+02] [ 6.96794382e-01 7.17242382e-01 -6.39964358e-03 -1.25523161e+02] [-9.02486199e-03 -1.54633561e-04 -9.99959263e-01 -4.14747284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.01393319951974204 Centerline is valid? [True, True] Translation: X:231.39, Y:-125.50, Z:-4.15 [[-7.69153106e-01 6.39022909e-01 7.29530356e-03 2.31387954e+02] [ 6.38992202e-01 7.69187686e-01 -6.26652205e-03 -1.25501885e+02] [-9.61590881e-03 -1.58272802e-04 -9.99953754e-01 -4.14745564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.012948591857788405 Centerline is valid? [True, True] Translation: X:231.40, Y:-125.49, Z:-4.15 [[-8.10699894e-01 5.85414323e-01 7.46677849e-03 2.31404484e+02] [ 5.85388066e-01 8.10734269e-01 -5.54591200e-03 -1.25487179e+02] [-9.30022952e-03 -1.25107250e-04 -9.99956744e-01 -4.14780506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.012787546818801 Centerline is valid? [True, True] Translation: X:231.42, Y:-125.47, Z:-4.15 [[-8.49297536e-01 5.27864227e-01 7.28374060e-03 2.31421536e+02] [ 5.27843766e-01 8.49328763e-01 -4.64878402e-03 -1.25467974e+02] [-8.64021718e-03 -1.03523745e-04 -9.99962667e-01 -4.14743998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.011918354045339712 Centerline is valid? [True, True] Translation: X:231.44, Y:-125.45, Z:-4.15 [[-8.81314927e-01 4.72503745e-01 4.92031835e-03 2.31440021e+02] [ 4.72496200e-01 8.81328662e-01 -2.67044640e-03 -1.25454966e+02] [-5.59821351e-03 -2.86725466e-05 -9.99984329e-01 -4.14920561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.01166982854902911 Centerline is valid? [True, True] Translation: X:231.46, Y:-125.44, Z:-4.15 [[-9.10193467e-01 4.14171836e-01 3.08909240e-03 2.31456005e+02] [ 4.14169460e-01 9.10198709e-01 -1.40291771e-03 -1.25437575e+02] [-3.39273692e-03 2.48119742e-06 -9.99994245e-01 -4.15002475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.012418831171289467 Centerline is valid? [True, True] Translation: X:231.77, Y:-124.77, Z:-5.11 [[-8.84972502e-01 -4.65638369e-01 2.13992709e-03 2.31773463e+02] [ 4.65636868e-01 -8.84975088e-01 -1.18353538e-03 -1.24766836e+02] [ 2.44488165e-03 -5.09673193e-05 9.99997010e-01 -5.10848791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.015216585225997637 Centerline is valid? [True, True] Translation: X:231.42, Y:-125.44, Z:-4.15 [[-9.04120422e-01 4.27263969e-01 3.42976622e-03 2.31418197e+02] [ 4.27261191e-01 9.04126925e-01 -1.54241984e-03 -1.25436950e+02] [-3.75996441e-03 7.08727230e-05 -9.99992929e-01 -4.14721537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.01600677410365853 Centerline is valid? [True, True] Translation: X:231.43, Y:-125.41, Z:-4.15 [[-9.30424466e-01 3.66460807e-01 4.09751325e-03 2.31434260e+02] [ 3.66457735e-01 9.30433483e-01 -1.50393257e-03 -1.25414349e+02] [-4.36359587e-03 1.02269765e-04 -9.99990474e-01 -4.14690521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.018143492256859812 Centerline is valid? [True, True] Translation: X:231.71, Y:-124.70, Z:-5.11 [[-9.24625899e-01 -3.80855268e-01 4.02636629e-03 2.31707758e+02] [ 3.80851178e-01 -9.24634660e-01 -1.76789750e-03 -1.24700095e+02] [ 4.39623090e-03 -1.01197468e-04 9.99990331e-01 -5.11137339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.02035199123285367 Centerline is valid? [True, True] Translation: X:231.39, Y:-125.40, Z:-4.15 [[-9.28125446e-01 3.72259628e-01 2.43433407e-03 2.31391416e+02] [ 3.72258591e-01 9.28128634e-01 -8.82847077e-04 -1.25401780e+02] [-2.58802348e-03 8.68089326e-05 -9.99996647e-01 -4.14733303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.01872986212953212 Centerline is valid? [True, True] Translation: X:231.41, Y:-125.37, Z:-4.15 [[-9.51198540e-01 3.08551453e-01 4.16391255e-03 2.31413399e+02] [ 3.08549215e-01 9.51207641e-01 -1.18560337e-03 -1.25373804e+02] [-4.32656507e-03 1.57027752e-04 -9.99990628e-01 -4.14606745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.018889126795398888 Centerline is valid? [True, True] Translation: X:231.42, Y:-125.34, Z:-4.15 [[-9.70953219e-01 2.39237118e-01 3.93048675e-03 2.31422203e+02] [ 2.39235743e-01 9.70961164e-01 -8.23159378e-04 -1.25342410e+02] [-4.01328027e-03 1.41063672e-04 -9.99991937e-01 -4.14679390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.017452129392568114 Centerline is valid? [True, True] Translation: X:231.58, Y:-124.62, Z:-5.11 [[-9.70633768e-01 -2.40531618e-01 3.82494671e-03 2.31576811e+02] [ 2.40529170e-01 -9.70641294e-01 -1.09439990e-03 -1.24619657e+02] [ 3.97588900e-03 -1.42250245e-04 9.99992086e-01 -5.11093455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.01586731263566385 Centerline is valid? [True, True] Translation: X:231.37, Y:-125.31, Z:-4.15 [[-9.74550391e-01 2.24113181e-01 4.98173935e-03 2.31373028e+02] [ 2.24110874e-01 9.74563116e-01 -1.02381544e-03 -1.25313975e+02] [-5.08446996e-03 1.18702224e-04 -9.99987067e-01 -4.14501917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.013244589214519048 Centerline is valid? [True, True] Translation: X:231.37, Y:-125.27, Z:-4.14 [[-9.89560073e-01 1.44008703e-01 5.68811826e-03 2.31371244e+02] [ 1.44006748e-01 9.89576419e-01 -7.53907754e-04 -1.25272105e+02] [-5.73739697e-03 7.30904013e-05 -9.99983538e-01 -4.14436682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.012368679252590133 Centerline is valid? [True, True] Translation: X:231.37, Y:-125.23, Z:-4.14 [[-9.97852305e-01 6.53273490e-02 4.80779792e-03 2.31369914e+02] [ 6.53266943e-02 9.97863887e-01 -2.93255980e-04 -1.25234849e+02] [-4.81668556e-03 2.14513898e-05 -9.99988399e-01 -4.14468541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.01277745112030894 Centerline is valid? [True, True] Translation: X:231.36, Y:-125.19, Z:-4.15 [[-9.99812755e-01 -1.89057361e-02 4.12651628e-03 2.31358988e+02] [-1.89057238e-02 9.99821270e-01 4.19900439e-05 -1.25194102e+02] [-4.12657260e-03 -3.60325958e-05 -9.99991485e-01 -4.14516684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.014394129864423493 Centerline is valid? [True, True] Translation: X:231.35, Y:-125.16, Z:-4.15 [[-9.95210327e-01 -9.76596551e-02 4.35851418e-03 2.31346771e+02] [-9.76590365e-02 9.95219868e-01 3.55033558e-04 -1.25161256e+02] [-4.37235237e-03 -7.23152319e-05 -9.99990439e-01 -4.14591333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.016047056025546368 Centerline is valid? [True, True] Translation: X:231.33, Y:-125.13, Z:-4.15 [[-9.84651391e-01 -1.74448095e-01 5.43137784e-03 2.31329839e+02] [-1.74446147e-01 9.84666363e-01 8.33947206e-04 -1.25129910e+02] [-5.49357557e-03 -1.26335664e-04 -9.99984902e-01 -4.14544263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.01771310920156221 Centerline is valid? [True, True] Translation: X:231.32, Y:-125.10, Z:-4.14 [[-9.68282890e-01 -2.49778507e-01 6.24032008e-03 2.31315222e+02] [-2.49774546e-01 9.68302981e-01 1.41882484e-03 -1.25098043e+02] [-6.39691249e-03 -1.84849300e-04 -9.99979522e-01 -4.14429255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.018416277422529773 Centerline is valid? [True, True] Translation: X:231.30, Y:-125.07, Z:-4.15 [[-9.47637393e-01 -3.19303511e-01 5.35153260e-03 2.31295648e+02] [-3.19299426e-01 9.47652488e-01 1.62401054e-03 -1.25073536e+02] [-5.58994545e-03 -1.69768178e-04 -9.99984362e-01 -4.14566614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.018999083642292188 Centerline is valid? [True, True] Translation: X:231.27, Y:-125.05, Z:-4.15 [[-9.22444703e-01 -3.86089269e-01 5.55394845e-03 2.31270393e+02] [-3.86083427e-01 9.22461406e-01 2.13138115e-03 -1.25053494e+02] [-5.94620649e-03 -1.78206196e-04 -9.99982305e-01 -4.14548598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.018404994809794684 Centerline is valid? [True, True] Translation: X:231.23, Y:-125.04, Z:-4.14 [[-8.92598427e-01 -4.50809327e-01 6.24491498e-03 2.31233602e+02] [-4.50799853e-01 8.92620250e-01 2.92954525e-03 -1.25040060e+02] [-6.89500389e-03 -2.00299274e-04 -9.99976209e-01 -4.14484549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.017572813090158654 Centerline is valid? [True, True] Translation: X:231.18, Y:-125.04, Z:-4.15 [[-8.57293127e-01 -5.14779896e-01 7.08191394e-03 2.31178591e+02] [-5.14764585e-01 8.57322345e-01 3.97734718e-03 -1.25039805e+02] [-8.11894144e-03 -2.35766091e-04 -9.99967013e-01 -4.14509577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.017410169748542644 Centerline is valid? [True, True] Translation: X:231.12, Y:-125.05, Z:-4.15 [[-8.18240046e-01 -5.74831985e-01 7.17056770e-03 2.31116358e+02] [-5.74812381e-01 8.18271431e-01 4.75301959e-03 -1.25046001e+02] [-8.59965838e-03 -2.32620130e-04 -9.99962995e-01 -4.14510244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.01642037421853717 Centerline is valid? [True, True] Translation: X:231.05, Y:-125.06, Z:-4.15 [[-7.73795998e-01 -6.33392130e-01 7.35955500e-03 2.31046996e+02] [-6.33366490e-01 7.73830956e-01 5.70455594e-03 -1.25064813e+02] [-9.30827232e-03 -2.47132960e-04 -9.99956647e-01 -4.14559724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.016851988091413223 Centerline is valid? [True, True] Translation: X:230.97, Y:-125.09, Z:-4.14 [[-7.24790804e-01 -6.88934215e-01 6.92377260e-03 2.30971185e+02] [-6.88905964e-01 7.24823833e-01 6.24371660e-03 -1.25092493e+02] [-9.32002538e-03 -2.44439866e-04 -9.99956538e-01 -4.14497570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.01755066456084139 Centerline is valid? [True, True] Translation: X:230.89, Y:-125.13, Z:-4.14 [[-6.71363085e-01 -7.41094496e-01 7.11026074e-03 2.30893400e+02] [-7.41057122e-01 6.71400682e-01 7.44760681e-03 -1.25129277e+02] [-1.02932143e-02 -2.69061071e-04 -9.99946987e-01 -4.14437330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.01703347502662387 Centerline is valid? [True, True] Translation: X:230.82, Y:-125.18, Z:-4.15 [[-6.13857734e-01 -7.89389778e-01 6.51623364e-03 2.30815363e+02] [-7.89349876e-01 6.13892260e-01 7.94147596e-03 -1.25178425e+02] [-1.02691853e-02 -2.68651781e-04 -9.99947234e-01 -4.14544097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.016896383994721504 Centerline is valid? [True, True] Translation: X:230.74, Y:-125.23, Z:-4.15 [[-5.52848152e-01 -8.33264058e-01 5.47089724e-03 2.30739832e+02] [-8.33227598e-01 5.52875166e-01 7.79879442e-03 -1.25232897e+02] [-9.52317830e-03 -2.46953480e-04 -9.99954623e-01 -4.14645365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.017142371326446883 Centerline is valid? [True, True] Translation: X:230.66, Y:-125.30, Z:-4.15 [[-4.87588071e-01 -8.73060681e-01 4.78757292e-03 2.30663760e+02] [-8.73023545e-01 4.87611510e-01 8.05633088e-03 -1.25298737e+02] [-9.36814139e-03 -2.51493055e-04 -9.99956086e-01 -4.14749622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.01818221534440132 Centerline is valid? [True, True] Translation: X:230.59, Y:-125.37, Z:-4.15 [[-4.19026145e-01 -9.07961413e-01 4.81273217e-03 2.30591099e+02] [-9.07909629e-01 4.19053672e-01 9.70183583e-03 -1.25371097e+02] [-1.08256857e-02 -3.04203014e-04 -9.99941354e-01 -4.14736287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.017803086212614096 Centerline is valid? [True, True] Translation: X:230.52, Y:-125.45, Z:-4.15 [[-3.47772363e-01 -9.37568992e-01 4.33223081e-03 2.30523723e+02] [-9.37507959e-01 3.47799180e-01 1.07031589e-02 -1.25453994e+02] [-1.15416963e-02 -3.39238001e-04 -9.99933335e-01 -4.14787879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.017616993919299873 Centerline is valid? [True, True] Translation: X:230.46, Y:-125.54, Z:-4.15 [[-2.74876622e-01 -9.61473071e-01 3.51798081e-03 2.30464228e+02] [-9.61409874e-01 2.74898910e-01 1.10291728e-02 -1.25536243e+02] [-1.15713417e-02 -3.50559726e-04 -9.99932988e-01 -4.14890018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.01809063485893734 Centerline is valid? [True, True] Translation: X:230.41, Y:-125.63, Z:-4.15 [[-2.00948794e-01 -9.79598236e-01 2.62268679e-03 2.30408738e+02] [-9.79535762e-01 2.00965613e-01 1.10685586e-02 -1.25631650e+02] [-1.13698104e-02 -3.44801986e-04 -9.99935302e-01 -4.14887573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.01866706490842978 Centerline is valid? [True, True] Translation: X:230.36, Y:-125.74, Z:-4.15 [[-1.25796489e-01 -9.92054270e-01 1.88930140e-03 2.30359305e+02] [-9.91982049e-01 1.25810138e-01 1.19759609e-02 -1.25735169e+02] [-1.21184965e-02 -3.67619237e-04 -9.99926501e-01 -4.14859183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.017827838145590098 Centerline is valid? [True, True] Translation: X:229.77, Y:-125.74, Z:-5.11 [[-2.51577543e-01 9.67832891e-01 2.86981916e-03 2.29774146e+02] [-9.67746531e-01 -2.51593458e-01 1.29376839e-02 -1.25739126e+02] [ 1.32435438e-02 4.77573202e-04 9.99912186e-01 -5.10968901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.016818789804529912 Centerline is valid? [True, True] Translation: X:230.32, Y:-125.98, Z:-4.15 [[-1.19351650e-01 -9.92849885e-01 2.07104496e-03 2.30319067e+02] [-9.92752115e-01 1.19368972e-01 1.39386503e-02 -1.25983229e+02] [-1.40862059e-02 -3.92433353e-04 -9.99900707e-01 -4.14777868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.016264468382628093 Centerline is valid? [True, True] Translation: X:230.28, Y:-126.09, Z:-4.15 [[-4.49424122e-02 -9.98989055e-01 1.02345112e-03 2.30282436e+02] [-9.98885952e-01 4.49524826e-02 1.43572017e-02 -1.26085631e+02] [-1.43886940e-02 -3.77063667e-04 -9.99896406e-01 -4.14785291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.015430438554477795 Centerline is valid? [True, True] Translation: X:230.25, Y:-126.19, Z:-4.15 [[ 2.78818202e-02 -9.99611224e-01 -7.65110587e-05 2.30254418e+02] [-9.99506567e-01 -2.78800085e-02 1.44681889e-02 -1.26193578e+02] [-1.44646972e-02 -3.26926137e-04 -9.99895327e-01 -4.14771456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.014750670198389298 Centerline is valid? [True, True] Translation: X:230.23, Y:-126.30, Z:-4.15 [[ 1.02319041e-01 -9.94750922e-01 -1.19075052e-03 2.30234400e+02] [-9.94644716e-01 -1.02325520e-01 1.45388395e-02 -1.26304411e+02] [-1.45843682e-02 -3.03226397e-04 -9.99893596e-01 -4.14820494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.014162541997849092 Centerline is valid? [True, True] Translation: X:230.22, Y:-126.42, Z:-4.15 [[ 1.75445866e-01 -9.84486187e-01 -2.38642966e-03 2.30224066e+02] [-9.84372573e-01 -1.75461880e-01 1.49588374e-02 -1.26417366e+02] [-1.51454963e-02 -2.75330293e-04 -9.99885262e-01 -4.14802085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.013698388350984907 Centerline is valid? [True, True] Translation: X:230.22, Y:-126.53, Z:-4.15 [[ 2.48014772e-01 -9.68749680e-01 -3.56792852e-03 2.30221936e+02] [-9.68634793e-01 -2.48040314e-01 1.49211362e-02 -1.26528819e+02] [-1.53398361e-02 -2.44642493e-04 -9.99882308e-01 -4.14827602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.013296283209201369 Centerline is valid? [True, True] Translation: X:230.23, Y:-126.65, Z:-4.15 [[ 3.20229403e-01 -9.47330046e-01 -4.34903448e-03 2.30229567e+02] [-9.47233571e-01 -3.20258864e-01 1.35211712e-02 -1.26647904e+02] [-1.42018286e-02 -2.10325126e-04 -9.99899127e-01 -4.14921970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.013124972208626276 Centerline is valid? [True, True] Translation: X:230.24, Y:-126.76, Z:-4.15 [[ 3.91151256e-01 -9.20311465e-01 -5.24422623e-03 2.30244582e+02] [-9.20221893e-01 -3.91186360e-01 1.28413179e-02 -1.26758782e+02] [-1.38694819e-02 -1.97045854e-04 -9.99903795e-01 -4.15014375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.012963963539171772 Centerline is valid? [True, True] Translation: X:230.27, Y:-126.87, Z:-4.15 [[ 4.60299612e-01 -8.87742874e-01 -6.07104054e-03 2.30266544e+02] [-8.87660068e-01 -4.60339607e-01 1.21264302e-02 -1.26867162e+02] [-1.35598924e-02 -1.92770839e-04 -9.99908042e-01 -4.15075370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.013220829254928682 Centerline is valid? [True, True] Translation: X:230.30, Y:-126.98, Z:-4.15 [[ 5.27736804e-01 -8.49380209e-01 -6.86492256e-03 2.30297493e+02] [-8.49303184e-01 -5.27781411e-01 1.14404127e-02 -1.26977962e+02] [-1.33404387e-02 -2.07126249e-04 -9.99910991e-01 -4.15075659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.013871610458220433 Centerline is valid? [True, True] Translation: X:230.33, Y:-127.08, Z:-4.15 [[ 5.92249436e-01 -8.05720978e-01 -7.36959841e-03 2.30334038e+02] [-8.05653966e-01 -5.92295245e-01 1.03936963e-02 -1.27083613e+02] [-1.27393972e-02 -2.18314582e-04 -9.99918827e-01 -4.15014919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.014668412945981469 Centerline is valid? [True, True] Translation: X:230.38, Y:-127.18, Z:-4.15 [[ 6.53670097e-01 -7.56732012e-01 -8.48921393e-03 2.30377363e+02] [-7.56662966e-01 -6.53725167e-01 1.02255158e-02 -1.27183498e+02] [-1.32875880e-02 -2.60640144e-04 -9.99911682e-01 -4.15028722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.014515944446373077 Centerline is valid? [True, True] Translation: X:230.43, Y:-127.28, Z:-4.15 [[ 7.10280385e-01 -7.03860228e-01 -9.08592670e-03 2.30434904e+02] [-7.03797633e-01 -7.10338443e-01 9.39090389e-03 -1.27284899e+02] [-1.30639668e-02 -2.75521128e-04 -9.99914625e-01 -4.15154867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.01594474067669638 Centerline is valid? [True, True] Translation: X:230.48, Y:-127.36, Z:-4.15 [[ 7.62418481e-01 -6.47017133e-01 -9.32142000e-03 2.30477070e+02] [-6.46964213e-01 -7.62475409e-01 8.27988771e-03 -1.27362767e+02] [-1.24645827e-02 -2.82114259e-04 -9.99922274e-01 -4.15141136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.015780969201718183 Centerline is valid? [True, True] Translation: X:230.50, Y:-127.39, Z:-4.15 [[ 8.11730395e-01 -5.83958619e-01 -9.27888524e-03 2.30503234e+02] [-5.83916433e-01 -8.11783377e-01 7.02481236e-03 -1.27387927e+02] [-1.16346445e-02 -2.84160135e-04 -9.99932275e-01 -4.15312546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.017338612231601852 Centerline is valid? [True, True] Translation: X:230.53, Y:-127.41, Z:-4.15 [[ 8.55794765e-01 -5.17227393e-01 -9.54697855e-03 2.30528706e+02] [-5.17191314e-01 -8.55847963e-01 6.11624487e-03 -1.27412286e+02] [-1.13342515e-02 -2.96635955e-04 -9.99935721e-01 -4.15260125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.018527328573196656 Centerline is valid? [True, True] Translation: X:230.56, Y:-127.43, Z:-4.15 [[ 8.95066644e-01 -4.45809289e-01 -1.04776360e-02 2.30558404e+02] [-4.45774133e-01 -8.95127899e-01 5.60961914e-03 -1.27433461e+02] [-1.18796446e-02 -3.50323891e-04 -9.99929373e-01 -4.15201860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.01816135674568741 Centerline is valid? [True, True] Translation: X:230.59, Y:-127.45, Z:-4.15 [[ 9.27641695e-01 -3.73299134e-01 -1.13420948e-02 2.30589010e+02] [-3.73266186e-01 -9.27710953e-01 4.97418807e-03 -1.27452135e+02] [-1.23790457e-02 -3.80643790e-04 -9.99923304e-01 -4.15255106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.01934955892892233 Centerline is valid? [True, True] Translation: X:230.62, Y:-127.47, Z:-4.15 [[ 9.54674702e-01 -2.97435554e-01 -1.13271125e-02 2.30621055e+02] [-2.97409675e-01 -9.54741815e-01 3.94347528e-03 -1.27469393e+02] [-1.19873977e-02 -3.95943227e-04 -9.99928070e-01 -4.15266838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.018877708771538108 Centerline is valid? [True, True] Translation: X:230.65, Y:-127.49, Z:-4.15 [[ 9.75345319e-01 -2.20420441e-01 -1.07860535e-02 2.30653311e+02] [-2.20402582e-01 -9.75404881e-01 2.83206834e-03 -1.27485165e+02] [-1.11450150e-02 -3.84970553e-04 -9.99937818e-01 -4.15409421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.019497787732612636 Centerline is valid? [True, True] Translation: X:230.69, Y:-127.50, Z:-4.15 [[ 9.89618038e-01 -1.43337202e-01 -1.05159561e-02 2.30687389e+02] [-1.43325116e-01 -9.89673840e-01 1.89795443e-03 -1.27498917e+02] [-1.06794141e-02 -3.71049306e-04 -9.99942905e-01 -4.15400883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.020258649355501597 Centerline is valid? [True, True] Translation: X:230.72, Y:-127.51, Z:-4.15 [[ 9.97773882e-01 -6.56987085e-02 -1.14437739e-02 2.30720802e+02] [-6.56898132e-02 -9.97839427e-01 1.15186278e-03 -1.27507419e+02] [-1.14947247e-02 -3.97559224e-04 -9.99933854e-01 -4.15293526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.019738304102714318 Centerline is valid? [True, True] Translation: X:230.75, Y:-127.51, Z:-4.15 [[ 9.99842888e-01 1.16642083e-02 -1.33471057e-02 2.30752833e+02] [ 1.16691628e-02 -9.99931870e-01 2.93379562e-04 -1.27511162e+02] [-1.33427743e-02 -4.49083017e-04 -9.99910880e-01 -4.15174771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.01822514243681603 Centerline is valid? [True, True] Translation: X:230.78, Y:-127.51, Z:-4.15 [[ 9.95978199e-01 8.85087953e-02 -1.39147347e-02 2.30784795e+02] [ 8.85064559e-02 -9.96075294e-01 -7.85048058e-04 -1.27514303e+02] [-1.39296071e-02 -4.49653100e-04 -9.99902877e-01 -4.15202006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.018832673062879345 Centerline is valid? [True, True] Translation: X:230.82, Y:-127.52, Z:-4.15 [[ 9.86260921e-01 1.64673997e-01 -1.31099715e-02 2.30815909e+02] [ 1.64664912e-01 -9.86347966e-01 -1.77683182e-03 -1.27516383e+02] [-1.32235917e-02 -4.06332512e-04 -9.99912482e-01 -4.15129514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.01681336730678235 Centerline is valid? [True, True] Translation: X:230.85, Y:-127.51, Z:-4.15 [[ 9.70944335e-01 2.38962121e-01 -1.28141597e-02 2.30847340e+02] [ 2.38946316e-01 -9.71028819e-01 -2.77308932e-03 -1.27512092e+02] [-1.31055817e-02 -3.69380879e-04 -9.99914050e-01 -4.15274387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.015369384276940451 Centerline is valid? [True, True] Translation: X:230.88, Y:-127.51, Z:-4.15 [[ 9.50046313e-01 3.11885831e-01 -1.17996236e-02 2.30878724e+02] [ 3.11865891e-01 -9.50119534e-01 -3.54083706e-03 -1.27509671e+02] [-1.23153898e-02 -3.15940933e-04 -9.99924113e-01 -4.15359952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.015558422627512555 Centerline is valid? [True, True] Translation: X:230.91, Y:-127.51, Z:-4.15 [[ 9.22872943e-01 3.84933070e-01 -1.14918228e-02 2.30910643e+02] [ 3.84907405e-01 -9.22944438e-01 -4.45589905e-03 -1.27507273e+02] [-1.23215369e-02 -3.11059023e-04 -9.99924039e-01 -4.15335464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.016276899503492263 Centerline is valid? [True, True] Translation: X:230.94, Y:-127.50, Z:-4.15 [[ 8.89728647e-01 4.56369674e-01 -1.04716175e-02 2.30940289e+02] [ 4.56341984e-01 -8.89790218e-01 -5.03602726e-03 -1.27501360e+02] [-1.16158330e-02 -2.97941002e-04 -9.99932490e-01 -4.15343539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.01648095591205938 Centerline is valid? [True, True] Translation: X:230.97, Y:-127.49, Z:-4.15 [[ 8.51039971e-01 5.25003438e-01 -1.01171923e-02 2.30970242e+02] [ 5.24970575e-01 -8.51100051e-01 -5.88202997e-03 -1.27492378e+02] [-1.16988289e-02 -3.05385663e-04 -9.99931520e-01 -4.15335479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.017037499100023928 Centerline is valid? [True, True] Translation: X:231.00, Y:-127.48, Z:-4.15 [[ 8.06551908e-01 5.91078310e-01 -1.00225117e-02 2.30999435e+02] [ 5.91037764e-01 -8.06614109e-01 -6.93120819e-03 -1.27481119e+02] [-1.21811862e-02 -3.33303735e-04 -9.99925751e-01 -4.15272410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.01819990495114588 Centerline is valid? [True, True] Translation: X:231.03, Y:-127.47, Z:-4.15 [[ 7.57423599e-01 6.52843947e-01 -1.02114067e-02 2.31026639e+02] [ 6.52791094e-01 -7.57492340e-01 -8.31518460e-03 -1.27467827e+02] [-1.31635803e-02 -3.67798329e-04 -9.99913289e-01 -4.15066824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.017215321323522645 Centerline is valid? [True, True] Translation: X:231.05, Y:-127.45, Z:-4.15 [[ 7.04008886e-01 7.10123940e-01 -9.77134650e-03 2.31050899e+02] [ 7.10062866e-01 -7.04076593e-01 -9.32079141e-03 -1.27449142e+02] [-1.34986935e-02 -3.76350327e-04 -9.99908818e-01 -4.15167673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.01683683648287999 Centerline is valid? [True, True] Translation: X:231.08, Y:-127.43, Z:-4.15 [[ 6.46227094e-01 7.63097710e-01 -8.51042800e-03 2.31075987e+02] [ 7.63038681e-01 -6.46283033e-01 -9.49806392e-03 -1.27431037e+02] [-1.27480960e-02 -3.55879502e-04 -9.99918676e-01 -4.15303520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.016780168820296232 Centerline is valid? [True, True] Translation: X:231.10, Y:-127.41, Z:-4.15 [[ 5.84269867e-01 8.11529436e-01 -6.97834497e-03 2.31100113e+02] [ 8.11478067e-01 -5.84311449e-01 -9.13662108e-03 -1.27412017e+02] [-1.14921638e-02 -3.24521504e-04 -9.99933910e-01 -4.15454435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.017388427062984397 Centerline is valid? [True, True] Translation: X:231.12, Y:-127.39, Z:-4.15 [[ 5.18396807e-01 8.55120915e-01 -5.74208534e-03 2.31122860e+02] [ 8.55074839e-01 -5.18428517e-01 -8.88208707e-03 -1.27391265e+02] [-1.05721192e-02 -3.05467123e-04 -9.99944067e-01 -4.15439810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.016970732485795836 Centerline is valid? [True, True] Translation: X:231.14, Y:-127.37, Z:-4.15 [[ 4.48735810e-01 8.93648581e-01 -5.32793633e-03 2.31144515e+02] [ 8.93594279e-01 -4.48767312e-01 -9.85717987e-03 -1.27369050e+02] [-1.11998585e-02 -3.37743831e-04 -9.99937223e-01 -4.15453799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.018089597140880737 Centerline is valid? [True, True] Translation: X:231.17, Y:-127.35, Z:-4.15 [[ 3.75815718e-01 9.26678964e-01 -5.35197956e-03 2.31165559e+02] [ 9.26600366e-01 -3.75853589e-01 -1.20764537e-02 -1.27347177e+02] [-1.32025564e-02 -4.20625085e-04 -9.99912754e-01 -4.15275628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.017903822582431016 Centerline is valid? [True, True] Translation: X:231.18, Y:-127.32, Z:-4.15 [[ 3.01318968e-01 9.53511085e-01 -4.84674515e-03 2.31184432e+02] [ 9.53411982e-01 -3.01357569e-01 -1.37552769e-02 -1.27321910e+02] [-1.45764123e-02 -4.76219069e-04 -9.99893645e-01 -4.15191023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.018493061755135296 Centerline is valid? [True, True] Translation: X:231.20, Y:-127.30, Z:-4.15 [[ 2.26684200e-01 9.73959933e-01 -4.04010017e-03 2.31199259e+02] [ 9.73841991e-01 -2.26719655e-01 -1.51649199e-02 -1.27296340e+02] [-1.56859945e-02 -4.96771452e-04 -9.99876844e-01 -4.15109476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.016763458729038547 Centerline is valid? [True, True] Translation: X:231.21, Y:-127.27, Z:-4.15 [[ 1.51757862e-01 9.88414034e-01 -2.69221431e-03 2.31210507e+02] [ 9.88305836e-01 -1.51781102e-01 -1.46312159e-02 -1.27268798e+02] [-1.48703264e-02 -4.40329065e-04 -9.99889334e-01 -4.15267383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.016260606599785125 Centerline is valid? [True, True] Translation: X:231.22, Y:-127.24, Z:-4.15 [[ 7.68382007e-02 9.97042531e-01 -1.44336992e-03 2.31220417e+02] [ 9.96945888e-01 -7.68508560e-02 -1.38867701e-02 -1.27240617e+02] [-1.39566246e-02 -3.71927276e-04 -9.99902532e-01 -4.15308625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.01531826786521264 Centerline is valid? [True, True] Translation: X:231.23, Y:-127.21, Z:-4.15 [[ 1.86787183e-03 9.99998203e-01 -3.25133558e-04 2.31226667e+02] [ 9.99914585e-01 -1.87192131e-03 -1.29351904e-02 -1.27212150e+02] [-1.29357758e-02 -3.00944509e-04 -9.99916284e-01 -4.15396319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.014669166950549106 Centerline is valid? [True, True] Translation: X:231.23, Y:-127.18, Z:-4.15 [[-7.48365566e-02 9.97195598e-01 6.54406648e-04 2.31232251e+02] [ 9.97120134e-01 7.48389458e-02 -1.22707007e-02 -1.27183102e+02] [-1.22852638e-02 -2.65774942e-04 -9.99924498e-01 -4.15453238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.014440516090328209 Centerline is valid? [True, True] Translation: X:231.24, Y:-127.15, Z:-4.15 [[-1.51280074e-01 9.88489554e-01 1.65576150e-03 2.31236192e+02] [ 9.88410528e-01 1.51288921e-01 -1.25016393e-02 -1.27154265e+02] [-1.26082383e-02 -2.54676835e-04 -9.99920481e-01 -4.15420712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.013697060181508852 Centerline is valid? [True, True] Translation: X:231.24, Y:-127.12, Z:-4.15 [[-2.26018330e-01 9.74119250e-01 2.72035762e-03 2.31237594e+02] [ 9.74035729e-01 2.26034580e-01 -1.27580300e-02 -1.27124916e+02] [-1.30427375e-02 -2.33823132e-04 -9.99914913e-01 -4.15400831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.012984641667384349 Centerline is valid? [True, True] Translation: X:231.24, Y:-127.10, Z:-4.15 [[-2.98394759e-01 9.54436649e-01 3.35420484e-03 2.31235738e+02] [ 9.54369753e-01 2.98413561e-01 -1.13013747e-02 -1.27096339e+02] [-1.17873864e-02 -1.71119322e-04 -9.99930512e-01 -4.15493948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.013254497392536656 Centerline is valid? [True, True] Translation: X:231.23, Y:-127.07, Z:-4.15 [[-3.70639186e-01 9.28767753e-01 4.12980404e-03 2.31233405e+02] [ 9.28705596e-01 3.70662164e-01 -1.07459958e-02 -1.27068770e+02] [-1.15112965e-02 -1.47515025e-04 -9.99933732e-01 -4.15331286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.012064275458381051 Centerline is valid? [True, True] Translation: X:231.23, Y:-127.04, Z:-4.16 [[-4.40171919e-01 8.97900790e-01 4.78058368e-03 2.31226760e+02] [ 8.97844939e-01 4.40197863e-01 -1.00153263e-02 -1.27040964e+02] [-1.10971721e-02 -1.16242530e-04 -9.99938418e-01 -4.15546164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.012192160836732762 Centerline is valid? [True, True] Translation: X:231.22, Y:-127.01, Z:-4.16 [[-5.09549110e-01 8.60423898e-01 5.51551745e-03 2.31220998e+02] [ 8.60370914e-01 5.09578946e-01 -9.54929501e-03 -1.27012554e+02] [-1.10270332e-02 -1.20443988e-04 -9.99939193e-01 -4.15559104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.012504906886163266 Centerline is valid? [True, True] Translation: X:231.21, Y:-126.98, Z:-4.15 [[-5.76868756e-01 8.16810569e-01 6.55228079e-03 2.31214055e+02] [ 8.16754960e-01 5.76905948e-01 -9.53219247e-03 -1.26983139e+02] [-1.15660453e-02 -1.47216179e-04 -9.99933100e-01 -4.15468454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.012915322774010238 Centerline is valid? [True, True] Translation: X:231.20, Y:-126.96, Z:-4.15 [[-6.40125891e-01 7.68236369e-01 7.19204361e-03 2.31203729e+02] [ 7.68185039e-01 6.40166272e-01 -8.88199258e-03 -1.26955792e+02] [-1.14275735e-02 -1.60773122e-04 -9.99934690e-01 -4.15426529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.01299484509652484 Centerline is valid? [True, True] Translation: X:231.19, Y:-126.93, Z:-4.15 [[-6.98668673e-01 7.15402637e-01 7.82003144e-03 2.31190400e+02] [ 7.15355164e-01 6.98712416e-01 -8.24311820e-03 -1.26929526e+02] [-1.13611016e-02 -1.65108571e-04 -9.99935447e-01 -4.15442555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.012658599616976057 Centerline is valid? [True, True] Translation: X:231.17, Y:-126.91, Z:-4.16 [[-7.51518825e-01 6.59657791e-01 8.42940382e-03 2.31173174e+02] [ 6.59614098e-01 7.51566083e-01 -7.59368022e-03 -1.26905226e+02] [-1.13444843e-02 -1.46640035e-04 -9.99935639e-01 -4.15543746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.012415728458062159 Centerline is valid? [True, True] Translation: X:231.19, Y:-126.89, Z:-4.16 [[-7.95175872e-01 6.06321904e-01 8.31146509e-03 2.31191140e+02] [ 6.06287243e-01 7.95219300e-01 -6.48416743e-03 -1.26886190e+02] [-1.05409302e-02 -1.16918234e-04 -9.99944436e-01 -4.15654533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.012346337637376628 Centerline is valid? [True, True] Translation: X:231.21, Y:-126.87, Z:-4.16 [[-8.35602017e-01 5.49276181e-01 8.05894918e-03 2.31209996e+02] [ 5.49249490e-01 8.35640872e-01 -5.41578193e-03 -1.26866749e+02] [-9.70914733e-03 -9.90645728e-05 -9.99952860e-01 -4.15680219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.012328673150233957 Centerline is valid? [True, True] Translation: X:231.23, Y:-126.85, Z:-4.16 [[-8.71722284e-01 4.89919860e-01 8.87643190e-03 2.31227754e+02] [ 4.89893402e-01 8.71767470e-01 -5.09241018e-03 -1.26846345e+02] [-1.02330575e-02 -9.06620148e-05 -9.99947637e-01 -4.15587295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.012176299040486536 Centerline is valid? [True, True] Translation: X:231.24, Y:-126.82, Z:-4.16 [[-9.03874502e-01 4.27707020e-01 8.80847768e-03 2.31238582e+02] [ 4.27685858e-01 9.03917418e-01 -4.25531291e-03 -1.26821877e+02] [-9.78216361e-03 -7.90075034e-05 -9.99952150e-01 -4.15639810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.012012203746903177 Centerline is valid? [True, True] Translation: X:231.25, Y:-126.80, Z:-4.16 [[-9.31912177e-01 3.62571490e-01 9.03376250e-03 2.31252186e+02] [ 3.62553635e-01 9.31955958e-01 -3.59907067e-03 -1.26797604e+02] [-9.72398920e-03 -7.87943455e-05 -9.99952718e-01 -4.15685800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.012053210703848063 Centerline is valid? [True, True] Translation: X:231.26, Y:-126.77, Z:-4.16 [[-9.55385514e-01 2.95210896e-01 9.43645289e-03 2.31263439e+02] [ 2.95195622e-01 9.55432112e-01 -3.00415155e-03 -1.26771125e+02] [-9.90274838e-03 -8.45232884e-05 -9.99950963e-01 -4.15663418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.011944717289874878 Centerline is valid? [True, True] Translation: X:231.47, Y:-126.12, Z:-5.10 [[-9.26918329e-01 -3.75175850e-01 8.09281336e-03 2.31473653e+02] [ 3.75161565e-01 -9.26953657e-01 -3.27395192e-03 -1.26124833e+02] [ 8.72997063e-03 1.42647857e-06 9.99961893e-01 -5.10035405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.01205349743701085 Centerline is valid? [True, True] Translation: X:231.22, Y:-126.75, Z:-4.16 [[-9.56792569e-01 2.90681276e-01 7.23707998e-03 2.31219210e+02] [ 2.90672392e-01 9.56819936e-01 -2.27374085e-03 -1.26753602e+02] [-7.58551630e-03 -7.18790030e-05 -9.99971227e-01 -4.15754659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.011930661573124338 Centerline is valid? [True, True] Translation: X:231.23, Y:-126.73, Z:-4.16 [[-9.74903240e-01 2.22496944e-01 7.66697793e-03 2.31227403e+02] [ 2.22489470e-01 9.74933385e-01 -1.82510951e-03 -1.26725637e+02] [-7.88087403e-03 -7.34833208e-05 -9.99968943e-01 -4.15721426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.011765645514860753 Centerline is valid? [True, True] Translation: X:231.23, Y:-126.70, Z:-4.16 [[-9.88135031e-01 1.53431792e-01 6.91703679e-03 2.31233916e+02] [ 1.53427601e-01 9.88159239e-01 -1.13562997e-03 -1.26698136e+02] [-7.00937555e-03 -6.08913929e-05 -9.99975432e-01 -4.15815369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.011864685863149373 Centerline is valid? [True, True] Translation: X:231.34, Y:-126.04, Z:-5.10 [[-9.71504036e-01 -2.36944404e-01 6.10382339e-03 2.31342635e+02] [ 2.36939781e-01 -9.71523211e-01 -1.48012407e-03 -1.26042071e+02] [ 6.28071322e-03 8.29206819e-06 9.99980276e-01 -5.09901857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.011855457470789902 Centerline is valid? [True, True] Translation: X:231.19, Y:-126.69, Z:-4.16 [[-9.88833963e-01 1.48910204e-01 5.75715043e-03 2.31186872e+02] [ 1.48907359e-01 9.88850721e-01 -9.22127422e-04 -1.26688603e+02] [-5.83027653e-03 -5.45488508e-05 -9.99983002e-01 -4.15869053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.012297904394872066 Centerline is valid? [True, True] Translation: X:231.19, Y:-126.66, Z:-4.16 [[-9.97051288e-01 7.65002426e-02 6.03680351e-03 2.31185092e+02] [ 7.64984252e-02 9.97069560e-01 -5.31712386e-04 -1.26657934e+02] [-6.05978914e-03 -6.83385579e-05 -9.99981637e-01 -4.15848123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.012547474268069549 Centerline is valid? [True, True] Translation: X:231.18, Y:-126.63, Z:-4.16 [[-9.99974739e-01 3.55384324e-03 6.15563674e-03 2.31183970e+02] [ 3.55327240e-03 9.99993682e-01 -1.03667422e-04 -1.26628653e+02] [-6.15596627e-03 -8.17921488e-05 -9.99981049e-01 -4.15880659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.01341275301124569 Centerline is valid? [True, True] Translation: X:231.18, Y:-126.60, Z:-4.16 [[-9.97413097e-01 -7.16265415e-02 6.06235999e-03 2.31176943e+02] [-7.16258637e-02 9.97431515e-01 3.29126371e-04 -1.26597459e+02] [-6.07036309e-03 -1.05946818e-04 -9.99981570e-01 -4.15920223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.014585020108443793 Centerline is valid? [True, True] Translation: X:231.14, Y:-125.96, Z:-5.10 [[-9.99366655e-01 -3.49782874e-02 6.54274907e-03 2.31140139e+02] [ 3.49784997e-02 -9.99388062e-01 -8.20047318e-05 -1.25960871e+02] [ 6.54161369e-03 1.46902752e-04 9.99978593e-01 -5.09834793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.014835114098862488 Centerline is valid? [True, True] Translation: X:231.11, Y:-126.60, Z:-4.16 [[-9.96643501e-01 -8.15939631e-02 6.64513710e-03 2.31108164e+02] [-8.15931721e-02 9.96665642e-01 3.90507050e-04 -1.26596363e+02] [-6.65484285e-03 -1.53001502e-04 -9.99977845e-01 -4.15946393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.01519592423000395 Centerline is valid? [True, True] Translation: X:231.10, Y:-126.57, Z:-4.16 [[-9.88253543e-01 -1.52676341e-01 6.69841547e-03 2.31101139e+02] [-1.52673918e-01 9.88276232e-01 8.74645959e-04 -1.26569235e+02] [-6.75342254e-03 -1.58301364e-04 -9.99977183e-01 -4.15964501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.014711054129645098 Centerline is valid? [True, True] Translation: X:231.09, Y:-126.55, Z:-4.16 [[-9.75133484e-01 -2.21519107e-01 6.63127248e-03 2.31086498e+02] [-2.21515035e-01 9.75156020e-01 1.35164573e-03 -1.26545966e+02] [-6.76594063e-03 -1.50891548e-04 -9.99977099e-01 -4.16029027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.014599924110332793 Centerline is valid? [True, True] Translation: X:231.07, Y:-126.52, Z:-4.16 [[-9.57054724e-01 -2.89827264e-01 6.81273018e-03 2.31073830e+02] [-2.89821050e-01 9.57078959e-01 1.90389844e-03 -1.26521773e+02] [-7.07212239e-03 -1.52337623e-04 -9.99974981e-01 -4.15977874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.014010964757351304 Centerline is valid? [True, True] Translation: X:231.05, Y:-126.51, Z:-4.16 [[-9.35035651e-01 -3.54470607e-01 7.67590577e-03 2.31046770e+02] [-3.54459953e-01 9.35067146e-01 2.75222498e-03 -1.26505511e+02] [-8.15307016e-03 -1.47372721e-04 -9.99966752e-01 -4.15834702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.012804890259046988 Centerline is valid? [True, True] Translation: X:231.01, Y:-126.50, Z:-4.16 [[-9.08024499e-01 -4.18851250e-01 7.42559698e-03 2.31007990e+02] [-4.18838388e-01 9.08054852e-01 3.28489445e-03 -1.26496936e+02] [-8.11873151e-03 -1.27360422e-04 -9.99967034e-01 -4.15877511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.012194610670166693 Centerline is valid? [True, True] Translation: X:230.96, Y:-126.49, Z:-4.16 [[-8.75526890e-01 -4.83113918e-01 7.32168432e-03 2.30957050e+02] [-4.83098133e-01 8.75557496e-01 3.90708948e-03 -1.26494451e+02] [-8.29812490e-03 -1.16330132e-04 -9.99965563e-01 -4.15899131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.011611650935806702 Centerline is valid? [True, True] Translation: X:230.89, Y:-126.51, Z:-4.16 [[-8.39793389e-01 -5.42856824e-01 7.31656247e-03 2.30892845e+02] [-5.42837095e-01 8.39825257e-01 4.62887529e-03 -1.26506405e+02] [-8.65745049e-03 -8.44026501e-05 -9.99962520e-01 -4.15837745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.011058203418079634 Centerline is valid? [True, True] Translation: X:230.82, Y:-126.53, Z:-4.16 [[-7.98601245e-01 -6.01825829e-01 6.45930248e-03 2.30823555e+02] [-6.01806731e-01 7.98627365e-01 4.79484312e-03 -1.26527672e+02] [-8.04423615e-03 -5.80840272e-05 -9.99967643e-01 -4.15936879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.010986427805029923 Centerline is valid? [True, True] Translation: X:230.75, Y:-126.56, Z:-4.16 [[-7.51754954e-01 -6.59416309e-01 5.88391269e-03 2.30745770e+02] [-6.59396647e-01 7.51777978e-01 5.09254469e-03 -1.26558292e+02] [-7.78150301e-03 -5.14866019e-05 -9.99969722e-01 -4.15987767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.011139999955317817 Centerline is valid? [True, True] Translation: X:230.67, Y:-126.60, Z:-4.16 [[-6.99711103e-01 -7.14403676e-01 5.63551519e-03 2.30665159e+02] [-7.14381160e-01 6.99733795e-01 5.67219314e-03 -1.26599413e+02] [-7.99559606e-03 -5.70093588e-05 -9.99968033e-01 -4.15927436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.011448872041355992 Centerline is valid? [True, True] Translation: X:230.58, Y:-126.65, Z:-4.16 [[-6.42528705e-01 -7.66241902e-01 5.49643221e-03 2.30582834e+02] [-7.66214854e-01 6.42552210e-01 6.43860695e-03 -1.26649528e+02] [-8.46527510e-03 -7.44582117e-05 -9.99964166e-01 -4.15835064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.012130917168885428 Centerline is valid? [True, True] Translation: X:230.50, Y:-126.71, Z:-4.16 [[-5.79883843e-01 -8.14683790e-01 5.00513100e-03 2.30500888e+02] [-8.14654987e-01 5.79905433e-01 6.85135022e-03 -1.26710206e+02] [-8.48418662e-03 -1.04467640e-04 -9.99964003e-01 -4.15815284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.012665069161742296 Centerline is valid? [True, True] Translation: X:230.42, Y:-126.78, Z:-4.16 [[-5.12553034e-01 -8.58642876e-01 4.66887602e-03 2.30422218e+02] [-8.58609862e-01 5.12574277e-01 7.53097720e-03 -1.26779359e+02] [-8.85956567e-03 -1.48717783e-04 -9.99960742e-01 -4.15804057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.013668440421072016 Centerline is valid? [True, True] Translation: X:230.35, Y:-126.86, Z:-4.16 [[-4.43026031e-01 -8.96498979e-01 4.18537646e-03 2.30345459e+02] [-8.96462740e-01 4.43045764e-01 8.06271020e-03 -1.26858914e+02] [-9.08252477e-03 -1.80043551e-04 -9.99958737e-01 -4.15761350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.014913892256732305 Centerline is valid? [True, True] Translation: X:230.28, Y:-126.95, Z:-4.16 [[-3.70280300e-01 -9.28913430e-01 3.51272046e-03 2.30276295e+02] [-9.28876814e-01 3.70296903e-01 8.25029497e-03 -1.26945067e+02] [-8.96455930e-03 -2.07962894e-04 -9.99959796e-01 -4.15754705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.01543579061896878 Centerline is valid? [True, True] Translation: X:230.21, Y:-127.04, Z:-4.16 [[-2.96933026e-01 -9.54893917e-01 2.89559621e-03 2.30214032e+02] [-9.54855525e-01 2.96947062e-01 8.56561155e-03 -1.27037189e+02] [-9.03908915e-03 -2.21463083e-04 -9.99959122e-01 -4.15711583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.015377362853045926 Centerline is valid? [True, True] Translation: X:230.16, Y:-127.14, Z:-4.16 [[-2.22289327e-01 -9.74978119e-01 2.26331333e-03 2.30159535e+02] [-9.74937637e-01 2.22300730e-01 8.88766055e-03 -1.27135350e+02] [-9.16841077e-03 -2.30957261e-04 -9.99957943e-01 -4.15688133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.015031169139404449 Centerline is valid? [True, True] Translation: X:230.11, Y:-127.24, Z:-4.16 [[-1.46531105e-01 -9.89204961e-01 1.47689938e-03 2.30113024e+02] [-9.89168695e-01 1.46538384e-01 8.47316212e-03 -1.27242180e+02] [-8.59811645e-03 -2.19320818e-04 -9.99963011e-01 -4.15761383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.014737693259011603 Centerline is valid? [True, True] Translation: X:230.07, Y:-127.35, Z:-4.16 [[-6.95471322e-02 -9.97578381e-01 7.55461546e-04 2.30073979e+02] [-9.97547314e-01 6.95509305e-02 7.87556533e-03 -1.27353371e+02] [-7.90903676e-03 -2.05885653e-04 -9.99968702e-01 -4.15830168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.015425651965251782 Centerline is valid? [True, True] Translation: X:230.04, Y:-127.47, Z:-4.16 [[ 7.25049526e-03 -9.99973703e-01 1.52352584e-04 2.30043013e+02] [-9.99940492e-01 -7.24901236e-03 8.15252514e-03 -1.27467278e+02] [-8.15120635e-03 -2.11453363e-04 -9.99966756e-01 -4.15759208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.014618117170038008 Centerline is valid? [True, True] Translation: X:230.02, Y:-127.58, Z:-4.16 [[ 8.25430654e-02 -9.96587375e-01 -4.97050573e-04 2.30023783e+02] [-9.96551092e-01 -8.25443028e-02 8.50647023e-03 -1.27581223e+02] [-8.51846953e-03 -2.06813838e-04 -9.99963696e-01 -4.15670348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.014958655772957519 Centerline is valid? [True, True] Translation: X:230.01, Y:-127.70, Z:-4.16 [[ 1.58226850e-01 -9.87402135e-01 -1.13515626e-03 2.30009280e+02] [-9.87367018e-01 -1.58230799e-01 8.32985638e-03 -1.27698619e+02] [-8.40453466e-03 -1.97191082e-04 -9.99964662e-01 -4.15666102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.013371489607117135 Centerline is valid? [True, True] Translation: X:230.01, Y:-127.82, Z:-4.16 [[ 2.30301621e-01 -9.73117461e-01 -1.88977750e-03 2.30009338e+02] [-9.73078059e-01 -2.30309306e-01 8.75874156e-03 -1.27817760e+02] [-8.95851769e-03 -1.78251364e-04 -9.99959856e-01 -4.15597495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.012798976789086577 Centerline is valid? [True, True] Translation: X:230.02, Y:-127.95, Z:-4.16 [[ 3.02485153e-01 -9.53151076e-01 -2.39970132e-03 2.30018418e+02] [-9.53117059e-01 -3.02494635e-01 8.05400561e-03 -1.27950182e+02] [-8.40258089e-03 -1.49020854e-04 -9.99964687e-01 -4.15606591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.01228662506586092 Centerline is valid? [True, True] Translation: X:230.03, Y:-128.06, Z:-4.16 [[ 3.73627956e-01 -9.27575257e-01 -2.50858078e-03 2.30027762e+02] [-9.27552273e-01 -3.73636361e-01 6.53071236e-03 -1.28055925e+02] [-6.99502419e-03 -1.13216909e-04 -9.99975528e-01 -4.15709875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.012613996398495456 Centerline is valid? [True, True] Translation: X:230.04, Y:-128.17, Z:-4.16 [[ 4.43586932e-01 -8.96226899e-01 -2.82484077e-03 2.30044985e+02] [-8.96207203e-01 -4.43595914e-01 5.94254305e-03 -1.28172108e+02] [-6.57895476e-03 -1.04391791e-04 -9.99978353e-01 -4.15653273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.012096626047190676 Centerline is valid? [True, True] Translation: X:230.08, Y:-128.30, Z:-4.16 [[ 5.10351552e-01 -8.59958689e-01 -3.51389263e-03 2.30080758e+02] [-8.59936854e-01 -5.10363638e-01 6.12906170e-03 -1.28296961e+02] [-7.06410289e-03 -1.06250377e-04 -9.99975043e-01 -4.15611445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.011672047981209003 Centerline is valid? [True, True] Translation: X:230.12, Y:-128.41, Z:-4.16 [[ 5.73089838e-01 -8.19481435e-01 -4.26790668e-03 2.30119471e+02] [-8.19457431e-01 -5.73105722e-01 6.27301577e-03 -1.28407504e+02] [-7.58658170e-03 -9.76337498e-05 -9.99971217e-01 -4.15510488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.011476209979158407 Centerline is valid? [True, True] Translation: X:230.15, Y:-128.49, Z:-4.15 [[ 6.33402815e-01 -7.73806268e-01 -4.97326403e-03 2.30150273e+02] [-7.73781247e-01 -6.33422332e-01 6.22349753e-03 -1.28494448e+02] [-7.96595789e-03 -9.37624127e-05 -9.99968267e-01 -4.15491080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.010803268060336385 Centerline is valid? [True, True] Translation: X:230.20, Y:-128.59, Z:-4.15 [[ 6.88922327e-01 -7.24813642e-01 -5.58673803e-03 2.30200407e+02] [-7.24788908e-01 -6.88944975e-01 5.98844927e-03 -1.28593755e+02] [-8.18946482e-03 -7.63706528e-05 -9.99966463e-01 -4.15485284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.010632882512615146 Centerline is valid? [True, True] Translation: X:230.25, Y:-128.68, Z:-4.15 [[ 7.40799302e-01 -6.71701132e-01 -5.82944206e-03 2.30252146e+02] [-6.71679729e-01 -7.40822236e-01 5.36248311e-03 -1.28682759e+02] [-7.92056628e-03 -5.70056883e-05 -9.99968630e-01 -4.15487329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.0102105586416514 Centerline is valid? [True, True] Translation: X:230.27, Y:-128.71, Z:-4.16 [[ 7.88337324e-01 -6.15219650e-01 -5.38951240e-03 2.30272834e+02] [-6.15205107e-01 -7.88355746e-01 4.23012193e-03 -1.28707191e+02] [-6.85130720e-03 -1.91074463e-05 -9.99976529e-01 -4.15621668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.010140632021994908 Centerline is valid? [True, True] Translation: X:230.29, Y:-128.73, Z:-4.16 [[ 8.32467672e-01 -5.54050772e-01 -5.03169234e-03 2.30293472e+02] [-5.54040652e-01 -8.32482878e-01 3.34868182e-03 -1.28731681e+02] [-6.04413747e-03 9.27471025e-08 -9.99981734e-01 -4.15694862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.01022412375726032 Centerline is valid? [True, True] Translation: X:230.32, Y:-128.75, Z:-4.16 [[ 8.71636648e-01 -4.90124831e-01 -5.21570587e-03 2.30316454e+02] [-4.90116192e-01 -8.71652253e-01 2.91017223e-03 -1.28754407e+02] [-5.97262944e-03 1.96891284e-05 -9.99982164e-01 -4.15699655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.01050209602276608 Centerline is valid? [True, True] Translation: X:230.34, Y:-128.78, Z:-4.16 [[ 9.05899628e-01 -4.23457030e-01 -5.47799008e-03 2.30339704e+02] [-4.23449552e-01 -9.05916189e-01 2.51691985e-03 -1.28777181e+02] [-6.02840730e-03 3.95756851e-05 -9.99981828e-01 -4.15701846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.010897403562000937 Centerline is valid? [True, True] Translation: X:230.36, Y:-128.80, Z:-4.16 [[ 9.35492629e-01 -3.53297837e-01 -5.84628750e-03 2.30364853e+02] [-3.53291297e-01 -9.35510895e-01 2.15042720e-03 -1.28795876e+02] [-6.22900693e-03 5.37336981e-05 -9.99980598e-01 -4.15711984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.010950238409698783 Centerline is valid? [True, True] Translation: X:230.39, Y:-128.82, Z:-4.16 [[ 9.60034836e-01 -2.79804093e-01 -6.54084404e-03 2.30391448e+02] [-2.79798049e-01 -9.60057116e-01 1.84007715e-03 -1.28817311e+02] [-6.79444498e-03 6.35772390e-05 -9.99976915e-01 -4.15672986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.010807710019995902 Centerline is valid? [True, True] Translation: X:230.42, Y:-128.84, Z:-4.16 [[ 9.79373553e-01 -2.01905711e-01 -7.84401902e-03 2.30418010e+02] [-2.01899712e-01 -9.79404963e-01 1.55741687e-03 -1.28836625e+02] [-7.99692251e-03 5.84122860e-05 -9.99968022e-01 -4.15555907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.010421914700330931 Centerline is valid? [True, True] Translation: X:230.44, Y:-128.85, Z:-4.16 [[ 9.92516486e-01 -1.21815824e-01 -8.48112081e-03 2.30444691e+02] [-1.21811706e-01 -9.92552721e-01 1.00226951e-03 -1.28852875e+02] [-8.54005183e-03 3.83307834e-05 -9.99963532e-01 -4.15504021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.010288147398124205 Centerline is valid? [True, True] Translation: X:230.47, Y:-128.87, Z:-4.15 [[ 9.99132829e-01 -4.07610712e-02 -8.49261061e-03 2.30472113e+02] [-4.07597091e-02 -9.99168922e-01 3.33484893e-04 -1.28867470e+02] [-8.49914579e-03 1.29606332e-05 -9.99963882e-01 -4.15480490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.010345329599788455 Centerline is valid? [True, True] Translation: X:230.50, Y:-128.88, Z:-4.15 [[ 9.99079885e-01 4.22622199e-02 -7.29991705e-03 2.30501313e+02] [ 4.22612608e-02 -9.99106553e-01 -2.85662701e-04 -1.28882514e+02] [-7.30546770e-03 -2.31038399e-05 -9.99973314e-01 -4.15497794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.010762974174468162 Centerline is valid? [True, True] Translation: X:230.53, Y:-128.89, Z:-4.15 [[ 9.92244361e-01 1.24105578e-01 -6.99526594e-03 2.30532355e+02] [ 1.24102842e-01 -9.92269018e-01 -8.25546173e-04 -1.28892627e+02] [-7.04364054e-03 -4.89888493e-05 -9.99975192e-01 -4.15488959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.01103979637508576 Centerline is valid? [True, True] Translation: X:230.56, Y:-128.90, Z:-4.16 [[ 9.79040603e-01 2.03563310e-01 -6.44022810e-03 2.30563451e+02] [ 2.03559308e-01 -9.79061783e-01 -1.27779336e-03 -1.28898266e+02] [-6.56549305e-03 -5.99567968e-05 -9.99978445e-01 -4.15508601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.011340943513739422 Centerline is valid? [True, True] Translation: X:230.60, Y:-128.90, Z:-4.15 [[ 9.59683651e-01 2.81032288e-01 -5.30501378e-03 2.30595938e+02] [ 2.81028331e-01 -9.59698312e-01 -1.49248806e-03 -1.28903303e+02] [-5.51065011e-03 -5.85427834e-05 -9.99984815e-01 -4.15464964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.01125568091532851 Centerline is valid? [True, True] Translation: X:230.63, Y:-128.90, Z:-4.15 [[ 9.35058002e-01 3.54460946e-01 -4.89601397e-03 2.30628144e+02] [ 3.54456371e-01 -9.35070818e-01 -1.80167119e-03 -1.28903614e+02] [-5.21674186e-03 -5.07562755e-05 -9.99986391e-01 -4.15380777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.010978541935332738 Centerline is valid? [True, True] Translation: X:230.66, Y:-128.90, Z:-4.15 [[ 9.05343038e-01 4.24649163e-01 -5.20304860e-03 2.30660512e+02] [ 4.24642426e-01 -9.05357988e-01 -2.39229260e-03 -1.28900159e+02] [-5.72650666e-03 -4.35897328e-05 -9.99983602e-01 -4.15268445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.010724173403058245 Centerline is valid? [True, True] Translation: X:230.69, Y:-128.89, Z:-4.15 [[ 8.71217528e-01 4.90861115e-01 -5.94858437e-03 2.30691385e+02] [ 4.90849876e-01 -8.71237835e-01 -3.32172650e-03 -1.28893575e+02] [-6.81313814e-03 -2.59155512e-05 -9.99976790e-01 -4.15123328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.010696553106884499 Centerline is valid? [True, True] Translation: X:230.72, Y:-128.88, Z:-4.15 [[ 8.31504424e-01 5.55487697e-01 -5.81477487e-03 2.30720216e+02] [ 5.55474189e-01 -8.31524755e-01 -3.87385599e-03 -1.28884291e+02] [-6.98700859e-03 -8.82895573e-06 -9.99975591e-01 -4.15017115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.010761724265469641 Centerline is valid? [True, True] Translation: X:230.75, Y:-128.87, Z:-4.15 [[ 7.86828489e-01 6.17143384e-01 -5.91377619e-03 2.30749239e+02] [ 6.17125888e-01 -7.86850712e-01 -4.64703660e-03 -1.28871961e+02] [-7.52114690e-03 6.87640004e-06 -9.99971716e-01 -4.14974341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.010816990809912686 Centerline is valid? [True, True] Translation: X:230.78, Y:-128.86, Z:-4.15 [[ 7.36188745e-01 6.76754031e-01 -5.48758344e-03 2.30778765e+02] [ 6.76735151e-01 -7.36209197e-01 -5.05515807e-03 -1.28858787e+02] [-7.46110800e-03 7.90986295e-06 -9.99972166e-01 -4.14946656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.010927434285669373 Centerline is valid? [True, True] Translation: X:230.81, Y:-128.85, Z:-4.15 [[ 6.79782755e-01 7.33395398e-01 -5.15716686e-03 2.30808176e+02] [ 7.33374338e-01 -6.79802317e-01 -5.55795992e-03 -1.28845327e+02] [-7.58203620e-03 -3.92852562e-06 -9.99971256e-01 -4.14919893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.011123138807452757 Centerline is valid? [True, True] Translation: X:230.83, Y:-128.83, Z:-4.15 [[ 6.19249330e-01 7.85176285e-01 -5.33555800e-03 2.30834252e+02] [ 7.85147364e-01 -6.19272316e-01 -6.73908123e-03 -1.28829165e+02] [-8.59553012e-03 -1.60277659e-05 -9.99963058e-01 -4.14676990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.011140922582352764 Centerline is valid? [True, True] Translation: X:230.86, Y:-128.81, Z:-4.15 [[ 5.54177422e-01 8.32388472e-01 -4.10077398e-03 2.30858943e+02] [ 8.32366061e-01 -5.54192593e-01 -6.10821104e-03 -1.28809727e+02] [-7.35702302e-03 -2.83124423e-05 -9.99972936e-01 -4.14859655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.01113514775941074 Centerline is valid? [True, True] Translation: X:230.88, Y:-128.79, Z:-4.15 [[ 4.86879138e-01 8.73462962e-01 -3.34039354e-03 2.30883462e+02] [ 8.73442818e-01 -4.86890596e-01 -5.93213193e-03 -1.28789437e+02] [-6.80790373e-03 -2.94114618e-05 -9.99976826e-01 -4.14937178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.011258156280268336 Centerline is valid? [True, True] Translation: X:230.91, Y:-128.77, Z:-4.15 [[ 4.15934770e-01 9.09391735e-01 -2.22244174e-03 2.30905227e+02] [ 9.09379120e-01 -4.15940706e-01 -4.79016651e-03 -1.28768203e+02] [-5.28054182e-03 -2.86453070e-05 -9.99986057e-01 -4.14965399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.011295264320568231 Centerline is valid? [True, True] Translation: X:230.92, Y:-128.74, Z:-4.15 [[ 3.43160772e-01 9.39275349e-01 -1.58214518e-03 2.30924407e+02] [ 9.39265709e-01 -3.43164418e-01 -4.25558226e-03 -1.28743474e+02] [-4.54009944e-03 -2.57058235e-05 -9.99989693e-01 -4.14988763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.011352821741032129 Centerline is valid? [True, True] Translation: X:230.94, Y:-128.72, Z:-4.15 [[ 2.68545526e-01 9.63266324e-01 -1.13608870e-03 2.30940318e+02] [ 9.63258069e-01 -2.68547928e-01 -3.98785186e-03 -1.28717158e+02] [-4.14645767e-03 -2.34268371e-05 -9.99991403e-01 -4.14991361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.011394045525512628 Centerline is valid? [True, True] Translation: X:230.95, Y:-128.69, Z:-4.15 [[ 1.92120123e-01 9.81370855e-01 -1.05081306e-03 2.30953427e+02] [ 9.81357048e-01 -1.92122994e-01 -5.20568977e-03 -1.28690743e+02] [-5.31059757e-03 -3.11050409e-05 -9.99985898e-01 -4.14845281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.011442685597981837 Centerline is valid? [True, True] Translation: X:230.96, Y:-128.66, Z:-4.15 [[ 1.14477743e-01 9.93425394e-01 -9.12124043e-04 2.30964402e+02] [ 9.93396989e-01 -1.14481368e-01 -7.51258761e-03 -1.28662219e+02] [-7.56761652e-03 -4.60772028e-05 -9.99971364e-01 -4.14638680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.011408079870035004 Centerline is valid? [True, True] Translation: X:230.97, Y:-128.63, Z:-4.15 [[ 3.55840248e-02 9.99366628e-01 -3.47815330e-04 2.30973721e+02] [ 9.99333078e-01 -3.55856803e-02 -8.18890152e-03 -1.28633003e+02] [-8.19609214e-03 -5.61892892e-05 -9.99966410e-01 -4.14657879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.011630773956389083 Centerline is valid? [True, True] Translation: X:230.98, Y:-128.60, Z:-4.15 [[-4.32044655e-02 9.99066211e-01 2.81608167e-04 2.30981281e+02] [ 9.99035630e-01 4.32053464e-02 -7.81712869e-03 -1.28604471e+02] [-7.82199612e-03 -5.63982743e-05 -9.99969406e-01 -4.14533333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.011539996289965954 Centerline is valid? [True, True] Translation: X:230.99, Y:-128.58, Z:-4.15 [[-1.22000754e-01 9.92529652e-01 8.39663555e-04 2.30985470e+02] [ 9.92502765e-01 1.22003630e-01 -7.30584744e-03 -1.28575003e+02] [-7.35371222e-03 -5.79504959e-05 -9.99972959e-01 -4.14599034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.011549022158203638 Centerline is valid? [True, True] Translation: X:230.99, Y:-128.54, Z:-4.15 [[-2.00086880e-01 9.79777315e-01 1.28612628e-03 2.30988225e+02] [ 9.79755180e-01 2.00091005e-01 -6.58620152e-03 -1.28544537e+02] [-6.71035313e-03 -5.77236247e-05 -9.99977484e-01 -4.14671449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.01196278497783989 Centerline is valid? [True, True] Translation: X:230.99, Y:-128.51, Z:-4.15 [[-2.78541208e-01 9.60422393e-01 1.90350599e-03 2.30988784e+02] [ 9.60398007e-01 2.78547701e-01 -6.84448143e-03 -1.28514052e+02] [-7.10381045e-03 -7.83467690e-05 -9.99974765e-01 -4.14625585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.01232912235478624 Centerline is valid? [True, True] Translation: X:230.99, Y:-128.48, Z:-4.15 [[-3.55800708e-01 9.34558883e-01 2.35583750e-03 2.30989175e+02] [ 9.34536556e-01 3.55808494e-01 -6.46067242e-03 -1.28483360e+02] [-6.87610580e-03 -9.70955632e-05 -9.99976355e-01 -4.14609008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.014968085052610448 Centerline is valid? [True, True] Translation: X:230.99, Y:-128.45, Z:-4.15 [[-4.33119810e-01 9.01331936e-01 2.82340880e-03 2.30989235e+02] [ 9.01310705e-01 4.33128991e-01 -6.18784023e-03 -1.28452260e+02] [-6.80019822e-03 -1.35307610e-04 -9.99976869e-01 -4.14526937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.01555327929116963 Centerline is valid? [True, True] Translation: X:230.98, Y:-128.42, Z:-4.15 [[-5.06796195e-01 8.62059337e-01 3.36393268e-03 2.30981273e+02] [ 8.62038025e-01 5.06807330e-01 -6.06414695e-03 -1.28423142e+02] [-6.93252023e-03 -1.73448717e-04 -9.99975955e-01 -4.14564157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.016261527373518957 Centerline is valid? [True, True] Translation: X:230.97, Y:-128.39, Z:-4.15 [[-5.76109159e-01 8.17363937e-01 3.79895235e-03 2.30972635e+02] [ 8.17343827e-01 5.76121649e-01 -5.73710891e-03 -1.28394105e+02] [-6.87796461e-03 -2.00150738e-04 -9.99976327e-01 -4.14601210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.01690744239119405 Centerline is valid? [True, True] Translation: X:230.96, Y:-128.37, Z:-4.15 [[-6.39072706e-01 7.69134001e-01 4.35494293e-03 2.30961363e+02] [ 7.69113836e-01 6.39087508e-01 -5.57348311e-03 -1.28365653e+02] [-7.06994499e-03 -2.12414070e-04 -9.99974985e-01 -4.14588231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.018039521943202484 Centerline is valid? [True, True] Translation: X:230.95, Y:-128.34, Z:-4.15 [[-6.99077016e-01 7.15030406e-01 4.77959428e-03 2.30946665e+02] [ 7.15011412e-01 6.99093317e-01 -5.21675345e-03 -1.28339668e+02] [-7.07151975e-03 -2.29447981e-04 -9.99974970e-01 -4.14609163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.018905533523197515 Centerline is valid? [True, True] Translation: X:230.93, Y:-128.32, Z:-4.14 [[-7.53722008e-01 6.57167020e-01 5.88587464e-03 2.30928441e+02] [ 6.57144131e-01 7.53744940e-01 -5.49152989e-03 -1.28315849e+02] [-8.04530056e-03 -2.71218961e-04 -9.99967599e-01 -4.14495689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.017996998951539285 Centerline is valid? [True, True] Translation: X:231.39, Y:-127.83, Z:-5.11 [[-6.58301800e-01 -7.52732463e-01 5.70777607e-03 2.31389087e+02] [ 7.52708013e-01 -6.58326477e-01 -6.07429374e-03 -1.27831482e+02] [ 8.32989820e-03 2.97570282e-04 9.99965262e-01 -5.11279772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.01759769613646363 Centerline is valid? [True, True] Translation: X:231.35, Y:-127.79, Z:-5.11 [[-6.59293616e-01 -7.51873757e-01 4.21672778e-03 2.31353055e+02] [ 7.51860315e-01 -6.59307069e-01 -4.50052140e-03 -1.27785611e+02] [ 6.16394237e-03 2.03225246e-04 9.99980982e-01 -5.11013408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.017614363453444856 Centerline is valid? [True, True] Translation: X:231.32, Y:-127.74, Z:-5.11 [[-6.60175423e-01 -7.51096576e-01 4.72696552e-03 2.31315179e+02] [ 7.51079686e-01 -6.60192309e-01 -5.04188457e-03 -1.27742077e+02] [ 6.90764852e-03 2.21799502e-04 9.99976117e-01 -5.11037603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.01726452734495238 Centerline is valid? [True, True] Translation: X:231.28, Y:-127.70, Z:-5.11 [[-6.61563088e-01 -7.49878821e-01 4.00419155e-03 2.31275008e+02] [ 7.49866693e-01 -6.61575182e-01 -4.26870137e-03 -1.27699445e+02] [ 5.85008250e-03 1.78594617e-04 9.99982872e-01 -5.11065728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.01711624156736547 Centerline is valid? [True, True] Translation: X:231.23, Y:-127.66, Z:-5.11 [[-6.61817467e-01 -7.49658175e-01 3.20327734e-03 2.31234743e+02] [ 7.49650421e-01 -6.61825204e-01 -3.41270817e-03 -1.27658916e+02] [ 4.67837425e-03 1.42748329e-04 9.99989046e-01 -5.11026536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.017233202004030997 Centerline is valid? [True, True] Translation: X:231.19, Y:-127.62, Z:-5.11 [[-6.60686131e-01 -7.50656139e-01 3.03271190e-03 2.31194014e+02] [ 7.50649207e-01 -6.60693076e-01 -3.22902216e-03 -1.27618265e+02] [ 4.42757707e-03 1.43132626e-04 9.99990188e-01 -5.11066827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.018648970605740955 Centerline is valid? [True, True] Translation: X:231.15, Y:-127.58, Z:-5.11 [[-6.58466067e-01 -7.52604750e-01 2.92051382e-03 2.31151279e+02] [ 7.52598349e-01 -6.58472526e-01 -3.10777485e-03 -1.27579016e+02] [ 4.26200423e-03 1.51609592e-04 9.99990906e-01 -5.11147831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.01989691232356439 Centerline is valid? [True, True] Translation: X:231.11, Y:-127.54, Z:-5.11 [[-6.57404166e-01 -7.53533565e-01 2.63232864e-03 2.31109317e+02] [ 7.53528378e-01 -6.57409421e-01 -2.79953048e-03 -1.27538948e+02] [ 3.84005782e-03 1.43111327e-04 9.99992617e-01 -5.11186143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.02024711430630775 Centerline is valid? [True, True] Translation: X:231.07, Y:-127.50, Z:-5.11 [[-6.56913738e-01 -7.53961831e-01 2.42852801e-03 2.31067133e+02] [ 7.53957424e-01 -6.56918213e-01 -2.58132184e-03 -1.27499282e+02] [ 3.54156242e-03 1.35300940e-04 9.99993720e-01 -5.11240808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.021261451466833767 Centerline is valid? [True, True] Translation: X:231.03, Y:-127.46, Z:-5.11 [[-6.57596075e-01 -7.53367491e-01 2.19653884e-03 2.31026022e+02] [ 7.53363888e-01 -6.57599733e-01 -2.33327196e-03 -1.27459995e+02] [ 3.20225459e-03 1.20442562e-04 9.99994866e-01 -5.11274761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.022355816852854187 Centerline is valid? [True, True] Translation: X:230.98, Y:-127.42, Z:-5.11 [[-6.58979525e-01 -7.52159830e-01 1.25541254e-03 2.30984682e+02] [ 7.52158652e-01 -6.58980717e-01 -1.33302588e-03 -1.27420436e+02] [ 1.82994118e-03 6.58326403e-05 9.99998324e-01 -5.11210383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.021001754586164195 Centerline is valid? [True, True] Translation: X:230.95, Y:-127.38, Z:-5.11 [[-6.61705245e-01 -7.49762035e-01 1.74921982e-03 2.30946309e+02] [ 7.49759741e-01 -6.61707552e-01 -1.85625302e-03 -1.27378365e+02] [ 2.54922000e-03 8.32022407e-05 9.99996747e-01 -5.11302602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.018160032963652786 Centerline is valid? [True, True] Translation: X:230.91, Y:-127.33, Z:-5.12 [[-6.67415023e-01 -7.44681690e-01 2.52346898e-03 2.30910484e+02] [ 7.44676887e-01 -6.67419787e-01 -2.67623250e-03 -1.27334536e+02] [ 3.67715447e-03 9.30112442e-05 9.99993235e-01 -5.11512717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.013832067792055905 Centerline is valid? [True, True] Translation: X:230.88, Y:-127.29, Z:-5.11 [[-6.72084012e-01 -7.40470325e-01 2.60356317e-03 2.30877316e+02] [ 7.40465187e-01 -6.72089051e-01 -2.75947364e-03 -1.27286540e+02] [ 3.79313464e-03 7.32497766e-05 9.99992803e-01 -5.11410438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.012966316822401845 Centerline is valid? [True, True] Translation: X:230.84, Y:-127.24, Z:-5.11 [[-6.76889636e-01 -7.36080827e-01 2.33154174e-03 2.30839868e+02] [ 7.36076685e-01 -6.76893650e-01 -2.46975525e-03 -1.27242882e+02] [ 3.39614529e-03 4.44417852e-05 9.99994232e-01 -5.11391164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.011230621406114468 Centerline is valid? [True, True] Translation: X:230.80, Y:-127.20, Z:-5.11 [[-6.83028746e-01 -7.30389844e-01 1.55158962e-03 2.30804379e+02] [ 7.30387997e-01 -6.83030508e-01 -1.64268422e-03 -1.27195722e+02] [ 2.25958291e-03 1.12618903e-05 9.99997447e-01 -5.11310284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.011148951214483529 Centerline is valid? [True, True] Translation: X:230.77, Y:-127.15, Z:-5.11 [[-6.86960338e-01 -7.26691905e-01 2.09036538e-03 2.30766627e+02] [ 7.26688540e-01 -6.86963518e-01 -2.21161749e-03 -1.27153692e+02] [ 3.04316929e-03 -2.48930675e-07 9.99995370e-01 -5.11407975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:230.72, Y:-127.11, Z:-5.12 [[-6.86971717e-01 -7.26673711e-01 3.89594539e-03 2.30724648e+02] [ 7.26662033e-01 -6.86982764e-01 -4.11958699e-03 -1.27112823e+02] [ 5.67004290e-03 9.95851206e-07 9.99983925e-01 -5.11632676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:230.69, Y:-127.07, Z:-5.12 [[-6.87177433e-01 -7.26479172e-01 3.89711164e-03 2.30685025e+02] [ 7.26467498e-01 -6.87188484e-01 -4.11848375e-03 -1.27071036e+02] [ 5.67004290e-03 9.95852043e-07 9.99983925e-01 -5.11632607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.011347119146788286 Centerline is valid? [True, True] Translation: X:230.64, Y:-127.03, Z:-5.12 [[-6.86749973e-01 -7.26880615e-01 4.36415180e-03 2.30644582e+02] [ 7.26866002e-01 -6.86763840e-01 -4.60913576e-03 -1.27030051e+02] [ 6.34743308e-03 6.82971662e-06 9.99979855e-01 -5.11718801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.011751733994195889 Centerline is valid? [True, True] Translation: X:230.60, Y:-126.99, Z:-5.12 [[-6.83366243e-01 -7.30051829e-01 5.90813335e-03 2.30601071e+02] [ 7.30025195e-01 -6.83391780e-01 -6.23611780e-03 -1.26992022e+02] [ 8.59025897e-03 5.15338083e-05 9.99963102e-01 -5.11943325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.012597659425696415 Centerline is valid? [True, True] Translation: X:230.56, Y:-126.95, Z:-5.12 [[-6.79380148e-01 -7.33758506e-01 6.40847725e-03 2.30557243e+02] [ 7.33727370e-01 -6.79410364e-01 -6.76047076e-03 -1.26953404e+02] [ 9.31453878e-03 1.09145532e-04 9.99956613e-01 -5.11948108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.013016201460988166 Centerline is valid? [True, True] Translation: X:230.52, Y:-126.91, Z:-5.12 [[-6.77413220e-01 -7.35577905e-01 6.03943096e-03 2.30515733e+02] [ 7.35550355e-01 -6.77440130e-01 -6.36754969e-03 -1.26912838e+02] [ 8.77518176e-03 1.28843247e-04 9.99961489e-01 -5.11861978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.01375671909312908 Centerline is valid? [True, True] Translation: X:230.47, Y:-126.87, Z:-5.12 [[-6.76285887e-01 -7.36619682e-01 5.37063971e-03 2.30474177e+02] [ 7.36597955e-01 -6.76307200e-01 -5.65907168e-03 -1.26872981e+02] [ 7.80078588e-03 1.28851921e-04 9.99969565e-01 -5.11801217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.01376310349069518 Centerline is valid? [True, True] Translation: X:230.43, Y:-126.83, Z:-5.12 [[-6.75921437e-01 -7.36961979e-01 4.15361316e-03 2.30433275e+02] [ 7.36949006e-01 -6.75934191e-01 -4.37392237e-03 -1.26832793e+02] [ 6.03098364e-03 1.04573191e-04 9.99981808e-01 -5.11596585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.014025183292837893 Centerline is valid? [True, True] Translation: X:230.39, Y:-126.79, Z:-5.12 [[-6.75456253e-01 -7.37388165e-01 4.18865463e-03 2.30391774e+02] [ 7.37374998e-01 -6.75469231e-01 -4.40802931e-03 -1.26792990e+02] [ 6.07973597e-03 1.11178238e-04 9.99981512e-01 -5.11572641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.014103329915112367 Centerline is valid? [True, True] Translation: X:230.35, Y:-126.75, Z:-5.12 [[-6.75062468e-01 -7.37743279e-01 5.05148285e-03 2.30350008e+02] [ 7.37724161e-01 -6.75081354e-01 -5.31304251e-03 -1.26751942e+02] [ 7.32982328e-03 1.39965352e-04 9.99973127e-01 -5.11688654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.014473897828864076 Centerline is valid? [True, True] Translation: X:230.31, Y:-126.71, Z:-5.12 [[-6.74065730e-01 -7.38640632e-01 6.73857208e-03 2.30307636e+02] [ 7.38606694e-01 -6.74099382e-01 -7.08346278e-03 -1.26711959e+02] [ 9.77460070e-03 2.02434935e-04 9.99952207e-01 -5.11889428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.014775120550609517 Centerline is valid? [True, True] Translation: X:230.27, Y:-126.67, Z:-5.12 [[-6.73231991e-01 -7.39390978e-01 7.72456704e-03 2.30266497e+02] [ 7.39346468e-01 -6.73276259e-01 -8.11653249e-03 -1.26671605e+02] [ 1.12020585e-02 2.46822034e-04 9.99937225e-01 -5.11993135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.014817005192758059 Centerline is valid? [True, True] Translation: X:230.23, Y:-126.63, Z:-5.12 [[-6.73678143e-01 -7.38977988e-01 8.32424184e-03 2.30226733e+02] [ 7.38926336e-01 -6.73729518e-01 -8.74107001e-03 -1.26630251e+02] [ 1.20677458e-02 2.62333712e-04 9.99927148e-01 -5.11998870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.014340365521426314 Centerline is valid? [True, True] Translation: X:230.19, Y:-126.59, Z:-5.12 [[-6.75494322e-01 -7.37325956e-01 7.60633941e-03 2.30187217e+02] [ 7.37282754e-01 -6.75537111e-01 -7.98443275e-03 -1.26587163e+02] [ 1.10254941e-02 2.14583886e-04 9.99939194e-01 -5.11940128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.01339459185935841 Centerline is valid? [True, True] Translation: X:230.15, Y:-126.54, Z:-5.12 [[-6.77332545e-01 -7.35640960e-01 7.28019579e-03 2.30148956e+02] [ 7.35601333e-01 -6.77371644e-01 -7.63770458e-03 -1.26543707e+02] [ 1.05500065e-02 1.82055850e-04 9.99944331e-01 -5.11781655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.013042458202758612 Centerline is valid? [True, True] Translation: X:230.11, Y:-126.50, Z:-5.12 [[-6.79663089e-01 -7.33496163e-01 6.43925642e-03 2.30110239e+02] [ 7.33465092e-01 -6.79693579e-01 -6.75266002e-03 -1.26501905e+02] [ 9.32977146e-03 1.33436032e-04 9.99956468e-01 -5.11652133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.013137263898202597 Centerline is valid? [True, True] Translation: X:230.07, Y:-126.46, Z:-5.12 [[-6.80844375e-01 -7.32402165e-01 6.16488549e-03 2.30071423e+02] [ 7.32373668e-01 -6.80872276e-01 -6.46182112e-03 -1.26461683e+02] [ 8.93015138e-03 1.15505235e-04 9.99960119e-01 -5.11673307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.012794719785989178 Centerline is valid? [True, True] Translation: X:230.03, Y:-126.42, Z:-5.12 [[-6.81021654e-01 -7.32232500e-01 6.71363944e-03 2.30031494e+02] [ 7.32198738e-01 -6.81054734e-01 -7.03258868e-03 -1.26420089e+02] [ 9.72184591e-03 1.26373155e-04 9.99952734e-01 -5.11661779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.013165980778162303 Centerline is valid? [True, True] Translation: X:229.99, Y:-126.38, Z:-5.12 [[-6.80528462e-01 -7.32685751e-01 7.25273239e-03 2.29990248e+02] [ 7.32646420e-01 -6.80567093e-01 -7.59310289e-03 -1.26379576e+02] [ 1.04993293e-02 1.46365785e-04 9.99944870e-01 -5.11777703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.0134488955547758 Centerline is valid? [True, True] Translation: X:229.95, Y:-126.34, Z:-5.12 [[-6.79570032e-01 -7.33559862e-01 8.63134383e-03 2.29949265e+02] [ 7.33504290e-01 -6.79624816e-01 -9.03139127e-03 -1.26338912e+02] [ 1.24911416e-02 1.93664872e-04 9.99921964e-01 -5.11937555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.013469573258140775 Centerline is valid? [True, True] Translation: X:229.91, Y:-126.30, Z:-5.12 [[-6.79635688e-01 -7.33498216e-01 8.70046330e-03 2.29910039e+02] [ 7.33441817e-01 -6.79691348e-01 -9.09800544e-03 -1.26296586e+02] [ 1.25870004e-02 1.97954422e-04 9.99920761e-01 -5.11951826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.013047295299582921 Centerline is valid? [True, True] Translation: X:229.87, Y:-126.25, Z:-5.12 [[-6.80401138e-01 -7.32794367e-01 8.16741675e-03 2.29872555e+02] [ 7.32744681e-01 -6.80450134e-01 -8.53515441e-03 -1.26252839e+02] [ 1.18120329e-02 1.77302398e-04 9.99930220e-01 -5.11752614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.012881569445240073 Centerline is valid? [True, True] Translation: X:229.83, Y:-126.21, Z:-5.12 [[-6.80531205e-01 -7.32677521e-01 7.80572327e-03 2.29833876e+02] [ 7.32632183e-01 -6.80575948e-01 -8.15248453e-03 -1.26209922e+02] [ 1.12855297e-02 1.70703952e-04 9.99936302e-01 -5.11625246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.013403760306467448 Centerline is valid? [True, True] Translation: X:229.79, Y:-126.17, Z:-5.12 [[-6.80004773e-01 -7.33172634e-01 7.16923131e-03 2.29794709e+02] [ 7.33134468e-01 -6.80042543e-01 -7.48269094e-03 -1.26168986e+02] [ 1.03614865e-02 1.67745031e-04 9.99946304e-01 -5.11597227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.014429115789326501 Centerline is valid? [True, True] Translation: X:229.75, Y:-126.13, Z:-5.12 [[-6.77284239e-01 -7.35692666e-01 6.50853449e-03 2.29754200e+02] [ 7.35661363e-01 -6.77315484e-01 -6.78929026e-03 -1.26127580e+02] [ 9.40316224e-03 1.89798064e-04 9.99955771e-01 -5.11510699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.015308426782779891 Centerline is valid? [True, True] Translation: X:229.71, Y:-126.09, Z:-5.12 [[-6.75210217e-01 -7.37591693e-01 7.04671475e-03 2.29713465e+02] [ 7.37555147e-01 -6.75246946e-01 -7.34627726e-03 -1.26086742e+02] [ 1.01768257e-02 2.37059266e-04 9.99948187e-01 -5.11575085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.01718154002366178 Centerline is valid? [True, True] Translation: X:229.67, Y:-126.05, Z:-5.12 [[-6.71469780e-01 -7.40993869e-01 7.51138326e-03 2.29672258e+02] [ 7.40952606e-01 -6.71511720e-01 -7.82593402e-03 -1.26046354e+02] [ 1.08429510e-02 3.10700815e-04 9.99941165e-01 -5.11658057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.018805147831447145 Centerline is valid? [True, True] Translation: X:229.63, Y:-126.01, Z:-5.12 [[-6.68615381e-01 -7.43562923e-01 8.22508356e-03 2.29631111e+02] [ 7.43513698e-01 -6.68665857e-01 -8.56463525e-03 -1.26005210e+02] [ 1.18681778e-02 3.89015429e-04 9.99929495e-01 -5.11732665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.019144947980383954 Centerline is valid? [True, True] Translation: X:229.59, Y:-125.96, Z:-5.12 [[-6.68196802e-01 -7.43937548e-01 8.36411707e-03 2.29590530e+02] [ 7.43886733e-01 -6.68249025e-01 -8.70453837e-03 -1.25963152e+02] [ 1.20649460e-02 4.05611021e-04 9.99927134e-01 -5.11779545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.02043962702174034 Centerline is valid? [True, True] Translation: X:229.55, Y:-125.92, Z:-5.12 [[-6.67766156e-01 -7.44316577e-01 9.01078503e-03 2.29550759e+02] [ 7.44257705e-01 -6.67826799e-01 -9.37204114e-03 -1.25922191e+02] [ 1.29934093e-02 4.48014301e-04 9.99915482e-01 -5.11889106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.019873548962296116 Centerline is valid? [True, True] Translation: X:229.51, Y:-125.88, Z:-5.12 [[-6.69323123e-01 -7.42922818e-01 8.49964442e-03 2.29514405e+02] [ 7.42870383e-01 -6.69376969e-01 -8.83556513e-03 -1.25877148e+02] [ 1.22536092e-02 4.00286060e-04 9.99924842e-01 -5.11833851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.01674066743075141 Centerline is valid? [True, True] Translation: X:229.48, Y:-125.83, Z:-5.12 [[-6.73343671e-01 -7.39296612e-01 6.98716248e-03 2.29480995e+02] [ 7.39261029e-01 -6.73379865e-01 -7.25870348e-03 -1.25829762e+02] [ 1.00713494e-02 2.77734875e-04 9.99949244e-01 -5.11579563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.015235863384657683 Centerline is valid? [True, True] Translation: X:229.45, Y:-125.79, Z:-5.11 [[-6.78273389e-01 -7.34782710e-01 6.29121634e-03 2.29446510e+02] [ 7.34753698e-01 -6.78302538e-01 -6.53223303e-03 -1.25785011e+02] [ 9.06711989e-03 1.91854637e-04 9.99958874e-01 -5.11492515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.013948052832871333 Centerline is valid? [True, True] Translation: X:229.41, Y:-125.74, Z:-5.11 [[-6.81418372e-01 -7.31865057e-01 6.52240019e-03 2.29409561e+02] [ 7.31833775e-01 -6.81449567e-01 -6.76849737e-03 -1.25739661e+02] [ 9.39831349e-03 1.61134301e-04 9.99955822e-01 -5.11463309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.0132715424847952 Centerline is valid? [True, True] Translation: X:229.37, Y:-125.70, Z:-5.12 [[-6.84204461e-01 -7.29254472e-01 7.22291997e-03 2.29372308e+02] [ 7.29216007e-01 -6.84242571e-01 -7.49134501e-03 -1.25695147e+02] [ 1.04053262e-02 1.41457175e-04 9.99945853e-01 -5.11540557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.012476447959995128 Centerline is valid? [True, True] Translation: X:229.34, Y:-125.65, Z:-5.12 [[-6.88747862e-01 -7.24950410e-01 8.56067006e-03 2.29336582e+02] [ 7.24896102e-01 -6.88801055e-01 -8.87401658e-03 -1.25649597e+02] [ 1.23298205e-02 9.36364065e-05 9.99923981e-01 -5.11760952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.011930277548074335 Centerline is valid? [True, True] Translation: X:229.30, Y:-125.60, Z:-5.12 [[-6.92572473e-01 -7.21296779e-01 8.62124709e-03 2.29301715e+02] [ 7.21241482e-01 -6.92626129e-01 -8.93136239e-03 -1.25604115e+02] [ 1.24134639e-02 3.23852949e-05 9.99922949e-01 -5.11730693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.011927023925167077 Centerline is valid? [True, True] Translation: X:229.26, Y:-125.56, Z:-5.12 [[-6.94417353e-01 -7.19526376e-01 8.14452142e-03 2.29263989e+02] [ 7.19476963e-01 -6.94465114e-01 -8.43240850e-03 -1.25560320e+02] [ 1.17234263e-02 4.18474749e-06 9.99931278e-01 -5.11633030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.011796155431910243 Centerline is valid? [True, True] Translation: X:229.22, Y:-125.52, Z:-5.11 [[-6.94634465e-01 -7.19325289e-01 7.35453127e-03 2.29224489e+02] [ 7.19285032e-01 -6.94673398e-01 -7.61010769e-03 -1.25518170e+02] [ 1.05831401e-02 3.76116903e-06 9.99943997e-01 -5.11465618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.011739490951352497 Centerline is valid? [True, True] Translation: X:229.18, Y:-125.48, Z:-5.11 [[-6.93716951e-01 -7.20214651e-01 6.90277636e-03 2.29184498e+02] [ 7.20179276e-01 -6.93751292e-01 -7.13823688e-03 -1.25477824e+02] [ 9.92987281e-03 1.93205643e-05 9.99950697e-01 -5.11463749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.011711709695833409 Centerline is valid? [True, True] Translation: X:229.14, Y:-125.44, Z:-5.11 [[-6.92567550e-01 -7.21322977e-01 6.58425423e-03 2.29143504e+02] [ 7.21290882e-01 -6.92598846e-01 -6.80454280e-03 -1.25437357e+02] [ 9.46851995e-03 3.65570055e-05 9.99955172e-01 -5.11397761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.012068839256414174 Centerline is valid? [True, True] Translation: X:229.10, Y:-125.40, Z:-5.11 [[-6.90174788e-01 -7.23617616e-01 6.02555560e-03 2.29101566e+02] [ 7.23590860e-01 -6.90201088e-01 -6.22305827e-03 -1.25399823e+02] [ 8.66195962e-03 6.50390377e-05 9.99962482e-01 -5.11464510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.012832194996623811 Centerline is valid? [True, True] Translation: X:229.06, Y:-125.36, Z:-5.11 [[-6.88302870e-01 -7.25399472e-01 5.89629374e-03 2.29059585e+02] [ 7.25373946e-01 -6.88328119e-01 -6.08605359e-03 -1.25361544e+02] [ 8.47340484e-03 8.79696991e-05 9.99964096e-01 -5.11498223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.014029621278266954 Centerline is valid? [True, True] Translation: X:229.02, Y:-125.32, Z:-5.12 [[-6.85754577e-01 -7.27812002e-01 5.50912284e-03 2.29016739e+02] [ 7.27789824e-01 -6.85776696e-01 -5.68290331e-03 -1.25324866e+02] [ 7.91411329e-03 1.12406583e-04 9.99968677e-01 -5.11533638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.013533454892445142 Centerline is valid? [True, True] Translation: X:228.98, Y:-125.28, Z:-5.11 [[-6.84705156e-01 -7.28801012e-01 5.28535145e-03 2.28975995e+02] [ 7.28780651e-01 -6.84725544e-01 -5.44902064e-03 -1.25283608e+02] [ 7.59026691e-03 1.20889347e-04 9.99971186e-01 -5.11429321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.014748491095115739 Centerline is valid? [True, True] Translation: X:228.93, Y:-125.25, Z:-5.12 [[-6.83971344e-01 -7.29490571e-01 5.16793848e-03 2.28933110e+02] [ 7.29471148e-01 -6.83990855e-01 -5.32485370e-03 -1.25245491e+02] [ 7.41925323e-03 1.27814682e-04 9.99972469e-01 -5.11552135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.015505959134796255 Centerline is valid? [True, True] Translation: X:228.89, Y:-125.21, Z:-5.12 [[-6.83842199e-01 -7.29610335e-01 5.34857589e-03 2.28892222e+02] [ 7.29589560e-01 -6.83863101e-01 -5.50756894e-03 -1.25206244e+02] [ 7.67607291e-03 1.35957074e-04 9.99970529e-01 -5.11626466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.013767532355672511 Centerline is valid? [True, True] Translation: X:228.85, Y:-125.16, Z:-5.12 [[-6.84760785e-01 -7.28738910e-01 6.50147288e-03 2.28854924e+02] [ 7.28708213e-01 -6.84791630e-01 -6.69049606e-03 -1.25163072e+02] [ 9.32777902e-03 1.56287355e-04 9.99956483e-01 -5.11665447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.013633355460742583 Centerline is valid? [True, True] Translation: X:228.82, Y:-125.12, Z:-5.12 [[-6.86598877e-01 -7.26999388e-01 7.33973427e-03 2.28817073e+02] [ 7.26960218e-01 -6.86638090e-01 -7.54815648e-03 -1.25121763e+02] [ 1.05272463e-02 1.53139065e-04 9.99944575e-01 -5.11810555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.012850914151502467 Centerline is valid? [True, True] Translation: X:228.78, Y:-125.08, Z:-5.12 [[-6.88397903e-01 -7.25293597e-01 7.58457628e-03 2.28779089e+02] [ 7.25251715e-01 -6.88439671e-01 -7.79550064e-03 -1.25077493e+02] [ 1.08755499e-02 1.34320655e-04 9.99940850e-01 -5.11713068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.01252602727436189 Centerline is valid? [True, True] Translation: X:228.74, Y:-125.03, Z:-5.12 [[-6.90863340e-01 -7.22942773e-01 7.84813675e-03 2.28741496e+02] [ 7.22897835e-01 -6.90907907e-01 -8.06128518e-03 -1.25034383e+02] [ 1.12501876e-02 1.04154662e-04 9.99936709e-01 -5.11719250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.012452502150152046 Centerline is valid? [True, True] Translation: X:228.70, Y:-124.99, Z:-5.12 [[-6.92333916e-01 -7.21534691e-01 7.83824861e-03 2.28703591e+02] [ 7.21489835e-01 -6.92378280e-01 -8.04584029e-03 -1.24993240e+02] [ 1.12323860e-02 8.48085830e-05 9.99936911e-01 -5.11732263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.012094670197141699 Centerline is valid? [True, True] Translation: X:228.67, Y:-124.95, Z:-5.12 [[-6.94330916e-01 -7.19623124e-01 6.86575585e-03 2.28665863e+02] [ 7.19588657e-01 -6.94364859e-01 -7.04326247e-03 -1.24950181e+02] [ 9.83583413e-03 5.01651462e-05 9.99951626e-01 -5.11545666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.012040957679671378 Centerline is valid? [True, True] Translation: X:228.63, Y:-124.91, Z:-5.11 [[-6.94753572e-01 -7.19221524e-01 6.15413346e-03 2.28626156e+02] [ 7.19193851e-01 -6.94780827e-01 -6.30927108e-03 -1.24909012e+02] [ 8.81353750e-03 4.26263212e-05 9.99961159e-01 -5.11415245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.012048983755443526 Centerline is valid? [True, True] Translation: X:228.59, Y:-124.87, Z:-5.11 [[-6.94960652e-01 -7.19018508e-01 6.48670388e-03 2.28585853e+02] [ 7.18987793e-01 -6.94990923e-01 -6.64606705e-03 -1.24868336e+02] [ 9.28684553e-03 4.51058200e-05 9.99956875e-01 -5.11434248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.011974218635680782 Centerline is valid? [True, True] Translation: X:228.55, Y:-124.83, Z:-5.11 [[-6.95427925e-01 -7.18560950e-01 7.08246919e-03 2.28545450e+02] [ 7.18524357e-01 -6.95463988e-01 -7.25192080e-03 -1.24827916e+02] [ 1.01365494e-02 4.57383846e-05 9.99948623e-01 -5.11485292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.011996531182098164 Centerline is valid? [True, True] Translation: X:228.51, Y:-124.79, Z:-5.11 [[-6.95771025e-01 -7.18227562e-01 7.20064141e-03 2.28505199e+02] [ 7.18189766e-01 -6.95808283e-01 -7.36837101e-03 -1.24787720e+02] [ 1.03024331e-02 4.47279153e-05 9.99946928e-01 -5.11491412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.012062388313143112 Centerline is valid? [True, True] Translation: X:228.46, Y:-124.75, Z:-5.12 [[-6.96299776e-01 -7.17714824e-01 7.21476843e-03 2.28464270e+02] [ 7.17676899e-01 -6.96337152e-01 -7.37832487e-03 -1.24747912e+02] [ 1.03194444e-02 4.03466847e-05 9.99946752e-01 -5.11536251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.011987877329903876 Centerline is valid? [True, True] Translation: X:228.42, Y:-124.71, Z:-5.11 [[-6.96402220e-01 -7.17613610e-01 7.39290731e-03 2.28423254e+02] [ 7.17573833e-01 -6.96441458e-01 -7.55579416e-03 -1.24707373e+02] [ 1.05708679e-02 4.30850085e-05 9.99944126e-01 -5.11489094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.011962269989370942 Centerline is valid? [True, True] Translation: X:228.38, Y:-124.67, Z:-5.12 [[-6.96110236e-01 -7.17900750e-01 7.00377240e-03 2.28381298e+02] [ 7.17865109e-01 -6.96145467e-01 -7.15362494e-03 -1.24668676e+02] [ 1.00112371e-02 4.80522935e-05 9.99949885e-01 -5.11513698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.01181804956852755 Centerline is valid? [True, True] Translation: X:228.34, Y:-124.63, Z:-5.11 [[-6.96481221e-01 -7.17546267e-01 6.42363815e-03 2.28340565e+02] [ 7.17516309e-01 -6.96510842e-01 -6.55693186e-03 -1.24628756e+02] [ 9.17903559e-03 4.22852248e-05 9.99957871e-01 -5.11418600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.011802179650506629 Centerline is valid? [True, True] Translation: X:228.30, Y:-124.59, Z:-5.11 [[-6.96996428e-01 -7.17050938e-01 5.82509774e-03 2.28299820e+02] [ 7.17026317e-01 -6.97020768e-01 -5.94220792e-03 -1.24588470e+02] [ 8.32107986e-03 3.50506904e-05 9.99965379e-01 -5.11374088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.011675185085202525 Centerline is valid? [True, True] Translation: X:228.26, Y:-124.55, Z:-5.11 [[-6.97926197e-01 -7.16149768e-01 5.34163161e-03 2.28259539e+02] [ 7.16129064e-01 -6.97946638e-01 -5.44556742e-03 -1.24547948e+02] [ 7.62801567e-03 2.46934892e-05 9.99970906e-01 -5.11332758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.011772482390927543 Centerline is valid? [True, True] Translation: X:228.22, Y:-124.51, Z:-5.11 [[-6.97793602e-01 -7.16281180e-01 5.03595022e-03 2.28218521e+02] [ 7.16262799e-01 -6.97811773e-01 -5.13144303e-03 -1.24509350e+02] [ 7.18970142e-03 2.63756816e-05 9.99974153e-01 -5.11396713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.011891545111162739 Centerline is valid? [True, True] Translation: X:228.18, Y:-124.47, Z:-5.11 [[-6.97170036e-01 -7.16888679e-01 4.95615887e-03 2.28176190e+02] [ 7.16870913e-01 -6.97187652e-01 -5.04702744e-03 -1.24470292e+02] [ 7.07352959e-03 3.42898282e-05 9.99974982e-01 -5.11490025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.011888470872146641 Centerline is valid? [True, True] Translation: X:228.13, Y:-124.43, Z:-5.12 [[-6.96354796e-01 -7.17673105e-01 5.94239167e-03 2.28134157e+02] [ 7.17647623e-01 -6.96380149e-01 -6.04789681e-03 -1.24430546e+02] [ 8.47857648e-03 5.30613052e-05 9.99964055e-01 -5.11612825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.011955456469472773 Centerline is valid? [True, True] Translation: X:228.09, Y:-124.39, Z:-5.12 [[-6.96207346e-01 -7.17812043e-01 6.41889631e-03 2.28093341e+02] [ 7.17782351e-01 -6.96236933e-01 -6.52912197e-03 -1.24389623e+02] [ 9.15575506e-03 6.17478101e-05 9.99958083e-01 -5.11649625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.011924925808927409 Centerline is valid? [True, True] Translation: X:228.05, Y:-124.35, Z:-5.12 [[-6.96866546e-01 -7.17169626e-01 6.68916105e-03 2.28052560e+02] [ 7.17137389e-01 -6.96898647e-01 -6.80014599e-03 -1.24348385e+02] [ 9.53852544e-03 5.82532389e-05 9.99954506e-01 -5.11698189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.011945041481588075 Centerline is valid? [True, True] Translation: X:228.01, Y:-124.31, Z:-5.12 [[-6.97490687e-01 -7.16565139e-01 6.41426387e-03 2.28012490e+02] [ 7.16535501e-01 -6.97520178e-01 -6.51748133e-03 -1.24308288e+02] [ 9.14427839e-03 5.01652395e-05 9.99958189e-01 -5.11709181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.012330039776773409 Centerline is valid? [True, True] Translation: X:227.97, Y:-124.27, Z:-5.12 [[-6.96833161e-01 -7.17213379e-01 5.33998669e-03 2.27972009e+02] [ 7.17192882e-01 -6.96853619e-01 -5.42243675e-03 -1.24269525e+02] [ 7.61023324e-03 5.12667082e-05 9.99971040e-01 -5.11650599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.01223693366471319 Centerline is valid? [True, True] Translation: X:227.93, Y:-124.23, Z:-5.11 [[-6.95447267e-01 -7.18561457e-01 4.74677630e-03 2.27931721e+02] [ 7.18545313e-01 -6.95463464e-01 -4.81701905e-03 -1.24229390e+02] [ 6.76253371e-03 6.07911304e-05 9.99977132e-01 -5.11428891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.013117397711146958 Centerline is valid? [True, True] Translation: X:227.89, Y:-124.19, Z:-5.11 [[-6.92289965e-01 -7.21600605e-01 5.21262039e-03 2.27888056e+02] [ 7.21581245e-01 -6.92309581e-01 -5.28680843e-03 -1.24190732e+02] [ 7.42371120e-03 1.01324691e-04 9.99972439e-01 -5.11485274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.013556248597835172 Centerline is valid? [True, True] Translation: X:227.85, Y:-124.15, Z:-5.12 [[-6.90157789e-01 -7.23636195e-01 5.73442114e-03 2.27846251e+02] [ 7.23612862e-01 -6.90181598e-01 -5.81271018e-03 -1.24150507e+02] [ 8.16407943e-03 1.37813687e-04 9.99966664e-01 -5.11525768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.014727782405430894 Centerline is valid? [True, True] Translation: X:227.80, Y:-124.11, Z:-5.12 [[-6.87527438e-01 -7.26130357e-01 6.38167614e-03 2.27804161e+02] [ 7.26101602e-01 -6.87557029e-01 -6.46493023e-03 -1.24111116e+02] [ 9.08214839e-03 1.88928349e-04 9.99958739e-01 -5.11584545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.015279339167160816 Centerline is valid? [True, True] Translation: X:227.76, Y:-124.07, Z:-5.12 [[-6.86376212e-01 -7.27219086e-01 6.33208557e-03 2.27761571e+02] [ 7.27190855e-01 -6.86405389e-01 -6.41106875e-03 -1.24071281e+02] [ 9.00862922e-03 2.04229637e-04 9.99959401e-01 -5.11611323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.015550071670310892 Centerline is valid? [True, True] Translation: X:227.72, Y:-124.03, Z:-5.12 [[-6.86199270e-01 -7.27386691e-01 6.25810258e-03 2.27720795e+02] [ 7.27359158e-01 -6.86227775e-01 -6.33214652e-03 -1.24030864e+02] [ 8.90040292e-03 2.06773902e-04 9.99960369e-01 -5.11561171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.01579480524945151 Centerline is valid? [True, True] Translation: X:227.68, Y:-123.99, Z:-5.11 [[-6.85974264e-01 -7.27604583e-01 5.55690239e-03 2.27680392e+02] [ 7.27582910e-01 -6.85996746e-01 -5.61908973e-03 -1.23989644e+02] [ 7.90049240e-03 1.88556273e-04 9.99968773e-01 -5.11401660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.01630337067249909 Centerline is valid? [True, True] Translation: X:227.64, Y:-123.95, Z:-5.11 [[-6.85629591e-01 -7.27927368e-01 5.81471565e-03 2.27638220e+02] [ 7.27903675e-01 -6.85654217e-01 -5.87651239e-03 -1.23949275e+02] [ 8.26455850e-03 2.03442103e-04 9.99965827e-01 -5.11468120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.01700424813789248 Centerline is valid? [True, True] Translation: X:227.59, Y:-123.91, Z:-5.12 [[-6.85269662e-01 -7.28257115e-01 6.86034977e-03 2.27594850e+02] [ 7.28224189e-01 -6.85303957e-01 -6.92946040e-03 -1.23910169e+02] [ 9.74785368e-03 2.47323659e-04 9.99952458e-01 -5.11650113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.016939979322664993 Centerline is valid? [True, True] Translation: X:227.55, Y:-123.87, Z:-5.12 [[-6.84465106e-01 -7.29002779e-01 7.90360157e-03 2.27553504e+02] [ 7.28959177e-01 -6.84510670e-01 -7.97875107e-03 -1.23869671e+02] [ 1.12266313e-02 3.00226203e-04 9.99936934e-01 -5.11693405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.01708026207727434 Centerline is valid? [True, True] Translation: X:227.51, Y:-123.83, Z:-5.12 [[-6.84342748e-01 -7.29109062e-01 8.65903509e-03 2.27511852e+02] [ 7.29056795e-01 -6.84397446e-01 -8.73648180e-03 -1.23829257e+02] [ 1.22960696e-02 3.34180413e-04 9.99924345e-01 -5.11747841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.016649328172737902 Centerline is valid? [True, True] Translation: X:227.47, Y:-123.79, Z:-5.12 [[-6.85334808e-01 -7.28168175e-01 9.34396129e-03 2.27471111e+02] [ 7.28107303e-01 -6.85398416e-01 -9.42159911e-03 -1.23788763e+02] [ 1.32648449e-02 3.46456640e-04 9.99911958e-01 -5.11779488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.01669607272278735 Centerline is valid? [True, True] Translation: X:227.43, Y:-123.75, Z:-5.12 [[-6.86588976e-01 -7.26992342e-01 8.81547355e-03 2.27430495e+02] [ 7.26938110e-01 -6.86645498e-01 -8.88510797e-03 -1.23748193e+02] [ 1.25125107e-02 3.07886505e-04 9.99921668e-01 -5.11753192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.015452253599743003 Centerline is valid? [True, True] Translation: X:227.39, Y:-123.71, Z:-5.11 [[-6.89676153e-01 -7.24074730e-01 7.91128850e-03 2.27390771e+02] [ 7.24030910e-01 -6.89721488e-01 -7.96932337e-03 -1.23705707e+02] [ 1.12269713e-02 2.31765126e-04 9.99936949e-01 -5.11468857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.013637175837550529 Centerline is valid? [True, True] Translation: X:227.35, Y:-123.66, Z:-5.11 [[-6.92680794e-01 -7.21207539e-01 7.28034982e-03 2.27351712e+02] [ 7.21170314e-01 -6.92719031e-01 -7.32955689e-03 -1.23662500e+02] [ 1.03293686e-02 1.73328884e-04 9.99946636e-01 -5.11213700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.01333744880270129 Centerline is valid? [True, True] Translation: X:227.31, Y:-123.62, Z:-5.11 [[-6.94635694e-01 -7.19321949e-01 7.56219159e-03 2.27311187e+02] [ 7.19281720e-01 -6.94676839e-01 -7.60901905e-03 -1.23622927e+02] [ 1.07266138e-02 1.53849947e-04 9.99942456e-01 -5.11271387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.012735335617014102 Centerline is valid? [True, True] Translation: X:227.27, Y:-123.58, Z:-5.11 [[-6.96722320e-01 -7.17291206e-01 8.44604408e-03 2.27270704e+02] [ 7.17240938e-01 -6.96773497e-01 -8.49296008e-03 -1.23582000e+02] [ 1.19769052e-02 1.40613734e-04 9.99928264e-01 -5.11358701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.012907577515906973 Centerline is valid? [True, True] Translation: X:227.23, Y:-123.54, Z:-5.12 [[-6.99184738e-01 -7.14869203e-01 1.01353386e-02 2.27229631e+02] [ 7.14796656e-01 -6.99258184e-01 -1.01849382e-02 -1.23543680e+02] [ 1.43681171e-02 1.23552799e-04 9.99896766e-01 -5.11706258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.012052687837793655 Centerline is valid? [True, True] Translation: X:227.19, Y:-123.50, Z:-5.12 [[-7.02339828e-01 -7.11759143e-01 1.08484848e-02 2.27190507e+02] [ 7.11675760e-01 -7.02423603e-01 -1.08946904e-02 -1.23502053e+02] [ 1.53746273e-02 6.88286395e-05 9.99881801e-01 -5.11527595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.011914211561688927 Centerline is valid? [True, True] Translation: X:227.15, Y:-123.46, Z:-5.12 [[-7.04365425e-01 -7.09752314e-01 1.10000627e-02 2.27149858e+02] [ 7.09666448e-01 -7.04451313e-01 -1.10399557e-02 -1.23461051e+02] [ 1.55846427e-02 3.02123466e-05 9.99878552e-01 -5.11526261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.011880195930584174 Centerline is valid? [True, True] Translation: X:227.11, Y:-123.42, Z:-5.11 [[-7.05884449e-01 -7.08238019e-01 1.12273172e-02 2.27109092e+02] [ 7.08148490e-01 -7.05973731e-01 -1.12608968e-02 -1.23421244e+02] [ 1.59015863e-02 1.71581029e-06 9.99873562e-01 -5.11484578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.01183061264204523 Centerline is valid? [True, True] Translation: X:227.07, Y:-123.38, Z:-5.11 [[-7.05130277e-01 -7.08994225e-01 1.08849241e-02 2.27066290e+02] [ 7.08910269e-01 -7.05214286e-01 -1.09106123e-02 -1.23383309e+02] [ 1.54117650e-02 2.30314156e-05 9.99881231e-01 -5.11432557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.011901945280544774 Centerline is valid? [True, True] Translation: X:227.02, Y:-123.34, Z:-5.11 [[-7.04364225e-01 -7.09759943e-01 1.05764240e-02 2.27024476e+02] [ 7.09680866e-01 -7.04443625e-01 -1.05946978e-02 -1.23343921e+02] [ 1.49701866e-02 4.33596199e-05 9.99887940e-01 -5.11384788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.012224216379907681 Centerline is valid? [True, True] Translation: X:226.98, Y:-123.31, Z:-5.11 [[-7.00825088e-01 -7.13259334e-01 1.02625140e-02 2.26978974e+02] [ 7.13185338e-01 -7.00900213e-01 -1.02744812e-02 -1.23307911e+02] [ 1.45213678e-02 1.18460325e-04 9.99894552e-01 -5.11354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.012666842583539834 Centerline is valid? [True, True] Translation: X:226.93, Y:-123.27, Z:-5.11 [[-6.98632926e-01 -7.15404371e-01 1.04220966e-02 2.26934955e+02] [ 7.15328380e-01 -6.98710639e-01 -1.04283861e-02 -1.23270049e+02] [ 1.47425428e-02 1.69607592e-04 9.99891308e-01 -5.11414031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.013799885219084445 Centerline is valid? [True, True] Translation: X:226.89, Y:-123.23, Z:-5.11 [[-6.95155962e-01 -7.18788440e-01 1.00681043e-02 2.26889590e+02] [ 7.18717956e-01 -6.95228828e-01 -1.00685905e-02 -1.23233629e+02] [ 1.42368228e-02 2.36886640e-04 9.99898623e-01 -5.11401081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.014157522547506388 Centerline is valid? [True, True] Translation: X:226.85, Y:-123.19, Z:-5.11 [[-6.93830553e-01 -7.20071008e-01 9.84413710e-03 2.26846641e+02] [ 7.20003831e-01 -6.93900335e-01 -9.83910241e-03 -1.23194602e+02] [ 1.39157024e-02 2.61146560e-04 9.99903138e-01 -5.11339105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.01486340101023724 Centerline is valid? [True, True] Translation: X:226.41, Y:-123.63, Z:-4.14 [[-7.68261495e-01 6.40057351e-01 1.00430072e-02 2.26410814e+02] [ 6.39998190e-01 7.68327091e-01 -8.70617558e-03 -1.23625917e+02] [-1.32887662e-02 -2.61113023e-04 -9.99911666e-01 -4.14391932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.015618506554514 Centerline is valid? [True, True] Translation: X:226.43, Y:-123.60, Z:-4.14 [[-8.11731566e-01 5.83937003e-01 1.04614129e-02 2.26431774e+02] [ 5.83884378e-01 8.11798935e-01 -7.84363402e-03 -1.23604105e+02] [-1.30727520e-02 -2.58669758e-04 -9.99914514e-01 -4.14293762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.014168092487878817 Centerline is valid? [True, True] Translation: X:226.44, Y:-123.58, Z:-4.14 [[-8.50864085e-01 5.25253284e-01 1.18023500e-02 2.26444370e+02] [ 5.25198276e-01 8.50945893e-01 -7.60646029e-03 -1.23582748e+02] [-1.40384795e-02 -2.73489996e-04 -9.99901418e-01 -4.14385903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.015889490364164097 Centerline is valid? [True, True] Translation: X:226.46, Y:-123.56, Z:-4.14 [[-8.85866831e-01 4.63747327e-01 1.33557152e-02 2.26458303e+02] [ 4.63689575e-01 8.85967454e-01 -7.32453099e-03 -1.23555590e+02] [-1.52294607e-02 -2.95653138e-04 -9.99883981e-01 -4.14093631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.014571305134213808 Centerline is valid? [True, True] Translation: X:226.47, Y:-123.53, Z:-4.14 [[-9.16573358e-01 3.99612006e-01 1.42661715e-02 2.26467362e+02] [ 3.99558350e-01 9.16684324e-01 -6.55557234e-03 -1.23532555e+02] [-1.56972612e-02 -3.08495014e-04 -9.99876743e-01 -4.14226321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.014411394320920446 Centerline is valid? [True, True] Translation: X:226.47, Y:-123.51, Z:-4.14 [[-9.42548835e-01 3.33745862e-01 1.46763105e-02 2.26472555e+02] [ 3.33700300e-01 9.42663039e-01 -5.52310883e-03 -1.23506027e+02] [-1.56781302e-02 -3.08310562e-04 -9.99877043e-01 -4.14266511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.014721696348987255 Centerline is valid? [True, True] Translation: X:226.69, Y:-122.94, Z:-5.11 [[-9.01747496e-01 -4.32038424e-01 1.39374756e-02 2.26686478e+02] [ 4.31991593e-01 -9.01855156e-01 -6.36720398e-03 -1.22941201e+02] [ 1.53204610e-02 2.79262045e-04 9.99882596e-01 -5.11433325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.014341294992771444 Centerline is valid? [True, True] Translation: X:226.43, Y:-123.49, Z:-4.14 [[-9.43614381e-01 3.30768238e-01 1.35747433e-02 2.26432925e+02] [ 3.30729762e-01 9.43711977e-01 -5.05261722e-03 -1.23494097e+02] [-1.44818931e-02 -2.78150657e-04 -9.99895093e-01 -4.14436066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.013992396169422787 Centerline is valid? [True, True] Translation: X:226.44, Y:-123.47, Z:-4.15 [[-9.64656840e-01 2.63157377e-01 1.36152526e-02 2.26439572e+02] [ 2.63127186e-01 9.64752881e-01 -3.99539115e-03 -1.23469455e+02] [-1.41867708e-02 -2.71638295e-04 -9.99899326e-01 -4.14505495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.014444165915182921 Centerline is valid? [True, True] Translation: X:226.44, Y:-123.44, Z:-4.14 [[-9.80854002e-01 1.94237005e-01 1.40503581e-02 2.26441703e+02] [ 1.94213079e-01 9.80954592e-01 -3.06085503e-03 -1.23442904e+02] [-1.43772946e-02 -2.73488605e-04 -9.99896604e-01 -4.14467255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.014162326729849907 Centerline is valid? [True, True] Translation: X:226.58, Y:-122.84, Z:-5.11 [[-9.55189489e-01 -2.95667806e-01 1.39136107e-02 2.26575308e+02] [ 2.95640725e-01 -9.55290777e-01 -4.01154374e-03 -1.22844422e+02] [ 1.44776283e-02 2.81645534e-04 9.99895154e-01 -5.11236943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.013787657420332715 Centerline is valid? [True, True] Translation: X:226.39, Y:-123.44, Z:-4.15 [[-9.81025520e-01 1.93386915e-01 1.37996675e-02 2.26393646e+02] [ 1.93364515e-01 9.81122545e-01 -2.95214101e-03 -1.23439049e+02] [-1.41100704e-02 -2.27759640e-04 -9.99900422e-01 -4.14566180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.013175759116998136 Centerline is valid? [True, True] Translation: X:226.53, Y:-122.83, Z:-5.11 [[-9.57712852e-01 -2.87420783e-01 1.32433748e-02 2.26530939e+02] [ 2.87396209e-01 -9.57804392e-01 -3.76378423e-03 -1.22827851e+02] [ 1.37663524e-02 2.01471188e-04 9.99905219e-01 -5.11032627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.012951674677137206 Centerline is valid? [True, True] Translation: X:226.35, Y:-123.44, Z:-4.15 [[-9.80749331e-01 1.94751023e-01 1.42403697e-02 2.26353174e+02] [ 1.94728128e-01 9.80852697e-01 -2.99047857e-03 -1.23438909e+02] [-1.45501038e-02 -1.59909331e-04 -9.99894129e-01 -4.14679670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.012678237416176782 Centerline is valid? [True, True] Translation: X:226.35, Y:-123.42, Z:-4.15 [[-9.91439931e-01 1.29627824e-01 1.56041924e-02 2.26354527e+02] [ 1.29610264e-01 9.91562715e-01 -2.13573201e-03 -1.23417335e+02] [-1.57493856e-02 -9.49865153e-05 -9.99875966e-01 -4.14596194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.012518569182329685 Centerline is valid? [True, True] Translation: X:226.36, Y:-123.39, Z:-4.15 [[-9.97948078e-01 6.18293918e-02 1.66361237e-02 2.26356620e+02] [ 6.18199376e-02 9.98086732e-01 -1.08244114e-03 -1.23393915e+02] [-1.66712210e-02 -5.17759219e-05 -9.99861024e-01 -4.14691113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.01263664281130278 Centerline is valid? [True, True] Translation: X:226.35, Y:-123.37, Z:-4.15 [[-9.99834645e-01 -5.70109453e-03 1.72678728e-02 2.26354386e+02] [-5.70011790e-03 9.99983749e-01 1.05775820e-04 -1.23370783e+02] [-1.72681953e-02 7.32941832e-06 -9.99850894e-01 -4.14743536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.012667913090268932 Centerline is valid? [True, True] Translation: X:226.35, Y:-122.71, Z:-5.11 [[-9.98091070e-01 -5.94263248e-02 1.68145243e-02 2.26352368e+02] [ 5.94173188e-02 -9.98232694e-01 -1.03511276e-03 -1.22706269e+02] [ 1.68463208e-02 -3.40628490e-05 9.99858090e-01 -5.10855460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.012739937986610597 Centerline is valid? [True, True] Translation: X:226.29, Y:-123.37, Z:-4.15 [[-9.99840255e-01 -8.87427623e-03 1.55148828e-02 2.26291739e+02] [-8.87275563e-03 9.99960622e-01 1.66841682e-04 -1.23374454e+02] [-1.55157524e-02 2.91552667e-05 -9.99879623e-01 -4.14947118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.012703212144329103 Centerline is valid? [True, True] Translation: X:226.28, Y:-123.35, Z:-4.15 [[-9.96504291e-01 -8.20628988e-02 1.56486127e-02 2.26280119e+02] [-8.20528376e-02 9.96627152e-01 1.28499507e-03 -1.23347147e+02] [-1.57012828e-02 -3.50998179e-06 -9.99876727e-01 -4.14882195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.012733528539221927 Centerline is valid? [True, True] Translation: X:226.27, Y:-123.32, Z:-4.15 [[-9.87756729e-01 -1.55250926e-01 1.52903185e-02 2.26267748e+02] [-1.55232986e-01 9.87875067e-01 2.36050444e-03 -1.23320662e+02] [-1.54713949e-02 -4.19576484e-05 -9.99880310e-01 -4.14822936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.013206911361629015 Centerline is valid? [True, True] Translation: X:226.17, Y:-122.67, Z:-5.11 [[-9.96974840e-01 7.62232687e-02 1.52046870e-02 2.26168025e+02] [-7.62140206e-02 -9.97090775e-01 1.18760090e-03 -1.22665546e+02] [ 1.52509759e-02 2.51978910e-05 9.99883697e-01 -5.10957062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.013812988496287317 Centerline is valid? [True, True] Translation: X:226.18, Y:-123.33, Z:-4.15 [[-9.84860156e-01 -1.72747380e-01 1.44504978e-02 2.26178954e+02] [-1.72731999e-01 9.84966140e-01 2.31524641e-03 -1.23328107e+02] [-1.46332038e-02 -2.15869433e-04 -9.99892906e-01 -4.14758926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.016110336056876364 Centerline is valid? [True, True] Translation: X:226.16, Y:-123.30, Z:-4.15 [[-9.67978595e-01 -2.50720373e-01 1.25193815e-02 2.26156642e+02] [-2.50703399e-01 9.68059505e-01 2.93273361e-03 -1.23299925e+02] [-1.28548023e-02 -2.99828135e-04 -9.99917329e-01 -4.14760139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.019089055113246982 Centerline is valid? [True, True] Translation: X:226.13, Y:-123.27, Z:-4.15 [[-9.45445172e-01 -3.25597401e-01 1.09434482e-02 2.26132912e+02] [-3.25579801e-01 9.45508441e-01 3.40302729e-03 -1.23273249e+02] [-1.14551395e-02 -3.45589963e-04 -9.99934328e-01 -4.14706402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.020234918769280505 Centerline is valid? [True, True] Translation: X:226.10, Y:-123.25, Z:-4.15 [[-9.18300585e-01 -3.95753881e-01 1.01440103e-02 2.26103231e+02] [-3.95734081e-01 9.18356539e-01 3.97540218e-03 -1.23253760e+02] [-1.08890990e-02 -3.63716433e-04 -9.99940646e-01 -4.14647249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.021736112534517654 Centerline is valid? [True, True] Translation: X:226.06, Y:-123.24, Z:-4.15 [[-8.85982389e-01 -4.63609315e-01 1.00801934e-02 2.26061832e+02] [-4.63584442e-01 8.86039638e-01 4.81916642e-03 -1.23241242e+02] [-1.11656614e-02 -4.03324283e-04 -9.99937581e-01 -4.14573652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.022001039973809883 Centerline is valid? [True, True] Translation: X:226.00, Y:-123.24, Z:-4.15 [[-8.49128096e-01 -5.28093640e-01 9.92890535e-03 2.26001741e+02] [-5.28063288e-01 8.49186039e-01 5.67760565e-03 -1.23242522e+02] [-1.14297952e-02 -4.22075928e-04 -9.99934589e-01 -4.14538313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.021154012409689747 Centerline is valid? [True, True] Translation: X:225.93, Y:-123.26, Z:-4.14 [[-8.07173456e-01 -5.90218850e-01 1.06170055e-02 2.25933824e+02] [-5.90175667e-01 8.07243129e-01 7.15625951e-03 -1.23255435e+02] [-1.27942640e-02 -4.89555592e-04 -9.99918030e-01 -4.14408853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.021711438865182755 Centerline is valid? [True, True] Translation: X:225.86, Y:-123.27, Z:-4.14 [[-7.61086142e-01 -6.48566793e-01 1.04402487e-02 2.25864401e+02] [-6.48514798e-01 7.61157577e-01 8.22801411e-03 -1.23274032e+02] [-1.32830912e-02 -5.08428289e-04 -9.99911647e-01 -4.14309239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.02313922940326298 Centerline is valid? [True, True] Translation: X:225.79, Y:-123.30, Z:-4.14 [[-7.10866605e-01 -7.03265493e-01 9.29064252e-03 2.25790451e+02] [-7.03214048e-01 7.10927154e-01 8.51962024e-03 -1.23300839e+02] [-1.25965250e-02 -4.76996826e-04 -9.99920547e-01 -4.14272579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.021679195681510516 Centerline is valid? [True, True] Translation: X:225.71, Y:-123.35, Z:-4.14 [[-6.57248986e-01 -7.53630447e-01 8.05729678e-03 2.25710820e+02] [-7.53581661e-01 6.57298232e-01 8.58573197e-03 -1.23346794e+02] [-1.17665160e-02 -4.28867457e-04 -9.99930680e-01 -4.14424190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.021548330507184937 Centerline is valid? [True, True] Translation: X:225.64, Y:-123.40, Z:-4.15 [[-6.00038025e-01 -7.99946823e-01 6.28084741e-03 2.25635531e+02] [-7.99908920e-01 6.00070796e-01 7.79491763e-03 -1.23395820e+02] [-1.00044727e-02 -3.46858884e-04 -9.99949894e-01 -4.14546051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.022124368224329716 Centerline is valid? [True, True] Translation: X:225.56, Y:-123.45, Z:-4.15 [[-5.38396681e-01 -8.42673413e-01 5.52562523e-03 2.25557542e+02] [-8.42635214e-01 5.38424933e-01 8.03043472e-03 -1.23454957e+02] [-9.74216823e-03 -3.32527001e-04 -9.99952489e-01 -4.14511354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.02181605516341525 Centerline is valid? [True, True] Translation: X:225.48, Y:-123.52, Z:-4.14 [[-4.73178543e-01 -8.80952320e-01 5.00757659e-03 2.25484458e+02] [-8.80910309e-01 4.73204920e-01 8.60994410e-03 -1.23521341e+02] [-9.95456011e-03 -3.37185033e-04 -9.99950395e-01 -4.14461130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.020539576951134682 Centerline is valid? [True, True] Translation: X:225.42, Y:-123.60, Z:-4.15 [[-4.05580470e-01 -9.14050185e-01 4.09159935e-03 2.25417374e+02] [-9.14011129e-01 4.05600989e-01 8.45539061e-03 -1.23596388e+02] [-9.38820809e-03 -3.10426048e-04 -9.99955882e-01 -4.14529043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.020861472734124135 Centerline is valid? [True, True] Translation: X:225.35, Y:-123.68, Z:-4.15 [[-3.35268392e-01 -9.42116550e-01 3.39298154e-03 2.25351234e+02] [-9.42077052e-01 3.35285424e-01 8.63209002e-03 -1.23681571e+02] [-9.27005212e-03 -3.02383109e-04 -9.99956986e-01 -4.14580955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.02166596795117321 Centerline is valid? [True, True] Translation: X:225.29, Y:-123.77, Z:-4.15 [[-2.62480114e-01 -9.64933843e-01 2.62064323e-03 2.25289344e+02] [-9.64896213e-01 2.62493036e-01 8.52668007e-03 -1.23772805e+02] [-8.91558277e-03 -2.90564771e-04 -9.99960213e-01 -4.14540806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.01943093612112777 Centerline is valid? [True, True] Translation: X:225.24, Y:-123.88, Z:-4.15 [[-1.87598088e-01 -9.82243988e-01 1.92473919e-03 2.25237540e+02] [-9.82206904e-01 1.87607740e-01 8.54010457e-03 -1.23875836e+02] [-8.74956235e-03 -2.88384838e-04 -9.99961680e-01 -4.14596072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.020128780360491046 Centerline is valid? [True, True] Translation: X:225.19, Y:-123.97, Z:-4.15 [[-1.11696659e-01 -9.93741496e-01 1.30208615e-03 2.25191269e+02] [-9.93701572e-01 1.11703849e-01 8.91271268e-03 -1.23974583e+02] [-9.00238047e-03 -2.98364824e-04 -9.99959433e-01 -4.14542659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.01896374267579965 Centerline is valid? [True, True] Translation: X:225.16, Y:-124.08, Z:-4.15 [[-3.52582440e-02 -9.99378084e-01 5.49980824e-04 2.25155108e+02] [-9.99345840e-01 3.52615268e-02 8.03217765e-03 -1.24084073e+02] [-8.04657547e-03 -2.66420569e-04 -9.99967590e-01 -4.14696711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.02034111574901469 Centerline is valid? [True, True] Translation: X:225.12, Y:-124.19, Z:-4.15 [[ 4.08817967e-02 -9.99163988e-01 -6.12183800e-05 2.25122342e+02] [-9.99137092e-01 -4.08811456e-02 7.33505478e-03 -1.24193615e+02] [-7.33142526e-03 -2.38704664e-04 -9.99973096e-01 -4.14743885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.01918873059934954 Centerline is valid? [True, True] Translation: X:225.10, Y:-124.31, Z:-4.15 [[ 1.17283543e-01 -9.93098263e-01 -6.40508746e-04 2.25102797e+02] [-9.93069925e-01 -1.17285037e-01 7.50623728e-03 -1.24308582e+02] [-7.52955329e-03 -2.44288127e-04 -9.99971623e-01 -4.14814121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.0196498129112198 Centerline is valid? [True, True] Translation: X:225.09, Y:-124.43, Z:-4.15 [[ 1.92329790e-01 -9.81329476e-01 -1.30836048e-03 2.25089837e+02] [-9.81296782e-01 -1.92334068e-01 8.01451925e-03 -1.24427440e+02] [-8.11652627e-03 -2.57540878e-04 -9.99967027e-01 -4.14757507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.017842012281188552 Centerline is valid? [True, True] Translation: X:225.09, Y:-124.54, Z:-4.15 [[ 2.64425972e-01 -9.64403242e-01 -2.30044864e-03 2.25088803e+02] [-9.64356896e-01 -2.64435828e-01 9.45889680e-03 -1.24542454e+02] [-9.73051178e-03 -2.82724470e-04 -9.99952617e-01 -4.14709990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.01586648648547812 Centerline is valid? [True, True] Translation: X:225.10, Y:-124.65, Z:-4.15 [[ 3.32823102e-01 -9.42982605e-01 -3.54812739e-03 2.25096831e+02] [-9.42919909e-01 -3.32841901e-01 1.08771978e-02 -1.24653847e+02] [-1.14379738e-02 -2.74582773e-04 -9.99934547e-01 -4.14676195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.01473320240579365 Centerline is valid? [True, True] Translation: X:225.11, Y:-124.77, Z:-4.15 [[ 4.00469970e-01 -9.16298498e-01 -4.56798190e-03 2.25114667e+02] [-9.16231919e-01 -4.00495950e-01 1.10483141e-02 -1.24771182e+02] [-1.19530119e-02 -2.39187207e-04 -9.99928532e-01 -4.14658052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.012988224099598916 Centerline is valid? [True, True] Translation: X:225.14, Y:-124.87, Z:-4.15 [[ 4.62101539e-01 -8.86810100e-01 -5.47854184e-03 2.25138665e+02] [-8.86744146e-01 -4.62133992e-01 1.08162843e-02 -1.24873787e+02] [-1.21238105e-02 -1.40156696e-04 -9.99926494e-01 -4.14732675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.01255082230525818 Centerline is valid? [True, True] Translation: X:225.17, Y:-124.98, Z:-4.15 [[ 5.23091607e-01 -8.52256225e-01 -5.87349693e-03 2.25170964e+02] [-8.52201298e-01 -5.23124578e-01 9.67592539e-03 -1.24979810e+02] [-1.13189382e-02 -5.59936525e-05 -9.99935937e-01 -4.14665094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.012283230890112903 Centerline is valid? [True, True] Translation: X:225.21, Y:-125.08, Z:-4.15 [[ 5.79055391e-01 -8.15268176e-01 -5.71441292e-03 2.25212894e+02] [-8.15229239e-01 -5.79083585e-01 7.96798394e-03 -1.25080387e+02] [-9.80516645e-03 4.46524394e-05 -9.99951927e-01 -4.14818797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.013162308318136647 Centerline is valid? [True, True] Translation: X:225.26, Y:-125.17, Z:-4.15 [[ 6.33703478e-01 -7.73554201e-01 -5.81375027e-03 2.25257758e+02] [-7.73523249e-01 -6.33730136e-01 6.92079185e-03 -1.25174483e+02] [-9.03795636e-03 1.11341133e-04 -9.99959151e-01 -4.14852789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.014344577334815787 Centerline is valid? [True, True] Translation: X:225.31, Y:-125.27, Z:-4.15 [[ 6.87007997e-01 -7.26622410e-01 -6.31553397e-03 2.25309252e+02] [-7.26593815e-01 -6.87037007e-01 6.44816360e-03 -1.25267802e+02] [-9.02438572e-03 1.58887963e-04 -9.99959267e-01 -4.14845144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.014782298262643752 Centerline is valid? [True, True] Translation: X:225.36, Y:-125.36, Z:-4.15 [[ 7.39086096e-01 -6.73584526e-01 -5.96891637e-03 2.25364723e+02] [-6.73564220e-01 -7.39110183e-01 5.23246906e-03 -1.25358098e+02] [-7.93619706e-03 1.53203368e-04 -9.99968496e-01 -4.14820603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.01450476654018786 Centerline is valid? [True, True] Translation: X:225.38, Y:-125.39, Z:-4.15 [[ 7.88766525e-01 -6.14664980e-01 -5.85936139e-03 2.25382330e+02] [-6.14649422e-01 -7.88788274e-01 4.37581648e-03 -1.25388584e+02] [-7.31145670e-03 1.49955526e-04 -9.99973260e-01 -4.14827971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.014909566718908054 Centerline is valid? [True, True] Translation: X:225.40, Y:-125.41, Z:-4.15 [[ 8.34387476e-01 -5.51145281e-01 -6.03481453e-03 2.25403479e+02] [-5.51132128e-01 -8.34409287e-01 3.81046306e-03 -1.25414015e+02] [-7.13562402e-03 1.46577518e-04 -9.99974530e-01 -4.14749108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.014139808326675846 Centerline is valid? [True, True] Translation: X:225.43, Y:-125.44, Z:-4.15 [[ 8.76042786e-01 -4.82197044e-01 -5.92022046e-03 2.25425386e+02] [-4.82186968e-01 -8.76062781e-01 3.11961875e-03 -1.25442457e+02] [-6.69075574e-03 1.21733652e-04 -9.99977609e-01 -4.14779272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.012821086876502335 Centerline is valid? [True, True] Translation: X:225.45, Y:-125.47, Z:-4.15 [[ 9.13843377e-01 -4.06026938e-01 -5.69270179e-03 2.25448894e+02] [-4.06019541e-01 -9.13861106e-01 2.45191094e-03 -1.25471837e+02] [-6.19788064e-03 7.06855964e-05 -9.99980790e-01 -4.14761153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.011821016488695706 Centerline is valid? [True, True] Translation: X:225.47, Y:-125.50, Z:-4.15 [[ 9.45842804e-01 -3.24589177e-01 -4.82251713e-03 2.25473502e+02] [-3.24585017e-01 -9.45855098e-01 1.64327949e-03 -1.25502881e+02] [-5.09479315e-03 1.10327288e-05 -9.99987021e-01 -4.14800238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.011796931922563045 Centerline is valid? [True, True] Translation: X:225.50, Y:-125.52, Z:-4.15 [[ 9.69127847e-01 -2.46518632e-01 -4.44742198e-03 2.25501979e+02] [-2.46516014e-01 -9.69138052e-01 1.13624546e-03 -1.25523110e+02] [-4.59027155e-03 -4.80638388e-06 -9.99989465e-01 -4.14803868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.012168991940300829 Centerline is valid? [True, True] Translation: X:225.53, Y:-125.55, Z:-4.15 [[ 9.86510533e-01 -1.63647717e-01 -4.04889205e-03 2.25533088e+02] [-1.63646211e-01 -9.86518841e-01 7.02758794e-04 -1.25546399e+02] [-4.10931317e-03 -3.06931082e-05 -9.99991556e-01 -4.14842903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.013695238762652233 Centerline is valid? [True, True] Translation: X:225.56, Y:-125.57, Z:-4.15 [[ 9.96974424e-01 -7.75294315e-02 -5.58431982e-03 2.25564120e+02] [-7.75277106e-02 -9.96990060e-01 5.24296011e-04 -1.25568390e+02] [-5.60815973e-03 -8.97701822e-05 -9.99984270e-01 -4.14639788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.014911627530639158 Centerline is valid? [True, True] Translation: X:225.60, Y:-125.58, Z:-4.15 [[ 9.99972066e-01 5.56505605e-03 -4.98982850e-03 2.25596437e+02] [ 5.56550503e-03 -9.99984510e-01 7.60975467e-05 -1.25582555e+02] [-4.98932772e-03 -1.03866337e-04 -9.99987548e-01 -4.14645530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.01705936722680403 Centerline is valid? [True, True] Translation: X:225.63, Y:-125.59, Z:-4.15 [[ 9.96013952e-01 8.90294298e-02 -5.47423738e-03 2.25629054e+02] [ 8.90288720e-02 -9.96028986e-01 -3.45983420e-04 -1.25594675e+02] [-5.48330181e-03 -1.42760865e-04 -9.99984956e-01 -4.14608940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.018440352108923606 Centerline is valid? [True, True] Translation: X:225.66, Y:-125.60, Z:-4.14 [[ 9.85629841e-01 1.68795886e-01 -6.46255650e-03 2.25661511e+02] [ 1.68793476e-01 -9.85651011e-01 -9.20394491e-04 -1.25599116e+02] [-6.52518415e-03 -1.83669102e-04 -9.99978694e-01 -4.14453771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.01816500531101429 Centerline is valid? [True, True] Translation: X:225.70, Y:-125.60, Z:-4.14 [[ 9.69056632e-01 2.46741590e-01 -6.91601936e-03 2.25696265e+02] [ 2.46736840e-01 -9.69081289e-01 -1.54528691e-03 -1.25599183e+02] [-7.08347150e-03 -2.08966232e-04 -9.99974890e-01 -4.14356093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.01827175476146817 Centerline is valid? [True, True] Translation: X:225.73, Y:-125.60, Z:-4.14 [[ 9.46941420e-01 3.21333734e-01 -6.82479743e-03 2.25730297e+02] [ 3.21326953e-01 -9.46965991e-01 -2.09771505e-03 -1.25595352e+02] [-7.13691768e-03 -2.06578097e-04 -9.99974511e-01 -4.14384489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.01731002911188459 Centerline is valid? [True, True] Translation: X:225.76, Y:-125.59, Z:-4.14 [[ 9.19554192e-01 3.92911441e-01 -6.37869071e-03 2.25763747e+02] [ 3.92903390e-01 -9.19576296e-01 -2.52211201e-03 -1.25587140e+02] [-6.85665945e-03 -1.86990531e-04 -9.99976475e-01 -4.14486024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.016179576785686548 Centerline is valid? [True, True] Translation: X:225.80, Y:-125.58, Z:-4.15 [[ 8.86593162e-01 4.62507810e-01 -6.25225761e-03 2.25796259e+02] [ 4.62497738e-01 -8.86615189e-01 -3.05776136e-03 -1.25578233e+02] [-6.95758507e-03 -1.80664683e-04 -9.99975779e-01 -4.14589299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.016277099168598933 Centerline is valid? [True, True] Translation: X:225.83, Y:-125.57, Z:-4.15 [[ 8.47686811e-01 5.30467266e-01 -5.61692634e-03 2.25829751e+02] [ 5.30456932e-01 -8.47705404e-01 -3.31534958e-03 -1.25568986e+02] [-6.52018324e-03 -1.69159402e-04 -9.99978729e-01 -4.14594247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.016873292719270967 Centerline is valid? [True, True] Translation: X:225.86, Y:-125.56, Z:-4.15 [[ 8.03379672e-01 5.95435977e-01 -6.09094429e-03 2.25860660e+02] [ 5.95420691e-01 -8.03402738e-01 -4.27103021e-03 -1.25557367e+02] [-7.43660636e-03 -1.95415406e-04 -9.99972329e-01 -4.14532859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.0169743329007763 Centerline is valid? [True, True] Translation: X:225.89, Y:-125.54, Z:-4.15 [[ 7.54982780e-01 6.55717023e-01 -6.01570490e-03 2.25889744e+02] [ 6.55698266e-01 -7.55006720e-01 -4.96347301e-03 -1.25539362e+02] [-7.79653137e-03 -1.97150623e-04 -9.99969587e-01 -4.14570077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.01576537960145061 Centerline is valid? [True, True] Translation: X:225.92, Y:-125.52, Z:-4.15 [[ 7.01674590e-01 7.12475863e-01 -5.56009794e-03 2.25918734e+02] [ 7.12455637e-01 -7.01696592e-01 -5.37188515e-03 -1.25521153e+02] [-7.72884029e-03 -1.92007819e-04 -9.99970114e-01 -4.14707200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.015474061885303795 Centerline is valid? [True, True] Translation: X:225.95, Y:-125.50, Z:-4.15 [[ 6.44135895e-01 7.64890507e-01 -5.60901653e-03 2.25947865e+02] [ 7.64864255e-01 -6.44160282e-01 -6.34052619e-03 -1.25502718e+02] [-8.46291397e-03 -2.05975742e-04 -9.99964168e-01 -4.14794503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.017191412503389434 Centerline is valid? [True, True] Translation: X:225.98, Y:-125.49, Z:-4.15 [[ 5.80547501e-01 8.14205553e-01 -5.82382510e-03 2.25976476e+02] [ 8.14168932e-01 -5.80576655e-01 -7.72646563e-03 -1.25485242e+02] [-9.67210811e-03 -2.55997148e-04 -9.99953191e-01 -4.14709617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.018233191637090175 Centerline is valid? [True, True] Translation: X:226.00, Y:-125.46, Z:-4.15 [[ 5.12072307e-01 8.58920905e-01 -6.06881120e-03 2.26002095e+02] [ 8.58868204e-01 -5.12108157e-01 -9.52065675e-03 -1.25462748e+02] [-1.12853788e-02 -3.37044308e-04 -9.99936261e-01 -4.14634175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.01740394073775825 Centerline is valid? [True, True] Translation: X:226.03, Y:-125.44, Z:-4.15 [[ 4.41565904e-01 8.97209245e-01 -5.92652615e-03 2.26025506e+02] [ 8.97140228e-01 -4.41605492e-01 -1.11355305e-02 -1.25437446e+02] [-1.26080874e-02 -3.99854435e-04 -9.99920435e-01 -4.14679389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.01852229861397169 Centerline is valid? [True, True] Translation: X:226.05, Y:-125.41, Z:-4.15 [[ 3.70203746e-01 9.28937392e-01 -4.95068994e-03 2.26046457e+02] [ 9.28867890e-01 -3.70236642e-01 -1.13697817e-02 -1.25411786e+02] [-1.23947422e-02 -3.89401147e-04 -9.99923106e-01 -4.14660295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.018340149988012717 Centerline is valid? [True, True] Translation: X:226.06, Y:-125.38, Z:-4.15 [[ 2.96918770e-01 9.54894864e-01 -3.87852232e-03 2.26062166e+02] [ 9.54828776e-01 -2.96943875e-01 -1.12402573e-02 -1.25382281e+02] [-1.18849674e-02 -3.65881336e-04 -9.99929304e-01 -4.14742390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.017917109586725825 Centerline is valid? [True, True] Translation: X:226.08, Y:-125.35, Z:-4.15 [[ 2.22126940e-01 9.75014206e-01 -2.63090854e-03 2.26075712e+02] [ 9.74961521e-01 -2.22142300e-01 -1.01405866e-02 -1.25352488e+02] [-1.04716521e-02 -3.12537119e-04 -9.99945122e-01 -4.14843156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.016943839725255237 Centerline is valid? [True, True] Translation: X:226.09, Y:-125.32, Z:-4.15 [[ 1.47531159e-01 9.89056027e-01 -1.65278194e-03 2.26085107e+02] [ 9.89012116e-01 -1.47540189e-01 -9.32344314e-03 -1.25321372e+02] [-9.46525939e-03 -2.59122995e-04 -9.99955170e-01 -4.14921414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.016935973777105765 Centerline is valid? [True, True] Translation: X:226.09, Y:-125.29, Z:-4.15 [[ 7.03686236e-02 9.97520668e-01 -8.80120059e-04 2.26092716e+02] [ 9.97479705e-01 -7.03737128e-02 -9.04320680e-03 -1.25289668e+02] [-9.08272300e-03 -2.41543881e-04 -9.99958722e-01 -4.14934329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.018939649483584464 Centerline is valid? [True, True] Translation: X:226.10, Y:-125.26, Z:-4.15 [[-9.43432654e-03 9.99955471e-01 -2.20635366e-04 2.26100643e+02] [ 9.99885561e-01 9.43105699e-03 -1.18287739e-02 -1.25258954e+02] [-1.18261664e-02 -3.32206633e-04 -9.99930013e-01 -4.14601583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.01707988481769571 Centerline is valid? [True, True] Translation: X:226.11, Y:-125.23, Z:-4.15 [[-9.06566611e-02 9.95881856e-01 8.35663680e-04 2.26105307e+02] [ 9.95784046e-01 9.06594747e-02 -1.39640149e-02 -1.25226201e+02] [-1.39822699e-02 -4.33790403e-04 -9.99902149e-01 -4.14623247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.01803494837389682 Centerline is valid? [True, True] Translation: X:226.11, Y:-125.19, Z:-4.15 [[-1.69871582e-01 9.85464238e-01 1.97024984e-03 2.26110078e+02] [ 9.85362515e-01 1.69882371e-01 -1.41666712e-02 -1.25193618e+02] [-1.42954585e-02 -4.65104508e-04 -9.99897707e-01 -4.14587456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.01892344643075129 Centerline is valid? [True, True] Translation: X:226.11, Y:-125.16, Z:-4.15 [[-2.47532563e-01 9.68875577e-01 2.78342988e-03 2.26110096e+02] [ 9.68793089e-01 2.47547830e-01 -1.26500407e-02 -1.25160983e+02] [-1.29453476e-02 -4.34729373e-04 -9.99916111e-01 -4.14623756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.018393051289945506 Centerline is valid? [True, True] Translation: X:226.11, Y:-125.13, Z:-4.15 [[-3.22770263e-01 9.46471452e-01 3.33885249e-03 2.26106990e+02] [ 9.46407740e-01 3.22787300e-01 -1.09886065e-02 -1.25128872e+02] [-1.14781415e-02 -3.86879569e-04 -9.99934049e-01 -4.14789405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.018002745799013193 Centerline is valid? [True, True] Translation: X:226.10, Y:-125.10, Z:-4.15 [[-3.95850720e-01 9.18307017e-01 3.79880525e-03 2.26102349e+02] [ 9.18255889e-01 3.95868793e-01 -9.69651321e-03 -1.25097128e+02] [-1.04082046e-02 -3.50096446e-04 -9.99945772e-01 -4.14878372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.021227999696536975 Centerline is valid? [True, True] Translation: X:226.10, Y:-125.06, Z:-4.15 [[-4.66972567e-01 8.84259640e-01 4.63804901e-03 2.26099458e+02] [ 8.84208061e-01 4.66995459e-01 -9.55752754e-03 -1.25064993e+02] [-1.06172837e-02 -3.62102852e-04 -9.99943570e-01 -4.14751311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.019849969785078914 Centerline is valid? [True, True] Translation: X:226.09, Y:-125.04, Z:-4.15 [[-5.35079335e-01 8.44783859e-01 5.50791528e-03 2.26087126e+02] [ 8.44731698e-01 5.35107551e-01 -9.39508369e-03 -1.25036377e+02] [-1.08841421e-02 -3.74404507e-04 -9.99940696e-01 -4.14758542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.018928375482379346 Centerline is valid? [True, True] Translation: X:226.07, Y:-125.01, Z:-4.15 [[-5.99047219e-01 8.00686301e-01 6.62397531e-03 2.26073279e+02] [ 8.00629988e-01 5.99083713e-01 -9.50409841e-03 -1.25007639e+02] [-1.15781171e-02 -3.90050445e-04 -9.99932895e-01 -4.14727369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.018108287386985576 Centerline is valid? [True, True] Translation: X:226.06, Y:-124.98, Z:-4.15 [[-6.58649168e-01 7.52416031e-01 7.16864468e-03 2.26057627e+02] [ 7.52365387e-01 6.58688079e-01 -8.73723855e-03 -1.24980016e+02] [-1.12959392e-02 -3.61334771e-04 -9.99936134e-01 -4.14773337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.017357609288093826 Centerline is valid? [True, True] Translation: X:226.04, Y:-124.95, Z:-4.15 [[-7.14475698e-01 6.99616118e-01 7.85908415e-03 2.26040672e+02] [ 6.99568397e-01 7.14518837e-01 -8.17855971e-03 -1.24953829e+02] [-1.13373159e-02 -3.45415249e-04 -9.99935671e-01 -4.14844901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.01638737118822172 Centerline is valid? [True, True] Translation: X:226.02, Y:-124.93, Z:-4.15 [[-7.64105056e-01 6.45043924e-01 7.86124366e-03 2.26019657e+02] [ 6.45006088e-01 7.64145445e-01 -6.99180310e-03 -1.24931091e+02] [-1.05171536e-02 -2.71922080e-04 -9.99944656e-01 -4.14848899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.014835183797217783 Centerline is valid? [True, True] Translation: X:226.46, Y:-124.47, Z:-5.11 [[-6.84883638e-01 -7.28619600e-01 6.91956146e-03 2.26457165e+02] [ 7.28585613e-01 -6.84918557e-01 -7.04090133e-03 -1.24468050e+02] [ 9.86947476e-03 2.19294812e-04 9.99951272e-01 -5.10775222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.01371133967433771 Centerline is valid? [True, True] Translation: X:226.42, Y:-124.42, Z:-5.11 [[-6.87101347e-01 -7.26529807e-01 6.79554866e-03 2.26418727e+02] [ 7.26496921e-01 -6.87134925e-01 -6.91505864e-03 -1.24423654e+02] [ 9.69345503e-03 1.85599072e-04 9.99953000e-01 -5.10759788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.013280870183889423 Centerline is valid? [True, True] Translation: X:226.38, Y:-124.38, Z:-5.11 [[-6.89041043e-01 -7.24689813e-01 6.86413056e-03 2.26379070e+02] [ 7.24656207e-01 -6.89075213e-01 -6.98085048e-03 -1.24380652e+02] [ 9.78885345e-03 1.64042321e-04 9.99952075e-01 -5.10795673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.012562321788827359 Centerline is valid? [True, True] Translation: X:226.34, Y:-124.34, Z:-5.11 [[-6.92894743e-01 -7.20997102e-01 7.74953713e-03 2.26341857e+02] [ 7.20954085e-01 -6.92938066e-01 -7.87685952e-03 -1.24336233e+02] [ 1.10491422e-02 1.29225900e-04 9.99938948e-01 -5.10898583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.012228667832667468 Centerline is valid? [True, True] Translation: X:226.30, Y:-124.29, Z:-5.11 [[-6.95705548e-01 -7.18283531e-01 7.90941446e-03 2.26304183e+02] [ 7.18238605e-01 -6.95750502e-01 -8.03405418e-03 -1.24294648e+02] [ 1.12737079e-02 9.15107324e-05 9.99936446e-01 -5.11000975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.011807876181256335 Centerline is valid? [True, True] Translation: X:226.27, Y:-124.25, Z:-5.11 [[-6.98779408e-01 -7.15297057e-01 7.58017858e-03 2.26266205e+02] [ 7.15255670e-01 -6.98820519e-01 -7.69476019e-03 -1.24251144e+02] [ 1.08012237e-02 4.48257391e-05 9.99941664e-01 -5.11006007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.011779414869481326 Centerline is valid? [True, True] Translation: X:226.23, Y:-124.21, Z:-5.11 [[-7.03327955e-01 -7.10835822e-01 6.49780640e-03 2.26230281e+02] [ 7.10805257e-01 -7.03357970e-01 -6.59188273e-03 -1.24206625e+02] [ 9.25603030e-03 -1.75804514e-05 9.99957162e-01 -5.10921762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.011895752941405437 Centerline is valid? [True, True] Translation: X:226.19, Y:-124.16, Z:-5.11 [[-7.05473671e-01 -7.08711936e-01 5.85589571e-03 2.26192095e+02] [ 7.08687070e-01 -7.05497973e-01 -5.93694079e-03 -1.24163971e+02] [ 8.33890336e-03 -3.83578434e-05 9.99965230e-01 -5.10834380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.012042390721582205 Centerline is valid? [True, True] Translation: X:226.15, Y:-124.12, Z:-5.11 [[-7.06116017e-01 -7.08073900e-01 5.61452114e-03 2.26152311e+02] [ 7.08051050e-01 -7.06138336e-01 -5.68865924e-03 -1.24122194e+02] [ 7.99261975e-03 -4.14858170e-05 9.99968058e-01 -5.10871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.011927824654106505 Centerline is valid? [True, True] Translation: X:226.11, Y:-124.08, Z:-5.11 [[-7.05015948e-01 -7.09168362e-01 5.72246086e-03 2.26111314e+02] [ 7.09144690e-01 -7.05039171e-01 -5.79437187e-03 -1.24081659e+02] [ 8.14374427e-03 -2.70718445e-05 9.99966839e-01 -5.10903520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.011891916883518108 Centerline is valid? [True, True] Translation: X:226.07, Y:-124.04, Z:-5.11 [[-7.01981277e-01 -7.12171046e-01 5.88955606e-03 2.26068515e+02] [ 7.12146106e-01 -7.02005983e-01 -5.96016215e-03 -1.24041975e+02] [ 8.37915851e-03 1.03021733e-05 9.99964894e-01 -5.10934332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.01201587688815176 Centerline is valid? [True, True] Translation: X:226.03, Y:-124.00, Z:-5.11 [[-6.99493661e-01 -7.14613596e-01 6.00224379e-03 2.26026004e+02] [ 7.14587811e-01 -6.99519411e-01 -6.07070603e-03 -1.24002070e+02] [ 8.53689511e-03 4.27098621e-05 9.99963559e-01 -5.10915886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.012710133131680356 Centerline is valid? [True, True] Translation: X:225.98, Y:-123.96, Z:-5.11 [[-6.96622065e-01 -7.17410207e-01 6.34776237e-03 2.25983817e+02] [ 7.17381518e-01 -6.96650980e-01 -6.41630373e-03 -1.23963972e+02] [ 9.02529667e-03 8.40286554e-05 9.99959268e-01 -5.11068426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.013067850460251567 Centerline is valid? [True, True] Translation: X:225.94, Y:-123.92, Z:-5.11 [[-6.94657498e-01 -7.19312974e-01 6.30918157e-03 2.25942611e+02] [ 7.19284744e-01 -6.94686140e-01 -6.37369555e-03 -1.23923260e+02] [ 8.96758290e-03 1.10562644e-04 9.99959784e-01 -5.10999101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.013699786890155748 Centerline is valid? [True, True] Translation: X:225.90, Y:-123.88, Z:-5.11 [[-6.93730117e-01 -7.20207640e-01 6.28325949e-03 2.25902155e+02] [ 7.20179712e-01 -6.93758560e-01 -6.34374466e-03 -1.23883249e+02] [ 8.92787843e-03 1.24229289e-04 9.99960138e-01 -5.11077241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.01368341712152501 Centerline is valid? [True, True] Translation: X:225.86, Y:-123.84, Z:-5.11 [[-6.93807866e-01 -7.20134193e-01 6.11459813e-03 2.25862767e+02] [ 7.20107775e-01 -6.93834799e-01 -6.16962181e-03 -1.23841437e+02] [ 8.68547659e-03 1.22637513e-04 9.99962273e-01 -5.11039820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.013871581934422773 Centerline is valid? [True, True] Translation: X:225.82, Y:-123.80, Z:-5.11 [[-6.93885479e-01 -7.20058680e-01 6.19995962e-03 2.25823527e+02] [ 7.20031550e-01 -6.93913165e-01 -6.25191935e-03 -1.23800082e+02] [ 8.80398240e-03 1.26050478e-04 9.99961236e-01 -5.11069338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.014072395020843748 Centerline is valid? [True, True] Translation: X:225.78, Y:-123.76, Z:-5.11 [[-6.93019064e-01 -7.20887877e-01 6.72657285e-03 2.25784157e+02] [ 7.20856016e-01 -6.93051691e-01 -6.77919100e-03 -1.23757735e+02] [ 9.54889929e-03 1.50781906e-04 9.99954397e-01 -5.11048974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.014305680567905774 Centerline is valid? [True, True] Translation: X:225.74, Y:-123.72, Z:-5.11 [[-6.91993378e-01 -7.21865766e-01 7.41487093e-03 2.25743309e+02] [ 7.21827151e-01 -6.92033079e-01 -7.46867411e-03 -1.23716310e+02] [ 1.05227161e-02 1.83982131e-04 9.99944618e-01 -5.11087344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.01539713269656678 Centerline is valid? [True, True] Translation: X:225.70, Y:-123.68, Z:-5.11 [[-6.89538979e-01 -7.24204404e-01 7.99856990e-03 2.25701251e+02] [ 7.24159679e-01 -6.89585327e-01 -8.05209844e-03 -1.23675785e+02] [ 1.13470616e-02 2.40006069e-04 9.99935591e-01 -5.11183636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.01570261618001416 Centerline is valid? [True, True] Translation: X:225.66, Y:-123.63, Z:-5.11 [[-6.87611685e-01 -7.26027143e-01 8.64625685e-03 2.25660725e+02] [ 7.25975086e-01 -6.87665980e-01 -8.69912570e-03 -1.23633832e+02] [ 1.22615381e-02 2.95346574e-04 9.99924781e-01 -5.11155304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.01755162531089445 Centerline is valid? [True, True] Translation: X:225.62, Y:-123.59, Z:-5.11 [[-6.86883454e-01 -7.26718150e-01 8.47650086e-03 2.25618873e+02] [ 7.26668211e-01 -6.86935687e-01 -8.52480474e-03 -1.23594527e+02] [ 1.20179413e-02 3.04056385e-04 9.99927736e-01 -5.11249259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.0187381708308275 Centerline is valid? [True, True] Translation: X:225.58, Y:-123.55, Z:-5.11 [[-6.86029683e-01 -7.27528966e-01 8.05468529e-03 2.25578750e+02] [ 7.27483983e-01 -6.86076898e-01 -8.09597071e-03 -1.23553905e+02] [ 1.14161867e-02 3.05578311e-04 9.99934787e-01 -5.11199086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.017142265962004685 Centerline is valid? [True, True] Translation: X:225.54, Y:-123.51, Z:-5.11 [[-6.85309694e-01 -7.28201268e-01 8.57535256e-03 2.25541157e+02] [ 7.28150397e-01 -6.85363259e-01 -8.61408706e-03 -1.23510114e+02] [ 1.21500207e-02 3.40829012e-04 9.99926128e-01 -5.11031914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.017631273433686076 Centerline is valid? [True, True] Translation: X:225.50, Y:-123.47, Z:-5.11 [[-6.84697248e-01 -7.28771948e-01 9.00702362e-03 2.25499790e+02] [ 7.28715940e-01 -6.84756387e-01 -9.04258643e-03 -1.23469297e+02] [ 1.27576003e-02 3.72127642e-04 9.99918549e-01 -5.11100263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.017997197128431786 Centerline is valid? [True, True] Translation: X:225.46, Y:-123.43, Z:-5.11 [[-6.84070540e-01 -7.29368199e-01 8.33826836e-03 2.25459032e+02] [ 7.29320300e-01 -6.84121263e-01 -8.36645091e-03 -1.23428540e+02] [ 1.18066099e-02 3.58025785e-04 9.99930235e-01 -5.11012335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.018025271708317747 Centerline is valid? [True, True] Translation: X:225.42, Y:-123.39, Z:-5.11 [[-6.83915025e-01 -7.29517474e-01 8.03076495e-03 2.25418283e+02] [ 7.29473112e-01 -6.83962084e-01 -8.05275095e-03 -1.23387864e+02] [ 1.13673613e-02 3.50829728e-04 9.99935328e-01 -5.10920403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.018804702700773102 Centerline is valid? [True, True] Translation: X:225.38, Y:-123.35, Z:-5.11 [[-6.84946315e-01 -7.28544306e-01 8.46993613e-03 2.25377103e+02] [ 7.28494949e-01 -6.84998589e-01 -8.48778152e-03 -1.23348741e+02] [ 1.19856192e-02 3.56631007e-04 9.99928106e-01 -5.11040337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.017341589719002275 Centerline is valid? [True, True] Translation: X:225.34, Y:-123.31, Z:-5.11 [[-6.86811934e-01 -7.26773512e-01 9.46728590e-03 2.25337282e+02] [ 7.26711750e-01 -6.86877082e-01 -9.48190679e-03 -1.23306087e+02] [ 1.33940604e-02 3.67701167e-04 9.99910228e-01 -5.11164146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.017622882589916594 Centerline is valid? [True, True] Translation: X:225.30, Y:-123.27, Z:-5.11 [[-6.87535683e-01 -7.26088758e-01 9.47628794e-03 2.25296983e+02] [ 7.26026896e-01 -6.87600892e-01 -9.48468354e-03 -1.23266267e+02] [ 1.34026261e-02 3.58981547e-04 9.99910116e-01 -5.11182615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.016295066338808888 Centerline is valid? [True, True] Translation: X:225.26, Y:-123.22, Z:-5.11 [[-6.89369398e-01 -7.24354490e-01 8.96697281e-03 2.25257664e+02] [ 7.24298992e-01 -6.89427645e-01 -8.97176399e-03 -1.23222925e+02] [ 1.26808165e-02 3.09909832e-04 9.99919547e-01 -5.11049338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.01518736688538736 Centerline is valid? [True, True] Translation: X:225.22, Y:-123.18, Z:-5.11 [[-6.91210794e-01 -7.22600099e-01 8.75982597e-03 2.25218617e+02] [ 7.22547057e-01 -6.91266245e-01 -8.75948927e-03 -1.23180011e+02] [ 1.23849798e-02 2.74732937e-04 9.99923265e-01 -5.10969118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.01650075068069799 Centerline is valid? [True, True] Translation: X:224.72, Y:-123.68, Z:-4.15 [[-7.68273002e-01 6.40050410e-01 9.59516495e-03 2.24723382e+02] [ 6.39996364e-01 7.68332877e-01 -8.32135357e-03 -1.23677914e+02] [-1.26983665e-02 -2.52200611e-04 -9.99919341e-01 -4.14550802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.01569366454447363 Centerline is valid? [True, True] Translation: X:224.74, Y:-123.66, Z:-4.15 [[-8.10815426e-01 5.85200359e-01 1.09034097e-02 2.24738783e+02] [ 5.85143236e-01 8.10888695e-01 -8.18033627e-03 -1.23658342e+02] [-1.36285874e-02 -2.52686418e-04 -9.99907095e-01 -4.14507348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.014310842775662228 Centerline is valid? [True, True] Translation: X:224.75, Y:-123.64, Z:-4.15 [[-8.49390911e-01 5.27625259e-01 1.21105796e-02 2.24750222e+02] [ 5.27567488e-01 8.49477207e-01 -7.81153387e-03 -1.23637920e+02] [-1.44092239e-02 -2.45897805e-04 -9.99896152e-01 -4.14609010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.013940227100295176 Centerline is valid? [True, True] Translation: X:224.77, Y:-123.62, Z:-4.15 [[-8.84308080e-01 4.66746986e-01 1.21024786e-02 2.24770146e+02] [ 4.66699748e-01 8.84390863e-01 -6.64428033e-03 -1.23619933e+02] [-1.38045193e-02 -2.27367066e-04 -9.99904687e-01 -4.14716255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.01365178433766579 Centerline is valid? [True, True] Translation: X:224.79, Y:-123.60, Z:-4.15 [[-9.14321853e-01 4.04832210e-01 1.12441549e-02 2.24786464e+02] [ 4.04799186e-01 9.14390972e-01 -5.17383824e-03 -1.23599719e+02] [-1.23760901e-02 -1.78928603e-04 -9.99923397e-01 -4.14853927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.013372582201086761 Centerline is valid? [True, True] Translation: X:224.80, Y:-123.58, Z:-4.15 [[-9.40305355e-01 3.40159056e-01 1.08469639e-02 2.24798718e+02] [ 3.40134532e-01 9.40367903e-01 -4.08739039e-03 -1.23576911e+02] [-1.15904996e-02 -1.53968071e-04 -9.99932816e-01 -4.15008980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.01356676919672687 Centerline is valid? [True, True] Translation: X:224.81, Y:-123.55, Z:-4.15 [[-9.62199174e-01 2.72129214e-01 1.08830043e-02 2.24805329e+02] [ 2.72109957e-01 9.62260706e-01 -3.24114811e-03 -1.23549736e+02] [-1.13542985e-02 -1.57256197e-04 -9.99935526e-01 -4.15081939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.01326089867972133 Centerline is valid? [True, True] Translation: X:224.81, Y:-123.52, Z:-4.15 [[-9.79035820e-01 2.03355209e-01 1.16414295e-02 2.24812960e+02] [ 2.03338837e-01 9.79105016e-01 -2.58557011e-03 -1.23523755e+02] [-1.19239712e-02 -1.64211011e-04 -9.99928893e-01 -4.15073300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.013002876355355247 Centerline is valid? [True, True] Translation: X:224.82, Y:-123.50, Z:-4.15 [[-9.90708592e-01 1.35516301e-01 1.14811938e-02 2.24819861e+02] [ 1.35505615e-01 9.90775108e-01 -1.70718814e-03 -1.23497442e+02] [-1.16066328e-02 -1.35559740e-04 -9.99932632e-01 -4.15000634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.01245813108684666 Centerline is valid? [True, True] Translation: X:224.94, Y:-122.79, Z:-5.11 [[-9.74999007e-01 -2.21947076e-01 1.07903266e-02 2.24936013e+02] [ 2.21934562e-01 -9.75058709e-01 -2.35878874e-03 -1.22791500e+02] [ 1.10447282e-02 9.49297296e-05 9.99939001e-01 -5.10562382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.012188295110960503 Centerline is valid? [True, True] Translation: X:224.78, Y:-123.49, Z:-4.15 [[-9.90618308e-01 1.36279757e-01 1.01585474e-02 2.24775716e+02] [ 1.36271848e-01 9.90670391e-01 -1.46995166e-03 -1.23494163e+02] [-1.02640968e-02 -7.18369929e-05 -9.99947320e-01 -4.15207425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.012023837278258917 Centerline is valid? [True, True] Translation: X:224.78, Y:-123.47, Z:-4.15 [[-9.97725605e-01 6.67706903e-02 9.23533309e-03 2.24777193e+02] [ 6.67673285e-02 9.97768346e-01 -6.72194170e-04 -1.23466830e+02] [-9.25960589e-03 -5.40468172e-05 -9.99957127e-01 -4.15226580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.01224205236371928 Centerline is valid? [True, True] Translation: X:224.78, Y:-123.44, Z:-4.15 [[-9.99937944e-01 -5.23355016e-03 9.83451905e-03 2.24779608e+02] [-5.23395790e-03 9.99986303e-01 -1.57233936e-05 -1.23437809e+02] [-9.83430205e-03 -6.71958766e-05 -9.99951640e-01 -4.15127013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.012591691381530249 Centerline is valid? [True, True] Translation: X:224.77, Y:-123.41, Z:-4.15 [[-9.96855948e-01 -7.85834949e-02 1.01416318e-02 2.24773082e+02] [-7.85803775e-02 9.96907531e-01 7.06114617e-04 -1.23407915e+02] [-1.01657581e-02 -9.30386979e-05 -9.99948323e-01 -4.15067220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.012985876929508143 Centerline is valid? [True, True] Translation: X:224.72, Y:-122.70, Z:-5.11 [[-9.99905955e-01 -8.91402340e-03 1.04221235e-02 2.24715644e+02] [ 8.91471228e-03 -9.99960263e-01 1.96424360e-05 -1.22704383e+02] [ 1.04215343e-02 1.12550822e-04 9.99945688e-01 -5.10683636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.01307045036303911 Centerline is valid? [True, True] Translation: X:224.69, Y:-123.41, Z:-4.15 [[-9.96080055e-01 -8.78689900e-02 1.01766859e-02 2.24690104e+02] [-8.78657870e-02 9.96132031e-01 7.62282453e-04 -1.23409995e+02] [-1.02043038e-02 -1.34888171e-04 -9.99947926e-01 -4.15128218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.013403936561982048 Centerline is valid? [True, True] Translation: X:224.64, Y:-122.71, Z:-5.11 [[-9.99933475e-01 -7.34423753e-03 8.89422339e-03 2.24639347e+02] [ 7.34421149e-03 -9.99973030e-01 -3.55893676e-05 -1.22712366e+02] [ 8.89424489e-03 2.97340575e-05 9.99960445e-01 -5.10551541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.013868440096563217 Centerline is valid? [True, True] Translation: X:224.62, Y:-123.41, Z:-4.15 [[-9.95302483e-01 -9.66343951e-02 5.89585319e-03 2.24618495e+02] [-9.66332965e-02 9.95319940e-01 4.71584159e-04 -1.23412559e+02] [-5.91383150e-03 -1.00366845e-04 -9.99982508e-01 -4.15349909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.014616360104142027 Centerline is valid? [True, True] Translation: X:224.61, Y:-123.38, Z:-4.15 [[-9.85402738e-01 -1.70168067e-01 4.92684053e-03 2.24609928e+02] [-1.70166443e-01 9.85415049e-01 7.50063691e-04 -1.23384378e+02] [-4.98261969e-03 -9.92681140e-05 -9.99987582e-01 -4.15411756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.015675954978319945 Centerline is valid? [True, True] Translation: X:224.50, Y:-122.70, Z:-5.10 [[-9.98252959e-01 5.87857137e-02 5.93889077e-03 2.24503942e+02] [-5.87835515e-02 -9.98270607e-01 5.38136491e-04 -1.22704826e+02] [ 5.96025483e-03 1.88087253e-04 9.99982220e-01 -5.10395127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.01727579007172421 Centerline is valid? [True, True] Translation: X:224.52, Y:-123.39, Z:-4.15 [[-9.83276478e-01 -1.81961103e-01 7.58457753e-03 2.24515427e+02] [-1.81957279e-01 9.83305708e-01 1.19698992e-03 -1.23392110e+02] [-7.67576399e-03 -2.03097056e-04 -9.99970520e-01 -4.15135643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.016813077963114268 Centerline is valid? [True, True] Translation: X:224.41, Y:-122.72, Z:-5.11 [[-9.98049318e-01 6.18790079e-02 8.27930603e-03 2.24413780e+02] [-6.18746939e-02 -9.98083623e-01 7.76436433e-04 -1.22720346e+02] [ 8.31148488e-03 2.62642326e-04 9.99965425e-01 -5.10636572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.016375632554850236 Centerline is valid? [True, True] Translation: X:224.43, Y:-123.41, Z:-4.15 [[-9.82173378e-01 -1.87803205e-01 8.08768980e-03 2.24428539e+02] [-1.87798654e-01 9.82206653e-01 1.32541480e-03 -1.23407172e+02] [-8.19269988e-03 -2.17070124e-04 -9.99966416e-01 -4.15154900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.017458704281902295 Centerline is valid? [True, True] Translation: X:224.32, Y:-122.74, Z:-5.10 [[-9.97597682e-01 6.89518009e-02 6.67185479e-03 2.24317545e+02] [-6.89497321e-02 -9.97619989e-01 5.39864188e-04 -1.22735664e+02] [ 6.69320031e-03 7.85446619e-05 9.99977597e-01 -5.10454038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.0170622994100125 Centerline is valid? [True, True] Translation: X:224.34, Y:-123.42, Z:-4.15 [[-9.81151983e-01 -1.93137632e-01 6.21624275e-03 2.24336957e+02] [-1.93134801e-01 9.81171661e-01 1.05815744e-03 -1.23420717e+02] [-6.30357125e-03 -1.62359539e-04 -9.99980119e-01 -4.15318705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.017290994829564532 Centerline is valid? [True, True] Translation: X:224.22, Y:-122.75, Z:-5.10 [[-9.97191093e-01 7.45964031e-02 6.73060439e-03 2.24222271e+02] [-7.45933136e-02 -9.97213786e-01 7.09243323e-04 -1.22750695e+02] [ 6.76475849e-03 2.05193041e-04 9.99977098e-01 -5.10436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.017067096526569858 Centerline is valid? [True, True] Translation: X:224.24, Y:-123.44, Z:-4.15 [[-9.79933876e-01 -1.99224636e-01 6.25646982e-03 2.24241774e+02] [-1.99221659e-01 9.79953834e-01 1.10192246e-03 -1.23435357e+02] [-6.35058169e-03 -1.66613148e-04 -9.99979821e-01 -4.15302853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.016292537775890664 Centerline is valid? [True, True] Translation: X:224.23, Y:-123.41, Z:-4.15 [[-9.63409151e-01 -2.67953290e-01 6.62132735e-03 2.24232346e+02] [-2.67948204e-01 9.63431889e-01 1.66014131e-03 -1.23410422e+02] [-6.82403824e-03 -1.74777436e-04 -9.99976701e-01 -4.15285233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.01863397817638271 Centerline is valid? [True, True] Translation: X:224.07, Y:-122.76, Z:-5.11 [[-9.88367346e-01 1.51920091e-01 7.09057952e-03 2.24068561e+02] [-1.51914653e-01 -9.88392757e-01 1.30237480e-03 -1.22756234e+02] [ 7.20613433e-03 2.10061798e-04 9.99974013e-01 -5.10544362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.01875353078543742 Centerline is valid? [True, True] Translation: X:224.13, Y:-123.43, Z:-4.15 [[-9.61810978e-01 -2.73627721e-01 6.89302511e-03 2.24132123e+02] [-2.73622034e-01 9.61835661e-01 1.77331316e-03 -1.23429255e+02] [-7.11518500e-03 -1.80491481e-04 -9.99974670e-01 -4.15170813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.01740600980358615 Centerline is valid? [True, True] Translation: X:224.11, Y:-123.41, Z:-4.15 [[-9.39545918e-01 -3.42362125e-01 6.45313597e-03 2.24109649e+02] [-3.42355338e-01 9.39568063e-01 2.16293097e-03 -1.23408878e+02] [-6.80366610e-03 -1.77092581e-04 -9.99976839e-01 -4.15268904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.017013211820872433 Centerline is valid? [True, True] Translation: X:224.08, Y:-123.39, Z:-4.15 [[-9.12002054e-01 -4.10139423e-01 6.15691226e-03 2.24078262e+02] [-4.10131414e-01 9.12022818e-01 2.56949850e-03 -1.23389845e+02] [-6.66909710e-03 -1.81755222e-04 -9.99977745e-01 -4.15297869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.01819056040425092 Centerline is valid? [True, True] Translation: X:224.03, Y:-123.38, Z:-4.15 [[-8.78812602e-01 -4.77136422e-01 5.40794195e-03 2.24026849e+02] [-4.77128611e-01 8.78829223e-01 2.73582683e-03 -1.23379227e+02] [-6.05802005e-03 -1.76004731e-04 -9.99981635e-01 -4.15278866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.018071360725238354 Centerline is valid? [True, True] Translation: X:223.96, Y:-123.38, Z:-4.15 [[-8.40307690e-01 -5.42083470e-01 5.33840115e-03 2.23961065e+02] [-5.42073974e-01 8.40324625e-01 3.21436789e-03 -1.23383245e+02] [-6.22844564e-03 -1.92750274e-04 -9.99980584e-01 -4.15285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.02018352967385272 Centerline is valid? [True, True] Translation: X:223.89, Y:-123.39, Z:-4.15 [[-7.95908326e-01 -6.05395668e-01 5.10124347e-03 2.23888267e+02] [-6.05384946e-01 7.95924644e-01 3.60937103e-03 -1.23390704e+02] [-6.24530298e-03 -2.15487547e-04 -9.99980475e-01 -4.15215691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.021556870338274903 Centerline is valid? [True, True] Translation: X:223.82, Y:-123.41, Z:-4.15 [[-7.47145766e-01 -6.64640493e-01 5.12052279e-03 2.23816742e+02] [-6.64627092e-01 7.47163272e-01 4.22778732e-03 -1.23405629e+02] [-6.63582521e-03 -2.44464775e-04 -9.99977953e-01 -4.15224919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.021528164320450842 Centerline is valid? [True, True] Translation: X:223.74, Y:-123.44, Z:-4.15 [[-6.95297699e-01 -7.18707008e-01 4.62028289e-03 2.23739307e+02] [-7.18693370e-01 6.95313009e-01 4.43389223e-03 -1.23436443e+02] [-6.39921222e-03 -2.37691613e-04 -9.99979497e-01 -4.15226139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.021086317637783635 Centerline is valid? [True, True] Translation: X:223.66, Y:-123.48, Z:-4.15 [[-6.39559400e-01 -7.68730455e-01 4.15458737e-03 2.23660212e+02] [-7.68716526e-01 6.39572853e-01 4.63347864e-03 -1.23476466e+02] [-6.21905744e-03 -2.30315150e-04 -9.99980635e-01 -4.15225619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.021444455860945868 Centerline is valid? [True, True] Translation: X:223.58, Y:-123.53, Z:-4.15 [[-5.80275162e-01 -8.14412548e-01 3.59693216e-03 2.23580879e+02] [-8.14399152e-01 5.80286270e-01 4.67612101e-03 -1.23526098e+02] [-5.89554197e-03 -2.15901628e-04 -9.99982598e-01 -4.15230321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.02159423158282721 Centerline is valid? [True, True] Translation: X:223.50, Y:-123.58, Z:-4.15 [[-5.18027193e-01 -8.55358490e-01 3.11136693e-03 2.23504835e+02] [-8.55345339e-01 5.18036497e-01 4.74746035e-03 -1.23582787e+02] [-5.67258214e-03 -2.01979637e-04 -9.99983890e-01 -4.15205856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.02063523953123542 Centerline is valid? [True, True] Translation: X:223.43, Y:-123.65, Z:-4.15 [[-4.51532843e-01 -8.92250639e-01 2.62454897e-03 2.23430309e+02] [-8.92237997e-01 4.51540429e-01 4.75371590e-03 -1.23652922e+02] [-5.42659601e-03 -1.95263463e-04 -9.99985257e-01 -4.15225649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.021627582011543092 Centerline is valid? [True, True] Translation: X:223.36, Y:-123.73, Z:-4.15 [[-3.81771755e-01 -9.24252966e-01 2.60418898e-03 2.23357306e+02] [-9.24235426e-01 3.81780567e-01 5.69872078e-03 -1.23730530e+02] [-6.26128833e-03 -2.31273079e-04 -9.99980371e-01 -4.15147716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.023582129451854363 Centerline is valid? [True, True] Translation: X:223.29, Y:-123.81, Z:-4.15 [[-3.08204470e-01 -9.51316713e-01 2.55261264e-03 2.23287730e+02] [-9.51291485e-01 3.08214903e-01 6.93430682e-03 -1.23813736e+02] [-7.38347523e-03 -2.91094308e-04 -9.99972699e-01 -4.15018028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.02494091922440138 Centerline is valid? [True, True] Translation: X:223.23, Y:-123.91, Z:-4.15 [[-2.32955223e-01 -9.72484666e-01 2.33193918e-03 2.23225374e+02] [-9.72450063e-01 2.32966625e-01 8.21135122e-03 -1.23905502e+02] [-8.52867715e-03 -3.54817243e-04 -9.99963567e-01 -4.14950458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.027180504208107234 Centerline is valid? [True, True] Translation: X:223.17, Y:-124.00, Z:-4.15 [[-1.55764441e-01 -9.87792731e-01 1.72053887e-03 2.23168148e+02] [-9.87756553e-01 1.55773477e-01 8.46258520e-03 -1.23997440e+02] [-8.62729446e-03 -3.81303684e-04 -9.99962712e-01 -4.14917522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.023023259615938093 Centerline is valid? [True, True] Translation: X:223.13, Y:-124.10, Z:-4.15 [[-7.94483963e-02 -9.96838429e-01 1.04801960e-03 2.23128120e+02] [-9.96803223e-01 7.94544073e-02 8.38639121e-03 -1.24101288e+02] [-8.44314681e-03 -3.78383985e-04 -9.99964284e-01 -4.15061244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.024167725119144712 Centerline is valid? [True, True] Translation: X:223.09, Y:-124.20, Z:-4.15 [[-4.91134129e-03 -9.99987873e-01 3.63753149e-04 2.23089290e+02] [-9.99959503e-01 4.91394453e-03 7.53957710e-03 -1.24200367e+02] [-7.54127313e-03 -3.26708982e-04 -9.99971511e-01 -4.15089446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.022821858530228153 Centerline is valid? [True, True] Translation: X:223.06, Y:-124.31, Z:-4.15 [[ 6.94653897e-02 -9.97584346e-01 -1.77490102e-04 2.23062172e+02] [-9.97564430e-01 -6.94651254e-02 6.30903194e-03 -1.24310829e+02] [-6.30612088e-03 -2.61201550e-04 -9.99980082e-01 -4.15157835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.02074901431681122 Centerline is valid? [True, True] Translation: X:223.04, Y:-124.42, Z:-4.15 [[ 1.41562694e-01 -9.89929100e-01 -6.16783345e-04 2.23043760e+02] [-9.89911643e-01 -1.41563863e-01 5.88319424e-03 -1.24416269e+02] [-5.91125941e-03 -2.22279812e-04 -9.99982504e-01 -4.15168220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.02033641868209642 Centerline is valid? [True, True] Translation: X:223.03, Y:-124.53, Z:-4.15 [[ 2.13680528e-01 -9.76902829e-01 -1.22227625e-03 2.23032397e+02] [-9.76879973e-01 -2.13683894e-01 6.68667161e-03 -1.24526649e+02] [-6.79340916e-03 -2.34794329e-04 -9.99976897e-01 -4.15075470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.017678904092559473 Centerline is valid? [True, True] Translation: X:223.03, Y:-124.63, Z:-4.15 [[ 2.80315211e-01 -9.59906063e-01 -1.93216521e-03 2.23031970e+02] [-9.59877986e-01 -2.80321795e-01 7.34456145e-03 -1.24632713e+02] [-7.59171709e-03 -2.04149435e-04 -9.99971162e-01 -4.14966080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.013644619578037068 Centerline is valid? [True, True] Translation: X:223.04, Y:-124.74, Z:-4.15 [[ 3.42515656e-01 -9.39509556e-01 -2.19532602e-03 2.23044087e+02] [-9.39488230e-01 -3.42522675e-01 6.33102844e-03 -1.24738842e+02] [-6.70001066e-03 -1.05993400e-04 -9.99977549e-01 -4.15016927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.012182225454535282 Centerline is valid? [True, True] Translation: X:223.06, Y:-124.85, Z:-4.15 [[ 4.05642310e-01 -9.14028330e-01 -2.55509653e-03 2.23062305e+02] [-9.14009453e-01 -4.05650354e-01 5.87444381e-03 -1.24845531e+02] [-6.40588388e-03 -4.75405706e-05 -9.99979481e-01 -4.15037473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.012100042823989946 Centerline is valid? [True, True] Translation: X:223.09, Y:-124.95, Z:-4.15 [[ 4.62503220e-01 -8.86612540e-01 -2.99582707e-03 2.23089640e+02] [-8.86594463e-01 -4.62512921e-01 5.66176073e-03 -1.24947193e+02] [-6.40539679e-03 3.75011244e-05 -9.99979485e-01 -4.15014897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.013184598550859895 Centerline is valid? [True, True] Translation: X:223.12, Y:-125.05, Z:-4.15 [[ 5.22567230e-01 -8.52591674e-01 -3.30574241e-03 2.23121407e+02] [-8.52575587e-01 -5.22577680e-01 5.23810692e-03 -1.25048911e+02] [-6.19347354e-03 8.11322552e-05 -9.99980817e-01 -4.14957626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.014491597300673223 Centerline is valid? [True, True] Translation: X:223.16, Y:-125.15, Z:-4.15 [[ 5.80990225e-01 -8.13901644e-01 -3.80418528e-03 2.23159576e+02] [-8.13885560e-01 -5.81002666e-01 5.11824809e-03 -1.25150433e+02] [-6.37599233e-03 1.22519354e-04 -9.99979666e-01 -4.14889903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.015060112184035133 Centerline is valid? [True, True] Translation: X:223.20, Y:-125.25, Z:-4.15 [[ 6.39636596e-01 -7.68667598e-01 -3.89215661e-03 2.23200810e+02] [-7.68654548e-01 -6.39648425e-01 4.48082847e-03 -1.25248460e+02] [-5.93387950e-03 1.25622005e-04 -9.99982387e-01 -4.14906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.014449293034858882 Centerline is valid? [True, True] Translation: X:223.25, Y:-125.34, Z:-4.15 [[ 6.96465265e-01 -7.17580432e-01 -3.80252233e-03 2.23247926e+02] [-7.17570591e-01 -6.96475636e-01 3.75972448e-03 -1.25344420e+02] [-5.34626887e-03 1.10060689e-04 -9.99985703e-01 -4.14944741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.014123287644733477 Centerline is valid? [True, True] Translation: X:223.27, Y:-125.38, Z:-4.15 [[ 7.52106288e-01 -6.59029995e-01 -3.94937894e-03 2.23265509e+02] [-6.59021557e-01 -7.52116651e-01 3.33636167e-03 -1.25379550e+02] [-5.16915608e-03 9.34272700e-05 -9.99986635e-01 -4.14848959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.013621790224037299 Centerline is valid? [True, True] Translation: X:223.29, Y:-125.41, Z:-4.15 [[ 8.03432503e-01 -5.95378265e-01 -4.57549415e-03 2.23286973e+02] [-5.95369187e-01 -8.03445527e-01 3.28877913e-03 -1.25412654e+02] [-5.63422792e-03 8.17961875e-05 -9.99984124e-01 -4.14716843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.01324076547152364 Centerline is valid? [True, True] Translation: X:223.31, Y:-125.44, Z:-4.15 [[ 8.48373512e-01 -5.29378603e-01 -4.54732736e-03 2.23311892e+02] [-5.29371431e-01 -8.48385697e-01 2.75650999e-03 -1.25441558e+02] [-5.31712490e-03 6.86751270e-05 -9.99985862e-01 -4.14739110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.012401841383454347 Centerline is valid? [True, True] Translation: X:223.34, Y:-125.47, Z:-4.15 [[ 8.89634318e-01 -4.56657923e-01 -3.78429946e-03 2.23336939e+02] [-4.56653946e-01 -8.89642366e-01 1.90626764e-03 -1.25474483e+02] [-4.23718535e-03 3.22341730e-05 -9.99991023e-01 -4.14774206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.01212258149126844 Centerline is valid? [True, True] Translation: X:223.37, Y:-125.50, Z:-4.15 [[ 9.23688304e-01 -3.83122992e-01 -4.08526144e-03 2.23365944e+02] [-3.83119347e-01 -9.23697338e-01 1.67151950e-03 -1.25502250e+02] [-4.41394268e-03 2.11796794e-05 -9.99990258e-01 -4.14728668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.012040664952652335 Centerline is valid? [True, True] Translation: X:223.40, Y:-125.52, Z:-4.15 [[ 9.51593049e-01 -3.07329160e-01 -4.41096338e-03 2.23397269e+02] [-3.07325909e-01 -9.51603272e-01 1.41360233e-03 -1.25524639e+02] [-4.63192840e-03 1.04291837e-05 -9.99989273e-01 -4.14639423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.01211595716630027 Centerline is valid? [True, True] Translation: X:223.43, Y:-125.54, Z:-4.15 [[ 9.73554595e-01 -2.28418705e-01 -4.04308958e-03 2.23432060e+02] [-2.28416710e-01 -9.73562990e-01 9.54633455e-04 -1.25544769e+02] [-4.15425852e-03 -5.87856534e-06 -9.99991371e-01 -4.14613541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.012194399855633963 Centerline is valid? [True, True] Translation: X:223.47, Y:-125.56, Z:-4.15 [[ 9.88899952e-01 -1.48526297e-01 -4.10175490e-03 2.23468350e+02] [-1.48524940e-01 -9.88908458e-01 6.35164785e-04 -1.25561548e+02] [-4.15059879e-03 -1.89015243e-05 -9.99991386e-01 -4.14686667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.012323820391179421 Centerline is valid? [True, True] Translation: X:223.50, Y:-125.57, Z:-4.15 [[ 9.97598556e-01 -6.91385332e-02 -4.12109006e-03 2.23504926e+02] [-6.91378388e-02 -9.97607068e-01 3.10890819e-04 -1.25574115e+02] [-4.13272311e-03 -2.52209716e-05 -9.99991460e-01 -4.14705276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.012657128592478433 Centerline is valid? [True, True] Translation: X:223.54, Y:-125.58, Z:-4.15 [[ 9.99920587e-01 1.17836835e-02 -4.46824996e-03 2.23540031e+02] [ 1.17837405e-02 -9.99930569e-01 -1.35701284e-05 -1.25584106e+02] [-4.46809963e-03 -3.90836474e-05 -9.99990017e-01 -4.14759509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.013208889467044342 Centerline is valid? [True, True] Translation: X:223.58, Y:-125.59, Z:-4.15 [[ 9.95629796e-01 9.31816389e-02 -6.20408260e-03 2.23576415e+02] [ 9.31802980e-02 -9.95649123e-01 -5.05479173e-04 -1.25590726e+02] [-6.22419078e-03 -7.48281398e-05 -9.99980627e-01 -4.14561257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.013941086334157778 Centerline is valid? [True, True] Translation: X:223.61, Y:-125.59, Z:-4.15 [[ 9.84899646e-01 1.73017335e-01 -6.13921010e-03 2.23611471e+02] [ 1.73014533e-01 -9.84918775e-01 -9.88588015e-04 -1.25592008e+02] [-6.21766616e-03 -8.85125857e-05 -9.99980666e-01 -4.14550354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.014423526864498404 Centerline is valid? [True, True] Translation: X:223.65, Y:-125.59, Z:-4.15 [[ 9.67823855e-01 2.51572084e-01 -5.33592515e-03 2.23646149e+02] [ 2.51568767e-01 -9.67838560e-01 -1.29489439e-03 -1.25586880e+02] [-5.49007340e-03 -8.91224318e-05 -9.99984925e-01 -4.14659180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.014231111402195856 Centerline is valid? [True, True] Translation: X:223.68, Y:-125.58, Z:-4.15 [[ 9.45258564e-01 3.26285664e-01 -4.89009591e-03 2.23680435e+02] [ 3.26281745e-01 -9.45271209e-01 -1.60125493e-03 -1.25579436e+02] [-5.14493340e-03 -8.19490953e-05 -9.99986761e-01 -4.14700507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.01401941629051198 Centerline is valid? [True, True] Translation: X:223.71, Y:-125.57, Z:-4.15 [[ 9.17517331e-01 3.97678313e-01 -3.72931001e-03 2.23711924e+02] [ 3.97675279e-01 -9.17524908e-01 -1.55436893e-03 -1.25566492e+02] [-4.03987363e-03 -5.68939694e-05 -9.99991838e-01 -4.14735805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.012739059957963208 Centerline is valid? [True, True] Translation: X:223.74, Y:-125.55, Z:-4.15 [[ 8.85528810e-01 4.64569526e-01 -3.72601581e-03 2.23743274e+02] [ 4.64565608e-01 -8.85536648e-01 -1.90818438e-03 -1.25551909e+02] [-4.18600786e-03 -4.12265648e-05 -9.99991238e-01 -4.14701134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.012211873089015125 Centerline is valid? [True, True] Translation: X:223.77, Y:-125.54, Z:-4.15 [[ 8.48791674e-01 5.28706820e-01 -4.66827513e-03 2.23774119e+02] [ 5.28699017e-01 -8.48804511e-01 -2.87246670e-03 -1.25537360e+02] [-5.48114572e-03 -2.99866550e-05 -9.99984978e-01 -4.14589771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.011982007668690215 Centerline is valid? [True, True] Translation: X:223.80, Y:-125.52, Z:-4.15 [[ 8.08148192e-01 5.88954805e-01 -5.36069047e-03 2.23802533e+02] [ 5.88941841e-01 -8.08165971e-01 -3.90777587e-03 -1.25518407e+02] [-6.63383100e-03 9.27090730e-07 -9.99977996e-01 -4.14559664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.012665464303821821 Centerline is valid? [True, True] Translation: X:223.83, Y:-125.50, Z:-4.15 [[ 7.65373912e-01 6.43567475e-01 -4.86623269e-03 2.23826621e+02] [ 6.43553980e-01 -7.65389379e-01 -4.16812733e-03 -1.25496197e+02] [-6.40703400e-03 5.84925009e-05 -9.99979473e-01 -4.14655980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.01362932598849448 Centerline is valid? [True, True] Translation: X:223.85, Y:-125.48, Z:-4.15 [[ 7.17689858e-01 6.96351510e-01 -3.98012661e-03 2.23851484e+02] [ 6.96340083e-01 -7.17700889e-01 -3.99046631e-03 -1.25476090e+02] [-5.63530765e-03 9.23955126e-05 -9.99984117e-01 -4.14768749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.014497580517419058 Centerline is valid? [True, True] Translation: X:223.88, Y:-125.46, Z:-4.15 [[ 6.63091081e-01 7.48527841e-01 -4.03594723e-03 2.23876615e+02] [ 7.48512867e-01 -6.63103353e-01 -4.73617421e-03 -1.25455887e+02] [-6.22140839e-03 1.19556446e-04 -9.99980640e-01 -4.14754318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.014859460030113899 Centerline is valid? [True, True] Translation: X:223.90, Y:-125.43, Z:-4.15 [[ 6.02753914e-01 7.97916521e-01 -4.11626856e-03 2.23898691e+02] [ 7.97896341e-01 -6.02767954e-01 -5.67660021e-03 -1.25433658e+02] [-7.01060787e-03 1.37237381e-04 -9.99975416e-01 -4.14797321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.014382755569748346 Centerline is valid? [True, True] Translation: X:223.92, Y:-125.41, Z:-4.15 [[ 5.36983911e-01 8.43584381e-01 -3.69759871e-03 2.23922808e+02] [ 8.43562736e-01 -5.36996626e-01 -6.04432901e-03 -1.25413027e+02] [-7.08449958e-03 1.26550948e-04 -9.99974897e-01 -4.14878247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.013184395377238504 Centerline is valid? [True, True] Translation: X:223.95, Y:-125.39, Z:-4.15 [[ 4.64172241e-01 8.85738694e-01 -3.33115179e-03 2.23948781e+02] [ 8.85714496e-01 -4.64184186e-01 -6.54771203e-03 -1.25392153e+02] [-7.34582989e-03 8.88167360e-05 -9.99973015e-01 -4.14984366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.012234663931986639 Centerline is valid? [True, True] Translation: X:223.97, Y:-125.37, Z:-4.15 [[ 3.84170752e-01 9.23257973e-01 -2.74756872e-03 2.23972810e+02] [ 9.23234076e-01 -3.84180577e-01 -6.64271757e-03 -1.25370355e+02] [-7.18850449e-03 1.52887386e-05 -9.99974162e-01 -4.14998347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.01246860497469492 Centerline is valid? [True, True] Translation: X:224.00, Y:-125.35, Z:-4.15 [[ 3.02703332e-01 9.53081758e-01 -2.41958571e-03 2.23996723e+02] [ 9.53052600e-01 -3.02712998e-01 -7.45533109e-03 -1.25345855e+02] [-7.83798011e-03 -4.92388884e-05 -9.99969281e-01 -4.15009419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.012875313042169045 Centerline is valid? [True, True] Translation: X:224.01, Y:-125.32, Z:-4.15 [[ 2.24330743e-01 9.74511187e-01 -1.91440030e-03 2.24014046e+02] [ 9.74478510e-01 -2.24338899e-01 -7.98068297e-03 -1.25319293e+02] [-8.20673928e-03 -7.52294152e-05 -9.99966321e-01 -4.14923305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.013802070295569561 Centerline is valid? [True, True] Translation: X:224.03, Y:-125.29, Z:-4.15 [[ 1.41682681e-01 9.89910867e-01 -1.57900861e-03 2.24030032e+02] [ 9.89860650e-01 -1.41691400e-01 -9.97203109e-03 -1.25290220e+02] [-1.00951539e-02 -1.50134391e-04 -9.99949031e-01 -4.14883219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.015345940228075401 Centerline is valid? [True, True] Translation: X:224.05, Y:-125.26, Z:-4.15 [[ 5.57293380e-02 9.98445518e-01 -8.87819137e-04 2.24045606e+02] [ 9.98381967e-01 -5.57358103e-02 -1.12680165e-02 -1.25260547e+02] [-1.12999839e-02 -2.58423515e-04 -9.99936120e-01 -4.14892039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.017019543831140106 Centerline is valid? [True, True] Translation: X:224.06, Y:-125.23, Z:-4.15 [[-2.66631607e-02 9.99644475e-01 -2.08216045e-06 2.24056447e+02] [ 9.99578899e-01 2.66613877e-02 -1.14540478e-02 -1.25229916e+02] [-1.14499201e-02 -3.07482400e-04 -9.99934400e-01 -4.14906740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.017177363359497586 Centerline is valid? [True, True] Translation: X:224.06, Y:-125.20, Z:-4.15 [[-1.06712846e-01 9.94289476e-01 8.97669477e-04 2.24061485e+02] [ 9.94223524e-01 1.06716111e-01 -1.14567096e-02 -1.25197891e+02] [-1.14870816e-02 -3.30093982e-04 -9.99933967e-01 -4.14981956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.01680508146006305 Centerline is valid? [True, True] Translation: X:224.06, Y:-125.17, Z:-4.15 [[-1.82835549e-01 9.83141672e-01 1.90127748e-03 2.24062893e+02] [ 9.83068010e-01 1.82845133e-01 -1.20393204e-02 -1.25166411e+02] [-1.21839969e-02 -3.32130684e-04 -9.99925717e-01 -4.15036937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.016265091447320426 Centerline is valid? [True, True] Translation: X:224.06, Y:-125.14, Z:-4.15 [[-2.55698386e-01 9.66751611e-01 3.10788023e-03 2.24058225e+02] [ 9.66664546e-01 2.55717079e-01 -1.29780864e-02 -1.25136553e+02] [-1.33413240e-02 -3.14198111e-04 -9.99910951e-01 -4.14961764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.015061605654998948 Centerline is valid? [True, True] Translation: X:224.05, Y:-125.11, Z:-4.15 [[-3.26856850e-01 9.45063742e-01 4.37295818e-03 2.24049153e+02] [ 9.44967491e-01 3.26885983e-01 -1.34905795e-02 -1.25107795e+02] [-1.41789163e-02 -2.77184996e-04 -9.99899436e-01 -4.14977925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.014199929408257591 Centerline is valid? [True, True] Translation: X:224.04, Y:-125.08, Z:-4.15 [[-3.98646420e-01 9.17086791e-01 5.73142488e-03 2.24044104e+02] [ 9.16981961e-01 3.98687525e-01 -1.38686871e-02 -1.25076891e+02] [-1.50038374e-02 -2.73089250e-04 -9.99887399e-01 -4.15053090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.01402657257504261 Centerline is valid? [True, True] Translation: X:224.04, Y:-125.05, Z:-4.15 [[-4.66839187e-01 8.84313657e-01 7.10843279e-03 2.24035905e+02] [ 8.84203124e-01 4.66893240e-01 -1.39834759e-02 -1.25049287e+02] [-1.56846579e-02 -2.42736035e-04 -9.99876959e-01 -4.14945071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.013891151272690742 Centerline is valid? [True, True] Translation: X:224.02, Y:-125.03, Z:-4.15 [[-5.32088773e-01 8.46648220e-01 8.26614302e-03 2.24020694e+02] [ 8.46540254e-01 5.32152941e-01 -1.35220923e-02 -1.25025553e+02] [-1.58473077e-02 -1.97330709e-04 -9.99874404e-01 -4.14903942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.013370673428887616 Centerline is valid? [True, True] Translation: X:224.00, Y:-125.00, Z:-4.15 [[-5.96997911e-01 8.02195375e-01 8.72207792e-03 2.24004936e+02] [ 8.02105115e-01 5.97061592e-01 -1.20349485e-02 -1.25001476e+02] [-1.48619978e-02 -1.88815816e-04 -9.99889537e-01 -4.15256924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.013551137060276258 Centerline is valid? [True, True] Translation: X:223.99, Y:-124.97, Z:-4.15 [[-6.59570709e-01 7.51589061e-01 8.96455149e-03 2.23991659e+02] [ 7.51515410e-01 6.59631595e-01 -1.05236561e-02 -1.24974989e+02] [-1.38227662e-02 -2.04096714e-04 -9.99904440e-01 -4.15376415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.015081606245307163 Centerline is valid? [True, True] Translation: X:223.98, Y:-124.95, Z:-4.15 [[-7.20213322e-01 6.93681289e-01 9.95190173e-03 2.23977773e+02] [ 6.93609553e-01 7.20282020e-01 -9.97992937e-03 -1.24948597e+02] [-1.40910662e-02 -2.84943968e-04 -9.99900675e-01 -4.15346839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.016009831298187744 Centerline is valid? [True, True] Translation: X:223.96, Y:-124.92, Z:-4.15 [[-7.75072807e-01 6.31773605e-01 1.11470071e-02 2.23961506e+02] [ 6.31701512e-01 7.75152877e-01 -9.55078439e-03 -1.24922298e+02] [-1.46745681e-02 -3.60972002e-04 -9.99892258e-01 -4.15375575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.017826937945017773 Centerline is valid? [True, True] Translation: X:223.97, Y:-124.89, Z:-4.15 [[-8.20865833e-01 5.70986114e-01 1.24153814e-02 2.23968408e+02] [ 5.70912217e-01 8.20959588e-01 -9.19756383e-03 -1.24890724e+02] [-1.54442076e-02 -4.61872971e-04 -9.99880624e-01 -4.15289550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.018400530254816697 Centerline is valid? [True, True] Translation: X:224.00, Y:-124.88, Z:-4.15 [[-8.60139020e-01 5.09904698e-01 1.25724040e-02 2.23995017e+02] [ 5.09842132e-01 8.60230769e-01 -8.00158515e-03 -1.24876987e+02] [-1.48952146e-02 -4.72534363e-04 -9.99888948e-01 -4.15349015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.018498944556456755 Centerline is valid? [True, True] Translation: X:224.01, Y:-124.86, Z:-4.15 [[-8.94433148e-01 4.47023869e-01 1.26097229e-02 2.24007640e+02] [ 4.46972021e-01 8.94521907e-01 -6.82424088e-03 -1.24855481e+02] [-1.43302719e-02 -4.67633908e-04 -9.99897207e-01 -4.15408242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.0175094495860021 Centerline is valid? [True, True] Translation: X:224.01, Y:-124.83, Z:-4.15 [[-9.23384982e-01 3.83669176e-01 1.25753342e-02 2.24013304e+02] [ 3.83627160e-01 9.23470506e-01 -5.69446377e-03 -1.24832777e+02] [-1.37977405e-02 -4.33942562e-04 -9.99904713e-01 -4.15439461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.018743023667897096 Centerline is valid? [True, True] Translation: X:224.02, Y:-124.81, Z:-4.15 [[-9.48640799e-01 3.16090888e-01 1.29300322e-02 2.24024779e+02] [ 3.16055013e-01 9.48728806e-01 -4.78349794e-03 -1.24807723e+02] [-1.37791141e-02 -4.51219818e-04 -9.99904962e-01 -4.15377443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.01906078656482099 Centerline is valid? [True, True] Translation: X:224.03, Y:-124.78, Z:-4.15 [[-9.68888594e-01 2.47157615e-01 1.29616884e-02 2.24033738e+02] [ 2.47129195e-01 9.68975184e-01 -3.77555976e-03 -1.24782607e+02] [-1.34927128e-02 -4.54885164e-04 -9.99908866e-01 -4.15308268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.019728984225854913 Centerline is valid? [True, True] Translation: X:224.04, Y:-124.76, Z:-4.15 [[-9.84119052e-01 1.77084887e-01 1.22733189e-02 2.24043802e+02] [ 1.77065613e-01 9.84195486e-01 -2.64829045e-03 -1.24757067e+02] [-1.25483173e-02 -4.33050353e-04 -9.99921173e-01 -4.15296523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.018985529299850444 Centerline is valid? [True, True] Translation: X:224.05, Y:-124.73, Z:-4.15 [[-9.94148812e-01 1.07355839e-01 1.19525494e-02 2.24048861e+02] [ 1.07343108e-01 9.94220577e-01 -1.70353505e-03 -1.24732313e+02] [-1.20663549e-02 -4.10543551e-04 -9.99927115e-01 -4.15336448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.020508365961248196 Centerline is valid? [True, True] Translation: X:224.05, Y:-124.70, Z:-4.15 [[-9.99223372e-01 3.76257586e-02 1.17027451e-02 2.24049154e+02] [ 3.76186473e-02 9.99291826e-01 -8.27267616e-04 -1.24703483e+02] [-1.17255841e-02 -3.86383695e-04 -9.99931178e-01 -4.15259146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.018362422717600656 Centerline is valid? [True, True] Translation: X:224.05, Y:-124.68, Z:-4.15 [[-9.99411395e-01 -3.25705178e-02 1.07714769e-02 2.24049753e+02] [-3.25723548e-02 9.99469380e-01 4.88777514e-06 -1.24680023e+02] [-1.07659206e-02 -3.45967470e-04 -9.99941986e-01 -4.15463745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.018313429487172087 Centerline is valid? [True, True] Translation: X:224.04, Y:-124.65, Z:-4.15 [[-9.94701593e-01 -1.02235070e-01 1.08041859e-02 2.24044035e+02] [-1.02232687e-01 9.94760212e-01 7.74117178e-04 -1.24653667e+02] [-1.08267162e-02 -3.34525363e-04 -9.99941333e-01 -4.15428271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.01816246111404006 Centerline is valid? [True, True] Translation: X:224.00, Y:-123.97, Z:-5.10 [[-9.99572323e-01 -2.67520860e-02 1.18108704e-02 2.24001171e+02] [ 2.67552854e-02 -9.99642007e-01 1.12937045e-04 -1.23972726e+02] [ 1.18036209e-02 4.28891953e-04 9.99930243e-01 -5.10345437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.01842752022970446 Centerline is valid? [True, True] Translation: X:223.98, Y:-124.66, Z:-4.15 [[-9.94056900e-01 -1.08086687e-01 1.29671946e-02 2.23979181e+02] [-1.08082963e-01 9.94141385e-01 9.89701631e-04 -1.24657768e+02] [-1.29981984e-02 -4.17713084e-04 -9.99915433e-01 -4.15282649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.019006060731842335 Centerline is valid? [True, True] Translation: X:223.93, Y:-123.98, Z:-5.10 [[-9.99623274e-01 -2.42690026e-02 1.28189337e-02 2.23930081e+02] [ 2.42721286e-02 -9.99705385e-01 8.83197183e-05 -1.23980352e+02] [ 1.28130136e-02 3.99429254e-04 9.99917830e-01 -5.10408968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.01936817901293078 Centerline is valid? [True, True] Translation: X:223.91, Y:-124.66, Z:-4.15 [[-9.93332388e-01 -1.14718601e-01 1.14197277e-02 2.23910631e+02] [-1.14715542e-01 9.93397951e-01 9.24736734e-04 -1.24659667e+02] [-1.14504186e-02 -3.91449300e-04 -9.99934365e-01 -4.15347263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.020630932114496722 Centerline is valid? [True, True] Translation: X:223.90, Y:-124.63, Z:-4.15 [[-9.82625336e-01 -1.85365194e-01 9.33772697e-03 2.23896282e+02] [-1.85359960e-01 9.82669649e-01 1.43049676e-03 -1.24631448e+02] [-9.44106520e-03 -3.25198338e-04 -9.99955379e-01 -4.15373866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.020461451816048287 Centerline is valid? [True, True] Translation: X:223.89, Y:-124.60, Z:-4.15 [[-9.67119953e-01 -2.54191099e-01 8.11681271e-03 2.23891379e+02] [-2.54184568e-01 9.67153973e-01 1.84356635e-03 -1.24604831e+02] [-8.31882581e-03 -2.80218727e-04 -9.99965359e-01 -4.15490510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.017393774829331576 Centerline is valid? [True, True] Translation: X:223.87, Y:-124.59, Z:-4.16 [[-9.46908069e-01 -3.21430587e-01 6.89099958e-03 2.23870670e+02] [-3.21423865e-01 9.46933114e-01 2.09191492e-03 -1.24585832e+02] [-7.19772113e-03 -2.34080596e-04 -9.99974069e-01 -4.15665518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.01777871935605604 Centerline is valid? [True, True] Translation: X:223.85, Y:-124.56, Z:-4.16 [[-9.22384470e-01 -3.86221661e-01 6.30233278e-03 2.23848778e+02] [-3.86214114e-01 9.22405979e-01 2.42264065e-03 -1.24561519e+02] [-6.74898573e-03 -1.99443761e-04 -9.99977205e-01 -4.15559816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.015290030189351567 Centerline is valid? [True, True] Translation: X:223.80, Y:-124.56, Z:-4.15 [[-8.94645344e-01 -4.46710088e-01 7.73339250e-03 2.23800843e+02] [-4.46695300e-01 8.94678746e-01 3.64018330e-03 -1.24555502e+02] [-8.54500850e-03 -1.97797040e-04 -9.99963471e-01 -4.15407507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.01313081637348024 Centerline is valid? [True, True] Translation: X:223.74, Y:-124.56, Z:-4.15 [[-8.64176837e-01 -5.03124099e-01 8.03335796e-03 2.23741561e+02] [-5.03103701e-01 8.64214166e-01 4.53223612e-03 -1.24561689e+02] [-9.22281897e-03 -1.24958639e-04 -9.99957461e-01 -4.15368469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.012731940550272132 Centerline is valid? [True, True] Translation: X:223.68, Y:-124.57, Z:-4.15 [[-8.26493169e-01 -5.62896456e-01 7.52473563e-03 2.23675458e+02] [-5.62874109e-01 8.26527417e-01 5.01652662e-03 -1.24572006e+02] [-9.04318536e-03 -8.93538828e-05 -9.99959106e-01 -4.15311346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.011736045842652167 Centerline is valid? [True, True] Translation: X:223.60, Y:-124.60, Z:-4.15 [[-7.88060188e-01 -6.15558744e-01 6.96939754e-03 2.23604130e+02] [-6.15534693e-01 7.88091006e-01 5.44133610e-03 -1.24596460e+02] [-8.84198153e-03 -1.80562527e-06 -9.99960909e-01 -4.15441628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.01187356728051906 Centerline is valid? [True, True] Translation: X:223.52, Y:-124.63, Z:-4.16 [[-7.43802519e-01 -6.68377324e-01 5.43738199e-03 2.23523271e+02] [-6.68359033e-01 7.43822392e-01 4.94494970e-03 -1.24630781e+02] [-7.34953873e-03 4.39426783e-05 -9.99972991e-01 -4.15523281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.012153217626421388 Centerline is valid? [True, True] Translation: X:223.44, Y:-124.67, Z:-4.16 [[-6.92650199e-01 -7.21257869e-01 4.77380800e-03 2.23441667e+02] [-7.21240199e-01 6.92666647e-01 5.04895938e-03 -1.24672527e+02] [-6.94825926e-03 5.41004824e-05 -9.99975859e-01 -4.15514075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.012145980113342277 Centerline is valid? [True, True] Translation: X:223.36, Y:-124.73, Z:-4.16 [[-6.36343732e-01 -7.71393205e-01 4.37929329e-03 2.23356428e+02] [-7.71374335e-01 6.36358798e-01 5.39587458e-03 -1.24726664e+02] [-6.94914280e-03 5.55565207e-05 -9.99975853e-01 -4.15542830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.011973748552016892 Centerline is valid? [True, True] Translation: X:223.27, Y:-124.79, Z:-4.16 [[-5.74841675e-01 -8.18254125e-01 4.15158299e-03 2.23272913e+02] [-8.18232181e-01 5.74856664e-01 5.99280040e-03 -1.24785347e+02] [-7.29019880e-03 4.79526107e-05 -9.99973425e-01 -4.15559402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.011720695614759342 Centerline is valid? [True, True] Translation: X:223.19, Y:-124.86, Z:-4.16 [[-5.09008656e-01 -8.60754462e-01 3.45599591e-03 2.23188067e+02] [-8.60734238e-01 5.09020388e-01 5.90047491e-03 -1.24860301e+02] [-6.83803248e-03 2.86987945e-05 -9.99976620e-01 -4.15582445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.011671937216561675 Centerline is valid? [True, True] Translation: X:223.11, Y:-124.94, Z:-4.16 [[-4.37178816e-01 -8.99370310e-01 2.77991929e-03 2.23108466e+02] [-8.99352244e-01 4.37187654e-01 5.70054899e-03 -1.24936961e+02] [-6.34225091e-03 -7.96739572e-06 -9.99979888e-01 -4.15574080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.01205922709763488 Centerline is valid? [True, True] Translation: X:223.03, Y:-125.02, Z:-4.15 [[-3.61660311e-01 -9.32305975e-01 2.71828278e-03 2.23033043e+02] [-9.32280780e-01 3.61670522e-01 6.85424787e-03 -1.25022252e+02] [-7.37337899e-03 -5.52933762e-05 -9.99972815e-01 -4.15412069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.012868574268158418 Centerline is valid? [True, True] Translation: X:222.97, Y:-125.12, Z:-4.15 [[-2.85550170e-01 -9.58360708e-01 2.41957985e-03 2.22966672e+02] [-9.58329072e-01 2.85560405e-01 7.78749109e-03 -1.25115746e+02] [-8.15416168e-03 -9.50343060e-05 -9.99966750e-01 -4.15238733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.013915833440340065 Centerline is valid? [True, True] Translation: X:222.91, Y:-125.22, Z:-4.15 [[-2.06015387e-01 -9.78546588e-01 2.05803320e-03 2.22906190e+02] [-9.78505262e-01 2.06025603e-01 8.99463691e-03 -1.25220302e+02] [-9.22567879e-03 -1.60762709e-04 -9.99957430e-01 -4.15179173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.016878939795174797 Centerline is valid? [True, True] Translation: X:222.85, Y:-125.31, Z:-4.15 [[-1.27105478e-01 -9.91888233e-01 1.38967350e-03 2.22854914e+02] [-9.91844971e-01 1.27112917e-01 9.26602620e-03 -1.25312716e+02] [-9.36750780e-03 -2.00577978e-04 -9.99956104e-01 -4.15037116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.01608137323941035 Centerline is valid? [True, True] Translation: X:222.82, Y:-125.42, Z:-4.15 [[-4.58935129e-02 -9.98946115e-01 6.66269570e-04 2.22816653e+02] [-9.98903879e-01 4.58977014e-02 9.18917534e-03 -1.25423012e+02] [-9.21007125e-03 -2.43815721e-04 -9.99957557e-01 -4.15250792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.01769645870346095 Centerline is valid? [True, True] Translation: X:222.78, Y:-125.54, Z:-4.15 [[ 3.27843233e-02 -9.99462449e-01 -3.82224383e-05 2.22783351e+02] [-9.99420905e-01 -3.27833092e-02 9.11640928e-03 -1.25535629e+02] [-9.11276180e-03 -2.60675005e-04 -9.99958444e-01 -4.15151260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.017377108610678697 Centerline is valid? [True, True] Translation: X:222.76, Y:-125.65, Z:-4.15 [[ 1.10538531e-01 -9.93871568e-01 -7.34671464e-04 2.22763319e+02] [-9.93830179e-01 -1.10540635e-01 9.07431252e-03 -1.25647953e+02] [-9.09991227e-03 -2.72922500e-04 -9.99958558e-01 -4.15197965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.019389072406157223 Centerline is valid? [True, True] Translation: X:222.75, Y:-125.76, Z:-4.15 [[ 1.88293282e-01 -9.82111778e-01 -1.44763819e-03 2.22748427e+02] [-9.82069425e-01 -1.88298614e-01 9.12562870e-03 -1.25763184e+02] [-9.23497569e-03 -2.96613382e-04 -9.99957313e-01 -4.15104641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.02121316982113252 Centerline is valid? [True, True] Translation: X:222.74, Y:-125.88, Z:-4.15 [[ 2.64688803e-01 -9.64331162e-01 -2.29093428e-03 2.22743056e+02] [-9.64283288e-01 -2.64698504e-01 9.61474397e-03 -1.25880630e+02] [-9.87820410e-03 -3.35805429e-04 -9.99951153e-01 -4.14998764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.019883334560595232 Centerline is valid? [True, True] Translation: X:222.75, Y:-126.00, Z:-4.15 [[ 3.40486829e-01 -9.40244955e-01 -2.85385988e-03 2.22752416e+02] [-9.40202916e-01 -3.40498612e-01 8.89787406e-03 -1.25998133e+02] [-9.33791652e-03 -3.46401537e-04 -9.99956341e-01 -4.15129802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.020784838416549576 Centerline is valid? [True, True] Translation: X:222.76, Y:-126.11, Z:-4.15 [[ 4.12716576e-01 -9.10853577e-01 -3.28475402e-03 2.22764841e+02] [-9.10817973e-01 -4.12729511e-01 8.06044375e-03 -1.26110283e+02] [-8.69759894e-03 -3.34865742e-04 -9.99962119e-01 -4.15232756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.021944961913827027 Centerline is valid? [True, True] Translation: X:222.78, Y:-126.22, Z:-4.15 [[ 4.81797317e-01 -8.76276497e-01 -3.29351951e-03 2.22784444e+02] [-8.76251769e-01 -4.81808487e-01 6.58935355e-03 -1.26218310e+02] [-7.36094130e-03 -2.88780566e-04 -9.99972866e-01 -4.15217260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.020919749479873642 Centerline is valid? [True, True] Translation: X:222.82, Y:-126.33, Z:-4.15 [[ 5.46147822e-01 -8.37681465e-01 -3.50987617e-03 2.22817500e+02] [-8.37661033e-01 -5.46159039e-01 5.85643322e-03 -1.26325892e+02] [-6.82277616e-03 -2.58391754e-04 -9.99976691e-01 -4.15177526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.02051753695604794 Centerline is valid? [True, True] Translation: X:222.86, Y:-126.43, Z:-4.15 [[ 6.07447558e-01 -7.94349183e-01 -4.10371499e-03 2.22856321e+02] [-7.94328098e-01 -6.07461364e-01 5.79345311e-03 -1.26429951e+02] [-7.09487305e-03 -2.59522818e-04 -9.99974797e-01 -4.15121738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.020937483104757574 Centerline is valid? [True, True] Translation: X:222.90, Y:-126.53, Z:-4.15 [[ 6.65297732e-01 -7.46562768e-01 -4.79176587e-03 2.22898659e+02] [-7.46540477e-01 -6.65314935e-01 5.77523581e-03 -1.26527409e+02] [-7.49960943e-03 -2.65004109e-04 -9.99971842e-01 -4.15109031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.021745680422847212 Centerline is valid? [True, True] Translation: X:222.95, Y:-126.62, Z:-4.15 [[ 7.19683839e-01 -6.94283953e-01 -4.99643442e-03 2.22948503e+02] [-6.94264781e-01 -7.19701140e-01 5.16559065e-03 -1.26622933e+02] [-7.18232625e-03 -2.48743666e-04 -9.99974176e-01 -4.15132917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.01956081863504959 Centerline is valid? [True, True] Translation: X:223.00, Y:-126.71, Z:-4.15 [[ 7.70120068e-01 -6.37877354e-01 -5.24996392e-03 2.23003349e+02] [-6.37860368e-01 -7.70137925e-01 4.66132674e-03 -1.26707462e+02] [-7.01655109e-03 -2.41037344e-04 -9.99975355e-01 -4.15172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.020246476073168432 Centerline is valid? [True, True] Translation: X:223.03, Y:-126.73, Z:-4.15 [[ 8.17932814e-01 -5.75290671e-01 -5.15315791e-03 2.23027245e+02] [-5.75277498e-01 -8.17949016e-01 3.89967864e-03 -1.26734872e+02] [-6.45846918e-03 -2.25179337e-04 -9.99979119e-01 -4.15188718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.02311874078691194 Centerline is valid? [True, True] Translation: X:223.05, Y:-126.76, Z:-4.15 [[ 8.61298070e-01 -5.08073505e-01 -5.19113370e-03 2.23050690e+02] [-5.08062680e-01 -8.61313684e-01 3.32418626e-03 -1.26761395e+02] [-6.16012545e-03 -2.25693908e-04 -9.99981001e-01 -4.15180371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.021915097434346286 Centerline is valid? [True, True] Translation: X:223.08, Y:-126.78, Z:-4.15 [[ 8.99288106e-01 -4.37322908e-01 -5.43847354e-03 2.23079473e+02] [-4.37313291e-01 -8.99304518e-01 2.91005867e-03 -1.26782327e+02] [-6.16347914e-03 -2.38664384e-04 -9.99980977e-01 -4.15259799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.022885144727737082 Centerline is valid? [True, True] Translation: X:223.11, Y:-126.80, Z:-4.15 [[ 9.31520212e-01 -3.63636950e-01 -6.18572757e-03 2.23108777e+02] [-3.63626947e-01 -9.31540709e-01 2.71127294e-03 -1.26804488e+02] [-6.74817607e-03 -2.76308313e-04 -9.99977193e-01 -4.15202853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.02311526362707195 Centerline is valid? [True, True] Translation: X:223.14, Y:-126.82, Z:-4.15 [[ 9.56998551e-01 -2.90023837e-01 -6.32040284e-03 2.23140512e+02] [-2.90015627e-01 -9.57019383e-01 2.19903982e-03 -1.26822268e+02] [-6.68652199e-03 -2.71462324e-04 -9.99977608e-01 -4.15157055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.021069136813656186 Centerline is valid? [True, True] Translation: X:223.17, Y:-126.83, Z:-4.15 [[ 9.76118050e-01 -2.17172859e-01 -5.43151926e-03 2.23174094e+02] [-2.17168289e-01 -9.76133139e-01 1.42465334e-03 -1.26834589e+02] [-5.61128198e-03 -2.11076092e-04 -9.99984234e-01 -4.15246524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.01983133501233301 Centerline is valid? [True, True] Translation: X:223.21, Y:-126.85, Z:-4.15 [[ 9.89875846e-01 -1.41866761e-01 -4.43082485e-03 2.23208033e+02] [-1.41864608e-01 -9.89885749e-01 7.98230126e-04 -1.26847743e+02] [-4.49925270e-03 -1.61571492e-04 -9.99989865e-01 -4.15398867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.01925793761140684 Centerline is valid? [True, True] Translation: X:223.24, Y:-126.86, Z:-4.15 [[ 9.97896073e-01 -6.46695496e-02 -4.61261236e-03 2.23241906e+02] [-6.46681020e-02 -9.97906720e-01 4.62440366e-04 -1.26860039e+02] [-4.63286268e-03 -1.63178539e-04 -9.99989255e-01 -4.15352042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.020234963411128525 Centerline is valid? [True, True] Translation: X:223.27, Y:-126.87, Z:-4.15 [[ 9.99881740e-01 1.35938153e-02 -7.19128943e-03 2.23272420e+02] [ 1.35952841e-02 -9.99907568e-01 1.55397426e-04 -1.26870791e+02] [-7.18851228e-03 -2.53146672e-04 -9.99974130e-01 -4.15134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.01949375410521464 Centerline is valid? [True, True] Translation: X:223.30, Y:-126.88, Z:-4.15 [[ 9.95720232e-01 9.19044720e-02 -9.73588598e-03 2.23304737e+02] [ 9.19034492e-02 -9.95767769e-01 -5.53343821e-04 -1.26876885e+02] [-9.74553623e-03 -3.43785864e-04 -9.99952452e-01 -4.15000517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.020300858426563886 Centerline is valid? [True, True] Translation: X:223.34, Y:-126.88, Z:-4.15 [[ 9.85465124e-01 1.69562247e-01 -1.03505496e-02 2.23336814e+02] [ 1.69556804e-01 -9.85519411e-01 -1.40758875e-03 -1.26881376e+02] [-1.04393415e-02 -3.67876482e-04 -9.99945441e-01 -4.14945401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.02062549434776257 Centerline is valid? [True, True] Translation: X:223.37, Y:-126.88, Z:-4.15 [[ 9.69165747e-01 2.46201552e-01 -1.01267422e-02 2.23369494e+02] [ 2.46192027e-01 -9.69218584e-01 -2.19610097e-03 -1.26880549e+02] [-1.03557102e-02 -3.64737364e-04 -9.99946312e-01 -4.15027800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.02132308880643942 Centerline is valid? [True, True] Translation: X:223.40, Y:-126.88, Z:-4.15 [[ 9.46901516e-01 3.21396172e-01 -9.05644812e-03 2.23401235e+02] [ 3.21384823e-01 -9.46944766e-01 -2.72145522e-03 -1.26876104e+02] [-9.45062143e-03 -3.33654899e-04 -9.99955286e-01 -4.15118695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.019281825899686432 Centerline is valid? [True, True] Translation: X:223.43, Y:-126.87, Z:-4.15 [[ 9.19063315e-01 3.94032133e-01 -7.82949251e-03 2.23433496e+02] [ 3.94020517e-01 -9.19096618e-01 -3.03948350e-03 -1.26869332e+02] [-8.39371425e-03 -2.91502910e-04 -9.99964730e-01 -4.15368752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.020562033735923305 Centerline is valid? [True, True] Translation: X:223.47, Y:-126.86, Z:-4.15 [[ 8.85341795e-01 4.64887540e-01 -7.03434579e-03 2.23465588e+02] [ 4.64875286e-01 -8.85369698e-01 -3.38636774e-03 -1.26864406e+02] [-7.80227678e-03 -2.72000621e-04 -9.99969525e-01 -4.15363035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.019550962528205682 Centerline is valid? [True, True] Translation: X:223.50, Y:-126.85, Z:-4.15 [[ 8.46009785e-01 5.33115431e-01 -7.44187615e-03 2.23497005e+02] [ 5.33097930e-01 -8.46042461e-01 -4.33030111e-03 -1.26854048e+02] [-8.60469355e-03 -3.03771661e-04 -9.99962933e-01 -4.15411908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.020522746745283635 Centerline is valid? [True, True] Translation: X:223.53, Y:-126.84, Z:-4.15 [[ 8.01563907e-01 5.97857578e-01 -7.84976272e-03 2.23527839e+02] [ 5.97832997e-01 -8.01602271e-01 -5.43192702e-03 -1.26843172e+02] [-9.53990636e-03 -3.38810533e-04 -9.99954437e-01 -4.15403774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.019613493475166194 Centerline is valid? [True, True] Translation: X:223.56, Y:-126.83, Z:-4.15 [[ 7.52816236e-01 6.58178238e-01 -8.31395942e-03 2.23557075e+02] [ 6.58143477e-01 -7.52862052e-01 -6.77457317e-03 -1.26828298e+02] [-1.07181412e-02 -3.71769488e-04 -9.99942490e-01 -4.15382248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.019344319277266982 Centerline is valid? [True, True] Translation: X:223.58, Y:-126.81, Z:-4.15 [[ 7.00150486e-01 7.13952587e-01 -7.81028934e-03 2.23584620e+02] [ 7.13913755e-01 -7.00193956e-01 -7.45483527e-03 -1.26810174e+02] [-1.07911163e-02 -3.56366452e-04 -9.99941711e-01 -4.15372257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.01630682609021012 Centerline is valid? [True, True] Translation: X:223.61, Y:-126.79, Z:-4.16 [[ 6.46074452e-01 7.63250715e-01 -6.01235176e-03 2.23610100e+02] [ 7.63221226e-01 -6.46102378e-01 -6.71397335e-03 -1.26789506e+02] [-9.00903973e-03 -2.51027825e-04 -9.99959386e-01 -4.15564654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.014685377006613381 Centerline is valid? [True, True] Translation: X:223.63, Y:-126.77, Z:-4.16 [[ 5.89716536e-01 8.07598262e-01 -4.41072297e-03 2.23633541e+02] [ 8.07577603e-01 -5.89733010e-01 -5.77851351e-03 -1.26767392e+02] [-7.26786640e-03 -1.54316117e-04 -9.99973577e-01 -4.15693422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.013686433345559882 Centerline is valid? [True, True] Translation: X:223.66, Y:-126.74, Z:-4.16 [[ 5.27998256e-01 8.49236127e-01 -3.98015354e-03 2.23656061e+02] [ 8.49213785e-01 -5.28013242e-01 -6.16151971e-03 -1.26744881e+02] [-7.33415891e-03 -1.26729592e-04 -9.99973097e-01 -4.15714599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.012840032917277318 Centerline is valid? [True, True] Translation: X:223.68, Y:-126.72, Z:-4.16 [[ 4.63745249e-01 8.85960657e-01 -3.74951479e-03 2.23677169e+02] [ 8.85933456e-01 -4.63760395e-01 -6.94310463e-03 -1.26720810e+02] [-7.89019400e-03 -1.01988813e-04 -9.99968867e-01 -4.15669141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.012213304048446899 Centerline is valid? [True, True] Translation: X:223.70, Y:-126.70, Z:-4.16 [[ 3.95742475e-01 9.18355603e-01 -3.29834916e-03 2.23697178e+02] [ 9.18325387e-01 -3.95756212e-01 -7.45015755e-03 -1.26696597e+02] [-8.14723610e-03 -8.06139781e-05 -9.99966807e-01 -4.15657564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.012045283293456001 Centerline is valid? [True, True] Translation: X:223.71, Y:-126.67, Z:-4.16 [[ 3.24305827e-01 9.45949213e-01 -2.41167763e-03 2.23713778e+02] [ 9.45924390e-01 -3.24314789e-01 -6.85320600e-03 -1.26671783e+02] [-7.26492754e-03 -5.87300471e-05 -9.99973608e-01 -4.15657431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.011730616667039317 Centerline is valid? [True, True] Translation: X:223.73, Y:-126.65, Z:-4.16 [[ 2.50529282e-01 9.68107540e-01 -1.69417265e-03 2.23730943e+02] [ 9.68086579e-01 -2.50535006e-01 -6.37070450e-03 -1.26645375e+02] [-6.59197662e-03 -4.40577857e-05 -9.99978272e-01 -4.15717325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.011862212253994506 Centerline is valid? [True, True] Translation: X:223.75, Y:-126.62, Z:-4.16 [[ 1.74733405e-01 9.84615319e-01 -9.54661627e-04 2.23745536e+02] [ 9.84601576e-01 -1.74736010e-01 -5.20216746e-03 -1.26618162e+02] [-5.28894753e-03 -3.09689108e-05 -9.99986013e-01 -4.15606598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.011940428033043987 Centerline is valid? [True, True] Translation: X:223.76, Y:-126.59, Z:-4.16 [[ 9.51669796e-02 9.95461222e-01 -4.48093426e-04 2.23757239e+02] [ 9.95451801e-01 -9.51680285e-02 -4.33113110e-03 -1.26589316e+02] [-4.35411723e-03 -3.38747425e-05 -9.99990520e-01 -4.15673764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.012707305233908641 Centerline is valid? [True, True] Translation: X:223.77, Y:-126.56, Z:-4.16 [[ 1.41645711e-02 9.99899674e-01 -8.31261286e-05 2.23767559e+02] [ 9.99894004e-01 -1.41647708e-02 -3.36757435e-03 -1.26560727e+02] [-3.36841395e-03 -3.54170711e-05 -9.99994326e-01 -4.15641333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.013603062641286833 Centerline is valid? [True, True] Translation: X:223.78, Y:-126.53, Z:-4.16 [[-7.04728722e-02 9.97513683e-01 1.60636001e-04 2.23778117e+02] [ 9.97509218e-01 7.04730374e-02 -2.98520624e-03 -1.26530171e+02] [-2.98910458e-03 -5.01401664e-05 -9.99995531e-01 -4.15531981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.01434776843715531 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.50, Z:-4.15 [[-1.51979960e-01 9.88383491e-01 4.09327970e-04 2.23785780e+02] [ 9.88378696e-01 1.51980498e-01 -3.07926225e-03 -1.26498253e+02] [-3.10570184e-03 -6.34151075e-05 -9.99995175e-01 -4.15443496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.01666730631597386 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.47, Z:-4.15 [[-2.34780133e-01 9.72048339e-01 5.61487431e-04 2.23790814e+02] [ 9.72044794e-01 2.34780793e-01 -2.62631596e-03 -1.26467281e+02] [-2.68473253e-03 -7.08158744e-05 -9.99996394e-01 -4.15454023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.020086983720323557 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.44, Z:-4.15 [[-3.17740140e-01 9.48175992e-01 1.86876177e-03 2.23791688e+02] [ 9.48155164e-01 3.17745554e-01 -6.28876578e-03 -1.26435002e+02] [-6.55664748e-03 -2.26317198e-04 -9.99978479e-01 -4.15169323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.021069911753644793 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.40, Z:-4.15 [[-3.95793105e-01 9.18333967e-01 3.24686619e-03 2.23788952e+02] [ 9.18295240e-01 3.95806259e-01 -8.44139157e-03 -1.26402558e+02] [-9.03714657e-03 -3.59462816e-04 -9.99959100e-01 -4.14961654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.02388979002059772 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.37, Z:-4.15 [[-4.72642096e-01 8.81246977e-01 3.63518354e-03 2.23785806e+02] [ 8.81214200e-01 4.72655911e-01 -7.61079171e-03 -1.26369972e+02] [-8.42517818e-03 -3.93805189e-04 -9.99964430e-01 -4.15028393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.028750007496846836 Centerline is valid? [True, True] Translation: X:223.78, Y:-126.34, Z:-4.15 [[-5.43016381e-01 8.39714570e-01 3.55684925e-03 2.23782195e+02] [ 8.39692094e-01 5.43027913e-01 -6.15400418e-03 -1.26336745e+02] [-7.09907540e-03 -3.55066876e-04 -9.99974738e-01 -4.15037806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.030259891158070096 Centerline is valid? [True, True] Translation: X:223.77, Y:-126.31, Z:-4.15 [[-6.09909816e-01 7.92463393e-01 3.43322759e-03 2.23768476e+02] [ 7.92447740e-01 6.09919393e-01 -4.99130119e-03 -1.26306904e+02] [-6.04941556e-03 -3.23590149e-04 -9.99981650e-01 -4.15196165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.029449460025911037 Centerline is valid? [True, True] Translation: X:223.75, Y:-126.28, Z:-4.15 [[-6.69511600e-01 7.42799369e-01 1.82069176e-03 2.23751712e+02] [ 7.42795987e-01 6.69514058e-01 -2.24647624e-03 -1.26278556e+02] [-2.88765986e-03 -1.51639373e-04 -9.99995819e-01 -4.15438173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.02393504782593832 Centerline is valid? [True, True] Translation: X:223.73, Y:-126.25, Z:-4.16 [[-7.22983224e-01 6.90865229e-01 7.03041439e-04 2.23730794e+02] [ 6.90864834e-01 7.22983564e-01 -7.39707691e-04 -1.26253738e+02] [-1.01932573e-03 -4.90896440e-05 -9.99999479e-01 -4.15606593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.021603519879009134 Centerline is valid? [True, True] Translation: X:223.71, Y:-126.23, Z:-4.16 [[-7.68808364e-01 6.39479133e-01 -3.71721941e-04 2.23710246e+02] [ 6.39479045e-01 7.68808453e-01 3.35777717e-04 -1.26230613e+02] [ 5.00505814e-04 2.04403249e-05 -9.99999875e-01 -4.15703686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.017398421227392 Centerline is valid? [True, True] Translation: X:223.73, Y:-126.22, Z:-4.15 [[-8.05317517e-01 5.92843597e-01 4.06972853e-04 2.23726026e+02] [ 5.92843513e-01 8.05317620e-01 -3.16484403e-04 -1.26217774e+02] [-5.15368161e-04 -1.35992178e-05 -9.99999867e-01 -4.15480468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.012989590696979018 Centerline is valid? [True, True] Translation: X:223.74, Y:-126.21, Z:-4.15 [[-8.38365954e-01 5.45101509e-01 2.62151955e-03 2.23744232e+02] [ 5.45098670e-01 8.38370051e-01 -1.76005063e-03 -1.26210043e+02] [-3.15720973e-03 -4.65797002e-05 -9.99995015e-01 -4.15106931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.011339579551697364 Centerline is valid? [True, True] Translation: X:223.76, Y:-126.20, Z:-4.15 [[-8.68578835e-01 4.95541146e-01 3.12748788e-03 2.23758508e+02] [ 4.95537904e-01 8.68584465e-01 -1.79243039e-03 -1.26199440e+02] [-3.60471039e-03 -7.07831324e-06 -9.99993503e-01 -4.15100221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:223.77, Y:-126.18, Z:-4.15 [[-8.99386817e-01 4.37122355e-01 5.23461762e-03 2.23770691e+02] [ 4.37115055e-01 8.99402050e-01 -2.52630983e-03 -1.26182566e+02] [-5.81233232e-03 1.60004158e-05 -9.99983108e-01 -4.14698976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:223.78, Y:-126.16, Z:-4.15 [[-9.28080719e-01 3.72339918e-01 5.40038404e-03 2.23781038e+02] [ 3.72333715e-01 9.28096431e-01 -2.14932393e-03 -1.26157390e+02] [-5.81235625e-03 1.59989564e-05 -9.99983108e-01 -4.14698951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:223.78, Y:-126.13, Z:-4.15 [[-9.52746577e-01 3.03708825e-01 5.90845251e-03 2.23784877e+02] [ 3.03703014e-01 9.52764897e-01 -1.87877276e-03 -1.26129181e+02] [-6.19996602e-03 4.42051556e-06 -9.99980780e-01 -4.14699338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:223.79, Y:-126.10, Z:-4.15 [[-9.71875544e-01 2.35417936e-01 6.02677469e-03 2.23790837e+02] [ 2.35413438e-01 9.71894231e-01 -1.45529407e-03 -1.26102717e+02] [-6.19998988e-03 4.41902989e-06 -9.99980780e-01 -4.14699312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:223.95, Y:-125.46, Z:-5.11 [[-9.53606791e-01 -3.00984696e-01 6.50389403e-03 2.23951924e+02] [ 3.00977943e-01 -9.53628970e-01 -2.01651530e-03 -1.25458456e+02] [ 6.80924201e-03 3.45659565e-05 9.99976816e-01 -5.10977232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:223.75, Y:-126.09, Z:-4.15 [[-9.73213470e-01 2.29808289e-01 6.60996468e-03 2.23747046e+02] [ 2.29802929e-01 9.73235917e-01 -1.56958679e-03 -1.26092463e+02] [-6.79375909e-03 -8.55376601e-06 -9.99976922e-01 -4.14700232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:223.75, Y:-126.07, Z:-4.15 [[-9.87062625e-01 1.60194952e-01 6.70466897e-03 2.23750433e+02] [ 1.60191197e-01 9.87085395e-01 -1.09677485e-03 -1.26065478e+02] [-6.79377861e-03 -8.55651316e-06 -9.99976922e-01 -4.14700210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.011389564471964875 Centerline is valid? [True, True] Translation: X:223.86, Y:-125.41, Z:-5.11 [[-9.73115344e-01 -2.30225179e-01 6.54932931e-03 2.23860304e+02] [ 2.30219994e-01 -9.73137384e-01 -1.54503854e-03 -1.25411914e+02] [ 6.72910397e-03 4.28585030e-06 9.99977359e-01 -5.11051746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.011498021075318752 Centerline is valid? [True, True] Translation: X:223.70, Y:-126.06, Z:-4.15 [[-9.88280758e-01 1.52534057e-01 5.87416100e-03 2.23699138e+02] [ 1.52531178e-01 9.88298214e-01 -9.37755742e-04 -1.26055424e+02] [-5.94846251e-03 -3.07732609e-05 -9.99982307e-01 -4.14584485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.011823857465334063 Centerline is valid? [True, True] Translation: X:223.70, Y:-126.03, Z:-4.15 [[-9.96681572e-01 8.12311429e-02 5.22930092e-03 2.23700321e+02] [ 8.12298590e-02 9.96695290e-01 -4.57786056e-04 -1.26030166e+02] [-5.24920608e-03 -3.14915496e-05 -9.99986222e-01 -4.14664480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.011976235476964019 Centerline is valid? [True, True] Translation: X:223.70, Y:-126.00, Z:-4.15 [[-9.99944708e-01 9.10676346e-03 5.25814449e-03 2.23698674e+02] [ 9.10643881e-03 9.99958532e-01 -8.56813006e-05 -1.26003449e+02] [-5.25870672e-03 -3.77935921e-05 -9.99986172e-01 -4.14712917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.012202612480972212 Centerline is valid? [True, True] Translation: X:223.69, Y:-125.98, Z:-4.15 [[-9.97898588e-01 -6.45533785e-02 5.59184628e-03 2.23690424e+02] [-6.45526723e-02 9.97914254e-01 3.06878364e-04 -1.25975563e+02] [-5.59999314e-03 -5.47351343e-05 -9.99984318e-01 -4.14693935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.013247241585661295 Centerline is valid? [True, True] Translation: X:223.65, Y:-125.32, Z:-5.11 [[-9.99591781e-01 -2.76608707e-02 7.15177992e-03 2.23654031e+02] [ 2.76614454e-02 -9.99617349e-01 -1.85672638e-05 -1.25317467e+02] [ 7.14955687e-03 1.79268885e-04 9.99974426e-01 -5.11155726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.01429808580917642 Centerline is valid? [True, True] Translation: X:223.62, Y:-125.98, Z:-4.14 [[-9.96973730e-01 -7.72266263e-02 8.91234097e-03 2.23620084e+02] [-7.72249784e-02 9.97013552e-01 5.29399425e-04 -1.25977962e+02] [-8.92660846e-03 -1.60458020e-04 -9.99960144e-01 -4.14371485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.013785511753777048 Centerline is valid? [True, True] Translation: X:223.58, Y:-125.32, Z:-5.11 [[-9.99613528e-01 -2.61660698e-02 9.38782075e-03 2.23581519e+02] [ 2.61667834e-02 -9.99657590e-01 -4.68330539e-05 -1.25317858e+02] [ 9.38583171e-03 1.98834118e-04 9.99955932e-01 -5.11268006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.013388282707788444 Centerline is valid? [True, True] Translation: X:223.55, Y:-125.99, Z:-4.14 [[-9.96697199e-01 -8.07627209e-02 8.48974070e-03 2.23549749e+02] [-8.07610238e-02 9.96733346e-01 5.43100319e-04 -1.25989397e+02] [-8.50586991e-03 -1.44333584e-04 -9.99963814e-01 -4.14453848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.013681696012576619 Centerline is valid? [True, True] Translation: X:223.51, Y:-125.32, Z:-5.11 [[-9.99769947e-01 -1.99494683e-02 7.87859415e-03 2.23513713e+02] [ 1.99495801e-02 -9.99800985e-01 -6.44116590e-05 -1.25315747e+02] [ 7.87831118e-03 9.27778040e-05 9.99968961e-01 -5.11196645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.013272051118542388 Centerline is valid? [True, True] Translation: X:223.49, Y:-126.00, Z:-4.15 [[-9.96381833e-01 -8.46414505e-02 7.68549556e-03 2.23485928e+02] [-8.46398923e-02 9.96411466e-01 5.28356508e-04 -1.26001399e+02] [-7.70263676e-03 -1.24054691e-04 -9.99970327e-01 -4.14562663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.01363250173737093 Centerline is valid? [True, True] Translation: X:223.44, Y:-125.31, Z:-5.11 [[-9.99851235e-01 -1.51699332e-02 8.20862751e-03 2.23443634e+02] [ 1.51707804e-02 -9.99884916e-01 4.09452802e-05 -1.25313362e+02] [ 8.20706169e-03 1.65470474e-04 9.99966308e-01 -5.11155540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.013986959831041198 Centerline is valid? [True, True] Translation: X:223.42, Y:-126.01, Z:-4.14 [[-9.95768196e-01 -9.15375911e-02 8.15906124e-03 2.23417249e+02] [-9.15357418e-02 9.95801610e-01 6.00583242e-04 -1.26011815e+02] [-8.17978227e-03 -1.48804032e-04 -9.99966534e-01 -4.14490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.014552839244468868 Centerline is valid? [True, True] Translation: X:223.37, Y:-125.31, Z:-5.11 [[-9.99857548e-01 -1.50285391e-02 7.68288398e-03 2.23365274e+02] [ 1.50289076e-02 -9.99887060e-01 -9.77391634e-06 -1.25312618e+02] [ 7.68216316e-03 1.05692829e-04 9.99970486e-01 -5.11102698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.015332113790606625 Centerline is valid? [True, True] Translation: X:223.34, Y:-126.02, Z:-4.15 [[-9.94814122e-01 -1.01424219e-01 7.61515462e-03 2.23340274e+02] [-1.01422612e-01 9.94843252e-01 5.97800103e-04 -1.26020834e+02] [-7.63651660e-03 -1.77648891e-04 -9.99970826e-01 -4.14571186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.016233216489652584 Centerline is valid? [True, True] Translation: X:223.28, Y:-125.32, Z:-5.11 [[-9.99857418e-01 -1.49066918e-02 7.93309580e-03 2.23284994e+02] [ 1.49078455e-02 -9.99888868e-01 8.63044041e-05 -1.25317322e+02] [ 7.93092767e-03 2.04557465e-04 9.99968529e-01 -5.11152142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.016419008115470913 Centerline is valid? [True, True] Translation: X:223.26, Y:-126.03, Z:-4.15 [[-9.93929264e-01 -1.09746926e-01 7.76079875e-03 2.23262646e+02] [-1.09745217e-01 9.93959541e-01 6.47023051e-04 -1.26028913e+02] [-7.78492876e-03 -2.08615397e-04 -9.99969675e-01 -4.14542217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.016365887212535866 Centerline is valid? [True, True] Translation: X:223.26, Y:-126.00, Z:-4.15 [[-9.83526786e-01 -1.80546077e-01 8.84171037e-03 2.23262973e+02] [-1.80540995e-01 9.83566498e-01 1.37621002e-03 -1.26004138e+02] [-8.94487942e-03 -2.42751775e-04 -9.99959964e-01 -4.14538165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.01739548895163185 Centerline is valid? [True, True] Translation: X:223.25, Y:-125.98, Z:-4.15 [[-9.68249932e-01 -2.49822621e-01 8.98488285e-03 2.23251982e+02] [-2.49814227e-01 9.68291587e-01 2.06279305e-03 -1.25978308e+02] [-9.21531883e-03 -2.47252334e-04 -9.99957507e-01 -4.14543841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.018495016652310556 Centerline is valid? [True, True] Translation: X:223.24, Y:-125.95, Z:-4.15 [[-9.47852499e-01 -3.18590212e-01 8.71299152e-03 2.23235168e+02] [-3.18579121e-01 9.47892513e-01 2.66964944e-03 -1.25953355e+02] [-9.10950361e-03 -2.45343287e-04 -9.99958478e-01 -4.14517669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.017398437710100037 Centerline is valid? [True, True] Translation: X:223.21, Y:-125.94, Z:-4.15 [[-9.21986598e-01 -3.87105201e-01 9.50139584e-03 2.23205321e+02] [-3.87087833e-01 9.22035510e-01 3.67812163e-03 -1.25936311e+02] [-1.01844444e-02 -2.86695874e-04 -9.99948096e-01 -4.14516083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.018260105158466697 Centerline is valid? [True, True] Translation: X:223.15, Y:-125.93, Z:-4.14 [[-8.91443763e-01 -4.53015544e-01 1.02437194e-02 2.23154234e+02] [-4.52989698e-01 8.91502561e-01 4.84947251e-03 -1.25926817e+02] [-1.13291885e-02 -3.17267352e-04 -9.99935772e-01 -4.14348830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.017100515899219834 Centerline is valid? [True, True] Translation: X:223.10, Y:-125.93, Z:-4.14 [[-8.55474635e-01 -5.17746380e-01 1.00913764e-02 2.23097502e+02] [-5.17714842e-01 8.55534090e-01 5.72392175e-03 -1.25928121e+02] [-1.15970563e-02 -3.27785488e-04 -9.99932698e-01 -4.14471920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.017352936753082953 Centerline is valid? [True, True] Translation: X:223.03, Y:-125.94, Z:-4.15 [[-8.14482900e-01 -5.80113278e-01 9.28393054e-03 2.23026230e+02] [-5.80080057e-01 8.14535746e-01 6.21655049e-03 -1.25939847e+02] [-1.11683968e-02 -3.22148889e-04 -9.99937580e-01 -4.14573769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.017123908526787426 Centerline is valid? [True, True] Translation: X:222.95, Y:-125.96, Z:-4.15 [[-7.69146027e-01 -6.39012837e-01 8.77401242e-03 2.22948302e+02] [-6.38975929e-01 7.69196005e-01 6.87519069e-03 -1.25963345e+02] [-1.11422704e-02 -3.18357136e-04 -9.99937872e-01 -4.14560692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.016708064520817013 Centerline is valid? [True, True] Translation: X:222.87, Y:-125.99, Z:-4.15 [[-7.19483355e-01 -6.94467591e-01 7.64634126e-03 2.22871588e+02] [-6.94432580e-01 7.19523927e-01 6.97929466e-03 -1.25992916e+02] [-1.03486194e-02 -2.88382145e-04 -9.99946410e-01 -4.14635244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.017340357022211803 Centerline is valid? [True, True] Translation: X:222.79, Y:-126.03, Z:-4.15 [[-6.64895325e-01 -7.46903755e-01 6.99906514e-03 2.22790198e+02] [-7.46866861e-01 6.64932100e-01 7.42925142e-03 -1.26032955e+02] [-1.02028389e-02 -2.87695269e-04 -9.99947908e-01 -4.14643826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.018249341055993767 Centerline is valid? [True, True] Translation: X:222.71, Y:-126.08, Z:-4.15 [[-6.05243672e-01 -7.96011727e-01 6.73999616e-03 2.22705883e+02] [-7.95968162e-01 6.05281114e-01 8.33417438e-03 -1.26084557e+02] [-1.07136929e-02 -3.20616049e-04 -9.99942555e-01 -4.14593506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.01854506536175792 Centerline is valid? [True, True] Translation: X:222.62, Y:-126.15, Z:-4.15 [[-5.42086059e-01 -8.40301076e-01 6.06687560e-03 2.22624750e+02] [-8.40255172e-01 5.42119905e-01 8.78946509e-03 -1.26146008e+02] [-1.06747710e-02 -3.33077108e-04 -9.99942968e-01 -4.14598608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.019930265761348143 Centerline is valid? [True, True] Translation: X:222.54, Y:-126.22, Z:-4.15 [[-4.74783806e-01 -8.80084504e-01 5.62173070e-03 2.22544852e+02] [-8.80031820e-01 4.74816942e-01 9.63681144e-03 -1.26215839e+02] [-1.11505014e-02 -3.71899884e-04 -9.99937762e-01 -4.14541225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.02051473910945318 Centerline is valid? [True, True] Translation: X:222.47, Y:-126.29, Z:-4.14 [[-4.04953252e-01 -9.14322383e-01 5.23872220e-03 2.22473328e+02] [-9.14258775e-01 4.04986920e-01 1.07928940e-02 -1.26287480e+02] [-1.19897985e-02 -4.18930221e-04 -9.99928032e-01 -4.14423241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.01969017048433151 Centerline is valid? [True, True] Translation: X:222.40, Y:-126.38, Z:-4.14 [[-3.33549375e-01 -9.42721042e-01 4.67459862e-03 2.22404004e+02] [-9.42646570e-01 3.33581825e-01 1.18579590e-02 -1.26379228e+02] [-1.27381086e-02 -4.51279527e-04 -9.99918765e-01 -4.14377519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.022145066042110837 Centerline is valid? [True, True] Translation: X:222.34, Y:-126.47, Z:-4.14 [[-2.60815540e-01 -9.65381509e-01 3.71436241e-03 2.22340750e+02] [-9.65306363e-01 2.60841614e-01 1.20531266e-02 -1.26466914e+02] [-1.26047259e-02 -4.41854935e-04 -9.99920460e-01 -4.14261181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.019931881273470883 Centerline is valid? [True, True] Translation: X:222.29, Y:-126.57, Z:-4.15 [[-1.88050909e-01 -9.82156492e-01 2.34131820e-03 2.22289713e+02] [-9.82101939e-01 1.88065155e-01 1.03575541e-02 -1.26568656e+02] [-1.06130594e-02 -3.51665670e-04 -9.99943618e-01 -4.14501188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.01685332546372265 Centerline is valid? [True, True] Translation: X:222.25, Y:-126.67, Z:-4.15 [[-1.16211641e-01 -9.93223611e-01 1.30907253e-03 2.22249218e+02] [-9.93183472e-01 1.16218718e-01 8.93316521e-03 -1.26671282e+02] [-9.02476934e-03 -2.62011412e-04 -9.99959242e-01 -4.14721084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.015858914954388896 Centerline is valid? [True, True] Translation: X:222.21, Y:-126.79, Z:-4.15 [[-4.19271988e-02 -9.99120487e-01 6.01317057e-04 2.22211232e+02] [-9.99082273e-01 4.19308562e-02 8.74156561e-03 -1.26792984e+02] [-8.75909104e-03 -2.34255853e-04 -9.99961611e-01 -4.14764431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.015191513526057642 Centerline is valid? [True, True] Translation: X:221.51, Y:-126.84, Z:-5.11 [[-1.58220050e-01 9.87403171e-01 1.18068180e-03 2.21508509e+02] [-9.87361593e-01 -1.58224228e-01 9.06526674e-03 -1.26842957e+02] [ 9.13788559e-03 2.68547102e-04 9.99958213e-01 -5.11014533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.014722149480232668 Centerline is valid? [True, True] Translation: X:222.19, Y:-127.06, Z:-4.15 [[-3.91345657e-02 -9.99233783e-01 5.76533327e-04 2.22192263e+02] [-9.99186185e-01 3.91383299e-02 9.75490172e-03 -1.27056359e+02] [-9.76999190e-03 -1.94310293e-04 -9.99952254e-01 -4.14556304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.013557217192308292 Centerline is valid? [True, True] Translation: X:222.17, Y:-127.17, Z:-4.15 [[ 3.47565970e-02 -9.99395787e-01 -1.99251719e-04 2.22165327e+02] [-9.99334282e-01 -3.47566688e-02 1.10890594e-02 -1.27167061e+02] [-1.10892846e-02 -1.86298896e-04 -9.99938495e-01 -4.14648329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.012777382255742827 Centerline is valid? [True, True] Translation: X:222.14, Y:-127.28, Z:-4.15 [[ 1.07697669e-01 -9.94183007e-01 -1.16641974e-03 2.22144980e+02] [-9.94107237e-01 -1.07703863e-01 1.22751108e-02 -1.27279581e+02] [-1.23293345e-02 -1.62454515e-04 -9.99923978e-01 -4.14577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.012292562414339982 Centerline is valid? [True, True] Translation: X:222.13, Y:-127.40, Z:-4.15 [[ 1.81083128e-01 -9.83465351e-01 -2.19168428e-03 2.22134434e+02] [-9.83384165e-01 -1.81096342e-01 1.26371708e-02 -1.27400459e+02] [-1.28251256e-02 -1.33110810e-04 -9.99917746e-01 -4.14551988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.011947333439768807 Centerline is valid? [True, True] Translation: X:222.13, Y:-127.52, Z:-4.15 [[ 2.53751903e-01 -9.67264394e-01 -3.09245952e-03 2.22130798e+02] [-9.67187759e-01 -2.53770726e-01 1.21761027e-02 -1.27515860e+02] [-1.25622863e-02 -9.87202351e-05 -9.99921087e-01 -4.14641863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.011817683036905233 Centerline is valid? [True, True] Translation: X:222.14, Y:-127.64, Z:-4.15 [[ 3.25316146e-01 -9.45597445e-01 -3.85708188e-03 2.22136639e+02] [-9.45528453e-01 -3.25339004e-01 1.14226295e-02 -1.27635431e+02] [-1.20560685e-02 -6.89851612e-05 -9.99927321e-01 -4.14650903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.011486110681725616 Centerline is valid? [True, True] Translation: X:222.15, Y:-127.75, Z:-4.15 [[ 3.94672357e-01 -9.18811743e-01 -4.32570171e-03 2.22152119e+02] [-9.18755554e-01 -3.94696060e-01 1.01612667e-02 -1.27754752e+02] [-1.10436286e-02 -3.61085891e-05 -9.99939017e-01 -4.14823849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.011271290251234573 Centerline is valid? [True, True] Translation: X:222.17, Y:-127.86, Z:-4.15 [[ 4.63499094e-01 -8.86084294e-01 -4.81812095e-03 2.22170699e+02] [-8.86035780e-01 -4.63524135e-01 9.27214167e-03 -1.27864411e+02] [-1.04492144e-02 -2.86017055e-05 -9.99945405e-01 -4.14990457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.011383886108389491 Centerline is valid? [True, True] Translation: X:222.20, Y:-127.98, Z:-4.15 [[ 5.31426513e-01 -8.47083900e-01 -5.89311365e-03 2.22196881e+02] [-8.47030763e-01 -5.31459184e-01 9.48795623e-03 -1.27978280e+02] [-1.11690443e-02 -5.05029335e-05 -9.99937623e-01 -4.14906733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.011475617039117581 Centerline is valid? [True, True] Translation: X:222.23, Y:-128.09, Z:-4.15 [[ 5.96457933e-01 -8.02617096e-01 -6.61300236e-03 2.22232557e+02] [-8.02566331e-01 -5.96494587e-01 9.02728574e-03 -1.28087899e+02] [-1.11900740e-02 -7.70231527e-05 -9.99937386e-01 -4.14848055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.011841765249721706 Centerline is valid? [True, True] Translation: X:222.28, Y:-128.20, Z:-4.15 [[ 6.58917600e-01 -7.52174980e-01 -7.77149802e-03 2.22275206e+02] [-7.52120308e-01 -6.58963415e-01 9.06972459e-03 -1.28195614e+02] [-1.19431528e-02 -1.31099670e-04 -9.99928669e-01 -4.14951201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.01228861451981384 Centerline is valid? [True, True] Translation: X:222.32, Y:-128.29, Z:-4.15 [[ 7.15968642e-01 -6.98085585e-01 -8.08821311e-03 2.22323053e+02] [-6.98038585e-01 -7.16014310e-01 8.10195542e-03 -1.28293826e+02] [-1.14471346e-02 -1.54861186e-04 -9.99934467e-01 -4.15011743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.012905549586796962 Centerline is valid? [True, True] Translation: X:222.37, Y:-128.39, Z:-4.15 [[ 7.69099349e-01 -6.39065169e-01 -9.04999666e-03 2.22371802e+02] [-6.39017768e-01 -7.69152565e-01 7.78612441e-03 -1.28385494e+02] [-1.19366691e-02 -2.05194548e-04 -9.99928734e-01 -4.15011424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.013681768665736015 Centerline is valid? [True, True] Translation: X:222.39, Y:-128.42, Z:-4.15 [[ 8.18810175e-01 -5.73974602e-01 -1.01515007e-02 2.22390181e+02] [-5.73926486e-01 -8.18873059e-01 7.43649739e-03 -1.28420360e+02] [-1.25811510e-02 -2.62864622e-04 -9.99920820e-01 -4.14947000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.015266307166168861 Centerline is valid? [True, True] Translation: X:222.41, Y:-128.45, Z:-4.15 [[ 8.61992525e-01 -5.06801759e-01 -1.09937985e-02 2.22411817e+02] [-5.06756213e-01 -8.62062581e-01 6.80053980e-03 -1.28450743e+02] [-1.29238678e-02 -2.90838788e-04 -9.99916441e-01 -4.14783640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.015841946291449187 Centerline is valid? [True, True] Translation: X:222.44, Y:-128.47, Z:-4.15 [[ 8.99409905e-01 -4.36966069e-01 -1.10669241e-02 2.22440373e+02] [-4.36928968e-01 -8.99477943e-01 5.70154175e-03 -1.28473961e+02] [-1.24458344e-02 -2.92563378e-04 -9.99922505e-01 -4.14869775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.014375721877580254 Centerline is valid? [True, True] Translation: X:222.47, Y:-128.50, Z:-4.15 [[ 9.30574401e-01 -3.65962532e-01 -1.01345931e-02 2.22470905e+02] [-3.65937884e-01 -9.30629552e-01 4.25468682e-03 -1.28495345e+02] [-1.09886078e-02 -2.50671064e-04 -9.99939592e-01 -4.15217563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.013951300033686479 Centerline is valid? [True, True] Translation: X:222.50, Y:-128.52, Z:-4.15 [[ 9.56040046e-01 -2.93084615e-01 -9.42544363e-03 2.22502173e+02] [-2.93068138e-01 -9.56086482e-01 3.11530792e-03 -1.28515901e+02] [-9.92458807e-03 -2.16061911e-04 -9.99950727e-01 -4.15290728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.013057467836015028 Centerline is valid? [True, True] Translation: X:222.54, Y:-128.53, Z:-4.15 [[ 9.75242314e-01 -2.20920210e-01 -9.83311327e-03 2.22535577e+02] [-2.20907073e-01 -9.75291867e-01 2.41627730e-03 -1.28531507e+02] [-1.01239599e-02 -1.84251597e-04 -9.99948734e-01 -4.15255852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.01325335230672171 Centerline is valid? [True, True] Translation: X:222.57, Y:-128.54, Z:-4.15 [[ 9.89284362e-01 -1.45633633e-01 -1.03584102e-02 2.22569142e+02] [-1.45623812e-01 -9.89338574e-01 1.70020893e-03 -1.28544918e+02] [-1.04955824e-02 -1.73558925e-04 -9.99944905e-01 -4.15132163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.01150474100151734 Centerline is valid? [True, True] Translation: X:222.60, Y:-128.55, Z:-4.15 [[ 9.97205023e-01 -7.37799478e-02 -1.17754185e-02 2.22601575e+02] [-7.37733361e-02 -9.97274538e-01 9.95466350e-04 -1.28552167e+02] [-1.18167705e-02 -1.23972136e-04 -9.99930172e-01 -4.15106055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.011042671799481922 Centerline is valid? [True, True] Translation: X:222.63, Y:-128.56, Z:-4.15 [[ 9.99932071e-01 -5.05851013e-05 -1.16555361e-02 2.22632811e+02] [-4.97801370e-05 -9.99999996e-01 6.93528612e-05 -1.28557404e+02] [-1.16555396e-02 -6.87679359e-05 -9.99932070e-01 -4.15115914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.010850826364224542 Centerline is valid? [True, True] Translation: X:222.67, Y:-128.56, Z:-4.15 [[ 9.97395399e-01 7.11879920e-02 -1.16055497e-02 2.22665160e+02] [ 7.11830207e-02 -9.97462916e-01 -8.41390628e-04 -1.28557392e+02] [-1.16360023e-02 1.30810581e-05 -9.99932299e-01 -4.15144138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.011205475965473253 Centerline is valid? [True, True] Translation: X:222.70, Y:-128.56, Z:-4.15 [[ 9.89470554e-01 1.44346992e-01 -1.05814895e-02 2.22696622e+02] [ 1.44338055e-01 -9.89527131e-01 -1.60742961e-03 -1.28557345e+02] [-1.07026986e-02 6.31926501e-05 -9.99942723e-01 -4.15128422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.012265711812984283 Centerline is valid? [True, True] Translation: X:222.73, Y:-128.55, Z:-4.15 [[ 9.76476438e-01 2.15408954e-01 -9.63057914e-03 2.22728204e+02] [ 2.15397276e-01 -9.76523921e-01 -2.24616134e-03 -1.28552758e+02] [-9.88833417e-03 1.18923116e-04 -9.99951102e-01 -4.15119447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.012209184549144981 Centerline is valid? [True, True] Translation: X:222.76, Y:-128.55, Z:-4.15 [[ 9.57530405e-01 2.88201936e-01 -8.66986435e-03 2.22760869e+02] [ 2.88188817e-01 -9.57569645e-01 -2.75334200e-03 -1.28554705e+02] [-9.09551743e-03 1.37850729e-04 -9.99958625e-01 -4.15172996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.012358071949494141 Centerline is valid? [True, True] Translation: X:222.79, Y:-128.55, Z:-4.15 [[ 9.31861096e-01 3.62717371e-01 -8.42648798e-03 2.22792945e+02] [ 3.62701239e-01 -9.31899185e-01 -3.42354571e-03 -1.28552809e+02] [-9.09441678e-03 1.33971431e-04 -9.99958636e-01 -4.15144377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.012046009037169113 Centerline is valid? [True, True] Translation: X:222.83, Y:-128.55, Z:-4.15 [[ 8.99832093e-01 4.36159241e-01 -8.20492694e-03 2.22825941e+02] [ 4.36139901e-01 -8.99869492e-01 -4.10906843e-03 -1.28550521e+02] [-9.17557161e-03 1.18975621e-04 -9.99957896e-01 -4.15152987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.012013841291224228 Centerline is valid? [True, True] Translation: X:222.86, Y:-128.54, Z:-4.15 [[ 8.61504263e-01 5.07698556e-01 -7.25130745e-03 2.22857319e+02] [ 5.07679728e-01 -8.61534775e-01 -4.37318516e-03 -1.28544036e+02] [-8.46751333e-03 8.61758600e-05 -9.99964146e-01 -4.15085946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.011526296854148634 Centerline is valid? [True, True] Translation: X:222.89, Y:-128.54, Z:-4.15 [[ 8.18524573e-01 5.74434676e-01 -6.50578689e-03 2.22889121e+02] [ 5.74415820e-01 -8.18550424e-01 -4.65494043e-03 -1.28535116e+02] [-7.99927381e-03 7.31562187e-05 -9.99968003e-01 -4.15151517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.011416458416466704 Centerline is valid? [True, True] Translation: X:222.92, Y:-128.52, Z:-4.15 [[ 7.70824150e-01 6.37022176e-01 -5.73383344e-03 2.22920198e+02] [ 6.37003916e-01 -7.70845473e-01 -4.82369775e-03 -1.28523917e+02] [-7.49270199e-03 6.57483632e-05 -9.99971927e-01 -4.15152593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.011455500736049676 Centerline is valid? [True, True] Translation: X:222.95, Y:-128.51, Z:-4.15 [[ 7.18585673e-01 6.95423502e-01 -4.55884604e-03 2.22947811e+02] [ 6.95409010e-01 -7.18600132e-01 -4.48985449e-03 -1.28510250e+02] [-6.39833770e-03 5.60824999e-05 -9.99979529e-01 -4.15092761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.011231018033095563 Centerline is valid? [True, True] Translation: X:222.98, Y:-128.49, Z:-4.15 [[ 6.61319072e-01 7.50095031e-01 -3.81178078e-03 2.22977562e+02] [ 7.50082167e-01 -6.61330056e-01 -4.39320986e-03 -1.28494905e+02] [-5.81617008e-03 4.61646807e-05 -9.99983085e-01 -4.15112391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.010914449933076659 Centerline is valid? [True, True] Translation: X:223.01, Y:-128.48, Z:-4.15 [[ 5.98398107e-01 8.01190337e-01 -3.70801972e-03 2.23007501e+02] [ 8.01174617e-01 -5.98409595e-01 -5.01904760e-03 -1.28478698e+02] [-6.24012702e-03 3.26173095e-05 -9.99980530e-01 -4.14983803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.010783840785994713 Centerline is valid? [True, True] Translation: X:223.03, Y:-128.46, Z:-4.15 [[ 5.31712278e-01 8.46916586e-01 -3.78802487e-03 2.23034604e+02] [ 8.46894828e-01 -5.31725771e-01 -6.07089037e-03 -1.28459691e+02] [-7.15572820e-03 1.99082800e-05 -9.99974397e-01 -4.14900745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.010809428189911352 Centerline is valid? [True, True] Translation: X:223.06, Y:-128.44, Z:-4.15 [[ 4.60406316e-01 8.87697858e-01 -4.30553174e-03 2.23059155e+02] [ 8.87659237e-01 -4.60426448e-01 -8.28037528e-03 -1.28438380e+02] [-9.33285208e-03 -9.50794033e-06 -9.99956448e-01 -4.14723617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.010973528147699058 Centerline is valid? [True, True] Translation: X:223.09, Y:-128.42, Z:-4.15 [[ 3.85688814e-01 9.22620104e-01 -4.03522003e-03 2.23085247e+02] [ 9.22571051e-01 -3.85709919e-01 -9.51395581e-03 -1.28415275e+02] [-1.03341913e-02 -5.33508534e-05 -9.99946599e-01 -4.14768604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.011300196977634612 Centerline is valid? [True, True] Translation: X:223.11, Y:-128.39, Z:-4.15 [[ 3.09266895e-01 9.50969616e-01 -3.28301317e-03 2.23107115e+02] [ 9.50918953e-01 -3.09284308e-01 -9.81638156e-03 -1.28390568e+02] [-1.03504651e-02 -8.59975984e-05 -9.99946429e-01 -4.14783863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.012133426447324366 Centerline is valid? [True, True] Translation: X:223.13, Y:-128.36, Z:-4.15 [[ 2.27961106e-01 9.73667673e-01 -2.23519976e-03 2.23128286e+02] [ 9.73626421e-01 -2.27972025e-01 -8.96374711e-03 -1.28363274e+02] [-9.23727381e-03 -1.32863841e-04 -9.99957327e-01 -4.14905642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.01373150551971946 Centerline is valid? [True, True] Translation: X:223.15, Y:-128.33, Z:-4.15 [[ 1.44334456e-01 9.89527583e-01 -1.65140289e-03 2.23148152e+02] [ 9.89478501e-01 -1.44343749e-01 -9.85794136e-03 -1.28334636e+02] [-9.99307457e-03 -2.11187044e-04 -9.99950046e-01 -4.14867939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.01537453764682937 Centerline is valid? [True, True] Translation: X:223.16, Y:-128.30, Z:-4.15 [[ 6.19362747e-02 9.98079746e-01 -8.47891114e-04 2.23162646e+02] [ 9.98033073e-01 -6.19415808e-02 -9.65534706e-03 -1.28304058e+02] [-9.68932605e-03 -2.48207147e-04 -9.99953027e-01 -4.14854707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.017923214481502067 Centerline is valid? [True, True] Translation: X:223.17, Y:-128.27, Z:-4.15 [[-2.30423379e-02 9.99734486e-01 -8.73976701e-05 2.23174892e+02] [ 9.99689235e-01 2.30404630e-02 -9.51685374e-03 -1.28271537e+02] [-9.51231320e-03 -3.06661070e-04 -9.99954710e-01 -4.14867217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.020534014090147275 Centerline is valid? [True, True] Translation: X:223.18, Y:-128.24, Z:-4.15 [[-1.05418524e-01 9.94427768e-01 5.91414046e-04 2.23181913e+02] [ 9.94391222e-01 1.05419724e-01 -8.53110785e-03 -1.28239649e+02] [-8.54591724e-03 -3.11239866e-04 -9.99963435e-01 -4.14894604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.01964682952208552 Centerline is valid? [True, True] Translation: X:223.18, Y:-128.21, Z:-4.15 [[-1.84289571e-01 9.82871083e-01 1.33719794e-03 2.23183652e+02] [ 9.82830004e-01 1.84294103e-01 -8.99258636e-03 -1.28206434e+02] [-9.08499079e-03 -3.43001625e-04 -9.99958672e-01 -4.14874451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.020959531086673183 Centerline is valid? [True, True] Translation: X:223.18, Y:-128.17, Z:-4.15 [[-2.60657200e-01 9.65428348e-01 2.43503111e-03 2.23182287e+02] [ 9.65370364e-01 2.60668252e-01 -1.05888132e-02 -1.28174737e+02] [-1.08574757e-02 -4.09343540e-04 -9.99940972e-01 -4.14636448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.020146662541498023 Centerline is valid? [True, True] Translation: X:223.17, Y:-128.14, Z:-4.15 [[-3.33214167e-01 9.42844165e-01 3.63320152e-03 2.23172486e+02] [ 9.42773365e-01 3.33233700e-01 -1.15621847e-02 -1.28143981e+02] [-1.21120436e-02 -4.27398122e-04 -9.99926555e-01 -4.14582906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.018541010497719758 Centerline is valid? [True, True] Translation: X:223.16, Y:-128.11, Z:-4.15 [[-4.04557818e-01 9.14502295e-01 4.30396559e-03 2.23162150e+02] [ 9.14439932e-01 4.04580526e-01 -1.06868299e-02 -1.28113653e+02] [-1.15144311e-02 -3.87722574e-04 -9.99933632e-01 -4.14698032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.01970003404227828 Centerline is valid? [True, True] Translation: X:223.15, Y:-128.08, Z:-4.15 [[-4.73194144e-01 8.80945651e-01 4.69703404e-03 2.23151155e+02] [ 8.80895030e-01 4.73217337e-01 -9.44975580e-03 -1.28084683e+02] [-1.05474392e-02 -3.33975163e-04 -9.99944318e-01 -4.14689383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.01727176195535211 Centerline is valid? [True, True] Translation: X:223.13, Y:-128.06, Z:-4.15 [[-5.38768891e-01 8.42441064e-01 4.59738335e-03 2.23133369e+02] [ 8.42406146e-01 5.38788442e-01 -7.67461638e-03 -1.28058367e+02] [-8.94242900e-03 -2.61980566e-04 -9.99959981e-01 -4.14858385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.016735882740511496 Centerline is valid? [True, True] Translation: X:223.12, Y:-128.03, Z:-4.15 [[-6.00735343e-01 7.99434468e-01 4.64536819e-03 2.23115761e+02] [ 7.99407804e-01 6.00753266e-01 -6.53267203e-03 -1.28034285e+02] [-8.01316330e-03 -2.10863380e-04 -9.99967872e-01 -4.14840591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.014961500693297838 Centerline is valid? [True, True] Translation: X:223.10, Y:-128.01, Z:-4.15 [[-6.59955233e-01 7.51285819e-01 5.35808679e-03 2.23097852e+02] [ 7.51258530e-01 6.59976952e-01 -6.40650771e-03 -1.28009847e+02] [-8.34933218e-03 -2.02699883e-04 -9.99965123e-01 -4.14884370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.014576805024823886 Centerline is valid? [True, True] Translation: X:223.08, Y:-127.98, Z:-4.15 [[-7.16330399e-01 6.97734640e-01 6.09359130e-03 2.23081712e+02] [ 6.97706926e-01 7.16356287e-01 -6.22214091e-03 -1.27983723e+02] [-8.70658568e-03 -2.05567822e-04 -9.99962076e-01 -4.14855733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.015585193191601605 Centerline is valid? [True, True] Translation: X:223.06, Y:-127.96, Z:-4.15 [[-7.68482938e-01 6.39835774e-01 6.64498992e-03 2.23063497e+02] [ 6.39809539e-01 7.68511640e-01 -5.79765397e-03 -1.27960523e+02] [-8.81629852e-03 -2.03870224e-04 -9.99961115e-01 -4.14701079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.014981049404882176 Centerline is valid? [True, True] Translation: X:223.49, Y:-127.47, Z:-5.11 [[-6.90826569e-01 -7.22994710e-01 6.10742688e-03 2.23493269e+02] [ 7.22968856e-01 -6.90853540e-01 -6.11722398e-03 -1.27470592e+02] [ 8.64205806e-03 1.89538562e-04 9.99962639e-01 -5.10938452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.014808887846277456 Centerline is valid? [True, True] Translation: X:223.03, Y:-127.93, Z:-4.15 [[-7.70644145e-01 6.37237139e-01 6.03575185e-03 2.23025502e+02] [ 6.37215712e-01 7.70667759e-01 -5.22895026e-03 -1.27934402e+02] [-7.98364065e-03 -1.83583987e-04 -9.99968113e-01 -4.14669749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.014907397450497717 Centerline is valid? [True, True] Translation: X:223.05, Y:-127.92, Z:-4.15 [[-8.13546895e-01 5.81458909e-01 6.85463329e-03 2.23047272e+02] [ 5.81436253e-01 8.13575749e-01 -5.13660631e-03 -1.27919553e+02] [-8.56348892e-03 -1.93337818e-04 -9.99963314e-01 -4.14592968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.014426619656540254 Centerline is valid? [True, True] Translation: X:223.05, Y:-127.89, Z:-4.15 [[-8.52598288e-01 5.22513365e-01 7.47945503e-03 2.23053588e+02] [ 5.22491185e-01 8.52631071e-01 -4.81853113e-03 -1.27894042e+02] [-8.89496267e-03 -2.00322069e-04 -9.99960419e-01 -4.14635838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.015265481511974618 Centerline is valid? [True, True] Translation: X:223.08, Y:-127.88, Z:-4.15 [[-8.87677220e-01 4.60404324e-01 7.55056361e-03 2.23075556e+02] [ 4.60385760e-01 8.87709310e-01 -4.13921200e-03 -1.27875760e+02] [-8.60841672e-03 -1.98112232e-04 -9.99962927e-01 -4.14585612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.016048318055455823 Centerline is valid? [True, True] Translation: X:223.09, Y:-127.85, Z:-4.15 [[-9.18430197e-01 3.95518860e-01 7.12775716e-03 2.23087487e+02] [ 3.95505353e-01 9.18457836e-01 -3.27414224e-03 -1.27850499e+02] [-7.84152942e-03 -1.88004988e-04 -9.99969237e-01 -4.14568175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.0160373133735076 Centerline is valid? [True, True] Translation: X:223.10, Y:-127.83, Z:-4.15 [[-9.44239639e-01 3.29172804e-01 7.53457127e-03 2.23096694e+02] [ 3.29160661e-01 9.44269679e-01 -2.83417657e-03 -1.27827473e+02] [-8.04760105e-03 -1.96057400e-04 -9.99967598e-01 -4.14541580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.014820983019303355 Centerline is valid? [True, True] Translation: X:223.10, Y:-127.80, Z:-4.15 [[-9.65113017e-01 2.61701508e-01 8.31777842e-03 2.23102346e+02] [ 2.61689917e-01 9.65148837e-01 -2.47184791e-03 -1.27804921e+02] [-8.67478049e-03 -2.08933846e-04 -9.99962352e-01 -4.14510078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.015055093172892255 Centerline is valid? [True, True] Translation: X:223.30, Y:-127.16, Z:-5.11 [[-9.28475326e-01 -3.71291776e-01 8.71703355e-03 2.23299225e+02] [ 3.71278041e-01 -9.28516208e-01 -3.20423205e-03 -1.27157788e+02] [ 9.28361194e-03 2.61392745e-04 9.99956872e-01 -5.11215828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.015325718655493656 Centerline is valid? [True, True] Translation: X:223.06, Y:-127.80, Z:-4.14 [[-9.66170684e-01 2.57752885e-01 8.81247551e-03 2.23056702e+02] [ 2.57740030e-01 9.66210846e-01 -2.58403158e-03 -1.27795921e+02] [-9.18075101e-03 -2.25287854e-04 -9.99957831e-01 -4.14454461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.01768241964742336 Centerline is valid? [True, True] Translation: X:223.25, Y:-127.14, Z:-5.11 [[-9.29305634e-01 -3.69234961e-01 7.52206844e-03 2.23249030e+02] [ 3.69223959e-01 -9.29336068e-01 -2.85320194e-03 -1.27144294e+02] [ 8.04403142e-03 1.25831255e-04 9.99967638e-01 -5.11307063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.01637821725332232 Centerline is valid? [True, True] Translation: X:223.01, Y:-127.79, Z:-4.14 [[-9.67685226e-01 2.52055408e-01 7.30578204e-03 2.23012188e+02] [ 2.52046634e-01 9.67712783e-01 -2.11288956e-03 -1.27785968e+02] [-7.60246391e-03 -2.03214239e-04 -9.99971080e-01 -4.14434028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.015866767439584907 Centerline is valid? [True, True] Translation: X:223.02, Y:-127.76, Z:-4.14 [[-9.83129866e-01 1.82744087e-01 7.76300652e-03 2.23017742e+02] [ 1.82736677e-01 9.83160492e-01 -1.65945022e-03 -1.27762812e+02] [-7.93553602e-03 -2.12869060e-04 -9.99968490e-01 -4.14427026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.016647225275545557 Centerline is valid? [True, True] Translation: X:223.02, Y:-127.74, Z:-4.14 [[-9.93460869e-01 1.13807235e-01 9.13322879e-03 2.23024461e+02] [ 1.13800236e-01 9.93502822e-01 -1.28406076e-03 -1.27738189e+02] [-9.22002398e-03 -2.36300521e-04 -9.99957467e-01 -4.14298774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.01602408932185098 Centerline is valid? [True, True] Translation: X:223.13, Y:-127.05, Z:-5.11 [[-9.73452433e-01 -2.28696796e-01 9.38811961e-03 2.23127410e+02] [ 2.28688804e-01 -9.73497665e-01 -1.93047029e-03 -1.27049368e+02] [ 9.58080489e-03 2.67736848e-04 9.99954067e-01 -5.11366779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.014609245300445897 Centerline is valid? [True, True] Translation: X:222.98, Y:-127.74, Z:-4.14 [[-9.93511899e-01 1.13354115e-01 9.21690350e-03 2.22977065e+02] [ 1.13347309e-01 9.93554630e-01 -1.25913675e-03 -1.27738568e+02] [-9.30022548e-03 -2.06256131e-04 -9.99956731e-01 -4.14451017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.013913049044764309 Centerline is valid? [True, True] Translation: X:222.98, Y:-127.71, Z:-4.15 [[-9.98991575e-01 4.41997924e-02 7.88742949e-03 2.22977050e+02] [ 4.41971279e-02 9.99022698e-01 -5.11879649e-04 -1.27712987e+02] [-7.90234606e-03 -1.62761727e-04 -9.99968763e-01 -4.14571222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.014970097805126616 Centerline is valid? [True, True] Translation: X:223.03, Y:-127.01, Z:-5.11 [[-9.88409196e-01 -1.51643178e-01 7.18379947e-03 2.23031519e+02] [ 1.51639965e-01 -9.88435296e-01 -9.92995810e-04 -1.27008140e+02] [ 7.25130200e-03 1.07864912e-04 9.99973703e-01 -5.11092959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.013841705745300888 Centerline is valid? [True, True] Translation: X:222.93, Y:-127.71, Z:-4.15 [[-9.99100345e-01 4.15904189e-02 8.29079897e-03 2.22928001e+02] [ 4.15876708e-02 9.99134732e-01 -5.03657249e-04 -1.27711558e+02] [-8.30457252e-03 -1.58409113e-04 -9.99965504e-01 -4.14618256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.014138379762297228 Centerline is valid? [True, True] Translation: X:222.97, Y:-127.00, Z:-5.11 [[-9.89091908e-01 -1.47021294e-01 9.05187283e-03 2.22970785e+02] [ 1.47017229e-01 -9.89133301e-01 -1.11659234e-03 -1.27003341e+02] [ 9.11767171e-03 2.26368812e-04 9.99958408e-01 -5.11123172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.014197022388360184 Centerline is valid? [True, True] Translation: X:222.86, Y:-127.70, Z:-4.15 [[-9.99312161e-01 3.59397111e-02 9.14013406e-03 2.22864067e+02] [ 3.59364705e-02 9.99353942e-01 -5.18582344e-04 -1.27704764e+02] [-9.15286670e-03 -1.89761484e-04 -9.99958094e-01 -4.14569512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.014952477990339509 Centerline is valid? [True, True] Translation: X:222.90, Y:-127.00, Z:-5.11 [[-9.89186463e-01 -1.46334803e-01 9.81162328e-03 2.22897133e+02] [ 1.46330135e-01 -9.89235089e-01 -1.19577513e-03 -1.27004329e+02] [ 9.88098555e-03 2.52891587e-04 9.99951150e-01 -5.11084316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.01564613268632764 Centerline is valid? [True, True] Translation: X:222.81, Y:-127.70, Z:-4.15 [[-9.99523926e-01 2.89313868e-02 1.07189429e-02 2.22807909e+02] [ 2.89270158e-02 9.99581368e-01 -5.62628278e-04 -1.27696660e+02] [-1.07307332e-02 -2.52293395e-04 -9.99942392e-01 -4.14569745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.014996292171613081 Centerline is valid? [True, True] Translation: X:222.85, Y:-127.01, Z:-5.11 [[-9.89814618e-01 -1.41972864e-01 1.05227827e-02 2.22847572e+02] [ 1.41967421e-01 -9.89870521e-01 -1.26621247e-03 -1.27005338e+02] [ 1.05959602e-02 2.40576706e-04 9.99943832e-01 -5.10996612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.014171775122888359 Centerline is valid? [True, True] Translation: X:222.76, Y:-127.69, Z:-4.15 [[-9.99547415e-01 2.84005089e-02 9.91848011e-03 2.22760434e+02] [ 2.83971635e-02 9.99596605e-01 -4.77989645e-04 -1.27694698e+02] [-9.92805419e-03 -1.96116613e-04 -9.99950696e-01 -4.14764329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.013332620369383232 Centerline is valid? [True, True] Translation: X:222.79, Y:-127.00, Z:-5.11 [[-9.91178759e-01 -1.32217332e-01 9.12384458e-03 2.22794498e+02] [ 1.32212990e-01 -9.91220742e-01 -1.08004742e-03 -1.27001674e+02] [ 9.18654498e-03 1.35770710e-04 9.99957794e-01 -5.10804332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.012662699393815053 Centerline is valid? [True, True] Translation: X:222.71, Y:-127.70, Z:-4.15 [[-9.99463591e-01 3.13504503e-02 9.46993818e-03 2.22706785e+02] [ 3.13479281e-02 9.99508447e-01 -4.14689138e-04 -1.27695122e+02] [-9.47828389e-03 -1.17603754e-04 -9.99955073e-01 -4.14877165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.011664571768357938 Centerline is valid? [True, True] Translation: X:222.71, Y:-127.67, Z:-4.15 [[-9.99408393e-01 -3.29212241e-02 9.95275014e-03 2.22708670e+02] [-3.29201468e-02 9.99457948e-01 2.72093046e-04 -1.27671115e+02] [-9.95631287e-03 -5.57139217e-05 -9.99950433e-01 -4.14904055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.01150950324949818 Centerline is valid? [True, True] Translation: X:222.71, Y:-127.65, Z:-4.15 [[-9.95215326e-01 -9.71792013e-02 1.01319769e-02 2.22706558e+02] [-9.71740436e-02 9.95266900e-01 1.00127855e-03 -1.27648557e+02] [-1.01813247e-02 1.19225949e-05 -9.99948169e-01 -4.15032033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.011632718101798906 Centerline is valid? [True, True] Translation: X:222.64, Y:-126.94, Z:-5.11 [[-9.99357323e-01 3.43075469e-02 1.03890894e-02 2.22642059e+02] [-3.43056769e-02 -9.99411323e-01 3.58200306e-04 -1.26938757e+02] [ 1.03952625e-02 1.56535525e-06 9.99945968e-01 -5.10637259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.011946406994289619 Centerline is valid? [True, True] Translation: X:222.62, Y:-127.66, Z:-4.15 [[-9.95141040e-01 -9.78530003e-02 1.09133332e-02 2.22618270e+02] [-9.78463453e-02 9.95200877e-01 1.14336135e-03 -1.27659445e+02] [-1.09728401e-02 6.99760367e-05 -9.99939794e-01 -4.15073499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.01227604496194255 Centerline is valid? [True, True] Translation: X:222.55, Y:-126.95, Z:-5.11 [[-9.98941408e-01 4.45467188e-02 1.14740025e-02 2.22547247e+02] [-4.45442398e-02 -9.99007301e-01 4.71643168e-04 -1.26946299e+02] [ 1.14836224e-02 -3.99568279e-05 9.99934060e-01 -5.10601323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.011760795509826196 Centerline is valid? [True, True] Translation: X:222.53, Y:-127.67, Z:-4.15 [[-9.94267526e-01 -1.06293368e-01 1.15674966e-02 2.22528048e+02] [-1.06285679e-01 9.94334812e-01 1.27922749e-03 -1.27665293e+02] [-1.16379379e-02 4.24351226e-05 -9.99932276e-01 -4.15187487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.0117985970649761 Centerline is valid? [True, True] Translation: X:222.52, Y:-127.64, Z:-4.15 [[-9.83107061e-01 -1.82592568e-01 1.26673146e-02 2.22515518e+02] [-1.82577790e-01 9.83188666e-01 2.32321465e-03 -1.27635062e+02] [-1.28785618e-02 -2.88015788e-05 -9.99917067e-01 -4.15106017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.012322442703596214 Centerline is valid? [True, True] Translation: X:222.50, Y:-127.61, Z:-4.15 [[-9.66394408e-01 -2.56723782e-01 1.32192063e-02 2.22497582e+02] [-2.56701090e-01 9.66484812e-01 3.41461849e-03 -1.27606899e+02] [-1.36527759e-02 -9.35164446e-05 -9.99906792e-01 -4.15037225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.01305122933120207 Centerline is valid? [True, True] Translation: X:222.47, Y:-127.58, Z:-4.15 [[-9.43188800e-01 -3.31982493e-01 1.35096981e-02 2.22468127e+02] [-3.31951446e-01 9.43285527e-01 4.54447058e-03 -1.27581914e+02] [-1.42521873e-02 -1.98270066e-04 -9.99898413e-01 -4.15075545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.014245670799454003 Centerline is valid? [True, True] Translation: X:222.42, Y:-127.57, Z:-4.15 [[-9.14595240e-01 -4.04179596e-01 1.24258319e-02 2.22420819e+02] [-4.04146206e-01 9.14679608e-01 5.20192409e-03 -1.27567200e+02] [-1.34681667e-02 -2.64197818e-04 -9.99909265e-01 -4.15130827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.015462329588457783 Centerline is valid? [True, True] Translation: X:222.37, Y:-127.56, Z:-4.15 [[-8.80337243e-01 -4.74234721e-01 1.03811717e-02 2.22366837e+02] [-4.74205477e-01 8.80398405e-01 5.27394128e-03 -1.27559224e+02] [-1.16406531e-02 -2.79961569e-04 -9.99932206e-01 -4.15236242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.01705165101090767 Centerline is valid? [True, True] Translation: X:222.31, Y:-127.56, Z:-4.15 [[-8.41070274e-01 -5.40834329e-01 9.95103458e-03 2.22305432e+02] [-5.40800963e-01 8.41129077e-01 6.01609583e-03 -1.27559964e+02] [-1.16238157e-02 -3.21569718e-04 -9.99932389e-01 -4.15209604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.017224378702533325 Centerline is valid? [True, True] Translation: X:222.23, Y:-127.58, Z:-4.15 [[-7.97721117e-01 -6.02938232e-01 1.03202851e-02 2.22234300e+02] [-6.02893715e-01 7.97787786e-01 7.33592844e-03 -1.27575247e+02] [-1.26565091e-02 -3.70009977e-04 -9.99919835e-01 -4.15211280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.0182778579002829 Centerline is valid? [True, True] Translation: X:222.16, Y:-127.60, Z:-4.15 [[-7.49654268e-01 -6.61738012e-01 1.10128349e-02 2.22157181e+02] [-6.61675089e-01 7.49735028e-01 9.13591590e-03 -1.27599189e+02] [-1.43022909e-02 -4.38140156e-04 -9.99897621e-01 -4.15079348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.0190541074091003 Centerline is valid? [True, True] Translation: X:222.08, Y:-127.63, Z:-4.15 [[-6.98213079e-01 -7.15796117e-01 1.15937636e-02 2.22077659e+02] [-7.15708905e-01 6.98309157e-01 1.11840661e-02 -1.27634887e+02] [-1.61015424e-02 -4.88898662e-04 -9.99870242e-01 -4.14888992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.01893299925662984 Centerline is valid? [True, True] Translation: X:222.00, Y:-127.68, Z:-4.15 [[-6.43255134e-01 -7.65572733e-01 1.10101403e-02 2.22000677e+02] [-7.65473195e-01 6.43349174e-01 1.23543001e-02 -1.27680074e+02] [-1.65414799e-02 -4.81000283e-04 -9.99863065e-01 -4.14876180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.01695176312726881 Centerline is valid? [True, True] Translation: X:221.93, Y:-127.74, Z:-4.15 [[-5.85689451e-01 -8.10480473e-01 9.44823452e-03 2.21925314e+02] [-8.10386138e-01 5.85765511e-01 1.23722793e-02 -1.27740073e+02] [-1.55619407e-02 -4.10404816e-04 -9.99878821e-01 -4.15139961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.015373669757938293 Centerline is valid? [True, True] Translation: X:221.85, Y:-127.81, Z:-4.15 [[-5.24300642e-01 -8.51494061e-01 8.16704330e-03 2.21852266e+02] [-8.51401339e-01 5.24364122e-01 1.25709126e-02 -1.27805271e+02] [-1.49865619e-02 -3.62494073e-04 -9.99887629e-01 -4.15329800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.014958211124266435 Centerline is valid? [True, True] Translation: X:221.78, Y:-127.89, Z:-4.15 [[-4.60964553e-01 -8.87393182e-01 6.70983788e-03 2.21777089e+02] [-8.87308239e-01 4.61013292e-01 1.22814488e-02 -1.27886991e+02] [-1.39917984e-02 -2.92381862e-04 -9.99902067e-01 -4.15385150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.014662152338163526 Centerline is valid? [True, True] Translation: X:221.71, Y:-127.97, Z:-4.15 [[-3.93989983e-01 -9.19099570e-01 5.27961666e-03 2.21711507e+02] [-9.19024991e-01 3.94025284e-01 1.17107534e-02 -1.27966732e+02] [-1.28436509e-02 -2.38180119e-04 -9.99917489e-01 -4.15479085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.013867211299097142 Centerline is valid? [True, True] Translation: X:221.65, Y:-128.06, Z:-4.15 [[-3.24788610e-01 -9.45776457e-01 4.38765855e-03 2.21648695e+02] [-9.45698626e-01 3.24818179e-01 1.21350585e-02 -1.28056391e+02] [-1.29022439e-02 -2.08073887e-04 -9.99916741e-01 -4.15480891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.01302457468741658 Centerline is valid? [True, True] Translation: X:221.59, Y:-128.15, Z:-4.15 [[-2.54648243e-01 -9.67026128e-01 3.83919200e-03 2.21593664e+02] [-9.66926787e-01 2.54677117e-01 1.38620031e-02 -1.28152693e+02] [-1.43826736e-02 -1.82282839e-04 -9.99896547e-01 -4.15368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.012282655604998414 Centerline is valid? [True, True] Translation: X:221.54, Y:-128.26, Z:-4.15 [[-1.83887335e-01 -9.82943588e-01 2.71128680e-03 2.21543737e+02] [-9.82846065e-01 1.83907284e-01 1.38464051e-02 -1.28263235e+02] [-1.41088605e-02 -1.18599022e-04 -9.99900458e-01 -4.15477381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.011986591367527255 Centerline is valid? [True, True] Translation: X:221.50, Y:-128.36, Z:-4.15 [[-1.12506227e-01 -9.93649995e-01 1.42679867e-03 2.21502379e+02] [-9.93575029e-01 1.12515265e-01 1.22055903e-02 -1.28364661e+02] [-1.22886214e-02 -4.44266173e-05 -9.99924491e-01 -4.15497488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.011723051034980591 Centerline is valid? [True, True] Translation: X:221.47, Y:-128.48, Z:-4.16 [[-3.99200401e-02 -9.99202781e-01 4.39840073e-04 2.21468856e+02] [-9.99140311e-01 3.99224626e-02 1.11730201e-02 -1.28476119e+02] [-1.11816722e-02 6.56546199e-06 -9.99937483e-01 -4.15651358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.011749236451295235 Centerline is valid? [True, True] Translation: X:221.44, Y:-128.60, Z:-4.16 [[ 3.54570032e-02 -9.99371112e-01 -4.25753937e-04 2.21442341e+02] [-9.99307249e-01 -3.54595505e-02 1.12979076e-02 -1.28601315e+02] [-1.13058995e-02 2.48690508e-05 -9.99936086e-01 -4.15643709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.011751374879062674 Centerline is valid? [True, True] Translation: X:221.42, Y:-128.72, Z:-4.16 [[ 1.11811207e-01 -9.93728448e-01 -1.42340018e-03 2.21422830e+02] [-9.93651773e-01 -1.11820262e-01 1.23443219e-02 -1.28715886e+02] [-1.24260688e-02 3.41305750e-05 -9.99922793e-01 -4.15632151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.011654034913374314 Centerline is valid? [True, True] Translation: X:220.71, Y:-128.91, Z:-5.10 [[ 4.62764490e-02 9.98928482e-01 -6.15337613e-04 2.20712070e+02] [-9.98843120e-01 4.62805387e-02 1.30588339e-02 -1.28911535e+02] [ 1.30733193e-02 1.03092818e-05 9.99914540e-01 -5.10123347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.011625106659415234 Centerline is valid? [True, True] Translation: X:221.44, Y:-129.00, Z:-4.16 [[ 1.28204603e-01 -9.91746442e-01 -1.60485098e-03 2.21443823e+02] [-9.91663389e-01 -1.28214636e-01 1.28347372e-02 -1.28999728e+02] [-1.29345703e-02 -5.40004139e-05 -9.99916344e-01 -4.15511989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.011951467687123145 Centerline is valid? [True, True] Translation: X:221.43, Y:-129.13, Z:-4.16 [[ 2.09345156e-01 -9.77838986e-01 -2.35003426e-03 2.21430962e+02] [-9.77771125e-01 -2.09358314e-01 1.15205303e-02 -1.29125725e+02] [-1.17572229e-02 -1.13971563e-04 -9.99930875e-01 -4.15586140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.012511694402153157 Centerline is valid? [True, True] Translation: X:221.43, Y:-129.24, Z:-4.16 [[ 2.87566730e-01 -9.57757277e-01 -2.52484623e-03 2.21428077e+02] [-9.57716452e-01 -2.87577787e-01 8.84390435e-03 -1.29244390e+02] [-9.19640343e-03 -1.25125876e-04 -9.99957704e-01 -4.15829152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.012750849532962533 Centerline is valid? [True, True] Translation: X:221.44, Y:-129.37, Z:-4.16 [[ 3.60945298e-01 -9.32577990e-01 -4.09701042e-03 2.21437113e+02] [-9.32512501e-01 -3.60968510e-01 1.10531234e-02 -1.29366147e+02] [-1.17867913e-02 -1.69059483e-04 -9.99930519e-01 -4.15655227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.012548978378933769 Centerline is valid? [True, True] Translation: X:221.45, Y:-129.48, Z:-4.16 [[ 4.31638707e-01 -9.02028946e-01 -5.63980124e-03 2.21453958e+02] [-9.01945902e-01 -4.31675506e-01 1.22412020e-02 -1.29479344e+02] [-1.34764826e-02 -1.96980984e-04 -9.99909169e-01 -4.15534483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.012155875054817434 Centerline is valid? [True, True] Translation: X:221.48, Y:-129.59, Z:-4.16 [[ 4.97610516e-01 -8.67373387e-01 -6.86887022e-03 2.21480982e+02] [-8.67285834e-01 -4.97657891e-01 1.23250419e-02 -1.29592442e+02] [-1.41087608e-02 -1.75796610e-04 -9.99900451e-01 -4.15539202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.011655735793594213 Centerline is valid? [True, True] Translation: X:221.51, Y:-129.70, Z:-4.15 [[ 5.59722332e-01 -8.28641624e-01 -7.99815806e-03 2.21514008e+02] [-8.28553641e-01 -5.59779458e-01 1.20757146e-02 -1.29699650e+02] [-1.44836443e-02 -1.32144136e-04 -9.99895098e-01 -4.15473021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.011239096200744047 Centerline is valid? [True, True] Translation: X:221.55, Y:-129.80, Z:-4.15 [[ 6.18272617e-01 -7.85910187e-01 -9.17326345e-03 2.21554451e+02] [-7.85821844e-01 -6.18340660e-01 1.17838228e-02 -1.29801260e+02] [-1.49332282e-02 -7.70641797e-05 -9.99888490e-01 -4.15423941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.011003860136999855 Centerline is valid? [True, True] Translation: X:221.60, Y:-129.89, Z:-4.16 [[ 6.71586310e-01 -7.40870214e-01 -9.11892466e-03 2.21600077e+02] [-7.40802280e-01 -6.71648216e-01 1.00327426e-02 -1.29893133e+02] [-1.35576696e-02 1.74676066e-05 -9.99908090e-01 -4.15685259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.01142703415560604 Centerline is valid? [True, True] Translation: X:221.65, Y:-129.99, Z:-4.16 [[ 7.22192515e-01 -6.91641936e-01 -8.33089369e-03 2.21654918e+02] [-6.91597158e-01 -7.22240560e-01 7.87051156e-03 -1.29985267e+02] [-1.14604852e-02 7.75978583e-05 -9.99934323e-01 -4.15942124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.01176658415528284 Centerline is valid? [True, True] Translation: X:221.68, Y:-130.01, Z:-4.16 [[ 7.72861874e-01 -6.34525461e-01 -7.87174480e-03 2.21675489e+02] [-6.34493707e-01 -7.72901955e-01 6.34851288e-03 -1.30012712e+02] [-1.01123800e-02 8.80489771e-05 -9.99948865e-01 -4.16020687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.011656232307952654 Centerline is valid? [True, True] Translation: X:221.70, Y:-130.04, Z:-4.16 [[ 8.20909378e-01 -5.71001277e-01 -8.08297756e-03 2.21695268e+02] [-5.70974448e-01 -8.20949168e-01 5.53565492e-03 -1.30042671e+02] [-9.79657973e-03 7.09026080e-05 -9.99952010e-01 -4.16011931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.011410564701240673 Centerline is valid? [True, True] Translation: X:221.72, Y:-130.07, Z:-4.16 [[ 8.65884045e-01 -5.00164270e-01 -8.97346137e-03 2.21715769e+02] [-5.00137601e-01 -8.65930541e-01 5.16497988e-03 -1.30072069e+02] [-1.03537327e-02 1.56917733e-05 -9.99946399e-01 -4.15752464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.011870843817791582 Centerline is valid? [True, True] Translation: X:221.74, Y:-130.10, Z:-4.16 [[ 9.06114583e-01 -4.22925374e-01 -9.51269025e-03 2.21738677e+02] [-4.22901173e-01 -9.06164512e-01 4.52500068e-03 -1.30102376e+02] [-1.05337999e-02 -7.72412381e-05 -9.99944515e-01 -4.15757487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.01396740552793525 Centerline is valid? [True, True] Translation: X:221.76, Y:-130.13, Z:-4.16 [[ 9.40285028e-01 -3.40226613e-01 -1.04841990e-02 2.21764537e+02] [-3.40202983e-01 -9.40343452e-01 4.01523515e-03 -1.30132722e+02] [-1.12248377e-02 -2.08709725e-04 -9.99936978e-01 -4.15764715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.017322145860245424 Centerline is valid? [True, True] Translation: X:221.79, Y:-130.16, Z:-4.16 [[ 9.66079285e-01 -2.58024560e-01 -1.06837526e-02 2.21792075e+02] [-2.58005393e-01 -9.66138313e-01 3.15878755e-03 -1.30161475e+02] [-1.11370275e-02 -2.95173434e-04 -9.99937938e-01 -4.15572837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.016814885993055854 Centerline is valid? [True, True] Translation: X:221.83, Y:-130.18, Z:-4.16 [[ 9.83350500e-01 -1.81341528e-01 -1.17066017e-02 2.21826486e+02] [-1.81324778e-01 -9.83420127e-01 2.48559844e-03 -1.30176043e+02] [-1.19632500e-02 -3.21517514e-04 -9.99928386e-01 -4.15536615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:221.86, Y:-130.19, Z:-4.15 [[ 9.94510422e-01 -1.03881510e-01 -1.25559906e-02 2.21861034e+02] [-1.03868906e-01 -9.94589622e-01 1.65354304e-03 -1.30187487e+02] [-1.26598305e-02 -3.40288774e-04 -9.99919803e-01 -4.15438738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:221.89, Y:-130.19, Z:-4.15 [[ 9.99589414e-01 -2.57110814e-02 -1.26468842e-02 2.21892957e+02] [-2.57047159e-02 -9.99669358e-01 6.65645580e-04 -1.30194728e+02] [-1.26598171e-02 -3.40287709e-04 -9.99919803e-01 -4.15438763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.01671698413304452 Centerline is valid? [True, True] Translation: X:221.93, Y:-130.20, Z:-4.15 [[ 9.98524662e-01 5.26678112e-02 -1.32136584e-02 2.21925309e+02] [ 5.26679068e-02 -9.98612024e-01 -3.40990059e-04 -1.30200147e+02] [-1.32132773e-02 -3.55448745e-04 -9.99912638e-01 -4.15426754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.01666133561253585 Centerline is valid? [True, True] Translation: X:221.96, Y:-130.20, Z:-4.15 [[ 9.91458362e-01 1.29672261e-01 -1.39793211e-02 2.21958207e+02] [ 1.29664529e-01 -9.91556843e-01 -1.46184414e-03 -1.30201874e+02] [-1.40508521e-02 -3.63264496e-04 -9.99901216e-01 -4.15316758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.01488530222699754 Centerline is valid? [True, True] Translation: X:221.99, Y:-130.20, Z:-4.15 [[ 9.78970378e-01 2.03547601e-01 -1.36151550e-02 2.21990875e+02] [ 2.03532322e-01 -9.79065002e-01 -2.51326706e-03 -1.30200277e+02] [-1.38416912e-02 -3.10710096e-04 -9.99904151e-01 -4.15425556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.01325386262092765 Centerline is valid? [True, True] Translation: X:222.02, Y:-130.19, Z:-4.16 [[ 9.62584562e-01 2.70738485e-01 -1.14731912e-02 2.22020904e+02] [ 2.70721200e-01 -9.62652922e-01 -3.06337121e-03 -1.30190519e+02] [-1.18740735e-02 -1.57282241e-04 -9.99929488e-01 -4.15615716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.012724556626932119 Centerline is valid? [True, True] Translation: X:222.05, Y:-130.18, Z:-4.16 [[ 9.40032272e-01 3.40873401e-01 -1.20271409e-02 2.22051380e+02] [ 3.40846984e-01 -9.40109202e-01 -4.24512992e-03 -1.30182076e+02] [-1.27538777e-02 -1.08855584e-04 -9.99918660e-01 -4.15536402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.012389930573359619 Centerline is valid? [True, True] Translation: X:222.08, Y:-130.17, Z:-4.16 [[ 9.11936293e-01 4.10190889e-01 -1.07532165e-02 2.22081432e+02] [ 4.10163129e-01 -9.11999688e-01 -4.77246937e-03 -1.30172942e+02] [-1.17645535e-02 -5.83848802e-05 -9.99930794e-01 -4.15605272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.012361020687088498 Centerline is valid? [True, True] Translation: X:222.11, Y:-130.16, Z:-4.16 [[ 8.79031144e-01 4.76671205e-01 -9.42388328e-03 2.22111095e+02] [ 4.76643913e-01 -8.79081659e-01 -5.10073474e-03 -1.30162912e+02] [-1.07157363e-02 -8.13190843e-06 -9.99942585e-01 -4.15694345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.012717368897942111 Centerline is valid? [True, True] Translation: X:222.14, Y:-130.15, Z:-4.16 [[ 8.40400629e-01 5.41898056e-01 -8.56036253e-03 2.22138976e+02] [ 5.41869724e-01 -8.40444226e-01 -5.54119743e-03 -1.30151951e+02] [-1.01972714e-02 1.82245175e-05 -9.99948006e-01 -4.15554644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.012850696065041124 Centerline is valid? [True, True] Translation: X:222.17, Y:-130.14, Z:-4.16 [[ 7.96016091e-01 6.05220822e-01 -8.13258235e-03 2.22168328e+02] [ 6.05188871e-01 -7.96057633e-01 -6.21893454e-03 -1.30139964e+02] [-1.02378329e-02 2.86236292e-05 -9.99947592e-01 -4.15646126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.013037612836518123 Centerline is valid? [True, True] Translation: X:222.20, Y:-130.13, Z:-4.16 [[ 7.45958856e-01 6.65943220e-01 -8.06310897e-03 2.22197111e+02] [ 6.65903933e-01 -7.46002431e-01 -7.23360050e-03 -1.30127079e+02] [-1.08322661e-02 2.67123768e-05 -9.99941329e-01 -4.15578148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.012767291565630424 Centerline is valid? [True, True] Translation: X:222.23, Y:-130.11, Z:-4.16 [[ 6.90871546e-01 7.22944799e-01 -6.87936096e-03 2.22225887e+02] [ 7.22908743e-01 -6.90905795e-01 -7.22020629e-03 -1.30113339e+02] [-9.97280094e-03 1.50848881e-05 -9.99950270e-01 -4.15677052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.012921081857161827 Centerline is valid? [True, True] Translation: X:222.25, Y:-130.10, Z:-4.16 [[ 6.31105959e-01 7.75676755e-01 -5.55331289e-03 2.22252348e+02] [ 7.75646707e-01 -6.31130392e-01 -6.82748561e-03 -1.30095662e+02] [-8.80078642e-03 1.45799547e-06 -9.99961272e-01 -4.15747731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.013397482774972611 Centerline is valid? [True, True] Translation: X:222.28, Y:-130.08, Z:-4.16 [[ 5.65243645e-01 8.24910443e-01 -4.73101819e-03 2.22279428e+02] [ 8.24882004e-01 -5.65263443e-01 -6.84985732e-03 -1.30078024e+02] [-8.32479047e-03 -3.06934417e-05 -9.99965348e-01 -4.15713462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.015107621902674671 Centerline is valid? [True, True] Translation: X:222.31, Y:-130.06, Z:-4.16 [[ 4.92402693e-01 8.70356906e-01 -4.29472240e-03 2.22306053e+02] [ 8.70325484e-01 -4.92421412e-01 -7.39626841e-03 -1.30058134e+02] [-8.55220656e-03 -9.58638671e-05 -9.99963425e-01 -4.15607670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.01753331774311365 Centerline is valid? [True, True] Translation: X:222.33, Y:-130.04, Z:-4.16 [[ 4.14032221e-01 9.10254959e-01 -3.63741199e-03 2.22332473e+02] [ 9.10223452e-01 -4.14048162e-01 -7.57547075e-03 -1.30036681e+02] [-8.40167356e-03 -1.74368714e-04 -9.99964690e-01 -4.15705241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.021525940976923136 Centerline is valid? [True, True] Translation: X:222.36, Y:-130.02, Z:-4.16 [[ 3.33166877e-01 9.42861385e-01 -3.49875625e-03 2.22358921e+02] [ 9.42818086e-01 -3.33185124e-01 -9.04046028e-03 -1.30015023e+02] [-9.68963444e-03 -2.86708757e-04 -9.99953013e-01 -4.15555330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.02582836742261186 Centerline is valid? [True, True] Translation: X:222.38, Y:-129.99, Z:-4.15 [[ 2.49061277e-01 9.68479759e-01 -3.92902509e-03 2.22377502e+02] [ 9.68390982e-01 -2.49091689e-01 -1.31239168e-02 -1.29987931e+02] [-1.36889352e-02 -5.36172991e-04 -9.99906158e-01 -4.15076292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.02492135916966527 Centerline is valid? [True, True] Translation: X:222.39, Y:-129.96, Z:-4.15 [[ 1.71832741e-01 9.85120941e-01 -3.20007326e-03 2.22386856e+02] [ 9.85009400e-01 -1.71861479e-01 -1.48362653e-02 -1.29957612e+02] [-1.51654850e-02 -6.02746111e-04 -9.99884816e-01 -4.15012307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:222.40, Y:-129.93, Z:-4.15 [[ 9.48814990e-02 9.95486494e-01 -2.03522170e-03 2.22396072e+02] [ 9.95372264e-01 -9.49014664e-02 -1.50919597e-02 -1.29926792e+02] [-1.52169876e-02 -5.93855468e-04 -9.99884039e-01 -4.15031095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:222.41, Y:-129.90, Z:-4.15 [[ 1.66144999e-02 9.99861611e-01 -8.46692521e-04 2.22405275e+02] [ 9.99746169e-01 -1.66254574e-02 -1.52050026e-02 -1.29896602e+02] [-1.52169750e-02 -5.93854090e-04 -9.99884039e-01 -4.15031119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.02359071413662945 Centerline is valid? [True, True] Translation: X:222.41, Y:-129.87, Z:-4.15 [[-5.81732425e-02 9.98306458e-01 2.98335069e-04 2.22406293e+02] [ 9.98220773e-01 5.81721606e-02 -1.30876730e-02 -1.29866197e+02] [-1.30828632e-02 -4.63548110e-04 -9.99914308e-01 -4.15152655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.020523354166699728 Centerline is valid? [True, True] Translation: X:222.40, Y:-129.84, Z:-4.15 [[-1.31760829e-01 9.91280716e-01 1.27523527e-03 2.22403795e+02] [ 9.91201323e-01 1.31766424e-01 -1.25517930e-02 -1.29835816e+02] [-1.26103835e-02 -3.89819760e-04 -9.99920410e-01 -4.15259686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.020085487102546578 Centerline is valid? [True, True] Translation: X:222.40, Y:-129.81, Z:-4.15 [[-2.03123933e-01 9.79150687e-01 2.14461007e-03 2.22402389e+02] [ 9.79079541e-01 2.03135035e-01 -1.18071736e-02 -1.29807026e+02] [-1.19966476e-02 -2.98575694e-04 -9.99927993e-01 -4.15136146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.016392282689580078 Centerline is valid? [True, True] Translation: X:222.38, Y:-129.78, Z:-4.15 [[-2.65815529e-01 9.64019609e-01 2.88048031e-03 2.22384575e+02] [ 9.63957862e-01 2.65831107e-01 -1.09116177e-02 -1.29781399e+02] [-1.12847347e-02 -1.23815793e-04 -9.99936318e-01 -4.15259735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.015717603779503746 Centerline is valid? [True, True] Translation: X:222.37, Y:-129.76, Z:-4.15 [[-3.34064763e-01 9.42542376e-01 3.82136039e-03 2.22374039e+02] [ 9.42479064e-01 3.34086615e-01 -1.09246554e-02 -1.29755113e+02] [-1.15736160e-02 -4.79902517e-05 -9.99933022e-01 -4.15217478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.015695941240784442 Centerline is valid? [True, True] Translation: X:222.36, Y:-129.73, Z:-4.15 [[-3.98126122e-01 9.17320713e-01 4.27795109e-03 2.22356992e+02] [ 9.17269303e-01 3.98149101e-01 -9.71178158e-03 -1.29732755e+02] [-1.06120808e-02 5.75192714e-05 -9.99943689e-01 -4.15286911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.01636104215181034 Centerline is valid? [True, True] Translation: X:222.34, Y:-129.71, Z:-4.15 [[-4.62821983e-01 8.86442835e-01 3.86167020e-03 2.22340883e+02] [ 8.86413745e-01 4.62838083e-01 -7.18208129e-03 -1.29712086e+02] [-8.15383253e-03 9.90124383e-05 -9.99966752e-01 -4.15464098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.01631511643173739 Centerline is valid? [True, True] Translation: X:222.33, Y:-129.69, Z:-4.16 [[-5.28726020e-01 8.48783806e-01 3.85318374e-03 2.22332212e+02] [ 8.48762688e-01 5.28740049e-01 -5.98835595e-03 -1.29686831e+02] [-7.12015212e-03 1.04238979e-04 -9.99974646e-01 -4.15600961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.016255579832324344 Centerline is valid? [True, True] Translation: X:222.32, Y:-129.66, Z:-4.16 [[-5.93628106e-01 8.04730164e-01 3.87754192e-03 2.22321306e+02] [ 8.04714013e-01 5.93640762e-01 -5.09933537e-03 -1.29663816e+02] [-6.40545593e-03 9.32035230e-05 -9.99979481e-01 -4.15600637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.01510973339539518 Centerline is valid? [True, True] Translation: X:222.31, Y:-129.64, Z:-4.16 [[-6.58341829e-01 7.52707053e-01 4.25773805e-03 2.22314006e+02] [ 7.52691931e-01 6.58355594e-01 -4.77162568e-03 -1.29636319e+02] [-6.39474196e-03 6.34043014e-05 -9.99979551e-01 -4.15540570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.01467380323584252 Centerline is valid? [True, True] Translation: X:222.30, Y:-129.61, Z:-4.15 [[-7.18001156e-01 6.96027603e-01 4.46268870e-03 2.22302650e+02] [ 6.96014479e-01 7.18015024e-01 -4.27437373e-03 -1.29611726e+02] [-6.17935963e-03 3.70906700e-05 -9.99980907e-01 -4.15447639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.013988601421997544 Centerline is valid? [True, True] Translation: X:222.81, Y:-129.09, Z:-5.10 [[-6.74349513e-01 -7.38403157e-01 3.67584797e-03 2.22812549e+02] [ 7.38391582e-01 -6.74359527e-01 -4.13524550e-03 -1.29087925e+02] [ 5.53232143e-03 -7.43855900e-05 9.99984694e-01 -5.10225042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.01372002333214545 Centerline is valid? [True, True] Translation: X:222.77, Y:-129.05, Z:-5.10 [[-6.71684083e-01 -7.40832079e-01 2.88510630e-03 2.22771889e+02] [ 7.40825341e-01 -6.71690279e-01 -3.15957935e-03 -1.29047919e+02] [ 4.27861559e-03 1.51207052e-05 9.99990847e-01 -5.10149823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.013620280801581145 Centerline is valid? [True, True] Translation: X:222.73, Y:-129.01, Z:-5.10 [[-6.70440735e-01 -7.41960412e-01 1.99195009e-03 2.22732752e+02] [ 7.41957208e-01 -6.70443694e-01 -2.18039905e-03 -1.29007303e+02] [ 2.95326015e-03 1.61133876e-05 9.99995639e-01 -5.10152098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.01341926249108365 Centerline is valid? [True, True] Translation: X:222.69, Y:-128.97, Z:-5.10 [[-6.70423286e-01 -7.41978072e-01 1.07628575e-03 2.22693972e+02] [ 7.41977138e-01 -6.70424150e-01 -1.17736581e-03 -1.28965339e+02] [ 1.59514757e-03 9.24596934e-06 9.99998728e-01 -5.10147236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.013372431360254192 Centerline is valid? [True, True] Translation: X:222.66, Y:-128.92, Z:-5.10 [[-6.71202073e-01 -7.41273534e-01 1.15103253e-03 2.22655621e+02] [ 7.41272466e-01 -6.71203060e-01 -1.25852473e-03 -1.28923619e+02] [ 1.70548763e-03 8.50431044e-06 9.99998546e-01 -5.10256093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.01306802314975245 Centerline is valid? [True, True] Translation: X:222.62, Y:-128.88, Z:-5.10 [[-6.74371918e-01 -7.38387891e-01 2.41623825e-03 2.22619805e+02] [ 7.38383171e-01 -6.74376247e-01 -2.64023313e-03 -1.28879298e+02] [ 3.57896985e-03 3.61057865e-06 9.99993595e-01 -5.10482160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.01318757188903908 Centerline is valid? [True, True] Translation: X:222.58, Y:-128.83, Z:-5.11 [[-6.78243135e-01 -7.34832154e-01 2.82053460e-03 2.22584488e+02] [ 7.34825699e-01 -6.78248999e-01 -3.08000782e-03 -1.28834689e+02] [ 4.17631355e-03 -1.63928536e-05 9.99991279e-01 -5.10554757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.013789410526295067 Centerline is valid? [True, True] Translation: X:222.55, Y:-128.79, Z:-5.11 [[-6.82823478e-01 -7.30579036e-01 2.52382103e-03 2.22549145e+02] [ 7.30573845e-01 -6.82828141e-01 -2.75448126e-03 -1.28788383e+02] [ 3.73570229e-03 -3.69868456e-05 9.99993022e-01 -5.10515220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.015418191774996832 Centerline is valid? [True, True] Translation: X:222.51, Y:-128.74, Z:-5.10 [[-6.88096224e-01 -7.25617576e-01 1.64912560e-03 2.22513710e+02] [ 7.25615348e-01 -6.88098199e-01 -1.79880902e-03 -1.28743545e+02] [ 2.44000779e-03 -4.11228465e-05 9.99997022e-01 -5.10437950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.015864721661534117 Centerline is valid? [True, True] Translation: X:222.47, Y:-128.70, Z:-5.10 [[-6.91439343e-01 -7.22432025e-01 1.89830101e-03 2.22474946e+02] [ 7.22429063e-01 -6.91441947e-01 -2.06944526e-03 -1.28700054e+02] [ 2.80759848e-03 -5.95080551e-05 9.99996057e-01 -5.10461761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.016314650097166754 Centerline is valid? [True, True] Translation: X:222.44, Y:-128.66, Z:-5.10 [[-6.92848057e-01 -7.21080611e-01 2.07887552e-03 2.22435947e+02] [ 7.21077057e-01 -6.92851173e-01 -2.26504030e-03 -1.28656424e+02] [ 3.07362799e-03 -7.02993294e-05 9.99995274e-01 -5.10483561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.016801803988980648 Centerline is valid? [True, True] Translation: X:222.40, Y:-128.62, Z:-5.11 [[-6.93485689e-01 -7.20466650e-01 2.32487060e-03 2.22396059e+02] [ 7.20462207e-01 -6.93489581e-01 -2.53150314e-03 -1.28615748e+02] [ 3.43613712e-03 -8.05797951e-05 9.99994093e-01 -5.10590625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.016583319782191235 Centerline is valid? [True, True] Translation: X:222.35, Y:-128.58, Z:-5.11 [[-6.93278965e-01 -7.20663513e-01 2.89438308e-03 2.22354390e+02] [ 7.20656637e-01 -6.93285000e-01 -3.14968430e-03 -1.28576076e+02] [ 4.27649493e-03 -9.77534980e-05 9.99990851e-01 -5.10664129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.01602745167939745 Centerline is valid? [True, True] Translation: X:222.31, Y:-128.54, Z:-5.11 [[-6.92093564e-01 -7.21802948e-01 2.64623491e-03 2.22312242e+02] [ 7.21797215e-01 -6.92098618e-01 -2.87806777e-03 -1.28536048e+02] [ 3.90885332e-03 -8.18471936e-05 9.99992357e-01 -5.10626112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.016067272931846226 Centerline is valid? [True, True] Translation: X:222.27, Y:-128.50, Z:-5.11 [[-6.91315515e-01 -7.22549661e-01 2.20121626e-03 2.22272744e+02] [ 7.22545702e-01 -6.91319017e-01 -2.39292925e-03 -1.28496486e+02] [ 3.25075288e-03 -6.37897666e-05 9.99994714e-01 -5.10653866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.01622075114757607 Centerline is valid? [True, True] Translation: X:222.23, Y:-128.46, Z:-5.11 [[-6.91263131e-01 -7.22601950e-01 1.30607513e-03 2.22232181e+02] [ 7.22600558e-01 -6.91264364e-01 -1.41893667e-03 -1.28457819e+02] [ 1.92816960e-03 -3.70879865e-05 9.99998140e-01 -5.10620609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.015974810957429437 Centerline is valid? [True, True] Translation: X:222.19, Y:-128.42, Z:-5.11 [[-6.92437475e-01 -7.21477387e-01 8.50764320e-04 2.22190153e+02] [ 7.21476796e-01 -6.92437997e-01 -9.23782950e-04 -1.28417830e+02] [ 1.25559005e-03 -2.58552173e-05 9.99999211e-01 -5.10520554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.01603707064564425 Centerline is valid? [True, True] Translation: X:222.15, Y:-128.38, Z:-5.11 [[-6.93337864e-01 -7.20612119e-01 8.83802920e-04 2.22148821e+02] [ 7.20611481e-01 -6.93338426e-01 -9.59134947e-04 -1.28376505e+02] [ 1.30393879e-03 -2.81260440e-05 9.99999149e-01 -5.10523761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.016277530589984348 Centerline is valid? [True, True] Translation: X:222.11, Y:-128.34, Z:-5.11 [[-6.93902671e-01 -7.20067284e-01 1.47972197e-03 2.22107007e+02] [ 7.20065497e-01 -6.93904247e-01 -1.60487249e-03 -1.28336629e+02] [ 2.18240154e-03 -4.81285737e-05 9.99997617e-01 -5.10619504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.01657459586927415 Centerline is valid? [True, True] Translation: X:222.07, Y:-128.30, Z:-5.11 [[-6.93561863e-01 -7.20394123e-01 2.06150254e-03 2.22066971e+02] [ 7.20390660e-01 -6.93564924e-01 -2.23444750e-03 -1.28297534e+02] [ 3.03946870e-03 -6.46403957e-05 9.99995379e-01 -5.10757368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.016358124593489315 Centerline is valid? [True, True] Translation: X:222.03, Y:-128.26, Z:-5.11 [[-6.93455624e-01 -7.20495473e-01 2.36047247e-03 2.22027026e+02] [ 7.20490939e-01 -6.93459637e-01 -2.55697987e-03 -1.28257103e+02] [ 3.47918480e-03 -7.24530424e-05 9.99993945e-01 -5.10788198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.015823070141914 Centerline is valid? [True, True] Translation: X:221.98, Y:-128.22, Z:-5.11 [[-6.91823096e-01 -7.22062946e-01 2.43035139e-03 2.21984616e+02] [ 7.22058155e-01 -6.91827361e-01 -2.63113576e-03 -1.28218239e+02] [ 3.58122923e-03 -6.54254439e-05 9.99993585e-01 -5.10779653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.014705265810570581 Centerline is valid? [True, True] Translation: X:221.94, Y:-128.18, Z:-5.11 [[-6.89320068e-01 -7.24453510e-01 2.22632063e-03 2.21940908e+02] [ 7.24449506e-01 -6.89323661e-01 -2.40893469e-03 -1.28180054e+02] [ 3.27981668e-03 -4.76701490e-05 9.99994620e-01 -5.10755016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.013821945179317272 Centerline is valid? [True, True] Translation: X:221.90, Y:-128.14, Z:-5.11 [[-6.87051251e-01 -7.26605984e-01 2.07892027e-03 2.21898792e+02] [ 7.26602507e-01 -6.87054396e-01 -2.24816117e-03 -1.28141532e+02] [ 3.06185867e-03 -3.40532622e-05 9.99995312e-01 -5.10732167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.012277480446289391 Centerline is valid? [True, True] Translation: X:221.85, Y:-128.10, Z:-5.11 [[-6.82318308e-01 -7.31053769e-01 1.45386632e-03 2.21852131e+02] [ 7.31052080e-01 -6.82319857e-01 -1.57142439e-03 -1.28104872e+02] [ 2.14079758e-03 -9.35962817e-06 9.99997708e-01 -5.10598886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.012127567126235441 Centerline is valid? [True, True] Translation: X:221.81, Y:-128.07, Z:-5.11 [[-6.77729013e-01 -7.35310662e-01 1.27051759e-03 2.21808239e+02] [ 7.35309382e-01 -6.77730204e-01 -1.37237867e-03 -1.28069055e+02] [ 1.87019282e-03 4.12265946e-06 9.99998251e-01 -5.10564106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.012490599204616794 Centerline is valid? [True, True] Translation: X:221.77, Y:-128.03, Z:-5.11 [[-6.74894279e-01 -7.37913796e-01 9.70347966e-04 2.21765236e+02] [ 7.37913053e-01 -6.74894977e-01 -1.04751560e-03 -1.28030965e+02] [ 1.42785918e-03 9.07014472e-06 9.99998981e-01 -5.10576467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.013598438533323778 Centerline is valid? [True, True] Translation: X:221.72, Y:-127.99, Z:-5.11 [[-6.71410741e-01 -7.41083424e-01 1.72521938e-03 2.21721975e+02] [ 7.41081087e-01 -6.71412957e-01 -1.86125650e-03 -1.27994492e+02] [ 2.53768098e-03 2.88598523e-05 9.99996780e-01 -5.10676159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.014602719926372278 Centerline is valid? [True, True] Translation: X:221.68, Y:-127.96, Z:-5.11 [[-6.69414755e-01 -7.42883821e-01 2.74120241e-03 2.21680172e+02] [ 7.42877944e-01 -6.69420365e-01 -2.95553396e-03 -1.27956936e+02] [ 4.03063508e-03 5.79007669e-05 9.99991875e-01 -5.10867535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.01450656215846843 Centerline is valid? [True, True] Translation: X:221.64, Y:-127.92, Z:-5.11 [[-6.69462526e-01 -7.42838307e-01 3.34311553e-03 2.21640509e+02] [ 7.42829575e-01 -6.69470869e-01 -3.60238692e-03 -1.27915347e+02] [ 4.91410946e-03 7.17020387e-05 9.99987923e-01 -5.10914674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.014012694767988006 Centerline is valid? [True, True] Translation: X:221.60, Y:-127.87, Z:-5.11 [[-6.71552492e-01 -7.40944889e-01 4.23341818e-03 2.21602951e+02] [ 7.40930869e-01 -6.71565832e-01 -4.55864492e-03 -1.27874343e+02] [ 6.22072365e-03 7.53008542e-05 9.99980648e-01 -5.10992467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.013049882695796246 Centerline is valid? [True, True] Translation: X:221.57, Y:-127.83, Z:-5.11 [[-6.74206265e-01 -7.38530550e-01 4.30568781e-03 2.21566557e+02] [ 7.38516015e-01 -6.74220011e-01 -4.63380886e-03 -1.27830505e+02] [ 6.32519029e-03 5.56764364e-05 9.99979994e-01 -5.10914951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.012556365425873718 Centerline is valid? [True, True] Translation: X:221.53, Y:-127.79, Z:-5.11 [[-6.76633714e-01 -7.36305764e-01 4.54310751e-03 2.21529945e+02] [ 7.36289552e-01 -6.76648964e-01 -4.88624517e-03 -1.27787632e+02] [ 6.67185947e-03 3.88443798e-05 9.99977742e-01 -5.10953102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.012171520384164441 Centerline is valid? [True, True] Translation: X:221.49, Y:-127.74, Z:-5.11 [[-6.78893753e-01 -7.34219544e-01 4.99338445e-03 2.21493252e+02] [ 7.34199927e-01 -6.78912116e-01 -5.36718597e-03 -1.27744800e+02] [ 7.33076204e-03 2.23934747e-05 9.99973129e-01 -5.10994709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.012220462780480496 Centerline is valid? [True, True] Translation: X:221.46, Y:-127.70, Z:-5.11 [[-6.81946745e-01 -7.31382169e-01 5.36274938e-03 2.21458713e+02] [ 7.31359477e-01 -6.81967831e-01 -5.76136753e-03 -1.27700796e+02] [ 7.87098405e-03 -6.84825414e-06 9.99969023e-01 -5.10973821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.012390560977854289 Centerline is valid? [True, True] Translation: X:221.42, Y:-127.66, Z:-5.11 [[-6.84027307e-01 -7.29435580e-01 5.51160814e-03 2.21422328e+02] [ 7.29411577e-01 -6.84049511e-01 -5.91762660e-03 -1.27657049e+02] [ 8.08674025e-03 -2.75874015e-05 9.99967301e-01 -5.10920352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.013482595542866824 Centerline is valid? [True, True] Translation: X:221.39, Y:-127.61, Z:-5.11 [[-6.86966348e-01 -7.26662239e-01 6.26315193e-03 2.21387318e+02] [ 7.26631153e-01 -6.86994896e-01 -6.72165895e-03 -1.27612706e+02] [ 9.18712915e-03 -6.65521979e-05 9.99957795e-01 -5.10994703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.014333998007820275 Centerline is valid? [True, True] Translation: X:221.35, Y:-127.57, Z:-5.11 [[-6.90513587e-01 -7.23291603e-01 6.34380691e-03 2.21350796e+02] [ 7.23259604e-01 -6.90542718e-01 -6.80439039e-03 -1.27568044e+02] [ 9.30222809e-03 -1.10304739e-04 9.99956727e-01 -5.10942339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.01611685722161394 Centerline is valid? [True, True] Translation: X:221.32, Y:-127.52, Z:-5.11 [[-6.93665649e-01 -7.20266096e-01 6.68712428e-03 2.21315427e+02] [ 7.20230438e-01 -6.93697864e-01 -7.16865413e-03 -1.27522905e+02] [ 9.80218236e-03 -1.56378666e-04 9.99951945e-01 -5.10937470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.019054740926285035 Centerline is valid? [True, True] Translation: X:221.28, Y:-127.48, Z:-5.11 [[-6.98224453e-01 -7.15847466e-01 6.70954481e-03 2.21281694e+02] [ 7.15811405e-01 -6.98256656e-01 -7.18851708e-03 -1.27476925e+02] [ 9.83086606e-03 -2.16429712e-04 9.99951652e-01 -5.10916890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.02049275307532371 Centerline is valid? [True, True] Translation: X:221.24, Y:-127.43, Z:-5.11 [[-7.00424287e-01 -7.13693032e-01 6.93350284e-03 2.21244527e+02] [ 7.13654459e-01 -7.00458558e-01 -7.42439395e-03 -1.27433504e+02] [ 1.01553696e-02 -2.52100627e-04 9.99948401e-01 -5.10896985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.02172391201920552 Centerline is valid? [True, True] Translation: X:221.21, Y:-127.39, Z:-5.11 [[-7.01580841e-01 -7.12551226e-01 7.42122283e-03 2.21206328e+02] [ 7.12507017e-01 -7.01620033e-01 -7.94234868e-03 -1.27391151e+02] [ 1.08662089e-02 -2.84526331e-04 9.99940921e-01 -5.10937984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.015343109205539841 Centerline is valid? [True, True] Translation: X:221.16, Y:-127.36, Z:-5.11 [[-7.00500703e-01 -7.13615122e-01 7.22650606e-03 2.21158823e+02] [ 7.13573305e-01 -7.00537930e-01 -7.72958500e-03 -1.27356577e+02] [ 1.05783903e-02 -2.57937916e-04 9.99944014e-01 -5.10571514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.014635655682568782 Centerline is valid? [True, True] Translation: X:221.12, Y:-127.32, Z:-5.11 [[-6.97665516e-01 -7.16376467e-01 8.22100231e-03 2.21115775e+02] [ 7.16322599e-01 -6.97713909e-01 -8.78833704e-03 -1.27317036e+02] [ 1.20316655e-02 -2.42429961e-04 9.99927588e-01 -5.10697714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.01369483596280999 Centerline is valid? [True, True] Translation: X:221.07, Y:-127.28, Z:-5.11 [[-6.95052239e-01 -7.18911960e-01 8.24492625e-03 2.21073774e+02] [ 7.18858016e-01 -6.95101111e-01 -8.80897650e-03 -1.27277160e+02] [ 1.20639360e-02 -1.95767516e-04 9.99927209e-01 -5.10728971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.012299497228694938 Centerline is valid? [True, True] Translation: X:221.03, Y:-127.24, Z:-5.11 [[-6.90025295e-01 -7.23737347e-01 8.32730479e-03 2.21030324e+02] [ 7.23682730e-01 -6.90075532e-01 -8.89190984e-03 -1.27238172e+02] [ 1.21818765e-02 -1.09316041e-04 9.99925792e-01 -5.10597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.011599418673470543 Centerline is valid? [True, True] Translation: X:220.99, Y:-127.20, Z:-5.11 [[-6.85203335e-01 -7.28302752e-01 8.45524957e-03 2.20986274e+02] [ 7.28246850e-01 -6.85255500e-01 -9.02352671e-03 -1.27200039e+02] [ 1.23658656e-02 -2.54417259e-05 9.99923539e-01 -5.10620483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.0115689389591464 Centerline is valid? [True, True] Translation: X:220.95, Y:-127.16, Z:-5.11 [[-6.82225407e-01 -7.31095976e-01 8.19561488e-03 2.20945076e+02] [ 7.31043721e-01 -6.82274631e-01 -8.74103983e-03 -1.27160834e+02] [ 1.19821992e-02 2.79933380e-05 9.99928211e-01 -5.10591060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.011734089149251597 Centerline is valid? [True, True] Translation: X:220.90, Y:-127.12, Z:-5.10 [[-6.79672109e-01 -7.33476505e-01 7.61846707e-03 2.20904018e+02] [ 7.33431556e-01 -6.79714802e-01 -8.12033322e-03 -1.27121197e+02] [ 1.11344585e-02 6.84601522e-05 9.99938008e-01 -5.10467015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.012339863710241792 Centerline is valid? [True, True] Translation: X:220.86, Y:-127.08, Z:-5.10 [[-6.76279354e-01 -7.36605965e-01 7.60841340e-03 2.20861803e+02] [ 7.36561382e-01 -6.76322141e-01 -8.10508329e-03 -1.27081468e+02] [ 1.11159911e-02 1.22762994e-04 9.99938208e-01 -5.10462983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.013010762945131047 Centerline is valid? [True, True] Translation: X:220.82, Y:-127.04, Z:-5.10 [[-6.73484690e-01 -7.39168993e-01 6.89719420e-03 2.20820123e+02] [ 7.39132532e-01 -6.73519990e-01 -7.34330575e-03 -1.27040557e+02] [ 1.00733421e-02 1.52336609e-04 9.99949251e-01 -5.10299271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.013105701228102942 Centerline is valid? [True, True] Translation: X:220.78, Y:-127.00, Z:-5.10 [[-6.72943698e-01 -7.39658610e-01 7.20555943e-03 2.20780831e+02] [ 7.39618892e-01 -6.72982252e-01 -7.66697789e-03 -1.26998494e+02] [ 1.05201598e-02 1.69923435e-04 9.99944647e-01 -5.10299428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.01329327585050428 Centerline is valid? [True, True] Translation: X:220.74, Y:-126.96, Z:-5.11 [[-6.72369531e-01 -7.40165341e-01 8.63031526e-03 2.20741386e+02] [ 7.40108470e-01 -6.72424882e-01 -9.17772919e-03 -1.26956317e+02] [ 1.25962758e-02 2.16543956e-04 9.99920640e-01 -5.10511547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.013316805231339175 Centerline is valid? [True, True] Translation: X:220.70, Y:-126.91, Z:-5.11 [[-6.72823251e-01 -7.39745113e-01 9.27579992e-03 2.20702544e+02] [ 7.39679453e-01 -6.72887150e-01 -9.85849632e-03 -1.26912724e+02] [ 1.35343410e-02 2.28093062e-04 9.99908381e-01 -5.10559724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.012940352585225969 Centerline is valid? [True, True] Translation: X:220.67, Y:-126.87, Z:-5.11 [[-6.75426578e-01 -7.37355896e-01 1.02576895e-02 2.20665722e+02] [ 7.37275417e-01 -6.75504435e-01 -1.08958274e-02 -1.26867091e+02] [ 1.49632173e-02 2.03410910e-04 9.99888024e-01 -5.10630998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.012452082034377974 Centerline is valid? [True, True] Translation: X:220.63, Y:-126.82, Z:-5.11 [[-6.78884063e-01 -7.34168121e-01 1.06582789e-02 2.20630037e+02] [ 7.34080937e-01 -6.78967709e-01 -1.13149312e-02 -1.26821270e+02] [ 1.55436890e-02 1.42512875e-04 9.99879179e-01 -5.10608114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.011874205725903992 Centerline is valid? [True, True] Translation: X:220.60, Y:-126.77, Z:-5.10 [[-6.85270278e-01 -7.28227488e-01 9.45364282e-03 2.20597713e+02] [ 7.28158408e-01 -6.85335484e-01 -1.00303343e-02 -1.26772384e+02] [ 1.37832820e-02 1.02595516e-05 9.99905006e-01 -5.10336843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.012275162816254882 Centerline is valid? [True, True] Translation: X:220.56, Y:-126.72, Z:-5.10 [[-6.90821849e-01 -7.22980151e-01 8.05444996e-03 2.20563237e+02] [ 7.22929700e-01 -6.90868797e-01 -8.54125469e-03 -1.26724377e+02] [ 1.17397258e-02 -7.76842576e-05 9.99931084e-01 -5.10178566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.012805109340368112 Centerline is valid? [True, True] Translation: X:220.53, Y:-126.68, Z:-5.10 [[-6.93855866e-01 -7.20071762e-01 7.79067792e-03 2.20526703e+02] [ 7.20024430e-01 -6.93899592e-01 -8.25692195e-03 -1.26679274e+02] [ 1.13515246e-02 -1.19635301e-04 9.99935562e-01 -5.10148026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.014291343634780318 Centerline is valid? [True, True] Translation: X:220.49, Y:-126.63, Z:-5.10 [[-6.98660368e-01 -7.15404065e-01 8.40910929e-03 2.20492069e+02] [ 7.15348625e-01 -6.98710942e-01 -8.90873512e-03 -1.26632691e+02] [ 1.22488820e-02 -2.08735390e-04 9.99924958e-01 -5.10126027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.015288365101859219 Centerline is valid? [True, True] Translation: X:220.46, Y:-126.59, Z:-5.10 [[-7.01910748e-01 -7.12210579e-01 8.79734246e-03 2.20455310e+02] [ 7.12149719e-01 -7.01965823e-01 -9.31452163e-03 -1.26588259e+02] [ 1.28093346e-02 -2.72937878e-04 9.99917920e-01 -5.10120775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.01622932477929966 Centerline is valid? [True, True] Translation: X:220.42, Y:-126.54, Z:-5.10 [[-7.05921131e-01 -7.08225175e-01 9.61557372e-03 2.20417430e+02] [ 7.08152178e-01 -7.05986517e-01 -1.01749827e-02 -1.26544148e+02] [ 1.39946443e-02 -3.73445840e-04 9.99902000e-01 -5.10165870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.01686159226835762 Centerline is valid? [True, True] Translation: X:220.38, Y:-126.50, Z:-5.10 [[-7.07448291e-01 -7.06699467e-01 9.63215863e-03 2.20378864e+02] [ 7.06626158e-01 -7.07513747e-01 -1.01867858e-02 -1.26501151e+02] [ 1.40138807e-02 -4.00288926e-04 9.99901721e-01 -5.10172850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.016440204788145785 Centerline is valid? [True, True] Translation: X:220.34, Y:-126.46, Z:-5.10 [[-7.07504227e-01 -7.06651855e-01 8.99585736e-03 2.20339012e+02] [ 7.06587978e-01 -7.07561318e-01 -9.50843297e-03 -1.26459502e+02] [ 1.30842725e-02 -3.70891855e-04 9.99914328e-01 -5.10037267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.015458913537160432 Centerline is valid? [True, True] Translation: X:220.30, Y:-126.42, Z:-5.10 [[-7.05530191e-01 -7.08623985e-01 8.89931944e-03 2.20296963e+02] [ 7.08561697e-01 -7.05586239e-01 -9.40105780e-03 -1.26419405e+02] [ 1.29410524e-02 -3.27013209e-04 9.99916208e-01 -5.10013235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.014557221483197115 Centerline is valid? [True, True] Translation: X:220.26, Y:-126.38, Z:-5.10 [[-7.01304864e-01 -7.12802703e-01 9.15389119e-03 2.20255555e+02] [ 7.12737230e-01 -7.01364557e-01 -9.66433557e-03 -1.26379850e+02] [ 1.33089794e-02 -2.53326500e-04 9.99911400e-01 -5.10000026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.012994844592922333 Centerline is valid? [True, True] Translation: X:220.21, Y:-126.34, Z:-5.10 [[-6.94957876e-01 -7.18990835e-01 9.25903978e-03 2.20211039e+02] [ 7.18924472e-01 -6.95019540e-01 -9.76943279e-03 -1.26342602e+02] [ 1.34593462e-02 -1.32793977e-04 9.99909410e-01 -5.10018629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.012148718664343574 Centerline is valid? [True, True] Translation: X:220.16, Y:-126.31, Z:-5.10 [[-6.87270661e-01 -7.26340388e-01 9.41697080e-03 2.20164972e+02] [ 7.26272500e-01 -6.87335173e-01 -9.93052253e-03 -1.26306577e+02] [ 1.36855548e-02 1.43301449e-05 9.99906348e-01 -5.10129736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.012422825349127524 Centerline is valid? [True, True] Translation: X:220.12, Y:-126.27, Z:-5.10 [[-6.84587276e-01 -7.28866533e-01 9.68706124e-03 2.20123483e+02] [ 7.28795030e-01 -6.84655806e-01 -1.02093577e-02 -1.26267100e+02] [ 1.40735619e-02 7.06857131e-05 9.99900960e-01 -5.10210491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.013673075334476098 Centerline is valid? [True, True] Translation: X:220.08, Y:-126.23, Z:-5.10 [[-6.77302244e-01 -7.35644841e-01 9.39888273e-03 2.20079037e+02] [ 7.35578256e-01 -6.77367422e-01 -9.89970598e-03 -1.26229995e+02] [ 1.36491646e-02 2.08520699e-04 9.99906824e-01 -5.10223326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.015203101502001198 Centerline is valid? [True, True] Translation: X:220.04, Y:-126.19, Z:-5.10 [[-6.73066911e-01 -7.39527345e-01 8.95761493e-03 2.20036672e+02] [ 7.39467281e-01 -6.73126458e-01 -9.42926773e-03 -1.26190947e+02] [ 1.30028089e-02 2.77335053e-04 9.99915421e-01 -5.10225237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.017272876577699818 Centerline is valid? [True, True] Translation: X:219.99, Y:-126.15, Z:-5.10 [[-6.68371360e-01 -7.43783138e-01 8.14670000e-03 2.19994129e+02] [ 7.43733829e-01 -6.68420926e-01 -8.57074322e-03 -1.26151582e+02] [ 1.18201990e-02 3.30537087e-04 9.99930084e-01 -5.10204667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.01869377124269929 Centerline is valid? [True, True] Translation: X:219.95, Y:-126.11, Z:-5.10 [[-6.66051016e-01 -7.45867028e-01 7.64342222e-03 2.19953246e+02] [ 7.45823809e-01 -6.66094780e-01 -8.03677482e-03 -1.26110686e+02] [ 1.10856090e-02 3.47744247e-04 9.99938492e-01 -5.10283633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.022889863684894343 Centerline is valid? [True, True] Translation: X:219.91, Y:-126.07, Z:-5.11 [[-6.65827721e-01 -7.46066294e-01 7.65051180e-03 2.19910512e+02] [ 7.46023061e-01 -6.65871578e-01 -8.03953084e-03 -1.26072503e+02] [ 1.10922813e-02 3.54515726e-04 9.99938416e-01 -5.10608390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.018762902556936575 Centerline is valid? [True, True] Translation: X:219.88, Y:-126.03, Z:-5.11 [[-6.66680385e-01 -7.45299046e-01 8.16070607e-03 2.19877137e+02] [ 7.45249860e-01 -6.66730228e-01 -8.57028274e-03 -1.26025363e+02] [ 1.18284130e-02 3.68125654e-04 9.99929974e-01 -5.10535799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.01678494454820407 Centerline is valid? [True, True] Translation: X:219.84, Y:-125.98, Z:-5.11 [[-6.69821253e-01 -7.42464890e-01 9.23987480e-03 2.19843484e+02] [ 7.42401640e-01 -6.69884881e-01 -9.69796933e-03 -1.25977838e+02] [ 1.33900542e-02 3.63792234e-04 9.99910283e-01 -5.10590221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.015893282532860188 Centerline is valid? [True, True] Translation: X:219.81, Y:-125.93, Z:-5.11 [[-6.73125704e-01 -7.39473484e-01 8.98629127e-03 2.19808265e+02] [ 7.39413443e-01 -6.73185619e-01 -9.42775135e-03 -1.25932684e+02] [ 1.30210142e-02 2.98522799e-04 9.99915178e-01 -5.10605182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.01339442441395512 Centerline is valid? [True, True] Translation: X:219.78, Y:-125.88, Z:-5.10 [[-6.80447467e-01 -7.32757306e-01 7.61414060e-03 2.19777757e+02] [ 7.32713833e-01 -6.80490051e-01 -7.98312285e-03 -1.25882748e+02] [ 1.10310385e-02 1.46890419e-04 9.99939145e-01 -5.10467565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.01244507767005507 Centerline is valid? [True, True] Translation: X:219.74, Y:-125.83, Z:-5.10 [[-6.86091426e-01 -7.27483227e-01 6.83447512e-03 2.19744206e+02] [ 7.27447978e-01 -6.86125463e-01 -7.16160627e-03 -1.25834450e+02] [ 9.89925584e-03 5.82084449e-05 9.99950999e-01 -5.10387409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.012477222235519891 Centerline is valid? [True, True] Translation: X:219.71, Y:-125.78, Z:-5.10 [[-6.94808071e-01 -7.19168627e-01 6.18301685e-03 2.19714574e+02] [ 7.19139481e-01 -6.94835580e-01 -6.47489818e-03 -1.25783793e+02] [ 8.95272373e-03 -5.23599921e-05 9.99959922e-01 -5.10330225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.014342591780961466 Centerline is valid? [True, True] Translation: X:219.68, Y:-125.73, Z:-5.10 [[-7.02700468e-01 -7.11453307e-01 6.80032419e-03 2.19683041e+02] [ 7.11417724e-01 -7.02733353e-01 -7.11732439e-03 -1.25733869e+02] [ 9.84245859e-03 -1.63476018e-04 9.99951548e-01 -5.10430832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.01528086343090192 Centerline is valid? [True, True] Translation: X:219.65, Y:-125.69, Z:-5.10 [[-7.06034894e-01 -7.08144501e-01 6.78924218e-03 2.19646274e+02] [ 7.08108922e-01 -7.06067506e-01 -7.10149000e-03 -1.25689499e+02] [ 9.82254439e-03 -2.06376781e-04 9.99951736e-01 -5.10374677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.01629476174053873 Centerline is valid? [True, True] Translation: X:219.61, Y:-125.65, Z:-5.10 [[-7.06851771e-01 -7.07328935e-01 6.80815547e-03 2.19607672e+02] [ 7.07293161e-01 -7.06884524e-01 -7.11709185e-03 -1.25646943e+02] [ 9.84670474e-03 -2.15367175e-04 9.99951497e-01 -5.10463082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.016935171123323794 Centerline is valid? [True, True] Translation: X:219.57, Y:-125.60, Z:-5.11 [[-7.07359182e-01 -7.06816319e-01 7.32666933e-03 2.19569222e+02] [ 7.06774906e-01 -7.07397085e-01 -7.65479546e-03 -1.25604968e+02] [ 1.05933989e-02 -2.36383823e-04 9.99943860e-01 -5.10536189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.01602554787881895 Centerline is valid? [True, True] Translation: X:219.53, Y:-125.56, Z:-5.10 [[-7.08353160e-01 -7.05814444e-01 7.85954355e-03 2.19528268e+02] [ 7.05766779e-01 -7.08396711e-01 -8.20693627e-03 -1.25563646e+02] [ 1.13602490e-02 -2.66404500e-04 9.99935435e-01 -5.10456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.016492125857032965 Centerline is valid? [True, True] Translation: X:219.49, Y:-125.52, Z:-5.10 [[-7.08495223e-01 -7.05673591e-01 7.70078202e-03 2.19488417e+02] [ 7.05627883e-01 -7.08537025e-01 -8.03590041e-03 -1.25524229e+02] [ 1.11270119e-02 -2.59510539e-04 9.99938059e-01 -5.10441828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.015472292101605636 Centerline is valid? [True, True] Translation: X:219.44, Y:-125.49, Z:-5.10 [[-7.06533499e-01 -7.07646447e-01 6.84987053e-03 2.19443481e+02] [ 7.07610399e-01 -7.06566675e-01 -7.14546499e-03 -1.25486177e+02] [ 9.89635316e-03 -2.01470767e-04 9.99951010e-01 -5.10365558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.01455162311782679 Centerline is valid? [True, True] Translation: X:219.40, Y:-125.45, Z:-5.10 [[-7.04388840e-01 -7.09786838e-01 6.24561890e-03 2.19400406e+02] [ 7.09756986e-01 -7.04416511e-01 -6.51148743e-03 -1.25446691e+02] [ 9.02128515e-03 -1.53747430e-04 9.99959296e-01 -5.10255952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.013337580192170365 Centerline is valid? [True, True] Translation: X:219.35, Y:-125.41, Z:-5.10 [[-6.99313453e-01 -7.14790223e-01 5.96914634e-03 2.19354192e+02] [ 7.14763165e-01 -6.99338923e-01 -6.21993882e-03 -1.25410110e+02] [ 8.62040783e-03 -8.31609582e-05 9.99962840e-01 -5.10292712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.01266785827424803 Centerline is valid? [True, True] Translation: X:219.31, Y:-125.37, Z:-5.10 [[-6.95314949e-01 -7.18673829e-01 6.71184395e-03 2.19308823e+02] [ 7.18639837e-01 -6.95347342e-01 -6.98987521e-03 -1.25372775e+02] [ 9.69050324e-03 -3.67662827e-05 9.99953045e-01 -5.10377184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.012842550366973772 Centerline is valid? [True, True] Translation: X:219.26, Y:-125.34, Z:-5.11 [[-6.88741947e-01 -7.24963010e-01 7.94758123e-03 2.19261987e+02] [ 7.24915817e-01 -6.88787797e-01 -8.27214762e-03 -1.25337444e+02] [ 1.14711980e-02 6.39522865e-05 9.99934202e-01 -5.10574944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.013935073781906764 Centerline is valid? [True, True] Translation: X:219.22, Y:-125.30, Z:-5.11 [[-6.82496068e-01 -7.30830590e-01 9.26094716e-03 2.19216472e+02] [ 7.30767118e-01 -6.82558870e-01 -9.63366822e-03 -1.25300342e+02] [ 1.33617211e-02 1.92654987e-04 9.99910710e-01 -5.10657859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.015111471713371407 Centerline is valid? [True, True] Translation: X:219.17, Y:-125.26, Z:-5.11 [[-6.79148651e-01 -7.33939645e-01 9.47142039e-03 2.19173387e+02] [ 7.33873631e-01 -6.79214641e-01 -9.84707990e-03 -1.25261517e+02] [ 1.36602897e-02 2.63194650e-04 9.99906659e-01 -5.10684467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.01705098747280594 Centerline is valid? [True, True] Translation: X:219.13, Y:-125.22, Z:-5.11 [[-6.75185223e-01 -7.37585111e-01 9.64984600e-03 2.19130439e+02] [ 7.37517033e-01 -6.75254089e-01 -1.00270735e-02 -1.25224571e+02] [ 1.39119181e-02 3.46793918e-04 9.99903164e-01 -5.10742088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.01828328851257378 Centerline is valid? [True, True] Translation: X:219.09, Y:-125.18, Z:-5.11 [[-6.73758331e-01 -7.38883596e-01 1.00370847e-02 2.19088601e+02] [ 7.38810170e-01 -6.73832975e-01 -1.04237616e-02 -1.25183792e+02] [ 1.44652652e-02 3.92404032e-04 9.99895296e-01 -5.10779677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.017493186836058928 Centerline is valid? [True, True] Translation: X:219.05, Y:-125.14, Z:-5.11 [[-6.73087521e-01 -7.39480998e-01 1.10019619e-02 2.19049908e+02] [ 7.39392958e-01 -6.73177282e-01 -1.14193081e-02 -1.25140083e+02] [ 1.58506322e-02 4.48579370e-04 9.99874270e-01 -5.10714926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.01747145183664537 Centerline is valid? [True, True] Translation: X:219.01, Y:-125.10, Z:-5.11 [[-6.73946213e-01 -7.38688820e-01 1.16330727e-02 2.19011914e+02] [ 7.38590401e-01 -6.74046449e-01 -1.20666582e-02 -1.25096881e+02] [ 1.67547369e-02 4.59797191e-04 9.99859524e-01 -5.10762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.017045105243336724 Centerline is valid? [True, True] Translation: X:218.97, Y:-125.05, Z:-5.11 [[-6.75298265e-01 -7.37446879e-01 1.20147563e-02 2.18974246e+02] [ 7.37341836e-01 -6.75404989e-01 -1.24546194e-02 -1.25053201e+02] [ 1.72994466e-02 4.48399633e-04 9.99850253e-01 -5.10729186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.016731131896572698 Centerline is valid? [True, True] Translation: X:218.94, Y:-125.01, Z:-5.11 [[-6.77286868e-01 -7.35619821e-01 1.20820920e-02 2.18937268e+02] [ 7.35513382e-01 -6.77394504e-01 -1.25200444e-02 -1.25007432e+02] [ 1.73943356e-02 4.06878663e-04 9.99848624e-01 -5.10639741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.015678437789788106 Centerline is valid? [True, True] Translation: X:218.90, Y:-124.96, Z:-5.11 [[-6.80304793e-01 -7.32841400e-01 1.13521233e-02 2.18901241e+02] [ 7.32747158e-01 -6.80399426e-01 -1.17568126e-02 -1.24961508e+02] [ 1.63398572e-02 3.20020127e-04 9.99866444e-01 -5.10560008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.014588910782726283 Centerline is valid? [True, True] Translation: X:218.86, Y:-124.92, Z:-5.10 [[-6.83353306e-01 -7.30006895e-01 1.08716386e-02 2.18864676e+02] [ 7.29920166e-01 -6.83439737e-01 -1.12551048e-02 -1.24915380e+02] [ 1.56464139e-02 2.44215121e-04 9.99877558e-01 -5.10463333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.013838806432180575 Centerline is valid? [True, True] Translation: X:218.83, Y:-124.87, Z:-5.10 [[-6.88048630e-01 -7.25592899e-01 1.01993724e-02 2.18829453e+02] [ 7.25516162e-01 -6.88124208e-01 -1.05533643e-02 -1.24868306e+02] [ 1.46758813e-02 1.38581641e-04 9.99892294e-01 -5.10379977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.013559871753447611 Centerline is valid? [True, True] Translation: X:218.79, Y:-124.83, Z:-5.10 [[-6.91187788e-01 -7.22604376e-01 1.01171571e-02 2.18792675e+02] [ 7.22528651e-01 -6.91261824e-01 -1.04613166e-02 -1.24825053e+02] [ 1.45529977e-02 7.92015534e-05 9.99894096e-01 -5.10405779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.013492374695494393 Centerline is valid? [True, True] Translation: X:218.76, Y:-124.78, Z:-5.10 [[-6.96124817e-01 -7.17852066e-01 9.93223851e-03 2.18756335e+02] [ 7.17778690e-01 -6.96195670e-01 -1.02636282e-02 -1.24780289e+02] [ 1.42825482e-02 -1.56171901e-05 9.99897999e-01 -5.10409732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.014289172318580068 Centerline is valid? [True, True] Translation: X:218.72, Y:-124.74, Z:-5.10 [[-7.02565359e-01 -7.11560691e-01 9.12687585e-03 2.18720682e+02] [ 7.11498245e-01 -7.02624627e-01 -9.42761497e-03 -1.24736105e+02] [ 1.31210880e-02 -1.29759542e-04 9.99913906e-01 -5.10368212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.015287694866062958 Centerline is valid? [True, True] Translation: X:218.68, Y:-124.69, Z:-5.10 [[-7.07791845e-01 -7.06367106e-01 8.73020019e-03 2.18682955e+02] [ 7.06309637e-01 -7.07845652e-01 -9.01282345e-03 -1.24691748e+02] [ 1.25459963e-02 -2.12978413e-04 9.99921273e-01 -5.10222782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.019527260065268684 Centerline is valid? [True, True] Translation: X:218.65, Y:-124.65, Z:-5.10 [[-7.16263474e-01 -6.97775512e-01 8.71609111e-03 2.18648960e+02] [ 6.97717636e-01 -7.16316414e-01 -8.99419425e-03 -1.24646178e+02] [ 1.25194076e-02 -3.60842341e-04 9.99921564e-01 -5.10256795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.0197628695399898 Centerline is valid? [True, True] Translation: X:218.61, Y:-124.60, Z:-5.10 [[-7.21466680e-01 -6.92396725e-01 8.52087889e-03 2.18608006e+02] [ 6.92341096e-01 -7.21516861e-01 -8.78780020e-03 -1.24604958e+02] [ 1.22326019e-02 -4.40750404e-04 9.99925082e-01 -5.10094831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.0221812644465123 Centerline is valid? [True, True] Translation: X:218.57, Y:-124.56, Z:-5.10 [[-7.26161709e-01 -6.87468299e-01 8.74705058e-03 2.18567751e+02] [ 6.87409386e-01 -7.26214192e-01 -9.01571102e-03 -1.24563337e+02] [ 1.25502478e-02 -5.34059447e-04 9.99921100e-01 -5.10121795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.02269102875109561 Centerline is valid? [True, True] Translation: X:218.53, Y:-124.52, Z:-5.10 [[-7.27287390e-01 -6.86277181e-01 8.75687368e-03 2.18525122e+02] [ 6.86218113e-01 -7.27339898e-01 -9.02082424e-03 -1.24523887e+02] [ 1.25600094e-02 -5.51606393e-04 9.99920968e-01 -5.10120382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.022654994038236495 Centerline is valid? [True, True] Translation: X:218.48, Y:-124.49, Z:-5.10 [[-7.26305504e-01 -6.87322780e-01 8.22864065e-03 2.18479782e+02] [ 6.87270742e-01 -7.26351945e-01 -8.47224476e-03 -1.24486461e+02] [ 1.18000560e-02 -4.98134038e-04 9.99930253e-01 -5.10078035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.021535709466927955 Centerline is valid? [True, True] Translation: X:218.43, Y:-124.45, Z:-5.10 [[-7.24514224e-01 -6.89215436e-01 7.82444556e-03 2.18434988e+02] [ 6.89168546e-01 -7.24556339e-01 -8.05154027e-03 -1.24449365e+02] [ 1.12184975e-02 -4.41093681e-04 9.99936973e-01 -5.09977755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.018301307258288217 Centerline is valid? [True, True] Translation: X:218.38, Y:-124.42, Z:-5.10 [[-7.19838397e-01 -6.94104277e-01 7.20659990e-03 2.18384536e+02] [ 6.94064788e-01 -7.19874393e-01 -7.41136509e-03 -1.24418089e+02] [ 1.03321069e-02 -3.33137929e-04 9.99946567e-01 -5.09886349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.01566874873696708 Centerline is valid? [True, True] Translation: X:218.33, Y:-124.39, Z:-5.10 [[-7.13884967e-01 -7.00227590e-01 7.04097023e-03 2.18334037e+02] [ 7.00190234e-01 -7.13919649e-01 -7.23677634e-03 -1.24386909e+02] [ 1.00940775e-02 -2.36207246e-04 9.99949026e-01 -5.09879310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.014878243210669644 Centerline is valid? [True, True] Translation: X:218.29, Y:-124.35, Z:-5.10 [[-7.09786854e-01 -7.04378638e-01 7.30459013e-03 2.18288674e+02] [ 7.04338688e-01 -7.09824416e-01 -7.50410102e-03 -1.24351925e+02] [ 1.04707049e-02 -1.81406829e-04 9.99945164e-01 -5.09979369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.014596607402471803 Centerline is valid? [True, True] Translation: X:218.25, Y:-124.31, Z:-5.10 [[-7.08051007e-01 -7.06121070e-01 7.53700821e-03 2.18245850e+02] [ 7.06078681e-01 -7.08091103e-01 -7.73858347e-03 -1.24313796e+02] [ 1.08012653e-02 -1.57591000e-04 9.99941652e-01 -5.10055256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.013369004403118877 Centerline is valid? [True, True] Translation: X:218.20, Y:-124.28, Z:-5.10 [[-7.03311223e-01 -7.10831185e-01 8.50582362e-03 2.18196144e+02] [ 7.10777601e-01 -7.03362650e-01 -8.72835476e-03 -1.24281638e+02] [ 1.21870654e-02 -9.30009554e-05 9.99925731e-01 -5.10101170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.013132874360351467 Centerline is valid? [True, True] Translation: X:218.15, Y:-124.25, Z:-5.10 [[-7.00879326e-01 -7.13230391e-01 8.40118592e-03 2.18150224e+02] [ 7.13178358e-01 -7.00929674e-01 -8.61525047e-03 -1.24248275e+02] [ 1.20332990e-02 -4.67069653e-05 9.99927596e-01 -5.10156124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.01306816582236242 Centerline is valid? [True, True] Translation: X:218.11, Y:-124.21, Z:-5.10 [[-7.00606588e-01 -7.13494773e-01 8.69583525e-03 2.18106806e+02] [ 7.13439116e-01 -7.00660551e-01 -8.91181737e-03 -1.24211046e+02] [ 1.24513638e-02 -3.97289411e-05 9.99922478e-01 -5.10122652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.013270925574272638 Centerline is valid? [True, True] Translation: X:218.06, Y:-124.17, Z:-5.10 [[-7.01230675e-01 -7.12873048e-01 9.35725226e-03 2.18062666e+02] [ 7.12808626e-01 -7.01293102e-01 -9.58373119e-03 -1.24173960e+02] [ 1.33941601e-02 -5.04761599e-05 9.99910293e-01 -5.10252522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.013513350450561798 Centerline is valid? [True, True] Translation: X:218.02, Y:-124.13, Z:-5.10 [[-7.02312466e-01 -7.11801924e-01 9.75813760e-03 2.18021032e+02] [ 7.11731845e-01 -7.02380251e-01 -9.98823396e-03 -1.24134934e+02] [ 1.39635673e-02 -6.96839535e-05 9.99902502e-01 -5.10303628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.013491906659417172 Centerline is valid? [True, True] Translation: X:217.98, Y:-124.10, Z:-5.10 [[-7.03520339e-01 -7.10610410e-01 9.59052274e-03 2.17978663e+02] [ 7.10542690e-01 -7.03585700e-01 -9.81057953e-03 -1.24096754e+02] [ 1.37192546e-02 -8.74664052e-05 9.99905883e-01 -5.10161538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.013316169918680069 Centerline is valid? [True, True] Translation: X:217.94, Y:-124.06, Z:-5.10 [[-7.04059361e-01 -7.10084644e-01 8.95628222e-03 2.17936560e+02] [ 7.10025610e-01 -7.04116319e-01 -9.15658045e-03 -1.24057279e+02] [ 1.28082116e-02 -8.75864332e-05 9.99917968e-01 -5.09974732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.013253794359939853 Centerline is valid? [True, True] Translation: X:217.89, Y:-124.02, Z:-5.10 [[-7.04342281e-01 -7.09806145e-01 8.78559837e-03 2.17893896e+02] [ 7.09749382e-01 -7.04397067e-01 -8.97696445e-03 -1.24018000e+02] [ 1.25604543e-02 -8.72826064e-05 9.99921111e-01 -5.09946604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.013291644253834582 Centerline is valid? [True, True] Translation: X:217.85, Y:-123.98, Z:-5.10 [[-7.04656924e-01 -7.09485654e-01 9.41945978e-03 2.17851888e+02] [ 7.09420450e-01 -7.04719871e-01 -9.61918128e-03 -1.23977849e+02] [ 1.34627516e-02 -9.58652981e-05 9.99909368e-01 -5.10051913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.013155158602920044 Centerline is valid? [True, True] Translation: X:217.81, Y:-123.94, Z:-5.10 [[-7.04594661e-01 -7.09552969e-01 8.99709193e-03 2.17810276e+02] [ 7.09493554e-01 -7.04652096e-01 -9.18265041e-03 -1.23937333e+02] [ 1.28553965e-02 -8.66677252e-05 9.99917362e-01 -5.10059603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.012972454173209904 Centerline is valid? [True, True] Translation: X:217.77, Y:-123.90, Z:-5.10 [[-7.03150732e-01 -7.10992288e-01 8.30753272e-03 2.17767453e+02] [ 7.10941787e-01 -7.03199804e-01 -8.47410613e-03 -1.23897636e+02] [ 1.18668795e-02 -5.24017682e-05 9.99929585e-01 -5.10083913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.012679849375358342 Centerline is valid? [True, True] Translation: X:217.72, Y:-123.86, Z:-5.10 [[-7.00060528e-01 -7.14042418e-01 7.66042754e-03 2.17723906e+02] [ 7.13999709e-01 -7.00102439e-01 -7.80961239e-03 -1.23858626e+02] [ 1.09394785e-02 2.34165327e-06 9.99940162e-01 -5.10087661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.01276970303077401 Centerline is valid? [True, True] Translation: X:217.68, Y:-123.82, Z:-5.10 [[-6.96935582e-01 -7.17094857e-01 7.46728880e-03 2.17681387e+02] [ 7.17054500e-01 -6.96975583e-01 -7.60791133e-03 -1.23819871e+02] [ 1.06601121e-02 5.22289242e-05 9.99943178e-01 -5.10093641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.013543297470665077 Centerline is valid? [True, True] Translation: X:217.64, Y:-123.78, Z:-5.10 [[-6.91474548e-01 -7.22365866e-01 7.10667153e-03 2.17636980e+02] [ 7.22329633e-01 -6.91511055e-01 -7.23613543e-03 -1.23782924e+02] [ 1.01414792e-02 1.29755963e-04 9.99948565e-01 -5.10114639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.01641627888109608 Centerline is valid? [True, True] Translation: X:217.59, Y:-123.75, Z:-5.10 [[-6.85346506e-01 -7.28183808e-01 6.96483010e-03 2.17592136e+02] [ 7.28149346e-01 -6.85381861e-01 -7.08759170e-03 -1.23748183e+02] [ 9.93463774e-03 2.13980282e-04 9.99950627e-01 -5.10242903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.016629255212006415 Centerline is valid? [True, True] Translation: X:217.55, Y:-123.71, Z:-5.10 [[-6.82126678e-01 -7.31203824e-01 6.64553172e-03 2.17551051e+02] [ 7.31172628e-01 -6.82159004e-01 -6.75878803e-03 -1.23706762e+02] [ 9.47536094e-03 2.48681268e-04 9.99955077e-01 -5.10141505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.019406156994323062 Centerline is valid? [True, True] Translation: X:217.51, Y:-123.67, Z:-5.10 [[-6.78261175e-01 -7.34793931e-01 6.29743242e-03 2.17508413e+02] [ 7.34766106e-01 -6.78290349e-01 -6.40085995e-03 -1.23669017e+02] [ 8.97480068e-03 2.85685105e-04 9.99959685e-01 -5.10186630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.01974252264323999 Centerline is valid? [True, True] Translation: X:217.47, Y:-123.63, Z:-5.10 [[-6.76988533e-01 -7.35970012e-01 5.88793043e-03 2.17467876e+02] [ 7.35945761e-01 -6.77014077e-01 -5.98127493e-03 -1.23627073e+02] [ 8.38825077e-03 2.83942904e-04 9.99964778e-01 -5.10174037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.020759640206007516 Centerline is valid? [True, True] Translation: X:217.43, Y:-123.58, Z:-5.10 [[-6.76243216e-01 -7.36656098e-01 5.73644405e-03 2.17428636e+02] [ 7.36633130e-01 -6.76267485e-01 -5.82415938e-03 -1.23584554e+02] [ 8.16977311e-03 2.87106465e-04 9.99966586e-01 -5.10217060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.01984879957994381 Centerline is valid? [True, True] Translation: X:217.39, Y:-123.54, Z:-5.10 [[-6.76437633e-01 -7.36474945e-01 6.06492898e-03 2.17391505e+02] [ 7.36449298e-01 -6.76464754e-01 -6.15374627e-03 -1.23540886e+02] [ 8.63479063e-03 3.03887128e-04 9.99962673e-01 -5.10280683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.019709284253243302 Centerline is valid? [True, True] Translation: X:217.35, Y:-123.50, Z:-5.10 [[-6.77075073e-01 -7.35888545e-01 6.11520098e-03 2.17354476e+02] [ 7.35862481e-01 -6.77102621e-01 -6.20080895e-03 -1.23496750e+02] [ 8.70372288e-03 3.01533793e-04 9.99962076e-01 -5.10340180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.020704806911350803 Centerline is valid? [True, True] Translation: X:217.32, Y:-123.46, Z:-5.11 [[-6.77738945e-01 -7.35273646e-01 6.52588477e-03 2.17315796e+02] [ 7.35243977e-01 -6.77770289e-01 -6.61287120e-03 -1.23455293e+02] [ 9.28532073e-03 3.16317116e-04 9.99956840e-01 -5.10526656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.019767074014337423 Centerline is valid? [True, True] Translation: X:217.28, Y:-123.41, Z:-5.11 [[-6.78517579e-01 -7.34553516e-01 6.71032683e-03 2.17280192e+02] [ 7.34522150e-01 -6.78550685e-01 -6.79551915e-03 -1.23409396e+02] [ 9.54496935e-03 3.18004498e-04 9.99954395e-01 -5.10588742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.018386595647403484 Centerline is valid? [True, True] Translation: X:217.24, Y:-123.36, Z:-5.11 [[-6.79818481e-01 -7.33347563e-01 6.94152202e-03 2.17244720e+02] [ 7.33313974e-01 -6.79853847e-01 -7.02591578e-03 -1.23362168e+02] [ 9.87165867e-03 3.13967703e-04 9.99951225e-01 -5.10617480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.018687298136286598 Centerline is valid? [True, True] Translation: X:217.21, Y:-123.32, Z:-5.11 [[-6.81339691e-01 -7.31941341e-01 6.17247432e-03 2.17207332e+02] [ 7.31914753e-01 -6.81367598e-01 -6.24417762e-03 -1.23318860e+02] [ 8.77609575e-03 2.63318970e-04 9.99961455e-01 -5.10599886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.01600766146975716 Centerline is valid? [True, True] Translation: X:217.18, Y:-123.27, Z:-5.10 [[-6.84804457e-01 -7.28710232e-01 4.92471520e-03 2.17175526e+02] [ 7.28693243e-01 -6.84822141e-01 -4.97915459e-03 -1.23268600e+02] [ 7.00091491e-03 1.78859439e-04 9.99975477e-01 -5.10409004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.015976366772192233 Centerline is valid? [True, True] Translation: X:217.14, Y:-123.22, Z:-5.10 [[-6.87288257e-01 -7.26368378e-01 4.88165512e-03 2.17139129e+02] [ 7.26351645e-01 -6.87305576e-01 -4.93283114e-03 -1.23223823e+02] [ 6.93824133e-03 1.55521311e-04 9.99975918e-01 -5.10467026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.013699614740208832 Centerline is valid? [True, True] Translation: X:217.11, Y:-123.17, Z:-5.10 [[-6.91306121e-01 -7.22544428e-01 5.03943333e-03 2.17107085e+02] [ 7.22526514e-01 -6.91324478e-01 -5.08947519e-03 -1.23173522e+02] [ 7.16125556e-03 1.22738838e-04 9.99974350e-01 -5.10487111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.01276915090711853 Centerline is valid? [True, True] Translation: X:217.07, Y:-123.12, Z:-5.10 [[-6.94159744e-01 -7.19806029e-01 4.64002577e-03 2.17073450e+02] [ 7.19790798e-01 -6.94175246e-01 -4.68342125e-03 -1.23124716e+02] [ 6.59214588e-03 8.88053514e-05 9.99978268e-01 -5.10469686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.012344590162654085 Centerline is valid? [True, True] Translation: X:217.04, Y:-123.08, Z:-5.10 [[-6.96060345e-01 -7.17966556e-01 4.90107275e-03 2.17037375e+02] [ 7.17949537e-01 -6.96077595e-01 -4.94406784e-03 -1.23078389e+02] [ 6.96120229e-03 7.73533462e-05 9.99975768e-01 -5.10492559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.012040340384330621 Centerline is valid? [True, True] Translation: X:217.00, Y:-123.03, Z:-5.11 [[-6.98037171e-01 -7.16043840e-01 5.03267304e-03 2.17001976e+02] [ 7.16025868e-01 -6.98055310e-01 -5.07359200e-03 -1.23032928e+02] [ 7.14599844e-03 6.19682820e-05 9.99974465e-01 -5.10543842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.01179375497166733 Centerline is valid? [True, True] Translation: X:216.97, Y:-122.99, Z:-5.11 [[-7.00106345e-01 -7.14018446e-01 5.36318630e-03 2.16967626e+02] [ 7.13998003e-01 -7.00126886e-01 -5.40321579e-03 -1.22988334e+02] [ 7.61290667e-03 4.64786526e-05 9.99971020e-01 -5.10569987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.011548732404765802 Centerline is valid? [True, True] Translation: X:216.93, Y:-122.94, Z:-5.11 [[-7.01895770e-01 -7.12261237e-01 5.12433249e-03 2.16931728e+02] [ 7.12242551e-01 -7.01914475e-01 -5.15932915e-03 -1.22943189e+02] [ 7.27163331e-03 2.84563322e-05 9.99973561e-01 -5.10534634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.011437667487255112 Centerline is valid? [True, True] Translation: X:216.90, Y:-122.90, Z:-5.10 [[-7.03110903e-01 -7.11067820e-01 4.19684286e-03 2.16897021e+02] [ 7.11055281e-01 -7.03123428e-01 -4.22286839e-03 -1.22897110e+02] [ 5.95364436e-03 1.50424711e-05 9.99982277e-01 -5.10490801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.011586366206097806 Centerline is valid? [True, True] Translation: X:216.86, Y:-122.85, Z:-5.11 [[-7.02338890e-01 -7.11831242e-01 4.04552523e-03 2.16861140e+02] [ 7.11819618e-01 -7.02350541e-01 -4.06797301e-03 -1.22853741e+02] [ 5.73708712e-03 2.25885743e-05 9.99983543e-01 -5.10532595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.01169898497145716 Centerline is valid? [True, True] Translation: X:216.82, Y:-122.81, Z:-5.11 [[-7.01085074e-01 -7.13065716e-01 4.12362185e-03 2.16822554e+02] [ 7.13053676e-01 -7.01097200e-01 -4.14381642e-03 -1.22812066e+02] [ 5.84587315e-03 3.51958787e-05 9.99982912e-01 -5.10525467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.01222394851651001 Centerline is valid? [True, True] Translation: X:216.78, Y:-122.77, Z:-5.11 [[-6.98483768e-01 -7.15613562e-01 4.20188191e-03 2.16782293e+02] [ 7.15601121e-01 -6.98496404e-01 -4.22015778e-03 -1.22770343e+02] [ 5.95500154e-03 5.91596963e-05 9.99982267e-01 -5.10547134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.012343729859198157 Centerline is valid? [True, True] Translation: X:216.74, Y:-122.73, Z:-5.11 [[-6.97347308e-01 -7.16722402e-01 3.96614505e-03 2.16742602e+02] [ 7.16711350e-01 -6.97358583e-01 -3.98088194e-03 -1.22729365e+02] [ 5.61901256e-03 6.65238722e-05 9.99984211e-01 -5.10530535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.012516869731473331 Centerline is valid? [True, True] Translation: X:216.70, Y:-122.69, Z:-5.11 [[-6.96575817e-01 -7.17473517e-01 3.72608188e-03 2.16701396e+02] [ 7.17463785e-01 -6.96585779e-01 -3.73755844e-03 -1.22689919e+02] [ 5.27713485e-03 6.98359819e-05 9.99986073e-01 -5.10524550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.012244112108872846 Centerline is valid? [True, True] Translation: X:216.66, Y:-122.65, Z:-5.11 [[-6.97128507e-01 -7.16934026e-01 4.17696321e-03 2.16659586e+02] [ 7.16921803e-01 -6.97141016e-01 -4.18716665e-03 -1.22651329e+02] [ 5.91385463e-03 7.55627576e-05 9.99982510e-01 -5.10611855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.012177574811863554 Centerline is valid? [True, True] Translation: X:216.62, Y:-122.61, Z:-5.11 [[-6.98063665e-01 -7.16016800e-01 5.20196796e-03 2.16617438e+02] [ 7.15997842e-01 -6.98083042e-01 -5.21123385e-03 -1.22613801e+02] [ 7.36273660e-03 8.68248255e-05 9.99972891e-01 -5.10806814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.011842127381116833 Centerline is valid? [True, True] Translation: X:216.58, Y:-122.57, Z:-5.11 [[-6.98670973e-01 -7.15426734e-01 4.84353316e-03 2.16577061e+02] [ 7.15410304e-01 -6.98687757e-01 -4.84926715e-03 -1.22572519e+02] [ 6.85341267e-03 7.70713313e-05 9.99976512e-01 -5.10655046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.011393515632422054 Centerline is valid? [True, True] Translation: X:216.54, Y:-122.53, Z:-5.11 [[-6.99931169e-01 -7.14192310e-01 5.06986686e-03 2.16536596e+02] [ 7.14174299e-01 -6.99949527e-01 -5.07261953e-03 -1.22532047e+02] [ 7.17147677e-03 7.02840886e-05 9.99974282e-01 -5.10712238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.0112402105153024 Centerline is valid? [True, True] Translation: X:216.50, Y:-122.49, Z:-5.11 [[-7.01480414e-01 -7.12664538e-01 5.87241267e-03 2.16495710e+02] [ 7.12640350e-01 -7.01504991e-01 -5.87188622e-03 -1.22491308e+02] [ 8.30421188e-03 6.59050449e-05 9.99965517e-01 -5.10888793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.01092463229970032 Centerline is valid? [True, True] Translation: X:215.98, Y:-123.02, Z:-4.15 [[-7.57717072e-01 6.52541779e-01 7.35290007e-03 2.15980594e+02] [ 6.52510573e-01 7.57752747e-01 -6.38175624e-03 -1.23017584e+02] [-9.73604279e-03 -3.77206179e-05 -9.99952603e-01 -4.14744015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.010826603131215683 Centerline is valid? [True, True] Translation: X:216.00, Y:-123.00, Z:-4.15 [[-8.00379819e-01 5.99438627e-01 8.09187687e-03 2.15999754e+02] [ 5.99407834e-01 8.00420722e-01 -6.07583762e-03 -1.23001731e+02] [-1.01189977e-02 -1.26434192e-05 -9.99948802e-01 -4.14814726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.01089055705746749 Centerline is valid? [True, True] Translation: X:216.02, Y:-122.98, Z:-4.15 [[-8.38603823e-01 5.44691411e-01 7.40910612e-03 2.16016576e+02] [ 5.44670410e-01 8.38636552e-01 -4.78308430e-03 -1.22984313e+02] [-8.81885214e-03 2.44080834e-05 -9.99961113e-01 -4.14850282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.011206714842454255 Centerline is valid? [True, True] Translation: X:216.03, Y:-122.97, Z:-4.15 [[-8.73825590e-01 4.86184654e-01 7.30207056e-03 2.16033611e+02] [ 4.86168101e-01 8.73856098e-01 -4.01204772e-03 -1.22965536e+02] [-8.33155492e-03 4.42038099e-05 -9.99965291e-01 -4.14887711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.011732235501133795 Centerline is valid? [True, True] Translation: X:216.05, Y:-122.95, Z:-4.15 [[-9.04526792e-01 4.26368115e-01 6.44310072e-03 2.16050123e+02] [ 4.26357797e-01 9.04549737e-01 -2.96701268e-03 -1.22947843e+02] [-7.09314466e-03 6.33237698e-05 -9.99974841e-01 -4.14931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.012102675506163922 Centerline is valid? [True, True] Translation: X:216.06, Y:-122.92, Z:-4.15 [[-9.31898158e-01 3.62681574e-01 5.28203049e-03 2.16063007e+02] [ 3.62676108e-01 9.31913125e-01 -1.99191684e-03 -1.22924004e+02] [-5.64482507e-03 5.94026346e-05 -9.99984066e-01 -4.14969855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.0120018758841128 Centerline is valid? [True, True] Translation: X:216.08, Y:-122.90, Z:-4.15 [[-9.55036854e-01 2.96437534e-01 5.42181936e-03 2.16075404e+02] [ 2.96433135e-01 9.55052242e-01 -1.61621597e-03 -1.22898485e+02] [-5.65722781e-03 6.36610892e-05 -9.99983996e-01 -4.14976093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.012061872762641264 Centerline is valid? [True, True] Translation: X:216.09, Y:-122.87, Z:-4.15 [[-9.73530315e-01 2.28448770e-01 7.06296241e-03 2.16085709e+02] [ 2.28443389e-01 9.73555932e-01 -1.57030594e-03 -1.22871738e+02] [-7.23492341e-03 8.47466318e-05 -9.99973824e-01 -4.14798137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.012105679348219274 Centerline is valid? [True, True] Translation: X:216.26, Y:-122.14, Z:-5.11 [[-9.62362284e-01 -2.71647753e-01 8.14450526e-03 2.16256942e+02] [ 2.71637841e-01 -9.62396747e-01 -2.32070774e-03 -1.22136731e+02] [ 8.46866041e-03 -2.10057769e-05 9.99964140e-01 -5.11065081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.01188789802600483 Centerline is valid? [True, True] Translation: X:216.04, Y:-122.85, Z:-4.15 [[-9.74984043e-01 2.22099275e-01 8.83334687e-03 2.16037681e+02] [ 2.22090911e-01 9.75024054e-01 -1.92918523e-03 -1.22854226e+02] [-9.04119631e-03 8.08812372e-05 -9.99959124e-01 -4.14500405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.011855581796329938 Centerline is valid? [True, True] Translation: X:216.20, Y:-122.13, Z:-5.11 [[-9.62568582e-01 -2.70950343e-01 6.90195262e-03 2.16200147e+02] [ 2.70942030e-01 -9.62593309e-01 -2.13011831e-03 -1.22132349e+02] [ 7.22092970e-03 -1.80355907e-04 9.99973913e-01 -5.11029422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.01164228147459539 Centerline is valid? [True, True] Translation: X:215.99, Y:-122.84, Z:-4.15 [[-9.76195982e-01 2.16806722e-01 6.02073353e-03 2.15991481e+02] [ 2.16802888e-01 9.76214548e-01 -1.29029510e-03 -1.22840674e+02] [-6.15727231e-03 4.57315212e-05 -9.99981043e-01 -4.14775655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.011282470734171466 Centerline is valid? [True, True] Translation: X:216.14, Y:-122.13, Z:-5.11 [[-9.62951946e-01 -2.69618788e-01 5.40922304e-03 2.16143801e+02] [ 2.69614094e-01 -9.62967135e-01 -1.59272439e-03 -1.22126633e+02] [ 5.63833244e-03 -7.53142839e-05 9.99984102e-01 -5.10887316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.010988066518131149 Centerline is valid? [True, True] Translation: X:215.94, Y:-122.82, Z:-4.15 [[-9.78269169e-01 2.07259971e-01 5.72168161e-03 2.15944175e+02] [ 2.07256481e-01 9.78285901e-01 -1.20284938e-03 -1.22822028e+02] [-5.84674298e-03 9.14513588e-06 -9.99982908e-01 -4.14783066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.010980346725602963 Centerline is valid? [True, True] Translation: X:215.94, Y:-122.79, Z:-4.15 [[-9.90950068e-01 1.34076587e-01 6.43679606e-03 2.15935355e+02] [ 1.34073681e-01 9.90970973e-01 -8.82801481e-04 -1.22789094e+02] [-6.49704107e-03 -1.18072471e-05 -9.99978894e-01 -4.14690123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.011256644901538417 Centerline is valid? [True, True] Translation: X:215.95, Y:-122.76, Z:-4.15 [[-9.98321808e-01 5.74688589e-02 7.13432496e-03 2.15946205e+02] [ 5.74669910e-02 9.98347298e-01 -4.66710676e-04 -1.22756931e+02] [-7.14935538e-03 -5.59392579e-05 -9.99974441e-01 -4.14701703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.01169833597419292 Centerline is valid? [True, True] Translation: X:215.99, Y:-122.07, Z:-5.11 [[-9.89492868e-01 -1.44365238e-01 7.90843576e-03 2.15989133e+02] [ 1.44361585e-01 -9.89524464e-01 -1.03378631e-03 -1.22066290e+02] [ 7.97483346e-03 1.18750146e-04 9.99968193e-01 -5.11029813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.013120391486597544 Centerline is valid? [True, True] Translation: X:215.89, Y:-122.74, Z:-4.15 [[-9.98994337e-01 4.38856753e-02 9.18493681e-03 2.15888495e+02] [ 4.38823423e-02 9.99036547e-01 -5.64197253e-04 -1.22743508e+02] [-9.20084773e-03 -1.60573319e-04 -9.99957658e-01 -4.14514685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.013152155667899703 Centerline is valid? [True, True] Translation: X:215.88, Y:-122.72, Z:-4.15 [[-9.99552866e-01 -2.85075302e-02 9.02162832e-03 2.15883357e+02] [-2.85079006e-02 9.99593563e-01 8.75707296e-05 -1.22716337e+02] [-9.02045803e-03 -1.69656110e-04 -9.99959300e-01 -4.14573226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.014379948647192772 Centerline is valid? [True, True] Translation: X:215.89, Y:-122.69, Z:-4.15 [[-9.94760549e-01 -1.01810164e-01 9.28125021e-03 2.15886902e+02] [-1.01807620e-01 9.94803825e-01 7.47410098e-04 -1.22685917e+02] [-9.30911715e-03 -2.01407915e-04 -9.99956649e-01 -4.14594113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.014138643048738953 Centerline is valid? [True, True] Translation: X:215.83, Y:-122.02, Z:-5.11 [[-9.99917422e-01 -9.62706350e-03 8.51282603e-03 2.15828995e+02] [ 9.62783159e-03 -9.99953650e-01 4.92500461e-05 -1.22019797e+02] [ 8.51195733e-03 1.31206034e-04 9.99963764e-01 -5.11003058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.014361020319639903 Centerline is valid? [True, True] Translation: X:215.81, Y:-122.69, Z:-4.15 [[-9.94250858e-01 -1.06650523e-01 9.53398379e-03 2.15810558e+02] [-1.06647624e-01 9.94296547e-01 8.13358402e-04 -1.22691869e+02] [-9.56635225e-03 -2.08094433e-04 -9.99954220e-01 -4.14632391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.013170999032248316 Centerline is valid? [True, True] Translation: X:215.76, Y:-122.02, Z:-5.11 [[-9.99937522e-01 -5.93761296e-04 1.11624405e-02 2.15762925e+02] [ 5.97550472e-04 -9.99999765e-01 3.36125512e-04 -1.22020851e+02] [ 1.11622383e-02 3.42774633e-04 9.99937642e-01 -5.11111740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.01307496862276886 Centerline is valid? [True, True] Translation: X:215.74, Y:-122.71, Z:-4.15 [[-9.94465617e-01 -1.04438468e-01 1.14343124e-02 2.15740981e+02] [-1.04433507e-01 9.94531336e-01 1.03172992e-03 -1.22705510e+02] [-1.14795343e-02 -1.68105405e-04 -9.99934094e-01 -4.14525568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.011201379356507515 Centerline is valid? [True, True] Translation: X:215.75, Y:-122.69, Z:-4.15 [[-9.85997648e-01 -1.66342934e-01 1.17756560e-02 2.15745456e+02] [-1.66331915e-01 9.86067961e-01 1.91583765e-03 -1.22687454e+02] [-1.19302831e-02 -6.96559931e-05 -9.99928829e-01 -4.14814332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.01153769586677242 Centerline is valid? [True, True] Translation: X:215.74, Y:-122.67, Z:-4.15 [[-9.74417910e-01 -2.24460368e-01 1.12818298e-02 2.15737990e+02] [-2.24444430e-01 9.74483216e-01 2.67590025e-03 -1.22672788e+02] [-1.15945873e-02 7.53012764e-05 -9.99932778e-01 -4.14938373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.013271813079436057 Centerline is valid? [True, True] Translation: X:215.71, Y:-122.66, Z:-4.15 [[-9.58443441e-01 -2.85085761e-01 1.05961792e-02 2.15714585e+02] [-2.85066284e-01 9.58501997e-01 3.33705711e-03 -1.22659127e+02] [-1.11078064e-02 1.77767078e-04 -9.99938291e-01 -4.15040894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.017216430836958157 Centerline is valid? [True, True] Translation: X:215.67, Y:-122.66, Z:-4.15 [[-9.40021286e-01 -3.40963314e-01 1.01980716e-02 2.15665980e+02] [-3.40939330e-01 9.40076542e-01 4.05825116e-03 -1.22657991e+02] [-1.09706826e-02 3.37918793e-04 -9.99939763e-01 -4.15093221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.021136544716849705 Centerline is valid? [True, True] Translation: X:215.61, Y:-122.66, Z:-4.15 [[-9.16976552e-01 -3.98833054e-01 9.28425468e-03 2.15606495e+02] [-3.98807709e-01 9.17023447e-01 4.51769406e-03 -1.22661796e+02] [-1.03156849e-02 4.39987180e-04 -9.99946695e-01 -4.15123918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.025322805301089647 Centerline is valid? [True, True] Translation: X:215.53, Y:-122.68, Z:-4.15 [[-8.86792320e-01 -4.62096613e-01 8.13027503e-03 2.15532449e+02] [-4.62072557e-01 8.86829479e-01 4.73572677e-03 -1.22676055e+02] [-9.39853087e-03 4.42829160e-04 -9.99955735e-01 -4.15102233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.023405391030722086 Centerline is valid? [True, True] Translation: X:215.45, Y:-122.69, Z:-4.15 [[-8.50295782e-01 -5.26245041e-01 7.95236225e-03 2.15447394e+02] [-5.26216826e-01 8.50332841e-01 5.46915662e-03 -1.22689965e+02] [-9.64027133e-03 4.65733982e-04 -9.99953423e-01 -4.15037639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.022705207763608643 Centerline is valid? [True, True] Translation: X:215.36, Y:-122.72, Z:-4.15 [[-8.07368766e-01 -5.89991641e-01 8.09566109e-03 2.15358313e+02] [-5.89955853e-01 8.07409208e-01 6.51638565e-03 -1.22717098e+02] [-1.03811244e-02 4.85043600e-04 -9.99945997e-01 -4.14922583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.01941424194793534 Centerline is valid? [True, True] Translation: X:215.26, Y:-122.75, Z:-4.15 [[-7.57674057e-01 -6.52595435e-01 7.01582634e-03 2.15263924e+02] [-6.52562416e-01 7.57706431e-01 6.57709022e-03 -1.22750961e+02] [-9.60811578e-03 4.05026039e-04 -9.99953759e-01 -4.14979613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.017798759247829116 Centerline is valid? [True, True] Translation: X:215.17, Y:-122.80, Z:-4.15 [[-7.01926407e-01 -7.12229884e-01 5.28315801e-03 2.15167801e+02] [-7.12206627e-01 7.01946232e-01 5.76254273e-03 -1.22797297e+02] [-7.81274800e-03 2.82180766e-04 -9.99969440e-01 -4.15029651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.018020419822682005 Centerline is valid? [True, True] Translation: X:215.08, Y:-122.85, Z:-4.15 [[-6.41802708e-01 -7.66858490e-01 4.16430037e-03 2.15078111e+02] [-7.66840215e-01 6.41816184e-01 5.29815108e-03 -1.22854524e+02] [-6.73564750e-03 2.07014717e-04 -9.99977294e-01 -4.15018014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.01415099056392292 Centerline is valid? [True, True] Translation: X:214.98, Y:-122.92, Z:-4.15 [[-5.73134360e-01 -8.19453106e-01 3.68957923e-03 2.14980469e+02] [-8.19434608e-01 5.73146220e-01 5.50751350e-03 -1.22918496e+02] [-6.62781743e-03 1.33176311e-04 -9.99978027e-01 -4.14975342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.011982330882837731 Centerline is valid? [True, True] Translation: X:214.89, Y:-122.99, Z:-4.15 [[-5.02235831e-01 -8.64724045e-01 3.39052557e-03 2.14893375e+02] [-8.64703216e-01 5.02247268e-01 6.00251930e-03 -1.22987711e+02] [-6.89340498e-03 8.28819060e-05 -9.99976237e-01 -4.14880736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.010790927308525568 Centerline is valid? [True, True] Translation: X:214.81, Y:-123.07, Z:-4.15 [[-4.23899634e-01 -9.05704458e-01 2.92134606e-03 2.14805301e+02] [-9.05683010e-01 4.23909701e-01 6.23310464e-03 -1.23068769e+02] [-6.88373760e-03 -3.60271621e-06 -9.99976307e-01 -4.14706650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.011930390418652015 Centerline is valid? [True, True] Translation: X:214.72, Y:-123.16, Z:-4.15 [[-3.43097433e-01 -9.39295483e-01 2.85410937e-03 2.14724977e+02] [-9.39265297e-01 3.43109291e-01 7.53105314e-03 -1.23161232e+02] [-8.05315564e-03 -9.68808788e-05 -9.99967568e-01 -4.14623988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.013538546850894432 Centerline is valid? [True, True] Translation: X:214.66, Y:-123.25, Z:-4.15 [[-2.64690362e-01 -9.64330738e-01 2.28915822e-03 2.14660540e+02] [-9.64299327e-01 2.64700219e-01 7.78471843e-03 -1.23250241e+02] [-8.11298395e-03 -1.46893797e-04 -9.99967078e-01 -4.14586755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.015062836222247277 Centerline is valid? [True, True] Translation: X:214.60, Y:-123.35, Z:-4.15 [[-1.85020317e-01 -9.82733239e-01 1.69235794e-03 2.14603507e+02] [-9.82701100e-01 1.85027957e-01 7.95001932e-03 -1.23347078e+02] [-8.12588176e-03 -1.92166909e-04 -9.99966966e-01 -4.14588426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.015389824125823947 Centerline is valid? [True, True] Translation: X:214.56, Y:-123.45, Z:-4.15 [[-1.08534406e-01 -9.94092099e-01 1.08675534e-03 2.14558303e+02] [-9.94059123e-01 1.08539660e-01 8.09949818e-03 -1.23453052e+02] [-8.16960320e-03 -2.01224839e-04 -9.99966608e-01 -4.14578037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.01684254927258428 Centerline is valid? [True, True] Translation: X:214.52, Y:-123.56, Z:-4.15 [[-3.26728330e-02 -9.99465990e-01 4.69498522e-04 2.14520321e+02] [-9.99432015e-01 3.26755946e-02 8.24333633e-03 -1.23558962e+02] [-8.25427545e-03 -1.99898703e-04 -9.99965913e-01 -4.14531986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.0148233438102592 Centerline is valid? [True, True] Translation: X:214.50, Y:-123.67, Z:-4.15 [[ 4.28642109e-02 -9.99080888e-01 -1.96546841e-04 2.14497539e+02] [-9.99031096e-01 -4.28640374e-02 9.97718298e-03 -1.23669273e+02] [-9.97643763e-03 -2.31307669e-04 -9.99950207e-01 -4.14524572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.014917974133577962 Centerline is valid? [True, True] Translation: X:214.48, Y:-123.78, Z:-4.14 [[ 1.17802720e-01 -9.93036513e-01 -1.00116073e-03 2.14479236e+02] [-9.92982456e-01 -1.17806756e-01 1.03638968e-02 -1.23784054e+02] [-1.04096715e-02 -2.26760194e-04 -9.99945792e-01 -4.14488910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.014664776996607324 Centerline is valid? [True, True] Translation: X:214.47, Y:-123.90, Z:-4.15 [[ 1.90448235e-01 -9.81696106e-01 -1.49151623e-03 2.14472618e+02] [-9.81658993e-01 -1.90454006e-01 8.53773678e-03 -1.23898648e+02] [-8.66552820e-03 -1.61836575e-04 -9.99962441e-01 -4.14544177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.012786691747297633 Centerline is valid? [True, True] Translation: X:214.48, Y:-124.01, Z:-4.15 [[ 2.61835812e-01 -9.65110360e-01 -2.00019510e-03 2.14476682e+02] [-9.65078487e-01 -2.61843423e-01 7.84449747e-03 -1.24008869e+02] [-8.09454370e-03 -1.23625112e-04 -9.99967231e-01 -4.14729552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.011954607792223045 Centerline is valid? [True, True] Translation: X:214.49, Y:-124.12, Z:-4.15 [[ 3.29297520e-01 -9.44223399e-01 -2.30571487e-03 2.14490606e+02] [-9.44198834e-01 -3.29305585e-01 6.81121213e-03 -1.24122339e+02] [-7.19059065e-03 -6.58619667e-05 -9.99974145e-01 -4.14759410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.011528159036589457 Centerline is valid? [True, True] Translation: X:214.51, Y:-124.23, Z:-4.15 [[ 3.93630479e-01 -9.19263590e-01 -3.08201195e-03 2.14514026e+02] [-9.19235185e-01 -3.93642544e-01 7.22650542e-03 -1.24234746e+02] [-7.85627434e-03 -1.14789591e-05 -9.99969139e-01 -4.14717931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.011828730865248775 Centerline is valid? [True, True] Translation: X:214.54, Y:-124.34, Z:-4.15 [[ 4.57673775e-01 -8.89111727e-01 -3.87976509e-03 2.14540659e+02] [-8.89080475e-01 -4.57690218e-01 7.45478640e-03 -1.24340972e+02] [-8.40386854e-03 3.75631538e-05 -9.99964686e-01 -4.14684311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.01223286112726909 Centerline is valid? [True, True] Translation: X:214.58, Y:-124.45, Z:-4.15 [[ 5.21811882e-01 -8.53048326e-01 -4.57317780e-03 2.14576483e+02] [-8.53016659e-01 -5.21831917e-01 7.35043394e-03 -1.24452510e+02] [-8.65670551e-03 6.54530764e-05 -9.99962528e-01 -4.14631106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.01444655261229619 Centerline is valid? [True, True] Translation: X:214.62, Y:-124.54, Z:-4.15 [[ 5.77325510e-01 -8.16497847e-01 -5.14986512e-03 2.14616897e+02] [-8.16467717e-01 -5.77348458e-01 7.01600289e-03 -1.24544377e+02] [-8.70181794e-03 1.54181165e-04 -9.99962127e-01 -4.14631276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.015634470543464604 Centerline is valid? [True, True] Translation: X:214.66, Y:-124.64, Z:-4.15 [[ 6.33124415e-01 -7.74031539e-01 -5.35266717e-03 2.14664440e+02] [-7.74006475e-01 -6.33147011e-01 6.23209083e-03 -1.24641869e+02] [-8.21286007e-03 1.97310188e-04 -9.99966254e-01 -4.14699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.016919782376825926 Centerline is valid? [True, True] Translation: X:214.72, Y:-124.73, Z:-4.15 [[ 6.86013555e-01 -7.27567719e-01 -5.53322384e-03 2.14716523e+02] [-7.27546764e-01 -6.86035829e-01 5.52690004e-03 -1.24732907e+02] [-7.81718386e-03 2.34150762e-04 -9.99969418e-01 -4.14805152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.017703111727228632 Centerline is valid? [True, True] Translation: X:214.73, Y:-124.76, Z:-4.15 [[ 7.39624487e-01 -6.73001070e-01 -5.01768529e-03 2.14734360e+02] [-6.72987472e-01 -7.39641478e-01 4.28331090e-03 -1.24761474e+02] [-6.59396098e-03 2.08797708e-04 -9.99978238e-01 -4.14919009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.018221052569331504 Centerline is valid? [True, True] Translation: X:214.75, Y:-124.79, Z:-4.15 [[ 7.92298116e-01 -6.10112260e-01 -5.16955948e-03 2.14752911e+02] [-6.10100722e-01 -7.92314961e-01 3.75646902e-03 -1.24787167e+02] [-6.38778712e-03 1.77708638e-04 -9.99979582e-01 -4.14865983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.01494176559872156 Centerline is valid? [True, True] Translation: X:214.77, Y:-124.82, Z:-4.15 [[ 8.41847586e-01 -5.39675748e-01 -6.53673295e-03 2.14770227e+02] [-5.39660879e-01 -8.41872950e-01 4.00893142e-03 -1.24819292e+02] [-7.66662171e-03 1.52709806e-04 -9.99970599e-01 -4.14796085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.013700800967424338 Centerline is valid? [True, True] Translation: X:214.79, Y:-124.85, Z:-4.15 [[ 8.84678689e-01 -4.66138666e-01 -7.63942232e-03 2.14793103e+02] [-4.66122376e-01 -8.84711666e-01 3.89865917e-03 -1.24846302e+02] [-8.57600183e-03 1.11844994e-04 -9.99963219e-01 -4.14622454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.012482856871797685 Centerline is valid? [True, True] Translation: X:214.82, Y:-124.87, Z:-4.14 [[ 9.22851611e-01 -3.85055078e-01 -8.80293874e-03 2.14816200e+02] [-3.85037720e-01 -9.22893595e-01 3.65612811e-03 -1.24873374e+02] [-9.53198647e-03 1.53997532e-05 -9.99954569e-01 -4.14355444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.012601459725184542 Centerline is valid? [True, True] Translation: X:214.84, Y:-124.90, Z:-4.14 [[ 9.52572106e-01 -3.04178107e-01 -9.05877558e-03 2.14843492e+02] [-3.04163748e-01 -9.52615177e-01 2.95620331e-03 -1.24898120e+02] [-9.52873943e-03 -6.06456780e-05 -9.99954599e-01 -4.14493993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.013796883621382773 Centerline is valid? [True, True] Translation: X:214.87, Y:-124.92, Z:-4.15 [[ 9.75215111e-01 -2.21065217e-01 -9.25515173e-03 2.14873361e+02] [-2.21053938e-01 -9.75259018e-01 2.23723465e-03 -1.24920927e+02] [-9.52074495e-03 -1.35897306e-04 -9.99954667e-01 -4.14520256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.015838763267472102 Centerline is valid? [True, True] Translation: X:214.90, Y:-124.94, Z:-4.15 [[ 9.90826780e-01 -1.34799652e-01 -9.55754422e-03 2.14904791e+02] [-1.34791142e-01 -9.90872848e-01 1.53202316e-03 -1.24944081e+02] [-9.67682725e-03 -2.29697277e-04 -9.99953152e-01 -4.14587036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.017648264571105476 Centerline is valid? [True, True] Translation: X:214.94, Y:-124.96, Z:-4.15 [[ 9.98641001e-01 -5.11784965e-02 -9.84444280e-03 2.14935549e+02] [-5.11731438e-02 -9.98689480e-01 7.95019110e-04 -1.24960888e+02] [-9.87222934e-03 -2.90167593e-04 -9.99951226e-01 -4.14616975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.01915894175441384 Centerline is valid? [True, True] Translation: X:214.97, Y:-124.97, Z:-4.14 [[ 9.99511387e-01 2.93181488e-02 -1.08366479e-02 2.14967015e+02] [ 2.93201303e-02 -9.99570072e-01 2.39866399e-05 -1.24971472e+02] [-1.08312857e-02 -3.41706848e-04 -9.99941282e-01 -4.14473730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.019792482481449408 Centerline is valid? [True, True] Translation: X:215.00, Y:-124.98, Z:-4.14 [[ 9.93983059e-01 1.08544014e-01 -1.46927329e-02 2.14999393e+02] [ 1.08539284e-01 -9.94091528e-01 -1.12126929e-03 -1.24976438e+02] [-1.47276283e-02 -4.80216032e-04 -9.99891427e-01 -4.14140488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.020066275359296164 Centerline is valid? [True, True] Translation: X:215.03, Y:-124.98, Z:-4.14 [[ 9.82552791e-01 1.85312274e-01 -1.57915976e-02 2.15031963e+02] [ 1.85296643e-01 -9.82679552e-01 -2.46009292e-03 -1.24976048e+02] [-1.59739654e-02 -5.08958843e-04 -9.99872279e-01 -4.13965656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.018136814642650875 Centerline is valid? [True, True] Translation: X:215.06, Y:-124.97, Z:-4.14 [[ 9.65654817e-01 2.59335324e-01 -1.59988654e-02 2.15063514e+02] [ 2.59308009e-01 -9.65787221e-01 -3.79487494e-03 -1.24969868e+02] [-1.64356448e-02 -4.84094662e-04 -9.99864808e-01 -4.14116861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.017905144884995245 Centerline is valid? [True, True] Translation: X:215.09, Y:-124.96, Z:-4.14 [[ 9.43418720e-01 3.31295235e-01 -1.43033260e-02 2.15093811e+02] [ 3.31263521e-01 -9.43527058e-01 -4.60113969e-03 -1.24963041e+02] [-1.50199108e-02 -3.97368817e-04 -9.99887116e-01 -4.14286689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.01723866720241589 Centerline is valid? [True, True] Translation: X:215.12, Y:-124.95, Z:-4.14 [[ 9.15893900e-01 4.01247682e-01 -1.17754683e-02 2.15123533e+02] [ 4.01218666e-01 -9.15969546e-01 -4.83451493e-03 -1.24951181e+02] [-1.27258082e-02 -2.96634927e-04 -9.99918980e-01 -4.14460628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.01702771918107303 Centerline is valid? [True, True] Translation: X:215.15, Y:-124.94, Z:-4.14 [[ 8.82576273e-01 4.70046628e-01 -1.07373111e-02 2.15150751e+02] [ 4.70015380e-01 -8.82641547e-01 -5.42595572e-03 -1.24938354e+02] [-1.20276490e-02 -2.57881565e-04 -9.99927632e-01 -4.14474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.015795501817932378 Centerline is valid? [True, True] Translation: X:215.18, Y:-124.93, Z:-4.14 [[ 8.43666151e-01 5.36746328e-01 -1.14370490e-02 2.15179687e+02] [ 5.36701347e-01 -8.43743626e-01 -6.95401045e-03 -1.24925167e+02] [-1.33824768e-02 -2.71416399e-04 -9.99910414e-01 -4.14455665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.016192943497833727 Centerline is valid? [True, True] Translation: X:215.21, Y:-124.91, Z:-4.14 [[ 7.98937634e-01 6.01313798e-01 -1.09714598e-02 2.15208292e+02] [ 6.01261831e-01 -7.99012916e-01 -7.91017534e-03 -1.24911830e+02] [-1.35228357e-02 -2.76983248e-04 -9.99908524e-01 -4.14460408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.016148240399203 Centerline is valid? [True, True] Translation: X:215.24, Y:-124.90, Z:-4.15 [[ 7.48854508e-01 6.62650057e-01 -1.05748652e-02 2.15236539e+02] [ 6.62589519e-01 -7.48929112e-01 -8.96189989e-03 -1.24896921e+02] [-1.38584279e-02 -2.95635694e-04 -9.99903924e-01 -4.14534267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.016777771313950154 Centerline is valid? [True, True] Translation: X:215.26, Y:-124.88, Z:-4.14 [[ 6.94963360e-01 7.18969369e-01 -1.04390634e-02 2.15262512e+02] [ 7.18894855e-01 -6.95041690e-01 -1.03555073e-02 -1.24881483e+02] [-1.47008769e-02 -3.07890824e-04 -9.99891889e-01 -4.14364215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.016727390680454327 Centerline is valid? [True, True] Translation: X:215.28, Y:-124.86, Z:-4.14 [[ 6.37351413e-01 7.70512142e-01 -9.70651532e-03 2.15283933e+02] [ 7.70429798e-01 -6.37425252e-01 -1.12683049e-02 -1.24859752e+02] [-1.48695437e-02 -2.96318595e-04 -9.99889398e-01 -4.14253478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.016713106831720986 Centerline is valid? [True, True] Translation: X:215.30, Y:-124.84, Z:-4.14 [[ 5.76636568e-01 8.16958423e-01 -8.31880215e-03 2.15301532e+02] [ 8.16879685e-01 -5.76696515e-01 -1.13450258e-02 -1.24835853e+02] [-1.40658386e-02 -2.53503715e-04 -9.99901039e-01 -4.14315429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.016276536242406735 Centerline is valid? [True, True] Translation: X:215.32, Y:-124.81, Z:-4.14 [[ 5.11771112e-01 8.59094073e-01 -6.90670868e-03 2.15316986e+02] [ 8.59021656e-01 -5.11817667e-01 -1.11566143e-02 -1.24809346e+02] [-1.31195567e-02 -2.23379422e-04 -9.99913910e-01 -4.14419557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.014686058954938934 Centerline is valid? [True, True] Translation: X:215.34, Y:-124.78, Z:-4.15 [[ 4.43665344e-01 8.96176411e-01 -5.37620182e-03 2.15335295e+02] [ 8.96115734e-01 -4.43697876e-01 -1.04300510e-02 -1.24784664e+02] [-1.17325750e-02 -1.90246896e-04 -9.99931153e-01 -4.14705063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.014409242217899897 Centerline is valid? [True, True] Translation: X:215.36, Y:-124.76, Z:-4.15 [[ 3.72181782e-01 9.28150269e-01 -4.21897368e-03 2.15355724e+02] [ 9.28095894e-01 -3.72205652e-01 -1.00480551e-02 -1.24760856e+02] [-1.08964309e-02 -1.75909109e-04 -9.99940617e-01 -4.14745428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.01450345749853593 Centerline is valid? [True, True] Translation: X:215.38, Y:-124.74, Z:-4.15 [[ 2.98437002e-01 9.54422444e-01 -3.62699609e-03 2.15375709e+02] [ 9.54359345e-01 -2.98458983e-01 -1.09761408e-02 -1.24735712e+02] [-1.15583847e-02 -1.85771062e-04 -9.99933182e-01 -4.14650378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.014308193316873472 Centerline is valid? [True, True] Translation: X:215.39, Y:-124.71, Z:-4.15 [[ 2.23376665e-01 9.74727825e-01 -2.92117741e-03 2.15393554e+02] [ 9.74655209e-01 -2.23395684e-01 -1.18992161e-02 -1.24709356e+02] [-1.22510754e-02 -1.89133582e-04 -9.99924935e-01 -4.14517804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.014018321202815053 Centerline is valid? [True, True] Translation: X:215.41, Y:-124.68, Z:-4.14 [[ 1.47968071e-01 9.88989636e-01 -2.22474966e-03 2.15406282e+02] [ 9.88896312e-01 -1.47984674e-01 -1.35875032e-02 -1.24680665e+02] [-1.37671287e-02 -1.89530087e-04 -9.99905211e-01 -4.14486673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.014128540783366143 Centerline is valid? [True, True] Translation: X:215.42, Y:-124.65, Z:-4.14 [[ 7.08617625e-02 9.97485483e-01 -1.14992314e-03 2.15415959e+02] [ 9.97391671e-01 -7.08708700e-02 -1.36811773e-02 -1.24652295e+02] [-1.37282718e-02 -1.77451433e-04 -9.99905747e-01 -4.14451500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.013846526955977682 Centerline is valid? [True, True] Translation: X:215.42, Y:-124.62, Z:-4.15 [[-6.18308274e-03 9.99980882e-01 -7.41030243e-05 2.15423169e+02] [ 9.99888064e-01 6.18149914e-03 -1.36252626e-02 -1.24623131e+02] [-1.36245440e-02 -1.58340855e-04 -9.99907169e-01 -4.14561433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.013667807834337374 Centerline is valid? [True, True] Translation: X:215.43, Y:-124.59, Z:-4.15 [[-8.30614771e-02 9.96543913e-01 1.00993060e-03 2.15427908e+02] [ 9.96448161e-01 8.30674967e-02 -1.38149809e-02 -1.24592987e+02] [-1.38511275e-02 -1.41149232e-04 -9.99904059e-01 -4.14630669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.013419697623116057 Centerline is valid? [True, True] Translation: X:215.43, Y:-124.56, Z:-4.15 [[-1.58235699e-01 9.87398575e-01 2.34917438e-03 2.15428439e+02] [ 9.87278558e-01 1.58253093e-01 -1.53950435e-02 -1.24563232e+02] [-1.55728081e-02 -1.16755963e-04 -9.99878730e-01 -4.14593108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.013458574666494891 Centerline is valid? [True, True] Translation: X:215.43, Y:-124.54, Z:-4.15 [[-2.32319892e-01 9.72632266e-01 3.73409095e-03 2.15425334e+02] [ 9.72501317e-01 2.32349886e-01 -1.59598899e-02 -1.24535171e+02] [-1.63907195e-02 -7.63915302e-05 -9.99865660e-01 -4.14518783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.013510170730884416 Centerline is valid? [True, True] Translation: X:215.41, Y:-124.51, Z:-4.15 [[-3.03598677e-01 9.52786733e-01 5.02834747e-03 2.15414891e+02] [ 9.52655849e-01 3.03640315e-01 -1.57921403e-02 -1.24509656e+02] [-1.65733508e-02 -4.18828748e-06 -9.99862653e-01 -4.14554479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.01388162172756597 Centerline is valid? [True, True] Translation: X:215.40, Y:-124.49, Z:-4.15 [[-3.73228611e-01 9.27717637e-01 6.35526959e-03 2.15401259e+02] [ 9.27586324e-01 3.73282709e-01 -1.56086951e-02 -1.24486397e+02] [-1.68527740e-02 6.94495521e-05 -9.99857980e-01 -4.14528903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.014374146490530223 Centerline is valid? [True, True] Translation: X:215.39, Y:-124.46, Z:-4.14 [[-4.41942840e-01 8.97011884e-01 7.49710977e-03 2.15385774e+02] [ 8.96887448e-01 4.42006409e-01 -1.49412239e-02 -1.24463473e+02] [-1.67162260e-02 1.20896701e-04 -9.99860267e-01 -4.14495705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.016134917734240646 Centerline is valid? [True, True] Translation: X:215.36, Y:-124.45, Z:-4.14 [[-5.05426821e-01 8.62829766e-01 8.27791386e-03 2.15364626e+02] [ 8.62720999e-01 5.05494558e-01 -1.37014300e-02 -1.24445752e+02] [-1.60064421e-02 2.16459885e-04 -9.99871865e-01 -4.14443757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.01579679416335416 Centerline is valid? [True, True] Translation: X:215.35, Y:-124.42, Z:-4.15 [[-5.65541397e-01 8.24668377e-01 9.21934800e-03 2.15354250e+02] [ 8.24568109e-01 5.65616444e-01 -1.28636255e-02 -1.24419027e+02] [-1.58228400e-02 3.27067602e-04 -9.99874758e-01 -4.14832259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.02152838668202388 Centerline is valid? [True, True] Translation: X:215.34, Y:-124.40, Z:-4.14 [[-6.25047010e-01 7.80526445e-01 9.73156000e-03 2.15336039e+02] [ 7.80441106e-01 6.25122649e-01 -1.15478757e-02 -1.24400346e+02] [-1.50968410e-02 3.76944255e-04 -9.99885965e-01 -4.14430794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.017599730532218923 Centerline is valid? [True, True] Translation: X:215.33, Y:-124.37, Z:-4.15 [[-6.81750159e-01 7.31513523e-01 1.02316112e-02 2.15328336e+02] [ 7.31440114e-01 6.81826807e-01 -1.03713725e-02 -1.24371005e+02] [-1.45629860e-02 4.13126003e-04 -9.99893869e-01 -4.14859413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.017999827080096304 Centerline is valid? [True, True] Translation: X:215.31, Y:-124.35, Z:-4.15 [[-7.36678104e-01 6.76153749e-01 1.10217704e-02 2.15314072e+02] [ 6.76086482e-01 7.36760431e-01 -9.54653080e-03 -1.24346085e+02] [-1.45753269e-02 4.18949770e-04 -9.99893687e-01 -4.14820755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.01788109031862385 Centerline is valid? [True, True] Translation: X:215.33, Y:-124.32, Z:-4.15 [[-7.82895407e-01 6.22068070e-01 1.03004200e-02 2.15332352e+02] [ 6.22020303e-01 7.82963079e-01 -7.71747384e-03 -1.24323618e+02] [-1.28656426e-02 3.65095547e-04 -9.99917168e-01 -4.14892281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.01689806545150759 Centerline is valid? [True, True] Translation: X:215.35, Y:-124.30, Z:-4.15 [[-8.25972510e-01 5.63601393e-01 1.10852507e-02 2.15351655e+02] [ 5.63556277e-01 8.26046819e-01 -7.13970120e-03 -1.24298344e+02] [-1.31808817e-02 3.49965715e-04 -9.99913067e-01 -4.14830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.01591172178668369 Centerline is valid? [True, True] Translation: X:215.37, Y:-124.27, Z:-4.15 [[-8.65068506e-01 5.01533200e-01 1.09968033e-02 2.15365965e+02] [ 5.01497069e-01 8.65138347e-01 -6.02753060e-03 -1.24270660e+02] [-1.25367629e-02 3.00637729e-04 -9.99921367e-01 -4.14861261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.015120666470602517 Centerline is valid? [True, True] Translation: X:215.38, Y:-124.24, Z:-4.15 [[-9.00268546e-01 4.35196534e-01 1.09782704e-02 2.15380331e+02] [ 4.35167388e-01 9.00335449e-01 -5.04223963e-03 -1.24241275e+02] [-1.20784912e-02 2.38015532e-04 -9.99927024e-01 -4.14846432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.014962918921972957 Centerline is valid? [True, True] Translation: X:215.39, Y:-124.21, Z:-4.15 [[-9.30028612e-01 3.67328403e-01 1.07993495e-02 2.15388543e+02] [ 3.67306000e-01 9.30091290e-01 -4.06122164e-03 -1.24211466e+02] [-1.15361830e-02 1.89613562e-04 -9.99933438e-01 -4.14714378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.013557924150011457 Centerline is valid? [True, True] Translation: X:215.40, Y:-124.18, Z:-4.15 [[-9.55329008e-01 2.95409560e-01 8.92631911e-03 2.15397198e+02] [ 2.95397670e-01 9.55370704e-01 -2.65238070e-03 -1.24178602e+02] [-9.31148239e-03 1.02917642e-04 -9.99956642e-01 -4.14787813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.013139847324037187 Centerline is valid? [True, True] Translation: X:215.40, Y:-124.15, Z:-4.15 [[-9.74746925e-01 2.23162264e-01 8.18755009e-03 2.15400496e+02] [ 2.23154908e-01 9.74781309e-01 -1.81289676e-03 -1.24147041e+02] [-8.38564094e-03 5.99764462e-05 -9.99964838e-01 -4.14792509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.012604897262800238 Centerline is valid? [True, True] Translation: X:215.40, Y:-124.11, Z:-4.15 [[-9.89218558e-01 1.46216555e-01 8.20755877e-03 2.15397951e+02] [ 1.46211507e-01 9.89252606e-01 -1.21493685e-03 -1.24111121e+02] [-8.29699279e-03 -1.79854346e-06 -9.99965579e-01 -4.14780921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.013228422646819525 Centerline is valid? [True, True] Translation: X:215.49, Y:-123.48, Z:-5.11 [[-9.75127602e-01 -2.21512642e-01 7.63602840e-03 2.15490130e+02] [ 2.21505598e-01 -9.75157499e-01 -1.76681255e-03 -1.23477490e+02] [ 7.83770167e-03 -3.14446487e-05 9.99969284e-01 -5.10972808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.014340297063665259 Centerline is valid? [True, True] Translation: X:215.35, Y:-124.09, Z:-4.15 [[-9.91808288e-01 1.27469996e-01 8.22925329e-03 2.15345182e+02] [ 1.27464547e-01 9.91842419e-01 -1.18536891e-03 -1.24089004e+02] [-8.31322146e-03 -1.26720663e-04 -9.99965437e-01 -4.14570329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.015865510724990598 Centerline is valid? [True, True] Translation: X:215.43, Y:-123.48, Z:-5.11 [[-9.72804711e-01 -2.31510538e-01 7.33929245e-03 2.15427541e+02] [ 2.31504407e-01 -9.72832394e-01 -1.68587359e-03 -1.23480601e+02] [ 7.53019895e-03 5.90527738e-05 9.99971646e-01 -5.11118535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.01708205318294764 Centerline is valid? [True, True] Translation: X:215.29, Y:-124.07, Z:-4.15 [[-9.93787845e-01 1.11179260e-01 4.98918481e-03 2.15291355e+02] [ 1.11177152e-01 9.93800359e-01 -6.98694538e-04 -1.24074087e+02] [-5.03593400e-03 -1.39670781e-04 -9.99987310e-01 -4.14766249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.01870416488862981 Centerline is valid? [True, True] Translation: X:215.37, Y:-123.48, Z:-5.11 [[-9.71933769e-01 -2.35218439e-01 4.12738886e-03 2.15374852e+02] [ 2.35216597e-01 -9.71942530e-01 -9.33180646e-04 -1.23479337e+02] [ 4.23108606e-03 6.38405780e-05 9.99991047e-01 -5.10881417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.021121367537560637 Centerline is valid? [True, True] Translation: X:215.24, Y:-124.06, Z:-4.15 [[-9.94882875e-01 1.00965021e-01 3.75897560e-03 2.15237990e+02] [ 1.00963808e-01 9.94889968e-01 -5.11401960e-04 -1.24058835e+02] [-3.79140082e-03 -1.29264559e-04 -9.99992804e-01 -4.14694641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.0215769254865516 Centerline is valid? [True, True] Translation: X:215.32, Y:-123.48, Z:-5.11 [[-9.71587380e-01 -2.36638300e-01 4.50303237e-03 2.15321364e+02] [ 2.36636747e-01 -9.71597793e-01 -8.82410435e-04 -1.23477287e+02] [ 4.58394842e-03 2.08244086e-04 9.99989472e-01 -5.11066632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.020369263164713602 Centerline is valid? [True, True] Translation: X:215.19, Y:-124.06, Z:-4.15 [[-9.95075153e-01 9.89995717e-02 4.95224869e-03 2.15192743e+02] [ 9.89975348e-02 9.95087463e-01 -6.55367195e-04 -1.24057869e+02] [-4.99280166e-03 -1.61879200e-04 -9.99987523e-01 -4.14605568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.01818720419095318 Centerline is valid? [True, True] Translation: X:215.19, Y:-124.04, Z:-4.15 [[-9.99344299e-01 3.61327043e-02 2.32373554e-03 2.15194093e+02] [ 3.61324757e-02 9.99346999e-01 -1.40279461e-04 -1.24039527e+02] [-2.32728682e-03 -5.62251621e-05 -9.99997290e-01 -4.14820334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.01521092457766326 Centerline is valid? [True, True] Translation: X:215.24, Y:-123.42, Z:-5.11 [[-9.89322178e-01 -1.45738070e-01 1.42961767e-03 2.15236383e+02] [ 1.45737894e-01 -9.89323211e-01 -2.27070027e-04 -1.23419117e+02] [ 1.44744669e-03 -1.62959462e-05 9.99998952e-01 -5.10763937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.013602242879792021 Centerline is valid? [True, True] Translation: X:215.15, Y:-124.06, Z:-4.15 [[-9.98936305e-01 4.60826343e-02 1.62739737e-03 2.15149021e+02] [ 4.60825472e-02 9.98937631e-01 -9.10005974e-05 -1.24055507e+02] [-1.62986202e-03 -1.59091842e-05 -9.99998672e-01 -4.14874394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.013055277141843631 Centerline is valid? [True, True] Translation: X:215.19, Y:-123.40, Z:-5.11 [[-9.91890474e-01 -1.27062060e-01 2.91911567e-03 2.15194028e+02] [ 1.27061818e-01 -9.91894764e-01 -2.68945935e-04 -1.23403263e+02] [ 2.92962837e-03 1.04143233e-04 9.99995703e-01 -5.10976829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.013073707466872121 Centerline is valid? [True, True] Translation: X:215.10, Y:-124.07, Z:-4.15 [[-9.98372326e-01 5.69353354e-02 3.32670295e-03 2.15103419e+02] [ 5.69350717e-02 9.98377868e-01 -1.73996120e-04 -1.24068918e+02] [-3.33121312e-03 1.56931603e-05 -9.99994451e-01 -4.14692471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.014096215506945618 Centerline is valid? [True, True] Translation: X:215.10, Y:-124.05, Z:-4.15 [[-9.99983583e-01 -4.48288482e-03 3.56905971e-03 2.15104447e+02] [-4.48267289e-03 9.99989951e-01 6.73760695e-05 -1.24051939e+02] [-3.56932588e-03 5.13760362e-05 -9.99993629e-01 -4.14849774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.015403566799091207 Centerline is valid? [True, True] Translation: X:215.10, Y:-124.03, Z:-4.15 [[-9.97519958e-01 -7.02890171e-02 3.65900943e-03 2.15101090e+02] [-7.02882777e-02 9.97526666e-01 3.30433964e-04 -1.24031794e+02] [-3.67318535e-03 7.24290026e-05 -9.99993251e-01 -4.14891294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.015387023004307788 Centerline is valid? [True, True] Translation: X:215.10, Y:-124.01, Z:-4.15 [[-9.90107592e-01 -1.40248824e-01 4.15020181e-03 2.15095809e+02] [-1.40247225e-01 9.90116286e-01 6.75335096e-04 -1.24006109e+02] [-4.20389735e-03 8.66001213e-05 -9.99991160e-01 -4.14840487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.015319703824704135 Centerline is valid? [True, True] Translation: X:215.08, Y:-123.98, Z:-4.15 [[-9.77306698e-01 -2.11769174e-01 5.04333300e-03 2.15081134e+02] [-2.11765826e-01 9.77319706e-01 1.19502294e-03 -1.23981958e+02] [-5.18201775e-03 9.98983406e-05 -9.99986568e-01 -4.14777221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.014360461644749186 Centerline is valid? [True, True] Translation: X:215.05, Y:-123.96, Z:-4.15 [[-9.58006573e-01 -2.86668120e-01 6.69289813e-03 2.15051430e+02] [-2.86660426e-01 9.58029947e-01 2.10244305e-03 -1.23959841e+02] [-7.01470024e-03 9.55652316e-05 -9.99975392e-01 -4.14708198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.013188308052945002 Centerline is valid? [True, True] Translation: X:215.01, Y:-123.94, Z:-4.15 [[-9.31690308e-01 -3.63171003e-01 7.74549519e-03 2.15012538e+02] [-3.63158101e-01 9.31722502e-01 3.06149738e-03 -1.23939673e+02] [-8.32849923e-03 3.95281142e-05 -9.99965317e-01 -4.14701779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.013104055592806595 Centerline is valid? [True, True] Translation: X:214.96, Y:-123.93, Z:-4.15 [[-8.98582289e-01 -4.38745032e-01 7.25717733e-03 2.14955234e+02] [-4.38731074e-01 8.98611593e-01 3.49986569e-03 -1.23928220e+02] [-8.05693236e-03 -3.90318832e-05 -9.99967542e-01 -4.14788143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.013994733162354212 Centerline is valid? [True, True] Translation: X:214.89, Y:-123.93, Z:-4.15 [[-8.59657039e-01 -5.10839372e-01 5.73685283e-03 2.14887620e+02] [-5.10828668e-01 8.59676177e-01 3.30813343e-03 -1.23927776e+02] [-6.62176051e-03 -8.66886984e-05 -9.99978072e-01 -4.14931611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.015464796648544393 Centerline is valid? [True, True] Translation: X:214.82, Y:-123.94, Z:-4.15 [[-8.17979505e-01 -5.75220832e-01 5.52475675e-03 2.14815589e+02] [-5.75208576e-01 8.17998156e-01 3.75654368e-03 -1.23936655e+02] [-6.68008302e-03 -1.05111720e-04 -9.99977682e-01 -4.14852367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.016309034644533923 Centerline is valid? [True, True] Translation: X:214.74, Y:-123.95, Z:-4.15 [[-7.68778473e-01 -6.39490646e-01 5.60118553e-03 2.14742976e+02] [-6.39475191e-01 7.68798861e-01 4.44879557e-03 -1.23954323e+02] [-7.15114820e-03 -1.61680925e-04 -9.99974417e-01 -4.14828227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.01829101532793328 Centerline is valid? [True, True] Translation: X:214.66, Y:-123.99, Z:-4.15 [[-7.14763740e-01 -6.99328231e-01 7.26776282e-03 2.14659621e+02] [-6.99296046e-01 7.14800633e-01 6.71532312e-03 -1.23987674e+02] [-9.89121650e-03 -2.82448334e-04 -9.99951041e-01 -4.14679964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.020275828208411627 Centerline is valid? [True, True] Translation: X:214.58, Y:-124.03, Z:-4.14 [[-6.57749834e-01 -7.53198262e-01 7.58511448e-03 2.14577587e+02] [-7.53154293e-01 6.57793473e-01 8.14606549e-03 -1.24028163e+02] [-1.11250412e-02 -3.54688307e-04 -9.99938052e-01 -4.14496472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.020034485488993514 Centerline is valid? [True, True] Translation: X:214.49, Y:-124.09, Z:-4.14 [[-5.97444895e-01 -8.01874446e-01 7.54788810e-03 2.14493524e+02] [-8.01818971e-01 5.97492430e-01 9.44112380e-03 -1.24087899e+02] [-1.20804019e-02 -4.11488656e-04 -9.99926945e-01 -4.14403996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.021049022662329067 Centerline is valid? [True, True] Translation: X:214.42, Y:-124.14, Z:-4.14 [[-5.35627820e-01 -8.44424771e-01 7.04582139e-03 2.14422353e+02] [-8.44361661e-01 5.35673999e-01 1.03321210e-02 -1.24140397e+02] [-1.24989623e-02 -4.15049977e-04 -9.99921799e-01 -4.14283227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.01920720508956515 Centerline is valid? [True, True] Translation: X:214.35, Y:-124.23, Z:-4.14 [[-4.73404384e-01 -8.80818945e-01 6.80256094e-03 2.14347911e+02] [-8.80739826e-01 4.73453088e-01 1.18123593e-02 -1.24225583e+02] [-1.36252433e-02 -3.99263667e-04 -9.99907092e-01 -4.14254818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.016873012698325602 Centerline is valid? [True, True] Translation: X:214.29, Y:-124.30, Z:-4.14 [[-4.09798479e-01 -9.12155959e-01 6.05916723e-03 2.14291422e+02] [-9.12067949e-01 4.09843137e-01 1.26751298e-02 -1.24298299e+02] [-1.40450032e-02 -3.32123325e-04 -9.99901309e-01 -4.14355425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.01682690075063401 Centerline is valid? [True, True] Translation: X:214.23, Y:-124.39, Z:-4.14 [[-3.41695454e-01 -9.39797825e-01 4.92583625e-03 2.14228382e+02] [-9.39711732e-01 3.41730842e-01 1.27236653e-02 -1.24388004e+02] [-1.36409831e-02 -2.81247522e-04 -9.99906918e-01 -4.14341229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.016853913776418178 Centerline is valid? [True, True] Translation: X:214.17, Y:-124.50, Z:-4.14 [[-2.71543759e-01 -9.62418369e-01 3.85610497e-03 2.14168644e+02] [-9.62333327e-01 2.71571035e-01 1.27960907e-02 -1.24497013e+02] [-1.33623992e-02 -2.36159744e-04 -9.99910691e-01 -4.14439434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.01572959790081646 Centerline is valid? [True, True] Translation: X:214.12, Y:-124.58, Z:-4.15 [[-1.98405896e-01 -9.80115479e-01 2.95769807e-03 2.14121634e+02] [-9.80022574e-01 1.98427818e-01 1.34965229e-02 -1.24583655e+02] [-1.38150406e-02 -2.20821161e-04 -9.99904543e-01 -4.14535151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.015524566651871132 Centerline is valid? [True, True] Translation: X:214.07, Y:-124.69, Z:-4.15 [[-1.22363232e-01 -9.92483638e-01 1.86224748e-03 2.14073860e+02] [-9.92394134e-01 1.22377210e-01 1.33305017e-02 -1.24692967e+02] [-1.34582015e-02 -2.16920200e-04 -9.99909411e-01 -4.14595618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.016298247972275887 Centerline is valid? [True, True] Translation: X:214.03, Y:-124.81, Z:-4.15 [[-4.42153355e-02 -9.99021708e-01 7.94388036e-04 2.14031503e+02] [-9.98939268e-01 4.42218936e-02 1.28360104e-02 -1.24806019e+02] [-1.28585824e-02 -2.25996895e-04 -9.99917299e-01 -4.14579845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.016213760943875742 Centerline is valid? [True, True] Translation: X:214.00, Y:-124.92, Z:-4.15 [[ 3.53146053e-02 -9.99376224e-01 -2.02405979e-04 2.13999903e+02] [-9.99287079e-01 -3.53141591e-02 1.33507702e-02 -1.24921665e+02] [-1.33495901e-02 -2.69215499e-04 -9.99910854e-01 -4.14591112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.018516903356110507 Centerline is valid? [True, True] Translation: X:213.97, Y:-125.06, Z:-4.14 [[ 1.15381246e-01 -9.93320419e-01 -1.30876616e-03 2.13973817e+02] [-9.93219257e-01 -1.15388179e-01 1.41801355e-02 -1.25056278e+02] [-1.42364343e-02 -3.36229956e-04 -9.99898600e-01 -4.14349343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.01765585010323879 Centerline is valid? [True, True] Translation: X:213.96, Y:-125.16, Z:-4.14 [[ 1.92761170e-01 -9.81242676e-01 -2.43762595e-03 2.13960163e+02] [-9.81138782e-01 -1.92776243e-01 1.42832205e-02 -1.25159727e+02] [-1.44852218e-02 -3.61600927e-04 -9.99895018e-01 -4.14406470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.018307747141891144 Centerline is valid? [True, True] Translation: X:213.95, Y:-125.28, Z:-4.14 [[ 2.67161303e-01 -9.63646201e-01 -3.29215360e-03 2.13954819e+02] [-9.63557063e-01 -2.67181382e-01 1.31108586e-02 -1.25277710e+02] [-1.35138313e-02 -3.30536228e-04 -9.99908629e-01 -4.14426021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.01676623142993864 Centerline is valid? [True, True] Translation: X:213.96, Y:-125.40, Z:-4.15 [[ 3.38973885e-01 -9.40788070e-01 -3.80963615e-03 2.13964034e+02] [-9.40719253e-01 -3.38995181e-01 1.13821586e-02 -1.25395805e+02] [-1.19996473e-02 -2.74456435e-04 -9.99927964e-01 -4.14720635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.016072784636189663 Centerline is valid? [True, True] Translation: X:213.98, Y:-125.51, Z:-4.15 [[ 4.07782545e-01 -9.13068898e-01 -4.31082142e-03 2.13979171e+02] [-9.13011955e-01 -4.07805269e-01 1.01996786e-02 -1.25510575e+02] [-1.10709850e-02 -2.23419403e-04 -9.99938690e-01 -4.14813900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.015350445398282316 Centerline is valid? [True, True] Translation: X:214.00, Y:-125.62, Z:-4.15 [[ 4.73671786e-01 -8.80686076e-01 -5.20335276e-03 2.14002506e+02] [-8.80628461e-01 -4.73700326e-01 1.00754079e-02 -1.25621235e+02] [-1.13381014e-02 -1.90215924e-04 -9.99935704e-01 -4.14769382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.014188832282960175 Centerline is valid? [True, True] Translation: X:214.04, Y:-125.73, Z:-4.15 [[ 5.35680456e-01 -8.44392184e-01 -6.94903505e-03 2.14038164e+02] [-8.44317298e-01 -5.35725504e-01 1.12465725e-02 -1.25732020e+02] [-1.32192933e-02 -1.57378613e-04 -9.99912609e-01 -4.14689954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.01413917565976903 Centerline is valid? [True, True] Translation: X:214.07, Y:-125.83, Z:-4.15 [[ 5.97019258e-01 -8.02183134e-01 -8.38003798e-03 2.14074671e+02] [-8.02100852e-01 -5.97078052e-01 1.14900902e-02 -1.25832907e+02] [-1.42206933e-02 -1.38169532e-04 -9.99898871e-01 -4.14582971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.013371598338757677 Centerline is valid? [True, True] Translation: X:214.12, Y:-125.93, Z:-4.15 [[ 6.50626938e-01 -7.59328373e-01 -1.02473796e-02 2.14122139e+02] [-7.59233511e-01 -6.50707631e-01 1.20023150e-02 -1.25927388e+02] [-1.57817464e-02 -2.88754605e-05 -9.99875460e-01 -4.14598136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.013517831591206394 Centerline is valid? [True, True] Translation: X:214.18, Y:-126.02, Z:-4.15 [[ 7.02589822e-01 -7.11506942e-01 -1.11988362e-02 2.14179523e+02] [-7.11417985e-01 -7.02679065e-01 1.12509075e-02 -1.26024005e+02] [-1.58742865e-02 6.22804027e-05 -9.99873994e-01 -4.14661105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.014066547459221517 Centerline is valid? [True, True] Translation: X:214.23, Y:-126.10, Z:-4.15 [[ 7.50429101e-01 -6.60833452e-01 -1.24624655e-02 2.14230584e+02] [-6.60746109e-01 -7.50532557e-01 1.07452401e-02 -1.26104816e+02] [-1.64543002e-02 1.70984674e-04 -9.99864604e-01 -4.14866311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.01451649915513441 Centerline is valid? [True, True] Translation: X:214.25, Y:-126.13, Z:-4.15 [[ 7.97570168e-01 -6.03060155e-01 -1.41519004e-02 2.14249437e+02] [-6.02970698e-01 -7.97695674e-01 1.03898321e-02 -1.26131715e+02] [-1.75546035e-02 2.46561182e-04 -9.99845876e-01 -4.14927080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.015355004339243819 Centerline is valid? [True, True] Translation: X:214.27, Y:-126.16, Z:-4.15 [[ 8.40477563e-01 -5.41621313e-01 -1.56146950e-02 2.14271385e+02] [-5.41534868e-01 -8.40622538e-01 9.68169364e-03 -1.26156048e+02] [-1.83698762e-02 3.18655514e-04 -9.99831209e-01 -4.14959652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.015322784197377126 Centerline is valid? [True, True] Translation: X:214.29, Y:-126.18, Z:-4.15 [[ 8.79806754e-01 -4.75034097e-01 -1.68131408e-02 2.14293465e+02] [-4.74954828e-01 -8.79967322e-01 8.68468105e-03 -1.26181374e+02] [-1.89205341e-02 3.44641360e-04 -9.99820931e-01 -4.15015489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.015212963132786368 Centerline is valid? [True, True] Translation: X:214.32, Y:-126.21, Z:-4.15 [[ 9.14566493e-01 -4.04058287e-01 -1.74651300e-02 2.14317306e+02] [-4.03991506e-01 -9.14733181e-01 7.35332148e-03 -1.26206548e+02] [-1.89471044e-02 3.30662751e-04 -9.99820433e-01 -4.14986446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.014697906794807829 Centerline is valid? [True, True] Translation: X:214.34, Y:-126.23, Z:-4.15 [[ 9.44215051e-01 -3.28887464e-01 -1.70579662e-02 2.14343214e+02] [-3.28838911e-01 -9.44369083e-01 5.65744190e-03 -1.26228873e+02] [-1.79696776e-02 2.67481224e-04 -9.99838497e-01 -4.15059311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.013814499523187357 Centerline is valid? [True, True] Translation: X:214.37, Y:-126.25, Z:-4.15 [[ 9.68393921e-01 -2.48936500e-01 -1.56151751e-02 2.14370815e+02] [-2.48906710e-01 -9.68519796e-01 3.85412621e-03 -1.26249970e+02] [-1.60830389e-02 1.54409479e-04 -9.99870648e-01 -4.15135253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.013097913373844717 Centerline is valid? [True, True] Translation: X:214.40, Y:-126.27, Z:-4.15 [[ 9.85894630e-01 -1.66675634e-01 -1.51990759e-02 2.14399625e+02] [-1.66656739e-01 -9.86011780e-01 2.51029911e-03 -1.26270422e+02] [-1.54048736e-02 5.81380182e-05 -9.99881336e-01 -4.15045973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.01290508711000183 Centerline is valid? [True, True] Translation: X:214.43, Y:-126.29, Z:-4.15 [[ 9.96282401e-01 -8.47950823e-02 -1.52043052e-02 2.14427955e+02] [-8.47851095e-02 -9.96398411e-01 1.30047275e-03 -1.26286098e+02] [-1.52598192e-02 -6.53943352e-06 -9.99883562e-01 -4.15043905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.013050419570321556 Centerline is valid? [True, True] Translation: X:214.46, Y:-126.30, Z:-4.15 [[ 9.99892362e-01 -6.38086563e-05 -1.46717434e-02 2.14457352e+02] [-6.23249531e-05 -9.99999993e-01 1.01583730e-04 -1.26303628e+02] [-1.46717497e-02 -1.00658380e-04 -9.99892359e-01 -4.15051413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.013713459941345702 Centerline is valid? [True, True] Translation: X:214.49, Y:-126.32, Z:-4.15 [[ 9.96395240e-01 8.35575907e-02 -1.46510900e-02 2.14488872e+02] [ 8.35512120e-02 -9.96502934e-01 -1.04799480e-03 -1.26318596e+02] [-1.46874221e-02 -1.79899298e-04 -9.99892118e-01 -4.14940837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.014153275393404137 Centerline is valid? [True, True] Translation: X:214.52, Y:-126.33, Z:-4.15 [[ 9.86425904e-01 1.63598635e-01 -1.41216811e-02 2.14521353e+02] [ 1.63584891e-01 -9.86526960e-01 -2.13077797e-03 -1.26325940e+02] [-1.42800115e-02 -2.08239064e-04 -9.99898014e-01 -4.14912259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.014576849339166774 Centerline is valid? [True, True] Translation: X:214.55, Y:-126.33, Z:-4.15 [[ 9.70333523e-01 2.41411875e-01 -1.31590948e-02 2.14552862e+02] [ 2.41392632e-01 -9.70422723e-01 -3.05541703e-03 -1.26329096e+02] [-1.35074985e-02 -2.11734950e-04 -9.99908747e-01 -4.14844670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.014154194247852414 Centerline is valid? [True, True] Translation: X:214.59, Y:-126.33, Z:-4.15 [[ 9.48643035e-01 3.16095712e-01 -1.26449016e-02 2.14585589e+02] [ 3.16070433e-01 -9.48727285e-01 -4.00253905e-03 -1.26329615e+02] [-1.32617486e-02 -1.99698730e-04 -9.99912039e-01 -4.14868067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.014018796130772013 Centerline is valid? [True, True] Translation: X:214.62, Y:-126.33, Z:-4.15 [[ 9.21456245e-01 3.88306719e-01 -1.16739430e-02 2.14618052e+02] [ 3.88277955e-01 -9.21530174e-01 -4.72948480e-03 -1.26326265e+02] [-1.25943815e-02 -1.74721426e-04 -9.99920672e-01 -4.14850135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.014347350314018422 Centerline is valid? [True, True] Translation: X:214.65, Y:-126.32, Z:-4.15 [[ 8.89004782e-01 4.57755111e-01 -1.14348243e-02 2.14649252e+02] [ 4.57719494e-01 -8.89078306e-01 -5.71235296e-03 -1.26320543e+02] [-1.27813129e-02 -1.55632872e-04 -9.99918304e-01 -4.14634432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.013651677691518998 Centerline is valid? [True, True] Translation: X:214.68, Y:-126.31, Z:-4.15 [[ 8.51536338e-01 5.24187188e-01 -1.06610492e-02 2.14679093e+02] [ 5.24147945e-01 -8.51603063e-01 -6.41522900e-03 -1.26310006e+02] [-1.24417630e-02 -1.25166447e-04 -9.99922590e-01 -4.14643404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.01325360380034663 Centerline is valid? [True, True] Translation: X:214.71, Y:-126.29, Z:-4.15 [[ 8.11382539e-01 5.84453942e-01 -8.48321605e-03 2.14705779e+02] [ 5.84422557e-01 -8.11426884e-01 -6.05694780e-03 -1.26294903e+02] [-1.04235166e-02 -4.32811255e-05 -9.99945673e-01 -4.14547045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.012883717191252605 Centerline is valid? [True, True] Translation: X:214.73, Y:-126.28, Z:-4.15 [[ 7.66615828e-01 6.42068437e-01 -6.94951451e-03 2.14733474e+02] [ 6.42041919e-01 -7.66647326e-01 -5.83539445e-03 -1.26279924e+02] [-9.07454930e-03 1.16261141e-05 -9.99958825e-01 -4.14786461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.013791168858226734 Centerline is valid? [True, True] Translation: X:214.76, Y:-126.26, Z:-4.15 [[ 7.20409502e-01 6.93523251e-01 -5.97070971e-03 2.14757097e+02] [ 6.93498420e-01 -7.20434239e-01 -5.86930093e-03 -1.26262442e+02] [-8.37200037e-03 8.76224155e-05 -9.99964950e-01 -4.14700637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.01629246593596972 Centerline is valid? [True, True] Translation: X:214.78, Y:-126.24, Z:-4.15 [[ 6.71528742e-01 7.40960618e-01 -5.14896983e-03 2.14777268e+02] [ 7.40936962e-01 -6.71548462e-01 -5.92302948e-03 -1.26242004e+02] [-7.84651435e-03 1.62422469e-04 -9.99969202e-01 -4.14585804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.01720969474806998 Centerline is valid? [True, True] Translation: X:214.80, Y:-126.22, Z:-4.15 [[ 6.17123966e-01 7.86852613e-01 -4.57997265e-03 2.14802753e+02] [ 7.86828314e-01 -6.17140923e-01 -6.18748930e-03 -1.26223954e+02] [-7.69513068e-03 2.14795779e-04 -9.99970369e-01 -4.14604524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.020318660709240755 Centerline is valid? [True, True] Translation: X:214.82, Y:-126.20, Z:-4.15 [[ 5.62342798e-01 8.26897893e-01 -3.23300250e-03 2.14823732e+02] [ 8.26881758e-01 -5.62352042e-01 -5.17101461e-03 -1.26203163e+02] [-6.09398664e-03 2.34572037e-04 -9.99981404e-01 -4.14604520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.021312384285240994 Centerline is valid? [True, True] Translation: X:214.85, Y:-126.18, Z:-4.15 [[ 5.00797586e-01 8.65561490e-01 -2.25485328e-03 2.14847350e+02] [ 8.65550695e-01 -5.00802616e-01 -4.32822022e-03 -1.26183404e+02] [-4.87557717e-03 2.15872413e-04 -9.99988091e-01 -4.14690170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.02349385585511411 Centerline is valid? [True, True] Translation: X:214.87, Y:-126.16, Z:-4.15 [[ 4.34766803e-01 9.00541902e-01 -1.45290738e-03 2.14868284e+02] [ 9.00535428e-01 -4.34769194e-01 -3.41916982e-03 -1.26162482e+02] [-3.71078506e-03 1.78146961e-04 -9.99993099e-01 -4.14747480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.023186717927853616 Centerline is valid? [True, True] Translation: X:214.89, Y:-126.14, Z:-4.15 [[ 3.61238650e-01 9.32472690e-01 -1.14875664e-03 2.14890936e+02] [ 9.32466408e-01 -3.61240438e-01 -3.42707810e-03 -1.26139717e+02] [-3.61063409e-03 1.66816090e-04 -9.99993468e-01 -4.14735371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.01921889883247033 Centerline is valid? [True, True] Translation: X:214.92, Y:-126.12, Z:-4.15 [[ 2.78505263e-01 9.60434379e-01 -7.88993778e-04 2.14924619e+02] [ 9.60429203e-01 -2.78506354e-01 -3.15550423e-03 -1.26118911e+02] [-3.25039452e-03 1.21051870e-04 -9.99994710e-01 -4.14660496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.015605882945569645 Centerline is valid? [True, True] Translation: X:214.96, Y:-126.09, Z:-4.15 [[ 1.88163178e-01 9.82137656e-01 -4.92717316e-04 2.14956915e+02] [ 9.82133287e-01 -1.88163811e-01 -2.93022175e-03 -1.26094098e+02] [-2.97059269e-03 6.74457584e-05 -9.99995586e-01 -4.14670112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.013775168139500308 Centerline is valid? [True, True] Translation: X:214.98, Y:-126.07, Z:-4.15 [[ 9.97820413e-02 9.95009247e-01 -3.78605873e-04 2.14981178e+02] [ 9.95000058e-01 -9.97827471e-02 -4.27634687e-03 -1.26065347e+02] [-4.29278301e-03 4.99897548e-05 -9.99990785e-01 -4.14516529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.013142935073069364 Centerline is valid? [True, True] Translation: X:215.00, Y:-126.03, Z:-4.14 [[ 1.59132598e-02 9.99873375e-01 -4.55089154e-05 2.14996227e+02] [ 9.99862804e-01 -1.59133008e-02 -4.59781977e-03 -1.26033430e+02] [-4.59796177e-03 2.76636287e-05 -9.99989429e-01 -4.14476583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.01336551440445473 Centerline is valid? [True, True] Translation: X:215.02, Y:-126.00, Z:-4.14 [[-7.86490715e-02 9.96902331e-01 2.57204414e-04 2.15024221e+02] [ 9.96895296e-01 7.86494828e-02 -3.74536761e-03 -1.25999006e+02] [-3.75399469e-03 -3.81638147e-05 -9.99992953e-01 -4.14485606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.01675720219158176 Centerline is valid? [True, True] Translation: X:215.05, Y:-125.96, Z:-4.14 [[-1.69789183e-01 9.85480303e-01 4.54407877e-04 2.15045572e+02] [ 9.85475530e-01 1.69789775e-01 -3.06786480e-03 -1.25962276e+02] [-3.10047415e-03 -7.30824134e-05 -9.99995191e-01 -4.14447909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.020169847845789096 Centerline is valid? [True, True] Translation: X:215.05, Y:-125.92, Z:-4.14 [[-2.55475948e-01 9.66815254e-01 5.51576675e-04 2.15054786e+02] [ 9.66812270e-01 2.55476530e-01 -2.40360873e-03 -1.25924632e+02] [-2.46476048e-03 -8.07931208e-05 -9.99996959e-01 -4.14433728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.020635635942551776 Centerline is valid? [True, True] Translation: X:215.05, Y:-125.89, Z:-4.14 [[-3.33975539e-01 9.42581362e-01 8.45798047e-04 2.15054921e+02] [ 9.42577510e-01 3.33976594e-01 -2.69679909e-03 -1.25886977e+02] [-2.82442931e-03 -1.03434713e-04 -9.99996006e-01 -4.14415380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.02108860358065599 Centerline is valid? [True, True] Translation: X:215.05, Y:-125.85, Z:-4.14 [[-4.08676154e-01 9.12677674e-01 1.80681731e-03 2.15051702e+02] [ 9.12666622e-01 4.08680105e-01 -4.49540029e-03 -1.25849436e+02] [-4.84126177e-03 -1.88141053e-04 -9.99988263e-01 -4.14215852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.02134839281859519 Centerline is valid? [True, True] Translation: X:215.04, Y:-125.81, Z:-4.14 [[-4.78535189e-01 8.78063482e-01 2.93159584e-03 2.15042682e+02] [ 8.78043636e-01 4.78544102e-01 -5.90892470e-03 -1.25813373e+02] [-6.59130889e-03 -2.53559328e-04 -9.99978245e-01 -4.14040746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.02078019352376955 Centerline is valid? [True, True] Translation: X:215.03, Y:-125.78, Z:-4.14 [[-5.43194133e-01 8.39596335e-01 4.25770831e-03 2.15026517e+02] [ 8.39566199e-01 5.43210741e-01 -7.11961818e-03 -1.25780638e+02] [-8.29043821e-03 -2.92706846e-04 -9.99965591e-01 -4.13933387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.01950172594337652 Centerline is valid? [True, True] Translation: X:215.01, Y:-125.75, Z:-4.14 [[-6.03254186e-01 7.97533836e-01 4.91600480e-03 2.15005292e+02] [ 7.97503822e-01 6.03274162e-01 -6.92378378e-03 -1.25753433e+02] [-8.48765052e-03 -2.56268932e-04 -9.99963946e-01 -4.13925972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.017686854534839862 Centerline is valid? [True, True] Translation: X:214.98, Y:-125.73, Z:-4.14 [[-6.60772435e-01 7.50571594e-01 4.69811323e-03 2.14981712e+02] [ 7.50550542e-01 6.60789109e-01 -5.62475084e-03 -1.25726944e+02] [-7.32624025e-03 -1.90508877e-04 -9.99973145e-01 -4.14081799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.016552750899381297 Centerline is valid? [True, True] Translation: X:214.96, Y:-125.71, Z:-4.14 [[-7.13362599e-01 7.00784789e-01 3.80546480e-03 2.14955133e+02] [ 7.00773998e-01 7.13372741e-01 -3.89059020e-03 -1.25705461e+02] [-5.44118129e-03 -1.08630753e-04 -9.99985191e-01 -4.14260565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.015279275353580358 Centerline is valid? [True, True] Translation: X:214.92, Y:-125.69, Z:-4.14 [[-7.62973784e-01 6.46420699e-01 3.35911965e-03 2.14924059e+02] [ 6.46414042e-01 7.62981176e-01 -2.93451016e-03 -1.25689308e+02] [-4.45987317e-03 -6.75722145e-05 -9.99990052e-01 -4.14375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.014041013714247581 Centerline is valid? [True, True] Translation: X:214.93, Y:-125.67, Z:-4.14 [[-8.05712212e-01 5.92294842e-01 3.82764335e-03 2.14933786e+02] [ 5.92287781e-01 8.05721302e-01 -2.89298083e-03 -1.25673161e+02] [-4.79751141e-03 -6.38435964e-05 -9.99988490e-01 -4.14437944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.013982093712372703 Centerline is valid? [True, True] Translation: X:214.94, Y:-125.65, Z:-4.14 [[-8.45206195e-01 5.34411579e-01 5.54539059e-03 2.14943677e+02] [ 5.34399428e-01 8.45224383e-01 -3.60480745e-03 -1.25654974e+02] [-6.61355018e-03 -8.33520296e-05 -9.99978127e-01 -4.14300930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.014133178158751732 Centerline is valid? [True, True] Translation: X:214.95, Y:-125.64, Z:-4.14 [[-8.80900222e-01 4.73249785e-01 7.03132530e-03 2.14953208e+02] [ 4.73233788e-01 8.80928278e-01 -3.89243399e-03 -1.25635231e+02] [-8.03618684e-03 -1.01385263e-04 -9.99967704e-01 -4.14182654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.014127216465311322 Centerline is valid? [True, True] Translation: X:215.25, Y:-125.10, Z:-5.12 [[-8.33716113e-01 -5.52143604e-01 7.40836849e-03 2.15250097e+02] [ 5.52123454e-01 -8.33749013e-01 -4.71957598e-03 -1.25103561e+02] [ 8.78260361e-03 1.55547457e-04 9.99961420e-01 -5.11538358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.013915062341930712 Centerline is valid? [True, True] Translation: X:214.91, Y:-125.62, Z:-4.14 [[-8.81577345e-01 4.71985022e-01 7.17797465e-03 2.14912602e+02] [ 4.71968585e-01 8.81606563e-01 -3.93988056e-03 -1.25624929e+02] [-8.18771417e-03 -8.55308975e-05 -9.99966476e-01 -4.14234085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.01362517682068459 Centerline is valid? [True, True] Translation: X:214.92, Y:-125.60, Z:-4.14 [[-9.12477077e-01 4.09069718e-01 6.89566709e-03 2.14919735e+02] [ 4.09057430e-01 9.12503129e-01 -3.17141468e-03 -1.25602275e+02] [-7.58964750e-03 -7.31193398e-05 -9.99971196e-01 -4.14377059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.013569140090746933 Centerline is valid? [True, True] Translation: X:214.93, Y:-125.58, Z:-4.14 [[-9.39149610e-01 3.43441536e-01 6.77661763e-03 2.14928467e+02] [ 3.43432062e-01 9.39174056e-01 -2.55184582e-03 -1.25580471e+02] [-7.24083331e-03 -6.92572360e-05 -9.99973782e-01 -4.14452268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.013978992819988122 Centerline is valid? [True, True] Translation: X:214.94, Y:-125.55, Z:-4.14 [[-9.61464941e-01 2.74829596e-01 7.33890770e-03 2.14935772e+02] [ 2.74820931e-01 9.61492946e-01 -2.18402088e-03 -1.25554451e+02] [-7.65654157e-03 -8.29740594e-05 -9.99970685e-01 -4.14381578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.014358979870234044 Centerline is valid? [True, True] Translation: X:214.94, Y:-125.53, Z:-4.14 [[-9.79446559e-01 2.01506144e-01 8.92819156e-03 2.14938310e+02] [ 2.01496456e-01 9.79487240e-01 -1.98094134e-03 -1.25527647e+02] [-9.14422156e-03 -1.41227221e-04 -9.99958181e-01 -4.14349188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.015811870447567707 Centerline is valid? [True, True] Translation: X:215.07, Y:-124.91, Z:-5.11 [[-9.53086605e-01 -3.02500345e-01 1.09299895e-02 2.15070163e+02] [ 3.02484383e-01 -9.53149219e-01 -3.12480734e-03 -1.24905428e+02] [ 1.13631663e-02 3.27939117e-04 9.99935383e-01 -5.11407218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.016752578772698357 Centerline is valid? [True, True] Translation: X:214.89, Y:-125.51, Z:-4.14 [[-9.82077733e-01 1.88108868e-01 1.17635022e-02 2.14887079e+02] [ 1.88091644e-01 9.82148136e-01 -2.56381767e-03 -1.25513679e+02] [-1.20357786e-02 -3.05251786e-04 -9.99927521e-01 -4.14229199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.0185667236257028 Centerline is valid? [True, True] Translation: X:215.02, Y:-124.90, Z:-5.12 [[-9.52165384e-01 -3.05358021e-01 1.17286321e-02 2.15019206e+02] [ 3.05338998e-01 -9.52237563e-01 -3.42349418e-03 -1.24897426e+02] [ 1.22138354e-02 3.21476117e-04 9.99925357e-01 -5.11539942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.018157788745199757 Centerline is valid? [True, True] Translation: X:214.83, Y:-125.50, Z:-4.14 [[-9.83417189e-01 1.81010145e-01 1.12231845e-02 2.14834989e+02] [ 1.80994516e-01 9.83481173e-01 -2.40143442e-03 -1.25503785e+02] [-1.14724747e-02 -3.30277032e-04 -9.99934134e-01 -4.14191592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.017689724829707956 Centerline is valid? [True, True] Translation: X:214.97, Y:-124.88, Z:-5.11 [[-9.53371752e-01 -3.01613055e-01 1.05767040e-02 2.14974329e+02] [ 3.01597826e-01 -9.53430376e-01 -3.04445698e-03 -1.24883044e+02] [ 1.10023989e-02 2.87411669e-04 9.99939430e-01 -5.11391028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.016590703184472796 Centerline is valid? [True, True] Translation: X:214.79, Y:-125.50, Z:-4.14 [[-9.83655381e-01 1.79679670e-01 1.17178440e-02 2.14793443e+02] [ 1.79663087e-01 9.83725122e-01 -2.46150227e-03 -1.25504905e+02] [-1.19694194e-02 -3.16005939e-04 -9.99928314e-01 -4.14241290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.016969055915764607 Centerline is valid? [True, True] Translation: X:214.93, Y:-124.87, Z:-5.12 [[-9.55491134e-01 -2.94714618e-01 1.34159175e-02 2.14930765e+02] [ 2.94692650e-01 -9.55585192e-01 -3.63077198e-03 -1.24867204e+02] [ 1.38900937e-02 4.84401857e-04 9.99903411e-01 -5.11576988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.015912629064628474 Centerline is valid? [True, True] Translation: X:214.75, Y:-125.50, Z:-4.14 [[-9.83268237e-01 1.81455306e-01 1.60482165e-02 2.14745731e+02] [ 1.81425465e-01 9.83399133e-01 -3.30841820e-03 -1.25504005e+02] [-1.63821322e-02 -3.41507402e-04 -9.99865746e-01 -4.13969914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.014651808242452541 Centerline is valid? [True, True] Translation: X:214.75, Y:-125.49, Z:-4.14 [[-9.93083679e-01 1.16065001e-01 1.77121886e-02 2.14753894e+02] [ 1.16041404e-01 9.93241579e-01 -2.35772638e-03 -1.25485472e+02] [-1.78661317e-02 -2.86072357e-04 -9.99840347e-01 -4.13950609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.013945600829317324 Centerline is valid? [True, True] Translation: X:214.76, Y:-125.47, Z:-4.14 [[-9.98405386e-01 5.33195901e-02 1.85393462e-02 2.14759234e+02] [ 5.33076594e-02 9.98577488e-01 -1.13747468e-03 -1.25468063e+02] [-1.85736234e-02 -1.47371696e-04 -9.99827485e-01 -4.13895133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.013500099022411102 Centerline is valid? [True, True] Translation: X:214.81, Y:-124.76, Z:-5.12 [[-9.91459122e-01 -1.29094008e-01 1.85350040e-02 2.14810386e+02] [ 1.29074352e-01 -9.91632348e-01 -2.25790319e-03 -1.24762812e+02] [ 1.86713913e-02 1.53774921e-04 9.99825663e-01 -5.11580790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.013952175432152093 Centerline is valid? [True, True] Translation: X:214.70, Y:-125.48, Z:-4.14 [[-9.98036152e-01 5.97412783e-02 1.88366393e-02 2.14701776e+02] [ 5.97316377e-02 9.98213893e-01 -1.07450795e-03 -1.25477799e+02] [-1.88671876e-02 5.27455346e-05 -9.99821997e-01 -4.13973809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.014774571275895931 Centerline is valid? [True, True] Translation: X:214.75, Y:-124.75, Z:-5.11 [[-9.93514615e-01 -1.12390268e-01 1.72376675e-02 2.14750858e+02] [ 1.12371040e-01 -9.93664133e-01 -2.08308773e-03 -1.24746096e+02] [ 1.73625708e-02 -1.32563475e-04 9.99849250e-01 -5.11432570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.015877927746338377 Centerline is valid? [True, True] Translation: X:214.65, Y:-125.49, Z:-4.14 [[-9.97463804e-01 6.95022799e-02 1.53424978e-02 2.14647255e+02] [ 6.94981239e-02 9.97581758e-01 -8.04531577e-04 -1.25490518e+02] [-1.53613127e-02 2.63783687e-04 -9.99881973e-01 -4.14366681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.016695132743854167 Centerline is valid? [True, True] Translation: X:214.68, Y:-124.73, Z:-5.11 [[-9.94913008e-01 -9.96860700e-02 1.45187804e-02 2.14684568e+02] [ 9.96711003e-02 -9.95018894e-01 -1.75282918e-03 -1.24733961e+02] [ 1.46211935e-02 -2.96809731e-04 9.99893061e-01 -5.11295936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.01716757840108224 Centerline is valid? [True, True] Translation: X:214.58, Y:-125.49, Z:-4.14 [[-9.97372765e-01 7.08180828e-02 1.52435750e-02 2.14580492e+02] [ 7.08152240e-02 9.97489185e-01 -7.27908002e-04 -1.25491979e+02] [-1.52568502e-02 3.53481560e-04 -9.99883545e-01 -4.14441392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.0175558031470032 Centerline is valid? [True, True] Translation: X:214.58, Y:-125.46, Z:-4.14 [[-9.99872974e-01 1.46638674e-03 1.58708977e-02 2.14582696e+02] [ 1.47247418e-03 9.99998847e-01 3.71881046e-04 -1.25464632e+02] [-1.58703341e-02 3.95203294e-04 -9.99873980e-01 -4.14429055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.017942216319759733 Centerline is valid? [True, True] Translation: X:214.57, Y:-124.70, Z:-5.11 [[-9.99695317e-01 -1.87022112e-02 1.61090059e-02 2.14568861e+02] [ 1.86935757e-02 -9.99825024e-01 -6.86491542e-04 -1.24701863e+02] [ 1.61190261e-02 -3.85147460e-04 9.99870006e-01 -5.11200857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.018348839202878452 Centerline is valid? [True, True] Translation: X:214.50, Y:-125.46, Z:-4.14 [[-9.99870584e-01 -4.48693700e-03 1.54493348e-02 2.14499289e+02] [-4.48062505e-03 9.99989864e-01 4.43147327e-04 -1.25463162e+02] [-1.54511666e-02 3.73867300e-04 -9.99880554e-01 -4.14441269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.01693445300744944 Centerline is valid? [True, True] Translation: X:214.48, Y:-124.71, Z:-5.11 [[-9.99769649e-01 -1.59590568e-02 1.43512423e-02 2.14481985e+02] [ 1.59513717e-02 -9.99872558e-01 -6.49811334e-04 -1.24710462e+02] [ 1.43597837e-02 -4.20739648e-04 9.99896804e-01 -5.11018433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.015944268303661684 Centerline is valid? [True, True] Translation: X:214.42, Y:-125.45, Z:-4.15 [[-9.99790132e-01 -1.54762863e-02 1.34229903e-02 2.14420987e+02] [-1.54715970e-02 9.99880205e-01 4.53127052e-04 -1.25454529e+02] [-1.34283950e-02 2.45356859e-04 -9.99909805e-01 -4.14647388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.014370133622850957 Centerline is valid? [True, True] Translation: X:214.41, Y:-125.42, Z:-4.15 [[-9.95536798e-01 -9.33200191e-02 1.40661777e-02 2.14410674e+02] [-9.33083959e-02 9.95636152e-01 1.48178628e-03 -1.25417817e+02] [-1.41430754e-02 1.62680288e-04 -9.99899968e-01 -4.14524396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.013242091473718937 Centerline is valid? [True, True] Translation: X:214.40, Y:-125.39, Z:-4.15 [[-9.85532883e-01 -1.68846689e-01 1.46878083e-02 2.14395590e+02] [-1.68826456e-01 9.85642322e-01 2.61565259e-03 -1.25385150e+02] [-1.49185697e-02 9.81210229e-05 -9.99888707e-01 -4.14502021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.012780404777310657 Centerline is valid? [True, True] Translation: X:214.28, Y:-124.70, Z:-5.11 [[-9.93931259e-01 1.08987026e-01 1.49158039e-02 2.14275398e+02] [-1.08976160e-01 -9.94043168e-01 1.54177124e-03 -1.24702208e+02] [ 1.49949860e-02 -9.30524026e-05 9.99887565e-01 -5.11268533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.01254749348351765 Centerline is valid? [True, True] Translation: X:214.29, Y:-125.39, Z:-4.14 [[-9.82747583e-01 -1.84394907e-01 1.43424975e-02 2.14291779e+02] [-1.84375907e-01 9.82852235e-01 2.64737534e-03 -1.25390274e+02] [-1.45847183e-02 -4.27092640e-05 -9.99893636e-01 -4.14453397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.01259042443938542 Centerline is valid? [True, True] Translation: X:214.27, Y:-125.36, Z:-4.15 [[-9.66169728e-01 -2.57591908e-01 1.27461684e-02 2.14273096e+02] [-2.57570687e-01 9.66253798e-01 3.30754934e-03 -1.25361342e+02] [-1.31680315e-02 -8.73852915e-05 -9.99913294e-01 -4.14574578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.013359554822833648 Centerline is valid? [True, True] Translation: X:214.24, Y:-125.34, Z:-4.14 [[-9.44133310e-01 -3.29351068e-01 1.18392220e-02 2.14242458e+02] [-3.29326857e-01 9.44207529e-01 3.99541690e-03 -1.25337666e+02] [-1.24945774e-02 -1.26767590e-04 -9.99921932e-01 -4.14490569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.013313710736739613 Centerline is valid? [True, True] Translation: X:214.21, Y:-125.32, Z:-4.15 [[-9.16905012e-01 -3.98907933e-01 1.25563027e-02 2.14205121e+02] [-3.98873032e-01 9.16990967e-01 5.27931865e-03 -1.25322694e+02] [-1.36199782e-02 -1.67736791e-04 -9.99907230e-01 -4.14583773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.013650624820005374 Centerline is valid? [True, True] Translation: X:214.15, Y:-125.32, Z:-4.14 [[-8.84242650e-01 -4.66839029e-01 1.32761616e-02 2.14145088e+02] [-4.66790070e-01 8.84342284e-01 6.76432724e-03 -1.25319428e+02] [-1.48985230e-02 -2.15873759e-04 -9.99888988e-01 -4.14482470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.014020483746513159 Centerline is valid? [True, True] Translation: X:214.08, Y:-125.32, Z:-4.14 [[-8.47327576e-01 -5.30932895e-01 1.20929476e-02 2.14081630e+02] [-5.30882335e-01 8.47413841e-01 7.33002865e-03 -1.25323800e+02] [-1.41394845e-02 -2.08996867e-04 -9.99900011e-01 -4.14462699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.014664405330048756 Centerline is valid? [True, True] Translation: X:214.01, Y:-125.34, Z:-4.14 [[-8.05844894e-01 -5.92034810e-01 1.04303015e-02 2.14011315e+02] [-5.91988178e-01 8.05912371e-01 7.43284271e-03 -1.25338975e+02] [-1.28064107e-02 -1.84896865e-04 -9.99917977e-01 -4.14399804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.013444072432830082 Centerline is valid? [True, True] Translation: X:213.94, Y:-125.37, Z:-4.15 [[-7.60545803e-01 -6.49218618e-01 9.23400917e-03 2.13938752e+02] [-6.49173193e-01 7.60601842e-01 7.68136013e-03 -1.25369311e+02] [-1.20102864e-02 -1.52445002e-04 -9.99927862e-01 -4.14643033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.013038417727625021 Centerline is valid? [True, True] Translation: X:213.86, Y:-125.41, Z:-4.15 [[-7.11198499e-01 -7.02944741e-01 8.08616698e-03 2.13860525e+02] [-7.02901191e-01 7.11244457e-01 7.82544051e-03 -1.25409273e+02] [-1.12520937e-02 -1.18334855e-04 -9.99936686e-01 -4.14752304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.012579427858087416 Centerline is valid? [True, True] Translation: X:213.78, Y:-125.46, Z:-4.15 [[-6.59893107e-01 -7.51330768e-01 6.56999997e-03 2.13784681e+02] [-7.51294347e-01 6.59925810e-01 7.39795234e-03 -1.25459006e+02] [-9.89402176e-03 -5.41460832e-05 -9.99951052e-01 -4.14779228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.012417933863913716 Centerline is valid? [True, True] Translation: X:213.71, Y:-125.52, Z:-4.15 [[-6.05327031e-01 -7.95958765e-01 5.36942891e-03 2.13707841e+02] [-7.95927468e-01 6.05350845e-01 7.05838036e-03 -1.25518875e+02] [-8.86856804e-03 -1.04753128e-06 -9.99960673e-01 -4.14844434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.013363731096120917 Centerline is valid? [True, True] Translation: X:213.64, Y:-125.59, Z:-4.15 [[-5.51426920e-01 -8.34210096e-01 4.67628590e-03 2.13636496e+02] [-8.34178760e-01 5.51446741e-01 7.23107606e-03 -1.25591325e+02] [-8.61095927e-03 8.65516201e-05 -9.99962921e-01 -4.14846630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.015690434369011512 Centerline is valid? [True, True] Translation: X:213.57, Y:-125.67, Z:-4.15 [[-4.94201226e-01 -8.69336719e-01 4.33779270e-03 2.13569054e+02] [-8.69300043e-01 4.94220232e-01 7.98736983e-03 -1.25670104e+02] [-9.08753880e-03 1.76524586e-04 -9.99958692e-01 -4.14719692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.016191440728236053 Centerline is valid? [True, True] Translation: X:213.50, Y:-125.76, Z:-4.15 [[-4.30541412e-01 -9.02562609e-01 3.85094765e-03 2.13497434e+02] [-9.02521633e-01 4.30558573e-01 8.60334169e-03 -1.25758631e+02] [-9.42311305e-03 2.28531319e-04 -9.99955575e-01 -4.14712077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.016582767393896494 Centerline is valid? [True, True] Translation: X:213.43, Y:-125.85, Z:-4.15 [[-3.61724208e-01 -9.32280492e-01 2.94656840e-03 2.13430099e+02] [-9.32244268e-01 3.61736137e-01 8.22144488e-03 -1.25853004e+02] [-8.73057295e-03 2.26974130e-04 -9.99961862e-01 -4.14761636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.016123135667167658 Centerline is valid? [True, True] Translation: X:213.37, Y:-125.95, Z:-4.15 [[-2.87589377e-01 -9.57750942e-01 2.34184133e-03 2.13368053e+02] [-9.57712780e-01 2.87598830e-01 8.55246892e-03 -1.25954169e+02] [-8.86464599e-03 2.16787836e-04 -9.99960685e-01 -4.14746643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.016049045629089185 Centerline is valid? [True, True] Translation: X:213.31, Y:-126.06, Z:-4.15 [[-2.11638755e-01 -9.77346605e-01 1.62795446e-03 2.13313841e+02] [-9.77310098e-01 2.11644925e-01 8.44972247e-03 -1.26062972e+02] [-8.60285587e-03 1.97272410e-04 -9.99962975e-01 -4.14713459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.015576368757097335 Centerline is valid? [True, True] Translation: X:213.26, Y:-126.18, Z:-4.15 [[-1.33425603e-01 -9.91058470e-01 8.47261326e-04 2.13263705e+02] [-9.91030558e-01 1.33428206e-01 7.43949859e-03 -1.26180987e+02] [-7.48602665e-03 1.52957723e-04 -9.99971968e-01 -4.14731061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.015118127363472338 Centerline is valid? [True, True] Translation: X:213.22, Y:-126.29, Z:-4.15 [[-5.49288884e-02 -9.98490238e-01 2.49809425e-04 2.13224347e+02] [-9.98466799e-01 5.49293109e-02 6.84260981e-03 -1.26287103e+02] [-6.84600095e-03 1.26430534e-04 -9.99976558e-01 -4.14705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.014890038374464017 Centerline is valid? [True, True] Translation: X:213.20, Y:-126.41, Z:-4.15 [[ 2.30441008e-02 -9.99734415e-01 -2.62088564e-04 2.13195574e+02] [-9.99713445e-01 -2.30453153e-02 6.47626963e-03 -1.26408173e+02] [-6.48058955e-03 1.12773651e-04 -9.99978994e-01 -4.14748617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.014281113802689963 Centerline is valid? [True, True] Translation: X:213.17, Y:-126.53, Z:-4.15 [[ 1.03059239e-01 -9.94674975e-01 -6.97964371e-04 2.13173242e+02] [-9.94657363e-01 -1.03061568e-01 5.91971366e-03 -1.26530585e+02] [-5.96012433e-03 8.41542148e-05 -9.99982235e-01 -4.14783198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.013519905696569167 Centerline is valid? [True, True] Translation: X:213.16, Y:-126.65, Z:-4.15 [[ 1.81584950e-01 -9.83374057e-01 -1.53970548e-03 2.13157066e+02] [-9.83342925e-01 -1.81591454e-01 7.82539172e-03 -1.26650666e+02] [-7.97488456e-03 9.30851268e-05 -9.99968196e-01 -4.14569455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.013474390293348924 Centerline is valid? [True, True] Translation: X:213.15, Y:-126.77, Z:-4.14 [[ 2.57471318e-01 -9.66283102e-01 -2.34228871e-03 2.13154870e+02] [-9.66246374e-01 -2.57481955e-01 8.42544363e-03 -1.26774367e+02] [-8.74446089e-03 9.39178950e-05 -9.99961762e-01 -4.14420470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.013209751741175328 Centerline is valid? [True, True] Translation: X:213.16, Y:-126.89, Z:-4.15 [[ 3.32121671e-01 -9.43232937e-01 -2.61189190e-03 2.13160187e+02] [-9.43205446e-01 -3.32131934e-01 7.20181981e-03 -1.26892848e+02] [-7.66048636e-03 7.16702309e-05 -9.99970655e-01 -4.14502919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.012642654190088929 Centerline is valid? [True, True] Translation: X:213.17, Y:-127.01, Z:-4.15 [[ 4.04840902e-01 -9.14382274e-01 -2.98335627e-03 2.13173268e+02] [-9.14358458e-01 -4.04851891e-01 6.59983152e-03 -1.27011529e+02] [-7.24258638e-03 5.59752936e-05 -9.99973771e-01 -4.14606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.012547299739484504 Centerline is valid? [True, True] Translation: X:213.20, Y:-127.13, Z:-4.15 [[ 4.75278281e-01 -8.79826601e-01 -3.96323782e-03 2.13197104e+02] [-8.79796857e-01 -4.75294802e-01 7.23475153e-03 -1.27127145e+02] [-8.24903319e-03 4.83239053e-05 -9.99965975e-01 -4.14506539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.012136958144604299 Centerline is valid? [True, True] Translation: X:213.23, Y:-127.24, Z:-4.14 [[ 5.44706924e-01 -8.38611710e-01 -4.97665362e-03 2.13227445e+02] [-8.38576927e-01 -5.44729657e-01 7.63790739e-03 -1.27240193e+02] [-9.11616940e-03 1.28858607e-05 -9.99958447e-01 -4.14496188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.012034330131959396 Centerline is valid? [True, True] Translation: X:213.27, Y:-127.35, Z:-4.15 [[ 6.10091482e-01 -7.92309768e-01 -5.79790076e-03 2.13266128e+02] [-7.92273626e-01 -6.10119030e-01 7.56770237e-03 -1.27348058e+02] [-9.53337410e-03 -2.34668920e-05 -9.99954556e-01 -4.14524166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.01255981940084408 Centerline is valid? [True, True] Translation: X:213.31, Y:-127.45, Z:-4.14 [[ 6.74137654e-01 -7.38575813e-01 -6.64766981e-03 2.13311014e+02] [-7.38538449e-01 -6.74170422e-01 7.42971702e-03 -1.27454826e+02] [-9.96907165e-03 -9.90922488e-05 -9.99950303e-01 -4.14486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.013436925674591704 Centerline is valid? [True, True] Translation: X:213.36, Y:-127.55, Z:-4.15 [[ 7.31650381e-01 -6.81645102e-01 -6.90478380e-03 2.13360733e+02] [-6.81612894e-01 -7.31682947e-01 6.62777790e-03 -1.27550618e+02] [-9.56990490e-03 -1.42826553e-04 -9.99954197e-01 -4.14508546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.01483217651974025 Centerline is valid? [True, True] Translation: X:213.38, Y:-127.58, Z:-4.15 [[ 7.85904833e-01 -6.18308971e-01 -6.90001954e-03 2.13380790e+02] [-6.18283125e-01 -7.85935102e-01 5.65621489e-03 -1.27582475e+02] [-8.92025597e-03 -1.79080969e-04 -9.99960198e-01 -4.14514423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.014677645584906265 Centerline is valid? [True, True] Translation: X:213.41, Y:-127.61, Z:-4.15 [[ 8.32251281e-01 -5.54353762e-01 -7.05064818e-03 2.13405453e+02] [-5.54332037e-01 -8.32281127e-01 4.91096767e-03 -1.27610140e+02] [-8.59053482e-03 -1.78758965e-04 -9.99963085e-01 -4.14519032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.013834375539841074 Centerline is valid? [True, True] Translation: X:213.43, Y:-127.63, Z:-4.15 [[ 8.71100191e-01 -4.91056307e-01 -6.93973961e-03 2.13434010e+02] [-4.91039482e-01 -8.71127823e-01 4.06727900e-03 -1.27632166e+02] [-8.04266327e-03 -1.35321373e-04 -9.99967648e-01 -4.14504984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.013005461416793963 Centerline is valid? [True, True] Translation: X:213.46, Y:-127.65, Z:-4.14 [[ 9.04866216e-01 -4.25627730e-01 -7.62673884e-03 2.13463565e+02] [-4.25611645e-01 -9.04898350e-01 3.70175819e-03 -1.27649557e+02] [-8.47699433e-03 -1.03567060e-04 -9.99964064e-01 -4.14443398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.011953272837340389 Centerline is valid? [True, True] Translation: X:213.50, Y:-127.66, Z:-4.14 [[ 9.32215351e-01 -3.61797765e-01 -8.77023343e-03 2.13497364e+02] [-3.61781432e-01 -9.32256604e-01 3.43794033e-03 -1.27659439e+02] [-9.41994716e-03 -3.19931492e-05 -9.99955631e-01 -4.14292715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.011987830054686746 Centerline is valid? [True, True] Translation: X:213.53, Y:-127.67, Z:-4.14 [[ 9.55882036e-01 -2.93611949e-01 -9.03084288e-03 2.13530051e+02] [-2.93599092e-01 -9.55924695e-01 2.74777127e-03 -1.27671678e+02] [-9.43958421e-03 2.49020757e-05 -9.99955446e-01 -4.14338560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.013052366464172564 Centerline is valid? [True, True] Translation: X:213.56, Y:-127.68, Z:-4.14 [[ 9.74049324e-01 -2.26137459e-01 -9.47442262e-03 2.13564149e+02] [-2.26127827e-01 -9.74095395e-01 2.08990566e-03 -1.27677207e+02] [-9.70159740e-03 1.06759397e-04 -9.99952933e-01 -4.14321212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.014409258690509649 Centerline is valid? [True, True] Translation: X:213.59, Y:-127.68, Z:-4.14 [[ 9.87932537e-01 -1.54604167e-01 -9.31952019e-03 2.13593526e+02] [-1.54598770e-01 -9.87976481e-01 1.30119981e-03 -1.27681775e+02] [-9.40863768e-03 1.55288720e-04 -9.99955726e-01 -4.14252409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.013940080249641999 Centerline is valid? [True, True] Translation: X:213.62, Y:-127.69, Z:-4.14 [[ 9.96872334e-01 -7.84559737e-02 -9.49786462e-03 2.13622255e+02] [-7.84540627e-02 -9.96917564e-01 5.74195493e-04 -1.27694263e+02] [-9.51363713e-03 1.72746465e-04 -9.99954729e-01 -4.14292535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.013963902687702852 Centerline is valid? [True, True] Translation: X:213.65, Y:-127.70, Z:-4.14 [[ 9.99965791e-01 4.60810730e-04 -8.25859116e-03 2.13651638e+02] [ 4.59600506e-04 -9.99999883e-01 -1.48438554e-04 -1.27702628e+02] [-8.25865860e-03 1.44637823e-04 -9.99965886e-01 -4.14339556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.013652773266699959 Centerline is valid? [True, True] Translation: X:213.68, Y:-127.71, Z:-4.14 [[ 9.96640362e-01 8.15805111e-02 -7.25319530e-03 2.13680518e+02] [ 8.15775699e-02 -9.96666749e-01 -7.00931517e-04 -1.27709067e+02] [-7.28620093e-03 1.06878594e-04 -9.99973450e-01 -4.14390414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.012442701187251229 Centerline is valid? [True, True] Translation: X:213.71, Y:-127.72, Z:-4.14 [[ 9.85998498e-01 1.66642039e-01 -6.11488304e-03 2.13711492e+02] [ 1.66638551e-01 -9.86017459e-01 -1.07923001e-03 -1.27716064e+02] [-6.20922652e-03 4.51439221e-05 -9.99980722e-01 -4.14351094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.012076189972032792 Centerline is valid? [True, True] Translation: X:213.74, Y:-127.72, Z:-4.14 [[ 9.67426434e-01 2.53099334e-01 -5.17894222e-03 2.13743190e+02] [ 2.53095791e-01 -9.67440296e-01 -1.33935953e-03 -1.27723440e+02] [-5.34930840e-03 -1.50366594e-05 -9.99985692e-01 -4.14316707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.012943295187210189 Centerline is valid? [True, True] Translation: X:213.78, Y:-127.73, Z:-4.14 [[ 9.42235744e-01 3.34908462e-01 -5.30332114e-03 2.13775111e+02] [ 3.34903494e-01 -9.42250667e-01 -1.82501031e-03 -1.27725335e+02] [-5.60826928e-03 -5.65108325e-05 -9.99984272e-01 -4.14255204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.014953577513404759 Centerline is valid? [True, True] Translation: X:213.81, Y:-127.72, Z:-4.14 [[ 9.09410035e-01 4.15862629e-01 -5.62683868e-03 2.13808249e+02] [ 4.15855462e-01 -9.09427435e-01 -2.44433781e-03 -1.27724854e+02] [-6.13371022e-03 -1.17046264e-04 -9.99981182e-01 -4.14186933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.01586436005284961 Centerline is valid? [True, True] Translation: X:213.84, Y:-127.72, Z:-4.14 [[ 8.72068067e-01 4.89354771e-01 -5.40316142e-03 2.13839915e+02] [ 4.89346379e-01 -8.72084794e-01 -2.86943664e-03 -1.27719796e+02] [-6.11618743e-03 -1.41673406e-04 -9.99981286e-01 -4.14190046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.018503423780354605 Centerline is valid? [True, True] Translation: X:213.87, Y:-127.71, Z:-4.14 [[ 8.29350373e-01 5.58707916e-01 -4.83975434e-03 2.13870427e+02] [ 5.58699453e-01 -8.29364481e-01 -3.07890937e-03 -1.27712664e+02] [-5.73413139e-03 -1.50473464e-04 -9.99983548e-01 -4.14117350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.01644903828872366 Centerline is valid? [True, True] Translation: X:213.90, Y:-127.70, Z:-4.14 [[ 7.83497205e-01 6.21372547e-01 -5.31853614e-03 2.13897349e+02] [ 6.21359690e-01 -7.83515238e-01 -4.00090262e-03 -1.27696281e+02] [-6.65320516e-03 -1.70027942e-04 -9.99977853e-01 -4.14152267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.01670121071531768 Centerline is valid? [True, True] Translation: X:213.92, Y:-127.68, Z:-4.14 [[ 7.33570352e-01 6.79596728e-01 -4.77759735e-03 2.13923294e+02] [ 6.79583654e-01 -7.33585894e-01 -4.21829518e-03 -1.27681599e+02] [-6.37151762e-03 -1.52360780e-04 -9.99979690e-01 -4.14119130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.01552015423299134 Centerline is valid? [True, True] Translation: X:213.95, Y:-127.66, Z:-4.14 [[ 6.81190482e-01 7.32091133e-01 -4.70102915e-03 2.13945152e+02] [ 7.32075036e-01 -6.81206690e-01 -4.85655550e-03 -1.27660957e+02] [-6.75781373e-03 -1.33266704e-04 -9.99977157e-01 -4.14118893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.014829612213196744 Centerline is valid? [True, True] Translation: X:213.97, Y:-127.64, Z:-4.14 [[ 6.23494321e-01 7.81812920e-01 -4.83628290e-03 2.13969058e+02] [ 7.81791036e-01 -6.23513063e-01 -5.85121401e-03 -1.27642455e+02] [-7.59004028e-03 -1.32763912e-04 -9.99971186e-01 -4.14133123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.013599340867513089 Centerline is valid? [True, True] Translation: X:213.99, Y:-127.62, Z:-4.14 [[ 5.67328641e-01 8.23476008e-01 -5.04752531e-03 2.13986125e+02] [ 8.23444652e-01 -5.67351089e-01 -7.18661713e-03 -1.27618700e+02] [-8.78172576e-03 -7.91839946e-05 -9.99961437e-01 -4.14038638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.01321769376583089 Centerline is valid? [True, True] Translation: X:214.01, Y:-127.60, Z:-4.14 [[ 5.05719033e-01 8.62688057e-01 -4.19235718e-03 2.14005930e+02] [ 8.62658909e-01 -5.05736409e-01 -7.09167683e-03 -1.27597568e+02] [-8.23813257e-03 -3.01783177e-05 -9.99966066e-01 -4.14134014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.013344232325637875 Centerline is valid? [True, True] Translation: X:214.02, Y:-127.58, Z:-4.14 [[ 4.40935409e-01 8.97532008e-01 -3.50140147e-03 2.14024021e+02] [ 8.97503542e-01 -4.40949311e-01 -7.14827920e-03 -1.27576856e+02] [-7.95974995e-03 9.40918705e-06 -9.99968321e-01 -4.14223538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.013961435664787025 Centerline is valid? [True, True] Translation: X:214.04, Y:-127.55, Z:-4.14 [[ 3.75090393e-01 9.26982551e-01 -3.24775026e-03 2.14035184e+02] [ 9.26946278e-01 -3.75104447e-01 -8.20068670e-03 -1.27551779e+02] [-8.82013904e-03 6.55087785e-05 -9.99961100e-01 -4.14213197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.014222567643638079 Centerline is valid? [True, True] Translation: X:214.05, Y:-127.53, Z:-4.14 [[ 3.03497274e-01 9.52828732e-01 -2.61004755e-03 2.14050577e+02] [ 9.52791024e-01 -3.03508485e-01 -8.47724662e-03 -1.27528685e+02] [-8.86953573e-03 8.59913666e-05 -9.99960661e-01 -4.14261716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.014572393082550431 Centerline is valid? [True, True] Translation: X:214.07, Y:-127.50, Z:-4.14 [[ 2.30650966e-01 9.73034064e-01 -2.20069630e-03 2.14066964e+02] [ 9.72984438e-01 -2.30661430e-01 -9.82795853e-03 -1.27504819e+02] [-1.00705542e-02 1.25584877e-04 -9.99949283e-01 -4.14118978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.014783745769531897 Centerline is valid? [True, True] Translation: X:214.08, Y:-127.48, Z:-4.14 [[ 1.54509411e-01 9.87990110e-01 -1.54415967e-03 2.14081557e+02] [ 9.87930971e-01 -1.54517059e-01 -1.08108747e-02 -1.27479160e+02] [-1.09196363e-02 1.44858713e-04 -9.99940369e-01 -4.14107988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.014787548626895701 Centerline is valid? [True, True] Translation: X:214.10, Y:-127.45, Z:-4.14 [[ 7.68311835e-02 9.97043817e-01 -7.71624224e-04 2.14095231e+02] [ 9.96969940e-01 -7.68348846e-02 -1.21383308e-02 -1.27453157e+02] [-1.21617354e-02 1.63316167e-04 -9.99926030e-01 -4.14167459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.014831028591945785 Centerline is valid? [True, True] Translation: X:214.11, Y:-127.43, Z:-4.14 [[-3.20465375e-03 9.99994848e-01 1.87117861e-04 2.14106261e+02] [ 9.99916759e-01 3.20674205e-03 -1.24976656e-02 -1.27425890e+02] [-1.24982012e-02 1.47051594e-04 -9.99921884e-01 -4.14141719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.014308772993740134 Centerline is valid? [True, True] Translation: X:214.12, Y:-127.40, Z:-4.14 [[-8.56953213e-02 9.96320696e-01 1.17622763e-03 2.14120476e+02] [ 9.96241509e-01 8.57033402e-02 -1.25615954e-02 -1.27397292e+02] [-1.26161841e-02 9.53368355e-05 -9.99920408e-01 -4.14228408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.014270557613471674 Centerline is valid? [True, True] Translation: X:214.13, Y:-127.37, Z:-4.14 [[-1.68536374e-01 9.85692424e-01 2.43621497e-03 2.14131452e+02] [ 9.85592380e-01 1.68553978e-01 -1.40433931e-02 -1.27366866e+02] [-1.42531000e-02 3.42923426e-05 -9.99898419e-01 -4.14188482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.014295949387650768 Centerline is valid? [True, True] Translation: X:214.14, Y:-127.34, Z:-4.14 [[-2.49539930e-01 9.68358372e-01 3.44762985e-03 2.14138726e+02] [ 9.68264366e-01 2.49563744e-01 -1.34928115e-02 -1.27337037e+02] [-1.39262804e-02 -2.87781157e-05 -9.99903024e-01 -4.14158614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.014237721735949409 Centerline is valid? [True, True] Translation: X:214.14, Y:-127.31, Z:-4.14 [[-3.26708927e-01 9.45115019e-01 4.34490480e-03 2.14141797e+02] [ 9.45029111e-01 3.26737812e-01 -1.27428772e-02 -1.27305885e+02] [-1.34631293e-02 -5.71502000e-05 -9.99909366e-01 -4.14298046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.014364852167528563 Centerline is valid? [True, True] Translation: X:214.14, Y:-127.27, Z:-4.14 [[-4.01103548e-01 9.16016892e-01 5.38498366e-03 2.14141827e+02] [ 9.15931724e-01 4.01139686e-01 -1.24911336e-02 -1.27273992e+02] [-1.36022200e-02 -7.79606333e-05 -9.99907483e-01 -4.14263197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.014371101775683955 Centerline is valid? [True, True] Translation: X:214.14, Y:-127.24, Z:-4.14 [[-4.72101306e-01 8.81520067e-01 6.53674217e-03 2.14136915e+02] [ 8.81432999e-01 4.72146549e-01 -1.23896646e-02 -1.27243190e+02] [-1.40080383e-02 -8.74765916e-05 -9.99901879e-01 -4.14238746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.014393531937911333 Centerline is valid? [True, True] Translation: X:214.13, Y:-127.21, Z:-4.14 [[-5.39685733e-01 8.41831542e-01 7.67878835e-03 2.14129717e+02] [ 8.41743968e-01 5.39740351e-01 -1.21427102e-02 -1.27212995e+02] [-1.43666683e-02 -8.96736484e-05 -9.99896790e-01 -4.14131960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.014203772267513199 Centerline is valid? [True, True] Translation: X:214.12, Y:-127.18, Z:-4.14 [[-6.02998878e-01 7.97690781e-01 9.04276333e-03 2.14118888e+02] [ 7.97599207e-01 6.03066673e-01 -1.20868568e-02 -1.27183676e+02] [-1.50949635e-02 -7.58602475e-05 -9.99886062e-01 -4.14106638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.014095750304827381 Centerline is valid? [True, True] Translation: X:214.11, Y:-127.16, Z:-4.14 [[-6.61008109e-01 7.50304707e-01 1.05416489e-02 2.14105299e+02] [ 7.50208716e-01 6.61092162e-01 -1.20015119e-02 -1.27155241e+02] [-1.59737924e-02 -2.46597744e-05 -9.99872411e-01 -4.14100241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.014131796225315605 Centerline is valid? [True, True] Translation: X:214.09, Y:-127.13, Z:-4.14 [[-7.15801337e-01 6.98205738e-01 1.17129622e-02 2.14089665e+02] [ 6.98112743e-01 7.15897162e-01 -1.13952280e-02 -1.27128468e+02] [-1.63414900e-02 2.02487477e-05 -9.99866469e-01 -4.14095662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.014272392268818535 Centerline is valid? [True, True] Translation: X:214.11, Y:-127.11, Z:-4.14 [[-7.61258887e-01 6.48339772e-01 1.18510231e-02 2.14108228e+02] [ 6.48262661e-01 7.61351125e-01 -9.99936971e-03 -1.27111181e+02] [-1.55057788e-02 7.04666720e-05 -9.99879776e-01 -4.14132725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.014533595139724563 Centerline is valid? [True, True] Translation: X:214.12, Y:-127.09, Z:-4.14 [[-8.03182650e-01 5.95624143e-01 1.13803204e-02 2.14124703e+02] [ 5.95566350e-01 8.03263262e-01 -8.29788010e-03 -1.27092198e+02] [-1.40838110e-02 1.13022554e-04 -9.99900812e-01 -4.14181297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.014543393895963298 Centerline is valid? [True, True] Translation: X:214.14, Y:-127.07, Z:-4.14 [[-8.42142342e-01 5.39139915e-01 1.11547462e-02 2.14140113e+02] [ 5.39094743e-01 8.42216204e-01 -6.98026659e-03 -1.27070725e+02] [-1.31580483e-02 1.35086968e-04 -9.99913420e-01 -4.14289303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.014428140134160805 Centerline is valid? [True, True] Translation: X:214.15, Y:-127.05, Z:-4.14 [[-8.77784392e-01 4.78944871e-01 1.03136689e-02 2.14153181e+02] [ 4.78913551e-01 8.77844971e-01 -5.47878030e-03 -1.27046538e+02] [-1.16778361e-02 1.30167983e-04 -9.99931803e-01 -4.14403185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.014231608058046788 Centerline is valid? [True, True] Translation: X:214.16, Y:-127.02, Z:-4.14 [[-9.10556232e-01 4.13235564e-01 1.11227708e-02 2.14164623e+02] [ 4.13206140e-01 9.10624158e-01 -4.93239977e-03 -1.27018586e+02] [-1.21669068e-02 1.04769837e-04 -9.99925975e-01 -4.14229362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.013975001434321312 Centerline is valid? [True, True] Translation: X:214.17, Y:-126.99, Z:-4.14 [[-9.38542906e-01 3.44956973e-01 1.19121667e-02 2.14169632e+02] [ 3.44930173e-01 9.38618496e-01 -4.30048882e-03 -1.26987804e+02] [-1.26644636e-02 7.26724375e-05 -9.99919800e-01 -4.14128861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.013590218540115615 Centerline is valid? [True, True] Translation: X:214.18, Y:-126.96, Z:-4.14 [[-9.61809122e-01 2.73456980e-01 1.20205140e-02 2.14175774e+02] [ 2.73435857e-01 9.61884234e-01 -3.39879365e-03 -1.26956776e+02] [-1.24917667e-02 1.78488092e-05 -9.99921975e-01 -4.14100650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.013534430817291023 Centerline is valid? [True, True] Translation: X:214.35, Y:-126.35, Z:-5.12 [[-9.41709330e-01 -3.36244933e-01 1.10852427e-02 2.14349692e+02] [ 3.36220869e-01 -9.41774570e-01 -4.02318168e-03 -1.26352432e+02] [ 1.17925742e-02 -6.15777664e-05 9.99930463e-01 -5.11571372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.013387169890079327 Centerline is valid? [True, True] Translation: X:214.13, Y:-126.94, Z:-4.14 [[-9.63619120e-01 2.67070431e-01 1.05629596e-02 2.14128879e+02] [ 2.67054207e-01 9.63677013e-01 -2.94375861e-03 -1.26939692e+02] [-1.09654722e-02 -1.57792844e-05 -9.99939877e-01 -4.14118928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.013257631899018723 Centerline is valid? [True, True] Translation: X:214.14, Y:-126.91, Z:-4.14 [[-9.80224813e-01 1.97647449e-01 9.73658246e-03 2.14136171e+02] [ 1.97637507e-01 9.80273169e-01 -1.98249881e-03 -1.26912818e+02] [-9.93634637e-03 -1.89806394e-05 -9.99950633e-01 -4.14167021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.013211152706560205 Centerline is valid? [True, True] Translation: X:214.26, Y:-126.31, Z:-5.12 [[-9.62949999e-01 -2.69517127e-01 9.37108267e-03 2.14259387e+02] [ 2.69504416e-01 -9.62995596e-01 -2.61753490e-03 -1.26307074e+02] [ 9.72978183e-03 4.99293229e-06 9.99952665e-01 -5.11550418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.013361932155117752 Centerline is valid? [True, True] Translation: X:214.09, Y:-126.90, Z:-4.14 [[-9.82144446e-01 1.87921746e-01 8.81498874e-03 2.14087133e+02] [ 1.87913515e-01 9.82184001e-01 -1.76034899e-03 -1.26899211e+02] [-8.98874876e-03 -7.24614657e-05 -9.99959598e-01 -4.14156360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.013772807123700622 Centerline is valid? [True, True] Translation: X:214.08, Y:-126.87, Z:-4.14 [[-9.93488982e-01 1.13647872e-01 7.98772544e-03 2.14084068e+02] [ 1.13643402e-01 9.93521088e-01 -1.01279590e-03 -1.26869110e+02] [-8.05107576e-03 -9.84492765e-05 -9.99967585e-01 -4.14184099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.014562845557172348 Centerline is valid? [True, True] Translation: X:214.07, Y:-126.84, Z:-4.14 [[-9.99216049e-01 3.88642551e-02 7.54031147e-03 2.14073763e+02] [ 3.88622247e-02 9.99244492e-01 -4.15650348e-04 -1.26839108e+02] [-7.55076865e-03 -1.22291220e-04 -9.99971485e-01 -4.14140392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.015474335153251086 Centerline is valid? [True, True] Translation: X:214.11, Y:-126.24, Z:-5.12 [[-9.89804857e-01 -1.42186599e-01 8.32565996e-03 2.14109117e+02] [ 1.42183205e-01 -9.89839853e-01 -1.00122014e-03 -1.26238314e+02] [ 8.38343011e-03 1.92756454e-04 9.99964840e-01 -5.11587462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.01584574564806217 Centerline is valid? [True, True] Translation: X:214.03, Y:-126.84, Z:-4.14 [[-9.99537539e-01 2.94385516e-02 7.62102772e-03 2.14026126e+02] [ 2.94364359e-02 9.99566578e-01 -3.89658100e-04 -1.26835369e+02] [-7.62919557e-03 -1.65142004e-04 -9.99970884e-01 -4.14072544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.016206975205835798 Centerline is valid? [True, True] Translation: X:214.02, Y:-126.81, Z:-4.14 [[-9.99051165e-01 -4.28808191e-02 7.61612531e-03 2.14018698e+02] [-4.28809065e-02 9.99080179e-01 1.51892454e-04 -1.26808776e+02] [-7.61563311e-03 -1.74838025e-04 -9.99970985e-01 -4.13964249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.016141609436394817 Centerline is valid? [True, True] Translation: X:214.01, Y:-126.79, Z:-4.14 [[-9.93524049e-01 -1.13239982e-01 9.30969591e-03 2.14007475e+02] [-1.13236986e-01 9.93567644e-01 8.49939186e-04 -1.26786721e+02] [-9.34605972e-03 -2.09766887e-04 -9.99956303e-01 -4.13863780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.015684313728798797 Centerline is valid? [True, True] Translation: X:214.00, Y:-126.76, Z:-4.14 [[-9.83312440e-01 -1.81689578e-01 9.24888542e-03 2.14004848e+02] [-1.81683371e-01 9.83355917e-01 1.51406781e-03 -1.26764106e+02] [-9.37003655e-03 -1.91566961e-04 -9.99956082e-01 -4.13873888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.014373195753325733 Centerline is valid? [True, True] Translation: X:213.99, Y:-126.75, Z:-4.14 [[-9.69216881e-01 -2.46098521e-01 7.35903180e-03 2.13994989e+02] [-2.46092319e-01 9.69244812e-01 1.75085581e-03 -1.26746354e+02] [-7.56358642e-03 -1.14042192e-04 -9.99971389e-01 -4.14038247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.01307514307850064 Centerline is valid? [True, True] Translation: X:213.98, Y:-126.73, Z:-4.14 [[-9.51176122e-01 -3.08585811e-01 6.22757483e-03 2.13978045e+02] [-3.08579571e-01 9.51196507e-01 1.96311062e-03 -1.26732750e+02] [-6.52943551e-03 -5.44384300e-05 -9.99978682e-01 -4.14158695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.012701270080118031 Centerline is valid? [True, True] Translation: X:213.95, Y:-126.72, Z:-4.14 [[-9.28421316e-01 -3.71476342e-01 6.26003982e-03 2.13946447e+02] [-3.71468047e-01 9.28442420e-01 2.48251157e-03 -1.26722098e+02] [-6.73428084e-03 -2.05881118e-05 -9.99977324e-01 -4.14105559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.01289048629315955 Centerline is valid? [True, True] Translation: X:213.89, Y:-126.73, Z:-4.14 [[-9.02282032e-01 -4.31085983e-01 7.21179711e-03 2.13894429e+02] [-4.31071824e-01 9.02310852e-01 3.49418107e-03 -1.26725712e+02] [-8.01357528e-03 4.39342604e-05 -9.99967890e-01 -4.13997393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.013487169503751062 Centerline is valid? [True, True] Translation: X:213.83, Y:-126.74, Z:-4.14 [[-8.70295042e-01 -4.92478639e-01 7.16451847e-03 2.13829961e+02] [-4.92461151e-01 8.70324527e-01 4.15115779e-03 -1.26735091e+02] [-8.27981269e-03 8.44850296e-05 -9.99965718e-01 -4.14025854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.014559447567574673 Centerline is valid? [True, True] Translation: X:213.76, Y:-126.76, Z:-4.14 [[-8.33673278e-01 -5.52205582e-01 7.60666133e-03 2.13758650e+02] [-5.52181106e-01 8.33707969e-01 5.20085397e-03 -1.26755746e+02] [-9.21367476e-03 1.35558313e-04 -9.99957544e-01 -4.14033023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.014501597205128386 Centerline is valid? [True, True] Translation: X:213.68, Y:-126.78, Z:-4.14 [[-7.90441293e-01 -6.12489828e-01 7.66634481e-03 2.13678521e+02] [-6.12459156e-01 7.90478455e-01 6.13146676e-03 -1.26782658e+02] [-9.81554142e-03 1.51241446e-04 -9.99951815e-01 -4.14079221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.0139076623890313 Centerline is valid? [True, True] Translation: X:213.59, Y:-126.82, Z:-4.14 [[-7.40630092e-01 -6.71874743e-01 7.16913449e-03 2.13592583e+02] [-6.71841586e-01 7.40664778e-01 6.67602733e-03 -1.26820315e+02] [-9.79537955e-03 1.27944043e-04 -9.99952016e-01 -4.13997221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.013234587533376925 Centerline is valid? [True, True] Translation: X:213.51, Y:-126.87, Z:-4.14 [[-6.85455507e-01 -7.28087572e-01 6.26383292e-03 2.13508257e+02] [-7.28055963e-01 6.85484121e-01 6.78491437e-03 -1.26865925e+02] [-9.23376983e-03 9.03360103e-05 -9.99957364e-01 -4.14059000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.013142176571905442 Centerline is valid? [True, True] Translation: X:213.42, Y:-126.92, Z:-4.14 [[-6.26419502e-01 -7.79468053e-01 5.30688893e-03 2.13423124e+02] [-7.79439240e-01 6.26441978e-01 6.70224965e-03 -1.26923498e+02] [-8.54864748e-03 6.20224112e-05 -9.99963458e-01 -4.14079445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.012825857144512377 Centerline is valid? [True, True] Translation: X:213.34, Y:-126.99, Z:-4.14 [[-5.61896365e-01 -8.27195242e-01 4.52850486e-03 2.13339419e+02] [-8.27168039e-01 5.61914612e-01 6.70843510e-03 -1.26988157e+02] [-8.09381864e-03 2.36108068e-05 -9.99967244e-01 -4.14085762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.012763709113582766 Centerline is valid? [True, True] Translation: X:213.26, Y:-127.07, Z:-4.14 [[-4.94979635e-01 -8.68896463e-01 3.75470792e-03 2.13256312e+02] [-8.68871451e-01 4.94993875e-01 6.59279118e-03 -1.27066597e+02] [-7.58701036e-03 9.38845739e-07 -9.99971218e-01 -4.14054596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.012932046868629888 Centerline is valid? [True, True] Translation: X:213.18, Y:-127.14, Z:-4.14 [[-4.23589075e-01 -9.05851516e-01 2.30773605e-03 2.13181795e+02] [-9.05838350e-01 4.23595361e-01 4.88409986e-03 -1.27144586e+02] [-5.40181555e-03 -2.15844722e-05 -9.99985410e-01 -4.14111289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.01335469010218379 Centerline is valid? [True, True] Translation: X:213.11, Y:-127.24, Z:-4.14 [[-3.49765959e-01 -9.36835301e-01 1.84181296e-03 2.13110330e+02] [-9.36822904e-01 3.49770807e-01 4.81962703e-03 -1.27235366e+02] [-5.15940914e-03 -3.97110994e-05 -9.99986689e-01 -4.14021875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.013624789489670091 Centerline is valid? [True, True] Translation: X:213.05, Y:-127.33, Z:-4.14 [[-2.75472031e-01 -9.61308020e-01 1.43232112e-03 2.13048099e+02] [-9.61295907e-01 2.75475750e-01 4.82596465e-03 -1.27330103e+02] [-5.03380826e-03 -4.74661513e-05 -9.99987329e-01 -4.13909679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.013972206836016833 Centerline is valid? [True, True] Translation: X:212.99, Y:-127.44, Z:-4.14 [[-1.98305534e-01 -9.80139296e-01 1.36988807e-03 2.12991955e+02] [-9.80118625e-01 1.98310249e-01 6.36606270e-03 -1.27436742e+02] [-6.51129106e-03 -8.02273476e-05 -9.99978798e-01 -4.13760879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.014383971879464195 Centerline is valid? [True, True] Translation: X:212.94, Y:-127.54, Z:-4.14 [[-1.20775027e-01 -9.92679344e-01 1.05506826e-03 2.12944938e+02] [-9.92649065e-01 1.20779584e-01 7.75403050e-03 -1.27541060e+02] [-7.82469661e-03 -1.10819279e-04 -9.99969380e-01 -4.13603094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.015638565114025456 Centerline is valid? [True, True] Translation: X:212.90, Y:-127.65, Z:-4.13 [[-4.19479703e-02 -9.99119657e-01 5.27673092e-04 2.12903269e+02] [-9.99078998e-01 4.19510243e-02 9.01485602e-03 -1.27652660e+02] [-9.02905628e-03 -1.49032192e-04 -9.99959226e-01 -4.13289228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.015312051715514764 Centerline is valid? [True, True] Translation: X:212.88, Y:-127.78, Z:-4.13 [[ 3.58416131e-02 -9.99357470e-01 -1.60231295e-04 2.12875111e+02] [-9.99319133e-01 -3.58416418e-02 8.75481844e-03 -1.27778643e+02] [-8.75493616e-03 -1.53664616e-04 -9.99961663e-01 -4.13364997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.015822449297157495 Centerline is valid? [True, True] Translation: X:212.86, Y:-127.89, Z:-4.13 [[ 1.13869606e-01 -9.93495368e-01 -8.16112015e-04 2.12855014e+02] [-9.93458636e-01 -1.13872415e-01 8.54469333e-03 -1.27887334e+02] [-8.58204589e-03 -1.62207330e-04 -9.99963160e-01 -4.13395594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.015289101248427764 Centerline is valid? [True, True] Translation: X:212.85, Y:-128.00, Z:-4.13 [[ 1.90352272e-01 -9.81714741e-01 -1.47659590e-03 2.12845863e+02] [-9.81678008e-01 -1.90357925e-01 8.49402898e-03 -1.28002863e+02] [-8.61979519e-03 -1.67315987e-04 -9.99962835e-01 -4.13483505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.015438898146901246 Centerline is valid? [True, True] Translation: X:212.84, Y:-128.12, Z:-4.13 [[ 2.65296512e-01 -9.64164042e-01 -2.33697097e-03 2.12843308e+02] [-9.64120244e-01 -2.65306740e-01 9.19181324e-03 -1.28121500e+02] [-9.48242995e-03 -1.85434976e-04 -9.99955024e-01 -4.13359126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.016218065633781076 Centerline is valid? [True, True] Translation: X:212.85, Y:-128.24, Z:-4.13 [[ 3.39002428e-01 -9.40780330e-01 -3.11851677e-03 2.12848416e+02] [-9.40735065e-01 -3.39016716e-01 9.23058392e-03 -1.28241061e+02] [-9.74118109e-03 -1.95492289e-04 -9.99952534e-01 -4.13227675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.015965088671421053 Centerline is valid? [True, True] Translation: X:212.87, Y:-128.36, Z:-4.13 [[ 4.11036914e-01 -9.11610954e-01 -3.75823380e-03 2.12865696e+02] [-9.11568234e-01 -4.11054046e-01 8.82757482e-03 -1.28362085e+02] [-9.59215111e-03 -2.02572571e-04 -9.99953974e-01 -4.13317826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.016263153217387794 Centerline is valid? [True, True] Translation: X:212.88, Y:-128.47, Z:-4.13 [[ 4.80228030e-01 -8.77135481e-01 -3.79311693e-03 2.12883889e+02] [-8.77105115e-01 -4.80242977e-01 7.30075863e-03 -1.28468751e+02] [-8.22537220e-03 -1.79066680e-04 -9.99966155e-01 -4.13432584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.016063170510843428 Centerline is valid? [True, True] Translation: X:212.92, Y:-128.58, Z:-4.13 [[ 5.46174370e-01 -8.37661916e-01 -4.00897472e-03 2.12915378e+02] [-8.37637056e-01 -5.46189057e-01 6.45569572e-03 -1.28578191e+02] [-7.59734857e-03 -1.67869764e-04 -9.99971126e-01 -4.13470317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.017393342728269433 Centerline is valid? [True, True] Translation: X:212.96, Y:-128.70, Z:-4.13 [[ 6.09331607e-01 -7.92904355e-01 -4.20426764e-03 2.12959599e+02] [-7.92883593e-01 -6.09346089e-01 5.74029264e-03 -1.28695172e+02] [-7.11335707e-03 -1.64246910e-04 -9.99974686e-01 -4.13423885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.01829248479606586 Centerline is valid? [True, True] Translation: X:213.00, Y:-128.79, Z:-4.13 [[ 6.69194344e-01 -7.43066073e-01 -5.63393845e-03 2.12995221e+02] [-7.43037021e-01 -6.69218025e-01 6.57422447e-03 -1.28785610e+02] [-8.65541632e-03 -2.13208991e-04 -9.99962518e-01 -4.13282452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.018135857586546344 Centerline is valid? [True, True] Translation: X:213.05, Y:-128.88, Z:-4.13 [[ 7.25225156e-01 -6.88473009e-01 -7.30673851e-03 2.13048561e+02] [-6.88434180e-01 -7.25261911e-01 7.31715918e-03 -1.28883737e+02] [-1.03369657e-02 -2.76379370e-04 -9.99946534e-01 -4.13208978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.019688258554656446 Centerline is valid? [True, True] Translation: X:213.10, Y:-128.98, Z:-4.13 [[ 7.76577340e-01 -6.29953321e-01 -9.29774642e-03 2.13103317e+02] [-6.29902692e-01 -7.76632918e-01 7.99434337e-03 -1.28975287e+02] [-1.22569991e-02 -3.51550403e-04 -9.99924818e-01 -4.13037252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.017811094088413693 Centerline is valid? [True, True] Translation: X:213.13, Y:-129.00, Z:-4.13 [[ 8.23472112e-01 -5.67259868e-01 -1.04844434e-02 2.13127655e+02] [-5.67208066e-01 -8.23538768e-01 7.67505013e-03 -1.28999795e+02] [-1.29880935e-02 -3.73328876e-04 -9.99915581e-01 -4.13185318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.02037515919014673 Centerline is valid? [True, True] Translation: X:213.15, Y:-129.03, Z:-4.13 [[ 8.64637591e-01 -5.02302288e-01 -9.70808683e-03 2.13150443e+02] [-5.02266532e-01 -8.64692034e-01 6.00149465e-03 -1.29026064e+02] [-1.14090698e-02 -3.13070776e-04 -9.99934865e-01 -4.13148192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.01886438372435422 Centerline is valid? [True, True] Translation: X:213.18, Y:-129.04, Z:-4.13 [[ 9.00545102e-01 -4.34655114e-01 -9.66697483e-03 2.13181534e+02] [-4.34626705e-01 -9.00596943e-01 4.97739398e-03 -1.29042293e+02] [-1.08694977e-02 -2.80842358e-04 -9.99940886e-01 -4.13376025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.016720202260721104 Centerline is valid? [True, True] Translation: X:213.21, Y:-129.06, Z:-4.14 [[ 9.30157776e-01 -3.67051946e-01 -8.90958967e-03 2.13213343e+02] [-3.67032974e-01 -9.30200423e-01 3.73758603e-03 -1.29056121e+02] [-9.65959230e-03 -2.06431513e-04 -9.99953324e-01 -4.13555675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.014579769779759742 Centerline is valid? [True, True] Translation: X:213.24, Y:-129.07, Z:-4.14 [[ 9.54078827e-01 -2.99382693e-01 -1.01781637e-02 2.13244636e+02] [-2.99363873e-01 -9.54133103e-01 3.36060170e-03 -1.29067526e+02] [-1.07174289e-02 -1.59304425e-04 -9.99942554e-01 -4.13634031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.013343228769934415 Centerline is valid? [True, True] Translation: X:213.28, Y:-129.07, Z:-4.13 [[ 9.71911594e-01 -2.34949552e-01 -1.36587432e-02 2.13276375e+02] [-2.34925650e-01 -9.72007565e-01 3.35161586e-03 -1.29073140e+02] [-1.40638624e-02 -4.86851901e-05 -9.99901098e-01 -4.13394303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.013449726125860838 Centerline is valid? [True, True] Translation: X:213.31, Y:-129.08, Z:-4.13 [[ 9.86275377e-01 -1.64449323e-01 -1.47411182e-02 2.13308204e+02] [-1.64431598e-01 -9.86385532e-01 2.41475888e-03 -1.29079421e+02] [-1.49375312e-02 4.22883952e-05 -9.99888428e-01 -4.13293979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.013905622509943793 Centerline is valid? [True, True] Translation: X:213.34, Y:-129.08, Z:-4.13 [[ 9.95656230e-01 -9.19418253e-02 -1.46755682e-02 2.13336408e+02] [-9.19335964e-02 -9.95764373e-01 1.23579247e-03 -1.29083339e+02] [-1.47270290e-02 1.18753300e-04 -9.99891544e-01 -4.13344334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.013944723926633634 Centerline is valid? [True, True] Translation: X:213.37, Y:-129.09, Z:-4.14 [[ 9.99764179e-01 -1.70784423e-02 -1.34131604e-02 2.13365050e+02] [-1.70789616e-02 -9.99854141e-01 7.58344338e-05 -1.29091301e+02] [-1.34124991e-02 1.53266301e-04 -9.99910037e-01 -4.13638789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.014596384093897801 Centerline is valid? [True, True] Translation: X:213.39, Y:-129.09, Z:-4.14 [[ 9.98210962e-01 5.83058669e-02 -1.32401085e-02 2.13394299e+02] [ 5.82982035e-02 -9.98298748e-01 -9.64348385e-04 -1.29094775e+02] [-1.32738109e-02 1.90748589e-04 -9.99911881e-01 -4.13724649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.014477046038357106 Centerline is valid? [True, True] Translation: X:213.42, Y:-129.10, Z:-4.14 [[ 9.90524776e-01 1.36647191e-01 -1.37190858e-02 2.13424157e+02] [ 1.36631375e-01 -9.90619759e-01 -2.08792726e-03 -1.29101213e+02] [-1.38757068e-02 1.93686122e-04 -9.99903709e-01 -4.13749998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.014106205480091052 Centerline is valid? [True, True] Translation: X:213.46, Y:-129.11, Z:-4.14 [[ 9.75595851e-01 2.19055513e-01 -1.50804079e-02 2.13455247e+02] [ 2.19027255e-01 -9.75712388e-01 -3.52089793e-03 -1.29109167e+02] [-1.54854130e-02 1.31953059e-04 -9.99880085e-01 -4.13611518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.013824589857526725 Centerline is valid? [True, True] Translation: X:213.49, Y:-129.12, Z:-4.14 [[ 9.52744008e-01 3.03339526e-01 -1.62476679e-02 2.13488116e+02] [ 3.03295578e-01 -9.52882538e-01 -5.16340549e-03 -1.29118260e+02] [-1.70483840e-02 -8.44218028e-06 -9.99854666e-01 -4.13765335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.014450752034672457 Centerline is valid? [True, True] Translation: X:213.52, Y:-129.12, Z:-4.14 [[ 9.23480046e-01 3.83325344e-01 -1.56934626e-02 2.13520201e+02] [ 3.83272285e-01 -9.23613374e-01 -6.37893492e-03 -1.29121096e+02] [-1.69398993e-02 -1.24050143e-04 -9.99856502e-01 -4.13725723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.015960682018282137 Centerline is valid? [True, True] Translation: X:213.55, Y:-129.12, Z:-4.14 [[ 8.86486408e-01 4.62544438e-01 -1.39460514e-02 2.13553874e+02] [ 4.62491731e-01 -8.86596062e-01 -6.98718744e-03 -1.29121427e+02] [-1.55963989e-02 -2.55886747e-04 -9.99878336e-01 -4.13809772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.015946895858067467 Centerline is valid? [True, True] Translation: X:213.59, Y:-129.12, Z:-4.14 [[ 8.45300377e-01 5.34142043e-01 -1.26313294e-02 2.13586958e+02] [ 5.34087769e-01 -8.45394692e-01 -7.62035978e-03 -1.29116004e+02] [-1.47488133e-02 -3.04745529e-04 -9.99891184e-01 -4.14092318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.017873328996915145 Centerline is valid? [True, True] Translation: X:213.62, Y:-129.11, Z:-4.14 [[ 7.98266683e-01 6.02200066e-01 -1.11974557e-02 2.13619865e+02] [ 6.02146838e-01 -7.98345139e-01 -8.01400104e-03 -1.29109896e+02] [-1.37654663e-02 -3.45202509e-04 -9.99905192e-01 -4.14112139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.019032407561791146 Centerline is valid? [True, True] Translation: X:213.65, Y:-129.10, Z:-4.14 [[ 7.46678289e-01 6.65107033e-01 -1.02062301e-02 2.13651485e+02] [ 6.65051684e-01 -7.46747945e-01 -8.58860248e-03 -1.29097405e+02] [-1.33338212e-02 -3.74747484e-04 -9.99911030e-01 -4.14080869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.018776462064329615 Centerline is valid? [True, True] Translation: X:213.68, Y:-129.08, Z:-4.14 [[ 6.91411985e-01 7.22380998e-01 -1.07312938e-02 2.13680786e+02] [ 7.22303766e-01 -6.91495119e-01 -1.05721667e-02 -1.29080883e+02] [-1.50577696e-02 -4.41531213e-04 -9.99886528e-01 -4.13934137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.01779265039855706 Centerline is valid? [True, True] Translation: X:213.71, Y:-129.06, Z:-4.14 [[ 6.32881442e-01 7.74155188e-01 -1.20343465e-02 2.13708840e+02] [ 7.74031016e-01 -6.32995624e-01 -1.38753630e-02 -1.29063394e+02] [-1.83593729e-02 -5.33497718e-04 -9.99831310e-01 -4.13729170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.016941405890150123 Centerline is valid? [True, True] Translation: X:213.73, Y:-129.04, Z:-4.14 [[ 5.72784539e-01 8.19635538e-01 -1.07451125e-02 2.13734276e+02] [ 8.19506505e-01 -5.72885122e-01 -1.45507644e-02 -1.29042742e+02] [-1.80820386e-02 -4.71236690e-04 -9.99836396e-01 -4.13720979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.017013245141497886 Centerline is valid? [True, True] Translation: X:213.76, Y:-129.02, Z:-4.14 [[ 5.09290321e-01 8.60551213e-01 -8.65902420e-03 2.13756833e+02] [ 8.60439322e-01 -5.09363784e-01 -1.38819213e-02 -1.29021149e+02] [-1.63566976e-02 -3.80636747e-04 -9.99866148e-01 -4.13776363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.01581755993351757 Centerline is valid? [True, True] Translation: X:213.77, Y:-128.99, Z:-4.14 [[ 4.43792311e-01 8.96102955e-01 -6.91938670e-03 2.13774338e+02] [ 8.96004111e-01 -4.43846154e-01 -1.33125793e-02 -1.28994580e+02] [-1.50005848e-02 -2.91778615e-04 -9.99887442e-01 -4.13945058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.014217110857122463 Centerline is valid? [True, True] Translation: X:213.79, Y:-128.97, Z:-4.14 [[ 3.79384576e-01 9.25223077e-01 -5.44068795e-03 2.13786041e+02] [ 9.25134062e-01 -3.79423550e-01 -1.28349537e-02 -1.28966899e+02] [-1.39395205e-02 -1.63982278e-04 -9.99902827e-01 -4.13990097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.013230005420162965 Centerline is valid? [True, True] Translation: X:213.79, Y:-128.94, Z:-4.14 [[ 3.15514415e-01 9.48910090e-01 -4.50512537e-03 2.13793246e+02] [ 9.48814322e-01 -3.15546576e-01 -1.34811596e-02 -1.28937553e+02] [-1.42139852e-02 -2.10272890e-05 -9.99898976e-01 -4.13945379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.013505582027477262 Centerline is valid? [True, True] Translation: X:213.80, Y:-128.91, Z:-4.14 [[ 2.48014013e-01 9.68749745e-01 -3.60301207e-03 2.13802475e+02] [ 9.68641752e-01 -2.48040163e-01 -1.44649203e-02 -1.28909519e+02] [-1.49065796e-02 9.74750076e-05 -9.99888886e-01 -4.13971245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.015721839789840913 Centerline is valid? [True, True] Translation: X:213.81, Y:-128.88, Z:-4.14 [[ 1.82442729e-01 9.83213323e-01 -2.49232608e-03 2.13806385e+02] [ 9.83100411e-01 -1.82459555e-01 -1.49027613e-02 -1.28880391e+02] [-1.51073422e-02 2.68693653e-04 -9.99885842e-01 -4.13939559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.016197084971852852 Centerline is valid? [True, True] Translation: X:213.82, Y:-128.85, Z:-4.14 [[ 1.08319521e-01 9.94115306e-01 -1.28031252e-03 2.13816027e+02] [ 9.94007688e-01 -1.08326637e-01 -1.46306351e-02 -1.28853317e+02] [-1.46832303e-02 3.12142896e-04 -9.99892147e-01 -4.13997422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.017759982278199866 Centerline is valid? [True, True] Translation: X:213.82, Y:-128.83, Z:-4.14 [[ 3.52924150e-02 9.99377021e-01 -1.23593017e-04 2.13820424e+02] [ 9.99279405e-01 -3.52906958e-02 -1.39727297e-02 -1.28825077e+02] [-1.39683867e-02 3.69627420e-04 -9.99902369e-01 -4.14057474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.019153897762003876 Centerline is valid? [True, True] Translation: X:213.82, Y:-128.80, Z:-4.14 [[-3.83799798e-02 9.99262688e-01 1.02834206e-03 2.13824809e+02] [ 9.99153749e-01 3.83909873e-02 -1.47620216e-02 -1.28796891e+02] [-1.47906165e-02 4.60905732e-04 -9.99890507e-01 -4.13993096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.019440735418925114 Centerline is valid? [True, True] Translation: X:213.83, Y:-128.77, Z:-4.14 [[-1.14858921e-01 9.93379410e-01 2.18562700e-03 2.13830537e+02] [ 9.93271355e-01 1.14878681e-01 -1.46596098e-02 -1.28768396e+02] [-1.48136364e-02 4.87133731e-04 -9.99890153e-01 -4.13924002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.02091239188609371 Centerline is valid? [True, True] Translation: X:213.83, Y:-128.74, Z:-4.14 [[-1.94050998e-01 9.80986837e-01 3.00588527e-03 2.13831646e+02] [ 9.80900135e-01 1.94073831e-01 -1.30488884e-02 -1.28740463e+02] [-1.33841515e-02 4.16323439e-04 -9.99910342e-01 -4.13835848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.01687023315132464 Centerline is valid? [True, True] Translation: X:213.84, Y:-128.71, Z:-4.14 [[-2.75928768e-01 9.61172171e-01 3.37231958e-03 2.13841006e+02] [ 9.61112441e-01 2.75949229e-01 -1.07191110e-02 -1.28708016e+02] [-1.12335002e-02 2.83467219e-04 -9.99936862e-01 -4.14095034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.015953619654708276 Centerline is valid? [True, True] Translation: X:213.84, Y:-128.68, Z:-4.14 [[-3.56213823e-01 9.34396939e-01 3.75132172e-03 2.13842205e+02] [ 9.34350616e-01 3.56233525e-01 -9.30602129e-03 -1.28677859e+02] [-1.00318644e-02 1.90116336e-04 -9.99949662e-01 -4.14071823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.012922274377071523 Centerline is valid? [True, True] Translation: X:213.85, Y:-128.64, Z:-4.14 [[-4.39326820e-01 8.98319196e-01 3.81665133e-03 2.13848063e+02] [ 8.98286429e-01 4.39343395e-01 -7.67287688e-03 -1.28642428e+02] [-8.56951315e-03 5.75454943e-05 -9.99963279e-01 -4.14090075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.012443803779621787 Centerline is valid? [True, True] Translation: X:213.85, Y:-128.61, Z:-4.14 [[-5.15461572e-01 8.56902741e-01 4.13041218e-03 2.13845351e+02] [ 8.56875032e-01 5.15478120e-01 -6.89112418e-03 -1.28609376e+02] [-8.03416030e-03 -1.28626352e-05 -9.99967726e-01 -4.14074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.013567614549261475 Centerline is valid? [True, True] Translation: X:213.84, Y:-128.57, Z:-4.14 [[-5.89173337e-01 8.07990910e-01 5.04669166e-03 2.13840341e+02] [ 8.07959785e-01 5.89194942e-01 -7.09275596e-03 -1.28574453e+02] [-8.70436754e-03 -1.01338790e-04 -9.99962111e-01 -4.14003993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.014204666363085603 Centerline is valid? [True, True] Translation: X:213.83, Y:-128.54, Z:-4.14 [[-6.54383644e-01 7.56137587e-01 6.16415017e-03 2.13830257e+02] [ 7.56101733e-01 6.54412656e-01 -7.36507142e-03 -1.28541164e+02] [-9.60290522e-03 -1.58857639e-04 -9.99953878e-01 -4.14050968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.01638314076407208 Centerline is valid? [True, True] Translation: X:213.82, Y:-128.51, Z:-4.14 [[-7.15092313e-01 6.98984963e-01 7.93766109e-03 2.13819695e+02] [ 6.98938077e-01 7.15136325e-01 -8.09952680e-03 -1.28508381e+02] [-1.13379572e-02 -2.43975778e-04 -9.99935694e-01 -4.13781138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.016752913184206984 Centerline is valid? [True, True] Translation: X:213.80, Y:-128.48, Z:-4.14 [[-7.68475641e-01 6.39801835e-01 9.93989079e-03 2.13799386e+02] [ 6.39743199e-01 7.68539863e-01 -8.66705065e-03 -1.28481173e+02] [-1.31843972e-02 -3.01439763e-04 -9.99913037e-01 -4.13633358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.015741518705387546 Centerline is valid? [True, True] Translation: X:214.18, Y:-128.05, Z:-5.12 [[-6.92018161e-01 -7.21804620e-01 1.04381536e-02 2.14180793e+02] [ 7.21731555e-01 -6.92096752e-01 -1.02785925e-02 -1.28048695e+02] [ 1.46433477e-02 4.20572142e-04 9.99892692e-01 -5.12040396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.015481049110319337 Centerline is valid? [True, True] Translation: X:214.16, Y:-128.07, Z:-5.12 [[-6.44237537e-01 -7.64770215e-01 9.19321627e-03 2.14164895e+02] [ 7.64698136e-01 -6.44303073e-01 -1.05029483e-02 -1.28067802e+02] [ 1.39555595e-02 2.63641796e-04 9.99902582e-01 -5.11934673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.014253573082268291 Centerline is valid? [True, True] Translation: X:214.13, Y:-128.02, Z:-5.12 [[-6.47484427e-01 -7.62029985e-01 8.61503557e-03 2.14132207e+02] [ 7.61966523e-01 -6.47541708e-01 -9.83637255e-03 -1.28018805e+02] [ 1.30742057e-02 1.95470654e-04 9.99914510e-01 -5.11725687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.01406724979196963 Centerline is valid? [True, True] Translation: X:214.10, Y:-127.97, Z:-5.12 [[-6.49094746e-01 -7.60661629e-01 8.36041854e-03 2.14096562e+02] [ 7.60601827e-01 -6.49148564e-01 -9.53955397e-03 -1.27973390e+02] [ 1.26835264e-02 1.66875245e-04 9.99919547e-01 -5.11723916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.013736998809675192 Centerline is valid? [True, True] Translation: X:214.06, Y:-127.93, Z:-5.12 [[-6.50684773e-01 -7.59299725e-01 8.55877385e-03 2.14061544e+02] [ 7.59237006e-01 -6.50741043e-01 -9.76031228e-03 -1.27926408e+02] [ 1.29805479e-02 1.47251249e-04 9.99915738e-01 -5.11753510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.013919064518178557 Centerline is valid? [True, True] Translation: X:214.03, Y:-127.88, Z:-5.12 [[-6.52158335e-01 -7.58030391e-01 8.91248263e-03 2.14026384e+02] [ 7.57962353e-01 -6.52219219e-01 -1.01569064e-02 -1.27882391e+02] [ 1.35121362e-02 1.31415146e-04 9.99908698e-01 -5.11927002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.01326681793215469 Centerline is valid? [True, True] Translation: X:213.99, Y:-127.83, Z:-5.12 [[-6.54674814e-01 -7.55855864e-01 9.09943494e-03 2.13994012e+02] [ 7.55784821e-01 -6.54738042e-01 -1.03633945e-02 -1.27834487e+02] [ 1.37909787e-02 9.25614418e-05 9.99904896e-01 -5.11865089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.013068914361701546 Centerline is valid? [True, True] Translation: X:213.96, Y:-127.79, Z:-5.12 [[-6.57541429e-01 -7.53366954e-01 8.80356237e-03 2.13961608e+02] [ 7.53300316e-01 -6.57600358e-01 -1.00201140e-02 -1.27787001e+02] [ 1.33380485e-02 4.30862242e-05 9.99911043e-01 -5.11820826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.013095985375919432 Centerline is valid? [True, True] Translation: X:213.93, Y:-127.74, Z:-5.12 [[-6.59558307e-01 -7.51605226e-01 8.51030268e-03 2.13926846e+02] [ 7.51542884e-01 -6.59613209e-01 -9.68029162e-03 -1.27740779e+02] [ 1.28892658e-02 1.11406721e-05 9.99916930e-01 -5.11801482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.013194475377837207 Centerline is valid? [True, True] Translation: X:213.89, Y:-127.69, Z:-5.12 [[-6.61691264e-01 -7.49733105e-01 8.05865308e-03 2.13894151e+02] [ 7.49677139e-01 -6.61740335e-01 -9.16060615e-03 -1.27694252e+02] [ 1.22007455e-02 -2.01050751e-05 9.99925568e-01 -5.11836439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.013108698865664604 Centerline is valid? [True, True] Translation: X:213.86, Y:-127.65, Z:-5.12 [[-6.62804815e-01 -7.48747462e-01 8.18636970e-03 2.13857861e+02] [ 7.48689698e-01 -6.62855367e-01 -9.30048467e-03 -1.27648174e+02] [ 1.23900934e-02 -3.53553599e-05 9.99923239e-01 -5.11804846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.013313673533689525 Centerline is valid? [True, True] Translation: X:213.82, Y:-127.60, Z:-5.12 [[-6.64134485e-01 -7.47568242e-01 8.19203052e-03 2.13823704e+02] [ 7.47510382e-01 -6.64185004e-01 -9.30100739e-03 -1.27601468e+02] [ 1.23941616e-02 -5.34918891e-05 9.99923188e-01 -5.11843530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.013396778976195102 Centerline is valid? [True, True] Translation: X:213.79, Y:-127.56, Z:-5.12 [[-6.64862831e-01 -7.46927141e-01 7.56709801e-03 2.13788155e+02] [ 7.46877793e-01 -6.64905890e-01 -8.58602232e-03 -1.27556685e+02] [ 1.14445411e-02 -5.68296435e-05 9.99934508e-01 -5.11782629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.013388571579592385 Centerline is valid? [True, True] Translation: X:213.75, Y:-127.51, Z:-5.12 [[-6.65258997e-01 -7.46583340e-01 6.61690538e-03 2.13753475e+02] [ 7.46545640e-01 -6.65291901e-01 -7.50293708e-03 -1.27512097e+02] [ 1.00037414e-02 -5.15745347e-05 9.99949960e-01 -5.11783982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.01323457856113846 Centerline is valid? [True, True] Translation: X:213.72, Y:-127.47, Z:-5.12 [[-6.63731454e-01 -7.47955077e-01 4.87435762e-03 2.13715611e+02] [ 7.47934682e-01 -6.63749352e-01 -5.52347371e-03 -1.27470738e+02] [ 7.36666191e-03 -2.04021213e-05 9.99972866e-01 -5.11784542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.013137956228068862 Centerline is valid? [True, True] Translation: X:213.68, Y:-127.43, Z:-5.12 [[-6.61193671e-01 -7.50203414e-01 4.21514693e-03 2.13676319e+02] [ 7.50188226e-01 -6.61207107e-01 -4.77357279e-03 -1.27429240e+02] [ 6.36823571e-03 5.89747649e-06 9.99979723e-01 -5.11848763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.013186225262487333 Centerline is valid? [True, True] Translation: X:213.64, Y:-127.39, Z:-5.12 [[-6.60870531e-01 -7.50488355e-01 4.16784231e-03 2.13638164e+02] [ 7.50473531e-01 -6.60883673e-01 -4.71709156e-03 -1.27386336e+02] [ 6.29458122e-03 1.04685341e-05 9.99980189e-01 -5.11870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.013315888548517075 Centerline is valid? [True, True] Translation: X:213.60, Y:-127.34, Z:-5.12 [[-6.59771192e-01 -7.51455999e-01 3.98193555e-03 2.13601078e+02] [ 7.51442502e-01 -6.59783207e-01 -4.50394738e-03 -1.27343069e+02] [ 6.01173249e-03 2.06208780e-05 9.99981929e-01 -5.11950651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.013507237944574679 Centerline is valid? [True, True] Translation: X:213.56, Y:-127.30, Z:-5.12 [[-6.58457615e-01 -7.52608630e-01 3.71733679e-03 2.13561670e+02] [ 7.52596900e-01 -6.58468108e-01 -4.20214069e-03 -1.27301513e+02] [ 5.61031507e-03 3.07246075e-05 9.99984262e-01 -5.11954933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.013755826710392844 Centerline is valid? [True, True] Translation: X:213.52, Y:-127.26, Z:-5.12 [[-6.56870150e-01 -7.53996887e-01 3.20949699e-03 2.13521906e+02] [ 7.53988170e-01 -6.56877990e-01 -3.62577132e-03 -1.27259669e+02] [ 4.84206822e-03 3.82618039e-05 9.99988276e-01 -5.11908843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.014085260888547325 Centerline is valid? [True, True] Translation: X:213.48, Y:-127.22, Z:-5.12 [[-6.55071837e-01 -7.55558819e-01 3.42925488e-03 2.13480157e+02] [ 7.55548900e-01 -6.55080811e-01 -3.87179788e-03 -1.27219407e+02] [ 5.17181010e-03 5.46640000e-05 9.99986625e-01 -5.12030954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.014488438585332098 Centerline is valid? [True, True] Translation: X:213.44, Y:-127.18, Z:-5.12 [[-6.54930957e-01 -7.55679945e-01 3.64183527e-03 2.13440694e+02] [ 7.55668776e-01 -6.54941079e-01 -4.10904265e-03 -1.27179110e+02] [ 5.49030865e-03 6.08819688e-05 9.99984926e-01 -5.12193547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.014051315864395482 Centerline is valid? [True, True] Translation: X:213.40, Y:-127.13, Z:-5.12 [[-6.56038925e-01 -7.54718597e-01 3.57329683e-03 2.13403403e+02] [ 7.54707842e-01 -6.56048654e-01 -4.02941075e-03 -1.27134595e+02] [ 5.38532780e-03 5.33448370e-05 9.99985498e-01 -5.12191122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.014029229484727837 Centerline is valid? [True, True] Translation: X:213.37, Y:-127.09, Z:-5.12 [[-6.56867548e-01 -7.53996836e-01 3.71436397e-03 2.13365056e+02] [ 7.53985219e-01 -6.56878047e-01 -4.18580263e-03 -1.27091602e+02] [ 5.59596609e-03 5.10576215e-05 9.99984341e-01 -5.12260385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.013874116191289173 Centerline is valid? [True, True] Translation: X:213.33, Y:-127.05, Z:-5.12 [[-6.57575833e-01 -7.53378427e-01 3.86906346e-03 2.13326636e+02] [ 7.53365827e-01 -6.57587214e-01 -4.35734524e-03 -1.27048836e+02] [ 5.82697656e-03 4.95352735e-05 9.99983022e-01 -5.12426117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.013931968507954634 Centerline is valid? [True, True] Translation: X:213.29, Y:-127.00, Z:-5.12 [[-6.57251055e-01 -7.53664551e-01 3.28571412e-03 2.13288854e+02] [ 7.53655478e-01 -6.57259266e-01 -3.69825564e-03 -1.27004939e+02] [ 4.94681023e-03 4.56140206e-05 9.99987763e-01 -5.12435045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.014272136349806466 Centerline is valid? [True, True] Translation: X:213.25, Y:-126.96, Z:-5.12 [[-6.55655420e-01 -7.55055848e-01 2.57604494e-03 2.13250179e+02] [ 7.55050289e-01 -6.55660479e-01 -2.89783187e-03 -1.26961899e+02] [ 3.87703576e-03 4.50643017e-05 9.99992483e-01 -5.12373167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.01538660048550607 Centerline is valid? [True, True] Translation: X:213.21, Y:-126.92, Z:-5.12 [[-6.53913972e-01 -7.56565030e-01 2.42342544e-03 2.13209758e+02] [ 7.56560124e-01 -6.53918460e-01 -2.72502715e-03 -1.26921080e+02] [ 3.64638288e-03 5.15337236e-05 9.99993351e-01 -5.12421295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.015733780987929703 Centerline is valid? [True, True] Translation: X:213.17, Y:-126.88, Z:-5.12 [[-6.50604409e-01 -7.59413871e-01 2.11549305e-03 2.13169921e+02] [ 7.59410152e-01 -6.50607846e-01 -2.37741038e-03 -1.26878961e+02] [ 3.18179479e-03 5.97732185e-05 9.99994936e-01 -5.12387648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.016685779479696707 Centerline is valid? [True, True] Translation: X:213.13, Y:-126.84, Z:-5.12 [[-6.48438222e-01 -7.61263848e-01 2.28610450e-03 2.13128467e+02] [ 7.61259521e-01 -6.48442248e-01 -2.56768787e-03 -1.26837927e+02] [ 3.43709469e-03 7.53318585e-05 9.99994090e-01 -5.12432619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.0175885353909115 Centerline is valid? [True, True] Translation: X:213.09, Y:-126.80, Z:-5.13 [[-6.45722355e-01 -7.63567013e-01 2.83848372e-03 2.13087489e+02] [ 7.63560373e-01 -6.45728585e-01 -3.18616262e-03 -1.26797318e+02] [ 4.26573875e-03 1.09977253e-04 9.99990896e-01 -5.12501677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.020554745160784496 Centerline is valid? [True, True] Translation: X:213.04, Y:-126.76, Z:-5.13 [[-6.45256540e-01 -7.63959364e-01 3.17617232e-03 2.13044696e+02] [ 7.63951065e-01 -6.45264344e-01 -3.56308161e-03 -1.26758878e+02] [ 4.77152030e-03 1.27338518e-04 9.99988608e-01 -5.12687368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.017358329647824328 Centerline is valid? [True, True] Translation: X:213.01, Y:-126.71, Z:-5.13 [[-6.45951418e-01 -7.63372176e-01 3.11235342e-03 2.13010206e+02] [ 7.63364210e-01 -6.45958904e-01 -3.48959623e-03 -1.26711122e+02] [ 4.67431308e-03 1.21749581e-04 9.99989068e-01 -5.12601486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.017167341494710418 Centerline is valid? [True, True] Translation: X:212.97, Y:-126.67, Z:-5.13 [[-6.47507370e-01 -7.62053635e-01 2.90927137e-03 2.12973104e+02] [ 7.62046669e-01 -6.47513897e-01 -3.26003817e-03 -1.26666211e+02] [ 4.36811758e-03 1.06101817e-04 9.99990454e-01 -5.12569455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.016649852462674877 Centerline is valid? [True, True] Translation: X:212.94, Y:-126.62, Z:-5.13 [[-6.48862954e-01 -7.60899880e-01 2.87044752e-03 2.12936126e+02] [ 7.60893095e-01 -6.48869296e-01 -3.21469436e-03 -1.26621857e+02] [ 4.30860581e-03 9.82076183e-05 9.99990713e-01 -5.12537075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.015957517430901735 Centerline is valid? [True, True] Translation: X:212.90, Y:-126.58, Z:-5.13 [[-6.51513869e-01 -7.58632062e-01 2.65962807e-03 2.12898910e+02] [ 7.58626225e-01 -6.51519293e-01 -2.97690472e-03 -1.26577586e+02] [ 3.99117436e-03 7.81688970e-05 9.99992032e-01 -5.12543080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.015419000456056226 Centerline is valid? [True, True] Translation: X:212.86, Y:-126.53, Z:-5.12 [[-6.53542184e-01 -7.56886732e-01 2.25573265e-03 2.12861583e+02] [ 7.56882528e-01 -6.53546075e-01 -2.52340113e-03 -1.26532579e+02] [ 3.38415405e-03 5.81755464e-05 9.99994272e-01 -5.12477394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.01511665748822521 Centerline is valid? [True, True] Translation: X:212.82, Y:-126.49, Z:-5.12 [[-6.55372495e-01 -7.55303808e-01 1.74678294e-03 2.12824922e+02] [ 7.55301284e-01 -6.55374821e-01 -1.95296715e-03 -1.26488992e+02] [ 2.61988108e-03 3.94264453e-05 9.99996567e-01 -5.12372411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.014456391517094627 Centerline is valid? [True, True] Translation: X:212.79, Y:-126.44, Z:-5.12 [[-6.56120863e-01 -7.54654043e-01 1.63955034e-03 2.12787171e+02] [ 7.54651820e-01 -6.56122911e-01 -1.83201327e-03 -1.26444594e+02] [ 2.45828276e-03 3.52675247e-05 9.99996978e-01 -5.12386691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.01451286826720134 Centerline is valid? [True, True] Translation: X:212.75, Y:-126.40, Z:-5.13 [[-6.56473151e-01 -7.54345782e-01 2.33299283e-03 2.12747500e+02] [ 7.54341285e-01 -6.56477295e-01 -2.60536504e-03 -1.26402623e+02] [ 3.49690295e-03 4.95206100e-05 9.99993885e-01 -5.12582465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.014569521955147357 Centerline is valid? [True, True] Translation: X:212.71, Y:-126.36, Z:-5.13 [[-6.56243723e-01 -7.54539678e-01 3.74835668e-03 2.12708569e+02] [ 7.54528086e-01 -6.56254423e-01 -4.18329579e-03 -1.26361174e+02] [ 5.61633831e-03 8.29787838e-05 9.99984225e-01 -5.12765637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.014768429612540216 Centerline is valid? [True, True] Translation: X:212.67, Y:-126.32, Z:-5.13 [[-6.56341171e-01 -7.54450085e-01 4.61917726e-03 2.12669591e+02] [ 7.54432501e-01 -6.56357417e-01 -5.15191336e-03 -1.26319459e+02] [ 6.91869273e-03 1.03444606e-04 9.99976060e-01 -5.12885905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.014468281017669157 Centerline is valid? [True, True] Translation: X:212.63, Y:-126.28, Z:-5.13 [[-6.56925760e-01 -7.53939410e-01 4.88987002e-03 2.12631059e+02] [ 7.53919717e-01 -6.56943951e-01 -5.45033835e-03 -1.26276513e+02] [ 7.32159541e-03 1.06101754e-04 9.99973191e-01 -5.12916801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.014295222414486905 Centerline is valid? [True, True] Translation: X:212.59, Y:-126.23, Z:-5.13 [[-6.58257315e-01 -7.52780194e-01 4.39179114e-03 2.12593507e+02] [ 7.52764302e-01 -6.58271960e-01 -4.89209192e-03 -1.26233911e+02] [ 6.57366286e-03 8.57282981e-05 9.99978390e-01 -5.12870299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.013709237912424498 Centerline is valid? [True, True] Translation: X:212.56, Y:-126.19, Z:-5.13 [[-6.60683809e-01 -7.50653455e-01 4.03669324e-03 2.12556334e+02] [ 7.50640006e-01 -6.60696138e-01 -4.49398832e-03 -1.26189061e+02] [ 6.04045549e-03 6.09981152e-05 9.99981754e-01 -5.12744334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.013405974436378748 Centerline is valid? [True, True] Translation: X:212.52, Y:-126.15, Z:-5.13 [[-6.62551647e-01 -7.49007186e-01 3.68117477e-03 2.12519366e+02] [ 7.48995990e-01 -6.62561871e-01 -4.09562585e-03 -1.26145978e+02] [ 5.50665924e-03 4.36214883e-05 9.99984837e-01 -5.12766363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.013055976134175947 Centerline is valid? [True, True] Translation: X:212.48, Y:-126.10, Z:-5.13 [[-6.64289749e-01 -7.47467984e-01 3.27767374e-03 2.12482779e+02] [ 7.47459100e-01 -6.64297834e-01 -3.64437197e-03 -1.26102456e+02] [ 4.90140294e-03 2.90081240e-05 9.99987988e-01 -5.12676365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.013308576994433276 Centerline is valid? [True, True] Translation: X:212.44, Y:-126.06, Z:-5.13 [[-6.64165529e-01 -7.47579312e-01 3.05310292e-03 2.12444084e+02] [ 7.47571616e-01 -6.64172546e-01 -3.39242775e-03 -1.26062038e+02] [ 4.56389594e-03 2.92795106e-05 9.99989585e-01 -5.12688310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.01354972401441798 Centerline is valid? [True, True] Translation: X:212.40, Y:-126.02, Z:-5.13 [[-6.61820467e-01 -7.49649661e-01 4.36517297e-03 2.12403192e+02] [ 7.49633990e-01 -6.61834859e-01 -4.84762565e-03 -1.26020835e+02] [ 6.52304457e-03 6.40241599e-05 9.99978723e-01 -5.12780481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.014457928614841846 Centerline is valid? [True, True] Translation: X:212.36, Y:-125.98, Z:-5.13 [[-6.58413699e-01 -7.52634866e-01 5.67091456e-03 2.12360545e+02] [ 7.52608558e-01 -6.58438108e-01 -6.29416765e-03 -1.25980858e+02] [ 8.47115628e-03 1.23812630e-04 9.99964111e-01 -5.13024945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.014747580315092958 Centerline is valid? [True, True] Translation: X:212.32, Y:-125.94, Z:-5.13 [[-6.57170720e-01 -7.53718008e-01 5.98402462e-03 2.12320277e+02] [ 7.53688792e-01 -6.57197948e-01 -6.63795079e-03 -1.25938393e+02] [ 8.93583174e-03 1.47825386e-04 9.99960064e-01 -5.13014771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.01578219489028035 Centerline is valid? [True, True] Translation: X:212.28, Y:-125.90, Z:-5.13 [[-6.54655960e-01 -7.55899457e-01 6.44861581e-03 2.12278018e+02] [ 7.55865672e-01 -6.54687691e-01 -7.14931650e-03 -1.25898125e+02] [ 9.62599386e-03 1.93944665e-04 9.99953650e-01 -5.12947012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.016240653130568033 Centerline is valid? [True, True] Translation: X:212.24, Y:-125.86, Z:-5.13 [[-6.55324184e-01 -7.55324311e-01 5.94976686e-03 2.12238965e+02] [ 7.55295555e-01 -6.55351170e-01 -6.59308021e-03 -1.25857824e+02] [ 8.87910043e-03 1.73227552e-04 9.99960565e-01 -5.12925842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.014886687504517526 Centerline is valid? [True, True] Translation: X:212.20, Y:-125.81, Z:-5.13 [[-6.57219712e-01 -7.53681387e-01 5.15911639e-03 2.12202309e+02] [ 7.53659740e-01 -6.57239948e-01 -5.71372984e-03 -1.25812821e+02] [ 7.69710922e-03 1.33042442e-04 9.99970368e-01 -5.12664890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.013886804802963936 Centerline is valid? [True, True] Translation: X:212.17, Y:-125.77, Z:-5.12 [[-6.61132429e-01 -7.50257082e-01 4.26873816e-03 2.12165485e+02] [ 7.50242208e-01 -6.61146205e-01 -4.72494036e-03 -1.25767934e+02] [ 6.36718000e-03 7.87762423e-05 9.99979726e-01 -5.12435022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.013230942110504074 Centerline is valid? [True, True] Translation: X:212.13, Y:-125.72, Z:-5.12 [[-6.65304588e-01 -7.46560417e-01 4.16514096e-03 2.12128167e+02] [ 7.46546199e-01 -6.65317624e-01 -4.60771161e-03 -1.25723489e+02] [ 6.21107679e-03 4.39384803e-05 9.99980710e-01 -5.12411030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.012943112593115452 Centerline is valid? [True, True] Translation: X:212.09, Y:-125.68, Z:-5.12 [[-6.67966177e-01 -7.44178996e-01 4.33683010e-03 2.12091241e+02] [ 7.44163551e-01 -6.67980255e-01 -4.79459067e-03 -1.25679798e+02] [ 6.46495055e-03 2.46864845e-05 9.99979102e-01 -5.12310434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.01301674657558787 Centerline is valid? [True, True] Translation: X:212.05, Y:-125.64, Z:-5.12 [[-6.69703498e-01 -7.42601158e-01 6.38313378e-03 2.12051243e+02] [ 7.42567666e-01 -6.69733917e-01 -7.05282759e-03 -1.25637219e+02] [ 9.51243912e-03 1.66054423e-05 9.99954756e-01 -5.12423258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.013136118244676226 Centerline is valid? [True, True] Translation: X:212.01, Y:-125.59, Z:-5.12 [[-6.70931387e-01 -7.41481457e-01 7.50490673e-03 2.12012185e+02] [ 7.41435140e-01 -6.70973360e-01 -8.28757679e-03 -1.25594763e+02] [ 1.11806770e-02 4.00618619e-06 9.99937494e-01 -5.12477683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.013210717021978775 Centerline is valid? [True, True] Translation: X:211.97, Y:-125.55, Z:-5.12 [[-6.72744252e-01 -7.39832435e-01 7.94602869e-03 2.11972426e+02] [ 7.39780463e-01 -6.72791177e-01 -8.76914384e-03 -1.25553741e+02] [ 1.18337150e-02 -2.10743269e-05 9.99929979e-01 -5.12402223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.013362099583212328 Centerline is valid? [True, True] Translation: X:211.93, Y:-125.51, Z:-5.12 [[-6.75297129e-01 -7.37500355e-01 8.18623332e-03 2.11933632e+02] [ 7.37445085e-01 -6.75346743e-01 -9.02906553e-03 -1.25511136e+02] [ 1.21874850e-02 -6.04045054e-05 9.99925728e-01 -5.12191389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.013595371639751759 Centerline is valid? [True, True] Translation: X:211.90, Y:-125.47, Z:-5.12 [[-6.76865300e-01 -7.36063615e-01 7.98242831e-03 2.11895355e+02] [ 7.36011029e-01 -6.76912363e-01 -8.79870340e-03 -1.25468855e+02] [ 1.18798098e-02 -8.03817469e-05 9.99929429e-01 -5.12117232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.013673145971735669 Centerline is valid? [True, True] Translation: X:211.85, Y:-125.43, Z:-5.12 [[-6.76695035e-01 -7.36209907e-01 8.87709194e-03 2.11853903e+02] [ 7.36144966e-01 -6.76753254e-01 -9.77866759e-03 -1.25429196e+02] [ 1.32067528e-02 -8.23492659e-05 9.99912784e-01 -5.12094447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.013500516537372498 Centerline is valid? [True, True] Translation: X:211.81, Y:-125.39, Z:-5.12 [[-6.74432905e-01 -7.38270843e-01 9.81937076e-03 2.11810664e+02] [ 7.38191701e-01 -6.74504382e-01 -1.08098237e-02 -1.25390959e+02] [ 1.46037863e-02 -4.19228152e-05 9.99893358e-01 -5.12146986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.013473219015699731 Centerline is valid? [True, True] Translation: X:211.77, Y:-125.35, Z:-5.12 [[-6.73419324e-01 -7.39195789e-01 9.79798391e-03 2.11771625e+02] [ 7.39117192e-01 -6.73490598e-01 -1.07792019e-02 -1.25351075e+02] [ 1.45667907e-02 -1.70644708e-05 9.99893899e-01 -5.12148220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.013507484649729555 Centerline is valid? [True, True] Translation: X:211.73, Y:-125.31, Z:-5.12 [[-6.70442909e-01 -7.41897383e-01 9.72517361e-03 2.11729446e+02] [ 7.41820329e-01 -6.70513439e-01 -1.06924357e-02 -1.25311635e+02] [ 1.44535497e-02 4.56637863e-05 9.99895541e-01 -5.12023602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.013920164869619642 Centerline is valid? [True, True] Translation: X:211.68, Y:-125.27, Z:-5.12 [[-6.65836040e-01 -7.46038976e-01 9.39218913e-03 2.11684179e+02] [ 7.45967600e-01 -6.65902266e-01 -1.03204580e-02 -1.25274130e+02] [ 1.39537439e-02 1.34535903e-04 9.99902633e-01 -5.11927587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.014633623371026331 Centerline is valid? [True, True] Translation: X:211.64, Y:-125.24, Z:-5.12 [[-6.61426202e-01 -7.49948479e-01 9.62591365e-03 2.11638864e+02] [ 7.49874004e-01 -6.61496204e-01 -1.05711941e-02 -1.25236382e+02] [ 1.42953563e-02 2.26157646e-04 9.99897791e-01 -5.11964506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.015074318759812275 Centerline is valid? [True, True] Translation: X:211.60, Y:-125.20, Z:-5.12 [[-6.59206676e-01 -7.51894967e-01 1.00258118e-02 2.11597000e+02] [ 7.51814489e-01 -6.59282852e-01 -1.10043703e-02 -1.25195321e+02] [ 1.48839765e-02 2.83396219e-04 9.99889187e-01 -5.11933682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.017741856021629334 Centerline is valid? [True, True] Translation: X:211.55, Y:-125.16, Z:-5.12 [[-6.56304324e-01 -7.54415607e-01 1.10329430e-02 2.11552085e+02] [ 7.54318623e-01 -6.56396944e-01 -1.21023706e-02 -1.25159058e+02] [ 1.63722073e-02 3.79516154e-04 9.99865894e-01 -5.12269901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.01681995121441448 Centerline is valid? [True, True] Translation: X:211.51, Y:-125.12, Z:-5.12 [[-6.55397685e-01 -7.55183601e-01 1.23127779e-02 2.11512026e+02] [ 7.55063047e-01 -6.55513179e-01 -1.35006383e-02 -1.25117788e+02] [ 1.82666489e-02 4.48636506e-04 9.99833050e-01 -5.12308143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.01591356485081226 Centerline is valid? [True, True] Translation: X:211.47, Y:-125.07, Z:-5.12 [[-6.57316444e-01 -7.53516567e-01 1.21603802e-02 2.11473102e+02] [ 7.53398832e-01 -6.57428795e-01 -1.33258707e-02 -1.25074798e+02] [ 1.80358485e-02 4.02302307e-04 9.99837260e-01 -5.12102009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.01606875350531907 Centerline is valid? [True, True] Translation: X:211.43, Y:-125.03, Z:-5.12 [[-6.58635181e-01 -7.52370352e-01 1.17708360e-02 2.11433875e+02] [ 7.52259983e-01 -6.58740253e-01 -1.28917240e-02 -1.25033031e+02] [ 1.74532744e-02 3.63785991e-04 9.99847614e-01 -5.12153246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.01562858093628347 Centerline is valid? [True, True] Translation: X:211.40, Y:-124.99, Z:-5.12 [[-6.59549594e-01 -7.51569315e-01 1.17430434e-02 2.11395822e+02] [ 7.51459482e-01 -6.59654034e-01 -1.28531174e-02 -1.24990620e+02] [ 1.74063546e-02 3.47152999e-04 9.99848438e-01 -5.12101330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.015042074138348712 Centerline is valid? [True, True] Translation: X:211.36, Y:-124.95, Z:-5.12 [[-6.61696237e-01 -7.49681823e-01 1.16299147e-02 2.11358753e+02] [ 7.49573927e-01 -6.61798365e-01 -1.27221491e-02 -1.24946352e+02] [ 1.72342225e-02 2.99282661e-04 9.99851435e-01 -5.12082282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.014342947322975511 Centerline is valid? [True, True] Translation: X:211.32, Y:-124.90, Z:-5.12 [[-6.63790875e-01 -7.47822014e-01 1.19962618e-02 2.11323199e+02] [ 7.47707042e-01 -6.63899214e-01 -1.31154111e-02 -1.24900030e+02] [ 1.77723019e-02 2.63799174e-04 9.99842025e-01 -5.11969451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.014268950732549617 Centerline is valid? [True, True] Translation: X:211.29, Y:-124.86, Z:-5.12 [[-6.66426300e-01 -7.45469084e-01 1.23219890e-02 2.11287014e+02] [ 7.45347519e-01 -6.66540171e-01 -1.34638850e-02 -1.24855516e+02] [ 1.82500106e-02 2.11476875e-04 9.99833432e-01 -5.12153413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.013378239546158043 Centerline is valid? [True, True] Translation: X:211.25, Y:-124.81, Z:-5.12 [[-6.69362876e-01 -7.42843935e-01 1.16716916e-02 2.11251375e+02] [ 7.42734586e-01 -6.69464614e-01 -1.27461705e-02 -1.24809236e+02] [ 1.72821999e-02 1.37155666e-04 9.99850642e-01 -5.11975654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.012947485911487205 Centerline is valid? [True, True] Translation: X:211.22, Y:-124.76, Z:-5.12 [[-6.73604612e-01 -7.38999010e-01 1.17170765e-02 2.11216431e+02] [ 7.38888350e-01 -6.73706510e-01 -1.27884627e-02 -1.24762375e+02] [ 1.73445319e-02 4.32438934e-05 9.99849571e-01 -5.11862227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.01360662135125704 Centerline is valid? [True, True] Translation: X:211.19, Y:-124.71, Z:-5.12 [[-6.82282937e-01 -7.30998961e-01 1.14242273e-02 2.11185170e+02] [ 7.30892746e-01 -6.82378558e-01 -1.24618541e-02 -1.24712107e+02] [ 1.69052501e-02 -1.52625548e-04 9.99857084e-01 -5.11811048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.015056628512907892 Centerline is valid? [True, True] Translation: X:211.15, Y:-124.66, Z:-5.12 [[-6.90456362e-01 -7.23294399e-01 1.07342633e-02 2.11152329e+02] [ 7.23199765e-01 -6.90539724e-01 -1.17042183e-02 -1.24664526e+02] [ 1.58780308e-02 -3.18235270e-04 9.99873886e-01 -5.11566805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.01657635560888697 Centerline is valid? [True, True] Translation: X:211.12, Y:-124.62, Z:-5.12 [[-6.93835031e-01 -7.20056981e-01 1.05305821e-02 2.11116575e+02] [ 7.19965638e-01 -6.93914835e-01 -1.14752626e-02 -1.24619680e+02] [ 1.55701701e-02 -3.80281944e-04 9.99878705e-01 -5.11549233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.017298053040849658 Centerline is valid? [True, True] Translation: X:211.08, Y:-124.58, Z:-5.12 [[-6.95707756e-01 -7.18244524e-01 1.07481655e-02 2.11078680e+02] [ 7.18149253e-01 -6.95790646e-01 -1.17058396e-02 -1.24576109e+02] [ 1.58861282e-02 -4.25056370e-04 9.99873717e-01 -5.11590744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.017812421983360773 Centerline is valid? [True, True] Translation: X:211.04, Y:-124.53, Z:-5.12 [[-6.96270509e-01 -7.17686846e-01 1.15312049e-02 2.11040219e+02] [ 7.17577229e-01 -6.96365834e-01 -1.25517106e-02 -1.24532637e+02] [ 1.70381347e-02 -4.64855844e-04 9.99854732e-01 -5.11653347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.017365451986757256 Centerline is valid? [True, True] Translation: X:211.00, Y:-124.49, Z:-5.12 [[-6.94092911e-01 -7.19773773e-01 1.26785499e-02 2.11000234e+02] [ 7.19641743e-01 -6.94208551e-01 -1.37930976e-02 -1.24491240e+02] [ 1.87294677e-02 -4.49677503e-04 9.99824487e-01 -5.11787705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.014900714504757351 Centerline is valid? [True, True] Translation: X:210.96, Y:-124.45, Z:-5.12 [[-6.90350020e-01 -7.23368281e-01 1.24571018e-02 2.10957041e+02] [ 7.23241549e-01 -6.90462319e-01 -1.35442716e-02 -1.24452322e+02] [ 1.83986559e-02 -3.40794621e-04 9.99830672e-01 -5.11609806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.013937241369062705 Centerline is valid? [True, True] Translation: X:210.92, Y:-124.41, Z:-5.11 [[-6.87609225e-01 -7.25995695e-01 1.11267806e-02 2.10915713e+02] [ 7.25895037e-01 -6.87699204e-01 -1.20912990e-02 -1.24411004e+02] [ 1.64301092e-02 -2.37213865e-04 9.99864989e-01 -5.11451965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.012686092765083251 Centerline is valid? [True, True] Translation: X:210.87, Y:-124.37, Z:-5.11 [[-6.82854021e-01 -7.30492117e-01 9.57356899e-03 2.10873127e+02] [ 7.30418125e-01 -6.82921119e-01 -1.03974573e-02 -1.24371659e+02] [ 1.41332530e-02 -1.07237187e-04 9.99900115e-01 -5.11259139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.012025311995774664 Centerline is valid? [True, True] Translation: X:210.83, Y:-124.33, Z:-5.11 [[-6.79165633e-01 -7.33929085e-01 9.06321463e-03 2.10830492e+02] [ 7.33863151e-01 -6.79226102e-01 -9.83754272e-03 -1.24332471e+02] [ 1.33760307e-02 -3.01616764e-05 9.99910536e-01 -5.11177780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.012269589812037069 Centerline is valid? [True, True] Translation: X:210.79, Y:-124.30, Z:-5.11 [[-6.73235451e-01 -7.39379849e-01 8.45376643e-03 2.10786610e+02] [ 7.39322968e-01 -6.73288522e-01 -9.17148753e-03 -1.24296295e+02] [ 1.24730370e-02 7.54931407e-05 9.99922206e-01 -5.11267625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.012855171797785695 Centerline is valid? [True, True] Translation: X:210.74, Y:-124.26, Z:-5.11 [[-6.69513337e-01 -7.42748286e-01 8.76785077e-03 2.10743953e+02] [ 7.42687455e-01 -6.69570730e-01 -9.50695017e-03 -1.24256855e+02] [ 1.29319672e-02 1.46742840e-04 9.99916368e-01 -5.11226350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.01451039806019846 Centerline is valid? [True, True] Translation: X:210.70, Y:-124.22, Z:-5.11 [[-6.63787406e-01 -7.47864125e-01 9.24822867e-03 2.10699413e+02] [ 7.47797021e-01 -6.63851776e-01 -1.00217370e-02 -1.24219894e+02] [ 1.36343506e-02 2.63495055e-04 9.99907013e-01 -5.11369039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.015163542843765393 Centerline is valid? [True, True] Translation: X:210.66, Y:-124.18, Z:-5.11 [[-6.62069695e-01 -7.49385590e-01 9.21716844e-03 2.10658929e+02] [ 7.49319139e-01 -6.62133785e-01 -9.98392076e-03 -1.24178836e+02] [ 1.35848050e-02 2.96549339e-04 9.99907678e-01 -5.11410372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.015411673287761251 Centerline is valid? [True, True] Translation: X:210.62, Y:-124.14, Z:-5.11 [[-6.60933306e-01 -7.50380837e-01 9.78596748e-03 2.10620264e+02] [ 7.50306133e-01 -6.61005661e-01 -1.05935434e-02 -1.24136219e+02] [ 1.44177718e-02 3.40845775e-04 9.99896000e-01 -5.11414634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.016959780145941333 Centerline is valid? [True, True] Translation: X:210.58, Y:-124.09, Z:-5.12 [[-6.59732111e-01 -7.51406094e-01 1.19341355e-02 2.10581391e+02] [ 7.51295295e-01 -6.59839890e-01 -1.29112089e-02 -1.24094679e+02] [ 1.75761797e-02 4.48120765e-04 9.99845427e-01 -5.11754295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.01657176097615534 Centerline is valid? [True, True] Translation: X:210.54, Y:-124.05, Z:-5.12 [[-6.59620776e-01 -7.51497360e-01 1.23349044e-02 2.10544612e+02] [ 7.51379147e-01 -6.59735930e-01 -1.33371812e-02 -1.24050041e+02] [ 1.81606361e-02 4.70708156e-04 9.99834971e-01 -5.11670267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.017165898821935022 Centerline is valid? [True, True] Translation: X:210.51, Y:-124.01, Z:-5.12 [[-6.60394245e-01 -7.50829756e-01 1.15809758e-02 2.10508694e+02] [ 7.50725571e-01 -6.60495642e-01 -1.25149625e-02 -1.24005712e+02] [ 1.70457903e-02 4.29325444e-04 9.99854618e-01 -5.11539202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.01702629603161795 Centerline is valid? [True, True] Translation: X:210.47, Y:-123.96, Z:-5.11 [[-6.61435336e-01 -7.49936739e-01 9.90877515e-03 2.10472647e+02] [ 7.49860455e-01 -6.61509459e-01 -1.07020479e-02 -1.23959873e+02] [ 1.45806074e-02 3.51485973e-04 9.99893636e-01 -5.11363016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.017236365950779965 Centerline is valid? [True, True] Translation: X:210.44, Y:-123.92, Z:-5.11 [[-6.62120528e-01 -7.49337831e-01 9.44575887e-03 2.10436469e+02] [ 7.49268540e-01 -6.62187820e-01 -1.01954358e-02 -1.23916831e+02] [ 1.38946922e-02 3.26802614e-04 9.99903411e-01 -5.11352275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.017074425335522878 Centerline is valid? [True, True] Translation: X:210.40, Y:-123.87, Z:-5.11 [[-6.61602717e-01 -7.49802243e-01 8.85669520e-03 2.10402102e+02] [ 7.49741444e-01 -6.61661918e-01 -9.55372325e-03 -1.23870272e+02] [ 1.30235411e-02 3.19462192e-04 9.99915139e-01 -5.11180313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.016921025348532875 Centerline is valid? [True, True] Translation: X:210.36, Y:-123.83, Z:-5.11 [[-6.60622556e-01 -7.50660534e-01 9.30599093e-03 2.10364896e+02] [ 7.50593571e-01 -6.60688002e-01 -1.00327095e-02 -1.23825601e+02] [ 1.36795156e-02 3.57182757e-04 9.99906367e-01 -5.11109184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.01757706183259447 Centerline is valid? [True, True] Translation: X:210.33, Y:-123.78, Z:-5.11 [[-6.59802958e-01 -7.51370803e-01 1.00981714e-02 2.10326828e+02] [ 7.51292128e-01 -6.59880103e-01 -1.08806056e-02 -1.23782078e+02] [ 1.48389517e-02 4.07620909e-04 9.99889814e-01 -5.11165219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.01889514532877497 Centerline is valid? [True, True] Translation: X:210.29, Y:-123.74, Z:-5.11 [[-6.58594014e-01 -7.52414968e-01 1.12089301e-02 2.10289626e+02] [ 7.52318301e-01 -6.58689215e-01 -1.20702859e-02 -1.23739129e+02] [ 1.64650652e-02 4.83265216e-04 9.99864325e-01 -5.11371754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.01831524389749631 Centerline is valid? [True, True] Translation: X:210.25, Y:-123.69, Z:-5.11 [[-6.58074943e-01 -7.52858539e-01 1.18907281e-02 2.10254079e+02] [ 7.52749954e-01 -6.58182148e-01 -1.27971476e-02 -1.23692523e+02] [ 1.74607068e-02 5.29262879e-04 9.99847410e-01 -5.11275420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.0185560576315381 Centerline is valid? [True, True] Translation: X:210.22, Y:-123.65, Z:-5.11 [[-6.58225530e-01 -7.52719019e-01 1.23786274e-02 2.10217231e+02] [ 7.52601470e-01 -6.58341684e-01 -1.33136784e-02 -1.23649066e+02] [ 1.81708254e-02 5.52770108e-04 9.99834744e-01 -5.11327765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.018087822815926313 Centerline is valid? [True, True] Translation: X:210.18, Y:-123.60, Z:-5.11 [[-6.59463321e-01 -7.51633531e-01 1.24564533e-02 2.10182060e+02] [ 7.51514447e-01 -6.59580740e-01 -1.33897076e-02 -1.23602101e+02] [ 1.82801899e-02 5.31183607e-04 9.99832762e-01 -5.11256384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.018582460067702 Centerline is valid? [True, True] Translation: X:210.14, Y:-123.56, Z:-5.11 [[-6.59614840e-01 -7.51510860e-01 1.18190611e-02 2.10144269e+02] [ 7.51403771e-01 -6.59720525e-01 -1.26964793e-02 -1.23558515e+02] [ 1.73388193e-02 5.06100882e-04 9.99849543e-01 -5.11124565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.019379433955156945 Centerline is valid? [True, True] Translation: X:210.11, Y:-123.52, Z:-5.11 [[-6.60756405e-01 -7.50536234e-01 9.81499759e-03 2.10106873e+02] [ 7.50462357e-01 -6.60829176e-01 -1.05380671e-02 -1.23515331e+02] [ 1.43952380e-02 4.02690869e-04 9.99896302e-01 -5.10895639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.01723863542910863 Centerline is valid? [True, True] Translation: X:210.07, Y:-123.47, Z:-5.11 [[-6.62753963e-01 -7.48775644e-01 9.60305838e-03 2.10071770e+02] [ 7.48704822e-01 -6.62823434e-01 -1.03045765e-02 -1.23469122e+02] [ 1.40809480e-02 3.60457196e-04 9.99900794e-01 -5.10786079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.01701246782350532 Centerline is valid? [True, True] Translation: X:210.03, Y:-123.43, Z:-5.11 [[-6.64354681e-01 -7.47350129e-01 1.00320900e-02 2.10032854e+02] [ 7.47272764e-01 -6.64430330e-01 -1.07588361e-02 -1.23425431e+02] [ 1.47062424e-02 3.49024510e-04 9.99891796e-01 -5.10892989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.016341143564832666 Centerline is valid? [True, True] Translation: X:210.00, Y:-123.38, Z:-5.11 [[-6.66653742e-01 -7.45285986e-01 1.10266744e-02 2.09995560e+02] [ 7.45192347e-01 -6.66744842e-01 -1.18187218e-02 -1.23380488e+02] [ 1.61603060e-02 3.37998288e-04 9.99869357e-01 -5.11006075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.016228000032970563 Centerline is valid? [True, True] Translation: X:209.96, Y:-123.34, Z:-5.11 [[-6.67972279e-01 -7.44092696e-01 1.17938580e-02 2.09958350e+02] [ 7.43985525e-01 -6.68076304e-01 -1.26329621e-02 -1.23337398e+02] [ 1.72792919e-02 3.35991146e-04 9.99850645e-01 -5.11024094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.016274252696496523 Centerline is valid? [True, True] Translation: X:209.92, Y:-123.29, Z:-5.11 [[-6.69938703e-01 -7.42326350e-01 1.15638920e-02 2.09920491e+02] [ 7.42223171e-01 -6.70038436e-01 -1.23797410e-02 -1.23294082e+02] [ 1.69380601e-02 2.89320923e-04 9.99856499e-01 -5.11006969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.01622674257350064 Centerline is valid? [True, True] Translation: X:209.88, Y:-123.25, Z:-5.11 [[-6.70266721e-01 -7.42044964e-01 1.05732881e-02 2.09881181e+02] [ 7.41958778e-01 -6.70350059e-01 -1.13123385e-02 -1.23252764e+02] [ 1.54820681e-02 2.62659896e-04 9.99880111e-01 -5.10862110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.015800277883391386 Centerline is valid? [True, True] Translation: X:209.84, Y:-123.21, Z:-5.11 [[-6.70007004e-01 -7.42285172e-01 1.01655157e-02 2.09841373e+02] [ 7.42205635e-01 -6.70084065e-01 -1.08692358e-02 -1.23211769e+02] [ 1.48798226e-02 2.62438965e-04 9.99889255e-01 -5.10716103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.016412485024591108 Centerline is valid? [True, True] Translation: X:209.80, Y:-123.17, Z:-5.11 [[-6.69515992e-01 -7.42727680e-01 1.01946384e-02 2.09800093e+02] [ 7.42647816e-01 -6.69593546e-01 -1.08951245e-02 -1.23173273e+02] [ 1.49183746e-02 2.76565873e-04 9.99888677e-01 -5.10805216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.01606036767867766 Centerline is valid? [True, True] Translation: X:209.76, Y:-123.13, Z:-5.11 [[-6.68259134e-01 -7.43857929e-01 1.02523872e-02 2.09760417e+02] [ 7.43777385e-01 -6.68337704e-01 -1.09506029e-02 -1.23131242e+02] [ 1.49977497e-02 3.07653290e-04 9.99887480e-01 -5.10615880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.01801340592533004 Centerline is valid? [True, True] Translation: X:209.72, Y:-123.09, Z:-5.11 [[-6.66120325e-01 -7.45766387e-01 1.07799676e-02 2.09715989e+02] [ 7.45677696e-01 -6.66207442e-01 -1.15072599e-02 -1.23094219e+02] [ 1.57634223e-02 3.73161645e-04 9.99875680e-01 -5.10861234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.01876117888148153 Centerline is valid? [True, True] Translation: X:209.67, Y:-123.05, Z:-5.11 [[-6.64449929e-01 -7.47239867e-01 1.17844644e-02 2.09673320e+02] [ 7.47134225e-01 -6.64554271e-01 -1.25726532e-02 -1.23054415e+02] [ 1.72262038e-02 4.50678187e-04 9.99851516e-01 -5.10959639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.01831052486091033 Centerline is valid? [True, True] Translation: X:209.63, Y:-123.01, Z:-5.11 [[-6.62961801e-01 -7.48544116e-01 1.27810875e-02 2.09632319e+02] [ 7.48420244e-01 -6.63084779e-01 -1.36277089e-02 -1.23013863e+02] [ 1.86758859e-02 5.30974173e-04 9.99825449e-01 -5.10878639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.01793953492651896 Centerline is valid? [True, True] Translation: X:209.59, Y:-122.97, Z:-5.11 [[-6.63483766e-01 -7.48089047e-01 1.23316621e-02 2.09592179e+02] [ 7.47973807e-01 -6.63598163e-01 -1.31400975e-02 -1.22973228e+02] [ 1.80132313e-02 5.05518854e-04 9.99837621e-01 -5.10716836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.016910607447294702 Centerline is valid? [True, True] Translation: X:209.55, Y:-122.93, Z:-5.10 [[-6.65830130e-01 -7.46033029e-01 1.02448486e-02 2.09553451e+02] [ 7.45953348e-01 -6.65908835e-01 -1.09098768e-02 -1.22930409e+02] [ 1.49612636e-02 3.78054400e-04 9.99888003e-01 -5.10349492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.01601810533539522 Centerline is valid? [True, True] Translation: X:209.51, Y:-122.89, Z:-5.10 [[-6.68488781e-01 -7.43666519e-01 9.10262089e-03 2.09513648e+02] [ 7.43603471e-01 -6.68550688e-01 -9.68785838e-03 -1.22888204e+02] [ 1.32900994e-02 2.92515857e-04 9.99911640e-01 -5.10118672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.016003664407052906 Centerline is valid? [True, True] Translation: X:209.47, Y:-122.85, Z:-5.10 [[-6.69560572e-01 -7.42700383e-01 9.20765316e-03 2.09473814e+02] [ 7.42635864e-01 -6.69623821e-01 -9.79345063e-03 -1.22846801e+02] [ 1.34392634e-02 2.80625055e-04 9.99909650e-01 -5.10155213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.014860913009977201 Centerline is valid? [True, True] Translation: X:209.43, Y:-122.80, Z:-5.10 [[-6.72440724e-01 -7.40081610e-01 1.01333047e-02 2.09433757e+02] [ 7.40003257e-01 -6.72517022e-01 -1.07719007e-02 -1.22804804e+02] [ 1.47869055e-02 2.55213795e-04 9.99890635e-01 -5.10292970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.013982586698827227 Centerline is valid? [True, True] Translation: X:209.39, Y:-122.76, Z:-5.10 [[-6.75521686e-01 -7.37258197e-01 1.09910224e-02 2.09393935e+02] [ 7.37165749e-01 -6.75611060e-01 -1.16770296e-02 -1.22762555e+02] [ 1.60346421e-02 2.14118524e-04 9.99871414e-01 -5.10387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.013303643701481765 Centerline is valid? [True, True] Translation: X:209.36, Y:-122.72, Z:-5.10 [[-6.79493583e-01 -7.33598416e-01 1.10378481e-02 2.09355055e+02] [ 7.33504800e-01 -6.79583215e-01 -1.17201509e-02 -1.22719824e+02] [ 1.60990204e-02 1.32547191e-04 9.99870394e-01 -5.10332074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.013042289211934757 Centerline is valid? [True, True] Translation: X:209.32, Y:-122.68, Z:-5.10 [[-6.81674800e-01 -7.31583405e-01 1.02561826e-02 2.09315928e+02] [ 7.31502442e-01 -6.81751946e-01 -1.08839976e-02 -1.22677119e+02] [ 1.49547245e-02 8.30757453e-05 9.99888168e-01 -5.10231973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.012971190385609859 Centerline is valid? [True, True] Translation: X:209.28, Y:-122.64, Z:-5.10 [[-6.83501434e-01 -7.29892649e-01 9.08356729e-03 2.09276481e+02] [ 7.29829064e-01 -6.83561789e-01 -9.63417963e-03 -1.22635742e+02] [ 1.32410964e-02 4.44758228e-05 9.99912332e-01 -5.10201228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.012750917615280011 Centerline is valid? [True, True] Translation: X:209.24, Y:-122.60, Z:-5.10 [[-6.83731299e-01 -7.29687611e-01 8.21590907e-03 2.09235939e+02] [ 7.29635645e-01 -6.83780658e-01 -8.70845485e-03 -1.22595646e+02] [ 1.19723313e-02 4.03769606e-05 9.99928328e-01 -5.10176931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.01294743138268639 Centerline is valid? [True, True] Translation: X:209.20, Y:-122.56, Z:-5.10 [[-6.82887620e-01 -7.30485069e-01 7.48744381e-03 2.09195509e+02] [ 7.30442014e-01 -6.82928665e-01 -7.93114000e-03 -1.22556667e+02] [ 1.09069694e-02 5.30662190e-05 9.99940516e-01 -5.10217448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.013095674632999016 Centerline is valid? [True, True] Translation: X:209.15, Y:-122.52, Z:-5.10 [[-6.81186478e-01 -7.32075618e-01 7.09017703e-03 2.09153983e+02] [ 7.32037145e-01 -6.81223372e-01 -7.50572761e-03 -1.22516799e+02] [ 1.03247545e-02 7.74727925e-05 9.99946695e-01 -5.10163425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.013799042084077739 Centerline is valid? [True, True] Translation: X:209.11, Y:-122.48, Z:-5.10 [[-6.77934806e-01 -7.35089345e-01 6.93201385e-03 2.09110849e+02] [ 7.35052769e-01 -6.77970235e-01 -7.33403840e-03 -1.22478318e+02] [ 1.00908725e-02 1.23396074e-04 9.99949078e-01 -5.10213544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.014423380600096186 Centerline is valid? [True, True] Translation: X:209.07, Y:-122.44, Z:-5.10 [[-6.75024647e-01 -7.37771263e-01 5.94048907e-03 2.09068185e+02] [ 7.37744537e-01 -6.75050771e-01 -6.28128747e-03 -1.22439404e+02] [ 8.64428511e-03 1.42539496e-04 9.99962627e-01 -5.10196412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.014962513646218716 Centerline is valid? [True, True] Translation: X:209.03, Y:-122.40, Z:-5.10 [[-6.72419335e-01 -7.40152157e-01 5.19838675e-03 2.09026316e+02] [ 7.40131787e-01 -6.72439411e-01 -5.49327294e-03 -1.22399747e+02] [ 7.56145794e-03 1.53708335e-04 9.99971400e-01 -5.10230359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.01544917484221489 Centerline is valid? [True, True] Translation: X:208.98, Y:-122.36, Z:-5.10 [[-6.71326009e-01 -7.41148577e-01 4.49168181e-03 2.08984988e+02] [ 7.41133410e-01 -6.71341020e-01 -4.74376882e-03 -1.22359010e+02] [ 6.53128776e-03 1.44320070e-04 9.99978661e-01 -5.10292929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.01572219241929117 Centerline is valid? [True, True] Translation: X:208.94, Y:-122.32, Z:-5.10 [[-6.70589793e-01 -7.41817054e-01 4.09728014e-03 2.08944117e+02] [ 7.41804460e-01 -6.70602296e-01 -4.32475233e-03 -1.22317249e+02] [ 5.95582050e-03 1.39245915e-04 9.99982254e-01 -5.10335563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.016375701461408477 Centerline is valid? [True, True] Translation: X:208.90, Y:-122.28, Z:-5.10 [[-6.70858253e-01 -7.41578660e-01 3.20863963e-03 2.08904255e+02] [ 7.41570945e-01 -6.70865917e-01 -3.38450689e-03 -1.22277364e+02] [ 4.66244505e-03 1.08909544e-04 9.99989125e-01 -5.10416814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.016320456609212216 Centerline is valid? [True, True] Translation: X:208.86, Y:-122.24, Z:-5.10 [[-6.72029270e-01 -7.40520335e-01 2.50876710e-03 2.08864366e+02] [ 7.40515616e-01 -6.72033948e-01 -2.64478781e-03 -1.22236133e+02] [ 3.64449581e-03 8.04063899e-05 9.99993356e-01 -5.10445611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.014811598555229346 Centerline is valid? [True, True] Translation: X:208.83, Y:-122.19, Z:-5.10 [[-6.74127844e-01 -7.38613292e-01 1.43345424e-03 2.08826382e+02] [ 7.38611749e-01 -6.74129367e-01 -1.51030860e-03 -1.22192329e+02] [ 2.08186761e-03 4.06250593e-05 9.99997832e-01 -5.10409840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.013386209485433023 Centerline is valid? [True, True] Translation: X:208.79, Y:-122.15, Z:-5.10 [[-6.79908366e-01 -7.33295524e-01 1.51272446e-03 2.08789844e+02] [ 7.33293795e-01 -6.79910048e-01 -1.59289047e-03 -1.22147649e+02] [ 2.19657601e-03 2.62519055e-05 9.99997587e-01 -5.10498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.012547866043961492 Centerline is valid? [True, True] Translation: X:208.75, Y:-122.10, Z:-5.11 [[-6.85377576e-01 -7.28185281e-01 1.94281877e-03 2.08752824e+02] [ 7.28182410e-01 -6.85380330e-01 -2.04463673e-03 -1.22102433e+02] [ 2.82044415e-03 1.33782888e-05 9.99996022e-01 -5.10626670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.012800924845121438 Centerline is valid? [True, True] Translation: X:208.72, Y:-122.06, Z:-5.11 [[-6.93650600e-01 -7.20306065e-01 2.83171692e-03 2.08718256e+02] [ 7.20299908e-01 -6.93656379e-01 -2.97827764e-03 -1.22056656e+02] [ 4.10950995e-03 -2.61986323e-05 9.99991556e-01 -5.10771127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.014304499609250286 Centerline is valid? [True, True] Translation: X:208.68, Y:-122.01, Z:-5.11 [[-7.00922582e-01 -7.13233832e-01 2.24389853e-03 2.08681661e+02] [ 7.13229934e-01 -7.00926172e-01 -2.35864309e-03 -1.22012206e+02] [ 3.25507126e-03 -5.28106031e-05 9.99994701e-01 -5.10714895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.015569276179987289 Centerline is valid? [True, True] Translation: X:208.64, Y:-121.97, Z:-5.11 [[-7.05242194e-01 -7.08965667e-01 1.06341311e-03 2.08642735e+02] [ 7.08964787e-01 -7.05242995e-01 -1.11713177e-03 -1.21969726e+02] [ 1.54197271e-03 -3.39260127e-05 9.99998811e-01 -5.10558129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.015446171633369962 Centerline is valid? [True, True] Translation: X:208.60, Y:-121.93, Z:-5.11 [[-7.06346307e-01 -7.07866203e-01 5.77480776e-04 2.08601798e+02] [ 7.07865944e-01 -7.06346543e-01 -6.06310354e-04 -1.21928452e+02] [ 8.37088157e-04 -1.94861050e-05 9.99999649e-01 -5.10554919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.01614784021921203 Centerline is valid? [True, True] Translation: X:208.56, Y:-121.89, Z:-5.11 [[-7.07444378e-01 -7.06768714e-01 6.61447792e-04 2.08561056e+02] [ 7.06768373e-01 -7.07444687e-01 -6.94085883e-04 -1.21886969e+02] [ 9.58495912e-04 -2.35367757e-05 9.99999540e-01 -5.10594393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.015345086563600167 Centerline is valid? [True, True] Translation: X:208.52, Y:-121.85, Z:-5.11 [[-7.05628142e-01 -7.08580967e-01 1.39235396e-03 2.08516691e+02] [ 7.08579463e-01 -7.05629515e-01 -1.46025293e-03 -1.21848602e+02] [ 2.01719348e-03 -4.38021386e-05 9.99997965e-01 -5.10781850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.013511273016730902 Centerline is valid? [True, True] Translation: X:208.47, Y:-121.81, Z:-5.11 [[-7.01402542e-01 -7.12763167e-01 1.77234044e-03 2.08470294e+02] [ 7.12760747e-01 -7.01404780e-01 -1.85767949e-03 -1.21812815e+02] [ 2.56721358e-03 -3.97264184e-05 9.99996704e-01 -5.10810007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.012848983443051663 Centerline is valid? [True, True] Translation: X:208.43, Y:-121.77, Z:-5.11 [[-6.98608896e-01 -7.15502054e-01 1.55567123e-03 2.08426001e+02] [ 7.15500199e-01 -6.98610628e-01 -1.62965330e-03 -1.21774319e+02] [ 2.25282874e-03 -2.54072203e-05 9.99997462e-01 -5.10819777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.0122639490282245 Centerline is valid? [True, True] Translation: X:208.38, Y:-121.74, Z:-5.11 [[-6.95187013e-01 -7.18827815e-01 1.26054698e-03 2.08380729e+02] [ 7.18826603e-01 -6.95188156e-01 -1.31974861e-03 -1.21737357e+02] [ 1.82498933e-03 -1.13573892e-05 9.99998335e-01 -5.10818735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.012035058064830642 Centerline is valid? [True, True] Translation: X:208.34, Y:-121.70, Z:-5.11 [[-6.93925006e-01 -7.20046549e-01 1.02644907e-03 2.08337869e+02] [ 7.20045748e-01 -6.93925765e-01 -1.07404095e-03 -1.21697897e+02] [ 1.48563893e-03 -6.21358404e-06 9.99998896e-01 -5.10854069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.012039897656307726 Centerline is valid? [True, True] Translation: X:208.30, Y:-121.66, Z:-5.11 [[-6.93379828e-01 -7.20571175e-01 1.26328466e-03 2.08296349e+02] [ 7.20569964e-01 -6.93380978e-01 -1.32106589e-03 -1.21658853e+02] [ 1.82785955e-03 -5.71545729e-06 9.99998329e-01 -5.10920280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.012183948700010643 Centerline is valid? [True, True] Translation: X:208.26, Y:-121.62, Z:-5.11 [[-6.93992356e-01 -7.19980528e-01 1.62760493e-03 2.08256115e+02] [ 7.19978519e-01 -6.93994265e-01 -1.70096640e-03 -1.21619566e+02] [ 2.35421117e-03 -8.61709100e-06 9.99997229e-01 -5.10957547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.012229642133702623 Centerline is valid? [True, True] Translation: X:208.22, Y:-121.58, Z:-5.11 [[-6.94718814e-01 -7.19276902e-01 2.55102822e-03 2.08215147e+02] [ 7.19271968e-01 -6.94723497e-01 -2.66434541e-03 -1.21579362e+02] [ 3.68866135e-03 -1.60877964e-05 9.99993197e-01 -5.10990562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.01239126445970803 Centerline is valid? [True, True] Translation: X:208.18, Y:-121.54, Z:-5.11 [[-6.95605704e-01 -7.18414274e-01 3.69255246e-03 2.08175057e+02] [ 7.18403936e-01 -6.95615505e-01 -3.85415872e-03 -1.21537980e+02] [ 5.33747938e-03 -2.82305745e-05 9.99985755e-01 -5.11080934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.012639809395578686 Centerline is valid? [True, True] Translation: X:208.14, Y:-121.50, Z:-5.11 [[-6.97173858e-01 -7.16886975e-01 4.65583507e-03 2.08135708e+02] [ 7.16870524e-01 -6.97189402e-01 -4.85689570e-03 -1.21495255e+02] [ 6.72784414e-03 -4.84697905e-05 9.99977367e-01 -5.11111215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.012771971349314739 Centerline is valid? [True, True] Translation: X:208.10, Y:-121.45, Z:-5.11 [[-6.98342465e-01 -7.15744786e-01 5.21558199e-03 2.08096239e+02] [ 7.15724133e-01 -6.98361938e-01 -5.43773334e-03 -1.21452917e+02] [ 7.53439323e-03 -6.44822088e-05 9.99971614e-01 -5.11072964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.01271426234801651 Centerline is valid? [True, True] Translation: X:208.06, Y:-121.41, Z:-5.11 [[-6.98292136e-01 -7.15790797e-01 5.62382584e-03 2.08056934e+02] [ 7.15766816e-01 -6.98314779e-01 -5.85965949e-03 -1.21411557e+02] [ 8.12149103e-03 -6.64062225e-05 9.99967018e-01 -5.11061805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.012682537797218452 Centerline is valid? [True, True] Translation: X:208.02, Y:-121.37, Z:-5.11 [[-6.97390810e-01 -7.16669894e-01 5.50656349e-03 2.08017955e+02] [ 7.16646959e-01 -6.97412547e-01 -5.73371109e-03 -1.21370970e+02] [ 7.94952459e-03 -5.23754459e-05 9.99968401e-01 -5.11037678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.012249565787095486 Centerline is valid? [True, True] Translation: X:207.98, Y:-121.33, Z:-5.11 [[-6.94450852e-01 -7.19519126e-01 5.49927855e-03 2.07976530e+02] [ 7.19496367e-01 -6.94472625e-01 -5.72280139e-03 -1.21330751e+02] [ 7.93676347e-03 -1.74933680e-05 9.99968503e-01 -5.10905384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.012381389783620913 Centerline is valid? [True, True] Translation: X:207.93, Y:-121.29, Z:-5.11 [[-6.89350380e-01 -7.24408843e-01 5.28026402e-03 2.07934221e+02] [ 7.24388023e-01 -6.89370602e-01 -5.49229315e-03 -1.21293430e+02] [ 7.61872451e-03 3.88456431e-05 9.99970976e-01 -5.10845047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.01412448821834304 Centerline is valid? [True, True] Translation: X:207.89, Y:-121.26, Z:-5.11 [[-6.82248124e-01 -7.31087841e-01 6.93301585e-03 2.07890645e+02] [ 7.31052330e-01 -6.82283333e-01 -7.20721039e-03 -1.21255671e+02] [ 9.99938504e-03 1.51291631e-04 9.99949993e-01 -5.11001365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.015410676198002796 Centerline is valid? [True, True] Translation: X:207.85, Y:-121.22, Z:-5.11 [[-6.77288587e-01 -7.35680132e-01 7.41038405e-03 2.07848976e+02] [ 7.35639885e-01 -6.77329084e-01 -7.69877481e-03 -1.21215691e+02] [ 1.06831043e-02 2.37081758e-04 9.99942906e-01 -5.10983304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.01837450350754643 Centerline is valid? [True, True] Translation: X:207.81, Y:-121.18, Z:-5.11 [[-6.70723111e-01 -7.41654842e-01 8.86587476e-03 2.07806226e+02] [ 7.41597819e-01 -6.70781585e-01 -9.20539469e-03 -1.21176636e+02] [ 1.27742911e-02 4.00642425e-04 9.99918325e-01 -5.11074241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.01889230398161542 Centerline is valid? [True, True] Translation: X:207.77, Y:-121.13, Z:-5.11 [[-6.70571982e-01 -7.41791300e-01 8.88168439e-03 2.07767540e+02] [ 7.41734160e-01 -6.70630674e-01 -9.21601403e-03 -1.21133787e+02] [ 1.27926890e-02 4.07847926e-04 9.99918087e-01 -5.11056929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.01840250739780154 Centerline is valid? [True, True] Translation: X:207.73, Y:-121.09, Z:-5.11 [[-6.71991369e-01 -7.40510228e-01 8.49721152e-03 2.07729919e+02] [ 7.40457886e-01 -6.72044987e-01 -8.81216980e-03 -1.21089616e+02] [ 1.22360103e-02 3.70125237e-04 9.99925069e-01 -5.10979170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.01688551088401738 Centerline is valid? [True, True] Translation: X:207.70, Y:-121.04, Z:-5.11 [[-6.75913214e-01 -7.36936922e-01 8.08086296e-03 2.07695057e+02] [ 7.36889384e-01 -6.75961454e-01 -8.37548642e-03 -1.21042908e+02] [ 1.16345571e-02 2.93600178e-04 9.99932273e-01 -5.10867414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.01585113799864572 Centerline is valid? [True, True] Translation: X:207.66, Y:-121.00, Z:-5.11 [[-6.79131356e-01 -7.33972391e-01 8.07042464e-03 2.07659477e+02] [ 7.33924819e-01 -6.79179262e-01 -8.36003072e-03 -1.20996790e+02] [ 1.16172968e-02 2.45525950e-04 9.99932487e-01 -5.10806981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.014534247316789064 Centerline is valid? [True, True] Translation: X:207.62, Y:-120.95, Z:-5.11 [[-6.82242211e-01 -7.31075370e-01 8.62373031e-03 2.07624377e+02] [ 7.31020880e-01 -6.82296679e-01 -8.92832948e-03 -1.20950193e+02] [ 1.24112243e-02 2.12843669e-04 9.99922955e-01 -5.10806763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.013129720046756593 Centerline is valid? [True, True] Translation: X:207.59, Y:-120.90, Z:-5.11 [[-6.86950305e-01 -7.26652004e-01 8.72600970e-03 2.07590250e+02] [ 7.26595913e-01 -6.87005711e-01 -9.02955657e-03 -1.20901746e+02] [ 1.25561639e-02 1.37426343e-04 9.99921159e-01 -5.10865195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.012123798482231484 Centerline is valid? [True, True] Translation: X:207.56, Y:-120.85, Z:-5.11 [[-6.93228983e-01 -7.20651360e-01 9.75679599e-03 2.07558802e+02] [ 7.20580713e-01 -6.93297639e-01 -1.00906221e-02 -1.20851933e+02] [ 1.40361842e-02 3.54473226e-05 9.99901487e-01 -5.10917216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.013225952769108594 Centerline is valid? [True, True] Translation: X:207.53, Y:-120.80, Z:-5.11 [[-7.01437255e-01 -7.12659206e-01 1.01307876e-02 2.07529475e+02] [ 7.12582256e-01 -7.01510399e-01 -1.04732304e-02 -1.20800800e+02] [ 1.45706969e-02 -1.27294503e-04 9.99893834e-01 -5.11001864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.015698405849496867 Centerline is valid? [True, True] Translation: X:207.50, Y:-120.75, Z:-5.11 [[-7.10694325e-01 -7.03433184e-01 9.76378237e-03 2.07498344e+02] [ 7.03360907e-01 -7.10761327e-01 -1.00881292e-02 -1.20750245e+02] [ 1.40360437e-02 -3.02113321e-04 9.99901444e-01 -5.10751296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.017450530761280676 Centerline is valid? [True, True] Translation: X:207.46, Y:-120.70, Z:-5.11 [[-7.16255796e-01 -6.97768527e-01 9.83452227e-03 2.07462670e+02] [ 6.97694743e-01 -7.16323191e-01 -1.01554202e-02 -1.20704173e+02] [ 1.41308289e-02 -4.12384064e-04 9.99900070e-01 -5.10647324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.02032574775972347 Centerline is valid? [True, True] Translation: X:207.43, Y:-120.66, Z:-5.11 [[-7.22184124e-01 -6.91634807e-01 9.55961169e-03 2.07428151e+02] [ 6.91564630e-01 -7.22247209e-01 -9.86572678e-03 -1.20657256e+02] [ 1.37278829e-02 -5.13781928e-04 9.99905636e-01 -5.10541701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.02256937230296055 Centerline is valid? [True, True] Translation: X:207.39, Y:-120.61, Z:-5.10 [[-7.23833244e-01 -6.89915814e-01 9.03348920e-03 2.07391033e+02] [ 6.89853086e-01 -7.23889430e-01 -9.31738619e-03 -1.20613603e+02] [ 1.29674594e-02 -5.12453475e-04 9.99915788e-01 -5.10471608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.01997595903128025 Centerline is valid? [True, True] Translation: X:207.35, Y:-120.57, Z:-5.10 [[-7.22745136e-01 -6.91051006e-01 9.37955176e-03 2.07347277e+02] [ 6.90983542e-01 -7.22805818e-01 -9.66928560e-03 -1.20574544e+02] [ 1.34615641e-02 -5.07313242e-04 9.99909260e-01 -5.10372710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.019189534552182218 Centerline is valid? [True, True] Translation: X:207.31, Y:-120.53, Z:-5.10 [[-7.20317697e-01 -6.93577871e-01 9.59963472e-03 2.07305226e+02] [ 6.93507505e-01 -7.20381509e-01 -9.89048350e-03 -1.20534499e+02] [ 1.37752198e-02 -4.66871569e-04 9.99905008e-01 -5.10367268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.017988553689796048 Centerline is valid? [True, True] Translation: X:207.26, Y:-120.50, Z:-5.10 [[-7.16433330e-01 -6.97591304e-01 9.46870048e-03 2.07262975e+02] [ 6.97523274e-01 -7.16495798e-01 -9.74958539e-03 -1.20495793e+02] [ 1.35855101e-02 -3.80288978e-04 9.99907640e-01 -5.10347914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.015394054838980892 Centerline is valid? [True, True] Translation: X:207.22, Y:-120.46, Z:-5.10 [[-7.11749166e-01 -7.02363929e-01 9.90126584e-03 2.07217341e+02] [ 7.02290086e-01 -7.11817970e-01 -1.01888993e-02 -1.20459506e+02] [ 1.42042143e-02 -2.98379745e-04 9.99899071e-01 -5.10365458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.01334111638124587 Centerline is valid? [True, True] Translation: X:207.17, Y:-120.43, Z:-5.11 [[-7.03700456e-01 -7.10423281e-01 1.02190916e-02 2.07170796e+02] [ 7.10345557e-01 -7.03774639e-01 -1.05093738e-02 -1.20425073e+02] [ 1.46580413e-02 -1.36364821e-04 9.99892556e-01 -5.10549944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.012901521287971921 Centerline is valid? [True, True] Translation: X:207.13, Y:-120.39, Z:-5.11 [[-6.97273047e-01 -7.16737091e-01 9.91161604e-03 2.07125457e+02] [ 7.16664683e-01 -6.97343490e-01 -1.01876817e-02 -1.20389209e+02] [ 1.42136903e-02 -2.90728543e-07 9.99898980e-01 -5.10776542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.012735158221086815 Centerline is valid? [True, True] Translation: X:207.08, Y:-120.35, Z:-5.11 [[-6.93804421e-01 -7.20102843e-01 9.34458850e-03 2.07082678e+02] [ 7.20038868e-01 -6.93867344e-01 -9.59884686e-03 -1.20351306e+02] [ 1.33960617e-02 6.87445375e-05 9.99910266e-01 -5.10546115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.01415704273871204 Centerline is valid? [True, True] Translation: X:207.04, Y:-120.32, Z:-5.10 [[-6.86474636e-01 -7.27104763e-01 8.44022869e-03 2.07036218e+02] [ 7.27053154e-01 -6.86526495e-01 -8.66508701e-03 -1.20315088e+02] [ 1.20948667e-02 1.88132436e-04 9.99926837e-01 -5.10452257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.01548238582662697 Centerline is valid? [True, True] Translation: X:206.99, Y:-120.28, Z:-5.10 [[-6.82927073e-01 -7.30438170e-01 8.40785405e-03 2.06993254e+02] [ 7.30387265e-01 -6.82978782e-01 -8.62705525e-03 -1.20276044e+02] [ 1.20439164e-02 2.49339930e-04 9.99927438e-01 -5.10441562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.016978337567148886 Centerline is valid? [True, True] Translation: X:206.95, Y:-120.24, Z:-5.11 [[-6.79108493e-01 -7.33979473e-01 9.26217083e-03 2.06950600e+02] [ 7.33918096e-01 -6.79171563e-01 -9.49825479e-03 -1.20236776e+02] [ 1.32621271e-02 3.47329279e-04 9.99911994e-01 -5.10592550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.01879557437972483 Centerline is valid? [True, True] Translation: X:206.91, Y:-120.20, Z:-5.11 [[-6.77835805e-01 -7.35143747e-01 1.01140287e-02 2.06909209e+02] [ 7.35070749e-01 -6.77911134e-01 -1.03676519e-02 -1.20197865e+02] [ 1.44781271e-02 4.06960935e-04 9.99895104e-01 -5.10834961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.018530426853896616 Centerline is valid? [True, True] Translation: X:206.87, Y:-120.15, Z:-5.11 [[-6.77563157e-01 -7.35389128e-01 1.05356332e-02 2.06870138e+02] [ 7.35310035e-01 -6.77644924e-01 -1.07939277e-02 -1.20154934e+02] [ 1.50771555e-02 4.33389086e-04 9.99886239e-01 -5.10841520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.017819468194722975 Centerline is valid? [True, True] Translation: X:206.83, Y:-120.11, Z:-5.11 [[-6.79660979e-01 -7.33443270e-01 1.10418689e-02 2.06834004e+02] [ 7.33356234e-01 -6.79750541e-01 -1.13064472e-02 -1.20109294e+02] [ 1.57983539e-02 4.13072411e-04 9.99875113e-01 -5.10899508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.016896491343454306 Centerline is valid? [True, True] Translation: X:206.80, Y:-120.06, Z:-5.11 [[-6.82161594e-01 -7.31124647e-01 1.05976573e-02 2.06796691e+02] [ 7.31044276e-01 -6.82243820e-01 -1.08460298e-02 -1.20063890e+02] [ 1.51599858e-02 3.48611725e-04 9.99885020e-01 -5.10837985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.01489706218339574 Centerline is valid? [True, True] Translation: X:206.76, Y:-120.02, Z:-5.11 [[-6.87145843e-01 -7.26458478e-01 9.41647066e-03 2.06763375e+02] [ 7.26394639e-01 -6.87210325e-01 -9.63317348e-03 -1.20016015e+02] [ 1.34691964e-02 2.20678691e-04 9.99909262e-01 -5.10663888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.013347545497012541 Centerline is valid? [True, True] Translation: X:206.73, Y:-119.97, Z:-5.10 [[-6.90378252e-01 -7.23399385e-01 8.43787855e-03 2.06727507e+02] [ 7.23347950e-01 -6.90429799e-01 -8.62760880e-03 -1.19969407e+02] [ 1.20669697e-02 1.47208668e-04 9.99927181e-01 -5.10469975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.01234889027038108 Centerline is valid? [True, True] Translation: X:206.69, Y:-119.92, Z:-5.10 [[-6.94230732e-01 -7.19713519e-01 7.49276728e-03 2.06692678e+02] [ 7.19672791e-01 -6.94271161e-01 -7.65696019e-03 -1.19922131e+02] [ 1.07128300e-02 7.66436655e-05 9.99942613e-01 -5.10285900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.01214344257824436 Centerline is valid? [True, True] Translation: X:206.66, Y:-119.88, Z:-5.10 [[-6.97491418e-01 -7.16548650e-01 7.98463677e-03 2.06657564e+02] [ 7.16502252e-01 -6.97537118e-01 -8.15427010e-03 -1.19877600e+02] [ 1.14125118e-02 3.34768172e-05 9.99934875e-01 -5.10404802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.012213708280367224 Centerline is valid? [True, True] Translation: X:206.62, Y:-119.83, Z:-5.11 [[-7.00109879e-01 -7.13967826e-01 9.80312270e-03 2.06620999e+02] [ 7.13897712e-01 -7.00178508e-01 -1.00056460e-02 -1.19833467e+02] [ 1.40076451e-02 -6.62472185e-06 9.99901888e-01 -5.10660293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.012141809210378487 Centerline is valid? [True, True] Translation: X:206.58, Y:-119.79, Z:-5.11 [[-7.01439568e-01 -7.12664890e-01 9.55442586e-03 2.06581709e+02] [ 7.12598251e-01 -7.01504636e-01 -9.74570331e-03 -1.19791567e+02] [ 1.36478946e-02 -2.75547629e-05 9.99906863e-01 -5.10588213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.012219908263832345 Centerline is valid? [True, True] Translation: X:206.54, Y:-119.75, Z:-5.10 [[-7.03624301e-01 -7.10521590e-01 8.48017509e-03 2.06542751e+02] [ 7.10469004e-01 -7.03675399e-01 -8.64451246e-03 -1.19748938e+02] [ 1.21094033e-02 -5.75874868e-05 9.99926677e-01 -5.10485958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.012803262207036186 Centerline is valid? [True, True] Translation: X:206.51, Y:-119.71, Z:-5.10 [[-7.07503014e-01 -7.06681065e-01 6.43096771e-03 2.06505322e+02] [ 7.06650703e-01 -7.07532235e-01 -6.55128838e-03 -1.19706121e+02] [ 9.17978841e-03 -9.06084182e-05 9.99957861e-01 -5.10261172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.013838768974201977 Centerline is valid? [True, True] Translation: X:206.47, Y:-119.66, Z:-5.10 [[-7.10816732e-01 -7.03359049e-01 5.06167849e-03 2.06467026e+02] [ 7.03340173e-01 -7.10834747e-01 -5.15410073e-03 -1.19664480e+02] [ 7.22320034e-03 -1.03539214e-04 9.99973907e-01 -5.10224990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.014110865474976291 Centerline is valid? [True, True] Translation: X:206.43, Y:-119.62, Z:-5.10 [[-7.12973717e-01 -7.01173904e-01 4.86156846e-03 2.06425965e+02] [ 7.01156459e-01 -7.12990282e-01 -4.94758600e-03 -1.19622956e+02] [ 6.93536926e-03 -1.18778659e-04 9.99975943e-01 -5.10200575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.014447669045390571 Centerline is valid? [True, True] Translation: X:206.38, Y:-119.58, Z:-5.10 [[-7.14456402e-01 -6.99664664e-01 4.62683800e-03 2.06384747e+02] [ 6.99648849e-01 -7.14471372e-01 -4.70607459e-03 -1.19581732e+02] [ 6.59841739e-03 -1.25123238e-04 9.99978222e-01 -5.10244418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.014493564189720021 Centerline is valid? [True, True] Translation: X:206.34, Y:-119.55, Z:-5.10 [[-7.14211607e-01 -6.99913178e-01 4.82958413e-03 2.06340455e+02] [ 6.99895972e-01 -7.14227924e-01 -4.90925416e-03 -1.19545211e+02] [ 6.88547553e-03 -1.26039825e-04 9.99976287e-01 -5.10403829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.013795847563520052 Centerline is valid? [True, True] Translation: X:206.30, Y:-119.51, Z:-5.10 [[-7.12998210e-01 -7.01147804e-01 5.03086335e-03 2.06296670e+02] [ 7.01129185e-01 -7.13015949e-01 -5.11099604e-03 -1.19506857e+02] [ 7.17064945e-03 -1.16845914e-04 9.99974284e-01 -5.10485837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.012845492194411171 Centerline is valid? [True, True] Translation: X:206.25, Y:-119.47, Z:-5.10 [[-7.10345845e-01 -7.03837557e-01 4.63406857e-03 2.06251722e+02] [ 7.03821834e-01 -7.10360955e-01 -4.70520837e-03 -1.19469626e+02] [ 6.60356374e-03 -8.07665767e-05 9.99978193e-01 -5.10482972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.012439695753596396 Centerline is valid? [True, True] Translation: X:206.21, Y:-119.43, Z:-5.11 [[-7.07819178e-01 -7.06380347e-01 4.33780482e-03 2.06208115e+02] [ 7.06366633e-01 -7.07832468e-01 -4.40194512e-03 -1.19432282e+02] [ 6.17988661e-03 -5.17005847e-05 9.99980903e-01 -5.10532004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.011706034564711667 Centerline is valid? [True, True] Translation: X:206.16, Y:-119.40, Z:-5.11 [[-7.03229856e-01 -7.10954643e-01 3.35638952e-03 2.06160252e+02] [ 7.10946493e-01 -7.03237866e-01 -3.40410753e-03 -1.19397561e+02] [ 4.78050626e-03 -7.65668502e-06 9.99988573e-01 -5.10567792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.011953537660143256 Centerline is valid? [True, True] Translation: X:206.11, Y:-119.36, Z:-5.11 [[-6.97929419e-01 -7.16161433e-01 2.70703561e-03 2.06114598e+02] [ 7.16156178e-01 -6.97934668e-01 -2.74377401e-03 -1.19362538e+02] [ 3.85431913e-03 2.36996784e-05 9.99992572e-01 -5.10518487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.012588710485050579 Centerline is valid? [True, True] Translation: X:206.07, Y:-119.33, Z:-5.11 [[-6.94755690e-01 -7.19240287e-01 2.81790672e-03 2.06069677e+02] [ 7.19234624e-01 -6.94761403e-01 -2.85455019e-03 -1.19325337e+02] [ 4.01088033e-03 4.35210949e-05 9.99991955e-01 -5.10621771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.013398688769398646 Centerline is valid? [True, True] Translation: X:206.02, Y:-119.29, Z:-5.11 [[-6.92155587e-01 -7.21742222e-01 2.96779766e-03 2.06024561e+02] [ 7.21735970e-01 -6.92161947e-01 -3.00472220e-03 -1.19287985e+02] [ 4.22283148e-03 6.22310699e-05 9.99991082e-01 -5.10756785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.013625627764099665 Centerline is valid? [True, True] Translation: X:205.98, Y:-119.25, Z:-5.11 [[-6.90251857e-01 -7.23562317e-01 3.15406198e-03 2.05981715e+02] [ 7.23555282e-01 -6.90259058e-01 -3.19146634e-03 -1.19248656e+02] [ 4.48634463e-03 7.92226437e-05 9.99989933e-01 -5.10850557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.01455720076185352 Centerline is valid? [True, True] Translation: X:205.94, Y:-119.21, Z:-5.11 [[-6.89146806e-01 -7.24612656e-01 3.63028150e-03 2.05938872e+02] [ 7.24603363e-01 -6.89156360e-01 -3.67112056e-03 -1.19210651e+02] [ 5.16197200e-03 1.00573180e-04 9.99986672e-01 -5.10981980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.014125594099223041 Centerline is valid? [True, True] Translation: X:205.90, Y:-119.17, Z:-5.11 [[-6.90197101e-01 -7.23617242e-01 2.45949362e-03 2.05898605e+02] [ 7.23612976e-01 -6.90201480e-01 -2.48558219e-03 -1.19169693e+02] [ 3.49615626e-03 6.41798803e-05 9.99993886e-01 -5.10887872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.013728221320087872 Centerline is valid? [True, True] Translation: X:205.86, Y:-119.13, Z:-5.11 [[-6.91884188e-01 -7.22006514e-01 1.69249285e-03 2.05858790e+02] [ 7.22004491e-01 -6.91886257e-01 -1.70948758e-03 -1.19127965e+02] [ 2.40527371e-03 3.92200134e-05 9.99997107e-01 -5.10861953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.012527135418401152 Centerline is valid? [True, True] Translation: X:205.82, Y:-119.08, Z:-5.11 [[-6.96419663e-01 -7.17633218e-01 1.48921193e-03 2.05821014e+02] [ 7.17631643e-01 -6.96421255e-01 -1.50363524e-03 -1.19083194e+02] [ 2.11617744e-03 2.15444590e-05 9.99997761e-01 -5.10894999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.011859379733564252 Centerline is valid? [True, True] Translation: X:205.78, Y:-119.04, Z:-5.11 [[-7.01001859e-01 -7.13158911e-01 8.72580757e-04 2.05782679e+02] [ 7.13158367e-01 -7.01002402e-01 -8.80539796e-04 -1.19039190e+02] [ 1.23964601e-03 5.02823437e-06 9.99999232e-01 -5.10924463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.012149258364341381 Centerline is valid? [True, True] Translation: X:205.75, Y:-118.99, Z:-5.11 [[-7.08873790e-01 -7.05334947e-01 7.49812957e-04 2.05748484e+02] [ 7.05334542e-01 -7.08874186e-01 -7.56159271e-04 -1.18994129e+02] [ 1.06486861e-03 -7.15251000e-06 9.99999433e-01 -5.11014452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.013745302468411717 Centerline is valid? [True, True] Translation: X:205.71, Y:-118.95, Z:-5.11 [[-7.16413807e-01 -6.97674522e-01 1.23266206e-03 2.05712709e+02] [ 6.97673416e-01 -7.16414867e-01 -1.24238788e-03 -1.18947786e+02] [ 1.74987979e-03 -3.00682789e-05 9.99998469e-01 -5.11088339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.015782191456656006 Centerline is valid? [True, True] Translation: X:205.68, Y:-118.90, Z:-5.11 [[-7.22605130e-01 -6.91259369e-01 1.52042882e-03 2.05675582e+02] [ 6.91257674e-01 -7.22606727e-01 -1.53154217e-03 -1.18902974e+02] [ 2.15736497e-03 -5.56921387e-05 9.99997671e-01 -5.11133219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.017802541706316177 Centerline is valid? [True, True] Translation: X:205.64, Y:-118.86, Z:-5.11 [[-7.27043937e-01 -6.86589436e-01 1.43543631e-03 2.05637869e+02] [ 6.86587918e-01 -7.27045351e-01 -1.44510325e-03 -1.18858719e+02] [ 2.03581992e-03 -6.51003243e-05 9.99997926e-01 -5.11140382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.01791616474119567 Centerline is valid? [True, True] Translation: X:205.60, Y:-118.82, Z:-5.11 [[-7.28882820e-01 -6.84636607e-01 1.59736159e-03 2.05597760e+02] [ 6.84634725e-01 -7.28884566e-01 -1.60715452e-03 -1.18817150e+02] [ 2.26460902e-03 -7.78181094e-05 9.99997433e-01 -5.11113939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.020040433331719797 Centerline is valid? [True, True] Translation: X:205.56, Y:-118.77, Z:-5.11 [[-7.29169884e-01 -6.84331563e-01 1.26158171e-03 2.05560254e+02] [ 6.84330390e-01 -7.29170973e-01 -1.26847945e-03 -1.18774687e+02] [ 1.78796929e-03 -6.15983115e-05 9.99998400e-01 -5.11087085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.01723124663704986 Centerline is valid? [True, True] Translation: X:205.51, Y:-118.74, Z:-5.11 [[-7.26885331e-01 -6.86758397e-01 7.87266136e-04 2.05514714e+02] [ 6.86757942e-01 -7.26885757e-01 -7.91106709e-04 -1.18738242e+02] [ 1.11555172e-03 -3.43825906e-05 9.99999377e-01 -5.11041083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.015494916235782726 Centerline is valid? [True, True] Translation: X:205.47, Y:-118.70, Z:-5.11 [[-7.21903237e-01 -6.91993702e-01 6.57902905e-04 2.05470773e+02] [ 6.91993387e-01 -7.21903536e-01 -6.60774167e-04 -1.18702808e+02] [ 9.32193996e-04 -2.17505497e-05 9.99999565e-01 -5.11087699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.013107399455835276 Centerline is valid? [True, True] Translation: X:205.42, Y:-118.67, Z:-5.11 [[-7.15620049e-01 -6.98489463e-01 6.45497727e-04 2.05423844e+02] [ 6.98489162e-01 -7.15620340e-01 -6.47935747e-04 -1.18667975e+02] [ 9.14507595e-04 -1.28026443e-05 9.99999582e-01 -5.11093725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.012051821355017416 Centerline is valid? [True, True] Translation: X:205.38, Y:-118.63, Z:-5.11 [[-7.11500780e-01 -7.02684950e-01 7.08225492e-04 2.05378252e+02] [ 7.02684591e-01 -7.11501132e-01 -7.10504741e-04 -1.18631890e+02] [ 1.00316423e-03 -7.86553696e-06 9.99999497e-01 -5.11174039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.01181642782757111 Centerline is valid? [True, True] Translation: X:205.33, Y:-118.60, Z:-5.11 [[-7.06338860e-01 -7.07873144e-01 1.01364675e-03 2.05332605e+02] [ 7.07872414e-01 -7.06339587e-01 -1.01635193e-03 -1.18596050e+02] [ 1.43542707e-03 -3.56290445e-07 9.99998970e-01 -5.11214149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.012142946400537216 Centerline is valid? [True, True] Translation: X:205.29, Y:-118.56, Z:-5.11 [[-7.01534351e-01 -7.12635180e-01 8.08856473e-04 2.05287425e+02] [ 7.12634719e-01 -7.01534818e-01 -8.10557594e-04 -1.18559563e+02] [ 1.14507284e-03 7.78520956e-06 9.99999344e-01 -5.11250570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.014244738905726265 Centerline is valid? [True, True] Translation: X:205.24, Y:-118.53, Z:-5.11 [[-6.96153695e-01 -7.17889595e-01 2.13591149e-03 2.05241095e+02] [ 7.17886408e-01 -6.96156971e-01 -2.13937668e-03 -1.18525725e+02] [ 3.02276593e-03 4.40068428e-05 9.99995430e-01 -5.11412867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.014776115586598977 Centerline is valid? [True, True] Translation: X:205.20, Y:-118.49, Z:-5.11 [[-6.93072528e-01 -7.20863129e-01 2.61153813e-03 2.05198443e+02] [ 7.20858392e-01 -6.93077445e-01 -2.61431917e-03 -1.18486212e+02] [ 3.69456447e-03 7.06363829e-05 9.99993173e-01 -5.11473004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.016332012164391514 Centerline is valid? [True, True] Translation: X:205.16, Y:-118.45, Z:-5.12 [[-6.90766162e-01 -7.23072701e-01 2.82478627e-03 2.05155497e+02] [ 7.23067183e-01 -6.90771932e-01 -2.82614625e-03 -1.18448467e+02] [ 3.99479227e-03 9.03040570e-05 9.99992017e-01 -5.11551140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.016410078437109066 Centerline is valid? [True, True] Translation: X:205.11, Y:-118.41, Z:-5.12 [[-6.88738910e-01 -7.24996164e-01 4.39059556e-03 2.05114833e+02] [ 7.24982888e-01 -6.88752886e-01 -4.39022374e-03 -1.18406706e+02] [ 6.20693073e-03 1.59388740e-04 9.99980724e-01 -5.11691756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.016477888447776222 Centerline is valid? [True, True] Translation: X:204.67, Y:-118.85, Z:-4.14 [[-7.72266049e-01 6.35277167e-01 5.29812458e-03 2.04673708e+02] [ 6.35260568e-01 7.72284201e-01 -4.59608252e-03 -1.18853108e+02] [-7.01144420e-03 -1.83708862e-04 -9.99975403e-01 -4.13981495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.01625024741962278 Centerline is valid? [True, True] Translation: X:204.69, Y:-118.83, Z:-4.14 [[-8.14904566e-01 5.79574687e-01 4.87143018e-03 2.04689017e+02] [ 5.79563178e-01 8.14919111e-01 -3.65581125e-03 -1.18834704e+02] [-6.08863721e-03 -1.55835725e-04 -9.99981452e-01 -4.14112574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.01534503016329954 Centerline is valid? [True, True] Translation: X:204.70, Y:-118.82, Z:-4.14 [[-8.51849727e-01 5.23764559e-01 4.76750686e-03 2.04699229e+02] [ 5.23755540e-01 8.51863059e-01 -3.07607566e-03 -1.18816068e+02] [-5.67240239e-03 -1.23346085e-04 -9.99983904e-01 -4.14155479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.013461605160160648 Centerline is valid? [True, True] Translation: X:204.71, Y:-118.81, Z:-4.14 [[-8.82996083e-01 4.69357519e-01 4.63007454e-03 2.04713964e+02] [ 4.69350641e-01 8.83008219e-01 -2.54201313e-03 -1.18805420e+02] [-5.28150684e-03 -7.14591807e-05 -9.99986050e-01 -4.14249949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.01234072580896263 Centerline is valid? [True, True] Translation: X:205.05, Y:-118.22, Z:-5.11 [[-8.40975622e-01 -5.41046529e-01 5.35317696e-03 2.05049321e+02] [ 5.41036576e-01 -8.40992649e-01 -3.28443651e-03 -1.18218225e+02] [ 6.27901545e-03 1.34133495e-04 9.99980278e-01 -5.11445376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.012541286627048991 Centerline is valid? [True, True] Translation: X:204.68, Y:-118.81, Z:-4.14 [[-8.76030199e-01 4.82206373e-01 6.93575445e-03 2.04678362e+02] [ 4.82191593e-01 8.76057654e-01 -3.77560558e-03 -1.18808362e+02] [-7.89674185e-03 3.68179738e-05 -9.99968820e-01 -4.14138625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.013752790301611126 Centerline is valid? [True, True] Translation: X:204.69, Y:-118.79, Z:-4.14 [[-9.04439658e-01 4.26524017e-01 8.13435012e-03 2.04691665e+02] [ 4.26507921e-01 9.04476229e-01 -3.70728558e-03 -1.18794860e+02] [-8.93857266e-03 1.16348656e-04 -9.99960043e-01 -4.14027784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.01489836214631855 Centerline is valid? [True, True] Translation: X:204.70, Y:-118.78, Z:-4.14 [[-9.30402476e-01 3.66400803e-01 1.00838594e-02 2.04704152e+02] [ 3.66381582e-01 9.30457099e-01 -3.75824042e-03 -1.18777159e+02] [-1.07596209e-02 1.97864166e-04 -9.99942094e-01 -4.13899908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.015315193661403092 Centerline is valid? [True, True] Translation: X:204.97, Y:-118.09, Z:-5.12 [[-9.19985018e-01 -3.91844823e-01 9.23044596e-03 2.04969659e+02] [ 3.91822656e-01 -9.20031296e-01 -4.17390908e-03 -1.18089089e+02] [ 1.01278238e-02 -2.23235969e-04 9.99948687e-01 -5.11647729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.015380572683566287 Centerline is valid? [True, True] Translation: X:204.66, Y:-118.77, Z:-4.14 [[-9.30759381e-01 3.65517507e-01 9.16110813e-03 2.04659983e+02] [ 3.65501975e-01 9.30804442e-01 -3.37597139e-03 -1.18768871e+02] [-9.76117679e-03 2.06186069e-04 -9.99952337e-01 -4.14096329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.015120735642449614 Centerline is valid? [True, True] Translation: X:204.67, Y:-118.74, Z:-4.14 [[-9.54807334e-01 2.97095683e-01 8.78126316e-03 2.04666099e+02] [ 2.97084829e-01 9.54847696e-01 -2.54577135e-03 -1.18743475e+02] [-9.14110658e-03 1.78058917e-04 -9.99958203e-01 -4.14164880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.013921636162918685 Centerline is valid? [True, True] Translation: X:204.88, Y:-118.03, Z:-5.12 [[-9.44260146e-01 -3.29091448e-01 8.46141792e-03 2.04879862e+02] [ 3.29076487e-01 -9.44298038e-01 -3.14330757e-03 -1.18028218e+02] [ 9.02453598e-03 -1.83646385e-04 9.99959261e-01 -5.11577983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.012984146250825645 Centerline is valid? [True, True] Translation: X:204.62, Y:-118.73, Z:-4.14 [[-9.59117640e-01 2.82877984e-01 8.56734228e-03 2.04620036e+02] [ 2.82867398e-01 9.59155900e-01 -2.44844148e-03 -1.18725959e+02] [-8.91002709e-03 7.50784089e-05 -9.99960302e-01 -4.14078267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.012294776392621042 Centerline is valid? [True, True] Translation: X:204.82, Y:-118.02, Z:-5.12 [[-9.40314961e-01 -3.40196572e-01 8.60622971e-03 2.04818689e+02] [ 3.40181754e-01 -9.40354342e-01 -3.17566040e-03 -1.18019789e+02] [ 9.17325426e-03 -5.84386667e-05 9.99957923e-01 -5.11619691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.01335384448861199 Centerline is valid? [True, True] Translation: X:204.57, Y:-118.70, Z:-4.14 [[-9.65542007e-01 2.60054503e-01 1.00144172e-02 2.04565799e+02] [ 2.60039227e-01 9.65593932e-01 -2.82126836e-03 -1.18697078e+02] [-1.04035440e-02 -1.19911802e-04 -9.99945875e-01 -4.13905891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.014379845733139067 Centerline is valid? [True, True] Translation: X:204.57, Y:-118.67, Z:-4.14 [[-9.82687358e-01 1.84992564e-01 1.01640587e-02 2.04569216e+02] [ 1.84980746e-01 9.82739904e-01 -2.09888508e-03 -1.18665919e+02] [-1.03769042e-02 -1.82392676e-04 -9.99946142e-01 -4.13962366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.016911490811679964 Centerline is valid? [True, True] Translation: X:204.56, Y:-118.63, Z:-4.14 [[-9.94307481e-01 1.06088105e-01 9.89678923e-03 2.04562461e+02] [ 1.06080205e-01 9.94356699e-01 -1.32122359e-03 -1.18631754e+02] [-9.98110478e-03 -2.63849066e-04 -9.99950153e-01 -4.14072580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.018010999534420275 Centerline is valid? [True, True] Translation: X:204.56, Y:-118.60, Z:-4.14 [[-9.99388800e-01 3.36146301e-02 9.59596271e-03 2.04563923e+02] [ 3.36104888e-02 9.99434832e-01 -5.92553907e-04 -1.18602662e+02] [-9.61045786e-03 -2.69666742e-04 -9.99953782e-01 -4.14090538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.017808136950379232 Centerline is valid? [True, True] Translation: X:204.57, Y:-118.58, Z:-4.14 [[-9.99195898e-01 -3.90922942e-02 8.90784933e-03 2.04568208e+02] [-3.90930993e-02 9.99235569e-01 8.37839642e-05 -1.18575831e+02] [-8.90431520e-03 -2.64518845e-04 -9.99960321e-01 -4.14129239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.018313334931855253 Centerline is valid? [True, True] Translation: X:204.56, Y:-117.89, Z:-5.12 [[-9.95985734e-01 -8.89404548e-02 1.01002026e-02 2.04563043e+02] [ 8.89397438e-02 -9.96036872e-01 -5.20425280e-04 -1.17890523e+02] [ 1.01064611e-02 3.79973276e-04 9.99948856e-01 -5.11699517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.020171387858974984 Centerline is valid? [True, True] Translation: X:204.50, Y:-118.57, Z:-4.14 [[-9.98832313e-01 -4.64380140e-02 1.33236904e-02 2.04498107e+02] [-4.64397219e-02 9.98921078e-01 1.81341965e-04 -1.18570960e+02] [-1.33177363e-02 -4.37618261e-04 -9.99911219e-01 -4.13585329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.018436615486875106 Centerline is valid? [True, True] Translation: X:204.50, Y:-117.89, Z:-5.12 [[-9.96295296e-01 -8.47775209e-02 1.44379851e-02 2.04502224e+02] [ 8.47765530e-02 -9.96399756e-01 -6.80158694e-04 -1.17892117e+02] [ 1.44436669e-02 5.46363698e-04 9.99895536e-01 -5.12122915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.019002843030778354 Centerline is valid? [True, True] Translation: X:204.44, Y:-118.58, Z:-4.14 [[-9.99026924e-01 -4.24054421e-02 1.21236430e-02 2.04441674e+02] [-4.24059360e-02 9.99100440e-01 2.16439317e-04 -1.18577559e+02] [-1.21219152e-02 -2.97885721e-04 -9.99926483e-01 -4.13577269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.014710069787530377 Centerline is valid? [True, True] Translation: X:204.45, Y:-117.88, Z:-5.12 [[-9.97683778e-01 -6.72346139e-02 1.03240230e-02 2.04450783e+02] [ 6.72325567e-02 -9.97737182e-01 -5.46596972e-04 -1.17881337e+02] [ 1.03374119e-02 1.48779532e-04 9.99946556e-01 -5.11743804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.012679535910010791 Centerline is valid? [True, True] Translation: X:204.40, Y:-118.60, Z:-4.14 [[-9.99560216e-01 -2.82427303e-02 9.04010091e-03 2.04395071e+02] [-2.82420190e-02 9.99601093e-01 2.06359251e-04 -1.18601230e+02] [-9.04232291e-03 -4.90422037e-05 -9.99959116e-01 -4.14114841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.012709209630559316 Centerline is valid? [True, True] Translation: X:204.39, Y:-117.86, Z:-5.12 [[-9.99087310e-01 -4.15951294e-02 9.71552037e-03 2.04385923e+02] [ 4.15940534e-02 -9.99134544e-01 -3.12875449e-04 -1.17863623e+02] [ 9.72012611e-03 9.15179818e-05 9.99952754e-01 -5.11606935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.0138891730825651 Centerline is valid? [True, True] Translation: X:204.32, Y:-118.62, Z:-4.14 [[-9.99791818e-01 -1.73825922e-02 1.06848219e-02 2.04321469e+02] [-1.73803443e-02 9.99848904e-01 3.03205128e-04 -1.18617889e+02] [-1.06884780e-02 1.17436123e-04 -9.99942870e-01 -4.14018869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.013808712082410609 Centerline is valid? [True, True] Translation: X:204.32, Y:-118.59, Z:-4.14 [[-9.96131472e-01 -8.72011109e-02 1.08654337e-02 2.04316468e+02] [-8.71944570e-02 9.96190719e-01 1.08551232e-03 -1.18590459e+02] [-1.09187021e-02 1.33907396e-04 -9.99940380e-01 -4.14021020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.013513182802420266 Centerline is valid? [True, True] Translation: X:204.25, Y:-117.84, Z:-5.12 [[-9.98982265e-01 4.38630667e-02 1.05102642e-02 2.04245522e+02] [-4.38622825e-02 -9.99037540e-01 3.05218414e-04 -1.17836716e+02] [ 1.05135363e-02 -1.56096394e-04 9.99944719e-01 -5.11609010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.01315691068973198 Centerline is valid? [True, True] Translation: X:204.22, Y:-118.59, Z:-4.14 [[-9.95185351e-01 -9.74912088e-02 1.00787985e-02 2.04219419e+02] [-9.74853977e-02 9.95236383e-01 1.06741520e-03 -1.18593657e+02] [-1.01348506e-02 7.97402907e-05 -9.99948638e-01 -4.14054852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.012556650583584378 Centerline is valid? [True, True] Translation: X:204.14, Y:-117.86, Z:-5.12 [[-9.99076396e-01 4.18343929e-02 9.81009664e-03 2.04143018e+02] [-4.18333568e-02 -9.99124554e-01 3.10887832e-04 -1.17857035e+02] [ 9.81451423e-03 -9.97885778e-05 9.99951832e-01 -5.11620972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.01235718869454863 Centerline is valid? [True, True] Translation: X:204.12, Y:-118.59, Z:-4.14 [[-9.93850262e-01 -1.10347427e-01 9.22504402e-03 2.04123902e+02] [-1.10342610e-01 9.93893075e-01 1.03112659e-03 -1.18592671e+02] [-9.28248954e-03 6.87000481e-06 -9.99956917e-01 -4.14039548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.012236204588606173 Centerline is valid? [True, True] Translation: X:204.04, Y:-117.88, Z:-5.12 [[-9.99121979e-01 4.09912801e-02 8.65949794e-03 2.04044262e+02] [-4.09901705e-02 -9.99159503e-01 3.05645396e-04 -1.17875541e+02] [ 8.66474846e-03 -4.95772642e-05 9.99962459e-01 -5.11612358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.012292308801775 Centerline is valid? [True, True] Translation: X:204.03, Y:-118.59, Z:-4.14 [[-9.92511239e-01 -1.21872632e-01 8.27659360e-03 2.04031954e+02] [-1.21868755e-01 9.92545747e-01 9.73028135e-04 -1.18594548e+02] [-8.33348328e-03 -4.29167972e-05 -9.99965275e-01 -4.14046772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.012089271485950579 Centerline is valid? [True, True] Translation: X:204.02, Y:-118.57, Z:-4.14 [[-9.81577906e-01 -1.90868433e-01 8.60563042e-03 2.04022492e+02] [-1.90861391e-01 9.81615628e-01 1.63984927e-03 -1.18567132e+02] [-8.76041676e-03 -3.28427807e-05 -9.99961626e-01 -4.13951907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.011938652892441691 Centerline is valid? [True, True] Translation: X:204.01, Y:-118.54, Z:-4.14 [[-9.66085146e-01 -2.58084073e-01 8.49125563e-03 2.04009765e+02] [-2.58074198e-01 9.66122462e-01 2.25769597e-03 -1.18543585e+02] [-8.78626816e-03 -1.02474455e-05 -9.99961400e-01 -4.13947396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.012302819798366662 Centerline is valid? [True, True] Translation: X:203.98, Y:-118.53, Z:-4.14 [[-9.47125418e-01 -3.20757405e-01 8.25411095e-03 2.03982378e+02] [-3.20744778e-01 9.47161383e-01 2.84646194e-03 -1.18528305e+02] [-8.73099888e-03 4.84934663e-05 -9.99961883e-01 -4.14060147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.013305474128855119 Centerline is valid? [True, True] Translation: X:203.93, Y:-118.52, Z:-4.14 [[-9.24097766e-01 -3.82073031e-01 7.96982004e-03 2.03930104e+02] [-3.82057746e-01 9.24132126e-01 3.41951628e-03 -1.18522957e+02] [-8.67167168e-03 1.15035878e-04 -9.99962394e-01 -4.14147820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.014878817318914599 Centerline is valid? [True, True] Translation: X:203.87, Y:-118.53, Z:-4.14 [[-8.96152437e-01 -4.43647480e-01 9.36600824e-03 2.03866323e+02] [-4.43620836e-01 8.96201356e-01 4.86651230e-03 -1.18525984e+02] [-1.05528452e-02 2.06180447e-04 -9.99944296e-01 -4.14038319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.016041832467375453 Centerline is valid? [True, True] Translation: X:203.80, Y:-118.54, Z:-4.14 [[-8.61961612e-01 -5.06873139e-01 1.00896003e-02 2.03796765e+02] [-5.06834821e-01 8.62020621e-01 6.23799261e-03 -1.18535334e+02] [-1.18593144e-02 2.63149418e-04 -9.99929641e-01 -4.13960822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.016118660059311177 Centerline is valid? [True, True] Translation: X:203.71, Y:-118.56, Z:-4.14 [[-8.22346410e-01 -5.68890916e-01 1.04645976e-02 2.03714453e+02] [-5.68840148e-01 8.22412934e-01 7.60604767e-03 -1.18555653e+02] [-1.29332318e-02 3.02122749e-04 -9.99916317e-01 -4.13964497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.016004108336757736 Centerline is valid? [True, True] Translation: X:203.63, Y:-118.59, Z:-4.14 [[-7.76739809e-01 -6.29746948e-01 9.69798734e-03 2.03628700e+02] [-6.29693243e-01 7.76800296e-01 8.22921790e-03 -1.18585171e+02] [-1.27157243e-02 2.85204038e-04 -9.99919111e-01 -4.14046129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.014256313169434978 Centerline is valid? [True, True] Translation: X:203.54, Y:-118.62, Z:-4.14 [[-7.23643735e-01 -6.90123038e-01 8.36290545e-03 2.03538954e+02] [-6.90073667e-01 7.23692028e-01 8.25730272e-03 -1.18621554e+02] [-1.17507228e-02 2.04324543e-04 -9.99930937e-01 -4.14318288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.012487802855587204 Centerline is valid? [True, True] Translation: X:203.44, Y:-118.67, Z:-4.14 [[-6.62737302e-01 -7.48811823e-01 7.75384056e-03 2.03443931e+02] [-7.48758863e-01 6.62782652e-01 8.90626325e-03 -1.18667221e+02] [-1.18082262e-02 9.67560344e-05 -9.99930276e-01 -4.14315777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.011742249622964407 Centerline is valid? [True, True] Translation: X:203.35, Y:-118.72, Z:-4.14 [[-5.97976469e-01 -8.01482836e-01 7.02893540e-03 2.03354007e+02] [-8.01427388e-01 5.98017779e-01 9.42754197e-03 -1.18721823e+02] [-1.17594414e-02 4.26693219e-06 -9.99930855e-01 -4.14324991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.012943302094919376 Centerline is valid? [True, True] Translation: X:203.26, Y:-118.79, Z:-4.14 [[-5.25280086e-01 -8.50908456e-01 5.96918322e-03 2.03261031e+02] [-8.50856371e-01 5.25313985e-01 9.41564112e-03 -1.18785483e+02] [-1.11475441e-02 -1.33068788e-04 -9.99937855e-01 -4.14314447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.014849002496545758 Centerline is valid? [True, True] Translation: X:203.18, Y:-118.86, Z:-4.14 [[-4.53517726e-01 -8.91231926e-01 5.22743440e-03 2.03178372e+02] [-8.91177849e-01 4.53547805e-01 9.81989472e-03 -1.18857487e+02] [-1.11226951e-02 -2.05077427e-04 -9.99938120e-01 -4.14321404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.016323252206170633 Centerline is valid? [True, True] Translation: X:203.10, Y:-118.94, Z:-4.14 [[-3.78487200e-01 -9.25596915e-01 4.21788015e-03 2.03101766e+02] [-9.25546960e-01 3.78510610e-01 9.61989760e-03 -1.18936354e+02] [-1.05006599e-02 -2.62838051e-04 -9.99944832e-01 -4.14430662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.015996059185655376 Centerline is valid? [True, True] Translation: X:203.04, Y:-119.02, Z:-4.14 [[-3.04730022e-01 -9.52432330e-01 3.50279568e-03 2.03035860e+02] [-9.52379930e-01 3.04750015e-01 9.99482908e-03 -1.19023549e+02] [-1.05868754e-02 -2.90267817e-04 -9.99943915e-01 -4.14470867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.015739269361913485 Centerline is valid? [True, True] Translation: X:202.98, Y:-119.12, Z:-4.14 [[-2.32758245e-01 -9.72529855e-01 3.04653180e-03 2.02976571e+02] [-9.72462923e-01 2.32777981e-01 1.14138165e-02 -1.19121099e+02] [-1.18094428e-02 -3.05979326e-04 -9.99930219e-01 -4.14340535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.01626376260985827 Centerline is valid? [True, True] Translation: X:202.93, Y:-119.22, Z:-4.14 [[-1.59786073e-01 -9.87149216e-01 2.19933878e-03 2.02926386e+02] [-9.87078902e-01 1.59800949e-01 1.17854576e-02 -1.19216184e+02] [-1.19854617e-02 -2.87768917e-04 -9.99928130e-01 -4.14210188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.014389040878324379 Centerline is valid? [True, True] Translation: X:202.89, Y:-119.32, Z:-4.14 [[-8.61202346e-02 -9.96283780e-01 1.39114273e-03 2.02888665e+02] [-9.96201124e-01 8.61310134e-02 1.28362282e-02 -1.19319907e+02] [-1.29083465e-02 -2.80398970e-04 -9.99916645e-01 -4.14380736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.014162601607263023 Centerline is valid? [True, True] Translation: X:202.86, Y:-119.43, Z:-4.14 [[-1.17446247e-02 -9.99930929e-01 4.49005594e-04 2.02855373e+02] [-9.99828684e-01 1.17498459e-02 1.43019132e-02 -1.19432937e+02] [-1.43062011e-02 -2.80958068e-04 -9.99897622e-01 -4.14254668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.01395338559760834 Centerline is valid? [True, True] Translation: X:202.83, Y:-119.54, Z:-4.14 [[ 6.41433160e-02 -9.97940468e-01 -6.75661789e-04 2.02830735e+02] [-9.97828952e-01 -6.41462507e-02 1.49211582e-02 -1.19542404e+02] [-1.49337688e-02 -2.82897670e-04 -9.99888445e-01 -4.14205823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.013888644501821474 Centerline is valid? [True, True] Translation: X:202.82, Y:-119.66, Z:-4.14 [[ 1.39437436e-01 -9.90229351e-01 -1.74206284e-03 2.02815707e+02] [-9.90127154e-01 -1.39448077e-01 1.42286073e-02 -1.19658817e+02] [-1.43325119e-02 -2.59136801e-04 -9.99897251e-01 -4.14240327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.014262953694587183 Centerline is valid? [True, True] Translation: X:202.81, Y:-119.78, Z:-4.15 [[ 2.16665500e-01 -9.76241918e-01 -2.78914847e-03 2.02810265e+02] [-9.76143459e-01 -2.16683268e-01 1.38675443e-02 -1.19775568e+02] [-1.41424399e-02 -2.82009386e-04 -9.99899951e-01 -4.14513272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.014969672276040328 Centerline is valid? [True, True] Translation: X:202.81, Y:-119.89, Z:-4.15 [[ 2.93233846e-01 -9.56033937e-01 -3.60864688e-03 2.02809701e+02] [-9.55948504e-01 -2.93255897e-01 1.27842075e-02 -1.19892177e+02] [-1.32803932e-02 -2.99081730e-04 -9.99911767e-01 -4.14576829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.016977162851134497 Centerline is valid? [True, True] Translation: X:202.82, Y:-120.01, Z:-4.15 [[ 3.70861491e-01 -9.28678432e-01 -4.25736267e-03 2.02816241e+02] [-9.28605995e-01 -3.70885762e-01 1.16042315e-02 -1.20009466e+02] [-1.23555947e-02 -3.50150095e-04 -9.99923605e-01 -4.14688150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.01959105111229476 Centerline is valid? [True, True] Translation: X:202.83, Y:-120.13, Z:-4.15 [[ 4.46268975e-01 -8.94883082e-01 -5.31714809e-03 2.02832067e+02] [-8.94807322e-01 -4.46300430e-01 1.16525525e-02 -1.20128688e+02] [-1.28007175e-02 -4.42349593e-04 -9.99917970e-01 -4.14640189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.019188990865037947 Centerline is valid? [True, True] Translation: X:202.86, Y:-120.24, Z:-4.15 [[ 5.15234348e-01 -8.57027894e-01 -6.06268021e-03 2.02858924e+02] [-8.56957677e-01 -5.15269809e-01 1.09802041e-02 -1.20239249e+02] [-1.25342573e-02 -4.61917971e-04 -9.99921336e-01 -4.14691102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.02086178802741649 Centerline is valid? [True, True] Translation: X:202.89, Y:-120.35, Z:-4.15 [[ 5.80329757e-01 -8.14352878e-01 -6.83834812e-03 2.02892727e+02] [-8.14286378e-01 -5.80369850e-01 1.04178974e-02 -1.20347825e+02] [-1.24526158e-02 -4.77442155e-04 -9.99922349e-01 -4.14724461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.02087865336603592 Centerline is valid? [True, True] Translation: X:202.93, Y:-120.45, Z:-4.15 [[ 6.38795198e-01 -7.69347268e-01 -6.74359755e-03 2.02931969e+02] [-7.69297724e-01 -6.38830670e-01 8.73992543e-03 -1.20446283e+02] [-1.10320547e-02 -3.95188151e-04 -9.99939067e-01 -4.14760787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.01952198530267282 Centerline is valid? [True, True] Translation: X:202.98, Y:-120.54, Z:-4.15 [[ 6.92719347e-01 -7.21186136e-01 -5.51934882e-03 2.02977639e+02] [-7.21160163e-01 -6.92741285e-01 6.12628644e-03 -1.20536214e+02] [-8.24167364e-03 -2.63462650e-04 -9.99966002e-01 -4.14923399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.018009845037091594 Centerline is valid? [True, True] Translation: X:203.03, Y:-120.63, Z:-4.15 [[ 7.43087035e-01 -6.69170158e-01 -5.74089427e-03 2.03031919e+02] [-6.69147820e-01 -7.43109177e-01 5.47233315e-03 -1.20626063e+02] [-7.92803326e-03 -2.24912938e-04 -9.99968547e-01 -4.14847498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.014838603874247912 Centerline is valid? [True, True] Translation: X:203.06, Y:-120.64, Z:-4.15 [[ 7.86954013e-01 -6.16971306e-01 -7.05619947e-03 2.03062573e+02] [-6.16944596e-01 -7.86985629e-01 5.74328353e-03 -1.20644018e+02] [-9.09656872e-03 -1.66415890e-04 -9.99958612e-01 -4.14596295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.013548438384355006 Centerline is valid? [True, True] Translation: X:203.09, Y:-120.67, Z:-4.15 [[ 8.30432146e-01 -5.57068457e-01 -7.56206490e-03 2.03089910e+02] [-5.57043940e-01 -8.30466566e-01 5.22794026e-03 -1.20665849e+02] [-9.19236268e-03 -1.29047223e-04 -9.99957741e-01 -4.14621591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.01314352105897049 Centerline is valid? [True, True] Translation: X:203.12, Y:-120.69, Z:-4.15 [[ 8.70042033e-01 -4.92915138e-01 -7.84391990e-03 2.03117087e+02] [-4.92894050e-01 -8.70077385e-01 4.56066524e-03 -1.20686756e+02] [-9.07283825e-03 -1.01749019e-04 -9.99958836e-01 -4.14596606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.01283050047350344 Centerline is valid? [True, True] Translation: X:203.15, Y:-120.71, Z:-4.15 [[ 9.04614929e-01 -4.26153544e-01 -8.06143840e-03 2.03145390e+02] [-4.26135901e-01 -9.04650845e-01 3.87843976e-03 -1.20706104e+02] [-8.94559791e-03 -7.32261855e-05 -9.99959985e-01 -4.14606031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.012866221618020836 Centerline is valid? [True, True] Translation: X:203.17, Y:-120.72, Z:-4.14 [[ 9.34685608e-01 -3.55373182e-01 -8.52738922e-03 2.03174757e+02] [-3.55357783e-01 -9.34724504e-01 3.30889326e-03 -1.20723893e+02] [-9.14665158e-03 -6.25007853e-05 -9.99958167e-01 -4.14451858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.013269169575527286 Centerline is valid? [True, True] Translation: X:203.21, Y:-120.74, Z:-4.14 [[ 9.59645532e-01 -2.81029754e-01 -1.01355726e-02 2.03205073e+02] [-2.81013261e-01 -9.59699053e-01 3.04559235e-03 -1.20739272e+02] [-1.05830015e-02 -7.44588010e-05 -9.99943996e-01 -4.14324088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.013770327626355537 Centerline is valid? [True, True] Translation: X:203.24, Y:-120.75, Z:-4.14 [[ 9.79136194e-01 -2.02879394e-01 -1.15006875e-02 2.03235958e+02] [-2.02864077e-01 -9.79203727e-01 2.49539622e-03 -1.20753334e+02] [-1.17677806e-02 -1.10256404e-04 -9.99930751e-01 -4.14350302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.014396780196860744 Centerline is valid? [True, True] Translation: X:203.27, Y:-120.76, Z:-4.14 [[ 9.92339408e-01 -1.22978809e-01 -1.17776187e-02 2.03266736e+02] [-1.22968423e-01 -9.92409286e-01 1.60470007e-03 -1.20764907e+02] [-1.18855623e-02 -1.44131913e-04 -9.99929354e-01 -4.14320577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.014303611430044699 Centerline is valid? [True, True] Translation: X:203.30, Y:-120.78, Z:-4.14 [[ 9.98990739e-01 -4.34217720e-02 -1.14913984e-02 2.03295829e+02] [-4.34170920e-02 -9.99056818e-01 6.56528668e-04 -1.20775297e+02] [-1.15090675e-02 -1.56942958e-04 -9.99933756e-01 -4.14426094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.015434037425200461 Centerline is valid? [True, True] Translation: X:203.32, Y:-120.79, Z:-4.14 [[ 9.99143584e-01 3.94755873e-02 -1.24006978e-02 2.03324602e+02] [ 3.94753529e-02 -9.99220510e-01 -2.63769377e-04 -1.20785821e+02] [-1.24014440e-02 -2.25978440e-04 -9.99923074e-01 -4.14245590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.015648279838657655 Centerline is valid? [True, True] Translation: X:203.36, Y:-120.79, Z:-4.14 [[ 9.92558589e-01 1.20867228e-01 -1.47837837e-02 2.03355889e+02] [ 1.20858609e-01 -9.92668631e-01 -1.47833349e-03 -1.20794048e+02] [-1.48540804e-02 -3.19414927e-04 -9.99889621e-01 -4.14079795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.01740859947721209 Centerline is valid? [True, True] Translation: X:203.39, Y:-120.80, Z:-4.14 [[ 9.79858443e-01 1.99184809e-01 -1.42423206e-02 2.03386651e+02] [ 1.99168586e-01 -9.79961890e-01 -2.56288954e-03 -1.20799429e+02] [-1.44674201e-02 -3.25353899e-04 -9.99895288e-01 -4.14007356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.01637038143560412 Centerline is valid? [True, True] Translation: X:203.42, Y:-120.80, Z:-4.14 [[ 9.61227337e-01 2.75372898e-01 -1.45524265e-02 2.03417164e+02] [ 2.75346677e-01 -9.61337429e-01 -3.81521963e-03 -1.20797438e+02] [-1.50404003e-02 -3.39668861e-04 -9.99886829e-01 -4.14175279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.01691797654939688 Centerline is valid? [True, True] Translation: X:203.45, Y:-120.79, Z:-4.14 [[ 9.36673926e-01 3.49835689e-01 -1.60295765e-02 2.03447143e+02] [ 3.49791453e-01 -9.36810997e-01 -5.57635613e-03 -1.20794272e+02] [-1.69674920e-02 -3.83781489e-04 -9.99855968e-01 -4.13972274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.01617897941505286 Centerline is valid? [True, True] Translation: X:203.48, Y:-120.79, Z:-4.14 [[ 9.06788492e-01 4.21227066e-01 -1.73893685e-02 2.03477318e+02] [ 4.21158290e-01 -9.06955120e-01 -7.62267785e-03 -1.20787271e+02] [-1.89822550e-02 -4.11520139e-04 -9.99819736e-01 -4.13987948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.015618617876432471 Centerline is valid? [True, True] Translation: X:203.51, Y:-120.78, Z:-4.14 [[ 8.71961594e-01 4.89259830e-01 -1.75441489e-02 2.03507217e+02] [ 4.89169855e-01 -8.72137984e-01 -9.39092025e-03 -1.20778656e+02] [-1.98955187e-02 -3.93546984e-04 -9.99801987e-01 -4.14051568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.015225228956880058 Centerline is valid? [True, True] Translation: X:203.53, Y:-120.77, Z:-4.14 [[ 8.32849454e-01 5.53244113e-01 -1.68148420e-02 2.03533484e+02] [ 5.53139291e-01 -8.33019114e-01 -1.07740876e-02 -1.20765805e+02] [-1.99677853e-02 -3.27756818e-04 -9.99800570e-01 -4.14124566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.015197861386425421 Centerline is valid? [True, True] Translation: X:203.56, Y:-120.75, Z:-4.14 [[ 7.89306620e-01 6.13816502e-01 -1.49787062e-02 2.03556967e+02] [ 6.13711702e-01 -7.89448697e-01 -1.13447115e-02 -1.20750186e+02] [-1.87884912e-02 -2.38151390e-04 -9.99823452e-01 -4.14145554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.014355617896942834 Centerline is valid? [True, True] Translation: X:203.58, Y:-120.73, Z:-4.14 [[ 7.39587712e-01 6.72919331e-01 -1.37692081e-02 2.03580641e+02] [ 6.72808077e-01 -7.39715843e-01 -1.22377444e-02 -1.20732989e+02] [-1.84203162e-02 -2.13149057e-04 -9.99830309e-01 -4.14385176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.014130183914392075 Centerline is valid? [True, True] Translation: X:203.61, Y:-120.72, Z:-4.14 [[ 6.84266319e-01 7.29123113e-01 -1.26131383e-02 2.03606027e+02] [ 7.29005151e-01 -6.84382523e-01 -1.31168280e-02 -1.20717389e+02] [-1.81959939e-02 -2.19639156e-04 -9.99834415e-01 -4.14438491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.014569274043746201 Centerline is valid? [True, True] Translation: X:203.63, Y:-120.70, Z:-4.14 [[ 6.24334069e-01 7.81078281e-01 -1.11216037e-02 2.03629111e+02] [ 7.80960853e-01 -6.24433076e-01 -1.35454333e-02 -1.20700446e+02] [-1.75247410e-02 -2.28661625e-04 -9.99846404e-01 -4.14392404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.014582621951930486 Centerline is valid? [True, True] Translation: X:203.65, Y:-120.68, Z:-4.15 [[ 5.59618623e-01 8.28695772e-01 -9.50339532e-03 2.03651205e+02] [ 8.28583806e-01 -5.59699254e-01 -1.36242794e-02 -1.20681534e+02] [-1.66094260e-02 -2.49958972e-04 -9.99862023e-01 -4.14556391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.01505861838974829 Centerline is valid? [True, True] Translation: X:203.67, Y:-120.66, Z:-4.14 [[ 4.89935532e-01 8.71715917e-01 -8.63329573e-03 2.03674647e+02] [ 8.71591831e-01 -4.90011489e-01 -1.47112726e-02 -1.20662993e+02] [-1.70544646e-02 -3.17134848e-04 -9.99854512e-01 -4.14417314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.01613365261378366 Centerline is valid? [True, True] Translation: X:203.69, Y:-120.64, Z:-4.14 [[ 4.17548837e-01 9.08627988e-01 -6.93892250e-03 2.03694980e+02] [ 9.08515843e-01 -4.17606350e-01 -1.42793213e-02 -1.20643184e+02] [-1.58723290e-02 -3.41807043e-04 -9.99873968e-01 -4.14336504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.016520296386528004 Centerline is valid? [True, True] Translation: X:203.71, Y:-120.62, Z:-4.14 [[ 3.45238099e-01 9.38499758e-01 -5.37199967e-03 2.03709650e+02] [ 9.38399959e-01 -3.45279748e-01 -1.36899004e-02 -1.20619654e+02] [-1.47028109e-02 -3.14809080e-04 -9.99891858e-01 -4.14372544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.01588869715350743 Centerline is valid? [True, True] Translation: X:203.72, Y:-120.59, Z:-4.15 [[ 2.70973816e-01 9.62578284e-01 -4.02966341e-03 2.03723448e+02] [ 9.62487300e-01 -2.71003621e-01 -1.32376038e-02 -1.20594836e+02] [-1.38342833e-02 -2.91455826e-04 -9.99904259e-01 -4.14524911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.016283946353697912 Centerline is valid? [True, True] Translation: X:203.74, Y:-120.57, Z:-4.15 [[ 1.93573940e-01 9.81081896e-01 -2.72837854e-03 2.03737187e+02] [ 9.81003929e-01 -1.93592962e-01 -1.23715788e-02 -1.20569214e+02] [-1.26657269e-02 -2.81734811e-04 -9.99919747e-01 -4.14644038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.016529121311642164 Centerline is valid? [True, True] Translation: X:203.75, Y:-120.54, Z:-4.15 [[ 1.15020558e-01 9.93361516e-01 -1.78031782e-03 2.03750423e+02] [ 9.93279645e-01 -1.15033942e-01 -1.27569074e-02 -1.20543108e+02] [-1.28770178e-02 -3.01046840e-04 -9.99917042e-01 -4.14551277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.017279329085051576 Centerline is valid? [True, True] Translation: X:203.76, Y:-120.52, Z:-4.14 [[ 3.41791766e-02 9.99415376e-01 -8.30443574e-04 2.03762822e+02] [ 9.99320530e-01 -3.41873775e-02 -1.37731959e-02 -1.20516417e+02] [-1.37935345e-02 -3.59122815e-04 -9.99904800e-01 -4.14328752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.018009297474962365 Centerline is valid? [True, True] Translation: X:203.77, Y:-120.49, Z:-4.14 [[-4.48958508e-02 9.98991643e-01 2.44922397e-04 2.03770126e+02] [ 9.98900660e-01 4.48950686e-02 -1.34871650e-02 -1.20489519e+02] [-1.34845609e-02 -3.60864601e-04 -9.99909014e-01 -4.14206468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.01746745739981705 Centerline is valid? [True, True] Translation: X:203.77, Y:-120.46, Z:-4.14 [[-1.22286972e-01 9.92493952e-01 1.28509790e-03 2.03774207e+02] [ 9.92405403e-01 1.22293234e-01 -1.32619915e-02 -1.20461504e+02] [-1.33196051e-02 -3.46430678e-04 -9.99911230e-01 -4.14168032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.017390640567591136 Centerline is valid? [True, True] Translation: X:203.78, Y:-120.43, Z:-4.14 [[-1.99223553e-01 9.79951699e-01 2.15507393e-03 2.03776592e+02] [ 9.79875986e-01 1.99234958e-01 -1.21854004e-02 -1.20432812e+02] [-1.23704699e-02 -3.15913574e-04 -9.99923433e-01 -4.14229348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.017603395633977878 Centerline is valid? [True, True] Translation: X:203.78, Y:-120.40, Z:-4.14 [[-2.75198284e-01 9.61383957e-01 2.60626951e-03 2.03776863e+02] [ 9.61331338e-01 2.75210499e-01 -1.00618031e-02 -1.20404545e+02] [-1.03905288e-02 -2.63502381e-04 -9.99945982e-01 -4.14414864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.017340270370405045 Centerline is valid? [True, True] Translation: X:203.77, Y:-120.38, Z:-4.14 [[-3.49581673e-01 9.36900682e-01 3.12498344e-03 2.03774909e+02] [ 9.36856829e-01 3.49595557e-01 -9.06799509e-03 -1.20376105e+02] [-9.58829111e-03 -2.42342823e-04 -9.99954002e-01 -4.14426886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.017170963006266936 Centerline is valid? [True, True] Translation: X:203.77, Y:-120.35, Z:-4.14 [[-4.21117686e-01 9.06998169e-01 3.77035948e-03 2.03769575e+02] [ 9.06956777e-01 4.21134501e-01 -8.66813523e-03 -1.20348176e+02] [-9.44981125e-03 -2.30751963e-04 -9.99955323e-01 -4.14352320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.018855328324948874 Centerline is valid? [True, True] Translation: X:203.76, Y:-120.32, Z:-4.14 [[-4.92797250e-01 8.70125042e-01 5.76906104e-03 2.03764982e+02] [ 8.70057457e-01 4.92830909e-01 -1.08497262e-02 -1.20320663e+02] [-1.22837900e-02 -3.27300653e-04 -9.99924498e-01 -4.14063334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.01798378865312007 Centerline is valid? [True, True] Translation: X:203.75, Y:-120.29, Z:-4.14 [[-5.59120930e-01 8.29056282e-01 7.03334672e-03 2.03754776e+02] [ 8.28982797e-01 5.59165059e-01 -1.10434705e-02 -1.20294365e+02] [-1.30884603e-02 -3.44112061e-04 -9.99914283e-01 -4.14003773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.019053703974548707 Centerline is valid? [True, True] Translation: X:203.74, Y:-120.27, Z:-4.14 [[-6.22570467e-01 7.82531050e-01 7.15325249e-03 2.03743461e+02] [ 7.82473473e-01 6.22611481e-01 -9.49780346e-03 -1.20269135e+02] [-1.18860232e-02 -3.15821621e-04 -9.99929309e-01 -4.14067726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.01876979971709801 Centerline is valid? [True, True] Translation: X:203.73, Y:-120.25, Z:-4.14 [[-6.81271044e-01 7.31998663e-01 6.90810838e-03 2.03726626e+02] [ 7.31956996e-01 6.81306015e-01 -7.81473994e-03 -1.20246319e+02] [-1.04269150e-02 -2.67517781e-04 -9.99945602e-01 -4.14215673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.01807228667117031 Centerline is valid? [True, True] Translation: X:203.71, Y:-120.23, Z:-4.14 [[-7.34824930e-01 6.78221694e-01 6.90335954e-03 2.03707260e+02] [ 6.78188892e-01 7.34857323e-01 -6.67403026e-03 -1.20226332e+02] [-9.59945641e-03 -2.22462060e-04 -9.99953899e-01 -4.14213445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.016028592534825484 Centerline is valid? [True, True] Translation: X:203.73, Y:-120.22, Z:-4.14 [[-7.80423432e-01 6.25209313e-01 7.25134590e-03 2.03730355e+02] [ 6.25179792e-01 7.80457091e-01 -6.07924025e-03 -1.20216262e+02] [-9.46016194e-03 -2.10986617e-04 -9.99955229e-01 -4.14403300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.016351541085100358 Centerline is valid? [True, True] Translation: X:203.75, Y:-120.19, Z:-4.14 [[-8.21249646e-01 5.70525882e-01 7.01689777e-03 2.03748738e+02] [ 5.70503267e-01 8.21279604e-01 -5.08264411e-03 -1.20194943e+02] [-8.66261504e-03 -1.70956572e-04 -9.99962464e-01 -4.14433743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.016657608034903546 Centerline is valid? [True, True] Translation: X:203.77, Y:-120.18, Z:-4.14 [[-8.58285248e-01 5.13106758e-01 8.23943710e-03 2.03771709e+02] [ 5.13081234e-01 8.58324779e-01 -5.12061340e-03 -1.20175121e+02] [-9.69953437e-03 -1.67446388e-04 -9.99952944e-01 -4.14206789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.016291034651762556 Centerline is valid? [True, True] Translation: X:203.79, Y:-120.15, Z:-4.14 [[-8.91583626e-01 4.52770970e-01 8.77987463e-03 2.03785501e+02] [ 4.52747329e-01 8.91626842e-01 -4.62932177e-03 -1.20152732e+02] [-9.92439440e-03 -1.52362699e-04 -9.99950740e-01 -4.14131172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.014505281749022964 Centerline is valid? [True, True] Translation: X:203.80, Y:-120.13, Z:-4.14 [[-9.20064044e-01 3.91662654e-01 9.08409667e-03 2.03799062e+02] [ 3.91642293e-01 9.20108880e-01 -3.99532868e-03 -1.20134298e+02] [-9.92317905e-03 -1.18241808e-04 -9.99950757e-01 -4.14366414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.014113684758840063 Centerline is valid? [True, True] Translation: X:203.81, Y:-120.11, Z:-4.14 [[-9.44638762e-01 3.27985344e-01 9.12267164e-03 2.03809796e+02] [ 3.27969125e-01 9.44682807e-01 -3.26294671e-03 -1.20111270e+02] [-9.68822975e-03 -9.03513091e-05 -9.99953064e-01 -4.14430977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.013697237071649139 Centerline is valid? [True, True] Translation: X:203.82, Y:-120.09, Z:-4.15 [[-9.64416793e-01 2.64240396e-01 8.78995494e-03 2.03819262e+02] [ 2.64228975e-01 9.64456848e-01 -2.45720150e-03 -1.20088218e+02] [-9.12682413e-03 -4.72055978e-05 -9.99958349e-01 -4.14545874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.013663902268128964 Centerline is valid? [True, True] Translation: X:203.82, Y:-120.06, Z:-4.14 [[-9.80244889e-01 1.97497283e-01 1.07136265e-02 2.03822677e+02] [ 1.97485140e-01 9.80303434e-01 -2.19027848e-03 -1.20062478e+02] [-1.09351789e-02 -3.12272632e-05 -9.99940209e-01 -4.14367966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.0134624955531889 Centerline is valid? [True, True] Translation: X:203.97, Y:-119.37, Z:-5.11 [[-9.63115025e-01 -2.68862932e-01 1.10531428e-02 2.03972917e+02] [ 2.68846011e-01 -9.63178446e-01 -3.01707638e-03 -1.19368973e+02] [ 1.14573289e-02 6.58017541e-05 9.99934361e-01 -5.11051575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.013474560003251238 Centerline is valid? [True, True] Translation: X:203.78, Y:-120.05, Z:-4.15 [[-9.81113904e-01 1.93033945e-01 1.23856288e-02 2.03781143e+02] [ 1.93017986e-01 9.81192078e-01 -2.48258921e-03 -1.20049971e+02] [-1.26319048e-02 -4.50536679e-05 -9.99920213e-01 -4.14541447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.013327648670085164 Centerline is valid? [True, True] Translation: X:203.78, Y:-120.02, Z:-4.15 [[-9.92387679e-01 1.22272419e-01 1.47020758e-02 2.03777706e+02] [ 1.22258060e-01 9.92496575e-01 -1.87493103e-03 -1.20018537e+02] [-1.48210122e-02 -6.32111913e-05 -9.99890161e-01 -4.14604690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.013275114819787086 Centerline is valid? [True, True] Translation: X:203.78, Y:-119.99, Z:-4.15 [[-9.98558829e-01 5.15327984e-02 1.49878610e-02 2.03778608e+02] [ 5.15260362e-02 9.98671301e-01 -8.37238585e-04 -1.19990431e+02] [-1.50110919e-02 -6.37669117e-05 -9.99887325e-01 -4.14653944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.013201971921009747 Centerline is valid? [True, True] Translation: X:203.82, Y:-119.30, Z:-5.11 [[-9.91795536e-01 -1.26893908e-01 1.54774324e-02 2.03823850e+02] [ 1.26880088e-01 -9.91916290e-01 -1.87562267e-03 -1.19301868e+02] [ 1.55903224e-02 1.03543792e-04 9.99878458e-01 -5.10994856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.013073129979228505 Centerline is valid? [True, True] Translation: X:203.73, Y:-119.98, Z:-4.15 [[-9.98706639e-01 4.84940848e-02 1.52765448e-02 2.03727302e+02] [ 4.84876858e-02 9.98823469e-01 -7.89202591e-04 -1.19982808e+02] [-1.52968432e-02 -4.74575601e-05 -9.99882995e-01 -4.14800532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.012881900629998869 Centerline is valid? [True, True] Translation: X:203.77, Y:-119.30, Z:-5.11 [[-9.92483022e-01 -1.21464653e-01 1.49596097e-02 2.03766387e+02] [ 1.21451343e-01 -9.92595757e-01 -1.79839818e-03 -1.19304561e+02] [ 1.50672869e-02 3.19850325e-05 9.99886482e-01 -5.10597080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.012897247616836882 Centerline is valid? [True, True] Translation: X:203.67, Y:-119.97, Z:-4.15 [[-9.98947753e-01 4.29706344e-02 1.60284599e-02 2.03673199e+02] [ 4.29639629e-02 9.99076333e-01 -7.60502327e-04 -1.19974081e+02] [-1.60463342e-02 -7.10559351e-05 -9.99871247e-01 -4.15124456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.012935218866397228 Centerline is valid? [True, True] Translation: X:203.67, Y:-119.94, Z:-4.15 [[-9.99441064e-01 -2.91018024e-02 1.64512918e-02 2.03668796e+02] [-2.90993340e-02 9.99576449e-01 3.89447005e-04 -1.19943420e+02] [-1.64556574e-02 -8.94923051e-05 -9.99864593e-01 -4.15086246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.012813260082742469 Centerline is valid? [True, True] Translation: X:203.66, Y:-119.91, Z:-4.15 [[-9.94847582e-01 -9.98976900e-02 1.72841150e-02 2.03662509e+02] [-9.98842043e-02 9.94997710e-01 1.64392087e-03 -1.19914008e+02] [-1.73618787e-02 -9.09593697e-05 -9.99849267e-01 -4.15151617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.012601304145643233 Centerline is valid? [True, True] Translation: X:203.60, Y:-119.26, Z:-5.10 [[-9.99592825e-01 2.32690016e-02 1.65147511e-02 2.03600283e+02] [-2.32653009e-02 -9.99729240e-01 4.16198831e-04 -1.19262761e+02] [ 1.65199641e-02 3.18087113e-05 9.99863536e-01 -5.10471196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.012392223125151917 Centerline is valid? [True, True] Translation: X:203.58, Y:-119.92, Z:-4.15 [[-9.94495528e-01 -1.03470020e-01 1.65105739e-02 2.03584411e+02] [-1.03456771e-01 9.94632571e-01 1.65690920e-03 -1.19918534e+02] [-1.65933950e-02 -6.03418681e-05 -9.99862318e-01 -4.15275785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.012309736039636632 Centerline is valid? [True, True] Translation: X:203.58, Y:-119.89, Z:-4.15 [[-9.84743643e-01 -1.73241575e-01 1.63497804e-02 2.03576562e+02] [-1.73218494e-01 9.84879360e-01 2.82822906e-03 -1.19890719e+02] [-1.65925281e-02 -4.70037413e-05 -9.99862333e-01 -4.15200124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.012499803308513765 Centerline is valid? [True, True] Translation: X:203.56, Y:-119.87, Z:-4.15 [[-9.69728772e-01 -2.43594881e-01 1.69600166e-02 2.03558139e+02] [-2.43558704e-01 9.69877070e-01 4.19848218e-03 -1.19866063e+02] [-1.74718600e-02 -5.93707024e-05 -9.99847354e-01 -4.15089454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.0125128171122787 Centerline is valid? [True, True] Translation: X:203.53, Y:-119.84, Z:-4.15 [[-9.49597074e-01 -3.12989933e-01 1.73982667e-02 2.03531720e+02] [-3.12938749e-01 9.49756441e-01 5.66058979e-03 -1.19844813e+02] [-1.82958235e-02 -6.93123313e-05 -9.99832615e-01 -4.15022999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.01257561367872063 Centerline is valid? [True, True] Translation: X:203.49, Y:-119.83, Z:-4.15 [[-9.23494208e-01 -3.83247043e-01 1.67377332e-02 2.03493627e+02] [-3.83186481e-01 9.23645868e-01 6.81406774e-03 -1.19827050e+02] [-1.80712094e-02 -1.20920985e-04 -9.99836695e-01 -4.15064276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.01260732979490773 Centerline is valid? [True, True] Translation: X:203.44, Y:-119.82, Z:-4.15 [[-8.92310495e-01 -4.51160003e-01 1.53828854e-02 2.03438510e+02] [-4.51095739e-01 8.92443069e-01 7.61597773e-03 -1.19821076e+02] [-1.71643740e-02 -1.43337194e-04 -9.99852671e-01 -4.15091270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.01260149163617056 Centerline is valid? [True, True] Translation: X:203.37, Y:-119.83, Z:-4.15 [[-8.56137853e-01 -5.16589446e-01 1.27796998e-02 2.03374229e+02] [-5.16534354e-01 8.56233218e-01 7.54563649e-03 -1.19825222e+02] [-1.48403996e-02 -1.41048941e-04 -9.99889865e-01 -4.15305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.012806084813753804 Centerline is valid? [True, True] Translation: X:203.31, Y:-119.84, Z:-4.15 [[-8.14864459e-01 -5.79535534e-01 1.15964927e-02 2.03305922e+02] [-5.79479527e-01 8.14946956e-01 8.05834948e-03 -1.19836062e+02] [-1.41206263e-02 -1.53467541e-04 -9.99900287e-01 -4.15336646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.012811831671125146 Centerline is valid? [True, True] Translation: X:203.23, Y:-119.86, Z:-4.15 [[-7.68415995e-01 -6.39878275e-01 9.62561526e-03 2.03228877e+02] [-6.39830630e-01 7.68476264e-01 7.81004760e-03 -1.19859358e+02] [-1.23945366e-02 -1.57397976e-04 -9.99923172e-01 -4.15438608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.013806183489291902 Centerline is valid? [True, True] Translation: X:203.15, Y:-119.89, Z:-4.15 [[-7.16999830e-01 -6.97013229e-01 9.15436965e-03 2.03147210e+02] [-6.96959729e-01 7.17058243e-01 8.63784466e-03 -1.19891666e+02] [-1.25849082e-02 -1.86893834e-04 -9.99920789e-01 -4.15267725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.01399677415255355 Centerline is valid? [True, True] Translation: X:203.07, Y:-119.93, Z:-4.15 [[-6.60855435e-01 -7.50459768e-01 8.95714694e-03 2.03069977e+02] [-7.50395504e-01 6.60916094e-01 9.82367581e-03 -1.19933150e+02] [-1.32921960e-02 -2.29373243e-04 -9.99911629e-01 -4.15237637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.014618125548305341 Centerline is valid? [True, True] Translation: X:202.99, Y:-119.99, Z:-4.15 [[-6.01468603e-01 -7.98861384e-01 7.48396992e-03 2.02990554e+02] [-7.98804142e-01 6.01515120e-01 9.56571076e-03 -1.19986859e+02] [-1.21433980e-02 -2.24751489e-04 -9.99926241e-01 -4.15305968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.014717645735763264 Centerline is valid? [True, True] Translation: X:202.91, Y:-120.05, Z:-4.15 [[-5.39106462e-01 -8.42217392e-01 5.83853009e-03 2.02914917e+02] [-8.42171935e-01 5.39138040e-01 8.75249534e-03 -1.20050294e+02] [-1.05192775e-02 -1.98519395e-04 -9.99944651e-01 -4.15458010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.01491919647984691 Centerline is valid? [True, True] Translation: X:202.84, Y:-120.12, Z:-4.16 [[-4.73415117e-01 -8.80827331e-01 4.61958214e-03 2.02838687e+02] [-8.80789069e-01 4.73437620e-01 8.21194208e-03 -1.20124449e+02] [-9.42038699e-03 -1.81219930e-04 -9.99955611e-01 -4.15544963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.015103606972169985 Centerline is valid? [True, True] Translation: X:202.77, Y:-120.20, Z:-4.15 [[-4.03490430e-01 -9.14975441e-01 3.92617216e-03 2.02770638e+02] [-9.14936723e-01 4.03509485e-01 8.41951569e-03 -1.20201945e+02] [-9.28789778e-03 -1.95005081e-04 -9.99956848e-01 -4.15493579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.017686348225419007 Centerline is valid? [True, True] Translation: X:202.70, Y:-120.29, Z:-4.15 [[-3.29447180e-01 -9.44167633e-01 3.46936040e-03 2.02701281e+02] [-9.44122714e-01 3.29465359e-01 9.21290463e-03 -1.20290206e+02] [-9.84156042e-03 -2.40336508e-04 -9.99951542e-01 -4.15305267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.017735148911599934 Centerline is valid? [True, True] Translation: X:202.64, Y:-120.39, Z:-4.15 [[-2.53203381e-01 -9.67408222e-01 3.06267151e-03 2.02643345e+02] [-9.67351296e-01 2.53221720e-01 1.04990669e-02 -1.20385108e+02] [-1.09324186e-02 -3.04280017e-04 -9.99940193e-01 -4.15331356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.019446004421628447 Centerline is valid? [True, True] Translation: X:202.59, Y:-120.49, Z:-4.15 [[-1.75578320e-01 -9.84462615e-01 2.36945467e-03 2.02589186e+02] [-9.84398266e-01 1.75593948e-01 1.12614511e-02 -1.20490373e+02] [-1.15025395e-02 -3.55220402e-04 -9.99933781e-01 -4.15333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.01814238005015524 Centerline is valid? [True, True] Translation: X:202.55, Y:-120.60, Z:-4.15 [[-9.86696144e-02 -9.95118975e-01 1.59172167e-03 2.02547248e+02] [-9.95045531e-01 9.86816804e-02 1.20961813e-02 -1.20599732e+02] [-1.21942133e-02 -3.90309991e-04 -9.99925572e-01 -4.15358803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.01853233444210342 Centerline is valid? [True, True] Translation: X:202.51, Y:-120.71, Z:-4.15 [[-2.15061100e-02 -9.99768498e-01 6.62060035e-04 2.02512116e+02] [-9.99693915e-01 2.15125967e-02 1.22181733e-02 -1.20711960e+02] [-1.22295874e-02 -3.99092010e-04 -9.99925136e-01 -4.15432313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.019350283104214338 Centerline is valid? [True, True] Translation: X:202.49, Y:-120.81, Z:-4.16 [[ 5.51582476e-02 -9.98477591e-01 -2.59545075e-04 2.02485025e+02] [-9.98410919e-01 -5.51575654e-02 1.15446564e-02 -1.20813838e+02] [-1.15413966e-02 -3.77650379e-04 -9.99933325e-01 -4.15565087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.0193234609159301 Centerline is valid? [True, True] Translation: X:202.47, Y:-120.93, Z:-4.16 [[ 1.31517411e-01 -9.91313283e-01 -1.07051909e-03 2.02467368e+02] [-9.91255098e-01 -1.31521296e-01 1.07461082e-02 -1.20925448e+02] [-1.07935558e-02 -3.52142823e-04 -9.99941686e-01 -4.15701939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.017764534720510625 Centerline is valid? [True, True] Translation: X:202.46, Y:-121.04, Z:-4.16 [[ 2.06828204e-01 -9.78375597e-01 -1.81230055e-03 2.02460157e+02] [-9.78322660e-01 -2.06835876e-01 1.01829578e-02 -1.21041482e+02] [-1.03376062e-02 -3.33108177e-04 -9.99946510e-01 -4.15834473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.018781193739485273 Centerline is valid? [True, True] Translation: X:202.46, Y:-121.16, Z:-4.16 [[ 2.82138600e-01 -9.59369223e-01 -2.91630451e-03 2.02458814e+02] [-9.59302878e-01 -2.82153406e-01 1.12891409e-02 -1.21164033e+02] [-1.16532996e-02 -3.87483101e-04 -9.99932023e-01 -4.15798276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.02230091161832833 Centerline is valid? [True, True] Translation: X:202.46, Y:-121.28, Z:-4.16 [[ 3.55246161e-01 -9.34763627e-01 -4.13836607e-03 2.02458510e+02] [-9.34685417e-01 -3.55270005e-01 1.20993931e-02 -1.21275718e+02] [-1.27803100e-02 -4.30192555e-04 -9.99918236e-01 -4.15522241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.019961166020169188 Centerline is valid? [True, True] Translation: X:202.48, Y:-121.39, Z:-4.16 [[ 4.25969770e-01 -9.04725041e-01 -4.72818128e-03 2.02477054e+02] [-9.04658359e-01 -4.25995817e-01 1.09916769e-02 -1.21390505e+02] [-1.19586308e-02 -4.04733375e-04 -9.99928411e-01 -4.15752857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.019767322549504963 Centerline is valid? [True, True] Translation: X:202.50, Y:-121.51, Z:-4.16 [[ 4.94541095e-01 -8.69139408e-01 -5.07883498e-03 2.02503728e+02] [-8.69085509e-01 -4.94567030e-01 9.68657546e-03 -1.21508836e+02] [-1.09308088e-02 -3.76467744e-04 -9.99940186e-01 -4.15807242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.018716486390687518 Centerline is valid? [True, True] Translation: X:202.53, Y:-121.61, Z:-4.16 [[ 5.58399538e-01 -8.29549963e-01 -6.06747636e-03 2.02532060e+02] [-8.29493477e-01 -5.58432374e-01 9.68787391e-03 -1.21609769e+02] [-1.14248507e-02 -3.76772259e-04 -9.99934663e-01 -4.15722621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.018702294309292242 Centerline is valid? [True, True] Translation: X:202.57, Y:-121.72, Z:-4.16 [[ 6.19467512e-01 -7.84996195e-01 -6.40114960e-03 2.02571090e+02] [-7.84948384e-01 -6.19500487e-01 8.67070007e-03 -1.21716313e+02] [-1.07719819e-02 -3.46644966e-04 -9.99941920e-01 -4.15634287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.018278604643290057 Centerline is valid? [True, True] Translation: X:202.61, Y:-121.81, Z:-4.16 [[ 6.76353505e-01 -7.36548711e-01 -6.47554978e-03 2.02613454e+02] [-7.36510591e-01 -6.76384436e-01 7.49961925e-03 -1.21811570e+02] [-9.90379597e-03 -3.03082776e-04 -9.99950910e-01 -4.15525466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.017458087900393167 Centerline is valid? [True, True] Translation: X:202.67, Y:-121.90, Z:-4.16 [[ 7.29042778e-01 -6.84435885e-01 -6.64433207e-03 2.02666274e+02] [-6.84404076e-01 -7.29073006e-01 6.60401342e-03 -1.21904333e+02] [-9.36422692e-03 -2.67200346e-04 -9.99956119e-01 -4.15531559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.01615562675542854 Centerline is valid? [True, True] Translation: X:202.69, Y:-121.93, Z:-4.16 [[ 7.76970851e-01 -6.29517938e-01 -4.84381283e-03 2.02689389e+02] [-6.29504511e-01 -7.76985935e-01 4.11417968e-03 -1.21930610e+02] [-6.35352435e-03 -1.47395662e-04 -9.99979805e-01 -4.15682357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.01530743244846522 Centerline is valid? [True, True] Translation: X:202.71, Y:-121.96, Z:-4.16 [[ 8.21297365e-01 -5.70492384e-01 -3.01312564e-03 2.02713730e+02] [-5.70488229e-01 -8.21302889e-01 2.17828410e-03 -1.21955535e+02] [-3.71738328e-03 -7.00662778e-05 -9.99993088e-01 -4.15763847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.014364328834717152 Centerline is valid? [True, True] Translation: X:202.74, Y:-121.98, Z:-4.16 [[ 8.61232277e-01 -5.08207293e-01 -2.07668256e-03 2.02739162e+02] [-5.08205714e-01 -8.61234780e-01 1.26707627e-03 -1.21979380e+02] [-2.43244865e-03 -3.58650340e-05 -9.99997041e-01 -4.15736420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.014600454828075147 Centerline is valid? [True, True] Translation: X:202.76, Y:-122.00, Z:-4.16 [[ 8.97768135e-01 -4.40464215e-01 -1.91097774e-03 2.02764821e+02] [-4.40463148e-01 -8.97770168e-01 9.69878918e-04 -1.22001522e+02] [-2.14281576e-03 -2.90111165e-05 -9.99997704e-01 -4.15700660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.01368421647017251 Centerline is valid? [True, True] Translation: X:202.79, Y:-122.02, Z:-4.16 [[ 9.28257121e-01 -3.71930551e-01 -2.52654727e-03 2.02793449e+02] [-3.71929091e-01 -9.28260559e-01 1.04249255e-03 -1.22020355e+02] [-2.73302901e-03 -2.80047057e-05 -9.99996265e-01 -4.15545133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.013550049742327798 Centerline is valid? [True, True] Translation: X:202.82, Y:-122.04, Z:-4.15 [[ 9.53902038e-01 -3.00091741e-01 -3.98107710e-03 2.02822919e+02] [-3.00088977e-01 -9.53910345e-01 1.28838662e-03 -1.22039732e+02] [-4.18422482e-03 -3.43172644e-05 -9.99991246e-01 -4.15310293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.013281287355526306 Centerline is valid? [True, True] Translation: X:202.85, Y:-122.06, Z:-4.15 [[ 9.73850428e-01 -2.27130605e-01 -5.19933543e-03 2.02854116e+02] [-2.27127205e-01 -9.73864307e-01 1.24313217e-03 -1.22055063e+02] [-5.34580055e-03 -2.97142733e-05 -9.99985711e-01 -4.15140973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.013205049753636247 Centerline is valid? [True, True] Translation: X:202.89, Y:-122.07, Z:-4.15 [[ 9.88215166e-01 -1.52979549e-01 -5.29557946e-03 2.02885951e+02] [-1.52977269e-01 -9.88229355e-01 8.35398270e-04 -1.22068873e+02] [-5.36104593e-03 -1.54499548e-05 -9.99985629e-01 -4.15101107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.013084435461699347 Centerline is valid? [True, True] Translation: X:202.92, Y:-122.08, Z:-4.15 [[ 9.96923594e-01 -7.82482518e-02 -4.53424765e-03 2.02915304e+02] [-7.82474467e-02 -9.96933905e-01 3.54964620e-04 -1.22081462e+02] [-4.54812058e-03 9.20696781e-07 -9.99989657e-01 -4.15092919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.013080803760978973 Centerline is valid? [True, True] Translation: X:202.95, Y:-122.09, Z:-4.15 [[ 9.99989343e-01 -2.25750543e-03 -4.02708277e-03 2.02945199e+02] [-2.25752698e-03 -9.99997452e-01 -8.05800290e-07 -1.22091811e+02] [-4.02707069e-03 9.89703970e-06 -9.99991891e-01 -4.15063730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.01304462221122794 Centerline is valid? [True, True] Translation: X:202.97, Y:-122.10, Z:-4.15 [[ 9.97074322e-01 7.63488338e-02 -3.69486020e-03 2.02974867e+02] [ 7.63482796e-02 -9.97081168e-01 -2.91037158e-04 -1.22099227e+02] [-3.70629587e-03 8.08945801e-06 -9.99993132e-01 -4.15123275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.01294698041721089 Centerline is valid? [True, True] Translation: X:203.01, Y:-122.11, Z:-4.15 [[ 9.87418083e-01 1.58103069e-01 -2.99158333e-03 2.03006457e+02] [ 1.58102361e-01 -9.87422614e-01 -4.73305345e-04 -1.22107484e+02] [-3.02878806e-03 -5.62613135e-06 -9.99995413e-01 -4.15159978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.013027934770160185 Centerline is valid? [True, True] Translation: X:203.04, Y:-122.11, Z:-4.15 [[ 9.71148494e-01 2.38455662e-01 -3.08210960e-03 2.03040082e+02] [ 2.38454519e-01 -9.71153385e-01 -7.38760103e-04 -1.22113435e+02] [-3.16936270e-03 -1.74971986e-05 -9.99994977e-01 -4.15085914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.013379451134900733 Centerline is valid? [True, True] Translation: X:203.07, Y:-122.12, Z:-4.15 [[ 9.48377339e-01 3.17134801e-01 -2.43737438e-03 2.03073751e+02] [ 3.17133817e-01 -9.48380471e-01 -7.90366776e-04 -1.22116368e+02] [-2.56221107e-03 -2.34078994e-05 -9.99996717e-01 -4.15123716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.013973840994744934 Centerline is valid? [True, True] Translation: X:203.11, Y:-122.12, Z:-4.15 [[ 9.19328125e-01 3.93486347e-01 -2.07190834e-03 2.03107600e+02] [ 3.93485417e-01 -9.19330460e-01 -8.56201826e-04 -1.22115478e+02] [-2.24167218e-03 -2.81352971e-05 -9.99997487e-01 -4.15123841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.01488264405800152 Centerline is valid? [True, True] Translation: X:203.14, Y:-122.11, Z:-4.15 [[ 8.84105472e-01 4.67280370e-01 -2.56336880e-03 2.03140589e+02] [ 4.67278555e-01 -8.84109187e-01 -1.30309772e-03 -1.22111058e+02] [-2.87520989e-03 -4.57314426e-05 -9.99995866e-01 -4.15058471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.015687012254038304 Centerline is valid? [True, True] Translation: X:203.17, Y:-122.10, Z:-4.15 [[ 8.42748678e-01 5.38298827e-01 -3.00652010e-03 2.03174448e+02] [ 5.38295693e-01 -8.42754038e-01 -1.83805817e-03 -1.22104391e+02] [-3.52318151e-03 -6.93757319e-05 -9.99993791e-01 -4.14919640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.016873364229154184 Centerline is valid? [True, True] Translation: X:203.20, Y:-122.09, Z:-4.15 [[ 7.96820369e-01 6.04211875e-01 -2.30424500e-03 2.03204908e+02] [ 6.04209572e-01 -7.96823698e-01 -1.66953096e-03 -1.22093029e+02] [-2.84482746e-03 -6.19306033e-05 -9.99995952e-01 -4.14988867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.017292762220920552 Centerline is valid? [True, True] Translation: X:203.23, Y:-122.08, Z:-4.15 [[ 7.47037917e-01 6.64779072e-01 -1.77080889e-03 2.03232462e+02] [ 6.64777364e-01 -7.47040014e-01 -1.50764483e-03 -1.22075095e+02] [-2.32511583e-03 -5.09258125e-05 -9.99997296e-01 -4.14994845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.017002672628234898 Centerline is valid? [True, True] Translation: X:203.26, Y:-122.05, Z:-4.15 [[ 6.93473537e-01 7.20479773e-01 -1.83025380e-03 2.03257644e+02] [ 7.20477467e-01 -6.93475950e-01 -1.82391290e-03 -1.22053769e+02] [-2.58332934e-03 -5.38212975e-05 -9.99996662e-01 -4.14868941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.01570266381648886 Centerline is valid? [True, True] Translation: X:203.28, Y:-122.03, Z:-4.15 [[ 6.35356630e-01 7.72218089e-01 -1.08430689e-03 2.03283571e+02] [ 7.72217055e-01 -6.35357554e-01 -1.26440220e-03 -1.22033718e+02] [-1.66531683e-03 -3.39739575e-05 -9.99998613e-01 -4.14952480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.017752794560936366 Centerline is valid? [True, True] Translation: X:203.31, Y:-122.02, Z:-4.15 [[ 5.72669743e-01 8.19785592e-01 -9.74154513e-04 2.03312235e+02] [ 8.19784506e-01 -5.72670571e-01 -1.33474748e-03 -1.22015963e+02] [-1.65207637e-03 -3.42272813e-05 -9.99998635e-01 -4.14951346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.016276460762958855 Centerline is valid? [True, True] Translation: X:203.33, Y:-121.99, Z:-4.15 [[ 5.05306241e-01 8.62939112e-01 -1.30094794e-03 2.03334909e+02] [ 8.62936527e-01 -5.05307913e-01 -2.11260719e-03 -1.21992073e+02] [-2.48043066e-03 -5.51219039e-05 -9.99996922e-01 -4.14854261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.01779866199441618 Centerline is valid? [True, True] Translation: X:203.36, Y:-121.97, Z:-4.15 [[ 4.34095954e-01 9.00865500e-01 -1.43330946e-03 2.03357984e+02] [ 9.00861160e-01 -4.34098313e-01 -2.79719604e-03 -1.21969917e+02] [-3.14209463e-03 -7.69613389e-05 -9.99995061e-01 -4.14819046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.018183410537589047 Centerline is valid? [True, True] Translation: X:203.38, Y:-121.94, Z:-4.15 [[ 3.58204983e-01 9.33641844e-01 -1.44846087e-03 2.03380363e+02] [ 9.33635390e-01 -3.58207895e-01 -3.47319540e-03 -1.21944574e+02] [-3.76157068e-03 -1.08218429e-04 -9.99992919e-01 -4.14796434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.020106977109207832 Centerline is valid? [True, True] Translation: X:203.40, Y:-121.92, Z:-4.15 [[ 2.80728405e-01 9.59786289e-01 -1.35740269e-03 2.03400285e+02] [ 9.59777360e-01 -2.80731652e-01 -4.14230303e-03 -1.21918036e+02] [-4.35679155e-03 -1.39942248e-04 -9.99990499e-01 -4.14736685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.022300863210199022 Centerline is valid? [True, True] Translation: X:203.42, Y:-121.89, Z:-4.15 [[ 2.00771868e-01 9.79637343e-01 -1.15495726e-03 2.03415608e+02] [ 9.79625813e-01 -2.00775112e-01 -4.75611716e-03 -1.21888574e+02] [-4.89115665e-03 -1.76531415e-04 -9.99988023e-01 -4.14749867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.02161353629392862 Centerline is valid? [True, True] Translation: X:203.43, Y:-121.86, Z:-4.15 [[ 1.20821468e-01 9.92673809e-01 -9.38726424e-04 2.03426390e+02] [ 9.92656746e-01 -1.20824899e-01 -5.82476925e-03 -1.21857913e+02] [-5.89551741e-03 -2.28075948e-04 -9.99982595e-01 -4.14700615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.024985180041186328 Centerline is valid? [True, True] Translation: X:203.44, Y:-121.83, Z:-4.15 [[ 4.26616830e-02 9.99089476e-01 -4.46864923e-04 2.03438947e+02] [ 9.99074479e-01 -4.26634929e-02 -5.47834842e-03 -1.21827237e+02] [-5.49242507e-03 -2.12735777e-04 -9.99984894e-01 -4.14724602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.02443292410207423 Centerline is valid? [True, True] Translation: X:203.44, Y:-121.79, Z:-4.15 [[-3.48170016e-02 9.99393704e-01 -1.33708636e-05 2.03437788e+02] [ 9.99383887e-01 3.48166003e-02 -4.43291985e-03 -1.21794679e+02] [-4.42976666e-03 -1.67703603e-04 -9.99990174e-01 -4.14898895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.02074764467812704 Centerline is valid? [True, True] Translation: X:203.43, Y:-121.76, Z:-4.15 [[-1.09251993e-01 9.94014051e-01 2.62323156e-04 2.03432801e+02] [ 9.94007988e-01 1.09252244e-01 -3.47378708e-03 -1.21762443e+02] [-3.48165256e-03 -1.18766851e-04 -9.99993932e-01 -4.14986004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.019207783241168116 Centerline is valid? [True, True] Translation: X:203.43, Y:-121.73, Z:-4.15 [[-1.83160768e-01 9.83082649e-01 7.98569504e-04 2.03428761e+02] [ 9.83069174e-01 1.83162440e-01 -5.14973815e-03 -1.21731735e+02] [-5.20888616e-03 -1.58180930e-04 -9.99986421e-01 -4.14833822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.01819674144103805 Centerline is valid? [True, True] Translation: X:203.42, Y:-121.70, Z:-4.15 [[-2.57859472e-01 9.66181091e-01 1.61026797e-03 2.03424646e+02] [ 9.66157137e-01 2.57864422e-01 -6.80627762e-03 -1.21700650e+02] [-6.99132755e-03 -1.99291256e-04 -9.99975541e-01 -4.14753657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.018200771738108627 Centerline is valid? [True, True] Translation: X:203.42, Y:-121.67, Z:-4.15 [[-3.31067915e-01 9.43603302e-01 2.61596764e-03 2.03418646e+02] [ 9.43568172e-01 3.31078172e-01 -8.14552269e-03 -1.21671243e+02] [-8.55223189e-03 -2.28377410e-04 -9.99963403e-01 -4.14696472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.018210859895841706 Centerline is valid? [True, True] Translation: X:203.41, Y:-121.64, Z:-4.15 [[-4.03698488e-01 9.14885570e-01 3.45319848e-03 2.03409650e+02] [ 9.14846844e-01 4.03713185e-01 -8.42114572e-03 -1.21641977e+02] [-9.09848646e-03 -2.40456062e-04 -9.99958579e-01 -4.14649980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.018688340089166824 Centerline is valid? [True, True] Translation: X:203.40, Y:-121.62, Z:-4.15 [[-4.74032296e-01 8.80495992e-01 4.49337907e-03 2.03398680e+02] [ 8.80451056e-01 4.74053519e-01 -8.89937227e-03 -1.21615510e+02] [-9.96596378e-03 -2.62389523e-04 -9.99950304e-01 -4.14592976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.019125132426504602 Centerline is valid? [True, True] Translation: X:203.38, Y:-121.59, Z:-4.15 [[-5.41875466e-01 8.40441203e-01 5.43732736e-03 2.03383609e+02] [ 8.40393609e-01 5.41902673e-01 -8.94850677e-03 -1.21589890e+02] [-1.04671960e-02 -2.79481113e-04 -9.99945178e-01 -4.14509760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.019790564857096047 Centerline is valid? [True, True] Translation: X:203.37, Y:-121.57, Z:-4.14 [[-6.06410999e-01 7.95124513e-01 6.53523432e-03 2.03367115e+02] [ 7.95072859e-01 6.06446137e-01 -9.06824568e-03 -1.21566434e+02] [-1.11736520e-02 -3.03096487e-04 -9.99937527e-01 -4.14454534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.019890149923166556 Centerline is valid? [True, True] Translation: X:203.35, Y:-121.54, Z:-4.15 [[-6.67680920e-01 7.44416553e-01 6.79596804e-03 2.03348093e+02] [ 7.44373397e-01 6.67715439e-01 -8.02113746e-03 -1.21543950e+02] [-1.05088403e-02 -2.96822627e-04 -9.99944737e-01 -4.14589424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.021929771062656422 Centerline is valid? [True, True] Translation: X:203.33, Y:-121.52, Z:-4.15 [[-7.24915367e-01 6.88806721e-01 6.55827420e-03 2.03329437e+02] [ 6.88775036e-01 7.24944980e-01 -6.61253390e-03 -1.21521839e+02] [-9.30914576e-03 -2.76351897e-04 -9.99956631e-01 -4.14635748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.018910735310521606 Centerline is valid? [True, True] Translation: X:203.31, Y:-121.50, Z:-4.15 [[-7.77544299e-01 6.28791620e-01 6.77948819e-03 2.03307782e+02] [ 6.28764560e-01 7.77573804e-01 -5.84011112e-03 -1.21500480e+02] [-8.94376535e-03 -2.78243199e-04 -9.99959965e-01 -4.14841576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.01985629505385826 Centerline is valid? [True, True] Translation: X:203.32, Y:-121.48, Z:-4.15 [[-8.20757037e-01 5.71234153e-01 7.03053289e-03 2.03320682e+02] [ 5.71210211e-01 8.20787099e-01 -5.23768728e-03 -1.21475547e+02] [-8.76251656e-03 -2.82956518e-04 -9.99961568e-01 -4.14798017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.02087342402761437 Centerline is valid? [True, True] Translation: X:203.34, Y:-121.45, Z:-4.15 [[-8.59519713e-01 5.11052785e-01 7.13545077e-03 2.03337355e+02] [ 5.11032446e-01 8.59549285e-01 -4.56790410e-03 -1.21453560e+02] [-8.46771172e-03 -2.79756762e-04 -9.99964109e-01 -4.14768109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.020836202892287596 Centerline is valid? [True, True] Translation: X:203.36, Y:-121.44, Z:-4.15 [[-8.93685497e-01 4.48634618e-01 7.29464115e-03 2.03357678e+02] [ 4.48617123e-01 8.93715225e-01 -3.97164043e-03 -1.21435237e+02] [-8.30114724e-03 -2.76896529e-04 -9.99965507e-01 -4.14773802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.019560481868755916 Centerline is valid? [True, True] Translation: X:203.67, Y:-120.86, Z:-5.11 [[-8.25931726e-01 -5.63720316e-01 7.49600425e-03 2.03672694e+02] [ 5.63700663e-01 -8.25965676e-01 -4.71857364e-03 -1.20863065e+02] [ 8.85139804e-03 3.28282891e-04 9.99960772e-01 -5.10924982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.019755994625017027 Centerline is valid? [True, True] Translation: X:203.31, Y:-121.41, Z:-4.15 [[-8.94982240e-01 4.46031295e-01 7.92931459e-03 2.03311882e+02] [ 4.46010848e-01 8.95017317e-01 -4.28089769e-03 -1.21414433e+02] [-9.00628820e-03 -2.94767077e-04 -9.99959399e-01 -4.14757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.020520391026261183 Centerline is valid? [True, True] Translation: X:203.32, Y:-121.39, Z:-4.15 [[-9.24127480e-01 3.81970854e-01 9.30949855e-03 2.03323762e+02] [ 3.81947859e-01 9.24174312e-01 -4.20409871e-03 -1.21390146e+02] [-1.02094426e-02 -3.29380103e-04 -9.99947828e-01 -4.14648597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.018833996101191235 Centerline is valid? [True, True] Translation: X:203.60, Y:-120.79, Z:-5.11 [[-8.66484815e-01 -4.99124505e-01 8.87656967e-03 2.03604424e+02] [ 4.99102017e-01 -8.66530224e-01 -4.74854207e-03 -1.20794949e+02] [ 1.00619296e-02 3.15774227e-04 9.99949328e-01 -5.11007526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.01834708326810877 Centerline is valid? [True, True] Translation: X:203.29, Y:-121.38, Z:-4.15 [[-9.24457307e-01 3.81173035e-01 9.26308479e-03 2.03285248e+02] [ 3.81150642e-01 9.24503666e-01 -4.14250718e-03 -1.21379269e+02] [-1.01427679e-02 -2.98940319e-04 -9.99948516e-01 -4.14710055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.01709977796564308 Centerline is valid? [True, True] Translation: X:203.57, Y:-120.77, Z:-5.11 [[-8.70994315e-01 -4.91204426e-01 9.33356277e-03 2.03569490e+02] [ 4.91180278e-01 -8.71044259e-01 -4.88189122e-03 -1.20772463e+02] [ 1.05279528e-02 3.32362459e-04 9.99944524e-01 -5.10939062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.01661413629586797 Centerline is valid? [True, True] Translation: X:203.25, Y:-121.37, Z:-4.15 [[-9.23123187e-01 3.84367169e-01 1.02694025e-02 2.03249083e+02] [ 3.84340345e-01 9.23180273e-01 -4.54792110e-03 -1.21373540e+02] [-1.12285813e-02 -2.51345740e-04 -9.99936926e-01 -4.14720866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.017213018764569724 Centerline is valid? [True, True] Translation: X:203.53, Y:-120.75, Z:-5.11 [[-8.75466557e-01 -4.83171138e-01 1.01959802e-02 2.03526100e+02] [ 4.83141980e-01 -8.75525886e-01 -5.31511424e-03 -1.20749822e+02] [ 1.14949544e-02 2.72901282e-04 9.99933894e-01 -5.11194852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.015287384517035627 Centerline is valid? [True, True] Translation: X:203.21, Y:-121.36, Z:-4.15 [[-9.22919144e-01 3.84845126e-01 1.06996566e-02 2.03209226e+02] [ 3.84816585e-01 9.22981140e-01 -4.69170007e-03 -1.21364041e+02] [-1.16811591e-02 -2.12654520e-04 -9.99931750e-01 -4.14704862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.014973529723805503 Centerline is valid? [True, True] Translation: X:203.22, Y:-121.34, Z:-4.15 [[-9.47231682e-01 3.20371983e-01 1.06739904e-02 2.03218892e+02] [ 3.20349451e-01 9.47291802e-01 -3.80399940e-03 -1.21343252e+02] [-1.13300784e-02 -1.83861788e-04 -9.99935796e-01 -4.14706244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.015017093773009325 Centerline is valid? [True, True] Translation: X:203.23, Y:-121.32, Z:-4.15 [[-9.67320443e-01 2.53317859e-01 1.10101033e-02 2.03229078e+02] [ 2.53299386e-01 9.67383084e-01 -3.06426016e-03 -1.21319965e+02] [-1.14272195e-02 -1.75269095e-04 -9.99934692e-01 -4.14739134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.014642995011934902 Centerline is valid? [True, True] Translation: X:203.42, Y:-120.64, Z:-5.11 [[-9.37989974e-01 -3.46490629e-01 1.09111512e-02 2.03416254e+02] [ 3.46469485e-01 -9.38053415e-01 -3.83228590e-03 -1.20637206e+02] [ 1.15630938e-02 1.85735189e-04 9.99933128e-01 -5.10919012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.014964760619758875 Centerline is valid? [True, True] Translation: X:203.19, Y:-121.31, Z:-4.15 [[-9.68237553e-01 2.49789140e-01 1.10193726e-02 2.03185192e+02] [ 2.49770913e-01 9.68300240e-01 -3.02258883e-03 -1.21311010e+02] [-1.14250710e-02 -1.74265248e-04 -9.99934717e-01 -4.14708517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.015218071809047452 Centerline is valid? [True, True] Translation: X:203.19, Y:-121.28, Z:-4.15 [[-9.83631227e-01 1.79833576e-01 1.13795507e-02 2.03190304e+02] [ 1.79819369e-01 9.83697032e-01 -2.26800173e-03 -1.21284178e+02] [-1.16018931e-02 -1.84613698e-04 -9.99932679e-01 -4.14684033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.015409857020781124 Centerline is valid? [True, True] Translation: X:203.19, Y:-121.26, Z:-4.15 [[-9.93934551e-01 1.09269792e-01 1.24186072e-02 2.03194436e+02] [ 1.09258701e-01 9.94012108e-01 -1.57007243e-03 -1.21256721e+02] [-1.25158074e-02 -2.03708335e-04 -9.99921653e-01 -4.14577948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.015230097207450739 Centerline is valid? [True, True] Translation: X:203.28, Y:-120.55, Z:-5.11 [[-9.78220503e-01 -2.07185902e-01 1.25956506e-02 2.03283777e+02] [ 2.07171728e-01 -9.78301564e-01 -2.43415572e-03 -1.20554123e+02] [ 1.28266674e-02 2.28321670e-04 9.99917709e-01 -5.11158480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.014634426397597992 Centerline is valid? [True, True] Translation: X:203.14, Y:-121.25, Z:-4.15 [[-9.94174285e-01 1.06975812e-01 1.31782306e-02 2.03138498e+02] [ 1.06963823e-01 9.94261604e-01 -1.61328306e-03 -1.21251996e+02] [-1.32751910e-02 -1.94290604e-04 -9.99911862e-01 -4.14654592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.014403766302946043 Centerline is valid? [True, True] Translation: X:203.15, Y:-121.23, Z:-4.15 [[-9.99188914e-01 3.79297105e-02 1.35222484e-02 2.03145040e+02] [ 3.79238867e-02 9.99280395e-01 -6.86935972e-04 -1.21226844e+02] [-1.35385730e-02 -1.73562591e-04 -9.99908334e-01 -4.14679352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.013889088795942408 Centerline is valid? [True, True] Translation: X:203.19, Y:-120.51, Z:-5.11 [[-9.91820581e-01 -1.26933101e-01 1.34135505e-02 2.03187569e+02] [ 1.26923821e-01 -9.91911266e-01 -1.54433527e-03 -1.20513199e+02] [ 1.35010792e-02 1.70795576e-04 9.99908842e-01 -5.11059897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.013629812185758546 Centerline is valid? [True, True] Translation: X:203.09, Y:-121.23, Z:-4.15 [[-9.99075234e-01 4.05691514e-02 1.42415032e-02 2.03090810e+02] [ 4.05638644e-02 9.99176730e-01 -6.60022093e-04 -1.21228063e+02] [-1.42565551e-02 -8.17213230e-05 -9.99898367e-01 -4.14594880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.01341286817643979 Centerline is valid? [True, True] Translation: X:203.09, Y:-121.20, Z:-4.15 [[-9.99499637e-01 -2.82233607e-02 1.42799800e-02 2.03092021e+02] [-2.82211864e-02 9.99601640e-01 3.53785728e-04 -1.21202936e+02] [-1.42842764e-02 -4.93892694e-05 -9.99897973e-01 -4.14695339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.013405219870999754 Centerline is valid? [True, True] Translation: X:203.09, Y:-121.18, Z:-4.15 [[-9.95143550e-01 -9.73486179e-02 1.45795209e-02 2.03087821e+02] [-9.73385094e-02 9.95250343e-01 1.40303678e-03 -1.21176794e+02] [-1.46468569e-02 -2.29258337e-05 -9.99892729e-01 -4.14703510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.013507892084424489 Centerline is valid? [True, True] Translation: X:203.02, Y:-120.46, Z:-5.11 [[-9.99497752e-01 2.77419077e-02 1.53176540e-02 2.03022446e+02] [-2.77376006e-02 -9.99615117e-01 4.93600230e-04 -1.20455169e+02] [ 1.53254519e-02 6.84773523e-05 9.99882556e-01 -5.11117576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.013413261750607605 Centerline is valid? [True, True] Translation: X:203.00, Y:-121.18, Z:-4.15 [[-9.94543639e-01 -1.03107084e-01 1.58706862e-02 2.02997282e+02] [-1.03094365e-01 9.94670261e-01 1.61965021e-03 -1.21183856e+02] [-1.59530970e-02 -2.53655047e-05 -9.99872741e-01 -4.14762569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.013373735985068491 Centerline is valid? [True, True] Translation: X:202.99, Y:-121.16, Z:-4.15 [[-9.84369391e-01 -1.75501989e-01 1.46953822e-02 2.02990434e+02] [-1.75483207e-01 9.84479075e-01 2.56807115e-03 -1.21155522e+02] [-1.49179979e-02 -5.08621708e-05 -9.99888719e-01 -4.14814029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.013394813236349334 Centerline is valid? [True, True] Translation: X:202.97, Y:-121.13, Z:-4.15 [[-9.69136149e-01 -2.46151105e-01 1.35926005e-02 2.02972246e+02] [-2.46127782e-01 9.69231464e-01 3.38899661e-03 -1.21129922e+02] [-1.40085814e-02 -6.11174923e-05 -9.99901873e-01 -4.14831902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.013567242158839341 Centerline is valid? [True, True] Translation: X:202.95, Y:-121.11, Z:-4.15 [[-9.48292796e-01 -3.17152351e-01 1.24562934e-02 2.02946293e+02] [-3.17126147e-01 9.48374599e-01 4.07766351e-03 -1.21106385e+02] [-1.31064729e-02 -8.33974113e-05 -9.99914103e-01 -4.14854869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.014040079456467739 Centerline is valid? [True, True] Translation: X:202.90, Y:-121.09, Z:-4.15 [[-9.21977693e-01 -3.87054191e-01 1.20908211e-02 2.02904762e+02] [-3.87022505e-01 9.22056962e-01 4.95379859e-03 -1.21089931e+02] [-1.30658143e-02 -1.12128072e-04 -9.99914632e-01 -4.14757732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.014080522232603178 Centerline is valid? [True, True] Translation: X:202.84, Y:-121.09, Z:-4.15 [[-8.89585950e-01 -4.56620265e-01 1.16091141e-02 2.02843014e+02] [-4.56583679e-01 8.89661682e-01 5.78232139e-03 -1.21086210e+02] [-1.29685091e-02 -1.56660186e-04 -9.99915893e-01 -4.14937051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.015359196052664267 Centerline is valid? [True, True] Translation: X:202.78, Y:-121.09, Z:-4.15 [[-8.51976427e-01 -5.23461651e-01 1.11385979e-02 2.02777063e+02] [-5.23419876e-01 8.52049214e-01 6.61599632e-03 -1.21086848e+02] [-1.29538540e-02 -1.93490638e-04 -9.99916077e-01 -4.14778976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.015261224516563846 Centerline is valid? [True, True] Translation: X:202.70, Y:-121.10, Z:-4.15 [[-8.08524774e-01 -5.88358972e-01 1.10186621e-02 2.02698911e+02] [-5.88308603e-01 8.08599812e-01 7.70270436e-03 -1.21103057e+02] [-1.34416433e-02 -2.54546419e-04 -9.99909625e-01 -4.14837380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.01577628398334646 Centerline is valid? [True, True] Translation: X:202.62, Y:-121.13, Z:-4.15 [[-7.60738271e-01 -6.48966757e-01 1.09284713e-02 2.02619467e+02] [-6.48905472e-01 7.60816703e-01 8.92369565e-03 -1.21127030e+02] [-1.41057454e-02 -3.02948041e-04 -9.99900463e-01 -4.14769238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.016045999819718108 Centerline is valid? [True, True] Translation: X:202.54, Y:-121.16, Z:-4.15 [[-7.08692905e-01 -7.05445541e-01 1.00476733e-02 2.02543065e+02] [-7.05380997e-01 7.08764055e-01 9.54794085e-03 -1.21157939e+02] [-1.38569820e-02 -3.20879870e-04 -9.99903936e-01 -4.14783095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.016271644602577486 Centerline is valid? [True, True] Translation: X:202.46, Y:-121.20, Z:-4.15 [[-6.53788309e-01 -7.56623018e-01 9.08050071e-03 2.02462426e+02] [-7.56556556e-01 6.53851292e-01 1.00332417e-02 -1.21201230e+02] [-1.35286787e-02 -3.10296244e-04 -9.99908435e-01 -4.14766539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.015488635723226132 Centerline is valid? [True, True] Translation: X:202.38, Y:-121.26, Z:-4.15 [[-5.95640650e-01 -8.03218840e-01 7.19099412e-03 2.02383945e+02] [-8.03165417e-01 5.95684001e-01 9.26737403e-03 -1.21256532e+02] [-1.17272896e-02 -2.55533099e-04 -9.99931200e-01 -4.14872997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.01573763236735635 Centerline is valid? [True, True] Translation: X:202.30, Y:-121.32, Z:-4.15 [[-5.33748797e-01 -8.45620321e-01 6.20430823e-03 2.02304843e+02] [-8.45568247e-01 5.33784804e-01 9.38739999e-03 -1.21321707e+02] [-1.12499417e-02 -2.35652579e-04 -9.99936690e-01 -4.14814084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.015667303412826343 Centerline is valid? [True, True] Translation: X:202.23, Y:-121.40, Z:-4.15 [[-4.67099846e-01 -8.84183388e-01 6.12128345e-03 2.02228753e+02] [-8.84115015e-01 4.67139873e-01 1.09990763e-02 -1.21398397e+02] [-1.25846961e-02 -2.74251773e-04 -9.99920772e-01 -4.14750986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.017767063154168265 Centerline is valid? [True, True] Translation: X:202.15, Y:-121.48, Z:-4.14 [[-3.97001672e-01 -9.17802838e-01 5.25577337e-03 2.02152078e+02] [-9.17731937e-01 3.97036352e-01 1.14116865e-02 -1.21480349e+02] [-1.25604114e-02 -2.92932439e-04 -9.99921072e-01 -4.14472438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.015972019602213193 Centerline is valid? [True, True] Translation: X:202.09, Y:-121.57, Z:-4.15 [[-3.25735833e-01 -9.45451792e-01 4.13236204e-03 2.02089130e+02] [-9.45386156e-01 3.25761926e-01 1.11437422e-02 -1.21571072e+02] [-1.18820372e-02 -2.76761734e-04 -9.99929368e-01 -4.14626489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.01525525604033277 Centerline is valid? [True, True] Translation: X:202.03, Y:-121.67, Z:-4.15 [[-2.55270031e-01 -9.66866125e-01 2.66600694e-03 2.02033098e+02] [-9.66821191e-01 2.55283876e-01 9.32344929e-03 -1.21667708e+02] [-9.69511587e-03 -1.97554808e-04 -9.99952982e-01 -4.14770692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.014355253826703274 Centerline is valid? [True, True] Translation: X:201.99, Y:-121.76, Z:-4.15 [[-1.83838676e-01 -9.82954950e-01 1.70504245e-03 2.01985630e+02] [-9.82919611e-01 1.83846527e-01 8.33626133e-03 -1.21764477e+02] [-8.50763547e-03 -1.43392421e-04 -9.99963799e-01 -4.14840493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.014025918723003447 Centerline is valid? [True, True] Translation: X:201.94, Y:-121.87, Z:-4.15 [[-1.09729913e-01 -9.93960910e-01 1.02704328e-03 2.01941191e+02] [-9.93927248e-01 1.09734651e-01 8.18126852e-03 -1.21874470e+02] [-8.24456335e-03 -1.23076418e-04 -9.99966005e-01 -4.14777370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.013631567046882726 Centerline is valid? [True, True] Translation: X:201.90, Y:-121.98, Z:-4.15 [[-4.42260149e-02 -9.99021399e-01 5.51210297e-04 2.01899873e+02] [-9.98983193e-01 4.42291451e-02 8.73853066e-03 -1.21976796e+02] [-8.75435869e-03 -1.64179436e-04 -9.99961666e-01 -4.14646016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.013408283992064902 Centerline is valid? [True, True] Translation: X:201.87, Y:-122.09, Z:-4.15 [[ 3.14129558e-02 -9.99506477e-01 -1.69492686e-04 2.01872104e+02] [-9.99470382e-01 -3.14132619e-02 8.49486033e-03 -1.22089059e+02] [-8.49599224e-03 -9.74457519e-05 -9.99963904e-01 -4.14629974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.013210660478869098 Centerline is valid? [True, True] Translation: X:201.85, Y:-122.21, Z:-4.15 [[ 1.07918214e-01 -9.94159421e-01 -8.39048620e-04 2.01851763e+02] [-9.94121974e-01 -1.07921432e-01 8.62927610e-03 -1.22210059e+02] [-8.66942746e-03 -9.71393975e-05 -9.99962415e-01 -4.14650517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.013940125610186071 Centerline is valid? [True, True] Translation: X:201.84, Y:-122.33, Z:-4.14 [[ 1.84450661e-01 -9.82840163e-01 -1.77992782e-03 2.01837209e+02] [-9.82787982e-01 -1.84459210e-01 1.01283249e-02 -1.22328955e+02] [-1.02828485e-02 -1.18884542e-04 -9.99947123e-01 -4.14324450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.013568773924638712 Centerline is valid? [True, True] Translation: X:201.84, Y:-122.45, Z:-4.14 [[ 2.59921039e-01 -9.65626378e-01 -2.59830352e-03 2.01835882e+02] [-9.65573180e-01 -2.59933995e-01 1.01366550e-02 -1.22447234e+02] [-1.04636088e-02 -1.25877696e-04 -9.99945247e-01 -4.14406907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.013320685597271365 Centerline is valid? [True, True] Translation: X:201.84, Y:-122.57, Z:-4.15 [[ 3.32535716e-01 -9.43085877e-01 -3.00435942e-03 2.01843572e+02] [-9.43044504e-01 -3.32549271e-01 8.83439235e-03 -1.22566432e+02] [-9.33068820e-03 -1.04506347e-04 -9.99956463e-01 -4.14559863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.012645953006913228 Centerline is valid? [True, True] Translation: X:201.86, Y:-122.68, Z:-4.15 [[ 4.01503828e-01 -9.15851882e-01 -3.16336409e-03 2.01859372e+02] [-9.15822086e-01 -4.01516283e-01 7.38788677e-03 -1.22678771e+02] [-8.03635219e-03 -6.91861186e-05 -9.99967706e-01 -4.14692648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.012006513021479476 Centerline is valid? [True, True] Translation: X:201.89, Y:-122.79, Z:-4.15 [[ 4.66422198e-01 -8.84556865e-01 -3.08000602e-03 2.01886096e+02] [-8.84537213e-01 -4.66432367e-01 5.89624387e-03 -1.22790378e+02] [-6.65217749e-03 -2.57590804e-05 -9.99977874e-01 -4.14816341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.011935046327042832 Centerline is valid? [True, True] Translation: X:201.92, Y:-122.90, Z:-4.15 [[ 5.28928698e-01 -8.48658581e-01 -3.61173441e-03 2.01919696e+02] [-8.48638869e-01 -5.28941029e-01 5.78433572e-03 -1.22897634e+02] [-6.81932067e-03 5.55704325e-06 -9.99976748e-01 -4.14863341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.011909008615029918 Centerline is valid? [True, True] Translation: X:201.96, Y:-123.01, Z:-4.15 [[ 5.90329318e-01 -8.07149883e-01 -4.51243658e-03 2.01960666e+02] [-8.07126629e-01 -5.90346564e-01 6.12695294e-03 -1.23006141e+02] [-7.60927078e-03 2.51877761e-05 -9.99971049e-01 -4.14809367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.012147595947947556 Centerline is valid? [True, True] Translation: X:202.01, Y:-123.11, Z:-4.15 [[ 6.48337623e-01 -7.61331859e-01 -5.66803896e-03 2.02007520e+02] [-7.61303454e-01 -6.48362397e-01 6.57666566e-03 -1.23109245e+02] [-8.68196842e-03 5.11978558e-05 -9.99962310e-01 -4.14734191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.012266266064643379 Centerline is valid? [True, True] Translation: X:202.06, Y:-123.20, Z:-4.15 [[ 7.03325418e-01 -7.10838951e-01 -6.42980642e-03 2.02056461e+02] [-7.10810139e-01 -7.03354805e-01 6.40037508e-03 -1.23200917e+02] [-9.07207115e-03 6.88251106e-05 -9.99958846e-01 -4.14812687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.012599946670713305 Centerline is valid? [True, True] Translation: X:202.07, Y:-123.23, Z:-4.15 [[ 7.55384741e-01 -6.55245659e-01 -6.85704621e-03 2.02074394e+02] [-6.55219707e-01 -7.55415858e-01 5.83237757e-03 -1.23228899e+02] [-9.00156153e-03 8.71827916e-05 -9.99959481e-01 -4.14848635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.012586928726671873 Centerline is valid? [True, True] Translation: X:202.09, Y:-123.26, Z:-4.15 [[ 8.04063918e-01 -5.94488807e-01 -8.01707248e-03 2.02092880e+02] [-5.94460497e-01 -8.04103879e-01 5.80254150e-03 -1.23257502e+02] [-9.89610505e-03 1.00218634e-04 -9.99951027e-01 -4.14738190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.012545740145531045 Centerline is valid? [True, True] Translation: X:202.11, Y:-123.28, Z:-4.15 [[ 8.49144177e-01 -5.28078112e-01 -9.36344185e-03 2.02114427e+02] [-5.28047162e-01 -8.49195796e-01 5.71794739e-03 -1.23283325e+02] [-1.09709183e-02 8.89771638e-05 -9.99939814e-01 -4.14648943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.012190285793902477 Centerline is valid? [True, True] Translation: X:202.14, Y:-123.31, Z:-4.15 [[ 8.89162494e-01 -4.57487765e-01 -9.74698273e-03 2.02138904e+02] [-4.57460981e-01 -8.89215914e-01 4.95069218e-03 -1.23307361e+02] [-1.09320533e-02 5.68944740e-05 -9.99940242e-01 -4.14690941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.011826522635381522 Centerline is valid? [True, True] Translation: X:202.16, Y:-123.33, Z:-4.15 [[ 9.24455437e-01 -3.81142041e-01 -1.06249646e-02 2.02163930e+02] [-3.81116770e-01 -9.24516492e-01 4.38897866e-03 -1.23332166e+02] [-1.14957793e-02 -8.06299661e-06 -9.99933921e-01 -4.14735805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.012000256203059747 Centerline is valid? [True, True] Translation: X:202.19, Y:-123.36, Z:-4.15 [[ 9.53018279e-01 -3.02694743e-01 -1.14913760e-02 2.02190949e+02] [-3.02671826e-01 -9.53087555e-01 3.72537658e-03 -1.23357020e+02] [-1.20799394e-02 -7.22362184e-05 -9.99927032e-01 -4.14773691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.013571495137855084 Centerline is valid? [True, True] Translation: X:202.22, Y:-123.38, Z:-4.15 [[ 9.75630386e-01 -2.19109581e-01 -1.16765040e-02 2.02219338e+02] [-2.19091772e-01 -9.75700242e-01 2.79886733e-03 -1.23380534e+02] [-1.20060264e-02 -1.72434073e-04 -9.99927910e-01 -4.14694806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.01445516757187067 Centerline is valid? [True, True] Translation: X:202.25, Y:-123.40, Z:-4.15 [[ 9.90477775e-01 -1.37209981e-01 -1.12782473e-02 2.02251047e+02] [-1.37198543e-01 -9.90541959e-01 1.78535088e-03 -1.23398081e+02] [-1.14165452e-02 -2.20991267e-04 -9.99934805e-01 -4.14781518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.016391281071541513 Centerline is valid? [True, True] Translation: X:202.28, Y:-123.41, Z:-4.15 [[ 9.98505078e-01 -5.36492084e-02 -1.04581171e-02 2.02281299e+02] [-5.36435193e-02 -9.98559810e-01 8.23948420e-04 -1.23412360e+02] [-1.04872596e-02 -2.61706473e-04 -9.99944973e-01 -4.14835194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.01692599473845561 Centerline is valid? [True, True] Translation: X:202.31, Y:-123.42, Z:-4.15 [[ 9.99544182e-01 2.82816635e-02 -1.05629376e-02 2.02312097e+02] [ 2.82832709e-02 -9.99599948e-01 2.78741568e-06 -1.23422475e+02] [-1.05586331e-02 -3.01540570e-04 -9.99944211e-01 -4.14837595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.01735674975554674 Centerline is valid? [True, True] Translation: X:202.34, Y:-123.43, Z:-4.15 [[ 9.94089240e-01 1.08028803e-01 -1.07870868e-02 2.02344229e+02] [ 1.08025994e-01 -9.94147711e-01 -8.44387261e-04 -1.23429967e+02] [-1.08151758e-02 -3.25889491e-04 -9.99941461e-01 -4.14824273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.017564980609251036 Centerline is valid? [True, True] Translation: X:202.38, Y:-123.43, Z:-4.15 [[ 9.82457863e-01 1.86161759e-01 -1.09702292e-02 2.02376570e+02] [ 1.86154027e-01 -9.82519050e-01 -1.73079399e-03 -1.23434361e+02] [-1.11006668e-02 -3.41720175e-04 -9.99938327e-01 -4.14786837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.018948140379298213 Centerline is valid? [True, True] Translation: X:202.41, Y:-123.44, Z:-4.15 [[ 9.65091604e-01 2.61677263e-01 -1.10998137e-02 2.02408468e+02] [ 2.61664003e-01 -9.65155373e-01 -2.65618413e-03 -1.23436129e+02] [-1.14081078e-02 -3.40960693e-04 -9.99934867e-01 -4.14574905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.015205803323453783 Centerline is valid? [True, True] Translation: X:202.44, Y:-123.43, Z:-4.15 [[ 9.43738558e-01 3.30503426e-01 -1.11811891e-02 2.02438457e+02] [ 3.30483693e-01 -9.43804751e-01 -3.62213426e-03 -1.23426517e+02] [-1.17499872e-02 -2.76852901e-04 -9.99930928e-01 -4.14663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.01375327902669092 Centerline is valid? [True, True] Translation: X:202.47, Y:-123.42, Z:-4.15 [[ 9.17691067e-01 3.97148189e-01 -1.07898876e-02 2.02467750e+02] [ 3.97123239e-01 -9.17754476e-01 -4.45598039e-03 -1.23417446e+02] [-1.16721522e-02 -1.95701716e-04 -9.99931859e-01 -4.14700451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.012138612236373589 Centerline is valid? [True, True] Translation: X:202.49, Y:-123.40, Z:-4.15 [[ 8.89453641e-01 4.56934198e-01 -9.13009404e-03 2.02492454e+02] [ 4.56910664e-01 -8.89500498e-01 -4.63779523e-03 -1.23401883e+02] [-1.02403904e-02 -4.65334700e-05 -9.99947565e-01 -4.14813141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.012212910518311748 Centerline is valid? [True, True] Translation: X:202.52, Y:-123.39, Z:-4.15 [[ 8.55771325e-01 5.17300513e-01 -7.45771054e-03 2.02517617e+02] [ 5.17280457e-01 -8.55803819e-01 -4.55536340e-03 -1.23386838e+02] [-8.73882900e-03 4.06214583e-05 -9.99961815e-01 -4.14910412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.014013989610234374 Centerline is valid? [True, True] Translation: X:202.54, Y:-123.37, Z:-4.15 [[ 8.20159005e-01 5.72105290e-01 -5.89444377e-03 2.02542296e+02] [ 5.72089386e-01 -8.20180176e-01 -4.26768321e-03 -1.23371984e+02] [-7.27607007e-03 1.28030092e-04 -9.99973521e-01 -4.15094059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.016399165280173083 Centerline is valid? [True, True] Translation: X:202.57, Y:-123.36, Z:-4.15 [[ 7.77621001e-01 6.28706803e-01 -5.77359706e-03 2.02565841e+02] [ 6.28687636e-01 -7.77642411e-01 -4.91296820e-03 -1.23357682e+02] [-7.57861047e-03 1.90638165e-04 -9.99971264e-01 -4.15006857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.01928271381451836 Centerline is valid? [True, True] Translation: X:202.59, Y:-123.34, Z:-4.15 [[ 7.32919803e-01 6.80289884e-01 -5.85113890e-03 2.02588230e+02] [ 6.80264981e-01 -7.32943101e-01 -5.82809735e-03 -1.23341864e+02] [-8.25334756e-03 2.91203075e-04 -9.99965898e-01 -4.14904546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.019934092628615032 Centerline is valid? [True, True] Translation: X:202.61, Y:-123.33, Z:-4.15 [[ 6.81321911e-01 7.31966321e-01 -5.07528941e-03 2.02614374e+02] [ 7.31942476e-01 -6.81340741e-01 -5.91665187e-03 -1.23328879e+02] [-7.78879135e-03 3.16324668e-04 -9.99969617e-01 -4.14973996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.020934682696536856 Centerline is valid? [True, True] Translation: X:202.64, Y:-123.32, Z:-4.15 [[ 6.26949269e-01 7.79053180e-01 -3.27982656e-03 2.02641762e+02] [ 7.79040274e-01 -6.26957794e-01 -4.49184144e-03 -1.23315647e+02] [-5.55569618e-03 2.61039728e-04 -9.99984533e-01 -4.15103878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.02275313847186773 Centerline is valid? [True, True] Translation: X:202.67, Y:-123.30, Z:-4.15 [[ 5.65737241e-01 8.24581140e-01 -2.70504974e-03 2.02666919e+02] [ 8.24569497e-01 -5.65743652e-01 -4.38919488e-03 -1.23300799e+02] [-5.14961204e-03 2.52629496e-04 -9.99986709e-01 -4.15014564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.023686461601957965 Centerline is valid? [True, True] Translation: X:202.69, Y:-123.28, Z:-4.15 [[ 4.97869182e-01 8.67249214e-01 -2.25359737e-03 2.02689930e+02] [ 8.67238115e-01 -4.97874227e-01 -4.39379269e-03 -1.23283982e+02] [-4.93252131e-03 2.33128434e-04 -9.99987808e-01 -4.14951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.019713578852251952 Centerline is valid? [True, True] Translation: X:202.72, Y:-123.27, Z:-4.15 [[ 4.21476713e-01 9.06837824e-01 -1.59411772e-03 2.02723863e+02] [ 9.06829804e-01 -4.21479696e-01 -3.81742226e-03 -1.23269315e+02] [-4.13367115e-03 1.63361121e-04 -9.99991443e-01 -4.14998411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.016333758706120572 Centerline is valid? [True, True] Translation: X:202.76, Y:-123.25, Z:-4.15 [[ 3.36880906e-01 9.41546375e-01 -1.29560315e-03 2.02757185e+02] [ 9.41538111e-01 -3.36883379e-01 -3.94634175e-03 -1.23250229e+02] [-4.15213094e-03 1.09587443e-04 -9.99991374e-01 -4.14952010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.013979221496334935 Centerline is valid? [True, True] Translation: X:202.78, Y:-123.23, Z:-4.15 [[ 2.52677030e-01 9.67549996e-01 -1.15095025e-03 2.02784446e+02] [ 9.67538442e-01 -2.52679638e-01 -4.72904365e-03 -1.23226560e+02] [-4.86640786e-03 8.13320882e-05 -9.99988156e-01 -4.14836205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.011842805320863103 Centerline is valid? [True, True] Translation: X:202.82, Y:-123.20, Z:-4.15 [[ 1.64017443e-01 9.86457096e-01 -8.22569841e-04 2.02817616e+02] [ 9.86443974e-01 -1.64019504e-01 -5.08798244e-03 -1.23201322e+02] [-5.15399388e-03 2.30988068e-05 -9.99986718e-01 -4.14778685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.01166832334505759 Centerline is valid? [True, True] Translation: X:202.84, Y:-123.17, Z:-4.15 [[ 7.92647392e-02 9.96853550e-01 -3.18195553e-04 2.02842926e+02] [ 9.96846024e-01 -7.92653772e-02 -3.87355556e-03 -1.23171299e+02] [-3.88658950e-03 -1.01556006e-05 -9.99992447e-01 -4.14842163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.011732151667988178 Centerline is valid? [True, True] Translation: X:202.86, Y:-123.14, Z:-4.15 [[-8.55936333e-04 9.99999634e-01 -1.56139235e-05 2.02858916e+02] [ 9.99989793e-01 8.55858640e-04 -4.43635600e-03 -1.23139222e+02] [-4.43634101e-03 -1.94110024e-05 -9.99990159e-01 -4.14836056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.011815948596351693 Centerline is valid? [True, True] Translation: X:202.87, Y:-123.11, Z:-4.15 [[-7.87012291e-02 9.96898138e-01 4.68322708e-04 2.02871918e+02] [ 9.96878638e-01 7.87026188e-02 -6.23525336e-03 -1.23105997e+02] [-6.25277068e-03 -2.38611995e-05 -9.99980451e-01 -4.14618541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.011731329172225857 Centerline is valid? [True, True] Translation: X:202.88, Y:-123.07, Z:-4.14 [[-1.54045152e-01 9.88063193e-01 1.10320837e-03 2.02877849e+02] [ 9.88037424e-01 1.54049102e-01 -7.13597656e-03 -1.23071667e+02] [-7.22074405e-03 -9.25144068e-06 -9.99973930e-01 -4.14494864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.012024512876230383 Centerline is valid? [True, True] Translation: X:202.88, Y:-123.04, Z:-4.14 [[-2.23987814e-01 9.74590287e-01 1.79770289e-03 2.02880141e+02] [ 9.74560541e-01 2.23995023e-01 -7.61462029e-03 -1.23036928e+02] [-7.82381147e-03 4.63881449e-05 -9.99969392e-01 -4.14488642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.01372402601560625 Centerline is valid? [True, True] Translation: X:202.88, Y:-123.00, Z:-4.15 [[-2.89139819e-01 9.57284064e-01 2.32066902e-03 2.02876342e+02] [ 9.57256711e-01 2.89149103e-01 -7.23774264e-03 -1.23003584e+02] [-7.59959505e-03 1.28756390e-04 -9.99971114e-01 -4.14500336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.015528849809507668 Centerline is valid? [True, True] Translation: X:202.87, Y:-122.97, Z:-4.15 [[-3.56670217e-01 9.34226097e-01 2.82055172e-03 2.02870705e+02] [ 9.34200731e-01 3.56681324e-01 -6.88671695e-03 -1.22970617e+02] [-7.43978882e-03 1.78674653e-04 -9.99972308e-01 -4.14527571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.016572866561569984 Centerline is valid? [True, True] Translation: X:202.87, Y:-122.94, Z:-4.15 [[-4.23366554e-01 9.05952910e-01 3.17580885e-03 2.02866194e+02] [ 9.05931052e-01 4.23378412e-01 -6.29677102e-03 -1.22935794e+02] [-7.04914694e-03 2.11221601e-04 -9.99975132e-01 -4.14563911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.01810291213468691 Centerline is valid? [True, True] Translation: X:202.86, Y:-122.90, Z:-4.15 [[-4.90074523e-01 8.71672727e-01 3.69026639e-03 2.02859754e+02] [ 8.71651555e-01 4.90088359e-01 -6.08008034e-03 -1.22902698e+02] [-7.10839681e-03 2.36933961e-04 -9.99974707e-01 -4.14547923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.017927117875319597 Centerline is valid? [True, True] Translation: X:202.85, Y:-122.87, Z:-4.14 [[-5.59704382e-01 8.28681381e-01 4.26304775e-03 2.02852518e+02] [ 8.28660249e-01 5.59720575e-01 -5.92194120e-03 -1.22868909e+02] [-7.29351794e-03 2.18081769e-04 -9.99973378e-01 -4.14470666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.0160238872259016 Centerline is valid? [True, True] Translation: X:202.84, Y:-122.83, Z:-4.15 [[-6.26789234e-01 7.79174965e-01 4.65069828e-03 2.02843102e+02] [ 7.79155608e-01 6.26806462e-01 -5.49515827e-03 -1.22833493e+02] [-7.19677749e-03 1.79311605e-04 -9.99974087e-01 -4.14515271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.013396051007127966 Centerline is valid? [True, True] Translation: X:202.83, Y:-122.80, Z:-4.15 [[-6.93462746e-01 7.20474297e-01 5.11927804e-03 2.02833633e+02] [ 7.20455775e-01 6.93481634e-01 -5.16711458e-03 -1.22795425e+02] [-7.27289854e-03 1.05011964e-04 -9.99973547e-01 -4.14525588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.012052722644494763 Centerline is valid? [True, True] Translation: X:202.82, Y:-122.76, Z:-4.15 [[-7.52923289e-01 6.58087589e-01 5.21980253e-03 2.02818786e+02] [ 6.58072193e-01 7.52941381e-01 -4.50181553e-03 -1.22759252e+02] [-6.89279425e-03 4.54851358e-05 -9.99976243e-01 -4.14510539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.011750675902346156 Centerline is valid? [True, True] Translation: X:202.83, Y:-122.72, Z:-4.14 [[-8.03654192e-01 5.95071933e-01 5.41619199e-03 2.02831409e+02] [ 5.95058223e-01 8.03672442e-01 -4.03937084e-03 -1.22722942e+02] [-6.75656046e-03 -2.33077262e-05 -9.99977174e-01 -4.14481726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.011933351299786354 Centerline is valid? [True, True] Translation: X:202.84, Y:-122.69, Z:-4.14 [[-8.45246824e-01 5.34347710e-01 5.50736086e-03 2.02841754e+02] [ 5.34336053e-01 8.45264765e-01 -3.52974800e-03 -1.22694174e+02] [-6.54129084e-03 -4.07268223e-05 -9.99978605e-01 -4.14474325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.01372530415444567 Centerline is valid? [True, True] Translation: X:202.85, Y:-122.66, Z:-4.14 [[-8.84100067e-01 4.67256803e-01 6.17673182e-03 2.02846300e+02] [ 4.67244684e-01 8.84121639e-01 -3.36657291e-03 -1.22658179e+02] [-7.03403635e-03 -9.03422289e-05 -9.99975257e-01 -4.14366178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.013819876422566515 Centerline is valid? [True, True] Translation: X:202.85, Y:-122.63, Z:-4.14 [[-9.16343293e-01 4.00338380e-01 6.64459969e-03 2.02853619e+02] [ 4.00326900e-01 9.16367376e-01 -3.03415077e-03 -1.22630571e+02] [-7.30358139e-03 -1.20311717e-04 -9.99973321e-01 -4.14425311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.01478047099817179 Centerline is valid? [True, True] Translation: X:202.86, Y:-122.60, Z:-4.14 [[-9.43735824e-01 3.30629920e-01 6.82282137e-03 2.02856958e+02] [ 3.30620125e-01 9.43760474e-01 -2.54952271e-03 -1.22601685e+02] [-7.28205763e-03 -1.50313859e-04 -9.99973474e-01 -4.14403967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.015624044266818519 Centerline is valid? [True, True] Translation: X:202.86, Y:-122.57, Z:-4.14 [[-9.65677432e-01 2.59652815e-01 6.89296968e-03 2.02857632e+02] [ 2.59644922e-01 9.65702017e-01 -2.03182604e-03 -1.22574016e+02] [-7.18412408e-03 -1.72363979e-04 -9.99974179e-01 -4.14367028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.016726262933093407 Centerline is valid? [True, True] Translation: X:202.85, Y:-122.55, Z:-4.14 [[-9.82013967e-01 1.88656113e-01 7.57885069e-03 2.02853803e+02] [ 1.88648911e-01 9.82043192e-01 -1.66075016e-03 -1.22545328e+02] [-7.75606939e-03 -2.01137931e-04 -9.99969901e-01 -4.14289306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.016747206368025867 Centerline is valid? [True, True] Translation: X:202.95, Y:-122.07, Z:-5.12 [[-9.51971357e-01 -3.06057578e-01 8.90470618e-03 2.02953360e+02] [ 3.06047485e-01 -9.52012944e-01 -2.50843427e-03 -1.22074437e+02] [ 9.24512086e-03 3.37305346e-04 9.99957206e-01 -5.11517655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.01743019755801112 Centerline is valid? [True, True] Translation: X:202.81, Y:-122.54, Z:-4.14 [[-9.83214837e-01 1.82228427e-01 9.02134959e-03 2.02806477e+02] [ 1.82218272e-01 9.83256187e-01 -1.94203725e-03 -1.22543518e+02] [-9.22419220e-03 -2.65585101e-04 -9.99957421e-01 -4.14269298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.018224222697549204 Centerline is valid? [True, True] Translation: X:202.80, Y:-122.52, Z:-4.14 [[-9.93584081e-01 1.12808085e-01 8.06290092e-03 2.02802731e+02] [ 1.12802504e-01 9.93616769e-01 -1.14512260e-03 -1.22520982e+02] [-8.14061265e-03 -2.28260178e-04 -9.99966839e-01 -4.14402432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.017309730281608954 Centerline is valid? [True, True] Translation: X:202.87, Y:-122.01, Z:-5.11 [[-9.72656996e-01 -2.32136111e-01 7.15504866e-03 2.02867313e+02] [ 2.32130997e-01 -9.72683300e-01 -1.54861158e-03 -1.22014152e+02] [ 7.31908501e-03 1.54640691e-04 9.99973203e-01 -5.11184851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.016380192010647887 Centerline is valid? [True, True] Translation: X:202.75, Y:-122.53, Z:-4.15 [[-9.93686446e-01 1.11972949e-01 7.02181952e-03 2.02752274e+02] [ 1.11968890e-01 9.93711239e-01 -9.69777125e-04 -1.22529906e+02] [-7.08624978e-03 -1.77429048e-04 -9.99974877e-01 -4.14593706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.015754314627185313 Centerline is valid? [True, True] Translation: X:202.83, Y:-121.99, Z:-5.11 [[-9.74415634e-01 -2.24649831e-01 6.82836019e-03 2.02826982e+02] [ 2.24645515e-01 -9.74439544e-01 -1.40250353e-03 -1.21994899e+02] [ 6.96889638e-03 1.67339122e-04 9.99975703e-01 -5.11150568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.014607512707240556 Centerline is valid? [True, True] Translation: X:202.71, Y:-122.54, Z:-4.15 [[-9.93599553e-01 1.12762799e-01 6.66935655e-03 2.02708463e+02] [ 1.12759328e-01 9.93621926e-01 -8.95434509e-04 -1.22541935e+02] [-6.72779060e-03 -1.37671167e-04 -9.99977359e-01 -4.14718201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.014355388913138896 Centerline is valid? [True, True] Translation: X:202.79, Y:-121.98, Z:-5.11 [[-9.76052391e-01 -2.17436585e-01 6.56207467e-03 2.02785790e+02] [ 2.17432598e-01 -9.76074440e-01 -1.32371118e-03 -1.21976789e+02] [ 6.69289660e-03 1.34797482e-04 9.99977593e-01 -5.11041155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.013141559337612118 Centerline is valid? [True, True] Translation: X:202.66, Y:-122.55, Z:-4.15 [[-9.93185977e-01 1.16344572e-01 6.74951868e-03 2.02661640e+02] [ 1.16341279e-01 9.93208907e-01 -8.79695038e-04 -1.22551762e+02] [-6.80602982e-03 -8.84531369e-05 -9.99976835e-01 -4.14741252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.012283141625602956 Centerline is valid? [True, True] Translation: X:202.75, Y:-121.95, Z:-5.11 [[-9.80085526e-01 -1.98482367e-01 6.09200394e-03 2.02747653e+02] [ 1.98478839e-01 -9.80104458e-01 -1.18450808e-03 -1.21949476e+02] [ 6.20590419e-03 4.82146406e-05 9.99980742e-01 -5.10954971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.012338550378858315 Centerline is valid? [True, True] Translation: X:202.62, Y:-122.57, Z:-4.15 [[-9.91633489e-01 1.28921006e-01 6.51137586e-03 2.02619398e+02] [ 1.28918384e-01 9.91654866e-01 -8.22510071e-04 -1.22569217e+02] [-6.56307639e-03 2.38075237e-05 -9.99978463e-01 -4.14790409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.0134690317445445 Centerline is valid? [True, True] Translation: X:202.71, Y:-121.92, Z:-5.11 [[-9.83705458e-01 -1.79668781e-01 6.53461568e-03 2.02706193e+02] [ 1.79664685e-01 -9.83727162e-01 -1.21330412e-03 -1.21924637e+02] [ 6.64627181e-03 -1.94942138e-05 9.99977913e-01 -5.10944776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.014075133738235485 Centerline is valid? [True, True] Translation: X:202.58, Y:-122.58, Z:-4.15 [[-9.90582260e-01 1.36705401e-01 7.64328806e-03 2.02575765e+02] [ 1.36702260e-01 9.90611740e-01 -9.34409163e-04 -1.22583673e+02] [-7.69926966e-03 1.19245609e-04 -9.99970353e-01 -4.14795281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.014753771598922149 Centerline is valid? [True, True] Translation: X:202.57, Y:-122.56, Z:-4.15 [[-9.97828242e-01 6.53360423e-02 8.36664839e-03 2.02574845e+02] [ 6.53347856e-02 9.97863310e-01 -4.23722112e-04 -1.22559992e+02] [-8.37645578e-03 1.23831289e-04 -9.99964909e-01 -4.14678195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.014167417260109326 Centerline is valid? [True, True] Translation: X:202.57, Y:-122.53, Z:-4.15 [[-9.99922240e-01 -8.99347750e-03 8.63900038e-03 2.02566340e+02] [-8.99228556e-03 9.99959553e-01 1.76806200e-04 -1.22533805e+02] [-8.64024106e-03 9.91080931e-05 -9.99962668e-01 -4.14677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.013274898332890642 Centerline is valid? [True, True] Translation: X:202.56, Y:-121.85, Z:-5.11 [[-9.99234672e-01 -3.80778272e-02 8.95261067e-03 2.02556020e+02] [ 3.80755740e-02 -9.99274773e-01 -4.22052031e-04 -1.21848252e+02] [ 8.96218882e-03 -8.08532330e-05 9.99959836e-01 -5.10962421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.012768335762536354 Centerline is valid? [True, True] Translation: X:202.50, Y:-122.53, Z:-4.15 [[-9.99726749e-01 -2.14526888e-02 9.28492932e-03 2.02497180e+02] [-2.14514496e-02 9.99769864e-01 2.33037357e-04 -1.22534135e+02] [-9.28779180e-03 3.37984856e-05 -9.99956867e-01 -4.14775894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.012649159636177496 Centerline is valid? [True, True] Translation: X:202.49, Y:-122.51, Z:-4.15 [[-9.95380159e-01 -9.55978167e-02 8.91046421e-03 2.02489783e+02] [-9.55939461e-02 9.95420041e-01 8.60267898e-04 -1.22507157e+02] [-8.95189438e-03 4.50716214e-06 -9.99959931e-01 -4.14742902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.012729361329030733 Centerline is valid? [True, True] Translation: X:202.48, Y:-122.48, Z:-4.15 [[-9.85615235e-01 -1.68760081e-01 9.09086744e-03 2.02477561e+02] [-1.68753083e-01 9.85657159e-01 1.53699933e-03 -1.22481498e+02] [-9.21986271e-03 -1.92219547e-05 -9.99957496e-01 -4.14778576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.012704854230308585 Centerline is valid? [True, True] Translation: X:202.46, Y:-122.46, Z:-4.15 [[-9.71229117e-01 -2.37975872e-01 9.02705473e-03 2.02463828e+02] [-2.37965719e-01 9.71271066e-01 2.19824122e-03 -1.22459326e+02] [-9.29084545e-03 -1.31336910e-05 -9.99956839e-01 -4.14796465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.012857019503306094 Centerline is valid? [True, True] Translation: X:202.29, Y:-121.79, Z:-5.11 [[-9.85002776e-01 1.72290045e-01 9.25587648e-03 2.02288877e+02] [-1.72282246e-01 -9.85046263e-01 1.63944765e-03 -1.21789713e+02] [ 9.39992704e-03 2.02372980e-05 9.99955820e-01 -5.10942630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.013288232206593972 Centerline is valid? [True, True] Translation: X:202.35, Y:-122.49, Z:-4.15 [[-9.71889227e-01 -2.35236904e-01 9.74312221e-03 2.02347253e+02] [-2.35224246e-01 9.71938060e-01 2.44168384e-03 -1.22494159e+02] [-1.00440854e-02 8.12276432e-05 -9.99949554e-01 -4.14791993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.014096890071004335 Centerline is valid? [True, True] Translation: X:202.32, Y:-122.48, Z:-4.15 [[-9.54143730e-01 -2.99175854e-01 1.01760180e-02 2.02320878e+02] [-2.99157191e-01 9.54197981e-01 3.34488387e-03 -1.22477568e+02] [-1.07106443e-02 1.47271016e-04 -9.99942629e-01 -4.14765185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.01570163650912568 Centerline is valid? [True, True] Translation: X:202.27, Y:-122.47, Z:-4.15 [[-9.32562800e-01 -3.60848682e-01 1.07168997e-02 2.02268795e+02] [-3.60821706e-01 9.32624342e-01 4.41963213e-03 -1.22473807e+02] [-1.15896599e-02 2.54694501e-04 -9.99932805e-01 -4.14768307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.017434635213022666 Centerline is valid? [True, True] Translation: X:202.21, Y:-122.47, Z:-4.15 [[-9.05788538e-01 -4.23591141e-01 1.08475755e-02 2.02208127e+02] [-4.23556320e-01 9.05853428e-01 5.44160124e-03 -1.22474879e+02] [-1.21313275e-02 3.34380893e-04 -9.99926357e-01 -4.14725975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.017299837636486525 Centerline is valid? [True, True] Translation: X:202.13, Y:-122.48, Z:-4.15 [[-8.72454615e-01 -4.88587525e-01 1.02555288e-02 2.02134300e+02] [-4.88549108e-01 8.72514821e-01 6.13649731e-03 -1.22484453e+02] [-1.19463169e-02 3.43485946e-04 -9.99928581e-01 -4.14769767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.017643906914459245 Centerline is valid? [True, True] Translation: X:202.05, Y:-122.50, Z:-4.15 [[-8.33188611e-01 -5.52896408e-01 1.01143676e-02 2.02054799e+02] [-5.52850557e-01 8.33249927e-01 7.12889241e-03 -1.22504106e+02] [-1.23693351e-02 3.47978180e-04 -9.99923436e-01 -4.14731554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.016214167163667036 Centerline is valid? [True, True] Translation: X:201.97, Y:-122.53, Z:-4.15 [[-7.86395787e-01 -6.17646201e-01 9.73837725e-03 2.01967859e+02] [-6.17594191e-01 7.86456028e-01 8.02060493e-03 -1.22531300e+02] [-1.26127017e-02 2.93004710e-04 -9.99920414e-01 -4.14714209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.015426853538526233 Centerline is valid? [True, True] Translation: X:201.88, Y:-122.57, Z:-4.15 [[-7.34122697e-01 -6.78961426e-01 8.67458878e-03 2.01878313e+02] [-6.78910554e-01 7.34173914e-01 8.31404215e-03 -1.22569047e+02] [-1.20135707e-02 2.14257170e-04 -9.99927812e-01 -4.14627449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.013041964143509185 Centerline is valid? [True, True] Translation: X:201.79, Y:-122.61, Z:-4.15 [[-6.72206256e-01 -7.40331370e-01 6.94345056e-03 2.01785308e+02] [-7.40290911e-01 6.72242113e-01 7.74006938e-03 -1.22612222e+02] [-1.03978960e-02 6.27497270e-05 -9.99945938e-01 -4.14805737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.013071607680771282 Centerline is valid? [True, True] Translation: X:201.69, Y:-122.67, Z:-4.15 [[-6.04214534e-01 -7.96801558e-01 5.66341215e-03 2.01693056e+02] [-7.96767545e-01 6.04241073e-01 7.36244774e-03 -1.22666001e+02] [-9.28847606e-03 -6.39250642e-05 -9.99956859e-01 -4.14764031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.015010042900463807 Centerline is valid? [True, True] Translation: X:201.60, Y:-122.73, Z:-4.15 [[-5.32243221e-01 -8.46577658e-01 4.83969954e-03 2.01603921e+02] [-8.46545459e-01 5.32265199e-01 7.38537036e-03 -1.22729926e+02] [-8.82829318e-03 -1.66212357e-04 -9.99961016e-01 -4.14814400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.016549557695897738 Centerline is valid? [True, True] Translation: X:201.52, Y:-122.80, Z:-4.15 [[-4.60958634e-01 -8.87411773e-01 4.18113632e-03 2.01524140e+02] [-8.87379438e-01 4.60977545e-01 7.57860358e-03 -1.22802725e+02] [-8.65275200e-03 -2.16831641e-04 -9.99962541e-01 -4.14833326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.018265521900435348 Centerline is valid? [True, True] Translation: X:201.45, Y:-122.88, Z:-4.15 [[-3.87552093e-01 -9.21840887e-01 3.57129987e-03 2.01451249e+02] [-9.21807695e-01 3.87568461e-01 7.82694210e-03 -1.22882495e+02] [-8.59931844e-03 -2.58703910e-04 -9.99962992e-01 -4.14772168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.019307718800135088 Centerline is valid? [True, True] Translation: X:201.39, Y:-122.97, Z:-4.15 [[-3.15682008e-01 -9.48859984e-01 3.09859668e-03 2.01385268e+02] [-9.48822460e-01 3.15697095e-01 8.44290245e-03 -1.22972731e+02] [-8.98935025e-03 -2.74745732e-04 -9.99959557e-01 -4.14649681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.0178867265352775 Centerline is valid? [True, True] Translation: X:201.33, Y:-123.07, Z:-4.15 [[-2.44723828e-01 -9.69588737e-01 2.81576693e-03 2.01334195e+02] [-9.69537488e-01 2.44739855e-01 9.97313787e-03 -1.23066268e+02] [-1.03589725e-02 -2.89327124e-04 -9.99946303e-01 -4.14523758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.01683726443367869 Centerline is valid? [True, True] Translation: X:201.29, Y:-123.17, Z:-4.14 [[-1.72770867e-01 -9.84959570e-01 2.20760985e-03 2.01287343e+02] [-9.84898440e-01 1.72784748e-01 1.09769592e-02 -1.23171618e+02] [-1.11933023e-02 -2.77772746e-04 -9.99937314e-01 -4.14484335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.015044180099624884 Centerline is valid? [True, True] Translation: X:201.25, Y:-123.28, Z:-4.15 [[-1.02291971e-01 -9.94753737e-01 1.16402265e-03 2.01254788e+02] [-9.94708145e-01 1.02298430e-01 9.52566720e-03 -1.23277869e+02] [-9.59477074e-03 -1.83463532e-04 -9.99953952e-01 -4.14670184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.013540301187709247 Centerline is valid? [True, True] Translation: X:201.23, Y:-123.39, Z:-4.15 [[-3.31883394e-02 -9.99449059e-01 3.35232379e-04 2.01231446e+02] [-9.99421111e-01 3.31899185e-02 7.47474544e-03 -1.23387493e+02] [-7.48175363e-03 -8.69639287e-05 -9.99972008e-01 -4.14920087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.012835736520827444 Centerline is valid? [True, True] Translation: X:201.22, Y:-123.50, Z:-4.15 [[ 3.59360573e-02 -9.99354072e-01 -1.96287501e-04 2.01215328e+02] [-9.99335044e-01 -3.59365844e-02 6.16693811e-03 -1.23495043e+02] [-6.17000862e-03 -2.54584630e-05 -9.99980965e-01 -4.15011702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.012813876585530985 Centerline is valid? [True, True] Translation: X:201.20, Y:-123.61, Z:-4.15 [[ 1.09071996e-01 -9.94033628e-01 -6.67622203e-04 2.01202785e+02] [-9.94014906e-01 -1.09074039e-01 6.10089899e-03 -1.23609386e+02] [-6.13731901e-03 -1.81080876e-06 -9.99981167e-01 -4.15026879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.012769323338024826 Centerline is valid? [True, True] Translation: X:201.19, Y:-123.73, Z:-4.15 [[ 1.85907640e-01 -9.82566699e-01 -1.01537578e-03 2.01193828e+02] [-9.82551894e-01 -1.85910413e-01 5.39387675e-03 -1.23732492e+02] [-5.48861260e-03 -5.10350504e-06 -9.99984937e-01 -4.15007922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.01291675716881015 Centerline is valid? [True, True] Translation: X:201.19, Y:-123.86, Z:-4.15 [[ 2.65784508e-01 -9.64030866e-01 -1.75641755e-03 2.01190799e+02] [-9.64008848e-01 -2.65790309e-01 6.51555885e-03 -1.23855582e+02] [-6.74803860e-03 -3.85325449e-05 -9.99977231e-01 -4.14965357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.013145959141211656 Centerline is valid? [True, True] Translation: X:201.20, Y:-123.98, Z:-4.15 [[ 3.41177520e-01 -9.39995951e-01 -2.34771844e-03 2.01198782e+02] [-9.39972580e-01 -3.41185593e-01 6.62870727e-03 -1.23975893e+02] [-7.03196571e-03 -5.47749473e-05 -9.99975274e-01 -4.14967680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.013260109716836282 Centerline is valid? [True, True] Translation: X:201.22, Y:-124.09, Z:-4.15 [[ 4.12499545e-01 -9.10954151e-01 -2.58081954e-03 2.01216129e+02] [-9.10935550e-01 -4.12507615e-01 5.82166244e-03 -1.24093934e+02] [-6.36787528e-03 -5.04728347e-05 -9.99979724e-01 -4.15000730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.013199890303652411 Centerline is valid? [True, True] Translation: X:201.24, Y:-124.21, Z:-4.15 [[ 4.80755510e-01 -8.76850042e-01 -2.85378930e-03 2.01241954e+02] [-8.76834048e-01 -4.80763978e-01 5.29613929e-03 -1.24209539e+02] [-6.01591905e-03 -4.38485225e-05 -9.99981903e-01 -4.15001426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.01326668697045092 Centerline is valid? [True, True] Translation: X:201.28, Y:-124.32, Z:-4.15 [[ 5.46834570e-01 -8.37234584e-01 -3.19456374e-03 2.01276713e+02] [-8.37219822e-01 -5.46843899e-01 4.97189427e-03 -1.24321294e+02] [-5.90956952e-03 -4.42515759e-05 -9.99982537e-01 -4.15113746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.013483775091585175 Centerline is valid? [True, True] Translation: X:201.32, Y:-124.43, Z:-4.15 [[ 6.10545703e-01 -7.91973655e-01 -3.41668074e-03 2.01320215e+02] [-7.91960788e-01 -6.10555261e-01 4.51480656e-03 -1.24431734e+02] [-5.66168025e-03 -5.06185722e-05 -9.99983971e-01 -4.15203293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.013708238782589697 Centerline is valid? [True, True] Translation: X:201.36, Y:-124.53, Z:-4.15 [[ 6.71201834e-01 -7.41267909e-01 -3.15987567e-03 2.01363974e+02] [-7.41259306e-01 -6.71209270e-01 3.57171082e-03 -1.24529655e+02] [-4.76853245e-03 -5.50516125e-05 -9.99988629e-01 -4.15353463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.01435147741849117 Centerline is valid? [True, True] Translation: X:201.42, Y:-124.63, Z:-4.15 [[ 7.27059216e-01 -6.86567186e-01 -3.22436985e-03 2.01420230e+02] [-6.86560065e-01 -7.27066363e-01 3.12735487e-03 -1.24630127e+02] [-4.49147009e-03 -6.00485997e-05 -9.99989912e-01 -4.15366798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.014842270835812058 Centerline is valid? [True, True] Translation: X:201.44, Y:-124.66, Z:-4.15 [[ 7.79981939e-01 -6.25789952e-01 -3.88726908e-03 2.01439550e+02] [-6.25781671e-01 -7.79991622e-01 3.22038380e-03 -1.24655443e+02] [-5.04732114e-03 -7.92594612e-05 -9.99987259e-01 -4.15457117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.0153080716480727 Centerline is valid? [True, True] Translation: X:201.46, Y:-124.68, Z:-4.15 [[ 8.27092256e-01 -5.62043806e-01 -5.01597550e-03 2.01461403e+02] [-5.62032719e-01 -8.27107460e-01 3.53179522e-03 -1.24677907e+02] [-6.13377438e-03 -1.01978130e-04 -9.99981183e-01 -4.15455965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.014566513405920776 Centerline is valid? [True, True] Translation: X:201.49, Y:-124.70, Z:-4.15 [[ 8.67587950e-01 -4.97242476e-01 -6.40856160e-03 2.01485464e+02] [-4.97227971e-01 -8.67611612e-01 3.79949085e-03 -1.24698405e+02] [-7.44941070e-03 -1.09876393e-04 -9.99972247e-01 -4.15433686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.014200224224120372 Centerline is valid? [True, True] Translation: X:201.51, Y:-124.72, Z:-4.15 [[ 9.02664920e-01 -4.30286025e-01 -7.06955762e-03 2.01510913e+02] [-4.30271999e-01 -9.02692599e-01 3.47550404e-03 -1.24715285e+02] [-7.87709816e-03 -9.53828867e-05 -9.99968971e-01 -4.15415856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.013388110504435278 Centerline is valid? [True, True] Translation: X:201.54, Y:-124.73, Z:-4.15 [[ 9.31311577e-01 -3.64137962e-01 -7.89244076e-03 2.01539940e+02] [-3.64124429e-01 -9.31345018e-01 3.13982925e-03 -1.24726714e+02] [-8.49391640e-03 -5.03288467e-05 -9.99963925e-01 -4.15477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.013188128185905446 Centerline is valid? [True, True] Translation: X:201.57, Y:-124.74, Z:-4.16 [[ 9.55839470e-01 -2.93819989e-01 -6.38140455e-03 2.01566958e+02] [-2.93813339e-01 -9.55860771e-01 1.97694933e-03 -1.24742484e+02] [-6.68060151e-03 -1.47044225e-05 -9.99977684e-01 -4.15679784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.013125892308664849 Centerline is valid? [True, True] Translation: X:201.59, Y:-124.76, Z:-4.16 [[ 9.75531646e-01 -2.19775002e-01 -6.07917845e-03 2.01594331e+02] [-2.19770711e-01 -9.75550587e-01 1.37330086e-03 -1.24758532e+02] [-6.23236330e-03 -3.67307434e-06 -9.99980579e-01 -4.15786886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.01314987196304253 Centerline is valid? [True, True] Translation: X:201.62, Y:-124.77, Z:-4.16 [[ 9.89728800e-01 -1.42804415e-01 -6.61820422e-03 2.01618415e+02] [-1.42801202e-01 -9.89750928e-01 9.57934315e-04 -1.24772488e+02] [-6.68717102e-03 -3.00766301e-06 -9.99977641e-01 -4.15769302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.013074317528563549 Centerline is valid? [True, True] Translation: X:201.64, Y:-124.78, Z:-4.16 [[ 9.97871760e-01 -6.47788828e-02 -7.45970674e-03 2.01643963e+02] [-6.47770452e-02 -9.97899642e-01 4.87937197e-04 -1.24784152e+02] [-7.47564672e-03 -3.68098843e-06 -9.99972057e-01 -4.15719346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.013125099375638355 Centerline is valid? [True, True] Translation: X:201.67, Y:-124.79, Z:-4.16 [[ 9.99867651e-01 1.37811782e-02 -8.64641331e-03 2.01670778e+02] [ 1.37807167e-02 -9.99905035e-01 -1.12958833e-04 -1.24793003e+02] [-8.64714891e-03 -6.20988888e-06 -9.99962613e-01 -4.15559700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.013092304250804421 Centerline is valid? [True, True] Translation: X:201.70, Y:-124.80, Z:-4.16 [[ 9.95565670e-01 9.36643265e-02 -8.71731768e-03 2.01698124e+02] [ 9.36609173e-02 -9.95603834e-01 -7.99409688e-04 -1.24800599e+02] [-8.75387107e-03 -2.06071292e-05 -9.99961684e-01 -4.15521822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.01312619148390995 Centerline is valid? [True, True] Translation: X:201.73, Y:-124.81, Z:-4.16 [[ 9.84858281e-01 1.73227566e-01 -6.81011512e-03 2.01726519e+02] [ 1.73223635e-01 -9.84881825e-01 -1.16738661e-03 -1.24806725e+02] [-6.90938215e-03 -2.99625221e-05 -9.99976130e-01 -4.15655758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.01299405897116942 Centerline is valid? [True, True] Translation: X:201.75, Y:-124.81, Z:-4.16 [[ 9.68555786e-01 2.48746163e-01 -5.00354228e-03 2.01754611e+02] [ 2.48742935e-01 -9.68568710e-01 -1.26726709e-03 -1.24808845e+02] [-5.16150232e-03 -1.71769224e-05 -9.99986679e-01 -4.15797586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.012927659656584007 Centerline is valid? [True, True] Translation: X:201.78, Y:-124.81, Z:-4.16 [[ 9.47589786e-01 3.19485074e-01 -1.69833733e-03 2.01780392e+02] [ 3.19484559e-01 -9.47591308e-01 -5.73479986e-04 -1.24805274e+02] [-1.79254799e-03 8.31223184e-07 -9.99998393e-01 -4.15939153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.013138599337179955 Centerline is valid? [True, True] Translation: X:201.81, Y:-124.80, Z:-4.16 [[ 9.20995854e-01 3.89572352e-01 1.36452071e-04 2.01806714e+02] [ 3.89572348e-01 -9.20995864e-01 6.07915264e-05 -1.24799591e+02] [ 1.49354491e-04 -2.83079011e-06 -9.99999989e-01 -4.16047198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.013358394887219165 Centerline is valid? [True, True] Translation: X:201.83, Y:-124.80, Z:-4.16 [[ 8.89018839e-01 4.57867550e-01 1.67677051e-03 2.01834771e+02] [ 4.57866699e-01 -8.89020420e-01 8.82854100e-04 -1.24796409e+02] [ 1.89491347e-03 -1.71365473e-05 -9.99998205e-01 -4.16091633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.013579043212449283 Centerline is valid? [True, True] Translation: X:201.86, Y:-124.79, Z:-4.16 [[ 8.51121771e-01 5.24965518e-01 1.71360269e-03 2.01860406e+02] [ 5.24964405e-01 -8.51123495e-01 1.08136290e-03 -1.24790156e+02] [ 2.02616575e-03 -2.07910876e-05 -9.99997947e-01 -4.16078654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.013656215436386527 Centerline is valid? [True, True] Translation: X:201.89, Y:-124.78, Z:-4.16 [[ 8.07723681e-01 5.89556362e-01 2.39835595e-03 2.01887906e+02] [ 5.89553647e-01 -8.07727241e-01 1.78933100e-03 -1.24783408e+02] [ 2.99212890e-03 -3.13255254e-05 -9.99995523e-01 -4.16063292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.013545532035563078 Centerline is valid? [True, True] Translation: X:201.92, Y:-124.78, Z:-4.16 [[ 7.57831228e-01 6.52445748e-01 2.52479479e-03 2.01915189e+02] [ 6.52442002e-01 -7.57835434e-01 2.21123294e-03 -1.24775435e+02] [ 3.35608849e-03 -2.84592054e-05 -9.99994368e-01 -4.15974929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.013464343607402906 Centerline is valid? [True, True] Translation: X:201.94, Y:-124.76, Z:-4.16 [[ 7.03014863e-01 7.11167563e-01 3.28628850e-03 2.01939021e+02] [ 7.11159594e-01 -7.03022543e-01 3.36680538e-03 -1.24763936e+02] [ 4.70469767e-03 -2.98386273e-05 -9.99988932e-01 -4.16038383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.013404974361637012 Centerline is valid? [True, True] Translation: X:201.96, Y:-124.75, Z:-4.16 [[ 6.44463926e-01 7.64620444e-01 4.67168261e-03 2.01962767e+02] [ 7.64599923e-01 -6.44480857e-01 5.60197466e-03 -1.24750545e+02] [ 7.29419437e-03 -3.83024209e-05 -9.99973396e-01 -4.16103741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.013814714679802019 Centerline is valid? [True, True] Translation: X:201.98, Y:-124.73, Z:-4.16 [[ 5.84641771e-01 8.11271030e-01 5.77201645e-03 2.01982150e+02] [ 8.11230188e-01 -5.84670258e-01 8.14070558e-03 -1.24734329e+02] [ 9.97904494e-03 -7.69625335e-05 -9.99950205e-01 -4.16186895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.0143064841687964 Centerline is valid? [True, True] Translation: X:202.00, Y:-124.72, Z:-4.16 [[ 5.22536591e-01 8.52581354e-01 7.78121118e-03 2.02003650e+02] [ 8.52481851e-01 -5.22594494e-01 1.30264670e-02 -1.24717880e+02] [ 1.51725410e-02 -1.73464349e-04 -9.99884875e-01 -4.16327033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.015613542724353904 Centerline is valid? [True, True] Translation: X:202.02, Y:-124.70, Z:-4.17 [[ 4.56346354e-01 8.89754936e-01 9.17386238e-03 2.02020992e+02] [ 8.89562375e-01 -4.56438464e-01 1.85124195e-02 -1.24699661e+02] [ 2.06588203e-02 -2.87352328e-04 -9.99786543e-01 -4.16775664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.015115730585542126 Centerline is valid? [True, True] Translation: X:202.04, Y:-124.68, Z:-4.17 [[ 3.86605357e-01 9.22202469e-01 8.88280741e-03 2.02043115e+02] [ 9.21937011e-01 -3.86707219e-01 2.21285949e-02 -1.24681749e+02] [ 2.38420906e-02 -3.65644437e-04 -9.99715670e-01 -4.16638053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.01618855828004079 Centerline is valid? [True, True] Translation: X:202.06, Y:-124.66, Z:-4.17 [[ 3.15249571e-01 9.48972921e-01 8.25248662e-03 2.02059915e+02] [ 9.48606634e-01 -3.15357196e-01 2.63683919e-02 -1.24661844e+02] [ 2.76253709e-02 -4.84260695e-04 -9.99618229e-01 -4.16876571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.016229188258942234 Centerline is valid? [True, True] Translation: X:202.08, Y:-124.64, Z:-4.17 [[ 2.41978164e-01 9.70260197e-01 6.45905440e-03 2.02077516e+02] [ 9.69849584e-01 -2.42063690e-01 2.82304028e-02 -1.24640255e+02] [ 2.89543387e-02 -5.66829807e-04 -9.99580575e-01 -4.16632940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.016752469671718933 Centerline is valid? [True, True] Translation: X:202.09, Y:-124.62, Z:-4.16 [[ 1.67562302e-01 9.85853210e-01 4.04017057e-03 2.02090794e+02] [ 9.85473196e-01 -1.67609907e-01 2.73769754e-02 -1.24616490e+02] [ 2.76668517e-02 -6.05869230e-04 -9.99617016e-01 -4.16478360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.017635194305820445 Centerline is valid? [True, True] Translation: X:202.10, Y:-124.59, Z:-4.16 [[ 9.38209751e-02 9.95587334e-01 1.86669025e-03 2.02103501e+02] [ 9.95211736e-01 -9.38368678e-02 2.73540259e-02 -1.24592087e+02] [ 2.74084861e-02 -7.08629340e-04 -9.99624066e-01 -4.16241359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.018556720251149787 Centerline is valid? [True, True] Translation: X:202.11, Y:-124.57, Z:-4.16 [[ 1.90274980e-02 9.99818924e-01 -2.71654867e-04 2.02112311e+02] [ 9.99469157e-01 -1.90136536e-02 2.64553405e-02 -1.24566848e+02] [ 2.64453850e-02 -7.74889601e-04 -9.99649959e-01 -4.16107747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.019948523203273977 Centerline is valid? [True, True] Translation: X:202.12, Y:-124.54, Z:-4.16 [[-5.26595658e-02 9.98609843e-01 -2.31326878e-03 2.02119584e+02] [ 9.98271390e-01 5.27019796e-02 2.60141149e-02 -1.24541263e+02] [ 2.60998651e-02 -9.39378042e-04 -9.99658899e-01 -4.15860231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.020939287203895693 Centerline is valid? [True, True] Translation: X:202.13, Y:-124.51, Z:-4.15 [[-1.26023331e-01 9.92019253e-01 -3.99020304e-03 2.02127690e+02] [ 9.91737740e-01 1.26082703e-01 2.36517779e-02 -1.24514934e+02] [ 2.39661146e-02 -9.76559110e-04 -9.99712294e-01 -4.15461437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.021449084265230713 Centerline is valid? [True, True] Translation: X:202.14, Y:-124.49, Z:-4.15 [[-2.01105622e-01 9.79557479e-01 -4.86572786e-03 2.02135647e+02] [ 9.79365432e-01 2.01162634e-01 1.94150882e-02 -1.24487740e+02] [ 1.99969975e-02 -8.60842281e-04 -9.99799669e-01 -4.15005869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.02269659131139868 Centerline is valid? [True, True] Translation: X:202.14, Y:-124.46, Z:-4.14 [[-2.74060129e-01 9.61705000e-01 -3.81289038e-03 2.02142025e+02] [ 9.61638166e-01 2.74086088e-01 1.13514060e-02 -1.24459089e+02] [ 1.19617641e-02 -5.55653116e-04 -9.99928301e-01 -4.14136636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.023304365118887782 Centerline is valid? [True, True] Translation: X:202.15, Y:-124.43, Z:-4.13 [[-3.46245515e-01 9.38142693e-01 -1.52679099e-03 2.02146577e+02] [ 9.38135870e-01 3.46248829e-01 3.58313627e-03 -1.24429612e+02] [ 3.89014270e-03 -1.91692532e-04 -9.99992415e-01 -4.13362307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.022180248405529013 Centerline is valid? [True, True] Translation: X:202.15, Y:-124.40, Z:-4.13 [[-4.19080978e-01 9.07948849e-01 1.47284503e-04 2.02152110e+02] [ 9.07948804e-01 4.19081004e-01 -2.86644150e-04 -1.24397830e+02] [-3.21982363e-04 1.35996770e-05 -9.99999948e-01 -4.12999149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.022733584882694467 Centerline is valid? [True, True] Translation: X:202.16, Y:-124.37, Z:-4.12 [[-4.93121598e-01 8.69953847e-01 3.37547347e-03 2.02155727e+02] [ 8.69937145e-01 4.93133074e-01 -5.39775738e-03 -1.24365416e+02] [-6.36035741e-03 2.74699011e-04 -9.99979735e-01 -4.12392595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.020042416556540973 Centerline is valid? [True, True] Translation: X:202.16, Y:-124.33, Z:-4.12 [[-5.65682116e-01 8.24595227e-01 6.81585053e-03 2.02159793e+02] [ 8.24543958e-01 5.65723025e-01 -9.20437934e-03 -1.24328693e+02] [-1.14457709e-02 4.13215590e-04 -9.99934410e-01 -4.11953927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.0180265435660267 Centerline is valid? [True, True] Translation: X:202.16, Y:-124.29, Z:-4.12 [[-6.34159910e-01 7.73130223e-01 1.05293154e-02 2.02159191e+02] [ 7.73035587e-01 6.34247148e-01 -1.21052678e-02 -1.24291798e+02] [-1.60371366e-02 4.62859961e-04 -9.99871290e-01 -4.11564368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.01656154085349881 Centerline is valid? [True, True] Translation: X:202.15, Y:-124.25, Z:-4.11 [[-6.98539952e-01 7.15420108e-01 1.46971056e-02 2.02154482e+02] [ 7.15274562e-01 6.98694416e-01 -1.44365520e-02 -1.24253689e+02] [-2.05969852e-02 4.27957405e-04 -9.99787768e-01 -4.11100780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.01543748245522851 Centerline is valid? [True, True] Translation: X:202.18, Y:-124.22, Z:-4.11 [[-7.52399944e-01 6.58447097e-01 1.84863144e-02 2.02176780e+02] [ 6.58258827e-01 7.52626945e-01 -1.57480037e-02 -1.24217950e+02] [-2.42825257e-02 3.19982529e-04 -9.99705085e-01 -4.10806478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.014720932246939232 Centerline is valid? [True, True] Translation: X:202.20, Y:-124.18, Z:-4.11 [[-8.00892869e-01 5.98429528e-01 2.12770547e-02 2.02197753e+02] [ 5.98224407e-01 8.01175429e-01 -1.56681635e-02 -1.24182241e+02] [-2.64229451e-02 1.79933019e-04 -9.99650837e-01 -4.10621248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.014697157829721436 Centerline is valid? [True, True] Translation: X:202.21, Y:-124.14, Z:-4.10 [[-8.44838056e-01 5.34436205e-01 2.50320076e-02 2.02212515e+02] [ 5.34201782e-01 8.45208816e-01 -1.58276140e-02 -1.24136282e+02] [-2.96161235e-02 3.72394431e-07 -9.99561346e-01 -4.10383042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.014435563955242852 Centerline is valid? [True, True] Translation: X:202.23, Y:-124.10, Z:-4.11 [[-8.81224689e-01 4.71958239e-01 2.64285501e-02 2.02229161e+02] [ 4.71744694e-01 8.81620904e-01 -1.41959295e-02 -1.24097070e+02] [-2.99998481e-02 -4.22752166e-05 -9.99549902e-01 -4.10535711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.015053520528609076 Centerline is valid? [True, True] Translation: X:202.24, Y:-124.06, Z:-4.10 [[-9.11997591e-01 4.09295716e-01 2.71553113e-02 2.02238868e+02] [ 4.09114091e-01 9.12401785e-01 -1.21919390e-02 -1.24063055e+02] [-2.97666629e-02 -9.39849465e-06 -9.99556875e-01 -4.10363383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.014507086329607538 Centerline is valid? [True, True] Translation: X:202.44, Y:-123.62, Z:-5.15 [[-8.83495849e-01 -4.67704819e-01 2.62161678e-02 2.02437680e+02] [ 4.67499146e-01 -8.83884722e-01 -1.38688978e-02 -1.23623173e+02] [ 2.96586205e-02 2.92239624e-06 9.99560086e-01 -5.15071481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.014944595701487656 Centerline is valid? [True, True] Translation: X:202.20, Y:-124.04, Z:-4.11 [[-9.11711129e-01 4.09871945e-01 2.80678789e-02 2.02202069e+02] [ 4.09681970e-01 9.12143067e-01 -1.24783642e-02 -1.24038717e+02] [-3.07164526e-02 1.22240372e-04 -9.99528131e-01 -4.10638949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.015069232013263814 Centerline is valid? [True, True] Translation: X:202.20, Y:-124.01, Z:-4.11 [[-9.39257036e-01 3.41854961e-01 3.05189372e-02 2.02204377e+02] [ 3.41676388e-01 9.39752724e-01 -1.10482183e-02 -1.24005401e+02] [-3.24571426e-02 5.04834723e-05 -9.99473127e-01 -4.10583296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.014972490690961529 Centerline is valid? [True, True] Translation: X:202.20, Y:-123.97, Z:-4.11 [[-9.63296608e-01 2.66885358e-01 2.88418432e-02 2.02200457e+02] [ 2.66760069e-01 9.63728267e-01 -8.17887603e-03 -1.23969667e+02] [-2.99785218e-02 -1.84831449e-04 -9.99550526e-01 -4.10835215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.015078267913909265 Centerline is valid? [True, True] Translation: X:202.31, Y:-123.53, Z:-5.15 [[-9.37342851e-01 -3.47469817e-01 2.55559502e-02 2.02313786e+02] [ 3.47340237e-01 -9.37691168e-01 -9.48858187e-03 -1.23534987e+02] [ 2.72605846e-02 -1.74445662e-05 9.99628361e-01 -5.14684190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.014993166768643556 Centerline is valid? [True, True] Translation: X:202.15, Y:-123.96, Z:-4.11 [[-9.66446382e-01 2.55758837e-01 2.38496844e-02 2.02150340e+02] [ 2.55672157e-01 9.66740553e-01 -6.66710784e-03 -1.23955168e+02] [-2.47616288e-02 -3.45701991e-04 -9.99693324e-01 -4.11441989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.014477852118305296 Centerline is valid? [True, True] Translation: X:202.27, Y:-123.52, Z:-5.14 [[-9.38249703e-01 -3.45295116e-01 2.14190992e-02 2.02273604e+02] [ 3.45209861e-01 -9.38494137e-01 -7.67502387e-03 -1.23516136e+02] [ 2.27518473e-02 1.92995387e-04 9.99741125e-01 -5.14058300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.013739556039905839 Centerline is valid? [True, True] Translation: X:202.11, Y:-123.96, Z:-4.12 [[-9.65919037e-01 2.58153316e-01 1.89018241e-02 2.02106161e+02] [ 2.58100820e-01 9.66103950e-01 -5.20808801e-03 -1.23961961e+02] [-1.96056121e-02 -1.52015040e-04 -9.99807780e-01 -4.12043201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.013443424789168075 Centerline is valid? [True, True] Translation: X:202.11, Y:-123.94, Z:-4.12 [[-9.81055243e-01 1.92970464e-01 1.71175694e-02 2.02106546e+02] [ 1.92939947e-01 9.81204564e-01 -3.43231870e-03 -1.23942083e+02] [-1.74581733e-02 -6.46313270e-05 -9.99847592e-01 -4.12259663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.013109691755267305 Centerline is valid? [True, True] Translation: X:202.10, Y:-123.92, Z:-4.13 [[-9.91810754e-01 1.26950741e-01 1.39620055e-02 2.02103901e+02] [ 1.26938255e-01 9.91909023e-01 -1.78053762e-03 -1.23924658e+02] [-1.40750798e-02 6.35624909e-06 -9.99900941e-01 -4.12563714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.013012732851934971 Centerline is valid? [True, True] Translation: X:202.10, Y:-123.90, Z:-4.13 [[-9.98285231e-01 5.71588991e-02 1.26276418e-02 2.02098569e+02] [ 5.71545525e-02 9.98365094e-01 -7.05117497e-04 -1.23902675e+02] [-1.26473006e-02 1.78188338e-05 -9.99920020e-01 -4.12668564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.012913441410915228 Centerline is valid? [True, True] Translation: X:202.09, Y:-123.88, Z:-4.13 [[-9.99834361e-01 -1.39234308e-02 1.17212830e-02 2.02090430e+02] [-1.39222831e-02 9.99903064e-01 1.79513472e-04 -1.23883398e+02] [-1.17226462e-02 1.62967173e-05 -9.99931287e-01 -4.12796911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.012847921836118886 Centerline is valid? [True, True] Translation: X:202.08, Y:-123.86, Z:-4.13 [[-9.96245984e-01 -8.58714103e-02 1.09562699e-02 2.02081441e+02] [-8.58661588e-02 9.96306228e-01 9.49693205e-04 -1.23861270e+02] [-1.09973515e-02 5.35522840e-06 -9.99939527e-01 -4.12852906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.012713747077769358 Centerline is valid? [True, True] Translation: X:202.06, Y:-123.84, Z:-4.13 [[-9.87378233e-01 -1.58143210e-01 8.65741301e-03 2.02061424e+02] [-1.58137226e-01 9.87416186e-01 1.37585869e-03 -1.23844745e+02] [-8.76605244e-03 -1.05663533e-05 -9.99961577e-01 -4.13084281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.012728677494547194 Centerline is valid? [True, True] Translation: X:202.06, Y:-123.82, Z:-4.13 [[-9.73240923e-01 -2.29625650e-01 8.61197524e-03 2.02055438e+02] [-2.29616890e-01 9.73279025e-01 2.00591932e-03 -1.23823574e+02] [-8.84246539e-03 -2.52121985e-05 -9.99960904e-01 -4.13127440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.012903197145413799 Centerline is valid? [True, True] Translation: X:202.04, Y:-123.81, Z:-4.13 [[-9.53730684e-01 -3.00564132e-01 7.68016086e-03 2.02035827e+02] [-3.00554726e-01 9.53761606e-01 2.37817138e-03 -1.23808323e+02] [-8.03983557e-03 -4.01736256e-05 -9.99967679e-01 -4.13249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.012981754654559216 Centerline is valid? [True, True] Translation: X:201.84, Y:-123.24, Z:-5.12 [[-9.74530710e-01 2.24164180e-01 6.34939833e-03 2.01842241e+02] [-2.24159909e-01 -9.74551392e-01 1.38563633e-03 -1.23238559e+02] [ 6.49842501e-03 -7.29353947e-05 9.99978882e-01 -5.12410174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.01314426380816296 Centerline is valid? [True, True] Translation: X:201.92, Y:-123.85, Z:-4.13 [[-9.51125100e-01 -3.08760862e-01 5.27019000e-03 2.01922519e+02] [-3.08756356e-01 9.51139700e-01 1.66865622e-03 -1.23854747e+02] [-5.52790267e-03 -4.01038458e-05 -9.99984720e-01 -4.13406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.01287405901449355 Centerline is valid? [True, True] Translation: X:201.89, Y:-123.84, Z:-4.13 [[-9.27205663e-01 -3.74520876e-01 4.87573900e-03 2.01894471e+02] [-3.74515852e-01 9.27218482e-01 1.94001704e-03 -1.23843788e+02] [-5.24745220e-03 -2.72467591e-05 -9.99986232e-01 -4.13454428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.012773968408331617 Centerline is valid? [True, True] Translation: X:201.85, Y:-123.85, Z:-4.13 [[-8.99583553e-01 -4.36726474e-01 4.40656656e-03 2.01845696e+02] [-4.36721243e-01 8.99594346e-01 2.13767931e-03 -1.23846792e+02] [-4.89770351e-03 -1.42007236e-06 -9.99988006e-01 -4.13487336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.012820519017914785 Centerline is valid? [True, True] Translation: X:201.79, Y:-123.86, Z:-4.14 [[-8.66624064e-01 -4.98943191e-01 4.29235639e-03 2.01785522e+02] [-4.98936984e-01 8.66634694e-01 2.48869962e-03 -1.23855017e+02] [-4.96162470e-03 1.51516303e-05 -9.99987691e-01 -4.13533634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.013535299740839018 Centerline is valid? [True, True] Translation: X:201.72, Y:-123.87, Z:-4.13 [[-8.29564915e-01 -5.58382737e-01 5.54720519e-03 2.01719991e+02] [-5.58369850e-01 8.29583460e-01 3.79400516e-03 -1.23873469e+02] [-6.72037666e-03 4.99814363e-05 -9.99977417e-01 -4.13226180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.013580841327593633 Centerline is valid? [True, True] Translation: X:201.64, Y:-123.90, Z:-4.13 [[-7.86820103e-01 -6.17149269e-01 6.39563806e-03 2.01641166e+02] [-6.17128075e-01 7.86846093e-01 5.11530162e-03 -1.23900055e+02] [-8.18928748e-03 7.78943466e-05 -9.99966464e-01 -4.13061906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.013932133502336422 Centerline is valid? [True, True] Translation: X:201.56, Y:-123.94, Z:-4.13 [[-7.39430757e-01 -6.73189649e-01 7.60598867e-03 2.01563279e+02] [-6.73152389e-01 7.39469866e-01 7.08369437e-03 -1.23939093e+02] [-1.03930691e-02 1.17912049e-04 -9.99945984e-01 -4.12972334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.01430432645893655 Centerline is valid? [True, True] Translation: X:201.48, Y:-123.99, Z:-4.13 [[-6.87642810e-01 -7.26011786e-01 7.36555796e-03 2.01481980e+02] [-7.25967940e-01 6.87682242e-01 7.98024498e-03 -1.23990647e+02] [-1.08589153e-02 1.40399151e-04 -9.99941030e-01 -4.13058842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.014242865683322416 Centerline is valid? [True, True] Translation: X:201.40, Y:-124.05, Z:-4.13 [[-6.30713901e-01 -7.75977893e-01 7.63437840e-03 2.01399936e+02] [-7.75917966e-01 6.30760084e-01 9.64499175e-03 -1.24047992e+02] [-1.22997615e-02 1.59579011e-04 -9.99924342e-01 -4.13034237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.014618486283937783 Centerline is valid? [True, True] Translation: X:201.32, Y:-124.12, Z:-4.13 [[-5.68960507e-01 -8.22329359e-01 7.63979047e-03 2.01318615e+02] [-8.22251399e-01 5.69011774e-01 1.13242075e-02 -1.24117766e+02] [-1.36593590e-02 1.61198433e-04 -9.99906694e-01 -4.12811737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.01374345990776225 Centerline is valid? [True, True] Translation: X:201.24, Y:-124.19, Z:-4.13 [[-5.02212579e-01 -8.64721240e-01 6.30097272e-03 2.01237273e+02] [-8.64650343e-01 5.02252092e-01 1.10734429e-02 -1.24192857e+02] [-1.27401180e-02 1.13084125e-04 -9.99918835e-01 -4.12921783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.01354694855955631 Centerline is valid? [True, True] Translation: X:201.16, Y:-124.28, Z:-4.13 [[-4.32925456e-01 -9.01415719e-01 5.02505513e-03 2.01163047e+02] [-9.01352828e-01 4.32954611e-01 1.06482002e-02 -1.24278225e+02] [-1.17740758e-02 8.05292679e-05 -9.99930680e-01 -4.13032544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.013692836213032092 Centerline is valid? [True, True] Translation: X:201.10, Y:-124.37, Z:-4.13 [[-3.63636242e-01 -9.31532237e-01 4.04648283e-03 2.01096440e+02] [-9.31471812e-01 3.63658745e-01 1.06104360e-02 -1.24368071e+02] [-1.13555021e-02 8.91544017e-05 -9.99935520e-01 -4.13148213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.014132026985855802 Centerline is valid? [True, True] Translation: X:201.04, Y:-124.47, Z:-4.13 [[-2.94490460e-01 -9.55649143e-01 3.17553218e-03 2.01036214e+02] [-9.55588843e-01 2.94507553e-01 1.07361405e-02 -1.24467471e+02] [-1.11952017e-02 1.27187844e-04 -9.99937324e-01 -4.13337476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.014285564276591228 Centerline is valid? [True, True] Translation: X:200.98, Y:-124.57, Z:-4.13 [[-2.23392516e-01 -9.74725730e-01 2.35286217e-03 2.00981338e+02] [-9.74663664e-01 2.23404846e-01 1.10007878e-02 -1.24569589e+02] [-1.12483917e-02 1.64244391e-04 -9.99936721e-01 -4.13361014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.015125702536722229 Centerline is valid? [True, True] Translation: X:200.94, Y:-124.68, Z:-4.13 [[-1.51263008e-01 -9.88492268e-01 1.59336300e-03 2.00935960e+02] [-9.88421379e-01 1.51271246e-01 1.18400764e-02 -1.24677701e+02] [-1.19448539e-02 2.16051514e-04 -9.99928634e-01 -4.13302988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.015932639382514536 Centerline is valid? [True, True] Translation: X:200.90, Y:-124.79, Z:-4.13 [[-7.64080026e-02 -9.97076412e-01 6.67788749e-04 2.00897079e+02] [-9.97007335e-01 7.64105711e-02 1.17387876e-02 -1.24793042e+02] [-1.17554943e-02 2.31147034e-04 -9.99930875e-01 -4.13235412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.01619547398139315 Centerline is valid? [True, True] Translation: X:200.87, Y:-124.91, Z:-4.13 [[ 1.83676045e-04 -9.99999954e-01 -2.40023014e-04 2.00866474e+02] [-9.99929159e-01 -1.86519631e-04 1.19013164e-02 -1.24908544e+02] [-1.19013606e-02 2.37820024e-04 -9.99929148e-01 -4.13265914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.015543988105377058 Centerline is valid? [True, True] Translation: X:200.84, Y:-125.03, Z:-4.13 [[ 7.83545987e-02 -9.96924770e-01 -1.24864704e-03 2.00844200e+02] [-9.96842418e-01 -7.83641781e-02 1.28160126e-02 -1.25029829e+02] [-1.28744496e-02 2.40510818e-04 -9.99917092e-01 -4.13372326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.0147725487285453 Centerline is valid? [True, True] Translation: X:200.83, Y:-125.15, Z:-4.13 [[ 1.57508321e-01 -9.87515134e-01 -2.23382869e-03 2.00830202e+02] [-9.87433425e-01 -1.57524027e-01 1.27047894e-02 -1.25152616e+02] [-1.28980535e-02 2.04647070e-04 -9.99916796e-01 -4.13347938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.013603493062998136 Centerline is valid? [True, True] Translation: X:200.82, Y:-125.28, Z:-4.13 [[ 2.38511396e-01 -9.71134670e-01 -3.12535571e-03 2.00823687e+02] [-9.71058073e-01 -2.38531838e-01 1.21976205e-02 -1.25279954e+02] [-1.25910290e-02 1.25630405e-04 -9.99920722e-01 -4.13326150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.013226940968135138 Centerline is valid? [True, True] Translation: X:200.83, Y:-125.40, Z:-4.13 [[ 3.16950106e-01 -9.48435127e-01 -3.66599431e-03 2.00827412e+02] [-9.48373771e-01 -3.16971302e-01 1.07881337e-02 -1.25397968e+02] [-1.13938600e-02 5.74327268e-05 -9.99935086e-01 -4.13381004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.013157419892322266 Centerline is valid? [True, True] Translation: X:200.84, Y:-125.52, Z:-4.13 [[ 3.95343047e-01 -9.18523579e-01 -4.27897253e-03 2.00839706e+02] [-9.18469127e-01 -3.95366202e-01 1.00014134e-02 -1.25519756e+02] [-1.08782951e-02 -2.38850612e-05 -9.99940829e-01 -4.13433023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.013437975040126332 Centerline is valid? [True, True] Translation: X:200.86, Y:-125.64, Z:-4.13 [[ 4.68673870e-01 -8.83356236e-01 -5.15413237e-03 2.00862561e+02] [-8.83301001e-01 -4.68702203e-01 9.87854380e-03 -1.25637128e+02] [-1.11420265e-02 -7.71650619e-05 -9.99937923e-01 -4.13463973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.014504052739213269 Centerline is valid? [True, True] Translation: X:200.89, Y:-125.75, Z:-4.13 [[ 5.39996449e-01 -8.41644283e-01 -6.22375060e-03 2.00891308e+02] [-8.41585079e-01 -5.40032292e-01 9.98387143e-03 -1.25749065e+02] [-1.17638946e-02 -1.53439476e-04 -9.99930791e-01 -4.13439216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.01556277623498347 Centerline is valid? [True, True] Translation: X:200.93, Y:-125.86, Z:-4.14 [[ 6.05834238e-01 -7.95566223e-01 -6.26584405e-03 2.00930150e+02] [-7.95520565e-01 -6.05866613e-01 8.52515336e-03 -1.25858009e+02] [-1.05785898e-02 -1.80221995e-04 -9.99944029e-01 -4.13551935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.01608350735878807 Centerline is valid? [True, True] Translation: X:200.98, Y:-125.96, Z:-4.14 [[ 6.66101201e-01 -7.45837064e-01 -6.02197718e-03 2.00975999e+02] [-7.45804199e-01 -6.66128399e-01 7.00369565e-03 -1.25958736e+02] [-9.23502582e-03 -1.73954214e-04 -9.99957341e-01 -4.13702914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.01633341259995146 Centerline is valid? [True, True] Translation: X:201.03, Y:-126.05, Z:-4.14 [[ 7.22425358e-01 -6.91402721e-01 -7.99245607e-03 2.01029170e+02] [-6.91356741e-01 -7.22469529e-01 7.97718344e-03 -1.26054726e+02] [-1.12897523e-02 -2.37281218e-04 -9.99936241e-01 -4.13598477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.01706446147843256 Centerline is valid? [True, True] Translation: X:201.05, Y:-126.08, Z:-4.13 [[ 7.73959878e-01 -6.33162002e-01 -9.59094999e-03 2.01050403e+02] [-6.33109208e-01 -7.74019259e-01 8.18037627e-03 -1.26081517e+02] [-1.26030834e-02 -2.59164273e-04 -9.99920544e-01 -4.13367767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.015095881046858774 Centerline is valid? [True, True] Translation: X:201.08, Y:-126.10, Z:-4.14 [[ 8.17616897e-01 -5.75672637e-01 -1.01795979e-02 2.01078870e+02] [-5.75625238e-01 -8.17680244e-01 7.38946652e-03 -1.26100459e+02] [-1.25775697e-02 -1.82119246e-04 -9.99920883e-01 -4.13528340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.014394022333685834 Centerline is valid? [True, True] Translation: X:201.11, Y:-126.12, Z:-4.13 [[ 8.57213186e-01 -5.14840307e-01 -1.11808673e-02 2.01105996e+02] [-5.14794744e-01 -8.57286093e-01 6.85027405e-03 -1.26117428e+02] [-1.31119993e-02 -1.16293503e-04 -9.99914027e-01 -4.13465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.013919968502798261 Centerline is valid? [True, True] Translation: X:201.14, Y:-126.13, Z:-4.14 [[ 8.90749789e-01 -4.54347374e-01 -1.15446058e-02 2.01136301e+02] [-4.54309249e-01 -8.90824598e-01 5.88575178e-03 -1.26129992e+02] [-1.29583947e-02 2.08903023e-06 -9.99916037e-01 -4.13530907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.014070610949513522 Centerline is valid? [True, True] Translation: X:201.17, Y:-126.15, Z:-4.14 [[ 9.21847592e-01 -3.87403435e-01 -1.07515862e-02 2.01165057e+02] [-3.87377758e-01 -9.21910286e-01 4.46056571e-03 -1.26145832e+02] [-1.16400363e-02 5.29635827e-05 -9.99932251e-01 -4.13591909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.014517194794423585 Centerline is valid? [True, True] Translation: X:201.19, Y:-126.16, Z:-4.14 [[ 9.47890465e-01 -3.18315230e-01 -1.33821272e-02 2.01192895e+02] [-3.18285382e-01 -9.47984915e-01 4.36087835e-03 -1.26162444e+02] [-1.40741887e-02 1.25700465e-04 -9.99900946e-01 -4.13586286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.015080505196523469 Centerline is valid? [True, True] Translation: X:201.22, Y:-126.18, Z:-4.14 [[ 9.68789316e-01 -2.47381104e-01 -1.58066681e-02 2.01221869e+02] [-2.47351787e-01 -9.68918234e-01 3.81445147e-03 -1.26177072e+02] [-1.62589922e-02 2.14407777e-04 -9.99867791e-01 -4.13713537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.015378257422394445 Centerline is valid? [True, True] Translation: X:201.25, Y:-126.19, Z:-4.14 [[ 9.84764621e-01 -1.73195200e-01 -1.55584258e-02 2.01247615e+02] [-1.73177543e-01 -9.84887487e-01 2.48530975e-03 -1.26193006e+02] [-1.57537426e-02 2.46924834e-04 -9.99875872e-01 -4.13741456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.01618975364517504 Centerline is valid? [True, True] Translation: X:201.27, Y:-126.21, Z:-4.14 [[ 9.94754870e-01 -1.00994050e-01 -1.62157325e-02 2.01274608e+02] [-1.00986267e-01 -9.94886970e-01 1.30013844e-03 -1.26207338e+02] [-1.62641273e-02 3.44247251e-04 -9.99867671e-01 -4.13780820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.018194694127623843 Centerline is valid? [True, True] Translation: X:201.30, Y:-126.21, Z:-4.14 [[ 9.99502877e-01 -2.69022816e-02 -1.64397987e-02 2.01301736e+02] [-2.69054796e-02 -9.99637982e-01 2.66585373e-05 -1.26214540e+02] [-1.64345644e-02 4.15675385e-04 -9.99864857e-01 -4.13726698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.01861034886656859 Centerline is valid? [True, True] Translation: X:201.33, Y:-126.23, Z:-4.14 [[ 9.98753844e-01 4.69086869e-02 -1.70392033e-02 2.01330558e+02] [ 4.68931585e-02 -9.98899052e-01 -1.30995367e-03 -1.26225243e+02] [-1.70818923e-02 5.09299197e-04 -9.99853964e-01 -4.13727032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.018853329299573857 Centerline is valid? [True, True] Translation: X:201.36, Y:-126.23, Z:-4.14 [[ 9.92221043e-01 1.23442910e-01 -1.61012275e-02 2.01360396e+02] [ 1.23418291e-01 -9.92351544e-01 -2.51758600e-03 -1.26234378e+02] [-1.62888562e-02 5.10815819e-04 -9.99867197e-01 -4.13665609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.02005521088003361 Centerline is valid? [True, True] Translation: X:201.39, Y:-126.24, Z:-4.14 [[ 9.80017670e-01 1.98361612e-01 -1.47661255e-02 2.01390792e+02] [ 1.98331188e-01 -9.80128771e-01 -3.51165838e-03 -1.26238855e+02] [-1.51692827e-02 5.12904048e-04 -9.99884808e-01 -4.13591646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.020307042852730058 Centerline is valid? [True, True] Translation: X:201.42, Y:-126.24, Z:-4.14 [[ 9.61868441e-01 2.73111555e-01 -1.48047935e-02 2.01421183e+02] [ 2.73070405e-01 -9.61982213e-01 -4.77230294e-03 -1.26239578e+02] [-1.55453191e-02 5.47576631e-04 -9.99879014e-01 -4.13577482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.0218942987006888 Centerline is valid? [True, True] Translation: X:201.45, Y:-126.24, Z:-4.14 [[ 9.38570492e-01 3.44817695e-01 -1.36450771e-02 2.01451782e+02] [ 3.44772486e-01 -9.38669506e-01 -5.61180546e-03 -1.26237830e+02] [-1.47432676e-02 5.62627861e-04 -9.99891154e-01 -4.13548318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.020431137972013833 Centerline is valid? [True, True] Translation: X:201.49, Y:-126.24, Z:-4.14 [[ 9.09304857e-01 4.16009107e-01 -1.00548697e-02 2.01485123e+02] [ 4.15978219e-01 -9.09360339e-01 -5.08876102e-03 -1.26240045e+02] [-1.12604707e-02 4.44628313e-04 -9.99936500e-01 -4.13779110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.020173547686750212 Centerline is valid? [True, True] Translation: X:201.52, Y:-126.24, Z:-4.14 [[ 8.74123207e-01 4.85658623e-01 -6.65732675e-03 2.01519960e+02] [ 4.85641808e-01 -8.74148503e-01 -4.05320221e-03 -1.26240370e+02] [-7.78796482e-03 3.09921913e-04 -9.99969625e-01 -4.13896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.01978112307656738 Centerline is valid? [True, True] Translation: X:201.55, Y:-126.23, Z:-4.14 [[ 8.32154906e-01 5.54491724e-01 -7.55914446e-03 2.01553835e+02] [ 5.54464985e-01 -8.32189165e-01 -5.45655902e-03 -1.26234901e+02] [-9.31625493e-03 3.49421438e-04 -9.99956542e-01 -4.13762630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.017503694456241985 Centerline is valid? [True, True] Translation: X:201.59, Y:-126.23, Z:-4.14 [[ 7.81852750e-01 6.23396187e-01 -9.13623930e-03 2.01591349e+02] [ 6.23348099e-01 -7.81906043e-01 -7.75163629e-03 -1.26231807e+02] [-1.19760212e-02 3.65580758e-04 -9.99928218e-01 -4.13577294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.01506901344945467 Centerline is valid? [True, True] Translation: X:201.63, Y:-126.23, Z:-4.13 [[ 7.23128197e-01 6.90658571e-01 -8.73778136e-03 2.01630400e+02] [ 6.90604098e-01 -7.23180946e-01 -8.67756694e-03 -1.26227130e+02] [-1.23122330e-02 2.40645726e-04 -9.99924173e-01 -4.13459840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.012744176858140778 Centerline is valid? [True, True] Translation: X:201.67, Y:-126.22, Z:-4.13 [[ 6.57740649e-01 7.53208573e-01 -7.35415424e-03 2.01670324e+02] [ 7.53160076e-01 -6.57781756e-01 -8.54763084e-03 -1.26218541e+02] [-1.12755773e-02 8.32688929e-05 -9.99936425e-01 -4.13456800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.012237125892419294 Centerline is valid? [True, True] Translation: X:201.70, Y:-126.20, Z:-4.13 [[ 5.91565272e-01 8.06231524e-01 -6.42325847e-03 2.01701727e+02] [ 8.06183825e-01 -5.91600143e-01 -8.76985500e-03 -1.26201496e+02] [-1.08705342e-02 9.61457600e-06 -9.99940914e-01 -4.13400849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.012437181212124046 Centerline is valid? [True, True] Translation: X:201.73, Y:-126.18, Z:-4.14 [[ 5.19495818e-01 8.54458969e-01 -4.89533175e-03 2.01734139e+02] [ 8.54422295e-01 -5.19518878e-01 -7.91691035e-03 -1.26181710e+02] [-9.30789231e-03 -6.98787625e-05 -9.99956678e-01 -4.13571120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.01362479449472651 Centerline is valid? [True, True] Translation: X:201.77, Y:-126.16, Z:-4.14 [[ 4.43668199e-01 8.96185245e-01 -3.24592684e-03 2.01765069e+02] [ 8.96163066e-01 -4.43680059e-01 -6.30582760e-03 -1.26158745e+02] [-7.09134266e-03 -1.11184576e-04 -9.99974850e-01 -4.13726818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.014505414298816311 Centerline is valid? [True, True] Translation: X:201.79, Y:-126.13, Z:-4.14 [[ 3.68518529e-01 9.29617614e-01 -2.27722370e-03 2.01790276e+02] [ 9.29601750e-01 -3.68525547e-01 -5.43219386e-03 -1.26131559e+02] [-5.88907821e-03 -1.15047049e-04 -9.99982653e-01 -4.13769300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.0158198518344391 Centerline is valid? [True, True] Translation: X:201.81, Y:-126.10, Z:-4.14 [[ 2.92184207e-01 9.56360359e-01 -1.80354024e-03 2.01808621e+02] [ 9.56344733e-01 -2.92189745e-01 -5.46853112e-03 -1.26102488e+02] [-5.75686235e-03 -1.26987787e-04 -9.99983421e-01 -4.13784363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.015459105473936459 Centerline is valid? [True, True] Translation: X:201.82, Y:-126.07, Z:-4.14 [[ 2.16798974e-01 9.76214854e-01 -1.66234946e-03 2.01822714e+02] [ 9.76191266e-01 -2.16805294e-01 -6.78792737e-03 -1.26070368e+02] [-6.98688169e-03 -1.51155340e-04 -9.99975580e-01 -4.13674965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.014341974710291396 Centerline is valid? [True, True] Translation: X:201.83, Y:-126.04, Z:-4.13 [[ 1.42138524e-01 9.89845509e-01 -1.58373194e-03 2.01834551e+02] [ 9.89797962e-01 -1.42147222e-01 -9.70373716e-03 -1.26037283e+02] [-9.83032374e-03 -1.88299773e-04 -9.99951663e-01 -4.13430825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.013716818285339607 Centerline is valid? [True, True] Translation: X:201.84, Y:-126.00, Z:-4.13 [[ 6.64552651e-02 9.97789078e-01 -8.08872866e-04 2.01843205e+02] [ 9.97742155e-01 -6.64599855e-02 -9.67791598e-03 -1.26003484e+02] [-9.71027653e-03 -1.63898085e-04 -9.99952841e-01 -4.13436866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.012734990229383333 Centerline is valid? [True, True] Translation: X:201.84, Y:-125.97, Z:-4.14 [[-6.39802941e-03 9.99979532e-01 -3.81972503e-05 2.01844156e+02] [ 9.99949869e-01 6.39754540e-03 -7.70262553e-03 -1.25969450e+02] [-7.70222350e-03 -8.74769601e-05 -9.99970334e-01 -4.13675225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.011928089405596053 Centerline is valid? [True, True] Translation: X:201.84, Y:-125.94, Z:-4.14 [[-7.77625102e-02 9.96971819e-01 4.28081121e-04 2.01843078e+02] [ 9.96954843e-01 7.77636842e-02 -5.81816047e-03 -1.25936937e+02] [-5.83383119e-03 -2.56572160e-05 -9.99982983e-01 -4.13846906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.011853323590224429 Centerline is valid? [True, True] Translation: X:201.84, Y:-125.90, Z:-4.14 [[-1.50479677e-01 9.88612694e-01 8.99288167e-04 2.01840358e+02] [ 9.88595224e-01 1.50482364e-01 -5.87711014e-03 -1.25904891e+02] [-5.94551270e-03 4.64635371e-06 -9.99982325e-01 -4.13891833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.012464823348274465 Centerline is valid? [True, True] Translation: X:201.83, Y:-125.87, Z:-4.14 [[-2.20212333e-01 9.75451245e-01 1.18198523e-03 2.01832538e+02] [ 9.75438212e-01 2.20215501e-01 -5.04248187e-03 -1.25874198e+02] [-5.17898669e-03 4.25368626e-05 -9.99986588e-01 -4.14041394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.013249270112609684 Centerline is valid? [True, True] Translation: X:201.83, Y:-125.84, Z:-4.14 [[-2.90939843e-01 9.56739947e-01 1.63781643e-03 2.01828600e+02] [ 9.56726161e-01 2.90944444e-01 -5.13642506e-03 -1.25842929e+02] [-5.39073662e-03 7.25511321e-05 -9.99985467e-01 -4.13997478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.01535203003173589 Centerline is valid? [True, True] Translation: X:201.82, Y:-125.82, Z:-4.14 [[-3.58631574e-01 9.33475620e-01 2.58073258e-03 2.01817151e+02] [ 9.33454161e-01 3.58640833e-01 -6.33104371e-03 -1.25816055e+02] [-6.83543104e-03 1.38483390e-04 -9.99976629e-01 -4.13826516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.016023744037900904 Centerline is valid? [True, True] Translation: X:201.81, Y:-125.79, Z:-4.14 [[-4.25206369e-01 9.05089360e-01 3.57695429e-03 2.01808851e+02] [ 9.05061371e-01 4.25221363e-01 -7.12093080e-03 -1.25787469e+02] [-7.96607607e-03 2.09498019e-04 -9.99968248e-01 -4.13843795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.017864305453443304 Centerline is valid? [True, True] Translation: X:201.80, Y:-125.76, Z:-4.14 [[-4.92297672e-01 8.70418098e-01 3.91630047e-03 2.01798332e+02] [ 8.70394039e-01 4.92313199e-01 -6.47537275e-03 -1.25760511e+02] [-7.56432804e-03 2.20913655e-04 -9.99971366e-01 -4.13852789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.01740853226605422 Centerline is valid? [True, True] Translation: X:201.79, Y:-125.73, Z:-4.14 [[-5.58908024e-01 8.29221495e-01 3.67862005e-03 2.01788661e+02] [ 8.29205666e-01 5.58920099e-01 -5.12694366e-03 -1.25731995e+02] [-6.30742658e-03 1.84842642e-04 -9.99980091e-01 -4.13963433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.015680767900011685 Centerline is valid? [True, True] Translation: X:201.78, Y:-125.70, Z:-4.14 [[-6.26228757e-01 7.79625707e-01 4.61521337e-03 2.01779181e+02] [ 7.79606533e-01 6.26245740e-01 -5.47059589e-03 -1.25702739e+02] [-7.15527490e-03 1.72206023e-04 -9.99974386e-01 -4.13899822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.014208444461373313 Centerline is valid? [True, True] Translation: X:201.77, Y:-125.67, Z:-4.14 [[-6.89569792e-01 7.24203502e-01 4.77393359e-03 2.01767838e+02] [ 7.24187384e-01 6.89586305e-01 -4.83332743e-03 -1.25673461e+02] [-6.79235187e-03 1.24305890e-04 -9.99976924e-01 -4.13947584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.012130284976065287 Centerline is valid? [True, True] Translation: X:201.76, Y:-125.64, Z:-4.14 [[-7.51853229e-01 6.59309384e-01 5.27811555e-03 2.01757706e+02] [ 6.59293577e-01 7.51871754e-01 -4.56574046e-03 -1.25640963e+02] [-6.97870152e-03 4.70609763e-05 -9.99975647e-01 -4.13885882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.011843140507173546 Centerline is valid? [True, True] Translation: X:201.77, Y:-125.61, Z:-4.14 [[-8.01957733e-01 5.97339928e-01 6.98606179e-03 2.01773833e+02] [ 5.97317054e-01 8.01988161e-01 -5.22750914e-03 -1.25611782e+02] [-8.72533878e-03 -1.93475312e-05 -9.99961933e-01 -4.13638621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.013098353135029923 Centerline is valid? [True, True] Translation: X:201.79, Y:-125.58, Z:-4.13 [[-8.48072520e-01 5.29817591e-01 8.14374979e-03 2.01787719e+02] [ 5.29791708e-01 8.48111611e-01 -5.23853659e-03 -1.25579839e+02] [-9.68227758e-03 -1.28167822e-04 -9.99953117e-01 -4.13402646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.014516020678704698 Centerline is valid? [True, True] Translation: X:201.80, Y:-125.55, Z:-4.13 [[-8.86152911e-01 4.63291392e-01 9.70075494e-03 2.01796250e+02] [ 4.63261006e-01 8.86205981e-01 -5.31028418e-03 -1.25551904e+02] [-1.10570760e-02 -2.11742291e-04 -9.99938846e-01 -4.13243393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.014892994610785616 Centerline is valid? [True, True] Translation: X:201.81, Y:-125.53, Z:-4.13 [[-9.17739412e-01 3.97068307e-01 9.54622541e-03 2.01806876e+02] [ 3.97044233e-01 9.17789032e-01 -4.37834037e-03 -1.25529004e+02] [-1.04999212e-02 -2.27901777e-04 -9.99944848e-01 -4.13285980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.01606259717811973 Centerline is valid? [True, True] Translation: X:202.06, Y:-124.96, Z:-5.12 [[-8.66659050e-01 -4.98830840e-01 8.35965931e-03 2.02064453e+02] [ 4.98809268e-01 -8.66699355e-01 -4.64142152e-03 -1.24960099e+02] [ 9.56059553e-03 1.47345573e-04 9.99954286e-01 -5.12397416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.017858093528973575 Centerline is valid? [True, True] Translation: X:201.76, Y:-125.51, Z:-4.13 [[-9.21795310e-01 3.87618996e-01 6.70231882e-03 2.01758827e+02] [ 3.87607098e-01 9.21819652e-01 -3.04421633e-03 -1.25505894e+02] [-7.35832528e-03 -2.08277989e-04 -9.99972905e-01 -4.13334448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.017946978772496437 Centerline is valid? [True, True] Translation: X:201.76, Y:-125.48, Z:-4.13 [[-9.46932305e-01 3.21340125e-01 7.72879324e-03 2.01764895e+02] [ 3.21327399e-01 9.46963816e-01 -2.86934834e-03 -1.25483396e+02] [-8.24092430e-03 -2.33605602e-04 -9.99966016e-01 -4.13281853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.017214471455345114 Centerline is valid? [True, True] Translation: X:201.77, Y:-125.46, Z:-4.13 [[-9.67206243e-01 2.53797866e-01 9.93617487e-03 2.01770944e+02] [ 2.53781384e-01 9.67257235e-01 -2.90690449e-03 -1.25464225e+02] [-1.03486032e-02 -2.89959960e-04 -9.99946410e-01 -4.13211746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.01700201860623615 Centerline is valid? [True, True] Translation: X:201.96, Y:-124.85, Z:-5.13 [[-9.28858167e-01 -3.70239524e-01 1.20499427e-02 2.01958379e+02] [ 3.70215396e-01 -9.28936186e-01 -4.25712496e-03 -1.24847434e+02] [ 1.27697838e-02 5.06809030e-04 9.99918335e-01 -5.12845017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.01662954263176737 Centerline is valid? [True, True] Translation: X:201.73, Y:-125.46, Z:-4.13 [[-9.67628109e-01 2.51946536e-01 1.47913848e-02 2.01726326e+02] [ 2.51910679e-01 9.67741070e-01 -4.26979209e-03 -1.25460997e+02] [-1.53899899e-02 -4.05463055e-04 -9.99881485e-01 -4.12718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.016561755047459322 Centerline is valid? [True, True] Translation: X:201.73, Y:-125.45, Z:-4.13 [[-9.82512028e-01 1.85625339e-01 1.46064624e-02 2.01733816e+02] [ 1.85599542e-01 9.82620533e-01 -3.11414874e-03 -1.25445473e+02] [-1.49306748e-02 -3.48735850e-04 -9.99888470e-01 -4.12803635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.014101930809464371 Centerline is valid? [True, True] Translation: X:201.74, Y:-125.44, Z:-4.13 [[-9.92228426e-01 1.23981163e-01 1.05556495e-02 2.01742083e+02] [ 1.23972457e-01 9.92284559e-01 -1.47768722e-03 -1.25435393e+02] [-1.06574134e-02 -1.57593465e-04 -9.99943196e-01 -4.13239851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.01350146827004734 Centerline is valid? [True, True] Translation: X:201.84, Y:-124.73, Z:-5.12 [[-9.76472469e-01 -2.15562299e-01 5.86622664e-03 2.01837241e+02] [ 2.15557280e-01 -9.76490073e-01 -1.48235795e-03 -1.24727895e+02] [ 6.04785257e-03 -1.82973867e-04 9.99981695e-01 -5.12130849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.013589651425342667 Centerline is valid? [True, True] Translation: X:201.69, Y:-125.43, Z:-4.14 [[-9.92264679e-01 1.24072446e-01 4.10307385e-03 2.01685615e+02] [ 1.24071203e-01 9.92273161e-01 -5.57021417e-04 -1.25433269e+02] [-4.14048107e-03 -4.36393660e-05 -9.99991427e-01 -4.13808713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.013336212003574165 Centerline is valid? [True, True] Translation: X:201.80, Y:-124.72, Z:-5.12 [[-9.77393014e-01 -2.11326317e-01 6.63962025e-03 2.01796118e+02] [ 2.11323077e-01 -9.77415537e-01 -1.19386115e-03 -1.24723730e+02] [ 6.74196227e-03 2.36233433e-04 9.99977245e-01 -5.12165682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.013368508506711996 Centerline is valid? [True, True] Translation: X:201.65, Y:-125.43, Z:-4.13 [[-9.92495171e-01 1.22000695e-01 8.31663749e-03 2.01646219e+02] [ 1.21995777e-01 9.92530012e-01 -1.09796444e-03 -1.25427281e+02] [-8.38846473e-03 -7.51297535e-05 -9.99964813e-01 -4.13324488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.012853678076813863 Centerline is valid? [True, True] Translation: X:201.65, Y:-125.40, Z:-4.13 [[-9.98461369e-01 5.50046570e-02 7.02722691e-03 2.01648480e+02] [ 5.50030364e-02 9.98486097e-01 -4.23817020e-04 -1.25401610e+02] [-7.03990028e-03 -3.66461051e-05 -9.99975219e-01 -4.13478272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.01278101125345968 Centerline is valid? [True, True] Translation: X:201.65, Y:-125.37, Z:-4.13 [[-9.99888575e-01 -1.30958588e-02 7.16497818e-03 2.01649476e+02] [-1.30956403e-02 9.99914245e-01 7.74091574e-05 -1.25374420e+02] [-7.16537749e-03 -1.64294449e-05 -9.99974328e-01 -4.13462951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.012882988419307203 Centerline is valid? [True, True] Translation: X:201.64, Y:-125.35, Z:-4.13 [[-9.96797027e-01 -7.92916874e-02 1.04170768e-02 2.01643600e+02] [-7.92870821e-02 9.96851457e-01 8.54980660e-04 -1.25347149e+02] [-1.04520710e-02 2.63025569e-05 -9.99945375e-01 -4.13204420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.013350066210349622 Centerline is valid? [True, True] Translation: X:201.60, Y:-124.63, Z:-5.12 [[-9.99715231e-01 2.20375608e-02 9.15442681e-03 2.01599750e+02] [-2.20375768e-02 -9.99757138e-01 9.91467044e-05 -1.24632149e+02] [ 9.15438850e-03 -1.02622913e-04 9.99958092e-01 -5.12483599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.013397812744416952 Centerline is valid? [True, True] Translation: X:201.57, Y:-125.35, Z:-4.13 [[-9.96801702e-01 -7.93988586e-02 9.06577354e-03 2.01569362e+02] [-7.93949150e-02 9.96842924e-01 7.94634330e-04 -1.25352636e+02] [-9.10024527e-03 7.23165332e-05 -9.99958589e-01 -4.13278852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.01311775843397457 Centerline is valid? [True, True] Translation: X:201.56, Y:-125.32, Z:-4.13 [[-9.87915780e-01 -1.54717352e-01 9.21697647e-03 2.01558713e+02] [-1.54710326e-01 9.87958775e-01 1.47476433e-03 -1.25321825e+02] [-9.33416441e-03 3.09815200e-05 -9.99956435e-01 -4.13249690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.013029926728688697 Centerline is valid? [True, True] Translation: X:201.45, Y:-124.63, Z:-5.12 [[-9.95984817e-01 8.91365094e-02 8.30217310e-03 2.01447767e+02] [-8.91342496e-02 -9.96019414e-01 6.42535774e-04 -1.24630777e+02] [ 8.32639898e-03 -1.00052094e-04 9.99965330e-01 -5.12494445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.01374377146704598 Centerline is valid? [True, True] Translation: X:201.46, Y:-125.33, Z:-4.13 [[-9.84863623e-01 -1.73096032e-01 9.02259642e-03 2.01457794e+02] [-1.73089575e-01 9.84904948e-01 1.49762674e-03 -1.25325972e+02] [-9.14563310e-03 -8.67592828e-05 -9.99958174e-01 -4.13217941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.015013502855866676 Centerline is valid? [True, True] Translation: X:201.35, Y:-124.66, Z:-5.12 [[-9.96757374e-01 8.00630447e-02 8.04033636e-03 2.01346772e+02] [-8.00604660e-02 -9.96789802e-01 6.42582817e-04 -1.24657752e+02] [ 8.06597242e-03 -3.21391467e-06 9.99967470e-01 -5.12494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.016921301161979055 Centerline is valid? [True, True] Translation: X:201.36, Y:-125.33, Z:-4.13 [[-9.81665427e-01 -1.90412636e-01 8.71878694e-03 2.01363844e+02] [-1.90406851e-01 9.81704126e-01 1.49643657e-03 -1.25328320e+02] [-8.84420954e-03 -1.91116720e-04 -9.99960871e-01 -4.13062008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.017469435825004008 Centerline is valid? [True, True] Translation: X:201.26, Y:-124.68, Z:-5.13 [[-9.96793778e-01 7.94161665e-02 9.75888593e-03 2.01256064e+02] [-7.94096287e-02 -9.96841510e-01 1.05622167e-03 -1.24679265e+02] [ 9.81194365e-03 2.77885677e-04 9.99951823e-01 -5.12778857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.01638293174624795 Centerline is valid? [True, True] Translation: X:201.28, Y:-125.35, Z:-4.13 [[-9.80642400e-01 -1.95582869e-01 9.37143563e-03 2.01275097e+02] [-1.95575888e-01 9.80687158e-01 1.66458071e-03 -1.25347317e+02] [-9.51601004e-03 -2.00468426e-04 -9.99954702e-01 -4.13162073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.015003867665039227 Centerline is valid? [True, True] Translation: X:201.27, Y:-125.33, Z:-4.13 [[-9.65421917e-01 -2.60506594e-01 9.84061655e-03 2.01267259e+02] [-2.60494813e-01 9.65472054e-01 2.48307517e-03 -1.25326219e+02] [-1.01476977e-02 -1.66214380e-04 -9.99948497e-01 -4.13050919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.014100108852043155 Centerline is valid? [True, True] Translation: X:201.24, Y:-125.31, Z:-4.13 [[-9.45466956e-01 -3.25585765e-01 9.28145709e-03 2.01244193e+02] [-3.25571347e-01 9.45512504e-01 3.06653224e-03 -1.25310140e+02] [-9.77415298e-03 -1.22471585e-04 -9.99952224e-01 -4.13066151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.013225242562104196 Centerline is valid? [True, True] Translation: X:201.20, Y:-125.31, Z:-4.13 [[-9.22065228e-01 -3.86915604e-01 9.59329697e-03 2.01203301e+02] [-3.86895293e-01 9.22115130e-01 3.96479928e-03 -1.25306754e+02] [-1.03801670e-02 -5.57978947e-05 -9.99946123e-01 -4.13064105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.013111650598449943 Centerline is valid? [True, True] Translation: X:201.15, Y:-125.31, Z:-4.13 [[-8.93927210e-01 -4.48074433e-01 1.11106294e-02 2.01150002e+02] [-4.48039645e-01 8.93996254e-01 5.58337196e-03 -1.25310061e+02] [-1.24346273e-02 1.31256492e-05 -9.99922687e-01 -4.12920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.013094003968729737 Centerline is valid? [True, True] Translation: X:201.08, Y:-125.32, Z:-4.13 [[-8.58697345e-01 -5.12379121e-01 1.03201603e-02 2.01081565e+02] [-5.12341819e-01 8.58759359e-01 6.18259629e-03 -1.25317589e+02] [-1.20303675e-02 2.15293382e-05 -9.99927632e-01 -4.13020082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.01296829450232492 Centerline is valid? [True, True] Translation: X:201.00, Y:-125.33, Z:-4.13 [[-8.17095122e-01 -5.76428465e-01 9.26206833e-03 2.01003484e+02] [-5.76391461e-01 8.17147615e-01 6.53141031e-03 -1.25334017e+02] [-1.13333679e-02 -1.79358423e-06 -9.99935775e-01 -4.13103197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.013029894652398693 Centerline is valid? [True, True] Translation: X:200.92, Y:-125.36, Z:-4.13 [[-7.70963973e-01 -6.36825042e-01 8.27148039e-03 2.00923560e+02] [-6.36788580e-01 7.71008343e-01 6.81462279e-03 -1.25357766e+02] [-1.07171028e-02 -1.33555857e-05 -9.99942570e-01 -4.13153046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.01316845296342621 Centerline is valid? [True, True] Translation: X:200.84, Y:-125.39, Z:-4.13 [[-7.22222703e-01 -6.91618847e-01 7.59853083e-03 2.00840754e+02] [-6.91580472e-01 7.22262674e-01 7.28559109e-03 -1.25393387e+02] [-1.05269873e-02 6.82375331e-06 -9.99944590e-01 -4.13043215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.01320798333397334 Centerline is valid? [True, True] Translation: X:200.76, Y:-125.44, Z:-4.13 [[-6.68923953e-01 -7.43293440e-01 7.45699038e-03 2.00757365e+02] [-7.43246889e-01 6.68965516e-01 8.31865021e-03 -1.25441165e+02] [-1.11716675e-02 2.21594812e-05 -9.99937595e-01 -4.13024066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.013396162674508218 Centerline is valid? [True, True] Translation: X:200.67, Y:-125.50, Z:-4.13 [[-6.13114598e-01 -7.89953326e-01 8.01453156e-03 2.00673969e+02] [-7.89884397e-01 6.13166974e-01 1.04355555e-02 -1.25498786e+02] [-1.31578478e-02 6.76379689e-05 -9.99913430e-01 -4.13075613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.013590460811244947 Centerline is valid? [True, True] Translation: X:200.59, Y:-125.57, Z:-4.13 [[-5.52920760e-01 -8.33199470e-01 7.56806334e-03 2.00591512e+02] [-8.33118973e-01 5.52972543e-01 1.15820416e-02 -1.25567774e+02] [-1.38350821e-02 9.88540717e-05 -9.99904286e-01 -4.13025595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.01424808580317174 Centerline is valid? [True, True] Translation: X:200.52, Y:-125.64, Z:-4.13 [[-4.92412576e-01 -8.70340615e-01 6.08851054e-03 2.00517372e+02] [-8.70270057e-01 4.92450190e-01 1.10832549e-02 -1.25640614e+02] [-1.26444950e-02 1.58885663e-04 -9.99920043e-01 -4.13155466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.015127368384069495 Centerline is valid? [True, True] Translation: X:200.45, Y:-125.72, Z:-4.13 [[-4.28223344e-01 -9.03659679e-01 4.89419591e-03 2.00446555e+02] [-9.03595285e-01 4.28251265e-01 1.07895672e-02 -1.25723895e+02] [-1.18460424e-02 1.97972198e-04 -9.99929814e-01 -4.13268359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.015831213734992376 Centerline is valid? [True, True] Translation: X:200.38, Y:-125.82, Z:-4.13 [[-3.60032397e-01 -9.32928532e-01 4.58554792e-03 2.00380123e+02] [-9.32843581e-01 3.60061507e-01 1.25922645e-02 -1.25818184e+02] [-1.33987621e-02 2.56024234e-04 -9.99910200e-01 -4.13384679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.015256790507337744 Centerline is valid? [True, True] Translation: X:200.31, Y:-125.92, Z:-4.13 [[-2.84318510e-01 -9.58721957e-01 3.89789821e-03 2.00313082e+02] [-9.58620580e-01 2.84345137e-01 1.39436895e-02 -1.25917441e+02] [-1.44764697e-02 2.27843571e-04 -9.99895184e-01 -4.13251679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.01349702130736066 Centerline is valid? [True, True] Translation: X:200.25, Y:-126.02, Z:-4.13 [[-2.02527856e-01 -9.79272415e-01 2.82927022e-03 2.00249077e+02] [-9.79168651e-01 2.02547584e-01 1.42558280e-02 -1.26024588e+02] [-1.45334010e-02 1.16869576e-04 -9.99894378e-01 -4.13303159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.013097591600569601 Centerline is valid? [True, True] Translation: X:200.20, Y:-126.14, Z:-4.13 [[-1.22502759e-01 -9.92466812e-01 1.64369027e-03 2.00198708e+02] [-9.92371916e-01 1.22513775e-01 1.37242676e-02 -1.26135235e+02] [-1.38222548e-02 5.01085800e-05 -9.99904467e-01 -4.13252594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.012966018798150809 Centerline is valid? [True, True] Translation: X:199.52, Y:-126.16, Z:-5.12 [[-1.87841945e-01 9.82195853e-01 2.59038203e-03 1.99516013e+02] [-9.82108427e-01 -1.87859787e-01 1.31048761e-02 -1.26164359e+02] [ 1.33581835e-02 -8.23906143e-05 9.99910772e-01 -5.12332949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.013255913638276747 Centerline is valid? [True, True] Translation: X:200.15, Y:-126.41, Z:-4.13 [[-1.04146889e-01 -9.94560682e-01 1.57305221e-03 2.00153990e+02] [-9.94458218e-01 1.04158739e-01 1.42762241e-02 -1.26411837e+02] [-1.43624183e-02 -7.75103729e-05 -9.99896852e-01 -4.13296122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.014330614745163403 Centerline is valid? [True, True] Translation: X:200.11, Y:-126.53, Z:-4.13 [[-2.12176348e-02 -9.99774749e-01 5.13516948e-04 2.00111662e+02] [-9.99655132e-01 2.12230402e-02 1.54660895e-02 -1.26532293e+02] [-1.54735041e-02 -1.85186013e-04 -9.99880261e-01 -4.13133688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.01465822613313618 Centerline is valid? [True, True] Translation: X:200.08, Y:-126.64, Z:-4.13 [[ 6.06912621e-02 -9.98156395e-01 -6.18155941e-04 2.00082450e+02] [-9.98055257e-01 -6.06939135e-02 1.42110308e-02 -1.26642812e+02] [-1.42223495e-02 -2.45531608e-04 -9.99898827e-01 -4.13422849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.01489109130809612 Centerline is valid? [True, True] Translation: X:200.06, Y:-126.76, Z:-4.14 [[ 1.37265724e-01 -9.90533293e-01 -1.38415286e-03 2.00064931e+02] [-9.90466950e-01 -1.37272553e-01 1.14659042e-02 -1.26760104e+02] [-1.15473661e-02 -2.02917987e-04 -9.99933306e-01 -4.13668541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.013840431968232012 Centerline is valid? [True, True] Translation: X:200.06, Y:-126.88, Z:-4.14 [[ 2.07923834e-01 -9.78142682e-01 -2.13822176e-03 2.00059796e+02] [-9.78083953e-01 -2.07934783e-01 1.07194870e-02 -1.26876533e+02] [-1.09297985e-02 -1.37476448e-04 -9.99940259e-01 -4.13687649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.012744843609315958 Centerline is valid? [True, True] Translation: X:200.07, Y:-126.98, Z:-4.14 [[ 2.73547623e-01 -9.61851760e-01 -3.59024531e-03 2.00067120e+02] [-9.61766712e-01 -2.73571179e-01 1.27906749e-02 -1.26983471e+02] [-1.32849208e-02 -4.58802833e-05 -9.99911751e-01 -4.13517007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.012845218915015295 Centerline is valid? [True, True] Translation: X:200.09, Y:-127.10, Z:-4.14 [[ 3.38227628e-01 -9.41053480e-01 -4.51872806e-03 2.00086104e+02] [-9.40972322e-01 -3.38257805e-01 1.23590995e-02 -1.27099030e+02] [-1.31590686e-02 7.18091197e-05 -9.99913413e-01 -4.13521770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.013889570274267904 Centerline is valid? [True, True] Translation: X:200.11, Y:-127.21, Z:-4.13 [[ 4.03890258e-01 -9.14792595e-01 -5.21222703e-03 2.00108796e+02] [-9.14721014e-01 -4.03923863e-01 1.14446550e-02 -1.27208564e+02] [-1.25748285e-02 1.45348926e-04 -9.99920923e-01 -4.13465618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.015520282488236935 Centerline is valid? [True, True] Translation: X:200.14, Y:-127.31, Z:-4.13 [[ 4.66235950e-01 -8.84637181e-01 -6.41069943e-03 2.00141150e+02] [-8.84560891e-01 -4.66279953e-01 1.16204829e-02 -1.27311967e+02] [-1.32690918e-02 2.52767123e-04 -9.99911930e-01 -4.13440931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.0170306202605719 Centerline is valid? [True, True] Translation: X:200.18, Y:-127.42, Z:-4.13 [[ 5.27487635e-01 -8.49524881e-01 -8.01693609e-03 2.00182888e+02] [-8.49437161e-01 -5.27548425e-01 1.22134525e-02 -1.27416584e+02] [-1.46049538e-02 3.67438246e-04 -9.99893274e-01 -4.13364431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.017431553559990643 Centerline is valid? [True, True] Translation: X:200.23, Y:-127.52, Z:-4.13 [[ 5.89291815e-01 -8.07864773e-01 -9.46920568e-03 2.00226443e+02] [-8.07771755e-01 -5.89367739e-01 1.22662321e-02 -1.27520106e+02] [-1.54903011e-02 4.20566708e-04 -9.99879930e-01 -4.13281923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.0166824037582357 Centerline is valid? [True, True] Translation: X:200.28, Y:-127.62, Z:-4.14 [[ 6.50709448e-01 -7.59270590e-01 -9.24045899e-03 2.00276451e+02] [-7.59201549e-01 -6.50774961e-01 1.02449427e-02 -1.27620496e+02] [-1.37921430e-02 3.48889797e-04 -9.99904823e-01 -4.13567557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.015852147237090712 Centerline is valid? [True, True] Translation: X:200.33, Y:-127.72, Z:-4.14 [[ 7.09293137e-01 -7.04858715e-01 -8.79991091e-03 2.00329593e+02] [-7.04809006e-01 -7.09347675e-01 8.37503632e-03 -1.27717610e+02] [-1.21454137e-02 2.61900685e-04 -9.99926207e-01 -4.13723784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.01457980953617269 Centerline is valid? [True, True] Translation: X:200.35, Y:-127.75, Z:-4.14 [[ 7.65763884e-01 -6.43069257e-01 -8.22220454e-03 2.00345071e+02] [-6.43034571e-01 -7.65808005e-01 6.68128063e-03 -1.27748407e+02] [-1.05931562e-02 1.70878363e-04 -9.99943876e-01 -4.13774622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.01397430446089731 Centerline is valid? [True, True] Translation: X:200.36, Y:-127.78, Z:-4.14 [[ 8.15711153e-01 -5.78415056e-01 -7.16509563e-03 2.00364013e+02] [-5.78393931e-01 -8.15742613e-01 4.94467418e-03 -1.27775867e+02] [-8.70494783e-03 1.10821944e-04 -9.99962105e-01 -4.13896980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.013477109125572664 Centerline is valid? [True, True] Translation: X:200.39, Y:-127.80, Z:-4.14 [[ 8.60573342e-01 -5.09250574e-01 -8.79631031e-03 2.00385257e+02] [-5.09224993e-01 -8.60618292e-01 5.10502440e-03 -1.27800777e+02] [-1.01700022e-02 8.60531445e-05 -9.99948281e-01 -4.13698096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.013007010279538682 Centerline is valid? [True, True] Translation: X:200.41, Y:-127.83, Z:-4.14 [[ 8.99148914e-01 -4.37546708e-01 -9.17110486e-03 2.00409105e+02] [-4.37524557e-01 -8.99195683e-01 4.40300759e-03 -1.27825143e+02] [-1.01731394e-02 5.36240968e-05 -9.99948251e-01 -4.13744205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.012732589657775654 Centerline is valid? [True, True] Translation: X:200.43, Y:-127.85, Z:-4.14 [[ 9.33181923e-01 -3.59264189e-01 -1.00369845e-02 2.00432599e+02] [-3.59243173e-01 -9.33235898e-01 3.88596703e-03 -1.27853147e+02] [-1.07629631e-02 -2.05960254e-05 -9.99942077e-01 -4.13534699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.013339729513043904 Centerline is valid? [True, True] Translation: X:200.46, Y:-127.88, Z:-4.13 [[ 9.60582336e-01 -2.77755840e-01 -1.15441826e-02 2.00460504e+02] [-2.77734317e-01 -9.60651695e-01 3.45976295e-03 -1.27876439e+02] [-1.20509079e-02 -1.17171522e-04 -9.99927378e-01 -4.13473098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.013617655261778919 Centerline is valid? [True, True] Translation: X:200.49, Y:-127.89, Z:-4.14 [[ 9.79829943e-01 -1.99567586e-01 -1.02986583e-02 2.00491147e+02] [-1.99555210e-01 -9.79884056e-01 2.22606566e-03 -1.27894012e+02] [-1.05357416e-02 -1.26014862e-04 -9.99944490e-01 -4.13574276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.014599835093914524 Centerline is valid? [True, True] Translation: X:200.52, Y:-127.91, Z:-4.14 [[ 9.92624689e-01 -1.20907612e-01 -8.80778351e-03 2.00521830e+02] [-1.20901793e-01 -9.92663758e-01 1.19210033e-03 -1.27905824e+02] [-8.88730148e-03 -1.18431401e-04 -9.99960500e-01 -4.13580592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.014330455322217026 Centerline is valid? [True, True] Translation: X:200.55, Y:-127.91, Z:-4.14 [[ 9.99122313e-01 -4.13342708e-02 -6.78841385e-03 2.00551527e+02] [-4.13326348e-02 -9.99145369e-01 3.81185030e-04 -1.27910853e+02] [-6.79836826e-03 -1.00267438e-04 -9.99976886e-01 -4.13807508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.01494681095009179 Centerline is valid? [True, True] Translation: X:200.58, Y:-127.92, Z:-4.14 [[ 9.99162254e-01 4.06037672e-02 -5.11110599e-03 2.00580720e+02] [ 4.06037133e-02 -9.99175323e-01 -1.14362798e-04 -1.27918934e+02] [-5.11153454e-03 -9.32628915e-05 -9.99986932e-01 -4.13935274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.017194638043691094 Centerline is valid? [True, True] Translation: X:200.61, Y:-127.93, Z:-4.14 [[ 9.92041594e-01 1.25680397e-01 -7.61012439e-03 2.00611337e+02] [ 1.25678199e-01 -9.92070764e-01 -7.68298695e-04 -1.27927365e+02] [-7.64634200e-03 -1.94242465e-04 -9.99970747e-01 -4.13564154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.019034465143809805 Centerline is valid? [True, True] Translation: X:200.64, Y:-127.93, Z:-4.13 [[ 9.77696718e-01 2.09751562e-01 -1.06494132e-02 2.00642469e+02] [ 2.09743015e-01 -9.77754652e-01 -1.92579540e-03 -1.27929988e+02] [-1.08164519e-02 -3.50796195e-04 -9.99941439e-01 -4.13367316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.01913176296130551 Centerline is valid? [True, True] Translation: X:200.67, Y:-127.93, Z:-4.13 [[ 9.57986091e-01 2.86554868e-01 -1.22047555e-02 2.00672744e+02] [ 2.86537188e-01 -9.58063740e-01 -3.21086689e-03 -1.27928787e+02] [-1.26130233e-02 -4.21150511e-04 -9.99920364e-01 -4.13202449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.01766974330764557 Centerline is valid? [True, True] Translation: X:200.70, Y:-127.92, Z:-4.13 [[ 9.35093598e-01 3.54305170e-01 -8.23461865e-03 2.00700402e+02] [ 3.54293593e-01 -9.35129827e-01 -2.87341294e-03 -1.27920258e+02] [-8.71850258e-03 -2.30562589e-04 -9.99961967e-01 -4.13413892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.015061628213573024 Centerline is valid? [True, True] Translation: X:200.72, Y:-127.91, Z:-4.14 [[ 9.08979505e-01 4.16831201e-01 -2.83006829e-03 2.00724828e+02] [ 4.16829344e-01 -9.08983909e-01 -1.24531906e-03 -1.27905205e+02] [-3.09157437e-03 -4.76860041e-05 -9.99995220e-01 -4.13891793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.013603119185677321 Centerline is valid? [True, True] Translation: X:200.75, Y:-127.89, Z:-4.14 [[ 8.76803527e-01 4.80847497e-01 -1.12256287e-03 2.00748159e+02] [ 4.80847117e-01 -8.76804246e-01 -6.04271446e-04 -1.27889908e+02] [-1.27483030e-03 -9.95378461e-06 -9.99999187e-01 -4.14062746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.01329876105842132 Centerline is valid? [True, True] Translation: X:200.77, Y:-127.88, Z:-4.14 [[ 8.36982969e-01 5.47226462e-01 -1.64569672e-03 2.00773785e+02] [ 5.47225438e-01 -8.36984587e-01 -1.05856470e-03 -1.27877850e+02] [-1.95669740e-03 -1.45664852e-05 -9.99998086e-01 -4.13996114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.013088482252553048 Centerline is valid? [True, True] Translation: X:200.80, Y:-127.87, Z:-4.14 [[ 7.92484471e-01 6.09879219e-01 -3.96244864e-03 2.00800534e+02] [ 6.09871801e-01 -7.92494377e-01 -3.00826960e-03 -1.27867551e+02] [-4.97489938e-03 -3.25787465e-05 -9.99987625e-01 -4.13580449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.012717816035308372 Centerline is valid? [True, True] Translation: X:200.83, Y:-127.85, Z:-4.14 [[ 7.45769770e-01 6.66191131e-01 -4.10213788e-03 2.00826425e+02] [ 6.66181111e-01 -7.45781051e-01 -3.65390890e-03 -1.27854309e+02] [-5.49349840e-03 -7.79197354e-06 -9.99984911e-01 -4.13527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.012950552022852299 Centerline is valid? [True, True] Translation: X:200.85, Y:-127.84, Z:-4.14 [[ 6.96656847e-01 7.17391776e-01 -4.27519911e-03 2.00850437e+02] [ 7.17377943e-01 -6.96669963e-01 -4.45521966e-03 -1.27839156e+02] [-6.17454075e-03 3.68257377e-05 -9.99980937e-01 -4.13550420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.01375031318970053 Centerline is valid? [True, True] Translation: X:200.87, Y:-127.82, Z:-4.13 [[ 6.43228649e-01 7.65664987e-01 -3.74589576e-03 2.00873322e+02] [ 7.65651339e-01 -6.43239552e-01 -4.57222934e-03 -1.27823345e+02] [-5.91030423e-03 7.29388039e-05 -9.99982531e-01 -4.13496143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.014992856634348666 Centerline is valid? [True, True] Translation: X:200.89, Y:-127.81, Z:-4.14 [[ 5.87282074e-01 8.09378313e-01 -2.55178382e-03 2.00892988e+02] [ 8.09370008e-01 -5.87287611e-01 -3.66762708e-03 -1.27805162e+02] [-4.46712884e-03 8.85943495e-05 -9.99990018e-01 -4.13567237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.016749128135381937 Centerline is valid? [True, True] Translation: X:200.91, Y:-127.79, Z:-4.14 [[ 5.27324363e-01 8.49661519e-01 -2.07813979e-03 2.00912878e+02] [ 8.49654104e-01 -5.27328447e-01 -3.55130046e-03 -1.27786997e+02] [-4.11326557e-03 1.06987250e-04 -9.99991535e-01 -4.13586011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.017310543574499387 Centerline is valid? [True, True] Translation: X:200.93, Y:-127.77, Z:-4.13 [[ 4.59108494e-01 8.88376300e-01 -2.63464578e-03 2.00934646e+02] [ 8.88359676e-01 -4.59116027e-01 -5.43691605e-03 -1.27769537e+02] [-6.03963546e-03 1.55621268e-04 -9.99981749e-01 -4.13456530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.016291811656992946 Centerline is valid? [True, True] Translation: X:200.96, Y:-127.75, Z:-4.13 [[ 3.84419700e-01 9.23154178e-01 -2.80315050e-03 2.00955576e+02] [ 9.23126386e-01 -3.84429884e-01 -7.16523130e-03 -1.27750035e+02] [-7.69222803e-03 1.66793883e-04 -9.99970400e-01 -4.13249927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.015190734751616279 Centerline is valid? [True, True] Translation: X:200.98, Y:-127.73, Z:-4.13 [[ 3.08061594e-01 9.51362949e-01 -2.56777077e-03 2.00975319e+02] [ 9.51325297e-01 -3.08072251e-01 -8.46564872e-03 -1.27728631e+02] [-8.84496346e-03 1.65155955e-04 -9.99960869e-01 -4.13235818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.015021467701063074 Centerline is valid? [True, True] Translation: X:200.99, Y:-127.71, Z:-4.13 [[ 2.30101968e-01 9.73164687e-01 -1.89127807e-03 2.00990575e+02] [ 9.73126553e-01 -2.30109696e-01 -8.61624816e-03 -1.27705815e+02] [-8.82022986e-03 1.42162742e-04 -9.99961091e-01 -4.13145508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.013633874178732004 Centerline is valid? [True, True] Translation: X:201.01, Y:-127.68, Z:-4.13 [[ 1.48058174e-01 9.88978010e-01 -1.12798694e-03 2.01012028e+02] [ 9.88944483e-01 -1.48062443e-01 -8.14391840e-03 -1.27681158e+02] [-8.22116871e-03 9.02572292e-05 -9.99966202e-01 -4.13323194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.013319194039375691 Centerline is valid? [True, True] Translation: X:201.03, Y:-127.65, Z:-4.13 [[ 6.49248161e-02 9.97889874e-01 -7.53084488e-04 2.01029469e+02] [ 9.97809163e-01 -6.49291430e-02 -1.26917481e-02 -1.27654953e+02] [-1.27138640e-02 7.25748077e-05 -9.99919173e-01 -4.13017500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.013302295817438636 Centerline is valid? [True, True] Translation: X:201.05, Y:-127.63, Z:-4.13 [[-2.26727813e-02 9.99742900e-01 2.79803628e-04 2.01045022e+02] [ 9.99635941e-01 2.26744485e-02 -1.46237703e-02 -1.27627975e+02] [-1.46263550e-02 -5.18597843e-05 -9.99893028e-01 -4.12887465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.013882242730309871 Centerline is valid? [True, True] Translation: X:201.05, Y:-127.60, Z:-4.13 [[-1.06337853e-01 9.94329047e-01 1.41715922e-03 2.01054783e+02] [ 9.94223518e-01 1.06347214e-01 -1.44867598e-02 -1.27598965e+02] [-1.45553170e-02 -1.31517912e-04 -9.99894057e-01 -4.12777277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.014222937644337349 Centerline is valid? [True, True] Translation: X:201.06, Y:-127.57, Z:-4.13 [[-1.87352046e-01 9.82289880e-01 2.40898045e-03 2.01058628e+02] [ 9.82196426e-01 1.87367454e-01 -1.35505594e-02 -1.27568834e+02] [-1.37619419e-02 -1.72633040e-04 -9.99905285e-01 -4.12856680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.01451899323698072 Centerline is valid? [True, True] Translation: X:201.06, Y:-127.54, Z:-4.13 [[-2.66874024e-01 9.63726626e-01 3.04079326e-03 2.01058004e+02] [ 9.63655689e-01 2.66891279e-01 -1.16944074e-02 -1.27539075e+02] [-1.20817730e-02 -1.90655833e-04 -9.99926995e-01 -4.13199059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.016022415515477048 Centerline is valid? [True, True] Translation: X:201.06, Y:-127.51, Z:-4.13 [[-3.43927079e-01 9.38987118e-01 4.16620240e-03 2.01058593e+02] [ 9.38909802e-01 3.43952233e-01 -1.20517798e-02 -1.27509478e+02] [-1.27494406e-02 -2.33245146e-04 -9.99918695e-01 -4.13022836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.015429890805341503 Centerline is valid? [True, True] Translation: X:201.05, Y:-127.48, Z:-4.13 [[-4.16716298e-01 9.09018420e-01 5.74789771e-03 2.01050553e+02] [ 9.08922916e-01 4.16755852e-01 -1.31792517e-02 -1.27481613e+02] [-1.43756526e-02 -2.67613036e-04 -9.99896629e-01 -4.13031029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.01569419746002341 Centerline is valid? [True, True] Translation: X:201.04, Y:-127.45, Z:-4.13 [[-4.86919248e-01 8.73420093e-01 6.85474082e-03 2.01039833e+02] [ 8.73325440e-01 4.86967417e-01 -1.28611906e-02 -1.27453991e+02] [-1.45712577e-02 -2.75941722e-04 -9.99893796e-01 -4.12986391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.017008336149376763 Centerline is valid? [True, True] Translation: X:201.03, Y:-127.43, Z:-4.13 [[-5.53927339e-01 8.32530584e-01 7.57170383e-03 2.01029089e+02] [ 8.32446102e-01 5.53979021e-01 -1.18630722e-02 -1.27427675e+02] [-1.40709355e-02 -2.68244673e-04 -9.99900964e-01 -4.12878004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.014587253022811601 Centerline is valid? [True, True] Translation: X:201.01, Y:-127.41, Z:-4.13 [[-6.15169404e-01 7.88350619e-01 8.36096631e-03 2.01010206e+02] [ 7.88272795e-01 6.15226179e-01 -1.10792141e-02 -1.27405245e+02] [-1.38781906e-02 -2.24871237e-04 -9.99903668e-01 -4.13155320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.014359743334472236 Centerline is valid? [True, True] Translation: X:200.99, Y:-127.39, Z:-4.13 [[-6.72389983e-01 7.40142078e-01 9.02303054e-03 2.00991454e+02] [ 7.40071998e-01 6.72450500e-01 -1.01864123e-02 -1.27386010e+02] [-1.36069338e-02 -1.71549351e-04 -9.99907407e-01 -4.13095994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.014238876562496809 Centerline is valid? [True, True] Translation: X:200.97, Y:-127.37, Z:-4.13 [[-7.27017210e-01 6.86549703e-01 9.77146206e-03 2.00970231e+02] [ 6.86484999e-01 7.27082859e-01 -9.42670421e-03 -1.27369746e+02] [-1.35765636e-02 -1.45414076e-04 -9.99907824e-01 -4.13056214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.01327956604956535 Centerline is valid? [True, True] Translation: X:200.99, Y:-127.35, Z:-4.13 [[-7.72785680e-01 6.34589525e-01 9.92103831e-03 2.00986137e+02] [ 6.34535259e-01 7.72849351e-01 -8.29969909e-03 -1.27354329e+02] [-1.29343701e-02 -1.18639989e-04 -9.99916341e-01 -4.13337678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.012868802382905562 Centerline is valid? [True, True] Translation: X:201.00, Y:-127.34, Z:-4.13 [[-8.12996716e-01 5.82197484e-01 9.07905710e-03 2.01004040e+02] [ 5.82160505e-01 8.13047408e-01 -6.56196874e-03 -1.27340014e+02] [-1.12020655e-02 -4.93905721e-05 -9.99937254e-01 -4.13428720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.012675206347146854 Centerline is valid? [True, True] Translation: X:201.02, Y:-127.32, Z:-4.14 [[-8.50345746e-01 5.26153644e-01 8.62876680e-03 2.01019884e+02] [ 5.26126443e-01 8.50389524e-01 -5.35004005e-03 -1.27319978e+02] [-1.01527560e-02 -9.56141149e-06 -9.99948459e-01 -4.13553441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.012731171679316523 Centerline is valid? [True, True] Translation: X:201.42, Y:-126.71, Z:-5.12 [[-8.13500057e-01 -5.81493506e-01 9.10819875e-03 2.01419372e+02] [ 5.81457985e-01 -8.13551042e-01 -6.42763206e-03 -1.26705779e+02] [ 1.11476109e-02 6.71558400e-05 9.99937861e-01 -5.12130264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.012949945536041185 Centerline is valid? [True, True] Translation: X:200.99, Y:-127.30, Z:-4.14 [[-8.48994754e-01 5.28307361e-01 9.96195438e-03 2.00989094e+02] [ 5.28271814e-01 8.49053196e-01 -6.12877046e-03 -1.27304487e+02] [-1.16961037e-02 5.93257407e-05 -9.99931597e-01 -4.13539257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.013903824718287201 Centerline is valid? [True, True] Translation: X:201.01, Y:-127.29, Z:-4.13 [[-8.81477452e-01 4.72091954e-01 1.12555767e-02 2.01009536e+02] [ 4.72055477e-01 8.81549300e-01 -5.87015491e-03 -1.27285480e+02] [-1.26935987e-02 1.38847434e-04 -9.99919423e-01 -4.13365983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.015255676448005054 Centerline is valid? [True, True] Translation: X:201.03, Y:-127.27, Z:-4.13 [[-9.08571583e-01 4.17576307e-01 1.13007286e-02 2.01026331e+02] [ 4.17547514e-01 9.08641822e-01 -4.91040792e-03 -1.27266736e+02] [-1.23187846e-02 2.57134030e-04 -9.99924088e-01 -4.13451239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.01874185243110607 Centerline is valid? [True, True] Translation: X:201.34, Y:-126.58, Z:-5.12 [[-9.01014309e-01 -4.33679798e-01 9.74924879e-03 2.01337000e+02] [ 4.33650774e-01 -9.01067002e-01 -5.02626785e-03 -1.26583488e+02] [ 1.09645172e-02 -3.00969965e-04 9.99939843e-01 -5.12055250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.017972539873761195 Centerline is valid? [True, True] Translation: X:200.99, Y:-127.26, Z:-4.14 [[-9.06223748e-01 4.22723589e-01 7.95524155e-03 2.00990706e+02] [ 4.22709818e-01 9.06258627e-01 -3.42205286e-03 -1.27256803e+02] [-8.65608875e-03 2.61613137e-04 -9.99962501e-01 -4.14005110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.016929078483251946 Centerline is valid? [True, True] Translation: X:201.01, Y:-127.23, Z:-4.14 [[-9.34100615e-01 3.56947298e-01 6.68335406e-03 2.01008826e+02] [ 3.56939708e-01 9.34124502e-01 -2.33651918e-03 -1.27226413e+02] [-7.07709899e-03 2.03010446e-04 -9.99974936e-01 -4.14053801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.017664618639098406 Centerline is valid? [True, True] Translation: X:201.02, Y:-127.20, Z:-4.14 [[-9.57815097e-01 2.87268478e-01 8.18914576e-03 2.01016518e+02] [ 2.87259934e-01 9.57850079e-01 -2.22638812e-03 -1.27195407e+02] [-8.48354504e-03 2.19945325e-04 -9.99963990e-01 -4.13809957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.016776777678543554 Centerline is valid? [True, True] Translation: X:201.21, Y:-126.50, Z:-5.12 [[-9.52706677e-01 -3.03751593e-01 9.21721832e-03 2.01206955e+02] [ 3.03735621e-01 -9.52751248e-01 -3.11977198e-03 -1.26496374e+02] [ 9.72935196e-03 -1.72630072e-04 9.99952654e-01 -5.11913383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.015092014430425302 Centerline is valid? [True, True] Translation: X:200.97, Y:-127.17, Z:-4.14 [[-9.60629672e-01 2.77632857e-01 1.05180555e-02 2.00972400e+02] [ 2.77618634e-01 9.60687229e-01 -2.81821624e-03 -1.27169068e+02] [-1.08869910e-02 2.12746057e-04 -9.99940712e-01 -4.13770700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.013997133312137307 Centerline is valid? [True, True] Translation: X:200.97, Y:-127.13, Z:-4.14 [[-9.79135403e-01 2.02978554e-01 9.67315078e-03 2.00973379e+02] [ 2.02969995e-01 9.79183174e-01 -1.86874909e-03 -1.27131321e+02] [-9.85110248e-03 1.33600982e-04 -9.99951468e-01 -4.13767449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.01292086058126197 Centerline is valid? [True, True] Translation: X:200.97, Y:-127.10, Z:-4.14 [[-9.91814524e-01 1.27292399e-01 1.00296993e-02 2.00972513e+02] [ 1.27286694e-01 9.91865232e-01 -1.20772212e-03 -1.27096720e+02] [-1.01018438e-02 7.88109292e-05 -9.99948972e-01 -4.13892278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.012518623887447924 Centerline is valid? [True, True] Translation: X:201.05, Y:-126.45, Z:-5.12 [[-9.82464100e-01 -1.86116196e-01 1.11827860e-02 2.01052284e+02] [ 1.86104172e-01 -9.82527741e-01 -2.11559740e-03 -1.26445275e+02] [ 1.13811444e-02 2.66462316e-06 9.99935233e-01 -5.12002911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.01251524723551466 Centerline is valid? [True, True] Translation: X:200.92, Y:-127.08, Z:-4.14 [[-9.93520162e-01 1.13162715e-01 1.05777251e-02 2.00919413e+02] [ 1.13156013e-01 9.93576469e-01 -1.23188803e-03 -1.27078282e+02] [-1.06491825e-02 -2.69724101e-05 -9.99943296e-01 -4.13821314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.012682836999290289 Centerline is valid? [True, True] Translation: X:200.99, Y:-126.44, Z:-5.12 [[-9.82036003e-01 -1.88370917e-01 1.10311268e-02 2.00993966e+02] [ 1.88359798e-01 -9.82097955e-01 -2.04775608e-03 -1.26443804e+02] [ 1.12193848e-02 6.68506295e-05 9.99937059e-01 -5.11889661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.012758392392368695 Centerline is valid? [True, True] Translation: X:200.87, Y:-127.07, Z:-4.14 [[-9.94480683e-01 1.04337630e-01 1.10376926e-02 2.00866831e+02] [ 1.04330268e-01 9.94541931e-01 -1.24227891e-03 -1.27071324e+02] [-1.11070646e-02 -8.38569455e-05 -9.99938311e-01 -4.13942207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.012557434000654321 Centerline is valid? [True, True] Translation: X:200.87, Y:-127.05, Z:-4.14 [[-9.99323776e-01 3.59111038e-02 7.89828194e-03 2.00867861e+02] [ 3.59096629e-02 9.99354988e-01 -3.24211858e-04 -1.27046607e+02] [-7.90483025e-03 -4.03679758e-05 -9.99968756e-01 -4.14098169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.012460615152349376 Centerline is valid? [True, True] Translation: X:200.89, Y:-126.40, Z:-5.12 [[-9.93766864e-01 -1.11220517e-01 7.57744414e-03 2.00890325e+02] [ 1.11217447e-01 -9.93795752e-01 -8.26537176e-04 -1.26399322e+02] [ 7.62235969e-03 2.13587376e-05 9.99970949e-01 -5.11579606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.012478073678434332 Centerline is valid? [True, True] Translation: X:200.81, Y:-127.05, Z:-4.14 [[-9.99366173e-01 3.44891709e-02 8.81752888e-03 2.00809627e+02] [ 3.44876506e-02 9.99405071e-01 -3.24461121e-04 -1.27052716e+02] [-8.82347347e-03 -2.01596143e-05 -9.99961072e-01 -4.14054540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.012677456817379779 Centerline is valid? [True, True] Translation: X:200.80, Y:-127.03, Z:-4.14 [[-9.99219818e-01 -3.83639002e-02 9.37903632e-03 2.00804442e+02] [-3.83625668e-02 9.99263834e-01 3.22103794e-04 -1.27028375e+02] [-9.38448895e-03 -3.79514129e-05 -9.99955964e-01 -4.13989281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.013101225057564236 Centerline is valid? [True, True] Translation: X:200.80, Y:-127.00, Z:-4.14 [[-9.93532125e-01 -1.12965519e-01 1.15198699e-02 2.00797001e+02] [-1.12958975e-01 9.93598905e-01 1.21928895e-03 -1.27004381e+02] [-1.15838677e-02 -8.98699546e-05 -9.99932901e-01 -4.13844578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.01367178813195876 Centerline is valid? [True, True] Translation: X:200.72, Y:-126.34, Z:-5.12 [[-9.99620545e-01 2.53354834e-02 1.08110552e-02 2.00723622e+02] [-2.53336824e-02 -9.99679005e-01 3.03525491e-04 -1.26337387e+02] [ 1.08152748e-02 2.95264783e-05 9.99941513e-01 -5.11865963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.014349239879305841 Centerline is valid? [True, True] Translation: X:200.71, Y:-127.02, Z:-4.14 [[-9.91998064e-01 -1.25812469e-01 1.05386840e-02 2.00714354e+02] [-1.25807119e-01 9.92054029e-01 1.17171916e-03 -1.27015995e+02] [-1.06023608e-02 -1.63498331e-04 -9.99943780e-01 -4.13834088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.015944782972405966 Centerline is valid? [True, True] Translation: X:200.70, Y:-127.00, Z:-4.14 [[-9.79455064e-01 -2.01368053e-01 1.08942609e-02 2.00695932e+02] [-2.01358210e-01 9.79515622e-01 2.00426361e-03 -1.26997830e+02] [-1.10746934e-02 -2.30562738e-04 -9.99938647e-01 -4.13865352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.015986609146438353 Centerline is valid? [True, True] Translation: X:200.69, Y:-126.98, Z:-4.14 [[-9.62551456e-01 -2.70952709e-01 8.90639723e-03 2.00686822e+02] [-2.70942956e-01 9.62592641e-01 2.30700408e-03 -1.26976537e+02] [-9.19832144e-03 -1.92515455e-04 -9.99957676e-01 -4.14042658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.015313830254616584 Centerline is valid? [True, True] Translation: X:200.66, Y:-126.96, Z:-4.14 [[-9.41801637e-01 -3.36009331e-01 1.03636674e-02 2.00660549e+02] [-3.35991189e-01 9.41858638e-01 3.49671302e-03 -1.26964513e+02] [-1.09360379e-02 -1.88890886e-04 -9.99940182e-01 -4.13959028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.01489342076730417 Centerline is valid? [True, True] Translation: X:200.62, Y:-126.95, Z:-4.14 [[-9.16142249e-01 -4.00766598e-01 8.33747186e-03 2.00619577e+02] [-4.00751260e-01 9.16180178e-01 3.50847766e-03 -1.26952547e+02] [-9.04470711e-03 -1.26987739e-04 -9.99959088e-01 -4.14062087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.01493035446814862 Centerline is valid? [True, True] Translation: X:200.56, Y:-126.95, Z:-4.14 [[-8.83963071e-01 -4.67509923e-01 6.61513312e-03 2.00557414e+02] [-4.67497748e-01 8.83987817e-01 3.37579498e-03 -1.26949894e+02] [-7.42591473e-03 -1.08481738e-04 -9.99972422e-01 -4.14321639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.015234970356484578 Centerline is valid? [True, True] Translation: X:200.49, Y:-126.95, Z:-4.15 [[-8.46350632e-01 -5.32610104e-01 4.13331590e-03 2.00493731e+02] [-5.32604191e-01 8.46360722e-01 2.51094781e-03 -1.26951740e+02] [-4.83563240e-03 -7.62791001e-05 -9.99988305e-01 -4.14518440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.014691928043325964 Centerline is valid? [True, True] Translation: X:200.42, Y:-126.97, Z:-4.15 [[-8.04952673e-01 -5.93330590e-01 3.16321079e-03 2.00418663e+02] [-5.93326290e-01 8.04958886e-01 2.25954056e-03 -1.26969580e+02] [-3.88690917e-03 -5.79929048e-05 -9.99992444e-01 -4.14589151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.014187201685089725 Centerline is valid? [True, True] Translation: X:200.35, Y:-127.00, Z:-4.15 [[-7.60648010e-01 -6.49163751e-01 1.01459723e-03 2.00345445e+02] [-6.49163198e-01 7.60648687e-01 8.47550116e-04 -1.26996050e+02] [-1.32195086e-03 -1.39518696e-05 -9.99999126e-01 -4.14759677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.013817797671956641 Centerline is valid? [True, True] Translation: X:200.26, Y:-127.04, Z:-4.15 [[-7.12104766e-01 -7.02072314e-01 -1.12577576e-03 2.00262606e+02] [-7.02071469e-01 7.12105656e-01 -1.08979545e-03 -1.27039350e+02] [ 1.56678649e-03 1.43265060e-05 -9.99998773e-01 -4.15050110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.013761699600142415 Centerline is valid? [True, True] Translation: X:200.19, Y:-127.08, Z:-4.15 [[-6.58666768e-01 -7.52433277e-01 -1.50091412e-03 2.00187421e+02] [-7.52431375e-01 6.58668478e-01 -1.69188314e-03 -1.27080301e+02] [ 2.26163399e-03 1.49476763e-05 -9.99997442e-01 -4.15003260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.013666391891301977 Centerline is valid? [True, True] Translation: X:200.11, Y:-127.14, Z:-4.15 [[-6.00178916e-01 -7.99864857e-01 -1.21620337e-03 2.00105767e+02] [-7.99863256e-01 6.00180148e-01 -1.60020240e-03 -1.27138197e+02] [ 2.00988678e-03 1.23886509e-05 -9.99997980e-01 -4.14938675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.01344963741999805 Centerline is valid? [True, True] Translation: X:200.03, Y:-127.21, Z:-4.15 [[-5.40028395e-01 -8.41646262e-01 -9.50045519e-04 2.00026794e+02] [-8.41644979e-01 5.40029231e-01 -1.46966501e-03 -1.27207651e+02] [ 1.74999041e-03 5.94020595e-06 -9.99998469e-01 -4.14850931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.013390230241934798 Centerline is valid? [True, True] Translation: X:199.95, Y:-127.28, Z:-4.15 [[-4.75237435e-01 -8.79856341e-01 -1.48330900e-03 1.99950485e+02] [-8.79852095e-01 4.75239750e-01 -2.73335308e-03 -1.27284259e+02] [ 3.10988543e-03 6.10082642e-06 -9.99995164e-01 -4.14942084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.013418282697820349 Centerline is valid? [True, True] Translation: X:199.88, Y:-127.37, Z:-4.15 [[-4.08113463e-01 -9.12927080e-01 -2.74737701e-03 1.99878373e+02] [-9.12906398e-01 4.08122710e-01 -6.14502302e-03 -1.27369809e+02] [ 6.73122487e-03 2.31426076e-07 -9.99977345e-01 -4.15187561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.013336413818915191 Centerline is valid? [True, True] Translation: X:199.81, Y:-127.46, Z:-4.15 [[-3.38406246e-01 -9.40997626e-01 -2.16368352e-03 1.99812716e+02] [-9.40978219e-01 3.38413163e-01 -6.04341782e-03 -1.27459493e+02] [ 6.41906081e-03 -9.15126964e-06 -9.99979398e-01 -4.15012865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.013400379417546057 Centerline is valid? [True, True] Translation: X:199.75, Y:-127.56, Z:-4.15 [[-2.67349576e-01 -9.63599069e-01 -1.01897695e-03 1.99753245e+02] [-9.63591876e-01 2.67351518e-01 -3.72323258e-03 -1.27561481e+02] [ 3.86012848e-03 -1.35267422e-05 -9.99992550e-01 -4.14694328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.013333104722290894 Centerline is valid? [True, True] Translation: X:199.70, Y:-127.67, Z:-4.15 [[-1.93107032e-01 -9.81177283e-01 -9.02085408e-04 1.99697890e+02] [-9.81166102e-01 1.93109138e-01 -4.68414035e-03 -1.27666067e+02] [ 4.77017304e-03 -1.94448184e-05 -9.99988622e-01 -4.14561849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.01328144154124504 Centerline is valid? [True, True] Translation: X:199.65, Y:-127.78, Z:-4.14 [[-1.18352079e-01 -9.92971642e-01 -3.20514742e-04 1.99651731e+02] [-9.92967660e-01 1.18352512e-01 -2.81228762e-03 -1.27775225e+02] [ 2.83045559e-03 -1.45793148e-05 -9.99995994e-01 -4.14377048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.013317569542829737 Centerline is valid? [True, True] Translation: X:199.61, Y:-127.89, Z:-4.14 [[-4.24296804e-02 -9.99099456e-01 1.18340647e-06 1.99614149e+02] [-9.99099453e-01 4.24296804e-02 7.19067640e-05 -1.27886849e+02] [-7.18922203e-05 1.86864026e-06 -9.99999997e-01 -4.13988963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.013361247671070558 Centerline is valid? [True, True] Translation: X:199.58, Y:-128.01, Z:-4.13 [[ 3.36519837e-02 -9.99433601e-01 -1.42723290e-04 1.99584298e+02] [-9.99427664e-01 -3.36522758e-02 3.44512224e-03 -1.28006286e+02] [-3.44797389e-03 2.67064066e-05 -9.99994055e-01 -4.13497058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.013673374520017155 Centerline is valid? [True, True] Translation: X:199.56, Y:-128.13, Z:-4.13 [[ 1.08240467e-01 -9.94124357e-01 -8.73691126e-04 1.99562544e+02] [-9.94097121e-01 -1.08243969e-01 7.35910834e-03 -1.28125347e+02] [-7.41044064e-03 7.19805105e-05 -9.99972540e-01 -4.12916231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.014082043219798605 Centerline is valid? [True, True] Translation: X:199.55, Y:-128.25, Z:-4.13 [[ 1.81592074e-01 -9.83371831e-01 -2.03967135e-03 1.99554773e+02] [-9.83317641e-01 -1.81603481e-01 1.03243999e-02 -1.28250021e+02] [-1.05231354e-02 1.30815632e-04 -9.99944622e-01 -4.12665825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.015003586136643573 Centerline is valid? [True, True] Translation: X:199.55, Y:-128.36, Z:-4.12 [[ 2.54173871e-01 -9.67149268e-01 -4.23508822e-03 1.99550452e+02] [-9.67030049e-01 -2.54209043e-01 1.51870552e-02 -1.28364421e+02] [-1.57647470e-02 2.35304968e-04 -9.99875701e-01 -4.12086255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.015379625620293864 Centerline is valid? [True, True] Translation: X:199.55, Y:-128.48, Z:-4.11 [[ 3.27889502e-01 -9.44683756e-01 -7.81507597e-03 1.99553716e+02] [-9.44439227e-01 -3.27982454e-01 2.14955200e-02 -1.28483281e+02] [-2.28696764e-02 3.32708961e-04 -9.99738399e-01 -4.11419830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.015940500699482565 Centerline is valid? [True, True] Translation: X:199.57, Y:-128.61, Z:-4.11 [[ 3.99666287e-01 -9.16604122e-01 -1.01854517e-02 1.99570355e+02] [-9.16328341e-01 -3.99795903e-01 2.24857140e-02 -1.28606159e+02] [-2.46826000e-02 3.46436201e-04 -9.99695278e-01 -4.11016587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.016303354782147398 Centerline is valid? [True, True] Translation: X:199.59, Y:-128.72, Z:-4.11 [[ 4.68244078e-01 -8.83523649e-01 -1.15518764e-02 1.99589828e+02] [-8.83272864e-01 -4.68386424e-01 2.10524576e-02 -1.28717365e+02] [-2.40110863e-02 3.45770371e-04 -9.99711633e-01 -4.11013348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.015550575390150796 Centerline is valid? [True, True] Translation: X:199.62, Y:-128.83, Z:-4.11 [[ 5.33354243e-01 -8.45798032e-01 -1.26071340e-02 1.99617941e+02] [-8.45577478e-01 -5.33503103e-01 1.93175654e-02 -1.28828627e+02] [-2.30647039e-02 3.57203149e-04 -9.99733911e-01 -4.11420941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.01546929327037848 Centerline is valid? [True, True] Translation: X:199.65, Y:-128.93, Z:-4.12 [[ 5.96669598e-01 -8.02365841e-01 -1.39444937e-02 1.99654187e+02] [-8.02159969e-01 -5.96832424e-01 1.81780608e-02 -1.28934300e+02] [-2.29079810e-02 3.39418397e-04 -9.99737520e-01 -4.11519477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.015761674656520775 Centerline is valid? [True, True] Translation: X:199.69, Y:-129.03, Z:-4.11 [[ 6.59111538e-01 -7.51892722e-01 -1.51431805e-02 1.99691490e+02] [-7.51702596e-01 -6.59285430e-01 1.69094083e-02 -1.29034510e+02] [-2.26977393e-02 2.37981998e-04 -9.99742345e-01 -4.11361654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.014154360108899507 Centerline is valid? [True, True] Translation: X:199.74, Y:-129.13, Z:-4.12 [[ 7.16594285e-01 -6.97320123e-01 -1.54037680e-02 1.99735442e+02] [-6.97163475e-01 -7.16759809e-01 1.47805631e-02 -1.29132564e+02] [-2.13475860e-02 1.47277382e-04 -9.99772103e-01 -4.11769271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.013718293656853934 Centerline is valid? [True, True] Translation: X:199.75, Y:-129.17, Z:-4.12 [[ 7.70104354e-01 -6.37752816e-01 -1.45130866e-02 1.99752952e+02] [-6.37641920e-01 -7.70241090e-01 1.18930707e-02 -1.29167969e+02] [-1.87634150e-02 9.52468931e-05 -9.99823947e-01 -4.11957348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.014049394603559518 Centerline is valid? [True, True] Translation: X:199.78, Y:-129.19, Z:-4.12 [[ 8.15021132e-01 -5.79207519e-01 -1.60998516e-02 1.99779020e+02] [-5.79099034e-01 -8.15180113e-01 1.12112764e-02 -1.29194672e+02] [-1.96179344e-02 1.85981322e-04 -9.99807533e-01 -4.12388266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.014573103528317838 Centerline is valid? [True, True] Translation: X:199.81, Y:-129.22, Z:-4.13 [[ 8.55412599e-01 -5.17696904e-01 -1.60997112e-02 1.99806538e+02] [-5.17611024e-01 -8.55564051e-01 9.43300624e-03 -1.29220024e+02] [-1.86577722e-02 2.64275588e-04 -9.99825894e-01 -4.12606483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.01601147577499333 Centerline is valid? [True, True] Translation: X:199.84, Y:-129.24, Z:-4.13 [[ 8.90463417e-01 -4.54768250e-01 -1.61474877e-02 1.99835880e+02] [-4.54700896e-01 -8.90609738e-01 7.83515259e-03 -1.29242003e+02] [-1.79442885e-02 3.65360393e-04 -9.99838922e-01 -4.12706872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.016913810358884965 Centerline is valid? [True, True] Translation: X:199.87, Y:-129.26, Z:-4.13 [[ 9.21225442e-01 -3.88708635e-01 -1.57886531e-02 1.99866972e+02] [-3.88659629e-01 -9.21360628e-01 6.18758773e-03 -1.29261052e+02] [-1.69522121e-02 4.36248797e-04 -9.99856206e-01 -4.12885594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.020205626941115763 Centerline is valid? [True, True] Translation: X:199.90, Y:-129.27, Z:-4.13 [[ 9.45804903e-01 -3.24410345e-01 -1.45262983e-02 1.99900386e+02] [-3.24380699e-01 -9.45916298e-01 4.41802697e-03 -1.29270498e+02] [-1.51739159e-02 5.33459206e-04 -9.99884727e-01 -4.13167132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.020685555002259732 Centerline is valid? [True, True] Translation: X:199.93, Y:-129.29, Z:-4.13 [[ 9.67098100e-01 -2.53917123e-01 -1.57276617e-02 1.99932302e+02] [-2.53894240e-01 -9.67225768e-01 3.46824112e-03 -1.29286116e+02] [-1.60928454e-02 6.39033308e-04 -9.99870298e-01 -4.13353066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.01916333267319474 Centerline is valid? [True, True] Translation: X:199.96, Y:-129.31, Z:-4.14 [[ 9.84578689e-01 -1.74488643e-01 -1.25904426e-02 1.99960558e+02] [-1.74480426e-01 -9.84659076e-01 1.75665346e-03 -1.29307335e+02] [-1.27038096e-02 4.67222221e-04 -9.99919194e-01 -4.13730129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.018957626564242682 Centerline is valid? [True, True] Translation: X:199.99, Y:-129.32, Z:-4.14 [[ 9.95435282e-01 -9.46495620e-02 -1.22498735e-02 1.99991051e+02] [-9.46476297e-02 -9.95510563e-01 7.38679955e-04 -1.29321271e+02] [-1.22647942e-02 4.24113399e-04 -9.99924695e-01 -4.13778208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.018064447276457753 Centerline is valid? [True, True] Translation: X:200.02, Y:-129.33, Z:-4.14 [[ 9.99881932e-01 -1.06102320e-02 -1.11150535e-02 2.00021798e+02] [-1.06131341e-02 -9.99943659e-01 -2.02146130e-04 -1.29331549e+02] [-1.11122825e-02 3.20087817e-04 -9.99938205e-01 -4.13949764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.017372657918401077 Centerline is valid? [True, True] Translation: X:200.05, Y:-129.34, Z:-4.14 [[ 9.97395636e-01 7.10921778e-02 -1.21592428e-02 2.00053955e+02] [ 7.10831067e-02 -9.97469702e-01 -1.17712454e-03 -1.29339903e+02] [-1.22121607e-02 3.09742121e-04 -9.99925381e-01 -4.13710809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.015216506694704313 Centerline is valid? [True, True] Translation: X:200.09, Y:-129.35, Z:-4.14 [[ 9.88121251e-01 1.53068537e-01 -1.36534051e-02 2.00088579e+02] [ 1.53049805e-01 -9.88215531e-01 -2.41263403e-03 -1.29351681e+02] [-1.38618054e-02 2.94323954e-04 -9.99903877e-01 -4.13634234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.015220291645685283 Centerline is valid? [True, True] Translation: X:200.12, Y:-129.35, Z:-4.14 [[ 9.72955697e-01 2.30699717e-01 -1.16125481e-02 2.00122103e+02] [ 2.30680265e-01 -9.73024964e-01 -3.00589341e-03 -1.29353337e+02] [-1.19927579e-02 2.45815453e-04 -9.99928054e-01 -4.13791758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.014775608751974725 Centerline is valid? [True, True] Translation: X:200.16, Y:-129.35, Z:-4.14 [[ 9.51381413e-01 3.07866561e-01 -9.57018642e-03 2.00155740e+02] [ 3.07848978e-01 -9.51429527e-01 -3.29568663e-03 -1.29350702e+02] [-1.01199896e-02 1.89282895e-04 -9.99948774e-01 -4.14036023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.01417106140458002 Centerline is valid? [True, True] Translation: X:200.19, Y:-129.35, Z:-4.14 [[ 9.22493161e-01 3.85900401e-01 -9.34068558e-03 2.00187922e+02] [ 3.85879063e-01 -9.22540439e-01 -4.06054269e-03 -1.29347425e+02] [-1.01841252e-02 1.41447861e-04 -9.99948130e-01 -4.13904116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.013040627974615188 Centerline is valid? [True, True] Translation: X:200.22, Y:-129.35, Z:-4.14 [[ 8.86941707e-01 4.61794535e-01 -8.95635300e-03 2.00223166e+02] [ 4.61770016e-01 -8.86986922e-01 -4.75946062e-03 -1.29346050e+02] [-1.01420609e-02 8.55888592e-05 -9.99948564e-01 -4.13857998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.012561185411373493 Centerline is valid? [True, True] Translation: X:200.26, Y:-129.34, Z:-4.14 [[ 8.42143180e-01 5.39193508e-01 -8.07623364e-03 2.00259891e+02] [ 5.39169006e-01 -8.42181904e-01 -5.14038329e-03 -1.29342676e+02] [-9.57331913e-03 -2.55161265e-05 -9.99954174e-01 -4.13815097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.01350318523832761 Centerline is valid? [True, True] Translation: X:200.29, Y:-129.33, Z:-4.14 [[ 7.92052202e-01 6.10401356e-01 -7.96824509e-03 2.00294148e+02] [ 6.10371906e-01 -7.92092275e-01 -5.99706841e-03 -1.29333198e+02] [-9.97220407e-03 -1.13601702e-04 -9.99950270e-01 -4.13773406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.013715320253155229 Centerline is valid? [True, True] Translation: X:200.33, Y:-129.32, Z:-4.14 [[ 7.39941352e-01 6.72620694e-01 -8.25820218e-03 2.00326048e+02] [ 6.72581155e-01 -7.39987418e-01 -7.29467813e-03 -1.29319119e+02] [-1.10175172e-02 -1.56677158e-04 -9.99939293e-01 -4.13696166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.014769069030825957 Centerline is valid? [True, True] Translation: X:200.35, Y:-129.30, Z:-4.14 [[ 6.82628681e-01 7.30716154e-01 -8.48446948e-03 2.00352786e+02] [ 7.30663568e-01 -6.82681373e-01 -8.76884065e-03 -1.29299637e+02] [-1.21997228e-02 -2.13430615e-04 -9.99925558e-01 -4.13723151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.015216392862542484 Centerline is valid? [True, True] Translation: X:200.38, Y:-129.28, Z:-4.14 [[ 6.21613937e-01 7.83280332e-01 -8.24834351e-03 2.00379940e+02] [ 7.83216758e-01 -6.21668607e-01 -9.98270348e-03 -1.29279312e+02] [-1.29469915e-02 -2.54853246e-04 -9.99916152e-01 -4.13617259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.016170512944822916 Centerline is valid? [True, True] Translation: X:200.40, Y:-129.26, Z:-4.13 [[ 5.56091805e-01 8.31087306e-01 -7.46954661e-03 2.00403664e+02] [ 8.31019265e-01 -5.56141893e-01 -1.06384746e-02 -1.29255905e+02] [-1.29956290e-02 -2.91368560e-04 -9.99915511e-01 -4.13462863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.015572446543682726 Centerline is valid? [True, True] Translation: X:200.42, Y:-129.23, Z:-4.14 [[ 4.89423568e-01 8.72027085e-01 -5.77360145e-03 2.00421629e+02] [ 8.71972396e-01 -4.89457556e-01 -9.76939946e-03 -1.29228392e+02] [-1.13451138e-02 -2.53046753e-04 -9.99935610e-01 -4.13794479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.015320157274459751 Centerline is valid? [True, True] Translation: X:200.44, Y:-129.20, Z:-4.14 [[ 4.21039209e-01 9.07032083e-01 -4.33410683e-03 2.00437391e+02] [ 9.06988925e-01 -4.21061466e-01 -8.85048534e-03 -1.29201279e+02] [-9.85259954e-03 -2.04585547e-04 -9.99951441e-01 -4.13966851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.015516865337744238 Centerline is valid? [True, True] Translation: X:200.45, Y:-129.17, Z:-4.14 [[ 3.47495979e-01 9.37673722e-01 -3.81268899e-03 2.00453919e+02] [ 9.37624293e-01 -3.47516819e-01 -9.63047317e-03 -1.29174918e+02] [-1.03552152e-02 -2.28319116e-04 -9.99946357e-01 -4.13820669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.017259084764520836 Centerline is valid? [True, True] Translation: X:200.47, Y:-129.15, Z:-4.14 [[ 2.71040534e-01 9.62563428e-01 -2.94544031e-03 2.00469794e+02] [ 9.62515881e-01 -2.71056430e-01 -9.57025590e-03 -1.29149035e+02] [-1.00103589e-02 -2.41105811e-04 -9.99949866e-01 -4.13829591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.017753976793870203 Centerline is valid? [True, True] Translation: X:200.48, Y:-129.12, Z:-4.14 [[ 1.91263788e-01 9.81535460e-01 -2.51083115e-03 2.00481790e+02] [ 9.81471398e-01 -1.91280002e-01 -1.12185296e-02 -1.29120868e+02] [-1.14916564e-02 -3.18610502e-04 -9.99933918e-01 -4.13613720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.018944491427000054 Centerline is valid? [True, True] Translation: X:200.49, Y:-129.09, Z:-4.14 [[ 1.10931566e-01 9.93826311e-01 -1.85751939e-03 2.00488517e+02] [ 9.93741195e-01 -1.10946387e-01 -1.30129743e-02 -1.29091070e+02] [-1.31387213e-02 -4.02343909e-04 -9.99913602e-01 -4.13617211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.018491602574976878 Centerline is valid? [True, True] Translation: X:200.49, Y:-129.06, Z:-4.13 [[ 3.44889666e-02 9.99404714e-01 -8.53468661e-04 2.00491783e+02] [ 9.99314365e-01 -3.44973294e-02 -1.34437321e-02 -1.29061909e+02] [-1.34651717e-02 -3.89223064e-04 -9.99909265e-01 -4.13433188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.017640275677551723 Centerline is valid? [True, True] Translation: X:200.49, Y:-129.03, Z:-4.14 [[-3.92474931e-02 9.99229502e-01 1.93908240e-04 2.00488215e+02] [ 9.99146046e-01 3.92467219e-02 -1.29179326e-02 -1.29034142e+02] [-1.29155896e-02 -3.13253818e-04 -9.99916541e-01 -4.13532691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.014450570816830991 Centerline is valid? [True, True] Translation: X:200.47, Y:-129.01, Z:-4.14 [[-1.06080379e-01 9.94357033e-01 1.02138679e-03 2.00474893e+02] [ 9.94297259e-01 1.06085203e-01 -1.09037232e-02 -1.29007504e+02] [-1.09505478e-02 -1.41109009e-04 -9.99940031e-01 -4.13678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.013241149707810887 Centerline is valid? [True, True] Translation: X:200.47, Y:-128.98, Z:-4.14 [[-1.79098636e-01 9.83829378e-01 1.85286889e-03 2.00474586e+02] [ 9.83771453e-01 1.79108198e-01 -1.06762428e-02 -1.28979838e+02] [-1.08354653e-02 -8.93009984e-05 -9.99941291e-01 -4.13694222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.012837275118183177 Centerline is valid? [True, True] Translation: X:200.47, Y:-128.95, Z:-4.14 [[-2.49718173e-01 9.68314799e-01 2.69906596e-03 2.00470764e+02] [ 9.68257226e-01 2.49732758e-01 -1.05590731e-02 -1.28954479e+02] [-1.08985519e-02 -2.34023231e-05 -9.99940609e-01 -4.13696685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.01321075130249047 Centerline is valid? [True, True] Translation: X:200.46, Y:-128.93, Z:-4.14 [[-3.16162780e-01 9.48699652e-01 3.17281319e-03 2.00462106e+02] [ 9.48654051e-01 3.16178692e-01 -9.30191377e-03 -1.28929765e+02] [-9.82789828e-03 6.89831665e-05 -9.99951703e-01 -4.13849368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.014250870311266928 Centerline is valid? [True, True] Translation: X:200.45, Y:-128.91, Z:-4.14 [[-3.83863880e-01 9.23382733e-01 3.58485533e-03 2.00452765e+02] [ 9.23345319e-01 3.83880600e-01 -8.31305758e-03 -1.28905276e+02] [-9.05229024e-03 1.18976851e-04 -9.99959020e-01 -4.13976483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.017848475894367843 Centerline is valid? [True, True] Translation: X:200.44, Y:-128.88, Z:-4.14 [[-4.44807345e-01 8.95616235e-01 4.24095668e-03 2.00442222e+02] [ 8.95580210e-01 4.44827506e-01 -8.03605619e-03 -1.28883235e+02] [-9.08371657e-03 2.23620057e-04 -9.99958717e-01 -4.13736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.01815409001858162 Centerline is valid? [True, True] Translation: X:200.44, Y:-128.86, Z:-4.14 [[-5.08469865e-01 8.61063131e-01 5.35548389e-03 2.00438105e+02] [ 8.61021553e-01 5.08497976e-01 -8.46721253e-03 -1.28856067e+02] [-1.00140572e-02 3.05864649e-04 -9.99949811e-01 -4.13753502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.02018448065790565 Centerline is valid? [True, True] Translation: X:200.43, Y:-128.83, Z:-4.14 [[-5.67346210e-01 8.23446685e-01 7.33727576e-03 2.00430703e+02] [ 8.23388432e-01 5.67393452e-01 -9.80620482e-03 -1.28829048e+02] [-1.22380091e-02 4.77914845e-04 -9.99924999e-01 -4.13678923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.02136595198865243 Centerline is valid? [True, True] Translation: X:200.42, Y:-128.80, Z:-4.14 [[-6.28635835e-01 7.77652617e-01 8.56709025e-03 2.00423226e+02] [ 7.77591634e-01 6.28693985e-01 -9.75316959e-03 -1.28801329e+02] [-1.29706560e-02 5.30505804e-04 -9.99915737e-01 -4.13521021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.021295907947765702 Centerline is valid? [True, True] Translation: X:200.41, Y:-128.77, Z:-4.14 [[-6.87903270e-01 7.25748149e-01 8.87210809e-03 2.00412614e+02] [ 7.25696990e-01 6.87960299e-01 -8.63163846e-03 -1.28774986e+02] [-1.23680538e-02 5.00729813e-04 -9.99923387e-01 -4.13551124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.020953047960744188 Centerline is valid? [True, True] Translation: X:200.93, Y:-128.26, Z:-5.12 [[-6.95003092e-01 -7.18990022e-01 4.90421268e-03 2.00932067e+02] [ 7.18965733e-01 -6.95020133e-01 -5.94055753e-03 -1.28264743e+02] [ 7.67972813e-03 -6.02744987e-04 9.99970329e-01 -5.11789544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.01978234110904661 Centerline is valid? [True, True] Translation: X:200.89, Y:-128.23, Z:-5.12 [[-6.92013459e-01 -7.21869141e-01 4.72405107e-03 2.00889503e+02] [ 7.21850031e-01 -6.92029545e-01 -5.25752213e-03 -1.28225149e+02] [ 7.06442589e-03 -2.28219661e-04 9.99975021e-01 -5.11754937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.015539437663879808 Centerline is valid? [True, True] Translation: X:200.84, Y:-128.19, Z:-5.12 [[-6.85705818e-01 -7.27863054e-01 4.78612734e-03 2.00842155e+02] [ 7.27843605e-01 -6.85722500e-01 -5.32342649e-03 -1.28189878e+02] [ 7.15668067e-03 -1.66752334e-04 9.99974377e-01 -5.11736086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.013231420383955672 Centerline is valid? [True, True] Translation: X:200.80, Y:-128.15, Z:-5.12 [[-6.77378096e-01 -7.35625556e-01 3.73585384e-03 2.00795563e+02] [ 7.35613833e-01 -6.77388394e-01 -4.15352267e-03 -1.28154095e+02] [ 5.58606145e-03 -6.53595095e-05 9.99984396e-01 -5.11640354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.012507294755517819 Centerline is valid? [True, True] Translation: X:200.75, Y:-128.11, Z:-5.12 [[-6.72441663e-01 -7.40130843e-01 5.34273387e-03 2.00753165e+02] [ 7.40107035e-01 -6.72462886e-01 -5.93669086e-03 -1.28114654e+02] [ 7.98671825e-03 -3.78833513e-05 9.99968105e-01 -5.11863690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.01235452704212743 Centerline is valid? [True, True] Translation: X:200.71, Y:-128.08, Z:-5.12 [[-6.67400661e-01 -7.44675261e-01 5.92569285e-03 2.00710355e+02] [ 7.44646188e-01 -6.67426966e-01 -6.58027452e-03 -1.28075626e+02] [ 8.85513484e-03 2.08650313e-05 9.99960792e-01 -5.12040125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.012886331820505425 Centerline is valid? [True, True] Translation: X:200.67, Y:-128.04, Z:-5.12 [[-6.62445569e-01 -7.49085921e-01 6.01260461e-03 2.00667244e+02] [ 7.49056202e-01 -6.62472850e-01 -6.67303085e-03 -1.28036442e+02] [ 8.98186077e-03 8.32590544e-05 9.99959659e-01 -5.12133703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.012989809347199394 Centerline is valid? [True, True] Translation: X:200.63, Y:-127.99, Z:-5.12 [[-6.62318797e-01 -7.49192909e-01 6.61783352e-03 2.00631167e+02] [ 7.49156953e-01 -6.62351852e-01 -7.34054984e-03 -1.27990226e+02] [ 9.88282217e-03 9.60118576e-05 9.99951159e-01 -5.12092678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.012889770674597765 Centerline is valid? [True, True] Translation: X:200.60, Y:-127.95, Z:-5.12 [[-6.63086558e-01 -7.48516272e-01 6.29342528e-03 2.00595411e+02] [ 7.48483766e-01 -6.63116418e-01 -6.97624949e-03 -1.27945191e+02] [ 9.39510989e-03 8.46693935e-05 9.99955861e-01 -5.12064678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.012639043705051763 Centerline is valid? [True, True] Translation: X:200.56, Y:-127.90, Z:-5.12 [[-6.65207699e-01 -7.46635069e-01 5.89840868e-03 2.00560239e+02] [ 7.46606478e-01 -6.65233847e-01 -6.53421644e-03 -1.27899762e+02] [ 8.80249624e-03 5.71790428e-05 9.99961256e-01 -5.12109530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.012405934982446899 Centerline is valid? [True, True] Translation: X:200.53, Y:-127.85, Z:-5.12 [[-6.70108053e-01 -7.42235530e-01 6.45099025e-03 2.00528519e+02] [ 7.42201169e-01 -6.70139104e-01 -7.14185648e-03 -1.27851140e+02] [ 9.62400046e-03 2.11696654e-06 9.99953688e-01 -5.12101027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.012827366271521406 Centerline is valid? [True, True] Translation: X:200.50, Y:-127.80, Z:-5.12 [[-6.74469254e-01 -7.38269398e-01 7.03713767e-03 2.00496779e+02] [ 7.38228338e-01 -6.74505962e-01 -7.78645951e-03 -1.27801499e+02] [ 1.04950961e-02 -5.67130892e-05 9.99944923e-01 -5.12056385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.014803697162433476 Centerline is valid? [True, True] Translation: X:200.47, Y:-127.75, Z:-5.12 [[-6.82365248e-01 -7.30976176e-01 7.17626604e-03 2.00468161e+02] [ 7.30933112e-01 -6.82402961e-01 -7.93627753e-03 -1.27751434e+02] [ 1.06983350e-02 -1.70069516e-04 9.99942757e-01 -5.12138220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.0157662584374788 Centerline is valid? [True, True] Translation: X:200.43, Y:-127.71, Z:-5.12 [[-6.86054626e-01 -7.27517832e-01 6.84506189e-03 2.00433069e+02] [ 7.27478524e-01 -6.86088741e-01 -7.56556938e-03 -1.27705609e+02] [ 1.02004065e-02 -2.10758350e-04 9.99947952e-01 -5.11981427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.015235489936745271 Centerline is valid? [True, True] Translation: X:200.39, Y:-127.66, Z:-5.12 [[-6.85139534e-01 -7.28383183e-01 6.46202983e-03 2.00393966e+02] [ 7.28348227e-01 -6.85169983e-01 -7.13828100e-03 -1.27662605e+02] [ 9.62699270e-03 -1.84110549e-04 9.99953643e-01 -5.11779418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.014212051003187159 Centerline is valid? [True, True] Translation: X:200.35, Y:-127.62, Z:-5.12 [[-6.83074519e-01 -7.30321797e-01 6.26694463e-03 2.00352594e+02] [ 7.30289037e-01 -6.83103251e-01 -6.91888092e-03 -1.27621484e+02] [ 9.33397979e-03 -1.49430299e-04 9.99956426e-01 -5.11672754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.014114656142733138 Centerline is valid? [True, True] Translation: X:200.31, Y:-127.58, Z:-5.12 [[-6.81537708e-01 -7.31753384e-01 6.58320400e-03 2.00313243e+02] [ 7.31717348e-01 -6.81569489e-01 -7.26324890e-03 -1.27580893e+02] [ 9.80181794e-03 -1.33133436e-04 9.99951952e-01 -5.11808331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.013122623202621371 Centerline is valid? [True, True] Translation: X:200.27, Y:-127.54, Z:-5.12 [[-6.78295908e-01 -7.34757172e-01 6.82349879e-03 2.00269332e+02] [ 7.34718636e-01 -6.78330222e-01 -7.52571584e-03 -1.27541793e+02] [ 1.01581591e-02 -9.13105318e-05 9.99948400e-01 -5.11813156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.012671402039123932 Centerline is valid? [True, True] Translation: X:200.22, Y:-127.51, Z:-5.12 [[-6.70083315e-01 -7.42251313e-01 7.16520303e-03 2.00222316e+02] [ 7.42209291e-01 -6.70121622e-01 -7.89810467e-03 -1.27506155e+02] [ 1.06639360e-02 2.56921068e-05 9.99943138e-01 -5.11876126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.013496966381872214 Centerline is valid? [True, True] Translation: X:200.18, Y:-127.47, Z:-5.12 [[-6.63750298e-01 -7.47916813e-01 7.48221079e-03 2.00179608e+02] [ 7.47871399e-01 -6.63792457e-01 -8.24288500e-03 -1.27466140e+02] [ 1.11316274e-02 1.24514078e-04 9.99938034e-01 -5.11902596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.013808389636010776 Centerline is valid? [True, True] Translation: X:200.14, Y:-127.42, Z:-5.12 [[-6.62292085e-01 -7.49208502e-01 7.47086682e-03 2.00139446e+02] [ 7.49163360e-01 -6.62334204e-01 -8.22572458e-03 -1.27424368e+02] [ 1.11109934e-02 1.49067409e-04 9.99938260e-01 -5.11908845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.015424540317273042 Centerline is valid? [True, True] Translation: X:200.10, Y:-127.39, Z:-5.12 [[-6.59852945e-01 -7.51350609e-01 8.14575701e-03 2.00097788e+02] [ 7.51297154e-01 -6.59903190e-01 -8.96469147e-03 -1.27385886e+02] [ 1.21110374e-02 2.04505990e-04 9.99926638e-01 -5.12232745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.01508306995219577 Centerline is valid? [True, True] Translation: X:200.06, Y:-127.34, Z:-5.12 [[-6.58304321e-01 -7.52714245e-01 7.52901714e-03 2.00061197e+02] [ 7.52668719e-01 -6.58347339e-01 -8.28128853e-03 -1.27340755e+02] [ 1.11901522e-02 2.15247663e-04 9.99937365e-01 -5.12031301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.01604188046680009 Centerline is valid? [True, True] Translation: X:200.02, Y:-127.30, Z:-5.12 [[-6.59688500e-01 -7.51507158e-01 6.93364096e-03 2.00024228e+02] [ 7.51468524e-01 -6.59724912e-01 -7.62219968e-03 -1.27297448e+02] [ 1.03024333e-02 1.82135471e-04 9.99946912e-01 -5.12075236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.013910352615370833 Centerline is valid? [True, True] Translation: X:199.99, Y:-127.25, Z:-5.12 [[-6.61495285e-01 -7.49915170e-01 7.15725197e-03 1.99990693e+02] [ 7.49873959e-01 -6.61533983e-01 -7.86349455e-03 -1.27249212e+02] [ 1.06317193e-02 1.65372298e-04 9.99943468e-01 -5.11925613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.013644615334419952 Centerline is valid? [True, True] Translation: X:199.96, Y:-127.20, Z:-5.12 [[-6.63769625e-01 -7.47894991e-01 7.93516698e-03 1.99957704e+02] [ 7.47844260e-01 -6.63817037e-01 -8.71230710e-03 -1.27203108e+02] [ 1.17833899e-02 1.51304254e-04 9.99930562e-01 -5.12040896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.01466656406103172 Centerline is valid? [True, True] Translation: X:199.92, Y:-127.16, Z:-5.12 [[-6.61444929e-01 -7.49962127e-01 6.88577958e-03 1.99917157e+02] [ 7.49924083e-01 -6.61480749e-01 -7.55569889e-03 -1.27162981e+02] [ 1.02212986e-02 1.66133214e-04 9.99947747e-01 -5.12015739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.014445563913755741 Centerline is valid? [True, True] Translation: X:199.88, Y:-127.12, Z:-5.12 [[-6.60623860e-01 -7.50684233e-01 7.02124351e-03 1.99877700e+02] [ 7.50644764e-01 -6.60661145e-01 -7.69995034e-03 -1.27120913e+02] [ 1.04188941e-02 1.83688757e-04 9.99945705e-01 -5.12028601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.014365523815983 Centerline is valid? [True, True] Translation: X:199.84, Y:-127.08, Z:-5.12 [[-6.61515120e-01 -7.49894498e-01 7.48251709e-03 1.99841452e+02] [ 7.49849681e-01 -6.61557410e-01 -8.20057845e-03 -1.27077113e+02] [ 1.10996833e-02 1.85956415e-04 9.99938379e-01 -5.12044143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.014616682082010564 Centerline is valid? [True, True] Translation: X:199.80, Y:-127.04, Z:-5.12 [[-6.61630361e-01 -7.49802876e-01 6.39631846e-03 1.99801835e+02] [ 7.49770154e-01 -6.61661259e-01 -7.00671715e-03 -1.27037190e+02] [ 9.48585280e-03 1.59911879e-04 9.99954996e-01 -5.12001764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.01465734274826329 Centerline is valid? [True, True] Translation: X:199.76, Y:-127.00, Z:-5.12 [[-6.63442718e-01 -7.48191853e-01 7.26024992e-03 1.99761977e+02] [ 7.48149654e-01 -6.63482423e-01 -7.94792193e-03 -1.26997443e+02] [ 1.07636186e-02 1.58762538e-04 9.99942058e-01 -5.12378201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.0140149543388938 Centerline is valid? [True, True] Translation: X:199.72, Y:-126.95, Z:-5.12 [[-6.64185131e-01 -7.47526567e-01 7.88307895e-03 1.99724927e+02] [ 7.47476833e-01 -6.64231890e-01 -8.62435001e-03 -1.26954237e+02] [ 1.16831232e-02 1.64253854e-04 9.99931737e-01 -5.12382858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.013258588682128725 Centerline is valid? [True, True] Translation: X:199.69, Y:-126.91, Z:-5.12 [[-6.66820557e-01 -7.45176884e-01 7.85854501e-03 1.99688170e+02] [ 7.45127352e-01 -6.66866850e-01 -8.59261854e-03 -1.26909416e+02] [ 1.16436239e-02 1.25882152e-04 9.99932203e-01 -5.12290479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.012833468215040071 Centerline is valid? [True, True] Translation: X:199.65, Y:-126.87, Z:-5.12 [[-6.69862673e-01 -7.42452999e-01 6.89512813e-03 1.99650760e+02] [ 7.42414766e-01 -6.69898156e-01 -7.53498556e-03 -1.26865143e+02] [ 1.02134062e-02 7.16393616e-05 9.99947839e-01 -5.12252347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.012503668267731199 Centerline is valid? [True, True] Translation: X:199.61, Y:-126.82, Z:-5.12 [[-6.72787801e-01 -7.39816148e-01 5.35187901e-03 1.99613185e+02] [ 7.39793056e-01 -6.72809087e-01 -5.84524764e-03 -1.26820789e+02] [ 7.92520142e-03 2.66716298e-05 9.99968595e-01 -5.12031418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.012487107526421272 Centerline is valid? [True, True] Translation: X:199.58, Y:-126.78, Z:-5.12 [[-6.74518664e-01 -7.38242330e-01 4.77848251e-03 1.99576247e+02] [ 7.38223905e-01 -6.74535590e-01 -5.21572000e-03 -1.26777348e+02] [ 7.07372180e-03 9.48952777e-06 9.99974981e-01 -5.11965286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.01255308442140076 Centerline is valid? [True, True] Translation: X:199.54, Y:-126.73, Z:-5.12 [[-6.77822988e-01 -7.35214646e-01 3.92700802e-03 1.99540200e+02] [ 7.35202167e-01 -6.77834364e-01 -4.28354689e-03 -1.26734354e+02] [ 5.81118739e-03 -1.63417415e-05 9.99983115e-01 -5.12001113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.012853108116842628 Centerline is valid? [True, True] Translation: X:199.50, Y:-126.69, Z:-5.12 [[-6.81211735e-01 -7.32071554e-01 4.67031278e-03 1.99504338e+02] [ 7.32053850e-01 -6.81227742e-01 -5.09147085e-03 -1.26688581e+02] [ 6.90886761e-03 -4.94492400e-05 9.99976132e-01 -5.12048681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.01311506326948744 Centerline is valid? [True, True] Translation: X:199.47, Y:-126.65, Z:-5.12 [[-6.83410709e-01 -7.30023907e-01 3.85997184e-03 1.99467099e+02] [ 7.30011797e-01 -6.83421607e-01 -4.20524817e-03 -1.26645689e+02] [ 5.70791985e-03 -5.60866533e-05 9.99983708e-01 -5.11846430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.01393321857645925 Centerline is valid? [True, True] Translation: X:199.43, Y:-126.60, Z:-5.12 [[-6.86385519e-01 -7.27230752e-01 3.21756308e-03 1.99429558e+02] [ 7.27222313e-01 -6.86393058e-01 -3.50391701e-03 -1.26603329e+02] [ 4.75666916e-03 -6.51542284e-05 9.99988685e-01 -5.11802670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.014282525095345486 Centerline is valid? [True, True] Translation: X:199.39, Y:-126.56, Z:-5.12 [[-6.88497139e-01 -7.25232909e-01 2.98615004e-03 1.99390693e+02] [ 7.25225630e-01 -6.88503611e-01 -3.25009749e-03 -1.26560306e+02] [ 4.41305275e-03 -7.20502818e-05 9.99990260e-01 -5.11733073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.015440582599821395 Centerline is valid? [True, True] Translation: X:199.35, Y:-126.52, Z:-5.12 [[-6.92472837e-01 -7.21437028e-01 3.15989500e-03 1.99352602e+02] [ 7.21428846e-01 -6.92480040e-01 -3.43726774e-03 -1.26516366e+02] [ 4.66793644e-03 -1.00575142e-04 9.99989100e-01 -5.11822867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.01662545647846946 Centerline is valid? [True, True] Translation: X:199.32, Y:-126.47, Z:-5.12 [[-6.95359608e-01 -7.18650032e-01 4.14076503e-03 1.99315517e+02] [ 7.18635949e-01 -6.95371920e-01 -4.50172622e-03 -1.26471757e+02] [ 6.11453742e-03 -1.54615973e-04 9.99981294e-01 -5.11832545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.016945028107250668 Centerline is valid? [True, True] Translation: X:199.28, Y:-126.43, Z:-5.12 [[-6.97344312e-01 -7.16711948e-01 5.90707083e-03 1.99276352e+02] [ 7.16683249e-01 -6.97369289e-01 -6.41837549e-03 -1.26428377e+02] [ 8.71953618e-03 -2.42318922e-04 9.99961955e-01 -5.12026153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.01696459908786577 Centerline is valid? [True, True] Translation: X:199.24, Y:-126.39, Z:-5.12 [[-6.95704091e-01 -7.18299990e-01 6.39864342e-03 1.99237345e+02] [ 7.18266418e-01 -6.95733475e-01 -6.94877230e-03 -1.26386903e+02] [ 9.44305350e-03 -2.38358630e-04 9.99955385e-01 -5.12156732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.015578081919954556 Centerline is valid? [True, True] Translation: X:199.19, Y:-126.35, Z:-5.12 [[-6.93616221e-01 -7.20315954e-01 6.43923857e-03 1.99194829e+02] [ 7.20282077e-01 -6.93646079e-01 -6.98912114e-03 -1.26346463e+02] [ 9.50092804e-03 -2.09699665e-04 9.99954843e-01 -5.12056222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.015049273735973062 Centerline is valid? [True, True] Translation: X:199.15, Y:-126.31, Z:-5.12 [[-6.90460733e-01 -7.23342898e-01 6.24726368e-03 1.99154654e+02] [ 7.23311166e-01 -6.90488976e-01 -6.77727191e-03 -1.26305904e+02] [ 9.21595821e-03 -1.60724552e-04 9.99957519e-01 -5.12036341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.014153996277315254 Centerline is valid? [True, True] Translation: X:199.11, Y:-126.26, Z:-5.12 [[-6.88550252e-01 -7.25165009e-01 5.85321661e-03 1.99113325e+02] [ 7.25137249e-01 -6.88575119e-01 -6.34630072e-03 -1.26264542e+02] [ 8.63249454e-03 -1.25361572e-04 9.99962731e-01 -5.11904359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.01324339212755869 Centerline is valid? [True, True] Translation: X:199.07, Y:-126.23, Z:-5.12 [[-6.85904050e-01 -7.27664834e-01 6.28679432e-03 1.99070735e+02] [ 7.27632949e-01 -6.85932854e-01 -6.81258637e-03 -1.26225245e+02] [ 9.26959829e-03 -9.83018911e-05 9.99957032e-01 -5.11928409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.012911785808342381 Centerline is valid? [True, True] Translation: X:199.03, Y:-126.18, Z:-5.12 [[-6.84795111e-01 -7.28710168e-01 6.09491437e-03 1.99030392e+02] [ 7.28680278e-01 -6.84822229e-01 -6.60050538e-03 -1.26184060e+02] [ 8.98378823e-03 -7.87499128e-05 9.99959642e-01 -5.11823974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.01263259879678792 Centerline is valid? [True, True] Translation: X:198.99, Y:-126.14, Z:-5.12 [[-6.84518164e-01 -7.28967767e-01 6.39363184e-03 1.98989633e+02] [ 7.28934925e-01 -6.84548018e-01 -6.92002589e-03 -1.26142724e+02] [ 9.42122383e-03 -7.63418730e-05 9.99955616e-01 -5.11935875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.012588056207056643 Centerline is valid? [True, True] Translation: X:198.95, Y:-126.10, Z:-5.12 [[-6.84721447e-01 -7.28784163e-01 5.49392901e-03 1.98952713e+02] [ 7.28759940e-01 -6.84743484e-01 -5.94227807e-03 -1.26100289e+02] [ 8.09257024e-03 -6.50498653e-05 9.99967253e-01 -5.11722741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.012643933837441713 Centerline is valid? [True, True] Translation: X:198.91, Y:-126.06, Z:-5.12 [[-6.85484103e-01 -7.28065608e-01 5.65826116e-03 1.98913709e+02] [ 7.28039921e-01 -6.85507451e-01 -6.11616217e-03 -1.26058453e+02] [ 8.33174752e-03 -7.30919242e-05 9.99965288e-01 -5.11805125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.01281617288062751 Centerline is valid? [True, True] Translation: X:198.88, Y:-126.01, Z:-5.12 [[-6.86117362e-01 -7.27458559e-01 6.85644870e-03 1.98875220e+02] [ 7.27420853e-01 -6.86151614e-01 -7.40718308e-03 -1.26014544e+02] [ 1.00929821e-02 -9.46731570e-05 9.99949060e-01 -5.12022307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.01273381039848319 Centerline is valid? [True, True] Translation: X:198.84, Y:-125.97, Z:-5.12 [[-6.85798183e-01 -7.27747777e-01 8.00153489e-03 1.98837822e+02] [ 7.27696509e-01 -6.85844853e-01 -8.63879256e-03 -1.25971248e+02] [ 1.17746736e-02 -1.01779242e-04 9.99930671e-01 -5.12177767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.012639916369653103 Centerline is valid? [True, True] Translation: X:198.80, Y:-125.93, Z:-5.12 [[-6.84851387e-01 -7.28629512e-01 8.80978546e-03 1.98798816e+02] [ 7.28567512e-01 -6.84908042e-01 -9.50546702e-03 -1.25929370e+02] [ 1.29598567e-02 -9.13088041e-05 9.99916013e-01 -5.12289016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.012353856026851809 Centerline is valid? [True, True] Translation: X:198.76, Y:-125.89, Z:-5.12 [[-6.82664666e-01 -7.30672137e-01 9.33711062e-03 1.98757992e+02] [ 7.30602770e-01 -6.82728515e-01 -1.00681311e-02 -1.25888513e+02] [ 1.37312145e-02 -5.14384434e-05 9.99905721e-01 -5.12390740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.012019210786419857 Centerline is valid? [True, True] Translation: X:198.72, Y:-125.85, Z:-5.12 [[-6.79888981e-01 -7.33256523e-01 9.26532874e-03 1.98716563e+02] [ 7.33188534e-01 -6.79952110e-01 -9.98502879e-03 -1.25847611e+02] [ 1.36215673e-02 4.52175562e-06 9.99907222e-01 -5.12354015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.011798535403525507 Centerline is valid? [True, True] Translation: X:198.68, Y:-125.80, Z:-5.12 [[-6.80152176e-01 -7.33039645e-01 6.77470016e-03 1.98679097e+02] [ 7.33003327e-01 -6.80185915e-01 -7.29682618e-03 -1.25803053e+02] [ 9.95691850e-03 2.92555832e-06 9.99950429e-01 -5.12026057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.011704420274441504 Centerline is valid? [True, True] Translation: X:198.64, Y:-125.76, Z:-5.12 [[-6.81947410e-01 -7.31386592e-01 4.62417361e-03 1.98640653e+02] [ 7.31369655e-01 -6.81963088e-01 -4.97743797e-03 -1.25761169e+02] [ 6.79394711e-03 -1.23706690e-05 9.99976921e-01 -5.11881597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.011759040284593856 Centerline is valid? [True, True] Translation: X:198.60, Y:-125.72, Z:-5.12 [[-6.82980072e-01 -7.30425984e-01 4.01279212e-03 1.98601457e+02] [ 7.30413229e-01 -6.82991861e-01 -4.31662140e-03 -1.25719454e+02] [ 5.89367679e-03 -1.71699525e-05 9.99982632e-01 -5.11819961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.011802529348970116 Centerline is valid? [True, True] Translation: X:198.56, Y:-125.68, Z:-5.12 [[-6.84005126e-01 -7.29462702e-01 4.59946056e-03 1.98561877e+02] [ 7.29445944e-01 -6.84020589e-01 -4.94459647e-03 -1.25678011e+02] [ 6.75302442e-03 -2.70714803e-05 9.99977198e-01 -5.11979088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.011896054148053616 Centerline is valid? [True, True] Translation: X:198.52, Y:-125.64, Z:-5.12 [[-6.84684562e-01 -7.28818312e-01 5.56052504e-03 1.98523400e+02] [ 7.28793828e-01 -6.84707140e-01 -5.97402903e-03 -1.25635499e+02] [ 8.16131295e-03 -3.78491224e-05 9.99966695e-01 -5.12056220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.012130564539645266 Centerline is valid? [True, True] Translation: X:198.49, Y:-125.59, Z:-5.12 [[-6.85070532e-01 -7.28451779e-01 6.03086989e-03 1.98485186e+02] [ 7.28422992e-01 -6.85097076e-01 -6.47623533e-03 -1.25593793e+02] [ 8.84935647e-03 -4.36536924e-05 9.99960843e-01 -5.12160566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.012246796203287042 Centerline is valid? [True, True] Translation: X:198.44, Y:-125.55, Z:-5.12 [[-6.86556552e-01 -7.27047565e-01 6.47604607e-03 1.98444623e+02] [ 7.27014351e-01 -6.86587092e-01 -6.94972600e-03 -1.25553976e+02] [ 9.49915100e-03 -6.32014858e-05 9.99954880e-01 -5.12379495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.012467073298137253 Centerline is valid? [True, True] Translation: X:198.41, Y:-125.51, Z:-5.12 [[-6.87755222e-01 -7.25911583e-01 6.71771499e-03 1.98406428e+02] [ 7.25875834e-01 -6.87788025e-01 -7.20465443e-03 -1.25511425e+02] [ 9.85030603e-03 -7.88117420e-05 9.99951481e-01 -5.12439926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.012743240590153209 Centerline is valid? [True, True] Translation: X:198.37, Y:-125.47, Z:-5.12 [[-6.88972254e-01 -7.24767023e-01 5.47689883e-03 1.98367849e+02] [ 7.24743252e-01 -6.88994018e-01 -5.87034829e-03 -1.25469297e+02] [ 8.02818539e-03 -7.51616280e-05 9.99967771e-01 -5.12277445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.012375342223489542 Centerline is valid? [True, True] Translation: X:198.33, Y:-125.43, Z:-5.12 [[-6.89287307e-01 -7.24477678e-01 3.88618361e-03 1.98326493e+02] [ 7.24465721e-01 -6.89298260e-01 -4.16275708e-03 -1.25430125e+02] [ 5.69456418e-03 -5.39288047e-05 9.99983784e-01 -5.12124786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.01231933823490493 Centerline is valid? [True, True] Translation: X:198.29, Y:-125.39, Z:-5.12 [[-6.89367271e-01 -7.24404187e-01 3.36740415e-03 1.98286501e+02] [ 7.24395219e-01 -6.89375494e-01 -3.60480357e-03 -1.25389297e+02] [ 4.93274070e-03 -4.57021322e-05 9.99987833e-01 -5.12175763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.012231720859542345 Centerline is valid? [True, True] Translation: X:198.25, Y:-125.35, Z:-5.12 [[-6.88696589e-01 -7.25045554e-01 2.43980167e-03 1.98247326e+02] [ 7.25040856e-01 -6.88700910e-01 -2.61018796e-03 -1.25347091e+02] [ 3.57279880e-03 -2.86716532e-05 9.99993617e-01 -5.12066213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.011975131575157094 Centerline is valid? [True, True] Translation: X:198.21, Y:-125.31, Z:-5.12 [[-6.87071080e-01 -7.26585866e-01 2.51191271e-03 1.98206214e+02] [ 7.26580902e-01 -6.87075672e-01 -2.68604942e-03 -1.25308926e+02] [ 3.67751966e-03 -2.03990730e-05 9.99993238e-01 -5.12239366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.011680272961274748 Centerline is valid? [True, True] Translation: X:198.16, Y:-125.27, Z:-5.12 [[-6.85376696e-01 -7.28183865e-01 2.65401190e-03 1.98164067e+02] [ 7.28178341e-01 -6.85381835e-01 -2.83635379e-03 -1.25268810e+02] [ 3.88439861e-03 -1.13768034e-05 9.99992456e-01 -5.12225183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.011709197418689511 Centerline is valid? [True, True] Translation: X:198.12, Y:-125.23, Z:-5.13 [[-6.82599743e-01 -7.30779688e-01 4.31707956e-03 1.98123328e+02] [ 7.30765142e-01 -6.82613395e-01 -4.61086827e-03 -1.25228571e+02] [ 6.31642521e-03 7.39376022e-06 9.99980051e-01 -5.12552953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.011729928300782035 Centerline is valid? [True, True] Translation: X:198.08, Y:-125.19, Z:-5.13 [[-6.81032211e-01 -7.32237111e-01 4.89289703e-03 1.98083821e+02] [ 7.32218487e-01 -6.81049787e-01 -5.22255556e-03 -1.25187009e+02] [ 7.15645548e-03 2.59410976e-05 9.99974392e-01 -5.12579134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.012058131759912225 Centerline is valid? [True, True] Translation: X:198.05, Y:-125.15, Z:-5.13 [[-6.79570232e-01 -7.33593369e-01 5.00688690e-03 1.98045656e+02] [ 7.33573929e-01 -6.79588675e-01 -5.34069719e-03 -1.25145670e+02] [ 7.32052368e-03 4.35428643e-05 9.99973204e-01 -5.12623087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.012129080392873588 Centerline is valid? [True, True] Translation: X:198.01, Y:-125.10, Z:-5.13 [[-6.78839069e-01 -7.34273943e-01 4.39273031e-03 1.98006603e+02] [ 7.34259013e-01 -6.78853280e-01 -4.68264808e-03 -1.25103609e+02] [ 6.42036585e-03 4.66373577e-05 9.99979388e-01 -5.12588320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.012993239102739465 Centerline is valid? [True, True] Translation: X:197.97, Y:-125.06, Z:-5.12 [[-6.74633332e-01 -7.38146937e-01 2.99448701e-03 1.97965882e+02] [ 7.38140045e-01 -6.74639975e-01 -3.19031494e-03 -1.25061747e+02] [ 4.37512185e-03 5.80579767e-05 9.99990427e-01 -5.12401739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.013899775523575693 Centerline is valid? [True, True] Translation: X:197.92, Y:-125.02, Z:-5.12 [[-6.72687636e-01 -7.39922096e-01 2.57613449e-03 1.97923324e+02] [ 7.39917014e-01 -6.72692566e-01 -2.74297596e-03 -1.25023914e+02] [ 3.76253504e-03 6.09597218e-05 9.99992920e-01 -5.12465815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.014411367631780657 Centerline is valid? [True, True] Translation: X:197.88, Y:-124.98, Z:-5.13 [[-6.71591855e-01 -7.40913005e-01 3.50712878e-03 1.97882613e+02] [ 7.40903610e-01 -6.71601006e-01 -3.73219118e-03 -1.24982119e+02] [ 5.12062020e-03 9.19351793e-05 9.99986885e-01 -5.12529841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.014637306870869405 Centerline is valid? [True, True] Translation: X:197.84, Y:-124.94, Z:-5.13 [[-6.71062785e-01 -7.41390463e-01 3.86272191e-03 1.97839798e+02] [ 7.41379087e-01 -6.71073894e-01 -4.10831764e-03 -1.24942074e+02] [ 5.63803934e-03 1.06802171e-04 9.99984100e-01 -5.12703840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.014423276513996433 Centerline is valid? [True, True] Translation: X:197.80, Y:-124.90, Z:-5.13 [[-6.71202486e-01 -7.41263585e-01 3.93956568e-03 1.97799823e+02] [ 7.41251766e-01 -6.71214038e-01 -4.18738642e-03 -1.24901078e+02] [ 5.74824886e-03 1.09625844e-04 9.99983473e-01 -5.12825651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.01499958379682462 Centerline is valid? [True, True] Translation: X:197.76, Y:-124.86, Z:-5.13 [[-6.72255360e-01 -7.40310229e-01 3.67379920e-03 1.97761991e+02] [ 7.40299950e-01 -6.72265391e-01 -3.90232529e-03 -1.24859597e+02] [ 5.35869938e-03 9.63542714e-05 9.99985637e-01 -5.12796410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.014184997735842116 Centerline is valid? [True, True] Translation: X:197.72, Y:-124.82, Z:-5.13 [[-6.72846890e-01 -7.39771980e-01 3.80523417e-03 1.97724992e+02] [ 7.39760958e-01 -6.72857643e-01 -4.03938283e-03 -1.24815364e+02] [ 5.54860313e-03 9.70775011e-05 9.99984602e-01 -5.12719719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.013634653747701647 Centerline is valid? [True, True] Translation: X:197.69, Y:-124.77, Z:-5.13 [[-6.74685570e-01 -7.38091946e-01 4.43410847e-03 1.97687845e+02] [ 7.38076963e-01 -6.74700133e-01 -4.70395957e-03 -1.24772051e+02] [ 6.46364824e-03 9.90196697e-05 9.99979106e-01 -5.12819813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.013297162741962026 Centerline is valid? [True, True] Translation: X:197.65, Y:-124.73, Z:-5.13 [[-6.76271141e-01 -7.36637454e-01 4.75454430e-03 1.97649247e+02] [ 7.36620213e-01 -6.76287848e-01 -5.04068358e-03 -1.24730321e+02] [ 6.92859685e-03 9.34245951e-05 9.99975993e-01 -5.13026405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.013015479594827857 Centerline is valid? [True, True] Translation: X:197.61, Y:-124.69, Z:-5.13 [[-6.77841489e-01 -7.35195448e-01 4.30912974e-03 1.97611321e+02] [ 7.35181276e-01 -6.77855182e-01 -4.56556274e-03 -1.24687788e+02] [ 6.27754687e-03 7.32636543e-05 9.99980293e-01 -5.12944910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.013077400810997846 Centerline is valid? [True, True] Translation: X:197.57, Y:-124.65, Z:-5.13 [[-6.78201299e-01 -7.34869104e-01 3.22460106e-03 1.97572751e+02] [ 7.34861174e-01 -6.78208963e-01 -3.41434899e-03 -1.24645962e+02] [ 4.69605292e-03 5.40181980e-05 9.99988972e-01 -5.12718999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.013202615102035428 Centerline is valid? [True, True] Translation: X:197.53, Y:-124.61, Z:-5.13 [[-6.77733951e-01 -7.35299628e-01 3.33908048e-03 1.97532048e+02] [ 7.35291141e-01 -6.77742174e-01 -3.53333196e-03 -1.24606210e+02] [ 4.86109334e-03 6.05372607e-05 9.99988183e-01 -5.12806555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.013529601584207355 Centerline is valid? [True, True] Translation: X:197.49, Y:-124.57, Z:-5.13 [[-6.76490022e-01 -7.36434664e-01 5.02350122e-03 1.97490493e+02] [ 7.36415508e-01 -6.76508666e-01 -5.31273257e-03 -1.24565222e+02] [ 7.31092253e-03 1.05373630e-04 9.99973269e-01 -5.13120548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.013857089196135718 Centerline is valid? [True, True] Translation: X:197.45, Y:-124.52, Z:-5.13 [[-6.76170531e-01 -7.36717524e-01 6.37991094e-03 1.97450157e+02] [ 7.36686674e-01 -6.76200614e-01 -6.74343852e-03 -1.24522930e+02] [ 9.28210902e-03 1.40280966e-04 9.99956910e-01 -5.13326362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.014685113801765085 Centerline is valid? [True, True] Translation: X:197.41, Y:-124.48, Z:-5.13 [[-6.76456099e-01 -7.36449039e-01 7.06820323e-03 1.97411646e+02] [ 7.36411209e-01 -6.76493007e-01 -7.46603762e-03 -1.24482024e+02] [ 1.02799463e-02 1.54657407e-04 9.99947148e-01 -5.13425781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.01317829208252119 Centerline is valid? [True, True] Translation: X:197.37, Y:-124.44, Z:-5.13 [[-6.78598541e-01 -7.34494547e-01 4.66698300e-03 1.97374248e+02] [ 7.34478027e-01 -6.78614584e-01 -4.92689963e-03 -1.24437238e+02] [ 6.78586363e-03 8.44095698e-05 9.99976972e-01 -5.13007101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.012993753897950808 Centerline is valid? [True, True] Translation: X:197.34, Y:-124.40, Z:-5.13 [[-6.79655020e-01 -7.33526233e-01 2.88439033e-03 1.97335602e+02] [ 7.33519922e-01 -6.79661139e-01 -3.04303939e-03 -1.24396425e+02] [ 4.19255724e-03 4.75407778e-05 9.99991210e-01 -5.12827028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.0126226524014709 Centerline is valid? [True, True] Translation: X:197.30, Y:-124.35, Z:-5.13 [[-6.80888965e-01 -7.32383313e-01 2.21358302e-03 1.97296768e+02] [ 7.32379595e-01 -6.80892562e-01 -2.33387366e-03 -1.24354016e+02] [ 3.21650233e-03 3.20742156e-05 9.99994827e-01 -5.12713464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.012474496281778942 Centerline is valid? [True, True] Translation: X:197.26, Y:-124.31, Z:-5.13 [[-6.82231625e-01 -7.31131788e-01 2.51376553e-03 1.97256044e+02] [ 7.31126991e-01 -6.82236255e-01 -2.64864077e-03 -1.24314745e+02] [ 3.65148745e-03 3.08953320e-05 9.99993333e-01 -5.12959731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.01237683918461787 Centerline is valid? [True, True] Translation: X:197.22, Y:-124.27, Z:-5.13 [[-6.83005992e-01 -7.30407112e-01 2.87499525e-03 1.97216412e+02] [ 7.30400839e-01 -6.83012042e-01 -3.02740723e-03 -1.24273214e+02] [ 4.17489615e-03 3.21616599e-05 9.99991285e-01 -5.13058207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.011964172654037748 Centerline is valid? [True, True] Translation: X:197.18, Y:-124.23, Z:-5.13 [[-6.85196167e-01 -7.28351215e-01 3.27424362e-03 1.97177291e+02] [ 7.28343065e-01 -6.85203989e-01 -3.44570419e-03 -1.24231177e+02] [ 4.75320762e-03 2.37893329e-05 9.99988703e-01 -5.13242852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.011758531482629021 Centerline is valid? [True, True] Translation: X:197.14, Y:-124.19, Z:-5.13 [[-6.87279914e-01 -7.26383521e-01 3.64695932e-03 1.97139871e+02] [ 7.26373394e-01 -6.87289590e-01 -3.83555808e-03 -1.24187465e+02] [ 5.29260336e-03 1.29521871e-05 9.99985994e-01 -5.13278980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.011799945619049044 Centerline is valid? [True, True] Translation: X:197.10, Y:-124.15, Z:-5.13 [[-6.88958628e-01 -7.24789221e-01 4.07359771e-03 1.97099129e+02] [ 7.24776574e-01 -6.88970671e-01 -4.28160817e-03 -1.24146530e+02] [ 5.90985279e-03 2.59730385e-06 9.99982537e-01 -5.13481821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.011792410160870426 Centerline is valid? [True, True] Translation: X:197.06, Y:-124.10, Z:-5.14 [[-6.91201025e-01 -7.22651590e-01 3.97769735e-03 1.97060652e+02] [ 7.22639511e-01 -6.91212470e-01 -4.17823317e-03 -1.24103878e+02] [ 5.76884085e-03 -1.35577801e-05 9.99983360e-01 -5.13533684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.01206601621695673 Centerline is valid? [True, True] Translation: X:197.02, Y:-124.06, Z:-5.14 [[-6.93231590e-01 -7.20709001e-01 2.91512523e-03 1.97021604e+02] [ 7.20702505e-01 -6.93237719e-01 -3.06013525e-03 -1.24063544e+02] [ 4.22634178e-03 -2.04443690e-05 9.99991069e-01 -5.13567647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.012249347552591402 Centerline is valid? [True, True] Translation: X:196.98, Y:-124.02, Z:-5.14 [[-6.95650296e-01 -7.18374682e-01 2.91230098e-03 1.96982427e+02] [ 7.18368185e-01 -6.95656392e-01 -3.05544235e-03 -1.24020300e+02] [ 4.22091322e-03 -3.34150033e-05 9.99991091e-01 -5.13556289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.012464627180661552 Centerline is valid? [True, True] Translation: X:196.94, Y:-123.98, Z:-5.14 [[-6.96311731e-01 -7.17730760e-01 3.53975609e-03 1.96942766e+02] [ 7.17721166e-01 -6.96320727e-01 -3.71128620e-03 -1.23980428e+02] [ 5.12850980e-03 -4.36542545e-05 9.99986848e-01 -5.13714915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.012214264135428867 Centerline is valid? [True, True] Translation: X:196.90, Y:-123.94, Z:-5.14 [[-6.94586939e-01 -7.19390568e-01 5.11804809e-03 1.96900168e+02] [ 7.19370581e-01 -6.94605794e-01 -5.36265433e-03 -1.23941528e+02] [ 7.41286880e-03 -4.30564307e-05 9.99972523e-01 -5.13979971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.011953941437226535 Centerline is valid? [True, True] Translation: X:196.86, Y:-123.90, Z:-5.14 [[-6.92195597e-01 -7.21690709e-01 5.27035297e-03 1.96857910e+02] [ 7.21669608e-01 -6.92215660e-01 -5.51876863e-03 -1.23902447e+02] [ 7.63106491e-03 -1.66137810e-05 9.99970883e-01 -5.14015333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.011968237868666486 Centerline is valid? [True, True] Translation: X:196.82, Y:-123.86, Z:-5.14 [[-6.89511084e-01 -7.24255606e-01 5.31816181e-03 1.96816148e+02] [ 7.24234224e-01 -6.89531593e-01 -5.56520165e-03 -1.23864167e+02] [ 7.69766907e-03 1.43265717e-05 9.99970372e-01 -5.14115133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.012131676947674638 Centerline is valid? [True, True] Translation: X:196.77, Y:-123.83, Z:-5.14 [[-6.86724212e-01 -7.26910799e-01 3.24769361e-03 1.96773701e+02] [ 7.26902865e-01 -6.86731890e-01 -3.39643282e-03 -1.23826049e+02] [ 4.69919846e-03 2.83451395e-05 9.99988958e-01 -5.13810328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.012466736192776181 Centerline is valid? [True, True] Translation: X:196.73, Y:-123.78, Z:-5.14 [[-6.85087580e-01 -7.28458878e-01 1.63424769e-03 1.96733786e+02] [ 7.28456876e-01 -6.85089529e-01 -1.70803742e-03 -1.23784666e+02] [ 2.36384100e-03 2.03237430e-05 9.99997206e-01 -5.13610608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.012727858718650419 Centerline is valid? [True, True] Translation: X:196.69, Y:-123.74, Z:-5.13 [[-6.84176938e-01 -7.29315884e-01 5.09202456e-04 1.96694200e+02] [ 7.29315690e-01 -6.84177128e-01 -5.31872415e-04 -1.23743949e+02] [ 7.36287674e-04 7.47449965e-06 9.99999729e-01 -5.13445845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.013431339385847306 Centerline is valid? [True, True] Translation: X:196.65, Y:-123.71, Z:-5.14 [[-6.83679909e-01 -7.29782009e-01 -4.54524753e-05 1.96652463e+02] [ 7.29782007e-01 -6.83679910e-01 4.74262779e-05 -1.23705584e+02] [-6.56857886e-05 -7.46005379e-07 9.99999998e-01 -5.13511696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.013187001252604868 Centerline is valid? [True, True] Translation: X:196.61, Y:-123.66, Z:-5.14 [[-6.83305479e-01 -7.30132606e-01 -9.95318971e-07 1.96613208e+02] [ 7.30132606e-01 -6.83305479e-01 1.02187982e-06 -1.23663428e+02] [-1.42621473e-06 -2.84587564e-08 1.00000000e+00 -5.13506699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.013066190596127743 Centerline is valid? [True, True] Translation: X:196.57, Y:-123.62, Z:-5.14 [[-6.83372871e-01 -7.30069307e-01 5.71451682e-04 1.96573209e+02] [ 7.30069064e-01 -6.83373110e-01 -5.95765980e-04 -1.23621817e+02] [ 8.25465169e-04 1.00688866e-05 9.99999659e-01 -5.13739172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.01250969267551659 Centerline is valid? [True, True] Translation: X:196.54, Y:-123.58, Z:-5.14 [[-6.85838472e-01 -7.27751309e-01 1.90327564e-03 1.96535547e+02] [ 7.27748608e-01 -6.85841113e-01 -1.98302856e-03 -1.23577901e+02] [ 2.74849632e-03 2.50689204e-05 9.99996223e-01 -5.13845370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.011981543346612649 Centerline is valid? [True, True] Translation: X:196.50, Y:-123.53, Z:-5.14 [[-6.90111072e-01 -7.23700661e-01 2.01530580e-03 1.96498363e+02] [ 7.23697618e-01 -6.90114015e-01 -2.09858128e-03 -1.23534528e+02] [ 2.90953543e-03 1.02178334e-05 9.99995767e-01 -5.13891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.012447510376907917 Centerline is valid? [True, True] Translation: X:196.46, Y:-123.49, Z:-5.14 [[-6.98118437e-01 -7.15975465e-01 3.12752200e-03 1.96464342e+02] [ 7.15968067e-01 -6.98125441e-01 -3.25489893e-03 -1.23487038e+02] [ 4.51383045e-03 -3.30990663e-05 9.99989812e-01 -5.13933700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.013550684430050223 Centerline is valid? [True, True] Translation: X:196.43, Y:-123.44, Z:-5.14 [[-7.03053139e-01 -7.11125524e-01 4.09554822e-03 1.96427812e+02] [ 7.11112770e-01 -7.03065063e-01 -4.25979762e-03 -1.23442156e+02] [ 5.90868769e-03 -8.24674478e-05 9.99982540e-01 -5.13961620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.015354520984711137 Centerline is valid? [True, True] Translation: X:196.39, Y:-123.40, Z:-5.14 [[-7.07830477e-01 -7.06371079e-01 3.98924108e-03 1.96389988e+02] [ 7.06358915e-01 -7.07841709e-01 -4.14707954e-03 -1.23400089e+02] [ 5.75312827e-03 -1.17593291e-04 9.99983444e-01 -5.13929694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.016935848260441987 Centerline is valid? [True, True] Translation: X:196.35, Y:-123.36, Z:-5.14 [[-7.09840926e-01 -7.04351536e-01 3.84353061e-03 1.96349785e+02] [ 7.04340228e-01 -7.09851320e-01 -3.99331427e-03 -1.23359634e+02] [ 5.54103231e-03 -1.27464674e-04 9.99984640e-01 -5.13827796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.015972400996875438 Centerline is valid? [True, True] Translation: X:196.31, Y:-123.32, Z:-5.14 [[-7.09709949e-01 -7.04484168e-01 3.72095817e-03 1.96307372e+02] [ 7.04473583e-01 -7.09719693e-01 -3.86359460e-03 -1.23320916e+02] [ 5.36267852e-03 -1.20714797e-04 9.99985613e-01 -5.13668133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.014576397729651792 Centerline is valid? [True, True] Translation: X:196.26, Y:-123.28, Z:-5.14 [[-7.09044117e-01 -7.05154491e-01 3.68579060e-03 1.96261170e+02] [ 7.05144126e-01 -7.09053687e-01 -3.82488520e-03 -1.23284231e+02] [ 5.31055839e-03 -1.12998754e-04 9.99985893e-01 -5.13514161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.014588858386233748 Centerline is valid? [True, True] Translation: X:196.22, Y:-123.25, Z:-5.14 [[-7.06868687e-01 -7.07332605e-01 4.15268227e-03 1.96217485e+02] [ 7.07319500e-01 -7.06880877e-01 -4.30704505e-03 -1.23247528e+02] [ 5.98196508e-03 -1.07242134e-04 9.99982102e-01 -5.13662307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.013584257628843936 Centerline is valid? [True, True] Translation: X:196.17, Y:-123.21, Z:-5.14 [[-7.05244848e-01 -7.08949660e-01 4.48155163e-03 1.96174684e+02] [ 7.08934446e-01 -7.05259080e-01 -4.64549415e-03 -1.23208259e+02] [ 6.45407647e-03 -9.90844927e-05 9.99979167e-01 -5.13615805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.012994312610135695 Centerline is valid? [True, True] Translation: X:196.13, Y:-123.17, Z:-5.13 [[-7.02713776e-01 -7.11462019e-01 3.89161015e-03 1.96131933e+02] [ 7.11450598e-01 -7.02724549e-01 -4.03169349e-03 -1.23169197e+02] [ 5.60312678e-03 -6.44381909e-05 9.99984300e-01 -5.13464335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.012247554003914156 Centerline is valid? [True, True] Translation: X:196.09, Y:-123.13, Z:-5.14 [[-6.97830188e-01 -7.16253493e-01 3.73663376e-03 1.96086286e+02] [ 7.16243044e-01 -6.97840192e-01 -3.86894582e-03 -1.23133066e+02] [ 5.37871917e-03 -2.35292573e-05 9.99985534e-01 -5.13504607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.012003451010804628 Centerline is valid? [True, True] Translation: X:196.04, Y:-123.09, Z:-5.13 [[-6.95157819e-01 -7.18849306e-01 3.35888653e-03 1.96044881e+02] [ 7.18840904e-01 -6.95165933e-01 -3.47562831e-03 -1.23093275e+02] [ 4.83343648e-03 -1.60516288e-06 9.99988319e-01 -5.13410853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.012215429846634256 Centerline is valid? [True, True] Translation: X:196.00, Y:-123.05, Z:-5.13 [[-6.91652518e-01 -7.22219970e-01 3.88714682e-03 1.96002243e+02] [ 7.22208782e-01 -6.91663440e-01 -4.01996667e-03 -1.23053298e+02] [ 5.59189755e-03 2.69115038e-05 9.99984365e-01 -5.13436110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.012262507954623312 Centerline is valid? [True, True] Translation: X:195.96, Y:-123.01, Z:-5.13 [[-6.90645332e-01 -7.23182987e-01 3.92343850e-03 1.95961465e+02] [ 7.23171618e-01 -6.90656475e-01 -4.05517960e-03 -1.23012439e+02] [ 5.64238510e-03 3.66285056e-05 9.99984081e-01 -5.13453473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.012558865557901628 Centerline is valid? [True, True] Translation: X:195.92, Y:-122.97, Z:-5.14 [[-6.88747249e-01 -7.24990121e-01 4.06822930e-03 1.95919545e+02] [ 7.24977944e-01 -6.88759262e-01 -4.20244485e-03 -1.22972566e+02] [ 5.84876161e-03 5.49541806e-05 9.99982894e-01 -5.13565142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.013456566046987589 Centerline is valid? [True, True] Translation: X:195.88, Y:-122.93, Z:-5.14 [[-6.86883927e-01 -7.26749601e-01 5.04866108e-03 1.95878899e+02] [ 7.26730916e-01 -6.86902475e-01 -5.21212263e-03 -1.22931924e+02] [ 7.25584583e-03 8.88948312e-05 9.99973672e-01 -5.13789246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.013761504954030543 Centerline is valid? [True, True] Translation: X:195.84, Y:-122.89, Z:-5.14 [[-6.85371240e-01 -7.28164661e-01 6.51845881e-03 1.95838819e+02] [ 7.28133611e-01 -6.85402224e-01 -6.72577488e-03 -1.22889436e+02] [ 9.36523774e-03 1.36656280e-04 9.99956136e-01 -5.13996393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.013985312129095961 Centerline is valid? [True, True] Translation: X:195.80, Y:-122.85, Z:-5.14 [[-6.84245660e-01 -7.29201595e-01 8.53875899e-03 1.95800053e+02] [ 7.29148461e-01 -6.84298907e-01 -8.80503743e-03 -1.22846828e+02] [ 1.22637108e-02 2.01214322e-04 9.99924778e-01 -5.14225444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.014043037396329313 Centerline is valid? [True, True] Translation: X:195.76, Y:-122.80, Z:-5.14 [[-6.85612671e-01 -7.27905939e-01 9.39193170e-03 1.95764792e+02] [ 7.27841621e-01 -6.85676967e-01 -9.67842180e-03 -1.22802707e+02] [ 1.34848120e-02 2.00190162e-04 9.99909056e-01 -5.14431119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.013264094142361979 Centerline is valid? [True, True] Translation: X:195.73, Y:-122.75, Z:-5.14 [[-6.89121713e-01 -7.24580839e-01 9.68882449e-03 1.95733005e+02] [ 7.24512136e-01 -6.89189805e-01 -9.97880385e-03 -1.22753050e+02] [ 1.39078891e-02 1.43060531e-04 9.99903270e-01 -5.14381623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.012919824576740867 Centerline is valid? [True, True] Translation: X:195.70, Y:-122.71, Z:-5.14 [[-6.91435998e-01 -7.22365703e-01 1.02005841e-02 1.95697369e+02] [ 7.22289397e-01 -6.91511229e-01 -1.04999317e-02 -1.22706900e+02] [ 1.46386090e-02 1.07742981e-04 9.99892844e-01 -5.14459004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.01291198214396355 Centerline is valid? [True, True] Translation: X:195.66, Y:-122.66, Z:-5.14 [[-6.91757991e-01 -7.22092601e-01 7.29097200e-03 1.95659281e+02] [ 7.22053646e-01 -6.91796408e-01 -7.50075786e-03 -1.22663114e+02] [ 1.04601100e-02 7.57637262e-05 9.99945289e-01 -5.14123659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.0134613620266391 Centerline is valid? [True, True] Translation: X:195.62, Y:-122.62, Z:-5.14 [[-6.90658499e-01 -7.23150414e-01 6.65709256e-03 1.95619942e+02] [ 7.23118020e-01 -6.90690575e-01 -6.84534582e-03 -1.22623168e+02] [ 9.54820576e-03 8.60673237e-05 9.99954411e-01 -5.14057839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.013489220094912107 Centerline is valid? [True, True] Translation: X:195.58, Y:-122.58, Z:-5.14 [[-6.89670577e-01 -7.24090085e-01 6.93136714e-03 1.95579528e+02] [ 7.24055053e-01 -6.89705399e-01 -7.12343310e-03 -1.22581401e+02] [ 9.93860862e-03 1.05869179e-04 9.99950605e-01 -5.14069409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.013764218420511034 Centerline is valid? [True, True] Translation: X:195.54, Y:-122.54, Z:-5.14 [[-6.89206500e-01 -7.24530168e-01 7.10179895e-03 1.95539828e+02] [ 7.24493461e-01 -6.89243079e-01 -7.29406862e-03 -1.22540081e+02] [ 1.01796385e-02 1.18087393e-04 9.99948179e-01 -5.14102295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.014029572764959412 Centerline is valid? [True, True] Translation: X:195.50, Y:-122.50, Z:-5.14 [[-6.89098398e-01 -7.24634615e-01 6.93337886e-03 1.95498353e+02] [ 7.24599677e-01 -6.89133267e-01 -7.11672128e-03 -1.22500134e+02] [ 9.93504461e-03 1.19802846e-04 9.99950639e-01 -5.14128371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.01377726099088766 Centerline is valid? [True, True] Translation: X:195.46, Y:-122.46, Z:-5.14 [[-6.90283350e-01 -7.23499713e-01 7.55392765e-03 1.95459135e+02] [ 7.23458225e-01 -6.90324671e-01 -7.74883694e-03 -1.22458472e+02] [ 1.08209439e-02 1.16057973e-04 9.99941445e-01 -5.14117254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.01366769512497586 Centerline is valid? [True, True] Translation: X:195.42, Y:-122.42, Z:-5.14 [[-6.91212828e-01 -7.22608281e-01 7.88023626e-03 1.95419141e+02] [ 7.22563131e-01 -6.91257738e-01 -8.07850905e-03 -1.22417901e+02] [ 1.12848718e-02 1.09999092e-04 9.99936318e-01 -5.14219409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.013457316113251273 Centerline is valid? [True, True] Translation: X:195.38, Y:-122.38, Z:-5.14 [[-6.92796001e-01 -7.21100915e-01 6.86812647e-03 1.95379077e+02] [ 7.21066584e-01 -6.92830040e-01 -7.03686563e-03 -1.22376366e+02] [ 9.83273458e-03 7.72641196e-05 9.99951655e-01 -5.14153403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.01314439955962046 Centerline is valid? [True, True] Translation: X:195.34, Y:-122.33, Z:-5.14 [[-6.94709826e-01 -7.19269273e-01 5.47453996e-03 1.95339330e+02] [ 7.19247427e-01 -6.94731395e-01 -5.60596713e-03 -1.22333930e+02] [ 7.83553469e-03 4.30283296e-05 9.99969301e-01 -5.13935413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.01296397985988648 Centerline is valid? [True, True] Translation: X:195.30, Y:-122.29, Z:-5.14 [[-6.97975921e-01 -7.16105979e-01 4.67327503e-03 1.95301110e+02] [ 7.16090009e-01 -6.97991566e-01 -4.78256148e-03 -1.22291772e+02] [ 6.68672743e-03 8.37280572e-06 9.99977644e-01 -5.13877265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.013013168511872035 Centerline is valid? [True, True] Translation: X:195.26, Y:-122.25, Z:-5.14 [[-7.00540456e-01 -7.13603602e-01 3.60118038e-03 1.95262618e+02] [ 7.13594097e-01 -7.00549712e-01 -3.68313026e-03 -1.22249351e+02] [ 5.15110090e-03 -1.04006840e-05 9.99986733e-01 -5.13669151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.01307839216873641 Centerline is valid? [True, True] Translation: X:195.22, Y:-122.21, Z:-5.14 [[-7.02088874e-01 -7.12082548e-01 3.10776475e-03 1.95222732e+02] [ 7.12075463e-01 -7.02095752e-01 -3.17652998e-03 -1.22208609e+02] [ 4.44389999e-03 -1.72433363e-05 9.99990126e-01 -5.13610878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.013217958052053265 Centerline is valid? [True, True] Translation: X:195.18, Y:-122.17, Z:-5.14 [[-7.02395021e-01 -7.11777266e-01 3.78928073e-03 1.95180052e+02] [ 7.11766741e-01 -7.02405242e-01 -3.87074434e-03 -1.22170411e+02] [ 5.41671847e-03 -2.17075502e-05 9.99985329e-01 -5.13889649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.013400089105680147 Centerline is valid? [True, True] Translation: X:195.14, Y:-122.13, Z:-5.14 [[-7.00546530e-01 -7.13545741e-01 9.32921337e-03 1.95137731e+02] [ 7.13482171e-01 -7.00608646e-01 -9.52452470e-03 -1.22130443e+02] [ 1.33323116e-02 -1.61453217e-05 9.99911121e-01 -5.14439957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.013746525981238392 Centerline is valid? [True, True] Translation: X:195.09, Y:-122.09, Z:-5.15 [[-6.96964749e-01 -7.16996960e-01 1.24699058e-02 1.95092148e+02] [ 7.16884060e-01 -6.97076290e-01 -1.27236233e-02 -1.22094590e+02] [ 1.78152749e-02 7.15597858e-05 9.99841293e-01 -5.14963552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.0142991522929537 Centerline is valid? [True, True] Translation: X:195.05, Y:-122.06, Z:-5.15 [[-6.95189368e-01 -7.18689994e-01 1.40155523e-02 1.95050657e+02] [ 7.18547874e-01 -6.95330622e-01 -1.42925896e-02 -1.22055180e+02] [ 2.00173838e-02 1.34788927e-04 9.99799623e-01 -5.15152245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.013926450486494255 Centerline is valid? [True, True] Translation: X:195.01, Y:-122.01, Z:-5.15 [[-6.95638462e-01 -7.18263265e-01 1.36018923e-02 1.95011127e+02] [ 7.18129496e-01 -6.95771418e-01 -1.38621770e-02 -1.22014294e+02] [ 1.94205004e-02 1.24856582e-04 9.99811397e-01 -5.14857374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.013559685355015682 Centerline is valid? [True, True] Translation: X:194.97, Y:-121.97, Z:-5.15 [[-7.01779891e-01 -7.12308865e-01 1.10029661e-02 1.94974110e+02] [ 7.12220694e-01 -7.01866141e-01 -1.12072889e-02 -1.21969433e+02] [ 1.57056606e-02 -2.85098269e-05 9.99876658e-01 -5.14543680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.014316689633018848 Centerline is valid? [True, True] Translation: X:194.94, Y:-121.92, Z:-5.14 [[-7.10117536e-01 -7.04037502e-01 8.01751012e-03 1.94939118e+02] [ 7.03990208e-01 -7.10162779e-01 -8.16173522e-03 -1.21922385e+02] [ 1.14399049e-02 -1.51542679e-04 9.99934551e-01 -5.13853227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.015527515385115084 Centerline is valid? [True, True] Translation: X:194.90, Y:-121.88, Z:-5.13 [[-7.14166191e-01 -6.99952819e-01 5.71863378e-03 1.94902227e+02] [ 6.99928655e-01 -7.14189070e-01 -5.81804444e-03 -1.21878664e+02] [ 8.15654235e-03 -1.52414992e-04 9.99966723e-01 -5.13458559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.016084110414891693 Centerline is valid? [True, True] Translation: X:194.86, Y:-121.84, Z:-5.13 [[-7.16000704e-01 -6.98078025e-01 5.48296213e-03 1.94859869e+02] [ 6.98055781e-01 -7.16021679e-01 -5.57515788e-03 -1.21838384e+02] [ 7.81781495e-03 -1.64403553e-04 9.99969427e-01 -5.13458164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.015924025407520626 Centerline is valid? [True, True] Translation: X:194.82, Y:-121.80, Z:-5.14 [[-7.15014825e-01 -6.99075369e-01 6.88685454e-03 1.94818220e+02] [ 6.99040365e-01 -7.15047965e-01 -6.99828527e-03 -1.21798610e+02] [ 9.81676018e-03 -1.89688403e-04 9.99951796e-01 -5.13715119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.014943211574436519 Centerline is valid? [True, True] Translation: X:194.78, Y:-121.76, Z:-5.14 [[-7.11008168e-01 -7.03118764e-01 9.55972200e-03 1.94775716e+02] [ 7.03051751e-01 -7.11072409e-01 -9.70900709e-03 -1.21758906e+02] [ 1.36242396e-02 -1.82204059e-04 9.99907169e-01 -5.14017955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.014212273732634938 Centerline is valid? [True, True] Translation: X:194.73, Y:-121.72, Z:-5.14 [[-7.07481740e-01 -7.06681897e-01 8.38357571e-03 1.94733832e+02] [ 7.06630661e-01 -7.07531404e-01 -8.51006576e-03 -1.21720293e+02] [ 1.19455525e-02 -9.66244838e-05 9.99928645e-01 -5.13949931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.013836855991443166 Centerline is valid? [True, True] Translation: X:194.69, Y:-121.68, Z:-5.14 [[-7.06043060e-01 -7.08142490e-01 6.11639779e-03 1.94692897e+02] [ 7.08115303e-01 -7.06069551e-01 -6.20536843e-03 -1.21679667e+02] [ 8.71288729e-03 -5.01424408e-05 9.99962041e-01 -5.13717459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.014745729383956614 Centerline is valid? [True, True] Translation: X:194.64, Y:-121.65, Z:-5.14 [[-6.91229096e-01 -7.22607469e-01 6.38614909e-03 1.94644689e+02] [ 7.22578470e-01 -6.91258582e-01 -6.47513283e-03 -1.21646239e+02] [ 9.09345971e-03 1.38693622e-04 9.99958644e-01 -5.14031376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.017255497574423264 Centerline is valid? [True, True] Translation: X:194.60, Y:-121.61, Z:-5.15 [[-6.84398920e-01 -7.29039045e-01 1.00094587e-02 1.94599259e+02] [ 7.28968571e-01 -6.84472019e-01 -1.01428386e-02 -1.21610252e+02] [ 1.42457198e-02 3.54833038e-04 9.99898462e-01 -5.14575965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:194.56, Y:-121.57, Z:-5.15 [[-6.83600989e-01 -7.29770868e-01 1.11430237e-02 1.94557755e+02] [ 7.29683730e-01 -6.83691675e-01 -1.12848549e-02 -1.21570743e+02] [ 1.58537509e-02 4.16545088e-04 9.99874235e-01 -5.14793851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:194.52, Y:-121.53, Z:-5.15 [[-6.83827740e-01 -7.29558343e-01 1.11465300e-02 1.94517774e+02] [ 7.29471233e-01 -6.83918453e-01 -1.12813916e-02 -1.21530425e+02] [ 1.58537509e-02 4.16544486e-04 9.99874235e-01 -5.14793640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.018601296431662997 Centerline is valid? [True, True] Translation: X:194.48, Y:-121.49, Z:-5.15 [[-6.83430618e-01 -7.29915341e-01 1.20907029e-02 1.94476455e+02] [ 7.29813019e-01 -6.83537401e-01 -1.22302623e-02 -1.21489613e+02] [ 1.71915037e-02 4.65416626e-04 9.99852107e-01 -5.14922566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.018601296431662997 Centerline is valid? [True, True] Translation: X:194.44, Y:-121.45, Z:-5.15 [[-6.83656219e-01 -7.29703980e-01 1.20944825e-02 1.94436448e+02] [ 7.29601690e-01 -6.83763033e-01 -1.22265246e-02 -1.21449319e+02] [ 1.71915037e-02 4.65415345e-04 9.99852107e-01 -5.14922355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.01892282749845818 Centerline is valid? [True, True] Translation: X:194.40, Y:-121.41, Z:-5.15 [[-6.83996906e-01 -7.29366168e-01 1.31614957e-02 1.94396730e+02] [ 7.29245106e-01 -6.84123337e-01 -1.32979444e-02 -1.21407551e+02] [ 1.87031571e-02 5.02203502e-04 9.99824955e-01 -5.15097871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.01690235398983417 Centerline is valid? [True, True] Translation: X:194.36, Y:-121.36, Z:-5.15 [[-6.86193753e-01 -7.27322776e-01 1.18200252e-02 1.94358666e+02] [ 7.27224941e-01 -6.86295429e-01 -1.19360876e-02 -1.21363272e+02] [ 1.67934176e-02 4.05348339e-04 9.99858898e-01 -5.14863833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.017788926691014267 Centerline is valid? [True, True] Translation: X:194.32, Y:-121.32, Z:-5.15 [[-6.87671322e-01 -7.25935453e-01 1.12192220e-02 1.94317444e+02] [ 7.25847201e-01 -6.87762743e-01 -1.13247390e-02 -1.21323818e+02] [ 1.59371925e-02 3.55742653e-04 9.99872932e-01 -5.14923610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.01608504803007165 Centerline is valid? [True, True] Translation: X:194.28, Y:-121.28, Z:-5.15 [[-6.89035639e-01 -7.24647234e-01 1.07830551e-02 1.94278576e+02] [ 7.24565647e-01 -6.89119936e-01 -1.08783426e-02 -1.21280780e+02] [ 1.53137791e-02 3.17465579e-04 9.99882687e-01 -5.14685325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.015409375519642433 Centerline is valid? [True, True] Translation: X:194.24, Y:-121.24, Z:-5.15 [[-6.91755506e-01 -7.22060392e-01 1.01543173e-02 1.94240424e+02] [ 7.21987846e-01 -6.91829985e-01 -1.02382832e-02 -1.21237359e+02] [ 1.44177200e-02 2.48904928e-04 9.99896028e-01 -5.14579507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.01530127588652133 Centerline is valid? [True, True] Translation: X:194.20, Y:-121.20, Z:-5.15 [[-6.92584939e-01 -7.21265186e-01 1.01308708e-02 1.94200622e+02] [ 7.21192980e-01 -6.92658990e-01 -1.02083118e-02 -1.21195807e+02] [ 1.43801386e-02 2.36189918e-04 9.99896573e-01 -5.14587779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.01567035431668907 Centerline is valid? [True, True] Translation: X:194.16, Y:-121.16, Z:-5.15 [[-6.92575548e-01 -7.21283262e-01 9.46388630e-03 1.94159836e+02] [ 7.21220314e-01 -6.92640170e-01 -9.53169593e-03 -1.21156707e+02] [ 1.34301206e-02 2.24127517e-04 9.99909787e-01 -5.14591969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.015512060428132031 Centerline is valid? [True, True] Translation: X:194.12, Y:-121.12, Z:-5.15 [[-6.92606186e-01 -7.21248162e-01 9.88741506e-03 1.94117444e+02] [ 7.21179536e-01 -6.92676716e-01 -9.95208903e-03 -1.21117966e+02] [ 1.40267081e-02 2.37722980e-04 9.99901593e-01 -5.14690176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.01559923321687576 Centerline is valid? [True, True] Translation: X:194.07, Y:-121.08, Z:-5.15 [[-6.92232297e-01 -7.21589885e-01 1.10673142e-02 1.94073342e+02] [ 7.21504043e-01 -6.92320706e-01 -1.11335293e-02 -1.21079316e+02] [ 1.56959730e-02 2.78123378e-04 9.99876772e-01 -5.14832428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.01587574026430654 Centerline is valid? [True, True] Translation: X:194.03, Y:-121.04, Z:-5.15 [[-6.92866499e-01 -7.20989615e-01 1.04876211e-02 1.94033230e+02] [ 7.20912563e-01 -6.92945820e-01 -1.05435426e-02 -1.21040262e+02] [ 1.48691379e-02 2.55390363e-04 9.99889416e-01 -5.14772674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.014231768915148456 Centerline is valid? [True, True] Translation: X:194.00, Y:-121.00, Z:-5.15 [[-6.96195380e-01 -7.17778164e-01 1.03198439e-02 1.93996191e+02] [ 7.17703290e-01 -6.96271837e-01 -1.03690042e-02 -1.20995197e+02] [ 1.46280614e-02 1.87733107e-04 9.99892987e-01 -5.14558994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.014387971157085589 Centerline is valid? [True, True] Translation: X:193.96, Y:-120.95, Z:-5.15 [[-6.98335031e-01 -7.15683745e-01 1.11786241e-02 1.93957202e+02] [ 7.15595738e-01 -6.98424478e-01 -1.12244544e-02 -1.20954460e+02] [ 1.58405842e-02 1.60946040e-04 9.99874517e-01 -5.14823347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.013545240116009816 Centerline is valid? [True, True] Translation: X:193.92, Y:-120.91, Z:-5.15 [[-7.01864306e-01 -7.12225408e-01 1.10211062e-02 1.93920857e+02] [ 7.12139533e-01 -7.01950825e-01 -1.10600695e-02 -1.20909267e+02] [ 1.56135372e-02 8.58974352e-05 9.99878098e-01 -5.14699272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.013221409559451 Centerline is valid? [True, True] Translation: X:193.88, Y:-120.87, Z:-5.15 [[-7.04471843e-01 -7.09675237e-01 8.97107134e-03 1.93882146e+02] [ 7.09618196e-01 -7.04528961e-01 -8.99772129e-03 -1.20866041e+02] [ 1.27058396e-02 2.73941534e-05 9.99919277e-01 -5.14597864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.013144540106233647 Centerline is valid? [True, True] Translation: X:193.84, Y:-120.82, Z:-5.14 [[-7.04901262e-01 -7.09267372e-01 7.34885258e-03 1.93843513e+02] [ 7.09229121e-01 -7.04939568e-01 -7.36605523e-03 -1.20823791e+02] [ 1.04049996e-02 1.96786271e-05 9.99945866e-01 -5.14306723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.01334592209296939 Centerline is valid? [True, True] Translation: X:193.80, Y:-120.79, Z:-5.14 [[-7.03429508e-01 -7.10733809e-01 6.66184350e-03 1.93801486e+02] [ 7.10702483e-01 -7.03461051e-01 -6.67308663e-03 -1.20785584e+02] [ 9.42913572e-03 4.05426738e-05 9.99955544e-01 -5.14393418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.013765757815348707 Centerline is valid? [True, True] Translation: X:193.76, Y:-120.75, Z:-5.14 [[-7.00009384e-01 -7.14092762e-01 7.64132124e-03 1.93758002e+02] [ 7.14051792e-01 -7.00051081e-01 -7.64995200e-03 -1.20746832e+02] [ 1.08120906e-02 1.01260940e-04 9.99941543e-01 -5.14341364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.014717573154718977 Centerline is valid? [True, True] Translation: X:193.71, Y:-120.71, Z:-5.14 [[-6.96938531e-01 -7.17090889e-01 7.57236835e-03 1.93712203e+02] [ 7.17050875e-01 -6.96979652e-01 -7.57675446e-03 -1.20710533e+02] [ 1.07110082e-02 1.49241223e-04 9.99942624e-01 -5.14481504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.0149238166124908 Centerline is valid? [True, True] Translation: X:193.67, Y:-120.67, Z:-5.14 [[-6.95308598e-01 -7.18675690e-01 7.15577325e-03 1.93669052e+02] [ 7.18640083e-01 -6.95345399e-01 -7.15586945e-03 -1.20671004e+02] [ 1.01184834e-02 1.66887932e-04 9.99948793e-01 -5.14430814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.015367370401602404 Centerline is valid? [True, True] Translation: X:193.63, Y:-120.63, Z:-5.14 [[-6.94789677e-01 -7.19172488e-01 7.63131535e-03 1.93627491e+02] [ 7.19132067e-01 -6.94831560e-01 -7.62716084e-03 -1.20630228e+02] [ 1.07877230e-02 1.88650959e-04 9.99941793e-01 -5.14402732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.015257834010560098 Centerline is valid? [True, True] Translation: X:193.16, Y:-121.10, Z:-4.11 [[-7.66923667e-01 6.41670880e-01 9.30429315e-03 1.93163866e+02] [ 6.41620253e-01 7.66980075e-01 -8.06318106e-03 -1.21101633e+02] [-1.23101159e-02 -2.14021460e-04 -9.99924205e-01 -4.11171934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.015640073715175562 Centerline is valid? [True, True] Translation: X:193.18, Y:-121.08, Z:-4.11 [[-8.08776269e-01 5.88050026e-01 8.83815510e-03 1.93181721e+02] [ 5.88012736e-01 8.08824543e-01 -6.62430366e-03 -1.21081328e+02] [-1.10439387e-02 -1.60631836e-04 -9.99939001e-01 -4.10986790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.013836351257908603 Centerline is valid? [True, True] Translation: X:193.59, Y:-120.55, Z:-5.15 [[-7.51421430e-01 -6.59768137e-01 8.47585903e-03 1.93586769e+02] [ 6.59728655e-01 -7.51469213e-01 -7.21966254e-03 -1.20549971e+02] [ 1.11326504e-02 1.66757928e-04 9.99938016e-01 -5.14521961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.013469252020652276 Centerline is valid? [True, True] Translation: X:193.14, Y:-121.07, Z:-4.11 [[-8.05468409e-01 5.92567118e-01 9.21158201e-03 1.93142694e+02] [ 5.92527488e-01 8.05521078e-01 -6.85339933e-03 -1.21072059e+02] [-1.14812226e-02 -6.20811064e-05 -9.99934087e-01 -4.11164016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.013567985504969036 Centerline is valid? [True, True] Translation: X:193.55, Y:-120.52, Z:-5.14 [[-7.55545513e-01 -6.55040196e-01 8.56267703e-03 1.93554971e+02] [ 6.54998873e-01 -7.55594031e-01 -7.35780318e-03 -1.20522220e+02] [ 1.12895645e-02 4.93886227e-05 9.99936270e-01 -5.14419431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.01410220615035612 Centerline is valid? [True, True] Translation: X:193.11, Y:-121.05, Z:-4.11 [[-8.08499835e-01 5.88409517e-01 1.01122871e-02 1.93111474e+02] [ 5.88362129e-01 8.08563067e-01 -7.46810697e-03 -1.21046736e+02] [-1.25707271e-02 -8.82764991e-05 -9.99920981e-01 -4.10982042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.013973839445464683 Centerline is valid? [True, True] Translation: X:193.13, Y:-121.03, Z:-4.11 [[-8.47897566e-01 5.30027036e-01 1.18768160e-02 1.93127210e+02] [ 5.29973488e-01 8.47980738e-01 -7.53459674e-03 -1.21026665e+02] [-1.40648512e-02 -9.41686474e-05 -9.99901081e-01 -4.10980495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.013931109768189549 Centerline is valid? [True, True] Translation: X:193.14, Y:-121.00, Z:-4.11 [[-8.83455684e-01 4.68361386e-01 1.19861385e-02 1.93139951e+02] [ 4.68316809e-01 8.83536985e-01 -6.46242783e-03 -1.21000215e+02] [-1.36169483e-02 -9.59584704e-05 -9.99907280e-01 -4.10981855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.01378999876289607 Centerline is valid? [True, True] Translation: X:193.15, Y:-120.98, Z:-4.11 [[-9.13533791e-01 4.06587740e-01 1.19340982e-02 1.93154928e+02] [ 4.06552138e-01 9.13611737e-01 -5.38081662e-03 -1.20979242e+02] [-1.30909063e-02 -6.37246578e-05 -9.99914308e-01 -4.11166615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.01363516767883306 Centerline is valid? [True, True] Translation: X:193.16, Y:-120.96, Z:-4.11 [[-9.38770233e-01 3.44306255e-01 1.27926334e-02 1.93163424e+02] [ 3.44274057e-01 9.38857392e-01 -4.70861634e-03 -1.20958132e+02] [-1.36316645e-02 -1.61370585e-05 -9.99907084e-01 -4.11318692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.013843708468479198 Centerline is valid? [True, True] Translation: X:193.41, Y:-120.31, Z:-5.14 [[-9.13065760e-01 -4.07588742e-01 1.35031548e-02 1.93410596e+02] [ 4.07545546e-01 -9.13165599e-01 -5.93440658e-03 -1.20309225e+02] [ 1.47494138e-02 8.46471621e-05 9.99891218e-01 -5.14457752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.013892479083891752 Centerline is valid? [True, True] Translation: X:193.12, Y:-120.94, Z:-4.11 [[-9.39240453e-01 3.43009272e-01 1.31152686e-02 1.93119384e+02] [ 3.42976068e-01 9.39332017e-01 -4.77258424e-03 -1.20942754e+02] [-1.39566324e-02 1.56190842e-05 -9.99902601e-01 -4.11285987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.014050651556457967 Centerline is valid? [True, True] Translation: X:193.37, Y:-120.29, Z:-5.14 [[-9.15254386e-01 -4.02684850e-01 1.24225580e-02 1.93367488e+02] [ 4.02647206e-01 -9.15338686e-01 -5.50614885e-03 -1.20292268e+02] [ 1.35880907e-02 -3.76185981e-05 9.99907677e-01 -5.14127894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.014038690205164229 Centerline is valid? [True, True] Translation: X:193.08, Y:-120.93, Z:-4.12 [[-9.40157976e-01 3.40492281e-01 1.29609506e-02 1.93081320e+02] [ 3.40460360e-01 9.40247311e-01 -4.66232248e-03 -1.20930768e+02] [-1.37739837e-02 2.93702380e-05 -9.99905134e-01 -4.11590376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.013796373547050137 Centerline is valid? [True, True] Translation: X:193.09, Y:-120.90, Z:-4.12 [[-9.62375565e-01 2.71379018e-01 1.36638666e-02 1.93088744e+02] [ 2.71351755e-01 9.62472560e-01 -3.84666373e-03 -1.20902849e+02] [-1.41950005e-02 5.77899422e-06 -9.99899246e-01 -4.11874053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.013789505945533775 Centerline is valid? [True, True] Translation: X:193.09, Y:-120.87, Z:-4.12 [[-9.80155636e-01 1.97732833e-01 1.40234117e-02 1.93092859e+02] [ 1.97711676e-01 9.80255948e-01 -2.89311196e-03 -1.20870799e+02] [-1.43185960e-02 -6.31077550e-05 -9.99897482e-01 -4.11981600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.014192986048467884 Centerline is valid? [True, True] Translation: X:193.23, Y:-120.21, Z:-5.14 [[-9.61099510e-01 -2.75834881e-01 1.42425292e-02 1.93233360e+02] [ 2.75806090e-01 -9.61205030e-01 -3.98649245e-03 -1.20207062e+02] [ 1.47896043e-02 9.67603322e-05 9.99890623e-01 -5.13626352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.014234135025265281 Centerline is valid? [True, True] Translation: X:193.04, Y:-120.86, Z:-4.12 [[-9.81995961e-01 1.88341195e-01 1.45439832e-02 1.93039730e+02] [ 1.88318250e-01 9.82103646e-01 -2.94374766e-03 -1.20855783e+02] [-1.48381279e-02 -1.51850849e-04 -9.99889897e-01 -4.12174223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.01469105839112667 Centerline is valid? [True, True] Translation: X:193.18, Y:-120.20, Z:-5.13 [[-9.60341495e-01 -2.78386227e-01 1.56627289e-02 1.93179767e+02] [ 2.78353622e-01 -9.60469178e-01 -4.26854283e-03 -1.20199252e+02] [ 1.62318719e-02 2.60518510e-04 9.99868221e-01 -5.13432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.015541910973606984 Centerline is valid? [True, True] Translation: X:192.99, Y:-120.84, Z:-4.12 [[-9.83919146e-01 1.77816693e-01 1.68623395e-02 1.92986268e+02] [ 1.77785422e-01 9.84063583e-01 -3.34773917e-03 -1.20840830e+02] [-1.71888981e-02 -2.96026513e-04 -9.99852216e-01 -4.12017412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.015851444263536515 Centerline is valid? [True, True] Translation: X:193.13, Y:-120.19, Z:-5.14 [[-9.60404220e-01 -2.78041201e-01 1.77995892e-02 1.93126994e+02] [ 2.78001080e-01 -9.60569068e-01 -4.73981705e-03 -1.20192718e+02] [ 1.84155992e-02 3.96164722e-04 9.99830340e-01 -5.13726028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.01575784634944238 Centerline is valid? [True, True] Translation: X:192.94, Y:-120.84, Z:-4.12 [[-9.84454234e-01 1.74714241e-01 1.80220846e-02 1.92943524e+02] [ 1.74679291e-01 9.84619135e-01 -3.50772597e-03 -1.20836126e+02] [-1.83577391e-02 -3.05110711e-04 -9.99831436e-01 -4.12004198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.01510796669794001 Centerline is valid? [True, True] Translation: X:193.08, Y:-120.18, Z:-5.14 [[-9.62799478e-01 -2.69664984e-01 1.72615762e-02 1.93079458e+02] [ 2.69626602e-01 -9.62954166e-01 -4.55739663e-03 -1.20175617e+02] [ 1.78510770e-02 2.66321030e-04 9.99840621e-01 -5.13594020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.014605948084739598 Centerline is valid? [True, True] Translation: X:192.90, Y:-120.84, Z:-4.12 [[-9.84111509e-01 1.76748050e-01 1.68720283e-02 1.92902729e+02] [ 1.76718883e-01 9.84256112e-01 -3.21604258e-03 -1.20840512e+02] [-1.71748262e-02 -1.83338510e-04 -9.99852485e-01 -4.12194766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.014101411918139245 Centerline is valid? [True, True] Translation: X:193.04, Y:-120.16, Z:-5.13 [[-9.65194565e-01 -2.60995483e-01 1.67573468e-02 1.93035416e+02] [ 2.60959618e-01 -9.65340003e-01 -4.33097368e-03 -1.20157220e+02] [ 1.73069018e-02 1.92758570e-04 9.99850206e-01 -5.13307136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.014430449157372764 Centerline is valid? [True, True] Translation: X:192.85, Y:-120.84, Z:-4.12 [[-9.84624365e-01 1.73824347e-01 1.73192361e-02 1.92851229e+02] [ 1.73794380e-01 9.84776658e-01 -3.23215627e-03 -1.20835955e+02] [-1.76174069e-02 -1.72473915e-04 -9.99844787e-01 -4.12433596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.015132785691401446 Centerline is valid? [True, True] Translation: X:192.85, Y:-120.81, Z:-4.12 [[-9.94870916e-01 9.94124548e-02 1.86821831e-02 1.92853988e+02] [ 9.93899801e-02 9.95046278e-01 -2.12997507e-03 -1.20805774e+02] [-1.88013828e-02 -2.62228438e-04 -9.99823204e-01 -4.12368787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.016007726398752108 Centerline is valid? [True, True] Translation: X:192.93, Y:-120.12, Z:-5.13 [[-9.80012185e-01 -1.97999235e-01 1.92981929e-02 1.92930108e+02] [ 1.97967465e-01 -9.80202119e-01 -3.56211871e-03 -1.20121764e+02] [ 1.96214264e-02 3.29494590e-04 9.99807427e-01 -5.13373698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.01632108190576206 Centerline is valid? [True, True] Translation: X:192.80, Y:-120.79, Z:-4.12 [[-9.95757377e-01 9.00344917e-02 1.90009743e-02 1.92798754e+02] [ 9.00109939e-02 9.95938579e-01 -2.09002576e-03 -1.20794137e+02] [-1.91119777e-02 -3.70861993e-04 -9.99817281e-01 -4.12356539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.015920179623571215 Centerline is valid? [True, True] Translation: X:192.87, Y:-120.12, Z:-5.13 [[-9.81203842e-01 -1.92033188e-01 1.90335444e-02 1.92873450e+02] [ 1.92004710e-01 -9.81388356e-01 -3.32970484e-03 -1.20115861e+02] [ 1.93187127e-02 3.87410986e-04 9.99813301e-01 -5.13390422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.014537608385706615 Centerline is valid? [True, True] Translation: X:192.75, Y:-120.80, Z:-4.12 [[-9.95354112e-01 9.44537203e-02 1.86731547e-02 1.92751755e+02] [ 9.44332727e-02 9.95529233e-01 -1.97574699e-03 -1.20796813e+02] [-1.87762880e-02 -2.03200783e-04 -9.99823689e-01 -4.12475285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.013826657972546421 Centerline is valid? [True, True] Translation: X:192.83, Y:-120.10, Z:-5.13 [[-9.84327988e-01 -1.75476410e-01 1.75054926e-02 1.92832189e+02] [ 1.75451090e-01 -9.84483627e-01 -2.98385595e-03 -1.20102447e+02] [ 1.77574672e-02 1.34264845e-04 9.99842315e-01 -5.13053950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.013813630778884938 Centerline is valid? [True, True] Translation: X:192.71, Y:-120.80, Z:-4.13 [[-9.94579870e-01 1.02556588e-01 1.71181029e-02 1.92706954e+02] [ 1.02541823e-01 9.94727172e-01 -1.74034896e-03 -1.20798139e+02] [-1.72063264e-02 2.44054427e-05 -9.99851960e-01 -4.12601751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.014414517659773413 Centerline is valid? [True, True] Translation: X:192.78, Y:-120.09, Z:-5.13 [[-9.86347403e-01 -1.63880063e-01 1.61902857e-02 1.92779100e+02] [ 1.63856804e-01 -9.86480268e-01 -2.76183605e-03 -1.20094839e+02] [ 1.64240073e-02 -7.12413388e-05 9.99865114e-01 -5.13203710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.0141150659961958 Centerline is valid? [True, True] Translation: X:192.65, Y:-120.79, Z:-4.13 [[-9.94648090e-01 1.01848088e-01 1.73822690e-02 1.92650130e+02] [ 1.01833999e-01 9.94799960e-01 -1.69605564e-03 -1.20791487e+02] [-1.74646205e-02 8.31274660e-05 -9.99847478e-01 -4.12503304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.014095632007716906 Centerline is valid? [True, True] Translation: X:192.72, Y:-120.10, Z:-5.13 [[-9.86958126e-01 -1.59959401e-01 1.80734146e-02 1.92721475e+02] [ 1.59931992e-01 -9.87123594e-01 -2.96120184e-03 -1.20095851e+02] [ 1.83143660e-02 -3.20650146e-05 9.99832277e-01 -5.13110581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.013919856220827155 Centerline is valid? [True, True] Translation: X:192.60, Y:-120.78, Z:-4.13 [[-9.95193569e-01 9.63838931e-02 1.73177940e-02 1.92599335e+02] [ 9.63703240e-02 9.95344233e-01 -1.61830635e-03 -1.20781648e+02] [-1.73931451e-02 5.83933479e-05 -9.99848726e-01 -4.12673508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.013919468903172878 Centerline is valid? [True, True] Translation: X:192.66, Y:-120.10, Z:-5.13 [[-9.87334076e-01 -1.57741723e-01 1.69991725e-02 1.92664367e+02] [ 1.57717149e-01 -9.87480402e-01 -2.78509572e-03 -1.20096677e+02] [ 1.72256755e-02 -6.87588743e-05 9.99851625e-01 -5.13008654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.013816535038153199 Centerline is valid? [True, True] Translation: X:192.55, Y:-120.77, Z:-4.13 [[-9.95765602e-01 9.01838777e-02 1.78250731e-02 1.92545240e+02] [ 9.01698016e-02 9.95925132e-01 -1.59345075e-03 -1.20770791e+02] [-1.78961418e-02 2.05798517e-05 -9.99839851e-01 -4.12586446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.013627495341115618 Centerline is valid? [True, True] Translation: X:192.61, Y:-120.10, Z:-5.13 [[-9.87575233e-01 -1.56182637e-01 1.73822353e-02 1.92606512e+02] [ 1.56157749e-01 -9.87728193e-01 -2.78838145e-03 -1.20095487e+02] [ 1.76044206e-02 -3.93657199e-05 9.99845029e-01 -5.12891232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.01361271796477002 Centerline is valid? [True, True] Translation: X:192.49, Y:-120.76, Z:-4.13 [[-9.96368863e-01 8.32301138e-02 1.79398229e-02 1.92489047e+02] [ 8.32160340e-02 9.96530354e-01 -1.53121184e-03 -1.20763810e+02] [-1.80050210e-02 -3.27708869e-05 -9.99837896e-01 -4.12609280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.013630274705042774 Centerline is valid? [True, True] Translation: X:192.49, Y:-120.74, Z:-4.13 [[-9.99783724e-01 1.06972603e-02 1.78346232e-02 1.92488089e+02] [ 1.06944767e-02 9.99942781e-01 -2.51447715e-04 -1.20735343e+02] [-1.78362925e-02 -6.06613701e-05 -9.99840919e-01 -4.12596409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.013410219064905844 Centerline is valid? [True, True] Translation: X:192.48, Y:-120.71, Z:-4.13 [[-9.97990299e-01 -6.13456741e-02 1.58767488e-02 1.92480505e+02] [-6.13390160e-02 9.98116578e-01 9.06446839e-04 -1.20709814e+02] [-1.59024528e-02 -6.92389970e-05 -9.99873546e-01 -4.12821947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.013275896087017352 Centerline is valid? [True, True] Translation: X:192.48, Y:-120.68, Z:-4.13 [[-9.90958079e-01 -1.33290295e-01 1.53552073e-02 1.92475215e+02] [-1.33275612e-01 9.91077035e-01 1.98015109e-03 -1.20683421e+02] [-1.54821282e-02 -8.42279328e-05 -9.99880141e-01 -4.12825050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.013355874210346145 Centerline is valid? [True, True] Translation: X:192.39, Y:-120.02, Z:-5.13 [[-9.98465887e-01 5.30993094e-02 1.56951002e-02 1.92390277e+02] [-5.30911439e-02 -9.98589231e-01 9.36755011e-04 -1.20015132e+02] [ 1.57226991e-02 1.02047097e-04 9.99876386e-01 -5.12793359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.01344382076810559 Centerline is valid? [True, True] Translation: X:192.39, Y:-120.70, Z:-4.13 [[-9.89776838e-01 -1.41862096e-01 1.47294646e-02 1.92385819e+02] [-1.41848305e-01 9.89886423e-01 1.98210685e-03 -1.20695481e+02] [-1.48616829e-02 -1.27506146e-04 -9.99889551e-01 -4.12842647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.013696118991827174 Centerline is valid? [True, True] Translation: X:192.38, Y:-120.67, Z:-4.13 [[-9.77171187e-01 -2.11860020e-01 1.58683354e-02 1.92377850e+02] [-2.11834356e-01 9.77300012e-01 3.30034307e-03 -1.20670916e+02] [-1.62073351e-02 -1.36458451e-04 -9.99868643e-01 -4.12619446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.013828349553992324 Centerline is valid? [True, True] Translation: X:192.35, Y:-120.65, Z:-4.13 [[-9.59416990e-01 -2.81510458e-01 1.64590703e-02 1.92352688e+02] [-2.81471769e-01 9.59558148e-01 4.66954373e-03 -1.20653505e+02] [-1.71079604e-02 -1.52724034e-04 -9.99853637e-01 -4.12561899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.013697098065274367 Centerline is valid? [True, True] Translation: X:192.33, Y:-120.64, Z:-4.13 [[-9.37088383e-01 -3.48781496e-01 1.47251509e-02 1.92332819e+02] [-3.48740421e-01 9.37204062e-01 5.35394602e-03 -1.20636043e+02] [-1.56678286e-02 -1.18134704e-04 -9.99877245e-01 -4.12545017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.013706498723705596 Centerline is valid? [True, True] Translation: X:192.28, Y:-120.63, Z:-4.12 [[-9.08966622e-01 -4.16609290e-01 1.47098409e-02 1.92280448e+02] [-4.16557086e-01 9.09085630e-01 6.59633524e-03 -1.20629187e+02] [-1.61205995e-02 -1.31639880e-04 -9.99870046e-01 -4.12497673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.014518626956422327 Centerline is valid? [True, True] Translation: X:192.22, Y:-120.63, Z:-4.13 [[-8.72340720e-01 -4.88722380e-01 1.31188480e-02 1.92217101e+02] [-4.88671079e-01 8.72439329e-01 7.08484137e-03 -1.20626489e+02] [-1.49079195e-02 -2.30405970e-04 -9.99888844e-01 -4.12550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.015321946208488606 Centerline is valid? [True, True] Translation: X:192.15, Y:-120.64, Z:-4.13 [[-8.31824914e-01 -5.54889498e-01 1.28436030e-02 1.92145125e+02] [-5.54828762e-01 8.31924011e-01 8.21496606e-03 -1.20636011e+02] [-1.52433001e-02 -2.92586935e-04 -9.99883771e-01 -4.12539309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.01651983250195958 Centerline is valid? [True, True] Translation: X:192.07, Y:-120.65, Z:-4.13 [[-7.85933199e-01 -6.18211688e-01 1.11047359e-02 1.92067769e+02] [-6.18155705e-01 7.86011581e-01 8.32581147e-03 -1.20653983e+02] [-1.38755650e-02 -3.20924186e-04 -9.99903678e-01 -4.12542055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.016505321903623277 Centerline is valid? [True, True] Translation: X:191.99, Y:-120.68, Z:-4.13 [[-7.36789155e-01 -6.76052536e-01 9.73185808e-03 1.91993011e+02] [-6.75999095e-01 7.36853358e-01 8.50603839e-03 -1.20678757e+02] [-1.29214811e-02 -3.11570413e-04 -9.99916466e-01 -4.12560572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.01676175985356924 Centerline is valid? [True, True] Translation: X:191.91, Y:-120.72, Z:-4.13 [[-6.84558709e-01 -7.28903748e-01 8.87129205e-03 1.91908617e+02] [-7.28848070e-01 6.84616125e-01 9.01401875e-03 -1.20721191e+02] [-1.26437816e-02 -2.95199047e-04 -9.99920021e-01 -4.12527735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.015676804700912338 Centerline is valid? [True, True] Translation: X:191.83, Y:-120.77, Z:-4.13 [[-6.28466489e-01 -7.77790353e-01 8.48761434e-03 1.91834102e+02] [-7.77725591e-01 6.28523733e-01 1.00410531e-02 -1.20768819e+02] [-1.31445013e-02 -2.90569487e-04 -9.99913565e-01 -4.12546896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.015742796496383188 Centerline is valid? [True, True] Translation: X:191.75, Y:-120.83, Z:-4.12 [[-5.68657896e-01 -8.22539055e-01 7.59616512e-03 1.91752985e+02] [-8.22471985e-01 5.68708563e-01 1.05073121e-02 -1.20829087e+02] [-1.29626787e-02 -2.72567029e-04 -9.99915944e-01 -4.12437414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.016373065940428852 Centerline is valid? [True, True] Translation: X:191.67, Y:-120.90, Z:-4.12 [[-5.05673833e-01 -8.62702614e-01 6.17844580e-03 1.91672617e+02] [-8.62643772e-01 5.05711523e-01 1.00785673e-02 -1.20900060e+02] [-1.18193176e-02 -2.33330016e-04 -9.99930122e-01 -4.12417336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.015979156348296386 Centerline is valid? [True, True] Translation: X:191.60, Y:-120.97, Z:-4.13 [[-4.40151167e-01 -8.97911197e-01 4.73632573e-03 1.91603390e+02] [-8.97863661e-01 4.40176610e-01 9.24110843e-03 -1.20971343e+02] [-1.03825145e-02 -1.85090107e-04 -9.99946083e-01 -4.12589627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.014679462301411875 Centerline is valid? [True, True] Translation: X:191.54, Y:-121.06, Z:-4.13 [[-3.71239460e-01 -9.28529725e-01 3.71664222e-03 1.91535962e+02] [-9.28487481e-01 3.71258029e-01 8.85849681e-03 -1.21056042e+02] [-9.60521087e-03 -1.62232197e-04 -9.99953856e-01 -4.12657529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.0143259761401981 Centerline is valid? [True, True] Translation: X:191.47, Y:-121.15, Z:-4.13 [[-3.01946881e-01 -9.53320690e-01 2.78265627e-03 1.91474376e+02] [-9.53283881e-01 3.01959678e-01 8.37830425e-03 -1.21147937e+02] [-8.82746078e-03 -1.22858532e-04 -9.99961030e-01 -4.12624130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.014055252214590228 Centerline is valid? [True, True] Translation: X:191.42, Y:-121.25, Z:-4.13 [[-2.30325522e-01 -9.73110571e-01 2.44327968e-03 1.91419690e+02] [-9.73061077e-01 2.30338451e-01 9.81522648e-03 -1.21247567e+02] [-1.01140819e-02 -1.16763196e-04 -9.99948845e-01 -4.12603499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.013807649139261496 Centerline is valid? [True, True] Translation: X:191.37, Y:-121.36, Z:-4.13 [[-1.56129446e-01 -9.87734577e-01 2.00047776e-03 1.91370711e+02] [-9.87663449e-01 1.56142211e-01 1.18541580e-02 -1.21355738e+02] [-1.20211207e-02 -1.25015650e-04 -9.99927736e-01 -4.12582409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.013915034395869845 Centerline is valid? [True, True] Translation: X:191.33, Y:-121.47, Z:-4.13 [[-7.91628650e-02 -9.96861164e-01 1.02940290e-03 1.91327171e+02] [-9.96796454e-01 7.91694560e-02 1.13589692e-02 -1.21466872e+02] [-1.14048125e-02 -1.26896611e-04 -9.99934955e-01 -4.12629842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.01431722556960719 Centerline is valid? [True, True] Translation: X:191.29, Y:-121.58, Z:-4.13 [[ 9.04355980e-05 -9.99999985e-01 1.49205485e-04 1.91291897e+02] [-9.99939065e-01 -8.87830190e-05 1.10389306e-02 -1.21580514e+02] [-1.10389172e-02 -1.50194705e-04 -9.99939058e-01 -4.12778575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.014565647924726349 Centerline is valid? [True, True] Translation: X:190.60, Y:-121.68, Z:-5.13 [[-9.58670871e-02 9.95393720e-01 9.19023284e-04 1.90599169e+02] [-9.95324391e-01 -9.58712583e-02 1.17498294e-02 -1.21678667e+02] [ 1.17838143e-02 2.11695625e-04 9.99930546e-01 -5.12967598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.01467934300088689 Centerline is valid? [True, True] Translation: X:191.28, Y:-121.86, Z:-4.12 [[ 1.05844221e-02 -9.99943982e-01 5.61622651e-05 1.91280799e+02] [-9.99844135e-01 -1.05825715e-02 1.41320814e-02 -1.21862777e+02] [-1.41306954e-02 -2.05733426e-04 -9.99900136e-01 -4.12322571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.014003844058691243 Centerline is valid? [True, True] Translation: X:191.26, Y:-121.97, Z:-4.13 [[ 8.35566873e-02 -9.96502594e-01 -9.27346524e-04 1.91262765e+02] [-9.96421791e-01 -8.35617219e-02 1.26906842e-02 -1.21973508e+02] [-1.27237904e-02 -1.36363247e-04 -9.99919040e-01 -4.12626005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.013758427001342846 Centerline is valid? [True, True] Translation: X:190.58, Y:-122.14, Z:-5.13 [[-3.65560439e-03 9.99993317e-01 -5.10476816e-05 1.90576714e+02] [-9.99918987e-01 -3.65471026e-03 1.21927071e-02 -1.22135421e+02] [ 1.21924390e-02 9.56152596e-05 9.99925665e-01 -5.13012896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.013413333664079563 Centerline is valid? [True, True] Translation: X:191.29, Y:-122.25, Z:-4.13 [[ 8.67776314e-02 -9.96227232e-01 -9.72196620e-04 1.91285501e+02] [-9.96157965e-01 -8.67830621e-02 1.17477241e-02 -1.22253844e+02] [-1.17877728e-02 -5.09782634e-05 -9.99930521e-01 -4.12709725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.013489802726937746 Centerline is valid? [True, True] Translation: X:191.28, Y:-122.37, Z:-4.13 [[ 1.57626384e-01 -9.87497439e-01 -1.65277861e-03 1.91277588e+02] [-9.87444086e-01 -1.57635049e-01 1.02649246e-02 -1.22368913e+02] [-1.03971226e-02 1.40035097e-05 -9.99945948e-01 -4.12892265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.013467489822881911 Centerline is valid? [True, True] Translation: X:191.28, Y:-122.49, Z:-4.13 [[ 2.30500981e-01 -9.73069327e-01 -2.32001333e-03 1.91275450e+02] [-9.73021778e-01 -2.30512652e-01 9.61955463e-03 -1.22488444e+02] [-9.89528598e-03 4.01067171e-05 -9.99951040e-01 -4.13160292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.013446889276757239 Centerline is valid? [True, True] Translation: X:191.28, Y:-122.61, Z:-4.13 [[ 3.04892100e-01 -9.52380385e-01 -3.52279741e-03 1.91279847e+02] [-9.52318419e-01 -3.04912448e-01 1.08640621e-02 -1.22611784e+02] [-1.14208644e-02 4.24581442e-05 -9.99934779e-01 -4.13106709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.013444856751109534 Centerline is valid? [True, True] Translation: X:191.29, Y:-122.73, Z:-4.13 [[ 3.78510807e-01 -9.25581837e-01 -5.27565842e-03 1.91292169e+02] [-9.25493078e-01 -3.78547570e-01 1.28179130e-02 -1.22728567e+02] [-1.38611151e-02 3.08667699e-05 -9.99903930e-01 -4.12993889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.013686985109649758 Centerline is valid? [True, True] Translation: X:191.31, Y:-122.84, Z:-4.13 [[ 4.47561427e-01 -8.94222385e-01 -7.42261408e-03 1.91313515e+02] [-8.94101370e-01 -4.47622970e-01 1.47111423e-02 -1.22842282e+02] [-1.64775653e-02 5.24295801e-05 -9.99864234e-01 -4.12930050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.013847733618149059 Centerline is valid? [True, True] Translation: X:191.34, Y:-122.95, Z:-4.13 [[ 5.13123537e-01 -8.58266961e-01 -9.05865144e-03 1.91342810e+02] [-8.58136304e-01 -5.13203484e-01 1.49755903e-02 -1.22952595e+02] [-1.75019858e-02 8.92298164e-05 -9.99846825e-01 -4.12827525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.014239546210002747 Centerline is valid? [True, True] Translation: X:191.38, Y:-123.06, Z:-4.13 [[ 5.74474379e-01 -8.18450757e-01 -1.08418866e-02 1.91379605e+02] [-8.18310184e-01 -5.74576656e-01 1.51693599e-02 -1.23058713e+02] [-1.86448690e-02 1.57617642e-04 -9.99826157e-01 -4.12723771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.014534283014469462 Centerline is valid? [True, True] Translation: X:191.42, Y:-123.16, Z:-4.13 [[ 6.32869173e-01 -7.74154349e-01 -1.27143394e-02 1.91424922e+02] [-7.74005376e-01 -6.32996834e-01 1.51883303e-02 -1.23158343e+02] [-1.98062485e-02 2.28741034e-04 -9.99803811e-01 -4.12791349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.01590292246795337 Centerline is valid? [True, True] Translation: X:191.48, Y:-123.25, Z:-4.13 [[ 6.84891719e-01 -7.28515239e-01 -1.37433795e-02 1.91476994e+02] [-7.28379216e-01 -6.85029498e-01 1.40820702e-02 -1.23250321e+02] [-1.96736231e-02 3.65698705e-04 -9.99806389e-01 -4.12838271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.017389237486715253 Centerline is valid? [True, True] Translation: X:191.53, Y:-123.34, Z:-4.13 [[ 7.33526783e-01 -6.79513979e-01 -1.41142450e-02 1.91531275e+02] [-6.79400722e-01 -7.33662402e-01 1.24152528e-02 -1.23335086e+02] [-1.87914287e-02 4.82307765e-04 -9.99823309e-01 -4.13082569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.01834984179703795 Centerline is valid? [True, True] Translation: X:191.55, Y:-123.36, Z:-4.13 [[ 7.82639460e-01 -6.22300742e-01 -1.47398136e-02 1.91552150e+02] [-6.22202886e-01 -7.82778073e-01 1.10479747e-02 -1.23360343e+02] [-1.84131657e-02 5.24573552e-04 -9.99830326e-01 -4.13324536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.01728435059700636 Centerline is valid? [True, True] Translation: X:191.57, Y:-123.39, Z:-4.14 [[ 8.28937689e-01 -5.59119940e-01 -1.57225782e-02 1.91571497e+02] [-5.59031371e-01 -8.29086614e-01 9.96559219e-03 -1.23388776e+02] [-1.86073404e-02 5.28559458e-04 -9.99826729e-01 -4.13503901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.016429335528650366 Centerline is valid? [True, True] Translation: X:191.59, Y:-123.42, Z:-4.13 [[ 8.72913802e-01 -4.87554478e-01 -1.76670563e-02 1.91591939e+02] [-4.87465052e-01 -8.73092450e-01 9.34861954e-03 -1.23415672e+02] [-1.99829348e-02 4.51533480e-04 -9.99800219e-01 -4.13487577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.015053974515272425 Centerline is valid? [True, True] Translation: X:191.62, Y:-123.44, Z:-4.13 [[ 9.10923097e-01 -4.12169883e-01 -1.83056895e-02 1.91615089e+02] [-4.12093874e-01 -9.11106953e-01 7.92207472e-03 -1.23443233e+02] [-1.99436816e-02 3.27261659e-04 -9.99801051e-01 -4.13419779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.013197221868163805 Centerline is valid? [True, True] Translation: X:191.64, Y:-123.47, Z:-4.14 [[ 9.43577729e-01 -3.30623673e-01 -1.86830492e-02 1.91641103e+02] [-3.30561689e-01 -9.43762666e-01 6.40317331e-03 -1.23469750e+02] [-1.97494049e-02 1.34008550e-04 -9.99804953e-01 -4.13509771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.012556831194118882 Centerline is valid? [True, True] Translation: X:191.67, Y:-123.49, Z:-4.13 [[ 9.68880700e-01 -2.46704181e-01 -2.01801054e-02 1.91668684e+02] [-2.46649513e-01 -9.69090834e-01 5.19362755e-03 -1.23494342e+02] [-2.08376448e-02 -5.45923441e-05 -9.99782871e-01 -4.13495954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.012739918777237355 Centerline is valid? [True, True] Translation: X:191.70, Y:-123.52, Z:-4.14 [[ 9.86477006e-01 -1.62753748e-01 -1.93477307e-02 1.91699600e+02] [-1.62718476e-01 -9.86666700e-01 3.39413763e-03 -1.23517834e+02] [-1.96421702e-02 -2.00005478e-04 -9.99807054e-01 -4.13502336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.012822577659631872 Centerline is valid? [True, True] Translation: X:191.73, Y:-123.53, Z:-4.14 [[ 9.96360624e-01 -8.33794309e-02 -1.77024844e-02 1.91729504e+02] [-8.33625323e-02 -9.96517851e-01 1.69165963e-03 -1.23531655e+02] [-1.77818914e-02 -2.09779113e-04 -9.99841868e-01 -4.13585633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.012386952650738432 Centerline is valid? [True, True] Translation: X:191.76, Y:-123.54, Z:-4.14 [[ 9.99829314e-01 -7.70648390e-03 -1.67914465e-02 1.91760636e+02] [-7.70280089e-03 -9.99970293e-01 2.84003642e-04 -1.23539124e+02] [-1.67931364e-02 -1.54613997e-04 -9.99858973e-01 -4.13753152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.011735961618370762 Centerline is valid? [True, True] Translation: X:191.79, Y:-123.54, Z:-4.14 [[ 9.97747789e-01 6.53546548e-02 -1.51035818e-02 1.91791959e+02] [ 6.53480758e-02 -9.97862097e-01 -9.29235119e-04 -1.23544736e+02] [-1.51320216e-02 -5.98477219e-05 -9.99885503e-01 -4.13835265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.011523898445062535 Centerline is valid? [True, True] Translation: X:191.82, Y:-123.55, Z:-4.14 [[ 9.90079468e-01 1.39768666e-01 -1.44002116e-02 1.91823627e+02] [ 1.39753979e-01 -9.90184185e-01 -2.02619108e-03 -1.23547997e+02] [-1.45420598e-02 -6.39669312e-06 -9.99894259e-01 -4.13811105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.011730327374472466 Centerline is valid? [True, True] Translation: X:191.86, Y:-123.55, Z:-4.14 [[ 9.77095816e-01 2.12292197e-01 -1.46897784e-02 1.91855821e+02] [ 2.12267236e-01 -9.77206232e-01 -3.25596418e-03 -1.23547722e+02] [-1.50461588e-02 6.32303206e-05 -9.99886798e-01 -4.13751976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.012129239057398962 Centerline is valid? [True, True] Translation: X:191.89, Y:-123.55, Z:-4.14 [[ 9.58112387e-01 2.85932623e-01 -1.62231364e-02 1.91887241e+02] [ 2.85889701e-01 -9.58249719e-01 -4.95537555e-03 -1.23546064e+02] [-1.69627194e-02 1.09779090e-04 -9.99856117e-01 -4.13573678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.012494033351099089 Centerline is valid? [True, True] Translation: X:191.92, Y:-123.54, Z:-4.13 [[ 9.33528472e-01 3.58164628e-01 -1.55785826e-02 1.91917599e+02] [ 3.58112211e-01 -9.33658438e-01 -6.12904681e-03 -1.23540712e+02] [-1.67402828e-02 1.42759058e-04 -9.99859861e-01 -4.13485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.012734476345370196 Centerline is valid? [True, True] Translation: X:191.95, Y:-123.53, Z:-4.14 [[ 9.03466397e-01 4.28442162e-01 -1.36302223e-02 1.91946476e+02] [ 4.28390772e-01 -9.03569195e-01 -6.63756463e-03 -1.23529672e+02] [-1.51596615e-02 1.57755145e-04 -9.99885073e-01 -4.13649454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.012403651199892693 Centerline is valid? [True, True] Translation: X:191.98, Y:-123.52, Z:-4.14 [[ 8.66759192e-01 4.98600643e-01 -1.12206132e-02 1.91975023e+02] [ 4.98557001e-01 -8.66831808e-01 -6.59802439e-03 -1.23519261e+02] [-1.30161637e-02 1.24783008e-04 -9.99915278e-01 -4.13752334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.011478754288536518 Centerline is valid? [True, True] Translation: X:192.01, Y:-123.51, Z:-4.14 [[ 8.23597112e-01 5.67098691e-01 -9.32049674e-03 1.92005335e+02] [ 5.67061288e-01 -8.23649846e-01 -6.51363031e-03 -1.23510245e+02] [-1.13706969e-02 7.93142281e-05 -9.99935348e-01 -4.13955304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.011000881892420352 Centerline is valid? [True, True] Translation: X:192.04, Y:-123.50, Z:-4.14 [[ 7.73307867e-01 6.33986841e-01 -7.45843275e-03 1.92036283e+02] [ 6.33957158e-01 -7.73343834e-01 -6.13491616e-03 -1.23499240e+02] [-9.65738909e-03 1.58521008e-05 -9.99953366e-01 -4.13929585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.010946215079954157 Centerline is valid? [True, True] Translation: X:192.07, Y:-123.49, Z:-4.14 [[ 7.18055436e-01 6.95951540e-01 -6.91698913e-03 1.92067274e+02] [ 6.95919647e-01 -7.18088750e-01 -6.66272400e-03 -1.23486827e+02] [-9.60394511e-03 -2.94634489e-05 -9.99953881e-01 -4.13925234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.011556061451244493 Centerline is valid? [True, True] Translation: X:192.10, Y:-123.47, Z:-4.14 [[ 6.56020069e-01 7.54721680e-01 -5.73200695e-03 1.92098094e+02] [ 7.54694034e-01 -6.56045104e-01 -6.46034018e-03 -1.23473209e+02] [-8.63621388e-03 -8.77986404e-05 -9.99962703e-01 -4.13830719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.011961790130493618 Centerline is valid? [True, True] Translation: X:192.12, Y:-123.45, Z:-4.14 [[ 5.93350566e-01 8.04927484e-01 -5.18182353e-03 1.92124287e+02] [ 8.04898308e-01 -5.93373183e-01 -6.85411210e-03 -1.23454241e+02] [-8.59181834e-03 -1.03949699e-04 -9.99963084e-01 -4.13789310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.012522979872764593 Centerline is valid? [True, True] Translation: X:192.15, Y:-123.43, Z:-4.14 [[ 5.25804063e-01 8.50592495e-01 -4.74282806e-03 1.92149804e+02] [ 8.50560176e-01 -5.25825436e-01 -7.41610763e-03 -1.23433930e+02] [-8.80198512e-03 -1.34641145e-04 -9.99961253e-01 -4.13680393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.012618864624377757 Centerline is valid? [True, True] Translation: X:192.17, Y:-123.41, Z:-4.14 [[ 4.57075626e-01 8.89422186e-01 -3.16979490e-03 1.92170901e+02] [ 8.89402396e-01 -4.57086605e-01 -5.93416231e-03 -1.23410196e+02] [-6.72684640e-03 -1.06862230e-04 -9.99977369e-01 -4.13596550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.012579309457282807 Centerline is valid? [True, True] Translation: X:192.19, Y:-123.38, Z:-4.14 [[ 3.86696940e-01 9.22204182e-01 -2.21883404e-03 1.92187977e+02] [ 9.22190220e-01 -3.86703297e-01 -5.07532276e-03 -1.23383940e+02] [-5.53851432e-03 -8.35752665e-05 -9.99984659e-01 -4.13735855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.012701113217016915 Centerline is valid? [True, True] Translation: X:192.20, Y:-123.36, Z:-4.14 [[ 3.14898705e-01 9.49123580e-01 -1.79881260e-03 1.92201368e+02] [ 9.49109403e-01 -3.14903834e-01 -5.18803471e-03 -1.23358012e+02] [-5.49053906e-03 -7.35645422e-05 -9.99984924e-01 -4.13667074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.012393366522517496 Centerline is valid? [True, True] Translation: X:192.21, Y:-123.33, Z:-4.14 [[ 2.39524200e-01 9.70889442e-01 -1.36014540e-03 1.92212035e+02] [ 9.70875462e-01 -2.39528051e-01 -5.21062914e-03 -1.23330424e+02] [-5.38473779e-03 -7.24600143e-05 -9.99985500e-01 -4.13561474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.012619654947224663 Centerline is valid? [True, True] Translation: X:192.22, Y:-123.30, Z:-4.14 [[ 1.62251489e-01 9.86749026e-01 -9.02160838e-04 1.92221941e+02] [ 9.86736125e-01 -1.62253981e-01 -5.04627964e-03 -1.23301987e+02] [-5.12579071e-03 -7.14283052e-05 -9.99986861e-01 -4.13545124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.01356668812876563 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.27, Z:-4.13 [[ 8.42220678e-02 9.96446870e-01 -5.27806995e-04 1.92229007e+02] [ 9.96432575e-01 -8.42236870e-02 -5.33802849e-03 -1.23274975e+02] [-5.36351564e-03 -7.63442853e-05 -9.99985613e-01 -4.13409389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.012554031549607 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.25, Z:-4.13 [[ 5.83424681e-03 9.99982974e-01 -1.12693975e-04 1.92233958e+02] [ 9.99967395e-01 -5.83478503e-03 -5.58244821e-03 -1.23246721e+02] [-5.58301071e-03 -8.01209204e-05 -9.99984412e-01 -4.13448647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.013120246632975584 Centerline is valid? [True, True] Translation: X:192.24, Y:-123.22, Z:-4.13 [[-7.35890149e-02 9.97288573e-01 3.98871265e-04 1.92236223e+02] [ 9.97265084e-01 7.35900196e-02 -6.84549646e-03 -1.23218932e+02] [-6.85628834e-03 -1.05972955e-04 -9.99976490e-01 -4.13340529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.014304508070355347 Centerline is valid? [True, True] Translation: X:192.24, Y:-123.19, Z:-4.13 [[-1.52592349e-01 9.88288606e-01 1.09826487e-03 1.92238579e+02] [ 9.88256336e-01 1.52596243e-01 -7.98759413e-03 -1.23191036e+02] [-8.06163936e-03 -1.33478537e-04 -9.99967496e-01 -4.13083429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.01598734191362236 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.16, Z:-4.13 [[-2.32686259e-01 9.72549724e-01 2.03455230e-03 1.92233774e+02] [ 9.72505133e-01 2.32695077e-01 -9.31489162e-03 -1.23164476e+02] [-9.53262558e-03 -1.88834728e-04 -9.99954546e-01 -4.12810661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.014484915287412014 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.14, Z:-4.13 [[-3.09385906e-01 9.50932891e-01 2.64531988e-03 1.92229973e+02] [ 9.50892619e-01 3.09397155e-01 -8.75375272e-03 -1.23136769e+02] [-9.14268583e-03 -1.92872574e-04 -9.99958186e-01 -4.13120827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.014203097311262694 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.11, Z:-4.13 [[-3.82066353e-01 9.24128041e-01 3.55894288e-03 1.92229427e+02] [ 9.24083018e-01 3.82082877e-01 -9.12419824e-03 -1.23107768e+02] [-9.79173858e-03 -1.97290460e-04 -9.99952040e-01 -4.13110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.014519705971175247 Centerline is valid? [True, True] Translation: X:192.23, Y:-123.08, Z:-4.13 [[-4.52469563e-01 8.91768633e-01 4.47199298e-03 1.92225811e+02] [ 8.91720680e-01 4.52491619e-01 -9.25009894e-03 -1.23079684e+02] [-1.02724874e-02 -1.97619606e-04 -9.99947217e-01 -4.13080023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.015059724508874285 Centerline is valid? [True, True] Translation: X:192.22, Y:-123.05, Z:-4.13 [[-5.22261436e-01 8.52773527e-01 4.50601878e-03 1.92216932e+02] [ 8.52738675e-01 5.22280841e-01 -7.71203485e-03 -1.23052579e+02] [-8.93002644e-03 -1.85241913e-04 -9.99960109e-01 -4.13324899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.015368843470510967 Centerline is valid? [True, True] Translation: X:192.21, Y:-123.03, Z:-4.14 [[-5.88510455e-01 8.08478950e-01 4.15125804e-03 1.92206934e+02] [ 8.08456887e-01 5.88525074e-01 -5.97487689e-03 -1.23025945e+02] [-7.27368163e-03 -1.60164357e-04 -9.99973534e-01 -4.13503132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.01638376057852982 Centerline is valid? [True, True] Translation: X:192.20, Y:-123.00, Z:-4.13 [[-6.50416301e-01 7.59562939e-01 4.77250461e-03 1.92196223e+02] [ 7.59540549e-01 6.50433788e-01 -5.83454616e-03 -1.23000838e+02] [-7.53590328e-03 -1.69973169e-04 -9.99971590e-01 -4.13277530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.014615900398193254 Centerline is valid? [True, True] Translation: X:192.18, Y:-122.98, Z:-4.13 [[-7.05492556e-01 7.08697814e-01 5.25948550e-03 1.92179332e+02] [ 7.08676568e-01 7.05512146e-01 -5.48947786e-03 -1.22978420e+02] [-7.60101186e-03 -1.45511636e-04 -9.99971101e-01 -4.13309927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.014212822746159016 Centerline is valid? [True, True] Translation: X:192.16, Y:-122.96, Z:-4.13 [[-7.57324977e-01 6.53013008e-01 5.73509712e-03 1.92162350e+02] [ 6.52992980e-01 7.57346681e-01 -5.11594809e-03 -1.22956145e+02] [-7.68423742e-03 -1.29457105e-04 -9.99970467e-01 -4.13265414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.014421714810286973 Centerline is valid? [True, True] Translation: X:192.18, Y:-122.93, Z:-4.13 [[-8.01379666e-01 5.98128417e-01 5.74705166e-03 1.92180860e+02] [ 5.98111959e-01 8.01400264e-01 -4.43867031e-03 -1.22934928e+02] [-7.26058356e-03 -1.19679806e-04 -9.99973634e-01 -4.13228248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.014864491658968321 Centerline is valid? [True, True] Translation: X:192.20, Y:-122.91, Z:-4.13 [[-8.42199282e-01 5.39143763e-01 4.93683903e-03 1.92197296e+02] [ 5.39133779e-01 8.42213745e-01 -3.28270388e-03 -1.22912687e+02] [-5.92772301e-03 -1.03074168e-04 -9.99982426e-01 -4.13289056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.014345216476374347 Centerline is valid? [True, True] Translation: X:192.59, Y:-122.33, Z:-5.12 [[-7.83011084e-01 -6.21988006e-01 4.95612644e-03 1.92591522e+02] [ 6.21976558e-01 -7.83026759e-01 -3.77575325e-03 -1.22333786e+02] [ 6.22925286e-03 1.26137822e-04 9.99980590e-01 -5.12327180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.013976590015416757 Centerline is valid? [True, True] Translation: X:192.16, Y:-122.89, Z:-4.13 [[-8.42982736e-01 5.37916462e-01 5.09777643e-03 1.92158497e+02] [ 5.37905949e-01 8.42998144e-01 -3.36427498e-03 -1.22893583e+02] [-6.10711496e-03 -9.39014626e-05 -9.99981347e-01 -4.13278779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.013703444039908383 Centerline is valid? [True, True] Translation: X:192.18, Y:-122.88, Z:-4.13 [[-8.78849903e-01 4.77065332e-01 5.61390563e-03 1.92179951e+02] [ 4.77054885e-01 8.78867828e-01 -3.15871887e-03 -1.22876307e+02] [-6.44079632e-03 -9.78986671e-05 -9.99979253e-01 -4.13351934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.013682057642197326 Centerline is valid? [True, True] Translation: X:192.20, Y:-122.85, Z:-4.13 [[-9.09919097e-01 4.14740334e-01 6.13940148e-03 1.92196540e+02] [ 4.14730186e-01 9.09939804e-01 -2.90289528e-03 -1.22851318e+02] [-6.79043354e-03 -9.52047349e-05 -9.99976940e-01 -4.13104791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.013270822712445231 Centerline is valid? [True, True] Translation: X:192.50, Y:-122.21, Z:-5.13 [[-8.67507196e-01 -4.97373198e-01 7.15315924e-03 1.92500563e+02] [ 4.97358103e-01 -8.67536665e-01 -3.87973274e-03 -1.22214952e+02] [ 8.13530299e-03 1.91985640e-04 9.99966889e-01 -5.12520587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.012910207815535405 Centerline is valid? [True, True] Translation: X:192.16, Y:-122.84, Z:-4.13 [[-9.08912960e-01 4.16925075e-01 7.12128110e-03 1.92158375e+02] [ 4.16911728e-01 9.08940855e-01 -3.33666942e-03 -1.22837915e+02] [-7.86396449e-03 -6.37964696e-05 -9.99969077e-01 -4.13081722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.012276453424248322 Centerline is valid? [True, True] Translation: X:192.47, Y:-122.20, Z:-5.12 [[-8.74847555e-01 -4.84373292e-01 4.92635629e-03 1.92471228e+02] [ 4.84365162e-01 -8.74861423e-01 -2.80723773e-03 -1.22196097e+02] [ 5.66963005e-03 -6.97497025e-05 9.99983925e-01 -5.12322351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.013309036749985535 Centerline is valid? [True, True] Translation: X:192.13, Y:-122.84, Z:-4.13 [[-9.02929028e-01 4.29773327e-01 3.74951693e-03 1.92127316e+02] [ 4.29769803e-01 9.02936812e-01 -1.74071365e-03 -1.22836711e+02] [-4.13368916e-03 3.96882751e-05 -9.99991456e-01 -4.13402406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.01426578223967452 Centerline is valid? [True, True] Translation: X:192.45, Y:-122.18, Z:-5.12 [[-8.84468727e-01 -4.66580941e-01 4.15892445e-03 1.92447198e+02] [ 4.66575707e-01 -8.84478505e-01 -2.21004243e-03 -1.22176863e+02] [ 4.70964296e-03 -1.42602964e-05 9.99988909e-01 -5.12207351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.014936833111809026 Centerline is valid? [True, True] Translation: X:192.10, Y:-122.83, Z:-4.13 [[-8.99716357e-01 4.36451043e-01 4.57855469e-03 1.92098626e+02] [ 4.36445948e-01 8.99728002e-01 -2.11124297e-03 -1.22827829e+02] [-5.04090806e-03 9.87718104e-05 -9.99987290e-01 -4.13352807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.01516152879318585 Centerline is valid? [True, True] Translation: X:192.11, Y:-122.80, Z:-4.13 [[-9.28121783e-01 3.72234895e-01 5.58021324e-03 1.92110033e+02] [ 3.72228946e-01 9.28138550e-01 -2.10800421e-03 -1.22802327e+02] [-5.96388375e-03 1.20632267e-04 -9.99982209e-01 -4.13249421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.014996667459211353 Centerline is valid? [True, True] Translation: X:192.12, Y:-122.77, Z:-4.13 [[-9.52337700e-01 3.04877367e-01 1.01339220e-02 1.92120309e+02] [ 3.04862409e-01 9.52391594e-01 -3.02703930e-03 -1.22774408e+02] [-1.05743379e-02 2.06688222e-04 -9.99944069e-01 -4.13039808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.014785610300141342 Centerline is valid? [True, True] Translation: X:192.13, Y:-122.74, Z:-4.13 [[-9.72063312e-01 2.34411864e-01 1.19998281e-02 1.92126348e+02] [ 2.34396695e-01 9.72137353e-01 -2.67511615e-03 -1.22744062e+02] [-1.22925601e-02 2.12337791e-04 -9.99924421e-01 -4.12916417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.014013408622599059 Centerline is valid? [True, True] Translation: X:192.13, Y:-122.71, Z:-4.13 [[-9.87144617e-01 1.59354244e-01 1.23179089e-02 1.92130103e+02] [ 1.59343669e-01 9.87221456e-01 -1.84149789e-03 -1.22708182e+02] [-1.24539545e-02 1.44956082e-04 -9.99922436e-01 -4.12783850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.013166597313134097 Centerline is valid? [True, True] Translation: X:192.12, Y:-122.67, Z:-4.13 [[-9.96478812e-01 8.31086204e-02 1.10876156e-02 1.92120501e+02] [ 8.31041939e-02 9.96540492e-01 -8.60157109e-04 -1.22671953e+02] [-1.11207444e-02 6.42990251e-05 -9.99938161e-01 -4.12823534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.012670393414792962 Centerline is valid? [True, True] Translation: X:192.18, Y:-121.99, Z:-5.13 [[-9.89118271e-01 -1.46790677e-01 9.87638123e-03 1.92175731e+02] [ 1.46781960e-01 -9.89167568e-01 -1.60570823e-03 -1.21991476e+02] [ 1.00050990e-02 -1.38560751e-04 9.99949938e-01 -5.12567050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.013210566851549603 Centerline is valid? [True, True] Translation: X:192.06, Y:-122.65, Z:-4.13 [[-9.97907209e-01 6.39505239e-02 9.56730767e-03 1.92063105e+02] [ 6.39467170e-02 9.97953066e-01 -7.03594867e-04 -1.22651583e+02] [-9.59271929e-03 -9.03244737e-05 -9.99953985e-01 -4.13077095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.014295590963500885 Centerline is valid? [True, True] Translation: X:192.06, Y:-122.62, Z:-4.13 [[-9.99859767e-01 -1.40798375e-02 9.06669223e-03 1.92064316e+02] [-1.40806106e-02 9.99900863e-01 -2.14458110e-05 -1.22617012e+02] [-9.06549143e-03 -1.49107367e-04 -9.99958896e-01 -4.13128399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.016835510630366896 Centerline is valid? [True, True] Translation: X:192.05, Y:-122.58, Z:-4.13 [[-9.95633696e-01 -9.28050341e-02 1.00383792e-02 1.92052509e+02] [-9.28027875e-02 9.95684270e-01 6.90380338e-04 -1.22580203e+02] [-1.00591270e-02 -2.44223644e-04 -9.99949376e-01 -4.12877231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.01765791013168778 Centerline is valid? [True, True] Translation: X:192.04, Y:-122.55, Z:-4.13 [[-9.85761690e-01 -1.67708704e-01 1.21523875e-02 1.92041655e+02] [-1.67700363e-01 9.85836531e-01 1.70945547e-03 -1.22549862e+02] [-1.22669581e-02 -3.52844072e-04 -9.99924696e-01 -4.12687017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.017615057860247384 Centerline is valid? [True, True] Translation: X:191.95, Y:-121.94, Z:-5.13 [[-9.99000000e-01 4.25232212e-02 1.38121707e-02 1.91953531e+02] [-4.25121710e-02 -9.99095351e-01 1.09279136e-03 -1.21944114e+02] [ 1.38461446e-02 5.04513206e-04 9.99904010e-01 -5.13131516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.017952353165149804 Centerline is valid? [True, True] Translation: X:191.97, Y:-122.56, Z:-4.13 [[-9.85076935e-01 -1.71595793e-01 1.33534816e-02 1.91965575e+02] [-1.71585158e-01 9.85167369e-01 1.94662295e-03 -1.22558737e+02] [-1.34894466e-02 -3.73685874e-04 -9.99908943e-01 -4.12539575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.015698569997458407 Centerline is valid? [True, True] Translation: X:191.96, Y:-122.54, Z:-4.13 [[-9.71967991e-01 -2.34839680e-01 1.13379836e-02 1.91959013e+02] [-2.34826615e-01 9.72034087e-01 2.48905964e-03 -1.22538922e+02] [-1.16054365e-02 -2.43174019e-04 -9.99932625e-01 -4.12731199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.014238603869645452 Centerline is valid? [True, True] Translation: X:191.94, Y:-122.52, Z:-4.13 [[-9.54611871e-01 -2.97686059e-01 9.95924718e-03 1.91943629e+02] [-2.97671514e-01 9.54663808e-01 2.94667672e-03 -1.22521720e+02] [-1.03849174e-02 -1.51651611e-04 -9.99946064e-01 -4.12900852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.013219551056842208 Centerline is valid? [True, True] Translation: X:191.92, Y:-122.51, Z:-4.13 [[-9.34112760e-01 -3.56833527e-01 1.01580237e-02 1.91916787e+02] [-3.56813056e-01 9.34167989e-01 3.82253019e-03 -1.22510842e+02] [-1.08533075e-02 -5.38412432e-05 -9.99941100e-01 -4.12764722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.013156412775115455 Centerline is valid? [True, True] Translation: X:191.87, Y:-122.51, Z:-4.13 [[-9.08064759e-01 -4.18699373e-01 1.04512434e-02 1.91866209e+02] [-4.18671470e-01 9.08124900e-01 4.83379057e-03 -1.22509523e+02] [-1.15149394e-02 1.37574370e-05 -9.99933701e-01 -4.12850598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.013627876058095224 Centerline is valid? [True, True] Translation: X:191.80, Y:-122.52, Z:-4.13 [[-8.77948088e-01 -4.78602809e-01 1.21039981e-02 1.91803174e+02] [-4.78555596e-01 8.78031514e-01 6.72327518e-03 -1.22516970e+02] [-1.38454701e-02 1.10250581e-04 -9.99904141e-01 -4.12646783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.014279768155664506 Centerline is valid? [True, True] Translation: X:191.73, Y:-122.54, Z:-4.13 [[-8.41972487e-01 -5.39332334e-01 1.42465454e-02 1.91732699e+02] [-5.39251099e-01 8.42092984e-01 9.36268064e-03 -1.22536046e+02] [-1.70465123e-02 2.00654266e-04 -9.99854678e-01 -4.12558093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.014702594610049862 Centerline is valid? [True, True] Translation: X:191.66, Y:-122.56, Z:-4.13 [[-8.00338461e-01 -5.99406710e-01 1.30362393e-02 1.91657259e+02] [-5.99322707e-01 8.00444594e-01 1.00372334e-02 -1.22561423e+02] [-1.64511723e-02 2.20269725e-04 -9.99864646e-01 -4.12671325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.014673499132324179 Centerline is valid? [True, True] Translation: X:191.58, Y:-122.60, Z:-4.13 [[-7.53039192e-01 -6.57881430e-01 1.11355340e-02 1.91575146e+02] [-6.57805573e-01 7.53121494e-01 9.99213864e-03 -1.22596904e+02] [-1.49600525e-02 1.99455678e-04 -9.99888072e-01 -4.12833748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.014044890532391606 Centerline is valid? [True, True] Translation: X:191.49, Y:-122.64, Z:-4.13 [[-6.99742072e-01 -7.14340012e-01 8.90958920e-03 1.91490928e+02] [-7.14279509e-01 6.99798776e-01 9.29817497e-03 -1.22642582e+02] [-1.28769780e-02 1.42387218e-04 -9.99917078e-01 -4.13078795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.013264643735965819 Centerline is valid? [True, True] Translation: X:191.41, Y:-122.70, Z:-4.13 [[-6.39582633e-01 -7.68687672e-01 7.30193581e-03 1.91405713e+02] [-7.68636426e-01 6.39624310e-01 8.87615788e-03 -1.22696361e+02] [-1.14934888e-02 6.45025850e-05 -9.99933946e-01 -4.13232631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.012894685420230947 Centerline is valid? [True, True] Translation: X:191.32, Y:-122.76, Z:-4.13 [[-5.72603268e-01 -8.19806451e-01 6.54831663e-03 1.91317058e+02] [-8.19753497e-01 5.72640709e-01 9.31781042e-03 -1.22761180e+02] [-1.13886338e-02 -3.25967617e-05 -9.99935147e-01 -4.13350800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.014066054906854347 Centerline is valid? [True, True] Translation: X:191.23, Y:-122.83, Z:-4.13 [[-4.99467539e-01 -8.66312461e-01 5.90749854e-03 1.91232491e+02] [-8.66255568e-01 4.99502448e-01 9.92951570e-03 -1.22827933e+02] [-1.15528732e-02 -1.57932734e-04 -9.99933251e-01 -4.13299878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.015643158255132857 Centerline is valid? [True, True] Translation: X:191.15, Y:-122.91, Z:-4.13 [[-4.25209757e-01 -9.05082739e-01 4.67948197e-03 1.91150151e+02] [-9.05033642e-01 4.25235446e-01 9.42988589e-03 -1.22911372e+02] [-1.05247085e-02 -2.25409116e-04 -9.99944588e-01 -4.13368269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.016772670331261386 Centerline is valid? [True, True] Translation: X:191.08, Y:-122.99, Z:-4.13 [[-3.52682029e-01 -9.35735378e-01 3.83258922e-03 1.91080806e+02] [-9.35687413e-01 3.52702769e-01 9.47742344e-03 -1.22994941e+02] [-1.02201252e-02 -2.43588561e-04 -9.99947744e-01 -4.13310980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.017249255993110352 Centerline is valid? [True, True] Translation: X:191.02, Y:-123.09, Z:-4.13 [[-2.79766002e-01 -9.60063416e-01 3.03682983e-03 1.91021009e+02] [-9.60015922e-01 2.79782378e-01 9.55253677e-03 -1.23087559e+02] [-1.00206925e-02 -2.42929968e-04 -9.99949762e-01 -4.13418182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.01627027936349373 Centerline is valid? [True, True] Translation: X:190.97, Y:-123.19, Z:-4.13 [[-2.05633005e-01 -9.78626314e-01 2.36743015e-03 1.90968306e+02] [-9.78574744e-01 2.05646480e-01 1.00496895e-02 -1.23189694e+02] [-1.03217442e-02 -2.50159514e-04 -9.99946698e-01 -4.13481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.01637695111904748 Centerline is valid? [True, True] Translation: X:190.92, Y:-123.30, Z:-4.13 [[-1.29161009e-01 -9.91621697e-01 1.96043430e-03 1.90921306e+02] [-9.91542031e-01 1.29175490e-01 1.25735130e-02 -1.23295972e+02] [-1.27214084e-02 -3.19845381e-04 -9.99919028e-01 -4.13328304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.01861923587376126 Centerline is valid? [True, True] Translation: X:190.88, Y:-123.40, Z:-4.13 [[-5.23726183e-02 -9.98627047e-01 1.06335561e-03 1.90879418e+02] [-9.98534295e-01 5.23822512e-02 1.36147577e-02 -1.23399874e+02] [-1.36517662e-02 -3.48756541e-04 -9.99906750e-01 -4.13018569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.01667081957338438 Centerline is valid? [True, True] Translation: X:190.85, Y:-123.51, Z:-4.13 [[ 2.48974264e-02 -9.99690011e-01 1.70393328e-05 1.90853367e+02] [-9.99563644e-01 -2.48940083e-02 1.58999867e-02 -1.23514201e+02] [-1.58946337e-02 -4.12900646e-04 -9.99873587e-01 -4.13042346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.016792799462436378 Centerline is valid? [True, True] Translation: X:190.83, Y:-123.63, Z:-4.13 [[ 1.00781753e-01 -9.94907667e-01 -1.33114966e-03 1.90834247e+02] [-9.94753551e-01 -1.00789578e-01 1.75166695e-02 -1.23634092e+02] [-1.75616348e-02 -4.41194799e-04 -9.99845685e-01 -4.12924135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.015876798942687263 Centerline is valid? [True, True] Translation: X:190.83, Y:-123.75, Z:-4.13 [[ 1.74334293e-01 -9.84683203e-01 -2.55830112e-03 1.90825512e+02] [-9.84543249e-01 -1.74352658e-01 1.66054838e-02 -1.23749084e+02] [-1.67971876e-02 -3.76147191e-04 -9.99858847e-01 -4.13057783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.015239900727492681 Centerline is valid? [True, True] Translation: X:190.82, Y:-123.86, Z:-4.13 [[ 2.45702924e-01 -9.69338712e-01 -3.54053449e-03 1.90824814e+02] [-9.69220668e-01 -2.45728266e-01 1.51299705e-02 -1.23859919e+02] [-1.55360755e-02 -2.85918788e-04 -9.99879267e-01 -4.13174455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.014325688821683783 Centerline is valid? [True, True] Translation: X:190.83, Y:-123.98, Z:-4.14 [[ 3.16887295e-01 -9.48455777e-01 -3.75258756e-03 1.90833869e+02] [-9.48381850e-01 -3.16909454e-01 1.18432971e-02 -1.23980607e+02] [-1.24220741e-02 -1.94104459e-04 -9.99922824e-01 -4.13521498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.013831939114921941 Centerline is valid? [True, True] Translation: X:190.85, Y:-124.09, Z:-4.14 [[ 3.87791550e-01 -9.21736635e-01 -4.39189697e-03 1.90847584e+02] [-9.21672478e-01 -3.87816382e-01 1.08764799e-02 -1.24094056e+02] [-1.17284996e-02 -1.69916446e-04 -9.99931204e-01 -4.13629056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.013767450183993689 Centerline is valid? [True, True] Translation: X:190.87, Y:-124.21, Z:-4.14 [[ 4.55876150e-01 -8.90026867e-01 -5.39559928e-03 1.90871030e+02] [-8.89960479e-01 -4.55908053e-01 1.08716447e-02 -1.24212338e+02] [-1.21359531e-02 -1.54253422e-04 -9.99926345e-01 -4.13571514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.013644630238704946 Centerline is valid? [True, True] Translation: X:190.90, Y:-124.32, Z:-4.13 [[ 5.22056202e-01 -8.52880623e-01 -7.20873898e-03 1.90899588e+02] [-8.52794856e-01 -5.22105943e-01 1.20962246e-02 -1.24321861e+02] [-1.40803611e-02 -1.67333570e-04 -9.99900853e-01 -4.13404271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.013494245606869858 Centerline is valid? [True, True] Translation: X:190.94, Y:-124.43, Z:-4.14 [[ 5.86019037e-01 -8.10257065e-01 -8.07323357e-03 1.90938471e+02] [-8.10176182e-01 -5.86074620e-01 1.14496660e-02 -1.24431733e+02] [-1.40086901e-02 -1.68980712e-04 -9.99901859e-01 -4.13511225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.013431228814875183 Centerline is valid? [True, True] Translation: X:190.98, Y:-124.53, Z:-4.14 [[ 6.46459310e-01 -7.62902498e-01 -8.37491450e-03 1.90980063e+02] [-7.62835220e-01 -6.46513536e-01 1.01328890e-02 -1.24533898e+02] [-1.31449019e-02 -1.61820713e-04 -9.99913589e-01 -4.13618676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.013077284823163086 Centerline is valid? [True, True] Translation: X:191.03, Y:-124.63, Z:-4.14 [[ 7.01568365e-01 -7.12544456e-01 -9.06795260e-03 1.91027840e+02] [-7.12482364e-01 -7.01626951e-01 9.40755681e-03 -1.24630307e+02] [-1.30656224e-02 -1.39287937e-04 -9.99914631e-01 -4.13578089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.01306783019687508 Centerline is valid? [True, True] Translation: X:191.08, Y:-124.72, Z:-4.13 [[ 7.52447326e-01 -6.58577452e-01 -9.93783562e-03 1.91081687e+02] [-6.58517980e-01 -7.52512941e-01 8.85125873e-03 -1.24718872e+02] [-1.33075893e-02 -1.15862526e-04 -9.99911443e-01 -4.13444294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.012490866647186752 Centerline is valid? [True, True] Translation: X:191.11, Y:-124.74, Z:-4.14 [[ 7.98585770e-01 -6.01808643e-01 -9.33403525e-03 1.91105302e+02] [-6.01766918e-01 -7.98640317e-01 7.08671129e-03 -1.24741152e+02] [-1.17193810e-02 -4.24331704e-05 -9.99931325e-01 -4.13699167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.012534943402576852 Centerline is valid? [True, True] Translation: X:191.13, Y:-124.76, Z:-4.14 [[ 8.41570766e-01 -5.40061789e-01 -9.58696941e-03 1.91128353e+02] [-5.40026650e-01 -8.41625370e-01 6.16063603e-03 -1.24762677e+02] [-1.13957608e-02 -7.39220582e-06 -9.99935066e-01 -4.13598725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.012578739071212142 Centerline is valid? [True, True] Translation: X:191.15, Y:-124.78, Z:-4.14 [[ 8.80360870e-01 -4.74232384e-01 -8.26950112e-03 1.91152755e+02] [-4.74211580e-01 -8.80399708e-01 4.44199224e-03 -1.24784231e+02] [-9.38700294e-03 1.09370444e-05 -9.99955941e-01 -4.13671650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.012593226166720622 Centerline is valid? [True, True] Translation: X:191.18, Y:-124.81, Z:-4.14 [[ 9.14283419e-01 -4.05013372e-01 -7.07101412e-03 1.91177851e+02] [-4.05001415e-01 -9.14310761e-01 3.11219082e-03 -1.24805884e+02] [-7.72558320e-03 1.83462640e-05 -9.99970157e-01 -4.13871571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.012800236679849825 Centerline is valid? [True, True] Translation: X:191.20, Y:-124.82, Z:-4.14 [[ 9.42842620e-01 -3.33144864e-01 -7.89261321e-03 1.91204388e+02] [-3.33133434e-01 -9.42875654e-01 2.75971144e-03 -1.24823264e+02] [-8.36113654e-03 2.73197745e-05 -9.99965045e-01 -4.13807409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.013108511019749258 Centerline is valid? [True, True] Translation: X:191.23, Y:-124.84, Z:-4.13 [[ 9.65648450e-01 -2.59696796e-01 -8.98025836e-03 1.91232338e+02] [-2.59685978e-01 -9.65690205e-01 2.37075558e-03 -1.24839749e+02] [-9.28782517e-03 4.27307267e-05 -9.99956866e-01 -4.13478415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.013198578667444482 Centerline is valid? [True, True] Translation: X:191.26, Y:-124.85, Z:-4.14 [[ 9.82622215e-01 -1.85509733e-01 -6.30250308e-03 1.91263128e+02] [-1.85506199e-01 -9.82642426e-01 1.14583215e-03 -1.24848359e+02] [-6.40566994e-03 4.32332683e-05 -9.99979483e-01 -4.13690566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.013351785466497642 Centerline is valid? [True, True] Translation: X:191.29, Y:-124.86, Z:-4.14 [[ 9.93940575e-01 -1.09676245e-01 -7.29754160e-03 1.91290801e+02] [-1.09673745e-01 -9.93967362e-01 7.43026508e-04 -1.24860680e+02] [-7.33501053e-03 6.18245228e-05 -9.99973097e-01 -4.13635922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.013658068761152518 Centerline is valid? [True, True] Translation: X:191.32, Y:-124.87, Z:-4.13 [[ 9.99431249e-01 -3.28559666e-02 -7.59370290e-03 1.91319349e+02] [-3.28555810e-02 -9.99460094e-01 1.75547330e-04 -1.24871600e+02] [-7.59537080e-03 7.40480334e-05 -9.99971152e-01 -4.13486513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.013858142842835715 Centerline is valid? [True, True] Translation: X:191.35, Y:-124.88, Z:-4.13 [[ 9.98998431e-01 4.41631559e-02 -7.19378871e-03 1.91348146e+02] [ 4.41614332e-02 -9.99024329e-01 -3.98211139e-04 -1.24882793e+02] [-7.20435619e-03 8.01242834e-05 -9.99974045e-01 -4.13488425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.013928072606960263 Centerline is valid? [True, True] Translation: X:191.38, Y:-124.89, Z:-4.13 [[ 9.92413457e-01 1.22632167e-01 -8.76820692e-03 1.91378418e+02] [ 1.22626540e-01 -9.92452187e-01 -1.17863846e-03 -1.24887820e+02] [-8.84656512e-03 9.44817933e-05 -9.99960864e-01 -4.13355547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.013639933489497312 Centerline is valid? [True, True] Translation: X:191.41, Y:-124.89, Z:-4.13 [[ 9.79289254e-01 2.02233970e-01 -9.69424396e-03 1.91409015e+02] [ 2.02223228e-01 -9.79337232e-01 -2.08601738e-03 -1.24892910e+02] [-9.91579762e-03 8.24130948e-05 -9.99950834e-01 -4.13353710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.013453553464074775 Centerline is valid? [True, True] Translation: X:191.44, Y:-124.89, Z:-4.13 [[ 9.59691563e-01 2.80905699e-01 -9.17024068e-03 1.91438365e+02] [ 2.80892345e-01 -9.59735373e-01 -2.73954383e-03 -1.24894319e+02] [-9.57055783e-03 5.32666923e-05 -9.99954200e-01 -4.13304427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.013188769167049176 Centerline is valid? [True, True] Translation: X:191.47, Y:-124.90, Z:-4.13 [[ 9.32357845e-01 3.61447556e-01 -8.03200318e-03 1.91470143e+02] [ 3.61434235e-01 -9.32392441e-01 -3.10315645e-03 -1.24895169e+02] [-8.61060736e-03 -9.78866935e-06 -9.99962928e-01 -4.13366166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.01316303484116964 Centerline is valid? [True, True] Translation: X:191.50, Y:-124.89, Z:-4.14 [[ 8.99590458e-01 4.36698246e-01 -5.62585746e-03 1.91502267e+02] [ 4.36689916e-01 -8.99608049e-01 -2.69747062e-03 -1.24894040e+02] [-6.23904734e-03 -3.01363861e-05 -9.99980537e-01 -4.13552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.013448300347025214 Centerline is valid? [True, True] Translation: X:191.53, Y:-124.89, Z:-4.14 [[ 8.60972836e-01 5.08631036e-01 -4.49933934e-03 1.91534173e+02] [ 5.08624347e-01 -8.60984592e-01 -2.60894082e-03 -1.24888498e+02] [-5.20085012e-03 -4.22463556e-05 -9.99986475e-01 -4.13689451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.01413564519242535 Centerline is valid? [True, True] Translation: X:191.57, Y:-124.88, Z:-4.14 [[ 8.16487260e-01 5.77344110e-01 -4.72575073e-03 1.91565150e+02] [ 5.77334911e-01 -8.16500933e-01 -3.25976594e-03 -1.24881931e+02] [-5.74058655e-03 -6.67835184e-05 -9.99983520e-01 -4.13534566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.014078510782235296 Centerline is valid? [True, True] Translation: X:191.60, Y:-124.87, Z:-4.13 [[ 7.67610610e-01 6.40894781e-01 -5.27558676e-03 1.91596536e+02] [ 6.40880462e-01 -7.67628733e-01 -4.28501741e-03 -1.24872346e+02] [-6.79593727e-03 -9.17956498e-05 -9.99976903e-01 -4.13452086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.014599724792659984 Centerline is valid? [True, True] Translation: X:191.63, Y:-124.86, Z:-4.13 [[ 7.14973051e-01 6.99113601e-01 -7.32864550e-03 1.91625386e+02] [ 6.99078840e-01 -7.15010597e-01 -6.97288659e-03 -1.24859865e+02] [-1.01148990e-02 -1.37874999e-04 -9.99948834e-01 -4.13024712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.013867797470436302 Centerline is valid? [True, True] Translation: X:191.65, Y:-124.84, Z:-4.13 [[ 6.59906462e-01 7.51316915e-01 -6.80845327e-03 1.91651336e+02] [ 7.51278697e-01 -6.59941574e-01 -7.57888704e-03 -1.24841797e+02] [-1.01873274e-02 -1.13689367e-04 -9.99948101e-01 -4.13018394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.013634183914160948 Centerline is valid? [True, True] Translation: X:191.68, Y:-124.82, Z:-4.13 [[ 6.00434636e-01 7.99650853e-01 -6.06317074e-03 1.91676318e+02] [ 7.99611660e-01 -6.00465240e-01 -7.91758973e-03 -1.24822170e+02] [-9.97203066e-03 -9.41869164e-05 -9.99950274e-01 -4.13009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.013383313606547818 Centerline is valid? [True, True] Translation: X:191.70, Y:-124.80, Z:-4.13 [[ 5.37630735e-01 8.43164113e-01 -5.24131176e-03 1.91699013e+02] [ 8.43125355e-01 -5.37656278e-01 -8.08469846e-03 -1.24800443e+02] [-9.63475178e-03 -7.25004615e-05 -9.99953582e-01 -4.13043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.013095957445175324 Centerline is valid? [True, True] Translation: X:191.71, Y:-124.77, Z:-4.13 [[ 4.76550053e-01 8.79137451e-01 -4.16999126e-03 1.91714086e+02] [ 8.79103805e-01 -4.76568297e-01 -7.69146607e-03 -1.24774384e+02] [-8.74914151e-03 -4.86622136e-07 -9.99961726e-01 -4.13180056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.01316916389426861 Centerline is valid? [True, True] Translation: X:191.73, Y:-124.75, Z:-4.13 [[ 4.10196370e-01 9.11990550e-01 -3.48929477e-03 1.91732607e+02] [ 9.11956797e-01 -4.10211209e-01 -7.84627244e-03 -1.24750575e+02] [-8.58707414e-03 3.64263845e-05 -9.99963130e-01 -4.13154796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.013595076253121336 Centerline is valid? [True, True] Translation: X:191.75, Y:-124.73, Z:-4.13 [[ 3.41226105e-01 9.39976222e-01 -3.07368442e-03 1.91745984e+02] [ 9.39936079e-01 -3.41239940e-01 -8.68743719e-03 -1.24725955e+02] [-9.21484827e-03 7.53134769e-05 -9.99957540e-01 -4.13116125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.014123148119804788 Centerline is valid? [True, True] Translation: X:191.76, Y:-124.70, Z:-4.13 [[ 2.70985744e-01 9.62580113e-01 -2.50057469e-03 1.91759311e+02] [ 9.62534842e-01 -2.70997253e-01 -9.33635637e-03 -1.24700238e+02] [-9.66463983e-03 1.23129212e-04 -9.99953289e-01 -4.13195513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.014501372168537629 Centerline is valid? [True, True] Translation: X:191.77, Y:-124.67, Z:-4.13 [[ 1.94974553e-01 9.80806603e-01 -1.82524926e-03 1.91770360e+02] [ 9.80757203e-01 -1.94983054e-01 -9.84463466e-03 -1.24674727e+02] [-1.00115754e-02 1.29326890e-04 -9.99949875e-01 -4.13178660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.01372803695778209 Centerline is valid? [True, True] Translation: X:191.79, Y:-124.65, Z:-4.13 [[ 1.15523969e-01 9.93304149e-01 -1.03967576e-03 1.91785816e+02] [ 9.93255094e-01 -1.15528597e-01 -9.87228615e-03 -1.24648831e+02] [-9.92629507e-03 1.07822427e-04 -9.99950727e-01 -4.13247741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.01317211187925679 Centerline is valid? [True, True] Translation: X:191.80, Y:-124.62, Z:-4.13 [[ 3.11750659e-02 9.99513906e-01 -2.59267802e-04 1.91800141e+02] [ 9.99466187e-01 -3.11761110e-02 -9.76683681e-03 -1.24620925e+02] [-9.77017217e-03 4.53523789e-05 -9.99952270e-01 -4.13230420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.013036081222056196 Centerline is valid? [True, True] Translation: X:191.81, Y:-124.59, Z:-4.13 [[-5.45838009e-02 9.98509045e-01 5.43784580e-04 1.91811189e+02] [ 9.98454091e-01 5.45865019e-02 -1.04757772e-02 -1.24592048e+02] [-1.04898416e-02 -2.88637971e-05 -9.99944980e-01 -4.13268488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.013609105989896857 Centerline is valid? [True, True] Translation: X:191.82, Y:-124.56, Z:-4.13 [[-1.39198418e-01 9.90263498e-01 1.41633463e-03 1.91820783e+02] [ 9.90204496e-01 1.39205585e-01 -1.08102165e-02 -1.24562552e+02] [-1.09021245e-02 -1.02304114e-04 -9.99940565e-01 -4.13240216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.014278903781883451 Centerline is valid? [True, True] Translation: X:191.82, Y:-124.53, Z:-4.13 [[-2.20351512e-01 9.75418365e-01 2.05521831e-03 1.91824081e+02] [ 9.75370083e-01 2.20361056e-01 -9.70602787e-03 -1.24532241e+02] [-9.92032791e-03 -1.34139461e-04 -9.99950783e-01 -4.13346452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.01495924825172502 Centerline is valid? [True, True] Translation: X:191.83, Y:-124.50, Z:-4.14 [[-3.00743435e-01 9.53701756e-01 2.51935654e-03 1.91826723e+02] [ 9.53663596e-01 3.00753943e-01 -8.53300052e-03 -1.24502030e+02] [-8.89564399e-03 -1.63625270e-04 -9.99960420e-01 -4.13546072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.015343275926110645 Centerline is valid? [True, True] Translation: X:191.83, Y:-124.47, Z:-4.13 [[-3.76576901e-01 9.26380175e-01 3.09969211e-03 1.91827821e+02] [ 9.26344785e-01 3.76589616e-01 -8.09937410e-03 -1.24470966e+02] [-8.67041146e-03 -1.78653583e-04 -9.99962395e-01 -4.13424289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.015835275065001174 Centerline is valid? [True, True] Translation: X:191.82, Y:-124.44, Z:-4.13 [[-4.48721157e-01 8.93661652e-01 4.26319210e-03 1.91822803e+02] [ 8.93616716e-01 4.48741358e-01 -8.96434008e-03 -1.24441667e+02] [-9.92415758e-03 -2.12829331e-04 -9.99950732e-01 -4.13280489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.01553368614931747 Centerline is valid? [True, True] Translation: X:191.81, Y:-124.41, Z:-4.13 [[-5.16549295e-01 8.56243439e-01 4.89884170e-03 1.91814253e+02] [ 8.56201172e-01 5.16572485e-01 -8.51005866e-03 -1.24412580e+02] [-9.81728872e-03 -2.01470790e-04 -9.99951789e-01 -4.13249129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.015735860856595577 Centerline is valid? [True, True] Translation: X:191.80, Y:-124.39, Z:-4.13 [[-5.81675592e-01 8.13398007e-01 6.09822331e-03 1.91802889e+02] [ 8.13349339e-01 5.81707517e-01 -8.90041017e-03 -1.24386949e+02] [-1.07869582e-02 -2.17165461e-04 -9.99941796e-01 -4.13168162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.017053148035587502 Centerline is valid? [True, True] Translation: X:191.79, Y:-124.36, Z:-4.13 [[-6.44556850e-01 7.64513665e-01 8.08233430e-03 1.91790723e+02] [ 7.64448144e-01 6.44607463e-01 -1.00127021e-02 -1.24361540e+02] [-1.28647806e-02 -2.75230289e-04 -9.99917207e-01 -4.12846406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.01681261456713442 Centerline is valid? [True, True] Translation: X:191.77, Y:-124.34, Z:-4.13 [[-7.03062567e-01 7.11055347e-01 1.01646990e-02 1.91773228e+02] [ 7.10974196e-01 7.03135965e-01 -1.07474312e-02 -1.24338310e+02] [-1.47891839e-02 -3.29277865e-04 -9.99890580e-01 -4.12648644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.015569419347776387 Centerline is valid? [True, True] Translation: X:191.75, Y:-124.32, Z:-4.13 [[-7.55568442e-01 6.54991238e-01 1.01393734e-02 1.91753582e+02] [ 6.54927207e-01 7.55636419e-01 -9.16270749e-03 -1.24316952e+02] [-1.36631729e-02 -2.82501151e-04 -9.99906615e-01 -4.12871032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.01469027577397769 Centerline is valid? [True, True] Translation: X:191.77, Y:-124.30, Z:-4.13 [[-7.97620711e-01 6.03092728e-01 8.96456761e-03 1.91771205e+02] [ 6.03051952e-01 7.97671064e-01 -7.01547008e-03 -1.24302889e+02] [-1.13817552e-02 -1.89584229e-04 -9.99935208e-01 -4.12977153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.014289475783356003 Centerline is valid? [True, True] Translation: X:192.20, Y:-123.76, Z:-5.13 [[-7.34941711e-01 -6.78092337e-01 7.17384888e-03 1.92203015e+02] [ 6.78060923e-01 -7.34976720e-01 -6.52737206e-03 -1.23762579e+02] [ 9.69877289e-03 6.70686040e-05 9.99952964e-01 -5.12508253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.013666915677302141 Centerline is valid? [True, True] Translation: X:191.73, Y:-124.29, Z:-4.13 [[-7.95869723e-01 6.05424830e-01 7.22222555e-03 1.91734663e+02] [ 6.05398843e-01 7.95902486e-01 -5.61019510e-03 -1.24286501e+02] [-9.14473868e-03 -9.26574323e-05 -9.99958182e-01 -4.13090150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.014019777131025736 Centerline is valid? [True, True] Translation: X:191.75, Y:-124.26, Z:-4.13 [[-8.37681392e-01 5.46110660e-01 7.28237582e-03 1.91751470e+02] [ 5.46088942e-01 8.37713039e-01 -4.87146894e-03 -1.24264050e+02] [-8.76090230e-03 -1.03913976e-04 -9.99961617e-01 -4.13061025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.015131316517107921 Centerline is valid? [True, True] Translation: X:191.77, Y:-124.24, Z:-4.13 [[-8.76147316e-01 4.81967402e-01 8.56181297e-03 1.91767705e+02] [ 4.81942640e-01 8.76189134e-01 -4.88796977e-03 -1.24237910e+02] [-9.85760959e-03 -1.56278840e-04 -9.99951400e-01 -4.12984246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.015822062843953988 Centerline is valid? [True, True] Translation: X:192.11, Y:-123.64, Z:-5.13 [[-8.21351431e-01 -5.70351953e-01 8.97088896e-03 1.92112895e+02] [ 5.70320965e-01 -8.21400388e-01 -5.94985391e-03 -1.23640072e+02] [ 1.07622025e-02 2.29365024e-04 9.99942060e-01 -5.12787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.016622404801318245 Centerline is valid? [True, True] Translation: X:191.73, Y:-124.21, Z:-4.13 [[-8.81701280e-01 4.71711126e-01 9.56380756e-03 1.91726939e+02] [ 4.71680114e-01 8.81753108e-01 -5.41533585e-03 -1.24206668e+02] [-1.09873912e-02 -2.63650708e-04 -9.99939602e-01 -4.12859609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.01775333838084935 Centerline is valid? [True, True] Translation: X:191.74, Y:-124.18, Z:-4.13 [[-9.13394738e-01 4.06958833e-01 9.72423426e-03 1.91735607e+02] [ 4.06932587e-01 9.13446460e-01 -4.62975495e-03 -1.24177268e+02] [-1.07666870e-02 -2.71685998e-04 -9.99942001e-01 -4.12788683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.016824403264427298 Centerline is valid? [True, True] Translation: X:192.04, Y:-123.57, Z:-5.13 [[-8.59780565e-01 -5.10583987e-01 9.02064141e-03 1.92038768e+02] [ 5.10558752e-01 -8.59827853e-01 -5.08181493e-03 -1.23574902e+02] [ 1.03508921e-02 2.36321706e-04 9.99946400e-01 -5.12757836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.01632344837362751 Centerline is valid? [True, True] Translation: X:191.71, Y:-124.17, Z:-4.13 [[-9.13264842e-01 4.07281702e-01 8.30320105e-03 1.91706789e+02] [ 4.07262921e-01 9.13302566e-01 -3.91615216e-03 -1.24167614e+02] [-9.17831195e-03 -1.94898171e-04 -9.99957859e-01 -4.12951783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.014266893677684946 Centerline is valid? [True, True] Translation: X:191.72, Y:-124.15, Z:-4.13 [[-9.37487591e-01 3.47960140e-01 6.38417510e-03 1.91716710e+02] [ 3.47951355e-01 9.37509323e-01 -2.47456449e-03 -1.24151196e+02] [-6.84627349e-03 -9.84911277e-05 -9.99976559e-01 -4.13197059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.01324243451011106 Centerline is valid? [True, True] Translation: X:191.73, Y:-124.13, Z:-4.13 [[-9.58057501e-01 2.86507906e-01 6.24862253e-03 1.91727500e+02] [ 2.86501443e-01 9.58077876e-01 -1.92531376e-03 -1.24131652e+02] [-6.53828462e-03 -5.43219199e-05 -9.99978624e-01 -4.13135133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.01303664624190205 Centerline is valid? [True, True] Translation: X:191.73, Y:-124.11, Z:-4.13 [[-9.75630422e-01 2.19295069e-01 7.41299247e-03 1.91733284e+02] [ 2.19288334e-01 9.75658583e-01 -1.71955277e-03 -1.24105893e+02] [-7.60963917e-03 -5.20652278e-05 -9.99971045e-01 -4.13006173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.013069911840873171 Centerline is valid? [True, True] Translation: X:191.74, Y:-124.08, Z:-4.13 [[-9.88705627e-01 1.49636360e-01 8.37512143e-03 1.91743683e+02] [ 1.49630497e-01 9.88741097e-01 -1.32592304e-03 -1.24080152e+02] [-8.47923305e-03 -5.77739902e-05 -9.99964049e-01 -4.12945667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.013193337560071832 Centerline is valid? [True, True] Translation: X:191.74, Y:-124.05, Z:-4.13 [[-9.96763970e-01 7.98757326e-02 9.02521592e-03 1.91740471e+02] [ 7.98719574e-02 9.96804828e-01 -7.78543051e-04 -1.24051350e+02] [-9.05856549e-03 -5.51620021e-05 -9.99958969e-01 -4.12854786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.013098428521523433 Centerline is valid? [True, True] Translation: X:191.81, Y:-123.35, Z:-5.13 [[-9.87421034e-01 -1.57858243e-01 8.97085612e-03 1.91810866e+02] [ 1.57852247e-01 -9.87461783e-01 -1.37703965e-03 -1.23351544e+02] [ 9.07575463e-03 5.63518737e-05 9.99958813e-01 -5.12620056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.013035800339114757 Centerline is valid? [True, True] Translation: X:191.69, Y:-124.05, Z:-4.13 [[-9.96972291e-01 7.72910712e-02 8.50538895e-03 1.91689201e+02] [ 7.72879205e-02 9.97008570e-01 -6.98999548e-04 -1.24048000e+02] [-8.53397210e-03 -3.95193566e-05 -9.99963584e-01 -4.12993886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.013038168074683042 Centerline is valid? [True, True] Translation: X:191.75, Y:-123.35, Z:-5.12 [[-9.88126876e-01 -1.53404402e-01 8.50679527e-03 1.91752616e+02] [ 1.53399102e-01 -9.88163492e-01 -1.27590400e-03 -1.23348143e+02] [ 8.60183382e-03 4.41797253e-05 9.99963003e-01 -5.12464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.01317904592405333 Centerline is valid? [True, True] Translation: X:191.64, Y:-124.04, Z:-4.13 [[-9.97316302e-01 7.25902519e-02 9.53144636e-03 1.91641177e+02] [ 7.25864528e-02 9.97361846e-01 -7.44374775e-04 -1.24041678e+02] [-9.56033529e-03 -5.05232161e-05 -9.99954298e-01 -4.13006966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.013562235987991004 Centerline is valid? [True, True] Translation: X:191.64, Y:-124.01, Z:-4.13 [[-9.99937305e-01 -1.49534228e-03 1.10973165e-02 1.91637083e+02] [-1.49628628e-03 9.99998878e-01 -7.67627723e-05 -1.24012256e+02] [-1.10971892e-02 -9.33627220e-05 -9.99938420e-01 -4.12919523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.01371506327723086 Centerline is valid? [True, True] Translation: X:191.63, Y:-123.98, Z:-4.13 [[-9.97182563e-01 -7.43045826e-02 1.02842578e-02 1.91633208e+02] [-7.43017139e-02 9.97235588e-01 6.61261901e-04 -1.23984048e+02] [-1.03049627e-02 -1.04739145e-04 -9.99946897e-01 -4.13057100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.014210965159529675 Centerline is valid? [True, True] Translation: X:191.59, Y:-123.30, Z:-5.13 [[-9.99833367e-01 -1.57232281e-02 9.27462930e-03 1.91590930e+02] [ 1.57227781e-02 -9.99876382e-01 -1.21435298e-04 -1.23299101e+02] [ 9.27539215e-03 2.44078753e-05 9.99956982e-01 -5.12562886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.014476324262807233 Centerline is valid? [True, True] Translation: X:191.56, Y:-123.98, Z:-4.13 [[-9.96497350e-01 -8.29584553e-02 1.05321824e-02 1.91561829e+02] [-8.29554043e-02 9.96552995e-01 7.26967147e-04 -1.23984951e+02] [-1.05561860e-02 -1.49280611e-04 -9.99944271e-01 -4.12944245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.01515259986727478 Centerline is valid? [True, True] Translation: X:191.52, Y:-123.31, Z:-5.13 [[-9.99812844e-01 -1.55932999e-02 1.14510492e-02 1.91515735e+02] [ 1.55948318e-02 -9.99878392e-01 4.44949717e-05 -1.23306239e+02] [ 1.14489628e-02 2.23063830e-04 9.99934434e-01 -5.12726843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.016122592889557433 Centerline is valid? [True, True] Translation: X:191.49, Y:-123.99, Z:-4.13 [[-9.95649602e-01 -9.25228024e-02 1.10182600e-02 1.91489869e+02] [-9.25194865e-02 9.95710543e-01 8.11381125e-04 -1.23986231e+02] [-1.10460689e-02 -2.11552464e-04 -9.99938968e-01 -4.12909914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.017083597571793792 Centerline is valid? [True, True] Translation: X:191.48, Y:-123.96, Z:-4.13 [[-9.86097383e-01 -1.65808582e-01 1.09300145e-02 1.91478741e+02] [-1.65801113e-01 9.86157926e-01 1.59224182e-03 -1.23956526e+02] [-1.10427278e-02 -2.42103077e-04 -9.99938998e-01 -4.12929643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.0169100738128524 Centerline is valid? [True, True] Translation: X:191.38, Y:-123.30, Z:-5.13 [[-9.98452456e-01 5.39637807e-02 1.34388635e-02 1.91384065e+02] [-5.39526740e-02 -9.98542787e-01 1.18790338e-03 -1.23297892e+02] [ 1.34833839e-02 4.61002428e-04 9.99908989e-01 -5.12827814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.016366364618922317 Centerline is valid? [True, True] Translation: X:191.39, Y:-123.97, Z:-4.13 [[-9.85000634e-01 -1.71958682e-01 1.42815536e-02 1.91391194e+02] [-1.71945376e-01 9.85104109e-01 2.16361600e-03 -1.23969807e+02] [-1.44408697e-02 -3.24483978e-04 -9.99895673e-01 -4.12790266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.01596066729803668 Centerline is valid? [True, True] Translation: X:191.38, Y:-123.95, Z:-4.13 [[-9.70804597e-01 -2.39498310e-01 1.33788673e-02 1.91383186e+02] [-2.39479488e-01 9.70896742e-01 3.01522688e-03 -1.23946732e+02] [-1.37116404e-02 -2.76768170e-04 -9.99905953e-01 -4.12897298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.015203643978137277 Centerline is valid? [True, True] Translation: X:191.37, Y:-123.93, Z:-4.13 [[-9.51925912e-01 -3.06104421e-01 1.17107522e-02 1.91366602e+02] [-3.06084061e-01 9.51997918e-01 3.53720085e-03 -1.23927047e+02] [-1.22313645e-02 -2.17321443e-04 -9.99925170e-01 -4.13117732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.01468333065749777 Centerline is valid? [True, True] Translation: X:191.34, Y:-123.91, Z:-4.13 [[-9.28604272e-01 -3.70898271e-01 1.13392639e-02 1.91336359e+02] [-3.70872947e-01 9.28673485e-01 4.33779171e-03 -1.23911331e+02] [-1.21393532e-02 -1.77334313e-04 -9.99926300e-01 -4.13101607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.014676169990530018 Centerline is valid? [True, True] Translation: X:191.28, Y:-123.90, Z:-4.13 [[-8.99247217e-01 -4.37258202e-01 1.26375528e-02 1.91283080e+02] [-4.37218054e-01 8.99335992e-01 5.92843951e-03 -1.23903403e+02] [-1.39576649e-02 -1.94233514e-04 -9.99902568e-01 -4.12900436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.014666808071127203 Centerline is valid? [True, True] Translation: X:191.22, Y:-123.91, Z:-4.13 [[-8.63984096e-01 -5.03365474e-01 1.24370863e-02 1.91218603e+02] [-5.03316922e-01 8.64073581e-01 6.99453344e-03 -1.23905772e+02] [-1.42673643e-02 -2.16630326e-04 -9.99898193e-01 -4.12964946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.0153487482772109 Centerline is valid? [True, True] Translation: X:191.15, Y:-123.91, Z:-4.13 [[-8.23325201e-01 -5.67472894e-01 1.04941590e-02 1.91147908e+02] [-5.67430113e-01 8.23392050e-01 6.97125272e-03 -1.23910481e+02] [-1.25968041e-02 -2.15093796e-04 -9.99920634e-01 -4.13047800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.01658608258314633 Centerline is valid? [True, True] Translation: X:191.07, Y:-123.93, Z:-4.13 [[-7.77817569e-01 -6.28401605e-01 1.05476182e-02 1.91068089e+02] [-6.28348175e-01 7.77889041e-01 8.19820057e-03 -1.23927753e+02] [-1.33566390e-02 -2.50872237e-04 -9.99910765e-01 -4.12874207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.015525607888527176 Centerline is valid? [True, True] Translation: X:190.99, Y:-123.96, Z:-4.13 [[-7.29301897e-01 -6.84114769e-01 1.02822696e-02 1.90990327e+02] [-6.84051512e-01 7.29374336e-01 9.30626906e-03 -1.23960040e+02] [-1.38661796e-02 -2.46522357e-04 -9.99903830e-01 -4.12944525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.014683374031788548 Centerline is valid? [True, True] Translation: X:190.91, Y:-124.00, Z:-4.13 [[-6.79575225e-01 -7.33533323e-01 1.03139469e-02 1.90913687e+02] [-7.33453019e-01 6.79653462e-01 1.08554298e-02 -1.24002537e+02] [-1.49727292e-02 -1.87714329e-04 -9.99887885e-01 -4.12876867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.013509402887239693 Centerline is valid? [True, True] Translation: X:190.84, Y:-124.06, Z:-4.13 [[-6.30127788e-01 -7.76448151e-01 8.19994005e-03 1.90838583e+02] [-7.76383045e-01 6.30181138e-01 1.00548425e-02 -1.24057684e+02] [-1.29745114e-02 -3.04587958e-05 -9.99915827e-01 -4.13002980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.013859916870338006 Centerline is valid? [True, True] Translation: X:190.76, Y:-124.12, Z:-4.13 [[-5.75878900e-01 -8.17508085e-01 6.63508618e-03 1.90763776e+02] [-8.17452525e-01 5.75917119e-01 9.53113674e-03 -1.24124057e+02] [-1.16130411e-02 6.49125944e-05 -9.99932564e-01 -4.13160948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.01499622737659857 Centerline is valid? [True, True] Translation: X:190.70, Y:-124.20, Z:-4.13 [[-5.19857653e-01 -8.54233233e-01 5.79687713e-03 1.90697037e+02] [-8.54176404e-01 5.19889944e-01 9.85478052e-03 -1.24196060e+02] [-1.14320192e-02 1.71527411e-04 -9.99934638e-01 -4.13399556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.015236400936186284 Centerline is valid? [True, True] Translation: X:190.62, Y:-124.28, Z:-4.13 [[-4.55289897e-01 -8.90332458e-01 4.38454127e-03 1.90622196e+02] [-8.90287443e-01 4.55310975e-01 8.95463583e-03 -1.24277516e+02] [-9.96893269e-03 1.73453182e-04 -9.99950294e-01 -4.13452537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.015267400179582091 Centerline is valid? [True, True] Translation: X:190.55, Y:-124.37, Z:-4.13 [[-3.84626839e-01 -9.23064262e-01 3.81613793e-03 1.90551263e+02] [-9.23014486e-01 3.84645734e-01 9.58735762e-03 -1.24370555e+02] [-1.03176084e-02 1.65204460e-04 -9.99946758e-01 -4.13434359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.014449992717613049 Centerline is valid? [True, True] Translation: X:190.49, Y:-124.47, Z:-4.14 [[-3.08456003e-01 -9.51233863e-01 3.00534984e-03 1.90485223e+02] [-9.51185017e-01 3.08470623e-01 9.64049723e-03 -1.24468190e+02] [-1.00974296e-02 1.15025509e-04 -9.99949013e-01 -4.13534542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.013941046627858332 Centerline is valid? [True, True] Translation: X:190.42, Y:-124.57, Z:-4.13 [[-2.29370009e-01 -9.73336509e-01 2.33200716e-03 1.90424547e+02] [-9.73283411e-01 2.29381855e-01 1.01669290e-02 -1.24570656e+02] [-1.04307633e-02 6.22847161e-05 -9.99945596e-01 -4.13422580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.013824216105613577 Centerline is valid? [True, True] Translation: X:190.37, Y:-124.68, Z:-4.13 [[-1.43687464e-01 -9.89621512e-01 1.78232648e-03 1.90366539e+02] [-9.89550144e-01 1.43698506e-01 1.18849781e-02 -1.24680824e+02] [-1.20177476e-02 -5.59790742e-05 -9.99927783e-01 -4.13304768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.014218543305509266 Centerline is valid? [True, True] Translation: X:190.32, Y:-124.80, Z:-4.13 [[-6.38396576e-02 -9.97959778e-01 8.83225866e-04 1.90323864e+02] [-9.97884875e-01 6.38456875e-02 1.22271909e-02 -1.24796779e+02] [-1.22586349e-02 -1.00778052e-04 -9.99924855e-01 -4.13263557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.016103697538247048 Centerline is valid? [True, True] Translation: X:190.29, Y:-124.91, Z:-4.13 [[ 2.34863201e-02 -9.99724157e-01 -6.10769499e-05 1.90285419e+02] [-9.99616332e-01 -2.34846841e-02 1.46853271e-02 -1.24909829e+02] [-1.46827106e-02 -2.83850775e-04 -9.99892163e-01 -4.13184884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.017729254278742553 Centerline is valid? [True, True] Translation: X:190.26, Y:-125.03, Z:-4.13 [[ 1.07490619e-01 -9.94205578e-01 -1.01755694e-03 1.90258403e+02] [-9.94126396e-01 -1.07494905e-01 1.25520581e-02 -1.25025082e+02] [-1.25887084e-02 -3.37648284e-04 -9.99920702e-01 -4.13386799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.018291084076608247 Centerline is valid? [True, True] Translation: X:190.24, Y:-125.14, Z:-4.13 [[ 1.86047670e-01 -9.82538695e-01 -1.99443938e-03 1.90244469e+02] [-9.82458359e-01 -1.86057973e-01 1.25699732e-02 -1.25143815e+02] [-1.27215664e-02 -3.79160575e-04 -9.99919006e-01 -4.13474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.018786087217710728 Centerline is valid? [True, True] Translation: X:190.24, Y:-125.26, Z:-4.14 [[ 2.61744210e-01 -9.65132169e-01 -3.14100963e-03 1.90242104e+02] [-9.65042424e-01 -2.61762726e-01 1.31679277e-02 -1.25261540e+02] [-1.35309898e-02 -4.15421268e-04 -9.99908366e-01 -4.13534508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.01948368145235591 Centerline is valid? [True, True] Translation: X:190.24, Y:-125.37, Z:-4.14 [[ 3.35603346e-01 -9.41994949e-01 -3.98875174e-03 1.90244463e+02] [-9.41913279e-01 -3.35626801e-01 1.24107331e-02 -1.25373792e+02] [-1.30295799e-02 -4.08025318e-04 -9.99915028e-01 -4.13586591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.019308425347069152 Centerline is valid? [True, True] Translation: X:190.26, Y:-125.49, Z:-4.14 [[ 4.07753648e-01 -9.13078256e-01 -5.00610593e-03 1.90257703e+02] [-9.12996037e-01 -4.07784152e-01 1.22606142e-02 -1.25488967e+02] [-1.32363108e-02 -4.28755274e-04 -9.99912304e-01 -4.13532854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.021293889257947268 Centerline is valid? [True, True] Translation: X:190.28, Y:-125.61, Z:-4.13 [[ 4.78225489e-01 -8.78205482e-01 -7.45067959e-03 1.90279390e+02] [-8.78079584e-01 -4.78283181e-01 1.48809726e-02 -1.25606483e+02] [-1.66320864e-02 -5.74170753e-04 -9.99861512e-01 -4.13202671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.019908740536152335 Centerline is valid? [True, True] Translation: X:190.32, Y:-125.71, Z:-4.13 [[ 5.41959059e-01 -8.40351089e-01 -9.50922935e-03 1.90315042e+02] [-8.40202068e-01 -5.42042153e-01 1.58363588e-02 -1.25713763e+02] [-1.84625045e-02 -5.92983967e-04 -9.99829378e-01 -4.13074547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.018413824644502627 Centerline is valid? [True, True] Translation: X:190.35, Y:-125.81, Z:-4.13 [[ 6.01963406e-01 -7.98456823e-01 -1.03324513e-02 1.90354451e+02] [-7.98324277e-01 -6.02051856e-01 1.45571541e-02 -1.25812099e+02] [-1.78439305e-02 -5.14227419e-04 -9.99840652e-01 -4.13215279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.017306037779395312 Centerline is valid? [True, True] Translation: X:190.40, Y:-125.91, Z:-4.13 [[ 6.57902813e-01 -7.53031993e-01 -1.03299015e-02 1.90402616e+02] [-7.52929650e-01 -6.57983786e-01 1.24209474e-02 -1.25908013e+02] [-1.61502784e-02 -3.94087137e-04 -9.99869498e-01 -4.13337679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.01635127406312284 Centerline is valid? [True, True] Translation: X:190.46, Y:-126.00, Z:-4.13 [[ 7.10674777e-01 -7.03452989e-01 -9.75978413e-03 1.90456839e+02] [-7.03381069e-01 -7.10741732e-01 1.00628973e-02 -1.26000920e+02] [-1.40154611e-02 -2.86599916e-04 -9.99901738e-01 -4.13480122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.015793056490267767 Centerline is valid? [True, True] Translation: X:190.51, Y:-126.08, Z:-4.13 [[ 7.58530184e-01 -6.51564108e-01 -9.80677511e-03 1.90509595e+02] [-6.51506339e-01 -7.58593551e-01 8.67840824e-03 -1.26082046e+02] [-1.30938957e-02 -1.93658444e-04 -9.99914253e-01 -4.13347401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.015088737846846289 Centerline is valid? [True, True] Translation: X:190.53, Y:-126.11, Z:-4.13 [[ 8.06963291e-01 -5.90495101e-01 -1.12153003e-02 1.90531443e+02] [-5.90434548e-01 -8.07041197e-01 8.45872983e-03 -1.26107351e+02] [-1.40460479e-02 -2.03983692e-04 -9.99901329e-01 -4.13395386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.015302659801834059 Centerline is valid? [True, True] Translation: X:190.55, Y:-126.13, Z:-4.13 [[ 8.51323336e-01 -5.24493310e-01 -1.24637829e-02 1.90553095e+02] [-5.24433063e-01 -8.51414537e-01 7.95294886e-03 -1.26133711e+02] [-1.47831144e-02 -2.34111092e-04 -9.99890696e-01 -4.13351739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.015019618211097346 Centerline is valid? [True, True] Translation: X:190.58, Y:-126.16, Z:-4.13 [[ 8.89310825e-01 -4.57133498e-01 -1.24587909e-02 1.90578395e+02] [-4.57085317e-01 -8.89398067e-01 6.64018139e-03 -1.26155859e+02] [-1.41162739e-02 -2.10454823e-04 -9.99900338e-01 -4.13459710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.01450764168019391 Centerline is valid? [True, True] Translation: X:190.60, Y:-126.18, Z:-4.13 [[ 9.21589890e-01 -3.87940929e-01 -1.31875163e-02 1.90603677e+02] [-3.87898300e-01 -9.21684220e-01 5.75396817e-03 -1.26179012e+02] [-1.43869254e-02 -1.87383744e-04 -9.99896485e-01 -4.13374914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.014177505673174707 Centerline is valid? [True, True] Translation: X:190.63, Y:-126.20, Z:-4.13 [[ 9.48251429e-01 -3.17253429e-01 -1.30187727e-02 1.90630558e+02] [-3.17221466e-01 -9.48340783e-01 4.50559678e-03 -1.26197545e+02] [-1.37756491e-02 -1.42604423e-04 -9.99905101e-01 -4.13310882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.01340348883859114 Centerline is valid? [True, True] Translation: X:190.66, Y:-126.21, Z:-4.13 [[ 9.68690870e-01 -2.47939751e-01 -1.28014987e-02 1.90661305e+02] [-2.47917305e-01 -9.68775452e-01 3.33673965e-03 -1.26210871e+02] [-1.32290880e-02 -5.85561899e-05 -9.99912490e-01 -4.13463437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.013279334370843249 Centerline is valid? [True, True] Translation: X:190.69, Y:-126.22, Z:-4.13 [[ 9.84133525e-01 -1.77002825e-01 -1.22965136e-02 1.90692053e+02] [-1.76989210e-01 -9.84210343e-01 2.19542303e-03 -1.26222139e+02] [-1.24909520e-02 1.57608299e-05 -9.99921985e-01 -4.13483429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.013740268333703825 Centerline is valid? [True, True] Translation: X:190.72, Y:-126.23, Z:-4.14 [[ 9.94181895e-01 -1.07181482e-01 -1.06999893e-02 1.90720338e+02] [-1.07176327e-01 -9.94239468e-01 1.05560701e-03 -1.26230478e+02] [-1.07514932e-02 9.73201867e-05 -9.99942196e-01 -4.13573695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.014463849322424862 Centerline is valid? [True, True] Translation: X:190.75, Y:-126.24, Z:-4.14 [[ 9.99394868e-01 -3.33994359e-02 -9.71471061e-03 1.90747291e+02] [-3.33991304e-02 -9.99442075e-01 1.93724522e-04 -1.26235852e+02] [-9.71576082e-03 1.30855593e-04 -9.99952792e-01 -4.13682133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.015994751262923084 Centerline is valid? [True, True] Translation: X:190.78, Y:-126.24, Z:-4.14 [[ 9.99206876e-01 3.87595647e-02 -9.12776576e-03 1.90775734e+02] [ 3.87563020e-02 -9.99248550e-01 -5.34121835e-04 -1.26238295e+02] [-9.14160903e-03 1.79939763e-04 -9.99958198e-01 -4.13679789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.017521425144819674 Centerline is valid? [True, True] Translation: X:190.80, Y:-126.24, Z:-4.14 [[ 9.93747081e-01 1.11346870e-01 -8.28330881e-03 1.90804112e+02] [ 1.11341232e-01 -9.93781581e-01 -1.14020958e-03 -1.26240297e+02] [-8.35875849e-03 2.10806140e-04 -9.99965043e-01 -4.13644231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.017873608503261987 Centerline is valid? [True, True] Translation: X:190.83, Y:-126.24, Z:-4.14 [[ 9.82645616e-01 1.85357613e-01 -7.08153928e-03 1.90832569e+02] [ 1.85351268e-01 -9.82671111e-01 -1.54771868e-03 -1.26243536e+02] [-7.24570551e-03 2.08286685e-04 -9.99973728e-01 -4.13756445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.019122612360583102 Centerline is valid? [True, True] Translation: X:190.86, Y:-126.24, Z:-4.14 [[ 9.66125183e-01 2.57974209e-01 -7.17199202e-03 1.90861916e+02] [ 2.57965218e-01 -9.66151773e-01 -2.16764608e-03 -1.26244313e+02] [-7.48842959e-03 2.44092984e-04 -9.99971932e-01 -4.13688791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.020089524882651873 Centerline is valid? [True, True] Translation: X:190.89, Y:-126.24, Z:-4.14 [[ 9.42798189e-01 3.33268747e-01 -7.96977796e-03 1.90889981e+02] [ 3.33254365e-01 -9.42831834e-01 -3.10824039e-03 -1.26244221e+02] [-8.55003975e-03 2.74480112e-04 -9.99963410e-01 -4.13548905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.01758035220399378 Centerline is valid? [True, True] Translation: X:190.92, Y:-126.25, Z:-4.13 [[ 9.12029017e-01 4.10030510e-01 -8.83478237e-03 1.90923377e+02] [ 4.10008366e-01 -9.12071766e-01 -4.27000401e-03 -1.26249846e+02] [-9.80878748e-03 2.72032878e-04 -9.99951856e-01 -4.13463380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.016151804409023647 Centerline is valid? [True, True] Translation: X:190.96, Y:-126.25, Z:-4.13 [[ 8.74419833e-01 4.85096302e-01 -8.45774107e-03 1.90957065e+02] [ 4.85071203e-01 -8.74460708e-01 -4.93932782e-03 -1.26250544e+02] [-9.79201191e-03 2.16439569e-04 -9.99952034e-01 -4.13451203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.014823527184356585 Centerline is valid? [True, True] Translation: X:190.99, Y:-126.25, Z:-4.14 [[ 8.31703135e-01 5.55171315e-01 -7.39640216e-03 1.90992970e+02] [ 5.55147586e-01 -8.31736006e-01 -5.13562658e-03 -1.26250705e+02] [-9.00300656e-03 1.65221922e-04 -9.99959458e-01 -4.13552119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.01392292283481902 Centerline is valid? [True, True] Translation: X:191.03, Y:-126.25, Z:-4.14 [[ 7.82344313e-01 6.22809117e-01 -6.79560719e-03 1.91027575e+02] [ 6.22784352e-01 -7.82373818e-01 -5.55517230e-03 -1.26247972e+02] [-8.77651710e-03 1.13859631e-04 -9.99961479e-01 -4.13586271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:191.06, Y:-126.23, Z:-4.14 [[ 7.30030773e-01 6.83387293e-01 -6.07276733e-03 1.91057854e+02] [ 6.83362561e-01 -7.30056025e-01 -5.81474260e-03 -1.26234672e+02] [-8.40718158e-03 9.50392007e-05 -9.99964655e-01 -4.13610500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:191.08, Y:-126.22, Z:-4.14 [[ 6.74277369e-01 7.38456961e-01 -5.59879642e-03 1.91084607e+02] [ 7.38430327e-01 -6.74300607e-01 -6.27243274e-03 -1.26218124e+02] [-8.40719344e-03 9.50383729e-05 -9.99964654e-01 -4.13610478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.012898403012704167 Centerline is valid? [True, True] Translation: X:191.12, Y:-126.21, Z:-4.14 [[ 6.10104293e-01 7.92306077e-01 -4.88179127e-03 1.91119769e+02] [ 7.92280089e-01 -6.10123821e-01 -6.41745123e-03 -1.26206502e+02] [-8.06308276e-03 4.75685201e-05 -9.99967492e-01 -4.13603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.012742259104003265 Centerline is valid? [True, True] Translation: X:191.15, Y:-126.19, Z:-4.13 [[ 5.42148717e-01 8.40266903e-01 -5.12837275e-03 1.91149678e+02] [ 8.40229131e-01 -5.42172972e-01 -7.96716331e-03 -1.26189150e+02] [-9.47500873e-03 1.03791831e-05 -9.99955111e-01 -4.13419379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.012674881240868525 Centerline is valid? [True, True] Translation: X:191.18, Y:-126.17, Z:-4.13 [[ 4.72766335e-01 8.81175561e-01 -4.65017492e-03 1.91175618e+02] [ 8.81133163e-01 -4.72789204e-01 -8.64390976e-03 -1.26167550e+02] [-9.81535452e-03 -1.08737966e-05 -9.99951828e-01 -4.13484511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.012803881783265412 Centerline is valid? [True, True] Translation: X:191.20, Y:-126.14, Z:-4.13 [[ 3.99748918e-01 9.16615512e-01 -4.09947856e-03 1.91200169e+02] [ 9.16568329e-01 -3.99769936e-01 -9.30034880e-03 -1.26144851e+02] [-1.01636923e-02 -3.96478438e-05 -9.99948348e-01 -4.13249041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.01272216428680182 Centerline is valid? [True, True] Translation: X:191.22, Y:-126.12, Z:-4.13 [[ 3.26561174e-01 9.45169449e-01 -3.53732602e-03 1.91217243e+02] [ 9.45115455e-01 -3.26580328e-01 -1.01027924e-02 -1.26116789e+02] [-1.07040719e-02 -4.40017302e-05 -9.99942709e-01 -4.13288416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.012738163360618397 Centerline is valid? [True, True] Translation: X:191.23, Y:-126.09, Z:-4.13 [[ 2.51466756e-01 9.67862071e-01 -2.73525663e-03 1.91232338e+02] [ 9.67806747e-01 -2.51481627e-01 -1.03484953e-02 -1.26088554e+02] [-1.07037829e-02 -4.48972702e-05 -9.99942712e-01 -4.13303969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.012830805264320688 Centerline is valid? [True, True] Translation: X:191.25, Y:-126.06, Z:-4.13 [[ 1.73114110e-01 9.84900254e-01 -1.73058548e-03 1.91245266e+02] [ 9.84854353e-01 -1.73122750e-01 -9.50876098e-03 -1.26058670e+02] [-9.66478482e-03 -5.82739469e-05 -9.99953293e-01 -4.13411267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.013303989325801966 Centerline is valid? [True, True] Translation: X:191.26, Y:-126.03, Z:-4.13 [[ 9.33218460e-02 9.95635445e-01 -1.04571303e-03 1.91256438e+02] [ 9.95582650e-01 -9.33276666e-02 -1.02534611e-02 -1.26029481e+02] [-1.03063033e-02 -8.42218333e-05 -9.99946885e-01 -4.13250449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.013990964881390885 Centerline is valid? [True, True] Translation: X:191.26, Y:-126.00, Z:-4.13 [[ 1.09320517e-02 9.99940212e-01 -2.49096181e-04 1.91260653e+02] [ 9.99882794e-01 -1.09340936e-02 -1.07165028e-02 -1.25998292e+02] [-1.07185857e-02 -1.31913623e-04 -9.99942546e-01 -4.13396290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.014721450409914372 Centerline is valid? [True, True] Translation: X:191.27, Y:-125.97, Z:-4.13 [[-7.15052203e-02 9.97440067e-01 5.62481034e-04 1.91265065e+02] [ 9.97388020e-01 7.15072360e-02 -1.01907728e-02 -1.25966984e+02] [-1.02049065e-02 -1.67681607e-04 -9.99947915e-01 -4.13386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.014993001047321371 Centerline is valid? [True, True] Translation: X:191.27, Y:-125.94, Z:-4.13 [[-1.51294869e-01 9.88487913e-01 1.22828407e-03 1.91268133e+02] [ 9.88445633e-01 1.51299760e-01 -9.14401455e-03 -1.25935343e+02] [-9.22458695e-03 -1.69350459e-04 -9.99957438e-01 -4.13433899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.015942942856436163 Centerline is valid? [True, True] Translation: X:191.27, Y:-125.90, Z:-4.13 [[-2.31260201e-01 9.72890070e-01 1.90560854e-03 1.91266835e+02] [ 9.72849776e-01 2.31267971e-01 -8.85662017e-03 -1.25903961e+02] [-9.05722404e-03 -1.94312923e-04 -9.99958964e-01 -4.13433412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.017227522787903425 Centerline is valid? [True, True] Translation: X:191.26, Y:-125.88, Z:-4.13 [[-3.09416596e-01 9.50923093e-01 2.57703399e-03 1.91261581e+02] [ 9.50884012e-01 3.09427251e-01 -8.62388758e-03 -1.25875095e+02] [-8.99805839e-03 -2.17913518e-04 -9.99959493e-01 -4.13431585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.01846021808141235 Centerline is valid? [True, True] Translation: X:191.25, Y:-125.85, Z:-4.13 [[-3.85377007e-01 9.22753680e-01 3.19517653e-03 1.91253734e+02] [ 9.22716669e-01 3.85390179e-01 -8.26791062e-03 -1.25845739e+02] [-8.86063460e-03 -2.38020007e-04 -9.99960716e-01 -4.13387520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.019195174912937027 Centerline is valid? [True, True] Translation: X:191.24, Y:-125.82, Z:-4.13 [[-4.57977411e-01 8.88954238e-01 4.12961575e-03 1.91243865e+02] [ 8.88912580e-01 4.57995948e-01 -8.61024575e-03 -1.25817522e+02] [-9.54546173e-03 -2.72430668e-04 -9.99954404e-01 -4.13290576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.019450792900217062 Centerline is valid? [True, True] Translation: X:191.23, Y:-125.79, Z:-4.13 [[-5.29623405e-01 8.48219100e-01 4.83816923e-03 1.91230891e+02] [ 8.48178152e-01 5.29645411e-01 -8.34034311e-03 -1.25790312e+02] [-9.63695245e-03 -3.13611476e-04 -9.99953514e-01 -4.13400432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.02028663342407059 Centerline is valid? [True, True] Translation: X:191.22, Y:-125.76, Z:-4.13 [[-5.94882530e-01 8.03793321e-01 5.57430327e-03 1.91218429e+02] [ 8.03752805e-01 5.94908557e-01 -8.07692990e-03 -1.25762394e+02] [-9.80838302e-03 -3.24462603e-04 -9.99951844e-01 -4.13357483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.020433763348252202 Centerline is valid? [True, True] Translation: X:191.20, Y:-125.74, Z:-4.13 [[-6.55955965e-01 7.54763938e-01 7.29174490e-03 1.91202592e+02] [ 7.54710718e-01 6.55996382e-01 -8.97101471e-03 -1.25737347e+02] [-1.15543567e-02 -3.81432583e-04 -9.99933173e-01 -4.13191221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.018993097463177146 Centerline is valid? [True, True] Translation: X:191.18, Y:-125.72, Z:-4.13 [[-7.11069920e-01 7.03061771e-01 9.14959140e-03 1.91182001e+02] [ 7.02996218e-01 7.11128670e-01 -9.60895242e-03 -1.25715911e+02] [-1.32622239e-02 -4.00508881e-04 -9.99911973e-01 -4.13074152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.018018540508957213 Centerline is valid? [True, True] Translation: X:191.16, Y:-125.69, Z:-4.13 [[-7.61846327e-01 6.47689952e-01 9.37549381e-03 1.91161754e+02] [ 6.47635370e-01 7.61903938e-01 -8.41527394e-03 -1.25694956e+02] [-1.25937140e-02 -3.39244152e-04 -9.99920639e-01 -4.13116649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.016102785411260343 Centerline is valid? [True, True] Translation: X:191.18, Y:-125.68, Z:-4.13 [[-8.02302203e-01 5.96847568e-01 9.17367821e-03 1.91177195e+02] [ 5.96805039e-01 8.02354611e-01 -7.12908966e-03 -1.25681819e+02] [-1.16155228e-02 -2.44786950e-04 -9.99932508e-01 -4.13222074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.01497703635832512 Centerline is valid? [True, True] Translation: X:191.19, Y:-125.66, Z:-4.13 [[-8.40490539e-01 5.41745393e-01 9.35857910e-03 1.91189096e+02] [ 5.41709217e-01 8.40542617e-01 -6.26361836e-03 -1.25662333e+02] [-1.12595710e-02 -1.94883413e-04 -9.99936590e-01 -4.13266824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.014396559909331133 Centerline is valid? [True, True] Translation: X:191.58, Y:-125.09, Z:-5.12 [[-7.82522240e-01 -6.22555249e-01 9.15995387e-03 1.91579135e+02] [ 6.22515797e-01 -7.82575821e-01 -7.01192403e-03 -1.25085640e+02] [ 1.15336685e-02 2.15229489e-04 9.99933462e-01 -5.12349276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.01435835124889965 Centerline is valid? [True, True] Translation: X:191.16, Y:-125.65, Z:-4.13 [[-8.40934429e-01 5.41030802e-01 1.07218730e-02 1.91161304e+02] [ 5.40983961e-01 8.41002756e-01 -7.12164003e-03 -1.25645165e+02] [-1.28701514e-02 -1.88470948e-04 -9.99917158e-01 -4.13170907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.014616190658570779 Centerline is valid? [True, True] Translation: X:191.18, Y:-125.62, Z:-4.13 [[-8.77955939e-01 4.78616913e-01 1.09188192e-02 1.91177767e+02] [ 4.78576983e-01 8.78023809e-01 -6.18570684e-03 -1.25619752e+02] [-1.25475671e-02 -2.05282520e-04 -9.99921255e-01 -4.13191974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.015067135204242526 Centerline is valid? [True, True] Translation: X:191.18, Y:-125.59, Z:-4.13 [[-9.09955072e-01 4.14566130e-01 1.08023364e-02 1.91179784e+02] [ 4.14534242e-01 9.10019166e-01 -5.14585017e-03 -1.25588093e+02] [-1.19636284e-02 -2.04554123e-04 -9.99928412e-01 -4.13204647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.014639182930019713 Centerline is valid? [True, True] Translation: X:191.49, Y:-124.98, Z:-5.12 [[-8.64052662e-01 -5.03267332e-01 1.16185353e-02 1.91488911e+02] [ 5.03226544e-01 -8.64130719e-01 -6.41445997e-03 -1.24978231e+02] [ 1.32681214e-02 3.04324130e-04 9.99911928e-01 -5.12482868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.014801332272100006 Centerline is valid? [True, True] Translation: X:191.15, Y:-125.58, Z:-4.13 [[-9.10426455e-01 4.13443785e-01 1.37078841e-02 1.91153245e+02] [ 4.13393222e-01 9.10529619e-01 -6.46969264e-03 -1.25577997e+02] [-1.51562887e-02 -2.23432940e-04 -9.99885112e-01 -4.12921283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.01472428292727001 Centerline is valid? [True, True] Translation: X:191.16, Y:-125.55, Z:-4.13 [[-9.37161061e-01 3.48543651e-01 1.56993422e-02 1.91161565e+02] [ 3.48490505e-01 9.37292520e-01 -6.09101652e-03 -1.25553257e+02] [-1.68378612e-02 -2.37191807e-04 -9.99858205e-01 -4.12812717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.015177322013857256 Centerline is valid? [True, True] Translation: X:191.42, Y:-124.92, Z:-5.13 [[-8.99834018e-01 -4.35948921e-01 1.57251157e-02 1.91416775e+02] [ 4.35887685e-01 -8.99971368e-01 -7.31187077e-03 -1.24916225e+02] [ 1.73397561e-02 2.74914234e-04 9.99849617e-01 -5.12950344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.014810110714406877 Centerline is valid? [True, True] Translation: X:191.12, Y:-125.54, Z:-4.13 [[-9.38598667e-01 3.44624407e-01 1.63266825e-02 1.91120555e+02] [ 3.44567537e-01 9.38740621e-01 -6.26576125e-03 -1.25538425e+02] [-1.74858543e-02 -2.55390383e-04 -9.99847078e-01 -4.12779700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.015171250039086669 Centerline is valid? [True, True] Translation: X:191.13, Y:-125.51, Z:-4.13 [[-9.61097776e-01 2.75691811e-01 1.68846039e-02 1.91130108e+02] [ 2.75644022e-01 9.61246037e-01 -5.14106881e-03 -1.25512918e+02] [-1.76476092e-02 -2.86929667e-04 -9.99844228e-01 -4.12844911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.015434670093380254 Centerline is valid? [True, True] Translation: X:191.13, Y:-125.49, Z:-4.13 [[-9.78736113e-01 2.04382370e-01 1.74203582e-02 1.91134301e+02] [ 2.04343892e-01 9.78891074e-01 -3.97989514e-03 -1.25486146e+02] [-1.78660535e-02 -3.35523317e-04 -9.99840333e-01 -4.12920663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.016171018690963015 Centerline is valid? [True, True] Translation: X:191.13, Y:-125.46, Z:-4.13 [[-9.90936585e-01 1.33167484e-01 1.76382124e-02 1.91134378e+02] [ 1.33139945e-01 9.91093483e-01 -2.73175713e-03 -1.25456775e+02] [-1.78448986e-02 -3.58647463e-04 -9.99840703e-01 -4.12874813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.016588662766716295 Centerline is valid? [True, True] Translation: X:191.25, Y:-124.79, Z:-5.13 [[-9.70598975e-01 -2.40085333e-01 1.72239305e-02 1.91246398e+02] [ 2.40053789e-01 -9.70751727e-01 -3.90676382e-03 -1.24785798e+02] [ 1.76581169e-02 3.42768809e-04 9.99844025e-01 -5.12743753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.016291260299731474 Centerline is valid? [True, True] Translation: X:191.09, Y:-125.45, Z:-4.13 [[-9.91638057e-01 1.27980615e-01 1.65809232e-02 1.91088497e+02] [ 1.27956660e-01 9.91776604e-01 -2.50202823e-03 -1.25448991e+02] [-1.67647828e-02 -3.59466873e-04 -9.99859397e-01 -4.12999110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.015930418994579497 Centerline is valid? [True, True] Translation: X:191.20, Y:-124.78, Z:-5.13 [[-9.71737874e-01 -2.35537820e-01 1.57302000e-02 1.91195116e+02] [ 2.35512025e-01 -9.71865136e-01 -3.49902073e-03 -1.24777757e+02] [ 1.61117847e-02 3.04520295e-04 9.99870150e-01 -5.12526223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.015756812522269577 Centerline is valid? [True, True] Translation: X:191.04, Y:-125.45, Z:-4.13 [[-9.91801117e-01 1.26716287e-01 1.65386271e-02 1.91042155e+02] [ 1.26693366e-01 9.91938951e-01 -2.43056403e-03 -1.25446503e+02] [-1.67133005e-02 -3.15301778e-04 -9.99860273e-01 -4.13066092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.015904162653917434 Centerline is valid? [True, True] Translation: X:191.03, Y:-125.42, Z:-4.13 [[-9.98175239e-01 5.76405928e-02 1.79931489e-02 1.91029343e+02] [ 5.76256001e-02 9.98337350e-01 -1.35104343e-03 -1.25417657e+02] [-1.80411075e-02 -3.11712094e-04 -9.99837197e-01 -4.12796489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.015257181140765746 Centerline is valid? [True, True] Translation: X:191.10, Y:-124.73, Z:-5.13 [[-9.87403672e-01 -1.56959077e-01 1.99458347e-02 1.91099287e+02] [ 1.56936825e-01 -9.87604992e-01 -2.68581928e-03 -1.24733554e+02] [ 2.01201696e-02 4.78248148e-04 9.99797455e-01 -5.12834265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.014489521042964724 Centerline is valid? [True, True] Translation: X:190.99, Y:-125.42, Z:-4.13 [[-9.98077176e-01 5.90826282e-02 1.87401601e-02 1.90990740e+02] [ 5.90680697e-02 9.98253071e-01 -1.32991989e-03 -1.25420829e+02] [-1.87859976e-02 -2.20417602e-04 -9.99823503e-01 -4.13003113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.014459108299695891 Centerline is valid? [True, True] Translation: X:190.99, Y:-125.40, Z:-4.13 [[-9.99805062e-01 -8.79341233e-03 1.76780380e-02 1.90993503e+02] [-8.79471032e-03 9.99961326e-01 4.31921132e-06 -1.25395508e+02] [-1.76773923e-02 -1.51154854e-04 -9.99843731e-01 -4.12998173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.013969663092219782 Centerline is valid? [True, True] Translation: X:191.00, Y:-125.37, Z:-4.13 [[-9.97161120e-01 -7.33426462e-02 1.70457238e-02 1.90995146e+02] [-7.33325135e-02 9.97306801e-01 1.21957666e-03 -1.25374443e+02] [-1.70892633e-02 -3.38913440e-05 -9.99853967e-01 -4.13228863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.013981833347403208 Centerline is valid? [True, True] Translation: X:190.99, Y:-125.35, Z:-4.13 [[-9.90046904e-01 -1.39748645e-01 1.66566606e-02 1.90987452e+02] [-1.39728168e-01 9.90187010e-01 2.39263324e-03 -1.25349809e+02] [-1.68275762e-02 4.14144619e-05 -9.99858405e-01 -4.13271120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.014426084216216127 Centerline is valid? [True, True] Translation: X:190.98, Y:-125.33, Z:-4.13 [[-9.79034777e-01 -2.03121411e-01 1.52511645e-02 1.90981419e+02] [-2.03094387e-01 9.79153548e-01 3.31663879e-03 -1.25326122e+02] [-1.56069122e-02 1.49678805e-04 -9.99878194e-01 -4.13497930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.015638786665118806 Centerline is valid? [True, True] Translation: X:190.96, Y:-125.31, Z:-4.14 [[-9.63662725e-01 -2.66669571e-01 1.55400087e-02 1.90956609e+02] [-2.66630497e-01 9.63787980e-01 4.57240231e-03 -1.25309107e+02] [-1.61965942e-02 2.62813409e-04 -9.99868792e-01 -4.13574312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.0156406063406096 Centerline is valid? [True, True] Translation: X:190.91, Y:-125.29, Z:-4.14 [[-9.42179524e-01 -3.34707680e-01 1.63863815e-02 1.90912563e+02] [-3.34651330e-01 9.42321958e-01 6.14936105e-03 -1.25294005e+02] [-1.74994855e-02 3.10077709e-04 -9.99846824e-01 -4.13626815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.01599224182535832 Centerline is valid? [True, True] Translation: X:190.85, Y:-125.29, Z:-4.14 [[-9.14499568e-01 -4.04297199e-01 1.53073428e-02 1.90848941e+02] [-4.04235472e-01 9.14627628e-01 7.07004504e-03 -1.25289522e+02] [-1.68589180e-02 2.77782198e-04 -9.99857840e-01 -4.13542383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.014979032515016718 Centerline is valid? [True, True] Translation: X:190.78, Y:-125.29, Z:-4.14 [[-8.80662243e-01 -4.73561491e-01 1.31730333e-02 1.90776793e+02] [-4.73505168e-01 8.80760737e-01 7.30616646e-03 -1.25290687e+02] [-1.50622096e-02 1.96765574e-04 -9.99886539e-01 -4.13823700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.014572398815363983 Centerline is valid? [True, True] Translation: X:190.70, Y:-125.30, Z:-4.14 [[-8.41291727e-01 -5.40428320e-01 1.28631616e-02 1.90702944e+02] [-5.40362375e-01 8.41390045e-01 8.44372928e-03 -1.25300304e+02] [-1.53861665e-02 1.52871056e-04 -9.99881614e-01 -4.13883654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.01413469546796973 Centerline is valid? [True, True] Translation: X:190.62, Y:-125.32, Z:-4.14 [[-7.95449465e-01 -6.05917378e-01 1.11481099e-02 1.90618951e+02] [-6.05856740e-01 7.95527578e-01 8.57223510e-03 -1.25318657e+02] [-1.40626951e-02 6.46222775e-05 -9.99901113e-01 -4.13963814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.013891857445906063 Centerline is valid? [True, True] Translation: X:190.53, Y:-125.35, Z:-4.14 [[-7.44304209e-01 -6.67757511e-01 1.05428266e-02 1.90532352e+02] [-6.67690723e-01 7.44378873e-01 9.44417709e-03 -1.25348896e+02] [-1.41542776e-02 -1.00067541e-05 -9.99899823e-01 -4.14027906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.01396780615956328 Centerline is valid? [True, True] Translation: X:190.45, Y:-125.39, Z:-4.14 [[-6.90241643e-01 -7.23509536e-01 1.00212726e-02 1.90448731e+02] [-7.23434233e-01 6.90314384e-01 1.04384294e-02 -1.25388640e+02] [-1.44701319e-02 -4.46930458e-05 -9.99895301e-01 -4.14007026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.01402182874578533 Centerline is valid? [True, True] Translation: X:190.36, Y:-125.44, Z:-4.14 [[-6.31812540e-01 -7.75065005e-01 9.33547828e-03 1.90361231e+02] [-7.74982295e-01 6.31881501e-01 1.13230264e-02 -1.25440647e+02] [-1.46749975e-02 -8.08003409e-05 -9.99892313e-01 -4.13930680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.01421308403314331 Centerline is valid? [True, True] Translation: X:190.28, Y:-125.50, Z:-4.14 [[-5.69553143e-01 -8.21897279e-01 9.69955157e-03 1.90279684e+02] [-8.21781941e-01 5.69635714e-01 1.37693229e-02 -1.25499760e+02] [-1.68421800e-02 -1.28555181e-04 -9.99858152e-01 -4.13807693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.014404226000499454 Centerline is valid? [True, True] Translation: X:190.20, Y:-125.57, Z:-4.14 [[-5.05601424e-01 -8.62716132e-01 9.38485627e-03 1.90201812e+02] [-8.62572550e-01 5.05688498e-01 1.57397177e-02 -1.25570900e+02] [-1.83247223e-02 -1.37095708e-04 -9.99832079e-01 -4.13706022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.014265627360493239 Centerline is valid? [True, True] Translation: X:190.13, Y:-125.65, Z:-4.14 [[-4.39779668e-01 -8.98067420e-01 8.29172257e-03 1.90129483e+02] [-8.97912586e-01 4.39857814e-01 1.66760716e-02 -1.25649948e+02] [-1.86234155e-02 -1.11444841e-04 -9.99826563e-01 -4.13711536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.014336082118192933 Centerline is valid? [True, True] Translation: X:190.06, Y:-125.74, Z:-4.14 [[-3.71134526e-01 -9.28554338e-01 6.78272063e-03 1.90062206e+02] [-9.28403536e-01 3.71196490e-01 1.67344224e-02 -1.25737386e+02] [-1.80565426e-02 -8.63798984e-05 -9.99836964e-01 -4.13722630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.014291288377245739 Centerline is valid? [True, True] Translation: X:190.00, Y:-125.83, Z:-4.14 [[-2.99636439e-01 -9.54038066e-01 5.41964464e-03 1.90000750e+02] [-9.53886549e-01 2.99685439e-01 1.70026488e-02 -1.25834370e+02] [-1.78453628e-02 -7.51129751e-05 -9.99840756e-01 -4.13813495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.014658893813187046 Centerline is valid? [True, True] Translation: X:189.95, Y:-125.94, Z:-4.14 [[-2.26195433e-01 -9.74072900e-01 4.19650979e-03 1.89946132e+02] [-9.73910771e-01 2.26234348e-01 1.77716051e-02 -1.25937399e+02] [-1.82602336e-02 -6.71701781e-05 -9.99833266e-01 -4.13691227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.014807283291404174 Centerline is valid? [True, True] Translation: X:189.90, Y:-126.04, Z:-4.14 [[-1.48950373e-01 -9.88839526e-01 3.19029796e-03 1.89898016e+02] [-9.88629180e-01 1.48984489e-01 2.03952806e-02 -1.26042490e+02] [-2.06429645e-02 -1.16137013e-04 -9.99786905e-01 -4.13540685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.015274212869533824 Centerline is valid? [True, True] Translation: X:189.86, Y:-126.15, Z:-4.13 [[-7.13880106e-02 -9.97447343e-01 1.59708791e-03 1.89859216e+02] [-9.97239963e-01 7.14057347e-02 2.03390385e-02 -1.26152162e+02] [-2.04011611e-02 -1.40716391e-04 -9.99791865e-01 -4.13406036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.015177374725981652 Centerline is valid? [True, True] Translation: X:189.16, Y:-126.21, Z:-5.12 [[-1.51647811e-01 9.88430475e-01 2.85275991e-03 1.89158467e+02] [-9.88250133e-01 -1.51674635e-01 1.88806676e-02 -1.26211512e+02] [ 1.90949186e-02 4.39715457e-05 9.99817674e-01 -5.12030217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.015119758583451664 Centerline is valid? [True, True] Translation: X:189.84, Y:-126.44, Z:-4.13 [[-6.29076195e-02 -9.98018575e-01 1.24724590e-03 1.89840558e+02] [-9.97853871e-01 6.29198967e-02 1.81311402e-02 -1.26436476e+02] [-1.81736913e-02 -1.03982280e-04 -9.99834839e-01 -4.13486460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.014581092708742038 Centerline is valid? [True, True] Translation: X:189.81, Y:-126.55, Z:-4.14 [[ 1.45831489e-02 -9.99893650e-01 -1.44021163e-04 1.89813123e+02] [-9.99741645e-01 -1.45834432e-02 1.74346128e-02 -1.26550808e+02] [-1.74348589e-02 -1.10267600e-04 -9.99847995e-01 -4.13773269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.014630161850234628 Centerline is valid? [True, True] Translation: X:189.79, Y:-126.67, Z:-4.14 [[ 9.12257421e-02 -9.95829455e-01 -1.24938525e-03 1.89794762e+02] [-9.95721994e-01 -9.12342523e-02 1.46294797e-02 -1.26669268e+02] [-1.46824536e-02 -9.05447739e-05 -9.99892203e-01 -4.13751433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.014660303408929988 Centerline is valid? [True, True] Translation: X:189.78, Y:-126.79, Z:-4.14 [[ 1.67680913e-01 -9.85838812e-01 -2.22444964e-03 1.89783528e+02] [-9.85745073e-01 -1.67695645e-01 1.35949540e-02 -1.26789028e+02] [-1.37754638e-02 -8.68740270e-05 -9.99905110e-01 -4.13753247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.015369484782361838 Centerline is valid? [True, True] Translation: X:189.77, Y:-126.91, Z:-4.14 [[ 2.47566624e-01 -9.68865117e-01 -3.33936377e-03 1.89774928e+02] [-9.68768068e-01 -2.47589093e-01 1.37139092e-02 -1.26905711e+02] [-1.41137183e-02 -1.60037202e-04 -9.99900384e-01 -4.13609791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.015630931821237093 Centerline is valid? [True, True] Translation: X:189.78, Y:-127.03, Z:-4.14 [[ 3.26280552e-01 -9.45262007e-01 -4.55410336e-03 1.89780565e+02] [-9.45159159e-01 -3.26312240e-01 1.39458104e-02 -1.27028078e+02] [-1.46685044e-02 -2.45894206e-04 -9.99892381e-01 -4.13745776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.016109097944460905 Centerline is valid? [True, True] Translation: X:189.79, Y:-127.14, Z:-4.14 [[ 3.99341032e-01 -9.16783383e-01 -5.91336155e-03 1.89791963e+02] [-9.16672130e-01 -3.99384711e-01 1.42849199e-02 -1.27144654e+02] [-1.54578834e-02 -2.83940939e-04 -9.99880479e-01 -4.13627198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.01569461193092522 Centerline is valid? [True, True] Translation: X:189.81, Y:-127.26, Z:-4.14 [[ 4.67141922e-01 -8.84161345e-01 -6.09434655e-03 1.89812630e+02] [-8.84079642e-01 -4.67181618e-01 1.20217316e-02 -1.27255802e+02] [-1.34763171e-02 -2.27967109e-04 -9.99909164e-01 -4.13699602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.01567598285533019 Centerline is valid? [True, True] Translation: X:189.84, Y:-127.37, Z:-4.14 [[ 5.31144525e-01 -8.47262552e-01 -5.62685146e-03 1.89843060e+02] [-8.47211923e-01 -5.31174307e-01 9.26351331e-03 -1.27365350e+02] [-1.08374669e-02 -1.53128732e-04 -9.99941261e-01 -4.13790093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.014247113731109486 Centerline is valid? [True, True] Translation: X:189.88, Y:-127.47, Z:-4.14 [[ 5.89894033e-01 -8.07466674e-01 -4.75398053e-03 1.89884054e+02] [-8.07439501e-01 -5.89913184e-01 6.62471422e-03 -1.27467996e+02] [-8.15367175e-03 -6.93277202e-05 -9.99966756e-01 -4.14078574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.013614815576089978 Centerline is valid? [True, True] Translation: X:189.93, Y:-127.57, Z:-4.14 [[ 6.45396436e-01 -7.63830882e-01 -5.08174754e-03 1.89931705e+02] [-7.63806956e-01 -6.45416442e-01 6.04571154e-03 -1.27565034e+02] [-7.89774459e-03 -2.04065583e-05 -9.99968812e-01 -4.14087476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.013548649468085105 Centerline is valid? [True, True] Translation: X:189.98, Y:-127.66, Z:-4.14 [[ 6.99414426e-01 -7.14691203e-01 -5.99537548e-03 1.89983478e+02] [-7.14665029e-01 -6.99440122e-01 6.11656675e-03 -1.27659787e+02] [-8.56486260e-03 6.67016898e-06 -9.99963321e-01 -4.13900045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.013430056455836337 Centerline is valid? [True, True] Translation: X:190.04, Y:-127.75, Z:-4.14 [[ 7.52429876e-01 -6.58628773e-01 -7.57770052e-03 1.90037613e+02] [-6.58595339e-01 -7.52468032e-01 6.63624734e-03 -1.27752985e+02] [-1.00728008e-02 -2.67251803e-06 -9.99949268e-01 -4.13808387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.013432134424007895 Centerline is valid? [True, True] Translation: X:190.06, Y:-127.78, Z:-4.14 [[ 8.02594422e-01 -5.96468430e-01 -8.22228022e-03 1.90056668e+02] [-5.96436880e-01 -8.02636538e-01 6.13478671e-03 -1.27780005e+02] [-1.02587091e-02 -1.96744338e-05 -9.99947378e-01 -4.13629108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.013308705966213755 Centerline is valid? [True, True] Translation: X:190.08, Y:-127.80, Z:-4.14 [[ 8.47215834e-01 -5.31173229e-01 -8.96282155e-03 1.90079374e+02] [-5.31143136e-01 -8.47263241e-01 5.65413565e-03 -1.27804612e+02] [-1.05971947e-02 -2.97320988e-05 -9.99943848e-01 -4.13745352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.013241203820996902 Centerline is valid? [True, True] Translation: X:190.10, Y:-127.83, Z:-4.14 [[ 8.87586127e-01 -4.60552462e-01 -9.07172758e-03 1.90101348e+02] [-4.60527706e-01 -8.87632484e-01 4.77560616e-03 -1.27832026e+02] [-1.02517773e-02 -6.09798867e-05 -9.99947447e-01 -4.13770586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.013639422161925185 Centerline is valid? [True, True] Translation: X:190.13, Y:-127.86, Z:-4.14 [[ 9.21952214e-01 -3.87182917e-01 -9.66976393e-03 1.90125204e+02] [-3.87160572e-01 -9.22002918e-01 4.16062675e-03 -1.27856098e+02] [-1.05264742e-02 -9.21476988e-05 -9.99944591e-01 -4.13606924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.013678508843305431 Centerline is valid? [True, True] Translation: X:190.15, Y:-127.87, Z:-4.14 [[ 9.49764672e-01 -3.12820053e-01 -9.52277264e-03 1.90154476e+02] [-3.12803277e-01 -9.49812405e-01 3.24123080e-03 -1.27873417e+02] [-1.00587696e-02 -9.96520224e-05 -9.99949404e-01 -4.13754159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.013822459617100097 Centerline is valid? [True, True] Translation: X:190.18, Y:-127.89, Z:-4.14 [[ 9.71617789e-01 -2.36396465e-01 -8.69389154e-03 1.90184166e+02] [-2.36386077e-01 -9.71656679e-01 2.21836418e-03 -1.27888918e+02] [-8.97189123e-03 -1.00287180e-04 -9.99959747e-01 -4.13872805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.014348394080773149 Centerline is valid? [True, True] Translation: X:190.22, Y:-127.90, Z:-4.14 [[ 9.87500516e-01 -1.57407011e-01 -8.10948315e-03 1.90215316e+02] [-1.57400775e-01 -9.87533807e-01 1.40556793e-03 -1.27903947e+02] [-8.22963502e-03 -1.11560127e-04 -9.99966130e-01 -4.13878920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.014659538020296896 Centerline is valid? [True, True] Translation: X:190.24, Y:-127.91, Z:-4.14 [[ 9.96844057e-01 -7.89320789e-02 -8.46483264e-03 1.90244246e+02] [-7.89282004e-02 -9.96879989e-01 7.91798668e-04 -1.27913377e+02] [-8.50092059e-03 -1.21185790e-04 -9.99963859e-01 -4.13853300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.01481119438271601 Centerline is valid? [True, True] Translation: X:190.27, Y:-127.92, Z:-4.14 [[ 9.99955219e-01 -9.19122718e-04 -9.41885664e-03 1.90274470e+02] [-9.17844232e-04 -9.99999569e-01 1.40058505e-04 -1.27917633e+02] [-9.41898131e-03 -1.31407190e-04 -9.99955632e-01 -4.13781659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.014712191540856208 Centerline is valid? [True, True] Translation: X:190.30, Y:-127.92, Z:-4.14 [[ 9.97012256e-01 7.66154443e-02 -9.83030224e-03 1.90304061e+02] [ 7.66130021e-02 -9.97060709e-01 -6.25329071e-04 -1.27918395e+02] [-9.84931799e-03 -1.29668218e-04 -9.99951486e-01 -4.13797856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.01461486176189954 Centerline is valid? [True, True] Translation: X:190.33, Y:-127.92, Z:-4.14 [[ 9.88128079e-01 1.53296035e-01 -1.01599373e-02 1.90332407e+02] [ 1.53289210e-01 -9.88180303e-01 -1.45173879e-03 -1.27915089e+02] [-1.02623957e-02 -1.22904893e-04 -9.99947333e-01 -4.13809860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.014685905340597804 Centerline is valid? [True, True] Translation: X:190.36, Y:-127.91, Z:-4.14 [[ 9.72905245e-01 2.30901715e-01 -1.18229341e-02 1.90362142e+02] [ 2.30886583e-01 -9.72977068e-01 -2.64784150e-03 -1.27911951e+02] [-1.21148349e-02 -1.53657986e-04 -9.99926601e-01 -4.13694761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.01463090855864178 Centerline is valid? [True, True] Translation: X:190.39, Y:-127.91, Z:-4.14 [[ 9.51531047e-01 3.07353570e-01 -1.10656769e-02 1.90392730e+02] [ 3.07334726e-01 -9.51595375e-01 -3.40710990e-03 -1.27909108e+02] [-1.15772344e-02 -1.58895930e-04 -9.99932969e-01 -4.13782969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.015122546620493265 Centerline is valid? [True, True] Translation: X:190.42, Y:-127.90, Z:-4.14 [[ 9.24329978e-01 3.81441308e-01 -1.07990872e-02 1.90421650e+02] [ 3.81417375e-01 -9.24393045e-01 -4.27607353e-03 -1.27903740e+02] [-1.16136722e-02 -1.66456551e-04 -9.99932545e-01 -4.13719417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.015668029966622813 Centerline is valid? [True, True] Translation: X:190.45, Y:-127.89, Z:-4.14 [[ 8.91450775e-01 4.52980072e-01 -1.11610680e-02 1.90448684e+02] [ 4.52947134e-01 -8.91520623e-01 -5.46563499e-03 -1.27892811e+02] [-1.24261460e-02 -1.83029192e-04 -9.99922776e-01 -4.13646716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.015614459456258917 Centerline is valid? [True, True] Translation: X:190.47, Y:-127.88, Z:-4.14 [[ 8.53352447e-01 5.21218008e-01 -1.10176431e-02 1.90473858e+02] [ 5.21177366e-01 -8.53423549e-01 -6.51150600e-03 -1.27878198e+02] [-1.27966303e-02 -1.85536656e-04 -9.99918103e-01 -4.13743759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.015416043956885866 Centerline is valid? [True, True] Translation: X:190.50, Y:-127.86, Z:-4.14 [[ 8.10394785e-01 5.85804206e-01 -9.68117126e-03 1.90499715e+02] [ 5.85764795e-01 -8.10452593e-01 -6.79704480e-03 -1.27863899e+02] [-1.18278678e-02 -1.62599646e-04 -9.99930035e-01 -4.13988021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.015058613754753331 Centerline is valid? [True, True] Translation: X:190.52, Y:-127.85, Z:-4.14 [[ 7.63588383e-01 6.45640167e-01 -9.03087903e-03 1.90524527e+02] [ 6.45597072e-01 -7.63641773e-01 -7.46074026e-03 -1.27847611e+02] [-1.17133101e-02 -1.33374477e-04 -9.99931388e-01 -4.13910124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.014979780518973043 Centerline is valid? [True, True] Translation: X:190.55, Y:-127.83, Z:-4.14 [[ 7.11398969e-01 7.02742256e-01 -8.05157321e-03 1.90546598e+02] [ 7.02699095e-01 -7.11444522e-01 -7.78936499e-03 -1.27828578e+02] [-1.12021636e-02 -1.16486984e-04 -9.99937247e-01 -4.13872146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.014815976793008969 Centerline is valid? [True, True] Translation: X:190.56, Y:-127.81, Z:-4.14 [[ 6.55342030e-01 7.55296492e-01 -7.35070464e-03 1.90564028e+02] [ 7.55250663e-01 -6.55383246e-01 -8.32090819e-03 -1.27806612e+02] [-1.11022814e-02 -9.85836893e-05 -9.99938363e-01 -4.13894605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.014680874893403978 Centerline is valid? [True, True] Translation: X:190.58, Y:-127.78, Z:-4.14 [[ 5.95917853e-01 8.03016793e-01 -6.77804085e-03 1.90578992e+02] [ 8.02966298e-01 -5.95956394e-01 -9.00555575e-03 -1.27782353e+02] [-1.12710293e-02 -7.59669237e-05 -9.99936477e-01 -4.13907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.014557314324383489 Centerline is valid? [True, True] Translation: X:190.60, Y:-127.76, Z:-4.14 [[ 5.31724419e-01 8.46892257e-01 -6.53051326e-03 1.90598337e+02] [ 8.46830102e-01 -5.31764515e-01 -1.02605055e-02 -1.27760232e+02] [-1.21622379e-02 -7.44738597e-05 -9.99926035e-01 -4.13686105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.014264084598780202 Centerline is valid? [True, True] Translation: X:190.62, Y:-127.74, Z:-4.14 [[ 4.64239698e-01 8.85692459e-01 -5.51100857e-03 1.90619490e+02] [ 8.85631717e-01 -4.64272403e-01 -1.03729315e-02 -1.27739018e+02] [-1.17458364e-02 -6.51974031e-05 -9.99931013e-01 -4.13818345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.014230261701206528 Centerline is valid? [True, True] Translation: X:190.64, Y:-127.72, Z:-4.14 [[ 3.94208158e-01 9.19009168e-01 -4.69867685e-03 1.90637725e+02] [ 9.18945565e-01 -3.94236155e-01 -1.08121364e-02 -1.27716434e+02] [-1.17888407e-02 -5.55958958e-05 -9.99930508e-01 -4.13777794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.014056755147956944 Centerline is valid? [True, True] Translation: X:190.65, Y:-127.69, Z:-4.14 [[ 3.21561306e-01 9.46882327e-01 -3.49068610e-03 1.90653616e+02] [ 9.46828028e-01 -3.21580249e-01 -1.01404750e-02 -1.27693380e+02] [-1.07243723e-02 -4.42950477e-05 -9.99942491e-01 -4.13712729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.014044997504029324 Centerline is valid? [True, True] Translation: X:190.67, Y:-127.67, Z:-4.14 [[ 2.47326476e-01 9.68929177e-01 -2.42167478e-03 1.90666852e+02] [ 9.68883955e-01 -2.47338330e-01 -9.36123133e-03 -1.27667822e+02] [-9.66934316e-03 -3.10414815e-05 -9.99953250e-01 -4.13787316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.013907050576578928 Centerline is valid? [True, True] Translation: X:190.67, Y:-127.64, Z:-4.14 [[ 1.72643714e-01 9.84983182e-01 -1.50950946e-03 1.90674667e+02] [ 9.84946057e-01 -1.72650313e-01 -8.55184790e-03 -1.27641818e+02] [-8.68404364e-03 -1.03626041e-05 -9.99962293e-01 -4.13841567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.013743246337300227 Centerline is valid? [True, True] Translation: X:190.69, Y:-127.62, Z:-4.14 [[ 9.54663806e-02 9.95432378e-01 -7.42559368e-04 1.90686734e+02] [ 9.95402704e-01 -9.54692683e-02 -7.68601935e-03 -1.27615278e+02] [-7.72180411e-03 -5.38915568e-06 -9.99970186e-01 -4.13958048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.013902964398094797 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.59, Z:-4.14 [[ 1.65900919e-02 9.99862362e-01 -1.59082982e-04 1.90697835e+02] [ 9.99823050e-01 -1.65908503e-02 -8.86631739e-03 -1.27588247e+02] [-8.86773637e-03 -1.19618122e-05 -9.99960681e-01 -4.13606118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.013867668322356577 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.56, Z:-4.14 [[-6.12740267e-02 9.98120814e-01 5.78387718e-04 1.90701314e+02] [ 9.98075121e-01 6.12767559e-02 -9.55050084e-03 -1.27560331e+02] [-9.56799540e-03 -7.92325258e-06 -9.99954226e-01 -4.13587342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.013953941935673233 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.53, Z:-4.13 [[-1.37739705e-01 9.90467269e-01 1.53721038e-03 1.90704219e+02] [ 9.90406276e-01 1.37748283e-01 -1.09918101e-02 -1.27531691e+02] [-1.10987763e-02 8.45411255e-06 -9.99938407e-01 -4.13411340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.013952100170583737 Centerline is valid? [True, True] Translation: X:190.71, Y:-127.50, Z:-4.13 [[-2.13765561e-01 9.76881931e-01 2.44481837e-03 1.90705838e+02] [ 9.76819229e-01 2.13779540e-01 -1.10680602e-02 -1.27502681e+02] [-1.13348402e-02 2.21754898e-05 -9.99935758e-01 -4.13379774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.014014939453345948 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.47, Z:-4.13 [[-2.89079007e-01 9.57299765e-01 3.23840509e-03 1.90704130e+02] [ 9.57240788e-01 2.89097144e-01 -1.06261938e-02 -1.27473895e+02] [-1.11086665e-02 2.81238967e-05 -9.99938296e-01 -4.13362450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.014012310408954357 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.45, Z:-4.13 [[-3.64310315e-01 9.31269139e-01 3.97304103e-03 1.90702207e+02] [ 9.31214188e-01 3.64331978e-01 -1.01166450e-02 -1.27445304e+02] [-1.08688251e-02 1.41540656e-05 -9.99940933e-01 -4.13386026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.014082784992007928 Centerline is valid? [True, True] Translation: X:190.70, Y:-127.42, Z:-4.13 [[-4.40247739e-01 8.97864934e-01 4.52631154e-03 1.90698999e+02] [ 8.97816697e-01 4.40271006e-01 -9.30698284e-03 -1.27417117e+02] [-1.03492173e-02 -3.35800753e-05 -9.99946445e-01 -4.13450596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.014756472315577893 Centerline is valid? [True, True] Translation: X:190.69, Y:-127.39, Z:-4.13 [[-5.13378658e-01 8.58144762e-01 5.47006312e-03 1.90691962e+02] [ 8.58094234e-01 5.13407792e-01 -9.31260745e-03 -1.27390710e+02] [-1.07999383e-02 -8.70642922e-05 -9.99941675e-01 -4.13332238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.015060872581920012 Centerline is valid? [True, True] Translation: X:190.68, Y:-127.36, Z:-4.13 [[-5.81373282e-01 8.13615096e-01 5.96510312e-03 1.90680550e+02] [ 8.13570246e-01 5.81403872e-01 -8.54354040e-03 -1.27364051e+02] [-1.04192875e-02 -1.13955719e-04 -9.99945711e-01 -4.13401837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.01566125901303311 Centerline is valid? [True, True] Translation: X:190.67, Y:-127.34, Z:-4.13 [[-6.44795339e-01 7.64327797e-01 6.47995852e-03 1.90667045e+02] [ 7.64287142e-01 6.44827886e-01 -7.88434529e-03 -1.27339444e+02] [-1.02046822e-02 -1.31240123e-04 -9.99947922e-01 -4.13337464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.014525631074024272 Centerline is valid? [True, True] Translation: X:190.65, Y:-127.32, Z:-4.14 [[-7.00090108e-01 7.14029373e-01 5.99127996e-03 1.90647580e+02] [ 7.14002247e-01 7.00115739e-01 -6.22434228e-03 -1.27317724e+02] [-8.63895261e-03 -7.98131076e-05 -9.99962680e-01 -4.13528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.01381211310325917 Centerline is valid? [True, True] Translation: X:190.62, Y:-127.30, Z:-4.14 [[-7.48781564e-01 6.62785927e-01 6.40192420e-03 1.90624144e+02] [ 6.62761551e-01 7.48808931e-01 -5.68429210e-03 -1.27300467e+02] [-8.56128683e-03 -1.33439184e-05 -9.99963351e-01 -4.13500068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.014030183337579143 Centerline is valid? [True, True] Translation: X:190.64, Y:-127.29, Z:-4.14 [[-7.88326197e-01 6.15215605e-01 7.18091577e-03 1.90642183e+02] [ 6.15190854e-01 7.88358900e-01 -5.51889548e-03 -1.27289200e+02] [-9.05644948e-03 6.69438229e-05 -9.99958987e-01 -4.13530936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.014444393718118653 Centerline is valid? [True, True] Translation: X:190.66, Y:-127.27, Z:-4.14 [[-8.27670155e-01 5.61169969e-01 7.09789110e-03 1.90661714e+02] [ 5.61150328e-01 8.27700584e-01 -4.69603827e-03 -1.27271294e+02] [-8.51020426e-03 9.62131920e-05 -9.99963783e-01 -4.13561237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.014764880716783219 Centerline is valid? [True, True] Translation: X:190.68, Y:-127.25, Z:-4.14 [[-8.64190083e-01 5.03108871e-01 7.54743966e-03 1.90677169e+02] [ 5.03090866e-01 8.64223033e-01 -4.25796869e-03 -1.27248600e+02] [-8.66489301e-03 1.17353634e-04 -9.99962452e-01 -4.13506034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.015243049561772252 Centerline is valid? [True, True] Translation: X:190.69, Y:-127.23, Z:-4.13 [[-8.97061791e-01 4.41819862e-01 8.68059786e-03 1.90692378e+02] [ 4.41800711e-01 8.97103778e-01 -4.11611875e-03 -1.27226465e+02] [-9.60598016e-03 1.42681450e-04 -9.99953851e-01 -4.13397455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.015357184971103595 Centerline is valid? [True, True] Translation: X:191.00, Y:-126.58, Z:-5.12 [[-8.79730207e-01 -4.75381607e-01 9.33227033e-03 1.91002685e+02] [ 4.75353723e-01 -8.79779699e-01 -5.14963919e-03 -1.26584030e+02] [ 1.06583857e-02 -9.41636951e-05 9.99943193e-01 -5.12304959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.014645948920578016 Centerline is valid? [True, True] Translation: X:190.99, Y:-126.62, Z:-5.12 [[-8.45000198e-01 -5.34698355e-01 8.50500400e-03 1.90988592e+02] [ 5.34669657e-01 -8.45042988e-01 -5.54130368e-03 -1.26618074e+02] [ 1.01500200e-02 -1.35035135e-04 9.99948478e-01 -5.12184020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.014330669238373825 Centerline is valid? [True, True] Translation: X:190.61, Y:-127.20, Z:-4.14 [[-8.68633000e-01 4.95401335e-01 7.36400373e-03 1.90605118e+02] [ 4.95384495e-01 8.68664209e-01 -4.08581741e-03 -1.27202829e+02] [-8.42096587e-03 9.89374402e-05 -9.99964538e-01 -4.13671985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.014105321855655668 Centerline is valid? [True, True] Translation: X:190.62, Y:-127.18, Z:-4.14 [[-9.02120049e-01 4.31439519e-01 6.27367643e-03 1.90617475e+02] [ 4.31429639e-01 9.02141860e-01 -2.92065600e-03 -1.27175909e+02] [-6.91983255e-03 7.18676286e-05 -9.99976055e-01 -4.13794725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.013703128082516763 Centerline is valid? [True, True] Translation: X:190.63, Y:-127.14, Z:-4.14 [[-9.31726631e-01 3.63110906e-01 5.99625435e-03 1.90626454e+02] [ 3.63103684e-01 9.31745925e-01 -2.29043881e-03 -1.27144106e+02] [-6.41866886e-03 4.31992117e-05 -9.99979399e-01 -4.13848314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.013405302670662839 Centerline is valid? [True, True] Translation: X:190.87, Y:-126.52, Z:-5.12 [[-9.09164378e-01 -4.16411704e-01 4.62878611e-03 1.90869471e+02] [ 4.16405642e-01 -9.09176154e-01 -2.24994379e-03 -1.26517147e+02] [ 5.14528488e-03 -1.18116095e-04 9.99986756e-01 -5.11681415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.013364102232242027 Centerline is valid? [True, True] Translation: X:190.59, Y:-127.12, Z:-4.14 [[-9.35067152e-01 3.54441278e-01 4.56086741e-03 1.90585406e+02] [ 3.54437091e-01 9.35078275e-01 -1.72277114e-03 -1.27120109e+02] [-4.87538923e-03 5.63387408e-06 -9.99988115e-01 -4.13942780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.013320330161781035 Centerline is valid? [True, True] Translation: X:190.59, Y:-127.09, Z:-4.14 [[-9.58546974e-01 2.84892665e-01 4.88551141e-03 1.90589851e+02] [ 2.84888929e-01 9.58559424e-01 -1.45906977e-03 -1.27088420e+02] [-5.09873128e-03 -6.75880261e-06 -9.99987001e-01 -4.13918818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.013457607980096898 Centerline is valid? [True, True] Translation: X:190.78, Y:-126.47, Z:-5.12 [[-9.35002991e-01 -3.54600027e-01 5.31297294e-03 1.90778702e+02] [ 3.54594575e-01 -9.35018085e-01 -1.96698198e-03 -1.26469173e+02] [ 5.66521765e-03 4.48173489e-05 9.99983952e-01 -5.11673725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.013692417473377731 Centerline is valid? [True, True] Translation: X:190.55, Y:-127.07, Z:-4.14 [[-9.61319196e-01 2.75361431e-01 6.44098862e-03 1.90549705e+02] [ 2.75354896e-01 9.61340772e-01 -1.89772790e-03 -1.27066433e+02] [-6.71454604e-03 -5.07645025e-05 -9.99977456e-01 -4.13872251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.013911487060249672 Centerline is valid? [True, True] Translation: X:190.55, Y:-127.03, Z:-4.14 [[-9.78927131e-01 2.04086905e-01 7.08577139e-03 1.90552591e+02] [ 2.04081021e-01 9.78952772e-01 -1.55141822e-03 -1.27032780e+02] [-7.25325969e-03 -7.26539316e-05 -9.99973692e-01 -4.13861405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.01372508513623032 Centerline is valid? [True, True] Translation: X:190.55, Y:-127.00, Z:-4.14 [[-9.90983882e-01 1.33724584e-01 8.28743977e-03 1.90552246e+02] [ 1.33719173e-01 9.91018531e-01 -1.20613820e-03 -1.27004264e+02] [-8.37429671e-03 -8.70739290e-05 -9.99964931e-01 -4.13872218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.013936448524569383 Centerline is valid? [True, True] Translation: X:190.64, Y:-126.40, Z:-5.12 [[-9.75482398e-01 -2.19902224e-01 8.78082726e-03 1.90644218e+02] [ 2.19894522e-01 -9.75521909e-01 -1.84509711e-03 -1.26395479e+02] [ 8.97163033e-03 1.30996065e-04 9.99959746e-01 -5.11765159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.013887901694178462 Centerline is valid? [True, True] Translation: X:190.50, Y:-126.99, Z:-4.14 [[-9.91393805e-01 1.30609974e-01 8.90831426e-03 1.90503675e+02] [ 1.30603907e-01 9.91433824e-01 -1.26186054e-03 -1.26994488e+02] [-8.99681565e-03 -8.75400746e-05 -9.99959524e-01 -4.13794327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.013733542010313038 Centerline is valid? [True, True] Translation: X:190.50, Y:-126.97, Z:-4.14 [[-9.98083308e-01 6.12481329e-02 8.85303761e-03 1.90502490e+02] [ 6.12450594e-02 9.98122568e-01 -6.18120278e-04 -1.26967693e+02] [-8.87427535e-03 -7.47307177e-05 -9.99960620e-01 -4.13849337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.013107597301044346 Centerline is valid? [True, True] Translation: X:190.50, Y:-126.94, Z:-4.14 [[-9.99935078e-01 -7.18463162e-03 8.84428771e-03 1.90501405e+02] [-7.18480372e-03 9.99974189e-01 1.23144801e-05 -1.26943875e+02] [-8.84414790e-03 -5.12307907e-05 -9.99960888e-01 -4.14029547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.012817922071414854 Centerline is valid? [True, True] Translation: X:190.50, Y:-126.92, Z:-4.14 [[-9.97043931e-01 -7.62148025e-02 9.73159778e-03 1.90496766e+02] [-7.62115343e-02 9.97091421e-01 7.06767230e-04 -1.26917348e+02] [-9.75715879e-03 -3.69820213e-05 -9.99952397e-01 -4.13956088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.012647593378379906 Centerline is valid? [True, True] Translation: X:190.45, Y:-126.30, Z:-5.12 [[-9.99929763e-01 4.11650602e-03 1.11141413e-02 1.90453400e+02] [-4.11483135e-03 -9.99991519e-01 1.73541552e-04 -1.26298834e+02] [ 1.11147614e-02 1.27796545e-04 9.99938221e-01 -5.11695799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.012705924871837962 Centerline is valid? [True, True] Translation: X:190.43, Y:-126.93, Z:-4.14 [[-9.97000663e-01 -7.65270854e-02 1.15448469e-02 1.90429282e+02] [-7.65218958e-02 9.97067503e-01 8.91229260e-04 -1.26925723e+02] [-1.15791948e-02 5.12259186e-06 -9.99932959e-01 -4.13802303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.012487359880551963 Centerline is valid? [True, True] Translation: X:190.42, Y:-126.90, Z:-4.14 [[-9.89088114e-01 -1.46858219e-01 1.17203462e-02 1.90422536e+02] [-1.46847786e-01 9.89157552e-01 1.75049269e-03 -1.26898786e+02] [-1.18503432e-02 1.02846270e-05 -9.99929782e-01 -4.13994276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.012397857142028202 Centerline is valid? [True, True] Translation: X:190.41, Y:-126.87, Z:-4.14 [[-9.76106215e-01 -2.17040956e-01 1.04823705e-02 1.90407381e+02] [-2.17028346e-01 9.76162499e-01 2.33956641e-03 -1.26874632e+02] [-1.07402787e-02 8.69377537e-06 -9.99942322e-01 -4.14102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.012383773614127926 Centerline is valid? [True, True] Translation: X:190.39, Y:-126.85, Z:-4.14 [[-9.57742687e-01 -2.87413157e-01 1.10734886e-02 1.90387525e+02] [-2.87393990e-01 9.57806701e-01 3.31920325e-03 -1.26851404e+02] [-1.15602443e-02 -3.51145177e-06 -9.99933178e-01 -4.14010869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.012320487572952966 Centerline is valid? [True, True] Translation: X:190.35, Y:-126.83, Z:-4.14 [[-9.34206563e-01 -3.56585295e-01 1.02482119e-02 1.90353469e+02] [-3.56564014e-01 9.34262772e-01 3.89571929e-03 -1.26833031e+02] [-1.09636791e-02 -1.47370409e-05 -9.99939897e-01 -4.14003256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.012115671838814714 Centerline is valid? [True, True] Translation: X:190.31, Y:-126.82, Z:-4.14 [[-9.05642203e-01 -4.23969305e-01 7.88849516e-03 1.90308351e+02] [-4.23953391e-01 9.05676558e-01 3.67348981e-03 -1.26824011e+02] [-8.70187207e-03 -1.74868636e-05 -9.99962138e-01 -4.14286853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.012071541387500016 Centerline is valid? [True, True] Translation: X:190.24, Y:-126.83, Z:-4.14 [[-8.71872181e-01 -4.89676615e-01 7.46403415e-03 1.90243959e+02] [-4.89658868e-01 8.71904130e-01 4.16906778e-03 -1.26826579e+02] [-8.54941720e-03 -1.99362884e-05 -9.99963453e-01 -4.14267611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.012162227603257064 Centerline is valid? [True, True] Translation: X:190.18, Y:-126.83, Z:-4.14 [[-8.32110678e-01 -5.54567036e-01 6.87187001e-03 1.90177387e+02] [-5.54548509e-01 8.32139052e-01 4.53322385e-03 -1.26834409e+02] [-8.23232791e-03 -3.86412963e-05 -9.99966113e-01 -4.14190414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.012260114753523949 Centerline is valid? [True, True] Translation: X:190.10, Y:-126.85, Z:-4.14 [[-7.87610155e-01 -6.16149488e-01 5.48195054e-03 1.90102966e+02] [-6.16134963e-01 7.87629232e-01 4.23088470e-03 -1.26851977e+02] [-6.92460193e-03 -4.53336338e-05 -9.99976024e-01 -4.14151201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.01245711741925268 Centerline is valid? [True, True] Translation: X:190.02, Y:-126.88, Z:-4.14 [[-7.38349405e-01 -6.74393919e-01 5.74436033e-03 1.90021886e+02] [-6.74374182e-01 7.38371748e-01 5.15989284e-03 -1.26883953e+02] [-7.72127373e-03 -6.40444926e-05 -9.99970189e-01 -4.14011851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.012933196540195707 Centerline is valid? [True, True] Translation: X:189.94, Y:-126.92, Z:-4.14 [[-6.84036905e-01 -7.29423515e-01 5.90327435e-03 1.89943236e+02] [-7.29397493e-01 6.84062372e-01 6.16190823e-03 -1.26923259e+02] [-8.53284861e-03 -9.08608776e-05 -9.99963590e-01 -4.13908995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.013368405631621063 Centerline is valid? [True, True] Translation: X:189.86, Y:-126.97, Z:-4.14 [[-6.25204549e-01 -7.80442490e-01 5.36581976e-03 1.89863119e+02] [-7.80415285e-01 6.25227564e-01 6.51736638e-03 -1.26972752e+02] [-8.44128807e-03 -1.12880645e-04 -9.99964365e-01 -4.13895171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.014287088964130444 Centerline is valid? [True, True] Translation: X:189.79, Y:-127.03, Z:-4.14 [[-5.62456242e-01 -8.26809852e-01 5.33344864e-03 1.89786645e+02] [-8.26775146e-01 5.62481509e-01 7.57696412e-03 -1.27029726e+02] [-9.26467482e-03 -1.47852017e-04 -9.99957071e-01 -4.13784843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.015008869203405526 Centerline is valid? [True, True] Translation: X:189.71, Y:-127.10, Z:-4.14 [[-4.97332606e-01 -8.67544865e-01 5.11734168e-03 1.89710072e+02] [-8.67502419e-01 4.97358904e-01 8.58337241e-03 -1.27100013e+02] [-9.99161610e-03 -1.70515318e-04 -9.99950068e-01 -4.13678628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.014104771402512734 Centerline is valid? [True, True] Translation: X:189.64, Y:-127.18, Z:-4.14 [[-4.29149297e-01 -9.03221953e-01 4.58091713e-03 1.89641635e+02] [-9.03175037e-01 4.29173705e-01 9.20782386e-03 -1.27177772e+02] [-1.02827178e-02 -1.85838867e-04 -9.99947114e-01 -4.13829234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.014499239086038404 Centerline is valid? [True, True] Translation: X:189.58, Y:-127.26, Z:-4.14 [[-3.58683996e-01 -9.33451680e-01 3.70827523e-03 1.89575785e+02] [-9.33406972e-01 3.58703118e-01 9.13766813e-03 -1.27264905e+02] [-9.85974155e-03 -1.83794631e-04 -9.99951375e-01 -4.13966392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.014144897859823615 Centerline is valid? [True, True] Translation: X:189.52, Y:-127.35, Z:-4.14 [[-2.86631298e-01 -9.58037003e-01 2.75676529e-03 1.89519157e+02] [-9.57998155e-01 2.86644506e-01 8.62912211e-03 -1.27354438e+02] [-9.05722991e-03 -1.67599590e-04 -9.99958968e-01 -4.14163184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.014350609975795675 Centerline is valid? [True, True] Translation: X:189.47, Y:-127.46, Z:-4.14 [[-2.13484055e-01 -9.76943987e-01 2.23722749e-03 1.89465567e+02] [-9.76898411e-01 2.13495709e-01 9.43804709e-03 -1.27459635e+02] [-9.69808182e-03 -1.70671412e-04 -9.99952958e-01 -4.14114393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.014223009636617002 Centerline is valid? [True, True] Translation: X:189.42, Y:-127.56, Z:-4.14 [[-1.39715317e-01 -9.90190107e-01 1.78359804e-03 1.89424903e+02] [-9.90125265e-01 1.39726582e-01 1.13332258e-02 -1.27558058e+02] [-1.14712641e-02 -1.82560243e-04 -9.99934186e-01 -4.13983180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.013604376999308235 Centerline is valid? [True, True] Translation: X:189.39, Y:-127.67, Z:-4.14 [[-6.51007835e-02 -9.97878167e-01 1.02566447e-03 1.89390881e+02] [-9.97794806e-01 6.51086037e-02 1.28994012e-02 -1.27669070e+02] [-1.29388104e-02 -1.83641558e-04 -9.99916273e-01 -4.14062050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.013404975417675675 Centerline is valid? [True, True] Translation: X:189.36, Y:-127.78, Z:-4.14 [[ 1.03688428e-02 -9.99946242e-01 3.42049597e-05 1.89363547e+02] [-9.99849996e-01 -1.03673702e-02 1.38745453e-02 -1.27784246e+02] [-1.38734448e-02 -1.78062808e-04 -9.99903743e-01 -4.14122908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.013636242067054357 Centerline is valid? [True, True] Translation: X:189.34, Y:-127.90, Z:-4.14 [[ 8.78172805e-02 -9.96136021e-01 -1.07336506e-03 1.89343916e+02] [-9.96032148e-01 -8.78236251e-02 1.43865185e-02 -1.27899921e+02] [-1.44251961e-02 -1.94278825e-04 -9.99895933e-01 -4.14120097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.013535851993206626 Centerline is valid? [True, True] Translation: X:189.33, Y:-128.01, Z:-4.14 [[ 1.63767631e-01 -9.86496366e-01 -2.25463818e-03 1.89330579e+02] [-9.86383656e-01 -1.63783005e-01 1.49134598e-02 -1.28007725e+02] [-1.50813453e-02 -2.18403735e-04 -9.99886246e-01 -4.14160723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.014136832241699478 Centerline is valid? [True, True] Translation: X:189.33, Y:-128.13, Z:-4.14 [[ 2.40671144e-01 -9.70599788e-01 -3.66771493e-03 1.89327717e+02] [-9.70469898e-01 -2.40698946e-01 1.58806467e-02 -1.28128720e+02] [-1.62965674e-02 -2.62606461e-04 -9.99867168e-01 -4.14034344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.014620843616469335 Centerline is valid? [True, True] Translation: X:189.33, Y:-128.25, Z:-4.14 [[ 3.15795855e-01 -9.48814611e-01 -4.87985888e-03 1.89334067e+02] [-9.48687022e-01 -3.15833427e-01 1.55621550e-02 -1.28250212e+02] [-1.63068226e-02 -2.85005262e-04 -9.99866994e-01 -4.14046982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.01449957882499283 Centerline is valid? [True, True] Translation: X:189.35, Y:-128.36, Z:-4.14 [[ 3.87698785e-01 -9.21769519e-01 -5.53222061e-03 1.89348546e+02] [-9.21665941e-01 -3.87738167e-01 1.38205589e-02 -1.28364970e+02] [-1.48844230e-02 -2.59354569e-04 -9.99889187e-01 -4.14213802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.014159384240556783 Centerline is valid? [True, True] Translation: X:189.37, Y:-128.48, Z:-4.14 [[ 4.56739228e-01 -8.89581897e-01 -5.77289814e-03 1.89373805e+02] [-8.89504679e-01 -4.56775657e-01 1.17228223e-02 -1.28478774e+02] [-1.30653299e-02 -2.19252914e-04 -9.99914621e-01 -4.14388242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.014036456288390573 Centerline is valid? [True, True] Translation: X:189.41, Y:-128.59, Z:-4.14 [[ 5.22522304e-01 -8.52596926e-01 -6.99458257e-03 1.89405087e+02] [-8.52515047e-01 -5.22569074e-01 1.18176802e-02 -1.28588922e+02] [-1.37308703e-02 -2.12014574e-04 -9.99905705e-01 -4.14323147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.013418513834913938 Centerline is valid? [True, True] Translation: X:189.44, Y:-128.69, Z:-4.14 [[ 5.84642164e-01 -8.11247794e-01 -8.39978812e-03 1.89442389e+02] [-8.11159199e-01 -5.84702469e-01 1.19906897e-02 -1.28694341e+02] [-1.46387974e-02 -1.96697356e-04 -9.99892828e-01 -4.14215774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.013158638428262977 Centerline is valid? [True, True] Translation: X:189.49, Y:-128.80, Z:-4.14 [[ 6.43172903e-01 -7.65653346e-01 -1.01770199e-02 1.89485548e+02] [-7.65553104e-01 -6.43253389e-01 1.23903927e-02 -1.28795962e+02] [-1.60331482e-02 -1.78115634e-04 -9.99871445e-01 -4.14109989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.013297080715823209 Centerline is valid? [True, True] Translation: X:189.53, Y:-128.90, Z:-4.14 [[ 6.99897288e-01 -7.14161895e-01 -1.07969542e-02 1.89534811e+02] [-7.14072982e-01 -6.99980539e-01 1.12703613e-02 -1.28895117e+02] [-1.56065204e-02 -1.78282066e-04 -9.99878195e-01 -4.14178849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.01437116820188037 Centerline is valid? [True, True] Translation: X:189.59, Y:-128.99, Z:-4.14 [[ 7.53424364e-01 -6.57441187e-01 -1.10820718e-02 1.89585478e+02] [-6.57366188e-01 -7.53505837e-01 9.93224203e-03 -1.28987841e+02] [-1.48802708e-02 -1.98213824e-04 -9.99889263e-01 -4.13982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.014246438767158268 Centerline is valid? [True, True] Translation: X:189.61, Y:-129.01, Z:-4.14 [[ 8.04232331e-01 -5.94202848e-01 -1.15469687e-02 1.89606362e+02] [-5.94137382e-01 -8.04315187e-01 8.82337226e-03 -1.29014511e+02] [-1.45302752e-02 -2.35555483e-04 -9.99894402e-01 -4.14222056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.01426514281539121 Centerline is valid? [True, True] Translation: X:189.63, Y:-129.04, Z:-4.14 [[ 8.48739126e-01 -5.28662160e-01 -1.25783938e-02 1.89628674e+02] [-5.28599587e-01 -8.48832289e-01 8.13769615e-03 -1.29040657e+02] [-1.49790388e-02 -2.57847339e-04 -9.99887775e-01 -4.14241540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.014593803865783963 Centerline is valid? [True, True] Translation: X:189.65, Y:-129.06, Z:-4.14 [[ 8.87430330e-01 -4.60738882e-01 -1.36781907e-02 1.89653334e+02] [-4.60679500e-01 -8.87535696e-01 7.40186663e-03 -1.29063242e+02] [-1.55502103e-02 -2.67378894e-04 -9.99879052e-01 -4.14190384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.01464911339706283 Centerline is valid? [True, True] Translation: X:189.68, Y:-129.08, Z:-4.14 [[ 9.20423834e-01 -3.90659652e-01 -1.43178789e-02 1.89680579e+02] [-3.90608033e-01 -9.20535154e-01 6.35565534e-03 -1.29081511e+02] [-1.56630089e-02 -2.57218162e-04 -9.99877294e-01 -4.14266855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.014611268264560063 Centerline is valid? [True, True] Translation: X:189.71, Y:-129.10, Z:-4.14 [[ 9.47955248e-01 -3.18023728e-01 -1.55485292e-02 1.89710326e+02] [-3.17976423e-01 -9.48082718e-01 5.49129923e-03 -1.29097648e+02] [-1.64876553e-02 -2.61440224e-04 -9.99864035e-01 -4.14316072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.01471739638398074 Centerline is valid? [True, True] Translation: X:189.74, Y:-129.11, Z:-4.14 [[ 9.69731711e-01 -2.43645545e-01 -1.60392140e-02 1.89740031e+02] [-2.43607933e-01 -9.69864313e-01 4.28830802e-03 -1.29110954e+02] [-1.66006884e-02 -2.51228512e-04 -9.99862168e-01 -4.14196870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.013605978786207461 Centerline is valid? [True, True] Translation: X:189.77, Y:-129.12, Z:-4.14 [[ 9.85672910e-01 -1.67796261e-01 -1.71268356e-02 1.89770668e+02] [-1.67766503e-01 -9.85821663e-01 3.17001777e-03 -1.29124007e+02] [-1.74159227e-02 -2.51291330e-04 -9.99848300e-01 -4.14422243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.013848148049944508 Centerline is valid? [True, True] Translation: X:189.80, Y:-129.14, Z:-4.14 [[ 9.95637469e-01 -9.15197539e-02 -1.81704580e-02 1.89797915e+02] [-9.15001496e-02 -9.95803233e-01 1.90911077e-03 -1.29135225e+02] [-1.82689222e-02 -2.38182588e-04 -9.99833081e-01 -4.14301981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.014018231778281464 Centerline is valid? [True, True] Translation: X:189.83, Y:-129.14, Z:-4.14 [[ 9.99724514e-01 -1.39262717e-02 -1.88932674e-02 1.89825584e+02] [-1.39193533e-02 -9.99902997e-01 4.97643288e-04 -1.29140990e+02] [-1.88983650e-02 -2.34524129e-04 -9.99821382e-01 -4.14174694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.013454840116504893 Centerline is valid? [True, True] Translation: X:189.85, Y:-129.15, Z:-4.14 [[ 9.97767801e-01 6.41531364e-02 -1.85415859e-02 1.89854755e+02] [ 6.41462635e-02 -9.97940040e-01 -9.65786807e-04 -1.29145993e+02] [-1.85653493e-02 -2.25742478e-04 -9.99827624e-01 -4.14352521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.013526616258682827 Centerline is valid? [True, True] Translation: X:189.88, Y:-129.15, Z:-4.14 [[ 9.89612663e-01 1.42358311e-01 -2.00221954e-02 1.89884842e+02] [ 1.42334315e-01 -9.89815159e-01 -2.62577980e-03 -1.29150611e+02] [-2.01920741e-02 -2.51340514e-04 -9.99796088e-01 -4.14287997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.013640486488532198 Centerline is valid? [True, True] Translation: X:189.91, Y:-129.15, Z:-4.14 [[ 9.75594766e-01 2.18536437e-01 -2.13700312e-02 1.89914406e+02] [ 2.18489685e-01 -9.75828757e-01 -4.52719997e-03 -1.29151602e+02] [-2.18428491e-02 -2.52418780e-04 -9.99761385e-01 -4.14092685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.01322094339548889 Centerline is valid? [True, True] Translation: X:189.94, Y:-129.15, Z:-4.14 [[ 9.56000110e-01 2.92615631e-01 -2.09733795e-02 1.89943903e+02] [ 2.92550160e-01 -9.56230122e-01 -6.19336869e-03 -1.29149384e+02] [-2.18676537e-02 -2.14904362e-04 -9.99760851e-01 -4.14251642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.0126574912673827 Centerline is valid? [True, True] Translation: X:189.97, Y:-129.15, Z:-4.15 [[ 9.31254042e-01 3.63913048e-01 -1.82538600e-02 1.89973378e+02] [ 3.63846021e-01 -9.31432915e-01 -6.98557616e-03 -1.29146145e+02] [-1.95443884e-02 -1.36248303e-04 -9.99808981e-01 -4.14542627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.012568328416845801 Centerline is valid? [True, True] Translation: X:190.00, Y:-129.14, Z:-4.15 [[ 9.00637333e-01 4.34300259e-01 -1.53518743e-02 1.90001658e+02] [ 4.34238914e-01 -9.00768159e-01 -7.29992018e-03 -1.29141261e+02] [-1.69988368e-02 -9.18006006e-05 -9.99855505e-01 -4.14589423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.011927368378659079 Centerline is valid? [True, True] Translation: X:190.03, Y:-129.13, Z:-4.15 [[ 8.65327283e-01 5.01060887e-01 -1.21111840e-02 1.90029369e+02] [ 5.01012399e-01 -8.65412032e-01 -6.97065632e-03 -1.29133513e+02] [-1.39738876e-02 -3.59542772e-05 -9.99902360e-01 -4.14856372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.011905718036745085 Centerline is valid? [True, True] Translation: X:190.06, Y:-129.12, Z:-4.15 [[ 8.24787029e-01 5.65290126e-01 -1.31692944e-02 1.90057278e+02] [ 5.65218121e-01 -8.24892159e-01 -9.02231942e-03 -1.29124897e+02] [-1.59634758e-02 -2.03180256e-06 -9.99872576e-01 -4.14687072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.012044209999384471 Centerline is valid? [True, True] Translation: X:190.08, Y:-129.11, Z:-4.15 [[ 7.79791075e-01 6.25913624e-01 -1.25704038e-02 1.90083226e+02] [ 6.25831396e-01 -7.79892386e-01 -1.01454673e-02 -1.29113856e+02] [-1.61537484e-02 4.43915655e-05 -9.99869519e-01 -4.14588051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.01243825654102232 Centerline is valid? [True, True] Translation: X:190.11, Y:-129.10, Z:-4.14 [[ 7.29907053e-01 6.83435640e-01 -1.23052864e-02 1.90107155e+02] [ 6.83336593e-01 -7.30010767e-01 -1.16353546e-02 -1.29099763e+02] [-1.69350076e-02 8.40748966e-05 -9.99856589e-01 -4.14431970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.012224863906579135 Centerline is valid? [True, True] Translation: X:190.13, Y:-129.09, Z:-4.15 [[ 6.74629253e-01 7.38064024e-01 -1.16990815e-02 1.90133240e+02] [ 7.37950529e-01 -6.74730678e-01 -1.29433002e-02 -1.29085647e+02] [-1.74467134e-02 9.85855040e-05 -9.99847790e-01 -4.14518755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.012389343866117083 Centerline is valid? [True, True] Translation: X:190.16, Y:-129.07, Z:-4.14 [[ 6.15507404e-01 7.88061651e-01 -1.04627568e-02 1.90157614e+02] [ 7.87944684e-01 -6.15596313e-01 -1.35776863e-02 -1.29069449e+02] [-1.71408884e-02 1.13092868e-04 -9.99853078e-01 -4.14377909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.012244113820000221 Centerline is valid? [True, True] Translation: X:190.18, Y:-129.05, Z:-4.14 [[ 5.51980692e-01 8.33813991e-01 -8.45837687e-03 1.90180568e+02] [ 8.33713240e-01 -5.52045486e-01 -1.29620807e-02 -1.29051730e+02] [-1.54773730e-02 1.02957480e-04 -9.99880213e-01 -4.14465677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.011977131510857901 Centerline is valid? [True, True] Translation: X:190.20, Y:-129.03, Z:-4.15 [[ 4.83696764e-01 8.75213485e-01 -6.22865478e-03 1.90201310e+02] [ 8.75139143e-01 -4.83736861e-01 -1.14074132e-02 -1.29033290e+02] [-1.29969518e-02 6.67892587e-05 -9.99915534e-01 -4.14519645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.011394941807613369 Centerline is valid? [True, True] Translation: X:190.22, Y:-129.01, Z:-4.15 [[ 4.09709487e-01 9.12202152e-01 -5.03683988e-03 1.90222457e+02] [ 9.12132942e-01 -4.09740447e-01 -1.12366625e-02 -1.29012878e+02] [-1.23139047e-02 9.49965158e-06 -9.99924181e-01 -4.14545601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.011329370980951667 Centerline is valid? [True, True] Translation: X:190.24, Y:-128.99, Z:-4.15 [[ 3.33220128e-01 9.42841203e-01 -3.84867792e-03 1.90240148e+02] [ 9.42779616e-01 -3.33242351e-01 -1.07764425e-02 -1.28989183e+02] [-1.14430165e-02 -3.75275467e-05 -9.99934526e-01 -4.14598306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.012197423969165655 Centerline is valid? [True, True] Translation: X:190.26, Y:-128.97, Z:-4.15 [[ 2.51710909e-01 9.67799261e-01 -2.49181048e-03 1.90257775e+02] [ 9.67755582e-01 -2.51723224e-01 -9.19527281e-03 -1.28965145e+02] [-9.52642479e-03 -9.69130287e-05 -9.99954618e-01 -4.14631726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.01375668302826102 Centerline is valid? [True, True] Translation: X:190.28, Y:-128.94, Z:-4.15 [[ 1.67412328e-01 9.85885329e-01 -1.79730230e-03 1.90275476e+02] [ 9.85839189e-01 -1.67421885e-01 -9.53971479e-03 -1.28938855e+02] [-9.70597260e-03 -1.74785179e-04 -9.99952881e-01 -4.14668740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.015660226865967825 Centerline is valid? [True, True] Translation: X:190.29, Y:-128.91, Z:-4.14 [[ 8.55677784e-02 9.96331491e-01 -1.31001565e-03 1.90286927e+02] [ 9.96257956e-01 -8.55773827e-02 -1.21077318e-02 -1.28912039e+02] [-1.21754221e-02 -2.69081807e-04 -9.99925841e-01 -4.14323182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.016361634104739096 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.88, Z:-4.14 [[ 3.25138515e-03 9.99994650e-01 -3.59374202e-04 1.90295811e+02] [ 9.99920115e-01 -3.25553198e-03 -1.22133177e-02 -1.28883120e+02] [-1.22144223e-02 -3.19635294e-04 -9.99925350e-01 -4.14317991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.01583627069674686 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.85, Z:-4.14 [[-7.29910553e-02 9.97332461e-01 5.17475583e-04 1.90300592e+02] [ 9.97276560e-01 7.29924445e-02 -1.05625096e-02 -1.28853682e+02] [-1.05721055e-02 -2.54902452e-04 -9.99944081e-01 -4.14295224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.01336622448524982 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.82, Z:-4.15 [[-1.44983489e-01 9.89433666e-01 8.99143481e-04 1.90297922e+02] [ 9.89408740e-01 1.44986220e-01 -7.02429187e-03 -1.28824435e+02] [-7.08043427e-03 -1.28785922e-04 -9.99974925e-01 -4.14667637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.012682087548735496 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.79, Z:-4.15 [[-2.20725502e-01 9.75334758e-01 1.53708420e-03 1.90300200e+02] [ 9.75306956e-01 2.20730818e-01 -7.36535056e-03 -1.28793669e+02] [-7.52296425e-03 -1.26591792e-04 -9.99971694e-01 -4.14646144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.012942547513747609 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.76, Z:-4.15 [[-2.95931847e-01 9.55206780e-01 2.08537244e-03 1.90301241e+02] [ 9.55180100e-01 2.95939170e-01 -7.14032031e-03 -1.28764409e+02] [-7.43762576e-03 -1.21141921e-04 -9.99972333e-01 -4.14570836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.013183021520479182 Centerline is valid? [True, True] Translation: X:190.30, Y:-128.74, Z:-4.15 [[-3.69350047e-01 9.29286661e-01 2.61634633e-03 1.90297164e+02] [ 9.29261069e-01 3.69359295e-01 -6.89757054e-03 -1.28736515e+02] [-7.37619213e-03 -1.16349210e-04 -9.99972789e-01 -4.14545612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.012891984177827784 Centerline is valid? [True, True] Translation: X:190.29, Y:-128.71, Z:-4.15 [[-4.41241675e-01 8.97385485e-01 2.25313938e-03 1.90291194e+02] [ 8.97372786e-01 4.41247419e-01 -4.77471778e-03 -1.28707523e+02] [-5.27895436e-03 -8.48985083e-05 -9.99986063e-01 -4.14752845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.012221799862428852 Centerline is valid? [True, True] Translation: X:190.28, Y:-128.68, Z:-4.15 [[-5.08396321e-01 8.61121820e-01 1.54646682e-03 1.90283982e+02] [ 8.61117570e-01 5.08398671e-01 -2.70606157e-03 -1.28678011e+02] [-3.11647034e-03 -4.40619941e-05 -9.99995143e-01 -4.14712245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.012315834176979842 Centerline is valid? [True, True] Translation: X:190.27, Y:-128.65, Z:-4.15 [[-5.71559467e-01 8.20560645e-01 -6.48455413e-05 1.90272726e+02] [ 8.20560640e-01 5.71559470e-01 9.32723917e-05 -1.28651989e+02] [ 1.13598737e-04 1.01019621e-07 -9.99999994e-01 -4.14970856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.012513689353167823 Centerline is valid? [True, True] Translation: X:190.26, Y:-128.62, Z:-4.15 [[-6.36450838e-01 7.71315583e-01 -1.61289837e-03 1.90263679e+02] [ 7.71312971e-01 6.36452881e-01 2.00762796e-03 -1.28621497e+02] [ 2.57504855e-03 3.37070684e-05 -9.99996684e-01 -4.14955994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:190.26, Y:-128.58, Z:-4.14 [[-7.03753021e-01 7.10444412e-01 6.49754846e-04 1.90264597e+02] [ 7.10444076e-01 7.03753321e-01 -6.92380117e-04 -1.28579971e+02] [-9.49164716e-04 -2.56501182e-05 -9.99999549e-01 -4.14252381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:190.25, Y:-128.55, Z:-4.14 [[-7.57254402e-01 6.53119651e-01 7.01977586e-04 1.90249269e+02] [ 6.53119339e-01 7.57254727e-01 -6.39311172e-04 -1.28551318e+02] [-9.49122534e-04 -2.56460623e-05 -9.99999549e-01 -4.14252460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.01638706029432173 Centerline is valid? [True, True] Translation: X:190.67, Y:-128.09, Z:-5.11 [[-6.74149336e-01 -7.38594925e-01 4.57581725e-04 1.90669534e+02] [ 7.38594758e-01 -6.74149491e-01 -4.97819324e-04 -1.28094023e+02] [ 6.76165314e-04 2.36289694e-06 9.99999771e-01 -5.11398567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.01638706029432173 Centerline is valid? [True, True] Translation: X:190.63, Y:-128.05, Z:-5.11 [[-6.74380433e-01 -7.38383919e-01 4.68730768e-04 1.90630094e+02] [ 7.38383758e-01 -6.74380596e-01 -4.87097469e-04 -1.28053191e+02] [ 6.75767873e-04 1.76141843e-05 9.99999772e-01 -5.11399133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.01749575727669334 Centerline is valid? [True, True] Translation: X:190.59, Y:-128.01, Z:-5.11 [[-6.74625423e-01 -7.38160033e-01 5.51622426e-04 1.90588905e+02] [ 7.38159811e-01 -6.74625648e-01 -5.72864905e-04 -1.28014095e+02] [ 7.95004614e-04 2.07162773e-05 9.99999684e-01 -5.11364728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.016845853205885702 Centerline is valid? [True, True] Translation: X:190.55, Y:-127.97, Z:-5.11 [[-6.74782027e-01 -7.38016982e-01 -3.88161532e-04 1.90549406e+02] [ 7.38016872e-01 -6.74782139e-01 4.02869272e-04 -1.27973227e+02] [-5.59248832e-04 -1.46208157e-05 9.99999844e-01 -5.11231385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.015483833380655005 Centerline is valid? [True, True] Translation: X:190.51, Y:-127.93, Z:-5.11 [[-6.76140500e-01 -7.36772668e-01 -2.45576212e-04 1.90508705e+02] [ 7.36772624e-01 -6.76140544e-01 2.54729437e-04 -1.27932195e+02] [-3.53721720e-04 -8.70094170e-06 9.99999937e-01 -5.11307437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.014894259546062891 Centerline is valid? [True, True] Translation: X:190.47, Y:-127.89, Z:-5.11 [[-6.77943232e-01 -7.35113996e-01 -6.22366386e-04 1.90468421e+02] [ 7.35113713e-01 -6.77943518e-01 6.45188909e-04 -1.27889955e+02] [-8.96216654e-04 -2.01086097e-05 9.99999598e-01 -5.11206654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.014894259546062891 Centerline is valid? [True, True] Translation: X:190.43, Y:-127.85, Z:-5.11 [[-6.78177413e-01 -7.34897958e-01 -6.22571594e-04 1.90428931e+02] [ 7.34897675e-01 -6.78177699e-01 6.44990896e-04 -1.27849176e+02] [-8.96216663e-04 -2.01081597e-05 9.99999598e-01 -5.11206726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.015529172569153905 Centerline is valid? [True, True] Translation: X:190.39, Y:-127.81, Z:-5.11 [[-6.78172751e-01 -7.34902417e-01 -3.95898584e-04 1.90388255e+02] [ 7.34902303e-01 -6.78172867e-01 4.09885926e-04 -1.27809645e+02] [-5.69713836e-04 -1.29733153e-05 9.99999838e-01 -5.11255589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.015893284749283542 Centerline is valid? [True, True] Translation: X:190.35, Y:-127.77, Z:-5.11 [[-6.77458927e-01 -7.35560445e-01 4.82415425e-04 1.90347062e+02] [ 7.35560276e-01 -6.77459099e-01 -4.99151199e-04 -1.27769415e+02] [ 6.93972597e-04 1.66911877e-05 9.99999759e-01 -5.11431266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.016963601942106547 Centerline is valid? [True, True] Translation: X:190.31, Y:-127.73, Z:-5.11 [[-6.76590778e-01 -7.36359209e-01 1.85393711e-04 1.90305336e+02] [ 7.36359184e-01 -6.76590803e-01 -1.91710404e-04 -1.27729762e+02] [ 2.66603401e-04 6.80687017e-06 9.99999964e-01 -5.11401975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.01764607820414111 Centerline is valid? [True, True] Translation: X:190.26, Y:-127.69, Z:-5.11 [[-6.74410979e-01 -7.38356143e-01 -1.94267972e-04 1.90262404e+02] [ 7.38356116e-01 -6.74411007e-01 2.00778957e-04 -1.27691242e+02] [-2.79262835e-04 -8.03141208e-06 9.99999961e-01 -5.11399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.020427815804466072 Centerline is valid? [True, True] Translation: X:190.22, Y:-127.65, Z:-5.11 [[-6.73625553e-01 -7.39072715e-01 3.69832449e-04 1.90219488e+02] [ 7.39072616e-01 -6.73625654e-01 -3.81989024e-04 -1.27653104e+02] [ 5.31446290e-04 1.60154687e-05 9.99999859e-01 -5.11467173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.019408126113706646 Centerline is valid? [True, True] Translation: X:190.18, Y:-127.61, Z:-5.12 [[-6.71414085e-01 -7.41079799e-01 1.96433030e-03 1.90180085e+02] [ 7.41077031e-01 -6.71416951e-01 -2.02778419e-03 -1.27610733e+02] [ 2.82163456e-03 9.42372005e-05 9.99996015e-01 -5.11625527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.020730601592426217 Centerline is valid? [True, True] Translation: X:190.14, Y:-127.57, Z:-5.12 [[-6.69933800e-01 -7.42413795e-01 3.23440082e-03 1.90136642e+02] [ 7.42406314e-01 -6.69941587e-01 -3.33704149e-03 -1.27572226e+02] [ 4.64432526e-03 1.65642700e-04 9.99989201e-01 -5.11908187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.02124394260256546 Centerline is valid? [True, True] Translation: X:190.10, Y:-127.53, Z:-5.12 [[-6.69737972e-01 -7.42590213e-01 3.28999334e-03 1.90095756e+02] [ 7.42582484e-01 -6.69746031e-01 -3.39253329e-03 -1.27531383e+02] [ 4.72272200e-03 1.70983059e-04 9.99988833e-01 -5.11961021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.02193116926960533 Centerline is valid? [True, True] Translation: X:190.06, Y:-127.49, Z:-5.12 [[-6.70280102e-01 -7.42102620e-01 2.87854878e-03 1.90057538e+02] [ 7.42096704e-01 -6.70286267e-01 -2.96685818e-03 -1.27489543e+02] [ 4.13116495e-03 1.47535559e-04 9.99991456e-01 -5.11852401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.02024712185513726 Centerline is valid? [True, True] Translation: X:190.02, Y:-127.45, Z:-5.12 [[-6.72506695e-01 -7.40088625e-01 1.89018024e-03 1.90019846e+02] [ 7.40086069e-01 -6.72509345e-01 -1.94707896e-03 -1.27445257e+02] [ 2.71217486e-03 8.94724313e-05 9.99996318e-01 -5.11764230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.017926377593090577 Centerline is valid? [True, True] Translation: X:189.98, Y:-127.40, Z:-5.12 [[-6.75679066e-01 -7.37195770e-01 4.42646029e-04 1.89983332e+02] [ 7.37195630e-01 -6.75679211e-01 -4.55706185e-04 -1.27399836e+02] [ 6.35031391e-04 1.84055890e-05 9.99999798e-01 -5.11583315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.01711491247158135 Centerline is valid? [True, True] Translation: X:189.95, Y:-127.36, Z:-5.12 [[-6.78401365e-01 -7.34690410e-01 1.26088604e-03 1.89946340e+02] [ 7.34689266e-01 -6.78402535e-01 -1.29737110e-03 -1.27355280e+02] [ 1.80855439e-03 4.62211104e-05 9.99998364e-01 -5.11700882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.016326258805676 Centerline is valid? [True, True] Translation: X:189.91, Y:-127.31, Z:-5.12 [[-6.79578073e-01 -7.33599329e-01 2.38069033e-03 1.89908767e+02] [ 7.33595249e-01 -6.79582238e-01 -2.44804835e-03 -1.27311624e+02] [ 3.41376148e-03 8.28231344e-05 9.99994170e-01 -5.11853041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.01599721259775156 Centerline is valid? [True, True] Translation: X:189.87, Y:-127.27, Z:-5.12 [[-6.80557039e-01 -7.32687877e-01 3.25448221e-03 1.89870265e+02] [ 7.32680252e-01 -6.80564812e-01 -3.34446634e-03 -1.27269221e+02] [ 4.66533602e-03 1.08394739e-04 9.99989111e-01 -5.11999760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.015058542148530895 Centerline is valid? [True, True] Translation: X:189.83, Y:-127.22, Z:-5.12 [[-6.83599076e-01 -7.29848858e-01 3.59814804e-03 1.89834016e+02] [ 7.29839509e-01 -6.83608539e-01 -3.69557330e-03 -1.27223590e+02] [ 5.15693468e-03 9.97800993e-05 9.99986698e-01 -5.12032511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.013478673140716435 Centerline is valid? [True, True] Translation: X:189.80, Y:-127.18, Z:-5.12 [[-6.88651104e-01 -7.25081062e-01 4.13650646e-03 1.89800862e+02] [ 7.25068633e-01 -6.88663523e-01 -4.24607538e-03 -1.27175300e+02] [ 5.92740995e-03 7.51865872e-05 9.99982430e-01 -5.11989474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.012746719002240805 Centerline is valid? [True, True] Translation: X:189.77, Y:-127.13, Z:-5.12 [[-6.92968471e-01 -7.20955144e-01 4.28700243e-03 1.89765049e+02] [ 7.20941730e-01 -6.92981731e-01 -4.39811322e-03 -1.27129134e+02] [ 6.14165671e-03 4.29251556e-05 9.99981139e-01 -5.11972169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.012612496860664393 Centerline is valid? [True, True] Translation: X:189.73, Y:-127.08, Z:-5.12 [[-6.99442284e-01 -7.14674332e-01 4.59235775e-03 1.89731444e+02] [ 7.14658822e-01 -6.99457360e-01 -4.70838748e-03 -1.27081632e+02] [ 6.57712210e-03 -1.12763140e-05 9.99978370e-01 -5.11953299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.013590466070462484 Centerline is valid? [True, True] Translation: X:189.70, Y:-127.03, Z:-5.12 [[-7.06213202e-01 -7.07980812e-01 5.10728189e-03 1.89698248e+02] [ 7.07961473e-01 -7.06231665e-01 -5.23337613e-03 -1.27032917e+02] [ 7.31205407e-03 -8.01205001e-05 9.99973263e-01 -5.11921001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.015520459420695732 Centerline is valid? [True, True] Translation: X:189.66, Y:-126.99, Z:-5.12 [[-7.12537239e-01 -7.01607493e-01 6.13257367e-03 1.89664367e+02] [ 7.01579404e-01 -7.12563608e-01 -6.28043962e-03 -1.26985036e+02] [ 8.77625232e-03 -1.72559730e-04 9.99961473e-01 -5.11989418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.016713269687499928 Centerline is valid? [True, True] Translation: X:189.63, Y:-126.94, Z:-5.12 [[-7.15585109e-01 -6.98492650e-01 6.78018037e-03 1.89626969e+02] [ 6.98458212e-01 -7.15617192e-01 -6.93982486e-03 -1.26940327e+02] [ 9.69943029e-03 -2.30362665e-04 9.99952933e-01 -5.11971959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.017538947641749944 Centerline is valid? [True, True] Translation: X:189.59, Y:-126.90, Z:-5.12 [[-7.17113272e-01 -6.96926326e-01 6.50011480e-03 1.89588683e+02] [ 6.96894645e-01 -7.17142691e-01 -6.64931073e-03 -1.26897245e+02] [ 9.29558952e-03 -2.38413780e-04 9.99956767e-01 -5.11912386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.018040985271520954 Centerline is valid? [True, True] Translation: X:189.55, Y:-126.86, Z:-5.12 [[-7.17785547e-01 -6.96239097e-01 5.91852222e-03 1.89550510e+02] [ 6.96212840e-01 -7.17809912e-01 -6.05070846e-03 -1.26855119e+02] [ 8.46111371e-03 -2.22559911e-04 9.99964179e-01 -5.11844617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.01752314559262093 Centerline is valid? [True, True] Translation: X:189.51, Y:-126.81, Z:-5.12 [[-7.15507869e-01 -6.98574058e-01 6.54032094e-03 1.89510663e+02] [ 6.98542122e-01 -7.15537728e-01 -6.68303486e-03 -1.26814320e+02] [ 9.34844117e-03 -2.13074362e-04 9.99956280e-01 -5.11835350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.015021059534554322 Centerline is valid? [True, True] Translation: X:189.47, Y:-126.78, Z:-5.12 [[-7.09447418e-01 -7.04728617e-01 6.47586034e-03 1.89466502e+02] [ 7.04697598e-01 -7.09476962e-01 -6.61324883e-03 -1.26777649e+02] [ 9.25501943e-03 -1.28229078e-04 9.99957163e-01 -5.11824996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.012933520089948993 Centerline is valid? [True, True] Translation: X:189.42, Y:-126.74, Z:-5.12 [[-6.99948168e-01 -7.14162176e-01 6.70431493e-03 1.89417308e+02] [ 7.14129391e-01 -6.99980276e-01 -6.84304262e-03 -1.26743921e+02] [ 9.57993042e-03 -2.02681246e-06 9.99954111e-01 -5.11788578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.013593406805590853 Centerline is valid? [True, True] Translation: X:189.37, Y:-126.71, Z:-5.12 [[-6.93042014e-01 -7.20857550e-01 7.56043335e-03 1.89371957e+02] [ 7.20816296e-01 -6.93083243e-01 -7.71264212e-03 -1.26707182e+02] [ 1.07997260e-02 1.04498539e-04 9.99941676e-01 -5.11782911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.017357018580556906 Centerline is valid? [True, True] Translation: X:189.32, Y:-126.68, Z:-5.12 [[-6.83328085e-01 -7.30057510e-01 8.87467734e-03 1.89324258e+02] [ 7.30001484e-01 -6.83385649e-01 -9.04918774e-03 -1.26675210e+02] [ 1.26712546e-02 2.94963498e-04 9.99919673e-01 -5.12036181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.019033176066758046 Centerline is valid? [True, True] Translation: X:189.28, Y:-126.64, Z:-5.12 [[-6.77066555e-01 -7.35858888e-01 9.62170264e-03 1.89280278e+02] [ 7.35793693e-01 -6.77134774e-01 -9.80501528e-03 -1.26637407e+02] [ 1.37302971e-02 4.40940206e-04 9.99905638e-01 -5.12033418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.020114495041885783 Centerline is valid? [True, True] Translation: X:189.24, Y:-126.60, Z:-5.12 [[-6.75089645e-01 -7.37665340e-01 1.01890876e-02 1.89238618e+02] [ 7.37592497e-01 -6.75166341e-01 -1.03788969e-02 -1.26597589e+02] [ 1.45354815e-02 5.08708780e-04 9.99894225e-01 -5.12006124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.020419968397609314 Centerline is valid? [True, True] Translation: X:189.20, Y:-126.56, Z:-5.12 [[-6.75780667e-01 -7.37034312e-01 1.00455407e-02 1.89198947e+02] [ 7.36963529e-01 -6.75855148e-01 -1.02262618e-02 -1.26555941e+02] [ 1.43264363e-02 4.92487087e-04 9.99897250e-01 -5.11925413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.02036270414514883 Centerline is valid? [True, True] Translation: X:189.16, Y:-126.51, Z:-5.12 [[-6.77622871e-01 -7.35327570e-01 1.09822386e-02 1.89160326e+02] [ 7.35242839e-01 -6.77711673e-01 -1.11738574e-02 -1.26513897e+02] [ 1.56592367e-02 5.02950991e-04 9.99877260e-01 -5.12058653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.018340151471846762 Centerline is valid? [True, True] Translation: X:189.12, Y:-126.47, Z:-5.12 [[-6.80023537e-01 -7.33091869e-01 1.20125499e-02 1.89123408e+02] [ 7.32990254e-01 -6.80129446e-01 -1.22157063e-02 -1.26468118e+02] [ 1.71253239e-02 4.98114180e-04 9.99853227e-01 -5.12122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.017274299295900356 Centerline is valid? [True, True] Translation: X:189.09, Y:-126.42, Z:-5.12 [[-6.82348769e-01 -7.30917148e-01 1.26601875e-02 1.89086536e+02] [ 7.30804036e-01 -6.82466043e-01 -1.28670494e-02 -1.26423009e+02] [ 1.80448951e-02 4.72300827e-04 9.99837066e-01 -5.12163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.015924763031488355 Centerline is valid? [True, True] Translation: X:189.05, Y:-126.38, Z:-5.12 [[-6.86574497e-01 -7.26938273e-01 1.32743256e-02 1.89051067e+02] [ 7.26813320e-01 -6.86702698e-01 -1.34834390e-02 -1.26376703e+02] [ 1.89171431e-02 3.90571299e-04 9.99820979e-01 -5.12208161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.015187865049093219 Centerline is valid? [True, True] Translation: X:189.01, Y:-126.33, Z:-5.12 [[-6.88247555e-01 -7.25364159e-01 1.27334183e-02 1.89014275e+02] [ 7.25249045e-01 -6.88365254e-01 -1.29266840e-02 -1.26331921e+02] [ 1.81417960e-02 3.38140744e-04 9.99835367e-01 -5.11961226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.015279885456465324 Centerline is valid? [True, True] Translation: X:188.97, Y:-126.29, Z:-5.12 [[-6.88167580e-01 -7.25449159e-01 1.22024526e-02 1.88973752e+02] [ 7.25343596e-01 -6.88275677e-01 -1.23798196e-02 -1.26291943e+02] [ 1.73795811e-02 3.31580351e-04 9.99848909e-01 -5.11880575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.0157842409987261 Centerline is valid? [True, True] Translation: X:188.93, Y:-126.25, Z:-5.12 [[-6.87232190e-01 -7.26357089e-01 1.08303401e-02 1.88929329e+02] [ 7.26274152e-01 -6.87317450e-01 -1.09808648e-02 -1.26254697e+02] [ 1.54199108e-02 3.19392309e-04 9.99881055e-01 -5.11842377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.016111091483623097 Centerline is valid? [True, True] Translation: X:188.89, Y:-126.22, Z:-5.12 [[-6.87607142e-01 -7.26007052e-01 1.04966136e-02 1.88887434e+02] [ 7.25929211e-01 -6.87687186e-01 -1.06355475e-02 -1.26216511e+02] [ 1.49398692e-02 3.06719943e-04 9.99888347e-01 -5.11878549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.016001423164544608 Centerline is valid? [True, True] Translation: X:188.85, Y:-126.18, Z:-5.12 [[-6.88763649e-01 -7.24913003e-01 1.02846162e-02 1.88848153e+02] [ 7.24838245e-01 -6.88840372e-01 -1.04144073e-02 -1.26175208e+02] [ 1.46339981e-02 2.81618030e-04 9.99892878e-01 -5.11889061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.015391208965175287 Centerline is valid? [True, True] Translation: X:188.81, Y:-126.13, Z:-5.12 [[-6.91017662e-01 -7.22767363e-01 1.00960151e-02 1.88808507e+02] [ 7.22695171e-01 -6.91091371e-01 -1.02179862e-02 -1.26132884e+02] [ 1.43624958e-02 2.35532423e-04 9.99896826e-01 -5.11854400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.014363937662294646 Centerline is valid? [True, True] Translation: X:188.77, Y:-126.09, Z:-5.12 [[-6.94414089e-01 -7.19513024e-01 9.49112576e-03 1.88769804e+02] [ 7.19448999e-01 -6.94478928e-01 -9.59981157e-03 -1.26092182e+02] [ 1.34985763e-02 1.62136517e-04 9.99908877e-01 -5.11842609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.013326589263265595 Centerline is valid? [True, True] Translation: X:188.73, Y:-126.05, Z:-5.12 [[-6.99322429e-01 -7.14746838e-01 9.22482581e-03 1.88732350e+02] [ 7.14686009e-01 -6.99383266e-01 -9.32505091e-03 -1.26049268e+02] [ 1.31167394e-02 7.16366885e-05 9.99913969e-01 -5.11823936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.012868983996087508 Centerline is valid? [True, True] Translation: X:188.70, Y:-126.00, Z:-5.12 [[-7.03087843e-01 -7.11048650e-01 8.79215013e-03 1.88695022e+02] [ 7.10993166e-01 -7.03142814e-01 -8.88261019e-03 -1.26004974e+02] [ 1.24981052e-02 5.90341586e-06 9.99921896e-01 -5.11623694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.012990749894901538 Centerline is valid? [True, True] Translation: X:188.66, Y:-125.96, Z:-5.12 [[-7.07439407e-01 -7.06716316e-01 9.02961426e-03 1.88656806e+02] [ 7.06657514e-01 -7.07497027e-01 -9.11673211e-03 -1.25962316e+02] [ 1.28313686e-02 -6.86907952e-05 9.99917672e-01 -5.11552169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.014298771484341471 Centerline is valid? [True, True] Translation: X:188.62, Y:-125.92, Z:-5.12 [[-7.09778700e-01 -7.04357702e-01 9.71724522e-03 1.88617373e+02] [ 7.04289460e-01 -7.09845204e-01 -9.80522027e-03 -1.25920482e+02] [ 1.38041223e-02 -1.15783106e-04 9.99904712e-01 -5.11960848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.013649277552874057 Centerline is valid? [True, True] Translation: X:188.57, Y:-125.88, Z:-5.12 [[-7.08993809e-01 -7.05133920e-01 1.06739897e-02 1.88573565e+02] [ 7.05051764e-01 -7.09074146e-01 -1.07640909e-02 -1.25883207e+02] [ 1.51587757e-02 -1.05958488e-04 9.99885094e-01 -5.11922779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.013115567688780862 Centerline is valid? [True, True] Translation: X:188.53, Y:-125.85, Z:-5.12 [[-7.07078985e-01 -7.07059675e-01 1.02919449e-02 1.88531168e+02] [ 7.06983594e-01 -7.07153882e-01 -1.03723215e-02 -1.25845140e+02] [ 1.46118391e-02 -5.78143674e-05 9.99893240e-01 -5.11760761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.01293788945929434 Centerline is valid? [True, True] Translation: X:188.49, Y:-125.81, Z:-5.12 [[-7.02568090e-01 -7.11558975e-01 9.05006173e-03 1.88487013e+02] [ 7.11500595e-01 -7.02626376e-01 -9.11480149e-03 -1.25809740e+02] [ 1.28445309e-02 3.53556291e-05 9.99917505e-01 -5.11759843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.013712592660222907 Centerline is valid? [True, True] Translation: X:188.44, Y:-125.77, Z:-5.12 [[-6.97719375e-01 -7.16321688e-01 8.42100310e-03 1.88441584e+02] [ 7.16271544e-01 -6.97770181e-01 -8.47638113e-03 -1.25773784e+02] [ 1.19477405e-02 1.17589546e-04 9.99928616e-01 -5.11806575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.01412494167463441 Centerline is valid? [True, True] Translation: X:188.40, Y:-125.74, Z:-5.12 [[-6.94664052e-01 -7.19289051e-01 8.06944516e-03 1.88397965e+02] [ 7.19243258e-01 -6.94710900e-01 -8.11795095e-03 -1.25735028e+02] [ 1.14450847e-02 1.64645330e-04 9.99934489e-01 -5.11759141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.015264527606847824 Centerline is valid? [True, True] Translation: X:188.35, Y:-125.70, Z:-5.12 [[-6.91010043e-01 -7.22803166e-01 7.79123141e-03 1.88353331e+02] [ 7.22760747e-01 -6.91053931e-01 -7.83367594e-03 -1.25697139e+02] [ 1.10463669e-02 2.18047491e-04 9.99938963e-01 -5.11737894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.01686262334740159 Centerline is valid? [True, True] Translation: X:188.31, Y:-125.66, Z:-5.12 [[-6.88844516e-01 -7.24855146e-01 8.84589793e-03 1.88310386e+02] [ 7.24800699e-01 -6.88901252e-01 -8.88887694e-03 -1.25659282e+02] [ 1.25370983e-02 2.88458869e-04 9.99921366e-01 -5.11953522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.01726923629364288 Centerline is valid? [True, True] Translation: X:188.27, Y:-125.62, Z:-5.12 [[-6.88529149e-01 -7.25152719e-01 9.00806305e-03 1.88268922e+02] [ 7.25096345e-01 -6.88588007e-01 -9.04693406e-03 -1.25619237e+02] [ 1.27632530e-02 3.02635788e-04 9.99918501e-01 -5.12058329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.016070304254866746 Centerline is valid? [True, True] Translation: X:188.23, Y:-125.57, Z:-5.12 [[-6.90058171e-01 -7.23703369e-01 8.55299480e-03 1.88231149e+02] [ 7.23652494e-01 -6.90111124e-01 -8.58515101e-03 -1.25574655e+02] [ 1.21156196e-02 2.65142416e-04 9.99926568e-01 -5.11938154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.014455977210146211 Centerline is valid? [True, True] Translation: X:188.20, Y:-125.53, Z:-5.12 [[-6.94249399e-01 -7.19690505e-01 7.95925074e-03 1.88196159e+02] [ 7.19646235e-01 -6.94294997e-01 -7.98455221e-03 -1.25528116e+02] [ 1.12724744e-02 1.84574260e-04 9.99936447e-01 -5.11752234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.013136187982496956 Centerline is valid? [True, True] Translation: X:188.16, Y:-125.48, Z:-5.12 [[-6.99179462e-01 -7.14898239e-01 8.28180052e-03 1.88161305e+02] [ 7.14850025e-01 -6.99228500e-01 -8.30344777e-03 -1.25481117e+02] [ 1.17269911e-02 1.14645168e-04 9.99931230e-01 -5.11785676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.012577714546189755 Centerline is valid? [True, True] Translation: X:188.13, Y:-125.43, Z:-5.12 [[-7.03971065e-01 -7.10173789e-01 8.82776004e-03 1.88126233e+02] [ 7.10118696e-01 -7.04026411e-01 -8.84590835e-03 -1.25434482e+02] [ 1.24971085e-02 4.14939317e-05 9.99921907e-01 -5.11878898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.012575467315570346 Centerline is valid? [True, True] Translation: X:188.09, Y:-125.39, Z:-5.12 [[-7.06290031e-01 -7.07859503e-01 9.45077919e-03 1.88088778e+02] [ 7.07796211e-01 -7.06353258e-01 -9.46566357e-03 -1.25392357e+02] [ 1.33759486e-02 3.72189511e-06 9.99910538e-01 -5.11958669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.012620875890543516 Centerline is valid? [True, True] Translation: X:188.05, Y:-125.35, Z:-5.12 [[-7.08171083e-01 -7.05980473e-01 9.23516730e-03 1.88049278e+02] [ 7.05919952e-01 -7.08231297e-01 -9.24395083e-03 -1.25350489e+02] [ 1.30666833e-02 -2.70098176e-05 9.99914627e-01 -5.11816365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.012804628436137876 Centerline is valid? [True, True] Translation: X:188.01, Y:-125.31, Z:-5.12 [[-7.11688837e-01 -7.02446004e-01 8.28316451e-03 1.88010605e+02] [ 7.02397139e-01 -7.11737033e-01 -8.28582526e-03 -1.25308297e+02] [ 1.17157798e-02 -7.88582915e-05 9.99931365e-01 -5.11739356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.013350779664131545 Centerline is valid? [True, True] Translation: X:187.97, Y:-125.27, Z:-5.12 [[-7.15002261e-01 -6.99079207e-01 7.74787355e-03 1.87970919e+02] [ 6.99036302e-01 -7.15044228e-01 -7.74605083e-03 -1.25266123e+02] [ 1.09551753e-02 -1.22398988e-04 9.99939983e-01 -5.11760511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.013608841879563469 Centerline is valid? [True, True] Translation: X:187.45, Y:-125.79, Z:-4.14 [[-7.46382051e-01 6.65468333e-01 8.10743757e-03 1.87450925e+02] [ 6.65431193e-01 7.46426069e-01 -7.03216542e-03 -1.25790977e+02] [-1.07312862e-02 1.46259807e-04 -9.99942407e-01 -4.13851818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.014156154091173432 Centerline is valid? [True, True] Translation: X:187.47, Y:-125.77, Z:-4.14 [[-7.90500386e-01 6.12406636e-01 8.20068969e-03 1.87468363e+02] [ 6.12375740e-01 7.90542906e-01 -6.15351729e-03 -1.25769151e+02] [-1.02514519e-02 1.57545632e-04 -9.99947440e-01 -4.13888072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.01391035096133979 Centerline is valid? [True, True] Translation: X:187.49, Y:-125.75, Z:-4.14 [[-8.32534580e-01 5.53919513e-01 7.70366486e-03 1.87491332e+02] [ 5.53897239e-01 8.32570211e-01 -4.96918221e-03 -1.25747081e+02] [-9.16636887e-03 1.30022672e-04 -9.99957980e-01 -4.13936638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.012935225063455083 Centerline is valid? [True, True] Translation: X:187.89, Y:-125.15, Z:-5.12 [[-8.08165502e-01 -5.88922614e-01 6.21903517e-03 1.87886538e+02] [ 5.88903300e-01 -8.08189407e-01 -4.77356764e-03 -1.25147132e+02] [ 7.83742027e-03 -1.95422361e-04 9.99969268e-01 -5.11643288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.012212999742849276 Centerline is valid? [True, True] Translation: X:187.46, Y:-125.71, Z:-4.14 [[-8.39639741e-01 5.43122043e-01 4.85294085e-03 1.87462345e+02] [ 5.43113163e-01 8.39653765e-01 -3.10592761e-03 -1.25711278e+02] [-5.76168781e-03 2.78358012e-05 -9.99983401e-01 -4.13995604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.01205551156592 Centerline is valid? [True, True] Translation: X:187.48, Y:-125.68, Z:-4.14 [[-8.77045299e-01 4.80389380e-01 4.19372701e-03 1.87475167e+02] [ 4.80383956e-01 8.77055325e-01 -2.28281906e-03 -1.25684103e+02] [-4.77477264e-03 1.24634470e-05 -9.99988601e-01 -4.14066010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.011989067347018776 Centerline is valid? [True, True] Translation: X:187.49, Y:-125.65, Z:-4.14 [[-9.10898138e-01 4.12621071e-01 2.90402001e-03 1.87487898e+02] [ 4.12618948e-01 9.10902767e-01 -1.32359686e-03 -1.25654287e+02] [-3.19142382e-03 -7.40823199e-06 -9.99994907e-01 -4.14191075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.013572995739793323 Centerline is valid? [True, True] Translation: X:187.50, Y:-125.61, Z:-4.14 [[-9.41541468e-01 3.36889846e-01 2.21289440e-03 1.87496269e+02] [ 3.36888837e-01 9.41544068e-01 -8.24850725e-04 -1.25612931e+02] [-2.36142143e-03 -3.11317417e-05 -9.99997211e-01 -4.14116514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.014278053673485086 Centerline is valid? [True, True] Translation: X:187.50, Y:-125.58, Z:-4.14 [[-9.64219454e-01 2.65088555e-01 2.98373582e-03 1.87500405e+02] [ 2.65087110e-01 9.64224069e-01 -8.77024234e-04 -1.25580474e+02] [-3.10947898e-03 -5.46939210e-05 -9.99995164e-01 -4.13971417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.015225024942283436 Centerline is valid? [True, True] Translation: X:187.68, Y:-124.97, Z:-5.12 [[-9.30963878e-01 -3.65101079e-01 2.73107709e-03 1.87682774e+02] [ 3.65099631e-01 -9.30967884e-01 -1.02929775e-03 -1.24972188e+02] [ 2.91834277e-03 3.88762113e-05 9.99995741e-01 -5.11797416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.01587708964841106 Centerline is valid? [True, True] Translation: X:187.46, Y:-125.56, Z:-4.14 [[-9.65877297e-01 2.58982641e-01 3.00657029e-03 1.87459451e+02] [ 2.58981181e-01 9.65881974e-01 -8.71662796e-04 -1.25562184e+02] [-3.12973758e-03 -6.32741798e-05 -9.99995100e-01 -4.13833550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.014744575970153067 Centerline is valid? [True, True] Translation: X:187.64, Y:-124.96, Z:-5.12 [[-9.32914566e-01 -3.60082069e-01 3.36392695e-03 1.87636215e+02] [ 3.60080108e-01 -9.32920626e-01 -1.19248282e-03 -1.24958977e+02] [ 3.56766851e-03 9.87985901e-05 9.99993631e-01 -5.11843818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.013703639394769297 Centerline is valid? [True, True] Translation: X:187.41, Y:-125.56, Z:-4.14 [[-9.65552706e-01 2.60185949e-01 3.35334098e-03 1.87413791e+02] [ 2.60184187e-01 9.65558527e-01 -9.58934550e-04 -1.25556061e+02] [-3.48734827e-03 -5.34155516e-05 -9.99993918e-01 -4.13791432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.01328790934773308 Centerline is valid? [True, True] Translation: X:187.42, Y:-125.53, Z:-4.14 [[-9.81075145e-01 1.93589614e-01 3.82381880e-03 1.87422302e+02] [ 1.93587946e-01 9.81082595e-01 -8.05269379e-04 -1.25532488e+02] [-3.90737386e-03 -4.97845466e-05 -9.99992365e-01 -4.13695154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.012754036511768343 Centerline is valid? [True, True] Translation: X:187.43, Y:-125.51, Z:-4.14 [[-9.91778829e-01 1.27850415e-01 5.38754957e-03 1.87426569e+02] [ 1.27848281e-01 9.91793461e-01 -7.40023172e-04 -1.25510009e+02] [-5.43794870e-03 -4.51503643e-05 -9.99985213e-01 -4.13519277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.012215041737961525 Centerline is valid? [True, True] Translation: X:187.51, Y:-124.86, Z:-5.12 [[-9.78696268e-01 -2.05254523e-01 4.91895893e-03 1.87513829e+02] [ 2.05252021e-01 -9.78708629e-01 -1.01364820e-03 -1.24857332e+02] [ 5.02228343e-03 1.75725493e-05 9.99987388e-01 -5.12049874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.012282242988546858 Centerline is valid? [True, True] Translation: X:187.38, Y:-125.52, Z:-4.14 [[-9.90885879e-01 1.34643961e-01 4.02221658e-03 1.87380254e+02] [ 1.34642893e-01 9.90894043e-01 -5.36360644e-04 -1.25520291e+02] [-4.05780816e-03 1.00906857e-05 -9.99991767e-01 -4.13785973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.012904513998770356 Centerline is valid? [True, True] Translation: X:187.38, Y:-125.50, Z:-4.14 [[-9.97565985e-01 6.93958355e-02 6.80608904e-03 1.87378491e+02] [ 6.93945903e-02 9.97589202e-01 -4.19230889e-04 -1.25501564e+02] [-6.81877381e-03 5.40952858e-05 -9.99976750e-01 -4.13516648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.013684096413498124 Centerline is valid? [True, True] Translation: X:187.43, Y:-124.80, Z:-5.12 [[-9.93224771e-01 -1.16004252e-01 6.89688229e-03 1.87433846e+02] [ 1.16001124e-01 -9.93248716e-01 -8.53115233e-04 -1.24799088e+02] [ 6.94928447e-03 -4.72890833e-05 9.99975852e-01 -5.12100851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.015154271054666626 Centerline is valid? [True, True] Translation: X:187.33, Y:-125.51, Z:-4.14 [[-9.97004628e-01 7.70932722e-02 6.19663058e-03 1.87326448e+02] [ 7.70925562e-02 9.97023877e-01 -3.54673433e-04 -1.25513778e+02] [-6.20553158e-03 1.24103037e-04 -9.99980738e-01 -4.13641863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.01634153872980242 Centerline is valid? [True, True] Translation: X:187.38, Y:-124.78, Z:-5.12 [[-9.95097992e-01 -9.87142868e-02 5.95612102e-03 1.87375580e+02] [ 9.87117226e-02 -9.95115808e-01 -7.23684187e-04 -1.24781986e+02] [ 5.99846815e-03 -1.32197716e-04 9.99982000e-01 -5.11938048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.01877432344327296 Centerline is valid? [True, True] Translation: X:187.27, Y:-125.53, Z:-4.14 [[-9.96499000e-01 8.33964732e-02 5.89668133e-03 1.87265359e+02] [ 8.33960965e-02 9.96516430e-01 -3.10172152e-04 -1.25525620e+02] [-5.90200709e-03 1.82673966e-04 -9.99982566e-01 -4.13932722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.01803910251317652 Centerline is valid? [True, True] Translation: X:187.31, Y:-124.77, Z:-5.12 [[-9.96087302e-01 -8.81674191e-02 6.04924199e-03 1.87308813e+02] [ 8.81647158e-02 -9.96105655e-01 -7.12619925e-04 -1.24770413e+02] [ 6.08851401e-03 -1.76501958e-04 9.99981449e-01 -5.11611989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.017677311987493827 Centerline is valid? [True, True] Translation: X:187.20, Y:-125.52, Z:-4.14 [[-9.97062085e-01 7.63168964e-02 6.55211653e-03 1.87198326e+02] [ 7.63164769e-02 9.97083596e-01 -3.14383760e-04 -1.25519678e+02] [-6.55700070e-03 1.86574323e-04 -9.99978485e-01 -4.14002459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.015712463866543305 Centerline is valid? [True, True] Translation: X:187.19, Y:-125.49, Z:-4.14 [[-9.99977127e-01 -3.29757909e-03 5.90526825e-03 1.87188554e+02] [-3.29682909e-03 9.99994556e-01 1.36734998e-04 -1.25486616e+02] [-5.90568700e-03 1.17263210e-04 -9.99982554e-01 -4.14062901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.01373562983175404 Centerline is valid? [True, True] Translation: X:187.18, Y:-125.45, Z:-4.14 [[-9.96380990e-01 -8.47556026e-02 6.43517073e-03 1.87179801e+02] [-8.47534396e-02 9.96401768e-01 6.08582911e-04 -1.25451845e+02] [-6.46359630e-03 6.09775898e-05 -9.99979109e-01 -4.14069477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.013253759810905803 Centerline is valid? [True, True] Translation: X:187.10, Y:-124.74, Z:-5.12 [[-9.99664762e-01 2.50000954e-02 6.73494683e-03 1.87104972e+02] [-2.49998149e-02 -9.99687448e-01 1.25844688e-04 -1.24739306e+02] [ 6.73598794e-03 -4.25699236e-05 9.99977312e-01 -5.11668909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.014752117247575112 Centerline is valid? [True, True] Translation: X:187.09, Y:-125.44, Z:-4.14 [[-9.93595305e-01 -1.12790332e-01 6.83459683e-03 1.87090074e+02] [-1.12788319e-01 9.93618806e-01 6.80549256e-04 -1.25440715e+02] [-6.86774332e-03 -9.46721422e-05 -9.99976412e-01 -4.13912097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.017057311452724516 Centerline is valid? [True, True] Translation: X:187.03, Y:-125.41, Z:-4.14 [[-9.81075627e-01 -1.93534109e-01 5.92976432e-03 1.87032266e+02] [-1.93531478e-01 9.81093536e-01 1.01969155e-03 -1.25413080e+02] [-6.01499855e-03 -1.47201527e-04 -9.99981899e-01 -4.13821140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.01782836686774528 Centerline is valid? [True, True] Translation: X:187.05, Y:-125.38, Z:-4.14 [[-9.63996785e-01 -2.65815873e-01 7.21947697e-03 1.87048513e+02] [-2.65809957e-01 9.64023798e-01 1.78451628e-03 -1.25382549e+02] [-7.43410036e-03 -1.98740905e-04 -9.99972347e-01 -4.13761793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:187.03, Y:-125.36, Z:-4.13 [[-9.42931888e-01 -3.32787476e-01 1.14870130e-02 1.87028380e+02] [-3.32766664e-01 9.43001806e-01 3.73392745e-03 -1.25362798e+02] [-1.20748783e-02 -3.01655744e-04 -9.99927051e-01 -4.13227358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:187.00, Y:-125.35, Z:-4.13 [[-9.16503015e-01 -3.99871291e-01 1.11880851e-02 1.86995954e+02] [-3.99845496e-01 9.16571252e-01 4.55192189e-03 -1.25346015e+02] [-1.20748600e-02 -3.01655278e-04 -9.99927051e-01 -4.13227394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.018146812110877143 Centerline is valid? [True, True] Translation: X:186.94, Y:-125.34, Z:-4.13 [[-8.85194429e-01 -4.65067791e-01 1.19487365e-02 1.86940894e+02] [-4.65030300e-01 8.85275012e-01 5.91383646e-03 -1.25340917e+02] [-1.33282527e-02 -3.21629434e-04 -9.99911123e-01 -4.13050327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.01768518363626613 Centerline is valid? [True, True] Translation: X:186.88, Y:-125.35, Z:-4.13 [[-8.49109745e-01 -5.28078288e-01 1.20814915e-02 1.86878511e+02] [-5.28030198e-01 8.49195630e-01 7.13382256e-03 -1.25346620e+02] [-1.40267666e-02 -3.21994107e-04 -9.99901568e-01 -4.13010130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.01605567907555422 Centerline is valid? [True, True] Translation: X:186.81, Y:-125.37, Z:-4.13 [[-8.10424834e-01 -5.85719955e-01 1.19884448e-02 1.86812402e+02] [-5.85660628e-01 8.10513458e-01 8.34047953e-03 -1.25368554e+02] [-1.46019811e-02 -2.61828360e-04 -9.99893351e-01 -4.13041236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.015379761278146645 Centerline is valid? [True, True] Translation: X:186.74, Y:-125.40, Z:-4.13 [[-7.67376712e-01 -6.41124766e-01 9.59256102e-03 1.86735560e+02] [-6.41077341e-01 7.67436647e-01 7.79964932e-03 -1.25401779e+02] [-1.23622312e-02 -1.64304271e-04 -9.99923571e-01 -4.13292933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.014802669034416526 Centerline is valid? [True, True] Translation: X:186.66, Y:-125.44, Z:-4.14 [[-7.16990699e-01 -6.97045603e-01 7.19476255e-03 1.86657341e+02] [-6.97012349e-01 7.17026785e-01 6.80999517e-03 -1.25436023e+02] [-9.90571465e-03 -1.32135143e-04 -9.99950929e-01 -4.13598284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.015478776737638722 Centerline is valid? [True, True] Translation: X:186.57, Y:-125.48, Z:-4.13 [[-6.62399562e-01 -7.49120011e-01 6.78443538e-03 1.86571251e+02] [-7.49082782e-01 6.62434292e-01 7.46957846e-03 -1.25481950e+02] [-1.00898533e-02 -1.34258227e-04 -9.99949087e-01 -4.13474294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.014978430813145803 Centerline is valid? [True, True] Translation: X:186.49, Y:-125.54, Z:-4.14 [[-6.03621606e-01 -7.97242745e-01 6.70543779e-03 1.86490653e+02] [-7.97196235e-01 6.03658831e-01 8.61264272e-03 -1.25536782e+02] [-1.09141637e-02 -1.46772530e-04 -9.99940428e-01 -4.13576574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.014942191400635869 Centerline is valid? [True, True] Translation: X:186.41, Y:-125.60, Z:-4.14 [[-5.40307040e-01 -8.41443379e-01 6.42979258e-03 1.86410473e+02] [-8.41387507e-01 5.40345270e-01 9.69804939e-03 -1.25597498e+02] [-1.16346675e-02 -1.70022789e-04 -9.99932301e-01 -4.13556730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.015350900198171893 Centerline is valid? [True, True] Translation: X:186.33, Y:-125.67, Z:-4.13 [[-4.74584087e-01 -8.80191544e-01 5.72622813e-03 1.86330033e+02] [-8.80131830e-01 4.74618600e-01 1.02540907e-02 -1.25671103e+02] [-1.17433383e-02 -1.73407344e-04 -9.99931030e-01 -4.13405028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.015030266801429897 Centerline is valid? [True, True] Translation: X:186.26, Y:-125.75, Z:-4.13 [[-4.06570825e-01 -9.13604941e-01 5.11619096e-03 1.86257641e+02] [-9.13537892e-01 4.06602977e-01 1.10697422e-02 -1.25754162e+02] [-1.21936296e-02 -1.73200094e-04 -9.99925640e-01 -4.13389315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.014663873111915473 Centerline is valid? [True, True] Translation: X:186.19, Y:-125.84, Z:-4.13 [[-3.38755757e-01 -9.40864924e-01 4.21083481e-03 1.86192094e+02] [-9.40796974e-01 3.38781902e-01 1.13082779e-02 -1.25842453e+02] [-1.20661166e-02 -1.30796415e-04 -9.99927193e-01 -4.13232376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.013882821708799283 Centerline is valid? [True, True] Translation: X:186.14, Y:-125.94, Z:-4.13 [[-2.70073744e-01 -9.62835607e-01 2.78700125e-03 1.86136273e+02] [-9.62786762e-01 2.70088116e-01 9.69850898e-03 -1.25941026e+02] [-1.00908057e-02 -6.39752797e-05 -9.99949085e-01 -4.13470363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.013825674235205396 Centerline is valid? [True, True] Translation: X:186.08, Y:-126.04, Z:-4.14 [[-1.97193325e-01 -9.80362992e-01 1.78769132e-03 1.86084654e+02] [-9.80324535e-01 1.97201424e-01 8.68359585e-03 -1.26042429e+02] [-8.86561128e-03 -4.01705235e-05 -9.99960699e-01 -4.13549375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.013658840770136002 Centerline is valid? [True, True] Translation: X:186.04, Y:-126.15, Z:-4.14 [[-1.22136699e-01 -9.92512801e-01 9.83618382e-04 1.86039282e+02] [-9.92482488e-01 1.22140656e-01 7.75697142e-03 -1.26152537e+02] [-7.81903322e-03 -2.88131361e-05 -9.99969431e-01 -4.13600814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.013702021560978666 Centerline is valid? [True, True] Translation: X:186.00, Y:-126.26, Z:-4.13 [[-4.54021579e-02 -9.98968717e-01 3.82654399e-04 1.86002479e+02] [-9.98938455e-01 4.54037610e-02 7.77575740e-03 -1.26264708e+02] [-7.78511234e-03 -2.92120294e-05 -9.99969695e-01 -4.13472000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.013630106240930053 Centerline is valid? [True, True] Translation: X:185.97, Y:-126.39, Z:-4.14 [[ 3.21073539e-02 -9.99484408e-01 -1.89581528e-04 1.85973796e+02] [-9.99461037e-01 -3.21078997e-02 6.83505705e-03 -1.26388341e+02] [-6.83762001e-03 -2.99762454e-05 -9.99976623e-01 -4.13524506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.013655686843960875 Centerline is valid? [True, True] Translation: X:185.95, Y:-126.51, Z:-4.14 [[ 1.10579782e-01 -9.93867033e-01 -6.57092165e-04 1.85953270e+02] [-9.93847359e-01 -1.10581728e-01 6.25361854e-03 -1.26505603e+02] [-6.28792769e-03 -3.84744620e-05 -9.99980230e-01 -4.13620749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.013908953286493768 Centerline is valid? [True, True] Translation: X:185.94, Y:-126.62, Z:-4.13 [[ 1.88542438e-01 -9.82064346e-01 -1.17004695e-03 1.85940632e+02] [-9.82043700e-01 -1.88546061e-01 6.36821408e-03 -1.26622420e+02] [-6.47460374e-03 -5.16413699e-05 -9.99979038e-01 -4.13495040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.014375064437449622 Centerline is valid? [True, True] Translation: X:185.94, Y:-126.74, Z:-4.13 [[ 2.66496888e-01 -9.63834136e-01 -1.77962741e-03 1.85937948e+02] [-9.63810663e-01 -2.66502818e-01 6.72710847e-03 -1.26742065e+02] [-6.95809250e-03 -7.75295937e-05 -9.99975789e-01 -4.13407899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.01507530648053922 Centerline is valid? [True, True] Translation: X:185.94, Y:-126.86, Z:-4.13 [[ 3.42938287e-01 -9.39355099e-01 -2.30841804e-03 1.85943241e+02] [-9.39331777e-01 -3.42946041e-01 6.62003746e-03 -1.26863781e+02] [-7.01022878e-03 -1.01893889e-04 -9.99975423e-01 -4.13309662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.015722408161590172 Centerline is valid? [True, True] Translation: X:185.96, Y:-126.98, Z:-4.13 [[ 4.15284541e-01 -9.09687225e-01 -2.81111713e-03 1.85958143e+02] [-9.09664528e-01 -4.15294040e-01 6.42699851e-03 -1.26980302e+02] [-7.01399864e-03 -1.11859583e-04 -9.99975395e-01 -4.13222606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.015331072113766494 Centerline is valid? [True, True] Translation: X:185.98, Y:-127.09, Z:-4.13 [[ 4.83648286e-01 -8.75256924e-01 -3.10688000e-03 1.85984259e+02] [-8.75237461e-01 -4.83658254e-01 5.83788696e-03 -1.27093202e+02] [-6.61231914e-03 -1.04226259e-04 -9.99978133e-01 -4.13281599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.014749491409487035 Centerline is valid? [True, True] Translation: X:186.02, Y:-127.20, Z:-4.13 [[ 5.48034877e-01 -8.36444724e-01 -4.24245403e-03 1.86020051e+02] [-8.36418048e-01 -5.48051286e-01 6.68115810e-03 -1.27204559e+02] [-7.91350183e-03 -1.13042542e-04 -9.99968681e-01 -4.13147776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.013765286976302353 Centerline is valid? [True, True] Translation: X:186.06, Y:-127.30, Z:-4.13 [[ 6.04520487e-01 -7.96570492e-01 -5.51656035e-03 1.86064273e+02] [-7.96536373e-01 -6.04545654e-01 7.37280692e-03 -1.27304385e+02] [-9.20797301e-03 -6.28718572e-05 -9.99957604e-01 -4.12953572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.013661004174112206 Centerline is valid? [True, True] Translation: X:186.11, Y:-127.40, Z:-4.13 [[ 6.59061193e-01 -7.52066109e-01 -5.90863271e-03 1.86114536e+02] [-7.52035793e-01 -6.59087678e-01 6.75266150e-03 -1.27400940e+02] [-8.97275487e-03 -6.91385386e-06 -9.99959744e-01 -4.12958121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.01421645204796226 Centerline is valid? [True, True] Translation: X:186.17, Y:-127.49, Z:-4.13 [[ 7.10269697e-01 -7.03906621e-01 -5.69442074e-03 1.86165014e+02] [-7.03884471e-01 -7.10292523e-01 5.58426553e-03 -1.27489144e+02] [-7.97550595e-03 4.18797421e-05 -9.99968194e-01 -4.12906732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.014895857973137942 Centerline is valid? [True, True] Translation: X:186.19, Y:-127.51, Z:-4.13 [[ 7.58603420e-01 -6.51534584e-01 -4.85155739e-03 1.86186740e+02] [-6.51521909e-01 -7.58618929e-01 4.06477435e-03 -1.27513593e+02] [-6.32882434e-03 7.73442067e-05 -9.99979970e-01 -4.13062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.015654341959516767 Centerline is valid? [True, True] Translation: X:186.21, Y:-127.54, Z:-4.13 [[ 8.04516457e-01 -5.93907935e-01 -5.16096599e-03 1.86208864e+02] [-5.93896558e-01 -8.04533004e-01 3.67763801e-03 -1.27536566e+02] [-6.33634587e-03 1.06359633e-04 -9.99979920e-01 -4.13164014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.0165063854845989 Centerline is valid? [True, True] Translation: X:186.23, Y:-127.56, Z:-4.13 [[ 8.45588408e-01 -5.33808200e-01 -5.38979219e-03 1.86230338e+02] [-5.33798400e-01 -8.45605574e-01 3.23755765e-03 -1.27561249e+02] [-6.28587314e-03 1.39421230e-04 -9.99980234e-01 -4.13174403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.016323225812486426 Centerline is valid? [True, True] Translation: X:186.25, Y:-127.59, Z:-4.13 [[ 8.84638250e-01 -4.66228363e-01 -6.80288940e-03 1.86251142e+02] [-4.66216049e-01 -8.84664391e-01 3.39288159e-03 -1.27589115e+02] [-7.60013164e-03 1.70143385e-04 -9.99971104e-01 -4.12969605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.015876352906912805 Centerline is valid? [True, True] Translation: X:186.28, Y:-127.61, Z:-4.13 [[ 9.19357610e-01 -3.93361960e-01 -6.92481797e-03 1.86275970e+02] [-3.93352012e-01 -9.19383677e-01 2.80151576e-03 -1.27613996e+02] [-7.46857434e-03 1.48296247e-04 -9.99972099e-01 -4.13001558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.014598366076121473 Centerline is valid? [True, True] Translation: X:186.30, Y:-127.64, Z:-4.13 [[ 9.49460650e-01 -3.13771330e-01 -8.48684081e-03 1.86301278e+02] [-3.13759884e-01 -9.49498573e-01 2.68252532e-03 -1.27639867e+02] [-8.89994277e-03 1.15877949e-04 -9.99960388e-01 -4.12893806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.01350345782172955 Centerline is valid? [True, True] Translation: X:186.33, Y:-127.67, Z:-4.13 [[ 9.72614414e-01 -2.32254642e-01 -8.88719000e-03 1.86329162e+02] [-2.32245506e-01 -9.72655015e-01 2.06085631e-03 -1.27665287e+02] [-9.12281336e-03 5.95913890e-05 -9.99958385e-01 -4.12859761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.013089500568910188 Centerline is valid? [True, True] Translation: X:186.36, Y:-127.69, Z:-4.13 [[ 9.89333833e-01 -1.45474428e-01 -7.46716221e-03 1.86359760e+02] [-1.45470076e-01 -9.89362012e-01 1.12552967e-03 -1.27690060e+02] [-7.55146241e-03 -2.72759289e-05 -9.99971487e-01 -4.12949665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.014188148486783602 Centerline is valid? [True, True] Translation: X:186.39, Y:-127.71, Z:-4.13 [[ 9.98326032e-01 -5.76854367e-02 -4.18617647e-03 1.86388900e+02] [-5.76846899e-02 -9.98334807e-01 2.99031940e-04 -1.27711853e+02] [-4.19645547e-03 -5.70530783e-05 -9.99991193e-01 -4.13125623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.015214531324173865 Centerline is valid? [True, True] Translation: X:186.42, Y:-127.73, Z:-4.13 [[ 9.99646501e-01 2.64429016e-02 -2.76498476e-03 1.86420665e+02] [ 2.64429493e-02 -9.99650324e-01 -1.93338244e-05 -1.27727706e+02] [-2.76452915e-03 -5.37873617e-05 -9.99996177e-01 -4.13228007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.01610610001030776 Centerline is valid? [True, True] Translation: X:186.45, Y:-127.74, Z:-4.13 [[ 9.94258521e-01 1.06998967e-01 -1.10164498e-03 1.86454008e+02] [ 1.06998929e-01 -9.94259131e-01 -9.39575698e-05 -1.27736504e+02] [-1.10537395e-03 -2.44567183e-05 -9.99999389e-01 -4.13331860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.016187280390108267 Centerline is valid? [True, True] Translation: X:186.49, Y:-127.74, Z:-4.13 [[ 9.82717197e-01 1.85110455e-01 -1.01516426e-03 1.86487694e+02] [ 1.85110381e-01 -9.82717721e-01 -1.67416872e-04 -1.27740236e+02] [-1.02861052e-03 -2.33940040e-05 -9.99999471e-01 -4.13314066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.016728600927936512 Centerline is valid? [True, True] Translation: X:186.52, Y:-127.74, Z:-4.13 [[ 9.65129193e-01 2.61747202e-01 -3.74735653e-03 1.86520853e+02] [ 2.61745579e-01 -9.65136464e-01 -9.25781737e-04 -1.27742138e+02] [-3.85903121e-03 -8.73550245e-05 -9.99992550e-01 -4.12932684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.016702194349136747 Centerline is valid? [True, True] Translation: X:186.55, Y:-127.74, Z:-4.13 [[ 9.41801891e-01 3.36129206e-01 -5.13372912e-03 1.86553845e+02] [ 3.36124904e-01 -9.41815875e-01 -1.70488188e-03 -1.27736633e+02] [-5.40808818e-03 -1.19913225e-04 -9.99985369e-01 -4.12741443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.01534656801036908 Centerline is valid? [True, True] Translation: X:186.58, Y:-127.73, Z:-4.12 [[ 9.13709048e-01 4.06299129e-01 -7.53617402e-03 1.86584676e+02] [ 4.06286732e-01 -9.13740112e-01 -3.17787852e-03 -1.27726625e+02] [-8.17727377e-03 -1.58191158e-04 -9.99966553e-01 -4.12495427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.014062555146040883 Centerline is valid? [True, True] Translation: X:186.61, Y:-127.71, Z:-4.12 [[ 8.81892597e-01 4.71378565e-01 -8.22776276e-03 1.86613104e+02] [ 4.71359363e-01 -8.81930968e-01 -4.25651317e-03 -1.27711949e+02] [-9.26274785e-03 -1.24445559e-04 -9.99957092e-01 -4.12389285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.01262028445445661 Centerline is valid? [True, True] Translation: X:186.64, Y:-127.69, Z:-4.13 [[ 8.47135121e-01 5.31338088e-01 -6.47477969e-03 1.86639445e+02] [ 5.31322870e-01 -8.47159864e-01 -4.02153542e-03 -1.27693664e+02] [-7.62196842e-03 -3.34146305e-05 -9.99970952e-01 -4.12601397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.012815093044275064 Centerline is valid? [True, True] Translation: X:186.66, Y:-127.67, Z:-4.13 [[ 8.09550965e-01 5.87041245e-01 -3.13230280e-03 1.86664353e+02] [ 5.87036726e-01 -8.09557025e-01 -2.30353975e-03 -1.27674820e+02] [-3.88805058e-03 2.60560488e-05 -9.99992441e-01 -4.12844098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.014213567076539714 Centerline is valid? [True, True] Translation: X:186.69, Y:-127.66, Z:-4.13 [[ 7.66426795e-01 6.42325160e-01 -2.89090666e-03 1.86687081e+02] [ 6.42320308e-01 -7.66432245e-01 -2.49729287e-03 -1.27656179e+02] [-3.81975812e-03 5.71041169e-05 -9.99992703e-01 -4.12828984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.014783106289436404 Centerline is valid? [True, True] Translation: X:186.71, Y:-127.64, Z:-4.13 [[ 7.16514210e-01 6.97562914e-01 -3.65622501e-03 1.86712890e+02] [ 6.97553127e-01 -7.16523532e-01 -3.69639772e-03 -1.27640024e+02] [-5.19824122e-03 9.81103060e-05 -9.99986484e-01 -4.12758868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.015428340469828961 Centerline is valid? [True, True] Translation: X:186.74, Y:-127.62, Z:-4.13 [[ 6.60837741e-01 7.50518196e-01 -3.98973945e-03 1.86735992e+02] [ 7.50503353e-01 -6.60849772e-01 -4.72182823e-03 -1.27621956e+02] [-6.18043641e-03 1.26049463e-04 -9.99980893e-01 -4.12735535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.01525012715306549 Centerline is valid? [True, True] Translation: X:186.76, Y:-127.60, Z:-4.13 [[ 6.00269828e-01 7.99786865e-01 -4.13571511e-03 1.86760853e+02] [ 7.99766173e-01 -6.00284057e-01 -5.75487516e-03 -1.27604495e+02] [-7.08527741e-03 1.46872873e-04 -9.99974888e-01 -4.12692384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.014999843050009775 Centerline is valid? [True, True] Translation: X:186.78, Y:-127.59, Z:-4.13 [[ 5.34682964e-01 8.45046410e-01 -3.27011761e-03 1.86783378e+02] [ 8.45029183e-01 -5.34692950e-01 -5.39708432e-03 -1.27585087e+02] [-6.30929556e-03 1.22384224e-04 -9.99980089e-01 -4.12749870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.014776722656365837 Centerline is valid? [True, True] Translation: X:186.80, Y:-127.56, Z:-4.13 [[ 4.65011231e-01 8.85300873e-01 -2.63057203e-03 1.86802424e+02] [ 8.85285457e-01 -4.65018660e-01 -5.22553079e-03 -1.27564561e+02] [-5.84943205e-03 1.01123340e-04 -9.99982887e-01 -4.12787832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.013852839630983979 Centerline is valid? [True, True] Translation: X:186.82, Y:-127.54, Z:-4.13 [[ 3.91935403e-01 9.19990597e-01 -1.98555843e-03 1.86824277e+02] [ 9.19977771e-01 -3.91940424e-01 -4.85853009e-03 -1.27542949e+02] [-5.24802261e-03 7.75603318e-05 -9.99986226e-01 -4.12933901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.013309334120153903 Centerline is valid? [True, True] Translation: X:186.84, Y:-127.52, Z:-4.13 [[ 3.14868976e-01 9.49134398e-01 -1.19284091e-03 1.86844163e+02] [ 9.49127075e-01 -3.14871233e-01 -3.72848208e-03 -1.27519376e+02] [-3.91442188e-03 4.18257348e-05 -9.99992338e-01 -4.13043310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.012753948474353521 Centerline is valid? [True, True] Translation: X:186.86, Y:-127.49, Z:-4.13 [[ 2.34589085e-01 9.72094299e-01 -7.96329901e-04 1.86862773e+02] [ 9.72088417e-01 -2.34590436e-01 -3.38185783e-03 -1.27494236e+02] [-3.47429609e-03 1.92438621e-05 -9.99993964e-01 -4.13083343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.012478044989023872 Centerline is valid? [True, True] Translation: X:186.88, Y:-127.47, Z:-4.13 [[ 1.51006279e-01 9.88532676e-01 -5.01251114e-04 1.86879562e+02] [ 9.88527322e-01 -1.51007111e-01 -3.25375138e-03 -1.27468578e+02] [-3.29213204e-03 -4.16353281e-06 -9.99994581e-01 -4.13063998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.012730734822519763 Centerline is valid? [True, True] Translation: X:186.89, Y:-127.44, Z:-4.13 [[ 6.93892601e-02 9.97589626e-01 -2.61742957e-04 1.86892205e+02] [ 9.97583447e-01 -6.93897516e-02 -3.51111541e-03 -1.27440105e+02] [-3.52081459e-03 -1.74767409e-05 -9.99993802e-01 -4.12942829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.012935833941437595 Centerline is valid? [True, True] Translation: X:186.90, Y:-127.41, Z:-4.13 [[-1.22026959e-02 9.99925544e-01 1.78207873e-05 1.86904193e+02] [ 9.99915678e-01 1.22026547e-02 -4.44203939e-03 -1.27411114e+02] [-4.44192611e-03 -3.63855712e-05 -9.99990134e-01 -4.12872506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.01369084493818109 Centerline is valid? [True, True] Translation: X:186.91, Y:-127.38, Z:-4.13 [[-9.45777163e-02 9.95517420e-01 3.50060507e-04 1.86911418e+02] [ 9.95508407e-01 9.45783497e-02 -4.23651190e-03 -1.27382352e+02] [-4.25062954e-03 -5.21914423e-05 -9.99990965e-01 -4.12885839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.014090431942972301 Centerline is valid? [True, True] Translation: X:186.91, Y:-127.35, Z:-4.13 [[-1.74499274e-01 9.84657085e-01 6.53916870e-04 1.86914993e+02] [ 9.84648840e-01 1.74500490e-01 -4.03009933e-03 -1.27351301e+02] [-4.08237467e-03 -5.93709213e-05 -9.99991665e-01 -4.12866756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.014962808927100791 Centerline is valid? [True, True] Translation: X:186.92, Y:-127.32, Z:-4.13 [[-2.54804902e-01 9.66991609e-01 1.30030035e-03 1.86916692e+02] [ 9.66976926e-01 2.54808200e-01 -5.32977922e-03 -1.27320163e+02] [-5.48517898e-03 -1.00693434e-04 -9.99984951e-01 -4.12641932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.015630679800523347 Centerline is valid? [True, True] Translation: X:186.91, Y:-127.29, Z:-4.13 [[-3.31198421e-01 9.43558851e-01 2.07378105e-03 1.86912573e+02] [ 9.43537793e-01 3.31204887e-01 -6.30522077e-03 -1.27289764e+02] [-6.63619329e-03 -1.31588368e-04 -9.99977972e-01 -4.12568669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.015928845278247068 Centerline is valid? [True, True] Translation: X:186.91, Y:-127.26, Z:-4.13 [[-4.05518105e-01 9.14082454e-01 2.88690690e-03 1.86906910e+02] [ 9.14056418e-01 4.05528350e-01 -6.90089329e-03 -1.27260368e+02] [-7.47870806e-03 -1.59641389e-04 -9.99972021e-01 -4.12522939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.015855644138733103 Centerline is valid? [True, True] Translation: X:186.90, Y:-127.23, Z:-4.12 [[-4.75215429e-01 8.79862703e-01 3.45253193e-03 1.86897126e+02] [ 8.79837057e-01 4.75227945e-01 -6.71968240e-03 -1.27232333e+02] [-7.55313758e-03 -1.55631216e-04 -9.99971463e-01 -4.12427567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.014453458221750686 Centerline is valid? [True, True] Translation: X:186.88, Y:-127.21, Z:-4.13 [[-5.38070848e-01 8.42892452e-01 3.47510159e-03 1.86879702e+02] [ 8.42873661e-01 5.38082061e-01 -5.62910938e-03 -1.27208230e+02] [-6.61462363e-03 -9.97880548e-05 -9.99978118e-01 -4.12613839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.013297651072625906 Centerline is valid? [True, True] Translation: X:186.86, Y:-127.19, Z:-4.13 [[-5.97898093e-01 8.01563014e-01 3.82170641e-03 1.86861171e+02] [ 8.01545989e-01 5.97910303e-01 -5.22460992e-03 -1.27186154e+02] [-6.47289172e-03 -6.05108602e-05 -9.99979049e-01 -4.12620407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.01252319275535338 Centerline is valid? [True, True] Translation: X:186.84, Y:-127.17, Z:-4.12 [[-6.52156747e-01 7.58068117e-01 4.93026514e-03 1.86841125e+02] [ 7.58046415e-01 6.52175383e-01 -5.73607185e-03 -1.27165257e+02] [-7.56373074e-03 -3.44814138e-06 -9.99971395e-01 -4.12493249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.012850690219324943 Centerline is valid? [True, True] Translation: X:186.82, Y:-127.15, Z:-4.12 [[-7.05565214e-01 7.08615301e-01 6.48727495e-03 1.86822039e+02] [ 7.08585964e-01 7.05595035e-01 -6.44813465e-03 -1.27146399e+02] [-9.14663586e-03 4.72124705e-05 -9.99958168e-01 -4.12267324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.01514729055135434 Centerline is valid? [True, True] Translation: X:186.84, Y:-127.14, Z:-4.12 [[-7.49167534e-01 6.62317850e-01 9.11438115e-03 1.86835422e+02] [ 6.62271238e-01 7.49222960e-01 -7.85893910e-03 -1.27135365e+02] [-1.20338193e-02 1.48530468e-04 -9.99927580e-01 -4.11865196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.01740334780485009 Centerline is valid? [True, True] Translation: X:186.86, Y:-127.13, Z:-4.12 [[-7.90807536e-01 6.11978739e-01 1.02695861e-02 1.86855744e+02] [ 6.11930872e-01 7.90874182e-01 -7.65749294e-03 -1.27125741e+02] [-1.28081734e-02 2.28673650e-04 -9.99917946e-01 -4.11739821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.01612394811684205 Centerline is valid? [True, True] Translation: X:186.87, Y:-127.10, Z:-4.12 [[-8.31462769e-01 5.55487816e-01 1.01464389e-02 1.86874209e+02] [ 5.55449809e-01 8.31524644e-01 -6.50199789e-03 -1.27103460e+02] [-1.20487946e-02 2.29668350e-04 -9.99927384e-01 -4.11959487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.015326750779480381 Centerline is valid? [True, True] Translation: X:186.89, Y:-127.08, Z:-4.12 [[-8.68814845e-01 4.95037775e-01 9.91799516e-03 1.86891509e+02] [ 4.95008297e-01 8.68871427e-01 -5.40641829e-03 -1.27080160e+02] [-1.12938439e-02 2.12313431e-04 -9.99936200e-01 -4.12104971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.01569572981033997 Centerline is valid? [True, True] Translation: X:186.91, Y:-127.06, Z:-4.12 [[-9.02700707e-01 4.30157672e-01 9.78828173e-03 1.86905688e+02] [ 4.30134496e-01 9.02753757e-01 -4.46867550e-03 -1.27055412e+02] [-1.07586432e-02 1.76401096e-04 -9.99942109e-01 -4.11995417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.013859842171613745 Centerline is valid? [True, True] Translation: X:187.20, Y:-126.40, Z:-5.14 [[-8.83957414e-01 -4.67470652e-01 9.51207320e-03 1.87202717e+02] [ 4.67441491e-01 -8.84008575e-01 -5.22421872e-03 -1.26400719e+02] [ 1.08509232e-02 -1.71649189e-04 9.99941112e-01 -5.13759665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.012894676554656334 Centerline is valid? [True, True] Translation: X:186.86, Y:-127.02, Z:-4.12 [[-9.09512165e-01 4.15575916e-01 9.18042975e-03 1.86862468e+02] [ 4.15555188e-01 9.09558495e-01 -4.15082311e-03 -1.27021403e+02] [-1.00751200e-02 3.97510964e-05 -9.99949244e-01 -4.11986561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.01301554916854952 Centerline is valid? [True, True] Translation: X:186.87, Y:-126.98, Z:-4.12 [[-9.39325459e-01 3.42920192e-01 8.56885656e-03 1.86870466e+02] [ 3.42905591e-01 9.39364541e-01 -3.16456114e-03 -1.26982074e+02] [-9.13447192e-03 -3.42440149e-05 -9.99958279e-01 -4.11817118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.013129234719331678 Centerline is valid? [True, True] Translation: X:186.88, Y:-126.95, Z:-4.12 [[-9.62771150e-01 2.70188836e-01 8.34896407e-03 1.86877402e+02] [ 2.70177948e-01 9.62807347e-01 -2.42695422e-03 -1.26948771e+02] [-8.69417988e-03 -8.08955256e-05 -9.99962202e-01 -4.12127852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.01367305600146818 Centerline is valid? [True, True] Translation: X:186.89, Y:-126.92, Z:-4.12 [[-9.79705028e-01 2.00251713e-01 8.79261944e-03 1.86889443e+02] [ 2.00242766e-01 9.79744478e-01 -1.89533861e-03 -1.26919696e+02] [-8.99406515e-03 -9.62143278e-05 -9.99959548e-01 -4.12053641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.012867828510546292 Centerline is valid? [True, True] Translation: X:187.03, Y:-126.28, Z:-5.13 [[-9.58773129e-01 -2.84059847e-01 8.00563737e-03 1.87030054e+02] [ 2.84050374e-01 -9.58806550e-01 -2.32040292e-03 -1.26281533e+02] [ 8.33499085e-03 4.92643161e-05 9.99965262e-01 -5.13427170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.012456647981202289 Centerline is valid? [True, True] Translation: X:186.85, Y:-126.91, Z:-4.12 [[-9.79081955e-01 2.03309800e-01 7.97813776e-03 1.86845823e+02] [ 2.03302797e-01 9.79114459e-01 -1.68781129e-03 -1.26913254e+02] [-8.15465861e-03 -3.05278543e-05 -9.99966750e-01 -4.12184323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.012333460048181663 Centerline is valid? [True, True] Translation: X:186.85, Y:-126.89, Z:-4.12 [[-9.90666003e-01 1.36080437e-01 7.93630314e-03 1.86846959e+02] [ 1.36076007e-01 9.90697792e-01 -1.09805479e-03 -1.26887871e+02] [-8.01190177e-03 -7.86511049e-06 -9.99967904e-01 -4.12229409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.012501921489722135 Centerline is valid? [True, True] Translation: X:186.94, Y:-126.23, Z:-5.14 [[-9.79184307e-01 -2.02828735e-01 7.65490376e-03 1.86943254e+02] [ 2.02822502e-01 -9.79214228e-01 -1.59003362e-03 -1.26234032e+02] [ 7.81829518e-03 -4.34923462e-06 9.99969437e-01 -5.13543583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.012494123715164372 Centerline is valid? [True, True] Translation: X:186.80, Y:-126.88, Z:-4.12 [[-9.91166428e-01 1.32337836e-01 8.70688029e-03 1.86801336e+02] [ 1.32332664e-01 9.91204670e-01 -1.17005408e-03 -1.26882620e+02] [-8.78514283e-03 -7.51366128e-06 -9.99961410e-01 -4.12189948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.012747434338171396 Centerline is valid? [True, True] Translation: X:186.80, Y:-126.85, Z:-4.12 [[-9.98290927e-01 5.75367698e-02 1.02345255e-02 1.86799883e+02] [ 5.75332210e-02 9.98343387e-01 -6.41073824e-04 -1.26852834e+02] [-1.02544562e-02 -5.11529651e-05 -9.99947420e-01 -4.12056365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.013354459200437046 Centerline is valid? [True, True] Translation: X:186.84, Y:-126.20, Z:-5.14 [[-9.90084116e-01 -1.40076799e-01 1.05798772e-02 1.86837447e+02] [ 1.40069691e-01 -9.90140638e-01 -1.41345970e-03 -1.26200565e+02] [ 1.06735593e-02 8.24761387e-05 9.99943033e-01 -5.13570051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.014551095974635811 Centerline is valid? [True, True] Translation: X:186.74, Y:-126.84, Z:-4.12 [[-9.98940098e-01 4.46723693e-02 1.10932597e-02 1.86741621e+02] [ 4.46679055e-02 9.99001680e-01 -6.49944051e-04 -1.26843992e+02] [-1.11112197e-02 -1.53742495e-04 -9.99938257e-01 -4.11994893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.014870717413830356 Centerline is valid? [True, True] Translation: X:186.78, Y:-126.20, Z:-5.14 [[-9.89753246e-01 -1.42349337e-01 1.11883161e-02 1.86776949e+02] [ 1.42342153e-01 -9.89816467e-01 -1.43993820e-03 -1.26201445e+02] [ 1.12793538e-02 1.67385493e-04 9.99936372e-01 -5.13660348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.016114692331740867 Centerline is valid? [True, True] Translation: X:186.68, Y:-126.84, Z:-4.12 [[-9.99326986e-01 3.45279548e-02 1.23852676e-02 1.86683155e+02] [ 3.45222230e-02 9.99403702e-01 -6.76348939e-04 -1.26840207e+02] [-1.24012353e-02 -2.48326775e-04 -9.99923071e-01 -4.11970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.015353774032787528 Centerline is valid? [True, True] Translation: X:186.67, Y:-126.82, Z:-4.12 [[-9.99224383e-01 -3.73562440e-02 1.24556367e-02 1.86674952e+02] [-3.73565810e-02 9.99301978e-01 2.05687481e-04 -1.26817021e+02] [-1.24546261e-02 -2.59772055e-04 -9.99922404e-01 -4.12164438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.01539208454785286 Centerline is valid? [True, True] Translation: X:186.67, Y:-126.16, Z:-5.13 [[-9.97434421e-01 -7.06552391e-02 1.15071259e-02 1.86671341e+02] [ 7.06526243e-02 -9.97500779e-01 -6.34098730e-04 -1.26164986e+02] [ 1.15231694e-02 1.80536743e-04 9.99933590e-01 -5.13424148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.015012495357081058 Centerline is valid? [True, True] Translation: X:186.62, Y:-126.82, Z:-4.12 [[-9.99191867e-01 -3.87997574e-02 1.04971959e-02 1.86618597e+02] [-3.87995823e-02 9.99246988e-01 2.20410074e-04 -1.26824298e+02] [-1.04978432e-02 -1.87054861e-04 -9.99944879e-01 -4.12387154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.015116074948089225 Centerline is valid? [True, True] Translation: X:186.62, Y:-126.80, Z:-4.12 [[-9.94271428e-01 -1.06386187e-01 1.03105203e-02 1.86617006e+02] [-1.06382023e-01 9.94324875e-01 9.53036410e-04 -1.26801183e+02] [-1.03533967e-02 -1.49277133e-04 -9.99946391e-01 -4.12341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.013733763912986929 Centerline is valid? [True, True] Translation: X:186.61, Y:-126.78, Z:-4.12 [[-9.84780277e-01 -1.73473388e-01 1.07139625e-02 1.86605866e+02] [-1.73464437e-01 9.84838550e-01 1.76627238e-03 -1.26782403e+02] [-1.08579246e-02 -1.19101278e-04 -9.99941044e-01 -4.12460678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.013483529689937676 Centerline is valid? [True, True] Translation: X:186.60, Y:-126.76, Z:-4.12 [[-9.70241566e-01 -2.41884674e-01 1.10953800e-02 1.86596879e+02] [-2.41870138e-01 9.70305000e-01 2.65399785e-03 -1.26760227e+02] [-1.14078641e-02 -1.08622059e-04 -9.99934922e-01 -4.12494922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.013457950297283614 Centerline is valid? [True, True] Translation: X:186.57, Y:-126.74, Z:-4.13 [[-9.50805488e-01 -3.09561051e-01 1.18692947e-02 1.86573411e+02] [-3.09538249e-01 9.50879564e-01 3.75856296e-03 -1.26743068e+02] [-1.24497745e-02 -1.00338425e-04 -9.99922494e-01 -4.12536409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.01344597877125929 Centerline is valid? [True, True] Translation: X:186.54, Y:-126.73, Z:-4.12 [[-9.26191802e-01 -3.76839781e-01 1.26698163e-02 1.86536278e+02] [-3.76805992e-01 9.26278451e-01 5.04725937e-03 -1.26729903e+02] [-1.36377860e-02 -9.93324621e-05 -9.99906996e-01 -4.12454541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.013554037185410102 Centerline is valid? [True, True] Translation: X:186.48, Y:-126.73, Z:-4.12 [[-8.96142743e-01 -4.43578742e-01 1.28873444e-02 1.86476098e+02] [-4.43534458e-01 8.96235399e-01 6.26857869e-03 -1.26728701e+02] [-1.43307025e-02 -9.84400153e-05 -9.99897305e-01 -4.12386312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.013652624520820318 Centerline is valid? [True, True] Translation: X:186.41, Y:-126.73, Z:-4.13 [[-8.60380526e-01 -5.09504870e-01 1.22530863e-02 1.86409555e+02] [-5.09455073e-01 8.60467765e-01 7.12420271e-03 -1.26733802e+02] [-1.41732018e-02 -1.12871720e-04 -9.99899549e-01 -4.12514653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.014114834588697923 Centerline is valid? [True, True] Translation: X:186.34, Y:-126.75, Z:-4.12 [[-8.20027746e-01 -5.72213703e-01 1.12237723e-02 1.86335691e+02] [-5.72161949e-01 8.20104546e-01 7.69665464e-03 -1.26746636e+02] [-1.36087980e-02 -1.10345089e-04 -9.99907390e-01 -4.12491288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.013592722908547317 Centerline is valid? [True, True] Translation: X:186.26, Y:-126.77, Z:-4.13 [[-7.75554477e-01 -6.31210475e-01 9.41220875e-03 1.86258018e+02] [-6.31165351e-01 7.75611584e-01 7.54788728e-03 -1.26772353e+02] [-1.20645237e-02 -8.68622722e-05 -9.99927217e-01 -4.12820884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.01345413446713419 Centerline is valid? [True, True] Translation: X:186.17, Y:-126.81, Z:-4.13 [[-7.26534300e-01 -6.87073096e-01 8.85842695e-03 1.86170148e+02] [-6.87023347e-01 7.26588298e-01 8.26838248e-03 -1.26811083e+02] [-1.21174125e-02 -7.86826463e-05 -9.99926578e-01 -4.12863353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.0135276237776253 Centerline is valid? [True, True] Translation: X:186.09, Y:-126.85, Z:-4.13 [[-6.72414753e-01 -7.40115643e-01 9.33997506e-03 1.86086863e+02] [-7.40046183e-01 6.72479611e-01 1.01400305e-02 -1.26852977e+02] [-1.37857380e-02 -9.37067850e-05 -9.99904968e-01 -4.12769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.013655725974391082 Centerline is valid? [True, True] Translation: X:186.01, Y:-126.91, Z:-4.13 [[-6.14074277e-01 -7.89196079e-01 9.07365916e-03 1.86005380e+02] [-7.89112496e-01 6.14141301e-01 1.14861195e-02 -1.26905168e+02] [-1.46373093e-02 -1.06807294e-04 -9.99892863e-01 -4.12736815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.01383382184563046 Centerline is valid? [True, True] Translation: X:185.92, Y:-126.97, Z:-4.13 [[-5.51931347e-01 -8.33843550e-01 8.75919346e-03 1.85923910e+02] [-8.33742102e-01 5.52000833e-01 1.30072546e-02 -1.26967229e+02] [-1.56810974e-02 -1.23796811e-04 -9.99877036e-01 -4.12657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.014140786113831606 Centerline is valid? [True, True] Translation: X:185.84, Y:-127.04, Z:-4.13 [[-4.87234044e-01 -8.73236270e-01 7.83596362e-03 1.85844758e+02] [-8.73127279e-01 4.87297037e-01 1.37968588e-02 -1.27039261e+02] [-1.58663594e-02 -1.19494267e-04 -9.99874114e-01 -4.12544147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.013563178918088807 Centerline is valid? [True, True] Translation: X:185.77, Y:-127.12, Z:-4.13 [[-4.19404581e-01 -9.07776422e-01 6.46257080e-03 1.85769641e+02] [-9.07672765e-01 4.19454353e-01 1.37184709e-02 -1.27124759e+02] [-1.51640579e-02 -1.12309958e-04 -9.99885013e-01 -4.12868093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.013549922302787497 Centerline is valid? [True, True] Translation: X:185.70, Y:-127.21, Z:-4.13 [[-3.48242195e-01 -9.37390854e-01 5.07556220e-03 1.85702460e+02] [-9.37296056e-01 3.48279162e-01 1.33314740e-02 -1.27209639e+02] [-1.42645143e-02 -1.14722675e-04 -9.99898250e-01 -4.13059209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.01383808975438641 Centerline is valid? [True, True] Translation: X:185.64, Y:-127.31, Z:-4.13 [[-2.74219580e-01 -9.61656989e-01 4.41112860e-03 1.85636154e+02] [-9.61541073e-01 2.74255017e-01 1.49315556e-02 -1.27311147e+02] [-1.55688090e-02 -1.46956420e-04 -9.99878788e-01 -4.12934386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.013968015962607412 Centerline is valid? [True, True] Translation: X:185.58, Y:-127.41, Z:-4.13 [[-1.99783582e-01 -9.79834331e-01 3.34720151e-03 1.85582662e+02] [-9.79709182e-01 1.99811563e-01 1.56606929e-02 -1.27409461e+02] [-1.60136941e-02 -1.50534722e-04 -9.99871761e-01 -4.12895196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.013783631997147876 Centerline is valid? [True, True] Translation: X:185.54, Y:-127.51, Z:-4.13 [[-1.25708415e-01 -9.92065137e-01 2.03925447e-03 1.85536156e+02] [-9.91949473e-01 1.25724899e-01 1.51489890e-02 -1.27512603e+02] [-1.52851689e-02 -1.18481989e-04 -9.99883168e-01 -4.12929948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.013551495458021383 Centerline is valid? [True, True] Translation: X:185.50, Y:-127.62, Z:-4.13 [[-5.10878097e-02 -9.98693813e-01 8.38451872e-04 1.85498366e+02] [-9.98585856e-01 5.10946154e-02 1.46843137e-02 -1.27622735e+02] [-1.47079736e-02 -8.70767551e-05 -9.99891828e-01 -4.13016693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.013348739091228494 Centerline is valid? [True, True] Translation: X:185.47, Y:-127.74, Z:-4.13 [[ 2.28647202e-02 -9.99738529e-01 -2.80083370e-04 1.85469689e+02] [-9.99638097e-01 -2.28663932e-02 1.41705175e-02 -1.27737392e+02] [-1.41732168e-02 -4.40229100e-05 -9.99899554e-01 -4.13124544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.013053416979096432 Centerline is valid? [True, True] Translation: X:185.45, Y:-127.85, Z:-4.13 [[ 9.52073854e-02 -9.95456494e-01 -1.38631357e-03 1.85448977e+02] [-9.95353702e-01 -9.52174763e-02 1.43052604e-02 -1.27851490e+02] [-1.43722656e-02 1.79059047e-05 -9.99896714e-01 -4.13421874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.01335907510858582 Centerline is valid? [True, True] Translation: X:185.44, Y:-127.97, Z:-4.13 [[ 1.68445938e-01 -9.85707878e-01 -2.43837106e-03 1.85437061e+02] [-9.85609564e-01 -1.68463575e-01 1.39216150e-02 -1.27970238e+02] [-1.41334223e-02 5.82423370e-05 -9.99900117e-01 -4.13336466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.013460594730908208 Centerline is valid? [True, True] Translation: X:185.43, Y:-128.09, Z:-4.14 [[ 2.39975997e-01 -9.70772697e-01 -3.44843416e-03 1.85433754e+02] [-9.70678936e-01 -2.40000747e-01 1.34924040e-02 -1.28088763e+02] [-1.39256842e-02 1.09469297e-04 -9.99903027e-01 -4.13582245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.013881979310301898 Centerline is valid? [True, True] Translation: X:185.43, Y:-128.20, Z:-4.13 [[ 3.12318135e-01 -9.49963711e-01 -5.13133200e-03 1.85434603e+02] [-9.49843223e-01 -3.12360250e-01 1.51303103e-02 -1.28202834e+02] [-1.59760699e-02 1.48490621e-04 -9.99872363e-01 -4.13427183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.014854561848183885 Centerline is valid? [True, True] Translation: X:185.45, Y:-128.32, Z:-4.13 [[ 3.83772019e-01 -9.23401401e-01 -6.99214580e-03 1.85448072e+02] [-9.23256233e-01 -3.83835673e-01 1.63739241e-02 -1.28319316e+02] [-1.78035394e-02 1.71688267e-04 -9.99841490e-01 -4.13062141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.014320687473738464 Centerline is valid? [True, True] Translation: X:185.47, Y:-128.43, Z:-4.13 [[ 4.52506942e-01 -8.91721180e-01 -8.41453160e-03 1.85466932e+02] [-8.91574783e-01 -4.52585131e-01 1.61587517e-02 -1.28434397e+02] [-1.82173931e-02 1.90236842e-04 -9.99834031e-01 -4.13312260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.01405152187548375 Centerline is valid? [True, True] Translation: X:185.49, Y:-128.54, Z:-4.14 [[ 5.18797547e-01 -8.54845646e-01 -9.38228865e-03 1.85493605e+02] [-8.54712579e-01 -5.18882342e-01 1.50838475e-02 -1.28543266e+02] [-1.77626652e-02 1.93697067e-04 -9.99842213e-01 -4.13514899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.013845630529346141 Centerline is valid? [True, True] Translation: X:185.53, Y:-128.65, Z:-4.14 [[ 5.82722763e-01 -8.12612036e-01 -9.79088984e-03 1.85526876e+02] [-8.12502307e-01 -5.82804984e-01 1.33548013e-02 -1.28652033e+02] [-1.65584516e-02 1.72973892e-04 -9.99862885e-01 -4.13570464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.01368575034392459 Centerline is valid? [True, True] Translation: X:185.57, Y:-128.75, Z:-4.14 [[ 6.44028786e-01 -7.64926117e-01 -1.07218415e-02 1.85567466e+02] [-7.64823848e-01 -6.44118013e-01 1.25086786e-02 -1.28753505e+02] [-1.64743462e-02 1.44370952e-04 -9.99864278e-01 -4.13544710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.013650695147323233 Centerline is valid? [True, True] Translation: X:185.61, Y:-128.85, Z:-4.13 [[ 7.04102481e-01 -7.09999845e-01 -1.18286335e-02 1.85611392e+02] [-7.09900915e-01 -7.04201830e-01 1.18521701e-02 -1.28853916e+02] [-1.67447843e-02 5.20153179e-05 -9.99859795e-01 -4.13286444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.013065634790781195 Centerline is valid? [True, True] Translation: X:185.66, Y:-128.95, Z:-4.14 [[ 7.61550129e-01 -6.47974562e-01 -1.30525299e-02 1.85658908e+02] [-6.47877079e-01 -7.61661970e-01 1.12398391e-02 -1.28952875e+02] [-1.72247454e-02 -1.03265991e-04 -9.99851638e-01 -4.13541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.014381002779765357 Centerline is valid? [True, True] Translation: X:185.68, Y:-128.99, Z:-4.13 [[ 8.13645317e-01 -5.81197496e-01 -1.38119341e-02 1.85677018e+02] [-5.81109309e-01 -8.13762512e-01 1.01265029e-02 -1.28989382e+02] [-1.71251323e-02 -2.13138182e-04 -9.99853331e-01 -4.13318319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.015282816383070167 Centerline is valid? [True, True] Translation: X:185.70, Y:-129.02, Z:-4.13 [[ 8.60078540e-01 -5.09936947e-01 -1.51398819e-02 1.85700103e+02] [-5.09850893e-01 -8.60211714e-01 9.37410545e-03 -1.29024038e+02] [-1.78037065e-02 -3.43384598e-04 -9.99841443e-01 -4.13451058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.01770721517567638 Centerline is valid? [True, True] Translation: X:185.73, Y:-129.06, Z:-4.13 [[ 8.98591230e-01 -4.38492556e-01 -1.60648414e-02 1.85726354e+02] [-4.38414468e-01 -8.98734731e-01 8.28475807e-03 -1.29055781e+02] [-1.80708357e-02 -4.01552041e-04 -9.99836629e-01 -4.13171497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.016307153737106967 Centerline is valid? [True, True] Translation: X:185.76, Y:-129.08, Z:-4.13 [[ 9.30307062e-01 -3.66386894e-01 -1.70122044e-02 1.85759873e+02] [-3.66317341e-01 -9.30462502e-01 7.15116055e-03 -1.29079011e+02] [-1.84493098e-02 -4.20909687e-04 -9.99829708e-01 -4.13378804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.015483802851505742 Centerline is valid? [True, True] Translation: X:185.79, Y:-129.10, Z:-4.14 [[ 9.56151414e-01 -2.92296550e-01 -1.83629997e-02 1.85793169e+02] [-2.92233671e-01 -9.56327626e-01 6.07894336e-03 -1.29102795e+02] [-1.93378981e-02 -4.46103464e-04 -9.99812906e-01 -4.13500144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.015896115314662226 Centerline is valid? [True, True] Translation: X:185.83, Y:-129.12, Z:-4.13 [[ 9.75993865e-01 -2.16914501e-01 -1.95978141e-02 1.85828358e+02] [-2.16861299e-01 -9.76190498e-01 4.82594234e-03 -1.29122686e+02] [-2.01780168e-02 -4.60082700e-04 -9.99796297e-01 -4.13466101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.01569326537676314 Centerline is valid? [True, True] Translation: X:185.87, Y:-129.14, Z:-4.14 [[ 9.89817081e-01 -1.41008059e-01 -1.94646629e-02 1.85866226e+02] [-1.40972269e-01 -9.90008355e-01 3.20565803e-03 -1.29137560e+02] [-1.97222025e-02 -4.29037381e-04 -9.99805406e-01 -4.13580771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.015638686316338676 Centerline is valid? [True, True] Translation: X:185.90, Y:-129.15, Z:-4.14 [[ 9.97797182e-01 -6.37069600e-02 -1.84988547e-02 1.85903551e+02] [-6.36887225e-02 -9.97968571e-01 1.57393735e-03 -1.29147444e+02] [-1.85615464e-02 -3.92301829e-04 -9.99827643e-01 -4.13816684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.015451871687285835 Centerline is valid? [True, True] Translation: X:185.94, Y:-129.16, Z:-4.14 [[ 9.99730899e-01 1.39823683e-02 -1.85100901e-02 1.85939377e+02] [ 1.39869974e-02 -9.99902170e-01 1.20640425e-04 -1.29155427e+02] [-1.85065924e-02 -3.79508543e-04 -9.99828666e-01 -4.13852870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.015547620523684242 Centerline is valid? [True, True] Translation: X:185.97, Y:-129.16, Z:-4.14 [[ 9.95690442e-01 9.07774652e-02 -1.89735292e-02 1.85974121e+02] [ 9.07679099e-02 -9.95871137e-01 -1.36596464e-03 -1.29157635e+02] [-1.90191889e-02 -3.62109647e-04 -9.99819053e-01 -4.13764155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.015549256842873872 Centerline is valid? [True, True] Translation: X:186.01, Y:-129.15, Z:-4.14 [[ 9.85770616e-01 1.66965441e-01 -1.94636851e-02 1.86009276e+02] [ 1.66939806e-01 -9.85962688e-01 -2.94600072e-03 -1.29154715e+02] [-1.96823476e-02 -3.45182878e-04 -9.99806224e-01 -4.13737939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.01534925004875815 Centerline is valid? [True, True] Translation: X:186.04, Y:-129.15, Z:-4.14 [[ 9.70007636e-01 2.42251196e-01 -1.99886112e-02 1.86044363e+02] [ 2.42206783e-01 -9.70213507e-01 -4.65031347e-03 -1.29148416e+02] [-2.05197645e-02 -3.30537634e-04 -9.99789393e-01 -4.13735041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.01494280350175476 Centerline is valid? [True, True] Translation: X:186.08, Y:-129.14, Z:-4.14 [[ 9.48530305e-01 3.16063721e-01 -1.98490437e-02 1.86078307e+02] [ 3.16001233e-01 -9.48737915e-01 -6.29197691e-03 -1.29140494e+02] [-2.08202060e-02 -3.04191524e-04 -9.99783190e-01 -4.13751382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.015212723922116828 Centerline is valid? [True, True] Translation: X:186.11, Y:-129.13, Z:-4.14 [[ 9.20711172e-01 3.89765687e-01 -1.93299778e-02 1.86111145e+02] [ 3.89686961e-01 -9.20914008e-01 -7.83975393e-03 -1.29129676e+02] [-2.08569144e-02 -3.14491292e-04 -9.99782421e-01 -4.13823100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.015021935670926224 Centerline is valid? [True, True] Translation: X:186.15, Y:-129.12, Z:-4.14 [[ 8.86454360e-01 4.62448089e-01 -1.84508424e-02 1.86145365e+02] [ 4.62356163e-01 -8.86646289e-01 -9.22696232e-03 -1.29121516e+02] [-2.06263620e-02 -3.51579715e-04 -9.99787192e-01 -4.13990505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.016253661240466427 Centerline is valid? [True, True] Translation: X:186.18, Y:-129.11, Z:-4.14 [[ 8.45420511e-01 5.33763383e-01 -1.89950123e-02 1.86178301e+02] [ 5.33640988e-01 -8.45633747e-01 -1.14394726e-02 -1.29109686e+02] [-2.21687951e-02 -4.65352350e-04 -9.99754134e-01 -4.13902967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.01580430800403782 Centerline is valid? [True, True] Translation: X:186.21, Y:-129.09, Z:-4.14 [[ 8.01066881e-01 5.98306352e-01 -1.79265464e-02 1.86209081e+02] [ 5.98169409e-01 -8.01267306e-01 -1.28087399e-02 -1.29093881e+02] [-2.20275059e-02 -4.62454337e-04 -9.99757258e-01 -4.14035710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.015616586414491346 Centerline is valid? [True, True] Translation: X:186.24, Y:-129.08, Z:-4.14 [[ 7.53360775e-01 6.57415961e-01 -1.58681277e-02 1.86236303e+02] [ 6.57280867e-01 -7.53527774e-01 -1.33324911e-02 -1.29075449e+02] [-2.07220674e-02 -3.85640887e-04 -9.99785201e-01 -4.14139763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.01470221541454094 Centerline is valid? [True, True] Translation: X:186.26, Y:-129.05, Z:-4.14 [[ 7.02100145e-01 7.11943732e-01 -1.38386664e-02 1.86260848e+02] [ 7.11813656e-01 -7.02236453e-01 -1.36118382e-02 -1.29053618e+02] [-1.94088789e-02 -2.93678125e-04 -9.99811587e-01 -4.14388080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.014546433501191955 Centerline is valid? [True, True] Translation: X:186.28, Y:-129.03, Z:-4.14 [[ 6.46161352e-01 7.63110292e-01 -1.17554372e-02 1.86284113e+02] [ 7.62990371e-01 -6.46268235e-01 -1.35300577e-02 -1.29032037e+02] [-1.79220919e-02 -2.26684987e-04 -9.99839361e-01 -4.14419631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.014896792502238404 Centerline is valid? [True, True] Translation: X:186.30, Y:-129.01, Z:-4.14 [[ 5.86317666e-01 8.10008488e-01 -1.08556398e-02 1.86304397e+02] [ 8.09875598e-01 -5.86418123e-01 -1.46731527e-02 -1.29008741e+02] [-1.82513221e-02 -1.88589123e-04 -9.99833413e-01 -4.14208062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.01425336894848256 Centerline is valid? [True, True] Translation: X:186.32, Y:-128.98, Z:-4.14 [[ 5.24017334e-01 8.51644605e-01 -1.03585852e-02 1.86319225e+02] [ 8.51483313e-01 -5.24119689e-01 -1.65746250e-02 -1.28981009e+02] [-1.95448284e-02 -1.34771688e-04 -9.99808973e-01 -4.14426586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.01439885895287825 Centerline is valid? [True, True] Translation: X:186.34, Y:-128.96, Z:-4.14 [[ 4.55586838e-01 8.90143243e-01 -9.25414843e-03 1.86337049e+02] [ 8.89965919e-01 -4.55680794e-01 -1.77673039e-02 -1.28955455e+02] [-2.00323833e-02 -1.41326887e-04 -9.99799322e-01 -4.14351893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.014215673435891174 Centerline is valid? [True, True] Translation: X:186.36, Y:-128.93, Z:-4.15 [[ 3.82969804e-01 9.23727204e-01 -7.88555022e-03 1.86357305e+02] [ 9.23540789e-01 -3.83050939e-01 -1.85577381e-02 -1.28931187e+02] [-2.01628549e-02 -1.75573945e-04 -9.99796694e-01 -4.14550208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.014429155966808048 Centerline is valid? [True, True] Translation: X:186.37, Y:-128.91, Z:-4.15 [[ 3.07345572e-01 9.51577521e-01 -6.23864234e-03 1.86374438e+02] [ 9.51395446e-01 -3.07408809e-01 -1.86153058e-02 -1.28905475e+02] [-1.96317202e-02 -2.14084094e-04 -9.99807256e-01 -4.14724368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.015060900664745636 Centerline is valid? [True, True] Translation: X:186.39, Y:-128.88, Z:-4.15 [[ 2.29619781e-01 9.73267283e-01 -5.05483721e-03 1.86389266e+02] [ 9.73057258e-01 -2.29675248e-01 -2.02201047e-02 -1.28879747e+02] [-2.08405373e-02 -2.75710020e-04 -9.99782774e-01 -4.14660532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.015495959825523141 Centerline is valid? [True, True] Translation: X:186.40, Y:-128.85, Z:-4.15 [[ 1.51072674e-01 9.88516109e-01 -3.59846151e-03 1.86399682e+02] [ 9.88284331e-01 -1.51115181e-01 -2.14075557e-02 -1.28851198e+02] [-2.17054958e-02 -3.22206441e-04 -9.99764356e-01 -4.14605488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.015438130022020465 Centerline is valid? [True, True] Translation: X:186.41, Y:-128.82, Z:-4.15 [[ 7.19702059e-02 9.97404843e-01 -1.96687270e-03 1.86408020e+02] [ 9.97156461e-01 -7.19961814e-02 -2.22607945e-02 -1.28822222e+02] [-2.23446316e-02 -3.59165856e-04 -9.99750263e-01 -4.14778780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.01570764709775419 Centerline is valid? [True, True] Translation: X:186.42, Y:-128.79, Z:-4.15 [[-7.08259058e-03 9.99974893e-01 -2.23306561e-04 1.86415169e+02] [ 9.99712356e-01 7.07561368e-03 -2.29159421e-02 -1.28793489e+02] [-2.29137867e-02 -3.85546564e-04 -9.99737370e-01 -4.14756146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.015551057353987445 Centerline is valid? [True, True] Translation: X:186.42, Y:-128.76, Z:-4.15 [[-8.57491862e-02 9.96315500e-01 1.58154430e-03 1.86419708e+02] [ 9.96050101e-01 8.57628518e-02 -2.29984861e-02 -1.28763856e+02] [-2.30493859e-02 -3.96804112e-04 -9.99734249e-01 -4.14842604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.015895924798506943 Centerline is valid? [True, True] Translation: X:186.42, Y:-128.74, Z:-4.15 [[-1.61258631e-01 9.86907149e-01 3.15158260e-03 1.86419944e+02] [ 9.86678007e-01 1.61289107e-01 -2.12681403e-02 -1.28735131e+02] [-2.14979957e-02 -3.20073948e-04 -9.99768840e-01 -4.14804031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.014339200389802994 Centerline is valid? [True, True] Translation: X:186.42, Y:-128.71, Z:-4.15 [[-2.35407291e-01 9.71883857e-01 5.01751000e-03 1.86416988e+02] [ 9.71637775e-01 2.35460598e-01 -2.18710240e-02 -1.28705974e+02] [-2.24375211e-02 -2.73396260e-04 -9.99748210e-01 -4.15067063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.013984828401884612 Centerline is valid? [True, True] Translation: X:186.41, Y:-128.68, Z:-4.15 [[-3.07276178e-01 9.51593176e-01 7.19562673e-03 1.86411789e+02] [ 9.51316550e-01 3.07360350e-01 -2.29442359e-02 -1.28677430e+02] [-2.40452287e-02 -2.04898317e-04 -9.99710851e-01 -4.14958538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.014600472819547187 Centerline is valid? [True, True] Translation: X:186.40, Y:-128.65, Z:-4.15 [[-3.77447055e-01 9.25982105e-01 9.53215778e-03 1.86404472e+02] [ 9.25678536e-01 3.77567379e-01 -2.37091077e-02 -1.28651266e+02] [-2.55532413e-02 -1.25219013e-04 -9.99673455e-01 -4.14638913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.013644501736914057 Centerline is valid? [True, True] Translation: X:186.40, Y:-128.62, Z:-4.15 [[-4.46012333e-01 8.94949002e-01 1.18018062e-02 1.86396001e+02] [ 8.94633081e-01 4.46168445e-01 -2.37774851e-02 -1.28623793e+02] [-2.65452301e-02 -4.67653246e-05 -9.99647612e-01 -4.15016585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.013370715811697029 Centerline is valid? [True, True] Translation: X:186.39, Y:-128.60, Z:-4.15 [[-5.12345146e-01 8.58684073e-01 1.28106882e-02 1.86386952e+02] [ 8.58416987e-01 5.12505280e-01 -2.14152866e-02 -1.28596900e+02] [-2.49545109e-02 2.48942252e-05 -9.99688587e-01 -4.15318239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.013218843123156195 Centerline is valid? [True, True] Translation: X:186.38, Y:-128.57, Z:-4.15 [[-5.77668609e-01 8.16165236e-01 1.31637668e-02 1.86378015e+02] [ 8.15954724e-01 5.77818575e-01 -1.85359589e-02 -1.28569884e+02] [-2.27346742e-02 3.33960921e-05 -9.99741533e-01 -4.15372726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.013209011053601085 Centerline is valid? [True, True] Translation: X:186.37, Y:-128.54, Z:-4.15 [[-6.40136308e-01 7.68122452e-01 1.46084169e-02 1.86365564e+02] [ 7.67923375e-01 6.40302973e-01 -1.74869046e-02 -1.28544282e+02] [-2.27858968e-02 2.41422631e-05 -9.99740367e-01 -4.15360791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.01306646277950649 Centerline is valid? [True, True] Translation: X:186.35, Y:-128.52, Z:-4.15 [[-7.00639662e-01 7.13316954e-01 1.68222286e-02 1.86353473e+02] [ 7.13109586e-01 7.00841580e-01 -1.71987537e-02 -1.28516623e+02] [-2.40578799e-02 -5.40364913e-05 -9.99710566e-01 -4.15380673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.01306759550779465 Centerline is valid? [True, True] Translation: X:186.34, Y:-128.49, Z:-4.15 [[-7.57311475e-01 6.52837306e-01 1.68161441e-02 1.86339959e+02] [ 6.52671994e-01 7.57498138e-01 -1.46914398e-02 -1.28488449e+02] [-2.23293178e-02 -1.50569658e-04 -9.99750658e-01 -4.15438754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.012878022647545076 Centerline is valid? [True, True] Translation: X:186.78, Y:-127.99, Z:-5.10 [[-7.00447781e-01 -7.13546970e-01 1.49541882e-02 1.86784695e+02] [ 7.13386783e-01 -7.00607391e-01 -1.51189063e-02 -1.27987134e+02] [ 2.12650645e-02 7.81158139e-05 9.99773870e-01 -5.10021971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.012802650716318004 Centerline is valid? [True, True] Translation: X:186.74, Y:-127.95, Z:-5.10 [[-6.99555912e-01 -7.14426429e-01 1.47106752e-02 1.86742056e+02] [ 7.14275179e-01 -6.99710532e-01 -1.47017276e-02 -1.27948475e+02] [ 2.07965171e-02 2.22789731e-04 9.99783704e-01 -5.09930168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.01260641161183702 Centerline is valid? [True, True] Translation: X:186.72, Y:-127.97, Z:-5.10 [[-6.50381829e-01 -7.59479520e-01 1.39404441e-02 1.86718887e+02] [ 7.59312141e-01 -6.50531178e-01 -1.59454851e-02 -1.27968718e+02] [ 2.11789629e-02 2.14494744e-04 9.99775678e-01 -5.09951239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.01285002672862422 Centerline is valid? [True, True] Translation: X:186.68, Y:-127.93, Z:-5.10 [[-6.50943063e-01 -7.58997409e-01 1.40022001e-02 1.86681311e+02] [ 7.58828635e-01 -6.51093611e-01 -1.60066238e-02 -1.27926984e+02] [ 2.12657291e-02 2.05869643e-04 9.99773838e-01 -5.10051405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.012498772671722391 Centerline is valid? [True, True] Translation: X:186.64, Y:-127.88, Z:-5.10 [[-6.52210518e-01 -7.57914224e-01 1.36919608e-02 1.86643589e+02] [ 7.57752814e-01 -6.52354198e-01 -1.56420770e-02 -1.27883560e+02] [ 2.07873607e-02 1.73194722e-04 9.99783905e-01 -5.10027061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.012169452731837912 Centerline is valid? [True, True] Translation: X:186.61, Y:-127.84, Z:-5.10 [[-6.54674497e-01 -7.55777186e-01 1.42178581e-02 1.86607479e+02] [ 7.55602855e-01 -6.54828857e-01 -1.62324970e-02 -1.27839628e+02] [ 2.15784147e-02 1.16052402e-04 9.99767152e-01 -5.10000699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.012122095210494873 Centerline is valid? [True, True] Translation: X:186.57, Y:-127.80, Z:-5.10 [[-6.56574489e-01 -7.54137876e-01 1.36383878e-02 1.86570107e+02] [ 7.53977315e-01 -6.56716119e-01 -1.55611180e-02 -1.27796387e+02] [ 2.06917776e-02 6.60019624e-05 9.99785900e-01 -5.10022792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.011847716601022159 Centerline is valid? [True, True] Translation: X:186.53, Y:-127.75, Z:-5.10 [[-6.57115320e-01 -7.53674760e-01 1.31837770e-02 1.86531858e+02] [ 7.53524806e-01 -6.57247558e-01 -1.50337778e-02 -1.27752867e+02] [ 1.99955841e-02 5.53772571e-05 9.99800067e-01 -5.09908831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.011919537768509816 Centerline is valid? [True, True] Translation: X:186.49, Y:-127.71, Z:-5.10 [[-6.56346286e-01 -7.54342864e-01 1.32814514e-02 1.86493772e+02] [ 7.54191010e-01 -6.56480645e-01 -1.51354858e-02 -1.27709942e+02] [ 2.01363615e-02 8.26313634e-05 9.99797240e-01 -5.09819496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.012237548892465819 Centerline is valid? [True, True] Translation: X:186.45, Y:-127.67, Z:-5.10 [[-6.54829597e-01 -7.55658475e-01 1.33591868e-02 1.86454342e+02] [ 7.55505317e-01 -6.54965840e-01 -1.52139647e-02 -1.27669353e+02] [ 2.02463724e-02 1.30382241e-04 9.99795013e-01 -5.09887158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.012710947319553263 Centerline is valid? [True, True] Translation: X:186.41, Y:-127.63, Z:-5.10 [[-6.51510708e-01 -7.58524042e-01 1.32315777e-02 1.86413326e+02] [ 7.58374556e-01 -6.51645017e-01 -1.50600720e-02 -1.27627903e+02] [ 2.00457184e-02 2.22693633e-04 9.99799040e-01 -5.09759900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.013976789695483221 Centerline is valid? [True, True] Translation: X:186.37, Y:-127.59, Z:-5.10 [[-6.48852671e-01 -7.60804781e-01 1.28956367e-02 1.86373076e+02] [ 7.60663408e-01 -6.48980740e-01 -1.46689755e-02 -1.27587344e+02] [ 1.95292465e-02 2.91235050e-04 9.99809244e-01 -5.09701261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.014846490243400678 Centerline is valid? [True, True] Translation: X:186.33, Y:-127.55, Z:-5.10 [[-6.46146640e-01 -7.63104361e-01 1.28939909e-02 1.86332527e+02] [ 7.62963647e-01 -6.46275174e-01 -1.46585150e-02 -1.27546309e+02] [ 1.95190429e-02 3.66096061e-04 9.99809418e-01 -5.09670836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.014523494554338606 Centerline is valid? [True, True] Translation: X:186.29, Y:-127.50, Z:-5.10 [[-6.44419732e-01 -7.64559874e-01 1.30923092e-02 1.86293765e+02] [ 7.64415268e-01 -6.44552575e-01 -1.48753944e-02 -1.27503317e+02] [ 1.98118112e-02 4.21963345e-04 9.99803638e-01 -5.09557527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.016383916860722766 Centerline is valid? [True, True] Translation: X:186.25, Y:-127.46, Z:-5.10 [[-6.42117540e-01 -7.66480284e-01 1.38938233e-02 1.86254491e+02] [ 7.66318077e-01 -6.42267629e-01 -1.57765243e-02 -1.27461677e+02] [ 2.10159478e-02 5.16704995e-04 9.99779007e-01 -5.09701988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.016635885166256408 Centerline is valid? [True, True] Translation: X:186.22, Y:-127.42, Z:-5.10 [[-6.41644408e-01 -7.66864895e-01 1.45150702e-02 1.86216724e+02] [ 7.66688155e-01 -6.41808321e-01 -1.64727589e-02 -1.27417817e+02] [ 2.19482733e-02 5.58878799e-04 9.99758951e-01 -5.09637998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.01821170419427662 Centerline is valid? [True, True] Translation: X:186.18, Y:-127.38, Z:-5.10 [[-6.40266207e-01 -7.68028212e-01 1.38509644e-02 1.86177129e+02] [ 7.67867740e-01 -6.40415749e-01 -1.57099063e-02 -1.27376131e+02] [ 2.09360270e-02 5.77186647e-04 9.99780651e-01 -5.09626498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.017020499878928758 Centerline is valid? [True, True] Translation: X:186.14, Y:-127.33, Z:-5.09 [[-6.38813576e-01 -7.69237925e-01 1.37923959e-02 1.86140826e+02] [ 7.69079276e-01 -6.38962151e-01 -1.56344883e-02 -1.27330576e+02] [ 2.08394602e-02 6.19922473e-04 9.99782643e-01 -5.09471110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.017622097801683244 Centerline is valid? [True, True] Translation: X:186.10, Y:-127.29, Z:-5.09 [[-6.38197441e-01 -7.69739619e-01 1.43159083e-02 1.86104094e+02] [ 7.69569023e-01 -6.38357639e-01 -1.62186132e-02 -1.27285570e+02] [ 2.16227786e-02 6.66402077e-04 9.99765978e-01 -5.09410450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.01736698044218816 Centerline is valid? [True, True] Translation: X:186.07, Y:-127.24, Z:-5.09 [[-6.38305532e-01 -7.69669250e-01 1.32398028e-02 1.86067596e+02] [ 7.69523498e-01 -6.38442528e-01 -1.49908254e-02 -1.27240412e+02] [ 1.99908305e-02 6.19612557e-04 9.99799971e-01 -5.09290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.018243749739021983 Centerline is valid? [True, True] Translation: X:186.03, Y:-127.20, Z:-5.09 [[-6.39606094e-01 -7.68612012e-01 1.18160508e-02 1.86031552e+02] [ 7.68495872e-01 -6.39715012e-01 -1.33715637e-02 -1.27196379e+02] [ 1.78364495e-02 5.28052586e-04 9.99840778e-01 -5.09223831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.017834243845716715 Centerline is valid? [True, True] Translation: X:186.00, Y:-127.15, Z:-5.09 [[-6.41806768e-01 -7.66789424e-01 1.08651625e-02 1.85996340e+02] [ 7.66691077e-01 -6.41898577e-01 -1.22886188e-02 -1.27150760e+02] [ 1.63971153e-02 4.43304356e-04 9.99865460e-01 -5.09119892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.015906373928254062 Centerline is valid? [True, True] Translation: X:185.96, Y:-127.10, Z:-5.09 [[-6.46584822e-01 -7.62774090e-01 1.01860477e-02 1.85962917e+02] [ 7.62687227e-01 -6.46664970e-01 -1.15156545e-02 -1.27103212e+02] [ 1.53708031e-02 3.22921001e-04 9.99881810e-01 -5.09172646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.013068225002811469 Centerline is valid? [True, True] Translation: X:185.93, Y:-127.05, Z:-5.09 [[-6.52669192e-01 -7.57571832e-01 1.03848769e-02 1.85932986e+02] [ 7.57480987e-01 -6.52751772e-01 -1.17336514e-02 -1.27052291e+02] [ 1.56678306e-02 2.08154021e-04 9.99877230e-01 -5.08982745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.012326418691350045 Centerline is valid? [True, True] Translation: X:185.90, Y:-127.00, Z:-5.09 [[-6.57287200e-01 -7.53574809e-01 9.92690196e-03 1.85899404e+02] [ 7.53491436e-01 -6.57362149e-01 -1.12098889e-02 -1.27004651e+02] [ 1.49730595e-02 1.11719100e-04 9.99887891e-01 -5.08921057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.011892771354056017 Centerline is valid? [True, True] Translation: X:185.87, Y:-126.96, Z:-5.09 [[-6.62466284e-01 -7.49022401e-01 1.01914425e-02 1.85866396e+02] [ 7.48934095e-01 -6.62544672e-01 -1.15012609e-02 -1.26957413e+02] [ 1.53669879e-02 1.35212124e-05 9.99881921e-01 -5.08934668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.01207945741949156 Centerline is valid? [True, True] Translation: X:185.83, Y:-126.91, Z:-5.09 [[-6.65851651e-01 -7.46019827e-01 9.79776707e-03 1.85831384e+02] [ 7.45937988e-01 -6.65923731e-01 -1.10500287e-02 -1.26911588e+02] [ 1.47681061e-02 -4.91532162e-05 9.99890944e-01 -5.08970150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.012454617968536918 Centerline is valid? [True, True] Translation: X:185.80, Y:-126.87, Z:-5.09 [[-6.68621035e-01 -7.43542881e-01 9.48135543e-03 1.85796424e+02] [ 7.43466087e-01 -6.68688250e-01 -1.06865276e-02 -1.26865596e+02] [ 1.42859625e-02 -9.61708941e-05 9.99897946e-01 -5.08956547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.012520736968023236 Centerline is valid? [True, True] Translation: X:185.76, Y:-126.82, Z:-5.09 [[-6.69420949e-01 -7.42823219e-01 9.44765029e-03 1.85760075e+02] [ 7.42746995e-01 -6.69487605e-01 -1.06418103e-02 -1.26821133e+02] [ 1.42300685e-02 -1.06636859e-04 9.99898742e-01 -5.08791675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.012699854070918913 Centerline is valid? [True, True] Translation: X:185.72, Y:-126.78, Z:-5.09 [[-6.69340553e-01 -7.42897545e-01 9.29847592e-03 1.85722004e+02] [ 7.42823807e-01 -6.69405130e-01 -1.04672436e-02 -1.26778495e+02] [ 1.40005370e-02 -9.90213039e-05 9.99901983e-01 -5.08867917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.012635900412483506 Centerline is valid? [True, True] Translation: X:185.68, Y:-126.74, Z:-5.09 [[-6.68189379e-01 -7.43932890e-01 9.31710730e-03 1.85683448e+02] [ 7.43859048e-01 -6.68254330e-01 -1.04817795e-02 -1.26735836e+02] [ 1.40239378e-02 -7.31991376e-05 9.99901657e-01 -5.08950803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.012185710100213817 Centerline is valid? [True, True] Translation: X:185.64, Y:-126.69, Z:-5.09 [[-6.65313553e-01 -7.46512273e-01 8.79214289e-03 1.85643220e+02] [ 7.46446800e-01 -6.65371645e-01 -9.88683958e-03 -1.26694380e+02] [ 1.32306897e-02 -1.49814552e-05 9.99912471e-01 -5.08778819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.012255809220457464 Centerline is valid? [True, True] Translation: X:185.60, Y:-126.65, Z:-5.09 [[-6.61452810e-01 -7.49941364e-01 8.25408118e-03 1.85601925e+02] [ 7.49883997e-01 -6.61504306e-01 -9.27600090e-03 -1.26654266e+02] [ 1.24165670e-02 5.39665238e-05 9.99922910e-01 -5.08780399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.012531846745231062 Centerline is valid? [True, True] Translation: X:185.56, Y:-126.61, Z:-5.09 [[-6.58111432e-01 -7.52875970e-01 8.19245779e-03 1.85560537e+02] [ 7.52819746e-01 -6.58162412e-01 -9.20158255e-03 -1.26612865e+02] [ 1.23196182e-02 1.11777326e-04 9.99924104e-01 -5.08821082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.014907159445788987 Centerline is valid? [True, True] Translation: X:185.52, Y:-126.57, Z:-5.09 [[-6.51801588e-01 -7.58340113e-01 8.65816360e-03 1.85517184e+02] [ 7.58277867e-01 -6.51859049e-01 -9.71887722e-03 -1.26574923e+02] [ 1.30141167e-02 2.30514221e-04 9.99915286e-01 -5.09038247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.015021078729651579 Centerline is valid? [True, True] Translation: X:185.48, Y:-126.53, Z:-5.09 [[-6.49749585e-01 -7.60099243e-01 8.63815335e-03 1.85478009e+02] [ 7.60037491e-01 -6.49806947e-01 -9.69245034e-03 -1.26532595e+02] [ 1.29803562e-02 2.67654819e-04 9.99915716e-01 -5.08998451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.0169701794406503 Centerline is valid? [True, True] Translation: X:185.44, Y:-126.49, Z:-5.09 [[-6.43803101e-01 -7.65146594e-01 8.26175969e-03 1.85435228e+02] [ 7.65090584e-01 -6.43856011e-01 -9.26475777e-03 -1.26493123e+02] [ 1.24082815e-02 3.56314770e-04 9.99922951e-01 -5.08998111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.0187337761441987 Centerline is valid? [True, True] Translation: X:185.39, Y:-126.45, Z:-5.09 [[-6.40288186e-01 -7.68092727e-01 8.03751818e-03 1.85394190e+02] [ 7.68040009e-01 -6.40338504e-01 -9.00807073e-03 -1.26452026e+02] [ 1.20657660e-02 4.05374265e-04 9.99927124e-01 -5.09091229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.01923171753702471 Centerline is valid? [True, True] Translation: X:185.35, Y:-126.41, Z:-5.09 [[-6.39891326e-01 -7.68427068e-01 7.67674802e-03 1.85354811e+02] [ 7.68379057e-01 -6.39937250e-01 -8.59885433e-03 -1.26408695e+02] [ 1.15202294e-02 3.96320110e-04 9.99933561e-01 -5.09196854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.01940002961552094 Centerline is valid? [True, True] Translation: X:185.32, Y:-126.36, Z:-5.09 [[-6.40745069e-01 -7.67717147e-01 7.49254784e-03 1.85317980e+02] [ 7.67671425e-01 -6.40788763e-01 -8.38720227e-03 -1.26364414e+02] [ 1.12401395e-02 3.77756382e-04 9.99936756e-01 -5.09222125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.018925775872665272 Centerline is valid? [True, True] Translation: X:185.28, Y:-126.32, Z:-5.09 [[-6.42297574e-01 -7.66426100e-01 6.69781784e-03 1.85280874e+02] [ 7.66389534e-01 -6.42332415e-01 -7.49338187e-03 -1.26320196e+02] [ 1.00453489e-02 3.20156506e-04 9.99949493e-01 -5.09181850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.018752793264778526 Centerline is valid? [True, True] Translation: X:185.25, Y:-126.28, Z:-5.09 [[-6.45741657e-01 -7.63535979e-01 5.52452982e-03 1.85245152e+02] [ 7.63511028e-01 -6.45765248e-01 -6.17693510e-03 -1.26275831e+02] [ 8.28386156e-03 2.29335130e-04 9.99965662e-01 -5.09148682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.016884499628868763 Centerline is valid? [True, True] Translation: X:185.21, Y:-126.23, Z:-5.09 [[-6.48925016e-01 -7.60838714e-01 4.55797046e-03 1.85211873e+02] [ 7.60821684e-01 -6.48941002e-01 -5.09316740e-03 -1.26228799e+02] [ 6.83293285e-03 1.62719028e-04 9.99976642e-01 -5.09009812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.016378117274915765 Centerline is valid? [True, True] Translation: X:185.18, Y:-126.18, Z:-5.09 [[-6.50211506e-01 -7.59742108e-01 4.11423705e-03 1.85175047e+02] [ 7.59728227e-01 -6.50224507e-01 -4.59472773e-03 -1.26184268e+02] [ 6.16598590e-03 1.38157183e-04 9.99980981e-01 -5.09021918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.014949021719636895 Centerline is valid? [True, True] Translation: X:185.14, Y:-126.14, Z:-5.09 [[-6.51529510e-01 -7.58612539e-01 4.03887641e-03 1.85138649e+02] [ 7.58599155e-01 -6.51542017e-01 -4.50806185e-03 -1.26138473e+02] [ 6.05136993e-03 1.26752901e-04 9.99981682e-01 -5.09097973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.014422400284436407 Centerline is valid? [True, True] Translation: X:185.10, Y:-126.10, Z:-5.09 [[-6.51946352e-01 -7.58253765e-01 4.14518839e-03 1.85101209e+02] [ 7.58239678e-01 -6.51959517e-01 -4.62375787e-03 -1.26095027e+02] [ 6.20847683e-03 1.28604227e-04 9.99980719e-01 -5.09090916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.014206593293514345 Centerline is valid? [True, True] Translation: X:185.06, Y:-126.05, Z:-5.09 [[-6.52773644e-01 -7.57543670e-01 3.76270916e-03 1.85062895e+02] [ 7.57532066e-01 -6.52784479e-01 -4.19441795e-03 -1.26052537e+02] [ 5.63369290e-03 1.12367359e-04 9.99984124e-01 -5.09057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.014722180696979214 Centerline is valid? [True, True] Translation: X:185.02, Y:-126.01, Z:-5.09 [[-6.53750293e-01 -7.56705854e-01 2.60856475e-03 1.85023707e+02] [ 7.56700278e-01 -6.53755493e-01 -2.90591211e-03 -1.26012552e+02] [ 3.90428424e-03 7.41607799e-05 9.99992376e-01 -5.09014992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.014206890499203362 Centerline is valid? [True, True] Translation: X:184.99, Y:-125.97, Z:-5.09 [[-6.54205410e-01 -7.56314356e-01 1.96902464e-03 1.84985687e+02] [ 7.56311181e-01 -6.54208370e-01 -2.19207507e-03 -1.25969505e+02] [ 2.94605024e-03 5.51279812e-05 9.99995659e-01 -5.08900787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.013736405533579365 Centerline is valid? [True, True] Translation: X:184.95, Y:-125.93, Z:-5.09 [[-6.55220269e-01 -7.55433969e-01 2.43268256e-03 1.84946332e+02] [ 7.55429123e-01 -6.55224782e-01 -2.70649954e-03 -1.25927976e+02] [ 3.63853559e-03 6.43658980e-05 9.99993378e-01 -5.08947326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.013460756111001984 Centerline is valid? [True, True] Translation: X:184.91, Y:-125.89, Z:-5.09 [[-6.56847572e-01 -7.54010774e-01 4.36125768e-03 1.84907874e+02] [ 7.53995190e-01 -6.56862042e-01 -4.84889075e-03 -1.25886780e+02] [ 6.52086049e-03 1.03385199e-04 9.99978734e-01 -5.09108612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.01311652421389963 Centerline is valid? [True, True] Translation: X:184.87, Y:-125.84, Z:-5.09 [[-6.58401970e-01 -7.52648915e-01 5.14351457e-03 1.84869726e+02] [ 7.52627226e-01 -6.58422052e-01 -5.71495309e-03 -1.25844365e+02] [ 7.68795666e-03 1.08412728e-04 9.99970441e-01 -5.09170446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.01241246920784931 Centerline is valid? [True, True] Translation: X:184.83, Y:-125.80, Z:-5.09 [[-6.61914840e-01 -7.49561508e-01 5.12741005e-03 1.84830684e+02] [ 7.49539886e-01 -6.61934695e-01 -5.69383862e-03 -1.25801317e+02] [ 7.66189287e-03 7.43620630e-05 9.99970645e-01 -5.09209750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.012266544879302342 Centerline is valid? [True, True] Translation: X:184.79, Y:-125.76, Z:-5.09 [[-6.66610056e-01 -7.45398887e-01 3.39604441e-03 1.84792983e+02] [ 7.45389358e-01 -6.66618706e-01 -3.76910477e-03 -1.25757116e+02] [ 5.07335323e-03 1.88522269e-05 9.99987130e-01 -5.09126340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.01246493095746577 Centerline is valid? [True, True] Translation: X:184.76, Y:-125.71, Z:-5.09 [[-6.70574811e-01 -7.41837799e-01 2.47044105e-03 1.84756321e+02] [ 7.41832739e-01 -6.70579361e-01 -2.74009270e-03 -1.25713472e+02] [ 3.68933112e-03 -4.78309254e-06 9.99993194e-01 -5.09139016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.013006044104343372 Centerline is valid? [True, True] Translation: X:184.72, Y:-125.67, Z:-5.09 [[-6.74768319e-01 -7.38028813e-01 1.08900182e-03 1.84718384e+02] [ 7.38027826e-01 -6.74769198e-01 -1.20710461e-03 -1.25670044e+02] [ 1.62570287e-03 -1.08023088e-05 9.99998679e-01 -5.09181868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.013244445662913717 Centerline is valid? [True, True] Translation: X:184.68, Y:-125.63, Z:-5.09 [[-6.76113975e-01 -7.36796569e-01 8.42523358e-04 1.84678872e+02] [ 7.36795977e-01 -6.76114500e-01 -9.33303203e-04 -1.25628914e+02] [ 1.25729686e-03 -1.02515169e-05 9.99999210e-01 -5.09328787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.013548070084083182 Centerline is valid? [True, True] Translation: X:184.64, Y:-125.59, Z:-5.10 [[-6.75769635e-01 -7.37111312e-01 1.52104958e-03 1.84639526e+02] [ 7.37109389e-01 -6.75771347e-01 -1.68382248e-03 -1.25588438e+02] [ 2.26904632e-03 -1.66961735e-05 9.99997426e-01 -5.09511317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.013546405318692237 Centerline is valid? [True, True] Translation: X:184.60, Y:-125.55, Z:-5.10 [[-6.74753969e-01 -7.38040875e-01 1.65742237e-03 1.84599061e+02] [ 7.38038598e-01 -6.74756005e-01 -1.83368262e-03 -1.25547740e+02] [ 2.47168842e-03 -1.40429464e-05 9.99996945e-01 -5.09641289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.013360466249478486 Centerline is valid? [True, True] Translation: X:184.56, Y:-125.51, Z:-5.10 [[-6.72030224e-01 -7.40522711e-01 1.22189117e-03 1.84555709e+02] [ 7.40521478e-01 -6.72031335e-01 -1.35099196e-03 -1.25509524e+02] [ 1.82158939e-03 -3.07077316e-06 9.99998341e-01 -5.09618278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.013334226091105407 Centerline is valid? [True, True] Translation: X:184.51, Y:-125.47, Z:-5.09 [[-6.69388441e-01 -7.42911961e-01 -9.65962087e-04 1.84513784e+02] [ 7.42911195e-01 -6.69389138e-01 1.06731703e-03 -1.25472224e+02] [-1.43952711e-03 -3.17436699e-06 9.99998964e-01 -5.09445792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.0134494423066102 Centerline is valid? [True, True] Translation: X:184.47, Y:-125.43, Z:-5.09 [[-6.67991942e-01 -7.44166304e-01 -1.81047181e-03 1.84473544e+02] [ 7.44163619e-01 -6.67994395e-01 1.99919062e-03 -1.25431774e+02] [-2.69711531e-03 -1.18440263e-05 9.99996363e-01 -5.09313233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.01365293328460284 Centerline is valid? [True, True] Translation: X:184.43, Y:-125.39, Z:-5.09 [[-6.66210239e-01 -7.45761459e-01 -1.94002334e-03 1.84430622e+02] [ 7.45758386e-01 -6.66213064e-01 2.14092031e-03 -1.25393049e+02] [-2.88908474e-03 -2.04856482e-05 9.99995826e-01 -5.09357556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.013963974985125175 Centerline is valid? [True, True] Translation: X:184.39, Y:-125.35, Z:-5.10 [[-6.64305848e-01 -7.47458799e-01 -1.75629286e-03 1.84386800e+02] [ 7.47456289e-01 -6.64308169e-01 1.93710603e-03 -1.25354656e+02] [-2.61462664e-03 -2.59212757e-05 9.99996582e-01 -5.09505483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.014052495333417184 Centerline is valid? [True, True] Translation: X:184.35, Y:-125.31, Z:-5.10 [[-6.63253655e-01 -7.48392571e-01 -1.77431995e-03 1.84345681e+02] [ 7.48390017e-01 -6.63256028e-01 1.95575497e-03 -1.25314238e+02] [-2.64050089e-03 -3.07217008e-05 9.99996513e-01 -5.09567017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.014010454147749186 Centerline is valid? [True, True] Translation: X:184.31, Y:-125.27, Z:-5.10 [[-6.63063506e-01 -7.48561210e-01 -1.70362713e-03 1.84305083e+02] [ 7.48558858e-01 -6.63065694e-01 1.87676250e-03 -1.25272314e+02] [-2.53448831e-03 -3.08524552e-05 9.99996788e-01 -5.09591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.014179208205814165 Centerline is valid? [True, True] Translation: X:184.27, Y:-125.23, Z:-5.10 [[-6.62907797e-01 -7.48699520e-01 -1.51038988e-03 1.84265409e+02] [ 7.48697674e-01 -6.62909517e-01 1.66282884e-03 -1.25230409e+02] [-2.24621098e-03 -2.85231887e-05 9.99997477e-01 -5.09582136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.014525338218503277 Centerline is valid? [True, True] Translation: X:184.22, Y:-125.19, Z:-5.10 [[-6.61978676e-01 -7.49521622e-01 -1.25378524e-03 1.84223613e+02] [ 7.49520352e-01 -6.61979862e-01 1.37955560e-03 -1.25190234e+02] [-1.86398733e-03 -2.65011635e-05 9.99998262e-01 -5.09697922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.014343412933094758 Centerline is valid? [True, True] Translation: X:184.18, Y:-125.15, Z:-5.10 [[-6.61379007e-01 -7.50051367e-01 -8.70150326e-04 1.84183261e+02] [ 7.50050756e-01 -6.61379579e-01 9.56887573e-04 -1.25148113e+02] [-1.29321449e-03 -1.97915572e-05 9.99999164e-01 -5.09722548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.014355831969670581 Centerline is valid? [True, True] Translation: X:184.14, Y:-125.11, Z:-5.10 [[-6.61683125e-01 -7.49782997e-01 -9.47717534e-04 1.84144100e+02] [ 7.49782274e-01 -6.61683804e-01 1.04152169e-03 -1.25106323e+02] [-1.40800460e-03 -2.14244808e-05 9.99999009e-01 -5.09678620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.014810910803975535 Centerline is valid? [True, True] Translation: X:184.10, Y:-125.07, Z:-5.10 [[-6.62758739e-01 -7.48831381e-01 -1.55461943e-03 1.84104521e+02] [ 7.48829435e-01 -6.62760561e-01 1.70736707e-03 -1.25066133e+02] [-2.30887048e-03 -3.25723454e-05 9.99997334e-01 -5.09577458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.01394698973310726 Centerline is valid? [True, True] Translation: X:184.07, Y:-125.02, Z:-5.10 [[-6.63309685e-01 -7.48344270e-01 -1.05629119e-03 1.84067165e+02] [ 7.48343372e-01 -6.63310525e-01 1.15933494e-03 -1.25023233e+02] [-1.56823072e-03 -2.14704162e-05 9.99998770e-01 -5.09659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.013567724609518415 Centerline is valid? [True, True] Translation: X:184.03, Y:-124.98, Z:-5.10 [[-6.64386569e-01 -7.47389047e-01 3.13681461e-04 1.84027930e+02] [ 7.47388968e-01 -6.64386643e-01 -3.44093302e-04 -1.24980154e+02] [ 4.65577338e-04 5.83109535e-06 9.99999892e-01 -5.09854373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.012961768104029497 Centerline is valid? [True, True] Translation: X:183.99, Y:-124.94, Z:-5.10 [[-6.67010443e-01 -7.45048208e-01 4.86696213e-04 1.83990968e+02] [ 7.45048017e-01 -6.67010621e-01 -5.33576402e-04 -1.24935657e+02] [ 7.22171685e-04 6.71101532e-06 9.99999739e-01 -5.09853286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.012696102061060009 Centerline is valid? [True, True] Translation: X:183.95, Y:-124.89, Z:-5.10 [[-6.69328718e-01 -7.42966358e-01 2.41807960e-04 1.83953845e+02] [ 7.42966310e-01 -6.69328762e-01 -2.64936954e-04 -1.24891458e+02] [ 3.58688266e-04 2.32525594e-06 9.99999936e-01 -5.09785132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.012473169700199805 Centerline is valid? [True, True] Translation: X:183.92, Y:-124.85, Z:-5.10 [[-6.71881377e-01 -7.40658679e-01 3.68942124e-04 1.83917470e+02] [ 7.40658569e-01 -6.71881478e-01 -4.03975349e-04 -1.24847118e+02] [ 5.47093228e-04 1.83663163e-06 9.99999850e-01 -5.09800546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.012328682596133206 Centerline is valid? [True, True] Translation: X:183.88, Y:-124.80, Z:-5.10 [[-6.75579008e-01 -7.37287436e-01 4.89987440e-04 1.83882326e+02] [ 7.37287241e-01 -6.75579186e-01 -5.36177527e-04 -1.24801444e+02] [ 7.26342270e-04 -9.68794784e-07 9.99999736e-01 -5.09777047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.01256050055006437 Centerline is valid? [True, True] Translation: X:183.85, Y:-124.76, Z:-5.10 [[-6.79097073e-01 -7.34047777e-01 1.01297224e-03 1.83847762e+02] [ 7.34046941e-01 -6.79097828e-01 -1.10776050e-03 -1.24756055e+02] [ 1.50105638e-03 -8.70773948e-06 9.99998873e-01 -5.09789083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.013301471020019674 Centerline is valid? [True, True] Translation: X:183.81, Y:-124.71, Z:-5.10 [[-6.82863786e-01 -7.30543521e-01 1.79260915e-03 1.83811996e+02] [ 7.30540894e-01 -6.82866139e-01 -1.95926238e-03 -1.24709955e+02] [ 2.65543853e-03 -2.83350295e-05 9.99996474e-01 -5.09861265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.013518889592739024 Centerline is valid? [True, True] Translation: X:183.78, Y:-124.67, Z:-5.10 [[-6.85052152e-01 -7.28490952e-01 2.11684704e-03 1.83775084e+02] [ 7.28487284e-01 -6.85055422e-01 -2.31234264e-03 -1.24665421e+02] [ 3.13467823e-03 -4.19791543e-05 9.99995086e-01 -5.09877367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.014695666948287858 Centerline is valid? [True, True] Translation: X:183.74, Y:-124.62, Z:-5.10 [[-6.87138450e-01 -7.26523296e-01 2.15662535e-03 1.83740546e+02] [ 7.26519483e-01 -6.87141832e-01 -2.35441152e-03 -1.24620077e+02] [ 3.19244231e-03 -5.09763488e-05 9.99994903e-01 -5.09866974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.01417937860643126 Centerline is valid? [True, True] Translation: X:183.70, Y:-124.58, Z:-5.10 [[-6.86456193e-01 -7.27167334e-01 2.35875601e-03 1.83700613e+02] [ 7.27162782e-01 -6.86460243e-01 -2.57351686e-03 -1.24578579e+02] [ 3.49056962e-03 -5.14069985e-05 9.99993907e-01 -5.09897009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.013274189290762567 Centerline is valid? [True, True] Translation: X:183.66, Y:-124.54, Z:-5.10 [[-6.84334862e-01 -7.29164954e-01 2.06534387e-03 1.83659446e+02] [ 7.29161477e-01 -6.84337978e-01 -2.25213300e-03 -1.24537863e+02] [ 3.05556970e-03 -3.52439376e-05 9.99995331e-01 -5.09826667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.012469535765180863 Centerline is valid? [True, True] Translation: X:183.62, Y:-124.50, Z:-5.10 [[-6.80059356e-01 -7.33155815e-01 1.35027063e-03 1.83616558e+02] [ 7.33154338e-01 -6.80060697e-01 -1.47156573e-03 -1.24498288e+02] [ 1.99715296e-03 -1.07952763e-05 9.99998006e-01 -5.09764645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.012290352834210804 Centerline is valid? [True, True] Translation: X:183.58, Y:-124.46, Z:-5.10 [[-6.77474315e-01 -7.35545052e-01 1.42426670e-03 1.83575865e+02] [ 7.35543417e-01 -6.77475812e-01 -1.55123270e-03 -1.24458209e+02] [ 2.10590778e-03 -3.31031505e-06 9.99997783e-01 -5.09774388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.012326080776105083 Centerline is valid? [True, True] Translation: X:183.53, Y:-124.42, Z:-5.10 [[-6.74295919e-01 -7.38457673e-01 2.29761833e-03 1.83534946e+02] [ 7.38453438e-01 -6.74299833e-01 -2.50079847e-03 -1.24419741e+02] [ 3.39601747e-03 1.04059523e-05 9.99994233e-01 -5.09899708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.012738210242912778 Centerline is valid? [True, True] Translation: X:183.49, Y:-124.38, Z:-5.10 [[-6.72357842e-01 -7.40220980e-01 2.79883351e-03 1.83493663e+02] [ 7.40214719e-01 -6.72363667e-01 -3.04459730e-03 -1.24379546e+02] [ 4.13550876e-03 2.46788866e-05 9.99991448e-01 -5.09978214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.01242925662934749 Centerline is valid? [True, True] Translation: X:183.45, Y:-124.34, Z:-5.10 [[-6.72883512e-01 -7.39742319e-01 3.01339692e-03 1.83454807e+02] [ 7.39735065e-01 -6.72890259e-01 -3.27593677e-03 -1.24337003e+02] [ 4.45103450e-03 2.47915302e-05 9.99990094e-01 -5.09962806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.01230357573340406 Centerline is valid? [True, True] Translation: X:183.42, Y:-124.29, Z:-5.10 [[-6.74740442e-01 -7.38048750e-01 3.06246228e-03 1.83418090e+02] [ 7.38041251e-01 -6.74747392e-01 -3.32710063e-03 -1.24294479e+02] [ 4.52195089e-03 1.52941359e-05 9.99989776e-01 -5.10008140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.012330831201936987 Centerline is valid? [True, True] Translation: X:183.38, Y:-124.25, Z:-5.10 [[-6.78242203e-01 -7.34830064e-01 3.50585055e-03 1.83383488e+02] [ 7.34820206e-01 -6.78251264e-01 -3.80636832e-03 -1.24250528e+02] [ 5.17488145e-03 -5.46980940e-06 9.99986610e-01 -5.10090050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.012355263489743456 Centerline is valid? [True, True] Translation: X:183.35, Y:-124.21, Z:-5.10 [[-6.79696550e-01 -7.33483360e-01 3.84207140e-03 1.83345495e+02] [ 7.33471513e-01 -6.79707408e-01 -4.16878039e-03 -1.24207727e+02] [ 5.66921544e-03 -1.54557291e-05 9.99983930e-01 -5.10099718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.01238248381321581 Centerline is valid? [True, True] Translation: X:183.31, Y:-124.17, Z:-5.10 [[-6.80216810e-01 -7.32998517e-01 4.27375587e-03 1.83306749e+02] [ 7.32983868e-01 -6.80230235e-01 -4.63428344e-03 -1.24165139e+02] [ 6.30406085e-03 -1.97233856e-05 9.99980129e-01 -5.10177112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.012402568290766062 Centerline is valid? [True, True] Translation: X:183.27, Y:-124.12, Z:-5.10 [[-6.79536597e-01 -7.33628135e-01 4.44664701e-03 1.83268795e+02] [ 7.33612310e-01 -6.79551145e-01 -4.81863743e-03 -1.24124180e+02] [ 6.55681206e-03 -1.23255001e-05 9.99978504e-01 -5.10230179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.01236958803110122 Centerline is valid? [True, True] Translation: X:183.23, Y:-124.08, Z:-5.10 [[-6.77381614e-01 -7.35618483e-01 4.42686849e-03 1.83229058e+02] [ 7.35602860e-01 -6.77396079e-01 -4.79432641e-03 -1.24082379e+02] [ 6.52553847e-03 8.82855788e-06 9.99978708e-01 -5.10225842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.012527301468822753 Centerline is valid? [True, True] Translation: X:183.19, Y:-124.04, Z:-5.10 [[-6.75379695e-01 -7.37459038e-01 4.05392763e-03 1.83188792e+02] [ 7.37445985e-01 -6.75391861e-01 -4.38780956e-03 -1.24042055e+02] [ 5.97381955e-03 2.61151744e-05 9.99982156e-01 -5.10193691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.013480034105766854 Centerline is valid? [True, True] Translation: X:183.15, Y:-124.00, Z:-5.10 [[-6.71162092e-01 -7.41298775e-01 4.19197172e-03 1.83146855e+02] [ 7.41284908e-01 -6.71175180e-01 -4.53454227e-03 -1.24002294e+02] [ 6.17499800e-03 6.40324928e-05 9.99980933e-01 -5.10174970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.014888603671792454 Centerline is valid? [True, True] Translation: X:183.10, Y:-123.96, Z:-5.10 [[-6.66366836e-01 -7.45611679e-01 4.29698600e-03 1.83104765e+02] [ 7.45597214e-01 -6.66380681e-01 -4.64562415e-03 -1.23961874e+02] [ 6.32726008e-03 1.08130929e-04 9.99979977e-01 -5.10147117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.015139413376600044 Centerline is valid? [True, True] Translation: X:183.07, Y:-123.92, Z:-5.10 [[-6.64233468e-01 -7.47514907e-01 3.91971907e-03 1.83065539e+02] [ 7.47502918e-01 -6.64245023e-01 -4.23521393e-03 -1.23919641e+02] [ 5.76953943e-03 1.16830606e-04 9.99983349e-01 -5.10065110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.015566625595220136 Centerline is valid? [True, True] Translation: X:183.03, Y:-123.88, Z:-5.10 [[-6.64457585e-01 -7.47316176e-01 3.82759921e-03 1.83027105e+02] [ 7.47304757e-01 -6.64468599e-01 -4.13295366e-03 -1.23878887e+02] [ 5.63194261e-03 1.14210686e-04 9.99984134e-01 -5.10083536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.014938063435351865 Centerline is valid? [True, True] Translation: X:182.99, Y:-123.83, Z:-5.10 [[-6.65450262e-01 -7.46433255e-01 3.65294049e-03 1.82991033e+02] [ 7.46422853e-01 -6.65460280e-01 -3.94202627e-03 -1.23833604e+02] [ 5.37334630e-03 1.03415845e-04 9.99985558e-01 -5.10048078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.014654291968680774 Centerline is valid? [True, True] Translation: X:182.95, Y:-123.79, Z:-5.10 [[-6.66640751e-01 -7.45370920e-01 3.50713785e-03 1.82953330e+02] [ 7.45361329e-01 -6.66649970e-01 -3.78245611e-03 -1.23789793e+02] [ 5.15736613e-03 9.25455515e-05 9.99986696e-01 -5.10083459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.014485231368939248 Centerline is valid? [True, True] Translation: X:182.92, Y:-123.75, Z:-5.10 [[-6.68094799e-01 -7.44064640e-01 4.14142545e-03 1.82917469e+02] [ 7.44051258e-01 -6.68107627e-01 -4.46364250e-03 -1.23746389e+02] [ 6.08815648e-03 9.92964832e-05 9.99981462e-01 -5.10234465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.01448991148012413 Centerline is valid? [True, True] Translation: X:182.88, Y:-123.70, Z:-5.10 [[-6.68715248e-01 -7.43503667e-01 4.71325817e-03 1.82881117e+02] [ 7.43486342e-01 -6.68731848e-01 -5.07687718e-03 -1.23702554e+02] [ 6.92658265e-03 1.09257898e-04 9.99976005e-01 -5.10324408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.01502424922723916 Centerline is valid? [True, True] Translation: X:182.85, Y:-123.66, Z:-5.10 [[-6.68280656e-01 -7.43891345e-01 5.16068176e-03 1.82845144e+02] [ 7.43870609e-01 -6.68300570e-01 -5.55567246e-03 -1.23658399e+02] [ 7.58170322e-03 1.26131054e-04 9.99971251e-01 -5.10381923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.016669994882326032 Centerline is valid? [True, True] Translation: X:182.81, Y:-123.62, Z:-5.10 [[-6.66021143e-01 -7.45916357e-01 4.96238270e-03 1.82806088e+02] [ 7.45897258e-01 -6.66039614e-01 -5.33975178e-03 -1.23617629e+02] [ 7.28815165e-03 1.45040067e-04 9.99973431e-01 -5.10478485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.018293614229918424 Centerline is valid? [True, True] Translation: X:182.77, Y:-123.57, Z:-5.10 [[-6.63398543e-01 -7.48250280e-01 4.88794602e-03 1.82768231e+02] [ 7.48231834e-01 -6.63416529e-01 -5.25659222e-03 -1.23574465e+02] [ 7.17599078e-03 1.70101199e-04 9.99974238e-01 -5.10490976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.019378161219759455 Centerline is valid? [True, True] Translation: X:182.73, Y:-123.53, Z:-5.10 [[-6.62539460e-01 -7.49014658e-01 4.30188641e-03 1.82730139e+02] [ 7.49000403e-01 -6.62553407e-01 -4.62366914e-03 -1.23531554e+02] [ 6.31342546e-03 1.58751402e-04 9.99980058e-01 -5.10428953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.019464567301496295 Centerline is valid? [True, True] Translation: X:182.69, Y:-123.49, Z:-5.10 [[-6.62028002e-01 -7.49472273e-01 3.19964306e-03 1.82693997e+02] [ 7.49464403e-01 -6.62035722e-01 -3.43675544e-03 -1.23488142e+02] [ 4.69403091e-03 1.22790240e-04 9.99988975e-01 -5.10311323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.016352554764807375 Centerline is valid? [True, True] Translation: X:182.66, Y:-123.44, Z:-5.10 [[-6.63197228e-01 -7.48437853e-01 3.19631551e-03 1.82660446e+02] [ 7.48429997e-01 -6.63204920e-01 -3.43124319e-03 -1.23439893e+02] [ 4.68788447e-03 1.16627437e-04 9.99989005e-01 -5.10275550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.015768228134497627 Centerline is valid? [True, True] Translation: X:182.62, Y:-123.40, Z:-5.10 [[-6.65564118e-01 -7.46331562e-01 3.68849376e-03 1.82623319e+02] [ 7.46321079e-01 -6.65574328e-01 -3.95738835e-03 -1.23395510e+02] [ 5.40849058e-03 1.18904955e-04 9.99985367e-01 -5.10385785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.014370345399504915 Centerline is valid? [True, True] Translation: X:182.59, Y:-123.35, Z:-5.10 [[-6.70106385e-01 -7.42254488e-01 3.96321828e-03 1.82587212e+02] [ 7.42242328e-01 -6.70118098e-01 -4.24974630e-03 -1.23350600e+02] [ 5.81021757e-03 9.38862318e-05 9.99983116e-01 -5.10472294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.013572368152462265 Centerline is valid? [True, True] Translation: X:182.55, Y:-123.31, Z:-5.10 [[-6.72076099e-01 -7.40472499e-01 3.76770389e-03 1.82547858e+02] [ 7.40461493e-01 -6.72086656e-01 -4.03788111e-03 -1.23308225e+02] [ 5.52216343e-03 7.60762636e-05 9.99984750e-01 -5.10484117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.013029885124626828 Centerline is valid? [True, True] Translation: X:182.51, Y:-123.27, Z:-5.11 [[-6.73961708e-01 -7.38755309e-01 4.02612300e-03 1.82507888e+02] [ 7.38742727e-01 -6.73973730e-01 -4.31215588e-03 -1.23266711e+02] [ 5.89912918e-03 6.80411465e-05 9.99982598e-01 -5.10512331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.012153229266403252 Centerline is valid? [True, True] Translation: X:182.47, Y:-123.22, Z:-5.10 [[-6.78274137e-01 -7.34795027e-01 4.52372204e-03 1.82472031e+02] [ 7.34779072e-01 -6.78289221e-01 -4.84243736e-03 -1.23221284e+02] [ 6.62659079e-03 3.94362547e-05 9.99978043e-01 -5.10478218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.011826784246955772 Centerline is valid? [True, True] Translation: X:182.44, Y:-123.18, Z:-5.10 [[-6.81610367e-01 -7.31702104e-01 4.39749840e-03 1.82435148e+02] [ 7.31686980e-01 -6.81624552e-01 -4.70464681e-03 -1.23176717e+02] [ 6.43984285e-03 1.08562846e-05 9.99979264e-01 -5.10384374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.011933350404766542 Centerline is valid? [True, True] Translation: X:182.40, Y:-123.13, Z:-5.10 [[-6.85637664e-01 -7.27930353e-01 4.28888003e-03 1.82398435e+02] [ 7.27915911e-01 -6.85651078e-01 -4.58539512e-03 -1.23134466e+02] [ 6.27852351e-03 -2.19755868e-05 9.99980290e-01 -5.10425002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.012342145665987157 Centerline is valid? [True, True] Translation: X:182.36, Y:-123.09, Z:-5.11 [[-6.87399622e-01 -7.26254338e-01 6.03292652e-03 1.82359847e+02] [ 7.26225730e-01 -6.87426094e-01 -6.44631785e-03 -1.23092801e+02] [ 8.82885741e-03 -4.99299871e-05 9.99961024e-01 -5.10575249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.012073270345160326 Centerline is valid? [True, True] Translation: X:182.32, Y:-123.05, Z:-5.10 [[-6.87027119e-01 -7.26598601e-01 6.94342895e-03 1.82319441e+02] [ 7.26560771e-01 -6.87062203e-01 -7.41457608e-03 -1.23052392e+02] [ 1.01579882e-02 -4.91917483e-05 9.99948405e-01 -5.10437459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.012058172757291364 Centerline is valid? [True, True] Translation: X:182.28, Y:-123.01, Z:-5.11 [[-6.84380662e-01 -7.29077680e-01 8.29731201e-03 1.82277759e+02] [ 7.29023909e-01 -6.84430958e-01 -8.85456573e-03 -1.23014425e+02] [ 1.21346034e-02 -1.09547211e-05 9.99926373e-01 -5.10518972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.012031477654553683 Centerline is valid? [True, True] Translation: X:182.24, Y:-122.97, Z:-5.10 [[-6.81732582e-01 -7.31545000e-01 9.08839797e-03 1.82235699e+02] [ 7.31480779e-01 -6.81793158e-01 -9.69326045e-03 -1.22974854e+02] [ 1.32874638e-02 3.97769539e-05 9.99911717e-01 -5.10411685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.012850683342608993 Centerline is valid? [True, True] Translation: X:182.19, Y:-122.94, Z:-5.10 [[-6.77011851e-01 -7.35905091e-01 9.93229246e-03 1.82192994e+02] [ 7.35828946e-01 -6.77084690e-01 -1.05870174e-02 -1.22936504e+02] [ 1.45160431e-02 1.40932075e-04 9.99894627e-01 -5.10449427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.013664315438040595 Centerline is valid? [True, True] Translation: X:182.15, Y:-122.90, Z:-5.10 [[-6.72850940e-01 -7.39715241e-01 9.64229870e-03 1.82151192e+02] [ 7.39643948e-01 -6.72919990e-01 -1.02721072e-02 -1.22896458e+02] [ 1.40869298e-02 2.20270918e-04 9.99900750e-01 -5.10122753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.014989744256012497 Centerline is valid? [True, True] Translation: X:182.11, Y:-122.86, Z:-5.10 [[-6.69963651e-01 -7.42326647e-01 9.99274484e-03 1.82109566e+02] [ 7.42250441e-01 -6.70038107e-01 -1.06403780e-02 -1.22857765e+02] [ 1.45941559e-02 2.88452796e-04 9.99893458e-01 -5.10130157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.015774592866063735 Centerline is valid? [True, True] Translation: X:182.07, Y:-122.82, Z:-5.10 [[-6.67189580e-01 -7.44809682e-01 1.07982952e-02 1.82068329e+02] [ 7.44721126e-01 -6.67276852e-01 -1.14911951e-02 -1.22817572e+02] [ 1.57642058e-02 3.74912899e-04 9.99875667e-01 -5.10009304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.018029463164656274 Centerline is valid? [True, True] Translation: X:182.03, Y:-122.78, Z:-5.10 [[-6.66674529e-01 -7.45249896e-01 1.21517602e-02 1.82026569e+02] [ 7.45137957e-01 -6.66785123e-01 -1.29238576e-02 -1.22778957e+02] [ 1.77341164e-02 4.38731083e-04 9.99842642e-01 -5.10210100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.015928757248742976 Centerline is valid? [True, True] Translation: X:181.99, Y:-122.73, Z:-5.10 [[-6.68011785e-01 -7.44025542e-01 1.36472727e-02 1.81990104e+02] [ 7.43884281e-01 -6.68151015e-01 -1.45051056e-02 -1.22734242e+02] [ 1.99106081e-02 4.62410114e-04 9.99801657e-01 -5.09987457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.014871855801613897 Centerline is valid? [True, True] Translation: X:181.95, Y:-122.69, Z:-5.10 [[-6.71661486e-01 -7.40718241e-01 1.43991796e-02 1.81953222e+02] [ 7.40560401e-01 -6.71815701e-01 -1.52956370e-02 -1.22689204e+02] [ 2.10033522e-02 3.89971918e-04 9.99779329e-01 -5.09973605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.013804050888568932 Centerline is valid? [True, True] Translation: X:181.92, Y:-122.64, Z:-5.10 [[-6.75891795e-01 -7.36859817e-01 1.44184821e-02 1.81917181e+02] [ 7.36700853e-01 -6.76045512e-01 -1.53074737e-02 -1.22643249e+02] [ 2.10270124e-02 2.75912214e-04 9.99778870e-01 -5.09895072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.012952334965302835 Centerline is valid? [True, True] Translation: X:181.88, Y:-122.60, Z:-5.10 [[-6.83304191e-01 -7.29973208e-01 1.53133189e-02 1.81882987e+02] [ 7.29792349e-01 -6.83475757e-01 -1.62485829e-02 -1.22596462e+02] [ 2.23273124e-02 7.28181367e-05 9.99750712e-01 -5.09985740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.012857017938528415 Centerline is valid? [True, True] Translation: X:181.85, Y:-122.55, Z:-5.10 [[-6.87660074e-01 -7.25869121e-01 1.54156167e-02 1.81845628e+02] [ 7.25685031e-01 -6.87832840e-01 -1.63468797e-02 -1.22553568e+02] [ 2.24690626e-02 -5.42142793e-05 9.99747537e-01 -5.09852572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.013145614737110053 Centerline is valid? [True, True] Translation: X:181.81, Y:-122.51, Z:-5.10 [[-6.91832148e-01 -7.21884436e-01 1.58473858e-02 1.81807465e+02] [ 7.21689071e-01 -6.92013603e-01 -1.67945716e-02 -1.22510319e+02] [ 2.30903464e-02 -1.82139393e-04 9.99733366e-01 -5.09691826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.014712961874945278 Centerline is valid? [True, True] Translation: X:181.77, Y:-122.47, Z:-5.10 [[-6.96651905e-01 -7.17224369e-01 1.62888833e-02 1.81770145e+02] [ 7.17016851e-01 -6.96842226e-01 -1.72553872e-02 -1.22466598e+02] [ 2.37267658e-02 -3.41594548e-04 9.99718422e-01 -5.09757791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.016952274169905947 Centerline is valid? [True, True] Translation: X:181.73, Y:-122.42, Z:-5.10 [[-7.04677744e-01 -7.09351261e-01 1.58135055e-02 1.81732529e+02] [ 7.09153910e-01 -7.04854913e-01 -1.67416570e-02 -1.22422977e+02] [ 2.30219425e-02 -5.83263868e-04 9.99734790e-01 -5.09616022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.01866761868727789 Centerline is valid? [True, True] Translation: X:181.69, Y:-122.38, Z:-5.09 [[-7.10767579e-01 -7.03260062e-01 1.53210249e-02 1.81692693e+02] [ 7.03073605e-01 -7.10932292e-01 -1.62105624e-02 -1.22381547e+02] [ 2.22924525e-02 -7.50133959e-04 9.99751211e-01 -5.09431746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.019761359457209905 Centerline is valid? [True, True] Translation: X:181.65, Y:-122.34, Z:-5.09 [[-7.12534338e-01 -7.01475743e-01 1.50532105e-02 1.81650752e+02] [ 7.01295546e-01 -7.12692896e-01 -1.59183192e-02 -1.22340852e+02] [ 2.18946310e-02 -7.85599559e-04 9.99759975e-01 -5.09434532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.02011719724671788 Centerline is valid? [True, True] Translation: X:181.61, Y:-122.30, Z:-5.09 [[-7.12280670e-01 -7.01768142e-01 1.33312723e-02 1.81606100e+02] [ 7.01626961e-01 -7.12405086e-01 -1.40925666e-02 -1.22302379e+02] [ 1.93869804e-02 -6.84282710e-04 9.99811821e-01 -5.09330660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.016815908171528633 Centerline is valid? [True, True] Translation: X:181.56, Y:-122.27, Z:-5.09 [[-7.09175665e-01 -7.04943122e-01 1.11835304e-02 1.81557608e+02] [ 7.04844280e-01 -7.09263666e-01 -1.18149452e-02 -1.22269183e+02] [ 1.62609361e-02 -4.96224162e-04 9.99867659e-01 -5.09100609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.01555860224947884 Centerline is valid? [True, True] Translation: X:181.51, Y:-122.23, Z:-5.09 [[-7.05567304e-01 -7.08559828e-01 1.08512069e-02 1.81511185e+02] [ 7.08467299e-01 -7.05650631e-01 -1.14574503e-02 -1.22233103e+02] [ 1.57754500e-02 -3.96277074e-04 9.99875481e-01 -5.09220348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.013898481607293968 Centerline is valid? [True, True] Translation: X:181.46, Y:-122.20, Z:-5.09 [[-6.99407029e-01 -7.14656321e-01 9.80566267e-03 1.81462445e+02] [ 7.14581450e-01 -6.99475726e-01 -1.03469909e-02 -1.22200991e+02] [ 1.42533655e-02 -2.29813540e-04 9.99898389e-01 -5.09317773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.01252953557424124 Centerline is valid? [True, True] Translation: X:181.42, Y:-122.16, Z:-5.09 [[-6.95431770e-01 -7.18537606e-01 8.85224467e-03 1.81416258e+02] [ 7.18476943e-01 -6.95488096e-01 -9.33758146e-03 -1.22164375e+02] [ 1.28660342e-02 -1.33517112e-04 9.99917220e-01 -5.09208445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.011630278919866215 Centerline is valid? [True, True] Translation: X:181.37, Y:-122.13, Z:-5.09 [[-6.89427018e-01 -7.24311764e-01 7.92822928e-03 1.81367576e+02] [ 7.24263534e-01 -6.89472602e-01 -8.35850563e-03 -1.22132391e+02] [ 1.15204608e-02 -2.04522502e-05 9.99933637e-01 -5.09310489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.011945342986790213 Centerline is valid? [True, True] Translation: X:181.32, Y:-122.10, Z:-5.09 [[-6.83006422e-01 -7.30375619e-01 7.32683509e-03 1.81318866e+02] [ 7.30334828e-01 -6.83045715e-01 -7.71949797e-03 -1.22101474e+02] [ 1.06426964e-02 7.85761537e-05 9.99943362e-01 -5.09467122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.01322401577769096 Centerline is valid? [True, True] Translation: X:181.27, Y:-122.07, Z:-5.10 [[-6.78892795e-01 -7.34206128e-01 6.77746891e-03 1.81272973e+02] [ 7.34171452e-01 -6.78926612e-01 -7.13687440e-03 -1.22065295e+02] [ 9.84134092e-03 1.30651578e-04 9.99951564e-01 -5.09557459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.015316756818361718 Centerline is valid? [True, True] Translation: X:181.23, Y:-122.03, Z:-5.10 [[-6.74529569e-01 -7.38220355e-01 6.36936939e-03 1.81226181e+02] [ 7.38189939e-01 -6.74559616e-01 -6.70357770e-03 -1.22029788e+02] [ 9.24523687e-03 1.80043026e-04 9.99957246e-01 -5.09589358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.0167035082814597 Centerline is valid? [True, True] Translation: X:181.18, Y:-121.99, Z:-5.10 [[-6.73188371e-01 -7.39443899e-01 6.33534637e-03 1.81183439e+02] [ 7.39413900e-01 -6.73218152e-01 -6.66363984e-03 -1.21993168e+02] [ 9.19245801e-03 1.98558318e-04 9.99957729e-01 -5.09779756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.013954012780573604 Centerline is valid? [True, True] Translation: X:181.15, Y:-121.95, Z:-5.10 [[-6.75167254e-01 -7.37644095e-01 5.51072453e-03 1.81147352e+02] [ 7.37621363e-01 -6.75189726e-01 -5.79301510e-03 -1.21946862e+02] [ 7.99396797e-03 1.53574043e-04 9.99968036e-01 -5.09588197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.012548826769488696 Centerline is valid? [True, True] Translation: X:181.11, Y:-121.90, Z:-5.10 [[-6.80169491e-01 -7.33041682e-01 4.39952979e-03 1.81110840e+02] [ 7.33027114e-01 -6.80183715e-01 -4.62220276e-03 -1.21901566e+02] [ 6.38075580e-03 8.10933268e-05 9.99979640e-01 -5.09507188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.011665356062185502 Centerline is valid? [True, True] Translation: X:181.07, Y:-121.86, Z:-5.09 [[-6.84253675e-01 -7.29234119e-01 3.80880044e-03 1.81074348e+02] [ 7.29223154e-01 -6.84264275e-01 -3.99935340e-03 -1.21855786e+02] [ 5.52269102e-03 4.08932003e-05 9.99984749e-01 -5.09435129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.011450879894747447 Centerline is valid? [True, True] Translation: X:181.04, Y:-121.81, Z:-5.10 [[-6.90321772e-01 -7.23491570e-01 3.97487404e-03 1.81040909e+02] [ 7.23479545e-01 -6.90333215e-01 -4.17130084e-03 -1.21809318e+02] [ 5.76188857e-03 -3.79971806e-06 9.99983400e-01 -5.09526518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.011745935795093681 Centerline is valid? [True, True] Translation: X:181.01, Y:-121.76, Z:-5.10 [[-6.93993118e-01 -7.19970460e-01 4.01116646e-03 1.81005284e+02] [ 7.19958170e-01 -6.94004709e-01 -4.20677520e-03 -1.21764707e+02] [ 5.81252229e-03 -3.16009708e-05 9.99983107e-01 -5.09510643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.01242144451667985 Centerline is valid? [True, True] Translation: X:180.97, Y:-121.72, Z:-5.09 [[-6.98894754e-01 -7.15214737e-01 3.74207997e-03 1.80969095e+02] [ 7.15203984e-01 -6.98904769e-01 -3.92236125e-03 -1.21719177e+02] [ 5.42068811e-03 -6.49671998e-05 9.99985306e-01 -5.09464476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.01410195365943014 Centerline is valid? [True, True] Translation: X:180.93, Y:-121.67, Z:-5.09 [[-7.03841713e-01 -7.10349294e-01 3.27479983e-03 1.80933912e+02] [ 7.10341015e-01 -7.03849325e-01 -3.43066332e-03 -1.21672746e+02] [ 4.74193492e-03 -8.84193092e-05 9.99988753e-01 -5.09404844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.014867460460896835 Centerline is valid? [True, True] Translation: X:180.90, Y:-121.63, Z:-5.09 [[-7.06837095e-01 -7.07368243e-01 3.38975661e-03 1.80896053e+02] [ 7.07359348e-01 -7.06845214e-01 -3.54897633e-03 -1.21629270e+02] [ 4.90646639e-03 -1.10772096e-04 9.99987957e-01 -5.09377553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.016458520704512026 Centerline is valid? [True, True] Translation: X:180.86, Y:-121.59, Z:-5.09 [[-7.09731951e-01 -7.04466127e-01 2.83447410e-03 1.80859103e+02] [ 7.04459890e-01 -7.09737602e-01 -2.96628099e-03 -1.21586078e+02] [ 4.10137733e-03 -1.08491076e-04 9.99991583e-01 -5.09439582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.016627996689449604 Centerline is valid? [True, True] Translation: X:180.82, Y:-121.55, Z:-5.09 [[-7.09346538e-01 -7.04856966e-01 2.03620051e-03 1.80819403e+02] [ 7.04853753e-01 -7.09349457e-01 -2.12952413e-03 -1.21546171e+02] [ 2.94538764e-03 -7.53469969e-05 9.99995660e-01 -5.09483728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.014831580026591394 Centerline is valid? [True, True] Translation: X:180.77, Y:-121.51, Z:-5.10 [[-7.06116302e-01 -7.08094174e-01 1.55228150e-03 1.80774535e+02] [ 7.08092316e-01 -7.06118006e-01 -1.62254597e-03 -1.21508646e+02] [ 2.24500926e-03 -4.65475552e-05 9.99997479e-01 -5.09560470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.013716085049765436 Centerline is valid? [True, True] Translation: X:180.73, Y:-121.47, Z:-5.10 [[-7.03398272e-01 -7.10795282e-01 9.68330634e-04 1.80730763e+02] [ 7.10794563e-01 -7.03398938e-01 -1.01163936e-03 -1.21469501e+02] [ 1.40019122e-03 -2.33012256e-05 9.99999019e-01 -5.09642997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.012525521934262944 Centerline is valid? [True, True] Translation: X:180.69, Y:-121.43, Z:-5.10 [[-6.99539576e-01 -7.14593697e-01 4.80656010e-04 1.80685797e+02] [ 7.14593520e-01 -6.99539741e-01 -5.01873300e-04 -1.21431904e+02] [ 6.94873478e-04 -7.60656523e-06 9.99999759e-01 -5.09761767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.012077559027067251 Centerline is valid? [True, True] Translation: X:180.64, Y:-121.39, Z:-5.10 [[-6.97374097e-01 -7.16707301e-01 -1.20231015e-04 1.80643654e+02] [ 7.16707290e-01 -6.97374107e-01 1.25451933e-04 -1.21392410e+02] [-1.73758314e-04 1.31648356e-06 9.99999985e-01 -5.09777384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.011786156044243164 Centerline is valid? [True, True] Translation: X:180.60, Y:-121.35, Z:-5.10 [[-6.94473130e-01 -7.19517356e-01 -1.35833158e-03 1.80599995e+02] [ 7.19515962e-01 -6.94474459e-01 1.41656456e-03 -1.21353259e+02] [-1.96256938e-03 6.42477228e-06 9.99998074e-01 -5.09895150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.011735563762358592 Centerline is valid? [True, True] Translation: X:180.56, Y:-121.31, Z:-5.10 [[-6.92007587e-01 -7.21886381e-01 -2.35639226e-03 1.80558273e+02] [ 7.21882203e-01 -6.92011599e-01 2.45600279e-03 -1.21312970e+02] [-3.40360574e-03 -1.46506862e-06 9.99994208e-01 -5.09974680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.01181634371240746 Centerline is valid? [True, True] Translation: X:180.52, Y:-121.27, Z:-5.10 [[-6.90199031e-01 -7.23613829e-01 -2.88509621e-03 1.80518027e+02] [ 7.23607586e-01 -6.90205061e-01 3.00593330e-03 -1.21273224e+02] [-4.16644292e-03 -1.29852528e-05 9.99991320e-01 -5.10037053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.01185509110422197 Centerline is valid? [True, True] Translation: X:180.48, Y:-121.23, Z:-5.10 [[-6.89785894e-01 -7.24008833e-01 -2.57476583e-03 1.80477525e+02] [ 7.24003869e-01 -6.89790699e-01 2.68108719e-03 -1.21231793e+02] [-3.71718033e-03 -1.47643021e-05 9.99993091e-01 -5.10112758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.012093966485056095 Centerline is valid? [True, True] Translation: X:180.44, Y:-121.19, Z:-5.10 [[-6.87953696e-01 -7.25751904e-01 -1.97122183e-03 1.80437363e+02] [ 7.25749006e-01 -6.87956520e-01 2.05126275e-03 -1.21191861e+02] [-2.84482276e-03 -1.94384986e-05 9.99995953e-01 -5.10283156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.012783073600530869 Centerline is valid? [True, True] Translation: X:180.40, Y:-121.15, Z:-5.10 [[-6.84502239e-01 -7.29008583e-01 -1.78067669e-03 1.80395948e+02] [ 7.29006232e-01 -6.84504554e-01 1.85194120e-03 -1.21150814e+02] [-2.56896233e-03 -3.04665050e-05 9.99996700e-01 -5.10469662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.013656324681459733 Centerline is valid? [True, True] Translation: X:180.36, Y:-121.11, Z:-5.11 [[-6.82664917e-01 -7.30728008e-01 -2.27793262e-03 1.80356194e+02] [ 7.30724173e-01 -6.82668716e-01 2.36812706e-03 -1.21110600e+02] [-3.28553010e-03 -4.79031694e-05 9.99994602e-01 -5.10649666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.013029568998978924 Centerline is valid? [True, True] Translation: X:180.32, Y:-121.07, Z:-5.11 [[-6.83000910e-01 -7.30413221e-01 -2.50668970e-03 1.80318966e+02] [ 7.30408580e-01 -6.83005508e-01 2.60442942e-03 -1.21065505e+02] [-3.61439255e-03 -5.20800076e-05 9.99993467e-01 -5.10825290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.012888915890899376 Centerline is valid? [True, True] Translation: X:180.28, Y:-121.02, Z:-5.11 [[-6.84596336e-01 -7.28915044e-01 -3.27327170e-03 1.80283471e+02] [ 7.28907122e-01 -6.84604159e-01 3.39896323e-03 -1.21019353e+02] [-4.71845085e-03 -5.89932770e-05 9.99988866e-01 -5.10865636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.012802899051588205 Centerline is valid? [True, True] Translation: X:180.25, Y:-120.98, Z:-5.11 [[-6.86515650e-01 -7.27107624e-01 -3.28105604e-03 1.80247722e+02] [ 7.27099651e-01 -6.86523489e-01 3.40537121e-03 -1.20975280e+02] [-4.72859341e-03 -4.78140740e-05 9.99988819e-01 -5.11044566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.012664614928725223 Centerline is valid? [True, True] Translation: X:180.21, Y:-120.93, Z:-5.11 [[-6.87009666e-01 -7.26641183e-01 -3.21097201e-03 1.80211717e+02] [ 7.26633552e-01 -6.87017168e-01 3.33053816e-03 -1.20930844e+02] [-4.62609908e-03 -4.50880884e-05 9.99989299e-01 -5.11116781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.012612514476568745 Centerline is valid? [True, True] Translation: X:180.18, Y:-120.88, Z:-5.11 [[-6.87288312e-01 -7.26375551e-01 -3.65173069e-03 1.80175825e+02] [ 7.26365689e-01 -6.87298011e-01 3.78554637e-03 -1.20884979e+02] [-5.25955558e-03 -5.07301047e-05 9.99986167e-01 -5.11198405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.012707436195028019 Centerline is valid? [True, True] Translation: X:180.14, Y:-120.84, Z:-5.11 [[-6.87647897e-01 -7.26036134e-01 -3.44996256e-03 1.80138263e+02] [ 7.26027337e-01 -6.87656550e-01 3.57434959e-03 -1.20840883e+02] [-4.96749631e-03 -4.68731494e-05 9.99987661e-01 -5.11252279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.012604673823227388 Centerline is valid? [True, True] Translation: X:180.10, Y:-120.80, Z:-5.11 [[-6.90082319e-01 -7.23724711e-01 -2.98927382e-03 1.80104246e+02] [ 7.23718091e-01 -6.90088793e-01 3.09553156e-03 -1.20795266e+02] [-4.30317704e-03 -2.72199506e-05 9.99990741e-01 -5.11277575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.012107565156275164 Centerline is valid? [True, True] Translation: X:180.07, Y:-120.75, Z:-5.11 [[-6.93533431e-01 -7.20416513e-01 -3.38056577e-03 1.80070694e+02] [ 7.20408018e-01 -6.93541670e-01 3.49851475e-03 -1.20748685e+02] [-4.86495103e-03 -9.04975162e-06 9.99988166e-01 -5.11281873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.01228095300876779 Centerline is valid? [True, True] Translation: X:180.04, Y:-120.70, Z:-5.11 [[-6.99284501e-01 -7.14833825e-01 -3.71347885e-03 1.80038333e+02] [ 7.14823507e-01 -6.99294360e-01 3.84083723e-03 -1.20699531e+02] [-5.34237518e-03 3.13559750e-05 9.99985729e-01 -5.11241112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.012868926485478726 Centerline is valid? [True, True] Translation: X:180.00, Y:-120.65, Z:-5.11 [[-7.03386530e-01 -7.10796192e-01 -4.02026299e-03 1.80004744e+02] [ 7.10784046e-01 -7.03398016e-01 4.15578876e-03 -1.20651428e+02] [-5.78176384e-03 6.55870431e-05 9.99983283e-01 -5.11212838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.013515155815241075 Centerline is valid? [True, True] Translation: X:179.97, Y:-120.61, Z:-5.11 [[-7.05364387e-01 -7.08836181e-01 -3.51428855e-03 1.79968781e+02] [ 7.08826886e-01 -7.05373138e-01 3.63060817e-03 -1.20606264e+02] [-5.05239117e-03 6.98794955e-05 9.99987234e-01 -5.11236151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.013720057896661662 Centerline is valid? [True, True] Translation: X:179.93, Y:-120.56, Z:-5.11 [[-7.08291498e-01 -7.05917148e-01 -2.03297618e-03 1.79931816e+02] [ 7.05914029e-01 -7.08294414e-01 2.09912140e-03 -1.20561194e+02] [-2.92175147e-03 5.16834330e-05 9.99995730e-01 -5.11474509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.014505416834179339 Centerline is valid? [True, True] Translation: X:179.90, Y:-120.52, Z:-5.11 [[-7.09932687e-01 -7.04268652e-01 -1.11580735e-03 1.79895633e+02] [ 7.04267711e-01 -7.09933564e-01 1.15162934e-03 -1.20516451e+02] [-1.60320553e-03 3.17522227e-05 9.99998714e-01 -5.11478442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.014093505882279816 Centerline is valid? [True, True] Translation: X:179.85, Y:-120.48, Z:-5.11 [[-7.09189349e-01 -7.05015632e-01 -1.85083355e-03 1.79853979e+02] [ 7.05013049e-01 -7.09191762e-01 1.90911415e-03 -1.20476425e+02] [-2.65855122e-03 4.90616198e-05 9.99996465e-01 -5.11415278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.014088015300983027 Centerline is valid? [True, True] Translation: X:179.81, Y:-120.44, Z:-5.11 [[-7.08505501e-01 -7.05702967e-01 -1.81040445e-03 1.79813464e+02] [ 7.05700501e-01 -7.08507812e-01 1.86624601e-03 -1.20435556e+02] [-2.59970104e-03 4.46422401e-05 9.99996620e-01 -5.11378686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.013933724616728482 Centerline is valid? [True, True] Translation: X:179.77, Y:-120.40, Z:-5.11 [[-7.08052355e-01 -7.06158125e-01 -1.60182460e-03 1.79772260e+02] [ 7.06156198e-01 -7.08054166e-01 1.65026655e-03 -1.20395046e+02] [-2.29952771e-03 3.73367424e-05 9.99997355e-01 -5.11425143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.013742388803506984 Centerline is valid? [True, True] Translation: X:179.73, Y:-120.36, Z:-5.11 [[-7.07179248e-01 -7.07033106e-01 -1.30365000e-03 1.79731031e+02] [ 7.07031832e-01 -7.07180449e-01 1.34243802e-03 -1.20356680e+02] [-1.87106391e-03 2.76222575e-05 9.99998249e-01 -5.11475339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.013031919707693075 Centerline is valid? [True, True] Translation: X:179.69, Y:-120.32, Z:-5.12 [[-7.06427494e-01 -7.07784864e-01 -8.84614021e-04 1.79687837e+02] [ 7.07784279e-01 -7.06428047e-01 9.10362005e-04 -1.20318787e+02] [-1.26925660e-03 1.69888533e-05 9.99999194e-01 -5.11511270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.012285073083581687 Centerline is valid? [True, True] Translation: X:179.64, Y:-120.28, Z:-5.12 [[-7.04075495e-01 -7.10125126e-01 5.36547433e-05 1.79643551e+02] [ 7.10125124e-01 -7.04075497e-01 -5.51927432e-05 -1.20280190e+02] [ 7.69707438e-05 -7.58276745e-07 9.99999997e-01 -5.11565833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.011735957268872294 Centerline is valid? [True, True] Translation: X:179.60, Y:-120.24, Z:-5.12 [[-7.00821629e-01 -7.13335866e-01 9.92763330e-04 1.79600304e+02] [ 7.13335136e-01 -7.00822332e-01 -1.02055547e-03 -1.20243163e+02] [ 1.42374953e-03 -7.05438386e-06 9.99998986e-01 -5.11722636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.011562379829808126 Centerline is valid? [True, True] Translation: X:179.56, Y:-120.21, Z:-5.12 [[-6.98077321e-01 -7.16021597e-01 1.06093952e-03 1.79556659e+02] [ 7.16020768e-01 -6.98078128e-01 -1.08997104e-03 -1.20206023e+02] [ 1.52106148e-03 -1.22933464e-06 9.99998843e-01 -5.11898227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.011756514031480035 Centerline is valid? [True, True] Translation: X:179.51, Y:-120.17, Z:-5.12 [[-6.93601462e-01 -7.20358378e-01 9.05592374e-04 1.79511716e+02] [ 7.20357777e-01 -6.93602053e-01 -9.29810306e-04 -1.20170362e+02] [ 1.29791737e-03 7.43272261e-06 9.99999158e-01 -5.12036107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.012208474515447104 Centerline is valid? [True, True] Translation: X:179.47, Y:-120.13, Z:-5.12 [[-6.90794337e-01 -7.23049448e-01 1.63720661e-03 1.79469125e+02] [ 7.23047496e-01 -6.90796277e-01 -1.68003501e-03 -1.20130283e+02] [ 2.34572462e-03 2.32194696e-05 9.99997249e-01 -5.12126225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.012444951903369033 Centerline is valid? [True, True] Translation: X:179.43, Y:-120.09, Z:-5.12 [[-6.90304813e-01 -7.23517021e-01 1.54473190e-03 1.79428034e+02] [ 7.23515287e-01 -6.90306540e-01 -1.58413889e-03 -1.20089793e+02] [ 2.21248998e-03 2.40984481e-05 9.99997552e-01 -5.12241492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.012511941987822428 Centerline is valid? [True, True] Translation: X:179.39, Y:-120.05, Z:-5.12 [[-6.90477531e-01 -7.23352778e-01 1.23979594e-03 1.79388453e+02] [ 7.23351663e-01 -6.90478644e-01 -1.27062650e-03 -1.20048449e+02] [ 1.77516383e-03 1.94694012e-05 9.99998424e-01 -5.12304921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.012353596877273719 Centerline is valid? [True, True] Translation: X:179.35, Y:-120.01, Z:-5.12 [[-6.91751362e-01 -7.22133347e-01 1.86611233e-03 1.79350288e+02] [ 7.22130818e-01 -6.91753879e-01 -1.91131924e-03 -1.20006080e+02] [ 2.67111780e-03 2.54195357e-05 9.99996432e-01 -5.12406150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.011958851525685286 Centerline is valid? [True, True] Translation: X:179.31, Y:-119.96, Z:-5.13 [[-6.94689010e-01 -7.19303469e-01 3.11427030e-03 1.79314330e+02] [ 7.19296406e-01 -6.94695990e-01 -3.18771047e-03 -1.19961501e+02] [ 4.45640229e-03 2.56160057e-05 9.99990070e-01 -5.12606945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.011858821871800635 Centerline is valid? [True, True] Translation: X:179.28, Y:-119.92, Z:-5.13 [[-6.96065418e-01 -7.17969938e-01 3.47880841e-03 1.79275764e+02] [ 7.17961119e-01 -6.96074111e-01 -3.55862106e-03 -1.19918796e+02] [ 4.97649141e-03 2.06161273e-05 9.99987617e-01 -5.12637432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.011771163438333919 Centerline is valid? [True, True] Translation: X:179.24, Y:-119.87, Z:-5.13 [[-7.00033745e-01 -7.14104207e-01 2.81712218e-03 1.79239290e+02] [ 7.14098400e-01 -7.00039414e-01 -2.87996121e-03 -1.19873850e+02] [ 4.02868898e-03 -4.36759312e-06 9.99991885e-01 -5.12587824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.0119289936447784 Centerline is valid? [True, True] Translation: X:179.20, Y:-119.83, Z:-5.13 [[-7.02180810e-01 -7.11996055e-01 1.93065736e-03 1.79200760e+02] [ 7.11993323e-01 -7.02183464e-01 -1.97244888e-03 -1.19833094e+02] [ 2.76005149e-03 -1.04006097e-05 9.99996191e-01 -5.12549153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.012903114761583604 Centerline is valid? [True, True] Translation: X:179.16, Y:-119.79, Z:-5.12 [[-7.06806663e-01 -7.07406080e-01 9.89013520e-04 1.79163248e+02] [ 7.07405360e-01 -7.06807355e-01 -1.00985600e-03 -1.19789651e+02] [ 1.41342031e-03 -1.41394860e-05 9.99999001e-01 -5.12448150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.014213681935613443 Centerline is valid? [True, True] Translation: X:179.13, Y:-119.75, Z:-5.13 [[-7.10223509e-01 -7.03975692e-01 8.89853772e-04 1.79125807e+02] [ 7.03975107e-01 -7.10224067e-01 -9.08162877e-04 -1.19748180e+02] [ 1.27132015e-03 -1.85637213e-05 9.99999192e-01 -5.12505067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.015297453903656649 Centerline is valid? [True, True] Translation: X:179.09, Y:-119.71, Z:-5.13 [[-7.15498315e-01 -6.98612150e-01 1.79573777e-03 1.79085514e+02] [ 6.98609751e-01 -7.15500567e-01 -1.83159392e-03 -1.19707258e+02] [ 2.56442516e-03 -5.59824441e-05 9.99996710e-01 -5.12727912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.016766518723553062 Centerline is valid? [True, True] Translation: X:179.05, Y:-119.67, Z:-5.13 [[-7.19952653e-01 -6.94015717e-01 3.21902848e-03 1.79045161e+02] [ 6.94007972e-01 -7.19959838e-01 -3.28131175e-03 -1.19666597e+02] [ 4.59485315e-03 -1.28357672e-04 9.99989435e-01 -5.12881646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.017606337120155267 Centerline is valid? [True, True] Translation: X:179.00, Y:-119.63, Z:-5.13 [[-7.21945061e-01 -6.91942884e-01 3.22104103e-03 1.79003174e+02] [ 6.91935116e-01 -7.21952233e-01 -3.28153335e-03 -1.19626459e+02] [ 4.59607141e-03 -1.40335398e-04 9.99989428e-01 -5.12903796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.017723494509692614 Centerline is valid? [True, True] Translation: X:178.96, Y:-119.59, Z:-5.13 [[-7.22143631e-01 -6.91740290e-01 1.98716292e-03 1.78960803e+02] [ 6.91737336e-01 -7.22146359e-01 -2.02322277e-03 -1.19588186e+02] [ 2.83456717e-03 -8.64626488e-05 9.99995979e-01 -5.12729538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.01642906745104114 Centerline is valid? [True, True] Translation: X:178.92, Y:-119.55, Z:-5.13 [[-7.18748062e-01 -6.95269882e-01 1.00732597e-03 1.78915741e+02] [ 6.95269127e-01 -7.18748767e-01 -1.02500674e-03 -1.19551893e+02] [ 1.43667062e-03 -3.63589614e-05 9.99998967e-01 -5.12615539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.01509728058709345 Centerline is valid? [True, True] Translation: X:178.87, Y:-119.52, Z:-5.13 [[-7.14932987e-01 -6.99192297e-01 9.77516700e-04 1.78870273e+02] [ 6.99191591e-01 -7.14933655e-01 -9.94111512e-04 -1.19515227e+02] [ 1.39393470e-03 -2.72516560e-05 9.99999028e-01 -5.12711165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.012616300055270386 Centerline is valid? [True, True] Translation: X:178.82, Y:-119.48, Z:-5.13 [[-7.06540574e-01 -7.07671581e-01 1.16221675e-03 1.78823100e+02] [ 7.07670596e-01 -7.06541529e-01 -1.18127470e-03 -1.19483099e+02] [ 1.65710893e-03 -1.21518855e-05 9.99998627e-01 -5.12748891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.012015386266144156 Centerline is valid? [True, True] Translation: X:178.78, Y:-119.45, Z:-5.13 [[-7.00313159e-01 -7.13834471e-01 1.35188007e-03 1.78777444e+02] [ 7.13833150e-01 -7.00314464e-01 -1.37319244e-03 -1.19448009e+02] [ 1.92697327e-03 3.35207310e-06 9.99998143e-01 -5.12694862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.01354401073601645 Centerline is valid? [True, True] Translation: X:178.73, Y:-119.41, Z:-5.13 [[-6.91626870e-01 -7.22252045e-01 2.06293275e-03 1.78729252e+02] [ 7.22249010e-01 -6.91629945e-01 -2.09428701e-03 -1.19413888e+02] [ 2.93938914e-03 4.14859649e-05 9.99995679e-01 -5.12808765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.01470742171245776 Centerline is valid? [True, True] Translation: X:178.69, Y:-119.38, Z:-5.13 [[-6.87976701e-01 -7.25729521e-01 2.17282996e-03 1.78685606e+02] [ 7.25726175e-01 -6.87980130e-01 -2.20462367e-03 -1.19375089e+02] [ 3.09482432e-03 6.01498526e-05 9.99995209e-01 -5.12758267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.01552552407347873 Centerline is valid? [True, True] Translation: X:178.64, Y:-119.34, Z:-5.13 [[-6.85849439e-01 -7.27740377e-01 2.11927553e-03 1.78643473e+02] [ 7.27737207e-01 -6.85852710e-01 -2.14908238e-03 -1.19335128e+02] [ 3.01748488e-03 6.83287069e-05 9.99995445e-01 -5.12752313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.01591340681664116 Centerline is valid? [True, True] Translation: X:178.60, Y:-119.30, Z:-5.13 [[-6.87123231e-01 -7.26531052e-01 3.78106529e-03 1.78604052e+02] [ 7.26520956e-01 -6.87133624e-01 -3.83173331e-03 -1.19295265e+02] [ 5.38197032e-03 1.14150200e-04 9.99985511e-01 -5.13022495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.013995338405736463 Centerline is valid? [True, True] Translation: X:178.57, Y:-119.25, Z:-5.13 [[-6.89435774e-01 -7.24332547e-01 4.54707983e-03 1.78567656e+02] [ 7.24317915e-01 -6.89450758e-01 -4.60540053e-03 -1.19249385e+02] [ 6.47082913e-03 1.18403509e-04 9.99979057e-01 -5.13091487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.012644242268668365 Centerline is valid? [True, True] Translation: X:178.53, Y:-119.20, Z:-5.13 [[-6.95077793e-01 -7.18902511e-01 6.78536659e-03 1.78532597e+02] [ 7.18869707e-01 -6.95110904e-01 -6.86850147e-03 -1.19202829e+02] [ 9.65436526e-03 1.03651649e-04 9.99953390e-01 -5.13375907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.011923973001018828 Centerline is valid? [True, True] Translation: X:178.50, Y:-119.15, Z:-5.14 [[-7.03988369e-01 -7.10156688e-01 8.82349782e-03 1.78501478e+02] [ 7.10100591e-01 -7.04043662e-01 -8.92599489e-03 -1.19153557e+02] [ 1.25509827e-02 -1.82255731e-05 9.99921233e-01 -5.13670037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.013688734606898362 Centerline is valid? [True, True] Translation: X:178.47, Y:-119.10, Z:-5.14 [[-7.11630886e-01 -7.02497643e-01 8.86247644e-03 1.78470012e+02] [ 7.02440501e-01 -7.11686053e-01 -8.96130184e-03 -1.19104977e+02] [ 1.26025943e-02 -1.51776775e-04 9.99920573e-01 -5.13743028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.016586795696161186 Centerline is valid? [True, True] Translation: X:178.44, Y:-119.06, Z:-5.13 [[-7.20604405e-01 -6.93315635e-01 6.53613922e-03 1.78435548e+02] [ 6.93284209e-01 -7.20634011e-01 -6.60511264e-03 -1.19057997e+02] [ 9.28959209e-03 -2.28271162e-04 9.99956825e-01 -5.13355151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.018033145410887973 Centerline is valid? [True, True] Translation: X:178.40, Y:-119.01, Z:-5.13 [[-7.25384812e-01 -6.88317242e-01 6.02069913e-03 1.78397378e+02] [ 6.88290436e-01 -7.25409748e-01 -6.08057875e-03 -1.19014933e+02] [ 8.55284104e-03 -2.66769839e-04 9.99963388e-01 -5.13121128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.01967197097546207 Centerline is valid? [True, True] Translation: X:178.36, Y:-118.97, Z:-5.13 [[-7.30714898e-01 -6.82660783e-01 5.47662493e-03 1.78358264e+02] [ 6.82638461e-01 -7.30735359e-01 -5.52881499e-03 -1.18972881e+02] [ 7.77626866e-03 -3.01432670e-04 9.99969719e-01 -5.12934764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.02046934315767113 Centerline is valid? [True, True] Translation: X:178.32, Y:-118.93, Z:-5.13 [[-7.33825697e-01 -6.79319032e-01 5.04964610e-03 1.78316981e+02] [ 6.79299998e-01 -7.33843006e-01 -5.09464859e-03 -1.18933219e+02] [ 7.16653922e-03 -3.08359467e-04 9.99974273e-01 -5.12944502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.02221100775979929 Centerline is valid? [True, True] Translation: X:178.27, Y:-118.90, Z:-5.13 [[-7.37028277e-01 -6.75846681e-01 4.53696074e-03 1.78273186e+02] [ 6.75831267e-01 -7.37042177e-01 -4.57464203e-03 -1.18895673e+02] [ 6.43568805e-03 -3.05420601e-04 9.99979244e-01 -5.13021107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.022457407801124027 Centerline is valid? [True, True] Translation: X:178.23, Y:-118.86, Z:-5.13 [[-7.37078491e-01 -6.75797272e-01 3.65316780e-03 1.78228520e+02] [ 6.75787290e-01 -7.37087503e-01 -3.68120420e-03 -1.18859272e+02] [ 5.18045209e-03 -2.44572068e-04 9.99986551e-01 -5.13011529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.021309841598056295 Centerline is valid? [True, True] Translation: X:178.18, Y:-118.83, Z:-5.13 [[-7.33760365e-01 -6.79403999e-01 2.43567445e-03 1.78180625e+02] [ 6.79399586e-01 -7.33764394e-01 -2.45293291e-03 -1.18825286e+02] [ 3.45374362e-03 -1.45068736e-04 9.99994025e-01 -5.12900153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.01757526816378256 Centerline is valid? [True, True] Translation: X:178.13, Y:-118.79, Z:-5.13 [[-7.26671892e-01 -6.86980656e-01 2.35348820e-03 1.78129948e+02] [ 6.86976579e-01 -7.26675696e-01 -2.36924343e-03 -1.18794552e+02] [ 3.33784708e-03 -1.04871336e-04 9.99994424e-01 -5.12905914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.015026052221143065 Centerline is valid? [True, True] Translation: X:178.08, Y:-118.76, Z:-5.13 [[-7.20894487e-01 -6.93037909e-01 3.09764558e-03 1.78080260e+02] [ 6.93030908e-01 -7.20901136e-01 -3.11653663e-03 -1.18762059e+02] [ 4.39297424e-03 -9.99299425e-05 9.99990346e-01 -5.13103155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.012947885483208564 Centerline is valid? [True, True] Translation: X:178.03, Y:-118.73, Z:-5.13 [[-7.12644200e-01 -7.01516706e-01 3.54331895e-03 1.78029678e+02] [ 7.01507661e-01 -7.12653007e-01 -3.56271039e-03 -1.18732053e+02] [ 5.02445776e-03 -5.32795043e-05 9.99987376e-01 -5.13348680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.011788633264861037 Centerline is valid? [True, True] Translation: X:177.98, Y:-118.70, Z:-5.13 [[-7.08329283e-01 -7.05877802e-01 2.48106216e-03 1.77982087e+02] [ 7.05873399e-01 -7.08333628e-01 -2.49324581e-03 -1.18697493e+02] [ 3.51734664e-03 -1.47232341e-05 9.99993814e-01 -5.13065717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.011752131843679027 Centerline is valid? [True, True] Translation: X:177.94, Y:-118.66, Z:-5.13 [[-7.07864482e-01 -7.06345904e-01 1.82749129e-03 1.77940164e+02] [ 7.06343520e-01 -7.07866840e-01 -1.83531454e-03 -1.18658752e+02] [ 2.58998739e-03 -8.31734262e-06 9.99996646e-01 -5.13006771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.011700348545298077 Centerline is valid? [True, True] Translation: X:177.90, Y:-118.62, Z:-5.13 [[-7.08399989e-01 -7.05810641e-01 8.90669655e-04 1.77896206e+02] [ 7.05810075e-01 -7.08400549e-01 -8.93978271e-04 -1.18619954e+02] [ 1.26193025e-03 -4.65058191e-06 9.99999204e-01 -5.12957089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.012280383790411617 Centerline is valid? [True, True] Translation: X:177.86, Y:-118.58, Z:-5.13 [[-7.11860678e-01 -7.02320505e-01 5.31814653e-04 1.77855370e+02] [ 7.02320302e-01 -7.11860877e-01 -5.33578731e-04 -1.18580779e+02] [ 7.53321329e-04 -6.32948937e-06 9.99999716e-01 -5.13012166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.01373404469801031 Centerline is valid? [True, True] Translation: X:177.82, Y:-118.54, Z:-5.13 [[-7.17978092e-01 -6.96063695e-01 1.67127890e-03 1.77815571e+02] [ 6.96061678e-01 -7.17980036e-01 -1.67586704e-03 -1.18538060e+02] [ 2.36645509e-03 -3.99226175e-05 9.99997199e-01 -5.13146417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.016138877141754698 Centerline is valid? [True, True] Translation: X:177.78, Y:-118.50, Z:-5.13 [[-7.22137183e-01 -6.91743134e-01 3.05380337e-03 1.77776871e+02] [ 6.91736368e-01 -7.22143633e-01 -3.06092593e-03 -1.18495868e+02] [ 4.32265916e-03 -9.79815737e-05 9.99990652e-01 -5.13373876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.017853841423181905 Centerline is valid? [True, True] Translation: X:177.74, Y:-118.45, Z:-5.14 [[-7.26604946e-01 -6.87034601e-01 5.35814787e-03 1.77736677e+02] [ 6.87013669e-01 -7.26624668e-01 -5.36745311e-03 -1.18454988e+02] [ 7.58098843e-03 -2.18897148e-04 9.99971240e-01 -5.13622193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.01871718975237052 Centerline is valid? [True, True] Translation: X:177.70, Y:-118.41, Z:-5.14 [[-7.27762674e-01 -6.85793346e-01 6.99833903e-03 1.77695985e+02] [ 6.85757607e-01 -7.27796260e-01 -7.00770372e-03 -1.18414213e+02] [ 9.89920155e-03 -3.00780967e-04 9.99950957e-01 -5.13752201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.01743223671632155 Centerline is valid? [True, True] Translation: X:177.65, Y:-118.38, Z:-5.14 [[-7.26324928e-01 -6.87306397e-01 7.87503877e-03 1.77651901e+02] [ 6.87261280e-01 -7.26367551e-01 -7.88123467e-03 -1.18375905e+02] [ 1.11369956e-02 -3.12127976e-04 9.99937933e-01 -5.13712679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.015376573688577902 Centerline is valid? [True, True] Translation: X:177.61, Y:-118.34, Z:-5.14 [[-7.22829192e-01 -6.90982724e-01 7.79969363e-03 1.77606601e+02] [ 6.90938729e-01 -7.22871229e-01 -7.80128051e-03 -1.18339768e+02] [ 1.10287242e-02 -2.49882885e-04 9.99939151e-01 -5.13607064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.014715458336706396 Centerline is valid? [True, True] Translation: X:177.57, Y:-118.30, Z:-5.14 [[-7.18010930e-01 -6.95993457e-01 7.30834970e-03 1.77565790e+02] [ 6.95955128e-01 -7.18048106e-01 -7.30598405e-03 -1.18300998e+02] [ 1.03326638e-02 -1.59492946e-04 9.99946604e-01 -5.13624538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.013519420257510838 Centerline is valid? [True, True] Translation: X:177.17, Y:-118.68, Z:-4.12 [[-7.49108869e-01 6.62412952e-01 6.70700249e-03 1.77168277e+02] [ 6.62387436e-01 7.49138888e-01 -5.81469561e-03 -1.18682621e+02] [-8.87620607e-03 8.67941330e-05 -9.99960602e-01 -4.12049538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.012080377827845545 Centerline is valid? [True, True] Translation: X:177.18, Y:-118.65, Z:-4.12 [[-7.98266739e-01 6.02268123e-01 6.58182880e-03 1.77180927e+02] [ 6.02247902e-01 7.98293873e-01 -4.93534362e-03 -1.18650818e+02] [-8.22663374e-03 2.41719221e-05 -9.99966160e-01 -4.12183694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.012581353611609466 Centerline is valid? [True, True] Translation: X:177.19, Y:-118.62, Z:-4.12 [[-8.44885725e-01 5.34912397e-01 6.06950868e-03 1.77189477e+02] [ 5.34898094e-01 8.44907524e-01 -3.91221723e-03 -1.18616336e+02] [-7.22086704e-03 -5.88078720e-05 -9.99973928e-01 -4.12321069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.013586968096256398 Centerline is valid? [True, True] Translation: X:177.20, Y:-118.59, Z:-4.12 [[-8.83621579e-01 4.68170165e-01 5.44080361e-03 1.77197873e+02] [ 4.68160666e-01 8.83638325e-01 -2.98369836e-03 -1.18589302e+02] [-6.20458114e-03 -8.92900195e-05 -9.99980747e-01 -4.12475025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.015378786314358956 Centerline is valid? [True, True] Translation: X:177.44, Y:-118.13, Z:-5.13 [[-8.31413743e-01 -5.55631176e-01 5.01837021e-03 1.77444507e+02] [ 5.55621573e-01 -8.31428885e-01 -3.26744902e-03 -1.18129664e+02] [ 5.98791449e-03 7.17127334e-05 9.99982070e-01 -5.13146769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.01641576710352853 Centerline is valid? [True, True] Translation: X:177.15, Y:-118.57, Z:-4.12 [[-8.88581249e-01 4.58668750e-01 6.80745605e-03 1.77153165e+02] [ 4.58653825e-01 8.88607309e-01 -3.70402642e-03 -1.18569576e+02] [-7.74807637e-03 -1.69062662e-04 -9.99969969e-01 -4.12272489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.016712962023973068 Centerline is valid? [True, True] Translation: X:177.41, Y:-118.10, Z:-5.13 [[-8.31794572e-01 -5.55028748e-01 7.80243810e-03 1.77406507e+02] [ 5.55007563e-01 -8.31831116e-01 -4.85801550e-03 -1.18101813e+02] [ 9.18664905e-03 2.89541223e-04 9.99957760e-01 -5.13423012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.0174247625299425 Centerline is valid? [True, True] Translation: X:177.11, Y:-118.56, Z:-4.12 [[-8.90598044e-01 4.54683755e-01 9.88974113e-03 1.77109689e+02] [ 4.54652504e-01 8.90652916e-01 -5.33702906e-03 -1.18557171e+02] [-1.12349872e-02 -2.56752077e-04 -9.99936853e-01 -4.12005623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.015112463323090889 Centerline is valid? [True, True] Translation: X:177.12, Y:-118.54, Z:-4.12 [[-9.19243088e-01 3.93553929e-01 1.03658138e-02 1.77116352e+02] [ 3.93526180e-01 9.19301504e-01 -4.67865410e-03 -1.18543698e+02] [-1.13706109e-02 -2.21601329e-04 -9.99935328e-01 -4.12117916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.013295352352445059 Centerline is valid? [True, True] Translation: X:177.12, Y:-118.53, Z:-4.12 [[-9.42827578e-01 3.33110822e-01 1.06460549e-02 1.77118192e+02] [ 3.33087751e-01 9.42887669e-01 -3.92343252e-03 -1.18526808e+02] [-1.13449717e-02 -1.53049902e-04 -9.99935632e-01 -4.12225150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.01235150058807512 Centerline is valid? [True, True] Translation: X:177.13, Y:-118.52, Z:-4.12 [[-9.60650789e-01 2.77562912e-01 1.04351254e-02 1.77129721e+02] [ 2.77546435e-01 9.60707463e-01 -3.02435860e-03 -1.18519535e+02] [-1.08645526e-02 -9.12062694e-06 -9.99940979e-01 -4.12284383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.013123914516382316 Centerline is valid? [True, True] Translation: X:177.14, Y:-118.51, Z:-4.12 [[-9.75773436e-01 2.18532265e-01 1.04809896e-02 1.77135968e+02] [ 2.18520746e-01 9.75829718e-01 -2.24591702e-03 -1.18505881e+02] [-1.07184664e-02 9.88074956e-05 -9.99942551e-01 -4.12372704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.01581800207521609 Centerline is valid? [True, True] Translation: X:177.29, Y:-117.86, Z:-5.13 [[-9.67556728e-01 -2.52413758e-01 1.10124058e-02 1.77286289e+02] [ 2.52396568e-01 -9.67619393e-01 -2.94658862e-03 -1.17859397e+02] [ 1.13995769e-02 -7.14982124e-05 9.99935020e-01 -5.13186291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.01902717508649166 Centerline is valid? [True, True] Translation: X:177.09, Y:-118.53, Z:-4.12 [[-9.71299863e-01 2.37509661e-01 1.28738993e-02 1.77093362e+02] [ 2.37494623e-01 9.71385082e-01 -2.70681616e-03 -1.18529392e+02] [-1.31484088e-02 4.28351696e-04 -9.99913464e-01 -4.12375114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.01886269132329417 Centerline is valid? [True, True] Translation: X:177.25, Y:-117.83, Z:-5.13 [[-9.71333916e-01 -2.37309023e-01 1.39589421e-02 1.77248120e+02] [ 2.37278718e-01 -9.71434133e-01 -3.81246050e-03 -1.17833134e+02] [ 1.44649241e-02 -3.91012303e-04 9.99895301e-01 -5.13223787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.018340254220126858 Centerline is valid? [True, True] Translation: X:177.05, Y:-118.53, Z:-4.12 [[-9.72363488e-01 2.33090056e-01 1.33518840e-02 1.77046527e+02] [ 2.33074181e-01 9.72455057e-01 -2.75464831e-03 -1.18526735e+02] [-1.36261882e-02 4.33459986e-04 -9.99907065e-01 -4.12421824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.016890428148468785 Centerline is valid? [True, True] Translation: X:177.05, Y:-118.50, Z:-4.13 [[-9.87468764e-01 1.57326321e-01 1.24043905e-02 1.77046269e+02] [ 1.57317957e-01 9.87546620e-01 -1.65324719e-03 -1.18496309e+02] [-1.25100132e-02 3.18903422e-04 -9.99921696e-01 -4.12567780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.014249395375366573 Centerline is valid? [True, True] Translation: X:177.14, Y:-117.79, Z:-5.13 [[-9.82746987e-01 -1.84618521e-01 1.11517815e-02 1.77136925e+02] [ 1.84602319e-01 -9.82810187e-01 -2.47411042e-03 -1.17790472e+02] [ 1.14168510e-02 -3.72779850e-04 9.99934756e-01 -5.12891751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.012843747530201797 Centerline is valid? [True, True] Translation: X:176.98, Y:-118.48, Z:-4.13 [[-9.91363070e-01 1.30576095e-01 1.22126042e-02 1.76984713e+02] [ 1.30566556e-01 9.91438290e-01 -1.57865947e-03 -1.18475500e+02] [-1.23141786e-02 2.95329669e-05 -9.99924177e-01 -4.12603566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.013120747275691291 Centerline is valid? [True, True] Translation: X:177.07, Y:-117.80, Z:-5.13 [[-9.79791499e-01 -1.99645554e-01 1.22585329e-02 1.77070698e+02] [ 1.99629728e-01 -9.79868181e-01 -2.51383346e-03 -1.17797635e+02] [ 1.25136220e-02 -1.58650634e-05 9.99921701e-01 -5.13312980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.014755743947613401 Centerline is valid? [True, True] Translation: X:176.93, Y:-118.45, Z:-4.12 [[-9.93821754e-01 1.10222825e-01 1.30096545e-02 1.76926173e+02] [ 1.10210918e-01 9.93906884e-01 -1.63084407e-03 -1.18452171e+02] [-1.31101414e-02 -1.86962352e-04 -9.99914041e-01 -4.12271106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.015099105466216112 Centerline is valid? [True, True] Translation: X:177.01, Y:-117.80, Z:-5.13 [[-9.77833965e-01 -2.08970839e-01 1.31120563e-02 1.77006258e+02] [ 2.08954898e-01 -9.77921850e-01 -2.58948590e-03 -1.17800193e+02] [ 1.33636934e-02 2.07741109e-04 9.99910680e-01 -5.13269049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.015614163206658078 Centerline is valid? [True, True] Translation: X:176.87, Y:-118.44, Z:-4.12 [[-9.94790502e-01 1.01020096e-01 1.36673972e-02 1.76869331e+02] [ 1.01006824e-01 9.94884349e-01 -1.65966842e-03 -1.18442442e+02] [-1.37651394e-02 -2.70521988e-04 -9.99905219e-01 -4.12284966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.0153461591751021 Centerline is valid? [True, True] Translation: X:176.87, Y:-118.42, Z:-4.12 [[-9.99458609e-01 3.00776157e-02 1.33351756e-02 1.76873003e+02] [ 3.00714223e-02 9.99547532e-01 -6.64752846e-04 -1.18417720e+02] [-1.33491361e-02 -2.63385257e-04 -9.99910862e-01 -4.12335215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.014451852442054451 Centerline is valid? [True, True] Translation: X:176.91, Y:-117.76, Z:-5.13 [[-9.90989607e-01 -1.33304578e-01 1.30187796e-02 1.76910944e+02] [ 1.33296299e-01 -9.91075088e-01 -1.50545444e-03 -1.17759067e+02] [ 1.31032721e-02 2.43465434e-04 9.99914119e-01 -5.13295179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.014187754341342668 Centerline is valid? [True, True] Translation: X:176.82, Y:-118.42, Z:-4.12 [[-9.99410579e-01 3.17887128e-02 1.29604313e-02 1.76820048e+02] [ 3.17836954e-02 9.99494595e-01 -5.92971186e-04 -1.18421441e+02] [-1.29727308e-02 -1.80691275e-04 -9.99915834e-01 -4.12287209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.01376441123245328 Centerline is valid? [True, True] Translation: X:176.85, Y:-117.75, Z:-5.13 [[-9.92045581e-01 -1.25109298e-01 1.39007019e-02 1.76853725e+02] [ 1.25100657e-01 -9.92142932e-01 -1.49288675e-03 -1.17752720e+02] [ 1.39782571e-02 2.57975235e-04 9.99902266e-01 -5.13394389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.014126881286111413 Centerline is valid? [True, True] Translation: X:176.77, Y:-118.42, Z:-4.12 [[-9.99463443e-01 2.85566917e-02 1.60418952e-02 1.76765442e+02] [ 2.85496549e-02 9.99592153e-01 -6.67536987e-04 -1.18421331e+02] [-1.60544152e-02 -2.09188244e-04 -9.99871098e-01 -4.11985810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.015040723382386972 Centerline is valid? [True, True] Translation: X:176.76, Y:-118.39, Z:-4.12 [[-9.98804474e-01 -4.50407630e-02 1.89987619e-02 1.76761249e+02] [-4.50382344e-02 9.98985106e-01 5.61167568e-04 -1.18391181e+02] [-1.90047556e-02 -2.95174012e-04 -9.99819350e-01 -4.11613197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.014542831319178422 Centerline is valid? [True, True] Translation: X:176.74, Y:-117.73, Z:-5.14 [[-9.98322406e-01 -5.44584364e-02 1.96635032e-02 1.76741525e+02] [ 5.44547748e-02 -9.98515977e-01 -7.21998788e-04 -1.17726372e+02] [ 1.96736411e-02 3.49984075e-04 9.99806394e-01 -5.13835715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.01465138850182598 Centerline is valid? [True, True] Translation: X:176.69, Y:-118.39, Z:-4.12 [[-9.98623475e-01 -4.97246883e-02 1.66916241e-02 1.76691425e+02] [-4.97221197e-02 9.98762928e-01 5.69106508e-04 -1.18394226e+02] [-1.66992740e-02 -2.61619813e-04 -9.99860523e-01 -4.11984382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.014386283051426687 Centerline is valid? [True, True] Translation: X:176.67, Y:-117.73, Z:-5.13 [[-9.98865890e-01 -4.56993325e-02 1.33605401e-02 1.76673400e+02] [ 4.56952837e-02 -9.98955240e-01 -6.08313105e-04 -1.17727179e+02] [ 1.33743810e-02 2.89045729e-06 9.99910559e-01 -5.13438952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.013527776546601847 Centerline is valid? [True, True] Translation: X:176.63, Y:-118.40, Z:-4.12 [[-9.98797873e-01 -4.74253100e-02 1.23955250e-02 1.76633347e+02] [-4.74229801e-02 9.98874781e-01 4.81991984e-04 -1.18401553e+02] [-1.24044359e-02 -1.06420164e-04 -9.99923056e-01 -4.12248139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.012744537855660945 Centerline is valid? [True, True] Translation: X:176.63, Y:-118.38, Z:-4.12 [[-9.93448176e-01 -1.13572015e-01 1.27325931e-02 1.76628121e+02] [-1.13563310e-01 9.93529766e-01 1.40696715e-03 -1.18380877e+02] [-1.28100024e-02 -4.82064734e-05 -9.99917947e-01 -4.12440565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.01271302988791578 Centerline is valid? [True, True] Translation: X:176.56, Y:-117.70, Z:-5.13 [[-9.99151142e-01 3.93591256e-02 1.21595856e-02 1.76556247e+02] [-3.93561666e-02 -9.99225129e-01 4.82632596e-04 -1.17698110e+02] [ 1.21691595e-02 3.66823324e-06 9.99925953e-01 -5.13188532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.01283374647419745 Centerline is valid? [True, True] Translation: X:176.54, Y:-118.39, Z:-4.12 [[-9.92826618e-01 -1.18898504e-01 1.25878098e-02 1.76543593e+02] [-1.18889502e-01 9.92906412e-01 1.46373266e-03 -1.18388130e+02] [-1.26725527e-02 -4.33256845e-05 -9.99919699e-01 -4.12349586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.013110877253402325 Centerline is valid? [True, True] Translation: X:176.47, Y:-117.71, Z:-5.13 [[-9.98940200e-01 4.40543701e-02 1.33300289e-02 1.76466742e+02] [-4.40492342e-02 -9.99029131e-01 6.78787822e-04 -1.17710489e+02] [ 1.33469908e-02 9.08908774e-05 9.99910921e-01 -5.13464342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.012856515275662771 Centerline is valid? [True, True] Translation: X:176.46, Y:-118.40, Z:-4.12 [[-9.92112592e-01 -1.24666089e-01 1.30756143e-02 1.76455151e+02] [-1.24655936e-01 9.92198752e-01 1.59182149e-03 -1.18396059e+02] [-1.31720543e-02 -5.06867959e-05 -9.99913243e-01 -4.12289440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.01276191130812725 Centerline is valid? [True, True] Translation: X:176.45, Y:-118.37, Z:-4.12 [[-9.81095248e-01 -1.93166932e-01 1.17750149e-02 1.76449806e+02] [-1.93153297e-01 9.81165907e-01 2.29517959e-03 -1.18370393e+02] [-1.19965960e-02 -2.25931606e-05 -9.99928038e-01 -4.12370860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.012745186392507268 Centerline is valid? [True, True] Translation: X:176.44, Y:-118.35, Z:-4.12 [[-9.65284921e-01 -2.61006894e-01 1.00210800e-02 1.76435524e+02] [-2.60992832e-01 9.65336937e-01 2.70932529e-03 -1.18348368e+02] [-1.03808713e-02 -1.59203702e-07 -9.99946117e-01 -4.12465338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.012710954398345572 Centerline is valid? [True, True] Translation: X:176.24, Y:-117.69, Z:-5.13 [[-9.80519541e-01 1.96167681e-01 9.98356720e-03 1.76238861e+02] [-1.96157649e-01 -9.80570365e-01 1.98388617e-03 -1.17689776e+02] [ 1.01787645e-02 -1.31139179e-05 9.99948195e-01 -5.13152605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.012970259248970604 Centerline is valid? [True, True] Translation: X:176.31, Y:-118.38, Z:-4.12 [[-9.64442279e-01 -2.64114338e-01 9.73174610e-03 1.76309274e+02] [-2.64100531e-01 9.64491376e-01 2.70082609e-03 -1.18383971e+02] [-1.00995121e-02 3.46315588e-05 -9.99948998e-01 -4.12311413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.012991981894015776 Centerline is valid? [True, True] Translation: X:176.28, Y:-118.37, Z:-4.12 [[-9.43445325e-01 -3.31376358e-01 1.00314007e-02 1.76279633e+02] [-3.31357029e-01 9.43498652e-01 3.57942403e-03 -1.18366684e+02] [-1.06507496e-02 5.30157170e-05 -9.99943278e-01 -4.12361066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.012992627540898517 Centerline is valid? [True, True] Translation: X:176.23, Y:-118.36, Z:-4.12 [[-9.17291439e-01 -3.98107866e-01 9.30285902e-03 1.76227171e+02] [-3.98086691e-01 9.17338609e-01 4.10652957e-03 -1.18359962e+02] [-1.01687135e-02 6.35400556e-05 -9.99948295e-01 -4.12414467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.012917010420012528 Centerline is valid? [True, True] Translation: X:176.17, Y:-118.36, Z:-4.12 [[-8.85049378e-01 -4.65408937e-01 9.06206992e-03 1.76165951e+02] [-4.65383915e-01 8.85095768e-01 4.82622941e-03 -1.18357963e+02] [-1.02669700e-02 5.41097541e-05 -9.99947292e-01 -4.12361258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.013027050885909858 Centerline is valid? [True, True] Translation: X:176.09, Y:-118.37, Z:-4.12 [[-8.47340763e-01 -5.30982255e-01 8.45433584e-03 1.76093717e+02] [-5.30955390e-01 8.47382938e-01 5.34139242e-03 -1.18367810e+02] [-1.00002445e-02 3.71043468e-05 -9.99949996e-01 -4.12225939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.012737632915242303 Centerline is valid? [True, True] Translation: X:176.02, Y:-118.39, Z:-4.12 [[-8.03918865e-01 -5.94671522e-01 8.95764622e-03 1.76016795e+02] [-5.94634432e-01 8.03968768e-01 6.64166897e-03 -1.18385237e+02] [-1.11512792e-02 1.28381116e-05 -9.99937823e-01 -4.12332585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.01266292355374914 Centerline is valid? [True, True] Translation: X:175.94, Y:-118.41, Z:-4.12 [[-7.56392687e-01 -6.54058897e-01 8.77846605e-03 1.75937597e+02] [-6.54014847e-01 7.56443626e-01 7.59088523e-03 -1.18411329e+02] [-1.16053007e-02 4.42952446e-07 -9.99932656e-01 -4.12272446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.012721906197653413 Centerline is valid? [True, True] Translation: X:175.85, Y:-118.45, Z:-4.12 [[-7.04163939e-01 -7.09985753e-01 8.56607673e-03 1.75852181e+02] [-7.09933488e-01 7.04216039e-01 8.61468175e-03 -1.18450058e+02] [-1.21486699e-02 -1.51965006e-05 -9.99926202e-01 -4.12188549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.012843458506550363 Centerline is valid? [True, True] Translation: X:175.76, Y:-118.50, Z:-4.12 [[-6.47605548e-01 -7.61930519e-01 8.30289063e-03 1.75764405e+02] [-7.61868562e-01 6.47658770e-01 9.71654665e-03 -1.18502840e+02] [-1.27807734e-02 -3.32218275e-05 -9.99918322e-01 -4.12197273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.012732105335034523 Centerline is valid? [True, True] Translation: X:175.68, Y:-118.56, Z:-4.12 [[-5.87420724e-01 -8.09247297e-01 7.46360013e-03 1.75684395e+02] [-8.09182910e-01 5.87468135e-01 1.02082273e-02 -1.18558282e+02] [-1.26456076e-02 -4.28934045e-05 -9.99920040e-01 -4.12230603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.012842663751304838 Centerline is valid? [True, True] Translation: X:175.61, Y:-118.63, Z:-4.12 [[-5.25413459e-01 -8.50822104e-01 6.51492322e-03 1.75607175e+02] [-8.50757308e-01 5.25453848e-01 1.05003377e-02 -1.18625023e+02] [-1.23572109e-02 -2.55998019e-05 -9.99923646e-01 -4.12259702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.01273117755805496 Centerline is valid? [True, True] Translation: X:175.53, Y:-118.70, Z:-4.12 [[-4.61037014e-01 -8.87363643e-01 5.53501001e-03 1.75533336e+02] [-8.87299665e-01 4.61070238e-01 1.06554784e-02 -1.18703767e+02] [-1.20073125e-02 1.35742830e-06 -9.99927910e-01 -4.12356952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.012895574139914554 Centerline is valid? [True, True] Translation: X:175.47, Y:-118.79, Z:-4.12 [[-3.94582410e-01 -9.18848555e-01 4.69627913e-03 1.75466391e+02] [-9.18782404e-01 3.94610354e-01 1.10254965e-02 -1.18790304e+02] [-1.19839619e-02 3.56083377e-05 -9.99928189e-01 -4.12445017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.01292930007344752 Centerline is valid? [True, True] Translation: X:175.40, Y:-118.89, Z:-4.12 [[-3.23694415e-01 -9.46154012e-01 3.80930433e-03 1.75401317e+02] [-9.46086981e-01 3.23716826e-01 1.12623290e-02 -1.18885534e+02] [-1.18890337e-02 4.16197627e-05 -9.99929322e-01 -4.12439450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.012798052610372534 Centerline is valid? [True, True] Translation: X:175.34, Y:-118.98, Z:-4.12 [[-2.49165880e-01 -9.68456490e-01 2.89681587e-03 1.75342033e+02] [-9.68389770e-01 2.49182717e-01 1.13678058e-02 -1.18984856e+02] [-1.17310618e-02 2.72224921e-05 -9.99931188e-01 -4.12460223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.012843969317566697 Centerline is valid? [True, True] Translation: X:175.29, Y:-119.09, Z:-4.13 [[-1.71530924e-01 -9.85176552e-01 2.07447935e-03 1.75289801e+02] [-9.85104923e-01 1.71543468e-01 1.18797586e-02 -1.19092577e+02] [-1.20595230e-02 -5.83385496e-06 -9.99927281e-01 -4.12543675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.013265420309748076 Centerline is valid? [True, True] Translation: X:175.24, Y:-119.21, Z:-4.12 [[-8.98842941e-02 -9.95951466e-01 1.22148484e-03 1.75243181e+02] [-9.95871301e-01 8.98925572e-02 1.26364533e-02 -1.19205700e+02] [-1.26950966e-02 -8.06230091e-05 -9.99919411e-01 -4.12443962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.014164844025595159 Centerline is valid? [True, True] Translation: X:175.20, Y:-119.32, Z:-4.12 [[-7.10020884e-03 -9.99974756e-01 2.73478083e-04 1.75204529e+02] [-9.99877586e-01 7.10333160e-03 1.39411840e-02 -1.19319284e+02] [-1.39427747e-02 -1.74459288e-04 -9.99902780e-01 -4.12278598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.01454449568936479 Centerline is valid? [True, True] Translation: X:175.18, Y:-119.43, Z:-4.12 [[ 7.20499553e-02 -9.97400698e-01 -8.07650192e-04 1.75178926e+02] [-9.97300895e-01 -7.20541723e-02 1.41110527e-02 -1.19431591e+02] [-1.41325684e-02 -2.11230459e-04 -9.99900108e-01 -4.12287649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.015238133549598082 Centerline is valid? [True, True] Translation: X:175.16, Y:-119.55, Z:-4.12 [[ 1.49971167e-01 -9.88688858e-01 -1.72966167e-03 1.75164174e+02] [-9.88605559e-01 -1.49980987e-01 1.28355496e-02 -1.19551219e+02] [-1.29497813e-02 -2.15009220e-04 -9.99916125e-01 -4.12376116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.01472556983366637 Centerline is valid? [True, True] Translation: X:175.16, Y:-119.67, Z:-4.13 [[ 2.25071873e-01 -9.74339142e-01 -2.42649691e-03 1.75159048e+02] [-9.74273181e-01 -2.25084875e-01 1.13387848e-02 -1.19666827e+02] [-1.15939896e-02 -1.87970683e-04 -9.99932770e-01 -4.12563862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.015132531530866881 Centerline is valid? [True, True] Translation: X:175.16, Y:-119.79, Z:-4.13 [[ 2.98145260e-01 -9.54516390e-01 -2.80438804e-03 1.75161569e+02] [-9.54469327e-01 -2.98158411e-01 9.47979915e-03 -1.19785983e+02] [-9.88477555e-03 -1.49654816e-04 -9.99951133e-01 -4.12513410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.015481211892128657 Centerline is valid? [True, True] Translation: X:175.17, Y:-119.91, Z:-4.13 [[ 3.70015604e-01 -9.29019841e-01 -3.25382249e-03 1.75174843e+02] [-9.28980684e-01 -3.70029886e-01 8.53063374e-03 -1.19905920e+02] [-9.12913957e-03 -1.33729353e-04 -9.99958320e-01 -4.12552469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.014463055569177652 Centerline is valid? [True, True] Translation: X:175.20, Y:-120.01, Z:-4.13 [[ 4.40418428e-01 -8.97783565e-01 -4.03471471e-03 1.75196341e+02] [-8.97742912e-01 -4.40436886e-01 8.54482228e-03 -1.20014861e+02] [-9.44843819e-03 -1.41160666e-04 -9.99955353e-01 -4.12672856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.014893644452965035 Centerline is valid? [True, True] Translation: X:175.22, Y:-120.13, Z:-4.12 [[ 5.09421508e-01 -8.60499404e-01 -5.52302178e-03 1.75223875e+02] [-8.60444790e-01 -5.09451412e-01 9.69651316e-03 -1.20130050e+02] [-1.11575550e-02 -1.87357038e-04 -9.99937735e-01 -4.12391615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.016136172274002682 Centerline is valid? [True, True] Translation: X:175.26, Y:-120.24, Z:-4.12 [[ 5.74905712e-01 -8.18191619e-01 -6.77481708e-03 1.75258049e+02] [-8.18130222e-01 -5.74945586e-01 1.00256497e-02 -1.20239485e+02] [-1.20980537e-02 -2.21120659e-04 -9.99926791e-01 -4.12214656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.01517359249992353 Centerline is valid? [True, True] Translation: X:175.31, Y:-120.35, Z:-4.12 [[ 6.34689087e-01 -7.72741040e-01 -6.40678968e-03 1.75307734e+02] [-7.72698871e-01 -6.34721399e-01 8.07465831e-03 -1.20347315e+02] [-1.03061464e-02 -1.74378360e-04 -9.99946875e-01 -4.12476561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.014624015217092168 Centerline is valid? [True, True] Translation: X:175.35, Y:-120.43, Z:-4.12 [[ 6.90494822e-01 -7.23305936e-01 -6.73975580e-03 1.75349406e+02] [-7.23269340e-01 -6.90527697e-01 7.27746659e-03 -1.20434449e+02] [-9.91782284e-03 -1.50394265e-04 -9.99950806e-01 -4.12483345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.013724775158303924 Centerline is valid? [True, True] Translation: X:175.40, Y:-120.52, Z:-4.13 [[ 7.40541978e-01 -6.71983296e-01 -6.00245613e-03 1.75404048e+02] [-6.71960267e-01 -7.40566299e-01 5.56391707e-03 -1.20520969e+02] [-8.18407605e-03 -8.69021259e-05 -9.99966506e-01 -4.12603075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.013367364954976623 Centerline is valid? [True, True] Translation: X:175.43, Y:-120.55, Z:-4.13 [[ 7.88715104e-01 -6.14730828e-01 -5.87321021e-03 1.75427139e+02] [-6.14713273e-01 -7.88736969e-01 4.64598087e-03 -1.20545608e+02] [-7.48844569e-03 -5.40150110e-05 -9.99971960e-01 -4.12678321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.013175885168805013 Centerline is valid? [True, True] Translation: X:175.45, Y:-120.57, Z:-4.13 [[ 8.33400950e-01 -5.52637479e-01 -5.88839151e-03 1.75450882e+02] [-5.52623357e-01 -8.33421751e-01 3.95094139e-03 -1.20569322e+02] [-7.09095186e-03 -3.86556204e-05 -9.99974858e-01 -4.12618482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.012978042139893144 Centerline is valid? [True, True] Translation: X:175.47, Y:-120.59, Z:-4.13 [[ 8.73071318e-01 -4.87548650e-01 -6.54126032e-03 1.75474948e+02] [-4.87534745e-01 -8.73095822e-01 3.68228188e-03 -1.20593679e+02] [-7.50643861e-03 -2.58030089e-05 -9.99971826e-01 -4.12572957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.012952573681645832 Centerline is valid? [True, True] Translation: X:175.50, Y:-120.62, Z:-4.12 [[ 9.08329067e-01 -4.18172345e-01 -8.37825727e-03 1.75500310e+02] [-4.18154272e-01 -9.08367706e-01 3.88799292e-03 -1.20616773e+02] [-9.23638945e-03 -2.81729158e-05 -9.99957343e-01 -4.12436859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.013067372103481821 Centerline is valid? [True, True] Translation: X:175.53, Y:-120.64, Z:-4.12 [[ 9.38185264e-01 -3.46019881e-01 -8.86859460e-03 1.75527016e+02] [-3.46004145e-01 -9.38227180e-01 3.30015584e-03 -1.20636904e+02] [-9.46267603e-03 -2.75870901e-05 -9.99955228e-01 -4.12237542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.013011772944305586 Centerline is valid? [True, True] Translation: X:175.56, Y:-120.65, Z:-4.12 [[ 9.62133221e-01 -2.72432643e-01 -8.95094793e-03 1.75558539e+02] [-2.72420670e-01 -9.62174857e-01 2.55415614e-03 -1.20649355e+02] [-9.30821254e-03 -1.90152424e-05 -9.99956678e-01 -4.12199110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.012871651554147458 Centerline is valid? [True, True] Translation: X:175.59, Y:-120.67, Z:-4.12 [[ 9.80548365e-01 -1.96081850e-01 -8.76427904e-03 1.75589130e+02] [-1.96073827e-01 -9.80587532e-01 1.77389810e-03 -1.20665014e+02] [-8.94197197e-03 -2.09471513e-05 -9.99960020e-01 -4.12346654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.012880430400107973 Centerline is valid? [True, True] Translation: X:175.62, Y:-120.68, Z:-4.12 [[ 9.93114014e-01 -1.16848422e-01 -8.42627890e-03 1.75617996e+02] [-1.16843914e-01 -9.93149760e-01 1.02696395e-03 -1.20677817e+02] [-8.48855598e-03 -3.53328857e-05 -9.99963971e-01 -4.12408015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.013143848035625278 Centerline is valid? [True, True] Translation: X:175.65, Y:-120.69, Z:-4.12 [[ 9.99322111e-01 -3.58228813e-02 -8.48758726e-03 1.75647391e+02] [-3.58210755e-02 -9.99358153e-01 3.64726870e-04 -1.20689289e+02] [-8.49520509e-03 -6.04451213e-05 -9.99963913e-01 -4.12317263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.013313477221151298 Centerline is valid? [True, True] Translation: X:175.68, Y:-120.70, Z:-4.12 [[ 9.98987957e-01 4.41766515e-02 -8.45492852e-03 1.75678016e+02] [ 4.41756974e-02 -9.99023732e-01 -2.99659189e-04 -1.20695236e+02] [-8.45991218e-03 -7.41464427e-05 -9.99964212e-01 -4.12276378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.013357515190680472 Centerline is valid? [True, True] Translation: X:175.71, Y:-120.70, Z:-4.12 [[ 9.92251335e-01 1.24018689e-01 -7.52677677e-03 1.75708919e+02] [ 1.24015734e-01 -9.92279879e-01 -8.59900688e-04 -1.20701764e+02] [-7.57531290e-03 -8.02011416e-05 -9.99971304e-01 -4.12395842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.01372246298502393 Centerline is valid? [True, True] Translation: X:175.74, Y:-120.71, Z:-4.12 [[ 9.79373443e-01 2.01949706e-01 -6.63141350e-03 1.75739685e+02] [ 2.01945598e-01 -9.79395891e-01 -1.29030403e-03 -1.20705690e+02] [-6.75535566e-03 -7.54952614e-05 -9.99977180e-01 -4.12317886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.01375576872902723 Centerline is valid? [True, True] Translation: X:175.77, Y:-120.70, Z:-4.12 [[ 9.60531875e-01 2.78100424e-01 -6.21857926e-03 1.75770217e+02] [ 2.78095086e-01 -9.60552002e-01 -1.72456466e-03 -1.20702295e+02] [-6.45287092e-03 -7.28570122e-05 -9.99979177e-01 -4.12278753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.013651635261239822 Centerline is valid? [True, True] Translation: X:175.80, Y:-120.70, Z:-4.12 [[ 9.35340425e-01 3.53693201e-01 -6.27763287e-03 1.75802527e+02] [ 3.53685837e-01 -9.35361488e-01 -2.28394392e-03 -1.20700112e+02] [-6.67967146e-03 -8.40447512e-05 -9.99977687e-01 -4.12277104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.014040830605799786 Centerline is valid? [True, True] Translation: X:175.83, Y:-120.70, Z:-4.12 [[ 9.04210566e-01 4.27035524e-01 -6.62680335e-03 1.75834300e+02] [ 4.27024875e-01 -9.04234843e-01 -3.01739907e-03 -1.20695151e+02] [-7.28072308e-03 -1.01445752e-04 -9.99973490e-01 -4.12163519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.014216777029066338 Centerline is valid? [True, True] Translation: X:175.87, Y:-120.69, Z:-4.12 [[ 8.67757663e-01 4.96938891e-01 -6.95529169e-03 1.75865296e+02] [ 4.96923986e-01 -8.67785529e-01 -3.85057211e-03 -1.20686323e+02] [-7.94920052e-03 -1.14887814e-04 -9.99968398e-01 -4.12077045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.014660330604773114 Centerline is valid? [True, True] Translation: X:175.89, Y:-120.67, Z:-4.12 [[ 8.25835732e-01 5.63844082e-01 -8.67152655e-03 1.75893408e+02] [ 5.63814982e-01 -8.25881242e-01 -5.73056169e-03 -1.20674224e+02] [-1.03927944e-02 -1.56633983e-04 -9.99945981e-01 -4.11723219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.014108583553525208 Centerline is valid? [True, True] Translation: X:175.92, Y:-120.66, Z:-4.12 [[ 7.79758662e-01 6.26018999e-01 -8.75455342e-03 1.75920344e+02] [ 6.25981789e-01 -7.79807790e-01 -6.82720947e-03 -1.20658680e+02] [-1.11008318e-02 -1.56615294e-04 -9.99938372e-01 -4.11701598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.01407385595884184 Centerline is valid? [True, True] Translation: X:175.94, Y:-120.64, Z:-4.12 [[ 7.30387115e-01 6.82986271e-01 -8.02592840e-03 1.75943014e+02] [ 6.82946856e-01 -7.30431200e-01 -7.33847789e-03 -1.20639477e+02] [-1.08744682e-02 -1.21352869e-04 -9.99940864e-01 -4.11713968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.013348277854347038 Centerline is valid? [True, True] Translation: X:175.97, Y:-120.62, Z:-4.12 [[ 6.76344125e-01 7.36555459e-01 -6.68433462e-03 1.75965049e+02] [ 7.36520756e-01 -6.76377150e-01 -7.15040038e-03 -1.20618891e+02] [-9.78779763e-03 -8.70198936e-05 -9.99952095e-01 -4.11949669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.012830633565889331 Centerline is valid? [True, True] Translation: X:175.99, Y:-120.60, Z:-4.12 [[ 6.19797020e-01 7.84747267e-01 -4.83545360e-03 1.75986241e+02] [ 7.84723854e-01 -6.19815881e-01 -6.06189291e-03 -1.20598255e+02] [-7.75414483e-03 -3.73526305e-05 -9.99969936e-01 -4.12124341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.012822361057607813 Centerline is valid? [True, True] Translation: X:176.01, Y:-120.58, Z:-4.12 [[ 5.58052791e-01 8.29797613e-01 -3.60606781e-03 1.76007645e+02] [ 8.29780503e-01 -5.58064442e-01 -5.32879015e-03 -1.20577560e+02] [-6.43423556e-03 -1.84985442e-05 -9.99979300e-01 -4.12254992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.012893792641261122 Centerline is valid? [True, True] Translation: X:176.03, Y:-120.56, Z:-4.12 [[ 4.91421553e-01 8.70917128e-01 -2.86597627e-03 1.76030532e+02] [ 8.70902510e-01 -4.91429910e-01 -5.04597962e-03 -1.20558140e+02] [-5.80305654e-03 -1.62827867e-05 -9.99983162e-01 -4.12298755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.01312339156019735 Centerline is valid? [True, True] Translation: X:176.05, Y:-120.54, Z:-4.12 [[ 4.20468395e-01 9.07302935e-01 -2.77719515e-03 1.76052280e+02] [ 9.07283578e-01 -4.20477566e-01 -5.92673891e-03 -1.20538013e+02] [-6.54509586e-03 -2.76971584e-05 -9.99978580e-01 -4.12120962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.013121101832693237 Centerline is valid? [True, True] Translation: X:176.07, Y:-120.51, Z:-4.12 [[ 3.47443573e-01 9.37697385e-01 -2.56469488e-03 1.76071225e+02] [ 9.37672598e-01 -3.47453037e-01 -6.81801114e-03 -1.20514472e+02] [-7.28434225e-03 -3.59699647e-05 -9.99973468e-01 -4.12151843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.013159007846203883 Centerline is valid? [True, True] Translation: X:176.09, Y:-120.49, Z:-4.12 [[ 2.72482661e-01 9.62158273e-01 -2.15808633e-03 1.76091073e+02] [ 9.62129315e-01 -2.72491204e-01 -7.46497030e-03 -1.20490153e+02] [-7.77054247e-03 -4.22831459e-05 -9.99969808e-01 -4.12027429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.013152270054641415 Centerline is valid? [True, True] Translation: X:176.11, Y:-120.46, Z:-4.12 [[ 1.96960719e-01 9.80410113e-01 -1.57659590e-03 1.76107648e+02] [ 9.80380202e-01 -1.96967025e-01 -7.65831192e-03 -1.20464619e+02] [-7.81882385e-03 -3.72767871e-05 -9.99969432e-01 -4.12019463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.013071886654566848 Centerline is valid? [True, True] Translation: X:176.12, Y:-120.44, Z:-4.12 [[ 1.22770627e-01 9.92434643e-01 -9.23690533e-04 1.76118956e+02] [ 9.92407246e-01 -1.22774101e-01 -7.37410936e-03 -1.20438268e+02] [-7.43172686e-03 -1.13531482e-05 -9.99972384e-01 -4.12063888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.013113627229821852 Centerline is valid? [True, True] Translation: X:176.13, Y:-120.41, Z:-4.12 [[ 4.73068118e-02 9.98880351e-01 -3.30889464e-04 1.76128329e+02] [ 9.98854665e-01 -4.73079683e-02 -7.16342622e-03 -1.20410641e+02] [-7.17105941e-03 8.36837127e-06 -9.99974288e-01 -4.12138875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.013333232623789479 Centerline is valid? [True, True] Translation: X:176.13, Y:-120.38, Z:-4.12 [[-2.81148986e-02 9.99604671e-01 2.31356017e-04 1.76133841e+02] [ 9.99578989e-01 2.81158347e-02 -7.16556465e-03 -1.20382900e+02] [-7.16923667e-03 2.97994902e-05 -9.99974300e-01 -4.12140977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.013301443269074663 Centerline is valid? [True, True] Translation: X:176.14, Y:-120.35, Z:-4.12 [[-1.05028254e-01 9.94468900e-01 8.20549896e-04 1.76142215e+02] [ 9.94441502e-01 1.05031451e-01 -7.38194493e-03 -1.20353236e+02] [-7.42729820e-03 4.06760877e-05 -9.99972416e-01 -4.12183701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.013359638903354338 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.32, Z:-4.12 [[-1.82605873e-01 9.83185054e-01 1.49833568e-03 1.76148229e+02] [ 9.83153887e-01 1.82612014e-01 -7.82860109e-03 -1.20324529e+02] [-7.97057768e-03 4.35460140e-05 -9.99968234e-01 -4.12159840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.013318815415627069 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.30, Z:-4.12 [[-2.59993284e-01 9.65608510e-01 1.92313576e-03 1.76149392e+02] [ 9.65583018e-01 2.60000394e-01 -7.01638223e-03 -1.20295902e+02] [-7.27509445e-03 3.27349711e-05 -9.99973536e-01 -4.12130602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.013080029143680975 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.27, Z:-4.12 [[-3.37673650e-01 9.41259085e-01 2.80029703e-03 1.76151244e+02] [ 9.41227024e-01 3.37685261e-01 -7.76879972e-03 -1.20265463e+02] [-8.25807235e-03 1.23962796e-05 -9.99965901e-01 -4.12148622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.013234191295768997 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.23, Z:-4.12 [[-4.14624691e-01 9.09983996e-01 3.93613450e-03 1.76151949e+02] [ 9.09942299e-01 4.14643372e-01 -8.71126820e-03 -1.20233687e+02] [-9.55920673e-03 -3.02516040e-05 -9.99954309e-01 -4.11978483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.01338471550328239 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.20, Z:-4.12 [[-4.87076404e-01 8.73345728e-01 4.88025917e-03 1.76147262e+02] [ 8.73300639e-01 4.87100848e-01 -8.87452919e-03 -1.20202832e+02] [-1.01277105e-02 -6.06403050e-05 -9.99948712e-01 -4.11961616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.0135962643515741 Centerline is valid? [True, True] Translation: X:176.14, Y:-120.17, Z:-4.12 [[-5.56015449e-01 8.31149812e-01 6.06714945e-03 1.76140530e+02] [ 8.31098494e-01 5.56048542e-01 -9.23647511e-03 -1.20171481e+02] [-1.10505242e-02 -9.32240896e-05 -9.99938937e-01 -4.11975924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.013770413629119986 Centerline is valid? [True, True] Translation: X:176.13, Y:-120.14, Z:-4.12 [[-6.20303408e-01 7.84331321e-01 6.93252643e-03 1.76129490e+02] [ 7.84280378e-01 6.20342137e-01 -8.93993228e-03 -1.20141774e+02] [-1.13124072e-02 -1.08426018e-04 -9.99936007e-01 -4.11951732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.013698558207143958 Centerline is valid? [True, True] Translation: X:176.12, Y:-120.11, Z:-4.12 [[-6.80016492e-01 7.33152004e-01 8.10617321e-03 1.76116790e+02] [ 7.33097824e-01 6.80064795e-01 -8.91379947e-03 -1.20112015e+02] [-1.20478930e-02 -1.18912708e-04 -9.99927414e-01 -4.11972598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.013626408674065029 Centerline is valid? [True, True] Translation: X:176.10, Y:-120.08, Z:-4.12 [[-7.34528423e-01 6.78522609e-01 8.66397766e-03 1.76101136e+02] [ 6.78473750e-01 7.34579512e-01 -8.14320493e-03 -1.20084924e+02] [-1.18897291e-02 -1.03134065e-04 -9.99929309e-01 -4.11918912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.013389906775904107 Centerline is valid? [True, True] Translation: X:176.12, Y:-120.07, Z:-4.12 [[-7.78552869e-01 6.27525095e-01 8.22710853e-03 1.76120433e+02] [ 6.27489260e-01 7.78596334e-01 -6.70652967e-03 -1.20069301e+02] [-1.06141122e-02 -5.89656747e-05 -9.99943667e-01 -4.11981917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.012931310760603026 Centerline is valid? [True, True] Translation: X:176.14, Y:-120.05, Z:-4.12 [[-8.19846122e-01 5.72519034e-01 8.61921800e-03 1.76138256e+02] [ 5.72486918e-01 8.19891428e-01 -6.06421507e-03 -1.20052331e+02] [-1.05387015e-02 -3.73336579e-05 -9.99944466e-01 -4.12202391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.012969416578503215 Centerline is valid? [True, True] Translation: X:176.15, Y:-120.03, Z:-4.12 [[-8.57032906e-01 5.15153746e-01 1.05459060e-02 1.76151645e+02] [ 5.15114547e-01 8.57097788e-01 -6.35493284e-03 -1.20032129e+02] [-1.23126401e-02 -1.40369836e-05 -9.99924197e-01 -4.12082292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.013109540430648546 Centerline is valid? [True, True] Translation: X:176.16, Y:-120.01, Z:-4.12 [[-8.90905508e-01 4.54014020e-01 1.25954287e-02 1.76161572e+02] [ 4.53968608e-01 8.90994540e-01 -6.42135742e-03 -1.20008283e+02] [-1.41378445e-02 -2.89347908e-06 -9.99900056e-01 -4.11891308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.01310929542592168 Centerline is valid? [True, True] Translation: X:176.47, Y:-119.43, Z:-5.14 [[-8.58527370e-01 -5.12609143e-01 1.27523380e-02 1.76468018e+02] [ 5.12553369e-01 -8.58622074e-01 -7.56169516e-03 -1.19425968e+02] [ 1.48256330e-02 4.43315505e-05 9.99890093e-01 -5.13750731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.01323040259390631 Centerline is valid? [True, True] Translation: X:176.12, Y:-119.99, Z:-4.12 [[-8.92035313e-01 4.51793689e-01 1.24684886e-02 1.76121983e+02] [ 4.51749762e-01 8.92122448e-01 -6.30005936e-03 -1.19994051e+02] [-1.39697456e-02 1.27613307e-05 -9.99902418e-01 -4.11804780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.012963851641246447 Centerline is valid? [True, True] Translation: X:176.13, Y:-119.97, Z:-4.12 [[-9.22173965e-01 3.86568775e-01 1.26396719e-02 1.76133634e+02] [ 3.86532446e-01 9.22260583e-01 -5.29957508e-03 -1.19969825e+02] [-1.37057214e-02 -1.48685370e-06 -9.99906072e-01 -4.11933204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.012951590171103762 Centerline is valid? [True, True] Translation: X:176.39, Y:-119.36, Z:-5.14 [[-8.93648692e-01 -4.48613206e-01 1.17561696e-02 1.76394565e+02] [ 4.48573924e-01 -8.93726015e-01 -5.93666556e-03 -1.19358170e+02] [ 1.31700612e-02 -3.17822659e-05 9.99913271e-01 -5.13640207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.01304077379788837 Centerline is valid? [True, True] Translation: X:176.38, Y:-119.38, Z:-5.14 [[-8.60116561e-01 -5.09968134e-01 1.14892916e-02 1.76379404e+02] [ 5.09923349e-01 -8.60193292e-01 -6.75852709e-03 -1.19383352e+02] [ 1.33296450e-02 4.55369506e-05 9.99911155e-01 -5.13648020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.01336339156330054 Centerline is valid? [True, True] Translation: X:176.37, Y:-119.41, Z:-5.14 [[-8.22004061e-01 -5.69379311e-01 1.07946180e-02 1.76369754e+02] [ 5.69331609e-01 -8.22074931e-01 -7.37066024e-03 -1.19412211e+02] [ 1.30706863e-02 8.70045962e-05 9.99914571e-01 -5.13677918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.013388890924706279 Centerline is valid? [True, True] Translation: X:175.99, Y:-119.96, Z:-4.12 [[-8.68163203e-01 4.96153988e-01 1.11298306e-02 1.75989095e+02] [ 4.96111497e-01 8.68234534e-01 -6.49430366e-03 -1.19961584e+02] [-1.28854780e-02 -1.16478526e-04 -9.99916972e-01 -4.12030160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.01447805670256208 Centerline is valid? [True, True] Translation: X:176.00, Y:-119.94, Z:-4.12 [[-9.02787777e-01 4.29920233e-01 1.19508940e-02 1.75998554e+02] [ 4.29880036e-01 9.02866858e-01 -5.88142195e-03 -1.19935045e+02] [-1.33186084e-02 -1.72225090e-04 -9.99911289e-01 -4.11853268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.014724785615304867 Centerline is valid? [True, True] Translation: X:176.00, Y:-119.91, Z:-4.12 [[-9.31727929e-01 3.62949862e-01 1.22664001e-02 1.75999870e+02] [ 3.62915592e-01 9.31808649e-01 -4.99147285e-03 -1.19907780e+02] [-1.32415921e-02 -1.99026805e-04 -9.99912307e-01 -4.11944790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.015538794297836713 Centerline is valid? [True, True] Translation: X:176.01, Y:-119.88, Z:-4.12 [[-9.55749956e-01 2.93924725e-01 1.22588104e-02 1.76013908e+02] [ 2.93897565e-01 9.55828545e-01 -4.00181849e-03 -1.19884774e+02] [-1.28935543e-02 -2.21903327e-04 -9.99916850e-01 -4.11947250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.014853544963074538 Centerline is valid? [True, True] Translation: X:176.02, Y:-119.86, Z:-4.12 [[-9.74416015e-01 2.24473310e-01 1.11876264e-02 1.76022622e+02] [ 2.24456039e-01 9.74480215e-01 -2.79242171e-03 -1.19862870e+02] [-1.15289448e-02 -2.09850117e-04 -9.99933518e-01 -4.12174942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.015808065061481504 Centerline is valid? [True, True] Translation: X:176.02, Y:-119.84, Z:-4.12 [[-9.87929185e-01 1.54479143e-01 1.14943591e-02 1.76024907e+02] [ 1.54466137e-01 9.87996026e-01 -2.01616179e-03 -1.19835766e+02] [-1.16678361e-02 -2.16335822e-04 -9.99931905e-01 -4.12065712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.01582253791201403 Centerline is valid? [True, True] Translation: X:176.03, Y:-119.81, Z:-4.12 [[-9.96376840e-01 8.40221129e-02 1.31710938e-02 1.76027917e+02] [ 8.40115162e-02 9.96463860e-01 -1.35675349e-03 -1.19811927e+02] [-1.32385162e-02 -2.45314198e-04 -9.99912337e-01 -4.11916826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.015013452285671483 Centerline is valid? [True, True] Translation: X:176.10, Y:-119.13, Z:-5.14 [[-9.82184132e-01 -1.87331935e-01 1.48686676e-02 1.76100117e+02] [ 1.87316549e-01 -9.82296590e-01 -2.43321294e-03 -1.19133593e+02] [ 1.50612600e-02 3.95284371e-04 9.99886495e-01 -5.13754451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.01525004366996555 Centerline is valid? [True, True] Translation: X:175.98, Y:-119.81, Z:-4.12 [[-9.96611659e-01 8.08588482e-02 1.50681366e-02 1.75977135e+02] [ 8.08455244e-02 9.96725526e-01 -1.49227309e-03 -1.19808274e+02] [-1.51394598e-02 -2.69025357e-04 -9.99885356e-01 -4.11776441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.014295366429982324 Centerline is valid? [True, True] Translation: X:176.05, Y:-119.13, Z:-5.14 [[-9.83596173e-01 -1.79891309e-01 1.33298748e-02 1.76047720e+02] [ 1.79876745e-01 -9.83686483e-01 -2.29343180e-03 -1.19129208e+02] [ 1.35249861e-02 1.41923751e-04 9.99908523e-01 -5.13560474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.013632842383549046 Centerline is valid? [True, True] Translation: X:175.93, Y:-119.81, Z:-4.12 [[-9.96402871e-01 8.39660833e-02 1.14462141e-02 1.75929258e+02] [ 8.39591494e-02 9.96468606e-01 -1.08580575e-03 -1.19806235e+02] [-1.14969639e-02 -1.20885566e-04 -9.99933900e-01 -4.12094923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.012598303878603294 Centerline is valid? [True, True] Translation: X:176.00, Y:-119.12, Z:-5.13 [[-9.86631117e-01 -1.62528753e-01 1.19768160e-02 1.76001614e+02] [ 1.62518760e-01 -9.86703795e-01 -1.80950297e-03 -1.19116826e+02] [ 1.21116660e-02 1.61145340e-04 9.99926638e-01 -5.13376307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.01261150543612223 Centerline is valid? [True, True] Translation: X:175.88, Y:-119.81, Z:-4.12 [[-9.95547169e-01 9.35208982e-02 1.18184582e-02 1.75877943e+02] [ 9.35147500e-02 9.95617316e-01 -1.07298760e-03 -1.19811948e+02] [-1.18670084e-02 3.69903955e-05 -9.99929584e-01 -4.12303648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.01298960959765119 Centerline is valid? [True, True] Translation: X:175.88, Y:-119.79, Z:-4.12 [[-9.99557562e-01 2.71905155e-02 1.20563614e-02 1.75882820e+02] [ 2.71896648e-02 9.99630265e-01 -2.34499954e-04 -1.19786201e+02] [-1.20582799e-02 9.34122222e-05 -9.99927292e-01 -4.12363496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.013556346840216602 Centerline is valid? [True, True] Translation: X:175.88, Y:-119.76, Z:-4.12 [[-9.99152825e-01 -3.93335612e-02 1.21038681e-02 1.75884076e+02] [-3.93288640e-02 9.99226125e-01 6.25941805e-04 -1.19758525e+02] [-1.21191217e-02 1.49380140e-04 -9.99926550e-01 -4.12366466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.01421306900676 Centerline is valid? [True, True] Translation: X:175.85, Y:-119.05, Z:-5.13 [[-9.99917586e-01 -1.49644948e-03 1.27507992e-02 1.75849462e+02] [ 1.49483835e-03 -9.99998874e-01 -1.35884509e-04 -1.19053846e+02] [ 1.27509881e-02 -1.16812926e-04 9.99918696e-01 -5.13358650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.013773274786975286 Centerline is valid? [True, True] Translation: X:175.81, Y:-119.76, Z:-4.12 [[-9.98969337e-01 -4.35988092e-02 1.26256877e-02 1.75805377e+02] [-4.35932282e-02 9.99049106e-01 7.17040480e-04 -1.19759594e+02] [-1.26449441e-02 1.65906968e-04 -9.99920036e-01 -4.12285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.012963594829204422 Centerline is valid? [True, True] Translation: X:175.80, Y:-119.73, Z:-4.12 [[-9.92736674e-01 -1.19675425e-01 1.23162129e-02 1.75796305e+02] [-1.19664982e-01 9.92813066e-01 1.58398678e-03 -1.19726134e+02] [-1.24172614e-02 9.86623648e-05 -9.99922898e-01 -4.12325675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.012489835364998933 Centerline is valid? [True, True] Translation: X:175.70, Y:-119.05, Z:-5.13 [[-9.98103082e-01 6.03149412e-02 1.23428729e-02 1.75701970e+02] [-6.03115994e-02 -9.98179391e-01 6.43128282e-04 -1.19054002e+02] [ 1.23591916e-02 -1.02510086e-04 9.99923617e-01 -5.13288043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.01273818760407413 Centerline is valid? [True, True] Translation: X:175.70, Y:-119.72, Z:-4.12 [[-9.90160352e-01 -1.39394269e-01 1.23172685e-02 1.75700867e+02] [-1.39384498e-01 9.90236957e-01 1.65239341e-03 -1.19723659e+02] [-1.24273486e-02 -8.07018391e-05 -9.99922774e-01 -4.12274185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.013526475739853125 Centerline is valid? [True, True] Translation: X:175.68, Y:-119.69, Z:-4.12 [[-9.76189079e-01 -2.16635879e-01 1.11255516e-02 1.75677968e+02] [-2.16623634e-01 9.76252463e-01 2.30858046e-03 -1.19694051e+02] [-1.13614685e-02 -1.56446388e-04 -9.99935444e-01 -4.12460158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.014262476725064406 Centerline is valid? [True, True] Translation: X:175.55, Y:-119.06, Z:-5.13 [[-9.92753356e-01 1.19784996e-01 9.60884353e-03 1.75554870e+02] [-1.19779235e-01 -9.92799856e-01 1.17486497e-03 -1.19063619e+02] [ 9.68038968e-03 1.54112140e-05 9.99953144e-01 -5.12968178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.014388408031987725 Centerline is valid? [True, True] Translation: X:175.59, Y:-119.71, Z:-4.13 [[-9.74163025e-01 -2.25681211e-01 8.62509288e-03 1.75588856e+02] [-2.25673720e-01 9.74201195e-01 1.84482226e-03 -1.19707751e+02] [-8.81891751e-03 -1.49299164e-04 -9.99961101e-01 -4.12680374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.013872890455946415 Centerline is valid? [True, True] Translation: X:175.58, Y:-119.68, Z:-4.13 [[-9.55851970e-01 -2.93720932e-01 8.66175833e-03 1.75575439e+02] [-2.93710231e-01 9.55891204e-01 2.51131829e-03 -1.19683374e+02] [-9.01732535e-03 -1.43598500e-04 -9.99959333e-01 -4.12648442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.013987257124179335 Centerline is valid? [True, True] Translation: X:175.54, Y:-119.66, Z:-4.13 [[-9.32124214e-01 -3.62025592e-01 9.05097708e-03 1.75544218e+02] [-3.62010164e-01 9.32168143e-01 3.34594434e-03 -1.19664131e+02] [-9.64834997e-03 -1.57709958e-04 -9.99953441e-01 -4.12592119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.014761387909233094 Centerline is valid? [True, True] Translation: X:175.50, Y:-119.65, Z:-4.12 [[-9.03148601e-01 -4.29208959e-01 1.01130940e-02 1.75501537e+02] [-4.29184390e-01 9.03205200e-01 4.59623041e-03 -1.19649822e+02] [-1.11069424e-02 -1.89303027e-04 -9.99938298e-01 -4.12353451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.014029791201606308 Centerline is valid? [True, True] Translation: X:175.44, Y:-119.65, Z:-4.12 [[-8.69463254e-01 -4.93846714e-01 1.22095258e-02 1.75438338e+02] [-4.93801679e-01 8.69548947e-01 6.67311931e-03 -1.19654027e+02] [-1.39122783e-02 -2.27052304e-04 -9.99903194e-01 -4.12214793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.013680695856110188 Centerline is valid? [True, True] Translation: X:175.38, Y:-119.66, Z:-4.12 [[-8.31653647e-01 -5.55165526e-01 1.19770704e-02 1.75375748e+02] [-5.55111531e-01 8.31739861e-01 7.74545944e-03 -1.19663064e+02] [-1.42618190e-02 -2.07070326e-04 -9.99898274e-01 -4.12145919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.012845920970440763 Centerline is valid? [True, True] Translation: X:175.30, Y:-119.69, Z:-4.12 [[-7.91637083e-01 -6.10901659e-01 1.04828719e-02 1.75304025e+02] [-6.10850027e-01 7.91706479e-01 7.94324163e-03 -1.19687871e+02] [-1.31518971e-02 -1.15297946e-04 -9.99913503e-01 -4.12234113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.012454844344967858 Centerline is valid? [True, True] Translation: X:175.23, Y:-119.72, Z:-4.12 [[-7.45144576e-01 -6.66835905e-01 9.45706861e-03 1.75228568e+02] [-6.66783627e-01 7.45204581e-01 8.35022564e-03 -1.19717709e+02] [-1.26156811e-02 -8.36931704e-05 -9.99920416e-01 -4.12302489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.012214988412728233 Centerline is valid? [True, True] Translation: X:175.15, Y:-119.76, Z:-4.12 [[-6.97240168e-01 -7.16796177e-01 7.70647206e-03 1.75153237e+02] [-7.16752491e-01 6.97282755e-01 7.91360386e-03 -1.19761117e+02] [-1.10460311e-02 -5.95056858e-06 -9.99938991e-01 -4.12459246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.012214624644765715 Centerline is valid? [True, True] Translation: X:175.07, Y:-119.81, Z:-4.13 [[-6.43505765e-01 -7.65410824e-01 6.82645805e-03 1.75074476e+02] [-7.65367311e-01 6.43541972e-01 8.16147729e-03 -1.19813335e+02] [-1.06399953e-02 2.72098521e-05 -9.99943393e-01 -4.12522032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.012475051531437286 Centerline is valid? [True, True] Translation: X:175.00, Y:-119.88, Z:-4.13 [[-5.85965348e-01 -8.10313843e-01 6.00722713e-03 1.74996568e+02] [-8.10270286e-01 5.85996137e-01 8.40183541e-03 -1.19876117e+02] [-1.03283354e-02 5.57067671e-05 -9.99946660e-01 -4.12598715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.012325646412299638 Centerline is valid? [True, True] Translation: X:174.92, Y:-119.95, Z:-4.13 [[-5.22915796e-01 -8.52367340e-01 5.38400472e-03 1.74918006e+02] [-8.52320994e-01 5.22943509e-01 8.88871686e-03 -1.19946514e+02] [-1.03919823e-02 5.91501995e-05 -9.99946000e-01 -4.12620101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.012403224947596 Centerline is valid? [True, True] Translation: X:174.84, Y:-120.03, Z:-4.13 [[-4.55216728e-01 -8.90367181e-01 4.90043245e-03 1.74842438e+02] [-8.90314492e-01 4.55243101e-01 9.68624446e-03 -1.20026722e+02] [-1.08552022e-02 4.64144755e-05 -9.99941080e-01 -4.12508184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.012251641436368046 Centerline is valid? [True, True] Translation: X:174.77, Y:-120.12, Z:-4.12 [[-3.83486036e-01 -9.23537949e-01 4.01453376e-03 1.74769220e+02] [-9.23486900e-01 3.83507049e-01 9.71029489e-03 -1.20116969e+02] [-1.05074278e-02 1.63931626e-05 -9.99944795e-01 -4.12446459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.012159527019046884 Centerline is valid? [True, True] Translation: X:174.71, Y:-120.21, Z:-4.12 [[-3.10344571e-01 -9.50617746e-01 3.48557943e-03 1.74705369e+02] [-9.50557789e-01 3.10364144e-01 1.06765226e-02 -1.20208655e+02] [-1.12310907e-02 1.56132284e-07 -9.99936929e-01 -4.12466080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.012062195152694972 Centerline is valid? [True, True] Translation: X:174.65, Y:-120.31, Z:-4.13 [[-2.36974350e-01 -9.71512451e-01 2.59139471e-03 1.74648445e+02] [-9.71454204e-01 2.36988518e-01 1.06381917e-02 -1.20309278e+02] [-1.09492665e-02 3.55727221e-06 -9.99940055e-01 -4.12507246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.011969717039625495 Centerline is valid? [True, True] Translation: X:174.60, Y:-120.42, Z:-4.13 [[-1.63219242e-01 -9.86588742e-01 1.46066379e-03 1.74600496e+02] [-9.86548362e-01 1.63225777e-01 8.92608662e-03 -1.20416216e+02] [-9.04479455e-03 1.58936260e-05 -9.99959095e-01 -4.12595054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.011947124085034826 Centerline is valid? [True, True] Translation: X:174.56, Y:-120.53, Z:-4.13 [[-8.80896093e-02 -9.96112344e-01 6.46555556e-04 1.74559609e+02] [-9.96083745e-01 8.80919795e-02 7.54821207e-03 -1.20527910e+02] [-7.57582358e-03 2.08955719e-05 -9.99971303e-01 -4.12729192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.01191901958193012 Centerline is valid? [True, True] Translation: X:174.53, Y:-120.64, Z:-4.13 [[-1.15420105e-02 -9.99933387e-01 6.13239160e-05 1.74525880e+02] [-9.99907927e-01 1.15421543e-02 7.13553726e-03 -1.20640705e+02] [-7.13576975e-03 2.10401765e-05 -9.99974540e-01 -4.12696287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.012027215380920619 Centerline is valid? [True, True] Translation: X:174.50, Y:-120.76, Z:-4.13 [[ 6.74873728e-02 -9.97719969e-01 -5.63418958e-04 1.74498899e+02] [-9.97685896e-01 -6.74897244e-02 8.24560240e-03 -1.20757855e+02] [-8.26482716e-03 5.64110534e-06 -9.99965846e-01 -4.12557333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.011990988627645869 Centerline is valid? [True, True] Translation: X:174.48, Y:-120.88, Z:-4.12 [[ 1.46532133e-01 -9.89204822e-01 -1.46748385e-03 1.74480312e+02] [-9.89153677e-01 -1.46539479e-01 1.00590444e-02 -1.20880955e+02] [-1.01654996e-02 -2.24061965e-05 -9.99948330e-01 -4.12435970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.012088130913597082 Centerline is valid? [True, True] Translation: X:174.47, Y:-121.00, Z:-4.12 [[ 2.23974419e-01 -9.74591952e-01 -2.44695101e-03 1.74471781e+02] [-9.74531427e-01 -2.23987780e-01 1.08614615e-02 -1.20997805e+02] [-1.11335801e-02 -4.80588600e-05 -9.99938019e-01 -4.12372275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.012488599035838129 Centerline is valid? [True, True] Translation: X:174.47, Y:-121.11, Z:-4.12 [[ 3.01315831e-01 -9.53517709e-01 -3.57043832e-03 1.74470410e+02] [-9.53446952e-01 -3.01336968e-01 1.16164116e-02 -1.21114998e+02] [-1.21523592e-02 -9.59851752e-05 -9.99926153e-01 -4.12297058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.013156273960875665 Centerline is valid? [True, True] Translation: X:174.48, Y:-121.24, Z:-4.12 [[ 3.75449072e-01 -9.26830533e-01 -4.81221125e-03 1.74480473e+02] [-9.26749809e-01 -3.75479886e-01 1.22329923e-02 -1.21237788e+02] [-1.31447993e-02 -1.33149740e-04 -9.99913595e-01 -4.12079106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.013082559789015676 Centerline is valid? [True, True] Translation: X:174.50, Y:-121.35, Z:-4.12 [[ 4.46599025e-01 -8.94712353e-01 -6.25427125e-03 1.74498445e+02] [-8.94619306e-01 -4.46642784e-01 1.29042585e-02 -1.21349462e+02] [-1.43390247e-02 -1.67837471e-04 -9.99897177e-01 -4.12076414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.012909986363915335 Centerline is valid? [True, True] Translation: X:174.53, Y:-121.46, Z:-4.12 [[ 5.12491095e-01 -8.58667870e-01 -6.50894261e-03 1.74527585e+02] [-8.58595293e-01 -5.12532410e-01 1.11647273e-02 -1.21456484e+02] [-1.29228367e-02 -1.33275849e-04 -9.99916488e-01 -4.12210475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.01260423424312269 Centerline is valid? [True, True] Translation: X:174.56, Y:-121.56, Z:-4.12 [[ 5.75137044e-01 -8.18031754e-01 -6.43664217e-03 1.74564059e+02] [-8.17978620e-01 -5.75173053e-01 9.32399612e-03 -1.21559911e+02] [-1.13295080e-02 -9.75398936e-05 -9.99935814e-01 -4.12413425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.01258149839931565 Centerline is valid? [True, True] Translation: X:174.61, Y:-121.66, Z:-4.12 [[ 6.35567567e-01 -7.72016150e-01 -6.70320192e-03 1.74609192e+02] [-7.71971742e-01 -6.35602908e-01 8.28086069e-03 -1.21663692e+02] [-1.06535328e-02 -8.83640190e-05 -9.99943246e-01 -4.12445061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.01252912404695088 Centerline is valid? [True, True] Translation: X:174.66, Y:-121.76, Z:-4.12 [[ 6.92040394e-01 -7.21820436e-01 -7.43981041e-03 1.74658003e+02] [-7.21777423e-01 -6.92080379e-01 7.88043659e-03 -1.21756911e+02] [-1.08372070e-02 -8.36932642e-05 -9.99941272e-01 -4.12403487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.012384185027989249 Centerline is valid? [True, True] Translation: X:174.71, Y:-121.84, Z:-4.12 [[ 7.44325129e-01 -6.67763540e-01 -8.48277047e-03 1.74711944e+02] [-6.67718963e-01 -7.44373460e-01 7.71613793e-03 -1.21844210e+02] [-1.14669048e-02 -7.92086570e-05 -9.99934250e-01 -4.12377137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.01245457911306419 Centerline is valid? [True, True] Translation: X:174.73, Y:-121.87, Z:-4.12 [[ 7.94137837e-01 -6.07667601e-01 -9.22940215e-03 1.74734038e+02] [-6.07625411e-01 -7.94191463e-01 7.16094439e-03 -1.21871620e+02] [-1.16813863e-02 -7.87576110e-05 -9.99931767e-01 -4.12372426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.012601569291521106 Centerline is valid? [True, True] Translation: X:174.76, Y:-121.90, Z:-4.12 [[ 8.39460520e-01 -5.43335113e-01 -9.64319865e-03 1.74758371e+02] [-5.43298128e-01 -8.39515901e-01 6.34003591e-03 -1.21895440e+02] [-1.15403827e-02 -8.30780638e-05 -9.99933404e-01 -4.12312615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.012774387583073088 Centerline is valid? [True, True] Translation: X:174.78, Y:-121.92, Z:-4.12 [[ 8.80290476e-01 -4.74325721e-01 -1.01876492e-02 1.74784898e+02] [-4.74292556e-01 -8.80349419e-01 5.61003282e-03 -1.21918788e+02] [-1.16296739e-02 -1.06532290e-04 -9.99932367e-01 -4.12284697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.01317317779272814 Centerline is valid? [True, True] Translation: X:174.81, Y:-121.94, Z:-4.12 [[ 9.15608867e-01 -4.01916228e-01 -1.11242084e-02 1.74811775e+02] [-4.01884700e-01 -9.15676431e-01 5.03609480e-03 -1.21940465e+02] [-1.22102637e-02 -1.40443892e-04 -9.99925442e-01 -4.12178570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.0137923495310525 Centerline is valid? [True, True] Translation: X:174.84, Y:-121.96, Z:-4.12 [[ 9.45285411e-01 -3.26031665e-01 -1.17832527e-02 1.74840999e+02] [-3.26003896e-01 -9.45358831e-01 4.25916546e-03 -1.21959865e+02] [-1.25280248e-02 -1.84740694e-04 -9.99921504e-01 -4.12136519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.014079044062551505 Centerline is valid? [True, True] Translation: X:174.87, Y:-121.98, Z:-4.12 [[ 9.68303662e-01 -2.49495376e-01 -1.18353539e-02 1.74871125e+02] [-2.49474185e-01 -9.68375969e-01 3.25794939e-03 -1.21976885e+02] [-1.22739156e-02 -2.02069056e-04 -9.99924652e-01 -4.12164691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.014254409949866492 Centerline is valid? [True, True] Translation: X:174.90, Y:-121.99, Z:-4.12 [[ 9.85076299e-01 -1.71767597e-01 -1.09807874e-02 1.74903511e+02] [-1.71754681e-01 -9.85137479e-01 2.11568458e-03 -1.21988937e+02] [-1.11809913e-02 -1.98109099e-04 -9.99937471e-01 -4.12300560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.014858597640258953 Centerline is valid? [True, True] Translation: X:174.93, Y:-122.00, Z:-4.12 [[ 9.95440948e-01 -9.47089259e-02 -1.12932639e-02 1.74932484e+02] [-9.47006208e-02 -9.95504988e-01 1.26911306e-03 -1.21999291e+02] [-1.13626969e-02 -1.93848007e-04 -9.99935424e-01 -4.12175904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.01376278263937714 Centerline is valid? [True, True] Translation: X:174.96, Y:-122.01, Z:-4.12 [[ 9.99778539e-01 -1.76617737e-02 -1.14427140e-02 1.74962240e+02] [-1.76585320e-02 -9.99844002e-01 3.84273096e-04 -1.22006714e+02] [-1.14477159e-02 -1.82126462e-04 -9.99934456e-01 -4.12350681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.013998729472573548 Centerline is valid? [True, True] Translation: X:174.99, Y:-122.01, Z:-4.12 [[ 9.98166295e-01 5.94770750e-02 -1.12483829e-02 1.74991427e+02] [ 5.94751668e-02 -9.98229658e-01 -5.04374157e-04 -1.22014888e+02] [-1.12584682e-02 -1.65550169e-04 -9.99936608e-01 -4.12249960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.014272928800204674 Centerline is valid? [True, True] Translation: X:175.02, Y:-122.02, Z:-4.12 [[ 9.90449507e-01 1.37456353e-01 -1.07482253e-02 1.75020516e+02] [ 1.37450005e-01 -9.90507812e-01 -1.33055326e-03 -1.22018221e+02] [-1.08290941e-02 -1.59497800e-04 -9.99941351e-01 -4.12265949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.01421886925615281 Centerline is valid? [True, True] Translation: X:175.05, Y:-122.02, Z:-4.12 [[ 9.76437693e-01 2.15570923e-01 -9.93018574e-03 1.75051033e+02] [ 2.15561438e-01 -9.76488173e-01 -2.02850074e-03 -1.22020250e+02] [-1.01339947e-02 -1.59860538e-04 -9.99948637e-01 -4.12346572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.014349371365313359 Centerline is valid? [True, True] Translation: X:175.08, Y:-122.02, Z:-4.12 [[ 9.56013195e-01 2.93133843e-01 -1.05508529e-02 1.75082687e+02] [ 2.93118221e-01 -9.56071395e-01 -3.03250597e-03 -1.22022052e+02] [-1.09762988e-02 -1.93531512e-04 -9.99939740e-01 -4.12338282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.01493339794203545 Centerline is valid? [True, True] Translation: X:175.11, Y:-122.02, Z:-4.12 [[ 9.29968642e-01 3.67419405e-01 -1.27006063e-02 1.75112568e+02] [ 3.67388721e-01 -9.30055332e-01 -4.75464396e-03 -1.22019158e+02] [-1.35592151e-02 -2.44389723e-04 -9.99908040e-01 -4.12097982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.014436029658333576 Centerline is valid? [True, True] Translation: X:175.14, Y:-122.01, Z:-4.12 [[ 8.99356156e-01 4.37036063e-01 -1.25691589e-02 1.75141736e+02] [ 4.36996762e-01 -8.99443957e-01 -5.86499145e-03 -1.22011168e+02] [-1.38684668e-02 -2.17965552e-04 -9.99903804e-01 -4.12168697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.013652176245325656 Centerline is valid? [True, True] Translation: X:175.17, Y:-122.00, Z:-4.12 [[ 8.63906568e-01 5.03525487e-01 -1.12927510e-02 1.75171322e+02] [ 5.03484957e-01 -8.63980357e-01 -6.39069787e-03 -1.22002174e+02] [-1.29745943e-02 -1.64764407e-04 -9.99915813e-01 -4.12297082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.012829540089113928 Centerline is valid? [True, True] Translation: X:175.20, Y:-121.99, Z:-4.12 [[ 8.25316699e-01 5.64585107e-01 -9.79810685e-03 1.75199074e+02] [ 5.64546441e-01 -8.25374855e-01 -6.60795280e-03 -1.21990216e+02] [-1.18178628e-02 -7.78325532e-05 -9.99930164e-01 -4.12433914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.01263779307292346 Centerline is valid? [True, True] Translation: X:175.22, Y:-121.97, Z:-4.12 [[ 7.82765092e-01 6.22249847e-01 -9.16179439e-03 1.75222751e+02] [ 6.22207207e-01 -7.82818707e-01 -7.28444180e-03 -1.21974979e+02] [-1.17047668e-02 1.47226068e-06 -9.99931497e-01 -4.12493705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.012732444672655252 Centerline is valid? [True, True] Translation: X:175.25, Y:-121.96, Z:-4.13 [[ 7.33173943e-01 6.79992512e-01 -8.13348958e-03 1.75249249e+02] [ 6.79950275e-01 -7.33219055e-01 -7.57891078e-03 -1.21960866e+02] [-1.11172321e-02 2.62914184e-05 -9.99938201e-01 -4.12612899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.0128380996726349 Centerline is valid? [True, True] Translation: X:175.28, Y:-121.95, Z:-4.13 [[ 6.78013760e-01 7.34999888e-01 -8.51498795e-03 1.75277353e+02] [ 7.34941272e-01 -6.78067226e-01 -9.28245397e-03 -1.21948296e+02] [-1.25963369e-02 3.56154441e-05 -9.99920662e-01 -4.12536294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.012919007964849571 Centerline is valid? [True, True] Translation: X:175.30, Y:-121.93, Z:-4.13 [[ 6.17639282e-01 7.86420883e-01 -7.99451880e-03 1.75304201e+02] [ 7.86354492e-01 -6.17691018e-01 -1.02185705e-02 -1.21932906e+02] [-1.29742397e-02 2.48647821e-05 -9.99915831e-01 -4.12589127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.01286216545115887 Centerline is valid? [True, True] Translation: X:175.33, Y:-121.92, Z:-4.13 [[ 5.53715923e-01 8.32675510e-01 -7.08317754e-03 1.75329267e+02] [ 8.32606984e-01 -5.53761225e-01 -1.06824834e-02 -1.21915448e+02] [-1.28174314e-02 1.75580774e-05 -9.99917853e-01 -4.12637181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.01321200887729368 Centerline is valid? [True, True] Translation: X:175.35, Y:-121.90, Z:-4.12 [[ 4.85628900e-01 8.74139314e-01 -6.71045612e-03 1.75353270e+02] [ 8.74055866e-01 -4.85675261e-01 -1.20782207e-02 -1.21896424e+02] [-1.38171501e-02 2.19498408e-07 -9.99904539e-01 -4.12478282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.013198309931037606 Centerline is valid? [True, True] Translation: X:175.38, Y:-121.87, Z:-4.13 [[ 4.14509232e-01 9.10025436e-01 -5.98349376e-03 1.75375465e+02] [ 9.09931253e-01 -4.14552416e-01 -1.30923459e-02 -1.21874388e+02] [-1.43948396e-02 -1.76697215e-05 -9.99896389e-01 -4.12663926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.01333002144260783 Centerline is valid? [True, True] Translation: X:175.39, Y:-121.85, Z:-4.13 [[ 3.42571331e-01 9.39478656e-01 -4.97377131e-03 1.75392953e+02] [ 9.39379985e-01 -3.42607436e-01 -1.36157617e-02 -1.21851159e+02] [-1.44957685e-02 -7.89161477e-06 -9.99894931e-01 -4.12637762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.01337151683623468 Centerline is valid? [True, True] Translation: X:175.41, Y:-121.83, Z:-4.13 [[ 2.68662706e-01 9.63225860e-01 -4.03639625e-03 1.75408062e+02] [ 9.63117004e-01 -2.68693026e-01 -1.44808206e-02 -1.21825308e+02] [-1.50328524e-02 2.93459606e-06 -9.99887000e-01 -4.12612165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.0136099378865285 Centerline is valid? [True, True] Translation: X:175.42, Y:-121.80, Z:-4.13 [[ 1.92838781e-01 9.81226028e-01 -2.94711900e-03 1.75419012e+02] [ 9.81110692e-01 -1.92861300e-01 -1.50442113e-02 -1.21797443e+02] [-1.53301569e-02 9.65740106e-06 -9.99882486e-01 -4.12762982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.013603650128397454 Centerline is valid? [True, True] Translation: X:175.43, Y:-121.77, Z:-4.13 [[ 1.15350968e-01 9.93323218e-01 -1.77165494e-03 1.75429018e+02] [ 9.93204967e-01 -1.15364572e-01 -1.53267388e-02 -1.21769825e+02] [-1.54287917e-02 8.33766891e-06 -9.99880969e-01 -4.12799317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.013569725508109936 Centerline is valid? [True, True] Translation: X:175.44, Y:-121.74, Z:-4.13 [[ 3.60441833e-02 9.99350040e-01 -5.60011496e-04 1.75441673e+02] [ 9.99233334e-01 -3.60485323e-02 -1.52724192e-02 -1.21741774e+02] [-1.52826804e-02 -9.10027719e-06 -9.99883213e-01 -4.12966739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.013688146984524368 Centerline is valid? [True, True] Translation: X:175.45, Y:-121.71, Z:-4.13 [[-4.50032280e-02 9.98986646e-01 6.25741491e-04 1.75451062e+02] [ 9.98874363e-01 4.50075513e-02 -1.49775390e-02 -1.21713718e+02] [-1.49905245e-02 -4.90004660e-05 -9.99887635e-01 -4.12919731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.014003043339674393 Centerline is valid? [True, True] Translation: X:175.46, Y:-121.69, Z:-4.13 [[-1.25588075e-01 9.92080879e-01 1.77902555e-03 1.75455503e+02] [ 9.91971547e-01 1.25600646e-01 -1.47284497e-02 -1.21685374e+02] [-1.48352601e-02 -8.49749133e-05 -9.99889948e-01 -4.12870595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.014086710605540348 Centerline is valid? [True, True] Translation: X:175.46, Y:-121.65, Z:-4.13 [[-2.07066650e-01 9.78322279e-01 2.98677578e-03 1.75462540e+02] [ 9.78209776e-01 2.07088135e-01 -1.48370915e-02 -1.21654367e+02] [-1.51339830e-02 -1.50573572e-04 -9.99885463e-01 -4.12964773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.014806625197422612 Centerline is valid? [True, True] Translation: X:175.46, Y:-121.62, Z:-4.13 [[-2.86213727e-01 9.58153840e-01 4.78756329e-03 1.75464536e+02] [ 9.58005942e-01 2.86253671e-01 -1.68359751e-02 -1.21624492e+02] [-1.75019118e-02 -2.32173097e-04 -9.99846803e-01 -4.12727206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.014964727859704714 Centerline is valid? [True, True] Translation: X:175.46, Y:-121.59, Z:-4.13 [[-3.61671086e-01 9.32278881e-01 7.07913465e-03 1.75461860e+02] [ 9.32083875e-01 3.61740237e-01 -1.90696247e-02 -1.21593678e+02] [-2.03390162e-02 -2.98584598e-04 -9.99793096e-01 -4.12608266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.014920498423619977 Centerline is valid? [True, True] Translation: X:175.46, Y:-121.56, Z:-4.13 [[-4.32896468e-01 9.01402811e-01 8.58018822e-03 1.75455309e+02] [ 9.01212617e-01 4.32981398e-01 -1.85183211e-02 -1.21564483e+02] [-2.04075286e-02 -2.83941921e-04 -9.99791704e-01 -4.12574582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.014380289678003751 Centerline is valid? [True, True] Translation: X:175.44, Y:-121.54, Z:-4.13 [[-4.99515725e-01 8.66264447e-01 8.36357178e-03 1.75443095e+02] [ 8.66136823e-01 4.99585703e-01 -1.48704270e-02 -1.21537180e+02] [-1.70600431e-02 -1.84014649e-04 -9.99854450e-01 -4.12807538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.01370746611391878 Centerline is valid? [True, True] Translation: X:175.43, Y:-121.51, Z:-4.13 [[-5.63518951e-01 8.26066826e-01 7.74543517e-03 1.75428650e+02] [ 8.25986085e-01 5.63572167e-01 -1.15498970e-02 -1.21511920e+02] [-1.39060984e-02 -1.10964169e-04 -9.99903299e-01 -4.13153160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.013801773409993558 Centerline is valid? [True, True] Translation: X:175.41, Y:-121.49, Z:-4.13 [[-6.26320929e-01 7.79519499e-01 8.45251789e-03 1.75414654e+02] [ 7.79446245e-01 6.26377953e-01 -1.06869479e-02 -1.21485756e+02] [-1.36251552e-02 -1.05175827e-04 -9.99907168e-01 -4.13100023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.013954322670195578 Centerline is valid? [True, True] Translation: X:175.40, Y:-121.46, Z:-4.13 [[-6.87351242e-01 7.26255576e-01 1.00553185e-02 1.75402210e+02] [ 7.26174604e-01 6.87424771e-01 -1.08457007e-02 -1.21458344e+02] [-1.47890256e-02 -1.52888908e-04 -9.99890625e-01 -4.12922306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.015423518602714266 Centerline is valid? [True, True] Translation: X:175.39, Y:-121.43, Z:-4.13 [[-7.45816674e-01 6.66058658e-01 1.11064724e-02 1.75388145e+02] [ 6.65979988e-01 7.45899328e-01 -1.02396007e-02 -1.21431968e+02] [-1.51044851e-02 -2.40176590e-04 -9.99885892e-01 -4.12833114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.015690827975270067 Centerline is valid? [True, True] Translation: X:175.84, Y:-120.95, Z:-5.13 [[-6.74666645e-01 -7.38044615e-01 1.07268617e-02 1.75841428e+02] [ 7.37957826e-01 -6.74751858e-01 -1.13215275e-02 -1.20945894e+02] [ 1.55937623e-02 2.77714587e-04 9.99878371e-01 -5.12766824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.01639697733757459 Centerline is valid? [True, True] Translation: X:175.80, Y:-120.91, Z:-5.13 [[-6.71331558e-01 -7.41055247e-01 1.22906456e-02 1.75799919e+02] [ 7.40942032e-01 -6.71443933e-01 -1.29595529e-02 -1.20905217e+02] [ 1.78562241e-02 4.06499139e-04 9.99840482e-01 -5.12916487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.017379671928129538 Centerline is valid? [True, True] Translation: X:175.76, Y:-120.86, Z:-5.13 [[-6.70523602e-01 -7.41781731e-01 1.25682937e-02 1.75759909e+02] [ 7.41663615e-01 -6.70641237e-01 -1.32444025e-02 -1.20864809e+02] [ 1.82532718e-02 4.40761717e-04 9.99833298e-01 -5.13085309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.01645290206002406 Centerline is valid? [True, True] Translation: X:175.72, Y:-120.82, Z:-5.13 [[-6.72382441e-01 -7.40127977e-01 1.06033529e-02 1.75722943e+02] [ 7.40043795e-01 -6.72465957e-01 -1.11677381e-02 -1.20819173e+02] [ 1.53959492e-02 3.37954536e-04 9.99881418e-01 -5.12828530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.01485911454738743 Centerline is valid? [True, True] Translation: X:175.69, Y:-120.77, Z:-5.12 [[-6.76898031e-01 -7.36034670e-01 7.87527152e-03 1.75688180e+02] [ 7.35987995e-01 -6.76943817e-01 -8.29097087e-03 -1.20772635e+02] [ 1.14335584e-02 1.83963445e-04 9.99934618e-01 -5.12403654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.0146532245702173 Centerline is valid? [True, True] Translation: X:175.65, Y:-120.73, Z:-5.12 [[-6.79900289e-01 -7.33275023e-01 6.58313210e-03 1.75650249e+02] [ 7.33242306e-01 -6.79932149e-01 -6.92777561e-03 -1.20729795e+02] [ 9.55604797e-03 1.16834326e-04 9.99954333e-01 -5.12418320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.014083538011894867 Centerline is valid? [True, True] Translation: X:175.61, Y:-120.69, Z:-5.12 [[-6.81221598e-01 -7.32044166e-01 6.96228369e-03 1.75612343e+02] [ 7.32007553e-01 -6.81257166e-01 -7.32228073e-03 -1.20686942e+02] [ 1.01033385e-02 1.08348472e-04 9.99948954e-01 -5.12466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.014789291541369067 Centerline is valid? [True, True] Translation: X:175.57, Y:-120.65, Z:-5.13 [[-6.78979871e-01 -7.34110887e-01 8.21826260e-03 1.75568947e+02] [ 7.34060079e-01 -6.79029585e-01 -8.63849572e-03 -1.20647914e+02] [ 1.19220572e-02 1.67333784e-04 9.99928916e-01 -5.12673383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.015177422779302011 Centerline is valid? [True, True] Translation: X:175.53, Y:-120.61, Z:-5.13 [[-6.76884112e-01 -7.36027551e-01 9.55735935e-03 1.75526718e+02] [ 7.35959103e-01 -6.76951540e-01 -1.00404336e-02 -1.20608012e+02] [ 1.38599049e-02 2.37615614e-04 9.99903919e-01 -5.12839478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.015979497102395643 Centerline is valid? [True, True] Translation: X:175.49, Y:-120.57, Z:-5.13 [[-6.75946418e-01 -7.36880779e-01 1.01566807e-02 1.75485136e+02] [ 7.36803666e-01 -6.76022664e-01 -1.06637813e-02 -1.20568647e+02] [ 1.47240818e-02 2.75334838e-04 9.99891557e-01 -5.13015293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.016233716311258126 Centerline is valid? [True, True] Translation: X:175.44, Y:-120.53, Z:-5.13 [[-6.75823843e-01 -7.37000794e-01 9.58975034e-03 1.75444990e+02] [ 7.36932148e-01 -6.75891825e-01 -1.00623745e-02 -1.20527619e+02] [ 1.38976119e-02 2.66602690e-04 9.99903388e-01 -5.12984078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.015216293818037607 Centerline is valid? [True, True] Translation: X:175.41, Y:-120.48, Z:-5.13 [[-6.77354943e-01 -7.35613339e-01 7.95590804e-03 1.75406908e+02] [ 7.35566030e-01 -6.77401635e-01 -8.34509058e-03 -1.20483134e+02] [ 1.15281051e-02 1.99507341e-04 9.99933529e-01 -5.12751560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.014327664754097195 Centerline is valid? [True, True] Translation: X:175.37, Y:-120.44, Z:-5.13 [[-6.79660160e-01 -7.33504652e-01 5.74399294e-03 1.75370231e+02] [ 7.33479945e-01 -6.79684420e-01 -6.02150378e-03 -1.20438270e+02] [ 8.32090354e-03 1.20527405e-04 9.99965373e-01 -5.12506050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.015027456908121493 Centerline is valid? [True, True] Translation: X:175.33, Y:-120.40, Z:-5.13 [[-6.79618643e-01 -7.33546866e-01 5.24363849e-03 1.75329672e+02] [ 7.33526305e-01 -6.79638862e-01 -5.49330089e-03 -1.20398608e+02] [ 7.59337415e-03 1.12997071e-04 9.99971164e-01 -5.12603358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.015110192830664865 Centerline is valid? [True, True] Translation: X:175.29, Y:-120.36, Z:-5.13 [[-6.78470451e-01 -7.34611809e-01 4.83074825e-03 1.75289414e+02] [ 7.34594407e-01 -6.78487639e-01 -5.05777154e-03 -1.20357403e+02] [ 6.99310167e-03 1.17092110e-04 9.99975541e-01 -5.12583685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.015806980065512764 Centerline is valid? [True, True] Translation: X:175.25, Y:-120.32, Z:-5.13 [[-6.76438465e-01 -7.36478551e-01 5.50888890e-03 1.75247182e+02] [ 7.36456007e-01 -6.76460878e-01 -5.76455257e-03 -1.20317132e+02] [ 7.97201714e-03 1.57689230e-04 9.99968211e-01 -5.12753346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.01593968399318171 Centerline is valid? [True, True] Translation: X:175.21, Y:-120.28, Z:-5.13 [[-6.75766021e-01 -7.37091925e-01 5.98165798e-03 1.75206076e+02] [ 7.37065400e-01 -6.75792470e-01 -6.25573906e-03 -1.20276233e+02] [ 8.65341416e-03 1.81457241e-04 9.99962542e-01 -5.12803799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.01702013879924967 Centerline is valid? [True, True] Translation: X:175.16, Y:-120.24, Z:-5.13 [[-6.75093997e-01 -7.37707614e-01 5.96420897e-03 1.75164433e+02] [ 7.37681290e-01 -6.75120315e-01 -6.23495868e-03 -1.20236480e+02] [ 8.62613513e-03 1.90502188e-04 9.99962776e-01 -5.12911730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.016567209446208264 Centerline is valid? [True, True] Translation: X:175.13, Y:-120.19, Z:-5.13 [[-6.75456482e-01 -7.37374949e-01 6.06011131e-03 1.75125712e+02] [ 7.37347793e-01 -6.75483640e-01 -6.33126375e-03 -1.20194215e+02] [ 8.76202133e-03 1.91916549e-04 9.99961594e-01 -5.12837559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.01670449539336374 Centerline is valid? [True, True] Translation: X:175.09, Y:-120.15, Z:-5.13 [[-6.76373017e-01 -7.36536944e-01 5.73334407e-03 1.75087692e+02] [ 7.36512640e-01 -6.76397294e-01 -5.98599258e-03 -1.20153150e+02] [ 8.28692310e-03 1.73916514e-04 9.99965648e-01 -5.12797951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.01571630011147628 Centerline is valid? [True, True] Translation: X:175.05, Y:-120.11, Z:-5.13 [[-6.77402578e-01 -7.35596087e-01 4.91363775e-03 1.75049845e+02] [ 7.35578234e-01 -6.77420384e-01 -5.12693852e-03 -1.20110433e+02] [ 7.09995429e-03 1.41363604e-04 9.99974785e-01 -5.12549218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.015516452134034246 Centerline is valid? [True, True] Translation: X:175.01, Y:-120.07, Z:-5.13 [[-6.77864591e-01 -7.35161294e-01 6.12118178e-03 1.75010464e+02] [ 7.35133607e-01 -6.77892206e-01 -6.38262713e-03 -1.20069541e+02] [ 8.84176184e-03 1.73329510e-04 9.99960896e-01 -5.12747226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.015226362432388842 Centerline is valid? [True, True] Translation: X:174.97, Y:-120.03, Z:-5.13 [[-6.78132728e-01 -7.34913150e-01 6.21807567e-03 1.74970602e+02] [ 7.34884603e-01 -6.78161213e-01 -6.47996438e-03 -1.20026991e+02] [ 8.97906877e-03 1.75292143e-04 9.99959672e-01 -5.12656740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.014648625830264387 Centerline is valid? [True, True] Translation: X:174.93, Y:-119.98, Z:-5.13 [[-6.80776217e-01 -7.32471187e-01 5.45003063e-03 1.74931096e+02] [ 7.32449203e-01 -6.80798020e-01 -5.67637576e-03 -1.19984533e+02] [ 7.86815175e-03 1.27528976e-04 9.99969038e-01 -5.12516395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.0138832090591251 Centerline is valid? [True, True] Translation: X:174.89, Y:-119.94, Z:-5.12 [[-6.85232222e-01 -7.28304035e-01 5.48036366e-03 1.74894623e+02] [ 7.28281695e-01 -6.85254132e-01 -5.70495777e-03 -1.19941027e+02] [ 7.91038561e-03 8.20276414e-05 9.99968709e-01 -5.12491542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.013173230523785412 Centerline is valid? [True, True] Translation: X:174.86, Y:-119.90, Z:-5.12 [[-6.88932066e-01 -7.24805057e-01 5.49886339e-03 1.74857647e+02] [ 7.24782480e-01 -6.88954009e-01 -5.72097637e-03 -1.19896464e+02] [ 7.93505658e-03 4.41157782e-05 9.99968516e-01 -5.12389596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.013086190505974576 Centerline is valid? [True, True] Translation: X:174.82, Y:-119.85, Z:-5.12 [[-6.93522192e-01 -7.20413028e-01 5.66020109e-03 1.74821286e+02] [ 7.20388991e-01 -6.93545290e-01 -5.88494317e-03 -1.19853480e+02] [ 8.16519554e-03 -3.79212965e-06 9.99966664e-01 -5.12419688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.013189653964574711 Centerline is valid? [True, True] Translation: X:174.78, Y:-119.81, Z:-5.12 [[-6.96037077e-01 -7.17976185e-01 6.52571848e-03 1.74782332e+02] [ 7.17944164e-01 -6.96067667e-01 -6.78089870e-03 -1.19811629e+02] [ 9.41086542e-03 -3.46554166e-05 9.99955716e-01 -5.12497744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.013071187146259109 Centerline is valid? [True, True] Translation: X:174.74, Y:-119.77, Z:-5.12 [[-6.96333507e-01 -7.17685272e-01 6.89190103e-03 1.74741338e+02] [ 7.17649587e-01 -6.96367611e-01 -7.15689129e-03 -1.19770984e+02] [ 9.93569212e-03 -3.76132792e-05 9.99950639e-01 -5.12482315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.013090886718339344 Centerline is valid? [True, True] Translation: X:174.70, Y:-119.73, Z:-5.13 [[-6.95020155e-01 -7.18953926e-01 7.22744882e-03 1.74700132e+02] [ 7.18914801e-01 -6.95057733e-01 -7.50042983e-03 -1.19732370e+02] [ 1.04159577e-02 -1.70299750e-05 9.99945752e-01 -5.12519597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.013013390609965977 Centerline is valid? [True, True] Translation: X:174.66, Y:-119.69, Z:-5.13 [[-6.93183383e-01 -7.20724984e-01 7.23156023e-03 1.74657522e+02] [ 7.20685959e-01 -6.93221103e-01 -7.50011789e-03 -1.19693277e+02] [ 1.04185925e-02 1.27268298e-05 9.99945725e-01 -5.12521037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.01318729026554983 Centerline is valid? [True, True] Translation: X:174.61, Y:-119.66, Z:-5.12 [[-6.90370380e-01 -7.23426209e-01 6.57708298e-03 1.74614651e+02] [ 7.23394091e-01 -6.90401707e-01 -6.81700483e-03 -1.19656916e+02] [ 9.47242929e-03 5.15647455e-05 9.99955134e-01 -5.12421847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.013360357874625561 Centerline is valid? [True, True] Translation: X:174.57, Y:-119.62, Z:-5.12 [[-6.89353328e-01 -7.24396205e-01 6.49064369e-03 1.74571909e+02] [ 7.24365006e-01 -6.89383880e-01 -6.72339451e-03 -1.19618274e+02] [ 9.34494660e-03 6.68007753e-05 9.99956333e-01 -5.12463865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.014308461857520813 Centerline is valid? [True, True] Translation: X:174.53, Y:-119.58, Z:-5.13 [[-6.86747171e-01 -7.26864052e-01 6.85372216e-03 1.74527363e+02] [ 7.26829431e-01 -6.86781361e-01 -7.09507912e-03 -1.19583147e+02] [ 9.86416659e-03 1.08961468e-04 9.99951342e-01 -5.12647856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.014894475461660082 Centerline is valid? [True, True] Translation: X:174.48, Y:-119.55, Z:-5.13 [[-6.83113056e-01 -7.30272822e-01 7.62617800e-03 1.74482529e+02] [ 7.30230216e-01 -6.83155600e-01 -7.89040768e-03 -1.19545375e+02] [ 1.09720165e-02 1.78825107e-04 9.99939790e-01 -5.12663249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.016833220766035755 Centerline is valid? [True, True] Translation: X:174.44, Y:-119.51, Z:-5.13 [[-6.82467140e-01 -7.30876031e-01 7.67014706e-03 1.74439621e+02] [ 7.30833005e-01 -6.82510213e-01 -7.93275302e-03 -1.19507809e+02] [ 1.10328127e-02 1.91753362e-04 9.99939118e-01 -5.12890450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.015602816933768261 Centerline is valid? [True, True] Translation: X:174.40, Y:-119.46, Z:-5.13 [[-6.81795014e-01 -7.31500871e-01 7.87620643e-03 1.74400838e+02] [ 7.31455594e-01 -6.81840473e-01 -8.14144064e-03 -1.19464938e+02] [ 1.13257872e-02 2.10301620e-04 9.99935839e-01 -5.12725290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.01567660575412343 Centerline is valid? [True, True] Translation: X:174.36, Y:-119.42, Z:-5.13 [[-6.81211861e-01 -7.32034213e-01 8.73571213e-03 1.74360400e+02] [ 7.31978620e-01 -6.81267826e-01 -9.02491018e-03 -1.19423821e+02] [ 1.25579026e-02 2.46478659e-04 9.99921116e-01 -5.12787712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.015339799201887192 Centerline is valid? [True, True] Translation: X:174.32, Y:-119.38, Z:-5.13 [[-6.82138481e-01 -7.31162846e-01 9.38002645e-03 1.74321551e+02] [ 7.31098749e-01 -6.82202924e-01 -9.68451890e-03 -1.19381529e+02] [ 1.34800419e-02 2.51542588e-04 9.99909109e-01 -5.12865715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.014592862372731896 Centerline is valid? [True, True] Translation: X:174.29, Y:-119.34, Z:-5.13 [[-6.85410284e-01 -7.28097117e-01 9.34516160e-03 1.74285178e+02] [ 7.28033276e-01 -6.85473961e-01 -9.64350074e-03 -1.19337158e+02] [ 1.34272700e-02 1.93834045e-04 9.99909831e-01 -5.12864186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.013896844910949262 Centerline is valid? [True, True] Translation: X:174.25, Y:-119.29, Z:-5.13 [[-6.88387448e-01 -7.25286968e-01 9.02969722e-03 1.74247931e+02] [ 7.25227188e-01 -6.88446653e-01 -9.31298308e-03 -1.19291956e+02] [ 1.29710501e-02 1.37641267e-04 9.99915863e-01 -5.12799668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.01316410158345358 Centerline is valid? [True, True] Translation: X:174.21, Y:-119.25, Z:-5.13 [[-6.92346554e-01 -7.21522975e-01 7.80035239e-03 1.74212806e+02] [ 7.21478172e-01 -6.92390491e-01 -8.04084356e-03 -1.19245935e+02] [ 1.12025432e-02 6.07336537e-05 9.99937248e-01 -5.12605158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.012837606696216456 Centerline is valid? [True, True] Translation: X:174.18, Y:-119.20, Z:-5.12 [[-6.95517864e-01 -7.18464209e-01 8.00508011e-03 1.74177420e+02] [ 7.18416878e-01 -6.95563930e-01 -8.24676035e-03 -1.19200999e+02] [ 1.14930471e-02 1.52155169e-05 9.99933953e-01 -5.12402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.01282497760754061 Centerline is valid? [True, True] Translation: X:174.14, Y:-119.16, Z:-5.12 [[-6.96853138e-01 -7.17167377e-01 8.16441212e-03 1.74138975e+02] [ 7.17118115e-01 -6.96900964e-01 -8.40568354e-03 -1.19158484e+02] [ 1.17180687e-02 -2.67912381e-06 9.99931341e-01 -5.12466383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.012870773139457179 Centerline is valid? [True, True] Translation: X:174.10, Y:-119.12, Z:-5.12 [[-6.97133867e-01 -7.16897325e-01 7.91180883e-03 1.74100996e+02] [ 7.16851104e-01 -6.97178762e-01 -8.14057438e-03 -1.19116211e+02] [ 1.13519011e-02 -3.48120355e-06 9.99935565e-01 -5.12479743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.012918850870378298 Centerline is valid? [True, True] Translation: X:174.06, Y:-119.07, Z:-5.13 [[-6.96660085e-01 -7.17358819e-01 7.81345464e-03 1.74061074e+02] [ 7.17313824e-01 -6.96703900e-01 -8.03447435e-03 -1.19074636e+02] [ 1.12072654e-02 7.40144494e-06 9.99937197e-01 -5.12515087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.013082319143322006 Centerline is valid? [True, True] Translation: X:174.02, Y:-119.03, Z:-5.13 [[-6.94853648e-01 -7.19104595e-01 8.18464584e-03 1.74021140e+02] [ 7.19055404e-01 -6.94901849e-01 -8.41106661e-03 -1.19033975e+02] [ 1.17359622e-02 4.07534987e-05 9.99931130e-01 -5.12583910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.013289672239776996 Centerline is valid? [True, True] Translation: X:173.98, Y:-118.99, Z:-5.13 [[-6.92673344e-01 -7.21206748e-01 8.02902108e-03 1.73980516e+02] [ 7.21159609e-01 -6.92719872e-01 -8.24606917e-03 -1.18993634e+02] [ 1.15089832e-02 7.83733972e-05 9.99933766e-01 -5.12582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.013600404303696835 Centerline is valid? [True, True] Translation: X:173.94, Y:-118.95, Z:-5.12 [[-6.90771415e-01 -7.23042742e-01 6.63660607e-03 1.73939983e+02] [ 7.23010661e-01 -6.90803289e-01 -6.81176555e-03 -1.18953787e+02] [ 9.50978694e-03 9.29640082e-05 9.99954777e-01 -5.12409228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.013908688525647096 Centerline is valid? [True, True] Translation: X:173.90, Y:-118.91, Z:-5.12 [[-6.89494150e-01 -7.24265870e-01 6.06355272e-03 1.73898648e+02] [ 7.24239170e-01 -6.89520804e-01 -6.21971729e-03 -1.18914208e+02] [ 8.68567471e-03 1.03003704e-04 9.99962274e-01 -5.12404089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.014162352709067114 Centerline is valid? [True, True] Translation: X:173.86, Y:-118.87, Z:-5.12 [[-6.88667783e-01 -7.25051611e-01 6.07005073e-03 1.73858407e+02] [ 7.25024919e-01 -6.88694524e-01 -6.22248150e-03 -1.18873831e+02] [ 8.69203094e-03 1.15715496e-04 9.99962217e-01 -5.12437375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.014635413808682971 Centerline is valid? [True, True] Translation: X:173.82, Y:-118.83, Z:-5.12 [[-6.87027175e-01 -7.26604374e-01 6.30432575e-03 1.73816310e+02] [ 7.26575679e-01 -6.87056085e-01 -6.45901199e-03 -1.18833839e+02] [ 9.02457173e-03 1.43053002e-04 9.99959268e-01 -5.12461876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.014846754610818524 Centerline is valid? [True, True] Translation: X:173.77, Y:-118.79, Z:-5.13 [[-6.85570975e-01 -7.27974265e-01 6.77554850e-03 1.73774059e+02] [ 7.27941226e-01 -6.85604433e-01 -6.93782281e-03 -1.18794387e+02] [ 9.69590255e-03 1.75831129e-04 9.99952978e-01 -5.12517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.015095601623528136 Centerline is valid? [True, True] Translation: X:173.73, Y:-118.75, Z:-5.13 [[-6.85257287e-01 -7.28268236e-01 6.91574561e-03 1.73733040e+02] [ 7.28233873e-01 -6.85292158e-01 -7.07709773e-03 -1.18753957e+02] [ 9.89333171e-03 1.86647422e-04 9.99951042e-01 -5.12520229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.014922783570179194 Centerline is valid? [True, True] Translation: X:173.69, Y:-118.71, Z:-5.13 [[-6.86666743e-01 -7.26935935e-01 7.27540455e-03 1.73693180e+02] [ 7.26897878e-01 -6.86705261e-01 -7.44045974e-03 -1.18712764e+02] [ 1.04047961e-02 1.79359872e-04 9.99945853e-01 -5.12609034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.014295853139165964 Centerline is valid? [True, True] Translation: X:173.65, Y:-118.67, Z:-5.13 [[-6.89466424e-01 -7.24273663e-01 7.98194615e-03 1.73654239e+02] [ 7.24227728e-01 -6.89512608e-01 -8.15851179e-03 -1.18669110e+02] [ 1.14126477e-02 1.55726779e-04 9.99934862e-01 -5.12771100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.013895546121832303 Centerline is valid? [True, True] Translation: X:173.62, Y:-118.63, Z:-5.13 [[-6.91514910e-01 -7.22310598e-01 8.63308861e-03 1.73615915e+02] [ 7.22256775e-01 -6.91568783e-01 -8.81864482e-03 -1.18626865e+02] [ 1.23401752e-02 1.37082361e-04 9.99923848e-01 -5.12835676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.013453225568164362 Centerline is valid? [True, True] Translation: X:173.58, Y:-118.58, Z:-5.13 [[-6.94397461e-01 -7.19536629e-01 8.89977857e-03 1.73578453e+02] [ 7.19479271e-01 -6.94454484e-01 -9.08555305e-03 -1.18583691e+02] [ 1.27178794e-02 9.42212383e-05 9.99919120e-01 -5.12829690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.013026355761459088 Centerline is valid? [True, True] Translation: X:173.54, Y:-118.54, Z:-5.13 [[-6.96783187e-01 -7.17240870e-01 7.66320950e-03 1.73538930e+02] [ 7.17198251e-01 -6.96825324e-01 -7.81901107e-03 -1.18540737e+02] [ 1.09480327e-02 4.78849970e-05 9.99940067e-01 -5.12676575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.012870416871708337 Centerline is valid? [True, True] Translation: X:173.50, Y:-118.50, Z:-5.13 [[-6.97948219e-01 -7.16112639e-01 7.13949570e-03 1.73498943e+02] [ 7.16075631e-01 -6.97984733e-01 -7.28034187e-03 -1.18499205e+02] [ 1.01968038e-02 3.11172479e-05 9.99948011e-01 -5.12662874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.01269320487575129 Centerline is valid? [True, True] Translation: X:173.46, Y:-118.46, Z:-5.13 [[-6.98510464e-01 -7.15562788e-01 7.28204671e-03 1.73458264e+02] [ 7.15524301e-01 -6.98548421e-01 -7.42149568e-03 -1.18457880e+02] [ 1.03974084e-02 2.64889857e-05 9.99945945e-01 -5.12540860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.013068981551138567 Centerline is valid? [True, True] Translation: X:173.42, Y:-118.42, Z:-5.13 [[-6.98100686e-01 -7.15952905e-01 8.17743437e-03 1.73416506e+02] [ 7.15904456e-01 -6.98148577e-01 -8.32908557e-03 -1.18418460e+02] [ 1.16722972e-02 3.97213593e-05 9.99931876e-01 -5.12864884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.012910881848317013 Centerline is valid? [True, True] Translation: X:173.38, Y:-118.38, Z:-5.13 [[-6.97965398e-01 -7.16078695e-01 8.69516831e-03 1.73375517e+02] [ 7.16023998e-01 -6.98019556e-01 -8.85064598e-03 -1.18379139e+02] [ 1.24071565e-02 4.85045381e-05 9.99923027e-01 -5.12823404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.013284285860849341 Centerline is valid? [True, True] Translation: X:173.34, Y:-118.34, Z:-5.13 [[-6.98783789e-01 -7.15278221e-01 8.84775723e-03 1.73335616e+02] [ 7.15221597e-01 -6.98839799e-01 -9.00018013e-03 -1.18340083e+02] [ 1.26207977e-02 3.89270826e-05 9.99920354e-01 -5.13089905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.013204036691773917 Centerline is valid? [True, True] Translation: X:173.30, Y:-118.30, Z:-5.13 [[-6.99428228e-01 -7.14650470e-01 8.65219248e-03 1.73296065e+02] [ 7.14596339e-01 -6.99481741e-01 -8.79587075e-03 -1.18299731e+02] [ 1.23380238e-02 3.07447775e-05 9.99923883e-01 -5.13064177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.012745068106806534 Centerline is valid? [True, True] Translation: X:173.26, Y:-118.26, Z:-5.13 [[-7.00724708e-01 -7.13380781e-01 8.52905041e-03 1.73255828e+02] [ 7.13328150e-01 -7.00776613e-01 -8.66540111e-03 -1.18258484e+02] [ 1.21586897e-02 1.19510887e-05 9.99926080e-01 -5.12763108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.012812231631917172 Centerline is valid? [True, True] Translation: X:173.22, Y:-118.22, Z:-5.13 [[-7.01916304e-01 -7.12220251e-01 7.47105282e-03 1.73215860e+02] [ 7.12179853e-01 -7.01956063e-01 -7.58568936e-03 -1.18219378e+02] [ 1.06470324e-02 -3.78573364e-06 9.99943319e-01 -5.12758289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.012682096251138777 Centerline is valid? [True, True] Translation: X:173.17, Y:-118.18, Z:-5.13 [[-7.01035579e-01 -7.13096518e-01 6.51718437e-03 1.73173137e+02] [ 7.13065853e-01 -7.01065871e-01 -6.61315133e-03 -1.18181369e+02] [ 9.28479073e-03 1.11272608e-05 9.99956895e-01 -5.12619139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.012700237928670565 Centerline is valid? [True, True] Translation: X:173.13, Y:-118.14, Z:-5.13 [[-6.99932599e-01 -7.14182523e-01 6.13843104e-03 1.73130747e+02] [ 7.14155393e-01 -6.99959516e-01 -6.22505235e-03 -1.18142726e+02] [ 8.74247681e-03 2.66765581e-05 9.99961783e-01 -5.12594663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.013138804562503872 Centerline is valid? [True, True] Translation: X:173.09, Y:-118.11, Z:-5.13 [[-6.97483606e-01 -7.16574562e-01 6.12501574e-03 1.73085980e+02] [ 7.16547673e-01 -6.97510497e-01 -6.20795120e-03 -1.18106297e+02] [ 8.72072269e-03 5.89215807e-05 9.99961972e-01 -5.12720521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.013565788155788064 Centerline is valid? [True, True] Translation: X:173.04, Y:-118.07, Z:-5.13 [[-6.95766859e-01 -7.18243857e-01 5.85145850e-03 1.73043171e+02] [ 7.18219404e-01 -6.95791460e-01 -5.92719620e-03 -1.18068427e+02] [ 8.32856711e-03 7.86843541e-05 9.99965314e-01 -5.12689921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.013825003943728813 Centerline is valid? [True, True] Translation: X:173.00, Y:-118.03, Z:-5.13 [[-6.95025940e-01 -7.18962975e-01 5.58429749e-03 1.73001510e+02] [ 7.18940754e-01 -6.95048368e-01 -5.65323157e-03 -1.18028482e+02] [ 7.94582104e-03 8.56364655e-05 9.99968428e-01 -5.12639663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.014722997998840944 Centerline is valid? [True, True] Translation: X:172.96, Y:-117.99, Z:-5.13 [[-6.93806728e-01 -7.20137225e-01 5.88234563e-03 1.72958721e+02] [ 7.20112641e-01 -6.93831656e-01 -5.95129239e-03 -1.17991892e+02] [ 8.36710479e-03 1.06904750e-04 9.99964989e-01 -5.12794736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.014574797055860796 Centerline is valid? [True, True] Translation: X:172.92, Y:-117.95, Z:-5.13 [[-6.93394295e-01 -7.20528546e-01 6.55479328e-03 1.72917728e+02] [ 7.20498073e-01 -6.93425265e-01 -6.62791934e-03 -1.17951415e+02] [ 9.32086436e-03 1.26954459e-04 9.99956552e-01 -5.12887015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.014636879657329174 Centerline is valid? [True, True] Translation: X:172.88, Y:-117.91, Z:-5.13 [[-6.93902453e-01 -7.20032980e-01 7.20370368e-03 1.72877166e+02] [ 7.19996191e-01 -6.93939831e-01 -7.27981074e-03 -1.17911286e+02] [ 1.02406407e-02 1.35160675e-04 9.99947554e-01 -5.13045502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.013853977158382961 Centerline is valid? [True, True] Translation: X:172.84, Y:-117.87, Z:-5.13 [[-6.96696070e-01 -7.17333042e-01 6.92045207e-03 1.72839314e+02] [ 7.17298998e-01 -6.96730434e-01 -6.98931363e-03 -1.17869487e+02] [ 9.83535519e-03 9.46059951e-05 9.99951627e-01 -5.13063186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.012676218869263739 Centerline is valid? [True, True] Translation: X:172.80, Y:-117.82, Z:-5.13 [[-7.00169290e-01 -7.13951203e-01 6.05344299e-03 1.72802667e+02] [ 7.13925058e-01 -7.00195456e-01 -6.11022324e-03 -1.17824553e+02] [ 8.60099451e-03 4.35139604e-05 9.99963010e-01 -5.12826544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.012609139065255633 Centerline is valid? [True, True] Translation: X:172.77, Y:-117.78, Z:-5.13 [[-7.05970555e-01 -7.08222528e-01 5.14069180e-03 1.72768455e+02] [ 7.08203545e-01 -7.05989271e-01 -5.18548897e-03 -1.17779571e+02] [ 7.30175336e-03 -2.01463662e-05 9.99973342e-01 -5.12761245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.013347492430198178 Centerline is valid? [True, True] Translation: X:172.73, Y:-117.74, Z:-5.13 [[-7.09311676e-01 -7.04876160e-01 5.15229124e-03 1.72731817e+02] [ 7.04857024e-01 -7.09330386e-01 -5.19419103e-03 -1.17735041e+02] [ 7.31593816e-03 -5.26716758e-05 9.99973237e-01 -5.12866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.013736965499781284 Centerline is valid? [True, True] Translation: X:172.69, Y:-117.69, Z:-5.13 [[-7.12509950e-01 -7.01634072e-01 6.26106554e-03 1.72693716e+02] [ 7.01605718e-01 -7.12537451e-01 -6.30849032e-03 -1.17690479e+02] [ 8.88749543e-03 -1.02062738e-04 9.99960500e-01 -5.12908311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.013974816640986222 Centerline is valid? [True, True] Translation: X:172.65, Y:-117.65, Z:-5.13 [[-7.13253378e-01 -7.00863426e-01 7.75090896e-03 1.72653942e+02] [ 7.00819975e-01 -7.13295479e-01 -7.80527671e-03 -1.17647605e+02] [ 1.09991213e-02 -1.35148155e-04 9.99939499e-01 -5.13118582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.013682652420925973 Centerline is valid? [True, True] Translation: X:172.61, Y:-117.61, Z:-5.13 [[-7.12818321e-01 -7.01303892e-01 7.93049861e-03 1.72613413e+02] [ 7.01258483e-01 -7.12862423e-01 -7.98159663e-03 -1.17606527e+02] [ 1.12508792e-02 -1.28098883e-04 9.99936699e-01 -5.13116053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.013332829700686636 Centerline is valid? [True, True] Translation: X:172.57, Y:-117.57, Z:-5.13 [[-7.11075496e-01 -7.03073473e-01 7.70261928e-03 1.72572979e+02] [ 7.03030793e-01 -7.11117207e-01 -7.74738072e-03 -1.17565434e+02] [ 1.09244430e-02 -9.37940522e-05 9.99940322e-01 -5.13100157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.013015435232128164 Centerline is valid? [True, True] Translation: X:172.53, Y:-117.53, Z:-5.13 [[-7.08918484e-01 -7.05248671e-01 7.67431920e-03 1.72530827e+02] [ 7.05206480e-01 -7.08960020e-01 -7.71434363e-03 -1.17525867e+02] [ 1.08813161e-02 -5.68611635e-05 9.99940795e-01 -5.13106433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.012744935185293287 Centerline is valid? [True, True] Translation: X:172.49, Y:-117.49, Z:-5.13 [[-7.04961438e-01 -7.09208549e-01 7.25295836e-03 1.72487652e+02] [ 7.09171115e-01 -7.04998748e-01 -7.28664007e-03 -1.17487451e+02] [ 1.02810740e-02 6.78831045e-06 9.99947148e-01 -5.13108086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.013081341021514283 Centerline is valid? [True, True] Translation: X:172.44, Y:-117.45, Z:-5.13 [[-7.00800887e-01 -7.13327271e-01 6.50551311e-03 1.72444762e+02] [ 7.13297369e-01 -7.00831079e-01 -6.53158789e-03 -1.17449590e+02] [ 9.21842553e-03 6.30227990e-05 9.99957507e-01 -5.13102901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.013643709155200136 Centerline is valid? [True, True] Translation: X:172.40, Y:-117.41, Z:-5.13 [[-6.98274715e-01 -7.15803092e-01 6.19323909e-03 1.72401188e+02] [ 7.15776120e-01 -6.98302173e-01 -6.21459175e-03 -1.17411347e+02] [ 8.77317630e-03 9.34803696e-05 9.99961511e-01 -5.13157586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.014377591302211477 Centerline is valid? [True, True] Translation: X:172.36, Y:-117.37, Z:-5.13 [[-6.96028302e-01 -7.17991053e-01 5.78365897e-03 1.72358072e+02] [ 7.17967634e-01 -6.96052322e-01 -5.80019648e-03 -1.17373115e+02] [ 8.19021843e-03 1.15379034e-04 9.99966453e-01 -5.13203904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.014966753480782703 Centerline is valid? [True, True] Translation: X:172.32, Y:-117.33, Z:-5.13 [[-6.93603494e-01 -7.20326156e-01 6.66492525e-03 1.72315607e+02] [ 7.20295199e-01 -6.93635495e-01 -6.68021846e-03 -1.17333829e+02] [ 9.43496482e-03 1.67290795e-04 9.99955476e-01 -5.13291859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.015820446973773106 Centerline is valid? [True, True] Translation: X:172.28, Y:-117.30, Z:-5.13 [[-6.93944072e-01 -7.19994753e-01 7.01281212e-03 1.72275042e+02] [ 7.19960509e-01 -6.93979484e-01 -7.02428373e-03 -1.17295490e+02] [ 9.92419517e-03 1.74487730e-04 9.99950739e-01 -5.13475383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.014925548276339911 Centerline is valid? [True, True] Translation: X:172.24, Y:-117.25, Z:-5.13 [[-6.95033057e-01 -7.18945140e-01 6.85091739e-03 1.72235680e+02] [ 7.18912449e-01 -6.95066803e-01 -6.85784865e-03 -1.17253543e+02] [ 9.69226221e-03 1.58778290e-04 9.99953016e-01 -5.13412773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.014783158877266738 Centerline is valid? [True, True] Translation: X:172.20, Y:-117.21, Z:-5.13 [[-6.96649117e-01 -7.17383692e-01 6.37551615e-03 1.72195977e+02] [ 7.17355346e-01 -6.96678277e-01 -6.37847710e-03 -1.17212308e+02] [ 9.01749905e-03 1.29950158e-04 9.99959333e-01 -5.13431063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.014308469639506008 Centerline is valid? [True, True] Translation: X:172.16, Y:-117.17, Z:-5.14 [[-6.98449693e-01 -7.15622814e-01 7.21202808e-03 1.72156997e+02] [ 7.15586494e-01 -6.98486916e-01 -7.21096490e-03 -1.17170290e+02] [ 1.01978382e-02 1.24333660e-04 9.99947993e-01 -5.13538862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.01428272013491665 Centerline is valid? [True, True] Translation: X:171.68, Y:-117.65, Z:-4.12 [[-7.62717930e-01 6.46676943e-01 8.38396192e-03 1.71684343e+02] [ 6.46636070e-01 7.62763998e-01 -7.27162363e-03 -1.17648634e+02] [-1.10973757e-02 -1.24825536e-04 -9.99938414e-01 -4.12010598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.014256510680372965 Centerline is valid? [True, True] Translation: X:171.70, Y:-117.63, Z:-4.12 [[-8.07017927e-01 5.90466451e-01 8.45197540e-03 1.71701308e+02] [ 5.90432412e-01 8.07062175e-01 -6.34127869e-03 -1.17628708e+02] [-1.05655820e-02 -1.27205364e-04 -9.99944175e-01 -4.12181909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.01500068253264189 Centerline is valid? [True, True] Translation: X:172.11, Y:-117.09, Z:-5.13 [[-7.48034075e-01 -6.63628475e-01 6.50155560e-03 1.72106133e+02] [ 6.63603289e-01 -7.48062328e-01 -5.78169855e-03 -1.17092102e+02] [ 8.70046861e-03 -1.04538467e-05 9.99962150e-01 -5.13198826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.015012841068087602 Centerline is valid? [True, True] Translation: X:172.09, Y:-117.12, Z:-5.13 [[-7.01118721e-01 -7.13021600e-01 5.72161057e-03 1.72091081e+02] [ 7.12999298e-01 -7.01142056e-01 -5.64084485e-03 -1.17118499e+02] [ 8.03370602e-03 1.24602387e-04 9.99967722e-01 -5.13127850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.015323869150217658 Centerline is valid? [True, True] Translation: X:171.62, Y:-117.59, Z:-4.13 [[-7.71010061e-01 6.36793239e-01 6.15278765e-03 1.71616445e+02] [ 6.36771522e-01 7.71034599e-01 -5.26080994e-03 -1.17593664e+02] [-8.09406036e-03 -1.38217432e-04 -9.99967233e-01 -4.12520126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.015897561515941613 Centerline is valid? [True, True] Translation: X:171.63, Y:-117.57, Z:-4.13 [[-8.15203442e-01 5.79137711e-01 6.54675247e-03 1.71629794e+02] [ 5.79117508e-01 8.15229715e-01 -4.83979789e-03 -1.17568350e+02] [-8.14001662e-03 -1.54080921e-04 -9.99966858e-01 -4.12558087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.017187261996034323 Centerline is valid? [True, True] Translation: X:171.65, Y:-117.54, Z:-4.12 [[-8.55029122e-01 5.18530301e-01 7.17822948e-03 1.71648099e+02] [ 5.18510293e-01 8.55059236e-01 -4.55843658e-03 -1.17543906e+02] [-8.50149890e-03 -1.75610151e-04 -9.99963846e-01 -4.12430882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.017128749940475998 Centerline is valid? [True, True] Translation: X:171.67, Y:-117.52, Z:-4.12 [[-8.90034046e-01 4.55821042e-01 8.15928711e-03 1.71665418e+02] [ 4.55799812e-01 8.90071423e-01 -4.40384550e-03 -1.17522656e+02] [-9.26971373e-03 -2.00570900e-04 -9.99957015e-01 -4.12445640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.01696973692079009 Centerline is valid? [True, True] Translation: X:171.67, Y:-117.50, Z:-4.12 [[-9.20050056e-01 3.91688157e-01 9.39590592e-03 1.71672986e+02] [ 3.91665250e-01 9.20098005e-01 -4.24192199e-03 -1.17496510e+02] [-1.03066649e-02 -2.22730725e-04 -9.99946860e-01 -4.12485864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.016552706659925184 Centerline is valid? [True, True] Translation: X:171.95, Y:-116.90, Z:-5.13 [[-8.71367769e-01 -4.90553559e-01 8.68423317e-03 1.71951318e+02] [ 4.90531315e-01 -8.71411023e-01 -4.67521169e-03 -1.16901046e+02] [ 9.86097825e-03 1.86059537e-04 9.99951362e-01 -5.12927960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.016384454319391787 Centerline is valid? [True, True] Translation: X:171.64, Y:-117.48, Z:-4.13 [[-9.20684704e-01 3.90221031e-01 8.19902200e-03 1.71637673e+02] [ 3.90203850e-01 9.20721194e-01 -3.66596594e-03 -1.17478994e+02] [-8.97955033e-03 -1.75908815e-04 -9.99959668e-01 -4.12743017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.01585592345423326 Centerline is valid? [True, True] Translation: X:171.65, Y:-117.45, Z:-4.13 [[-9.45739603e-01 3.24821571e-01 8.21889420e-03 1.71649633e+02] [ 3.24807794e-01 9.45775301e-01 -2.99619671e-03 -1.17454411e+02] [-8.74645646e-03 -1.64060995e-04 -9.99961736e-01 -4.12876406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.01590075552013543 Centerline is valid? [True, True] Translation: X:171.66, Y:-117.43, Z:-4.13 [[-9.65788666e-01 2.59167292e-01 9.19606426e-03 1.71657873e+02] [ 2.59153980e-01 9.65832434e-01 -2.63153612e-03 -1.17426255e+02] [-9.56386521e-03 -1.58311101e-04 -9.99954253e-01 -4.12841109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.01549049635760863 Centerline is valid? [True, True] Translation: X:171.84, Y:-116.80, Z:-5.13 [[-9.35661034e-01 -3.52773902e-01 9.43416446e-03 1.71835202e+02] [ 3.52758037e-01 -9.35708575e-01 -3.35114653e-03 -1.16804327e+02] [ 1.00098256e-02 1.92440111e-04 9.99949882e-01 -5.12785592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.014490548811186941 Centerline is valid? [True, True] Translation: X:171.62, Y:-117.41, Z:-4.13 [[-9.65066839e-01 2.61775940e-01 1.09248729e-02 1.71615762e+02] [ 2.61757811e-01 9.65128667e-01 -3.08298817e-03 -1.17414526e+02] [-1.13509602e-02 -1.15618831e-04 -9.99935569e-01 -4.12752450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.013728406354522823 Centerline is valid? [True, True] Translation: X:171.62, Y:-117.39, Z:-4.13 [[-9.80432858e-01 1.96557851e-01 1.07898902e-02 1.71623041e+02] [ 1.96545174e-01 9.80492227e-01 -2.23340442e-03 -1.17390325e+02] [-1.10183967e-02 -6.90022228e-05 -9.99939293e-01 -4.12914197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.013368842613175957 Centerline is valid? [True, True] Translation: X:171.63, Y:-117.37, Z:-4.13 [[-9.91112449e-01 1.32637079e-01 1.01744452e-02 1.71631324e+02] [ 1.32630081e-01 9.91164671e-01 -1.36247484e-03 -1.17365007e+02] [-1.02652653e-02 -9.28276079e-07 -9.99947311e-01 -4.13033283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.013379683624083089 Centerline is valid? [True, True] Translation: X:171.72, Y:-116.72, Z:-5.12 [[-9.80557690e-01 -1.95973589e-01 1.00483688e-02 1.71715956e+02] [ 1.95963298e-01 -9.80609174e-01 -2.00832525e-03 -1.16718878e+02] [ 1.02471014e-02 -1.67271586e-07 9.99947497e-01 -5.12448485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.01377815408912195 Centerline is valid? [True, True] Translation: X:171.58, Y:-117.36, Z:-4.13 [[-9.90443469e-01 1.37488544e-01 1.08920019e-02 1.71584162e+02] [ 1.37481292e-01 9.90503352e-01 -1.41531725e-03 -1.17359166e+02] [-1.09831543e-02 9.56547617e-05 -9.99939679e-01 -4.13107827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.014555826328437499 Centerline is valid? [True, True] Translation: X:171.67, Y:-116.72, Z:-5.13 [[-9.83056292e-01 -1.82904697e-01 1.20912699e-02 1.71672292e+02] [ 1.82890514e-01 -9.83130648e-01 -2.27791171e-03 -1.16717741e+02] [ 1.23039388e-02 -2.79368678e-05 9.99924303e-01 -5.12619189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.014739213957162866 Centerline is valid? [True, True] Translation: X:171.54, Y:-117.35, Z:-4.13 [[-9.90053619e-01 1.40002207e-01 1.39001592e-02 1.71535813e+02] [ 1.39991407e-01 9.90151169e-01 -1.75176898e-03 -1.17347655e+02] [-1.40085104e-02 2.11557633e-04 -9.99901854e-01 -4.12938594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.014846996545658468 Centerline is valid? [True, True] Translation: X:171.54, Y:-117.32, Z:-4.13 [[-9.97472991e-01 6.95678781e-02 1.44201914e-02 1.71536421e+02] [ 6.95638089e-02 9.97577196e-01 -7.84186309e-04 -1.17316880e+02] [-1.44398083e-02 2.20918778e-04 -9.99895716e-01 -4.12924686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.014044424074470752 Centerline is valid? [True, True] Translation: X:171.57, Y:-116.69, Z:-5.13 [[-9.93950295e-01 -1.08897433e-01 1.42884650e-02 1.71568804e+02] [ 1.08882955e-01 -9.94052966e-01 -1.78966788e-03 -1.16694915e+02] [ 1.43983812e-02 -2.23070637e-04 9.99896313e-01 -5.12610013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.0131546073653074 Centerline is valid? [True, True] Translation: X:171.48, Y:-117.30, Z:-4.13 [[-9.98302854e-01 5.64970630e-02 1.41242136e-02 1.71477818e+02] [ 5.64926445e-02 9.98402762e-01 -7.11932254e-04 -1.17296745e+02] [-1.41418759e-02 8.71901754e-05 -9.99899995e-01 -4.12975278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.012819752596062984 Centerline is valid? [True, True] Translation: X:171.50, Y:-116.71, Z:-5.13 [[-9.93092888e-01 -1.16665337e-01 1.24785709e-02 1.71504388e+02] [ 1.16653771e-01 -9.93171267e-01 -1.65322156e-03 -1.16707560e+02] [ 1.25862317e-02 -1.86130228e-04 9.99920773e-01 -5.12525510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.012970119556064579 Centerline is valid? [True, True] Translation: X:171.42, Y:-117.28, Z:-4.13 [[-9.99144743e-01 3.98114452e-02 1.11727583e-02 1.71418699e+02] [ 3.98081316e-02 9.99207207e-01 -5.18896987e-04 -1.17277653e+02] [-1.11845586e-02 -7.36865647e-05 -9.99937448e-01 -4.13118424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.013542144783286634 Centerline is valid? [True, True] Translation: X:171.44, Y:-116.72, Z:-5.12 [[-9.92129659e-01 -1.24743710e-01 1.08510943e-02 1.71439022e+02] [ 1.24736849e-01 -9.92188996e-01 -1.30941692e-03 -1.16720793e+02] [ 1.09296779e-02 5.44199418e-05 9.99940268e-01 -5.12428422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.014579047591136832 Centerline is valid? [True, True] Translation: X:171.36, Y:-117.26, Z:-4.13 [[-9.99598753e-01 2.55813520e-02 1.21625691e-02 1.71361725e+02] [ 2.55769474e-02 9.99672722e-01 -5.17575099e-04 -1.17260519e+02] [-1.21718288e-02 -2.06286034e-04 -9.99925899e-01 -4.12990035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.015487858812006214 Centerline is valid? [True, True] Translation: X:171.35, Y:-117.23, Z:-4.13 [[-9.98682521e-01 -4.95711330e-02 1.32637094e-02 1.71345631e+02] [-4.95704782e-02 9.98770557e-01 3.78322357e-04 -1.17226328e+02] [-1.32661563e-02 -2.79664495e-04 -9.99911962e-01 -4.12850150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.01586514207129374 Centerline is valid? [True, True] Translation: X:171.33, Y:-116.71, Z:-5.13 [[-9.98080423e-01 -6.05145025e-02 1.31705929e-02 1.71330882e+02] [ 6.05128281e-02 -9.98167281e-01 -5.25969245e-04 -1.16710092e+02] [ 1.31782837e-02 2.72030220e-04 9.99913126e-01 -5.12752859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.014724660802839313 Centerline is valid? [True, True] Translation: X:171.30, Y:-117.23, Z:-4.13 [[-9.98616317e-01 -5.09735653e-02 1.29285718e-02 1.71296685e+02] [-5.09723829e-02 9.98699974e-01 4.21167117e-04 -1.17228264e+02] [-1.29332327e-02 -2.38415756e-04 -9.99916334e-01 -4.12899886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.013725470494795562 Centerline is valid? [True, True] Translation: X:171.28, Y:-116.71, Z:-5.13 [[-9.98731537e-01 -4.86607601e-02 1.29401492e-02 1.71281090e+02] [ 4.86597782e-02 -9.98815335e-01 -3.90905018e-04 -1.16706979e+02] [ 1.29438412e-02 2.39255620e-04 9.99916196e-01 -5.12662893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.01321484706130631 Centerline is valid? [True, True] Translation: X:171.25, Y:-117.24, Z:-4.13 [[-9.98838033e-01 -4.65056706e-02 1.26414958e-02 1.71248248e+02] [-4.65035148e-02 9.98918018e-01 4.64592874e-04 -1.17237231e+02] [-1.26494242e-02 -1.23820956e-04 -9.99919985e-01 -4.12911443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.012764132951828704 Centerline is valid? [True, True] Translation: X:171.24, Y:-117.22, Z:-4.13 [[-9.93535697e-01 -1.12863732e-01 1.21900704e-02 1.71240241e+02] [-1.12856019e-01 9.93610474e-01 1.32096815e-03 -1.17215790e+02] [-1.22612710e-02 -6.32938063e-05 -9.99924826e-01 -4.12979849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.012737050937552424 Centerline is valid? [True, True] Translation: X:171.23, Y:-117.19, Z:-4.13 [[-9.83208674e-01 -1.82090366e-01 1.19917526e-02 1.71227357e+02] [-1.82077425e-01 9.83281799e-01 2.17140777e-03 -1.17191675e+02] [-1.21866645e-02 -4.84804876e-05 -9.99925739e-01 -4.12977805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.01265447895032099 Centerline is valid? [True, True] Translation: X:171.21, Y:-117.17, Z:-4.13 [[-9.68253656e-01 -2.49652851e-01 1.25821878e-02 1.71212256e+02] [-2.49632093e-01 9.68335404e-01 3.21940017e-03 -1.17171004e+02] [-1.29875104e-02 -2.37218916e-05 -9.99915658e-01 -4.12950401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.012562752536200945 Centerline is valid? [True, True] Translation: X:171.07, Y:-116.64, Z:-5.13 [[-9.83563463e-01 1.80128195e-01 1.25198610e-02 1.71072643e+02] [-1.80113526e-01 -9.83643143e-01 2.29878044e-03 -1.16635986e+02] [ 1.27291506e-02 6.00014370e-06 9.99918981e-01 -5.12605885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.01281144329820064 Centerline is valid? [True, True] Translation: X:171.12, Y:-117.20, Z:-4.13 [[-9.66205721e-01 -2.57498584e-01 1.18736492e-02 1.71122587e+02] [-2.57479803e-01 9.66278675e-01 3.11038778e-03 -1.17196342e+02] [-1.22741745e-02 -5.19503974e-05 -9.99924668e-01 -4.12995637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.013145863992227561 Centerline is valid? [True, True] Translation: X:171.10, Y:-117.17, Z:-4.13 [[-9.43722859e-01 -3.30542755e-01 1.13424971e-02 1.71097272e+02] [-3.30520281e-01 9.43791012e-01 3.85603010e-03 -1.17174618e+02] [-1.19795296e-02 -1.09901590e-04 -9.99928237e-01 -4.13087341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.014077743330726589 Centerline is valid? [True, True] Translation: X:171.06, Y:-117.16, Z:-4.13 [[-9.15697353e-01 -4.01697324e-01 1.17310718e-02 1.71061091e+02] [-4.01666793e-01 9.15772477e-01 4.95558533e-03 -1.17157736e+02] [-1.27336380e-02 -1.74165608e-04 -9.99918909e-01 -4.12970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.015229941864476876 Centerline is valid? [True, True] Translation: X:171.02, Y:-117.15, Z:-4.13 [[-8.81198345e-01 -4.72620537e-01 1.09226576e-02 1.71018457e+02] [-4.72587733e-01 8.81266002e-01 5.57391067e-03 -1.17149114e+02] [-1.22601114e-02 -2.50193133e-04 -9.99924811e-01 -4.13064774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.017047726236420632 Centerline is valid? [True, True] Translation: X:170.96, Y:-117.15, Z:-4.13 [[-8.41716062e-01 -5.39851703e-01 8.61448075e-03 1.70962366e+02] [-5.39826518e-01 8.41760104e-01 5.22079808e-03 -1.17150186e+02] [-1.00697830e-02 -2.55895547e-04 -9.99949266e-01 -4.13273103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.018595204050595348 Centerline is valid? [True, True] Translation: X:170.90, Y:-117.17, Z:-4.13 [[-7.97286508e-01 -6.03568844e-01 6.23493815e-03 1.70896015e+02] [-6.03552576e-01 7.97310855e-01 4.43716991e-03 -1.17165168e+02] [-7.64932138e-03 -2.25417275e-04 -9.99970718e-01 -4.13483577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.01890730634663314 Centerline is valid? [True, True] Translation: X:170.83, Y:-117.19, Z:-4.14 [[-7.49170215e-01 -6.62356486e-01 5.27954331e-03 1.70827888e+02] [-6.62342036e-01 7.49188787e-01 4.38040552e-03 -1.17187483e+02] [-6.85676466e-03 -2.15194128e-04 -9.99976469e-01 -4.13519224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.02126289041674782 Centerline is valid? [True, True] Translation: X:170.75, Y:-117.22, Z:-4.13 [[-6.96166535e-01 -7.17864336e-01 4.79076793e-03 1.70751482e+02] [-7.17849529e-01 6.96182982e-01 4.61619150e-03 -1.17220364e+02] [-6.64905035e-03 -2.25412464e-04 -9.99977869e-01 -4.13399473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.0204903165754989 Centerline is valid? [True, True] Translation: X:170.68, Y:-117.26, Z:-4.13 [[-6.38823083e-01 -7.69337020e-01 5.06151715e-03 1.70681694e+02] [-7.69316207e-01 6.38843075e-01 5.66551472e-03 -1.17261766e+02] [-7.59220539e-03 -2.74645592e-04 -9.99971141e-01 -4.13307073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.02120447438204962 Centerline is valid? [True, True] Translation: X:170.61, Y:-117.32, Z:-4.13 [[-5.78055697e-01 -8.15978071e-01 5.60341958e-03 1.70608104e+02] [-8.15945405e-01 5.78082751e-01 7.30953467e-03 -1.17315179e+02] [-9.20366021e-03 -3.46766301e-04 -9.99957585e-01 -4.13179243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.021125969673370264 Centerline is valid? [True, True] Translation: X:170.54, Y:-117.38, Z:-4.13 [[-5.16314824e-01 -8.56374986e-01 6.39419327e-03 1.70536128e+02] [-8.56319149e-01 5.16354244e-01 9.78824218e-03 -1.17379382e+02] [-1.16840746e-02 -4.21655600e-04 -9.99931650e-01 -4.12843759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.019602220763695555 Centerline is valid? [True, True] Translation: X:170.47, Y:-117.45, Z:-4.13 [[-4.52748075e-01 -8.91617906e-01 6.05728581e-03 1.70470434e+02] [-8.91549983e-01 4.52788404e-01 1.10131430e-02 -1.17451679e+02] [-1.25621843e-02 -4.14193745e-04 -9.99921007e-01 -4.12813139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.018931690566162358 Centerline is valid? [True, True] Translation: X:170.41, Y:-117.53, Z:-4.13 [[-3.87598667e-01 -9.21814556e-01 5.01983005e-03 1.70408477e+02] [-9.21748542e-01 3.87631014e-01 1.10372835e-02 -1.17530464e+02] [-1.21201704e-02 -3.48984668e-04 -9.99926487e-01 -4.12879002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.01585675190828907 Centerline is valid? [True, True] Translation: X:170.36, Y:-117.62, Z:-4.13 [[-3.22591925e-01 -9.46531258e-01 3.60921400e-03 1.70355756e+02] [-9.46479793e-01 3.22612032e-01 9.87310306e-03 -1.17621682e+02] [-1.05095765e-02 -2.31064790e-04 -9.99944746e-01 -4.13176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.013924893166645764 Centerline is valid? [True, True] Translation: X:170.31, Y:-117.72, Z:-4.13 [[-2.57393881e-01 -9.66303267e-01 2.52699363e-03 1.70307234e+02] [-9.66261425e-01 2.57406254e-01 8.99325487e-03 -1.17719254e+02] [-9.34067553e-03 -1.26927696e-04 -9.99956367e-01 -4.13297214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.012874419084086292 Centerline is valid? [True, True] Translation: X:170.27, Y:-117.82, Z:-4.13 [[-1.90649665e-01 -9.81656260e-01 1.92164679e-03 1.70267264e+02] [-9.81609115e-01 1.90659342e-01 9.62085321e-03 -1.17817799e+02] [-9.81075069e-03 -5.20935650e-05 -9.99951872e-01 -4.13362507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.012595163474992914 Centerline is valid? [True, True] Translation: X:170.23, Y:-117.93, Z:-4.13 [[-1.20025994e-01 -9.92770027e-01 1.19746651e-03 1.70228707e+02] [-9.92720690e-01 1.20031967e-01 9.89737583e-03 -1.17926150e+02] [-9.96955233e-03 -8.07406752e-07 -9.99950303e-01 -4.13413088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.01301708052510791 Centerline is valid? [True, True] Translation: X:170.20, Y:-118.04, Z:-4.13 [[-4.94678886e-02 -9.98775628e-01 4.16973383e-04 1.70198744e+02] [-9.98729495e-01 4.94696114e-02 9.59962563e-03 -1.18039136e+02] [-9.60849962e-03 5.84295946e-05 -9.99953836e-01 -4.13488504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.013373977890380463 Centerline is valid? [True, True] Translation: X:170.18, Y:-118.15, Z:-4.14 [[ 2.32899453e-02 -9.99728715e-01 -2.74182160e-04 1.70175436e+02] [-9.99694847e-01 -2.32914132e-02 8.22936439e-03 -1.18146646e+02] [-8.23351797e-03 8.24370466e-05 -9.99966101e-01 -4.13634587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.013480069107787093 Centerline is valid? [True, True] Translation: X:170.16, Y:-118.27, Z:-4.14 [[ 9.98777030e-02 -9.94999309e-01 -9.05360814e-04 1.70157432e+02] [-9.94965742e-01 -9.98817706e-02 8.17340745e-03 -1.18267811e+02] [-8.22296380e-03 8.44618332e-05 -9.99966187e-01 -4.13610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.013178815947785645 Centerline is valid? [True, True] Translation: X:170.15, Y:-118.39, Z:-4.14 [[ 1.78718566e-01 -9.83898694e-01 -1.74199932e-03 1.70145998e+02] [-9.83855778e-01 -1.78727041e-01 9.18980226e-03 -1.18389697e+02] [-9.35317682e-03 7.14878138e-05 -9.99956256e-01 -4.13514992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.012827225414921557 Centerline is valid? [True, True] Translation: X:170.14, Y:-118.52, Z:-4.13 [[ 2.58959784e-01 -9.65884210e-01 -2.74298042e-03 1.70141281e+02] [-9.65831027e-01 -2.58974309e-01 1.01358062e-02 -1.18515458e+02] [-1.05003766e-02 2.44894218e-05 -9.99944869e-01 -4.13271495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.01277736052482691 Centerline is valid? [True, True] Translation: X:170.15, Y:-118.64, Z:-4.13 [[ 3.35097743e-01 -9.42175733e-01 -3.79350921e-03 1.70147386e+02] [-9.42115135e-01 -3.35119215e-01 1.06857072e-02 -1.18637012e+02] [-1.13390918e-02 -6.83393372e-06 -9.99935710e-01 -4.13144451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.012717069591516469 Centerline is valid? [True, True] Translation: X:170.16, Y:-118.75, Z:-4.13 [[ 4.07754154e-01 -9.13081206e-01 -4.38866566e-03 1.70162466e+02] [-9.13027726e-01 -4.07777770e-01 9.88237818e-03 -1.18753116e+02] [-1.08130141e-02 -2.26073244e-05 -9.99941537e-01 -4.13261758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.01267501532574215 Centerline is valid? [True, True] Translation: X:170.19, Y:-118.87, Z:-4.13 [[ 4.75155687e-01 -8.79891866e-01 -4.16853627e-03 1.70187557e+02] [-8.79857936e-01 -4.75173972e-01 7.72715451e-03 -1.18866943e+02] [-8.77984034e-03 -3.88169401e-06 -9.99961456e-01 -4.13426463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.012609579947430186 Centerline is valid? [True, True] Translation: X:170.22, Y:-118.98, Z:-4.13 [[ 5.38271350e-01 -8.42761930e-01 -4.03512035e-03 1.70220946e+02] [-8.42738565e-01 -5.38286474e-01 6.27558387e-03 -1.18978236e+02] [-7.46087389e-03 2.25845312e-05 -9.99972167e-01 -4.13496642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.013015334319491945 Centerline is valid? [True, True] Translation: X:170.26, Y:-119.08, Z:-4.13 [[ 5.97947102e-01 -8.01523811e-01 -4.34105167e-03 1.70259326e+02] [-8.01503301e-01 -5.97962857e-01 5.73404531e-03 -1.19079785e+02] [-7.19176151e-03 5.07114700e-05 -9.99974138e-01 -4.13407724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.014241742577993774 Centerline is valid? [True, True] Translation: X:170.31, Y:-119.17, Z:-4.13 [[ 6.50244805e-01 -7.59705625e-01 -5.39045370e-03 1.70306251e+02] [-7.59681216e-01 -6.50267133e-01 6.09138338e-03 -1.19174715e+02] [-8.13289310e-03 1.34136029e-04 -9.99966919e-01 -4.13371841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.016811756255535673 Centerline is valid? [True, True] Translation: X:170.36, Y:-119.26, Z:-4.13 [[ 7.01006326e-01 -7.13120856e-01 -6.98394553e-03 1.70360054e+02] [-7.13088722e-01 -7.01041076e-01 6.77382600e-03 -1.19263400e+02] [-9.72658929e-03 2.31677917e-04 -9.99952669e-01 -4.13201190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.019564160940740597 Centerline is valid? [True, True] Translation: X:170.38, Y:-119.29, Z:-4.13 [[ 7.49913877e-01 -6.61477348e-01 -8.76893629e-03 1.70383405e+02] [-6.61437539e-01 -7.49965062e-01 7.26554238e-03 -1.19285869e+02] [-1.13823876e-02 3.51572578e-04 -9.99935157e-01 -4.13020694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.019996413523519926 Centerline is valid? [True, True] Translation: X:170.40, Y:-119.31, Z:-4.13 [[ 7.96052108e-01 -6.05140860e-01 -1.02752529e-02 1.70403598e+02] [-6.05097741e-01 -7.96118290e-01 7.23820248e-03 -1.19312132e+02] [-1.25604489e-02 4.55545993e-04 -9.99921011e-01 -4.13025356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.021106610503099817 Centerline is valid? [True, True] Translation: X:170.43, Y:-119.34, Z:-4.13 [[ 8.38379290e-01 -5.44962444e-01 -1.16662531e-02 1.70425629e+02] [-5.44918770e-01 -8.38460272e-01 6.92146627e-03 -1.19335975e+02] [-1.35536290e-02 5.54346341e-04 -9.99907992e-01 -4.13018184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.020687483074427422 Centerline is valid? [True, True] Translation: X:170.45, Y:-119.36, Z:-4.13 [[ 8.79217801e-01 -4.76292767e-01 -1.10117613e-02 1.70448796e+02] [-4.76262194e-01 -8.79286625e-01 5.41789725e-03 -1.19361420e+02] [-1.22629997e-02 4.80973885e-04 -9.99924691e-01 -4.13104909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.018442860990848676 Centerline is valid? [True, True] Translation: X:170.47, Y:-119.39, Z:-4.13 [[ 9.17540581e-01 -3.97530287e-01 -9.43146594e-03 1.70471748e+02] [-3.97512658e-01 -9.17589003e-01 3.75599260e-03 -1.19386889e+02] [-1.01473302e-02 3.02851455e-04 -9.99948469e-01 -4.13230257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.015203925666542936 Centerline is valid? [True, True] Translation: X:170.50, Y:-119.41, Z:-4.13 [[ 9.49004882e-01 -3.15127079e-01 -9.20096999e-03 1.70496938e+02] [-3.15114220e-01 -9.49049465e-01 2.85320903e-03 -1.19414405e+02] [-9.63129907e-03 1.91647180e-04 -9.99953600e-01 -4.13288802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.013405447606703464 Centerline is valid? [True, True] Translation: X:170.52, Y:-119.44, Z:-4.13 [[ 9.73321355e-01 -2.29240559e-01 -9.71117327e-03 1.70524992e+02] [-2.29230048e-01 -9.73369795e-01 2.19695512e-03 -1.19437141e+02] [-9.95619396e-03 8.77493846e-05 -9.99950432e-01 -4.13212625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.013076543327642558 Centerline is valid? [True, True] Translation: X:170.56, Y:-119.46, Z:-4.13 [[ 9.90536941e-01 -1.36820961e-01 -1.07978249e-02 1.70555047e+02] [-1.36811996e-01 -9.90595790e-01 1.56808808e-03 -1.19461525e+02] [-1.09108272e-02 -7.59771969e-05 -9.99940472e-01 -4.13074063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.014409105143094422 Centerline is valid? [True, True] Translation: X:170.58, Y:-119.48, Z:-4.13 [[ 9.98777344e-01 -4.83374725e-02 -1.03588270e-02 1.70584476e+02] [-4.83329879e-02 -9.98831045e-01 6.82979155e-04 -1.19479900e+02] [-1.03797314e-02 -1.81471048e-04 -9.99946113e-01 -4.13131505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.015246452863627826 Centerline is valid? [True, True] Translation: X:170.62, Y:-119.49, Z:-4.13 [[ 9.99393894e-01 3.34075418e-02 -9.78680525e-03 1.70616110e+02] [ 3.34079388e-02 -9.99441791e-01 -1.22956836e-04 -1.19490446e+02] [-9.78544986e-03 -2.04074680e-04 -9.99952101e-01 -4.13178936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.01568132357858006 Centerline is valid? [True, True] Translation: X:170.65, Y:-119.50, Z:-4.13 [[ 9.93618169e-01 1.12465459e-01 -8.62877334e-03 1.70648082e+02] [ 1.12462867e-01 -9.93655617e-01 -7.86525702e-04 -1.19495248e+02] [-8.66248607e-03 -1.88910363e-04 -9.99962462e-01 -4.13193811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.01521572909929452 Centerline is valid? [True, True] Translation: X:170.68, Y:-119.49, Z:-4.13 [[ 9.82075462e-01 1.88300851e-01 -8.40096740e-03 1.70679748e+02] [ 1.88295457e-01 -9.82111379e-01 -1.43557795e-03 -1.19494372e+02] [-8.52100623e-03 -1.72018116e-04 -9.99963681e-01 -4.13204328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.01590642217490712 Centerline is valid? [True, True] Translation: X:170.71, Y:-119.49, Z:-4.13 [[ 9.64807601e-01 2.62785813e-01 -9.48210445e-03 1.70710255e+02] [ 2.62774946e-01 -9.64854178e-01 -2.39653508e-03 -1.19491511e+02] [-9.77862351e-03 -1.79464228e-04 -9.99952172e-01 -4.12953046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.014426263569467076 Centerline is valid? [True, True] Translation: X:170.74, Y:-119.48, Z:-4.13 [[ 9.41924059e-01 3.35673083e-01 -1.01315961e-02 1.70740227e+02] [ 3.35655659e-01 -9.41978530e-01 -3.42458301e-03 -1.19484226e+02] [-1.06932864e-02 -1.75030447e-04 -9.99942810e-01 -4.13009922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.013835278216549458 Centerline is valid? [True, True] Translation: X:170.77, Y:-119.47, Z:-4.13 [[ 9.14803616e-01 4.03771345e-01 -1.01511119e-02 1.70766347e+02] [ 4.03747995e-01 -9.14859927e-01 -4.34406655e-03 -1.19472174e+02] [-1.10408551e-02 -1.24523281e-04 -9.99939040e-01 -4.12977605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.013059377006522151 Centerline is valid? [True, True] Translation: X:170.79, Y:-119.45, Z:-4.13 [[ 8.84418263e-01 4.66608103e-01 -9.01184467e-03 1.70789996e+02] [ 4.66584205e-01 -8.84464175e-01 -4.72252783e-03 -1.19454262e+02] [-1.01742235e-02 -2.80945230e-05 -9.99948241e-01 -4.13124716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.013160001099851852 Centerline is valid? [True, True] Translation: X:170.81, Y:-119.44, Z:-4.13 [[ 8.48382605e-01 5.29321976e-01 -8.07470475e-03 1.70813851e+02] [ 5.29297654e-01 -8.48421030e-01 -5.07431716e-03 -1.19438933e+02] [-9.53669691e-03 3.10401331e-05 -9.99954524e-01 -4.13192264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.013208944404768665 Centerline is valid? [True, True] Translation: X:170.84, Y:-119.43, Z:-4.13 [[ 8.05568983e-01 5.92473206e-01 -5.84080979e-03 1.70840890e+02] [ 5.92457280e-01 -8.05590156e-01 -4.34414241e-03 -1.19427934e+02] [-7.27908685e-03 3.90760980e-05 -9.99973506e-01 -4.13478025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.01365771118745291 Centerline is valid? [True, True] Translation: X:170.86, Y:-119.41, Z:-4.14 [[ 7.58453718e-01 6.51703567e-01 -5.51535168e-03 1.70863307e+02] [ 6.51685774e-01 -7.58473769e-01 -4.81609239e-03 -1.19413213e+02] [-7.32191416e-03 5.85069517e-05 -9.99973193e-01 -4.13612310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.013932715965364835 Centerline is valid? [True, True] Translation: X:170.89, Y:-119.40, Z:-4.14 [[ 7.06620286e-01 7.07570998e-01 -5.57272687e-03 1.70886320e+02] [ 7.07548092e-01 -7.06642255e-01 -5.69388868e-03 -1.19397452e+02] [-7.96675478e-03 8.04449823e-05 -9.99968262e-01 -4.13575735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.014040429339436045 Centerline is valid? [True, True] Translation: X:170.91, Y:-119.38, Z:-4.14 [[ 6.50112885e-01 7.59824121e-01 -4.53242070e-03 1.70910857e+02] [ 7.59804774e-01 -6.50128679e-01 -5.42273838e-03 -1.19383580e+02] [-7.06698411e-03 8.16372073e-05 -9.99975025e-01 -4.13623230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.014067735989017723 Centerline is valid? [True, True] Translation: X:170.93, Y:-119.37, Z:-4.14 [[ 5.88804275e-01 8.08268221e-01 -3.46543490e-03 1.70932930e+02] [ 8.08253509e-01 -5.88814468e-01 -4.87729171e-03 -1.19366700e+02] [-5.98265810e-03 7.08202901e-05 -9.99982101e-01 -4.13861493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.013599371657771508 Centerline is valid? [True, True] Translation: X:170.96, Y:-119.35, Z:-4.14 [[ 5.22314136e-01 8.52746894e-01 -3.26761732e-03 1.70957716e+02] [ 8.52729425e-01 -5.22324353e-01 -5.45873529e-03 -1.19350113e+02] [-6.36167567e-03 6.47811671e-05 -9.99979762e-01 -4.13920259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.013503585992815691 Centerline is valid? [True, True] Translation: X:170.98, Y:-119.33, Z:-4.14 [[ 4.52502048e-01 8.91758024e-01 -3.08581988e-03 1.70977892e+02] [ 8.91736388e-01 -4.52512566e-01 -6.21226095e-03 -1.19331049e+02] [-6.93620582e-03 5.93229280e-05 -9.99975943e-01 -4.13824573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.013240694692782487 Centerline is valid? [True, True] Translation: X:171.00, Y:-119.31, Z:-4.14 [[ 3.79029847e-01 9.25379444e-01 -3.04311938e-03 1.70998401e+02] [ 9.25348555e-01 -3.79042060e-01 -7.56097184e-03 -1.19309873e+02] [-8.15023815e-03 4.98878833e-05 -9.99966785e-01 -4.13781810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.013040991985250806 Centerline is valid? [True, True] Translation: X:171.02, Y:-119.29, Z:-4.14 [[ 3.03224950e-01 9.52915123e-01 -2.71993210e-03 1.71019171e+02] [ 9.52875754e-01 -3.03237147e-01 -8.66200474e-03 -1.19288096e+02] [-9.07893976e-03 3.47786037e-05 -9.99958785e-01 -4.13844865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.012949546075466646 Centerline is valid? [True, True] Translation: X:171.04, Y:-119.27, Z:-4.14 [[ 2.22967210e-01 9.74824278e-01 -1.80301884e-03 1.71038900e+02] [ 9.74792706e-01 -2.22974500e-01 -7.84555305e-03 -1.19265272e+02] [-8.05006281e-03 -8.26853876e-06 -9.99967598e-01 -4.13886981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.013046008604122618 Centerline is valid? [True, True] Translation: X:171.05, Y:-119.24, Z:-4.14 [[ 1.42078267e-01 9.89854848e-01 -1.07044729e-03 1.71054661e+02] [ 9.89828618e-01 -1.42082295e-01 -7.20608187e-03 -1.19239954e+02] [-7.28506669e-03 -3.57317401e-05 -9.99973463e-01 -4.14022508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.013458995390429985 Centerline is valid? [True, True] Translation: X:171.07, Y:-119.21, Z:-4.14 [[ 5.99131095e-02 9.98203487e-01 -4.66855710e-04 1.71069287e+02] [ 9.98180639e-01 -5.99148969e-02 -6.75404736e-03 -1.19213471e+02] [-6.76988523e-03 -6.13503527e-05 -9.99977082e-01 -4.14075728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.013825490705093773 Centerline is valid? [True, True] Translation: X:171.08, Y:-119.19, Z:-4.14 [[-2.17388927e-02 9.99763680e-01 7.13542187e-05 1.71081832e+02] [ 9.99734618e-01 2.17388049e-02 -7.62347374e-03 -1.19185701e+02] [-7.62322331e-03 -9.43905952e-05 -9.99970938e-01 -4.13942373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.014843406057948223 Centerline is valid? [True, True] Translation: X:171.09, Y:-119.16, Z:-4.14 [[-1.04261301e-01 9.94549573e-01 8.53731383e-04 1.71092374e+02] [ 9.94502214e-01 1.04264669e-01 -9.70697110e-03 -1.19157708e+02] [-9.74307798e-03 -1.63023683e-04 -9.99952522e-01 -4.13638907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.015538039792618714 Centerline is valid? [True, True] Translation: X:171.09, Y:-119.13, Z:-4.13 [[-1.83851472e-01 9.82952008e-01 1.99660191e-03 1.71094842e+02] [ 9.82879871e-01 1.83862172e-01 -1.19105727e-02 -1.19128541e+02] [-1.20746209e-02 -2.27356488e-04 -9.99927073e-01 -4.13457951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.015122017906816453 Centerline is valid? [True, True] Translation: X:171.09, Y:-119.10, Z:-4.13 [[-2.59758924e-01 9.65668561e-01 3.08730683e-03 1.71094405e+02] [ 9.65589276e-01 2.59777165e-01 -1.23763746e-02 -1.19099155e+02] [-1.27534877e-02 -2.33803394e-04 -9.99918644e-01 -4.13428006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.014764424476617953 Centerline is valid? [True, True] Translation: X:171.09, Y:-119.07, Z:-4.13 [[-3.32298619e-01 9.43164094e-01 4.37252438e-03 1.71089076e+02] [ 9.43073576e-01 3.32327313e-01 -1.30685667e-02 -1.19071495e+02] [-1.37789122e-02 -2.19054477e-04 -9.99905042e-01 -4.13394010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.013379971706957152 Centerline is valid? [True, True] Translation: X:171.08, Y:-119.05, Z:-4.14 [[-3.98199959e-01 9.17287001e-01 4.62062446e-03 1.71077313e+02] [ 9.17222373e-01 3.98226755e-01 -1.08889804e-02 -1.19046576e+02] [-1.18283765e-02 -9.78514186e-05 -9.99930038e-01 -4.13625571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.0129355736039749 Centerline is valid? [True, True] Translation: X:171.06, Y:-119.02, Z:-4.14 [[-4.62448179e-01 8.86636534e-01 4.16383574e-03 1.71063085e+02] [ 8.86600414e-01 4.62466924e-01 -8.00315556e-03 -1.19024780e+02] [-9.02152642e-03 -9.38622946e-06 -9.99959305e-01 -4.13845812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.013005601426225153 Centerline is valid? [True, True] Translation: X:171.05, Y:-119.00, Z:-4.14 [[-5.27320439e-01 8.49654466e-01 4.52153111e-03 1.71050972e+02] [ 8.49623604e-01 5.27339823e-01 -7.24169422e-03 -1.19001472e+02] [-8.53732125e-03 2.29061883e-05 -9.99963556e-01 -4.13859720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.012957734740536981 Centerline is valid? [True, True] Translation: X:171.04, Y:-118.98, Z:-4.14 [[-5.92362195e-01 8.05650819e-01 5.81266625e-03 1.71040212e+02] [ 8.05612443e-01 5.92390713e-01 -7.86347999e-03 -1.18976373e+02] [-9.77858860e-03 2.47279875e-05 -9.99952188e-01 -4.13767464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.013064442781834435 Centerline is valid? [True, True] Translation: X:171.03, Y:-118.95, Z:-4.14 [[-6.55952824e-01 7.54760569e-01 7.89790251e-03 1.71028840e+02] [ 7.54705732e-01 6.56000369e-01 -9.09803702e-03 -1.18953220e+02] [-1.20478666e-02 -7.29077898e-06 -9.99927422e-01 -4.13538623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.013179824538497887 Centerline is valid? [True, True] Translation: X:171.02, Y:-118.93, Z:-4.13 [[-7.15306309e-01 6.98753602e-01 8.96040843e-03 1.71015112e+02] [ 6.98697932e-01 7.15362427e-01 -8.82034625e-03 -1.18931329e+02] [-1.25731882e-02 -4.86304734e-05 -9.99920953e-01 -4.13458736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.013675806366865691 Centerline is valid? [True, True] Translation: X:171.04, Y:-118.91, Z:-4.14 [[-7.66735800e-01 6.41902639e-01 8.78723801e-03 1.71037898e+02] [ 6.41858796e-01 7.66786144e-01 -7.50305795e-03 -1.18910763e+02] [-1.15541650e-02 -1.12697132e-04 -9.99933242e-01 -4.13529137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.014357728344088551 Centerline is valid? [True, True] Translation: X:171.05, Y:-118.88, Z:-4.14 [[-8.12169624e-01 5.83343157e-01 9.55316589e-03 1.71050825e+02] [ 5.83300484e-01 8.12225791e-01 -7.05755933e-03 -1.18884969e+02] [-1.18763067e-02 -1.59569015e-04 -9.99929461e-01 -4.13502395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.014151829014703802 Centerline is valid? [True, True] Translation: X:171.07, Y:-118.87, Z:-4.14 [[-8.51698288e-01 5.23934932e-01 1.01099967e-02 1.71071211e+02] [ 5.23895674e-01 8.51758275e-01 -6.41593428e-03 -1.18867790e+02] [-1.19728055e-02 -1.67856698e-04 -9.99928309e-01 -4.13626701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.014418699161304015 Centerline is valid? [True, True] Translation: X:171.47, Y:-118.26, Z:-5.12 [[-7.98319305e-01 -6.02189695e-01 7.33883191e-03 1.71468107e+02] [ 6.02163875e-01 -7.98353036e-01 -5.57648952e-03 -1.18257433e+02] [ 9.21708326e-03 -3.26397785e-05 9.99957521e-01 -5.11790711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.01354068304439975 Centerline is valid? [True, True] Translation: X:171.46, Y:-118.29, Z:-5.12 [[-7.59034218e-01 -6.51033078e-01 4.79452905e-03 1.71462660e+02] [ 6.51020553e-01 -7.59049358e-01 -4.03872068e-03 -1.18288959e+02] [ 6.26862495e-03 5.58097593e-05 9.99980350e-01 -5.11540628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.013155472306051037 Centerline is valid? [True, True] Translation: X:171.45, Y:-118.31, Z:-5.12 [[-7.16480570e-01 -6.97594024e-01 4.26269383e-03 1.71447142e+02] [ 6.97581908e-01 -7.16493250e-01 -4.11154500e-03 -1.18311555e+02] [ 5.92238058e-03 2.77359885e-05 9.99982462e-01 -5.11559970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.01303358652144284 Centerline is valid? [True, True] Translation: X:171.44, Y:-118.34, Z:-5.12 [[-6.68831363e-01 -7.43400790e-01 4.45794986e-03 1.71437978e+02] [ 7.43384503e-01 -6.68846219e-01 -4.92101087e-03 -1.18342973e+02] [ 6.63996628e-03 2.26444392e-05 9.99977955e-01 -5.11563412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.013075369434418851 Centerline is valid? [True, True] Translation: X:171.40, Y:-118.30, Z:-5.12 [[-6.71983856e-01 -7.40543990e-01 5.68297667e-03 1.71399974e+02] [ 7.40517427e-01 -6.72007886e-01 -6.27222334e-03 -1.18299829e+02] [ 8.46386244e-03 -6.48955572e-06 9.99964181e-01 -5.11772580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.013260250520676496 Centerline is valid? [True, True] Translation: X:171.36, Y:-118.26, Z:-5.12 [[-6.75277816e-01 -7.37535364e-01 6.43879420e-03 1.71361824e+02] [ 7.37501169e-01 -6.75308511e-01 -7.10217216e-03 -1.18256687e+02] [ 9.58627565e-03 -4.73210590e-05 9.99954050e-01 -5.11913970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.013490356750870873 Centerline is valid? [True, True] Translation: X:171.32, Y:-118.21, Z:-5.12 [[-6.76865798e-01 -7.36078652e-01 6.39608676e-03 1.71323913e+02] [ 7.36044886e-01 -6.76896014e-01 -7.05065107e-03 -1.18214014e+02] [ 9.51931937e-03 -6.45376124e-05 9.99954688e-01 -5.11924419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.013466870747555029 Centerline is valid? [True, True] Translation: X:171.28, Y:-118.17, Z:-5.12 [[-6.77656670e-01 -7.35345406e-01 6.96933988e-03 1.71284969e+02] [ 7.35305328e-01 -6.77692503e-01 -7.67767186e-03 -1.18171883e+02] [ 1.03688101e-02 -7.82328015e-05 9.99946239e-01 -5.11972207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.013525821316092333 Centerline is valid? [True, True] Translation: X:171.25, Y:-118.13, Z:-5.12 [[-6.77329900e-01 -7.35648506e-01 6.74402635e-03 1.71245599e+02] [ 7.35611029e-01 -6.77363470e-01 -7.42583035e-03 -1.18132209e+02] [ 1.00309581e-02 -6.87567628e-05 9.99949686e-01 -5.12105580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.013262938687061483 Centerline is valid? [True, True] Translation: X:171.21, Y:-118.09, Z:-5.12 [[-6.76677666e-01 -7.36254916e-01 6.00294380e-03 1.71205711e+02] [ 7.36225285e-01 -6.76704290e-01 -6.60563987e-03 -1.18091710e+02] [ 8.92565265e-03 -5.03699586e-05 9.99960164e-01 -5.12009281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.01295849670668944 Centerline is valid? [True, True] Translation: X:171.16, Y:-118.05, Z:-5.12 [[-6.75541587e-01 -7.37309080e-01 4.34570914e-03 1.71164705e+02] [ 7.37293589e-01 -6.75555564e-01 -4.77946671e-03 -1.18049834e+02] [ 6.45971220e-03 -2.46650353e-05 9.99979136e-01 -5.11768981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.012800573443402644 Centerline is valid? [True, True] Translation: X:171.12, Y:-118.01, Z:-5.12 [[-6.73802349e-01 -7.38903943e-01 3.37008808e-03 1.71123949e+02] [ 7.38894656e-01 -6.73810776e-01 -3.70464714e-03 -1.18010668e+02] [ 5.00818005e-03 -6.05987419e-06 9.99987459e-01 -5.11799046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.012760376700610233 Centerline is valid? [True, True] Translation: X:171.08, Y:-117.97, Z:-5.12 [[-6.72563340e-01 -7.40031100e-01 3.53913660e-03 1.71083382e+02] [ 7.40020886e-01 -6.72572651e-01 -3.88803157e-03 -1.17969895e+02] [ 5.25759077e-03 4.08749894e-06 9.99986179e-01 -5.11818329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.012725793754519502 Centerline is valid? [True, True] Translation: X:171.04, Y:-117.93, Z:-5.12 [[-6.71541466e-01 -7.40957781e-01 3.69129232e-03 1.71042050e+02] [ 7.40946699e-01 -6.71551611e-01 -4.05262865e-03 -1.17929517e+02] [ 5.48172003e-03 1.35426743e-05 9.99984975e-01 -5.11989993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.012826297296997713 Centerline is valid? [True, True] Translation: X:171.00, Y:-117.89, Z:-5.12 [[-6.71269426e-01 -7.41200099e-01 4.44641366e-03 1.71002802e+02] [ 7.41184044e-01 -6.71284152e-01 -4.87854739e-03 -1.17888001e+02] [ 6.60078683e-03 2.07911527e-05 9.99978214e-01 -5.12064651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.012920683141151433 Centerline is valid? [True, True] Translation: X:170.96, Y:-117.85, Z:-5.12 [[-6.71339826e-01 -7.41133050e-01 4.96392445e-03 1.70964058e+02] [ 7.41113063e-01 -6.71358177e-01 -5.44290585e-03 -1.17846339e+02] [ 7.36648868e-03 2.47897904e-05 9.99972867e-01 -5.12186883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.012952254644613118 Centerline is valid? [True, True] Translation: X:170.92, Y:-117.80, Z:-5.12 [[-6.70806074e-01 -7.41614483e-01 5.21245661e-03 1.70924854e+02] [ 7.41592488e-01 -6.70826324e-01 -5.71184090e-03 -1.17804549e+02] [ 7.73263704e-03 3.39810997e-05 9.99970102e-01 -5.12209081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.013145007101038428 Centerline is valid? [True, True] Translation: X:170.88, Y:-117.76, Z:-5.12 [[-6.69295831e-01 -7.42978393e-01 5.11843783e-03 1.70884747e+02] [ 7.42957250e-01 -6.69315401e-01 -5.60531311e-03 -1.17763274e+02] [ 7.59047579e-03 5.11677949e-05 9.99971191e-01 -5.12250419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.013362304874868869 Centerline is valid? [True, True] Translation: X:170.85, Y:-117.72, Z:-5.12 [[-6.68328455e-01 -7.43847573e-01 5.27871032e-03 1.70845642e+02] [ 7.43825141e-01 -6.68349298e-01 -5.77724537e-03 -1.17721834e+02] [ 7.82541228e-03 6.53399758e-05 9.99969379e-01 -5.12258987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.013451781013581986 Centerline is valid? [True, True] Translation: X:170.81, Y:-117.68, Z:-5.12 [[-6.67555842e-01 -7.44544517e-01 4.76033267e-03 1.70805973e+02] [ 7.44526313e-01 -6.67572811e-01 -5.20691591e-03 -1.17679026e+02] [ 7.05464935e-03 6.82857946e-05 9.99975113e-01 -5.12235746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.013523134619466613 Centerline is valid? [True, True] Translation: X:170.77, Y:-117.64, Z:-5.12 [[-6.67847707e-01 -7.44286274e-01 4.16930518e-03 1.70768668e+02] [ 7.44272323e-01 -6.67860718e-01 -4.55738239e-03 -1.17637182e+02] [ 6.17651231e-03 5.94610780e-05 9.99980923e-01 -5.12143020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.013441250436259763 Centerline is valid? [True, True] Translation: X:170.73, Y:-117.59, Z:-5.12 [[-6.68534587e-01 -7.43671129e-01 3.84149911e-03 1.70730127e+02] [ 7.43659290e-01 -6.68545622e-01 -4.19664784e-03 -1.17593672e+02] [ 5.68914325e-03 5.11622729e-05 9.99983815e-01 -5.12118547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.013330709945368039 Centerline is valid? [True, True] Translation: X:170.69, Y:-117.55, Z:-5.12 [[-6.69926718e-01 -7.42416578e-01 3.97700487e-03 1.70693107e+02] [ 7.42403884e-01 -6.69938521e-01 -4.34175863e-03 -1.17550744e+02] [ 5.88774235e-03 4.38837524e-05 9.99982666e-01 -5.12136754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.013071507711224305 Centerline is valid? [True, True] Translation: X:170.66, Y:-117.51, Z:-5.12 [[-6.72645317e-01 -7.39953890e-01 4.06418164e-03 1.70656437e+02] [ 7.39940603e-01 -6.72657595e-01 -4.43439846e-03 -1.17505685e+02] [ 6.01505304e-03 2.44756556e-05 9.99981909e-01 -5.12209383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.012989290144794772 Centerline is valid? [True, True] Translation: X:170.62, Y:-117.46, Z:-5.12 [[-6.75862062e-01 -7.37017205e-01 4.01400981e-03 1.70620971e+02] [ 7.37004209e-01 -6.75873982e-01 -4.37687911e-03 -1.17459952e+02] [ 5.93880001e-03 1.75583145e-07 9.99982365e-01 -5.12209586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.013112947803145848 Centerline is valid? [True, True] Translation: X:170.58, Y:-117.42, Z:-5.12 [[-6.77615544e-01 -7.35404737e-01 4.12897068e-03 1.70584189e+02] [ 7.35390972e-01 -6.77628123e-01 -4.49940456e-03 -1.17415667e+02] [ 6.10679008e-03 -1.24587041e-05 9.99981353e-01 -5.12255224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.013123483243892344 Centerline is valid? [True, True] Translation: X:170.55, Y:-117.37, Z:-5.12 [[-6.77479779e-01 -7.35528135e-01 4.41713853e-03 1.70545956e+02] [ 7.35512406e-01 -6.77494179e-01 -4.81028460e-03 -1.17374147e+02] [ 6.53068530e-03 -1.00103614e-05 9.99978675e-01 -5.12322896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.013103918757276288 Centerline is valid? [True, True] Translation: X:170.51, Y:-117.33, Z:-5.12 [[-6.76115493e-01 -7.36780563e-01 4.71616182e-03 1.70505821e+02] [ 7.36762684e-01 -6.76131941e-01 -5.13273221e-03 -1.17332594e+02] [ 6.97044498e-03 4.37227529e-06 9.99975706e-01 -5.12340220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.013328660021607515 Centerline is valid? [True, True] Translation: X:170.46, Y:-117.29, Z:-5.12 [[-6.73251771e-01 -7.39392772e-01 5.51202377e-03 1.70463815e+02] [ 7.39368465e-01 -6.73274333e-01 -5.99541656e-03 -1.17293542e+02] [ 8.14407179e-03 3.89917387e-05 9.99966836e-01 -5.12451425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.01365041851634235 Centerline is valid? [True, True] Translation: X:170.42, Y:-117.25, Z:-5.12 [[-6.71354652e-01 -7.41118041e-01 5.19436262e-03 1.70422333e+02] [ 7.41096533e-01 -6.71374743e-01 -5.64643658e-03 -1.17253976e+02] [ 7.67203989e-03 5.87626660e-05 9.99970568e-01 -5.12443906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.01361593799643337 Centerline is valid? [True, True] Translation: X:170.38, Y:-117.21, Z:-5.12 [[-6.71611993e-01 -7.40893112e-01 3.83766463e-03 1.70382767e+02] [ 7.40881382e-01 -6.71622956e-01 -4.16925143e-03 -1.17211906e+02] [ 5.66643332e-03 4.31350157e-05 9.99983945e-01 -5.12291795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.013251481572557275 Centerline is valid? [True, True] Translation: X:170.34, Y:-117.17, Z:-5.12 [[-6.73887662e-01 -7.38826987e-01 3.17830793e-03 1.70344483e+02] [ 7.38818928e-01 -6.73895157e-01 -3.45086984e-03 -1.17168655e+02] [ 4.69144209e-03 2.26954483e-05 9.99988995e-01 -5.12128058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.013190685001267815 Centerline is valid? [True, True] Translation: X:170.31, Y:-117.13, Z:-5.12 [[-6.75834528e-01 -7.37048147e-01 2.77847930e-03 1.70306504e+02] [ 7.37041981e-01 -6.75840239e-01 -3.01483298e-03 -1.17125954e+02] [ 4.09988517e-03 1.03276713e-05 9.99991595e-01 -5.12098590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.013251096315957384 Centerline is valid? [True, True] Translation: X:170.27, Y:-117.08, Z:-5.12 [[-6.77687507e-01 -7.35342702e-01 3.27936858e-03 1.70267994e+02] [ 7.35334103e-01 -6.77695441e-01 -3.55607132e-03 -1.17083174e+02] [ 4.83734423e-03 1.52644043e-06 9.99988300e-01 -5.12109733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.013376362371214354 Centerline is valid? [True, True] Translation: X:170.23, Y:-117.04, Z:-5.12 [[-6.78708976e-01 -7.34396511e-01 3.98633682e-03 1.70228861e+02] [ 7.34383805e-01 -6.78720683e-01 -4.31992085e-03 -1.17041269e+02] [ 5.87814405e-03 -4.46785722e-06 9.99982724e-01 -5.12217093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.01334214368947136 Centerline is valid? [True, True] Translation: X:170.19, Y:-117.00, Z:-5.12 [[-6.79551260e-01 -7.33606920e-01 5.56517407e-03 1.70189194e+02] [ 7.33582160e-01 -6.79574048e-01 -6.02728643e-03 -1.16999929e+02] [ 8.20360690e-03 -1.33376791e-05 9.99966350e-01 -5.12449644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.013450691080151931 Centerline is valid? [True, True] Translation: X:170.15, Y:-116.96, Z:-5.12 [[-6.80317897e-01 -7.32892547e-01 6.00615815e-03 1.70149582e+02] [ 7.32863715e-01 -6.80344409e-01 -6.50079533e-03 -1.16957947e+02] [ 8.85064056e-03 -2.09120337e-05 9.99960832e-01 -5.12469065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.013555587581480228 Centerline is valid? [True, True] Translation: X:170.11, Y:-116.92, Z:-5.13 [[-6.80714735e-01 -7.32522465e-01 6.18776322e-03 1.70110960e+02] [ 7.32491888e-01 -6.80742857e-01 -6.69297997e-03 -1.16917594e+02] [ 9.11503380e-03 -2.35237195e-05 9.99958457e-01 -5.12594579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.013447975334643144 Centerline is valid? [True, True] Translation: X:170.07, Y:-116.88, Z:-5.13 [[-6.80654660e-01 -7.32568865e-01 7.21743287e-03 1.70070314e+02] [ 7.32527320e-01 -6.80692924e-01 -7.80181890e-03 -1.16877431e+02] [ 1.06282251e-02 -2.33776385e-05 9.99943519e-01 -5.12650117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.013483477849240014 Centerline is valid? [True, True] Translation: X:170.03, Y:-116.84, Z:-5.13 [[-6.79562908e-01 -7.33578527e-01 7.53651620e-03 1.70030405e+02] [ 7.33533345e-01 -6.79604698e-01 -8.14165579e-03 -1.16836148e+02] [ 1.10943957e-02 -4.48134725e-06 9.99938455e-01 -5.12678419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.013405143337814767 Centerline is valid? [True, True] Translation: X:169.99, Y:-116.79, Z:-5.12 [[-6.78211652e-01 -7.34835390e-01 6.77534496e-03 1.69990244e+02] [ 7.34798983e-01 -6.78245494e-01 -7.31472828e-03 -1.16794709e+02] [ 9.97046840e-03 1.75826328e-05 9.99950294e-01 -5.12477685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.01358631936885826 Centerline is valid? [True, True] Translation: X:169.95, Y:-116.75, Z:-5.12 [[-6.75073726e-01 -7.37724295e-01 6.19097991e-03 1.69947908e+02] [ 7.37694054e-01 -6.75102111e-01 -6.68000901e-03 -1.16754785e+02] [ 9.10754855e-03 5.75504958e-05 9.99958524e-01 -5.12425142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.013861779235906714 Centerline is valid? [True, True] Translation: X:169.91, Y:-116.71, Z:-5.12 [[-6.73372577e-01 -7.39277175e-01 6.21530584e-03 1.69907342e+02] [ 7.39246787e-01 -6.73401256e-01 -6.70346951e-03 -1.16713977e+02] [ 9.14111676e-03 8.07123291e-05 9.99958216e-01 -5.12489524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.014101451374899538 Centerline is valid? [True, True] Translation: X:169.87, Y:-116.67, Z:-5.12 [[-6.72136536e-01 -7.40398551e-01 6.51639938e-03 1.69866760e+02] [ 7.40365237e-01 -6.72168115e-01 -7.02427627e-03 -1.16672957e+02] [ 9.58087986e-03 1.03242851e-04 9.99954097e-01 -5.12480466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.013939195710051191 Centerline is valid? [True, True] Translation: X:169.83, Y:-116.63, Z:-5.13 [[-6.72908852e-01 -7.39697233e-01 6.45598178e-03 1.69828057e+02] [ 7.39664544e-01 -6.72939815e-01 -6.95472146e-03 -1.16631412e+02] [ 9.48887540e-03 9.53671818e-05 9.99954975e-01 -5.12522089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.013835829014323653 Centerline is valid? [True, True] Translation: X:169.79, Y:-116.59, Z:-5.12 [[-6.73423153e-01 -7.39226592e-01 6.73073596e-03 1.69789591e+02] [ 7.39191079e-01 -6.73456782e-01 -7.24655216e-03 -1.16588394e+02] [ 9.88970383e-03 9.53039745e-05 9.99951091e-01 -5.12473410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.01398840527504411 Centerline is valid? [True, True] Translation: X:169.75, Y:-116.55, Z:-5.13 [[-6.73981223e-01 -7.38714616e-01 7.07293380e-03 1.69751593e+02] [ 7.38675425e-01 -6.74018328e-01 -7.60989117e-03 -1.16546652e+02] [ 1.03888248e-02 9.56786208e-05 9.99946030e-01 -5.12589201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.013942607078901754 Centerline is valid? [True, True] Translation: X:169.71, Y:-116.50, Z:-5.13 [[-6.74147603e-01 -7.38559218e-01 7.43580886e-03 1.69712572e+02] [ 7.38515946e-01 -6.74188603e-01 -7.99531537e-03 -1.16504163e+02] [ 1.09181514e-02 1.01440717e-04 9.99940390e-01 -5.12615778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.014094521196986818 Centerline is valid? [True, True] Translation: X:169.67, Y:-116.46, Z:-5.13 [[-6.74235021e-01 -7.38479249e-01 7.45223006e-03 1.69673914e+02] [ 7.38435839e-01 -6.74276196e-01 -8.00776617e-03 -1.16462814e+02] [ 1.09384305e-02 1.03877367e-04 9.99940168e-01 -5.12721593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.013879294152696888 Centerline is valid? [True, True] Translation: X:169.64, Y:-116.42, Z:-5.13 [[-6.74819772e-01 -7.37943830e-01 7.56173696e-03 1.69636678e+02] [ 7.37899157e-01 -6.74862130e-01 -8.12036166e-03 -1.16418876e+02] [ 1.10955007e-02 1.00018730e-04 9.99938438e-01 -5.12616452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.01362112447511983 Centerline is valid? [True, True] Translation: X:169.60, Y:-116.37, Z:-5.13 [[-6.76779404e-01 -7.36148616e-01 7.40636575e-03 1.69600082e+02] [ 7.36105707e-01 -6.76819925e-01 -7.94845808e-03 -1.16374874e+02] [ 1.08640223e-02 7.25153769e-05 9.99940982e-01 -5.12594047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.01337336012674039 Centerline is valid? [True, True] Translation: X:169.56, Y:-116.33, Z:-5.13 [[-6.80432526e-01 -7.32774372e-01 7.30047985e-03 1.69564484e+02] [ 7.32732540e-01 -6.80471689e-01 -7.82982846e-03 -1.16329991e+02] [ 1.07052675e-02 2.16291883e-05 9.99942697e-01 -5.12534967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.013439750743742667 Centerline is valid? [True, True] Translation: X:169.53, Y:-116.29, Z:-5.13 [[-6.82242916e-01 -7.31092804e-01 6.92207049e-03 1.69526651e+02] [ 7.31055157e-01 -6.82278031e-01 -7.41928160e-03 -1.16286608e+02] [ 1.01469600e-02 -1.33698352e-06 9.99948518e-01 -5.12514805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.013973822806950234 Centerline is valid? [True, True] Translation: X:169.49, Y:-116.24, Z:-5.12 [[-6.88731584e-01 -7.24984386e-01 6.81508335e-03 1.69493364e+02] [ 7.24947632e-01 -6.88765296e-01 -7.30054894e-03 -1.16238421e+02] [ 9.98677689e-03 -8.75401062e-05 9.99950127e-01 -5.12386119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.015372389659314083 Centerline is valid? [True, True] Translation: X:169.46, Y:-116.19, Z:-5.12 [[-6.94285781e-01 -7.19671805e-01 6.30458184e-03 1.69457160e+02] [ 7.19640165e-01 -6.94314389e-01 -6.74996365e-03 -1.16193103e+02] [ 9.23512041e-03 -1.49373467e-04 9.99957344e-01 -5.12354485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.015299219534625317 Centerline is valid? [True, True] Translation: X:169.42, Y:-116.15, Z:-5.12 [[-6.96090965e-01 -7.17926342e-01 6.25586243e-03 1.69417234e+02] [ 7.17895156e-01 -6.96119055e-01 -6.69375714e-03 -1.16151655e+02] [ 9.16044962e-03 -1.68410536e-04 9.99958028e-01 -5.12249293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.01573907659001534 Centerline is valid? [True, True] Translation: X:169.38, Y:-116.11, Z:-5.12 [[-6.98002012e-01 -7.16069477e-01 6.13961598e-03 1.69377642e+02] [ 7.16039401e-01 -6.98028989e-01 -6.56563985e-03 -1.16109041e+02] [ 8.98708422e-03 -1.86622879e-04 9.99959598e-01 -5.12201094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.016091735139138863 Centerline is valid? [True, True] Translation: X:169.34, Y:-116.07, Z:-5.12 [[-6.98675681e-01 -7.15410283e-01 6.35767025e-03 1.69338257e+02] [ 7.15378045e-01 -6.98704578e-01 -6.79452454e-03 -1.16067749e+02] [ 9.30300604e-03 -1.99031352e-04 9.99956706e-01 -5.12204448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.01564223451767082 Centerline is valid? [True, True] Translation: X:169.29, Y:-116.03, Z:-5.12 [[-6.96809445e-01 -7.17229035e-01 6.25367942e-03 1.69293934e+02] [ 7.17197950e-01 -6.96837487e-01 -6.67968555e-03 -1.16030136e+02] [ 9.14866267e-03 -1.69341924e-04 9.99958136e-01 -5.12305383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.014323966170883082 Centerline is valid? [True, True] Translation: X:169.25, Y:-115.99, Z:-5.12 [[-6.91806390e-01 -7.22060497e-01 5.70588666e-03 1.69249039e+02] [ 7.22034808e-01 -6.91829914e-01 -6.09153997e-03 -1.15994477e+02] [ 8.34596346e-03 -9.43174977e-05 9.99965167e-01 -5.12295079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.013378164527426056 Centerline is valid? [True, True] Translation: X:169.20, Y:-115.96, Z:-5.12 [[-6.87531922e-01 -7.26129234e-01 6.01593994e-03 1.69204327e+02] [ 7.26100852e-01 -6.87558240e-01 -6.42027457e-03 -1.15956126e+02] [ 8.79825813e-03 -4.59646012e-05 9.99961294e-01 -5.12183275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.013393790121705808 Centerline is valid? [True, True] Translation: X:169.16, Y:-115.92, Z:-5.12 [[-6.80653279e-01 -7.32579957e-01 6.14177912e-03 1.69158602e+02] [ 7.32550673e-01 -6.80680987e-01 -6.55022548e-03 -1.15921979e+02] [ 8.97915617e-03 4.07319792e-05 9.99959686e-01 -5.12303657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.014235998335046449 Centerline is valid? [True, True] Translation: X:169.11, Y:-115.89, Z:-5.12 [[-6.74546695e-01 -7.38214089e-01 5.16864020e-03 1.69112172e+02] [ 7.38193538e-01 -6.74566490e-01 -5.50925646e-03 -1.15886305e+02] [ 7.55360221e-03 9.92060600e-05 9.99971466e-01 -5.12185437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.01549598745958745 Centerline is valid? [True, True] Translation: X:169.07, Y:-115.85, Z:-5.12 [[-6.71184314e-01 -7.41277641e-01 4.36754821e-03 1.69069132e+02] [ 7.41263048e-01 -6.71198515e-01 -4.65262065e-03 -1.15847944e+02] [ 6.38037553e-03 1.14736103e-04 9.99979639e-01 -5.12019671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.016609123067782488 Centerline is valid? [True, True] Translation: X:169.02, Y:-115.81, Z:-5.12 [[-6.67788021e-01 -7.44341172e-01 3.92168906e-03 1.69024987e+02] [ 7.44329473e-01 -6.67799523e-01 -4.17531453e-03 -1.15809460e+02] [ 5.72676059e-03 1.30803726e-04 9.99983593e-01 -5.11898772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.01807395324965973 Centerline is valid? [True, True] Translation: X:168.98, Y:-115.77, Z:-5.12 [[-6.65983307e-01 -7.45958898e-01 3.39954591e-03 1.68981040e+02] [ 7.45950135e-01 -6.65991971e-01 -3.61793281e-03 -1.15772114e+02] [ 4.96289946e-03 1.26408874e-04 9.99987677e-01 -5.11948978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.018705513113763318 Centerline is valid? [True, True] Translation: X:168.94, Y:-115.73, Z:-5.12 [[-6.65655101e-01 -7.46247237e-01 4.28350205e-03 1.68939989e+02] [ 7.46233347e-01 -6.65668863e-01 -4.55606251e-03 -1.15732425e+02] [ 6.25134300e-03 1.63725818e-04 9.99980447e-01 -5.12088956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.01751531366697715 Centerline is valid? [True, True] Translation: X:168.90, Y:-115.69, Z:-5.12 [[-6.66900467e-01 -7.45122080e-01 6.07072313e-03 1.68901924e+02] [ 7.45094169e-01 -6.66928061e-01 -6.45299297e-03 -1.15689249e+02] [ 8.85700315e-03 2.19756378e-04 9.99960752e-01 -5.12277813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.015262132205377909 Centerline is valid? [True, True] Translation: X:168.87, Y:-115.64, Z:-5.12 [[-6.70464734e-01 -7.41914195e-01 6.35360396e-03 1.68866535e+02] [ 7.41883512e-01 -6.70494811e-01 -6.74995739e-03 -1.15642516e+02] [ 9.26794769e-03 1.88025638e-04 9.99957034e-01 -5.12246982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.014318091001420532 Centerline is valid? [True, True] Translation: X:168.83, Y:-115.60, Z:-5.12 [[-6.74265021e-01 -7.38459943e-01 6.60266977e-03 1.68829798e+02] [ 7.38426665e-01 -6.74297332e-01 -7.01201885e-03 -1.15597020e+02] [ 9.63025765e-03 1.47628387e-04 9.99953617e-01 -5.12241641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.013116001501179057 Centerline is valid? [True, True] Translation: X:168.80, Y:-115.55, Z:-5.12 [[-6.81629337e-01 -7.31668090e-01 6.57665362e-03 1.68797034e+02] [ 7.31634794e-01 -6.81661062e-01 -6.98036027e-03 -1.15548097e+02] [ 9.59035556e-03 5.36902690e-05 9.99954010e-01 -5.12192134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.013000318514522389 Centerline is valid? [True, True] Translation: X:168.76, Y:-115.50, Z:-5.12 [[-6.87218707e-01 -7.26424714e-01 6.13056381e-03 1.68763607e+02] [ 7.26395609e-01 -6.87246051e-01 -6.50260396e-03 -1.15502388e+02] [ 8.93685799e-03 -1.54964503e-05 9.99960065e-01 -5.12268322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.013802292940751377 Centerline is valid? [True, True] Translation: X:168.73, Y:-115.45, Z:-5.12 [[-6.94161603e-01 -7.19790311e-01 6.44802050e-03 1.68730902e+02] [ 7.19757861e-01 -6.94191542e-01 -6.83551263e-03 -1.15453667e+02] [ 9.39629705e-03 -1.03936964e-04 9.99955848e-01 -5.12153317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.014789442263032974 Centerline is valid? [True, True] Translation: X:168.70, Y:-115.41, Z:-5.12 [[-6.97671137e-01 -7.16384777e-01 6.91635764e-03 1.68695909e+02] [ 7.16347315e-01 -6.97705401e-01 -7.32795385e-03 -1.15406983e+02] [ 1.00752147e-02 -1.57987671e-04 9.99949231e-01 -5.12143352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.015017601155756306 Centerline is valid? [True, True] Translation: X:168.66, Y:-115.36, Z:-5.12 [[-6.97919493e-01 -7.16136279e-01 7.56378930e-03 1.68657941e+02] [ 7.16091513e-01 -6.97960457e-01 -8.00902209e-03 -1.15363597e+02] [ 1.10147771e-02 -1.73287316e-04 9.99939321e-01 -5.12205401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.014213849267313085 Centerline is valid? [True, True] Translation: X:168.62, Y:-115.32, Z:-5.12 [[-6.96012663e-01 -7.17983624e-01 8.11717850e-03 1.68618334e+02] [ 7.17932253e-01 -6.96059978e-01 -8.58990155e-03 -1.15321625e+02] [ 1.18174517e-02 -1.51096002e-04 9.99930160e-01 -5.12219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.013676994935796992 Centerline is valid? [True, True] Translation: X:168.58, Y:-115.28, Z:-5.12 [[-6.93495803e-01 -7.20412224e-01 8.35455240e-03 1.68579043e+02] [ 7.20358040e-01 -6.93546117e-01 -8.83616438e-03 -1.15279418e+02] [ 1.21599482e-02 -1.09573921e-04 9.99926059e-01 -5.12182831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.013388500158999825 Centerline is valid? [True, True] Translation: X:168.54, Y:-115.24, Z:-5.12 [[-6.91676141e-01 -7.22157938e-01 8.48699294e-03 1.68539959e+02] [ 7.22102224e-01 -6.91728203e-01 -8.97059186e-03 -1.15237412e+02] [ 1.23488765e-02 -7.62678771e-05 9.99923747e-01 -5.12133850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.013178785061683953 Centerline is valid? [True, True] Translation: X:168.50, Y:-115.20, Z:-5.12 [[-6.88767344e-01 -7.24940374e-01 7.81023796e-03 1.68500636e+02] [ 7.24893428e-01 -6.88811625e-01 -8.25011887e-03 -1.15195837e+02] [ 1.13606270e-02 -2.08223031e-05 9.99935466e-01 -5.11984232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.013106025552595324 Centerline is valid? [True, True] Translation: X:168.46, Y:-115.16, Z:-5.12 [[-6.87158680e-01 -7.26476189e-01 6.73016545e-03 1.68460742e+02] [ 7.26441447e-01 -6.87191638e-01 -7.10472199e-03 -1.15155033e+02] [ 9.78632477e-03 6.99973887e-06 9.99952113e-01 -5.11918597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.013148881692075372 Centerline is valid? [True, True] Translation: X:168.42, Y:-115.11, Z:-5.12 [[-6.85656106e-01 -7.27901673e-01 5.90411746e-03 1.68421305e+02] [ 7.27875019e-01 -6.85681525e-01 -6.22916881e-03 -1.15112461e+02] [ 8.58256666e-03 2.63919803e-05 9.99963169e-01 -5.11787300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.013238095073563449 Centerline is valid? [True, True] Translation: X:168.38, Y:-115.07, Z:-5.12 [[-6.85367260e-01 -7.28180580e-01 4.97619258e-03 1.68382653e+02] [ 7.28161677e-01 -6.85385324e-01 -5.24682528e-03 -1.15070813e+02] [ 7.23124564e-03 2.74704640e-05 9.99973854e-01 -5.11711961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.01329100447541453 Centerline is valid? [True, True] Translation: X:168.34, Y:-115.03, Z:-5.12 [[-6.84979903e-01 -7.28539719e-01 5.69297175e-03 1.68342806e+02] [ 7.28515020e-01 -6.85003559e-01 -5.99916330e-03 -1.15028224e+02] [ 8.27033465e-03 3.81091314e-05 9.99965800e-01 -5.11746442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.013430708898658023 Centerline is valid? [True, True] Translation: X:168.30, Y:-114.99, Z:-5.12 [[-6.84337765e-01 -7.29130816e-01 7.07655353e-03 1.68302197e+02] [ 7.29092726e-01 -6.84374350e-01 -7.45296265e-03 -1.14986116e+02] [ 1.02771965e-02 5.91199050e-05 9.99947187e-01 -5.11982486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.013494198963261539 Centerline is valid? [True, True] Translation: X:168.26, Y:-114.94, Z:-5.12 [[-6.84176725e-01 -7.29277497e-01 7.51942344e-03 1.68262740e+02] [ 7.29234554e-01 -6.84218041e-01 -7.91434124e-03 -1.14944827e+02] [ 1.09166761e-02 6.86153333e-05 9.99940409e-01 -5.12019715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.013828420571916437 Centerline is valid? [True, True] Translation: X:168.22, Y:-114.91, Z:-5.12 [[-6.82544148e-01 -7.30802438e-01 7.82826710e-03 1.68221145e+02] [ 7.30756051e-01 -6.82589032e-01 -8.23452083e-03 -1.14905060e+02] [ 1.13612972e-02 1.00129553e-04 9.99935453e-01 -5.12206453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.013900291730666762 Centerline is valid? [True, True] Translation: X:168.18, Y:-114.86, Z:-5.12 [[-6.82137384e-01 -7.31172831e-01 8.65333261e-03 1.68180942e+02] [ 7.31116243e-01 -6.82192258e-01 -9.09738340e-03 -1.14863553e+02] [ 1.25549961e-02 1.20926715e-04 9.99921176e-01 -5.12242307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.013995502054601334 Centerline is valid? [True, True] Translation: X:168.14, Y:-114.82, Z:-5.12 [[-6.81967107e-01 -7.31324971e-01 9.20065432e-03 1.68141496e+02] [ 7.31261092e-01 -6.82029155e-01 -9.66684274e-03 -1.14822049e+02] [ 1.33447180e-02 1.35611746e-04 9.99910946e-01 -5.12274290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.014273545718364854 Centerline is valid? [True, True] Translation: X:168.10, Y:-114.78, Z:-5.12 [[-6.80925611e-01 -7.32299755e-01 8.79660030e-03 1.68100807e+02] [ 7.32241518e-01 -6.80982412e-01 -9.23659044e-03 -1.14781925e+02] [ 1.27542830e-02 1.51804965e-04 9.99918649e-01 -5.12246304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.01422838775923027 Centerline is valid? [True, True] Translation: X:168.06, Y:-114.74, Z:-5.12 [[-6.80237819e-01 -7.32945729e-01 8.18958259e-03 1.68060614e+02] [ 7.32895362e-01 -6.80287097e-01 -8.59378480e-03 -1.14741799e+02] [ 1.18700452e-02 1.56289675e-04 9.99929536e-01 -5.12151509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.01430519416301994 Centerline is valid? [True, True] Translation: X:168.02, Y:-114.70, Z:-5.12 [[-6.79294120e-01 -7.33831563e-01 7.12297086e-03 1.68019891e+02] [ 7.33793562e-01 -6.79331447e-01 -7.46950991e-03 -1.14702173e+02] [ 1.03202202e-02 1.52796005e-04 9.99946733e-01 -5.12015053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.014572725431915283 Centerline is valid? [True, True] Translation: X:167.98, Y:-114.66, Z:-5.12 [[-6.78589559e-01 -7.34484563e-01 6.97398049e-03 1.67979125e+02] [ 7.34448217e-01 -6.78625375e-01 -7.30864913e-03 -1.14661723e+02] [ 1.01008101e-02 1.62454544e-04 9.99948972e-01 -5.11980551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.014931584146208985 Centerline is valid? [True, True] Translation: X:167.94, Y:-114.62, Z:-5.12 [[-6.77211915e-01 -7.35749112e-01 7.56751552e-03 1.67937831e+02] [ 7.35706443e-01 -6.77254166e-01 -7.92617606e-03 -1.14620900e+02] [ 1.09568084e-02 1.99769060e-04 9.99939952e-01 -5.12056462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.01528713079593855 Centerline is valid? [True, True] Translation: X:167.90, Y:-114.58, Z:-5.12 [[-6.76154222e-01 -7.36709654e-01 8.62285099e-03 1.67896464e+02] [ 7.36654397e-01 -6.76209157e-01 -9.02639655e-03 -1.14580080e+02] [ 1.24806843e-02 2.48824965e-04 9.99922082e-01 -5.12121526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.015593786831096166 Centerline is valid? [True, True] Translation: X:167.86, Y:-114.54, Z:-5.12 [[-6.75768579e-01 -7.37053254e-01 9.45136647e-03 1.67855500e+02] [ 7.36986978e-01 -6.75834610e-01 -9.88810710e-03 -1.14539442e+02] [ 1.36756221e-02 2.83461927e-04 9.99906444e-01 -5.12248015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.016192264459361068 Centerline is valid? [True, True] Translation: X:167.82, Y:-114.50, Z:-5.12 [[-6.75628554e-01 -7.37179867e-01 9.58643946e-03 1.67815030e+02] [ 7.37111763e-01 -6.75696498e-01 -1.00245435e-02 -1.14500404e+02] [ 1.38674152e-02 2.93409462e-04 9.99903800e-01 -5.12397229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.015438734874301146 Centerline is valid? [True, True] Translation: X:167.78, Y:-114.46, Z:-5.12 [[-6.77634894e-01 -7.35333316e-01 9.79107625e-03 1.67776932e+02] [ 7.35262160e-01 -6.77705573e-01 -1.02328849e-02 -1.14456557e+02] [ 1.41600481e-02 2.64848008e-04 9.99899706e-01 -5.12395191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.014531569610234404 Centerline is valid? [True, True] Translation: X:167.74, Y:-114.41, Z:-5.12 [[-6.81721429e-01 -7.31551570e-01 9.39118550e-03 1.67741173e+02] [ 7.31485813e-01 -6.81786086e-01 -9.81007759e-03 -1.14411637e+02] [ 1.35793573e-02 1.81778853e-04 9.99907780e-01 -5.12443805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.013295780399687589 Centerline is valid? [True, True] Translation: X:167.71, Y:-114.37, Z:-5.12 [[-6.85344274e-01 -7.28166499e-01 8.76219185e-03 1.67705379e+02] [ 7.28109042e-01 -6.85400276e-01 -9.14797474e-03 -1.14365121e+02] [ 1.26668574e-02 1.10319008e-04 9.99919766e-01 -5.12216107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.012567682336263233 Centerline is valid? [True, True] Translation: X:167.67, Y:-114.32, Z:-5.12 [[-6.91031613e-01 -7.22795988e-01 6.42412047e-03 1.67669986e+02] [ 7.22764905e-01 -6.91061473e-01 -6.70317666e-03 -1.14319139e+02] [ 9.28449135e-03 1.10218417e-05 9.99956898e-01 -5.11931064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.012640068441374764 Centerline is valid? [True, True] Translation: X:167.63, Y:-114.28, Z:-5.12 [[-6.94090883e-01 -7.19863412e-01 5.87482111e-03 1.67632326e+02] [ 7.19837346e-01 -6.94115745e-01 -6.12599679e-03 -1.14277092e+02] [ 8.48768679e-03 -2.30828863e-05 9.99963979e-01 -5.11977908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.0132915484324572 Centerline is valid? [True, True] Translation: X:167.59, Y:-114.23, Z:-5.12 [[-6.98317884e-01 -7.15758936e-01 6.42481139e-03 1.67593350e+02] [ 7.15727621e-01 -6.98347434e-01 -6.69580946e-03 -1.14233606e+02] [ 9.27933601e-03 -7.73885233e-05 9.99956943e-01 -5.12140002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.013848377039531363 Centerline is valid? [True, True] Translation: X:167.55, Y:-114.19, Z:-5.12 [[-7.02358482e-01 -7.11791459e-01 6.74398889e-03 1.67553156e+02] [ 7.11756810e-01 -7.02390847e-01 -7.02444038e-03 -1.14191158e+02] [ 9.73685274e-03 -1.33595267e-04 9.99952587e-01 -5.12119150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.014663995265026101 Centerline is valid? [True, True] Translation: X:167.51, Y:-114.15, Z:-5.12 [[-7.05658153e-01 -7.08517328e-01 7.05456628e-03 1.67513545e+02] [ 7.08479292e-01 -7.05693391e-01 -7.34376493e-03 -1.14148471e+02] [ 1.01815455e-02 -1.84173476e-04 9.99948150e-01 -5.12116634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.01647898114506417 Centerline is valid? [True, True] Translation: X:167.47, Y:-114.11, Z:-5.12 [[-7.11275628e-01 -7.02883111e-01 6.50482098e-03 1.67473800e+02] [ 7.02850572e-01 -7.11305331e-01 -6.76759269e-03 -1.14106305e+02] [ 9.38374044e-03 -2.41706599e-04 9.99955943e-01 -5.12119437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.018239744942191542 Centerline is valid? [True, True] Translation: X:167.43, Y:-114.07, Z:-5.12 [[-7.14688802e-01 -6.99423667e-01 5.14299296e-03 1.67433701e+02] [ 6.99403257e-01 -7.14707271e-01 -5.34796596e-03 -1.14066685e+02] [ 7.41622843e-03 -2.25105359e-04 9.99972474e-01 -5.12073951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.0179088044260771 Centerline is valid? [True, True] Translation: X:167.39, Y:-114.03, Z:-5.12 [[-7.15188891e-01 -6.98918768e-01 4.17215934e-03 1.67389829e+02] [ 6.98905344e-01 -7.15201036e-01 -4.33573023e-03 -1.14029319e+02] [ 6.01425591e-03 -1.84921634e-04 9.99981897e-01 -5.11939011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.018973798127661413 Centerline is valid? [True, True] Translation: X:167.35, Y:-113.99, Z:-5.12 [[-7.13789679e-01 -7.00346647e-01 4.34372008e-03 1.67347929e+02] [ 7.00332137e-01 -7.13802874e-01 -4.51165118e-03 -1.13990556e+02] [ 6.26027966e-03 -1.78323283e-04 9.99980388e-01 -5.12114001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.015680727134580217 Centerline is valid? [True, True] Translation: X:167.30, Y:-113.96, Z:-5.12 [[-7.10535263e-01 -7.03647438e-01 4.46350991e-03 1.67299607e+02] [ 7.03632199e-01 -7.10549266e-01 -4.63341807e-03 -1.13956295e+02] [ 6.43183644e-03 -1.51537631e-04 9.99979304e-01 -5.12136892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.01274377025440662 Centerline is valid? [True, True] Translation: X:167.25, Y:-113.93, Z:-5.12 [[-7.00685064e-01 -7.13457893e-01 4.27501836e-03 1.67245624e+02] [ 7.13444110e-01 -7.00698103e-01 -4.43516205e-03 -1.13927295e+02] [ 6.15979863e-03 -5.76651317e-05 9.99981027e-01 -5.12149930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.012180694097536525 Centerline is valid? [True, True] Translation: X:167.20, Y:-113.89, Z:-5.12 [[-6.96333525e-01 -7.17705534e-01 4.28829622e-03 1.67199458e+02] [ 7.17691760e-01 -6.96346729e-01 -4.44642375e-03 -1.13890713e+02] [ 6.17736397e-03 -1.85190565e-05 9.99980920e-01 -5.12180632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.012248881692738989 Centerline is valid? [True, True] Translation: X:167.15, Y:-113.86, Z:-5.12 [[-6.91913301e-01 -7.21974664e-01 2.92722013e-03 1.67152245e+02] [ 7.21968292e-01 -6.91919493e-01 -3.03326091e-03 -1.13856309e+02] [ 4.21533819e-03 1.46065452e-05 9.99991115e-01 -5.12110763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.012437470018406923 Centerline is valid? [True, True] Translation: X:167.11, Y:-113.82, Z:-5.12 [[-6.90727702e-01 -7.23109562e-01 2.79355149e-03 1.67108781e+02] [ 7.23103775e-01 -6.90733350e-01 -2.89309673e-03 -1.13817978e+02] [ 4.02162509e-03 2.16855699e-05 9.99991913e-01 -5.12098177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.012511073558308699 Centerline is valid? [True, True] Translation: X:167.07, Y:-113.78, Z:-5.12 [[-6.90271803e-01 -7.23544231e-01 2.92974968e-03 1.67066090e+02] [ 7.23537878e-01 -6.90278020e-01 -3.03222788e-03 -1.13779482e+02] [ 4.21629279e-03 2.67234605e-05 9.99991111e-01 -5.12158869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.012677436657654112 Centerline is valid? [True, True] Translation: X:167.02, Y:-113.74, Z:-5.12 [[-6.89144139e-01 -7.24619387e-01 2.66443657e-03 1.67023703e+02] [ 7.24614146e-01 -6.89149289e-01 -2.75605360e-03 -1.13740256e+02] [ 3.83328443e-03 3.13702446e-05 9.99992652e-01 -5.12090111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.012990983583350529 Centerline is valid? [True, True] Translation: X:166.98, Y:-113.70, Z:-5.12 [[-6.88376719e-01 -7.25344974e-01 3.48734396e-03 1.66981218e+02] [ 7.25336017e-01 -6.88385551e-01 -3.60508882e-03 -1.13701487e+02] [ 5.01557025e-03 4.78369648e-05 9.99987421e-01 -5.12224707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.013004728962787683 Centerline is valid? [True, True] Translation: X:166.94, Y:-113.66, Z:-5.12 [[-6.88353379e-01 -7.25361776e-01 4.46314732e-03 1.66940348e+02] [ 7.25347123e-01 -6.88367845e-01 -4.61095896e-03 -1.13661311e+02] [ 6.41690048e-03 6.33618846e-05 9.99979410e-01 -5.12377806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.012810478587980382 Centerline is valid? [True, True] Translation: X:166.90, Y:-113.62, Z:-5.13 [[-6.90017872e-01 -7.23765573e-01 6.22351459e-03 1.66900565e+02] [ 7.23737053e-01 -6.90045934e-01 -6.42555699e-03 -1.13619611e+02] [ 8.94510787e-03 7.04389511e-05 9.99959989e-01 -5.12693096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.012416978495116566 Centerline is valid? [True, True] Translation: X:166.86, Y:-113.57, Z:-5.13 [[-6.95024441e-01 -7.18955044e-01 6.68370512e-03 1.66864497e+02] [ 7.18921963e-01 -6.95056577e-01 -6.89676656e-03 -1.13574300e+02] [ 9.60401830e-03 1.16410894e-05 9.99953880e-01 -5.12687942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.012851440796235215 Centerline is valid? [True, True] Translation: X:166.83, Y:-113.53, Z:-5.13 [[-7.01509195e-01 -7.12640167e-01 5.37047596e-03 1.66829851e+02] [ 7.12618651e-01 -7.01529749e-01 -5.53800220e-03 -1.13528923e+02] [ 7.71415146e-03 -5.78581301e-05 9.99970244e-01 -5.12572855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.013358856038816607 Centerline is valid? [True, True] Translation: X:166.79, Y:-113.48, Z:-5.12 [[-7.05316562e-01 -7.08878093e-01 4.51634428e-03 1.66792936e+02] [ 7.08862811e-01 -7.05331017e-01 -4.65527980e-03 -1.13484439e+02] [ 6.48554357e-03 -8.19774403e-05 9.99978965e-01 -5.12388728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.014293178850884934 Centerline is valid? [True, True] Translation: X:166.76, Y:-113.44, Z:-5.12 [[-7.09384230e-01 -7.04810578e-01 4.00792464e-03 1.66756678e+02] [ 7.04798493e-01 -7.09395544e-01 -4.12873362e-03 -1.13439374e+02] [ 5.75317901e-03 -1.04079271e-04 9.99983445e-01 -5.12305489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.015109850407783069 Centerline is valid? [True, True] Translation: X:166.72, Y:-113.40, Z:-5.13 [[-7.10577944e-01 -7.03597170e-01 5.47798504e-03 1.66718555e+02] [ 7.03574583e-01 -7.10599042e-01 -5.63975770e-03 -1.13396930e+02] [ 7.86076848e-03 -1.53316389e-04 9.99969092e-01 -5.12501862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.014107884321089515 Centerline is valid? [True, True] Translation: X:166.68, Y:-113.36, Z:-5.13 [[-7.09489299e-01 -7.04690410e-01 6.02997283e-03 1.66677429e+02] [ 7.04663112e-01 -7.09514907e-01 -6.20452636e-03 -1.13356501e+02] [ 8.65062583e-03 -1.52945645e-04 9.99962571e-01 -5.12539987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.013619529079731537 Centerline is valid? [True, True] Translation: X:166.64, Y:-113.32, Z:-5.13 [[-7.07639103e-01 -7.06551369e-01 5.66246451e-03 1.66636317e+02] [ 7.06527382e-01 -7.07661748e-01 -5.82311414e-03 -1.13315485e+02] [ 8.12143879e-03 -1.19977039e-04 9.99967013e-01 -5.12518574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.012480917966668113 Centerline is valid? [True, True] Translation: X:166.59, Y:-113.28, Z:-5.13 [[-7.02225374e-01 -7.11933525e-01 5.49373933e-03 1.66592775e+02] [ 7.11911133e-01 -7.02246861e-01 -5.64661972e-03 -1.13276283e+02] [ 7.87797908e-03 -5.41454464e-05 9.99968967e-01 -5.12535559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.01196733984861925 Centerline is valid? [True, True] Translation: X:166.55, Y:-113.24, Z:-5.12 [[-6.97262910e-01 -7.16796733e-01 5.18451122e-03 1.66549936e+02] [ 7.16776950e-01 -6.97282184e-01 -5.32541509e-03 -1.13238468e+02] [ 7.43230744e-03 2.92371499e-06 9.99972380e-01 -5.12464681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.013073444872932553 Centerline is valid? [True, True] Translation: X:166.51, Y:-113.20, Z:-5.12 [[-6.89277737e-01 -7.24486740e-01 3.89424365e-03 1.66505301e+02] [ 7.24475713e-01 -6.89288735e-01 -3.99772714e-03 -1.13202616e+02] [ 5.58055858e-03 6.57406244e-05 9.99984426e-01 -5.12389045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.01599921974413243 Centerline is valid? [True, True] Translation: X:166.46, Y:-113.17, Z:-5.12 [[-6.81532604e-01 -7.31783631e-01 2.45499910e-03 1.66460310e+02] [ 7.31779301e-01 -6.81537021e-01 -2.51872650e-03 -1.13165904e+02] [ 3.51633559e-03 7.99232923e-05 9.99993815e-01 -5.12287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.017963613941379214 Centerline is valid? [True, True] Translation: X:166.42, Y:-113.13, Z:-5.12 [[-6.76802329e-01 -7.36162208e-01 1.95220315e-03 1.66417697e+02] [ 7.36159491e-01 -6.76805140e-01 -2.00173282e-03 -1.13126631e+02] [ 2.79486118e-03 8.23554393e-05 9.99996091e-01 -5.12242036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.020580348499571608 Centerline is valid? [True, True] Translation: X:166.38, Y:-113.09, Z:-5.12 [[-6.71965320e-01 -7.40580262e-01 1.86684397e-03 1.66375257e+02] [ 7.40577797e-01 -6.71967906e-01 -1.91303625e-03 -1.13088163e+02] [ 2.67121612e-03 9.70491805e-05 9.99996428e-01 -5.12337213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.02164902195717164 Centerline is valid? [True, True] Translation: X:166.33, Y:-113.05, Z:-5.12 [[-6.71001628e-01 -7.41453883e-01 1.71903903e-03 1.66334815e+02] [ 7.41451799e-01 -6.71003823e-01 -1.76059188e-03 -1.13046759e+02] [ 2.45887945e-03 9.32245679e-05 9.99996973e-01 -5.12405783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.020319653947621252 Centerline is valid? [True, True] Translation: X:166.30, Y:-113.00, Z:-5.13 [[-6.73036019e-01 -7.39605955e-01 2.35531977e-03 1.66296797e+02] [ 7.39602036e-01 -6.73040130e-01 -2.41087575e-03 -1.13002672e+02] [ 3.36832279e-03 1.19393078e-04 9.99994320e-01 -5.12525736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.01694327219458636 Centerline is valid? [True, True] Translation: X:166.26, Y:-112.95, Z:-5.13 [[-6.79165598e-01 -7.33978618e-01 3.07874002e-03 1.66263213e+02] [ 7.33971869e-01 -6.79172565e-01 -3.15005018e-03 -1.12954272e+02] [ 4.40306524e-03 1.20302857e-04 9.99990299e-01 -5.12670791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.014396032651736713 Centerline is valid? [True, True] Translation: X:166.23, Y:-112.91, Z:-5.13 [[-6.86482761e-01 -7.27138643e-01 3.28821922e-03 1.66229897e+02] [ 7.27130871e-01 -6.86490631e-01 -3.36297261e-03 -1.12906392e+02] [ 4.70267903e-03 8.23429848e-05 9.99988939e-01 -5.12738249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.012746185856647723 Centerline is valid? [True, True] Translation: X:166.20, Y:-112.86, Z:-5.13 [[-6.92901803e-01 -7.21024272e-01 3.33028366e-03 1.66196464e+02] [ 7.21016237e-01 -6.92909804e-01 -3.40432215e-03 -1.12859481e+02] [ 4.76218510e-03 4.23276379e-05 9.99988660e-01 -5.12827656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.012327803919350783 Centerline is valid? [True, True] Translation: X:166.16, Y:-112.82, Z:-5.13 [[-6.96577620e-01 -7.17471327e-01 3.80983595e-03 1.66161639e+02] [ 7.17460771e-01 -6.96588038e-01 -3.89204973e-03 -1.12815355e+02] [ 5.44632023e-03 2.22931004e-05 9.99985168e-01 -5.12867431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.012210499537139855 Centerline is valid? [True, True] Translation: X:166.13, Y:-112.77, Z:-5.13 [[-7.01803641e-01 -7.12361921e-01 3.48470943e-03 1.66127469e+02] [ 7.12353037e-01 -7.01812292e-01 -3.55786363e-03 -1.12767937e+02] [ 4.98009848e-03 -1.45783045e-05 9.99987599e-01 -5.12740674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.012722000890113548 Centerline is valid? [True, True] Translation: X:166.09, Y:-112.72, Z:-5.13 [[-7.06164856e-01 -7.08042454e-01 2.66095201e-03 1.66091835e+02] [ 7.08037248e-01 -7.06169868e-01 -2.71528231e-03 -1.12721468e+02] [ 3.80161928e-03 -3.33837996e-05 9.99992773e-01 -5.12601695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.013186287240383846 Centerline is valid? [True, True] Translation: X:166.05, Y:-112.68, Z:-5.12 [[-7.08208903e-01 -7.05997713e-01 2.71643262e-03 1.66054277e+02] [ 7.05992279e-01 -7.08214111e-01 -2.77033815e-03 -1.12676663e+02] [ 3.87966831e-03 -4.41976915e-05 9.99992473e-01 -5.12497428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.013331558983665939 Centerline is valid? [True, True] Translation: X:166.02, Y:-112.63, Z:-5.12 [[-7.08572648e-01 -7.05631813e-01 2.92347561e-03 1.66015766e+02] [ 7.05625524e-01 -7.08578677e-01 -2.97961296e-03 -1.12634095e+02] [ 4.17402217e-03 -4.83932363e-05 9.99991288e-01 -5.12429848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.012885557546631551 Centerline is valid? [True, True] Translation: X:165.97, Y:-112.59, Z:-5.13 [[-7.05724896e-01 -7.08475774e-01 3.80115698e-03 1.65974801e+02] [ 7.08465194e-01 -7.05735132e-01 -3.87198868e-03 -1.12594115e+02] [ 5.42582020e-03 -3.95713916e-05 9.99985279e-01 -5.12576653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.012484039437952356 Centerline is valid? [True, True] Translation: X:165.93, Y:-112.55, Z:-5.13 [[-7.02939763e-01 -7.11231183e-01 5.08851306e-03 1.65933347e+02] [ 7.11212320e-01 -7.02958180e-01 -5.18007995e-03 -1.12554680e+02] [ 7.26124627e-03 -2.22709950e-05 9.99973637e-01 -5.12653013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.012396244825889144 Centerline is valid? [True, True] Translation: X:165.89, Y:-112.51, Z:-5.13 [[-6.99318914e-01 -7.14785515e-01 5.89273455e-03 1.65892006e+02] [ 7.14760374e-01 -6.99343741e-01 -5.99504110e-03 -1.12514694e+02] [ 8.40621556e-03 1.94475218e-05 9.99964667e-01 -5.12724677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.012401056914214165 Centerline is valid? [True, True] Translation: X:165.85, Y:-112.47, Z:-5.13 [[-6.98397282e-01 -7.15685022e-01 6.01543375e-03 1.65851876e+02] [ 7.15658890e-01 -6.98423187e-01 -6.11598725e-03 -1.12473319e+02] [ 8.57843888e-03 3.36097677e-05 9.99963204e-01 -5.12659950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.012328774776928743 Centerline is valid? [True, True] Translation: X:165.81, Y:-112.43, Z:-5.13 [[-6.99382046e-01 -7.14726502e-01 5.54802488e-03 1.65814086e+02] [ 7.14704272e-01 -6.99404051e-01 -5.63704855e-03 -1.12431127e+02] [ 7.90925907e-03 2.27465321e-05 9.99968721e-01 -5.12678845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.012146314021411038 Centerline is valid? [True, True] Translation: X:165.78, Y:-112.39, Z:-5.13 [[-7.01405584e-01 -7.12749527e-01 4.28002513e-03 1.65776438e+02] [ 7.12736277e-01 -7.01418642e-01 -4.34600416e-03 -1.12388320e+02] [ 6.09970183e-03 2.21759089e-06 9.99981397e-01 -5.12553273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.012357546623668225 Centerline is valid? [True, True] Translation: X:165.74, Y:-112.35, Z:-5.13 [[-7.03931841e-01 -7.10260279e-01 3.20927810e-03 1.65737952e+02] [ 7.10252810e-01 -7.03939157e-01 -3.25720096e-03 -1.12347342e+02] [ 4.57259698e-03 -1.34486766e-05 9.99989546e-01 -5.12529934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.01243901052481092 Centerline is valid? [True, True] Translation: X:165.70, Y:-112.31, Z:-5.13 [[-7.05312227e-01 -7.08890124e-01 3.07484507e-03 1.65698104e+02] [ 7.08883263e-01 -7.05318930e-01 -3.11888096e-03 -1.12306042e+02] [ 4.37969034e-03 -2.00786728e-05 9.99990409e-01 -5.12597743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.013096531971416012 Centerline is valid? [True, True] Translation: X:165.66, Y:-112.26, Z:-5.13 [[-7.08376509e-01 -7.05824693e-01 3.77148001e-03 1.65658850e+02] [ 7.05814339e-01 -7.08386547e-01 -3.82346149e-03 -1.12262884e+02] [ 5.37035924e-03 -4.64856305e-05 9.99985578e-01 -5.12676597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.014361496971874567 Centerline is valid? [True, True] Translation: X:165.62, Y:-112.22, Z:-5.13 [[-7.13671154e-01 -7.00461150e-01 5.25948326e-03 1.65619449e+02] [ 7.00440888e-01 -7.13690524e-01 -5.32902052e-03 -1.12219892e+02] [ 7.48641520e-03 -1.19211092e-04 9.99971969e-01 -5.12874113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.016504501584148387 Centerline is valid? [True, True] Translation: X:165.58, Y:-112.18, Z:-5.13 [[-7.19637324e-01 -6.94324377e-01 5.98173606e-03 1.65579488e+02] [ 6.94297986e-01 -7.19662155e-01 -6.05719668e-03 -1.12178728e+02] [ 8.51048837e-03 -2.05877508e-04 9.99963764e-01 -5.12997073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.017513842280096004 Centerline is valid? [True, True] Translation: X:165.54, Y:-112.14, Z:-5.13 [[-7.23712190e-01 -6.90064946e-01 7.14396733e-03 1.65539079e+02] [ 6.90027136e-01 -7.23747386e-01 -7.22994384e-03 -1.12137145e+02] [ 1.01595585e-02 -3.02867173e-04 9.99948345e-01 -5.13058607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.02116307441004038 Centerline is valid? [True, True] Translation: X:165.50, Y:-112.10, Z:-5.13 [[-7.28534263e-01 -6.84961104e-01 8.13096862e-03 1.65500670e+02] [ 6.84911850e-01 -7.28579513e-01 -8.22505787e-03 -1.12095045e+02] [ 1.15579019e-02 -4.23239713e-04 9.99933116e-01 -5.13169509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.019917545341587628 Centerline is valid? [True, True] Translation: X:165.45, Y:-112.06, Z:-5.13 [[-7.28963870e-01 -6.84487073e-01 9.44048850e-03 1.65454886e+02] [ 6.84420706e-01 -7.29024829e-01 -9.54441456e-03 -1.12059158e+02] [ 1.34153789e-02 -4.96267570e-04 9.99909887e-01 -5.13135290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.019043555647939907 Centerline is valid? [True, True] Translation: X:165.41, Y:-112.02, Z:-5.13 [[-7.26598015e-01 -6.87000283e-01 9.27016209e-03 1.65410572e+02] [ 6.86936565e-01 -7.26657016e-01 -9.36681342e-03 -1.12021723e+02] [ 1.31712318e-02 -4.37894735e-04 9.99913160e-01 -5.13147313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.015545751440598228 Centerline is valid? [True, True] Translation: X:165.36, Y:-111.99, Z:-5.13 [[-7.18474626e-01 -6.95493621e-01 9.10137400e-03 1.65361961e+02] [ 6.95432941e-01 -7.18532218e-01 -9.19112007e-03 -1.11988061e+02] [ 1.29319958e-02 -2.74191271e-04 9.99916341e-01 -5.12950473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.012393515477156522 Centerline is valid? [True, True] Translation: X:165.31, Y:-111.96, Z:-5.13 [[-7.07115132e-01 -7.07050320e-01 8.24827092e-03 1.65310435e+02] [ 7.07001314e-01 -7.07163235e-01 -8.32465901e-03 -1.11958419e+02] [ 1.17188268e-02 -5.49539795e-05 9.99931331e-01 -5.12944643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.012359874195032797 Centerline is valid? [True, True] Translation: X:165.26, Y:-111.92, Z:-5.13 [[-6.99406860e-01 -7.14682079e-01 7.71818315e-03 1.65263656e+02] [ 7.14639683e-01 -6.99449441e-01 -7.78478026e-03 -1.11924401e+02] [ 1.09621218e-02 7.09912473e-05 9.99939912e-01 -5.12911758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.014497747410193385 Centerline is valid? [True, True] Translation: X:165.22, Y:-111.89, Z:-5.13 [[-6.90280843e-01 -7.23521297e-01 5.41197828e-03 1.65216898e+02] [ 7.23500746e-01 -6.90302043e-01 -5.45535372e-03 -1.11890030e+02] [ 7.68296426e-03 1.49844156e-04 9.99970474e-01 -5.12618167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.01579760010841932 Centerline is valid? [True, True] Translation: X:165.17, Y:-111.85, Z:-5.12 [[-6.86826829e-01 -7.26809546e-01 4.09763586e-03 1.65173576e+02] [ 7.26797836e-01 -6.86839038e-01 -4.12812736e-03 -1.11851534e+02] [ 5.81477864e-03 1.42844251e-04 9.99983084e-01 -5.12438785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.01714588702370441 Centerline is valid? [True, True] Translation: X:165.13, Y:-111.81, Z:-5.12 [[-6.84745118e-01 -7.28774821e-01 3.37401833e-03 1.65130005e+02] [ 7.28766915e-01 -6.84753418e-01 -3.39721512e-03 -1.11813016e+02] [ 4.78617542e-03 1.32646457e-04 9.99988537e-01 -5.12407055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.016440771683546546 Centerline is valid? [True, True] Translation: X:165.09, Y:-111.77, Z:-5.13 [[-6.85200343e-01 -7.28337961e-01 4.92998686e-03 1.65089769e+02] [ 7.28321090e-01 -6.85218052e-01 -4.96102169e-03 -1.11770861e+02] [ 6.99141641e-03 1.91319636e-04 9.99975541e-01 -5.12741670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.014926146304041656 Centerline is valid? [True, True] Translation: X:165.05, Y:-111.73, Z:-5.13 [[-6.89514311e-01 -7.24228359e-01 7.95608817e-03 1.65053236e+02] [ 7.24184198e-01 -6.89560167e-01 -8.00146460e-03 -1.11725861e+02] [ 1.12810891e-02 2.44548978e-04 9.99936337e-01 -5.13116447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.01428382167889648 Centerline is valid? [True, True] Translation: X:165.02, Y:-111.68, Z:-5.13 [[-6.94883362e-01 -7.19065593e-01 9.04353663e-03 1.65017165e+02] [ 7.19008153e-01 -6.94942183e-01 -9.09055851e-03 -1.11681696e+02] [ 1.28214429e-02 1.85498699e-04 9.99917785e-01 -5.13363668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.012642375791682406 Centerline is valid? [True, True] Translation: X:164.99, Y:-111.63, Z:-5.13 [[-7.05583779e-01 -7.08565472e-01 9.30071431e-03 1.64987661e+02] [ 7.08503859e-01 -7.05645075e-01 -9.34393415e-03 -1.11629488e+02] [ 1.31837924e-02 -3.33638174e-06 9.99913090e-01 -5.13308173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.013533526746435525 Centerline is valid? [True, True] Translation: X:164.95, Y:-111.58, Z:-5.13 [[-7.13737454e-01 -7.00359034e-01 8.72182159e-03 1.64954884e+02] [ 7.00304294e-01 -7.13790728e-01 -8.75741721e-03 -1.11580658e+02] [ 1.23588916e-02 -1.42567550e-04 9.99923616e-01 -5.13092970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.019199765499363985 Centerline is valid? [True, True] Translation: X:164.93, Y:-111.52, Z:-5.13 [[-7.29708070e-01 -6.83718008e-01 7.47110908e-03 1.64929440e+02] [ 6.83676999e-01 -7.29746226e-01 -7.49714142e-03 -1.11524806e+02] [ 1.05779442e-02 -3.62899161e-04 9.99943986e-01 -5.12892966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.022048936171246727 Centerline is valid? [True, True] Translation: X:164.89, Y:-111.48, Z:-5.13 [[-7.36475661e-01 -6.76423194e-01 7.43399534e-03 1.64894448e+02] [ 6.76382263e-01 -7.36513034e-01 -7.45559518e-03 -1.11477850e+02] [ 1.05183720e-02 -4.62641795e-04 9.99944573e-01 -5.12848963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.02546216514561689 Centerline is valid? [True, True] Translation: X:164.86, Y:-111.43, Z:-5.13 [[-7.41830367e-01 -6.70554416e-01 6.66948140e-03 1.64858869e+02] [ 6.70521269e-01 -7.41860188e-01 -6.68503962e-03 -1.11431430e+02] [ 9.43050556e-03 -4.87136270e-04 9.99955413e-01 -5.12752024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.02571823241467463 Centerline is valid? [True, True] Translation: X:164.82, Y:-111.39, Z:-5.13 [[-7.41888567e-01 -6.70497276e-01 5.89553490e-03 1.64818384e+02] [ 6.70471404e-01 -7.41911868e-01 -5.90567120e-03 -1.11390692e+02] [ 8.33370376e-03 -4.28562387e-04 9.99965182e-01 -5.12634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.023378461749049877 Centerline is valid? [True, True] Translation: X:164.77, Y:-111.35, Z:-5.13 [[-7.40018594e-01 -6.72562835e-01 5.63154299e-03 1.64774499e+02] [ 6.72539314e-01 -7.40039921e-01 -5.63790635e-03 -1.11353153e+02] [ 7.95941291e-03 -3.84721463e-04 9.99968249e-01 -5.12536783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.02368264052903758 Centerline is valid? [True, True] Translation: X:164.73, Y:-111.32, Z:-5.13 [[-7.34408127e-01 -6.78690331e-01 4.91290745e-03 1.64730834e+02] [ 6.78672587e-01 -7.34424508e-01 -4.91546712e-03 -1.11316656e+02] [ 6.94423965e-03 -2.75703395e-04 9.99975851e-01 -5.12624332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.01775457596412216 Centerline is valid? [True, True] Translation: X:164.68, Y:-111.29, Z:-5.13 [[-7.27414541e-01 -6.86184081e-01 4.41496337e-03 1.64678690e+02] [ 6.86169904e-01 -7.27427916e-01 -4.41474485e-03 -1.11287054e+02] [ 6.24089524e-03 -1.81934610e-04 9.99980509e-01 -5.12582174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.014706148253760643 Centerline is valid? [True, True] Translation: X:164.18, Y:-111.78, Z:-4.13 [[-7.43152655e-01 6.69108169e-01 4.28834576e-03 1.64179911e+02] [ 6.69097849e-01 7.43165020e-01 -3.71777044e-03 -1.11775330e+02] [-5.67453914e-03 1.06451949e-04 -9.99983894e-01 -4.12955957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.013042904768624644 Centerline is valid? [True, True] Translation: X:164.20, Y:-111.74, Z:-4.13 [[-7.93567459e-01 6.08466513e-01 4.38068959e-03 1.64198159e+02] [ 6.08457648e-01 7.93579548e-01 -3.28496872e-03 -1.11744293e+02] [-5.47521913e-03 5.86198102e-05 -9.99985009e-01 -4.13033500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.012380106667669954 Centerline is valid? [True, True] Translation: X:164.22, Y:-111.71, Z:-4.13 [[-8.40895738e-01 5.41150058e-01 7.13955392e-03 1.64215334e+02] [ 5.41130461e-01 8.40926046e-01 -4.60536080e-03 -1.11706928e+02] [-8.49602811e-03 -9.19816221e-06 -9.99963908e-01 -4.12630191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.013199672511864203 Centerline is valid? [True, True] Translation: X:164.23, Y:-111.67, Z:-4.13 [[-8.81639411e-01 4.71864263e-01 7.48771433e-03 1.64227651e+02] [ 4.71846370e-01 8.81671202e-01 -4.11022857e-03 -1.11670884e+02] [-8.54117207e-03 -9.06886691e-05 -9.99963519e-01 -4.12571698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.014434984822846452 Centerline is valid? [True, True] Translation: X:164.24, Y:-111.64, Z:-4.13 [[-9.14435726e-01 4.04672128e-01 6.91172612e-03 1.64244848e+02] [ 4.04659623e-01 9.14461840e-01 -3.18334732e-03 -1.11643391e+02] [-7.60872171e-03 -1.14070037e-04 -9.99971047e-01 -4.12598494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.014517587818905404 Centerline is valid? [True, True] Translation: X:164.25, Y:-111.61, Z:-4.13 [[-9.41806024e-01 3.36088633e-01 6.77075790e-03 1.64250351e+02] [ 3.36078955e-01 9.41830353e-01 -2.55386923e-03 -1.11614495e+02] [-7.23523172e-03 -1.29740186e-04 -9.99973817e-01 -4.12688678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.01633266190047394 Centerline is valid? [True, True] Translation: X:164.25, Y:-111.58, Z:-4.13 [[-9.63893007e-01 2.66194720e-01 7.11628660e-03 1.64253121e+02] [ 2.66186305e-01 9.63919264e-01 -2.12202769e-03 -1.11582780e+02] [-7.42439831e-03 -1.51149620e-04 -9.99972427e-01 -4.12514668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.01771419485810572 Centerline is valid? [True, True] Translation: X:164.26, Y:-111.55, Z:-4.12 [[-9.80902658e-01 1.94336397e-01 7.95870319e-03 1.64256609e+02] [ 1.94328427e-01 9.80934926e-01 -1.77019296e-03 -1.11553037e+02] [-8.15098285e-03 -1.89784705e-04 -9.99966762e-01 -4.12430235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.017708305790243524 Centerline is valid? [True, True] Translation: X:164.38, Y:-110.97, Z:-5.13 [[-9.51518955e-01 -3.07389178e-01 1.11162393e-02 1.64383387e+02] [ 3.07374175e-01 -9.51583761e-01 -3.07625406e-03 -1.10973942e+02] [ 1.15236401e-02 4.89730844e-04 9.99933481e-01 -5.13381455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.018323554007957623 Centerline is valid? [True, True] Translation: X:164.19, Y:-111.54, Z:-4.12 [[-9.82081295e-01 1.87953617e-01 1.37756136e-02 1.64193998e+02] [ 1.87929830e-01 9.82177836e-01 -3.01304736e-03 -1.11539916e+02] [-1.40964155e-02 -3.70208736e-04 -9.99900572e-01 -4.11855053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.01639217750819671 Centerline is valid? [True, True] Translation: X:164.21, Y:-111.52, Z:-4.12 [[-9.92676226e-01 1.19869281e-01 1.50088498e-02 1.64207946e+02] [ 1.19849998e-01 9.92789616e-01 -2.18095685e-03 -1.11521362e+02] [-1.51620600e-02 -3.66173401e-04 -9.99884982e-01 -4.11913767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.01445275113356502 Centerline is valid? [True, True] Translation: X:164.30, Y:-110.91, Z:-5.13 [[-9.73889266e-01 -2.26614017e-01 1.36302838e-02 1.64303737e+02] [ 2.26595652e-01 -9.73984608e-01 -2.89728114e-03 -1.10914840e+02] [ 1.39322511e-02 2.66932050e-04 9.99902906e-01 -5.13409756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.012467916667746793 Centerline is valid? [True, True] Translation: X:164.17, Y:-111.54, Z:-4.12 [[-9.90814417e-01 1.34736276e-01 1.15294282e-02 1.64167968e+02] [ 1.34726438e-01 9.90881493e-01 -1.62935528e-03 -1.11538494e+02] [-1.16438303e-02 -6.10699166e-05 -9.99932206e-01 -4.12299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.012798301478194517 Centerline is valid? [True, True] Translation: X:164.27, Y:-110.88, Z:-5.13 [[-9.79987268e-01 -1.98863244e-01 8.85242794e-03 1.64265784e+02] [ 1.98854351e-01 -9.80027246e-01 -1.88253185e-03 -1.10883097e+02] [ 9.04998697e-03 -8.45134314e-05 9.99959044e-01 -5.12936076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.015009208599782295 Centerline is valid? [True, True] Translation: X:164.13, Y:-111.56, Z:-4.13 [[-9.87791751e-01 1.55517559e-01 9.04131960e-03 1.64130052e+02] [ 1.55512728e-01 9.87833111e-01 -1.23928097e-03 -1.11559780e+02] [-9.12404482e-03 1.81888755e-04 -9.99958359e-01 -4.12596083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.01823464430057171 Centerline is valid? [True, True] Translation: X:164.23, Y:-110.86, Z:-5.13 [[-9.84776802e-01 -1.73515661e-01 1.03424111e-02 1.64230627e+02] [ 1.73504669e-01 -9.84831101e-01 -1.95758522e-03 -1.10858799e+02] [ 1.05251998e-02 -1.33327900e-04 9.99944600e-01 -5.13102935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.018685825189824975 Centerline is valid? [True, True] Translation: X:164.08, Y:-111.57, Z:-4.12 [[-9.86176548e-01 1.65307194e-01 1.13731042e-02 1.64080981e+02] [ 1.65300744e-01 9.86242049e-01 -1.51136280e-03 -1.11568323e+02] [-1.14664727e-02 3.89512034e-04 -9.99934182e-01 -4.12464407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.019177154168670347 Centerline is valid? [True, True] Translation: X:164.08, Y:-111.54, Z:-4.12 [[-9.95454543e-01 9.46326362e-02 1.07199686e-02 1.64082232e+02] [ 9.46310539e-02 9.95512197e-01 -6.55884364e-04 -1.11541341e+02] [-1.07339275e-02 3.61538854e-04 -9.99942324e-01 -4.12492188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.022736521064081656 Centerline is valid? [True, True] Translation: X:164.13, Y:-110.81, Z:-5.13 [[-9.95255527e-01 -9.66680344e-02 1.10330180e-02 1.64130130e+02] [ 9.66582039e-02 -9.95316618e-01 -1.42204502e-03 -1.10809877e+02] [ 1.11188125e-02 -3.48866454e-04 9.99938123e-01 -5.13232458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.017449251356053994 Centerline is valid? [True, True] Translation: X:164.02, Y:-111.54, Z:-4.12 [[-9.96483257e-01 8.29505218e-02 1.18460604e-02 1.64015851e+02] [ 8.29483716e-02 9.96553618e-01 -6.73564715e-04 -1.11535096e+02] [-1.18611069e-02 3.11415461e-04 -9.99929606e-01 -4.12339524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.01490828633730347 Centerline is valid? [True, True] Translation: X:164.06, Y:-110.82, Z:-5.13 [[-9.94382591e-01 -1.05286727e-01 1.08612701e-02 1.64056031e+02] [ 1.05276568e-01 -9.94441844e-01 -1.50447114e-03 -1.10817931e+02] [ 1.09593024e-02 -3.52582667e-04 9.99939883e-01 -5.13065632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.0130230692173017 Centerline is valid? [True, True] Translation: X:163.95, Y:-111.52, Z:-4.13 [[-9.97943462e-01 6.33576363e-02 9.72913570e-03 1.63951223e+02] [ 6.33556581e-02 9.97990881e-01 -5.11709645e-04 -1.11520362e+02] [-9.74200942e-03 1.05738500e-04 -9.99952540e-01 -4.12600629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.012400930870685629 Centerline is valid? [True, True] Translation: X:163.99, Y:-110.82, Z:-5.13 [[-9.93341931e-01 -1.14708221e-01 1.06691829e-02 1.63986419e+02] [ 1.14701105e-01 -9.93399226e-01 -1.27854383e-03 -1.10824649e+02] [ 1.07454175e-02 -4.62641287e-05 9.99942265e-01 -5.13053814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.012201211456009725 Centerline is valid? [True, True] Translation: X:163.89, Y:-111.51, Z:-4.12 [[-9.98786092e-01 4.80252458e-02 1.09507456e-02 1.63886377e+02] [ 4.80223120e-02 9.98846122e-01 -5.30853001e-04 -1.11509030e+02] [-1.09636041e-02 -4.32847134e-06 -9.99939898e-01 -4.12334022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.01228496648357694 Centerline is valid? [True, True] Translation: X:163.88, Y:-111.48, Z:-4.13 [[-9.99540028e-01 -2.84513863e-02 1.05000536e-02 1.63883688e+02] [-2.84504624e-02 9.99595176e-01 2.37384254e-04 -1.11475882e+02] [-1.05025569e-02 -6.14563172e-05 -9.99944845e-01 -4.12525644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.012303818312944793 Centerline is valid? [True, True] Translation: X:163.88, Y:-111.45, Z:-4.12 [[-9.94981025e-01 -9.95058775e-02 1.05517909e-02 1.63877861e+02] [-9.95009522e-02 9.95036972e-01 9.92026964e-04 -1.11448150e+02] [-1.05981346e-02 -6.28652370e-05 -9.99943836e-01 -4.12495595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.012152326126720202 Centerline is valid? [True, True] Translation: X:163.87, Y:-111.42, Z:-4.13 [[-9.85733898e-01 -1.68043243e-01 9.49476585e-03 1.63868868e+02] [-1.68035815e-01 9.85779624e-01 1.58048554e-03 -1.11424836e+02] [-9.62533662e-03 -3.75225417e-05 -9.99953675e-01 -4.12567712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.01218196165650274 Centerline is valid? [True, True] Translation: X:163.86, Y:-111.40, Z:-4.12 [[-9.71889145e-01 -2.35228051e-01 9.96261731e-03 1.63858858e+02] [-2.35215808e-01 9.71940206e-01 2.39990010e-03 -1.11401377e+02] [-1.02475921e-02 -1.09282316e-05 -9.99947492e-01 -4.12492830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.012314525414162409 Centerline is valid? [True, True] Translation: X:163.83, Y:-111.38, Z:-4.12 [[-9.52803379e-01 -3.03350307e-01 1.20129994e-02 1.63832082e+02] [-3.03326185e-01 9.52879106e-01 3.82548222e-03 -1.11380887e+02] [-1.26073973e-02 1.07511666e-06 -9.99920524e-01 -4.12243206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.012249414968230515 Centerline is valid? [True, True] Translation: X:163.79, Y:-111.37, Z:-4.12 [[-9.28266061e-01 -3.71752987e-01 1.10379841e-02 1.63794559e+02] [-3.71726760e-01 9.28331684e-01 4.41580054e-03 -1.11367768e+02] [-1.18884975e-02 -4.07631840e-06 -9.99929329e-01 -4.12365418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.01203610729431925 Centerline is valid? [True, True] Translation: X:163.74, Y:-111.36, Z:-4.13 [[-8.97462290e-01 -4.41008320e-01 8.54983921e-03 1.63737248e+02] [-4.40988620e-01 8.97503014e-01 4.16855970e-03 -1.11362795e+02] [-9.51187598e-03 -2.92566588e-05 -9.99954761e-01 -4.12717846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.012372347422340607 Centerline is valid? [True, True] Translation: X:163.67, Y:-111.36, Z:-4.13 [[-8.60457486e-01 -5.09453131e-01 8.39181578e-03 1.63671778e+02] [-5.09429696e-01 8.60498404e-01 4.88700103e-03 -1.11364619e+02] [-9.71084206e-03 -6.99835420e-05 -9.99952846e-01 -4.12722376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.012787792038495506 Centerline is valid? [True, True] Translation: X:163.60, Y:-111.38, Z:-4.13 [[-8.18349267e-01 -5.74654389e-01 8.76416391e-03 1.63599399e+02] [-5.74622920e-01 8.18396188e-01 6.01491636e-03 -1.11377087e+02] [-1.06290564e-02 -1.13787059e-04 -9.99943504e-01 -4.12724885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.013067989058088628 Centerline is valid? [True, True] Translation: X:163.52, Y:-111.40, Z:-4.13 [[-7.72898448e-01 -6.34476752e-01 8.20002587e-03 1.63522805e+02] [-6.34442655e-01 7.72941936e-01 6.57878014e-03 -1.11399378e+02] [-1.05122269e-02 -1.17717231e-04 -9.99944738e-01 -4.12682013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.01300414542422516 Centerline is valid? [True, True] Translation: X:163.44, Y:-111.43, Z:-4.13 [[-7.23052190e-01 -6.90754931e-01 7.29076508e-03 1.63443860e+02] [-6.90721392e-01 7.23088938e-01 6.80777767e-03 -1.11432907e+02] [-9.97437757e-03 -1.13508856e-04 -9.99950248e-01 -4.12756592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.013027910444051329 Centerline is valid? [True, True] Translation: X:163.36, Y:-111.48, Z:-4.13 [[-6.70093032e-01 -7.42247444e-01 6.63778172e-03 1.63362403e+02] [-7.42212462e-01 6.70125900e-01 7.20691370e-03 -1.11479644e+02] [-9.79746272e-03 -9.73416643e-05 -9.99951999e-01 -4.12783433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.012870794030516039 Centerline is valid? [True, True] Translation: X:163.28, Y:-111.54, Z:-4.13 [[-6.14071827e-01 -7.89220710e-01 6.81634746e-03 1.63281750e+02] [-7.89173545e-01 6.14109652e-01 8.62844882e-03 -1.11536512e+02] [-1.09957353e-02 -8.07937581e-05 -9.99939542e-01 -4.12646126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.012870794030516039 Centerline is valid? [True, True] Translation: X:163.20, Y:-111.60, Z:-4.13 [[-5.52455002e-01 -8.33520091e-01 6.14237887e-03 1.63201279e+02] [-8.33470194e-01 5.52489141e-01 9.12055373e-03 -1.11600901e+02] [-1.09957624e-02 -8.07941897e-05 -9.99939542e-01 -4.12646005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.012998655039152112 Centerline is valid? [True, True] Translation: X:163.13, Y:-111.67, Z:-4.13 [[-4.88973360e-01 -8.72282422e-01 5.33196869e-03 1.63126574e+02] [-8.72231908e-01 4.89002426e-01 9.38751005e-03 -1.11671693e+02] [-1.07959056e-02 -6.04708978e-05 -9.99941721e-01 -4.12595455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.012756536640210878 Centerline is valid? [True, True] Translation: X:163.06, Y:-111.75, Z:-4.13 [[-4.21861106e-01 -9.06649810e-01 4.39665242e-03 1.63055604e+02] [-9.06601750e-01 4.21884013e-01 9.33520621e-03 -1.11753918e+02] [-1.03186403e-02 -4.78523664e-05 -9.99946760e-01 -4.12874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.01289127579634918 Centerline is valid? [True, True] Translation: X:162.99, Y:-111.84, Z:-4.13 [[-3.51103116e-01 -9.36328374e-01 3.97218229e-03 1.62986490e+02] [-9.36270208e-01 3.51125581e-01 1.04366748e-02 -1.11843612e+02] [-1.11668895e-02 -5.46868995e-05 -9.99937647e-01 -4.12969083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.012927632203808975 Centerline is valid? [True, True] Translation: X:162.92, Y:-111.94, Z:-4.13 [[-2.78830524e-01 -9.60334541e-01 3.33298787e-03 1.62923478e+02] [-9.60268191e-01 2.78850439e-01 1.12886885e-02 -1.11942073e+02] [-1.17703226e-02 -5.29312989e-05 -9.99930726e-01 -4.12925771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.012958847388497634 Centerline is valid? [True, True] Translation: X:162.87, Y:-112.04, Z:-4.13 [[-2.05395656e-01 -9.78675994e-01 2.43366224e-03 1.62869914e+02] [-9.78609727e-01 2.05410069e-01 1.13888713e-02 -1.12040495e+02] [-1.16459137e-02 -4.23808492e-05 -9.99932183e-01 -4.13003276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.0129495636533469 Centerline is valid? [True, True] Translation: X:162.82, Y:-112.15, Z:-4.13 [[-1.32115799e-01 -9.91233559e-01 1.20262407e-03 1.62823922e+02] [-9.91193278e-01 1.32121272e-01 8.93614563e-03 -1.12147353e+02] [-9.01669967e-03 -1.14268701e-05 -9.99959349e-01 -4.13254215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.012910745287259497 Centerline is valid? [True, True] Translation: X:162.78, Y:-112.26, Z:-4.13 [[-5.73319992e-02 -9.98355053e-01 4.78773970e-04 1.62784790e+02] [-9.98319701e-01 5.73339982e-02 8.40163837e-03 -1.12257113e+02] [-8.41526815e-03 3.71323790e-06 -9.99964591e-01 -4.13296277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.013082166572196276 Centerline is valid? [True, True] Translation: X:162.75, Y:-112.37, Z:-4.13 [[ 1.93546017e-02 -9.99812666e-01 -1.80094168e-04 1.62754686e+02] [-9.99771787e-01 -1.93554389e-02 9.04104723e-03 -1.12374998e+02] [-9.04283933e-03 5.06720059e-06 -9.99959113e-01 -4.13239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.013164663890635678 Centerline is valid? [True, True] Translation: X:162.73, Y:-112.49, Z:-4.13 [[ 9.68937198e-02 -9.95294266e-01 -9.65255361e-04 1.62731991e+02] [-9.95244531e-01 -9.68985276e-02 9.94979038e-03 -1.12492201e+02] [-9.99650113e-03 -3.40708210e-06 -9.99950034e-01 -4.13167633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.01329482543991908 Centerline is valid? [True, True] Translation: X:162.72, Y:-112.61, Z:-4.13 [[ 1.74589761e-01 -9.84639620e-01 -1.79823803e-03 1.62716687e+02] [-9.84586109e-01 -1.74599020e-01 1.02653106e-02 -1.12609983e+02] [-1.04216021e-02 -2.16979384e-05 -9.99945693e-01 -4.13111574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.013505260656610875 Centerline is valid? [True, True] Translation: X:162.71, Y:-112.73, Z:-4.13 [[ 2.52175946e-01 -9.67677640e-01 -2.69783309e-03 1.62710667e+02] [-9.67620018e-01 -2.52190371e-01 1.05601636e-02 -1.12731195e+02] [-1.08992017e-02 -5.25419432e-05 -9.99940601e-01 -4.13077103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.01388663298313117 Centerline is valid? [True, True] Translation: X:162.72, Y:-112.85, Z:-4.13 [[ 3.27760147e-01 -9.44753828e-01 -3.67293751e-03 1.62715113e+02] [-9.44691688e-01 -3.27780716e-01 1.08359314e-02 -1.12854842e+02] [-1.14412058e-02 -8.17929373e-05 -9.99934544e-01 -4.12921119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.01422436993098375 Centerline is valid? [True, True] Translation: X:162.72, Y:-112.97, Z:-4.13 [[ 4.01864094e-01 -9.15686803e-01 -4.78836267e-03 1.62723998e+02] [-9.15618073e-01 -4.01892601e-01 1.12196908e-02 -1.12968135e+02] [-1.21981304e-02 -1.24479496e-04 -9.99925592e-01 -4.12871274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.014268218284347711 Centerline is valid? [True, True] Translation: X:162.74, Y:-113.08, Z:-4.13 [[ 4.71752706e-01 -8.81711808e-01 -5.80282912e-03 1.62744539e+02] [-8.81641333e-01 -4.71788371e-01 1.11486732e-02 -1.13080007e+02] [-1.25676241e-02 -1.43402761e-04 -9.99921014e-01 -4.12863758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.014319758237336585 Centerline is valid? [True, True] Translation: X:162.77, Y:-113.19, Z:-4.13 [[ 5.38099876e-01 -8.42857555e-01 -6.29808804e-03 1.62774535e+02] [-8.42796701e-01 -5.38136713e-01 1.01291164e-02 -1.13191430e+02] [-1.19266347e-02 -1.42468469e-04 -9.99928865e-01 -4.12872460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.014107111778300823 Centerline is valid? [True, True] Translation: X:162.81, Y:-113.30, Z:-4.13 [[ 6.00423412e-01 -7.99647213e-01 -7.48745618e-03 1.62812099e+02] [-7.99582003e-01 -6.00470078e-01 1.02130416e-02 -1.13297707e+02] [-1.26628236e-02 -1.45314062e-04 -9.99919813e-01 -4.12823575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.013934398819147991 Centerline is valid? [True, True] Translation: X:162.85, Y:-113.39, Z:-4.13 [[ 6.58758299e-01 -7.52304196e-01 -8.71210533e-03 1.62852504e+02] [-7.52235576e-01 -6.58815890e-01 1.01617320e-02 -1.13393521e+02] [-1.33843870e-02 -1.40569687e-04 -9.99910415e-01 -4.12744632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.013713117751051562 Centerline is valid? [True, True] Translation: X:162.90, Y:-113.48, Z:-4.13 [[ 7.12508244e-01 -7.01608392e-01 -8.81286548e-03 1.62900358e+02] [-7.01552870e-01 -7.12562736e-01 8.82712405e-03 -1.13484852e+02] [-1.24729039e-02 -1.06707588e-04 -9.99922205e-01 -4.12761771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.013320553985063733 Centerline is valid? [True, True] Translation: X:162.95, Y:-113.57, Z:-4.13 [[ 7.61529593e-01 -6.48069795e-01 -8.84423206e-03 1.62954551e+02] [-6.48025138e-01 -7.61580946e-01 7.60812095e-03 -1.13570631e+02] [-1.16661920e-02 -6.25245502e-05 -9.99931946e-01 -4.12802092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.013224330796397808 Centerline is valid? [True, True] Translation: X:162.98, Y:-113.60, Z:-4.13 [[ 8.07953538e-01 -5.89165454e-01 -9.75441267e-03 1.62979500e+02] [-5.89122142e-01 -8.08012418e-01 7.14379397e-03 -1.13595035e+02] [-1.20905632e-02 -2.53131195e-05 -9.99926906e-01 -4.12743614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.013136584292231294 Centerline is valid? [True, True] Translation: X:163.01, Y:-113.62, Z:-4.13 [[ 8.49265703e-01 -5.27873216e-01 -9.88099052e-03 1.63005895e+02] [-5.27837840e-01 -8.49323182e-01 6.11124900e-03 -1.13619118e+02] [-1.16181190e-02 2.54865100e-05 -9.99932507e-01 -4.12826539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.013150996874517868 Centerline is valid? [True, True] Translation: X:163.03, Y:-113.64, Z:-4.13 [[ 8.87214389e-01 -4.61235199e-01 -1.06169341e-02 1.63032361e+02] [-4.61202785e-01 -8.87277910e-01 5.46825376e-03 -1.13643877e+02] [-1.19423222e-02 4.50461684e-05 -9.99928687e-01 -4.12786282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.013156957026450393 Centerline is valid? [True, True] Translation: X:163.06, Y:-113.67, Z:-4.13 [[ 9.20916608e-01 -3.89576534e-01 -1.19467255e-02 1.63061115e+02] [-3.89544269e-01 -9.20994095e-01 5.01396015e-03 -1.13666764e+02] [-1.29561849e-02 3.63392763e-05 -9.99916064e-01 -4.12670548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.01298639545263758 Centerline is valid? [True, True] Translation: X:163.09, Y:-113.69, Z:-4.13 [[ 9.49172715e-01 -3.14505009e-01 -1.25601044e-02 1.63091105e+02] [-3.14477628e-01 -9.49255813e-01 4.14998722e-03 -1.13688591e+02] [-1.32279438e-02 1.08171926e-05 -9.99912507e-01 -4.12650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.013024174770235746 Centerline is valid? [True, True] Translation: X:163.12, Y:-113.71, Z:-4.13 [[ 9.71322636e-01 -2.37406581e-01 -1.30557517e-02 1.63122427e+02] [-2.37384916e-01 -9.71410374e-01 3.20727237e-03 -1.13708655e+02] [-1.34439202e-02 -1.60577263e-05 -9.99909626e-01 -4.12662770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.01305435296650572 Centerline is valid? [True, True] Translation: X:163.15, Y:-113.72, Z:-4.13 [[ 9.86992742e-01 -1.60275594e-01 -1.25323903e-02 1.63154646e+02] [-1.60262400e-01 -9.87072304e-01 2.05659631e-03 -1.13723579e+02] [-1.26999976e-02 -2.13746739e-05 -9.99919352e-01 -4.12595039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.012866804540951687 Centerline is valid? [True, True] Translation: X:163.19, Y:-113.73, Z:-4.13 [[ 9.96496340e-01 -8.28560108e-02 -1.13984613e-02 1.63186413e+02] [-8.28504157e-02 -9.96561529e-01 9.62998588e-04 -1.13732762e+02] [-1.14390583e-02 -1.52573087e-05 -9.99934572e-01 -4.12728784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.012804509909000799 Centerline is valid? [True, True] Translation: X:163.22, Y:-113.74, Z:-4.13 [[ 9.99939838e-01 -5.93441172e-03 -9.22510658e-03 1.63218319e+02] [-5.93416115e-03 -9.99982391e-01 5.45340674e-05 -1.13739887e+02] [-9.22526776e-03 2.12482567e-07 -9.99957446e-01 -4.12884360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.012794203584564887 Centerline is valid? [True, True] Translation: X:163.25, Y:-113.75, Z:-4.13 [[ 9.97414334e-01 7.13689407e-02 -8.43328239e-03 1.63250958e+02] [ 7.13663152e-02 -9.97449986e-01 -6.12238764e-04 -1.13745311e+02] [-8.45547224e-03 8.80342993e-06 -9.99964252e-01 -4.12889642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.012818210333764096 Centerline is valid? [True, True] Translation: X:163.28, Y:-113.75, Z:-4.13 [[ 9.88869079e-01 1.48555477e-01 -8.31949883e-03 1.63283433e+02] [ 1.48550097e-01 -9.88904075e-01 -1.26436324e-03 -1.13746298e+02] [-8.41501439e-03 1.44273500e-05 -9.99964593e-01 -4.12840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.012847111193460858 Centerline is valid? [True, True] Translation: X:163.32, Y:-113.75, Z:-4.13 [[ 9.74273577e-01 2.25197389e-01 -8.78256380e-03 1.63316559e+02] [ 2.25188067e-01 -9.74313161e-01 -2.04915753e-03 -1.13747888e+02] [-9.01843242e-03 1.87114717e-05 -9.99959333e-01 -4.12809867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.012896638702344738 Centerline is valid? [True, True] Translation: X:163.35, Y:-113.75, Z:-4.13 [[ 9.53672278e-01 3.00720882e-01 -8.72572312e-03 1.63349766e+02] [ 3.00708106e-01 -9.53712195e-01 -2.77200473e-03 -1.13746957e+02] [-9.15542825e-03 1.96883876e-05 -9.99958088e-01 -4.12772080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.0129091101754744 Centerline is valid? [True, True] Translation: X:163.38, Y:-113.74, Z:-4.13 [[ 9.27190809e-01 3.74479035e-01 -9.09154326e-03 1.63383221e+02] [ 3.74460814e-01 -9.27235381e-01 -3.69424728e-03 -1.13744702e+02] [-9.81341873e-03 2.08454414e-05 -9.99951847e-01 -4.12698473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.013010193932997379 Centerline is valid? [True, True] Translation: X:163.42, Y:-113.74, Z:-4.13 [[ 8.95037294e-01 4.45906407e-01 -8.70161225e-03 1.63415133e+02] [ 4.45885103e-01 -8.95079592e-01 -4.35876393e-03 -1.13736709e+02] [-9.73223631e-03 2.13369984e-05 -9.99952640e-01 -4.12674552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.013014862347225216 Centerline is valid? [True, True] Translation: X:163.45, Y:-113.73, Z:-4.13 [[ 8.57129991e-01 5.15029614e-01 -8.52498869e-03 1.63445302e+02] [ 5.15003944e-01 -8.57172384e-01 -5.14211051e-03 -1.13725550e+02] [-9.95572407e-03 1.70543380e-05 -9.99950440e-01 -4.12720636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.012919541113728766 Centerline is valid? [True, True] Translation: X:163.48, Y:-113.72, Z:-4.13 [[ 8.12530938e-01 5.82868105e-01 -7.63197951e-03 1.63476861e+02] [ 5.82842517e-01 -8.12566780e-01 -5.46147723e-03 -1.13715185e+02] [-9.38481389e-03 -1.06229345e-05 -9.99955962e-01 -4.12815742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.013043901902118446 Centerline is valid? [True, True] Translation: X:163.51, Y:-113.70, Z:-4.13 [[ 7.62647982e-01 6.46781659e-01 -6.44529551e-03 1.63506685e+02] [ 6.46758921e-01 -7.62675216e-01 -5.42345289e-03 -1.13701336e+02] [-8.42345700e-03 -3.23669659e-05 -9.99964522e-01 -4.12864349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.013445145580347168 Centerline is valid? [True, True] Translation: X:163.53, Y:-113.69, Z:-4.13 [[ 7.06532191e-01 7.07661167e-01 -5.28548004e-03 1.63534869e+02] [ 7.07642015e-01 -7.06551958e-01 -5.20664190e-03 -1.13685238e+02] [-7.41900456e-03 -6.15676367e-05 -9.99972477e-01 -4.12985529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.014169973606643096 Centerline is valid? [True, True] Translation: X:163.56, Y:-113.67, Z:-4.13 [[ 6.45219838e-01 7.63979983e-01 -5.09377669e-03 1.63562689e+02] [ 7.63957426e-01 -6.45239936e-01 -5.87159430e-03 -1.13668172e+02] [-7.77248866e-03 -1.02959412e-04 -9.99969788e-01 -4.12981157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.014859259033270844 Centerline is valid? [True, True] Translation: X:163.59, Y:-113.65, Z:-4.13 [[ 5.80626290e-01 8.14157616e-01 -4.52644683e-03 1.63588695e+02] [ 8.14134564e-01 -5.80643919e-01 -6.12795637e-03 -1.13649186e+02] [-7.61737617e-03 -1.27084244e-04 -9.99970979e-01 -4.12956156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.0160451481119383 Centerline is valid? [True, True] Translation: X:163.61, Y:-113.63, Z:-4.13 [[ 5.11428125e-01 8.59314854e-01 -4.38808851e-03 1.63612833e+02] [ 8.59286091e-01 -5.11446920e-01 -7.03286894e-03 -1.13627112e+02] [-8.28772309e-03 -1.73816454e-04 -9.99965641e-01 -4.12898029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.0154627090628624 Centerline is valid? [True, True] Translation: X:163.64, Y:-113.60, Z:-4.13 [[ 4.41211388e-01 8.97392858e-01 -4.30934623e-03 1.63635300e+02] [ 8.97354595e-01 -4.41232382e-01 -8.28944937e-03 -1.13603590e+02] [-9.34031576e-03 -2.09612184e-04 -9.99956356e-01 -4.12942494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.01631787174916952 Centerline is valid? [True, True] Translation: X:163.66, Y:-113.58, Z:-4.13 [[ 3.68991313e-01 9.29422995e-01 -4.27863303e-03 1.63655300e+02] [ 9.29368253e-01 -3.69016032e-01 -1.00905495e-02 -1.13580190e+02] [-1.09572730e-02 -2.53100578e-04 -9.99939935e-01 -4.12766203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.016524793765442372 Centerline is valid? [True, True] Translation: X:163.67, Y:-113.55, Z:-4.13 [[ 2.95161683e-01 9.55439077e-01 -3.96887279e-03 1.63671218e+02] [ 9.55365381e-01 -2.95188225e-01 -1.18701471e-02 -1.13553162e+02] [-1.25127669e-02 -2.88111085e-04 -9.99921671e-01 -4.12657354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.015890273869116837 Centerline is valid? [True, True] Translation: X:163.68, Y:-113.52, Z:-4.13 [[ 2.20753044e-01 9.75323991e-01 -3.34761470e-03 1.63683013e+02] [ 9.75231551e-01 -2.20778222e-01 -1.34312313e-02 -1.13524824e+02] [-1.38388826e-02 -2.99714272e-04 -9.99904193e-01 -4.12562670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.015620470017699251 Centerline is valid? [True, True] Translation: X:163.69, Y:-113.50, Z:-4.13 [[ 1.46809343e-01 9.89162338e-01 -2.21066104e-03 1.63689462e+02] [ 9.89074211e-01 -1.46825777e-01 -1.32059185e-02 -1.13497600e+02] [-1.33873792e-02 -2.47755614e-04 -9.99910354e-01 -4.12611556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.01507105999485641 Centerline is valid? [True, True] Translation: X:163.69, Y:-113.47, Z:-4.13 [[ 7.16533258e-02 9.97428978e-01 -1.11137567e-03 1.63693473e+02] [ 9.97348484e-01 -7.16616641e-02 -1.26730944e-02 -1.13469496e+02] [-1.27201546e-02 -2.00359483e-04 -9.99919076e-01 -4.12700680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.014420801847965419 Centerline is valid? [True, True] Translation: X:163.69, Y:-113.44, Z:-4.13 [[-3.74011826e-03 9.99993000e-01 -1.05087601e-04 1.63693368e+02] [ 9.99924998e-01 3.73863830e-03 -1.16627859e-02 -1.13441157e+02] [-1.16623114e-02 -1.48699918e-04 -9.99931982e-01 -4.12820224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.01423513602907106 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.41, Z:-4.13 [[-8.18981360e-02 9.96640400e-01 7.80529782e-04 1.63697495e+02] [ 9.96577103e-01 8.19017321e-02 -1.12332090e-02 -1.13412974e+02] [-1.12593966e-02 -1.42120768e-04 -9.99936601e-01 -4.12937168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.014698536737012817 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.38, Z:-4.13 [[-1.62077035e-01 9.86776701e-01 1.66670863e-03 1.63703552e+02] [ 9.86713202e-01 1.62085516e-01 -1.11956852e-02 -1.13383841e+02] [-1.13177907e-02 -1.70000062e-04 -9.99935937e-01 -4.12970121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.015796203942144166 Centerline is valid? [True, True] Translation: X:163.71, Y:-113.36, Z:-4.13 [[-2.40241542e-01 9.70708801e-01 2.90260192e-03 1.63709770e+02] [ 9.70626912e-01 2.40258982e-01 -1.26103121e-02 -1.13355000e+02] [-1.29383171e-02 -2.12177281e-04 -9.99916274e-01 -4.12726507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.016406768786566436 Centerline is valid? [True, True] Translation: X:163.71, Y:-113.33, Z:-4.13 [[-3.17286512e-01 9.48322371e-01 3.73498369e-03 1.63706029e+02] [ 9.48248023e-01 3.17308413e-01 -1.18767364e-02 -1.13327421e+02] [-1.24481165e-02 -2.26637346e-04 -9.99922494e-01 -4.12728803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.016128277330479553 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.30, Z:-4.13 [[-3.93991370e-01 9.19102964e-01 4.53233207e-03 1.63704185e+02] [ 9.19034206e-01 3.94017349e-01 -1.12453625e-02 -1.13297653e+02] [-1.21214635e-02 -2.65207571e-04 -9.99926497e-01 -4.13022319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.016558681357140125 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.27, Z:-4.13 [[-4.66770113e-01 8.84360959e-01 5.59956910e-03 1.63703226e+02] [ 8.84289353e-01 4.66803601e-01 -1.12578092e-02 -1.13266726e+02] [-1.25698660e-02 -3.03169558e-04 -9.99920950e-01 -4.12935236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.017488529194120382 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.24, Z:-4.13 [[-5.34903598e-01 8.44888234e-01 6.48180874e-03 1.63697774e+02] [ 8.44819076e-01 5.34942780e-01 -1.08144066e-02 -1.13237491e+02] [-1.26043617e-02 -3.08709341e-04 -9.99920514e-01 -4.12811132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.017559193788654524 Centerline is valid? [True, True] Translation: X:163.68, Y:-113.21, Z:-4.13 [[-5.99025773e-01 8.00698165e-01 7.11139531e-03 1.63684648e+02] [ 8.00635822e-01 5.99067911e-01 -9.99592984e-03 -1.13210974e+02] [-1.22639314e-02 -2.94181770e-04 -9.99924752e-01 -4.12899099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.017183026149059727 Centerline is valid? [True, True] Translation: X:163.67, Y:-113.19, Z:-4.13 [[-6.59562743e-01 7.51610876e-01 7.62095718e-03 1.63669601e+02] [ 7.51555741e-01 6.59606711e-01 -9.10792630e-03 -1.13185077e+02] [-1.18724510e-02 -2.79674729e-04 -9.99929481e-01 -4.12966066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.01635784073835274 Centerline is valid? [True, True] Translation: X:163.65, Y:-113.16, Z:-4.13 [[-7.16218680e-01 6.97827647e-01 8.20834266e-03 1.63654340e+02] [ 6.97777407e-01 7.16265663e-01 -8.37792866e-03 -1.13158784e+02] [-1.17257042e-02 -2.72832950e-04 -9.99931214e-01 -4.13021631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.015401178816073058 Centerline is valid? [True, True] Translation: X:163.64, Y:-113.14, Z:-4.13 [[-7.66570133e-01 6.42091876e-01 9.39436072e-03 1.63636413e+02] [ 6.42039642e-01 7.66627654e-01 -8.19381708e-03 -1.13135313e+02] [-1.24631601e-02 -2.49583454e-04 -9.99922301e-01 -4.12986377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.0140900080807683 Centerline is valid? [True, True] Translation: X:163.65, Y:-113.12, Z:-4.13 [[-8.06533117e-01 5.91116551e-01 9.24949754e-03 1.63653191e+02] [ 5.91075360e-01 8.06586137e-01 -6.98013116e-03 -1.13121681e+02] [-1.15865876e-02 -1.62556853e-04 -9.99932860e-01 -4.13124519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.01353040317578674 Centerline is valid? [True, True] Translation: X:163.67, Y:-113.10, Z:-4.13 [[-8.43941626e-01 5.36366426e-01 8.57835076e-03 1.63668966e+02] [ 5.36337538e-01 8.43985217e-01 -5.56757251e-03 -1.13104486e+02] [-1.02262602e-02 -9.78146671e-05 -9.99947706e-01 -4.13201124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.013045887590195718 Centerline is valid? [True, True] Translation: X:163.69, Y:-113.09, Z:-4.13 [[-8.77478197e-01 4.79553652e-01 7.76592699e-03 1.63687288e+02] [ 4.79534451e-01 8.77512560e-01 -4.29149110e-03 -1.13088924e+02] [-8.87269870e-03 -4.16603417e-05 -9.99960636e-01 -4.13302217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.01304988450282509 Centerline is valid? [True, True] Translation: X:163.70, Y:-113.07, Z:-4.13 [[-9.08727491e-01 4.17309612e-01 8.18745539e-03 1.63697887e+02] [ 4.17292365e-01 9.08764374e-01 -3.79414938e-03 -1.13065313e+02] [-9.02380277e-03 -3.12852249e-05 -9.99959284e-01 -4.13246151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.013031638256269337 Centerline is valid? [True, True] Translation: X:163.71, Y:-113.04, Z:-4.13 [[-9.35864859e-01 3.52232447e-01 9.44825391e-03 1.63708432e+02] [ 3.52214157e-01 9.35912551e-01 -3.58956664e-03 -1.13040322e+02] [-1.01071013e-02 -3.15404881e-05 -9.99948921e-01 -4.13218694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.013122503880426144 Centerline is valid? [True, True] Translation: X:163.96, Y:-112.39, Z:-5.12 [[-9.07150902e-01 -4.20665857e-01 1.08387311e-02 1.63964169e+02] [ 4.20637764e-01 -9.07215639e-01 -4.86377111e-03 -1.12386805e+02] [ 1.18790888e-02 1.47005266e-04 9.99929430e-01 -5.12434921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.013245612506351992 Centerline is valid? [True, True] Translation: X:163.66, Y:-113.02, Z:-4.13 [[-9.37499648e-01 3.47762718e-01 1.24700037e-02 1.63662091e+02] [ 3.47731150e-01 9.37582577e-01 -4.68598590e-03 -1.13020474e+02] [-1.33212694e-02 -5.69013951e-05 -9.99911266e-01 -4.12970845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.013196581408669625 Centerline is valid? [True, True] Translation: X:163.68, Y:-113.00, Z:-4.13 [[-9.59498505e-01 2.81407775e-01 1.31256712e-02 1.63678112e+02] [ 2.81380813e-01 9.59588277e-01 -3.89567798e-03 -1.12997604e+02] [-1.36915143e-02 -4.45851627e-05 -9.99906266e-01 -4.12986934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.01309098450834312 Centerline is valid? [True, True] Translation: X:163.69, Y:-112.97, Z:-4.13 [[-9.75908833e-01 2.17848081e-01 1.20068403e-02 1.63692601e+02] [ 2.17832156e-01 9.75982690e-01 -2.63438026e-03 -1.12971910e+02] [-1.22923630e-02 4.45609494e-05 -9.99924445e-01 -4.13146044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.01308550124368388 Centerline is valid? [True, True] Translation: X:163.69, Y:-112.94, Z:-4.13 [[-9.88819995e-01 1.48689498e-01 1.12450478e-02 1.63691936e+02] [ 1.48679754e-01 9.88883933e-01 -1.70232432e-03 -1.12944292e+02] [-1.13731648e-02 -1.13813861e-05 -9.99935323e-01 -4.13246137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.013053551050197013 Centerline is valid? [True, True] Translation: X:163.70, Y:-112.92, Z:-4.13 [[-9.96974080e-01 7.71022625e-02 9.89575252e-03 1.63699759e+02] [ 7.70982586e-02 9.97023190e-01 -7.86021414e-04 -1.12916394e+02] [-9.92689877e-03 -2.06976893e-05 -9.99950727e-01 -4.13317143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.013278069260014737 Centerline is valid? [True, True] Translation: X:163.69, Y:-112.89, Z:-4.13 [[-9.99944709e-01 2.77291717e-03 1.01434473e-02 1.63690477e+02] [ 2.77221644e-03 9.99996154e-01 -8.31414898e-05 -1.12885444e+02] [-1.01436388e-02 -5.50170616e-05 -9.99948550e-01 -4.13280316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.013607879139292196 Centerline is valid? [True, True] Translation: X:163.70, Y:-112.20, Z:-5.12 [[-9.96438129e-01 -8.35942729e-02 1.10929318e-02 1.63699920e+02] [ 8.35905050e-02 -9.96499865e-01 -8.03693464e-04 -1.12198684e+02] [ 1.11212892e-02 1.26432956e-04 9.99938149e-01 -5.12293017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.014237039601895611 Centerline is valid? [True, True] Translation: X:163.63, Y:-112.88, Z:-4.13 [[-9.99887296e-01 -9.08633267e-03 1.19513011e-02 1.63629565e+02] [-9.08753815e-03 9.99958706e-01 -4.65631466e-05 -1.12877569e+02] [-1.19503845e-02 -1.55165803e-04 -9.99928580e-01 -4.13099853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.014740532226688936 Centerline is valid? [True, True] Translation: X:163.62, Y:-112.85, Z:-4.13 [[-9.96470218e-01 -8.30866225e-02 1.19882335e-02 1.63622554e+02] [-8.30829265e-02 9.96542310e-01 8.06856579e-04 -1.12847526e+02] [-1.20138209e-02 -1.92008969e-04 -9.99927813e-01 -4.13038646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.015518465866939538 Centerline is valid? [True, True] Translation: X:163.61, Y:-112.82, Z:-4.13 [[-9.87555854e-01 -1.56804442e-01 1.20748780e-02 1.63611608e+02] [-1.56795596e-01 9.87629644e-01 1.68167439e-03 -1.12818597e+02] [-1.21892015e-02 -2.32540310e-04 -9.99925682e-01 -4.13007126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.015957226206553737 Centerline is valid? [True, True] Translation: X:163.52, Y:-112.16, Z:-5.13 [[-9.98623981e-01 5.09639051e-02 1.23622027e-02 1.63520784e+02] [-5.09569007e-02 -9.98700465e-01 8.81128838e-04 -1.12164784e+02] [ 1.23910433e-02 2.49976854e-04 9.99923197e-01 -5.12534400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.01603481204530625 Centerline is valid? [True, True] Translation: X:163.53, Y:-112.83, Z:-4.13 [[-9.86555862e-01 -1.62985985e-01 1.19624809e-02 1.63525547e+02] [-1.62976971e-01 9.86628355e-01 1.73110418e-03 -1.12829384e+02] [-1.20846686e-02 -2.41777920e-04 -9.99926949e-01 -4.12926023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.015619671834061015 Centerline is valid? [True, True] Translation: X:163.52, Y:-112.81, Z:-4.13 [[-9.72490832e-01 -2.32668266e-01 1.12720644e-02 1.63521759e+02] [-2.32655351e-01 9.72556130e-01 2.46204111e-03 -1.12805060e+02] [-1.15355541e-02 -2.28193686e-04 -9.99933437e-01 -4.13036692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.01570606778652672 Centerline is valid? [True, True] Translation: X:163.38, Y:-112.16, Z:-5.12 [[-9.91766945e-01 1.27605982e-01 1.07256567e-02 1.63380269e+02] [-1.27596691e-01 -9.91824927e-01 1.54891640e-03 -1.12156163e+02] [ 1.08356247e-02 1.67605780e-04 9.99941279e-01 -5.12409194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.015461413233990303 Centerline is valid? [True, True] Translation: X:163.42, Y:-112.83, Z:-4.13 [[-9.70906945e-01 -2.39213396e-01 1.08007628e-02 1.63422617e+02] [-2.39201152e-01 9.70966993e-01 2.43056099e-03 -1.12828115e+02] [-1.10686070e-02 -2.23706365e-04 -9.99938716e-01 -4.13127708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.015604883566952048 Centerline is valid? [True, True] Translation: X:163.41, Y:-112.81, Z:-4.13 [[-9.51310143e-01 -3.08034065e-01 1.11367042e-02 1.63406748e+02] [-3.08015837e-01 9.51375299e-01 3.35927438e-03 -1.12805875e+02] [-1.16299562e-02 -2.34569461e-04 -9.99932342e-01 -4.13121847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.0157259502981408 Centerline is valid? [True, True] Translation: X:163.19, Y:-112.17, Z:-5.12 [[-9.78861035e-01 2.04203245e-01 1.14938335e-02 1.63192901e+02] [-2.04186179e-01 -9.78928482e-01 2.65163854e-03 -1.12168980e+02] [ 1.17931142e-02 2.48703699e-04 9.99930428e-01 -5.12347522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.015436411760860792 Centerline is valid? [True, True] Translation: X:163.28, Y:-112.85, Z:-4.13 [[-9.49970467e-01 -3.12146885e-01 1.09742453e-02 1.63279471e+02] [-3.12128542e-01 9.50033831e-01 3.39011231e-03 -1.12846310e+02] [-1.14841173e-02 -2.04868602e-04 -9.99934034e-01 -4.13162924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.01508847112180029 Centerline is valid? [True, True] Translation: X:163.25, Y:-112.83, Z:-4.13 [[-9.25440838e-01 -3.78739336e-01 1.07597025e-02 1.63249031e+02] [-3.78716161e-01 9.25503365e-01 4.19416046e-03 -1.12830906e+02] [-1.15466344e-02 -1.93425853e-04 -9.99933317e-01 -4.13167042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.015302642653777438 Centerline is valid? [True, True] Translation: X:163.20, Y:-112.82, Z:-4.13 [[-8.95348742e-01 -4.45249090e-01 1.01920102e-02 1.63197419e+02] [-4.45222684e-01 8.95406729e-01 4.85292406e-03 -1.12824582e+02] [-1.12867545e-02 -1.92654667e-04 -9.99936284e-01 -4.13164734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.0153141599994678 Centerline is valid? [True, True] Translation: X:163.14, Y:-112.82, Z:-4.13 [[-8.60150186e-01 -5.09952498e-01 9.49250187e-03 1.63141644e+02] [-5.09923803e-01 8.60202543e-01 5.41291931e-03 -1.12824545e+02] [-1.09258060e-02 -1.84529111e-04 -9.99940295e-01 -4.13180518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.015256692259419391 Centerline is valid? [True, True] Translation: X:163.07, Y:-112.84, Z:-4.13 [[-8.20865248e-01 -5.71063300e-01 8.18247755e-03 1.63071303e+02] [-5.71036764e-01 8.20906015e-01 5.50724513e-03 -1.12838270e+02] [-9.86203061e-03 -1.51789366e-04 -9.99951358e-01 -4.13195749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.01458968853697323 Centerline is valid? [True, True] Translation: X:163.00, Y:-112.86, Z:-4.13 [[-7.76577420e-01 -6.29980825e-01 7.18819973e-03 1.62996863e+02] [-6.29955416e-01 7.76610676e-01 5.65964462e-03 -1.12862852e+02] [-9.14790024e-03 -1.33093139e-04 -9.99958148e-01 -4.13326059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.014677119502058217 Centerline is valid? [True, True] Translation: X:162.91, Y:-112.90, Z:-4.13 [[-7.27217815e-01 -6.86375277e-01 6.57481825e-03 1.62914783e+02] [-6.86348821e-01 7.27247525e-01 6.02774955e-03 -1.12897463e+02] [-8.91881857e-03 -1.29131899e-04 -9.99960218e-01 -4.13284680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.015113529227015936 Centerline is valid? [True, True] Translation: X:162.83, Y:-112.94, Z:-4.13 [[-6.72572183e-01 -7.40004905e-01 6.27694516e-03 1.62834212e+02] [-7.39974655e-01 6.72601457e-01 6.69255623e-03 -1.12936985e+02] [-9.17440689e-03 -1.43553177e-04 -9.99957904e-01 -4.13225451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.015407960654457126 Centerline is valid? [True, True] Translation: X:162.75, Y:-112.99, Z:-4.13 [[-6.14146756e-01 -7.89173819e-01 5.33342990e-03 1.62753171e+02] [-7.89146019e-01 6.14169898e-01 6.62552833e-03 -1.12987543e+02] [-8.50432559e-03 -1.39808242e-04 -9.99963828e-01 -4.13248431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.01536741607750111 Centerline is valid? [True, True] Translation: X:162.67, Y:-113.05, Z:-4.13 [[-5.52781341e-01 -8.33317030e-01 3.93925245e-03 1.62673530e+02] [-8.33297315e-01 5.52795365e-01 5.73316175e-03 -1.13049089e+02] [-6.95514181e-03 -1.13383650e-04 -9.99975806e-01 -4.13326512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.015362078630417145 Centerline is valid? [True, True] Translation: X:162.59, Y:-113.12, Z:-4.13 [[-4.87657155e-01 -8.73028568e-01 3.40856034e-03 1.62593790e+02] [-8.73008830e-01 4.87669054e-01 5.87159355e-03 -1.13123529e+02] [-6.78831831e-03 -1.12378675e-04 -9.99976953e-01 -4.13333528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.015345134983194656 Centerline is valid? [True, True] Translation: X:162.52, Y:-113.20, Z:-4.13 [[-4.18809808e-01 -9.08067038e-01 3.54949880e-03 1.62520824e+02] [-9.08037275e-01 4.18824825e-01 7.35345000e-03 -1.13202144e+02] [-8.16404378e-03 -1.43380235e-04 -9.99966663e-01 -4.13159782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.01545380813075235 Centerline is valid? [True, True] Translation: X:162.45, Y:-113.29, Z:-4.13 [[-3.47926354e-01 -9.37516009e-01 3.31433728e-03 1.62452693e+02] [-9.37477828e-01 3.47942101e-01 8.46264684e-03 -1.13290143e+02] [-9.08706437e-03 -1.62739852e-04 -9.99958699e-01 -4.13143131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.01573489168870186 Centerline is valid? [True, True] Translation: X:162.39, Y:-113.38, Z:-4.13 [[-2.74741176e-01 -9.61514542e-01 2.65927562e-03 1.62389979e+02] [-9.61475215e-01 2.74753994e-01 8.69789431e-03 -1.13383306e+02] [-9.09379846e-03 -1.67157895e-04 -9.99958637e-01 -4.13147029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.015553895946792441 Centerline is valid? [True, True] Translation: X:162.34, Y:-113.49, Z:-4.13 [[-2.00844168e-01 -9.79621764e-01 1.67891901e-03 1.62335126e+02] [-9.79593015e-01 2.00851139e-01 7.50635474e-03 -1.13485736e+02] [-7.69060127e-03 -1.37049754e-04 -9.99970418e-01 -4.13317338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.014916085006053294 Centerline is valid? [True, True] Translation: X:162.29, Y:-113.59, Z:-4.13 [[-1.28280869e-01 -9.91737501e-01 8.64675972e-04 1.62290645e+02] [-9.91719416e-01 1.28283752e-01 5.98993873e-03 -1.13587634e+02] [-6.05137075e-03 -8.91214017e-05 -9.99981686e-01 -4.13477703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.014464828562362609 Centerline is valid? [True, True] Translation: X:162.25, Y:-113.70, Z:-4.13 [[-5.46855356e-02 -9.98503532e-01 4.34572298e-04 1.62252699e+02] [-9.98482257e-01 5.46872075e-02 6.51854891e-03 -1.13701991e+02] [-6.53255966e-03 -7.74423902e-05 -9.99978660e-01 -4.13414102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.013881518356962266 Centerline is valid? [True, True] Translation: X:162.23, Y:-113.81, Z:-4.13 [[ 1.73342453e-02 -9.99849748e-01 -7.75961353e-05 1.62225811e+02] [-9.99821698e-01 -1.73343402e-02 7.48957031e-03 -1.13810114e+02] [-7.48979006e-03 -5.22437491e-05 -9.99971950e-01 -4.13261106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.013660600125631556 Centerline is valid? [True, True] Translation: X:162.21, Y:-113.93, Z:-4.13 [[ 9.08469066e-02 -9.95864569e-01 -7.74679443e-04 1.62205802e+02] [-9.95825219e-01 -9.08502036e-02 8.85288959e-03 -1.13925743e+02] [-8.88665886e-03 -3.28123080e-05 -9.99960512e-01 -4.13202963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.013576545075775067 Centerline is valid? [True, True] Translation: X:162.19, Y:-114.04, Z:-4.13 [[ 1.65786485e-01 -9.86160530e-01 -1.50032214e-03 1.62194047e+02] [-9.86118968e-01 -1.65793273e-01 9.05384010e-03 -1.14044516e+02] [-9.17728306e-03 -2.15082093e-05 -9.99957888e-01 -4.13221244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.013678159207000658 Centerline is valid? [True, True] Translation: X:162.19, Y:-114.16, Z:-4.13 [[ 2.39841313e-01 -9.70809401e-01 -2.29167539e-03 1.62190699e+02] [-9.70764664e-01 -2.39852261e-01 9.31985729e-03 -1.14163962e+02] [-9.59746860e-03 -1.06093191e-05 -9.99953943e-01 -4.13186643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.013637825241496806 Centerline is valid? [True, True] Translation: X:161.54, Y:-114.44, Z:-5.12 [[ 1.72167565e-01 9.85066331e-01 -1.62881019e-03 1.61540739e+02] [-9.85022300e-01 1.72175270e-01 9.31368101e-03 -1.14441395e+02] [ 9.45503442e-03 9.00570428e-07 9.99955300e-01 -5.12243111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.013612965395379572 Centerline is valid? [True, True] Translation: X:162.25, Y:-114.44, Z:-4.13 [[ 2.47538340e-01 -9.68874929e-01 -2.47823647e-03 1.62254840e+02] [-9.68826543e-01 -2.47550745e-01 9.68290487e-03 -1.14435773e+02] [-9.99501305e-03 4.09107527e-06 -9.99950049e-01 -4.13301870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.013594238142288124 Centerline is valid? [True, True] Translation: X:162.26, Y:-114.55, Z:-4.13 [[ 3.20306492e-01 -9.47308726e-01 -3.15095805e-03 1.62260200e+02] [-9.47263281e-01 -3.20321990e-01 9.27899792e-03 -1.14553004e+02] [-9.79939686e-03 1.26635916e-05 -9.99951985e-01 -4.13304446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.013584879988880012 Centerline is valid? [True, True] Translation: X:162.27, Y:-114.67, Z:-4.13 [[ 3.91916093e-01 -9.19992622e-01 -3.91810793e-03 1.62273651e+02] [-9.19946999e-01 -3.91935677e-01 9.16209723e-03 -1.14667030e+02] [-9.96470814e-03 1.36782832e-05 -9.99950351e-01 -4.13344623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.013462129832649106 Centerline is valid? [True, True] Translation: X:162.30, Y:-114.78, Z:-4.13 [[ 4.61475617e-01 -8.87140086e-01 -4.76684183e-03 1.62295792e+02] [-8.87092998e-01 -4.61500236e-01 9.14028712e-03 -1.14781946e+02] [-1.03086137e-02 1.06123668e-05 -9.99946865e-01 -4.13409068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.013414445514628556 Centerline is valid? [True, True] Translation: X:162.32, Y:-114.89, Z:-4.13 [[ 5.28258662e-01 -8.49066759e-01 -5.33157001e-03 1.62324916e+02] [-8.49023653e-01 -5.28285566e-01 8.55555452e-03 -1.14894612e+02] [-1.00808284e-02 7.08326701e-06 -9.99949187e-01 -4.13444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.013279088063625965 Centerline is valid? [True, True] Translation: X:162.36, Y:-115.00, Z:-4.13 [[ 5.91505545e-01 -8.06281964e-01 -5.53039673e-03 1.62361279e+02] [-8.06246835e-01 -5.91531398e-01 7.52640923e-03 -1.15000972e+02] [-9.33981132e-03 6.95206832e-06 -9.99956383e-01 -4.13496161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.013304474233554494 Centerline is valid? [True, True] Translation: X:162.41, Y:-115.10, Z:-4.13 [[ 6.50710370e-01 -7.59301454e-01 -6.10865494e-03 1.62405390e+02] [-7.59268189e-01 -6.50739042e-01 7.10743152e-03 -1.15103661e+02] [-9.37182336e-03 1.32279846e-05 -9.99956083e-01 -4.13485223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.01314596158087931 Centerline is valid? [True, True] Translation: X:162.45, Y:-115.20, Z:-4.14 [[ 7.06299483e-01 -7.07881470e-01 -6.69814684e-03 1.62454333e+02] [-7.07849865e-01 -7.06331243e-01 6.68908284e-03 -1.15198553e+02] [-9.46618818e-03 1.67865818e-05 -9.99955195e-01 -4.13565558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.013184737241794022 Centerline is valid? [True, True] Translation: X:162.47, Y:-115.23, Z:-4.14 [[ 7.59397304e-01 -6.50583315e-01 -7.55545431e-03 1.62471999e+02] [-6.50551359e-01 -7.59434889e-01 6.44814656e-03 -1.15229606e+02] [-9.93293216e-03 1.85059557e-05 -9.99950667e-01 -4.13566853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.013284623711644414 Centerline is valid? [True, True] Translation: X:162.49, Y:-115.26, Z:-4.13 [[ 8.08009705e-01 -5.89102231e-01 -8.88141161e-03 1.62493101e+02] [-5.89066903e-01 -8.08058514e-01 6.45156621e-03 -1.15258999e+02] [-1.09773323e-02 1.88175183e-05 -9.99939747e-01 -4.13447360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.01332614157293113 Centerline is valid? [True, True] Translation: X:162.52, Y:-115.29, Z:-4.13 [[ 8.51296064e-01 -5.24581636e-01 -1.04459691e-02 1.62515717e+02] [-5.24542545e-01 -8.51360151e-01 6.40402698e-03 -1.15288321e+02] [-1.22527168e-02 2.76322552e-05 -9.99924932e-01 -4.13340954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.013307254334263312 Centerline is valid? [True, True] Translation: X:162.54, Y:-115.31, Z:-4.13 [[ 8.89196557e-01 -4.57379285e-01 -1.15616720e-02 1.62541346e+02] [-4.57341260e-01 -8.89271718e-01 5.89784861e-03 -1.15313740e+02] [-1.29790217e-02 4.32829625e-05 -9.99915768e-01 -4.13327005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.013288574740133492 Centerline is valid? [True, True] Translation: X:162.57, Y:-115.34, Z:-4.13 [[ 9.22199746e-01 -3.86551701e-01 -1.11987333e-02 1.62569532e+02] [-3.86523751e-01 -9.22267738e-01 4.64857501e-03 -1.15337204e+02] [-1.21251450e-02 4.16617175e-05 -9.99926487e-01 -4.13409148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.012948016145615922 Centerline is valid? [True, True] Translation: X:162.60, Y:-115.36, Z:-4.14 [[ 9.50249720e-01 -3.11349627e-01 -9.32096469e-03 1.62597547e+02] [-3.11334790e-01 -9.50295433e-01 3.03959315e-03 -1.15363165e+02] [-9.80404637e-03 1.35680425e-05 -9.99951939e-01 -4.13727143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.01300099963987067 Centerline is valid? [True, True] Translation: X:162.63, Y:-115.39, Z:-4.14 [[ 9.72487041e-01 -2.32755692e-01 -9.68213516e-03 1.62626560e+02] [-2.32743948e-01 -9.72535237e-01 2.33819040e-03 -1.15386621e+02] [-9.96044474e-03 -2.04014931e-05 -9.99950393e-01 -4.13655596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.013088201767451698 Centerline is valid? [True, True] Translation: X:162.66, Y:-115.41, Z:-4.14 [[ 9.87994028e-01 -1.54101176e-01 -1.09830815e-02 1.62660255e+02] [-1.54091158e-01 -9.88055072e-01 1.75767981e-03 -1.15405049e+02] [-1.11227499e-02 -4.41814015e-05 -9.99938139e-01 -4.13523429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.01324250666416591 Centerline is valid? [True, True] Translation: X:162.69, Y:-115.42, Z:-4.13 [[ 9.97137720e-01 -7.47175678e-02 -1.15608162e-02 1.62691129e+02] [-7.47117977e-02 -9.97204734e-01 9.30784877e-04 -1.15419038e+02] [-1.15980466e-02 -6.43913485e-05 -9.99932738e-01 -4.13444139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.013439275914928545 Centerline is valid? [True, True] Translation: X:162.72, Y:-115.43, Z:-4.13 [[ 9.99925785e-01 5.25581439e-03 -1.09909889e-02 1.62723816e+02] [ 5.25637180e-03 -9.99986185e-01 2.18286910e-05 -1.15430510e+02] [-1.09907224e-02 -7.95997954e-05 -9.99939597e-01 -4.13474279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.013363290912844904 Centerline is valid? [True, True] Translation: X:162.76, Y:-115.44, Z:-4.13 [[ 9.96415590e-01 8.38292384e-02 -1.13415199e-02 1.62757879e+02] [ 8.38247930e-02 -9.96480131e-01 -8.67592511e-04 -1.15439773e+02] [-1.13743289e-02 -8.62178534e-05 -9.99935307e-01 -4.13453224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.01322858644653615 Centerline is valid? [True, True] Translation: X:162.79, Y:-115.44, Z:-4.13 [[ 9.86959903e-01 1.60574899e-01 -1.12183614e-02 1.62792323e+02] [ 1.60565380e-01 -9.87023655e-01 -1.75002738e-03 -1.15444951e+02] [-1.13537985e-02 -7.40735947e-05 -9.99935541e-01 -4.13443881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.013161873570755508 Centerline is valid? [True, True] Translation: X:162.83, Y:-115.45, Z:-4.13 [[ 9.71588142e-01 2.36452245e-01 -1.03353342e-02 1.62826686e+02] [ 2.36439519e-01 -9.71643110e-01 -2.45387264e-03 -1.15445538e+02] [-1.06224799e-02 -5.95278743e-05 -9.99943578e-01 -4.13448048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.013317343217546814 Centerline is valid? [True, True] Translation: X:162.86, Y:-115.44, Z:-4.13 [[ 9.50154705e-01 3.11618191e-01 -1.00069216e-02 1.62859513e+02] [ 3.11601540e-01 -9.50207398e-01 -3.22194255e-03 -1.15442647e+02] [-1.05126668e-02 -5.68282920e-05 -9.99944739e-01 -4.13307456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.013093534081302524 Centerline is valid? [True, True] Translation: X:162.89, Y:-115.44, Z:-4.13 [[ 9.22737771e-01 3.85301603e-01 -9.88335058e-03 1.62893779e+02] [ 3.85280205e-01 -9.22790697e-01 -4.06116976e-03 -1.15437958e+02] [-1.06850392e-02 -6.04646006e-05 -9.99942912e-01 -4.13454654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.01348301100453742 Centerline is valid? [True, True] Translation: X:162.93, Y:-115.43, Z:-4.13 [[ 8.89424145e-01 4.56988952e-01 -9.26216343e-03 1.62926560e+02] [ 4.56964947e-01 -8.89472368e-01 -4.68448645e-03 -1.15431737e+02] [-1.03791970e-02 -6.59886616e-05 -9.99946133e-01 -4.13270370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.013198232511176343 Centerline is valid? [True, True] Translation: X:162.96, Y:-115.42, Z:-4.13 [[ 8.50186525e-01 5.26399065e-01 -9.32185823e-03 1.62960419e+02] [ 5.26368508e-01 -8.50237624e-01 -5.67244890e-03 -1.15422686e+02] [-1.09117664e-02 -8.40929904e-05 -9.99940461e-01 -4.13415412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.013347564759583864 Centerline is valid? [True, True] Translation: X:162.99, Y:-115.41, Z:-4.13 [[ 8.05952106e-01 5.91903008e-01 -9.59334432e-03 1.62991785e+02] [ 5.91862551e-01 -8.06009193e-01 -6.92104103e-03 -1.15409947e+02] [-1.18289087e-02 -9.99136506e-05 -9.99930031e-01 -4.13287718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.013678002703897324 Centerline is valid? [True, True] Translation: X:163.02, Y:-115.39, Z:-4.13 [[ 7.56962034e-01 6.53398888e-01 -8.85275421e-03 1.63020780e+02] [ 6.53355770e-01 -7.57013793e-01 -7.50703166e-03 -1.15393530e+02] [-1.16067432e-02 -1.01460087e-04 -9.99932634e-01 -4.13231376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.013600714134546653 Centerline is valid? [True, True] Translation: X:163.05, Y:-115.38, Z:-4.13 [[ 7.01832681e-01 7.12303898e-01 -7.35151878e-03 1.63048689e+02] [ 7.12266523e-01 -7.01871173e-01 -7.29773032e-03 -1.15375412e+02] [-1.03580209e-02 -1.14455081e-04 -9.99946348e-01 -4.13442402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.01406051299933507 Centerline is valid? [True, True] Translation: X:163.08, Y:-115.36, Z:-4.13 [[ 6.42162997e-01 7.66537779e-01 -6.82043510e-03 1.63075765e+02] [ 7.66496836e-01 -6.42199201e-01 -7.92373710e-03 -1.15356307e+02] [-1.04539218e-02 -1.39511160e-04 -9.99945347e-01 -4.13430114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.014737654277576806 Centerline is valid? [True, True] Translation: X:163.10, Y:-115.33, Z:-4.13 [[ 5.77429687e-01 8.16416343e-01 -6.26994632e-03 1.63100548e+02] [ 8.16371509e-01 -5.77463699e-01 -8.55771625e-03 -1.15334709e+02] [-1.06073258e-02 -1.77126126e-04 -9.99943725e-01 -4.13421599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.015120952426713784 Centerline is valid? [True, True] Translation: X:163.12, Y:-115.31, Z:-4.13 [[ 5.09705865e-01 8.60333590e-01 -5.10349432e-03 1.63123235e+02] [ 8.60294041e-01 -5.09731380e-01 -8.25121710e-03 -1.15311293e+02] [-9.70021043e-03 -1.84812001e-04 -9.99952935e-01 -4.13482463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.01551951969765069 Centerline is valid? [True, True] Translation: X:163.14, Y:-115.29, Z:-4.14 [[ 4.39397381e-01 8.98282460e-01 -4.30865547e-03 1.63143147e+02] [ 8.98243506e-01 -4.39418463e-01 -8.36767197e-03 -1.15286307e+02] [-9.40983572e-03 -1.93488647e-04 -9.99955708e-01 -4.13534406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.01581496961139565 Centerline is valid? [True, True] Translation: X:163.16, Y:-115.26, Z:-4.14 [[ 3.66316249e-01 9.30484068e-01 -3.43567652e-03 1.63159105e+02] [ 9.30448023e-01 -3.66332308e-01 -8.19246027e-03 -1.15258851e+02] [-8.88155307e-03 -1.95687102e-04 -9.99960539e-01 -4.13551669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.017294466350259687 Centerline is valid? [True, True] Translation: X:163.17, Y:-115.23, Z:-4.14 [[ 2.89575786e-01 9.57151312e-01 -2.68896127e-03 1.63173579e+02] [ 9.57116635e-01 -2.89588191e-01 -8.15029831e-03 -1.15232314e+02] [-8.57976015e-03 -2.13520525e-04 -9.99963170e-01 -4.13527790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.019043004510051174 Centerline is valid? [True, True] Translation: X:163.18, Y:-115.20, Z:-4.13 [[ 2.10116008e-01 9.77674092e-01 -2.15255783e-03 1.63184375e+02] [ 9.77634662e-01 -2.10126875e-01 -8.78432595e-03 -1.15203073e+02] [-9.04051814e-03 -2.58687646e-04 -9.99959100e-01 -4.13421410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.019197073789126187 Centerline is valid? [True, True] Translation: X:163.19, Y:-115.17, Z:-4.13 [[ 1.30352506e-01 9.91466551e-01 -1.51743800e-03 1.63192194e+02] [ 9.91423058e-01 -1.30361008e-01 -9.29128566e-03 -1.15173571e+02] [-9.40981370e-03 -2.93280655e-04 -9.99955684e-01 -4.13440609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.018801351143311412 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.14, Z:-4.13 [[ 5.37605239e-02 9.98553515e-01 -8.26988218e-04 1.63198647e+02] [ 9.98504645e-01 -5.37660782e-02 -9.88343452e-03 -1.15144087e+02] [-9.91360219e-03 -2.94412959e-04 -9.99950816e-01 -4.13384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.01639995953560586 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.11, Z:-4.13 [[-1.77864670e-02 9.99841807e-01 -4.94445487e-05 1.63199584e+02] [ 9.99794208e-01 1.77851376e-02 -9.75864560e-03 -1.15114088e+02] [-9.75622248e-03 -2.23006201e-04 -9.99952382e-01 -4.13320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.015498343392526065 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.08, Z:-4.13 [[-9.22593499e-02 9.95734731e-01 7.46800068e-04 1.63201410e+02] [ 9.95682866e-01 9.22621679e-02 -1.01647389e-02 -1.15084998e+02] [-1.01902850e-02 -1.94216172e-04 -9.99948059e-01 -4.13311323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.014947267589951236 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.06, Z:-4.13 [[-1.67868004e-01 9.85808265e-01 1.54845150e-03 1.63201311e+02] [ 9.85756295e-01 1.67875056e-01 -1.01238856e-02 -1.15056354e+02] [-1.02401565e-02 -1.73080653e-04 -9.99947553e-01 -4.13322183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.014767505198147412 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.03, Z:-4.13 [[-2.44985902e-01 9.69523884e-01 2.31236886e-03 1.63201978e+02] [ 9.69473696e-01 2.44996752e-01 -9.86632789e-03 -1.15027492e+02] [-1.01321634e-02 -1.75330452e-04 -9.99948653e-01 -4.13399540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.014638003184955275 Centerline is valid? [True, True] Translation: X:163.20, Y:-115.00, Z:-4.13 [[-3.19576349e-01 9.47556477e-01 2.77136688e-03 1.63201206e+02] [ 9.47516618e-01 3.19588329e-01 -8.69239625e-03 -1.14997893e+02] [-9.12223287e-03 -1.51968077e-04 -9.99958380e-01 -4.13415480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.014301182794050156 Centerline is valid? [True, True] Translation: X:163.20, Y:-114.97, Z:-4.13 [[-3.91020280e-01 9.20376029e-01 3.33268139e-03 1.63198042e+02] [ 9.20339726e-01 3.91034460e-01 -8.17560823e-03 -1.14968853e+02] [-8.82782711e-03 -1.29629542e-04 -9.99961026e-01 -4.13468004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.013548773672677332 Centerline is valid? [True, True] Translation: X:163.19, Y:-114.94, Z:-4.13 [[-4.58935620e-01 8.88459853e-01 4.14564039e-03 1.63193468e+02] [ 8.88421521e-01 4.58954332e-01 -8.25367019e-03 -1.14940074e+02] [-9.23571422e-03 -1.04827108e-04 -9.99957344e-01 -4.13489967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.012931474492471298 Centerline is valid? [True, True] Translation: X:163.18, Y:-114.91, Z:-4.14 [[-5.22726282e-01 8.52490508e-01 4.14338430e-03 1.63183739e+02] [ 8.52462974e-01 5.22742700e-01 -6.85183046e-03 -1.14913462e+02] [-8.00704432e-03 -4.95501577e-05 -9.99967942e-01 -4.13558363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.012599008469146657 Centerline is valid? [True, True] Translation: X:163.17, Y:-114.89, Z:-4.14 [[-5.83627766e-01 8.12009573e-01 4.36851456e-03 1.63171589e+02] [ 8.11986738e-01 5.83644115e-01 -6.08967104e-03 -1.14888466e+02] [-7.49452900e-03 -6.92521989e-06 -9.99971916e-01 -4.13550537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.012914310391977551 Centerline is valid? [True, True] Translation: X:163.16, Y:-114.86, Z:-4.13 [[-6.39664418e-01 7.68636859e-01 5.17805306e-03 1.63157834e+02] [ 7.68612341e-01 6.39685373e-01 -6.13942071e-03 -1.14863736e+02] [-8.03130985e-03 5.27465185e-05 -9.99967747e-01 -4.13483075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.013642796600626669 Centerline is valid? [True, True] Translation: X:163.15, Y:-114.84, Z:-4.13 [[-6.93663379e-01 7.20267327e-01 6.78929073e-03 1.63145526e+02] [ 7.20234514e-01 6.93696593e-01 -6.87614647e-03 -1.14836450e+02] [-9.66237148e-03 1.20150518e-04 -9.99953311e-01 -4.13367935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.014554126167641367 Centerline is valid? [True, True] Translation: X:163.13, Y:-114.81, Z:-4.13 [[-7.45469219e-01 6.66494276e-01 7.81171892e-03 1.63129881e+02] [ 6.66460014e-01 7.45510129e-01 -6.76000412e-03 -1.14813044e+02] [-1.03292196e-02 1.66823307e-04 -9.99946638e-01 -4.13296206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.016184171855351624 Centerline is valid? [True, True] Translation: X:163.15, Y:-114.80, Z:-4.13 [[-7.86831499e-01 6.17108633e-01 8.55138337e-03 1.63151821e+02] [ 6.17075481e-01 7.86877930e-01 -6.40105288e-03 -1.14797961e+02] [-1.06790398e-02 2.40298975e-04 -9.99942949e-01 -4.13270680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.017728513149034297 Centerline is valid? [True, True] Translation: X:163.17, Y:-114.78, Z:-4.13 [[-8.26426288e-01 5.62989035e-01 7.93332825e-03 1.63172447e+02] [ 5.62965950e-01 8.26464328e-01 -5.10427820e-03 -1.14779374e+02] [-9.43026546e-03 2.47883997e-04 -9.99955503e-01 -4.13271843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.017858200384213832 Centerline is valid? [True, True] Translation: X:163.19, Y:-114.76, Z:-4.13 [[-8.64395682e-01 5.02762678e-01 7.05647944e-03 1.63188454e+02] [ 5.02747876e-01 8.64424460e-01 -3.86353832e-03 -1.14755526e+02] [-8.04223629e-03 2.08004209e-04 -9.99967639e-01 -4.13440930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.015181992931621162 Centerline is valid? [True, True] Translation: X:163.20, Y:-114.72, Z:-4.14 [[-9.00454300e-01 4.34915114e-01 5.55846310e-03 1.63197245e+02] [ 4.34907657e-01 9.00471448e-01 -2.54984185e-03 -1.14719589e+02] [-6.11420207e-03 1.21402098e-04 -9.99981301e-01 -4.13667698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.013797657418678439 Centerline is valid? [True, True] Translation: X:163.21, Y:-114.69, Z:-4.14 [[-9.31658349e-01 3.63298812e-01 5.16655853e-03 1.63207525e+02] [ 3.63293638e-01 9.31672672e-01 -1.94014163e-03 -1.14686674e+02] [-5.51839254e-03 6.94286978e-05 -9.99984771e-01 -4.13616280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.01283041351087061 Centerline is valid? [True, True] Translation: X:163.22, Y:-114.65, Z:-4.14 [[-9.57457702e-01 2.88529339e-01 5.05658826e-03 1.63215296e+02] [ 2.88525444e-01 9.57471054e-01 -1.49942720e-03 -1.14651592e+02] [-5.27416564e-03 2.33162481e-05 -9.99986091e-01 -4.13542125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.012866087324339723 Centerline is valid? [True, True] Translation: X:163.21, Y:-114.61, Z:-4.14 [[-9.77925793e-01 2.08892762e-01 4.99580460e-03 1.63211163e+02] [ 2.08889852e-01 9.77938553e-01 -1.10316466e-03 -1.14611466e+02] [-5.11603303e-03 -3.52402939e-05 -9.99986912e-01 -4.13516857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.013478198690936567 Centerline is valid? [True, True] Translation: X:163.35, Y:-113.99, Z:-5.12 [[-9.56339459e-01 -2.92217671e-01 4.86534511e-03 1.63353317e+02] [ 2.92214061e-01 -9.56351835e-01 -1.45279105e-03 -1.13990659e+02] [ 5.07751294e-03 3.23608432e-05 9.99987109e-01 -5.11991065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.014116205951865251 Centerline is valid? [True, True] Translation: X:163.17, Y:-114.59, Z:-4.13 [[-9.80032871e-01 1.98777892e-01 4.78772391e-03 1.63165261e+02] [ 1.98775191e-01 9.80044563e-01 -1.03847068e-03 -1.14592537e+02] [-4.89860780e-03 -6.60546650e-05 -9.99988000e-01 -4.13408202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.0131671446141522 Centerline is valid? [True, True] Translation: X:163.17, Y:-114.57, Z:-4.13 [[-9.91214592e-01 1.32185457e-01 4.54287428e-03 1.63169475e+02] [ 1.32183855e-01 9.91225001e-01 -6.52349165e-04 -1.14569222e+02] [-4.58924163e-03 -4.61233751e-05 -9.99989468e-01 -4.13394938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.012860230876422114 Centerline is valid? [True, True] Translation: X:163.27, Y:-113.94, Z:-5.12 [[-9.76549653e-01 -2.15233346e-01 5.03807937e-03 1.63265765e+02] [ 2.15230930e-01 -9.76562645e-01 -1.02330895e-03 -1.13943949e+02] [ 5.14025033e-03 8.50385080e-05 9.99986785e-01 -5.12159667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.012460874015808254 Centerline is valid? [True, True] Translation: X:163.12, Y:-114.57, Z:-4.13 [[-9.90664089e-01 1.36192458e-01 6.02307091e-03 1.63123110e+02] [ 1.36189858e-01 9.90682398e-01 -8.41704450e-04 -1.14570354e+02] [-6.08158413e-03 -1.35652019e-05 -9.99981507e-01 -4.13198064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.012492301646245964 Centerline is valid? [True, True] Translation: X:163.22, Y:-113.93, Z:-5.12 [[-9.79224423e-01 -2.02703283e-01 5.55955014e-03 1.63221666e+02] [ 2.02699950e-01 -9.79240205e-01 -1.16232476e-03 -1.13929872e+02] [ 5.67974207e-03 -1.12562562e-05 9.99983870e-01 -5.12234444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.012764483129474612 Centerline is valid? [True, True] Translation: X:163.08, Y:-114.57, Z:-4.13 [[-9.90004354e-01 1.40967759e-01 4.41245918e-03 1.63077378e+02] [ 1.40966488e-01 9.90014187e-01 -5.99290201e-04 -1.14574746e+02] [-4.45287779e-03 2.87089653e-05 -9.99990086e-01 -4.13349485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.01326189421839105 Centerline is valid? [True, True] Translation: X:163.08, Y:-114.55, Z:-4.13 [[-9.97271186e-01 7.36872011e-02 4.51424275e-03 1.63083876e+02] [ 7.36866479e-02 9.97281402e-01 -2.88974775e-04 -1.14551163e+02] [-4.52326408e-03 4.44532000e-05 -9.99989769e-01 -4.13283067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.0143650489143104 Centerline is valid? [True, True] Translation: X:163.08, Y:-114.53, Z:-4.13 [[-9.99956004e-01 7.85615722e-03 5.12542050e-03 1.63078867e+02] [ 7.85644926e-03 9.99969137e-01 3.68463194e-05 -1.14528327e+02] [-5.12497284e-03 7.71123044e-05 -9.99986864e-01 -4.13174324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.014528511111429812 Centerline is valid? [True, True] Translation: X:163.08, Y:-113.85, Z:-5.12 [[-9.99101804e-01 -4.21588930e-02 4.26777559e-03 1.63082881e+02] [ 4.21580065e-02 -9.99110912e-01 -2.97518764e-04 -1.13847982e+02] [ 4.27652423e-03 -1.17330622e-04 9.99990849e-01 -5.12230791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.015263122656064814 Centerline is valid? [True, True] Translation: X:163.01, Y:-114.53, Z:-4.13 [[-9.99957664e-01 8.43905481e-03 3.66765296e-03 1.63014882e+02] [ 8.43926986e-03 9.99964388e-01 4.31615009e-05 -1.14534103e+02] [-3.66715811e-03 7.41119868e-05 -9.99993273e-01 -4.13311123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.015308307913118279 Centerline is valid? [True, True] Translation: X:163.01, Y:-113.85, Z:-5.12 [[-9.99334421e-01 -3.64275184e-02 1.93691834e-03 1.63005836e+02] [ 3.64271524e-02 -9.99336286e-01 -2.23904473e-04 -1.13845741e+02] [ 1.94378906e-03 -1.53199028e-04 9.99998099e-01 -5.12050367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.01431057556221035 Centerline is valid? [True, True] Translation: X:162.95, Y:-114.53, Z:-4.13 [[-9.99999043e-01 1.09433698e-04 1.37893152e-03 1.62949551e+02] [ 1.09465507e-04 9.99999994e-01 2.29927375e-05 -1.14533118e+02] [-1.37892900e-03 2.31436610e-05 -9.99999049e-01 -4.13451999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.013174441123513358 Centerline is valid? [True, True] Translation: X:162.94, Y:-114.50, Z:-4.13 [[-9.97033777e-01 -7.69497563e-02 1.54363490e-03 1.62938650e+02] [-7.69496383e-02 9.97034972e-01 1.35769235e-04 -1.14501271e+02] [-1.54950538e-03 1.65843659e-05 -9.99998799e-01 -4.13430070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.012457729563882244 Centerline is valid? [True, True] Translation: X:162.92, Y:-114.47, Z:-4.13 [[-9.87961498e-01 -1.54691482e-01 1.62007156e-03 1.62923709e+02] [-1.54691264e-01 9.87962826e-01 2.59605984e-04 -1.14470786e+02] [-1.64072931e-03 5.86979907e-06 -9.99998654e-01 -4.13364886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.012450291195573612 Centerline is valid? [True, True] Translation: X:162.82, Y:-113.82, Z:-5.12 [[-9.95942167e-01 8.99836397e-02 1.46468764e-03 1.62820607e+02] [-8.99835682e-02 -9.95943244e-01 1.14780533e-04 -1.13817560e+02] [ 1.46907413e-03 -1.74830477e-05 9.99998921e-01 -5.12146439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.01296374706158355 Centerline is valid? [True, True] Translation: X:162.84, Y:-114.48, Z:-4.13 [[-9.85202960e-01 -1.71367079e-01 2.90713444e-03 1.62835676e+02] [-1.71366403e-01 9.85207249e-01 4.81806877e-04 -1.14477361e+02] [-2.94669576e-03 -2.35076105e-05 -9.99995658e-01 -4.13194510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.013791219477226405 Centerline is valid? [True, True] Translation: X:162.82, Y:-114.45, Z:-4.13 [[-9.69258737e-01 -2.46021755e-01 3.28586591e-03 1.62818047e+02] [-2.46020496e-01 9.69264306e-01 7.88444294e-04 -1.14449700e+02] [-3.37884699e-03 -4.41838411e-05 -9.99994291e-01 -4.13120135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.014731301566191837 Centerline is valid? [True, True] Translation: X:162.80, Y:-114.43, Z:-4.13 [[-9.47291611e-01 -3.20356442e-01 3.21785597e-03 1.62796968e+02] [-3.20354824e-01 9.47297074e-01 1.02004787e-03 -1.14425515e+02] [-3.37504445e-03 -6.45728935e-05 -9.99994302e-01 -4.13077708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.015924132698508706 Centerline is valid? [True, True] Translation: X:162.76, Y:-114.41, Z:-4.13 [[-9.20876411e-01 -3.89836074e-01 3.80419327e-03 1.62762128e+02] [-3.89833144e-01 9.20884264e-01 1.51387708e-03 -1.14408931e+02] [-4.09338562e-03 -8.89069317e-05 -9.99991618e-01 -4.13050089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.01556156270014204 Centerline is valid? [True, True] Translation: X:162.72, Y:-114.40, Z:-4.13 [[-8.90361471e-01 -4.55242207e-01 3.31429371e-03 1.62717093e+02] [-4.55239374e-01 8.90367636e-01 1.60784187e-03 -1.14402294e+02] [-3.68289734e-03 -7.72365416e-05 -9.99993215e-01 -4.13018649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.014813206384598852 Centerline is valid? [True, True] Translation: X:162.66, Y:-114.41, Z:-4.13 [[-8.55592544e-01 -5.17638927e-01 3.36752852e-03 1.62660571e+02] [-5.17635251e-01 8.55599168e-01 1.95213505e-03 -1.14407373e+02] [-3.89175570e-03 -7.29192791e-05 -9.99992424e-01 -4.12975159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.014759645263094067 Centerline is valid? [True, True] Translation: X:162.59, Y:-114.42, Z:-4.13 [[-8.15714661e-01 -5.78428630e-01 5.46924770e-03 1.62591506e+02] [-5.78416574e-01 8.15732987e-01 3.73636173e-03 -1.14424366e+02] [-6.62266436e-03 -1.15698472e-04 -9.99978063e-01 -4.12800539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.01469878009367733 Centerline is valid? [True, True] Translation: X:162.52, Y:-114.45, Z:-4.12 [[-7.70655862e-01 -6.37200235e-01 8.08720006e-03 1.62516580e+02] [-6.37167529e-01 7.70698274e-01 6.45840201e-03 -1.14452669e+02] [-1.03480864e-02 -1.75695908e-04 -9.99946442e-01 -4.12477718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.014317333322221166 Centerline is valid? [True, True] Translation: X:162.44, Y:-114.49, Z:-4.12 [[-7.21200099e-01 -6.92673102e-01 8.62503771e-03 1.62442148e+02] [-6.92626718e-01 7.21251646e-01 8.01826874e-03 -1.14487882e+02] [-1.17748617e-02 -1.91155360e-04 -9.99930656e-01 -4.12429603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.015274147204019024 Centerline is valid? [True, True] Translation: X:162.36, Y:-114.53, Z:-4.12 [[-6.67211193e-01 -7.44823078e-01 8.23444499e-03 1.62360501e+02] [-7.44769916e-01 6.67261976e-01 8.90102823e-03 -1.14531955e+02] [-1.21242233e-02 -1.93901234e-04 -9.99926480e-01 -4.12324051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.014476417759303913 Centerline is valid? [True, True] Translation: X:162.28, Y:-114.59, Z:-4.13 [[-6.08504300e-01 -7.93525757e-01 6.27617885e-03 1.62280312e+02] [-7.93486365e-01 6.08536643e-01 7.90840664e-03 -1.14586143e+02] [-1.00948092e-02 -1.67762898e-04 -9.99949032e-01 -4.12729881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.01349255663625795 Centerline is valid? [True, True] Translation: X:162.20, Y:-114.65, Z:-4.13 [[-5.49250054e-01 -8.35644520e-01 4.75548336e-03 1.62200429e+02] [-8.35614994e-01 5.49270629e-01 7.02558709e-03 -1.14650060e+02] [-8.48294068e-03 -1.14949106e-04 -9.99964013e-01 -4.12891431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.013423856595828563 Centerline is valid? [True, True] Translation: X:162.13, Y:-114.72, Z:-4.13 [[-4.86723749e-01 -8.73546069e-01 4.15431574e-03 1.62126825e+02] [-8.73515780e-01 4.86741469e-01 7.27491673e-03 -1.14718737e+02] [-8.37705265e-03 -8.79856075e-05 -9.99964908e-01 -4.12821275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.012767056575353758 Centerline is valid? [True, True] Translation: X:162.06, Y:-114.80, Z:-4.13 [[-4.22089872e-01 -9.06546957e-01 3.57131954e-03 1.62058574e+02] [-9.06515645e-01 4.22104976e-01 7.53483946e-03 -1.14799398e+02] [-8.33815753e-03 -5.70776115e-05 -9.99965235e-01 -4.12904581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.01295958027352846 Centerline is valid? [True, True] Translation: X:161.99, Y:-114.89, Z:-4.13 [[-3.51807792e-01 -9.36067807e-01 2.88751636e-03 1.61988984e+02] [-9.36037517e-01 3.51819638e-01 7.53053653e-03 -1.14890441e+02] [-8.06497777e-03 -5.35222088e-05 -9.99967476e-01 -4.12885830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.012931712998488725 Centerline is valid? [True, True] Translation: X:161.93, Y:-114.98, Z:-4.13 [[-2.78785810e-01 -9.60350293e-01 2.40559028e-03 1.61927073e+02] [-9.60316347e-01 2.78796183e-01 8.07475808e-03 -1.14983251e+02] [-8.42526567e-03 -5.89997011e-05 -9.99964505e-01 -4.12881257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.012869774430922166 Centerline is valid? [True, True] Translation: X:161.87, Y:-115.08, Z:-4.13 [[-2.04471616e-01 -9.78870104e-01 2.16298105e-03 1.61870586e+02] [-9.78818965e-01 2.04483044e-01 1.00059379e-02 -1.15084331e+02] [-1.02368064e-02 -7.12365852e-05 -9.99947600e-01 -4.12744684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.012961333214853345 Centerline is valid? [True, True] Translation: X:161.82, Y:-115.20, Z:-4.13 [[-1.29794470e-01 -9.91539806e-01 1.48594192e-03 1.61822847e+02] [-9.91480466e-01 1.29802959e-01 1.08479509e-02 -1.15195042e+02] [-1.09490548e-02 -6.52783474e-05 -9.99940055e-01 -4.12693140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.01283686636094372 Centerline is valid? [True, True] Translation: X:161.79, Y:-115.30, Z:-4.13 [[-5.46884193e-02 -9.98503278e-01 6.16359798e-04 1.61786225e+02] [-9.98449287e-01 5.46918718e-02 1.03836964e-02 -1.15304111e+02] [-1.04018647e-02 -4.75360605e-05 -9.99945898e-01 -4.12763028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.012598897421892862 Centerline is valid? [True, True] Translation: X:161.76, Y:-115.42, Z:-4.13 [[ 1.89036784e-02 -9.99821295e-01 -1.72058849e-04 1.61759264e+02] [-9.99773423e-01 -1.89044570e-02 9.78388778e-03 -1.15421191e+02] [-9.78539203e-03 -1.29316039e-05 -9.99952122e-01 -4.12873704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.012610380098781621 Centerline is valid? [True, True] Translation: X:161.07, Y:-115.54, Z:-5.13 [[-4.97491190e-02 9.98761630e-01 4.81994954e-04 1.61068768e+02] [-9.98718196e-01 -4.97514506e-02 9.31438472e-03 -1.15538904e+02] [ 9.32683001e-03 -1.79946976e-05 9.99956504e-01 -5.12570821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.012788122039168268 Centerline is valid? [True, True] Translation: X:161.77, Y:-115.70, Z:-4.13 [[ 2.44679664e-02 -9.99700584e-01 -2.45738809e-04 1.61765922e+02] [-9.99659840e-01 -2.44691878e-02 9.02567096e-03 -1.15701683e+02] [-9.02898156e-03 2.48154041e-05 -9.99959238e-01 -4.12869281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.0127527071060137 Centerline is valid? [True, True] Translation: X:161.75, Y:-115.81, Z:-4.13 [[ 9.90175825e-02 -9.95085308e-01 -8.65508649e-04 1.61748561e+02] [-9.95050913e-01 -9.90213563e-02 8.27360219e-03 -1.15813658e+02] [-8.31864382e-03 4.19930842e-05 -9.99965399e-01 -4.13066725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.012780352191387635 Centerline is valid? [True, True] Translation: X:161.74, Y:-115.93, Z:-4.13 [[ 1.76204126e-01 -9.84352440e-01 -1.54289546e-03 1.61738135e+02] [-9.84316407e-01 -1.76210877e-01 8.42243357e-03 -1.15934231e+02] [-8.56251799e-03 3.46297700e-05 -9.99963340e-01 -4.12943099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.012609881327896639 Centerline is valid? [True, True] Translation: X:161.74, Y:-116.06, Z:-4.13 [[ 2.53885798e-01 -9.67231357e-01 -2.34612222e-03 1.61735277e+02] [-9.67190527e-01 -2.53896637e-01 8.88715072e-03 -1.16055277e+02] [-9.19160339e-03 1.28258344e-05 -9.99957756e-01 -4.12874088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.012686625802235155 Centerline is valid? [True, True] Translation: X:161.74, Y:-116.18, Z:-4.13 [[ 3.32811312e-01 -9.42988568e-01 -3.03156236e-03 1.61741399e+02] [-9.42948332e-01 -3.32825116e-01 8.71118397e-03 -1.16181814e+02] [-9.22352699e-03 -4.05738937e-05 -9.99957462e-01 -4.12880884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.013188287021413031 Centerline is valid? [True, True] Translation: X:161.75, Y:-116.30, Z:-4.13 [[ 4.08280636e-01 -9.12848410e-01 -3.83456320e-03 1.61754094e+02] [-9.12806164e-01 -4.08298633e-01 8.78258151e-03 -1.16299515e+02] [-9.58281248e-03 -8.55450421e-05 -9.99954080e-01 -4.12756715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.01398327372203608 Centerline is valid? [True, True] Translation: X:161.78, Y:-116.42, Z:-4.13 [[ 4.82236374e-01 -8.76028081e-01 -4.78350651e-03 1.61775828e+02] [-8.75981819e-01 -4.82260074e-01 9.00406568e-03 -1.16415880e+02] [-1.01947086e-02 -1.51823246e-04 -9.99948021e-01 -4.12676525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.015681429704650578 Centerline is valid? [True, True] Translation: X:161.81, Y:-116.53, Z:-4.12 [[ 5.50181934e-01 -8.35022104e-01 -6.15842890e-03 1.61806576e+02] [-8.34965582e-01 -5.50216362e-01 9.71761268e-03 -1.16531468e+02] [-1.15028897e-02 -2.04378765e-04 -9.99933819e-01 -4.12421554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.014637485919443844 Centerline is valid? [True, True] Translation: X:161.85, Y:-116.64, Z:-4.13 [[ 6.11934255e-01 -7.90880629e-01 -6.65570681e-03 1.61848338e+02] [-7.90830406e-01 -6.11970419e-01 8.91492803e-03 -1.16635047e+02] [-1.11237396e-02 -1.91814525e-04 -9.99938111e-01 -4.12548284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.013582751437797002 Centerline is valid? [True, True] Translation: X:161.89, Y:-116.73, Z:-4.13 [[ 6.67613620e-01 -7.44483538e-01 -6.02622452e-03 1.61894279e+02] [-7.44451545e-01 -6.67640806e-01 6.90293936e-03 -1.16729180e+02] [-9.16247812e-03 -1.22264178e-04 -9.99958016e-01 -4.12717599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.012941988909123299 Centerline is valid? [True, True] Translation: X:161.95, Y:-116.82, Z:-4.13 [[ 7.18626607e-01 -6.95379107e-01 -4.86788189e-03 1.61945931e+02] [-6.95362645e-01 -7.18643092e-01 4.78518078e-03 -1.16819379e+02] [-6.82578443e-03 -5.38150016e-05 -9.99976703e-01 -4.12896777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.012688214199157673 Centerline is valid? [True, True] Translation: X:161.97, Y:-116.84, Z:-4.13 [[ 7.68685588e-01 -6.39610288e-01 -4.59859554e-03 1.61966777e+02] [-6.39598629e-01 -7.68699342e-01 3.86198369e-03 -1.16844535e+02] [-6.00510186e-03 -2.73957982e-05 -9.99981969e-01 -4.12928272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.012418088790659143 Centerline is valid? [True, True] Translation: X:161.99, Y:-116.87, Z:-4.13 [[ 8.14267315e-01 -5.80468104e-01 -5.05174183e-03 1.61992902e+02] [-5.80456885e-01 -8.14282986e-01 3.60894430e-03 -1.16865956e+02] [-6.20842447e-03 -6.32706636e-06 -9.99980728e-01 -4.12880298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.012510234748195775 Centerline is valid? [True, True] Translation: X:162.02, Y:-116.89, Z:-4.13 [[ 8.56734289e-01 -5.15718157e-01 -6.41407974e-03 1.62017008e+02] [-5.15703689e-01 -8.56758299e-01 3.86303650e-03 -1.16890547e+02] [-7.48755411e-03 -1.83124638e-06 -9.99971968e-01 -4.12807479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.012522873262844176 Centerline is valid? [True, True] Translation: X:162.04, Y:-116.91, Z:-4.13 [[ 8.94710807e-01 -4.46572185e-01 -8.11515377e-03 1.62041462e+02] [-4.46553730e-01 -8.94747609e-01 4.05987256e-03 -1.16913073e+02] [-9.07404059e-03 -8.55966611e-06 -9.99958830e-01 -4.12594145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.012719557706625084 Centerline is valid? [True, True] Translation: X:162.07, Y:-116.93, Z:-4.12 [[ 9.27563194e-01 -3.73541315e-01 -9.66469576e-03 1.62069091e+02] [-3.73520709e-01 -9.27613543e-01 3.92364628e-03 -1.16932595e+02] [-1.04307467e-02 -2.94658648e-05 -9.99945598e-01 -4.12437788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.012628298425913972 Centerline is valid? [True, True] Translation: X:162.10, Y:-116.95, Z:-4.13 [[ 9.54231174e-01 -2.98912379e-01 -9.70853565e-03 1.62096871e+02] [-2.98896489e-01 -9.54280560e-01 3.08236129e-03 -1.16954218e+02] [-1.01860228e-02 -3.94380165e-05 -9.99948120e-01 -4.12556338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.012571795924895891 Centerline is valid? [True, True] Translation: X:162.13, Y:-116.97, Z:-4.13 [[ 9.74631346e-01 -2.23622186e-01 -9.31975542e-03 1.62126569e+02] [-2.23611622e-01 -9.74675904e-01 2.17384708e-03 -1.16970458e+02] [-9.56986147e-03 -3.46938818e-05 -9.99954207e-01 -4.12578225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.012602466777265479 Centerline is valid? [True, True] Translation: X:162.16, Y:-116.98, Z:-4.13 [[ 9.88966848e-01 -1.47919428e-01 -8.02604526e-03 1.62158370e+02] [-1.47914400e-01 -9.88999415e-01 1.21968586e-03 -1.16982554e+02] [-8.11816930e-03 -1.90612058e-05 -9.99967047e-01 -4.12599763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.012559854396627958 Centerline is valid? [True, True] Translation: X:162.19, Y:-116.99, Z:-4.13 [[ 9.97351440e-01 -7.24593593e-02 -6.30440050e-03 1.62188059e+02] [-7.24579145e-02 -9.97371366e-01 4.57574069e-04 -1.16990555e+02] [-6.32098406e-03 4.41555129e-07 -9.99980022e-01 -4.12751944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.012641796585378343 Centerline is valid? [True, True] Translation: X:162.22, Y:-117.00, Z:-4.13 [[ 9.99978831e-01 4.88276767e-03 -4.30067315e-03 1.62217425e+02] [ 4.88270240e-03 -9.99988079e-01 -2.56755006e-05 -1.16996893e+02] [-4.30074725e-03 4.67604993e-06 -9.99990752e-01 -4.12907307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.012643995537750875 Centerline is valid? [True, True] Translation: X:162.25, Y:-117.00, Z:-4.13 [[ 9.96524742e-01 8.32295146e-02 -3.35961674e-03 1.62247810e+02] [ 8.32290302e-02 -9.96530405e-01 -2.83969423e-04 -1.17003673e+02] [-3.37159486e-03 3.36491337e-06 -9.99994316e-01 -4.12968155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.012608498960245467 Centerline is valid? [True, True] Translation: X:162.28, Y:-117.01, Z:-4.13 [[ 9.86805938e-01 1.61859246e-01 -3.95298457e-03 1.62278995e+02] [ 1.61857946e-01 -9.86813855e-01 -6.48608152e-04 -1.17009336e+02] [-4.00584316e-03 2.28412042e-07 -9.99991977e-01 -4.12862491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.012653239805485392 Centerline is valid? [True, True] Translation: X:162.31, Y:-117.01, Z:-4.13 [[ 9.70949506e-01 2.39250328e-01 -4.04190357e-03 1.62310462e+02] [ 2.39248265e-01 -9.70957919e-01 -9.93432438e-04 -1.17012194e+02] [-4.16219732e-03 -2.44568162e-06 -9.99991338e-01 -4.12759501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.012665382713806624 Centerline is valid? [True, True] Translation: X:162.34, Y:-117.01, Z:-4.13 [[ 9.49212546e-01 3.14609852e-01 -4.02296949e-03 1.62341139e+02] [ 3.14607039e-01 -9.49221071e-01 -1.33045196e-03 -1.17011191e+02] [-4.23726070e-03 -2.77282483e-06 -9.99991023e-01 -4.12690452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.01253170475687053 Centerline is valid? [True, True] Translation: X:162.37, Y:-117.01, Z:-4.13 [[ 9.21432088e-01 3.88505293e-01 -5.15215386e-03 1.62371122e+02] [ 3.88499264e-01 -9.21446492e-01 -2.16442886e-03 -1.17007526e+02] [-5.58832616e-03 -7.23377437e-06 -9.99984385e-01 -4.12541860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.012589804759098662 Centerline is valid? [True, True] Translation: X:162.40, Y:-117.00, Z:-4.12 [[ 8.87625193e-01 4.60531199e-01 -5.70370190e-03 1.62400869e+02] [ 4.60521810e-01 -8.87643518e-01 -2.94078564e-03 -1.17001279e+02] [-6.41717755e-03 -1.63637056e-05 -9.99979410e-01 -4.12455933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.012730189798305123 Centerline is valid? [True, True] Translation: X:162.43, Y:-117.00, Z:-4.12 [[ 8.46974567e-01 5.31600977e-01 -5.87228334e-03 1.62431975e+02] [ 5.31588543e-01 -8.46994923e-01 -3.63622874e-03 -1.16995571e+02] [-6.90681692e-03 -4.18452821e-05 -9.99976147e-01 -4.12344227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.013120170271988823 Centerline is valid? [True, True] Translation: X:162.46, Y:-116.99, Z:-4.12 [[ 8.00701139e-01 5.99039228e-01 -5.44879304e-03 1.62461162e+02] [ 5.99025901e-01 -8.00719676e-01 -3.99627776e-03 -1.16985960e+02] [-6.75688294e-03 -6.41440058e-05 -9.99977170e-01 -4.12312750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.013296395116643664 Centerline is valid? [True, True] Translation: X:162.49, Y:-116.97, Z:-4.12 [[ 7.50294567e-01 6.61088418e-01 -4.49059725e-03 1.62489288e+02] [ 6.61077099e-01 -7.50308003e-01 -3.86911006e-03 -1.16973279e+02] [-5.92715491e-03 -6.56587466e-05 -9.99982432e-01 -4.12405128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.013833515874567527 Centerline is valid? [True, True] Translation: X:162.52, Y:-116.96, Z:-4.12 [[ 6.94462294e-01 7.19514131e-01 -4.64085947e-03 1.62517125e+02] [ 7.19498916e-01 -6.94477795e-01 -4.68005025e-03 -1.16958919e+02] [-6.59033614e-03 -8.89749181e-05 -9.99978280e-01 -4.12336600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.014364987268313381 Centerline is valid? [True, True] Translation: X:162.54, Y:-116.94, Z:-4.12 [[ 6.33982242e-01 7.73336100e-01 -4.21807466e-03 1.62543824e+02] [ 7.73320076e-01 -6.33996266e-01 -4.97946484e-03 -1.16941982e+02] [-6.52504350e-03 -1.05029529e-04 -9.99978706e-01 -4.12280828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.014344667184117572 Centerline is valid? [True, True] Translation: X:162.57, Y:-116.92, Z:-4.12 [[ 5.70494770e-01 8.21291692e-01 -3.95919487e-03 1.62568205e+02] [ 8.21273321e-01 -5.70508496e-01 -5.49445129e-03 -1.16923115e+02] [-6.77130151e-03 -1.17025400e-04 -9.99977068e-01 -4.12330850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.01477660642385465 Centerline is valid? [True, True] Translation: X:162.59, Y:-116.90, Z:-4.12 [[ 5.03929444e-01 8.63735070e-01 -4.10434811e-03 1.62588917e+02] [ 8.63708674e-01 -5.03946138e-01 -6.75400835e-03 -1.16902714e+02] [-7.90204425e-03 -1.41417395e-04 -9.99968768e-01 -4.12250626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.014886264531879922 Centerline is valid? [True, True] Translation: X:162.61, Y:-116.88, Z:-4.12 [[ 4.35163910e-01 9.00342960e-01 -3.86343460e-03 1.62606289e+02] [ 9.00310473e-01 -4.35181034e-01 -7.64977915e-03 -1.16878285e+02] [-8.56871826e-03 -1.49382834e-04 -9.99963277e-01 -4.12141764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.014727700641812457 Centerline is valid? [True, True] Translation: X:162.62, Y:-116.85, Z:-4.12 [[ 3.64052574e-01 9.31372145e-01 -3.41316103e-03 1.62620929e+02] [ 9.31334993e-01 -3.64068543e-01 -8.32020263e-03 -1.16853129e+02] [-8.99182953e-03 -1.49805119e-04 -9.99959562e-01 -4.12194281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.01397279064198541 Centerline is valid? [True, True] Translation: X:162.64, Y:-116.83, Z:-4.12 [[ 2.90835332e-01 9.56769392e-01 -2.67206139e-03 1.62637541e+02] [ 9.56733257e-01 -2.90847574e-01 -8.31642552e-03 -1.16828227e+02] [-8.73406396e-03 -1.37739619e-04 -9.99961848e-01 -4.12300925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.014486041821726813 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.80, Z:-4.12 [[ 2.14527983e-01 9.76715510e-01 -2.13479272e-03 1.62653760e+02] [ 9.76673903e-01 -2.14538552e-01 -9.01650500e-03 -1.16803544e+02] [-9.26455562e-03 -1.50703708e-04 -9.99957072e-01 -4.12270871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.014312902676623506 Centerline is valid? [True, True] Translation: X:162.67, Y:-116.78, Z:-4.12 [[ 1.35880195e-01 9.90724066e-01 -1.54875575e-03 1.62669188e+02] [ 9.90673899e-01 -1.35888903e-01 -9.97156973e-03 -1.16776905e+02] [-1.00895328e-02 -1.79373054e-04 -9.99949083e-01 -4.12289780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.015534891865295001 Centerline is valid? [True, True] Translation: X:162.68, Y:-116.75, Z:-4.12 [[ 5.48892208e-02 9.98492133e-01 -7.96578021e-04 1.62683472e+02] [ 9.98436866e-01 -5.48945655e-02 -1.05076845e-02 -1.16750145e+02] [-1.05355681e-02 -2.18574250e-04 -9.99944476e-01 -4.12120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.015838757603117523 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.72, Z:-4.12 [[-2.46530913e-02 9.99696066e-01 3.33916000e-05 1.62690911e+02] [ 9.99620813e-01 2.46516453e-02 -1.22688949e-02 -1.16721363e+02] [-1.22659891e-02 -2.69087248e-04 -9.99924734e-01 -4.11957615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.01511126684662361 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.69, Z:-4.12 [[-1.00905391e-01 9.94895501e-01 1.02187569e-03 1.62694441e+02] [ 9.94816128e-01 1.00910251e-01 -1.25694990e-02 -1.16691632e+02] [-1.26084558e-02 -2.51751796e-04 -9.99920479e-01 -4.11936114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.014608533240402875 Centerline is valid? [True, True] Translation: X:162.70, Y:-116.66, Z:-4.12 [[-1.76556266e-01 9.84288742e-01 1.88614220e-03 1.62695211e+02] [ 9.84218948e-01 1.76566212e-01 -1.17233076e-02 -1.16661704e+02] [-1.18721486e-02 -2.13446524e-04 -9.99929501e-01 -4.11989456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.013735638095677028 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.63, Z:-4.12 [[-2.50005021e-01 9.68240914e-01 2.64983652e-03 1.62694221e+02] [ 9.68179285e-01 2.50019008e-01 -1.09255822e-02 -1.16632576e+02] [-1.12411052e-02 -1.65933583e-04 -9.99936803e-01 -4.12061790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.013762302977146952 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.60, Z:-4.12 [[-3.24480918e-01 9.45886151e-01 3.39470795e-03 1.62694353e+02] [ 9.45829324e-01 3.24498638e-01 -1.03693527e-02 -1.16603673e+02] [-1.09098052e-02 -1.53842741e-04 -9.99940475e-01 -4.11997335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.013472935806498786 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.57, Z:-4.12 [[-3.95578764e-01 9.18420995e-01 4.50753232e-03 1.62688868e+02] [ 9.18357280e-01 3.95604419e-01 -1.08189666e-02 -1.16574976e+02] [-1.17195658e-02 -1.40228312e-04 -9.99931314e-01 -4.11928058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.012850572948120548 Centerline is valid? [True, True] Translation: X:162.68, Y:-116.55, Z:-4.12 [[-4.62000895e-01 8.86864591e-01 5.13510161e-03 1.62679178e+02] [ 8.86807869e-01 4.62029426e-01 -1.00306549e-02 -1.16549013e+02] [-1.12684007e-02 -8.03230359e-05 -9.99936506e-01 -4.11961009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.012481490310415731 Centerline is valid? [True, True] Translation: X:162.67, Y:-116.52, Z:-4.12 [[-5.26553646e-01 8.50125456e-01 5.28828286e-03 1.62668905e+02] [ 8.50082010e-01 5.26580201e-01 -8.59465043e-03 -1.16522431e+02] [-1.00912362e-02 -3.00704000e-05 -9.99949082e-01 -4.12114818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.012301704958199 Centerline is valid? [True, True] Translation: X:162.66, Y:-116.50, Z:-4.12 [[-5.87359113e-01 8.09307746e-01 5.49948874e-03 1.62656714e+02] [ 8.09272600e-01 5.87384858e-01 -7.54238556e-03 -1.16497078e+02] [-9.33442747e-03 2.04966625e-05 -9.99956433e-01 -4.12213522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.012531736099786863 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.47, Z:-4.12 [[-6.46033410e-01 7.63279864e-01 6.68446325e-03 1.62645546e+02] [ 7.63239992e-01 6.46067988e-01 -7.80188596e-03 -1.16469343e+02] [-1.02736402e-02 6.15706904e-05 -9.99947223e-01 -4.12202726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.01289434385404473 Centerline is valid? [True, True] Translation: X:162.63, Y:-116.44, Z:-4.12 [[-7.02239742e-01 7.11903173e-01 7.29502057e-03 1.62632499e+02] [ 7.11866011e-01 7.02277627e-01 -7.27445035e-03 -1.16443324e+02] [-1.03018340e-02 8.46690537e-05 -9.99946931e-01 -4.12162307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.013192482346323026 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.42, Z:-4.12 [[-7.49152075e-01 6.62351049e-01 7.89021710e-03 1.62652446e+02] [ 6.62315883e-01 7.49193616e-01 -6.82613142e-03 -1.16424222e+02] [-1.04325956e-02 1.12005586e-04 -9.99945573e-01 -4.12194370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.01348042135974623 Centerline is valid? [True, True] Translation: X:162.67, Y:-116.41, Z:-4.12 [[-7.93572913e-01 6.08417530e-01 8.37501892e-03 1.62673102e+02] [ 6.08385266e-01 7.93617096e-01 -6.26687546e-03 -1.16406416e+02] [-1.04594351e-02 1.22015502e-04 -9.99945291e-01 -4.12194530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.013320071674555215 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.38, Z:-4.12 [[-8.34876675e-01 5.50379134e-01 7.98417222e-03 1.62692267e+02] [ 5.50355169e-01 8.34914845e-01 -5.13710154e-03 -1.16382947e+02] [-9.49345741e-03 1.05284206e-04 -9.99954931e-01 -4.12238903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.013249196915133281 Centerline is valid? [True, True] Translation: X:162.71, Y:-116.36, Z:-4.12 [[-8.71976997e-01 4.89500363e-01 6.74624512e-03 1.62706397e+02] [ 4.89486435e-01 8.72003090e-01 -3.69344679e-03 -1.16358064e+02] [-7.69069013e-03 8.15948347e-05 -9.99970423e-01 -4.12365655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.012820587151256 Centerline is valid? [True, True] Translation: X:162.72, Y:-116.33, Z:-4.13 [[-9.05289524e-01 4.24782195e-01 3.31113499e-03 1.62717217e+02] [ 4.24779482e-01 9.05295579e-01 -1.51863695e-03 -1.16330808e+02] [-3.64264581e-03 3.16960781e-05 -9.99993365e-01 -4.12714696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.012749596322131624 Centerline is valid? [True, True] Translation: X:162.73, Y:-116.31, Z:-4.13 [[-9.33369932e-01 3.58903192e-01 3.01138752e-03 1.62732000e+02] [ 3.58901413e-01 9.33374790e-01 -1.13053642e-03 -1.16306690e+02] [-3.21650632e-03 2.55825293e-05 -9.99994827e-01 -4.12735518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.012281846980181074 Centerline is valid? [True, True] Translation: X:162.97, Y:-115.67, Z:-5.13 [[-9.11722044e-01 -4.10793241e-01 3.43900955e-03 1.62970647e+02] [ 4.10790346e-01 -9.11728530e-01 -1.54236745e-03 -1.15673162e+02] [ 3.76903724e-03 6.50151631e-06 9.99992897e-01 -5.12797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.012237903087379693 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.28, Z:-4.13 [[-9.38800892e-01 3.44422263e-01 5.11750677e-03 1.62687109e+02] [ 3.44417020e-01 9.38814840e-01 -1.90056817e-03 -1.16276208e+02] [-5.45898929e-03 -2.16986599e-05 -9.99985099e-01 -4.12561537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.01267117669490624 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.24, Z:-4.12 [[-9.61930245e-01 2.73218364e-01 6.47531207e-03 1.62689204e+02] [ 2.73211798e-01 9.61952038e-01 -1.89491051e-03 -1.16243970e+02] [-6.74666399e-03 -5.36400785e-05 -9.99977240e-01 -4.12467594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.013042653837432833 Centerline is valid? [True, True] Translation: X:162.69, Y:-116.21, Z:-4.12 [[-9.79434960e-01 2.01586925e-01 8.35883318e-03 1.62693807e+02] [ 2.01578779e-01 9.79470624e-01 -1.81449666e-03 -1.16214132e+02] [-8.55301035e-03 -9.22180748e-05 -9.99963418e-01 -4.12344015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.013107155423477384 Centerline is valid? [True, True] Translation: X:162.84, Y:-115.59, Z:-5.13 [[-9.57737185e-01 -2.87492009e-01 9.37171301e-03 1.62835379e+02] [ 2.87480067e-01 -9.57783020e-01 -2.62644118e-03 -1.15588087e+02] [ 9.73114844e-03 1.78740302e-04 9.99952635e-01 -5.13240481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.013038068749267825 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.21, Z:-4.12 [[-9.79843124e-01 1.99496834e-01 1.04147000e-02 1.62647712e+02] [ 1.99484501e-01 9.79898466e-01 -2.22033952e-03 -1.16208398e+02] [-1.06482993e-02 -9.80131718e-05 -9.99943300e-01 -4.12243321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.012738103096594107 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.19, Z:-4.12 [[-9.91289729e-01 1.31333530e-01 9.80703020e-03 1.62651555e+02] [ 1.31326376e-01 9.91338236e-01 -1.37278903e-03 -1.16185302e+02] [-9.90237725e-03 -7.29099323e-05 -9.99950968e-01 -4.12389783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.012786290206649087 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.16, Z:-4.12 [[-9.98088363e-01 6.11079973e-02 9.24293228e-03 1.62646008e+02] [ 6.11047827e-02 9.98131158e-01 -6.30052552e-04 -1.16159376e+02] [-9.26415995e-03 -6.40607510e-05 -9.99957085e-01 -4.12375235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.01276841119484034 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.14, Z:-4.12 [[-9.99896711e-01 -1.03068164e-02 1.00167834e-02 1.62646211e+02] [-1.03070333e-02 9.99946881e-01 2.99751261e-05 -1.16135704e+02] [-1.00165603e-02 -7.32712903e-05 -9.99949830e-01 -4.12416355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.012956621558683636 Centerline is valid? [True, True] Translation: X:162.65, Y:-116.11, Z:-4.12 [[-9.96586085e-01 -8.19462025e-02 1.00495943e-02 1.62646091e+02] [-8.19428442e-02 9.96636751e-01 7.46173769e-04 -1.16110922e+02] [-1.00769411e-02 -7.98659417e-05 -9.99949223e-01 -4.12433724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.01322393035658647 Centerline is valid? [True, True] Translation: X:162.59, Y:-115.44, Z:-5.13 [[-9.99948452e-01 -2.64557216e-03 9.80272758e-03 1.62586598e+02] [ 2.64602703e-03 -9.99996499e-01 3.34335261e-05 -1.15443464e+02] [ 9.80260480e-03 5.93700848e-05 9.99951952e-01 -5.13026850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.014013385911743498 Centerline is valid? [True, True] Translation: X:162.57, Y:-116.12, Z:-4.12 [[-9.95744315e-01 -9.15839394e-02 1.02781496e-02 1.62566237e+02] [-9.15803901e-02 9.95797352e-01 8.16443513e-04 -1.16116099e+02] [-1.03097273e-02 -1.28307964e-04 -9.99946845e-01 -4.12410978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.01401523062665389 Centerline is valid? [True, True] Translation: X:162.51, Y:-115.45, Z:-5.13 [[-9.99939574e-01 -2.87951596e-03 1.06092693e-02 1.62513985e+02] [ 2.88097049e-03 -9.99995843e-01 1.21819429e-04 -1.15449118e+02] [ 1.06088744e-02 1.52377060e-04 9.99943713e-01 -5.13073697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.014244804521405767 Centerline is valid? [True, True] Translation: X:162.49, Y:-116.12, Z:-4.12 [[-9.94905029e-01 -1.00212001e-01 1.10244715e-02 1.62493361e+02] [-1.00207861e-01 9.94966091e-01 9.28729283e-04 -1.16124224e+02] [-1.10620452e-02 -1.80741273e-04 -9.99938797e-01 -4.12313894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.014180979797215767 Centerline is valid? [True, True] Translation: X:162.48, Y:-116.10, Z:-4.12 [[-9.85208049e-01 -1.70909359e-01 1.24535659e-02 1.62483931e+02] [-1.70898377e-01 9.85286734e-01 1.94870054e-03 -1.16102075e+02] [-1.26033844e-02 -2.08418739e-04 -9.99920553e-01 -4.12278728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.014003399442636141 Centerline is valid? [True, True] Translation: X:162.47, Y:-116.08, Z:-4.12 [[-9.70637692e-01 -2.40243161e-01 1.20704222e-02 1.62473515e+02] [-2.40227133e-01 9.70712720e-01 2.78219705e-03 -1.16079607e+02] [-1.23853161e-02 -1.99137586e-04 -9.99923279e-01 -4.12352150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.01375860812886955 Centerline is valid? [True, True] Translation: X:162.32, Y:-115.41, Z:-5.13 [[-9.89542353e-01 1.43825365e-01 1.09634066e-02 1.62318182e+02] [-1.43815489e-01 -9.89603080e-01 1.68805092e-03 -1.15407895e+02] [ 1.10922055e-02 9.36902021e-05 9.99938475e-01 -5.13031306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.013397351444524808 Centerline is valid? [True, True] Translation: X:162.37, Y:-116.11, Z:-4.12 [[-9.69998897e-01 -2.42926673e-01 9.42187858e-03 1.62372360e+02] [-2.42916418e-01 9.70044647e-01 2.23539203e-03 -1.16108794e+02] [-9.68267923e-03 -1.20401188e-04 -9.99953115e-01 -4.12462433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.013652780576702413 Centerline is valid? [True, True] Translation: X:162.35, Y:-116.09, Z:-4.12 [[-9.50639145e-01 -3.10176627e-01 8.69922713e-03 1.62351804e+02] [-3.10164580e-01 9.50678942e-01 2.73549955e-03 -1.16087695e+02] [-9.11866007e-03 -9.77191702e-05 -9.99958419e-01 -4.12432026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.013018458309824753 Centerline is valid? [True, True] Translation: X:162.32, Y:-116.07, Z:-4.12 [[-9.26756687e-01 -3.75568405e-01 8.39147581e-03 1.62318168e+02] [-3.75553723e-01 9.26794674e-01 3.32167865e-03 -1.16073085e+02] [-9.02469264e-03 -7.30620771e-05 -9.99959274e-01 -4.12475534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.012830906395435444 Centerline is valid? [True, True] Translation: X:162.26, Y:-116.07, Z:-4.12 [[-8.97003577e-01 -4.41941253e-01 8.51540490e-03 1.62260140e+02] [-4.41922091e-01 8.97043992e-01 4.11606431e-03 -1.16067593e+02] [-9.45775142e-03 -7.10211322e-05 -9.99955272e-01 -4.12444586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.013123147017477736 Centerline is valid? [True, True] Translation: X:162.19, Y:-116.07, Z:-4.12 [[-8.61102539e-01 -5.08360208e-01 8.50386819e-03 1.62185108e+02] [-5.08336475e-01 8.61144524e-01 4.91297764e-03 -1.16072988e+02] [-9.82062186e-03 -9.22488653e-05 -9.99951772e-01 -4.12383250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.013265913482564458 Centerline is valid? [True, True] Translation: X:162.12, Y:-116.08, Z:-4.12 [[-8.19508923e-01 -5.73018494e-01 7.41152024e-03 1.62119423e+02] [-5.72996227e-01 8.19542430e-01 5.05271273e-03 -1.16079617e+02] [-8.96935315e-03 -1.06029964e-04 -9.99959769e-01 -4.12449891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.01403128812350228 Centerline is valid? [True, True] Translation: X:162.04, Y:-116.10, Z:-4.12 [[-7.72521590e-01 -6.34953056e-01 6.70886735e-03 1.62036912e+02] [-6.34930560e-01 7.72550710e-01 5.34646394e-03 -1.16100344e+02] [-8.57769385e-03 -1.29406072e-04 -9.99963203e-01 -4.12372105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.014173912541851356 Centerline is valid? [True, True] Translation: X:161.96, Y:-116.13, Z:-4.12 [[-7.22223208e-01 -6.91629914e-01 6.45758945e-03 1.61957021e+02] [-6.91603989e-01 7.22252063e-01 5.98992216e-03 -1.16130365e+02] [-8.80681666e-03 -1.40033829e-04 -9.99961209e-01 -4.12274466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.014000976659101745 Centerline is valid? [True, True] Translation: X:161.88, Y:-116.17, Z:-4.12 [[-6.69065945e-01 -7.43179422e-01 5.92513464e-03 1.61875858e+02] [-7.43151954e-01 6.69092169e-01 6.39086312e-03 -1.16173014e+02] [-8.71401915e-03 -1.27366512e-04 -9.99962024e-01 -4.12277436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.013265157323345987 Centerline is valid? [True, True] Translation: X:161.79, Y:-116.23, Z:-4.12 [[-6.12552918e-01 -7.90414705e-01 4.84936227e-03 1.61794744e+02] [-7.90391201e-01 6.12572105e-01 6.09631408e-03 -1.16229163e+02] [-7.78920035e-03 -9.85782938e-05 -9.99969659e-01 -4.12402901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.012717381229785805 Centerline is valid? [True, True] Translation: X:161.72, Y:-116.29, Z:-4.12 [[-5.54140824e-01 -8.32413224e-01 4.02134585e-03 1.61719312e+02] [-8.32392110e-01 5.54155412e-01 5.92920299e-03 -1.16288470e+02] [-7.16399754e-03 -6.17231305e-05 -9.99974336e-01 -4.12323724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.012320262499311802 Centerline is valid? [True, True] Translation: X:161.64, Y:-116.36, Z:-4.12 [[-4.93106509e-01 -8.69959944e-01 3.95821549e-03 1.61644839e+02] [-8.69932451e-01 4.93122394e-01 6.91627795e-03 -1.16361941e+02] [-7.96876947e-03 -3.29184277e-05 -9.99968248e-01 -4.12217416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.012222977407889272 Centerline is valid? [True, True] Translation: X:161.57, Y:-116.44, Z:-4.12 [[-4.28267555e-01 -9.03644732e-01 3.61932931e-03 1.61574125e+02] [-9.03612629e-01 4.28282848e-01 7.61694942e-03 -1.16443175e+02] [-8.43311288e-03 -8.37937110e-06 -9.99964441e-01 -4.12138129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.01237879602597125 Centerline is valid? [True, True] Translation: X:161.51, Y:-116.53, Z:-4.12 [[-3.61626248e-01 -9.32318218e-01 3.03281917e-03 1.61509571e+02] [-9.32284858e-01 3.61638965e-01 7.88687172e-03 -1.16533564e+02] [-8.44985976e-03 2.46484404e-05 -9.99964299e-01 -4.12124373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.012297669652094069 Centerline is valid? [True, True] Translation: X:161.45, Y:-116.63, Z:-4.12 [[-2.89955638e-01 -9.57037313e-01 2.30402111e-03 1.61448308e+02] [-9.57006270e-01 2.89964791e-01 7.70843695e-03 -1.16630932e+02] [-8.04534679e-03 3.01421057e-05 -9.99967635e-01 -4.12148486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.012409689268789452 Centerline is valid? [True, True] Translation: X:161.40, Y:-116.73, Z:-4.12 [[-2.15800248e-01 -9.76436303e-01 1.54880065e-03 1.61395290e+02] [-9.76410224e-01 2.15805804e-01 7.13643351e-03 -1.16731960e+02] [-7.30251292e-03 2.77793295e-05 -9.99973336e-01 -4.12168028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.01234070216679264 Centerline is valid? [True, True] Translation: X:161.35, Y:-116.84, Z:-4.12 [[-1.37511444e-01 -9.90499599e-01 1.07139568e-03 1.61346252e+02] [-9.90469076e-01 1.37515618e-01 7.77585667e-03 -1.16841323e+02] [-7.84931655e-03 8.08499342e-06 -9.99969194e-01 -4.12027142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.01231195966841642 Centerline is valid? [True, True] Translation: X:161.30, Y:-116.96, Z:-4.12 [[-5.78124125e-02 -9.98327310e-01 5.54169395e-04 1.61304418e+02] [-9.98284903e-01 5.78150645e-02 9.20168105e-03 -1.16959481e+02] [-9.21832883e-03 -2.12475604e-05 -9.99957510e-01 -4.11863311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.012669125720978938 Centerline is valid? [True, True] Translation: X:161.27, Y:-117.07, Z:-4.12 [[ 2.43136782e-02 -9.99704366e-01 -1.60029950e-04 1.61270711e+02] [-9.99658541e-01 -2.43140960e-02 9.57215730e-03 -1.17074499e+02] [-9.57321843e-03 -7.27590454e-05 -9.99954173e-01 -4.11813930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.012864709604889713 Centerline is valid? [True, True] Translation: X:161.25, Y:-117.20, Z:-4.12 [[ 1.03677751e-01 -9.94610543e-01 -8.90038050e-04 1.61248740e+02] [-9.94565292e-01 -1.03681525e-01 9.48798745e-03 -1.17196806e+02] [-9.52913285e-03 -9.84922484e-05 -9.99954592e-01 -4.11882969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.013357428799437687 Centerline is valid? [True, True] Translation: X:161.23, Y:-117.31, Z:-4.12 [[ 1.81386713e-01 -9.83410789e-01 -1.44238986e-03 1.61234597e+02] [-9.83375062e-01 -1.81392419e-01 8.38324623e-03 -1.17311090e+02] [-8.50581337e-03 -1.02199262e-04 -9.99963820e-01 -4.11946754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.013273127180763455 Centerline is valid? [True, True] Translation: X:161.23, Y:-117.43, Z:-4.12 [[ 2.56054429e-01 -9.66660341e-01 -1.97847905e-03 1.61231191e+02] [-9.66628548e-01 -2.56062055e-01 7.84053080e-03 -1.17430059e+02] [-8.08574359e-03 -9.51483076e-05 -9.99967305e-01 -4.11964349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.012904166388391805 Centerline is valid? [True, True] Translation: X:161.24, Y:-117.55, Z:-4.12 [[ 3.27085402e-01 -9.44992232e-01 -2.19581536e-03 1.61237833e+02] [-9.44969618e-01 -3.27092766e-01 6.53782957e-03 -1.17546134e+02] [-6.89643347e-03 -6.34498098e-05 -9.99976217e-01 -4.11937154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.012358032011784656 Centerline is valid? [True, True] Translation: X:161.25, Y:-117.66, Z:-4.12 [[ 3.95629658e-01 -9.18407062e-01 -2.37544078e-03 1.61254738e+02] [-9.18389954e-01 -3.95636788e-01 5.60572141e-03 -1.17658451e+02] [-6.08814588e-03 -3.62086998e-05 -9.99981466e-01 -4.12015323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.012177332913763316 Centerline is valid? [True, True] Translation: X:161.28, Y:-117.77, Z:-4.12 [[ 4.59619444e-01 -8.88111327e-01 -2.86998281e-03 1.61282219e+02] [-8.88094011e-01 -4.59628404e-01 5.54602776e-03 -1.17769124e+02] [-6.24461570e-03 -2.47651204e-07 -9.99980502e-01 -4.11981712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.012351618698308087 Centerline is valid? [True, True] Translation: X:161.32, Y:-117.88, Z:-4.12 [[ 5.22224677e-01 -8.52802306e-01 -3.10067798e-03 1.61315333e+02] [-8.52787591e-01 -5.22233882e-01 5.00983133e-03 -1.17878502e+02] [-5.89167480e-03 2.79621561e-05 -9.99982644e-01 -4.11979964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.012609047259847312 Centerline is valid? [True, True] Translation: X:161.35, Y:-117.99, Z:-4.12 [[ 5.84342783e-01 -8.11498758e-01 -3.64384270e-03 1.61354632e+02] [-8.11483416e-01 -5.84354143e-01 4.99012293e-03 -1.17985794e+02] [-6.17877313e-03 4.09756038e-05 -9.99980910e-01 -4.11899438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.013104080084369306 Centerline is valid? [True, True] Translation: X:161.40, Y:-118.08, Z:-4.12 [[ 6.41606289e-01 -7.67015991e-01 -5.27627763e-03 1.61396736e+02] [-7.66991143e-01 -6.41627978e-01 6.17451538e-03 -1.18082494e+02] [-8.12135938e-03 8.52503111e-05 -9.99967018e-01 -4.11763217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.013981654166676592 Centerline is valid? [True, True] Translation: X:161.45, Y:-118.18, Z:-4.12 [[ 6.95347310e-01 -7.18651730e-01 -5.64000811e-03 1.61448109e+02] [-7.18629421e-01 -6.95370173e-01 5.66367284e-03 -1.18176617e+02] [-7.99210170e-03 1.14856086e-04 -9.99968056e-01 -4.11695673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.014253177399041056 Centerline is valid? [True, True] Translation: X:161.50, Y:-118.27, Z:-4.12 [[ 7.46690808e-01 -6.65142911e-01 -6.14366680e-03 1.61504299e+02] [-6.65121830e-01 -7.46716071e-01 5.29726649e-03 -1.18267434e+02] [-8.11101399e-03 1.30866704e-04 -9.99967097e-01 -4.11698739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.014252759572465181 Centerline is valid? [True, True] Translation: X:161.52, Y:-118.29, Z:-4.12 [[ 7.97088005e-01 -6.03813010e-01 -7.78210087e-03 1.61524962e+02] [-6.03785998e-01 -7.97125980e-01 5.71318090e-03 -1.18294120e+02] [-9.65300774e-03 1.44815579e-04 -9.99953398e-01 -4.11548913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.013251367819000015 Centerline is valid? [True, True] Translation: X:161.55, Y:-118.32, Z:-4.12 [[ 8.44384837e-01 -5.35662557e-01 -8.93717834e-03 1.61545438e+02] [-5.35633900e-01 -8.44432125e-01 5.54177172e-03 -1.18323716e+02] [-1.05153601e-02 1.07667681e-04 -9.99944706e-01 -4.11534058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.012646936699183885 Centerline is valid? [True, True] Translation: X:161.57, Y:-118.35, Z:-4.12 [[ 8.85662968e-01 -4.64236474e-01 -9.25215047e-03 1.61568469e+02] [-4.64211878e-01 -8.85711292e-01 4.77918665e-03 -1.18352816e+02] [-1.04134069e-02 6.22095030e-05 -9.99945777e-01 -4.11521898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.01231697305901061 Centerline is valid? [True, True] Translation: X:161.59, Y:-118.38, Z:-4.12 [[ 9.21720477e-01 -3.87762458e-01 -8.46399268e-03 1.61593773e+02] [-3.87746083e-01 -9.21759337e-01 3.56359622e-03 -1.18380522e+02] [-9.18359311e-03 -2.75959713e-06 -9.99957830e-01 -4.11579022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.01242002649524703 Centerline is valid? [True, True] Translation: X:161.62, Y:-118.40, Z:-4.12 [[ 9.50339585e-01 -3.11121027e-01 -7.64070732e-03 1.61622804e+02] [-3.11110709e-01 -9.50370299e-01 2.53401444e-03 -1.18402627e+02] [-8.04988648e-03 -3.10683528e-05 -9.99967599e-01 -4.11661226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.012554334429196623 Centerline is valid? [True, True] Translation: X:161.65, Y:-118.42, Z:-4.12 [[ 9.72409441e-01 -2.33184658e-01 -6.69290698e-03 1.61653842e+02] [-2.33178812e-01 -9.72432472e-01 1.65186093e-03 -1.18421946e+02] [-6.89358871e-03 -4.56410594e-05 -9.99976238e-01 -4.11706471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.012762133240056714 Centerline is valid? [True, True] Translation: X:161.69, Y:-118.44, Z:-4.12 [[ 9.87794062e-01 -1.55661740e-01 -5.68447303e-03 1.61685242e+02] [-1.55658913e-01 -9.87810418e-01 9.39106655e-04 -1.18436171e+02] [-5.76136466e-03 -4.28050863e-05 -9.99983402e-01 -4.11688543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.01259972357275945 Centerline is valid? [True, True] Translation: X:161.72, Y:-118.45, Z:-4.12 [[ 9.96956012e-01 -7.78297021e-02 -4.60954359e-03 1.61715142e+02] [-7.78287107e-02 -9.96966668e-01 3.94327522e-04 -1.18446657e+02] [-4.62625171e-03 -3.43723588e-05 -9.99989298e-01 -4.11773681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.012632176607589165 Centerline is valid? [True, True] Translation: X:161.75, Y:-118.45, Z:-4.12 [[ 9.99987947e-01 1.17308827e-04 -4.90840786e-03 1.61745871e+02] [ 1.17478863e-04 -9.99999993e-01 3.43534075e-05 -1.18453968e+02] [-4.90840379e-03 -3.49296276e-05 -9.99987953e-01 -4.11704138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.012746546151951399 Centerline is valid? [True, True] Translation: X:161.78, Y:-118.46, Z:-4.11 [[ 9.96845365e-01 7.90292750e-02 -7.32750610e-03 1.61778090e+02] [ 7.90275635e-02 -9.96872294e-01 -5.23282298e-04 -1.18459509e+02] [-7.34594244e-03 -5.74434205e-05 -9.99973017e-01 -4.11399821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.012847355678417514 Centerline is valid? [True, True] Translation: X:161.81, Y:-118.46, Z:-4.11 [[ 9.87408887e-01 1.57869639e-01 -1.00433060e-02 1.61810115e+02] [ 1.57862402e-01 -9.87459958e-01 -1.51430388e-03 -1.18464149e+02] [-1.01564251e-02 -9.02232985e-05 -9.99948418e-01 -4.11247808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.013503501744472152 Centerline is valid? [True, True] Translation: X:161.84, Y:-118.47, Z:-4.11 [[ 9.71641155e-01 2.36177365e-01 -1.15636251e-02 1.61842020e+02] [ 2.36162154e-01 -9.71709955e-01 -2.68329224e-03 -1.18466840e+02] [-1.18702225e-02 -1.23693429e-04 -9.99929539e-01 -4.10934852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.01282114067772426 Centerline is valid? [True, True] Translation: X:161.87, Y:-118.46, Z:-4.11 [[ 9.50921807e-01 3.09246665e-01 -1.06872633e-02 1.61873639e+02] [ 3.09228196e-01 -9.50981857e-01 -3.38091488e-03 -1.18461805e+02] [-1.12089301e-02 -8.98174650e-05 -9.99937174e-01 -4.11129050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.01248335389747328 Centerline is valid? [True, True] Translation: X:161.90, Y:-118.46, Z:-4.11 [[ 9.25410386e-01 3.78846805e-01 -9.52449625e-03 1.61904458e+02] [ 3.78827173e-01 -9.25459398e-01 -3.85695763e-03 -1.18455455e+02] [-1.02757306e-02 -3.88693446e-05 -9.99947203e-01 -4.11228012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.012594266970838017 Centerline is valid? [True, True] Translation: X:161.93, Y:-118.44, Z:-4.11 [[ 8.96685602e-01 4.42573464e-01 -9.14660689e-03 1.61931076e+02] [ 4.42549893e-01 -8.96732249e-01 -4.56779087e-03 -1.18441736e+02] [-1.02236404e-02 4.80424022e-05 -9.99947736e-01 -4.11267841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.013551772327058637 Centerline is valid? [True, True] Translation: X:161.96, Y:-118.43, Z:-4.11 [[ 8.62997974e-01 5.05143370e-01 -8.04198197e-03 1.61957166e+02] [ 5.05120217e-01 -8.63035436e-01 -4.83771260e-03 -1.18428155e+02] [-9.38425386e-03 1.12768493e-04 -9.99955961e-01 -4.11367759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.013637973069501545 Centerline is valid? [True, True] Translation: X:161.99, Y:-118.42, Z:-4.11 [[ 8.21386670e-01 5.70331421e-01 -6.78304689e-03 1.61986118e+02] [ 5.70310875e-01 -8.21414669e-01 -4.84223043e-03 -1.18419042e+02] [-8.33337038e-03 1.08898117e-04 -9.99965271e-01 -4.11454663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.013837710306142672 Centerline is valid? [True, True] Translation: X:162.01, Y:-118.41, Z:-4.12 [[ 7.74679529e-01 6.32323020e-01 -6.26297047e-03 1.62013576e+02] [ 6.32301174e-01 -7.74704838e-01 -5.25736231e-03 -1.18406456e+02] [-8.17630473e-03 1.12687381e-04 -9.99966567e-01 -4.11570960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.013811318603856489 Centerline is valid? [True, True] Translation: X:162.04, Y:-118.39, Z:-4.12 [[ 7.22675707e-01 6.91159049e-01 -6.24441065e-03 1.62040716e+02] [ 6.91131815e-01 -7.22702674e-01 -6.13672458e-03 -1.18392335e+02] [-8.75430500e-03 1.19150904e-04 -9.99961673e-01 -4.11592611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.013383439585968823 Centerline is valid? [True, True] Translation: X:162.07, Y:-118.38, Z:-4.12 [[ 6.64719107e-01 7.47070514e-01 -5.84431620e-03 1.62069329e+02] [ 7.47040282e-01 -6.64744790e-01 -6.72161035e-03 -1.18378599e+02] [-8.90649565e-03 1.02043202e-04 -9.99960331e-01 -4.11617973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.012848995309596996 Centerline is valid? [True, True] Translation: X:162.10, Y:-118.36, Z:-4.12 [[ 6.01108778e-01 7.99149129e-01 -5.37647829e-03 1.62099614e+02] [ 7.99116137e-01 -6.01132818e-01 -7.26184364e-03 -1.18364365e+02] [-9.03527356e-03 6.87273939e-05 -9.99959179e-01 -4.11570594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.012555763534906087 Centerline is valid? [True, True] Translation: X:162.13, Y:-118.35, Z:-4.12 [[ 5.33893605e-01 8.45535425e-01 -5.24053413e-03 1.62125810e+02] [ 8.45493911e-01 -5.33919322e-01 -8.37873310e-03 -1.18345898e+02] [-9.88253808e-03 4.25123254e-05 -9.99951166e-01 -4.11600398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.012426982465990534 Centerline is valid? [True, True] Translation: X:162.15, Y:-118.33, Z:-4.12 [[ 4.60850151e-01 8.87462383e-01 -5.25903683e-03 1.62154728e+02] [ 8.87405051e-01 -4.60880156e-01 -1.00874828e-02 -1.18327413e+02] [-1.13760473e-02 -1.80778569e-05 -9.99935291e-01 -4.11562827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.012852248653931959 Centerline is valid? [True, True] Translation: X:162.18, Y:-118.31, Z:-4.11 [[ 3.85924438e-01 9.22517513e-01 -4.87518962e-03 1.62178924e+02] [ 9.22446328e-01 -3.85955222e-01 -1.14603067e-02 -1.18306303e+02] [-1.24539385e-02 -7.42883661e-05 -9.99922444e-01 -4.11446014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.013857950025780254 Centerline is valid? [True, True] Translation: X:162.20, Y:-118.28, Z:-4.11 [[ 3.05992775e-01 9.52024019e-01 -4.32305108e-03 1.62203872e+02] [ 9.51936886e-01 -3.06023262e-01 -1.28813022e-02 -1.18282923e+02] [-1.35862633e-02 -1.73686378e-04 -9.99907687e-01 -4.11347253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.014747344108709265 Centerline is valid? [True, True] Translation: X:162.22, Y:-118.26, Z:-4.11 [[ 2.26667476e-01 9.73967315e-01 -3.08631986e-03 1.62222645e+02] [ 9.73889378e-01 -2.26688387e-01 -1.23229091e-02 -1.18255952e+02] [-1.27017435e-02 -2.12531435e-04 -9.99919307e-01 -4.11456610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.016316098917512897 Centerline is valid? [True, True] Translation: X:162.24, Y:-118.23, Z:-4.12 [[ 1.46711126e-01 9.89177865e-01 -1.73111375e-03 1.62237677e+02] [ 9.89124580e-01 -1.46721194e-01 -1.02692379e-02 -1.18228119e+02] [-1.04120939e-02 -2.05675700e-04 -9.99945772e-01 -4.11643773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.015498316722853431 Centerline is valid? [True, True] Translation: X:162.25, Y:-118.20, Z:-4.12 [[ 6.91080544e-02 9.97608881e-01 -7.73202539e-04 1.62246026e+02] [ 9.97570885e-01 -6.91121719e-02 -8.70845567e-03 -1.18197535e+02] [-8.74107042e-03 -1.69499913e-04 -9.99961782e-01 -4.11859319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.015318547448280715 Centerline is valid? [True, True] Translation: X:162.25, Y:-118.17, Z:-4.12 [[-8.70686505e-03 9.99962090e-01 -9.03821428e-05 1.62252811e+02] [ 9.99922386e-01 8.70571377e-03 -8.91253812e-03 -1.18166176e+02] [-8.91141341e-03 -1.67975394e-04 -9.99960278e-01 -4.11851091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.01513404483876546 Centerline is valid? [True, True] Translation: X:162.26, Y:-118.14, Z:-4.12 [[-8.58318085e-02 9.96309378e-01 7.23447929e-04 1.62256197e+02] [ 9.96253186e-01 8.58346523e-02 -1.05830512e-02 -1.18135091e+02] [-1.06060900e-02 -1.87625118e-04 -9.99943736e-01 -4.11702680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.014920452093963844 Centerline is valid? [True, True] Translation: X:162.26, Y:-118.10, Z:-4.12 [[-1.63270674e-01 9.86579627e-01 1.82372257e-03 1.62258410e+02] [ 9.86502409e-01 1.63280716e-01 -1.23452118e-02 -1.18103865e+02] [-1.24773132e-02 -2.16504345e-04 -9.99922132e-01 -4.11661950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.014874916209591789 Centerline is valid? [True, True] Translation: X:162.26, Y:-118.07, Z:-4.12 [[-2.38689154e-01 9.71091030e-01 3.11434957e-03 1.62257321e+02] [ 9.70995779e-01 2.38709367e-01 -1.36027545e-02 -1.18072596e+02] [-1.39529373e-02 -2.22809683e-04 -9.99902628e-01 -4.11518355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.01399796554294315 Centerline is valid? [True, True] Translation: X:162.25, Y:-118.04, Z:-4.12 [[-3.10228203e-01 9.50653159e-01 4.12721080e-03 1.62251018e+02] [ 9.50561836e-01 3.10255612e-01 -1.31776856e-02 -1.18042090e+02] [-1.38078987e-02 -1.64920643e-04 -9.99904653e-01 -4.11648106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.013168317171417405 Centerline is valid? [True, True] Translation: X:162.24, Y:-118.01, Z:-4.12 [[-3.79193718e-01 9.25305480e-01 4.67908432e-03 1.62243070e+02] [ 9.25232149e-01 3.79222576e-01 -1.16494230e-02 -1.18012225e+02] [-1.25536893e-02 -8.81487634e-05 -9.99921195e-01 -4.11860768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.012941707657950314 Centerline is valid? [True, True] Translation: X:162.23, Y:-117.98, Z:-4.12 [[-4.41147074e-01 8.97421451e-01 4.89890059e-03 1.62232241e+02] [ 8.97367071e-01 4.41174272e-01 -9.87935076e-03 -1.17984228e+02] [-1.10272102e-02 3.78653957e-05 -9.99939198e-01 -4.12024131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.014101799566505837 Centerline is valid? [True, True] Translation: X:162.22, Y:-117.96, Z:-4.12 [[-5.00694989e-01 8.65604396e-01 5.79286395e-03 1.62222499e+02] [ 8.65550160e-01 5.00728473e-01 -9.69112424e-03 -1.17955308e+02] [-1.12893317e-02 1.61716971e-04 -9.99936260e-01 -4.12123119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.016115102167711216 Centerline is valid? [True, True] Translation: X:162.21, Y:-117.93, Z:-4.12 [[-5.62113021e-01 8.27034890e-01 6.49945734e-03 1.62210900e+02] [ 8.26984205e-01 5.62150549e-01 -9.15886460e-03 -1.17928663e+02] [-1.12283741e-02 2.26631521e-04 -9.99936934e-01 -4.12124892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.017173097477096638 Centerline is valid? [True, True] Translation: X:162.20, Y:-117.90, Z:-4.12 [[-6.20350713e-01 7.84291809e-01 7.16595887e-03 1.62200607e+02] [ 7.84244873e-01 6.20392031e-01 -8.58530257e-03 -1.17899289e+02] [-1.11790863e-02 2.93967928e-04 -9.99937469e-01 -4.12343681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.01979788438808016 Centerline is valid? [True, True] Translation: X:162.19, Y:-117.87, Z:-4.12 [[-6.78333916e-01 7.34712541e-01 7.78334463e-03 1.62185887e+02] [ 7.34669452e-01 6.78378495e-01 -7.96332186e-03 -1.17874096e+02] [-1.11308061e-02 3.16394236e-04 -9.99938001e-01 -4.12305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.018132236156404868 Centerline is valid? [True, True] Translation: X:162.17, Y:-117.84, Z:-4.12 [[-7.33225991e-01 6.79933304e-01 8.38741971e-03 1.62174567e+02] [ 6.79893833e-01 7.33273889e-01 -7.33341846e-03 -1.17842161e+02] [-1.11365113e-02 3.25501920e-04 -9.99937934e-01 -4.12421763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.017985905960304874 Centerline is valid? [True, True] Translation: X:162.19, Y:-117.82, Z:-4.12 [[-7.80407776e-01 6.25200910e-01 9.35546677e-03 1.62191237e+02] [ 6.25160928e-01 7.80463783e-01 -7.07798509e-03 -1.17815190e+02] [-1.17267657e-02 3.24957680e-04 -9.99931186e-01 -4.12411502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.015778066833906583 Centerline is valid? [True, True] Translation: X:162.21, Y:-117.78, Z:-4.12 [[-8.26246926e-01 5.63214397e-01 1.02742753e-02 1.62210144e+02] [ 5.63174774e-01 8.26310761e-01 -6.68574992e-03 -1.17780341e+02] [-1.22552549e-02 2.62132361e-04 -9.99924867e-01 -4.12409140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.014883058747756344 Centerline is valid? [True, True] Translation: X:162.22, Y:-117.74, Z:-4.12 [[-8.66919390e-01 4.98325606e-01 1.10617019e-02 1.62218549e+02] [ 4.98287942e-01 8.66989937e-01 -6.12987012e-03 -1.17744373e+02] [-1.26450555e-02 1.97809427e-04 -9.99920029e-01 -4.12341025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.013433679867847952 Centerline is valid? [True, True] Translation: X:162.23, Y:-117.71, Z:-4.12 [[-9.04027409e-01 4.27318877e-01 1.15334981e-02 1.62233483e+02] [ 4.27285213e-01 9.04100974e-01 -5.36431047e-03 -1.17705432e+02] [-1.27197180e-02 7.86094747e-05 -9.99919098e-01 -4.12225488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.01276129900046463 Centerline is valid? [True, True] Translation: X:162.47, Y:-117.20, Z:-5.13 [[-8.76209892e-01 -4.81800419e-01 1.11616005e-02 1.62467251e+02] [ 4.81760241e-01 -8.76280977e-01 -6.22247763e-03 -1.17196566e+02] [ 1.27786905e-02 -7.49811236e-05 9.99918346e-01 -5.13095233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.013106070605003003 Centerline is valid? [True, True] Translation: X:162.19, Y:-117.66, Z:-4.12 [[-9.11355131e-01 4.11486013e-01 1.05397975e-02 1.62194634e+02] [ 4.11457373e-01 9.11416071e-01 -4.85559572e-03 -1.17664937e+02] [-1.16041505e-02 -8.84946888e-05 -9.99932666e-01 -4.12442100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.01376305735452749 Centerline is valid? [True, True] Translation: X:162.41, Y:-117.19, Z:-5.13 [[-8.72275316e-01 -4.88923719e-01 9.45360283e-03 1.62407137e+02] [ 4.88895390e-01 -8.72326542e-01 -5.26317852e-03 -1.17193166e+02] [ 1.08199215e-02 3.08821403e-05 9.99941462e-01 -5.13060617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.013546528066656582 Centerline is valid? [True, True] Translation: X:162.16, Y:-117.64, Z:-4.12 [[-9.14766214e-01 4.03863345e-01 9.85763761e-03 1.62156140e+02] [ 4.03838327e-01 9.14819316e-01 -4.49721931e-03 -1.17636127e+02] [-1.08342193e-02 -1.33012406e-04 -9.99941299e-01 -4.12473985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.013721132728744154 Centerline is valid? [True, True] Translation: X:162.16, Y:-117.60, Z:-4.12 [[-9.41134101e-01 3.37852073e-01 1.10716321e-02 1.62158564e+02] [ 3.37826849e-01 9.41199211e-01 -4.13104192e-03 -1.17604892e+02] [-1.18162925e-02 -1.47569843e-04 -9.99930174e-01 -4.12390895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.01381138641063457 Centerline is valid? [True, True] Translation: X:162.17, Y:-117.58, Z:-4.12 [[-9.62522827e-01 2.70874116e-01 1.33049478e-02 1.62165638e+02] [ 2.70845817e-01 9.62614765e-01 -3.91898901e-03 -1.17575390e+02] [-1.38690918e-02 -1.68526937e-04 -9.99903805e-01 -4.12196467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.014136602290398563 Centerline is valid? [True, True] Translation: X:162.16, Y:-117.54, Z:-4.12 [[-9.79396994e-01 2.01350535e-01 1.54754355e-02 1.62163215e+02] [ 2.01322131e-01 9.79519229e-01 -3.38801820e-03 -1.17544479e+02] [-1.58406659e-02 -2.02667183e-04 -9.99874508e-01 -4.12016471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.013998839422943513 Centerline is valid? [True, True] Translation: X:162.16, Y:-117.52, Z:-4.12 [[-9.91115040e-01 1.31927096e-01 1.69179934e-02 1.62158977e+02] [ 1.31904291e-01 9.91259400e-01 -2.46173440e-03 -1.17516316e+02] [-1.70948895e-02 -2.08306066e-04 -9.99853850e-01 -4.11943989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.013096056778981388 Centerline is valid? [True, True] Translation: X:162.23, Y:-117.03, Z:-5.13 [[-9.76002270e-01 -2.17182024e-01 1.58599083e-02 1.62233606e+02] [ 2.17155778e-01 -9.76131112e-01 -3.37947705e-03 -1.17030141e+02] [ 1.62153116e-02 1.45693456e-04 9.99868513e-01 -5.13339975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.012905679388649416 Centerline is valid? [True, True] Translation: X:162.12, Y:-117.52, Z:-4.12 [[-9.89537277e-01 1.43615091e-01 1.38087987e-02 1.62122406e+02] [ 1.43601790e-01 9.89633621e-01 -1.95514691e-03 -1.17524020e+02] [-1.39464400e-02 4.82774563e-05 -9.99902743e-01 -4.12360692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.013792537515223692 Centerline is valid? [True, True] Translation: X:162.12, Y:-117.50, Z:-4.12 [[-9.96625825e-01 8.09904493e-02 1.33233346e-02 1.62124255e+02] [ 8.09852718e-02 9.96714866e-01 -9.28559941e-04 -1.17502550e+02] [-1.33547701e-02 1.53567053e-04 -9.99910809e-01 -4.12454801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.016565255300572856 Centerline is valid? [True, True] Translation: X:162.17, Y:-116.97, Z:-5.13 [[-9.93380420e-01 -1.14169808e-01 1.26726861e-02 1.62167441e+02] [ 1.14158231e-01 -9.93461234e-01 -1.63555345e-03 -1.16974308e+02] [ 1.27765532e-02 -1.78035341e-04 9.99918361e-01 -5.12917905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.017139363452566496 Centerline is valid? [True, True] Translation: X:162.08, Y:-117.51, Z:-4.13 [[-9.95491379e-01 9.38992562e-02 1.34105876e-02 1.62078753e+02] [ 9.38958807e-02 9.95581631e-01 -8.82507103e-04 -1.17509960e+02] [-1.34342015e-02 3.80670725e-04 -9.99909685e-01 -4.12671193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.01815222992196575 Centerline is valid? [True, True] Translation: X:162.08, Y:-117.48, Z:-4.13 [[-9.99516357e-01 2.77364610e-02 1.40620195e-02 1.62078807e+02] [ 2.77402720e-02 9.99615162e-01 7.59907598e-05 -1.17483851e+02] [-1.40545001e-02 4.66038252e-04 -9.99901122e-01 -4.12717775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.019433361168854593 Centerline is valid? [True, True] Translation: X:162.07, Y:-117.46, Z:-4.13 [[-9.99002452e-01 -4.23423500e-02 1.41854101e-02 1.62068774e+02] [-4.23311722e-02 9.99103042e-01 1.08744729e-03 -1.17457946e+02] [-1.42187315e-02 4.85877471e-04 -9.99898791e-01 -4.12696256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.018085978415083134 Centerline is valid? [True, True] Translation: X:162.05, Y:-117.43, Z:-4.13 [[-9.93249303e-01 -1.15242456e-01 1.32286826e-02 1.62050027e+02] [-1.15226445e-01 9.93337299e-01 1.96871886e-03 -1.17427996e+02] [-1.33674239e-02 4.31134559e-04 -9.99910559e-01 -4.12857818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.016375056532583938 Centerline is valid? [True, True] Translation: X:162.03, Y:-117.40, Z:-4.13 [[-9.81194494e-01 -1.92615221e-01 1.25196637e-02 1.62030569e+02] [-1.92595339e-01 9.81274311e-01 2.78619330e-03 -1.17396347e+02] [-1.28218876e-02 3.22568653e-04 -9.99917744e-01 -4.12896997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.014204905424365685 Centerline is valid? [True, True] Translation: X:162.00, Y:-117.37, Z:-4.13 [[-9.61858881e-01 -2.73294820e-01 1.17232194e-02 1.61999065e+02] [-2.73272419e-01 9.61930306e-01 3.50301003e-03 -1.17366435e+02] [-1.22342745e-02 1.65768788e-04 -9.99925145e-01 -4.12877070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.012894892511804505 Centerline is valid? [True, True] Translation: X:161.96, Y:-117.34, Z:-4.13 [[-9.36766421e-01 -3.49749675e-01 1.19932522e-02 1.61964962e+02] [-3.49720223e-01 9.36843189e-01 4.53918001e-03 -1.17339847e+02] [-1.28233734e-02 5.78685814e-05 -9.99917776e-01 -4.12880281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.013041480326509227 Centerline is valid? [True, True] Translation: X:161.78, Y:-116.90, Z:-5.13 [[-9.59459411e-01 2.81552103e-01 1.28861059e-02 1.61780316e+02] [-2.81526887e-01 -9.59545941e-01 3.76812708e-03 -1.16900918e+02] [ 1.34257348e-02 -1.24203043e-05 9.99909871e-01 -5.12518560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.015430872082780727 Centerline is valid? [True, True] Translation: X:161.87, Y:-117.35, Z:-4.13 [[-9.26542095e-01 -3.76011605e-01 1.16197517e-02 1.61868731e+02] [-3.75985227e-01 9.26614924e-01 4.46002605e-03 -1.17350772e+02] [-1.24440568e-02 -2.36453083e-04 -9.99922542e-01 -4.12897519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.016930774007138435 Centerline is valid? [True, True] Translation: X:161.83, Y:-117.33, Z:-4.13 [[-8.94603121e-01 -4.46720426e-01 1.12301970e-02 1.61834377e+02] [-4.46689536e-01 8.94673553e-01 5.26230999e-03 -1.17330804e+02] [-1.23981416e-02 -3.08732571e-04 -9.99923092e-01 -4.12889882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.016933800886898057 Centerline is valid? [True, True] Translation: X:161.79, Y:-117.32, Z:-4.13 [[-8.59931823e-01 -5.10286591e-01 1.11738588e-02 1.61794636e+02] [-5.10248391e-01 8.60004354e-01 6.25217844e-03 -1.17322779e+02] [-1.27999701e-02 -3.24996279e-04 -9.99918024e-01 -4.12888979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.0162099366531714 Centerline is valid? [True, True] Translation: X:161.75, Y:-117.32, Z:-4.13 [[-8.21250467e-01 -5.70471485e-01 1.04859826e-02 1.61745414e+02] [-5.70429675e-01 8.21317352e-01 6.91324202e-03 -1.17324141e+02] [-1.25561269e-02 -3.04012444e-04 -9.99921123e-01 -4.12929156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.01503131781609628 Centerline is valid? [True, True] Translation: X:161.68, Y:-117.34, Z:-4.13 [[-7.80456707e-01 -6.25125106e-01 1.02922382e-02 1.61684629e+02] [-6.25074848e-01 7.80524530e-01 7.93048023e-03 -1.17343931e+02] [-1.29908867e-02 -2.44022718e-04 -9.99915585e-01 -4.12876579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.01403559461180288 Centerline is valid? [True, True] Translation: X:161.62, Y:-117.37, Z:-4.13 [[-7.35084353e-01 -6.77894411e-01 1.04957715e-02 1.61620232e+02] [-6.77829299e-01 7.35159252e-01 9.39763769e-03 -1.17370666e+02] [-1.40866696e-02 -2.06285047e-04 -9.99900757e-01 -4.12780222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.01322630901474698 Centerline is valid? [True, True] Translation: X:161.56, Y:-117.41, Z:-4.13 [[-6.87062513e-01 -7.26511600e-01 1.12248975e-02 1.61556514e+02] [-7.26417976e-01 6.87154186e-01 1.16639852e-02 -1.17408099e+02] [-1.61872559e-02 -1.40080341e-04 -9.99868968e-01 -4.12623180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.012957939746508922 Centerline is valid? [True, True] Translation: X:161.49, Y:-117.46, Z:-4.13 [[-6.34280963e-01 -7.73026783e-01 1.08282939e-02 1.61487374e+02] [-7.72916148e-01 6.34373381e-01 1.30783039e-02 -1.17455127e+02] [-1.69790606e-02 -7.40439925e-05 -9.99855843e-01 -4.12583642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.012978254999083817 Centerline is valid? [True, True] Translation: X:161.42, Y:-117.51, Z:-4.13 [[-5.80024432e-01 -8.14538163e-01 9.96186713e-03 1.61422105e+02] [-8.14416809e-01 5.80109971e-01 1.40599668e-02 -1.17514461e+02] [-1.72313580e-02 4.20122065e-05 -9.99851528e-01 -4.12603513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.014146474210397107 Centerline is valid? [True, True] Translation: X:161.36, Y:-117.58, Z:-4.13 [[-5.23627244e-01 -8.51903260e-01 8.68014779e-03 1.61360720e+02] [-8.51780707e-01 5.23699155e-01 1.44506714e-02 -1.17582662e+02] [-1.68563602e-02 1.73182823e-04 -9.99857907e-01 -4.12693372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.015824962645366376 Centerline is valid? [True, True] Translation: X:161.30, Y:-117.66, Z:-4.13 [[-4.63747462e-01 -8.85940592e-01 6.89627476e-03 1.61300175e+02] [-8.85834094e-01 4.63798662e-01 1.37390028e-02 -1.17661023e+02] [-1.53704232e-02 2.62472368e-04 -9.99881834e-01 -4.12825598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.01734013357834725 Centerline is valid? [True, True] Translation: X:161.24, Y:-117.74, Z:-4.13 [[-3.98616246e-01 -9.17098897e-01 5.89082740e-03 1.61240146e+02] [-9.16986516e-01 3.98659641e-01 1.43603606e-02 -1.17744870e+02] [-1.55183060e-02 3.22463732e-04 -9.99879532e-01 -4.12892318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.017265684640575384 Centerline is valid? [True, True] Translation: X:161.18, Y:-117.84, Z:-4.13 [[-3.32307064e-01 -9.43161636e-01 4.25953926e-03 1.61184301e+02] [-9.43069972e-01 3.32334174e-01 1.31538898e-02 -1.17835991e+02] [-1.38218347e-02 3.54086924e-04 -9.99904411e-01 -4.13212251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.018555007205614548 Centerline is valid? [True, True] Translation: X:161.13, Y:-117.94, Z:-4.13 [[-2.62078338e-01 -9.65042228e-01 2.90581566e-03 1.61132921e+02] [-9.64967217e-01 2.62094212e-01 1.20372212e-02 -1.17936087e+02] [-1.23780242e-02 3.50678065e-04 -9.99923328e-01 -4.13247909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.018752880934510215 Centerline is valid? [True, True] Translation: X:161.09, Y:-118.04, Z:-4.13 [[-1.87145837e-01 -9.82330295e-01 1.90426430e-03 1.61085079e+02] [-9.82259972e-01 1.87155234e-01 1.17586808e-02 -1.18040322e+02] [-1.19073014e-02 3.30105564e-04 -9.99929051e-01 -4.13255213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.017709457126212177 Centerline is valid? [True, True] Translation: X:160.46, Y:-118.05, Z:-5.12 [[-2.02264256e-01 9.79327404e-01 2.64702500e-03 1.60463191e+02] [-9.79264878e-01 -2.02281268e-01 1.10719186e-02 -1.18047054e+02] [ 1.13784769e-02 -3.52685238e-04 9.99935201e-01 -5.12207148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.016295585625956063 Centerline is valid? [True, True] Translation: X:161.03, Y:-118.31, Z:-4.13 [[-1.68792732e-01 -9.85650116e-01 1.69199074e-03 1.61032759e+02] [-9.85587798e-01 1.68801089e-01 1.10853317e-02 -1.18314712e+02] [-1.12118684e-02 2.03518000e-04 -9.99937124e-01 -4.13116802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.015062432256408933 Centerline is valid? [True, True] Translation: X:160.42, Y:-118.33, Z:-5.12 [[-2.04681496e-01 9.78825312e-01 2.54820234e-03 1.60424180e+02] [-9.78760273e-01 -2.04697275e-01 1.12850726e-02 -1.18325311e+02] [ 1.15677247e-02 -1.84233685e-04 9.99933075e-01 -5.12462960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.013681504617167268 Centerline is valid? [True, True] Translation: X:160.98, Y:-118.58, Z:-4.13 [[-1.51656965e-01 -9.88431749e-01 1.68620369e-03 1.60981405e+02] [-9.88361927e-01 1.51666295e-01 1.17488662e-02 -1.18575377e+02] [-1.18686926e-02 1.15217857e-04 -9.99929558e-01 -4.13061782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.012806601953428429 Centerline is valid? [True, True] Translation: X:160.94, Y:-118.68, Z:-4.13 [[-7.23444706e-02 -9.97379447e-01 7.18024891e-04 1.60938172e+02] [-9.97320844e-01 7.23480035e-02 1.08120641e-02 -1.18682926e+02] [-1.08356782e-02 6.60918616e-05 -9.99941290e-01 -4.13167222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.01265614556742702 Centerline is valid? [True, True] Translation: X:160.91, Y:-118.79, Z:-4.13 [[ 5.70705118e-03 -9.99983710e-01 -1.00249193e-04 1.60906159e+02] [-9.99933332e-01 -5.70776994e-03 1.00375530e-02 -1.18794455e+02] [-1.00379616e-02 4.29576814e-05 -9.99949618e-01 -4.13200203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.012972590463982643 Centerline is valid? [True, True] Translation: X:160.88, Y:-118.91, Z:-4.13 [[ 8.13121214e-02 -9.96688350e-01 -8.20262087e-04 1.60884750e+02] [-9.96643318e-01 -8.13162450e-02 9.47446281e-03 -1.18906822e+02] [-9.50978733e-03 4.71200578e-05 -9.99954780e-01 -4.13085301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.013300490009891109 Centerline is valid? [True, True] Translation: X:160.87, Y:-119.02, Z:-4.13 [[ 1.55626877e-01 -9.87814562e-01 -1.63261648e-03 1.60872592e+02] [-9.87764513e-01 -1.55635427e-01 9.94384423e-03 -1.19021264e+02] [-1.00767671e-02 6.51111974e-05 -9.99949226e-01 -4.13019073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.013538299084340335 Centerline is valid? [True, True] Translation: X:160.87, Y:-119.13, Z:-4.13 [[ 2.27824248e-01 -9.73698906e-01 -2.55993654e-03 1.60869130e+02] [-9.73642285e-01 -2.27838608e-01 1.05009811e-02 -1.19132866e+02] [-1.08080462e-02 1.00084333e-04 -9.99941586e-01 -4.13061574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.013640377480587034 Centerline is valid? [True, True] Translation: X:160.87, Y:-119.25, Z:-4.13 [[ 2.99142606e-01 -9.54203337e-01 -3.11344217e-03 1.60872661e+02] [-9.54155657e-01 -2.99158785e-01 9.53955729e-03 -1.19245420e+02] [-1.00340910e-02 1.17020422e-04 -9.99949650e-01 -4.13130998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.01436988403156888 Centerline is valid? [True, True] Translation: X:160.89, Y:-119.36, Z:-4.13 [[ 3.70572092e-01 -9.28795834e-01 -3.82415344e-03 1.60887093e+02] [-9.28749691e-01 -3.70591804e-01 9.25886504e-03 -1.19358662e+02] [-1.00167952e-02 1.20604338e-04 -9.99949823e-01 -4.12998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.01376095330782328 Centerline is valid? [True, True] Translation: X:160.91, Y:-119.47, Z:-4.13 [[ 4.40725485e-01 -8.97630582e-01 -4.51493998e-03 1.60908199e+02] [-8.97586117e-01 -4.40748595e-01 8.93522475e-03 -1.19474259e+02] [-1.00104844e-02 1.14566187e-04 -9.99949887e-01 -4.13088988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.013368373542293735 Centerline is valid? [True, True] Translation: X:160.93, Y:-119.58, Z:-4.13 [[ 5.09932685e-01 -8.60196053e-01 -5.60415029e-03 1.60933437e+02] [-8.60146148e-01 -5.09963470e-01 9.26625395e-03 -1.19581284e+02] [-1.08287070e-02 9.52225280e-05 -9.99941363e-01 -4.13070437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.013221126617526873 Centerline is valid? [True, True] Translation: X:160.97, Y:-119.69, Z:-4.13 [[ 5.76016321e-01 -8.17411886e-01 -6.55800989e-03 1.60967966e+02] [-8.17360238e-01 -5.76053647e-01 9.18892976e-03 -1.19685720e+02] [-1.12889059e-02 6.72830109e-05 -9.99936276e-01 -4.13027251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.012914189139730853 Centerline is valid? [True, True] Translation: X:161.01, Y:-119.79, Z:-4.13 [[ 6.40630975e-01 -7.67811375e-01 -7.59248753e-03 1.61007683e+02] [-7.67757521e-01 -6.40675965e-01 9.09380130e-03 -1.19787180e+02] [-1.18466484e-02 3.41861036e-06 -9.99929826e-01 -4.13065235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.013343783768504725 Centerline is valid? [True, True] Translation: X:161.05, Y:-119.89, Z:-4.13 [[ 7.01059478e-01 -7.13055185e-01 -8.24084414e-03 1.61053167e+02] [-7.13004785e-01 -7.01107908e-01 8.47810716e-03 -1.19887220e+02] [-1.18230793e-02 -6.78960842e-05 -9.99930103e-01 -4.12864924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.013491514507365897 Centerline is valid? [True, True] Translation: X:161.10, Y:-119.97, Z:-4.13 [[ 7.54797851e-01 -6.55902201e-01 -8.51509516e-03 1.61103849e+02] [-6.55858962e-01 -7.54845874e-01 7.53192157e-03 -1.19974803e+02] [-1.13677884e-02 -1.00376751e-04 -9.99935380e-01 -4.13026379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.013658830920808813 Centerline is valid? [True, True] Translation: X:161.13, Y:-120.00, Z:-4.13 [[ 8.05046377e-01 -5.93154953e-01 -8.21788196e-03 1.61129561e+02] [-5.93122610e-01 -8.05088312e-01 6.19512134e-03 -1.20004368e+02] [-1.02907876e-02 -1.13148388e-04 -9.99947042e-01 -4.13249843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.014009386094487609 Centerline is valid? [True, True] Translation: X:161.16, Y:-120.03, Z:-4.13 [[ 8.49486894e-01 -5.27534208e-01 -8.92612520e-03 1.61157707e+02] [-5.27503503e-01 -8.49533780e-01 5.69316489e-03 -1.20030732e+02] [-1.05863841e-02 -1.27706657e-04 -9.99943955e-01 -4.13217241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.014794886760602389 Centerline is valid? [True, True] Translation: X:161.19, Y:-120.05, Z:-4.13 [[ 8.89164749e-01 -4.57467590e-01 -1.04619649e-02 1.61189341e+02] [-4.57433661e-01 -8.89226279e-01 5.57405726e-03 -1.20054370e+02] [-1.18530047e-02 -1.70600323e-04 -9.99929736e-01 -4.13068402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.01628677024114106 Centerline is valid? [True, True] Translation: X:161.22, Y:-120.07, Z:-4.13 [[ 9.23724514e-01 -3.82850231e-01 -1.25985413e-02 1.61223452e+02] [-3.82810866e-01 -9.23810390e-01 5.49583383e-03 -1.20074411e+02] [-1.37427446e-02 -2.53777916e-04 -9.99905532e-01 -4.12886004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.01709696611463008 Centerline is valid? [True, True] Translation: X:161.26, Y:-120.09, Z:-4.13 [[ 9.52311700e-01 -3.04813427e-01 -1.38275620e-02 1.61258433e+02] [-3.04776069e-01 -9.52412021e-01 4.78432033e-03 -1.20093319e+02] [-1.46278614e-02 -3.41854223e-04 -9.99892949e-01 -4.12956948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.01750159985861996 Centerline is valid? [True, True] Translation: X:161.29, Y:-120.11, Z:-4.13 [[ 9.73946313e-01 -2.26322306e-01 -1.43803351e-02 1.61294086e+02] [-2.26291640e-01 -9.74052390e-01 3.74638927e-03 -1.20110091e+02] [-1.48550912e-02 -3.94632399e-04 -9.99889579e-01 -4.13025061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.018755851111505257 Centerline is valid? [True, True] Translation: X:161.33, Y:-120.12, Z:-4.13 [[ 9.89003510e-01 -1.47120971e-01 -1.50823188e-02 1.61331583e+02] [-1.47097015e-01 -9.89118407e-01 2.69167289e-03 -1.20121283e+02] [-1.53142007e-02 -4.43509861e-04 -9.99882632e-01 -4.13002562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.018137021339683958 Centerline is valid? [True, True] Translation: X:161.37, Y:-120.13, Z:-4.13 [[ 9.97595241e-01 -6.76865987e-02 -1.49083924e-02 1.61369634e+02] [-6.76721780e-02 -9.97706527e-01 1.47022279e-03 -1.20128466e+02] [-1.49737148e-02 -4.57803869e-04 -9.99887783e-01 -4.13256473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.019149773960140514 Centerline is valid? [True, True] Translation: X:161.40, Y:-120.14, Z:-4.13 [[ 9.99839437e-01 1.13005962e-02 -1.39067521e-02 1.61403359e+02] [ 1.13055349e-02 -9.99936052e-01 2.76561009e-04 -1.20135936e+02] [-1.39027375e-02 -4.33739875e-04 -9.99903258e-01 -4.13265191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.019762219761954157 Centerline is valid? [True, True] Translation: X:161.44, Y:-120.14, Z:-4.13 [[ 9.95756944e-01 9.09353928e-02 -1.41018526e-02 1.61437795e+02] [ 9.09328054e-02 -9.95856688e-01 -8.25893852e-04 -1.20136449e+02] [-1.41185272e-02 -4.59931484e-04 -9.99900223e-01 -4.13246309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.020746638431848277 Centerline is valid? [True, True] Translation: X:161.47, Y:-120.13, Z:-4.13 [[ 9.85507212e-01 1.69005225e-01 -1.45866227e-02 1.61470883e+02] [ 1.68993983e-01 -9.85615036e-01 -2.00884552e-03 -1.20131668e+02] [-1.47163001e-02 -4.85319726e-04 -9.99891592e-01 -4.13167362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.020798338098607812 Centerline is valid? [True, True] Translation: X:161.50, Y:-120.13, Z:-4.13 [[ 9.69326926e-01 2.45344139e-01 -1.45452550e-02 1.61503905e+02] [ 2.45324022e-01 -9.69435927e-01 -3.17924158e-03 -1.20125026e+02] [-1.48807011e-02 -4.86575997e-04 -9.99889158e-01 -4.13154758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.020231315178144166 Centerline is valid? [True, True] Translation: X:161.54, Y:-120.12, Z:-4.13 [[ 9.46863496e-01 3.21389688e-01 -1.25772796e-02 1.61535548e+02] [ 3.21367502e-01 -9.46946922e-01 -3.80204286e-03 -1.20115368e+02] [-1.31319536e-02 -4.41913351e-04 -9.99913675e-01 -4.13383469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.02062668320858645 Centerline is valid? [True, True] Translation: X:161.57, Y:-120.11, Z:-4.13 [[ 9.18312134e-01 3.95696129e-01 -1.12871144e-02 1.61568182e+02] [ 3.95671861e-01 -9.18381399e-01 -4.40268798e-03 -1.20107611e+02] [-1.21080025e-02 -4.22951776e-04 -9.99926606e-01 -4.13416943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.02145731106544208 Centerline is valid? [True, True] Translation: X:161.60, Y:-120.10, Z:-4.13 [[ 8.83969888e-01 4.67401942e-01 -1.15178997e-02 1.61598427e+02] [ 4.67369005e-01 -8.84044802e-01 -5.56787174e-03 -1.20096137e+02] [-1.27847734e-02 -4.61278345e-04 -9.99918165e-01 -4.13251966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.020874847622611294 Centerline is valid? [True, True] Translation: X:161.63, Y:-120.08, Z:-4.13 [[ 8.44614858e-01 5.35250560e-01 -1.15143048e-02 1.61629484e+02] [ 5.35208520e-01 -8.44693202e-01 -6.72567380e-03 -1.20084166e+02] [-1.33259756e-02 -4.81949989e-04 -9.99911089e-01 -4.13245699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.019941693199083232 Centerline is valid? [True, True] Translation: X:161.66, Y:-120.07, Z:-4.13 [[ 8.01123363e-01 5.98385933e-01 -1.16461516e-02 1.61657137e+02] [ 5.98331475e-01 -8.01207861e-01 -8.08764331e-03 -1.20067402e+02] [-1.41705202e-02 -4.89059025e-04 -9.99899474e-01 -4.13220647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.01930436214220647 Centerline is valid? [True, True] Translation: X:161.68, Y:-120.05, Z:-4.13 [[ 7.53914575e-01 6.56891537e-01 -1.03112204e-02 1.61682310e+02] [ 6.56837582e-01 -7.53984969e-01 -8.42953688e-03 -1.20047917e+02] [-1.33117966e-02 -4.17646350e-04 -9.99911307e-01 -4.13320303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.018396707832513754 Centerline is valid? [True, True] Translation: X:161.71, Y:-120.03, Z:-4.13 [[ 7.01661278e-01 7.12448203e-01 -9.43446044e-03 1.61706146e+02] [ 7.12391029e-01 -7.01724598e-01 -9.03378444e-03 -1.20028641e+02] [-1.30564965e-02 -3.82368250e-04 -9.99914687e-01 -4.13397175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.018061672452286216 Centerline is valid? [True, True] Translation: X:161.73, Y:-120.01, Z:-4.13 [[ 6.45169309e-01 7.63996781e-01 -8.09206548e-03 1.61728234e+02] [ 7.63943064e-01 -6.45219968e-01 -9.06569201e-03 -1.20008348e+02] [-1.21473217e-02 -3.32971052e-04 -9.99926163e-01 -4.13371627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.017427443525274304 Centerline is valid? [True, True] Translation: X:161.75, Y:-119.99, Z:-4.13 [[ 5.84850814e-01 8.11112295e-01 -6.80954887e-03 1.61747699e+02] [ 8.11062953e-01 -5.84890384e-01 -8.95123338e-03 -1.19985950e+02] [-1.12432951e-02 -2.87836688e-04 -9.99936751e-01 -4.13459479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.01686911977818333 Centerline is valid? [True, True] Translation: X:161.77, Y:-119.96, Z:-4.14 [[ 5.21597649e-01 8.53170797e-01 -5.95686799e-03 1.61766323e+02] [ 8.53120642e-01 -5.21631601e-01 -9.25437845e-03 -1.19963610e+02] [-1.10028560e-02 -2.54865002e-04 -9.99939434e-01 -4.13512407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.01543901715404702 Centerline is valid? [True, True] Translation: X:161.78, Y:-119.94, Z:-4.14 [[ 4.57951422e-01 8.88963453e-01 -4.94712118e-03 1.61782311e+02] [ 8.88915893e-01 -4.57978104e-01 -9.19731384e-03 -1.19939352e+02] [-1.04417491e-02 -1.85651697e-04 -9.99945466e-01 -4.13509897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.015129837484848701 Centerline is valid? [True, True] Translation: X:161.80, Y:-119.92, Z:-4.14 [[ 3.89116377e-01 9.21180536e-01 -3.85555496e-03 1.61797435e+02] [ 9.21138996e-01 -3.89135450e-01 -8.74942470e-03 -1.19916948e+02] [-9.56013285e-03 -1.46957589e-04 -9.99954290e-01 -4.13517747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.014676984599079245 Centerline is valid? [True, True] Translation: X:161.82, Y:-119.89, Z:-4.14 [[ 3.16079009e-01 9.48727166e-01 -3.29016267e-03 1.61815859e+02] [ 9.48680593e-01 -3.16096097e-01 -9.40155268e-03 -1.19893594e+02] [-9.95951601e-03 -1.49680013e-04 -9.99950392e-01 -4.13549642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.015061407094907935 Centerline is valid? [True, True] Translation: X:161.83, Y:-119.87, Z:-4.13 [[ 2.41585664e-01 9.70375560e-01 -2.76404374e-03 1.61834148e+02] [ 9.70319152e-01 -2.41601427e-01 -1.04639593e-02 -1.19871131e+02] [-1.08217672e-02 -1.54062029e-04 -9.99941431e-01 -4.13256410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.015128666890734312 Centerline is valid? [True, True] Translation: X:161.84, Y:-119.85, Z:-4.13 [[ 1.64942989e-01 9.86301362e-01 -1.85316176e-03 1.61844963e+02] [ 9.86248712e-01 -1.64953334e-01 -1.01918962e-02 -1.19845377e+02] [-1.03579663e-02 -1.46596570e-04 -9.99946344e-01 -4.13148708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.01441866682567847 Centerline is valid? [True, True] Translation: X:161.85, Y:-119.82, Z:-4.13 [[ 8.81287961e-02 9.96108576e-01 -1.01040101e-03 1.61853650e+02] [ 9.96059154e-01 -8.81344894e-02 -9.92339930e-03 -1.19818704e+02] [-9.97383432e-03 -1.31881940e-04 -9.99950251e-01 -4.13350321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.014133105043492128 Centerline is valid? [True, True] Translation: X:161.86, Y:-119.79, Z:-4.13 [[ 1.21781349e-02 9.99925819e-01 -2.20891238e-04 1.61862644e+02] [ 9.99879886e-01 -1.21796928e-02 -9.58484062e-03 -1.19792707e+02] [-9.58682000e-03 -1.04139224e-04 -9.99954040e-01 -4.13205223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.013722133984464304 Centerline is valid? [True, True] Translation: X:161.87, Y:-119.76, Z:-4.13 [[-6.45587865e-02 9.97913770e-01 5.20497525e-04 1.61870557e+02] [ 9.97869615e-01 6.45608265e-02 -9.38777309e-03 -1.19764039e+02] [-9.40179178e-03 -8.66745736e-05 -9.99955798e-01 -4.13263214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.013436664048137512 Centerline is valid? [True, True] Translation: X:161.88, Y:-119.74, Z:-4.13 [[-1.40836969e-01 9.90032109e-01 1.17135061e-03 1.61875502e+02] [ 9.89993890e-01 1.40841825e-01 -8.69931588e-03 -1.19735804e+02] [-8.77757720e-03 -6.55553371e-05 -9.99961474e-01 -4.13357429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.013338198787663898 Centerline is valid? [True, True] Translation: X:161.88, Y:-119.71, Z:-4.13 [[-2.16996436e-01 9.76170772e-01 1.78070211e-03 1.61877976e+02] [ 9.76135807e-01 2.17003735e-01 -8.26229519e-03 -1.19707044e+02] [-8.45183009e-03 -5.46815110e-05 -9.99964281e-01 -4.13398146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.013425981490263597 Centerline is valid? [True, True] Translation: X:161.88, Y:-119.68, Z:-4.13 [[-2.92338347e-01 9.56311615e-01 2.52699786e-03 1.61879349e+02] [ 9.56274315e-01 2.92349264e-01 -8.44639945e-03 -1.19678072e+02] [-8.81615587e-03 -5.27033059e-05 -9.99961136e-01 -4.13411864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.013511374150855232 Centerline is valid? [True, True] Translation: X:161.88, Y:-119.65, Z:-4.13 [[-3.67545255e-01 9.30000213e-01 3.17630153e-03 1.61877984e+02] [ 9.29963975e-01 3.67558973e-01 -8.21014533e-03 -1.19649377e+02] [-8.80291504e-03 -6.37539620e-05 -9.99961252e-01 -4.13439461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.01397380233223344 Centerline is valid? [True, True] Translation: X:161.88, Y:-119.62, Z:-4.13 [[-4.41668698e-01 8.97169493e-01 3.95759962e-03 1.61876282e+02] [ 8.97131614e-01 4.41686420e-01 -8.24461702e-03 -1.19619335e+02] [-9.14483687e-03 -9.09015283e-05 -9.99958181e-01 -4.13488955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.014452632280572633 Centerline is valid? [True, True] Translation: X:161.87, Y:-119.59, Z:-4.13 [[-5.11667316e-01 8.59172473e-01 4.38400297e-03 1.61871110e+02] [ 8.59139283e-01 5.11686088e-01 -7.55247345e-03 -1.19590641e+02] [-8.73211062e-03 -9.78846517e-05 -9.99961870e-01 -4.13445497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.014928428945011797 Centerline is valid? [True, True] Translation: X:161.86, Y:-119.56, Z:-4.14 [[-5.78675787e-01 8.15546473e-01 4.27596210e-03 1.61861505e+02] [ 8.15522978e-01 5.78691577e-01 -6.19126186e-03 -1.19564314e+02] [-7.52372502e-03 -9.55879842e-05 -9.99971692e-01 -4.13550277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.014782730959326373 Centerline is valid? [True, True] Translation: X:161.85, Y:-119.54, Z:-4.14 [[-6.41586430e-01 7.67035154e-01 4.89134748e-03 1.61850720e+02] [ 7.67011584e-01 6.41605066e-01 -6.01406665e-03 -1.19536282e+02] [-7.75131386e-03 -1.06823375e-04 -9.99969952e-01 -4.13591044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.01533543726514105 Centerline is valid? [True, True] Translation: X:161.84, Y:-119.51, Z:-4.13 [[-7.01086949e-01 7.13050194e-01 6.04239474e-03 1.61838584e+02] [ 7.13021998e-01 7.01112973e-01 -6.34259489e-03 -1.19509154e+02] [-8.75898986e-03 -1.38350133e-04 -9.99961630e-01 -4.13490468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.016049765585210537 Centerline is valid? [True, True] Translation: X:161.82, Y:-119.48, Z:-4.13 [[-7.56778928e-01 6.53633721e-01 6.97230494e-03 1.61824898e+02] [ 6.53603817e-01 7.56811025e-01 -6.25487487e-03 -1.19482189e+02] [-9.36511439e-03 -1.76432378e-04 -9.99956131e-01 -4.13379645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.016365142502826748 Centerline is valid? [True, True] Translation: X:161.84, Y:-119.46, Z:-4.13 [[-8.02460313e-01 5.96659611e-01 7.39965838e-03 1.61841952e+02] [ 5.96631959e-01 8.02494405e-01 -5.74770939e-03 -1.19459803e+02] [-9.36761050e-03 -1.97436000e-04 -9.99956104e-01 -4.13367984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.016348825500431905 Centerline is valid? [True, True] Translation: X:161.86, Y:-119.44, Z:-4.13 [[-8.42843580e-01 5.38104013e-01 7.66628783e-03 1.61857738e+02] [ 5.38079608e-01 8.42878421e-01 -5.12868510e-03 -1.19439513e+02] [-9.22151461e-03 -1.97606161e-04 -9.99957461e-01 -4.13443235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.01676035656020245 Centerline is valid? [True, True] Translation: X:161.87, Y:-119.42, Z:-4.14 [[-8.78914592e-01 4.76931342e-01 6.75536820e-03 1.61873556e+02] [ 4.76915782e-01 8.78940537e-01 -3.85624744e-03 -1.19418978e+02] [-7.77673222e-03 -1.67570441e-04 -9.99969747e-01 -4.13572547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.01640366135719751 Centerline is valid? [True, True] Translation: X:162.21, Y:-118.83, Z:-5.12 [[-8.20774884e-01 -5.71215000e-01 6.48183822e-03 1.62213209e+02] [ 5.71198791e-01 -8.20800461e-01 -4.30637783e-03 -1.18833557e+02] [ 7.78016341e-03 1.67851397e-04 9.99969720e-01 -5.11844908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.017271676230325977 Centerline is valid? [True, True] Translation: X:161.84, Y:-119.40, Z:-4.13 [[-8.80137211e-01 4.74664717e-01 7.20389147e-03 1.61837724e+02] [ 4.74647225e-01 8.80166676e-01 -4.07854925e-03 -1.19399994e+02] [-8.27656864e-03 -1.70375864e-04 -9.99965734e-01 -4.13400565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.015157566127134455 Centerline is valid? [True, True] Translation: X:161.85, Y:-119.38, Z:-4.13 [[-9.09667943e-01 4.15262594e-01 7.82370606e-03 1.61849123e+02] [ 4.15245916e-01 9.09701577e-01 -3.72442202e-03 -1.19384549e+02] [-8.66385089e-03 -1.39225333e-04 -9.99962458e-01 -4.13406797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.01448028609608785 Centerline is valid? [True, True] Translation: X:161.85, Y:-119.36, Z:-4.13 [[-9.35227833e-01 3.53974046e-01 7.16066193e-03 1.61851986e+02] [ 3.53962937e-01 9.35255242e-01 -2.80572266e-03 -1.19361851e+02] [-7.69019961e-03 -8.93809924e-05 -9.99970426e-01 -4.13454882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.013878467419250818 Centerline is valid? [True, True] Translation: X:161.87, Y:-119.34, Z:-4.14 [[-9.56677237e-01 2.91076575e-01 6.56436075e-03 1.61865603e+02] [ 2.91069371e-01 9.56699757e-01 -2.04844325e-03 -1.19343281e+02] [-6.87637618e-03 -4.90146706e-05 -9.99976356e-01 -4.13500110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.013526896007810912 Centerline is valid? [True, True] Translation: X:161.87, Y:-119.32, Z:-4.14 [[-9.73976699e-01 2.26564399e-01 6.16140148e-03 1.61870185e+02] [ 2.26559742e-01 9.73996187e-01 -1.45274022e-03 -1.19320654e+02] [-6.33032077e-03 -1.90095929e-05 -9.99979963e-01 -4.13542134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.013583105854509668 Centerline is valid? [True, True] Translation: X:162.05, Y:-118.62, Z:-5.12 [[-9.55996014e-01 -2.93309901e-01 6.39717195e-03 1.62054791e+02] [ 2.93303617e-01 -9.56017416e-01 -1.92034696e-03 -1.18622180e+02] [ 6.67906458e-03 4.04696350e-05 9.99977694e-01 -5.11976791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.013725516190387891 Centerline is valid? [True, True] Translation: X:161.84, Y:-119.32, Z:-4.13 [[-9.73076076e-01 2.30386139e-01 6.72143513e-03 1.61837818e+02] [ 2.30380870e-01 9.73099289e-01 -1.55840102e-03 -1.19318673e+02] [-6.89965774e-03 3.20473213e-05 -9.99976197e-01 -4.13421161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.01376410666270114 Centerline is valid? [True, True] Translation: X:162.01, Y:-118.61, Z:-5.12 [[-9.58386304e-01 -2.85398390e-01 6.59180194e-03 1.62009150e+02] [ 2.85391405e-01 -9.58408972e-01 -1.99708058e-03 -1.18612821e+02] [ 6.88760570e-03 -3.27310597e-05 9.99976280e-01 -5.12011012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.013835917136395296 Centerline is valid? [True, True] Translation: X:161.79, Y:-119.31, Z:-4.13 [[-9.73298911e-01 2.29435419e-01 6.97269734e-03 1.61794910e+02] [ 2.29429926e-01 9.73323885e-01 -1.58849552e-03 -1.19306871e+02] [-7.15115000e-03 5.36644806e-05 -9.99974429e-01 -4.13366863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.013795363316106665 Centerline is valid? [True, True] Translation: X:161.80, Y:-119.28, Z:-4.13 [[-9.87324513e-01 1.58611632e-01 5.71464921e-03 1.61798972e+02] [ 1.58609188e-01 9.87341050e-01 -8.81124579e-04 -1.19277175e+02] [-5.78206436e-03 3.64399770e-05 -9.99983283e-01 -4.13472386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.013580846458616937 Centerline is valid? [True, True] Translation: X:161.80, Y:-119.25, Z:-4.14 [[-9.96256530e-01 8.62861246e-02 5.25651847e-03 1.61798936e+02] [ 8.62850473e-02 9.96270397e-01 -4.31804826e-04 -1.19245300e+02] [-5.27417250e-03 2.33705674e-05 -9.99986091e-01 -4.13561810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.0134382932056942 Centerline is valid? [True, True] Translation: X:161.86, Y:-118.55, Z:-5.12 [[-9.88812077e-01 -1.49084516e-01 4.94799359e-03 1.61859353e+02] [ 1.49082446e-01 -9.88824456e-01 -7.86775386e-04 -1.18548485e+02] [ 5.00999310e-03 -4.03140171e-05 9.99987449e-01 -5.11919226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.013557089109095298 Centerline is valid? [True, True] Translation: X:161.74, Y:-119.23, Z:-4.13 [[-9.97263078e-01 7.37405834e-02 5.35526757e-03 1.61744777e+02] [ 7.37393995e-02 9.97277457e-01 -4.18457935e-04 -1.19226212e+02] [-5.37154496e-03 -2.24184333e-05 -9.99985573e-01 -4.13470924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.01387595430406648 Centerline is valid? [True, True] Translation: X:161.74, Y:-119.19, Z:-4.13 [[-9.99982861e-01 -4.00658403e-04 5.84103060e-03 1.61736681e+02] [-4.00903844e-04 9.99999919e-01 -4.08492412e-05 -1.19193956e+02] [-5.84101376e-03 -4.31902327e-05 -9.99982940e-01 -4.13424767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.01550631408068619 Centerline is valid? [True, True] Translation: X:161.74, Y:-118.54, Z:-5.12 [[-9.96045593e-01 -8.86325969e-02 6.11874934e-03 1.61742708e+02] [ 8.86313348e-02 -9.96064385e-01 -4.77659624e-04 -1.18536627e+02] [ 6.13700451e-03 6.65421575e-05 9.99981166e-01 -5.12176395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.016688112139282327 Centerline is valid? [True, True] Translation: X:161.68, Y:-119.18, Z:-4.13 [[-9.99824254e-01 -1.77777147e-02 5.95091029e-03 1.61677648e+02] [-1.77781326e-02 9.99841956e-01 -1.73262573e-05 -1.19176108e+02] [-5.94966176e-03 -1.23119285e-04 -9.99982293e-01 -4.13298758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.0174864570921719 Centerline is valid? [True, True] Translation: X:161.67, Y:-119.15, Z:-4.13 [[-9.95676373e-01 -9.27214780e-02 5.59349409e-03 1.61671817e+02] [-9.27207960e-02 9.95692075e-01 3.81687648e-04 -1.19145254e+02] [-5.60478838e-03 -1.38595852e-04 -9.99984283e-01 -4.13338848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.01751622917401338 Centerline is valid? [True, True] Translation: X:161.66, Y:-119.12, Z:-4.13 [[-9.86281971e-01 -1.64996808e-01 4.89154743e-03 1.61661987e+02] [-1.64995434e-01 9.86294092e-01 6.85883859e-04 -1.19116729e+02] [-4.93767298e-03 -1.30608108e-04 -9.99987801e-01 -4.13391696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.019076102164384386 Centerline is valid? [True, True] Translation: X:161.57, Y:-118.51, Z:-5.12 [[-9.99134650e-01 4.11361260e-02 6.14571728e-03 1.61572972e+02] [-4.11338151e-02 -9.99153520e-01 5.02005846e-04 -1.18510135e+02] [ 6.16116563e-03 2.48774638e-04 9.99980989e-01 -5.12167186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.020981623312129133 Centerline is valid? [True, True] Translation: X:161.59, Y:-119.12, Z:-4.13 [[-9.84256861e-01 -1.76559401e-01 8.07523599e-03 1.61587345e+02] [-1.76555746e-01 9.84289948e-01 1.16884556e-03 -1.19116156e+02] [-8.15474429e-03 -2.75285059e-04 -9.99966712e-01 -4.13072214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.020751746171921853 Centerline is valid? [True, True] Translation: X:161.58, Y:-119.09, Z:-4.13 [[-9.68977868e-01 -2.46973299e-01 9.27802039e-03 1.61576150e+02] [-2.46965212e-01 9.69022230e-01 2.02551998e-03 -1.19089839e+02] [-9.49085736e-03 -3.28664241e-04 -9.99954907e-01 -4.12968171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.020487713120718065 Centerline is valid? [True, True] Translation: X:161.56, Y:-119.07, Z:-4.13 [[-9.49452236e-01 -3.13786794e-01 8.84870301e-03 1.61557170e+02] [-3.13776131e-01 9.49493421e-01 2.60463809e-03 -1.19068276e+02] [-9.21908632e-03 -3.03532331e-04 -9.99957457e-01 -4.13006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.01744735001825663 Centerline is valid? [True, True] Translation: X:161.54, Y:-119.06, Z:-4.13 [[-9.26708026e-01 -3.75718439e-01 6.92017047e-03 1.61536025e+02] [-3.75709552e-01 9.26733843e-01 2.59168956e-03 -1.19056138e+02] [-7.38690173e-03 -1.98234630e-04 -9.99972697e-01 -4.13288261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.016770573391757512 Centerline is valid? [True, True] Translation: X:161.50, Y:-119.05, Z:-4.13 [[-8.99325836e-01 -4.37237618e-01 6.02545224e-03 1.61498181e+02] [-4.37228872e-01 8.99346009e-01 2.76927115e-03 -1.19046745e+02] [-6.62979595e-03 -1.44024597e-04 -9.99978012e-01 -4.13304302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.014971792519969112 Centerline is valid? [True, True] Translation: X:161.44, Y:-119.05, Z:-4.13 [[-8.68422964e-01 -4.95788120e-01 5.97462401e-03 1.61439572e+02] [-4.95777158e-01 8.68443510e-01 3.29839040e-03 -1.19053875e+02] [-6.82392622e-03 -9.76841465e-05 -9.99976712e-01 -4.13229351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.01358279414151816 Centerline is valid? [True, True] Translation: X:161.38, Y:-119.07, Z:-4.13 [[-8.32004505e-01 -5.54722088e-01 7.20484320e-03 1.61379737e+02] [-5.54702148e-01 8.32035695e-01 4.70412942e-03 -1.19067669e+02] [-8.60417121e-03 -8.26851305e-05 -9.99962980e-01 -4.13219094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.013364666181005453 Centerline is valid? [True, True] Translation: X:161.30, Y:-119.09, Z:-4.13 [[-7.89326968e-01 -6.13928372e-01 7.40889138e-03 1.61304105e+02] [-6.13902246e-01 7.89361735e-01 5.66429516e-03 -1.19092020e+02] [-9.32576686e-03 -7.73541315e-05 -9.99956511e-01 -4.13230622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.01340693175996834 Centerline is valid? [True, True] Translation: X:161.23, Y:-119.12, Z:-4.13 [[-7.40704077e-01 -6.71795381e-01 6.95956084e-03 1.61227580e+02] [-6.71766794e-01 7.40736767e-01 6.19804192e-03 -1.19119193e+02] [-9.31901853e-03 -8.42869500e-05 -9.99956573e-01 -4.13191604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.013869773017638693 Centerline is valid? [True, True] Translation: X:161.15, Y:-119.16, Z:-4.13 [[-6.86252997e-01 -7.27325481e-01 7.38030817e-03 1.61145374e+02] [-7.27285367e-01 6.86292671e-01 7.63974377e-03 -1.19158366e+02] [-1.06216317e-02 -1.24793077e-04 -9.99943581e-01 -4.13030822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.01425559391858539 Centerline is valid? [True, True] Translation: X:161.06, Y:-119.21, Z:-4.13 [[-6.27241515e-01 -7.78786445e-01 7.73012608e-03 1.61062535e+02] [-7.78730777e-01 6.27289121e-01 9.31320933e-03 -1.19210456e+02] [-1.21020252e-02 -1.78055561e-04 -9.99926752e-01 -4.12981040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.01462706285097974 Centerline is valid? [True, True] Translation: X:160.98, Y:-119.27, Z:-4.13 [[-5.65116820e-01 -8.24986314e-01 6.36877162e-03 1.60979800e+02] [-8.24937530e-01 5.65152677e-01 8.97350196e-03 -1.19272235e+02] [-1.10023446e-02 -1.82761840e-04 -9.99939456e-01 -4.13119455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.015146176855827956 Centerline is valid? [True, True] Translation: X:160.90, Y:-119.34, Z:-4.13 [[-5.00904053e-01 -8.65488553e-01 4.96930626e-03 1.60902857e+02] [-8.65449131e-01 5.00928675e-01 8.26220239e-03 -1.19338334e+02] [-9.64010959e-03 -1.62111121e-04 -9.99953520e-01 -4.13151588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.014443779432575054 Centerline is valid? [True, True] Translation: X:160.83, Y:-119.41, Z:-4.13 [[-4.34749332e-01 -9.00544800e-01 3.47571286e-03 1.60834154e+02] [-9.00518206e-01 4.34763209e-01 6.92183204e-03 -1.19413489e+02] [-7.74453193e-03 -1.20680852e-04 -9.99970003e-01 -4.13422564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.013820491474877138 Centerline is valid? [True, True] Translation: X:160.77, Y:-119.50, Z:-4.13 [[-3.67115352e-01 -9.30171711e-01 2.62802964e-03 1.60768171e+02] [-9.30149627e-01 3.67124747e-01 6.41034491e-03 -1.19497564e+02] [-6.92753621e-03 -9.11247594e-05 -9.99976000e-01 -4.13473150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.013370205383409264 Centerline is valid? [True, True] Translation: X:160.71, Y:-119.59, Z:-4.13 [[-2.97535995e-01 -9.54707993e-01 2.23163524e-03 1.60705793e+02] [-9.54683038e-01 2.97544354e-01 6.90324533e-03 -1.19591432e+02] [-7.25459396e-03 -7.65403439e-05 -9.99973682e-01 -4.13383093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.012855150354621786 Centerline is valid? [True, True] Translation: X:160.65, Y:-119.69, Z:-4.13 [[-2.26776303e-01 -9.73944662e-01 2.07441800e-03 1.60653363e+02] [-9.73906483e-01 2.26785781e-01 8.62386413e-03 -1.19685378e+02] [-8.86961495e-03 -6.46011114e-05 -9.99960662e-01 -4.13223765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.012679526925154542 Centerline is valid? [True, True] Translation: X:160.61, Y:-119.79, Z:-4.13 [[-1.53273124e-01 -9.88182605e-01 1.57779779e-03 1.60605950e+02] [-9.88133898e-01 1.53281235e-01 9.81135159e-03 -1.19790845e+02] [-9.93725376e-03 -5.52589707e-05 -9.99950623e-01 -4.13185137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.0126403876723303 Centerline is valid? [True, True] Translation: X:160.56, Y:-119.90, Z:-4.13 [[-7.85937019e-02 -9.96906292e-01 9.35520198e-04 1.60564896e+02] [-9.96842504e-01 7.85992560e-02 1.12773660e-02 -1.19901758e+02] [-1.13160083e-02 -4.62363581e-05 -9.99935971e-01 -4.13033721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.012521800644554075 Centerline is valid? [True, True] Translation: X:160.53, Y:-120.01, Z:-4.13 [[-3.04947974e-03 -9.99995348e-01 7.33029964e-05 1.60532854e+02] [-9.99921330e-01 3.05014589e-03 1.21667687e-02 -1.20012831e+02] [-1.21669357e-02 -3.61949150e-05 -9.99925979e-01 -4.13060736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.01245779010565719 Centerline is valid? [True, True] Translation: X:160.51, Y:-120.13, Z:-4.13 [[ 7.17738581e-02 -9.97420608e-01 -8.03178658e-04 1.60511112e+02] [-9.97356206e-01 -7.17783508e-02 1.13342822e-02 -1.20128885e+02] [-1.13626975e-02 -1.24499419e-05 -9.99935442e-01 -4.13109802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.01238714593566549 Centerline is valid? [True, True] Translation: X:160.50, Y:-120.24, Z:-4.13 [[ 1.46995166e-01 -9.89136103e-01 -1.48043471e-03 1.60497653e+02] [-9.89085968e-01 -1.47002621e-01 9.95882198e-03 -1.20244447e+02] [-1.00682581e-02 3.78509756e-07 -9.99949314e-01 -4.13283369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.012361464875347845 Centerline is valid? [True, True] Translation: X:160.49, Y:-120.36, Z:-4.13 [[ 2.22437485e-01 -9.74944671e-01 -2.11021090e-03 1.60492475e+02] [-9.74900816e-01 -2.22447494e-01 9.24721818e-03 -1.20364360e+02] [-9.48493721e-03 3.18375276e-07 -9.99955017e-01 -4.13467792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.01247653383216711 Centerline is valid? [True, True] Translation: X:160.49, Y:-120.48, Z:-4.13 [[ 2.98442440e-01 -9.54422327e-01 -3.18308259e-03 1.60494616e+02] [-9.54367295e-01 -2.98459414e-01 1.02491102e-02 -1.20484185e+02] [-1.07320006e-02 -2.09395303e-05 -9.99942410e-01 -4.13365817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.012491606591652053 Centerline is valid? [True, True] Translation: X:160.51, Y:-120.60, Z:-4.13 [[ 3.72193513e-01 -9.28146125e-01 -4.09373643e-03 1.60506703e+02] [-9.28088813e-01 -3.72216024e-01 1.03143770e-02 -1.20604808e+02] [-1.10970034e-02 -3.95932373e-05 -9.99938426e-01 -4.13343600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.012601508747610181 Centerline is valid? [True, True] Translation: X:160.53, Y:-120.72, Z:-4.13 [[ 4.42927593e-01 -8.96545705e-01 -4.57670805e-03 1.60525168e+02] [-8.96496758e-01 -4.42951235e-01 9.36839528e-03 -1.20717154e+02] [-1.04264530e-02 -4.65168405e-05 -9.99945642e-01 -4.13329326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.01231570559629213 Centerline is valid? [True, True] Translation: X:160.56, Y:-120.83, Z:-4.14 [[ 5.09598536e-01 -8.60400008e-01 -4.59987323e-03 1.60556332e+02] [-8.60364345e-01 -5.09619295e-01 7.83380970e-03 -1.20829500e+02] [-9.08439408e-03 -3.45310376e-05 -9.99958735e-01 -4.13676707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.012374612120989755 Centerline is valid? [True, True] Translation: X:160.59, Y:-120.94, Z:-4.14 [[ 5.74226541e-01 -8.18683746e-01 -4.56117350e-03 1.60593917e+02] [-8.18657448e-01 -5.74244654e-01 6.56205380e-03 -1.20937792e+02] [-7.99147628e-03 -3.40667953e-05 -9.99968067e-01 -4.13783646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.01255397803981138 Centerline is valid? [True, True] Translation: X:160.64, Y:-121.04, Z:-4.14 [[ 6.35934452e-01 -7.71725296e-01 -5.23843483e-03 1.60635514e+02] [-7.71698515e-01 -6.35956025e-01 6.42932616e-03 -1.21039734e+02] [-8.29308783e-03 -4.61376245e-05 -9.99965611e-01 -4.13777320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.012934555838593216 Centerline is valid? [True, True] Translation: X:160.69, Y:-121.14, Z:-4.14 [[ 6.95632318e-01 -7.18366445e-01 -6.73265654e-03 1.60687365e+02] [-7.18331490e-01 -6.95664892e-01 7.08726200e-03 -1.21144734e+02] [-9.77492399e-03 -9.38492919e-05 -9.99952220e-01 -4.13656551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.013471276475631047 Centerline is valid? [True, True] Translation: X:160.73, Y:-121.23, Z:-4.13 [[ 7.49860304e-01 -6.61548271e-01 -7.96298071e-03 1.60734314e+02] [-6.61509109e-01 -7.49902572e-01 7.19936914e-03 -1.21231659e+02] [-1.07341899e-02 -1.30936866e-04 -9.99942378e-01 -4.13495244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.013788354288282187 Centerline is valid? [True, True] Translation: X:160.75, Y:-121.26, Z:-4.13 [[ 8.01181628e-01 -5.98343671e-01 -9.63589618e-03 1.60754922e+02] [-5.98297568e-01 -8.01239550e-01 7.42993328e-03 -1.21261745e+02] [-1.21663147e-02 -1.87592789e-04 -9.99925970e-01 -4.13480958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.014238179458744265 Centerline is valid? [True, True] Translation: X:160.78, Y:-121.29, Z:-4.14 [[ 8.46562204e-01 -5.32200658e-01 -9.74140196e-03 1.60778101e+02] [-5.32162656e-01 -8.46618225e-01 6.36305088e-03 -1.21289590e+02] [-1.16336683e-02 -2.02708034e-04 -9.99932306e-01 -4.13570525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.014670995934761344 Centerline is valid? [True, True] Translation: X:160.80, Y:-121.31, Z:-4.14 [[ 8.85929470e-01 -4.63757849e-01 -7.59155293e-03 1.60804771e+02] [-4.63739298e-01 -8.85961982e-01 4.15095380e-03 -1.21312913e+02] [-8.65086468e-03 -1.56950867e-04 -9.99962568e-01 -4.13757840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.014579518902761122 Centerline is valid? [True, True] Translation: X:160.83, Y:-121.33, Z:-4.14 [[ 9.19355745e-01 -3.93365692e-01 -6.96040601e-03 1.60834634e+02] [-3.93353295e-01 -9.19382083e-01 3.12596215e-03 -1.21333180e+02] [-7.62891884e-03 -1.35972624e-04 -9.99970890e-01 -4.13853761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.014268734212458743 Centerline is valid? [True, True] Translation: X:160.86, Y:-121.35, Z:-4.14 [[ 9.47161786e-01 -3.20692947e-01 -6.37056950e-03 1.60864927e+02] [-3.20684855e-01 -9.47183203e-01 2.28122565e-03 -1.21351724e+02] [-6.76566940e-03 -1.17744610e-04 -9.99977106e-01 -4.13818511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.014977104555904891 Centerline is valid? [True, True] Translation: X:160.90, Y:-121.37, Z:-4.14 [[ 9.69957360e-01 -2.43148015e-01 -7.85898249e-03 1.60895726e+02] [-2.43138667e-01 -9.69989184e-01 2.13829909e-03 -1.21369368e+02] [-8.14305119e-03 -1.63236413e-04 -9.99966832e-01 -4.13665018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.016651424875766378 Centerline is valid? [True, True] Translation: X:160.93, Y:-121.38, Z:-4.14 [[ 9.86509685e-01 -1.63431564e-01 -9.42153333e-03 1.60927651e+02] [-1.63421948e-01 -9.86554648e-01 1.78680374e-03 -1.21384923e+02] [-9.58687763e-03 -2.23013861e-04 -9.99954020e-01 -4.13501899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.019081918539940096 Centerline is valid? [True, True] Translation: X:160.96, Y:-121.39, Z:-4.13 [[ 9.96577394e-01 -8.19644309e-02 -1.07391481e-02 1.60960527e+02] [-8.19564997e-02 -9.96635212e-01 1.17728200e-03 -1.21394903e+02] [-1.07995084e-02 -2.93109635e-04 -9.99941641e-01 -4.13260077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.017045363983818843 Centerline is valid? [True, True] Translation: X:160.99, Y:-121.40, Z:-4.13 [[ 9.99936730e-01 -4.77594627e-03 -1.01845707e-02 1.60991487e+02] [-4.77299304e-03 -9.99988560e-01 3.14258347e-04 -1.21396170e+02] [-1.01859550e-02 -2.65627579e-04 -9.99948087e-01 -4.13367542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.015358839289703894 Centerline is valid? [True, True] Translation: X:161.02, Y:-121.39, Z:-4.14 [[ 9.97735626e-01 6.67356869e-02 -8.36471933e-03 1.61022409e+02] [ 6.67346973e-02 -9.97770676e-01 -3.97678265e-04 -1.21391745e+02] [-8.37261100e-03 -1.61439240e-04 -9.99964936e-01 -4.13524588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.01432294763837321 Centerline is valid? [True, True] Translation: X:161.05, Y:-121.39, Z:-4.14 [[ 9.90329165e-01 1.38557312e-01 -7.07218678e-03 1.61050808e+02] [ 1.38554451e-01 -9.90354413e-01 -8.95235804e-04 -1.21386180e+02] [-7.12801285e-03 -9.33048288e-05 -9.99974591e-01 -4.13616926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.012887501030230756 Centerline is valid? [True, True] Translation: X:161.08, Y:-121.38, Z:-4.14 [[ 9.78071761e-01 2.08143841e-01 -7.19529514e-03 1.61079452e+02] [ 2.08138507e-01 -9.78098226e-01 -1.49069740e-03 -1.21378087e+02] [-7.34798489e-03 -3.96089550e-05 -9.99973002e-01 -4.13693606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.012834021446585473 Centerline is valid? [True, True] Translation: X:161.11, Y:-121.37, Z:-4.14 [[ 9.59981172e-01 2.79920967e-01 -8.96673431e-03 1.61106460e+02] [ 2.79908855e-01 -9.60023048e-01 -2.60395874e-03 -1.21371186e+02] [-9.33717424e-03 -1.01169704e-05 -9.99956408e-01 -4.13525116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.01291164021112584 Centerline is valid? [True, True] Translation: X:161.13, Y:-121.36, Z:-4.13 [[ 9.35614395e-01 3.52891225e-01 -9.66890654e-03 1.61133764e+02] [ 3.52872348e-01 -9.35664354e-01 -3.65004547e-03 -1.21362982e+02] [-1.03349202e-02 3.14532702e-06 -9.99946593e-01 -4.13387843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.013013551204117174 Centerline is valid? [True, True] Translation: X:161.16, Y:-121.35, Z:-4.13 [[ 9.05422836e-01 4.24409200e-01 -9.29083373e-03 1.61158327e+02] [ 4.24386740e-01 -9.05470502e-01 -4.36629541e-03 -1.21352476e+02] [-1.02656718e-02 1.04369347e-05 -9.99947307e-01 -4.13344698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.012945049630740819 Centerline is valid? [True, True] Translation: X:161.18, Y:-121.34, Z:-4.13 [[ 8.69050965e-01 4.94652921e-01 -8.30108082e-03 1.61181872e+02] [ 4.94630326e-01 -8.69090610e-01 -4.72790788e-03 -1.21339556e+02] [-9.55306483e-03 2.82660065e-06 -9.99954368e-01 -4.13425584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.01282562186079907 Centerline is valid? [True, True] Translation: X:161.21, Y:-121.33, Z:-4.14 [[ 8.27388557e-01 5.61574503e-01 -7.89005693e-03 1.61209738e+02] [ 5.61548992e-01 -8.27426177e-01 -5.35272260e-03 -1.21331283e+02] [-9.53439217e-03 -1.87209087e-06 -9.99954547e-01 -4.13533298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.013026524908306657 Centerline is valid? [True, True] Translation: X:161.24, Y:-121.32, Z:-4.13 [[ 7.79749303e-01 6.26035113e-01 -8.42983010e-03 1.61235954e+02] [ 6.25998837e-01 -7.79794869e-01 -6.73931628e-03 -1.21321298e+02] [-1.07925869e-02 -2.20866641e-05 -9.99941758e-01 -4.13202454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.013032463788290677 Centerline is valid? [True, True] Translation: X:161.26, Y:-121.31, Z:-4.13 [[ 7.26707076e-01 6.86895769e-01 -8.42789349e-03 1.61261153e+02] [ 6.86850389e-01 -7.26755943e-01 -7.89574567e-03 -1.21307437e+02] [-1.15485760e-02 -5.08076824e-05 -9.99933312e-01 -4.13211532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.012975281358790709 Centerline is valid? [True, True] Translation: X:161.29, Y:-121.29, Z:-4.13 [[ 6.69607893e-01 7.42678195e-01 -7.37347778e-03 1.61286965e+02] [ 7.42634223e-01 -6.69648486e-01 -8.08184316e-03 -1.21293811e+02] [-1.09398469e-02 -6.41309671e-05 -9.99940156e-01 -4.13357840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.012901724033655129 Centerline is valid? [True, True] Translation: X:161.31, Y:-121.28, Z:-4.13 [[ 6.09205784e-01 7.92988188e-01 -6.16817909e-03 1.61310120e+02] [ 7.92948555e-01 -6.09237007e-01 -7.92838862e-03 -1.21276564e+02] [-1.00450015e-02 -6.10284870e-05 -9.99949546e-01 -4.13400773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.012707303378157718 Centerline is valid? [True, True] Translation: X:161.33, Y:-121.26, Z:-4.13 [[ 5.46013679e-01 8.37760585e-01 -5.12499163e-03 1.61332765e+02] [ 8.37724506e-01 -5.46037728e-01 -7.77506235e-03 -1.21258475e+02] [-9.31207956e-03 -4.80406851e-05 -9.99956641e-01 -4.13470854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.01261134665038065 Centerline is valid? [True, True] Translation: X:161.35, Y:-121.24, Z:-4.13 [[ 4.79115631e-01 8.77738668e-01 -4.80024031e-03 1.61354857e+02] [ 8.77695596e-01 -4.79139675e-01 -8.69557892e-03 -1.21239097e+02] [-9.93243144e-03 -4.69619960e-05 -9.99950671e-01 -4.13399279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.01264304689064525 Centerline is valid? [True, True] Translation: X:161.37, Y:-121.22, Z:-4.13 [[ 4.08814356e-01 9.12607898e-01 -4.20092640e-03 1.61374518e+02] [ 9.12560938e-01 -4.08835936e-01 -9.25805058e-03 -1.21218666e+02] [-1.01664598e-02 -4.87773580e-05 -9.99948319e-01 -4.13318800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.012733713540773252 Centerline is valid? [True, True] Translation: X:161.39, Y:-121.20, Z:-4.13 [[ 3.35501983e-01 9.42032962e-01 -3.50973353e-03 1.61391023e+02] [ 9.41983157e-01 -3.35520336e-01 -9.68692752e-03 -1.21197028e+02] [-1.03029920e-02 -5.61264792e-05 -9.99946921e-01 -4.13268879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.012836965255439538 Centerline is valid? [True, True] Translation: X:161.41, Y:-121.17, Z:-4.13 [[ 2.59849531e-01 9.65644119e-01 -3.10756710e-03 1.61406680e+02] [ 9.65578422e-01 -2.59868102e-01 -1.12641741e-02 -1.21173392e+02] [-1.16847410e-02 -7.36093968e-05 -9.99931728e-01 -4.13196909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.01299084259002214 Centerline is valid? [True, True] Translation: X:161.42, Y:-121.15, Z:-4.13 [[ 1.82840959e-01 9.83139624e-01 -2.37975902e-03 1.61420827e+02] [ 9.83062400e-01 -1.82856425e-01 -1.23226063e-02 -1.21148631e+02] [-1.25499967e-02 -8.63744686e-05 -9.99921242e-01 -4.13111943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.012837151475353272 Centerline is valid? [True, True] Translation: X:161.43, Y:-121.12, Z:-4.13 [[ 1.05605038e-01 9.94407207e-01 -1.37246820e-03 1.61433420e+02] [ 9.94332857e-01 -1.05613925e-01 -1.21601224e-02 -1.21122958e+02] [-1.22370651e-02 -8.05200494e-05 -9.99925121e-01 -4.13182122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.012812821016868755 Centerline is valid? [True, True] Translation: X:161.44, Y:-121.10, Z:-4.13 [[ 2.77984377e-02 9.99613464e-01 -4.10933318e-04 1.61443072e+02] [ 9.99540547e-01 -2.78013734e-02 -1.20738972e-02 -1.21095767e+02] [-1.20806547e-02 -7.51090343e-05 -9.99927023e-01 -4.13144085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.01279618511368572 Centerline is valid? [True, True] Translation: X:161.45, Y:-121.07, Z:-4.13 [[-4.98443724e-02 9.98756862e-01 5.19307119e-04 1.61449649e+02] [ 9.98688519e-01 4.98470368e-02 -1.16839352e-02 -1.21068450e+02] [-1.16952964e-02 -6.37523615e-05 -9.99931606e-01 -4.13233060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.012763501026890665 Centerline is valid? [True, True] Translation: X:161.45, Y:-121.04, Z:-4.13 [[-1.27176004e-01 9.91879185e-01 1.39538297e-03 1.61454169e+02] [ 9.91814766e-01 1.27183648e-01 -1.13044096e-02 -1.21041108e+02] [-1.13900785e-02 -5.36882149e-05 -9.99935130e-01 -4.13323646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.01279998574754964 Centerline is valid? [True, True] Translation: X:161.46, Y:-121.01, Z:-4.13 [[-2.03994082e-01 9.78969761e-01 2.14978096e-03 1.61456701e+02] [ 9.78913053e-01 2.04005405e-01 -1.05370691e-02 -1.21012911e+02] [-1.07540390e-02 -4.50511045e-05 -9.99942173e-01 -4.13317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.012808612166510006 Centerline is valid? [True, True] Translation: X:161.46, Y:-120.99, Z:-4.13 [[-2.80860415e-01 9.59743509e-01 3.13420434e-03 1.61457144e+02] [ 9.59681476e-01 2.80877897e-01 -1.09119676e-02 -1.20985918e+02] [-1.13530188e-02 -5.69019138e-05 -9.99935551e-01 -4.13170294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.01262029980840564 Centerline is valid? [True, True] Translation: X:161.46, Y:-120.96, Z:-4.13 [[-3.55120137e-01 9.34812291e-01 3.95837929e-03 1.61456526e+02] [ 9.34752443e-01 3.55142193e-01 -1.05779815e-02 -1.20957724e+02] [-1.12942146e-02 -5.63495180e-05 -9.99936217e-01 -4.13326226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.01254023132950501 Centerline is valid? [True, True] Translation: X:161.45, Y:-120.93, Z:-4.13 [[-4.25970526e-01 9.04724496e-01 4.76415336e-03 1.61452504e+02] [ 9.04666854e-01 4.25997165e-01 -1.02127094e-02 -1.20929410e+02] [-1.12692042e-02 -4.03415760e-05 -9.99936500e-01 -4.13310873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.012510614648684495 Centerline is valid? [True, True] Translation: X:161.45, Y:-120.90, Z:-4.13 [[-4.93745317e-01 8.69590075e-01 5.35387509e-03 1.61445886e+02] [ 8.69538596e-01 4.93774343e-01 -9.46193251e-03 -1.20902253e+02] [-1.08716088e-02 -1.63838399e-05 -9.99940902e-01 -4.13367666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.012424257467724454 Centerline is valid? [True, True] Translation: X:161.44, Y:-120.88, Z:-4.13 [[-5.58105824e-01 8.29750530e-01 5.65225106e-03 1.61435449e+02] [ 8.29708197e-01 5.58134445e-01 -8.38146329e-03 -1.20876377e+02] [-1.01092396e-02 1.19755649e-05 -9.99948900e-01 -4.13446436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.01237982156952702 Centerline is valid? [True, True] Translation: X:161.43, Y:-120.85, Z:-4.14 [[-6.20265454e-01 7.84368458e-01 6.07360093e-03 1.61425506e+02] [ 7.84331263e-01 6.20295189e-01 -7.63860960e-03 -1.20849454e+02] [-9.75890987e-03 2.57494265e-05 -9.99952380e-01 -4.13568733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.012432213161989324 Centerline is valid? [True, True] Translation: X:161.42, Y:-120.82, Z:-4.14 [[-6.78635162e-01 7.34439671e-01 7.25854951e-03 1.61415409e+02] [ 7.34398368e-01 6.78673977e-01 -7.78910463e-03 -1.20821567e+02] [-1.06468161e-02 4.47066324e-05 -9.99943320e-01 -4.13577369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.01253159272272302 Centerline is valid? [True, True] Translation: X:161.40, Y:-120.80, Z:-4.14 [[-7.33377563e-01 6.79772774e-01 8.14404610e-03 1.61402201e+02] [ 6.79731729e-01 7.33422778e-01 -7.47029955e-03 -1.20796942e+02] [-1.10511352e-02 5.72164569e-05 -9.99938933e-01 -4.13505865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.012559044011901702 Centerline is valid? [True, True] Translation: X:161.42, Y:-120.77, Z:-4.14 [[-7.79527009e-01 6.26309454e-01 8.60868098e-03 1.61415373e+02] [ 6.26272045e-01 7.79574541e-01 -6.84547575e-03 -1.20772827e+02] [-1.09984947e-02 5.51430112e-05 -9.99939513e-01 -4.13512256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.01249176470219736 Centerline is valid? [True, True] Translation: X:161.44, Y:-120.76, Z:-4.14 [[-8.22260253e-01 5.69036185e-01 9.26806286e-03 1.61440510e+02] [ 5.69000711e-01 8.22312482e-01 -6.35396025e-03 -1.20756165e+02] [-1.12368771e-02 4.89253949e-05 -9.99936863e-01 -4.13521427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.012270305345113853 Centerline is valid? [True, True] Translation: X:161.46, Y:-120.73, Z:-4.14 [[-8.61651586e-01 5.07421507e-01 8.94199809e-03 1.61459554e+02] [ 5.07394437e-01 8.61697983e-01 -5.24125416e-03 -1.20733052e+02] [-1.03648268e-02 2.09851294e-05 -9.99946284e-01 -4.13534249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.012278835151137842 Centerline is valid? [True, True] Translation: X:161.47, Y:-120.71, Z:-4.14 [[-8.96120744e-01 4.43705106e-01 9.66392706e-03 1.61474056e+02] [ 4.43679359e-01 8.96172851e-01 -4.77990559e-03 -1.20708233e+02] [-1.07814176e-02 4.31240718e-06 -9.99941879e-01 -4.13561899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.012302712276475506 Centerline is valid? [True, True] Translation: X:161.48, Y:-120.68, Z:-4.13 [[-9.25878103e-01 3.77692869e-01 9.89116725e-03 1.61484652e+02] [ 3.77671179e-01 9.25930935e-01 -4.04770077e-03 -1.20680799e+02] [-1.06873255e-02 -1.20687155e-05 -9.99942889e-01 -4.13415585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.012280016480518689 Centerline is valid? [True, True] Translation: X:161.50, Y:-120.66, Z:-4.14 [[-9.50349877e-01 3.11024727e-01 9.93638102e-03 1.61497049e+02] [ 3.11007588e-01 9.50401820e-01 -3.26511902e-03 -1.20655609e+02] [-1.04590874e-02 -1.27155641e-05 -9.99945302e-01 -4.13528568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.012285825708854425 Centerline is valid? [True, True] Translation: X:161.50, Y:-120.63, Z:-4.14 [[-9.69767238e-01 2.43838889e-01 9.70052398e-03 1.61501136e+02] [ 2.43826664e-01 9.69815754e-01 -2.44170990e-03 -1.20628084e+02] [-1.00031048e-02 -2.64386608e-06 -9.99949968e-01 -4.13575592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.012233779362041869 Centerline is valid? [True, True] Translation: X:161.51, Y:-120.60, Z:-4.14 [[-9.84411889e-01 1.75632638e-01 9.29571552e-03 1.61509999e+02] [ 1.75624888e-01 9.84455777e-01 -1.64994315e-03 -1.20602320e+02] [-9.44100471e-03 8.33533697e-06 -9.99955433e-01 -4.13612315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.012387456138295427 Centerline is valid? [True, True] Translation: X:161.51, Y:-120.58, Z:-4.14 [[-9.94270406e-01 1.06492670e-01 9.25585993e-03 1.61507977e+02] [ 1.06488232e-01 9.94313487e-01 -9.72381776e-04 -1.20575182e+02] [-9.30677790e-03 1.88297345e-05 -9.99956691e-01 -4.13597405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.012307110332709021 Centerline is valid? [True, True] Translation: X:161.59, Y:-119.88, Z:-5.12 [[-9.85802431e-01 -1.67685165e-01 8.67484866e-03 1.61593289e+02] [ 1.67678235e-01 -9.85840597e-01 -1.52524608e-03 -1.19877211e+02] [ 8.80777912e-03 -4.90079816e-05 9.99961210e-01 -5.11726478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.012319320766006907 Centerline is valid? [True, True] Translation: X:161.46, Y:-120.57, Z:-4.14 [[-9.94499142e-01 1.04364310e-01 8.91888635e-03 1.61463116e+02] [ 1.04360427e-01 9.94539134e-01 -9.00951936e-04 -1.20572583e+02] [-8.96420874e-03 3.47828606e-05 -9.99959820e-01 -4.13772018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.01222409633849386 Centerline is valid? [True, True] Translation: X:161.53, Y:-119.87, Z:-5.12 [[-9.86039898e-01 -1.66239271e-01 9.47757598e-03 1.61532318e+02] [ 1.66231648e-01 -9.86085445e-01 -1.59200836e-03 -1.19874724e+02] [ 9.61035403e-03 5.68931604e-06 9.99953820e-01 -5.11743786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.012226892884173085 Centerline is valid? [True, True] Translation: X:161.41, Y:-120.56, Z:-4.14 [[-9.95478631e-01 9.44533846e-02 1.00425711e-02 1.61407554e+02] [ 9.44483616e-02 9.95529285e-01 -9.74331265e-04 -1.20560434e+02] [-1.00897025e-02 -2.14215676e-05 -9.99949097e-01 -4.13641488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.01227961960754766 Centerline is valid? [True, True] Translation: X:161.47, Y:-119.87, Z:-5.12 [[-9.85838517e-01 -1.67370193e-01 1.04708149e-02 1.61474459e+02] [ 1.67361365e-01 -9.85894120e-01 -1.71997099e-03 -1.19874966e+02] [ 1.06109867e-02 5.67962140e-05 9.99943700e-01 -5.11772047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.012273375459085035 Centerline is valid? [True, True] Translation: X:161.35, Y:-120.55, Z:-4.14 [[-9.96031804e-01 8.83468238e-02 1.07463517e-02 1.61352684e+02] [ 8.83411797e-02 9.96089773e-01 -9.99700200e-04 -1.20554032e+02] [-1.07926514e-02 -4.63878053e-05 -9.99941757e-01 -4.13657026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.012237767483984075 Centerline is valid? [True, True] Translation: X:161.35, Y:-120.53, Z:-4.14 [[-9.99777946e-01 1.80259334e-02 1.09144096e-02 1.61352236e+02] [ 1.80244193e-02 9.99837519e-01 -2.37078356e-04 -1.20527363e+02] [-1.09169097e-02 -4.02998173e-05 -9.99940408e-01 -4.13719199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.012175100253217929 Centerline is valid? [True, True] Translation: X:161.35, Y:-120.50, Z:-4.14 [[-9.98596051e-01 -5.21130673e-02 9.49498971e-03 1.61351188e+02] [-5.21109578e-02 9.98641191e-01 4.69608816e-04 -1.20501124e+02] [-9.50656059e-03 -2.58434982e-05 -9.99954811e-01 -4.13843329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.012073925561036954 Centerline is valid? [True, True] Translation: X:161.34, Y:-120.47, Z:-4.14 [[-9.92412206e-01 -1.22694585e-01 8.00330849e-03 1.61343571e+02] [-1.22690752e-01 9.92444476e-01 9.69970976e-04 -1.20474750e+02] [-8.06184949e-03 -1.93209028e-05 -9.99967503e-01 -4.14020816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.012137622093754448 Centerline is valid? [True, True] Translation: X:161.33, Y:-120.45, Z:-4.14 [[-9.81200160e-01 -1.92843635e-01 7.58805891e-03 1.61326569e+02] [-1.92838003e-01 9.81229500e-01 1.47400689e-03 -1.20450002e+02] [-7.72988009e-03 -1.69703258e-05 -9.99970124e-01 -4.14047065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.012137859877487823 Centerline is valid? [True, True] Translation: X:161.31, Y:-120.43, Z:-4.14 [[-9.64822467e-01 -2.62764139e-01 8.52138835e-03 1.61312743e+02] [-2.62754093e-01 9.64860097e-01 2.29780881e-03 -1.20425024e+02] [-8.82572935e-03 -2.20520986e-05 -9.99961052e-01 -4.13930493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.012268143869488603 Centerline is valid? [True, True] Translation: X:161.28, Y:-120.41, Z:-4.14 [[-9.43145766e-01 -3.32233606e-01 9.84355435e-03 1.61279827e+02] [-3.32215903e-01 9.43197132e-01 3.42989262e-03 -1.20406123e+02] [-1.04239378e-02 -3.52965879e-05 -9.99945669e-01 -4.13826935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.012565872267850763 Centerline is valid? [True, True] Translation: X:161.24, Y:-120.39, Z:-4.14 [[-9.15294200e-01 -4.02669149e-01 9.69966788e-03 1.61236620e+02] [-4.02647289e-01 9.15345592e-01 4.19624681e-03 -1.20390979e+02] [-1.05682474e-02 -6.47446158e-05 -9.99944152e-01 -4.13737123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.012720044794946407 Centerline is valid? [True, True] Translation: X:161.17, Y:-120.39, Z:-4.14 [[-8.82313925e-01 -4.70558889e-01 9.82195337e-03 1.61174166e+02] [-4.70530892e-01 8.82368587e-01 5.13379677e-03 -1.20389023e+02] [-1.10823368e-02 -9.19121057e-05 -9.99938585e-01 -4.13761403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.013180417325483794 Centerline is valid? [True, True] Translation: X:161.10, Y:-120.39, Z:-4.14 [[-8.43213675e-01 -5.37490026e-01 9.75556417e-03 1.61104864e+02] [-5.37455937e-01 8.43270095e-01 6.05493202e-03 -1.20394561e+02] [-1.14810411e-02 -1.37584401e-04 -9.99934081e-01 -4.13744767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.014058609764767851 Centerline is valid? [True, True] Translation: X:161.03, Y:-120.41, Z:-4.14 [[-7.98952705e-01 -6.01328074e-01 8.89512208e-03 1.61028632e+02] [-6.01293165e-01 7.99002202e-01 6.48156156e-03 -1.20409807e+02] [-1.10047671e-02 -1.70114970e-04 -9.99939431e-01 -4.13770966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.014153578070392765 Centerline is valid? [True, True] Translation: X:160.95, Y:-120.43, Z:-4.14 [[-7.50669504e-01 -6.60629840e-01 7.96929820e-03 1.60951571e+02] [-6.60595149e-01 7.50711783e-01 6.77258535e-03 -1.20434903e+02] [-1.04568180e-02 -1.80506437e-04 -9.99945310e-01 -4.13864028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.01473226319849121 Centerline is valid? [True, True] Translation: X:160.87, Y:-120.47, Z:-4.14 [[-6.98168107e-01 -7.15908126e-01 6.07034093e-03 1.60871215e+02] [-7.15883014e-01 6.98194478e-01 5.99838707e-03 -1.20469511e+02] [-8.53257257e-03 -1.57771421e-04 -9.99963585e-01 -4.13979620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.014359830876915274 Centerline is valid? [True, True] Translation: X:160.79, Y:-120.52, Z:-4.14 [[-6.43400263e-01 -7.65512132e-01 5.22281652e-03 1.60791088e+02] [-7.65488604e-01 6.43421447e-01 6.00324365e-03 -1.20516676e+02] [-7.95602800e-03 -1.35517989e-04 -9.99968341e-01 -4.13990201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.013551653028683303 Centerline is valid? [True, True] Translation: X:160.71, Y:-120.58, Z:-4.14 [[-5.87138455e-01 -8.09467723e-01 5.51728244e-03 1.60713036e+02] [-8.09433853e-01 5.87164365e-01 7.40582090e-03 -1.20575957e+02] [-9.23432462e-03 -1.17632935e-04 -9.99957356e-01 -4.13892148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.012930246905348648 Centerline is valid? [True, True] Translation: X:160.64, Y:-120.64, Z:-4.14 [[-5.27297845e-01 -8.49664421e-01 5.23005549e-03 1.60640102e+02] [-8.49624238e-01 5.27323775e-01 8.26386445e-03 -1.20641233e+02] [-9.77944421e-03 -8.60639869e-05 -9.99952176e-01 -4.13879923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.012483550742632498 Centerline is valid? [True, True] Translation: X:160.57, Y:-120.72, Z:-4.14 [[-4.66188444e-01 -8.84674288e-01 4.44283352e-03 1.60568767e+02] [-8.84634705e-01 4.66209613e-01 8.36877565e-03 -1.20720743e+02] [-9.47493233e-03 -2.88582255e-05 -9.99955111e-01 -4.13934022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.012602756889937245 Centerline is valid? [True, True] Translation: X:160.50, Y:-120.80, Z:-4.14 [[-4.01567169e-01 -9.15822036e-01 3.71592528e-03 1.60503932e+02] [-9.15782472e-01 4.01584361e-01 8.51261597e-03 -1.20802896e+02] [-9.28829876e-03 1.54078490e-05 -9.99956863e-01 -4.13900425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.012694751016253976 Centerline is valid? [True, True] Translation: X:160.44, Y:-120.90, Z:-4.14 [[-3.32872492e-01 -9.42966736e-01 3.10458387e-03 1.60441524e+02] [-9.42924569e-01 3.32886967e-01 8.91767596e-03 -1.20898567e+02] [-9.44254730e-03 4.10606066e-05 -9.99955417e-01 -4.13898341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.012761025480242764 Centerline is valid? [True, True] Translation: X:160.38, Y:-121.00, Z:-4.14 [[-2.59427927e-01 -9.65759341e-01 2.45907856e-03 1.60383786e+02] [-9.65714499e-01 2.59439578e-01 9.30655915e-03 -1.20998841e+02] [-9.62587873e-03 3.96135284e-05 -9.99953669e-01 -4.13853588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.012649256981542725 Centerline is valid? [True, True] Translation: X:160.33, Y:-121.11, Z:-4.14 [[-1.82076377e-01 -9.83282762e-01 1.78991547e-03 1.60330302e+02] [-9.83234444e-01 1.82085174e-01 9.74773124e-03 -1.21105717e+02] [-9.91069316e-03 1.49250424e-05 -9.99950888e-01 -4.13792879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.012675592448010404 Centerline is valid? [True, True] Translation: X:160.28, Y:-121.22, Z:-4.14 [[-1.02047081e-01 -9.94779047e-01 1.02047248e-03 1.60284346e+02] [-9.94731705e-01 1.02052180e-01 9.70499907e-03 -1.21216026e+02] [-9.75847117e-03 -2.47295071e-05 -9.99952385e-01 -4.13829456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.012766899021878905 Centerline is valid? [True, True] Translation: X:160.25, Y:-121.33, Z:-4.14 [[-2.27983626e-02 -9.99740050e-01 2.60732558e-04 1.60248226e+02] [-9.99696412e-01 2.27998036e-02 9.34091664e-03 -1.21330769e+02] [-9.34443312e-03 -4.76957979e-05 -9.99956339e-01 -4.13920682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.013078811168137581 Centerline is valid? [True, True] Translation: X:160.22, Y:-121.45, Z:-4.14 [[ 5.47003406e-02 -9.98502727e-01 -4.21206479e-04 1.60220980e+02] [-9.98465692e-01 -5.47019395e-02 8.60000167e-03 -1.21446755e+02] [-8.61016593e-03 -4.98628019e-05 -9.99962931e-01 -4.13850214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.012815654132425806 Centerline is valid? [True, True] Translation: X:160.21, Y:-121.56, Z:-4.14 [[ 1.30335848e-01 -9.91469383e-01 -1.01476404e-03 1.60205348e+02] [-9.91436940e-01 -1.30339793e-01 8.02079810e-03 -1.21564087e+02] [-8.08463988e-03 -3.93229690e-05 -9.99967318e-01 -4.14006845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.012692247442909673 Centerline is valid? [True, True] Translation: X:160.20, Y:-121.68, Z:-4.14 [[ 2.05201818e-01 -9.78718584e-01 -1.46521189e-03 1.60198786e+02] [-9.78692627e-01 -2.05207047e-01 7.12817633e-03 -1.21684494e+02] [-7.27715046e-03 -2.87226635e-05 -9.99973521e-01 -4.14088775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.012698117086020049 Centerline is valid? [True, True] Translation: X:160.20, Y:-121.80, Z:-4.14 [[ 2.79686306e-01 -9.60089449e-01 -1.95445941e-03 1.60200340e+02] [-9.60065321e-01 -2.79693133e-01 6.80662451e-03 -1.21804399e+02] [-7.08161725e-03 -2.73109645e-05 -9.99974925e-01 -4.14091592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.012839723585723321 Centerline is valid? [True, True] Translation: X:160.21, Y:-121.92, Z:-4.14 [[ 3.53692713e-01 -9.35357673e-01 -2.73669629e-03 1.60209674e+02] [-9.35328809e-01 -3.53703298e-01 7.34823176e-03 -1.21921156e+02] [-7.84120346e-03 -3.93051422e-05 -9.99969257e-01 -4.14001018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.0131754010599392 Centerline is valid? [True, True] Translation: X:160.23, Y:-122.04, Z:-4.14 [[ 4.25847554e-01 -9.04784825e-01 -4.27572777e-03 1.60228413e+02] [-9.04737609e-01 -4.25869013e-01 9.24354837e-03 -1.22040421e+02] [-1.01843223e-02 -6.79307434e-05 -9.99948136e-01 -4.13721331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.013446248565599 Centerline is valid? [True, True] Translation: X:160.26, Y:-122.16, Z:-4.14 [[ 4.95438977e-01 -8.68624652e-01 -5.60669709e-03 1.60259166e+02] [-8.68566808e-01 -4.95470691e-01 1.00246828e-02 -1.22161870e+02] [-1.14856407e-02 -9.68275789e-05 -9.99934033e-01 -4.13565795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.013702766140500358 Centerline is valid? [True, True] Translation: X:160.29, Y:-122.26, Z:-4.14 [[ 5.61655498e-01 -8.27353701e-01 -5.38101835e-03 1.60290145e+02] [-8.27314086e-01 -5.61681266e-01 8.09684901e-03 -1.22264031e+02] [-9.72137519e-03 -9.58474834e-05 -9.99952742e-01 -4.13703483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.01363920708687521 Centerline is valid? [True, True] Translation: X:160.33, Y:-122.37, Z:-4.14 [[ 6.23773125e-01 -7.81587178e-01 -5.34523517e-03 1.60332917e+02] [-7.81557221e-01 -6.23796020e-01 6.84369672e-03 -1.22368527e+02] [-8.68328204e-03 -9.13069492e-05 -9.99962295e-01 -4.13906469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.013834116039160502 Centerline is valid? [True, True] Translation: X:160.38, Y:-122.47, Z:-4.14 [[ 6.82029039e-01 -7.31308572e-01 -4.91560707e-03 1.60380730e+02] [-7.31288718e-01 -6.82046748e-01 5.38934476e-03 -1.22465474e+02] [-7.29394784e-03 -8.09616328e-05 -9.99973396e-01 -4.14067441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.013619750566153629 Centerline is valid? [True, True] Translation: X:160.44, Y:-122.56, Z:-4.14 [[ 7.35250811e-01 -6.77773875e-01 -5.36838659e-03 1.60436211e+02] [-6.77755046e-01 -7.35270406e-01 5.05263094e-03 -1.22558498e+02] [-7.37175703e-03 -7.64999059e-05 -9.99972825e-01 -4.14052466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.014073637806361576 Centerline is valid? [True, True] Translation: X:160.46, Y:-122.58, Z:-4.14 [[ 7.85477735e-01 -6.18859960e-01 -6.08915728e-03 1.60455942e+02] [-6.18840628e-01 -7.85501333e-01 4.89212922e-03 -1.22584162e+02] [-7.81058406e-03 -7.44406692e-05 -9.99969494e-01 -4.13832998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.013708856708095489 Centerline is valid? [True, True] Translation: X:160.48, Y:-122.61, Z:-4.14 [[ 8.31302815e-01 -5.55766665e-01 -7.68396042e-03 1.60480930e+02] [-5.55741959e-01 -8.31338322e-01 5.24108064e-03 -1.22606408e+02] [-9.30078868e-03 -8.66258758e-05 -9.99956743e-01 -4.13879317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.013574328709293572 Centerline is valid? [True, True] Translation: X:160.51, Y:-122.63, Z:-4.14 [[ 8.71726556e-01 -4.89915931e-01 -8.67137388e-03 1.60506734e+02] [-4.89890742e-01 -8.71769679e-01 4.96861965e-03 -1.22626997e+02] [-9.99364675e-03 -8.32519071e-05 -9.99950059e-01 -4.13925622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.013333708022565926 Centerline is valid? [True, True] Translation: X:160.53, Y:-122.65, Z:-4.14 [[ 9.06372859e-01 -4.22383748e-01 -8.95599383e-03 1.60533147e+02] [-4.22362479e-01 -9.06417104e-01 4.23921174e-03 -1.22646150e+02] [-9.90844013e-03 -5.96307123e-05 -9.99950908e-01 -4.13976528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.013071741189732759 Centerline is valid? [True, True] Translation: X:160.56, Y:-122.67, Z:-4.14 [[ 9.35304703e-01 -3.53720810e-01 -9.31140432e-03 1.60560863e+02] [-3.53703037e-01 -9.35351051e-01 3.54592325e-03 -1.22665123e+02] [-9.96369866e-03 -2.30467090e-05 -9.99950361e-01 -4.14032778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.013043116682063023 Centerline is valid? [True, True] Translation: X:160.59, Y:-122.68, Z:-4.14 [[ 9.59228126e-01 -2.82450327e-01 -1.01595219e-02 1.60589065e+02] [-2.82434574e-01 -9.59281926e-01 2.98313622e-03 -1.22681175e+02] [-1.05884335e-02 7.89205595e-06 -9.99943941e-01 -4.13955318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.013780740423041135 Centerline is valid? [True, True] Translation: X:160.62, Y:-122.69, Z:-4.14 [[ 9.77297049e-01 -2.11555047e-01 -1.16163734e-02 1.60619117e+02] [-2.11540946e-01 -9.77366081e-01 2.44357278e-03 -1.22690962e+02] [-1.18703995e-02 6.92421373e-05 -9.99929542e-01 -4.13715232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.013734840216606425 Centerline is valid? [True, True] Translation: X:160.65, Y:-122.70, Z:-4.14 [[ 9.90288034e-01 -1.38538914e-01 -1.16866708e-02 1.60645659e+02] [-1.38530670e-01 -9.90356984e-01 1.51594035e-03 -1.22701556e+02] [-1.17839928e-02 1.17744746e-04 -9.99930559e-01 -4.14021358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.013699520772498945 Centerline is valid? [True, True] Translation: X:160.67, Y:-122.71, Z:-4.14 [[ 9.98007178e-01 -6.20336305e-02 -1.15543007e-02 1.60672832e+02] [-6.20310070e-02 -9.98074051e-01 5.85644241e-04 -1.22712802e+02] [-1.15683774e-02 1.32247754e-04 -9.99933075e-01 -4.14096924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.013736966448419645 Centerline is valid? [True, True] Translation: X:160.70, Y:-122.72, Z:-4.14 [[ 9.99814577e-01 1.60526456e-02 -1.06360312e-02 1.60700729e+02] [ 1.60504102e-02 -9.99871140e-01 -2.95504368e-04 -1.22724177e+02] [-1.06394042e-02 1.24736911e-04 -9.99943392e-01 -4.14123958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.013582782856284937 Centerline is valid? [True, True] Translation: X:160.73, Y:-122.73, Z:-4.14 [[ 9.95296898e-01 9.63498507e-02 -1.00394983e-02 1.60729103e+02] [ 9.63439648e-02 -9.95347526e-01 -1.06939447e-03 -1.22733715e+02] [-1.00958258e-02 9.71199244e-05 -9.99949031e-01 -4.14069432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.013064052338875224 Centerline is valid? [True, True] Translation: X:160.76, Y:-122.74, Z:-4.14 [[ 9.83899770e-01 1.78403019e-01 -1.06585512e-02 1.60758919e+02] [ 1.78391945e-01 -9.83957499e-01 -1.98852775e-03 -1.22740842e+02] [-1.08423207e-02 5.51123144e-05 -9.99941219e-01 -4.14054561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.012913092887771356 Centerline is valid? [True, True] Translation: X:160.79, Y:-122.75, Z:-4.14 [[ 9.65138266e-01 2.61421864e-01 -1.29126828e-02 1.60790899e+02] [ 2.61398780e-01 -9.65224642e-01 -3.47409479e-03 -1.22748002e+02] [-1.33718439e-02 -2.23777047e-05 -9.99910593e-01 -4.13840064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.013062455397615524 Centerline is valid? [True, True] Translation: X:160.82, Y:-122.75, Z:-4.14 [[ 9.40186078e-01 3.40412361e-01 -1.30216546e-02 1.60823196e+02] [ 3.40380968e-01 -9.40276245e-01 -4.62377974e-03 -1.22749882e+02] [-1.38179443e-02 -8.51100645e-05 -9.99904524e-01 -4.13746671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.01381257094566714 Centerline is valid? [True, True] Translation: X:160.85, Y:-122.75, Z:-4.14 [[ 9.09130938e-01 4.16352675e-01 -1.14624419e-02 1.60854693e+02] [ 4.16321297e-01 -9.09203187e-01 -5.11300389e-03 -1.22748674e+02] [-1.25505016e-02 -1.23668664e-04 -9.99921232e-01 -4.13602021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.013014404820003335 Centerline is valid? [True, True] Translation: X:160.89, Y:-122.74, Z:-4.14 [[ 8.73946831e-01 4.85928422e-01 -9.51344535e-03 1.60885550e+02] [ 4.85900912e-01 -8.73998603e-01 -5.17161193e-03 -1.22741111e+02] [-1.08277712e-02 -1.02877923e-04 -9.99941373e-01 -4.13985812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.012873389067488245 Centerline is valid? [True, True] Translation: X:160.92, Y:-122.73, Z:-4.14 [[ 8.33592904e-01 5.52327618e-01 -7.55468754e-03 1.60916523e+02] [ 5.52305800e-01 -8.33627132e-01 -4.90994818e-03 -1.22732467e+02] [-9.00969250e-03 -7.95997897e-05 -9.99959409e-01 -4.14184820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.013049938755245866 Centerline is valid? [True, True] Translation: X:160.95, Y:-122.72, Z:-4.14 [[ 7.87103641e-01 6.16777654e-01 -7.29273385e-03 1.60947451e+02] [ 6.16752255e-01 -7.87137420e-01 -5.59815642e-03 -1.22722351e+02] [-9.19320148e-03 -9.14807398e-05 -9.99957737e-01 -4.14122768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.013442970863376867 Centerline is valid? [True, True] Translation: X:160.98, Y:-122.71, Z:-4.14 [[ 7.34929760e-01 6.78089643e-01 -8.52547191e-03 1.60977060e+02] [ 6.78046205e-01 -7.34979195e-01 -7.67645895e-03 -1.22710054e+02] [-1.14713718e-02 -1.39005736e-04 -9.99934192e-01 -4.13884140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.01377249898032727 Centerline is valid? [True, True] Translation: X:161.00, Y:-122.69, Z:-4.14 [[ 6.78746146e-01 7.34319356e-01 -8.87427213e-03 1.61003312e+02] [ 7.34259863e-01 -6.78804136e-01 -9.34871074e-03 -1.22694363e+02] [-1.28888319e-02 -1.70620455e-04 -9.99916921e-01 -4.13696272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.013455025729569926 Centerline is valid? [True, True] Translation: X:161.03, Y:-122.68, Z:-4.14 [[ 6.19806354e-01 7.84702026e-01 -9.10017043e-03 1.61028597e+02] [ 7.84621675e-01 -6.19873130e-01 -1.12307628e-02 -1.22675131e+02] [-1.44537534e-02 -1.79292834e-04 -9.99895523e-01 -4.13627436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.013242037379817696 Centerline is valid? [True, True] Translation: X:161.05, Y:-122.65, Z:-4.14 [[ 5.58992153e-01 8.29127440e-01 -8.68680943e-03 1.61048652e+02] [ 8.29031309e-01 -5.59059628e-01 -1.26262088e-02 -1.22654071e+02] [-1.53251806e-02 -1.43685336e-04 -9.99882552e-01 -4.13518469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.012468459635841943 Centerline is valid? [True, True] Translation: X:161.06, Y:-122.63, Z:-4.14 [[ 4.99219528e-01 8.66448599e-01 -6.83286329e-03 1.61063398e+02] [ 8.66368006e-01 -4.99266287e-01 -1.18175192e-02 -1.22627980e+02] [-1.36506913e-02 -2.02377607e-05 -9.99906825e-01 -4.13805610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.012591940045950658 Centerline is valid? [True, True] Translation: X:161.08, Y:-122.60, Z:-4.14 [[ 4.35095359e-01 9.00371958e-01 -4.72923474e-03 1.61077043e+02] [ 9.00317577e-01 -4.35121058e-01 -9.89572517e-03 -1.22603203e+02] [-1.09676231e-02 4.77709333e-05 -9.99939853e-01 -4.14004090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.012985186939787494 Centerline is valid? [True, True] Translation: X:161.09, Y:-122.58, Z:-4.14 [[ 3.68154034e-01 9.29759232e-01 -3.22148274e-03 1.61090560e+02] [ 9.29721562e-01 -3.68168118e-01 -8.36981715e-03 -1.22578466e+02] [-8.96796201e-03 8.62999818e-05 -9.99959783e-01 -4.14191931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.014243628164090937 Centerline is valid? [True, True] Translation: X:161.10, Y:-122.55, Z:-4.14 [[ 3.00866968e-01 9.53663527e-01 -2.22374076e-03 1.61101981e+02] [ 9.53634208e-01 -3.00875158e-01 -7.47909019e-03 -1.22553011e+02] [-7.80160388e-03 1.29575928e-04 -9.99969559e-01 -4.14256536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.015709951983699174 Centerline is valid? [True, True] Translation: X:161.11, Y:-122.53, Z:-4.14 [[ 2.30243293e-01 9.73131363e-01 -1.83756746e-03 1.61111312e+02] [ 9.73093427e-01 -2.30250546e-01 -8.59461449e-03 -1.22526857e+02] [-8.78678983e-03 1.90727516e-04 -9.99961377e-01 -4.14183753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.016849629060068774 Centerline is valid? [True, True] Translation: X:161.12, Y:-122.50, Z:-4.14 [[ 1.55864253e-01 9.87777680e-01 -1.26043372e-03 1.61119859e+02] [ 9.87732253e-01 -1.55869177e-01 -9.47608282e-03 -1.22500773e+02] [-9.55672588e-03 2.32011529e-04 -9.99954307e-01 -4.14110629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.016067087647752783 Centerline is valid? [True, True] Translation: X:161.14, Y:-122.47, Z:-4.14 [[ 7.83511385e-02 9.96925679e-01 -5.38230629e-04 1.61135032e+02] [ 9.96875707e-01 -7.83526017e-02 -9.98468634e-03 -1.22474520e+02] [-9.99616198e-03 2.45762504e-04 -9.99950007e-01 -4.14125964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.01593437386253266 Centerline is valid? [True, True] Translation: X:161.15, Y:-122.45, Z:-4.14 [[-2.50289970e-04 9.99999935e-01 2.58861555e-04 1.61146158e+02] [ 9.99944440e-01 2.53004000e-04 -1.05381470e-02 -1.22446983e+02] [-1.05382118e-02 2.56209580e-04 -9.99944439e-01 -4.14124518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.015879034420432377 Centerline is valid? [True, True] Translation: X:161.15, Y:-122.42, Z:-4.14 [[-7.92493026e-02 9.96854319e-01 1.00720475e-03 1.61154507e+02] [ 9.96806676e-01 7.92553650e-02 -9.74874501e-03 -1.22418851e+02] [-9.79790495e-03 2.31407179e-04 -9.99951973e-01 -4.14178619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.0154939463618644 Centerline is valid? [True, True] Translation: X:161.16, Y:-122.39, Z:-4.14 [[-1.59373189e-01 9.87217071e-01 1.62550469e-03 1.61162629e+02] [ 9.87177289e-01 1.59381363e-01 -8.86458174e-03 -1.22390121e+02] [-9.01034157e-03 1.91884650e-04 -9.99959388e-01 -4.14183167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.014186897123505323 Centerline is valid? [True, True] Translation: X:161.17, Y:-122.36, Z:-4.14 [[-2.40870717e-01 9.70554380e-01 2.34365939e-03 1.61171129e+02] [ 9.70514342e-01 2.40882071e-01 -8.81705271e-03 -1.22359728e+02] [-9.12197466e-03 1.50785240e-04 -9.99958383e-01 -4.14204269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.01335351497453734 Centerline is valid? [True, True] Translation: X:161.18, Y:-122.33, Z:-4.14 [[-3.19720714e-01 9.47507458e-01 2.87783821e-03 1.61176457e+02] [ 9.47472141e-01 3.19733646e-01 -8.18154087e-03 -1.22328726e+02] [-8.67221270e-03 1.10863437e-04 -9.99962390e-01 -4.14212260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.012315327431764438 Centerline is valid? [True, True] Translation: X:161.19, Y:-122.29, Z:-4.14 [[-4.00154313e-01 9.16443372e-01 2.84122692e-03 1.61185596e+02] [ 9.16420882e-01 4.00164398e-01 -6.42042210e-03 -1.22293169e+02] [-7.02091114e-03 3.46000904e-05 -9.99975353e-01 -4.14233115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.012167611032085116 Centerline is valid? [True, True] Translation: X:161.18, Y:-122.26, Z:-4.14 [[-4.73750364e-01 8.80652335e-01 3.47245172e-03 1.61184010e+02] [ 8.80628846e-01 4.73763090e-01 -6.43199972e-03 -1.22260993e+02] [-7.30947502e-03 1.07789432e-05 -9.99973285e-01 -4.14194701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.012174340368138388 Centerline is valid? [True, True] Translation: X:161.18, Y:-122.23, Z:-4.14 [[-5.45364633e-01 8.38185424e-01 4.75518651e-03 1.61180161e+02] [ 8.38153084e-01 5.45385363e-01 -7.36299862e-03 -1.22227659e+02] [-8.76496724e-03 -2.99448011e-05 -9.99961587e-01 -4.14057071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.012636166987345085 Centerline is valid? [True, True] Translation: X:161.17, Y:-122.20, Z:-4.14 [[-6.13295392e-01 7.89829688e-01 6.15023526e-03 1.61173060e+02] [ 7.89788567e-01 6.13326223e-01 -8.06001535e-03 -1.22195210e+02] [-1.01381400e-02 -8.57847905e-05 -9.99948604e-01 -4.13925506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.013196271541220645 Centerline is valid? [True, True] Translation: X:161.16, Y:-122.17, Z:-4.14 [[-6.75254479e-01 7.37549020e-01 7.26861519e-03 1.61160247e+02] [ 7.37504335e-01 6.75293587e-01 -8.11953965e-03 -1.22165478e+02] [-1.08970077e-02 -1.22120300e-04 -9.99940618e-01 -4.13823668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.01347205751538434 Centerline is valid? [True, True] Translation: X:161.14, Y:-122.14, Z:-4.14 [[-7.32274427e-01 6.80970106e-01 7.34021422e-03 1.61143694e+02] [ 6.80934062e-01 7.32311202e-01 -7.00761710e-03 -1.22138020e+02] [-1.01472989e-02 -1.33296916e-04 -9.99948506e-01 -4.13867573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.01364159588550268 Centerline is valid? [True, True] Translation: X:161.16, Y:-122.12, Z:-4.14 [[-7.78514304e-01 6.27586127e-01 7.15066019e-03 1.61160443e+02] [ 6.27558229e-01 7.78547134e-01 -5.91863853e-03 -1.22116993e+02] [-9.28158142e-03 -1.20289117e-04 -9.99956918e-01 -4.13944428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.013142976964546301 Centerline is valid? [True, True] Translation: X:161.17, Y:-122.10, Z:-4.14 [[-8.21002057e-01 5.70880578e-01 7.14066345e-03 1.61174831e+02] [ 5.70857766e-01 8.21033101e-01 -5.10476151e-03 -1.22097541e+02] [-8.77693025e-03 -1.14716512e-04 -9.99961475e-01 -4.14072413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.014534033326391223 Centerline is valid? [True, True] Translation: X:161.19, Y:-122.07, Z:-4.14 [[-8.60095095e-01 5.10071405e-01 7.97431322e-03 1.61185718e+02] [ 5.10048009e-01 8.60132050e-01 -4.88731089e-03 -1.22070330e+02] [-9.35183991e-03 -1.36269540e-04 -9.99956261e-01 -4.13824122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.015543469189027572 Centerline is valid? [True, True] Translation: X:161.20, Y:-122.05, Z:-4.14 [[-8.95321182e-01 4.45344743e-01 8.24873213e-03 1.61197051e+02] [ 4.45324166e-01 8.95359165e-01 -4.28413934e-03 -1.22045066e+02] [-9.29349685e-03 -1.62320946e-04 -9.99956801e-01 -4.13807024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.014541390242709524 Centerline is valid? [True, True] Translation: X:161.21, Y:-122.02, Z:-4.14 [[-9.25228231e-01 3.79320063e-01 8.30719993e-03 1.61207515e+02] [ 3.79303080e-01 9.25265507e-01 -3.59363849e-03 -1.22024222e+02] [-9.04950473e-03 -1.73989261e-04 -9.99959037e-01 -4.13986919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.014693104484727085 Centerline is valid? [True, True] Translation: X:161.21, Y:-122.00, Z:-4.14 [[-9.49868683e-01 3.12525875e-01 8.77850872e-03 1.61211911e+02] [ 3.12510754e-01 9.49909230e-01 -3.07960553e-03 -1.22000431e+02] [-9.30124287e-03 -1.81842474e-04 -9.99956726e-01 -4.14016468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.014367561130006545 Centerline is valid? [True, True] Translation: X:161.22, Y:-121.98, Z:-4.14 [[-9.69432096e-01 2.45205754e-01 8.69192151e-03 1.61220445e+02] [ 2.45194336e-01 9.69471046e-01 -2.37232531e-03 -1.21978321e+02] [-9.00827406e-03 -1.68598375e-04 -9.99959411e-01 -4.14047184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.013883489954750871 Centerline is valid? [True, True] Translation: X:161.22, Y:-121.95, Z:-4.14 [[-9.84050403e-01 1.77703585e-01 8.13885934e-03 1.61223654e+02] [ 1.77696338e-01 9.84084050e-01 -1.61091027e-03 -1.21954946e+02] [-8.29558619e-03 -1.38971398e-04 -9.99965581e-01 -4.14079618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.013843218456188435 Centerline is valid? [True, True] Translation: X:161.35, Y:-121.32, Z:-5.11 [[-9.61507994e-01 -2.74661647e-01 7.95967713e-03 1.61351184e+02] [ 2.74653392e-01 -9.61540931e-01 -2.13370154e-03 -1.21323886e+02] [ 8.23960133e-03 1.34581231e-04 9.99966045e-01 -5.11374441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.013737235200582273 Centerline is valid? [True, True] Translation: X:161.18, Y:-121.95, Z:-4.14 [[-9.84364247e-01 1.75924878e-01 8.80146152e-03 1.61179276e+02] [ 1.75916639e-01 9.84403586e-01 -1.70777201e-03 -1.21952021e+02] [-8.96462986e-03 -1.32746186e-04 -9.99959808e-01 -4.14015063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.013609313300653254 Centerline is valid? [True, True] Translation: X:161.18, Y:-121.93, Z:-4.14 [[-9.94324467e-01 1.05979148e-01 9.34212192e-03 1.61181080e+02] [ 1.05973179e-01 9.94368343e-01 -1.13307828e-03 -1.21926385e+02] [-9.40959297e-03 -1.36633103e-04 -9.99955720e-01 -4.13987756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.013579104378938717 Centerline is valid? [True, True] Translation: X:161.17, Y:-121.90, Z:-4.14 [[-9.99309555e-01 3.58066649e-02 9.91441557e-03 1.61173879e+02] [ 3.58035381e-02 9.99358726e-01 -4.92750100e-04 -1.21900676e+02] [-9.92570145e-03 -1.37438729e-04 -9.99950730e-01 -4.13937551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.01323314459186697 Centerline is valid? [True, True] Translation: X:161.18, Y:-121.88, Z:-4.14 [[-9.99386051e-01 -3.39473963e-02 8.66578756e-03 1.61178267e+02] [-3.39470611e-02 9.99423615e-01 1.85810383e-04 -1.21877964e+02] [-8.66710051e-03 -1.08481715e-04 -9.99962434e-01 -4.14091381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.013077166153954845 Centerline is valid? [True, True] Translation: X:161.17, Y:-121.85, Z:-4.14 [[-9.94579916e-01 -1.03686962e-01 7.73334423e-03 1.61173822e+02] [-1.03684512e-01 9.94609977e-01 7.18163516e-04 -1.21853108e+02] [-7.76612552e-03 -8.75570145e-05 -9.99969839e-01 -4.14114567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.013336482613870652 Centerline is valid? [True, True] Translation: X:161.11, Y:-121.19, Z:-5.11 [[-9.99867386e-01 1.44018597e-02 7.60244981e-03 1.61112188e+02] [-1.44008718e-02 -9.99896285e-01 1.84671740e-04 -1.21185408e+02] [ 7.60432094e-03 7.51653451e-05 9.99971084e-01 -5.11380221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.013316072256547747 Centerline is valid? [True, True] Translation: X:161.10, Y:-121.86, Z:-4.14 [[-9.94041885e-01 -1.08766504e-01 7.11190257e-03 1.61098216e+02] [-1.08764298e-01 9.94067322e-01 6.97425104e-04 -1.21863057e+02] [-7.14556644e-03 -8.02513249e-05 -9.99974467e-01 -4.14045056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.013878106744120574 Centerline is valid? [True, True] Translation: X:161.08, Y:-121.84, Z:-4.14 [[-9.83478716e-01 -1.80870044e-01 7.45937877e-03 1.61084852e+02] [-1.80865593e-01 9.83506999e-01 1.27255678e-03 -1.21837813e+02] [-7.56651863e-03 -9.76124553e-05 -9.99971369e-01 -4.13992309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.014093878678136232 Centerline is valid? [True, True] Translation: X:161.07, Y:-121.81, Z:-4.14 [[-9.67326484e-01 -2.53397385e-01 8.32096488e-03 1.61071527e+02] [-2.53389219e-01 9.67362263e-01 2.03877686e-03 -1.21814212e+02] [-8.56600813e-03 -1.36279938e-04 -9.99963302e-01 -4.13926251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.015168640637242142 Centerline is valid? [True, True] Translation: X:161.05, Y:-121.79, Z:-4.14 [[-9.45970801e-01 -3.24136839e-01 8.63448750e-03 1.61048226e+02] [-3.24124930e-01 9.46010191e-01 2.78340299e-03 -1.21793247e+02] [-9.07051661e-03 -1.65634705e-04 -9.99958848e-01 -4.13824881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.014675356746396619 Centerline is valid? [True, True] Translation: X:161.02, Y:-121.78, Z:-4.14 [[-9.19860361e-01 -3.92149042e-01 8.72035207e-03 1.61016611e+02] [-3.92133250e-01 9.19901678e-01 3.52384531e-03 -1.21779744e+02] [-9.40373906e-03 -1.78094377e-04 -9.99955768e-01 -4.13865712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.015262189773055433 Centerline is valid? [True, True] Translation: X:160.96, Y:-121.78, Z:-4.14 [[-8.88270380e-01 -4.59248132e-01 8.17828787e-03 1.60963445e+02] [-4.59230542e-01 8.88308010e-01 4.02365957e-03 -1.21776008e+02] [-9.11269676e-03 -1.81621947e-04 -9.99958462e-01 -4.13788503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.016025584332496196 Centerline is valid? [True, True] Translation: X:160.90, Y:-121.78, Z:-4.14 [[-8.51766127e-01 -5.23857568e-01 8.22882944e-03 1.60900434e+02] [-5.23835323e-01 8.51805853e-01 4.83159482e-03 -1.21780091e+02] [-9.54043259e-03 -1.95162723e-04 -9.99954470e-01 -4.13668440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.016269745505408332 Centerline is valid? [True, True] Translation: X:160.83, Y:-121.80, Z:-4.14 [[-8.10506652e-01 -5.85663478e-01 8.78964482e-03 1.60830547e+02] [-5.85631954e-01 8.10554281e-01 6.08047090e-03 -1.21797721e+02] [-1.06855940e-02 -2.19234753e-04 -9.99942883e-01 -4.13582917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.017228057414262036 Centerline is valid? [True, True] Translation: X:160.75, Y:-121.82, Z:-4.14 [[-7.63025237e-01 -6.46318847e-01 8.02721727e-03 1.60752671e+02] [-6.46286310e-01 7.63067423e-01 6.48948830e-03 -1.21819111e+02] [-1.03195866e-02 -2.36237283e-04 -9.99946724e-01 -4.13585916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.01708886818832043 Centerline is valid? [True, True] Translation: X:160.67, Y:-121.85, Z:-4.14 [[-7.12318661e-01 -7.01815616e-01 7.54763187e-03 1.60671351e+02] [-7.01779730e-01 7.12358607e-01 7.10112900e-03 -1.21852228e+02] [-1.03603037e-02 -2.38508354e-04 -9.99946302e-01 -4.13577267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.015303123226489555 Centerline is valid? [True, True] Translation: X:160.59, Y:-121.90, Z:-4.14 [[-6.59490713e-01 -7.51685531e-01 6.39239990e-03 1.60591340e+02] [-7.51653013e-01 6.59521664e-01 6.99444484e-03 -1.21897335e+02] [-9.47354920e-03 -1.92095230e-04 -9.99955107e-01 -4.13634705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.014675179621590278 Centerline is valid? [True, True] Translation: X:160.51, Y:-121.95, Z:-4.14 [[-6.03062273e-01 -7.97676406e-01 5.31479995e-03 1.60511385e+02] [-7.97647586e-01 6.03085673e-01 6.78223458e-03 -1.21952158e+02] [-8.61530821e-03 -1.49227553e-04 -9.99962876e-01 -4.13643157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.013341274433982043 Centerline is valid? [True, True] Translation: X:160.44, Y:-122.02, Z:-4.14 [[-5.45569516e-01 -8.38051006e-01 4.94110030e-03 1.60435756e+02] [-8.38018325e-01 5.45591881e-01 7.40179393e-03 -1.22018871e+02] [-8.89890506e-03 -1.02539466e-04 -9.99960399e-01 -4.13642807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.012700122922880808 Centerline is valid? [True, True] Translation: X:160.36, Y:-122.09, Z:-4.13 [[-4.85695721e-01 -8.74112723e-01 5.15885743e-03 1.60363785e+02] [-8.74064584e-01 4.85723115e-01 9.17382971e-03 -1.22091172e+02] [-1.05247376e-02 -5.34847321e-05 -9.99944612e-01 -4.13422650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.012535081650011732 Centerline is valid? [True, True] Translation: X:160.29, Y:-122.18, Z:-4.13 [[-4.20268338e-01 -9.07389020e-01 4.43740033e-03 1.60290422e+02] [-9.07339001e-01 4.20291763e-01 9.52742511e-03 -1.22177836e+02] [-1.05100837e-02 -2.21512619e-05 -9.99944767e-01 -4.13397537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.012484203111172085 Centerline is valid? [True, True] Translation: X:160.22, Y:-122.26, Z:-4.14 [[-3.51609448e-01 -9.36141258e-01 3.21572706e-03 1.60224793e+02] [-9.36102089e-01 3.51624153e-01 8.56350545e-03 -1.22263913e+02] [-9.14737806e-03 7.60605292e-07 -9.99958162e-01 -4.13550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.012499543707102349 Centerline is valid? [True, True] Translation: X:160.16, Y:-122.36, Z:-4.14 [[-2.79491579e-01 -9.60144876e-01 2.50474307e-03 1.60163670e+02] [-9.60106102e-01 2.79502803e-01 8.62883356e-03 -1.22362095e+02] [-8.98501304e-03 6.86721377e-06 -9.99959634e-01 -4.13572007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.012650058231406127 Centerline is valid? [True, True] Translation: X:160.11, Y:-122.47, Z:-4.14 [[-2.05173720e-01 -9.78723878e-01 1.82070662e-03 1.60110345e+02] [-9.78684987e-01 2.05181798e-01 8.72506245e-03 -1.22466403e+02] [-8.91300282e-03 8.25528781e-06 -9.99960278e-01 -4.13556648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.012606949079370662 Centerline is valid? [True, True] Translation: X:160.06, Y:-122.58, Z:-4.14 [[-1.28604220e-01 -9.91695507e-01 9.88129461e-04 1.60062878e+02] [-9.91666180e-01 1.28608016e-01 7.62662949e-03 -1.22577447e+02] [-7.69037556e-03 9.22166413e-07 -9.99970429e-01 -4.13654143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.012533830475787095 Centerline is valid? [True, True] Translation: X:160.02, Y:-122.69, Z:-4.14 [[-5.09083999e-02 -9.98703264e-01 3.55201499e-04 1.60023925e+02] [-9.98679881e-01 5.09096386e-02 6.83403642e-03 -1.22691111e+02] [-6.84325766e-03 -6.82273188e-06 -9.99976585e-01 -4.13787366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.012556873277551417 Centerline is valid? [True, True] Translation: X:159.99, Y:-122.81, Z:-4.14 [[ 2.71306661e-02 -9.99631887e-01 -1.32419118e-04 1.59993795e+02] [-9.99617894e-01 -2.71309869e-02 5.28920914e-03 -1.22807797e+02] [-5.29085478e-03 -1.11312475e-05 -9.99986003e-01 -4.13896339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.012546534071840698 Centerline is valid? [True, True] Translation: X:159.97, Y:-122.93, Z:-4.14 [[ 1.03955592e-01 -9.94581789e-01 -5.46968282e-04 1.59973874e+02] [-9.94567435e-01 -1.03957030e-01 5.34344314e-03 -1.22927342e+02] [-5.37135244e-03 -1.14839508e-05 -9.99985574e-01 -4.13841939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.01263724076825974 Centerline is valid? [True, True] Translation: X:159.96, Y:-123.04, Z:-4.14 [[ 1.79454500e-01 -9.83765826e-01 -9.39267407e-04 1.59961344e+02] [-9.83752085e-01 -1.79456958e-01 5.19949762e-03 -1.23040202e+02] [-5.28364614e-03 -9.06697794e-06 -9.99986041e-01 -4.13854150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.012714446306403062 Centerline is valid? [True, True] Translation: X:159.96, Y:-123.16, Z:-4.14 [[ 2.54894397e-01 -9.66967875e-01 -1.40521374e-03 1.59958177e+02] [-9.66952924e-01 -2.54898270e-01 5.37728505e-03 -1.23160581e+02] [-5.55784845e-03 -1.18642970e-05 -9.99984555e-01 -4.13851937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.01276412395246063 Centerline is valid? [True, True] Translation: X:159.97, Y:-123.28, Z:-4.14 [[ 3.29251477e-01 -9.44240050e-01 -2.04748140e-03 1.59965049e+02] [-9.44221439e-01 -3.29257843e-01 5.92850944e-03 -1.23279616e+02] [-6.27208536e-03 -1.86946566e-05 -9.99980330e-01 -4.13854532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.01291035157695066 Centerline is valid? [True, True] Translation: X:159.98, Y:-123.40, Z:-4.14 [[ 4.01952035e-01 -9.15655442e-01 -3.11011915e-03 1.59981356e+02] [-9.15627377e-01 -4.01964066e-01 7.16919966e-03 -1.23400548e+02] [-7.81467282e-03 -3.39641556e-05 -9.99969464e-01 -4.13750132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.01326636144433122 Centerline is valid? [True, True] Translation: X:160.00, Y:-123.51, Z:-4.14 [[ 4.74340793e-01 -8.80329883e-01 -4.48431470e-03 1.60002468e+02] [-8.80288964e-01 -4.74361983e-01 8.48812792e-03 -1.23514942e+02] [-9.59954108e-03 -7.87725860e-05 -9.99953920e-01 -4.13649607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.01401991112680864 Centerline is valid? [True, True] Translation: X:160.04, Y:-123.63, Z:-4.14 [[ 5.44263023e-01 -8.38898199e-01 -5.25102902e-03 1.60035026e+02] [-8.38856882e-01 -5.44288339e-01 8.32680251e-03 -1.23633632e+02] [-9.84341349e-03 -1.27108879e-04 -9.99951544e-01 -4.13698767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.01510189362233777 Centerline is valid? [True, True] Translation: X:160.07, Y:-123.74, Z:-4.14 [[ 6.10550974e-01 -7.91957872e-01 -5.49892178e-03 1.60070634e+02] [-7.91923321e-01 -6.10575714e-01 7.39937814e-03 -1.23739973e+02] [-9.21750385e-03 -1.62973131e-04 -9.99957505e-01 -4.13854824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.0152846742601218 Centerline is valid? [True, True] Translation: X:160.12, Y:-123.84, Z:-4.14 [[ 6.71154138e-01 -7.41300499e-01 -5.06884632e-03 1.60116212e+02] [-7.41277569e-01 -6.71173260e-01 5.83272965e-03 -1.23840525e+02] [-7.72587951e-03 -1.57238565e-04 -9.99970143e-01 -4.14071792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.015679828305937466 Centerline is valid? [True, True] Translation: X:160.17, Y:-123.94, Z:-4.14 [[ 7.27675206e-01 -6.85906149e-01 -4.64216276e-03 1.60167793e+02] [-6.85890839e-01 -7.27689997e-01 4.58535427e-03 -1.23937221e+02] [-6.52317810e-03 -1.52631701e-04 -9.99978712e-01 -4.14200677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.0161236129782373 Centerline is valid? [True, True] Translation: X:160.18, Y:-123.97, Z:-4.14 [[ 7.80422856e-01 -6.25226519e-01 -5.65376915e-03 1.60184485e+02] [-6.25208338e-01 -7.80443312e-01 4.77183514e-03 -1.23969395e+02] [-7.39592419e-03 -1.89265593e-04 -9.99972632e-01 -4.14085831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.01685199989435903 Centerline is valid? [True, True] Translation: X:160.21, Y:-124.00, Z:-4.14 [[ 8.27161264e-01 -5.61927745e-01 -6.43832397e-03 1.60205109e+02] [-5.61908761e-01 -8.27186295e-01 4.62362399e-03 -1.23998106e+02] [-7.92383596e-03 -2.06732024e-04 -9.99968585e-01 -4.13989658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.01710800603456849 Centerline is valid? [True, True] Translation: X:160.23, Y:-124.02, Z:-4.14 [[ 8.68891092e-01 -4.94947960e-01 -7.40183528e-03 1.60229644e+02] [-4.94927715e-01 -8.68922588e-01 4.48257262e-03 -1.24024120e+02] [-8.65026204e-03 -2.31494002e-04 -9.99962559e-01 -4.13858324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.017752066619183594 Centerline is valid? [True, True] Translation: X:160.26, Y:-124.05, Z:-4.14 [[ 9.05137429e-01 -4.24999116e-01 -1.00987932e-02 1.60256148e+02] [-4.24968833e-01 -9.05193712e-01 5.08282183e-03 -1.24045594e+02] [-1.13015589e-02 -3.08979926e-04 -9.99936088e-01 -4.13607644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.016749614808863788 Centerline is valid? [True, True] Translation: X:160.29, Y:-124.06, Z:-4.14 [[ 9.35222038e-01 -3.53864215e-01 -1.18261429e-02 1.60285834e+02] [-3.53831357e-01 -9.35296747e-01 4.83390727e-03 -1.24064181e+02] [-1.27714997e-02 -3.36316431e-04 -9.99918385e-01 -4.13570863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.016827856193351087 Centerline is valid? [True, True] Translation: X:160.32, Y:-124.08, Z:-4.13 [[ 9.58865877e-01 -2.83596814e-01 -1.22097357e-02 1.60316035e+02] [-2.83570029e-01 -9.58943568e-01 3.90799661e-03 -1.24079619e+02] [-1.28167429e-02 -2.84929491e-04 -9.99917822e-01 -4.13434598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.01507221300220484 Centerline is valid? [True, True] Translation: X:160.35, Y:-124.08, Z:-4.14 [[ 9.76861976e-01 -2.13586017e-01 -1.10314242e-02 1.60350729e+02] [-2.13570263e-01 -9.76924244e-01 2.60068577e-03 -1.24082893e+02] [-1.13323359e-02 -1.84526879e-04 -9.99935770e-01 -4.13579653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.013888072096296132 Centerline is valid? [True, True] Translation: X:160.39, Y:-124.08, Z:-4.14 [[ 9.89994691e-01 -1.40788075e-01 -9.44611263e-03 1.60385138e+02] [-1.40780561e-01 -9.90039749e-01 1.45911178e-03 -1.24084188e+02] [-9.55745251e-03 -1.14683882e-04 -9.99954320e-01 -4.13721767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.012769137687498988 Centerline is valid? [True, True] Translation: X:160.41, Y:-124.09, Z:-4.14 [[ 9.97753252e-01 -6.63766012e-02 -9.08815695e-03 1.60414740e+02] [-6.63731440e-02 -9.97794639e-01 6.81830764e-04 -1.24087920e+02] [-9.11337189e-03 -7.70893127e-05 -9.99958469e-01 -4.13874432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.013041186859847906 Centerline is valid? [True, True] Translation: X:160.44, Y:-124.09, Z:-4.14 [[ 9.99861569e-01 1.25604770e-02 -1.09122826e-02 1.60442419e+02] [ 1.25608138e-02 -9.99921109e-01 -3.76739285e-05 -1.24093325e+02] [-1.09118949e-02 -9.93984360e-05 -9.99940459e-01 -4.13610951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.013364024667603447 Centerline is valid? [True, True] Translation: X:160.47, Y:-124.10, Z:-4.14 [[ 9.95587993e-01 9.30125670e-02 -1.23778278e-02 1.60472014e+02] [ 9.30071356e-02 -9.95664925e-01 -1.01495881e-03 -1.24097371e+02] [-1.24185729e-02 -1.40745508e-04 -9.99922877e-01 -4.13527638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.013917791912945064 Centerline is valid? [True, True] Translation: X:160.50, Y:-124.10, Z:-4.14 [[ 9.84571449e-01 1.74567481e-01 -1.20522364e-02 1.60501867e+02] [ 1.74556721e-01 -9.84645195e-01 -1.94712302e-03 -1.24102823e+02] [-1.22070811e-02 -1.86717139e-04 -9.99925473e-01 -4.13550590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.014094174643990154 Centerline is valid? [True, True] Translation: X:160.53, Y:-124.11, Z:-4.14 [[ 9.67356073e-01 2.53194054e-01 -1.07237797e-02 1.60532295e+02] [ 2.53180699e-01 -9.67415492e-01 -2.60761676e-03 -1.24106035e+02] [-1.10345836e-02 -1.92560122e-04 -9.99939099e-01 -4.13644346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.014827174619624415 Centerline is valid? [True, True] Translation: X:160.56, Y:-124.11, Z:-4.14 [[ 9.44196304e-01 3.29260332e-01 -8.99848681e-03 1.60562038e+02] [ 3.29247155e-01 -9.44239166e-01 -2.95098511e-03 -1.24107191e+02] [-9.46836602e-03 -1.76416948e-04 -9.99955158e-01 -4.13636873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.014520536819482127 Centerline is valid? [True, True] Translation: X:160.59, Y:-124.10, Z:-4.14 [[ 9.16173644e-01 4.00669180e-01 -9.49008287e-03 1.60591666e+02] [ 4.00649659e-01 -9.16222777e-01 -3.95898953e-03 -1.24102302e+02] [-1.02812752e-02 -1.75076599e-04 -9.99947131e-01 -4.13521561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.013965131534955037 Centerline is valid? [True, True] Translation: X:160.62, Y:-124.10, Z:-4.14 [[ 8.82600937e-01 4.70025187e-01 -9.58694072e-03 1.60621286e+02] [ 4.69999541e-01 -8.82652986e-01 -4.91296642e-03 -1.24095450e+02] [-1.07711598e-02 -1.69668972e-04 -9.99941975e-01 -4.13502982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.013859141847200634 Centerline is valid? [True, True] Translation: X:160.65, Y:-124.09, Z:-4.14 [[ 8.43377648e-01 5.37252662e-01 -8.58606104e-03 1.60650442e+02] [ 5.37226662e-01 -8.43421338e-01 -5.28767599e-03 -1.24087754e+02] [-1.00824851e-02 -1.53153178e-04 -9.99949159e-01 -4.13574417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.013983581436922332 Centerline is valid? [True, True] Translation: X:160.68, Y:-124.08, Z:-4.14 [[ 7.98553385e-01 6.01884700e-01 -6.87750404e-03 1.60679073e+02] [ 6.01863794e-01 -7.98582989e-01 -5.01822732e-03 -1.24078140e+02] [-8.51265198e-03 -1.31998264e-04 -9.99963758e-01 -4.13726017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.013572298637337183 Centerline is valid? [True, True] Translation: X:160.71, Y:-124.07, Z:-4.14 [[ 7.49477178e-01 6.62011677e-01 -4.94966356e-03 1.60706986e+02] [ 6.61998083e-01 -7.49493516e-01 -4.24364959e-03 -1.24065855e+02] [-6.51908632e-03 -9.61492703e-05 -9.99978746e-01 -4.13854599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.013344955807109283 Centerline is valid? [True, True] Translation: X:160.73, Y:-124.05, Z:-4.14 [[ 6.96966904e-01 7.17091104e-01 -4.18131071e-03 1.60732759e+02] [ 7.17078831e-01 -6.96979443e-01 -4.19607224e-03 -1.24050589e+02] [-5.92325368e-03 -7.38059161e-05 -9.99982455e-01 -4.13837046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.012729876125935966 Centerline is valid? [True, True] Translation: X:160.75, Y:-124.03, Z:-4.14 [[ 6.42244256e-01 7.66494329e-01 -2.95966660e-03 1.60753148e+02] [ 7.66486444e-01 -6.42251075e-01 -3.47685115e-03 -1.24031589e+02] [-4.56583574e-03 -3.55566502e-05 -9.99989576e-01 -4.13932874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.012233913541143938 Centerline is valid? [True, True] Translation: X:160.77, Y:-124.01, Z:-4.14 [[ 5.83833900e-01 8.11869482e-01 -2.43349218e-03 1.60774820e+02] [ 8.11862529e-01 -5.83838971e-01 -3.36001715e-03 -1.24012746e+02] [-4.14866296e-03 -1.39691967e-05 -9.99991394e-01 -4.14001149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.01218449962431147 Centerline is valid? [True, True] Translation: X:160.80, Y:-123.99, Z:-4.14 [[ 5.20327806e-01 8.53962780e-01 -2.55834107e-03 1.60796312e+02] [ 8.53952513e-01 -5.20334095e-01 -4.18741045e-03 -1.23993274e+02] [-4.90708475e-03 -5.87569355e-06 -9.99987960e-01 -4.13860776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.012269288402998504 Centerline is valid? [True, True] Translation: X:160.82, Y:-123.97, Z:-4.14 [[ 4.54232899e-01 8.90876528e-01 -3.38908732e-03 1.60815017e+02] [ 8.90851557e-01 -4.54245542e-01 -6.67010173e-03 -1.23971995e+02] [-7.48171488e-03 1.06059290e-05 -9.99972012e-01 -4.13584184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.012275855064941946 Centerline is valid? [True, True] Translation: X:160.84, Y:-123.95, Z:-4.14 [[ 3.83178577e-01 9.23668536e-01 -3.25779835e-03 1.60837009e+02] [ 9.23634867e-01 -3.83192426e-01 -7.88649298e-03 -1.23951446e+02] [-8.53286908e-03 1.29190061e-05 -9.99963594e-01 -4.13536836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.012247371578683594 Centerline is valid? [True, True] Translation: X:160.86, Y:-123.93, Z:-4.14 [[ 3.09167261e-01 9.51003878e-01 -2.68877767e-03 1.60855826e+02] [ 9.50967671e-01 -3.09178953e-01 -8.29846941e-03 -1.23930265e+02] [-8.72319005e-03 8.67442253e-06 -9.99961952e-01 -4.13515438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.012105766012559565 Centerline is valid? [True, True] Translation: X:160.87, Y:-123.91, Z:-4.14 [[ 2.33534371e-01 9.72347338e-01 -1.53339365e-03 1.60872749e+02] [ 9.72326227e-01 -2.33539405e-01 -6.40735841e-03 -1.23906013e+02] [-6.58828573e-03 5.37954919e-06 -9.99978297e-01 -4.13710282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.012117772641159532 Centerline is valid? [True, True] Translation: X:160.89, Y:-123.88, Z:-4.14 [[ 1.55361000e-01 9.87857320e-01 -9.35461995e-04 1.60887144e+02] [ 9.87839518e-01 -1.55363817e-01 -5.93047208e-03 -1.23880457e+02] [-6.00379720e-03 -2.72225165e-06 -9.99981977e-01 -4.13786861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.012340203048541777 Centerline is valid? [True, True] Translation: X:160.90, Y:-123.85, Z:-4.14 [[ 7.26393343e-02 9.97358176e-01 -4.41815774e-04 1.60902818e+02] [ 9.97342170e-01 -7.26406716e-02 -5.65049931e-03 -1.23854542e+02] [-5.66766548e-03 -3.01929943e-05 -9.99983938e-01 -4.13787282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.013069000898217614 Centerline is valid? [True, True] Translation: X:160.92, Y:-123.83, Z:-4.14 [[-1.26673861e-02 9.99919765e-01 2.00649772e-06 1.60919197e+02] [ 9.99902743e-01 1.26671822e-02 -5.83493037e-03 -1.23827177e+02] [-5.83448762e-03 -7.19070135e-05 -9.99982977e-01 -4.13778958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.014535721950558394 Centerline is valid? [True, True] Translation: X:160.93, Y:-123.80, Z:-4.14 [[-9.71765691e-02 9.95267047e-01 4.68887446e-04 1.60931686e+02] [ 9.95249317e-01 9.71776372e-02 -5.94172027e-03 -1.23798254e+02] [-5.95916376e-03 -1.10736080e-04 -9.99982238e-01 -4.13719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.016089521139883135 Centerline is valid? [True, True] Translation: X:160.94, Y:-123.77, Z:-4.14 [[-1.77063440e-01 9.84198916e-01 1.01618919e-03 1.60937446e+02] [ 9.84178032e-01 1.77066304e-01 -6.41289022e-03 -1.23768836e+02] [-6.49149247e-03 -1.35377319e-04 -9.99978921e-01 -4.13655179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.01545029530507997 Centerline is valid? [True, True] Translation: X:160.94, Y:-123.74, Z:-4.14 [[-2.53948727e-01 9.67216853e-01 1.26598724e-03 1.60936270e+02] [ 9.67202482e-01 2.53951856e-01 -5.27392052e-03 -1.23739900e+02] [-5.42252462e-03 -1.14839401e-04 -9.99985291e-01 -4.13758649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.015046551293189974 Centerline is valid? [True, True] Translation: X:160.93, Y:-123.71, Z:-4.14 [[-3.28349094e-01 9.44555333e-01 1.44715182e-03 1.60934079e+02] [ 9.44544827e-01 3.28352269e-01 -4.45609162e-03 -1.23710010e+02] [-4.68420069e-03 -9.62538780e-05 -9.99989024e-01 -4.13835749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.014664198166921216 Centerline is valid? [True, True] Translation: X:160.93, Y:-123.68, Z:-4.14 [[-3.99093629e-01 9.16909546e-01 1.07684935e-03 1.60928529e+02] [ 9.16905858e-01 3.99095078e-01 -2.60115556e-03 -1.23680950e+02] [-2.81478964e-03 -5.07351316e-05 -9.99996037e-01 -4.13929549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.013080234840572733 Centerline is valid? [True, True] Translation: X:160.92, Y:-123.65, Z:-4.14 [[-4.64097597e-01 8.85783334e-01 1.14248917e-03 1.60917650e+02] [ 8.85780493e-01 4.64099003e-01 -2.24382507e-03 -1.23654915e+02] [-2.51777094e-03 -2.93592028e-05 -9.99996830e-01 -4.13907357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.012320511830669635 Centerline is valid? [True, True] Translation: X:160.91, Y:-123.63, Z:-4.14 [[-5.26513825e-01 8.50164209e-01 2.00233560e-03 1.60905393e+02] [ 8.50157917e-01 5.26517632e-01 -3.27103549e-03 -1.23630961e+02] [-3.83518231e-03 -1.99439449e-05 -9.99992646e-01 -4.13715866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.012125928979798473 Centerline is valid? [True, True] Translation: X:160.89, Y:-123.61, Z:-4.13 [[-5.88401613e-01 8.08560830e-01 3.59527653e-03 1.60892419e+02] [ 8.08545647e-01 5.88412597e-01 -4.95493709e-03 -1.23606410e+02] [-6.12187405e-03 -8.54779267e-06 -9.99981261e-01 -4.13481303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.012244579574303536 Centerline is valid? [True, True] Translation: X:160.88, Y:-123.58, Z:-4.13 [[-6.48621318e-01 7.61095832e-01 4.84986000e-03 1.60878772e+02] [ 7.61074582e-01 6.48639449e-01 -5.68729770e-03 -1.23584008e+02] [-7.47438909e-03 2.20264252e-06 -9.99972066e-01 -4.13245775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.012311627699592138 Centerline is valid? [True, True] Translation: X:160.86, Y:-123.56, Z:-4.13 [[-7.05319552e-01 7.08865609e-01 5.82052006e-03 1.60863919e+02] [ 7.08841625e-01 7.05343568e-01 -5.83115353e-03 -1.23559592e+02] [-8.23897058e-03 1.30002989e-05 -9.99966059e-01 -4.13269033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.012227167340171369 Centerline is valid? [True, True] Translation: X:160.85, Y:-123.53, Z:-4.13 [[-7.58925455e-01 6.51148483e-01 6.14878181e-03 1.60850357e+02] [ 6.51127214e-01 7.58950363e-01 -5.26294735e-03 -1.23533481e+02] [-8.09358036e-03 9.45445796e-06 -9.99967246e-01 -4.13302641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.01230504274203581 Centerline is valid? [True, True] Translation: X:160.87, Y:-123.51, Z:-4.13 [[-8.03419417e-01 5.95391891e-01 5.07307095e-03 1.60871330e+02] [ 5.95380055e-01 8.03435433e-01 -3.75419389e-03 -1.23514915e+02] [-6.31110155e-03 4.21299607e-06 -9.99980085e-01 -4.13367198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.012384889423960068 Centerline is valid? [True, True] Translation: X:160.89, Y:-123.49, Z:-4.13 [[-8.43896777e-01 5.36494890e-01 3.38562850e-03 1.60888575e+02] [ 5.36490573e-01 8.43903569e-01 -2.15221958e-03 -1.23492095e+02] [-4.01179879e-03 1.06602996e-07 -9.99991953e-01 -4.13494430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.012547305228091896 Centerline is valid? [True, True] Translation: X:160.91, Y:-123.47, Z:-4.13 [[-8.80544478e-01 4.73955358e-01 2.78216366e-03 1.60905046e+02] [ 4.73952975e-01 8.80548873e-01 -1.50321779e-03 -1.23466056e+02] [-3.16228920e-03 -5.03538198e-06 -9.99995000e-01 -4.13460811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.012564570649804586 Centerline is valid? [True, True] Translation: X:160.92, Y:-123.44, Z:-4.13 [[-9.12459038e-01 4.09154379e-01 3.34625227e-03 1.60916005e+02] [ 4.09151583e-01 9.12465174e-01 -1.51268033e-03 -1.23439281e+02] [-3.67225844e-03 -1.11344207e-05 -9.99993257e-01 -4.13405435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.012616748601309171 Centerline is valid? [True, True] Translation: X:160.93, Y:-123.41, Z:-4.13 [[-9.39649745e-01 3.42111086e-01 4.28497302e-03 1.60928085e+02] [ 3.42107428e-01 9.39659515e-01 -1.58216891e-03 -1.23413312e+02] [-4.56769319e-03 -2.07635184e-05 -9.99989568e-01 -4.13362811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.012720194829792439 Centerline is valid? [True, True] Translation: X:160.94, Y:-123.39, Z:-4.13 [[-9.61775202e-01 2.73799402e-01 4.72743316e-03 1.60936037e+02] [ 2.73795957e-01 9.61786820e-01 -1.37370874e-03 -1.23385862e+02] [-4.92290353e-03 -2.68469081e-05 -9.99987882e-01 -4.13321448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.01273215908479849 Centerline is valid? [True, True] Translation: X:160.94, Y:-123.36, Z:-4.13 [[-9.78972978e-01 2.03935112e-01 4.73054050e-03 1.60940993e+02] [ 2.03932577e-01 9.78984407e-01 -1.01732588e-03 -1.23358453e+02] [-4.83859385e-03 -3.12232341e-05 -9.99988293e-01 -4.13327000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.012937063981010525 Centerline is valid? [True, True] Translation: X:160.94, Y:-123.33, Z:-4.13 [[-9.91161425e-01 1.32549142e-01 5.45484958e-03 1.60939113e+02] [ 1.32546891e-01 9.91176434e-01 -7.73634163e-04 -1.23328882e+02] [-5.50926290e-03 -4.37729854e-05 -9.99984823e-01 -4.13267115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.0131580911299955 Centerline is valid? [True, True] Translation: X:161.04, Y:-122.65, Z:-5.12 [[-9.76521002e-01 -2.15327149e-01 6.39930802e-03 1.61043930e+02] [ 2.15323312e-01 -9.76541963e-01 -1.29085324e-03 -1.22654968e+02] [ 6.52714856e-03 1.17374896e-04 9.99978691e-01 -5.12281101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.01322034959686135 Centerline is valid? [True, True] Translation: X:160.89, Y:-123.32, Z:-4.13 [[-9.91993795e-01 1.26076391e-01 7.28378196e-03 1.60888175e+02] [ 1.26072409e-01 9.92020533e-01 -1.00508108e-03 -1.23320850e+02] [-7.35237825e-03 -7.87502516e-05 -9.99972968e-01 -4.13102777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.013766994883668168 Centerline is valid? [True, True] Translation: X:160.89, Y:-123.29, Z:-4.13 [[-9.98531859e-01 5.37113087e-02 7.01588215e-03 1.60893393e+02] [ 5.37093726e-02 9.98556502e-01 -4.64217462e-04 -1.23293177e+02] [-7.03068847e-03 -8.67172966e-05 -9.99975281e-01 -4.13040132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.01409356268960639 Centerline is valid? [True, True] Translation: X:160.94, Y:-122.62, Z:-5.12 [[-9.89221147e-01 -1.46237058e-01 7.49972797e-03 1.60941217e+02] [ 1.46233834e-01 -9.89249567e-01 -9.79354093e-04 -1.22616860e+02] [ 7.56232052e-03 1.27916199e-04 9.99971397e-01 -5.12456790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.013992781294469693 Centerline is valid? [True, True] Translation: X:160.84, Y:-123.29, Z:-4.13 [[-9.98810794e-01 4.79064925e-02 9.05346804e-03 1.60839148e+02] [ 4.79033640e-02 9.98851817e-01 -5.62217328e-04 -1.23292895e+02] [-9.07000686e-03 -1.27857161e-04 -9.99958859e-01 -4.12882563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.014527587787053275 Centerline is valid? [True, True] Translation: X:160.88, Y:-122.61, Z:-5.13 [[-9.89567034e-01 -1.43716993e-01 1.01247941e-02 1.60883473e+02] [ 1.43711712e-01 -9.89618805e-01 -1.25095752e-03 -1.22610707e+02] [ 1.01994704e-02 2.17145163e-04 9.99947961e-01 -5.12732066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.014572185339218944 Centerline is valid? [True, True] Translation: X:160.78, Y:-123.29, Z:-4.13 [[-9.99020409e-01 4.30730115e-02 1.01458077e-02 1.60783927e+02] [ 4.30692496e-02 9.99071916e-01 -5.89082760e-04 -1.23291573e+02] [-1.01617651e-02 -1.51533375e-04 -9.99948356e-01 -4.12664746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.014232317595720904 Centerline is valid? [True, True] Translation: X:160.78, Y:-123.27, Z:-4.13 [[-9.99591848e-01 -2.69683598e-02 9.42577563e-03 1.60783861e+02] [-2.69683946e-02 9.99636279e-01 1.23433264e-04 -1.23265187e+02] [-9.42567607e-03 -1.30815152e-04 -9.99955569e-01 -4.12741198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.014513175110164955 Centerline is valid? [True, True] Translation: X:160.78, Y:-123.24, Z:-4.13 [[-9.95135294e-01 -9.81247787e-02 8.79058929e-03 1.60778974e+02] [-9.81220518e-02 9.95174112e-01 7.42004957e-04 -1.23236478e+02] [-8.82097596e-03 -1.24155337e-04 -9.99961087e-01 -4.12765269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.015268798918110968 Centerline is valid? [True, True] Translation: X:160.77, Y:-123.21, Z:-4.13 [[-9.85284846e-01 -1.70680302e-01 9.05576789e-03 1.60768408e+02] [-1.70674467e-01 9.85326450e-01 1.41902822e-03 -1.23208294e+02] [-9.16508779e-03 -1.47441354e-04 -9.99957989e-01 -4.12703457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.014740133016152039 Centerline is valid? [True, True] Translation: X:160.75, Y:-123.18, Z:-4.13 [[-9.70458700e-01 -2.41103349e-01 8.89311963e-03 1.60754252e+02] [-2.41094669e-01 9.70499434e-01 2.05160715e-03 -1.23184430e+02] [-9.12541693e-03 -1.53083722e-04 -9.99958351e-01 -4.12722222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.01415430126568434 Centerline is valid? [True, True] Translation: X:160.74, Y:-123.16, Z:-4.13 [[-9.51007123e-01 -3.09015215e-01 9.74933450e-03 1.60736411e+02] [-3.09000696e-01 9.51057081e-01 2.99979139e-03 -1.23161627e+02] [-1.01991548e-02 -1.59728166e-04 -9.99947975e-01 -4.12696111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.013217952985279864 Centerline is valid? [True, True] Translation: X:160.71, Y:-123.15, Z:-4.13 [[-9.28010097e-01 -3.72434291e-01 9.48468897e-03 1.60705053e+02] [-3.72416059e-01 9.28058558e-01 3.68678121e-03 -1.23147759e+02] [-1.01754305e-02 -1.10880298e-04 -9.99948223e-01 -4.12725074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.012768867600321617 Centerline is valid? [True, True] Translation: X:160.65, Y:-123.15, Z:-4.13 [[-9.00352178e-01 -4.35068366e-01 9.02625415e-03 1.60650275e+02] [-4.35047157e-01 9.00397420e-01 4.29615641e-03 -1.23145861e+02] [-9.99633770e-03 -5.87924336e-05 -9.99950034e-01 -4.12815259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.01275326892898415 Centerline is valid? [True, True] Translation: X:160.59, Y:-123.15, Z:-4.13 [[-8.69746687e-01 -4.93442101e-01 7.45612367e-03 1.60588201e+02] [-4.93423795e-01 8.69778646e-01 4.25048860e-03 -1.23151033e+02] [-8.58254718e-03 1.78195456e-05 -9.99963169e-01 -4.12859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.013132260064988032 Centerline is valid? [True, True] Translation: X:160.51, Y:-123.17, Z:-4.13 [[-8.32014301e-01 -5.54706489e-01 7.27414949e-03 1.60514712e+02] [-5.54684876e-01 8.32046098e-01 4.89684514e-03 -1.23166206e+02] [-8.76873948e-03 3.93844856e-05 -9.99961553e-01 -4.12791604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.014067873063835936 Centerline is valid? [True, True] Translation: X:160.44, Y:-123.19, Z:-4.13 [[-7.91937885e-01 -6.10564110e-01 6.77157462e-03 1.60439548e+02] [-6.10540789e-01 7.91966830e-01 5.33721573e-03 -1.23190092e+02] [-8.62157485e-03 9.24208301e-05 -9.99962829e-01 -4.12789134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.015122384870659035 Centerline is valid? [True, True] Translation: X:160.36, Y:-123.23, Z:-4.13 [[-7.45486384e-01 -6.66487918e-01 6.62620993e-03 1.60356304e+02] [-6.66460163e-01 7.45515823e-01 6.08354735e-03 -1.23225571e+02] [-8.99455515e-03 1.19096766e-04 -9.99959541e-01 -4.12655830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.015328702589596226 Centerline is valid? [True, True] Translation: X:160.27, Y:-123.27, Z:-4.13 [[-6.92767330e-01 -7.21132456e-01 6.43487754e-03 1.60271127e+02] [-7.21099716e-01 6.92797204e-01 6.87270865e-03 -1.23267877e+02] [-9.41419844e-03 1.20999651e-04 -9.99955678e-01 -4.12563179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.015237954755436031 Centerline is valid? [True, True] Translation: X:160.18, Y:-123.33, Z:-4.12 [[-6.33237309e-01 -7.73928622e-01 6.70812579e-03 1.60177035e+02] [-7.73883607e-01 6.33272832e-01 8.34765491e-03 -1.23325422e+02] [-1.07085629e-02 9.47379477e-05 -9.99942657e-01 -4.12349364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.014812590361809215 Centerline is valid? [True, True] Translation: X:160.10, Y:-123.38, Z:-4.12 [[-5.68612340e-01 -8.22580945e-01 6.37142042e-03 1.60095122e+02] [-8.22528450e-01 5.68648034e-01 9.29313078e-03 -1.23379525e+02] [-1.12674480e-02 4.35142788e-05 -9.99936519e-01 -4.12447398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.014560934579958055 Centerline is valid? [True, True] Translation: X:160.01, Y:-123.45, Z:-4.12 [[-5.01148168e-01 -8.65346099e-01 5.16177616e-03 1.60012391e+02] [-8.65300211e-01 5.01174750e-01 8.91147902e-03 -1.23452473e+02] [-1.02984655e-02 -5.14620330e-07 -9.99946969e-01 -4.12496501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.014680276103918246 Centerline is valid? [True, True] Translation: X:159.93, Y:-123.53, Z:-4.12 [[-4.30778995e-01 -9.02448286e-01 4.06799110e-03 1.59934212e+02] [-9.02408761e-01 4.30798201e-01 8.44620925e-03 -1.23534312e+02] [-9.37475030e-03 -3.25412758e-05 -9.99956056e-01 -4.12491010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.014634127621554395 Centerline is valid? [True, True] Translation: X:159.87, Y:-123.62, Z:-4.13 [[-3.58509588e-01 -9.33520157e-01 3.31550454e-03 1.59865607e+02] [-9.33481606e-01 3.58524914e-01 8.48393144e-03 -1.23619577e+02] [-9.10861199e-03 -5.33917414e-05 -9.99958514e-01 -4.12674778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.015200436255717082 Centerline is valid? [True, True] Translation: X:159.80, Y:-123.71, Z:-4.13 [[-2.82314942e-01 -9.59318372e-01 2.55643064e-03 1.59799084e+02] [-9.59281792e-01 2.82326502e-01 8.37787771e-03 -1.23714807e+02] [-8.75880012e-03 -8.71373056e-05 -9.99961637e-01 -4.12714826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.015101875721010745 Centerline is valid? [True, True] Translation: X:159.74, Y:-123.82, Z:-4.13 [[-2.05476632e-01 -9.78660345e-01 1.81182014e-03 1.59742304e+02] [-9.78626720e-01 2.05484592e-01 8.11328152e-03 -1.23815437e+02] [-8.31244801e-03 -1.06005840e-04 -9.99965445e-01 -4.12895406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.015941561467701013 Centerline is valid? [True, True] Translation: X:159.69, Y:-123.92, Z:-4.13 [[-1.25555583e-01 -9.92085897e-01 1.16992551e-03 1.59689962e+02] [-9.92052719e-01 1.25560954e-01 8.11475946e-03 -1.23921190e+02] [-8.19743538e-03 -1.41774423e-04 -9.99966390e-01 -4.12930342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.01722190641848728 Centerline is valid? [True, True] Translation: X:159.65, Y:-124.03, Z:-4.13 [[-4.64194673e-02 -9.98921840e-01 6.24617502e-04 1.59645845e+02] [-9.98878207e-01 4.64232790e-02 9.33847241e-03 -1.24031873e+02] [-9.35740083e-03 -1.90429896e-04 -9.99956200e-01 -4.12747927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.017023112421847075 Centerline is valid? [True, True] Translation: X:159.62, Y:-124.14, Z:-4.13 [[ 3.11859897e-02 -9.99513594e-01 -1.02196006e-04 1.59615817e+02] [-9.99459401e-01 -3.11853632e-02 1.04105439e-02 -1.24144038e+02] [-1.04086672e-02 -2.22522357e-04 -9.99945804e-01 -4.12748184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.017257076772578813 Centerline is valid? [True, True] Translation: X:159.59, Y:-124.25, Z:-4.13 [[ 1.06582238e-01 -9.94303404e-01 -9.83517303e-04 1.59592435e+02] [-9.94238052e-01 -1.06586512e-01 1.14022696e-02 -1.24251031e+02] [-1.14421452e-02 -2.37429091e-04 -9.99934508e-01 -4.12587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.016413658287621168 Centerline is valid? [True, True] Translation: X:159.58, Y:-124.36, Z:-4.13 [[ 1.79599611e-01 -9.83738199e-01 -1.77073490e-03 1.59582382e+02] [-9.83679070e-01 -1.79608233e-01 1.07875173e-02 -1.24364668e+02] [-1.09301315e-02 -1.95599056e-04 -9.99940245e-01 -4.12642137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.015073267451729684 Centerline is valid? [True, True] Translation: X:159.58, Y:-124.48, Z:-4.13 [[ 2.50434744e-01 -9.68130721e-01 -2.31235925e-03 1.59582693e+02] [-9.68084379e-01 -2.50445383e-01 9.47335111e-03 -1.24475506e+02] [-9.75056193e-03 -1.33897388e-04 -9.99952453e-01 -4.12855222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.014575746948093504 Centerline is valid? [True, True] Translation: X:159.59, Y:-124.59, Z:-4.13 [[ 3.20054361e-01 -9.47394068e-01 -3.11221023e-03 1.59589915e+02] [-9.47346294e-01 -3.20069477e-01 9.51465398e-03 -1.24588337e+02] [-1.00102502e-02 -9.68656646e-05 -9.99949892e-01 -4.12794384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.01415880042452905 Centerline is valid? [True, True] Translation: X:159.61, Y:-124.71, Z:-4.13 [[ 3.90094394e-01 -9.20766789e-01 -3.85795529e-03 1.59607372e+02] [-9.20719699e-01 -3.90113463e-01 9.31242118e-03 -1.24706925e+02] [-1.00796084e-02 -8.06278597e-05 -9.99949196e-01 -4.12878907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.014145715703262837 Centerline is valid? [True, True] Translation: X:159.63, Y:-124.82, Z:-4.13 [[ 4.58584350e-01 -8.88640354e-01 -4.32613897e-03 1.59631789e+02] [-8.88599413e-01 -4.58604750e-01 8.53026153e-03 -1.24824355e+02] [-9.56432251e-03 -6.76398869e-05 -9.99954259e-01 -4.12872586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.014157078922627027 Centerline is valid? [True, True] Translation: X:159.66, Y:-124.93, Z:-4.13 [[ 5.25807243e-01 -8.50585721e-01 -5.53848186e-03 1.59656523e+02] [-8.50536839e-01 -5.25836405e-01 9.11924137e-03 -1.24928161e+02] [-1.06690319e-02 -8.42803111e-05 -9.99943081e-01 -4.12888129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.014379524972679256 Centerline is valid? [True, True] Translation: X:159.69, Y:-125.04, Z:-4.13 [[ 5.90303551e-01 -8.07154634e-01 -6.56616720e-03 1.59694119e+02] [-8.07102708e-01 -5.90340060e-01 9.15606272e-03 -1.25036710e+02] [-1.12666300e-02 -1.05285007e-04 -9.99936524e-01 -4.12775951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.014491391126759446 Centerline is valid? [True, True] Translation: X:159.74, Y:-125.14, Z:-4.13 [[ 6.51533109e-01 -7.58581574e-01 -7.65535141e-03 1.59735579e+02] [-7.58526768e-01 -6.51578067e-01 9.11944297e-03 -1.25135358e+02] [-1.19059005e-02 -1.34830063e-04 -9.99929113e-01 -4.12888245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.01462670017081619 Centerline is valid? [True, True] Translation: X:159.78, Y:-125.23, Z:-4.13 [[ 7.08270132e-01 -7.05903259e-01 -7.34910403e-03 1.59783730e+02] [-7.05863286e-01 -7.08308246e-01 7.51338192e-03 -1.25231111e+02] [-1.05091518e-02 -1.34041285e-04 -9.99944768e-01 -4.13049144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.014501932316198675 Centerline is valid? [True, True] Translation: X:159.84, Y:-125.32, Z:-4.13 [[ 7.59778402e-01 -6.50147023e-01 -6.75489251e-03 1.59836937e+02] [-6.50119971e-01 -7.59808420e-01 5.93200437e-03 -1.25320462e+02] [-8.98909919e-03 -1.15518277e-04 -9.99959591e-01 -4.13164207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.014069649786880438 Centerline is valid? [True, True] Translation: X:159.86, Y:-125.35, Z:-4.13 [[ 8.07585381e-01 -5.89703937e-01 -7.42428377e-03 1.59859692e+02] [-5.89677778e-01 -8.07619499e-01 5.55540290e-03 -1.25348771e+02] [-9.27203929e-03 -1.08527004e-04 -9.99957008e-01 -4.13187490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.01395044063823188 Centerline is valid? [True, True] Translation: X:159.88, Y:-125.38, Z:-4.13 [[ 8.50513058e-01 -5.25880178e-01 -8.80778327e-03 1.59883919e+02] [-5.25850662e-01 -8.50558656e-01 5.57265445e-03 -1.25375612e+02] [-1.04220848e-02 -1.08036710e-04 -9.99945683e-01 -4.13041889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.013706956908609071 Centerline is valid? [True, True] Translation: X:159.91, Y:-125.40, Z:-4.13 [[ 8.88678255e-01 -4.58431806e-01 -9.55184906e-03 1.59910428e+02] [-4.58404063e-01 -8.88729581e-01 5.04446601e-03 -1.25401558e+02] [-1.08015545e-02 -1.04300830e-04 -9.99941656e-01 -4.13043381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.013742696629254144 Centerline is valid? [True, True] Translation: X:159.94, Y:-125.42, Z:-4.13 [[ 9.21220961e-01 -3.88903281e-01 -1.03043031e-02 1.59937769e+02] [-3.88877840e-01 -9.21278584e-01 4.44930799e-03 -1.25423734e+02] [-1.12234843e-02 -9.16806351e-05 -9.99937011e-01 -4.12928545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.013532901439379252 Centerline is valid? [True, True] Translation: X:159.97, Y:-125.44, Z:-4.13 [[ 9.48706003e-01 -3.15978276e-01 -1.07073906e-02 1.59968424e+02] [-3.15957090e-01 -9.48766421e-01 3.66011822e-03 -1.25443372e+02] [-1.13153305e-02 -8.93001430e-05 -9.99935976e-01 -4.12930270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.013727682341877115 Centerline is valid? [True, True] Translation: X:160.00, Y:-125.46, Z:-4.13 [[ 9.70700170e-01 -2.40005526e-01 -1.17697475e-02 1.60000513e+02] [-2.39986555e-01 -9.70771516e-01 3.01950571e-03 -1.25461317e+02] [-1.21504336e-02 -1.06453556e-04 -9.99926175e-01 -4.12734421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.013847090665580434 Centerline is valid? [True, True] Translation: X:160.03, Y:-125.48, Z:-4.13 [[ 9.86629389e-01 -1.62456415e-01 -1.30523031e-02 1.60034120e+02] [-1.62440480e-01 -9.86715712e-01 2.27900489e-03 -1.25475882e+02] [-1.32491516e-02 -1.28310821e-04 -9.99912218e-01 -4.12673960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.013778779885497262 Centerline is valid? [True, True] Translation: X:160.07, Y:-125.49, Z:-4.13 [[ 9.96289675e-01 -8.51936439e-02 -1.22035247e-02 1.60065065e+02] [-8.51858670e-02 -9.96364406e-01 1.15661056e-03 -1.25486690e+02] [-1.22576936e-02 -1.12751323e-04 -9.99924865e-01 -4.12747558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.013648570429753494 Centerline is valid? [True, True] Translation: X:160.10, Y:-125.49, Z:-4.13 [[ 9.99901166e-01 -7.78727451e-03 -1.17054220e-02 1.60096537e+02] [-7.78559707e-03 -9.99969674e-01 1.88866962e-04 -1.25493017e+02] [-1.17065378e-02 -9.77145964e-05 -9.99931471e-01 -4.12833327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.013392668595110253 Centerline is valid? [True, True] Translation: X:160.13, Y:-125.50, Z:-4.13 [[ 9.97549665e-01 6.90455779e-02 -1.12860046e-02 1.60128910e+02] [ 6.90420384e-02 -9.97613503e-01 -7.03398614e-04 -1.25498709e+02] [-1.13076371e-02 -7.75337100e-05 -9.99936064e-01 -4.12910153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.013278048731108053 Centerline is valid? [True, True] Translation: X:160.16, Y:-125.50, Z:-4.13 [[ 9.89165804e-01 1.46392853e-01 -1.09610257e-02 1.60161523e+02] [ 1.46384648e-01 -9.89226530e-01 -1.55146125e-03 -1.25502991e+02] [-1.10700603e-02 -6.98734872e-05 -9.99938723e-01 -4.12986428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.013296781790724368 Centerline is valid? [True, True] Translation: X:160.19, Y:-125.50, Z:-4.13 [[ 9.75069120e-01 2.21692474e-01 -9.62590006e-03 1.60193766e+02] [ 2.21682128e-01 -9.75116631e-01 -2.14228620e-03 -1.25503494e+02] [-9.86130397e-03 -4.50128847e-05 -9.99951375e-01 -4.13109793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.01314707977180246 Centerline is valid? [True, True] Translation: X:160.23, Y:-125.50, Z:-4.13 [[ 9.55065992e-01 2.96249770e-01 -9.22091323e-03 1.60225837e+02] [ 2.96236293e-01 -9.55110503e-01 -2.82598963e-03 -1.25503192e+02] [-9.64418985e-03 -3.25625684e-05 -9.99953493e-01 -4.13093936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.013282259428615016 Centerline is valid? [True, True] Translation: X:160.26, Y:-125.50, Z:-4.13 [[ 9.29045861e-01 3.69838618e-01 -9.65326485e-03 1.60256968e+02] [ 3.69819015e-01 -9.29096010e-01 -3.80798299e-03 -1.25500179e+02] [-1.03771490e-02 -3.21700596e-05 -9.99946155e-01 -4.12969159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.013162267345116947 Centerline is valid? [True, True] Translation: X:160.29, Y:-125.49, Z:-4.13 [[ 8.97601012e-01 4.40683809e-01 -1.04977727e-02 1.60287088e+02] [ 4.40654015e-01 -8.97662398e-01 -5.12437612e-03 -1.25491492e+02] [-1.16816854e-02 -2.62404938e-05 -9.99931766e-01 -4.12917905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.013195060036937078 Centerline is valid? [True, True] Translation: X:160.32, Y:-125.48, Z:-4.13 [[ 8.60806832e-01 5.08830449e-01 -1.01573433e-02 1.60315511e+02] [ 5.08795251e-01 -8.60866757e-01 -5.98487900e-03 -1.25479974e+02] [-1.17894079e-02 -1.61833175e-05 -9.99930502e-01 -4.12807178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.0131536686999197 Centerline is valid? [True, True] Translation: X:160.34, Y:-125.47, Z:-4.13 [[ 8.18527541e-01 5.74390484e-01 -9.39344322e-03 1.60344032e+02] [ 5.74352825e-01 -8.18581439e-01 -6.57728575e-03 -1.25467637e+02] [-1.14672286e-02 -1.14611209e-05 -9.99934249e-01 -4.12889951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.013209595681691645 Centerline is valid? [True, True] Translation: X:160.37, Y:-125.45, Z:-4.13 [[ 7.71440677e-01 6.36242113e-01 -8.67494335e-03 1.60370798e+02] [ 6.36201956e-01 -7.71489451e-01 -7.14833284e-03 -1.25452300e+02] [-1.12406977e-02 -4.50119457e-06 -9.99936821e-01 -4.12911428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.013175606580847628 Centerline is valid? [True, True] Translation: X:160.40, Y:-125.44, Z:-4.13 [[ 7.19438959e-01 6.94510777e-01 -7.89712221e-03 1.60396834e+02] [ 6.94468958e-01 -7.19482300e-01 -7.62148382e-03 -1.25436273e+02] [-1.09750423e-02 -1.11384282e-06 -9.99939772e-01 -4.12947751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.013037573801823106 Centerline is valid? [True, True] Translation: X:160.42, Y:-125.42, Z:-4.13 [[ 6.62545867e-01 7.48990523e-01 -6.79486810e-03 1.60423414e+02] [ 7.48951218e-01 -6.62580709e-01 -7.67318127e-03 -1.25419893e+02] [-1.02492886e-02 -5.19020448e-06 -9.99947475e-01 -4.13088782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.013060282833385615 Centerline is valid? [True, True] Translation: X:160.45, Y:-125.40, Z:-4.13 [[ 6.01220445e-01 7.99056026e-01 -6.59118235e-03 1.60448225e+02] [ 7.99008269e-01 -6.01256573e-01 -8.73611613e-03 -1.25401811e+02] [-1.09436379e-02 -1.40775668e-05 -9.99940117e-01 -4.13088683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.013293495836796015 Centerline is valid? [True, True] Translation: X:160.47, Y:-125.38, Z:-4.13 [[ 5.33958605e-01 8.45491221e-01 -5.72737955e-03 1.60471917e+02] [ 8.45443583e-01 -5.33989319e-01 -8.97529950e-03 -1.25382903e+02] [-1.06468964e-02 -4.97378809e-05 -9.99943319e-01 -4.13004473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.013698012317352157 Centerline is valid? [True, True] Translation: X:160.49, Y:-125.36, Z:-4.13 [[ 4.61874322e-01 8.86931231e-01 -5.01033313e-03 1.60494891e+02] [ 8.86881392e-01 -4.61901485e-01 -9.40293019e-03 -1.25361177e+02] [-1.06540328e-02 -1.00599222e-04 -9.99943239e-01 -4.13039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.014497932396075696 Centerline is valid? [True, True] Translation: X:160.52, Y:-125.34, Z:-4.13 [[ 3.85928526e-01 9.22514451e-01 -5.12450904e-03 1.60515800e+02] [ 9.22439616e-01 -3.85962500e-01 -1.17517297e-02 -1.25338228e+02] [-1.28190087e-02 -1.91722444e-04 -9.99917815e-01 -4.12974322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.015858300411338688 Centerline is valid? [True, True] Translation: X:160.53, Y:-125.31, Z:-4.13 [[ 3.09494891e-01 9.50890904e-01 -4.40463035e-03 1.60533840e+02] [ 9.50805554e-01 -3.09526135e-01 -1.27424694e-02 -1.25314379e+02] [-1.34800465e-02 -2.44217828e-04 -9.99909110e-01 -4.12826355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.017441215241769482 Centerline is valid? [True, True] Translation: X:160.55, Y:-125.29, Z:-4.13 [[ 2.30998968e-01 9.72947693e-01 -3.50187475e-03 1.60546354e+02] [ 9.72854532e-01 -2.31025320e-01 -1.34670033e-02 -1.25287809e+02] [-1.39117115e-02 -2.95950869e-04 -9.99903184e-01 -4.12666285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.015906577591185078 Centerline is valid? [True, True] Translation: X:160.55, Y:-125.26, Z:-4.13 [[ 1.56246791e-01 9.87715425e-01 -2.27594721e-03 1.60551107e+02] [ 9.87632550e-01 -1.56263169e-01 -1.27971608e-02 -1.25258592e+02] [-1.29955998e-02 -2.48284236e-04 -9.99915523e-01 -4.12926185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.01429622701166547 Centerline is valid? [True, True] Translation: X:160.55, Y:-125.23, Z:-4.13 [[ 8.53310242e-02 9.96352088e-01 -1.06442321e-03 1.60549550e+02] [ 9.96292787e-01 -8.53375594e-02 -1.08711943e-02 -1.25230446e+02] [-1.09223724e-02 -1.32827025e-04 -9.99940340e-01 -4.13098908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.013362043356805813 Centerline is valid? [True, True] Translation: X:160.55, Y:-125.20, Z:-4.13 [[ 1.21813598e-02 9.99925786e-01 -1.92427271e-04 1.60547336e+02] [ 9.99875613e-01 -1.21826763e-02 -1.00170023e-02 -1.25202326e+02] [-1.00186032e-02 -7.03826267e-05 -9.99949810e-01 -4.13223686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.013012696741314111 Centerline is valid? [True, True] Translation: X:160.54, Y:-125.17, Z:-4.13 [[-6.21506325e-02 9.98066611e-01 5.82672612e-04 1.60542567e+02] [ 9.98018178e-01 6.21533567e-02 -9.83245610e-03 -1.25174298e+02] [-9.84966119e-03 -2.95755067e-05 -9.99951491e-01 -4.13236710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.013046973022070826 Centerline is valid? [True, True] Translation: X:160.53, Y:-125.15, Z:-4.13 [[-1.37098285e-01 9.90556104e-01 1.63258685e-03 1.60534441e+02] [ 9.90485964e-01 1.37108005e-01 -1.17877354e-02 -1.25147506e+02] [-1.19002540e-02 9.76058156e-07 -9.99929190e-01 -4.13034253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.013267747146627935 Centerline is valid? [True, True] Translation: X:160.53, Y:-125.12, Z:-4.13 [[-2.14878849e-01 9.76636473e-01 2.87748718e-03 1.60526767e+02] [ 9.76548453e-01 2.14898114e-01 -1.31118110e-02 -1.25122459e+02] [-1.34238394e-02 -7.44519772e-06 -9.99909896e-01 -4.12823145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.013439558584697153 Centerline is valid? [True, True] Translation: X:160.52, Y:-125.10, Z:-4.13 [[-2.91443195e-01 9.56578070e-01 4.38869522e-03 1.60516393e+02] [ 9.56468612e-01 2.91476236e-01 -1.44705758e-02 -1.25097452e+02] [-1.51214358e-02 -1.97016104e-05 -9.99885664e-01 -4.12601583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.013553275628029332 Centerline is valid? [True, True] Translation: X:160.50, Y:-125.08, Z:-4.13 [[-3.64489881e-01 9.31190352e-01 5.62629542e-03 1.60500315e+02] [ 9.31079286e-01 3.64533302e-01 -1.43817809e-02 -1.25075095e+02] [-1.54431477e-02 -3.48648876e-06 -9.99880748e-01 -4.12542748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.01355655009545411 Centerline is valid? [True, True] Translation: X:160.48, Y:-125.06, Z:-4.13 [[-4.34339017e-01 9.00728627e-01 6.12856028e-03 1.60480763e+02] [ 9.00639875e-01 4.34382251e-01 -1.26441633e-02 -1.25055391e+02] [-1.40510976e-02 2.77723096e-05 -9.99901278e-01 -4.12682161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.014111162601485072 Centerline is valid? [True, True] Translation: X:160.46, Y:-125.04, Z:-4.13 [[-5.00329635e-01 8.65813177e-01 6.14807156e-03 1.60457249e+02] [ 8.65749521e-01 5.00367402e-01 -1.04990642e-02 -1.25039811e+02] [-1.21665227e-02 6.96970790e-05 -9.99925983e-01 -4.12835524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.014436634597282167 Centerline is valid? [True, True] Translation: X:160.43, Y:-125.02, Z:-4.13 [[-5.65312531e-01 8.24848861e-01 6.78957921e-03 1.60433537e+02] [ 8.24791215e-01 5.65353295e-01 -9.75207935e-03 -1.25024894e+02] [-1.18825025e-02 8.70126309e-05 -9.99929397e-01 -4.12817623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.014758362391541834 Centerline is valid? [True, True] Translation: X:160.41, Y:-125.01, Z:-4.13 [[-6.27950181e-01 7.78214677e-01 7.77727273e-03 1.60409147e+02] [ 7.78156844e-01 6.27998334e-01 -9.48787908e-03 -1.25012977e+02] [-1.22677211e-02 9.40226157e-05 -9.99924744e-01 -4.12714597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.014459691042171879 Centerline is valid? [True, True] Translation: X:160.39, Y:-125.00, Z:-4.13 [[-6.88287168e-01 7.25374994e-01 9.58604914e-03 1.60386117e+02] [ 7.25306284e-01 6.88353915e-01 -9.98409587e-03 -1.25000137e+02] [-1.38408079e-02 8.08966056e-05 -9.99904208e-01 -4.12608568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.014322900187127532 Centerline is valid? [True, True] Translation: X:160.36, Y:-124.99, Z:-4.13 [[-7.43647780e-01 6.68489379e-01 1.04846762e-02 1.60361133e+02] [ 6.68424239e-01 7.43721685e-01 -9.33227187e-03 -1.24989765e+02] [-1.40362057e-02 6.82884736e-05 -9.99901485e-01 -4.12547161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.01396238745217368 Centerline is valid? [True, True] Translation: X:160.38, Y:-124.97, Z:-4.12 [[-7.90880287e-01 6.11867244e-01 1.12626824e-02 1.60384175e+02] [ 6.11805694e-01 7.90960477e-01 -8.67853947e-03 -1.24968403e+02] [-1.42184506e-02 2.68874300e-05 -9.99898912e-01 -4.12479523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.013706170280210827 Centerline is valid? [True, True] Translation: X:160.40, Y:-124.94, Z:-4.13 [[-8.33333706e-01 5.52661389e-01 1.09692483e-02 1.60402483e+02] [ 5.52613477e-01 8.33405897e-01 -7.27703847e-03 -1.24944313e+02] [-1.31635744e-02 -2.44699200e-06 -9.99913356e-01 -4.12572672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.013620370521077568 Centerline is valid? [True, True] Translation: X:160.42, Y:-124.92, Z:-4.13 [[-8.71510417e-01 4.90266630e-01 1.04030787e-02 1.60418926e+02] [ 4.90231286e-01 8.71572504e-01 -5.88693242e-03 -1.24916689e+02] [-1.19532039e-02 -3.06082547e-05 -9.99928557e-01 -4.12676466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.013903754532490332 Centerline is valid? [True, True] Translation: X:160.43, Y:-124.89, Z:-4.13 [[-9.04573814e-01 4.26169914e-01 1.11990698e-02 1.60434617e+02] [ 4.26136605e-01 9.04643135e-01 -5.32841079e-03 -1.24890107e+02] [-1.24019700e-02 -4.76072681e-05 -9.99923092e-01 -4.12532042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.013212274390400092 Centerline is valid? [True, True] Translation: X:160.44, Y:-124.87, Z:-4.13 [[-9.32230832e-01 3.61633010e-01 1.29322249e-02 1.60444736e+02] [ 3.61597557e-01 9.32320526e-01 -5.06385218e-03 -1.24865397e+02] [-1.38882348e-02 -4.44181959e-05 -9.99903553e-01 -4.12854709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.012948088621097052 Centerline is valid? [True, True] Translation: X:160.46, Y:-124.84, Z:-4.13 [[-9.54784138e-01 2.97011813e-01 1.30856077e-02 1.60455752e+02] [ 2.96983768e-01 9.54873805e-01 -4.08151107e-03 -1.24842175e+02] [-1.37073610e-02 -1.07489398e-05 -9.99906050e-01 -4.13061870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.013167964501346005 Centerline is valid? [True, True] Translation: X:160.46, Y:-124.82, Z:-4.13 [[-9.73122460e-01 2.29962189e-01 1.22502648e-02 1.60462677e+02] [ 2.29944075e-01 9.73199564e-01 -2.88627986e-03 -1.24816752e+02] [-1.25856876e-02 8.17206437e-06 -9.99920797e-01 -4.12914602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.013438349430561986 Centerline is valid? [True, True] Translation: X:160.47, Y:-124.79, Z:-4.13 [[-9.86337226e-01 1.64352300e-01 1.12782553e-02 1.60470482e+02] [ 1.64342175e-01 9.86401703e-01 -1.82503636e-03 -1.24793589e+02] [-1.14248391e-02 5.33917037e-05 -9.99934733e-01 -4.12997436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.01339041403807219 Centerline is valid? [True, True] Translation: X:160.59, Y:-124.09, Z:-5.12 [[-9.76004778e-01 -2.17457116e-01 1.12728196e-02 1.60590573e+02] [ 2.17442068e-01 -9.76069875e-01 -2.55857825e-03 -1.24091848e+02] [ 1.15594407e-02 -4.59993796e-05 9.99933186e-01 -5.12197296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.01487184137218753 Centerline is valid? [True, True] Translation: X:160.42, Y:-124.79, Z:-4.13 [[-9.86051190e-01 1.66010545e-01 1.19812322e-02 1.60420422e+02] [ 1.65999822e-01 9.86123970e-01 -1.89090931e-03 -1.24790221e+02] [-1.21288911e-02 1.24349037e-04 -9.99926435e-01 -4.12847394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.013867506101866586 Centerline is valid? [True, True] Translation: X:160.54, Y:-124.08, Z:-5.12 [[-9.77363158e-01 -2.11216364e-01 1.22026554e-02 1.60536529e+02] [ 2.11198567e-01 -9.77439326e-01 -2.74383148e-03 -1.24083548e+02] [ 1.25068974e-02 -1.04536466e-04 9.99921780e-01 -5.12307184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.013591104896412427 Centerline is valid? [True, True] Translation: X:160.37, Y:-124.78, Z:-4.13 [[-9.86905939e-01 1.60759251e-01 1.31579359e-02 1.60370727e+02] [ 1.60746556e-01 9.86993642e-01 -2.02368823e-03 -1.24778004e+02] [-1.33121257e-02 1.17902952e-04 -9.99911383e-01 -4.13148613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.013095932879196888 Centerline is valid? [True, True] Translation: X:160.48, Y:-124.08, Z:-5.12 [[-9.76621732e-01 -2.14610333e-01 1.23449568e-02 1.60479407e+02] [ 2.14591168e-01 -9.76699739e-01 -2.87228253e-03 -1.24081225e+02] [ 1.26737375e-02 -1.56014856e-04 9.99919673e-01 -5.12160895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.012969563067166026 Centerline is valid? [True, True] Translation: X:160.32, Y:-124.76, Z:-4.13 [[-9.89339079e-01 1.45088109e-01 1.25549454e-02 1.60315222e+02] [ 1.45075928e-01 9.89418738e-01 -1.88044882e-03 -1.24760393e+02] [-1.26949290e-02 -3.89811513e-05 -9.99919415e-01 -4.13325402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.013289291862202516 Centerline is valid? [True, True] Translation: X:160.32, Y:-124.73, Z:-4.13 [[-9.97490007e-01 6.96668728e-02 1.26575064e-02 1.60317680e+02] [ 6.96599866e-02 9.97570307e-01 -9.84643304e-04 -1.24729967e+02] [-1.26953496e-02 -1.00450129e-04 -9.99919406e-01 -4.13334684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.014897634986198605 Centerline is valid? [True, True] Translation: X:160.31, Y:-124.70, Z:-4.13 [[-9.99887768e-01 -8.52723115e-03 1.23182278e-02 1.60308567e+02] [-8.52888048e-03 9.99963625e-01 -8.13660769e-05 -1.24695926e+02] [-1.23170859e-02 -1.86417638e-04 -9.99924124e-01 -4.13317008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.01587822107616095 Centerline is valid? [True, True] Translation: X:160.32, Y:-124.03, Z:-5.12 [[-9.95413946e-01 -9.49361104e-02 1.17563585e-02 1.60315946e+02] [ 9.49311695e-02 -9.95483357e-01 -9.78866815e-04 -1.24029968e+02] [ 1.17961890e-02 1.41667179e-04 9.99930413e-01 -5.11906649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.018288020754804936 Centerline is valid? [True, True] Translation: X:160.25, Y:-124.69, Z:-4.13 [[-9.99688682e-01 -2.18142091e-02 1.21110893e-02 1.60248828e+02] [-2.18161654e-02 9.99761999e-01 -2.94250703e-05 -1.24686349e+02] [-1.21075649e-02 -2.93633437e-04 -9.99926658e-01 -4.13357622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.01954958430589868 Centerline is valid? [True, True] Translation: X:160.25, Y:-124.04, Z:-5.12 [[-9.95258800e-01 -9.64004041e-02 1.29183611e-02 1.60248561e+02] [ 9.63971037e-02 -9.95342567e-01 -8.79369220e-04 -1.24039703e+02] [ 1.29429663e-02 3.70092643e-04 9.99916168e-01 -5.12151453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.01725722026507965 Centerline is valid? [True, True] Translation: X:160.19, Y:-124.69, Z:-4.13 [[-9.99539531e-01 -2.70583603e-02 1.37320950e-02 1.60188239e+02] [-2.70605598e-02 9.99633796e-01 2.56454062e-05 -1.24686491e+02] [-1.37277602e-02 -3.45964581e-04 -9.99905710e-01 -4.13424394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.01869754907212765 Centerline is valid? [True, True] Translation: X:160.19, Y:-124.66, Z:-4.13 [[-9.95294496e-01 -9.59062642e-02 1.38149920e-02 1.60185205e+02] [-9.59014709e-02 9.95390319e-01 1.01054503e-03 -1.24657920e+02] [-1.38482269e-02 -3.19088147e-04 -9.99904058e-01 -4.13278643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.01595420495227638 Centerline is valid? [True, True] Translation: X:160.18, Y:-124.64, Z:-4.14 [[-9.86642314e-01 -1.62336807e-01 1.35537609e-02 1.60176828e+02] [-1.62325073e-01 9.86735372e-01 1.96876635e-03 -1.24636474e+02] [-1.36935786e-02 -2.57647041e-04 -9.99906205e-01 -4.13501964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.014824150502822311 Centerline is valid? [True, True] Translation: X:160.17, Y:-124.61, Z:-4.14 [[-9.73224168e-01 -2.29437787e-01 1.38932119e-02 1.60167200e+02] [-2.29417733e-01 9.73323302e-01 3.04195581e-03 -1.24613590e+02] [-1.42205265e-02 -2.26844264e-04 -9.99898858e-01 -4.13554710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.014915558706384967 Centerline is valid? [True, True] Translation: X:160.15, Y:-124.59, Z:-4.14 [[-9.54636214e-01 -2.97414396e-01 1.46415758e-02 1.60148763e+02] [-2.97383060e-01 9.54748462e-01 4.32317232e-03 -1.24590728e+02] [-1.52647957e-02 -2.27099771e-04 -9.99883460e-01 -4.13517188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.014598835820220904 Centerline is valid? [True, True] Translation: X:160.12, Y:-124.57, Z:-4.14 [[-9.31370021e-01 -3.63739775e-01 1.55968063e-02 1.60119631e+02] [-3.63692695e-01 9.31500579e-01 5.85622267e-03 -1.24572521e+02] [-1.66585752e-02 -2.18134274e-04 -9.99861213e-01 -4.13509861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.014216230764049013 Centerline is valid? [True, True] Translation: X:160.07, Y:-124.56, Z:-4.14 [[-9.03123200e-01 -4.29146005e-01 1.42194166e-02 1.60070817e+02] [-4.29095897e-01 9.03235116e-01 6.56022817e-03 -1.24564526e+02] [-1.56587721e-02 -1.76799045e-04 -9.99877378e-01 -4.13648539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.013700468070045923 Centerline is valid? [True, True] Translation: X:160.01, Y:-124.57, Z:-4.14 [[-8.70612806e-01 -4.91836259e-01 1.14208454e-02 1.60008841e+02] [-4.91795563e-01 8.70687707e-01 6.32781311e-03 -1.24567380e+02] [-1.30562376e-02 -1.07645975e-04 -9.99914758e-01 -4.14032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.013593127895705784 Centerline is valid? [True, True] Translation: X:159.94, Y:-124.58, Z:-4.14 [[-8.31960046e-01 -5.54728888e-01 1.08785839e-02 1.59937314e+02] [-5.54683134e-01 8.32031159e-01 7.12541643e-03 -1.24576695e+02] [-1.30039951e-02 -1.06105258e-04 -9.99915439e-01 -4.14130487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.01361212270291151 Centerline is valid? [True, True] Translation: X:159.86, Y:-124.59, Z:-4.14 [[-7.88799341e-01 -6.14554281e-01 1.08920172e-02 1.59859782e+02] [-6.14497501e-01 7.88874531e-01 8.35439394e-03 -1.24594067e+02] [-1.37266635e-02 -1.03176919e-04 -9.99905780e-01 -4.14046255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.013698471363269975 Centerline is valid? [True, True] Translation: X:159.78, Y:-124.62, Z:-4.14 [[-7.40839037e-01 -6.71605302e-01 1.01901934e-02 1.59782551e+02] [-6.71543597e-01 7.40909109e-01 9.10434279e-03 -1.24620176e+02] [-1.36645320e-02 -9.83065863e-05 -9.99906631e-01 -4.13957626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.013405851481934548 Centerline is valid? [True, True] Translation: X:159.70, Y:-124.66, Z:-4.14 [[-6.89473395e-01 -7.24240615e-01 1.00979699e-02 1.59699855e+02] [-7.24164665e-01 6.89547333e-01 1.04887373e-02 -1.24658238e+02] [-1.45593977e-02 -8.08876770e-05 -9.99894003e-01 -4.14044298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.013542681689725522 Centerline is valid? [True, True] Translation: X:159.62, Y:-124.71, Z:-4.14 [[-6.33104477e-01 -7.74006042e-01 9.66277278e-03 1.59617745e+02] [-7.73917863e-01 6.33178206e-01 1.16833713e-02 -1.24707079e+02] [-1.51612571e-02 -8.13977598e-05 -9.99885058e-01 -4.14001834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.013723057199181581 Centerline is valid? [True, True] Translation: X:159.53, Y:-124.76, Z:-4.14 [[-5.71497888e-01 -8.20551160e-01 9.27136931e-03 1.59534180e+02] [-8.20446387e-01 5.71573076e-01 1.31127476e-02 -1.24762498e+02] [-1.60589453e-02 -1.12753911e-04 -9.99871041e-01 -4.14032054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.013789988206135603 Centerline is valid? [True, True] Translation: X:159.45, Y:-124.83, Z:-4.14 [[-5.06635260e-01 -8.62119132e-01 8.44486087e-03 1.59453143e+02] [-8.62003857e-01 5.06705618e-01 1.40984886e-02 -1.24829799e+02] [-1.64336352e-02 -1.36711225e-04 -9.99864949e-01 -4.14093669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.014137638760971889 Centerline is valid? [True, True] Translation: X:159.37, Y:-124.90, Z:-4.14 [[-4.38834455e-01 -8.98539108e-01 7.19669390e-03 1.59373280e+02] [-8.98423936e-01 4.38893436e-01 1.43868981e-02 -1.24904509e+02] [-1.60857723e-02 -1.52215489e-04 -9.99870604e-01 -4.13986786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.01374681734851388 Centerline is valid? [True, True] Translation: X:159.30, Y:-124.98, Z:-4.14 [[-3.69860417e-01 -9.29070105e-01 5.65797910e-03 1.59303961e+02] [-9.28966836e-01 3.69903667e-01 1.38526396e-02 -1.24984452e+02] [-1.49629805e-02 -1.32531895e-04 -9.99888040e-01 -4.14249064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.013378620687781699 Centerline is valid? [True, True] Translation: X:159.24, Y:-125.07, Z:-4.14 [[-3.00322690e-01 -9.53827656e-01 4.36856349e-03 1.59239256e+02] [-9.53731245e-01 3.00354447e-01 1.35616441e-02 -1.25074575e+02] [-1.42475887e-02 -9.35660551e-05 -9.99898494e-01 -4.14377904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.013180973903132128 Centerline is valid? [True, True] Translation: X:159.18, Y:-125.17, Z:-4.14 [[-2.29731437e-01 -9.73248656e-01 3.24342747e-03 1.59182010e+02] [-9.73154686e-01 2.29754326e-01 1.35243391e-02 -1.25166775e+02] [-1.39077363e-02 -4.93907956e-05 -9.99903282e-01 -4.14365546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.013050101271280767 Centerline is valid? [True, True] Translation: X:159.13, Y:-125.27, Z:-4.14 [[-1.59667535e-01 -9.87168327e-01 2.22973575e-03 1.59134692e+02] [-9.87070481e-01 1.59683102e-01 1.38986209e-02 -1.25267534e+02] [-1.40763295e-02 1.82521956e-05 -9.99900923e-01 -4.14359196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.013179134275133094 Centerline is valid? [True, True] Translation: X:159.10, Y:-125.37, Z:-4.14 [[-8.75486229e-02 -9.96159535e-01 1.19161556e-03 1.59095426e+02] [-9.96055726e-01 8.75567023e-02 1.43810214e-02 -1.25373538e+02] [-1.44301255e-02 7.21231207e-05 -9.99895878e-01 -4.14364372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.013749847201789442 Centerline is valid? [True, True] Translation: X:159.06, Y:-125.48, Z:-4.14 [[-1.62559411e-02 -9.99867859e-01 9.52472449e-05 1.59064553e+02] [-9.99750663e-01 1.62554941e-02 1.53091652e-02 -1.25479744e+02] [-1.53086905e-02 1.53641392e-04 -9.99882803e-01 -4.14292866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.013889222184182815 Centerline is valid? [True, True] Translation: X:159.04, Y:-125.59, Z:-4.14 [[ 5.83463482e-02 -9.98295778e-01 -1.11487109e-03 1.59040783e+02] [-9.98169849e-01 -5.83566970e-02 1.58571516e-02 -1.25593957e+02] [-1.58951877e-02 1.87623819e-04 -9.99873646e-01 -4.14346052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.013527781038881173 Centerline is valid? [True, True] Translation: X:159.02, Y:-125.71, Z:-4.14 [[ 1.38864909e-01 -9.90308491e-01 -2.37266028e-03 1.59022803e+02] [-9.90178104e-01 -1.38885127e-01 1.60699708e-02 -1.25711499e+02] [-1.62437558e-02 1.17801220e-04 -9.99868055e-01 -4.14290822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.013272327145517295 Centerline is valid? [True, True] Translation: X:159.02, Y:-125.83, Z:-4.14 [[ 2.16098413e-01 -9.76364783e-01 -3.64506366e-03 1.59015305e+02] [-9.76232432e-01 -2.16129136e-01 1.60759231e-02 -1.25829785e+02] [-1.64837696e-02 8.44478991e-05 -9.99864130e-01 -4.14326898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.012948046868707817 Centerline is valid? [True, True] Translation: X:159.01, Y:-125.95, Z:-4.14 [[ 2.96502041e-01 -9.55019767e-01 -4.87696398e-03 1.59012370e+02] [-9.54888722e-01 -2.96542145e-01 1.58203833e-02 -1.25945394e+02] [-1.65550041e-02 -3.38180375e-05 -9.99862956e-01 -4.14290839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.0136432774205398 Centerline is valid? [True, True] Translation: X:159.02, Y:-126.06, Z:-4.14 [[ 3.75204949e-01 -9.26924635e-01 -5.65393331e-03 1.59019268e+02] [-9.26813500e-01 -3.75247517e-01 1.43540229e-02 -1.26062524e+02] [-1.54267219e-02 -1.45558716e-04 -9.99880990e-01 -4.14340513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.014392148760708136 Centerline is valid? [True, True] Translation: X:159.04, Y:-126.18, Z:-4.15 [[ 4.50415158e-01 -8.92801724e-01 -5.59169705e-03 1.59035699e+02] [-8.92727190e-01 -4.50449820e-01 1.15379815e-02 -1.26178428e+02] [-1.28199087e-02 -2.05021768e-04 -9.99917801e-01 -4.14664257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.015080587285608998 Centerline is valid? [True, True] Translation: X:159.06, Y:-126.29, Z:-4.15 [[ 5.19988175e-01 -8.54157172e-01 -5.27473443e-03 1.59060212e+02] [-8.54109173e-01 -5.20014888e-01 9.05738939e-03 -1.26286254e+02] [-1.04793745e-02 -2.04536321e-04 -9.99945069e-01 -4.14792216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.015532893298402156 Centerline is valid? [True, True] Translation: X:159.10, Y:-126.39, Z:-4.15 [[ 5.85697763e-01 -8.10507380e-01 -5.99311245e-03 1.59095021e+02] [-8.10460745e-01 -5.85728376e-01 8.69767044e-03 -1.26391223e+02] [-1.05598621e-02 -2.37023740e-04 -9.99944215e-01 -4.14773789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.016102572482630834 Centerline is valid? [True, True] Translation: X:159.13, Y:-126.48, Z:-4.15 [[ 6.45796120e-01 -7.63476961e-01 -7.09235052e-03 1.59131220e+02] [-7.63426449e-01 -6.45835012e-01 8.78607350e-03 -1.26484917e+02] [-1.12884530e-02 -2.59524200e-04 -9.99936250e-01 -4.14612504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.01632817807131494 Centerline is valid? [True, True] Translation: X:159.18, Y:-126.58, Z:-4.14 [[ 7.01146986e-01 -7.12961377e-01 -8.88704086e-03 1.59179500e+02] [-7.12898834e-01 -7.01203246e-01 9.44779322e-03 -1.26577691e+02] [-1.29675336e-02 -2.88730677e-04 -9.99915876e-01 -4.14436420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.015612340910546871 Centerline is valid? [True, True] Translation: X:159.23, Y:-126.66, Z:-4.14 [[ 7.51237010e-01 -6.59957498e-01 -9.95267346e-03 1.59231810e+02] [-6.59894885e-01 -7.51302889e-01 9.09455756e-03 -1.26659529e+02] [-1.34794938e-02 -2.64449920e-04 -9.99909113e-01 -4.14432884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.01446193097741903 Centerline is valid? [True, True] Translation: X:159.26, Y:-126.68, Z:-4.14 [[ 7.98292917e-01 -6.02179406e-01 -1.04106481e-02 1.59260492e+02] [-6.02124747e-01 -7.98360770e-01 8.11607756e-03 -1.26684499e+02] [-1.31987878e-02 -2.10498404e-04 -9.99912870e-01 -4.14458603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.01381001091293152 Centerline is valid? [True, True] Translation: X:159.29, Y:-126.71, Z:-4.15 [[ 8.41146381e-01 -5.40699761e-01 -1.07950977e-02 1.59289670e+02] [-5.40652730e-01 -8.41215633e-01 7.13329260e-03 -1.26707715e+02] [-1.29379746e-02 -1.63744200e-04 -9.99916288e-01 -4.14512673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.012915561805090256 Centerline is valid? [True, True] Translation: X:159.32, Y:-126.72, Z:-4.15 [[ 8.77315318e-01 -4.79790590e-01 -1.09005342e-02 1.59323892e+02] [-4.79752629e-01 -8.77383032e-01 6.03574916e-03 -1.26723986e+02] [-1.24598394e-02 -6.56952838e-05 -9.99922371e-01 -4.14554161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.012655249494620898 Centerline is valid? [True, True] Translation: X:159.36, Y:-126.74, Z:-4.15 [[ 9.09094229e-01 -4.16441334e-01 -1.11489538e-02 1.59357063e+02] [-4.16410363e-01 -9.09162590e-01 5.07886958e-03 -1.26739465e+02] [-1.22512629e-02 2.53688591e-05 -9.99924950e-01 -4.14654370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.013054852438547385 Centerline is valid? [True, True] Translation: X:159.39, Y:-126.75, Z:-4.15 [[ 9.37194112e-01 -3.48625190e-01 -1.12992520e-02 1.59390081e+02] [-3.48600921e-01 -9.37262221e-01 4.11432502e-03 -1.26754069e+02] [-1.20247194e-02 8.30084781e-05 -9.99927697e-01 -4.14699197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.013181189053276978 Centerline is valid? [True, True] Translation: X:159.42, Y:-126.77, Z:-4.15 [[ 9.61382257e-01 -2.74971525e-01 -1.16110217e-02 1.59422673e+02] [-2.74952619e-01 -9.61452366e-01 3.22572946e-03 -1.26768980e+02] [-1.20504280e-02 9.13217509e-05 -9.99927387e-01 -4.14689722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.01332550558747459 Centerline is valid? [True, True] Translation: X:159.46, Y:-126.78, Z:-4.15 [[ 9.79804849e-01 -1.99602723e-01 -1.18832099e-02 1.59455461e+02] [-1.99589281e-01 -9.79876902e-01 2.31858433e-03 -1.26782021e+02] [-1.21068786e-02 1.00001145e-04 -9.99926704e-01 -4.14680618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.013675469455735653 Centerline is valid? [True, True] Translation: X:159.49, Y:-126.79, Z:-4.15 [[ 9.92096187e-01 -1.24945143e-01 -1.15701286e-02 1.59485790e+02] [-1.24938148e-01 -9.92163643e-01 1.32824293e-03 -1.26790957e+02] [-1.16454184e-02 1.27805702e-04 -9.99932182e-01 -4.14765699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.014568974251005479 Centerline is valid? [True, True] Translation: X:159.52, Y:-126.80, Z:-4.15 [[ 9.98657532e-01 -5.05321933e-02 -1.13855727e-02 1.59515140e+02] [-5.05308103e-02 -9.98722419e-01 4.09288336e-04 -1.26795710e+02] [-1.13917089e-02 1.66583335e-04 -9.99935099e-01 -4.14794011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.01444237190242752 Centerline is valid? [True, True] Translation: X:159.55, Y:-126.80, Z:-4.15 [[ 9.99575250e-01 2.70529471e-02 -1.08378298e-02 1.59546347e+02] [ 2.70495479e-02 -9.99633988e-01 -4.60121909e-04 -1.26803444e+02] [-1.08463106e-02 1.66768076e-04 -9.99941163e-01 -4.14850704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.014341677826258307 Centerline is valid? [True, True] Translation: X:159.58, Y:-126.81, Z:-4.15 [[ 9.94369922e-01 1.05458946e-01 -1.03377121e-02 1.59577626e+02] [ 1.05451598e-01 -9.94423645e-01 -1.25484690e-03 -1.26808511e+02] [-1.04124002e-02 1.57653753e-04 -9.99945777e-01 -4.14888077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.013781472532149472 Centerline is valid? [True, True] Translation: X:159.61, Y:-126.81, Z:-4.15 [[ 9.82559521e-01 1.85598806e-01 -1.13960785e-02 1.59609738e+02] [ 1.85584610e-01 -9.82625596e-01 -2.30013369e-03 -1.26814311e+02] [-1.16249805e-02 1.45081475e-04 -9.99932417e-01 -4.14809450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.013411109100123764 Centerline is valid? [True, True] Translation: X:159.64, Y:-126.82, Z:-4.15 [[ 9.64342951e-01 2.64397513e-01 -1.16887773e-02 1.59642613e+02] [ 2.64376571e-01 -9.64413781e-01 -3.32988225e-03 -1.26817023e+02] [-1.21532305e-02 1.20909621e-04 -9.99926139e-01 -4.14762491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.012735860959536247 Centerline is valid? [True, True] Translation: X:159.68, Y:-126.82, Z:-4.15 [[ 9.38268761e-01 3.45697524e-01 -1.20397146e-02 1.59675721e+02] [ 3.45668551e-01 -9.38346003e-01 -4.47570408e-03 -1.26818963e+02] [-1.28446579e-02 3.76626206e-05 -9.99917503e-01 -4.14721103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.01278928163210402 Centerline is valid? [True, True] Translation: X:159.71, Y:-126.82, Z:-4.15 [[ 9.06917794e-01 4.21111294e-01 -1.28605082e-02 1.59709297e+02] [ 4.21069042e-01 -9.07008973e-01 -5.96527948e-03 -1.26816851e+02] [-1.41766429e-02 -5.14374378e-06 -9.99899506e-01 -4.14626452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.013031265137537464 Centerline is valid? [True, True] Translation: X:159.74, Y:-126.81, Z:-4.14 [[ 8.69201396e-01 4.94304871e-01 -1.23137521e-02 1.59741153e+02] [ 4.94256273e-01 -8.69288612e-01 -6.93150998e-03 -1.26811014e+02] [-1.41304836e-02 -6.12710522e-05 -9.99900158e-01 -4.14400299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.013249985233038162 Centerline is valid? [True, True] Translation: X:159.77, Y:-126.80, Z:-4.14 [[ 8.27018270e-01 5.62070641e-01 -1.08340044e-02 1.59768669e+02] [ 5.62023619e-01 -8.27089226e-01 -7.27068492e-03 -1.26797449e+02] [-1.30473268e-02 -7.59770767e-05 -9.99914877e-01 -4.14393103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.012883390389585086 Centerline is valid? [True, True] Translation: X:159.80, Y:-126.78, Z:-4.15 [[ 7.79972600e-01 6.25736884e-01 -9.80282568e-03 1.59798604e+02] [ 6.25688808e-01 -7.80034195e-01 -7.75701484e-03 -1.26784486e+02] [-1.25003895e-02 -8.32592814e-05 -9.99921864e-01 -4.14637495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.01314605870061928 Centerline is valid? [True, True] Translation: X:159.83, Y:-126.77, Z:-4.15 [[ 7.27020205e-01 6.86561416e-01 -8.66278444e-03 1.59827937e+02] [ 6.86514404e-01 -7.27071806e-01 -8.03508332e-03 -1.26769380e+02] [-1.18150445e-02 -1.05458383e-04 -9.99930194e-01 -4.14625693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.013911724433364763 Centerline is valid? [True, True] Translation: X:159.86, Y:-126.75, Z:-4.14 [[ 6.67378927e-01 7.44666280e-01 -8.80338726e-03 1.59857663e+02] [ 7.44605017e-01 -6.67436963e-01 -9.55351523e-03 -1.26753498e+02] [-1.29898867e-02 -1.79231584e-04 -9.99915612e-01 -4.14473736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.014608677080144176 Centerline is valid? [True, True] Translation: X:159.89, Y:-126.74, Z:-4.14 [[ 6.03530687e-01 7.97291563e-01 -8.76775427e-03 1.59886109e+02] [ 7.97213576e-01 -6.03594315e-01 -1.11542611e-02 -1.26735328e+02] [-1.41853649e-02 -2.57833874e-04 -9.99899349e-01 -4.14381530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.015281832617109638 Centerline is valid? [True, True] Translation: X:159.91, Y:-126.71, Z:-4.14 [[ 5.38080043e-01 8.42859704e-01 -7.57537299e-03 1.59909828e+02] [ 8.42783079e-01 -5.38133299e-01 -1.13681235e-02 -1.26714844e+02] [-1.36582937e-02 -2.67435786e-04 -9.99906685e-01 -4.14362431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.015554928430128366 Centerline is valid? [True, True] Translation: X:159.93, Y:-126.69, Z:-4.15 [[ 4.71278950e-01 8.81966162e-01 -5.64278013e-03 1.59927286e+02] [ 8.81908331e-01 -4.71312681e-01 -1.01020975e-02 -1.26689483e+02] [-1.15692220e-02 -2.15508888e-04 -9.99933051e-01 -4.14503224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.014269773408400209 Centerline is valid? [True, True] Translation: X:159.94, Y:-126.66, Z:-4.15 [[ 4.01978794e-01 9.15639744e-01 -4.11191574e-03 1.59944934e+02] [ 9.15596101e-01 -4.01999788e-01 -8.94145898e-03 -1.26663295e+02] [-9.84014447e-03 -1.70577125e-04 -9.99951570e-01 -4.14808146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.014051516125914109 Centerline is valid? [True, True] Translation: X:159.96, Y:-126.64, Z:-4.15 [[ 3.31047158e-01 9.43609758e-01 -2.89909217e-03 1.59961358e+02] [ 9.43576890e-01 -3.31059827e-01 -7.87675749e-03 -1.26636623e+02] [-8.39235818e-03 -1.27938196e-04 -9.99964775e-01 -4.14863247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.013207661692140646 Centerline is valid? [True, True] Translation: X:159.97, Y:-126.61, Z:-4.15 [[ 2.61055484e-01 9.65320108e-01 -2.66907751e-03 1.59971547e+02] [ 9.65273513e-01 -2.61069109e-01 -9.48505961e-03 -1.26608589e+02] [-9.85293245e-03 -1.00262993e-04 -9.99951454e-01 -4.14726221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.012725970259589783 Centerline is valid? [True, True] Translation: X:159.98, Y:-126.58, Z:-4.15 [[ 1.90559898e-01 9.81673758e-01 -1.88644220e-03 1.59979772e+02] [ 9.81627734e-01 -1.90569231e-01 -9.50577436e-03 -1.26580860e+02] [-9.69106708e-03 -4.03645956e-05 -9.99953040e-01 -4.14687788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.012618468718497677 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.55, Z:-4.15 [[ 1.15680319e-01 9.93285841e-01 -1.14068066e-03 1.59989450e+02] [ 9.93238855e-01 -1.15685942e-01 -9.66126684e-03 -1.26552746e+02] [-9.72836028e-03 -1.53499265e-05 -9.99952678e-01 -4.14681265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.012939826555288938 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.52, Z:-4.15 [[ 4.58105338e-02 9.98950074e-01 -3.81406339e-04 1.59991595e+02] [ 9.98902486e-01 -4.58120745e-02 -9.75079073e-03 -1.26524444e+02] [-9.75802613e-03 6.57011885e-05 -9.99952387e-01 -4.14693464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.015719999461538642 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.50, Z:-4.15 [[-1.95440681e-02 9.99808929e-01 3.67487260e-04 1.59986022e+02] [ 9.99765395e-01 1.95466471e-02 -9.33187398e-03 -1.26498332e+02] [-9.33727407e-03 1.85018265e-04 -9.99956390e-01 -4.14630902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.01662523529575675 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.47, Z:-4.15 [[-9.17107298e-02 9.95785158e-01 1.02994528e-03 1.59989079e+02] [ 9.95747138e-01 9.17162314e-02 -8.70461329e-03 -1.26471716e+02] [-8.76238742e-03 2.27258623e-04 -9.99961584e-01 -4.14732214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.018495284631157637 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.45, Z:-4.15 [[-1.62193045e-01 9.86757752e-01 1.59852172e-03 1.59988589e+02] [ 9.86725001e-01 1.62200693e-01 -8.04409022e-03 -1.26445275e+02] [-8.19684971e-03 2.72605854e-04 -9.99966368e-01 -4.14859489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.0195586584217145 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.42, Z:-4.15 [[-2.36480205e-01 9.71633592e-01 2.29673034e-03 1.59988446e+02] [ 9.71599437e-01 2.36491163e-01 -8.15257917e-03 -1.26418932e+02] [-8.46447622e-03 3.03578314e-04 -9.99964130e-01 -4.14856462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.020260662165273308 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.39, Z:-4.15 [[-3.11266454e-01 9.50317325e-01 3.19022886e-03 1.59987097e+02] [ 9.50277943e-01 3.11282620e-01 -8.65803961e-03 -1.26392139e+02] [-9.22094784e-03 3.36646828e-04 -9.99957430e-01 -4.14762709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.018973812601506993 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.36, Z:-4.15 [[-3.87238831e-01 9.21970618e-01 4.03324404e-03 1.59989139e+02] [ 9.21929048e-01 3.87259697e-01 -8.76112768e-03 -1.26362774e+02] [-9.63941517e-03 3.25715995e-04 -9.99953487e-01 -4.14732974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.019143402686865825 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.34, Z:-4.15 [[-4.60858286e-01 8.87461035e-01 4.74879922e-03 1.59985465e+02] [ 8.87420453e-01 4.60882654e-01 -8.49224969e-03 -1.26336388e+02] [-9.72517989e-03 3.00457912e-04 -9.99952664e-01 -4.14708876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.018391412441965474 Centerline is valid? [True, True] Translation: X:159.98, Y:-126.31, Z:-4.15 [[-5.32159606e-01 8.46630584e-01 4.77568808e-03 1.59979256e+02] [ 8.46600344e-01 5.32180984e-01 -7.15944266e-03 -1.26311181e+02] [-8.60293351e-03 2.33132987e-04 -9.99962967e-01 -4.14727342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.01573512010530949 Centerline is valid? [True, True] Translation: X:159.97, Y:-126.28, Z:-4.15 [[-6.02806537e-01 7.97869687e-01 5.31426095e-03 1.59974429e+02] [ 7.97841122e-01 6.02829938e-01 -6.75351918e-03 -1.26281133e+02] [-8.59202383e-03 1.68870420e-04 -9.99963074e-01 -4.14803009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.013817289379785139 Centerline is valid? [True, True] Translation: X:159.97, Y:-126.25, Z:-4.15 [[-6.69577144e-01 7.42717470e-01 6.09976845e-03 1.59967734e+02] [ 7.42688039e-01 6.69604920e-01 -6.61266444e-03 -1.26250522e+02] [-8.99577637e-03 1.02536096e-04 -9.99959532e-01 -4.14710931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.01312475654936368 Centerline is valid? [True, True] Translation: X:159.96, Y:-126.22, Z:-4.15 [[-7.28941298e-01 6.84544973e-01 6.53942532e-03 1.59955546e+02] [ 6.84518160e-01 7.28970628e-01 -6.05899718e-03 -1.26223291e+02] [-8.91470504e-03 5.97021205e-05 -9.99960261e-01 -4.14678603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.01291723520869885 Centerline is valid? [True, True] Translation: X:159.98, Y:-126.20, Z:-4.15 [[-7.76836149e-01 6.29654835e-01 7.77084633e-03 1.59978335e+02] [ 6.29623808e-01 7.76875014e-01 -6.25090467e-03 -1.26201070e+02] [-9.97288870e-03 3.67811495e-05 -9.99950269e-01 -4.14539543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.012970918960439344 Centerline is valid? [True, True] Translation: X:159.99, Y:-126.18, Z:-4.15 [[-8.19147992e-01 5.73531650e-01 7.61668289e-03 1.59991541e+02] [ 5.73507296e-01 8.19183401e-01 -5.28546947e-03 -1.26177391e+02] [-9.27084422e-03 3.86415086e-05 -9.99957024e-01 -4.14621871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.01309065171801688 Centerline is valid? [True, True] Translation: X:160.01, Y:-126.16, Z:-4.15 [[-8.57521479e-01 5.14380431e-01 8.34775080e-03 1.60012999e+02] [ 5.14356556e-01 8.57562109e-01 -4.95610458e-03 -1.26158851e+02] [-9.70803799e-03 4.37542176e-05 -9.99952875e-01 -4.14627607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.013067392550621566 Centerline is valid? [True, True] Translation: X:160.03, Y:-126.13, Z:-4.15 [[-8.91205564e-01 4.53504756e-01 9.27782026e-03 1.60027471e+02] [ 4.53480875e-01 8.91253854e-01 -4.65442440e-03 -1.26134564e+02] [-1.03796967e-02 5.92651221e-05 -9.99946128e-01 -4.14669226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.013129177904181654 Centerline is valid? [True, True] Translation: X:160.04, Y:-126.11, Z:-4.15 [[-9.20742036e-01 3.90041907e-01 1.00704277e-02 1.60038474e+02] [ 3.90019426e-01 9.20797103e-01 -4.18824976e-03 -1.26110099e+02] [-1.09064136e-02 7.13648234e-05 -9.99940521e-01 -4.14595810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.013350098825389869 Centerline is valid? [True, True] Translation: X:160.04, Y:-126.08, Z:-4.15 [[-9.46437230e-01 3.22762290e-01 9.00411702e-03 1.60037434e+02] [ 3.22748198e-01 9.46480059e-01 -3.01642149e-03 -1.26083153e+02] [-9.49580432e-03 5.12089511e-05 -9.99954913e-01 -4.14703030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.012997290598062625 Centerline is valid? [True, True] Translation: X:160.05, Y:-126.06, Z:-4.15 [[-9.67509773e-01 2.52672920e-01 9.01301863e-03 1.60052620e+02] [ 2.52662240e-01 9.67551753e-01 -2.32337594e-03 -1.26057490e+02] [-9.30761616e-03 2.93605426e-05 -9.99956683e-01 -4.14748374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.012926211547585347 Centerline is valid? [True, True] Translation: X:160.23, Y:-125.40, Z:-5.11 [[-9.49253103e-01 -3.14373175e-01 9.38365668e-03 1.60227202e+02] [ 3.14357884e-01 -9.49299482e-01 -3.10055001e-03 -1.25397100e+02] [ 9.88263018e-03 6.61974116e-06 9.99951166e-01 -5.10669151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.013269442709312447 Centerline is valid? [True, True] Translation: X:160.00, Y:-126.04, Z:-4.15 [[-9.70904915e-01 2.39282958e-01 9.34404126e-03 1.60001667e+02] [ 2.39271220e-01 9.70949876e-01 -2.37107008e-03 -1.26040685e+02] [-9.63995236e-03 -6.63234456e-05 -9.99953532e-01 -4.14700069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.013707441180871355 Centerline is valid? [True, True] Translation: X:160.00, Y:-126.01, Z:-4.15 [[-9.86146715e-01 1.65596425e-01 9.61665821e-03 1.60004938e+02] [ 1.65587470e-01 9.86193598e-01 -1.72552479e-03 -1.26012663e+02] [-9.76962750e-03 -1.09222502e-04 -9.99952270e-01 -4.14799007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.014882403275780514 Centerline is valid? [True, True] Translation: X:160.13, Y:-125.35, Z:-5.11 [[-9.65755671e-01 -2.59326776e-01 8.09984173e-03 1.60125535e+02] [ 2.59317639e-01 -9.65789637e-01 -2.17687390e-03 -1.25351447e+02] [ 8.38726490e-03 -1.89648107e-06 9.99964826e-01 -5.10589887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.016114084501676687 Centerline is valid? [True, True] Translation: X:159.95, Y:-126.00, Z:-4.15 [[-9.88662301e-01 1.49982231e-01 7.22391048e-03 1.59951806e+02] [ 1.49976974e-01 9.88688678e-01 -1.26702650e-03 -1.26001536e+02] [-7.33222996e-03 -1.69241103e-04 -9.99973105e-01 -4.14883496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.01827878244300957 Centerline is valid? [True, True] Translation: X:160.05, Y:-125.34, Z:-5.11 [[-9.63717842e-01 -2.66820597e-01 7.39531221e-03 1.60054519e+02] [ 2.66814293e-01 -9.63746196e-01 -1.84457361e-03 -1.25341341e+02] [ 7.61937424e-03 1.95526498e-04 9.99970953e-01 -5.10618242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.01974633837953067 Centerline is valid? [True, True] Translation: X:159.89, Y:-125.99, Z:-4.15 [[-9.90609137e-01 1.36467597e-01 8.37448365e-03 1.59889639e+02] [ 1.36460328e-01 9.90644496e-01 -1.43601258e-03 -1.25988497e+02] [-8.49210532e-03 -2.79742399e-04 -9.99963902e-01 -4.14676369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.01928285400733845 Centerline is valid? [True, True] Translation: X:160.02, Y:-125.33, Z:-5.11 [[-9.63436074e-01 -2.67796032e-01 8.73020297e-03 1.60016179e+02] [ 2.67788091e-01 -9.63475572e-01 -2.08795840e-03 -1.25332887e+02] [ 8.97048428e-03 3.26229947e-04 9.99959711e-01 -5.10721956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.019200547545569928 Centerline is valid? [True, True] Translation: X:159.84, Y:-125.99, Z:-4.15 [[-9.90891595e-01 1.34388348e-01 8.58012259e-03 1.59835656e+02] [ 1.34380931e-01 9.90928705e-01 -1.43791473e-03 -1.25988835e+02] [-8.69552875e-03 -2.71812763e-04 -9.99962156e-01 -4.14701239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.018872264940121227 Centerline is valid? [True, True] Translation: X:159.85, Y:-125.97, Z:-4.15 [[-9.97876094e-01 6.45527363e-02 8.73182451e-03 1.59850991e+02] [ 6.45479211e-02 9.97914261e-01 -8.32441241e-04 -1.25966290e+02] [-8.76734857e-03 -2.67052095e-04 -9.99961530e-01 -4.14706675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.01848069208833751 Centerline is valid? [True, True] Translation: X:159.92, Y:-125.28, Z:-5.11 [[-9.81825595e-01 -1.89598193e-01 8.42767510e-03 1.59923316e+02] [ 1.89593351e-01 -9.81861734e-01 -1.37712910e-03 -1.25279901e+02] [ 8.53591287e-03 2.45730568e-04 9.99963538e-01 -5.10697207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.01682174844500553 Centerline is valid? [True, True] Translation: X:159.81, Y:-125.97, Z:-4.15 [[-9.97772894e-01 6.62292182e-02 7.93361410e-03 1.59806805e+02] [ 6.62255553e-02 9.97804416e-01 -7.23809929e-04 -1.25973738e+02] [-7.96413254e-03 -1.96789929e-04 -9.99968266e-01 -4.14751442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.016643470746437447 Centerline is valid? [True, True] Translation: X:159.87, Y:-125.27, Z:-5.11 [[-9.83549985e-01 -1.80485174e-01 7.38430961e-03 1.59874072e+02] [ 1.80481266e-01 -9.83577693e-01 -1.19772953e-03 -1.25266127e+02] [ 7.47921464e-03 1.54702686e-04 9.99972018e-01 -5.10598694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.015701203704916795 Centerline is valid? [True, True] Translation: X:159.74, Y:-125.98, Z:-4.15 [[-9.97674418e-01 6.78503473e-02 6.48736599e-03 1.59742968e+02] [ 6.78481004e-02 9.97695502e-01 -5.66057797e-04 -1.25976608e+02] [-6.51082309e-03 -1.24585924e-04 -9.99978797e-01 -4.14899375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.015387185621447875 Centerline is valid? [True, True] Translation: X:159.76, Y:-125.95, Z:-4.15 [[-9.99977700e-01 -2.09014551e-03 6.34274548e-03 1.59759224e+02] [-2.09082928e-03 9.99997809e-01 -1.01174883e-04 -1.25951349e+02] [-6.34252011e-03 -1.14434225e-04 -9.99979880e-01 -4.14927821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.015629703124152277 Centerline is valid? [True, True] Translation: X:159.76, Y:-125.92, Z:-4.15 [[-9.97234232e-01 -7.40150159e-02 6.75747411e-03 1.59759609e+02] [-7.40141887e-02 9.97257119e-01 3.72760108e-04 -1.25922605e+02] [-6.76652901e-03 -1.28419824e-04 -9.99977099e-01 -4.14790173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.016381965221178723 Centerline is valid? [True, True] Translation: X:159.72, Y:-125.21, Z:-5.11 [[-9.99391170e-01 -3.38855443e-02 8.31021409e-03 1.59721694e+02] [ 3.38865530e-02 -9.99425686e-01 -1.94349114e-05 -1.25205294e+02] [ 8.30609998e-03 2.62181432e-04 9.99965469e-01 -5.10827173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.017575196370435458 Centerline is valid? [True, True] Translation: X:159.69, Y:-125.92, Z:-4.15 [[-9.96564003e-01 -8.23776967e-02 8.60830813e-03 1.59688006e+02] [-8.23763275e-02 9.96601162e-01 5.14113036e-04 -1.25920324e+02] [-8.62140133e-03 -1.96774264e-04 -9.99962816e-01 -4.14568926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.016255818642709696 Centerline is valid? [True, True] Translation: X:159.65, Y:-125.21, Z:-5.11 [[-9.99479783e-01 -3.14167856e-02 7.29039152e-03 1.59645351e+02] [ 3.14165221e-02 -9.99506368e-01 -1.50680410e-04 -1.25211673e+02] [ 7.29152664e-03 7.84367235e-05 9.99973413e-01 -5.10666127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.01660839890772207 Centerline is valid? [True, True] Translation: X:159.62, Y:-125.92, Z:-4.15 [[-9.96037373e-01 -8.87395440e-02 5.90304198e-03 1.59617676e+02] [-8.87388392e-02 9.96054854e-01 3.81719059e-04 -1.25922324e+02] [-5.91362720e-03 -1.43622645e-04 -9.99982504e-01 -4.14790246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.016822966873335846 Centerline is valid? [True, True] Translation: X:159.61, Y:-125.90, Z:-4.15 [[-9.87111569e-01 -1.59944868e-01 5.32822881e-03 1.59609715e+02] [-1.59943269e-01 9.87125940e-01 7.27740763e-04 -1.25895328e+02] [-5.37603128e-03 -1.33853007e-04 -9.99985540e-01 -4.14800353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.017338567645830267 Centerline is valid? [True, True] Translation: X:159.52, Y:-125.20, Z:-5.11 [[-9.99093605e-01 4.21701465e-02 5.80055022e-03 1.59520488e+02] [-4.21684227e-02 -9.99110429e-01 4.19215937e-04 -1.25201701e+02] [ 5.81306862e-03 1.74235908e-04 9.99983089e-01 -5.10626924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.017389730725293127 Centerline is valid? [True, True] Translation: X:159.53, Y:-125.90, Z:-4.15 [[-9.86047923e-01 -1.66369443e-01 5.54089085e-03 1.59525280e+02] [-1.66367643e-01 9.86063480e-01 7.87349508e-04 -1.25901833e+02] [-5.59466102e-03 -1.45460606e-04 -9.99984339e-01 -4.14743692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.016745779435609186 Centerline is valid? [True, True] Translation: X:159.53, Y:-125.87, Z:-4.15 [[-9.71910175e-01 -2.35277900e-01 5.90950647e-03 1.59525432e+02] [-2.35274503e-01 9.71928128e-01 1.27347646e-03 -1.25874511e+02] [-6.04323643e-03 -1.52651466e-04 -9.99981728e-01 -4.14715865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.016658151740938508 Centerline is valid? [True, True] Translation: X:159.51, Y:-125.85, Z:-4.15 [[-9.53238514e-01 -3.02154098e-01 6.26386662e-03 1.59505233e+02] [-3.02148618e-01 9.53259082e-01 1.82599728e-03 -1.25852142e+02] [-6.52282031e-03 -1.52007710e-04 -9.99978715e-01 -4.14677379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.016906139958659597 Centerline is valid? [True, True] Translation: X:159.48, Y:-125.83, Z:-4.15 [[-9.30004626e-01 -3.67496429e-01 6.14579800e-03 1.59482217e+02] [-3.67489359e-01 9.30024922e-01 2.28358382e-03 -1.25830168e+02] [-6.55495421e-03 -1.34771858e-04 -9.99978507e-01 -4.14555620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.014740013320839978 Centerline is valid? [True, True] Translation: X:159.44, Y:-125.82, Z:-4.15 [[-9.03553857e-01 -4.28441839e-01 5.29315096e-03 1.59435802e+02] [-4.28435018e-01 9.03569358e-01 2.41904792e-03 -1.25824695e+02] [-5.81915035e-03 -8.20311440e-05 -9.99983065e-01 -4.14586912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.014661943318522908 Centerline is valid? [True, True] Translation: X:159.38, Y:-125.82, Z:-4.15 [[-8.70846489e-01 -4.91530616e-01 4.90370295e-03 1.59378149e+02] [-4.91523235e-01 8.70860293e-01 2.69437735e-03 -1.25824425e+02] [-5.59480915e-03 -6.38948863e-05 -9.99984347e-01 -4.14550611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.013180367895084647 Centerline is valid? [True, True] Translation: X:159.31, Y:-125.84, Z:-4.15 [[-8.37473427e-01 -5.46459542e-01 4.49758607e-03 1.59313023e+02] [-5.46451706e-01 8.37485503e-01 2.92653196e-03 -1.25841610e+02] [-5.36589445e-03 -6.82083430e-06 -9.99985604e-01 -4.14661386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.013413760027648158 Centerline is valid? [True, True] Translation: X:159.24, Y:-125.86, Z:-4.15 [[-7.97959472e-01 -6.02692720e-01 4.70807787e-03 1.59238550e+02] [-6.02682019e-01 7.97973361e-01 3.59163747e-03 -1.25864516e+02] [-5.92157448e-03 2.85072693e-05 -9.99982467e-01 -4.14587761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.014270559488144907 Centerline is valid? [True, True] Translation: X:159.16, Y:-125.90, Z:-4.14 [[-7.55218991e-01 -6.55450315e-01 5.40005335e-03 1.59159470e+02] [-6.55432727e-01 7.55238291e-01 4.80244999e-03 -1.25898816e+02] [-7.22609443e-03 8.75297432e-05 -9.99973888e-01 -4.14478846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.015651121662520535 Centerline is valid? [True, True] Translation: X:159.08, Y:-125.94, Z:-4.14 [[-7.07460370e-01 -7.06732787e-01 5.34724461e-03 1.59077731e+02] [-7.06711137e-01 7.07480565e-01 5.53354463e-03 -1.25943874e+02] [-7.69380906e-03 1.35806215e-04 -9.99970393e-01 -4.14478380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.015622761114025894 Centerline is valid? [True, True] Translation: X:158.99, Y:-126.00, Z:-4.15 [[-6.54050220e-01 -7.56437667e-01 4.51286672e-03 1.58989217e+02] [-7.56418116e-01 6.54065773e-01 5.44038455e-03 -1.26000360e+02] [-7.06702345e-03 1.44670566e-04 -9.99975018e-01 -4.14607802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.016720807204865493 Centerline is valid? [True, True] Translation: X:158.91, Y:-126.06, Z:-4.15 [[-5.97345233e-01 -8.01978178e-01 3.11040609e-03 1.58910270e+02] [-8.01966167e-01 5.97353318e-01 4.39102360e-03 -1.26058224e+02] [-5.37951650e-03 1.28516569e-04 -9.99985522e-01 -4.14761630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.016314735610815156 Centerline is valid? [True, True] Translation: X:158.83, Y:-126.13, Z:-4.15 [[-5.33677619e-01 -8.45683257e-01 2.83315905e-03 1.58825619e+02] [-8.45670062e-01 5.33685125e-01 4.72592089e-03 -1.26131932e+02] [-5.50864701e-03 1.26200423e-04 -9.99984819e-01 -4.14754030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.015613643994639197 Centerline is valid? [True, True] Translation: X:158.75, Y:-126.21, Z:-4.15 [[-4.64883168e-01 -8.85368146e-01 2.62423281e-03 1.58745402e+02] [-8.85352601e-01 4.64890561e-01 5.24774476e-03 -1.26211712e+02] [-5.86616710e-03 1.16216866e-04 -9.99982787e-01 -4.14717811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.014543517984267196 Centerline is valid? [True, True] Translation: X:158.66, Y:-126.30, Z:-4.15 [[-3.89630497e-01 -9.20968022e-01 2.44529657e-03 1.58664046e+02] [-9.20948515e-01 3.89638161e-01 5.99468296e-03 -1.26303511e+02] [-6.47369217e-03 8.37190503e-05 -9.99979042e-01 -4.14631587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.013872729679970122 Centerline is valid? [True, True] Translation: X:158.59, Y:-126.39, Z:-4.15 [[-3.12211229e-01 -9.50010485e-01 2.05585574e-03 1.58593823e+02] [-9.49988940e-01 3.12217994e-01 6.39831505e-03 -1.26393445e+02] [-6.72034154e-03 4.45855895e-05 -9.99977417e-01 -4.14630219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.01355265766609393 Centerline is valid? [True, True] Translation: X:158.53, Y:-126.49, Z:-4.15 [[-2.35682960e-01 -9.71828866e-01 1.48219513e-03 1.58531408e+02] [-9.71809035e-01 2.35687620e-01 6.20845661e-03 -1.26494734e+02] [-6.38289239e-03 2.28168147e-05 -9.99979629e-01 -4.14693503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.013339245380422924 Centerline is valid? [True, True] Translation: X:158.47, Y:-126.60, Z:-4.15 [[-1.56517588e-01 -9.87674765e-01 8.96240076e-04 1.58473902e+02] [-9.87658707e-01 1.56520154e-01 5.63198504e-03 -1.26601041e+02] [-5.70284914e-03 -3.67460047e-06 -9.99983739e-01 -4.14729903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.013470767197686041 Centerline is valid? [True, True] Translation: X:158.43, Y:-126.71, Z:-4.15 [[-7.75369314e-02 -9.96989366e-01 4.78465697e-04 1.58425995e+02] [-9.96972050e-01 7.75384047e-02 5.87599218e-03 -1.26709700e+02] [-5.89540118e-03 -2.14105242e-05 -9.99982622e-01 -4.14677038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.013573144196156493 Centerline is valid? [True, True] Translation: X:158.39, Y:-126.82, Z:-4.15 [[ 9.54983415e-04 -9.99999544e-01 2.82080904e-05 1.58387884e+02] [-9.99981322e-01 -9.54795722e-04 6.03693786e-03 -1.26823190e+02] [-6.03690817e-03 -3.39727391e-05 -9.99981777e-01 -4.14659183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.013617267959154057 Centerline is valid? [True, True] Translation: X:157.76, Y:-126.93, Z:-5.11 [[-7.98999925e-02 9.96802784e-01 4.49210499e-04 1.57760085e+02] [-9.96783742e-01 -7.99012428e-02 6.16139240e-03 -1.26926943e+02] [ 6.17758557e-03 4.45294844e-05 9.99980918e-01 -5.10725633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.014076060186311261 Centerline is valid? [True, True] Translation: X:158.38, Y:-127.10, Z:-4.15 [[ 1.40380561e-02 -9.99901461e-01 -3.36591398e-05 1.58375226e+02] [-9.99872526e-01 -1.40379060e-02 7.60711865e-03 -1.27095440e+02] [-7.60684156e-03 -7.31343096e-05 -9.99971065e-01 -4.14511796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.01465998433136767 Centerline is valid? [True, True] Translation: X:158.35, Y:-127.21, Z:-4.14 [[ 9.41321691e-02 -9.95559387e-01 -8.00811860e-04 1.58347293e+02] [-9.95510387e-01 -9.41354820e-02 9.87833327e-03 -1.27213330e+02] [-9.90985223e-03 -1.32652414e-04 -9.99950887e-01 -4.14271448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.015067101052994554 Centerline is valid? [True, True] Translation: X:158.33, Y:-127.33, Z:-4.14 [[ 1.72296066e-01 -9.85043979e-01 -1.55744734e-03 1.58331258e+02] [-9.84995105e-01 -1.72303033e-01 9.81365194e-03 -1.27326947e+02] [-9.93523165e-03 -1.56775613e-04 -9.99950632e-01 -4.14331355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.01498821405643242 Centerline is valid? [True, True] Translation: X:158.33, Y:-127.45, Z:-4.14 [[ 2.47360797e-01 -9.68921137e-01 -2.11320181e-03 1.58327038e+02] [-9.68880521e-01 -2.47369779e-01 8.87289246e-03 -1.27445185e+02] [-9.11987532e-03 -1.47365675e-04 -9.99958402e-01 -4.14432285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.015131074229691465 Centerline is valid? [True, True] Translation: X:158.33, Y:-127.56, Z:-4.14 [[ 3.20693321e-01 -9.47179602e-01 -2.56830411e-03 1.58329964e+02] [-9.47145732e-01 -3.20703576e-01 8.01114009e-03 -1.27556084e+02] [-8.41165279e-03 -1.36560842e-04 -9.99964612e-01 -4.14491554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.014984141829141116 Centerline is valid? [True, True] Translation: X:158.34, Y:-127.67, Z:-4.15 [[ 3.92500187e-01 -9.19746538e-01 -3.14798331e-03 1.58342446e+02] [-9.19714048e-01 -3.92512786e-01 7.73196968e-03 -1.27669192e+02] [-8.34707604e-03 -1.39555078e-04 -9.99965153e-01 -4.14558325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.01523368723621655 Centerline is valid? [True, True] Translation: X:158.36, Y:-127.78, Z:-4.14 [[ 4.61825745e-01 -8.86960234e-01 -4.30392211e-03 1.58362520e+02] [-8.86918337e-01 -4.61845770e-01 8.62254712e-03 -1.27779970e+02] [-9.63560464e-03 -1.64886808e-04 -9.99953563e-01 -4.14421010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.015233345287277447 Centerline is valid? [True, True] Translation: X:158.39, Y:-127.89, Z:-4.14 [[ 5.28086075e-01 -8.49173554e-01 -5.41972230e-03 1.58392178e+02] [-8.49125261e-01 -5.28113854e-01 9.05804345e-03 -1.27888264e+02] [-1.05540814e-02 -1.81403496e-04 -9.99944288e-01 -4.14401095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.015551206832472011 Centerline is valid? [True, True] Translation: X:158.43, Y:-127.99, Z:-4.14 [[ 5.91831272e-01 -8.06037586e-01 -6.25752478e-03 1.58428320e+02] [-8.05989003e-01 -5.91864319e-01 8.85177383e-03 -1.27993154e+02] [-1.08384680e-02 -1.95260402e-04 -9.99941243e-01 -4.14364967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.016600321474975536 Centerline is valid? [True, True] Translation: X:158.47, Y:-128.09, Z:-4.14 [[ 6.53068210e-01 -7.57261576e-01 -7.53783474e-03 1.58469593e+02] [-7.57206846e-01 -6.53111666e-01 9.10734757e-03 -1.28092923e+02] [-1.18196922e-02 -2.40019110e-04 -9.99930116e-01 -4.14189703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.016445784164064173 Centerline is valid? [True, True] Translation: X:158.52, Y:-128.19, Z:-4.14 [[ 7.09463190e-01 -7.04688219e-01 -8.74619538e-03 1.58521223e+02] [-7.04629912e-01 -7.09517048e-01 9.06899737e-03 -1.28188204e+02] [-1.25963903e-02 -2.71288933e-04 -9.99920626e-01 -4.14202919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.01799376068304251 Centerline is valid? [True, True] Translation: X:158.58, Y:-128.28, Z:-4.14 [[ 7.62464025e-01 -6.46975570e-01 -8.43931473e-03 1.58577356e+02] [-6.46931934e-01 -7.62510680e-01 7.51902039e-03 -1.28279288e+02] [-1.12996901e-02 -2.73320351e-04 -9.99936119e-01 -4.14222677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.01872809912410794 Centerline is valid? [True, True] Translation: X:158.60, Y:-128.31, Z:-4.14 [[ 8.12472515e-01 -5.82939868e-01 -8.33797518e-03 1.58604287e+02] [-5.82905542e-01 -8.12515248e-01 6.33250507e-03 -1.28305288e+02] [-1.04662016e-02 -2.84734389e-04 -9.99945187e-01 -4.14365911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.01824331157224889 Centerline is valid? [True, True] Translation: X:158.63, Y:-128.33, Z:-4.15 [[ 8.56192185e-01 -5.16592479e-01 -8.19468809e-03 1.58631665e+02] [-5.16565700e-01 -8.56231356e-01 5.26717116e-03 -1.28330086e+02] [-9.73752990e-03 -2.76615997e-04 -9.99952551e-01 -4.14524037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.0193126535186294 Centerline is valid? [True, True] Translation: X:158.66, Y:-128.35, Z:-4.15 [[ 8.94655430e-01 -4.46690150e-01 -7.71828586e-03 1.58659823e+02] [-4.46670978e-01 -8.94688684e-01 4.14680114e-03 -1.28352187e+02] [-8.75779824e-03 -2.62423860e-04 -9.99961615e-01 -4.14582540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.018979007796405156 Centerline is valid? [True, True] Translation: X:158.69, Y:-128.37, Z:-4.15 [[ 9.27220261e-01 -3.74417557e-01 -8.60701700e-03 1.58690576e+02] [-3.74398491e-01 -9.27260162e-01 3.78973001e-03 -1.28372852e+02] [-9.39988544e-03 -2.91460278e-04 -9.99955778e-01 -4.14568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.020366688842581922 Centerline is valid? [True, True] Translation: X:158.72, Y:-128.39, Z:-4.14 [[ 9.53825945e-01 -3.00228188e-01 -8.89392123e-03 1.58720519e+02] [-3.00212212e-01 -9.53867363e-01 3.11147100e-03 -1.28393309e+02] [-9.41777250e-03 -2.97738001e-04 -9.99955608e-01 -4.14480011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.0200430534356941 Centerline is valid? [True, True] Translation: X:158.75, Y:-128.41, Z:-4.14 [[ 9.74719657e-01 -2.23202412e-01 -1.01129889e-02 1.58754168e+02] [-2.23186689e-01 -9.74772057e-01 2.67198995e-03 -1.28409270e+02] [-1.04542536e-02 -3.47356626e-04 -9.99945293e-01 -4.14408147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.020912586441137474 Centerline is valid? [True, True] Translation: X:158.79, Y:-128.42, Z:-4.14 [[ 9.89295299e-01 -1.45437803e-01 -1.19438976e-02 1.58788597e+02] [-1.45422142e-01 -9.89367310e-01 2.17404768e-03 -1.28421747e+02] [-1.21330906e-02 -4.13867967e-04 -9.99926306e-01 -4.14201409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.021608093002995696 Centerline is valid? [True, True] Translation: X:158.82, Y:-128.43, Z:-4.14 [[ 9.97635866e-01 -6.73162132e-02 -1.38277625e-02 1.58823520e+02] [-6.73030955e-02 -9.97731576e-01 1.41234518e-03 -1.28429335e+02] [-1.38914690e-02 -4.78354983e-04 -9.99903395e-01 -4.14067914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.02151580265132941 Centerline is valid? [True, True] Translation: X:158.86, Y:-128.43, Z:-4.14 [[ 9.99852848e-01 1.04428248e-02 -1.36099382e-02 1.58856258e+02] [ 1.04481295e-02 -9.99945366e-01 3.18719832e-04 -1.28432812e+02] [-1.36058663e-02 -4.60871328e-04 -9.99907330e-01 -4.14096486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.020890422138235193 Centerline is valid? [True, True] Translation: X:158.89, Y:-128.43, Z:-4.14 [[ 9.96203440e-01 8.59825477e-02 -1.36274704e-02 1.58888555e+02] [ 8.59803287e-02 -9.96296553e-01 -7.49712719e-04 -1.28429901e+02] [-1.36414640e-02 -4.24827994e-04 -9.99906861e-01 -4.14090378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.018249266691311643 Centerline is valid? [True, True] Translation: X:158.92, Y:-128.42, Z:-4.14 [[ 9.87257777e-01 1.58672778e-01 -1.20429023e-02 1.58919587e+02] [ 1.58664868e-01 -9.87331175e-01 -1.61550679e-03 -1.28422901e+02] [-1.21466699e-02 -3.15863867e-04 -9.99926177e-01 -4.14252654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.01611807514598397 Centerline is valid? [True, True] Translation: X:158.95, Y:-128.42, Z:-4.14 [[ 9.72694263e-01 2.31845186e-01 -1.06621053e-02 1.58951260e+02] [ 2.31833987e-01 -9.72752667e-01 -2.29160236e-03 -1.28418868e+02] [-1.09028884e-02 -2.42809932e-04 -9.99940532e-01 -4.14421751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.014747453225712517 Centerline is valid? [True, True] Translation: X:158.98, Y:-128.41, Z:-4.14 [[ 9.53184085e-01 3.02215300e-01 -1.02962295e-02 1.58981753e+02] [ 3.02199725e-01 -9.53239676e-01 -3.07357832e-03 -1.28412235e+02] [-1.07436569e-02 -1.81831790e-04 -9.99942269e-01 -4.14419717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.014301034350093035 Centerline is valid? [True, True] Translation: X:159.01, Y:-128.41, Z:-4.14 [[ 9.27599148e-01 3.73429488e-01 -1.04994350e-02 1.59011349e+02] [ 3.73407512e-01 -9.27658554e-01 -4.05437274e-03 -1.28405510e+02] [-1.12539131e-02 -1.59735217e-04 -9.99936660e-01 -4.14351655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.013903406328755863 Centerline is valid? [True, True] Translation: X:159.04, Y:-128.40, Z:-4.14 [[ 8.96258441e-01 4.43401815e-01 -1.07534556e-02 1.59040478e+02] [ 4.43371897e-01 -8.96322937e-01 -5.15296963e-03 -1.28396726e+02] [-1.19234050e-02 -1.49387479e-04 -9.99928903e-01 -4.14253640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.013810371947949885 Centerline is valid? [True, True] Translation: X:159.07, Y:-128.39, Z:-4.14 [[ 8.58907573e-01 5.11988071e-01 -1.20829003e-02 1.59069701e+02] [ 5.11940217e-01 -8.58992541e-01 -7.00197700e-03 -1.28387025e+02] [-1.39640499e-02 -1.71671510e-04 -9.99902483e-01 -4.14094576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.013969567824048762 Centerline is valid? [True, True] Translation: X:159.10, Y:-128.37, Z:-4.14 [[ 8.16505994e-01 5.77215968e-01 -1.18189767e-02 1.59096593e+02] [ 5.77158486e-01 -8.16591512e-01 -8.14764080e-03 -1.28374409e+02] [-1.43542244e-02 -1.68825138e-04 -9.99896959e-01 -4.13983899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.013543616494356472 Centerline is valid? [True, True] Translation: X:159.12, Y:-128.36, Z:-4.14 [[ 7.69157816e-01 6.38975324e-01 -1.03338852e-02 1.59121426e+02] [ 6.38920273e-01 -7.69227218e-01 -8.38880832e-03 -1.28358871e+02] [-1.33093473e-02 -1.50211296e-04 -9.99911415e-01 -4.14217321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.013554057641385306 Centerline is valid? [True, True] Translation: X:159.14, Y:-128.34, Z:-4.14 [[ 7.17230841e-01 6.96781483e-01 -8.68825879e-03 1.59144797e+02] [ 6.96732509e-01 -7.17283451e-01 -8.26210135e-03 -1.28343486e+02] [-1.19888235e-02 -1.27558444e-04 -9.99928123e-01 -4.14242426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.013078737635243797 Centerline is valid? [True, True] Translation: X:159.17, Y:-128.32, Z:-4.14 [[ 6.61652097e-01 7.49772686e-01 -7.57772549e-03 1.59166042e+02] [ 7.49725295e-01 -6.61695480e-01 -8.43050036e-03 -1.28324666e+02] [-1.13351056e-02 -1.03154242e-04 -9.99935750e-01 -4.14349239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.01304940740463037 Centerline is valid? [True, True] Translation: X:159.19, Y:-128.31, Z:-4.14 [[ 6.01443261e-01 7.98888317e-01 -6.59247565e-03 1.59187837e+02] [ 7.98841988e-01 -6.01479384e-01 -8.60407307e-03 -1.28305867e+02] [-1.08389316e-02 -9.14845796e-05 -9.99941253e-01 -4.14435347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.012806842102938016 Centerline is valid? [True, True] Translation: X:159.21, Y:-128.29, Z:-4.14 [[ 5.38355011e-01 8.42695072e-01 -6.23672587e-03 1.59207460e+02] [ 8.42640208e-01 -5.38391130e-01 -9.61620987e-03 -1.28286155e+02] [-1.14613306e-02 -7.83812088e-05 -9.99934314e-01 -4.14472550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.012694610497461246 Centerline is valid? [True, True] Translation: X:159.23, Y:-128.27, Z:-4.14 [[ 4.72576518e-01 8.81270389e-01 -5.82557144e-03 1.59225349e+02] [ 8.81204933e-01 -4.72612419e-01 -1.07409275e-02 -1.28265199e+02] [-1.22188988e-02 -5.76121711e-05 -9.99925345e-01 -4.14366574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.012649589665184095 Centerline is valid? [True, True] Translation: X:159.24, Y:-128.24, Z:-4.14 [[ 4.05232926e-01 9.14199967e-01 -4.96957879e-03 1.59237461e+02] [ 9.14131708e-01 -4.05263397e-01 -1.11714131e-02 -1.28242396e+02] [-1.22268938e-02 -1.58251420e-05 -9.99925249e-01 -4.14385014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.012507544178035557 Centerline is valid? [True, True] Translation: X:159.25, Y:-128.22, Z:-4.14 [[ 3.32990758e-01 9.42922634e-01 -3.74981607e-03 1.59251732e+02] [ 9.42863100e-01 -3.33011871e-01 -1.05956916e-02 -1.28219087e+02] [-1.12396507e-02 -7.29582856e-06 -9.99936833e-01 -4.14448302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.012417287619953773 Centerline is valid? [True, True] Translation: X:159.27, Y:-128.20, Z:-4.14 [[ 2.58644434e-01 9.65967937e-01 -3.00020418e-03 1.59267835e+02] [ 9.65902998e-01 -2.58661835e-01 -1.12006264e-02 -1.28196591e+02] [-1.15954843e-02 -9.26538269e-07 -9.99932770e-01 -4.14463504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.012491687619513966 Centerline is valid? [True, True] Translation: X:159.28, Y:-128.17, Z:-4.14 [[ 1.82623529e-01 9.83180677e-01 -2.09824218e-03 1.59279325e+02] [ 9.83115534e-01 -1.82635582e-01 -1.13177277e-02 -1.28173362e+02] [-1.15105849e-02 4.06888521e-06 -9.99933751e-01 -4.14420555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.012624513093061207 Centerline is valid? [True, True] Translation: X:159.29, Y:-128.15, Z:-4.14 [[ 1.05495760e-01 9.94419095e-01 -1.14351787e-03 1.59287112e+02] [ 9.94359800e-01 -1.05501957e-01 -1.08593741e-02 -1.28149446e+02] [-1.09194124e-02 8.54971971e-06 -9.99940381e-01 -4.14416871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.012437796872425404 Centerline is valid? [True, True] Translation: X:159.30, Y:-128.12, Z:-4.15 [[ 2.64774468e-02 9.99649377e-01 -2.59745395e-04 1.59298465e+02] [ 9.99601427e-01 -2.64787208e-02 -9.79101068e-03 -1.28123710e+02] [-9.79445546e-03 -4.00902791e-07 -9.99952033e-01 -4.14536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.012482749077907888 Centerline is valid? [True, True] Translation: X:159.31, Y:-128.10, Z:-4.15 [[-5.35894024e-02 9.98562947e-01 4.65080251e-04 1.59306736e+02] [ 9.98522845e-01 5.35914183e-02 -8.94921640e-03 -1.28096966e+02] [-8.96128022e-03 -1.51899034e-05 -9.99959847e-01 -4.14528837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.012705785370091541 Centerline is valid? [True, True] Translation: X:159.31, Y:-128.07, Z:-4.15 [[-1.35726384e-01 9.90745822e-01 1.03184199e-03 1.59313555e+02] [ 9.90714572e-01 1.35730298e-01 -7.86906407e-03 -1.28071109e+02] [-7.93629457e-03 -4.57787192e-05 -9.99968506e-01 -4.14567342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.01301975167155157 Centerline is valid? [True, True] Translation: X:159.32, Y:-128.04, Z:-4.15 [[-2.16753375e-01 9.76225180e-01 1.54037217e-03 1.59319759e+02] [ 9.76198119e-01 2.16758836e-01 -7.26900837e-03 -1.28042677e+02] [-7.43007828e-03 -7.18736858e-05 -9.99972394e-01 -4.14600432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.013709130969260132 Centerline is valid? [True, True] Translation: X:159.32, Y:-128.01, Z:-4.15 [[-2.96608765e-01 9.54996799e-01 2.08688745e-03 1.59323914e+02] [ 9.54970677e-01 2.96616088e-01 -7.06415815e-03 -1.28013784e+02] [-7.36525281e-03 -1.02374906e-04 -9.99972871e-01 -4.14645685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.014314065997494562 Centerline is valid? [True, True] Translation: X:159.32, Y:-127.99, Z:-4.15 [[-3.72682432e-01 9.27955404e-01 2.56382480e-03 1.59323529e+02] [ 9.27931250e-01 3.72691233e-01 -6.69633291e-03 -1.27985160e+02] [-7.16941333e-03 -1.16552481e-04 -9.99974293e-01 -4.14630235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.015532208412497089 Centerline is valid? [True, True] Translation: X:159.32, Y:-127.96, Z:-4.15 [[-4.47712637e-01 8.94172215e-01 3.07335036e-03 1.59322084e+02] [ 8.94148893e-01 4.47723162e-01 -6.45969791e-03 -1.27956041e+02] [-7.15209252e-03 -1.44055564e-04 -9.99974413e-01 -4.14532922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.015409663817044202 Centerline is valid? [True, True] Translation: X:159.32, Y:-127.93, Z:-4.15 [[-5.17483329e-01 8.55684547e-01 3.86781731e-03 1.59315686e+02] [ 8.55658200e-01 5.17497757e-01 -6.71686473e-03 -1.27927728e+02] [-7.74910414e-03 -1.66335923e-04 -9.99969961e-01 -4.14525976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.01648223962688187 Centerline is valid? [True, True] Translation: X:159.31, Y:-127.90, Z:-4.14 [[-5.84377164e-01 8.11468190e-01 4.76522154e-03 1.59308941e+02] [ 8.11438432e-01 5.84396559e-01 -6.95217616e-03 -1.27900699e+02] [-8.42624888e-03 -1.96009095e-04 -9.99964479e-01 -4.14391739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.016693766876477386 Centerline is valid? [True, True] Translation: X:159.30, Y:-127.87, Z:-4.14 [[-6.47183135e-01 7.62311874e-01 5.88180858e-03 1.59296876e+02] [ 7.62277104e-01 6.47209821e-01 -7.28444674e-03 -1.27874170e+02] [-9.35978453e-03 -2.30803064e-04 -9.99956170e-01 -4.14393342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.016065946895303846 Centerline is valid? [True, True] Translation: X:159.28, Y:-127.85, Z:-4.15 [[-7.04382471e-01 7.09799560e-01 5.46987349e-03 1.59282211e+02] [ 7.09776041e-01 7.04403683e-01 -5.78131291e-03 -1.27848626e+02] [-7.95657239e-03 -1.89870325e-04 -9.99968328e-01 -4.14565616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.015432040063966411 Centerline is valid? [True, True] Translation: X:159.27, Y:-127.82, Z:-4.15 [[-7.56878849e-01 6.53534594e-01 5.19061742e-03 1.59265924e+02] [ 6.53517791e-01 7.56896631e-01 -4.68903554e-03 -1.27823950e+02] [-6.99320778e-03 -1.56870989e-04 -9.99975535e-01 -4.14663914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.014591899387738744 Centerline is valid? [True, True] Translation: X:159.28, Y:-127.81, Z:-4.15 [[-7.98788530e-01 6.01593120e-01 4.75416685e-03 1.59281083e+02] [ 6.01581631e-01 7.98802670e-01 -3.71963049e-03 -1.27805229e+02] [-6.03534529e-03 -1.11178726e-04 -9.99981781e-01 -4.14710625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.0140756151185857 Centerline is valid? [True, True] Translation: X:159.31, Y:-127.79, Z:-4.15 [[-8.37832992e-01 5.45899702e-01 5.42142916e-03 1.59305964e+02] [ 5.45887478e-01 8.37850526e-01 -3.65465092e-03 -1.27791884e+02] [-6.53742012e-03 -1.02496825e-04 -9.99978626e-01 -4.14664211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.01313608112176384 Centerline is valid? [True, True] Translation: X:159.33, Y:-127.78, Z:-4.15 [[-8.72162662e-01 4.89179572e-01 5.96972509e-03 1.59325022e+02] [ 4.89167510e-01 8.72183089e-01 -3.43611041e-03 -1.27775288e+02] [-6.88756829e-03 -7.66516474e-05 -9.99976278e-01 -4.14561816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.01247098187033535 Centerline is valid? [True, True] Translation: X:159.34, Y:-127.76, Z:-4.15 [[-9.02818672e-01 4.29978094e-01 6.10604051e-03 1.59340204e+02] [ 4.29967908e-01 9.02839319e-01 -2.95993040e-03 -1.27756915e+02] [-6.78547869e-03 -4.68789667e-05 -9.99976977e-01 -4.14555343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.012188772162480144 Centerline is valid? [True, True] Translation: X:159.66, Y:-127.11, Z:-5.11 [[-8.66120280e-01 -4.99797909e-01 6.14092724e-03 1.59659416e+02] [ 4.99785872e-01 -8.66142047e-01 -3.46936546e-03 -1.27113445e+02] [ 7.05289690e-03 6.42608927e-05 9.99975126e-01 -5.10819630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.012089385188573823 Centerline is valid? [True, True] Translation: X:159.65, Y:-127.14, Z:-5.11 [[-8.31985484e-01 -5.54764761e-01 6.01781329e-03 1.59652463e+02] [ 5.54750374e-01 -8.32007248e-01 -3.99528269e-03 -1.27142759e+02] [ 7.22330631e-03 1.43669730e-05 9.99973912e-01 -5.10881927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.012049217071352996 Centerline is valid? [True, True] Translation: X:159.25, Y:-127.75, Z:-4.14 [[-8.70279283e-01 4.92520526e-01 6.12376320e-03 1.59252381e+02] [ 4.92508323e-01 8.70300828e-01 -3.46696623e-03 -1.27747793e+02] [-7.03706821e-03 -1.22454328e-06 -9.99975240e-01 -4.14471820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.012108330674884324 Centerline is valid? [True, True] Translation: X:159.27, Y:-127.73, Z:-4.15 [[-9.02062817e-01 4.31566120e-01 5.77570404e-03 1.59266862e+02] [ 4.31557360e-01 9.02081307e-01 -2.74967138e-03 -1.27725711e+02] [-6.39681965e-03 1.21712751e-05 -9.99979540e-01 -4.14511934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.01209924941098453 Centerline is valid? [True, True] Translation: X:159.27, Y:-127.70, Z:-4.14 [[-9.30103197e-01 3.67247413e-01 6.11393275e-03 1.59274894e+02] [ 3.67239601e-01 9.30123291e-01 -2.39554534e-03 -1.27699261e+02] [-6.56646908e-03 1.71738401e-05 -9.99978440e-01 -4.14480133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.012182822887514549 Centerline is valid? [True, True] Translation: X:159.29, Y:-127.67, Z:-4.14 [[-9.54254868e-01 2.98927451e-01 6.32656322e-03 1.59288302e+02] [ 2.98920928e-01 9.54275840e-01 -1.97481809e-03 -1.27672805e+02] [-6.62761377e-03 6.66236731e-06 -9.99978037e-01 -4.14424619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.012419810108200334 Centerline is valid? [True, True] Translation: X:159.29, Y:-127.64, Z:-4.14 [[-9.74224737e-01 2.25471558e-01 6.98125898e-03 1.59293363e+02] [ 2.25465547e-01 9.74249750e-01 -1.64659602e-03 -1.27639726e+02] [-7.17275039e-03 -3.01212047e-05 -9.99974275e-01 -4.14271355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.01354904615900721 Centerline is valid? [True, True] Translation: X:159.46, Y:-126.96, Z:-5.11 [[-9.52399392e-01 -3.04771207e-01 7.06468417e-03 1.59459198e+02] [ 3.04763187e-01 -9.52425593e-01 -2.21139650e-03 -1.26958995e+02] [ 7.40255599e-03 4.69229815e-05 9.99972600e-01 -5.11183327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.013776010318712579 Centerline is valid? [True, True] Translation: X:159.25, Y:-127.62, Z:-4.14 [[-9.77208277e-01 2.12158001e-01 7.27774622e-03 1.59248799e+02] [ 2.12151312e-01 9.77235372e-01 -1.68805152e-03 -1.27621189e+02] [-7.47020466e-03 -1.05594506e-04 -9.99972092e-01 -4.14294786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.014569246323860627 Centerline is valid? [True, True] Translation: X:159.25, Y:-127.59, Z:-4.14 [[-9.90283769e-01 1.38900554e-01 6.68527830e-03 1.59251817e+02] [ 1.38896574e-01 9.90306327e-01 -1.05816872e-03 -1.27591216e+02] [-6.76745362e-03 -1.19325056e-04 -9.99977093e-01 -4.14364617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.015224883670404393 Centerline is valid? [True, True] Translation: X:159.25, Y:-127.56, Z:-4.14 [[-9.97790023e-01 6.60754253e-02 7.00779707e-03 1.59249464e+02] [ 6.60728108e-02 9.97814621e-01 -6.04193098e-04 -1.27561250e+02] [-7.03240469e-03 -1.39832995e-04 -9.99975263e-01 -4.14365539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.016174751233431633 Centerline is valid? [True, True] Translation: X:159.31, Y:-126.89, Z:-5.11 [[-9.84690299e-01 -1.74132914e-01 7.92103775e-03 1.59310489e+02] [ 1.74129097e-01 -9.84722133e-01 -1.17431690e-03 -1.26887785e+02] [ 8.00450841e-03 2.22944688e-04 9.99967939e-01 -5.11174904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.015282355442498763 Centerline is valid? [True, True] Translation: X:159.20, Y:-127.56, Z:-4.14 [[-9.98143236e-01 6.03984528e-02 7.88084701e-03 1.59199675e+02] [ 6.03952152e-02 9.98174332e-01 -6.48387266e-04 -1.27556174e+02] [-7.90562079e-03 -1.71217913e-04 -9.99968735e-01 -4.14258670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.015572298681083315 Centerline is valid? [True, True] Translation: X:159.26, Y:-126.88, Z:-5.11 [[-9.85558332e-01 -1.69154356e-01 7.84713761e-03 1.59256760e+02] [ 1.69150393e-01 -9.85589557e-01 -1.17080122e-03 -1.26881999e+02] [ 7.93210300e-03 1.73453508e-04 9.99968525e-01 -5.11160143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.01465867810621971 Centerline is valid? [True, True] Translation: X:159.14, Y:-127.56, Z:-4.14 [[-9.98205002e-01 5.92829055e-02 8.50361608e-03 1.59143360e+02] [ 5.92793853e-02 9.98241209e-01 -6.65634670e-04 -1.27556172e+02] [-8.52812075e-03 -1.60350723e-04 -9.99963622e-01 -4.14260153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.014429244803288579 Centerline is valid? [True, True] Translation: X:159.21, Y:-126.87, Z:-5.11 [[-9.86827169e-01 -1.61516983e-01 9.18707769e-03 1.59207289e+02] [ 1.61512062e-01 -9.86869908e-01 -1.27999475e-03 -1.26873456e+02] [ 9.27319140e-03 2.20690258e-04 9.99956979e-01 -5.11176881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.013941491604643558 Centerline is valid? [True, True] Translation: X:159.10, Y:-127.56, Z:-4.14 [[-9.98190163e-01 5.94401249e-02 9.12528524e-03 1.59098037e+02] [ 5.94364126e-02 9.98231864e-01 -6.77700248e-04 -1.27558481e+02] [-9.14943308e-03 -1.34099502e-04 -9.99958134e-01 -4.14207309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.0135268757704994 Centerline is valid? [True, True] Translation: X:159.15, Y:-126.86, Z:-5.11 [[-9.88054900e-01 -1.53816901e-01 9.37424127e-03 1.59154622e+02] [ 1.53811496e-01 -9.88099355e-01 -1.29915255e-03 -1.26864861e+02] [ 9.46251337e-03 1.58232033e-04 9.99955217e-01 -5.11192888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.013140712165467142 Centerline is valid? [True, True] Translation: X:159.05, Y:-127.56, Z:-4.14 [[-9.98154352e-01 5.99233303e-02 9.85314748e-03 1.59046598e+02] [ 5.99194309e-02 9.98202978e-01 -6.90746832e-04 -1.27562145e+02] [-9.87683301e-03 -9.90769667e-05 -9.99951218e-01 -4.14205356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.012941655226571494 Centerline is valid? [True, True] Translation: X:159.10, Y:-126.85, Z:-5.11 [[-9.89376835e-01 -1.45073618e-01 9.33399139e-03 1.59100383e+02] [ 1.45067794e-01 -9.89420861e-01 -1.30160660e-03 -1.26854426e+02] [ 9.42407458e-03 6.62821182e-05 9.99955590e-01 -5.11184492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.012836906452060428 Centerline is valid? [True, True] Translation: X:158.99, Y:-127.56, Z:-4.14 [[-9.98300695e-01 5.75082812e-02 9.40855683e-03 1.58991773e+02] [ 5.75049871e-02 9.98345026e-01 -6.20494181e-04 -1.27562840e+02] [-9.42866947e-03 -7.84008321e-05 -9.99955546e-01 -4.14290170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.013291668454277835 Centerline is valid? [True, True] Translation: X:159.04, Y:-126.85, Z:-5.11 [[-9.89603656e-01 -1.43511778e-01 9.43262070e-03 1.59042682e+02] [ 1.43506079e-01 -9.89648605e-01 -1.28179642e-03 -1.26850886e+02] [ 9.51893281e-03 8.51679941e-05 9.99954690e-01 -5.11174872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.014066356785764789 Centerline is valid? [True, True] Translation: X:158.93, Y:-127.56, Z:-4.14 [[-9.98848607e-01 4.68229833e-02 1.04435955e-02 1.58931523e+02] [ 4.68187798e-02 9.98903190e-01 -6.46755547e-04 -1.27556927e+02] [-1.04624239e-02 -1.57054479e-04 -9.99945255e-01 -4.14151614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.014812816745720986 Centerline is valid? [True, True] Translation: X:158.93, Y:-127.53, Z:-4.14 [[-9.99623729e-01 -2.53543168e-02 1.04670426e-02 1.58932655e+02] [-2.53546976e-02 9.99678513e-01 9.63310300e-05 -1.27528559e+02] [-1.04661200e-02 -1.69093917e-04 -9.99945214e-01 -4.14052501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.01547599809991431 Centerline is valid? [True, True] Translation: X:158.92, Y:-126.82, Z:-5.11 [[-9.97020782e-01 -7.63674395e-02 1.08432021e-02 1.58923740e+02] [ 7.63651225e-02 -9.97079723e-01 -6.28155020e-04 -1.26820981e+02] [ 1.08595075e-02 2.01758848e-04 9.99941013e-01 -5.11327929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.014590248346797011 Centerline is valid? [True, True] Translation: X:158.87, Y:-127.53, Z:-4.14 [[-9.99461613e-01 -3.12369716e-02 1.00367039e-02 1.58866866e+02] [-3.12371544e-02 9.99511991e-01 1.38593894e-04 -1.27533239e+02] [-1.00361352e-02 -1.74998793e-04 -9.99949621e-01 -4.14243703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.013826702601100367 Centerline is valid? [True, True] Translation: X:158.87, Y:-126.82, Z:-5.11 [[-9.97736839e-01 -6.65198333e-02 9.81384546e-03 1.58865706e+02] [ 6.65181771e-02 -9.97785090e-01 -4.95438742e-04 -1.26816495e+02] [ 9.82506518e-03 1.58481625e-04 9.99951720e-01 -5.11158219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.013028717534769568 Centerline is valid? [True, True] Translation: X:158.81, Y:-127.54, Z:-4.14 [[-9.99613562e-01 -2.63897696e-02 8.73538058e-03 1.58808761e+02] [-2.63893691e-02 9.99651727e-01 1.61125833e-04 -1.27540389e+02] [-8.73659035e-03 -6.94576144e-05 -9.99961833e-01 -4.14276024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.01291345817489718 Centerline is valid? [True, True] Translation: X:158.81, Y:-127.51, Z:-4.14 [[-9.95394354e-01 -9.54941950e-02 8.42246782e-03 1.58805174e+02] [-9.54912115e-02 9.95429986e-01 7.56585832e-04 -1.27514815e+02] [-8.45622658e-03 -5.11703907e-05 -9.99964244e-01 -4.14359489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.012837666425360727 Centerline is valid? [True, True] Translation: X:158.75, Y:-126.79, Z:-5.11 [[-9.99820553e-01 1.70578470e-02 8.23970068e-03 1.58745757e+02] [-1.70569721e-02 -9.99854504e-01 1.76454044e-04 -1.26788349e+02] [ 8.24151176e-03 3.58780352e-05 9.99966038e-01 -5.10981200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.012802014668781402 Centerline is valid? [True, True] Translation: X:158.72, Y:-127.52, Z:-4.14 [[-9.94940653e-01 -1.00076040e-01 8.82514065e-03 1.58721333e+02] [-1.00072500e-01 9.94979791e-01 8.42913541e-04 -1.27520771e+02] [-8.86519205e-03 -4.45049399e-05 -9.99960702e-01 -4.14313273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.01272127678307727 Centerline is valid? [True, True] Translation: X:158.71, Y:-127.49, Z:-4.14 [[-9.85376461e-01 -1.70097096e-01 1.00103970e-02 1.58712964e+02] [-1.70088785e-01 9.85427306e-01 1.68199677e-03 -1.27492931e+02] [-1.01506213e-02 -4.52562332e-05 -9.99948480e-01 -4.14256885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.012745810071453 Centerline is valid? [True, True] Translation: X:158.70, Y:-127.47, Z:-4.14 [[-9.70784144e-01 -2.39722564e-01 1.05469259e-02 1.58699935e+02] [-2.39708922e-01 9.70841434e-01 2.55783194e-03 -1.27466710e+02] [-1.08525627e-02 -4.50895414e-05 -9.99941108e-01 -4.14200428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.012848425617822077 Centerline is valid? [True, True] Translation: X:158.52, Y:-126.77, Z:-5.11 [[-9.86148286e-01 1.65502365e-01 1.09784179e-02 1.58521347e+02] [-1.65491369e-01 -9.86209391e-01 1.90893471e-03 -1.26771102e+02] [ 1.11429521e-02 6.56592838e-05 9.99937913e-01 -5.11259213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.012847563875103992 Centerline is valid? [True, True] Translation: X:158.58, Y:-127.49, Z:-4.14 [[-9.68913098e-01 -2.47133880e-01 1.15002052e-02 1.58580121e+02] [-2.47117244e-01 9.68981342e-01 2.86817241e-03 -1.27490070e+02] [-1.18523068e-02 -6.28891973e-05 -9.99929757e-01 -4.14106221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.012895899260232765 Centerline is valid? [True, True] Translation: X:158.55, Y:-127.47, Z:-4.14 [[-9.48299031e-01 -3.17189649e-01 1.09395938e-02 1.58553844e+02] [-3.17169431e-01 9.48362126e-01 3.58200380e-03 -1.27468335e+02] [-1.15108709e-02 -7.28939957e-05 -9.99933745e-01 -4.14244442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.012979165722536322 Centerline is valid? [True, True] Translation: X:158.51, Y:-127.45, Z:-4.14 [[-9.22529572e-01 -3.85784781e-01 1.04542272e-02 1.58512630e+02] [-3.85761015e-01 9.22588801e-01 4.28286550e-03 -1.27453434e+02] [-1.12972172e-02 -8.17632071e-05 -9.99936181e-01 -4.14336947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.013232049258793612 Centerline is valid? [True, True] Translation: X:158.45, Y:-127.45, Z:-4.14 [[-8.90852599e-01 -4.54195454e-01 9.38812622e-03 1.58451226e+02] [-4.54171362e-01 8.90902060e-01 4.67901038e-03 -1.27449561e+02] [-1.04890862e-02 -9.55095235e-05 -9.99944984e-01 -4.14363164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.013704348218621824 Centerline is valid? [True, True] Translation: X:158.39, Y:-127.45, Z:-4.14 [[-8.54021979e-01 -5.20170792e-01 8.29492625e-03 1.58385343e+02] [-5.20147449e-01 8.54062255e-01 4.92903128e-03 -1.27453063e+02] [-9.64832153e-03 -1.05083682e-04 -9.99953448e-01 -4.14348041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.013521353817983696 Centerline is valid? [True, True] Translation: X:158.31, Y:-127.47, Z:-4.14 [[-8.12790752e-01 -5.82502211e-01 7.89731782e-03 1.58312597e+02] [-5.82476008e-01 8.12829110e-01 5.52608765e-03 -1.27469515e+02] [-9.63812809e-03 -1.08445220e-04 -9.99953546e-01 -4.14414401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.014069589320036642 Centerline is valid? [True, True] Translation: X:158.23, Y:-127.50, Z:-4.14 [[-7.67092839e-01 -6.41490832e-01 7.62166389e-03 1.58232963e+02] [-6.41460582e-01 7.67130694e-01 6.23061912e-03 -1.27495721e+02] [-9.84369734e-03 -1.09533647e-04 -9.99951544e-01 -4.14242412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.01364022119872372 Centerline is valid? [True, True] Translation: X:158.15, Y:-127.53, Z:-4.14 [[-7.16600892e-01 -6.97441102e-01 7.68571323e-03 1.58154011e+02] [-6.97402764e-01 7.16642097e-01 7.31364706e-03 -1.27531275e+02] [-1.06087437e-02 -1.19071645e-04 -9.99943719e-01 -4.14237030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.013957345818560618 Centerline is valid? [True, True] Translation: X:158.07, Y:-127.58, Z:-4.14 [[-6.61948731e-01 -7.49511031e-01 7.55584273e-03 1.58069360e+02] [-7.49464374e-01 6.61991841e-01 8.36386168e-03 -1.27578904e+02] [-1.12707128e-02 -1.26387313e-04 -9.99936476e-01 -4.14100191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.013619352690647084 Centerline is valid? [True, True] Translation: X:157.98, Y:-127.65, Z:-4.14 [[-6.03580185e-01 -7.97268905e-01 7.29751195e-03 1.57981103e+02] [-7.97213231e-01 6.03624284e-01 9.42268900e-03 -1.27645140e+02] [-1.19173724e-02 -1.30324707e-04 -9.99928977e-01 -4.14128631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.013577913778022681 Centerline is valid? [True, True] Translation: X:157.91, Y:-127.70, Z:-4.14 [[-5.41578289e-01 -8.40624300e-01 6.61387281e-03 1.57907821e+02] [-8.40564415e-01 5.41618658e-01 1.00345936e-02 -1.27702147e+02] [-1.20175201e-02 -1.24868092e-04 -9.99927779e-01 -4.14159640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.013586630245097764 Centerline is valid? [True, True] Translation: X:157.83, Y:-127.77, Z:-4.14 [[-4.76931273e-01 -8.78925655e-01 5.12392923e-03 1.57832579e+02] [-8.78877124e-01 4.76958786e-01 9.23676887e-03 -1.27774255e+02] [-1.05623362e-02 -9.80002526e-05 -9.99944212e-01 -4.14180371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.013445766756019082 Centerline is valid? [True, True] Translation: X:157.76, Y:-127.86, Z:-4.14 [[-4.09539812e-01 -9.12279285e-01 4.86300098e-03 1.57760670e+02] [-9.12217681e-01 4.09568672e-01 1.06021780e-02 -1.27858769e+02] [-1.16638802e-02 -9.41015112e-05 -9.99931970e-01 -4.14167501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.013251885871296457 Centerline is valid? [True, True] Translation: X:157.69, Y:-127.95, Z:-4.14 [[-3.39797478e-01 -9.40488753e-01 4.31037419e-03 1.57694797e+02] [-9.40416177e-01 3.39824805e-01 1.16840278e-02 -1.27950097e+02] [-1.24534688e-02 -8.33424455e-05 -9.99922449e-01 -4.14112458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.013197808895553659 Centerline is valid? [True, True] Translation: X:157.64, Y:-128.05, Z:-4.14 [[-2.68632412e-01 -9.63236680e-01 3.42427321e-03 1.57636181e+02] [-9.63161194e-01 2.68654229e-01 1.20590106e-02 -1.28047857e+02] [-1.25356268e-02 -5.86859645e-05 -9.99921424e-01 -4.14125072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.013058719726802611 Centerline is valid? [True, True] Translation: X:157.58, Y:-128.16, Z:-4.14 [[-1.97576452e-01 -9.80284690e-01 2.33923434e-03 1.57584271e+02] [-9.80216628e-01 1.97590299e-01 1.15514484e-02 -1.28156576e+02] [-1.17859180e-02 -1.06622074e-05 -9.99930544e-01 -4.14179758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.013037466422421871 Centerline is valid? [True, True] Translation: X:157.54, Y:-128.26, Z:-4.14 [[-1.25796037e-01 -9.92055355e-01 1.23712560e-03 1.57542195e+02] [-9.92004724e-01 1.25802116e-01 1.00227804e-02 -1.28258904e+02] [-1.00987860e-02 3.35916229e-05 -9.99949005e-01 -4.14339921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.01320114705447261 Centerline is valid? [True, True] Translation: X:157.51, Y:-128.37, Z:-4.14 [[-5.27004440e-02 -9.98610294e-01 3.80333102e-04 1.57506259e+02] [-9.98575857e-01 5.27017853e-02 8.29341311e-03 -1.28370760e+02] [-8.30193194e-03 5.72751008e-05 -9.99965537e-01 -4.14492563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.013373270704161494 Centerline is valid? [True, True] Translation: X:156.78, Y:-128.45, Z:-5.11 [[-1.04560825e-01 9.94518083e-01 9.03763063e-04 1.56775824e+02] [-9.94487615e-01 -1.04564696e-01 7.78516030e-03 -1.28447876e+02] [ 7.83698440e-03 -8.47583912e-05 9.99969287e-01 -5.10902344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.013357307066490014 Centerline is valid? [True, True] Translation: X:157.49, Y:-128.66, Z:-4.14 [[-4.46014477e-02 -9.99004818e-01 2.91562909e-04 1.57486918e+02] [-9.98972231e-01 4.46023479e-02 8.06922173e-03 -1.28656664e+02] [-8.07419577e-03 6.86357214e-05 -9.99967401e-01 -4.14401068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.013084993570692599 Centerline is valid? [True, True] Translation: X:157.45, Y:-128.78, Z:-4.14 [[ 3.47811859e-02 -9.99394894e-01 -3.39574054e-04 1.57454937e+02] [-9.99360326e-01 -3.47828072e-02 8.31230092e-03 -1.28775639e+02] [-8.31908244e-03 5.02451535e-05 -9.99965395e-01 -4.14317615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.012918690875752011 Centerline is valid? [True, True] Translation: X:157.44, Y:-128.90, Z:-4.14 [[ 1.12425430e-01 -9.93659678e-01 -9.83381829e-04 1.57435961e+02] [-9.93624901e-01 -1.12429723e-01 8.31347067e-03 -1.28895308e+02] [-8.37132193e-03 4.24671549e-05 -9.99964959e-01 -4.14311269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.01269843287380447 Centerline is valid? [True, True] Translation: X:157.42, Y:-129.02, Z:-4.14 [[ 1.90760423e-01 -9.81635400e-01 -1.54986660e-03 1.57423515e+02] [-9.81603917e-01 -1.90766717e-01 7.86197713e-03 -1.29017334e+02] [-8.01325803e-03 2.16010493e-05 -9.99967893e-01 -4.14386823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.012689392469061707 Centerline is valid? [True, True] Translation: X:157.42, Y:-129.14, Z:-4.14 [[ 2.69213777e-01 -9.63078403e-01 -1.98317839e-03 1.57418907e+02] [-9.63052047e-01 -2.69221081e-01 7.12497485e-03 -1.29141374e+02] [-7.39582283e-03 -8.23737822e-06 -9.99972651e-01 -4.14373820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.012793096636796926 Centerline is valid? [True, True] Translation: X:157.42, Y:-129.26, Z:-4.14 [[ 3.45744299e-01 -9.38325679e-01 -2.40828991e-03 1.57423701e+02] [-9.38302236e-01 -3.45752685e-01 6.63287602e-03 -1.29261534e+02] [-7.05647059e-03 -3.35752578e-05 -9.99975102e-01 -4.14358121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.013414682928663105 Centerline is valid? [True, True] Translation: X:157.44, Y:-129.38, Z:-4.14 [[ 4.22308946e-01 -9.06447128e-01 -2.95928825e-03 1.57435222e+02] [-9.06423539e-01 -4.22319307e-01 6.53995400e-03 -1.29381647e+02] [-7.17788709e-03 -7.95125506e-05 -9.99974236e-01 -4.14353263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.014638807347699803 Centerline is valid? [True, True] Translation: X:157.46, Y:-129.50, Z:-4.14 [[ 4.95361033e-01 -8.68680034e-01 -3.52785056e-03 1.57456941e+02] [-8.68656202e-01 -4.95373579e-01 6.43577434e-03 -1.29501431e+02] [-7.33823264e-03 -1.23542552e-04 -9.99973067e-01 -4.14308217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.015413783993517016 Centerline is valid? [True, True] Translation: X:157.49, Y:-129.61, Z:-4.14 [[ 5.63030739e-01 -8.26427137e-01 -3.81767826e-03 1.57487062e+02] [-8.26406409e-01 -5.63043664e-01 5.85484363e-03 -1.29614707e+02] [-6.98812121e-03 -1.41503157e-04 -9.99975573e-01 -4.14239106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.01539968508823532 Centerline is valid? [True, True] Translation: X:157.52, Y:-129.72, Z:-4.14 [[ 6.24542680e-01 -7.80976341e-01 -4.73240190e-03 1.57524252e+02] [-7.80951971e-01 -6.24560589e-01 6.17172551e-03 -1.29716754e+02] [-7.77564332e-03 -1.58727401e-04 -9.99969757e-01 -4.14174347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.014786109692094838 Centerline is valid? [True, True] Translation: X:157.57, Y:-129.81, Z:-4.14 [[ 6.80731353e-01 -7.32515396e-01 -5.10094655e-03 1.57569359e+02] [-7.32493263e-01 -6.80750450e-01 5.69596454e-03 -1.29813206e+02] [-7.64485338e-03 -1.41012661e-04 -9.99970768e-01 -4.14189266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.013966486712631648 Centerline is valid? [True, True] Translation: X:157.62, Y:-129.91, Z:-4.14 [[ 7.32541885e-01 -6.80698252e-01 -5.68120325e-03 1.57623770e+02] [-6.80676463e-01 -7.32563905e-01 5.44782800e-03 -1.29905945e+02] [-7.87017143e-03 -1.23700861e-04 -9.99969022e-01 -4.14161883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.013341901403466305 Centerline is valid? [True, True] Translation: X:157.65, Y:-129.93, Z:-4.14 [[ 7.80585549e-01 -6.25014748e-01 -6.53950708e-03 1.57645571e+02] [-6.24991812e-01 -7.80612936e-01 5.35524095e-03 -1.29932977e+02] [-8.45192840e-03 -9.30853199e-05 -9.99964278e-01 -4.14068366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.012715979024153168 Centerline is valid? [True, True] Translation: X:157.67, Y:-129.96, Z:-4.14 [[ 8.24260528e-01 -5.66165656e-01 -7.14367056e-03 1.57670789e+02] [-5.66143836e-01 -8.24291482e-01 4.97089224e-03 -1.29957825e+02] [-8.70281526e-03 -5.29652041e-05 -9.99962128e-01 -4.14048319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.012454567071762415 Centerline is valid? [True, True] Translation: X:157.70, Y:-129.98, Z:-4.14 [[ 8.64013020e-01 -5.03420814e-01 -6.99899896e-03 1.57697880e+02] [-5.03404134e-01 -8.64041367e-01 4.09800474e-03 -1.29981212e+02] [-8.11044551e-03 -1.74044435e-05 -9.99967110e-01 -4.14044990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.012635882226843437 Centerline is valid? [True, True] Translation: X:157.73, Y:-130.00, Z:-4.14 [[ 8.97444248e-01 -4.41082937e-01 -6.29793554e-03 1.57727860e+02] [-4.41072370e-01 -8.97466346e-01 3.05338113e-03 -1.29999521e+02] [-6.99897951e-03 3.76060235e-05 -9.99975506e-01 -4.14129188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.013219234991948948 Centerline is valid? [True, True] Translation: X:157.76, Y:-130.02, Z:-4.14 [[ 9.27237290e-01 -3.74438788e-01 -5.15776389e-03 1.57757450e+02] [-3.74433346e-01 -9.27251633e-01 2.01944891e-03 -1.30016326e+02] [-5.53870500e-03 5.87304585e-05 -9.99984660e-01 -4.14214653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.014161303277897932 Centerline is valid? [True, True] Translation: X:157.79, Y:-130.03, Z:-4.14 [[ 9.51483252e-01 -3.07669745e-01 -4.35302863e-03 1.57787461e+02] [-3.07666914e-01 -9.51493206e-01 1.32234525e-03 -1.30032900e+02] [-4.54872279e-03 8.10935223e-05 -9.99989651e-01 -4.14319293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.015009069252314771 Centerline is valid? [True, True] Translation: X:157.82, Y:-130.05, Z:-4.14 [[ 9.71887800e-01 -2.35398108e-01 -4.67290855e-03 1.57818222e+02] [-2.35395881e-01 -9.71899028e-01 1.02867592e-03 -1.30049327e+02] [-4.78374364e-03 1.00225852e-04 -9.99988553e-01 -4.14302840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.0148187613578867 Centerline is valid? [True, True] Translation: X:157.85, Y:-130.07, Z:-4.14 [[ 9.87418153e-01 -1.58060491e-01 -4.71934603e-03 1.57845846e+02] [-1.58059157e-01 -9.87429426e-01 6.56696865e-04 -1.30065994e+02] [-4.76381897e-03 9.75014508e-05 -9.99988648e-01 -4.14300652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.01405795957343288 Centerline is valid? [True, True] Translation: X:157.87, Y:-130.08, Z:-4.14 [[ 9.97061910e-01 -7.64322868e-02 -5.06480985e-03 1.57874675e+02] [-7.64317309e-02 -9.97074771e-01 3.03498039e-04 -1.30082629e+02] [-5.07319117e-03 8.45058494e-05 -9.99987128e-01 -4.14262389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.013247126393604836 Centerline is valid? [True, True] Translation: X:157.90, Y:-130.10, Z:-4.14 [[ 9.99955192e-01 7.99395776e-03 -5.07053760e-03 1.57904072e+02] [ 7.99358405e-03 -9.99968046e-01 -9.39648443e-05 -1.30097360e+02] [-5.07112672e-03 5.34288655e-05 -9.99987140e-01 -4.14155645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.012713806385816867 Centerline is valid? [True, True] Translation: X:157.94, Y:-130.11, Z:-4.14 [[ 9.95805774e-01 9.13232323e-02 -5.56124562e-03 1.57935559e+02] [ 9.13216377e-02 -9.95821302e-01 -5.40516268e-04 -1.30108182e+02] [-5.58736855e-03 3.03871627e-05 -9.99984390e-01 -4.14139233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.012551517996619318 Centerline is valid? [True, True] Translation: X:157.97, Y:-130.12, Z:-4.14 [[ 9.84435498e-01 1.75647002e-01 -5.90607291e-03 1.57968724e+02] [ 1.75643888e-01 -9.84453214e-01 -1.04592099e-03 -1.30119428e+02] [-5.99796534e-03 -7.72385477e-06 -9.99982012e-01 -4.14139506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.012732886562330598 Centerline is valid? [True, True] Translation: X:158.00, Y:-130.13, Z:-4.14 [[ 9.66804038e-01 2.55469720e-01 -5.01745294e-03 1.58002842e+02] [ 2.55466411e-01 -9.66817057e-01 -1.30051875e-03 -1.30125615e+02] [-5.18320225e-03 -2.44439156e-05 -9.99986567e-01 -4.14197268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.012911044446973656 Centerline is valid? [True, True] Translation: X:158.04, Y:-130.13, Z:-4.14 [[ 9.43386548e-01 3.31668213e-01 -4.24463022e-03 1.58036135e+02] [ 3.31664987e-01 -9.43396097e-01 -1.46324326e-03 -1.30128233e+02] [-4.48967886e-03 -2.73912213e-05 -9.99989921e-01 -4.14141584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.012538536123981604 Centerline is valid? [True, True] Translation: X:158.07, Y:-130.12, Z:-4.14 [[ 9.15474822e-01 4.02353757e-01 -4.15988300e-03 1.58068430e+02] [ 4.02349686e-01 -9.15484273e-01 -1.80991802e-03 -1.30123083e+02] [-4.53653478e-03 -1.67932427e-05 -9.99989710e-01 -4.14181369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.01248793053517685 Centerline is valid? [True, True] Translation: X:158.10, Y:-130.11, Z:-4.14 [[ 8.84101617e-01 4.67273142e-01 -4.48801480e-03 1.58098631e+02] [ 4.67267048e-01 -8.84113008e-01 -2.38643017e-03 -1.30112326e+02] [-5.08302699e-03 1.27453389e-05 -9.99987081e-01 -4.14077508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.012766644224234173 Centerline is valid? [True, True] Translation: X:158.13, Y:-130.10, Z:-4.14 [[ 8.47064757e-01 5.31464592e-01 -5.16578282e-03 1.58128678e+02] [ 5.31454411e-01 -8.47080507e-01 -3.28994087e-03 -1.30101264e+02] [-6.12432101e-03 4.14149010e-05 -9.99981245e-01 -4.13992458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.01370265440595802 Centerline is valid? [True, True] Translation: X:158.16, Y:-130.09, Z:-4.14 [[ 8.06266408e-01 5.91530356e-01 -5.13003636e-03 1.58156883e+02] [ 5.91517748e-01 -8.06282725e-01 -3.86294858e-03 -1.30085735e+02] [-6.42131104e-03 8.00581220e-05 -9.99979380e-01 -4.13954971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.014285850614576835 Centerline is valid? [True, True] Translation: X:158.19, Y:-130.07, Z:-4.14 [[ 7.59934645e-01 6.49973894e-01 -5.76826297e-03 1.58185865e+02] [ 6.49953911e-01 -7.59956526e-01 -5.09823506e-03 -1.30071567e+02] [-7.69734878e-03 1.25220371e-04 -9.99970367e-01 -4.13866787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.014216288067235199 Centerline is valid? [True, True] Translation: X:158.22, Y:-130.06, Z:-4.14 [[ 7.07132980e-01 7.07055965e-01 -5.90000423e-03 1.58215419e+02] [ 7.07029655e-01 -7.07157579e-01 -6.10121514e-03 -1.30057349e+02] [-8.48613326e-03 1.42892489e-04 -9.99963982e-01 -4.13830508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.013785038545726845 Centerline is valid? [True, True] Translation: X:158.24, Y:-130.04, Z:-4.14 [[ 6.46934393e-01 7.62520343e-01 -6.21440419e-03 1.58244867e+02] [ 7.62483212e-01 -6.46964226e-01 -7.52600799e-03 -1.30041362e+02] [-9.75923139e-03 1.30454541e-04 -9.99952369e-01 -4.13737483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.012823437047164633 Centerline is valid? [True, True] Translation: X:158.27, Y:-130.02, Z:-4.14 [[ 5.80046824e-01 8.14563484e-01 -5.65804253e-03 1.58273266e+02] [ 8.14523567e-01 -5.80074414e-01 -8.06426194e-03 -1.30023786e+02] [-9.85093901e-03 6.90405390e-05 -9.99951476e-01 -4.13717849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.0125678586792859 Centerline is valid? [True, True] Translation: X:158.30, Y:-130.00, Z:-4.14 [[ 5.12296677e-01 8.58793320e-01 -5.11360310e-03 1.58299057e+02] [ 8.58749660e-01 -5.12322195e-01 -8.65962913e-03 -1.30002829e+02] [-1.00566440e-02 4.49943009e-05 -9.99949430e-01 -4.13732142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.012445429561147392 Centerline is valid? [True, True] Translation: X:158.32, Y:-129.98, Z:-4.14 [[ 4.36612095e-01 8.99640531e-01 -4.09800526e-03 1.58324352e+02] [ 8.99601545e-01 -4.36631325e-01 -8.37537442e-03 -1.29980853e+02] [-9.32414376e-03 -2.97820899e-05 -9.99956529e-01 -4.13741893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.013110814568856112 Centerline is valid? [True, True] Translation: X:158.35, Y:-129.96, Z:-4.14 [[ 3.57264976e-01 9.33998985e-01 -2.76275724e-03 1.58349357e+02] [ 9.33972865e-01 -3.57275648e-01 -6.98557319e-03 -1.29957069e+02] [-7.51158415e-03 -8.46396658e-05 -9.99971784e-01 -4.13862121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.014363824831968323 Centerline is valid? [True, True] Translation: X:158.37, Y:-129.93, Z:-4.14 [[ 2.78394915e-01 9.60464811e-01 -1.90198200e-03 1.58368863e+02] [ 9.60444885e-01 -2.78401392e-01 -6.18765554e-03 -1.29930729e+02] [-6.47253985e-03 -1.04137043e-04 -9.99979048e-01 -4.13888168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.015109955681043346 Centerline is valid? [True, True] Translation: X:158.39, Y:-129.90, Z:-4.14 [[ 1.97540650e-01 9.80293763e-01 -1.35278884e-03 1.58385026e+02] [ 9.80275076e-01 -1.97545239e-01 -6.05429962e-03 -1.29901077e+02] [-6.20222915e-03 -1.30134901e-04 -9.99980758e-01 -4.13916663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.015881079457616572 Centerline is valid? [True, True] Translation: X:158.40, Y:-129.87, Z:-4.14 [[ 1.18637315e-01 9.92937226e-01 -9.23087117e-04 1.58396958e+02] [ 9.92916072e-01 -1.18640815e-01 -6.48317628e-03 -1.29872049e+02] [-6.54690288e-03 -1.47401407e-04 -9.99978558e-01 -4.13800046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.01595596280231833 Centerline is valid? [True, True] Translation: X:158.40, Y:-129.84, Z:-4.14 [[ 4.02144009e-02 9.99190973e-01 -4.48268341e-04 1.58402749e+02] [ 9.99165720e-01 -4.02165724e-02 -7.10566895e-03 -1.29840218e+02] [-7.11794809e-03 -1.62144140e-04 -9.99974654e-01 -4.13728211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.01579421449606809 Centerline is valid? [True, True] Translation: X:158.41, Y:-129.81, Z:-4.14 [[-3.70851666e-02 9.99312101e-01 1.20891357e-04 1.58405860e+02] [ 9.99281342e-01 3.70849739e-02 -7.84240907e-03 -1.29809205e+02] [-7.84149754e-03 -1.70032570e-04 -9.99969241e-01 -4.13686082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.014757388102976306 Centerline is valid? [True, True] Translation: X:158.40, Y:-129.78, Z:-4.14 [[-1.10761913e-01 9.93846641e-01 8.08462362e-04 1.58400906e+02] [ 9.93809478e-01 1.10764764e-01 -8.59581944e-03 -1.29779150e+02] [-8.63247542e-03 -1.48631847e-04 -9.99962728e-01 -4.13554791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.013597121591183524 Centerline is valid? [True, True] Translation: X:158.39, Y:-129.75, Z:-4.14 [[-1.83090686e-01 9.83094785e-01 1.56333094e-03 1.58391464e+02] [ 9.83053672e-01 1.83097327e-01 -8.99150104e-03 -1.29750102e+02] [-9.12573950e-03 -1.09421871e-04 -9.99958354e-01 -4.13514967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.012108134057051183 Centerline is valid? [True, True] Translation: X:158.38, Y:-129.72, Z:-4.14 [[-2.48577578e-01 9.68609710e-01 2.10172555e-03 1.58378287e+02] [ 9.68574907e-01 2.48586463e-01 -8.21099756e-03 -1.29723294e+02] [-8.47571248e-03 -5.39125602e-06 -9.99964081e-01 -4.13712781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.012694916496181232 Centerline is valid? [True, True] Translation: X:158.37, Y:-129.70, Z:-4.14 [[-3.15066213e-01 9.49066919e-01 2.29447090e-03 1.58367710e+02] [ 9.49043131e-01 3.15074562e-01 -6.71985767e-03 -1.29698205e+02] [-7.10052403e-03 6.03517348e-05 -9.99974789e-01 -4.13828302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.015279815738983552 Centerline is valid? [True, True] Translation: X:158.35, Y:-129.68, Z:-4.14 [[-3.76997428e-01 9.26211303e-01 2.35832375e-03 1.58351844e+02] [ 9.26195193e-01 3.77004784e-01 -5.46425637e-03 -1.29675157e+02] [-5.95015535e-03 1.24257526e-04 -9.99982290e-01 -4.13915620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.0172453195452941 Centerline is valid? [True, True] Translation: X:158.34, Y:-129.65, Z:-4.14 [[-4.40785904e-01 8.97608331e-01 2.65912981e-03 1.58339475e+02] [ 8.97594224e-01 4.40793893e-01 -5.03507894e-03 -1.29652090e+02] [-5.69165699e-03 1.67427733e-04 -9.99983788e-01 -4.13947473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.018150067194322335 Centerline is valid? [True, True] Translation: X:158.33, Y:-129.63, Z:-4.14 [[-5.07511048e-01 8.61639665e-01 3.10213709e-03 1.58330573e+02] [ 8.61625746e-01 5.07520495e-01 -4.90111779e-03 -1.29627640e+02] [-5.79739564e-03 1.85509755e-04 -9.99983178e-01 -4.13858040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.01866400761701055 Centerline is valid? [True, True] Translation: X:158.32, Y:-129.60, Z:-4.14 [[-5.73780997e-01 8.18996884e-01 4.41265656e-03 1.58320471e+02] [ 8.18975715e-01 5.73797917e-01 -5.89305371e-03 -1.29602940e+02] [-7.35836578e-03 2.32536333e-04 -9.99972900e-01 -4.13677309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.01711785344122042 Centerline is valid? [True, True] Translation: X:158.31, Y:-129.58, Z:-4.14 [[-6.38809800e-01 7.69348002e-01 5.06873309e-03 1.58312394e+02] [ 7.69326424e-01 6.38829872e-01 -5.76603099e-03 -1.29575792e+02] [-7.67414253e-03 2.16113204e-04 -9.99970530e-01 -4.13656828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.015522302555339226 Centerline is valid? [True, True] Translation: X:158.30, Y:-129.55, Z:-4.14 [[-7.02550886e-01 7.11613926e-01 5.27945511e-03 1.58303287e+02] [ 7.11595436e-01 7.02570706e-01 -5.13218018e-03 -1.29549973e+02] [-7.36132139e-03 1.51218425e-04 -9.99972894e-01 -4.13617912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.013527733422125075 Centerline is valid? [True, True] Translation: X:158.32, Y:-129.52, Z:-4.14 [[-7.56934893e-01 6.53470489e-01 5.08797815e-03 1.58321951e+02] [ 6.53456412e-01 7.56951990e-01 -4.28986899e-03 -1.29519892e+02] [-6.65465797e-03 7.76204225e-05 -9.99977855e-01 -4.13634551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.012512711589581402 Centerline is valid? [True, True] Translation: X:158.79, Y:-128.97, Z:-5.12 [[-7.23283759e-01 -6.90542296e-01 3.45577009e-03 1.58785684e+02] [ 6.90533282e-01 -7.23291995e-01 -3.53229234e-03 -1.28974756e+02] [ 4.93872810e-03 -1.68525421e-04 9.99987790e-01 -5.11592431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.012344949535430506 Centerline is valid? [True, True] Translation: X:158.30, Y:-129.48, Z:-4.14 [[-7.68161059e-01 6.40254208e-01 1.77097441e-03 1.58296171e+02] [ 6.40252493e-01 7.68163101e-01 -1.48177380e-03 -1.29481611e+02] [-2.30910910e-03 -4.37015125e-06 -9.99997334e-01 -4.13988400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.012585777588440036 Centerline is valid? [True, True] Translation: X:158.31, Y:-129.45, Z:-4.14 [[-8.13928253e-01 5.80963269e-01 1.57454395e-03 1.58313550e+02] [ 5.80962154e-01 8.13929776e-01 -1.13808533e-03 -1.29454770e+02] [-1.94275398e-03 -1.15693538e-05 -9.99998113e-01 -4.13918261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.01321064355172718 Centerline is valid? [True, True] Translation: X:158.33, Y:-129.42, Z:-4.14 [[-8.55899417e-01 5.17132371e-01 3.20928831e-03 1.58325978e+02] [ 5.17128542e-01 8.55905433e-01 -1.99049726e-03 -1.29423197e+02] [-3.77619787e-03 -4.40508640e-05 -9.99992869e-01 -4.13653006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.013790597753602257 Centerline is valid? [True, True] Translation: X:158.34, Y:-129.40, Z:-4.14 [[-8.91692154e-01 4.52623726e-01 4.10677339e-03 1.58339796e+02] [ 4.52618574e-01 8.91701608e-01 -2.16069125e-03 -1.29396428e+02] [-4.63999656e-03 -6.78695235e-05 -9.99989233e-01 -4.13506456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.014731285758849518 Centerline is valid? [True, True] Translation: X:158.65, Y:-128.81, Z:-5.12 [[-8.41890001e-01 -5.39624163e-01 5.19515458e-03 1.58654285e+02] [ 5.39615191e-01 -8.41906011e-01 -3.11689986e-03 -1.28812990e+02] [ 6.05578634e-03 1.79297500e-04 9.99981648e-01 -5.12128513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.01509073747112688 Centerline is valid? [True, True] Translation: X:158.64, Y:-128.84, Z:-5.12 [[-8.02887236e-01 -5.96111289e-01 4.83916283e-03 1.58641712e+02] [ 5.96101324e-01 -8.02901811e-01 -3.44867245e-03 -1.28839413e+02] [ 5.94116518e-03 1.15736278e-04 9.99982344e-01 -5.12193572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.016157361527981876 Centerline is valid? [True, True] Translation: X:158.25, Y:-129.38, Z:-4.13 [[-8.63574911e-01 5.04196499e-01 4.92585299e-03 1.58251665e+02] [ 5.04187538e-01 8.63588952e-01 -3.00806075e-03 -1.29375336e+02] [-5.77056592e-03 -1.14132104e-04 -9.99983344e-01 -4.13078411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.015468681834801127 Centerline is valid? [True, True] Translation: X:158.60, Y:-128.81, Z:-5.12 [[-8.04459688e-01 -5.93982140e-01 5.46145413e-03 1.58604597e+02] [ 5.93969998e-01 -8.04478205e-01 -3.80244472e-03 -1.28812903e+02] [ 6.65220507e-03 1.85026411e-04 9.99977857e-01 -5.12393619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.016680841359240122 Centerline is valid? [True, True] Translation: X:158.59, Y:-128.84, Z:-5.13 [[-7.61927912e-01 -6.47635209e-01 5.87298682e-03 1.58591135e+02] [ 6.47617607e-01 -7.61950529e-01 -4.77765742e-03 -1.28839561e+02] [ 7.56910458e-03 1.63219123e-04 9.99971341e-01 -5.12524264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.015720001311744662 Centerline is valid? [True, True] Translation: X:158.16, Y:-129.36, Z:-4.13 [[-8.31104769e-01 5.56077024e-01 6.57317952e-03 1.58160258e+02] [ 5.56057909e-01 8.31130742e-01 -4.61421866e-03 -1.29358048e+02] [-8.02903255e-03 -1.79830671e-04 -9.99967751e-01 -4.12897231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.015503497679367493 Centerline is valid? [True, True] Translation: X:158.56, Y:-128.81, Z:-5.13 [[-7.63925205e-01 -6.45276300e-01 6.06442694e-03 1.58559210e+02] [ 6.45257630e-01 -7.63949259e-01 -4.91121812e-03 -1.28810883e+02] [ 7.80200713e-03 1.61314446e-04 9.99969551e-01 -5.12516407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.016099220451153605 Centerline is valid? [True, True] Translation: X:158.55, Y:-128.84, Z:-5.13 [[-7.20238360e-01 -6.93702136e-01 5.83537166e-03 1.58545075e+02] [ 6.93681129e-01 -7.20261981e-01 -5.40087960e-03 -1.28837607e+02] [ 7.94959807e-03 1.57966534e-04 9.99968389e-01 -5.12601706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.014565404882358038 Centerline is valid? [True, True] Translation: X:158.08, Y:-129.34, Z:-4.13 [[-7.90500981e-01 6.12430610e-01 6.07849418e-03 1.58080716e+02] [ 6.12411226e-01 7.90524339e-01 -4.87434412e-03 -1.29341341e+02] [-7.79039514e-03 -1.30635736e-04 -9.99969646e-01 -4.12880261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.013533198602683085 Centerline is valid? [True, True] Translation: X:158.52, Y:-128.81, Z:-5.12 [[-7.26393259e-01 -6.87266423e-01 4.20680753e-03 1.58517489e+02] [ 6.87254778e-01 -7.26405440e-01 -4.00086363e-03 -1.28808795e+02] [ 5.80550711e-03 -1.50518022e-05 9.99983148e-01 -5.12251716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.014810355495164488 Centerline is valid? [True, True] Translation: X:158.05, Y:-129.31, Z:-4.13 [[-7.92689395e-01 6.09618406e-01 2.98693123e-03 1.58048780e+02] [ 6.09613773e-01 7.92695020e-01 -2.37761144e-03 -1.29314687e+02] [-3.81716121e-03 -6.38329526e-05 -9.99992713e-01 -4.13290836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.01451894978435003 Centerline is valid? [True, True] Translation: X:158.48, Y:-128.78, Z:-5.12 [[-7.25535374e-01 -6.88176746e-01 3.34483708e-03 1.58477273e+02] [ 6.88170168e-01 -7.25543075e-01 -3.01114451e-03 -1.28784627e+02] [ 4.49902301e-03 1.17125233e-04 9.99989873e-01 -5.12090097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.015759741147963947 Centerline is valid? [True, True] Translation: X:158.01, Y:-129.28, Z:-4.13 [[-7.97761498e-01 6.02954597e-01 4.72725759e-03 1.58013525e+02] [ 6.02943033e-01 7.97775493e-01 -3.73653130e-03 -1.29280269e+02] [-6.02424898e-03 -1.30593780e-04 -9.99981846e-01 -4.13125298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.01514454406707885 Centerline is valid? [True, True] Translation: X:158.03, Y:-129.26, Z:-4.13 [[-8.38993899e-01 5.44107879e-01 5.98779793e-03 1.58033398e+02] [ 5.44092612e-01 8.39015249e-01 -4.07930783e-03 -1.29262167e+02] [-7.24343730e-03 -1.64597766e-04 -9.99973752e-01 -4.13132518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.014972034518568185 Centerline is valid? [True, True] Translation: X:158.41, Y:-128.71, Z:-5.12 [[-7.73057436e-01 -6.34307701e-01 5.99510448e-03 1.58413844e+02] [ 6.34290546e-01 -7.73080658e-01 -4.66899645e-03 -1.28707949e+02] [ 7.59627972e-03 1.93235674e-04 9.99971129e-01 -5.12201175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.013647651106114553 Centerline is valid? [True, True] Translation: X:158.00, Y:-129.24, Z:-4.13 [[-8.36977061e-01 5.47216150e-01 4.88729155e-03 1.57997607e+02] [ 5.47206180e-01 8.36991325e-01 -3.30446099e-03 -1.29243874e+02] [-5.89887505e-03 -9.14019099e-05 -9.99982597e-01 -4.13294168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.012510921403345521 Centerline is valid? [True, True] Translation: X:158.39, Y:-128.69, Z:-5.12 [[-7.82913511e-01 -6.22117378e-01 4.04999677e-03 1.58393533e+02] [ 6.22109311e-01 -7.82923985e-01 -3.16837940e-03 -1.28685079e+02] [ 5.14194350e-03 3.89736649e-05 9.99986779e-01 -5.12005778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.011650000207499381 Centerline is valid? [True, True] Translation: X:158.39, Y:-128.71, Z:-5.12 [[-7.45176266e-01 -6.66857965e-01 3.57582713e-03 1.58388220e+02] [ 6.66850310e-01 -7.45184846e-01 -3.19522801e-03 -1.28707887e+02] [ 4.79541544e-03 3.53335300e-06 9.99988502e-01 -5.11892695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.011707078064798251 Centerline is valid? [True, True] Translation: X:157.92, Y:-129.24, Z:-4.13 [[-7.89447865e-01 6.13804014e-01 4.08665941e-03 1.57917228e+02] [ 6.13795875e-01 7.89458442e-01 -3.16108075e-03 -1.29240836e+02] [-5.16653183e-03 1.28662353e-05 -9.99986653e-01 -4.13449795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.011626964620367407 Centerline is valid? [True, True] Translation: X:157.94, Y:-129.22, Z:-4.13 [[-8.30948583e-01 5.56326175e-01 5.06351840e-03 1.57935180e+02] [ 5.56315953e-01 8.30964011e-01 -3.37243564e-03 -1.29217078e+02] [-6.08377577e-03 1.45954487e-05 -9.99981494e-01 -4.13320928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.011605313403826152 Centerline is valid? [True, True] Translation: X:157.95, Y:-129.19, Z:-4.13 [[-8.69463720e-01 4.93954596e-01 6.45734951e-03 1.57952882e+02] [ 4.93940966e-01 8.69487698e-01 -3.66940948e-03 -1.29190816e+02] [-7.42710764e-03 -8.68959230e-07 -9.99972419e-01 -4.13115038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.011605026915043391 Centerline is valid? [True, True] Translation: X:157.97, Y:-129.17, Z:-4.13 [[-9.02613918e-01 4.30387833e-01 7.37751185e-03 1.57966665e+02] [ 4.30373384e-01 9.02644068e-01 -3.52661251e-03 -1.29165176e+02] [-8.17707842e-03 -8.08479390e-06 -9.99966567e-01 -4.13104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.011524381556716227 Centerline is valid? [True, True] Translation: X:158.27, Y:-128.54, Z:-5.12 [[-8.69655835e-01 -4.93614249e-01 6.61070913e-03 1.58266649e+02] [ 4.93599748e-01 -8.69680960e-01 -3.78377505e-03 -1.28544597e+02] [ 7.61693314e-03 -2.75376892e-05 9.99970990e-01 -5.12339777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.011590796990174863 Centerline is valid? [True, True] Translation: X:157.93, Y:-129.14, Z:-4.13 [[-9.05794008e-01 4.23673375e-01 6.17145429e-03 1.57926020e+02] [ 4.23663297e-01 9.05815031e-01 -2.92247891e-03 -1.29138785e+02] [-6.82837256e-03 -3.25452174e-05 -9.99976686e-01 -4.13010601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.011966384449780198 Centerline is valid? [True, True] Translation: X:157.93, Y:-129.11, Z:-4.13 [[-9.34958495e-01 3.54709737e-01 5.79789627e-03 1.57933787e+02] [ 3.54702554e-01 9.34976470e-01 -2.25803926e-03 -1.29107432e+02] [-6.22184510e-03 -5.46443763e-05 -9.99980643e-01 -4.12994092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.012398719621977028 Centerline is valid? [True, True] Translation: X:157.95, Y:-129.08, Z:-4.13 [[-9.58393242e-01 2.85387884e-01 6.01250853e-03 1.57945181e+02] [ 2.85381811e-01 9.58412099e-01 -1.86303212e-03 -1.29079863e+02] [-6.29414772e-03 -6.96568224e-05 -9.99980189e-01 -4.12889004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.01294925126871124 Centerline is valid? [True, True] Translation: X:157.94, Y:-129.05, Z:-4.13 [[-9.76731058e-01 2.14395387e-01 5.57298809e-03 1.57940795e+02] [ 2.14391446e-01 9.76746954e-01 -1.30218991e-03 -1.29046793e+02] [-5.72258265e-03 -7.70883497e-05 -9.99983623e-01 -4.12734239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.01350260171305433 Centerline is valid? [True, True] Translation: X:157.95, Y:-129.02, Z:-4.12 [[-9.89662397e-01 1.43267351e-01 6.54266533e-03 1.57952754e+02] [ 1.43263563e-01 9.89684019e-01 -1.04640255e-03 -1.29018945e+02] [-6.62508664e-03 -9.82597113e-05 -9.99978049e-01 -4.12493468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.013221978242183817 Centerline is valid? [True, True] Translation: X:157.95, Y:-128.99, Z:-4.12 [[-9.97312416e-01 7.28443427e-02 7.85159324e-03 1.57951373e+02] [ 7.28411732e-02 9.97343315e-01 -6.89262410e-04 -1.28992733e+02] [-7.88094289e-03 -1.15490696e-04 -9.99968938e-01 -4.12364233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.013423866897526915 Centerline is valid? [True, True] Translation: X:157.95, Y:-128.97, Z:-4.12 [[-9.99961088e-01 3.29775250e-03 8.18219377e-03 1.57951978e+02] [ 3.29675697e-03 9.99994557e-01 -1.35154510e-04 -1.28968515e+02] [-8.18259493e-03 -1.08174546e-04 -9.99966516e-01 -4.12216437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.012819075560168376 Centerline is valid? [True, True] Translation: X:157.97, Y:-128.31, Z:-5.13 [[-9.95465839e-01 -9.48711473e-02 6.87229178e-03 1.57967098e+02] [ 9.48689633e-02 -9.95489561e-01 -6.43822669e-04 -1.28307551e+02] [ 6.90237492e-03 1.10637233e-05 9.99976178e-01 -5.13103331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.012262943220023565 Centerline is valid? [True, True] Translation: X:157.89, Y:-128.98, Z:-4.12 [[-9.99965693e-01 6.24938087e-03 5.43681536e-03 1.57889854e+02] [ 6.24911180e-03 9.99980472e-01 -6.64778220e-05 -1.28977830e+02] [-5.43712463e-03 -3.25002744e-05 -9.99985218e-01 -4.12295023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.011963189050372412 Centerline is valid? [True, True] Translation: X:157.90, Y:-128.96, Z:-4.12 [[-9.98280303e-01 -5.84654768e-02 4.26904598e-03 1.57896659e+02] [-5.84649334e-02 9.98289431e-01 2.52098162e-04 -1.28958802e+02] [-4.27648252e-03 2.07514109e-06 -9.99990856e-01 -4.12350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.012070468979182914 Centerline is valid? [True, True] Translation: X:157.86, Y:-128.26, Z:-5.13 [[-9.99979378e-01 -4.49928611e-03 4.58254426e-03 1.57863776e+02] [ 4.49931594e-03 -9.99989878e-01 -3.80149385e-06 -1.28262907e+02] [ 4.58251498e-03 1.68168990e-05 9.99989500e-01 -5.13062372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.012327460129103573 Centerline is valid? [True, True] Translation: X:157.83, Y:-128.97, Z:-4.12 [[-9.98356897e-01 -5.71110210e-02 4.67307847e-03 1.57827317e+02] [-5.71102459e-02 9.98367833e-01 2.99248328e-04 -1.28966851e+02] [-4.68254161e-03 3.18759715e-05 -9.99989036e-01 -4.12278387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.012524264987874486 Centerline is valid? [True, True] Translation: X:157.82, Y:-128.94, Z:-4.12 [[-9.91993333e-01 -1.26145972e-01 6.03496591e-03 1.57823977e+02] [-1.26143313e-01 9.92011689e-01 8.20753209e-04 -1.28940657e+02] [-6.09029144e-03 5.29111197e-05 -9.99981453e-01 -4.12242135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.012953010477263662 Centerline is valid? [True, True] Translation: X:157.81, Y:-128.92, Z:-4.12 [[-9.80800376e-01 -1.94908103e-01 6.43843422e-03 1.57811994e+02] [-1.94903447e-01 9.80821506e-01 1.34897392e-03 -1.28916374e+02] [-6.57788070e-03 6.82011024e-05 -9.99978363e-01 -4.12250611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.013679517050748003 Centerline is valid? [True, True] Translation: X:157.67, Y:-128.23, Z:-5.13 [[-9.88560341e-01 1.50717585e-01 5.71512763e-03 1.57666614e+02] [-1.50715722e-01 -9.88576854e-01 7.57641137e-04 -1.28228139e+02] [ 5.76403274e-03 -1.12385608e-04 9.99983382e-01 -5.13186294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.013991347802163798 Centerline is valid? [True, True] Translation: X:157.71, Y:-128.94, Z:-4.12 [[-9.80349801e-01 -1.97205897e-01 4.90940300e-03 1.57705499e+02] [-1.97203056e-01 9.80362091e-01 1.06102949e-03 -1.28935563e+02] [-5.02223386e-03 7.20307703e-05 -9.99987386e-01 -4.12289517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.014780145010254266 Centerline is valid? [True, True] Translation: X:157.68, Y:-128.91, Z:-4.12 [[-9.63937569e-01 -2.66096654e-01 4.11500565e-03 1.57684688e+02] [-2.66093939e-01 9.63946350e-01 1.20389376e-03 -1.28914376e+02] [-4.28699678e-03 6.55003574e-05 -9.99990809e-01 -4.12308464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.014682902184000752 Centerline is valid? [True, True] Translation: X:157.65, Y:-128.89, Z:-4.13 [[-9.42817061e-01 -3.33308079e-01 1.30931775e-03 1.57651862e+02] [-3.33307722e-01 9.42817970e-01 4.88611681e-04 -1.28894839e+02] [-1.39730653e-03 2.42657113e-05 -9.99999024e-01 -4.12564824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.01494283339198807 Centerline is valid? [True, True] Translation: X:157.60, Y:-128.88, Z:-4.13 [[-9.15710976e-01 -4.01835260e-01 -1.35381375e-03 1.57599244e+02] [-4.01834784e-01 9.15711976e-01 -6.18826348e-04 -1.28882592e+02] [ 1.48836971e-03 -2.26566221e-05 -9.99998892e-01 -4.12704744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.01457963512967843 Centerline is valid? [True, True] Translation: X:157.54, Y:-128.88, Z:-4.13 [[-8.82479379e-01 -4.70348998e-01 -1.40230045e-03 1.57535150e+02] [-4.70348367e-01 8.82480493e-01 -7.70470157e-04 -1.28877008e+02] [ 1.59989266e-03 -2.03542994e-05 -9.99998720e-01 -4.12613760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.014091906860480454 Centerline is valid? [True, True] Translation: X:157.46, Y:-128.88, Z:-4.12 [[-8.44005498e-01 -5.36333778e-01 -8.93254844e-04 1.57462352e+02] [-5.36333464e-01 8.44005970e-01 -5.80342085e-04 -1.28882077e+02] [ 1.06516948e-03 -1.07294452e-05 -9.99999433e-01 -4.12487605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.014242838179118431 Centerline is valid? [True, True] Translation: X:157.38, Y:-128.90, Z:-4.12 [[-8.01085281e-01 -5.98550053e-01 -4.54130104e-04 1.57383221e+02] [-5.98549954e-01 8.01085410e-01 -3.45109398e-04 -1.28901545e+02] [ 5.70362249e-04 -4.64250623e-06 -9.99999837e-01 -4.12446305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.01379962321008975 Centerline is valid? [True, True] Translation: X:157.30, Y:-128.93, Z:-4.12 [[-7.53181069e-01 -6.57813249e-01 8.87402011e-05 1.57301343e+02] [-6.57813244e-01 7.53181074e-01 8.00214382e-05 -1.28927048e+02] [-1.19476602e-04 1.89615281e-06 -9.99999993e-01 -4.12292803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.01352629609777995 Centerline is valid? [True, True] Translation: X:157.21, Y:-128.97, Z:-4.12 [[-7.00449991e-01 -7.13701380e-01 3.87844678e-04 1.57214942e+02] [-7.13701267e-01 7.00450098e-01 4.01588434e-04 -1.28968458e+02] [-5.58280062e-04 4.48737642e-06 -9.99999844e-01 -4.12237609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.013355217750964158 Centerline is valid? [True, True] Translation: X:157.13, Y:-129.02, Z:-4.12 [[-6.42770472e-01 -7.66057806e-01 1.24833173e-03 1.57134661e+02] [-7.66056335e-01 6.42771685e-01 1.50115697e-03 -1.29015172e+02] [-1.95236530e-03 8.60694622e-06 -9.99998094e-01 -4.12208594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.013290415813155999 Centerline is valid? [True, True] Translation: X:157.05, Y:-129.08, Z:-4.12 [[-5.77926360e-01 -8.16085516e-01 2.35648818e-03 1.57048699e+02] [-8.16078798e-01 5.77931164e-01 3.31141752e-03 -1.29075221e+02] [-4.06428783e-03 -9.32456473e-06 -9.99991741e-01 -4.12037119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.014217390138144997 Centerline is valid? [True, True] Translation: X:156.97, Y:-129.14, Z:-4.12 [[-5.07790804e-01 -8.61475828e-01 2.81014357e-03 1.56965145e+02] [-8.61463237e-01 5.07798577e-01 4.65790149e-03 -1.29143292e+02] [-5.43965645e-03 -5.55958322e-05 -9.99985203e-01 -4.11821104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.014844688623116848 Centerline is valid? [True, True] Translation: X:156.89, Y:-129.22, Z:-4.12 [[-4.36202732e-01 -8.99843847e-01 2.86818106e-03 1.56889957e+02] [-8.99825875e-01 4.36212151e-01 5.68805628e-03 -1.29224984e+02] [-6.36949788e-03 -9.97178400e-05 -9.99979710e-01 -4.11908817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.015327680567059541 Centerline is valid? [True, True] Translation: X:156.82, Y:-129.31, Z:-4.12 [[-3.64458268e-01 -9.31217227e-01 2.15561123e-03 1.56824236e+02] [-9.31202539e-01 3.64464629e-01 5.23119709e-03 -1.29305805e+02] [-5.65702489e-03 -1.00757613e-04 -9.99983994e-01 -4.12007347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.016075121873451503 Centerline is valid? [True, True] Translation: X:156.76, Y:-129.40, Z:-4.12 [[-2.90468620e-01 -9.56883456e-01 1.42585322e-03 1.56762735e+02] [-9.56873430e-01 2.90472105e-01 4.38129355e-03 -1.29396213e+02] [-4.60655790e-03 -9.17327713e-05 -9.99989386e-01 -4.12134310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.015954479031884662 Centerline is valid? [True, True] Translation: X:156.71, Y:-129.50, Z:-4.12 [[-2.16395303e-01 -9.76304561e-01 1.57370597e-03 1.56710150e+02] [-9.76283076e-01 2.16400984e-01 6.47834956e-03 -1.29495880e+02] [-6.66539374e-03 -1.34498083e-04 -9.99977777e-01 -4.12046800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.015410355268359335 Centerline is valid? [True, True] Translation: X:156.67, Y:-129.60, Z:-4.12 [[-1.42618324e-01 -9.89776958e-01 1.25951336e-03 1.56666127e+02] [-9.89746855e-01 1.42623812e-01 7.72083996e-03 -1.29599016e+02] [-7.82154608e-03 -1.45466129e-04 -9.99969401e-01 -4.11982676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.014716783712109131 Centerline is valid? [True, True] Translation: X:156.63, Y:-129.71, Z:-4.12 [[-7.12190261e-02 -9.97460426e-01 7.40307263e-04 1.56633341e+02] [-9.97422572e-01 7.12227735e-02 8.69072755e-03 -1.29705667e+02] [-8.72138354e-03 -1.19454022e-04 -9.99961961e-01 -4.11911583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.013508459863636618 Centerline is valid? [True, True] Translation: X:156.61, Y:-129.82, Z:-4.12 [[-1.42038443e-03 -9.99998989e-01 6.96904888e-05 1.56611211e+02] [-9.99961874e-01 1.42093216e-03 8.61579213e-03 -1.29816778e+02] [-8.61588245e-03 -5.74500947e-05 -9.99962881e-01 -4.12013207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.013177761367753726 Centerline is valid? [True, True] Translation: X:156.59, Y:-129.93, Z:-4.12 [[ 7.17519994e-02 -9.97422380e-01 -4.95839398e-04 1.56590469e+02] [-9.97396415e-01 -7.17537093e-02 7.19694711e-03 -1.29933688e+02] [-7.21397444e-03 -2.18469067e-05 -9.99973979e-01 -4.12174616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.013228146389847895 Centerline is valid? [True, True] Translation: X:156.57, Y:-130.05, Z:-4.12 [[ 1.47787095e-01 -9.89018615e-01 -1.07399476e-03 1.56574851e+02] [-9.88991510e-01 -1.47790996e-01 7.32219486e-03 -1.30052554e+02] [-7.40051377e-03 -1.99542035e-05 -9.99972616e-01 -4.12079664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.013321802300254842 Centerline is valid? [True, True] Translation: X:156.57, Y:-130.17, Z:-4.12 [[ 2.19311049e-01 -9.75652728e-01 -2.10188549e-03 1.56571886e+02] [-9.75608517e-01 -2.19321120e-01 9.28807572e-03 -1.30170127e+02] [-9.52292429e-03 1.36397550e-05 -9.99954656e-01 -4.11897339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.013445066074510693 Centerline is valid? [True, True] Translation: X:156.58, Y:-130.29, Z:-4.12 [[ 2.91083830e-01 -9.56693075e-01 -2.92649961e-03 1.56576625e+02] [-9.56646092e-01 -2.91098538e-01 9.48139452e-03 -1.30287984e+02] [-9.92268424e-03 3.97437791e-05 -9.99950768e-01 -4.11878749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.013583025503113537 Centerline is valid? [True, True] Translation: X:156.59, Y:-130.40, Z:-4.12 [[ 3.61453427e-01 -9.32383131e-01 -3.62165567e-03 1.56585808e+02] [-9.32338042e-01 -3.61471565e-01 9.16970533e-03 -1.30402615e+02] [-9.85880411e-03 6.21859428e-05 -9.99951399e-01 -4.11926338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.013595340909117307 Centerline is valid? [True, True] Translation: X:156.60, Y:-130.52, Z:-4.12 [[ 4.32144100e-01 -9.01794043e-01 -4.35673162e-03 1.56604764e+02] [-9.01749579e-01 -4.32166057e-01 8.95527549e-03 -1.30519276e+02] [-9.95864562e-03 5.87114345e-05 -9.99950410e-01 -4.11963349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.013425691931948727 Centerline is valid? [True, True] Translation: X:156.63, Y:-130.63, Z:-4.12 [[ 5.00480790e-01 -8.65734229e-01 -4.81903979e-03 1.56632666e+02] [-8.65695044e-01 -5.00503988e-01 8.23710374e-03 -1.30633066e+02] [-9.54309129e-03 4.93066758e-05 -9.99954462e-01 -4.12156543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.013166305719809283 Centerline is valid? [True, True] Translation: X:156.67, Y:-130.74, Z:-4.12 [[ 5.67105558e-01 -8.23632916e-01 -4.48397588e-03 1.56665946e+02] [-8.23607482e-01 -5.67123284e-01 6.47272843e-03 -1.30744535e+02] [-7.87411932e-03 2.23158213e-05 -9.99968998e-01 -4.12290394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.013147584604951145 Centerline is valid? [True, True] Translation: X:156.70, Y:-130.85, Z:-4.12 [[ 6.31162140e-01 -7.75634438e-01 -5.05684215e-03 1.56703529e+02] [-7.75609452e-01 -6.31182397e-01 6.22579463e-03 -1.30848264e+02] [-8.02073047e-03 -7.35129641e-06 -9.99967833e-01 -4.12247304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.013275067890585402 Centerline is valid? [True, True] Translation: X:156.75, Y:-130.95, Z:-4.12 [[ 6.91074097e-01 -7.22754020e-01 -6.57412520e-03 1.56752358e+02] [-7.22720689e-01 -6.91105364e-01 6.94125766e-03 -1.30950375e+02] [-9.56023507e-03 -4.56670691e-05 -9.99954299e-01 -4.12245289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.013688988646882914 Centerline is valid? [True, True] Translation: X:156.80, Y:-131.04, Z:-4.12 [[ 7.45876805e-01 -6.66046239e-01 -7.08510008e-03 1.56803037e+02] [-6.66015245e-01 -7.45910451e-01 6.42587720e-03 -1.31043321e+02] [-9.56478155e-03 -7.41280873e-05 -9.99954254e-01 -4.12170345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.013703210034738648 Centerline is valid? [True, True] Translation: X:156.82, Y:-131.07, Z:-4.12 [[ 7.96208551e-01 -6.04979738e-01 -7.17362157e-03 1.56824026e+02] [-6.04954293e-01 -7.96240862e-01 5.54917091e-03 -1.31072579e+02] [-9.06906659e-03 -7.85841691e-05 -9.99958872e-01 -4.12239884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.013755597670196839 Centerline is valid? [True, True] Translation: X:156.85, Y:-131.10, Z:-4.12 [[ 8.40864814e-01 -5.41195373e-01 -7.34386086e-03 1.56848820e+02] [-5.41173972e-01 -8.40896880e-01 4.81346299e-03 -1.31098154e+02] [-8.78045358e-03 -7.31653195e-05 -9.99961448e-01 -4.12216534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.01367455472370778 Centerline is valid? [True, True] Translation: X:156.88, Y:-131.12, Z:-4.12 [[ 8.80232100e-01 -4.74474383e-01 -8.09389967e-03 1.56876201e+02] [-4.74453589e-01 -8.80269308e-01 4.44258330e-03 -1.31121455e+02] [-9.23270344e-03 -7.03246725e-05 -9.99957375e-01 -4.12173771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.013772268934565277 Centerline is valid? [True, True] Translation: X:156.91, Y:-131.14, Z:-4.12 [[ 9.14630988e-01 -4.04193664e-01 -8.81119709e-03 1.56905257e+02] [-4.04174127e-01 -9.14673426e-01 3.97476888e-03 -1.31142338e+02] [-9.66594423e-03 -7.41888995e-05 -9.99953281e-01 -4.12109395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.014071156984244628 Centerline is valid? [True, True] Translation: X:156.94, Y:-131.16, Z:-4.12 [[ 9.44156596e-01 -3.29335847e-01 -1.03064325e-02 1.56935437e+02] [-3.29314968e-01 -9.44212840e-01 3.70994265e-03 -1.31161824e+02] [-1.09532831e-02 -1.08704314e-04 -9.99940005e-01 -4.11992465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.014705392388122593 Centerline is valid? [True, True] Translation: X:156.97, Y:-131.18, Z:-4.12 [[ 9.67659105e-01 -2.51997971e-01 -1.15273367e-02 1.56967080e+02] [-2.51978241e-01 -9.67727751e-01 3.15692516e-03 -1.31177215e+02] [-1.19508623e-02 -1.50189359e-04 -9.99928575e-01 -4.11821450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.01501994358954565 Centerline is valid? [True, True] Translation: X:157.00, Y:-131.19, Z:-4.12 [[ 9.84766177e-01 -1.73335666e-01 -1.37957576e-02 1.57000111e+02] [-1.73315681e-01 -9.84862784e-01 2.64040890e-03 -1.31188950e+02] [-1.40446053e-02 -2.09164254e-04 -9.99901348e-01 -4.11701199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.0152380916190711 Centerline is valid? [True, True] Translation: X:157.03, Y:-131.20, Z:-4.12 [[ 9.95374971e-01 -9.50267015e-02 -1.40923140e-02 1.57032924e+02] [-9.50140492e-02 -9.95474700e-01 1.56614948e-03 -1.31195310e+02] [-1.41773681e-02 -2.19938176e-04 -9.99899472e-01 -4.11709108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.015205008850036308 Centerline is valid? [True, True] Translation: X:157.06, Y:-131.20, Z:-4.12 [[ 9.99767846e-01 -1.70574846e-02 -1.31641851e-02 1.57063470e+02] [-1.70533557e-02 -9.99854490e-01 4.25838972e-04 -1.31199634e+02] [-1.31695333e-02 -2.01246580e-04 -9.99913258e-01 -4.11814099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.015268803106138235 Centerline is valid? [True, True] Translation: X:157.09, Y:-131.20, Z:-4.12 [[ 9.98076198e-01 6.08008625e-02 -1.21308970e-02 1.57093031e+02] [ 6.07985588e-02 -9.98149900e-01 -5.58942158e-04 -1.31198193e+02] [-1.21424378e-02 -1.79674191e-04 -9.99926262e-01 -4.11902757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.014947323040731073 Centerline is valid? [True, True] Translation: X:157.12, Y:-131.20, Z:-4.12 [[ 9.89988014e-01 1.40768753e-01 -1.03870478e-02 1.57124481e+02] [ 1.40762870e-01 -9.90042488e-01 -1.29890375e-03 -1.31202210e+02] [-1.04664637e-02 -1.76211511e-04 -9.99945210e-01 -4.12130032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.0162265633471647 Centerline is valid? [True, True] Translation: X:157.16, Y:-131.21, Z:-4.12 [[ 9.75400998e-01 2.20180786e-01 -1.06449590e-02 1.57156845e+02] [ 2.20170010e-01 -9.75459060e-01 -2.18836298e-03 -1.31210952e+02] [-1.08655572e-02 -2.09169288e-04 -9.99940946e-01 -4.11898026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.01623148054149598 Centerline is valid? [True, True] Translation: X:157.19, Y:-131.21, Z:-4.12 [[ 9.54680779e-01 2.97426027e-01 -1.10620306e-02 1.57189808e+02] [ 2.97408976e-01 -9.54744835e-01 -3.19386967e-03 -1.31212824e+02] [-1.15113566e-02 -2.40821211e-04 -9.99933713e-01 -4.11891784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.017503342046990576 Centerline is valid? [True, True] Translation: X:157.22, Y:-131.21, Z:-4.12 [[ 9.27282817e-01 3.74233081e-01 -9.80705566e-03 1.57223525e+02] [ 3.74215018e-01 -9.27334642e-01 -3.68545815e-03 -1.31212788e+02] [-1.04736428e-02 -2.52485492e-04 -9.99945118e-01 -4.11944800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.018820245575883566 Centerline is valid? [True, True] Translation: X:157.26, Y:-131.21, Z:-4.12 [[ 8.93409457e-01 4.49161447e-01 -8.57539843e-03 1.57255787e+02] [ 4.49143585e-01 -8.93450572e-01 -4.01442413e-03 -1.31207196e+02] [-9.46481919e-03 -2.65060714e-04 -9.99955173e-01 -4.12038283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.019367696149869103 Centerline is valid? [True, True] Translation: X:157.29, Y:-131.20, Z:-4.12 [[ 8.54981500e-01 5.18584492e-01 -8.76122254e-03 1.57287268e+02] [ 5.18560734e-01 -8.55026338e-01 -4.97247671e-03 -1.31197501e+02] [-1.00697253e-02 -2.91850397e-04 -9.99949256e-01 -4.11920329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.018956720285426852 Centerline is valid? [True, True] Translation: X:157.32, Y:-131.18, Z:-4.12 [[ 8.13377563e-01 5.81665500e-01 -9.06563913e-03 1.57315006e+02] [ 5.81633268e-01 -8.13428033e-01 -6.13002776e-03 -1.31182888e+02] [-1.09398707e-02 -2.86850267e-04 -9.99940117e-01 -4.11724703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.016697530777943306 Centerline is valid? [True, True] Translation: X:157.34, Y:-131.16, Z:-4.12 [[ 7.69785468e-01 6.38245529e-01 -8.54275103e-03 1.57337423e+02] [ 6.38209241e-01 -7.69832839e-01 -6.80916108e-03 -1.31158830e+02] [-1.09224069e-02 -2.10469402e-04 -9.99940327e-01 -4.11775619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.014250441784727699 Centerline is valid? [True, True] Translation: X:157.36, Y:-131.13, Z:-4.12 [[ 7.22369780e-01 6.91466800e-01 -7.45424212e-03 1.57357740e+02] [ 6.91431756e-01 -7.22408229e-01 -6.96256591e-03 -1.31134672e+02] [-1.01993890e-02 -1.24552514e-04 -9.99947977e-01 -4.11918451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.014018668819516529 Centerline is valid? [True, True] Translation: X:157.38, Y:-131.11, Z:-4.12 [[ 6.68771209e-01 7.43436856e-01 -6.83452775e-03 1.57378653e+02] [ 7.43399350e-01 -6.68806126e-01 -7.46813225e-03 -1.31113335e+02] [-1.01230588e-02 -8.63116507e-05 -9.99948757e-01 -4.11773951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.013324214401738255 Centerline is valid? [True, True] Translation: X:157.39, Y:-131.09, Z:-4.12 [[ 6.11539428e-01 7.91190388e-01 -6.10716752e-03 1.57394573e+02] [ 7.91151703e-01 -6.11569920e-01 -7.82400644e-03 -1.31087456e+02] [-9.92523865e-03 -4.70075560e-05 -9.99950743e-01 -4.11837671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.013136418222078419 Centerline is valid? [True, True] Translation: X:157.41, Y:-131.06, Z:-4.12 [[ 5.49165635e-01 8.35698078e-01 -5.08204922e-03 1.57411626e+02] [ 8.35662764e-01 -5.49189149e-01 -7.68270382e-03 -1.31063181e+02] [-9.21142711e-03 -2.78023779e-05 -9.99957574e-01 -4.11972289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.013187040157632567 Centerline is valid? [True, True] Translation: X:157.43, Y:-131.04, Z:-4.12 [[ 4.82365416e-01 8.75959967e-01 -4.21206054e-03 1.57426836e+02] [ 8.75926991e-01 -4.82383805e-01 -7.60074201e-03 -1.31038927e+02] [-8.68977551e-03 -2.31224362e-05 -9.99962243e-01 -4.11940268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.013415090805761537 Centerline is valid? [True, True] Translation: X:157.44, Y:-131.01, Z:-4.12 [[ 4.10602332e-01 9.11806982e-01 -3.70853792e-03 1.57439359e+02] [ 9.11770681e-01 -4.10619078e-01 -8.13627776e-03 -1.31014292e+02] [-8.94151128e-03 -4.05615211e-05 -9.99960023e-01 -4.11879832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.014332464595736623 Centerline is valid? [True, True] Translation: X:157.45, Y:-130.99, Z:-4.12 [[ 3.33656987e-01 9.42688626e-01 -3.34215253e-03 1.57452750e+02] [ 9.42643971e-01 -3.33673714e-01 -9.17586661e-03 -1.30989124e+02] [-9.76517353e-03 -8.88679271e-05 -9.99952316e-01 -4.11728881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.014736319483333832 Centerline is valid? [True, True] Translation: X:157.47, Y:-130.96, Z:-4.12 [[ 2.56126675e-01 9.66638895e-01 -2.89349315e-03 1.57465060e+02] [ 9.66582773e-01 -2.56142986e-01 -1.04169727e-02 -1.30962383e+02] [-1.08105990e-02 -1.28736045e-04 -9.99941556e-01 -4.11610499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.015127426139808236 Centerline is valid? [True, True] Translation: X:157.47, Y:-130.93, Z:-4.12 [[ 1.79375427e-01 9.83778449e-01 -2.10243146e-03 1.57471817e+02] [ 9.83719354e-01 -1.79387698e-01 -1.07836611e-02 -1.30934657e+02] [-1.09858837e-02 -1.33878706e-04 -9.99939644e-01 -4.11510682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.014309150153433427 Centerline is valid? [True, True] Translation: X:157.47, Y:-130.91, Z:-4.12 [[ 1.05130646e-01 9.94457899e-01 -1.01681064e-03 1.57470106e+02] [ 9.94418327e-01 -1.05135533e-01 -8.87193395e-03 -1.30906351e+02] [-8.92966773e-03 -7.84229963e-05 -9.99960127e-01 -4.11690375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.013629478492748724 Centerline is valid? [True, True] Translation: X:157.46, Y:-130.88, Z:-4.12 [[ 3.04400958e-02 9.99536566e-01 -2.32555318e-04 1.57464417e+02] [ 9.99515285e-01 -3.04409652e-02 -6.52240907e-03 -1.30878673e+02] [-6.52646557e-03 -3.38998384e-05 -9.99978702e-01 -4.11844177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.013595407105849142 Centerline is valid? [True, True] Translation: X:157.46, Y:-130.85, Z:-4.12 [[-4.74851868e-02 9.98871905e-01 2.72588951e-04 1.57458005e+02] [ 9.98851594e-01 4.74859596e-02 -6.37003776e-03 -1.30851812e+02] [-6.37579590e-03 -3.02065249e-05 -9.99979674e-01 -4.11806468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.014089716705834155 Centerline is valid? [True, True] Translation: X:157.45, Y:-130.82, Z:-4.12 [[-1.27502481e-01 9.91837793e-01 9.54082241e-04 1.57449975e+02] [ 9.91806852e-01 1.27506039e-01 -7.83437542e-03 -1.30824160e+02] [-7.89208087e-03 -5.26369955e-05 -9.99968856e-01 -4.11610306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.015495629709509864 Centerline is valid? [True, True] Translation: X:157.44, Y:-130.80, Z:-4.11 [[-2.08481653e-01 9.78023743e-01 2.22692825e-03 1.57440153e+02] [ 9.77961798e-01 2.08493513e-01 -1.10080241e-02 -1.30797738e+02] [-1.12304090e-02 -1.17120291e-04 -9.99936930e-01 -4.11182002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.016473933833145927 Centerline is valid? [True, True] Translation: X:157.42, Y:-130.77, Z:-4.11 [[-2.85670793e-01 9.58319771e-01 3.92624421e-03 1.57423685e+02] [ 9.58221051e-01 2.85697723e-01 -1.37560268e-02 -1.30773091e+02] [-1.43043915e-02 -1.67485229e-04 -9.99897673e-01 -4.10794842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.016149156276927343 Centerline is valid? [True, True] Translation: X:157.40, Y:-130.75, Z:-4.11 [[-3.58749019e-01 9.33421053e-01 4.92743386e-03 1.57400578e+02] [ 9.33327263e-01 3.58782826e-01 -1.32326820e-02 -1.30750818e+02] [-1.41195427e-02 -1.48303339e-04 -9.99900303e-01 -4.10744660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.014682431761151016 Centerline is valid? [True, True] Translation: X:157.37, Y:-130.73, Z:-4.11 [[-4.27006135e-01 9.04233365e-01 5.27089143e-03 1.57371556e+02] [ 9.04162182e-01 4.27038658e-01 -1.13460327e-02 -1.30733780e+02] [-1.25103358e-02 -7.90848779e-05 -9.99921740e-01 -4.10962067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.01432326139722909 Centerline is valid? [True, True] Translation: X:157.34, Y:-130.72, Z:-4.11 [[-4.94993974e-01 8.68876462e-01 5.88728037e-03 1.57343214e+02] [ 8.68813702e-01 4.95028980e-01 -1.04432012e-02 -1.30717380e+02] [-1.19882261e-02 -5.43718281e-05 -9.99928137e-01 -4.11049946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.013143211368653658 Centerline is valid? [True, True] Translation: X:157.33, Y:-130.69, Z:-4.12 [[-5.57714183e-01 8.30013339e-01 5.72259903e-03 1.57329627e+02] [ 8.29969661e-01 5.57743541e-01 -8.51496649e-03 -1.30691730e+02] [-1.02592784e-02 6.65997212e-07 -9.99947372e-01 -4.11734119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.013225928663883084 Centerline is valid? [True, True] Translation: X:157.32, Y:-130.67, Z:-4.12 [[-6.19530266e-01 7.84941281e-01 7.03094861e-03 1.57316514e+02] [ 7.84891137e-01 6.19570161e-01 -8.87229800e-03 -1.30665325e+02] [-1.13203989e-02 2.18721095e-05 -9.99935922e-01 -4.11687957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.013261690160344177 Centerline is valid? [True, True] Translation: X:157.30, Y:-130.64, Z:-4.12 [[-6.80085435e-01 7.33077326e-01 9.02415638e-03 1.57302949e+02] [ 7.33012941e-01 6.80145304e-01 -9.71566405e-03 -1.30638427e+02] [-1.32600706e-02 7.34179939e-06 -9.99912081e-01 -4.11593746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.013681760571969617 Centerline is valid? [True, True] Translation: X:157.29, Y:-130.61, Z:-4.11 [[-7.38523490e-01 6.74116982e-01 1.22208688e-02 1.57290111e+02] [ 6.74023171e-01 7.38624594e-01 -1.12461015e-02 -1.30611597e+02] [-1.66078222e-02 -6.83614220e-05 -9.99862078e-01 -4.11240501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.014121992852646014 Centerline is valid? [True, True] Translation: X:157.31, Y:-130.58, Z:-4.11 [[-7.87198990e-01 6.16509536e-01 1.52886460e-02 1.57307393e+02] [ 6.16389043e-01 7.87347422e-01 -1.21895684e-02 -1.30584889e+02] [-1.95524611e-02 -1.71862103e-04 -9.99808818e-01 -4.11122565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.014834063819090164 Centerline is valid? [True, True] Translation: X:157.72, Y:-130.07, Z:-5.14 [[-7.30401222e-01 -6.82876167e-01 1.39354250e-02 1.57718792e+02] [ 6.82755289e-01 -7.30534136e-01 -1.28487761e-02 -1.30071818e+02] [ 1.89544266e-02 1.29723434e-04 9.99820340e-01 -5.14321718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.014150302331884189 Centerline is valid? [True, True] Translation: X:157.70, Y:-130.10, Z:-5.14 [[-6.82633416e-01 -7.30682954e-01 1.06789437e-02 1.57704604e+02] [ 7.30597619e-01 -6.82716917e-01 -1.11682353e-02 -1.30097322e+02] [ 1.54511346e-02 1.78200216e-04 9.99880608e-01 -5.13794658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.01364661845411298 Centerline is valid? [True, True] Translation: X:157.67, Y:-130.06, Z:-5.14 [[-6.85217746e-01 -7.28295444e-01 7.89854344e-03 1.57666277e+02] [ 7.28248641e-01 -6.85263261e-01 -8.25708564e-03 -1.30055010e+02] [ 1.14261795e-02 9.42019140e-05 9.99934715e-01 -5.13514866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.013258275082460469 Centerline is valid? [True, True] Translation: X:157.63, Y:-130.01, Z:-5.13 [[-6.87111728e-01 -7.26519685e-01 6.82789629e-03 1.57627636e+02] [ 7.26484662e-01 -6.87145649e-01 -7.13385628e-03 -1.30011664e+02] [ 9.87464625e-03 5.86056138e-05 9.99951243e-01 -5.13364885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.013139412150986825 Centerline is valid? [True, True] Translation: X:157.59, Y:-129.97, Z:-5.13 [[-6.88910619e-01 -7.24808580e-01 7.39472210e-03 1.57588529e+02] [ 7.24767449e-01 -6.88950304e-01 -7.72169039e-03 -1.29968081e+02] [ 1.06913435e-02 3.98993648e-05 9.99942845e-01 -5.13405595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.01325766575362552 Centerline is valid? [True, True] Translation: X:157.55, Y:-129.93, Z:-5.14 [[-6.89386213e-01 -7.24342329e-01 8.65103853e-03 1.57547736e+02] [ 7.24286061e-01 -6.89440490e-01 -9.02848476e-03 -1.29926988e+02] [ 1.25040899e-02 4.17137077e-05 9.99921820e-01 -5.13657118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.013463529411717304 Centerline is valid? [True, True] Translation: X:157.51, Y:-129.89, Z:-5.14 [[-6.89288644e-01 -7.24414100e-01 1.02652899e-02 1.57507029e+02] [ 7.24334969e-01 -6.89365076e-01 -1.07071901e-02 -1.29885645e+02] [ 1.48329718e-02 5.51639094e-05 9.99889984e-01 -5.13821526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.013807669454897743 Centerline is valid? [True, True] Translation: X:157.47, Y:-129.85, Z:-5.14 [[-6.89581904e-01 -7.24118551e-01 1.13631521e-02 1.57467288e+02] [ 7.24021635e-01 -6.89675518e-01 -1.18470255e-02 -1.29845395e+02] [ 1.64155388e-02 5.76735904e-05 9.99865254e-01 -5.14095857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.013248743446196162 Centerline is valid? [True, True] Translation: X:157.43, Y:-129.80, Z:-5.14 [[-6.91760728e-01 -7.22051317e-01 1.04398690e-02 1.57428565e+02] [ 7.21969378e-01 -6.91839502e-01 -1.08775416e-02 -1.29802664e+02] [ 1.50768570e-02 1.26096760e-05 9.99886338e-01 -5.13765961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.013270704502403616 Centerline is valid? [True, True] Translation: X:157.39, Y:-129.76, Z:-5.14 [[-6.93820381e-01 -7.20082305e-01 9.73412992e-03 1.57390864e+02] [ 7.20010966e-01 -6.93888661e-01 -1.01358089e-02 -1.29760033e+02] [ 1.40530190e-02 -2.37504822e-05 9.99901251e-01 -5.13672339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.013405799415997982 Centerline is valid? [True, True] Translation: X:157.35, Y:-129.72, Z:-5.14 [[-6.95825849e-01 -7.18144262e-01 9.75738738e-03 1.57354682e+02] [ 7.18072461e-01 -6.95894256e-01 -1.01551049e-02 -1.29716725e+02] [ 1.40829401e-02 -5.96733089e-05 9.99900829e-01 -5.13652167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.013395730087988996 Centerline is valid? [True, True] Translation: X:157.31, Y:-129.67, Z:-5.14 [[-6.95503873e-01 -7.18459956e-01 9.46861348e-03 1.57314936e+02] [ 7.18392449e-01 -6.95568321e-01 -9.84886233e-03 -1.29674848e+02] [ 1.36620808e-02 -4.77414697e-05 9.99906668e-01 -5.13577831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.01323586315475293 Centerline is valid? [True, True] Translation: X:157.27, Y:-129.63, Z:-5.13 [[-6.94702937e-01 -7.19241310e-01 8.93132017e-03 1.57274082e+02] [ 7.19181387e-01 -6.94760346e-01 -9.28412754e-03 -1.29634679e+02] [ 1.28826551e-02 -2.64714394e-05 9.99917015e-01 -5.13377437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.013170947500423151 Centerline is valid? [True, True] Translation: X:157.23, Y:-129.60, Z:-5.13 [[-6.92778379e-01 -7.21103936e-01 8.19944473e-03 1.57233474e+02] [ 7.21053628e-01 -6.92826900e-01 -8.51775034e-03 -1.29595706e+02] [ 1.18229792e-02 1.13260920e-05 9.99930106e-01 -5.13297360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.013135323206234601 Centerline is valid? [True, True] Translation: X:157.19, Y:-129.56, Z:-5.13 [[-6.91202787e-01 -7.22618093e-01 7.86119527e-03 1.57192163e+02] [ 7.22572001e-01 -6.91247488e-01 -8.16173314e-03 -1.29555164e+02] [ 1.13318475e-02 3.88668990e-05 9.99935792e-01 -5.13109129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.013400990195923517 Centerline is valid? [True, True] Translation: X:157.15, Y:-129.52, Z:-5.13 [[-6.88429163e-01 -7.25258251e-01 8.10905759e-03 1.57148983e+02] [ 7.25209444e-01 -6.88476914e-01 -8.41433487e-03 -1.29515939e+02] [ 1.16854647e-02 8.80916394e-05 9.99931719e-01 -5.13027435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.013889157927272489 Centerline is valid? [True, True] Translation: X:157.11, Y:-129.48, Z:-5.13 [[-6.85264410e-01 -7.28238089e-01 9.05393403e-03 1.57105734e+02] [ 7.28177555e-01 -6.85324201e-01 -9.39086246e-03 -1.29477628e+02] [ 1.30436638e-02 1.57647720e-04 9.99914915e-01 -5.13100791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.014464276846470201 Centerline is valid? [True, True] Translation: X:157.06, Y:-129.44, Z:-5.13 [[-6.83563764e-01 -7.29826083e-01 9.71952151e-03 1.57064321e+02] [ 7.29756565e-01 -6.83632830e-01 -1.00752211e-02 -1.29438458e+02] [ 1.39977432e-02 2.05828551e-04 9.99902006e-01 -5.13140201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.014882239202962043 Centerline is valid? [True, True] Translation: X:157.02, Y:-129.40, Z:-5.13 [[-6.81640997e-01 -7.31615674e-01 1.02007863e-02 1.57022626e+02] [ 7.31539389e-01 -6.81717271e-01 -1.05681049e-02 -1.29397726e+02] [ 1.46858434e-02 2.58623374e-04 9.99892124e-01 -5.13112494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.015307311008879958 Centerline is valid? [True, True] Translation: X:156.98, Y:-129.36, Z:-5.13 [[-6.81321304e-01 -7.31920647e-01 9.66683468e-03 1.56982219e+02] [ 7.31852262e-01 -6.81389830e-01 -1.00082917e-02 -1.29358000e+02] [ 1.39121582e-02 2.55832481e-04 9.99903189e-01 -5.13079339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.014726911854234017 Centerline is valid? [True, True] Translation: X:156.94, Y:-129.32, Z:-5.13 [[-6.81844790e-01 -7.31445559e-01 8.66464541e-03 1.56943043e+02] [ 7.31390644e-01 -6.81899805e-01 -8.96557687e-03 -1.29315458e+02] [ 1.24662514e-02 2.24108711e-04 9.99922268e-01 -5.12900860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.014282575584742135 Centerline is valid? [True, True] Translation: X:156.90, Y:-129.27, Z:-5.13 [[-6.83753818e-01 -7.29662923e-01 8.52846048e-03 1.56903995e+02] [ 7.29609647e-01 -6.83806977e-01 -8.81936747e-03 -1.29272981e+02] [ 1.22669862e-02 1.92170855e-04 9.99924739e-01 -5.12905038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.014626355844664216 Centerline is valid? [True, True] Translation: X:156.87, Y:-129.23, Z:-5.13 [[-6.84956183e-01 -7.28530845e-01 8.82247450e-03 1.56865258e+02] [ 7.28473814e-01 -6.85012974e-01 -9.11738989e-03 -1.29232535e+02] [ 1.26858093e-02 1.81929074e-04 9.99919515e-01 -5.13072517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.014444911617643141 Centerline is valid? [True, True] Translation: X:156.83, Y:-129.19, Z:-5.13 [[-6.84969883e-01 -7.28505891e-01 9.76865669e-03 1.56825786e+02] [ 7.28436047e-01 -6.85039506e-01 -1.00896346e-02 -1.29189930e+02] [ 1.40422740e-02 2.04745864e-04 9.99901381e-01 -5.13113212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.014158130708311102 Centerline is valid? [True, True] Translation: X:156.79, Y:-129.15, Z:-5.13 [[-6.85543958e-01 -7.27958191e-01 1.03128320e-02 1.56786984e+02] [ 7.27880385e-01 -6.85621491e-01 -1.06449961e-02 -1.29148130e+02] [ 1.48198114e-02 2.08895351e-04 9.99890159e-01 -5.13138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.014127176285479891 Centerline is valid? [True, True] Translation: X:156.75, Y:-129.11, Z:-5.13 [[-6.86272412e-01 -7.27275699e-01 1.00117366e-02 1.56747268e+02] [ 7.27202390e-01 -6.86345409e-01 -1.03277645e-02 -1.29106249e+02] [ 1.43826416e-02 1.92898882e-04 9.99896546e-01 -5.13132539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.013268363646888569 Centerline is valid? [True, True] Translation: X:156.71, Y:-129.06, Z:-5.13 [[-6.89415829e-01 -7.24310903e-01 8.91804463e-03 1.56710401e+02] [ 7.24252553e-01 -6.89473496e-01 -9.19439793e-03 -1.29060867e+02] [ 1.28083581e-02 1.20153121e-04 9.99917962e-01 -5.12962762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.012722799052767146 Centerline is valid? [True, True] Translation: X:156.68, Y:-129.01, Z:-5.13 [[-6.94458915e-01 -7.19478079e-01 8.83800521e-03 1.56675372e+02] [ 7.19420443e-01 -6.94515150e-01 -9.10675110e-03 -1.29013985e+02] [ 1.26902363e-02 3.39771388e-05 9.99919475e-01 -5.12775904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.012991932791575908 Centerline is valid? [True, True] Translation: X:156.64, Y:-128.97, Z:-5.13 [[-6.98065064e-01 -7.15982002e-01 8.65679373e-03 1.56638742e+02] [ 7.15926508e-01 -6.98118738e-01 -8.91417243e-03 -1.28970618e+02] [ 1.24258569e-02 -2.50442351e-05 9.99922796e-01 -5.12930380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.013489863541846522 Centerline is valid? [True, True] Translation: X:156.60, Y:-128.93, Z:-5.13 [[-7.03746262e-01 -7.10396632e-01 8.82177545e-03 1.56602218e+02] [ 7.10338624e-01 -7.03801542e-01 -9.07902879e-03 -1.28925351e+02] [ 1.26584906e-02 -1.22884744e-04 9.99919871e-01 -5.12746841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.014717894164761148 Centerline is valid? [True, True] Translation: X:156.57, Y:-128.88, Z:-5.13 [[-7.08417295e-01 -7.05730617e-01 9.44632964e-03 1.56565626e+02] [ 7.05663765e-01 -7.08480239e-01 -9.71606209e-03 -1.28880695e+02] [ 1.35494604e-02 -2.17093888e-04 9.99908178e-01 -5.12755560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.015551723480623695 Centerline is valid? [True, True] Translation: X:156.53, Y:-128.84, Z:-5.13 [[-7.10434679e-01 -7.03693594e-01 9.89407072e-03 1.56527024e+02] [ 7.03620135e-01 -7.10503523e-01 -1.01710051e-02 -1.28837587e+02] [ 1.41870432e-02 -2.64167340e-04 9.99899324e-01 -5.12787756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.016031662125879642 Centerline is valid? [True, True] Translation: X:156.49, Y:-128.80, Z:-5.13 [[-7.11080777e-01 -7.03043063e-01 9.72518063e-03 1.56487710e+02] [ 7.02972120e-01 -7.11147228e-01 -9.99097604e-03 -1.28797755e+02] [ 1.39401216e-02 -2.67860164e-04 9.99902796e-01 -5.12777964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.0146061448816507 Centerline is valid? [True, True] Translation: X:156.44, Y:-128.76, Z:-5.13 [[-7.09803352e-01 -7.04338342e-01 9.31134175e-03 1.56444634e+02] [ 7.04273491e-01 -7.09864387e-01 -9.56045310e-03 -1.28759157e+02] [ 1.33435836e-02 -2.28310496e-04 9.99910944e-01 -5.12592250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.013629839207068024 Centerline is valid? [True, True] Translation: X:156.40, Y:-128.72, Z:-5.13 [[-7.05363693e-01 -7.08792507e-01 8.67424905e-03 1.56401374e+02] [ 7.08736616e-01 -7.05417015e-01 -8.90190180e-03 -1.28721529e+02] [ 1.24285642e-02 -1.31320408e-04 9.99922754e-01 -5.12583085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.012743792020989013 Centerline is valid? [True, True] Translation: X:156.36, Y:-128.69, Z:-5.13 [[-6.99333577e-01 -7.14742133e-01 8.73106113e-03 1.56355554e+02] [ 7.14686029e-01 -6.99388077e-01 -8.95531691e-03 -1.28685009e+02] [ 1.25071424e-02 -2.27864000e-05 9.99921782e-01 -5.12701521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.012713584972707732 Centerline is valid? [True, True] Translation: X:156.31, Y:-128.65, Z:-5.13 [[-6.95161511e-01 -7.18801851e-01 8.62394357e-03 1.56311350e+02] [ 7.18747495e-01 -6.95215000e-01 -8.83983392e-03 -1.28647740e+02] [ 1.23495839e-02 5.33255310e-05 9.99923740e-01 -5.12639492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.013253249243443222 Centerline is valid? [True, True] Translation: X:156.27, Y:-128.61, Z:-5.13 [[-6.91199634e-01 -7.22620713e-01 7.89759217e-03 1.56266437e+02] [ 7.22575426e-01 -6.91244742e-01 -8.09075880e-03 -1.28609888e+02] [ 1.13057189e-02 1.14276510e-04 9.99936082e-01 -5.12601312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.0134382232661977 Centerline is valid? [True, True] Translation: X:156.22, Y:-128.57, Z:-5.13 [[-6.90076115e-01 -7.23702671e-01 7.02849298e-03 1.56224603e+02] [ 7.23666906e-01 -6.90111896e-01 -7.19582200e-03 -1.28570565e+02] [ 1.00580822e-02 1.20622882e-04 9.99949409e-01 -5.12505588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.013467284554877057 Centerline is valid? [True, True] Translation: X:156.18, Y:-128.53, Z:-5.13 [[-6.90478808e-01 -7.23321512e-01 6.70864074e-03 1.56183323e+02] [ 7.23288952e-01 -6.90511389e-01 -6.86402787e-03 -1.28530642e+02] [ 9.59729185e-03 1.12819948e-04 9.99953939e-01 -5.12521990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.013033408747315815 Centerline is valid? [True, True] Translation: X:156.14, Y:-128.49, Z:-5.13 [[-6.92734099e-01 -7.21165843e-01 6.26867588e-03 1.56142979e+02] [ 7.21137357e-01 -6.92762457e-01 -6.41020114e-03 -1.28488568e+02] [ 8.96552140e-03 8.00114519e-05 9.99959806e-01 -5.12518909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.012940075926868307 Centerline is valid? [True, True] Translation: X:156.10, Y:-128.45, Z:-5.13 [[-6.94511597e-01 -7.19453830e-01 6.31099667e-03 1.56103563e+02] [ 7.19424927e-01 -6.94540267e-01 -6.44915200e-03 -1.28448308e+02] [ 9.02310842e-03 6.12774613e-05 9.99959289e-01 -5.12589465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.012757384136814062 Centerline is valid? [True, True] Translation: X:156.06, Y:-128.41, Z:-5.13 [[-6.95393443e-01 -7.18592745e-01 7.24067501e-03 1.56062201e+02] [ 7.18554696e-01 -6.95431135e-01 -7.39497312e-03 -1.28407082e+02] [ 1.03493649e-02 6.04052132e-05 9.99946442e-01 -5.12712696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.013029943088712194 Centerline is valid? [True, True] Translation: X:156.02, Y:-128.37, Z:-5.13 [[-6.94536504e-01 -7.19391603e-01 9.73478007e-03 1.56019804e+02] [ 7.19322982e-01 -6.94604716e-01 -9.93660928e-03 -1.28367340e+02] [ 1.39101374e-02 1.01113168e-04 9.99903244e-01 -5.13080373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.013317872890126535 Centerline is valid? [True, True] Translation: X:155.98, Y:-128.33, Z:-5.13 [[-6.93763217e-01 -7.20113838e-01 1.13428044e-02 1.55978276e+02] [ 7.20020875e-01 -6.93855922e-01 -1.15714943e-02 -1.28326861e+02] [ 1.62030652e-02 1.39178791e-04 9.99868712e-01 -5.13281295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.013220926524810906 Centerline is valid? [True, True] Translation: X:155.94, Y:-128.29, Z:-5.13 [[-6.94193668e-01 -7.19706845e-01 1.08262934e-02 1.55938358e+02] [ 7.19622213e-01 -6.94278072e-01 -1.10376294e-02 -1.28285596e+02] [ 1.54603155e-02 1.28588764e-04 9.99880474e-01 -5.13193552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.013065725621052293 Centerline is valid? [True, True] Translation: X:155.90, Y:-128.24, Z:-5.13 [[-6.95280632e-01 -7.18679648e-01 9.18730813e-03 1.55899100e+02] [ 7.18618662e-01 -6.95341323e-01 -9.36285313e-03 -1.28244335e+02] [ 1.31172070e-02 9.23606324e-05 9.99913962e-01 -5.13038468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.012635944844685948 Centerline is valid? [True, True] Translation: X:155.86, Y:-128.20, Z:-5.13 [[-6.98234183e-01 -7.15832379e-01 7.28224158e-03 1.55860244e+02] [ 7.15793949e-01 -6.98272157e-01 -7.41737228e-03 -1.28200866e+02] [ 1.03945818e-02 3.35215869e-05 9.99945974e-01 -5.12864225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.012409589017887518 Centerline is valid? [True, True] Translation: X:155.82, Y:-128.16, Z:-5.13 [[-7.00305749e-01 -7.13812296e-01 6.62293909e-03 1.55821494e+02] [ 7.13780448e-01 -7.00337066e-01 -6.74286024e-03 -1.28158045e+02] [ 9.45142629e-03 5.26063942e-06 9.99955334e-01 -5.12711569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.012410540435705768 Centerline is valid? [True, True] Translation: X:155.78, Y:-128.12, Z:-5.13 [[-7.02481941e-01 -7.11672605e-01 6.42076931e-03 1.55782867e+02] [ 7.11642619e-01 -7.02511283e-01 -6.53295308e-03 -1.28116001e+02] [ 9.15998662e-03 -1.99884704e-05 9.99958046e-01 -5.12626472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.012316673477161885 Centerline is valid? [True, True] Translation: X:155.74, Y:-128.08, Z:-5.13 [[-7.02040100e-01 -7.12108833e-01 6.38022862e-03 1.55741019e+02] [ 7.12079276e-01 -7.02069092e-01 -6.48802700e-03 -1.28075567e+02] [ 9.09954265e-03 -1.16265446e-05 9.99958598e-01 -5.12597747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.01242284919686998 Centerline is valid? [True, True] Translation: X:155.70, Y:-128.04, Z:-5.13 [[-7.00902548e-01 -7.13220742e-01 7.19659976e-03 1.55699778e+02] [ 7.13183246e-01 -7.00939493e-01 -7.31334855e-03 -1.28036547e+02] [ 1.02604129e-02 6.54974816e-06 9.99947361e-01 -5.12790111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.012661534344362454 Centerline is valid? [True, True] Translation: X:155.66, Y:-128.00, Z:-5.13 [[-6.99097295e-01 -7.14966348e-01 9.27866854e-03 1.55658104e+02] [ 7.14904237e-01 -6.99158866e-01 -9.42404563e-03 -1.27995536e+02] [ 1.32251389e-02 4.50346384e-05 9.99912543e-01 -5.13065217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.012781436021250163 Centerline is valid? [True, True] Translation: X:155.62, Y:-127.95, Z:-5.13 [[-6.98914158e-01 -7.15140739e-01 9.62934560e-03 1.55618146e+02] [ 7.15073942e-01 -6.98980487e-01 -9.77428342e-03 -1.27954638e+02] [ 1.37207129e-02 5.43090549e-05 9.99905865e-01 -5.13124967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.012496059890784566 Centerline is valid? [True, True] Translation: X:155.58, Y:-127.91, Z:-5.13 [[-7.00280207e-01 -7.13817815e-01 8.47105951e-03 1.55579450e+02] [ 7.13766089e-01 -7.00331441e-01 -8.59319922e-03 -1.27912026e+02] [ 1.20665280e-02 2.87076904e-05 9.99927196e-01 -5.12996694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.012442558512721118 Centerline is valid? [True, True] Translation: X:155.54, Y:-127.87, Z:-5.13 [[-7.02387687e-01 -7.11754114e-01 7.59068651e-03 1.55541880e+02] [ 7.11712512e-01 -7.02428702e-01 -7.69539043e-03 -1.27869004e+02] [ 1.08091419e-02 -2.76091220e-06 9.99941580e-01 -5.12903690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.012778336736332142 Centerline is valid? [True, True] Translation: X:155.51, Y:-127.82, Z:-5.13 [[-7.06966909e-01 -7.07213689e-01 6.82556005e-03 1.55507687e+02] [ 7.07179880e-01 -7.06999855e-01 -6.91546751e-03 -1.27822755e+02] [ 9.71638325e-03 -6.21079514e-05 9.99952793e-01 -5.12748735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.013195208383723754 Centerline is valid? [True, True] Translation: X:155.47, Y:-127.78, Z:-5.13 [[-7.08612974e-01 -7.05566414e-01 6.60979193e-03 1.55469062e+02] [ 7.05534674e-01 -7.08643796e-01 -6.69281707e-03 -1.27780386e+02] [ 9.40621498e-03 -7.91796119e-05 9.99955757e-01 -5.12745000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.013449491702420713 Centerline is valid? [True, True] Translation: X:155.43, Y:-127.74, Z:-5.13 [[-7.11901766e-01 -7.02253535e-01 5.98733532e-03 1.55430237e+02] [ 7.02227403e-01 -7.11926935e-01 -6.05911350e-03 -1.27736615e+02] [ 8.51757916e-03 -1.09022670e-04 9.99963719e-01 -5.12580265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.013714121569120375 Centerline is valid? [True, True] Translation: X:155.39, Y:-127.69, Z:-5.13 [[-7.12621170e-01 -7.01525019e-01 5.80647360e-03 1.55391274e+02] [ 7.01500449e-01 -7.12644817e-01 -5.87240955e-03 -1.27694847e+02] [ 8.25759554e-03 -1.11559524e-04 9.99965899e-01 -5.12634852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.013283155605540737 Centerline is valid? [True, True] Translation: X:155.35, Y:-127.65, Z:-5.13 [[-7.11596841e-01 -7.02555198e-01 6.79189440e-03 1.55350264e+02] [ 7.02521664e-01 -7.11629244e-01 -6.86514352e-03 -1.27654216e+02] [ 9.65645294e-03 -1.13761480e-04 9.99953369e-01 -5.12699718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.012737451089698155 Centerline is valid? [True, True] Translation: X:155.31, Y:-127.62, Z:-5.13 [[-7.08029186e-01 -7.06137369e-01 8.04281570e-03 1.55307961e+02] [ 7.06090634e-01 -7.08074862e-01 -8.12443445e-03 -1.27615239e+02] [ 1.14318824e-02 -7.33798773e-05 9.99934651e-01 -5.12944370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.0125929241902461 Centerline is valid? [True, True] Translation: X:155.27, Y:-127.58, Z:-5.13 [[-7.05396688e-01 -7.08760496e-01 8.60653468e-03 1.55266051e+02] [ 7.08707240e-01 -7.05449189e-01 -8.68844516e-03 -1.27576037e+02] [ 1.22294996e-02 -2.92869972e-05 9.99925216e-01 -5.13064296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.012731401900980883 Centerline is valid? [True, True] Translation: X:155.22, Y:-127.54, Z:-5.13 [[-7.00859378e-01 -7.13243086e-01 8.96838997e-03 1.55223074e+02] [ 7.13185694e-01 -7.00916754e-01 -9.04814144e-03 -1.27537783e+02] [ 1.27396191e-02 5.46526425e-05 9.99918846e-01 -5.13142529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.013843496154873467 Centerline is valid? [True, True] Translation: X:155.18, Y:-127.50, Z:-5.13 [[-6.95285259e-01 -7.18677390e-01 9.01210760e-03 1.55179025e+02] [ 7.18619953e-01 -6.95343645e-01 -9.08727315e-03 -1.27499472e+02] [ 1.27973295e-02 1.58033270e-04 9.99918098e-01 -5.13195748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.014806963543726735 Centerline is valid? [True, True] Translation: X:155.14, Y:-127.46, Z:-5.13 [[-6.91679601e-01 -7.22151958e-01 8.71091841e-03 1.55136566e+02] [ 7.22098615e-01 -6.91734416e-01 -8.77998549e-03 -1.27460604e+02] [ 1.23661258e-02 2.17205260e-04 9.99923513e-01 -5.13137869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.01655118887550777 Centerline is valid? [True, True] Translation: X:155.09, Y:-127.42, Z:-5.13 [[-6.87564514e-01 -7.26078653e-01 8.05170009e-03 1.55093416e+02] [ 7.26033397e-01 -6.87611604e-01 -8.11099193e-03 -1.27421860e+02] [ 1.14256605e-02 2.68972952e-04 9.99934689e-01 -5.12980584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.0169554977946666 Centerline is valid? [True, True] Translation: X:155.05, Y:-127.38, Z:-5.13 [[-6.85813276e-01 -7.27740742e-01 7.31872167e-03 1.55051932e+02] [ 7.27703491e-01 -6.85852272e-01 -7.36817894e-03 -1.27381770e+02] [ 1.03816859e-02 2.72664374e-04 9.99946072e-01 -5.12841305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.017736272331660797 Centerline is valid? [True, True] Translation: X:155.01, Y:-127.34, Z:-5.13 [[-6.85348712e-01 -7.28182994e-01 6.83161886e-03 1.55010931e+02] [ 7.28150599e-01 -6.85382709e-01 -6.87370538e-03 -1.27341493e+02] [ 9.68758881e-03 2.63562238e-04 9.99953040e-01 -5.12707889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.017164865438437676 Centerline is valid? [True, True] Translation: X:154.97, Y:-127.30, Z:-5.13 [[-6.86324832e-01 -7.27261179e-01 7.02867389e-03 1.54971539e+02] [ 7.27226884e-01 -6.86360772e-01 -7.06750816e-03 -1.27299357e+02] [ 9.96413035e-03 2.60834263e-04 9.99950323e-01 -5.12778789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.0166554624176136 Centerline is valid? [True, True] Translation: X:154.93, Y:-127.26, Z:-5.13 [[-6.86947887e-01 -7.26659126e-01 8.31352424e-03 1.54931879e+02] [ 7.26611158e-01 -6.86998125e-01 -8.35469732e-03 -1.27257111e+02] [ 1.17823926e-02 3.01457802e-04 9.99930540e-01 -5.12933785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.01783983569869207 Centerline is valid? [True, True] Translation: X:154.89, Y:-127.22, Z:-5.13 [[-6.87412317e-01 -7.26177641e-01 1.14166392e-02 1.54892155e+02] [ 7.26087193e-01 -6.87506995e-01 -1.14681936e-02 -1.27216766e+02] [ 1.61769651e-02 4.06097963e-04 9.99869062e-01 -5.13414663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.016915849327084544 Centerline is valid? [True, True] Translation: X:154.85, Y:-127.17, Z:-5.13 [[-6.87762147e-01 -7.25836637e-01 1.20168878e-02 1.54853709e+02] [ 7.25736505e-01 -6.87866991e-01 -1.20635044e-02 -1.27174228e+02] [ 1.70221539e-02 4.24272449e-04 9.99855023e-01 -5.13398818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.01632577337317412 Centerline is valid? [True, True] Translation: X:154.82, Y:-127.13, Z:-5.13 [[-6.88608727e-01 -7.25054245e-01 1.06941050e-02 1.54815176e+02] [ 7.24974943e-01 -6.88691665e-01 -1.07294835e-02 -1.27130694e+02] [ 1.51443985e-02 3.64542205e-04 9.99885251e-01 -5.13108366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.017892016625156944 Centerline is valid? [True, True] Translation: X:154.77, Y:-127.09, Z:-5.13 [[-6.89353943e-01 -7.24369993e-01 8.90251174e-03 1.54773252e+02] [ 7.24315043e-01 -6.89411362e-01 -8.92706620e-03 -1.27091518e+02] [ 1.26039916e-02 2.94314891e-04 9.99920523e-01 -5.13084268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.01678931664767035 Centerline is valid? [True, True] Translation: X:154.73, Y:-127.05, Z:-5.13 [[-6.90280438e-01 -7.23503980e-01 7.41000118e-03 1.54734292e+02] [ 7.23465903e-01 -6.90320169e-01 -7.42639799e-03 -1.27048703e+02] [ 1.04883018e-02 2.34585945e-04 9.99944969e-01 -5.12832170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.015608006165626662 Centerline is valid? [True, True] Translation: X:154.69, Y:-127.01, Z:-5.13 [[-6.90851187e-01 -7.22958013e-01 7.50659071e-03 1.54694747e+02] [ 7.22918951e-01 -6.90891929e-01 -7.51890929e-03 -1.27006411e+02] [ 1.06220987e-02 2.32209270e-04 9.99943557e-01 -5.12806643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.015855553953160267 Centerline is valid? [True, True] Translation: X:154.65, Y:-126.97, Z:-5.13 [[-6.91141382e-01 -7.22677913e-01 7.76045716e-03 1.54653370e+02] [ 7.22636200e-01 -6.91184908e-01 -7.76826508e-03 -1.26966968e+02] [ 1.09778645e-02 2.39017813e-04 9.99939713e-01 -5.12853220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.01562815456060805 Centerline is valid? [True, True] Translation: X:154.61, Y:-126.93, Z:-5.13 [[-6.91010235e-01 -7.22793951e-01 8.58833935e-03 1.54611671e+02] [ 7.22742916e-01 -6.91063551e-01 -8.59336158e-03 -1.26927268e+02] [ 1.21463181e-02 2.69060621e-04 9.99926195e-01 -5.12880552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.015672580962284473 Centerline is valid? [True, True] Translation: X:154.57, Y:-126.89, Z:-5.13 [[-6.91816528e-01 -7.22013677e-01 9.28130372e-03 1.54570861e+02] [ 7.21954063e-01 -6.91878727e-01 -9.28214783e-03 -1.26888216e+02] [ 1.31233743e-02 2.79131650e-04 9.99913846e-01 -5.12972137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.014941522164791166 Centerline is valid? [True, True] Translation: X:154.53, Y:-126.85, Z:-5.13 [[-6.94563996e-01 -7.19356357e-01 1.03579415e-02 1.54530597e+02] [ 7.19281893e-01 -6.94641177e-01 -1.03534564e-02 -1.26845746e+02] [ 1.46428773e-02 2.59141715e-04 9.99892754e-01 -5.13098064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.01349080656381545 Centerline is valid? [True, True] Translation: X:154.04, Y:-127.33, Z:-4.12 [[-7.61641708e-01 6.47910179e-01 1.06915493e-02 1.54043960e+02] [ 6.47843901e-01 7.61716734e-01 -9.26807466e-03 -1.27332531e+02] [-1.41488119e-02 -1.32497196e-04 -9.99899892e-01 -4.12347015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.012801933454699162 Centerline is valid? [True, True] Translation: X:154.06, Y:-127.32, Z:-4.13 [[-8.01261384e-01 5.98222097e-01 1.05126924e-02 1.54061494e+02] [ 5.98170163e-01 8.01330345e-01 -7.88250282e-03 -1.27319157e+02] [-1.31396268e-02 -2.75661947e-05 -9.99913671e-01 -4.12512334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.013513139741677763 Centerline is valid? [True, True] Translation: X:154.50, Y:-126.76, Z:-5.13 [[-7.63567329e-01 -6.45662391e-01 9.22014452e-03 1.54501159e+02] [ 6.45614926e-01 -7.63622993e-01 -7.82886857e-03 -1.26762178e+02] [ 1.20955204e-02 -2.52053286e-05 9.99926846e-01 -5.12657506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.014749175855750361 Centerline is valid? [True, True] Translation: X:154.03, Y:-127.31, Z:-4.13 [[-7.91945851e-01 6.10515587e-01 9.61702340e-03 1.54033363e+02] [ 6.10473666e-01 7.92004215e-01 -7.15724720e-03 -1.27314041e+02] [-1.19863340e-02 2.02787307e-04 -9.99928141e-01 -4.12733782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.015947401948012623 Centerline is valid? [True, True] Translation: X:154.05, Y:-127.30, Z:-4.13 [[-8.31227151e-01 5.55843605e-01 9.96546024e-03 1.54053264e+02] [ 5.55807126e-01 8.31286851e-01 -6.37268930e-03 -1.27296501e+02] [-1.18263747e-02 2.41721442e-04 -9.99930037e-01 -4.12719476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.016548580772296106 Centerline is valid? [True, True] Translation: X:154.07, Y:-127.27, Z:-4.13 [[-8.67379594e-01 4.97536304e-01 1.05007585e-02 1.54069780e+02] [ 4.97503611e-01 8.67443112e-01 -5.71005907e-03 -1.27273106e+02] [-1.19497723e-02 2.71376554e-04 -9.99928562e-01 -4.12780333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.015711529026238468 Centerline is valid? [True, True] Translation: X:154.09, Y:-127.25, Z:-4.13 [[-9.00962720e-01 4.33744925e-01 1.14681024e-02 1.54087173e+02] [ 4.33713588e-01 9.01035664e-01 -5.22074406e-03 -1.27246810e+02] [-1.25976405e-02 2.70176073e-04 -9.99920610e-01 -4.12785249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.015133253350519502 Centerline is valid? [True, True] Translation: X:154.10, Y:-127.22, Z:-4.13 [[-9.30959851e-01 3.64908891e-01 1.24602140e-02 1.54095616e+02] [ 3.64879494e-01 9.31043205e-01 -4.63748928e-03 -1.27215650e+02] [-1.32932587e-02 2.29160264e-04 -9.99911615e-01 -4.12757310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.014703005595457553 Centerline is valid? [True, True] Translation: X:154.34, Y:-126.55, Z:-5.13 [[-9.17599433e-01 -3.97313377e-01 1.23838856e-02 1.54341745e+02] [ 3.97274018e-01 -9.17682970e-01 -5.59645146e-03 -1.26553426e+02] [ 1.35880259e-02 -2.15504692e-04 9.99907655e-01 -5.12588902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.013722050782602708 Centerline is valid? [True, True] Translation: X:154.05, Y:-127.19, Z:-4.13 [[-9.35237811e-01 3.53810214e-01 1.21888806e-02 1.54052235e+02] [ 3.53781800e-01 9.35317229e-01 -4.48543766e-03 -1.27189863e+02] [-1.29874637e-02 1.17253209e-04 -9.99915653e-01 -4.12815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.013033735209105788 Centerline is valid? [True, True] Translation: X:154.06, Y:-127.16, Z:-4.13 [[-9.59181209e-01 2.82540658e-01 1.19241352e-02 1.54059168e+02] [ 2.82519587e-01 9.59255322e-01 -3.45100083e-03 -1.27156546e+02] [-1.24133382e-02 5.86666106e-05 -9.99922950e-01 -4.12828099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.012596486066570692 Centerline is valid? [True, True] Translation: X:154.25, Y:-126.51, Z:-5.12 [[-9.39588542e-01 -3.42121584e-01 1.12336219e-02 1.54247220e+02] [ 3.42096048e-01 -9.39655689e-01 -4.18081689e-03 -1.26514900e+02] [ 1.19860844e-02 -8.52699752e-05 9.99928161e-01 -5.12349415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.012762461173231352 Centerline is valid? [True, True] Translation: X:154.02, Y:-127.13, Z:-4.13 [[-9.61982031e-01 2.72876140e-01 1.13658984e-02 1.54015505e+02] [ 2.72856873e-01 9.62049173e-01 -3.24269393e-03 -1.27133385e+02] [-1.18194070e-02 -1.81497909e-05 -9.99930148e-01 -4.12915424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.012574052231282655 Centerline is valid? [True, True] Translation: X:154.02, Y:-127.10, Z:-4.13 [[-9.78899703e-01 2.04075008e-01 1.04289827e-02 1.54021206e+02] [ 2.04063262e-01 9.78955255e-01 -2.18948602e-03 -1.27101477e+02] [-1.06563268e-02 -1.51149793e-05 -9.99943220e-01 -4.13065337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.012522303962762542 Centerline is valid? [True, True] Translation: X:154.02, Y:-127.07, Z:-4.13 [[-9.90577122e-01 1.36541314e-01 1.06506166e-02 1.54024909e+02] [ 1.36533542e-01 9.90634377e-01 -1.45692409e-03 -1.27071509e+02] [-1.07497973e-02 1.09707317e-05 -9.99942219e-01 -4.13208032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.012823715358993626 Centerline is valid? [True, True] Translation: X:154.11, Y:-126.44, Z:-5.12 [[-9.80258658e-01 -1.97354519e-01 1.20065808e-02 1.54112466e+02] [ 1.97340672e-01 -9.80332183e-01 -2.33901170e-03 -1.26441721e+02] [ 1.22320521e-02 7.65502597e-05 9.99925183e-01 -5.12268003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.013205946300703129 Centerline is valid? [True, True] Translation: X:153.97, Y:-127.06, Z:-4.13 [[-9.90123712e-01 1.39649793e-01 1.23680900e-02 1.53971635e+02] [ 1.39640151e-01 9.90200952e-01 -1.64399948e-03 -1.27063111e+02] [-1.24764787e-02 9.93190872e-05 -9.99922161e-01 -4.13099336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.013752710847622663 Centerline is valid? [True, True] Translation: X:153.98, Y:-127.04, Z:-4.13 [[-9.97335849e-01 7.20569772e-02 1.13576725e-02 1.53978046e+02] [ 7.20537332e-02 9.97400510e-01 -6.95090557e-04 -1.27036196e+02] [-1.13782345e-02 1.25123974e-04 -9.99935258e-01 -4.13327437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.013588286785062501 Centerline is valid? [True, True] Translation: X:154.02, Y:-126.41, Z:-5.12 [[-9.92992842e-01 -1.17600272e-01 1.16357766e-02 1.54018217e+02] [ 1.17590946e-01 -9.93061008e-01 -1.48485459e-03 -1.26408608e+02] [ 1.17296553e-02 -1.06188000e-04 9.99931200e-01 -5.11896290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.01356482568531484 Centerline is valid? [True, True] Translation: X:153.93, Y:-127.03, Z:-4.13 [[-9.97721312e-01 6.63253300e-02 1.23747586e-02 1.53925254e+02] [ 6.63216553e-02 9.97798044e-01 -7.07539854e-04 -1.27025261e+02] [-1.23944378e-02 1.14786884e-04 -9.99923179e-01 -4.13397043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.01322965944692154 Centerline is valid? [True, True] Translation: X:153.92, Y:-126.99, Z:-4.13 [[-9.99894457e-01 -7.18635429e-03 1.26266089e-02 1.53918262e+02] [-7.18470043e-03 9.99974174e-01 1.76339044e-04 -1.26991081e+02] [-1.26275500e-02 8.56020309e-05 -9.99920266e-01 -4.13406756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.013085075550324708 Centerline is valid? [True, True] Translation: X:153.91, Y:-126.96, Z:-4.14 [[-9.96787537e-01 -7.92393015e-02 1.16507334e-02 1.53909643e+02] [-7.92330923e-02 9.96855621e-01 9.94283642e-04 -1.26961339e+02] [-1.16928854e-02 6.79659082e-05 -9.99931634e-01 -4.13516682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.01304531214461861 Centerline is valid? [True, True] Translation: X:153.86, Y:-126.37, Z:-5.12 [[-9.99696623e-01 2.19765370e-02 1.11217814e-02 1.53856906e+02] [-2.19763239e-02 -9.99758481e-01 1.41386511e-04 -1.26373287e+02] [ 1.11222024e-02 -1.03072253e-04 9.99938141e-01 -5.11733414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.012842199305214318 Centerline is valid? [True, True] Translation: X:153.84, Y:-126.96, Z:-4.14 [[-9.96107534e-01 -8.73942153e-02 1.14905074e-02 1.53838946e+02] [-8.73880943e-02 9.96173805e-01 1.03467398e-03 -1.26955970e+02] [-1.15369670e-02 2.65129971e-05 -9.99933447e-01 -4.13698958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.01277462034778401 Centerline is valid? [True, True] Translation: X:153.78, Y:-126.39, Z:-5.12 [[-9.99722862e-01 2.05260164e-02 1.15274294e-02 1.53783274e+02] [-2.05249638e-02 -9.99789319e-01 2.09627619e-04 -1.26391846e+02] [ 1.15293036e-02 -2.70305473e-05 9.99933535e-01 -5.11698588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.012951566201502814 Centerline is valid? [True, True] Translation: X:153.77, Y:-126.95, Z:-4.14 [[-9.95008159e-01 -9.90608921e-02 1.20707224e-02 1.53766481e+02] [-9.90543475e-02 9.95081372e-01 1.14031314e-03 -1.26950303e+02] [-1.21243114e-02 -6.10366451e-05 -9.99926496e-01 -4.13570799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.0130191394194871 Centerline is valid? [True, True] Translation: X:153.71, Y:-126.41, Z:-5.12 [[-9.99708427e-01 2.02949469e-02 1.30834387e-02 1.53713922e+02] [-2.02914971e-02 -9.99794028e-01 3.96382747e-04 -1.26405546e+02] [ 1.30887884e-02 1.30784614e-04 9.99914330e-01 -5.11851579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.01312152852771251 Centerline is valid? [True, True] Translation: X:153.70, Y:-126.95, Z:-4.13 [[-9.94439308e-01 -1.04310302e-01 1.44852869e-02 1.53702918e+02] [-1.04300473e-01 9.94544797e-01 1.43440894e-03 -1.26954391e+02] [-1.45558904e-02 -8.43896330e-05 -9.99894054e-01 -4.13395533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.012836303953088124 Centerline is valid? [True, True] Translation: X:153.65, Y:-126.41, Z:-5.12 [[-9.99497280e-01 2.86170943e-02 1.36473445e-02 1.53650824e+02] [-2.86141212e-02 -9.99590447e-01 4.13109871e-04 -1.26409479e+02] [ 1.36535772e-02 2.23954236e-05 9.99906785e-01 -5.11838837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.01268268658206137 Centerline is valid? [True, True] Translation: X:153.64, Y:-126.96, Z:-4.14 [[-9.94529204e-01 -1.03714262e-01 1.24504865e-02 1.53641675e+02] [-1.03706226e-01 9.94607134e-01 1.29107179e-03 -1.26964962e+02] [-1.25172453e-02 -7.18437030e-06 -9.99921656e-01 -4.13649102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.01263558986800985 Centerline is valid? [True, True] Translation: X:153.58, Y:-126.41, Z:-5.12 [[-9.99264463e-01 3.64382382e-02 1.19494281e-02 1.53582311e+02] [-3.64359863e-02 -9.99335906e-01 4.06176173e-04 -1.26414413e+02] [ 1.19562929e-02 -2.95117827e-05 9.99928521e-01 -5.11708941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.012676966503455128 Centerline is valid? [True, True] Translation: X:153.57, Y:-126.97, Z:-4.14 [[-9.93994784e-01 -1.08731431e-01 1.23225336e-02 1.53573389e+02] [-1.08723228e-01 9.94071162e-01 1.33558896e-03 -1.26972667e+02] [-1.23946958e-02 -1.21771774e-05 -9.99923183e-01 -4.13580466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.012834575107491038 Centerline is valid? [True, True] Translation: X:153.51, Y:-126.42, Z:-5.12 [[-9.99239726e-01 3.64058513e-02 1.39493364e-02 1.53509915e+02] [-3.64005993e-02 -9.99337080e-01 6.30301006e-04 -1.26423205e+02] [ 1.39630358e-02 1.22057599e-04 9.99902505e-01 -5.11858596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.013451229897425624 Centerline is valid? [True, True] Translation: X:153.50, Y:-126.98, Z:-4.13 [[-9.92364699e-01 -1.22550736e-01 1.39147576e-02 1.53501911e+02] [-1.22540749e-01 9.92462239e-01 1.57132920e-03 -1.26977089e+02] [-1.40024391e-02 -1.45793199e-04 -9.99901950e-01 -4.13482955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.014389490283981564 Centerline is valid? [True, True] Translation: X:153.44, Y:-126.44, Z:-5.12 [[-9.99453065e-01 3.02945625e-02 1.32593790e-02 1.53436132e+02] [-3.02907473e-02 -9.99541011e-01 4.88509638e-04 -1.26437177e+02] [ 1.32680922e-02 8.66059566e-05 9.99911971e-01 -5.11925077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.015614120238680305 Centerline is valid? [True, True] Translation: X:153.43, Y:-126.98, Z:-4.13 [[-9.90848767e-01 -1.34440041e-01 1.20247852e-02 1.53433336e+02] [-1.34432793e-01 9.90921706e-01 1.41272690e-03 -1.26980584e+02] [-1.21055477e-02 -2.16726754e-04 -9.99926702e-01 -4.13455557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.015254601391828848 Centerline is valid? [True, True] Translation: X:153.42, Y:-126.96, Z:-4.14 [[-9.78357594e-01 -2.06598442e-01 1.15543212e-02 1.53419055e+02] [-2.06586865e-01 9.78425791e-01 2.19965641e-03 -1.26960463e+02] [-1.17594915e-02 -2.34920444e-04 -9.99930827e-01 -4.13644483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.01518787492238814 Centerline is valid? [True, True] Translation: X:153.40, Y:-126.94, Z:-4.14 [[-9.61087526e-01 -2.76043040e-01 1.05360316e-02 1.53403172e+02] [-2.76028959e-01 9.61145250e-01 2.79682561e-03 -1.26940515e+02] [-1.08987009e-02 -2.20255613e-04 -9.99940583e-01 -4.13782563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.01569093690134242 Centerline is valid? [True, True] Translation: X:153.38, Y:-126.92, Z:-4.14 [[-9.38756178e-01 -3.44453519e-01 9.41337423e-03 1.53380424e+02] [-3.44438389e-01 9.38803351e-01 3.23498760e-03 -1.26920746e+02] [-9.95161013e-03 -2.05462858e-04 -9.99950460e-01 -4.13872547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.015761995739165903 Centerline is valid? [True, True] Translation: X:153.35, Y:-126.91, Z:-4.14 [[-9.11301037e-01 -4.11664229e-01 7.93610612e-03 1.53348094e+02] [-4.11650358e-01 9.11335574e-01 3.38430028e-03 -1.26907920e+02] [-8.62565119e-03 -1.82784568e-04 -9.99962782e-01 -4.14058199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.016096949357486835 Centerline is valid? [True, True] Translation: X:153.30, Y:-126.90, Z:-4.14 [[-8.78895421e-01 -4.76953746e-01 7.61329988e-03 1.53303494e+02] [-4.76937667e-01 8.78928376e-01 3.92073750e-03 -1.26899711e+02] [-8.56155574e-03 -1.85151241e-04 -9.99963332e-01 -4.14020273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.017127076454267292 Centerline is valid? [True, True] Translation: X:153.24, Y:-126.90, Z:-4.14 [[-8.40508016e-01 -5.41708153e-01 9.92733523e-03 1.53240864e+02] [-5.41674185e-01 8.40566596e-01 6.07250864e-03 -1.26904788e+02] [-1.16341138e-02 -2.73389032e-04 -9.99932284e-01 -4.13684171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.017776618961711062 Centerline is valid? [True, True] Translation: X:153.17, Y:-126.92, Z:-4.13 [[-7.97476311e-01 -6.03242763e-01 1.13887447e-02 1.53171796e+02] [-6.03187464e-01 7.97557551e-01 8.17532335e-03 -1.26919664e+02] [-1.40148840e-02 -3.49921325e-04 -9.99901726e-01 -4.13470061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.016740814220854956 Centerline is valid? [True, True] Translation: X:153.11, Y:-126.95, Z:-4.14 [[-7.50283335e-01 -6.61013422e-01 1.16693185e-02 1.53105298e+02] [-6.60941361e-01 7.50373979e-01 9.76779537e-03 -1.26945247e+02] [-1.52129968e-02 -3.84121158e-04 -9.99884202e-01 -4.13516260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.015996000513088936 Centerline is valid? [True, True] Translation: X:153.03, Y:-126.98, Z:-4.14 [[-7.00706893e-01 -7.13371177e-01 1.05553053e-02 1.53034450e+02] [-7.13297340e-01 7.00786311e-01 1.02689627e-02 -1.26982429e+02] [-1.47225955e-02 -3.33538219e-04 -9.99891561e-01 -4.13621892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.014787196803981219 Centerline is valid? [True, True] Translation: X:152.96, Y:-127.03, Z:-4.14 [[-6.49358151e-01 -7.60433401e-01 8.66223957e-03 1.52963890e+02] [-7.60370323e-01 6.49415885e-01 9.79697790e-03 -1.27029448e+02] [-1.30753452e-02 -2.24762440e-04 -9.99914489e-01 -4.13817929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.013762373385031706 Centerline is valid? [True, True] Translation: X:152.89, Y:-127.09, Z:-4.14 [[-5.93880718e-01 -8.04522066e-01 7.06668523e-03 1.52890083e+02] [-8.04468046e-01 5.93922742e-01 9.32417355e-03 -1.27087289e+02] [-1.16985684e-02 -1.47475576e-04 -9.99931559e-01 -4.13997535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.0130357758125742 Centerline is valid? [True, True] Translation: X:152.82, Y:-127.15, Z:-4.14 [[-5.37079083e-01 -8.43511371e-01 5.88434464e-03 1.52819977e+02] [-8.43462010e-01 5.37111314e-01 9.12543043e-03 -1.27154577e+02] [-1.08579524e-02 -6.21433523e-05 -9.99941049e-01 -4.14073642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.012887197352863708 Centerline is valid? [True, True] Translation: X:152.75, Y:-127.23, Z:-4.14 [[-4.74138646e-01 -8.80432720e-01 5.54709571e-03 1.52750411e+02] [-8.80373242e-01 4.74171093e-01 1.02337400e-02 -1.27228809e+02] [-1.16403920e-02 -3.13030003e-05 -9.99932248e-01 -4.14143931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.012891603612292435 Centerline is valid? [True, True] Translation: X:152.68, Y:-127.32, Z:-4.14 [[-4.06915335e-01 -9.13449892e-01 5.40419317e-03 1.52682455e+02] [-9.13369933e-01 4.06951219e-01 1.20859741e-02 -1.27315322e+02] [-1.32391748e-02 -1.80593338e-05 -9.99912358e-01 -4.14087827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.01293431593402066 Centerline is valid? [True, True] Translation: X:152.62, Y:-127.41, Z:-4.14 [[-3.34588470e-01 -9.42351903e-01 4.84215807e-03 1.52616774e+02] [-9.42255045e-01 3.34623503e-01 1.35107983e-02 -1.27408209e+02] [-1.43522264e-02 -4.19905312e-05 -9.99897001e-01 -4.14029340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.01324789343660678 Centerline is valid? [True, True] Translation: X:152.56, Y:-127.51, Z:-4.14 [[-2.57412742e-01 -9.66292692e-01 4.13677163e-03 1.52556615e+02] [-9.66174992e-01 2.57445955e-01 1.50819277e-02 -1.27508101e+02] [-1.56385516e-02 -1.14564932e-04 -9.99877704e-01 -4.13868963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.013977526596012084 Centerline is valid? [True, True] Translation: X:152.50, Y:-127.61, Z:-4.14 [[-1.77815382e-01 -9.84058910e-01 3.12271240e-03 1.52504853e+02] [-9.83926505e-01 1.77842685e-01 1.61434979e-02 -1.27610001e+02] [-1.64415045e-02 -2.01957254e-04 -9.99864809e-01 -4.13783259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.015150773305906595 Centerline is valid? [True, True] Translation: X:152.46, Y:-127.72, Z:-4.14 [[-9.87221313e-02 -9.95113435e-01 1.78690589e-03 1.52459429e+02] [-9.94992111e-01 9.87380008e-02 1.55404613e-02 -1.27718801e+02] [-1.56409573e-02 -2.43769806e-04 -9.99877643e-01 -4.13685771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.015593438006289963 Centerline is valid? [True, True] Translation: X:152.42, Y:-127.83, Z:-4.14 [[-1.71034500e-02 -9.99853571e-01 5.54915436e-04 1.52424106e+02] [-9.99745797e-01 1.71097556e-02 1.46832380e-02 -1.27834776e+02] [-1.46905824e-02 -3.03640347e-04 -9.99892042e-01 -4.13905506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.017231277593771008 Centerline is valid? [True, True] Translation: X:152.40, Y:-127.96, Z:-4.14 [[ 6.50396843e-02 -9.97882559e-01 -4.88203231e-04 1.52396405e+02] [-9.97803888e-01 -6.50406890e-02 1.25343328e-02 -1.27957219e+02] [-1.25395452e-02 -3.28097967e-04 -9.99921323e-01 -4.14014397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.01895042572239634 Centerline is valid? [True, True] Translation: X:152.38, Y:-128.07, Z:-4.14 [[ 1.44962239e-01 -9.89436246e-01 -1.36562265e-03 1.52377328e+02] [-9.89366586e-01 -1.44968245e-01 1.17459493e-02 -1.28067846e+02] [-1.18198398e-02 -3.51617686e-04 -9.99930081e-01 -4.14009921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.019556482192026946 Centerline is valid? [True, True] Translation: X:152.37, Y:-128.19, Z:-4.14 [[ 2.22101405e-01 -9.75021142e-01 -2.17688336e-03 1.52368888e+02] [-9.74957227e-01 -2.22111784e-01 1.11696195e-02 -1.28185054e+02] [-1.13741266e-02 -3.58420031e-04 -9.99935248e-01 -4.14026461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.020121921200542188 Centerline is valid? [True, True] Translation: X:152.37, Y:-128.30, Z:-4.14 [[ 2.97202616e-01 -9.54809807e-01 -2.97297315e-03 1.52370256e+02] [-9.54749111e-01 -2.97217263e-01 1.07718712e-02 -1.28304701e+02] [-1.11687072e-02 -3.62984826e-04 -9.99937562e-01 -4.13982444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.021554117638206128 Centerline is valid? [True, True] Translation: X:152.39, Y:-128.44, Z:-4.14 [[ 3.70062274e-01 -9.28999150e-01 -3.80693051e-03 1.52385155e+02] [-9.28939202e-01 -3.70081668e-01 1.05601728e-02 -1.28437819e+02] [-1.12192667e-02 -3.71514558e-04 -9.99936993e-01 -4.13870645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.022243943226926337 Centerline is valid? [True, True] Translation: X:152.40, Y:-128.54, Z:-4.14 [[ 4.40323656e-01 -8.97825464e-01 -4.95111597e-03 1.52400947e+02] [-8.97758114e-01 -4.40351309e-01 1.10042632e-02 -1.28543542e+02] [-1.20601381e-02 -4.00532871e-04 -9.99927194e-01 -4.13770187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.021349745539210017 Centerline is valid? [True, True] Translation: X:152.43, Y:-128.65, Z:-4.14 [[ 5.09014289e-01 -8.60732871e-01 -6.58618834e-03 1.52426568e+02] [-8.60648353e-01 -5.09056674e-01 1.20712490e-02 -1.28648994e+02] [-1.37428640e-02 -4.76046098e-04 -9.99905449e-01 -4.13671734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.021650966686427624 Centerline is valid? [True, True] Translation: X:152.46, Y:-128.75, Z:-4.14 [[ 5.72828625e-01 -8.19635764e-01 -8.03614206e-03 1.52458677e+02] [-8.19542511e-01 -5.72884772e-01 1.23737862e-02 -1.28751738e+02] [-1.47457811e-02 -5.02098896e-04 -9.99891149e-01 -4.13530316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.0213616202414686 Centerline is valid? [True, True] Translation: X:152.50, Y:-128.85, Z:-4.14 [[ 6.32822341e-01 -7.74248783e-01 -8.64336247e-03 1.52501271e+02] [-7.74166314e-01 -6.32881194e-01 1.13098856e-02 -1.28853368e+02] [-1.42268867e-02 -4.65748213e-04 -9.99898684e-01 -4.13620753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.021373592946330778 Centerline is valid? [True, True] Translation: X:152.56, Y:-128.96, Z:-4.14 [[ 6.88130556e-01 -7.25546943e-01 -7.61387658e-03 1.52558967e+02] [-7.25496925e-01 -6.88172591e-01 8.52619726e-03 -1.28960230e+02] [-1.14258175e-02 -3.43292809e-04 -9.99934664e-01 -4.13853144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.017649644184697385 Centerline is valid? [True, True] Translation: X:152.60, Y:-129.03, Z:-4.14 [[ 7.39693508e-01 -6.72903394e-01 -7.38486992e-03 1.52602803e+02] [-6.72866026e-01 -7.39730318e-01 7.09699279e-03 -1.29034785e+02] [-1.02384027e-02 -2.80571423e-04 -9.99947547e-01 -4.14088705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.016976962836837643 Centerline is valid? [True, True] Translation: X:152.62, Y:-129.06, Z:-4.14 [[ 7.88872278e-01 -6.14519038e-01 -6.84700492e-03 1.52624422e+02] [-6.14493383e-01 -7.88901959e-01 5.61976264e-03 -1.29061314e+02] [-8.85506672e-03 -2.25835736e-04 -9.99960768e-01 -4.14138616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.017358015010937786 Centerline is valid? [True, True] Translation: X:152.65, Y:-129.09, Z:-4.14 [[ 8.34644853e-01 -5.50743031e-01 -7.07697351e-03 1.52646583e+02] [-5.50720958e-01 -8.34674826e-01 4.93582487e-03 -1.29086704e+02] [-8.62534277e-03 -2.22223194e-04 -9.99962776e-01 -4.14176847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.01866226703840171 Centerline is valid? [True, True] Translation: X:152.67, Y:-129.11, Z:-4.14 [[ 8.75768863e-01 -4.82665529e-01 -7.93008011e-03 1.52669458e+02] [-4.82643149e-01 -8.75804730e-01 4.65472520e-03 -1.29111670e+02] [-9.19187707e-03 -2.49064556e-04 -9.99957723e-01 -4.14066576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.01764212872015988 Centerline is valid? [True, True] Translation: X:152.70, Y:-129.13, Z:-4.14 [[ 9.11316152e-01 -4.11613996e-01 -8.76295121e-03 1.52695385e+02] [-4.11592036e-01 -9.11358240e-01 4.26070201e-03 -1.29134053e+02] [-9.73995238e-03 -2.76085636e-04 -9.99952527e-01 -4.14135834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.01830382211406848 Centerline is valid? [True, True] Translation: X:152.72, Y:-129.16, Z:-4.14 [[ 9.40968032e-01 -3.38351382e-01 -9.87449146e-03 1.52723094e+02] [-3.38329280e-01 -9.41019791e-01 3.87965418e-03 -1.29155425e+02] [-1.06047782e-02 -3.09800973e-04 -9.99943720e-01 -4.14079949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.018661624694124544 Centerline is valid? [True, True] Translation: X:152.75, Y:-129.17, Z:-4.14 [[ 9.64538601e-01 -2.63734211e-01 -1.04667479e-02 1.52753401e+02] [-2.63715067e-01 -9.64595337e-01 3.19372314e-03 -1.29173451e+02] [-1.09384703e-02 -3.20230118e-04 -9.99940122e-01 -4.14025057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.018125507175282572 Centerline is valid? [True, True] Translation: X:152.78, Y:-129.19, Z:-4.14 [[ 9.82154391e-01 -1.87803751e-01 -1.01243520e-02 1.52784434e+02] [-1.87790611e-01 -9.82206527e-01 2.24178398e-03 -1.29188871e+02] [-1.03652200e-02 -3.00519736e-04 -9.99946235e-01 -4.14095985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.017455161850750734 Centerline is valid? [True, True] Translation: X:152.82, Y:-129.20, Z:-4.14 [[ 9.93668717e-01 -1.12003907e-01 -8.80939563e-03 1.52816588e+02] [-1.11997326e-01 -9.93707736e-01 1.23837532e-03 -1.29202546e+02] [-8.89266746e-03 -2.43906061e-04 -9.99960430e-01 -4.14263693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.01642499915987756 Centerline is valid? [True, True] Translation: X:152.85, Y:-129.21, Z:-4.14 [[ 9.99312655e-01 -3.60951071e-02 -8.44750648e-03 1.52845839e+02] [-3.60920157e-02 -9.99348337e-01 5.18156699e-04 -1.29213606e+02] [-8.46070447e-03 -2.12913010e-04 -9.99964185e-01 -4.14306266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.017938095956266942 Centerline is valid? [True, True] Translation: X:152.87, Y:-129.23, Z:-4.14 [[ 9.99091289e-01 4.15439685e-02 -9.52337516e-03 1.52874722e+02] [ 4.15443059e-02 -9.99136649e-01 -1.62477352e-04 -1.29225383e+02] [-9.52190310e-03 -2.33312304e-04 -9.99954638e-01 -4.14126606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.01655140555539442 Centerline is valid? [True, True] Translation: X:152.91, Y:-129.23, Z:-4.14 [[ 9.92815737e-01 1.19146715e-01 -1.09987963e-02 1.52905909e+02] [ 1.19142361e-01 -9.92876624e-01 -1.05258372e-03 -1.29230423e+02] [-1.10458596e-02 -2.65400882e-04 -9.99938957e-01 -4.14103202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.01644444586642392 Centerline is valid? [True, True] Translation: X:152.94, Y:-129.24, Z:-4.14 [[ 9.80435315e-01 1.96510002e-01 -1.14198127e-02 1.52937492e+02] [ 1.96499970e-01 -9.80501781e-01 -2.00496230e-03 -1.29235397e+02] [-1.15911418e-02 -2.78257003e-04 -9.99932782e-01 -4.14076246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.016112376100595804 Centerline is valid? [True, True] Translation: X:152.97, Y:-129.24, Z:-4.14 [[ 9.62263118e-01 2.71902144e-01 -1.09048831e-02 1.52969413e+02] [ 2.71887751e-01 -9.62324870e-01 -2.80979289e-03 -1.29236239e+02] [-1.12580290e-02 -2.61144092e-04 -9.99936592e-01 -4.14129578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.015454703418016578 Centerline is valid? [True, True] Translation: X:153.00, Y:-129.23, Z:-4.14 [[ 9.38777422e-01 3.44395972e-01 -9.40030745e-03 1.53000275e+02] [ 3.44380929e-01 -9.38824462e-01 -3.22567840e-03 -1.29233601e+02] [-9.93614923e-03 -2.09092552e-04 -9.99950613e-01 -4.14228803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.01521880662281285 Centerline is valid? [True, True] Translation: X:153.03, Y:-129.23, Z:-4.14 [[ 9.09336223e-01 4.15973438e-01 -8.58680521e-03 1.53031642e+02] [ 4.15956836e-01 -9.09376745e-01 -3.72112128e-03 -1.29228794e+02] [-9.35652858e-03 -1.87989960e-04 -9.99956209e-01 -4.14299706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.014848323745344174 Centerline is valid? [True, True] Translation: X:153.06, Y:-129.22, Z:-4.14 [[ 8.74169868e-01 4.85549714e-01 -8.27751852e-03 1.53063272e+02] [ 4.85529938e-01 -8.74209037e-01 -4.38613689e-03 -1.29223383e+02] [-9.36596901e-03 -1.84754352e-04 -9.99956121e-01 -4.14331627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.01543073139880158 Centerline is valid? [True, True] Translation: X:153.09, Y:-129.22, Z:-4.14 [[ 8.33158065e-01 5.52972287e-01 -8.32398871e-03 1.53093919e+02] [ 5.52947075e-01 -8.33199622e-01 -5.28421158e-03 -1.29216715e+02] [-9.85756681e-03 -2.00141714e-04 -9.99951393e-01 -4.14247435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.0151350599677385 Centerline is valid? [True, True] Translation: X:153.12, Y:-129.21, Z:-4.14 [[ 7.87243815e-01 6.16587684e-01 -8.17334567e-03 1.53123673e+02] [ 6.16557187e-01 -7.87286215e-01 -6.13595614e-03 -1.29206092e+02] [-1.02181174e-02 -2.08841498e-04 -9.99947772e-01 -4.14290117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.01564623694828806 Centerline is valid? [True, True] Translation: X:153.15, Y:-129.19, Z:-4.14 [[ 7.36827039e-01 6.76026875e-01 -8.57788266e-03 1.53152174e+02] [ 6.75984661e-01 -7.36876932e-01 -7.55817288e-03 -1.29194667e+02] [-1.14303718e-02 -2.29450966e-04 -9.99934645e-01 -4.14127186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.015947266783811684 Centerline is valid? [True, True] Translation: X:153.18, Y:-129.18, Z:-4.14 [[ 6.82092520e-01 7.31221244e-01 -8.08004322e-03 1.53176539e+02] [ 7.31173827e-01 -6.82140339e-01 -8.33023906e-03 -1.29178235e+02] [-1.16029712e-02 -2.25922375e-04 -9.99932658e-01 -4.14010328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.015089465122478827 Centerline is valid? [True, True] Translation: X:153.20, Y:-129.16, Z:-4.14 [[ 6.25127695e-01 7.80483985e-01 -7.75334793e-03 1.53197316e+02] [ 7.80427882e-01 -6.25175743e-01 -9.36008383e-03 -1.29156109e+02] [-1.21526006e-02 -1.99681275e-04 -9.99926135e-01 -4.14008852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.014063814751219305 Centerline is valid? [True, True] Translation: X:153.21, Y:-129.13, Z:-4.14 [[ 5.67626678e-01 8.23253375e-01 -7.33725703e-03 1.53212248e+02] [ 8.23187416e-01 -5.67674084e-01 -1.04217174e-02 -1.29131652e+02] [-1.27448847e-02 -1.24292837e-04 -9.99918773e-01 -4.13857559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.013068638345248953 Centerline is valid? [True, True] Translation: X:153.23, Y:-129.11, Z:-4.14 [[ 5.06329013e-01 8.62318216e-01 -6.18266124e-03 1.53228713e+02] [ 8.62255132e-01 -5.06366757e-01 -1.04305110e-02 -1.29107234e+02] [-1.21251138e-02 -4.97610360e-05 -9.99926487e-01 -4.14054751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.013081436201291678 Centerline is valid? [True, True] Translation: X:153.24, Y:-129.08, Z:-4.14 [[ 4.44661517e-01 8.95684903e-01 -4.96886511e-03 1.53241660e+02] [ 8.95627806e-01 -4.44689276e-01 -1.01134417e-02 -1.29082116e+02] [-1.12680581e-02 4.68045711e-05 -9.99936512e-01 -4.14240088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.013744290712024456 Centerline is valid? [True, True] Translation: X:153.26, Y:-129.06, Z:-4.14 [[ 3.79251326e-01 9.25285568e-01 -3.87945785e-03 1.53255415e+02] [ 9.25234091e-01 -3.79271151e-01 -9.76068022e-03 -1.29057939e+02] [-1.05027830e-02 1.12344258e-04 -9.99944838e-01 -4.14323835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.014524343224685715 Centerline is valid? [True, True] Translation: X:153.27, Y:-129.03, Z:-4.14 [[ 3.08316944e-01 9.51278703e-01 -3.08080773e-03 1.53268260e+02] [ 9.51226543e-01 -3.08332304e-01 -9.96262876e-03 -1.29034693e+02] [-1.04271491e-02 1.41101169e-04 -9.99945626e-01 -4.14221829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.014740471176126382 Centerline is valid? [True, True] Translation: X:153.28, Y:-129.01, Z:-4.14 [[ 2.35568313e-01 9.71854896e-01 -2.37315962e-03 1.53281592e+02] [ 9.71797782e-01 -2.35580201e-01 -1.05375703e-02 -1.29009581e+02] [-1.08000587e-02 1.76086403e-04 -9.99941662e-01 -4.14241114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.015013989883488706 Centerline is valid? [True, True] Translation: X:153.29, Y:-128.98, Z:-4.14 [[ 1.59982248e-01 9.87119008e-01 -1.32103460e-03 1.53292004e+02] [ 9.87076446e-01 -1.59987620e-01 -9.16794767e-03 -1.28984236e+02] [-9.26120459e-03 1.62746742e-04 -9.99957101e-01 -4.14330362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.014957925298759087 Centerline is valid? [True, True] Translation: X:153.30, Y:-128.96, Z:-4.14 [[ 8.12835709e-02 9.96690888e-01 -5.04496611e-04 1.53300638e+02] [ 9.96660444e-01 -8.12850318e-02 -7.79122649e-03 -1.28958545e+02] [-7.80645247e-03 1.30486894e-04 -9.99969521e-01 -4.14420773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.014195407162669385 Centerline is valid? [True, True] Translation: X:153.31, Y:-128.93, Z:-4.15 [[ 1.10224799e-03 9.99999388e-01 9.90277886e-05 1.53311917e+02] [ 9.99973498e-01 -1.10150680e-03 -7.19650683e-03 -1.28931436e+02] [-7.19639334e-03 1.06957499e-04 -9.99974100e-01 -4.14502656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.013679145605086367 Centerline is valid? [True, True] Translation: X:153.32, Y:-128.91, Z:-4.14 [[-8.17500761e-02 9.96652686e-01 5.90514625e-04 1.53320461e+02] [ 9.96632225e-01 8.17521819e-02 -6.38669235e-03 -1.28905054e+02] [-6.41358995e-03 6.64133182e-05 -9.99979431e-01 -4.14428046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.012749272161152339 Centerline is valid? [True, True] Translation: X:153.33, Y:-128.88, Z:-4.14 [[-1.66139275e-01 9.86101769e-01 1.02128043e-03 1.53330925e+02] [ 9.86083958e-01 1.66142413e-01 -5.92678978e-03 -1.28876361e+02] [-6.01409588e-03 2.23956863e-05 -9.99981915e-01 -4.14484871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.012670698737671947 Centerline is valid? [True, True] Translation: X:153.34, Y:-128.85, Z:-4.14 [[-2.46881857e-01 9.69044210e-01 1.63348004e-03 1.53335269e+02] [ 9.69022921e-01 2.46887261e-01 -6.42339009e-03 -1.28846720e+02] [-6.62783439e-03 -2.93887273e-06 -9.99978036e-01 -4.14466224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.012768002836671814 Centerline is valid? [True, True] Translation: X:153.34, Y:-128.82, Z:-4.14 [[-3.25683494e-01 9.45476378e-01 2.16337619e-03 1.53339327e+02] [ 9.45454924e-01 3.25690678e-01 -6.36931400e-03 -1.28815713e+02] [-6.72662739e-03 -2.90057736e-05 -9.99977376e-01 -4.14414748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.012731022227013443 Centerline is valid? [True, True] Translation: X:153.34, Y:-128.79, Z:-4.14 [[-3.99179202e-01 9.16870696e-01 2.02289844e-03 1.53336832e+02] [ 9.16858614e-01 3.99184327e-01 -4.70683027e-03 -1.28787201e+02] [-5.12306409e-03 -2.41568893e-05 -9.99986877e-01 -4.14482173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.012609159941665128 Centerline is valid? [True, True] Translation: X:153.33, Y:-128.76, Z:-4.15 [[-4.68599647e-01 8.83408756e-01 1.82797935e-03 1.53331373e+02] [ 8.83401926e-01 4.68603212e-01 -3.47375947e-03 -1.28758642e+02] [-3.92534652e-03 -1.29619862e-05 -9.99992296e-01 -4.14566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.012618672236805822 Centerline is valid? [True, True] Translation: X:153.32, Y:-128.73, Z:-4.14 [[-5.32540253e-01 8.46401513e-01 2.31464887e-03 1.53320595e+02] [ 8.46393559e-01 5.32545283e-01 -3.66932607e-03 -1.28732263e+02] [-4.33837848e-03 5.04006349e-06 -9.99990589e-01 -4.14468579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.012696118660870169 Centerline is valid? [True, True] Translation: X:153.31, Y:-128.70, Z:-4.14 [[-5.95784817e-01 8.03138440e-01 3.01631727e-03 1.53311331e+02] [ 8.03128271e-01 5.95792452e-01 -4.04164654e-03 -1.28704698e+02] [-5.04310076e-03 1.45380312e-05 -9.99987283e-01 -4.14467678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.013070729732114417 Centerline is valid? [True, True] Translation: X:153.30, Y:-128.68, Z:-4.14 [[-6.53010813e-01 7.57337595e-01 4.07988752e-03 1.53296332e+02] [ 7.57323281e-01 6.53023557e-01 -4.65647532e-03 -1.28680282e+02] [-6.19078647e-03 4.90650654e-05 -9.99980836e-01 -4.14370155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.013393773547542513 Centerline is valid? [True, True] Translation: X:153.28, Y:-128.66, Z:-4.14 [[-7.09163875e-01 7.05018967e-01 5.90382186e-03 1.53280921e+02] [ 7.04995450e-01 7.09188445e-01 -5.75884815e-03 -1.28657064e+02] [-8.24701942e-03 7.82004786e-05 -9.99965990e-01 -4.14198609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.013408798525052815 Centerline is valid? [True, True] Translation: X:153.78, Y:-128.16, Z:-5.11 [[-6.73383093e-01 -7.39269395e-01 5.99759686e-03 1.53783605e+02] [ 7.39239505e-01 -6.73409801e-01 -6.64790277e-03 -1.28155298e+02] [ 8.95343157e-03 -4.29247983e-05 9.99959916e-01 -5.11262311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.01284988532353605 Centerline is valid? [True, True] Translation: X:153.74, Y:-128.11, Z:-5.11 [[-6.70809090e-01 -7.41605973e-01 5.97875774e-03 1.53744054e+02] [ 7.41575966e-01 -6.70835732e-01 -6.67140373e-03 -1.28114325e+02] [ 8.95831718e-03 -4.15352255e-05 9.99959873e-01 -5.11255202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.012603568596224487 Centerline is valid? [True, True] Translation: X:153.71, Y:-128.07, Z:-5.11 [[-6.67789366e-01 -7.44328898e-01 5.64404511e-03 1.53705405e+02] [ 7.44302279e-01 -6.67813216e-01 -6.29493854e-03 -1.28074022e+02] [ 8.45467258e-03 -2.81737950e-06 9.99964259e-01 -5.11155986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.01259206738560108 Centerline is valid? [True, True] Translation: X:153.67, Y:-128.03, Z:-5.11 [[-6.64958311e-01 -7.46861908e-01 5.26636394e-03 1.53665779e+02] [ 7.46838841e-01 -6.64979165e-01 -5.86995856e-03 -1.28032292e+02] [ 7.88607074e-03 2.98474081e-05 9.99968904e-01 -5.10983611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.013611114926688378 Centerline is valid? [True, True] Translation: X:153.62, Y:-127.99, Z:-5.11 [[-6.58959701e-01 -7.52164776e-01 4.50140901e-03 1.53623226e+02] [ 7.52148066e-01 -6.58975070e-01 -5.01435095e-03 -1.27992972e+02] [ 6.73793448e-03 8.14708744e-05 9.99977297e-01 -5.10916402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.015591096147836072 Centerline is valid? [True, True] Translation: X:153.58, Y:-127.95, Z:-5.11 [[-6.52960971e-01 -7.57376806e-01 4.72695003e-03 1.53581240e+02] [ 7.57358537e-01 -6.52978065e-01 -5.26242669e-03 -1.27953682e+02] [ 7.07223460e-03 1.43836716e-04 9.99974981e-01 -5.10962027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.01706560766135795 Centerline is valid? [True, True] Translation: X:153.54, Y:-127.91, Z:-5.11 [[-6.50190207e-01 -7.59757406e-01 4.62364861e-03 1.53541177e+02] [ 7.59740008e-01 -6.50206625e-01 -5.14439846e-03 -1.27912116e+02] [ 6.91482179e-03 1.67933331e-04 9.99976078e-01 -5.11007477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.017974152353033786 Centerline is valid? [True, True] Translation: X:153.50, Y:-127.87, Z:-5.11 [[-6.48744339e-01 -7.60992003e-01 4.68541987e-03 1.53502554e+02] [ 7.60974189e-01 -6.48761232e-01 -5.21025354e-03 -1.27868866e+02] [ 7.00468005e-03 1.85361098e-04 9.99975450e-01 -5.11074302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.01765922517247781 Centerline is valid? [True, True] Translation: X:153.47, Y:-127.82, Z:-5.11 [[-6.49875479e-01 -7.60027014e-01 4.56068595e-03 1.53466395e+02] [ 7.60010131e-01 -6.49891459e-01 -5.06875432e-03 -1.27823368e+02] [ 6.81634105e-03 1.72108383e-04 9.99976754e-01 -5.11088891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.017541563329544988 Centerline is valid? [True, True] Translation: X:153.43, Y:-127.78, Z:-5.11 [[-6.51054478e-01 -7.59016747e-01 4.65243719e-03 1.53429540e+02] [ 7.58999173e-01 -6.51071079e-01 -5.16773080e-03 -1.27778847e+02] [ 6.95146152e-03 1.66721700e-04 9.99975824e-01 -5.11065738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.017731923511213527 Centerline is valid? [True, True] Translation: X:153.39, Y:-127.74, Z:-5.11 [[-6.51870052e-01 -7.58308115e-01 5.85141412e-03 1.53393223e+02] [ 7.58280323e-01 -6.51896282e-01 -6.49536597e-03 -1.27735624e+02] [ 8.74000383e-03 2.02877636e-04 9.99961785e-01 -5.11309425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.017534734055762984 Centerline is valid? [True, True] Translation: X:153.36, Y:-127.69, Z:-5.11 [[-6.52602325e-01 -7.57669855e-01 6.82614055e-03 1.53356418e+02] [ 7.57632045e-01 -6.52637984e-01 -7.57279747e-03 -1.27692176e+02] [ 1.01926790e-02 2.29677586e-04 9.99948027e-01 -5.11487034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.016401427825131987 Centerline is valid? [True, True] Translation: X:153.32, Y:-127.65, Z:-5.12 [[-6.54604320e-01 -7.55932023e-01 7.74347087e-03 1.53321736e+02] [ 7.55883298e-01 -6.54650077e-01 -8.58581256e-03 -1.27645563e+02] [ 1.15595545e-02 2.32850306e-04 9.99933159e-01 -5.11531380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.016582990710875763 Centerline is valid? [True, True] Translation: X:153.28, Y:-127.60, Z:-5.11 [[-6.56229940e-01 -7.54527699e-01 7.08636864e-03 1.53284019e+02] [ 7.54486855e-01 -6.56268172e-01 -7.85311414e-03 -1.27602878e+02] [ 1.05759503e-02 1.93123372e-04 9.99944054e-01 -5.11475132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.015176018203061447 Centerline is valid? [True, True] Translation: X:153.25, Y:-127.56, Z:-5.11 [[-6.57397929e-01 -7.53513080e-01 6.78247686e-03 1.53246915e+02] [ 7.53475657e-01 -6.57432893e-01 -7.51168867e-03 -1.27559333e+02] [ 1.01191790e-02 1.72262635e-04 9.99948785e-01 -5.11324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.014817350213691339 Centerline is valid? [True, True] Translation: X:153.21, Y:-127.52, Z:-5.11 [[-6.59211275e-01 -7.51933514e-01 6.04032022e-03 1.53208141e+02] [ 7.51903800e-01 -6.59238934e-01 -6.68609934e-03 -1.27516502e+02] [ 9.00951643e-03 1.34187658e-04 9.99959405e-01 -5.11269705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.014727489369138732 Centerline is valid? [True, True] Translation: X:153.17, Y:-127.47, Z:-5.11 [[-6.59967842e-01 -7.51272677e-01 5.64024948e-03 1.53170413e+02] [ 7.51246776e-01 -6.59991932e-01 -6.23944816e-03 -1.27473693e+02] [ 8.41004607e-03 1.19384098e-04 9.99964628e-01 -5.11138278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.014439037054909024 Centerline is valid? [True, True] Translation: X:153.13, Y:-127.43, Z:-5.11 [[-6.60159959e-01 -7.51109856e-01 4.77621576e-03 1.53132005e+02] [ 7.51091303e-01 -6.60177229e-01 -5.28029392e-03 -1.27430965e+02] [ 7.11922969e-03 1.01535501e-04 9.99974653e-01 -5.11044565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.01486878805741725 Centerline is valid? [True, True] Translation: X:153.09, Y:-127.39, Z:-5.11 [[-6.60236127e-01 -7.51045565e-01 4.33769371e-03 1.53092820e+02] [ 7.51030281e-01 -6.60250369e-01 -4.79234079e-03 -1.27390860e+02] [ 6.46323017e-03 9.36628058e-05 9.99979109e-01 -5.11052574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.014126138459686707 Centerline is valid? [True, True] Translation: X:153.05, Y:-127.35, Z:-5.11 [[-6.61319701e-01 -7.50093226e-01 4.05040295e-03 1.53054641e+02] [ 7.50079899e-01 -6.61332100e-01 -4.47208065e-03 -1.27347615e+02] [ 6.03313888e-03 8.06507977e-05 9.99981797e-01 -5.10972277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.014200610670257019 Centerline is valid? [True, True] Translation: X:153.01, Y:-127.31, Z:-5.11 [[-6.63662868e-01 -7.48022562e-01 3.72093354e-03 1.53014935e+02] [ 7.48011295e-01 -6.63673296e-01 -4.10602862e-03 -1.27305992e+02] [ 5.54088627e-03 5.82815834e-05 9.99984648e-01 -5.11085390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.013292895096225138 Centerline is valid? [True, True] Translation: X:152.98, Y:-127.26, Z:-5.11 [[-6.66916441e-01 -7.45121968e-01 3.96403792e-03 1.52978101e+02] [ 7.45109143e-01 -6.66928221e-01 -4.37181812e-03 -1.27260772e+02] [ 5.90126648e-03 3.80035138e-05 9.99982587e-01 -5.11133080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.013089120550525468 Centerline is valid? [True, True] Translation: X:152.94, Y:-127.22, Z:-5.11 [[-6.69473568e-01 -7.42821530e-01 4.61701523e-03 1.52940929e+02] [ 7.42804100e-01 -6.69489488e-01 -5.08874784e-03 -1.27217659e+02] [ 6.87107462e-03 2.27556722e-05 9.99976394e-01 -5.11212508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.013151696302988859 Centerline is valid? [True, True] Translation: X:152.90, Y:-127.17, Z:-5.11 [[-6.73686160e-01 -7.38998662e-01 5.28534058e-03 1.52904491e+02] [ 7.38975731e-01 -6.73706893e-01 -5.82169989e-03 -1.27172941e+02] [ 7.86299881e-03 -1.62602289e-05 9.99969086e-01 -5.11278724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.01399641495071928 Centerline is valid? [True, True] Translation: X:152.87, Y:-127.13, Z:-5.11 [[-6.78944612e-01 -7.34168261e-01 5.58380504e-03 1.52868685e+02] [ 7.34142532e-01 -6.78967569e-01 -6.14686462e-03 -1.27128338e+02] [ 8.30405544e-03 -7.40718440e-05 9.99965518e-01 -5.11413186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.014342856633760425 Centerline is valid? [True, True] Translation: X:152.83, Y:-127.09, Z:-5.11 [[-6.80777619e-01 -7.32474937e-01 4.72220972e-03 1.52830738e+02] [ 7.32456517e-01 -6.80793992e-01 -5.19522855e-03 -1.27085574e+02] [ 7.02022672e-03 -7.79820398e-05 9.99975355e-01 -5.11307356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.014090639104898071 Centerline is valid? [True, True] Translation: X:152.79, Y:-127.04, Z:-5.11 [[-6.80986136e-01 -7.32282638e-01 4.47435630e-03 1.52791578e+02] [ 7.32266117e-01 -6.81000831e-01 -4.91948123e-03 -1.27044098e+02] [ 6.64949105e-03 -7.36789937e-05 9.99977889e-01 -5.11243002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.013699862296126722 Centerline is valid? [True, True] Translation: X:152.75, Y:-127.00, Z:-5.11 [[-6.79422048e-01 -7.33736519e-01 4.04999328e-03 1.52750570e+02] [ 7.33723025e-01 -6.79434116e-01 -4.45026100e-03 -1.27003323e+02] [ 6.01702262e-03 -5.20321238e-05 9.99981896e-01 -5.11176659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.013270845962336502 Centerline is valid? [True, True] Translation: X:152.71, Y:-126.96, Z:-5.11 [[-6.76832685e-01 -7.36127319e-01 3.75321042e-03 1.52709194e+02] [ 7.36115781e-01 -6.76843091e-01 -4.12153805e-03 -1.26964027e+02] [ 5.57431130e-03 -2.67942417e-05 9.99984463e-01 -5.11228562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.0131028180833471 Centerline is valid? [True, True] Translation: X:152.67, Y:-126.92, Z:-5.11 [[-6.75216409e-01 -7.37610035e-01 3.77308345e-03 1.52668949e+02] [ 7.37598413e-01 -6.75226951e-01 -4.14072611e-03 -1.26923675e+02] [ 5.60192877e-03 -1.28658529e-05 9.99984309e-01 -5.11262338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.013576557918049246 Centerline is valid? [True, True] Translation: X:152.62, Y:-126.89, Z:-5.11 [[-6.68714701e-01 -7.43507892e-01 4.08208112e-03 1.52624149e+02] [ 7.43494408e-01 -6.68727159e-01 -4.47799668e-03 -1.26887534e+02] [ 6.05922438e-03 4.05022776e-05 9.99981642e-01 -5.11465503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.015119097047306039 Centerline is valid? [True, True] Translation: X:152.58, Y:-126.85, Z:-5.12 [[-6.62811428e-01 -7.48773060e-01 4.46265710e-03 1.52578850e+02] [ 7.48757080e-01 -6.62826444e-01 -4.89283147e-03 -1.26849928e+02] [ 6.62158753e-03 9.84214866e-05 9.99978072e-01 -5.11563581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.015481627273368945 Centerline is valid? [True, True] Translation: X:152.54, Y:-126.81, Z:-5.12 [[-6.60005346e-01 -7.51243117e-01 5.16944532e-03 1.52538243e+02] [ 7.51221775e-01 -6.60025574e-01 -5.66453694e-03 -1.26808676e+02] [ 7.66741050e-03 1.44775225e-04 9.99970595e-01 -5.11616419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.015716492860893154 Centerline is valid? [True, True] Translation: X:152.50, Y:-126.77, Z:-5.12 [[-6.58487912e-01 -7.52577261e-01 4.59739985e-03 1.52497853e+02] [ 7.52560433e-01 -6.58503944e-01 -5.03479071e-03 -1.26766828e+02] [ 6.81647494e-03 1.44472400e-04 9.99976757e-01 -5.11631885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.015844719089652265 Centerline is valid? [True, True] Translation: X:152.46, Y:-126.73, Z:-5.12 [[-6.59032947e-01 -7.52104752e-01 3.74402110e-03 1.52459011e+02] [ 7.52093598e-01 -6.59043572e-01 -4.09759262e-03 -1.26725182e+02] [ 5.54929192e-03 1.15405762e-04 9.99984596e-01 -5.11584948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.01528004918099385 Centerline is valid? [True, True] Translation: X:152.42, Y:-126.68, Z:-5.12 [[-6.60530889e-01 -7.50789151e-01 3.82041122e-03 1.52421100e+02] [ 7.50777530e-01 -6.60541928e-01 -4.17880546e-03 -1.26681402e+02] [ 5.66094359e-03 1.08048813e-04 9.99983971e-01 -5.11656220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.015490142681255339 Centerline is valid? [True, True] Translation: X:152.38, Y:-126.64, Z:-5.12 [[-6.61455018e-01 -7.49975284e-01 3.78576704e-03 1.52383178e+02] [ 7.49963875e-01 -6.61465844e-01 -4.13814790e-03 -1.26639923e+02] [ 5.60766424e-03 1.01989827e-04 9.99984272e-01 -5.11695570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.015092631275949828 Centerline is valid? [True, True] Translation: X:152.35, Y:-126.60, Z:-5.12 [[-6.62400108e-01 -7.49138982e-01 4.10870038e-03 1.52345689e+02] [ 7.49125545e-01 -6.62412843e-01 -4.48827568e-03 -1.26596806e+02] [ 6.08399817e-03 1.04898108e-04 9.99981487e-01 -5.11753414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.014468316077148274 Centerline is valid? [True, True] Translation: X:152.31, Y:-126.55, Z:-5.12 [[-6.64328397e-01 -7.47424330e-01 4.96504287e-03 1.52308970e+02] [ 7.47404681e-01 -6.64346942e-01 -5.42063054e-03 -1.26551781e+02] [ 7.35002219e-03 1.09817487e-04 9.99972982e-01 -5.11888720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.014892929177669096 Centerline is valid? [True, True] Translation: X:152.27, Y:-126.51, Z:-5.12 [[-6.66100801e-01 -7.45841648e-01 5.47359429e-03 1.52271302e+02] [ 7.45817738e-01 -6.66123281e-01 -5.97290408e-03 -1.26509507e+02] [ 8.10092921e-03 1.03747529e-04 9.99967182e-01 -5.12094470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.014027264431278557 Centerline is valid? [True, True] Translation: X:152.24, Y:-126.46, Z:-5.12 [[-6.67767719e-01 -7.44342968e-01 6.31031754e-03 1.52236328e+02] [ 7.44311163e-01 -6.67797526e-01 -6.88167338e-03 -1.26463878e+02] [ 9.33633963e-03 1.01480455e-04 9.99956410e-01 -5.12105854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.013757207147944657 Centerline is valid? [True, True] Translation: X:152.20, Y:-126.42, Z:-5.12 [[-6.68931788e-01 -7.43292846e-01 6.78292322e-03 1.52199317e+02] [ 7.43256091e-01 -6.68966169e-01 -7.39241581e-03 -1.26419561e+02] [ 1.00322759e-02 9.64270695e-05 9.99949671e-01 -5.12047360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.013643174525753202 Centerline is valid? [True, True] Translation: X:152.16, Y:-126.38, Z:-5.12 [[-6.69618470e-01 -7.42678928e-01 6.25409676e-03 1.52161663e+02] [ 7.42647692e-01 -6.69647670e-01 -6.81202070e-03 -1.26375734e+02] [ 9.24718556e-03 8.31356428e-05 9.99957240e-01 -5.11905904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.01350675878417158 Centerline is valid? [True, True] Translation: X:152.12, Y:-126.33, Z:-5.12 [[-6.70830481e-01 -7.41596495e-01 4.59389191e-03 1.52124364e+02] [ 7.41579636e-01 -6.70846209e-01 -5.00077935e-03 -1.26331636e+02] [ 6.79035541e-03 5.20614652e-05 9.99976944e-01 -5.11671183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.013264962536634574 Centerline is valid? [True, True] Translation: X:152.09, Y:-126.29, Z:-5.12 [[-6.72341884e-01 -7.40232468e-01 3.50496712e-03 1.52087220e+02] [ 7.40222648e-01 -6.72351019e-01 -3.81294936e-03 -1.26289568e+02] [ 5.17903713e-03 3.08504874e-05 9.99986588e-01 -5.11576485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.013024017934771925 Centerline is valid? [True, True] Translation: X:152.05, Y:-126.25, Z:-5.12 [[-6.74388536e-01 -7.38367805e-01 3.61754618e-03 1.52049909e+02] [ 7.38357331e-01 -6.74398238e-01 -3.93290682e-03 -1.26246021e+02] [ 5.34359854e-03 1.87344712e-05 9.99985723e-01 -5.11601216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.01303898962911818 Centerline is valid? [True, True] Translation: X:152.01, Y:-126.20, Z:-5.12 [[-6.75487414e-01 -7.37357661e-01 4.52038387e-03 1.52012883e+02] [ 7.37341305e-01 -6.75502539e-01 -4.91119165e-03 -1.26204132e+02] [ 6.67483557e-03 1.56175949e-05 9.99977723e-01 -5.11682583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.013068608729968399 Centerline is valid? [True, True] Translation: X:151.97, Y:-126.16, Z:-5.12 [[-6.76918769e-01 -7.36031360e-01 6.23031787e-03 1.51973956e+02] [ 7.36000272e-01 -6.76947440e-01 -6.76479702e-03 -1.26161572e+02] [ 9.19670048e-03 6.29757745e-06 9.99957709e-01 -5.11873102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.013039605659528745 Centerline is valid? [True, True] Translation: X:151.94, Y:-126.12, Z:-5.12 [[-6.77946130e-01 -7.35077353e-01 7.09440144e-03 1.51935330e+02] [ 7.35037042e-01 -6.77983249e-01 -7.69814928e-03 -1.26119930e+02] [ 1.04686205e-02 -4.28266386e-06 9.99945203e-01 -5.11973093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.013014602925719711 Centerline is valid? [True, True] Translation: X:151.90, Y:-126.08, Z:-5.12 [[-6.79636112e-01 -7.33512807e-01 7.32924240e-03 1.51897713e+02] [ 7.33469746e-01 -6.79675630e-01 -7.94799884e-03 -1.26076817e+02] [ 1.08114664e-02 -2.59694647e-05 9.99941554e-01 -5.11943210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.013018704187089766 Centerline is valid? [True, True] Translation: X:151.86, Y:-126.03, Z:-5.12 [[-6.81158991e-01 -7.32112779e-01 5.77126223e-03 1.51859861e+02] [ 7.32086062e-01 -6.81183439e-01 -6.25462124e-03 -1.26034229e+02] [ 8.51037639e-03 -3.53308536e-05 9.99963786e-01 -5.11706600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.012949233818848268 Centerline is valid? [True, True] Translation: X:151.82, Y:-125.99, Z:-5.12 [[-6.81310630e-01 -7.31975821e-01 5.21766817e-03 1.51819864e+02] [ 7.31954006e-01 -6.81330608e-01 -5.65117883e-03 -1.25992902e+02] [ 7.69148328e-03 -3.11150865e-05 9.99970420e-01 -5.11659813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.01278797742550042 Centerline is valid? [True, True] Translation: X:151.78, Y:-125.95, Z:-5.12 [[-6.79912463e-01 -7.33274631e-01 5.23048504e-03 1.51779008e+02] [ 7.33252774e-01 -6.79932581e-01 -5.66162339e-03 -1.25953132e+02] [ 7.70790200e-03 -1.41406386e-05 9.99970294e-01 -5.11680037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.012838938210904757 Centerline is valid? [True, True] Translation: X:151.74, Y:-125.91, Z:-5.12 [[-6.76404138e-01 -7.36500936e-01 6.61913156e-03 1.51735933e+02] [ 7.36466125e-01 -6.76436523e-01 -7.16074486e-03 -1.25914002e+02] [ 9.75131763e-03 3.12087160e-05 9.99952454e-01 -5.11811874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.013267063064399596 Centerline is valid? [True, True] Translation: X:151.69, Y:-125.88, Z:-5.12 [[-6.72276848e-01 -7.40265445e-01 7.13520170e-03 1.51692935e+02] [ 7.40225254e-01 -6.72314704e-01 -7.71438828e-03 -1.25875359e+02] [ 1.05077961e-02 9.54518521e-05 9.99944787e-01 -5.11863877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.013674929952714146 Centerline is valid? [True, True] Translation: X:151.65, Y:-125.84, Z:-5.12 [[-6.69875633e-01 -7.42441701e-01 6.85254368e-03 1.51651312e+02] [ 7.42404787e-01 -6.69910669e-01 -7.40454731e-03 -1.25835204e+02] [ 1.00880368e-02 1.27235414e-04 9.99949106e-01 -5.11823190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.014397214314852422 Centerline is valid? [True, True] Translation: X:151.61, Y:-125.80, Z:-5.12 [[-6.68328721e-01 -7.43835173e-01 6.77914134e-03 1.51610395e+02] [ 7.43799161e-01 -6.68363085e-01 -7.32084540e-03 -1.25795496e+02] [ 9.97643013e-03 1.49588398e-04 9.99950223e-01 -5.11901393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.014348442802673165 Centerline is valid? [True, True] Translation: X:151.57, Y:-125.75, Z:-5.12 [[-6.67090395e-01 -7.44948234e-01 6.52181826e-03 1.51571436e+02] [ 7.44914996e-01 -6.67122255e-01 -7.03890216e-03 -1.25752482e+02] [ 9.59446783e-03 1.62616195e-04 9.99953959e-01 -5.11825563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.014742914479496712 Centerline is valid? [True, True] Translation: X:151.53, Y:-125.71, Z:-5.12 [[-6.66900033e-01 -7.45121296e-01 6.21295822e-03 1.51532526e+02] [ 7.45091170e-01 -6.66928954e-01 -6.70222541e-03 -1.25711285e+02] [ 9.13757261e-03 1.59505964e-04 9.99958239e-01 -5.11792282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.014623440939435142 Centerline is valid? [True, True] Translation: X:151.49, Y:-125.67, Z:-5.12 [[-6.67603830e-01 -7.44490020e-01 6.30360733e-03 1.51493719e+02] [ 7.44459021e-01 -6.67633571e-01 -6.79570026e-03 -1.25669150e+02] [ 9.26783090e-03 1.55941817e-04 9.99957041e-01 -5.11865171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.01451176355856062 Centerline is valid? [True, True] Translation: X:151.46, Y:-125.63, Z:-5.12 [[-6.68451557e-01 -7.43715730e-01 7.70901488e-03 1.51456152e+02] [ 7.43669374e-01 -6.68495984e-01 -8.30556110e-03 -1.25626495e+02] [ 1.13304219e-02 1.81093019e-04 9.99935792e-01 -5.12071224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.01434911247043104 Centerline is valid? [True, True] Translation: X:151.42, Y:-125.58, Z:-5.12 [[-6.68937714e-01 -7.43269969e-01 8.49046695e-03 1.51417454e+02] [ 7.43213767e-01 -6.68991566e-01 -9.14228350e-03 -1.25583081e+02] [ 1.24752356e-02 1.94613700e-04 9.99922162e-01 -5.12085466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.014108144027704488 Centerline is valid? [True, True] Translation: X:151.38, Y:-125.54, Z:-5.12 [[-6.70291261e-01 -7.42036072e-01 9.59656506e-03 1.51381200e+02] [ 7.41964237e-01 -6.70359925e-01 -1.03267198e-02 -1.25538997e+02] [ 1.40959512e-02 1.98398019e-04 9.99900628e-01 -5.12163709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.013809786390528966 Centerline is valid? [True, True] Translation: X:151.34, Y:-125.49, Z:-5.12 [[-6.72137583e-01 -7.40365769e-01 9.46560299e-03 1.51344147e+02] [ 7.40295796e-01 -6.72204211e-01 -1.01800753e-02 -1.25494472e+02] [ 1.38997975e-02 1.64934873e-04 9.99903380e-01 -5.12106972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.013069894903630672 Centerline is valid? [True, True] Translation: X:151.31, Y:-125.45, Z:-5.12 [[-6.75499803e-01 -7.37314418e-01 8.21376156e-03 1.51310274e+02] [ 7.37261563e-01 -6.75549732e-01 -8.82873221e-03 -1.25446966e+02] [ 1.20583560e-02 9.18838206e-05 9.99927291e-01 -5.11773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.012875471273667134 Centerline is valid? [True, True] Translation: X:151.27, Y:-125.40, Z:-5.12 [[-6.76960845e-01 -7.35990911e-01 6.43369839e-03 1.51271714e+02] [ 7.35958461e-01 -6.76991414e-01 -6.91152394e-03 -1.25403111e+02] [ 9.44237737e-03 5.61036708e-05 9.99955418e-01 -5.11576915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.012908008856850391 Centerline is valid? [True, True] Translation: X:151.23, Y:-125.36, Z:-5.12 [[-6.76243947e-01 -7.36659825e-01 5.14065461e-03 1.51230721e+02] [ 7.36639153e-01 -6.76263484e-01 -5.51891943e-03 -1.25362857e+02] [ 7.54200322e-03 5.46715946e-05 9.99971557e-01 -5.11542054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.013086479381533855 Centerline is valid? [True, True] Translation: X:151.19, Y:-125.32, Z:-5.12 [[-6.75281110e-01 -7.37539931e-01 5.50206285e-03 1.51190547e+02] [ 7.37516308e-01 -6.75303521e-01 -5.90341093e-03 -1.25322353e+02] [ 8.06956370e-03 7.13991869e-05 9.99967438e-01 -5.11622149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.013160494687883701 Centerline is valid? [True, True] Translation: X:151.15, Y:-125.28, Z:-5.12 [[-6.74937752e-01 -7.37851642e-01 5.82964767e-03 1.51150090e+02] [ 7.37825168e-01 -6.74962923e-01 -6.25092184e-03 -1.25281799e+02] [ 8.54704897e-03 8.22776408e-05 9.99963470e-01 -5.11673603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.01321919926903105 Centerline is valid? [True, True] Translation: X:151.11, Y:-125.24, Z:-5.12 [[-6.75054794e-01 -7.37743692e-01 5.93879908e-03 1.51108677e+02] [ 7.37716248e-01 -6.75080912e-01 -6.36397638e-03 -1.25241727e+02] [ 8.70415333e-03 8.51158096e-05 9.99962115e-01 -5.11766711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.012933012755066134 Centerline is valid? [True, True] Translation: X:151.07, Y:-125.20, Z:-5.12 [[-6.76529634e-01 -7.36393750e-01 5.64792598e-03 1.51067881e+02] [ 7.36368912e-01 -6.76553206e-01 -6.04852503e-03 -1.25201487e+02] [ 8.27521846e-03 6.69506862e-05 9.99965758e-01 -5.11869492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.012400696406751933 Centerline is valid? [True, True] Translation: X:151.03, Y:-125.16, Z:-5.12 [[-6.79938322e-01 -7.33245338e-01 5.92898601e-03 1.51030133e+02] [ 7.33217881e-01 -6.79964171e-01 -6.34553270e-03 -1.25158740e+02] [ 8.68433033e-03 3.26677049e-05 9.99962290e-01 -5.11911648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.012351520205846718 Centerline is valid? [True, True] Translation: X:150.99, Y:-125.12, Z:-5.12 [[-6.82676887e-01 -7.30701920e-01 5.19346762e-03 1.50992901e+02] [ 7.30680807e-01 -6.82696641e-01 -5.55471591e-03 -1.25115940e+02] [ 7.60440448e-03 2.69094246e-06 9.99971086e-01 -5.11885812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.01246231010336409 Centerline is valid? [True, True] Translation: X:150.95, Y:-125.07, Z:-5.12 [[-6.86221969e-01 -7.27383574e-01 3.54200938e-03 1.50953787e+02] [ 7.27373720e-01 -6.86231109e-01 -3.78623426e-03 -1.25072795e+02] [ 5.18468164e-03 -2.18325865e-05 9.99986559e-01 -5.11789017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.012587158820907432 Centerline is valid? [True, True] Translation: X:150.92, Y:-125.03, Z:-5.12 [[-6.87780222e-01 -7.25912862e-01 2.98034987e-03 1.50916355e+02] [ 7.25905881e-01 -6.87786679e-01 -3.18373479e-03 -1.25031297e+02] [ 4.36095897e-03 -2.62563251e-05 9.99990491e-01 -5.11718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.012382870139370849 Centerline is valid? [True, True] Translation: X:150.88, Y:-124.99, Z:-5.12 [[-6.86741961e-01 -7.26898542e-01 1.99707761e-03 1.50875563e+02] [ 7.26895416e-01 -6.86744865e-01 -2.13201645e-03 -1.24991141e+02] [ 2.92124245e-03 -1.24786005e-05 9.99995733e-01 -5.11639974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.012329062734240687 Centerline is valid? [True, True] Translation: X:150.83, Y:-124.95, Z:-5.12 [[-6.85532041e-01 -7.28041021e-01 1.44655004e-03 1.50834867e+02] [ 7.28039385e-01 -6.85533567e-01 -1.54328030e-03 -1.24952356e+02] [ 2.11522997e-03 -4.82268998e-06 9.99997763e-01 -5.11624680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.012307880482708653 Centerline is valid? [True, True] Translation: X:150.79, Y:-124.91, Z:-5.12 [[-6.82343994e-01 -7.31026788e-01 2.55123364e-03 1.50790580e+02] [ 7.31021727e-01 -6.82348764e-01 -2.72028745e-03 -1.24914349e+02] [ 3.72943412e-03 8.83541550e-06 9.99993046e-01 -5.11812833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.012522282741853085 Centerline is valid? [True, True] Translation: X:150.75, Y:-124.88, Z:-5.12 [[-6.79561372e-01 -7.33608709e-01 3.82160167e-03 1.50747979e+02] [ 7.33597406e-01 -6.79572116e-01 -4.07237562e-03 -1.24875383e+02] [ 5.58458416e-03 3.60879086e-05 9.99984405e-01 -5.11954893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.012694105329361601 Centerline is valid? [True, True] Translation: X:150.71, Y:-124.83, Z:-5.12 [[-6.78721851e-01 -7.34379361e-01 4.85841303e-03 1.50707122e+02] [ 7.34361134e-01 -6.78739237e-01 -5.17425169e-03 -1.24833977e+02] [ 7.09745920e-03 5.59520271e-05 9.99974811e-01 -5.11980348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.012736111966774294 Centerline is valid? [True, True] Translation: X:150.67, Y:-124.79, Z:-5.12 [[-6.78846857e-01 -7.34257983e-01 5.67088493e-03 1.50666332e+02] [ 7.34233179e-01 -6.78870540e-01 -6.03569756e-03 -1.24794190e+02] [ 8.28155583e-03 6.64375465e-05 9.99965705e-01 -5.12110789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.01267839066659578 Centerline is valid? [True, True] Translation: X:150.63, Y:-124.75, Z:-5.12 [[-6.79978793e-01 -7.33206963e-01 6.03251547e-03 1.50627470e+02] [ 7.33178890e-01 -6.80005549e-01 -6.41635230e-03 -1.24752904e+02] [ 8.80665817e-03 5.99295038e-05 9.99961219e-01 -5.12207777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.012380656717604676 Centerline is valid? [True, True] Translation: X:150.59, Y:-124.71, Z:-5.12 [[-6.82857682e-01 -7.30527219e-01 5.94719475e-03 1.50591448e+02] [ 7.30499867e-01 -6.82883579e-01 -6.32163730e-03 -1.24708446e+02] [ 8.67936975e-03 2.76463788e-05 9.99962333e-01 -5.12129121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.012414966003524383 Centerline is valid? [True, True] Translation: X:150.56, Y:-124.66, Z:-5.12 [[-6.87191329e-01 -7.26455546e-01 5.51521474e-03 1.50556459e+02] [ 7.26431920e-01 -6.87213460e-01 -5.85881670e-03 -1.24662991e+02] [ 8.04629968e-03 -1.96999976e-05 9.99967628e-01 -5.12039479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.012542887895064431 Centerline is valid? [True, True] Translation: X:150.52, Y:-124.62, Z:-5.12 [[-6.90565231e-01 -7.23255511e-01 4.59654155e-03 1.50519646e+02] [ 7.23239049e-01 -6.90580527e-01 -4.87993570e-03 -1.24618523e+02] [ 6.70372247e-03 -4.55155882e-05 9.99977529e-01 -5.11820170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.012788015551905504 Centerline is valid? [True, True] Translation: X:150.48, Y:-124.58, Z:-5.12 [[-6.91845290e-01 -7.22031590e-01 4.52527259e-03 1.50483490e+02] [ 7.22015625e-01 -6.91860087e-01 -4.80190284e-03 -1.24575898e+02] [ 6.59798103e-03 -5.48563436e-05 9.99978232e-01 -5.11782018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.01277180745073571 Centerline is valid? [True, True] Translation: X:150.44, Y:-124.53, Z:-5.12 [[-6.91706161e-01 -7.22163032e-01 4.81052668e-03 1.50443528e+02] [ 7.22145014e-01 -6.91722886e-01 -5.10170004e-03 -1.24534064e+02] [ 7.01181057e-03 -5.49794912e-05 9.99975415e-01 -5.11805959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.012456681463192322 Centerline is valid? [True, True] Translation: X:150.40, Y:-124.49, Z:-5.12 [[-6.88000599e-01 -7.25686040e-01 5.91171647e-03 1.50401505e+02] [ 7.25658991e-01 -6.88025996e-01 -6.26557623e-03 -1.24494511e+02] [ 8.61425582e-03 -2.08299889e-05 9.99962896e-01 -5.11911474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.01255519922867557 Centerline is valid? [True, True] Translation: X:150.36, Y:-124.45, Z:-5.12 [[-6.85561056e-01 -7.27988261e-01 6.25546273e-03 1.50359930e+02] [ 7.27958108e-01 -6.85589594e-01 -6.62574824e-03 -1.24454711e+02] [ 9.11214710e-03 1.13598597e-05 9.99958484e-01 -5.11962446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.012797196128540684 Centerline is valid? [True, True] Translation: X:150.32, Y:-124.41, Z:-5.12 [[-6.81563295e-01 -7.31730026e-01 6.53021002e-03 1.50317286e+02] [ 7.31697375e-01 -6.81594575e-01 -6.91282560e-03 -1.24414889e+02] [ 9.50927777e-03 6.66093356e-05 9.99954784e-01 -5.11918742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.014002596168037484 Centerline is valid? [True, True] Translation: X:150.27, Y:-124.38, Z:-5.12 [[-6.77218941e-01 -7.35754167e-01 6.34921124e-03 1.50274036e+02] [ 7.35723502e-01 -6.77248692e-01 -6.71846240e-03 -1.24377166e+02] [ 9.24313172e-03 1.21393936e-04 9.99957274e-01 -5.11960955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.01452414922899174 Centerline is valid? [True, True] Translation: X:150.23, Y:-124.34, Z:-5.12 [[-6.74295461e-01 -7.38437868e-01 5.92842850e-03 1.50232210e+02] [ 7.38411258e-01 -6.74321506e-01 -6.27061071e-03 -1.24337385e+02] [ 8.62812323e-03 1.49374008e-04 9.99962766e-01 -5.11913989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.014790960708515129 Centerline is valid? [True, True] Translation: X:150.19, Y:-124.30, Z:-5.12 [[-6.74008239e-01 -7.38699379e-01 6.01003177e-03 1.50191977e+02] [ 7.38672077e-01 -6.74035016e-01 -6.35292166e-03 -1.24296149e+02] [ 8.74387115e-03 1.57521109e-04 9.99961759e-01 -5.11917402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.014613792479973763 Centerline is valid? [True, True] Translation: X:150.15, Y:-124.25, Z:-5.12 [[-6.74197792e-01 -7.38527909e-01 5.81932568e-03 1.50153898e+02] [ 7.38502340e-01 -6.74222889e-01 -6.14740565e-03 -1.24253244e+02] [ 8.46355321e-03 1.53018320e-04 9.99964172e-01 -5.11814059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.014131191930121405 Centerline is valid? [True, True] Translation: X:150.12, Y:-124.21, Z:-5.12 [[-6.75059080e-01 -7.37736435e-01 6.33960947e-03 1.50115082e+02] [ 7.37706089e-01 -6.75088829e-01 -6.69315861e-03 -1.24210571e+02] [ 9.21758650e-03 1.58491015e-04 9.99957505e-01 -5.11852626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.014391719644033133 Centerline is valid? [True, True] Translation: X:150.08, Y:-124.17, Z:-5.12 [[-6.75489387e-01 -7.37336069e-01 7.04348569e-03 1.50075810e+02] [ 7.37298640e-01 -6.75526085e-01 -7.43128144e-03 -1.24169870e+02] [ 1.02374102e-02 1.73400677e-04 9.99947581e-01 -5.11988021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.01461721008496366 Centerline is valid? [True, True] Translation: X:150.04, Y:-124.13, Z:-5.12 [[-6.75999856e-01 -7.36863150e-01 7.54276227e-03 1.50038202e+02] [ 7.36820255e-01 -6.76041911e-01 -7.95279418e-03 -1.24128390e+02] [ 1.09593444e-02 1.81572292e-04 9.99939928e-01 -5.12058538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.01479276001944501 Centerline is valid? [True, True] Translation: X:150.00, Y:-124.09, Z:-5.12 [[-6.75831656e-01 -7.37012983e-01 7.96466816e-03 1.49999053e+02] [ 7.36965225e-01 -6.75878557e-01 -8.39243807e-03 -1.24086540e+02] [ 1.15684842e-02 1.97808149e-04 9.99933063e-01 -5.12077956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.01506185508066369 Centerline is valid? [True, True] Translation: X:149.96, Y:-124.04, Z:-5.12 [[-6.74923835e-01 -7.37840932e-01 8.28101789e-03 1.49958741e+02] [ 7.37789426e-01 -6.74974599e-01 -8.72093490e-03 -1.24044891e+02] [ 1.20241395e-02 2.23680605e-04 9.99927682e-01 -5.12136442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.015232455649187309 Centerline is valid? [True, True] Translation: X:149.92, Y:-124.00, Z:-5.12 [[-6.73035185e-01 -7.39552781e-01 9.23708721e-03 1.49919447e+02] [ 7.39488930e-01 -6.73098508e-01 -9.72222391e-03 -1.24002035e+02] [ 1.34075673e-02 2.87324960e-04 9.99910073e-01 -5.12137680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.01585613591011685 Centerline is valid? [True, True] Translation: X:149.88, Y:-123.96, Z:-5.12 [[-6.72352298e-01 -7.40164500e-01 9.94490618e-03 1.49879637e+02] [ 7.40090639e-01 -6.72425763e-01 -1.04613197e-02 -1.23960117e+02] [ 1.44303086e-02 3.26439611e-04 9.99895824e-01 -5.12229047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.015932614002245514 Centerline is valid? [True, True] Translation: X:149.84, Y:-123.92, Z:-5.12 [[-6.73495280e-01 -7.39136784e-01 8.99568917e-03 1.49841022e+02] [ 7.39076328e-01 -6.73555296e-01 -9.45756996e-03 -1.23917442e+02] [ 1.30495319e-02 2.78872189e-04 9.99914812e-01 -5.12194568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.015225248509385468 Centerline is valid? [True, True] Translation: X:149.80, Y:-123.87, Z:-5.12 [[-6.75915472e-01 -7.36936134e-01 7.96300035e-03 1.49803057e+02] [ 7.36888662e-01 -6.75962343e-01 -8.36723898e-03 -1.23873051e+02] [ 1.15488091e-02 2.12298391e-04 9.99933288e-01 -5.12081682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.013956912384620462 Centerline is valid? [True, True] Translation: X:149.77, Y:-123.83, Z:-5.12 [[-6.80132089e-01 -7.33058671e-01 6.73249008e-03 1.49766717e+02] [ 7.33024582e-01 -6.80165398e-01 -7.07058977e-03 -1.23826822e+02] [ 9.76236394e-03 1.26145736e-04 9.99952339e-01 -5.11955250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.012625686282644285 Centerline is valid? [True, True] Translation: X:149.73, Y:-123.78, Z:-5.12 [[-6.84033765e-01 -7.29427036e-01 5.83160896e-03 1.49731451e+02] [ 7.29401357e-01 -6.84058619e-01 -6.12095151e-03 -1.23780625e+02] [ 8.45394989e-03 6.66459809e-05 9.99964263e-01 -5.11791036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.012610506189606694 Centerline is valid? [True, True] Translation: X:149.69, Y:-123.74, Z:-5.12 [[-6.85325382e-01 -7.28209254e-01 6.35629709e-03 1.49691786e+02] [ 7.28178729e-01 -6.85354856e-01 -6.66788495e-03 -1.23738025e+02] [ 9.21193460e-03 5.88495329e-05 9.99957568e-01 -5.11957563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.013077426522860017 Centerline is valid? [True, True] Translation: X:149.65, Y:-123.70, Z:-5.12 [[-6.84086391e-01 -7.29366397e-01 7.10415267e-03 1.49649542e+02] [ 7.29328373e-01 -6.84123272e-01 -7.44797633e-03 -1.23699238e+02] [ 1.02924198e-02 8.62008628e-05 9.99947028e-01 -5.12208949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.013076949557392258 Centerline is valid? [True, True] Translation: X:149.61, Y:-123.66, Z:-5.12 [[-6.83465943e-01 -7.29938264e-01 8.02722043e-03 1.49608075e+02] [ 7.29889810e-01 -6.83513072e-01 -8.41106515e-03 -1.23658527e+02] [ 1.16262684e-02 1.10309822e-04 9.99932407e-01 -5.12348561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.013170658003643306 Centerline is valid? [True, True] Translation: X:149.57, Y:-123.62, Z:-5.12 [[-6.83445794e-01 -7.29960433e-01 7.72094191e-03 1.49567714e+02] [ 7.29915663e-01 -6.83489396e-01 -8.08516026e-03 -1.23618169e+02] [ 1.11790290e-02 1.09867660e-04 9.99937507e-01 -5.12316928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.013159358096498342 Centerline is valid? [True, True] Translation: X:149.53, Y:-123.58, Z:-5.12 [[-6.83884941e-01 -7.29559567e-01 6.65021913e-03 1.49526234e+02] [ 7.29526376e-01 -6.83917268e-01 -6.95963680e-03 -1.23578993e+02] [ 9.62566931e-03 9.19194587e-05 9.99953668e-01 -5.12280755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.012590760918112377 Centerline is valid? [True, True] Translation: X:149.49, Y:-123.54, Z:-5.12 [[-6.85122083e-01 -7.28406764e-01 5.59617891e-03 1.49485801e+02] [ 7.28383249e-01 -6.85144935e-01 -5.85322405e-03 -1.23537858e+02] [ 8.09772162e-03 6.59899237e-05 9.99967211e-01 -5.12127095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.012629586668461036 Centerline is valid? [True, True] Translation: X:149.45, Y:-123.50, Z:-5.12 [[-6.85948770e-01 -7.27628182e-01 5.61371098e-03 1.49445028e+02] [ 7.27604523e-01 -6.85971738e-01 -5.86784894e-03 -1.23497834e+02] [ 8.12045934e-03 5.95177393e-05 9.99967027e-01 -5.12167659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.012641343865882485 Centerline is valid? [True, True] Translation: X:149.40, Y:-123.46, Z:-5.12 [[-6.86451361e-01 -7.27150826e-01 6.01708018e-03 1.49404178e+02] [ 7.27123662e-01 -6.86477729e-01 -6.28549526e-03 -1.23457563e+02] [ 8.70109461e-03 6.04746035e-05 9.99962143e-01 -5.12247962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.012608059760735861 Centerline is valid? [True, True] Translation: X:149.36, Y:-123.42, Z:-5.12 [[-6.87172546e-01 -7.26466536e-01 6.34544778e-03 1.49363739e+02] [ 7.26436335e-01 -6.87201840e-01 -6.62432947e-03 -1.23417066e+02] [ 9.17295707e-03 5.75064875e-05 9.99957926e-01 -5.12327839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.012490457046519106 Centerline is valid? [True, True] Translation: X:149.32, Y:-123.38, Z:-5.12 [[-6.88360565e-01 -7.25346089e-01 5.72575157e-03 1.49323565e+02] [ 7.25321491e-01 -6.88384377e-01 -5.97363373e-03 -1.23376073e+02] [ 8.27446979e-03 4.09967843e-05 9.99965765e-01 -5.12360705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.012321388839508972 Centerline is valid? [True, True] Translation: X:149.28, Y:-123.33, Z:-5.12 [[-6.89180116e-01 -7.24569090e-01 5.51367196e-03 1.49283928e+02] [ 7.24546282e-01 -6.89202171e-01 -5.74911498e-03 -1.23334152e+02] [ 7.96566570e-03 3.27347856e-05 9.99968273e-01 -5.12273906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.012358920806159386 Centerline is valid? [True, True] Translation: X:149.24, Y:-123.29, Z:-5.12 [[-6.90244645e-01 -7.23556712e-01 5.29300652e-03 1.49244774e+02] [ 7.23535687e-01 -6.90264938e-01 -5.51589640e-03 -1.23291773e+02] [ 7.64464068e-03 2.23611584e-05 9.99970779e-01 -5.12245750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.012423385776064435 Centerline is valid? [True, True] Translation: X:149.20, Y:-123.25, Z:-5.12 [[-6.90085178e-01 -7.23708136e-01 5.38340763e-03 1.49204962e+02] [ 7.23686420e-01 -6.90106175e-01 -5.60655956e-03 -1.23250585e+02] [ 7.77263562e-03 2.68953408e-05 9.99969792e-01 -5.12336621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.012698664365481118 Centerline is valid? [True, True] Translation: X:149.17, Y:-123.21, Z:-5.12 [[-6.88993533e-01 -7.24745055e-01 5.70234574e-03 1.49165175e+02] [ 7.24720756e-01 -6.89017129e-01 -5.93481548e-03 -1.23210314e+02] [ 8.23024206e-03 4.35588293e-05 9.99966130e-01 -5.12366629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.013061741583415023 Centerline is valid? [True, True] Translation: X:149.12, Y:-123.17, Z:-5.12 [[-6.86375954e-01 -7.27223191e-01 5.87203045e-03 1.49123599e+02] [ 7.27197544e-01 -6.86401067e-01 -6.10792841e-03 -1.23169396e+02] [ 8.47239515e-03 7.77909331e-05 9.99964106e-01 -5.12348565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.014186966925530904 Centerline is valid? [True, True] Translation: X:149.08, Y:-123.13, Z:-5.12 [[-6.82455656e-01 -7.30907327e-01 5.36257392e-03 1.49081717e+02] [ 7.30886070e-01 -6.82476715e-01 -5.57545072e-03 -1.23131260e+02] [ 7.73496962e-03 1.14432704e-04 9.99970078e-01 -5.12335056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.015211067800533258 Centerline is valid? [True, True] Translation: X:149.04, Y:-123.09, Z:-5.12 [[-6.79526825e-01 -7.33631072e-01 5.36142849e-03 1.49039108e+02] [ 7.33609933e-01 -6.79547959e-01 -5.57114049e-03 -1.23092100e+02] [ 7.73050956e-03 1.47457791e-04 9.99970108e-01 -5.12322405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.01672663396044255 Centerline is valid? [True, True] Translation: X:149.00, Y:-123.05, Z:-5.12 [[-6.77143404e-01 -7.35828832e-01 5.72181685e-03 1.48997011e+02] [ 7.35804857e-01 -6.77167553e-01 -5.94285445e-03 -1.23054116e+02] [ 8.24755236e-03 1.85975936e-04 9.99965971e-01 -5.12420966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.017316224027459224 Centerline is valid? [True, True] Translation: X:148.96, Y:-123.01, Z:-5.12 [[-6.75016440e-01 -7.37784006e-01 5.25035968e-03 1.48955404e+02] [ 7.37763903e-01 -6.75036830e-01 -5.44995767e-03 -1.23014073e+02] [ 7.56507776e-03 1.94714823e-04 9.99971365e-01 -5.12296402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.01823782366805209 Centerline is valid? [True, True] Translation: X:148.91, Y:-122.97, Z:-5.12 [[-6.73992888e-01 -7.38721602e-01 4.89719972e-03 1.48913461e+02] [ 7.38704156e-01 -6.74010651e-01 -5.08057170e-03 -1.22974307e+02] [ 7.05389283e-03 1.93312591e-04 9.99975102e-01 -5.12260758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.01877889744538857 Centerline is valid? [True, True] Translation: X:148.87, Y:-122.93, Z:-5.12 [[-6.73002827e-01 -7.39617228e-01 5.79226736e-03 1.48871287e+02] [ 7.39592883e-01 -6.73027709e-01 -6.00583926e-03 -1.22934328e+02] [ 8.34037861e-03 2.41972913e-04 9.99965189e-01 -5.12344319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.017975582547513913 Centerline is valid? [True, True] Translation: X:148.83, Y:-122.89, Z:-5.12 [[-6.73006764e-01 -7.39604704e-01 6.83940290e-03 1.48830511e+02] [ 7.39570799e-01 -6.73041454e-01 -7.08755398e-03 -1.22892512e+02] [ 9.84518994e-03 2.88250898e-04 9.99951493e-01 -5.12423211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.018149927168525353 Centerline is valid? [True, True] Translation: X:148.79, Y:-122.85, Z:-5.12 [[-6.73725279e-01 -7.38948819e-01 6.99228011e-03 1.48790396e+02] [ 7.38913392e-01 -6.73761501e-01 -7.24139678e-03 -1.22851529e+02] [ 1.00621507e-02 2.87977345e-04 9.99949334e-01 -5.12456183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.01692994040150821 Centerline is valid? [True, True] Translation: X:148.75, Y:-122.81, Z:-5.12 [[-6.75916777e-01 -7.36946624e-01 6.79586920e-03 1.48751830e+02] [ 7.36913098e-01 -6.75950893e-01 -7.03395562e-03 -1.22807897e+02] [ 9.77732370e-03 2.53596410e-04 9.99952169e-01 -5.12379650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.015291147587887704 Centerline is valid? [True, True] Translation: X:148.71, Y:-122.76, Z:-5.12 [[-6.80913792e-01 -7.32334146e-01 6.56556508e-03 1.48715000e+02] [ 7.32302665e-01 -6.80945420e-01 -6.79276190e-03 -1.22763176e+02] [ 9.44536296e-03 1.82695540e-04 9.99955375e-01 -5.12334248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.014223721790780117 Centerline is valid? [True, True] Translation: X:148.68, Y:-122.72, Z:-5.12 [[-6.85051183e-01 -7.28470405e-01 5.97872332e-03 1.48676989e+02] [ 7.28444181e-01 -6.85077262e-01 -6.18232437e-03 -1.22718762e+02] [ 8.59952774e-03 1.19957584e-04 9.99963016e-01 -5.12305298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.013034158880275483 Centerline is valid? [True, True] Translation: X:148.64, Y:-122.67, Z:-5.12 [[-6.91157759e-01 -7.22678660e-01 6.04207303e-03 1.48641116e+02] [ 7.22651684e-01 -6.91184167e-01 -6.24433079e-03 -1.22673085e+02] [ 8.68882982e-03 5.04965796e-05 9.99962250e-01 -5.12322524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.012791859064907821 Centerline is valid? [True, True] Translation: X:148.61, Y:-122.63, Z:-5.12 [[-6.96751314e-01 -7.17278692e-01 6.99177667e-03 1.48606021e+02] [ 7.17242342e-01 -6.96786393e-01 -7.22115250e-03 -1.22628072e+02] [ 1.00513537e-02 -1.65492202e-05 9.99949484e-01 -5.12467814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.013050140512370948 Centerline is valid? [True, True] Translation: X:148.57, Y:-122.58, Z:-5.12 [[-6.99702304e-01 -7.14395523e-01 7.46475315e-03 1.48567639e+02] [ 7.14353969e-01 -6.99742119e-01 -7.70543413e-03 -1.22583756e+02] [ 1.07281298e-02 -5.90339814e-05 9.99942450e-01 -5.12446806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.01352469056198293 Centerline is valid? [True, True] Translation: X:148.53, Y:-122.54, Z:-5.12 [[-7.02003336e-01 -7.12131666e-01 7.73349029e-03 1.48528668e+02] [ 7.12086976e-01 -7.02045926e-01 -7.97853875e-03 -1.22540603e+02] [ 1.11110354e-02 -9.40431116e-05 9.99938266e-01 -5.12455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.013562422827131146 Centerline is valid? [True, True] Translation: X:148.49, Y:-122.50, Z:-5.12 [[-7.03386133e-01 -7.10763594e-01 7.94116177e-03 1.48487885e+02] [ 7.10716436e-01 -7.03430950e-01 -8.18824043e-03 -1.22498667e+02] [ 1.14059622e-02 -1.15580581e-04 9.99934943e-01 -5.12440698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.013553187674031032 Centerline is valid? [True, True] Translation: X:148.45, Y:-122.46, Z:-5.12 [[-7.03517461e-01 -7.10633058e-01 7.99001486e-03 1.48447733e+02] [ 7.10585368e-01 -7.03562822e-01 -8.23349886e-03 -1.22457934e+02] [ 1.14724739e-02 -1.14822557e-04 9.99934182e-01 -5.12494037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.013583005650923406 Centerline is valid? [True, True] Translation: X:148.41, Y:-122.42, Z:-5.13 [[-7.02401331e-01 -7.11732879e-01 8.28732188e-03 1.48407642e+02] [ 7.11681716e-01 -7.02450212e-01 -8.53436062e-03 -1.22418302e+02] [ 1.18956161e-02 -9.66108064e-05 9.99929240e-01 -5.12666299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.012886517280992434 Centerline is valid? [True, True] Translation: X:148.36, Y:-122.38, Z:-5.13 [[-7.00163103e-01 -7.13929631e-01 8.72420259e-03 1.48364955e+02] [ 7.13873172e-01 -7.00217451e-01 -8.97860584e-03 -1.22379758e+02] [ 1.25189316e-02 -5.85143451e-05 9.99921633e-01 -5.12638532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.012739933999302235 Centerline is valid? [True, True] Translation: X:148.32, Y:-122.34, Z:-5.13 [[-6.97418843e-01 -7.16613579e-01 8.48147153e-03 1.48323606e+02] [ 7.16560486e-01 -6.97470414e-01 -8.72307815e-03 -1.22341595e+02] [ 1.21666517e-02 -6.15171368e-06 9.99925984e-01 -5.12695138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.012747770800550475 Centerline is valid? [True, True] Translation: X:148.28, Y:-122.30, Z:-5.13 [[-6.94207176e-01 -7.19737550e-01 7.36585571e-03 1.48281377e+02] [ 7.19697731e-01 -6.94246251e-01 -7.57092588e-03 -1.22302869e+02] [ 1.05627974e-02 4.53985601e-05 9.99944211e-01 -5.12554215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.013172778652511442 Centerline is valid? [True, True] Translation: X:148.24, Y:-122.26, Z:-5.13 [[-6.91923704e-01 -7.21940574e-01 6.58756658e-03 1.48239233e+02] [ 7.21908866e-01 -6.91955058e-01 -6.76654862e-03 -1.22264718e+02] [ 9.44334601e-03 7.36873366e-05 9.99955408e-01 -5.12569165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.013711434159990054 Centerline is valid? [True, True] Translation: X:148.20, Y:-122.23, Z:-5.13 [[-6.88920388e-01 -7.24814744e-01 5.68205779e-03 1.48195995e+02] [ 7.24791280e-01 -6.88943813e-01 -5.83300757e-03 -1.22226474e+02] [ 8.14246845e-03 9.98280961e-05 9.99966845e-01 -5.12527128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.014030504236228042 Centerline is valid? [True, True] Translation: X:148.15, Y:-122.19, Z:-5.13 [[-6.87391427e-01 -7.26267493e-01 5.34367511e-03 1.48154336e+02] [ 7.26246807e-01 -6.87412188e-01 -5.48253810e-03 -1.22185522e+02] [ 7.65509660e-03 1.12177297e-04 9.99970693e-01 -5.12504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.014800595230970524 Centerline is valid? [True, True] Translation: X:148.11, Y:-122.15, Z:-5.13 [[-6.86038837e-01 -7.27540046e-01 6.01633230e-03 1.48112665e+02] [ 7.27513905e-01 -6.86065202e-01 -6.16902905e-03 -1.22146976e+02] [ 8.61581191e-03 1.44771896e-04 9.99962873e-01 -5.12620739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.014832392723587754 Centerline is valid? [True, True] Translation: X:148.07, Y:-122.11, Z:-5.13 [[-6.86051884e-01 -7.27519628e-01 6.92850911e-03 1.48072595e+02] [ 7.27485003e-01 -6.86086848e-01 -7.09989377e-03 -1.22106433e+02] [ 9.91887104e-03 1.69490972e-04 9.99950792e-01 -5.12738631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.014839695867749816 Centerline is valid? [True, True] Translation: X:148.03, Y:-122.07, Z:-5.13 [[-6.87339666e-01 -7.26287864e-01 8.37392352e-03 1.48033252e+02] [ 7.26237242e-01 -6.87390649e-01 -8.57692919e-03 -1.22065952e+02] [ 1.19854763e-02 1.86191473e-04 9.99928154e-01 -5.12964479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.014445387113273752 Centerline is valid? [True, True] Translation: X:147.99, Y:-122.02, Z:-5.13 [[-6.89574998e-01 -7.24160837e-01 8.79793792e-03 1.47994815e+02] [ 7.24104847e-01 -6.89631102e-01 -9.00634506e-03 -1.22021839e+02] [ 1.25893740e-02 1.60079111e-04 9.99920738e-01 -5.12990192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.013440830640785127 Centerline is valid? [True, True] Translation: X:147.96, Y:-121.98, Z:-5.13 [[-6.92309155e-01 -7.21548793e-01 8.68176100e-03 1.47958401e+02] [ 7.21494125e-01 -6.92363579e-01 -8.88266382e-03 -1.21975584e+02] [ 1.24202105e-02 1.14290070e-04 9.99922860e-01 -5.12793829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.013162927303228296 Centerline is valid? [True, True] Translation: X:147.92, Y:-121.93, Z:-5.13 [[-6.94505681e-01 -7.19446323e-01 7.67126690e-03 1.47921412e+02] [ 7.19403560e-01 -6.94548043e-01 -7.84433198e-03 -1.21930497e+02] [ 1.09716392e-02 7.08036002e-05 9.99939807e-01 -5.12567230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.013161675411281255 Centerline is valid? [True, True] Translation: X:147.88, Y:-121.89, Z:-5.12 [[-6.95391918e-01 -7.18597457e-01 6.91193957e-03 1.47882899e+02] [ 7.18562744e-01 -6.95426266e-01 -7.06338723e-03 -1.21888274e+02] [ 9.88247643e-03 5.48398700e-05 9.99951166e-01 -5.12434664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.013115481255402258 Centerline is valid? [True, True] Translation: X:147.84, Y:-121.85, Z:-5.12 [[-6.95777670e-01 -7.18222635e-01 7.04846800e-03 1.47843460e+02] [ 7.18186559e-01 -6.95813368e-01 -7.19880583e-03 -1.21845038e+02] [ 1.00747636e-02 5.33466335e-05 9.99949247e-01 -5.12364016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.013147616003270463 Centerline is valid? [True, True] Translation: X:147.80, Y:-121.80, Z:-5.12 [[-6.96365184e-01 -7.17649847e-01 7.36397803e-03 1.47804939e+02] [ 7.17610487e-01 -6.96404117e-01 -7.51629977e-03 -1.21803254e+02] [ 1.05223760e-02 5.03783885e-05 9.99944637e-01 -5.12345156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.01313936144104142 Centerline is valid? [True, True] Translation: X:147.77, Y:-121.76, Z:-5.12 [[-6.97619103e-01 -7.16426938e-01 7.74790888e-03 1.47767343e+02] [ 7.16383348e-01 -6.97662126e-01 -7.90298794e-03 -1.21761276e+02] [ 1.10673360e-02 3.71975460e-05 9.99938755e-01 -5.12314074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.012992897614233787 Centerline is valid? [True, True] Translation: X:147.73, Y:-121.72, Z:-5.12 [[-6.99336693e-01 -7.14751631e-01 7.63514912e-03 1.47728486e+02] [ 7.14709249e-01 -6.99378371e-01 -7.78353099e-03 -1.21718682e+02] [ 1.09031496e-02 1.36028734e-05 9.99940559e-01 -5.12150376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.0131021844491419 Centerline is valid? [True, True] Translation: X:147.69, Y:-121.68, Z:-5.12 [[-7.03160247e-01 -7.10996393e-01 7.05660712e-03 1.47690965e+02] [ 7.10960047e-01 -7.03195654e-01 -7.18916541e-03 -1.21675477e+02] [ 1.00736461e-02 -3.81695983e-05 9.99949259e-01 -5.11998855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.013274939669931152 Centerline is valid? [True, True] Translation: X:147.65, Y:-121.63, Z:-5.12 [[-7.04644870e-01 -7.09524950e-01 7.06765819e-03 1.47651738e+02] [ 7.09488462e-01 -7.04680312e-01 -7.19586726e-03 -1.21633930e+02] [ 1.00860869e-02 -5.61090123e-05 9.99949133e-01 -5.11980993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.013767001719158255 Centerline is valid? [True, True] Translation: X:147.61, Y:-121.59, Z:-5.12 [[-7.08380386e-01 -7.05787313e-01 7.84205077e-03 1.47612845e+02] [ 7.05742210e-01 -7.08423782e-01 -7.97982488e-03 -1.21590357e+02] [ 1.11875544e-02 -1.18285195e-04 9.99937410e-01 -5.11994394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.01466345335993759 Centerline is valid? [True, True] Translation: X:147.57, Y:-121.55, Z:-5.12 [[-7.11349867e-01 -7.02773327e-01 9.54034866e-03 1.47572576e+02] [ 7.02706374e-01 -7.11413812e-01 -9.70255829e-03 -1.21548190e+02] [ 1.36058350e-02 -1.97849732e-04 9.99907417e-01 -5.12163652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.014641513043660114 Centerline is valid? [True, True] Translation: X:147.53, Y:-121.51, Z:-5.12 [[-7.12795665e-01 -7.01298555e-01 1.01329911e-02 1.47531075e+02] [ 7.01222961e-01 -7.12867647e-01 -1.02994120e-02 -1.21507405e+02] [ 1.44464443e-02 -2.35890191e-04 9.99895617e-01 -5.12089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.014877925461783898 Centerline is valid? [True, True] Translation: X:147.49, Y:-121.47, Z:-5.12 [[-7.13447618e-01 -7.00634910e-01 1.01596514e-02 1.47490188e+02] [ 7.00558945e-01 -7.13519910e-01 -1.03199862e-02 -1.21467326e+02] [ 1.44796561e-02 -2.45334908e-04 9.99895134e-01 -5.11970781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.01474603577305335 Centerline is valid? [True, True] Translation: X:147.45, Y:-121.43, Z:-5.12 [[-7.12820899e-01 -7.01268190e-01 1.04542670e-02 1.47447767e+02] [ 7.01187923e-01 -7.12897517e-01 -1.06125759e-02 -1.21428647e+02] [ 1.48950829e-02 -2.34460134e-04 9.99889035e-01 -5.11957846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.014117345294005768 Centerline is valid? [True, True] Translation: X:147.40, Y:-121.39, Z:-5.12 [[-7.10157969e-01 -7.03970015e-01 1.00934182e-02 1.47402404e+02] [ 7.03895541e-01 -7.10229674e-01 -1.02409852e-02 -1.21391040e+02] [ 1.43779916e-02 -1.68005217e-04 9.99896617e-01 -5.11931270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.012946409475422497 Centerline is valid? [True, True] Translation: X:147.35, Y:-121.36, Z:-5.12 [[-7.05221360e-01 -7.08917623e-01 9.93158506e-03 1.47354843e+02] [ 7.08846080e-01 -7.05291287e-01 -1.00714854e-02 -1.21355711e+02] [ 1.41445139e-02 -6.26615138e-05 9.99899959e-01 -5.11845686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.012866257571835477 Centerline is valid? [True, True] Translation: X:147.31, Y:-121.32, Z:-5.12 [[-7.00812593e-01 -7.13277506e-01 9.84422273e-03 1.47310360e+02] [ 7.13207736e-01 -7.00881729e-01 -9.97633444e-03 -1.21320804e+02] [ 1.40155308e-02 2.94349986e-05 9.99901777e-01 -5.11809817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.013661717957421868 Centerline is valid? [True, True] Translation: X:147.26, Y:-121.29, Z:-5.12 [[-6.93710670e-01 -7.20192261e-01 9.41345594e-03 1.47261647e+02] [ 7.20129170e-01 -6.93774517e-01 -9.53409267e-03 -1.21287806e+02] [ 1.33971956e-02 1.65002395e-04 9.99910240e-01 -5.11724219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.015136209283742721 Centerline is valid? [True, True] Translation: X:147.21, Y:-121.25, Z:-5.12 [[-6.88301439e-01 -7.25362597e-01 9.49904554e-03 1.47214627e+02] [ 7.25298920e-01 -6.88366929e-01 -9.61492020e-03 -1.21253453e+02] [ 1.35131323e-02 2.71684059e-04 9.99908657e-01 -5.11718080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.017470217405053234 Centerline is valid? [True, True] Translation: X:147.17, Y:-121.22, Z:-5.12 [[-6.86191162e-01 -7.27353163e-01 9.95315302e-03 1.47169723e+02] [ 7.27283526e-01 -6.86263265e-01 -1.00700003e-02 -1.21218176e+02] [ 1.41549298e-02 3.28819026e-04 9.99899760e-01 -5.11876137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.01655816929160424 Centerline is valid? [True, True] Translation: X:147.13, Y:-121.18, Z:-5.12 [[-6.85025552e-01 -7.28440726e-01 1.06818247e-02 1.47127651e+02] [ 7.28360750e-01 -6.85108724e-01 -1.08007055e-02 -1.21178646e+02] [ 1.51858850e-02 3.81462630e-04 9.99884615e-01 -5.11737036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.016996599515079036 Centerline is valid? [True, True] Translation: X:147.09, Y:-121.14, Z:-5.12 [[-6.85280937e-01 -7.28187909e-01 1.15068371e-02 1.47086039e+02] [ 7.28095178e-01 -6.85377416e-01 -1.16279979e-02 -1.21139686e+02] [ 1.63538938e-02 4.09627286e-04 9.99866182e-01 -5.11858619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.016571773159902454 Centerline is valid? [True, True] Translation: X:147.05, Y:-121.10, Z:-5.12 [[-6.87450550e-01 -7.26113311e-01 1.30843709e-02 1.47045352e+02] [ 7.25993176e-01 -6.87574932e-01 -1.32144101e-02 -1.21098753e+02] [ 1.85916445e-02 4.14910504e-04 9.99827074e-01 -5.12011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.01549977710200944 Centerline is valid? [True, True] Translation: X:147.01, Y:-121.06, Z:-5.12 [[-6.89834968e-01 -7.23851268e-01 1.29251709e-02 1.47005594e+02] [ 7.23733766e-01 -6.89955953e-01 -1.30468218e-02 -1.21055578e+02] [ 1.83617571e-02 3.54228741e-04 9.99831346e-01 -5.11884694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.01367244764086297 Centerline is valid? [True, True] Translation: X:146.97, Y:-121.01, Z:-5.12 [[-6.94607144e-01 -7.19297719e-01 1.14764066e-02 1.46968609e+02] [ 7.19204571e-01 -6.94701912e-01 -1.15775178e-02 -1.21011032e+02] [ 1.63003638e-02 2.12057525e-04 9.99867118e-01 -5.11545334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.012823945273816098 Centerline is valid? [True, True] Translation: X:146.93, Y:-120.97, Z:-5.11 [[-7.01101612e-01 -7.12978304e-01 1.08842858e-02 1.46931491e+02] [ 7.12893850e-01 -7.01186091e-01 -1.09738234e-02 -1.20966017e+02] [ 1.54560078e-02 6.55751233e-05 9.99880547e-01 -5.11477445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.013142023160713261 Centerline is valid? [True, True] Translation: X:146.90, Y:-120.92, Z:-5.11 [[-7.08204983e-01 -7.05915984e-01 1.13281179e-02 1.46895512e+02] [ 7.05823693e-01 -7.08295571e-01 -1.14148141e-02 -1.20920279e+02] [ 1.60815554e-02 -8.83742225e-05 9.99870680e-01 -5.11455067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.014024797037197967 Centerline is valid? [True, True] Translation: X:146.86, Y:-120.88, Z:-5.11 [[-7.12945324e-01 -7.01124289e-01 1.15627230e-02 1.46856971e+02] [ 7.01027609e-01 -7.13039054e-01 -1.16446715e-02 -1.20876533e+02] [ 1.64090351e-02 -1.96226074e-04 9.99865344e-01 -5.11449515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.015920265453382345 Centerline is valid? [True, True] Translation: X:146.82, Y:-120.83, Z:-5.11 [[-7.19912272e-01 -6.93979245e-01 1.09146047e-02 1.46819421e+02] [ 6.93892375e-01 -7.19994927e-01 -1.09852970e-02 -1.20832699e+02] [ 1.54820281e-02 -3.34889204e-04 9.99880090e-01 -5.11305339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.017073066699571933 Centerline is valid? [True, True] Translation: X:146.78, Y:-120.79, Z:-5.11 [[-7.25245104e-01 -6.88408268e-01 1.06581368e-02 1.46779664e+02] [ 6.88324922e-01 -7.25323282e-01 -1.07209139e-02 -1.20790468e+02] [ 1.51109605e-02 -4.39029107e-04 9.99885727e-01 -5.11126811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.018175880640916974 Centerline is valid? [True, True] Translation: X:146.74, Y:-120.75, Z:-5.11 [[-7.27755115e-01 -6.85752339e-01 1.07806389e-02 1.46739223e+02] [ 6.85666869e-01 -7.27834791e-01 -1.08379745e-02 -1.20748585e+02] [ 1.52786904e-02 -4.95464466e-04 9.99883151e-01 -5.11163006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.01910161624424647 Centerline is valid? [True, True] Translation: X:146.70, Y:-120.71, Z:-5.11 [[-7.28309942e-01 -6.85157227e-01 1.11446437e-02 1.46696787e+02] [ 6.85065921e-01 -7.28395019e-01 -1.11972997e-02 -1.20709647e+02] [ 1.57896138e-02 -5.20289101e-04 9.99875201e-01 -5.11272754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.017387843595828026 Centerline is valid? [True, True] Translation: X:146.65, Y:-120.67, Z:-5.11 [[-7.26590985e-01 -6.86976565e-01 1.13463318e-02 1.46651456e+02] [ 6.86882251e-01 -7.26679409e-01 -1.13933809e-02 -1.20672774e+02] [ 1.60721314e-02 -4.84733954e-04 9.99870718e-01 -5.11208319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.015814708340364834 Centerline is valid? [True, True] Translation: X:146.60, Y:-120.64, Z:-5.11 [[-7.21575402e-01 -6.92249617e-01 1.09273264e-02 1.46604653e+02] [ 6.92162840e-01 -7.21658053e-01 -1.09662055e-02 -1.20638328e+02] [ 1.54771446e-02 -3.49454858e-04 9.99880161e-01 -5.11233362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.013735462572775359 Centerline is valid? [True, True] Translation: X:146.56, Y:-120.61, Z:-5.11 [[-7.14415861e-01 -6.99641649e-01 1.05612618e-02 1.46555267e+02] [ 6.99561482e-01 -7.14493898e-01 -1.05925488e-02 -1.20605710e+02] [ 1.49569454e-02 -1.79232927e-04 9.99888123e-01 -5.11240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.012648648592139707 Centerline is valid? [True, True] Translation: X:146.51, Y:-120.57, Z:-5.11 [[-7.08409887e-01 -7.05727992e-01 1.01702241e-02 1.46506526e+02] [ 7.05654351e-01 -7.08482886e-01 -1.01949370e-02 -1.20571525e+02] [ 1.44002822e-02 -4.55312849e-05 9.99896310e-01 -5.11285460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.013197541387213662 Centerline is valid? [True, True] Translation: X:146.46, Y:-120.54, Z:-5.11 [[-6.98603746e-01 -7.15436779e-01 1.01499217e-02 1.46455873e+02] [ 7.15364526e-01 -6.98677458e-01 -1.01688291e-02 -1.20539917e+02] [ 1.43666759e-02 1.56911842e-04 9.99896782e-01 -5.11272026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.015358942159938636 Centerline is valid? [True, True] Translation: X:146.41, Y:-120.51, Z:-5.11 [[-6.90698433e-01 -7.23080363e-01 9.51121387e-03 1.46407336e+02] [ 7.23017712e-01 -6.90763852e-01 -9.52304752e-03 -1.20506945e+02] [ 1.34559314e-02 2.99222088e-04 9.99909420e-01 -5.11158717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.016491767558506797 Centerline is valid? [True, True] Translation: X:146.36, Y:-120.47, Z:-5.11 [[-6.87733501e-01 -7.25905306e-01 9.17159235e-03 1.46362163e+02] [ 7.25847368e-01 -6.87794568e-01 -9.17774962e-03 -1.20469705e+02] [ 1.29703485e-02 3.45330290e-04 9.99915822e-01 -5.11128646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.018036052273232638 Centerline is valid? [True, True] Translation: X:146.32, Y:-120.43, Z:-5.11 [[-6.86023530e-01 -7.27513595e-01 9.78194253e-03 1.46317459e+02] [ 7.27447932e-01 -6.86093146e-01 -9.78265839e-03 -1.20433650e+02] [ 1.38283407e-02 4.04720025e-04 9.99904302e-01 -5.11267549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.018259893974852084 Centerline is valid? [True, True] Translation: X:146.28, Y:-120.39, Z:-5.11 [[-6.86039284e-01 -7.27497104e-01 9.90276919e-03 1.46276296e+02] [ 7.27429895e-01 -6.86110627e-01 -9.89728442e-03 -1.20393991e+02] [ 1.39946409e-02 4.13644439e-04 9.99901985e-01 -5.11297256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.01794186257851136 Centerline is valid? [True, True] Translation: X:145.91, Y:-120.76, Z:-4.14 [[-7.74250243e-01 6.32776097e-01 1.14443443e-02 1.45908380e+02] [ 6.32698489e-01 7.74334694e-01 -9.91987919e-03 -1.20759554e+02] [-1.51388153e-02 -4.39649511e-04 -9.99885305e-01 -4.13955171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.016623752230514106 Centerline is valid? [True, True] Translation: X:145.92, Y:-120.74, Z:-4.14 [[-8.15201793e-01 5.79030767e-01 1.30156829e-02 1.45919809e+02] [ 5.78948693e-01 8.15305584e-01 -9.75782219e-03 -1.20738218e+02] [-1.62618382e-02 -4.19181532e-04 -9.99867680e-01 -4.13883849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.015622775720164574 Centerline is valid? [True, True] Translation: X:145.93, Y:-120.72, Z:-4.14 [[-8.51703423e-01 5.23844819e-01 1.37071390e-02 1.45931849e+02] [ 5.23770472e-01 8.51813646e-01 -8.83203417e-03 -1.20719948e+02] [-1.63025434e-02 -3.42879044e-04 -9.99867046e-01 -4.13879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.014707014557647025 Centerline is valid? [True, True] Translation: X:145.94, Y:-120.70, Z:-4.14 [[-8.85217062e-01 4.64960727e-01 1.42223841e-02 1.45937802e+02] [ 4.64895441e-01 8.85331259e-01 -7.79680326e-03 -1.20698096e+02] [-1.62167285e-02 -2.89941737e-04 -9.99868458e-01 -4.13933153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.013543154597563655 Centerline is valid? [True, True] Translation: X:145.95, Y:-120.68, Z:-4.14 [[-9.13704495e-01 4.06139399e-01 1.39601106e-02 1.45946247e+02] [ 4.06088812e-01 9.13811114e-01 -6.41278764e-03 -1.20679998e+02] [-1.53613899e-02 -1.90348169e-04 -9.99881989e-01 -4.13991683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.01249362761769189 Centerline is valid? [True, True] Translation: X:145.95, Y:-120.66, Z:-4.14 [[-9.37890088e-01 3.46666054e-01 1.35952234e-02 1.45949869e+02] [ 3.46628354e-01 9.37988614e-01 -5.11312593e-03 -1.20662343e+02] [-1.45247119e-02 -8.30602287e-05 -9.99894507e-01 -4.14162021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.012370955118972396 Centerline is valid? [True, True] Translation: X:145.96, Y:-120.65, Z:-4.14 [[-9.57974875e-01 2.86546663e-01 1.32343890e-02 1.45961041e+02] [ 2.86519691e-01 9.58066286e-01 -3.93160983e-03 -1.20647966e+02] [-1.38060116e-02 2.55296151e-05 -9.99904692e-01 -4.14258110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.012909292639940818 Centerline is valid? [True, True] Translation: X:145.96, Y:-120.63, Z:-4.14 [[-9.75000323e-01 2.21752769e-01 1.41449502e-02 1.45963608e+02] [ 2.21730684e-01 9.75102919e-01 -3.13076536e-03 -1.20627129e+02] [-1.44870381e-02 8.38722433e-05 -9.99895054e-01 -4.14121887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.01284279587284918 Centerline is valid? [True, True] Translation: X:145.97, Y:-120.61, Z:-4.14 [[-9.87895636e-01 1.54536091e-01 1.34465513e-02 1.45966674e+02] [ 1.54523342e-01 9.87987137e-01 -1.98826637e-03 -1.20605087e+02] [-1.35922787e-02 1.13606381e-04 -9.99907614e-01 -4.14332165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.01285293247013616 Centerline is valid? [True, True] Translation: X:145.96, Y:-120.58, Z:-4.14 [[-9.96438048e-01 8.32711923e-02 1.33088465e-02 1.45963548e+02] [ 8.32651246e-02 9.96526918e-01 -1.01033405e-03 -1.20579976e+02] [-1.33467555e-02 1.01427477e-04 -9.99910923e-01 -4.14309579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.012546740022310121 Centerline is valid? [True, True] Translation: X:146.01, Y:-119.96, Z:-5.11 [[-9.90296669e-01 -1.38272411e-01 1.39013892e-02 1.46009075e+02] [ 1.38257943e-01 -9.90394233e-01 -2.00109305e-03 -1.19957757e+02] [ 1.40445516e-02 -5.96983164e-05 9.99901369e-01 -5.11045479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.012492018651885956 Centerline is valid? [True, True] Translation: X:145.91, Y:-120.58, Z:-4.14 [[-9.97204731e-01 7.33835574e-02 1.40562241e-02 1.45907149e+02] [ 7.33766137e-02 9.97303792e-01 -1.00978533e-03 -1.20580541e+02] [-1.40924272e-02 2.44354180e-05 -9.99900697e-01 -4.14159728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.01237648811476191 Centerline is valid? [True, True] Translation: X:145.95, Y:-119.95, Z:-5.11 [[-9.89874198e-01 -1.41418706e-01 1.22401565e-02 1.45950353e+02] [ 1.41406161e-01 -9.89949863e-01 -1.88869735e-03 -1.19950491e+02] [ 1.23842383e-02 -1.38739234e-04 9.99923303e-01 -5.10975959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.012594086582922874 Centerline is valid? [True, True] Translation: X:145.84, Y:-120.58, Z:-4.14 [[-9.98122199e-01 6.03430503e-02 1.05257766e-02 1.45844907e+02] [ 6.03388834e-02 9.98177695e-01 -7.13289312e-04 -1.20579178e+02] [-1.05496374e-02 -7.68362928e-05 -9.99944348e-01 -4.14474850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.013442580401177906 Centerline is valid? [True, True] Translation: X:145.85, Y:-120.55, Z:-4.14 [[-9.99853604e-01 -1.37549110e-02 1.01770953e-02 1.45847352e+02] [-1.37552750e-02 9.99905391e-01 3.42318431e-05 -1.20551658e+02] [-1.01766033e-02 -1.05761913e-04 -9.99948211e-01 -4.14345948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.013126366729977084 Centerline is valid? [True, True] Translation: X:145.84, Y:-120.53, Z:-4.15 [[-9.96183969e-01 -8.67418383e-02 9.66195671e-03 1.45838430e+02] [-8.67389224e-02 9.96230816e-01 7.21226837e-04 -1.20528219e+02] [-9.68809956e-03 -1.19593099e-04 -9.99953062e-01 -4.14535407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.01345621861944767 Centerline is valid? [True, True] Translation: X:145.83, Y:-120.51, Z:-4.14 [[-9.87340913e-01 -1.58328715e-01 9.48364179e-03 1.45827254e+02] [-1.58322647e-01 9.87386450e-01 1.39193439e-03 -1.20505409e+02] [-9.58440259e-03 -1.27161501e-04 -9.99954061e-01 -4.14401005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.013286943745618982 Centerline is valid? [True, True] Translation: X:145.82, Y:-120.49, Z:-4.14 [[-9.73901593e-01 -2.26743366e-01 1.01554165e-02 1.45819131e+02] [-2.26732335e-01 9.73954533e-01 2.23980449e-03 -1.20485887e+02] [-1.03987747e-02 -1.21212134e-04 -9.99945924e-01 -4.14281402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.013705739995468392 Centerline is valid? [True, True] Translation: X:145.80, Y:-120.47, Z:-4.14 [[-9.55627747e-01 -2.94386145e-01 1.06021776e-02 1.45801622e+02] [-2.94369331e-01 9.55686552e-01 3.14829824e-03 -1.20465256e+02] [-1.10591739e-02 -1.12354774e-04 -9.99938839e-01 -4.13999412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.012738434925816946 Centerline is valid? [True, True] Translation: X:145.77, Y:-120.46, Z:-4.14 [[-9.33096905e-01 -3.59468336e-01 1.06151683e-02 1.45773367e+02] [-3.59446021e-01 9.33157280e-01 4.00608565e-03 -1.20455787e+02] [-1.13456825e-02 -7.75138822e-05 -9.99935633e-01 -4.14066285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.012451288468881936 Centerline is valid? [True, True] Translation: X:145.72, Y:-120.46, Z:-4.14 [[-9.06397379e-01 -4.22311183e-01 9.85170808e-03 1.45719518e+02] [-4.22286509e-01 9.06450917e-01 4.56512028e-03 -1.20460253e+02] [-1.08579912e-02 -2.24303496e-05 -9.99941050e-01 -4.14153631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.012448235057257194 Centerline is valid? [True, True] Translation: X:145.66, Y:-120.47, Z:-4.14 [[-8.74097025e-01 -4.85661280e-01 9.35482465e-03 1.45660929e+02] [-4.85633367e-01 8.74147082e-01 5.20690523e-03 -1.20466840e+02] [-1.07062849e-02 8.32537512e-06 -9.99942686e-01 -4.14151097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.012691783343286774 Centerline is valid? [True, True] Translation: X:145.59, Y:-120.49, Z:-4.14 [[-8.36746209e-01 -5.47503643e-01 9.77460394e-03 1.45591980e+02] [-5.47465804e-01 8.36803298e-01 6.43697136e-03 -1.20485999e+02] [-1.17036861e-02 3.48499760e-05 -9.99931509e-01 -4.14075453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.012737174646881561 Centerline is valid? [True, True] Translation: X:145.51, Y:-120.51, Z:-4.14 [[-7.93989043e-01 -6.07850490e-01 9.95899876e-03 1.45511681e+02] [-6.07801920e-01 7.94051497e-01 7.68417859e-03 -1.20514944e+02] [-1.25787896e-02 4.80550379e-05 -9.99920883e-01 -4.14090960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.012569884395088243 Centerline is valid? [True, True] Translation: X:145.43, Y:-120.55, Z:-4.14 [[-7.43373753e-01 -6.68820877e-01 8.60796094e-03 1.45429996e+02] [-6.68776076e-01 7.43423590e-01 7.74120234e-03 -1.20545590e+02] [-1.15768390e-02 -2.19169777e-06 -9.99932986e-01 -4.14110353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.012793023824242696 Centerline is valid? [True, True] Translation: X:145.34, Y:-120.59, Z:-4.14 [[-6.87834320e-01 -7.25818787e-01 8.42836017e-03 1.45344190e+02] [-7.25765236e-01 6.87885954e-01 8.81678594e-03 -1.20589441e+02] [-1.21971395e-02 -5.25228477e-05 -9.99925611e-01 -4.14085422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.013001720825343692 Centerline is valid? [True, True] Translation: X:145.26, Y:-120.65, Z:-4.14 [[-6.29346542e-01 -7.77088368e-01 7.52316976e-03 1.45257053e+02] [-7.77034294e-01 6.29391501e-01 9.16751335e-03 -1.20645088e+02] [-1.18589871e-02 -7.62180804e-05 -9.99929677e-01 -4.14092514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.01310732853203845 Centerline is valid? [True, True] Translation: X:145.17, Y:-120.71, Z:-4.14 [[-5.67735622e-01 -8.23185903e-01 6.42126647e-03 1.45170303e+02] [-8.23134895e-01 5.67771928e-01 9.16423782e-03 -1.20712367e+02] [-1.11896862e-02 -8.27042453e-05 -9.99937390e-01 -4.14105816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.013017263229958987 Centerline is valid? [True, True] Translation: X:145.10, Y:-120.78, Z:-4.14 [[-5.03851041e-01 -8.63765845e-01 6.53395174e-03 1.45096983e+02] [-8.63695429e-01 5.03893398e-01 1.10294938e-02 -1.20776715e+02] [-1.28193152e-02 -8.61223300e-05 -9.99917826e-01 -4.14034308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.012858977890056977 Centerline is valid? [True, True] Translation: X:145.02, Y:-120.86, Z:-4.14 [[-4.38757631e-01 -8.98583385e-01 6.29620797e-03 1.45023658e+02] [-8.98492765e-01 4.38802800e-01 1.27614603e-02 -1.20859023e+02] [-1.42300299e-02 -5.79092256e-05 -9.99898746e-01 -4.13956877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.012731556343551147 Centerline is valid? [True, True] Translation: X:144.96, Y:-120.95, Z:-4.14 [[-3.70869567e-01 -9.28670755e-01 5.13738256e-03 1.44955830e+02] [-9.28582545e-01 3.70905147e-01 1.27995449e-02 -1.20947861e+02] [-1.37920447e-02 -2.35220893e-05 -9.99904885e-01 -4.14076703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.012631181289230168 Centerline is valid? [True, True] Translation: X:144.89, Y:-121.04, Z:-4.14 [[-3.00941633e-01 -9.53634376e-01 3.95102639e-03 1.44894031e+02] [-9.53551735e-01 3.00967568e-01 1.25543408e-02 -1.21042419e+02] [-1.31613817e-02 1.06157441e-05 -9.99913385e-01 -4.14129371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.01281371242804446 Centerline is valid? [True, True] Translation: X:144.84, Y:-121.15, Z:-4.14 [[-2.29185281e-01 -9.73379133e-01 2.67768059e-03 1.44838350e+02] [-9.73310730e-01 2.29200920e-01 1.15395781e-02 -1.21148602e+02] [-1.18461114e-02 3.84862192e-05 -9.99929832e-01 -4.14144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.012553948258478019 Centerline is valid? [True, True] Translation: X:144.79, Y:-121.25, Z:-4.14 [[-1.54148794e-01 -9.88046558e-01 1.46550751e-03 1.44790298e+02] [-9.87999622e-01 1.54155756e-01 9.63062543e-03 -1.21253678e+02] [-9.74142273e-03 3.66284292e-05 -9.99952551e-01 -4.14442600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.012404367288376393 Centerline is valid? [True, True] Translation: X:144.75, Y:-121.38, Z:-4.14 [[-7.62050178e-02 -9.97091930e-01 6.91895892e-04 1.44747018e+02] [-9.97048308e-01 7.62081558e-02 9.32677422e-03 -1.21375746e+02] [-9.35237942e-03 2.08933670e-05 -9.99956265e-01 -4.14442542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.012419803297362203 Centerline is valid? [True, True] Translation: X:144.71, Y:-121.48, Z:-4.14 [[ 4.51929091e-03 -9.99989788e-01 -3.08305300e-05 1.44712299e+02] [-9.99936317e-01 -4.51936808e-03 1.03410495e-02 -1.21484953e+02] [-1.03410832e-02 -1.59056443e-05 -9.99946529e-01 -4.14275353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.012524875549580655 Centerline is valid? [True, True] Translation: X:144.69, Y:-121.61, Z:-4.14 [[ 8.52736683e-02 -9.96357133e-01 -9.29993416e-04 1.44688511e+02] [-9.96289538e-01 -8.52787160e-02 1.16059411e-02 -1.21605205e+02] [-1.16429709e-02 -6.31384649e-05 -9.99932216e-01 -4.14239864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.012759431210544268 Centerline is valid? [True, True] Translation: X:144.67, Y:-121.73, Z:-4.14 [[ 1.64087829e-01 -9.86444350e-01 -1.65195362e-03 1.44674373e+02] [-9.86389094e-01 -1.64096123e-01 1.04411521e-02 -1.21730922e+02] [-1.05706947e-02 -8.37969428e-05 -9.99944125e-01 -4.14248447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.01318209325164066 Centerline is valid? [True, True] Translation: X:144.67, Y:-121.85, Z:-4.14 [[ 2.42914361e-01 -9.70045991e-01 -1.84058842e-03 1.44667679e+02] [-9.70015240e-01 -2.42921317e-01 7.72453554e-03 -1.21848655e+02] [-7.94027290e-03 -9.10017954e-05 -9.99968471e-01 -4.14429747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.014011685638798019 Centerline is valid? [True, True] Translation: X:144.67, Y:-121.97, Z:-4.15 [[ 3.20432955e-01 -9.47269177e-01 -1.95643525e-03 1.44670941e+02] [-9.47249614e-01 -3.20438913e-01 6.08863047e-03 -1.21968973e+02] [-6.39448996e-03 -9.77653121e-05 -9.99979550e-01 -4.14508424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.014612215413507415 Centerline is valid? [True, True] Translation: X:144.68, Y:-122.09, Z:-4.15 [[ 3.94001385e-01 -9.19107548e-01 -2.05535976e-03 1.44684597e+02] [-9.19093782e-01 -3.94006735e-01 5.03114409e-03 -1.22089326e+02] [-5.43398810e-03 -9.32093670e-05 -9.99985231e-01 -4.14539803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.015052861540201252 Centerline is valid? [True, True] Translation: X:144.71, Y:-122.22, Z:-4.15 [[ 4.65261826e-01 -8.85169472e-01 -2.53734942e-03 1.44714064e+02] [-8.85155003e-01 -4.65268732e-01 5.06235977e-03 -1.22222368e+02] [-5.66159567e-03 -1.09375217e-04 -9.99983967e-01 -4.14541703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.014987213334923123 Centerline is valid? [True, True] Translation: X:144.74, Y:-122.32, Z:-4.15 [[ 5.32878314e-01 -8.46184537e-01 -3.52603125e-03 1.44736388e+02] [-8.46164235e-01 -5.32889961e-01 5.86318576e-03 -1.22318123e+02] [-6.84032378e-03 -1.40763005e-04 -9.99976595e-01 -4.14505042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.015605489879659193 Centerline is valid? [True, True] Translation: X:144.77, Y:-122.43, Z:-4.14 [[ 5.95975663e-01 -8.02989741e-01 -4.52611365e-03 1.44774557e+02] [-8.02964522e-01 -5.95992828e-01 6.36593063e-03 -1.22427470e+02] [-7.80930826e-03 -1.59631044e-04 -9.99969494e-01 -4.14376639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.014859404633726337 Centerline is valid? [True, True] Translation: X:144.83, Y:-122.54, Z:-4.14 [[ 6.54097571e-01 -7.56392987e-01 -5.10068341e-03 1.44828416e+02] [-7.56368219e-01 -6.54117442e-01 6.12283471e-03 -1.22538552e+02] [-7.96771522e-03 -1.46936477e-04 -9.99968247e-01 -4.14339203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.014560512048463922 Centerline is valid? [True, True] Translation: X:144.87, Y:-122.62, Z:-4.15 [[ 7.08586235e-01 -7.05609684e-01 -4.53011649e-03 1.44869269e+02] [-7.05594291e-01 -7.08600707e-01 4.66197920e-03 -1.22620125e+02] [-6.49958143e-03 -1.06989955e-04 -9.99978872e-01 -4.14526291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.01455909433536506 Centerline is valid? [True, True] Translation: X:144.93, Y:-122.71, Z:-4.15 [[ 7.59732424e-01 -6.50222608e-01 -4.14791830e-03 1.44926595e+02] [-6.50212290e-01 -7.59743742e-01 3.66393455e-03 -1.22711686e+02] [-5.53372804e-03 -8.65824174e-05 -9.99984685e-01 -4.14664547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.014182074192106917 Centerline is valid? [True, True] Translation: X:144.95, Y:-122.74, Z:-4.15 [[ 8.08637031e-01 -5.88291657e-01 -4.36790658e-03 1.44946352e+02] [-5.88282475e-01 -8.08648823e-01 3.28807223e-03 -1.22739011e+02] [-5.46644798e-03 -8.92940683e-05 -9.99985055e-01 -4.14737871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.014921582758494072 Centerline is valid? [True, True] Translation: X:144.97, Y:-122.77, Z:-4.15 [[ 8.52877897e-01 -5.22082115e-01 -5.43677498e-03 1.44966915e+02] [-5.22070649e-01 -8.52895217e-01 3.46203819e-03 -1.22765081e+02] [-6.44446760e-03 -1.14315206e-04 -9.99979228e-01 -4.14615713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.015335713781096647 Centerline is valid? [True, True] Translation: X:144.99, Y:-122.79, Z:-4.15 [[ 8.92370075e-01 -4.51242479e-01 -7.47489583e-03 1.44990172e+02] [-4.51224996e-01 -8.92401364e-01 3.97604254e-03 -1.22789593e+02] [-8.46476653e-03 -1.75241536e-04 -9.99964158e-01 -4.14526682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.01608844359683765 Centerline is valid? [True, True] Translation: X:145.01, Y:-122.81, Z:-4.14 [[ 9.26072607e-01 -3.77228154e-01 -9.40465046e-03 1.45014898e+02] [-3.77206008e-01 -9.26120327e-01 4.09474026e-03 -1.22814495e+02] [-1.02544893e-02 -2.44536129e-04 -9.99947391e-01 -4.14416616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.0163877581417035 Centerline is valid? [True, True] Translation: X:145.04, Y:-122.83, Z:-4.14 [[ 9.53126744e-01 -3.02411083e-01 -9.84618514e-03 1.45042226e+02] [-3.02392090e-01 -9.53177564e-01 3.39932671e-03 -1.22834935e+02] [-1.04131568e-02 -2.62580694e-04 -9.99945747e-01 -4.14479539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.017434103690384294 Centerline is valid? [True, True] Translation: X:145.07, Y:-122.85, Z:-4.15 [[ 9.74248241e-01 -2.25298235e-01 -9.00389811e-03 1.45070110e+02] [-2.25286231e-01 -9.74289815e-01 2.33908035e-03 -1.22853517e+02] [-9.29939690e-03 -2.50390647e-04 -9.99956728e-01 -4.14569832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.017327890314606242 Centerline is valid? [True, True] Translation: X:145.10, Y:-122.87, Z:-4.15 [[ 9.88967084e-01 -1.47827868e-01 -9.54088597e-03 1.45100811e+02] [-1.47818381e-01 -9.89013069e-01 1.69592226e-03 -1.22868214e+02] [-9.68676548e-03 -2.66892973e-04 -9.99953047e-01 -4.14623175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.017656657052672897 Centerline is valid? [True, True] Translation: X:145.13, Y:-122.88, Z:-4.15 [[ 9.97496122e-01 -6.99444474e-02 -1.04527788e-02 1.45130180e+02] [-6.99375615e-02 -9.97550846e-01 1.02330017e-03 -1.22879328e+02] [-1.04987525e-02 -2.89696090e-04 -9.99944845e-01 -4.14528832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.01692125241521339 Centerline is valid? [True, True] Translation: X:145.16, Y:-122.89, Z:-4.14 [[ 9.99914125e-01 6.62398221e-03 -1.13078029e-02 1.45159736e+02] [ 6.62686714e-03 -9.99978018e-01 2.17677365e-04 -1.22886042e+02] [-1.13061125e-02 -2.92593979e-04 -9.99936041e-01 -4.14492259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.015996529240271385 Centerline is valid? [True, True] Translation: X:145.19, Y:-122.89, Z:-4.15 [[ 9.96690864e-01 8.05294452e-02 -1.10603356e-02 1.45188990e+02] [ 8.05271384e-02 -9.96752202e-01 -6.54475424e-04 -1.22887281e+02] [-1.10771185e-02 -2.38347503e-04 -9.99938618e-01 -4.14583024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.015160339217988648 Centerline is valid? [True, True] Translation: X:145.22, Y:-122.89, Z:-4.15 [[ 9.87951727e-01 1.54427650e-01 -1.01728414e-02 1.45217684e+02] [ 1.54421340e-01 -9.88004083e-01 -1.40755893e-03 -1.22885131e+02] [-1.02681749e-02 -1.80303538e-04 -9.99947265e-01 -4.14671834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.013424259728893042 Centerline is valid? [True, True] Translation: X:145.25, Y:-122.88, Z:-4.15 [[ 9.74231128e-01 2.25330909e-01 -9.98451483e-03 1.45247005e+02] [ 2.25320306e-01 -9.74282283e-01 -2.18901835e-03 -1.22880116e+02] [-1.02209894e-02 -1.17104120e-04 -9.99947758e-01 -4.14739049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.012765171107220693 Centerline is valid? [True, True] Translation: X:145.28, Y:-122.88, Z:-4.15 [[ 9.54823590e-01 2.96977989e-01 -1.07696551e-02 1.45276520e+02] [ 2.96960081e-01 -9.54884321e-01 -3.26236869e-03 -1.22877370e+02] [-1.12526265e-02 -8.31710642e-05 -9.99936684e-01 -4.14731485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.012643253993263503 Centerline is valid? [True, True] Translation: X:145.31, Y:-122.87, Z:-4.15 [[ 9.29527087e-01 3.68564784e-01 -1.18065696e-02 1.45305647e+02] [ 3.68535919e-01 -9.29602063e-01 -4.61305539e-03 -1.22872916e+02] [-1.26756213e-02 -6.31850608e-05 -9.99919659e-01 -4.14662123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.012607009314932362 Centerline is valid? [True, True] Translation: X:145.33, Y:-122.87, Z:-4.15 [[ 8.98733344e-01 4.38326883e-01 -1.21621976e-02 1.45334202e+02] [ 4.38287343e-01 -8.98815633e-01 -5.88756796e-03 -1.22866565e+02] [-1.35122526e-02 -3.91836071e-05 -9.99908705e-01 -4.14637150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.012604134757568478 Centerline is valid? [True, True] Translation: X:145.36, Y:-122.86, Z:-4.15 [[ 8.62139233e-01 5.06543601e-01 -1.13808213e-02 1.45361333e+02] [ 5.06499874e-01 -8.62214347e-01 -6.65564758e-03 -1.22856552e+02] [-1.31840831e-02 -2.62896414e-05 -9.99913086e-01 -4.14637275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.012476965752818916 Centerline is valid? [True, True] Translation: X:145.39, Y:-122.85, Z:-4.15 [[ 8.21438436e-01 5.70201968e-01 -1.04216568e-02 1.45390303e+02] [ 5.70155927e-01 -8.21504544e-01 -7.24593629e-03 -1.22847966e+02] [-1.26930855e-02 1.01212099e-05 -9.99919440e-01 -4.14777111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.012558105501645976 Centerline is valid? [True, True] Translation: X:145.42, Y:-122.84, Z:-4.15 [[ 7.75889017e-01 6.30794501e-01 -9.72269388e-03 1.45417908e+02] [ 6.30744300e-01 -7.75949931e-01 -7.95819161e-03 -1.22836632e+02] [-1.25643072e-02 4.21397258e-05 -9.99921065e-01 -4.14866872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.012668204223292748 Centerline is valid? [True, True] Translation: X:145.45, Y:-122.82, Z:-4.15 [[ 7.24591699e-01 6.89122350e-01 -8.78956450e-03 1.45445310e+02] [ 6.89070832e-01 -7.24645006e-01 -8.42638464e-03 -1.22823809e+02] [-1.21761240e-02 4.90558345e-05 -9.99925867e-01 -4.14929321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.012597314641820375 Centerline is valid? [True, True] Translation: X:145.47, Y:-122.81, Z:-4.15 [[ 6.67795320e-01 7.44307552e-01 -7.46184445e-03 1.45473032e+02] [ 7.44260485e-01 -6.67837007e-01 -8.37035651e-03 -1.22810549e+02] [-1.12134154e-02 3.61289329e-05 -9.99937127e-01 -4.15056925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.012513065494896414 Centerline is valid? [True, True] Translation: X:145.50, Y:-122.80, Z:-4.15 [[ 6.05402199e-01 7.95895693e-01 -6.18243752e-03 1.45502147e+02] [ 7.95854089e-01 -6.05433766e-01 -8.13784519e-03 -1.22796824e+02] [-1.02199324e-02 6.35119840e-06 -9.99947775e-01 -4.15142541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.012643330137022476 Centerline is valid? [True, True] Translation: X:145.53, Y:-122.78, Z:-4.15 [[ 5.37790081e-01 8.43058619e-01 -5.83050681e-03 1.45528996e+02] [ 8.43009829e-01 -5.37821685e-01 -9.06994945e-03 -1.22781140e+02] [-1.07822720e-02 -3.74456979e-05 -9.99941869e-01 -4.15070412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.012968130032267043 Centerline is valid? [True, True] Translation: X:145.56, Y:-122.76, Z:-4.15 [[ 4.66802655e-01 8.84346775e-01 -5.10522206e-03 1.45555707e+02] [ 8.84295714e-01 -4.66830564e-01 -9.50338508e-03 -1.22762729e+02] [-1.07875616e-02 -7.83206054e-05 -9.99941810e-01 -4.15012054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.013311921644773411 Centerline is valid? [True, True] Translation: X:145.58, Y:-122.74, Z:-4.15 [[ 3.94109909e-01 9.19051913e-01 -4.57819650e-03 1.45577667e+02] [ 9.18993034e-01 -3.94136485e-01 -1.04036043e-02 -1.22740209e+02] [-1.13658867e-02 -1.07167166e-04 -9.99935401e-01 -4.14949578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.013577371620034915 Centerline is valid? [True, True] Translation: X:145.60, Y:-122.72, Z:-4.15 [[ 3.19086734e-01 9.47716404e-01 -4.15630716e-03 1.45598681e+02] [ 9.47641767e-01 -3.19113770e-01 -1.18946780e-02 -1.22716130e+02] [-1.25991163e-02 -1.43256324e-04 -9.99920618e-01 -4.14904574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.013758864938681706 Centerline is valid? [True, True] Translation: X:145.62, Y:-122.69, Z:-4.15 [[ 2.43427007e-01 9.69913588e-01 -3.30532111e-03 1.45615273e+02] [ 9.69832596e-01 -2.43449397e-01 -1.25350455e-02 -1.22691609e+02] [-1.29625894e-02 -1.54239540e-04 -9.99915970e-01 -4.14855784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.013509467702136367 Centerline is valid? [True, True] Translation: X:145.63, Y:-122.66, Z:-4.15 [[ 1.67270860e-01 9.85908367e-01 -2.26961724e-03 1.45629741e+02] [ 9.85828921e-01 -1.67286195e-01 -1.25167014e-02 -1.22664597e+02] [-1.27199962e-02 -1.43774907e-04 -9.99919087e-01 -4.14972926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.013366802379710482 Centerline is valid? [True, True] Translation: X:145.64, Y:-122.64, Z:-4.15 [[ 9.12476331e-02 9.95827378e-01 -1.30456342e-03 1.45640686e+02] [ 9.95744140e-01 -9.12568739e-02 -1.28759660e-02 -1.22636278e+02] [-1.29412899e-02 -1.24109958e-04 -9.99916250e-01 -4.14909132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.01314326159633724 Centerline is valid? [True, True] Translation: X:145.65, Y:-122.61, Z:-4.15 [[ 1.41540210e-02 9.99899786e-01 -2.87195843e-04 1.45649685e+02] [ 9.99819066e-01 -1.41565277e-02 -1.27054261e-02 -1.22607292e+02] [-1.27082185e-02 -1.07311011e-04 -9.99919242e-01 -4.14925836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.012935480047626933 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.58, Z:-4.15 [[-6.24203732e-02 9.98049688e-01 7.18966933e-04 1.45657447e+02] [ 9.97966698e-01 6.24244546e-02 -1.28707990e-02 -1.22577554e+02] [-1.28905780e-02 -8.58950207e-05 -9.99916909e-01 -4.14948175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.01274766499473792 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.55, Z:-4.15 [[-1.37665390e-01 9.90477201e-01 1.77640424e-03 1.45661466e+02] [ 9.90389834e-01 1.37676841e-01 -1.31554105e-02 -1.22548022e+02] [-1.32747039e-02 -5.17120153e-05 -9.99911886e-01 -4.14960363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.012602516981727133 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.52, Z:-4.15 [[-2.12304964e-01 9.77200118e-01 2.55556738e-03 1.45661970e+02] [ 9.77128406e-01 2.12320344e-01 -1.18384846e-02 -1.22518734e+02] [-1.21111675e-02 -1.62515674e-05 -9.99926657e-01 -4.15031803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.012995879437456254 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.49, Z:-4.15 [[-2.83336980e-01 9.59014620e-01 3.33380812e-03 1.45656363e+02] [ 9.58950015e-01 2.83356589e-01 -1.11316183e-02 -1.22491931e+02] [-1.16200412e-02 4.29562320e-05 -9.99932484e-01 -4.14885092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.01306678554085804 Centerline is valid? [True, True] Translation: X:145.65, Y:-122.46, Z:-4.15 [[-3.53848581e-01 9.35293173e-01 4.22626225e-03 1.45650498e+02] [ 9.35229485e-01 3.53873808e-01 -1.09150770e-02 -1.22464087e+02] [-1.17043605e-02 9.02405512e-05 -9.99931498e-01 -4.15041501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.013855377972259135 Centerline is valid? [True, True] Translation: X:145.64, Y:-122.44, Z:-4.15 [[-4.21433982e-01 9.06845401e-01 4.98165356e-03 1.45641162e+02] [ 9.06786113e-01 4.21463399e-01 -1.03705504e-02 -1.22438102e+02] [-1.15040705e-02 1.46791935e-04 -9.99933815e-01 -4.15049573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.014521724075764256 Centerline is valid? [True, True] Translation: X:145.63, Y:-122.41, Z:-4.15 [[-4.88680019e-01 8.72444674e-01 5.66827980e-03 1.45631807e+02] [ 8.72390121e-01 4.88712859e-01 -9.75794436e-03 -1.22411790e+02] [-1.12834278e-02 1.76438867e-04 -9.99936325e-01 -4.15045776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.015036410752107423 Centerline is valid? [True, True] Translation: X:145.62, Y:-122.38, Z:-4.15 [[-5.51988629e-01 8.33828445e-01 6.21907645e-03 1.45622751e+02] [ 8.33779904e-01 5.52023619e-01 -8.99973760e-03 -1.22384664e+02] [-1.09373143e-02 2.17588145e-04 -9.99940162e-01 -4.15146540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.01696263157226909 Centerline is valid? [True, True] Translation: X:145.61, Y:-122.36, Z:-4.15 [[-6.10886915e-01 7.91691884e-01 6.41384290e-03 1.45609744e+02] [ 7.91652699e-01 6.10920528e-01 -7.88121482e-03 -1.22361260e+02] [-1.01578421e-02 2.63005031e-04 -9.99948373e-01 -4.15159323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.01868142338954895 Centerline is valid? [True, True] Translation: X:145.59, Y:-122.34, Z:-4.15 [[-6.67871998e-01 7.44245391e-01 6.76697765e-03 1.45594366e+02] [ 7.44211600e-01 6.67906214e-01 -7.09823076e-03 -1.22338132e+02] [-9.80253195e-03 2.95353707e-04 -9.99951910e-01 -4.15144018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.017999460265597282 Centerline is valid? [True, True] Translation: X:145.58, Y:-122.31, Z:-4.15 [[-7.21329614e-01 6.92559440e-01 6.70896015e-03 1.45583874e+02] [ 6.92533395e-01 7.21360747e-01 -6.01419648e-03 -1.22309735e+02] [-9.00476905e-03 3.07960921e-04 -9.99959409e-01 -4.15266162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.018476194411855197 Centerline is valid? [True, True] Translation: X:145.61, Y:-122.29, Z:-4.15 [[-7.68098552e-01 6.40295370e-01 6.81563739e-03 1.45606349e+02] [ 6.40273576e-01 7.68128732e-01 -5.29137923e-03 -1.22292058e+02] [-8.62333253e-03 2.99571802e-04 -9.99962774e-01 -4.15290851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.018282301409315548 Centerline is valid? [True, True] Translation: X:145.62, Y:-122.27, Z:-4.15 [[-8.12797857e-01 5.82498922e-01 7.39257865e-03 1.45624498e+02] [ 5.82478026e-01 8.12831423e-01 -4.94228394e-03 -1.22265445e+02] [-8.88779529e-03 2.88936825e-04 -9.99960461e-01 -4.15191736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.017989853075052922 Centerline is valid? [True, True] Translation: X:145.64, Y:-122.24, Z:-4.15 [[-8.54131440e-01 5.20008966e-01 7.08227193e-03 1.45639846e+02] [ 5.19993315e-01 8.54160771e-01 -4.04106755e-03 -1.22236242e+02] [-8.15079021e-03 2.31131212e-04 -9.99966755e-01 -4.15147701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.016042043993347136 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.21, Z:-4.15 [[-8.90214506e-01 4.55496621e-01 6.40019573e-03 1.45658610e+02] [ 4.55486287e-01 8.90237494e-01 -3.07347894e-03 -1.22205116e+02] [-7.09765348e-03 1.79145849e-04 -9.99974795e-01 -4.15200279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.015938955634863805 Centerline is valid? [True, True] Translation: X:145.66, Y:-122.17, Z:-4.15 [[-9.21189524e-01 3.89067777e-01 6.01042227e-03 1.45663583e+02] [ 3.89060536e-01 9.21209120e-01 -2.37823115e-03 -1.22172931e+02] [-6.46214892e-03 1.47616489e-04 -9.99979109e-01 -4.15188194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.01432222805277675 Centerline is valid? [True, True] Translation: X:145.67, Y:-122.14, Z:-4.15 [[-9.48223645e-01 3.17564326e-01 4.98177433e-03 1.45673280e+02] [ 3.17560444e-01 9.48236727e-01 -1.57278589e-03 -1.22136738e+02] [-5.22336208e-03 9.06616969e-05 -9.99986354e-01 -4.15225249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.01340292494477777 Centerline is valid? [True, True] Translation: X:145.68, Y:-122.10, Z:-4.15 [[-9.69714670e-01 2.44175287e-01 5.64698328e-03 1.45678746e+02] [ 2.44171557e-01 9.69731109e-01 -1.35147352e-03 -1.22102627e+02] [-5.80605180e-03 6.82889959e-05 -9.99983142e-01 -4.15208404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.012616895015886592 Centerline is valid? [True, True] Translation: X:145.82, Y:-121.49, Z:-5.10 [[-9.56111591e-01 -2.92937023e-01 6.20692245e-03 1.45821766e+02] [ 2.92930658e-01 -9.56131738e-01 -1.93135447e-03 -1.21491372e+02] [ 6.50040077e-03 -2.83925205e-05 9.99978872e-01 -5.10137808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.012507981507006154 Centerline is valid? [True, True] Translation: X:145.62, Y:-122.07, Z:-4.15 [[-9.73644248e-01 2.27943841e-01 7.64746915e-03 1.45623259e+02] [ 2.27936730e-01 9.73674281e-01 -1.80053094e-03 -1.22073723e+02] [-7.85656396e-03 -9.93748205e-06 -9.99969137e-01 -4.14935851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.013666275832791881 Centerline is valid? [True, True] Translation: X:145.62, Y:-122.04, Z:-4.15 [[-9.88656167e-01 1.49894833e-01 9.51430885e-03 1.45622976e+02] [ 1.49886974e-01 9.88701942e-01 -1.53779263e-03 -1.22035685e+02] [-9.63732281e-03 -9.42771996e-05 -9.99953556e-01 -4.14781692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.01428147238697852 Centerline is valid? [True, True] Translation: X:145.71, Y:-121.46, Z:-5.10 [[-9.70335047e-01 -2.41561589e-01 9.89423746e-03 1.45710519e+02] [ 2.41550459e-01 -9.70385480e-01 -2.32280294e-03 -1.21463011e+02] [ 1.01623243e-02 1.36060502e-04 9.99948353e-01 -5.10339751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.015010720028274598 Centerline is valid? [True, True] Translation: X:145.57, Y:-122.02, Z:-4.15 [[-9.90538861e-01 1.36919734e-01 9.26016240e-03 1.45571036e+02] [ 1.36912062e-01 9.90582129e-01 -1.46050681e-03 -1.22020027e+02] [-9.37292359e-03 -1.78860827e-04 -9.99956057e-01 -4.15047949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.01604910713406352 Centerline is valid? [True, True] Translation: X:145.57, Y:-121.99, Z:-4.15 [[-9.97967301e-01 6.31607172e-02 8.48464148e-03 1.45565213e+02] [ 6.31568219e-02 9.98003351e-01 -7.26518654e-04 -1.21988184e+02] [-8.51358806e-03 -1.89178870e-04 -9.99963741e-01 -4.15128680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.018112427998481326 Centerline is valid? [True, True] Translation: X:145.56, Y:-121.96, Z:-4.15 [[-9.99900849e-01 -1.11265271e-02 8.63092294e-03 1.45558926e+02] [-1.11280117e-02 9.99938074e-01 -1.23994751e-04 -1.21956636e+02] [-8.62900884e-03 -2.20027467e-04 -9.99962745e-01 -4.15085369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.017441935180937264 Centerline is valid? [True, True] Translation: X:145.55, Y:-121.93, Z:-4.15 [[-9.96376202e-01 -8.44887318e-02 9.80398671e-03 1.45552402e+02] [-8.44873402e-02 9.96424397e-01 5.56762370e-04 -1.21930516e+02] [-9.81597169e-03 -2.73567984e-04 -9.99951785e-01 -4.15039374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.018452228559987606 Centerline is valid? [True, True] Translation: X:145.54, Y:-121.90, Z:-4.15 [[-9.87341610e-01 -1.58191193e-01 1.14930988e-02 1.45536392e+02] [-1.58184707e-01 9.87408435e-01 1.47699366e-03 -1.21902922e+02] [-1.15820301e-02 -3.59735173e-04 -9.99932861e-01 -4.14874552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.01878659815095499 Centerline is valid? [True, True] Translation: X:145.46, Y:-121.36, Z:-5.10 [[-9.99518521e-01 2.85255074e-02 1.22074037e-02 1.45463619e+02] [-2.85182146e-02 -9.99592976e-01 7.71094968e-04 -1.21359931e+02] [ 1.22244309e-02 4.22590342e-04 9.99925190e-01 -5.10476352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.018183056785582827 Centerline is valid? [True, True] Translation: X:145.47, Y:-121.92, Z:-4.15 [[-9.86864303e-01 -1.61081816e-01 1.23083768e-02 1.45470662e+02] [-1.61073888e-01 9.86940989e-01 1.63931646e-03 -1.21915650e+02] [-1.24117056e-02 -3.64775202e-04 -9.99922905e-01 -4.14740063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.01717821518169736 Centerline is valid? [True, True] Translation: X:145.46, Y:-121.89, Z:-4.15 [[-9.73614657e-01 -2.27906077e-01 1.15463704e-02 1.45462700e+02] [-2.27893815e-01 9.73683072e-01 2.38440762e-03 -1.21894525e+02] [-1.17859264e-02 -3.09852196e-04 -9.99930496e-01 -4.14759765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.016261337162802616 Centerline is valid? [True, True] Translation: X:145.45, Y:-121.88, Z:-4.15 [[-9.55904543e-01 -2.93454187e-01 1.14518253e-02 1.45448389e+02] [-2.93436518e-01 9.55973099e-01 3.23158820e-03 -1.21877500e+02] [-1.18959600e-02 -2.71293889e-04 -9.99929204e-01 -4.14767715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.015459526660114006 Centerline is valid? [True, True] Translation: X:145.42, Y:-121.86, Z:-4.15 [[-9.32694027e-01 -3.60494455e-01 1.12070961e-02 1.45424105e+02] [-3.60471806e-01 9.32761319e-01 4.04949176e-03 -1.21863813e+02] [-1.19133651e-02 -2.62905391e-04 -9.99928999e-01 -4.14895242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.01638429241930856 Centerline is valid? [True, True] Translation: X:145.39, Y:-121.85, Z:-4.15 [[-9.04348624e-01 -4.26663860e-01 1.05602017e-02 1.45390141e+02] [-4.26638035e-01 9.04410242e-01 4.70112379e-03 -1.21849083e+02] [-1.15565542e-02 -2.53928870e-04 -9.99933189e-01 -4.14810590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.015842841448255818 Centerline is valid? [True, True] Translation: X:145.34, Y:-121.85, Z:-4.15 [[-8.70751930e-01 -4.91617829e-01 1.01481820e-02 1.45337829e+02] [-4.91587836e-01 8.70811027e-01 5.43637052e-03 -1.21850394e+02] [-1.15097655e-02 -2.54992714e-04 -9.99933728e-01 -4.14881008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.015742222680449423 Centerline is valid? [True, True] Translation: X:145.28, Y:-121.86, Z:-4.15 [[-8.32496925e-01 -5.53943817e-01 9.75282770e-03 1.45275642e+02] [-5.53909297e-01 8.32554013e-01 6.18913298e-03 -1.21859301e+02] [-1.15481878e-02 -2.49747761e-04 -9.99933286e-01 -4.14863508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.01499575677330683 Centerline is valid? [True, True] Translation: X:145.21, Y:-121.88, Z:-4.15 [[-7.90267086e-01 -6.12684766e-01 9.76266623e-03 1.45209696e+02] [-6.12641748e-01 7.90327350e-01 7.26418241e-03 -1.21878877e+02] [-1.21663560e-02 -2.40372635e-04 -9.99925958e-01 -4.14844088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.014150878159832956 Centerline is valid? [True, True] Translation: X:145.14, Y:-121.91, Z:-4.15 [[-7.45458889e-01 -6.66489565e-01 9.09418298e-03 1.45135663e+02] [-6.66442948e-01 7.45514337e-01 7.88483971e-03 -1.21914083e+02] [-1.20350072e-02 -1.82930266e-04 -9.99927560e-01 -4.14869920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.013166247177766375 Centerline is valid? [True, True] Translation: X:145.06, Y:-121.95, Z:-4.15 [[-6.96941984e-01 -7.17081542e-01 8.11991775e-03 1.45063163e+02] [-7.17034821e-01 6.96989275e-01 8.18639959e-03 -1.21954538e+02] [-1.15298116e-02 -1.16818192e-04 -9.99933523e-01 -4.14931689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.01230981185402469 Centerline is valid? [True, True] Translation: X:144.99, Y:-122.01, Z:-4.15 [[-6.48375889e-01 -7.61290525e-01 6.74112781e-03 1.44992397e+02] [-7.61249415e-01 6.48410931e-01 7.91148665e-03 -1.22008219e+02] [-1.03939608e-02 -2.06241471e-06 -9.99945981e-01 -4.14919663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.013431880534914009 Centerline is valid? [True, True] Translation: X:144.92, Y:-122.07, Z:-4.15 [[-5.95863291e-01 -8.03065873e-01 5.66936779e-03 1.44920814e+02] [-8.03028189e-01 5.95890256e-01 7.78014673e-03 -1.22073671e+02] [-9.62629135e-03 8.32416940e-05 -9.99953663e-01 -4.14899508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.01347111880680928 Centerline is valid? [True, True] Translation: X:144.85, Y:-122.15, Z:-4.15 [[-5.37792897e-01 -8.43059347e-01 5.45328014e-03 1.44845850e+02] [-8.43013174e-01 5.37820524e-01 8.82457556e-03 -1.22145793e+02] [-1.03725269e-02 1.48607051e-04 -9.99946193e-01 -4.15114070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.014305739365517515 Centerline is valid? [True, True] Translation: X:144.77, Y:-122.22, Z:-4.15 [[-4.74548315e-01 -8.80214940e-01 5.05526162e-03 1.44774180e+02] [-8.80160644e-01 4.74575202e-01 9.77842988e-03 -1.22224599e+02] [-1.10062219e-02 1.90895097e-04 -9.99939412e-01 -4.14999337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.015492857252476079 Centerline is valid? [True, True] Translation: X:144.71, Y:-122.31, Z:-4.15 [[-4.10753347e-01 -9.11737199e-01 4.11918412e-03 1.44707568e+02] [-9.11685334e-01 4.10773931e-01 9.72776249e-03 -1.22312757e+02] [-1.05612164e-02 2.40311251e-04 -9.99944200e-01 -4.15027129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.017263769763113314 Centerline is valid? [True, True] Translation: X:144.65, Y:-122.41, Z:-4.15 [[-3.45339804e-01 -9.38473941e-01 2.66122546e-03 1.44647622e+02] [-9.38440464e-01 3.45349974e-01 7.93044122e-03 -1.22408163e+02] [-8.36156657e-03 2.41295362e-04 -9.99965012e-01 -4.15210730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.018849651272311356 Centerline is valid? [True, True] Translation: X:144.59, Y:-122.51, Z:-4.15 [[-2.75667940e-01 -9.61250939e-01 1.95423803e-03 1.44592035e+02] [-9.61219715e-01 2.75674745e-01 7.75205629e-03 -1.22510441e+02] [-7.99040546e-03 2.58541262e-04 -9.99968043e-01 -4.15270207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.020500091897527915 Centerline is valid? [True, True] Translation: X:144.54, Y:-122.62, Z:-4.15 [[-2.02598942e-01 -9.79260831e-01 1.37639492e-03 1.44542135e+02] [-9.79228043e-01 2.02603428e-01 8.01820675e-03 -1.22621879e+02] [-8.13077813e-03 2.76675697e-04 -9.99966906e-01 -4.15239484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.01956617527515381 Centerline is valid? [True, True] Translation: X:144.50, Y:-122.73, Z:-4.15 [[-1.23725889e-01 -9.92316062e-01 8.59235639e-04 1.44495720e+02] [-9.92273571e-01 1.23728546e-01 9.18734038e-03 -1.22731254e+02] [-9.22305740e-03 2.84115040e-04 -9.99957426e-01 -4.15228856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.017165122844770144 Centerline is valid? [True, True] Translation: X:144.45, Y:-122.85, Z:-4.15 [[-4.29145703e-02 -9.99078734e-01 1.54560982e-04 1.44454987e+02] [-9.99033850e-01 4.29141079e-02 9.47343674e-03 -1.22852407e+02] [-9.47134202e-03 2.52136814e-04 -9.99955114e-01 -4.15275006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.01589302251356269 Centerline is valid? [True, True] Translation: X:144.42, Y:-122.97, Z:-4.15 [[ 3.95287211e-02 -9.99218290e-01 -5.37209391e-04 1.44422689e+02] [-9.99179059e-01 -3.95319306e-02 8.85629835e-03 -1.22973394e+02] [-8.87061222e-03 1.86690227e-04 -9.99960638e-01 -4.15287447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.015281460753887477 Centerline is valid? [True, True] Translation: X:144.40, Y:-123.10, Z:-4.15 [[ 1.18921497e-01 -9.92903009e-01 -1.13637957e-03 1.44402946e+02] [-9.92869036e-01 -1.18926830e-01 8.21497864e-03 -1.23095523e+02] [-8.29182304e-03 1.51338534e-04 -9.99965611e-01 -4.15268406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.014948818733978974 Centerline is valid? [True, True] Translation: X:144.39, Y:-123.22, Z:-4.15 [[ 1.96128056e-01 -9.80576695e-01 -1.76957324e-03 1.44394667e+02] [-9.80543004e-01 -1.96135988e-01 8.12962976e-03 -1.23217137e+02] [-8.31880247e-03 1.40694176e-04 -9.99965388e-01 -4.15267826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.01396407876480958 Centerline is valid? [True, True] Translation: X:144.39, Y:-123.34, Z:-4.15 [[ 2.75237833e-01 -9.61373416e-01 -2.29988034e-03 1.44390309e+02] [-9.61342740e-01 -2.75247425e-01 7.68054073e-03 -1.23335013e+02] [-8.01690382e-03 9.69978817e-05 -9.99967859e-01 -4.15296310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.01265962826479974 Centerline is valid? [True, True] Translation: X:144.40, Y:-123.46, Z:-4.15 [[ 3.53785547e-01 -9.35323346e-01 -2.45471044e-03 1.44395330e+02] [-9.35301628e-01 -3.53794061e-01 6.37397023e-03 -1.23459796e+02] [-6.83018513e-03 4.08761281e-05 -9.99976673e-01 -4.15366735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.012244033410902742 Centerline is valid? [True, True] Translation: X:144.41, Y:-123.58, Z:-4.15 [[ 4.28306988e-01 -9.03628175e-01 -3.04075643e-03 1.44410958e+02] [-9.03605581e-01 -4.28317782e-01 6.38994034e-03 -1.23579106e+02] [-7.07654017e-03 1.07883837e-05 -9.99974961e-01 -4.15311583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.012711644762767088 Centerline is valid? [True, True] Translation: X:144.43, Y:-123.69, Z:-4.15 [[ 5.01926606e-01 -8.64899429e-01 -4.31977268e-03 1.44431116e+02] [-8.64866593e-01 -5.01945192e-01 7.53663973e-03 -1.23694672e+02] [-8.68672452e-03 -4.68129188e-05 -9.99962269e-01 -4.15101912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.01358911941718264 Centerline is valid? [True, True] Translation: X:144.46, Y:-123.81, Z:-4.15 [[ 5.69642775e-01 -8.21875017e-01 -5.34458218e-03 1.44463508e+02] [-8.21837362e-01 -5.69667840e-01 7.86783032e-03 -1.23808030e+02] [-9.51100977e-03 -8.94753766e-05 -9.99954765e-01 -4.14970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.014909208659266643 Centerline is valid? [True, True] Translation: X:144.50, Y:-123.91, Z:-4.15 [[ 6.33113587e-01 -7.74032478e-01 -6.39598868e-03 1.44501249e+02] [-7.73990868e-01 -6.33145880e-01 8.02688114e-03 -1.23911556e+02] [-1.02626606e-02 -1.31490679e-04 -9.99947329e-01 -4.14920085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.01329123294446467 Centerline is valid? [True, True] Translation: X:144.55, Y:-124.01, Z:-4.15 [[ 6.90603213e-01 -7.23202954e-01 -6.68505242e-03 1.44551058e+02] [-7.23167194e-01 -6.90635555e-01 7.19297224e-03 -1.24005545e+02] [-9.81891366e-03 -1.33079135e-04 -9.99951784e-01 -4.15276595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.013146246422568317 Centerline is valid? [True, True] Translation: X:144.60, Y:-124.09, Z:-4.15 [[ 7.42783796e-01 -6.69508435e-01 -5.53972687e-03 1.44603060e+02] [-6.69488859e-01 -7.42804447e-01 5.12058884e-03 -1.24094466e+02] [-7.54321118e-03 -9.47049904e-05 -9.99971545e-01 -4.15409795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.012926189968329845 Centerline is valid? [True, True] Translation: X:144.63, Y:-124.12, Z:-4.15 [[ 7.91685995e-01 -6.10904627e-01 -5.36862641e-03 1.44628629e+02] [-6.10889957e-01 -7.91704194e-01 4.23429260e-03 -1.24119904e+02] [-6.83711299e-03 -7.25901914e-05 -9.99976624e-01 -4.15495359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.012806327005049908 Centerline is valid? [True, True] Translation: X:144.65, Y:-124.14, Z:-4.16 [[ 8.36885899e-01 -5.47348589e-01 -5.61378434e-03 1.44654447e+02] [-5.47335712e-01 -8.36904724e-01 3.75514181e-03 -1.24144527e+02] [-6.75357420e-03 -7.00005739e-05 -9.99977192e-01 -4.15529970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.013060772499618437 Centerline is valid? [True, True] Translation: X:144.68, Y:-124.17, Z:-4.15 [[ 8.77887676e-01 -4.78816342e-01 -6.93823882e-03 1.44680955e+02] [-4.78800526e-01 -8.77915088e-01 3.89298073e-03 -1.24169376e+02] [-7.95520734e-03 -9.55674088e-05 -9.99968352e-01 -4.15446933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.013341496305691113 Centerline is valid? [True, True] Translation: X:144.71, Y:-124.19, Z:-4.15 [[ 9.13459375e-01 -4.06831463e-01 -8.95154289e-03 1.44709455e+02] [-4.06810437e-01 -9.13503225e-01 4.13852039e-03 -1.24191920e+02] [-9.86094360e-03 -1.38789181e-04 -9.99951370e-01 -4.15248258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.013179686548143815 Centerline is valid? [True, True] Translation: X:144.74, Y:-124.21, Z:-4.15 [[ 9.42122813e-01 -3.35118340e-01 -1.00151953e-02 1.44740522e+02] [-3.35097822e-01 -9.42176034e-01 3.71094927e-03 -1.24210760e+02] [-1.06796841e-02 -1.40099840e-04 -9.99942961e-01 -4.15169309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.01235840106400335 Centerline is valid? [True, True] Translation: X:144.77, Y:-124.22, Z:-4.15 [[ 9.63747864e-01 -2.66593240e-01 -1.08673649e-02 1.44773760e+02] [-2.66575399e-01 -9.63809130e-01 3.08519424e-03 -1.24222305e+02] [-1.12965574e-02 -7.63772409e-05 -9.99936189e-01 -4.15129427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.012154675656863529 Centerline is valid? [True, True] Translation: X:144.81, Y:-124.23, Z:-4.15 [[ 9.80280767e-01 -1.97366043e-01 -9.81142119e-03 1.44806617e+02] [-1.97356189e-01 -9.80329865e-01 1.97219703e-03 -1.24230011e+02] [-1.00076739e-02 3.03788272e-06 -9.99949922e-01 -4.15211569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.012990599855539126 Centerline is valid? [True, True] Translation: X:144.84, Y:-124.23, Z:-4.15 [[ 9.91455406e-01 -1.30194779e-01 -8.09307176e-03 1.44837020e+02] [-1.30191153e-01 -9.91488433e-01 9.75504941e-04 -1.24232450e+02] [-8.15119269e-03 8.64766966e-05 -9.99966775e-01 -4.15428736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.014069152923694959 Centerline is valid? [True, True] Translation: X:144.87, Y:-124.24, Z:-4.16 [[ 9.98286139e-01 -5.80632847e-02 -7.31031291e-03 1.44866111e+02] [-5.80626152e-02 -9.98312897e-01 3.03954434e-04 -1.24236773e+02] [-7.31562825e-03 1.21022387e-04 -9.99973233e-01 -4.15519882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.014350271773766242 Centerline is valid? [True, True] Translation: X:144.89, Y:-124.24, Z:-4.16 [[ 9.99797561e-01 1.85892174e-02 -7.69918819e-03 1.44894815e+02] [ 1.85875870e-02 -9.99827196e-01 -2.83272257e-04 -1.24244600e+02] [-7.70312354e-03 1.40105582e-04 -9.99970321e-01 -4.15530816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.014393230019017192 Centerline is valid? [True, True] Translation: X:144.92, Y:-124.25, Z:-4.15 [[ 9.95036004e-01 9.88890902e-02 -1.11489559e-02 1.44923055e+02] [ 9.88808515e-02 -9.95098445e-01 -1.28914122e-03 -1.24249743e+02] [-1.12217907e-02 1.80323677e-04 -9.99937018e-01 -4.15153169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.014187292157784706 Centerline is valid? [True, True] Translation: X:144.95, Y:-124.25, Z:-4.15 [[ 9.83608304e-01 1.79943667e-01 -1.16181345e-02 1.44951660e+02] [ 1.79929331e-01 -9.83676906e-01 -2.27626018e-03 -1.24250251e+02] [-1.18380891e-02 1.48505253e-04 -9.99929916e-01 -4.15050711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.013418670381046658 Centerline is valid? [True, True] Translation: X:144.98, Y:-124.25, Z:-4.15 [[ 9.65977244e-01 2.58370602e-01 -1.15150884e-02 1.44981599e+02] [ 2.58350692e-01 -9.66045867e-01 -3.20987879e-03 -1.24252207e+02] [-1.19534419e-02 1.25738808e-04 -9.99928547e-01 -4.15109679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.012882689599632536 Centerline is valid? [True, True] Translation: X:145.01, Y:-124.25, Z:-4.15 [[ 9.41502797e-01 3.36861802e-01 -9.82896274e-03 1.45011662e+02] [ 3.36842672e-01 -9.41554099e-01 -3.59065684e-03 -1.24250967e+02] [-1.04640553e-02 6.97993789e-05 -9.99945248e-01 -4.15179508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.012508028776377664 Centerline is valid? [True, True] Translation: X:145.04, Y:-124.25, Z:-4.15 [[ 9.10972204e-01 4.12394497e-01 -7.77321471e-03 1.45042400e+02] [ 4.12379199e-01 -9.11005366e-01 -3.55227705e-03 -1.24249658e+02] [-8.54637982e-03 3.05135962e-05 -9.99963479e-01 -4.15422581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.012305975877966774 Centerline is valid? [True, True] Translation: X:145.07, Y:-124.25, Z:-4.16 [[ 8.73024821e-01 4.87647580e-01 -5.24404299e-03 1.45074614e+02] [ 4.87638879e-01 -8.73040570e-01 -2.91308301e-03 -1.24248004e+02] [-5.99882016e-03 -1.40054681e-05 -9.99982007e-01 -4.15596434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.013486860832616639 Centerline is valid? [True, True] Translation: X:145.11, Y:-124.25, Z:-4.15 [[ 8.26732400e-01 5.62568461e-01 -5.50144987e-03 1.45106214e+02] [ 5.62556645e-01 -8.26750700e-01 -3.64704496e-03 -1.24245236e+02] [-6.60004000e-03 -7.97469465e-05 -9.99978216e-01 -4.15432663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.015375674577743513 Centerline is valid? [True, True] Translation: X:145.14, Y:-124.24, Z:-4.15 [[ 7.73871859e-01 6.33311731e-01 -6.21268543e-03 1.45139403e+02] [ 6.33293118e-01 -7.73896777e-01 -4.85858188e-03 -1.24240433e+02] [-7.88497413e-03 -1.74531136e-04 -9.99968898e-01 -4.15300505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.01860529253430097 Centerline is valid? [True, True] Translation: X:145.17, Y:-124.23, Z:-4.15 [[ 7.17080350e-01 6.96963070e-01 -6.18479006e-03 1.45170213e+02] [ 6.96940043e-01 -7.17106980e-01 -5.67067887e-03 -1.24231912e+02] [-8.38740987e-03 -2.44095460e-04 -9.99964795e-01 -4.15135285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.018837684425565708 Centerline is valid? [True, True] Translation: X:145.20, Y:-124.21, Z:-4.15 [[ 6.58814047e-01 7.52282660e-01 -5.90346943e-03 1.45195640e+02] [ 7.52256055e-01 -6.58840441e-01 -6.33253432e-03 -1.24214903e+02] [-8.65330017e-03 -2.68958065e-04 -9.99962523e-01 -4.15109517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.01948907355770427 Centerline is valid? [True, True] Translation: X:145.22, Y:-124.20, Z:-4.15 [[ 5.97986897e-01 8.01488129e-01 -5.33388875e-03 1.45217017e+02] [ 8.01460123e-01 -5.98010626e-01 -6.70532153e-03 -1.24195043e+02] [-8.56395776e-03 -2.65204723e-04 -9.99963294e-01 -4.15035942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.01782009504083004 Centerline is valid? [True, True] Translation: X:145.23, Y:-124.17, Z:-4.15 [[ 5.36505077e-01 8.43884469e-01 -4.61575198e-03 1.45234051e+02] [ 8.43856771e-01 -5.36524885e-01 -6.84082846e-03 -1.24170651e+02] [-8.24933469e-03 -2.24894359e-04 -9.99965948e-01 -4.15073672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.017049602768837175 Centerline is valid? [True, True] Translation: X:145.25, Y:-124.15, Z:-4.15 [[ 4.71578255e-01 8.81814510e-01 -4.13751716e-03 1.45250093e+02] [ 8.81784258e-01 -4.71596362e-01 -7.30713085e-03 -1.24145878e+02] [-8.39477205e-03 -2.02513476e-04 -9.99964743e-01 -4.15015179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.01617397026289129 Centerline is valid? [True, True] Translation: X:145.26, Y:-124.12, Z:-4.15 [[ 4.05081004e-01 9.14272735e-01 -3.83996686e-03 1.45258989e+02] [ 9.14235758e-01 -4.05099165e-01 -8.22473554e-03 -1.24119542e+02] [-9.07521883e-03 -1.78950879e-04 -9.99958803e-01 -4.14867230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:145.26, Y:-124.09, Z:-4.15 [[ 3.34616080e-01 9.42348752e-01 -3.30280704e-03 1.45264965e+02] [ 9.42307509e-01 -3.34632340e-01 -8.81787317e-03 -1.24092719e+02] [-9.41473782e-03 -1.61657727e-04 -9.99955667e-01 -4.14793675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:145.27, Y:-124.07, Z:-4.15 [[ 2.59798193e-01 9.65659426e-01 -2.60216845e-03 1.45273605e+02] [ 9.65617036e-01 -2.59811174e-01 -9.04947035e-03 -1.24067341e+02] [-9.41477879e-03 -1.61662134e-04 -9.99955667e-01 -4.14793600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.015584954852347909 Centerline is valid? [True, True] Translation: X:145.28, Y:-124.04, Z:-4.15 [[ 1.83781540e-01 9.82965188e-01 -1.94571773e-03 1.45278658e+02] [ 9.82919103e-01 -1.83791767e-01 -9.51961092e-03 -1.24040823e+02] [-9.71505304e-03 -1.62954373e-04 -9.99952795e-01 -4.14758694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.014218420431810014 Centerline is valid? [True, True] Translation: X:145.29, Y:-124.01, Z:-4.15 [[ 1.06914976e-01 9.94267447e-01 -1.19687302e-03 1.45285066e+02] [ 9.94220469e-01 -1.06921560e-01 -9.66636907e-03 -1.24014524e+02] [-9.73892762e-03 -1.56476041e-04 -9.99952563e-01 -4.14894125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.014187162304741482 Centerline is valid? [True, True] Translation: X:145.29, Y:-123.99, Z:-4.15 [[ 2.91833944e-02 9.99573985e-01 -4.22684428e-04 1.45292938e+02] [ 9.99529533e-01 -2.91860833e-02 -9.42793400e-03 -1.23988265e+02] [-9.43625406e-03 -1.47346452e-04 -9.99955467e-01 -4.14900033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.014339199854047042 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.96, Z:-4.15 [[-4.95419049e-02 9.98772001e-01 3.00783872e-04 1.45299097e+02] [ 9.98731988e-01 4.95426129e-02 -8.94128053e-03 -1.23961852e+02] [-8.94520226e-03 -1.42565596e-04 -9.99959981e-01 -4.14899786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.014750833463657418 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.94, Z:-4.15 [[-1.28981954e-01 9.91646358e-01 1.07574016e-03 1.45302691e+02] [ 9.91600271e-01 1.28986332e-01 -9.56186591e-03 -1.23935277e+02] [-9.62074528e-03 -1.66603916e-04 -9.99953706e-01 -4.14872378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.015185366704171218 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.91, Z:-4.15 [[-2.07038811e-01 9.78330812e-01 1.93725033e-03 1.45304739e+02] [ 9.78279206e-01 2.07047791e-01 -1.00502536e-02 -1.23908145e+02] [-1.02335762e-02 -1.85620853e-04 -9.99947618e-01 -4.14736601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.01472231552179143 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.88, Z:-4.15 [[-2.81489605e-01 9.59560626e-01 2.64725722e-03 1.45303207e+02] [ 9.59512545e-01 2.81502005e-01 -9.60719882e-03 -1.23881349e+02] [-9.96389793e-03 -1.64250092e-04 -9.99950346e-01 -4.14720613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.014232053191767256 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.85, Z:-4.15 [[-3.55170871e-01 9.34797892e-01 2.56022239e-03 1.45302359e+02] [ 9.34771153e-01 3.55180078e-01 -7.07128753e-03 -1.23854525e+02] [-7.51956466e-03 -1.18293312e-04 -9.99971721e-01 -4.15019679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.014273761281540285 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.83, Z:-4.15 [[-4.27853636e-01 9.03843981e-01 2.70639879e-03 1.45301488e+02] [ 9.03824287e-01 4.27862183e-01 -5.96754290e-03 -1.23826136e+02] [-6.55169342e-03 -1.07125973e-04 -9.99978532e-01 -4.15133615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.01571840326657132 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.80, Z:-4.15 [[-4.98669696e-01 8.66786696e-01 3.05922312e-03 1.45299785e+02] [ 8.66768970e-01 4.98679067e-01 -5.54451019e-03 -1.23798239e+02] [-6.33147819e-03 -1.13239541e-04 -9.99979950e-01 -4.14979999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.015146489989455583 Centerline is valid? [True, True] Translation: X:145.29, Y:-123.77, Z:-4.15 [[-5.66121319e-01 8.24307871e-01 4.81512182e-03 1.45292014e+02] [ 8.24275491e-01 5.66141771e-01 -7.30818557e-03 -1.23771326e+02] [-8.75023648e-03 -1.68332752e-04 -9.99961702e-01 -4.14870596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.01661276606523883 Centerline is valid? [True, True] Translation: X:145.28, Y:-123.74, Z:-4.15 [[-6.29385750e-01 7.77067441e-01 6.30623994e-03 1.45284931e+02] [ 7.77025159e-01 6.29417310e-01 -8.10875470e-03 -1.23744042e+02] [-1.02703058e-02 -2.03427569e-04 -9.99947238e-01 -4.14601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.015568509561835671 Centerline is valid? [True, True] Translation: X:145.27, Y:-123.72, Z:-4.15 [[-6.88136741e-01 7.25549710e-01 6.74116218e-03 1.45270529e+02] [ 7.25512082e-01 6.88169732e-01 -7.39179296e-03 -1.23720346e+02] [-1.00021770e-02 -1.95769706e-04 -9.99949958e-01 -4.14758044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.015141534073576837 Centerline is valid? [True, True] Translation: X:145.25, Y:-123.70, Z:-4.15 [[-7.41276006e-01 6.71171849e-01 6.18323060e-03 1.45254978e+02] [ 6.71146851e-01 7.41301779e-01 -5.79452208e-03 -1.23698444e+02] [-8.47275994e-03 -1.45484440e-04 -9.99964095e-01 -4.14817184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.013804151127227889 Centerline is valid? [True, True] Translation: X:145.27, Y:-123.68, Z:-4.15 [[-7.84442449e-01 6.20163970e-01 6.83339235e-03 1.45273525e+02] [ 6.20139141e-01 7.84472203e-01 -5.55060212e-03 -1.23683747e+02] [-8.80288979e-03 -1.16473860e-04 -9.99961247e-01 -4.14799757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.013395037361702292 Centerline is valid? [True, True] Translation: X:145.30, Y:-123.67, Z:-4.15 [[-8.24740205e-01 5.65451767e-01 8.23973202e-03 1.45295617e+02] [ 5.65422270e-01 8.24781358e-01 -5.77654222e-03 -1.23668702e+02] [-1.00623334e-02 -1.05218629e-04 -9.99949368e-01 -4.14694582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.012874870520861014 Centerline is valid? [True, True] Translation: X:145.32, Y:-123.65, Z:-4.15 [[-8.60747225e-01 5.08956207e-01 8.82006227e-03 1.45315177e+02] [ 5.08928670e-01 8.60792411e-01 -5.29472487e-03 -1.23652018e+02] [-1.02870258e-02 -6.86371761e-05 -9.99947085e-01 -4.14640167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.012645323800623292 Centerline is valid? [True, True] Translation: X:145.33, Y:-123.63, Z:-4.15 [[-8.93258971e-01 4.49457238e-01 8.75224097e-03 1.45326612e+02] [ 4.49435274e-01 8.93301847e-01 -4.44348692e-03 -1.23630951e+02] [-9.81555038e-03 -3.56187379e-05 -9.99951826e-01 -4.14767782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.01246491523147921 Centerline is valid? [True, True] Translation: X:145.35, Y:-123.61, Z:-4.15 [[-9.21844786e-01 3.87462114e-01 8.67756982e-03 1.45345617e+02] [ 3.87444847e-01 9.21885627e-01 -3.65797059e-03 -1.23612730e+02] [-9.41705192e-03 -1.00014096e-05 -9.99955659e-01 -4.14840708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.01242411641474591 Centerline is valid? [True, True] Translation: X:145.36, Y:-123.59, Z:-4.15 [[-9.46629923e-01 3.22220162e-01 8.12137581e-03 1.45356135e+02] [ 3.22208307e-01 9.46664760e-01 -2.76390140e-03 -1.23588233e+02] [-8.57880503e-03 3.82986036e-07 -9.99963201e-01 -4.14845888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.012278043888873201 Centerline is valid? [True, True] Translation: X:145.60, Y:-122.88, Z:-5.10 [[-9.23187291e-01 -3.84287880e-01 6.93186768e-03 1.45602902e+02] [ 3.84276530e-01 -9.23213313e-01 -2.95411081e-03 -1.22882299e+02] [ 7.53482150e-03 -6.34435017e-05 9.99971611e-01 -5.10400655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.012254089899288795 Centerline is valid? [True, True] Translation: X:145.31, Y:-123.57, Z:-4.15 [[-9.47582256e-01 3.19429698e-01 7.24815994e-03 1.45305467e+02] [ 3.19420403e-01 9.47609977e-01 -2.43683668e-03 -1.23570802e+02] [-7.64682668e-03 6.10697438e-06 -9.99970763e-01 -4.14856195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.012441364632741434 Centerline is valid? [True, True] Translation: X:145.32, Y:-123.54, Z:-4.15 [[-9.68584082e-01 2.48541029e-01 8.49898641e-03 1.45320648e+02] [ 2.48531284e-01 9.68621369e-01 -2.20091357e-03 -1.23543251e+02] [-8.77931718e-03 -1.95058452e-05 -9.99961461e-01 -4.14622419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.012451955974439613 Centerline is valid? [True, True] Translation: X:145.51, Y:-122.83, Z:-5.11 [[-9.47400353e-01 -3.19926747e-01 8.91332395e-03 1.45513290e+02] [ 3.19913187e-01 -9.47442279e-01 -2.94617553e-03 -1.22832499e+02] [ 9.38742031e-03 6.02821302e-05 9.99955935e-01 -5.10637841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.01263327140242718 Centerline is valid? [True, True] Translation: X:145.28, Y:-123.53, Z:-4.15 [[-9.70542767e-01 2.40737641e-01 9.59816472e-03 1.45277315e+02] [ 2.40725208e-01 9.70590225e-01 -2.44751171e-03 -1.23527736e+02] [-9.90509305e-03 -6.48945914e-05 -9.99950941e-01 -4.14526925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.012553890669178287 Centerline is valid? [True, True] Translation: X:145.28, Y:-123.50, Z:-4.15 [[-9.85045750e-01 1.72043972e-01 9.25972787e-03 1.45281512e+02] [ 1.72035840e-01 9.85089269e-01 -1.67366890e-03 -1.23501951e+02] [-9.40960321e-03 -5.56353765e-05 -9.99955727e-01 -4.14606527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.01253087443757347 Centerline is valid? [True, True] Translation: X:145.29, Y:-123.48, Z:-4.15 [[-9.94611266e-01 1.03384561e-01 7.74993558e-03 1.45286840e+02] [ 1.03381162e-01 9.94641459e-01 -8.38931042e-04 -1.23477339e+02] [-7.79513975e-03 -3.32129199e-05 -9.99969617e-01 -4.14755093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.012462484053425055 Centerline is valid? [True, True] Translation: X:145.38, Y:-122.75, Z:-5.10 [[-9.83901313e-01 -1.78588091e-01 6.67078030e-03 1.45375457e+02] [ 1.78583742e-01 -9.83923926e-01 -1.24680799e-03 -1.22748468e+02] [ 6.78620540e-03 -3.54431085e-05 9.99976973e-01 -5.10456099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.012534038026831049 Centerline is valid? [True, True] Translation: X:145.24, Y:-123.47, Z:-4.15 [[-9.95057866e-01 9.90363717e-02 7.18611825e-03 1.45237414e+02] [ 9.90335470e-02 9.95083814e-01 -7.48728997e-04 -1.23472175e+02] [-7.22494135e-03 -3.33618988e-05 -9.99973899e-01 -4.14754047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.012664806453323747 Centerline is valid? [True, True] Translation: X:145.24, Y:-123.44, Z:-4.15 [[-9.99597713e-01 2.70734558e-02 8.45226673e-03 1.45240481e+02] [ 2.70720761e-02 9.99633446e-01 -2.77626988e-04 -1.23444370e+02] [-8.45668484e-03 -4.86948943e-05 -9.99964240e-01 -4.14612090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.012824961062157334 Centerline is valid? [True, True] Translation: X:145.24, Y:-123.42, Z:-4.15 [[-9.98947875e-01 -4.50467983e-02 8.59816618e-03 1.45237773e+02] [-4.50456357e-02 9.98984876e-01 3.28922157e-04 -1.23416117e+02] [-8.60425486e-03 -5.87337716e-05 -9.99962981e-01 -4.14573672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.013025268596859927 Centerline is valid? [True, True] Translation: X:145.23, Y:-123.39, Z:-4.15 [[-9.93082749e-01 -1.17066475e-01 9.06061042e-03 1.45230512e+02] [-1.17062271e-01 9.93124078e-01 9.94747527e-04 -1.23388490e+02] [-9.11476196e-03 -7.27890238e-05 -9.99958457e-01 -4.14547587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.013201841557688058 Centerline is valid? [True, True] Translation: X:145.22, Y:-123.36, Z:-4.15 [[-9.81794105e-01 -1.89758705e-01 8.48347884e-03 1.45220923e+02] [-1.89752404e-01 9.81830752e-01 1.54890836e-03 -1.23361669e+02] [-8.62325926e-03 -8.90514085e-05 -9.99962815e-01 -4.14685734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.014381897114793634 Centerline is valid? [True, True] Translation: X:145.21, Y:-123.33, Z:-4.15 [[-9.65022400e-01 -2.62018807e-01 8.82680644e-03 1.45207293e+02] [-2.62008979e-01 9.65062760e-01 2.27252819e-03 -1.23332584e+02] [-9.11386731e-03 -1.19661937e-04 -9.99958461e-01 -4.14558070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.013910275146788728 Centerline is valid? [True, True] Translation: X:145.18, Y:-123.31, Z:-4.15 [[-9.43259670e-01 -3.31916549e-01 9.62286460e-03 1.45180764e+02] [-3.31900850e-01 9.43308742e-01 3.23147248e-03 -1.23313449e+02] [-1.01499115e-02 -1.45719282e-04 -9.99948478e-01 -4.14591160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.013874157846833306 Centerline is valid? [True, True] Translation: X:145.14, Y:-123.30, Z:-4.14 [[-9.17016570e-01 -3.98717762e-01 1.02350515e-02 1.45138323e+02] [-3.98694742e-01 9.17073674e-01 4.28707987e-03 -1.23301721e+02] [-1.10956312e-02 -1.49337945e-04 -9.99938430e-01 -4.14488033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.013097028971055044 Centerline is valid? [True, True] Translation: X:145.08, Y:-123.30, Z:-4.15 [[-8.86771921e-01 -4.62131296e-01 8.37999910e-03 1.45078279e+02] [-4.62111668e-01 8.86811511e-01 4.26027673e-03 -1.23304925e+02] [-9.40028687e-03 -9.46015815e-05 -9.99955812e-01 -4.14725644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.013143240068792666 Centerline is valid? [True, True] Translation: X:145.01, Y:-123.32, Z:-4.15 [[-8.51580994e-01 -5.24171043e-01 7.38436223e-03 1.45006984e+02] [-5.24151986e-01 8.51613007e-01 4.47014080e-03 -1.23315457e+02] [-8.63173728e-03 -6.38411835e-05 -9.99962744e-01 -4.14688570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.012507769800759608 Centerline is valid? [True, True] Translation: X:144.94, Y:-123.33, Z:-4.15 [[-8.13430779e-01 -5.81611721e-01 7.62716064e-03 1.44941515e+02] [-5.81586310e-01 8.13466536e-01 5.43683479e-03 -1.23333511e+02] [-9.36656679e-03 -1.33634515e-05 -9.99956133e-01 -4.14676686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.012628162713225206 Centerline is valid? [True, True] Translation: X:144.86, Y:-123.37, Z:-4.15 [[-7.69512743e-01 -6.38582501e-01 7.90738932e-03 1.44859509e+02] [-6.38548551e-01 7.69553370e-01 6.58477897e-03 -1.23365892e+02] [-1.02900827e-02 1.78193322e-05 -9.99947056e-01 -4.14544392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.012883170406052044 Centerline is valid? [True, True] Translation: X:144.78, Y:-123.41, Z:-4.15 [[-7.21695141e-01 -6.92172021e-01 7.34953860e-03 1.44779239e+02] [-6.92135329e-01 7.21732561e-01 7.12714490e-03 -1.23406971e+02] [-1.02376116e-02 5.67505260e-05 -9.99947593e-01 -4.14655588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.01283116378918586 Centerline is valid? [True, True] Translation: X:144.69, Y:-123.46, Z:-4.15 [[-6.67286396e-01 -7.44772109e-01 6.58575799e-03 1.44694251e+02] [-7.44735000e-01 6.67318892e-01 7.43481903e-03 -1.23455066e+02] [-9.93204656e-03 5.65091190e-05 -9.99950674e-01 -4.14790087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.012648712045602696 Centerline is valid? [True, True] Translation: X:144.60, Y:-123.51, Z:-4.15 [[-6.06803715e-01 -7.94827834e-01 6.16156440e-03 1.44604911e+02] [-7.94786326e-01 6.06834996e-01 8.12298177e-03 -1.23514301e+02] [-1.01954249e-02 3.19283864e-05 -9.99948025e-01 -4.14781522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.012618762163458759 Centerline is valid? [True, True] Translation: X:144.52, Y:-123.59, Z:-4.15 [[-5.42244569e-01 -8.40197287e-01 6.27259751e-03 1.44518128e+02] [-8.40140978e-01 5.42280848e-01 9.72723093e-03 -1.23585955e+02] [-1.15743025e-02 4.67194423e-06 -9.99933016e-01 -4.14718499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.012572819906815014 Centerline is valid? [True, True] Translation: X:144.44, Y:-123.66, Z:-4.15 [[-4.75575669e-01 -8.79657138e-01 5.57696740e-03 1.44441126e+02] [-8.79596874e-01 4.75608368e-01 1.02965869e-02 -1.23658860e+02] [-1.17099185e-02 -8.67686661e-06 -9.99931437e-01 -4.14700074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.012528533197672017 Centerline is valid? [True, True] Translation: X:144.36, Y:-123.74, Z:-4.15 [[-4.05300164e-01 -9.14172535e-01 4.51143145e-03 1.44364635e+02] [-9.14116667e-01 4.05325271e-01 1.01066131e-02 -1.23742907e+02] [-1.10677853e-02 -2.77627575e-05 -9.99938750e-01 -4.14812301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.012602005769093396 Centerline is valid? [True, True] Translation: X:144.29, Y:-123.84, Z:-4.15 [[-3.31506086e-01 -9.43447302e-01 3.30189190e-03 1.44293664e+02] [-9.43402058e-01 3.31522525e-01 9.23967990e-03 -1.23835061e+02] [-9.81180262e-03 -5.20014908e-05 -9.99951862e-01 -4.14953543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.012813549203686938 Centerline is valid? [True, True] Translation: X:144.23, Y:-123.93, Z:-4.15 [[-2.55237761e-01 -9.66874888e-01 2.57606890e-03 1.44229276e+02] [-9.66828848e-01 2.55250747e-01 9.43582702e-03 -1.23932181e+02] [-9.78080771e-03 -8.22383643e-05 -9.99952163e-01 -4.14976736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.013094541500318871 Centerline is valid? [True, True] Translation: X:144.17, Y:-124.04, Z:-4.15 [[-1.77961471e-01 -9.84035919e-01 1.73903541e-03 1.44170388e+02] [-9.83994293e-01 1.77969939e-01 9.05167248e-03 -1.24037042e+02] [-9.21666688e-03 -1.00351972e-04 -9.99957521e-01 -4.14943691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.013250537031846832 Centerline is valid? [True, True] Translation: X:144.12, Y:-124.15, Z:-4.15 [[-1.00381344e-01 -9.94948575e-01 9.58553510e-04 1.44122185e+02] [-9.94912764e-01 1.00385864e-01 8.44221041e-03 -1.24145617e+02] [-8.49579044e-03 -1.06236699e-04 -9.99963905e-01 -4.15083456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.01364749082107521 Centerline is valid? [True, True] Translation: X:144.08, Y:-124.26, Z:-4.15 [[-2.27738267e-02 -9.99740586e-01 3.38390157e-04 1.44082168e+02] [-9.99697117e-01 2.27759924e-02 9.32352220e-03 -1.24263318e+02] [-9.32881071e-03 -1.25955385e-04 -9.99956478e-01 -4.15037102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.014198407603777833 Centerline is valid? [True, True] Translation: X:144.05, Y:-124.38, Z:-4.15 [[ 5.67944357e-02 -9.98385793e-01 -4.47810447e-04 1.44048810e+02] [-9.98324681e-01 -5.67959146e-02 1.10478953e-02 -1.24375478e+02] [-1.10554955e-02 -1.80398757e-04 -9.99938870e-01 -4.14857173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.014769095548291542 Centerline is valid? [True, True] Translation: X:143.39, Y:-124.51, Z:-5.10 [[-4.72066334e-02 9.98885104e-01 2.88330239e-04 1.43392759e+02] [-9.98808449e-01 -4.72065837e-02 1.23782373e-02 -1.24513049e+02] [ 1.23780480e-02 2.96348233e-04 9.99923345e-01 -5.10480308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.01579180274351035 Centerline is valid? [True, True] Translation: X:144.05, Y:-124.65, Z:-4.15 [[ 7.01971577e-02 -9.97532990e-01 -5.41105754e-04 1.44046464e+02] [-9.97473967e-01 -7.01988917e-02 1.08535681e-02 -1.24651973e+02] [-1.08647772e-02 -2.22150728e-04 -9.99940952e-01 -4.14846027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.013924216173300044 Centerline is valid? [True, True] Translation: X:144.03, Y:-124.76, Z:-4.15 [[ 1.43008904e-01 -9.89720809e-01 -1.08299693e-03 1.44031907e+02] [-9.89683999e-01 -1.43012927e-01 8.53727035e-03 -1.24755650e+02] [-8.60439668e-03 -1.49080947e-04 -9.99962970e-01 -4.15217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.01346474719999884 Centerline is valid? [True, True] Translation: X:144.02, Y:-124.88, Z:-4.15 [[ 2.15067291e-01 -9.76597698e-01 -1.73099798e-03 1.44024132e+02] [-9.76561467e-01 -2.15074224e-01 8.41301040e-03 -1.24876942e+02] [-8.58841964e-03 -1.18937429e-04 -9.99963112e-01 -4.15187221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.012664774143777442 Centerline is valid? [True, True] Translation: X:144.02, Y:-124.99, Z:-4.15 [[ 2.84272991e-01 -9.58739562e-01 -2.70538946e-03 1.44024708e+02] [-9.58693253e-01 -2.84285851e-01 9.42342499e-03 -1.24989512e+02] [-9.80371429e-03 -8.51865864e-05 -9.99951939e-01 -4.14982872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.012218992647879278 Centerline is valid? [True, True] Translation: X:144.04, Y:-125.10, Z:-4.15 [[ 3.53095890e-01 -9.35578899e-01 -3.92640815e-03 1.44035510e+02] [-9.35519409e-01 -3.53117716e-01 1.05505165e-02 -1.25101324e+02] [-1.12573249e-02 -5.21129786e-05 -9.99936633e-01 -4.14950555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.012154055058195121 Centerline is valid? [True, True] Translation: X:144.05, Y:-125.21, Z:-4.15 [[ 4.18290012e-01 -9.08299930e-01 -4.97028829e-03 1.44054153e+02] [-9.08236275e-01 -4.18319540e-01 1.07532125e-02 -1.25209354e+02] [-1.18463109e-02 1.62347399e-05 -9.99929830e-01 -4.14956475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.012527944253693215 Centerline is valid? [True, True] Translation: X:144.08, Y:-125.32, Z:-4.15 [[ 4.82393905e-01 -8.75935161e-01 -5.80646980e-03 1.44082001e+02] [-8.75873513e-01 -4.82428843e-01 1.03923412e-02 -1.25320383e+02] [-1.19042256e-02 7.25310623e-05 -9.99929140e-01 -4.14955739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.0126414251345669 Centerline is valid? [True, True] Translation: X:144.12, Y:-125.43, Z:-4.15 [[ 5.47059134e-01 -8.37069572e-01 -6.39030204e-03 1.44116242e+02] [-8.37014199e-01 -5.47096450e-01 9.62839572e-03 -1.25427937e+02] [-1.15557486e-02 8.14717234e-05 -9.99933227e-01 -4.15009880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.012486428910997561 Centerline is valid? [True, True] Translation: X:144.16, Y:-125.53, Z:-4.15 [[ 6.08320132e-01 -7.93666965e-01 -6.27415243e-03 1.44157800e+02] [-7.93626180e-01 -6.08352481e-01 8.04640889e-03 -1.25532673e+02] [-1.02030651e-02 8.45391123e-05 -9.99947944e-01 -4.15204178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.012196172564698085 Centerline is valid? [True, True] Translation: X:144.20, Y:-125.63, Z:-4.15 [[ 6.68085606e-01 -7.44053913e-01 -6.73772225e-03 1.44199713e+02] [-7.44017096e-01 -6.68119577e-01 7.40207552e-03 -1.25629084e+02] [-1.00091474e-02 6.77604327e-05 -9.99949905e-01 -4.15194125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.011873331704627278 Centerline is valid? [True, True] Translation: X:144.25, Y:-125.73, Z:-4.15 [[ 7.25366789e-01 -6.88323483e-01 -7.33516414e-03 1.44250570e+02] [-6.88288675e-01 -7.25403875e-01 6.92224985e-03 -1.25725774e+02] [-1.00857036e-02 2.75402588e-05 -9.99949138e-01 -4.15140926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.011823917807425576 Centerline is valid? [True, True] Translation: X:144.27, Y:-125.76, Z:-4.15 [[ 7.79081471e-01 -6.26873734e-01 -7.83472359e-03 1.44270163e+02] [-6.26841954e-01 -7.79120865e-01 6.31212073e-03 -1.25757390e+02] [-1.00610993e-02 -6.52285636e-06 -9.99949386e-01 -4.15145860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.011969065633409616 Centerline is valid? [True, True] Translation: X:144.29, Y:-125.79, Z:-4.15 [[ 8.28920416e-01 -5.59320358e-01 -7.18897665e-03 1.44289944e+02] [-5.59298747e-01 -8.28951587e-01 4.91708007e-03 -1.25790673e+02] [-8.70953660e-03 -5.50824229e-05 -9.99962070e-01 -4.15184241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.012323765056636076 Centerline is valid? [True, True] Translation: X:144.31, Y:-125.82, Z:-4.15 [[ 8.71566783e-01 -4.90228634e-01 -6.87240862e-03 1.44313961e+02] [-4.90212731e-01 -8.71593874e-01 3.94925482e-03 -1.25817668e+02] [-7.92598705e-03 -7.30971219e-05 -9.99968586e-01 -4.15159911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.0127620245070531 Centerline is valid? [True, True] Translation: X:144.34, Y:-125.85, Z:-4.15 [[ 9.08873871e-01 -4.17009724e-01 -7.15377153e-03 1.44340100e+02] [-4.16995900e-01 -9.08902019e-01 3.39705271e-03 -1.25845647e+02] [-7.91868139e-03 -1.04399046e-04 -9.99968641e-01 -4.15101832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.013645292846401244 Centerline is valid? [True, True] Translation: X:144.37, Y:-125.87, Z:-4.15 [[ 9.40042219e-01 -3.40974277e-01 -7.56101256e-03 1.44369176e+02] [-3.40962059e-01 -9.40072616e-01 2.88977750e-03 -1.25870566e+02] [-8.09324065e-03 -1.38494443e-04 -9.99967240e-01 -4.15034525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.01548485715041348 Centerline is valid? [True, True] Translation: X:144.40, Y:-125.89, Z:-4.15 [[ 9.64721323e-01 -2.63141638e-01 -8.32157005e-03 1.44399980e+02] [-2.63130252e-01 -9.64757196e-01 2.45428295e-03 -1.25892141e+02] [-8.67411862e-03 -1.78042270e-04 -9.99962363e-01 -4.14940107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.017101503602918594 Centerline is valid? [True, True] Translation: X:144.43, Y:-125.91, Z:-4.15 [[ 9.83045476e-01 -1.83163137e-01 -8.53564459e-03 1.44434247e+02] [-1.83154353e-01 -9.83082509e-01 1.80635563e-03 -1.25907458e+02] [-8.72210066e-03 -2.12389270e-04 -9.99961939e-01 -4.14863297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.01779162507153139 Centerline is valid? [True, True] Translation: X:144.47, Y:-125.92, Z:-4.15 [[ 9.94413455e-01 -1.05211128e-01 -8.51469426e-03 1.44471027e+02] [-1.05205430e-01 -9.94449885e-01 1.11558996e-03 -1.25915394e+02] [-8.58480920e-03 -2.13565593e-04 -9.99963127e-01 -4.14802666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.015686668073623115 Centerline is valid? [True, True] Translation: X:144.50, Y:-125.92, Z:-4.15 [[ 9.99606591e-01 -2.67359539e-02 -8.47656872e-03 1.44504419e+02] [-2.67331779e-02 -9.99642508e-01 4.40641644e-04 -1.25921895e+02] [-8.48531939e-03 -2.13862672e-04 -9.99963976e-01 -4.14913990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.016643544437110754 Centerline is valid? [True, True] Translation: X:144.54, Y:-125.93, Z:-4.15 [[ 9.98648751e-01 5.12778022e-02 -8.44154503e-03 1.44536692e+02] [ 5.12777467e-02 -9.98684406e-01 -2.23147381e-04 -1.25927679e+02] [-8.44188189e-03 -2.10017555e-04 -9.99964345e-01 -4.14880696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.016420301976917327 Centerline is valid? [True, True] Translation: X:144.57, Y:-125.93, Z:-4.15 [[ 9.91536570e-01 1.29582008e-01 -7.98327423e-03 1.44570200e+02] [ 1.29579443e-01 -9.91568688e-01 -8.39946757e-04 -1.25928967e+02] [-8.02480674e-03 -2.01630299e-04 -9.99967780e-01 -4.14938513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.016977877228503243 Centerline is valid? [True, True] Translation: X:144.60, Y:-125.93, Z:-4.15 [[ 9.77922855e-01 2.08841131e-01 -7.22995683e-03 1.44603669e+02] [ 2.08836929e-01 -9.77949560e-01 -1.33974585e-03 -1.25929482e+02] [-7.35032714e-03 -1.99713894e-04 -9.99972966e-01 -4.15014231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.01791300245952924 Centerline is valid? [True, True] Translation: X:144.64, Y:-125.93, Z:-4.15 [[ 9.57418561e-01 2.88613162e-01 -7.22089297e-03 1.44638102e+02] [ 2.88606780e-01 -9.57445763e-01 -1.93345103e-03 -1.25929415e+02] [-7.47163280e-03 -2.32876765e-04 -9.99972060e-01 -4.15019796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.020091655954037124 Centerline is valid? [True, True] Translation: X:144.67, Y:-125.93, Z:-4.15 [[ 9.30550381e-01 3.66083987e-01 -7.64867723e-03 1.44671290e+02] [ 3.66074100e-01 -9.30581772e-01 -2.70533677e-03 -1.25927797e+02] [-8.10810008e-03 -2.82530473e-04 -9.99967089e-01 -4.14944010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.020797477474302155 Centerline is valid? [True, True] Translation: X:144.70, Y:-125.92, Z:-4.15 [[ 8.98166139e-01 4.39581625e-01 -8.09830778e-03 1.44704406e+02] [ 4.39567002e-01 -8.98202588e-01 -3.60026537e-03 -1.25919978e+02] [-8.85653151e-03 -3.26112427e-04 -9.99960727e-01 -4.14933005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.021654721252125076 Centerline is valid? [True, True] Translation: X:144.74, Y:-125.91, Z:-4.15 [[ 8.60206084e-01 5.09878652e-01 -8.32185144e-03 1.44736497e+02] [ 5.09858826e-01 -8.60246261e-01 -4.51093222e-03 -1.25909403e+02] [-9.45886962e-03 -3.62638072e-04 -9.99955198e-01 -4.14953521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.021640513670290303 Centerline is valid? [True, True] Translation: X:144.77, Y:-125.90, Z:-4.15 [[ 8.17009030e-01 5.76568476e-01 -8.06459832e-03 1.44768102e+02] [ 5.76544903e-01 -8.17048743e-01 -5.22745684e-03 -1.25897013e+02] [-9.60315675e-03 -3.78723615e-04 -9.99953817e-01 -4.14969668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.021583596525789644 Centerline is valid? [True, True] Translation: X:144.80, Y:-125.88, Z:-4.15 [[ 7.69065345e-01 6.39121822e-01 -7.86075840e-03 1.44797947e+02] [ 6.39093599e-01 -7.69105416e-01 -6.01927707e-03 -1.25882696e+02] [-9.89280319e-03 -3.94542976e-04 -9.99950987e-01 -4.14917429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.02293333234936421 Centerline is valid? [True, True] Translation: X:144.83, Y:-125.87, Z:-4.15 [[ 7.16011881e-01 6.98053692e-01 -6.93039883e-03 1.44825637e+02] [ 6.98026031e-01 -7.16045319e-01 -6.22585249e-03 -1.25865959e+02] [-9.30845896e-03 -3.79814431e-04 -9.99956603e-01 -4.14942694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.02291260965807092 Centerline is valid? [True, True] Translation: X:144.85, Y:-125.85, Z:-4.15 [[ 6.59023373e-01 7.52097673e-01 -6.10603801e-03 1.44851144e+02] [ 7.52070381e-01 -6.59051559e-01 -6.41753072e-03 -1.25845086e+02] [-8.85080379e-03 -3.62867591e-04 -9.99960765e-01 -4.15054126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.022590332004110078 Centerline is valid? [True, True] Translation: X:144.88, Y:-125.82, Z:-4.15 [[ 5.98651158e-01 8.00991435e-01 -5.43255665e-03 1.44875465e+02] [ 8.00963582e-01 -5.98675706e-01 -6.68879483e-03 -1.25823012e+02] [-8.61000706e-03 -3.47025263e-04 -9.99962873e-01 -4.15082018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.02104567907380188 Centerline is valid? [True, True] Translation: X:144.90, Y:-125.80, Z:-4.15 [[ 5.34516922e-01 8.45145709e-01 -4.51573901e-03 1.44898332e+02] [ 8.45120405e-01 -5.34535903e-01 -6.54746544e-03 -1.25798951e+02] [-7.94738695e-03 -3.16612109e-04 -9.99968369e-01 -4.15193022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.021867163215791338 Centerline is valid? [True, True] Translation: X:144.92, Y:-125.78, Z:-4.15 [[ 4.67211373e-01 8.84135176e-01 -4.30382189e-03 1.44920778e+02] [ 8.84104072e-01 -4.67231074e-01 -7.42381659e-03 -1.25776266e+02] [-8.57453672e-03 -3.36534917e-04 -9.99963181e-01 -4.15060574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.020369560046289634 Centerline is valid? [True, True] Translation: X:144.94, Y:-125.75, Z:-4.15 [[ 3.98214457e-01 9.17284531e-01 -3.78625213e-03 1.44939723e+02] [ 9.17250580e-01 -3.98232322e-01 -7.89884646e-03 -1.25750098e+02] [-8.75329765e-03 -3.27507102e-04 -9.99961636e-01 -4.15001698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.020810727485182562 Centerline is valid? [True, True] Translation: X:144.96, Y:-125.72, Z:-4.15 [[ 3.26618006e-01 9.45151070e-01 -3.18326999e-03 1.44956812e+02] [ 9.45115198e-01 -3.26633365e-01 -8.24057479e-03 -1.25724363e+02] [-8.82835027e-03 -3.17036739e-04 -9.99960979e-01 -4.14999521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.019407052013419673 Centerline is valid? [True, True] Translation: X:144.97, Y:-125.70, Z:-4.15 [[ 2.53003872e-01 9.67461879e-01 -2.56012067e-03 1.44971651e+02] [ 9.67423965e-01 -2.53016637e-01 -8.57055231e-03 -1.25696343e+02] [-8.93943576e-03 -3.08339165e-04 -9.99959995e-01 -4.14970084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.020553911276783843 Centerline is valid? [True, True] Translation: X:144.99, Y:-125.67, Z:-4.15 [[ 1.77347786e-01 9.84146240e-01 -1.98517753e-03 1.44987407e+02] [ 9.84103021e-01 -1.77358613e-01 -9.22861189e-03 -1.25669097e+02] [-9.43439202e-03 -3.16945319e-04 -9.99955445e-01 -4.14782525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.01978619177196153 Centerline is valid? [True, True] Translation: X:145.00, Y:-125.64, Z:-4.15 [[ 9.98776525e-02 9.94998892e-01 -1.28790339e-03 1.44997217e+02] [ 9.94952685e-01 -9.98854331e-02 -9.59457566e-03 -1.25638789e+02] [-9.67523495e-03 -3.23119245e-04 -9.99953142e-01 -4.14737430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.01977603220786621 Centerline is valid? [True, True] Translation: X:145.00, Y:-125.61, Z:-4.15 [[ 2.19789896e-02 9.99758287e-01 -5.40386815e-04 1.45004839e+02] [ 9.99710225e-01 -2.19832346e-02 -9.80836077e-03 -1.25607724e+02] [-9.81786941e-03 -3.24652365e-04 -9.99951751e-01 -4.14755190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.02013992254419592 Centerline is valid? [True, True] Translation: X:145.01, Y:-125.58, Z:-4.15 [[-5.43981072e-02 9.98519304e-01 2.12199197e-04 1.45008634e+02] [ 9.98478258e-01 5.43977960e-02 -9.05801426e-03 -1.25577272e+02] [-9.05614526e-03 -2.80862546e-04 -9.99958953e-01 -4.14804208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.01748059567422677 Centerline is valid? [True, True] Translation: X:145.01, Y:-125.55, Z:-4.15 [[-1.30053440e-01 9.91506636e-01 8.32855374e-04 1.45008852e+02] [ 9.91473166e-01 1.30055896e-01 -8.15011551e-03 -1.25545422e+02] [-8.18921136e-03 -2.34196806e-04 -9.99966440e-01 -4.14926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.01673945513009089 Centerline is valid? [True, True] Translation: X:145.01, Y:-125.51, Z:-4.15 [[-2.03042378e-01 9.79169061e-01 1.32011964e-03 1.45007910e+02] [ 9.79142289e-01 2.03046592e-01 -7.24296246e-03 -1.25514926e+02] [-7.36013054e-03 -1.78043356e-04 -9.99972898e-01 -4.14979407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.014297069414362014 Centerline is valid? [True, True] Translation: X:145.00, Y:-125.48, Z:-4.15 [[-2.73217757e-01 9.61950740e-01 1.68295048e-03 1.45003557e+02] [ 9.61929729e-01 2.73222914e-01 -6.35885110e-03 -1.25484346e+02] [-6.57672216e-03 -1.18470928e-04 -9.99978366e-01 -4.15032981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.012746990666855475 Centerline is valid? [True, True] Translation: X:145.00, Y:-125.45, Z:-4.15 [[-3.40257568e-01 9.40329325e-01 2.35543968e-03 1.44996314e+02] [ 9.40305317e-01 3.40265713e-01 -6.71973903e-03 -1.25454880e+02] [-7.12024303e-03 -7.16096098e-05 -9.99974648e-01 -4.14927769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.012203431999542769 Centerline is valid? [True, True] Translation: X:144.99, Y:-125.43, Z:-4.15 [[-4.05712273e-01 9.13994471e-01 3.41440832e-03 1.44985965e+02] [ 9.13961711e-01 4.05726640e-01 -7.73850872e-03 -1.25427055e+02] [-8.45827060e-03 -1.89694937e-05 -9.99964228e-01 -4.14795099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.012450684982722594 Centerline is valid? [True, True] Translation: X:144.98, Y:-125.40, Z:-4.15 [[-4.70887431e-01 8.82182538e-01 4.35855891e-03 1.44975350e+02] [ 8.82145402e-01 4.70907600e-01 -8.09455431e-03 -1.25400107e+02] [-9.19335298e-03 3.32588225e-05 -9.99957740e-01 -4.14717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.012734246686749167 Centerline is valid? [True, True] Translation: X:144.96, Y:-125.37, Z:-4.15 [[-5.36438472e-01 8.43924872e-01 4.95747544e-03 1.44963821e+02] [ 8.43889798e-01 5.36461376e-01 -7.69421304e-03 -1.25374651e+02] [-9.15283185e-03 5.60910641e-05 -9.99958110e-01 -4.14663173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.013040144669988277 Centerline is valid? [True, True] Translation: X:144.95, Y:-125.35, Z:-4.15 [[-5.98965852e-01 8.00756133e-01 5.43354623e-03 1.44950736e+02] [ 8.00724337e-01 5.98990492e-01 -7.13623545e-03 -1.25348719e+02] [-8.96902683e-03 7.64113595e-05 -9.99959775e-01 -4.14771433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.013054559532395166 Centerline is valid? [True, True] Translation: X:144.94, Y:-125.32, Z:-4.15 [[-6.59212376e-01 7.51933609e-01 5.90684721e-03 1.44936685e+02] [ 7.51904545e-01 6.59238835e-01 -6.61167269e-03 -1.25322638e+02] [-8.86556197e-03 8.28887986e-05 -9.99960697e-01 -4.14836602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.01309153898803301 Centerline is valid? [True, True] Translation: X:144.92, Y:-125.30, Z:-4.15 [[-7.16673101e-01 6.97378023e-01 6.60001077e-03 1.44921996e+02] [ 6.97349442e-01 7.16703486e-01 -6.31411483e-03 -1.25298649e+02] [-9.13357565e-03 7.73575745e-05 -9.99958285e-01 -4.14816559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.012669602749930751 Centerline is valid? [True, True] Translation: X:145.39, Y:-124.81, Z:-5.10 [[-6.77632568e-01 -7.35378745e-01 5.67494419e-03 1.45393316e+02] [ 7.35351566e-01 -6.77656321e-01 -6.32339118e-03 -1.24811999e+02] [ 8.49574927e-03 -1.11856704e-04 9.99963904e-01 -5.10389038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.012296292966104905 Centerline is valid? [True, True] Translation: X:145.35, Y:-124.77, Z:-5.10 [[-6.73539793e-01 -7.39132096e-01 5.28127939e-03 1.45351546e+02] [ 7.39109502e-01 -6.73560498e-01 -5.77913561e-03 -1.24772847e+02] [ 7.82880579e-03 1.09659791e-05 9.99969354e-01 -5.10338493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.01264563992181119 Centerline is valid? [True, True] Translation: X:145.31, Y:-124.73, Z:-5.10 [[-6.68989994e-01 -7.43251405e-01 5.45323977e-03 1.45308933e+02] [ 7.43227479e-01 -6.69012216e-01 -5.96393621e-03 -1.24732519e+02] [ 8.08098799e-03 6.31840053e-05 9.99967346e-01 -5.10369371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.013157559589325551 Centerline is valid? [True, True] Translation: X:145.27, Y:-124.69, Z:-5.10 [[-6.65942435e-01 -7.45981853e-01 5.63446452e-03 1.45267237e+02] [ 7.45956438e-01 -6.65966264e-01 -6.15862753e-03 -1.24691982e+02] [ 8.34658766e-03 1.01773663e-04 9.99965161e-01 -5.10393424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.014429130487448568 Centerline is valid? [True, True] Translation: X:145.22, Y:-124.65, Z:-5.10 [[-6.61074046e-01 -7.50297745e-01 5.86511255e-03 1.45224940e+02] [ 7.50270407e-01 -6.61100043e-01 -6.40705771e-03 -1.24652153e+02] [ 8.68462712e-03 1.64880818e-04 9.99962274e-01 -5.10392150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.016203324593070948 Centerline is valid? [True, True] Translation: X:145.18, Y:-124.61, Z:-5.10 [[-6.56863204e-01 -7.53985677e-01 6.02743890e-03 1.45183145e+02] [ 7.53956992e-01 -6.56890820e-01 -6.58060736e-03 -1.24611726e+02] [ 8.92105298e-03 2.21870866e-04 9.99960182e-01 -5.10479277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.01696371780876516 Centerline is valid? [True, True] Translation: X:145.14, Y:-124.57, Z:-5.11 [[-6.55095630e-01 -7.55520244e-01 6.23508702e-03 1.45143084e+02] [ 7.55489653e-01 -6.55125253e-01 -6.80345636e-03 -1.24570042e+02] [ 9.22491197e-03 2.53629198e-04 9.99957417e-01 -5.10543805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.01785035756756981 Centerline is valid? [True, True] Translation: X:145.10, Y:-124.53, Z:-5.11 [[-6.53688395e-01 -7.56738310e-01 6.21385199e-03 1.45103753e+02] [ 7.56708018e-01 -6.53717871e-01 -6.77646369e-03 -1.24527457e+02] [ 9.19011577e-03 2.72375950e-04 9.99957733e-01 -5.10593311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.019286831602251996 Centerline is valid? [True, True] Translation: X:145.07, Y:-124.49, Z:-5.11 [[-6.52737380e-01 -7.57559627e-01 6.10939956e-03 1.45065621e+02] [ 7.57530405e-01 -6.52765910e-01 -6.65974507e-03 -1.24485781e+02] [ 9.03316175e-03 2.80991375e-04 9.99959161e-01 -5.10580323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.018046519402472854 Centerline is valid? [True, True] Translation: X:145.03, Y:-124.44, Z:-5.11 [[-6.52097212e-01 -7.58109279e-01 6.28870063e-03 1.45028871e+02] [ 7.58078379e-01 -6.52127466e-01 -6.85126103e-03 -1.24440379e+02] [ 9.29503896e-03 2.99639761e-04 9.99956755e-01 -5.10537567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.01872033682758292 Centerline is valid? [True, True] Translation: X:144.99, Y:-124.40, Z:-5.11 [[-6.51546500e-01 -7.58580807e-01 6.50521420e-03 1.44991236e+02] [ 7.58547805e-01 -6.51578896e-01 -7.08309506e-03 -1.24396425e+02] [ 9.61176025e-03 3.19550160e-04 9.99953755e-01 -5.10661122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.018370355783970158 Centerline is valid? [True, True] Translation: X:144.96, Y:-124.35, Z:-5.11 [[-6.52505229e-01 -7.57755345e-01 6.61540584e-03 1.44956504e+02] [ 7.57721218e-01 -6.52538687e-01 -7.19843731e-03 -1.24350960e+02] [ 9.77146259e-03 3.15615382e-04 9.99952208e-01 -5.10659801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.018950284685936947 Centerline is valid? [True, True] Translation: X:144.92, Y:-124.31, Z:-5.11 [[-6.54240840e-01 -7.56265695e-01 5.57871131e-03 1.44920433e+02] [ 7.56241399e-01 -6.54264577e-01 -6.06712246e-03 -1.24306736e+02] [ 8.23830977e-03 2.49493152e-04 9.99966033e-01 -5.10640831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.01721605078960779 Centerline is valid? [True, True] Translation: X:144.89, Y:-124.26, Z:-5.11 [[-6.55308829e-01 -7.55342895e-01 5.23921162e-03 1.44885392e+02] [ 7.55321462e-01 -6.55329734e-01 -5.69463862e-03 -1.24259801e+02] [ 7.73481598e-03 2.25542012e-04 9.99970060e-01 -5.10508679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.017147424459525048 Centerline is valid? [True, True] Translation: X:144.85, Y:-124.22, Z:-5.11 [[-6.57170522e-01 -7.53723817e-01 5.22622660e-03 1.44849504e+02] [ 7.53702462e-01 -6.57191270e-01 -5.67743382e-03 -1.24215396e+02] [ 7.71384758e-03 2.07977710e-04 9.99970226e-01 -5.10591222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.01608919691120787 Centerline is valid? [True, True] Translation: X:144.81, Y:-124.17, Z:-5.11 [[-6.59567711e-01 -7.51627991e-01 5.07912735e-03 1.44814538e+02] [ 7.51607784e-01 -6.59587242e-01 -5.51450268e-03 -1.24169101e+02] [ 7.49498217e-03 1.80323743e-04 9.99971896e-01 -5.10596303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.014807748141330044 Centerline is valid? [True, True] Translation: X:144.78, Y:-124.12, Z:-5.11 [[-6.63529387e-01 -7.48138108e-01 4.25730307e-03 1.44779465e+02] [ 7.48123854e-01 -6.63543033e-01 -4.61967040e-03 -1.24122042e+02] [ 6.28105527e-03 1.19702920e-04 9.99980267e-01 -5.10552223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.01314157658310643 Centerline is valid? [True, True] Translation: X:144.75, Y:-124.07, Z:-5.10 [[-6.68337139e-01 -7.43849633e-01 3.63220533e-03 1.44745600e+02] [ 7.43839205e-01 -6.68347005e-01 -3.93921335e-03 -1.24074088e+02] [ 5.35775595e-03 6.90541438e-05 9.99985645e-01 -5.10491470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.012581478865828654 Centerline is valid? [True, True] Translation: X:144.71, Y:-124.03, Z:-5.10 [[-6.71587764e-01 -7.40918919e-01 3.00513850e-03 1.44709348e+02] [ 7.40911759e-01 -6.71594487e-01 -3.25732691e-03 -1.24028182e+02] [ 4.43164958e-03 3.89615547e-05 9.99990179e-01 -5.10470103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.012294630717236759 Centerline is valid? [True, True] Translation: X:144.67, Y:-123.98, Z:-5.10 [[-6.74465788e-01 -7.38302051e-01 2.44579693e-03 1.44673403e+02] [ 7.38297297e-01 -6.74470222e-01 -2.64946485e-03 -1.23982789e+02] [ 3.60572253e-03 1.87518685e-05 9.99993499e-01 -5.10463393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.012162793532010226 Centerline is valid? [True, True] Translation: X:144.64, Y:-123.94, Z:-5.10 [[-6.76132705e-01 -7.36776707e-01 2.15641296e-03 1.44636761e+02] [ 7.36773008e-01 -6.76136143e-01 -2.33450768e-03 -1.23938554e+02] [ 3.17803962e-03 1.03498774e-05 9.99994950e-01 -5.10429062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.012188500161381158 Centerline is valid? [True, True] Translation: X:144.60, Y:-123.90, Z:-5.10 [[-6.76355475e-01 -7.36573039e-01 1.85196721e-03 1.44598685e+02] [ 7.36570314e-01 -6.76358011e-01 -2.00364105e-03 -1.23895778e+02] [ 2.72842084e-03 8.93047143e-06 9.99996278e-01 -5.10440555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.012509988472176341 Centerline is valid? [True, True] Translation: X:144.56, Y:-123.85, Z:-5.11 [[-6.73683311e-01 -7.39016596e-01 2.29501185e-03 1.44557093e+02] [ 7.39012430e-01 -6.73687220e-01 -2.48156264e-03 -1.23854618e+02] [ 3.38003613e-03 2.42549524e-05 9.99994287e-01 -5.10593945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.013268325504115042 Centerline is valid? [True, True] Translation: X:144.52, Y:-123.81, Z:-5.11 [[-6.69830847e-01 -7.42508845e-01 2.69278268e-03 1.44515085e+02] [ 7.42503144e-01 -6.69836258e-01 -2.91001667e-03 -1.23814113e+02] [ 3.96443659e-03 5.01806752e-05 9.99992140e-01 -5.10699017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.014092020818351304 Centerline is valid? [True, True] Translation: X:144.47, Y:-123.77, Z:-5.11 [[-6.67240970e-01 -7.44837167e-01 2.66145523e-03 1.44473527e+02] [ 7.44831623e-01 -6.67246275e-01 -2.87454556e-03 -1.23772937e+02] [ 3.91691446e-03 6.43214445e-05 9.99992327e-01 -5.10705539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.014590188983627846 Centerline is valid? [True, True] Translation: X:144.43, Y:-123.73, Z:-5.11 [[-6.66195102e-01 -7.45773256e-01 2.51745323e-03 1.44432781e+02] [ 7.45768308e-01 -6.66199855e-01 -2.71748711e-03 -1.23732004e+02] [ 3.70375618e-03 6.70602347e-05 9.99993139e-01 -5.10726774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.014363197967624497 Centerline is valid? [True, True] Translation: X:144.39, Y:-123.69, Z:-5.11 [[-6.67625973e-01 -7.44494529e-01 1.85930875e-03 1.44392611e+02] [ 7.44491828e-01 -6.67628561e-01 -2.00593555e-03 -1.23689629e+02] [ 2.73473567e-03 4.50254949e-05 9.99996260e-01 -5.10657616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.014787169884518938 Centerline is valid? [True, True] Translation: X:144.35, Y:-123.65, Z:-5.11 [[-6.67253276e-01 -7.44828186e-01 2.00981535e-03 1.44352798e+02] [ 7.44825035e-01 -6.67256301e-01 -2.16697572e-03 -1.23648963e+02] [ 2.95508655e-03 5.10391431e-05 9.99995632e-01 -5.10681169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.015535223750346144 Centerline is valid? [True, True] Translation: X:144.31, Y:-123.61, Z:-5.11 [[-6.65923695e-01 -7.46014518e-01 2.82343142e-03 1.44310665e+02] [ 7.46008318e-01 -6.65929675e-01 -3.04256182e-03 -1.23608801e+02] [ 4.15000206e-03 8.01893193e-05 9.99991386e-01 -5.10863959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.014923789411223196 Centerline is valid? [True, True] Translation: X:144.27, Y:-123.57, Z:-5.11 [[-6.65536975e-01 -7.46359489e-01 2.83695239e-03 1.44271954e+02] [ 7.46353240e-01 -6.65543016e-01 -3.05518369e-03 -1.23566477e+02] [ 4.16837919e-03 8.40308951e-05 9.99991309e-01 -5.10874290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.01684520045281617 Centerline is valid? [True, True] Translation: X:144.23, Y:-123.53, Z:-5.11 [[-6.64803784e-01 -7.47011512e-01 3.11912540e-03 1.44230356e+02] [ 7.47003976e-01 -6.64811094e-01 -3.35706990e-03 -1.23527503e+02] [ 4.58139904e-03 9.82063020e-05 9.99989501e-01 -5.10936354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.017370880568731248 Centerline is valid? [True, True] Translation: X:144.19, Y:-123.49, Z:-5.11 [[-6.64875587e-01 -7.46946543e-01 3.36380000e-03 1.44190687e+02] [ 7.46937788e-01 -6.64884088e-01 -3.61817779e-03 -1.23486898e+02] [ 4.93912249e-03 1.06911249e-04 9.99987797e-01 -5.11024404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.015034632151244468 Centerline is valid? [True, True] Translation: X:144.15, Y:-123.44, Z:-5.11 [[-6.64971450e-01 -7.46863323e-01 2.85444430e-03 1.44152859e+02] [ 7.46857025e-01 -6.64977570e-01 -3.06854588e-03 -1.23442395e+02] [ 4.18992581e-03 9.13663758e-05 9.99991218e-01 -5.10948395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.01694649267987624 Centerline is valid? [True, True] Translation: X:144.11, Y:-123.40, Z:-5.11 [[-6.64656181e-01 -7.47144891e-01 2.58316022e-03 1.44111342e+02] [ 7.47139742e-01 -6.64661196e-01 -2.77505620e-03 -1.23403893e+02] [ 3.79029542e-03 8.55234063e-05 9.99992813e-01 -5.10975980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.015799244211247513 Centerline is valid? [True, True] Translation: X:144.07, Y:-123.36, Z:-5.11 [[-6.63994543e-01 -7.47732730e-01 2.64808042e-03 1.44072494e+02] [ 7.47727330e-01 -6.63999817e-01 -2.84319128e-03 -1.23360508e+02] [ 3.88427209e-03 9.21786094e-05 9.99992452e-01 -5.10953138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.016370464074320575 Centerline is valid? [True, True] Translation: X:144.03, Y:-123.32, Z:-5.11 [[-6.62757327e-01 -7.48829754e-01 2.59344595e-03 1.44030785e+02] [ 7.48824589e-01 -6.62762394e-01 -2.78295852e-03 -1.23319562e+02] [ 3.80280058e-03 9.76099472e-05 9.99992765e-01 -5.10966729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.01717567416856319 Centerline is valid? [True, True] Translation: X:143.99, Y:-123.28, Z:-5.11 [[-6.61344648e-01 -7.50078414e-01 2.37266831e-03 1.43988716e+02] [ 7.50074104e-01 -6.61348897e-01 -2.54461673e-03 -1.23278962e+02] [ 3.47782365e-03 9.68084007e-05 9.99993948e-01 -5.10902860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.01799283656208469 Centerline is valid? [True, True] Translation: X:143.95, Y:-123.24, Z:-5.11 [[-6.59878732e-01 -7.51367395e-01 2.66386508e-03 1.43947043e+02] [ 7.51361979e-01 -6.59884099e-01 -2.85531186e-03 -1.23238711e+02] [ 3.90323044e-03 1.17367372e-04 9.99992376e-01 -5.10952853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.019939585436166387 Centerline is valid? [True, True] Translation: X:143.90, Y:-123.20, Z:-5.11 [[-6.58140290e-01 -7.52890583e-01 2.66997942e-03 1.43904532e+02] [ 7.52885161e-01 -6.58145693e-01 -2.86018463e-03 -1.23199922e+02] [ 3.91064153e-03 1.27785148e-04 9.99992345e-01 -5.11041700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.02025203936768364 Centerline is valid? [True, True] Translation: X:143.86, Y:-123.16, Z:-5.11 [[-6.57064535e-01 -7.53829074e-01 2.81496712e-03 1.43863994e+02] [ 7.53823063e-01 -6.57070550e-01 -3.01372767e-03 -1.23158832e+02] [ 4.12146753e-03 1.41773564e-04 9.99991497e-01 -5.11054147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.01958808615199764 Centerline is valid? [True, True] Translation: X:143.82, Y:-123.12, Z:-5.11 [[-6.56563413e-01 -7.54264867e-01 2.99903489e-03 1.43823745e+02] [ 7.54258057e-01 -6.56570244e-01 -3.20897202e-03 -1.23116878e+02] [ 4.38949192e-03 1.55152610e-04 9.99990354e-01 -5.11145116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.02151068101593131 Centerline is valid? [True, True] Translation: X:143.78, Y:-123.08, Z:-5.11 [[-6.57011975e-01 -7.53875024e-01 2.77708380e-03 1.43782467e+02] [ 7.53869189e-01 -6.57017829e-01 -2.96951828e-03 -1.23078665e+02] [ 4.06323924e-03 1.42548840e-04 9.99991735e-01 -5.11142619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.02006921393018841 Centerline is valid? [True, True] Translation: X:143.74, Y:-123.03, Z:-5.11 [[-6.58353396e-01 -7.52706169e-01 2.05650033e-03 1.43744074e+02] [ 7.52702967e-01 -6.58356600e-01 -2.19785361e-03 -1.23034289e+02] [ 3.00824853e-03 1.00969514e-04 9.99995470e-01 -5.11081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.018704908595942565 Centerline is valid? [True, True] Translation: X:143.71, Y:-122.99, Z:-5.11 [[-6.59607760e-01 -7.51607677e-01 1.87151217e-03 1.43705279e+02] [ 7.51605024e-01 -6.59610409e-01 -1.99908981e-03 -1.22990386e+02] [ 2.73700016e-03 8.80228019e-05 9.99996251e-01 -5.11110097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.0177694367784682 Centerline is valid? [True, True] Translation: X:143.67, Y:-122.95, Z:-5.11 [[-6.62058895e-01 -7.49448511e-01 2.22465475e-03 1.43666834e+02] [ 7.49444754e-01 -6.62062626e-01 -2.37494113e-03 -1.22947036e+02] [ 3.25275686e-03 9.49049302e-05 9.99994705e-01 -5.11200061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.01686423555812104 Centerline is valid? [True, True] Translation: X:143.63, Y:-122.90, Z:-5.11 [[-6.64249260e-01 -7.47507970e-01 2.18064455e-03 1.43629016e+02] [ 7.47504354e-01 -6.64252834e-01 -2.32663838e-03 -1.22902985e+02] [ 3.18768005e-03 8.45734693e-05 9.99994916e-01 -5.11196751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.01577565444094754 Centerline is valid? [True, True] Translation: X:143.59, Y:-122.86, Z:-5.11 [[-6.67306788e-01 -7.44778735e-01 2.50743784e-03 1.43591715e+02] [ 7.44773940e-01 -6.67311494e-01 -2.67378018e-03 -1.22858517e+02] [ 3.66461671e-03 8.32426906e-05 9.99993282e-01 -5.11221046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.015250148005117484 Centerline is valid? [True, True] Translation: X:143.55, Y:-122.82, Z:-5.11 [[-6.70239665e-01 -7.42139843e-01 2.69170685e-03 1.43554304e+02] [ 7.42134300e-01 -6.70245066e-01 -2.86908765e-03 -1.22815527e+02] [ 3.93336749e-03 7.46316375e-05 9.99992262e-01 -5.11290683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.013999336886975015 Centerline is valid? [True, True] Translation: X:143.52, Y:-122.77, Z:-5.11 [[-6.72477815e-01 -7.40110651e-01 3.13258095e-03 1.43517266e+02] [ 7.40103131e-01 -6.72485107e-01 -3.33712523e-03 -1.22770826e+02] [ 4.57645596e-03 7.42902889e-05 9.99989525e-01 -5.11325173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.013553618462239896 Centerline is valid? [True, True] Translation: X:143.48, Y:-122.73, Z:-5.11 [[-6.74454313e-01 -7.38307666e-01 3.62909564e-03 1.43479388e+02] [ 7.38297559e-01 -6.74464073e-01 -3.86373961e-03 -1.22727156e+02] [ 5.30032320e-03 7.34366069e-05 9.99985951e-01 -5.11441808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.013677037341610705 Centerline is valid? [True, True] Translation: X:143.44, Y:-122.69, Z:-5.11 [[-6.75225023e-01 -7.37603714e-01 3.45400544e-03 1.43441100e+02] [ 7.37594559e-01 -6.75233854e-01 -3.67553558e-03 -1.22685613e+02] [ 5.04335010e-03 6.58420192e-05 9.99987280e-01 -5.11429825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.013521314555204778 Centerline is valid? [True, True] Translation: X:143.40, Y:-122.64, Z:-5.11 [[-6.75706122e-01 -7.37163319e-01 3.38781630e-03 1.43402056e+02] [ 7.37154518e-01 -6.75714612e-01 -3.60284142e-03 -1.22643481e+02] [ 4.94507952e-03 6.28820845e-05 9.99987771e-01 -5.11407723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.013455543947531687 Centerline is valid? [True, True] Translation: X:143.36, Y:-122.60, Z:-5.11 [[-6.76808901e-01 -7.36152228e-01 3.09989833e-03 1.43362677e+02] [ 7.36144857e-01 -6.76815998e-01 -3.29461516e-03 -1.22601328e+02] [ 4.52339907e-03 5.21493455e-05 9.99989768e-01 -5.11416299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.013047331854812902 Centerline is valid? [True, True] Translation: X:143.33, Y:-122.56, Z:-5.11 [[-6.77915303e-01 -7.35135210e-01 2.65805504e-03 1.43325082e+02] [ 7.35129790e-01 -6.77920513e-01 -2.82321304e-03 -1.22558310e+02] [ 3.87739335e-03 4.01161203e-05 9.99992482e-01 -5.11386677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.01289662881178008 Centerline is valid? [True, True] Translation: X:143.29, Y:-122.52, Z:-5.11 [[-6.78680841e-01 -7.34427821e-01 2.84472628e-03 1.43285837e+02] [ 7.34421615e-01 -6.78686801e-01 -3.01956153e-03 -1.22516121e+02] [ 4.14832817e-03 3.99099090e-05 9.99991395e-01 -5.11421906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.012804502027282328 Centerline is valid? [True, True] Translation: X:143.25, Y:-122.47, Z:-5.11 [[-6.79438283e-01 -7.33726253e-01 3.06691100e-03 1.43246494e+02] [ 7.33719041e-01 -6.79445203e-01 -3.25333748e-03 -1.22474018e+02] [ 4.47085709e-03 3.98089685e-05 9.99990005e-01 -5.11467000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.012629682472996812 Centerline is valid? [True, True] Translation: X:143.21, Y:-122.43, Z:-5.11 [[-6.80645758e-01 -7.32609222e-01 2.25378156e-03 1.43207453e+02] [ 7.32605327e-01 -6.80649489e-01 -2.38927608e-03 -1.22432017e+02] [ 3.28444095e-03 2.48817436e-05 9.99994606e-01 -5.11390082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.012391894987185096 Centerline is valid? [True, True] Translation: X:143.17, Y:-122.39, Z:-5.11 [[-6.82896357e-01 -7.30512343e-01 2.06932414e-03 1.43169114e+02] [ 7.30509054e-01 -6.82899492e-01 -2.19233252e-03 -1.22389831e+02] [ 3.01466637e-03 1.45241237e-05 9.99995456e-01 -5.11354381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.012243965312837793 Centerline is valid? [True, True] Translation: X:143.13, Y:-122.35, Z:-5.11 [[-6.84898778e-01 -7.28634718e-01 2.26094834e-03 1.43130234e+02] [ 7.28630785e-01 -6.84902510e-01 -2.39381845e-03 -1.22348167e+02] [ 3.29274842e-03 7.87323616e-06 9.99994579e-01 -5.11424579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.012261790985206676 Centerline is valid? [True, True] Translation: X:143.09, Y:-122.31, Z:-5.12 [[-6.87670066e-01 -7.26018581e-01 2.62689178e-03 1.43092204e+02] [ 7.26013260e-01 -6.87675084e-01 -2.77942751e-03 -1.22307069e+02] [ 3.82436404e-03 -4.17083532e-06 9.99992687e-01 -5.11557225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.012396876502558973 Centerline is valid? [True, True] Translation: X:143.05, Y:-122.27, Z:-5.12 [[-6.89801379e-01 -7.23989186e-01 3.70341441e-03 1.43053241e+02] [ 7.23978596e-01 -6.89811320e-01 -3.91596077e-03 -1.22265339e+02] [ 5.38977043e-03 -2.00423724e-05 9.99985475e-01 -5.11670083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.012426644478592307 Centerline is valid? [True, True] Translation: X:143.01, Y:-122.22, Z:-5.12 [[-6.90932412e-01 -7.22906162e-01 4.36833578e-03 1.43013692e+02] [ 7.22891424e-01 -6.90946221e-01 -4.61611931e-03 -1.22223533e+02] [ 6.35530619e-03 -3.15939783e-05 9.99979804e-01 -5.11701078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.012462860918652143 Centerline is valid? [True, True] Translation: X:142.97, Y:-122.18, Z:-5.12 [[-6.90962746e-01 -7.22877893e-01 4.24681513e-03 1.42973322e+02] [ 7.22863977e-01 -6.90975797e-01 -4.48552667e-03 -1.22183988e+02] [ 6.17693454e-03 -2.94621568e-05 9.99980922e-01 -5.11720540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.012262323043509589 Centerline is valid? [True, True] Translation: X:142.93, Y:-122.14, Z:-5.12 [[-6.89608541e-01 -7.24170276e-01 4.18004139e-03 1.42930624e+02] [ 7.24156833e-01 -6.89621209e-01 -4.41250322e-03 -1.22144196e+02] [ 6.07804887e-03 -1.58943714e-05 9.99981528e-01 -5.11685872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.0121809647730001 Centerline is valid? [True, True] Translation: X:142.89, Y:-122.10, Z:-5.12 [[-6.88621336e-01 -7.25109607e-01 4.08826783e-03 1.42890315e+02] [ 7.25096781e-01 -6.88633471e-01 -4.31290326e-03 -1.22104157e+02] [ 5.94264566e-03 -5.56736030e-06 9.99982342e-01 -5.11712968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.012159120509357312 Centerline is valid? [True, True] Translation: X:142.85, Y:-122.06, Z:-5.12 [[-6.86826381e-01 -7.26808235e-01 4.39445130e-03 1.42848230e+02] [ 7.26793468e-01 -6.86840440e-01 -4.63302564e-03 -1.22064526e+02] [ 6.38560805e-03 1.17742640e-05 9.99979612e-01 -5.11640410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.012388577660526574 Centerline is valid? [True, True] Translation: X:142.80, Y:-122.03, Z:-5.12 [[-6.84368372e-01 -7.29126833e-01 3.74063226e-03 1.42804708e+02] [ 7.29116182e-01 -6.84378594e-01 -3.94129113e-03 -1.22026351e+02] [ 5.43370977e-03 3.00605173e-05 9.99985237e-01 -5.11613255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.012611783738484325 Centerline is valid? [True, True] Translation: X:142.76, Y:-121.99, Z:-5.12 [[-6.82607503e-01 -7.30775923e-01 3.68064620e-03 1.42763184e+02] [ 7.30765647e-01 -6.82617425e-01 -3.87564292e-03 -1.21987258e+02] [ 5.34469976e-03 4.41468650e-05 9.99985716e-01 -5.11561227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.01297590177731922 Centerline is valid? [True, True] Translation: X:142.72, Y:-121.95, Z:-5.12 [[-6.80628459e-01 -7.32620496e-01 3.47993619e-03 1.42720045e+02] [ 7.32611344e-01 -6.80637353e-01 -3.66221484e-03 -1.21947935e+02] [ 5.05158821e-03 5.68330835e-05 9.99987239e-01 -5.11592816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.013240343077235579 Centerline is valid? [True, True] Translation: X:142.68, Y:-121.91, Z:-5.12 [[-6.80071448e-01 -7.33136686e-01 3.66403435e-03 1.42678273e+02] [ 7.33126561e-01 -6.80081315e-01 -3.85351872e-03 -1.21909168e+02] [ 5.31699724e-03 6.55328518e-05 9.99985863e-01 -5.11720157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.01317885254095351 Centerline is valid? [True, True] Translation: X:142.64, Y:-121.87, Z:-5.12 [[-6.80769335e-01 -7.32485171e-01 4.31120303e-03 1.42638243e+02] [ 7.32471159e-01 -6.80782982e-01 -4.53130971e-03 -1.21867636e+02] [ 6.25411083e-03 7.30551830e-05 9.99980440e-01 -5.11751166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.012764234970241914 Centerline is valid? [True, True] Translation: X:142.60, Y:-121.82, Z:-5.12 [[-6.82481496e-01 -7.30882303e-01 5.48336754e-03 1.42598799e+02] [ 7.30859608e-01 -6.82503519e-01 -5.76023541e-03 -1.21824291e+02] [ 7.95247176e-03 7.63177680e-05 9.99968376e-01 -5.11870323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.012591629367561826 Centerline is valid? [True, True] Translation: X:142.56, Y:-121.78, Z:-5.12 [[-6.83859068e-01 -7.29587669e-01 6.21356645e-03 1.42559612e+02] [ 7.29558510e-01 -6.83887292e-01 -6.52317016e-03 -1.21782422e+02] [ 9.00860365e-03 7.22312167e-05 9.99959419e-01 -5.12006416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.012468985514734014 Centerline is valid? [True, True] Translation: X:142.52, Y:-121.74, Z:-5.12 [[-6.85260188e-01 -7.28265989e-01 6.86463074e-03 1.42521958e+02] [ 7.28230379e-01 -6.85294568e-01 -7.20211993e-03 -1.21739829e+02] [ 9.94935315e-03 6.37065850e-05 9.99950502e-01 -5.12039169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.012577303546914045 Centerline is valid? [True, True] Translation: X:142.48, Y:-121.70, Z:-5.12 [[-6.85747646e-01 -7.27808615e-01 6.69217460e-03 1.42484042e+02] [ 7.27774783e-01 -6.85780297e-01 -7.01778276e-03 -1.21698463e+02] [ 9.69696423e-03 5.79679047e-05 9.99952982e-01 -5.12084690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.012458284256073168 Centerline is valid? [True, True] Translation: X:142.45, Y:-121.66, Z:-5.12 [[-6.85402898e-01 -7.28133628e-01 6.65482832e-03 1.42445529e+02] [ 7.28100230e-01 -6.85435201e-01 -6.97420192e-03 -1.21656252e+02] [ 9.63960454e-03 6.52438252e-05 9.99953536e-01 -5.11937444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.012493038290668819 Centerline is valid? [True, True] Translation: X:142.41, Y:-121.61, Z:-5.12 [[-6.84224805e-01 -7.29245715e-01 6.09128465e-03 1.42406537e+02] [ 7.29217810e-01 -6.84251914e-01 -6.37999427e-03 -1.21613805e+02] [ 8.82055666e-03 7.65229174e-05 9.99961095e-01 -5.11857257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.012712542403621874 Centerline is valid? [True, True] Translation: X:142.37, Y:-121.57, Z:-5.12 [[-6.83884912e-01 -7.29567633e-01 5.70051173e-03 1.42367700e+02] [ 7.29543236e-01 -6.83908665e-01 -5.96691007e-03 -1.21571838e+02] [ 8.25189382e-03 7.80900106e-05 9.99965950e-01 -5.11832082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.012769564540063814 Centerline is valid? [True, True] Translation: X:142.33, Y:-121.53, Z:-5.12 [[-6.84126710e-01 -7.29344795e-01 5.17833747e-03 1.42330253e+02] [ 7.29324683e-01 -6.84146304e-01 -5.41675373e-03 -1.21529595e+02] [ 7.49342158e-03 7.09434294e-05 9.99971921e-01 -5.11852021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.012443207064891722 Centerline is valid? [True, True] Translation: X:142.29, Y:-121.49, Z:-5.12 [[-6.85082081e-01 -7.28450646e-01 4.71154487e-03 1.42292650e+02] [ 7.28433997e-01 -6.85098280e-01 -4.92533574e-03 -1.21485723e+02] [ 6.81573529e-03 5.77901980e-05 9.99976771e-01 -5.11816601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.012350798834317483 Centerline is valid? [True, True] Translation: X:142.26, Y:-121.44, Z:-5.12 [[-6.86484470e-01 -7.27130065e-01 4.57603344e-03 1.42256468e+02] [ 7.27114352e-01 -6.86499720e-01 -4.78051594e-03 -1.21442298e+02] [ 6.61750254e-03 4.55496317e-05 9.99978103e-01 -5.11748723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.012309481884474217 Centerline is valid? [True, True] Translation: X:142.22, Y:-121.40, Z:-5.12 [[-6.87543025e-01 -7.26124234e-01 5.30913163e-03 1.42218607e+02] [ 7.26103078e-01 -6.87563521e-01 -5.54290870e-03 -1.21399638e+02] [ 7.67520557e-03 4.39886059e-05 9.99970544e-01 -5.11833674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.012152174846388303 Centerline is valid? [True, True] Translation: X:142.18, Y:-121.36, Z:-5.12 [[-6.88273063e-01 -7.25426753e-01 6.01798471e-03 1.42180866e+02] [ 7.25399580e-01 -6.88299371e-01 -6.27898393e-03 -1.21356743e+02] [ 8.69711802e-03 4.37880707e-05 9.99962178e-01 -5.11899703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.01222478446113313 Centerline is valid? [True, True] Translation: X:142.14, Y:-121.31, Z:-5.12 [[-6.88498094e-01 -7.25213807e-01 5.94207955e-03 1.42141900e+02] [ 7.25187341e-01 -6.88523734e-01 -6.19590730e-03 -1.21314490e+02] [ 8.58462032e-03 4.32505008e-05 9.99963151e-01 -5.11911986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.012267040042056407 Centerline is valid? [True, True] Translation: X:142.10, Y:-121.27, Z:-5.12 [[-6.88336812e-01 -7.25367470e-01 5.87080107e-03 1.42103737e+02] [ 7.25341674e-01 -6.88361846e-01 -6.11760659e-03 -1.21273572e+02] [ 8.47874828e-03 4.73628550e-05 9.99964054e-01 -5.11906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.012686290493886669 Centerline is valid? [True, True] Translation: X:142.06, Y:-121.23, Z:-5.12 [[-6.85794159e-01 -7.27772192e-01 5.83167536e-03 1.42062017e+02] [ 7.27746853e-01 -6.85818949e-01 -6.07348443e-03 -1.21233345e+02] [ 8.41958654e-03 7.88232466e-05 9.99964552e-01 -5.11839962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.013706220134237636 Centerline is valid? [True, True] Translation: X:142.02, Y:-121.19, Z:-5.12 [[-6.82138258e-01 -7.31198446e-01 6.01907266e-03 1.42018317e+02] [ 7.31171615e-01 -6.82164801e-01 -6.26522441e-03 -1.21194289e+02] [ 8.68712186e-03 1.27225811e-04 9.99962258e-01 -5.11923332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.014319499442039817 Centerline is valid? [True, True] Translation: X:141.98, Y:-121.15, Z:-5.12 [[-6.79175422e-01 -7.33950566e-01 6.10847443e-03 1.41976431e+02] [ 7.33923074e-01 -6.79202870e-01 -6.35469067e-03 -1.21153596e+02] [ 8.81292218e-03 1.67200614e-04 9.99961152e-01 -5.11887145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.014492519874426605 Centerline is valid? [True, True] Translation: X:141.94, Y:-121.11, Z:-5.12 [[-6.78247608e-01 -7.34809435e-01 5.93945943e-03 1.41935825e+02] [ 7.34783509e-01 -6.78273590e-01 -6.17510295e-03 -1.21112748e+02] [ 8.56610238e-03 1.75968042e-04 9.99963295e-01 -5.11815198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.01461068849910003 Centerline is valid? [True, True] Translation: X:141.90, Y:-121.07, Z:-5.12 [[-6.79003325e-01 -7.34114244e-01 5.54635124e-03 1.41895025e+02] [ 7.34091644e-01 -6.79025958e-01 -5.76253723e-03 -1.21073639e+02] [ 7.99647713e-03 1.58748157e-04 9.99968015e-01 -5.11845487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.014188388866263573 Centerline is valid? [True, True] Translation: X:141.86, Y:-121.03, Z:-5.12 [[-6.80773089e-01 -7.32473747e-01 5.49649178e-03 1.41855010e+02] [ 7.32451523e-01 -6.80795263e-01 -5.70754711e-03 -1.21031723e+02] [ 7.92261399e-03 1.40369295e-04 9.99968606e-01 -5.11795860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.013561426223816613 Centerline is valid? [True, True] Translation: X:141.82, Y:-120.99, Z:-5.12 [[-6.81630151e-01 -7.31676722e-01 5.43252154e-03 1.41815684e+02] [ 7.31655012e-01 -6.81651786e-01 -5.63789496e-03 -1.20989324e+02] [ 7.82820451e-03 1.31772424e-04 9.99969351e-01 -5.11753306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.013894403225908314 Centerline is valid? [True, True] Translation: X:141.78, Y:-120.95, Z:-5.12 [[-6.81943399e-01 -7.31384922e-01 5.41270565e-03 1.41775889e+02] [ 7.31363390e-01 -6.81964867e-01 -5.61357279e-03 -1.20949456e+02] [ 7.79695758e-03 1.30515847e-04 9.99969595e-01 -5.11800036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.014028598951509354 Centerline is valid? [True, True] Translation: X:141.73, Y:-120.91, Z:-5.12 [[-6.81695542e-01 -7.31604945e-01 6.73738347e-03 1.41734251e+02] [ 7.31571634e-01 -6.81728814e-01 -6.98349566e-03 -1.20908621e+02] [ 9.70222840e-03 1.68260772e-04 9.99952918e-01 -5.12022751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.014367076552285491 Centerline is valid? [True, True] Translation: X:141.69, Y:-120.87, Z:-5.12 [[-6.81704743e-01 -7.31590770e-01 7.32047345e-03 1.41693650e+02] [ 7.31551492e-01 -6.81744021e-01 -7.58316270e-03 -1.20867583e+02] [ 1.05384608e-02 1.85825293e-04 9.99944452e-01 -5.12144775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.014012523214006221 Centerline is valid? [True, True] Translation: X:141.66, Y:-120.82, Z:-5.12 [[-6.81947257e-01 -7.31364510e-01 7.34115120e-03 1.41655292e+02] [ 7.31325047e-01 -6.81986744e-01 -7.59974322e-03 -1.20824880e+02] [ 1.05647503e-02 1.86143706e-04 9.99944174e-01 -5.12048351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.013391608438336148 Centerline is valid? [True, True] Translation: X:141.62, Y:-120.78, Z:-5.12 [[-6.83711771e-01 -7.29726704e-01 6.09521752e-03 1.41616577e+02] [ 7.29699466e-01 -6.83738927e-01 -6.30633066e-03 -1.20781697e+02] [ 8.76943536e-03 1.35964465e-04 9.99961539e-01 -5.11897865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.013041207202551494 Centerline is valid? [True, True] Translation: X:141.58, Y:-120.74, Z:-5.12 [[-6.85644070e-01 -7.27912944e-01 5.91235943e-03 1.41577557e+02] [ 7.27887278e-01 -6.85669551e-01 -6.11369507e-03 -1.20738497e+02] [ 8.50416262e-03 1.11712441e-04 9.99963833e-01 -5.11905784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.012556344052785861 Centerline is valid? [True, True] Translation: X:141.54, Y:-120.69, Z:-5.12 [[-6.87968292e-01 -7.25717045e-01 5.86515246e-03 1.41539464e+02] [ 7.25691736e-01 -6.87993288e-01 -6.06145964e-03 -1.20694471e+02] [ 8.43409010e-03 8.62006321e-05 9.99964429e-01 -5.11883354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.012183066491135824 Centerline is valid? [True, True] Translation: X:141.50, Y:-120.65, Z:-5.12 [[-6.90733281e-01 -7.23083931e-01 6.09625680e-03 1.41502055e+02] [ 7.23056519e-01 -6.90760180e-01 -6.29634599e-03 -1.20651293e+02] [ 8.76383805e-03 5.88424983e-05 9.99961595e-01 -5.11853591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.01210513857411105 Centerline is valid? [True, True] Translation: X:141.46, Y:-120.61, Z:-5.12 [[-6.91527312e-01 -7.22325778e-01 5.95375701e-03 1.41462002e+02] [ 7.22299638e-01 -6.91552939e-01 -6.14534922e-03 -1.20611026e+02] [ 8.55628232e-03 5.07197070e-05 9.99963393e-01 -5.11877192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.011943995622887909 Centerline is valid? [True, True] Translation: X:141.42, Y:-120.57, Z:-5.12 [[-6.92112314e-01 -7.21763234e-01 6.19502572e-03 1.41421132e+02] [ 7.21734946e-01 -6.92140037e-01 -6.39034677e-03 -1.20571001e+02] [ 8.90014269e-03 4.83288647e-05 9.99960392e-01 -5.11875630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.012116747197122014 Centerline is valid? [True, True] Translation: X:141.38, Y:-120.53, Z:-5.12 [[-6.92255412e-01 -7.21622430e-01 6.59638977e-03 1.41380383e+02] [ 7.21590393e-01 -6.92286838e-01 -6.79990804e-03 -1.20532451e+02] [ 9.47355998e-03 5.26183462e-05 9.99955123e-01 -5.12030582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.012136127721616223 Centerline is valid? [True, True] Translation: X:141.34, Y:-120.49, Z:-5.12 [[-6.92215008e-01 -7.21661118e-01 6.60399594e-03 1.41339183e+02] [ 7.21629049e-01 -6.92246508e-01 -6.80355267e-03 -1.20491952e+02] [ 9.48145256e-03 5.61140417e-05 9.99955048e-01 -5.12007684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.012314390870600477 Centerline is valid? [True, True] Translation: X:141.30, Y:-120.45, Z:-5.12 [[-6.91983906e-01 -7.21884480e-01 6.40864654e-03 1.41297146e+02] [ 7.21854329e-01 -6.92013579e-01 -6.59807638e-03 -1.20454230e+02] [ 9.19791937e-03 6.03465767e-05 9.99957696e-01 -5.12042362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.012480780412921192 Centerline is valid? [True, True] Translation: X:141.25, Y:-120.42, Z:-5.12 [[-6.90841322e-01 -7.22977919e-01 6.41835477e-03 1.41254900e+02] [ 7.22947761e-01 -6.90871133e-01 -6.60400729e-03 -1.20415214e+02] [ 9.20880748e-03 7.78140843e-05 9.99957595e-01 -5.12026030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.012614773075603996 Centerline is valid? [True, True] Translation: X:141.21, Y:-120.37, Z:-5.12 [[-6.89868172e-01 -7.23904309e-01 6.66755123e-03 1.41213174e+02] [ 7.23871844e-01 -6.89900386e-01 -6.85649726e-03 -1.20374227e+02] [ 9.56339408e-03 9.63733695e-05 9.99954265e-01 -5.11957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.013885555079640151 Centerline is valid? [True, True] Translation: X:141.17, Y:-120.34, Z:-5.12 [[-6.88487867e-01 -7.25223417e-01 5.95426611e-03 1.41169974e+02] [ 7.25197601e-01 -6.88513606e-01 -6.11998349e-03 -1.20337226e+02] [ 8.53794856e-03 1.04485118e-04 9.99963546e-01 -5.12070072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.014271969597897737 Centerline is valid? [True, True] Translation: X:141.13, Y:-120.30, Z:-5.12 [[-6.87222266e-01 -7.26429517e-01 5.07082831e-03 1.41127675e+02] [ 7.26410849e-01 -6.87240966e-01 -5.20889119e-03 -1.20297919e+02] [ 7.26877326e-03 1.03838689e-04 9.99973577e-01 -5.11968278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.01381046460519606 Centerline is valid? [True, True] Translation: X:141.09, Y:-120.26, Z:-5.12 [[-6.85786605e-01 -7.27784756e-01 5.10689172e-03 1.41087316e+02] [ 7.27765882e-01 -6.85805609e-01 -5.24278017e-03 -1.20256855e+02] [ 7.31795047e-03 1.21193142e-04 9.99973216e-01 -5.11828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.014471053887843085 Centerline is valid? [True, True] Translation: X:141.05, Y:-120.22, Z:-5.12 [[-6.84567905e-01 -7.28925504e-01 5.86467452e-03 1.41045186e+02] [ 7.28900683e-01 -6.84593008e-01 -6.01734294e-03 -1.20217249e+02] [ 8.40110990e-03 1.55485420e-04 9.99964698e-01 -5.11915081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.014913198926446086 Centerline is valid? [True, True] Translation: X:141.00, Y:-120.18, Z:-5.12 [[-6.83040365e-01 -7.30351981e-01 6.46869615e-03 1.41003210e+02] [ 7.30321883e-01 -6.83070967e-01 -6.63331712e-03 -1.20177359e+02] [ 9.26323484e-03 1.93407005e-04 9.99957077e-01 -5.12031372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.015921569969750058 Centerline is valid? [True, True] Translation: X:140.96, Y:-120.14, Z:-5.12 [[-6.82795328e-01 -7.30575245e-01 7.09585403e-03 1.40961333e+02] [ 7.30539084e-01 -6.82832163e-01 -7.27211220e-03 -1.20137856e+02] [ 1.01581025e-02 2.18434468e-04 9.99948381e-01 -5.12177540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.01464012437771578 Centerline is valid? [True, True] Translation: X:140.92, Y:-120.09, Z:-5.12 [[-6.84611999e-01 -7.28871545e-01 7.25824148e-03 1.40923464e+02] [ 7.28833658e-01 -6.84650444e-01 -7.43432774e-03 -1.20093637e+02] [ 1.03880282e-02 2.00420710e-04 9.99946023e-01 -5.12097569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.01373960351833163 Centerline is valid? [True, True] Translation: X:140.89, Y:-120.05, Z:-5.12 [[-6.88588812e-01 -7.25113915e-01 7.43351096e-03 1.40886544e+02] [ 7.25073998e-01 -6.88628918e-01 -7.60982675e-03 -1.20050465e+02] [ 1.06369219e-02 1.49803948e-04 9.99943415e-01 -5.12081984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.013065494665681384 Centerline is valid? [True, True] Translation: X:140.85, Y:-120.01, Z:-5.12 [[-6.90389001e-01 -7.23401550e-01 7.29556756e-03 1.40847911e+02] [ 7.23363055e-01 -6.90427536e-01 -7.46385142e-03 -1.20008173e+02] [ 1.04364224e-02 1.24383112e-04 9.99945531e-01 -5.12033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.012480031397816326 Centerline is valid? [True, True] Translation: X:140.81, Y:-119.96, Z:-5.12 [[-6.95698555e-01 -7.18293702e-01 7.59469661e-03 1.40811523e+02] [ 7.18251724e-01 -6.95740006e-01 -7.76566446e-03 -1.19964054e+02] [ 1.08619621e-02 5.23423914e-05 9.99941006e-01 -5.12141668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.0123100978564881 Centerline is valid? [True, True] Translation: X:140.77, Y:-119.92, Z:-5.12 [[-6.99419000e-01 -7.14670462e-01 7.69375730e-03 1.40774428e+02] [ 7.14627216e-01 -6.99461315e-01 -7.86199981e-03 -1.19920220e+02] [ 1.10002246e-02 -6.63680336e-07 9.99939496e-01 -5.12081738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.012889418961544125 Centerline is valid? [True, True] Translation: X:140.74, Y:-119.87, Z:-5.12 [[-7.05255923e-01 -7.08912122e-01 7.59519291e-03 1.40738742e+02] [ 7.08869690e-01 -7.05296814e-01 -7.75672379e-03 -1.19874510e+02] [ 1.08557009e-02 -8.64733482e-05 9.99941071e-01 -5.12012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.013602506899835099 Centerline is valid? [True, True] Translation: X:140.70, Y:-119.83, Z:-5.12 [[-7.09617677e-01 -7.04555228e-01 6.68455259e-03 1.40700106e+02] [ 7.04522204e-01 -7.09649148e-01 -6.82286192e-03 -1.19830788e+02] [ 9.55077008e-03 -1.32207709e-04 9.99954382e-01 -5.11869105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.013934402215880801 Centerline is valid? [True, True] Translation: X:140.66, Y:-119.79, Z:-5.12 [[-7.10760542e-01 -7.03401663e-01 6.74927141e-03 1.40660345e+02] [ 7.03367981e-01 -7.10792571e-01 -6.88506075e-03 -1.19788757e+02] [ 9.64029516e-03 -1.46408103e-04 9.99953521e-01 -5.11894570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.013818937392881979 Centerline is valid? [True, True] Translation: X:140.62, Y:-119.75, Z:-5.12 [[-7.09994212e-01 -7.04173754e-01 6.89517018e-03 1.40620454e+02] [ 7.04138682e-01 -7.10027679e-01 -7.02928980e-03 -1.19749224e+02] [ 9.84560307e-03 -1.35599031e-04 9.99951522e-01 -5.11937055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.013255789487041163 Centerline is valid? [True, True] Translation: X:140.58, Y:-119.71, Z:-5.12 [[-7.06861578e-01 -7.07313551e-01 7.36546434e-03 1.40577791e+02] [ 7.07273732e-01 -7.06899945e-01 -7.50572784e-03 -1.19711593e+02] [ 1.05155493e-02 -9.61111750e-05 9.99944706e-01 -5.12004160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.012458352110042962 Centerline is valid? [True, True] Translation: X:140.53, Y:-119.67, Z:-5.12 [[-7.03291700e-01 -7.10862173e-01 7.46704404e-03 1.40533288e+02] [ 7.10821493e-01 -7.03331337e-01 -7.60497387e-03 -1.19674240e+02] [ 1.06578943e-02 -4.07796047e-05 9.99943202e-01 -5.11967353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.012303710554414055 Centerline is valid? [True, True] Translation: X:140.49, Y:-119.64, Z:-5.12 [[-7.01028268e-01 -7.13098789e-01 7.03447204e-03 1.40491737e+02] [ 7.13062844e-01 -7.01063561e-01 -7.15989095e-03 -1.19635359e+02] [ 1.00373216e-02 -3.26531853e-06 9.99949625e-01 -5.11916540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.012480769544107822 Centerline is valid? [True, True] Translation: X:140.45, Y:-119.60, Z:-5.12 [[-6.97307051e-01 -7.16742966e-01 6.51140240e-03 1.40448475e+02] [ 7.16712364e-01 -6.97337450e-01 -6.62327816e-03 -1.19597669e+02] [ 9.28783278e-03 4.83440469e-05 9.99956866e-01 -5.11833403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.012794864975961549 Centerline is valid? [True, True] Translation: X:140.41, Y:-119.56, Z:-5.12 [[-6.94805482e-01 -7.19170945e-01 6.20429209e-03 1.40405072e+02] [ 7.19143290e-01 -6.94833178e-01 -6.30736597e-03 -1.19559196e+02] [ 8.84702234e-03 7.93825681e-05 9.99960861e-01 -5.11836268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.013688604597695931 Centerline is valid? [True, True] Translation: X:140.36, Y:-119.52, Z:-5.12 [[-6.91864870e-01 -7.22003496e-01 5.82701097e-03 1.40361553e+02] [ 7.21979231e-01 -6.91889399e-01 -5.92035255e-03 -1.19521798e+02] [ 8.30616235e-03 1.10896946e-04 9.99965497e-01 -5.11862273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.01445378799284453 Centerline is valid? [True, True] Translation: X:140.32, Y:-119.48, Z:-5.12 [[-6.90230289e-01 -7.23560339e-01 6.52560971e-03 1.40318745e+02] [ 7.23530010e-01 -6.90261120e-01 -6.62655078e-03 -1.19482291e+02] [ 9.29908399e-03 1.47628397e-04 9.99956752e-01 -5.12030313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.014871552219217904 Centerline is valid? [True, True] Translation: X:140.28, Y:-119.44, Z:-5.12 [[-6.89941589e-01 -7.23826023e-01 7.51620903e-03 1.40277170e+02] [ 7.23785846e-01 -6.89982505e-01 -7.62838092e-03 -1.19441287e+02] [ 1.07076734e-02 1.76988453e-04 9.99942656e-01 -5.12173044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.01392121556876625 Centerline is valid? [True, True] Translation: X:140.24, Y:-119.40, Z:-5.12 [[-6.90752097e-01 -7.23037346e-01 8.86209591e-03 1.40238884e+02] [ 7.22981491e-01 -6.90808915e-01 -8.98923995e-03 -1.19398121e+02] [ 1.26215711e-02 1.97794973e-04 9.99920325e-01 -5.12160288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.01354474847040317 Centerline is valid? [True, True] Translation: X:140.20, Y:-119.35, Z:-5.12 [[-6.93093591e-01 -7.20791215e-01 9.01655904e-03 1.40199945e+02] [ 7.20733271e-01 -6.93152219e-01 -9.14081174e-03 -1.19354689e+02] [ 1.28384647e-02 1.63096048e-04 9.99917570e-01 -5.12223380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.013027310223691562 Centerline is valid? [True, True] Translation: X:140.16, Y:-119.31, Z:-5.12 [[-6.95726161e-01 -7.18245039e-01 9.44316688e-03 1.40162175e+02] [ 7.18181327e-01 -6.95790233e-01 -9.56727498e-03 -1.19311167e+02] [ 1.34421111e-02 1.25702628e-04 9.99909643e-01 -5.12247324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.012509119447086813 Centerline is valid? [True, True] Translation: X:140.13, Y:-119.26, Z:-5.12 [[-7.00929458e-01 -7.13161867e-01 9.90184111e-03 1.40126971e+02] [ 7.13091383e-01 -7.00999394e-01 -1.00264039e-02 -1.19264276e+02] [ 1.40916336e-02 3.31156943e-05 9.99900708e-01 -5.12283166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.012590454299889519 Centerline is valid? [True, True] Translation: X:140.09, Y:-119.22, Z:-5.12 [[-7.04681108e-01 -7.09460974e-01 9.46898593e-03 1.40090508e+02] [ 7.09396262e-01 -7.04744723e-01 -9.58217905e-03 -1.19220071e+02] [ 1.34714000e-02 -3.51173257e-05 9.99909256e-01 -5.12249861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.012851349833319632 Centerline is valid? [True, True] Translation: X:140.05, Y:-119.18, Z:-5.12 [[-7.08060049e-01 -7.06108660e-01 7.84387536e-03 1.40052325e+02] [ 7.06064104e-01 -7.08103491e-01 -7.93267376e-03 -1.19177568e+02] [ 1.11556052e-02 -7.85305419e-05 9.99937771e-01 -5.11965005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.013285575494141125 Centerline is valid? [True, True] Translation: X:140.01, Y:-119.14, Z:-5.12 [[-7.10072638e-01 -7.04085435e-01 7.78135755e-03 1.40012369e+02] [ 7.04041513e-01 -7.10115264e-01 -7.86506800e-03 -1.19135587e+02] [ 1.10633406e-02 -1.06370839e-04 9.99938794e-01 -5.11966325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.013905932749977153 Centerline is valid? [True, True] Translation: X:139.97, Y:-119.09, Z:-5.12 [[-7.12718316e-01 -7.01398661e-01 8.51592869e-03 1.39971902e+02] [ 7.01345905e-01 -7.12769172e-01 -8.60399414e-03 -1.19094632e+02] [ 1.21047214e-02 -1.59612495e-04 9.99926722e-01 -5.11988385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.014590924590424015 Centerline is valid? [True, True] Translation: X:139.93, Y:-119.05, Z:-5.12 [[-7.15471028e-01 -6.98580361e-01 9.31058084e-03 1.39931486e+02] [ 6.98517130e-01 -7.15531571e-01 -9.40158005e-03 -1.19053096e+02] [ 1.32297737e-02 -2.22957940e-04 9.99912458e-01 -5.12084266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.016441861752092835 Centerline is valid? [True, True] Translation: X:139.89, Y:-119.01, Z:-5.12 [[-7.21591807e-01 -6.92245485e-01 1.00723502e-02 1.39892407e+02] [ 6.92170950e-01 -7.21662010e-01 -1.01646300e-02 -1.19010693e+02] [ 1.43052517e-02 -3.62925563e-04 9.99897609e-01 -5.12071514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.02042171769191442 Centerline is valid? [True, True] Translation: X:139.86, Y:-118.97, Z:-5.12 [[-7.26467255e-01 -6.87126459e-01 1.01270902e-02 1.39856302e+02] [ 6.87050700e-01 -7.26537691e-01 -1.02136979e-02 -1.18966098e+02] [ 1.43758148e-02 -4.62092673e-04 9.99896556e-01 -5.12089057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.021490267422564838 Centerline is valid? [True, True] Translation: X:139.82, Y:-118.93, Z:-5.12 [[-7.33213897e-01 -6.79936006e-01 9.18750771e-03 1.39815123e+02] [ 6.79873154e-01 -7.33271255e-01 -9.26074043e-03 -1.18925712e+02] [ 1.30336462e-02 -5.43763725e-04 9.99914911e-01 -5.11796784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.023120758165986483 Centerline is valid? [True, True] Translation: X:139.77, Y:-118.88, Z:-5.12 [[-7.35994417e-01 -6.76936318e-01 8.33303333e-03 1.39774320e+02] [ 6.76884477e-01 -7.36041393e-01 -8.39474456e-03 -1.18884679e+02] [ 1.18161649e-02 -5.37984221e-04 9.99930042e-01 -5.11671762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.022205141855882682 Centerline is valid? [True, True] Translation: X:139.73, Y:-118.85, Z:-5.11 [[-7.35899276e-01 -6.77052668e-01 7.20692990e-03 1.39728767e+02] [ 6.77013940e-01 -7.35934421e-01 -7.25626672e-03 -1.18847662e+02] [ 1.02167025e-02 -4.60689421e-04 9.99947702e-01 -5.11495931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.019367661196902072 Centerline is valid? [True, True] Translation: X:139.68, Y:-118.82, Z:-5.11 [[-7.30800411e-01 -6.82552040e-01 7.31250267e-03 1.39679873e+02] [ 6.82512471e-01 -7.30836892e-01 -7.35964542e-03 -1.18815203e+02] [ 1.03675877e-02 -3.87557632e-04 9.99946180e-01 -5.11483442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.016967541392376384 Centerline is valid? [True, True] Translation: X:139.63, Y:-118.78, Z:-5.12 [[-7.24995600e-01 -6.88707429e-01 7.96597736e-03 1.39632398e+02] [ 6.88660876e-01 -7.25039290e-01 -8.01410896e-03 -1.18781638e+02] [ 1.12950229e-02 -3.24336787e-04 9.99936157e-01 -5.11611891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.0165246039656747 Centerline is valid? [True, True] Translation: X:139.59, Y:-118.74, Z:-5.12 [[-7.21851244e-01 -6.91994972e-01 8.58715393e-03 1.39589170e+02] [ 6.91941168e-01 -7.21902261e-01 -8.63401903e-03 -1.18743920e+02] [ 1.21737836e-02 -2.90672058e-04 9.99925855e-01 -5.11702641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.013348073948922677 Centerline is valid? [True, True] Translation: X:139.54, Y:-118.71, Z:-5.12 [[-7.11907377e-01 -7.02214128e-01 9.12169404e-03 1.39537472e+02] [ 7.02154313e-01 -7.11965803e-01 -9.16609873e-03 -1.18714512e+02] [ 1.29308982e-02 -1.20576501e-04 9.99916385e-01 -5.11817903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.012547804142173706 Centerline is valid? [True, True] Translation: X:139.49, Y:-118.68, Z:-5.12 [[-7.06241486e-01 -7.07919747e-01 8.52029880e-03 1.39489099e+02] [ 7.07868027e-01 -7.06292880e-01 -8.55711943e-03 -1.18680654e+02] [ 1.20755802e-02 -1.21456438e-05 9.99927087e-01 -5.11797903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.012833894892907656 Centerline is valid? [True, True] Translation: X:139.44, Y:-118.65, Z:-5.12 [[-6.99623573e-01 -7.14470020e-01 7.71008850e-03 1.39440176e+02] [ 7.14428114e-01 -6.99666050e-01 -7.73881362e-03 -1.18648054e+02] [ 1.09236375e-02 9.40475387e-05 9.99940331e-01 -5.11685746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.01364367922520081 Centerline is valid? [True, True] Translation: X:139.39, Y:-118.61, Z:-5.12 [[-6.95237349e-01 -7.18740005e-01 7.60485742e-03 1.39394275e+02] [ 7.18699535e-01 -6.95278922e-01 -7.62885143e-03 -1.18612106e+02] [ 1.07706578e-02 1.61745041e-04 9.99941982e-01 -5.11618773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.014477183319689415 Centerline is valid? [True, True] Translation: X:139.35, Y:-118.57, Z:-5.12 [[-6.93151222e-01 -7.20750374e-01 7.76412338e-03 1.39349693e+02] [ 7.20708365e-01 -6.93194675e-01 -7.78423522e-03 -1.18574046e+02] [ 1.09925394e-02 2.00016514e-04 9.99939560e-01 -5.11622205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.01495582914135069 Centerline is valid? [True, True] Translation: X:139.31, Y:-118.54, Z:-5.12 [[-6.92234477e-01 -7.21626549e-01 8.15799180e-03 1.39305502e+02] [ 7.21580283e-01 -6.92282509e-01 -8.17453773e-03 -1.18536061e+02] [ 1.15465985e-02 2.27949176e-04 9.99933310e-01 -5.11731784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.014538788691958458 Centerline is valid? [True, True] Translation: X:139.27, Y:-118.50, Z:-5.12 [[-6.93178102e-01 -7.20710515e-01 8.97067246e-03 1.39265241e+02] [ 7.20654567e-01 -6.93236105e-01 -8.98316241e-03 -1.18495535e+02] [ 1.26930536e-02 2.37824612e-04 9.99919412e-01 -5.11714180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.013455694826844077 Centerline is valid? [True, True] Translation: X:139.23, Y:-118.45, Z:-5.12 [[-6.97376498e-01 -7.16635272e-01 9.99535363e-03 1.39226717e+02] [ 7.16565472e-01 -6.97448100e-01 -1.00036338e-02 -1.18451520e+02] [ 1.41401972e-02 1.86026171e-04 9.99900005e-01 -5.11734843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.012283974663773248 Centerline is valid? [True, True] Translation: X:139.19, Y:-118.41, Z:-5.12 [[-7.04730165e-01 -7.09403082e-01 1.01322256e-02 1.39190466e+02] [ 7.09330685e-01 -7.04802997e-01 -1.01348275e-02 -1.18405537e+02] [ 1.43309009e-02 4.47798361e-05 9.99897306e-01 -5.11711187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.012640808106145708 Centerline is valid? [True, True] Translation: X:139.15, Y:-118.36, Z:-5.12 [[-7.10516409e-01 -7.03613535e-01 9.71732936e-03 1.39154485e+02] [ 7.03546483e-01 -7.10582852e-01 -9.71373605e-03 -1.18359877e+02] [ 1.37396838e-02 -6.51759591e-05 9.99905604e-01 -5.11649021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.013660837457029708 Centerline is valid? [True, True] Translation: X:138.72, Y:-118.79, Z:-4.14 [[-7.46224775e-01 6.65630968e-01 9.16515786e-03 1.38724593e+02] [ 6.65583572e-01 7.46281036e-01 -7.94505739e-03 -1.18794504e+02] [-1.21282597e-02 1.71379840e-04 -9.99926435e-01 -4.13884480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.014442292616764127 Centerline is valid? [True, True] Translation: X:138.74, Y:-118.77, Z:-4.14 [[-7.89598799e-01 6.13561602e-01 8.71188614e-03 1.38738044e+02] [ 6.13526857e-01 7.89646836e-01 -6.53223314e-03 -1.18774573e+02] [-1.08872408e-02 1.87132676e-04 -9.99940715e-01 -4.13945178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.015328236532453061 Centerline is valid? [True, True] Translation: X:138.75, Y:-118.75, Z:-4.14 [[-8.31799635e-01 5.54995737e-01 9.43922347e-03 1.38753043e+02] [ 5.54962420e-01 8.31853172e-01 -6.08381292e-03 -1.18753318e+02] [-1.12285382e-02 1.77900930e-04 -9.99936942e-01 -4.13741850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.013407203195258269 Centerline is valid? [True, True] Translation: X:138.77, Y:-118.72, Z:-4.14 [[-8.71557590e-01 4.90174319e-01 1.07936834e-02 1.38765821e+02] [ 4.90138579e-01 8.71624415e-01 -5.92057475e-03 -1.18723871e+02] [-1.23101516e-02 1.30278764e-04 -9.99924219e-01 -4.13856897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.012807834308019687 Centerline is valid? [True, True] Translation: X:138.77, Y:-118.69, Z:-4.14 [[-9.05989771e-01 4.23132029e-01 1.19088508e-02 1.38774207e+02] [ 4.23096623e-01 9.06068033e-01 -5.47429431e-03 -1.18694015e+02] [-1.31065783e-02 7.89399133e-05 -9.99914102e-01 -4.13848845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.012649247585269037 Centerline is valid? [True, True] Translation: X:139.02, Y:-118.14, Z:-5.11 [[-8.78061566e-01 -4.78399186e-01 1.19208090e-02 1.39024893e+02] [ 4.78354355e-01 -8.78142481e-01 -6.54938599e-03 -1.18141692e+02] [ 1.36013898e-02 -4.83931897e-05 9.99907496e-01 -5.11435703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.012715536218684187 Centerline is valid? [True, True] Translation: X:138.73, Y:-118.67, Z:-4.14 [[-9.12161405e-01 4.09675424e-01 1.12968241e-02 1.38730613e+02] [ 4.09643134e-01 9.12231354e-01 -5.14392146e-03 -1.18666053e+02] [-1.24126553e-02 -6.44201970e-05 -9.99922958e-01 -4.13913587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.013172304587338516 Centerline is valid? [True, True] Translation: X:138.74, Y:-118.64, Z:-4.14 [[-9.39520666e-01 3.42302388e-01 1.14014911e-02 1.38738049e+02] [ 3.42276085e-01 9.39589840e-01 -4.24425527e-03 -1.18638962e+02] [-1.21655439e-02 -8.51077987e-05 -9.99925993e-01 -4.13898750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.013252568730099556 Centerline is valid? [True, True] Translation: X:138.74, Y:-118.61, Z:-4.14 [[-9.61801079e-01 2.73506222e-01 1.15338733e-02 1.38742328e+02] [ 2.73485305e-01 9.61870228e-01 -3.38405732e-03 -1.18612054e+02] [-1.20196501e-02 -1.00445122e-04 -9.99927756e-01 -4.13961195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.013413754992717488 Centerline is valid? [True, True] Translation: X:138.74, Y:-118.58, Z:-4.14 [[-9.78841418e-01 2.04249763e-01 1.23090875e-02 1.38743878e+02] [ 2.04232196e-01 9.78918803e-01 -2.68105357e-03 -1.18584745e+02] [-1.25972018e-02 -1.10414294e-04 -9.99920646e-01 -4.13933058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.013574048541815575 Centerline is valid? [True, True] Translation: X:138.74, Y:-118.56, Z:-4.14 [[-9.90837160e-01 1.34498485e-01 1.23239814e-02 1.38742165e+02] [ 1.34486751e-01 9.90913794e-01 -1.77982316e-03 -1.18558490e+02] [-1.24513867e-02 -1.06102711e-04 -9.99922473e-01 -4.13827420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.013227151936194408 Centerline is valid? [True, True] Translation: X:138.83, Y:-117.96, Z:-5.11 [[-9.76247355e-01 -2.16383271e-01 1.09261675e-02 1.38832463e+02] [ 2.16369908e-01 -9.76308496e-01 -2.40477415e-03 -1.17964875e+02] [ 1.11876630e-02 1.64394568e-05 9.99937416e-01 -5.11251334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.013186433884980942 Centerline is valid? [True, True] Translation: X:138.69, Y:-118.56, Z:-4.14 [[-9.91116578e-01 1.32537792e-01 1.10300681e-02 1.38694054e+02] [ 1.32528756e-01 9.91177950e-01 -1.54940435e-03 -1.18557162e+02] [-1.11381149e-02 -7.38391427e-05 -9.99937967e-01 -4.13937217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.013268436507108431 Centerline is valid? [True, True] Translation: X:138.78, Y:-117.95, Z:-5.11 [[-9.77122706e-01 -2.12358399e-01 1.16244881e-02 1.38782413e+02] [ 2.12344898e-01 -9.77191841e-01 -2.39778504e-03 -1.17954676e+02] [ 1.18685447e-02 1.25470531e-04 9.99929559e-01 -5.11408823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.013449008497234195 Centerline is valid? [True, True] Translation: X:138.65, Y:-118.56, Z:-4.14 [[-9.91642448e-01 1.28417545e-01 1.24173369e-02 1.38645234e+02] [ 1.28406373e-01 9.91720186e-01 -1.69619919e-03 -1.18555821e+02] [-1.25323454e-02 -8.75579336e-05 -9.99921463e-01 -4.13724449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.013706141192653665 Centerline is valid? [True, True] Translation: X:138.64, Y:-118.53, Z:-4.14 [[-9.98276719e-01 5.70748386e-02 1.36401943e-02 1.38644698e+02] [ 5.70680817e-02 9.98369897e-01 -8.84404914e-04 -1.18531907e+02] [-1.36684367e-02 -1.04461112e-04 -9.99906577e-01 -4.13655678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.014148291461218331 Centerline is valid? [True, True] Translation: X:138.64, Y:-118.51, Z:-4.13 [[-9.99783497e-01 -1.52275131e-02 1.41803135e-02 1.38640935e+02] [-1.52277794e-02 9.99884047e-01 8.91973457e-05 -1.18505564e+02] [-1.41800275e-02 -1.26756652e-04 -9.99899450e-01 -4.13470333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.014231690409608496 Centerline is valid? [True, True] Translation: X:138.63, Y:-118.48, Z:-4.14 [[-9.95961050e-01 -8.88082930e-02 1.32164530e-02 1.38631278e+02] [-8.88025026e-02 9.96048726e-01 1.02549605e-03 -1.18481791e+02] [-1.32553037e-02 -1.52299984e-04 -9.99912133e-01 -4.13677914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.014578194784163837 Centerline is valid? [True, True] Translation: X:138.58, Y:-117.85, Z:-5.11 [[-9.99905464e-01 -4.60397697e-03 1.29563385e-02 1.38580205e+02] [ 4.60525269e-03 -9.99989393e-01 6.86298658e-05 -1.17850817e+02] [ 1.29558851e-02 1.28290591e-04 9.99916061e-01 -5.11402343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.015672479793696 Centerline is valid? [True, True] Translation: X:138.56, Y:-118.49, Z:-4.14 [[-9.94933424e-01 -9.96637804e-02 1.32141176e-02 1.38555255e+02] [-9.96581296e-02 9.95021143e-01 1.08706331e-03 -1.18493614e+02] [-1.32566672e-02 -2.35338627e-04 -9.99912099e-01 -4.13767188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.0159762837471848 Centerline is valid? [True, True] Translation: X:138.51, Y:-117.85, Z:-5.11 [[-9.99904923e-01 -5.42707070e-03 1.26764576e-02 1.38508429e+02] [ 5.42898530e-03 -9.99985256e-01 1.16628722e-04 -1.17851637e+02] [ 1.26756377e-02 1.85437935e-04 9.99919644e-01 -5.11372476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.01650472202622865 Centerline is valid? [True, True] Translation: X:138.49, Y:-118.50, Z:-4.14 [[-9.94084949e-01 -1.07983294e-01 1.16069964e-02 1.38493055e+02] [-1.07978857e-01 9.94152678e-01 1.01010577e-03 -1.18503562e+02] [-1.16482011e-02 -2.49179267e-04 -9.99932126e-01 -4.13895587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.016945192532754203 Centerline is valid? [True, True] Translation: X:138.44, Y:-117.85, Z:-5.11 [[-9.99933157e-01 -3.29026544e-03 1.10840261e-02 1.38439032e+02] [ 3.29227213e-03 -9.99994567e-01 1.62801828e-04 -1.17853432e+02] [ 1.10834302e-02 1.99282576e-04 9.99938557e-01 -5.11347274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.016897216423494055 Centerline is valid? [True, True] Translation: X:138.42, Y:-118.52, Z:-4.14 [[-9.93462732e-01 -1.13709516e-01 1.00968078e-02 1.38423894e+02] [-1.13705958e-01 9.93514013e-01 9.27576451e-04 -1.18517653e+02] [-1.01367944e-02 -2.26554573e-04 -9.99948596e-01 -4.13906525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.01669452651972433 Centerline is valid? [True, True] Translation: X:138.37, Y:-117.85, Z:-5.11 [[-9.99947094e-01 2.32952982e-03 1.00190818e-02 1.38367106e+02] [-2.32724584e-03 -9.99997263e-01 2.39615727e-04 -1.17849317e+02] [ 1.00196126e-02 2.16286183e-04 9.99949779e-01 -5.11335381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.016536979389632674 Centerline is valid? [True, True] Translation: X:138.35, Y:-118.54, Z:-4.14 [[-9.93239774e-01 -1.15646724e-01 1.00292499e-02 1.38350596e+02] [-1.15642788e-01 9.93290390e-01 9.73438769e-04 -1.18535525e+02] [-1.00745325e-02 -1.92952322e-04 -9.99949232e-01 -4.13828953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.016079336610680586 Centerline is valid? [True, True] Translation: X:138.29, Y:-117.85, Z:-5.11 [[-9.99896598e-01 1.03463476e-02 9.98729694e-03 1.38287209e+02] [-1.03439759e-02 -9.99946458e-01 2.89101699e-04 -1.17845699e+02] [ 9.98975334e-03 1.85763446e-04 9.99950084e-01 -5.11349346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.017236513546371564 Centerline is valid? [True, True] Translation: X:138.27, Y:-118.55, Z:-4.14 [[-9.92488666e-01 -1.21996867e-01 9.11109317e-03 1.38272985e+02] [-1.21993466e-01 9.92530468e-01 9.30172047e-04 -1.18545052e+02] [-9.15651564e-03 -1.88308619e-04 -9.99958061e-01 -4.13831248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.015966002237206407 Centerline is valid? [True, True] Translation: X:138.27, Y:-118.52, Z:-4.14 [[-9.81419856e-01 -1.91592990e-01 1.03533929e-02 1.38265248e+02] [-1.91584572e-01 9.81474443e-01 1.80811948e-03 -1.18521957e+02] [-1.05080136e-02 -2.09025991e-04 -9.99944768e-01 -4.13786580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.015686726458007772 Centerline is valid? [True, True] Translation: X:138.26, Y:-118.50, Z:-4.14 [[-9.66056581e-01 -2.58112359e-01 1.06156343e-02 1.38258365e+02] [-2.58098850e-01 9.66114888e-01 2.64701223e-03 -1.18497800e+02] [-1.09391489e-02 -1.82719417e-04 -9.99940149e-01 -4.13667863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.014319429103350004 Centerline is valid? [True, True] Translation: X:138.24, Y:-118.48, Z:-4.14 [[-9.46725384e-01 -3.21937605e-01 8.19909178e-03 1.38236109e+02] [-3.21926426e-01 9.46760883e-01 2.68459974e-03 -1.18481889e+02] [-8.62685298e-03 -9.79255939e-05 -9.99962783e-01 -4.13935643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.013849699493198536 Centerline is valid? [True, True] Translation: X:138.20, Y:-118.47, Z:-4.14 [[-9.22281875e-01 -3.86463803e-01 6.47085295e-03 1.38197046e+02] [-3.86454703e-01 9.22304573e-01 2.65272542e-03 -1.18470680e+02] [-6.99327962e-03 -5.41309764e-05 -9.99975545e-01 -4.14136503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.013700089000831993 Centerline is valid? [True, True] Translation: X:138.14, Y:-118.47, Z:-4.14 [[-8.92123417e-01 -4.51743710e-01 6.59012328e-03 1.38136118e+02] [-4.51731750e-01 8.92147756e-01 3.28741575e-03 -1.18468543e+02] [-7.36443309e-03 -4.41873497e-05 -9.99972881e-01 -4.14066949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.013533702439990887 Centerline is valid? [True, True] Translation: X:138.07, Y:-118.47, Z:-4.14 [[-8.58137392e-01 -5.13364941e-01 7.52684346e-03 1.38070162e+02] [-5.13345418e-01 8.58170401e-01 4.47714546e-03 -1.18473888e+02] [-8.75772378e-03 -2.18646731e-05 -9.99961650e-01 -4.13888040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.01336055409485121 Centerline is valid? [True, True] Translation: X:138.00, Y:-118.49, Z:-4.14 [[-8.19209474e-01 -5.73443617e-01 7.63258347e-03 1.37997386e+02] [-5.73418675e-01 8.19245030e-01 5.34827746e-03 -1.18490266e+02] [-9.31989164e-03 4.69366569e-06 -9.99956569e-01 -4.13883209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.013642092515559652 Centerline is valid? [True, True] Translation: X:137.92, Y:-118.52, Z:-4.14 [[-7.76616249e-01 -6.29925388e-01 7.82349495e-03 1.37918248e+02] [-6.29892801e-01 7.76655653e-01 6.40753655e-03 -1.18519606e+02] [-1.01124315e-02 4.82338586e-05 -9.99948867e-01 -4.13827872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.013655574706495033 Centerline is valid? [True, True] Translation: X:137.83, Y:-118.56, Z:-4.14 [[-7.28750946e-01 -6.84736239e-01 7.63821012e-03 1.37834619e+02] [-6.84697511e-01 7.28790970e-01 7.28296948e-03 -1.18556772e+02] [-1.05535717e-02 7.76074468e-05 -9.99944307e-01 -4.13824895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.013602811535333097 Centerline is valid? [True, True] Translation: X:137.75, Y:-118.60, Z:-4.14 [[-6.75106617e-01 -7.37683825e-01 7.32321043e-03 1.37750183e+02] [-7.37639081e-01 6.75146330e-01 8.12518060e-03 -1.18603186e+02] [-1.09380530e-02 8.34769814e-05 -9.99940174e-01 -4.13796355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.013641944059716256 Centerline is valid? [True, True] Translation: X:137.66, Y:-118.66, Z:-4.14 [[-6.16791801e-01 -7.87101130e-01 6.29966105e-03 1.37664052e+02] [-7.87058876e-01 6.16823967e-01 8.15599479e-03 -1.18661259e+02] [-1.03053746e-02 7.23465718e-05 -9.99946896e-01 -4.13822171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.013447177684060809 Centerline is valid? [True, True] Translation: X:137.58, Y:-118.73, Z:-4.14 [[-5.53935720e-01 -8.32543217e-01 5.19711898e-03 1.37581554e+02] [-8.32505681e-01 5.53960097e-01 7.90576752e-03 -1.18725855e+02] [-9.46088966e-03 5.26559482e-05 -9.99955243e-01 -4.13893547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.013143378859758859 Centerline is valid? [True, True] Translation: X:137.50, Y:-118.80, Z:-4.14 [[-4.86288533e-01 -8.73788125e-01 4.21603762e-03 1.37498527e+02] [-8.73754895e-01 4.86306808e-01 7.62046343e-03 -1.18803229e+02] [-8.70895825e-03 2.19604739e-05 -9.99962076e-01 -4.13936922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.01296729517772502 Centerline is valid? [True, True] Translation: X:137.42, Y:-118.88, Z:-4.14 [[-4.14552641e-01 -9.10017171e-01 3.85445409e-03 1.37422232e+02] [-9.09978153e-01 4.14570560e-01 8.42684242e-03 -1.18884113e+02] [-9.26651448e-03 -1.40992305e-05 -9.99957065e-01 -4.14005786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.013033838252335431 Centerline is valid? [True, True] Translation: X:137.35, Y:-118.97, Z:-4.14 [[-3.41371252e-01 -9.39922663e-01 3.32506493e-03 1.37351755e+02] [-9.39879233e-01 3.41387442e-01 9.03561095e-03 -1.18974295e+02] [-9.62791092e-03 -4.06616578e-05 -9.99953650e-01 -4.13954785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.013141953030717132 Centerline is valid? [True, True] Translation: X:137.29, Y:-119.07, Z:-4.14 [[-2.65606150e-01 -9.64077963e-01 2.65609036e-03 1.37287390e+02] [-9.64032376e-01 2.65619421e-01 9.37558817e-03 -1.19072355e+02] [-9.74430712e-03 -7.03432236e-05 -9.99952521e-01 -4.13958875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.013297889165951253 Centerline is valid? [True, True] Translation: X:137.23, Y:-119.17, Z:-4.14 [[-1.90173246e-01 -9.81748557e-01 1.97653949e-03 1.37233111e+02] [-9.81699824e-01 1.90183500e-01 9.78218724e-03 -1.19174713e+02] [-9.97955340e-03 -8.00581760e-05 -9.99950200e-01 -4.13928498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.013291240071780563 Centerline is valid? [True, True] Translation: X:137.19, Y:-119.29, Z:-4.14 [[-1.14415188e-01 -9.93432179e-01 1.29274075e-03 1.37186798e+02] [-9.93376831e-01 1.14422459e-01 1.04867941e-02 -1.19287870e+02] [-1.05658373e-02 -8.43301939e-05 -9.99944176e-01 -4.13892934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.013460945712127139 Centerline is valid? [True, True] Translation: X:137.15, Y:-119.39, Z:-4.14 [[-3.66490972e-02 -9.99328062e-01 5.17466115e-04 1.37149057e+02] [-9.99264416e-01 3.66526034e-02 1.12788991e-02 -1.19394163e+02] [-1.12902869e-02 -1.03724005e-04 -9.99936257e-01 -4.13848868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.01333337393786805 Centerline is valid? [True, True] Translation: X:137.12, Y:-119.50, Z:-4.14 [[ 4.04927429e-02 -9.99179765e-01 -3.67077998e-04 1.37121515e+02] [-9.99107028e-01 -4.04942246e-02 1.20567299e-02 -1.19503917e+02] [-1.20617051e-02 -1.21459855e-04 -9.99927248e-01 -4.13925270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.013849949126083293 Centerline is valid? [True, True] Translation: X:136.45, Y:-119.63, Z:-5.12 [[-4.70592468e-02 9.98892011e-01 4.22688864e-04 1.36447489e+02] [-9.98809552e-01 -4.70607937e-02 1.28359494e-02 -1.19632430e+02] [ 1.28416194e-02 1.81864438e-04 9.99917527e-01 -5.11606358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.012810409716735202 Centerline is valid? [True, True] Translation: X:137.13, Y:-119.78, Z:-4.14 [[ 4.58610384e-02 -9.98947703e-01 -5.01443856e-04 1.37131966e+02] [-9.98869069e-01 -4.58637201e-02 1.25340773e-02 -1.19780429e+02] [-1.25438858e-02 -7.39490437e-05 -9.99921320e-01 -4.13858858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.012585132422435846 Centerline is valid? [True, True] Translation: X:137.12, Y:-119.90, Z:-4.14 [[ 1.19551438e-01 -9.92827076e-01 -1.36068589e-03 1.37117657e+02] [-9.92759530e-01 -1.19559176e-01 1.15809468e-02 -1.19896664e+02] [-1.16605601e-02 -3.36849581e-05 -9.99932013e-01 -4.13950124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.012527096401732378 Centerline is valid? [True, True] Translation: X:137.11, Y:-120.02, Z:-4.14 [[ 1.91081538e-01 -9.81571892e-01 -2.11369752e-03 1.37114431e+02] [-9.81512885e-01 -1.91093227e-01 1.07626662e-02 -1.20015064e+02] [-1.09682439e-02 1.80745396e-05 -9.99939847e-01 -4.14033937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.012791437585273022 Centerline is valid? [True, True] Translation: X:137.12, Y:-120.13, Z:-4.14 [[ 2.63044979e-01 -9.64778893e-01 -3.00435043e-03 1.37118686e+02] [-9.64718199e-01 -2.63062131e-01 1.08218726e-02 -1.20131428e+02] [-1.12310451e-02 5.17122824e-05 -9.99936929e-01 -4.13911024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.01265264015976575 Centerline is valid? [True, True] Translation: X:137.13, Y:-120.25, Z:-4.14 [[ 3.35895479e-01 -9.41891347e-01 -3.86242627e-03 1.37129246e+02] [-9.41831069e-01 -3.35917680e-01 1.06559419e-02 -1.20251815e+02] [-1.13341967e-02 5.84703688e-05 -9.99935764e-01 -4.13940492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.012703056897937978 Centerline is valid? [True, True] Translation: X:137.15, Y:-120.36, Z:-4.14 [[ 4.07623476e-01 -9.13136872e-01 -4.91475005e-03 1.37148291e+02] [-9.13072172e-01 -4.07653100e-01 1.08700783e-02 -1.20364706e+02] [-1.19293824e-02 5.66223843e-05 -9.99928841e-01 -4.13903276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.012563691571497313 Centerline is valid? [True, True] Translation: X:137.18, Y:-120.48, Z:-4.14 [[ 4.78310217e-01 -8.78173968e-01 -5.46063592e-03 1.37175579e+02] [-8.78117476e-01 -4.78341386e-01 9.96079519e-03 -1.20480350e+02] [-1.13593592e-02 3.07297217e-05 -9.99935480e-01 -4.13907972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.012384549522762958 Centerline is valid? [True, True] Translation: X:137.21, Y:-120.60, Z:-4.14 [[ 5.47931898e-01 -8.36505201e-01 -5.44829809e-03 1.37210890e+02] [-8.36463531e-01 -5.47958984e-01 8.34946530e-03 -1.20596627e+02] [-9.96981504e-03 -1.76357053e-05 -9.99950300e-01 -4.13989744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.01274928706738747 Centerline is valid? [True, True] Translation: X:137.25, Y:-120.70, Z:-4.14 [[ 6.14860223e-01 -7.88611949e-01 -6.17261791e-03 1.37250541e+02] [-7.88570956e-01 -6.14891201e-01 8.04101472e-03 -1.20703908e+02] [-1.01367287e-02 -7.65528912e-05 -9.99948619e-01 -4.13984784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.013463995940776274 Centerline is valid? [True, True] Translation: X:137.30, Y:-120.81, Z:-4.14 [[ 6.76074125e-01 -7.36804143e-01 -6.59040001e-03 1.37297576e+02] [-7.36767507e-01 -6.76106236e-01 7.34835220e-03 -1.20806020e+02] [-9.87010689e-03 -1.12438206e-04 -9.99951283e-01 -4.13873949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.014392329604811783 Centerline is valid? [True, True] Translation: X:137.35, Y:-120.90, Z:-4.14 [[ 7.32932593e-01 -6.80270469e-01 -6.47329697e-03 1.37353944e+02] [-6.80242265e-01 -7.32961166e-01 6.19604229e-03 -1.20904303e+02] [-8.95965989e-03 -1.37871154e-04 -9.99959852e-01 -4.13923064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.014837502993334497 Centerline is valid? [True, True] Translation: X:137.37, Y:-120.93, Z:-4.14 [[ 7.85056426e-01 -6.19392424e-01 -6.27959751e-03 1.37374841e+02] [-6.19371172e-01 -7.85081528e-01 5.13291088e-03 -1.20930063e+02] [-8.10928212e-03 -1.40222998e-04 -9.99967109e-01 -4.13978692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.015398166149484013 Centerline is valid? [True, True] Translation: X:137.40, Y:-120.95, Z:-4.14 [[ 8.31791594e-01 -5.55057086e-01 -5.86305757e-03 1.37397969e+02] [-5.55042168e-01 -8.31812247e-01 4.07154916e-03 -1.20954111e+02] [-7.13690530e-03 -1.32436184e-04 -9.99974523e-01 -4.14003011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.014604584632663956 Centerline is valid? [True, True] Translation: X:137.42, Y:-120.98, Z:-4.14 [[ 8.72590740e-01 -4.88409889e-01 -6.41723520e-03 1.37422196e+02] [-4.88395520e-01 -8.72614326e-01 3.74897760e-03 -1.20977832e+02] [-7.43080910e-03 -1.37174214e-04 -9.99972382e-01 -4.14018694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.015083328972523917 Centerline is valid? [True, True] Translation: X:137.45, Y:-121.00, Z:-4.14 [[ 9.07269212e-01 -4.20484017e-01 -7.46776230e-03 1.37445995e+02] [-4.20468527e-01 -9.07299935e-01 3.61185945e-03 -1.21001242e+02] [-8.29422942e-03 -1.36969863e-04 -9.99965593e-01 -4.13773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.013962575483362853 Centerline is valid? [True, True] Translation: X:137.47, Y:-121.02, Z:-4.14 [[ 9.37048468e-01 -3.49093502e-01 -8.59622792e-03 1.37473837e+02] [-3.49077397e-01 -9.37087886e-01 3.35625674e-03 -1.21021229e+02] [-9.22706847e-03 -1.44226368e-04 -9.99957419e-01 -4.13831958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.014267214152392207 Centerline is valid? [True, True] Translation: X:137.50, Y:-121.04, Z:-4.14 [[ 9.61696200e-01 -2.73954970e-01 -9.43888381e-03 1.37501816e+02] [-2.73940112e-01 -9.61742506e-01 2.85788857e-03 -1.21040378e+02] [-9.86070855e-03 -1.62731693e-04 -9.99951369e-01 -4.13793746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.014781201222535586 Centerline is valid? [True, True] Translation: X:137.53, Y:-121.06, Z:-4.14 [[ 9.80356061e-01 -1.96956160e-01 -1.05007122e-02 1.37531800e+02] [-1.96942804e-01 -9.80412278e-01 2.30140256e-03 -1.21056276e+02] [-1.07483026e-02 -1.88154246e-04 -9.99942218e-01 -4.13684601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.014650584596181194 Centerline is valid? [True, True] Translation: X:137.56, Y:-121.07, Z:-4.14 [[ 9.92625732e-01 -1.20767829e-01 -1.04540943e-02 1.37563103e+02] [-1.20759296e-01 -9.92680765e-01 1.44593469e-03 -1.21066164e+02] [-1.05522007e-02 -1.72842908e-04 -9.99944309e-01 -4.13652990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.013887450848027987 Centerline is valid? [True, True] Translation: X:137.59, Y:-121.07, Z:-4.14 [[ 9.98933176e-01 -4.49898770e-02 -1.04125817e-02 1.37592104e+02] [-4.49859062e-02 -9.98987432e-01 6.15361492e-04 -1.21074217e+02] [-1.04297233e-02 -1.46285586e-04 -9.99945598e-01 -4.13758374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.013883842322229384 Centerline is valid? [True, True] Translation: X:137.62, Y:-121.08, Z:-4.14 [[ 9.99443090e-01 3.17812623e-02 -1.01715983e-02 1.37620366e+02] [ 3.17809068e-02 -9.99494840e-01 -1.96618455e-04 -1.21081026e+02] [-1.01727088e-02 -1.26753662e-04 -9.99948249e-01 -4.13750068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.013590965402739259 Centerline is valid? [True, True] Translation: X:137.65, Y:-121.08, Z:-4.14 [[ 9.94047177e-01 1.08514179e-01 -9.74082540e-03 1.37649678e+02] [ 1.08510031e-01 -9.94094896e-01 -9.54862634e-04 -1.21083610e+02] [-9.78692094e-03 -1.07798760e-04 -9.99952101e-01 -4.13798547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.01330074945946953 Centerline is valid? [True, True] Translation: X:137.68, Y:-121.09, Z:-4.14 [[ 9.82752888e-01 1.84660847e-01 -9.85559611e-03 1.37679249e+02] [ 1.84652548e-01 -9.82802301e-01 -1.75330935e-03 -1.21085619e+02] [-1.00098701e-02 -9.67911133e-05 -9.99949895e-01 -4.13941745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.013363679903815368 Centerline is valid? [True, True] Translation: X:137.71, Y:-121.09, Z:-4.14 [[ 9.65285254e-01 2.61006537e-01 -9.99826121e-03 1.37707791e+02] [ 2.60993608e-01 -9.65337028e-01 -2.59981901e-03 -1.21086862e+02] [-1.03302615e-02 -9.99153047e-05 -9.99946636e-01 -4.13886789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.013464649442816772 Centerline is valid? [True, True] Translation: X:137.74, Y:-121.09, Z:-4.14 [[ 9.41604254e-01 3.36579022e-01 -9.79744958e-03 1.37738363e+02] [ 3.36562008e-01 -9.41655218e-01 -3.38593541e-03 -1.21087521e+02] [-1.03654544e-02 -1.09238117e-04 -9.99946271e-01 -4.13923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.013506801379912975 Centerline is valid? [True, True] Translation: X:137.77, Y:-121.09, Z:-4.14 [[ 9.12153960e-01 4.09734292e-01 -9.64170074e-03 1.37768421e+02] [ 4.09712750e-01 -9.12204909e-01 -4.20317569e-03 -1.21085090e+02] [-1.05173920e-02 -1.16384373e-04 -9.99944684e-01 -4.13904991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.013823590788791027 Centerline is valid? [True, True] Translation: X:137.80, Y:-121.08, Z:-4.14 [[ 8.76651926e-01 4.81007672e-01 -1.06310927e-02 1.37798565e+02] [ 4.80974360e-01 -8.76716372e-01 -5.66288196e-03 -1.21079663e+02] [-1.20443427e-02 -1.48906614e-04 -9.99927453e-01 -4.13820074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.013878562941676985 Centerline is valid? [True, True] Translation: X:137.83, Y:-121.07, Z:-4.14 [[ 8.35774264e-01 5.48960175e-01 -1.11403224e-02 1.37828531e+02] [ 5.48914202e-01 -8.35848489e-01 -7.10658527e-03 -1.21072427e+02] [-1.32128539e-02 -1.75580096e-04 -9.99912691e-01 -4.13729893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.014174032481350842 Centerline is valid? [True, True] Translation: X:137.86, Y:-121.06, Z:-4.14 [[ 7.89888629e-01 6.13157577e-01 -1.06648783e-02 1.37856588e+02] [ 6.13104838e-01 -7.89960601e-01 -8.04400141e-03 -1.21062632e+02] [-1.33570741e-02 -1.84823238e-04 -9.99910773e-01 -4.13633717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.01428916251876267 Centerline is valid? [True, True] Translation: X:137.88, Y:-121.05, Z:-4.14 [[ 7.39567207e-01 6.73018528e-01 -9.29553042e-03 1.37882926e+02] [ 6.72968243e-01 -7.39625603e-01 -8.22873680e-03 -1.21048189e+02] [-1.24133046e-02 -1.69892876e-04 -9.99922938e-01 -4.13701905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.013804134445044372 Centerline is valid? [True, True] Translation: X:137.91, Y:-121.03, Z:-4.14 [[ 6.85645078e-01 7.27894750e-01 -7.74991781e-03 1.37906757e+02] [ 7.27850488e-01 -6.85688862e-01 -8.02822781e-03 -1.21031166e+02] [-1.11577372e-02 -1.36266583e-04 -9.99937741e-01 -4.13810458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.013796331861488438 Centerline is valid? [True, True] Translation: X:137.93, Y:-121.01, Z:-4.14 [[ 6.28127686e-01 7.78079612e-01 -6.90850688e-03 1.37927560e+02] [ 7.78034479e-01 -6.28165667e-01 -8.38122790e-03 -1.21011896e+02] [-1.08609494e-02 -1.10575263e-04 -9.99941012e-01 -4.13789803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.013169855642540081 Centerline is valid? [True, True] Translation: X:137.95, Y:-120.99, Z:-4.14 [[ 5.66465016e-01 8.24064199e-01 -5.96509719e-03 1.37948069e+02] [ 8.24020189e-01 -5.66496415e-01 -8.51702366e-03 -1.20990992e+02] [-1.03977804e-02 -9.07645799e-05 -9.99945938e-01 -4.13917812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.013122032586693528 Centerline is valid? [True, True] Translation: X:137.97, Y:-120.97, Z:-4.14 [[ 5.02143050e-01 8.64768319e-01 -5.30205680e-03 1.37966272e+02] [ 8.64721535e-01 -5.02171036e-01 -8.99539381e-03 -1.20969593e+02] [-1.04414709e-02 -6.78282113e-05 -9.99945484e-01 -4.13751385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.012813516862547423 Centerline is valid? [True, True] Translation: X:137.98, Y:-120.95, Z:-4.14 [[ 4.35451860e-01 9.00196221e-01 -5.33313752e-03 1.37983485e+02] [ 9.00129959e-01 -4.35484515e-01 -1.09221634e-02 -1.20946490e+02] [-1.21545890e-02 -4.44404906e-05 -9.99926129e-01 -4.13686742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.012784137602227881 Centerline is valid? [True, True] Translation: X:138.00, Y:-120.92, Z:-4.14 [[ 3.64257556e-01 9.31286859e-01 -4.60650655e-03 1.38001320e+02] [ 9.31213699e-01 -3.64286680e-01 -1.16730637e-02 -1.20923527e+02] [-1.25490598e-02 -3.76403361e-05 -9.99921257e-01 -4.13617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.012895737576172874 Centerline is valid? [True, True] Translation: X:138.02, Y:-120.90, Z:-4.14 [[ 2.89942079e-01 9.57036825e-01 -3.75601395e-03 1.38017655e+02] [ 9.56958407e-01 -2.89966403e-01 -1.22512236e-02 -1.20900116e+02] [-1.28139900e-02 -4.22038819e-05 -9.99917897e-01 -4.13560461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.0126807733220904 Centerline is valid? [True, True] Translation: X:138.03, Y:-120.88, Z:-4.14 [[ 2.16229377e-01 9.76338227e-01 -2.91946026e-03 1.38032066e+02] [ 9.76250210e-01 -2.16249084e-01 -1.31095845e-02 -1.20875481e+02] [-1.34307191e-02 -1.54463969e-05 -9.99909804e-01 -4.13646675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.012777945752009983 Centerline is valid? [True, True] Translation: X:138.04, Y:-120.85, Z:-4.14 [[ 1.42150134e-01 9.89843505e-01 -1.78209323e-03 1.38043009e+02] [ 9.89763573e-01 -1.42161302e-01 -1.25791220e-02 -1.20850333e+02] [-1.27047069e-02 2.42729184e-05 -9.99919292e-01 -4.13657398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.012943740791102512 Centerline is valid? [True, True] Translation: X:138.05, Y:-120.82, Z:-4.14 [[ 6.87185576e-02 9.97635861e-01 -6.70111843e-04 1.38053401e+02] [ 9.97577959e-01 -6.87217890e-02 -1.07485999e-02 -1.20823403e+02] [-1.07692400e-02 7.01394777e-05 -9.99942008e-01 -4.13799204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.013485706095520307 Centerline is valid? [True, True] Translation: X:138.06, Y:-120.80, Z:-4.14 [[-5.76910649e-03 9.99983344e-01 1.72739034e-04 1.38058803e+02] [ 9.99926049e-01 5.77062514e-03 -1.07049693e-02 -1.20796047e+02] [-1.07057878e-02 1.10968153e-04 -9.99942685e-01 -4.13791295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.014540772258661063 Centerline is valid? [True, True] Translation: X:138.06, Y:-120.77, Z:-4.14 [[-7.93645290e-02 9.96844987e-01 1.15947515e-03 1.38061480e+02] [ 9.96770031e-01 7.93727815e-02 -1.22256692e-02 -1.20769230e+02] [-1.22791278e-02 1.85445601e-04 -9.99924592e-01 -4.13710696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.01503200761937648 Centerline is valid? [True, True] Translation: X:138.06, Y:-120.74, Z:-4.14 [[-1.55663207e-01 9.87808071e-01 2.04482744e-03 1.38064489e+02] [ 9.87738788e-01 1.55676511e-01 -1.17009132e-02 -1.20741778e+02] [-1.18765881e-02 1.98353708e-04 -9.99929451e-01 -4.13655839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.014362496456098935 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.71, Z:-4.14 [[-2.32888532e-01 9.72499207e-01 2.86773831e-03 1.38069863e+02] [ 9.72435151e-01 2.32906111e-01 -1.11633542e-02 -1.20712510e+02] [-1.15242669e-02 1.88872360e-04 -9.99933576e-01 -4.13740902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.014543495815466772 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.69, Z:-4.14 [[-3.10963938e-01 9.50414684e-01 3.65489881e-03 1.38070171e+02] [ 9.50354750e-01 3.10985378e-01 -1.06744186e-02 -1.20685335e+02] [-1.12817442e-02 1.54091207e-04 -9.99936347e-01 -4.13565493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.01333557392887598 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.66, Z:-4.13 [[-3.88987821e-01 9.21230110e-01 4.85389733e-03 1.38070430e+02] [ 9.21161785e-01 3.89018089e-01 -1.12201873e-02 -1.20655607e+02] [-1.22246282e-02 1.06708538e-04 -9.99925271e-01 -4.13462829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.012675171801262477 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.63, Z:-4.14 [[-4.63732570e-01 8.85957736e-01 5.56719742e-03 1.38069166e+02] [ 8.85895266e-01 4.63765984e-01 -1.05208921e-02 -1.20625410e+02] [-1.19029426e-02 5.30734891e-05 -9.99929156e-01 -4.13515582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.012576284328247431 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.59, Z:-4.14 [[-5.37385680e-01 8.43313963e-01 6.17997039e-03 1.38066110e+02] [ 8.43257637e-01 5.37421213e-01 -9.74668026e-03 -1.20594987e+02] [-1.15407587e-02 -2.64191636e-05 -9.99933403e-01 -4.13516533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.012788808473442307 Centerline is valid? [True, True] Translation: X:138.06, Y:-120.56, Z:-4.14 [[-6.05508876e-01 7.95810414e-01 6.69225171e-03 1.38059207e+02] [ 7.95760389e-01 6.05545852e-01 -8.92323870e-03 -1.20564594e+02] [-1.11536716e-02 -7.76714123e-05 -9.99937793e-01 -4.13547891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.01433704507982518 Centerline is valid? [True, True] Translation: X:138.05, Y:-120.53, Z:-4.13 [[-6.71026527e-01 7.41409158e-01 5.98836177e-03 1.38051939e+02] [ 7.41377977e-01 6.71053235e-01 -6.80073764e-03 -1.20534993e+02] [-9.06063870e-03 -1.23835818e-04 -9.99958944e-01 -4.13479237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.014829487239463845 Centerline is valid? [True, True] Translation: X:138.04, Y:-120.51, Z:-4.14 [[-7.30734182e-01 6.82637264e-01 5.82415536e-03 1.38038483e+02] [ 6.82613880e-01 7.30757375e-01 -5.65231148e-03 -1.20506830e+02] [-8.11452293e-03 -1.54687912e-04 -9.99967065e-01 -4.13590735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.015560774724749009 Centerline is valid? [True, True] Translation: X:138.06, Y:-120.49, Z:-4.13 [[-7.78628675e-01 6.27449518e-01 6.67000361e-03 1.38060275e+02] [ 6.27424425e-01 7.78657220e-01 -5.61458118e-03 -1.20489502e+02] [-8.71651273e-03 -1.86750722e-04 -9.99961993e-01 -4.13449624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.015495574693541483 Centerline is valid? [True, True] Translation: X:138.08, Y:-120.47, Z:-4.13 [[-8.20691083e-01 5.71326387e-01 7.23224343e-03 1.38076594e+02] [ 5.71302194e-01 8.20722928e-01 -5.26097579e-03 -1.20469024e+02] [-8.94140229e-03 -1.85839379e-04 -9.99960008e-01 -4.13332549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.014594850599200095 Centerline is valid? [True, True] Translation: X:138.09, Y:-120.45, Z:-4.13 [[-8.57471361e-01 5.14470959e-01 7.90551112e-03 1.38090943e+02] [ 5.14447308e-01 8.57507787e-01 -4.93583372e-03 -1.20453126e+02] [-9.31838046e-03 -1.65367144e-04 -9.99956569e-01 -4.13281570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.01382204468880699 Centerline is valid? [True, True] Translation: X:138.10, Y:-120.43, Z:-4.13 [[-8.89718241e-01 4.56443901e-01 7.77280542e-03 1.38100947e+02] [ 4.56425337e-01 8.89752186e-01 -4.11822330e-03 -1.20433866e+02] [-8.79560852e-03 -1.16353062e-04 -9.99961311e-01 -4.13236003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.012460827861010755 Centerline is valid? [True, True] Translation: X:138.45, Y:-119.82, Z:-5.12 [[-8.48721828e-01 -5.28792785e-01 7.03206647e-03 1.38446261e+02] [ 5.28775423e-01 -8.48750955e-01 -4.28573115e-03 -1.19824089e+02] [ 8.23473685e-03 8.09903506e-05 9.99966091e-01 -5.11883513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.012744289731612136 Centerline is valid? [True, True] Translation: X:138.44, Y:-119.85, Z:-5.12 [[-8.16688116e-01 -5.77048486e-01 5.96374760e-03 1.38444310e+02] [ 5.77032652e-01 -8.16709888e-01 -4.27511736e-03 -1.19847026e+02] [ 7.33760164e-03 -5.01604436e-05 9.99973078e-01 -5.11828740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.013930054017014514 Centerline is valid? [True, True] Translation: X:138.01, Y:-120.45, Z:-4.14 [[-8.43437062e-01 5.37214076e-01 3.86765326e-03 1.38014471e+02] [ 5.37208826e-01 8.43445927e-01 -2.37613934e-03 -1.20449975e+02] [-4.53865188e-03 7.36134819e-05 -9.99989698e-01 -4.13590386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.015578676119674255 Centerline is valid? [True, True] Translation: X:138.03, Y:-120.43, Z:-4.14 [[-8.75979283e-01 4.82333155e-01 3.87592417e-03 1.38034174e+02] [ 4.82328945e-01 8.75987852e-01 -2.01785309e-03 -1.20433460e+02] [-4.36853993e-03 1.01872916e-04 -9.99990453e-01 -4.13558023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.017854993712091278 Centerline is valid? [True, True] Translation: X:138.05, Y:-120.42, Z:-4.13 [[-9.04054648e-01 4.27390223e-01 4.77399007e-03 1.38053634e+02] [ 4.27385241e-01 9.04067237e-01 -2.07039400e-03 -1.20415693e+02] [-5.20087417e-03 1.68583580e-04 -9.99986461e-01 -4.13437708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.019109728679236337 Centerline is valid? [True, True] Translation: X:138.07, Y:-120.39, Z:-4.13 [[-9.29721526e-01 3.68229436e-01 4.99668345e-03 1.38068769e+02] [ 3.68225297e-01 9.29734930e-01 -1.75791336e-03 -1.20391524e+02] [-5.29290658e-03 2.05535354e-04 -9.99985971e-01 -4.13469520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.022118949503114087 Centerline is valid? [True, True] Translation: X:138.09, Y:-120.37, Z:-4.14 [[-9.50750450e-01 3.09933121e-01 3.87848976e-03 1.38085530e+02] [ 3.09931361e-01 9.50758341e-01 -1.06212466e-03 -1.20366638e+02] [-4.01669410e-03 1.92250116e-04 -9.99991915e-01 -4.13515336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.02466241511910492 Centerline is valid? [True, True] Translation: X:138.10, Y:-120.34, Z:-4.14 [[-9.68653057e-01 2.48394190e-01 3.40327242e-03 1.38098456e+02] [ 2.48393341e-01 9.68659017e-01 -6.76657118e-04 -1.20339740e+02] [-3.46468822e-03 1.89904222e-04 -9.99993980e-01 -4.13612666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.026317213136726556 Centerline is valid? [True, True] Translation: X:138.25, Y:-119.61, Z:-5.12 [[-9.78486323e-01 -2.06288897e-01 3.06692541e-03 1.38249734e+02] [ 2.06287265e-01 -9.78491111e-01 -8.42762944e-04 -1.19607153e+02] [ 3.17481189e-03 -1.91964358e-04 9.99994942e-01 -5.11564038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.02726204075629356 Centerline is valid? [True, True] Translation: X:138.05, Y:-120.32, Z:-4.14 [[-9.69451799e-01 2.45269560e-01 2.46024170e-03 1.38048811e+02] [ 2.45269133e-01 9.69454910e-01 -4.78756628e-04 -1.20320618e+02] [-2.50251783e-03 1.39289875e-04 -9.99996859e-01 -4.13621985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.02482382113014809 Centerline is valid? [True, True] Translation: X:138.19, Y:-119.61, Z:-5.12 [[-9.78209455e-01 -2.07607847e-01 2.28986307e-03 1.38191892e+02] [ 2.07606939e-01 -9.78212125e-01 -6.30037091e-04 -1.19613476e+02] [ 2.37077247e-03 -1.40916776e-04 9.99997180e-01 -5.11528571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.019994267235901912 Centerline is valid? [True, True] Translation: X:138.00, Y:-120.28, Z:-4.14 [[-9.73791951e-01 2.27427597e-01 2.43408212e-03 1.37998322e+02] [ 2.27427147e-01 9.73794987e-01 -4.63866353e-04 -1.20284774e+02] [-2.47579298e-03 1.01867032e-04 -9.99996930e-01 -4.13687562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.017737872275753724 Centerline is valid? [True, True] Translation: X:138.12, Y:-119.63, Z:-5.12 [[-9.74818683e-01 -2.22983608e-01 2.61651756e-03 1.38120907e+02] [ 2.22982543e-01 -9.74822190e-01 -6.95534328e-04 -1.19629644e+02] [ 2.70573213e-03 -9.45821172e-05 9.99996335e-01 -5.11527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.015152469162574638 Centerline is valid? [True, True] Translation: X:137.94, Y:-120.25, Z:-4.14 [[-9.78667892e-01 2.05434507e-01 2.41241736e-03 1.37942455e+02] [ 2.05434022e-01 9.78670864e-01 -4.50089094e-04 -1.20248849e+02] [-2.45342641e-03 5.51048542e-05 -9.99996989e-01 -4.13605980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.012394918102192922 Centerline is valid? [True, True] Translation: X:138.04, Y:-119.65, Z:-5.12 [[-9.70293833e-01 -2.41906160e-01 3.35965739e-03 1.38044284e+02] [ 2.41904711e-01 -9.70299649e-01 -8.37419521e-04 -1.19646654e+02] [ 3.46245132e-03 1.73952059e-07 9.99994006e-01 -5.11660295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.012127448436695009 Centerline is valid? [True, True] Translation: X:137.88, Y:-120.20, Z:-4.13 [[-9.84457446e-01 1.75536142e-01 5.53167934e-03 1.37882492e+02] [ 1.75533222e-01 9.84472987e-01 -1.01292085e-03 -1.20203149e+02] [-5.62359310e-03 -2.61839725e-05 -9.99984187e-01 -4.13412114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.013207895181329204 Centerline is valid? [True, True] Translation: X:137.88, Y:-120.16, Z:-4.13 [[-9.95223187e-01 9.73960041e-02 6.69529371e-03 1.37876673e+02] [ 9.73932239e-02 9.95245704e-01 -7.40824154e-04 -1.20164780e+02] [-6.73561561e-03 -8.52091365e-05 -9.99977312e-01 -4.13301037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.015494444979830968 Centerline is valid? [True, True] Translation: X:137.92, Y:-119.64, Z:-5.12 [[-9.80262365e-01 -1.97516396e-01 8.54220586e-03 1.37924443e+02] [ 1.97511101e-01 -9.80299552e-01 -1.46746154e-03 -1.19637105e+02] [ 8.66376829e-03 2.48683161e-04 9.99962438e-01 -5.12012630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.016419816956232063 Centerline is valid? [True, True] Translation: X:137.82, Y:-120.15, Z:-4.13 [[-9.96389964e-01 8.43533009e-02 9.56876465e-03 1.37824052e+02] [ 8.43473688e-02 9.96435886e-01 -1.02253085e-03 -1.20145747e+02] [-9.62091434e-03 -2.11739360e-04 -9.99953696e-01 -4.13085315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.014475189306790166 Centerline is valid? [True, True] Translation: X:137.81, Y:-120.12, Z:-4.13 [[-9.99801904e-01 1.72504378e-02 9.92854689e-03 1.37813859e+02] [ 1.72477950e-02 9.99851184e-01 -3.51749844e-04 -1.20121624e+02] [-9.93313721e-03 -1.80434622e-04 -9.99950649e-01 -4.13193773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.012858702881157182 Centerline is valid? [True, True] Translation: X:137.84, Y:-119.60, Z:-5.12 [[-9.93313919e-01 -1.15023274e-01 9.85421531e-03 1.37836935e+02] [ 1.15019388e-01 -9.93362781e-01 -9.62025236e-04 -1.19597530e+02] [ 9.89946602e-03 1.77832758e-04 9.99950983e-01 -5.11876276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.013031686465825493 Centerline is valid? [True, True] Translation: X:137.77, Y:-120.13, Z:-4.13 [[-9.99704786e-01 2.19382941e-02 1.04428447e-02 1.37771790e+02] [ 2.19360527e-02 9.99759322e-01 -3.29134740e-04 -1.20127683e+02] [-1.04475520e-02 -9.99627829e-05 -9.99945418e-01 -4.13160777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.012520653367940114 Centerline is valid? [True, True] Translation: X:137.79, Y:-119.59, Z:-5.12 [[-9.94302421e-01 -1.05983089e-01 1.14140627e-02 1.37785014e+02] [ 1.05978100e-01 -9.94367917e-01 -1.04279134e-03 -1.19592535e+02] [ 1.14602960e-02 1.72790714e-04 9.99934314e-01 -5.12025787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.012268183538569058 Centerline is valid? [True, True] Translation: X:137.72, Y:-120.13, Z:-4.13 [[-9.99692569e-01 2.18933417e-02 1.16382891e-02 1.37721106e+02] [ 2.18910959e-02 9.99760310e-01 -3.20341987e-04 -1.20134913e+02] [-1.16425128e-02 -6.54686024e-05 -9.99932222e-01 -4.13315076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.012214076510976578 Centerline is valid? [True, True] Translation: X:137.72, Y:-120.11, Z:-4.13 [[-9.98757580e-01 -4.84834355e-02 1.15175035e-02 1.37715123e+02] [-4.84808667e-02 9.98823985e-01 5.02289897e-04 -1.20110883e+02] [-1.15283114e-02 -5.67127085e-05 -9.99933545e-01 -4.13354352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.012199632299309733 Centerline is valid? [True, True] Translation: X:137.70, Y:-120.09, Z:-4.13 [[-9.92926411e-01 -1.18142969e-01 1.18060175e-02 1.37704109e+02] [-1.18135137e-01 9.92996595e-01 1.36106518e-03 -1.20089049e+02] [-1.18841355e-02 -4.32679344e-05 -9.99929380e-01 -4.13277185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.01204801979848583 Centerline is valid? [True, True] Translation: X:137.69, Y:-120.07, Z:-4.13 [[-9.82557704e-01 -1.85584717e-01 1.17758611e-02 1.37692297e+02] [-1.85571477e-01 9.82628268e-01 2.21686022e-03 -1.20070611e+02] [-1.19827094e-02 -7.07085267e-06 -9.99928205e-01 -4.13418976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.012298526056481008 Centerline is valid? [True, True] Translation: X:137.68, Y:-120.05, Z:-4.14 [[-9.68257016e-01 -2.49693648e-01 1.14644269e-02 1.37678077e+02] [-2.49675401e-01 9.68324883e-01 3.01920108e-03 -1.20054639e+02] [-1.18551652e-02 6.09772345e-05 -9.99929723e-01 -4.13554930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.012744523620384213 Centerline is valid? [True, True] Translation: X:137.65, Y:-120.04, Z:-4.14 [[-9.48895998e-01 -3.15408286e-01 1.06769511e-02 1.37652579e+02] [-3.15387167e-01 9.48956060e-01 3.65122528e-03 -1.20039338e+02] [-1.12835842e-02 9.72596832e-05 -9.99936334e-01 -4.13658414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.013586382035871154 Centerline is valid? [True, True] Translation: X:137.61, Y:-120.03, Z:-4.14 [[-9.25109301e-01 -3.79561661e-01 1.02823944e-02 1.37612818e+02] [-3.79536504e-01 9.25166431e-01 4.37225688e-03 -1.20031894e+02] [-1.11724672e-02 1.42271489e-04 -9.99937576e-01 -4.13682714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.013645675888381335 Centerline is valid? [True, True] Translation: X:137.55, Y:-120.03, Z:-4.14 [[-8.95329046e-01 -4.45299327e-01 9.71639407e-03 1.37552035e+02] [-4.45271251e-01 8.95381755e-01 5.00266598e-03 -1.20033375e+02] [-1.09275658e-02 1.52601219e-04 -9.99940281e-01 -4.13751796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.01342479408757261 Centerline is valid? [True, True] Translation: X:137.48, Y:-120.04, Z:-4.14 [[-8.59488703e-01 -5.11057460e-01 9.97205185e-03 1.37484151e+02] [-5.11021043e-01 8.59546537e-01 6.10275417e-03 -1.20042117e+02] [-1.16903007e-02 1.49319933e-04 -9.99931655e-01 -4.13821194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.013085380561398399 Centerline is valid? [True, True] Translation: X:137.41, Y:-120.06, Z:-4.14 [[-8.17625158e-01 -5.75669364e-01 9.68934085e-03 1.37410280e+02] [-5.75627229e-01 8.17682560e-01 6.96594664e-03 -1.20057566e+02] [-1.19328871e-02 1.18084806e-04 -9.99928794e-01 -4.13796371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.01231491736172591 Centerline is valid? [True, True] Translation: X:137.33, Y:-120.08, Z:-4.14 [[-7.68384828e-01 -6.39925958e-01 8.91769852e-03 1.37328808e+02] [-6.39882286e-01 7.68436573e-01 7.47616719e-03 -1.20084229e+02] [-1.16368791e-02 3.82961266e-05 -9.99932289e-01 -4.13837902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.012317688195357007 Centerline is valid? [True, True] Translation: X:137.25, Y:-120.12, Z:-4.14 [[-7.13648433e-01 -7.00450442e-01 8.66553961e-03 1.37249527e+02] [-7.00399538e-01 7.13701041e-01 8.44459142e-03 -1.20116385e+02] [-1.20996224e-02 -4.28705056e-05 -9.99926796e-01 -4.13700230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.012941143197212847 Centerline is valid? [True, True] Translation: X:137.17, Y:-120.16, Z:-4.14 [[-6.53667429e-01 -7.56737014e-01 8.24521223e-03 1.37165733e+02] [-7.56679405e-01 6.53719415e-01 9.33836279e-03 -1.20162379e+02] [-1.24567401e-02 -1.34798692e-04 -9.99922403e-01 -4.13695625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.013860031470528666 Centerline is valid? [True, True] Translation: X:137.08, Y:-120.22, Z:-4.14 [[-5.90816457e-01 -8.06773044e-01 7.29177657e-03 1.37082695e+02] [-8.06715593e-01 5.90861421e-01 9.62981442e-03 -1.20219146e+02] [-1.20775042e-02 -1.92937022e-04 -9.99927046e-01 -4.13710152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.015474082965438021 Centerline is valid? [True, True] Translation: X:137.00, Y:-120.28, Z:-4.14 [[-5.22826847e-01 -8.52413139e-01 6.62784987e-03 1.37004478e+02] [-8.52351177e-01 5.22868784e-01 1.02813251e-02 -1.20283191e+02] [-1.22294324e-02 -2.73902876e-04 -9.99925180e-01 -4.13740138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.016544119551590977 Centerline is valid? [True, True] Translation: X:136.93, Y:-120.35, Z:-4.14 [[-4.54581841e-01 -8.90687554e-01 5.57054713e-03 1.36931164e+02] [-8.90628353e-01 4.54615878e-01 1.02732912e-02 -1.20354659e+02] [-1.16827518e-02 -2.91235574e-04 -9.99931712e-01 -4.13751348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.017450726880971386 Centerline is valid? [True, True] Translation: X:136.86, Y:-120.43, Z:-4.14 [[-3.83455702e-01 -9.23546624e-01 4.83289813e-03 1.36863123e+02] [-9.23483575e-01 3.83486021e-01 1.07961900e-02 -1.20434704e+02] [-1.18241337e-02 -3.23241434e-04 -9.99930040e-01 -4.13689124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.01859101941552765 Centerline is valid? [True, True] Translation: X:136.80, Y:-120.52, Z:-4.14 [[-3.09873133e-01 -9.50767292e-01 4.49429428e-03 1.36800574e+02] [-9.50684997e-01 3.09905472e-01 1.25154022e-02 -1.20522599e+02] [-1.32920414e-02 -3.94471245e-04 -9.99911579e-01 -4.13554063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.019599180415227443 Centerline is valid? [True, True] Translation: X:136.74, Y:-120.62, Z:-4.13 [[-2.35416910e-01 -9.71885919e-01 4.07915321e-03 1.36743781e+02] [-9.71772949e-01 2.35451771e-01 1.48256225e-02 -1.20617764e+02] [-1.53692576e-02 -4.73808514e-04 -9.99881774e-01 -4.13386473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.01958053843768333 Centerline is valid? [True, True] Translation: X:136.70, Y:-120.72, Z:-4.13 [[-1.60826184e-01 -9.86977308e-01 3.27594857e-03 1.36699730e+02] [-9.86833675e-01 1.60858694e-01 1.68457584e-02 -1.20717288e+02] [-1.71533460e-02 -5.23577327e-04 -9.99852733e-01 -4.13324668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.016863297978547038 Centerline is valid? [True, True] Translation: X:136.67, Y:-120.83, Z:-4.14 [[-8.84636647e-02 -9.96077657e-01 1.86607172e-03 1.36667554e+02] [-9.95947626e-01 8.84822786e-02 1.61000902e-02 -1.20828702e+02] [-1.62020544e-02 -4.34236718e-04 -9.99868644e-01 -4.13579829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.01700743626495324 Centerline is valid? [True, True] Translation: X:136.63, Y:-120.94, Z:-4.14 [[-1.36433645e-02 -9.99906747e-01 5.96313232e-04 1.36634908e+02] [-9.99787951e-01 1.36509382e-02 1.54176764e-02 -1.20938201e+02] [-1.54243789e-02 -3.85837804e-04 -9.99880963e-01 -4.13569745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.014935030680852321 Centerline is valid? [True, True] Translation: X:136.62, Y:-121.05, Z:-4.14 [[ 5.72915310e-02 -9.98357375e-01 -4.81853626e-04 1.36620417e+02] [-9.98277843e-01 -5.72930501e-02 1.26037860e-02 -1.21047312e+02] [-1.26106895e-02 -2.41066396e-04 -9.99920453e-01 -4.13854416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.015065568554983696 Centerline is valid? [True, True] Translation: X:136.61, Y:-121.16, Z:-4.14 [[ 1.30356916e-01 -9.91466214e-01 -1.34940686e-03 1.36609193e+02] [-9.91397628e-01 -1.30363772e-01 1.16632328e-02 -1.21164581e+02] [-1.17396150e-02 -1.82584294e-04 -9.99931072e-01 -4.13773173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.014218163668673069 Centerline is valid? [True, True] Translation: X:136.60, Y:-121.28, Z:-4.14 [[ 2.05599108e-01 -9.78633569e-01 -2.31163145e-03 1.36604983e+02] [-9.78561454e-01 -2.05612024e-01 1.18818021e-02 -1.21281302e+02] [-1.21032296e-02 -1.80814479e-04 -9.99926737e-01 -4.13857741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.014954459682796283 Centerline is valid? [True, True] Translation: X:136.60, Y:-121.40, Z:-4.14 [[ 2.80879241e-01 -9.59736681e-01 -3.51500061e-03 1.36603223e+02] [-9.59652060e-01 -2.80901158e-01 1.27460640e-02 -1.21404087e+02] [-1.32202329e-02 -2.06927205e-04 -9.99912588e-01 -4.13596428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.014091562808043741 Centerline is valid? [True, True] Translation: X:136.61, Y:-121.52, Z:-4.14 [[ 3.54698232e-01 -9.34969899e-01 -4.52241430e-03 1.36611321e+02] [-9.34885756e-01 -3.54726992e-01 1.25453047e-02 -1.21519922e+02] [-1.33337047e-02 -2.21856698e-04 -9.99911078e-01 -4.13749991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.015112932837894982 Centerline is valid? [True, True] Translation: X:136.63, Y:-121.64, Z:-4.14 [[ 4.28007602e-01 -9.03760461e-01 -5.14993423e-03 1.36625356e+02] [-9.03688017e-01 -4.28038514e-01 1.14454477e-02 -1.21641135e+02] [-1.25483133e-02 -2.44804778e-04 -9.99921237e-01 -4.13745038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.015510135951158268 Centerline is valid? [True, True] Translation: X:136.65, Y:-121.75, Z:-4.14 [[ 4.97760144e-01 -8.67291793e-01 -6.30750854e-03 1.36648395e+02] [-8.67214814e-01 -4.97800026e-01 1.15585514e-02 -1.21754135e+02] [-1.31645146e-02 -2.83421347e-04 -9.99913304e-01 -4.13683496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.01660531085564859 Centerline is valid? [True, True] Translation: X:136.68, Y:-121.87, Z:-4.14 [[ 5.62464610e-01 -8.26789810e-01 -7.22309210e-03 1.36681084e+02] [-8.26715110e-01 -5.62510916e-01 1.11173533e-02 -1.21866222e+02] [-1.32547826e-02 -2.81678404e-04 -9.99912112e-01 -4.13526093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.01574584948063159 Centerline is valid? [True, True] Translation: X:136.72, Y:-121.97, Z:-4.14 [[ 6.21604132e-01 -7.83298068e-01 -7.24159654e-03 1.36720212e+02] [-7.83240796e-01 -6.21646274e-01 9.47446408e-03 -1.21965549e+02] [-1.19230409e-02 -2.17452180e-04 -9.99928894e-01 -4.13581045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.014430331947916594 Centerline is valid? [True, True] Translation: X:136.77, Y:-122.07, Z:-4.14 [[ 6.77956292e-01 -7.35071456e-01 -6.72459310e-03 1.36770741e+02] [-7.35032915e-01 -6.77989623e-01 7.52898274e-03 -1.22065108e+02] [-1.00935446e-02 -1.61523956e-04 -9.99949046e-01 -4.13872242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.013542306499847157 Centerline is valid? [True, True] Translation: X:136.83, Y:-122.16, Z:-4.14 [[ 7.29525142e-01 -6.83928364e-01 -5.92116702e-03 1.36827427e+02] [-6.83904696e-01 -7.29549164e-01 5.69063033e-03 -1.22159819e+02] [-8.21176594e-03 -1.01943971e-04 -9.99966278e-01 -4.14022316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.013147473552261998 Centerline is valid? [True, True] Translation: X:136.85, Y:-122.19, Z:-4.14 [[ 7.79231328e-01 -6.26701799e-01 -6.58738911e-03 1.36848687e+02] [-6.26678478e-01 -7.79259166e-01 5.40716326e-03 -1.22186468e+02] [-8.52196229e-03 -8.52560246e-05 -9.99963684e-01 -4.13941073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.013020726680925632 Centerline is valid? [True, True] Translation: X:136.87, Y:-122.21, Z:-4.14 [[ 8.24724881e-01 -5.65466744e-01 -8.73109403e-03 1.36871723e+02] [-5.65433956e-01 -8.24771092e-01 6.08999379e-03 -1.22211771e+02] [-1.06448429e-02 -8.57123727e-05 -9.99943338e-01 -4.13672951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.012927848961941373 Centerline is valid? [True, True] Translation: X:136.90, Y:-122.24, Z:-4.14 [[ 8.65575790e-01 -5.00664470e-01 -1.06601755e-02 1.36896138e+02] [-5.00625371e-01 -8.65641428e-01 6.25751411e-03 -1.22235473e+02] [-1.23608045e-02 -7.95984241e-05 -9.99923599e-01 -4.13572173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.01276287062680497 Centerline is valid? [True, True] Translation: X:136.92, Y:-122.25, Z:-4.14 [[ 9.00423385e-01 -4.34858688e-01 -1.16468899e-02 1.36923890e+02] [-4.34821812e-01 -9.00498707e-01 5.66313891e-03 -1.22254094e+02] [-1.29506745e-02 -3.49009195e-05 -9.99916136e-01 -4.13552632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.012707238151140785 Centerline is valid? [True, True] Translation: X:136.95, Y:-122.27, Z:-4.14 [[ 9.31173583e-01 -3.64403197e-01 -1.12279978e-02 1.36951348e+02] [-3.64376497e-01 -9.31241274e-01 4.41120178e-03 -1.22270405e+02] [-1.20634310e-02 -1.63760570e-05 -9.99927234e-01 -4.13618232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.012695149114376563 Centerline is valid? [True, True] Translation: X:136.98, Y:-122.29, Z:-4.14 [[ 9.56982212e-01 -2.89943723e-01 -1.08482280e-02 1.36980043e+02] [-2.89924836e-01 -9.57043697e-01 3.30945161e-03 -1.22287019e+02] [-1.13417829e-02 -2.19156137e-05 -9.99935680e-01 -4.13758393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.012683910431483054 Centerline is valid? [True, True] Translation: X:137.01, Y:-122.31, Z:-4.14 [[ 9.77041615e-01 -2.12731644e-01 -1.16159299e-02 1.37009002e+02] [-2.12716100e-01 -9.77110662e-01 2.57196434e-03 -1.22305187e+02] [-1.18971871e-02 -4.20209026e-05 -9.99929225e-01 -4.13753145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.012707371705311415 Centerline is valid? [True, True] Translation: X:137.04, Y:-122.32, Z:-4.14 [[ 9.90723347e-01 -1.35342367e-01 -1.22348959e-02 1.37036713e+02] [-1.35331467e-01 -9.90798891e-01 1.71826649e-03 -1.22317590e+02] [-1.23548755e-02 -4.65603262e-05 -9.99923675e-01 -4.13692439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.012826636057687968 Centerline is valid? [True, True] Translation: X:137.06, Y:-122.33, Z:-4.14 [[ 9.98261270e-01 -5.76098632e-02 -1.24715914e-02 1.37063509e+02] [-5.76048213e-02 -9.98339172e-01 7.63421870e-04 -1.22326137e+02] [-1.24948589e-02 -4.36706919e-05 -9.99921935e-01 -4.13632670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.012805605560148432 Centerline is valid? [True, True] Translation: X:137.09, Y:-122.33, Z:-4.14 [[ 9.99733536e-01 2.00242357e-02 -1.14842463e-02 1.37091986e+02] [ 2.00232855e-02 -9.99799494e-01 -1.97720846e-04 -1.22329590e+02] [-1.14859028e-02 -3.22841817e-05 -9.99934034e-01 -4.13544823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.012645361530459292 Centerline is valid? [True, True] Translation: X:137.12, Y:-122.33, Z:-4.14 [[ 9.95081915e-01 9.83221948e-02 -1.20303396e-02 1.37120964e+02] [ 9.83154367e-02 -9.95154634e-01 -1.15331019e-03 -1.22330916e+02] [-1.20854441e-02 -3.51299774e-05 -9.99926968e-01 -4.13588639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.012591681056645593 Centerline is valid? [True, True] Translation: X:137.15, Y:-122.33, Z:-4.14 [[ 9.84319794e-01 1.75942080e-01 -1.26066891e-02 1.37150595e+02] [ 1.75928132e-01 -9.84400520e-01 -2.21562143e-03 -1.22334067e+02] [-1.27998524e-02 -3.69912468e-05 -9.99918078e-01 -4.13709294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.012651819106020545 Centerline is valid? [True, True] Translation: X:137.18, Y:-122.33, Z:-4.14 [[ 9.67461965e-01 2.52699900e-01 -1.26533350e-02 1.37180666e+02] [ 2.52678841e-01 -9.67544707e-01 -3.26253955e-03 -1.22334591e+02] [-1.30671107e-02 -4.08470955e-05 -9.99914621e-01 -4.13656667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.012671491001319429 Centerline is valid? [True, True] Translation: X:137.21, Y:-122.33, Z:-4.14 [[ 9.44266343e-01 3.28918254e-01 -1.31853959e-02 1.37210832e+02] [ 3.28887119e-01 -9.44358395e-01 -4.52606396e-03 -1.22334526e+02] [-1.39404444e-02 -6.26970118e-05 -9.99902825e-01 -4.13655621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.012909160555853985 Centerline is valid? [True, True] Translation: X:137.24, Y:-122.33, Z:-4.14 [[ 9.14839885e-01 4.03609227e-01 -1.29450995e-02 1.37239722e+02] [ 4.03570234e-01 -9.14931464e-01 -5.61100079e-03 -1.22332560e+02] [-1.41085305e-02 -9.10895189e-05 -9.99900466e-01 -4.13605319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.012800683565979576 Centerline is valid? [True, True] Translation: X:137.27, Y:-122.33, Z:-4.14 [[ 8.80216818e-01 4.74406395e-01 -1.25269935e-02 1.37269705e+02] [ 4.74359946e-01 -8.80305949e-01 -6.63919393e-03 -1.22327464e+02] [-1.41772630e-02 -9.83738170e-05 -9.99899493e-01 -4.13678660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.012829558199777047 Centerline is valid? [True, True] Translation: X:137.30, Y:-122.32, Z:-4.14 [[ 8.40848890e-01 5.41141649e-01 -1.17838708e-02 1.37297837e+02] [ 5.41089934e-01 -8.40931453e-01 -7.48161938e-03 -1.22317758e+02] [-1.39580435e-02 -8.52225313e-05 -9.99902578e-01 -4.13698821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.012623643593735247 Centerline is valid? [True, True] Translation: X:137.33, Y:-122.31, Z:-4.14 [[ 7.97041131e-01 6.03830061e-01 -1.07094836e-02 1.37325326e+02] [ 6.03776516e-01 -7.97113075e-01 -8.04139490e-03 -1.22306190e+02] [-1.33923054e-02 -5.68122310e-05 -9.99910317e-01 -4.13833809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.012562733259118782 Centerline is valid? [True, True] Translation: X:137.35, Y:-122.29, Z:-4.14 [[ 7.48310612e-01 6.63278304e-01 -9.64985113e-03 1.37351775e+02] [ 6.63223776e-01 -7.48372828e-01 -8.50488385e-03 -1.22293042e+02] [-1.28627913e-02 -3.57158699e-05 -9.99917270e-01 -4.13834926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.012730388143088297 Centerline is valid? [True, True] Translation: X:137.37, Y:-122.28, Z:-4.14 [[ 6.95755432e-01 7.18215897e-01 -9.50289300e-03 1.37374968e+02] [ 7.18149038e-01 -6.95820326e-01 -9.79968291e-03 -1.22277774e+02] [-1.36505942e-02 -6.31085099e-06 -9.99906826e-01 -4.13715170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.012635268111392818 Centerline is valid? [True, True] Translation: X:137.40, Y:-122.26, Z:-4.14 [[ 6.38115701e-01 7.69893622e-01 -8.49490329e-03 1.37398527e+02] [ 7.69825270e-01 -6.38172243e-01 -1.02587431e-02 -1.22260818e+02] [-1.33193524e-02 6.67383849e-06 -9.99911294e-01 -4.13779759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.012771594751821562 Centerline is valid? [True, True] Translation: X:137.42, Y:-122.24, Z:-4.14 [[ 5.77830895e-01 8.16121026e-01 -7.61107390e-03 1.37419716e+02] [ 8.16049361e-01 -5.77881017e-01 -1.08152656e-02 -1.22241728e+02] [-1.32248607e-02 3.83825809e-05 -9.99912547e-01 -4.13749682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.012801674369289353 Centerline is valid? [True, True] Translation: X:137.44, Y:-122.22, Z:-4.14 [[ 5.14209644e-01 8.57639421e-01 -6.56245453e-03 1.37441852e+02] [ 8.57567869e-01 -5.14251513e-01 -1.10783705e-02 -1.22222437e+02] [-1.28759994e-02 6.88547771e-05 -9.99917099e-01 -4.13886259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.013327136887565632 Centerline is valid? [True, True] Translation: X:137.46, Y:-122.20, Z:-4.14 [[ 4.48820344e-01 8.93608843e-01 -4.85124512e-03 1.37459695e+02] [ 8.93554211e-01 -4.48846550e-01 -9.88161397e-03 -1.22201310e+02] [-1.10077623e-02 1.00218879e-04 -9.99939408e-01 -4.13974577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.013329895421299818 Centerline is valid? [True, True] Translation: X:137.48, Y:-122.18, Z:-4.14 [[ 3.78835566e-01 9.25456013e-01 -3.84469252e-03 1.37479993e+02] [ 9.25405359e-01 -3.78855058e-01 -9.68333649e-03 -1.22179765e+02] [-1.04180832e-02 1.10493194e-04 -9.99945724e-01 -4.14070029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.013321035715482531 Centerline is valid? [True, True] Translation: X:137.50, Y:-122.16, Z:-4.14 [[ 3.04912558e-01 9.52376342e-01 -2.76337075e-03 1.37499757e+02] [ 9.52334313e-01 -3.04925064e-01 -8.94768239e-03 -1.22157781e+02] [-9.36418202e-03 9.66079392e-05 -9.99956150e-01 -4.14117814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.01306895909013398 Centerline is valid? [True, True] Translation: X:137.52, Y:-122.13, Z:-4.14 [[ 2.26568460e-01 9.73993299e-01 -1.94566818e-03 1.37517045e+02] [ 9.73954843e-01 -2.26576805e-01 -8.65533760e-03 -1.22134634e+02] [-8.87108411e-03 6.60335718e-05 -9.99960649e-01 -4.14082595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.012629582908466885 Centerline is valid? [True, True] Translation: X:137.53, Y:-122.11, Z:-4.14 [[ 1.44390010e-01 9.89519971e-01 -1.32382713e-03 1.37534454e+02] [ 9.89477084e-01 -1.44396077e-01 -9.21264466e-03 -1.22109025e+02] [-9.30725132e-03 2.03172465e-05 -9.99956686e-01 -4.14089275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.012592456559301713 Centerline is valid? [True, True] Translation: X:137.55, Y:-122.08, Z:-4.14 [[ 6.26113949e-02 9.98037811e-01 -5.83955863e-04 1.37550183e+02] [ 9.97996629e-01 -6.26141162e-02 -9.06645354e-03 -1.22081784e+02] [-9.08522732e-03 -1.51226804e-05 -9.99958728e-01 -4.14133318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.01267895884083644 Centerline is valid? [True, True] Translation: X:137.56, Y:-122.05, Z:-4.14 [[-2.06499356e-02 9.99786762e-01 1.05503769e-04 1.37564706e+02] [ 9.99758893e-01 2.06501478e-02 -7.46513973e-03 -1.22052914e+02] [-7.46572655e-03 -4.86763239e-05 -9.99972130e-01 -4.14232300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.012911525975897844 Centerline is valid? [True, True] Translation: X:137.57, Y:-122.02, Z:-4.14 [[-1.01361837e-01 9.94849481e-01 5.35914961e-04 1.37574629e+02] [ 9.94832736e-01 1.01363241e-01 -5.77234854e-03 -1.22023616e+02] [-5.79694003e-03 -5.19501052e-05 -9.99983196e-01 -4.14340551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.013354200664740334 Centerline is valid? [True, True] Translation: X:137.58, Y:-121.99, Z:-4.14 [[-1.81180455e-01 9.83449515e-01 8.32853699e-04 1.37581658e+02] [ 9.83437691e-01 1.81182361e-01 -4.82280186e-03 -1.21993966e+02] [-4.89388056e-03 -5.47377155e-05 -9.99988023e-01 -4.14375556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.013338168748963188 Centerline is valid? [True, True] Translation: X:137.59, Y:-121.96, Z:-4.14 [[-2.58449265e-01 9.66024000e-01 1.26850393e-03 1.37586102e+02] [ 9.66011169e-01 2.58452370e-01 -4.97924645e-03 -1.21962589e+02] [-5.13791942e-03 -6.14936133e-05 -9.99986799e-01 -4.14336195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.013871260977685393 Centerline is valid? [True, True] Translation: X:137.59, Y:-121.93, Z:-4.14 [[-3.34884396e-01 9.42257404e-01 1.85077731e-03 1.37588230e+02] [ 9.42241692e-01 3.34889501e-01 -5.44196014e-03 -1.21932048e+02] [-5.74753313e-03 -7.85479887e-05 -9.99983480e-01 -4.14251716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.013951374089877993 Centerline is valid? [True, True] Translation: X:137.59, Y:-121.90, Z:-4.14 [[-4.08562515e-01 9.12726019e-01 2.80803241e-03 1.37585111e+02] [ 9.12702682e-01 4.08572152e-01 -6.52767518e-03 -1.21901043e+02] [-7.10526283e-03 -1.04064680e-04 -9.99974752e-01 -4.14170285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.014325421941483738 Centerline is valid? [True, True] Translation: X:137.58, Y:-121.87, Z:-4.14 [[-4.78986785e-01 8.77811617e-01 4.29251845e-03 1.37579070e+02] [ 8.77773762e-01 4.79005999e-01 -8.15326027e-03 -1.21871728e+02] [-9.21316866e-03 -1.37443849e-04 -9.99957548e-01 -4.13909364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.013262979866972207 Centerline is valid? [True, True] Translation: X:137.57, Y:-121.84, Z:-4.14 [[-5.43897402e-01 8.39133909e-01 5.46804157e-03 1.37567085e+02] [ 8.39089199e-01 5.43924874e-01 -8.66304946e-03 -1.21843589e+02] [-1.02436624e-02 -1.23635475e-04 -9.99947525e-01 -4.13966265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.012837835724686974 Centerline is valid? [True, True] Translation: X:137.55, Y:-121.82, Z:-4.14 [[-6.05308083e-01 7.95971820e-01 5.56651652e-03 1.37553044e+02] [ 7.95936924e-01 6.05333672e-01 -7.45370316e-03 -1.21817869e+02] [-9.30253756e-03 -8.11907340e-05 -9.99956727e-01 -4.14046717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.01219461678007413 Centerline is valid? [True, True] Translation: X:137.54, Y:-121.79, Z:-4.14 [[-6.62627829e-01 7.48928740e-01 5.48661545e-03 1.37537740e+02] [ 7.48902599e-01 6.62650543e-01 -6.25739391e-03 -1.21791469e+02] [-8.32205084e-03 -3.73827683e-05 -9.99965370e-01 -4.14220126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.012061088154325345 Centerline is valid? [True, True] Translation: X:137.52, Y:-121.77, Z:-4.14 [[-7.14849232e-01 6.99259251e-01 5.20339630e-03 1.37519820e+02] [ 6.99240864e-01 7.14868169e-01 -5.07104809e-03 -1.21767347e+02] [-7.26571968e-03 1.33924909e-05 -9.99973604e-01 -4.14296442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.012399328740635344 Centerline is valid? [True, True] Translation: X:137.54, Y:-121.75, Z:-4.14 [[-7.59170596e-01 6.50862863e-01 6.12698449e-03 1.37538727e+02] [ 6.50842261e-01 7.59195317e-01 -5.17890117e-03 -1.21752942e+02] [-8.02233237e-03 5.60309535e-05 -9.99967819e-01 -4.14252345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.012829441963897346 Centerline is valid? [True, True] Translation: X:137.56, Y:-121.73, Z:-4.14 [[-8.01834619e-01 5.97500929e-01 7.34048627e-03 1.37556787e+02] [ 5.97476873e-01 8.01868214e-01 -5.36226932e-03 -1.21734294e+02] [-9.09006351e-03 8.61176044e-05 -9.99958681e-01 -4.14184657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.012681814514755821 Centerline is valid? [True, True] Translation: X:137.57, Y:-121.71, Z:-4.14 [[-8.41750147e-01 5.39813475e-01 7.62249921e-03 1.37573744e+02] [ 5.39792325e-01 8.41784654e-01 -4.77941870e-03 -1.21712128e+02] [-8.99649748e-03 9.14901780e-05 -9.99959527e-01 -4.14246812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.012735996843712427 Centerline is valid? [True, True] Translation: X:137.58, Y:-121.69, Z:-4.14 [[-8.77853815e-01 4.78866028e-01 7.74637411e-03 1.37581896e+02] [ 4.78848281e-01 8.77887988e-01 -4.12361786e-03 -1.21686269e+02] [-8.77510929e-03 8.94042588e-05 -9.99961494e-01 -4.14307576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.012551930503110193 Centerline is valid? [True, True] Translation: X:137.59, Y:-121.66, Z:-4.14 [[-9.10395418e-01 4.13662944e-01 7.94676777e-03 1.37594899e+02] [ 4.13647867e-01 9.10430098e-01 -3.53247222e-03 -1.21661390e+02] [-8.69622942e-03 7.12170131e-05 -9.99962185e-01 -4.14224778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.012161593429795533 Centerline is valid? [True, True] Translation: X:137.61, Y:-121.64, Z:-4.14 [[-9.38286638e-01 3.45744976e-01 8.86551153e-03 1.37606838e+02] [ 3.45730079e-01 9.38328519e-01 -3.20989149e-03 -1.21635565e+02] [-9.42856615e-03 5.32757109e-05 -9.99955549e-01 -4.14159782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.011952953153027582 Centerline is valid? [True, True] Translation: X:137.61, Y:-121.61, Z:-4.14 [[-9.61817647e-01 2.73531769e-01 9.33731635e-03 1.37612167e+02] [ 2.73518939e-01 9.61862969e-01 -2.64928073e-03 -1.21607150e+02] [-9.70588127e-03 5.80790297e-06 -9.99952897e-01 -4.14140497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.012018635453034504 Centerline is valid? [True, True] Translation: X:137.80, Y:-120.96, Z:-5.11 [[-9.40459577e-01 -3.39799911e-01 8.47378613e-03 1.37796412e+02] [ 3.39785641e-01 -9.40497750e-01 -3.11456811e-03 -1.20959932e+02] [ 9.02790676e-03 -4.98545551e-05 9.99959246e-01 -5.11017722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.012166067469396854 Centerline is valid? [True, True] Translation: X:137.56, Y:-121.59, Z:-4.14 [[-9.64818808e-01 2.62835403e-01 6.49765271e-03 1.37562962e+02] [ 2.62829123e-01 9.64840686e-01 -1.81747669e-03 -1.21591507e+02] [-6.74689692e-03 -4.57633319e-05 -9.99977238e-01 -4.14329241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.01232860012581006 Centerline is valid? [True, True] Translation: X:137.57, Y:-121.56, Z:-4.14 [[-9.81238675e-01 1.92711365e-01 5.74386137e-03 1.37568498e+02] [ 1.92707789e-01 9.81255485e-01 -1.17492309e-03 -1.21564429e+02] [-5.86261651e-03 -4.59931552e-05 -9.99982814e-01 -4.14359903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.012462478842395373 Centerline is valid? [True, True] Translation: X:137.71, Y:-120.91, Z:-5.11 [[-9.61821905e-01 -2.73624878e-01 5.29622056e-03 1.37707061e+02] [ 2.73620846e-01 -9.61836486e-01 -1.48552067e-03 -1.20910074e+02] [ 5.50057359e-03 2.03500292e-05 9.99984872e-01 -5.10886501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.012443138431924116 Centerline is valid? [True, True] Translation: X:137.52, Y:-121.56, Z:-4.14 [[-9.81857222e-01 1.89512615e-01 6.43151111e-03 1.37516198e+02] [ 1.89508229e-01 9.81878285e-01 -1.29023417e-03 -1.21557143e+02] [-6.55947675e-03 -4.80014605e-05 -9.99978485e-01 -4.14163771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.012507036208176945 Centerline is valid? [True, True] Translation: X:137.52, Y:-121.53, Z:-4.14 [[-9.92819074e-01 1.19404405e-01 7.27149369e-03 1.37519979e+02] [ 1.19400806e-01 9.92845701e-01 -9.28662823e-04 -1.21530630e+02] [-7.33035768e-03 -5.37719556e-05 -9.99973131e-01 -4.14109995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.012565855848905419 Centerline is valid? [True, True] Translation: X:137.61, Y:-120.86, Z:-5.11 [[-9.79395260e-01 -2.01753633e-01 8.96635317e-03 1.37612843e+02] [ 2.01746887e-01 -9.79436286e-01 -1.66000700e-03 -1.20863411e+02] [ 9.11688409e-03 1.83130849e-04 9.99958424e-01 -5.11269701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.012815250232693443 Centerline is valid? [True, True] Translation: X:137.47, Y:-121.53, Z:-4.14 [[-9.93542774e-01 1.13024740e-01 9.90778211e-03 1.37473252e+02] [ 1.13018126e-01 9.93592169e-01 -1.22664953e-03 -1.21526463e+02] [-9.98293646e-03 -9.89698086e-05 -9.99950164e-01 -4.13814796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.013427740120912818 Centerline is valid? [True, True] Translation: X:137.47, Y:-121.50, Z:-4.14 [[-9.99092833e-01 4.12159291e-02 1.07125750e-02 1.37469446e+02] [ 4.12123041e-02 9.99150256e-01 -5.59015178e-04 -1.21499118e+02] [-1.07265124e-02 -1.17018158e-04 -9.99942463e-01 -4.13604491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.013220300272678212 Centerline is valid? [True, True] Translation: X:137.51, Y:-120.82, Z:-5.12 [[-9.91426904e-01 -1.30230240e-01 1.06197098e-02 1.37506412e+02] [ 1.30224008e-01 -9.91483773e-01 -1.27920151e-03 -1.20820682e+02] [ 1.06958607e-02 1.14706376e-04 9.99942791e-01 -5.11503318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.013181666283844137 Centerline is valid? [True, True] Translation: X:137.41, Y:-121.50, Z:-4.14 [[-9.99247063e-01 3.75849135e-02 9.62713571e-03 1.37413429e+02] [ 3.75822065e-02 9.99293433e-01 -4.62007621e-04 -1.21504120e+02] [-9.63769801e-03 -9.98507564e-05 -9.99953551e-01 -4.13777384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.012812818484006306 Centerline is valid? [True, True] Translation: X:137.42, Y:-121.48, Z:-4.14 [[-9.99425067e-01 -3.30043283e-02 7.76202377e-03 1.37415126e+02] [-3.30039272e-02 9.99455206e-01 1.79795607e-04 -1.21482739e+02] [-7.76372910e-03 -7.64850311e-05 -9.99969859e-01 -4.14029531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.013188803326794497 Centerline is valid? [True, True] Translation: X:137.40, Y:-120.78, Z:-5.11 [[-9.98431861e-01 -5.56100522e-02 6.42974781e-03 1.37399885e+02] [ 5.56087405e-02 -9.98452564e-01 -3.82742808e-04 -1.20779872e+02] [ 6.44108253e-03 -2.45924366e-05 9.99979256e-01 -5.11111164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.013591738329713478 Centerline is valid? [True, True] Translation: X:137.35, Y:-121.49, Z:-4.14 [[-9.99115641e-01 -4.15587881e-02 6.38769803e-03 1.37345416e+02] [-4.15585010e-02 9.99136057e-01 1.77720383e-04 -1.21487109e+02] [-6.38956526e-03 -8.78999409e-05 -9.99979583e-01 -4.14043698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.01437196677719842 Centerline is valid? [True, True] Translation: X:137.32, Y:-120.78, Z:-5.11 [[-9.98324568e-01 -5.73587347e-02 7.61795242e-03 1.37318890e+02] [ 5.73585114e-02 -9.98353615e-01 -2.47981001e-04 -1.20780143e+02] [ 7.61963421e-03 1.89388885e-04 9.99970952e-01 -5.11269422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.014780742757609006 Centerline is valid? [True, True] Translation: X:137.26, Y:-121.49, Z:-4.14 [[-9.98669854e-01 -5.09883862e-02 7.66203132e-03 1.37263027e+02] [-5.09879867e-02 9.98699236e-01 2.47590602e-04 -1.21493040e+02] [-7.66468907e-03 -1.43410280e-04 -9.99970616e-01 -4.13856845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.014345503469980467 Centerline is valid? [True, True] Translation: X:137.27, Y:-121.47, Z:-4.14 [[-9.92714040e-01 -1.20214512e-01 8.20402635e-03 1.37272278e+02] [-1.20211573e-01 9.92747930e-01 8.52248588e-04 -1.21468975e+02] [-8.24698282e-03 -1.40179771e-04 -9.99965983e-01 -4.13853889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.013443403100143372 Centerline is valid? [True, True] Translation: X:137.20, Y:-120.75, Z:-5.11 [[-9.99681377e-01 2.34995663e-02 9.21493120e-03 1.37203509e+02] [-2.34965660e-02 -9.99723824e-01 4.33733151e-04 -1.20748211e+02] [ 9.22257880e-03 2.17075715e-04 9.99957448e-01 -5.11403992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.013464033124973863 Centerline is valid? [True, True] Translation: X:137.19, Y:-121.48, Z:-4.14 [[-9.92673281e-01 -1.20486152e-01 9.10186363e-03 1.37188272e+02] [-1.20482060e-01 9.92715003e-01 9.98463812e-04 -1.21478587e+02] [-9.15585764e-03 -1.05462936e-04 -9.99958079e-01 -4.13657952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.013547905771634611 Centerline is valid? [True, True] Translation: X:137.18, Y:-121.45, Z:-4.14 [[-9.81523425e-01 -1.91156084e-01 8.43317425e-03 1.37180759e+02] [-1.91149916e-01 9.81559647e-01 1.53901650e-03 -1.21449117e+02] [-8.57185591e-03 -1.01419803e-04 -9.99963256e-01 -4.13728892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.013325407059032936 Centerline is valid? [True, True] Translation: X:137.17, Y:-121.43, Z:-4.14 [[-9.65446229e-01 -2.60515087e-01 6.74305217e-03 1.37166483e+02] [-2.60509323e-01 9.65469773e-01 1.73494363e-03 -1.21425218e+02] [-6.96219204e-03 -8.16331755e-05 -9.99975760e-01 -4.13947565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.012828957198061958 Centerline is valid? [True, True] Translation: X:137.14, Y:-121.41, Z:-4.14 [[-9.44988713e-01 -3.27045114e-01 6.15022643e-03 1.37141951e+02] [-3.27038605e-01 9.45008725e-01 2.06427635e-03 -1.21405390e+02] [-6.48712913e-03 -6.06436223e-05 -9.99978957e-01 -4.13916668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.012471479450654304 Centerline is valid? [True, True] Translation: X:137.10, Y:-121.39, Z:-4.14 [[-9.19960918e-01 -3.91962967e-01 6.07796977e-03 1.37097850e+02] [-3.91954702e-01 9.19980995e-01 2.54580455e-03 -1.21394338e+02] [-6.58947778e-03 -4.02481409e-05 -9.99978288e-01 -4.13822606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.01223410817252732 Centerline is valid? [True, True] Translation: X:137.04, Y:-121.40, Z:-4.14 [[-8.91655563e-01 -4.52666393e-01 6.59490872e-03 1.37038708e+02] [-4.52653976e-01 8.91679952e-01 3.35289527e-03 -1.21396207e+02] [-7.39829090e-03 4.41606943e-06 -9.99972632e-01 -4.13762486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.012562838968436435 Centerline is valid? [True, True] Translation: X:136.97, Y:-121.41, Z:-4.14 [[-8.58295689e-01 -5.13113342e-01 6.57329706e-03 1.36974025e+02] [-5.13097893e-01 8.58320859e-01 3.98189367e-03 -1.21405659e+02] [-7.68516074e-03 4.48973000e-05 -9.99970468e-01 -4.13836708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.013333621480774618 Centerline is valid? [True, True] Translation: X:136.90, Y:-121.43, Z:-4.14 [[-8.21716903e-01 -5.69864564e-01 5.97589485e-03 1.36900691e+02] [-5.69848632e-01 8.21738626e-01 4.26227647e-03 -1.21426533e+02] [-7.33954394e-03 9.70291174e-05 -9.99973061e-01 -4.13908364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.014842063656313352 Centerline is valid? [True, True] Translation: X:136.82, Y:-121.46, Z:-4.14 [[-7.78728925e-01 -6.27334737e-01 5.69116677e-03 1.36819085e+02] [-6.27316820e-01 7.78749711e-01 4.74287400e-03 -1.21459142e+02] [-7.40736409e-03 1.23248537e-04 -9.99972558e-01 -4.13776593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.014653200348685344 Centerline is valid? [True, True] Translation: X:136.73, Y:-121.50, Z:-4.14 [[-7.30151912e-01 -6.83262384e-01 5.54082925e-03 1.36731969e+02] [-6.83241252e-01 7.30172922e-01 5.37546438e-03 -1.21497863e+02] [-7.71861609e-03 1.39182480e-04 -9.99970201e-01 -4.13810903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.014393603880996801 Centerline is valid? [True, True] Translation: X:136.64, Y:-121.55, Z:-4.14 [[-6.74991694e-01 -7.37808502e-01 4.98271516e-03 1.36642460e+02] [-7.37787058e-01 6.75010073e-01 5.62656263e-03 -1.21547675e+02] [-7.51470868e-03 1.21700278e-04 -9.99971757e-01 -4.13828345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.014139577183691283 Centerline is valid? [True, True] Translation: X:136.56, Y:-121.61, Z:-4.14 [[-6.15302642e-01 -7.88277570e-01 4.59693519e-03 1.36556413e+02] [-7.88254265e-01 6.15319805e-01 6.06239282e-03 -1.21605607e+02] [-7.60743354e-03 1.06652554e-04 -9.99971057e-01 -4.13830803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.013079439529205285 Centerline is valid? [True, True] Translation: X:136.47, Y:-121.67, Z:-4.14 [[-5.48842597e-01 -8.35916855e-01 3.84914117e-03 1.36468796e+02] [-8.35895538e-01 5.48856091e-01 5.97004490e-03 -1.21670485e+02] [-7.10308573e-03 5.91350181e-05 -9.99974771e-01 -4.13790174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.012337742904327131 Centerline is valid? [True, True] Translation: X:136.38, Y:-121.75, Z:-4.14 [[-4.78567704e-01 -8.78042473e-01 3.79063910e-03 1.36383476e+02] [-8.78014592e-01 4.78582716e-01 6.99721434e-03 -1.21747061e+02] [-7.95798574e-03 2.04043598e-05 -9.99968335e-01 -4.13847680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.01244348657907741 Centerline is valid? [True, True] Translation: X:136.30, Y:-121.83, Z:-4.14 [[-4.03165511e-01 -9.15120798e-01 3.39043965e-03 1.36302092e+02] [-9.15089336e-01 4.03179765e-01 7.58849372e-03 -1.21831646e+02] [-8.31134509e-03 -4.31362131e-05 -9.99965459e-01 -4.13791680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.012951398674150183 Centerline is valid? [True, True] Translation: X:136.23, Y:-121.92, Z:-4.14 [[-3.27447010e-01 -9.44865942e-01 2.60905401e-03 1.36230097e+02] [-9.44837852e-01 3.27457395e-01 7.28619261e-03 -1.21920944e+02] [-7.73882927e-03 -7.92910027e-05 -9.99970052e-01 -4.13715886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.013286625872765325 Centerline is valid? [True, True] Translation: X:136.17, Y:-122.02, Z:-4.14 [[-2.52782595e-01 -9.67521053e-01 1.99276451e-03 1.36169366e+02] [-9.67493700e-01 2.52790434e-01 7.27582361e-03 -1.22018006e+02] [-7.54326432e-03 -8.87855335e-05 -9.99971545e-01 -4.13705897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.013285623114575944 Centerline is valid? [True, True] Translation: X:136.12, Y:-122.12, Z:-4.14 [[-1.77722947e-01 -9.84079749e-01 1.26544039e-03 1.36117297e+02] [-9.84057923e-01 1.77727434e-01 6.55460668e-03 -1.22118846e+02] [-6.67515917e-03 -8.03626333e-05 -9.99977718e-01 -4.13841705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.013359196369324299 Centerline is valid? [True, True] Translation: X:136.07, Y:-122.23, Z:-4.14 [[-1.01554448e-01 -9.94829708e-01 7.39445738e-04 1.36072538e+02] [-9.94808747e-01 1.01557108e-01 6.45842482e-03 -1.22227729e+02] [-6.50012885e-03 -7.97253223e-05 -9.99978871e-01 -4.13865677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.013669145035487995 Centerline is valid? [True, True] Translation: X:136.03, Y:-122.34, Z:-4.14 [[-2.43064513e-02 -9.99704524e-01 2.48106670e-04 1.36033613e+02] [-9.99682374e-01 2.43075645e-02 6.65538592e-03 -1.22342003e+02] [-6.65945028e-03 -8.62590506e-05 -9.99977822e-01 -4.13752153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.013551966334585934 Centerline is valid? [True, True] Translation: X:136.01, Y:-122.46, Z:-4.14 [[ 5.24525008e-02 -9.98623359e-01 -3.49591891e-04 1.36006851e+02] [-9.98584247e-01 -5.24535408e-02 8.83897251e-03 -1.22458817e+02] [-8.84514175e-03 -1.14529258e-04 -9.99960874e-01 -4.13538268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.013355970064211877 Centerline is valid? [True, True] Translation: X:135.99, Y:-122.57, Z:-4.13 [[ 1.27064594e-01 -9.91893737e-01 -1.18476972e-03 1.35989522e+02] [-9.91841466e-01 -1.27070062e-01 1.01836372e-02 -1.22568122e+02] [-1.02516348e-02 -1.18875996e-04 -9.99947444e-01 -4.13405193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.012680590340514086 Centerline is valid? [True, True] Translation: X:135.98, Y:-122.68, Z:-4.13 [[ 1.99142286e-01 -9.79968766e-01 -1.88908551e-03 1.35983003e+02] [-9.79920931e-01 -1.99151231e-01 9.68276334e-03 -1.22676615e+02] [-9.86501934e-03 -7.70931950e-05 -9.99951337e-01 -4.13429356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.01228793345783793 Centerline is valid? [True, True] Translation: X:135.99, Y:-122.80, Z:-4.14 [[ 2.68443394e-01 -9.63293045e-01 -2.15720448e-03 1.35989649e+02] [-9.63261403e-01 -2.68452061e-01 7.80773015e-03 -1.22798549e+02] [-8.10023814e-03 -1.79817701e-05 -9.99967192e-01 -4.13530548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.012314000080049523 Centerline is valid? [True, True] Translation: X:136.00, Y:-122.91, Z:-4.14 [[ 3.38186493e-01 -9.41074919e-01 -2.80934662e-03 1.36000185e+02] [-9.41042751e-01 -3.38198161e-01 7.78101188e-03 -1.22908375e+02] [-8.27263099e-03 1.22821563e-05 -9.99965781e-01 -4.13570767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.012501656678707592 Centerline is valid? [True, True] Translation: X:136.02, Y:-123.02, Z:-4.14 [[ 4.05497247e-01 -9.14089733e-01 -3.45588186e-03 1.36021286e+02] [-9.14057534e-01 -4.05511971e-01 7.67239788e-03 -1.23023041e+02] [-8.41466159e-03 4.77386271e-05 -9.99964595e-01 -4.13567744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.012818215814273627 Centerline is valid? [True, True] Translation: X:136.05, Y:-123.13, Z:-4.14 [[ 4.72443877e-01 -8.81350992e-01 -4.14886705e-03 1.36048650e+02] [-8.81318267e-01 -4.72462089e-01 7.59525894e-03 -1.23131833e+02] [-8.65427139e-03 6.81387408e-05 -9.99962549e-01 -4.13517544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.012758280942797098 Centerline is valid? [True, True] Translation: X:136.08, Y:-123.24, Z:-4.14 [[ 5.38878321e-01 -8.42368639e-01 -5.02312642e-03 1.36084518e+02] [-8.42333233e-01 -5.38901727e-01 7.72357172e-03 -1.23244401e+02] [-9.21306610e-03 6.90809604e-05 -9.99957556e-01 -4.13517608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.01260264467172628 Centerline is valid? [True, True] Translation: X:136.12, Y:-123.35, Z:-4.13 [[ 6.04517797e-01 -7.96570618e-01 -5.78645812e-03 1.36124843e+02] [-7.96534723e-01 -6.04545489e-01 7.56219774e-03 -1.23352136e+02] [-9.52200169e-03 3.76316908e-05 -9.99954664e-01 -4.13457106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.012407590914719458 Centerline is valid? [True, True] Translation: X:136.17, Y:-123.46, Z:-4.13 [[ 6.66320237e-01 -7.45637845e-01 -6.44568644e-03 1.36174080e+02] [-7.45602991e-01 -6.66351412e-01 7.20936514e-03 -1.23457198e+02] [-9.67066774e-03 2.17720664e-06 -9.99953238e-01 -4.13494312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.01248318856711252 Centerline is valid? [True, True] Translation: X:136.23, Y:-123.55, Z:-4.14 [[ 7.24173891e-01 -6.89585614e-01 -6.62247938e-03 1.36225006e+02] [-6.89556292e-01 -7.24204170e-01 6.35926735e-03 -1.23553199e+02] [-9.18128647e-03 -3.86430496e-05 -9.99957850e-01 -4.13516824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.01266744454555049 Centerline is valid? [True, True] Translation: X:136.25, Y:-123.58, Z:-4.14 [[ 7.77509747e-01 -6.28840784e-01 -6.15315545e-03 1.36245175e+02] [-6.28820538e-01 -7.77534092e-01 5.04636091e-03 -1.23581156e+02] [-7.95764569e-03 -5.43642751e-05 -9.99968336e-01 -4.13630189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.012650605291518803 Centerline is valid? [True, True] Translation: X:136.27, Y:-123.61, Z:-4.14 [[ 8.24890120e-01 -5.65261909e-01 -5.93837071e-03 1.36265995e+02] [-5.65246761e-01 -8.24911493e-01 4.13863266e-03 -1.23608348e+02] [-7.23804165e-03 -5.72723787e-05 -9.99973803e-01 -4.13742441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.012754789268048442 Centerline is valid? [True, True] Translation: X:136.29, Y:-123.63, Z:-4.14 [[ 8.67164466e-01 -4.97985947e-01 -5.98217859e-03 1.36288524e+02] [-4.97973594e-01 -8.67185097e-01 3.50807259e-03 -1.23633787e+02] [-6.93462697e-03 -6.31089162e-05 -9.99975953e-01 -4.13792144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.012952970532813945 Centerline is valid? [True, True] Translation: X:136.31, Y:-123.66, Z:-4.14 [[ 9.03971385e-01 -4.27534012e-01 -7.09954280e-03 1.36313521e+02] [-4.27520114e-01 -9.03999260e-01 3.44820254e-03 -1.23657514e+02] [-7.89220530e-03 -8.18790809e-05 -9.99968853e-01 -4.13636180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.013544951967143812 Centerline is valid? [True, True] Translation: X:136.34, Y:-123.68, Z:-4.13 [[ 9.34530397e-01 -3.55800002e-01 -7.70029995e-03 1.36340442e+02] [-3.55787187e-01 -9.34562117e-01 3.02092466e-03 -1.23677367e+02] [-8.27125363e-03 -8.34778606e-05 -9.99965789e-01 -4.13373796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.012863013825769074 Centerline is valid? [True, True] Translation: X:136.37, Y:-123.69, Z:-4.13 [[ 9.58936364e-01 -2.83466798e-01 -9.36076875e-03 1.36371383e+02] [-2.83452474e-01 -9.58982048e-01 2.85085179e-03 -1.23691129e+02] [-9.78493101e-03 -8.04523895e-05 -9.99952123e-01 -4.13449927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.012587086033069305 Centerline is valid? [True, True] Translation: X:136.40, Y:-123.70, Z:-4.13 [[ 9.77649950e-01 -2.10002784e-01 -9.97023924e-03 1.36402177e+02] [-2.09991243e-01 -9.77700786e-01 2.20243193e-03 -1.23703484e+02] [-1.02104276e-02 -5.95445292e-05 -9.99947871e-01 -4.13486737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.012535140358907978 Centerline is valid? [True, True] Translation: X:136.43, Y:-123.71, Z:-4.13 [[ 9.90982797e-01 -1.33608793e-01 -1.00889770e-02 1.36430948e+02] [-1.33601351e-01 -9.91034151e-01 1.41112010e-03 -1.23714409e+02] [-1.01870588e-02 -5.04947875e-05 -9.99948109e-01 -4.13472570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.012560873228425463 Centerline is valid? [True, True] Translation: X:136.46, Y:-123.72, Z:-4.14 [[ 9.98403325e-01 -5.55658347e-02 -1.01606136e-02 1.36459538e+02] [-5.55624409e-02 -9.98455024e-01 6.16207665e-04 -1.23722849e+02] [-1.01791558e-02 -5.06752878e-05 -9.99948190e-01 -4.13508315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.01251585473902052 Centerline is valid? [True, True] Translation: X:136.49, Y:-123.73, Z:-4.14 [[ 9.99681367e-01 2.32150588e-02 -9.91088237e-03 1.36488599e+02] [ 2.32144560e-02 -9.99730493e-01 -1.75879936e-04 -1.23730683e+02] [-9.91229438e-03 -5.42518470e-05 -9.99950871e-01 -4.13537980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.013091242606959397 Centerline is valid? [True, True] Translation: X:136.52, Y:-123.74, Z:-4.13 [[ 9.94611522e-01 1.03130870e-01 -1.05803564e-02 1.36516892e+02] [ 1.03125857e-01 -9.94667793e-01 -1.01978947e-03 -1.23736097e+02] [-1.06291115e-02 -7.68139566e-05 -9.99943506e-01 -4.13402890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.013364671200682767 Centerline is valid? [True, True] Translation: X:136.55, Y:-123.74, Z:-4.14 [[ 9.82924768e-01 1.83703334e-01 -1.05823431e-02 1.36546356e+02] [ 1.83693897e-01 -9.82981726e-01 -1.86524945e-03 -1.23735938e+02] [-1.07449025e-02 -1.10511972e-04 -9.99942266e-01 -4.13501392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.013482004242544587 Centerline is valid? [True, True] Translation: X:136.58, Y:-123.74, Z:-4.14 [[ 9.64950642e-01 2.62230482e-01 -1.02680296e-02 1.36576176e+02] [ 2.62217098e-01 -9.65005263e-01 -2.65272562e-03 -1.23736438e+02] [-1.06043281e-02 -1.32703622e-04 -9.99943764e-01 -4.13617180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.014192157724014375 Centerline is valid? [True, True] Translation: X:136.61, Y:-123.74, Z:-4.14 [[ 9.40443961e-01 3.39842003e-01 -8.51878908e-03 1.36606451e+02] [ 3.39829407e-01 -9.40482532e-01 -2.92918617e-03 -1.23735286e+02] [-9.00723282e-03 -1.40199602e-04 -9.99959424e-01 -4.13690241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.015032031500767784 Centerline is valid? [True, True] Translation: X:136.63, Y:-123.73, Z:-4.14 [[ 9.10282585e-01 4.13928143e-01 -7.00776057e-03 1.36634732e+02] [ 4.13916985e-01 -9.10309549e-01 -3.04206647e-03 -1.23730165e+02] [-7.63842829e-03 -1.31490998e-04 -9.99970818e-01 -4.13781380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.014368170422165242 Centerline is valid? [True, True] Translation: X:136.66, Y:-123.72, Z:-4.14 [[ 8.74809123e-01 4.84419800e-01 -6.81589419e-03 1.36663229e+02] [ 4.84406315e-01 -8.74835664e-01 -3.61718437e-03 -1.23722539e+02] [-7.71502304e-03 -1.37316297e-04 -9.99970229e-01 -4.13891782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.014885782087983208 Centerline is valid? [True, True] Translation: X:136.69, Y:-123.71, Z:-4.14 [[ 8.33849868e-01 5.51938621e-01 -7.62605668e-03 1.36690735e+02] [ 5.51917352e-01 -8.33884723e-01 -4.84829187e-03 -1.23714437e+02] [-9.03521169e-03 -1.66205478e-04 -9.99959168e-01 -4.13750227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.014847593467914335 Centerline is valid? [True, True] Translation: X:136.72, Y:-123.70, Z:-4.14 [[ 7.87444754e-01 6.16332259e-01 -8.08123100e-03 1.36718822e+02] [ 6.16302342e-01 -7.87486196e-01 -6.07578998e-03 -1.23704332e+02] [-1.01085632e-02 -1.96132641e-04 -9.99948888e-01 -4.13660173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.015648721168523408 Centerline is valid? [True, True] Translation: X:136.75, Y:-123.69, Z:-4.14 [[ 7.35582480e-01 6.77381131e-01 -8.55681653e-03 1.36746389e+02] [ 6.77339092e-01 -7.35632208e-01 -7.55050972e-03 -1.23692335e+02] [-1.14092426e-02 -2.41843672e-04 -9.99934883e-01 -4.13593874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.016103390763776555 Centerline is valid? [True, True] Translation: X:136.77, Y:-123.68, Z:-4.14 [[ 6.79510622e-01 7.33623984e-01 -7.82079438e-03 1.36772386e+02] [ 7.33579583e-01 -6.79555581e-01 -8.07512317e-03 -1.23677553e+02] [-1.12387685e-02 -2.50043111e-04 -9.99936812e-01 -4.13595421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.016017410398397037 Centerline is valid? [True, True] Translation: X:136.80, Y:-123.66, Z:-4.14 [[ 6.19224917e-01 7.85185259e-01 -6.67920086e-03 1.36797132e+02] [ 7.85143757e-01 -6.19260891e-01 -8.07650506e-03 -1.23660686e+02] [-1.04777206e-02 -2.42959678e-04 -9.99945078e-01 -4.13719880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.015532450828529592 Centerline is valid? [True, True] Translation: X:136.82, Y:-123.64, Z:-4.14 [[ 5.55106469e-01 8.31764150e-01 -5.02062539e-03 1.36822887e+02] [ 8.31733498e-01 -5.55129133e-01 -7.14381062e-03 -1.23643553e+02] [-8.72906099e-03 -2.10246826e-04 -9.99961879e-01 -4.13976823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.016402348896223634 Centerline is valid? [True, True] Translation: X:136.85, Y:-123.63, Z:-4.14 [[ 4.87516498e-01 8.73103890e-01 -4.15461195e-03 1.36846776e+02] [ 8.73075671e-01 -4.87534158e-01 -7.02266699e-03 -1.23625510e+02] [-8.15703311e-03 -2.03624596e-04 -9.99966710e-01 -4.14000907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.01627702307363224 Centerline is valid? [True, True] Translation: X:136.87, Y:-123.60, Z:-4.14 [[ 4.17112787e-01 9.08846988e-01 -3.75180189e-03 1.36869297e+02] [ 9.08814797e-01 -4.17129603e-01 -7.65239433e-03 -1.23604620e+02] [-8.51984317e-03 -2.17781550e-04 -9.99963682e-01 -4.13984720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.017120252416224106 Centerline is valid? [True, True] Translation: X:136.89, Y:-123.58, Z:-4.14 [[ 3.43824518e-01 9.39027512e-01 -3.46872201e-03 1.36890836e+02] [ 9.38986784e-01 -3.43841925e-01 -8.74929729e-03 -1.23583359e+02] [-9.40852292e-03 -2.48861197e-04 -9.99955708e-01 -4.13879483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.017023162570514512 Centerline is valid? [True, True] Translation: X:136.91, Y:-123.56, Z:-4.14 [[ 2.68821877e-01 9.63185475e-01 -2.92225111e-03 1.36907895e+02] [ 9.63138874e-01 -2.68837628e-01 -9.47841498e-03 -1.23558106e+02] [-9.91508269e-03 -2.66528332e-04 -9.99950809e-01 -4.13901952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.01657640394466782 Centerline is valid? [True, True] Translation: X:136.92, Y:-123.53, Z:-4.14 [[ 1.93220257e-01 9.81153073e-01 -2.13993161e-03 1.36924015e+02] [ 9.81106724e-01 -1.93231937e-01 -9.54013670e-03 -1.23532208e+02] [-9.77383757e-03 -2.56153627e-04 -9.99952202e-01 -4.13900793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.01645028175421904 Centerline is valid? [True, True] Translation: X:136.94, Y:-123.51, Z:-4.14 [[ 1.17136559e-01 9.93114767e-01 -1.44464807e-03 1.36936744e+02] [ 9.93063542e-01 -1.17145195e-01 -1.00898029e-02 -1.23505213e+02] [-1.01895658e-02 -2.52742537e-04 -9.99948053e-01 -4.13879595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.014857388364979431 Centerline is valid? [True, True] Translation: X:136.95, Y:-123.48, Z:-4.14 [[ 4.18937055e-02 9.99121867e-01 -6.42669386e-04 1.36947779e+02] [ 9.99071280e-01 -4.18980530e-02 -1.00563851e-02 -1.23476951e+02] [-1.00744808e-02 -2.20773292e-04 -9.99949227e-01 -4.13955412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.014343509126152582 Centerline is valid? [True, True] Translation: X:136.96, Y:-123.45, Z:-4.14 [[-3.32943633e-02 9.99445577e-01 1.56147255e-04 1.36956881e+02] [ 9.99388536e-01 3.32941316e-02 -1.06796785e-02 -1.23447491e+02] [-1.06789562e-02 -1.99521319e-04 -9.99942958e-01 -4.13893096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.01338156124024488 Centerline is valid? [True, True] Translation: X:136.96, Y:-123.42, Z:-4.14 [[-1.07462045e-01 9.94208636e-01 1.04748103e-03 1.36962316e+02] [ 9.94145227e-01 1.07467023e-01 -1.12296900e-02 -1.23417841e+02] [-1.12772244e-02 -1.65417189e-04 -9.99936396e-01 -4.13896161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.012674681651042574 Centerline is valid? [True, True] Translation: X:136.97, Y:-123.39, Z:-4.14 [[-1.81115915e-01 9.83459813e-01 1.95479676e-03 1.36966161e+02] [ 9.83394963e-01 1.81126422e-01 -1.12945445e-02 -1.23388080e+02] [-1.14617960e-02 -1.23284480e-04 -9.99934304e-01 -4.13890257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.011976119877417283 Centerline is valid? [True, True] Translation: X:136.96, Y:-123.36, Z:-4.14 [[-2.50089886e-01 9.68218665e-01 2.76877232e-03 1.36964494e+02] [ 9.68157826e-01 2.50105210e-01 -1.08539878e-02 -1.23360499e+02] [-1.12015180e-02 -3.38639886e-05 -9.99937261e-01 -4.13901162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.011949941879016858 Centerline is valid? [True, True] Translation: X:136.96, Y:-123.33, Z:-4.14 [[-3.19995527e-01 9.47413891e-01 3.12747545e-03 1.36961478e+02] [ 9.47369364e-01 3.20010809e-01 -9.18536375e-03 -1.23331409e+02] [-9.70316716e-03 2.35991164e-05 -9.99952923e-01 -4.13974393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.012850931547549087 Centerline is valid? [True, True] Translation: X:136.95, Y:-123.30, Z:-4.14 [[-3.85517838e-01 9.22693891e-01 3.46110627e-03 1.36954549e+02] [ 9.22658881e-01 3.85533363e-01 -8.03838074e-03 -1.23303706e+02] [-8.75133674e-03 9.44812670e-05 -9.99961702e-01 -4.14035475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.013578046620961145 Centerline is valid? [True, True] Translation: X:136.95, Y:-123.28, Z:-4.14 [[-4.53260498e-01 8.91369195e-01 3.98495783e-03 1.36948223e+02] [ 8.91337128e-01 4.53277998e-01 -7.56176710e-03 -1.23276246e+02] [-8.54661996e-03 1.24490541e-04 -9.99963469e-01 -4.13992889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.014323793065332147 Centerline is valid? [True, True] Translation: X:136.94, Y:-123.25, Z:-4.14 [[-5.19266490e-01 8.54595649e-01 5.34689848e-03 1.36940977e+02] [ 8.54553753e-01 5.19293989e-01 -8.46383279e-03 -1.23247806e+02] [-1.00097669e-02 1.74227415e-04 -9.99949886e-01 -4.13882609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.013918472268819196 Centerline is valid? [True, True] Translation: X:136.94, Y:-123.22, Z:-4.14 [[-5.84886022e-01 8.11088792e-01 6.58127261e-03 1.36936858e+02] [ 8.11041015e-01 5.84923018e-01 -8.80542103e-03 -1.23216653e+02] [-1.09915161e-02 1.87514342e-04 -9.99939574e-01 -4.13831378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.013735932852710332 Centerline is valid? [True, True] Translation: X:136.93, Y:-123.19, Z:-4.14 [[-6.48042254e-01 7.61570037e-01 7.23298523e-03 1.36927950e+02] [ 7.61525454e-01 6.48082596e-01 -8.24206577e-03 -1.23186720e+02] [-1.09644822e-02 1.66895476e-04 -9.99939874e-01 -4.13800930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.012996011579052762 Centerline is valid? [True, True] Translation: X:136.92, Y:-123.15, Z:-4.14 [[-7.08706125e-01 7.05460440e-01 7.82280178e-03 1.36918975e+02] [ 7.05419328e-01 7.08749288e-01 -7.61704679e-03 -1.23154501e+02] [-1.09179304e-02 1.20107859e-04 -9.99940390e-01 -4.13790376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.012734402868863749 Centerline is valid? [True, True] Translation: X:136.94, Y:-123.13, Z:-4.14 [[-7.60101322e-01 6.49759311e-01 7.66925596e-03 1.36941999e+02] [ 6.49727039e-01 7.60140009e-01 -6.47616857e-03 -1.23132095e+02] [-1.00376591e-02 6.03786757e-05 -9.99949620e-01 -4.13759281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.011935607570910726 Centerline is valid? [True, True] Translation: X:136.96, Y:-123.10, Z:-4.14 [[-8.07729662e-01 5.89515385e-01 6.66358525e-03 1.36955984e+02] [ 5.89495329e-01 8.07757148e-01 -4.86276390e-03 -1.23097962e+02] [-8.24923275e-03 3.53732373e-07 -9.99965975e-01 -4.14079833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.01217983329740296 Centerline is valid? [True, True] Translation: X:136.98, Y:-123.07, Z:-4.14 [[-8.49793331e-01 5.27066708e-01 7.20970114e-03 1.36976781e+02] [ 5.27047344e-01 8.49823914e-01 -4.51803453e-03 -1.23072783e+02] [-8.50828202e-03 -3.95417730e-05 -9.99963803e-01 -4.14029646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.012526243718177284 Centerline is valid? [True, True] Translation: X:136.99, Y:-123.04, Z:-4.14 [[-8.87029604e-01 4.61639887e-01 8.19117846e-03 1.36991165e+02] [ 4.61619328e-01 8.87067420e-01 -4.35761690e-03 -1.23044107e+02] [-9.27777731e-03 -8.41289011e-05 -9.99956957e-01 -4.13946876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.013566435839130496 Centerline is valid? [True, True] Translation: X:137.00, Y:-123.01, Z:-4.14 [[-9.19795627e-01 3.92301211e-01 8.70424955e-03 1.37000055e+02] [ 3.92282184e-01 9.19836801e-01 -3.86631086e-03 -1.23011578e+02] [-9.52324749e-03 -1.41693802e-04 -9.99954643e-01 -4.13896233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.014566313061305276 Centerline is valid? [True, True] Translation: X:137.01, Y:-122.98, Z:-4.14 [[-9.46296723e-01 3.23218869e-01 7.21625886e-03 1.37006570e+02] [ 3.23208355e-01 9.46324227e-01 -2.61073585e-03 -1.22980370e+02] [-7.67275968e-03 -1.38175627e-04 -9.99970554e-01 -4.13942382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.01520673273929769 Centerline is valid? [True, True] Translation: X:137.01, Y:-122.95, Z:-4.14 [[-9.66979197e-01 2.54758588e-01 7.02098894e-03 1.37011345e+02] [ 2.54750851e-01 9.67004676e-01 -1.99010520e-03 -1.22952095e+02] [-7.29632553e-03 -1.35787418e-04 -9.99973372e-01 -4.13926631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.01532168572966876 Centerline is valid? [True, True] Translation: X:137.01, Y:-122.92, Z:-4.14 [[-9.82575642e-01 1.85664519e-01 8.59030610e-03 1.37005196e+02] [ 1.85655977e-01 9.82613179e-01 -1.78839716e-03 -1.22923874e+02] [-8.77298989e-03 -1.62393814e-04 -9.99961503e-01 -4.13762776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.01575243217368241 Centerline is valid? [True, True] Translation: X:137.02, Y:-122.90, Z:-4.14 [[-9.93214479e-01 1.15834410e-01 1.03628277e-02 1.37015303e+02] [ 1.15826108e-01 9.93268520e-01 -1.39976432e-03 -1.22898669e+02] [-1.04552114e-02 -1.89980192e-04 -9.99945325e-01 -4.13557825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.01361139384973769 Centerline is valid? [True, True] Translation: X:137.01, Y:-122.88, Z:-4.14 [[-9.98886162e-01 4.57589575e-02 1.15131446e-02 1.37010362e+02] [ 4.57535900e-02 9.98952490e-01 -7.29305077e-04 -1.22876646e+02] [-1.15344567e-02 -2.01725050e-04 -9.99933456e-01 -4.13672229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.013748822147246091 Centerline is valid? [True, True] Translation: X:137.05, Y:-122.26, Z:-5.12 [[-9.89076818e-01 -1.46943043e-01 1.16099450e-02 1.37054983e+02] [ 1.46935476e-01 -9.89144932e-01 -1.50674663e-03 -1.22264541e+02] [ 1.17053242e-02 2.15624636e-04 9.99931467e-01 -5.11519047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.013625204584309146 Centerline is valid? [True, True] Translation: X:136.96, Y:-122.88, Z:-4.14 [[-9.99019505e-01 4.26812365e-02 1.17618497e-02 1.36960940e+02] [ 4.26759645e-02 9.99088722e-01 -6.98964346e-04 -1.22877809e+02] [-1.17809640e-02 -1.96330734e-04 -9.99930583e-01 -4.13679162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.014239204281225002 Centerline is valid? [True, True] Translation: X:137.00, Y:-122.26, Z:-5.12 [[-9.89642284e-01 -1.43041665e-01 1.21338939e-02 1.36999979e+02] [ 1.43033791e-01 -9.89716640e-01 -1.51877712e-03 -1.22258728e+02] [ 1.22263651e-02 2.32510793e-04 9.99925228e-01 -5.11644590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.014057834677563198 Centerline is valid? [True, True] Translation: X:136.91, Y:-122.88, Z:-4.14 [[-9.99223226e-01 3.76415888e-02 1.16642482e-02 1.36908054e+02] [ 3.76366086e-02 9.99291283e-01 -6.46255309e-04 -1.22881599e+02] [-1.16803076e-02 -2.06750573e-04 -9.99931762e-01 -4.13691769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.013938595149974167 Centerline is valid? [True, True] Translation: X:136.95, Y:-122.25, Z:-5.11 [[-9.90004388e-01 -1.40652716e-01 1.03983605e-02 1.36945640e+02] [ 1.40646103e-01 -9.90058989e-01 -1.36820148e-03 -1.22248520e+02] [ 1.04874315e-02 1.07963414e-04 9.99945000e-01 -5.11382573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.014188212558307578 Centerline is valid? [True, True] Translation: X:136.86, Y:-122.89, Z:-4.14 [[-9.99433426e-01 3.23852655e-02 9.16634926e-03 1.36855290e+02] [ 3.23823109e-02 9.99475445e-01 -4.70608137e-04 -1.22886004e+02] [-9.17678177e-03 -1.73513931e-04 -9.99957877e-01 -4.13862160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.014514886457776047 Centerline is valid? [True, True] Translation: X:136.89, Y:-122.24, Z:-5.11 [[-9.90446087e-01 -1.37623314e-01 8.73916965e-03 1.36889335e+02] [ 1.37619223e-01 -9.90484631e-01 -1.07064295e-03 -1.22240482e+02] [ 8.80335865e-03 1.42263620e-04 9.99961240e-01 -5.11312524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.014155025824986652 Centerline is valid? [True, True] Translation: X:136.80, Y:-122.89, Z:-4.14 [[-9.99540951e-01 2.87369654e-02 9.59549917e-03 1.36802539e+02] [ 2.87339386e-02 9.99586992e-01 -4.53185465e-04 -1.22890356e+02] [-9.60455933e-03 -1.77260947e-04 -9.99953859e-01 -4.13772040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.013554591191658407 Centerline is valid? [True, True] Translation: X:136.80, Y:-122.87, Z:-4.14 [[-9.99108398e-01 -4.08623054e-02 1.06151026e-02 1.36797331e+02] [-4.08619130e-02 9.99164771e-01 2.53938458e-04 -1.22869141e+02] [-1.06166131e-02 -1.80041353e-04 -9.99943626e-01 -4.13755544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.013826961945619652 Centerline is valid? [True, True] Translation: X:136.78, Y:-122.20, Z:-5.11 [[-9.98215399e-01 -5.88746356e-02 9.98968054e-03 1.36781741e+02] [ 5.88729936e-02 -9.98265376e-01 -4.58611061e-04 -1.22199182e+02] [ 9.99935276e-03 1.30329775e-04 9.99949997e-01 -5.11464625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.013045113307334572 Centerline is valid? [True, True] Translation: X:136.74, Y:-122.88, Z:-4.14 [[-9.99067351e-01 -4.21352507e-02 9.43660859e-03 1.36735117e+02] [-4.21345921e-02 9.99111908e-01 2.68680016e-04 -1.22878782e+02] [-9.43954891e-03 -1.29178221e-04 -9.99955438e-01 -4.13815384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.012926589556617808 Centerline is valid? [True, True] Translation: X:136.73, Y:-122.86, Z:-4.14 [[-9.93624569e-01 -1.12342842e-01 9.44998379e-03 1.36731467e+02] [-1.12338938e-01 9.93669498e-01 9.44574827e-04 -1.22856066e+02] [-9.49627686e-03 -1.23048389e-04 -9.99954902e-01 -4.13749324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.014134729757159452 Centerline is valid? [True, True] Translation: X:136.72, Y:-122.83, Z:-4.14 [[-9.82948076e-01 -1.83631795e-01 9.61473430e-03 1.36719271e+02] [-1.83624356e-01 9.82995089e-01 1.65836499e-03 -1.22829653e+02] [-9.75576514e-03 -1.35412717e-04 -9.99952402e-01 -4.13603085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.014035350403534578 Centerline is valid? [True, True] Translation: X:136.71, Y:-122.81, Z:-4.14 [[-9.66989170e-01 -2.54669196e-01 8.69168761e-03 1.36708253e+02] [-2.54660184e-01 9.67028222e-01 2.14687729e-03 -1.22806977e+02] [-8.95185073e-03 -1.37419677e-04 -9.99959922e-01 -4.13636344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.013821732890332807 Centerline is valid? [True, True] Translation: X:136.69, Y:-122.79, Z:-4.14 [[-9.46162819e-01 -3.23591203e-01 8.04077908e-03 1.36685780e+02] [-3.23580709e-01 9.46196975e-01 2.60938866e-03 -1.22790091e+02] [-8.45253606e-03 -1.32934474e-04 -9.99964268e-01 -4.13780245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.013821643107996823 Centerline is valid? [True, True] Translation: X:136.65, Y:-122.78, Z:-4.14 [[-9.20319341e-01 -3.91103434e-01 7.10034186e-03 1.36651427e+02] [-3.91092794e-01 9.20346723e-01 2.88724416e-03 -1.22776002e+02] [-7.66398746e-03 -1.19705898e-04 -9.99970624e-01 -4.13835321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.013820698204090827 Centerline is valid? [True, True] Translation: X:136.59, Y:-122.77, Z:-4.14 [[-8.89358410e-01 -4.57173644e-01 5.82043683e-03 1.36594497e+02] [-4.57164571e-01 8.89377451e-01 2.88196425e-03 -1.22773756e+02] [-6.49412336e-03 -9.77983562e-05 -9.99978908e-01 -4.13844707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.01313318977538255 Centerline is valid? [True, True] Translation: X:136.53, Y:-122.78, Z:-4.14 [[-8.53586983e-01 -5.20923005e-01 5.33720123e-03 1.36531806e+02] [-5.20913467e-01 8.53603664e-01 3.15363194e-03 -1.22780293e+02] [-6.19865395e-03 -8.83208200e-05 -9.99980784e-01 -4.13908199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.01304303341529944 Centerline is valid? [True, True] Translation: X:136.46, Y:-122.80, Z:-4.14 [[-8.13376942e-01 -5.81715802e-01 4.96746198e-03 1.36456381e+02] [-5.81705533e-01 8.13392107e-01 3.45741396e-03 -1.22798459e+02] [-6.05172670e-03 -7.74193216e-05 -9.99981685e-01 -4.13869990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.012978390717170194 Centerline is valid? [True, True] Translation: X:136.38, Y:-122.82, Z:-4.14 [[-7.67703070e-01 -6.40782352e-01 5.47483763e-03 1.36378125e+02] [-6.40766879e-01 7.67722586e-01 4.45395388e-03 -1.22824639e+02] [-7.05717155e-03 -8.87805601e-05 -9.99975094e-01 -4.13767214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.013144623470629955 Centerline is valid? [True, True] Translation: X:136.30, Y:-122.86, Z:-4.14 [[-7.17383955e-01 -6.96650499e-01 6.19215311e-03 1.36301233e+02] [-6.96625817e-01 7.17410671e-01 5.86518578e-03 -1.22856192e+02] [-8.52830132e-03 -1.06023541e-04 -9.99963628e-01 -4.13612608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.012896036216429381 Centerline is valid? [True, True] Translation: X:136.22, Y:-122.90, Z:-4.14 [[-6.63053256e-01 -7.48545711e-01 6.30058619e-03 1.36217463e+02] [-7.48513522e-01 6.63083181e-01 6.94271393e-03 -1.22903914e+02] [-9.37475147e-03 -1.12684883e-04 -9.99956050e-01 -4.13613486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.012936614478098234 Centerline is valid? [True, True] Translation: X:136.13, Y:-122.96, Z:-4.13 [[-6.04447221e-01 -7.96619031e-01 6.45568387e-03 1.36131541e+02] [-7.96575817e-01 6.04481681e-01 8.29851371e-03 -1.22962644e+02] [-1.05130966e-02 -1.26428094e-04 -9.99944728e-01 -4.13494415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.012838023287669907 Centerline is valid? [True, True] Translation: X:135.51, Y:-122.59, Z:-5.12 [[-6.74544686e-01 7.38198692e-01 7.22200928e-03 1.35507220e+02] [-7.38153907e-01 -6.74583328e-01 8.13287799e-03 -1.22593564e+02] [ 1.08755270e-02 1.55035268e-04 9.99940848e-01 -5.11705024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.012650258155243451 Centerline is valid? [True, True] Translation: X:135.96, Y:-123.18, Z:-4.14 [[-5.98537542e-01 -8.01068347e-01 6.50497708e-03 1.35963139e+02] [-8.01023004e-01 5.98572880e-01 8.52377008e-03 -1.23176418e+02] [-1.07218253e-02 -1.08839892e-04 -9.99942514e-01 -4.13534278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.012400131706516862 Centerline is valid? [True, True] Translation: X:135.89, Y:-123.23, Z:-4.14 [[-5.37277823e-01 -8.43391017e-01 4.91260001e-03 1.35893710e+02] [-8.43357032e-01 5.37300276e-01 7.57167388e-03 -1.23230100e+02] [-9.02542308e-03 -7.49833013e-05 -9.99959267e-01 -4.13707226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.01236114478878402 Centerline is valid? [True, True] Translation: X:135.81, Y:-123.30, Z:-4.14 [[-4.71092511e-01 -8.82076125e-01 3.68181598e-03 1.35814391e+02] [-8.82050288e-01 4.71106893e-01 6.75161258e-03 -1.23304577e+02] [-7.68996515e-03 -6.69127281e-05 -9.99970430e-01 -4.13771044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.01253755087328917 Centerline is valid? [True, True] Translation: X:135.74, Y:-123.39, Z:-4.14 [[-4.00669702e-01 -9.16217617e-01 3.01115196e-03 1.35739005e+02] [-9.16193183e-01 4.00681010e-01 6.69179415e-03 -1.23387164e+02] [-7.33765110e-03 -7.75977315e-05 -9.99973076e-01 -4.13786470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.012976743821952307 Centerline is valid? [True, True] Translation: X:135.67, Y:-123.48, Z:-4.14 [[-3.27497623e-01 -9.44847774e-01 2.82699660e-03 1.35667045e+02] [-9.44815301e-01 3.27509807e-01 7.83410266e-03 -1.23484056e+02] [-8.32790357e-03 -1.05339646e-04 -9.99965317e-01 -4.13663228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.01328550880664828 Centerline is valid? [True, True] Translation: X:135.60, Y:-123.58, Z:-4.14 [[-2.51487041e-01 -9.67857711e-01 2.39168926e-03 1.35604446e+02] [-9.67819061e-01 2.51498375e-01 8.65052298e-03 -1.23578392e+02] [-8.97398133e-03 -1.39228026e-04 -9.99959723e-01 -4.13608184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.013991121522933749 Centerline is valid? [True, True] Translation: X:135.55, Y:-123.68, Z:-4.14 [[-1.74583162e-01 -9.84640686e-01 1.85437312e-03 1.35548403e+02] [-9.84594990e-01 1.74592928e-01 9.48763778e-03 -1.23680445e+02] [-9.66567460e-03 -1.69424683e-04 -9.99953272e-01 -4.13500177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.0143344305681041 Centerline is valid? [True, True] Translation: X:135.50, Y:-123.79, Z:-4.14 [[-9.78945945e-02 -9.95196107e-01 1.16486211e-03 1.35502472e+02] [-9.95146187e-01 9.79013532e-02 9.96948925e-03 -1.23793505e+02] [-1.00356385e-02 -1.83248979e-04 -9.99949625e-01 -4.13511541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.014595494304944261 Centerline is valid? [True, True] Translation: X:135.47, Y:-123.90, Z:-4.14 [[-2.06848843e-02 -9.99785973e-01 3.78154992e-04 1.35465572e+02] [-9.99740086e-01 2.06875586e-02 9.58052062e-03 -1.23898536e+02] [-9.58629324e-03 -1.79884744e-04 -9.99954034e-01 -4.13543392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.014187755385462979 Centerline is valid? [True, True] Translation: X:135.44, Y:-124.01, Z:-4.14 [[ 5.59241461e-02 -9.98434957e-01 -3.55532181e-04 1.35438670e+02] [-9.98389772e-01 -5.59249982e-02 9.50039974e-03 -1.24013433e+02] [-9.50541434e-03 -1.76342050e-04 -9.99954807e-01 -4.13581669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.014339498889078038 Centerline is valid? [True, True] Translation: X:134.76, Y:-124.15, Z:-5.12 [[-4.80850171e-02 9.98843204e-01 2.90687690e-04 1.34762449e+02] [-9.98800458e-01 -4.80856489e-02 9.24204806e-03 -1.24153072e+02] [ 9.24533480e-03 1.54065041e-04 9.99957249e-01 -5.11569122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.013561084000914788 Centerline is valid? [True, True] Translation: X:135.45, Y:-124.29, Z:-4.14 [[ 6.33219445e-02 -9.97993067e-01 -4.12495597e-04 1.35447077e+02] [-9.97954469e-01 -6.33231239e-02 8.77838565e-03 -1.24289743e+02] [-8.78688853e-03 -1.44212625e-04 -9.99961384e-01 -4.13728882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.013181026863033228 Centerline is valid? [True, True] Translation: X:135.43, Y:-124.41, Z:-4.14 [[ 1.37817203e-01 -9.90457180e-01 -9.97059713e-04 1.35431531e+02] [-9.90424784e-01 -1.37820760e-01 8.01158849e-03 -1.24410683e+02] [-8.07255087e-03 -1.16622066e-04 -9.99967410e-01 -4.13810042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.012893144390828018 Centerline is valid? [True, True] Translation: X:135.42, Y:-124.53, Z:-4.14 [[ 2.11951576e-01 -9.77278848e-01 -1.60718514e-03 1.35423596e+02] [-9.77246938e-01 -2.11957644e-01 7.89801424e-03 -1.24528108e+02] [-8.05921743e-03 -1.03379805e-04 -9.99967519e-01 -4.13769498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.012946585429915128 Centerline is valid? [True, True] Translation: X:134.77, Y:-124.77, Z:-5.11 [[ 1.20653492e-01 9.92694089e-01 -1.08700204e-03 1.34771822e+02] [-9.92661481e-01 1.20658340e-01 8.04669232e-03 -1.24765306e+02] [ 8.11905976e-03 1.08163533e-04 9.99967034e-01 -5.11456618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.012424266501407497 Centerline is valid? [True, True] Translation: X:135.48, Y:-124.79, Z:-4.14 [[ 2.18451649e-01 -9.75846163e-01 -1.77283907e-03 1.35477268e+02] [-9.75810774e-01 -2.18458826e-01 8.31114220e-03 -1.24794236e+02] [-8.49768857e-03 -8.56272560e-05 -9.99963890e-01 -4.13740048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.01229829788011919 Centerline is valid? [True, True] Translation: X:135.48, Y:-124.91, Z:-4.14 [[ 2.91319895e-01 -9.56622543e-01 -2.45561636e-03 1.35480420e+02] [-9.56586379e-01 -2.91330235e-01 8.31825729e-03 -1.24913192e+02] [-8.67282773e-03 -7.42646801e-05 -9.99962388e-01 -4.13690333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.012139358094212472 Centerline is valid? [True, True] Translation: X:135.49, Y:-125.03, Z:-4.14 [[ 3.62383938e-01 -9.32023831e-01 -3.07572571e-03 1.35492385e+02] [-9.31988841e-01 -3.62396985e-01 8.07626968e-03 -1.25031165e+02] [-8.64190953e-03 -6.01683714e-05 -9.99962656e-01 -4.13701681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.012168912423695907 Centerline is valid? [True, True] Translation: X:135.51, Y:-125.15, Z:-4.14 [[ 4.32550328e-01 -9.01603460e-01 -3.37853082e-03 1.35514477e+02] [-9.01574997e-01 -4.32563519e-01 7.16429830e-03 -1.25153210e+02] [-7.92078532e-03 -5.29206618e-05 -9.99968629e-01 -4.13696803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.012508641533064137 Centerline is valid? [True, True] Translation: X:135.54, Y:-125.26, Z:-4.14 [[ 5.01367938e-01 -8.65223940e-01 -4.21007361e-03 1.35535827e+02] [-8.65192310e-01 -5.01385609e-01 7.39844718e-03 -1.25259756e+02] [-8.51218394e-03 -6.68208904e-05 -9.99963769e-01 -4.13540077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.012358108960706183 Centerline is valid? [True, True] Translation: X:135.57, Y:-125.37, Z:-4.14 [[ 5.67604370e-01 -8.23286619e-01 -4.94184055e-03 1.35571239e+02] [-8.23254087e-01 -5.67625876e-01 7.31934967e-03 -1.25370237e+02] [-8.83103921e-03 -8.61044294e-05 -9.99961002e-01 -4.13634496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.01266045689636587 Centerline is valid? [True, True] Translation: X:135.61, Y:-125.48, Z:-4.14 [[ 6.29862887e-01 -7.76684276e-01 -5.85484657e-03 1.35612857e+02] [-7.76649166e-01 -6.29890089e-01 7.38575864e-03 -1.25475817e+02] [-9.42431243e-03 -1.04853554e-04 -9.99955585e-01 -4.13633615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.01320951560794189 Centerline is valid? [True, True] Translation: X:135.66, Y:-125.58, Z:-4.14 [[ 6.88557194e-01 -7.25153742e-01 -6.40633849e-03 1.35659590e+02] [-7.25120687e-01 -6.88586984e-01 6.92487939e-03 -1.25575290e+02] [-9.43292351e-03 -1.22806949e-04 -9.99955501e-01 -4.13635755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.013659654773498654 Centerline is valid? [True, True] Translation: X:135.71, Y:-125.67, Z:-4.14 [[ 7.42753544e-01 -6.69538052e-01 -5.99749061e-03 1.35714674e+02] [-6.69514917e-01 -7.42777748e-01 5.56715652e-03 -1.25671597e+02] [-8.18222570e-03 -1.19615814e-04 -9.99966518e-01 -4.13785441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.013561837221544942 Centerline is valid? [True, True] Translation: X:135.74, Y:-125.70, Z:-4.14 [[ 7.93262589e-01 -6.08850788e-01 -5.93140999e-03 1.35735583e+02] [-6.08832666e-01 -7.93284756e-01 4.69899349e-03 -1.25699275e+02] [-7.56628302e-03 -1.16299581e-04 -9.99971369e-01 -4.13863265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.0138757724916652 Centerline is valid? [True, True] Translation: X:135.76, Y:-125.73, Z:-4.14 [[ 8.39085960e-01 -5.43969361e-01 -5.66445005e-03 1.35758095e+02] [-5.43956052e-01 -8.39105072e-01 3.80682602e-03 -1.25725996e+02] [-6.82386548e-03 -1.13042378e-04 -9.99976711e-01 -4.13958192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.014186101195145719 Centerline is valid? [True, True] Translation: X:135.78, Y:-125.75, Z:-4.14 [[ 8.79648139e-01 -4.75581063e-01 -6.46557649e-03 1.35782977e+02] [-4.75567101e-01 -8.79671890e-01 3.64658383e-03 -1.25751305e+02] [-7.42183211e-03 -1.32895212e-04 -9.99972449e-01 -4.13949966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.014321928089637776 Centerline is valid? [True, True] Translation: X:135.81, Y:-125.77, Z:-4.14 [[ 9.14609568e-01 -4.04271665e-01 -7.33204515e-03 1.35809661e+02] [-4.04257316e-01 -9.14638944e-01 3.40962889e-03 -1.25774587e+02] [-8.08459038e-03 -1.54446318e-04 -9.99967307e-01 -4.13876111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.014948388066308087 Centerline is valid? [True, True] Translation: X:135.84, Y:-125.80, Z:-4.14 [[ 9.43981338e-01 -3.29894055e-01 -8.31536922e-03 1.35837697e+02] [-3.29879527e-01 -9.44017944e-01 3.10159442e-03 -1.25796589e+02] [-8.87305531e-03 -1.84777190e-04 -9.99960617e-01 -4.13751199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.015761430989167532 Centerline is valid? [True, True] Translation: X:135.87, Y:-125.81, Z:-4.14 [[ 9.67185354e-01 -2.53904734e-01 -9.21287081e-03 1.35867583e+02] [-2.53891131e-01 -9.67229209e-01 2.63665411e-03 -1.25813897e+02] [-9.58041670e-03 -2.11067052e-04 -9.99954085e-01 -4.13641775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.015222638872542776 Centerline is valid? [True, True] Translation: X:135.90, Y:-125.83, Z:-4.14 [[ 9.84004459e-01 -1.77869361e-01 -9.88512109e-03 1.35900070e+02] [-1.77858147e-01 -9.84054085e-01 2.00923439e-03 -1.25827677e+02] [-1.00848750e-02 -2.18946273e-04 -9.99949122e-01 -4.13645701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.014550530116850697 Centerline is valid? [True, True] Translation: X:135.93, Y:-125.84, Z:-4.14 [[ 9.94741288e-01 -1.01950972e-01 -9.78614663e-03 1.35931439e+02] [-1.01944087e-01 -9.94789405e-01 1.20115801e-03 -1.25838923e+02] [-9.85761421e-03 -1.97201685e-04 -9.99951393e-01 -4.13726626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.014595529678031212 Centerline is valid? [True, True] Translation: X:135.96, Y:-125.85, Z:-4.14 [[ 9.99638613e-01 -2.52779850e-02 -9.14697458e-03 1.35960023e+02] [-2.52753767e-02 -9.99680446e-01 4.00661690e-04 -1.25847523e+02] [-9.15417956e-03 -1.69323668e-04 -9.99958085e-01 -4.13760083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.013971029534072045 Centerline is valid? [True, True] Translation: X:135.99, Y:-125.85, Z:-4.14 [[ 9.98707955e-01 5.01450782e-02 -8.23968185e-03 1.35991133e+02] [ 5.01444316e-02 -9.98741936e-01 -2.85169194e-04 -1.25850353e+02] [-8.24361563e-03 -1.28373421e-04 -9.99966013e-01 -4.13817637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.013269082772293165 Centerline is valid? [True, True] Translation: X:136.02, Y:-125.85, Z:-4.14 [[ 9.92142847e-01 1.24892286e-01 -7.38160192e-03 1.36021712e+02] [ 1.24889511e-01 -9.92170302e-01 -8.37436490e-04 -1.25850292e+02] [-7.42839557e-03 -9.10280341e-05 -9.99972405e-01 -4.13815551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.012978516684273241 Centerline is valid? [True, True] Translation: X:136.05, Y:-125.85, Z:-4.14 [[ 9.79805543e-01 1.99818867e-01 -7.31564725e-03 1.36051206e+02] [ 1.99813857e-01 -9.79832851e-01 -1.41690246e-03 -1.25848298e+02] [-7.45123534e-03 -7.34788119e-05 -9.99972237e-01 -4.13751970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.01272368282203513 Centerline is valid? [True, True] Translation: X:136.08, Y:-125.84, Z:-4.14 [[ 9.61998364e-01 2.72925527e-01 -8.41452438e-03 1.36080049e+02] [ 2.72915622e-01 -9.62035162e-01 -2.32596606e-03 -1.25843074e+02] [-8.72988384e-03 -5.88796100e-05 -9.99961892e-01 -4.13706812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.012563840198115253 Centerline is valid? [True, True] Translation: X:136.11, Y:-125.84, Z:-4.14 [[ 9.38484161e-01 3.45202969e-01 -9.07685681e-03 1.36109968e+02] [ 3.45187264e-01 -9.38528054e-01 -3.29314266e-03 -1.25838183e+02] [-9.65568739e-03 -4.26531338e-05 -9.99953382e-01 -4.13684063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.012576239722334456 Centerline is valid? [True, True] Translation: X:136.14, Y:-125.83, Z:-4.14 [[ 9.09118971e-01 4.16434300e-01 -9.22881762e-03 1.36137911e+02] [ 4.16413191e-01 -9.09165812e-01 -4.19303200e-03 -1.25831487e+02] [-1.01366478e-02 -3.10364522e-05 -9.99948622e-01 -4.13585151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.012535696252040537 Centerline is valid? [True, True] Translation: X:136.16, Y:-125.82, Z:-4.14 [[ 8.74282441e-01 4.85338886e-01 -8.73954764e-03 1.36164032e+02] [ 4.85314857e-01 -8.74326121e-01 -4.82949652e-03 -1.25821884e+02] [-9.98515725e-03 -1.90883062e-05 -9.99950147e-01 -4.13551683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.012506991740100747 Centerline is valid? [True, True] Translation: X:136.19, Y:-125.81, Z:-4.14 [[ 8.34086109e-01 5.51575030e-01 -8.08387443e-03 1.36191001e+02] [ 5.51549243e-01 -8.34125282e-01 -5.33350509e-03 -1.25811211e+02] [-9.68479227e-03 -1.00523129e-05 -9.99953101e-01 -4.13629905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.012427665334448895 Centerline is valid? [True, True] Translation: X:136.22, Y:-125.80, Z:-4.14 [[ 7.88527280e-01 6.14961476e-01 -6.86373629e-03 1.36217657e+02] [ 6.14938251e-01 -7.88557152e-01 -5.34458958e-03 -1.25799263e+02] [-8.69916505e-03 -6.41930540e-06 -9.99962162e-01 -4.13680058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.012562835270878701 Centerline is valid? [True, True] Translation: X:136.24, Y:-125.78, Z:-4.14 [[ 7.37465475e-01 6.75358510e-01 -5.96298113e-03 1.36241549e+02] [ 6.75336563e-01 -7.37489582e-01 -5.44461104e-03 -1.25784958e+02] [-8.07470086e-03 -1.18065159e-05 -9.99967399e-01 -4.13672621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.012722036032146354 Centerline is valid? [True, True] Translation: X:136.27, Y:-125.77, Z:-4.14 [[ 6.80445303e-01 7.32775665e-01 -5.83217447e-03 1.36267309e+02] [ 7.32749182e-01 -6.80470296e-01 -6.23000709e-03 -1.25771408e+02] [-8.53381908e-03 -3.43420079e-05 -9.99963586e-01 -4.13641035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.012959718229118544 Centerline is valid? [True, True] Translation: X:136.29, Y:-125.76, Z:-4.14 [[ 6.19347586e-01 7.85098016e-01 -5.44741189e-03 1.36291288e+02] [ 7.85068403e-01 -6.19371539e-01 -6.81900740e-03 -1.25755477e+02] [-8.72756107e-03 -5.32551849e-05 -9.99961913e-01 -4.13585182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.013626783705417858 Centerline is valid? [True, True] Translation: X:136.31, Y:-125.74, Z:-4.13 [[ 5.53024978e-01 8.33150993e-01 -4.77451167e-03 1.36314053e+02] [ 8.33121214e-01 -5.53045582e-01 -7.04463885e-03 -1.25738241e+02] [-8.50977044e-03 -8.18857075e-05 -9.99963788e-01 -4.13484145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.013756283074526547 Centerline is valid? [True, True] Translation: X:136.34, Y:-125.72, Z:-4.14 [[ 4.83611496e-01 8.75275489e-01 -3.56914652e-03 1.36337153e+02] [ 8.75253005e-01 -4.83624658e-01 -6.27435334e-03 -1.25719346e+02] [-7.21791496e-03 -8.95568143e-05 -9.99973947e-01 -4.13602074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.014230565893570572 Centerline is valid? [True, True] Translation: X:136.36, Y:-125.70, Z:-4.14 [[ 4.11137201e-01 9.11568917e-01 -2.88294130e-03 1.36358675e+02] [ 9.11548228e-01 -4.11147296e-01 -6.14248044e-03 -1.25698984e+02] [-6.78460776e-03 -1.02537823e-04 -9.99976979e-01 -4.13624858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.014943728005485575 Centerline is valid? [True, True] Translation: X:136.38, Y:-125.68, Z:-4.14 [[ 3.36684906e-01 9.41614105e-01 -2.48039371e-03 1.36376682e+02] [ 9.41591113e-01 -3.36694021e-01 -6.58113197e-03 -1.25677328e+02] [-7.03202042e-03 -1.19748871e-04 -9.99975268e-01 -4.13600296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.016189425081725974 Centerline is valid? [True, True] Translation: X:136.39, Y:-125.65, Z:-4.14 [[ 2.59228587e-01 9.65813806e-01 -2.05704535e-03 1.36391968e+02] [ 9.65787729e-01 -2.59236707e-01 -7.09880107e-03 -1.25653591e+02] [-7.38938174e-03 -1.46456985e-04 -9.99972687e-01 -4.13515961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.01652235581670563 Centerline is valid? [True, True] Translation: X:136.41, Y:-125.63, Z:-4.13 [[ 1.79985073e-01 9.83667959e-01 -1.64942175e-03 1.36405226e+02] [ 9.83635554e-01 -1.79992536e-01 -7.98644812e-03 -1.25628382e+02] [-8.15289672e-03 -1.84988425e-04 -9.99966748e-01 -4.13462006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.017344964104813437 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.60, Z:-4.13 [[ 1.01935017e-01 9.94790284e-01 -1.24218473e-03 1.36415694e+02] [ 9.94741399e-01 -1.01942326e-01 -9.86464189e-03 -1.25603124e+02] [-9.93988111e-03 -2.30100136e-04 -9.99950572e-01 -4.13207947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.01673296942503524 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.58, Z:-4.13 [[ 2.48061213e-02 9.99692153e-01 -5.05234660e-04 1.36420684e+02] [ 9.99634114e-01 -2.48101266e-02 -1.07748222e-02 -1.25575721e+02] [-1.07840401e-02 -2.37768255e-04 -9.99941822e-01 -4.13215523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.01583838808377095 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.55, Z:-4.13 [[-5.07722903e-02 9.98710203e-01 3.23688097e-04 1.36423160e+02] [ 9.98657663e-01 5.07729401e-02 -1.02460518e-02 -1.25548542e+02] [-1.02492711e-02 -1.96961920e-04 -9.99947455e-01 -4.13310103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.01444132637284387 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.52, Z:-4.13 [[-1.24635672e-01 9.92202080e-01 9.91222967e-04 1.36424192e+02] [ 9.92161485e-01 1.24639540e-01 -8.97618324e-03 -1.25520564e+02] [-9.02973325e-03 -1.35299381e-04 -9.99959222e-01 -4.13429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.013499476384304104 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.49, Z:-4.14 [[-1.96088523e-01 9.80584948e-01 1.56577258e-03 1.36422891e+02] [ 9.80550576e-01 1.96094760e-01 -8.21055149e-03 -1.25493182e+02] [-8.35818300e-03 -7.46757054e-05 -9.99965067e-01 -4.13527680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.01334249069403408 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.47, Z:-4.14 [[-2.68347010e-01 9.63319797e-01 2.20236090e-03 1.36420869e+02] [ 9.63286112e-01 2.68356045e-01 -8.05599311e-03 -1.25467633e+02] [-8.35151451e-03 -4.02979922e-05 -9.99965125e-01 -4.13516377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.01308558577117615 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.44, Z:-4.14 [[-3.38997754e-01 9.40783208e-01 2.73481395e-03 1.36417175e+02] [ 9.40752476e-01 3.39008785e-01 -7.60409473e-03 -1.25440745e+02] [-8.08093059e-03 -4.98803937e-06 -9.99967349e-01 -4.13585111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.01314691957472756 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.41, Z:-4.14 [[-4.10629997e-01 9.11794153e-01 3.79831710e-03 1.36415565e+02] [ 9.11755258e-01 4.10647564e-01 -8.42184778e-03 -1.25412647e+02] [-9.23876123e-03 4.87225364e-06 -9.99957322e-01 -4.13586698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.013040296552600859 Centerline is valid? [True, True] Translation: X:136.41, Y:-125.38, Z:-4.14 [[-4.80786201e-01 8.76823462e-01 5.02439582e-03 1.36413457e+02] [ 8.76775711e-01 4.80812454e-01 -9.15079517e-03 -1.25384660e+02] [-1.04394240e-02 5.69216471e-06 -9.99945508e-01 -4.13521065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.013101899578165335 Centerline is valid? [True, True] Translation: X:136.41, Y:-125.36, Z:-4.13 [[-5.49066766e-01 8.35756610e-01 6.04766177e-03 1.36408280e+02] [ 8.35705752e-01 5.49100071e-01 -9.22000369e-03 -1.25357765e+02] [-1.10264505e-02 -8.33188959e-06 -9.99939207e-01 -4.13442299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.013167071674108 Centerline is valid? [True, True] Translation: X:136.40, Y:-125.33, Z:-4.13 [[-6.15118056e-01 7.88404742e-01 6.90945457e-03 1.36402213e+02] [ 7.88354251e-01 6.15156859e-01 -8.92269762e-03 -1.25328606e+02] [-1.12850955e-02 -4.14145327e-05 -9.99936320e-01 -4.13400727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.013259826601894646 Centerline is valid? [True, True] Translation: X:136.39, Y:-125.30, Z:-4.13 [[-6.76689583e-01 7.36233368e-01 7.18581804e-03 1.36391730e+02] [ 7.36190850e-01 6.76727733e-01 -7.91257777e-03 -1.25301686e+02] [-1.06883461e-02 -6.42254688e-05 -9.99942876e-01 -4.13465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.013546775960774216 Centerline is valid? [True, True] Translation: X:136.38, Y:-125.28, Z:-4.14 [[-7.34216645e-01 6.78883131e-01 6.60403145e-03 1.36378880e+02] [ 6.78854684e-01 7.34246340e-01 -6.21532118e-03 -1.25275990e+02] [-9.06846262e-03 -8.02145755e-05 -9.99958877e-01 -4.13542436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.013721933993309635 Centerline is valid? [True, True] Translation: X:136.40, Y:-125.26, Z:-4.14 [[-7.82010860e-01 6.23232230e-01 6.37193460e-03 1.36403272e+02] [ 6.23210560e-01 7.82036814e-01 -5.19803702e-03 -1.25256857e+02] [-8.22267164e-03 -9.38644680e-05 -9.99966189e-01 -4.13673116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.014633407843504271 Centerline is valid? [True, True] Translation: X:136.84, Y:-124.72, Z:-5.12 [[-7.21737846e-01 -6.92142304e-01 5.78906038e-03 1.36838420e+02] [ 6.92120862e-01 -7.21761058e-01 -5.44854446e-03 -1.24722887e+02] [ 7.94948646e-03 7.43087244e-05 9.99968400e-01 -5.11666098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.014186631141979687 Centerline is valid? [True, True] Translation: X:136.38, Y:-125.23, Z:-4.14 [[-7.85697551e-01 6.18574010e-01 6.74921289e-03 1.36375096e+02] [ 6.18549843e-01 7.85726529e-01 -5.46924003e-03 -1.25225677e+02] [-8.68616536e-03 -1.22443921e-04 -9.99962267e-01 -4.13527480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.014106905306782318 Centerline is valid? [True, True] Translation: X:136.39, Y:-125.20, Z:-4.13 [[-8.27054572e-01 5.62059022e-01 8.38991574e-03 1.36393604e+02] [ 5.62028419e-01 8.27097115e-01 -5.86681102e-03 -1.25203297e+02] [-1.02367692e-02 -1.36801795e-04 -9.99947594e-01 -4.13377024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.014033202348497795 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.18, Z:-4.13 [[-8.62117066e-01 5.06623425e-01 9.32036208e-03 1.36417289e+02] [ 5.06591485e-01 8.62167426e-01 -5.69179612e-03 -1.25181548e+02] [-1.09193098e-02 -1.85378500e-04 -9.99940365e-01 -4.13257073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.013362575524475147 Centerline is valid? [True, True] Translation: X:136.43, Y:-125.16, Z:-4.13 [[-8.94704591e-01 4.46550036e-01 9.83670903e-03 1.36432971e+02] [ 4.46521802e-01 8.94758658e-01 -5.02242711e-03 -1.25160338e+02] [-1.10442456e-02 -1.01283553e-04 -9.99939005e-01 -4.13283019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.013174987404364336 Centerline is valid? [True, True] Translation: X:136.44, Y:-125.14, Z:-4.13 [[-9.23281367e-01 3.83983813e-01 1.03898314e-02 1.36443250e+02] [ 3.83958530e-01 9.23339821e-01 -4.40706022e-03 -1.25136087e+02] [-1.12855848e-02 -7.96921957e-05 -9.99936313e-01 -4.13226949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.013139094502484752 Centerline is valid? [True, True] Translation: X:136.45, Y:-125.11, Z:-4.13 [[-9.47531432e-01 3.19445026e-01 1.17923872e-02 1.36452643e+02] [ 3.19419452e-01 9.47604808e-01 -4.04258097e-03 -1.25111189e+02] [-1.24659052e-02 -6.37546722e-05 -9.99922296e-01 -4.13052203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.013006200904173449 Centerline is valid? [True, True] Translation: X:136.46, Y:-125.08, Z:-4.13 [[-9.67693688e-01 2.51818979e-01 1.24951396e-02 1.36456156e+02] [ 2.51797170e-01 9.67774353e-01 -3.31468560e-03 -1.25084851e+02] [-1.29271764e-02 -6.13595316e-05 -9.99916439e-01 -4.13100691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.012981550573084125 Centerline is valid? [True, True] Translation: X:136.64, Y:-124.43, Z:-5.12 [[-9.45363567e-01 -3.25759804e-01 1.29721374e-02 1.36637663e+02] [ 3.25730769e-01 -9.45452557e-01 -4.35071283e-03 -1.24432507e+02] [ 1.36818278e-02 1.12418881e-04 9.99906393e-01 -5.12089188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.013090126727831792 Centerline is valid? [True, True] Translation: X:136.41, Y:-125.07, Z:-4.13 [[-9.68752540e-01 2.47693113e-01 1.29088629e-02 1.36413387e+02] [ 2.47670153e-01 9.68838540e-01 -3.37323317e-03 -1.25074661e+02] [-1.33421305e-02 -7.06881675e-05 -9.99910987e-01 -4.13058321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.01292742915663525 Centerline is valid? [True, True] Translation: X:136.42, Y:-125.05, Z:-4.13 [[-9.83852107e-01 1.78540959e-01 1.25761070e-02 1.36417373e+02] [ 1.78525520e-01 9.83932478e-01 -2.34885372e-03 -1.25048472e+02] [-1.27934067e-02 -6.57686370e-05 -9.99918159e-01 -4.13192107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.0126575208317725 Centerline is valid? [True, True] Translation: X:136.55, Y:-124.38, Z:-5.12 [[-9.67179420e-01 -2.53860669e-01 1.08963133e-02 1.36546539e+02] [ 2.53844128e-01 -9.67240797e-01 -2.89817346e-03 -1.24381768e+02] [ 1.12750910e-02 -3.70885671e-05 9.99936434e-01 -5.11831942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.012614786925194493 Centerline is valid? [True, True] Translation: X:136.37, Y:-125.04, Z:-4.13 [[-9.84348826e-01 1.75956416e-01 9.83509087e-03 1.36372981e+02] [ 1.75947244e-01 9.84397957e-01 -1.79694830e-03 -1.25041648e+02] [-9.99782794e-03 -3.83668160e-05 -9.99950020e-01 -4.13361009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.01245081877037597 Centerline is valid? [True, True] Translation: X:136.50, Y:-124.37, Z:-5.12 [[-9.68430593e-01 -2.49123184e-01 8.93451475e-03 1.36500463e+02] [ 2.49112459e-01 -9.68471806e-01 -2.31167425e-03 -1.24374638e+02] [ 9.22871728e-03 -1.29971283e-05 9.99957414e-01 -5.11678652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.012520625020886685 Centerline is valid? [True, True] Translation: X:136.33, Y:-125.03, Z:-4.13 [[-9.85266176e-01 1.70792456e-01 8.97219593e-03 1.36326417e+02] [ 1.70784936e-01 9.85307026e-01 -1.60340602e-03 -1.25031786e+02] [-9.11421734e-03 -4.74658113e-05 -9.99958464e-01 -4.13459817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.012983747159497197 Centerline is valid? [True, True] Translation: X:136.32, Y:-125.00, Z:-4.13 [[-9.95301083e-01 9.62468707e-02 1.05969330e-02 1.36324241e+02] [ 9.62403334e-02 9.95357488e-01 -1.12631216e-03 -1.24999814e+02] [-1.06561406e-02 -1.01167351e-04 -9.99943217e-01 -4.13269697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.013412862874153227 Centerline is valid? [True, True] Translation: X:136.32, Y:-124.97, Z:-4.13 [[-9.99661440e-01 2.31989043e-02 1.17820507e-02 1.36322477e+02] [ 2.31956669e-02 9.99730860e-01 -4.11368984e-04 -1.24970406e+02] [-1.17884230e-02 -1.37937187e-04 -9.99930505e-01 -4.13102314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.013298839665201453 Centerline is valid? [True, True] Translation: X:136.35, Y:-124.31, Z:-5.12 [[-9.93446467e-01 -1.13695737e-01 1.17216376e-02 1.36349724e+02] [ 1.13689455e-01 -9.93515607e-01 -1.20303196e-03 -1.24309288e+02] [ 1.17824095e-02 1.37478738e-04 9.99930576e-01 -5.12109076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.012713346795055164 Centerline is valid? [True, True] Translation: X:136.27, Y:-124.97, Z:-4.13 [[-9.99678372e-01 2.33343339e-02 9.93281928e-03 1.36267408e+02] [ 2.33324507e-02 9.99727715e-01 -3.05442002e-04 -1.24972534e+02] [-9.93724201e-03 -7.35867468e-05 -9.99950622e-01 -4.13234286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.012061145596911974 Centerline is valid? [True, True] Translation: X:136.29, Y:-124.30, Z:-5.12 [[-9.95004027e-01 -9.95077965e-02 8.07368276e-03 1.36290723e+02] [ 9.95041404e-02 -9.95036781e-01 -8.54282646e-04 -1.24298871e+02] [ 8.11861910e-03 -4.66498103e-05 9.99967042e-01 -5.11639449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.012226451864523282 Centerline is valid? [True, True] Translation: X:136.21, Y:-124.98, Z:-4.14 [[-9.99541395e-01 2.92425880e-02 7.86580947e-03 1.36211273e+02] [ 2.92418759e-02 9.99572344e-01 -2.05544864e-04 -1.24980542e+02] [-7.86845627e-03 2.45604245e-05 -9.99969043e-01 -4.13588835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.013324400816070085 Centerline is valid? [True, True] Translation: X:136.24, Y:-124.29, Z:-5.12 [[-9.96348107e-01 -8.50030770e-02 8.05765009e-03 1.36235167e+02] [ 8.50001984e-02 -9.96380689e-01 -6.99651430e-04 -1.24289202e+02] [ 8.08795947e-03 -1.21945212e-05 9.99967292e-01 -5.11740131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.01312216692811556 Centerline is valid? [True, True] Translation: X:136.15, Y:-124.98, Z:-4.14 [[-9.99429098e-01 3.26680799e-02 8.61832175e-03 1.36149405e+02] [ 3.26676771e-02 9.99466251e-01 -1.87548762e-04 -1.24983522e+02] [-8.61984859e-03 9.40988620e-05 -9.99962844e-01 -4.13532916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.014308792344281307 Centerline is valid? [True, True] Translation: X:136.15, Y:-124.96, Z:-4.13 [[-9.99202563e-01 -3.87153489e-02 9.76525653e-03 1.36148970e+02] [-3.87124801e-02 9.99250274e-01 4.82702483e-04 -1.24957613e+02] [-9.77662326e-03 1.04280259e-04 -9.99952202e-01 -4.13208119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.01298721556794207 Centerline is valid? [True, True] Translation: X:136.11, Y:-124.27, Z:-5.12 [[-9.99897629e-01 -9.32097088e-03 1.08559194e-02 1.36113289e+02] [ 9.31995462e-03 -9.99956558e-01 -1.44200789e-04 -1.24265122e+02] [ 1.08567919e-02 -4.30093510e-05 9.99941062e-01 -5.11812149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.012560508528869937 Centerline is valid? [True, True] Translation: X:136.07, Y:-124.95, Z:-4.13 [[-9.98675793e-01 -5.01594023e-02 1.14321827e-02 1.36073149e+02] [-5.01556040e-02 9.98741224e-01 6.18883395e-04 -1.24953081e+02] [-1.14488350e-02 4.46758359e-05 -9.99934459e-01 -4.13215519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.012346119899471075 Centerline is valid? [True, True] Translation: X:136.04, Y:-124.28, Z:-5.12 [[-9.99780739e-01 -1.76852539e-02 1.12118232e-02 1.36035624e+02] [ 1.76834578e-02 -9.99843602e-01 -2.59324971e-04 -1.24279370e+02] [ 1.12146559e-02 -6.10043087e-05 9.99937112e-01 -5.11807087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.013394673638301085 Centerline is valid? [True, True] Translation: X:136.00, Y:-124.94, Z:-4.14 [[-9.97368377e-01 -7.17677894e-02 1.02812969e-02 1.35997162e+02] [-7.17653756e-02 9.97421358e-01 6.03992876e-04 -1.24943550e+02] [-1.02981324e-02 -1.35437742e-04 -9.99946964e-01 -4.13510885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.014156311562778488 Centerline is valid? [True, True] Translation: X:135.98, Y:-124.91, Z:-4.14 [[-9.89001230e-01 -1.47672945e-01 8.32279529e-03 1.35984861e+02] [-1.47669028e-01 9.89036237e-01 1.08663052e-03 -1.24914136e+02] [-8.39201206e-03 -1.54340171e-04 -9.99964775e-01 -4.13679212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.016429264071412618 Centerline is valid? [True, True] Translation: X:135.90, Y:-124.28, Z:-5.11 [[-9.99328044e-01 3.60733618e-02 6.49412841e-03 1.35898464e+02] [-3.60727316e-02 -9.99349144e-01 2.14194342e-04 -1.24279622e+02] [ 6.49762838e-03 -2.02105386e-05 9.99978890e-01 -5.11320300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.019218841116507394 Centerline is valid? [True, True] Translation: X:135.91, Y:-124.91, Z:-4.14 [[-9.86029660e-01 -1.66446967e-01 6.39667262e-03 1.35906136e+02] [-1.66444848e-01 9.86050386e-01 8.65988375e-04 -1.24909294e+02] [-6.45158264e-03 -2.10802978e-04 -9.99979166e-01 -4.13790010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.021468696951588703 Centerline is valid? [True, True] Translation: X:135.82, Y:-124.30, Z:-5.12 [[-9.99554069e-01 2.89347838e-02 7.37850476e-03 1.35821462e+02] [-2.89317167e-02 -9.99581254e-01 5.22096587e-04 -1.24303756e+02] [ 7.39052179e-03 3.08390959e-04 9.99972642e-01 -5.11507997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.022834568421349365 Centerline is valid? [True, True] Translation: X:135.83, Y:-124.91, Z:-4.14 [[-9.84209410e-01 -1.76813670e-01 8.29234376e-03 1.35832058e+02] [-1.76810156e-01 9.84244289e-01 1.16080920e-03 -1.24910928e+02] [-8.36693892e-03 -3.23691259e-04 -9.99964944e-01 -4.13562734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.021981722753925893 Centerline is valid? [True, True] Translation: X:135.75, Y:-124.32, Z:-5.12 [[-9.99412859e-01 3.27928411e-02 9.92806338e-03 1.35748213e+02] [-3.27863520e-02 -9.99462050e-01 8.15709358e-04 -1.24315355e+02] [ 9.94947200e-03 4.89725441e-04 9.99950383e-01 -5.11721887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.019417843858277405 Centerline is valid? [True, True] Translation: X:135.76, Y:-124.93, Z:-4.13 [[-9.83833922e-01 -1.78754115e-01 1.08526537e-02 1.35763016e+02] [-1.78747601e-01 9.83893701e-01 1.57508142e-03 -1.24926516e+02] [-1.09594099e-02 -3.90267286e-04 -9.99939868e-01 -4.13420001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.019715778164249933 Centerline is valid? [True, True] Translation: X:135.75, Y:-124.90, Z:-4.13 [[-9.69319184e-01 -2.45585400e-01 1.03985488e-02 1.35752929e+02] [-2.45575109e-01 9.69374896e-01 2.27508152e-03 -1.24902252e+02] [-1.06388190e-02 -3.48344582e-04 -9.99943346e-01 -4.13395509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.017753087117239018 Centerline is valid? [True, True] Translation: X:135.74, Y:-124.88, Z:-4.14 [[-9.50487464e-01 -3.10649617e-01 8.39026143e-03 1.35736238e+02] [-3.10639861e-01 9.50524461e-01 2.47496301e-03 -1.24884955e+02] [-8.74399503e-03 -2.53928335e-04 -9.99961738e-01 -4.13616296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.01763347559702357 Centerline is valid? [True, True] Translation: X:135.71, Y:-124.87, Z:-4.14 [[-9.26474627e-01 -3.76301315e-01 6.48735363e-03 1.35712404e+02] [-3.76293493e-01 9.26497321e-01 2.43352723e-03 -1.24867210e+02] [-6.92625525e-03 -1.86547719e-04 -9.99975996e-01 -4.13781304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.017658630102451313 Centerline is valid? [True, True] Translation: X:135.68, Y:-124.85, Z:-4.14 [[-8.96349407e-01 -4.43310813e-01 5.76745798e-03 1.35675044e+02] [-4.43302917e-01 8.96367944e-01 2.65193875e-03 -1.24853781e+02] [-6.34539757e-03 -1.79667221e-04 -9.99979852e-01 -4.13827780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.017694100301559445 Centerline is valid? [True, True] Translation: X:135.62, Y:-124.85, Z:-4.14 [[-8.61095760e-01 -5.08414139e-01 5.39958586e-03 1.35619053e+02] [-5.08405449e-01 8.61112670e-01 2.97800262e-03 -1.24851648e+02] [-6.16371044e-03 -1.80833443e-04 -9.99980988e-01 -4.13823078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.019754517226784146 Centerline is valid? [True, True] Translation: X:135.56, Y:-124.85, Z:-4.14 [[-8.19610577e-01 -5.72877210e-01 7.08547515e-03 1.35555312e+02] [-5.72858661e-01 8.19641158e-01 4.61810680e-03 -1.24853687e+02] [-8.45315519e-03 -2.73926630e-04 -9.99964234e-01 -4.13516383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.01906663803818628 Centerline is valid? [True, True] Translation: X:135.48, Y:-124.87, Z:-4.13 [[-7.74597893e-01 -6.32402470e-01 8.07590861e-03 1.35483703e+02] [-6.32372562e-01 7.74639919e-01 6.15951048e-03 -1.24873092e+02] [-1.01512108e-02 -3.35839175e-04 -9.99948419e-01 -4.13413547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.019937856785575477 Centerline is valid? [True, True] Translation: X:135.41, Y:-124.90, Z:-4.13 [[-7.26473376e-01 -6.87155601e-01 7.32214064e-03 1.35412913e+02] [-6.87124895e-01 7.26510210e-01 6.50329265e-03 -1.24897073e+02] [-9.78838391e-03 -3.06756155e-04 -9.99952046e-01 -4.13390199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.017643267314189758 Centerline is valid? [True, True] Translation: X:135.34, Y:-124.94, Z:-4.13 [[-6.75136828e-01 -7.37668923e-01 5.90109378e-03 1.35338380e+02] [-7.37643812e-01 6.75162575e-01 6.09133537e-03 -1.24938304e+02] [-8.47758647e-03 -2.40420465e-04 -9.99964036e-01 -4.13498267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.016021251655150188 Centerline is valid? [True, True] Translation: X:135.27, Y:-124.99, Z:-4.14 [[-6.21382088e-01 -7.83495637e-01 4.34590492e-03 1.35266537e+02] [-7.83478251e-01 6.21397265e-01 5.22198878e-03 -1.24986106e+02] [-6.79193886e-03 -1.60071694e-04 -9.99976922e-01 -4.13627372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.015492943237779992 Centerline is valid? [True, True] Translation: X:135.19, Y:-125.05, Z:-4.14 [[-5.61911501e-01 -8.27188705e-01 3.78310399e-03 1.35189365e+02] [-8.27171634e-01 5.61924218e-01 5.31611109e-03 -1.25045199e+02] [-6.52324480e-03 -1.42092347e-04 -9.99978713e-01 -4.13641786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.016208611231841495 Centerline is valid? [True, True] Translation: X:135.11, Y:-125.11, Z:-4.13 [[-4.96510267e-01 -8.68022094e-01 3.89865798e-03 1.35110381e+02] [-8.67998057e-01 4.96525542e-01 6.46216481e-03 -1.25111595e+02] [-7.54508509e-03 -1.75496376e-04 -9.99971520e-01 -4.13445246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.01621901769936625 Centerline is valid? [True, True] Translation: X:135.04, Y:-125.19, Z:-4.13 [[-4.27896418e-01 -9.03819390e-01 3.89441917e-03 1.35037300e+02] [-9.03786404e-01 4.27914086e-01 7.72471663e-03 -1.25186268e+02] [-8.64822549e-03 -2.14344517e-04 -9.99962580e-01 -4.13325075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.01696083240009636 Centerline is valid? [True, True] Translation: X:134.97, Y:-125.27, Z:-4.13 [[-3.56116236e-01 -9.34434286e-01 3.71363659e-03 1.34966842e+02] [-9.34390883e-01 3.56135503e-01 9.01008040e-03 -1.25271673e+02] [-9.74188588e-03 -2.61352249e-04 -9.99952513e-01 -4.13227309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.017053354326460667 Centerline is valid? [True, True] Translation: X:134.90, Y:-125.36, Z:-4.13 [[-2.83355972e-01 -9.59010046e-01 3.02070145e-03 1.34904982e+02] [-9.58965163e-01 2.83371947e-01 9.28207933e-03 -1.25360541e+02] [-9.75758937e-03 -2.66614851e-04 -9.99952358e-01 -4.13217231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.017350357390702707 Centerline is valid? [True, True] Translation: X:134.85, Y:-125.46, Z:-4.13 [[-2.09896931e-01 -9.77721104e-01 2.17269841e-03 1.34849152e+02] [-9.77680192e-01 2.09908031e-01 8.94769827e-03 -1.25456638e+02] [-9.20442028e-03 -2.46109798e-04 -9.99957608e-01 -4.13191809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.01627536587565892 Centerline is valid? [True, True] Translation: X:134.80, Y:-125.56, Z:-4.13 [[-1.36548640e-01 -9.90632337e-01 1.42908988e-03 1.34803832e+02] [-9.90593618e-01 1.36555941e-01 8.76117914e-03 -1.25558530e+02] [-8.87425807e-03 -2.19320223e-04 -9.99960599e-01 -4.13231631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.01580667742988708 Centerline is valid? [True, True] Translation: X:134.76, Y:-125.67, Z:-4.13 [[-6.14271810e-02 -9.98111279e-01 7.58742901e-04 1.34764946e+02] [-9.98071647e-01 6.14315053e-02 8.89708005e-03 -1.25666245e+02] [-8.92688667e-03 -2.10757229e-04 -9.99960132e-01 -4.13273629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.015372711918455509 Centerline is valid? [True, True] Translation: X:134.73, Y:-125.78, Z:-4.13 [[ 1.56730472e-02 -9.99877167e-01 7.90108160e-05 1.34733561e+02] [-9.99833937e-01 -1.56716347e-02 9.30045888e-03 -1.25779705e+02] [-9.29807824e-03 -2.24764226e-04 -9.99956747e-01 -4.13278713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.01676086585247841 Centerline is valid? [True, True] Translation: X:134.71, Y:-125.89, Z:-4.13 [[ 9.41674737e-02 -9.95556086e-01 -7.53290025e-04 1.34707517e+02] [-9.95494615e-01 -9.41700332e-02 1.10669422e-02 -1.25890029e+02] [-1.10886990e-02 -2.92249827e-04 -9.99938476e-01 -4.13065613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.016618162336752 Centerline is valid? [True, True] Translation: X:134.69, Y:-126.01, Z:-4.13 [[ 1.70761572e-01 -9.85311121e-01 -1.57468427e-03 1.34693715e+02] [-9.85251881e-01 -1.70768579e-01 1.08084862e-02 -1.26006331e+02] [-1.09186283e-02 -2.94213462e-04 -9.99940347e-01 -4.13091893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.01585872297090413 Centerline is valid? [True, True] Translation: X:134.69, Y:-126.12, Z:-4.13 [[ 2.43931910e-01 -9.69789767e-01 -2.24300731e-03 1.34690404e+02] [-9.69738612e-01 -2.43942089e-01 9.96400457e-03 -1.26121555e+02] [-1.02101536e-02 -2.55407874e-04 -9.99947842e-01 -4.13137892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.015457745812785582 Centerline is valid? [True, True] Translation: X:134.70, Y:-126.24, Z:-4.13 [[ 3.15095478e-01 -9.49056337e-01 -2.62866279e-03 1.34695930e+02] [-9.49017818e-01 -3.15106379e-01 8.55283974e-03 -1.26236505e+02] [-8.94543517e-03 -2.00313298e-04 -9.99959969e-01 -4.13194617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.014647613671134173 Centerline is valid? [True, True] Translation: X:134.71, Y:-126.35, Z:-4.13 [[ 3.83090718e-01 -9.23704942e-01 -3.26845339e-03 1.34711598e+02] [-9.23667612e-01 -3.83104626e-01 8.30586483e-03 -1.26350021e+02] [-8.92432800e-03 -1.62935181e-04 -9.99960164e-01 -4.13181564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.013578713306428342 Centerline is valid? [True, True] Translation: X:134.74, Y:-126.46, Z:-4.13 [[ 4.49062848e-01 -8.93490521e-01 -4.15298809e-03 1.34735220e+02] [-8.93449513e-01 -4.49082031e-01 8.56133081e-03 -1.26459254e+02] [-9.51450025e-03 -1.34090410e-04 -9.99954727e-01 -4.13191157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.013519765190585514 Centerline is valid? [True, True] Translation: X:134.77, Y:-126.57, Z:-4.13 [[ 5.13613605e-01 -8.58007275e-01 -4.95800059e-03 1.34767379e+02] [-8.57965220e-01 -5.13637523e-01 8.49564385e-03 -1.26571883e+02] [-9.83593937e-03 -1.09686190e-04 -9.99951620e-01 -4.13079795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.01290306324317812 Centerline is valid? [True, True] Translation: X:134.81, Y:-126.67, Z:-4.13 [[ 5.74308006e-01 -8.18619035e-01 -5.76096697e-03 1.34805814e+02] [-8.18576609e-01 -5.74336896e-01 8.33463441e-03 -1.26673964e+02] [-1.01316263e-02 -7.08544693e-05 -9.99948671e-01 -4.13124261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.012505124251217716 Centerline is valid? [True, True] Translation: X:134.85, Y:-126.77, Z:-4.13 [[ 6.33274269e-01 -7.73903253e-01 -6.12001955e-03 1.34849216e+02] [-7.73866437e-01 -6.33303839e-01 7.54890573e-03 -1.26772992e+02] [-9.71795458e-03 -4.44500435e-05 -9.99952779e-01 -4.13161269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.012426417693805031 Centerline is valid? [True, True] Translation: X:134.90, Y:-126.87, Z:-4.13 [[ 6.89659750e-01 -7.24098543e-01 -7.12251130e-03 1.34900344e+02] [-7.24059360e-01 -6.89696527e-01 7.53282725e-03 -1.26869165e+02] [-1.03668805e-02 -3.79667762e-05 -9.99946262e-01 -4.13220038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.01258341278549589 Centerline is valid? [True, True] Translation: X:134.95, Y:-126.96, Z:-4.13 [[ 7.43589569e-01 -6.68589225e-01 -7.93733451e-03 1.34953992e+02] [-6.68550368e-01 -7.43631929e-01 7.20827086e-03 -1.26959574e+02] [-1.07218276e-02 -5.34871206e-05 -9.99942518e-01 -4.13158365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.01272717635822792 Centerline is valid? [True, True] Translation: X:134.97, Y:-126.99, Z:-4.13 [[ 7.94891187e-01 -6.06697277e-01 -8.14951684e-03 1.34974344e+02] [-6.06664443e-01 -7.94932959e-01 6.31223414e-03 -1.26987355e+02] [-1.03079348e-02 -7.35171934e-05 -9.99946869e-01 -4.13218516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.013276619425416861 Centerline is valid? [True, True] Translation: X:135.00, Y:-127.01, Z:-4.13 [[ 8.42336002e-01 -5.38889398e-01 -8.26296046e-03 1.34996420e+02] [-5.38862126e-01 -8.42376521e-01 5.42266610e-03 -1.27013806e+02] [-9.88274115e-03 -1.15110440e-04 -9.99951158e-01 -4.13357441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.01465217835051164 Centerline is valid? [True, True] Translation: X:135.02, Y:-127.04, Z:-4.13 [[ 8.84566988e-01 -4.66342771e-01 -8.10333669e-03 1.35019732e+02] [-4.66321537e-01 -8.84604089e-01 4.45312505e-03 -1.27038977e+02] [-9.24492744e-03 -1.60327002e-04 -9.99957252e-01 -4.13361099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.015588464613177222 Centerline is valid? [True, True] Translation: X:135.05, Y:-127.06, Z:-4.13 [[ 9.19936476e-01 -3.91972671e-01 -8.62002617e-03 1.35046338e+02] [-3.91953382e-01 -9.19976839e-01 3.89391000e-03 -1.27062337e+02] [-9.45653073e-03 -2.03501440e-04 -9.99955265e-01 -4.13346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.017222368926271485 Centerline is valid? [True, True] Translation: X:135.07, Y:-127.09, Z:-4.13 [[ 9.49707279e-01 -3.13004337e-01 -9.18525874e-03 1.35074211e+02] [-3.12986933e-01 -9.49751658e-01 3.31180145e-03 -1.27085212e+02] [-9.76032293e-03 -2.70375986e-04 -9.99952330e-01 -4.13327909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.019071022574533764 Centerline is valid? [True, True] Translation: X:135.10, Y:-127.10, Z:-4.13 [[ 9.71934221e-01 -2.35049245e-01 -9.78381103e-03 1.35104214e+02] [-2.35034114e-01 -9.71983414e-01 2.68490151e-03 -1.27103398e+02] [-1.01407861e-02 -3.10018304e-04 -9.99948533e-01 -4.13301448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.018075541671372278 Centerline is valid? [True, True] Translation: X:135.14, Y:-127.12, Z:-4.13 [[ 9.87391465e-01 -1.57991638e-01 -9.83545424e-03 1.35136230e+02] [-1.57980665e-01 -9.87440401e-01 1.88775924e-03 -1.27116677e+02] [-1.00101751e-02 -3.10145769e-04 -9.99949849e-01 -4.13381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.018675984906408954 Centerline is valid? [True, True] Translation: X:135.17, Y:-127.13, Z:-4.13 [[ 9.96792382e-01 -7.93796130e-02 -1.01894461e-02 1.35168369e+02] [-7.93721170e-02 -9.96844406e-01 1.13859995e-03 -1.27129132e+02] [-1.02476740e-02 -3.26189850e-04 -9.99947438e-01 -4.13313371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.018545538163426967 Centerline is valid? [True, True] Translation: X:135.20, Y:-127.14, Z:-4.13 [[ 9.99925243e-01 -1.38047828e-03 -1.21491725e-02 1.35198328e+02] [-1.37572022e-03 -9.99998974e-01 3.99985186e-04 -1.27135833e+02] [-1.21497122e-02 -3.83241422e-04 -9.99926116e-01 -4.13189681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.018156496668251115 Centerline is valid? [True, True] Translation: X:135.23, Y:-127.14, Z:-4.13 [[ 9.97069607e-01 7.54710670e-02 -1.25026563e-02 1.35228809e+02] [ 7.54698665e-02 -9.97147921e-01 -5.68466849e-04 -1.27140395e+02] [-1.25099005e-02 -3.76772782e-04 -9.99921677e-01 -4.13145288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.017820604666064783 Centerline is valid? [True, True] Translation: X:135.26, Y:-127.14, Z:-4.13 [[ 9.88633614e-01 1.49829570e-01 -1.24369717e-02 1.35258468e+02] [ 1.49821949e-01 -9.88711783e-01 -1.54751855e-03 -1.27139499e+02] [-1.25284445e-02 -3.33402477e-04 -9.99921460e-01 -4.13150049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.016875432107592563 Centerline is valid? [True, True] Translation: X:135.29, Y:-127.14, Z:-4.13 [[ 9.74366623e-01 2.24668440e-01 -1.15661755e-02 1.35288170e+02] [ 2.24656115e-01 -9.74435226e-01 -2.37085055e-03 -1.27136315e+02] [-1.18031441e-02 -2.88334415e-04 -9.99930299e-01 -4.13273068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.016631993832110847 Centerline is valid? [True, True] Translation: X:135.32, Y:-127.13, Z:-4.13 [[ 9.53807826e-01 3.00230434e-01 -1.05979439e-02 1.35318340e+02] [ 3.00215028e-01 -9.53866665e-01 -3.05338874e-03 -1.27134233e+02] [-1.10257457e-02 -2.69315958e-04 -9.99939178e-01 -4.13383514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.016842996769053386 Centerline is valid? [True, True] Translation: X:135.35, Y:-127.13, Z:-4.13 [[ 9.27462902e-01 3.73764700e-01 -1.06072869e-02 1.35348596e+02] [ 3.73743620e-01 -9.27523517e-01 -3.97900825e-03 -1.27130134e+02] [-1.13257209e-02 -2.74023267e-04 -9.99935824e-01 -4.13340352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.017333942742806873 Centerline is valid? [True, True] Translation: X:135.38, Y:-127.12, Z:-4.13 [[ 8.95428098e-01 4.45093410e-01 -1.00188849e-02 1.35377643e+02] [ 4.45068860e-01 -8.95484107e-01 -4.68239366e-03 -1.27123442e+02] [-1.10558548e-02 -2.66346846e-04 -9.99938847e-01 -4.13295620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.017108631957396234 Centerline is valid? [True, True] Translation: X:135.41, Y:-127.11, Z:-4.13 [[ 8.57644767e-01 5.14165268e-01 -8.91794656e-03 1.35405943e+02] [ 5.14140494e-01 -8.57691095e-01 -5.05356629e-03 -1.27113294e+02] [-1.02472116e-02 -2.50912766e-04 -9.99947465e-01 -4.13419458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.018618050793760617 Centerline is valid? [True, True] Translation: X:135.43, Y:-127.10, Z:-4.14 [[ 8.13938035e-01 5.80902620e-01 -7.55123714e-03 1.35434164e+02] [ 5.80880285e-01 -8.13973028e-01 -5.09941834e-03 -1.27102868e+02] [-9.10876883e-03 -2.35754240e-04 -9.99958487e-01 -4.13509658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.016801485103478578 Centerline is valid? [True, True] Translation: X:135.46, Y:-127.09, Z:-4.14 [[ 7.65106711e-01 6.43853747e-01 -8.00456040e-03 1.35462087e+02] [ 6.43822279e-01 -7.65148531e-01 -6.37172766e-03 -1.27090248e+02] [-1.02271384e-02 -2.78462723e-04 -9.99947663e-01 -4.13544908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.017414005010827724 Centerline is valid? [True, True] Translation: X:135.49, Y:-127.08, Z:-4.13 [[ 7.12026442e-01 7.02100655e-01 -8.54495598e-03 1.35490229e+02] [ 7.02055488e-01 -7.12077640e-01 -7.97036236e-03 -1.27077124e+02] [-1.16806687e-02 -3.23924479e-04 -9.99931726e-01 -4.13416722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.01746056340882378 Centerline is valid? [True, True] Translation: X:135.52, Y:-127.06, Z:-4.13 [[ 6.55177557e-01 7.55434244e-01 -7.84043331e-03 1.35516449e+02] [ 7.55385857e-01 -6.55224391e-01 -8.55594080e-03 -1.27060438e+02] [-1.16006938e-02 -3.16892049e-04 -9.99932660e-01 -4.13437910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.01655387043289115 Centerline is valid? [True, True] Translation: X:135.54, Y:-127.04, Z:-4.14 [[ 5.97134384e-01 8.02121540e-01 -5.61810550e-03 1.35536936e+02] [ 8.02089358e-01 -5.97160773e-01 -7.18838474e-03 -1.27039252e+02] [-9.12087047e-03 -2.13790939e-04 -9.99958381e-01 -4.13670690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.01404257379727471 Centerline is valid? [True, True] Translation: X:135.55, Y:-127.02, Z:-4.14 [[ 5.39030649e-01 8.42275006e-01 -4.33285753e-03 1.35553344e+02] [ 8.42249610e-01 -5.39048049e-01 -6.54185300e-03 -1.27015168e+02] [-7.84565767e-03 -1.23088297e-04 -9.99969215e-01 -4.13844889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.012602650493827515 Centerline is valid? [True, True] Translation: X:135.57, Y:-126.99, Z:-4.14 [[ 4.77778776e-01 8.78470908e-01 -4.03807284e-03 1.35570425e+02] [ 8.78440773e-01 -4.77795835e-01 -7.27661983e-03 -1.26992057e+02] [-8.32167321e-03 -7.05933156e-05 -9.99965372e-01 -4.13812277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.012189331923921375 Centerline is valid? [True, True] Translation: X:135.58, Y:-126.97, Z:-4.14 [[ 4.17249183e-01 9.08783696e-01 -3.91331456e-03 1.35584862e+02] [ 9.08743273e-01 -4.17267533e-01 -8.57146789e-03 -1.26968083e+02] [-9.42250938e-03 2.02396872e-05 -9.99955607e-01 -4.13848676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.01314540537383347 Centerline is valid? [True, True] Translation: X:135.60, Y:-126.95, Z:-4.14 [[ 3.51869749e-01 9.36043500e-01 -3.20089983e-03 1.35598295e+02] [ 9.36002400e-01 -3.51884296e-01 -8.77204922e-03 -1.26945135e+02] [-9.33736604e-03 9.05688309e-05 -9.99956402e-01 -4.13885593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.013739309955699558 Centerline is valid? [True, True] Translation: X:135.61, Y:-126.92, Z:-4.14 [[ 2.80361436e-01 9.59890795e-01 -2.66954533e-03 1.35611972e+02] [ 9.59842895e-01 -2.80374116e-01 -9.59014956e-03 -1.26921059e+02] [-9.95396770e-03 1.26363975e-04 -9.99950450e-01 -4.13878342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.01396343184731397 Centerline is valid? [True, True] Translation: X:135.62, Y:-126.90, Z:-4.14 [[ 2.05794553e-01 9.78593130e-01 -2.02182847e-03 1.35624853e+02] [ 9.78538528e-01 -2.05804430e-01 -1.03385255e-02 -1.26896450e+02] [-1.05333113e-02 1.49175175e-04 -9.99944512e-01 -4.13912344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.013361782660161385 Centerline is valid? [True, True] Translation: X:135.64, Y:-126.87, Z:-4.14 [[ 1.26121994e-01 9.92013899e-01 -1.29083409e-03 1.35643398e+02] [ 9.91950687e-01 -1.26128530e-01 -1.11995216e-02 -1.26871219e+02] [-1.12728921e-02 1.32062238e-04 -9.99936450e-01 -4.13935262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.013005854227924897 Centerline is valid? [True, True] Translation: X:135.66, Y:-126.84, Z:-4.14 [[ 4.56691419e-02 9.98956525e-01 -4.37097210e-04 1.35658165e+02] [ 9.98884384e-01 -4.56710971e-02 -1.20057441e-02 -1.26844306e+02] [-1.20131791e-02 1.11682456e-04 -9.99927833e-01 -4.13866229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.012608272929860888 Centerline is valid? [True, True] Translation: X:135.67, Y:-126.82, Z:-4.14 [[-3.66973015e-02 9.99326282e-01 5.39138447e-04 1.35672241e+02] [ 9.99244011e-01 3.67011984e-02 -1.28229408e-02 -1.26816466e+02] [-1.28340888e-02 6.81635405e-05 -9.99917637e-01 -4.13861186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.012451582603467286 Centerline is valid? [True, True] Translation: X:135.68, Y:-126.79, Z:-4.14 [[-1.18643595e-01 9.92935478e-01 1.68347617e-03 1.35683773e+02] [ 9.92838057e-01 1.18655536e-01 -1.39088270e-02 -1.26786884e+02] [-1.40103215e-02 2.12259775e-05 -9.99901850e-01 -4.13879567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.012411980965614442 Centerline is valid? [True, True] Translation: X:135.69, Y:-126.76, Z:-4.14 [[-1.98336145e-01 9.80130348e-01 2.69712205e-03 1.35691242e+02] [ 9.80038970e-01 1.98354483e-01 -1.33834772e-02 -1.26756485e+02] [-1.36525384e-02 -1.11425559e-05 -9.99906800e-01 -4.13883312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.012308230835982167 Centerline is valid? [True, True] Translation: X:135.70, Y:-126.72, Z:-4.14 [[-2.77916604e-01 9.60599613e-01 3.27791701e-03 1.35699172e+02] [ 9.60530584e-01 2.77935930e-01 -1.15159232e-02 -1.26724195e+02] [-1.19732422e-02 -5.19267229e-05 -9.99928317e-01 -4.14089454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.012650959159602137 Centerline is valid? [True, True] Translation: X:135.70, Y:-126.69, Z:-4.14 [[-3.56149196e-01 9.34421462e-01 3.77906164e-03 1.35702971e+02] [ 9.34366111e-01 3.56169233e-01 -1.01709266e-02 -1.26692254e+02] [-1.08499176e-02 -9.13402115e-05 -9.99941134e-01 -4.14157466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.013574388420524953 Centerline is valid? [True, True] Translation: X:135.70, Y:-126.66, Z:-4.14 [[-4.32351871e-01 9.01690307e-01 5.14302332e-03 1.35702500e+02] [ 9.01622094e-01 4.32382430e-01 -1.10920578e-02 -1.26659449e+02] [-1.22253539e-02 -1.58608463e-04 -9.99925255e-01 -4.13999212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.014434720363246079 Centerline is valid? [True, True] Translation: X:135.70, Y:-126.63, Z:-4.14 [[-5.04219981e-01 8.63547941e-01 6.86766928e-03 1.35696309e+02] [ 8.63461708e-01 5.04266699e-01 -1.22055408e-02 -1.26628856e+02] [-1.40032065e-02 -2.24308091e-04 -9.99901925e-01 -4.13768710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.014704684625563735 Centerline is valid? [True, True] Translation: X:135.69, Y:-126.60, Z:-4.14 [[-5.72884190e-01 8.19589883e-01 8.72522535e-03 1.35689324e+02] [ 8.19486742e-01 5.72950551e-01 -1.30056268e-02 -1.26596212e+02] [-1.56584028e-02 -3.00511490e-04 -9.99877355e-01 -4.13712385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.014790883966184012 Centerline is valid? [True, True] Translation: X:135.68, Y:-126.57, Z:-4.14 [[-6.35708225e-01 7.71867663e-01 9.76544622e-03 1.35677113e+02] [ 7.71769031e-01 6.35783151e-01 -1.23429378e-02 -1.26565632e+02] [-1.57358207e-02 -3.09838128e-04 -9.99876136e-01 -4.13716826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.014899196598775694 Centerline is valid? [True, True] Translation: X:135.66, Y:-126.54, Z:-4.14 [[-6.93061530e-01 7.20792046e-01 1.11598808e-02 1.35662218e+02] [ 7.20691639e-01 6.93151310e-01 -1.20342438e-02 -1.26538159e+02] [-1.64096732e-02 -2.97638611e-04 -9.99865308e-01 -4.13622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.013518490706601122 Centerline is valid? [True, True] Translation: X:135.64, Y:-126.51, Z:-4.14 [[-7.43556887e-01 6.68579046e-01 1.11899681e-02 1.35640359e+02] [ 6.68499529e-01 7.43641059e-01 -1.03128563e-02 -1.26514996e+02] [-1.52162793e-02 -1.87706928e-04 -9.99884208e-01 -4.13699493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.01252101844648009 Centerline is valid? [True, True] Translation: X:135.66, Y:-126.50, Z:-4.14 [[-7.83676973e-01 6.21084746e-01 1.02049498e-02 1.35657057e+02] [ 6.21031297e-01 7.83743412e-01 -8.14809987e-03 -1.26503198e+02] [-1.30587227e-02 -4.78849927e-05 -9.99914730e-01 -4.13843561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.012553821688758656 Centerline is valid? [True, True] Translation: X:135.67, Y:-126.49, Z:-4.14 [[-8.22513497e-01 5.68652734e-01 1.02769359e-02 1.35670797e+02] [ 5.68608708e-01 8.22577697e-01 -7.07597016e-03 -1.26485508e+02] [-1.24773481e-02 2.34743053e-05 -9.99922155e-01 -4.13924839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.012997148152499968 Centerline is valid? [True, True] Translation: X:136.05, Y:-125.95, Z:-5.11 [[-7.88904801e-01 -6.14442551e-01 9.46394880e-03 1.36050514e+02] [ 6.14397637e-01 -7.88961564e-01 -7.42925447e-03 -1.25954565e+02] [ 1.20315419e-02 -4.63467448e-05 9.99927617e-01 -5.11089265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.014263008898446262 Centerline is valid? [True, True] Translation: X:135.64, Y:-126.47, Z:-4.14 [[-8.16623313e-01 5.77068811e-01 1.08605608e-02 1.35637956e+02] [ 5.77021125e-01 8.16695503e-01 -7.42135721e-03 -1.26474889e+02] [-1.31524049e-02 2.06319682e-04 -9.99913482e-01 -4.13956534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.016267602216073606 Centerline is valid? [True, True] Translation: X:135.65, Y:-126.46, Z:-4.14 [[-8.52330535e-01 5.22867999e-01 1.19043952e-02 1.35653970e+02] [ 5.22821862e-01 8.52413612e-01 -6.95229885e-03 -1.26457854e+02] [-1.37826031e-02 2.98221485e-04 -9.99904971e-01 -4.13868755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.01727928830535666 Centerline is valid? [True, True] Translation: X:135.67, Y:-126.44, Z:-4.14 [[-8.83832648e-01 4.67634567e-01 1.25603576e-02 1.35671565e+02] [ 4.67593808e-01 8.83921800e-01 -6.18731191e-03 -1.26438484e+02] [-1.39957748e-02 4.04597167e-04 -9.99901973e-01 -4.13982552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.019642903683126885 Centerline is valid? [True, True] Translation: X:135.69, Y:-126.42, Z:-4.14 [[-9.10307913e-01 4.13770760e-01 1.15439392e-02 1.35688686e+02] [ 4.13744341e-01 9.10380971e-01 -4.70193886e-03 -1.26418908e+02] [-1.24549074e-02 4.96027354e-04 -9.99922312e-01 -4.14103062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.022237210375123453 Centerline is valid? [True, True] Translation: X:135.70, Y:-126.39, Z:-4.14 [[-9.34785798e-01 3.55048706e-01 1.07670167e-02 1.35698851e+02] [ 3.55031675e-01 9.34847651e-01 -3.51836065e-03 -1.26394994e+02] [-1.13147097e-02 5.33718421e-04 -9.99935844e-01 -4.14245740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.022428208240566107 Centerline is valid? [True, True] Translation: X:135.91, Y:-125.75, Z:-5.11 [[-9.43795361e-01 -3.30375259e-01 1.01245000e-02 1.35914494e+02] [ 3.30350060e-01 -9.43849510e-01 -4.11596877e-03 -1.25747428e+02] [ 1.09158186e-02 -5.40003060e-04 9.99940275e-01 -5.10879360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.020969838034626636 Centerline is valid? [True, True] Translation: X:135.66, Y:-126.37, Z:-4.14 [[-9.38162418e-01 3.46042056e-01 1.03040013e-02 1.35655682e+02] [ 3.46026378e-01 9.38218896e-01 -3.32412478e-03 -1.26369436e+02] [-1.08176957e-02 4.46887312e-04 -9.99941387e-01 -4.14285753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.01698148490860079 Centerline is valid? [True, True] Translation: X:135.65, Y:-126.32, Z:-4.14 [[-9.64148838e-01 2.65140165e-01 1.08494454e-02 1.35653146e+02] [ 2.65126918e-01 9.64209832e-01 -2.66771367e-03 -1.26324399e+02] [-1.11684600e-02 3.04407005e-04 -9.99937585e-01 -4.14219904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.013202244156875634 Centerline is valid? [True, True] Translation: X:135.65, Y:-126.28, Z:-4.14 [[-9.83903336e-01 1.78330098e-01 1.15153041e-02 1.35648957e+02] [ 1.78319163e-01 9.83970713e-01 -1.97777742e-03 -1.26277355e+02] [-1.16834192e-02 1.07457594e-04 -9.99931741e-01 -4.14190879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.012457935381195955 Centerline is valid? [True, True] Translation: X:135.73, Y:-125.70, Z:-5.11 [[-9.70930376e-01 -2.39110595e-01 1.09694499e-02 1.35729943e+02] [ 2.39093809e-01 -9.70992331e-01 -2.83627349e-03 -1.25695647e+02] [ 1.13294348e-02 -1.31096533e-04 9.99935811e-01 -5.10877925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.015495326282381929 Centerline is valid? [True, True] Translation: X:135.58, Y:-126.24, Z:-4.14 [[-9.89281095e-01 1.45633195e-01 1.06717834e-02 1.35581249e+02] [ 1.45622342e-01 9.89338630e-01 -1.79125978e-03 -1.26236316e+02] [-1.08188745e-02 -2.18009347e-04 -9.99941451e-01 -4.14184935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.018009679724350396 Centerline is valid? [True, True] Translation: X:135.58, Y:-126.20, Z:-4.14 [[-9.97784658e-01 6.58176806e-02 9.68550795e-03 1.35576544e+02] [ 6.58117921e-02 9.97831625e-01 -9.25783205e-04 -1.26200321e+02] [-9.72543904e-03 -2.86311643e-04 -9.99952666e-01 -4.14353350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.01811749694098162 Centerline is valid? [True, True] Translation: X:135.62, Y:-125.68, Z:-5.11 [[-9.81087439e-01 -1.93316043e-01 9.81550765e-03 1.35624497e+02] [ 1.93309492e-01 -9.81136491e-01 -1.62086212e-03 -1.25680502e+02] [ 9.94369139e-03 3.07223323e-04 9.99950513e-01 -5.10725051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.017622679117227355 Centerline is valid? [True, True] Translation: X:135.53, Y:-126.19, Z:-4.14 [[-9.98070467e-01 6.11944819e-02 1.05155989e-02 1.35530704e+02] [ 6.11877153e-02 9.98125811e-01 -9.64303413e-04 -1.26194963e+02] [-1.05549007e-02 -3.19017289e-04 -9.99944245e-01 -4.14343879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.017156633906697093 Centerline is valid? [True, True] Translation: X:135.53, Y:-126.17, Z:-4.14 [[-9.99893145e-01 -6.31608640e-03 1.31835341e-02 1.35525486e+02] [-6.32018342e-03 9.99979991e-01 -2.69127727e-04 -1.26169444e+02] [-1.31815705e-02 -3.52421323e-04 -9.99913057e-01 -4.14116771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.016416850989678648 Centerline is valid? [True, True] Translation: X:135.51, Y:-126.15, Z:-4.14 [[-9.97112411e-01 -7.44202616e-02 1.51150457e-02 1.35514936e+02] [-7.44171745e-02 9.97226903e-01 7.67356181e-04 -1.26145630e+02] [-1.51302371e-02 -3.59678626e-04 -9.99885467e-01 -4.13971408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.015347689202829628 Centerline is valid? [True, True] Translation: X:135.51, Y:-126.13, Z:-4.14 [[-9.90048957e-01 -1.39820545e-01 1.59147138e-02 1.35510651e+02] [-1.39807268e-01 9.90176817e-01 1.94928430e-03 -1.26126285e+02] [-1.60309306e-02 -2.95105771e-04 -9.99871453e-01 -4.13941197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.014233210956654013 Centerline is valid? [True, True] Translation: X:135.50, Y:-126.11, Z:-4.14 [[-9.78724491e-01 -2.04630784e-01 1.49870992e-02 1.35499739e+02] [-2.04609886e-01 9.78839212e-01 2.93112012e-03 -1.26109013e+02] [-1.52697577e-02 -1.97749601e-04 -9.99883391e-01 -4.14043572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.013731112494413576 Centerline is valid? [True, True] Translation: X:135.49, Y:-126.09, Z:-4.14 [[-9.62486128e-01 -2.70980580e-01 1.37833054e-02 1.35485095e+02] [-2.70954892e-01 9.62584804e-01 3.73377932e-03 -1.26090191e+02] [-1.42793820e-02 -1.40943237e-04 -9.99898035e-01 -4.14120812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.013238953305829559 Centerline is valid? [True, True] Translation: X:135.46, Y:-126.08, Z:-4.14 [[-9.42020951e-01 -3.35313504e-01 1.27036409e-02 1.35461357e+02] [-3.35284074e-01 9.42106602e-01 4.44306716e-03 -1.26079107e+02] [-1.34580044e-02 -7.38661304e-05 -9.99909434e-01 -4.14157580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.013144290217856463 Centerline is valid? [True, True] Translation: X:135.42, Y:-126.07, Z:-4.14 [[-9.16077346e-01 -4.00810381e-01 1.23828430e-02 1.35424708e+02] [-4.00774537e-01 9.16161032e-01 5.36047411e-03 -1.26068842e+02] [-1.34932119e-02 -5.21192835e-05 -9.99908961e-01 -4.14154789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.012678241220060883 Centerline is valid? [True, True] Translation: X:135.37, Y:-126.07, Z:-4.14 [[-8.84778502e-01 -4.65859288e-01 1.19216866e-02 1.35369570e+02] [-4.65817556e-01 8.84858815e-01 6.23558993e-03 -1.26070768e+02] [-1.34539170e-02 -3.62150021e-05 -9.99909491e-01 -4.14414783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.013156926658426629 Centerline is valid? [True, True] Translation: X:135.30, Y:-126.08, Z:-4.14 [[-8.48310646e-01 -5.29356844e-01 1.22629377e-02 1.35303395e+02] [-5.29302107e-01 8.48399275e-01 7.61239343e-03 -1.26081091e+02] [-1.44335400e-02 -3.31243675e-05 -9.99895831e-01 -4.14101534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.012625186997872961 Centerline is valid? [True, True] Translation: X:135.23, Y:-126.10, Z:-4.14 [[-8.06240016e-01 -5.91469090e-01 1.18891455e-02 1.35232849e+02] [-5.91405633e-01 8.06327671e-01 8.66390752e-03 -1.26098643e+02] [-1.47109805e-02 -4.61186568e-05 -9.99891787e-01 -4.14498835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.01297826222520905 Centerline is valid? [True, True] Translation: X:135.16, Y:-126.13, Z:-4.14 [[-7.58476675e-01 -6.51604564e-01 1.11635747e-02 1.35155216e+02] [-6.51535557e-01 7.58558822e-01 9.48325611e-03 -1.26125589e+02] [-1.46475611e-02 -8.06373206e-05 -9.99892716e-01 -4.14297849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.012859053307643217 Centerline is valid? [True, True] Translation: X:135.08, Y:-126.16, Z:-4.14 [[-7.06344748e-01 -7.07789042e-01 1.05720973e-02 1.35076919e+02] [-7.07712059e-01 7.06423853e-01 1.04394582e-02 -1.26162758e+02] [-1.48573158e-02 -1.08144280e-04 -9.99889618e-01 -4.14441840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.013360212823101241 Centerline is valid? [True, True] Translation: X:135.00, Y:-126.21, Z:-4.14 [[-6.50004737e-01 -7.59866865e-01 9.80762119e-03 1.34998604e+02] [-7.59783426e-01 6.50078710e-01 1.12612861e-02 -1.26207949e+02] [-1.49328039e-02 -1.31778708e-04 -9.99888491e-01 -4.14367876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.013701751951415408 Centerline is valid? [True, True] Translation: X:134.92, Y:-126.26, Z:-4.14 [[-5.89963266e-01 -8.07385327e-01 8.50169575e-03 1.34919713e+02] [-8.07304968e-01 5.90024502e-01 1.13918874e-02 -1.26264213e+02] [-1.42138515e-02 -1.42666144e-04 -9.99898968e-01 -4.14362644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.013438906791093852 Centerline is valid? [True, True] Translation: X:134.84, Y:-126.33, Z:-4.15 [[-5.25961188e-01 -8.50477460e-01 7.27454874e-03 1.34843598e+02] [-8.50400194e-01 5.26011469e-01 1.14649200e-02 -1.26332983e+02] [-1.35771521e-02 -1.56174719e-04 -9.99907814e-01 -4.14653764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.013812774948155205 Centerline is valid? [True, True] Translation: X:134.77, Y:-126.41, Z:-4.15 [[-4.58265271e-01 -8.88795212e-01 6.00109009e-03 1.34771101e+02] [-8.88723838e-01 4.58304531e-01 1.12648321e-02 -1.26407056e+02] [-1.27624556e-02 -1.71030483e-04 -9.99918542e-01 -4.14619273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.014918550856679359 Centerline is valid? [True, True] Translation: X:134.70, Y:-126.49, Z:-4.14 [[-3.87317868e-01 -9.21930736e-01 5.34663088e-03 1.34697697e+02] [-9.21850206e-01 3.87354714e-01 1.21870363e-02 -1.26494196e+02] [-1.33066460e-02 -2.08535874e-04 -9.99911441e-01 -4.14476326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.014854288366352258 Centerline is valid? [True, True] Translation: X:134.64, Y:-126.58, Z:-4.15 [[-3.12219688e-01 -9.49999083e-01 4.53977233e-03 1.34636076e+02] [-9.49910837e-01 3.12252575e-01 1.29511158e-02 -1.26581484e+02] [-1.37211038e-02 -2.68785592e-04 -9.99905825e-01 -4.14524882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.016098985355061952 Centerline is valid? [True, True] Translation: X:134.58, Y:-126.68, Z:-4.14 [[-2.35251735e-01 -9.71927280e-01 3.73946703e-03 1.34577099e+02] [-9.71826327e-01 2.35281212e-01 1.40121634e-02 -1.26680128e+02] [-1.44986302e-02 -3.37726745e-04 -9.99894832e-01 -4.14475402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.016657199039090714 Centerline is valid? [True, True] Translation: X:134.53, Y:-126.78, Z:-4.14 [[-1.59064831e-01 -9.87264224e-01 2.78057958e-03 1.34528217e+02] [-9.87151592e-01 1.59088698e-01 1.49171307e-02 -1.26782630e+02] [-1.51695083e-02 -3.72062667e-04 -9.99884867e-01 -4.14382973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.016174625219193044 Centerline is valid? [True, True] Translation: X:134.49, Y:-126.89, Z:-4.14 [[-8.39681713e-02 -9.96467028e-01 1.67558764e-03 1.34488630e+02] [-9.96346583e-01 8.39840807e-02 1.54971456e-02 -1.26887819e+02] [-1.55831173e-02 -3.68199041e-04 -9.99878508e-01 -4.14352494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.015294753608422555 Centerline is valid? [True, True] Translation: X:134.46, Y:-127.00, Z:-4.14 [[-1.05247330e-02 -9.99944483e-01 5.11801721e-04 1.34460147e+02] [-9.99808411e-01 1.05317456e-02 1.64992284e-02 -1.26998948e+02] [-1.65037026e-02 -3.38053692e-04 -9.99863748e-01 -4.14277925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.015485155103780944 Centerline is valid? [True, True] Translation: X:134.44, Y:-127.11, Z:-4.14 [[ 6.26009206e-02 -9.98038300e-01 -8.22692132e-04 1.34439790e+02] [-9.97877084e-01 -6.26055970e-02 1.79405641e-02 -1.27112716e+02] [-1.79568753e-02 -3.02150204e-04 -9.99838717e-01 -4.14021882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.013869678334927343 Centerline is valid? [True, True] Translation: X:134.43, Y:-127.22, Z:-4.14 [[ 1.34356898e-01 -9.90930443e-01 -2.25396148e-03 1.34432493e+02] [-9.90761350e-01 -1.34375612e-01 1.83069037e-02 -1.27223814e+02] [-1.84437456e-02 -2.26520866e-04 -9.99829874e-01 -4.14223957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.013433314062889917 Centerline is valid? [True, True] Translation: X:134.43, Y:-127.34, Z:-4.14 [[ 2.07376036e-01 -9.78255425e-01 -3.39147511e-03 1.34429884e+02] [-9.78111588e-01 -2.07403704e-01 1.67757512e-02 -1.27341874e+02] [-1.71143741e-02 -1.61647682e-04 -9.99853525e-01 -4.14299279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.012647926644455153 Centerline is valid? [True, True] Translation: X:134.44, Y:-127.45, Z:-4.15 [[ 2.77552715e-01 -9.60702867e-01 -3.80693104e-03 1.34437880e+02] [-9.60609130e-01 -2.77578813e-01 1.34201954e-02 -1.27453357e+02] [-1.39495436e-02 -6.78389559e-05 -9.99902698e-01 -4.14548425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.012371966031179401 Centerline is valid? [True, True] Translation: X:134.46, Y:-127.57, Z:-4.15 [[ 3.47024217e-01 -9.37846280e-01 -4.30668640e-03 1.34457367e+02] [-9.37773611e-01 -3.47050940e-01 1.16747537e-02 -1.27573056e+02] [-1.24437639e-02 -1.27254242e-05 -9.99922573e-01 -4.14742003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.012261138187966295 Centerline is valid? [True, True] Translation: X:134.48, Y:-127.68, Z:-4.15 [[ 4.17189242e-01 -9.08804631e-01 -5.22285551e-03 1.34477804e+02] [-9.08733425e-01 -4.17221934e-01 1.13763253e-02 -1.27684406e+02] [-1.25179470e-02 1.02852059e-07 -9.99921647e-01 -4.14761491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.0122283558876596 Centerline is valid? [True, True] Translation: X:134.51, Y:-127.80, Z:-4.15 [[ 4.88906627e-01 -8.72311644e-01 -6.53494272e-03 1.34507235e+02] [-8.72232382e-01 -4.88950297e-01 1.17591956e-02 -1.27802234e+02] [-1.34529454e-02 -4.91600144e-05 -9.99909504e-01 -4.14704239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.012994507835009876 Centerline is valid? [True, True] Translation: X:134.54, Y:-127.92, Z:-4.15 [[ 5.60502799e-01 -8.28110200e-01 -8.37317037e-03 1.34542583e+02] [-8.28013291e-01 -5.60565312e-01 1.26697103e-02 -1.27920594e+02] [-1.51856252e-02 -1.68311751e-04 -9.99884678e-01 -4.14525690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.013772550605359151 Centerline is valid? [True, True] Translation: X:134.58, Y:-128.03, Z:-4.15 [[ 6.25959415e-01 -7.79796867e-01 -9.57379740e-03 1.34579083e+02] [-7.79699523e-01 -6.26032574e-01 1.23235688e-02 -1.28025610e+02] [-1.56033894e-02 -2.49368654e-04 -9.99878229e-01 -4.14501877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.013596364268766179 Centerline is valid? [True, True] Translation: X:134.63, Y:-128.13, Z:-4.15 [[ 6.84169969e-01 -7.29256100e-01 -9.84853371e-03 1.34626644e+02] [-7.29175397e-01 -6.84240806e-01 1.08516991e-02 -1.28125359e+02] [-1.46524364e-02 -2.43098190e-04 -9.99892618e-01 -4.14601461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.013263239635125447 Centerline is valid? [True, True] Translation: X:134.68, Y:-128.22, Z:-4.15 [[ 7.36905378e-01 -6.75930986e-01 -9.36837355e-03 1.34681027e+02] [-6.75872956e-01 -7.36964900e-01 8.85905815e-03 -1.28220091e+02] [-1.28922744e-02 -1.96457267e-04 -9.99916872e-01 -4.14757189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.013041896077052877 Centerline is valid? [True, True] Translation: X:134.70, Y:-128.25, Z:-4.15 [[ 7.86873530e-01 -6.17044066e-01 -9.30959946e-03 1.34700474e+02] [-6.16998314e-01 -7.86928581e-01 7.51588491e-03 -1.28246456e+02] [-1.19636221e-02 -1.70043719e-04 -9.99928419e-01 -4.14807521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.012754922581977742 Centerline is valid? [True, True] Translation: X:134.72, Y:-128.27, Z:-4.15 [[ 8.32648927e-01 -5.53712510e-01 -9.91061829e-03 1.34721197e+02] [-5.53670862e-01 -8.32707888e-01 6.79330628e-03 -1.28272169e+02] [-1.20141887e-02 -1.69218611e-04 -9.99927813e-01 -4.14848694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.012793771310341961 Centerline is valid? [True, True] Translation: X:134.74, Y:-128.30, Z:-4.15 [[ 8.73852960e-01 -4.86079634e-01 -1.03727365e-02 1.34743680e+02] [-4.86042932e-01 -8.73914502e-01 5.97584440e-03 -1.28297289e+02] [-1.19696211e-02 -1.80414043e-04 -9.99928345e-01 -4.14771671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.014803652257243427 Centerline is valid? [True, True] Translation: X:134.77, Y:-128.32, Z:-4.14 [[ 9.09937127e-01 -4.14593047e-01 -1.12708291e-02 1.34766085e+02] [-4.14558356e-01 -9.10006902e-01 5.36736738e-03 -1.28322409e+02] [-1.24818055e-02 -2.11550467e-04 -9.99922077e-01 -4.14439990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.014297672649679212 Centerline is valid? [True, True] Translation: X:134.79, Y:-128.34, Z:-4.14 [[ 9.40365067e-01 -3.39925210e-01 -1.28215690e-02 1.34793773e+02] [-3.39889744e-01 -9.40452434e-01 4.91746244e-03 -1.28340717e+02] [-1.37296452e-02 -2.66290090e-04 -9.99905709e-01 -4.14465798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.015346514720802201 Centerline is valid? [True, True] Translation: X:134.82, Y:-128.36, Z:-4.14 [[ 9.64660548e-01 -2.63157911e-01 -1.33394334e-02 1.34821689e+02] [-2.63128416e-01 -9.64752726e-01 3.95145795e-03 -1.28357750e+02] [-1.39091122e-02 -3.01831608e-04 -9.99903218e-01 -4.14345194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.015817243246632088 Centerline is valid? [True, True] Translation: X:134.85, Y:-128.37, Z:-4.14 [[ 9.82469813e-01 -1.85968567e-01 -1.29907333e-02 1.34852449e+02] [-1.85948249e-01 -9.82555648e-01 2.76538533e-03 -1.28370780e+02] [-1.32783931e-02 -3.01303509e-04 -9.99911793e-01 -4.14359883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.01458611319967433 Centerline is valid? [True, True] Translation: X:134.88, Y:-128.38, Z:-4.15 [[ 9.93836527e-01 -1.10275720e-01 -1.13235993e-02 1.34884064e+02] [-1.10265827e-01 -9.93901006e-01 1.49626243e-03 -1.28380548e+02] [-1.14195381e-02 -2.38434224e-04 -9.99934767e-01 -4.14524482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.014764047820938226 Centerline is valid? [True, True] Translation: X:134.91, Y:-128.39, Z:-4.14 [[ 9.99339526e-01 -3.46645766e-02 -1.09031417e-02 1.34912207e+02] [-3.46603263e-02 -9.99398983e-01 5.78594982e-04 -1.28385990e+02] [-1.09166455e-02 -2.00306386e-04 -9.99940392e-01 -4.14450792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.013012534784722172 Centerline is valid? [True, True] Translation: X:134.94, Y:-128.39, Z:-4.15 [[ 9.99037502e-01 4.26498136e-02 -1.02500627e-02 1.34941598e+02] [ 4.26493928e-02 -9.99090067e-01 -2.59733680e-04 -1.28390518e+02] [-1.02518134e-02 -1.77675264e-04 -9.99947433e-01 -4.14612114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.013028663923548792 Centerline is valid? [True, True] Translation: X:134.97, Y:-128.40, Z:-4.15 [[ 9.92650074e-01 1.20635093e-01 -9.64387204e-03 1.34970944e+02] [ 1.20631034e-01 -9.92696906e-01 -1.00361789e-03 -1.28396351e+02] [-9.69451347e-03 -1.67108880e-04 -9.99952993e-01 -4.14547941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.012836408874364788 Centerline is valid? [True, True] Translation: X:135.00, Y:-128.40, Z:-4.15 [[ 9.80150640e-01 1.98027753e-01 -9.47272584e-03 1.35000979e+02] [ 1.98020142e-01 -9.80196399e-01 -1.74418893e-03 -1.28400656e+02] [-9.63052957e-03 -1.66222615e-04 -9.99953612e-01 -4.14559018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.012981227914135397 Centerline is valid? [True, True] Translation: X:135.03, Y:-128.40, Z:-4.14 [[ 9.61777308e-01 2.73673008e-01 -9.35384857e-03 1.35030540e+02] [ 2.73661703e-01 -9.61822779e-01 -2.49283243e-03 -1.28401680e+02] [-9.67896557e-03 -1.62240459e-04 -9.99953145e-01 -4.14483113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.012790898816374713 Centerline is valid? [True, True] Translation: X:135.06, Y:-128.40, Z:-4.14 [[ 9.37901092e-01 3.46789376e-01 -8.86958156e-03 1.35060138e+02] [ 3.46775322e-01 -9.37943020e-01 -3.12544139e-03 -1.28399026e+02] [-9.40303198e-03 -1.44397109e-04 -9.99955780e-01 -4.14387794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.012846798106606244 Centerline is valid? [True, True] Translation: X:135.09, Y:-128.39, Z:-4.14 [[ 9.08157292e-01 4.18548624e-01 -8.20870504e-03 1.35088890e+02] [ 4.18532837e-01 -9.08194380e-01 -3.63759802e-03 -1.28393665e+02] [-8.97761143e-03 -1.32101449e-04 -9.99959692e-01 -4.14397054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.012864741027729382 Centerline is valid? [True, True] Translation: X:135.12, Y:-128.39, Z:-4.14 [[ 8.72210395e-01 4.89077622e-01 -7.21849937e-03 1.35118425e+02] [ 4.89062077e-01 -8.72240256e-01 -3.90140794e-03 -1.28386524e+02] [-8.20435706e-03 -1.27445736e-04 -9.99966336e-01 -4.14477909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.013753158889698353 Centerline is valid? [True, True] Translation: X:135.15, Y:-128.38, Z:-4.14 [[ 8.29764054e-01 5.58075175e-01 -6.61165560e-03 1.35147731e+02] [ 5.58058824e-01 -8.29790383e-01 -4.27434775e-03 -1.28378515e+02] [-7.87169560e-03 -1.42992626e-04 -9.99969008e-01 -4.14437318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.013701926345624013 Centerline is valid? [True, True] Translation: X:135.18, Y:-128.37, Z:-4.14 [[ 7.82211288e-01 6.22972863e-01 -7.09310079e-03 1.35177122e+02] [ 6.22949331e-01 -7.82243427e-01 -5.41778033e-03 -1.28368575e+02] [-8.92366159e-03 -1.80793466e-04 -9.99960167e-01 -4.14379329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.015345927853814754 Centerline is valid? [True, True] Translation: X:135.20, Y:-128.36, Z:-4.14 [[ 7.30258900e-01 6.83130481e-01 -7.39498210e-03 1.35204916e+02] [ 6.83098376e-01 -7.30296311e-01 -6.62632744e-03 -1.28357978e+02] [-9.92717439e-03 -2.12565678e-04 -9.99950702e-01 -4.14226101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.014539039023484591 Centerline is valid? [True, True] Translation: X:135.23, Y:-128.34, Z:-4.14 [[ 6.74235612e-01 7.38480226e-01 -7.30035064e-03 1.35228791e+02] [ 7.38440603e-01 -6.74275094e-01 -7.65332869e-03 -1.28340766e+02] [-1.05742765e-02 -2.30728571e-04 -9.99944064e-01 -4.14303516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.014450675419331722 Centerline is valid? [True, True] Translation: X:135.25, Y:-128.32, Z:-4.14 [[ 6.14291358e-01 7.89058514e-01 -5.72606659e-03 1.35253170e+02] [ 7.89027201e-01 -6.14318013e-01 -7.03233707e-03 -1.28323368e+02] [-9.06655129e-03 -1.98118407e-04 -9.99958878e-01 -4.14419301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.013923652730745886 Centerline is valid? [True, True] Translation: X:135.28, Y:-128.30, Z:-4.15 [[ 5.51001988e-01 8.34493681e-01 -4.13592432e-03 1.35276069e+02] [ 8.34472254e-01 -5.51017489e-01 -5.98205332e-03 -1.28303846e+02] [-7.27095233e-03 -1.55190813e-04 -9.99973554e-01 -4.14563007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.014053740963443744 Centerline is valid? [True, True] Translation: X:135.30, Y:-128.28, Z:-4.15 [[ 4.85329180e-01 8.74324502e-01 -3.50031285e-03 1.35295947e+02] [ 8.74303773e-01 -4.85341783e-01 -6.02211215e-03 -1.28284103e+02] [-6.96412829e-03 -1.37629979e-04 -9.99975741e-01 -4.14542844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.013042759924369873 Centerline is valid? [True, True] Translation: X:135.31, Y:-128.26, Z:-4.15 [[ 4.16617149e-01 9.09076404e-01 -3.20039620e-03 1.35314357e+02] [ 9.09052040e-01 -4.16629419e-01 -6.65700095e-03 -1.28261288e+02] [-7.38510170e-03 -1.35905943e-04 -9.99972721e-01 -4.14515653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.012886838437993355 Centerline is valid? [True, True] Translation: X:135.33, Y:-128.24, Z:-4.14 [[ 3.45282048e-01 9.38493789e-01 -3.11680627e-03 1.35331508e+02] [ 9.38459353e-01 -3.45296083e-01 -8.04104809e-03 -1.28237612e+02] [-8.62269469e-03 -1.48566439e-04 -9.99962813e-01 -4.14393059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.013627066198948715 Centerline is valid? [True, True] Translation: X:135.35, Y:-128.21, Z:-4.14 [[ 2.70755455e-01 9.62644040e-01 -2.81714758e-03 1.35347751e+02] [ 9.62598222e-01 -2.70770058e-01 -9.39355352e-03 -1.28213999e+02] [-9.80544752e-03 -1.68425388e-04 -9.99951911e-01 -4.14135484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.013068287015685064 Centerline is valid? [True, True] Translation: X:135.36, Y:-128.19, Z:-4.14 [[ 1.93866478e-01 9.81024782e-01 -2.48317991e-03 1.35362261e+02] [ 9.80957587e-01 -1.93882267e-01 -1.14838354e-02 -1.28187976e+02] [-1.17473717e-02 -2.09563457e-04 -9.99930975e-01 -4.13941423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.012466835515088585 Centerline is valid? [True, True] Translation: X:135.37, Y:-128.16, Z:-4.14 [[ 1.17976942e-01 9.93015180e-01 -1.51459123e-03 1.35374644e+02] [ 9.92952134e-01 -1.17986521e-01 -1.11910605e-02 -1.28161580e+02] [-1.12915943e-02 -1.83629506e-04 -9.99936231e-01 -4.13916000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.012259607190206096 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.14, Z:-4.14 [[ 4.28872169e-02 9.99079749e-01 -5.84376354e-04 1.35382421e+02] [ 9.99025590e-01 -4.28909773e-02 -1.04036134e-02 -1.28135559e+02] [-1.04191039e-02 -1.37624909e-04 -9.99945710e-01 -4.13835726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.011104069090315367 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.11, Z:-4.14 [[-2.87508807e-02 9.99586592e-01 1.79341931e-04 1.35379658e+02] [ 9.99554472e-01 2.87513946e-02 -8.01344558e-03 -1.28107625e+02] [-8.01528908e-03 -5.11315893e-05 -9.99967876e-01 -4.13925369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.010719184192023914 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.08, Z:-4.14 [[-1.01070948e-01 9.94879016e-01 6.38090389e-04 1.35380877e+02] [ 9.94859033e-01 1.01072962e-01 -6.30566773e-03 -1.28080491e+02] [-6.33787019e-03 -2.50982882e-06 -9.99979916e-01 -4.14077118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.010897883563436397 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.05, Z:-4.14 [[-1.75228654e-01 9.84527179e-01 1.07341000e-03 1.35382641e+02] [ 9.84509355e-01 1.75231941e-01 -5.92418948e-03 -1.28052924e+02] [-6.02062128e-03 1.86944407e-05 -9.99981876e-01 -4.13930866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.011098749646868165 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.03, Z:-4.14 [[-2.49789844e-01 9.68298573e-01 1.70509978e-03 1.35380936e+02] [ 9.68276956e-01 2.49795661e-01 -6.47020195e-03 -1.28026335e+02] [-6.69101384e-03 3.48180873e-05 -9.99977614e-01 -4.13835474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.011209718865065558 Centerline is valid? [True, True] Translation: X:135.38, Y:-128.00, Z:-4.14 [[-3.23199636e-01 9.46328107e-01 2.26014630e-03 1.35381389e+02] [ 9.46305987e-01 3.23207535e-01 -6.47063195e-03 -1.27998687e+02] [-6.85383720e-03 4.74840794e-05 -9.99976511e-01 -4.13861193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.011265736658257012 Centerline is valid? [True, True] Translation: X:135.38, Y:-127.97, Z:-4.14 [[-3.96295213e-01 9.18119030e-01 2.74798813e-03 1.35382181e+02] [ 9.18097785e-01 3.96304738e-01 -6.24602294e-03 -1.27970048e+02] [-6.82363323e-03 4.76528183e-05 -9.99976718e-01 -4.13766909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.011341212578938947 Centerline is valid? [True, True] Translation: X:135.38, Y:-127.94, Z:-4.14 [[-4.67689254e-01 8.83888169e-01 2.90980069e-03 1.35379290e+02] [ 8.83871568e-01 4.67698304e-01 -5.41735396e-03 -1.27942225e+02] [-6.14924392e-03 3.82518662e-05 -9.99981093e-01 -4.13708482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.011194654971546408 Centerline is valid? [True, True] Translation: X:135.37, Y:-127.91, Z:-4.14 [[-5.36156625e-01 8.44113433e-01 2.93017387e-03 1.35374354e+02] [ 8.44101128e-01 5.36164631e-01 -4.55793517e-03 -1.27913716e+02] [-5.41846990e-03 2.95959310e-05 -9.99985320e-01 -4.13742286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.011202256802036153 Centerline is valid? [True, True] Translation: X:135.37, Y:-127.88, Z:-4.14 [[-6.02121551e-01 7.98399268e-01 2.87176213e-03 1.35368358e+02] [ 7.98390324e-01 6.02128399e-01 -3.77903969e-03 -1.27883466e+02] [-4.74635206e-03 1.73458557e-05 -9.99988736e-01 -4.13626868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.011175436804179081 Centerline is valid? [True, True] Translation: X:135.36, Y:-127.85, Z:-4.14 [[-6.65268272e-01 7.46598616e-01 2.93825811e-03 1.35360130e+02] [ 7.46591345e-01 6.65274761e-01 -3.29489071e-03 -1.27854660e+02] [-4.41470981e-03 1.69182424e-06 -9.99990255e-01 -4.13532234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.011258453130134528 Centerline is valid? [True, True] Translation: X:135.35, Y:-127.83, Z:-4.13 [[-7.23411193e-01 6.90410718e-01 3.04752711e-03 1.35347863e+02] [ 6.90404541e-01 7.23417612e-01 -2.92048186e-03 -1.27827267e+02] [-4.22096676e-03 -8.68271170e-06 -9.99991092e-01 -4.13496420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.01158543463418157 Centerline is valid? [True, True] Translation: X:135.37, Y:-127.80, Z:-4.14 [[-7.72404083e-01 6.35126084e-01 2.60576362e-03 1.35370725e+02] [ 6.35122395e-01 7.72408478e-01 -2.16480900e-03 -1.27804679e+02] [-3.38764057e-03 -1.71284847e-05 -9.99994262e-01 -4.13518227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.011701381956455212 Centerline is valid? [True, True] Translation: X:135.39, Y:-127.78, Z:-4.14 [[-8.16391792e-01 5.77496179e-01 1.61395233e-03 1.35388734e+02] [ 5.77495019e-01 8.16393387e-01 -1.15735781e-03 -1.27779061e+02] [-1.98598972e-03 -1.28079881e-05 -9.99998028e-01 -4.13505291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.011869252129331025 Centerline is valid? [True, True] Translation: X:135.40, Y:-127.75, Z:-4.14 [[-8.55565722e-01 5.17692011e-01 1.50874908e-03 1.35403382e+02] [ 5.17691181e-01 8.55567052e-01 -9.27456760e-04 -1.27754389e+02] [-1.77097296e-03 -1.24341224e-05 -9.99998432e-01 -4.13510003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.012066885295328641 Centerline is valid? [True, True] Translation: X:135.42, Y:-127.73, Z:-4.14 [[-8.90266021e-01 4.55439003e-01 1.31378445e-03 1.35417526e+02] [ 4.55438490e-01 8.90266990e-01 -6.84194991e-04 -1.27730089e+02] [-1.48122802e-03 -1.07675452e-05 -9.99998903e-01 -4.13540316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.01226428947971285 Centerline is valid? [True, True] Translation: X:135.43, Y:-127.71, Z:-4.14 [[-9.20761457e-01 3.90120512e-01 2.07967508e-03 1.35429028e+02] [ 3.90119467e-01 9.20763806e-01 -9.03045225e-04 -1.27705074e+02] [-2.26718601e-03 -2.01675043e-05 -9.99997430e-01 -4.13631402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.012426124927219727 Centerline is valid? [True, True] Translation: X:135.43, Y:-127.68, Z:-4.14 [[-9.46510402e-01 3.22664403e-01 2.39602017e-03 1.35432437e+02] [ 3.22663299e-01 9.46513435e-01 -8.44471655e-04 -1.27676013e+02] [-2.54034623e-03 -2.61934322e-05 -9.99996773e-01 -4.13606370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.013143006518994539 Centerline is valid? [True, True] Translation: X:135.65, Y:-127.06, Z:-5.12 [[-9.12766871e-01 -4.08467345e-01 3.32665827e-03 1.35650014e+02] [ 4.08465053e-01 -9.12772927e-01 -1.37255040e-03 -1.27063196e+02] [ 3.59712562e-03 1.06005114e-04 9.99993525e-01 -5.11590695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.013519333137496514 Centerline is valid? [True, True] Translation: X:135.39, Y:-127.66, Z:-4.13 [[-9.49434948e-01 3.13926591e-01 4.83485749e-03 1.35391836e+02] [ 3.13922075e-01 9.49447254e-01 -1.68597180e-03 -1.27656773e+02] [-5.11971355e-03 -8.29520532e-05 -9.99986891e-01 -4.13442362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.01377030114812148 Centerline is valid? [True, True] Translation: X:135.39, Y:-127.63, Z:-4.13 [[-9.69523464e-01 2.44941602e-01 5.27867322e-03 1.35394893e+02] [ 2.44937444e-01 9.69537830e-01 -1.43034534e-03 -1.27628771e+02] [-5.46822446e-03 -9.38086410e-05 -9.99985045e-01 -4.13459775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.014033670630804516 Centerline is valid? [True, True] Translation: X:135.57, Y:-127.01, Z:-5.12 [[-9.39432620e-01 -3.42706998e-01 4.27398805e-03 1.35571174e+02] [ 3.42703546e-01 -9.39442342e-01 -1.53818126e-03 -1.27011839e+02] [ 4.54231083e-03 1.96932107e-05 9.99989684e-01 -5.11514709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.013631284783356989 Centerline is valid? [True, True] Translation: X:135.35, Y:-127.62, Z:-4.14 [[-9.70150330e-01 2.42482876e-01 3.22363795e-03 1.35349025e+02] [ 2.42481357e-01 9.70155684e-01 -8.59875808e-04 -1.27620417e+02] [-3.33593584e-03 -5.25366927e-05 -9.99994434e-01 -4.13722750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.01319231938514012 Centerline is valid? [True, True] Translation: X:135.37, Y:-127.60, Z:-4.14 [[-9.84610456e-01 1.74719912e-01 3.89897459e-03 1.35365002e+02] [ 1.74718314e-01 9.84618174e-01 -7.49583434e-04 -1.27598801e+02] [-3.96996839e-03 -5.68254230e-05 -9.99992118e-01 -4.13700190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.012459834658044336 Centerline is valid? [True, True] Translation: X:135.37, Y:-127.58, Z:-4.14 [[-9.94049891e-01 1.08815859e-01 4.89103876e-03 1.35366591e+02] [ 1.08814298e-01 9.94061923e-01 -5.84945670e-04 -1.27576589e+02] [-4.92564676e-03 -4.92502326e-05 -9.99987868e-01 -4.13625872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.011856869531732227 Centerline is valid? [True, True] Translation: X:135.45, Y:-126.91, Z:-5.11 [[-9.81704252e-01 -1.90325655e-01 5.73642401e-03 1.35450907e+02] [ 1.90323063e-01 -9.81721006e-01 -9.99359455e-04 -1.26914582e+02] [ 5.82177169e-03 1.10698361e-04 9.99983047e-01 -5.11438188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.011771123056326757 Centerline is valid? [True, True] Translation: X:135.32, Y:-127.58, Z:-4.14 [[-9.93266116e-01 1.15616476e-01 7.43326388e-03 1.35321108e+02] [ 1.15613278e-01 9.93293930e-01 -8.59938880e-04 -1.27583600e+02] [-7.48283899e-03 5.23585142e-06 -9.99972003e-01 -4.13656227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.011934082132355691 Centerline is valid? [True, True] Translation: X:135.40, Y:-126.90, Z:-5.11 [[-9.83963143e-01 -1.78200983e-01 7.80653805e-03 1.35403915e+02] [ 1.78195550e-01 -9.83994110e-01 -1.39172261e-03 -1.26901515e+02] [ 7.92959380e-03 2.16865842e-05 9.99968560e-01 -5.11456826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.01217510058899341 Centerline is valid? [True, True] Translation: X:135.27, Y:-127.59, Z:-4.14 [[-9.92962752e-01 1.18190444e-01 7.48281726e-03 1.35271743e+02] [ 1.18187506e-01 9.92990945e-01 -8.35216308e-04 -1.27585980e+02] [-7.52908436e-03 5.50368269e-05 -9.99971655e-01 -4.13742569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.012477664681081193 Centerline is valid? [True, True] Translation: X:135.35, Y:-126.89, Z:-5.11 [[-9.85583269e-01 -1.69023685e-01 7.52421368e-03 1.35351531e+02] [ 1.69018382e-01 -9.85611988e-01 -1.33985213e-03 -1.26889229e+02] [ 7.64242196e-03 -4.88054220e-05 9.99970795e-01 -5.11320854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.012264258926885799 Centerline is valid? [True, True] Translation: X:135.22, Y:-127.58, Z:-4.14 [[-9.93357155e-01 1.14800290e-01 7.90297903e-03 1.35218915e+02] [ 1.14797159e-01 9.93388589e-01 -8.50142391e-04 -1.27583787e+02] [-7.94832578e-03 6.27445129e-05 -9.99968410e-01 -4.13864975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.011986841308039951 Centerline is valid? [True, True] Translation: X:135.22, Y:-127.55, Z:-4.14 [[-9.99201811e-01 3.88251206e-02 9.39951774e-03 1.35216301e+02] [ 3.88236435e-02 9.99246020e-01 -3.39631649e-04 -1.27554092e+02] [-9.40561693e-03 2.55629667e-05 -9.99955766e-01 -4.13789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.011982146297539525 Centerline is valid? [True, True] Translation: X:135.24, Y:-126.86, Z:-5.11 [[-9.94097138e-01 -1.07939920e-01 1.09477970e-02 1.35240506e+02] [ 1.07934312e-01 -9.94157415e-01 -1.10351696e-03 -1.26859302e+02] [ 1.10029471e-02 8.46398926e-05 9.99939462e-01 -5.11382538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.012641917372819285 Centerline is valid? [True, True] Translation: X:135.15, Y:-127.54, Z:-4.14 [[-9.99731054e-01 2.09457507e-02 9.95469535e-03 1.35152138e+02] [ 2.09436112e-02 9.99780608e-01 -3.19129288e-04 -1.27543639e+02] [-9.95919576e-03 -1.10556190e-04 -9.99950400e-01 -4.13815330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.013801955632149147 Centerline is valid? [True, True] Translation: X:135.15, Y:-127.51, Z:-4.14 [[-9.98421397e-01 -5.54881516e-02 8.70515913e-03 1.35147644e+02] [-5.54872992e-02 9.98459335e-01 3.39596843e-04 -1.27514532e+02] [-8.71059100e-03 -1.43965014e-04 -9.99962052e-01 -4.13921901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.014742975422936885 Centerline is valid? [True, True] Translation: X:135.14, Y:-127.49, Z:-4.14 [[-9.91587822e-01 -1.29187107e-01 8.01766393e-03 1.35141570e+02] [-1.29184158e-01 9.91620223e-01 8.86812635e-04 -1.27486895e+02] [-8.06504245e-03 -1.56402556e-04 -9.99967465e-01 -4.13961519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.016338238335591233 Centerline is valid? [True, True] Translation: X:135.13, Y:-127.46, Z:-4.14 [[-9.79100718e-01 -2.03187963e-01 8.74278057e-03 1.35126194e+02] [-2.03181740e-01 9.79139729e-01 1.60348149e-03 -1.27459619e+02] [-8.88621193e-03 -2.06403498e-04 -9.99960496e-01 -4.13787025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.016734135772980493 Centerline is valid? [True, True] Translation: X:135.01, Y:-126.80, Z:-5.11 [[-9.96177396e-01 8.67115486e-02 1.05689581e-02 1.35007602e+02] [-8.67027094e-02 -9.96233391e-01 1.29254057e-03 -1.26797826e+02] [ 1.06412272e-02 3.71242391e-04 9.99943312e-01 -5.11457736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.01698472129068981 Centerline is valid? [True, True] Translation: X:135.03, Y:-127.48, Z:-4.14 [[-9.76565910e-01 -2.14895842e-01 1.17813900e-02 1.35032259e+02] [-2.14884514e-01 9.76636910e-01 2.23402092e-03 -1.27477379e+02] [-1.19862222e-02 -3.49969602e-04 -9.99928101e-01 -4.13532394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.018159461826352884 Centerline is valid? [True, True] Translation: X:134.90, Y:-126.82, Z:-5.12 [[-9.95919172e-01 8.92454897e-02 1.34255796e-02 1.34898197e+02] [-8.92306096e-02 -9.96009535e-01 1.70449712e-03 -1.26815940e+02] [ 1.35241239e-02 4.99568709e-04 9.99908420e-01 -5.11742766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.0171895724153238 Centerline is valid? [True, True] Translation: X:134.93, Y:-127.50, Z:-4.13 [[-9.75575000e-01 -2.19260291e-01 1.33545355e-02 1.34932201e+02] [-2.19244981e-01 9.75666329e-01 2.61788692e-03 -1.27500728e+02] [-1.36035693e-02 -3.73969852e-04 -9.99907397e-01 -4.13419544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.014925024371850512 Centerline is valid? [True, True] Translation: X:134.91, Y:-127.49, Z:-4.14 [[-9.59444904e-01 -2.81607476e-01 1.27556449e-02 1.34914747e+02] [-2.81586331e-01 9.59529654e-01 3.46153970e-03 -1.27485683e+02] [-1.32142150e-02 -2.70658617e-04 -9.99912652e-01 -4.13533586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.0138770879491247 Centerline is valid? [True, True] Translation: X:134.89, Y:-127.47, Z:-4.14 [[-9.38499284e-01 -3.45084199e-01 1.16614599e-02 1.34893696e+02] [-3.45060053e-01 9.38571713e-01 4.08656192e-03 -1.27470052e+02] [-1.23553243e-02 -1.88668520e-04 -9.99923652e-01 -4.13669110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.013001915788823287 Centerline is valid? [True, True] Translation: X:134.85, Y:-127.46, Z:-4.14 [[-9.12849844e-01 -4.08170459e-01 1.01014639e-02 1.34847938e+02] [-4.08146803e-01 9.12905726e-01 4.39575020e-03 -1.27463456e+02] [-1.10158996e-02 -1.10220310e-04 -9.99939317e-01 -4.13779097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.012856163815231667 Centerline is valid? [True, True] Translation: X:134.79, Y:-127.46, Z:-4.14 [[-8.81202777e-01 -4.72622877e-01 1.04538498e-02 1.34786252e+02] [-4.72590917e-01 8.81264777e-01 5.49712255e-03 -1.27462184e+02] [-1.18106755e-02 -9.63147998e-05 -9.99930247e-01 -4.13642776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.013008302251189404 Centerline is valid? [True, True] Translation: X:134.72, Y:-127.47, Z:-4.13 [[-8.43924482e-01 -5.36334010e-01 1.17174148e-02 1.34717601e+02] [-5.36284073e-01 8.44005816e-01 7.31950420e-03 -1.27469170e+02] [-1.38152653e-02 -1.06754124e-04 -9.99904559e-01 -4.13469969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.012950387136517206 Centerline is valid? [True, True] Translation: X:134.64, Y:-127.49, Z:-4.13 [[-8.01784633e-01 -5.97508498e-01 1.11802168e-02 1.34640108e+02] [-5.97452192e-01 8.01862572e-01 8.20330854e-03 -1.27489119e+02] [-1.38665440e-02 -1.02358293e-04 -9.99903850e-01 -4.13489425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.012664549310061076 Centerline is valid? [True, True] Translation: X:134.56, Y:-127.52, Z:-4.14 [[-7.55245005e-01 -6.55372603e-01 9.57776943e-03 1.34558989e+02] [-6.55321313e-01 7.55305729e-01 8.19951583e-03 -1.27518965e+02] [-1.26078822e-02 -8.38730670e-05 -9.99920514e-01 -4.13658286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.012597810176540707 Centerline is valid? [True, True] Translation: X:134.48, Y:-127.56, Z:-4.14 [[-7.05042131e-01 -7.09122291e-01 7.82117683e-03 1.34477283e+02] [-7.09079497e-01 7.05085508e-01 7.79059249e-03 -1.27555334e+02] [-1.10390812e-02 -5.31402052e-05 -9.99939066e-01 -4.13622408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.012365971164419808 Centerline is valid? [True, True] Translation: X:134.40, Y:-127.61, Z:-4.14 [[-6.51456454e-01 -7.58647173e-01 7.67819707e-03 1.34395285e+02] [-7.58594932e-01 6.51501701e-01 8.90303324e-03 -1.27606145e+02] [-1.17566194e-02 -2.47029123e-05 -9.99930888e-01 -4.13642139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.012256877887243407 Centerline is valid? [True, True] Translation: X:134.31, Y:-127.67, Z:-4.14 [[-5.94684234e-01 -8.03930580e-01 6.80317732e-03 1.34314895e+02] [-8.03877722e-01 5.94723147e-01 9.21882923e-03 -1.27667766e+02] [-1.14573058e-02 1.33697163e-05 -9.99934363e-01 -4.13738607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.012347180618415993 Centerline is valid? [True, True] Translation: X:134.23, Y:-127.74, Z:-4.14 [[-5.32859311e-01 -8.46186351e-01 5.44198732e-03 1.34234761e+02] [-8.46141739e-01 5.32887098e-01 8.68899491e-03 -1.27738594e+02] [-1.02524737e-02 2.53192259e-05 -9.99947442e-01 -4.13800645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.012223053345870778 Centerline is valid? [True, True] Translation: X:134.16, Y:-127.82, Z:-4.14 [[-4.66868404e-01 -8.84317334e-01 4.09232625e-03 1.34158204e+02] [-8.84282925e-01 4.66886339e-01 7.80101979e-03 -1.27816881e+02] [-8.80922824e-03 2.32754278e-05 -9.99961198e-01 -4.13884058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.012065959335508525 Centerline is valid? [True, True] Translation: X:134.09, Y:-127.90, Z:-4.14 [[-3.96537470e-01 -9.18012857e-01 3.22957312e-03 1.34086194e+02] [-9.17982218e-01 3.96550621e-01 7.50014817e-03 -1.27902607e+02] [-8.16592168e-03 9.39907799e-06 -9.99966658e-01 -4.13963553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.012310116173770107 Centerline is valid? [True, True] Translation: X:134.01, Y:-128.00, Z:-4.14 [[-3.18915258e-01 -9.47780550e-01 2.25550070e-03 1.34012749e+02] [-9.47757694e-01 3.18923231e-01 6.58226623e-03 -1.27998392e+02] [-6.95787548e-03 -3.84830084e-05 -9.99975793e-01 -4.13906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.013005629328060693 Centerline is valid? [True, True] Translation: X:133.95, Y:-128.10, Z:-4.14 [[-2.41059695e-01 -9.70508859e-01 1.66697250e-03 1.33950062e+02] [-9.70487546e-01 2.41065450e-01 6.43218484e-03 -1.28096436e+02] [-6.64434184e-03 -6.72355327e-05 -9.99977924e-01 -4.13882794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.01398025511724043 Centerline is valid? [True, True] Translation: X:133.89, Y:-128.20, Z:-4.14 [[-1.59448668e-01 -9.87205301e-01 1.34774709e-03 1.33893126e+02] [-9.87176520e-01 1.59454313e-01 7.53927693e-03 -1.28203271e+02] [-7.65771823e-03 -1.28336612e-04 -9.99970671e-01 -4.13779135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.015557353252685693 Centerline is valid? [True, True] Translation: X:133.85, Y:-128.31, Z:-4.14 [[-7.85904267e-02 -9.96906629e-01 8.47424504e-04 1.33845292e+02] [-9.96871013e-01 7.85947838e-02 8.42867593e-03 -1.28313084e+02] [-8.46920605e-03 -1.82359686e-04 -9.99964119e-01 -4.13630758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.016056651607946962 Centerline is valid? [True, True] Translation: X:133.81, Y:-128.42, Z:-4.14 [[ 4.23685239e-04 -9.99999887e-01 2.15795189e-04 1.33809945e+02] [-9.99957517e-01 -4.21680259e-04 9.20793255e-03 -1.28422735e+02] [-9.20784052e-03 -2.19687287e-04 -9.99957583e-01 -4.13518793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.016157870681179794 Centerline is valid? [True, True] Translation: X:133.78, Y:-128.54, Z:-4.13 [[ 7.69081952e-02 -9.97038053e-01 -4.99775343e-04 1.33784495e+02] [-9.96994197e-01 -7.69095011e-02 9.35416945e-03 -1.28539832e+02] [-9.36490037e-03 -2.21139173e-04 -9.99956124e-01 -4.13458424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.015599960659950078 Centerline is valid? [True, True] Translation: X:133.77, Y:-128.65, Z:-4.13 [[ 1.51516529e-01 -9.88453959e-01 -1.22971251e-03 1.33769845e+02] [-9.88409370e-01 -1.51521377e-01 9.39092027e-03 -1.28654922e+02] [-9.46882006e-03 -2.07420274e-04 -9.99955148e-01 -4.13440947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.014363346295279713 Centerline is valid? [True, True] Translation: X:133.77, Y:-128.77, Z:-4.13 [[ 2.23477729e-01 -9.74706795e-01 -2.08997062e-03 1.33767234e+02] [-9.74656072e-01 -2.23487424e-01 9.94553128e-03 -1.28772912e+02] [-1.01610591e-02 -1.85602189e-04 -9.99948358e-01 -4.13458124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.014047037889968783 Centerline is valid? [True, True] Translation: X:133.77, Y:-128.89, Z:-4.13 [[ 2.93823035e-01 -9.55855614e-01 -2.84048100e-03 1.33771681e+02] [-9.55806092e-01 -2.93836729e-01 9.73098099e-03 -1.28888703e+02] [-1.01360505e-02 -1.44237327e-04 -9.99948619e-01 -4.13374687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.012406550919484725 Centerline is valid? [True, True] Translation: X:133.79, Y:-129.00, Z:-4.14 [[ 3.58692585e-01 -9.33450598e-01 -3.10011131e-03 1.33788720e+02] [-9.33414468e-01 -3.58705978e-01 8.21296073e-03 -1.28996551e+02] [-8.77842156e-03 -5.22393675e-05 -9.99961468e-01 -4.13615220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.012238195209605252 Centerline is valid? [True, True] Translation: X:133.81, Y:-129.10, Z:-4.14 [[ 4.20808166e-01 -9.07144448e-01 -3.07213555e-03 1.33813301e+02] [-9.07120703e-01 -4.20819380e-01 6.56346308e-03 -1.29104144e+02] [-7.24682326e-03 2.48389000e-05 -9.99973741e-01 -4.13804656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.013528013619630462 Centerline is valid? [True, True] Translation: X:133.85, Y:-129.21, Z:-4.14 [[ 4.80222675e-01 -8.77140500e-01 -3.27518045e-03 1.33846322e+02] [-8.77121382e-01 -4.80233834e-01 5.79191764e-03 -1.29210935e+02] [-6.65317800e-03 9.13206209e-05 -9.99977863e-01 -4.13859946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.014837798783859884 Centerline is valid? [True, True] Translation: X:133.88, Y:-129.32, Z:-4.14 [[ 5.41661298e-01 -8.40590437e-01 -3.27962685e-03 1.33881416e+02] [-8.40576260e-01 -5.41671215e-01 4.88325774e-03 -1.29318915e+02] [-5.88129922e-03 1.11704750e-04 -9.99982699e-01 -4.13897200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.017030389578518483 Centerline is valid? [True, True] Translation: X:133.92, Y:-129.42, Z:-4.14 [[ 5.96391877e-01 -8.02680620e-01 -4.53324504e-03 1.33923884e+02] [-8.02660085e-01 -5.96409068e-01 5.74555972e-03 -1.29418687e+02] [-7.31551789e-03 2.12049704e-04 -9.99973219e-01 -4.13789429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.019890811924173513 Centerline is valid? [True, True] Translation: X:133.97, Y:-129.51, Z:-4.14 [[ 6.50152816e-01 -7.59787268e-01 -4.96217643e-03 1.33971621e+02] [-7.59768222e-01 -6.50171697e-01 5.38647330e-03 -1.29512123e+02] [-7.31884050e-03 2.68073179e-04 -9.99973181e-01 -4.13697033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.021792043636383214 Centerline is valid? [True, True] Translation: X:134.02, Y:-129.60, Z:-4.14 [[ 6.99334043e-01 -7.14776595e-01 -5.12979009e-03 1.34019910e+02] [-7.14760685e-01 -6.99352782e-01 4.78012874e-03 -1.29602530e+02] [-7.00425712e-03 3.23665519e-04 -9.99975418e-01 -4.13692726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.02434880880479509 Centerline is valid? [True, True] Translation: X:134.04, Y:-129.63, Z:-4.14 [[ 7.50481527e-01 -6.60870796e-01 -5.22197095e-03 1.34037249e+02] [-6.60857832e-01 -7.50499620e-01 4.15300526e-03 -1.29629249e+02] [-6.66368710e-03 3.34226672e-04 -9.99977742e-01 -4.13664102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.023684735379849588 Centerline is valid? [True, True] Translation: X:134.05, Y:-129.66, Z:-4.14 [[ 8.00619577e-01 -5.99149004e-01 -5.36316082e-03 1.34054520e+02] [-5.99138158e-01 -8.00637478e-01 3.61892119e-03 -1.29658733e+02] [-6.46222057e-03 3.15895146e-04 -9.99979070e-01 -4.13691977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.020721923781981615 Centerline is valid? [True, True] Translation: X:134.07, Y:-129.69, Z:-4.14 [[ 8.49260079e-01 -5.27945394e-01 -5.56584202e-03 1.34069611e+02] [-5.27936046e-01 -8.49278278e-01 3.15260708e-03 -1.29694764e+02] [-6.39135311e-03 2.61025286e-04 -9.99979541e-01 -4.13640382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.016884319546472105 Centerline is valid? [True, True] Translation: X:134.09, Y:-129.73, Z:-4.14 [[ 8.94438700e-01 -4.47155439e-01 -5.60585175e-03 1.34088392e+02] [-4.47147796e-01 -8.94456252e-01 2.61946950e-03 -1.29730609e+02] [-6.18549918e-03 1.63689358e-04 -9.99980856e-01 -4.13595825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.013821896152042655 Centerline is valid? [True, True] Translation: X:134.11, Y:-129.76, Z:-4.14 [[ 9.30634851e-01 -3.65895551e-01 -6.26260076e-03 1.34111294e+02] [-3.65888024e-01 -9.30655917e-01 2.34932823e-03 -1.29763635e+02] [-6.68793519e-03 1.05043885e-04 -9.99977630e-01 -4.13615878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.012064493301405426 Centerline is valid? [True, True] Translation: X:134.14, Y:-129.80, Z:-4.14 [[ 9.60842168e-01 -2.77036304e-01 -5.76314166e-03 1.34136454e+02] [-2.77031321e-01 -9.60859452e-01 1.66152928e-03 -1.29800875e+02] [-5.99787307e-03 1.03353480e-07 -9.99982013e-01 -4.13676280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.01263706562601045 Centerline is valid? [True, True] Translation: X:134.17, Y:-129.83, Z:-4.14 [[ 9.81322723e-01 -1.92305939e-01 -4.91322651e-03 1.34166641e+02] [-1.92303300e-01 -9.81335021e-01 1.00846491e-03 -1.29827736e+02] [-5.01545503e-03 -4.47998643e-05 -9.99987422e-01 -4.13665254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.014679858024364613 Centerline is valid? [True, True] Translation: X:134.20, Y:-129.85, Z:-4.14 [[ 9.94528360e-01 -1.04329314e-01 -5.36053482e-03 1.34200753e+02] [-1.04327221e-01 -9.94542801e-01 6.69442248e-04 -1.29854759e+02] [-5.40112377e-03 -1.06529601e-04 -9.99985408e-01 -4.13661841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.016466096734270373 Centerline is valid? [True, True] Translation: X:134.23, Y:-129.87, Z:-4.14 [[ 9.99717453e-01 -2.29533635e-02 -6.17714514e-03 1.34233878e+02] [-2.29520512e-02 -9.99736527e-01 2.83262192e-04 -1.29869635e+02] [-6.18201945e-03 -1.41404006e-04 -9.99980881e-01 -4.13537651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.017533222525428452 Centerline is valid? [True, True] Translation: X:134.27, Y:-129.88, Z:-4.13 [[ 9.98052596e-01 6.18326750e-02 -8.23022750e-03 1.34268861e+02] [ 6.18325662e-02 -9.98086500e-01 -2.67911800e-04 -1.29884374e+02] [-8.23104467e-03 -2.41506020e-04 -9.99966095e-01 -4.13371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.01886520665027252 Centerline is valid? [True, True] Translation: X:134.31, Y:-129.89, Z:-4.13 [[ 9.89728546e-01 1.42550162e-01 -1.08100330e-02 1.34305451e+02] [ 1.42545510e-01 -9.89787517e-01 -1.20355287e-03 -1.29892661e+02] [-1.08712024e-02 -3.49731034e-04 -9.99940846e-01 -4.13167505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.018890416715359754 Centerline is valid? [True, True] Translation: X:134.34, Y:-129.89, Z:-4.13 [[ 9.75802589e-01 2.18278863e-01 -1.27924166e-02 1.34341527e+02] [ 2.18265482e-01 -9.75886355e-01 -2.44998722e-03 -1.29892417e+02] [-1.30187252e-02 -4.01439105e-04 -9.99915172e-01 -4.12986421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.017106704172723967 Centerline is valid? [True, True] Translation: X:134.38, Y:-129.89, Z:-4.13 [[ 9.57121775e-01 2.89328982e-01 -1.43752554e-02 1.34376247e+02] [ 2.89302396e-01 -9.57229644e-01 -3.94119945e-03 -1.29885725e+02] [-1.49007238e-02 -3.86588011e-04 -9.99888903e-01 -4.12756898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.015434387359955162 Centerline is valid? [True, True] Translation: X:134.41, Y:-129.88, Z:-4.13 [[ 9.33117932e-01 3.59260152e-01 -1.49354723e-02 1.34410375e+02] [ 3.59219968e-01 -9.33237390e-01 -5.38405027e-03 -1.29875463e+02] [-1.58726159e-02 -3.41166031e-04 -9.99873964e-01 -4.12820921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.014126627630336126 Centerline is valid? [True, True] Translation: X:134.44, Y:-129.86, Z:-4.13 [[ 9.04823542e-01 4.25537757e-01 -1.45593640e-02 1.34441585e+02] [ 4.25486984e-01 -9.04940638e-01 -6.57784631e-03 -1.29859638e+02] [-1.59744821e-02 -2.43029688e-04 -9.99872370e-01 -4.12897478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.013551784372732002 Centerline is valid? [True, True] Translation: X:134.47, Y:-129.84, Z:-4.13 [[ 8.70981910e-01 4.91140949e-01 -1.30797846e-02 1.34469359e+02] [ 4.91088316e-01 -8.71080101e-01 -7.19186926e-03 -1.29842000e+02] [-1.49257616e-02 -1.59341374e-04 -9.99888592e-01 -4.13004072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.013040320109536777 Centerline is valid? [True, True] Translation: X:134.50, Y:-129.83, Z:-4.13 [[ 8.30396379e-01 5.57050383e-01 -1.16929370e-02 1.34498909e+02] [ 5.56997464e-01 -8.30478689e-01 -7.67937162e-03 -1.29826448e+02] [-1.39885319e-02 -1.36013868e-04 -9.99902147e-01 -4.13241231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.013470032615500008 Centerline is valid? [True, True] Translation: X:134.53, Y:-129.81, Z:-4.13 [[ 7.82998938e-01 6.21942707e-01 -9.99663854e-03 1.34527874e+02] [ 6.21894435e-01 -7.83062735e-01 -7.75014604e-03 -1.29809956e+02] [-1.26481419e-02 -1.48497754e-04 -9.99919998e-01 -4.13308210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.01372976045274105 Centerline is valid? [True, True] Translation: X:134.55, Y:-129.79, Z:-4.13 [[ 7.31291846e-01 6.81990315e-01 -1.00720399e-02 1.34554439e+02] [ 6.81928849e-01 -7.31361184e-01 -9.15770220e-03 -1.29790280e+02] [-1.36117632e-02 -1.71461615e-04 -9.99907341e-01 -4.13177190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.013419759054228347 Centerline is valid? [True, True] Translation: X:134.58, Y:-129.77, Z:-4.13 [[ 6.76691866e-01 7.36209797e-01 -9.12429802e-03 1.34577581e+02] [ 7.36145838e-01 -6.76753361e-01 -9.70533749e-03 -1.29768065e+02] [-1.33200639e-02 -1.49291072e-04 -9.99911273e-01 -4.13287953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.013205751932052012 Centerline is valid? [True, True] Translation: X:134.60, Y:-129.75, Z:-4.13 [[ 6.18303303e-01 7.85895493e-01 -8.32464308e-03 1.34601107e+02] [ 7.85827013e-01 -6.18359327e-01 -1.03753282e-02 -1.29746930e+02] [-1.33015443e-02 -1.26629742e-04 -9.99911523e-01 -4.13349973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.01296328995136412 Centerline is valid? [True, True] Translation: X:134.62, Y:-129.72, Z:-4.13 [[ 5.57185607e-01 8.30357323e-01 -7.13548721e-03 1.34620776e+02] [ 8.30291195e-01 -5.57231288e-01 -1.04796678e-02 -1.29722616e+02] [-1.26779857e-02 -8.54121196e-05 -9.99919628e-01 -4.13427163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.013028326844157148 Centerline is valid? [True, True] Translation: X:134.64, Y:-129.70, Z:-4.13 [[ 4.93013068e-01 8.70003408e-01 -5.67316104e-03 1.34637087e+02] [ 8.69946836e-01 -4.93045706e-01 -9.92138999e-03 -1.29698922e+02] [-1.14287708e-02 -4.39735807e-05 -9.99934689e-01 -4.13248563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.012666426365251374 Centerline is valid? [True, True] Translation: X:134.65, Y:-129.67, Z:-4.13 [[ 4.25417909e-01 9.04984391e-01 -4.78061124e-03 1.34653791e+02] [ 9.04927728e-01 -4.25444769e-01 -1.01270109e-02 -1.29673772e+02] [-1.11986729e-02 -1.78958492e-05 -9.99937293e-01 -4.13454032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.012772560032898266 Centerline is valid? [True, True] Translation: X:134.67, Y:-129.65, Z:-4.13 [[ 3.55298967e-01 9.34744754e-01 -3.85852591e-03 1.34665563e+02] [ 9.34689446e-01 -3.55319918e-01 -1.01683971e-02 -1.29648311e+02] [-1.08758670e-02 6.29755034e-06 -9.99940856e-01 -4.13309303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.012681210722232624 Centerline is valid? [True, True] Translation: X:134.68, Y:-129.62, Z:-4.13 [[ 2.79308426e-01 9.60196750e-01 -3.00063691e-03 1.34676422e+02] [ 9.60141819e-01 -2.79324543e-01 -1.02706376e-02 -1.29621775e+02] [-1.06999844e-02 -1.23613494e-05 -9.99942754e-01 -4.13455714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.012727092682534693 Centerline is valid? [True, True] Translation: X:134.69, Y:-129.60, Z:-4.13 [[ 2.00018488e-01 9.79789766e-01 -2.14928897e-03 1.34690603e+02] [ 9.79735690e-01 -2.00030030e-01 -1.02939629e-02 -1.29595308e+02] [-1.05158418e-02 -4.67522172e-05 -9.99944706e-01 -4.13473122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.013842988214569528 Centerline is valid? [True, True] Translation: X:134.70, Y:-129.57, Z:-4.13 [[ 1.14881689e-01 9.93378259e-01 -1.35323636e-03 1.34704310e+02] [ 9.93322093e-01 -1.14889585e-01 -1.05642555e-02 -1.29570016e+02] [-1.06497745e-02 -1.30560057e-04 -9.99943281e-01 -4.13305226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.014899424347551992 Centerline is valid? [True, True] Translation: X:134.71, Y:-129.54, Z:-4.13 [[ 3.14803395e-02 9.99504215e-01 -5.59826488e-04 1.34713998e+02] [ 9.99439062e-01 -3.14846805e-02 -1.14138963e-02 -1.29541761e+02] [-1.14258634e-02 -2.00199130e-04 -9.99934703e-01 -4.13267192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.016778925894746968 Centerline is valid? [True, True] Translation: X:134.72, Y:-129.51, Z:-4.13 [[-5.40681402e-02 9.98537202e-01 3.05004543e-04 1.34722062e+02] [ 9.98483469e-01 5.40683958e-02 -1.03619794e-02 -1.29513076e+02] [-1.03633130e-02 -2.55710959e-04 -9.99946267e-01 -4.13374732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.019023349437426926 Centerline is valid? [True, True] Translation: X:134.73, Y:-129.48, Z:-4.13 [[-1.37592650e-01 9.90488455e-01 9.39639100e-04 1.34727535e+02] [ 9.90450458e-01 1.37595606e-01 -8.67987691e-03 -1.29483341e+02] [-8.72660808e-03 -2.63621290e-04 -9.99961888e-01 -4.13481518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.020453606737511277 Centerline is valid? [True, True] Translation: X:134.73, Y:-129.45, Z:-4.14 [[-2.17131018e-01 9.76141329e-01 1.49245828e-03 1.34728140e+02] [ 9.76109241e-01 2.17135988e-01 -7.91916231e-03 -1.29454484e+02] [-8.05428802e-03 -2.62693453e-04 -9.99967529e-01 -4.13500304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.019648409369453994 Centerline is valid? [True, True] Translation: X:134.72, Y:-129.43, Z:-4.13 [[-2.92325432e-01 9.56315049e-01 2.71463978e-03 1.34722816e+02] [ 9.56262661e-01 2.92337848e-01 -1.00152993e-02 -1.29425737e+02] [-1.03713733e-02 -3.31818021e-04 -9.99946161e-01 -4.13305129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.017623819302325105 Centerline is valid? [True, True] Translation: X:134.72, Y:-129.40, Z:-4.13 [[-3.63363075e-01 9.31638245e-01 4.17808740e-03 1.34716045e+02] [ 9.31564912e-01 3.63386920e-01 -1.16944623e-02 -1.29397694e+02] [-1.24132706e-02 -3.57176151e-04 -9.99922889e-01 -4.13202772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.01621324131835005 Centerline is valid? [True, True] Translation: X:134.71, Y:-129.37, Z:-4.13 [[-4.28876918e-01 9.03343367e-01 5.94559033e-03 1.34705800e+02] [ 9.03246109e-01 4.28918012e-01 -1.32591833e-02 -1.29372823e+02] [-1.45277661e-02 -3.16226349e-04 -9.99894416e-01 -4.13033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.015103505325922034 Centerline is valid? [True, True] Translation: X:134.70, Y:-129.35, Z:-4.13 [[-4.95453418e-01 8.68607174e-01 6.89111931e-03 1.34697248e+02] [ 8.68515578e-01 4.95501267e-01 -1.26168329e-02 -1.29346496e+02] [-1.43736299e-02 -2.66008515e-04 -9.99896659e-01 -4.13152395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.014024630168342779 Centerline is valid? [True, True] Translation: X:134.68, Y:-129.32, Z:-4.13 [[-5.57636145e-01 8.30054547e-01 7.16798635e-03 1.34684783e+02] [ 8.29981928e-01 5.57682185e-01 -1.09808952e-02 -1.29322352e+02] [-1.31122002e-02 -1.74044920e-04 -9.99914016e-01 -4.13423351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.012870968722816822 Centerline is valid? [True, True] Translation: X:134.67, Y:-129.30, Z:-4.14 [[-6.14178518e-01 7.89133939e-01 7.23702159e-03 1.34668055e+02] [ 7.89078103e-01 6.14221152e-01 -9.38738782e-03 -1.29300736e+02] [-1.18530381e-02 -5.49566759e-05 -9.99929749e-01 -4.13566594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.013013726325001748 Centerline is valid? [True, True] Translation: X:134.65, Y:-129.28, Z:-4.14 [[-6.66666819e-01 7.45319936e-01 7.31748477e-03 1.34649615e+02] [ 7.45275999e-01 6.66706975e-01 -8.09289074e-03 -1.29281045e+02] [-1.09104109e-02 5.82840384e-05 -9.99940478e-01 -4.13685962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.013759846467053811 Centerline is valid? [True, True] Translation: X:134.63, Y:-129.26, Z:-4.14 [[-7.18982669e-01 6.94983073e-01 7.90246450e-03 1.34633489e+02] [ 6.94942937e-01 7.19026087e-01 -7.47001576e-03 -1.29260029e+02] [-1.08736126e-02 1.20950017e-04 -9.99940873e-01 -4.13782029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.014848091227838867 Centerline is valid? [True, True] Translation: X:135.15, Y:-128.72, Z:-5.11 [[-6.90090005e-01 -7.23686251e-01 7.34816423e-03 1.35153821e+02] [ 7.23643287e-01 -6.90129115e-01 -7.88659823e-03 -1.28722739e+02] [ 1.07786048e-02 -1.25012895e-04 9.99941901e-01 -5.11356386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.015020206677767847 Centerline is valid? [True, True] Translation: X:135.11, Y:-128.68, Z:-5.11 [[-6.92373137e-01 -7.21493992e-01 8.11540441e-03 1.35111493e+02] [ 7.21440688e-01 -6.92420661e-01 -8.77282040e-03 -1.28682574e+02] [ 1.19488109e-02 -2.19282238e-04 9.99928586e-01 -5.11295982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.015589707862540804 Centerline is valid? [True, True] Translation: X:135.07, Y:-128.64, Z:-5.11 [[-6.92690445e-01 -7.21185248e-01 8.47260028e-03 1.35071680e+02] [ 7.21127200e-01 -6.92742221e-01 -9.15296727e-03 -1.28642345e+02] [ 1.24703129e-02 -2.30350456e-04 9.99922216e-01 -5.11394515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.014877786665672481 Centerline is valid? [True, True] Translation: X:135.03, Y:-128.60, Z:-5.11 [[-6.91609240e-01 -7.22218539e-01 8.77732391e-03 1.35027866e+02] [ 7.22156395e-01 -6.91664901e-01 -9.47656950e-03 -1.28604263e+02] [ 1.29151211e-02 -2.15482429e-04 9.99916573e-01 -5.11374090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.014209402243450249 Centerline is valid? [True, True] Translation: X:134.98, Y:-128.57, Z:-5.11 [[-6.89202220e-01 -7.24519455e-01 8.47699439e-03 1.34982806e+02] [ 7.24461704e-01 -6.89254331e-01 -9.14918927e-03 -1.28566111e+02] [ 1.24715707e-02 -1.64383761e-04 9.99922213e-01 -5.11371885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.012791921577817994 Centerline is valid? [True, True] Translation: X:134.94, Y:-128.53, Z:-5.11 [[-6.83980507e-01 -7.29459922e-01 7.67384837e-03 1.34936372e+02] [ 7.29412957e-01 -6.84023551e-01 -8.27766991e-03 -1.28529793e+02] [ 1.12873215e-02 -6.43604283e-05 9.99936294e-01 -5.11144546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.012563440917254405 Centerline is valid? [True, True] Translation: X:134.89, Y:-128.49, Z:-5.11 [[-6.79654358e-01 -7.33500874e-01 6.81325504e-03 1.34892089e+02] [ 7.33464101e-01 -6.79688508e-01 -7.34472010e-03 -1.28492456e+02] [ 1.00182498e-02 5.40696001e-06 9.99949816e-01 -5.11049963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.013262370730898641 Centerline is valid? [True, True] Translation: X:134.84, Y:-128.46, Z:-5.11 [[-6.72431907e-01 -7.40130621e-01 6.48029756e-03 1.34843672e+02] [ 7.40097696e-01 -6.72463124e-01 -6.98188282e-03 -1.28458616e+02] [ 9.52526641e-03 1.01212524e-04 9.99954629e-01 -5.11067179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.015348610277938797 Centerline is valid? [True, True] Translation: X:134.80, Y:-128.42, Z:-5.11 [[-6.67751573e-01 -7.44355287e-01 6.56072138e-03 1.34797557e+02] [ 7.44321773e-01 -6.67783781e-01 -7.06535793e-03 -1.28424298e+02] [ 9.64027986e-03 1.65383903e-04 9.99953518e-01 -5.11242380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.01772204374856243 Centerline is valid? [True, True] Translation: X:134.75, Y:-128.39, Z:-5.11 [[-6.61559386e-01 -7.49854874e-01 7.53967846e-03 1.34751333e+02] [ 7.49811018e-01 -6.61602288e-01 -8.11477481e-03 -1.28388608e+02] [ 1.10731720e-02 2.84928538e-04 9.99938650e-01 -5.11380294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.018563415529093637 Centerline is valid? [True, True] Translation: X:134.71, Y:-128.35, Z:-5.12 [[-6.58440240e-01 -7.52578956e-01 9.02032058e-03 1.34708632e+02] [ 7.52516511e-01 -6.58501903e-01 -9.70280811e-03 -1.28349366e+02] [ 1.32420275e-02 3.99220878e-04 9.99912241e-01 -5.11546575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.01996030013363385 Centerline is valid? [True, True] Translation: X:134.67, Y:-128.31, Z:-5.12 [[-6.58439162e-01 -7.52573972e-01 9.50196266e-03 1.34667244e+02] [ 7.52504764e-01 -6.58507583e-01 -1.02148965e-02 -1.28309669e+02] [ 1.39445797e-02 4.24384255e-04 9.99902680e-01 -5.11678109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.017894031977914632 Centerline is valid? [True, True] Translation: X:134.63, Y:-128.26, Z:-5.12 [[-6.60367599e-01 -7.50890009e-01 8.87855547e-03 1.34629886e+02] [ 7.50829498e-01 -6.60427180e-01 -9.53964679e-03 -1.28264652e+02] [ 1.30268648e-02 3.66607703e-04 9.99915080e-01 -5.11504427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.014761513484072177 Centerline is valid? [True, True] Translation: X:134.60, Y:-128.22, Z:-5.11 [[-6.68340957e-01 -7.43812471e-01 7.96067045e-03 1.34596295e+02] [ 7.43763360e-01 -6.68388334e-01 -8.54985208e-03 -1.28217218e+02] [ 1.16803059e-02 2.06638671e-04 9.99931762e-01 -5.11385329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.013497308076260886 Centerline is valid? [True, True] Translation: X:134.56, Y:-128.17, Z:-5.11 [[-6.73777955e-01 -7.38888398e-01 8.19773332e-03 1.34560804e+02] [ 7.38836010e-01 -6.73827811e-01 -8.79947210e-03 -1.28171274e+02] [ 1.20256885e-02 1.27890259e-04 9.99927681e-01 -5.11421694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.012650155917584142 Centerline is valid? [True, True] Translation: X:134.53, Y:-128.12, Z:-5.11 [[-6.81907098e-01 -7.31387482e-01 8.66379184e-03 1.34528011e+02] [ 7.31328422e-01 -6.81962134e-01 -9.29444356e-03 -1.28122178e+02] [ 1.27062176e-02 -1.86981423e-06 9.99919273e-01 -5.11323531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.01296914448637613 Centerline is valid? [True, True] Translation: X:134.49, Y:-128.08, Z:-5.11 [[-6.85691091e-01 -7.27840807e-01 8.68837011e-03 1.34493074e+02] [ 7.27781205e-01 -6.85746131e-01 -9.31461329e-03 -1.28078144e+02] [ 1.27375718e-02 -6.37148794e-05 9.99918872e-01 -5.11252971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.013137065908562406 Centerline is valid? [True, True] Translation: X:134.45, Y:-128.03, Z:-5.11 [[-6.87842814e-01 -7.25790061e-01 1.00524010e-02 1.34453940e+02] [ 7.25710146e-01 -6.87916255e-01 -1.07708167e-02 -1.28034729e+02] [ 1.47325618e-02 -1.13499481e-04 9.99891464e-01 -5.11261639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.013195772377621613 Centerline is valid? [True, True] Translation: X:134.41, Y:-127.99, Z:-5.11 [[-6.87583882e-01 -7.26036483e-01 9.97143520e-03 1.34414468e+02] [ 7.25957980e-01 -6.87656174e-01 -1.06769592e-02 -1.27994005e+02] [ 1.46087809e-02 -1.02462070e-04 9.99893281e-01 -5.11342930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.01273107706808344 Centerline is valid? [True, True] Translation: X:134.37, Y:-127.95, Z:-5.11 [[-6.85923489e-01 -7.27610886e-01 9.55854526e-03 1.34373644e+02] [ 7.27538992e-01 -6.85990084e-01 -1.02284146e-02 -1.27953797e+02] [ 1.39993731e-02 -6.16954335e-05 9.99902002e-01 -5.11239715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.012555107260730274 Centerline is valid? [True, True] Translation: X:134.33, Y:-127.92, Z:-5.11 [[-6.82107464e-01 -7.31185682e-01 9.84404547e-03 1.34331798e+02] [ 7.31109899e-01 -6.82178494e-01 -1.05270322e-02 -1.27916484e+02] [ 1.44126113e-02 1.65118443e-05 9.99896133e-01 -5.11212742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.012622190602303645 Centerline is valid? [True, True] Translation: X:134.29, Y:-127.88, Z:-5.11 [[-6.78074005e-01 -7.34934911e-01 9.29090093e-03 1.34288795e+02] [ 7.34867840e-01 -6.78137647e-01 -9.92922797e-03 -1.27877808e+02] [ 1.35978460e-02 9.48329262e-05 9.99907541e-01 -5.11015392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.012987735141089307 Centerline is valid? [True, True] Translation: X:134.25, Y:-127.84, Z:-5.11 [[-6.75588048e-01 -7.37222031e-01 9.19061130e-03 1.34247033e+02] [ 7.37156685e-01 -6.75650544e-01 -9.81655324e-03 -1.27837915e+02] [ 1.34466208e-02 1.42974518e-04 9.99909580e-01 -5.10970570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.013571088724277421 Centerline is valid? [True, True] Translation: X:134.20, Y:-127.80, Z:-5.11 [[-6.72572278e-01 -7.39979100e-01 8.80127878e-03 1.34204077e+02] [ 7.39919476e-01 -6.72629835e-01 -9.39541151e-03 -1.27798675e+02] [ 1.28724108e-02 1.93144265e-04 9.99917128e-01 -5.10952388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.014415979316861963 Centerline is valid? [True, True] Translation: X:134.16, Y:-127.76, Z:-5.11 [[-6.70980042e-01 -7.41426381e-01 8.52668703e-03 1.34162092e+02] [ 7.41370604e-01 -6.71034182e-01 -9.09692443e-03 -1.27759308e+02] [ 1.24663982e-02 2.17580372e-04 9.99922268e-01 -5.10977290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.01398102771375856 Centerline is valid? [True, True] Translation: X:134.12, Y:-127.72, Z:-5.11 [[-6.71161824e-01 -7.41258622e-01 8.80124056e-03 1.34123797e+02] [ 7.41199256e-01 -6.71219491e-01 -9.38387587e-03 -1.27717299e+02] [ 1.28634431e-02 2.25373710e-04 9.99917237e-01 -5.10945777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.013891340174157987 Centerline is valid? [True, True] Translation: X:134.09, Y:-127.67, Z:-5.11 [[-6.72570197e-01 -7.39974035e-01 9.36789926e-03 1.34085888e+02] [ 7.39906740e-01 -6.72635399e-01 -9.98179489e-03 -1.27674235e+02] [ 1.36874497e-02 2.17914047e-04 9.99906299e-01 -5.11033689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.013562994818352122 Centerline is valid? [True, True] Translation: X:134.05, Y:-127.63, Z:-5.11 [[-6.73657389e-01 -7.38970881e-01 1.03806932e-02 1.34048183e+02] [ 7.38888235e-01 -6.73737328e-01 -1.10539447e-02 -1.27631677e+02] [ 1.51624038e-02 2.23600559e-04 9.99885019e-01 -5.11148782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.013555293736028819 Centerline is valid? [True, True] Translation: X:134.01, Y:-127.59, Z:-5.11 [[-6.74996297e-01 -7.37735371e-01 1.12482366e-02 1.34011662e+02] [ 7.37638290e-01 -6.75089976e-01 -1.19698547e-02 -1.27589044e+02] [ 1.64241570e-02 2.17522432e-04 9.99865091e-01 -5.11364118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.013477344809972099 Centerline is valid? [True, True] Translation: X:133.97, Y:-127.55, Z:-5.11 [[-6.75482070e-01 -7.37291160e-01 1.12124189e-02 1.33974423e+02] [ 7.37194758e-01 -6.75575089e-01 -1.19242454e-02 -1.27545477e+02] [ 1.63664716e-02 2.11122409e-04 9.99866038e-01 -5.11371924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.013261880558497344 Centerline is valid? [True, True] Translation: X:133.94, Y:-127.50, Z:-5.11 [[-6.75559214e-01 -7.37212981e-01 1.16948590e-02 1.33937060e+02] [ 7.37108214e-01 -6.75660396e-01 -1.24301905e-02 -1.27500794e+02] [ 1.70654508e-02 2.23046890e-04 9.99854350e-01 -5.11332542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.01352000752470683 Centerline is valid? [True, True] Translation: X:133.90, Y:-127.46, Z:-5.11 [[-6.74935506e-01 -7.37788924e-01 1.13827274e-02 1.33900176e+02] [ 7.37689872e-01 -6.75031442e-01 -1.20915231e-02 -1.27456188e+02] [ 1.66046907e-02 2.35924482e-04 9.99862105e-01 -5.11224724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.013476896838892905 Centerline is valid? [True, True] Translation: X:133.86, Y:-127.41, Z:-5.11 [[-6.74829028e-01 -7.37890756e-01 1.10912216e-02 1.33860837e+02] [ 7.37796836e-01 -6.74920126e-01 -1.17750750e-02 -1.27412819e+02] [ 1.61744077e-02 2.36905812e-04 9.99869158e-01 -5.11169383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.013795373662321423 Centerline is valid? [True, True] Translation: X:133.82, Y:-127.37, Z:-5.11 [[-6.74072811e-01 -7.38594701e-01 1.01839223e-02 1.33822592e+02] [ 7.38515680e-01 -6.74149695e-01 -1.08064665e-02 -1.27371191e+02] [ 1.48470870e-02 2.36641011e-04 9.99889748e-01 -5.11124476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.01429715108210134 Centerline is valid? [True, True] Translation: X:133.78, Y:-127.33, Z:-5.11 [[-6.72728091e-01 -7.39831693e-01 9.27260873e-03 1.33783182e+02] [ 7.39766384e-01 -6.72791948e-01 -9.83319869e-03 -1.27329726e+02] [ 1.35134485e-02 2.44495244e-04 9.99908659e-01 -5.11080040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.015998148480908105 Centerline is valid? [True, True] Translation: X:133.74, Y:-127.29, Z:-5.11 [[-6.69568736e-01 -7.42697641e-01 8.82730708e-03 1.33743406e+02] [ 7.42638751e-01 -6.69626858e-01 -9.35716325e-03 -1.27288921e+02] [ 1.28605450e-02 2.90236332e-04 9.99917258e-01 -5.11187134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.016736201995107388 Centerline is valid? [True, True] Translation: X:133.70, Y:-127.25, Z:-5.11 [[-6.66776749e-01 -7.45202632e-01 9.04460707e-03 1.33704560e+02] [ 7.45141107e-01 -6.66837997e-01 -9.58208672e-03 -1.27245423e+02] [ 1.31718839e-02 3.50395894e-04 9.99913186e-01 -5.11169375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.017213629338729917 Centerline is valid? [True, True] Translation: X:133.67, Y:-127.20, Z:-5.11 [[-6.65149929e-01 -7.46651986e-01 9.29424165e-03 1.33665200e+02] [ 7.46587235e-01 -6.65214745e-01 -9.84095323e-03 -1.27202590e+02] [ 1.35304339e-02 3.93252826e-04 9.99908382e-01 -5.11181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.018607004389438964 Centerline is valid? [True, True] Translation: X:133.63, Y:-127.16, Z:-5.11 [[-6.63612569e-01 -7.48017491e-01 9.39102437e-03 1.33625524e+02] [ 7.47951596e-01 -6.63678875e-01 -9.93786465e-03 -1.27159745e+02] [ 1.36663211e-02 4.29139769e-04 9.99906519e-01 -5.11228844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.019899183904149565 Centerline is valid? [True, True] Translation: X:133.59, Y:-127.12, Z:-5.11 [[-6.62711925e-01 -7.48816322e-01 9.32848170e-03 1.33586298e+02] [ 7.48751441e-01 -6.62777427e-01 -9.86725306e-03 -1.27118898e+02] [ 1.35714672e-02 4.45567842e-04 9.99907804e-01 -5.11279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.02012740240785023 Centerline is valid? [True, True] Translation: X:133.55, Y:-127.08, Z:-5.11 [[-6.62669622e-01 -7.48857539e-01 9.01988197e-03 1.33548293e+02] [ 7.48796961e-01 -6.62730862e-01 -9.53492585e-03 -1.27076165e+02] [ 1.31180553e-02 4.35554503e-04 9.99913860e-01 -5.11383197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.019699315183757414 Centerline is valid? [True, True] Translation: X:133.51, Y:-127.03, Z:-5.11 [[-6.63996590e-01 -7.47682420e-01 8.91778288e-03 1.33510042e+02] [ 7.47623163e-01 -6.64056345e-01 -9.42215319e-03 -1.27031625e+02] [ 1.29666886e-02 4.10863457e-04 9.99915845e-01 -5.11420011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.017428232119829478 Centerline is valid? [True, True] Translation: X:133.48, Y:-126.98, Z:-5.11 [[-6.67153897e-01 -7.44873769e-01 8.29125859e-03 1.33476151e+02] [ 7.44822393e-01 -6.67205333e-01 -8.75484209e-03 -1.26984565e+02] [ 1.20532242e-02 3.34688041e-04 9.99927301e-01 -5.11291785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.016720352923995922 Centerline is valid? [True, True] Translation: X:133.44, Y:-126.94, Z:-5.11 [[-6.67782005e-01 -7.44315342e-01 7.86544586e-03 1.33438762e+02] [ 7.44269130e-01 -6.67828252e-01 -8.29984269e-03 -1.26941128e+02] [ 1.14304672e-02 3.11522962e-04 9.99934622e-01 -5.11164778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.015914401891198148 Centerline is valid? [True, True] Translation: X:133.40, Y:-126.90, Z:-5.11 [[-6.69530248e-01 -7.42748115e-01 7.38139705e-03 1.33400311e+02] [ 7.42707366e-01 -6.69570881e-01 -7.78486913e-03 -1.26896757e+02] [ 1.07245654e-02 2.70012606e-04 9.99942454e-01 -5.11185711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.016227022677309754 Centerline is valid? [True, True] Translation: X:133.36, Y:-126.86, Z:-5.11 [[-6.70576635e-01 -7.41803647e-01 7.37053032e-03 1.33362178e+02] [ 7.41763017e-01 -6.70617091e-01 -7.76819344e-03 -1.26855081e+02] [ 1.07052778e-02 2.58017789e-04 9.99942664e-01 -5.11248161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.015083655945246065 Centerline is valid? [True, True] Translation: X:133.33, Y:-126.81, Z:-5.11 [[-6.73661193e-01 -7.39007645e-01 6.94961653e-03 1.33325066e+02] [ 7.38971416e-01 -6.73697008e-01 -7.32036830e-03 -1.26810870e+02] [ 1.00917440e-02 2.04119924e-04 9.99949056e-01 -5.11252356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.01384770086037537 Centerline is valid? [True, True] Translation: X:133.29, Y:-126.77, Z:-5.11 [[-6.78581278e-01 -7.34495283e-01 6.64289640e-03 1.33289265e+02] [ 7.34461997e-01 -6.78613779e-01 -6.99382042e-03 -1.26766279e+02] [ 9.64488914e-03 1.33079358e-04 9.99953478e-01 -5.11290281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.013359802846160932 Centerline is valid? [True, True] Translation: X:133.25, Y:-126.72, Z:-5.11 [[-6.81368443e-01 -7.31914652e-01 6.16341678e-03 1.33252096e+02] [ 7.31885922e-01 -6.81396312e-01 -6.48556184e-03 -1.26722874e+02] [ 8.94660720e-03 9.18608039e-05 9.99959974e-01 -5.11186077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.013033167596195553 Centerline is valid? [True, True] Translation: X:133.21, Y:-126.68, Z:-5.11 [[-6.83273949e-01 -7.30138238e-01 5.90464912e-03 1.33213251e+02] [ 7.30111836e-01 -6.83299458e-01 -6.20954161e-03 -1.26680596e+02] [ 8.56846731e-03 6.82361897e-05 9.99963288e-01 -5.11201927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.012775329971493988 Centerline is valid? [True, True] Translation: X:133.17, Y:-126.64, Z:-5.11 [[-6.84136067e-01 -7.29328427e-01 6.15525974e-03 1.33173513e+02] [ 7.29299739e-01 -6.84163754e-01 -6.46909912e-03 -1.26639522e+02] [ 8.92930349e-03 6.32852924e-05 9.99960131e-01 -5.11222013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.012855249657160138 Centerline is valid? [True, True] Translation: X:133.13, Y:-126.60, Z:-5.11 [[-6.84404438e-01 -7.29076100e-01 6.21335815e-03 1.33133543e+02] [ 7.29046893e-01 -6.84432639e-01 -6.52614260e-03 -1.26598476e+02] [ 9.01067971e-03 6.33084922e-05 9.99959401e-01 -5.11244792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.012802667640157691 Centerline is valid? [True, True] Translation: X:133.09, Y:-126.56, Z:-5.11 [[-6.84543095e-01 -7.28942543e-01 6.59696641e-03 1.33093870e+02] [ 7.28909654e-01 -6.84574879e-01 -6.92466414e-03 -1.26556961e+02] [ 9.56379977e-03 6.83614768e-05 9.99954264e-01 -5.11180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.012947242791150936 Centerline is valid? [True, True] Translation: X:133.05, Y:-126.52, Z:-5.11 [[-6.83835302e-01 -7.29605019e-01 6.76727828e-03 1.33052568e+02] [ 7.29570487e-01 -6.83868780e-01 -7.09895670e-03 -1.26517434e+02] [ 9.80736478e-03 8.26893171e-05 9.99951903e-01 -5.11093809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.013075984014582242 Centerline is valid? [True, True] Translation: X:133.01, Y:-126.48, Z:-5.11 [[-6.83321346e-01 -7.30082929e-01 7.13132710e-03 1.33011151e+02] [ 7.30044656e-01 -6.83358550e-01 -7.47613865e-03 -1.26477976e+02] [ 1.03314546e-02 9.75821179e-05 9.99946624e-01 -5.11101346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.013291254814557705 Centerline is valid? [True, True] Translation: X:132.97, Y:-126.44, Z:-5.11 [[-6.83240547e-01 -7.30154675e-01 7.51702578e-03 1.32971546e+02] [ 7.30112196e-01 -6.83281889e-01 -7.87668520e-03 -1.26438658e+02] [ 1.08874461e-02 1.06601493e-04 9.99940724e-01 -5.11180728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.013220123903555871 Centerline is valid? [True, True] Translation: X:132.93, Y:-126.40, Z:-5.11 [[-6.83978683e-01 -7.29461058e-01 7.72831903e-03 1.32931654e+02] [ 7.29416168e-01 -6.84022335e-01 -8.09312990e-03 -1.26397894e+02] [ 1.11899659e-02 1.01632527e-04 9.99937385e-01 -5.11176043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.012809295557093939 Centerline is valid? [True, True] Translation: X:132.89, Y:-126.36, Z:-5.11 [[-6.85416634e-01 -7.28105959e-01 8.10863008e-03 1.32891753e+02] [ 7.28056511e-01 -6.85464591e-01 -8.48597991e-03 -1.26356482e+02] [ 1.17368713e-02 8.71091360e-05 9.99931117e-01 -5.11039920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.012607938536011026 Centerline is valid? [True, True] Translation: X:132.85, Y:-126.31, Z:-5.11 [[-6.86656016e-01 -7.26933209e-01 8.46314205e-03 1.32851196e+02] [ 7.26879316e-01 -6.86708165e-01 -8.85192037e-03 -1.26314671e+02] [ 1.22464636e-02 7.34585237e-05 9.99925007e-01 -5.11008979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.012605036204482408 Centerline is valid? [True, True] Translation: X:132.81, Y:-126.27, Z:-5.11 [[-6.87106776e-01 -7.26504536e-01 8.68548317e-03 1.32810748e+02] [ 7.26447804e-01 -6.87161665e-01 -9.07930265e-03 -1.26272567e+02] [ 1.25644856e-02 7.10998059e-05 9.99921061e-01 -5.10995971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.012561089786205104 Centerline is valid? [True, True] Translation: X:132.77, Y:-126.23, Z:-5.11 [[-6.88552096e-01 -7.25124821e-01 9.48709296e-03 1.32770950e+02] [ 7.25057089e-01 -6.88617449e-01 -9.91100162e-03 -1.26230769e+02] [ 1.37196910e-02 5.44430689e-05 9.99905879e-01 -5.11062992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.012527063967138688 Centerline is valid? [True, True] Translation: X:132.73, Y:-126.19, Z:-5.11 [[-6.89879077e-01 -7.23853879e-01 1.01203899e-02 1.32731805e+02] [ 7.23776761e-01 -6.89953304e-01 -1.05659482e-02 -1.26189312e+02] [ 1.46307990e-02 3.56764369e-05 9.99892964e-01 -5.11092367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.01251459544750766 Centerline is valid? [True, True] Translation: X:132.69, Y:-126.15, Z:-5.11 [[-6.90928560e-01 -7.22844783e-01 1.06369229e-02 1.32692399e+02] [ 7.22759580e-01 -6.91010433e-01 -1.10982038e-02 -1.26147201e+02] [ 1.53725034e-02 1.98719067e-05 9.99881836e-01 -5.11024517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.01255590109799404 Centerline is valid? [True, True] Translation: X:132.65, Y:-126.11, Z:-5.11 [[-6.91980377e-01 -7.21831958e-01 1.10355056e-02 1.32653946e+02] [ 7.21740236e-01 -6.92068367e-01 -1.15068532e-02 -1.26105221e+02] [ 1.59433387e-02 2.25174829e-06 9.99872897e-01 -5.10956926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.012545447411475175 Centerline is valid? [True, True] Translation: X:132.62, Y:-126.06, Z:-5.11 [[-6.93248553e-01 -7.20609484e-01 1.13320919e-02 1.32615199e+02] [ 7.20512723e-01 -6.93341166e-01 -1.18086624e-02 -1.26062519e+02] [ 1.63664399e-02 -2.14217282e-05 9.99866061e-01 -5.10818281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.012551839632752335 Centerline is valid? [True, True] Translation: X:132.58, Y:-126.02, Z:-5.11 [[-6.94154530e-01 -7.19743005e-01 1.09314058e-02 1.32575728e+02] [ 7.19652972e-01 -6.94240596e-01 -1.13839789e-02 -1.26020395e+02] [ 1.57825649e-02 -3.54218607e-05 9.99875447e-01 -5.10720721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.012582733106833983 Centerline is valid? [True, True] Translation: X:132.54, Y:-125.98, Z:-5.11 [[-6.95760441e-01 -7.18198694e-01 1.03944245e-02 1.32536195e+02] [ 7.18117218e-01 -6.95838079e-01 -1.08179947e-02 -1.25978757e+02] [ 1.50023060e-02 -6.23175209e-05 9.99887457e-01 -5.10520259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.012554488503033036 Centerline is valid? [True, True] Translation: X:132.50, Y:-125.94, Z:-5.10 [[-6.97100817e-01 -7.16898773e-01 1.03247323e-02 1.32496600e+02] [ 7.16818334e-01 -6.97177267e-01 -1.07393680e-02 -1.25936004e+02] [ 1.48972084e-02 -8.54648189e-05 9.99889027e-01 -5.10275107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.012679910860278832 Centerline is valid? [True, True] Translation: X:132.46, Y:-125.89, Z:-5.10 [[-6.98253382e-01 -7.15771794e-01 1.06279580e-02 1.32456719e+02] [ 7.15686526e-01 -6.98334252e-01 -1.10485051e-02 -1.25893192e+02] [ 1.53300754e-02 -1.08369669e-04 9.99882482e-01 -5.10182957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.01317694002565336 Centerline is valid? [True, True] Translation: X:132.42, Y:-125.85, Z:-5.10 [[-7.00200998e-01 -7.13849539e-01 1.17216959e-02 1.32416087e+02] [ 7.13745670e-01 -7.00299086e-01 -1.21782346e-02 -1.25852286e+02] [ 1.69021201e-02 -1.60902391e-04 9.99857136e-01 -5.10223934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.013476014174356848 Centerline is valid? [True, True] Translation: X:132.38, Y:-125.81, Z:-5.10 [[-7.01692082e-01 -7.12367767e-01 1.26643920e-02 1.32375717e+02] [ 7.12246411e-01 -7.01806328e-01 -1.31502034e-02 -1.25810861e+02] [ 1.82557315e-02 -2.07225813e-04 9.99833329e-01 -5.10212940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.01457407194696917 Centerline is valid? [True, True] Translation: X:132.34, Y:-125.77, Z:-5.10 [[-7.04285746e-01 -7.09788639e-01 1.34787275e-02 1.32337440e+02] [ 7.09650825e-01 -7.04414654e-01 -1.39893391e-02 -1.25769263e+02] [ 1.94240872e-02 -2.87302006e-04 9.99811293e-01 -5.10189640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.01538288905957896 Centerline is valid? [True, True] Translation: X:132.30, Y:-125.73, Z:-5.10 [[-7.06133964e-01 -7.07948317e-01 1.35648423e-02 1.32297822e+02] [ 7.07808546e-01 -7.06264163e-01 -1.40710493e-02 -1.25726970e+02] [ 1.95419377e-02 -3.34734539e-04 9.99808982e-01 -5.10116391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.014915608595262067 Centerline is valid? [True, True] Translation: X:132.26, Y:-125.69, Z:-5.10 [[-7.07573227e-01 -7.06524210e-01 1.27933025e-02 1.32255796e+02] [ 7.06399793e-01 -7.07688787e-01 -1.32632145e-02 -1.25687092e+02] [ 1.84244589e-02 -3.47509201e-04 9.99830195e-01 -5.09783008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.014587518490911581 Centerline is valid? [True, True] Translation: X:132.21, Y:-125.65, Z:-5.10 [[-7.06995551e-01 -7.07117207e-01 1.19393168e-02 1.32213616e+02] [ 7.07009051e-01 -7.07096290e-01 -1.23708612e-02 -1.25647524e+02] [ 1.71898955e-02 -3.04938755e-04 9.99852196e-01 -5.09594430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.013771799209999987 Centerline is valid? [True, True] Translation: X:132.17, Y:-125.61, Z:-5.09 [[-7.03840272e-01 -7.10264255e-01 1.15567774e-02 1.32168860e+02] [ 7.10163456e-01 -7.03935111e-01 -1.19676831e-02 -1.25610427e+02] [ 1.66354389e-02 -2.16136393e-04 9.99861598e-01 -5.09486888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.012884048968950066 Centerline is valid? [True, True] Translation: X:132.12, Y:-125.58, Z:-5.10 [[-6.98694931e-01 -7.15308049e-01 1.26407578e-02 1.32121843e+02] [ 7.15188404e-01 -6.98809262e-01 -1.30828677e-02 -1.25575134e+02] [ 1.81917592e-02 -1.00409971e-04 9.99834511e-01 -5.09648173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.01273515413355993 Centerline is valid? [True, True] Translation: X:132.08, Y:-125.54, Z:-5.10 [[-6.94525034e-01 -7.19339027e-01 1.36507340e-02 1.32076247e+02] [ 7.19200446e-01 -6.94659172e-01 -1.41192517e-02 -1.25539470e+02] [ 1.96391363e-02 1.14402071e-05 9.99807134e-01 -5.09817596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.012959478696582405 Centerline is valid? [True, True] Translation: X:132.03, Y:-125.50, Z:-5.10 [[-6.93302326e-01 -7.20525781e-01 1.32092209e-02 1.32034248e+02] [ 7.20396406e-01 -6.93428148e-01 -1.36536160e-02 -1.25501268e+02] [ 1.89974279e-02 4.97915301e-05 9.99819531e-01 -5.09959627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.012691141307305755 Centerline is valid? [True, True] Translation: X:131.99, Y:-125.46, Z:-5.10 [[-6.91969301e-01 -7.21823225e-01 1.22359578e-02 1.31992422e+02] [ 7.21712555e-01 -6.92077470e-01 -1.26397400e-02 -1.25462297e+02] [ 1.75918886e-02 8.45323451e-05 9.99845247e-01 -5.09739831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.01248990329602323 Centerline is valid? [True, True] Translation: X:131.95, Y:-125.42, Z:-5.10 [[-6.91446545e-01 -7.22337592e-01 1.14052109e-02 1.31950830e+02] [ 7.22241621e-01 -6.91540595e-01 -1.17748719e-02 -1.25421718e+02] [ 1.63925989e-02 9.56235335e-05 9.99865628e-01 -5.09624228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.012811489968086332 Centerline is valid? [True, True] Translation: X:131.91, Y:-125.38, Z:-5.10 [[-6.90521132e-01 -7.23233835e-01 1.06482706e-02 1.31910476e+02] [ 7.23150399e-01 -6.90603220e-01 -1.09860905e-02 -1.25383055e+02] [ 1.52992423e-02 1.14173418e-04 9.99882953e-01 -5.09769527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.013172902706934499 Centerline is valid? [True, True] Translation: X:131.87, Y:-125.34, Z:-5.10 [[-6.89235351e-01 -7.24460830e-01 1.05421557e-02 1.31870483e+02] [ 7.24379296e-01 -6.89315955e-01 -1.08697014e-02 -1.25342403e+02] [ 1.51415490e-02 1.44736799e-04 9.99885350e-01 -5.09779745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.01344523566022722 Centerline is valid? [True, True] Translation: X:131.83, Y:-125.30, Z:-5.10 [[-6.89328045e-01 -7.24367741e-01 1.08729973e-02 1.31830971e+02] [ 7.24281108e-01 -6.89413774e-01 -1.12037560e-02 -1.25301513e+02] [ 1.56116335e-02 1.52043353e-04 9.99878120e-01 -5.09913599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.013301129909578895 Centerline is valid? [True, True] Translation: X:131.79, Y:-125.26, Z:-5.10 [[-6.90475098e-01 -7.23282538e-01 1.03203036e-02 1.31792209e+02] [ 7.23204466e-01 -6.90552209e-01 -1.06276259e-02 -1.25259866e+02] [ 1.48134847e-02 1.25578612e-04 9.99890266e-01 -5.09912230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.01294478287048202 Centerline is valid? [True, True] Translation: X:131.75, Y:-125.22, Z:-5.10 [[-6.92477870e-01 -7.21362833e-01 1.04910662e-02 1.31754769e+02] [ 7.21282038e-01 -6.92557330e-01 -1.07966239e-02 -1.25216352e+02] [ 1.50539480e-02 9.05945331e-05 9.99886679e-01 -5.09868602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.012757982446638868 Centerline is valid? [True, True] Translation: X:131.72, Y:-125.17, Z:-5.10 [[-6.97626977e-01 -7.16391945e-01 9.95905576e-03 1.31719044e+02] [ 7.16318709e-01 -6.97698059e-01 -1.02433225e-02 -1.25170123e+02] [ 1.42866476e-02 -1.21601549e-05 9.99897941e-01 -5.09798250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.013673083117433616 Centerline is valid? [True, True] Translation: X:131.68, Y:-125.12, Z:-5.10 [[-7.02719323e-01 -7.11401710e-01 9.65197664e-03 1.31684398e+02] [ 7.11332528e-01 -7.02785598e-01 -9.92160333e-03 -1.25124235e+02] [ 1.38415157e-02 -1.06337433e-04 9.99904196e-01 -5.09826210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.01504178108532546 Centerline is valid? [True, True] Translation: X:131.65, Y:-125.08, Z:-5.10 [[-7.11749929e-01 -7.02368119e-01 9.54276187e-03 1.31651193e+02] [ 7.02299755e-01 -7.11813845e-01 -9.80326099e-03 -1.25076566e+02] [ 1.36781680e-02 -2.75590985e-04 9.99906412e-01 -5.09545653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.017604446189088036 Centerline is valid? [True, True] Translation: X:131.62, Y:-125.03, Z:-5.09 [[-7.17553508e-01 -6.96441794e-01 9.26228635e-03 1.31617121e+02] [ 6.96376970e-01 -7.17613188e-01 -9.50935964e-03 -1.25030001e+02] [ 1.32694543e-02 -3.73431469e-04 9.99911887e-01 -5.09489381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.019965841055351968 Centerline is valid? [True, True] Translation: X:131.58, Y:-124.98, Z:-5.09 [[-7.24840952e-01 -6.88869215e-01 8.04973909e-03 1.31582047e+02] [ 6.88819841e-01 -7.24885515e-01 -8.25934684e-03 -1.24984103e+02] [ 1.15247490e-02 -4.41892829e-04 9.99933490e-01 -5.09317496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.02198878249991363 Centerline is valid? [True, True] Translation: X:131.54, Y:-124.94, Z:-5.09 [[-7.28745141e-01 -6.84738574e-01 7.97519932e-03 1.31544444e+02] [ 6.84689919e-01 -7.28788608e-01 -8.17800248e-03 -1.24940628e+02] [ 1.14120282e-02 -4.99140999e-04 9.99934756e-01 -5.09379421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.023551557346175915 Centerline is valid? [True, True] Translation: X:131.51, Y:-124.90, Z:-5.09 [[-7.29536946e-01 -6.83889262e-01 8.44527271e-03 1.31506085e+02] [ 6.83834705e-01 -7.29585627e-01 -8.65497372e-03 -1.24897839e+02] [ 1.20805932e-02 -5.38952517e-04 9.99926882e-01 -5.09429208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.021190866581682715 Centerline is valid? [True, True] Translation: X:131.46, Y:-124.86, Z:-5.09 [[-7.27814668e-01 -6.85729419e-01 7.80847062e-03 1.31462006e+02] [ 6.85682940e-01 -7.27856405e-01 -7.99749089e-03 -1.24860501e+02] [ 1.11675601e-02 -4.66556090e-04 9.99937532e-01 -5.09316893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.01976759331664567 Centerline is valid? [True, True] Translation: X:131.42, Y:-124.83, Z:-5.09 [[-7.22283971e-01 -6.91567074e-01 6.39120714e-03 1.31417294e+02] [ 6.91536198e-01 -7.22312183e-01 -6.54202297e-03 -1.24825592e+02] [ 9.14069447e-03 -3.05447243e-04 9.99958176e-01 -5.09358517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.017746741048948484 Centerline is valid? [True, True] Translation: X:131.37, Y:-124.79, Z:-5.09 [[-7.20254507e-01 -6.93686405e-01 5.71111263e-03 1.31373051e+02] [ 6.93661844e-01 -7.20277107e-01 -5.84254389e-03 -1.24787924e+02] [ 8.16647695e-03 -2.46537646e-04 9.99966623e-01 -5.09322428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.014682642196500194 Centerline is valid? [True, True] Translation: X:131.32, Y:-124.75, Z:-5.09 [[-7.13212936e-01 -7.00933157e-01 4.47408465e-03 1.31324427e+02] [ 7.00918242e-01 -7.13226958e-01 -4.57433319e-03 -1.24754311e+02] [ 6.39733958e-03 -1.26506059e-04 9.99979529e-01 -5.09334602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.013623186117979842 Centerline is valid? [True, True] Translation: X:131.28, Y:-124.72, Z:-5.09 [[-7.09712875e-01 -7.04483598e-01 3.23969290e-03 1.31278442e+02] [ 7.04475820e-01 -7.09720266e-01 -3.31109256e-03 -1.24717553e+02] [ 4.63188610e-03 -6.76397078e-05 9.99989271e-01 -5.09420223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.012739410001162526 Centerline is valid? [True, True] Translation: X:131.23, Y:-124.68, Z:-5.09 [[-7.06646006e-01 -7.07565715e-01 1.47687848e-03 1.31231398e+02] [ 7.07564107e-01 -7.06647549e-01 -1.50857192e-03 -1.24681908e+02] [ 2.11104633e-03 -2.10401231e-05 9.99997772e-01 -5.09432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.012690528129009978 Centerline is valid? [True, True] Translation: X:131.19, Y:-124.65, Z:-5.10 [[-7.05614978e-01 -7.08593148e-01 1.80388040e-03 1.31188003e+02] [ 7.08590756e-01 -7.05617283e-01 -1.84137052e-03 -1.24645087e+02] [ 2.57763172e-03 -2.10856457e-05 9.99996678e-01 -5.09618023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.012624505921442257 Centerline is valid? [True, True] Translation: X:131.14, Y:-124.61, Z:-5.10 [[-7.06082581e-01 -7.08127539e-01 1.66645228e-03 1.31144375e+02] [ 7.08125499e-01 -7.06084547e-01 -1.70012161e-03 -1.24607015e+02] [ 2.38055914e-03 -2.03689037e-05 9.99997166e-01 -5.09824771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.01269431356380787 Centerline is valid? [True, True] Translation: X:131.10, Y:-124.57, Z:-5.10 [[-7.07086289e-01 -7.07125202e-01 1.71110862e-03 1.31102198e+02] [ 7.07123051e-01 -7.07088359e-01 -1.74468209e-03 -1.24566796e+02] [ 2.44361366e-03 -2.36764408e-05 9.99997014e-01 -5.09928760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.013034235121177242 Centerline is valid? [True, True] Translation: X:131.06, Y:-124.53, Z:-5.10 [[-7.08604602e-01 -7.05604978e-01 1.06434065e-03 1.31060698e+02] [ 7.05604145e-01 -7.08605401e-01 -1.08460860e-03 -1.24525491e+02] [ 1.51950276e-03 -1.75554682e-05 9.99998845e-01 -5.09972125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.013125706146270963 Centerline is valid? [True, True] Translation: X:131.02, Y:-124.48, Z:-5.10 [[-7.09759588e-01 -7.04443556e-01 7.77461701e-04 1.31019518e+02] [ 7.04443111e-01 -7.09760013e-01 -7.91816952e-04 -1.24483978e+02] [ 1.10960158e-03 -1.43221340e-05 9.99999384e-01 -5.10071943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.012980681364140698 Centerline is valid? [True, True] Translation: X:130.98, Y:-124.44, Z:-5.10 [[-7.09189371e-01 -7.05016522e-01 1.46259589e-03 1.30977371e+02] [ 7.05014951e-01 -7.09190879e-01 -1.48875828e-03 -1.24444165e+02] [ 2.08685885e-03 -2.46595786e-05 9.99997822e-01 -5.10183196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.012618030712464857 Centerline is valid? [True, True] Translation: X:130.94, Y:-124.41, Z:-5.10 [[-7.07182252e-01 -7.07030478e-01 1.07979442e-03 1.30935851e+02] [ 7.07029625e-01 -7.07183076e-01 -1.09848679e-03 -1.24405103e+02] [ 1.54027598e-03 -1.33837184e-05 9.99998814e-01 -5.10231810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.012231733835654799 Centerline is valid? [True, True] Translation: X:130.89, Y:-124.37, Z:-5.10 [[-7.05569084e-01 -7.08640820e-01 6.75688237e-04 1.30894139e+02] [ 7.08640487e-01 -7.05569407e-01 -6.86958402e-04 -1.24365712e+02] [ 9.63551715e-04 -5.87656886e-06 9.99999536e-01 -5.10184359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.011982729065516097 Centerline is valid? [True, True] Translation: X:130.85, Y:-124.33, Z:-5.10 [[-7.02384216e-01 -7.11797997e-01 1.60524389e-04 1.30851694e+02] [ 7.11797978e-01 -7.02384234e-01 -1.63097671e-04 -1.24327001e+02] [ 2.28842396e-04 -2.96293743e-07 9.99999974e-01 -5.10155244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.011940870657229322 Centerline is valid? [True, True] Translation: X:130.81, Y:-124.29, Z:-5.10 [[-7.00124268e-01 -7.14021007e-01 1.04853146e-04 1.30810173e+02] [ 7.14020999e-01 -7.00124275e-01 -1.06465954e-04 -1.24287591e+02] [ 1.49429161e-04 3.27950026e-07 9.99999989e-01 -5.10144016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.012515386959296835 Centerline is valid? [True, True] Translation: X:130.77, Y:-124.25, Z:-5.10 [[-6.95446399e-01 -7.18577972e-01 -6.48672119e-05 1.30767169e+02] [ 7.18577969e-01 -6.95446403e-01 6.58305474e-05 -1.24248679e+02] [-9.24160502e-05 -8.30532182e-07 9.99999996e-01 -5.10185160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.01338990420414544 Centerline is valid? [True, True] Translation: X:130.73, Y:-124.21, Z:-5.10 [[-6.92181669e-01 -7.21723288e-01 1.81983713e-04 1.30725034e+02] [ 7.21723264e-01 -6.92181693e-01 -1.84576779e-04 -1.24209067e+02] [ 2.59179155e-04 3.58121647e-06 9.99999966e-01 -5.10221953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.015295205571593772 Centerline is valid? [True, True] Translation: X:130.68, Y:-124.17, Z:-5.10 [[-6.87710727e-01 -7.25984747e-01 3.21868325e-04 1.30682796e+02] [ 7.25984673e-01 -6.87710802e-01 -3.26262733e-04 -1.24170899e+02] [ 4.58214092e-04 9.29708981e-06 9.99999895e-01 -5.10309045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.015964163002401156 Centerline is valid? [True, True] Translation: X:130.64, Y:-124.13, Z:-5.10 [[-6.84769609e-01 -7.28759468e-01 4.69050185e-04 1.30642833e+02] [ 7.28759313e-01 -6.84769770e-01 -4.75183136e-04 -1.24128563e+02] [ 6.67485597e-04 1.64337207e-05 9.99999777e-01 -5.10385267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.018637099990264503 Centerline is valid? [True, True] Translation: X:130.60, Y:-124.09, Z:-5.10 [[-6.83238816e-01 -7.30194540e-01 8.08222277e-04 1.30602139e+02] [ 7.30194083e-01 -6.83239294e-01 -8.18301476e-04 -1.24088424e+02] [ 1.14972849e-03 3.10637930e-05 9.99999339e-01 -5.10415906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.01730022390982045 Centerline is valid? [True, True] Translation: X:130.57, Y:-124.04, Z:-5.10 [[-6.82713281e-01 -7.30686349e-01 1.87358501e-04 1.30565314e+02] [ 7.30686324e-01 -6.82713307e-01 -1.89586370e-04 -1.24042627e+02] [ 2.66440315e-04 7.46716198e-06 9.99999965e-01 -5.10405365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.01731369792097792 Centerline is valid? [True, True] Translation: X:130.53, Y:-124.00, Z:-5.10 [[-6.82330130e-01 -7.31043949e-01 5.81813056e-04 1.30526683e+02] [ 7.31043712e-01 -6.82330378e-01 -5.88398731e-04 -1.23998806e+02] [ 8.27134055e-04 2.38485936e-05 9.99999658e-01 -5.10407191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.01852692685514268 Centerline is valid? [True, True] Translation: X:130.49, Y:-123.96, Z:-5.11 [[-6.81983736e-01 -7.31366024e-01 1.38661997e-03 1.30488182e+02] [ 7.31364684e-01 -6.81985143e-01 -1.40148063e-03 -1.23956144e+02] [ 1.97064954e-03 5.83378823e-05 9.99998057e-01 -5.10512258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.018485397391849352 Centerline is valid? [True, True] Translation: X:130.45, Y:-123.91, Z:-5.11 [[-6.82217657e-01 -7.31146167e-01 2.08566029e-03 1.30450457e+02] [ 7.31143138e-01 -6.82220840e-01 -2.10669583e-03 -1.23912910e+02] [ 2.96318350e-03 8.76911211e-05 9.99995606e-01 -5.10630276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.01780665646897474 Centerline is valid? [True, True] Translation: X:130.41, Y:-123.87, Z:-5.11 [[-6.82739567e-01 -7.30655562e-01 3.02194930e-03 1.30414761e+02] [ 7.30649205e-01 -6.82746244e-01 -3.05048687e-03 -1.23867542e+02] [ 4.29207974e-03 1.25296766e-04 9.99990781e-01 -5.10757602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.01880913341386153 Centerline is valid? [True, True] Translation: X:130.38, Y:-123.82, Z:-5.11 [[-6.83716580e-01 -7.29741063e-01 3.10149970e-03 1.30378491e+02] [ 7.29734367e-01 -6.83723603e-01 -3.12871898e-03 -1.23824394e+02] [ 4.40372327e-03 1.24113875e-04 9.99990296e-01 -5.10821939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.016931376014653245 Centerline is valid? [True, True] Translation: X:130.34, Y:-123.78, Z:-5.11 [[-6.84403124e-01 -7.29098326e-01 2.82769874e-03 1.30343163e+02] [ 7.29092760e-01 -6.84408956e-01 -2.85088508e-03 -1.23777521e+02] [ 4.01387789e-03 1.10500028e-04 9.99991938e-01 -5.10670692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.01728998836545586 Centerline is valid? [True, True] Translation: X:130.31, Y:-123.73, Z:-5.11 [[-6.85089079e-01 -7.28457277e-01 1.71747710e-03 1.30307863e+02] [ 7.28455224e-01 -6.85091229e-01 -1.73070597e-03 -1.23733683e+02] [ 2.43737386e-03 6.54174025e-05 9.99997028e-01 -5.10538804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.017237206265966216 Centerline is valid? [True, True] Translation: X:130.27, Y:-123.69, Z:-5.10 [[-6.85259124e-01 -7.28299219e-01 4.23975309e-04 1.30271691e+02] [ 7.28299094e-01 -6.85259255e-01 -4.26968185e-04 -1.23689580e+02] [ 6.01493600e-04 1.61969888e-05 9.99999819e-01 -5.10391117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.01752444535426388 Centerline is valid? [True, True] Translation: X:130.23, Y:-123.65, Z:-5.10 [[-6.84921764e-01 -7.28616520e-01 3.79465806e-04 1.30232427e+02] [ 7.28616420e-01 -6.84921869e-01 -3.81929269e-04 -1.23646890e+02] [ 5.38184404e-04 1.48933482e-05 9.99999855e-01 -5.10371869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.01783882043918861 Centerline is valid? [True, True] Translation: X:130.19, Y:-123.60, Z:-5.11 [[-6.85003458e-01 -7.28538836e-01 1.19489506e-03 1.30194336e+02] [ 7.28537846e-01 -6.85004498e-01 -1.20189749e-03 -1.23604483e+02] [ 1.69413749e-03 4.72223402e-05 9.99998564e-01 -5.10550975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.01735516234030721 Centerline is valid? [True, True] Translation: X:130.16, Y:-123.56, Z:-5.11 [[-6.85927867e-01 -7.27665042e-01 2.55892304e-03 1.30156385e+02] [ 7.27660502e-01 -6.85932633e-01 -2.57228094e-03 -1.23561534e+02] [ 3.62700774e-03 9.76280423e-05 9.99993418e-01 -5.10728191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.016210187057291044 Centerline is valid? [True, True] Translation: X:130.12, Y:-123.52, Z:-5.11 [[-6.89198476e-01 -7.24562617e-01 3.80459440e-03 1.30118921e+02] [ 7.24552545e-01 -6.89208966e-01 -3.82238762e-03 -1.23516425e+02] [ 5.39171975e-03 1.22244835e-04 9.99985457e-01 -5.10894250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.015255217841001036 Centerline is valid? [True, True] Translation: X:130.08, Y:-123.47, Z:-5.11 [[-6.91108609e-01 -7.22740595e-01 3.86300644e-03 1.30080370e+02] [ 7.22730195e-01 -6.91119396e-01 -3.87887756e-03 -1.23473378e+02] [ 5.47322095e-03 1.11185718e-04 9.99985016e-01 -5.10904993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.014146953770931222 Centerline is valid? [True, True] Translation: X:130.04, Y:-123.43, Z:-5.11 [[-6.95790772e-01 -7.18234556e-01 3.78487323e-03 1.30044160e+02] [ 7.18224516e-01 -6.95801062e-01 -3.79825456e-03 -1.23428271e+02] [ 5.36155649e-03 7.55982740e-05 9.99985624e-01 -5.10877918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.012886496520410302 Centerline is valid? [True, True] Translation: X:130.01, Y:-123.38, Z:-5.11 [[-7.02486017e-01 -7.11690928e-01 3.06899764e-03 1.30009642e+02] [ 7.11684271e-01 -7.02492720e-01 -3.07830907e-03 -1.23382253e+02] [ 4.34675314e-03 2.16882751e-05 9.99990553e-01 -5.10764111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.012744000837896058 Centerline is valid? [True, True] Translation: X:129.97, Y:-123.34, Z:-5.11 [[-7.07137918e-01 -7.07069676e-01 2.90492367e-03 1.29971990e+02] [ 7.07063680e-01 -7.07143884e-01 -2.91192148e-03 -1.23339184e+02] [ 4.11313039e-03 -5.16406701e-06 9.99991541e-01 -5.10677182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.013056259967527836 Centerline is valid? [True, True] Translation: X:129.93, Y:-123.30, Z:-5.11 [[-7.10206908e-01 -7.03982050e-01 3.92685586e-03 1.29933312e+02] [ 7.03971055e-01 -7.10217764e-01 -3.93474133e-03 -1.23297347e+02] [ 5.55891006e-03 -3.00876172e-05 9.99984549e-01 -5.10809292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.013324778796023501 Centerline is valid? [True, True] Translation: X:129.89, Y:-123.26, Z:-5.11 [[-7.12434864e-01 -7.01726154e-01 4.11940205e-03 1.29892329e+02] [ 7.01714030e-01 -7.12446771e-01 -4.12536401e-03 -1.23255908e+02] [ 5.82973052e-03 -4.84109357e-05 9.99983006e-01 -5.10768298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.013928687678427604 Centerline is valid? [True, True] Translation: X:129.85, Y:-123.22, Z:-5.11 [[-7.15460304e-01 -6.98637462e-01 4.71698844e-03 1.29850621e+02] [ 6.98621514e-01 -7.15475849e-01 -4.72120294e-03 -1.23215206e+02] [ 6.67330055e-03 -8.24436846e-05 9.99977730e-01 -5.10821727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.014761628517412148 Centerline is valid? [True, True] Translation: X:129.81, Y:-123.17, Z:-5.11 [[-7.18249669e-01 -6.95767114e-01 5.05331111e-03 1.29810019e+02] [ 6.95748760e-01 -7.18267436e-01 -5.05504062e-03 -1.23173924e+02] [ 7.14675984e-03 -1.14946308e-04 9.99974455e-01 -5.10789673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.015992503275960256 Centerline is valid? [True, True] Translation: X:129.77, Y:-123.13, Z:-5.11 [[-7.22192271e-01 -6.91679383e-01 4.23740195e-03 1.29768327e+02] [ 6.91666420e-01 -7.22204690e-01 -4.23650619e-03 -1.23133616e+02] [ 5.99057555e-03 -1.28703387e-04 9.99982048e-01 -5.10689109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.016333340608851596 Centerline is valid? [True, True] Translation: X:129.24, Y:-123.67, Z:-4.14 [[-7.40430341e-01 6.72118692e-01 4.40169744e-03 1.29236697e+02] [ 6.72107859e-01 7.40443413e-01 -3.81830190e-03 -1.23671089e+02] [-5.82555995e-03 1.31228858e-04 -9.99983023e-01 -4.14452491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.015387275271254462 Centerline is valid? [True, True] Translation: X:129.26, Y:-123.65, Z:-4.14 [[-7.87555437e-01 6.16226926e-01 4.56174899e-03 1.29258337e+02] [ 6.16217427e-01 7.87568640e-01 -3.42347791e-03 -1.23646862e+02] [-5.70232972e-03 1.14850580e-04 -9.99983735e-01 -4.14442904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.013919961596231099 Centerline is valid? [True, True] Translation: X:129.28, Y:-123.62, Z:-4.14 [[-8.33401453e-01 5.52647886e-01 4.72574511e-03 1.29278912e+02] [ 5.52639481e-01 8.33414848e-01 -3.04881317e-03 -1.23615665e+02] [-5.62342630e-03 7.07479977e-05 -9.99984186e-01 -4.14346440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.012746763962728076 Centerline is valid? [True, True] Translation: X:129.29, Y:-123.58, Z:-4.14 [[-8.74302697e-01 4.85357251e-01 4.80961964e-03 1.29292159e+02] [ 4.85350066e-01 8.74315926e-01 -2.64108218e-03 -1.23579422e+02] [-5.48699543e-03 2.52439333e-05 -9.99984946e-01 -4.14325136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.012527569369725067 Centerline is valid? [True, True] Translation: X:129.31, Y:-123.55, Z:-4.14 [[-9.08360207e-01 4.18156834e-01 5.15721579e-03 1.29306662e+02] [ 4.18150098e-01 9.08374847e-01 -2.37345991e-03 -1.23549965e+02] [-5.67716359e-03 5.33753173e-07 -9.99983885e-01 -4.14291779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.012649286717266077 Centerline is valid? [True, True] Translation: X:129.32, Y:-123.52, Z:-4.14 [[-9.37465340e-01 3.48043519e-01 4.94423835e-03 1.29320259e+02] [ 3.48038531e-01 9.37478377e-01 -1.86355952e-03 -1.23518863e+02] [-5.28371636e-03 -2.62370074e-05 -9.99986041e-01 -4.14379549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.012910637142069314 Centerline is valid? [True, True] Translation: X:129.33, Y:-123.49, Z:-4.14 [[-9.60874166e-01 2.76967325e-01 3.15233226e-03 1.29325467e+02] [ 2.76965734e-01 9.60879337e-01 -9.39354524e-04 -1.23485623e+02] [-3.28918144e-03 -2.95134769e-05 -9.99994590e-01 -4.14449597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.013466531806584827 Centerline is valid? [True, True] Translation: X:129.52, Y:-122.86, Z:-5.11 [[-9.32959460e-01 -3.59972453e-01 2.54544618e-03 1.29515121e+02] [ 3.59971080e-01 -9.32962932e-01 -9.94251320e-04 -1.22855153e+02] [ 2.73271001e-03 -1.13091652e-05 9.99996266e-01 -5.10631776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.013910276130007474 Centerline is valid? [True, True] Translation: X:129.28, Y:-123.47, Z:-4.14 [[-9.63530963e-01 2.67586709e-01 2.33139645e-03 1.29280925e+02] [ 2.67585835e-01 9.63533783e-01 -6.85253314e-04 -1.23467624e+02] [-2.42974392e-03 -3.64141204e-05 -9.99997048e-01 -4.14486926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.014532187619792379 Centerline is valid? [True, True] Translation: X:129.46, Y:-122.84, Z:-5.11 [[-9.31974760e-01 -3.62506662e-01 3.45943106e-03 1.29458347e+02] [ 3.62504696e-01 -9.31981170e-01 -1.20145560e-03 -1.22843315e+02] [ 3.65966027e-03 1.34333710e-04 9.99993294e-01 -5.10737524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.014668345106138346 Centerline is valid? [True, True] Translation: X:129.23, Y:-123.45, Z:-4.14 [[-9.65641892e-01 2.59839774e-01 4.36218126e-03 1.29233038e+02] [ 2.59836710e-01 9.65651741e-01 -1.26491480e-03 -1.23450735e+02] [-4.54102310e-03 -8.79998900e-05 -9.99989686e-01 -4.14275471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.015138541426835163 Centerline is valid? [True, True] Translation: X:129.24, Y:-123.43, Z:-4.14 [[-9.81623030e-01 1.90718236e-01 6.54073582e-03 1.29243172e+02] [ 1.90713105e-01 9.81644812e-01 -1.40521850e-03 -1.23425758e+02] [-6.68868018e-03 -1.31990800e-04 -9.99977622e-01 -4.14064279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.014886630729309873 Centerline is valid? [True, True] Translation: X:129.24, Y:-123.40, Z:-4.14 [[-9.92425960e-01 1.22649319e-01 6.91794971e-03 1.29244126e+02] [ 1.22645469e-01 9.92450064e-01 -9.79658247e-04 -1.23401752e+02] [-6.98587405e-03 -1.23783091e-04 -9.99975591e-01 -4.13988141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.013924278652919142 Centerline is valid? [True, True] Translation: X:129.34, Y:-122.75, Z:-5.11 [[-9.75490608e-01 -2.19979623e-01 5.19997272e-03 1.29343650e+02] [ 2.19976475e-01 -9.75504467e-01 -1.17697120e-03 -1.22752667e+02] [ 5.33150630e-03 -4.25267876e-06 9.99985787e-01 -5.10954968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.013300545111310133 Centerline is valid? [True, True] Translation: X:129.20, Y:-123.41, Z:-4.14 [[-9.92107482e-01 1.25341603e-01 3.49675825e-03 1.29199467e+02] [ 1.25340686e-01 9.92113643e-01 -4.81035874e-04 -1.23408176e+02] [-3.52947537e-03 -3.89532113e-05 -9.99993771e-01 -4.14337234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.013042219391378177 Centerline is valid? [True, True] Translation: X:129.30, Y:-122.74, Z:-5.11 [[-9.77624654e-01 -2.10353796e-01 1.14715835e-03 1.29299433e+02] [ 2.10353497e-01 -9.77625319e-01 -3.76991448e-04 -1.22736222e+02] [ 1.20079263e-03 -1.27247363e-04 9.99999271e-01 -5.10687522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.013078831265338499 Centerline is valid? [True, True] Translation: X:129.15, Y:-123.41, Z:-4.14 [[-9.92193561e-01 1.24704716e-01 8.19196730e-04 1.29149364e+02] [ 1.24704669e-01 9.92193899e-01 -1.08883995e-04 -1.23409796e+02] [-8.26380345e-04 -5.87634202e-06 -9.99999659e-01 -4.14392162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.013644496239432797 Centerline is valid? [True, True] Translation: X:129.15, Y:-123.38, Z:-4.14 [[-9.98720014e-01 5.04901678e-02 3.01279831e-03 1.29152825e+02] [ 5.04898361e-02 9.98724558e-01 -1.86112370e-04 -1.23382991e+02] [-3.01835251e-03 -3.37584561e-05 -9.99995444e-01 -4.14114144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.014298335417341634 Centerline is valid? [True, True] Translation: X:129.19, Y:-122.69, Z:-5.11 [[-9.89530799e-01 -1.44211086e-01 5.65333435e-03 1.29194160e+02] [ 1.44210144e-01 -9.89546918e-01 -5.76138999e-04 -1.22694155e+02] [ 5.67732521e-03 2.45160875e-04 9.99983854e-01 -5.11264002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.014776079507578999 Centerline is valid? [True, True] Translation: X:129.09, Y:-123.38, Z:-4.14 [[-9.99148144e-01 4.08644497e-02 5.75174011e-03 1.29094037e+02] [ 4.08632086e-02 9.99164695e-01 -3.33181291e-04 -1.23383053e+02] [-5.76055092e-03 -9.78629131e-05 -9.99983403e-01 -4.13801227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.014779164760678542 Centerline is valid? [True, True] Translation: X:129.14, Y:-122.69, Z:-5.11 [[-9.89951793e-01 -1.41358773e-01 3.62547418e-03 1.29139680e+02] [ 1.41357562e-01 -9.89958430e-01 -5.89343016e-04 -1.22686558e+02] [ 3.67237753e-03 -7.09329838e-05 9.99993254e-01 -5.11200239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.014768082440029634 Centerline is valid? [True, True] Translation: X:129.04, Y:-123.39, Z:-4.14 [[-9.99292537e-01 3.75209306e-02 2.57022839e-03 1.29039707e+02] [ 3.75207001e-02 9.99295841e-01 -1.37854624e-04 -1.23388326e+02] [-2.57359097e-03 -4.13203284e-05 -9.99996688e-01 -4.14011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.014757308036492412 Centerline is valid? [True, True] Translation: X:129.04, Y:-123.36, Z:-4.14 [[-9.99428015e-01 -3.36296751e-02 3.56189712e-03 1.29041042e+02] [-3.36296670e-02 9.99434361e-01 6.21702311e-05 -1.23364165e+02] [-3.56197313e-03 -5.76507433e-05 -9.99993655e-01 -4.13899555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.014473547470859062 Centerline is valid? [True, True] Translation: X:129.03, Y:-122.65, Z:-5.11 [[-9.97807603e-01 -6.60905524e-02 3.46785085e-03 1.29031212e+02] [ 6.60903286e-02 -9.97813628e-01 -1.79214351e-04 -1.22645406e+02] [ 3.47211322e-03 5.03699600e-05 9.99993971e-01 -5.11279978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.014131043216838543 Centerline is valid? [True, True] Translation: X:128.97, Y:-123.37, Z:-4.14 [[-9.99338810e-01 -3.60956962e-02 4.36380157e-03 1.28972246e+02] [-3.60956197e-02 9.99348336e-01 9.63129759e-05 -1.23370984e+02] [-4.36443432e-03 -6.12648269e-05 -9.99990474e-01 -4.13773886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.013721447201028285 Centerline is valid? [True, True] Translation: X:128.97, Y:-123.35, Z:-4.14 [[-9.94673333e-01 -1.02971009e-01 4.68316472e-03 1.28971869e+02] [-1.02970089e-01 9.94684357e-01 4.37752469e-04 -1.23345251e+02] [-4.70334650e-03 -4.68051789e-05 -9.99988938e-01 -4.13687015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.013111723633903675 Centerline is valid? [True, True] Translation: X:128.97, Y:-123.32, Z:-4.14 [[-9.85138691e-01 -1.71711909e-01 4.09633146e-03 1.28965264e+02] [-1.71710567e-01 9.85147207e-01 6.79844917e-04 -1.23319843e+02] [-4.15222696e-03 -3.36418641e-05 -9.99991379e-01 -4.13691281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.012969659072220474 Centerline is valid? [True, True] Translation: X:128.95, Y:-123.30, Z:-4.14 [[-9.70646909e-01 -2.40475446e-01 4.01727007e-03 1.28952248e+02] [-2.40473511e-01 9.70655222e-01 9.65193395e-04 -1.23295792e+02] [-4.13148948e-03 -2.91850521e-05 -9.99991465e-01 -4.13679401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.012660041021589342 Centerline is valid? [True, True] Translation: X:128.93, Y:-123.28, Z:-4.14 [[-9.51852681e-01 -3.06526849e-01 4.21478411e-03 1.28932332e+02] [-3.06523921e-01 9.51862012e-01 1.33975648e-03 -1.23275542e+02] [-4.42256422e-03 -1.66813584e-05 -9.99990220e-01 -4.13591230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.012589206114002877 Centerline is valid? [True, True] Translation: X:128.89, Y:-123.26, Z:-4.14 [[-9.28813973e-01 -3.70532134e-01 3.24678045e-03 1.28891831e+02] [-3.70529857e-01 9.28819648e-01 1.29898593e-03 -1.23263495e+02] [-3.49698950e-03 3.48719050e-06 -9.99993886e-01 -4.13643077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.013032749636388551 Centerline is valid? [True, True] Translation: X:128.84, Y:-123.26, Z:-4.14 [[-9.01296526e-01 -4.33194058e-01 2.73501442e-03 1.28835313e+02] [-4.33191999e-01 9.01300676e-01 1.33565883e-03 -1.23261990e+02] [-3.04366981e-03 1.90382955e-05 -9.99995368e-01 -4.13762807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.013163110538905762 Centerline is valid? [True, True] Translation: X:128.78, Y:-123.26, Z:-4.14 [[-8.68315561e-01 -4.96002076e-01 3.16649141e-03 1.28775407e+02] [-4.95998639e-01 8.68321334e-01 1.84690370e-03 -1.23264164e+02] [-3.66560011e-03 3.31197902e-05 -9.99993281e-01 -4.13651672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.014137424846121495 Centerline is valid? [True, True] Translation: X:128.70, Y:-123.28, Z:-4.13 [[-8.30974882e-01 -5.56288096e-01 4.92954318e-03 1.28698564e+02] [-5.56277762e-01 8.30989500e-01 3.39158067e-03 -1.23282774e+02] [-5.98309457e-03 7.61230955e-05 -9.99982098e-01 -4.13360143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.014476830875748132 Centerline is valid? [True, True] Translation: X:128.62, Y:-123.31, Z:-4.13 [[-7.88072139e-01 -6.15561523e-01 5.12988073e-03 1.28616895e+02] [-6.15547680e-01 7.88088829e-01 4.12924762e-03 -1.23308121e+02] [-6.58460765e-03 9.64588230e-05 -9.99978317e-01 -4.13275080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.014357580793679468 Centerline is valid? [True, True] Translation: X:128.53, Y:-123.35, Z:-4.13 [[-7.38956236e-01 -6.73737727e-01 4.59973084e-03 1.28528512e+02] [-6.73723933e-01 7.38970546e-01 4.31210371e-03 -1.23345952e+02] [-6.30429256e-03 8.75071721e-05 -9.99980124e-01 -4.13300055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.013194643758910447 Centerline is valid? [True, True] Translation: X:128.44, Y:-123.39, Z:-4.13 [[-6.81148444e-01 -7.32137555e-01 3.37602148e-03 1.28436363e+02] [-7.32128298e-01 6.81156809e-01 3.68179427e-03 -1.23389439e+02] [-4.99517988e-03 3.61675809e-05 -9.99987523e-01 -4.13463146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.013314171319739353 Centerline is valid? [True, True] Translation: X:128.34, Y:-123.44, Z:-4.13 [[-6.14310772e-01 -7.89060484e-01 2.41424494e-03 1.28343365e+02] [-7.89054511e-01 6.14315516e-01 3.07000762e-03 -1.23438060e+02] [-3.90552982e-03 -1.90321065e-05 -9.99992373e-01 -4.13434198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.013314171319739353 Centerline is valid? [True, True] Translation: X:128.26, Y:-123.50, Z:-4.13 [[-5.52631083e-01 -8.33423157e-01 2.17420646e-03 1.28262416e+02] [-8.33416842e-01 5.52635359e-01 3.24445877e-03 -1.23503245e+02] [-3.90555044e-03 -1.90315142e-05 -9.99992373e-01 -4.13434106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.014207898248937345 Centerline is valid? [True, True] Translation: X:128.18, Y:-123.58, Z:-4.14 [[-4.80357250e-01 -8.77071968e-01 1.29417035e-03 1.28175674e+02] [-8.77068978e-01 4.80358992e-01 2.29032694e-03 -1.23579237e+02] [-2.63044792e-03 -3.49015222e-05 -9.99996540e-01 -4.13568862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.01521771739877101 Centerline is valid? [True, True] Translation: X:128.10, Y:-123.66, Z:-4.14 [[-4.08589876e-01 -9.12717462e-01 1.07119154e-03 1.28101494e+02] [-9.12714598e-01 4.08591278e-01 2.28689241e-03 -1.23657645e+02] [-2.52496616e-03 -4.32910641e-05 -9.99996811e-01 -4.13585048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.016071097730305135 Centerline is valid? [True, True] Translation: X:128.03, Y:-123.75, Z:-4.14 [[-3.33116256e-01 -9.42885047e-01 1.16123516e-03 1.28029724e+02] [-9.42880056e-01 3.33118272e-01 3.06867012e-03 -1.23747997e+02] [-3.28023182e-03 -7.26815731e-05 -9.99994617e-01 -4.13501736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.016846924396686523 Centerline is valid? [True, True] Translation: X:127.97, Y:-123.84, Z:-4.13 [[-2.57294468e-01 -9.66331334e-01 1.81905995e-03 1.27966745e+02] [-9.66311444e-01 2.57300847e-01 6.20225241e-03 -1.23843547e+02] [-6.46147651e-03 -1.61973209e-04 -9.99979111e-01 -4.13213734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.016829287245800763 Centerline is valid? [True, True] Translation: X:127.91, Y:-123.94, Z:-4.13 [[-1.83621614e-01 -9.82995646e-01 1.63151621e-03 1.27913875e+02] [-9.82965489e-01 1.83628765e-01 7.70219523e-03 -1.23943979e+02] [-7.87081769e-03 -1.89434611e-04 -9.99969007e-01 -4.13016413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.014578722618940219 Centerline is valid? [True, True] Translation: X:127.88, Y:-124.05, Z:-4.13 [[-1.16963553e-01 -9.93135694e-01 1.01044951e-03 1.27879052e+02] [-9.93106483e-01 1.16967864e-01 7.61791032e-03 -1.24047269e+02] [-7.68380877e-03 -1.12466096e-04 -9.99970473e-01 -4.13102992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.01300710300208249 Centerline is valid? [True, True] Translation: X:127.85, Y:-124.15, Z:-4.13 [[-5.09239375e-02 -9.98702485e-01 3.14985017e-04 1.27853584e+02] [-9.98686032e-01 5.09249066e-02 5.73274574e-03 -1.24153791e+02] [-5.74134800e-03 -2.26371505e-05 -9.99983518e-01 -4.13264560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.013366745509820137 Centerline is valid? [True, True] Translation: X:127.83, Y:-124.27, Z:-4.13 [[ 1.64505283e-02 -9.99864673e-01 -1.28909988e-04 1.27834695e+02] [-9.99847821e-01 -1.64509995e-02 5.80518971e-03 -1.24268170e+02] [-5.80652481e-03 3.33919323e-05 -9.99983141e-01 -4.13308089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.013442272025666939 Centerline is valid? [True, True] Translation: X:127.82, Y:-124.39, Z:-4.13 [[ 9.11554007e-02 -9.95836475e-01 -6.38072517e-04 1.27816568e+02] [-9.95815873e-01 -9.11576194e-02 6.40588503e-03 -1.24385145e+02] [-6.43737914e-03 5.14717240e-05 -9.99979279e-01 -4.13295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.01358353467347761 Centerline is valid? [True, True] Translation: X:127.81, Y:-124.51, Z:-4.13 [[ 1.67251819e-01 -9.85913055e-01 -1.50895634e-03 1.27805981e+02] [-9.85876707e-01 -1.67258610e-01 8.46614974e-03 -1.24508055e+02] [-8.59927349e-03 7.16659650e-05 -9.99963023e-01 -4.13137363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.013173132299216085 Centerline is valid? [True, True] Translation: X:127.80, Y:-124.63, Z:-4.13 [[ 2.46103655e-01 -9.69239672e-01 -2.72922308e-03 1.27801465e+02] [-9.69182371e-01 -2.46118782e-01 1.05392572e-02 -1.24630145e+02] [-1.08867792e-02 5.13651846e-05 -9.99940736e-01 -4.13051404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.013191776333451827 Centerline is valid? [True, True] Translation: X:127.81, Y:-124.75, Z:-4.13 [[ 3.21486293e-01 -9.46907057e-01 -3.68645154e-03 1.27808661e+02] [-9.46846056e-01 -3.21507426e-01 1.07481022e-02 -1.24752852e+02] [-1.13626753e-02 3.51345756e-05 -9.99935442e-01 -4.13086345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.012720043782148225 Centerline is valid? [True, True] Translation: X:127.82, Y:-124.87, Z:-4.13 [[ 3.96165482e-01 -9.18171708e-01 -3.69131588e-03 1.27820765e+02] [-9.18131846e-01 -3.96182679e-01 8.55558329e-03 -1.24872116e+02] [-9.31792994e-03 -3.12117954e-07 -9.99956587e-01 -4.13209747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.012757930904098932 Centerline is valid? [True, True] Translation: X:127.84, Y:-124.99, Z:-4.13 [[ 4.68715254e-01 -8.83344231e-01 -2.99667552e-03 1.27839624e+02] [-8.83325844e-01 -4.68724833e-01 5.69947182e-03 -1.24989188e+02] [-6.43921179e-03 -2.43884524e-05 -9.99979268e-01 -4.13293862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.012914348386445913 Centerline is valid? [True, True] Translation: X:127.87, Y:-125.11, Z:-4.13 [[ 5.36767930e-01 -8.43724216e-01 -3.10439570e-03 1.27872952e+02] [-8.43709732e-01 -5.36776906e-01 4.94394907e-03 -1.25106671e+02] [-5.83769747e-03 -3.45444444e-05 -9.99982960e-01 -4.13304752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.013210951354316117 Centerline is valid? [True, True] Translation: X:127.91, Y:-125.21, Z:-4.13 [[ 6.02354043e-01 -7.98220518e-01 -3.68922277e-03 1.27908150e+02] [-7.98204964e-01 -6.02365338e-01 4.98341327e-03 -1.25213050e+02] [-6.20012265e-03 -5.70232070e-05 -9.99980777e-01 -4.13268707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.013217544616589628 Centerline is valid? [True, True] Translation: X:127.96, Y:-125.32, Z:-4.13 [[ 6.62324088e-01 -7.49209455e-01 -3.46332876e-03 1.27956944e+02] [-7.49198781e-01 -6.62333141e-01 3.99958282e-03 -1.25319178e+02] [-5.29040268e-03 -5.42983583e-05 -9.99986004e-01 -4.13258517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.013641841004998793 Centerline is valid? [True, True] Translation: X:128.00, Y:-125.41, Z:-4.13 [[ 7.19000987e-01 -6.94996114e-01 -4.24056854e-03 1.28002832e+02] [-6.94983414e-01 -7.19013488e-01 4.20220473e-03 -1.25413810e+02] [-5.96954193e-03 -7.42645520e-05 -9.99982179e-01 -4.13205701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.013205740856023987 Centerline is valid? [True, True] Translation: X:128.02, Y:-125.44, Z:-4.13 [[ 7.69847569e-01 -6.38213298e-01 -4.30188710e-03 1.28021673e+02] [-6.38202906e-01 -7.69859586e-01 3.64253027e-03 -1.25442408e+02] [-5.63656028e-03 -5.87162227e-05 -9.99984113e-01 -4.13118859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.012534992339647636 Centerline is valid? [True, True] Translation: X:128.05, Y:-125.47, Z:-4.13 [[ 8.13233322e-01 -5.81923279e-01 -4.10629613e-03 1.28045467e+02] [-5.81915760e-01 -8.13243688e-01 2.95834107e-03 -1.25466467e+02] [-5.06094695e-03 -1.63031064e-05 -9.99987193e-01 -4.13078503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.012557704016497273 Centerline is valid? [True, True] Translation: X:128.07, Y:-125.49, Z:-4.13 [[ 8.52685109e-01 -5.22409660e-01 -4.03152722e-03 1.28070645e+02] [-5.22403916e-01 -8.52694639e-01 2.44983135e-03 -1.25487421e+02] [-4.71747721e-03 1.71508923e-05 -9.99988873e-01 -4.13061411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.01355065344495211 Centerline is valid? [True, True] Translation: X:128.10, Y:-125.50, Z:-4.13 [[ 8.86953474e-01 -4.61835843e-01 -4.60304164e-03 1.28098485e+02] [-4.61829993e-01 -8.86965416e-01 2.32551329e-03 -1.25504192e+02] [-5.15674414e-03 6.32006006e-05 -9.99986702e-01 -4.13023287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.014443693922083913 Centerline is valid? [True, True] Translation: X:128.13, Y:-125.52, Z:-4.13 [[ 9.18642051e-01 -3.95033472e-01 -6.73344187e-03 1.28125521e+02] [-3.95023817e-01 -9.18666720e-01 2.76440794e-03 -1.25523376e+02] [-7.27782262e-03 1.20368528e-04 -9.99973509e-01 -4.12732548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.014867464474506752 Centerline is valid? [True, True] Translation: X:128.15, Y:-125.54, Z:-4.13 [[ 9.46718277e-01 -3.21952913e-01 -8.41583492e-03 1.28152764e+02] [-3.21941557e-01 -9.46755671e-01 2.70795444e-03 -1.25540078e+02] [-8.83957326e-03 1.45737036e-04 -9.99960920e-01 -4.12546256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.014071514933199511 Centerline is valid? [True, True] Translation: X:128.18, Y:-125.56, Z:-4.13 [[ 9.69815755e-01 -2.43707042e-01 -8.01744513e-03 1.28181943e+02] [-2.43699636e-01 -9.69848888e-01 1.90297613e-03 -1.25557904e+02] [-8.23947892e-03 1.08312233e-04 -9.99966049e-01 -4.12674135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.014025588875311138 Centerline is valid? [True, True] Translation: X:128.21, Y:-125.57, Z:-4.13 [[ 9.86191124e-01 -1.65468219e-01 -6.88013515e-03 1.28211059e+02] [-1.65464759e-01 -9.86215120e-01 1.07308012e-03 -1.25569273e+02] [-6.96285397e-03 8.01578132e-05 -9.99975756e-01 -4.12693602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.012971906823965184 Centerline is valid? [True, True] Translation: X:128.24, Y:-125.58, Z:-4.13 [[ 9.96441159e-01 -8.40994892e-02 -5.68266622e-03 1.28238713e+02] [-8.40983768e-02 -9.96457362e-01 4.34858468e-04 -1.25583748e+02] [-5.69910597e-03 4.45921293e-05 -9.99983759e-01 -4.12791973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.01258416735139866 Centerline is valid? [True, True] Translation: X:128.27, Y:-125.59, Z:-4.13 [[ 9.99981241e-01 -2.32783723e-03 -5.66561777e-03 1.28267506e+02] [-2.32793975e-03 -9.99997290e-01 -1.15003351e-05 -1.25594704e+02] [-5.66557565e-03 2.46893362e-05 -9.99983950e-01 -4.12807623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.012595304450807416 Centerline is valid? [True, True] Translation: X:128.30, Y:-125.61, Z:-4.13 [[ 9.96458935e-01 8.38854941e-02 -5.72841843e-03 1.28297185e+02] [ 8.38842263e-02 -9.96475400e-01 -4.61646687e-04 -1.25607616e+02] [-5.74695351e-03 -2.05119817e-05 -9.99983486e-01 -4.12800724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.013807955393801695 Centerline is valid? [True, True] Translation: X:128.33, Y:-125.62, Z:-4.13 [[ 9.85201931e-01 1.71289938e-01 -6.07546401e-03 1.28329169e+02] [ 1.71287194e-01 -9.85220661e-01 -9.73088104e-04 -1.25620760e+02] [-6.15235286e-03 -8.19609022e-05 -9.99981071e-01 -4.12755208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.015515249260734332 Centerline is valid? [True, True] Translation: X:128.36, Y:-125.63, Z:-4.13 [[ 9.66875305e-01 2.55139311e-01 -7.48848686e-03 1.28361590e+02] [ 2.55132939e-01 -9.66904290e-01 -1.81029398e-03 -1.25628316e+02] [-7.70252724e-03 -1.60231114e-04 -9.99970322e-01 -4.12655272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.01704999844208226 Centerline is valid? [True, True] Translation: X:128.39, Y:-125.63, Z:-4.13 [[ 9.42952792e-01 3.32856158e-01 -6.84181324e-03 1.28393264e+02] [ 3.32848708e-01 -9.42977597e-01 -2.23357165e-03 -1.25629149e+02] [-7.19513469e-03 -1.71136077e-04 -9.99974100e-01 -4.12656504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.016687367582783403 Centerline is valid? [True, True] Translation: X:128.43, Y:-125.62, Z:-4.13 [[ 9.13824247e-01 4.06065872e-01 -5.97940388e-03 1.28425188e+02] [ 4.06058296e-01 -9.13843796e-01 -2.48533562e-03 -1.25624571e+02] [-6.47345111e-03 -1.56826597e-04 -9.99979035e-01 -4.12723733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.018325531416691025 Centerline is valid? [True, True] Translation: X:128.46, Y:-125.62, Z:-4.13 [[ 8.79474050e-01 4.75909793e-01 -5.93837607e-03 1.28456271e+02] [ 4.75900150e-01 -8.79494084e-01 -3.03355494e-03 -1.25620244e+02] [-6.66646512e-03 -1.58141216e-04 -9.99977766e-01 -4.12606662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.015701754508868262 Centerline is valid? [True, True] Translation: X:128.48, Y:-125.61, Z:-4.13 [[ 8.41368288e-01 5.40418402e-01 -6.88148715e-03 1.28484460e+02] [ 5.40401914e-01 -8.41396413e-01 -4.22461929e-03 -1.25605971e+02] [-8.07312061e-03 -1.64308130e-04 -9.99967398e-01 -4.12539012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.015715087449843748 Centerline is valid? [True, True] Translation: X:128.51, Y:-125.59, Z:-4.12 [[ 7.99045741e-01 6.01223242e-01 -7.51778172e-03 1.28512192e+02] [ 6.01198385e-01 -7.99081092e-01 -5.46909284e-03 -1.25592853e+02] [-9.29546295e-03 -1.49622892e-04 -9.99956785e-01 -4.12354689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.013376321417818623 Centerline is valid? [True, True] Translation: X:128.53, Y:-125.57, Z:-4.13 [[ 7.56123659e-01 6.54393424e-01 -6.80132073e-03 1.28533657e+02] [ 6.54367597e-01 -7.56154246e-01 -5.81422125e-03 -1.25571969e+02] [-8.94763570e-03 -5.42936495e-05 -9.99959968e-01 -4.12536364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.013502292502575732 Centerline is valid? [True, True] Translation: X:128.55, Y:-125.55, Z:-4.13 [[ 7.11708385e-01 7.02449398e-01 -6.00161457e-03 1.28553278e+02] [ 7.02423733e-01 -7.11733687e-01 -6.00491153e-03 -1.25550126e+02] [-8.48969775e-03 5.80693698e-05 -9.99963960e-01 -4.12605240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.016473655148682265 Centerline is valid? [True, True] Translation: X:128.57, Y:-125.53, Z:-4.13 [[ 6.65962520e-01 7.45958511e-01 -6.31042788e-03 1.28569087e+02] [ 7.45921938e-01 -6.65992383e-01 -7.38977190e-03 -1.25526343e+02] [-9.71516014e-03 2.14224529e-04 -9.99952784e-01 -4.12570730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.01884224615744364 Centerline is valid? [True, True] Translation: X:128.59, Y:-125.51, Z:-4.13 [[ 6.13915389e-01 7.89346649e-01 -6.30574899e-03 1.28588427e+02] [ 7.89299021e-01 -6.13947673e-01 -8.67821564e-03 -1.25506665e+02] [-1.07215203e-02 3.50568635e-04 -9.99942461e-01 -4.12607907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.02326366404198433 Centerline is valid? [True, True] Translation: X:128.60, Y:-125.49, Z:-4.13 [[ 5.60354821e-01 8.28235618e-01 -5.31364152e-03 1.28603522e+02] [ 8.28190386e-01 -5.60379829e-01 -8.66792502e-03 -1.25485929e+02] [-1.01567418e-02 4.56406752e-04 -9.99948315e-01 -4.12758085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.026673294376196782 Centerline is valid? [True, True] Translation: X:128.62, Y:-125.47, Z:-4.13 [[ 5.00308062e-01 8.65835980e-01 -4.46079920e-03 1.28617946e+02] [ 8.65791934e-01 -5.00327683e-01 -8.74854924e-03 -1.25465815e+02] [-9.80667004e-03 5.14845752e-04 -9.99951781e-01 -4.12913154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.027066036621460114 Centerline is valid? [True, True] Translation: X:128.64, Y:-125.45, Z:-4.13 [[ 4.32403086e-01 9.01671144e-01 -4.08890688e-03 1.28638738e+02] [ 9.01617432e-01 -4.32422034e-01 -9.85856725e-03 -1.25446809e+02] [-1.06573190e-02 5.76245184e-04 -9.99943043e-01 -4.12904580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.0244009220882694 Centerline is valid? [True, True] Translation: X:128.67, Y:-125.43, Z:-4.13 [[ 3.54527664e-01 9.35040301e-01 -3.12603603e-03 1.28666830e+02] [ 9.34991129e-01 -3.54541119e-01 -9.60122774e-03 -1.25429184e+02] [-1.00858432e-02 4.81084882e-04 -9.99949021e-01 -4.12953852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.02218569942290715 Centerline is valid? [True, True] Translation: X:128.69, Y:-125.41, Z:-4.13 [[ 2.73730246e-01 9.61803910e-01 -2.23425064e-03 1.28690533e+02] [ 9.61759245e-01 -2.73739085e-01 -9.27724302e-03 -1.25407329e+02] [-9.53449033e-03 3.90650803e-04 -9.99954469e-01 -4.13015990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.020370722467885145 Centerline is valid? [True, True] Translation: X:128.71, Y:-125.38, Z:-4.13 [[ 1.90441517e-01 9.81697376e-01 -1.51362512e-03 1.28710396e+02] [ 9.81651394e-01 -1.90447255e-01 -9.50704996e-03 -1.25383127e+02] [-9.62131175e-03 3.24684809e-04 -9.99953661e-01 -4.13100663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.01639438825811276 Centerline is valid? [True, True] Translation: X:128.74, Y:-125.36, Z:-4.13 [[ 1.01724680e-01 9.94812313e-01 -7.42997932e-04 1.28738483e+02] [ 9.94768585e-01 -1.01727176e-01 -9.32973870e-03 -1.25357063e+02] [-9.35692201e-03 2.09953679e-04 -9.99956201e-01 -4.13156014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.014870259561652662 Centerline is valid? [True, True] Translation: X:128.76, Y:-125.33, Z:-4.13 [[ 1.18000514e-02 9.99930377e-01 -9.78575098e-06 1.28760949e+02] [ 9.99886422e-01 -1.17996244e-02 -9.37615855e-03 -1.25328849e+02] [-9.37562122e-03 1.00854513e-04 -9.99956043e-01 -4.12999865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.013657315530306404 Centerline is valid? [True, True] Translation: X:128.78, Y:-125.30, Z:-4.13 [[-7.36754415e-02 9.97282058e-01 6.53190063e-04 1.28779029e+02] [ 9.97246480e-01 7.36783306e-02 -8.42382701e-03 -1.25297733e+02] [-8.44905749e-03 3.07623168e-05 -9.99964306e-01 -4.13231107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.013672532020793129 Centerline is valid? [True, True] Translation: X:128.79, Y:-125.26, Z:-4.13 [[-1.58244300e-01 9.87399228e-01 1.22743566e-03 1.28793743e+02] [ 9.87368300e-01 1.58249058e-01 -7.81513642e-03 -1.25264036e+02] [-7.91090020e-03 -2.47697275e-05 -9.99968708e-01 -4.13327472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.014787527140861496 Centerline is valid? [True, True] Translation: X:128.81, Y:-125.23, Z:-4.13 [[-2.44478153e-01 9.69651530e-01 2.51839857e-03 1.28808295e+02] [ 9.69594080e-01 2.44491084e-01 -1.05560395e-02 -1.25229265e+02] [-1.08514058e-02 -1.38896690e-04 -9.99941112e-01 -4.12942770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.016175303816266695 Centerline is valid? [True, True] Translation: X:128.81, Y:-125.19, Z:-4.13 [[-3.25414295e-01 9.45564211e-01 3.72272777e-03 1.28812447e+02] [ 9.45494078e-01 3.25435508e-01 -1.15185813e-02 -1.25193566e+02] [-1.21030660e-02 -2.28493948e-04 -9.99926729e-01 -4.12781945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.01770938369027461 Centerline is valid? [True, True] Translation: X:128.81, Y:-125.16, Z:-4.13 [[-4.04059084e-01 9.14718420e-01 5.14470960e-03 1.28813871e+02] [ 9.14633332e-01 4.04091695e-01 -1.24808269e-02 -1.25157639e+02] [-1.34953767e-02 -3.37468591e-04 -9.99908876e-01 -4.12667559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.017701101293784046 Centerline is valid? [True, True] Translation: X:128.81, Y:-125.12, Z:-4.13 [[-4.74484089e-01 8.80242101e-01 6.22030502e-03 1.28807488e+02] [ 8.80156721e-01 4.74524735e-01 -1.22646640e-02 -1.25123096e+02] [-1.37475622e-02 -3.44544675e-04 -9.99905438e-01 -4.12601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.01605254462672956 Centerline is valid? [True, True] Translation: X:128.79, Y:-125.09, Z:-4.13 [[-5.36459960e-01 8.43901630e-01 6.38361983e-03 1.28790985e+02] [ 8.43836792e-01 5.36497892e-01 -1.04633376e-02 -1.25094507e+02] [-1.22548262e-02 -2.26428379e-04 -9.99924881e-01 -4.12765874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.014550539028646734 Centerline is valid? [True, True] Translation: X:128.77, Y:-125.07, Z:-4.13 [[-5.95232176e-01 8.03525711e-01 6.71476689e-03 1.28772933e+02] [ 8.03472089e-01 5.95270035e-01 -9.28372523e-03 -1.25066118e+02] [-1.14568114e-02 -1.30844195e-04 -9.99934360e-01 -4.12891809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.013654668455003922 Centerline is valid? [True, True] Translation: X:128.75, Y:-125.04, Z:-4.13 [[-6.46967890e-01 7.62494538e-01 5.88469848e-03 1.28749719e+02] [ 7.62463120e-01 6.46994652e-01 -6.92175053e-03 -1.25043604e+02] [-9.08516541e-03 8.71522587e-06 -9.99958729e-01 -4.13169775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.015051143764101438 Centerline is valid? [True, True] Translation: X:128.72, Y:-125.02, Z:-4.13 [[-6.95641601e-01 7.18361850e-01 6.24632820e-03 1.28723951e+02] [ 7.18334435e-01 6.95669633e-01 -6.27695530e-03 -1.25023918e+02] [-8.85450607e-03 1.20441413e-04 -9.99960791e-01 -4.13168817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.016409332987722663 Centerline is valid? [True, True] Translation: X:128.70, Y:-125.00, Z:-4.13 [[-7.44280398e-01 6.67834854e-01 6.58006040e-03 1.28702268e+02] [ 6.67810983e-01 7.44309460e-01 -5.64965744e-03 -1.25001031e+02] [-8.67063935e-03 1.89307313e-04 -9.99962391e-01 -4.13208719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.019308330439408564 Centerline is valid? [True, True] Translation: X:128.71, Y:-124.99, Z:-4.13 [[-7.83292151e-01 6.21599263e-01 8.23179429e-03 1.28713204e+02] [ 6.21569309e-01 7.83335335e-01 -6.11122850e-03 -1.24987578e+02] [-1.02469905e-02 3.29753374e-04 -9.99947444e-01 -4.13113532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.022394916582369303 Centerline is valid? [True, True] Translation: X:128.73, Y:-124.98, Z:-4.13 [[-8.20460967e-01 5.71623506e-01 9.50625494e-03 1.28733567e+02] [ 5.71591529e-01 8.20515909e-01 -6.06354861e-03 -1.24978273e+02] [-1.12661003e-02 4.58789843e-04 -9.99936430e-01 -4.13091305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.024149120015862495 Centerline is valid? [True, True] Translation: X:129.11, Y:-124.41, Z:-5.12 [[-8.31214369e-01 -5.55901370e-01 7.50598214e-03 1.29106016e+02] [ 5.55873326e-01 -8.31248116e-01 -5.60500514e-03 -1.24406987e+02] [ 9.35516355e-03 -4.86585554e-04 9.99956121e-01 -5.11794694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.020613498589093202 Centerline is valid? [True, True] Translation: X:128.70, Y:-124.96, Z:-4.13 [[-8.22401886e-01 5.68856890e-01 7.54823835e-03 1.28698023e+02] [ 5.68836948e-01 8.22436445e-01 -4.77717556e-03 -1.24955452e+02] [-8.92547554e-03 3.64958669e-04 -9.99960101e-01 -4.13366710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.016391772055883446 Centerline is valid? [True, True] Translation: X:128.71, Y:-124.91, Z:-4.13 [[-8.69904848e-01 4.93163441e-01 7.44153376e-03 1.28708749e+02] [ 4.93147234e-01 8.69936656e-01 -4.00247413e-03 -1.24914871e+02] [-8.44753691e-03 1.88000145e-04 -9.99964301e-01 -4.13270766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.015050986336925254 Centerline is valid? [True, True] Translation: X:128.72, Y:-124.88, Z:-4.13 [[-9.05007482e-01 4.25324842e-01 7.76124161e-03 1.28715876e+02] [ 4.25310544e-01 9.05040750e-01 -3.49039864e-03 -1.24882845e+02] [-8.50879317e-03 1.42101004e-04 -9.99963790e-01 -4.13267116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.015050986336925254 Centerline is valid? [True, True] Translation: X:128.72, Y:-124.86, Z:-4.13 [[-9.32857852e-01 3.60156082e-01 7.98898498e-03 1.28724459e+02] [ 3.60144176e-01 9.32892050e-01 -2.93194337e-03 -1.24856808e+02] [-8.50881782e-03 1.42100014e-04 -9.99963789e-01 -4.13267089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.013051304241376325 Centerline is valid? [True, True] Translation: X:128.72, Y:-124.82, Z:-4.13 [[-9.60132968e-01 2.79429216e-01 7.99985096e-03 1.28723046e+02] [ 2.79419683e-01 9.60166294e-01 -2.30820016e-03 -1.24815368e+02] [-8.32616581e-03 1.91367494e-05 -9.99965337e-01 -4.13216720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.01305157125024754 Centerline is valid? [True, True] Translation: X:128.72, Y:-124.78, Z:-4.13 [[-9.79032342e-01 2.03557164e-01 7.75590999e-03 1.28723701e+02] [ 2.03550458e-01 9.79063062e-01 -1.65273364e-03 -1.24780519e+02] [-7.92995076e-03 -3.93606533e-05 -9.99968557e-01 -4.13182752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.013630589171137658 Centerline is valid? [True, True] Translation: X:128.85, Y:-124.20, Z:-5.12 [[-9.58440483e-01 -2.85201230e-01 7.21801247e-03 1.28846956e+02] [ 2.85193216e-01 -9.58467662e-01 -2.13806350e-03 -1.24196098e+02] [ 7.52800987e-03 9.32157964e-06 9.99971664e-01 -5.11978476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.01391066185942679 Centerline is valid? [True, True] Translation: X:128.68, Y:-124.76, Z:-4.13 [[-9.81186590e-01 1.92918866e-01 7.42876416e-03 1.28676765e+02] [ 1.92912631e-01 9.81214708e-01 -1.55363729e-03 -1.24763827e+02] [-7.58893860e-03 -9.13056347e-05 -9.99971199e-01 -4.13051541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.013810054316804224 Centerline is valid? [True, True] Translation: X:128.80, Y:-124.19, Z:-5.12 [[-9.59055976e-01 -2.83114612e-01 7.59937346e-03 1.28796854e+02] [ 2.83106667e-01 -9.59086077e-01 -2.12410833e-03 -1.24186301e+02] [ 7.88981939e-03 1.14294501e-04 9.99968868e-01 -5.12038250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.014269093066809097 Centerline is valid? [True, True] Translation: X:128.63, Y:-124.76, Z:-4.13 [[-9.82557004e-01 1.85763373e-01 8.58499947e-03 1.28629908e+02] [ 1.85755063e-01 9.82594499e-01 -1.76243411e-03 -1.24756064e+02] [-8.76296896e-03 -1.36984857e-04 -9.99961595e-01 -4.12956295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.014448352440906241 Centerline is valid? [True, True] Translation: X:128.75, Y:-124.18, Z:-5.12 [[-9.59159722e-01 -2.82714480e-01 9.22770499e-03 1.28746229e+02] [ 2.82703403e-01 -9.59204088e-01 -2.51065458e-03 -1.24176271e+02] [ 9.56105076e-03 2.00584853e-04 9.99954272e-01 -5.12250142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.014768049925613928 Centerline is valid? [True, True] Translation: X:128.58, Y:-124.75, Z:-4.13 [[-9.83751175e-01 1.79208805e-01 1.08549234e-02 1.28579298e+02] [ 1.79195584e-01 9.83811040e-01 -2.18652304e-03 -1.24747810e+02] [-1.10710377e-02 -2.05840267e-04 -9.99938693e-01 -4.12754136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.016096277358552083 Centerline is valid? [True, True] Translation: X:128.58, Y:-124.72, Z:-4.13 [[-9.94189319e-01 1.06925548e-01 1.24307879e-02 1.28578758e+02] [ 1.06913936e-01 9.94266997e-01 -1.59686942e-03 -1.24722486e+02] [-1.25302683e-02 -2.58566057e-04 -9.99921460e-01 -4.12536847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.015000410922650278 Centerline is valid? [True, True] Translation: X:128.66, Y:-124.12, Z:-5.12 [[-9.76804212e-01 -2.13784961e-01 1.22279323e-02 1.28659931e+02] [ 2.13771445e-01 -9.76880713e-01 -2.41722805e-03 -1.24121912e+02] [ 1.24619982e-02 2.52824205e-04 9.99922314e-01 -5.12353494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.015320495242492582 Centerline is valid? [True, True] Translation: X:128.53, Y:-124.73, Z:-4.13 [[-9.94313362e-01 1.05946155e-01 1.07865486e-02 1.28531569e+02] [ 1.05937815e-01 9.94371850e-01 -1.34323007e-03 -1.24729640e+02] [-1.08681504e-02 -1.92888218e-04 -9.99940921e-01 -4.12825652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.01336139606929418 Centerline is valid? [True, True] Translation: X:128.53, Y:-124.71, Z:-4.13 [[-9.99092556e-01 4.17299945e-02 8.52478019e-03 1.28534686e+02] [ 4.17276672e-02 9.99128920e-01 -4.50772640e-04 -1.24713559e+02] [-8.53616516e-03 -9.46443990e-05 -9.99963562e-01 -4.13070054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.012575908586954655 Centerline is valid? [True, True] Translation: X:128.54, Y:-124.70, Z:-4.13 [[-9.99756808e-01 -2.05441490e-02 8.01636550e-03 1.28535535e+02] [-2.05436350e-02 9.99788947e-01 1.46471441e-04 -1.24697531e+02] [-8.01768275e-03 -1.82494667e-05 -9.99967858e-01 -4.13106171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.012707710805176213 Centerline is valid? [True, True] Translation: X:128.54, Y:-124.68, Z:-4.13 [[-9.96389129e-01 -8.45099362e-02 8.17159788e-03 1.28535092e+02] [-8.45067686e-02 9.96422636e-01 7.32761731e-04 -1.24678084e+02] [-8.20429075e-03 3.95604914e-05 -9.99966344e-01 -4.13134120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.013376083591232789 Centerline is valid? [True, True] Translation: X:128.48, Y:-124.00, Z:-5.12 [[-9.99489110e-01 3.05844186e-02 9.27966760e-03 1.28478602e+02] [-3.05828905e-02 -9.99532187e-01 3.06567972e-04 -1.23995672e+02] [ 9.28470265e-03 2.26122913e-05 9.99956896e-01 -5.12125976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.015420520057646015 Centerline is valid? [True, True] Translation: X:128.45, Y:-124.70, Z:-4.13 [[-9.97207684e-01 -7.40264689e-02 9.84468229e-03 1.28447201e+02] [-7.40207782e-02 9.97256255e-01 9.41664350e-04 -1.24701544e+02] [-9.88737908e-03 2.10323881e-04 -9.99951097e-01 -4.13055243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.01888461367118043 Centerline is valid? [True, True] Translation: X:128.45, Y:-124.69, Z:-4.13 [[-9.90992441e-01 -1.33532156e-01 1.01560659e-02 1.28446483e+02] [-1.33521640e-01 9.91044423e-01 1.70956495e-03 -1.24685714e+02] [-1.02933944e-02 3.38111360e-04 -9.99946965e-01 -4.13102524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.021317933236958037 Centerline is valid? [True, True] Translation: X:128.43, Y:-124.67, Z:-4.13 [[-9.80024069e-01 -1.98638350e-01 9.77906560e-03 1.28429386e+02] [-1.98624481e-01 9.80072780e-01 2.37937418e-03 -1.24667034e+02] [-1.00568310e-02 3.89482135e-04 -9.99949353e-01 -4.13132106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.0231642229353798 Centerline is valid? [True, True] Translation: X:128.40, Y:-124.65, Z:-4.13 [[-9.63993851e-01 -2.65769890e-01 9.06759834e-03 1.28395081e+02] [-2.65754186e-01 9.64036412e-01 2.91696113e-03 -1.24651938e+02] [-9.51673541e-03 4.02180375e-04 -9.99954634e-01 -4.13104597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.01997641722386557 Centerline is valid? [True, True] Translation: X:128.34, Y:-124.64, Z:-4.13 [[-9.41057560e-01 -3.38133493e-01 8.74125988e-03 1.28337145e+02] [-3.38115217e-01 9.41098084e-01 3.53512660e-03 -1.24637490e+02] [-9.42172762e-03 3.71204632e-04 -9.99955546e-01 -4.13268927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.018969255263560678 Centerline is valid? [True, True] Translation: X:128.27, Y:-124.63, Z:-4.13 [[-9.11733336e-01 -4.10693605e-01 8.54906827e-03 1.28271738e+02] [-4.10672114e-01 9.11773356e-01 4.21455124e-03 -1.24632501e+02] [-9.52570191e-03 3.31682925e-04 -9.99954575e-01 -4.13304946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.01650640389508369 Centerline is valid? [True, True] Translation: X:128.19, Y:-124.63, Z:-4.13 [[-8.73798618e-01 -4.86218566e-01 8.21470469e-03 1.28193730e+02] [-4.86194581e-01 8.73837201e-01 4.83486261e-03 -1.24633457e+02] [-9.52911452e-03 2.30751357e-04 -9.99954570e-01 -4.13332348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.014155915182799444 Centerline is valid? [True, True] Translation: X:128.11, Y:-124.64, Z:-4.13 [[-8.30851052e-01 -5.56451448e-01 6.95093041e-03 1.28109954e+02] [-5.56430589e-01 8.30880116e-01 4.81990198e-03 -1.24644450e+02] [-8.45743131e-03 1.36910323e-04 -9.99964226e-01 -4.13428925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.012642255683354283 Centerline is valid? [True, True] Translation: X:128.02, Y:-124.66, Z:-4.13 [[-7.80556927e-01 -6.25049547e-01 6.62926783e-03 1.28023279e+02] [-6.25026477e-01 7.80585076e-01 5.37042007e-03 -1.24662399e+02] [-8.53148616e-03 4.84506648e-05 -9.99963605e-01 -4.13352457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.012459511891594322 Centerline is valid? [True, True] Translation: X:127.94, Y:-124.70, Z:-4.13 [[-7.27714942e-01 -6.85847589e-01 6.63692642e-03 1.27935110e+02] [-6.85819065e-01 7.27745206e-01 6.25499193e-03 -1.24696586e+02] [-9.11996252e-03 1.20414593e-07 -9.99958412e-01 -4.13278150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.012606065862109507 Centerline is valid? [True, True] Translation: X:127.85, Y:-124.74, Z:-4.13 [[-6.69337977e-01 -7.42930537e-01 6.39444821e-03 1.27846461e+02] [-7.42897509e-01 6.69368518e-01 7.00565083e-03 -1.24739393e+02] [-9.48495426e-03 -6.12714879e-05 -9.99955015e-01 -4.13308531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.013121961312366136 Centerline is valid? [True, True] Translation: X:127.76, Y:-124.79, Z:-4.13 [[-6.08528430e-01 -7.93507186e-01 6.28457686e-03 1.27763652e+02] [-7.93466594e-01 6.08560872e-01 8.02677344e-03 -1.24788799e+02] [-1.01938500e-02 -1.02081963e-04 -9.99948036e-01 -4.13198977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.01327546739376776 Centerline is valid? [True, True] Translation: X:127.68, Y:-124.85, Z:-4.13 [[-5.46145524e-01 -8.37662668e-01 6.80600431e-03 1.27684580e+02] [-8.37600605e-01 5.46187914e-01 1.01975000e-02 -1.24851264e+02] [-1.22594223e-02 -1.31394360e-04 -9.99924842e-01 -4.13055506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.013462442846404963 Centerline is valid? [True, True] Translation: X:127.61, Y:-124.93, Z:-4.13 [[-4.81738125e-01 -8.76295384e-01 5.89740971e-03 1.27606586e+02] [-8.76232720e-01 4.81774207e-01 1.04801414e-02 -1.24927260e+02] [-1.20249194e-02 -1.18819691e-04 -9.99927691e-01 -4.12973249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.013021595965858659 Centerline is valid? [True, True] Translation: X:127.54, Y:-125.01, Z:-4.13 [[-4.15090699e-01 -9.09768192e-01 4.64206509e-03 1.27538555e+02] [-9.09713741e-01 4.15116645e-01 9.95393079e-03 -1.25007116e+02] [-1.09827681e-02 -9.11663010e-05 -9.99939683e-01 -4.13219402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.01293292848599367 Centerline is valid? [True, True] Translation: X:127.47, Y:-125.09, Z:-4.13 [[-3.44963228e-01 -9.38608160e-01 3.88506074e-03 1.27474010e+02] [-9.38551415e-01 3.44985094e-01 1.03211343e-02 -1.25093249e+02] [-1.10277889e-02 -8.59174592e-05 -9.99939188e-01 -4.13251082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.012869395057720095 Centerline is valid? [True, True] Translation: X:127.42, Y:-125.20, Z:-4.13 [[-2.74140134e-01 -9.61683146e-01 3.56554821e-03 1.27415284e+02] [-9.61605292e-01 2.74163310e-01 1.22368770e-02 -1.25196225e+02] [-1.27455408e-02 -7.40309483e-05 -9.99918770e-01 -4.13135482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.013040650162581387 Centerline is valid? [True, True] Translation: X:127.36, Y:-125.30, Z:-4.13 [[-2.00046149e-01 -9.79782274e-01 2.86955039e-03 1.27364302e+02] [-9.79686845e-01 2.00066715e-01 1.36746348e-02 -1.25295144e+02] [-1.39722663e-02 -7.57027369e-05 -9.99902380e-01 -4.12950053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.012770655072705419 Centerline is valid? [True, True] Translation: X:127.32, Y:-125.40, Z:-4.13 [[-1.25019223e-01 -9.92152609e-01 1.84236483e-03 1.27322549e+02] [-9.92052678e-01 1.25032779e-01 1.40815182e-02 -1.25401614e+02] [-1.42013710e-02 -6.72625066e-05 -9.99899153e-01 -4.13016136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.013078486160901117 Centerline is valid? [True, True] Translation: X:127.29, Y:-125.52, Z:-4.13 [[-4.70757355e-02 -9.98891021e-01 7.76154541e-04 1.27287834e+02] [-9.98785215e-01 4.70820459e-02 1.45387300e-02 -1.25515553e+02] [-1.45591498e-02 -9.07902715e-05 -9.99894006e-01 -4.13065456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.013865014108343893 Centerline is valid? [True, True] Translation: X:127.26, Y:-125.64, Z:-4.13 [[ 3.40046365e-02 -9.99421615e-01 -3.46630424e-04 1.27259450e+02] [-9.99312356e-01 -3.40060447e-02 1.47785329e-02 -1.25638085e+02] [-1.47817727e-02 -1.56146573e-04 -9.99890731e-01 -4.13028393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.01499805160108839 Centerline is valid? [True, True] Translation: X:127.24, Y:-125.75, Z:-4.13 [[ 1.14774161e-01 -9.93390562e-01 -1.44311517e-03 1.27237947e+02] [-9.93287106e-01 -1.14783037e-01 1.43380217e-02 -1.25753780e+02] [-1.44089006e-02 -2.12206731e-04 -9.99896164e-01 -4.13057686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.015568941813676202 Centerline is valid? [True, True] Translation: X:127.23, Y:-125.87, Z:-4.13 [[ 1.96358469e-01 -9.80529460e-01 -2.30850301e-03 1.27226964e+02] [-9.80444699e-01 -1.96371854e-01 1.28952473e-02 -1.25871883e+02] [-1.30974949e-02 -2.68731474e-04 -9.99914188e-01 -4.13370401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.017640309539589744 Centerline is valid? [True, True] Translation: X:127.23, Y:-126.00, Z:-4.13 [[ 2.75003525e-01 -9.61438945e-01 -2.86650873e-03 1.27225321e+02] [-9.61375525e-01 -2.75018319e-01 1.10464327e-02 -1.25999912e+02] [-1.14088130e-02 -2.82016598e-04 -9.99934878e-01 -4.13472682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.01800551417948994 Centerline is valid? [True, True] Translation: X:127.23, Y:-126.11, Z:-4.14 [[ 3.50084556e-01 -9.36711811e-01 -3.43312515e-03 1.27230714e+02] [-9.36658487e-01 -3.50101273e-01 9.99888811e-03 -1.26109483e+02] [-1.05680181e-02 -2.84790496e-04 -9.99944116e-01 -4.13634109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.01729167481130598 Centerline is valid? [True, True] Translation: X:127.25, Y:-126.24, Z:-4.14 [[ 4.22256927e-01 -9.06463889e-01 -4.72284069e-03 1.27254893e+02] [-9.06397892e-01 -4.22283201e-01 1.09434662e-02 -1.26242089e+02] [-1.19142332e-02 -3.40181538e-04 -9.99928965e-01 -4.13604120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.019206685352048582 Centerline is valid? [True, True] Translation: X:127.27, Y:-126.34, Z:-4.13 [[ 4.90152923e-01 -8.71611576e-01 -6.58579046e-03 1.27268213e+02] [-8.71521725e-01 -4.90197004e-01 1.25211917e-02 -1.26340234e+02] [-1.41419504e-02 -3.97639252e-04 -9.99899919e-01 -4.13153825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.01715126864084146 Centerline is valid? [True, True] Translation: X:127.31, Y:-126.46, Z:-4.13 [[ 5.53658843e-01 -8.32704391e-01 -8.07973468e-03 1.27311199e+02] [-8.32605106e-01 -5.53717654e-01 1.28645667e-02 -1.26459544e+02] [-1.51862729e-02 -3.95352739e-04 -9.99884604e-01 -4.13198062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.01655776592094584 Centerline is valid? [True, True] Translation: X:127.34, Y:-126.55, Z:-4.13 [[ 6.13837819e-01 -7.89391982e-01 -7.96431902e-03 1.27343032e+02] [-7.89318772e-01 -6.13889403e-01 1.07553299e-02 -1.26549012e+02] [-1.33793823e-02 -3.15641762e-04 -9.99910442e-01 -4.13424135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.01589928511807044 Centerline is valid? [True, True] Translation: X:127.39, Y:-126.64, Z:-4.14 [[ 6.69953167e-01 -7.42369911e-01 -7.04770563e-03 1.27387900e+02] [-7.42325350e-01 -6.69990200e-01 8.13676939e-03 -1.26644765e+02] [-1.07623865e-02 -2.19563870e-04 -9.99942060e-01 -4.13615724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.014505567737682228 Centerline is valid? [True, True] Translation: X:127.44, Y:-126.74, Z:-4.14 [[ 7.23050700e-01 -6.90754762e-01 -7.45284466e-03 1.27441143e+02] [-6.90715322e-01 -7.23089084e-01 7.38379379e-03 -1.26736900e+02] [-1.04894613e-02 -1.91063263e-04 -9.99944966e-01 -4.13766093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.01511543018558064 Centerline is valid? [True, True] Translation: X:127.46, Y:-126.77, Z:-4.14 [[ 7.74535916e-01 -6.32479036e-01 -8.02392207e-03 1.27459621e+02] [-6.32442587e-01 -7.74577455e-01 6.79267256e-03 -1.26765191e+02] [-1.05113721e-02 -1.86498836e-04 -9.99944737e-01 -4.13666785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.014272166899467798 Centerline is valid? [True, True] Translation: X:127.48, Y:-126.79, Z:-4.14 [[ 8.20861748e-01 -5.71038956e-01 -1.00250089e-02 1.27481087e+02] [-5.70993335e-01 -8.20922937e-01 7.22099903e-03 -1.26791230e+02] [-1.23532315e-02 -2.03228641e-04 -9.99923675e-01 -4.13580546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.014092501192248766 Centerline is valid? [True, True] Translation: X:127.50, Y:-126.82, Z:-4.14 [[ 8.62535578e-01 -5.05861577e-01 -1.16807982e-02 1.27504827e+02] [-5.05811839e-01 -8.62614641e-01 7.09674488e-03 -1.26816597e+02] [-1.36659981e-02 -2.12908917e-04 -9.99906593e-01 -4.13500563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.014014263630857058 Centerline is valid? [True, True] Translation: X:127.53, Y:-126.84, Z:-4.13 [[ 8.98694495e-01 -4.38377389e-01 -1.31708024e-02 1.27530874e+02] [-4.38326965e-01 -8.98790978e-01 6.65202443e-03 -1.26837331e+02] [-1.47538955e-02 -2.05019884e-04 -9.99891134e-01 -4.13442898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.013572769272790136 Centerline is valid? [True, True] Translation: X:127.56, Y:-126.86, Z:-4.13 [[ 9.29546224e-01 -3.68445573e-01 -1.38447335e-02 1.27558977e+02] [-3.68401808e-01 -9.29649303e-01 5.68164506e-03 -1.26857173e+02] [-1.49641238e-02 -1.80926862e-04 -9.99888015e-01 -4.13480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.013495815066275256 Centerline is valid? [True, True] Translation: X:127.59, Y:-126.87, Z:-4.13 [[ 9.55127023e-01 -2.95893304e-01 -1.33986359e-02 1.27588011e+02] [-2.95861965e-01 -9.55220985e-01 4.30908360e-03 -1.26873658e+02] [-1.40736871e-02 -1.51575460e-04 -9.99900949e-01 -4.13436411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.012879347549780375 Centerline is valid? [True, True] Translation: X:127.62, Y:-126.89, Z:-4.14 [[ 9.74960534e-01 -2.22007080e-01 -1.28379764e-02 1.27618948e+02] [-2.21986228e-01 -9.75045046e-01 3.04498591e-03 -1.26888377e+02] [-1.31936138e-02 -1.18887116e-04 -9.99912953e-01 -4.13718726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.012782457973589127 Centerline is valid? [True, True] Translation: X:127.65, Y:-126.90, Z:-4.14 [[ 9.89057728e-01 -1.47054069e-01 -1.18283989e-02 1.27650321e+02] [-1.47042544e-01 -9.89128452e-01 1.84301510e-03 -1.26900806e+02] [-1.19708287e-02 -8.35704718e-05 -9.99928344e-01 -4.13834318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.012607980008577532 Centerline is valid? [True, True] Translation: X:127.68, Y:-126.91, Z:-4.14 [[ 9.97437934e-01 -7.05557096e-02 -1.18093397e-02 1.27679104e+02] [-7.05499723e-02 -9.97507838e-01 9.02234221e-04 -1.26911525e+02] [-1.18435667e-02 -6.67740490e-05 -9.99929860e-01 -4.13952426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.012617216062142948 Centerline is valid? [True, True] Translation: X:127.71, Y:-126.92, Z:-4.14 [[ 9.99908671e-01 6.59641313e-03 -1.17956006e-02 1.27708919e+02] [ 6.59657415e-03 -9.99978242e-01 -2.52562890e-05 -1.26920018e+02] [-1.17955106e-02 -5.25565718e-05 -9.99930429e-01 -4.13898161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.012624729101042138 Centerline is valid? [True, True] Translation: X:127.74, Y:-126.92, Z:-4.14 [[ 9.96458360e-01 8.32603633e-02 -1.17663931e-02 1.27737534e+02] [ 8.32549597e-02 -9.96527827e-01 -9.49174215e-04 -1.26923965e+02] [-1.18045668e-02 -3.37980053e-05 -9.99930323e-01 -4.13834100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.012688420679302643 Centerline is valid? [True, True] Translation: X:127.77, Y:-126.92, Z:-4.14 [[ 9.87727425e-01 1.55707229e-01 -1.22390184e-02 1.27766941e+02] [ 1.55694884e-01 -9.87803249e-01 -1.96089924e-03 -1.26921017e+02] [-1.23950683e-02 3.12814001e-05 -9.99923178e-01 -4.13745783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.013346900289993878 Centerline is valid? [True, True] Translation: X:127.80, Y:-126.92, Z:-4.14 [[ 9.73961107e-01 2.26320760e-01 -1.33669827e-02 1.27796389e+02] [ 2.26297723e-01 -9.74052821e-01 -3.23142983e-03 -1.26917995e+02] [-1.37514869e-02 1.22369226e-04 -9.99905436e-01 -4.13780564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.013816792677926822 Centerline is valid? [True, True] Translation: X:127.83, Y:-126.92, Z:-4.14 [[ 9.54159626e-01 2.99013526e-01 -1.30506587e-02 1.27825810e+02] [ 2.98983212e-01 -9.54248859e-01 -4.26081275e-03 -1.26915397e+02] [-1.37276168e-02 1.63567642e-04 -9.99905759e-01 -4.13826599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.014267747237545241 Centerline is valid? [True, True] Translation: X:127.86, Y:-126.91, Z:-4.14 [[ 9.28308581e-01 3.71588890e-01 -1.28403804e-02 1.27856114e+02] [ 3.71550599e-01 -9.28397363e-01 -5.33752789e-03 -1.26913082e+02] [-1.39043414e-02 1.84021909e-04 -9.99903313e-01 -4.13833423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.013760858163590736 Centerline is valid? [True, True] Translation: X:127.89, Y:-126.91, Z:-4.14 [[ 8.95164913e-01 4.45558619e-01 -1.25417339e-02 1.27886842e+02] [ 4.45512566e-01 -8.95252755e-01 -6.40769727e-03 -1.26910193e+02] [-1.40830265e-02 1.48445733e-04 -9.99900818e-01 -4.13788014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.013230124779021992 Centerline is valid? [True, True] Translation: X:127.92, Y:-126.90, Z:-4.14 [[ 8.55049601e-01 5.18409761e-01 -1.18953126e-02 1.27917571e+02] [ 5.18358300e-01 -8.55132337e-01 -7.30481439e-03 -1.26904231e+02] [-1.39589535e-02 7.99446235e-05 -9.99902566e-01 -4.13818553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.012766611274571581 Centerline is valid? [True, True] Translation: X:127.95, Y:-126.90, Z:-4.14 [[ 8.09385286e-01 5.87173958e-01 -1.10544441e-02 1.27948225e+02] [ 5.87118841e-01 -8.09460772e-01 -8.04511991e-03 -1.26897181e+02] [-1.36720238e-02 2.13292512e-05 -9.99906533e-01 -4.13925784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.012972664184293093 Centerline is valid? [True, True] Translation: X:127.98, Y:-126.89, Z:-4.14 [[ 7.55794716e-01 6.54736983e-01 -9.68659571e-03 1.27980801e+02] [ 6.54684585e-01 -7.55856783e-01 -8.28356730e-03 -1.26890589e+02] [-1.27452369e-02 -8.09884931e-05 -9.99918773e-01 -4.14040909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.014154218560632509 Centerline is valid? [True, True] Translation: X:128.01, Y:-126.88, Z:-4.14 [[ 6.96616247e-01 7.17398203e-01 -8.10082994e-03 1.28013137e+02] [ 7.17352402e-01 -6.96663328e-01 -8.10798066e-03 -1.26880557e+02] [-1.14602019e-02 -1.62998759e-04 -9.99934316e-01 -4.14091716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.016034393016633407 Centerline is valid? [True, True] Translation: X:128.04, Y:-126.87, Z:-4.14 [[ 6.34611051e-01 7.72794473e-01 -7.58404065e-03 1.28041836e+02] [ 7.72743427e-01 -6.34656327e-01 -8.88495153e-03 -1.26866761e+02] [-1.16795008e-02 -2.22029143e-04 -9.99931768e-01 -4.13974673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.016436499693906974 Centerline is valid? [True, True] Translation: X:128.07, Y:-126.85, Z:-4.14 [[ 5.68406218e-01 8.22718372e-01 -6.98942183e-03 1.28068468e+02] [ 8.22662138e-01 -5.68449121e-01 -9.62312647e-03 -1.26847838e+02] [-1.18902536e-02 -2.80087777e-04 -9.99929269e-01 -4.14018850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.017252422415450278 Centerline is valid? [True, True] Translation: X:128.09, Y:-126.83, Z:-4.14 [[ 5.01022529e-01 8.65410200e-01 -6.45069040e-03 1.28091370e+02] [ 8.65346228e-01 -5.01063959e-01 -1.05268410e-02 -1.26826141e+02] [-1.23422441e-02 -3.07896087e-04 -9.99923784e-01 -4.13946942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.016054325908715406 Centerline is valid? [True, True] Translation: X:128.11, Y:-126.80, Z:-4.14 [[ 4.32793345e-01 9.01472423e-01 -6.11477724e-03 1.28111178e+02] [ 9.01392659e-01 -4.32836421e-01 -1.19961225e-02 -1.26801670e+02] [-1.34608719e-02 -3.19973345e-04 -9.99909347e-01 -4.13983866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.015833353980355697 Centerline is valid? [True, True] Translation: X:128.13, Y:-126.78, Z:-4.14 [[ 3.61750275e-01 9.32260096e-01 -5.27756695e-03 1.28131052e+02] [ 9.32173235e-01 -3.61788633e-01 -1.27296856e-02 -1.26776909e+02] [-1.37767416e-02 -3.14639406e-04 -9.99905047e-01 -4.13935398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.015279818801789838 Centerline is valid? [True, True] Translation: X:128.15, Y:-126.75, Z:-4.14 [[ 2.90004453e-01 9.57016139e-01 -4.18645213e-03 1.28146647e+02] [ 9.56929720e-01 -2.90034538e-01 -1.28638034e-02 -1.26750417e+02] [-1.35250832e-02 -2.75580184e-04 -9.99908494e-01 -4.13972179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.01432627718687815 Centerline is valid? [True, True] Translation: X:128.16, Y:-126.72, Z:-4.14 [[ 2.18456444e-01 9.75842956e-01 -2.70307982e-03 1.28156762e+02] [ 9.75778363e-01 -2.18473089e-01 -1.12292279e-02 -1.26722579e+02] [-1.15485131e-02 -1.84509622e-04 -9.99933297e-01 -4.14225469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.014161726959657336 Centerline is valid? [True, True] Translation: X:128.17, Y:-126.70, Z:-4.14 [[ 1.43445440e-01 9.89656912e-01 -1.61348957e-03 1.28165993e+02] [ 9.89604989e-01 -1.43454443e-01 -1.01384438e-02 -1.26695221e+02] [-1.02650432e-02 -1.42403802e-04 -9.99947303e-01 -4.14327187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.013733600482207314 Centerline is valid? [True, True] Translation: X:128.17, Y:-126.67, Z:-4.14 [[ 6.67452350e-02 9.97769701e-01 -8.34741707e-04 1.28174962e+02] [ 9.97714570e-01 -6.67503227e-02 -1.04896236e-02 -1.26667316e+02] [-1.05219478e-02 -1.32701573e-04 -9.99944634e-01 -4.14323848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.013937091258452158 Centerline is valid? [True, True] Translation: X:128.18, Y:-126.64, Z:-4.14 [[-1.12031009e-02 9.99937243e-01 -1.22067046e-05 1.28182665e+02] [ 9.99866294e-01 1.12021606e-02 -1.19124541e-02 -1.26638777e+02] [-1.19115697e-02 -1.45661497e-04 -9.99929044e-01 -4.14158514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.014261198222207398 Centerline is valid? [True, True] Translation: X:128.19, Y:-126.61, Z:-4.14 [[-8.82967823e-02 9.96093768e-01 9.39564022e-04 1.28187592e+02] [ 9.96020118e-01 8.83016798e-02 -1.21135422e-02 -1.26610335e+02] [-1.21491890e-02 -1.33762129e-04 -9.99926187e-01 -4.14030935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.013622414902292265 Centerline is valid? [True, True] Translation: X:128.19, Y:-126.58, Z:-4.14 [[-1.64542440e-01 9.86368487e-01 1.72993394e-03 1.28188274e+02] [ 9.86307046e-01 1.64551500e-01 -1.10097810e-02 -1.26581817e+02] [-1.11443643e-02 -1.05330193e-04 -9.99937894e-01 -4.14265163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.013253361719875605 Centerline is valid? [True, True] Translation: X:128.19, Y:-126.55, Z:-4.14 [[-2.37522089e-01 9.71379153e-01 2.40788671e-03 1.28186165e+02] [ 9.71326757e-01 2.37534287e-01 -1.00892801e-02 -1.26553687e+02] [-1.03724721e-02 -5.75821036e-05 -9.99946203e-01 -4.14347918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.012970626671153625 Centerline is valid? [True, True] Translation: X:128.19, Y:-126.52, Z:-4.15 [[-3.10887199e-01 9.50442375e-01 2.90528902e-03 1.28186970e+02] [ 9.50399894e-01 3.10900772e-01 -8.98620305e-03 -1.26524155e+02] [-9.44412477e-03 -3.25091218e-05 -9.99955403e-01 -4.14522133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.01283150032568591 Centerline is valid? [True, True] Translation: X:128.19, Y:-126.49, Z:-4.15 [[-3.81577965e-01 9.24329851e-01 3.54715598e-03 1.28186351e+02] [ 9.24289823e-01 3.81594452e-01 -8.60218915e-03 -1.26493341e+02] [-9.30483526e-03 -3.80565746e-06 -9.99956709e-01 -4.14502483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.013079429105291425 Centerline is valid? [True, True] Translation: X:128.18, Y:-126.46, Z:-4.14 [[-4.50277749e-01 8.92874976e-01 4.92198829e-03 1.28183837e+02] [ 8.92822273e-01 4.50304648e-01 -9.70120663e-03 -1.26462911e+02] [-1.08783588e-02 2.62232889e-05 -9.99940829e-01 -4.14331076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.013451111254508579 Centerline is valid? [True, True] Translation: X:128.18, Y:-126.43, Z:-4.14 [[-5.17277309e-01 8.55791294e-01 6.74134880e-03 1.28177170e+02] [ 8.55719993e-01 5.17321232e-01 -1.10470379e-02 -1.26434404e+02] [-1.29414017e-02 5.43249249e-05 -9.99916255e-01 -4.14044967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.013254677512088961 Centerline is valid? [True, True] Translation: X:128.17, Y:-126.41, Z:-4.14 [[-5.82258868e-01 8.12964576e-01 7.95039003e-03 1.28168535e+02] [ 8.12890317e-01 5.82313141e-01 -1.09881051e-02 -1.26405256e+02] [-1.35625568e-02 6.48734246e-05 -9.99908022e-01 -4.14143587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.013101903900866517 Centerline is valid? [True, True] Translation: X:128.16, Y:-126.37, Z:-4.14 [[-6.43763222e-01 7.65182582e-01 8.03307057e-03 1.28159981e+02] [ 7.65124279e-01 6.43813337e-01 -9.44590978e-03 -1.26374282e+02] [-1.23996436e-02 6.53680113e-05 -9.99923119e-01 -4.14284999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.01316576137922758 Centerline is valid? [True, True] Translation: X:128.15, Y:-126.35, Z:-4.14 [[-7.01921733e-01 7.12209566e-01 7.96336038e-03 1.28147648e+02] [ 7.12164646e-01 7.01966902e-01 -7.99909346e-03 -1.26346575e+02] [-1.12870463e-02 5.64861876e-05 -9.99936298e-01 -4.14329079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.013168775972638408 Centerline is valid? [True, True] Translation: X:128.13, Y:-126.32, Z:-4.14 [[-7.55961441e-01 6.54567655e-01 7.96773014e-03 1.28132967e+02] [ 6.54531934e-01 7.56003428e-01 -6.83848378e-03 -1.26317931e+02] [-1.04998816e-02 4.55037642e-05 -9.99944874e-01 -4.14379624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.012864965768544914 Centerline is valid? [True, True] Translation: X:128.15, Y:-126.29, Z:-4.14 [[-8.01748932e-01 5.97601169e-01 8.45535058e-03 1.28152560e+02] [ 5.97568221e-01 8.01793516e-01 -6.27517026e-03 -1.26291264e+02] [-1.05294944e-02 2.15377555e-05 -9.99944563e-01 -4.14396019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.012754079685019197 Centerline is valid? [True, True] Translation: X:128.17, Y:-126.26, Z:-4.14 [[-8.43586995e-01 5.36916643e-01 9.02775307e-03 1.28166617e+02] [ 5.36885789e-01 8.43635300e-01 -5.75591501e-03 -1.26262207e+02] [-1.07065777e-02 -8.74271691e-06 -9.99942683e-01 -4.14377317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.013044115096209381 Centerline is valid? [True, True] Translation: X:128.18, Y:-126.23, Z:-4.14 [[-8.81736406e-01 4.71624540e-01 1.05453546e-02 1.28178478e+02] [ 4.71589902e-01 8.81799461e-01 -5.71624305e-03 -1.26229296e+02] [-1.19948085e-02 -6.71368788e-05 -9.99928057e-01 -4.14235937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.01344483474485631 Centerline is valid? [True, True] Translation: X:128.47, Y:-125.70, Z:-5.11 [[-8.39650981e-01 -5.43006218e-01 1.14226339e-02 1.28468651e+02] [ 5.42958771e-01 -8.39728657e-01 -7.18023846e-03 -1.25700798e+02] [ 1.34908271e-02 1.73124982e-04 9.99908980e-01 -5.10994000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.013487641187963157 Centerline is valid? [True, True] Translation: X:128.14, Y:-126.20, Z:-4.14 [[-8.86024779e-01 4.63479858e-01 1.21042474e-02 1.28143973e+02] [ 4.63434240e-01 8.86107442e-01 -6.50441723e-03 -1.26202851e+02] [-1.37403300e-02 -1.53552163e-04 -9.99905585e-01 -4.14134573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.013488025407016963 Centerline is valid? [True, True] Translation: X:128.15, Y:-126.18, Z:-4.14 [[-9.16409758e-01 4.00026901e-01 1.31009332e-02 1.28150853e+02] [ 3.99983640e-01 9.16503385e-01 -5.88491821e-03 -1.26175597e+02] [-1.43611752e-02 -1.52837539e-04 -9.99896861e-01 -4.14138379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.013582812670875114 Centerline is valid? [True, True] Translation: X:128.40, Y:-125.64, Z:-5.11 [[-8.78246861e-01 -4.78044426e-01 1.24890962e-02 1.28396337e+02] [ 4.77998319e-01 -8.78335647e-01 -6.64073065e-03 -1.25635968e+02] [ 1.41441827e-02 1.37566136e-04 9.99899957e-01 -5.11002826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.013200880145716071 Centerline is valid? [True, True] Translation: X:128.38, Y:-125.66, Z:-5.11 [[-8.44510417e-01 -5.35414405e-01 1.15572353e-02 1.28381293e+02] [ 5.35366060e-01 -8.44589488e-01 -7.19578278e-03 -1.25659845e+02] [ 1.36138452e-02 1.10438016e-04 9.99907321e-01 -5.10853993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.013131367898801807 Centerline is valid? [True, True] Translation: X:128.06, Y:-126.17, Z:-4.14 [[-8.87800158e-01 4.60108443e-01 1.05404335e-02 1.28064233e+02] [ 4.60074768e-01 8.87862721e-01 -5.56737368e-03 -1.26167869e+02] [-1.19200536e-02 -9.33277423e-05 -9.99928949e-01 -4.14364622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.013058217655163021 Centerline is valid? [True, True] Translation: X:128.07, Y:-126.14, Z:-4.14 [[-9.18224459e-01 3.95933763e-01 1.00149192e-02 1.28068669e+02] [ 3.95909176e-01 9.18279068e-01 -4.41327366e-03 -1.26141667e+02] [-1.09438547e-02 -8.73774107e-05 -9.99940110e-01 -4.14455959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.013212092428764205 Centerline is valid? [True, True] Translation: X:128.08, Y:-126.12, Z:-4.14 [[-9.44332369e-01 3.28828110e-01 1.04139644e-02 1.28077072e+02] [ 3.28806943e-01 9.44389784e-01 -3.73233615e-03 -1.26117214e+02] [-1.10621386e-02 -1.00382052e-04 -9.99938808e-01 -4.14415554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.013367138889553418 Centerline is valid? [True, True] Translation: X:128.08, Y:-126.09, Z:-4.14 [[-9.65465618e-01 2.60296754e-01 1.10335781e-02 1.28083905e+02] [ 2.60278415e-01 9.65528657e-01 -3.09185261e-03 -1.26091717e+02] [-1.14580351e-02 -1.13275175e-04 -9.99934348e-01 -4.14359152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.014127946723619297 Centerline is valid? [True, True] Translation: X:128.09, Y:-126.06, Z:-4.14 [[-9.81876326e-01 1.89147257e-01 1.19245888e-02 1.28085321e+02] [ 1.89131493e-01 9.81948723e-01 -2.44631220e-03 -1.26064465e+02] [-1.21720480e-02 -1.46660750e-04 -9.99925907e-01 -4.14223916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.013888763572822878 Centerline is valid? [True, True] Translation: X:128.21, Y:-125.47, Z:-5.11 [[-9.59948739e-01 -2.79942000e-01 1.14409824e-02 1.28209220e+02] [ 2.79923659e-01 -9.60016907e-01 -3.20681612e-03 -1.25472906e+02] [ 1.18812591e-02 1.24222579e-04 9.99929408e-01 -5.10796956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.015642441930464147 Centerline is valid? [True, True] Translation: X:128.04, Y:-126.05, Z:-4.14 [[-9.83564881e-01 1.80197028e-01 1.13646672e-02 1.28035964e+02] [ 1.80182638e-01 9.83630515e-01 -2.28609651e-03 -1.26054263e+02] [-1.15905813e-02 -2.00808517e-04 -9.99932807e-01 -4.14116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.015370720484698744 Centerline is valid? [True, True] Translation: X:128.03, Y:-126.03, Z:-4.14 [[-9.94107349e-01 1.07736149e-01 1.19792087e-02 1.28033871e+02] [ 1.07725455e-01 9.94179494e-01 -1.53632897e-03 -1.26030333e+02] [-1.20750018e-02 -2.36810216e-04 -9.99927067e-01 -4.14185016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.01601654932924957 Centerline is valid? [True, True] Translation: X:128.03, Y:-126.00, Z:-4.14 [[-9.99283420e-01 3.60532684e-02 1.15242219e-02 1.28031119e+02] [ 3.60481475e-02 9.99349842e-01 -6.51833087e-04 -1.26003755e+02] [-1.15402300e-02 -2.35939146e-04 -9.99933382e-01 -4.14191944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.015593427804297183 Centerline is valid? [True, True] Translation: X:128.02, Y:-125.98, Z:-4.14 [[-9.99333598e-01 -3.53617999e-02 9.05004914e-03 1.28024769e+02] [-3.53620576e-02 9.99374558e-01 1.31592513e-04 -1.25980647e+02] [-9.04904221e-03 -1.88523540e-04 -9.99959039e-01 -4.14431884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.014690926367303687 Centerline is valid? [True, True] Translation: X:128.02, Y:-125.96, Z:-4.15 [[-9.94510542e-01 -1.04381051e-01 7.30602866e-03 1.28021000e+02] [-1.04379259e-01 9.94537368e-01 6.27158152e-04 -1.25958666e+02] [-7.33158195e-03 -1.38882466e-04 -9.99973114e-01 -4.14555027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.014292303376253649 Centerline is valid? [True, True] Translation: X:127.97, Y:-125.33, Z:-5.11 [[-9.99968942e-01 1.46702609e-03 7.74362414e-03 1.27970695e+02] [-1.46564282e-03 -9.99998909e-01 1.84304900e-04 -1.25330383e+02] [ 7.74388608e-03 1.72949789e-04 9.99970001e-01 -5.10620202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.013420946309467318 Centerline is valid? [True, True] Translation: X:127.95, Y:-125.98, Z:-4.14 [[-9.94725900e-01 -1.02182575e-01 8.89410883e-03 1.27954541e+02] [-1.02179455e-01 9.94765656e-01 8.05664079e-04 -1.25975063e+02] [-8.92987883e-03 -1.07380268e-04 -9.99960122e-01 -4.14357536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.01311547255118473 Centerline is valid? [True, True] Translation: X:127.95, Y:-125.95, Z:-4.14 [[-9.85368109e-01 -1.70142241e-01 1.00651427e-02 1.27952173e+02] [-1.70134358e-01 9.85419509e-01 1.64058539e-03 -1.25952457e+02] [-1.01975208e-02 -9.58460706e-05 -9.99947999e-01 -4.14268037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.01280897000320255 Centerline is valid? [True, True] Translation: X:127.94, Y:-125.93, Z:-4.14 [[-9.71326885e-01 -2.37537089e-01 1.00107221e-02 1.27936744e+02] [-2.37525229e-01 9.71378467e-01 2.37472921e-03 -1.25932463e+02] [-1.02882861e-02 -7.11607211e-05 -9.99947072e-01 -4.14272830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.012496877093532508 Centerline is valid? [True, True] Translation: X:127.92, Y:-125.92, Z:-4.14 [[-9.52657439e-01 -3.03891655e-01 9.67806325e-03 1.27917622e+02] [-3.03876399e-01 9.52706597e-01 3.04527673e-03 -1.25917052e+02] [-1.01457889e-02 -3.98294804e-05 -9.99948529e-01 -4.14363128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.012495200805799767 Centerline is valid? [True, True] Translation: X:127.88, Y:-125.91, Z:-4.14 [[-9.28771401e-01 -3.70546155e-01 8.90122509e-03 1.27881843e+02] [-3.70529395e-01 9.28814054e-01 3.52436306e-03 -1.25905597e+02] [-9.57352214e-03 -2.48379284e-05 -9.99954173e-01 -4.14394785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.01237615220039043 Centerline is valid? [True, True] Translation: X:127.83, Y:-125.91, Z:-4.14 [[-8.99353158e-01 -4.37139089e-01 8.56238148e-03 1.27828288e+02] [-4.37119456e-01 8.99393916e-01 4.14309751e-03 -1.25906004e+02] [-9.51206368e-03 -1.66756983e-05 -9.99954759e-01 -4.14459947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.012558165235045795 Centerline is valid? [True, True] Translation: X:127.76, Y:-125.91, Z:-4.14 [[-8.63894723e-01 -5.03609381e-01 7.96866230e-03 1.27764581e+02] [-5.03588281e-01 8.63931473e-01 4.61005937e-03 -1.25912914e+02] [-9.20604731e-03 -3.03189856e-05 -9.99957623e-01 -4.14462459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.01279694868131318 Centerline is valid? [True, True] Translation: X:127.69, Y:-125.93, Z:-4.15 [[-8.22801793e-01 -5.68275738e-01 7.73918834e-03 1.27692090e+02] [-5.68251210e-01 8.22838188e-01 5.28008761e-03 -1.25928036e+02] [-9.36864539e-03 -5.33375839e-05 -9.99956112e-01 -4.14513298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.013265476709258645 Centerline is valid? [True, True] Translation: X:127.61, Y:-125.95, Z:-4.14 [[-7.75297694e-01 -6.31557265e-01 6.99340351e-03 1.27613157e+02] [-6.31532624e-01 7.75329229e-01 5.57951576e-03 -1.25953254e+02] [-8.94597386e-03 -9.07767673e-05 -9.99959980e-01 -4.14468928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.013359456910773624 Centerline is valid? [True, True] Translation: X:127.53, Y:-125.99, Z:-4.14 [[-7.24419636e-01 -6.89327456e-01 6.62192806e-03 1.27531780e+02] [-6.89300013e-01 7.24449892e-01 6.15185816e-03 -1.25989676e+02] [-9.03789981e-03 -1.07968255e-04 -9.99959152e-01 -4.14486481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.013534433271293292 Centerline is valid? [True, True] Translation: X:127.45, Y:-126.04, Z:-4.14 [[-6.70147402e-01 -7.42202067e-01 6.20893649e-03 1.27449807e+02] [-7.42171750e-01 6.70176156e-01 6.70925664e-03 -1.26038006e+02] [-9.14070533e-03 -1.11906352e-04 -9.99958217e-01 -4.14431671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.013556078481764697 Centerline is valid? [True, True] Translation: X:127.37, Y:-126.10, Z:-4.15 [[-6.12596490e-01 -7.90380009e-01 4.99830629e-03 1.27367701e+02] [-7.90354931e-01 6.12616873e-01 6.29681519e-03 -1.26096013e+02] [-8.03892361e-03 -9.30291402e-05 -9.99967683e-01 -4.14533440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.013921130361491778 Centerline is valid? [True, True] Translation: X:127.29, Y:-126.16, Z:-4.14 [[-5.49772168e-01 -8.35301983e-01 4.60005756e-03 1.27287254e+02] [-8.35274325e-01 5.49791402e-01 6.79820637e-03 -1.26156676e+02] [-8.20762736e-03 -1.04845319e-04 -9.99966311e-01 -4.14453651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.014077960691222816 Centerline is valid? [True, True] Translation: X:127.21, Y:-126.23, Z:-4.14 [[-4.84559217e-01 -8.74747232e-01 4.43222277e-03 1.27208350e+02] [-8.74712766e-01 4.84579474e-01 7.76593664e-03 -1.26230441e+02] [-8.94099576e-03 -1.13865664e-04 -9.99960022e-01 -4.14336389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.014127990518696365 Centerline is valid? [True, True] Translation: X:127.13, Y:-126.32, Z:-4.14 [[-4.15867056e-01 -9.09416591e-01 4.00688091e-03 1.27129240e+02] [-9.09377240e-01 4.15886340e-01 8.46097693e-03 -1.26322783e+02] [-9.36095983e-03 -1.25124735e-04 -9.99956177e-01 -4.14341205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.013969417452190819 Centerline is valid? [True, True] Translation: X:127.07, Y:-126.40, Z:-4.14 [[-3.43940454e-01 -9.38985804e-01 3.25949388e-03 1.27065526e+02] [-9.38947201e-01 3.43955874e-01 8.51536114e-03 -1.26401162e+02] [-9.11692529e-03 -1.31715473e-04 -9.99958431e-01 -4.14386161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.014231553719705324 Centerline is valid? [True, True] Translation: X:127.00, Y:-126.50, Z:-4.14 [[-2.69529334e-01 -9.62988450e-01 2.68008603e-03 1.27002673e+02] [-9.62946231e-01 2.69542617e-01 9.01852191e-03 -1.26495431e+02] [-9.40712984e-03 -1.50022537e-04 -9.99955741e-01 -4.14386388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.014607035585633818 Centerline is valid? [True, True] Translation: X:126.95, Y:-126.60, Z:-4.14 [[-1.93901124e-01 -9.81018871e-01 2.08085615e-03 1.26946925e+02] [-9.80971289e-01 1.93912216e-01 9.66341720e-03 -1.26598446e+02] [-9.88349806e-03 -1.67512689e-04 -9.99951143e-01 -4.14378221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.01449232382744203 Centerline is valid? [True, True] Translation: X:126.90, Y:-126.71, Z:-4.14 [[-1.17676135e-01 -9.93051257e-01 1.23632192e-03 1.26900306e+02] [-9.93009732e-01 1.17682522e-01 9.08279264e-03 -1.26706518e+02] [-9.16517213e-03 -1.58851769e-04 -9.99957986e-01 -4.14471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.01446409258462864 Centerline is valid? [True, True] Translation: X:126.86, Y:-126.82, Z:-4.15 [[-4.10477181e-02 -9.99157084e-01 4.54705168e-04 1.26861647e+02] [-9.99126809e-01 4.10500146e-02 7.77923453e-03 -1.26821398e+02] [-7.79134294e-03 -1.34988297e-04 -9.99969638e-01 -4.14527398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.014439943394791467 Centerline is valid? [True, True] Translation: X:126.83, Y:-126.93, Z:-4.15 [[ 3.59445776e-02 -9.99353776e-01 -1.33968496e-04 1.26833082e+02] [-9.99327819e-01 -3.59446097e-02 7.20379116e-03 -1.26932720e+02] [-7.20395134e-03 -1.25058785e-04 -9.99974043e-01 -4.14528667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.014820673104159502 Centerline is valid? [True, True] Translation: X:126.13, Y:-127.07, Z:-5.11 [[-6.69846106e-02 9.97753947e-01 3.50763917e-04 1.26128530e+02] [-9.97725215e-01 -6.69853441e-02 7.57354721e-03 -1.27065375e+02] [ 7.58003266e-03 1.57345106e-04 9.99971259e-01 -5.10606373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.01565162469827506 Centerline is valid? [True, True] Translation: X:126.83, Y:-127.22, Z:-4.14 [[ 4.81612697e-02 -9.98839545e-01 -2.36335629e-04 1.26833457e+02] [-9.98804733e-01 -4.81615647e-02 8.34077567e-03 -1.27216810e+02] [-8.34247886e-03 -1.65649201e-04 -9.99965187e-01 -4.14409534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.01565195690064075 Centerline is valid? [True, True] Translation: X:126.81, Y:-127.34, Z:-4.14 [[ 1.25909397e-01 -9.92041321e-01 -9.17151247e-04 1.26814214e+02] [-9.92003345e-01 -1.25912604e-01 8.68214750e-03 -1.27339792e+02] [-8.72852997e-03 -1.83346849e-04 -9.99961889e-01 -4.14336942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.015871414977939105 Centerline is valid? [True, True] Translation: X:126.80, Y:-127.45, Z:-4.14 [[ 2.01806716e-01 -9.79423851e-01 -1.72338277e-03 1.26803943e+02] [-9.79379223e-01 -2.01813976e-01 9.35181831e-03 -1.27453605e+02] [-9.50719663e-03 -1.99414461e-04 -9.99954786e-01 -4.14310784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.015257135824726095 Centerline is valid? [True, True] Translation: X:126.81, Y:-127.58, Z:-4.14 [[ 2.75279599e-01 -9.61361368e-01 -2.33720780e-03 1.26805922e+02] [-9.61320965e-01 -2.75289461e-01 8.81562792e-03 -1.27575202e+02] [-9.11841280e-03 -1.79955656e-04 -9.99958410e-01 -4.14369176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.014762084884315511 Centerline is valid? [True, True] Translation: X:126.81, Y:-127.69, Z:-4.14 [[ 3.45796301e-01 -9.38305471e-01 -2.78604763e-03 1.26814912e+02] [-9.38271596e-01 -3.45807494e-01 7.97427388e-03 -1.27686547e+02] [-8.44574096e-03 -1.43405053e-04 -9.99964324e-01 -4.14431954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.013990005727528974 Centerline is valid? [True, True] Translation: X:126.84, Y:-127.81, Z:-4.14 [[ 4.13023224e-01 -9.10715119e-01 -3.12868820e-03 1.26837285e+02] [-9.10687142e-01 -4.13035062e-01 7.13918318e-03 -1.27808380e+02] [-7.79401998e-03 -9.93923376e-05 -9.99969621e-01 -4.14467048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.013422348170786856 Centerline is valid? [True, True] Translation: X:126.86, Y:-127.91, Z:-4.14 [[ 4.78706874e-01 -8.77968022e-01 -3.44698500e-03 1.26861576e+02] [-8.77944236e-01 -4.78719279e-01 6.46301976e-03 -1.27913543e+02] [-7.32446285e-03 -6.76313807e-05 -9.99973174e-01 -4.14496150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.013173067085199424 Centerline is valid? [True, True] Translation: X:126.90, Y:-128.02, Z:-4.15 [[ 5.40885226e-01 -8.41087856e-01 -3.79365753e-03 1.26895067e+02] [-8.41066734e-01 -5.40898529e-01 5.96075338e-03 -1.28019319e+02] [-7.06550105e-03 -3.33642860e-05 -9.99975039e-01 -4.14522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.012912129686423007 Centerline is valid? [True, True] Translation: X:126.94, Y:-128.13, Z:-4.14 [[ 6.01029374e-01 -7.99212159e-01 -4.85980673e-03 1.26940307e+02] [-7.99185887e-01 -6.01049021e-01 6.48016606e-03 -1.28129332e+02] [-8.10000959e-03 -1.08811927e-05 -9.99967194e-01 -4.14472047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.013288495892916804 Centerline is valid? [True, True] Translation: X:126.98, Y:-128.22, Z:-4.14 [[ 6.55755388e-01 -7.54951801e-01 -5.71400518e-03 1.26984696e+02] [-7.54923699e-01 -6.55780281e-01 6.51401366e-03 -1.28222793e+02] [-8.66489827e-03 4.20383701e-05 -9.99962458e-01 -4.14353765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.013845264740408215 Centerline is valid? [True, True] Translation: X:127.04, Y:-128.31, Z:-4.14 [[ 7.07056563e-01 -7.07130400e-01 -6.13309916e-03 1.27036166e+02] [-7.07104955e-01 -7.07083156e-01 5.99944224e-03 -1.28313817e+02] [-8.57899909e-03 9.47997939e-05 -9.99963195e-01 -4.14461795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.014435893457502874 Centerline is valid? [True, True] Translation: X:127.05, Y:-128.34, Z:-4.14 [[ 7.57362248e-01 -6.52961636e-01 -6.59753613e-03 1.27052993e+02] [-6.52938370e-01 -7.57390972e-01 5.51354953e-03 -1.28342046e+02] [-8.59705062e-03 1.32030226e-04 -9.99963036e-01 -4.14494963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.014339664923381477 Centerline is valid? [True, True] Translation: X:127.07, Y:-128.37, Z:-4.15 [[ 8.05692914e-01 -5.92291591e-01 -7.04265438e-03 1.27071430e+02] [-5.92270458e-01 -8.05723682e-01 5.00521973e-03 -1.28370452e+02] [-8.63898297e-03 1.38486071e-04 -9.99962674e-01 -4.14519846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.014476857127178616 Centerline is valid? [True, True] Translation: X:127.09, Y:-128.40, Z:-4.14 [[ 8.49687252e-01 -5.27234316e-01 -7.45314266e-03 1.27092059e+02] [-5.27215439e-01 -8.49719929e-01 4.46353395e-03 -1.28396752e+02] [-8.68641212e-03 1.36803985e-04 -9.99962263e-01 -4.14475963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.013783608769449705 Centerline is valid? [True, True] Translation: X:127.11, Y:-128.42, Z:-4.14 [[ 8.90211751e-01 -4.55473870e-01 -8.16043912e-03 1.27113526e+02] [-4.55455819e-01 -8.90249146e-01 4.05638351e-03 -1.28424070e+02] [-9.11240066e-03 1.05679224e-04 -9.99958476e-01 -4.14453862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.013212467011107624 Centerline is valid? [True, True] Translation: X:127.14, Y:-128.45, Z:-4.14 [[ 9.24816155e-01 -3.80310613e-01 -8.88350237e-03 1.27136975e+02] [-3.80293772e-01 -9.24858818e-01 3.57969696e-03 -1.28449803e+02] [-9.57738225e-03 6.77790410e-05 -9.99954134e-01 -4.14426010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.012877581047908563 Centerline is valid? [True, True] Translation: X:127.16, Y:-128.48, Z:-4.14 [[ 9.54223762e-01 -2.98946933e-01 -9.36717688e-03 1.27162821e+02] [-2.98932407e-01 -9.54269737e-01 2.94709345e-03 -1.28475889e+02] [-9.81983797e-03 -1.20338643e-05 -9.99951784e-01 -4.14334142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.013531617658082029 Centerline is valid? [True, True] Translation: X:127.19, Y:-128.50, Z:-4.14 [[ 9.76537352e-01 -2.15175102e-01 -8.62987346e-03 1.27191215e+02] [-2.15165920e-01 -9.76575480e-01 1.98967108e-03 -1.28500284e+02] [-8.85585049e-03 -8.61334673e-05 -9.99960783e-01 -4.14353948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.014457619606281792 Centerline is valid? [True, True] Translation: X:127.22, Y:-128.52, Z:-4.14 [[ 9.91049940e-01 -1.33252963e-01 -7.97897102e-03 1.27223087e+02] [-1.33247678e-01 -9.91082052e-01 1.19264219e-03 -1.28518397e+02] [-8.06673808e-03 -1.18788602e-04 -9.99967456e-01 -4.14363669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.01598274925343422 Centerline is valid? [True, True] Translation: X:127.25, Y:-128.53, Z:-4.14 [[ 9.98747225e-01 -4.94869493e-02 -7.41774631e-03 1.27252831e+02] [-4.94844493e-02 -9.98774759e-01 5.20296696e-04 -1.28533539e+02] [-7.43440568e-03 -1.52581790e-04 -9.99972353e-01 -4.14429242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.016689891798720186 Centerline is valid? [True, True] Translation: X:127.28, Y:-128.55, Z:-4.14 [[ 9.99429233e-01 3.27148191e-02 -8.42311064e-03 1.27283496e+02] [ 3.27153883e-02 -9.99464706e-01 -7.02312918e-05 -1.28546004e+02] [-8.42089941e-03 -2.05374129e-04 -9.99964523e-01 -4.14283184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.01761542255497539 Centerline is valid? [True, True] Translation: X:127.31, Y:-128.55, Z:-4.14 [[ 9.93595478e-01 1.12657967e-01 -8.72980270e-03 1.27314601e+02] [ 1.12655645e-01 -9.93633801e-01 -7.58844121e-04 -1.28553772e+02] [-8.75971687e-03 -2.29477463e-04 -9.99961607e-01 -4.14183994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.01864143327522561 Centerline is valid? [True, True] Translation: X:127.35, Y:-128.56, Z:-4.14 [[ 9.81790231e-01 1.89736457e-01 -9.38184521e-03 1.27345725e+02] [ 1.89730179e-01 -9.81835025e-01 -1.56290292e-03 -1.28556334e+02] [-9.50796389e-03 -2.45576351e-04 -9.99954768e-01 -4.14031165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.016026243078220124 Centerline is valid? [True, True] Translation: X:127.38, Y:-128.55, Z:-4.14 [[ 9.65199527e-01 2.61339233e-01 -9.57490269e-03 1.27377300e+02] [ 2.61328494e-01 -9.65246996e-01 -2.37822658e-03 -1.28550141e+02] [-9.86366997e-03 -2.06731725e-04 -9.99951332e-01 -4.14072453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.014658992619995412 Centerline is valid? [True, True] Translation: X:127.41, Y:-128.54, Z:-4.14 [[ 9.43875518e-01 3.30166924e-01 -9.42386994e-03 1.27407174e+02] [ 3.30152006e-01 -9.43922550e-01 -3.14194581e-03 -1.28542591e+02] [-9.93276993e-03 -1.45703834e-04 -9.99950658e-01 -4.14088374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.013173781541777905 Centerline is valid? [True, True] Translation: X:127.43, Y:-128.52, Z:-4.14 [[ 9.20812753e-01 3.89921770e-01 -8.05529091e-03 1.27432311e+02] [ 3.89906884e-01 -9.20847986e-01 -3.40711202e-03 -1.28524693e+02] [-8.74620556e-03 -3.50118020e-06 -9.99961751e-01 -4.14259397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.01479006994944406 Centerline is valid? [True, True] Translation: X:127.46, Y:-128.51, Z:-4.14 [[ 8.94637453e-01 4.46742749e-01 -6.68911131e-03 1.27456229e+02] [ 4.46729290e-01 -8.94662452e-01 -3.46962420e-03 -1.28506862e+02] [-7.53452618e-03 1.15833810e-04 -9.99971608e-01 -4.14493425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.017242284930377882 Centerline is valid? [True, True] Translation: X:127.48, Y:-128.49, Z:-4.15 [[ 8.61320809e-01 5.08021189e-01 -6.39810131e-03 1.27481786e+02] [ 5.08005604e-01 -8.61344553e-01 -3.98338597e-03 -1.28492685e+02] [-7.53461418e-03 1.80701903e-04 -9.99971598e-01 -4.14514159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.01967926285568542 Centerline is valid? [True, True] Translation: X:127.51, Y:-128.48, Z:-4.14 [[ 8.23795920e-01 5.66845501e-01 -6.81625474e-03 1.27506336e+02] [ 5.66823299e-01 -8.23824073e-01 -5.02450308e-03 -1.28479374e+02] [-8.46351170e-03 2.75553139e-04 -9.99964146e-01 -4.14475361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.02073316745795953 Centerline is valid? [True, True] Translation: X:127.53, Y:-128.47, Z:-4.14 [[ 7.79805121e-01 6.25979206e-01 -7.34891878e-03 1.27532713e+02] [ 6.25946970e-01 -7.79839665e-01 -6.36297408e-03 -1.28468384e+02] [-9.71406782e-03 3.61846326e-04 -9.99952752e-01 -4.14458593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.021429167503424072 Centerline is valid? [True, True] Translation: X:127.56, Y:-128.45, Z:-4.14 [[ 7.28908255e-01 6.84576408e-01 -6.92088183e-03 1.27557921e+02] [ 6.84540586e-01 -7.28941014e-01 -7.01311924e-03 -1.28454660e+02] [-9.84593059e-03 3.74296001e-04 -9.99951458e-01 -4.14467412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.020452264273738172 Centerline is valid? [True, True] Translation: X:127.59, Y:-128.44, Z:-4.14 [[ 6.71741137e-01 7.40757176e-01 -6.53076137e-03 1.27587028e+02] [ 7.40716758e-01 -6.71772783e-01 -7.74678614e-03 -1.28442841e+02] [-1.01256752e-02 3.66390536e-04 -9.99948667e-01 -4.14456592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.01815848126498985 Centerline is valid? [True, True] Translation: X:127.62, Y:-128.43, Z:-4.15 [[ 6.08837769e-01 7.93275963e-01 -5.46053541e-03 1.27618249e+02] [ 7.93239463e-01 -6.08862180e-01 -7.61577596e-03 -1.28431193e+02] [-9.36612550e-03 3.05259866e-04 -9.99956090e-01 -4.14565012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.0165665082077131 Centerline is valid? [True, True] Translation: X:127.65, Y:-128.42, Z:-4.15 [[ 5.37332675e-01 8.43359215e-01 -4.33946947e-03 1.27648447e+02] [ 8.43328677e-01 -5.37350160e-01 -7.17965879e-03 -1.28417649e+02] [-8.38684602e-03 1.98266213e-04 -9.99964810e-01 -4.14623162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.013695931726021826 Centerline is valid? [True, True] Translation: X:127.68, Y:-128.40, Z:-4.15 [[ 4.60014443e-01 8.87904275e-01 -3.56524498e-03 1.27683242e+02] [ 8.87875876e-01 -4.60028247e-01 -7.10210128e-03 -1.28402672e+02] [-7.94609949e-03 1.01574150e-04 -9.99968424e-01 -4.14756629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.012442024378910265 Centerline is valid? [True, True] Translation: X:127.72, Y:-128.38, Z:-4.15 [[ 3.78584573e-01 9.25561984e-01 -2.95539927e-03 1.27717010e+02] [ 9.25533558e-01 -3.78596109e-01 -7.25397515e-03 -1.28384266e+02] [-7.83290629e-03 1.09218906e-05 -9.99969322e-01 -4.14721132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.012638484825831983 Centerline is valid? [True, True] Translation: X:127.74, Y:-128.36, Z:-4.15 [[ 2.99379054e-01 9.54131512e-01 -2.28883849e-03 1.27742078e+02] [ 9.54104482e-01 -2.99387802e-01 -7.18206199e-03 -1.28361140e+02] [-7.53788199e-03 -3.36321321e-05 -9.99971589e-01 -4.14727900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.01288836890047554 Centerline is valid? [True, True] Translation: X:127.77, Y:-128.34, Z:-4.15 [[ 2.18211995e-01 9.75899611e-01 -1.86377715e-03 1.27768058e+02] [ 9.75867188e-01 -2.18219939e-01 -7.95553423e-03 -1.28335328e+02] [-8.17051610e-03 -8.28059662e-05 -9.99966617e-01 -4.14625157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.013171059174126452 Centerline is valid? [True, True] Translation: X:127.79, Y:-128.31, Z:-4.14 [[ 1.39437886e-01 9.90229775e-01 -1.43815771e-03 1.27785564e+02] [ 9.90185084e-01 -1.39445258e-01 -9.40852472e-03 -1.28305503e+02] [-9.51714559e-03 -1.12137507e-04 -9.99954705e-01 -4.14466962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.01336995357955462 Centerline is valid? [True, True] Translation: X:127.80, Y:-128.27, Z:-4.14 [[ 6.09338544e-02 9.98141451e-01 -8.41890793e-04 1.27800284e+02] [ 9.98075545e-01 -6.09395063e-02 -1.14709847e-02 -1.28273781e+02] [-1.15009697e-02 -1.41299303e-04 -9.99933852e-01 -4.14318272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.013422215066081367 Centerline is valid? [True, True] Translation: X:127.81, Y:-128.24, Z:-4.14 [[-1.80394819e-02 9.99837273e-01 6.98496200e-05 1.27809925e+02] [ 9.99746520e-01 1.80387857e-02 -1.34721488e-02 -1.28241833e+02] [-1.34712165e-02 -1.73198670e-04 -9.99909244e-01 -4.14240302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.013357015847235754 Centerline is valid? [True, True] Translation: X:127.82, Y:-128.21, Z:-4.14 [[-9.70394540e-02 9.95279857e-01 1.16254917e-03 1.27818066e+02] [ 9.95183177e-01 9.70462329e-02 -1.38734396e-02 -1.28208501e+02] [-1.39207760e-02 -1.89321632e-04 -9.99903083e-01 -4.14265196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.014203970715935514 Centerline is valid? [True, True] Translation: X:127.82, Y:-128.18, Z:-4.14 [[-1.76545233e-01 9.84289961e-01 2.24800362e-03 1.27824089e+02] [ 9.84193903e-01 1.76559413e-01 -1.37526680e-02 -1.28175745e+02] [-1.39335192e-02 -2.15496510e-04 -9.99902901e-01 -4.14132175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.014207309133776708 Centerline is valid? [True, True] Translation: X:127.82, Y:-128.14, Z:-4.14 [[-2.54131445e-01 9.67164067e-01 3.29785998e-03 1.27822281e+02] [ 9.67070549e-01 2.54152738e-01 -1.34513654e-02 -1.28142512e+02] [-1.38478374e-02 -2.29151649e-04 -9.99904088e-01 -4.14266975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.014542489320932852 Centerline is valid? [True, True] Translation: X:127.82, Y:-128.11, Z:-4.14 [[-3.29330197e-01 9.44205437e-01 4.20885916e-03 1.27818605e+02] [ 9.44119366e-01 3.29357014e-01 -1.27507238e-02 -1.28110915e+02] [-1.34255200e-02 -2.25532933e-04 -9.99909848e-01 -4.14263565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.014598415277920945 Centerline is valid? [True, True] Translation: X:127.81, Y:-128.08, Z:-4.14 [[-4.03845202e-01 9.14813128e-01 5.09846246e-03 1.27812560e+02] [ 9.14732442e-01 4.03877310e-01 -1.21523078e-02 -1.28079144e+02] [-1.31762440e-02 -2.43922175e-04 -9.99913160e-01 -4.14434113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.015464327530425788 Centerline is valid? [True, True] Translation: X:127.81, Y:-128.05, Z:-4.14 [[-4.76543820e-01 8.79130150e-01 6.01385543e-03 1.27805338e+02] [ 8.79052661e-01 4.76581685e-01 -1.16755225e-02 -1.28046516e+02] [-1.31303972e-02 -2.77402489e-04 -9.99913754e-01 -4.14470091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.016215789955326108 Centerline is valid? [True, True] Translation: X:127.80, Y:-128.01, Z:-4.14 [[-5.47196557e-01 8.36973442e-01 7.16842390e-03 1.27795207e+02] [ 8.36893299e-01 5.47243402e-01 -1.15873088e-02 -1.28014458e+02] [-1.36211424e-02 -3.41329527e-04 -9.99907170e-01 -4.14490567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.017190008764116135 Centerline is valid? [True, True] Translation: X:127.78, Y:-127.99, Z:-4.14 [[-6.11551100e-01 7.91161552e-01 8.28558468e-03 1.27780521e+02] [ 7.91080840e-01 6.11607120e-01 -1.13064020e-02 -1.27986250e+02] [-1.40127132e-02 -3.59875308e-04 -9.99901752e-01 -4.14442385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.016026138162059857 Centerline is valid? [True, True] Translation: X:127.76, Y:-127.96, Z:-4.15 [[-6.69624932e-01 7.42646558e-01 8.86232453e-03 1.27760765e+02] [ 7.42575289e-01 6.69683502e-01 -1.02930968e-02 -1.27960798e+02] [-1.35790854e-02 -3.11571049e-04 -9.99907751e-01 -4.14567168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.01427477862987253 Centerline is valid? [True, True] Translation: X:127.74, Y:-127.94, Z:-4.15 [[-7.20474952e-01 6.93424670e-01 8.83570875e-03 1.27735271e+02] [ 6.93369267e-01 7.20529105e-01 -8.76753498e-03 -1.27942477e+02] [-1.24460104e-02 -1.90380446e-04 -9.99922527e-01 -4.14739693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.013234917189810002 Centerline is valid? [True, True] Translation: X:127.75, Y:-127.93, Z:-4.15 [[-7.63447134e-01 6.45807706e-01 8.99331218e-03 1.27750842e+02] [ 6.45761317e-01 7.63500096e-01 -7.74117917e-03 -1.27931582e+02] [-1.18657079e-02 -1.02447931e-04 -9.99929595e-01 -4.14755356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.012847860116777934 Centerline is valid? [True, True] Translation: X:128.19, Y:-127.44, Z:-5.10 [[-7.14486068e-01 -6.99591942e-01 8.98741131e-03 1.28194960e+02] [ 6.99538964e-01 -7.14542578e-01 -8.61052581e-03 -1.27437917e+02] [ 1.24457425e-02 1.34943674e-04 9.99922540e-01 -5.10395891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.015582936248092935 Centerline is valid? [True, True] Translation: X:127.71, Y:-127.94, Z:-4.15 [[-7.49520933e-01 6.61905291e-01 9.98783566e-03 1.27710934e+02] [ 6.61850273e-01 7.49587447e-01 -8.53664932e-03 -1.27937439e+02] [-1.31372096e-02 2.12054393e-04 -9.99913681e-01 -4.14639189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.01632441151161934 Centerline is valid? [True, True] Translation: X:127.73, Y:-127.93, Z:-4.15 [[-7.89370858e-01 6.13825558e-01 1.05750940e-02 1.27731267e+02] [ 6.13775890e-01 7.89441626e-01 -7.81510384e-03 -1.27926306e+02] [-1.31455298e-02 3.21722473e-04 -9.99913542e-01 -4.14820194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.018913824415063105 Centerline is valid? [True, True] Translation: X:127.75, Y:-127.92, Z:-4.15 [[-8.25236859e-01 5.64673974e-01 1.12884689e-02 1.27748058e+02] [ 5.64628685e-01 8.25313936e-01 -7.16630112e-03 -1.27916633e+02] [-1.33631544e-02 4.59897531e-04 -9.99910603e-01 -4.14851127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.020249622422507045 Centerline is valid? [True, True] Translation: X:127.76, Y:-127.90, Z:-4.15 [[-8.60943512e-01 5.08559838e-01 1.19649591e-02 1.27762952e+02] [ 5.08519126e-01 8.61026489e-01 -6.45628294e-03 -1.27900942e+02] [-1.35855529e-02 5.25915636e-04 -9.99907574e-01 -4.14816867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.02016014229902777 Centerline is valid? [True, True] Translation: X:128.13, Y:-127.24, Z:-5.10 [[-8.65425792e-01 -5.00905953e-01 1.14640525e-02 1.28128824e+02] [ 5.00853856e-01 -8.65501559e-01 -7.24329573e-03 -1.27239379e+02] [ 1.35503653e-02 -5.26720043e-04 9.99908051e-01 -5.10286940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.018324258371223288 Centerline is valid? [True, True] Translation: X:127.72, Y:-127.88, Z:-4.15 [[-8.66746885e-01 4.98627981e-01 1.09532638e-02 1.27719360e+02] [ 4.98593699e-01 8.66816007e-01 -5.85947291e-03 -1.27878953e+02] [-1.24161615e-02 3.82548420e-04 -9.99922843e-01 -4.14803819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.016177548217019 Centerline is valid? [True, True] Translation: X:127.73, Y:-127.85, Z:-4.15 [[-9.02836341e-01 4.29842129e-01 1.10582832e-02 1.27728816e+02] [ 4.29813802e-01 9.02904015e-01 -4.94321085e-03 -1.27849236e+02] [-1.21093686e-02 2.90092350e-04 -9.99926637e-01 -4.14843634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.013634852338979361 Centerline is valid? [True, True] Translation: X:127.74, Y:-127.82, Z:-4.15 [[-9.35576967e-01 3.52958469e-01 1.07730091e-02 1.27739833e+02] [ 3.52936659e-01 9.35638981e-01 -3.92588426e-03 -1.27816796e+02] [-1.14653214e-02 1.29222960e-04 -9.99934263e-01 -4.14826139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.012839473889481146 Centerline is valid? [True, True] Translation: X:127.74, Y:-127.78, Z:-4.15 [[-9.62420206e-01 2.71400325e-01 9.44517322e-03 1.27742777e+02] [ 2.71386881e-01 9.62466551e-01 -2.70163031e-03 -1.27779949e+02] [-9.82388664e-03 -3.68075051e-05 -9.99951744e-01 -4.14803423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.014262823165163524 Centerline is valid? [True, True] Translation: X:127.74, Y:-127.74, Z:-4.15 [[-9.81220709e-01 1.92710280e-01 8.28658480e-03 1.27744763e+02] [ 1.92702403e-01 9.81255693e-01 -1.74629097e-03 -1.27744837e+02] [-8.46778673e-03 -1.16652060e-04 -9.99964141e-01 -4.14740263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.01717400846469189 Centerline is valid? [True, True] Translation: X:127.72, Y:-127.71, Z:-4.15 [[-9.93739677e-01 1.11510292e-01 6.84896762e-03 1.27723495e+02] [ 1.11506439e-01 9.93763264e-01 -9.43038773e-04 -1.27707142e+02] [-6.91141095e-03 -1.73431058e-04 -9.99976101e-01 -4.14740206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.018710043140585123 Centerline is valid? [True, True] Translation: X:127.74, Y:-127.68, Z:-4.15 [[-9.99330948e-01 3.59170639e-02 6.90081794e-03 1.27742709e+02] [ 3.59147789e-02 9.99354753e-01 -4.54799687e-04 -1.27681277e+02] [-6.91270028e-03 -2.06654052e-04 -9.99976086e-01 -4.14734587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.017698193099680435 Centerline is valid? [True, True] Translation: X:127.79, Y:-126.99, Z:-5.11 [[-9.86897294e-01 -1.61135054e-01 8.32015987e-03 1.27792403e+02] [ 1.61132245e-01 -9.86932306e-01 -1.01132599e-03 -1.26994986e+02] [ 8.37439463e-03 3.42571153e-04 9.99964876e-01 -5.10620564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.0190286063758456 Centerline is valid? [True, True] Translation: X:127.69, Y:-127.68, Z:-4.14 [[-9.99357996e-01 3.45448367e-02 9.50004970e-03 1.27690329e+02] [ 3.45408101e-02 9.99403115e-01 -5.87642275e-04 -1.27677792e+02] [-9.51467928e-03 -2.59125592e-04 -9.99954701e-01 -4.14208699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.016340200606902996 Centerline is valid? [True, True] Translation: X:127.74, Y:-126.99, Z:-5.11 [[-9.88434113e-01 -1.51293732e-01 1.04024119e-02 1.27741672e+02] [ 1.51288992e-01 -9.88488791e-01 -1.24559647e-03 -1.26986098e+02] [ 1.04711185e-02 3.42580374e-04 9.99945118e-01 -5.10885702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.014840115952242662 Centerline is valid? [True, True] Translation: X:127.64, Y:-127.69, Z:-4.14 [[-9.99079582e-01 4.14401147e-02 1.10772873e-02 1.27636859e+02] [ 4.14355650e-02 9.99140973e-01 -6.40008391e-04 -1.27692660e+02] [-1.10942936e-02 -1.80425657e-04 -9.99938440e-01 -4.14179127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.014383957288357134 Centerline is valid? [True, True] Translation: X:127.64, Y:-127.67, Z:-4.14 [[-9.99577396e-01 -2.75404277e-02 9.30344984e-03 1.27643357e+02] [-2.75404629e-02 9.99620682e-01 1.24356343e-04 -1.27667465e+02] [-9.30334570e-03 -1.31917526e-04 -9.99956714e-01 -4.14309900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.014028206651074147 Centerline is valid? [True, True] Translation: X:127.64, Y:-126.94, Z:-5.11 [[-9.97784518e-01 -6.61992542e-02 6.61169489e-03 1.27641793e+02] [ 6.61973002e-02 -9.97806421e-01 -5.14190720e-04 -1.26944171e+02] [ 6.63123066e-03 -7.53751883e-05 9.99978010e-01 -5.10594220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.013893099286028136 Centerline is valid? [True, True] Translation: X:127.58, Y:-127.67, Z:-4.15 [[-9.99551650e-01 -2.95139976e-02 5.04203815e-03 1.27576957e+02] [-2.95139162e-02 9.99564365e-01 9.05522394e-05 -1.27668795e+02] [-5.04251422e-03 -5.82986510e-05 -9.99987285e-01 -4.14674536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.013575382539991925 Centerline is valid? [True, True] Translation: X:127.57, Y:-126.95, Z:-5.10 [[-9.98246634e-01 -5.89702139e-02 5.11576324e-03 1.27573803e+02] [ 5.89697689e-02 -9.98259741e-01 -2.37910819e-04 -1.26945379e+02] [ 5.12089014e-03 6.41817016e-05 9.99986886e-01 -5.10461937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.013146120978022306 Centerline is valid? [True, True] Translation: X:127.52, Y:-127.67, Z:-4.15 [[-9.99546049e-01 -2.95755546e-02 5.74304242e-03 1.27518492e+02] [-2.95752975e-02 9.99562547e-01 1.29713642e-04 -1.27671343e+02] [-5.74436647e-03 -4.01974293e-05 -9.99983500e-01 -4.14521373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.012855293467754512 Centerline is valid? [True, True] Translation: X:127.51, Y:-126.94, Z:-5.11 [[-9.98818464e-01 -4.80226326e-02 7.45007927e-03 1.27507848e+02] [ 4.80224728e-02 -9.98846235e-01 -2.00433870e-04 -1.26944816e+02] [ 7.45110900e-03 1.57574180e-04 9.99972228e-01 -5.10701804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.012822827679235009 Centerline is valid? [True, True] Translation: X:127.45, Y:-127.68, Z:-4.14 [[-9.99530230e-01 -2.94674189e-02 8.42561473e-03 1.27452016e+02] [-2.94665314e-02 9.99565741e-01 2.29489716e-04 -1.27675151e+02] [-8.42871831e-03 -1.88917326e-05 -9.99964478e-01 -4.14348770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.013097311902082477 Centerline is valid? [True, True] Translation: X:127.44, Y:-126.95, Z:-5.11 [[-9.99228412e-01 -3.84205913e-02 8.15096480e-03 1.27438281e+02] [ 3.84193255e-02 -9.99261657e-01 -3.11872099e-04 -1.26945853e+02] [ 8.15692890e-03 1.52310759e-06 9.99966732e-01 -5.10822286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.012811942360477849 Centerline is valid? [True, True] Translation: X:127.38, Y:-127.68, Z:-4.14 [[-9.99532630e-01 -2.96310991e-02 7.51788720e-03 1.27383788e+02] [-2.96301279e-02 9.99560902e-01 2.40564693e-04 -1.27677987e+02] [-7.52171431e-03 1.76963020e-05 -9.99971711e-01 -4.14369647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.012588179699001993 Centerline is valid? [True, True] Translation: X:127.37, Y:-126.95, Z:-5.11 [[-9.99469173e-01 -3.21607583e-02 5.20174655e-03 1.27365418e+02] [ 3.21594794e-02 -9.99482696e-01 -3.29338929e-04 -1.26947347e+02] [ 5.20964746e-03 -1.61878646e-04 9.99986417e-01 -5.10509372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.012477466643298189 Centerline is valid? [True, True] Translation: X:127.32, Y:-127.68, Z:-4.15 [[-9.99338574e-01 -3.62314185e-02 3.11427996e-03 1.27315782e+02] [-3.62312398e-02 9.99343427e-01 1.13788649e-04 -1.27678647e+02] [-3.11635793e-03 8.79162176e-07 -9.99995144e-01 -4.14716700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.012813788264165207 Centerline is valid? [True, True] Translation: X:127.31, Y:-127.65, Z:-4.15 [[-9.93526825e-01 -1.13579092e-01 2.05870534e-03 1.27305753e+02] [-1.13578876e-01 9.93528958e-01 2.22073234e-04 -1.27646268e+02] [-2.07060625e-03 -1.31897236e-05 -9.99997856e-01 -4.14726119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.013979974917222618 Centerline is valid? [True, True] Translation: X:127.23, Y:-126.94, Z:-5.10 [[-9.99678225e-01 2.53315524e-02 1.32592457e-03 1.27226932e+02] [-2.53315927e-02 -9.99679104e-01 -1.35911924e-05 -1.26943102e+02] [ 1.32515480e-03 -4.71746003e-05 9.99999121e-01 -5.10431757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.015087505614248285 Centerline is valid? [True, True] Translation: X:127.22, Y:-127.64, Z:-4.14 [[-9.91110714e-01 -1.33020155e-01 2.27832501e-03 1.27221023e+02] [-1.33019914e-01 9.91113332e-01 2.57788052e-04 -1.27642229e+02] [-2.29236930e-03 -4.75660968e-05 -9.99997371e-01 -4.14456219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.016114707593258892 Centerline is valid? [True, True] Translation: X:127.14, Y:-126.96, Z:-5.11 [[-9.99758550e-01 2.15596246e-02 4.24556684e-03 1.27144246e+02] [-2.15584786e-02 -9.99767539e-01 3.15531286e-04 -1.26960147e+02] [ 4.25138265e-03 2.23927139e-04 9.99990938e-01 -5.10879557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.01571441649645355 Centerline is valid? [True, True] Translation: X:127.14, Y:-127.65, Z:-4.14 [[-9.89921517e-01 -1.41532289e-01 4.89919365e-03 1.27140227e+02] [-1.41531146e-01 9.89933633e-01 5.81044062e-04 -1.27649813e+02] [-4.93211306e-03 -1.18200473e-04 -9.99987830e-01 -4.14200900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.015293857278210048 Centerline is valid? [True, True] Translation: X:127.13, Y:-127.63, Z:-4.14 [[-9.78094792e-01 -2.08112484e-01 4.44664203e-03 1.27130509e+02] [-2.08110760e-01 9.78104895e-01 8.51950643e-04 -1.27626324e+02] [-4.52658390e-03 -9.21055661e-05 -9.99989751e-01 -4.14171348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.014036322720256084 Centerline is valid? [True, True] Translation: X:127.12, Y:-127.61, Z:-4.14 [[-9.62006755e-01 -2.72988919e-01 4.47806678e-03 1.27120725e+02] [-2.72986312e-01 9.62017175e-01 1.19520240e-03 -1.27606153e+02] [-4.63425416e-03 -7.26581568e-05 -9.99989259e-01 -4.14101369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.013289954366990344 Centerline is valid? [True, True] Translation: X:126.93, Y:-126.93, Z:-5.11 [[-9.83587151e-01 1.80377421e-01 4.50591914e-03 1.26926842e+02] [-1.80375204e-01 -9.83597469e-01 8.96939837e-04 -1.26928440e+02] [ 4.59379836e-03 6.94624142e-05 9.99989446e-01 -5.10997844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.012729319876171968 Centerline is valid? [True, True] Translation: X:127.00, Y:-127.65, Z:-4.14 [[-9.62028438e-01 -2.72890190e-01 5.67706516e-03 1.26995206e+02] [-2.72885765e-01 9.62045187e-01 1.55489329e-03 -1.27648206e+02] [-5.88590834e-03 -5.33387042e-05 -9.99982677e-01 -4.14010300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.012551897216491179 Centerline is valid? [True, True] Translation: X:126.97, Y:-127.63, Z:-4.14 [[-9.39965350e-01 -3.41196477e-01 7.07845334e-03 1.26972014e+02] [-3.41187328e-01 9.39992000e-01 2.49954554e-03 -1.27631483e+02] [-7.50652565e-03 -6.55923771e-05 -9.99971824e-01 -4.13895467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.01308021142871581 Centerline is valid? [True, True] Translation: X:126.93, Y:-127.62, Z:-4.14 [[-9.12069788e-01 -4.09972015e-01 7.18666468e-03 1.26925242e+02] [-4.09959976e-01 9.12098098e-01 3.14290813e-03 -1.27622145e+02] [-7.84344756e-03 -7.96933281e-05 -9.99969237e-01 -4.13769055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.013134017328368225 Centerline is valid? [True, True] Translation: X:126.86, Y:-127.62, Z:-4.14 [[-8.78050643e-01 -4.78525132e-01 6.38486636e-03 1.26864650e+02] [-4.78513257e-01 8.78073852e-01 3.37245758e-03 -1.27621516e+02] [-7.22018991e-03 -9.40546492e-05 -9.99973930e-01 -4.13882709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.014224306994109768 Centerline is valid? [True, True] Translation: X:126.79, Y:-127.63, Z:-4.14 [[-8.37383861e-01 -5.46589138e-01 5.34641479e-03 1.26794531e+02] [-5.46578879e-01 8.37400920e-01 3.35081008e-03 -1.27627162e+02] [-6.30860906e-03 -1.16323122e-04 -9.99980094e-01 -4.13935398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.01544208882258936 Centerline is valid? [True, True] Translation: X:126.72, Y:-127.64, Z:-4.14 [[-7.91953156e-01 -6.10565942e-01 4.40793054e-03 1.26715686e+02] [-6.10557345e-01 7.91965413e-01 3.24235418e-03 -1.27644489e+02] [-5.47059956e-03 -1.23501745e-04 -9.99985029e-01 -4.14064893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.015330870044190432 Centerline is valid? [True, True] Translation: X:126.64, Y:-127.67, Z:-4.14 [[-7.43164592e-01 -6.69092294e-01 4.67880990e-03 1.26638056e+02] [-6.69080264e-01 7.43179306e-01 4.01502385e-03 -1.27670527e+02] [-6.16361621e-03 -1.46675801e-04 -9.99980994e-01 -4.14014156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.01596730561683525 Centerline is valid? [True, True] Translation: X:126.55, Y:-127.71, Z:-4.14 [[-6.90435012e-01 -7.23378025e-01 4.87096324e-03 1.26553700e+02] [-7.23361707e-01 6.90452174e-01 4.86166299e-03 -1.27707969e+02] [-6.87998734e-03 -1.66805937e-04 -9.99976319e-01 -4.13894537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.01586744858066136 Centerline is valid? [True, True] Translation: X:126.47, Y:-127.76, Z:-4.14 [[-6.34372992e-01 -7.73009664e-01 5.19284453e-03 1.26472246e+02] [-7.72986149e-01 6.34394218e-01 6.03237527e-03 -1.27755488e+02] [-7.95739493e-03 -1.87220952e-04 -9.99968322e-01 -4.13855379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.015488473750971633 Centerline is valid? [True, True] Translation: X:126.39, Y:-127.82, Z:-4.14 [[-5.75214829e-01 -8.17985794e-01 5.20969634e-03 1.26390628e+02] [-8.17955242e-01 5.75238388e-01 7.07242650e-03 -1.27815034e+02] [-8.78196173e-03 -1.93133825e-04 -9.99961419e-01 -4.13797200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.014155346085506863 Centerline is valid? [True, True] Translation: X:126.32, Y:-127.88, Z:-4.14 [[-5.15031642e-01 -8.57157261e-01 4.88236340e-03 1.26316255e+02] [-8.57121696e-01 5.15054757e-01 7.80991845e-03 -1.27882040e+02] [-9.20901281e-03 -1.62424477e-04 -9.99957583e-01 -4.13872982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.013336521187344694 Centerline is valid? [True, True] Translation: X:126.24, Y:-127.96, Z:-4.14 [[-4.51770902e-01 -8.92125330e-01 3.93043064e-03 1.26243972e+02] [-8.92093767e-01 4.51787984e-01 7.50525895e-03 -1.27960744e+02] [-8.47135295e-03 -1.15655065e-04 -9.99964111e-01 -4.14003001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.01212076570932716 Centerline is valid? [True, True] Translation: X:126.18, Y:-128.05, Z:-4.14 [[-3.88161745e-01 -9.21587741e-01 2.54855988e-03 1.26180774e+02] [-9.21568659e-01 3.88170109e-01 5.93069032e-03 -1.28045620e+02] [-6.45492626e-03 -4.66058029e-05 -9.99979166e-01 -4.14272439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.01190807128345092 Centerline is valid? [True, True] Translation: X:126.12, Y:-128.14, Z:-4.14 [[-3.20356368e-01 -9.47295689e-01 1.63534845e-03 1.26118368e+02] [-9.47283596e-01 3.20360542e-01 4.78659735e-03 -1.28140036e+02] [-5.05822415e-03 -1.57218164e-05 -9.99987207e-01 -4.14331003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.01185566021259157 Centerline is valid? [True, True] Translation: X:126.06, Y:-128.24, Z:-4.14 [[-2.47655865e-01 -9.68847199e-01 1.29528582e-03 1.26060394e+02] [-9.68834174e-01 2.47659252e-01 5.02371071e-03 -1.28242990e+02] [-5.18799757e-03 -1.07657428e-05 -9.99986542e-01 -4.14278699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.011964261765933957 Centerline is valid? [True, True] Translation: X:126.01, Y:-128.35, Z:-4.14 [[-1.71312942e-01 -9.85216054e-01 1.09692818e-03 1.26009748e+02] [-9.85196594e-01 1.71316453e-01 6.19219986e-03 -1.28347977e+02] [-6.28857655e-03 -1.98859309e-05 -9.99980227e-01 -4.14198126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.012282328612083296 Centerline is valid? [True, True] Translation: X:125.96, Y:-128.46, Z:-4.14 [[-9.04270644e-02 -9.95902873e-01 6.42609296e-04 1.25962832e+02] [-9.95881601e-01 9.04293331e-02 6.50944243e-03 -1.28462283e+02] [-6.54088315e-03 -5.13330036e-05 -9.99978607e-01 -4.14178425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.013294791890121274 Centerline is valid? [True, True] Translation: X:125.92, Y:-128.58, Z:-4.14 [[-8.12161180e-03 -9.99967009e-01 1.41440923e-04 1.25923735e+02] [-9.99945231e-01 8.12236848e-03 6.60011488e-03 -1.28578806e+02] [-6.60104597e-03 -8.78296059e-05 -9.99978209e-01 -4.14116459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.013945713325283417 Centerline is valid? [True, True] Translation: X:125.90, Y:-128.70, Z:-4.14 [[ 7.16656332e-02 -9.97428637e-01 -3.88415322e-04 1.25896329e+02] [-9.97404172e-01 -7.16665962e-02 6.98690402e-03 -1.28697067e+02] [-6.99677456e-03 -1.13313838e-04 -9.99975516e-01 -4.14076044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.01448096679847336 Centerline is valid? [True, True] Translation: X:125.88, Y:-128.82, Z:-4.14 [[ 1.49878094e-01 -9.88704149e-01 -8.13561387e-04 1.25879193e+02] [-9.88685318e-01 -1.49880262e-01 6.10327718e-03 -1.28818244e+02] [-6.15627227e-03 -1.10391355e-04 -9.99981044e-01 -4.14118511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.015188933842481985 Centerline is valid? [True, True] Translation: X:125.87, Y:-128.95, Z:-4.14 [[ 2.26662645e-01 -9.73972754e-01 -1.05861731e-03 1.25872681e+02] [-9.73960026e-01 -2.26665096e-01 4.98012956e-03 -1.28950228e+02] [-5.09046209e-03 -9.77583955e-05 -9.99987039e-01 -4.14214424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.014527710108712184 Centerline is valid? [True, True] Translation: X:125.87, Y:-129.06, Z:-4.14 [[ 3.01352266e-01 -9.53512514e-01 -8.35446413e-04 1.25871871e+02] [-9.53508291e-01 -3.01353419e-01 2.83837620e-03 -1.29057968e+02] [-2.95819185e-03 -5.87460174e-05 -9.99995623e-01 -4.14407420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.013947048419941675 Centerline is valid? [True, True] Translation: X:125.88, Y:-129.18, Z:-4.15 [[ 3.72067322e-01 -9.28205734e-01 -1.54333161e-04 1.25883187e+02] [-9.28205643e-01 -3.72067354e-01 4.09627337e-04 -1.29176424e+02] [-4.37640774e-04 -9.15603489e-06 -9.99999904e-01 -4.14532014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.013701494830651483 Centerline is valid? [True, True] Translation: X:125.90, Y:-129.29, Z:-4.14 [[ 4.41130260e-01 -8.97443059e-01 -2.21524813e-04 1.25901320e+02] [-8.97442935e-01 -4.41130316e-01 4.73299608e-04 -1.29288186e+02] [-5.22480759e-04 -9.98090118e-06 -9.99999864e-01 -4.14459997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.01307030347166802 Centerline is valid? [True, True] Translation: X:125.93, Y:-129.40, Z:-4.14 [[ 5.06170621e-01 -8.62432454e-01 -1.25088164e-03 1.25928386e+02] [-8.62429646e-01 -5.06172165e-01 2.20111606e-03 -1.29398692e+02] [-2.53147539e-03 -3.53428727e-05 -9.99996795e-01 -4.14188821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.0127527120762101 Centerline is valid? [True, True] Translation: X:125.97, Y:-129.51, Z:-4.14 [[ 5.69143467e-01 -8.22235975e-01 -1.92781624e-03 1.25965683e+02] [-8.22231013e-01 -5.69146730e-01 2.85675222e-03 -1.29509365e+02] [-3.44613475e-03 -4.07915581e-05 -9.99994061e-01 -4.14057233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.012370914697144901 Centerline is valid? [True, True] Translation: X:126.01, Y:-129.61, Z:-4.14 [[ 6.27968228e-01 -7.78233037e-01 -3.04061310e-03 1.26008457e+02] [-7.78223588e-01 -6.27975587e-01 3.83529909e-03 -1.29611041e+02] [-4.89418725e-03 -4.21691369e-05 -9.99988023e-01 -4.13955038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.011946496695598606 Centerline is valid? [True, True] Translation: X:126.06, Y:-129.71, Z:-4.14 [[ 6.83289490e-01 -7.30136442e-01 -4.03100623e-03 1.26057656e+02] [-7.30123458e-01 -6.83301379e-01 4.35452151e-03 -1.29705421e+02] [-5.93378696e-03 -3.22665736e-05 -9.99982394e-01 -4.13895819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.011693835052503602 Centerline is valid? [True, True] Translation: X:126.11, Y:-129.80, Z:-4.14 [[ 7.34384972e-01 -6.78724945e-01 -3.34098701e-03 1.26113278e+02] [-6.78717873e-01 -7.34392572e-01 3.09833581e-03 -1.29795009e+02] [-4.55651385e-03 -7.78366034e-06 -9.99989619e-01 -4.13961943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.011959057013409038 Centerline is valid? [True, True] Translation: X:126.13, Y:-129.82, Z:-4.14 [[ 7.83458142e-01 -6.21437522e-01 -2.95722177e-03 1.26133864e+02] [-6.21433113e-01 -7.83463724e-01 2.34083959e-03 -1.29819023e+02] [-3.77156154e-03 3.76569530e-06 -9.99992888e-01 -4.14002364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.011949983981402358 Centerline is valid? [True, True] Translation: X:126.16, Y:-129.84, Z:-4.14 [[ 8.28080510e-01 -5.60604976e-01 -2.17484318e-03 1.26156735e+02] [-5.60603072e-01 -8.28083366e-01 1.46085796e-03 -1.29841388e+02] [-2.61991570e-03 9.51576468e-06 -9.99996568e-01 -4.14138524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.012002785267289522 Centerline is valid? [True, True] Translation: X:126.18, Y:-129.87, Z:-4.14 [[ 8.68978046e-01 -4.94849063e-01 -1.24949950e-03 1.26179806e+02] [-4.94848561e-01 -8.68978944e-01 7.05006882e-04 -1.29865235e+02] [-1.43466075e-03 5.67752801e-06 -9.99998971e-01 -4.14239055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.012036793754996129 Centerline is valid? [True, True] Translation: X:126.20, Y:-129.89, Z:-4.14 [[ 9.05009934e-01 -4.25386341e-01 -1.86572826e-03 1.26203381e+02] [-4.25385456e-01 -9.05011857e-01 8.67372747e-04 -1.29886804e+02] [-2.05747471e-03 8.67271360e-06 -9.99997883e-01 -4.14082536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.012041505661945074 Centerline is valid? [True, True] Translation: X:126.23, Y:-129.91, Z:-4.14 [[ 9.35482104e-01 -3.53367983e-01 -2.07405199e-03 1.26230286e+02] [-3.53367137e-01 -9.35484403e-01 7.73361090e-04 -1.29905943e+02] [-2.21352433e-03 9.43635239e-06 -9.99997550e-01 -4.13973360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.012016817826683486 Centerline is valid? [True, True] Translation: X:126.26, Y:-129.93, Z:-4.14 [[ 9.60428612e-01 -2.78516703e-01 -2.30814566e-03 1.26258057e+02] [-2.78515920e-01 -9.60431386e-01 6.60295435e-04 -1.29925401e+02] [-2.40071884e-03 8.68868300e-06 -9.99997118e-01 -4.13893246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.011993203012452196 Centerline is valid? [True, True] Translation: X:126.29, Y:-129.94, Z:-4.14 [[ 9.79636225e-01 -2.00759570e-01 -2.90905812e-03 1.26286178e+02] [-2.00758701e-01 -9.79640544e-01 5.90449464e-04 -1.29941994e+02] [-2.96836966e-03 5.59304657e-06 -9.99995594e-01 -4.13782554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.011985817001524504 Centerline is valid? [True, True] Translation: X:126.31, Y:-129.96, Z:-4.14 [[ 9.92633843e-01 -1.21112584e-01 -3.12988055e-03 1.26312577e+02] [-1.21111978e-01 -9.92638777e-01 3.83263935e-04 -1.29956673e+02] [-3.15325889e-03 -1.37473035e-06 -9.99995029e-01 -4.13748478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.012020302743064466 Centerline is valid? [True, True] Translation: X:126.34, Y:-129.97, Z:-4.14 [[ 9.99247690e-01 -3.86997558e-02 -2.52656598e-03 1.26340777e+02] [-3.86996006e-02 -9.99250884e-01 1.10312479e-04 -1.29969772e+02] [-2.52894236e-03 -1.24523953e-05 -9.99996802e-01 -4.13773318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.013157916232394614 Centerline is valid? [True, True] Translation: X:126.37, Y:-129.98, Z:-4.14 [[ 9.98903109e-01 4.67941456e-02 -1.69910035e-03 1.26369398e+02] [ 4.67941137e-02 -9.98904554e-01 -5.85976848e-05 -1.29982270e+02] [-1.69998111e-03 -2.09744854e-05 -9.99998555e-01 -4.13648673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.013380930330682243 Centerline is valid? [True, True] Translation: X:126.40, Y:-129.99, Z:-4.14 [[ 9.91976278e-01 1.26417214e-01 -1.32347122e-03 1.26399325e+02] [ 1.26417126e-01 -9.91977161e-01 -1.49666212e-04 -1.29986916e+02] [-1.33177361e-03 -1.88440975e-05 -9.99999113e-01 -4.13633444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.014116426434095296 Centerline is valid? [True, True] Translation: X:126.43, Y:-129.99, Z:-4.14 [[ 9.78220963e-01 2.07564048e-01 -9.55574455e-04 1.26429382e+02] [ 2.07563967e-01 -9.78221430e-01 -1.84380054e-04 -1.29991253e+02] [-9.73034080e-04 -1.79783904e-05 -9.99999526e-01 -4.13723457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.015055166351414927 Centerline is valid? [True, True] Translation: X:126.46, Y:-129.99, Z:-4.14 [[ 9.58148246e-01 2.86271073e-01 -9.00951074e-04 1.26460190e+02] [ 2.86270966e-01 -9.58148669e-01 -2.48307035e-04 -1.29994111e+02] [-9.34328194e-04 -2.00011840e-05 -9.99999563e-01 -4.13681402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.015537090974914073 Centerline is valid? [True, True] Translation: X:126.49, Y:-129.99, Z:-4.14 [[ 9.32163096e-01 3.62035326e-01 -1.54421730e-03 1.26491150e+02] [ 3.62034894e-01 -9.32164375e-01 -5.60103488e-04 -1.29992972e+02] [-1.64224160e-03 -3.69527434e-05 -9.99998651e-01 -4.13538245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.01659343795669743 Centerline is valid? [True, True] Translation: X:126.52, Y:-129.99, Z:-4.14 [[ 9.01121008e-01 4.33563487e-01 -1.90581262e-03 1.26520410e+02] [ 4.33562625e-01 -9.01123022e-01 -8.65995336e-04 -1.29987242e+02] [-2.09283558e-03 -4.59225302e-05 -9.99997809e-01 -4.13521025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.014625811884223057 Centerline is valid? [True, True] Translation: X:126.55, Y:-129.98, Z:-4.14 [[ 8.65405064e-01 5.01070102e-01 -1.68191343e-03 1.26548005e+02] [ 5.01069242e-01 -8.65406697e-01 -9.29436003e-04 -1.29975960e+02] [-1.92125174e-03 -3.84164627e-05 -9.99998154e-01 -4.13542595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.014110241607576582 Centerline is valid? [True, True] Translation: X:126.58, Y:-129.97, Z:-4.13 [[ 8.24995402e-01 5.65136461e-01 -1.83483317e-03 1.26575882e+02] [ 5.65135166e-01 -8.24997442e-01 -1.21074706e-03 -1.29965462e+02] [-2.19796998e-03 -3.80679852e-05 -9.99997584e-01 -4.13467319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.013712594827160786 Centerline is valid? [True, True] Translation: X:126.60, Y:-129.95, Z:-4.13 [[ 7.79479927e-01 6.26424016e-01 -1.99890227e-03 1.26602782e+02] [ 6.26422083e-01 -7.79482489e-01 -1.55686580e-03 -1.29953237e+02] [-2.53336745e-03 -3.86108846e-05 -9.99996790e-01 -4.13444941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.013754622737104948 Centerline is valid? [True, True] Translation: X:126.63, Y:-129.94, Z:-4.13 [[ 7.30145337e-01 6.83288177e-01 -2.24801442e-03 1.26627537e+02] [ 6.83285093e-01 -7.30148797e-01 -2.05333878e-03 -1.29939639e+02] [-3.04440714e-03 -3.67990053e-05 -9.99995365e-01 -4.13316191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.012766545384551246 Centerline is valid? [True, True] Translation: X:126.65, Y:-129.92, Z:-4.13 [[ 6.76368921e-01 7.36559410e-01 -2.30625648e-03 1.26649774e+02] [ 7.36555287e-01 -6.76372852e-01 -2.46462186e-03 -1.29920961e+02] [-3.37522969e-03 -3.16917793e-05 -9.99994303e-01 -4.13237758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.012624548399936918 Centerline is valid? [True, True] Translation: X:126.67, Y:-129.90, Z:-4.13 [[ 6.17983493e-01 7.86185874e-01 -2.85911291e-03 1.26670086e+02] [ 7.86177717e-01 -6.17990106e-01 -3.58138997e-03 -1.29902760e+02] [-4.58254170e-03 -3.45309805e-05 -9.99989500e-01 -4.13067118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.012618215281071538 Centerline is valid? [True, True] Translation: X:126.69, Y:-129.88, Z:-4.13 [[ 5.55044947e-01 8.31816579e-01 -2.50718739e-03 1.26692358e+02] [ 8.31808343e-01 -5.55050608e-01 -3.70172683e-03 -1.29884008e+02] [-4.47077363e-03 -3.08746157e-05 -9.99990006e-01 -4.13076583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.012516766838755095 Centerline is valid? [True, True] Translation: X:126.71, Y:-129.86, Z:-4.13 [[ 4.88419566e-01 8.72607067e-01 -1.79844813e-03 1.26713459e+02] [ 8.72601334e-01 -4.88422877e-01 -3.16307434e-03 -1.29864278e+02] [-3.63852423e-03 -2.44208463e-05 -9.99993380e-01 -4.13137920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.012468928240126782 Centerline is valid? [True, True] Translation: X:126.74, Y:-129.84, Z:-4.13 [[ 4.18012259e-01 9.08440792e-01 -1.03839927e-03 1.26735031e+02] [ 9.08438098e-01 -4.18013548e-01 -2.21266702e-03 -1.29844755e+02] [-2.44414194e-03 -1.83995226e-05 -9.99997013e-01 -4.13240858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.012637737728546468 Centerline is valid? [True, True] Translation: X:126.76, Y:-129.82, Z:-4.13 [[ 3.44075843e-01 9.38941858e-01 -3.21720429e-05 1.26756203e+02] [ 9.38941855e-01 -3.44075844e-01 -8.17355819e-05 -1.29823581e+02] [-8.78145822e-05 -2.08443844e-06 -9.99999996e-01 -4.13373784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.012926233844831724 Centerline is valid? [True, True] Translation: X:126.78, Y:-129.80, Z:-4.13 [[ 2.67339977e-01 9.63602265e-01 1.11180023e-04 1.26776554e+02] [ 9.63602186e-01 -2.67340001e-01 3.89433797e-04 -1.29801061e+02] [ 4.04982156e-04 3.02209083e-06 -9.99999918e-01 -4.13312734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.013362432564598027 Centerline is valid? [True, True] Translation: X:126.79, Y:-129.78, Z:-4.13 [[ 1.89534882e-01 9.81873985e-01 -7.80971214e-05 1.26791283e+02] [ 9.81873914e-01 -1.89534898e-01 -3.72897439e-04 -1.29776525e+02] [-3.80940425e-04 -6.00445407e-06 -9.99999927e-01 -4.13154250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.013486651799934635 Centerline is valid? [True, True] Translation: X:126.81, Y:-129.75, Z:-4.13 [[ 1.10084127e-01 9.93922247e-01 -2.26092336e-04 1.26805476e+02] [ 9.93920627e-01 -1.10084355e-01 -1.79492550e-03 -1.29750798e+02] [-1.80890562e-03 -2.71250302e-05 -9.99998364e-01 -4.12972298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.013692094157996389 Centerline is valid? [True, True] Translation: X:126.82, Y:-129.72, Z:-4.13 [[ 3.04424929e-02 9.99536517e-01 -7.70248572e-05 1.26818992e+02] [ 9.99535175e-01 -3.04425783e-02 -1.63795848e-03 -1.29723590e+02] [-1.63954415e-03 -2.71255148e-05 -9.99998656e-01 -4.12894093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.014121470567649825 Centerline is valid? [True, True] Translation: X:126.83, Y:-129.70, Z:-4.13 [[-4.77087466e-02 9.98861289e-01 2.81445092e-05 1.26827680e+02] [ 9.98860871e-01 4.77087524e-02 -9.14399096e-04 -1.29696490e+02] [-9.14700599e-04 -1.55123858e-05 -9.99999582e-01 -4.12875565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.013486098567819314 Centerline is valid? [True, True] Translation: X:126.83, Y:-129.67, Z:-4.13 [[-1.22658905e-01 9.92448886e-01 -5.12638767e-05 1.26826490e+02] [ 9.92448784e-01 1.22658916e-01 4.49691192e-04 -1.29669788e+02] [ 4.52583494e-04 4.28185711e-06 -9.99999898e-01 -4.12972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.012556479430475862 Centerline is valid? [True, True] Translation: X:126.83, Y:-129.64, Z:-4.13 [[-1.96911904e-01 9.80421163e-01 -2.13428013e-04 1.26827347e+02] [ 9.80420536e-01 1.96912020e-01 1.10869197e-03 -1.29641209e+02] [ 1.12901161e-03 9.06544052e-06 -9.99999363e-01 -4.12972951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.012066211556041394 Centerline is valid? [True, True] Translation: X:126.83, Y:-129.61, Z:-4.13 [[-2.68896080e-01 9.63169084e-01 -4.62000278e-04 1.26826261e+02] [ 9.63167617e-01 2.68896477e-01 1.68094986e-03 -1.29612585e+02] [ 1.74326918e-03 7.01712055e-06 -9.99998481e-01 -4.12929503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.011881202658522778 Centerline is valid? [True, True] Translation: X:126.82, Y:-129.58, Z:-4.13 [[-3.41821298e-01 9.39764956e-01 1.69749799e-04 1.26824468e+02] [ 9.39764836e-01 3.41821340e-01 -4.74819536e-04 -1.29584604e+02] [-5.04242864e-04 -2.77853840e-06 -9.99999873e-01 -4.12744782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.011977966616278257 Centerline is valid? [True, True] Translation: X:126.82, Y:-129.56, Z:-4.13 [[-4.14516421e-01 9.10041404e-01 8.82938241e-04 1.26821720e+02] [ 9.10039299e-01 4.14517361e-01 -1.95733287e-03 -1.29555623e+02] [-2.14724718e-03 -7.83811638e-06 -9.99997695e-01 -4.12562661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.012097681730320043 Centerline is valid? [True, True] Translation: X:126.82, Y:-129.53, Z:-4.12 [[-4.85865821e-01 8.74030376e-01 2.30338056e-03 1.26817216e+02] [ 8.74020327e-01 4.85871281e-01 -4.19127824e-03 -1.29526341e+02] [-4.78245096e-03 -2.31974099e-05 -9.99988564e-01 -4.12333826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.012090092836180578 Centerline is valid? [True, True] Translation: X:126.81, Y:-129.50, Z:-4.12 [[-5.53030350e-01 8.33157881e-01 2.31893920e-03 1.26810291e+02] [ 8.33150393e-01 5.53035211e-01 -3.53251717e-03 -1.29497868e+02] [-4.22559955e-03 -2.15640965e-05 -9.99991072e-01 -4.12334142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.012116515496183103 Centerline is valid? [True, True] Translation: X:126.80, Y:-129.47, Z:-4.12 [[-6.16673961e-01 7.87215668e-01 2.17225429e-03 1.26800360e+02] [ 7.87210677e-01 6.16677786e-01 -2.80319967e-03 -1.29470720e+02] [-3.54630367e-03 -1.86384749e-05 -9.99993712e-01 -4.12409774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.012172248379118268 Centerline is valid? [True, True] Translation: X:126.79, Y:-129.44, Z:-4.13 [[-6.76875231e-01 7.36096287e-01 1.47558250e-03 1.26788434e+02] [ 7.36094495e-01 6.76876840e-01 -1.62423864e-03 -1.29443291e+02] [-2.19438365e-03 -1.32387478e-05 -9.99997592e-01 -4.12502356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.01234043695543667 Centerline is valid? [True, True] Translation: X:126.77, Y:-129.42, Z:-4.13 [[-7.33386308e-01 6.79811566e-01 8.70107814e-04 1.26773779e+02] [ 6.79811073e-01 7.33386824e-01 -8.19397896e-04 -1.29417404e+02] [-1.19516177e-03 -9.42627125e-06 -9.99999286e-01 -4.12569709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.012580018248243643 Centerline is valid? [True, True] Translation: X:126.79, Y:-129.39, Z:-4.12 [[-7.80596050e-01 6.25035252e-01 8.60810496e-04 1.26790791e+02] [ 6.25034857e-01 7.80596524e-01 -7.02613584e-04 -1.29394430e+02] [-1.11110394e-03 -1.04208221e-05 -9.99999383e-01 -4.12475062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.01334215232841685 Centerline is valid? [True, True] Translation: X:126.81, Y:-129.37, Z:-4.12 [[-8.24473401e-01 5.65896669e-01 2.13823745e-03 1.26809526e+02] [ 5.65894670e-01 8.24476173e-01 -1.50446950e-03 -1.29370082e+02] [-2.61430011e-03 -3.03779034e-05 -9.99996582e-01 -4.12267045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.013195394912861494 Centerline is valid? [True, True] Translation: X:126.82, Y:-129.35, Z:-4.12 [[-8.63091266e-01 5.05043497e-01 2.12894417e-03 1.26824294e+02] [ 5.05041869e-01 8.63093891e-01 -1.28298883e-03 -1.29346678e+02] [-2.48544388e-03 -3.21305072e-05 -9.99996911e-01 -4.12272307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.013246253439119504 Centerline is valid? [True, True] Translation: X:126.84, Y:-129.32, Z:-4.12 [[-8.96792601e-01 4.42445959e-01 2.14568146e-03 1.26841261e+02] [ 4.42444607e-01 8.96795168e-01 -1.09401178e-03 -1.29322104e+02] [-2.40827785e-03 -3.17564792e-05 -9.99997100e-01 -4.12184458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.013139220615611291 Centerline is valid? [True, True] Translation: X:127.15, Y:-128.72, Z:-5.13 [[-8.52202722e-01 -5.23206939e-01 2.24044361e-03 1.27151216e+02] [ 5.23205271e-01 -8.52205666e-01 -1.32182795e-03 -1.28719028e+02] [ 2.60090830e-03 4.57465298e-05 9.99996617e-01 -5.13021539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.012928030782581822 Centerline is valid? [True, True] Translation: X:126.80, Y:-129.30, Z:-4.12 [[-8.97588901e-01 4.40832832e-01 7.61176473e-04 1.26801017e+02] [ 4.40832663e-01 8.97589224e-01 -3.85656777e-04 -1.29301306e+02] [-8.53233969e-04 -1.06097909e-05 -9.99999636e-01 -4.12173289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.013019285238742481 Centerline is valid? [True, True] Translation: X:127.12, Y:-128.70, Z:-5.13 [[-8.54902495e-01 -5.18788670e-01 -2.00838087e-04 1.27115209e+02] [ 5.18788672e-01 -8.54902516e-01 4.70038642e-05 -1.28701995e+02] [-1.96082058e-04 -6.40088036e-05 9.99999979e-01 -5.12934615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.012926158470218212 Centerline is valid? [True, True] Translation: X:126.77, Y:-129.28, Z:-4.12 [[-8.98946977e-01 4.38056307e-01 1.00197083e-03 1.26767189e+02] [ 4.38056019e-01 8.98947536e-01 -5.02442958e-04 -1.29283375e+02] [-1.12081751e-03 -1.27502261e-05 -9.99999372e-01 -4.11899862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.012926231520907895 Centerline is valid? [True, True] Translation: X:126.78, Y:-129.26, Z:-4.12 [[-9.27882423e-01 3.72857205e-01 3.42243401e-03 1.26777881e+02] [ 3.72854502e-01 9.27888734e-01 -1.42033504e-03 -1.29258049e+02] [-3.70522012e-03 -4.18339872e-05 -9.99993135e-01 -4.11622502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.013235013712817144 Centerline is valid? [True, True] Translation: X:127.04, Y:-128.64, Z:-5.14 [[-8.90480099e-01 -4.55002115e-01 4.27417491e-03 1.27038487e+02] [ 4.54997503e-01 -8.90490349e-01 -2.05209267e-03 -1.28638801e+02] [ 4.73981801e-03 1.17391224e-04 9.99988760e-01 -5.13637136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.01334267120096407 Centerline is valid? [True, True] Translation: X:126.73, Y:-129.24, Z:-4.12 [[-9.29820538e-01 3.67987459e-01 4.35860013e-03 1.26732839e+02] [ 3.67983109e-01 9.29830751e-01 -1.79041453e-03 -1.29240115e+02] [-4.71161053e-03 -6.08729721e-05 -9.99988899e-01 -4.11516827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.013629548894521075 Centerline is valid? [True, True] Translation: X:126.74, Y:-129.21, Z:-4.12 [[-9.53392810e-01 3.01709108e-01 3.70996830e-03 1.26742274e+02] [ 3.01706625e-01 9.53400027e-01 -1.22501226e-03 -1.29214205e+02] [-3.90668124e-03 -4.85958699e-05 -9.99992368e-01 -4.11515745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.013293590915808309 Centerline is valid? [True, True] Translation: X:126.96, Y:-128.58, Z:-5.13 [[-9.22446047e-01 -3.86121894e-01 1.78154203e-03 1.26962324e+02] [ 3.86120980e-01 -9.22447763e-01 -8.44939672e-04 -1.28578312e+02] [ 1.96962917e-03 -9.15205046e-05 9.99998056e-01 -5.13425694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.013039520680503753 Centerline is valid? [True, True] Translation: X:126.70, Y:-129.21, Z:-4.12 [[-9.53852656e-01 3.00272058e-01 1.34262401e-03 1.26703870e+02] [ 3.00271739e-01 9.53853600e-01 -4.38140758e-04 -1.29205931e+02] [-1.41222818e-03 -1.47696785e-05 -9.99999003e-01 -4.11734090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.01304770231263426 Centerline is valid? [True, True] Translation: X:126.71, Y:-129.18, Z:-4.12 [[-9.72815512e-01 2.31575064e-01 1.72350437e-03 1.26710226e+02] [ 2.31574666e-01 9.72817038e-01 -4.29872192e-04 -1.29179020e+02] [-1.77620210e-03 -1.90663887e-05 -9.99998422e-01 -4.11695102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.013366446990720158 Centerline is valid? [True, True] Translation: X:126.87, Y:-128.53, Z:-5.13 [[-9.47994313e-01 -3.18281080e-01 1.98407748e-03 1.26870937e+02] [ 3.18280474e-01 -9.47996389e-01 -6.22154830e-04 -1.28525731e+02] [ 2.07891840e-03 4.16938811e-05 9.99997838e-01 -5.13483674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.013949504703593496 Centerline is valid? [True, True] Translation: X:126.66, Y:-129.16, Z:-4.12 [[-9.74592513e-01 2.23970232e-01 2.60165475e-03 1.26663067e+02] [ 2.23969326e-01 9.74595985e-01 -6.38356687e-04 -1.29160413e+02] [-2.67853517e-03 -3.94467868e-05 -9.99996412e-01 -4.11568972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.013898502504212372 Centerline is valid? [True, True] Translation: X:126.83, Y:-128.52, Z:-5.14 [[-9.48298837e-01 -3.17362002e-01 3.26723155e-03 1.26825523e+02] [ 3.17360467e-01 -9.48304461e-01 -9.91549397e-04 -1.28521554e+02] [ 3.41301035e-03 9.66049910e-05 9.99994171e-01 -5.13674902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.014306885451567102 Centerline is valid? [True, True] Translation: X:126.62, Y:-129.15, Z:-4.11 [[-9.75807519e-01 2.18576039e-01 4.91942753e-03 1.26620458e+02] [ 2.18572831e-01 9.75819916e-01 -1.18716692e-03 -1.29147442e+02] [-5.05996161e-03 -8.31932061e-05 -9.99987195e-01 -4.11270383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.01422087566752545 Centerline is valid? [True, True] Translation: X:126.62, Y:-129.12, Z:-4.11 [[-9.88805917e-01 1.49130322e-01 4.79647449e-03 1.26622178e+02] [ 1.49128180e-01 9.88817547e-01 -8.03033753e-04 -1.29119727e+02] [-4.86259482e-03 -7.87550130e-05 -9.99988174e-01 -4.11222199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.013792277070992587 Centerline is valid? [True, True] Translation: X:126.63, Y:-129.09, Z:-4.11 [[-9.96769069e-01 8.02292927e-02 3.83196862e-03 1.26625961e+02] [ 8.02284831e-02 9.96776433e-01 -3.64773372e-04 -1.29093724e+02] [-3.84888153e-03 -5.61617843e-05 -9.99992592e-01 -4.11275364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.013357279945433606 Centerline is valid? [True, True] Translation: X:126.62, Y:-129.07, Z:-4.11 [[-9.99929628e-01 1.16490299e-02 2.24485162e-03 1.26623520e+02] [ 1.16489380e-02 9.99932147e-01 -5.40433594e-05 -1.29069049e+02] [-2.24532885e-03 -2.78894190e-05 -9.99997479e-01 -4.11433354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.013831769451452956 Centerline is valid? [True, True] Translation: X:126.64, Y:-128.41, Z:-5.14 [[-9.94775150e-01 -1.02075198e-01 1.74774532e-03 1.26641554e+02] [ 1.02075025e-01 -9.94776685e-01 -1.88442958e-04 -1.28410955e+02] [ 1.75785165e-03 -9.05722415e-06 9.99998455e-01 -5.13672047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.01342824669675799 Centerline is valid? [True, True] Translation: X:126.57, Y:-129.07, Z:-4.11 [[-9.99964543e-01 8.03439230e-03 2.52198368e-03 1.26567138e+02] [ 8.03429175e-03 9.99967723e-01 -4.99991957e-05 -1.29067490e+02] [-2.52230399e-03 -2.97350703e-05 -9.99996819e-01 -4.11327646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.013629734252807786 Centerline is valid? [True, True] Translation: X:126.58, Y:-128.41, Z:-5.14 [[-9.95116160e-01 -9.86150305e-02 4.34794851e-03 1.26581498e+02] [ 9.86148335e-02 -9.95125644e-01 -2.60195898e-04 -1.28411809e+02] [ 4.35241429e-03 1.69847076e-04 9.99990514e-01 -5.14040350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.013858220224156365 Centerline is valid? [True, True] Translation: X:126.51, Y:-129.06, Z:-4.11 [[-9.99970564e-01 2.63636336e-03 7.20565205e-03 1.26511121e+02] [ 2.63562868e-03 9.99996521e-01 -1.11452655e-04 -1.29064972e+02] [-7.20592080e-03 -9.24579511e-05 -9.99974033e-01 -4.10917465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.014202635953118185 Centerline is valid? [True, True] Translation: X:126.52, Y:-128.41, Z:-5.14 [[-9.95429522e-01 -9.52492313e-02 6.90290292e-03 1.26522374e+02] [ 9.52474348e-02 -9.95453454e-01 -5.89276258e-04 -1.28412673e+02] [ 6.92764666e-03 7.09008121e-05 9.99976001e-01 -5.14155175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.013854210247496977 Centerline is valid? [True, True] Translation: X:126.45, Y:-129.06, Z:-4.11 [[-9.99976231e-01 -1.32818587e-03 6.76559966e-03 1.26451981e+02] [-1.32873111e-03 9.99999114e-01 -7.60956316e-05 -1.29064199e+02] [-6.76549260e-03 -8.50834856e-05 -9.99977110e-01 -4.11090624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.013794938314409923 Centerline is valid? [True, True] Translation: X:126.45, Y:-129.04, Z:-4.11 [[-9.97404616e-01 -7.17196241e-02 6.35047087e-03 1.26450062e+02] [-7.17186538e-02 9.97424829e-01 3.80674679e-04 -1.29036757e+02] [-6.36141917e-03 -7.57605407e-05 -9.99979763e-01 -4.11153894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.01343328122811361 Centerline is valid? [True, True] Translation: X:126.44, Y:-129.01, Z:-4.11 [[-9.89855871e-01 -1.41960724e-01 5.70157772e-03 1.26439299e+02] [-1.41958752e-01 9.89872289e-01 7.51199864e-04 -1.29011202e+02] [-5.75047466e-03 -6.58092605e-05 -9.99983464e-01 -4.11302411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.013345423202872176 Centerline is valid? [True, True] Translation: X:126.43, Y:-128.98, Z:-4.11 [[-9.77286689e-01 -2.11849667e-01 5.51784257e-03 1.26427823e+02] [-2.11846656e-01 9.77302264e-01 1.13130678e-03 -1.28984895e+02] [-5.63226700e-03 -6.33254395e-05 -9.99984137e-01 -4.11395026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.013447688560218845 Centerline is valid? [True, True] Translation: X:126.30, Y:-128.35, Z:-5.14 [[-9.92326743e-01 1.23489622e-01 6.16026274e-03 1.26303117e+02] [-1.23486558e-01 -9.92345858e-01 8.76726697e-04 -1.28348522e+02] [ 6.22137786e-03 1.09289706e-04 9.99980641e-01 -5.13718903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.01366334251140309 Centerline is valid? [True, True] Translation: X:126.33, Y:-129.00, Z:-4.11 [[-9.75882681e-01 -2.18168985e-01 7.43557552e-03 1.26332399e+02] [-2.18163350e-01 9.75911003e-01 1.57061244e-03 -1.29000165e+02] [-7.59911888e-03 -8.94365864e-05 -9.99971122e-01 -4.11306750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.013512308528377192 Centerline is valid? [True, True] Translation: X:126.32, Y:-128.98, Z:-4.11 [[-9.57672914e-01 -2.87722206e-01 8.86129824e-03 1.26317651e+02] [-2.87710962e-01 9.57713903e-01 2.54601828e-03 -1.28975195e+02] [-9.21913452e-03 -1.11239905e-04 -9.99957497e-01 -4.11323060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.013592445744265413 Centerline is valid? [True, True] Translation: X:126.13, Y:-128.36, Z:-5.14 [[-9.79772035e-01 1.99891492e-01 9.49481270e-03 1.26126432e+02] [-1.99880617e-01 -9.79818028e-01 2.09046707e-03 -1.28363933e+02] [ 9.72105524e-03 1.50352149e-04 9.99952738e-01 -5.13847090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.013136579553205624 Centerline is valid? [True, True] Translation: X:126.20, Y:-129.01, Z:-4.11 [[-9.57078525e-01 -2.89668603e-01 9.63313731e-03 1.26199236e+02] [-2.89654753e-01 9.57127000e-01 2.83363444e-03 -1.29007983e+02] [-1.00409507e-02 -7.82733404e-05 -9.99949585e-01 -4.11361308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.012725048891719024 Centerline is valid? [True, True] Translation: X:126.17, Y:-128.99, Z:-4.12 [[-9.35493936e-01 -3.53251361e-01 8.03566125e-03 1.26173133e+02] [-3.53238563e-01 9.35528447e-01 3.00713321e-03 -1.28990710e+02] [-8.57986359e-03 -2.53505476e-05 -9.99963192e-01 -4.11541328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.01275363231190201 Centerline is valid? [True, True] Translation: X:126.12, Y:-128.98, Z:-4.12 [[-9.08854219e-01 -4.17049662e-01 7.32044283e-03 1.26124767e+02] [-4.17036073e-01 9.08883700e-01 3.36666300e-03 -1.28983005e+02] [-8.05749683e-03 6.91713767e-06 -9.99967538e-01 -4.11607932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.01285687471378227 Centerline is valid? [True, True] Translation: X:126.06, Y:-128.98, Z:-4.12 [[-8.76617235e-01 -4.81133766e-01 7.24718408e-03 1.26061057e+02] [-4.81117112e-01 8.76647192e-01 4.00328923e-03 -1.28983802e+02] [-8.27934119e-03 2.26080645e-05 -9.99965725e-01 -4.11594828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.012851308738873031 Centerline is valid? [True, True] Translation: X:125.99, Y:-128.99, Z:-4.12 [[-8.38966556e-01 -5.44126039e-01 7.87222502e-03 1.25991298e+02] [-5.44101736e-01 8.39003488e-01 5.14274083e-03 -1.28992420e+02] [-9.40312345e-03 3.12962629e-05 -9.99955789e-01 -4.11520927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.01314043769138766 Centerline is valid? [True, True] Translation: X:125.91, Y:-129.01, Z:-4.11 [[-7.96544774e-01 -6.04516677e-01 8.71843208e-03 1.25913143e+02] [-6.04479875e-01 7.96592484e-01 6.67044944e-03 -1.29013140e+02] [-1.09774354e-02 4.31949049e-05 -9.99939745e-01 -4.11268902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.013298980703829228 Centerline is valid? [True, True] Translation: X:125.83, Y:-129.04, Z:-4.11 [[-7.48983964e-01 -6.62527306e-01 8.97717341e-03 1.25834450e+02] [-6.62478997e-01 7.49037760e-01 8.00077832e-03 -1.29041524e+02] [-1.20249760e-02 4.52658340e-05 -9.99927696e-01 -4.11244987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.012979971555738027 Centerline is valid? [True, True] Translation: X:125.75, Y:-129.08, Z:-4.11 [[-6.97049840e-01 -7.16969006e-01 8.77298318e-03 1.25753159e+02] [-7.16911407e-01 6.97105044e-01 9.08801210e-03 -1.29078257e+02] [-1.26315138e-02 4.53456589e-05 -9.99920218e-01 -4.11397245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.013075708755365161 Centerline is valid? [True, True] Translation: X:125.67, Y:-129.13, Z:-4.11 [[-6.40844644e-01 -7.67625507e-01 8.32001459e-03 1.25669796e+02] [-7.67559960e-01 6.40898649e-01 1.00314530e-02 -1.29128435e+02] [-1.30326853e-02 4.24928590e-05 -9.99915070e-01 -4.11354406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.012945594525589927 Centerline is valid? [True, True] Translation: X:125.59, Y:-129.19, Z:-4.12 [[-5.80596945e-01 -8.14160552e-01 7.05573739e-03 1.25588576e+02] [-8.14099751e-01 5.80639815e-01 9.94992103e-03 -1.29187319e+02] [-1.21976752e-02 3.28197011e-05 -9.99925605e-01 -4.11500009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.01299391373967487 Centerline is valid? [True, True] Translation: X:125.51, Y:-129.26, Z:-4.12 [[-5.17033204e-01 -8.55943521e-01 6.11188587e-03 1.25509892e+02] [-8.55883079e-01 5.17069327e-01 1.01718567e-02 -1.29257509e+02] [-1.18668035e-02 2.81279522e-05 -9.99929587e-01 -4.11541467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.012891872257833118 Centerline is valid? [True, True] Translation: X:125.44, Y:-129.33, Z:-4.12 [[-4.49160239e-01 -8.93436691e-01 5.09494737e-03 1.25435139e+02] [-8.93378999e-01 4.49189134e-01 1.01531088e-02 -1.29333575e+02] [-1.13597549e-02 8.65378986e-06 -9.99935476e-01 -4.11567390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.012886181130556316 Centerline is valid? [True, True] Translation: X:125.36, Y:-129.42, Z:-4.12 [[-3.77759531e-01 -9.25894460e-01 4.14548624e-03 1.25363568e+02] [-9.25839227e-01 3.77782276e-01 1.01132092e-02 -1.29420885e+02] [-1.09298556e-02 -1.76926266e-05 -9.99940267e-01 -4.11610850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.013044064426831752 Centerline is valid? [True, True] Translation: X:125.30, Y:-129.51, Z:-4.12 [[-3.05284128e-01 -9.52254814e-01 3.51726405e-03 1.25300942e+02] [-9.52192680e-01 3.05304388e-01 1.08779861e-02 -1.29508362e+02] [-1.14324508e-02 -2.82365642e-05 -9.99934647e-01 -4.11553558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.012929837757622825 Centerline is valid? [True, True] Translation: X:125.24, Y:-129.61, Z:-4.12 [[-2.31948232e-01 -9.72724164e-01 2.77804064e-03 1.25243536e+02] [-9.72655810e-01 2.31964867e-01 1.15315559e-02 -1.29609138e+02] [-1.18614309e-02 -2.73533534e-05 -9.99929650e-01 -4.11524633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.012963125800965581 Centerline is valid? [True, True] Translation: X:125.20, Y:-129.71, Z:-4.11 [[-1.59961036e-01 -9.87121589e-01 1.85378132e-03 1.25197286e+02] [-9.87054705e-01 1.59971777e-01 1.14908701e-02 -1.29709037e+02] [-1.16394386e-02 8.30790130e-06 -9.99932259e-01 -4.11483150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.01310116197673553 Centerline is valid? [True, True] Translation: X:125.16, Y:-129.81, Z:-4.12 [[-8.72081739e-02 -9.96189584e-01 1.02327950e-03 1.25159074e+02] [-9.96114356e-01 8.72141638e-02 1.22424909e-02 -1.29814994e+02] [-1.22850864e-02 4.83418780e-05 -9.99924534e-01 -4.11542150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.013148797337037792 Centerline is valid? [True, True] Translation: X:125.13, Y:-129.93, Z:-4.11 [[-1.24119061e-02 -9.99922966e-01 8.64015813e-05 1.25127152e+02] [-9.99843086e-01 1.24120066e-02 1.26390585e-02 -1.29930311e+02] [-1.26391572e-02 7.04867826e-05 -9.99920120e-01 -4.11484519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.013178097019305713 Centerline is valid? [True, True] Translation: X:125.10, Y:-130.04, Z:-4.11 [[ 6.43487414e-02 -9.97927061e-01 -9.05834844e-04 1.25102864e+02] [-9.97842801e-01 -6.43550794e-02 1.29679687e-02 -1.30041646e+02] [-1.29993819e-02 6.94083165e-05 -9.99915502e-01 -4.11445595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.013069268012766996 Centerline is valid? [True, True] Translation: X:125.09, Y:-130.17, Z:-4.11 [[ 1.42314867e-01 -9.89819672e-01 -1.86979925e-03 1.25088340e+02] [-9.89738284e-01 -1.42327143e-01 1.26930264e-02 -1.30166052e+02] [-1.28299304e-02 4.42055443e-05 -9.99917692e-01 -4.11453983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.012983899102155203 Centerline is valid? [True, True] Translation: X:125.08, Y:-130.28, Z:-4.11 [[ 2.21039198e-01 -9.75260854e-01 -2.81769639e-03 1.25079585e+02] [-9.75181593e-01 -2.21057156e-01 1.24336078e-02 -1.30278464e+02] [-1.27488829e-02 -5.49042549e-07 -9.99918730e-01 -4.11476386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.012991327488536873 Centerline is valid? [True, True] Translation: X:125.08, Y:-130.40, Z:-4.11 [[ 2.98991773e-01 -9.54247591e-01 -3.93128329e-03 1.25080826e+02] [-9.54162578e-01 -2.99017611e-01 1.27374260e-02 -1.30397212e+02] [-1.33301810e-02 -5.73021789e-05 -9.99911148e-01 -4.11437208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.013295909604552835 Centerline is valid? [True, True] Translation: X:125.09, Y:-130.51, Z:-4.12 [[ 3.74492856e-01 -9.27219388e-01 -4.39399494e-03 1.25091229e+02] [-9.27152500e-01 -3.74518620e-01 1.11375935e-02 -1.30514140e+02] [-1.19726256e-02 -9.70458164e-05 -9.99928321e-01 -4.11527076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.013476487574739503 Centerline is valid? [True, True] Translation: X:125.11, Y:-130.63, Z:-4.12 [[ 4.46368074e-01 -8.94836104e-01 -4.88771871e-03 1.25110564e+02] [-8.94779514e-01 -4.46394817e-01 1.00642251e-02 -1.30627844e+02] [-1.11876843e-02 -1.18918205e-04 -9.99937409e-01 -4.11599362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.014094421436821762 Centerline is valid? [True, True] Translation: X:125.14, Y:-130.74, Z:-4.12 [[ 5.16118981e-01 -8.56499366e-01 -5.48031205e-03 1.25138597e+02] [-8.56447927e-01 -5.16148053e-01 9.38808081e-03 -1.30738917e+02] [-1.08695377e-02 -1.51764811e-04 -9.99940913e-01 -4.11670378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.015122946503723176 Centerline is valid? [True, True] Translation: X:125.17, Y:-130.85, Z:-4.12 [[ 5.81850169e-01 -8.13277460e-01 -5.49132241e-03 1.25174464e+02] [-8.13238633e-01 -5.81876059e-01 7.94846522e-03 -1.30845390e+02] [-9.65957664e-03 -1.59060299e-04 -9.99953333e-01 -4.11736202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.015319778337574955 Centerline is valid? [True, True] Translation: X:125.22, Y:-130.94, Z:-4.12 [[ 6.43540113e-01 -7.65390352e-01 -5.80794456e-03 1.25215444e+02] [-7.65356759e-01 -6.43566298e-01 7.17294883e-03 -1.30944659e+02] [-9.22790321e-03 -1.70930675e-04 -9.99957407e-01 -4.11770932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.015319672700607063 Centerline is valid? [True, True] Translation: X:125.27, Y:-131.04, Z:-4.12 [[ 7.01475059e-01 -7.12663914e-01 -6.54886940e-03 1.25266168e+02] [-7.12630176e-01 -7.01505599e-01 6.93735810e-03 -1.31041783e+02] [-9.53807333e-03 -1.99461729e-04 -9.99954492e-01 -4.11758163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.017011480994037282 Centerline is valid? [True, True] Translation: X:125.32, Y:-131.13, Z:-4.12 [[ 7.55285811e-01 -6.55348959e-01 -7.81573529e-03 1.25319889e+02] [-6.55310402e-01 -7.55326207e-01 7.11325234e-03 -1.31131641e+02] [-1.05650922e-02 -2.50805922e-04 -9.99944156e-01 -4.11670358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.017168323200956202 Centerline is valid? [True, True] Translation: X:125.35, Y:-131.16, Z:-4.11 [[ 8.05182324e-01 -5.92917635e-01 -1.14062299e-02 1.25345678e+02] [-5.92851640e-01 -8.05263027e-01 8.85379384e-03 -1.31156955e+02] [-1.44345857e-02 -3.66716188e-04 -9.99895749e-01 -4.11376753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.01725240930269332 Centerline is valid? [True, True] Translation: X:125.37, Y:-131.18, Z:-4.11 [[ 8.48576120e-01 -5.28919240e-01 -1.27674284e-02 1.25374256e+02] [-5.28852698e-01 -8.48672079e-01 8.39797702e-03 -1.31178786e+02] [-1.52772117e-02 -3.74233782e-04 -9.99883227e-01 -4.11248596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.01598667129554597 Centerline is valid? [True, True] Translation: X:125.41, Y:-131.19, Z:-4.11 [[ 8.84705509e-01 -4.65965407e-01 -1.31302218e-02 1.25406378e+02] [-4.65909334e-01 -8.84802893e-01 7.23411673e-03 -1.31192297e+02] [-1.49885064e-02 -2.82570013e-04 -9.99887626e-01 -4.11303416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.013714351034197299 Centerline is valid? [True, True] Translation: X:125.44, Y:-131.20, Z:-4.12 [[ 9.15140126e-01 -4.02934995e-01 -1.27255298e-02 1.25440073e+02] [-4.02893786e-01 -9.15228588e-01 5.76450065e-03 -1.31204375e+02] [-1.39694877e-02 -1.48288996e-04 -9.99902411e-01 -4.11525686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.013165488098767804 Centerline is valid? [True, True] Translation: X:125.47, Y:-131.22, Z:-4.12 [[ 9.42987944e-01 -3.32652783e-01 -1.07639980e-02 1.25470012e+02] [-3.32630008e-01 -9.43049372e-01 3.89362469e-03 -1.31222475e+02] [-1.14462067e-02 -9.12123908e-05 -9.99934486e-01 -4.11782385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.013110590581044457 Centerline is valid? [True, True] Translation: X:125.50, Y:-131.24, Z:-4.12 [[ 9.65760607e-01 -2.59272478e-01 -9.17780387e-03 1.25500002e+02] [-2.59260153e-01 -9.65804213e-01 2.52882586e-03 -1.31238522e+02] [-9.51961659e-03 -6.28015565e-05 -9.99954686e-01 -4.11873333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.012966250021517274 Centerline is valid? [True, True] Translation: X:125.53, Y:-131.25, Z:-4.12 [[ 9.83124693e-01 -1.82653743e-01 -1.01709693e-02 1.25531456e+02] [-1.82643214e-01 -9.83177301e-01 1.96249657e-03 -1.31253969e+02] [-1.03583235e-02 -7.17203200e-05 -9.99946349e-01 -4.11833867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.01312230172212737 Centerline is valid? [True, True] Translation: X:125.56, Y:-131.27, Z:-4.12 [[ 9.94424221e-01 -1.04816392e-01 -1.15755192e-02 1.25560767e+02] [-1.04808313e-01 -9.94491587e-01 1.30405023e-03 -1.31265204e+02] [-1.16484423e-02 -8.35684864e-05 -9.99932151e-01 -4.11740918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.0131949130081343 Centerline is valid? [True, True] Translation: X:125.59, Y:-131.28, Z:-4.12 [[ 9.99581636e-01 -2.61185295e-02 -1.24247691e-02 1.25590753e+02] [-2.61153235e-02 -9.99658848e-01 4.20238994e-04 -1.31277222e+02] [-1.24315064e-02 -9.55863180e-05 -9.99922721e-01 -4.11633263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.013353612282119768 Centerline is valid? [True, True] Translation: X:125.62, Y:-131.29, Z:-4.12 [[ 9.98577397e-01 5.18565077e-02 -1.24130589e-02 1.25622237e+02] [ 5.18536339e-02 -9.98654542e-01 -5.53461905e-04 -1.31286078e+02] [-1.24250582e-02 -9.09876625e-05 -9.99922802e-01 -4.11546785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.013205409875430939 Centerline is valid? [True, True] Translation: X:125.65, Y:-131.29, Z:-4.12 [[ 9.91535630e-01 1.29334368e-01 -1.13892817e-02 1.25653480e+02] [ 1.29326739e-01 -9.91601036e-01 -1.40689285e-03 -1.31288095e+02] [-1.14755831e-02 -7.79542742e-05 -9.99934150e-01 -4.11693790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.013339579733264334 Centerline is valid? [True, True] Translation: X:125.69, Y:-131.29, Z:-4.12 [[ 9.77970556e-01 2.08591914e-01 -7.93756449e-03 1.25685854e+02] [ 2.08585641e-01 -9.78002765e-01 -1.61924569e-03 -1.31290682e+02] [-8.10072158e-03 -7.20873677e-05 -9.99967186e-01 -4.11966709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.014222374116716908 Centerline is valid? [True, True] Translation: X:125.72, Y:-131.29, Z:-4.12 [[ 9.57063391e-01 2.89756416e-01 -8.41927642e-03 1.25718694e+02] [ 2.89746357e-01 -9.57100415e-01 -2.41763342e-03 -1.31294052e+02] [-8.75861775e-03 -1.25626231e-04 -9.99961635e-01 -4.11866042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.015205300212667026 Centerline is valid? [True, True] Translation: X:125.75, Y:-131.29, Z:-4.12 [[ 9.29729423e-01 3.68131756e-01 -9.06694080e-03 1.25751466e+02] [ 3.68116168e-01 -9.29773616e-01 -3.39271048e-03 -1.31292828e+02] [-9.67916679e-03 -1.83384749e-04 -9.99953139e-01 -4.11830792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.016810799423133724 Centerline is valid? [True, True] Translation: X:125.79, Y:-131.29, Z:-4.12 [[ 8.95241872e-01 4.45470927e-01 -9.88151240e-03 1.25785276e+02] [ 4.45447164e-01 -8.95296363e-01 -4.60932024e-03 -1.31291204e+02] [-1.09002003e-02 -2.75235197e-04 -9.99940553e-01 -4.11747376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.01778817610176079 Centerline is valid? [True, True] Translation: X:125.82, Y:-131.28, Z:-4.12 [[ 8.56445181e-01 5.16143416e-01 -9.88061924e-03 1.25817783e+02] [ 5.16113244e-01 -8.56502117e-01 -5.58945815e-03 -1.31284438e+02] [-1.13477333e-02 -3.12453951e-04 -9.99935564e-01 -4.11674385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.0186415069031901 Centerline is valid? [True, True] Translation: X:125.85, Y:-131.28, Z:-4.12 [[ 8.11242720e-01 5.84618976e-01 -1.02908288e-02 1.25850659e+02] [ 5.84577927e-01 -8.11307896e-01 -6.93864408e-03 -1.31276116e+02] [-1.24054937e-02 -3.86866857e-04 -9.99922974e-01 -4.11560889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.020050413501595185 Centerline is valid? [True, True] Translation: X:125.88, Y:-131.26, Z:-4.11 [[ 7.61384057e-01 6.48214193e-01 -1.06149796e-02 1.25881389e+02] [ 6.48159438e-01 -7.61457912e-01 -8.43745214e-03 -1.31263260e+02] [-1.35521365e-02 -4.56057687e-04 -9.99908062e-01 -4.11419829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.01971642733611475 Centerline is valid? [True, True] Translation: X:125.91, Y:-131.25, Z:-4.11 [[ 7.09064460e-01 7.05075624e-01 -9.79565479e-03 1.25908528e+02] [ 7.05016711e-01 -7.09131986e-01 -9.12487134e-03 -1.31245221e+02] [-1.33801365e-02 -4.35978352e-04 -9.99910387e-01 -4.11486505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.018196970919470652 Centerline is valid? [True, True] Translation: X:125.93, Y:-131.22, Z:-4.12 [[ 6.55541804e-01 7.55111648e-01 -8.44638775e-03 1.25931159e+02] [ 7.55055626e-01 -6.55596126e-01 -9.20441074e-03 -1.31222480e+02] [-1.24877769e-02 -3.43616564e-04 -9.99921966e-01 -4.11577616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.015255243473741601 Centerline is valid? [True, True] Translation: X:125.95, Y:-131.20, Z:-4.12 [[ 6.00703468e-01 7.99441663e-01 -6.95489514e-03 1.25949938e+02] [ 7.99392307e-01 -6.00743688e-01 -8.88600098e-03 -1.31196953e+02] [-1.12819488e-02 -2.21838064e-04 -9.99936332e-01 -4.11786082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.01365316429742626 Centerline is valid? [True, True] Translation: X:125.97, Y:-131.17, Z:-4.12 [[ 5.43716254e-01 8.39242809e-01 -6.64396072e-03 1.25965836e+02] [ 8.39183054e-01 -5.43756831e-01 -1.00155869e-02 -1.31171013e+02] [-1.20182083e-02 -1.29861854e-04 -9.99927770e-01 -4.11834802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.013432443448767688 Centerline is valid? [True, True] Translation: X:125.99, Y:-131.15, Z:-4.12 [[ 4.80165192e-01 8.77158724e-01 -5.82773065e-03 1.25986288e+02] [ 8.77096063e-01 -4.80200549e-01 -1.04846525e-02 -1.31149319e+02] [-1.19951839e-02 -7.71144354e-05 -9.99928052e-01 -4.11604258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.013039296578739947 Centerline is valid? [True, True] Translation: X:126.00, Y:-131.12, Z:-4.12 [[ 4.14254579e-01 9.10144842e-01 -5.43224203e-03 1.26003856e+02] [ 9.10067338e-01 -4.14290195e-01 -1.18775239e-02 -1.31124564e+02] [-1.30607918e-02 -2.33873659e-05 -9.99914704e-01 -4.11845315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.013480459067300795 Centerline is valid? [True, True] Translation: X:126.02, Y:-131.10, Z:-4.12 [[ 3.47575327e-01 9.37634830e-01 -5.68482880e-03 1.26020215e+02] [ 9.37505926e-01 -3.47621806e-01 -1.55473330e-02 -1.31099117e+02] [-1.65538914e-02 7.43086764e-05 -9.99862972e-01 -4.11702948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.015875832753408835 Centerline is valid? [True, True] Translation: X:126.03, Y:-131.07, Z:-4.12 [[ 2.85746932e-01 9.58295528e-01 -4.28634843e-03 1.26032890e+02] [ 9.58172481e-01 -2.85778940e-01 -1.53588233e-02 -1.31073795e+02] [-1.59432398e-02 2.81675517e-04 -9.99872859e-01 -4.11718396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.01715504928445086 Centerline is valid? [True, True] Translation: X:126.05, Y:-131.05, Z:-4.12 [[ 2.15548677e-01 9.76489608e-01 -2.61033905e-03 1.26046222e+02] [ 9.76399057e-01 -2.15564247e-01 -1.33017302e-02 -1.31047589e+02] [-1.35516970e-02 3.18437758e-04 -9.99908121e-01 -4.12161256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.01642675958136618 Centerline is valid? [True, True] Translation: X:126.06, Y:-131.02, Z:-4.12 [[ 1.38133609e-01 9.90412399e-01 -1.54444485e-03 1.26062191e+02] [ 9.90322807e-01 -1.38141892e-01 -1.33249647e-02 -1.31020968e+02] [-1.34105628e-02 3.11126500e-04 -9.99910026e-01 -4.12304088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.017492603774423368 Centerline is valid? [True, True] Translation: X:126.07, Y:-130.99, Z:-4.12 [[ 5.92702831e-02 9.98241859e-01 -4.73202484e-04 1.26072189e+02] [ 9.98160107e-01 -5.92714865e-02 -1.27786025e-02 -1.30993615e+02] [-1.27841833e-02 2.85059544e-04 -9.99918238e-01 -4.12247909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.015542957234422282 Centerline is valid? [True, True] Translation: X:126.09, Y:-130.96, Z:-4.12 [[-2.29691878e-02 9.99736029e-01 5.37540161e-04 1.26089812e+02] [ 9.99651998e-01 2.29742278e-02 -1.29641343e-02 -1.30964632e+02] [-1.29730617e-02 2.39577461e-04 -9.99915818e-01 -4.12403867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.014060238212924 Centerline is valid? [True, True] Translation: X:126.11, Y:-130.93, Z:-4.12 [[-1.09705247e-01 9.93962613e-01 1.75560414e-03 1.26108245e+02] [ 9.93855730e-01 1.09719197e-01 -1.45768815e-02 -1.30933559e+02] [-1.46814987e-02 1.45656849e-04 -9.99892210e-01 -4.12261799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.013408955143273876 Centerline is valid? [True, True] Translation: X:126.12, Y:-130.90, Z:-4.12 [[-1.94925644e-01 9.80814183e-01 2.74455267e-03 1.26120179e+02] [ 9.80719010e-01 1.94944963e-01 -1.36632618e-02 -1.30901591e+02] [-1.39361577e-02 2.83148732e-05 -9.99902887e-01 -4.12305519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.013214515401221136 Centerline is valid? [True, True] Translation: X:126.13, Y:-130.87, Z:-4.12 [[-2.75850006e-01 9.61193889e-01 3.61701781e-03 1.26127905e+02] [ 9.61109464e-01 2.75873716e-01 -1.27393713e-02 -1.30867212e+02] [-1.32428460e-02 -3.78056071e-05 -9.99912309e-01 -4.12413232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.01397299215220184 Centerline is valid? [True, True] Translation: X:126.14, Y:-130.83, Z:-4.12 [[-3.58721293e-01 9.33434083e-01 4.45486931e-03 1.26138242e+02] [ 9.33356752e-01 3.58748922e-01 -1.20160295e-02 -1.30829883e+02] [-1.28143510e-02 -1.52423291e-04 -9.99917881e-01 -4.12374508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.015350752381119302 Centerline is valid? [True, True] Translation: X:126.14, Y:-130.79, Z:-4.12 [[-4.35569528e-01 9.00140504e-01 5.12440904e-03 1.26140407e+02] [ 9.00072428e-01 4.35599620e-01 -1.10722973e-02 -1.30794496e+02] [-1.21988139e-02 -2.10416031e-04 -9.99925570e-01 -4.12301390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.015932324064226785 Centerline is valid? [True, True] Translation: X:126.14, Y:-130.76, Z:-4.12 [[-5.08458215e-01 8.61066005e-01 5.96484228e-03 1.26138037e+02] [ 8.61000589e-01 5.08493134e-01 -1.06169488e-02 -1.30757913e+02] [-1.21749750e-02 -2.62542128e-04 -9.99925848e-01 -4.12278847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.01718478398895434 Centerline is valid? [True, True] Translation: X:126.13, Y:-130.72, Z:-4.12 [[-5.76784308e-01 8.16847036e-01 8.98782490e-03 1.26129924e+02] [ 8.16736975e-01 5.76854195e-01 -1.34146158e-02 -1.30722500e+02] [-1.61423536e-02 -3.96650968e-04 -9.99869625e-01 -4.11871673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:126.12, Y:-130.69, Z:-4.12 [[-6.38612955e-01 7.69456049e-01 1.05301155e-02 1.26116195e+02] [ 7.69340737e-01 6.38699633e-01 -1.33269956e-02 -1.30691290e+02] [-1.69801182e-02 -4.09545203e-04 -9.99855744e-01 -4.11678739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:126.10, Y:-130.66, Z:-4.12 [[-6.96923099e-01 7.17052983e-01 1.15417988e-02 1.26097418e+02] [ 7.16944817e-01 6.97018545e-01 -1.24610201e-02 -1.30662413e+02] [-1.69800595e-02 -4.09539953e-04 -9.99855745e-01 -4.11678848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.016879068943224117 Centerline is valid? [True, True] Translation: X:126.07, Y:-130.64, Z:-4.12 [[-7.49438523e-01 6.61959504e-01 1.23091443e-02 1.26074210e+02] [ 6.61862134e-01 7.49539513e-01 -1.13593360e-02 -1.30636612e+02] [-1.67456104e-02 -3.66167435e-04 -9.99859715e-01 -4.11733269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.015056552582490819 Centerline is valid? [True, True] Translation: X:126.08, Y:-130.62, Z:-4.12 [[-7.90940962e-01 6.11794188e-01 1.09665493e-02 1.26084593e+02] [ 6.11731394e-01 7.91016953e-01 -8.76821242e-03 -1.30619388e+02] [-1.40390678e-02 -2.26555874e-04 -9.99901422e-01 -4.12114551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.013516204904654376 Centerline is valid? [True, True] Translation: X:126.09, Y:-130.60, Z:-4.12 [[-8.27876097e-01 5.60814480e-01 1.04060915e-02 1.26094902e+02] [ 5.60768591e-01 8.27941488e-01 -7.17491665e-03 -1.30603205e+02] [-1.26394321e-02 -1.04532707e-04 -9.99920114e-01 -4.12313956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.013272039486367031 Centerline is valid? [True, True] Translation: X:126.11, Y:-130.59, Z:-4.12 [[-8.61647078e-01 5.07384575e-01 1.11895733e-02 1.26109460e+02] [ 5.07341675e-01 8.61719730e-01 -6.59780976e-03 -1.30588306e+02] [-1.29899030e-02 -8.04660987e-06 -9.99915628e-01 -4.12271073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.01327676221243289 Centerline is valid? [True, True] Translation: X:126.12, Y:-130.57, Z:-4.12 [[-8.94048752e-01 4.47818934e-01 1.16203278e-02 1.26119102e+02] [ 4.47781569e-01 8.94124265e-01 -5.78487672e-03 -1.30566893e+02] [-1.29805944e-02 3.14068017e-05 -9.99915748e-01 -4.12295018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.01332847589864869 Centerline is valid? [True, True] Translation: X:126.13, Y:-130.54, Z:-4.12 [[-9.23058934e-01 3.84478514e-01 1.17675890e-02 1.26127448e+02] [ 3.84447919e-01 9.23133939e-01 -4.85056949e-03 -1.30543221e+02] [-1.27280005e-02 4.66635966e-05 -9.99918995e-01 -4.12283396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.013424942338831836 Centerline is valid? [True, True] Translation: X:126.13, Y:-130.52, Z:-4.12 [[-9.48018972e-01 3.17996515e-01 1.17577635e-02 1.26133816e+02] [ 3.17972635e-01 9.48091881e-01 -3.89732154e-03 -1.30517117e+02] [-1.23867748e-02 4.39122767e-05 -9.99923280e-01 -4.12275567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.013179668944582178 Centerline is valid? [True, True] Translation: X:126.32, Y:-129.96, Z:-5.13 [[-9.26517960e-01 -3.76084111e-01 1.11898011e-02 1.26319068e+02] [ 3.76055888e-01 -9.26585527e-01 -4.60775636e-03 -1.29955116e+02] [ 1.21012117e-02 -6.11784230e-05 9.99926776e-01 -5.12794501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.013207627160838587 Centerline is valid? [True, True] Translation: X:126.09, Y:-130.50, Z:-4.12 [[-9.50603884e-01 3.10205129e-01 1.11818358e-02 1.26088295e+02] [ 3.10183534e-01 9.50669647e-01 -3.66024396e-03 -1.30502714e+02] [-1.17656583e-02 -1.10207908e-05 -9.99930782e-01 -4.12299163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.013298954475103333 Centerline is valid? [True, True] Translation: X:126.27, Y:-129.94, Z:-5.13 [[-9.26117851e-01 -3.77103830e-01 9.92103791e-03 1.26271495e+02] [ 3.77081543e-01 -9.26170988e-01 -4.10023500e-03 -1.29941071e+02] [ 1.07347918e-02 -5.62605395e-05 9.99942379e-01 -5.12854815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.013312509733034592 Centerline is valid? [True, True] Translation: X:126.04, Y:-130.49, Z:-4.12 [[-9.52983032e-01 3.02887929e-01 9.06882280e-03 1.26038832e+02] [ 3.02873751e-01 9.53026180e-01 -2.93106108e-03 -1.30487041e+02] [-9.53060857e-03 -4.65430950e-05 -9.99954582e-01 -4.12440028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.013395205404359279 Centerline is valid? [True, True] Translation: X:126.05, Y:-130.46, Z:-4.12 [[-9.72223986e-01 2.33909658e-01 8.17269296e-03 1.26045707e+02] [ 2.33900989e-01 9.72258335e-01 -2.01433834e-03 -1.30464170e+02] [-8.41714205e-03 -4.67870867e-05 -9.99964574e-01 -4.12429448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.013361783891267182 Centerline is valid? [True, True] Translation: X:126.04, Y:-130.44, Z:-4.12 [[-9.86151204e-01 1.65672238e-01 7.64933732e-03 1.26044663e+02] [ 1.65666995e-01 9.86180870e-01 -1.31846889e-03 -1.30439242e+02] [-7.76206383e-03 -3.29669508e-05 -9.99969874e-01 -4.12443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.013299050042024965 Centerline is valid? [True, True] Translation: X:126.05, Y:-130.42, Z:-4.12 [[-9.95173256e-01 9.78942759e-02 6.84844868e-03 1.26045103e+02] [ 9.78918793e-02 9.95196820e-01 -6.85102170e-04 -1.30417107e+02] [-6.88262193e-03 -1.13878459e-05 -9.99976314e-01 -4.12449374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.013187786189181936 Centerline is valid? [True, True] Translation: X:126.11, Y:-129.80, Z:-5.13 [[-9.85920416e-01 -1.67104243e-01 6.09145079e-03 1.26109016e+02] [ 1.67100841e-01 -9.85939233e-01 -1.06690762e-03 -1.29804923e+02] [ 6.18408511e-03 -3.39994542e-05 9.99980878e-01 -5.12669237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.013140859291500637 Centerline is valid? [True, True] Translation: X:126.00, Y:-130.42, Z:-4.12 [[-9.95663346e-01 9.27978721e-02 6.56169059e-03 1.25995192e+02] [ 9.27957331e-02 9.95684968e-01 -6.30345696e-04 -1.30418149e+02] [-6.59187142e-03 -1.87152165e-05 -9.99978273e-01 -4.12379422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.013285206396340765 Centerline is valid? [True, True] Translation: X:126.05, Y:-129.80, Z:-5.13 [[-9.85686179e-01 -1.68396374e-01 8.08808510e-03 1.26050231e+02] [ 1.68391786e-01 -9.85719354e-01 -1.24978122e-03 -1.29797611e+02] [ 8.18304065e-03 1.30075022e-04 9.99966510e-01 -5.12919711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.01388436648521689 Centerline is valid? [True, True] Translation: X:125.94, Y:-130.41, Z:-4.12 [[-9.96667961e-01 8.09652443e-02 9.87953268e-03 1.25939213e+02] [ 8.09602005e-02 9.96716920e-01 -9.10055651e-04 -1.30411076e+02] [-9.92078025e-03 -1.07174363e-04 -9.99950782e-01 -4.12037765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.015344498932529496 Centerline is valid? [True, True] Translation: X:125.93, Y:-130.38, Z:-4.12 [[-9.99925769e-01 2.69679878e-03 1.18820687e-02 1.25930636e+02] [ 2.69405967e-03 9.99996341e-01 -2.46525204e-04 -1.30381041e+02] [-1.18826901e-02 -2.14495902e-04 -9.99929375e-01 -4.11778825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.017071867668496797 Centerline is valid? [True, True] Translation: X:125.94, Y:-129.77, Z:-5.13 [[-9.93642218e-01 -1.11936153e-01 1.20598841e-02 1.25939484e+02] [ 1.11930772e-01 -9.93715373e-01 -1.12237687e-03 -1.29767580e+02] [ 1.21097267e-02 2.34631089e-04 9.99926647e-01 -5.13441614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.01792624863636827 Centerline is valid? [True, True] Translation: X:125.87, Y:-130.38, Z:-4.12 [[-9.99874796e-01 -1.12579011e-02 1.11199160e-02 1.25869753e+02] [-1.12606651e-02 9.99936579e-01 -1.85980734e-04 -1.30382650e+02] [-1.11171170e-02 -3.11175098e-04 -9.99938155e-01 -4.11875336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.01823868908598144 Centerline is valid? [True, True] Translation: X:125.87, Y:-130.36, Z:-4.12 [[-9.96400335e-01 -8.41810441e-02 9.99621595e-03 1.25865910e+02] [-8.41798145e-02 9.96450432e-01 5.44445342e-04 -1.30358490e+02] [-1.00065657e-02 -2.98994083e-04 -9.99949888e-01 -4.12017139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.022227155212767927 Centerline is valid? [True, True] Translation: X:125.86, Y:-130.33, Z:-4.12 [[-9.87519208e-01 -1.57247602e-01 8.88852295e-03 1.25855995e+02] [-1.57243872e-01 9.87559167e-01 1.12133475e-03 -1.30330951e+02] [-8.95426951e-03 -2.90326165e-04 -9.99959868e-01 -4.12040074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.020216789524683983 Centerline is valid? [True, True] Translation: X:125.78, Y:-129.71, Z:-5.13 [[-9.99654383e-01 2.46659288e-02 9.09435752e-03 1.25775062e+02] [-2.46621288e-02 -9.99695703e-01 5.29766758e-04 -1.29708989e+02] [ 9.10465733e-03 3.05297445e-04 9.99958505e-01 -5.13080525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.02104506681534991 Centerline is valid? [True, True] Translation: X:125.78, Y:-130.35, Z:-4.12 [[-9.86372876e-01 -1.64203927e-01 1.02771510e-02 1.25781353e+02] [-1.64198763e-01 9.86426350e-01 1.34998964e-03 -1.30348792e+02] [-1.03593261e-02 -3.55902309e-04 -9.99946277e-01 -4.11953775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.02155129927875279 Centerline is valid? [True, True] Translation: X:125.76, Y:-130.33, Z:-4.12 [[-9.71894631e-01 -2.35105359e-01 1.20952895e-02 1.25764363e+02] [-2.35092743e-01 9.71969793e-01 2.47470732e-03 -1.30326728e+02] [-1.23380730e-02 -4.38360028e-04 -9.99923787e-01 -4.11736562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.021553734067650876 Centerline is valid? [True, True] Translation: X:125.74, Y:-130.31, Z:-4.12 [[-9.52484016e-01 -3.04296104e-01 1.33447055e-02 1.25743710e+02] [-3.04273554e-01 9.52577362e-01 3.73808663e-03 -1.30306816e+02] [-1.38493496e-02 -4.99973213e-04 -9.99903968e-01 -4.11651802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.01979848615831031 Centerline is valid? [True, True] Translation: X:125.73, Y:-130.29, Z:-4.12 [[-9.29019709e-01 -3.69775282e-01 1.37339279e-02 1.25729008e+02] [-3.69742636e-01 9.29121090e-01 4.93791280e-03 -1.30290326e+02] [-1.45864002e-02 -4.90600391e-04 -9.99893493e-01 -4.11671768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.017655923137354985 Centerline is valid? [True, True] Translation: X:125.69, Y:-130.29, Z:-4.12 [[-9.01876721e-01 -4.31804751e-01 1.27686429e-02 1.25689606e+02] [-4.31767703e-01 9.01967016e-01 5.67034413e-03 -1.30285187e+02] [-1.39653762e-02 -3.99136231e-04 -9.99902400e-01 -4.11798108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.01844548426224834 Centerline is valid? [True, True] Translation: X:125.63, Y:-130.28, Z:-4.12 [[-8.69343555e-01 -4.94063041e-01 1.19789588e-02 1.25630137e+02] [-4.94021524e-01 8.69426015e-01 6.41397879e-03 -1.30284757e+02] [-1.35837282e-02 -3.41912343e-04 -9.99907679e-01 -4.11682403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.016192289189098822 Centerline is valid? [True, True] Translation: X:125.56, Y:-130.30, Z:-4.12 [[-8.32626517e-01 -5.53744816e-01 9.98815555e-03 1.25563927e+02] [-5.53708584e-01 8.32686385e-01 6.33943232e-03 -1.30297755e+02] [-1.18274289e-02 -2.52148015e-04 -9.99930022e-01 -4.11949727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.01514038398878127 Centerline is valid? [True, True] Translation: X:125.49, Y:-130.31, Z:-4.12 [[-7.90452354e-01 -6.12458838e-01 8.90207371e-03 1.25493569e+02] [-6.12422996e-01 7.90502452e-01 6.62929680e-03 -1.30315000e+02] [-1.10972825e-02 -2.11691384e-04 -9.99938401e-01 -4.12093811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.014775389189017635 Centerline is valid? [True, True] Translation: X:125.41, Y:-130.35, Z:-4.12 [[-7.43555050e-01 -6.68621335e-01 8.44971557e-03 1.25414259e+02] [-6.68581123e-01 7.43603034e-01 7.33548752e-03 -1.30345018e+02] [-1.11878976e-02 -1.94981529e-04 -9.99937395e-01 -4.12089101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.014431069989773256 Centerline is valid? [True, True] Translation: X:125.33, Y:-130.38, Z:-4.12 [[-6.92562083e-01 -7.21313883e-01 8.00266772e-03 1.25334294e+02] [-7.21268664e-01 6.92608295e-01 8.07857574e-03 -1.30384090e+02] [-1.13699029e-02 -1.77158217e-04 -9.99935345e-01 -4.12092977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.014204996132545696 Centerline is valid? [True, True] Translation: X:125.25, Y:-130.43, Z:-4.12 [[-6.38146351e-01 -7.69879069e-01 7.44674819e-03 1.25253012e+02] [-7.69829352e-01 6.38189781e-01 8.75050369e-03 -1.30432681e+02] [-1.14892682e-02 -1.48623338e-04 -9.99933985e-01 -4.12035046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.013621782489228438 Centerline is valid? [True, True] Translation: X:125.17, Y:-130.49, Z:-4.12 [[-5.81042683e-01 -8.13846443e-01 6.58535700e-03 1.25172598e+02] [-8.13796165e-01 5.81079991e-01 9.04688558e-03 -1.30491969e+02] [-1.11893948e-02 -1.02511603e-04 -9.99937392e-01 -4.12080334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.01319080213974417 Centerline is valid? [True, True] Translation: X:125.10, Y:-130.56, Z:-4.12 [[-5.20223839e-01 -8.54012473e-01 5.46391104e-03 1.25096172e+02] [-8.53966620e-01 5.20252528e-01 8.84981417e-03 -1.30559504e+02] [-1.04004652e-02 -6.21133426e-05 -9.99945912e-01 -4.12146915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.012799062488343563 Centerline is valid? [True, True] Translation: X:125.02, Y:-130.64, Z:-4.12 [[-4.55637531e-01 -8.90153169e-01 4.66649211e-03 1.25022273e+02] [-8.90107335e-01 4.55661425e-01 9.03320246e-03 -1.30638077e+02] [-1.01672742e-02 -3.78127881e-05 -9.99948311e-01 -4.12271290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.012734278968960263 Centerline is valid? [True, True] Translation: X:124.95, Y:-130.72, Z:-4.12 [[-3.87914730e-01 -9.21686709e-01 3.97163284e-03 1.24952155e+02] [-9.21638948e-01 3.87935060e-01 9.38287219e-03 -1.30723017e+02] [-1.01888042e-02 -2.06571840e-05 -9.99948093e-01 -4.12267578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.012764079107332002 Centerline is valid? [True, True] Translation: X:124.89, Y:-130.82, Z:-4.12 [[-3.17669141e-01 -9.48196082e-01 3.24133701e-03 1.24885295e+02] [-9.48146947e-01 3.17685677e-01 9.65287096e-03 -1.30819176e+02] [-1.01825408e-02 -6.84455552e-06 -9.99948157e-01 -4.12172233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.012823639645299985 Centerline is valid? [True, True] Translation: X:124.83, Y:-130.91, Z:-4.12 [[-2.45212652e-01 -9.69465946e-01 2.55646187e-03 1.24829824e+02] [-9.69413046e-01 2.45225978e-01 1.01275379e-02 -1.30912520e+02] [-1.04452140e-02 5.13295029e-06 -9.99945447e-01 -4.12156247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.012793511182029774 Centerline is valid? [True, True] Translation: X:124.78, Y:-131.02, Z:-4.12 [[-1.72478289e-01 -9.85011661e-01 1.80734595e-03 1.24778799e+02] [-9.84955771e-01 1.72487756e-01 1.04929916e-02 -1.31019646e+02] [-1.06474642e-02 2.96574226e-05 -9.99943314e-01 -4.12217807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.012932526649200981 Centerline is valid? [True, True] Translation: X:124.74, Y:-131.13, Z:-4.12 [[-9.84300127e-02 -9.95143425e-01 1.04732239e-03 1.24735884e+02] [-9.95081089e-01 9.84355695e-02 1.11384817e-02 -1.31125734e+02] [-1.11874806e-02 5.41901886e-05 -9.99937417e-01 -4.12236460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.013030801784519338 Centerline is valid? [True, True] Translation: X:124.70, Y:-131.24, Z:-4.12 [[-2.21343615e-02 -9.99754987e-01 1.88196151e-04 1.24700108e+02] [-9.99693394e-01 2.21350868e-02 1.10975761e-02 -1.31240561e+02] [-1.10990228e-02 5.74993110e-05 -9.99938402e-01 -4.12185660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.012793532151190876 Centerline is valid? [True, True] Translation: X:124.67, Y:-131.36, Z:-4.12 [[ 5.62931209e-02 -9.98414088e-01 -6.27390983e-04 1.24670586e+02] [-9.98359138e-01 -5.62966049e-02 1.04748869e-02 -1.31358767e+02] [-1.04935947e-02 3.66974456e-05 -9.99944940e-01 -4.12249463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.012639522116300527 Centerline is valid? [True, True] Translation: X:124.65, Y:-131.48, Z:-4.12 [[ 1.35141795e-01 -9.90825433e-01 -1.28724915e-03 1.24651561e+02] [-9.90781144e-01 -1.35147925e-01 9.36822525e-03 -1.31479803e+02] [-9.45624489e-03 9.34341229e-06 -9.99955289e-01 -4.12265298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.01277829302941491 Centerline is valid? [True, True] Translation: X:124.64, Y:-131.60, Z:-4.12 [[ 2.16077816e-01 -9.76373973e-01 -2.05978298e-03 1.24637494e+02] [-9.76327637e-01 -2.16087628e-01 9.51221298e-03 -1.31599839e+02] [-9.73257080e-03 -4.43551506e-05 -9.99952636e-01 -4.12316141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.013610254970786481 Centerline is valid? [True, True] Translation: X:124.63, Y:-131.72, Z:-4.12 [[ 2.95597326e-01 -9.55306337e-01 -3.46735344e-03 1.24632222e+02] [-9.55235598e-01 -2.95617635e-01 1.16260546e-02 -1.31720549e+02] [-1.21314545e-02 -1.24491230e-04 -9.99926404e-01 -4.12051990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.014377181874513945 Centerline is valid? [True, True] Translation: X:124.64, Y:-131.84, Z:-4.12 [[ 3.70490691e-01 -9.28823381e-01 -4.87589852e-03 1.24640083e+02] [-9.28736446e-01 -3.70522731e-01 1.27090349e-02 -1.31842005e+02] [-1.36110800e-02 -1.80154449e-04 -9.99907349e-01 -4.11879242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.015010410449155595 Centerline is valid? [True, True] Translation: X:124.65, Y:-131.95, Z:-4.12 [[ 4.41610158e-01 -8.97186757e-01 -6.03255314e-03 1.24653308e+02] [-8.97096577e-01 -4.41651311e-01 1.27220667e-02 -1.31950647e+02] [-1.40783548e-02 -2.06411106e-04 -9.99900874e-01 -4.11854527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.013970576996322885 Centerline is valid? [True, True] Translation: X:124.68, Y:-132.06, Z:-4.12 [[ 5.08004840e-01 -8.61328581e-01 -6.64507175e-03 1.24681939e+02] [-8.61250086e-01 -5.08048266e-01 1.16296528e-02 -1.32060752e+02] [-1.33929695e-02 -1.84851309e-04 -9.99910293e-01 -4.12093979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.013306850135895066 Centerline is valid? [True, True] Translation: X:124.72, Y:-132.16, Z:-4.12 [[ 5.69663575e-01 -8.21850537e-01 -6.71609299e-03 1.24716985e+02] [-8.21790737e-01 -5.69703149e-01 9.91495066e-03 -1.32164340e+02] [-1.19747868e-02 -1.28963224e-04 -9.99928291e-01 -4.12277466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.013188785192882309 Centerline is valid? [True, True] Translation: X:124.76, Y:-132.26, Z:-4.12 [[ 6.28268524e-01 -7.77962982e-01 -7.22911752e-03 1.24757382e+02] [-7.77909815e-01 -6.28310107e-01 9.09559049e-03 -1.32263721e+02] [-1.16181603e-02 -9.08717432e-05 -9.99932503e-01 -4.12202887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.012909250307213545 Centerline is valid? [True, True] Translation: X:124.81, Y:-132.36, Z:-4.12 [[ 6.84516343e-01 -7.28950506e-01 -8.27865707e-03 1.24806677e+02] [-7.28895815e-01 -6.84566399e-01 8.92957989e-03 -1.32361759e+02] [-1.21765122e-02 -7.81648883e-05 -9.99925861e-01 -4.12265146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.013042404452939076 Centerline is valid? [True, True] Translation: X:124.85, Y:-132.45, Z:-4.12 [[ 7.38138057e-01 -6.74579187e-01 -9.75345489e-03 1.24854461e+02] [-6.74518642e-01 -7.38202488e-01 9.03823657e-03 -1.32449311e+02] [-1.32970309e-02 -9.25792375e-05 -9.99911586e-01 -4.12139212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.013278583467956922 Centerline is valid? [True, True] Translation: X:124.88, Y:-132.48, Z:-4.12 [[ 7.89217943e-01 -6.13976214e-01 -1.29709814e-02 1.24876514e+02] [-6.13890532e-01 -7.89324515e-01 1.02578993e-02 -1.32478835e+02] [-1.65364198e-02 -1.32955533e-04 -9.99863255e-01 -4.11981640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.013234856116920705 Centerline is valid? [True, True] Translation: X:124.90, Y:-132.51, Z:-4.12 [[ 8.34234949e-01 -5.51219312e-01 -1.44679106e-02 1.24901422e+02] [-5.51133866e-01 -8.34360387e-01 9.70600322e-03 -1.32505511e+02] [-1.74215879e-02 -1.23331577e-04 -9.99848225e-01 -4.11958901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.012932599933177493 Centerline is valid? [True, True] Translation: X:124.93, Y:-132.53, Z:-4.12 [[ 8.71859575e-01 -4.89527132e-01 -1.49689353e-02 1.24930721e+02] [-4.89454618e-01 -8.71988066e-01 8.42557727e-03 -1.32526699e+02] [-1.71772816e-02 -1.93056931e-05 -9.99852459e-01 -4.12100626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.013120253805117943 Centerline is valid? [True, True] Translation: X:124.96, Y:-132.55, Z:-4.12 [[ 9.04699058e-01 -4.25816967e-01 -1.41253209e-02 1.24961207e+02] [-4.25766526e-01 -9.04809319e-01 6.55452518e-03 -1.32546107e+02] [-1.55717500e-02 8.42160389e-05 -9.99878749e-01 -4.12312989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.014858343409103606 Centerline is valid? [True, True] Translation: X:124.99, Y:-132.56, Z:-4.13 [[ 9.31187143e-01 -3.64320366e-01 -1.26955086e-02 1.24994458e+02] [-3.64289816e-01 -9.31273654e-01 4.72340376e-03 -1.32558813e+02] [-1.35438249e-02 2.26471651e-04 -9.99908253e-01 -4.12536353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.01643537899672213 Centerline is valid? [True, True] Translation: X:125.03, Y:-132.57, Z:-4.13 [[ 9.54579183e-01 -2.97726857e-01 -1.17175453e-02 1.25025467e+02] [-2.97708239e-01 -9.54651051e-01 3.34286528e-03 -1.32574190e+02] [-1.21814277e-02 2.97380161e-04 -9.99925759e-01 -4.12759408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.01711855189470357 Centerline is valid? [True, True] Translation: X:125.06, Y:-132.59, Z:-4.13 [[ 9.74697831e-01 -2.23179886e-01 -1.24449201e-02 1.25057543e+02] [-2.23165913e-01 -9.74777223e-01 2.51816943e-03 -1.32589578e+02] [-1.26930294e-02 3.22827667e-04 -9.99919388e-01 -4.12763948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.016103384090698857 Centerline is valid? [True, True] Translation: X:125.09, Y:-132.61, Z:-4.13 [[ 9.89592329e-01 -1.43265243e-01 -1.34941667e-02 1.25085892e+02] [-1.43256128e-01 -9.89684281e-01 1.64469189e-03 -1.32608961e+02] [-1.35905919e-02 3.05547594e-04 -9.99907597e-01 -4.12753669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.015319178131602258 Centerline is valid? [True, True] Translation: X:125.12, Y:-132.63, Z:-4.13 [[ 9.97995223e-01 -6.14817449e-02 -1.50176412e-02 1.25116051e+02] [-6.14789967e-02 -9.98108169e-01 6.45025541e-04 -1.32626602e+02] [-1.50288877e-02 2.79537106e-04 -9.99887021e-01 -4.12641875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.014940978414672847 Centerline is valid? [True, True] Translation: X:125.15, Y:-132.64, Z:-4.13 [[ 9.99709626e-01 1.83051277e-02 -1.56711558e-02 1.25148604e+02] [ 1.82986648e-02 -9.99832411e-01 -5.55710559e-04 -1.32638687e+02] [-1.56787018e-02 2.68787968e-04 -9.99877046e-01 -4.12631266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.01438236536606278 Centerline is valid? [True, True] Translation: X:125.18, Y:-132.65, Z:-4.13 [[ 9.95125384e-01 9.76094113e-02 -1.40667291e-02 1.25182209e+02] [ 9.75964382e-02 -9.95224774e-01 -1.60743336e-03 -1.32651843e+02] [-1.41564579e-02 2.26735092e-04 -9.99899767e-01 -4.12847822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.014070790979434825 Centerline is valid? [True, True] Translation: X:125.22, Y:-132.66, Z:-4.13 [[ 9.84184429e-01 1.76726455e-01 -1.21971282e-02 1.25217688e+02] [ 1.76710610e-01 -9.84259990e-01 -2.37330747e-03 -1.32662629e+02] [-1.24245715e-02 1.80410289e-04 -9.99922796e-01 -4.12955907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.013911831912000757 Centerline is valid? [True, True] Translation: X:125.25, Y:-132.67, Z:-4.13 [[ 9.67078819e-01 2.54205529e-01 -1.17518898e-02 1.25253322e+02] [ 2.54184685e-01 -9.67150206e-01 -3.25946644e-03 -1.32667222e+02] [-1.21944171e-02 1.65010536e-04 -9.99925632e-01 -4.13027110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.013569136448404039 Centerline is valid? [True, True] Translation: X:125.29, Y:-132.67, Z:-4.13 [[ 9.43292549e-01 3.31750130e-01 -1.18751547e-02 1.25289489e+02] [ 3.31722021e-01 -9.43367284e-01 -4.32061773e-03 -1.32670631e+02] [-1.26359979e-02 1.36356188e-04 -9.99920153e-01 -4.12940655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.013331735818051079 Centerline is valid? [True, True] Translation: X:125.33, Y:-132.67, Z:-4.13 [[ 9.13876882e-01 4.05811061e-01 -1.21006892e-02 1.25325055e+02] [ 4.05773662e-01 -9.13956983e-01 -5.51072961e-03 -1.32665387e+02] [-1.32958244e-02 1.25987423e-04 -9.99911599e-01 -4.12925733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.01251589406947324 Centerline is valid? [True, True] Translation: X:125.37, Y:-132.67, Z:-4.13 [[ 8.76179357e-01 4.81818329e-01 -1.26819915e-02 1.25366140e+02] [ 4.81767147e-01 -8.76271132e-01 -7.02284821e-03 -1.32667820e+02] [-1.44966000e-02 4.35077683e-05 -9.99894918e-01 -4.12856540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.012389809117392816 Centerline is valid? [True, True] Translation: X:125.41, Y:-132.67, Z:-4.13 [[ 8.32028379e-01 5.54581298e-01 -1.29754177e-02 1.25407512e+02] [ 5.54514974e-01 -8.32129546e-01 -8.57687532e-03 -1.32665397e+02] [-1.55538031e-02 -5.88597230e-05 -9.99879031e-01 -4.12920688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.012843905701626124 Centerline is valid? [True, True] Translation: X:125.44, Y:-132.66, Z:-4.13 [[ 7.83985072e-01 6.20660664e-01 -1.21551202e-02 1.25444481e+02] [ 6.20588244e-01 -7.84079287e-01 -9.48175642e-03 -1.32655798e+02] [-1.54155312e-02 -1.09769230e-04 -9.99881168e-01 -4.12839030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.012930642859653953 Centerline is valid? [True, True] Translation: X:125.48, Y:-132.64, Z:-4.13 [[ 7.31030300e-01 6.82257572e-01 -1.09227619e-02 1.25480072e+02] [ 6.82184432e-01 -7.31111882e-01 -9.99085625e-03 -1.32640964e+02] [-1.48020983e-02 -1.47719456e-04 -9.99890432e-01 -4.12937927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.01341750117368623 Centerline is valid? [True, True] Translation: X:125.52, Y:-132.62, Z:-4.13 [[ 6.72464878e-01 7.40059609e-01 -1.01372053e-02 1.25517343e+02] [ 7.39980134e-01 -6.72541249e-01 -1.08475473e-02 -1.32624842e+02] [-1.48455204e-02 -2.06735938e-04 -9.99889778e-01 -4.13003718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.014180383848145654 Centerline is valid? [True, True] Translation: X:125.55, Y:-132.60, Z:-4.13 [[ 6.09663465e-01 7.92605951e-01 -9.28795714e-03 1.25552094e+02] [ 7.92520405e-01 -6.09734155e-01 -1.16476753e-02 -1.32604156e+02] [-1.48952015e-02 -2.59733447e-04 -9.99889027e-01 -4.13068159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.014425451741720833 Centerline is valid? [True, True] Translation: X:125.58, Y:-132.58, Z:-4.13 [[ 5.44238610e-01 8.38888285e-01 -8.41314384e-03 1.25583510e+02] [ 8.38796143e-01 -5.44303557e-01 -1.24366037e-02 -1.32580035e+02] [-1.50122253e-02 -2.88432682e-04 -9.99887269e-01 -4.13095791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.014880018705982488 Centerline is valid? [True, True] Translation: X:125.61, Y:-132.55, Z:-4.13 [[ 4.75754219e-01 8.79543093e-01 -7.86574716e-03 1.25613534e+02] [ 8.79434057e-01 -4.75819125e-01 -1.38527794e-02 -1.32552845e+02] [-1.59267894e-02 -3.26887688e-04 -9.99873107e-01 -4.13047680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.015294863672009 Centerline is valid? [True, True] Translation: X:125.64, Y:-132.52, Z:-4.13 [[ 4.05647319e-01 9.14004665e-01 -6.76194782e-03 1.25637252e+02] [ 9.13890685e-01 -4.05703546e-01 -1.44377506e-02 -1.32522671e+02] [-1.59395176e-02 -3.23046298e-04 -9.99872906e-01 -4.13021782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.015070568875136634 Centerline is valid? [True, True] Translation: X:125.66, Y:-132.49, Z:-4.13 [[ 3.34017257e-01 9.42550682e-01 -5.53926072e-03 1.25655714e+02] [ 9.42435564e-01 -3.34063051e-01 -1.47338266e-02 -1.32488758e+02] [-1.57378407e-02 -2.99043942e-04 -9.99876108e-01 -4.13073752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.013994272313916391 Centerline is valid? [True, True] Translation: X:125.67, Y:-132.45, Z:-4.13 [[ 2.62091590e-01 9.65033486e-01 -4.28592188e-03 1.25670797e+02] [ 9.64919444e-01 -2.62126514e-01 -1.48376786e-02 -1.32453710e+02] [-1.54423105e-02 -2.46738580e-04 -9.99880730e-01 -4.13204317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.013404220515189632 Centerline is valid? [True, True] Translation: X:125.68, Y:-132.42, Z:-4.13 [[ 1.88340822e-01 9.82099183e-01 -2.98814628e-03 1.25684143e+02] [ 9.81991655e-01 -1.88364422e-01 -1.45338785e-02 -1.32417634e+02] [-1.48365707e-02 -1.97012083e-04 -9.99889913e-01 -4.13293044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.012748843813465622 Centerline is valid? [True, True] Translation: X:125.69, Y:-132.38, Z:-4.14 [[ 1.16119216e-01 9.93234061e-01 -1.55810845e-03 1.25690528e+02] [ 9.93155850e-01 -1.16129626e-01 -1.24646638e-02 -1.32381679e+02] [-1.25612712e-02 -1.00057538e-04 -9.99921099e-01 -4.13506542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.012108413917976199 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.35, Z:-4.14 [[ 4.43620730e-02 9.99015378e-01 -5.30122265e-04 1.25696580e+02] [ 9.98948796e-01 -4.43652368e-02 -1.15337913e-02 -1.32345810e+02] [-1.15459538e-02 -1.79021073e-05 -9.99933343e-01 -4.13684104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.012566556849359164 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.31, Z:-4.14 [[-2.52217527e-02 9.99681809e-01 3.78507999e-04 1.25698431e+02] [ 9.99613764e-01 2.52244522e-02 -1.16640213e-02 -1.32309476e+02] [-1.16698575e-02 8.41747464e-05 -9.99931901e-01 -4.13703134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.013410305891501809 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.27, Z:-4.14 [[-9.78066824e-02 9.95204579e-01 1.30342285e-03 1.25699685e+02] [ 9.95135686e-01 9.78152495e-02 -1.17108267e-02 -1.32273392e+02] [-1.17821630e-02 1.51685478e-04 -9.99930576e-01 -4.13687931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.014905923619062492 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.24, Z:-4.14 [[-1.68913278e-01 9.85628563e-01 2.15416737e-03 1.25697920e+02] [ 9.85564424e-01 1.68926866e-01 -1.12463484e-02 -1.32238040e+02] [-1.14486189e-02 2.23413156e-04 -9.99934438e-01 -4.13697219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.015232251317546401 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.20, Z:-4.14 [[-2.43450203e-01 9.69909092e-01 2.89005983e-03 1.25698290e+02] [ 9.69851862e-01 2.43467241e-01 -1.05389402e-02 -1.32202178e+02] [-1.09254488e-02 2.37222779e-04 -9.99940287e-01 -4.13747602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.016185272784776383 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.17, Z:-4.14 [[-3.18902957e-01 9.47781790e-01 3.25322381e-03 1.25695248e+02] [ 9.47738859e-01 3.18919484e-01 -9.02318516e-03 -1.32167441e+02] [-9.58952704e-03 2.05686188e-04 -9.99953998e-01 -4.13663806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.014276469514633064 Centerline is valid? [True, True] Translation: X:125.70, Y:-132.13, Z:-4.14 [[-3.94475907e-01 9.18899980e-01 3.40392136e-03 1.25697566e+02] [ 9.18869114e-01 3.94490562e-01 -7.53307984e-03 -1.32128836e+02] [-8.26496176e-03 1.56139711e-04 -9.99965832e-01 -4.13843977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.013990159416972294 Centerline is valid? [True, True] Translation: X:125.69, Y:-132.09, Z:-4.14 [[-4.68264531e-01 8.83579744e-01 3.89417128e-03 1.25693555e+02] [ 8.83551385e-01 4.68280706e-01 -7.08023521e-03 -1.32092844e+02] [-8.07951769e-03 1.25277409e-04 -9.99967352e-01 -4.13800983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.013302430968240728 Centerline is valid? [True, True] Translation: X:125.69, Y:-132.06, Z:-4.14 [[-5.38782135e-01 8.42435419e-01 4.04678167e-03 1.25685722e+02] [ 8.42412903e-01 5.38797325e-01 -6.15989164e-03 -1.32055366e+02] [-7.36970603e-03 9.02215273e-05 -9.99972839e-01 -4.13796880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.01248452925273686 Centerline is valid? [True, True] Translation: X:125.68, Y:-132.02, Z:-4.14 [[-6.07728793e-01 7.94135353e-01 3.84132365e-03 1.25675657e+02] [ 7.94119905e-01 6.07740932e-01 -4.95344416e-03 -1.32018263e+02] [-6.26823473e-03 4.01209326e-05 -9.99980354e-01 -4.13728762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.012138688519045135 Centerline is valid? [True, True] Translation: X:125.66, Y:-131.98, Z:-4.14 [[-6.71130478e-01 7.41329344e-01 3.83200421e-03 1.25661392e+02] [ 7.41317371e-01 6.71141418e-01 -4.21335981e-03 -1.31981866e+02] [-5.69530401e-03 1.30171058e-05 -9.99983782e-01 -4.13697424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.012165996994392046 Centerline is valid? [True, True] Translation: X:125.65, Y:-131.94, Z:-4.14 [[-7.31525027e-01 6.81797392e-01 4.84263766e-03 1.25646480e+02] [ 6.81782205e-01 7.31541055e-01 -4.55081908e-03 -1.31943421e+02] [-6.64532485e-03 -2.74138689e-05 -9.99977919e-01 -4.13570293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.012869933606839062 Centerline is valid? [True, True] Translation: X:125.66, Y:-131.91, Z:-4.13 [[-7.82850155e-01 6.22182490e-01 5.88075623e-03 1.25658775e+02] [ 6.22164063e-01 7.82872238e-01 -4.78944740e-03 -1.31910735e+02] [-7.58379110e-03 -9.06244488e-05 -9.99971239e-01 -4.13456964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.014332063500428198 Centerline is valid? [True, True] Translation: X:125.94, Y:-131.55, Z:-5.12 [[-7.17894087e-01 -6.96133516e-01 5.11934314e-03 1.25940050e+02] [ 6.96116317e-01 -7.17912338e-01 -4.89365120e-03 -1.31550642e+02] [ 7.08187421e-03 5.05350351e-05 9.99974922e-01 -5.11654372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.015529686136754223 Centerline is valid? [True, True] Translation: X:125.62, Y:-131.87, Z:-4.14 [[-7.91867301e-01 6.10670985e-01 5.20828318e-03 1.25621584e+02] [ 6.10656489e-01 7.91884414e-01 -4.21041752e-03 -1.31874354e+02] [-6.69553809e-03 -1.53620038e-04 -9.99977573e-01 -4.13520074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.01679420115069663 Centerline is valid? [True, True] Translation: X:125.90, Y:-131.52, Z:-5.12 [[-7.15463474e-01 -6.98629234e-01 5.40476731e-03 1.25902740e+02] [ 6.98611493e-01 -7.15483857e-01 -4.98319724e-03 -1.31522769e+02] [ 7.34843103e-03 2.10536953e-04 9.99972978e-01 -5.11753190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.016401371993846295 Centerline is valid? [True, True] Translation: X:125.88, Y:-131.54, Z:-5.12 [[-6.67060389e-01 -7.44980394e-01 5.88635986e-03 1.25883783e+02] [ 7.44954301e-01 -6.67086323e-01 -6.23917423e-03 -1.31537631e+02] [ 8.57477263e-03 2.23163101e-04 9.99963211e-01 -5.11818301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.016153243464488428 Centerline is valid? [True, True] Translation: X:125.85, Y:-131.49, Z:-5.12 [[-6.68800397e-01 -7.43416315e-01 6.18148778e-03 1.25847812e+02] [ 7.43387506e-01 -6.68828928e-01 -6.54832283e-03 -1.31492973e+02] [ 9.00248788e-03 2.15719877e-04 9.99959454e-01 -5.11848148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.015565667536986906 Centerline is valid? [True, True] Translation: X:125.81, Y:-131.45, Z:-5.12 [[-6.70180851e-01 -7.42170067e-01 6.42012563e-03 1.25810869e+02] [ 7.42138969e-01 -6.70211569e-01 -6.79732888e-03 -1.31448489e+02] [ 9.34761650e-03 2.09185761e-04 9.99956288e-01 -5.11837693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.013431722826145763 Centerline is valid? [True, True] Translation: X:125.78, Y:-131.40, Z:-5.12 [[-6.75750233e-01 -7.37109381e-01 5.60211318e-03 1.25780295e+02] [ 7.37085556e-01 -6.75773443e-01 -5.92774647e-03 -1.31398003e+02] [ 8.15515684e-03 1.23560644e-04 9.99966739e-01 -5.11676040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.011951403743692171 Centerline is valid? [True, True] Translation: X:125.75, Y:-131.35, Z:-5.12 [[-6.83916368e-01 -7.29546249e-01 4.54664176e-03 1.25751155e+02] [ 7.29530406e-01 -6.83931480e-01 -4.80811822e-03 -1.31345674e+02] [ 6.61733604e-03 2.85626600e-05 9.99978105e-01 -5.11534098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.012478082489319763 Centerline is valid? [True, True] Translation: X:125.72, Y:-131.29, Z:-5.11 [[-6.93340189e-01 -7.20599291e-01 4.00555315e-03 1.25723426e+02] [ 7.20586852e-01 -6.93351758e-01 -4.23418991e-03 -1.31292997e+02] [ 5.82841157e-03 -4.93851006e-05 9.99983014e-01 -5.11465084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.01326497874075674 Centerline is valid? [True, True] Translation: X:125.69, Y:-131.25, Z:-5.11 [[-6.98229917e-01 -7.15861777e-01 4.11100465e-03 1.25688490e+02] [ 7.15848607e-01 -6.98242013e-01 -4.34318242e-03 -1.31245690e+02] [ 5.97959445e-03 -8.96829459e-05 9.99982118e-01 -5.11409041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.01438739481446427 Centerline is valid? [True, True] Translation: X:125.65, Y:-131.20, Z:-5.11 [[-7.01284833e-01 -7.12863839e-01 4.97302228e-03 1.25653937e+02] [ 7.12844513e-01 -7.01302451e-01 -5.25093626e-03 -1.31198145e+02] [ 7.23079529e-03 -1.37410313e-04 9.99973848e-01 -5.11486503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.01460017506917807 Centerline is valid? [True, True] Translation: X:125.62, Y:-131.16, Z:-5.12 [[-7.00786401e-01 -7.13346861e-01 5.88870488e-03 1.25615916e+02] [ 7.13319813e-01 -7.00811125e-01 -6.21391572e-03 -1.31155308e+02] [ 8.55954716e-03 -1.54097772e-04 9.99963355e-01 -5.11571110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.013416665062356028 Centerline is valid? [True, True] Translation: X:125.57, Y:-131.11, Z:-5.12 [[-6.97602367e-01 -7.16459163e-01 6.09967602e-03 1.25574646e+02] [ 7.16430292e-01 -6.97629023e-01 -6.43292572e-03 -1.31114265e+02] [ 8.86423960e-03 -1.17631533e-04 9.99960705e-01 -5.11576056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.012622789617524386 Centerline is valid? [True, True] Translation: X:125.53, Y:-131.07, Z:-5.12 [[-6.94278702e-01 -7.19682716e-01 5.82003452e-03 1.25532912e+02] [ 7.19656572e-01 -6.94303092e-01 -6.13476458e-03 -1.31073270e+02] [ 8.45595199e-03 -7.08103013e-05 9.99964245e-01 -5.11577492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.012279151201600131 Centerline is valid? [True, True] Translation: X:125.49, Y:-131.03, Z:-5.11 [[-6.91201294e-01 -7.22643577e-01 5.19922724e-03 1.25491502e+02] [ 7.22622820e-01 -6.91220848e-01 -5.47726981e-03 -1.31032175e+02] [ 7.55192811e-03 -2.88157381e-05 9.99971483e-01 -5.11434239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.01223837501576236 Centerline is valid? [True, True] Translation: X:125.45, Y:-130.99, Z:-5.11 [[-6.88427140e-01 -7.25290932e-01 4.59747593e-03 1.25450859e+02] [ 7.25274782e-01 -6.88442492e-01 -4.84011690e-03 -1.30992609e+02] [ 6.67559068e-03 2.36551709e-06 9.99977718e-01 -5.11400329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.012668242691053303 Centerline is valid? [True, True] Translation: X:125.41, Y:-130.95, Z:-5.11 [[-6.82516825e-01 -7.30862461e-01 3.29355334e-03 1.25406817e+02] [ 7.30854246e-01 -6.82524770e-01 -3.46540474e-03 -1.30954720e+02] [ 4.78066597e-03 4.19104057e-05 9.99988572e-01 -5.11282582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.014455679551604086 Centerline is valid? [True, True] Translation: X:125.36, Y:-130.92, Z:-5.11 [[-6.75574034e-01 -7.37282087e-01 3.85340837e-03 1.25362474e+02] [ 7.37270959e-01 -6.75585016e-01 -4.05213826e-03 -1.30916725e+02] [ 5.59087391e-03 1.03486690e-04 9.99984366e-01 -5.11460346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.016998929248124395 Centerline is valid? [True, True] Translation: X:125.32, Y:-130.88, Z:-5.12 [[-6.70213941e-01 -7.42148384e-01 5.38980092e-03 1.25320581e+02] [ 7.42126796e-01 -6.70235581e-01 -5.66430949e-03 -1.30878352e+02] [ 7.81619449e-03 2.03616504e-04 9.99969432e-01 -5.11707794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.01874857997997012 Centerline is valid? [True, True] Translation: X:125.28, Y:-130.84, Z:-5.12 [[-6.68131926e-01 -7.44018091e-01 6.06719257e-03 1.25280379e+02] [ 7.43990837e-01 -6.68159424e-01 -6.37335068e-03 -1.30838292e+02] [ 8.79574010e-03 2.55696611e-04 9.99961284e-01 -5.11818051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.019683640281037328 Centerline is valid? [True, True] Translation: X:125.24, Y:-130.79, Z:-5.12 [[-6.67507267e-01 -7.44578231e-01 6.10800354e-03 1.25241823e+02] [ 7.44550663e-01 -6.67535158e-01 -6.41274930e-03 -1.30794692e+02] [ 8.85210064e-03 2.67161330e-04 9.99960784e-01 -5.11821484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.01824428817205391 Centerline is valid? [True, True] Translation: X:125.21, Y:-130.75, Z:-5.12 [[-6.68470200e-01 -7.43712335e-01 6.28922744e-03 1.25206371e+02] [ 7.43683106e-01 -6.68499732e-01 -6.59888190e-03 -1.30749520e+02] [ 9.11201673e-03 2.66036296e-04 9.99958449e-01 -5.11768421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.017272095699180184 Centerline is valid? [True, True] Translation: X:125.17, Y:-130.70, Z:-5.12 [[-6.71150353e-01 -7.41285344e-01 7.29676910e-03 1.25172049e+02] [ 7.41245902e-01 -6.71189961e-01 -7.65175492e-03 -1.30702151e+02] [ 1.05696519e-02 2.73222179e-04 9.99944102e-01 -5.11856222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.016138790542587104 Centerline is valid? [True, True] Translation: X:125.14, Y:-130.66, Z:-5.12 [[-6.73124383e-01 -7.39496370e-01 6.97734089e-03 1.25135972e+02] [ 7.39460251e-01 -6.73160502e-01 -7.31268325e-03 -1.30656300e+02] [ 1.01045730e-02 2.37120849e-04 9.99948919e-01 -5.11799310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.015735176938841387 Centerline is valid? [True, True] Translation: X:125.10, Y:-130.61, Z:-5.12 [[-6.75037711e-01 -7.37750130e-01 6.98816897e-03 1.25101185e+02] [ 7.37713843e-01 -6.75073848e-01 -7.32023542e-03 -1.30608698e+02] [ 1.01180347e-02 2.13834029e-04 9.99948789e-01 -5.11752331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.014262349782735361 Centerline is valid? [True, True] Translation: X:125.07, Y:-130.56, Z:-5.12 [[-6.77804718e-01 -7.35205802e-01 7.29333750e-03 1.25068582e+02] [ 7.35166175e-01 -6.77843930e-01 -7.63554162e-03 -1.30559646e+02] [ 1.05574391e-02 1.86408903e-04 9.99944251e-01 -5.11690389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.013699558303340015 Centerline is valid? [True, True] Translation: X:125.04, Y:-130.51, Z:-5.12 [[-6.81499186e-01 -7.31785024e-01 7.03833178e-03 1.25036139e+02] [ 7.31747979e-01 -6.81535517e-01 -7.36439911e-03 -1.30511132e+02] [ 1.01860301e-02 1.31453055e-04 9.99948112e-01 -5.11677392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.01304653305040712 Centerline is valid? [True, True] Translation: X:125.00, Y:-130.46, Z:-5.12 [[-6.83880444e-01 -7.29564102e-01 6.61505811e-03 1.25000866e+02] [ 7.29531312e-01 -6.83912430e-01 -6.91760692e-03 -1.30464903e+02] [ 9.57095815e-03 9.50759236e-05 9.99954193e-01 -5.11602894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.012580907533399875 Centerline is valid? [True, True] Translation: X:124.97, Y:-130.42, Z:-5.12 [[-6.86880649e-01 -7.26738357e-01 6.80687479e-03 1.24967951e+02] [ 7.26703543e-01 -6.86914373e-01 -7.11368688e-03 -1.30417057e+02] [ 9.84552925e-03 6.03261579e-05 9.99951530e-01 -5.11601766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.012596536571606504 Centerline is valid? [True, True] Translation: X:124.93, Y:-130.37, Z:-5.12 [[-6.88244994e-01 -7.25439932e-01 7.46549158e-03 1.24933028e+02] [ 7.25398031e-01 -6.88285481e-01 -7.79702343e-03 -1.30371715e+02] [ 1.07946616e-02 4.91905445e-05 9.99941735e-01 -5.11644029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.012715454084711784 Centerline is valid? [True, True] Translation: X:124.90, Y:-130.33, Z:-5.12 [[-6.88708984e-01 -7.24993652e-01 8.00876997e-03 1.24898393e+02] [ 7.24945461e-01 -6.88755546e-01 -8.35915610e-03 -1.30325632e+02] [ 1.15764198e-02 4.88955331e-05 9.99932990e-01 -5.11594524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.01284659418778813 Centerline is valid? [True, True] Translation: X:124.86, Y:-130.28, Z:-5.11 [[-6.87364098e-01 -7.26273229e-01 7.60217361e-03 1.24860927e+02] [ 7.26229941e-01 -6.87406133e-01 -7.92979388e-03 -1.30282820e+02] [ 1.09849778e-02 7.02704786e-05 9.99939661e-01 -5.11453283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.012938748301993677 Centerline is valid? [True, True] Translation: X:124.82, Y:-130.24, Z:-5.11 [[-6.86093371e-01 -7.27472937e-01 7.68189628e-03 1.24821582e+02] [ 7.27428868e-01 -6.86136369e-01 -8.00785161e-03 -1.30240672e+02] [ 1.10963238e-02 9.38992060e-05 9.99938430e-01 -5.11383551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.013605089308753973 Centerline is valid? [True, True] Translation: X:124.78, Y:-130.20, Z:-5.11 [[-6.83297608e-01 -7.30095338e-01 8.07321146e-03 1.24780401e+02] [ 7.30046902e-01 -6.83345283e-01 -8.41097806e-03 -1.30199690e+02] [ 1.16576068e-02 1.46621834e-04 9.99932037e-01 -5.11354860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.014898713257679039 Centerline is valid? [True, True] Translation: X:124.74, Y:-130.16, Z:-5.11 [[-6.81261031e-01 -7.31999266e-01 7.77705962e-03 1.24737514e+02] [ 7.31954484e-01 -6.81305397e-01 -8.09874549e-03 -1.30162518e+02] [ 1.12268284e-02 1.75093957e-04 9.99936962e-01 -5.11368719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.014115654922049078 Centerline is valid? [True, True] Translation: X:124.70, Y:-130.12, Z:-5.11 [[-6.81871752e-01 -7.31430363e-01 7.78065159e-03 1.24698095e+02] [ 7.31385560e-01 -6.81916121e-01 -8.09735197e-03 -1.30121216e+02] [ 1.12284008e-02 1.69300654e-04 9.99936945e-01 -5.11204311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.013382064725850625 Centerline is valid? [True, True] Translation: X:124.66, Y:-130.08, Z:-5.11 [[-6.84775753e-01 -7.28717681e-01 7.26009792e-03 1.24659121e+02] [ 7.28678565e-01 -6.84814228e-01 -7.55132982e-03 -1.30078037e+02] [ 1.04746059e-02 1.19310167e-04 9.99945133e-01 -5.11093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.01295540356940215 Centerline is valid? [True, True] Translation: X:124.62, Y:-130.03, Z:-5.11 [[-6.87122613e-01 -7.26512128e-01 6.53009711e-03 1.24619879e+02] [ 7.26480419e-01 -6.87153637e-01 -6.78820946e-03 -1.30034951e+02] [ 9.41889648e-03 7.96554689e-05 9.99955638e-01 -5.11043683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.012589672361858003 Centerline is valid? [True, True] Translation: X:124.58, Y:-129.99, Z:-5.11 [[-6.89749994e-01 -7.24019153e-01 6.41960724e-03 1.24581659e+02] [ 7.23988439e-01 -6.89779866e-01 -6.66910256e-03 -1.29992115e+02] [ 9.25667381e-03 4.77079718e-05 9.99957155e-01 -5.10983397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.012733053198110439 Centerline is valid? [True, True] Translation: X:124.54, Y:-129.95, Z:-5.11 [[-6.93372379e-01 -7.20537383e-01 7.78616566e-03 1.24542073e+02] [ 7.20492039e-01 -6.93416094e-01 -8.08342440e-03 -1.29951956e+02] [ 1.12234620e-02 5.04716916e-06 9.99937015e-01 -5.11269268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.012707804744813617 Centerline is valid? [True, True] Translation: X:124.50, Y:-129.91, Z:-5.11 [[-6.93487301e-01 -7.20420840e-01 8.31729771e-03 1.24501316e+02] [ 7.20369154e-01 -6.93537175e-01 -8.62952491e-03 -1.29911360e+02] [ 1.19852447e-02 7.05877564e-06 9.99928174e-01 -5.11345341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.012775954569791192 Centerline is valid? [True, True] Translation: X:124.46, Y:-129.87, Z:-5.11 [[-6.92240512e-01 -7.21618217e-01 8.37990672e-03 1.24459673e+02] [ 7.21565903e-01 -6.92291231e-01 -8.68898801e-03 -1.29872012e+02] [ 1.20714680e-02 3.17854583e-05 9.99927137e-01 -5.11271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.013258444937672411 Centerline is valid? [True, True] Translation: X:124.41, Y:-129.83, Z:-5.11 [[-6.88524486e-01 -7.25150973e-01 9.49207716e-03 1.24414681e+02] [ 7.25084261e-01 -6.88589903e-01 -9.83665981e-03 -1.29834629e+02] [ 1.36692119e-02 1.09774613e-04 9.99906566e-01 -5.11375863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.013837947630083646 Centerline is valid? [True, True] Translation: X:124.37, Y:-129.80, Z:-5.11 [[-6.86103382e-01 -7.27431814e-01 1.02520889e-02 1.24371198e+02] [ 7.27354333e-01 -6.86179952e-01 -1.06183034e-02 -1.29796093e+02] [ 1.47588695e-02 1.71647399e-04 9.99891067e-01 -5.11475773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.01448843568128473 Centerline is valid? [True, True] Translation: X:124.33, Y:-129.76, Z:-5.11 [[-6.83688343e-01 -7.29710171e-01 9.65999894e-03 1.24327981e+02] [ 7.29641685e-01 -6.83756551e-01 -9.99947625e-03 -1.29756478e+02] [ 1.39018071e-02 2.11812549e-04 9.99903343e-01 -5.11368482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.015871079576035264 Centerline is valid? [True, True] Translation: X:124.29, Y:-129.72, Z:-5.11 [[-6.82310973e-01 -7.31007863e-01 8.90171318e-03 1.24285675e+02] [ 7.30949886e-01 -6.82369002e-01 -9.20915407e-03 -1.29717910e+02] [ 1.28062172e-02 2.23199355e-04 9.99917972e-01 -5.11265611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.014778678505540453 Centerline is valid? [True, True] Translation: X:124.25, Y:-129.67, Z:-5.11 [[-6.82109163e-01 -7.31207803e-01 7.88915814e-03 1.24246572e+02] [ 7.31162333e-01 -6.82154753e-01 -8.15694584e-03 -1.29674368e+02] [ 1.13460492e-02 2.04327770e-04 9.99935611e-01 -5.10971001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.014448383019571333 Centerline is valid? [True, True] Translation: X:124.21, Y:-129.63, Z:-5.11 [[-6.83968416e-01 -7.29471743e-01 7.62771243e-03 1.24207108e+02] [ 7.29429178e-01 -6.84010925e-01 -7.88215303e-03 -1.29631174e+02] [ 1.09672466e-02 1.72732291e-04 9.99939843e-01 -5.10920858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.014278991819679171 Centerline is valid? [True, True] Translation: X:124.17, Y:-129.59, Z:-5.11 [[-6.85707823e-01 -7.27832498e-01 8.03970559e-03 1.24168149e+02] [ 7.27785157e-01 -6.85754935e-01 -8.30266744e-03 -1.29589587e+02] [ 1.15562190e-02 1.57974384e-04 9.99933212e-01 -5.10977142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.013701971899583689 Centerline is valid? [True, True] Translation: X:124.13, Y:-129.55, Z:-5.11 [[-6.88612087e-01 -7.25078173e-01 8.66233030e-03 1.24129228e+02] [ 7.25023059e-01 -6.88666558e-01 -8.94071604e-03 -1.29546444e+02] [ 1.24481752e-02 1.23704078e-04 9.99922511e-01 -5.11101195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.01330363940652719 Centerline is valid? [True, True] Translation: X:124.09, Y:-129.50, Z:-5.11 [[-6.92006934e-01 -7.21825889e-01 9.68452255e-03 1.24091788e+02] [ 7.21756767e-01 -6.92074693e-01 -9.98942263e-03 -1.29502370e+02] [ 1.39130368e-02 7.71199655e-05 9.99903206e-01 -5.11195438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.013372883912933979 Centerline is valid? [True, True] Translation: X:124.05, Y:-129.46, Z:-5.11 [[-6.94010297e-01 -7.19884270e-01 1.07863852e-02 1.24054144e+02] [ 7.19798372e-01 -6.94094112e-01 -1.11205762e-02 -1.29460407e+02] [ 1.54922943e-02 4.62281208e-05 9.99879986e-01 -5.11365414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.013322628966329322 Centerline is valid? [True, True] Translation: X:124.02, Y:-129.42, Z:-5.11 [[-6.95700268e-01 -7.18241685e-01 1.14026361e-02 1.24016062e+02] [ 7.18145592e-01 -6.95793707e-01 -1.17484900e-02 -1.29417217e+02] [ 1.63721377e-02 1.53251711e-05 9.99865968e-01 -5.11323366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.013332033078603355 Centerline is valid? [True, True] Translation: X:123.98, Y:-129.37, Z:-5.11 [[-6.97678919e-01 -7.16327499e-01 1.09105302e-02 1.23978402e+02] [ 7.16239399e-01 -6.97764225e-01 -1.12343228e-02 -1.29374442e+02] [ 1.56604320e-02 -2.33985889e-05 9.99877368e-01 -5.11217699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.013282357440766007 Centerline is valid? [True, True] Translation: X:123.94, Y:-129.33, Z:-5.11 [[-6.98506614e-01 -7.15546892e-01 9.00865615e-03 1.23939237e+02] [ 7.15486832e-01 -6.98564703e-01 -9.27084145e-03 -1.29331304e+02] [ 1.29268510e-02 -3.01692143e-05 9.99916444e-01 -5.11050648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.013286147128831775 Centerline is valid? [True, True] Translation: X:123.90, Y:-129.29, Z:-5.11 [[-6.98360969e-01 -7.15697952e-01 8.27029456e-03 1.23899340e+02] [ 7.15647408e-01 -6.98409938e-01 -8.50565333e-03 -1.29289688e+02] [ 1.18635346e-02 -2.14014345e-05 9.99929626e-01 -5.10982154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.013328205333801404 Centerline is valid? [True, True] Translation: X:123.86, Y:-129.25, Z:-5.11 [[-6.96114823e-01 -7.17883848e-01 8.18133713e-03 1.23858006e+02] [ 7.17834592e-01 -6.96162898e-01 -8.40936974e-03 -1.29248329e+02] [ 1.17324941e-02 1.89598747e-05 9.99931172e-01 -5.10948467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.014104141562098898 Centerline is valid? [True, True] Translation: X:123.82, Y:-129.21, Z:-5.11 [[-6.90839458e-01 -7.22956497e-01 8.64561979e-03 1.23815069e+02] [ 7.22901931e-01 -6.90893546e-01 -8.88293237e-03 -1.29210698e+02] [ 1.23951766e-02 1.13255059e-04 9.99923170e-01 -5.11028637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.015298595539509493 Centerline is valid? [True, True] Translation: X:123.77, Y:-129.17, Z:-5.11 [[-6.86072182e-01 -7.27471528e-01 9.49406633e-03 1.23771265e+02] [ 7.27406231e-01 -6.86137836e-01 -9.74917485e-03 -1.29171926e+02] [ 1.36064852e-02 2.17405335e-04 9.99907404e-01 -5.11155168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.01598269415249548 Centerline is valid? [True, True] Translation: X:123.73, Y:-129.13, Z:-5.11 [[-6.83861334e-01 -7.29544017e-01 9.96012662e-03 1.23730055e+02] [ 7.29472452e-01 -6.83933807e-01 -1.02219834e-02 -1.29130863e+02] [ 1.42694541e-02 2.75218807e-04 9.99898148e-01 -5.11180566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.017157626516626813 Centerline is valid? [True, True] Translation: X:123.69, Y:-129.09, Z:-5.11 [[-6.81009276e-01 -7.32210590e-01 9.69633702e-03 1.23688705e+02] [ 7.32143118e-01 -6.81078223e-01 -9.94530822e-03 -1.29090903e+02] [ 1.38860240e-02 3.26259267e-04 9.99903531e-01 -5.11178894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.01742866429201286 Centerline is valid? [True, True] Translation: X:123.65, Y:-129.05, Z:-5.11 [[-6.79887462e-01 -7.33263017e-01 8.85361794e-03 1.23646883e+02] [ 7.33206918e-01 -6.79945031e-01 -9.07580135e-03 -1.29050444e+02] [ 1.26749230e-02 3.21010382e-04 9.99919618e-01 -5.11125568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.017349554487144876 Centerline is valid? [True, True] Translation: X:123.61, Y:-129.01, Z:-5.11 [[-6.79523469e-01 -7.33599309e-01 8.93919343e-03 1.23606149e+02] [ 7.33542217e-01 -6.79582182e-01 -9.15826283e-03 -1.29009448e+02] [ 1.27934119e-02 3.34021244e-04 9.99918105e-01 -5.11194077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.017722942736572968 Centerline is valid? [True, True] Translation: X:123.57, Y:-128.97, Z:-5.11 [[-6.80264560e-01 -7.32908916e-01 9.20053281e-03 1.23566459e+02] [ 7.32848435e-01 -6.80326693e-01 -9.42133418e-03 -1.28970195e+02] [ 1.31643479e-02 3.33596324e-04 9.99913291e-01 -5.11347750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.01739156896521583 Centerline is valid? [True, True] Translation: X:123.53, Y:-128.93, Z:-5.11 [[-6.81140192e-01 -7.32101761e-01 8.66317577e-03 1.23526789e+02] [ 7.32048143e-01 -6.81195214e-01 -8.86545415e-03 -1.28928465e+02] [ 1.23917285e-02 3.03244593e-04 9.99923174e-01 -5.11268228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.01677492152116 Centerline is valid? [True, True] Translation: X:123.49, Y:-128.89, Z:-5.11 [[-6.81658949e-01 -7.31622460e-01 8.34591275e-03 1.23486687e+02] [ 7.31572720e-01 -6.81709978e-01 -8.53587964e-03 -1.28886618e+02] [ 1.19345333e-02 2.87083348e-04 9.99928740e-01 -5.11227386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.016700714117834227 Centerline is valid? [True, True] Translation: X:123.45, Y:-128.85, Z:-5.11 [[-6.84025725e-01 -7.29403151e-01 8.93595674e-03 1.23447740e+02] [ 7.29346004e-01 -6.84084038e-01 -9.13433634e-03 -1.28845394e+02] [ 1.27755591e-02 2.69283302e-04 9.99918353e-01 -5.11432570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.015235499206426324 Centerline is valid? [True, True] Translation: X:123.41, Y:-128.80, Z:-5.11 [[-6.88008444e-01 -7.25655365e-01 8.28684637e-03 1.23411557e+02] [ 7.25606003e-01 -6.88058323e-01 -8.46594599e-03 -1.28800120e+02] [ 1.18451927e-02 1.88343143e-04 9.99929826e-01 -5.11324931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.01443932710436093 Centerline is valid? [True, True] Translation: X:123.37, Y:-128.76, Z:-5.11 [[-6.90935906e-01 -7.22882950e-01 6.91477394e-03 1.23372808e+02] [ 7.22848481e-01 -6.90970496e-01 -7.06021253e-03 -1.28757244e+02] [ 9.88161204e-03 1.20179501e-04 9.99951169e-01 -5.11232421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.014267673724431195 Centerline is valid? [True, True] Translation: X:123.33, Y:-128.72, Z:-5.11 [[-6.91990089e-01 -7.21876634e-01 6.62130810e-03 1.23333026e+02] [ 7.21845024e-01 -6.92021758e-01 -6.75631374e-03 -1.28716193e+02] [ 9.45931429e-03 1.04256158e-04 9.99955254e-01 -5.11266125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.013725584588145778 Centerline is valid? [True, True] Translation: X:123.29, Y:-128.67, Z:-5.11 [[-6.94315776e-01 -7.19639482e-01 6.67975107e-03 1.23294428e+02] [ 7.19607248e-01 -6.94347903e-01 -6.81163940e-03 -1.28674247e+02] [ 9.53999579e-03 7.73685945e-05 9.99954490e-01 -5.11316315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.013760816799013538 Centerline is valid? [True, True] Translation: X:123.26, Y:-128.63, Z:-5.11 [[-6.95052973e-01 -7.18927509e-01 6.67842866e-03 1.23255047e+02] [ 7.18895296e-01 -6.95085054e-01 -6.80599247e-03 -1.28632961e+02] [ 9.53509115e-03 7.05656531e-05 9.99954538e-01 -5.11271356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.01363235376424238 Centerline is valid? [True, True] Translation: X:123.21, Y:-128.59, Z:-5.11 [[-6.95108652e-01 -7.18874442e-01 6.59533400e-03 1.23213883e+02] [ 7.18843063e-01 -6.95139936e-01 -6.71705814e-03 -1.28593053e+02] [ 9.41340148e-03 7.19248732e-05 9.99955690e-01 -5.11221189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.013695755659488952 Centerline is valid? [True, True] Translation: X:123.17, Y:-128.55, Z:-5.11 [[-6.94828963e-01 -7.19142418e-01 6.84801540e-03 1.23171532e+02] [ 7.19108645e-01 -6.94862703e-01 -6.97002227e-03 -1.28554124e+02] [ 9.77086917e-03 8.14937299e-05 9.99952261e-01 -5.11267190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.013612523063626238 Centerline is valid? [True, True] Translation: X:123.13, Y:-128.51, Z:-5.11 [[-6.95513905e-01 -7.18484602e-01 6.34708224e-03 1.23130730e+02] [ 7.18455598e-01 -6.95542861e-01 -6.45616827e-03 -1.28513404e+02] [ 9.05332523e-03 6.97419663e-05 9.99959015e-01 -5.11230608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.013021778061336309 Centerline is valid? [True, True] Translation: X:123.09, Y:-128.47, Z:-5.11 [[-6.98189167e-01 -7.15893911e-01 5.27213859e-03 1.23091752e+02] [ 7.15873848e-01 -6.98209071e-01 -5.35974367e-03 -1.28470859e+02] [ 7.51806285e-03 3.20711750e-05 9.99971739e-01 -5.11009507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.012848841807919146 Centerline is valid? [True, True] Translation: X:123.05, Y:-128.43, Z:-5.11 [[-7.00584582e-01 -7.13554658e-01 4.58190408e-03 1.23051569e+02] [ 7.13539473e-01 -7.00599565e-01 -4.65514623e-03 -1.28429407e+02] [ 6.53178128e-03 8.04574750e-06 9.99978668e-01 -5.11005045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.012832823720148526 Centerline is valid? [True, True] Translation: X:123.01, Y:-128.39, Z:-5.11 [[-7.04571580e-01 -7.09624558e-01 3.44600373e-03 1.23012508e+02] [ 7.09615932e-01 -7.04580007e-01 -3.49891576e-03 -1.28387868e+02] [ 4.91090188e-03 -1.98974567e-05 9.99987941e-01 -5.10987174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.013371025323719516 Centerline is valid? [True, True] Translation: X:122.97, Y:-128.35, Z:-5.11 [[-7.08067794e-01 -7.06136568e-01 3.33865109e-03 1.22972843e+02] [ 7.06128441e-01 -7.08075664e-01 -3.38806315e-03 -1.28345245e+02] [ 4.75645287e-03 -4.14619092e-05 9.99988687e-01 -5.10981858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.013833895995832375 Centerline is valid? [True, True] Translation: X:122.93, Y:-128.30, Z:-5.11 [[-7.09882939e-01 -7.04307098e-01 4.21004844e-03 1.22931762e+02] [ 7.04294157e-01 -7.09895420e-01 -4.27002428e-03 -1.28304611e+02] [ 5.99610252e-03 -6.61048686e-05 9.99982021e-01 -5.11122813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.013771842111532795 Centerline is valid? [True, True] Translation: X:122.89, Y:-128.27, Z:-5.11 [[-7.09149798e-01 -7.05037644e-01 5.33715342e-03 1.22889556e+02] [ 7.05016893e-01 -7.09169878e-01 -5.40973152e-03 -1.28266570e+02] [ 7.59901280e-03 -7.35266922e-05 9.99971124e-01 -5.11413744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.013183454012046781 Centerline is valid? [True, True] Translation: X:122.84, Y:-128.23, Z:-5.11 [[-7.06807443e-01 -7.07378248e-01 6.26524793e-03 1.22844461e+02] [ 7.07349776e-01 -7.06835208e-01 -6.34684123e-03 -1.28229047e+02] [ 8.91811525e-03 -5.42728996e-05 9.99960231e-01 -5.11459462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.013084774068468296 Centerline is valid? [True, True] Translation: X:122.80, Y:-128.19, Z:-5.11 [[-7.06180194e-01 -7.08001993e-01 6.53533254e-03 1.22803565e+02] [ 7.07971080e-01 -7.06210433e-01 -6.61626387e-03 -1.28189613e+02] [ 9.29964803e-03 -4.54480713e-05 9.99956756e-01 -5.11493488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.013033020214586924 Centerline is valid? [True, True] Translation: X:122.76, Y:-128.15, Z:-5.12 [[-7.03531044e-01 -7.10629052e-01 7.10077332e-03 1.22760012e+02] [ 7.10592732e-01 -7.03566877e-01 -7.18464616e-03 -1.28150938e+02] [ 1.01014872e-02 -8.86370261e-06 9.99948979e-01 -5.11541931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.013049487888824098 Centerline is valid? [True, True] Translation: X:122.72, Y:-128.11, Z:-5.11 [[-7.00200082e-01 -7.13917028e-01 6.50558013e-03 1.22715914e+02] [ 7.13886717e-01 -7.00230302e-01 -6.57868999e-03 -1.28112183e+02] [ 9.25204315e-03 3.78479739e-05 9.99957198e-01 -5.11456428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.013640076041211901 Centerline is valid? [True, True] Translation: X:122.67, Y:-128.07, Z:-5.11 [[-6.96353102e-01 -7.17675430e-01 5.85948895e-03 1.22672037e+02] [ 7.17651001e-01 -6.96377749e-01 -5.92202365e-03 -1.28074425e+02] [ 8.33050860e-03 8.12485706e-05 9.99965297e-01 -5.11374784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.01422885592917419 Centerline is valid? [True, True] Translation: X:122.63, Y:-128.04, Z:-5.11 [[-6.93577400e-01 -7.20362552e-01 5.30886480e-03 1.22629086e+02] [ 7.20342600e-01 -6.93597710e-01 -5.36250568e-03 -1.28035350e+02] [ 7.54516474e-03 1.04888725e-04 9.99971529e-01 -5.11335910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.015504828053355367 Centerline is valid? [True, True] Translation: X:122.59, Y:-128.00, Z:-5.11 [[-6.89792969e-01 -7.23992080e-01 4.59640888e-03 1.22585697e+02] [ 7.23977222e-01 -6.89808272e-01 -4.64008365e-03 -1.27997273e+02] [ 6.53002468e-03 1.26998254e-04 9.99978671e-01 -5.11229240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.016153079278215163 Centerline is valid? [True, True] Translation: X:122.54, Y:-127.96, Z:-5.11 [[-6.87936018e-01 -7.25754514e-01 4.94161810e-03 1.22543443e+02] [ 7.25737406e-01 -6.87953749e-01 -4.98574512e-03 -1.27957662e+02] [ 7.01803173e-03 1.56443448e-04 9.99975361e-01 -5.11296724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.017297033371802623 Centerline is valid? [True, True] Translation: X:122.50, Y:-127.92, Z:-5.12 [[-6.85888791e-01 -7.27677688e-01 6.46135320e-03 1.22501376e+02] [ 7.27648556e-01 -6.85919185e-01 -6.51540588e-03 -1.27917591e+02] [ 9.17308161e-03 2.32750460e-04 9.99957899e-01 -5.11525719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.01853800320197033 Centerline is valid? [True, True] Translation: X:122.46, Y:-127.88, Z:-5.12 [[-6.84825826e-01 -7.28666357e-01 7.67647186e-03 1.22461108e+02] [ 7.28625349e-01 -6.84868785e-01 -7.73615633e-03 -1.27877133e+02] [ 1.08944528e-02 2.95352345e-04 9.99940610e-01 -5.11676700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.017687302462657838 Centerline is valid? [True, True] Translation: X:122.42, Y:-127.83, Z:-5.12 [[-6.84935453e-01 -7.28549621e-01 8.88118552e-03 1.22421982e+02] [ 7.28494785e-01 -6.84992943e-01 -8.94518351e-03 -1.27834028e+02] [ 1.26005595e-02 3.43024011e-04 9.99920551e-01 -5.11785758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.01897611973528788 Centerline is valid? [True, True] Translation: X:122.38, Y:-127.79, Z:-5.12 [[-6.85640758e-01 -7.27882442e-01 9.15978224e-03 1.22382620e+02] [ 7.27824131e-01 -6.85701853e-01 -9.21970721e-03 -1.27793807e+02] [ 1.29917427e-02 3.45303515e-04 9.99915544e-01 -5.11894914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.017077758674974557 Centerline is valid? [True, True] Translation: X:122.35, Y:-127.75, Z:-5.12 [[-6.87796554e-01 -7.25850545e-01 8.76856014e-03 1.22347599e+02] [ 7.25797005e-01 -6.87852381e-01 -8.82099156e-03 -1.27747300e+02] [ 1.24341965e-02 2.97147092e-04 9.99922648e-01 -5.11649120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.016541320979150592 Centerline is valid? [True, True] Translation: X:122.31, Y:-127.70, Z:-5.12 [[-6.90027114e-01 -7.23734109e-01 8.45700372e-03 1.22309648e+02] [ 7.23684203e-01 -6.90078891e-01 -8.50290565e-03 -1.27703638e+02] [ 1.19898426e-02 2.52964547e-04 9.99928087e-01 -5.11544138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.01582393293801515 Centerline is valid? [True, True] Translation: X:122.27, Y:-127.66, Z:-5.11 [[-6.92838785e-01 -7.21055572e-01 7.29928348e-03 1.22271347e+02] [ 7.21018285e-01 -6.92877211e-01 -7.33512259e-03 -1.27659134e+02] [ 1.03465382e-02 1.80859433e-04 9.99946457e-01 -5.11341482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.014436847661904532 Centerline is valid? [True, True] Translation: X:122.23, Y:-127.61, Z:-5.11 [[-6.95133817e-01 -7.18839880e-01 7.62909354e-03 1.22234011e+02] [ 7.18799042e-01 -6.95175663e-01 -7.66385035e-03 -1.27613678e+02] [ 1.08126414e-02 1.56383583e-04 9.99941530e-01 -5.11176564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.01419697069683464 Centerline is valid? [True, True] Translation: X:122.20, Y:-127.57, Z:-5.11 [[-6.97968445e-01 -7.16071977e-01 8.99848256e-03 1.22196519e+02] [ 7.16015008e-01 -6.98026435e-01 -9.03350583e-03 -1.27572159e+02] [ 1.27498191e-02 1.37946543e-04 9.99918708e-01 -5.11362074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.013682113955709256 Centerline is valid? [True, True] Translation: X:122.16, Y:-127.53, Z:-5.11 [[-7.00088770e-01 -7.13994519e-01 9.35634225e-03 1.22157697e+02] [ 7.13932820e-01 -7.00151280e-01 -9.38687366e-03 -1.27529786e+02] [ 1.32530313e-02 1.08154978e-04 9.99912169e-01 -5.11342734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.013188929517146168 Centerline is valid? [True, True] Translation: X:122.12, Y:-127.49, Z:-5.11 [[-7.04474312e-01 -7.09661577e-01 9.81782957e-03 1.22120403e+02] [ 7.09593304e-01 -7.04542720e-01 -9.84370072e-03 -1.27485617e+02] [ 1.39027765e-02 3.20318304e-05 9.99903351e-01 -5.11280838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.013242212394600779 Centerline is valid? [True, True] Translation: X:122.08, Y:-127.44, Z:-5.11 [[-7.06328009e-01 -7.07819887e-01 9.57870389e-03 1.22081409e+02] [ 7.07754810e-01 -7.06392956e-01 -9.59795650e-03 -1.27443767e+02] [ 1.35599534e-02 6.82454360e-08 9.99908060e-01 -5.11251632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.013589309859716662 Centerline is valid? [True, True] Translation: X:122.04, Y:-127.40, Z:-5.11 [[-7.11068785e-01 -7.03059713e-01 9.39271959e-03 1.22044426e+02] [ 7.02996798e-01 -7.11130813e-01 -9.40578829e-03 -1.27399310e+02] [ 1.32922831e-02 -8.51106504e-05 9.99911650e-01 -5.11223459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.014114736167325895 Centerline is valid? [True, True] Translation: X:122.01, Y:-127.36, Z:-5.11 [[-7.14107781e-01 -6.99979363e-01 8.88639991e-03 1.22005513e+02] [ 6.99922870e-01 -7.14163059e-01 -8.89395406e-03 -1.27355968e+02] [ 1.25719228e-02 -1.31447280e-04 9.99920962e-01 -5.11208565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.013925387649174854 Centerline is valid? [True, True] Translation: X:121.96, Y:-127.32, Z:-5.11 [[-7.13693230e-01 -7.00410189e-01 8.21834901e-03 1.21963162e+02] [ 7.00361957e-01 -7.13740537e-01 -8.22038449e-03 -1.27316882e+02] [ 1.16234099e-02 -1.11013758e-04 9.99932440e-01 -5.11164613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.013369779051153016 Centerline is valid? [True, True] Translation: X:121.92, Y:-127.28, Z:-5.11 [[-7.12928114e-01 -7.01190449e-01 8.09066612e-03 1.21920491e+02] [ 7.01143812e-01 -7.12974015e-01 -8.08757121e-03 -1.27278453e+02] [ 1.14393624e-02 -9.31364069e-05 9.99934564e-01 -5.11072983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.01280074508619482 Centerline is valid? [True, True] Translation: X:121.42, Y:-127.79, Z:-4.14 [[-7.53474752e-01 6.57421444e-01 8.53475969e-03 1.21415051e+02] [ 6.57379630e-01 7.53523088e-01 -7.41469373e-03 -1.27794249e+02] [-1.13057171e-02 2.37926472e-05 -9.99936088e-01 -4.14060353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.012673902694919102 Centerline is valid? [True, True] Translation: X:121.44, Y:-127.77, Z:-4.14 [[-8.00404366e-01 5.99385892e-01 9.45535415e-03 1.21437343e+02] [ 5.99343763e-01 8.00460213e-01 -7.10645585e-03 -1.27770765e+02] [-1.18281442e-02 -2.10307530e-05 -9.99930045e-01 -4.13982196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.013044908674559255 Centerline is valid? [True, True] Translation: X:121.45, Y:-127.74, Z:-4.14 [[-8.43665659e-01 5.36764895e-01 1.05689791e-02 1.21454454e+02] [ 5.36721442e-01 8.43731853e-01 -6.83040313e-03 -1.27740438e+02] [-1.25837050e-02 -8.99788298e-05 -9.99920818e-01 -4.13823177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.013057304154863399 Centerline is valid? [True, True] Translation: X:121.47, Y:-127.71, Z:-4.14 [[-8.80683910e-01 4.73584752e-01 1.06457920e-02 1.21472708e+02] [ 4.73548561e-01 8.80748244e-01 -5.85588071e-03 -1.27714999e+02] [-1.21495185e-02 -1.15880412e-04 -9.99926185e-01 -4.13860754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.01336430989015826 Centerline is valid? [True, True] Translation: X:121.49, Y:-127.69, Z:-4.14 [[-9.12708905e-01 4.08479571e-01 1.03389995e-02 1.21485587e+02] [ 4.08451779e-01 9.12767453e-01 -4.76662212e-03 -1.27685759e+02] [-1.13841700e-02 -1.27555720e-04 -9.99935190e-01 -4.13858238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.013130188719825001 Centerline is valid? [True, True] Translation: X:121.50, Y:-127.66, Z:-4.14 [[-9.39095737e-01 3.43505447e-01 1.01589494e-02 1.21495696e+02] [ 3.43484041e-01 9.39150677e-01 -3.83654012e-03 -1.27658440e+02] [-1.08586567e-02 -1.13441471e-04 -9.99941037e-01 -4.13819255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.012519412283003148 Centerline is valid? [True, True] Translation: X:121.50, Y:-127.63, Z:-4.14 [[-9.60232391e-01 2.79033050e-01 9.71144481e-03 1.21503448e+02] [ 2.79017985e-01 9.60281496e-01 -2.90045361e-03 -1.27633195e+02] [-1.01350432e-02 -7.54417392e-05 -9.99948636e-01 -4.13838347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.01245280992203937 Centerline is valid? [True, True] Translation: X:121.51, Y:-127.61, Z:-4.14 [[-9.77157638e-01 2.12285482e-01 9.89058680e-03 1.21511553e+02] [ 2.12274046e-01 9.77207691e-01 -2.20416609e-03 -1.27607085e+02] [-1.01330699e-02 -5.43028570e-05 -9.99948658e-01 -4.13723837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.012466916593720886 Centerline is valid? [True, True] Translation: X:121.52, Y:-127.58, Z:-4.14 [[-9.89484938e-01 1.44240978e-01 1.06816702e-02 1.21516311e+02] [ 1.44232159e-01 9.89542591e-01 -1.59547609e-03 -1.27579245e+02] [-1.08001006e-02 -3.80592080e-05 -9.99941677e-01 -4.13527682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.01249864860694333 Centerline is valid? [True, True] Translation: X:121.52, Y:-127.55, Z:-4.14 [[-9.97169492e-01 7.43676641e-02 1.10659183e-02 1.21515685e+02] [ 7.43627381e-02 9.97230891e-01 -8.56516481e-04 -1.27551771e+02] [-1.10989727e-02 -3.12001194e-05 -9.99938404e-01 -4.13564227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.012470344589526037 Centerline is valid? [True, True] Translation: X:121.57, Y:-126.89, Z:-5.12 [[-9.89264741e-01 -1.45729930e-01 1.08655578e-02 1.21571842e+02] [ 1.45721400e-01 -9.89324409e-01 -1.57696357e-03 -1.26891301e+02] [ 1.09793723e-02 2.33098314e-05 9.99939725e-01 -5.11613698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.012490699834895013 Centerline is valid? [True, True] Translation: X:121.47, Y:-127.55, Z:-4.14 [[-9.97164866e-01 7.45750178e-02 1.00397186e-02 1.21466188e+02] [ 7.45713871e-02 9.97215406e-01 -7.36016553e-04 -1.27549155e+02] [-1.00666505e-02 1.47458917e-05 -9.99949330e-01 -4.13582844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.012719558324981523 Centerline is valid? [True, True] Translation: X:121.47, Y:-127.53, Z:-4.14 [[-9.99936707e-01 8.30257764e-03 7.59271849e-03 1.21467773e+02] [ 8.30269501e-03 9.99965532e-01 -1.60627038e-05 -1.27525107e+02] [-7.59259014e-03 4.69783388e-05 -9.99971175e-01 -4.13768391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.013153683193479407 Centerline is valid? [True, True] Translation: X:121.47, Y:-126.85, Z:-5.11 [[-9.98201382e-01 -5.95285669e-02 7.09578682e-03 1.21472000e+02] [ 5.95265397e-02 -9.98226600e-01 -4.96736697e-04 -1.26852923e+02] [ 7.11277318e-03 -7.34556220e-05 9.99974701e-01 -5.11434965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.014385708617398494 Centerline is valid? [True, True] Translation: X:121.41, Y:-127.53, Z:-4.14 [[-9.99879899e-01 1.33001739e-02 7.95565102e-03 1.21405641e+02] [ 1.33007533e-02 9.99911541e-01 1.99293511e-05 -1.27531560e+02] [-7.95468220e-03 1.25743109e-04 -9.99968353e-01 -4.13584218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.015377738768446057 Centerline is valid? [True, True] Translation: X:121.40, Y:-127.51, Z:-4.14 [[-9.98615252e-01 -5.20278449e-02 7.78990267e-03 1.21403885e+02] [-5.20249419e-02 9.98645620e-01 5.74973048e-04 -1.27506928e+02] [-7.80926679e-03 1.68907621e-04 -9.99969493e-01 -4.13541335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.01642593135828817 Centerline is valid? [True, True] Translation: X:121.35, Y:-126.82, Z:-5.12 [[-9.99455117e-01 3.21498956e-02 7.47349162e-03 1.21350614e+02] [-3.21503612e-02 -9.99483042e-01 5.78673007e-05 -1.26818465e+02] [ 7.47148857e-03 -1.82439685e-04 9.99972071e-01 -5.11572020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.018373092318412047 Centerline is valid? [True, True] Translation: X:121.31, Y:-127.52, Z:-4.14 [[-9.98881362e-01 -4.68492621e-02 6.41647893e-03 1.21313932e+02] [-4.68469456e-02 9.98901949e-01 5.10929690e-04 -1.27519484e+02] [-6.43336999e-03 2.09765705e-04 -9.99979284e-01 -4.13710376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.020007567583630155 Centerline is valid? [True, True] Translation: X:121.31, Y:-127.49, Z:-4.14 [[-9.93438285e-01 -1.14237816e-01 5.48597883e-03 1.21309739e+02] [-1.14234954e-01 9.93453412e-01 8.33233422e-04 -1.27493842e+02] [-5.54525115e-03 2.01075441e-04 -9.99984605e-01 -4.13712035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.02109320055087813 Centerline is valid? [True, True] Translation: X:121.30, Y:-127.47, Z:-4.14 [[-9.83105969e-01 -1.82969579e-01 4.97863051e-03 1.21296828e+02] [-1.82966224e-01 9.83118556e-01 1.12505116e-03 -1.27467238e+02] [-5.10043417e-03 1.95123283e-04 -9.99986974e-01 -4.13662179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.01990863233629571 Centerline is valid? [True, True] Translation: X:121.27, Y:-127.44, Z:-4.14 [[-9.66638592e-01 -2.56085703e-01 5.47217280e-03 1.21266604e+02] [-2.56080416e-01 9.66654060e-01 1.65774902e-03 -1.27440384e+02] [-5.71422388e-03 2.01127891e-04 -9.99983654e-01 -4.13600059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.018796352262530968 Centerline is valid? [True, True] Translation: X:121.23, Y:-127.42, Z:-4.14 [[-9.44128598e-01 -3.29525036e-01 5.86872065e-03 1.21227774e+02] [-3.29517398e-01 9.44146818e-01 2.25171066e-03 -1.27418888e+02] [-6.28292896e-03 1.92058870e-04 -9.99980244e-01 -4.13551335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.01585915572193104 Centerline is valid? [True, True] Translation: X:121.17, Y:-127.40, Z:-4.13 [[-9.14027154e-01 -4.05594659e-01 6.88004468e-03 1.21167584e+02] [-4.05581813e-01 9.14053032e-01 3.23232251e-03 -1.27402534e+02] [-7.59973844e-03 1.64009552e-04 -9.99971108e-01 -4.13472802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.013682274422306509 Centerline is valid? [True, True] Translation: X:121.09, Y:-127.40, Z:-4.13 [[-8.76933610e-01 -4.80554062e-01 7.43217771e-03 1.21093676e+02] [-4.80535870e-01 8.76965099e-01 4.18255308e-03 -1.27396862e+02] [-8.52770333e-03 9.63933948e-05 -9.99963634e-01 -4.13465434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.013052849901210207 Centerline is valid? [True, True] Translation: X:121.02, Y:-127.40, Z:-4.14 [[-8.35163169e-01 -5.49956822e-01 7.06926732e-03 1.21020028e+02] [-5.49936771e-01 8.35193087e-01 4.69633547e-03 -1.27402214e+02] [-8.48698492e-03 3.45563712e-05 -9.99963984e-01 -4.13506631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.01331344338251428 Centerline is valid? [True, True] Translation: X:120.94, Y:-127.42, Z:-4.14 [[-7.86025690e-01 -6.18165209e-01 5.94886685e-03 1.20937414e+02] [-6.18147952e-01 7.86048200e-01 4.61924572e-03 -1.27415804e+02] [-7.53155307e-03 -4.64340599e-05 -9.99971636e-01 -4.13611299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.014849374878613205 Centerline is valid? [True, True] Translation: X:120.86, Y:-127.44, Z:-4.14 [[-7.32088223e-01 -6.81187065e-01 5.56924604e-03 1.20858443e+02] [-6.81168503e-01 7.32109398e-01 5.02996421e-03 -1.27436193e+02] [-7.50364392e-03 -1.11217424e-04 -9.99971841e-01 -4.13642208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.015474792055729995 Centerline is valid? [True, True] Translation: X:120.78, Y:-127.47, Z:-4.14 [[-6.77799669e-01 -7.35226146e-01 5.48848292e-03 1.20779354e+02] [-7.35203625e-01 6.77821877e-01 5.75615275e-03 -1.27471774e+02] [-7.95228780e-03 -1.33634115e-04 -9.99968371e-01 -4.13575416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.01635481608009069 Centerline is valid? [True, True] Translation: X:120.70, Y:-127.52, Z:-4.13 [[-6.16767027e-01 -7.87119868e-01 6.38336471e-03 1.20699836e+02] [-7.87081368e-01 6.16800020e-01 7.78816709e-03 -1.27516667e+02] [-1.00674805e-02 -2.20742772e-04 -9.99949297e-01 -4.13497939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.016820458422901464 Centerline is valid? [True, True] Translation: X:120.62, Y:-127.57, Z:-4.13 [[-5.54359819e-01 -8.32251339e-01 6.54989537e-03 1.20621771e+02] [-8.32198941e-01 5.54398445e-01 9.34270787e-03 -1.27573210e+02] [-1.14067329e-02 -2.71594159e-04 -9.99934904e-01 -4.13428181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.017416792706287834 Centerline is valid? [True, True] Translation: X:120.55, Y:-127.64, Z:-4.13 [[-4.90527609e-01 -8.71400501e-01 6.62054265e-03 1.20546947e+02] [-8.71329272e-01 4.90572193e-01 1.11455943e-02 -1.27639869e+02] [-1.29601306e-02 -3.01450884e-04 -9.99915969e-01 -4.13220243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.01630951901221382 Centerline is valid? [True, True] Translation: X:120.48, Y:-127.72, Z:-4.13 [[-4.26776517e-01 -9.04338782e-01 5.75952679e-03 1.20482672e+02] [-9.04264179e-01 4.26815305e-01 1.16185450e-02 -1.27715107e+02] [-1.29653550e-02 -2.49611593e-04 -9.99915915e-01 -4.13255205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.014685940524266526 Centerline is valid? [True, True] Translation: X:120.43, Y:-127.80, Z:-4.13 [[-3.62372349e-01 -9.32023533e-01 4.29133623e-03 1.20426064e+02] [-9.31963078e-01 3.62397726e-01 1.06164882e-02 -1.27799027e+02] [-1.14499873e-02 -1.52245164e-04 -9.99934435e-01 -4.13401530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.01409896616295093 Centerline is valid? [True, True] Translation: X:120.37, Y:-127.89, Z:-4.13 [[-2.92882002e-01 -9.56142928e-01 3.29165339e-03 1.20371352e+02] [-9.56086894e-01 2.92900476e-01 1.03518822e-02 -1.27889811e+02] [-1.08620058e-02 -1.15226667e-04 -9.99941000e-01 -4.13481686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.013917747965844543 Centerline is valid? [True, True] Translation: X:120.32, Y:-127.99, Z:-4.13 [[-2.20566064e-01 -9.75368546e-01 2.60963323e-03 1.20322359e+02] [-9.75305700e-01 2.20581477e-01 1.10726657e-02 -1.27989310e+02] [-1.13755666e-02 -1.02935866e-04 -9.99935291e-01 -4.13403855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.014400052116362787 Centerline is valid? [True, True] Translation: X:120.28, Y:-128.10, Z:-4.13 [[-1.43505164e-01 -9.89647664e-01 1.94130881e-03 1.20278223e+02] [-9.89569664e-01 1.43518228e-01 1.24257509e-02 -1.28096708e+02] [-1.25757285e-02 -1.37900890e-04 -9.99920913e-01 -4.13246937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.014982481767163762 Centerline is valid? [True, True] Translation: X:120.24, Y:-128.21, Z:-4.13 [[-6.41314872e-02 -9.97940936e-01 1.02008814e-03 1.20241793e+02] [-9.97856556e-01 6.41393311e-02 1.29784319e-02 -1.28208083e+02] [-1.30171363e-02 -1.85575494e-04 -9.99915256e-01 -4.13235939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.016383484324048483 Centerline is valid? [True, True] Translation: X:120.21, Y:-128.32, Z:-4.13 [[ 1.65445326e-02 -9.99863130e-01 2.14906810e-05 1.20212120e+02] [-9.99789494e-01 -1.65430533e-02 1.21364835e-02 -1.28323992e+02] [-1.21344669e-02 -2.22278604e-04 -9.99926350e-01 -4.13276715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.017330794406980723 Centerline is valid? [True, True] Translation: X:120.19, Y:-128.44, Z:-4.13 [[ 9.60359856e-02 -9.95377496e-01 -8.54891530e-04 1.20190598e+02] [-9.95312358e-01 -9.60394833e-02 1.13898515e-02 -1.28442783e+02] [-1.14193052e-02 -2.42951515e-04 -9.99934768e-01 -4.13267495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.019803885806823383 Centerline is valid? [True, True] Translation: X:120.18, Y:-128.55, Z:-4.13 [[ 1.76662279e-01 -9.84269821e-01 -1.83246669e-03 1.20176338e+02] [-9.84196575e-01 -1.76671496e-01 1.20118882e-02 -1.28553533e+02] [-1.21466836e-02 -3.18540098e-04 -9.99926176e-01 -4.13123779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.018979995468645587 Centerline is valid? [True, True] Translation: X:120.18, Y:-128.67, Z:-4.13 [[ 2.54702481e-01 -9.67015122e-01 -2.89831246e-03 1.20178445e+02] [-9.66934599e-01 -2.54718691e-01 1.24847489e-02 -1.28670714e+02] [-1.28111953e-02 -3.77417927e-04 -9.99917862e-01 -4.13250003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.022068374879540713 Centerline is valid? [True, True] Translation: X:120.18, Y:-128.79, Z:-4.13 [[ 3.28837146e-01 -9.44379323e-01 -3.71839005e-03 1.20180920e+02] [-9.44305468e-01 -3.28857955e-01 1.18164842e-02 -1.28788393e+02] [-1.23820655e-02 -3.74402876e-04 -9.99923269e-01 -4.13135385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.01897871009450111 Centerline is valid? [True, True] Translation: X:120.20, Y:-128.91, Z:-4.14 [[ 4.01041946e-01 -9.16051200e-01 -3.94409635e-03 1.20204541e+02] [-9.15998551e-01 -4.01061206e-01 9.82667631e-03 -1.28907011e+02] [-1.05835627e-02 -3.28122857e-04 -9.99943939e-01 -4.13522496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.02152299985743263 Centerline is valid? [True, True] Translation: X:120.23, Y:-129.02, Z:-4.13 [[ 4.68527133e-01 -8.83438008e-01 -4.42862818e-03 1.20225393e+02] [-8.83392490e-01 -4.68547972e-01 8.97258614e-03 -1.29021048e+02] [-1.00017484e-02 -2.91683176e-04 -9.99949939e-01 -4.13329526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.017990124987082693 Centerline is valid? [True, True] Translation: X:120.26, Y:-129.12, Z:-4.13 [[ 5.32006476e-01 -8.46724713e-01 -5.13511919e-03 1.20257875e+02] [-8.46680464e-01 -5.32031195e-01 8.66026804e-03 -1.29122440e+02] [-1.00649066e-02 -2.59513580e-04 -9.99949314e-01 -4.13409744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.01720891694360342 Centerline is valid? [True, True] Translation: X:120.29, Y:-129.22, Z:-4.13 [[ 5.91947466e-01 -8.05954972e-01 -5.89749444e-03 1.20293127e+02] [-8.05911161e-01 -5.91976801e-01 8.40645163e-03 -1.29223959e+02] [-1.02664014e-02 -2.23321146e-04 -9.99947274e-01 -4.13318061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.01656297183928028 Centerline is valid? [True, True] Translation: X:120.34, Y:-129.33, Z:-4.13 [[ 6.50890805e-01 -7.59144200e-01 -6.42220324e-03 1.20337334e+02] [-7.59104069e-01 -6.50922454e-01 7.80841386e-03 -1.29325917e+02] [-1.01080684e-02 -2.07304174e-04 -9.99948891e-01 -4.13297695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.016725983113617688 Centerline is valid? [True, True] Translation: X:120.39, Y:-129.42, Z:-4.13 [[ 7.06988034e-01 -7.07189907e-01 -7.09619153e-03 1.20387279e+02] [-7.07151253e-01 -7.07023614e-01 7.39689039e-03 -1.29422592e+02] [-1.02481812e-02 -2.11432262e-04 -9.99947464e-01 -4.13261971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.01674738831939085 Centerline is valid? [True, True] Translation: X:120.44, Y:-129.51, Z:-4.13 [[ 7.58795187e-01 -6.51283800e-01 -7.69917032e-03 1.20441155e+02] [-6.51247394e-01 -7.58834216e-01 6.88953454e-03 -1.29512483e+02] [-1.03294361e-02 -2.13681040e-04 -9.99946627e-01 -4.13200480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.01686062292534312 Centerline is valid? [True, True] Translation: X:120.46, Y:-129.54, Z:-4.13 [[ 8.07164617e-01 -5.90259915e-01 -8.86073795e-03 1.20462786e+02] [-5.90221250e-01 -8.07213219e-01 6.75985350e-03 -1.29538971e+02] [-1.11425754e-02 -2.26518738e-04 -9.99937894e-01 -4.13072977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.016105476176927567 Centerline is valid? [True, True] Translation: X:120.49, Y:-129.56, Z:-4.13 [[ 8.49050747e-01 -5.28237639e-01 -8.82192740e-03 1.20488679e+02] [-5.28206936e-01 -8.49096558e-01 5.69805190e-03 -1.29559855e+02] [-1.05005937e-02 -1.78131977e-04 -9.99944851e-01 -4.13201962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.015308805605661613 Centerline is valid? [True, True] Translation: X:120.52, Y:-129.58, Z:-4.13 [[ 8.86100158e-01 -4.63413371e-01 -8.63466960e-03 1.20516862e+02] [-4.63389921e-01 -8.86142218e-01 4.66386512e-03 -1.29578352e+02] [-9.81284273e-03 -1.31432762e-04 -9.99951844e-01 -4.13267163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.0143983060361241 Centerline is valid? [True, True] Translation: X:120.55, Y:-129.59, Z:-4.13 [[ 9.17320230e-01 -3.98043861e-01 -9.20223816e-03 1.20546731e+02] [-3.98022996e-01 -9.17366382e-01 4.07625337e-03 -1.29591590e+02] [-1.00643516e-02 -7.65272777e-05 -9.99949350e-01 -4.13323765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.013828840224713477 Centerline is valid? [True, True] Translation: X:120.58, Y:-129.61, Z:-4.13 [[ 9.43535529e-01 -3.31142332e-01 -9.24456719e-03 1.20575806e+02] [-3.31126316e-01 -9.43580816e-01 3.25684758e-03 -1.29606201e+02] [-9.80147636e-03 -1.18319178e-05 -9.99951964e-01 -4.13484821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.013985022277782418 Centerline is valid? [True, True] Translation: X:120.61, Y:-129.62, Z:-4.14 [[ 9.65311830e-01 -2.60948228e-01 -8.89347152e-03 1.20605231e+02] [-2.60937461e-01 -9.65352796e-01 2.37064998e-03 -1.29619128e+02] [-9.20395452e-03 3.22234133e-05 -9.99957642e-01 -4.13591688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.015009276838338715 Centerline is valid? [True, True] Translation: X:120.63, Y:-129.63, Z:-4.14 [[ 9.81180093e-01 -1.92918617e-01 -8.24822419e-03 1.20634616e+02] [-1.92912660e-01 -9.81214756e-01 1.51942243e-03 -1.29625418e+02] [-8.38640416e-03 1.00359827e-04 -9.99964829e-01 -4.13725639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.01573863871150441 Centerline is valid? [True, True] Translation: X:120.66, Y:-129.64, Z:-4.14 [[ 9.92360092e-01 -1.23113637e-01 -8.02993035e-03 1.20660949e+02] [-1.23110898e-01 -9.92392567e-01 8.36426659e-04 -1.29635353e+02] [-8.07181872e-03 1.58535497e-04 -9.99967410e-01 -4.13917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.017337212936173883 Centerline is valid? [True, True] Translation: X:120.69, Y:-129.64, Z:-4.14 [[ 9.98742052e-01 -4.90460466e-02 -1.04307141e-02 1.20686716e+02] [-4.90459526e-02 -9.98796488e-01 2.64957276e-04 -1.29642697e+02] [-1.04311557e-02 2.46960334e-04 -9.99945564e-01 -4.13768100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.016516031669861115 Centerline is valid? [True, True] Translation: X:120.71, Y:-129.66, Z:-4.14 [[ 9.99512207e-01 2.89290001e-02 -1.17669301e-02 1.20714777e+02] [ 2.89236583e-02 -9.99581429e-01 -6.23920433e-04 -1.29655361e+02] [-1.17800542e-02 2.83273423e-04 -9.99930573e-01 -4.13744687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.016637940267644664 Centerline is valid? [True, True] Translation: X:120.74, Y:-129.66, Z:-4.14 [[ 9.94151634e-01 1.07381201e-01 -1.14806988e-02 1.20742645e+02] [ 1.07370842e-01 -9.94217885e-01 -1.51669000e-03 -1.29662528e+02] [-1.15771800e-02 2.75127555e-04 -9.99932944e-01 -4.13741769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.015885060658710377 Centerline is valid? [True, True] Translation: X:120.77, Y:-129.67, Z:-4.14 [[ 9.82188725e-01 1.87629533e-01 -1.00232834e-02 1.20772426e+02] [ 1.87617525e-01 -9.82239844e-01 -2.13365033e-03 -1.29671800e+02] [-1.02456042e-02 2.15103671e-04 -9.99947489e-01 -4.13849135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.01478070117859449 Centerline is valid? [True, True] Translation: X:120.80, Y:-129.68, Z:-4.14 [[ 9.63126477e-01 2.68889511e-01 -9.26395809e-03 1.20803484e+02] [ 2.68875539e-01 -9.63171017e-01 -2.74533232e-03 -1.29678270e+02] [-9.66096700e-03 1.53250511e-04 -9.99953320e-01 -4.13942021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.01348477934141813 Centerline is valid? [True, True] Translation: X:120.84, Y:-129.69, Z:-4.14 [[ 9.36869544e-01 3.49566675e-01 -8.86553848e-03 1.20836588e+02] [ 3.49550128e-01 -9.36911486e-01 -3.40243087e-03 -1.29686285e+02] [-9.49560127e-03 8.86837471e-05 -9.99954912e-01 -4.14031508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.012907853032525018 Centerline is valid? [True, True] Translation: X:120.87, Y:-129.69, Z:-4.14 [[ 9.02763551e-01 4.30057071e-01 -8.29975386e-03 1.20870708e+02] [ 4.30038868e-01 -9.02801703e-01 -3.95680964e-03 -1.29690457e+02] [-9.19468589e-03 2.84676651e-06 -9.99957728e-01 -4.13962997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.013474295294296796 Centerline is valid? [True, True] Translation: X:120.91, Y:-129.69, Z:-4.14 [[ 8.61521271e-01 5.07640071e-01 -9.09166598e-03 1.20905988e+02] [ 5.07612987e-01 -8.61569237e-01 -5.24465009e-03 -1.29692745e+02] [-1.04954943e-02 -9.66701144e-05 -9.99944916e-01 -4.13857574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.014176816814402705 Centerline is valid? [True, True] Translation: X:120.94, Y:-129.69, Z:-4.14 [[ 8.16230787e-01 5.77648895e-01 -9.43697006e-03 1.20939586e+02] [ 5.77612591e-01 -8.16285322e-01 -6.47823103e-03 -1.29687154e+02] [-1.14454031e-02 -1.63181116e-04 -9.99934486e-01 -4.13763243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.015094873855463759 Centerline is valid? [True, True] Translation: X:120.97, Y:-129.68, Z:-4.14 [[ 7.66319894e-01 6.42391340e-01 -9.33740972e-03 1.20969898e+02] [ 6.42347003e-01 -7.66376749e-01 -7.55025302e-03 -1.29676454e+02] [-1.20061909e-02 -2.11948060e-04 -9.99927901e-01 -4.13738395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.014962405453429606 Centerline is valid? [True, True] Translation: X:121.00, Y:-129.66, Z:-4.14 [[ 7.13626726e-01 7.00477757e-01 -8.23457457e-03 1.20997973e+02] [ 7.00434357e-01 -7.13674206e-01 -7.79994673e-03 -1.29660726e+02] [-1.13404927e-02 -2.01528502e-04 -9.99935674e-01 -4.13818166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.014834681682108521 Centerline is valid? [True, True] Translation: X:121.03, Y:-129.64, Z:-4.14 [[ 6.56857956e-01 7.53971966e-01 -7.99372656e-03 1.21025023e+02] [ 7.53919951e-01 -6.56906562e-01 -8.85871869e-03 -1.29643065e+02] [-1.19303570e-02 -2.07710078e-04 -9.99928809e-01 -4.13796168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.015368061569864542 Centerline is valid? [True, True] Translation: X:121.05, Y:-129.62, Z:-4.14 [[ 5.96702399e-01 8.02416045e-01 -8.64510087e-03 1.21048086e+02] [ 8.02337376e-01 -5.96764977e-01 -1.12382318e-02 -1.29623025e+02] [-1.41768309e-02 -2.30407690e-04 -9.99899477e-01 -4.13518717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.014914692376572435 Centerline is valid? [True, True] Translation: X:121.06, Y:-129.60, Z:-4.14 [[ 5.34011285e-01 8.45440560e-01 -7.88709920e-03 1.21063182e+02] [ 8.45353865e-01 -5.34069488e-01 -1.21088625e-02 -1.29596985e+02] [-1.44495826e-02 -2.01120554e-04 -9.99895579e-01 -4.13552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.014047419100458317 Centerline is valid? [True, True] Translation: X:121.08, Y:-129.57, Z:-4.14 [[ 4.67588120e-01 8.83921680e-01 -6.61915970e-03 1.21081287e+02] [ 8.83838221e-01 -4.67634937e-01 -1.21476579e-02 -1.29572978e+02] [-1.38329285e-02 -1.70165812e-04 -9.99904306e-01 -4.13766304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.013717643627627856 Centerline is valid? [True, True] Translation: X:121.10, Y:-129.55, Z:-4.14 [[ 3.98744851e-01 9.17045626e-01 -5.46474061e-03 1.21097459e+02] [ 9.16964215e-01 -3.98782272e-01 -1.22200047e-02 -1.29547608e+02] [-1.33855435e-02 -1.38307624e-04 -9.99910400e-01 -4.13821779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.013674008919133989 Centerline is valid? [True, True] Translation: X:121.11, Y:-129.52, Z:-4.14 [[ 3.26676419e-01 9.45125157e-01 -4.57762380e-03 1.21111684e+02] [ 9.45037754e-01 -3.26708466e-01 -1.28538734e-02 -1.29521969e+02] [-1.36440675e-02 -1.26969993e-04 -9.99906907e-01 -4.13814088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.013526212627295925 Centerline is valid? [True, True] Translation: X:121.12, Y:-129.50, Z:-4.14 [[ 2.53584084e-01 9.67306836e-01 -3.54923985e-03 1.21121976e+02] [ 9.67217512e-01 -2.53608901e-01 -1.31456999e-02 -1.29495215e+02] [-1.36160442e-02 -9.93466801e-05 -9.99907292e-01 -4.13827336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.013227796816544506 Centerline is valid? [True, True] Translation: X:121.13, Y:-129.47, Z:-4.14 [[ 1.78656236e-01 9.83908384e-01 -2.49835605e-03 1.21131276e+02] [ 9.83818116e-01 -1.78673687e-01 -1.33277033e-02 -1.29468186e+02] [-1.35596295e-02 -7.68506462e-05 -9.99908061e-01 -4.13961264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.013205576318896699 Centerline is valid? [True, True] Translation: X:121.14, Y:-129.44, Z:-4.14 [[ 1.01278390e-01 9.94857175e-01 -1.37451106e-03 1.21140760e+02] [ 9.94774732e-01 -1.01287692e-01 -1.28076438e-02 -1.29441420e+02] [-1.28809974e-02 -7.01913396e-05 -9.99917034e-01 -4.14059411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.013528249658484844 Centerline is valid? [True, True] Translation: X:121.15, Y:-129.42, Z:-4.14 [[ 2.16700688e-02 9.99765121e-01 -3.32918627e-04 1.21148236e+02] [ 9.99697055e-01 -2.16724783e-02 -1.16662522e-02 -1.29416122e+02] [-1.16707272e-02 -8.00092836e-05 -9.99931892e-01 -4.14032311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.013908360966541836 Centerline is valid? [True, True] Translation: X:121.16, Y:-129.39, Z:-4.14 [[-6.09393843e-02 9.98141312e-01 5.58804514e-04 1.21157702e+02] [ 9.98078533e-01 6.09418191e-02 -1.11954058e-02 -1.29389022e+02] [-1.12086516e-02 -1.24510345e-04 -9.99937173e-01 -4.14077592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.014947164533906921 Centerline is valid? [True, True] Translation: X:121.16, Y:-129.36, Z:-4.14 [[-1.42968359e-01 9.89725921e-01 1.62751743e-03 1.21163632e+02] [ 9.89645478e-01 1.42977492e-01 -1.26200104e-02 -1.29360850e+02] [-1.27230498e-02 -1.93596918e-04 -9.99919040e-01 -4.13880811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.015031873863764564 Centerline is valid? [True, True] Translation: X:121.17, Y:-129.33, Z:-4.14 [[-2.22007653e-01 9.75041307e-01 2.65564714e-03 1.21167309e+02] [ 9.74959057e-01 2.22023424e-01 -1.26663795e-02 -1.29331981e+02] [-1.29398591e-02 -2.22885959e-04 -9.99916252e-01 -4.13928182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.01489429972290344 Centerline is valid? [True, True] Translation: X:121.17, Y:-129.30, Z:-4.14 [[-2.97960794e-01 9.54571649e-01 3.51177309e-03 1.21169344e+02] [ 9.54496452e-01 2.97981408e-01 -1.19835011e-02 -1.29303368e+02] [-1.24855535e-02 -2.18638550e-04 -9.99922029e-01 -4.13997593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.014819025556365785 Centerline is valid? [True, True] Translation: X:121.17, Y:-129.27, Z:-4.14 [[-3.71494984e-01 9.28427151e-01 3.80810048e-03 1.21168818e+02] [ 9.28373195e-01 3.71514456e-01 -1.00109596e-02 -1.29274400e+02] [-1.07092111e-02 -1.83682871e-04 -9.99942638e-01 -4.14109487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.014414052047113934 Centerline is valid? [True, True] Translation: X:121.16, Y:-129.25, Z:-4.14 [[-4.41217193e-01 8.97389628e-01 4.38676022e-03 1.21162053e+02] [ 8.97341748e-01 4.41238973e-01 -9.27120048e-03 -1.29247082e+02] [-1.02554887e-02 -1.54189965e-04 -9.99947399e-01 -4.14121947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.014020758916127292 Centerline is valid? [True, True] Translation: X:121.15, Y:-129.22, Z:-4.14 [[-5.08478587e-01 8.61059071e-01 5.17710460e-03 1.21152695e+02] [ 8.61011687e-01 5.08504924e-01 -9.03422038e-03 -1.29221369e+02] [-1.04115806e-02 -1.36160048e-04 -9.99945789e-01 -4.14043781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.013651267907653067 Centerline is valid? [True, True] Translation: X:121.14, Y:-129.20, Z:-4.14 [[-5.72273115e-01 8.20036566e-01 6.59640092e-03 1.21140743e+02] [ 8.19979590e-01 5.72311118e-01 -9.66726613e-03 -1.29197241e+02] [-1.17027053e-02 -1.23402385e-04 -9.99931513e-01 -4.13859582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.01379261376608538 Centerline is valid? [True, True] Translation: X:121.13, Y:-129.17, Z:-4.14 [[-6.34988061e-01 7.72481903e-01 7.86594619e-03 1.21127374e+02] [ 7.72419960e-01 6.35036764e-01 -9.78332428e-03 -1.29173164e+02] [-1.25526060e-02 -1.36480270e-04 -9.99921204e-01 -4.13776215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.014203193605420255 Centerline is valid? [True, True] Translation: X:121.11, Y:-129.15, Z:-4.14 [[-6.94978624e-01 7.18972794e-01 9.10129278e-03 1.21113400e+02] [ 7.18907915e-01 6.95038195e-01 -9.66012480e-03 -1.29148998e+02] [-1.32711130e-02 -1.70588834e-04 -9.99911920e-01 -4.13764294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.015426994823745726 Centerline is valid? [True, True] Translation: X:121.10, Y:-129.13, Z:-4.14 [[-7.51730549e-01 6.59386466e-01 1.05199835e-02 1.21098382e+02] [ 6.59317449e-01 7.51804118e-01 -9.54307372e-03 -1.29126282e+02] [-1.42015406e-02 -2.37811353e-04 -9.99899125e-01 -4.13626863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.015198450820263009 Centerline is valid? [True, True] Translation: X:121.12, Y:-129.11, Z:-4.14 [[-7.97540865e-01 6.03169600e-01 1.07239095e-02 1.21117417e+02] [ 6.03110796e-01 7.97612920e-01 -8.42598957e-03 -1.29108290e+02] [-1.36358295e-02 -2.52365404e-04 -9.99906996e-01 -4.13802729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.016443137582509943 Centerline is valid? [True, True] Translation: X:121.13, Y:-129.09, Z:-4.14 [[-8.38209679e-01 5.45237230e-01 1.09953711e-02 1.21133291e+02] [ 5.45186456e-01 8.38281756e-01 -7.44478802e-03 -1.29085188e+02] [-1.32763946e-02 -2.45765963e-04 -9.99911835e-01 -4.13698210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.014829835713650123 Centerline is valid? [True, True] Translation: X:121.15, Y:-129.07, Z:-4.14 [[-8.74391765e-01 4.85105226e-01 1.05811668e-02 1.21145965e+02] [ 4.85066667e-01 8.74455757e-01 -6.12022010e-03 -1.29065487e+02] [-1.22217130e-02 -2.18898739e-04 -9.99925288e-01 -4.13983037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.01476785215046381 Centerline is valid? [True, True] Translation: X:121.16, Y:-129.04, Z:-4.14 [[-9.06696623e-01 4.21654318e-01 1.04340665e-02 1.21158995e+02] [ 4.21623698e-01 9.06756633e-01 -5.08584493e-03 -1.29042494e+02] [-1.16056275e-02 -2.12068722e-04 -9.99932630e-01 -4.14023309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.01526645973829416 Centerline is valid? [True, True] Translation: X:121.17, Y:-129.02, Z:-4.14 [[-9.34362953e-01 3.56162138e-01 1.06959996e-02 1.21172400e+02] [ 3.56136179e-01 9.34424147e-01 -4.30537843e-03 -1.29017676e+02] [-1.15280130e-02 -2.13553697e-04 -9.99933528e-01 -4.13932294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.015765874086327496 Centerline is valid? [True, True] Translation: X:121.43, Y:-128.37, Z:-5.11 [[-8.91882502e-01 -4.52143338e-01 1.05832571e-02 1.21433131e+02] [ 4.52114569e-01 -8.91945261e-01 -5.10564221e-03 -1.28372605e+02] [ 1.17481681e-02 2.31211758e-04 9.99930961e-01 -5.11335142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.01676440082264891 Centerline is valid? [True, True] Translation: X:121.13, Y:-129.00, Z:-4.14 [[-9.36560515e-01 3.50374652e-01 9.59192934e-03 1.21133489e+02] [ 3.50353890e-01 9.36609607e-01 -3.82042214e-03 -1.28997980e+02] [-1.03224723e-02 -2.17486769e-04 -9.99946698e-01 -4.13843540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.016067392042263845 Centerline is valid? [True, True] Translation: X:121.39, Y:-128.36, Z:-5.11 [[-8.92303621e-01 -4.51353063e-01 8.64060360e-03 1.21389326e+02] [ 4.51333608e-01 -8.92345442e-01 -4.19361463e-03 -1.28357751e+02] [ 9.60320404e-03 1.57817273e-04 9.99953876e-01 -5.11214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.016101524766666545 Centerline is valid? [True, True] Translation: X:121.09, Y:-128.98, Z:-4.14 [[-9.38590747e-01 3.44924001e-01 8.65119328e-03 1.21090100e+02] [ 3.44907225e-01 9.38630591e-01 -3.40870173e-03 -1.28984270e+02] [-9.29601770e-03 -2.15516834e-04 -9.99956768e-01 -4.13944715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.016278651260035526 Centerline is valid? [True, True] Translation: X:121.35, Y:-128.34, Z:-5.11 [[-8.93657557e-01 -4.48677760e-01 8.02739208e-03 1.21346601e+02] [ 4.48661476e-01 -8.93693591e-01 -3.82691726e-03 -1.28339548e+02] [ 8.89108152e-03 1.81628054e-04 9.99960457e-01 -5.11300171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.016358611395018482 Centerline is valid? [True, True] Translation: X:121.32, Y:-128.36, Z:-5.11 [[-8.62202814e-01 -5.06506878e-01 7.55576804e-03 1.21315286e+02] [ 5.06489276e-01 -8.62235901e-01 -4.22662131e-03 -1.28356096e+02] [ 8.65566723e-03 1.82710694e-04 9.99962522e-01 -5.11379196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.016023001663632328 Centerline is valid? [True, True] Translation: X:121.00, Y:-128.98, Z:-4.14 [[-9.13363429e-01 4.07072998e-01 7.66946202e-03 1.21000604e+02] [ 4.07057100e-01 9.13395613e-01 -3.60154857e-03 -1.28977951e+02] [-8.47134614e-03 -1.67613777e-04 -9.99964104e-01 -4.13775732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.01477900645902508 Centerline is valid? [True, True] Translation: X:121.01, Y:-128.96, Z:-4.14 [[-9.39399091e-01 3.42725961e-01 8.26220312e-03 1.21011017e+02] [ 3.42711178e-01 9.39435410e-01 -3.18736859e-03 -1.28956334e+02] [-8.85420014e-03 -1.62661794e-04 -9.99960788e-01 -4.13828476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.014545114193335778 Centerline is valid? [True, True] Translation: X:121.02, Y:-128.93, Z:-4.14 [[-9.60706619e-01 2.77459339e-01 7.68815622e-03 1.21022849e+02] [ 2.77449371e-01 9.60737372e-01 -2.35542335e-03 -1.28933085e+02] [-8.03983322e-03 -1.29796696e-04 -9.99967672e-01 -4.13811747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.013764066126755539 Centerline is valid? [True, True] Translation: X:121.23, Y:-128.26, Z:-5.11 [[-9.29873917e-01 -3.67811597e-01 7.00916826e-03 1.21231984e+02] [ 3.67801877e-01 -9.29900329e-01 -2.67550556e-03 -1.28259225e+02] [ 7.50190984e-03 9.01024092e-05 9.99971856e-01 -5.11383203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.012712765903261399 Centerline is valid? [True, True] Translation: X:120.98, Y:-128.93, Z:-4.14 [[-9.59013916e-01 2.83262291e-01 7.40154267e-03 1.20981085e+02] [ 2.83253461e-01 9.59042477e-01 -2.23719708e-03 -1.28930024e+02] [-7.73210738e-03 -4.89905559e-05 -9.99970106e-01 -4.13827848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.012472835799296825 Centerline is valid? [True, True] Translation: X:121.20, Y:-128.24, Z:-5.11 [[-9.34903467e-01 -3.54833816e-01 6.96207717e-03 1.21201021e+02] [ 3.54824216e-01 -9.34929389e-01 -2.61021417e-03 -1.28241476e+02] [ 7.43524281e-03 3.00152941e-05 9.99972358e-01 -5.11336902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.01249578154859181 Centerline is valid? [True, True] Translation: X:120.94, Y:-128.92, Z:-4.14 [[-9.58207104e-01 2.85991919e-01 6.91148554e-03 1.20941183e+02] [ 2.85984492e-01 9.58232030e-01 -2.06110262e-03 -1.28924268e+02] [-7.21226551e-03 1.61450416e-06 -9.99973991e-01 -4.13852634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.012509949115103225 Centerline is valid? [True, True] Translation: X:120.95, Y:-128.90, Z:-4.14 [[-9.76338343e-01 2.16110840e-01 7.71651271e-03 1.20948318e+02] [ 2.16104023e-01 9.76368836e-01 -1.71658537e-03 -1.28896135e+02] [-7.90513524e-03 -8.39867755e-06 -9.99968754e-01 -4.13853381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.012515770383469037 Centerline is valid? [True, True] Translation: X:120.95, Y:-128.87, Z:-4.14 [[-9.89308198e-01 1.45593485e-01 8.47509143e-03 1.20950166e+02] [ 1.45588006e-01 9.89344499e-01 -1.26307450e-03 -1.28866409e+02] [-8.56868050e-03 -1.56982926e-05 -9.99963288e-01 -4.13785653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.012607813502457717 Centerline is valid? [True, True] Translation: X:120.95, Y:-128.84, Z:-4.14 [[-9.97154777e-01 7.49489185e-02 8.06286212e-03 1.20951011e+02] [ 7.49463435e-02 9.97187374e-01 -6.21457986e-04 -1.28837263e+02] [-8.08676191e-03 -1.54077651e-05 -9.99967302e-01 -4.13797201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.012581978419473758 Centerline is valid? [True, True] Translation: X:121.01, Y:-128.13, Z:-5.11 [[-9.89077681e-01 -1.47187381e-01 7.82406231e-03 1.21014874e+02] [ 1.47182804e-01 -9.89108626e-01 -1.16081848e-03 -1.28126848e+02] [ 7.90970536e-03 3.42777978e-06 9.99968718e-01 -5.11291984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.01276876904440629 Centerline is valid? [True, True] Translation: X:120.90, Y:-128.83, Z:-4.14 [[-9.97808321e-01 6.57081607e-02 7.80970080e-03 1.20898990e+02] [ 6.57057080e-02 9.97838882e-01 -5.70489125e-04 -1.28827047e+02] [-7.83030891e-03 -5.60968750e-05 -9.99969341e-01 -4.13921047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.013414281346923235 Centerline is valid? [True, True] Translation: X:120.89, Y:-128.80, Z:-4.14 [[-9.99930180e-01 -8.80460910e-03 7.88121414e-03 1.20893450e+02] [-8.80500180e-03 9.99961235e-01 -1.51309910e-05 -1.28795439e+02] [-7.88077540e-03 -8.45240392e-05 -9.99968943e-01 -4.13878801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.014219073060008634 Centerline is valid? [True, True] Translation: X:120.89, Y:-128.11, Z:-5.11 [[-9.96379241e-01 -8.46206637e-02 8.23115087e-03 1.20894945e+02] [ 8.46187226e-02 -9.96413233e-01 -5.84425252e-04 -1.28106299e+02] [ 8.25108210e-03 1.14200284e-04 9.99965953e-01 -5.11381744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.01533304684690395 Centerline is valid? [True, True] Translation: X:120.83, Y:-128.79, Z:-4.14 [[-9.99718875e-01 -2.09177545e-02 1.11632342e-02 1.20830186e+02] [-2.09187490e-02 9.99781179e-01 2.76822206e-05 -1.28787296e+02] [-1.11613705e-02 -2.05846456e-04 -9.99937689e-01 -4.13524668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.01628264316964256 Centerline is valid? [True, True] Translation: X:120.82, Y:-128.76, Z:-4.13 [[-9.95538367e-01 -9.35078552e-02 1.26348968e-02 1.20820561e+02] [-9.35035596e-02 9.95618510e-01 9.31575709e-04 -1.28758867e+02] [-1.26666467e-02 -2.53988462e-04 -9.99919743e-01 -4.13338017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.015551942866987592 Centerline is valid? [True, True] Translation: X:120.77, Y:-128.09, Z:-5.12 [[-9.99823403e-01 -1.36539113e-02 1.29125603e-02 1.20773813e+02] [ 1.36563216e-02 -9.99906743e-01 9.85048683e-05 -1.28085333e+02] [ 1.29100112e-02 2.74825549e-04 9.99916625e-01 -5.11824860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.014616422834684693 Centerline is valid? [True, True] Translation: X:120.75, Y:-128.77, Z:-4.13 [[-9.95408553e-01 -9.48717549e-02 1.26949760e-02 1.20748753e+02] [-9.48667002e-02 9.95489481e-01 1.00112674e-03 -1.28770203e+02] [-1.27326937e-02 -2.07800366e-04 -9.99918914e-01 -4.13406998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.013200206744312104 Centerline is valid? [True, True] Translation: X:120.74, Y:-128.75, Z:-4.14 [[-9.87164658e-01 -1.59341518e-01 1.07804372e-02 1.20741737e+02] [-1.59333234e-01 9.87223515e-01 1.62857867e-03 -1.28751352e+02] [-1.09022013e-02 -1.10006608e-04 -9.99940563e-01 -4.13588007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.012558278158838213 Centerline is valid? [True, True] Translation: X:120.74, Y:-128.73, Z:-4.14 [[-9.74994835e-01 -2.22027429e-01 9.42831518e-03 1.20739168e+02] [-2.22017287e-01 9.75040420e-01 2.12226544e-03 -1.28732749e+02] [-9.66418953e-03 -2.40511155e-05 -9.99953300e-01 -4.13650484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.012739507895581141 Centerline is valid? [True, True] Translation: X:120.71, Y:-128.72, Z:-4.14 [[-9.58380741e-01 -2.85314823e-01 1.00899131e-02 1.20714634e+02] [-2.85298553e-01 9.58433853e-01 3.04725513e-03 -1.28718859e+02] [-1.05399413e-02 4.17930246e-05 -9.99944452e-01 -4.13611416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.012872309122776772 Centerline is valid? [True, True] Translation: X:120.68, Y:-128.70, Z:-4.14 [[-9.35365465e-01 -3.53526822e-01 1.04992276e-02 1.20676881e+02] [-3.53503894e-01 9.35424387e-01 4.02663364e-03 -1.28703458e+02] [-1.12447565e-02 5.48562056e-05 -9.99936774e-01 -4.13528327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.01296927060720439 Centerline is valid? [True, True] Translation: X:120.61, Y:-128.70, Z:-4.13 [[-9.06582940e-01 -4.21877352e-01 1.12637545e-02 1.20614611e+02] [-4.21844063e-01 9.06652909e-01 5.29994806e-03 -1.28698855e+02] [-1.24482438e-02 5.32945443e-05 -9.99922516e-01 -4.13462150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.01303344274435208 Centerline is valid? [True, True] Translation: X:120.55, Y:-128.70, Z:-4.13 [[-8.73121561e-01 -4.87355634e-01 1.19676780e-02 1.20546587e+02] [-4.87308839e-01 8.73203574e-01 6.75381064e-03 -1.28703626e+02] [-1.37417269e-02 6.49424197e-05 -9.99905576e-01 -4.13432412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.013549704165940138 Centerline is valid? [True, True] Translation: X:120.47, Y:-128.72, Z:-4.13 [[-8.36161631e-01 -5.48356701e-01 1.17751842e-02 1.20473822e+02] [-5.48300429e-01 8.36244531e-01 7.85645758e-03 -1.28718971e+02] [-1.41550745e-02 1.12929841e-04 -9.99899806e-01 -4.13412360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.013652495592726825 Centerline is valid? [True, True] Translation: X:120.39, Y:-128.74, Z:-4.14 [[-7.94651787e-01 -6.06991569e-01 9.47483410e-03 1.20394378e+02] [-6.06946417e-01 7.94708259e-01 7.40469486e-03 -1.28742522e+02] [-1.20243163e-02 1.33437386e-04 -9.99927696e-01 -4.13674826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.01350806738070436 Centerline is valid? [True, True] Translation: X:120.31, Y:-128.78, Z:-4.14 [[-7.47162392e-01 -6.64603800e-01 7.08158477e-03 1.20307842e+02] [-6.64572530e-01 7.47195942e-01 6.44802100e-03 -1.28777564e+02] [-9.57671066e-03 1.11492088e-04 -9.99954136e-01 -4.13951894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.013384248974464486 Centerline is valid? [True, True] Translation: X:120.22, Y:-128.82, Z:-4.14 [[-6.93719792e-01 -7.20219946e-01 6.00665311e-03 1.20222521e+02] [-7.20191844e-01 6.93745790e-01 6.36285120e-03 -1.28819880e+02] [-8.74974266e-03 8.80932312e-05 -9.99961716e-01 -4.13997150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.012604012802852687 Centerline is valid? [True, True] Translation: X:120.13, Y:-128.87, Z:-4.14 [[-6.33122494e-01 -7.74033140e-01 5.34837347e-03 1.20132141e+02] [-7.74004992e-01 6.33145083e-01 6.60129138e-03 -1.28870253e+02] [-8.49591466e-03 3.97583056e-05 -9.99963908e-01 -4.13983996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.012429483243536994 Centerline is valid? [True, True] Translation: X:120.04, Y:-128.93, Z:-4.14 [[-5.67044897e-01 -8.23669972e-01 5.27838458e-03 1.20042305e+02] [-8.23634621e-01 5.67069463e-01 7.63119784e-03 -1.28932259e+02] [-9.27879922e-03 -2.02284902e-05 -9.99956951e-01 -4.13915816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.012659604176571583 Centerline is valid? [True, True] Translation: X:119.96, Y:-129.00, Z:-4.14 [[-4.97730108e-01 -8.67323324e-01 3.87177360e-03 1.19957563e+02] [-8.67298058e-01 4.97745163e-01 6.62055424e-03 -1.29002339e+02] [-7.66931769e-03 -6.27325489e-05 -9.99970588e-01 -4.14066857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.013184311440598949 Centerline is valid? [True, True] Translation: X:119.88, Y:-129.09, Z:-4.14 [[-4.27998218e-01 -9.03774995e-01 2.87801508e-03 1.19875689e+02] [-9.03755670e-01 4.28007889e-01 5.91069262e-03 -1.29089760e+02] [-6.57374936e-03 -7.12565393e-05 -9.99978390e-01 -4.14135495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.013174611061756944 Centerline is valid? [True, True] Translation: X:119.81, Y:-129.17, Z:-4.14 [[-3.57958588e-01 -9.33735330e-01 1.99563094e-03 1.19812069e+02] [-9.33721705e-01 3.57964147e-01 5.04453593e-03 -1.29165395e+02] [-5.42462575e-03 -5.76289634e-05 -9.99985285e-01 -4.14165749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.012871654608423044 Centerline is valid? [True, True] Translation: X:119.75, Y:-129.26, Z:-4.14 [[-2.86945342e-01 -9.57945353e-01 1.75247505e-03 1.19750799e+02] [-9.57928631e-01 2.86950688e-01 5.66046940e-03 -1.29260058e+02] [-5.92529429e-03 -5.45007002e-05 -9.99982444e-01 -4.14129126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.012557129481346446 Centerline is valid? [True, True] Translation: X:119.70, Y:-129.36, Z:-4.14 [[-2.15491123e-01 -9.76504327e-01 1.69598372e-03 1.19697291e+02] [-9.76475856e-01 2.15497791e-01 7.45691081e-03 -1.29360798e+02] [-7.64718641e-03 -4.91890683e-05 -9.99970759e-01 -4.13965846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.012553626481636632 Centerline is valid? [True, True] Translation: X:119.65, Y:-129.47, Z:-4.14 [[-1.41303920e-01 -9.89965240e-01 1.42305417e-03 1.19651689e+02] [-9.89918563e-01 1.41311077e-01 9.61340443e-03 -1.29465590e+02] [-9.71802954e-03 -5.02960024e-05 -9.99952778e-01 -4.13750929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.01261308452166544 Centerline is valid? [True, True] Translation: X:119.61, Y:-129.58, Z:-4.14 [[-6.53443811e-02 -9.97862482e-01 7.60822793e-04 1.19614788e+02] [-9.97803818e-01 6.53487894e-02 1.08202054e-02 -1.29578466e+02] [-1.08467959e-02 -5.21122620e-05 -9.99941170e-01 -4.13736763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.012651348830036905 Centerline is valid? [True, True] Translation: X:119.59, Y:-129.69, Z:-4.14 [[ 1.06060201e-02 -9.99943752e-01 -7.56846122e-05 1.19587824e+02] [-9.99879423e-01 -1.06061963e-02 1.13423139e-02 -1.29693658e+02] [-1.13424787e-02 -4.46213230e-05 -9.99935671e-01 -4.13662737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.01246030216902538 Centerline is valid? [True, True] Translation: X:119.57, Y:-129.81, Z:-4.14 [[ 8.58586948e-02 -9.96306960e-01 -8.52286279e-04 1.19571533e+02] [-9.96255030e-01 -8.58629214e-02 1.01721994e-02 -1.29811534e+02] [-1.02078128e-02 -2.42772703e-05 -9.99947899e-01 -4.13767882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.012402016970982576 Centerline is valid? [True, True] Translation: X:119.57, Y:-129.93, Z:-4.14 [[ 1.59638467e-01 -9.87174557e-01 -1.39764492e-03 1.19565741e+02] [-9.87136857e-01 -1.59644585e-01 8.62742665e-03 -1.29929237e+02] [-8.73990253e-03 2.39764673e-06 -9.99961806e-01 -4.13875342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.012344530649252401 Centerline is valid? [True, True] Translation: X:119.57, Y:-130.05, Z:-4.14 [[ 2.33621297e-01 -9.72325856e-01 -1.87595620e-03 1.19565750e+02] [-9.72295012e-01 -2.33628828e-01 7.74465621e-03 -1.30046238e+02] [-7.96860693e-03 1.46662339e-05 -9.99968250e-01 -4.13934785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.01244368533061059 Centerline is valid? [True, True] Translation: X:119.58, Y:-130.17, Z:-4.14 [[ 3.07651718e-01 -9.51495006e-01 -2.77004250e-03 1.19575135e+02] [-9.51456935e-01 -3.07664188e-01 8.51163650e-03 -1.30165978e+02] [-8.95102250e-03 1.69565484e-05 -9.99959939e-01 -4.13886923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.01235123779293171 Centerline is valid? [True, True] Translation: X:119.59, Y:-130.29, Z:-4.14 [[ 3.80637976e-01 -9.24716892e-01 -3.66069530e-03 1.19591731e+02] [-9.24674396e-01 -3.80655578e-01 8.86525465e-03 -1.30285957e+02] [-9.59131482e-03 1.04986290e-05 -9.99954002e-01 -4.13816569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.012435131861851826 Centerline is valid? [True, True] Translation: X:119.62, Y:-130.40, Z:-4.14 [[ 4.52861252e-01 -8.91570988e-01 -4.22615171e-03 1.19616332e+02] [-8.91531876e-01 -4.52880971e-01 8.35111038e-03 -1.30403222e+02] [-9.35955142e-03 -1.41453411e-05 -9.99956198e-01 -4.13800012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.012539402678214177 Centerline is valid? [True, True] Translation: X:119.65, Y:-130.52, Z:-4.14 [[ 5.22391439e-01 -8.52693430e-01 -4.59331839e-03 1.19649885e+02] [-8.52659816e-01 -5.22411631e-01 7.57140461e-03 -1.30521765e+02] [-8.85568992e-03 -3.86989402e-05 -9.99960787e-01 -4.13850254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.013154540803795732 Centerline is valid? [True, True] Translation: X:119.68, Y:-130.63, Z:-4.14 [[ 5.88549315e-01 -8.08440575e-01 -5.79147330e-03 1.19684058e+02] [-8.08400215e-01 -5.88577805e-01 8.07833339e-03 -1.30626100e+02] [-9.93958513e-03 -7.26693233e-05 -9.99950599e-01 -4.13648148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.01331491291829129 Centerline is valid? [True, True] Translation: X:119.73, Y:-130.73, Z:-4.14 [[ 6.52087802e-01 -7.58117384e-01 -6.28741543e-03 1.19730866e+02] [-7.58080419e-01 -6.52118102e-01 7.48728515e-03 -1.30732796e+02] [-9.77637845e-03 -1.16000791e-04 -9.99952203e-01 -4.13723204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.013577152638105213 Centerline is valid? [True, True] Translation: X:119.78, Y:-130.83, Z:-4.14 [[ 7.09358142e-01 -7.04818111e-01 -6.51588156e-03 1.19782463e+02] [-7.04786712e-01 -7.09388056e-01 6.65410021e-03 -1.30830211e+02] [-9.31221890e-03 -1.27833422e-04 -9.99956632e-01 -4.13747256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.0135138675025397 Centerline is valid? [True, True] Translation: X:119.84, Y:-130.92, Z:-4.14 [[ 7.61229846e-01 -6.48451839e-01 -6.27169090e-03 1.19841474e+02] [-6.48428556e-01 -7.61255672e-01 5.49630206e-03 -1.30921654e+02] [-8.33844745e-03 -1.17205697e-04 -9.99965228e-01 -4.13863504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.013488482425564599 Centerline is valid? [True, True] Translation: X:119.86, Y:-130.95, Z:-4.14 [[ 8.09081275e-01 -5.87665562e-01 -6.05624398e-03 1.19860483e+02] [-5.87648176e-01 -8.09103935e-01 4.52148128e-03 -1.30947375e+02] [-7.55724968e-03 -9.93051063e-05 -9.99971439e-01 -4.13931572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.013380291349841554 Centerline is valid? [True, True] Translation: X:119.88, Y:-130.97, Z:-4.14 [[ 8.52296017e-01 -5.23016909e-01 -6.69426700e-03 1.19882446e+02] [-5.22999851e-01 -8.52322300e-01 4.22523669e-03 -1.30972456e+02] [-7.91554328e-03 -1.00051757e-04 -9.99968667e-01 -4.13898888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.013589233802783658 Centerline is valid? [True, True] Translation: X:119.91, Y:-130.99, Z:-4.14 [[ 8.90690495e-01 -4.54552766e-01 -7.22665143e-03 1.19905279e+02] [-4.54536843e-01 -8.90719805e-01 3.80611548e-03 -1.30994721e+02] [-8.16700188e-03 -1.05291556e-04 -9.99966644e-01 -4.13838021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.013481458375951142 Centerline is valid? [True, True] Translation: X:119.93, Y:-131.02, Z:-4.14 [[ 9.23638432e-01 -3.83182326e-01 -7.95937677e-03 1.19931110e+02] [-3.83167019e-01 -9.23672719e-01 3.42693300e-03 -1.31017378e+02] [-8.66499935e-03 -1.15476357e-04 -9.99962452e-01 -4.13758335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.013431315983464264 Centerline is valid? [True, True] Translation: X:119.96, Y:-131.04, Z:-4.14 [[ 9.50566049e-01 -3.10347236e-01 -1.04297205e-02 1.19958647e+02] [-3.10326926e-01 -9.50623255e-01 3.55322086e-03 -1.31035861e+02] [-1.10174671e-02 -1.40948013e-04 -9.99939296e-01 -4.13576459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.01387091480257074 Centerline is valid? [True, True] Translation: X:119.99, Y:-131.05, Z:-4.13 [[ 9.71766234e-01 -2.35680148e-01 -1.11916626e-02 1.19987318e+02] [-2.35662853e-01 -9.71830668e-01 2.85858760e-03 -1.31051350e+02] [-1.15501133e-02 -1.40419771e-04 -9.99933285e-01 -4.13376855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.0130230740699381 Centerline is valid? [True, True] Translation: X:120.02, Y:-131.06, Z:-4.13 [[ 9.86854858e-01 -1.61150852e-01 -1.21610806e-02 1.20018605e+02] [-1.61137080e-01 -9.86929779e-01 2.11031323e-03 -1.31061460e+02] [-1.23422114e-02 -1.22971844e-04 -9.99923825e-01 -4.13492931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.012858921357714074 Centerline is valid? [True, True] Translation: X:120.05, Y:-131.07, Z:-4.14 [[ 9.96281845e-01 -8.54185591e-02 -1.12319029e-02 1.20046079e+02] [-8.54121167e-02 -9.96345152e-01 1.05289908e-03 -1.31069428e+02] [-1.12807892e-02 -8.96436313e-05 -9.99936366e-01 -4.13572861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.012624260775441345 Centerline is valid? [True, True] Translation: X:120.07, Y:-131.07, Z:-4.14 [[ 9.99907277e-01 -9.89920477e-03 -9.35113015e-03 1.20073689e+02] [-9.89831273e-03 -9.99951001e-01 1.41672114e-04 -1.31071943e+02] [-9.35207439e-03 -4.90985675e-05 -9.99956267e-01 -4.13768298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.012395648463205145 Centerline is valid? [True, True] Translation: X:120.10, Y:-131.08, Z:-4.14 [[ 9.97733087e-01 6.67671243e-02 -8.41652104e-03 1.20101744e+02] [ 6.67650049e-02 -9.97768586e-01 -5.32850357e-04 -1.31076814e+02] [-8.43331718e-03 -3.02866364e-05 -9.99964439e-01 -4.13877249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.012327131522499507 Centerline is valid? [True, True] Translation: X:120.13, Y:-131.08, Z:-4.14 [[ 9.89615397e-01 1.43551915e-01 -7.36296841e-03 1.20130573e+02] [ 1.43548078e-01 -9.89642788e-01 -1.04974402e-03 -1.31080644e+02] [-7.43740135e-03 -1.80971168e-05 -9.99972342e-01 -4.13828017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.012412991594576279 Centerline is valid? [True, True] Translation: X:120.16, Y:-131.08, Z:-4.14 [[ 9.75238346e-01 2.21028901e-01 -7.50957877e-03 1.20159364e+02] [ 2.21022523e-01 -9.75267258e-01 -1.67932238e-03 -1.31084163e+02] [-7.69502508e-03 -2.20464681e-05 -9.99970393e-01 -4.13781322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.012507598874545223 Centerline is valid? [True, True] Translation: X:120.19, Y:-131.08, Z:-4.14 [[ 9.54903104e-01 2.96824797e-01 -7.42306989e-03 1.20188114e+02] [ 2.96816020e-01 -9.54931955e-01 -2.28280937e-03 -1.31084106e+02] [-7.76612107e-03 -2.34243046e-05 -9.99969843e-01 -4.13702398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.012517036049901727 Centerline is valid? [True, True] Translation: X:120.22, Y:-131.08, Z:-4.13 [[ 9.28887964e-01 3.70276459e-01 -7.90533720e-03 1.20217155e+02] [ 3.70263253e-01 -9.28921602e-01 -3.12733882e-03 -1.31081174e+02] [-8.50141844e-03 -2.21084767e-05 -9.99963862e-01 -4.13498828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.012389403623310187 Centerline is valid? [True, True] Translation: X:120.25, Y:-131.08, Z:-4.13 [[ 8.97586036e-01 4.40775022e-01 -7.52914241e-03 1.20246381e+02] [ 4.40759625e-01 -8.97617614e-01 -3.68414397e-03 -1.31076904e+02] [-8.38216948e-03 -1.17058045e-05 -9.99964869e-01 -4.13490907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.012275088368392884 Centerline is valid? [True, True] Translation: X:120.27, Y:-131.07, Z:-4.14 [[ 8.61218905e-01 5.08185777e-01 -7.01523289e-03 1.20274932e+02] [ 5.08168890e-01 -8.61247477e-01 -4.14274286e-03 -1.31070606e+02] [-8.14713463e-03 2.88535653e-06 -9.99966812e-01 -4.13544622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.012429732459234987 Centerline is valid? [True, True] Translation: X:120.30, Y:-131.06, Z:-4.14 [[ 8.20734318e-01 5.71274658e-01 -6.35959975e-03 1.20302779e+02] [ 5.71257232e-01 -8.20758956e-01 -4.46214988e-03 -1.31061675e+02] [-7.76881160e-03 2.92721873e-05 -9.99969822e-01 -4.13542037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.012556180498091582 Centerline is valid? [True, True] Translation: X:120.33, Y:-131.05, Z:-4.14 [[ 7.74694644e-01 6.32310736e-01 -5.59839496e-03 1.20329503e+02] [ 6.32293840e-01 -7.74714872e-01 -4.62256342e-03 -1.31050825e+02] [-7.26005630e-03 4.12444821e-05 -9.99973645e-01 -4.13594944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.012881499671970009 Centerline is valid? [True, True] Translation: X:120.35, Y:-131.04, Z:-4.14 [[ 7.24894658e-01 6.88844948e-01 -4.51360645e-03 1.20354810e+02] [ 6.88831123e-01 -7.24908708e-01 -4.36446382e-03 -1.31036591e+02] [-6.27839147e-03 5.46639047e-05 -9.99980289e-01 -4.13617207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.013267517685932772 Centerline is valid? [True, True] Translation: X:120.38, Y:-131.02, Z:-4.14 [[ 6.69894442e-01 7.42447005e-01 -3.72581037e-03 1.20378506e+02] [ 7.42435040e-01 -6.69904800e-01 -4.21552926e-03 -1.31021380e+02] [-5.62574532e-03 5.77874488e-05 -9.99984174e-01 -4.13646274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.013243955481704407 Centerline is valid? [True, True] Translation: X:120.40, Y:-131.01, Z:-4.14 [[ 6.10181017e-01 7.92255342e-01 -3.25558941e-03 1.20403059e+02] [ 7.92243548e-01 -6.10189699e-01 -4.32347218e-03 -1.31006190e+02] [-5.41182105e-03 5.88809516e-05 -9.99985354e-01 -4.13612996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.013186930369815256 Centerline is valid? [True, True] Translation: X:120.43, Y:-130.99, Z:-4.14 [[ 5.45561595e-01 8.38065475e-01 -2.96726154e-03 1.20425592e+02] [ 8.38052521e-01 -5.45569662e-01 -4.66007974e-03 -1.30987772e+02] [-5.52429982e-03 5.56395234e-05 -9.99984739e-01 -4.13557165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.013042610783344573 Centerline is valid? [True, True] Translation: X:120.44, Y:-130.97, Z:-4.14 [[ 4.77246852e-01 8.78764996e-01 -2.74307421e-03 1.20444596e+02] [ 8.78749846e-01 -4.77254732e-01 -5.16029416e-03 -1.30966569e+02] [-5.84383103e-03 5.22581063e-05 -9.99982923e-01 -4.13504900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.012696576598993845 Centerline is valid? [True, True] Translation: X:120.47, Y:-130.95, Z:-4.13 [[ 4.04006278e-01 9.14752069e-01 -2.75320167e-03 1.20466673e+02] [ 9.14730160e-01 -4.04015657e-01 -6.33114161e-03 -1.30945698e+02] [-6.90376147e-03 3.93843503e-05 -9.99976168e-01 -4.13442485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.012428367360532468 Centerline is valid? [True, True] Translation: X:120.49, Y:-130.92, Z:-4.13 [[ 3.27789923e-01 9.44746949e-01 -2.63988870e-03 1.20488279e+02] [ 9.44715875e-01 -3.27800553e-01 -7.66246652e-03 -1.30923614e+02] [-8.10444884e-03 1.77345535e-05 -9.99967158e-01 -4.13370336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.01234788930208343 Centerline is valid? [True, True] Translation: X:120.50, Y:-130.90, Z:-4.13 [[ 2.51114114e-01 9.67955241e-01 -2.08625775e-03 1.20504919e+02] [ 9.67921718e-01 -2.51122780e-01 -8.05593550e-03 -1.30898603e+02] [-8.32169183e-03 3.62492045e-06 -9.99965374e-01 -4.13354110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.012348249296902637 Centerline is valid? [True, True] Translation: X:120.52, Y:-130.87, Z:-4.13 [[ 1.74584116e-01 9.84641377e-01 -1.32123819e-03 1.20519651e+02] [ 9.84613025e-01 -1.74589116e-01 -7.47199704e-03 -1.30872485e+02] [-7.58791126e-03 3.58366423e-06 -9.99971211e-01 -4.13460324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.012262306011867168 Centerline is valid? [True, True] Translation: X:120.53, Y:-130.85, Z:-4.14 [[ 9.77823881e-02 9.95207624e-01 -6.24964125e-04 1.20532742e+02] [ 9.95186743e-01 -9.77843849e-02 -6.44683524e-03 -1.30845097e+02] [-6.47705132e-03 8.43093448e-06 -9.99979024e-01 -4.13519973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.012274026013623802 Centerline is valid? [True, True] Translation: X:120.54, Y:-130.82, Z:-4.14 [[ 2.08979509e-02 9.99781607e-01 -1.15200233e-04 1.20543285e+02] [ 9.99761582e-01 -2.08982614e-02 -6.32786756e-03 -1.30816773e+02] [-6.32889309e-03 1.70666980e-05 -9.99979972e-01 -4.13558341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.012355766126884337 Centerline is valid? [True, True] Translation: X:120.55, Y:-130.79, Z:-4.14 [[-5.66764141e-02 9.98392515e-01 4.12774195e-04 1.20549585e+02] [ 9.98369050e-01 5.66779121e-02 -6.84502163e-03 -1.30789062e+02] [-6.85741354e-03 2.41497003e-05 -9.99976487e-01 -4.13507600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.012482151660030248 Centerline is valid? [True, True] Translation: X:120.55, Y:-130.76, Z:-4.13 [[-1.35139940e-01 9.90825796e-01 1.19967468e-03 1.20554561e+02] [ 9.90788505e-01 1.35145262e-01 -8.59636637e-03 -1.30759731e+02] [-8.67963190e-03 2.69114493e-05 -9.99962331e-01 -4.13353662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.012625250041547418 Centerline is valid? [True, True] Translation: X:120.56, Y:-130.73, Z:-4.13 [[-2.12738098e-01 9.77106714e-01 2.22975825e-03 1.20557709e+02] [ 9.77054419e-01 2.12749781e-01 -1.01090247e-02 -1.30730928e+02] [-1.03519765e-02 2.80204558e-05 -9.99946417e-01 -4.13202276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.01290865861147056 Centerline is valid? [True, True] Translation: X:120.55, Y:-130.70, Z:-4.13 [[-2.88406405e-01 9.57501245e-01 3.62100937e-03 1.20554924e+02] [ 9.57427358e-01 2.88429133e-01 -1.18949195e-02 -1.30704170e+02] [-1.24338048e-02 3.62824791e-05 -9.99922697e-01 -4.12891083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.01287907840934581 Centerline is valid? [True, True] Translation: X:120.55, Y:-130.68, Z:-4.13 [[-3.61999619e-01 9.32167180e-01 4.54152732e-03 1.20548555e+02] [ 9.32095331e-01 3.62028103e-01 -1.15735112e-02 -1.30676604e+02] [-1.24326078e-02 4.35297628e-05 -9.99922711e-01 -4.13009656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.012724450082171596 Centerline is valid? [True, True] Translation: X:120.54, Y:-130.65, Z:-4.13 [[-4.33777093e-01 9.01006562e-01 4.96071281e-03 1.20543297e+02] [ 9.00948736e-01 4.33805455e-01 -1.02079591e-02 -1.30649022e+02] [-1.13494224e-02 4.13691282e-05 -9.99935592e-01 -4.13198692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.01264853237099517 Centerline is valid? [True, True] Translation: X:120.53, Y:-130.62, Z:-4.13 [[-5.03749625e-01 8.63839685e-01 4.16087126e-03 1.20534907e+02] [ 8.63810598e-01 5.03766808e-01 -7.08898303e-03 -1.30623700e+02] [-8.21985371e-03 2.31321436e-05 -9.99966216e-01 -4.13395258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.01260957335984339 Centerline is valid? [True, True] Translation: X:120.53, Y:-130.60, Z:-4.13 [[-5.73701018e-01 8.19052707e-01 4.45023596e-03 1.20525917e+02] [ 8.19027876e-01 5.73718278e-01 -6.37778624e-03 -1.30596756e+02] [-7.77692480e-03 -1.40751509e-05 -9.99969759e-01 -4.13415879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.012708668476427556 Centerline is valid? [True, True] Translation: X:120.52, Y:-130.57, Z:-4.13 [[-6.38000903e-01 7.70018762e-01 5.09452759e-03 1.20515276e+02] [ 7.69993781e-01 6.38021242e-01 -6.20259295e-03 -1.30569584e+02] [-8.02652977e-03 -3.45053518e-05 -9.99967786e-01 -4.13404011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.013590772065599534 Centerline is valid? [True, True] Translation: X:120.51, Y:-130.54, Z:-4.13 [[-7.01761612e-01 7.12382111e-01 6.50901701e-03 1.20505626e+02] [ 7.12349984e-01 7.01791789e-01 -6.76646957e-03 -1.30540793e+02] [-9.38828657e-03 -1.11750427e-04 -9.99955923e-01 -4.13235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.015363375168001953 Centerline is valid? [True, True] Translation: X:120.49, Y:-130.51, Z:-4.13 [[-7.59223706e-01 6.50781457e-01 7.92836078e-03 1.20493016e+02] [ 6.50743364e-01 7.59265078e-01 -7.04380384e-03 -1.30514434e+02] [-1.06037044e-02 -1.88494689e-04 -9.99943761e-01 -4.13021979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.015421689562805431 Centerline is valid? [True, True] Translation: X:120.51, Y:-130.49, Z:-4.13 [[-8.04841707e-01 5.93418672e-01 9.17097527e-03 1.20509655e+02] [ 5.93376806e-01 8.04893922e-01 -7.05274754e-03 -1.30492608e+02] [-1.15668943e-02 -2.34501353e-04 -9.99933074e-01 -4.13020508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.017107824351863095 Centerline is valid? [True, True] Translation: X:120.53, Y:-130.47, Z:-4.13 [[-8.45591182e-01 5.33736978e-01 1.00195268e-02 1.20527390e+02] [ 5.33695825e-01 8.45650501e-01 -6.63300751e-03 -1.30468717e+02] [-1.20132993e-02 -2.61433030e-04 -9.99927804e-01 -4.12811069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.0162216892884239 Centerline is valid? [True, True] Translation: X:120.54, Y:-130.45, Z:-4.13 [[-8.80486948e-01 4.73959492e-01 1.02535079e-02 1.20537657e+02] [ 4.73924210e-01 8.80546617e-01 -5.78786767e-03 -1.30446875e+02] [-1.17719065e-02 -2.36756321e-04 -9.99930681e-01 -4.12884327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.0137893598763792 Centerline is valid? [True, True] Translation: X:120.55, Y:-130.43, Z:-4.13 [[-9.09652122e-01 4.15289150e-01 8.24248189e-03 1.20551421e+02] [ 4.15270758e-01 9.09689455e-01 -3.91071586e-03 -1.30432272e+02] [-9.12217672e-03 -1.34529282e-04 -9.99958383e-01 -4.13210753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.012811483711589751 Centerline is valid? [True, True] Translation: X:120.56, Y:-130.41, Z:-4.13 [[-9.34225720e-01 3.56613173e-01 7.02481210e-03 1.20560412e+02] [ 3.56602635e-01 9.34252129e-01 -2.74217167e-03 -1.30413675e+02] [-7.54084021e-03 -5.67408010e-05 -9.99971566e-01 -4.13360422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.012485296434412966 Centerline is valid? [True, True] Translation: X:120.58, Y:-130.40, Z:-4.13 [[-9.55159156e-01 2.96006139e-01 7.16604385e-03 1.20581607e+02] [ 2.95997746e-01 9.55186037e-01 -2.22896604e-03 -1.30398767e+02] [-7.50469266e-03 -7.88448842e-06 -9.99971839e-01 -4.13378076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.012567688841807352 Centerline is valid? [True, True] Translation: X:120.59, Y:-130.38, Z:-4.13 [[-9.73000299e-01 2.30632326e-01 8.89653375e-03 1.20590687e+02] [ 2.30622867e-01 9.73040970e-01 -2.08885452e-03 -1.30375428e+02] [-9.13844921e-03 1.92880533e-05 -9.99958243e-01 -4.13254708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.012637304506530982 Centerline is valid? [True, True] Translation: X:120.76, Y:-129.68, Z:-5.12 [[-9.56869098e-01 -2.90352496e-01 9.84664155e-03 1.20760842e+02] [ 2.90337641e-01 -9.56919759e-01 -2.93745667e-03 -1.29675816e+02] [ 1.02753437e-02 4.80891647e-05 9.99947206e-01 -5.12018053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.01270469442359693 Centerline is valid? [True, True] Translation: X:120.54, Y:-130.36, Z:-4.13 [[-9.73335995e-01 2.29138874e-01 1.06027180e-02 1.20543783e+02] [ 2.29125809e-01 9.73393741e-01 -2.44734998e-03 -1.30363609e+02] [-1.08814024e-02 4.72625152e-05 -9.99940795e-01 -4.13203926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.013029650353599228 Centerline is valid? [True, True] Translation: X:120.71, Y:-129.67, Z:-5.12 [[-9.58803658e-01 -2.83875211e-01 1.05076276e-02 1.20711263e+02] [ 2.83857682e-01 -9.58861232e-01 -3.15485646e-03 -1.29665242e+02] [ 1.09709422e-02 -4.22171143e-05 9.99939817e-01 -5.12089705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.013017551880909474 Centerline is valid? [True, True] Translation: X:120.50, Y:-130.35, Z:-4.13 [[-9.73503826e-01 2.28432370e-01 1.04380936e-02 1.20498389e+02] [ 2.28420112e-01 9.73559780e-01 -2.36780798e-03 -1.30351826e+02] [-1.07029921e-02 7.92003864e-05 -9.99942718e-01 -4.13122138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.013148784135446024 Centerline is valid? [True, True] Translation: X:120.51, Y:-130.32, Z:-4.13 [[-9.87213961e-01 1.59041631e-01 1.06937123e-02 1.20505330e+02] [ 1.59033209e-01 9.87271874e-01 -1.63875114e-03 -1.30323462e+02] [-1.08182310e-02 8.28573722e-05 -9.99941478e-01 -4.13184951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.013045238472716394 Centerline is valid? [True, True] Translation: X:120.51, Y:-130.29, Z:-4.13 [[-9.96000512e-01 8.87351465e-02 1.04428831e-02 1.20509661e+02] [ 8.87311280e-02 9.96055253e-01 -8.48417428e-04 -1.30294890e+02] [-1.04769730e-02 8.15846028e-05 -9.99945112e-01 -4.13244964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.01312107241129098 Centerline is valid? [True, True] Translation: X:120.51, Y:-130.27, Z:-4.13 [[-9.99790110e-01 1.79123365e-02 9.94408264e-03 1.20507548e+02] [ 1.79122370e-02 9.99839558e-01 -9.90701372e-05 -1.30265150e+02] [-9.94426177e-03 7.90714219e-05 -9.99950552e-01 -4.13268588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.01292107183797306 Centerline is valid? [True, True] Translation: X:120.52, Y:-129.57, Z:-5.12 [[-9.97574598e-01 -6.90999324e-02 8.37380420e-03 1.20518659e+02] [ 6.90960960e-02 -9.97609729e-01 -7.46931403e-04 -1.29566689e+02] [ 8.40540145e-03 -1.66522616e-04 9.99964660e-01 -5.11773041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.013086880465488738 Centerline is valid? [True, True] Translation: X:120.44, Y:-130.26, Z:-4.13 [[-9.99871521e-01 1.39413871e-02 7.91076471e-03 1.20443517e+02] [ 1.39414862e-02 9.99902812e-01 -4.26181712e-05 -1.30260324e+02] [-7.91059004e-03 6.76751213e-05 -9.99968709e-01 -4.13426216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.012943090310238176 Centerline is valid? [True, True] Translation: X:120.45, Y:-129.57, Z:-5.12 [[-9.97932823e-01 -6.37460520e-02 8.15608928e-03 1.20450678e+02] [ 6.37434906e-02 -9.97966151e-01 -5.73878716e-04 -1.29570352e+02] [ 8.17608353e-03 -5.27948063e-05 9.99966574e-01 -5.11662580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.01307052093879314 Centerline is valid? [True, True] Translation: X:120.38, Y:-130.26, Z:-4.13 [[-9.99912837e-01 9.90895821e-03 8.72530880e-03 1.20377503e+02] [ 9.90927012e-03 9.99950902e-01 -7.48483448e-06 -1.30256095e+02] [-8.72495458e-03 7.89772597e-05 -9.99961934e-01 -4.13484160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.013374142909051773 Centerline is valid? [True, True] Translation: X:120.38, Y:-129.57, Z:-5.12 [[-9.98149895e-01 -5.99759573e-02 9.98361546e-03 1.20380410e+02] [ 5.99728939e-02 -9.98199822e-01 -6.06217642e-04 -1.29574106e+02] [ 1.00020017e-02 -6.34976498e-06 9.99949979e-01 -5.11897805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.013103563405771184 Centerline is valid? [True, True] Translation: X:120.31, Y:-130.25, Z:-4.13 [[-9.99949136e-01 2.63642370e-03 9.73519875e-03 1.20311931e+02] [ 2.63689120e-03 9.99996523e-01 3.51870605e-05 -1.30251232e+02] [-9.73507213e-03 6.08559307e-05 -9.99952611e-01 -4.13265208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.012860214842687267 Centerline is valid? [True, True] Translation: X:120.31, Y:-129.58, Z:-5.12 [[-9.98224984e-01 -5.87833499e-02 9.56030067e-03 1.20309964e+02] [ 5.87799813e-02 -9.98270761e-01 -6.33196115e-04 -1.29579209e+02] [ 9.58099002e-03 -7.01178863e-05 9.99954099e-01 -5.11858841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.01280719072745243 Centerline is valid? [True, True] Translation: X:120.24, Y:-130.25, Z:-4.13 [[-9.99934251e-01 -5.78923541e-03 9.89842535e-03 1.20244224e+02] [-5.78873342e-03 9.99983242e-01 7.93633253e-05 -1.30247788e+02] [-9.89871893e-03 2.20587615e-05 -9.99951006e-01 -4.13295020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.012692494917296307 Centerline is valid? [True, True] Translation: X:120.24, Y:-129.58, Z:-5.12 [[-9.98159746e-01 -6.00222310e-02 8.62860204e-03 1.20240376e+02] [ 6.00190867e-02 -9.98197035e-01 -6.23132501e-04 -1.29583953e+02] [ 8.65044678e-03 -1.04104966e-04 9.99962579e-01 -5.11753373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.012777427968549538 Centerline is valid? [True, True] Translation: X:120.18, Y:-130.24, Z:-4.13 [[-9.99858718e-01 -1.48610174e-02 7.85461171e-03 1.20181101e+02] [-1.48607033e-02 9.99889569e-01 9.83542594e-05 -1.30244893e+02] [-7.85520596e-03 -1.83846901e-05 -9.99969147e-01 -4.13458089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.012831919920880034 Centerline is valid? [True, True] Translation: X:120.17, Y:-129.59, Z:-5.12 [[-9.98231382e-01 -5.90798287e-02 6.60917689e-03 1.20172706e+02] [ 5.90780910e-02 -9.98253259e-01 -4.58015244e-04 -1.29587419e+02] [ 6.62469184e-03 -6.67476357e-05 9.99978054e-01 -5.11725611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.012851654776690528 Centerline is valid? [True, True] Translation: X:120.11, Y:-130.24, Z:-4.14 [[-9.99727813e-01 -2.24249184e-02 6.43600541e-03 1.20110948e+02] [-2.24246855e-02 9.99748529e-01 1.08357035e-04 -1.30244567e+02] [-6.43681684e-03 -3.59978550e-05 -9.99979283e-01 -4.13514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.013307853009952223 Centerline is valid? [True, True] Translation: X:120.11, Y:-130.21, Z:-4.14 [[-9.95273775e-01 -9.68990047e-02 6.37936229e-03 1.20110843e+02] [-9.68973889e-02 9.95294218e-01 5.62606747e-04 -1.30214742e+02] [-6.40385844e-03 -5.81958084e-05 -9.99979493e-01 -4.13503479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.013628084121221363 Centerline is valid? [True, True] Translation: X:120.04, Y:-129.57, Z:-5.12 [[-9.99945457e-01 8.50046471e-03 6.06840215e-03 1.20042728e+02] [-8.50011222e-03 -9.99963870e-01 8.38759212e-05 -1.29569323e+02] [ 6.06889588e-03 3.22892471e-05 9.99981584e-01 -5.11620934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.013791149526436368 Centerline is valid? [True, True] Translation: X:120.03, Y:-130.22, Z:-4.14 [[-9.94450132e-01 -1.05034196e-01 6.06247442e-03 1.20032398e+02] [-1.05032694e-01 9.94468608e-01 5.66435402e-04 -1.30219726e+02] [-6.08843559e-03 -7.34662631e-05 -9.99981463e-01 -4.13561876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.013961779452595031 Centerline is valid? [True, True] Translation: X:119.97, Y:-129.58, Z:-5.12 [[-9.99886719e-01 1.34962935e-02 6.66325441e-03 1.19974642e+02] [-1.34952041e-02 -9.99908914e-01 2.08430127e-04 -1.29575867e+02] [ 6.66546052e-03 1.18484538e-04 9.99977779e-01 -5.11662697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.013694448576530727 Centerline is valid? [True, True] Translation: X:119.96, Y:-130.23, Z:-4.13 [[-9.93997452e-01 -1.09081938e-01 8.37828358e-03 1.19961259e+02] [-1.09078873e-01 9.94032757e-01 8.23312263e-04 -1.30227158e+02] [-8.41809682e-03 -9.55234382e-05 -9.99964563e-01 -4.13428238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.013616970422342944 Centerline is valid? [True, True] Translation: X:119.90, Y:-129.58, Z:-5.12 [[-9.99744584e-01 2.00638737e-02 1.04022888e-02 1.19901337e+02] [-2.00602075e-02 -9.99798670e-01 4.56667898e-04 -1.29580779e+02] [ 1.04093570e-02 2.47879186e-04 9.99945791e-01 -5.11866084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.013529561521189955 Centerline is valid? [True, True] Translation: X:119.89, Y:-130.24, Z:-4.13 [[-9.93748583e-01 -1.11097141e-01 1.10081361e-02 1.19888074e+02] [-1.11091360e-01 9.93809547e-01 1.13720709e-03 -1.30238558e+02] [-1.10663312e-02 -9.28108777e-05 -9.99938762e-01 -4.13303310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.013362586153457952 Centerline is valid? [True, True] Translation: X:119.88, Y:-130.22, Z:-4.13 [[-9.83650557e-01 -1.79791451e-01 1.03255192e-02 1.19875475e+02] [-1.79782282e-01 9.83704747e-01 1.81704626e-03 -1.30215891e+02] [-1.04839516e-02 -6.90068312e-05 -9.99945040e-01 -4.13428210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.013149542960517582 Centerline is valid? [True, True] Translation: X:119.87, Y:-130.19, Z:-4.14 [[-9.68984191e-01 -2.46946526e-01 9.33015584e-03 1.19865004e+02] [-2.46935451e-01 9.69029108e-01 2.33901564e-03 -1.30194509e+02] [-9.61880438e-03 -3.74770715e-05 -9.99953738e-01 -4.13514835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.013104000734487965 Centerline is valid? [True, True] Translation: X:119.84, Y:-130.18, Z:-4.14 [[-9.49150737e-01 -3.14695580e-01 8.92017114e-03 1.19841452e+02] [-3.14681916e-01 9.49192652e-01 2.93264321e-03 -1.30175678e+02] [-9.38985077e-03 -2.34960795e-05 -9.99955914e-01 -4.13533476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.01313173978047615 Centerline is valid? [True, True] Translation: X:119.80, Y:-130.16, Z:-4.14 [[-9.24402082e-01 -3.81311166e-01 9.08760241e-03 1.19801937e+02] [-3.81292857e-01 9.24446750e-01 3.73675026e-03 -1.30164950e+02] [-9.82586911e-03 -1.07781632e-05 -9.99951725e-01 -4.13597821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.01316058673670973 Centerline is valid? [True, True] Translation: X:119.74, Y:-130.17, Z:-4.14 [[-8.93976153e-01 -4.48004311e-01 9.93857332e-03 1.19741645e+02] [-4.47976745e-01 8.94031396e-01 4.96976402e-03 -1.30166729e+02] [-1.11118723e-02 -9.39920996e-06 -9.99938261e-01 -4.13535615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.013217038983616388 Centerline is valid? [True, True] Translation: X:119.67, Y:-130.18, Z:-4.13 [[-8.58274141e-01 -5.13080269e-01 1.06834773e-02 1.19674214e+02] [-5.13040736e-01 8.58340630e-01 6.36911070e-03 -1.30175004e+02] [-1.24379276e-02 -1.46160307e-05 -9.99922646e-01 -4.13453170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.013213936169686302 Centerline is valid? [True, True] Translation: X:119.60, Y:-130.20, Z:-4.13 [[-8.16888572e-01 -5.76693430e-01 1.08511878e-02 1.19596949e+02] [-5.76643155e-01 8.16960639e-01 7.61481415e-03 -1.30195675e+02] [-1.32564066e-02 -3.68085306e-05 -9.99912129e-01 -4.13400169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.013309695675887639 Centerline is valid? [True, True] Translation: X:119.52, Y:-130.22, Z:-4.13 [[-7.70665107e-01 -6.37151906e-01 1.06180284e-02 1.19518974e+02] [-6.37092430e-01 7.70738248e-01 8.70569092e-03 -1.30222506e+02] [-1.37305682e-02 -5.54933198e-05 -9.99905730e-01 -4.13333480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.01328833375322966 Centerline is valid? [True, True] Translation: X:119.44, Y:-130.26, Z:-4.13 [[-7.19524401e-01 -6.94403080e-01 9.43397599e-03 1.19441586e+02] [-6.94344707e-01 7.19586241e-01 9.00386021e-03 -1.30259249e+02] [-1.30408676e-02 -7.19341731e-05 -9.99914962e-01 -4.13355389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.013499907546693782 Centerline is valid? [True, True] Translation: X:119.35, Y:-130.32, Z:-4.13 [[-6.64100120e-01 -7.47603315e-01 7.76617619e-03 1.19351182e+02] [-7.47553620e-01 6.64145524e-01 8.62028193e-03 -1.30315402e+02] [-1.16024225e-02 -8.09028529e-05 -9.99932686e-01 -4.13374284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.013866994605750794 Centerline is valid? [True, True] Translation: X:119.27, Y:-130.36, Z:-4.14 [[-6.01735286e-01 -7.98671504e-01 6.20286378e-03 1.19273543e+02] [-7.98631091e-01 6.01767244e-01 8.03528694e-03 -1.30364299e+02] [-1.01502349e-02 -1.18684186e-04 -9.99948478e-01 -4.13574038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.015014482396820062 Centerline is valid? [True, True] Translation: X:119.19, Y:-130.43, Z:-4.13 [[-5.35696274e-01 -8.44393150e-01 5.45073344e-03 1.19190044e+02] [-8.44352444e-01 5.35723980e-01 8.29256240e-03 -1.30428655e+02] [-9.92227150e-03 -1.60045319e-04 -9.99950760e-01 -4.13477560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.014841496064842736 Centerline is valid? [True, True] Translation: X:119.11, Y:-130.50, Z:-4.13 [[-4.69275760e-01 -8.83038045e-01 4.90639233e-03 1.19112608e+02] [-8.82993522e-01 4.69301377e-01 8.86892935e-03 -1.30504829e+02] [-1.01341787e-02 -1.70339083e-04 -9.99948633e-01 -4.13446316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.015073214376056155 Centerline is valid? [True, True] Translation: X:119.04, Y:-130.59, Z:-4.13 [[-4.01433726e-01 -9.15877267e-01 4.44923446e-03 1.19037390e+02] [-9.15825619e-01 4.01458346e-01 9.72793227e-03 -1.30591267e+02] [-1.06957743e-02 -1.69602808e-04 -9.99942784e-01 -4.13316169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.01431582779280319 Centerline is valid? [True, True] Translation: X:118.97, Y:-130.67, Z:-4.13 [[-3.31794177e-01 -9.43344083e-01 3.81634603e-03 1.18973994e+02] [-9.43287031e-01 3.31816088e-01 1.03759647e-02 -1.30674932e+02] [-1.10544299e-02 -1.57225051e-04 -9.99938886e-01 -4.13324795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.014077705231591296 Centerline is valid? [True, True] Translation: X:118.91, Y:-130.77, Z:-4.13 [[-2.59989430e-01 -9.65606961e-01 2.94840365e-03 1.18914437e+02] [-9.65550778e-01 2.60006110e-01 1.04171774e-02 -1.30770536e+02] [-1.08255020e-02 -1.38477428e-04 -9.99941393e-01 -4.13345246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.013278472179159053 Centerline is valid? [True, True] Translation: X:118.86, Y:-130.87, Z:-4.13 [[-1.88712560e-01 -9.82030378e-01 1.97641648e-03 1.18863826e+02] [-9.81981525e-01 1.88722887e-01 9.79573768e-03 -1.30872371e+02] [-9.99270700e-03 -9.22257344e-05 -9.99950067e-01 -4.13389515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.013071550253633324 Centerline is valid? [True, True] Translation: X:118.82, Y:-130.99, Z:-4.13 [[-1.15751406e-01 -9.93277397e-01 1.27445463e-03 1.18818789e+02] [-9.93223309e-01 1.15758403e-01 1.03657977e-02 -1.30991414e+02] [-1.04436414e-02 -6.59623917e-05 -9.99945462e-01 -4.13293158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.012880593288739781 Centerline is valid? [True, True] Translation: X:118.79, Y:-131.09, Z:-4.13 [[-4.23162895e-02 -9.99104136e-01 5.06628774e-04 1.18785300e+02] [-9.99041812e-01 4.23193086e-02 1.11594775e-02 -1.31089688e+02] [-1.11709203e-02 -3.39156468e-05 -9.99937603e-01 -4.13175396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.01287770722522822 Centerline is valid? [True, True] Translation: X:118.76, Y:-131.21, Z:-4.13 [[ 3.38902043e-02 -9.99425497e-01 -3.60498064e-04 1.18756975e+02] [-9.99359574e-01 -3.38921094e-02 1.14789345e-02 -1.31210387e+02] [-1.14845578e-02 -2.87562419e-05 -9.99934050e-01 -4.13122449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.012931492164965998 Centerline is valid? [True, True] Translation: X:118.06, Y:-131.34, Z:-5.12 [[-4.03192324e-02 9.99186745e-01 4.57163887e-04 1.18055272e+02] [-9.99128919e-01 -4.03218174e-02 1.07495993e-02 -1.31338581e+02] [ 1.07592908e-02 -2.33500681e-05 9.99942117e-01 -5.12069813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.013278237364781623 Centerline is valid? [True, True] Translation: X:118.76, Y:-131.49, Z:-4.13 [[ 4.98577325e-02 -9.98756254e-01 -3.90342327e-04 1.18758046e+02] [-9.98710762e-01 -4.98591873e-02 9.53284987e-03 -1.31493436e+02] [-9.54045557e-03 -8.54471960e-05 -9.99954485e-01 -4.13200451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.013458041933717442 Centerline is valid? [True, True] Translation: X:118.74, Y:-131.61, Z:-4.13 [[ 1.29156627e-01 -9.91623709e-01 -9.92828408e-04 1.18738255e+02] [-9.91588252e-01 -1.29160405e-01 8.38625214e-03 -1.31608552e+02] [-8.44424057e-03 -9.86630528e-05 -9.99964342e-01 -4.13278183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.014144795637286 Centerline is valid? [True, True] Translation: X:118.73, Y:-131.73, Z:-4.13 [[ 2.08830085e-01 -9.77950985e-01 -1.36642253e-03 1.18726272e+02] [-9.77926444e-01 -2.08834526e-01 6.92897783e-03 -1.31731772e+02] [-7.06155690e-03 -1.10718302e-04 -9.99975061e-01 -4.13292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.015031505439905455 Centerline is valid? [True, True] Translation: X:118.72, Y:-131.85, Z:-4.13 [[ 2.86444206e-01 -9.58094870e-01 -1.98424337e-03 1.18722072e+02] [-9.58068367e-01 -2.86451044e-01 7.12764251e-03 -1.31851680e+02] [-7.39734631e-03 -1.40631088e-04 -9.99972629e-01 -4.13162222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.015331517685745802 Centerline is valid? [True, True] Translation: X:118.73, Y:-131.97, Z:-4.13 [[ 3.60289653e-01 -9.32835779e-01 -2.96232795e-03 1.18729946e+02] [-9.32800116e-01 -3.60301788e-01 8.15871312e-03 -1.31971964e+02] [-8.67807157e-03 -1.76240059e-04 -9.99962329e-01 -4.13025477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.015411942925784438 Centerline is valid? [True, True] Translation: X:118.75, Y:-132.09, Z:-4.13 [[ 4.31033613e-01 -9.02326853e-01 -4.03415252e-03 1.18746268e+02] [-9.02282840e-01 -4.31052443e-01 8.91447226e-03 -1.32087542e+02] [-9.78269900e-03 -2.02490600e-04 -9.99952128e-01 -4.12889298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.01549741096577235 Centerline is valid? [True, True] Translation: X:118.77, Y:-132.20, Z:-4.13 [[ 4.98359226e-01 -8.66957399e-01 -4.79058355e-03 1.18770808e+02] [-8.66913387e-01 -4.98382210e-01 8.73795008e-03 -1.32197842e+02] [-9.96297209e-03 -2.01617029e-04 -9.99950348e-01 -4.12837588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.01438303088767201 Centerline is valid? [True, True] Translation: X:118.80, Y:-132.30, Z:-4.13 [[ 5.59907222e-01 -8.28537078e-01 -5.49664072e-03 1.18804611e+02] [-8.28494249e-01 -5.59934178e-01 8.42591206e-03 -1.32301631e+02] [-1.00589376e-02 -1.63793791e-04 -9.99949394e-01 -4.12799315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.01336855074903876 Centerline is valid? [True, True] Translation: X:118.85, Y:-132.40, Z:-4.13 [[ 6.17039370e-01 -7.86911467e-01 -5.72357531e-03 1.18846104e+02] [-7.86876115e-01 -6.17065907e-01 7.45962386e-03 -1.32400165e+02] [-9.40188674e-03 -9.91368982e-05 -9.99955796e-01 -4.12800888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.012444435159516876 Centerline is valid? [True, True] Translation: X:118.90, Y:-132.49, Z:-4.13 [[ 6.66075537e-01 -7.45864249e-01 -5.46817537e-03 1.18896462e+02] [-7.45839309e-01 -6.66097982e-01 6.09938177e-03 -1.32486722e+02] [-8.19165138e-03 1.57311520e-05 -9.99966448e-01 -4.12953057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.013179776880913839 Centerline is valid? [True, True] Translation: X:118.95, Y:-132.57, Z:-4.13 [[ 7.14709919e-01 -6.99398880e-01 -5.56227405e-03 1.18951976e+02] [-6.99378610e-01 -7.14731558e-01 5.32538469e-03 -1.32573448e+02] [-7.70010088e-03 8.40302380e-05 -9.99970350e-01 -4.13003656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.014744025831047601 Centerline is valid? [True, True] Translation: X:118.97, Y:-132.60, Z:-4.13 [[ 7.61759975e-01 -6.47843484e-01 -4.53434126e-03 1.18973114e+02] [-6.47832885e-01 -7.61773462e-01 3.70753354e-03 -1.32597726e+02] [-5.85604229e-03 1.13244718e-04 -9.99982847e-01 -4.13105956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.015542254483097744 Centerline is valid? [True, True] Translation: X:119.00, Y:-132.62, Z:-4.13 [[ 8.08788254e-01 -5.88071263e-01 -5.80947993e-03 1.18995350e+02] [-5.88057436e-01 -8.08809104e-01 4.03563446e-03 -1.32622407e+02] [-7.07200091e-03 1.52334119e-04 -9.99974982e-01 -4.13064063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.01541072655540838 Centerline is valid? [True, True] Translation: X:119.02, Y:-132.65, Z:-4.13 [[ 8.52831204e-01 -5.22145494e-01 -6.55900370e-03 1.19017623e+02] [-5.22131446e-01 -8.52856412e-01 3.83328504e-03 -1.32646929e+02] [-7.59542087e-03 1.55516988e-04 -9.99971142e-01 -4.13019966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.014488670182208521 Centerline is valid? [True, True] Translation: X:119.04, Y:-132.67, Z:-4.13 [[ 8.92687068e-01 -4.50613508e-01 -7.56743797e-03 1.19040044e+02] [-4.50598652e-01 -8.92719131e-01 3.66172573e-03 -1.32674268e+02] [-8.40561972e-03 1.41102141e-04 -9.99964662e-01 -4.12880234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.013743639150059201 Centerline is valid? [True, True] Translation: X:119.07, Y:-132.70, Z:-4.13 [[ 9.26770552e-01 -3.75553126e-01 -7.49630160e-03 1.19065232e+02] [-3.75541721e-01 -9.26800863e-01 2.92848270e-03 -1.32697792e+02] [-8.04737963e-03 1.01142475e-04 -9.99967614e-01 -4.12840122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.012536604207425984 Centerline is valid? [True, True] Translation: X:119.09, Y:-132.72, Z:-4.13 [[ 9.56122169e-01 -2.92891730e-01 -6.69574586e-03 1.19091118e+02] [-2.92884707e-01 -9.56145613e-01 2.02848735e-03 -1.32720521e+02] [-6.99623520e-03 2.15998356e-05 -9.99975526e-01 -4.12933955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.012823754026738821 Centerline is valid? [True, True] Translation: X:119.12, Y:-132.75, Z:-4.13 [[ 9.78550725e-01 -2.05934540e-01 -5.42626913e-03 1.19119523e+02] [-2.05931106e-01 -9.78565768e-01 1.19020344e-03 -1.32747194e+02] [-5.55506522e-03 -4.72368288e-05 -9.99984569e-01 -4.13095820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.01397885226655898 Centerline is valid? [True, True] Translation: X:119.15, Y:-132.77, Z:-4.13 [[ 9.92487784e-01 -1.22256610e-01 -4.61740635e-03 1.19151649e+02] [-1.22254957e-01 -9.92498522e-01 6.39587324e-04 -1.32766926e+02] [-4.66096275e-03 -7.02817920e-05 -9.99989135e-01 -4.13123650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.015310093905526486 Centerline is valid? [True, True] Translation: X:119.18, Y:-132.78, Z:-4.13 [[ 9.99267325e-01 -3.81344287e-02 -3.25238728e-03 1.19182193e+02] [-3.81340027e-02 -9.99272616e-01 1.92901098e-04 -1.32784082e+02] [-3.25737772e-03 -6.87332187e-05 -9.99994692e-01 -4.13187869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.016348965290152086 Centerline is valid? [True, True] Translation: X:119.21, Y:-132.80, Z:-4.13 [[ 9.99103103e-01 4.22321473e-02 -3.07172251e-03 1.19213305e+02] [ 4.22321662e-02 -9.99107822e-01 -5.87426555e-05 -1.32795116e+02] [-3.07146282e-03 -7.10355264e-05 -9.99995281e-01 -4.13167577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.016122584118710526 Centerline is valid? [True, True] Translation: X:119.25, Y:-132.80, Z:-4.13 [[ 9.92683886e-01 1.20678387e-01 -3.92795929e-03 1.19246165e+02] [ 1.20677812e-01 -9.92691653e-01 -3.84052974e-04 -1.32801381e+02] [-3.94559929e-03 -9.27743321e-05 -9.99992212e-01 -4.13056805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.015586829908617332 Centerline is valid? [True, True] Translation: X:119.28, Y:-132.80, Z:-4.13 [[ 9.80489614e-01 1.96482013e-01 -5.91056149e-03 1.19279263e+02] [ 1.96479253e-01 -9.80507420e-01 -1.04980708e-03 -1.32804540e+02] [-6.00161761e-03 -1.31977765e-04 -9.99981981e-01 -4.12809230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.014530318326369005 Centerline is valid? [True, True] Translation: X:119.31, Y:-132.80, Z:-4.13 [[ 9.63050243e-01 2.69199345e-01 -8.12044693e-03 1.19311562e+02] [ 2.69191126e-01 -9.63084466e-01 -2.10926091e-03 -1.32803180e+02] [-8.38848795e-03 -1.54628017e-04 -9.99964804e-01 -4.12615142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.013900600808376008 Centerline is valid? [True, True] Translation: X:119.34, Y:-132.80, Z:-4.13 [[ 9.40081615e-01 3.40835824e-01 -8.80329216e-03 1.19344423e+02] [ 3.40822294e-01 -9.40122822e-01 -3.04022186e-03 -1.32799692e+02] [-9.31239239e-03 -1.42301547e-04 -9.99956629e-01 -4.12503286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.01349697237239369 Centerline is valid? [True, True] Translation: X:119.37, Y:-132.79, Z:-4.12 [[ 9.12838084e-01 4.08215146e-01 -9.32882990e-03 1.19373377e+02] [ 4.08194919e-01 -9.12885746e-01 -4.06481288e-03 -1.32790214e+02] [-1.01754740e-02 -9.74649682e-05 -9.99948224e-01 -4.12295893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.01274637350436376 Centerline is valid? [True, True] Translation: X:119.40, Y:-132.78, Z:-4.12 [[ 8.80180669e-01 4.74554459e-01 -8.94732996e-03 1.19402056e+02] [ 4.74530550e-01 -8.80226143e-01 -4.76389743e-03 -1.32778666e+02] [-1.01364025e-02 -5.26909806e-05 -9.99948624e-01 -4.12396949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.012719053240492285 Centerline is valid? [True, True] Translation: X:119.43, Y:-132.76, Z:-4.12 [[ 8.43839838e-01 5.36523249e-01 -8.78249690e-03 1.19428886e+02] [ 5.36494026e-01 -8.43885539e-01 -5.59972953e-03 -1.32763969e+02] [-1.04158072e-02 1.35177413e-05 -9.99945754e-01 -4.12424346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.013079490625325308 Centerline is valid? [True, True] Translation: X:119.45, Y:-132.75, Z:-4.12 [[ 8.02196391e-01 5.97010055e-01 -7.74239529e-03 1.19453362e+02] [ 5.96981522e-01 -8.02233751e-01 -5.83706738e-03 -1.32748527e+02] [-9.69599872e-03 6.04074588e-05 -9.99952991e-01 -4.12464910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.013385399525509472 Centerline is valid? [True, True] Translation: X:119.48, Y:-132.73, Z:-4.13 [[ 7.54432991e-01 6.56343455e-01 -6.64306875e-03 1.19477586e+02] [ 6.56317135e-01 -7.54462235e-01 -5.87831588e-03 -1.32731994e+02] [-8.87013865e-03 7.48355860e-05 -9.99960657e-01 -4.12542329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.013420126158118518 Centerline is valid? [True, True] Translation: X:119.50, Y:-132.71, Z:-4.13 [[ 7.01130311e-01 7.13010800e-01 -5.64672956e-03 1.19501497e+02] [ 7.12986835e-01 -7.01153045e-01 -5.84638643e-03 -1.32714771e+02] [-8.12775829e-03 7.30349033e-05 -9.99966967e-01 -4.12622481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.012987163512699611 Centerline is valid? [True, True] Translation: X:119.52, Y:-132.70, Z:-4.13 [[ 6.40807639e-01 7.67684138e-01 -5.16089148e-03 1.19524894e+02] [ 7.67658637e-01 -6.40828419e-01 -6.25732288e-03 -1.32697823e+02] [-8.11089345e-03 4.79373809e-05 -9.99967105e-01 -4.12581411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.012852228523054524 Centerline is valid? [True, True] Translation: X:119.55, Y:-132.68, Z:-4.13 [[ 5.76834976e-01 8.16846812e-01 -4.76408119e-03 1.19546998e+02] [ 8.16818527e-01 -5.76854648e-01 -6.79777010e-03 -1.32678143e+02] [-8.30091921e-03 2.98017680e-05 -9.99965546e-01 -4.12525328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.012585214429009806 Centerline is valid? [True, True] Translation: X:119.57, Y:-132.66, Z:-4.13 [[ 5.07497652e-01 8.61643785e-01 -4.01498090e-03 1.19571286e+02] [ 8.61616892e-01 -5.07513534e-01 -6.80766303e-03 -1.32659756e+02] [-7.90343768e-03 -4.50235539e-06 -9.99968767e-01 -4.12546592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.012634874870197252 Centerline is valid? [True, True] Translation: X:119.59, Y:-132.64, Z:-4.13 [[ 4.36029276e-01 8.99925939e-01 -3.43152641e-03 1.19593569e+02] [ 8.99898531e-01 -4.36042778e-01 -7.02348736e-03 -1.32638842e+02] [-7.81691076e-03 -2.55794706e-05 -9.99969447e-01 -4.12561682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.01290695582048104 Centerline is valid? [True, True] Translation: X:119.62, Y:-132.62, Z:-4.13 [[ 3.59792924e-01 9.33028081e-01 -2.76630828e-03 1.19616855e+02] [ 9.33001785e-01 -3.59803553e-01 -7.00521701e-03 -1.32617604e+02] [-7.53139173e-03 -6.05430469e-05 -9.99971637e-01 -4.12636330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.013463577480579556 Centerline is valid? [True, True] Translation: X:119.64, Y:-132.59, Z:-4.13 [[ 2.81623918e-01 9.59522934e-01 -1.92585476e-03 1.19637778e+02] [ 9.59502410e-01 -2.81630491e-01 -6.27631496e-03 -1.32594405e+02] [-6.56464756e-03 -8.03018711e-05 -9.99978449e-01 -4.12649155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.01369646999678212 Centerline is valid? [True, True] Translation: X:119.66, Y:-132.57, Z:-4.13 [[ 2.03981246e-01 9.78973923e-01 -1.30715721e-03 1.19656115e+02] [ 9.78956367e-01 -2.03985418e-01 -5.86350283e-03 -1.32568345e+02] [-6.00685737e-03 -8.36052542e-05 -9.99981955e-01 -4.12626443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.01414513925147415 Centerline is valid? [True, True] Translation: X:119.67, Y:-132.54, Z:-4.13 [[ 1.26354998e-01 9.91984784e-01 -7.76510457e-04 1.19670231e+02] [ 9.91969692e-01 -1.26357359e-01 -5.47248823e-03 -1.32541630e+02] [-5.52674287e-03 -7.87986003e-05 -9.99984724e-01 -4.12605532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.014163738405016136 Centerline is valid? [True, True] Translation: X:119.68, Y:-132.51, Z:-4.13 [[ 4.82080730e-02 9.98837280e-01 -2.62490344e-04 1.19680277e+02] [ 9.98828480e-01 -4.82087502e-02 -4.19323133e-03 -1.32513018e+02] [-4.20101011e-03 -6.00352295e-05 -9.99991174e-01 -4.12652748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.013825151241280042 Centerline is valid? [True, True] Translation: X:119.69, Y:-132.48, Z:-4.13 [[-2.96598386e-02 9.99560048e-01 6.12901175e-05 1.19688064e+02] [ 9.99552595e-01 2.96598541e-02 -3.86039141e-03 -1.32484260e+02] [-3.86051088e-03 -5.32358900e-05 -9.99992547e-01 -4.12626919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.01387496415546715 Centerline is valid? [True, True] Translation: X:119.69, Y:-132.45, Z:-4.12 [[-1.07590511e-01 9.94195211e-01 4.05194673e-04 1.19693532e+02] [ 9.94185986e-01 1.07591258e-01 -4.28333621e-03 -1.32454480e+02] [-4.30206775e-03 -5.80074650e-05 -9.99990744e-01 -4.12499137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.013669227907193833 Centerline is valid? [True, True] Translation: X:119.70, Y:-132.43, Z:-4.12 [[-1.84375838e-01 9.82855221e-01 1.07959457e-03 1.19695220e+02] [ 9.82835744e-01 1.84378981e-01 -6.18798889e-03 -1.32425339e+02] [-6.28095173e-03 -7.98515084e-05 -9.99980271e-01 -4.12296638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.013182882547642055 Centerline is valid? [True, True] Translation: X:119.69, Y:-132.40, Z:-4.12 [[-2.58458070e-01 9.66020943e-01 1.72138281e-03 1.19693555e+02] [ 9.65997637e-01 2.58463792e-01 -6.71067077e-03 -1.32395921e+02] [-6.92756364e-03 -7.15752901e-05 -9.99976002e-01 -4.12168828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.012884762876463332 Centerline is valid? [True, True] Translation: X:119.69, Y:-132.37, Z:-4.12 [[-3.30734594e-01 9.43720860e-01 2.35923154e-03 1.19688878e+02] [ 9.43695646e-01 3.30743004e-01 -6.89872124e-03 -1.32368854e+02] [-7.29076647e-03 -5.52492374e-05 -9.99973421e-01 -4.12119317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.012403568668608443 Centerline is valid? [True, True] Translation: X:119.68, Y:-132.34, Z:-4.12 [[-3.98675487e-01 9.17088037e-01 2.71822286e-03 1.19679356e+02] [ 9.17066473e-01 3.98684753e-01 -6.28906601e-03 -1.32342848e+02] [-6.85134121e-03 -1.45054086e-05 -9.99976529e-01 -4.12173833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.012308346095893756 Centerline is valid? [True, True] Translation: X:119.67, Y:-132.32, Z:-4.12 [[-4.64654792e-01 8.85489122e-01 2.22245845e-03 1.19670212e+02] [ 8.85479149e-01 4.64660107e-01 -4.20272661e-03 -1.32316802e+02] [-4.75415647e-03 1.51235555e-05 -9.99988699e-01 -4.12330475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.012360261464772088 Centerline is valid? [True, True] Translation: X:119.66, Y:-132.29, Z:-4.12 [[-5.30950072e-01 8.47401472e-01 1.66328653e-03 1.19662531e+02] [ 8.47397408e-01 5.30952677e-01 -2.62435130e-03 -1.32289777e+02] [-3.10700559e-03 1.60651832e-05 -9.99995173e-01 -4.12445260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.012726168133448594 Centerline is valid? [True, True] Translation: X:119.65, Y:-132.26, Z:-4.12 [[-5.93011887e-01 8.05191682e-01 1.80475771e-03 1.19651139e+02] [ 8.05188083e-01 5.93014633e-01 -2.40743686e-03 -1.32264113e+02] [-3.00869587e-03 2.55307220e-05 -9.99995474e-01 -4.12440438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.012962281456123001 Centerline is valid? [True, True] Translation: X:119.64, Y:-132.24, Z:-4.12 [[-6.52797665e-01 7.57530141e-01 1.81480443e-03 1.19638313e+02] [ 7.57527335e-01 6.52800187e-01 -2.06206496e-03 -1.32238559e+02] [-2.74678103e-03 2.86527760e-05 -9.99996227e-01 -4.12412821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.013178385000549808 Centerline is valid? [True, True] Translation: X:119.62, Y:-132.21, Z:-4.12 [[-7.09585934e-01 7.04615458e-01 2.20426148e-03 1.19624497e+02] [ 7.04612208e-01 7.09589357e-01 -2.14025302e-03 -1.32213269e+02] [-3.07217585e-03 3.44561079e-05 -9.99995280e-01 -4.12352395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.01296666638941297 Centerline is valid? [True, True] Translation: X:120.12, Y:-131.71, Z:-5.13 [[-6.76260999e-01 -7.36660160e-01 1.69391907e-03 1.20124871e+02] [ 7.36657628e-01 -6.76263118e-01 -1.93216180e-03 -1.31714211e+02] [ 2.56888161e-03 -5.88072650e-05 9.99996699e-01 -5.12803046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.01270348598528996 Centerline is valid? [True, True] Translation: X:120.08, Y:-131.67, Z:-5.13 [[-6.75819614e-01 -7.37065387e-01 1.56953990e-03 1.20084874e+02] [ 7.37063326e-01 -6.75821437e-01 -1.74320554e-03 -1.31672532e+02] [ 2.34558518e-03 -2.12421939e-05 9.99997249e-01 -5.12784200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.012727281754356301 Centerline is valid? [True, True] Translation: X:120.04, Y:-131.63, Z:-5.13 [[-6.75432421e-01 -7.37419922e-01 1.70377779e-03 1.20044340e+02] [ 7.37417497e-01 -6.75434570e-01 -1.89121833e-03 -1.31630610e+02] [ 2.54541249e-03 -2.09946159e-05 9.99996760e-01 -5.12819582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.01261248875100425 Centerline is valid? [True, True] Translation: X:120.00, Y:-131.59, Z:-5.13 [[-6.74794554e-01 -7.38003317e-01 1.84757093e-03 1.20003853e+02] [ 7.38000472e-01 -6.74797083e-01 -2.04953179e-03 -1.31589530e+02] [ 2.75929674e-03 -1.95046718e-05 9.99996193e-01 -5.12882370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.012394866479555426 Centerline is valid? [True, True] Translation: X:119.96, Y:-131.55, Z:-5.13 [[-6.73535470e-01 -7.39153234e-01 1.57061938e-03 1.19963993e+02] [ 7.39151183e-01 -6.73537301e-01 -1.74121847e-03 -1.31548270e+02] [ 2.34489801e-03 -1.18472250e-05 9.99997251e-01 -5.12911789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.01215473557752068 Centerline is valid? [True, True] Translation: X:119.92, Y:-131.51, Z:-5.13 [[-6.70025198e-01 -7.42337246e-01 1.28371869e-03 1.19921940e+02] [ 7.42335883e-01 -6.70026427e-01 -1.42234377e-03 -1.31507885e+02] [ 1.91598420e-03 -5.57220607e-08 9.99998165e-01 -5.12897176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.012344036868525683 Centerline is valid? [True, True] Translation: X:119.88, Y:-131.47, Z:-5.13 [[-6.67164297e-01 -7.44909903e-01 1.01874742e-03 1.19880933e+02] [ 7.44909049e-01 -6.67165074e-01 -1.12820364e-03 -1.31468512e+02] [ 1.52008276e-03 6.17698423e-06 9.99998845e-01 -5.12917127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.012723488681514277 Centerline is valid? [True, True] Translation: X:119.84, Y:-131.43, Z:-5.13 [[-6.63669849e-01 -7.48025105e-01 8.79975910e-04 1.19838932e+02] [ 7.48024471e-01 -6.63670432e-01 -9.73926504e-04 -1.31428807e+02] [ 1.31253547e-03 1.18778589e-05 9.99999139e-01 -5.13038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.013434262724010644 Centerline is valid? [True, True] Translation: X:119.80, Y:-131.39, Z:-5.13 [[-6.61606853e-01 -7.49849495e-01 1.45130502e-03 1.19799286e+02] [ 7.49847777e-01 -6.61608445e-01 -1.60528452e-03 -1.31388084e+02] [ 2.16391745e-03 2.61906013e-05 9.99997658e-01 -5.13146790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.013556528096328074 Centerline is valid? [True, True] Translation: X:119.76, Y:-131.35, Z:-5.13 [[-6.61147660e-01 -7.50254410e-01 1.44647732e-03 1.19760675e+02] [ 7.50252707e-01 -6.61149241e-01 -1.59894286e-03 -1.31345849e+02] [ 2.15595132e-03 2.80861944e-05 9.99997676e-01 -5.13187784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.014146453116347449 Centerline is valid? [True, True] Translation: X:119.72, Y:-131.30, Z:-5.13 [[-6.60066251e-01 -7.51203508e-01 2.41530662e-03 1.19721465e+02] [ 7.51198770e-01 -6.60070668e-01 -2.66841972e-03 -1.31302985e+02] [ 3.59879931e-03 5.30415638e-05 9.99993523e-01 -5.13331611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.014266726822424561 Centerline is valid? [True, True] Translation: X:119.68, Y:-131.26, Z:-5.14 [[-6.60160804e-01 -7.51115708e-01 3.59251853e-03 1.19683578e+02] [ 7.51105239e-01 -6.60170574e-01 -3.96656419e-03 -1.31259406e+02] [ 5.35102369e-03 7.97892837e-05 9.99985680e-01 -5.13547987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.013404156760374313 Centerline is valid? [True, True] Translation: X:119.65, Y:-131.21, Z:-5.14 [[-6.61585859e-01 -7.49858835e-01 3.98479133e-03 1.19648373e+02] [ 7.49845947e-01 -6.61597855e-01 -4.39716640e-03 -1.31213556e+02] [ 5.93358347e-03 7.88765171e-05 9.99982393e-01 -5.13530733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.012909575259016664 Centerline is valid? [True, True] Translation: X:119.61, Y:-131.17, Z:-5.13 [[-6.65063945e-01 -7.46777332e-01 3.68301763e-03 1.19614513e+02] [ 7.46766287e-01 -6.65074142e-01 -4.06187741e-03 -1.31166539e+02] [ 5.48279777e-03 4.89451870e-05 9.99984968e-01 -5.13448308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.012273179176126407 Centerline is valid? [True, True] Translation: X:119.58, Y:-131.12, Z:-5.13 [[-6.70345888e-01 -7.42038953e-01 3.81878660e-03 1.19581854e+02] [ 7.42027015e-01 -6.70356765e-01 -4.20924270e-03 -1.31117735e+02] [ 5.68337147e-03 1.19942849e-05 9.99983850e-01 -5.13383631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.012288063530874773 Centerline is valid? [True, True] Translation: X:119.54, Y:-131.07, Z:-5.13 [[-6.72633558e-01 -7.39966221e-01 3.75347427e-03 1.19544616e+02] [ 7.39954670e-01 -6.72644031e-01 -4.13461414e-03 -1.31074569e+02] [ 5.58422686e-03 -3.67941157e-06 9.99984408e-01 -5.13378550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.012437207377741764 Centerline is valid? [True, True] Translation: X:119.51, Y:-131.03, Z:-5.13 [[-6.73441731e-01 -7.39227648e-01 4.32669869e-03 1.19505573e+02] [ 7.39212303e-01 -6.73455629e-01 -4.76300565e-03 -1.31032296e+02] [ 6.43478506e-03 -9.25786185e-06 9.99979297e-01 -5.13382368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.01258012575770994 Centerline is valid? [True, True] Translation: X:119.47, Y:-130.99, Z:-5.13 [[-6.74044525e-01 -7.38670861e-01 5.41632413e-03 1.19467006e+02] [ 7.38646827e-01 -6.74066286e-01 -5.95874604e-03 -1.30989488e+02] [ 8.05251356e-03 -1.57095098e-05 9.99967578e-01 -5.13453123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.012973397035005142 Centerline is valid? [True, True] Translation: X:119.43, Y:-130.95, Z:-5.14 [[-6.76512586e-01 -7.36406298e-01 6.04026444e-03 1.19429958e+02] [ 7.36376340e-01 -6.76539549e-01 -6.64262217e-03 -1.30946720e+02] [ 8.97814658e-03 -4.59096839e-05 9.99959695e-01 -5.13546664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.012969516426200556 Centerline is valid? [True, True] Translation: X:119.39, Y:-130.90, Z:-5.13 [[-6.77661431e-01 -7.35348765e-01 6.09748372e-03 1.19390747e+02] [ 7.35318230e-01 -6.77688860e-01 -6.70149172e-03 -1.30904539e+02] [ 9.06013044e-03 -5.77515338e-05 9.99958955e-01 -5.13428483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.013438175734840381 Centerline is valid? [True, True] Translation: X:119.35, Y:-130.86, Z:-5.13 [[-6.80939794e-01 -7.32318767e-01 5.49727179e-03 1.19351301e+02] [ 7.32293877e-01 -6.80961979e-01 -6.03839958e-03 -1.30861596e+02] [ 8.16546641e-03 -8.61681001e-05 9.99966658e-01 -5.13287279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.013906878565780063 Centerline is valid? [True, True] Translation: X:119.31, Y:-130.82, Z:-5.13 [[-6.82762085e-01 -7.30618150e-01 5.74929514e-03 1.19311883e+02] [ 7.30590895e-01 -6.82786282e-01 -6.31168065e-03 -1.30818635e+02] [ 8.53696829e-03 -1.08993558e-04 9.99963554e-01 -5.13193043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.013768520496727778 Centerline is valid? [True, True] Translation: X:119.27, Y:-130.78, Z:-5.13 [[-6.82184920e-01 -7.31152502e-01 6.30508780e-03 1.19271732e+02] [ 7.31119786e-01 -6.82214047e-01 -6.91750529e-03 -1.30777792e+02] [ 9.35917077e-03 -1.09243352e-04 9.99956196e-01 -5.13245206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.013126049835677535 Centerline is valid? [True, True] Translation: X:119.23, Y:-130.74, Z:-5.13 [[-6.78460952e-01 -7.34611638e-01 6.03962189e-03 1.19227829e+02] [ 7.34581788e-01 -6.78487832e-01 -6.62257572e-03 -1.30738714e+02] [ 8.96283116e-03 -5.65627765e-05 9.99959831e-01 -5.13284271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.012781550966679836 Centerline is valid? [True, True] Translation: X:119.19, Y:-130.70, Z:-5.13 [[-6.75362844e-01 -7.37459873e-01 6.16152957e-03 1.19186095e+02] [ 7.37428963e-01 -6.75390950e-01 -6.75196893e-03 -1.30698972e+02] [ 9.14074746e-03 -1.63385768e-05 9.99958222e-01 -5.13210741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.012939281617117784 Centerline is valid? [True, True] Translation: X:119.14, Y:-130.66, Z:-5.13 [[-6.70856590e-01 -7.41560845e-01 6.24094031e-03 1.19144439e+02] [ 7.41529349e-01 -6.70885617e-01 -6.83469014e-03 -1.30659256e+02] [ 9.25529569e-03 4.27434883e-05 9.99957168e-01 -5.13171705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.013520563775749301 Centerline is valid? [True, True] Translation: X:119.10, Y:-130.62, Z:-5.13 [[-6.66714510e-01 -7.45288133e-01 6.11238171e-03 1.19102400e+02] [ 7.45258102e-01 -6.66742522e-01 -6.69111359e-03 -1.30619649e+02] [ 9.06219235e-03 9.42394672e-05 9.99958933e-01 -5.13178864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.014258480655203932 Centerline is valid? [True, True] Translation: X:119.06, Y:-130.58, Z:-5.13 [[-6.64120411e-01 -7.47603716e-01 5.72391096e-03 1.19061460e+02] [ 7.47577499e-01 -6.64145066e-01 -6.26214385e-03 -1.30580167e+02] [ 8.48310924e-03 1.20249491e-04 9.99964011e-01 -5.13211428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.014886886373679992 Centerline is valid? [True, True] Translation: X:119.02, Y:-130.54, Z:-5.13 [[-6.61295244e-01 -7.50104104e-01 5.69499517e-03 1.19020907e+02] [ 7.50078273e-01 -6.61319748e-01 -6.22695321e-03 -1.30538231e+02] [ 8.43707593e-03 1.53837597e-04 9.99964395e-01 -5.13233770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.015065157141972738 Centerline is valid? [True, True] Translation: X:118.98, Y:-130.49, Z:-5.13 [[-6.60689450e-01 -7.50636697e-01 5.83095506e-03 1.18983022e+02] [ 7.50609670e-01 -6.60715159e-01 -6.37194867e-03 -1.30494759e+02] [ 8.63561890e-03 1.66891990e-04 9.99962698e-01 -5.13264079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.015367488025753662 Centerline is valid? [True, True] Translation: X:118.95, Y:-130.45, Z:-5.13 [[-6.61620667e-01 -7.49810574e-01 6.49584631e-03 1.18945900e+02] [ 7.49777038e-01 -6.61652531e-01 -7.09376872e-03 -1.30452701e+02] [ 9.61697595e-03 1.77052416e-04 9.99953740e-01 -5.13424181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.01452965257098414 Centerline is valid? [True, True] Translation: X:118.91, Y:-130.41, Z:-5.14 [[-6.65461411e-01 -7.46395343e-01 7.42316586e-03 1.18910136e+02] [ 7.46351383e-01 -6.65502795e-01 -8.10200429e-03 -1.30406311e+02] [ 1.09874359e-02 1.48718900e-04 9.99939625e-01 -5.13592104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.01325664818613374 Centerline is valid? [True, True] Translation: X:118.88, Y:-130.36, Z:-5.14 [[-6.71408484e-01 -7.41048790e-01 7.57226026e-03 1.18877126e+02] [ 7.41002753e-01 -6.71451180e-01 -8.26036233e-03 -1.30357063e+02] [ 1.12057346e-02 6.49883538e-05 9.99937212e-01 -5.13591597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.012925288948848918 Centerline is valid? [True, True] Translation: X:118.84, Y:-130.31, Z:-5.14 [[-6.75810137e-01 -7.37038344e-01 7.42547866e-03 1.18842656e+02] [ 7.36993884e-01 -6.75850930e-01 -8.09544212e-03 -1.30310364e+02] [ 1.09851679e-02 1.55050518e-06 9.99939661e-01 -5.13578038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.013285408323513168 Centerline is valid? [True, True] Translation: X:118.81, Y:-130.26, Z:-5.14 [[-6.81449555e-01 -7.31831500e-01 7.01147076e-03 1.18808358e+02] [ 7.31791625e-01 -6.81485620e-01 -7.63982116e-03 -1.30263394e+02] [ 1.03692783e-02 -7.52171483e-05 9.99946235e-01 -5.13566496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.013495528369844923 Centerline is valid? [True, True] Translation: X:118.77, Y:-130.22, Z:-5.14 [[-6.81406504e-01 -7.31871511e-01 7.01909770e-03 1.18768650e+02] [ 7.31831601e-01 -6.81442651e-01 -7.64333543e-03 -1.30222406e+02] [ 1.03770520e-02 -7.14209687e-05 9.99946154e-01 -5.13586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.013314266457648305 Centerline is valid? [True, True] Translation: X:118.73, Y:-130.18, Z:-5.14 [[-6.80879870e-01 -7.32348603e-01 8.25380943e-03 1.18729273e+02] [ 7.32293522e-01 -6.80929892e-01 -8.98219288e-03 -1.30180365e+02] [ 1.21983620e-02 -7.15831469e-05 9.99925595e-01 -5.13637415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.013204048651022104 Centerline is valid? [True, True] Translation: X:118.69, Y:-130.14, Z:-5.14 [[-6.78865683e-01 -7.34212281e-01 8.58551136e-03 1.18688601e+02] [ 7.34152907e-01 -6.78919970e-01 -9.33722916e-03 -1.30140429e+02] [ 1.26843834e-02 -3.56463285e-05 9.99919549e-01 -5.13684378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.013058737160019606 Centerline is valid? [True, True] Translation: X:118.65, Y:-130.10, Z:-5.14 [[-6.76683672e-01 -7.36226430e-01 8.35778612e-03 1.18646171e+02] [ 7.36170381e-01 -6.76735284e-01 -9.08439994e-03 -1.30101089e+02] [ 1.23441841e-02 5.48948447e-06 9.99923808e-01 -5.13728661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.013307977144924675 Centerline is valid? [True, True] Translation: X:118.60, Y:-130.06, Z:-5.14 [[-6.72621256e-01 -7.39942558e-01 8.10290492e-03 1.18603894e+02] [ 7.39890214e-01 -6.72670057e-01 -8.80150466e-03 -1.30063433e+02] [ 1.19631894e-02 7.51809390e-05 9.99928436e-01 -5.13683208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.013616286833717895 Centerline is valid? [True, True] Translation: X:118.56, Y:-130.02, Z:-5.14 [[-6.70299095e-01 -7.42051410e-01 7.66991699e-03 1.18562529e+02] [ 7.42004700e-01 -6.70342966e-01 -8.32661414e-03 -1.30022606e+02] [ 1.13202507e-02 1.09792530e-04 9.99935918e-01 -5.13577226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.01416016569198066 Centerline is valid? [True, True] Translation: X:118.52, Y:-129.98, Z:-5.13 [[-6.67453793e-01 -7.44619612e-01 6.86068242e-03 1.18520702e+02] [ 7.44582415e-01 -6.67489037e-01 -7.44393276e-03 -1.29982484e+02] [ 1.01223286e-02 1.39862329e-04 9.99948758e-01 -5.13444816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.014322084604778155 Centerline is valid? [True, True] Translation: X:118.48, Y:-129.94, Z:-5.13 [[-6.66529831e-01 -7.45451879e-01 6.28331734e-03 1.18480788e+02] [ 7.45420759e-01 -6.66559432e-01 -6.81293691e-03 -1.29942051e+02] [ 9.26692106e-03 1.42689491e-04 9.99957051e-01 -5.13406578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.014714216557174096 Centerline is valid? [True, True] Translation: X:118.44, Y:-129.90, Z:-5.13 [[-6.65028413e-01 -7.46791916e-01 6.24849177e-03 1.18440252e+02] [ 7.46761235e-01 -6.65057747e-01 -6.77134302e-03 -1.29900020e+02] [ 9.21239209e-03 1.62995928e-04 9.99957552e-01 -5.13316039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.015124710266376446 Centerline is valid? [True, True] Translation: X:118.40, Y:-129.86, Z:-5.13 [[-6.63546391e-01 -7.48098918e-01 7.36180787e-03 1.18398814e+02] [ 7.48056458e-01 -6.63587193e-01 -7.97329611e-03 -1.29859021e+02] [ 1.08500156e-02 2.16396062e-04 9.99941113e-01 -5.13429207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.015486426284794104 Centerline is valid? [True, True] Translation: X:118.36, Y:-129.82, Z:-5.14 [[-6.62934698e-01 -7.48628655e-01 8.52782384e-03 1.18359052e+02] [ 7.48571793e-01 -6.62989493e-01 -9.23059690e-03 -1.29817275e+02] [ 1.25641469e-02 2.64405410e-04 9.99921033e-01 -5.13576779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.01534880948275223 Centerline is valid? [True, True] Translation: X:118.32, Y:-129.77, Z:-5.14 [[-6.63807305e-01 -7.47831149e-01 1.04132413e-02 1.18320936e+02] [ 7.47746362e-01 -6.63888905e-01 -1.12650165e-02 -1.29772915e+02] [ 1.53375656e-02 3.08663091e-04 9.99882325e-01 -5.13716151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.014310726623184389 Centerline is valid? [True, True] Translation: X:118.29, Y:-129.73, Z:-5.14 [[-6.67462508e-01 -7.44551295e-01 1.17119477e-02 1.18285945e+02] [ 7.44443655e-01 -6.67565202e-01 -1.26627746e-02 -1.29725835e+02] [ 1.72465740e-02 2.66957878e-04 9.99851231e-01 -5.13612966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.013734679995237545 Centerline is valid? [True, True] Translation: X:118.25, Y:-129.68, Z:-5.14 [[-6.70645769e-01 -7.41677129e-01 1.22183747e-02 1.18249704e+02] [ 7.41559633e-01 -6.70757030e-01 -1.32028972e-02 -1.29680013e+02] [ 1.79878476e-02 2.06186281e-04 9.99838184e-01 -5.13586194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.013468240455216276 Centerline is valid? [True, True] Translation: X:118.21, Y:-129.64, Z:-5.14 [[-6.73303429e-01 -7.39254868e-01 1.28348169e-02 1.18211599e+02] [ 7.39124938e-01 -6.73425732e-01 -1.38603465e-02 -1.29636921e+02] [ 1.88896246e-02 1.54314443e-04 9.99821563e-01 -5.13509151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.013294483381023636 Centerline is valid? [True, True] Translation: X:118.17, Y:-129.59, Z:-5.14 [[-6.77091169e-01 -7.35748029e-01 1.49126447e-02 1.18174763e+02] [ 7.35571961e-01 -6.77255368e-01 -1.60952400e-02 -1.29591312e+02] [ 2.19417098e-02 7.13784882e-05 9.99759249e-01 -5.13505071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.013568821181787337 Centerline is valid? [True, True] Translation: X:118.14, Y:-129.55, Z:-5.14 [[-6.78281634e-01 -7.34651152e-01 1.48899384e-02 1.18136628e+02] [ 7.34475524e-01 -6.78445048e-01 -1.60630365e-02 -1.29549817e+02] [ 2.19027332e-02 4.10326343e-05 9.99760106e-01 -5.13637903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.013137648180246203 Centerline is valid? [True, True] Translation: X:118.10, Y:-129.51, Z:-5.13 [[-6.80353076e-01 -7.32734170e-01 1.48434411e-02 1.18098615e+02] [ 7.32559402e-01 -6.80514978e-01 -1.60027403e-02 -1.29507630e+02] [ 2.18269387e-02 -1.38112560e-05 9.99761764e-01 -5.13257481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.013347971103828477 Centerline is valid? [True, True] Translation: X:118.06, Y:-129.46, Z:-5.13 [[-6.84489159e-01 -7.28874205e-01 1.47303984e-02 1.18060506e+02] [ 7.28701407e-01 -6.84647630e-01 -1.58708109e-02 -1.29464527e+02] [ 2.16529570e-02 -1.29335984e-04 9.99765539e-01 -5.13085441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.013867918019501683 Centerline is valid? [True, True] Translation: X:118.02, Y:-129.42, Z:-5.13 [[-6.88239611e-01 -7.25340196e-01 1.44165722e-02 1.18021568e+02] [ 7.25174089e-01 -6.88390549e-01 -1.55239790e-02 -1.29421419e+02] [ 2.11843980e-02 -2.29692638e-04 9.99775559e-01 -5.12934339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.013997097663181858 Centerline is valid? [True, True] Translation: X:117.98, Y:-129.38, Z:-5.13 [[-6.88592381e-01 -7.25001999e-01 1.45819524e-02 1.17980016e+02] [ 7.24832192e-01 -6.88746721e-01 -1.56922820e-02 -1.29381619e+02] [ 2.14202077e-02 -2.36117308e-04 9.99770533e-01 -5.13015639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.01323551589440696 Centerline is valid? [True, True] Translation: X:117.94, Y:-129.34, Z:-5.13 [[-6.86128389e-01 -7.27337819e-01 1.44059044e-02 1.17936934e+02] [ 7.27172784e-01 -6.86279588e-01 -1.54941862e-02 -1.29342829e+02] [ 2.11559858e-02 -1.55419408e-04 9.99776175e-01 -5.12897291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.01268915191187626 Centerline is valid? [True, True] Translation: X:117.89, Y:-129.30, Z:-5.13 [[-6.83085600e-01 -7.30218182e-01 1.32465014e-02 1.17894096e+02] [ 7.30079337e-01 -6.83214025e-01 -1.42393074e-02 -1.29303406e+02] [ 1.94479966e-02 -5.56688822e-05 9.99810868e-01 -5.12814797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.012613282224044432 Centerline is valid? [True, True] Translation: X:117.85, Y:-129.27, Z:-5.13 [[-6.77509696e-01 -7.35414140e-01 1.21100820e-02 1.17849459e+02] [ 7.35299072e-01 -6.77617911e-01 -1.30092794e-02 -1.29267652e+02] [ 1.77732165e-02 9.06190890e-05 9.99842040e-01 -5.12873960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.012887563568415646 Centerline is valid? [True, True] Translation: X:117.80, Y:-129.23, Z:-5.13 [[-6.72186755e-01 -7.40304868e-01 1.06615708e-02 1.17804382e+02] [ 7.40216393e-01 -6.72271273e-01 -1.14467099e-02 -1.29230605e+02] [ 1.56415229e-02 1.97542689e-04 9.99877644e-01 -5.12723624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.013594792349110782 Centerline is valid? [True, True] Translation: X:117.76, Y:-129.19, Z:-5.13 [[-6.69737414e-01 -7.42544672e-01 8.89975028e-03 1.17762592e+02] [ 7.42483300e-01 -6.69796510e-01 -9.54912064e-03 -1.29191291e+02] [ 1.30516703e-02 2.12512590e-04 9.99914801e-01 -5.12619159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.014911540396252611 Centerline is valid? [True, True] Translation: X:117.72, Y:-129.15, Z:-5.13 [[-6.68445704e-01 -7.43725829e-01 7.22710237e-03 1.17720447e+02] [ 7.43685481e-01 -6.68484744e-01 -7.74934856e-03 -1.29153194e+02] [ 1.05945984e-02 1.94672348e-04 9.99943857e-01 -5.12581815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.013637769338804367 Centerline is valid? [True, True] Translation: X:117.68, Y:-129.11, Z:-5.12 [[-6.68804086e-01 -7.43408043e-01 6.75094385e-03 1.17682294e+02] [ 7.43372861e-01 -6.68838133e-01 -7.23465297e-03 -1.29109665e+02] [ 9.89358789e-03 1.79902972e-04 9.99951041e-01 -5.12456298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.01355044598958967 Centerline is valid? [True, True] Translation: X:117.64, Y:-129.07, Z:-5.13 [[-6.69720557e-01 -7.42572788e-01 7.74796670e-03 1.17643137e+02] [ 7.42526450e-01 -6.69765344e-01 -8.29784113e-03 -1.29067314e+02] [ 1.13510706e-02 1.95835428e-04 9.99935555e-01 -5.12684319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.013115814706066256 Centerline is valid? [True, True] Translation: X:117.61, Y:-129.02, Z:-5.13 [[-6.72268772e-01 -7.40249824e-01 9.21397048e-03 1.17606241e+02] [ 7.40184156e-01 -6.72331884e-01 -9.86171140e-03 -1.29024037e+02] [ 1.34949763e-02 1.90314349e-04 9.99908921e-01 -5.12966598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.012293701221448919 Centerline is valid? [True, True] Translation: X:117.57, Y:-128.98, Z:-5.13 [[-6.75597847e-01 -7.37197458e-01 1.03661931e-02 1.17569760e+02] [ 7.37114084e-01 -6.75677353e-01 -1.10878909e-02 -1.28979279e+02] [ 1.51781669e-02 1.50111704e-04 9.99884794e-01 -5.13041459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.011758060443899572 Centerline is valid? [True, True] Translation: X:117.54, Y:-128.93, Z:-5.13 [[-6.83795151e-01 -7.29584607e-01 1.14233693e-02 1.17537049e+02] [ 7.29482400e-01 -6.83890563e-01 -1.22117298e-02 -1.28930409e+02] [ 1.67218245e-02 -1.71747511e-05 9.99860180e-01 -5.13069392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.013959503320630484 Centerline is valid? [True, True] Translation: X:117.51, Y:-128.88, Z:-5.13 [[-6.95630193e-01 -7.18319503e-01 1.07576235e-02 1.17506330e+02] [ 7.18227597e-01 -6.95713317e-01 -1.14934758e-02 -1.28879336e+02] [ 1.57402097e-02 -2.68786724e-04 9.99876079e-01 -5.13000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.01790533006002169 Centerline is valid? [True, True] Translation: X:117.47, Y:-128.83, Z:-5.13 [[-7.04539106e-01 -7.09592310e-01 1.01686935e-02 1.17474911e+02] [ 7.09509373e-01 -7.04612351e-01 -1.08574665e-02 -1.28830780e+02] [ 1.48693617e-02 -4.34726362e-04 9.99889350e-01 -5.12889135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.024800202483666045 Centerline is valid? [True, True] Translation: X:117.45, Y:-128.78, Z:-5.13 [[-7.16648283e-01 -6.97381580e-01 8.61224347e-03 1.17446424e+02] [ 6.97321257e-01 -7.16699794e-01 -9.19074823e-03 -1.28780327e+02] [ 1.25818516e-02 -5.81033494e-04 9.99920677e-01 -5.12653228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.02423222487837613 Centerline is valid? [True, True] Translation: X:117.41, Y:-128.74, Z:-5.12 [[-7.22603821e-01 -6.91216104e-01 8.00099051e-03 1.17406842e+02] [ 6.91163719e-01 -7.22647835e-01 -8.53349610e-03 -1.28738223e+02] [ 1.16803884e-02 -6.36342535e-04 9.99931580e-01 -5.12386682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.029228018156165884 Centerline is valid? [True, True] Translation: X:117.37, Y:-128.69, Z:-5.12 [[-7.26819763e-01 -6.86779646e-01 8.17003065e-03 1.17371531e+02] [ 6.86724795e-01 -7.26865324e-01 -8.70957382e-03 -1.28694133e+02] [ 1.19200700e-02 -7.19727757e-04 9.99928694e-01 -5.12461112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.026440403116371344 Centerline is valid? [True, True] Translation: X:117.33, Y:-128.66, Z:-5.12 [[-7.25229463e-01 -6.88459891e-01 8.07490903e-03 1.17325628e+02] [ 6.88406472e-01 -7.25274097e-01 -8.60311731e-03 -1.28658295e+02] [ 1.17794236e-02 -6.80414516e-04 9.99930389e-01 -5.12460166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.023209359784954843 Centerline is valid? [True, True] Translation: X:117.28, Y:-128.62, Z:-5.12 [[-7.21206535e-01 -6.92683220e-01 7.14780395e-03 1.17279403e+02] [ 6.92641616e-01 -7.21241754e-01 -7.61081418e-03 -1.28622655e+02] [ 1.04271779e-02 -5.38102444e-04 9.99945491e-01 -5.12373780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.019517707922902056 Centerline is valid? [True, True] Translation: X:117.23, Y:-128.59, Z:-5.12 [[-7.12345494e-01 -7.01815796e-01 4.29943085e-03 1.17229811e+02] [ 7.01800919e-01 -7.12358427e-01 -4.57611776e-03 -1.28589934e+02] [ 6.27432753e-03 -2.42432346e-04 9.99980287e-01 -5.12238453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.0158252900667289 Centerline is valid? [True, True] Translation: X:117.18, Y:-128.56, Z:-5.12 [[-7.02285793e-01 -7.11885806e-01 3.64211565e-03 1.17179773e+02] [ 7.11875275e-01 -7.02295225e-01 -3.87423181e-03 -1.28557953e+02] [ 5.31585106e-03 -1.28085877e-04 9.99985863e-01 -5.12431332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.012922499708250603 Centerline is valid? [True, True] Translation: X:117.13, Y:-128.53, Z:-5.12 [[-6.92633595e-01 -7.21285944e-01 2.30012995e-03 1.17129439e+02] [ 7.21281800e-01 -6.92637413e-01 -2.44526961e-03 -1.28526310e+02] [ 3.35689466e-03 -3.46340156e-05 9.99994365e-01 -5.12470275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.012144047283342946 Centerline is valid? [True, True] Translation: X:117.08, Y:-128.49, Z:-5.12 [[-6.85973730e-01 -7.27624666e-01 1.54493982e-03 1.17082717e+02] [ 7.27622814e-01 -6.85975470e-01 -1.64154719e-03 -1.28491588e+02] [ 2.25422105e-03 -1.92478517e-06 9.99997459e-01 -5.12491507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.013273751865983957 Centerline is valid? [True, True] Translation: X:117.03, Y:-128.46, Z:-5.12 [[-6.76686523e-01 -7.36271212e-01 2.27159625e-04 1.17033098e+02] [ 7.36271172e-01 -6.76686562e-01 -2.41229099e-04 -1.28458331e+02] [ 3.31325907e-04 4.01460335e-06 9.99999945e-01 -5.12472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.01559356110212016 Centerline is valid? [True, True] Translation: X:116.99, Y:-128.42, Z:-5.12 [[-6.70410817e-01 -7.41989957e-01 -4.90172626e-04 1.16986752e+02] [ 7.41989775e-01 -6.70410996e-01 5.20226323e-04 -1.28422536e+02] [-7.14619825e-04 -1.49377220e-05 9.99999745e-01 -5.12495902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.01665404102296577 Centerline is valid? [True, True] Translation: X:116.94, Y:-128.38, Z:-5.13 [[-6.68834605e-01 -7.43411051e-01 -5.28767948e-04 1.16944237e+02] [ 7.43410840e-01 -6.68834814e-01 5.60876026e-04 -1.28382780e+02] [-7.70619848e-04 -1.79585289e-05 9.99999703e-01 -5.12515119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.01662646577330514 Centerline is valid? [True, True] Translation: X:116.90, Y:-128.34, Z:-5.13 [[-6.69635737e-01 -7.42689671e-01 1.80217879e-04 1.16903920e+02] [ 7.42689646e-01 -6.69635762e-01 -1.91046116e-04 -1.28341779e+02] [ 2.62568314e-04 5.91464612e-06 9.99999966e-01 -5.12746900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.016021955207452834 Centerline is valid? [True, True] Translation: X:116.87, Y:-128.30, Z:-5.13 [[-6.71401920e-01 -7.41093128e-01 6.61612362e-04 1.16865593e+02] [ 7.41092797e-01 -6.71402245e-01 -7.00971500e-04 -1.28298586e+02] [ 9.63693187e-04 1.96825455e-05 9.99999536e-01 -5.12903551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.015211632176726305 Centerline is valid? [True, True] Translation: X:116.83, Y:-128.25, Z:-5.13 [[-6.73383930e-01 -7.39290929e-01 1.73348418e-03 1.16828578e+02] [ 7.39288652e-01 -6.73386160e-01 -1.83558945e-03 -1.28253886e+02] [ 2.52433888e-03 4.54887487e-05 9.99996813e-01 -5.13072337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.01430670302850424 Centerline is valid? [True, True] Translation: X:116.79, Y:-128.21, Z:-5.13 [[-6.76951403e-01 -7.36015062e-01 4.31588856e-03 1.16793957e+02] [ 7.36000894e-01 -6.76965155e-01 -4.56760992e-03 -1.28207100e+02] [ 6.28353587e-03 8.44478938e-05 9.99980255e-01 -5.13458251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.013584411828016039 Centerline is valid? [True, True] Translation: X:116.76, Y:-128.16, Z:-5.14 [[-6.80575772e-01 -7.32661809e-01 4.82627302e-03 1.16760241e+02] [ 7.32644025e-01 -6.80592882e-01 -5.10506785e-03 -1.28160552e+02] [ 7.02501531e-03 6.15546025e-05 9.99975322e-01 -5.13545914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.01292767818526434 Centerline is valid? [True, True] Translation: X:116.72, Y:-128.11, Z:-5.13 [[-6.83013179e-01 -7.30394965e-01 4.02391276e-03 1.16724774e+02] [ 7.30382578e-01 -6.83025031e-01 -4.25393732e-03 -1.28113690e+02] [ 5.85548754e-03 3.35005195e-05 9.99982856e-01 -5.13332426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.012808318280600226 Centerline is valid? [True, True] Translation: X:116.69, Y:-128.07, Z:-5.13 [[-6.85805067e-01 -7.27779680e-01 2.85421670e-03 1.16690803e+02] [ 7.27773433e-01 -6.85811007e-01 -3.01565484e-03 -1.28066194e+02] [ 4.15218554e-03 9.07171317e-06 9.99991380e-01 -5.13166057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.012881243128978738 Centerline is valid? [True, True] Translation: X:116.66, Y:-128.02, Z:-5.13 [[-6.86759063e-01 -7.26879327e-01 2.90405162e-03 1.16656048e+02] [ 7.26872859e-01 -6.86765203e-01 -3.06626141e-03 -1.28021376e+02] [ 4.22320364e-03 5.09348930e-06 9.99991082e-01 -5.13274751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.01291744906294913 Centerline is valid? [True, True] Translation: X:116.62, Y:-127.98, Z:-5.13 [[-6.84636022e-01 -7.28877497e-01 3.33335334e-03 1.16619945e+02] [ 7.28869011e-01 -6.84644136e-01 -3.51732108e-03 -1.27977285e+02] [ 4.84585701e-03 2.14932390e-05 9.99988259e-01 -5.13191221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.013187256662269485 Centerline is valid? [True, True] Translation: X:116.58, Y:-127.93, Z:-5.13 [[-6.82306703e-01 -7.31059393e-01 3.11869362e-03 1.16580963e+02] [ 7.31051996e-01 -6.82313830e-01 -3.28897005e-03 -1.27934618e+02] [ 4.53236023e-03 3.58408805e-05 9.99989728e-01 -5.13143882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.013326569367434952 Centerline is valid? [True, True] Translation: X:116.54, Y:-127.89, Z:-5.13 [[-6.81216241e-01 -7.32075837e-01 3.06646297e-03 1.16541206e+02] [ 7.32068703e-01 -6.81223141e-01 -3.23204450e-03 -1.27892325e+02] [ 4.45504722e-03 4.31403656e-05 9.99990075e-01 -5.13124632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.01441500051495693 Centerline is valid? [True, True] Translation: X:116.50, Y:-127.85, Z:-5.13 [[-6.77201872e-01 -7.35790162e-01 3.23449902e-03 1.16501476e+02] [ 7.35782277e-01 -6.77209592e-01 -3.40724453e-03 -1.27850171e+02] [ 4.69745076e-03 7.24946799e-05 9.99988964e-01 -5.13154436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.015248134526502964 Centerline is valid? [True, True] Translation: X:116.46, Y:-127.81, Z:-5.13 [[-6.74678806e-01 -7.38103662e-01 3.38995279e-03 1.16462642e+02] [ 7.38095040e-01 -6.74687316e-01 -3.56899424e-03 -1.27807170e+02] [ 4.92144587e-03 9.41825669e-05 9.99987885e-01 -5.13242575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.015741256606191946 Centerline is valid? [True, True] Translation: X:116.43, Y:-127.76, Z:-5.13 [[-6.73366375e-01 -7.39299975e-01 3.64307285e-03 1.16425172e+02] [ 7.39290045e-01 -6.73376221e-01 -3.83332080e-03 -1.27763047e+02] [ 5.28713260e-03 1.12058157e-04 9.99986017e-01 -5.13227246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.01617168374946552 Centerline is valid? [True, True] Translation: X:116.39, Y:-127.72, Z:-5.13 [[-6.73199275e-01 -7.39454338e-01 3.16526210e-03 1.16387030e+02] [ 7.39446853e-01 -6.73206709e-01 -3.32847031e-03 -1.27720010e+02] [ 4.59212749e-03 9.98192971e-05 9.99989451e-01 -5.13206447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.016053446670560502 Centerline is valid? [True, True] Translation: X:116.35, Y:-127.68, Z:-5.13 [[-6.73998481e-01 -7.38724962e-01 3.38802176e-03 1.16350689e+02] [ 7.38716388e-01 -6.74006989e-01 -3.56049973e-03 -1.27675827e+02] [ 4.91378037e-03 1.03015785e-04 9.99987922e-01 -5.13202645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.015197745808093504 Centerline is valid? [True, True] Translation: X:116.31, Y:-127.63, Z:-5.13 [[-6.76254005e-01 -7.36658615e-01 3.82171241e-03 1.16314510e+02] [ 7.36647686e-01 -6.76264796e-01 -4.01403347e-03 -1.27629551e+02] [ 5.54146190e-03 1.00749392e-04 9.99984641e-01 -5.13297905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.01448012931007564 Centerline is valid? [True, True] Translation: X:116.28, Y:-127.58, Z:-5.13 [[-6.79527655e-01 -7.33637628e-01 4.24228546e-03 1.16279219e+02] [ 7.33624113e-01 -6.79540891e-01 -4.45396775e-03 -1.27584493e+02] [ 6.15040478e-03 8.56486483e-05 9.99981082e-01 -5.13406584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.013767387853385491 Centerline is valid? [True, True] Translation: X:116.24, Y:-127.54, Z:-5.13 [[-6.81553491e-01 -7.31756440e-01 4.16549350e-03 1.16242137e+02] [ 7.31743391e-01 -6.81566217e-01 -4.37065612e-03 -1.27540778e+02] [ 6.03731541e-03 6.92364042e-05 9.99981773e-01 -5.13332222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.01354687692022645 Centerline is valid? [True, True] Translation: X:116.20, Y:-127.50, Z:-5.13 [[-6.82922824e-01 -7.30478651e-01 4.16612381e-03 1.16202076e+02] [ 7.30465590e-01 -6.82935529e-01 -4.36865560e-03 -1.27499683e+02] [ 6.03640362e-03 5.97554652e-05 9.99981779e-01 -5.13330669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.01327503775440625 Centerline is valid? [True, True] Translation: X:116.16, Y:-127.46, Z:-5.13 [[-6.83625485e-01 -7.29813507e-01 5.33308777e-03 1.16161770e+02] [ 7.29792111e-01 -6.83646283e-01 -5.58884390e-03 -1.27458579e+02] [ 7.72475939e-03 7.13692606e-05 9.99970161e-01 -5.13408774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.013301625551994396 Centerline is valid? [True, True] Translation: X:116.12, Y:-127.42, Z:-5.13 [[-6.84071691e-01 -7.29388507e-01 6.19085581e-03 1.16121827e+02] [ 7.29359693e-01 -6.84099700e-01 -6.48372495e-03 -1.27417748e+02] [ 8.96431706e-03 8.00280017e-05 9.99959817e-01 -5.13497516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.013258872474342518 Centerline is valid? [True, True] Translation: X:116.08, Y:-127.38, Z:-5.14 [[-6.85132644e-01 -7.28382869e-01 7.18723045e-03 1.16081665e+02] [ 7.28344027e-01 -6.85170336e-01 -7.52253719e-03 -1.27376921e+02] [ 1.04037643e-02 8.08405736e-05 9.99945876e-01 -5.13560554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.013032159128706873 Centerline is valid? [True, True] Translation: X:116.04, Y:-127.34, Z:-5.14 [[-6.86745410e-01 -7.26857728e-01 7.65411011e-03 1.16041775e+02] [ 7.26813637e-01 -6.86788060e-01 -8.00611841e-03 -1.27336116e+02] [ 1.10760605e-02 6.49465382e-05 9.99938657e-01 -5.13547930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.012941901628539696 Centerline is valid? [True, True] Translation: X:116.00, Y:-127.30, Z:-5.13 [[-6.87931273e-01 -7.25730859e-01 8.07986181e-03 1.16001729e+02] [ 7.25681710e-01 -6.87978719e-01 -8.44613559e-03 -1.27295069e+02] [ 1.16883942e-02 5.30471310e-05 9.99931687e-01 -5.13497159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.012934653531552428 Centerline is valid? [True, True] Translation: X:115.96, Y:-127.26, Z:-5.13 [[-6.88963084e-01 -7.24750540e-01 8.15628873e-03 1.15961283e+02] [ 7.24700454e-01 -6.89011360e-01 -8.52045575e-03 -1.27255816e+02] [ 1.17949805e-02 4.05866790e-05 9.99930436e-01 -5.13486060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.012932351850675799 Centerline is valid? [True, True] Translation: X:115.92, Y:-127.22, Z:-5.13 [[-6.89096170e-01 -7.24623035e-01 8.24166688e-03 1.15920040e+02] [ 7.24571949e-01 -6.89145453e-01 -8.60437134e-03 -1.27216272e+02] [ 1.19146329e-02 4.24412933e-05 9.99929017e-01 -5.13401340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.012952819813294728 Centerline is valid? [True, True] Translation: X:115.88, Y:-127.18, Z:-5.13 [[-6.88687995e-01 -7.25008709e-01 8.43906641e-03 1.15878925e+02] [ 7.24955243e-01 -6.88739696e-01 -8.80495367e-03 -1.27176322e+02] [ 1.21959881e-02 5.40795531e-05 9.99925625e-01 -5.13371314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.013195309674687095 Centerline is valid? [True, True] Translation: X:115.84, Y:-127.14, Z:-5.13 [[-6.86695660e-01 -7.26888188e-01 9.09029998e-03 1.15836272e+02] [ 7.26826384e-01 -6.86755818e-01 -9.47912786e-03 -1.27136150e+02] [ 1.31330825e-02 9.77939073e-05 9.99913753e-01 -5.13410444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.014005243503895785 Centerline is valid? [True, True] Translation: X:115.79, Y:-127.10, Z:-5.13 [[-6.83523181e-01 -7.29865258e-01 9.63150524e-03 1.15793602e+02] [ 7.29796247e-01 -6.83591016e-01 -1.00379574e-02 -1.27096204e+02] [ 1.39103668e-02 1.67859794e-04 9.99903232e-01 -5.13416548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.014593174026592425 Centerline is valid? [True, True] Translation: X:115.75, Y:-127.06, Z:-5.13 [[-6.80940136e-01 -7.32278862e-01 9.39143610e-03 1.15751324e+02] [ 7.32213551e-01 -6.81004862e-01 -9.78231209e-03 -1.27056436e+02] [ 1.35589940e-02 2.15367845e-04 9.99908049e-01 -5.13337245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.015550548057419419 Centerline is valid? [True, True] Translation: X:115.71, Y:-127.02, Z:-5.13 [[-6.79911956e-01 -7.33243029e-01 8.62511431e-03 1.15710681e+02] [ 7.33188092e-01 -6.79966626e-01 -8.97824632e-03 -1.27017529e+02] [ 1.24480264e-02 2.19414085e-04 9.99922496e-01 -5.13333422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.015387935245842551 Centerline is valid? [True, True] Translation: X:115.67, Y:-126.97, Z:-5.13 [[-6.78820476e-01 -7.34251564e-01 8.79790271e-03 1.15671382e+02] [ 7.34194553e-01 -6.78877442e-01 -9.15298918e-03 -1.26974828e+02] [ 1.26932943e-02 2.46135779e-04 9.99919407e-01 -5.13273698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.015439724206109472 Centerline is valid? [True, True] Translation: X:115.63, Y:-126.93, Z:-5.13 [[-6.78816880e-01 -7.34247826e-01 9.36872620e-03 1.15631635e+02] [ 7.34183260e-01 -6.78881476e-01 -9.74071567e-03 -1.26933120e+02] [ 1.35123540e-02 2.66199725e-04 9.99908669e-01 -5.13335836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.015595031498654049 Centerline is valid? [True, True] Translation: X:115.59, Y:-126.89, Z:-5.13 [[-6.78957490e-01 -7.34101525e-01 1.05678200e-02 1.15592468e+02] [ 7.34019448e-01 -6.79039661e-01 -1.09812894e-02 -1.26889809e+02] [ 1.52373502e-02 3.01156678e-04 9.99883860e-01 -5.13427701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.015964364867661972 Centerline is valid? [True, True] Translation: X:115.56, Y:-126.85, Z:-5.14 [[-6.80061986e-01 -7.33076311e-01 1.07153095e-02 1.15555073e+02] [ 7.32991912e-01 -6.80146338e-01 -1.11272758e-02 -1.26848232e+02] [ 1.54451208e-02 2.86997956e-04 9.99880676e-01 -5.13536755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.015329067760860607 Centerline is valid? [True, True] Translation: X:115.52, Y:-126.80, Z:-5.13 [[-6.81508944e-01 -7.31733758e-01 1.05483089e-02 1.15517373e+02] [ 7.31651899e-01 -6.81590524e-01 -1.09478892e-02 -1.26804312e+02] [ 1.52005675e-02 2.56605873e-04 9.99884432e-01 -5.13454932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.015026525700247729 Centerline is valid? [True, True] Translation: X:115.48, Y:-126.76, Z:-5.13 [[-6.82675606e-01 -7.30647753e-01 1.03864404e-02 1.15478350e+02] [ 7.30568361e-01 -6.82754573e-01 -1.07732957e-02 -1.26762031e+02] [ 1.49628740e-02 2.33338593e-04 9.99888023e-01 -5.13405777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.014401210264967202 Centerline is valid? [True, True] Translation: X:115.44, Y:-126.72, Z:-5.13 [[-6.84302603e-01 -7.29124548e-01 1.03605360e-02 1.15439496e+02] [ 7.29045475e-01 -6.84380999e-01 -1.07398123e-02 -1.26719571e+02] [ 1.49212148e-02 2.04020408e-04 9.99888652e-01 -5.13378779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.01399321591488259 Centerline is valid? [True, True] Translation: X:115.40, Y:-126.68, Z:-5.13 [[-6.86073057e-01 -7.27453862e-01 1.07069731e-02 1.15400604e+02] [ 7.27369314e-01 -6.86156576e-01 -1.10920934e-02 -1.26677994e+02] [ 1.54156462e-02 1.77937245e-04 9.99881156e-01 -5.13396713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.013911364570916228 Centerline is valid? [True, True] Translation: X:115.36, Y:-126.64, Z:-5.13 [[-6.87797964e-01 -7.25824939e-01 1.05886141e-02 1.15361986e+02] [ 7.25742163e-01 -6.87879450e-01 -1.09624482e-02 -1.26636837e+02] [ 1.52405083e-02 1.44654116e-04 9.99883846e-01 -5.13419819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.013745329173819864 Centerline is valid? [True, True] Translation: X:115.32, Y:-126.60, Z:-5.13 [[-6.88463475e-01 -7.25194768e-01 1.05162994e-02 1.15321524e+02] [ 7.25113144e-01 -6.88543776e-01 -1.08810302e-02 -1.26596053e+02] [ 1.51317986e-02 1.34315056e-04 9.99885499e-01 -5.13300679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.013803391887780124 Centerline is valid? [True, True] Translation: X:115.28, Y:-126.56, Z:-5.13 [[-6.88901466e-01 -7.24775592e-01 1.07290038e-02 1.15280995e+02] [ 7.24690690e-01 -6.88984995e-01 -1.10941615e-02 -1.26557660e+02] [ 1.54329001e-02 1.32424993e-04 9.99880897e-01 -5.13401896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.013449586766198167 Centerline is valid? [True, True] Translation: X:115.24, Y:-126.52, Z:-5.13 [[-6.90508484e-01 -7.23252506e-01 1.01904654e-02 1.15240771e+02] [ 7.23175838e-01 -6.90583668e-01 -1.05311097e-02 -1.26516735e+02] [ 1.46540205e-02 9.76777675e-05 9.99892619e-01 -5.13395744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.012899541153072203 Centerline is valid? [True, True] Translation: X:115.20, Y:-126.47, Z:-5.13 [[-6.92727595e-01 -7.21134359e-01 9.68069284e-03 1.15202117e+02] [ 7.21065046e-01 -6.92795232e-01 -9.99827844e-03 -1.26473958e+02] [ 1.39168400e-02 5.43258460e-05 9.99903155e-01 -5.13198867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.012722769072354789 Centerline is valid? [True, True] Translation: X:115.16, Y:-126.43, Z:-5.13 [[-6.94493126e-01 -7.19444045e-01 8.91992211e-03 1.15162827e+02] [ 7.19385130e-01 -6.94550406e-01 -9.20701931e-03 -1.26432362e+02] [ 1.28192707e-02 2.26477041e-05 9.99917830e-01 -5.13063212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.012723726742435906 Centerline is valid? [True, True] Translation: X:115.12, Y:-126.39, Z:-5.13 [[-6.95811009e-01 -7.18174503e-01 8.51019349e-03 1.15122856e+02] [ 7.18120846e-01 -6.95863049e-01 -8.77883130e-03 -1.26391155e+02] [ 1.22266620e-02 2.93988224e-06 9.99925252e-01 -5.13059370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.012962704332515958 Centerline is valid? [True, True] Translation: X:115.09, Y:-126.35, Z:-5.13 [[-6.98547446e-01 -7.15514755e-01 8.37268151e-03 1.15085495e+02] [ 7.15462691e-01 -6.98597620e-01 -8.63158396e-03 -1.26348557e+02] [ 1.20251611e-02 -3.92296892e-05 9.99927694e-01 -5.13117217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.013394606502446331 Centerline is valid? [True, True] Translation: X:115.05, Y:-126.30, Z:-5.13 [[-7.01728615e-01 -7.12395224e-01 8.36639389e-03 1.15046895e+02] [ 7.12343070e-01 -7.01778482e-01 -8.62054409e-03 -1.26304749e+02] [ 1.20125896e-02 -8.95397540e-05 9.99927842e-01 -5.13023970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.01385317834928649 Centerline is valid? [True, True] Translation: X:115.01, Y:-126.26, Z:-5.13 [[-7.03373719e-01 -7.10772797e-01 8.21232102e-03 1.15007868e+02] [ 7.10722494e-01 -7.03421651e-01 -8.45682172e-03 -1.26262307e+02] [ 1.17876032e-02 -1.11624871e-04 9.99930518e-01 -5.12982846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.013880794785338414 Centerline is valid? [True, True] Translation: X:114.97, Y:-126.22, Z:-5.13 [[-7.03071288e-01 -7.11074853e-01 7.95724733e-03 1.14967322e+02] [ 7.11027700e-01 -7.03116309e-01 -8.18939979e-03 -1.26222541e+02] [ 1.14181466e-02 -9.99085904e-05 9.99934806e-01 -5.13016683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.013036993073893952 Centerline is valid? [True, True] Translation: X:114.92, Y:-126.18, Z:-5.13 [[-7.00338832e-01 -7.13769411e-01 7.66476754e-03 1.14924418e+02] [ 7.13725871e-01 -7.00380772e-01 -7.88386812e-03 -1.26184988e+02] [ 1.09955197e-02 -5.08361014e-05 9.99939546e-01 -5.13019638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.012790266547094965 Centerline is valid? [True, True] Translation: X:114.88, Y:-126.15, Z:-5.13 [[-6.96279493e-01 -7.17726088e-01 8.00815160e-03 1.14881108e+02] [ 7.17678882e-01 -6.96325544e-01 -8.23163370e-03 -1.26149781e+02] [ 1.14843388e-02 1.57635433e-05 9.99934053e-01 -5.13098551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.013433118489877391 Centerline is valid? [True, True] Translation: X:114.84, Y:-126.11, Z:-5.13 [[-6.93016208e-01 -7.20869356e-01 8.71242365e-03 1.14837196e+02] [ 7.20813792e-01 -6.93070967e-01 -8.95056736e-03 -1.26112945e+02] [ 1.24905176e-02 7.71468704e-05 9.99921988e-01 -5.13246513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.015295050804779707 Centerline is valid? [True, True] Translation: X:114.79, Y:-126.08, Z:-5.13 [[-6.88597536e-01 -7.25077560e-01 9.79620047e-03 1.14791292e+02] [ 7.25007812e-01 -6.88667192e-01 -1.00584265e-02 -1.26077318e+02] [ 1.40394612e-02 1.76114163e-04 9.99901426e-01 -5.13444742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.014606968019150438 Centerline is valid? [True, True] Translation: X:114.75, Y:-126.04, Z:-5.13 [[-6.85558182e-01 -7.27952786e-01 9.73248026e-03 1.14750458e+02] [ 7.27884308e-01 -6.85627220e-01 -9.98744263e-03 -1.26035947e+02] [ 1.39432401e-02 2.37146652e-04 9.99902760e-01 -5.13014911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.015149387408337477 Centerline is valid? [True, True] Translation: X:114.71, Y:-126.00, Z:-5.13 [[-6.83934268e-01 -7.29493946e-01 8.51471207e-03 1.14708210e+02] [ 7.29441711e-01 -6.83987227e-01 -8.73290005e-03 -1.25995818e+02] [ 1.21945520e-02 2.38256535e-04 9.99925615e-01 -5.12834405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.01547994355498858 Centerline is valid? [True, True] Translation: X:114.67, Y:-125.96, Z:-5.13 [[-6.83475896e-01 -7.29933248e-01 7.62583672e-03 1.14667150e+02] [ 7.29891431e-01 -6.83518401e-01 -7.81636701e-03 -1.25956251e+02] [ 1.09178259e-02 2.23734422e-04 9.99940374e-01 -5.12779278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.014727007314369104 Centerline is valid? [True, True] Translation: X:114.63, Y:-125.91, Z:-5.13 [[-6.84508607e-01 -7.28968795e-01 7.24314502e-03 1.14628039e+02] [ 7.28931060e-01 -6.84546898e-01 -7.41987424e-03 -1.25913887e+02] [ 1.03671292e-02 2.00785593e-04 9.99946240e-01 -5.12626177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.014759711274756535 Centerline is valid? [True, True] Translation: X:114.59, Y:-125.87, Z:-5.13 [[-6.86740999e-01 -7.26865637e-01 7.29018834e-03 1.14588005e+02] [ 7.26827334e-01 -6.86779671e-01 -7.46393291e-03 -1.25872796e+02] [ 1.04320295e-02 1.72919410e-04 9.99945570e-01 -5.12707349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.01389008507904823 Centerline is valid? [True, True] Translation: X:114.55, Y:-125.83, Z:-5.13 [[-6.89281207e-01 -7.24445621e-01 8.36422915e-03 1.14549412e+02] [ 7.24395085e-01 -6.89331936e-01 -8.55823260e-03 -1.25829992e+02] [ 1.19657044e-02 1.59977590e-04 9.99928396e-01 -5.12890418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.013239876534119599 Centerline is valid? [True, True] Translation: X:114.51, Y:-125.79, Z:-5.13 [[-6.92355949e-01 -7.21488866e-01 9.85168180e-03 1.14512168e+02] [ 7.21418547e-01 -6.92426024e-01 -1.00738260e-02 -1.25786955e+02] [ 1.40897142e-02 1.32512574e-04 9.99900726e-01 -5.13053686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.012701326354534291 Centerline is valid? [True, True] Translation: X:114.48, Y:-125.74, Z:-5.13 [[-6.96230190e-01 -7.17747071e-01 1.01323522e-02 1.14475893e+02] [ 7.17672384e-01 -6.96303912e-01 -1.03542959e-02 -1.25742228e+02] [ 1.44869620e-02 6.27359852e-05 9.99895057e-01 -5.12969087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.012850705009516591 Centerline is valid? [True, True] Translation: X:114.44, Y:-125.70, Z:-5.13 [[-7.00612895e-01 -7.13456061e-01 1.10462738e-02 1.14440651e+02] [ 7.13366866e-01 -7.00699971e-01 -1.12812440e-02 -1.25697239e+02] [ 1.57887956e-02 -2.37393193e-05 9.99875349e-01 -5.13107877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.01298339358914568 Centerline is valid? [True, True] Translation: X:114.40, Y:-125.65, Z:-5.13 [[-7.04076510e-01 -7.10039763e-01 1.09454378e-02 1.14402861e+02] [ 7.09951874e-01 -7.04161576e-01 -1.11718833e-02 -1.25652633e+02] [ 1.56398381e-02 -9.51264894e-05 9.99877686e-01 -5.12976431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.01358359570825902 Centerline is valid? [True, True] Translation: X:114.37, Y:-125.61, Z:-5.13 [[-7.05971197e-01 -7.08162022e-01 1.05460549e-02 1.14365887e+02] [ 7.08080328e-01 -7.06049952e-01 -1.07570780e-02 -1.25609504e+02] [ 1.50637957e-02 -1.26733242e-04 9.99886527e-01 -5.13023498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.013883754175337446 Centerline is valid? [True, True] Translation: X:114.33, Y:-125.57, Z:-5.13 [[-7.07219168e-01 -7.06931182e-01 9.45261227e-03 1.14326813e+02] [ 7.06865519e-01 -7.07282324e-01 -9.63601189e-03 -1.25567898e+02] [ 1.34976629e-02 -1.33046638e-04 9.99908894e-01 -5.12972515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.013495432838835005 Centerline is valid? [True, True] Translation: X:114.29, Y:-125.53, Z:-5.13 [[-7.08062665e-01 -7.06090004e-01 9.17434332e-03 1.14286881e+02] [ 7.06028156e-01 -7.08122085e-01 -9.34645081e-03 -1.25526837e+02] [ 1.30959906e-02 -1.40528172e-04 9.99914234e-01 -5.12809211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.013511633402774862 Centerline is valid? [True, True] Translation: X:114.25, Y:-125.49, Z:-5.13 [[-7.08173645e-01 -7.05988402e-01 8.39431863e-03 1.14247772e+02] [ 7.05936681e-01 -7.08223383e-01 -8.54646429e-03 -1.25485296e+02] [ 1.19787574e-02 -1.26523329e-04 9.99928244e-01 -5.12775168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.01307772535701088 Centerline is valid? [True, True] Translation: X:114.21, Y:-125.45, Z:-5.13 [[-7.06110567e-01 -7.08048761e-01 8.64983707e-03 1.14206246e+02] [ 7.07994065e-01 -7.06163539e-01 -8.80115213e-03 -1.25445972e+02] [ 1.23398444e-02 -9.05532154e-05 9.99923857e-01 -5.12821491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.012628819858427575 Centerline is valid? [True, True] Translation: X:114.16, Y:-125.41, Z:-5.13 [[-7.03853874e-01 -7.10294037e-01 8.49142947e-03 1.14163601e+02] [ 7.10241549e-01 -7.03905092e-01 -8.63505118e-03 -1.25406253e+02] [ 1.21105858e-02 -4.68482112e-05 9.99926663e-01 -5.12763529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.012434675970949188 Centerline is valid? [True, True] Translation: X:114.12, Y:-125.37, Z:-5.13 [[-6.99814078e-01 -7.14285647e-01 7.50134826e-03 1.14121996e+02] [ 7.14244968e-01 -6.99854280e-01 -7.62313731e-03 -1.25368583e+02] [ 1.06949483e-02 2.30214347e-05 9.99942807e-01 -5.12652120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.012716665237952412 Centerline is valid? [True, True] Translation: X:114.08, Y:-125.33, Z:-5.13 [[-6.96148795e-01 -7.17874015e-01 5.80986815e-03 1.14078696e+02] [ 7.17849768e-01 -6.96173036e-01 -5.90047318e-03 -1.25331339e+02] [ 8.28046992e-03 6.30052046e-05 9.99965714e-01 -5.12524120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.013076342486079749 Centerline is valid? [True, True] Translation: X:114.04, Y:-125.29, Z:-5.13 [[-6.93768077e-01 -7.20176490e-01 5.62832248e-03 1.14036249e+02] [ 7.20153836e-01 -6.93790902e-01 -5.71286256e-03 -1.25292139e+02] [ 8.01914823e-03 8.98563513e-05 9.99967842e-01 -5.12568386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.013247526160426064 Centerline is valid? [True, True] Translation: X:114.00, Y:-125.25, Z:-5.13 [[-6.93111641e-01 -7.20807060e-01 5.78245681e-03 1.13995241e+02] [ 7.20783197e-01 -6.93135753e-01 -5.86598364e-03 -1.25250423e+02] [ 8.23626997e-03 1.02116165e-04 9.99966076e-01 -5.12539532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.013373610397724911 Centerline is valid? [True, True] Translation: X:113.95, Y:-125.21, Z:-5.13 [[-6.93169382e-01 -7.20751867e-01 5.74056756e-03 1.13953704e+02] [ 7.20728378e-01 -6.93193144e-01 -5.81982022e-03 -1.25210401e+02] [ 8.17396837e-03 1.03268762e-04 9.99966587e-01 -5.12670132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.01321018738833402 Centerline is valid? [True, True] Translation: X:113.92, Y:-125.17, Z:-5.13 [[-6.94143898e-01 -7.19808635e-01 6.30697107e-03 1.13915061e+02] [ 7.19780279e-01 -6.94172542e-01 -6.39004416e-03 -1.25167699e+02] [ 8.97773510e-03 1.04023231e-04 9.99959694e-01 -5.12837732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.013389185166513476 Centerline is valid? [True, True] Translation: X:113.88, Y:-125.13, Z:-5.13 [[-6.94002325e-01 -7.19939507e-01 6.91948625e-03 1.13875920e+02] [ 7.19905425e-01 -6.94036809e-01 -7.00624825e-03 -1.25126205e+02] [ 9.84645307e-03 1.19023110e-04 9.99951515e-01 -5.12940825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.013563974953094833 Centerline is valid? [True, True] Translation: X:113.84, Y:-125.09, Z:-5.13 [[-6.93835091e-01 -7.20099542e-01 7.03680830e-03 1.13835725e+02] [ 7.20064346e-01 -6.93870762e-01 -7.12060417e-03 -1.25085428e+02] [ 1.00101793e-02 1.26429725e-04 9.99949889e-01 -5.12998510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.013777283975408318 Centerline is valid? [True, True] Translation: X:113.80, Y:-125.04, Z:-5.13 [[-6.93177967e-01 -7.20725531e-01 7.68216542e-03 1.13795650e+02] [ 7.20683669e-01 -6.93220518e-01 -7.76932907e-03 -1.25043633e+02] [ 1.09249885e-02 1.50883434e-04 9.99940309e-01 -5.13051969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.014450187948337058 Centerline is valid? [True, True] Translation: X:113.76, Y:-125.00, Z:-5.13 [[-6.92289741e-01 -7.21574009e-01 8.11571231e-03 1.13756160e+02] [ 7.21527402e-01 -6.92337287e-01 -8.20302554e-03 -1.25003013e+02] [ 1.15379003e-02 1.76838390e-04 9.99933421e-01 -5.13051870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.015080485347487012 Centerline is valid? [True, True] Translation: X:113.72, Y:-124.96, Z:-5.13 [[-6.90936034e-01 -7.22880240e-01 7.18023942e-03 1.13715640e+02] [ 7.22843869e-01 -6.90973318e-01 -7.25358130e-03 -1.24962034e+02] [ 1.02048245e-02 1.78431346e-04 9.99947914e-01 -5.12895999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.014926006845361465 Centerline is valid? [True, True] Translation: X:113.68, Y:-124.92, Z:-5.13 [[-6.89442034e-01 -7.24311351e-01 6.53826678e-03 1.13675419e+02] [ 7.24281292e-01 -6.89473011e-01 -6.60132459e-03 -1.24920314e+02] [ 9.28937281e-03 1.84313656e-04 9.99956836e-01 -5.12745244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.015399792256131806 Centerline is valid? [True, True] Translation: X:113.63, Y:-124.88, Z:-5.13 [[-6.89001703e-01 -7.24728440e-01 6.73357835e-03 1.13634597e+02] [ 7.24696615e-01 -6.89034577e-01 -6.79473134e-03 -1.24879488e+02] [ 9.56400335e-03 1.98219967e-04 9.99954244e-01 -5.12761665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.01553040623811988 Centerline is valid? [True, True] Translation: X:113.59, Y:-124.84, Z:-5.13 [[-6.89364407e-01 -7.24384986e-01 6.56555798e-03 1.13594970e+02] [ 7.24354751e-01 -6.89395645e-01 -6.62105637e-03 -1.24837856e+02] [ 9.32246090e-03 1.91472517e-04 9.99956527e-01 -5.12676821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.014853622430340463 Centerline is valid? [True, True] Translation: X:113.55, Y:-124.80, Z:-5.13 [[-6.90734425e-01 -7.23080792e-01 6.33413611e-03 1.13554930e+02] [ 7.23052629e-01 -6.90763446e-01 -6.38409973e-03 -1.24796138e+02] [ 8.99160958e-03 1.70196311e-04 9.99959560e-01 -5.12629822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.015022184919787398 Centerline is valid? [True, True] Translation: X:113.52, Y:-124.76, Z:-5.13 [[-6.92526588e-01 -7.21348038e-01 7.99580572e-03 1.13515333e+02] [ 7.21303104e-01 -6.92572719e-01 -8.05359577e-03 -1.24756393e+02] [ 1.13471224e-02 1.90070293e-04 9.99935601e-01 -5.12845308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.014220441469843484 Centerline is valid? [True, True] Translation: X:113.48, Y:-124.71, Z:-5.13 [[-6.93675966e-01 -7.20220753e-01 9.78372555e-03 1.13476758e+02] [ 7.20153450e-01 -6.93744925e-01 -9.84821330e-03 -1.24714277e+02] [ 1.38802975e-02 2.14314836e-04 9.99903641e-01 -5.12939300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.013882093241924244 Centerline is valid? [True, True] Translation: X:113.44, Y:-124.67, Z:-5.13 [[-6.95636123e-01 -7.18325218e-01 9.96316175e-03 1.13437000e+02] [ 7.18255308e-01 -6.95707444e-01 -1.00232692e-02 -1.24672473e+02] [ 1.41314128e-02 1.83545710e-04 9.99900130e-01 -5.12913941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.013513382905200395 Centerline is valid? [True, True] Translation: X:113.40, Y:-124.63, Z:-5.13 [[-6.96701233e-01 -7.17302433e-01 9.19845084e-03 1.13396771e+02] [ 7.17242829e-01 -6.96761937e-01 -9.24813966e-03 -1.24631942e+02] [ 1.30428435e-02 1.54332594e-04 9.99914927e-01 -5.12713049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.013843400983641774 Centerline is valid? [True, True] Translation: X:113.36, Y:-124.59, Z:-5.13 [[-6.96676769e-01 -7.17329080e-01 8.97055251e-03 1.13356025e+02] [ 7.17272470e-01 -6.96734503e-01 -9.01313023e-03 -1.24593678e+02] [ 1.27154739e-02 1.55091911e-04 9.99919143e-01 -5.12738234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.013661823746339634 Centerline is valid? [True, True] Translation: X:113.32, Y:-124.55, Z:-5.13 [[-6.96468187e-01 -7.17518515e-01 9.96215250e-03 1.13315139e+02] [ 7.17448797e-01 -6.96539409e-01 -1.00037834e-02 -1.24552466e+02] [ 1.41169316e-02 1.80017425e-04 9.99900335e-01 -5.12783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.013836566240130351 Centerline is valid? [True, True] Translation: X:113.27, Y:-124.51, Z:-5.13 [[-6.96313215e-01 -7.17666611e-01 1.01263770e-02 1.13274488e+02] [ 7.17594682e-01 -6.96386818e-01 -1.01623116e-02 -1.24511990e+02] [ 1.43450272e-02 1.90482402e-04 9.99897087e-01 -5.12809374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.013578243697147076 Centerline is valid? [True, True] Translation: X:113.23, Y:-124.47, Z:-5.13 [[-6.97345731e-01 -7.16668516e-01 9.75551546e-03 1.13234665e+02] [ 7.16601747e-01 -6.97413945e-01 -9.78394442e-03 -1.24471258e+02] [ 1.38154774e-02 1.68027551e-04 9.99904548e-01 -5.12621192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.013354215313221902 Centerline is valid? [True, True] Translation: X:113.19, Y:-124.43, Z:-5.13 [[-6.99630337e-01 -7.14441273e-01 9.54251519e-03 1.13194944e+02] [ 7.14377252e-01 -6.99695400e-01 -9.56499982e-03 -1.24429888e+02] [ 1.35104846e-02 1.24991738e-04 9.99908721e-01 -5.12593202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.013107755381520174 Centerline is valid? [True, True] Translation: X:113.16, Y:-124.39, Z:-5.13 [[-7.02655258e-01 -7.11464323e-01 9.70081664e-03 1.13157218e+02] [ 7.11397940e-01 -7.02722215e-01 -9.71905481e-03 -1.24388278e+02] [ 1.37317401e-02 7.19960133e-05 9.99905713e-01 -5.12694389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.012937805192214538 Centerline is valid? [True, True] Translation: X:113.12, Y:-124.34, Z:-5.13 [[-7.08447383e-01 -7.05700479e-01 9.44139983e-03 1.13121386e+02] [ 7.05637159e-01 -7.08510292e-01 -9.45340634e-03 -1.24343293e+02] [ 1.33606023e-02 -3.50384326e-05 9.99910743e-01 -5.12610507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.013270208771039842 Centerline is valid? [True, True] Translation: X:113.08, Y:-124.30, Z:-5.12 [[-7.12591737e-01 -7.01524706e-01 8.72379222e-03 1.13082775e+02] [ 7.01470399e-01 -7.12645127e-01 -8.72935649e-03 -1.24300778e+02] [ 1.23408273e-02 -1.00985295e-04 9.99923844e-01 -5.12387263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.013886263869174147 Centerline is valid? [True, True] Translation: X:113.04, Y:-124.26, Z:-5.12 [[-7.15372792e-01 -6.98684757e-01 9.02107822e-03 1.13042178e+02] [ 6.98626523e-01 -7.15429653e-01 -9.02180729e-03 -1.24259098e+02] [ 1.27573461e-02 -1.51590952e-04 9.99918610e-01 -5.12433813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.014655671250188072 Centerline is valid? [True, True] Translation: X:113.00, Y:-124.22, Z:-5.13 [[-7.17844288e-01 -6.96124714e-01 1.04862429e-02 1.13002101e+02] [ 6.96045840e-01 -7.17920840e-01 -1.04812387e-02 -1.24217459e+02] [ 1.48245416e-02 -2.24991563e-04 9.99890085e-01 -5.12546741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.015025680135330524 Centerline is valid? [True, True] Translation: X:112.49, Y:-124.73, Z:-4.12 [[-7.45829743e-01 6.66011625e-01 1.29038548e-02 1.12494326e+02] [ 6.65917690e-01 7.45941321e-01 -1.11882117e-02 -1.24729469e+02] [-1.70769976e-02 2.48404112e-04 -9.99854147e-01 -4.12416641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.01400545199593951 Centerline is valid? [True, True] Translation: X:112.51, Y:-124.70, Z:-4.12 [[-7.93276920e-01 6.08684254e-01 1.46699322e-02 1.12514751e+02] [ 6.08584833e-01 7.93412528e-01 -1.10028191e-02 -1.24702522e+02] [-1.83365507e-02 1.99615792e-04 -9.99831851e-01 -4.12367161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.013499815269038849 Centerline is valid? [True, True] Translation: X:112.53, Y:-124.68, Z:-4.12 [[-8.36472891e-01 5.47797363e-01 1.52036687e-02 1.12531179e+02] [ 5.47709655e-01 8.36611041e-01 -9.80309257e-03 -1.24676606e+02] [-1.80896654e-02 1.27174953e-04 -9.99836361e-01 -4.12434516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.013157838389290268 Centerline is valid? [True, True] Translation: X:112.55, Y:-124.65, Z:-4.13 [[-8.74497806e-01 4.84799203e-01 1.49438839e-02 1.12546369e+02] [ 4.84729863e-01 8.74625478e-01 -8.19953074e-03 -1.24651654e+02] [-1.70454276e-02 7.32751658e-05 -9.99854714e-01 -4.12579842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.01303456943283367 Centerline is valid? [True, True] Translation: X:112.56, Y:-124.62, Z:-4.13 [[-9.08700150e-01 4.17215824e-01 1.39640281e-02 1.12563100e+02] [ 4.17166318e-01 9.08807436e-01 -6.42704120e-03 -1.24624141e+02] [-1.53720759e-02 -1.49311000e-05 -9.99881843e-01 -4.12646843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.013094727405878574 Centerline is valid? [True, True] Translation: X:112.58, Y:-124.59, Z:-4.13 [[-9.36990742e-01 3.49115945e-01 1.28998653e-02 1.12579425e+02] [ 3.49084290e-01 9.37079531e-01 -4.70223629e-03 -1.24591832e+02] [-1.37298254e-02 9.71884591e-05 -9.99905737e-01 -4.12823115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.01364960519451636 Centerline is valid? [True, True] Translation: X:112.58, Y:-124.56, Z:-4.13 [[-9.60654352e-01 2.77517971e-01 1.12690369e-02 1.12583745e+02] [ 2.77497161e-01 9.60720436e-01 -3.40142348e-03 -1.24559621e+02] [-1.17703502e-02 -1.40466523e-04 -9.99930717e-01 -4.12963755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.013943989554367445 Centerline is valid? [True, True] Translation: X:112.59, Y:-124.53, Z:-4.13 [[-9.78581384e-01 2.05549848e-01 1.13019966e-02 1.12592516e+02] [ 2.05534039e-01 9.78646631e-01 -2.55538744e-03 -1.24531049e+02] [-1.15859204e-02 -1.77709555e-04 -9.99932865e-01 -4.13019004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.014621174874210429 Centerline is valid? [True, True] Translation: X:112.59, Y:-124.50, Z:-4.13 [[-9.91232506e-01 1.31495272e-01 1.29271751e-02 1.12591698e+02] [ 1.31480729e-01 9.91316765e-01 -1.97223804e-03 -1.24499843e+02] [-1.30742653e-02 -2.55272061e-04 -9.99914496e-01 -4.12864347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.015252363590962372 Centerline is valid? [True, True] Translation: X:112.59, Y:-124.47, Z:-4.13 [[-9.98203672e-01 5.82211359e-02 1.41325230e-02 1.12593833e+02] [ 5.82108531e-02 9.98303662e-01 -1.13821084e-03 -1.24471280e+02] [-1.41748174e-02 -3.13500022e-04 -9.99899483e-01 -4.12755164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.01581165108130507 Centerline is valid? [True, True] Translation: X:112.59, Y:-124.44, Z:-4.13 [[-9.99805582e-01 -1.30554360e-02 1.47768226e-02 1.12589400e+02] [-1.30588969e-02 9.99914720e-01 -1.37746140e-04 -1.24444654e+02] [-1.47737641e-02 -3.30688362e-04 -9.99890807e-01 -4.12634550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.014007690294282782 Centerline is valid? [True, True] Translation: X:112.58, Y:-124.43, Z:-4.13 [[-9.96956136e-01 -7.66774687e-02 1.41077782e-02 1.12582207e+02] [-7.66727936e-02 9.97055927e-01 8.72751946e-04 -1.24427305e+02] [-1.41331643e-02 -2.11587358e-04 -9.99900100e-01 -4.12717147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.013179135336178344 Centerline is valid? [True, True] Translation: X:112.55, Y:-123.76, Z:-5.12 [[-9.99801622e-01 -1.47759658e-02 1.33562153e-02 1.12554658e+02] [ 1.47766916e-02 -9.99890818e-01 -4.43456260e-05 -1.23758456e+02] [ 1.33554123e-02 1.53023845e-04 9.99910801e-01 -5.12395945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.01254644654043088 Centerline is valid? [True, True] Translation: X:112.52, Y:-124.44, Z:-4.13 [[-9.97420799e-01 -7.05949628e-02 1.29654092e-02 1.12521731e+02] [-7.05896361e-02 9.97505062e-01 8.68583638e-04 -1.24443242e+02] [-1.29943789e-02 -4.88801325e-05 -9.99915568e-01 -4.12857050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.012584195201772048 Centerline is valid? [True, True] Translation: X:112.52, Y:-124.42, Z:-4.13 [[-9.90530090e-01 -1.36697900e-01 1.27993887e-02 1.12515427e+02] [-1.36686325e-01 9.90612782e-01 1.77886607e-03 -1.24421205e+02] [-1.29224053e-02 1.25189654e-05 -9.99916502e-01 -4.12813165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.012824698222299643 Centerline is valid? [True, True] Translation: X:112.51, Y:-124.40, Z:-4.13 [[-9.79300149e-01 -2.02076322e-01 1.16780823e-02 1.12505924e+02] [-2.02061081e-01 9.79369774e-01 2.48288279e-03 -1.24401370e+02] [-1.19388926e-02 7.18015587e-05 -9.99928726e-01 -4.13002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.013084871588413378 Centerline is valid? [True, True] Translation: X:112.49, Y:-124.38, Z:-4.13 [[-9.62956988e-01 -2.69384511e-01 1.20758091e-02 1.12485858e+02] [-2.69361905e-01 9.63032696e-01 3.49149599e-03 -1.24381220e+02] [-1.25699539e-02 1.09397516e-04 -9.99920989e-01 -4.12968837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.01344062429914266 Centerline is valid? [True, True] Translation: X:112.45, Y:-124.37, Z:-4.13 [[-9.41535969e-01 -3.36674010e-01 1.26740099e-02 1.12447820e+02] [-3.36641514e-01 9.41621257e-01 4.67971569e-03 -1.24368164e+02] [-1.35096558e-02 1.39522759e-04 -9.99908731e-01 -4.12844419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.013859300533529056 Centerline is valid? [True, True] Translation: X:112.39, Y:-124.36, Z:-4.13 [[-9.14406669e-01 -4.04605032e-01 1.24584407e-02 1.12392662e+02] [-4.04565282e-01 9.14491523e-01 5.67328097e-03 -1.24364347e+02] [-1.36885764e-02 1.47433385e-04 -9.99906296e-01 -4.12753270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.014090247261707293 Centerline is valid? [True, True] Translation: X:112.33, Y:-124.37, Z:-4.13 [[-8.81276400e-01 -4.72466342e-01 1.12899354e-02 1.12326802e+02] [-4.72425877e-01 8.81348707e-01 6.18455676e-03 -1.24368507e+02] [-1.28723648e-02 1.16646318e-04 -9.99917141e-01 -4.12660624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.01285789441852815 Centerline is valid? [True, True] Translation: X:112.25, Y:-124.38, Z:-4.13 [[-8.42371998e-01 -5.38791446e-01 1.06393410e-02 1.12250647e+02] [-5.38747237e-01 8.42439180e-01 6.90237279e-03 -1.24378700e+02] [-1.26819371e-02 8.24499974e-05 -9.99919578e-01 -4.12978722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.012546836033149709 Centerline is valid? [True, True] Translation: X:112.17, Y:-124.40, Z:-4.13 [[-7.96069685e-01 -6.05138246e-01 8.98664487e-03 1.12167228e+02] [-6.05099668e-01 7.96120408e-01 6.83285665e-03 -1.24399932e+02] [-1.12892743e-02 1.61420830e-06 -9.99936274e-01 -4.13052088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.012845801375384236 Centerline is valid? [True, True] Translation: X:112.08, Y:-124.43, Z:-4.13 [[-7.43259118e-01 -6.68954439e-01 8.11431342e-03 1.12079521e+02] [-6.68915821e-01 7.43303404e-01 7.18838910e-03 -1.24427726e+02] [-1.08401016e-02 -8.49568869e-05 -9.99941241e-01 -4.13094584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.013730999577463945 Centerline is valid? [True, True] Translation: X:111.99, Y:-124.46, Z:-4.13 [[-6.86177989e-01 -7.27398335e-01 7.17154449e-03 1.11992958e+02] [-7.27360838e-01 6.86215448e-01 7.38719354e-03 -1.24464222e+02] [-1.02946569e-02 -1.47371005e-04 -9.99946998e-01 -4.13106873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.01467960315094969 Centerline is valid? [True, True] Translation: X:111.91, Y:-124.51, Z:-4.13 [[-6.27472497e-01 -7.78611063e-01 6.56342629e-03 1.11908371e+02] [-7.78571308e-01 6.27506799e-01 7.86992332e-03 -1.24511805e+02] [-1.02462040e-02 -1.71934949e-04 -9.99947492e-01 -4.13087005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.014485086333946422 Centerline is valid? [True, True] Translation: X:111.83, Y:-124.57, Z:-4.13 [[-5.66112848e-01 -8.24305755e-01 6.02212013e-03 1.11827249e+02] [-8.24262496e-01 5.66144849e-01 8.44682520e-03 -1.24570405e+02] [-1.03721589e-02 -1.81951492e-04 -9.99946191e-01 -4.13132123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.014446888544168484 Centerline is valid? [True, True] Translation: X:111.75, Y:-124.64, Z:-4.13 [[-5.02005850e-01 -8.64844258e-01 5.87669944e-03 1.11747657e+02] [-8.64789558e-01 5.02040207e-01 9.72886225e-03 -1.24640742e+02] [-1.13642901e-02 -1.98162549e-04 -9.99935405e-01 -4.13038100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.014498379777033802 Centerline is valid? [True, True] Translation: X:111.67, Y:-124.72, Z:-4.13 [[-4.36380045e-01 -8.99740857e-01 6.23266035e-03 1.11673274e+02] [-8.99656038e-01 4.36424499e-01 1.23559843e-02 -1.24719140e+02] [-1.38372696e-02 -2.15345511e-04 -9.99904237e-01 -4.12738888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.014066463683872654 Centerline is valid? [True, True] Translation: X:111.61, Y:-124.80, Z:-4.13 [[-3.68582954e-01 -9.29576119e-01 5.90289557e-03 1.11608088e+02] [-9.29465665e-01 3.68630163e-01 1.43311169e-02 -1.24802482e+02] [-1.54978494e-02 -2.04333355e-04 -9.99879880e-01 -4.12611099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.013792466295318708 Centerline is valid? [True, True] Translation: X:111.55, Y:-124.90, Z:-4.13 [[-2.98899416e-01 -9.54272415e-01 4.82673551e-03 1.11546540e+02] [-9.54156852e-01 2.98938339e-01 1.48516338e-02 -1.24897867e+02] [-1.56154007e-02 -1.66318097e-04 -9.99878058e-01 -4.12540780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.013199143918289719 Centerline is valid? [True, True] Translation: X:111.49, Y:-125.00, Z:-4.13 [[-2.27405636e-01 -9.73794558e-01 3.29180226e-03 1.11493111e+02] [-9.73699631e-01 2.27429432e-01 1.35971165e-02 -1.25003060e+02] [-1.39894507e-02 -1.13165734e-04 -9.99902137e-01 -4.12815407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.013081306690503794 Centerline is valid? [True, True] Translation: X:111.45, Y:-125.11, Z:-4.13 [[-1.52957537e-01 -9.88230848e-01 1.94493095e-03 1.11447165e+02] [-9.88158016e-01 1.52969877e-01 1.19979714e-02 -1.25106239e+02] [-1.21542813e-02 -8.67189541e-05 -9.99926130e-01 -4.12994482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.013038537436219072 Centerline is valid? [True, True] Translation: X:111.41, Y:-125.22, Z:-4.13 [[-7.55282742e-02 -9.97143204e-01 9.54050583e-04 1.11406867e+02] [-9.97078543e-01 7.55342417e-02 1.13559755e-02 -1.25216177e+02] [-1.13955973e-02 -9.35661305e-05 -9.99935064e-01 -4.13096450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.013420913155740028 Centerline is valid? [True, True] Translation: X:111.37, Y:-125.33, Z:-4.13 [[ 3.64083181e-03 -9.99993369e-01 8.20448624e-05 1.11374489e+02] [-9.99928857e-01 -3.63966495e-03 1.13593252e-02 -1.25325716e+02] [-1.13589512e-02 -1.23396418e-04 -9.99935477e-01 -4.13146596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.01440074877522084 Centerline is valid? [True, True] Translation: X:111.35, Y:-125.44, Z:-4.13 [[ 8.51571311e-02 -9.96367174e-01 -8.47208776e-04 1.11348642e+02] [-9.96293223e-01 -8.51611338e-02 1.21406678e-02 -1.25444518e+02] [-1.21687121e-02 -1.89796078e-04 -9.99925941e-01 -4.13021120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.015649304989741274 Centerline is valid? [True, True] Translation: X:111.33, Y:-125.56, Z:-4.13 [[ 1.67354461e-01 -9.85894597e-01 -2.08039982e-03 1.11330611e+02] [-9.85793855e-01 -1.67367108e-01 1.40970749e-02 -1.25564383e+02] [-1.42464205e-02 -3.08363016e-04 -9.99898467e-01 -4.12896353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.016653612148567226 Centerline is valid? [True, True] Translation: X:111.32, Y:-125.69, Z:-4.13 [[ 2.45355331e-01 -9.69427948e-01 -3.19607638e-03 1.11324133e+02] [-9.69325910e-01 -2.45375891e-01 1.40695689e-02 -1.25687640e+02] [-1.44236734e-02 -3.54004074e-04 -9.99895911e-01 -4.12846329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.016720937033058676 Centerline is valid? [True, True] Translation: X:111.33, Y:-125.80, Z:-4.13 [[ 3.19037862e-01 -9.47733782e-01 -3.93956325e-03 1.11328712e+02] [-9.47648397e-01 -3.19062018e-01 1.27257759e-02 -1.25802757e+02] [-1.33176127e-02 -3.26683540e-04 -9.99911263e-01 -4.12993626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.01574958201958819 Centerline is valid? [True, True] Translation: X:111.35, Y:-125.92, Z:-4.13 [[ 3.88858474e-01 -9.21288193e-01 -4.14150934e-03 1.11345769e+02] [-9.21228865e-01 -3.88880446e-01 1.04583712e-02 -1.25920969e+02] [-1.12457259e-02 -2.51548317e-04 -9.99936733e-01 -4.13255361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.015300518046645928 Centerline is valid? [True, True] Translation: X:111.37, Y:-126.03, Z:-4.13 [[ 4.56082560e-01 -8.89926861e-01 -4.34505077e-03 1.11365496e+02] [-8.89882313e-01 -4.56103215e-01 8.90648529e-03 -1.26029291e+02] [-9.90791213e-03 -1.95508784e-04 -9.99950896e-01 -4.13339885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.01519081002694802 Centerline is valid? [True, True] Translation: X:111.40, Y:-126.14, Z:-4.13 [[ 5.21572435e-01 -8.53192465e-01 -4.98119611e-03 1.11395847e+02] [-8.53150238e-01 -5.21596190e-01 8.49039780e-03 -1.26142012e+02] [-9.84211634e-03 -1.78648816e-04 -9.99951549e-01 -4.13303031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.015386793079319951 Centerline is valid? [True, True] Translation: X:111.43, Y:-126.25, Z:-4.13 [[ 5.85287796e-01 -8.10799778e-01 -6.47422781e-03 1.11432497e+02] [-8.10746242e-01 -5.85323566e-01 9.31952224e-03 -1.26251069e+02] [-1.13457847e-02 -2.05646761e-04 -9.99935613e-01 -4.13180760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.01619160442547822 Centerline is valid? [True, True] Translation: X:111.47, Y:-126.35, Z:-4.13 [[ 6.46858274e-01 -7.62569871e-01 -7.84628076e-03 1.11472436e+02] [-7.62509076e-01 -6.46905812e-01 9.63218034e-03 -1.26354808e+02] [-1.24210151e-02 -2.47795257e-04 -9.99922826e-01 -4.13057570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.016637729659369334 Centerline is valid? [True, True] Translation: X:111.53, Y:-126.46, Z:-4.13 [[ 7.04152426e-01 -7.09997623e-01 -8.52854442e-03 1.11527776e+02] [-7.09940929e-01 -7.04204022e-01 8.97621570e-03 -1.26460995e+02] [-1.23789271e-02 -2.65861316e-04 -9.99923343e-01 -4.13083284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.01704939806510389 Centerline is valid? [True, True] Translation: X:111.57, Y:-126.55, Z:-4.13 [[ 7.57512201e-01 -6.52753661e-01 -9.37678003e-03 1.11573581e+02] [-6.52698731e-01 -7.57570174e-01 8.47331534e-03 -1.26545949e+02] [-1.26345565e-02 -2.98427317e-04 -9.99920136e-01 -4.13135268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.018087112576128512 Centerline is valid? [True, True] Translation: X:111.60, Y:-126.57, Z:-4.13 [[ 8.07404861e-01 -5.89909340e-01 -1.02157175e-02 1.11596120e+02] [-5.89856899e-01 -8.07469418e-01 7.87264248e-03 -1.26572470e+02] [-1.28930248e-02 -3.30598353e-04 -9.99916827e-01 -4.13109261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.018112709754275008 Centerline is valid? [True, True] Translation: X:111.62, Y:-126.60, Z:-4.13 [[ 8.51416371e-01 -5.24375255e-01 -1.09888503e-02 1.11620978e+02] [-5.24326298e-01 -8.51487212e-01 7.17359984e-03 -1.26595827e+02] [-1.31185238e-02 -3.45977144e-04 -9.99913889e-01 -4.13120896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.01757501174275582 Centerline is valid? [True, True] Translation: X:111.65, Y:-126.62, Z:-4.13 [[ 8.89466269e-01 -4.56851460e-01 -1.16832897e-02 1.11647864e+02] [-4.56806981e-01 -8.89542932e-01 6.38394047e-03 -1.26616914e+02] [-1.33093003e-02 -3.41291403e-04 -9.99911369e-01 -4.13187747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.01609859908753034 Centerline is valid? [True, True] Translation: X:111.68, Y:-126.64, Z:-4.13 [[ 9.21411176e-01 -3.88401019e-01 -1.20869347e-02 1.11676524e+02] [-3.88363256e-01 -9.21490399e-01 5.42448058e-03 -1.26636899e+02] [-1.32448680e-02 -3.04055719e-04 -9.99912237e-01 -4.13306969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.014638778114076765 Centerline is valid? [True, True] Translation: X:111.71, Y:-126.65, Z:-4.13 [[ 9.46908947e-01 -3.21279198e-01 -1.19634315e-02 1.11706750e+02] [-3.21250756e-01 -9.46984495e-01 4.28002849e-03 -1.26653244e+02] [-1.27042682e-02 -2.09535865e-04 -9.99919276e-01 -4.13443862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.013073736872227052 Centerline is valid? [True, True] Translation: X:111.74, Y:-126.66, Z:-4.13 [[ 9.66623111e-01 -2.55943273e-01 -1.15239782e-02 1.11738084e+02] [-2.55924128e-01 -9.66691799e-01 3.13140337e-03 -1.26663326e+02] [-1.19415968e-02 -7.76228011e-05 -9.99928694e-01 -4.13471974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.012870651286512349 Centerline is valid? [True, True] Translation: X:111.77, Y:-126.67, Z:-4.14 [[ 9.82415139e-01 -1.86335513e-01 -1.18140599e-02 1.11769281e+02] [-1.86322095e-01 -9.82486171e-01 2.23619715e-03 -1.26673809e+02] [-1.20238334e-02 4.34646393e-06 -9.99927711e-01 -4.13526706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.013584778364139224 Centerline is valid? [True, True] Translation: X:111.80, Y:-126.68, Z:-4.13 [[ 9.92982774e-01 -1.17639951e-01 -1.20851823e-02 1.11797593e+02] [-1.17632613e-01 -9.93056307e-01 1.31869013e-03 -1.26680034e+02] [-1.21563971e-02 1.12174991e-04 -9.99926102e-01 -4.13499243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.01446287932506896 Centerline is valid? [True, True] Translation: X:111.83, Y:-126.69, Z:-4.14 [[ 9.98939538e-01 -4.43107295e-02 -1.25043439e-02 1.11825568e+02] [-4.43094548e-02 -9.99017782e-01 3.79100195e-04 -1.26686218e+02] [-1.25088601e-02 1.75362489e-04 -9.99921746e-01 -4.13511596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.01429857827015933 Centerline is valid? [True, True] Translation: X:111.85, Y:-126.70, Z:-4.13 [[ 9.99316399e-01 3.42972624e-02 -1.37997182e-02 1.11854595e+02] [ 3.42913666e-02 -9.99411658e-01 -6.63699087e-04 -1.26696762e+02] [-1.38143623e-02 1.90034186e-04 -9.99904559e-01 -4.13376580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.013764389407715499 Centerline is valid? [True, True] Translation: X:111.89, Y:-126.71, Z:-4.13 [[ 9.93364382e-01 1.14108042e-01 -1.43721696e-02 1.11885051e+02] [ 1.14093551e-01 -9.93468331e-01 -1.82690114e-03 -1.26707673e+02] [-1.44867594e-02 1.75006664e-04 -9.99895046e-01 -4.13332773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.01340504218708333 Centerline is valid? [True, True] Translation: X:111.92, Y:-126.72, Z:-4.13 [[ 9.80852982e-01 1.94267867e-01 -1.36902489e-02 1.11916058e+02] [ 1.94247101e-01 -9.80948510e-01 -2.84342089e-03 -1.26715740e+02] [-1.39818146e-02 1.29686700e-04 -9.99902241e-01 -4.13356724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.013079393143237857 Centerline is valid? [True, True] Translation: X:111.95, Y:-126.72, Z:-4.13 [[ 9.61857924e-01 2.73319762e-01 -1.12089800e-02 1.11947367e+02] [ 2.73300311e-01 -9.61923231e-01 -3.26160947e-03 -1.26720708e+02] [-1.16736406e-02 7.37872104e-05 -9.99931858e-01 -4.13471936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.012908574479805646 Centerline is valid? [True, True] Translation: X:111.98, Y:-126.72, Z:-4.14 [[ 9.36579111e-01 3.50338838e-01 -9.07015524e-03 1.11977524e+02] [ 3.50322054e-01 -9.36623029e-01 -3.42941445e-03 -1.26720123e+02] [-9.69677335e-03 3.44425259e-05 -9.99952985e-01 -4.13524539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.012539102630425339 Centerline is valid? [True, True] Translation: X:112.01, Y:-126.72, Z:-4.14 [[ 9.04134249e-01 4.27183016e-01 -7.47870832e-03 1.12010904e+02] [ 4.27168519e-01 -9.04165179e-01 -3.51930317e-03 -1.26722482e+02] [-8.26537419e-03 -1.27462361e-05 -9.99965841e-01 -4.13721646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.012684930941496362 Centerline is valid? [True, True] Translation: X:112.04, Y:-126.72, Z:-4.14 [[ 8.66584284e-01 4.98973115e-01 -7.58345920e-03 1.12044190e+02] [ 4.98954382e-01 -8.66617464e-01 -4.32378960e-03 -1.26719267e+02] [-8.72941295e-03 -3.68720865e-05 -9.99961897e-01 -4.13609738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.012807462327212613 Centerline is valid? [True, True] Translation: X:112.08, Y:-126.71, Z:-4.14 [[ 8.23716753e-01 5.66956385e-01 -7.15316698e-03 1.12076538e+02] [ 5.66935574e-01 -8.23747810e-01 -4.85800618e-03 -1.26713076e+02] [-8.64668325e-03 -5.37637544e-05 -9.99962615e-01 -4.13588976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.01304780394663396 Centerline is valid? [True, True] Translation: X:112.11, Y:-126.70, Z:-4.14 [[ 7.75471414e-01 6.31349201e-01 -6.50182947e-03 1.12108736e+02] [ 6.31327762e-01 -7.75498667e-01 -5.20339388e-03 -1.26704141e+02] [-8.32731865e-03 -6.97022322e-05 -9.99965325e-01 -4.13641556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.013368184082288185 Centerline is valid? [True, True] Translation: X:112.14, Y:-126.69, Z:-4.14 [[ 7.23261336e-01 6.90542134e-01 -6.67842970e-03 1.12137522e+02] [ 6.90513738e-01 -7.23292164e-01 -6.26283659e-03 -1.26691013e+02] [-9.15520842e-03 -8.18799006e-05 -9.99958087e-01 -4.13533172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.013097649164650279 Centerline is valid? [True, True] Translation: X:112.17, Y:-126.67, Z:-4.14 [[ 6.67397474e-01 7.44674548e-01 -6.35843130e-03 1.12166346e+02] [ 7.44641879e-01 -6.67427758e-01 -6.97565698e-03 -1.26674578e+02] [-9.43838775e-03 -7.92183886e-05 -9.99955454e-01 -4.13582366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.012893038767161637 Centerline is valid? [True, True] Translation: X:112.19, Y:-126.66, Z:-4.14 [[ 6.08220523e-01 7.93748213e-01 -5.61860409e-03 1.12192496e+02] [ 7.93715308e-01 -6.08246471e-01 -7.22773970e-03 -1.26655626e+02] [-9.15450158e-03 -6.35124506e-05 -9.99958095e-01 -4.13640707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.012618145309183907 Centerline is valid? [True, True] Translation: X:112.22, Y:-126.63, Z:-4.14 [[ 5.46558345e-01 8.37406832e-01 -4.87587685e-03 1.12217347e+02] [ 8.37374104e-01 -5.46580092e-01 -7.40354542e-03 -1.26634867e+02] [-8.86483673e-03 -3.64634796e-05 -9.99960706e-01 -4.13686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.012706521264441762 Centerline is valid? [True, True] Translation: X:112.24, Y:-126.61, Z:-4.13 [[ 4.81363742e-01 8.76503056e-01 -5.59826791e-03 1.12238522e+02] [ 8.76444273e-01 -4.81396294e-01 -1.01511087e-02 -1.26612467e+02] [-1.15924632e-02 -2.01941983e-05 -9.99932805e-01 -4.13497255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.012815261761965532 Centerline is valid? [True, True] Translation: X:112.26, Y:-126.59, Z:-4.13 [[ 4.12451400e-01 9.10964597e-01 -5.22932681e-03 1.12257196e+02] [ 9.10891552e-01 -4.12484549e-01 -1.15358906e-02 -1.26587734e+02] [-1.26658044e-02 -5.35539134e-06 -9.99919786e-01 -4.13269688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.012446570668368519 Centerline is valid? [True, True] Translation: X:112.28, Y:-126.56, Z:-4.14 [[ 3.39823950e-01 9.40480787e-01 -3.94612152e-03 1.12277945e+02] [ 9.40417562e-01 -3.39846861e-01 -1.09050996e-02 -1.26561957e+02] [-1.15971136e-02 -5.18797266e-06 -9.99932751e-01 -4.13618048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.012475109828624301 Centerline is valid? [True, True] Translation: X:112.30, Y:-126.54, Z:-4.14 [[ 2.64101617e-01 9.64491161e-01 -2.67156526e-03 1.12296197e+02] [ 9.64442392e-01 -2.64115128e-01 -9.69903829e-03 -1.26535800e+02] [-1.00602375e-02 -1.50390907e-05 -9.99949394e-01 -4.13730393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.01236156619091385 Centerline is valid? [True, True] Translation: X:112.31, Y:-126.51, Z:-4.14 [[ 1.86407161e-01 9.82470864e-01 -1.83634855e-03 1.12312457e+02] [ 9.82424660e-01 -1.86416204e-01 -9.52816239e-03 -1.26507207e+02] [-9.70346706e-03 -2.79563984e-05 -9.99952920e-01 -4.13871481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.012355344924959577 Centerline is valid? [True, True] Translation: X:112.33, Y:-126.48, Z:-4.14 [[ 1.06877541e-01 9.94271578e-01 -1.10496420e-03 1.12325476e+02] [ 9.94223057e-01 -1.06883241e-01 -9.82268846e-03 -1.26476987e+02] [-9.88452211e-03 -4.87560958e-05 -9.99951146e-01 -4.13886886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.012585771772476715 Centerline is valid? [True, True] Translation: X:112.34, Y:-126.45, Z:-4.14 [[ 2.57347405e-02 9.99668745e-01 -3.51932107e-04 1.12339730e+02] [ 9.99614020e-01 -2.57370142e-02 -1.04602622e-02 -1.26446720e+02] [-1.04658548e-02 -8.26041356e-05 -9.99945228e-01 -4.13841741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.01316204342544428 Centerline is valid? [True, True] Translation: X:112.35, Y:-126.42, Z:-4.14 [[-5.59803763e-02 9.98431760e-01 4.67248546e-04 1.12350441e+02] [ 9.98377349e-01 5.59822038e-02 -1.04241076e-02 -1.26416401e+02] [-1.04339177e-02 -1.17055104e-04 -9.99945558e-01 -4.13777215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.013142701022838148 Centerline is valid? [True, True] Translation: X:112.36, Y:-126.38, Z:-4.14 [[-1.34902412e-01 9.90858008e-01 1.32189923e-03 1.12356354e+02] [ 9.90800544e-01 1.34908825e-01 -1.06719980e-02 -1.26384414e+02] [-1.07527706e-02 -1.29939799e-04 -9.99942179e-01 -4.13787197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.01353303723898249 Centerline is valid? [True, True] Translation: X:112.36, Y:-126.35, Z:-4.14 [[-2.12362719e-01 9.77188007e-01 2.38218794e-03 1.12357440e+02] [ 9.77118522e-01 2.12376029e-01 -1.16540213e-02 -1.26353741e+02] [-1.18940895e-02 -1.47199693e-04 -9.99929252e-01 -4.13678542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.013335668221728153 Centerline is valid? [True, True] Translation: X:112.35, Y:-126.32, Z:-4.14 [[-2.88690019e-01 9.57417552e-01 3.11525184e-03 1.12354552e+02] [ 9.57356287e-01 2.88706791e-01 -1.08318039e-02 -1.26321948e+02] [-1.12699535e-02 -1.44627734e-04 -9.99936482e-01 -4.13809112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.01335466322270073 Centerline is valid? [True, True] Translation: X:112.35, Y:-126.29, Z:-4.14 [[-3.63091721e-01 9.31745259e-01 3.89540283e-03 1.12349730e+02] [ 9.31687248e-01 3.63112587e-01 -1.03981662e-02 -1.26290641e+02] [-1.11029119e-02 -1.46190937e-04 -9.99938350e-01 -4.13823632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.01360744191386328 Centerline is valid? [True, True] Translation: X:112.34, Y:-126.26, Z:-4.14 [[-4.36566779e-01 8.99659339e-01 4.74569533e-03 1.12342988e+02] [ 8.99601942e-01 4.36592540e-01 -1.01637030e-02 -1.26259737e+02] [-1.12158055e-02 -1.67898335e-04 -9.99937087e-01 -4.13831805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.014107388257902278 Centerline is valid? [True, True] Translation: X:112.33, Y:-126.23, Z:-4.14 [[-5.07566597e-01 8.61591453e-01 6.02647846e-03 1.12333833e+02] [ 8.61525745e-01 5.07602330e-01 -1.06426273e-02 -1.26229921e+02] [-1.22286512e-02 -2.09875753e-04 -9.99925205e-01 -4.13754666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.014290301616029663 Centerline is valid? [True, True] Translation: X:112.32, Y:-126.20, Z:-4.14 [[-5.74232258e-01 8.18663962e-01 6.82871158e-03 1.12321015e+02] [ 8.18601454e-01 5.74272818e-01 -1.01188472e-02 -1.26201846e+02] [-1.22054790e-02 -2.20575270e-04 -9.99925486e-01 -4.13768381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.014103669057918163 Centerline is valid? [True, True] Translation: X:112.31, Y:-126.17, Z:-4.14 [[-6.36165864e-01 7.71518482e-01 7.22680952e-03 1.12306182e+02] [ 7.71465033e-01 6.36206878e-01 -9.08362668e-03 -1.26174817e+02] [-1.16059318e-02 -2.03462369e-04 -9.99932628e-01 -4.13843811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.013752095207905329 Centerline is valid? [True, True] Translation: X:112.29, Y:-126.15, Z:-4.14 [[-6.94019285e-01 7.19918805e-01 7.35845314e-03 1.12288892e+02] [ 7.19875571e-01 6.94058270e-01 -7.89180792e-03 -1.26148998e+02] [-1.07886562e-02 -1.79896237e-04 -9.99941785e-01 -4.13945911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.013838817898706682 Centerline is valid? [True, True] Translation: X:112.27, Y:-126.12, Z:-4.14 [[-7.48327139e-01 6.63285730e-01 7.65070147e-03 1.12270375e+02] [ 6.63248675e-01 7.48366227e-01 -7.01324395e-03 -1.26124168e+02] [-1.03773112e-02 -1.73883166e-04 -9.99946139e-01 -4.13974021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.01414413912410659 Centerline is valid? [True, True] Translation: X:112.29, Y:-126.11, Z:-4.14 [[-7.93014571e-01 6.09143875e-01 8.46343114e-03 1.12286563e+02] [ 6.09106823e-01 7.93059714e-01 -6.72077634e-03 -1.26105087e+02] [-1.08059260e-02 -1.74539912e-04 -9.99941599e-01 -4.13877721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.013331258392508925 Centerline is valid? [True, True] Translation: X:112.70, Y:-125.59, Z:-5.11 [[-7.30318423e-01 -6.83057817e-01 8.18659613e-03 1.12704360e+02] [ 6.83017812e-01 -7.30364281e-01 -7.39500528e-03 -1.25593076e+02] [ 1.10304136e-02 1.90882382e-04 9.99939145e-01 -5.11243858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.012664278439967994 Centerline is valid? [True, True] Translation: X:112.25, Y:-126.09, Z:-4.14 [[-7.91078241e-01 6.11667629e-01 7.61103946e-03 1.12248847e+02] [ 6.11638200e-01 7.91114848e-01 -6.00083542e-03 -1.26094901e+02] [-9.69172310e-03 -9.19278553e-05 -9.99953030e-01 -4.14047397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.012428183312751062 Centerline is valid? [True, True] Translation: X:112.26, Y:-126.08, Z:-4.14 [[-8.30566858e-01 5.56869181e-01 7.44379294e-03 1.12264192e+02] [ 5.56846213e-01 8.30600212e-01 -5.05792832e-03 -1.26078562e+02] [-8.99942040e-03 -5.58997264e-05 -9.99959503e-01 -4.14068526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.012251560160043617 Centerline is valid? [True, True] Translation: X:112.27, Y:-126.06, Z:-4.14 [[-8.65172670e-01 5.01410891e-01 7.96053380e-03 1.12271089e+02] [ 5.01389593e-01 8.65209292e-01 -4.62145386e-03 -1.26060040e+02] [-9.20477511e-03 -7.02677250e-06 -9.99957635e-01 -4.13941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.012409246692988162 Centerline is valid? [True, True] Translation: X:112.29, Y:-126.05, Z:-4.14 [[-8.96379088e-01 4.43208827e-01 8.39444315e-03 1.12292401e+02] [ 4.43189788e-01 8.96418392e-01 -4.10827779e-03 -1.26048002e+02] [-9.34575821e-03 3.77571832e-05 -9.99956327e-01 -4.13936834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.012549875206575073 Centerline is valid? [True, True] Translation: X:112.31, Y:-126.03, Z:-4.14 [[-9.24547911e-01 3.80957405e-01 9.08933989e-03 1.12305407e+02] [ 3.80939678e-01 9.24592587e-01 -3.67565167e-03 -1.26029092e+02] [-9.80420301e-03 6.41741356e-05 -9.99951936e-01 -4.13910148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.012661498146214508 Centerline is valid? [True, True] Translation: X:112.58, Y:-125.35, Z:-5.11 [[-9.02589634e-01 -4.30407736e-01 9.00743657e-03 1.12582473e+02] [ 4.30385715e-01 -9.02634576e-01 -4.35407858e-03 -1.25353192e+02] [ 1.00044528e-02 -5.32741601e-05 9.99949953e-01 -5.11281717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.012498336195310055 Centerline is valid? [True, True] Translation: X:112.26, Y:-126.01, Z:-4.14 [[-9.26847977e-01 3.75330329e-01 8.94267574e-03 1.12262999e+02] [ 3.75313275e-01 9.26891117e-01 -3.57820766e-03 -1.26014533e+02] [-9.63189657e-03 3.98503856e-05 -9.99953611e-01 -4.13940750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.012338527165026002 Centerline is valid? [True, True] Translation: X:112.27, Y:-125.99, Z:-4.14 [[-9.52096026e-01 3.05672080e-01 8.81683310e-03 1.12271990e+02] [ 3.05659058e-01 9.52136849e-01 -2.82149577e-03 -1.25986946e+02] [-9.25728417e-03 8.60998329e-06 -9.99957150e-01 -4.13962160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.012294973848376826 Centerline is valid? [True, True] Translation: X:112.28, Y:-125.96, Z:-4.14 [[-9.72209692e-01 2.33943910e-01 8.86348576e-03 1.12277173e+02] [ 2.33933962e-01 9.72250095e-01 -2.15758459e-03 -1.25957982e+02] [-9.12227865e-03 -2.41543103e-05 -9.99958391e-01 -4.13895987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.012439648462191737 Centerline is valid? [True, True] Translation: X:112.45, Y:-125.26, Z:-5.11 [[-9.52262433e-01 -3.05168456e-01 8.27481372e-03 1.12453333e+02] [ 3.05156894e-01 -9.52298385e-01 -2.65644154e-03 -1.25255637e+02] [ 8.69075391e-03 -4.51302810e-06 9.99962235e-01 -5.11216552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.012577336764541997 Centerline is valid? [True, True] Translation: X:112.23, Y:-125.95, Z:-4.14 [[-9.73415843e-01 2.28898178e-01 8.19882388e-03 1.12228548e+02] [ 2.28889762e-01 9.73450370e-01 -1.96311911e-03 -1.25946094e+02] [-8.43050252e-03 -3.43043953e-05 -9.99964462e-01 -4.13936377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.012356057787002446 Centerline is valid? [True, True] Translation: X:112.24, Y:-125.92, Z:-4.14 [[-9.86998588e-01 1.60542337e-01 7.74246039e-03 1.12238230e+02] [ 1.60537219e-01 9.87028955e-01 -1.28203395e-03 -1.25920588e+02] [-7.84785331e-03 -2.24126415e-05 -9.99969205e-01 -4.14092598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.012309023446323227 Centerline is valid? [True, True] Translation: X:112.36, Y:-125.21, Z:-5.11 [[-9.73680508e-01 -2.27813826e-01 6.86506978e-03 1.12364917e+02] [ 2.27807973e-01 -9.73704709e-01 -1.63337307e-03 -1.25207953e+02] [ 7.05665574e-03 -2.64658880e-05 9.99975101e-01 -5.11024090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.012951589752426584 Centerline is valid? [True, True] Translation: X:112.20, Y:-125.92, Z:-4.14 [[-9.85824048e-01 1.67664493e-01 6.29001096e-03 1.12195509e+02] [ 1.67661423e-01 9.85844113e-01 -1.01603451e-03 -1.25917454e+02] [-6.37132318e-03 5.29609318e-05 -9.99979702e-01 -4.14169912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.014049262599315807 Centerline is valid? [True, True] Translation: X:112.20, Y:-125.89, Z:-4.14 [[-9.94609581e-01 1.03490484e-01 6.44209313e-03 1.12199370e+02] [ 1.03488927e-01 9.94630439e-01 -5.75532553e-04 -1.25893634e+02] [-6.46706407e-03 9.42551140e-05 -9.99979084e-01 -4.14128896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.016848279494845367 Centerline is valid? [True, True] Translation: X:112.27, Y:-125.16, Z:-5.11 [[-9.91219336e-01 -1.32024784e-01 7.32696128e-03 1.12270393e+02] [ 1.32020755e-01 -9.91246414e-01 -1.03306140e-03 -1.25157423e+02] [ 7.39921380e-03 -5.66794829e-05 9.99972624e-01 -5.11161949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.01901266660495884 Centerline is valid? [True, True] Translation: X:112.14, Y:-125.90, Z:-4.14 [[-9.93522819e-01 1.13254313e-01 9.26657369e-03 1.12144629e+02] [ 1.13251907e-01 9.93565996e-01 -7.85635565e-04 -1.25895749e+02] [-9.29592913e-03 2.68910282e-04 -9.99956756e-01 -4.13811954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.019927552081735425 Centerline is valid? [True, True] Translation: X:112.14, Y:-125.87, Z:-4.14 [[-9.99013138e-01 4.31745933e-02 1.04261730e-02 1.12143751e+02] [ 4.31754744e-02 9.99067495e-01 -1.40671624e-04 -1.25867729e+02] [-1.04225239e-02 3.09622162e-04 -9.99945636e-01 -4.13654085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.017354746273711644 Centerline is valid? [True, True] Translation: X:112.16, Y:-125.13, Z:-5.11 [[-9.98598618e-01 -5.16834188e-02 1.13852698e-02 1.12158270e+02] [ 5.16769325e-02 -9.98663482e-01 -8.63355606e-04 -1.25128079e+02] [ 1.14146744e-02 -2.73789895e-04 9.99934813e-01 -5.11439075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.01671291720936658 Centerline is valid? [True, True] Translation: X:112.07, Y:-125.86, Z:-4.14 [[-9.99306528e-01 3.57742365e-02 1.03279548e-02 1.12073145e+02] [ 3.57751997e-02 9.99359859e-01 -9.15328945e-05 -1.25855887e+02] [-1.03246180e-02 2.78015226e-04 -9.99946661e-01 -4.13811500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.01631741091065899 Centerline is valid? [True, True] Translation: X:112.07, Y:-125.83, Z:-4.14 [[-9.99249957e-01 -3.78193034e-02 8.32004956e-03 1.12070479e+02] [-3.78162971e-02 9.99284574e-01 5.18411691e-04 -1.25825744e+02] [-8.33370315e-03 2.03389394e-04 -9.99965253e-01 -4.13925148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.014445387565237321 Centerline is valid? [True, True] Translation: X:112.06, Y:-125.79, Z:-4.14 [[-9.93276011e-01 -1.15560997e-01 6.95863453e-03 1.12055298e+02] [-1.15557290e-01 9.93300378e-01 9.33773630e-04 -1.25792165e+02] [-7.01992212e-03 1.23373995e-04 -9.99975352e-01 -4.14042971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.013629018590431355 Centerline is valid? [True, True] Translation: X:111.96, Y:-125.10, Z:-5.11 [[-9.96913289e-01 7.81873404e-02 7.11583276e-03 1.11956043e+02] [-7.81861894e-02 -9.96938677e-01 4.40222222e-04 -1.25100189e+02] [ 7.12846871e-03 -1.17496465e-04 9.99974585e-01 -5.11178701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.012291442594526292 Centerline is valid? [True, True] Translation: X:111.96, Y:-125.79, Z:-4.14 [[-9.90442469e-01 -1.37730568e-01 7.34888533e-03 1.11956840e+02] [-1.37726726e-01 9.90469732e-01 1.02874005e-03 -1.25789293e+02] [-7.42053744e-03 6.76991412e-06 -9.99972467e-01 -4.14010693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.013125541271443011 Centerline is valid? [True, True] Translation: X:111.93, Y:-125.75, Z:-4.14 [[-9.75517774e-01 -2.19788157e-01 7.63148949e-03 1.11932175e+02] [-2.19782140e-01 9.75547620e-01 1.62875008e-03 -1.25754976e+02] [-7.80286139e-03 -8.83904370e-05 -9.99969553e-01 -4.13893229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.014675231484399313 Centerline is valid? [True, True] Translation: X:111.92, Y:-125.73, Z:-4.14 [[-9.55302373e-01 -2.95527406e-01 7.80564473e-03 1.11915556e+02] [-2.95518809e-01 9.55334251e-01 2.25902387e-03 -1.25725039e+02] [-8.12460322e-03 -1.48663973e-04 -9.99966984e-01 -4.13831135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.016269997361579375 Centerline is valid? [True, True] Translation: X:111.89, Y:-125.70, Z:-4.14 [[-9.29032245e-01 -3.69912153e-01 8.00538394e-03 1.11886330e+02] [-3.69900430e-01 9.29066710e-01 2.95306883e-03 -1.25700518e+02] [-8.52991176e-03 -2.17698797e-04 -9.99963596e-01 -4.13720806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.017523425507859746 Centerline is valid? [True, True] Translation: X:111.85, Y:-125.68, Z:-4.14 [[-8.98707359e-01 -4.38477309e-01 7.92033088e-03 1.11849200e+02] [-4.38462686e-01 8.98742226e-01 3.58951132e-03 -1.25683801e+02] [-8.69225507e-03 -2.46849306e-04 -9.99962191e-01 -4.13668529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.018195303423161845 Centerline is valid? [True, True] Translation: X:111.79, Y:-125.68, Z:-4.14 [[-8.63663254e-01 -5.04027863e-01 6.45734080e-03 1.11794429e+02] [-5.04015654e-01 8.63687366e-01 3.51502913e-03 -1.25680455e+02] [-7.34879629e-03 -2.18799348e-04 -9.99972973e-01 -4.13747433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.01792472655676436 Centerline is valid? [True, True] Translation: X:111.73, Y:-125.69, Z:-4.14 [[-8.25575318e-01 -5.64249813e-01 6.89506521e-03 1.11731471e+02] [-5.64232383e-01 8.25604081e-01 4.44069869e-03 -1.25688542e+02] [-8.19825738e-03 -2.24287838e-04 -9.99966369e-01 -4.13596741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.016820977433921573 Centerline is valid? [True, True] Translation: X:111.66, Y:-125.71, Z:-4.14 [[-7.83339358e-01 -6.21558322e-01 6.68599677e-03 1.11664620e+02] [-6.21537883e-01 7.83367865e-01 5.04466110e-03 -1.25706825e+02] [-8.37314610e-03 -2.03918690e-04 -9.99964924e-01 -4.13541042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.013852385306242396 Centerline is valid? [True, True] Translation: X:111.60, Y:-125.74, Z:-4.14 [[-7.40398574e-01 -6.72141892e-01 5.93539363e-03 1.11595514e+02] [-6.72121647e-01 7.40422354e-01 5.21825613e-03 -1.25741333e+02] [-7.90210667e-03 -1.25717141e-04 -9.99968770e-01 -4.13600166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.012358612262916006 Centerline is valid? [True, True] Translation: X:111.53, Y:-125.79, Z:-4.14 [[-6.96443070e-01 -7.17592716e-01 5.26729001e-03 1.11525302e+02] [-7.17572500e-01 6.96462988e-01 5.38638816e-03 -1.25786012e+02] [-7.53370545e-03 -2.83497598e-05 -9.99971621e-01 -4.13550383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.012440376568914844 Centerline is valid? [True, True] Translation: X:111.45, Y:-125.84, Z:-4.14 [[-6.47241383e-01 -7.62272074e-01 4.45835280e-03 1.11451429e+02] [-7.62253585e-01 6.47256737e-01 5.30937147e-03 -1.25840263e+02] [-6.93288449e-03 3.80495308e-05 -9.99975967e-01 -4.13683799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.015015419843677377 Centerline is valid? [True, True] Translation: X:111.38, Y:-125.91, Z:-4.14 [[-5.99503728e-01 -8.00361717e-01 4.05007059e-03 1.11382236e+02] [-8.00341819e-01 5.99517391e-01 5.64533125e-03 -1.25905745e+02] [-6.94639476e-03 1.42956260e-04 -9.99975863e-01 -4.13703067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.018113156663191344 Centerline is valid? [True, True] Translation: X:111.31, Y:-125.98, Z:-4.14 [[-5.45273848e-01 -8.38248800e-01 3.92181877e-03 1.11309770e+02] [-8.38223975e-01 5.45287902e-01 6.45542842e-03 -1.25980777e+02] [-7.54977545e-03 2.32613778e-04 -9.99971473e-01 -4.13627152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.022275008841352757 Centerline is valid? [True, True] Translation: X:111.24, Y:-126.06, Z:-4.14 [[-4.89796085e-01 -8.71828561e-01 3.84132780e-03 1.11242944e+02] [-8.71795709e-01 4.89811013e-01 7.57708609e-03 -1.26064143e+02] [-8.48744472e-03 3.62374005e-04 -9.99963915e-01 -4.13536804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.022502270270861126 Centerline is valid? [True, True] Translation: X:111.17, Y:-126.15, Z:-4.14 [[-4.25427706e-01 -9.04986485e-01 3.27546735e-03 1.11172537e+02] [-9.04951970e-01 4.25440124e-01 7.91404252e-03 -1.26154705e+02] [-8.55561676e-03 4.02712316e-04 -9.99963319e-01 -4.13579974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.023480086635724668 Centerline is valid? [True, True] Translation: X:111.11, Y:-126.25, Z:-4.14 [[-3.56253232e-01 -9.34385739e-01 2.63161755e-03 1.11107930e+02] [-9.34351048e-01 3.56262712e-01 8.06218115e-03 -1.26253558e+02] [-8.47073430e-03 4.13323473e-04 -9.99964037e-01 -4.13554437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.0228704549473952 Centerline is valid? [True, True] Translation: X:111.05, Y:-126.36, Z:-4.13 [[-2.80019138e-01 -9.59992008e-01 2.15118283e-03 1.11046307e+02] [-9.59951356e-01 2.80027099e-01 8.84414567e-03 -1.26359375e+02] [-9.09269864e-03 4.11499175e-04 -9.99958576e-01 -4.13462507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.01972097429828563 Centerline is valid? [True, True] Translation: X:110.99, Y:-126.47, Z:-4.13 [[-1.99292056e-01 -9.79938997e-01 1.49644766e-03 1.10988148e+02] [-9.79896107e-01 1.99297346e-01 9.17536472e-03 -1.26473562e+02] [-9.28953574e-03 3.62214069e-04 -9.99956786e-01 -4.13474690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.016509153993387853 Centerline is valid? [True, True] Translation: X:110.94, Y:-126.59, Z:-4.13 [[-1.11126871e-01 -9.93805927e-01 7.73263684e-04 1.10936244e+02] [-9.93764327e-01 1.11129297e-01 9.09627974e-03 -1.26593588e+02] [-9.12586897e-03 2.42399245e-04 -9.99958329e-01 -4.13422614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.013308700168998353 Centerline is valid? [True, True] Translation: X:110.89, Y:-126.71, Z:-4.13 [[-2.00527644e-02 -9.99798920e-01 7.71255900e-05 1.10892074e+02] [-9.99752120e-01 2.00525721e-02 9.67437844e-03 -1.26714706e+02] [-9.67397968e-03 1.16891560e-04 -9.99953199e-01 -4.13312885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.012123449766785454 Centerline is valid? [True, True] Translation: X:110.20, Y:-126.83, Z:-5.12 [[-7.60809286e-02 9.97101287e-01 8.46051247e-04 1.10200440e+02] [-9.97062174e-01 -7.60854393e-02 8.83326179e-03 -1.26825519e+02] [ 8.87202888e-03 -1.71522936e-04 9.99960628e-01 -5.11842906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.013123427729707022 Centerline is valid? [True, True] Translation: X:110.87, Y:-127.01, Z:-4.13 [[ 1.38938406e-02 -9.99903476e-01 -9.88484075e-06 1.10866158e+02] [-9.99879272e-01 -1.38935731e-02 6.95776787e-03 -1.27006213e+02] [-6.95723361e-03 -8.67864705e-05 -9.99975794e-01 -4.13425236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.013617753565070362 Centerline is valid? [True, True] Translation: X:110.84, Y:-127.13, Z:-4.13 [[ 9.25379257e-02 -9.95709026e-01 -5.17189148e-04 1.10842057e+02] [-9.95687112e-01 -9.25393208e-02 6.60677255e-03 -1.27127381e+02] [-6.62628339e-03 -9.64184580e-05 -9.99978041e-01 -4.13457944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.014647382543668507 Centerline is valid? [True, True] Translation: X:110.83, Y:-127.25, Z:-4.14 [[ 1.71691652e-01 -9.85150272e-01 -9.58432413e-04 1.10826137e+02] [-9.85131147e-01 -1.71694292e-01 6.13948554e-03 -1.27246939e+02] [-6.21287322e-03 -1.09916790e-04 -9.99980694e-01 -4.13502565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.01515522672369565 Centerline is valid? [True, True] Translation: X:110.82, Y:-127.36, Z:-4.13 [[ 2.50050574e-01 -9.68231148e-01 -1.77619255e-03 1.10819018e+02] [-9.68201868e-01 -2.50056829e-01 7.53160960e-03 -1.27361599e+02] [-7.73648809e-03 -1.63570357e-04 -9.99970060e-01 -4.13362636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.015788581175324726 Centerline is valid? [True, True] Translation: X:110.82, Y:-127.49, Z:-4.13 [[ 3.25467535e-01 -9.45548985e-01 -2.82849052e-03 1.10824169e+02] [-9.45507293e-01 -3.25479753e-01 8.88193732e-03 -1.27485418e+02] [-9.31892322e-03 -2.16423832e-04 -9.99956555e-01 -4.13224321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.01723787835716499 Centerline is valid? [True, True] Translation: X:110.84, Y:-127.60, Z:-4.13 [[ 3.98540098e-01 -9.17140621e-01 -4.34403797e-03 1.10836559e+02] [-9.17078002e-01 -3.98563668e-01 1.07210732e-02 -1.27603330e+02] [-1.15641074e-02 -2.88955899e-04 -9.99933092e-01 -4.12962120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.01587956094651481 Centerline is valid? [True, True] Translation: X:110.86, Y:-127.71, Z:-4.13 [[ 4.66108412e-01 -8.84708411e-01 -5.82878975e-03 1.10860641e+02] [-8.84630870e-01 -4.66144756e-01 1.17170950e-02 -1.27707897e+02] [-1.30832723e-02 -3.05109181e-04 -9.99914364e-01 -4.13021299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.015253475137862555 Centerline is valid? [True, True] Translation: X:110.89, Y:-127.81, Z:-4.13 [[ 5.29149794e-01 -8.48506041e-01 -6.16389707e-03 1.10892194e+02] [-8.48443250e-01 -5.29185641e-01 1.03251414e-02 -1.27811613e+02] [-1.20227907e-02 -2.33829599e-04 -9.99927696e-01 -4.13121033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.013312630270770457 Centerline is valid? [True, True] Translation: X:110.94, Y:-127.91, Z:-4.13 [[ 5.85284164e-01 -8.10808761e-01 -5.62135669e-03 1.10935556e+02] [-8.10769673e-01 -5.85311150e-01 7.96207576e-03 -1.27908480e+02] [-9.74596353e-03 -1.02451331e-04 -9.99952502e-01 -4.13373848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.012463225116831943 Centerline is valid? [True, True] Translation: X:110.98, Y:-128.00, Z:-4.14 [[ 6.40431750e-01 -7.67995194e-01 -5.52778789e-03 1.10983668e+02] [-7.67966132e-01 -6.40455605e-01 6.68124455e-03 -1.28003635e+02] [-8.67146644e-03 -3.37272552e-05 -9.99962402e-01 -4.13504225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.012814065052880028 Centerline is valid? [True, True] Translation: X:111.04, Y:-128.09, Z:-4.14 [[ 6.89985872e-01 -7.23808552e-01 -4.54723433e-03 1.11040432e+02] [-7.23793214e-01 -6.90000854e-01 4.71225056e-03 -1.28089816e+02] [-6.54836283e-03 3.98710378e-05 -9.99978559e-01 -4.13693524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.01384296946646315 Centerline is valid? [True, True] Translation: X:111.10, Y:-128.18, Z:-4.14 [[ 7.39132631e-01 -6.73546273e-01 -4.28618729e-03 1.11102418e+02] [-6.73535487e-01 -7.39145055e-01 3.81251919e-03 -1.28177846e+02] [-5.73602223e-03 6.89419062e-05 -9.99983547e-01 -4.13809656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.014803125937489605 Centerline is valid? [True, True] Translation: X:111.13, Y:-128.20, Z:-4.14 [[ 7.86210670e-01 -6.17940302e-01 -4.75026340e-03 1.11126344e+02] [-6.17929816e-01 -7.86225014e-01 3.60153005e-03 -1.28198388e+02] [-5.96030647e-03 1.03768031e-04 -9.99982232e-01 -4.13849636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.014991966280727267 Centerline is valid? [True, True] Translation: X:111.15, Y:-128.22, Z:-4.14 [[ 8.31936122e-01 -5.54838480e-01 -6.04564256e-03 1.11149019e+02] [-5.54824934e-01 -8.31958079e-01 3.87922140e-03 -1.28220359e+02] [-7.18206247e-03 1.27008824e-04 -9.99974201e-01 -4.13708646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.01400740843178868 Centerline is valid? [True, True] Translation: X:111.17, Y:-128.25, Z:-4.14 [[ 8.74808960e-01 -4.84421390e-01 -6.72313468e-03 1.11171085e+02] [-4.84407984e-01 -8.74834788e-01 3.60532370e-03 -1.28245089e+02] [-7.62812802e-03 1.02770638e-04 -9.99970900e-01 -4.13771623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.013506216453160682 Centerline is valid? [True, True] Translation: X:111.20, Y:-128.27, Z:-4.14 [[ 9.11637730e-01 -4.10938885e-01 -6.77357512e-03 1.11195000e+02] [-4.10928114e-01 -9.11662891e-01 2.97610924e-03 -1.28267669e+02] [-7.39821610e-03 7.03189783e-05 -9.99972630e-01 -4.13787595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.012775865193161106 Centerline is valid? [True, True] Translation: X:111.22, Y:-128.29, Z:-4.14 [[ 9.43190882e-01 -3.32180251e-01 -6.87316236e-03 1.11220132e+02] [-3.32171592e-01 -9.43215925e-01 2.39853430e-03 -1.28290668e+02] [-7.27962192e-03 2.07936068e-05 -9.99973503e-01 -4.13856165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.012858330540301131 Centerline is valid? [True, True] Translation: X:111.25, Y:-128.31, Z:-4.14 [[ 9.67940948e-01 -2.51067428e-01 -7.44767399e-03 1.11246965e+02] [-2.51059768e-01 -9.67969600e-01 1.96145105e-03 -1.28312010e+02] [-7.70157848e-03 -2.87574828e-05 -9.99970342e-01 -4.13802827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.013280309285861417 Centerline is valid? [True, True] Translation: X:111.28, Y:-128.33, Z:-4.14 [[ 9.85350782e-01 -1.70350282e-01 -8.03848454e-03 1.11276358e+02] [-1.70344064e-01 -9.85383568e-01 1.45702643e-03 -1.28328899e+02] [-8.16919544e-03 -6.63740048e-05 -9.99966629e-01 -4.13813462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.01416502078742818 Centerline is valid? [True, True] Translation: X:111.30, Y:-128.35, Z:-4.14 [[ 9.96206894e-01 -8.66538751e-02 -7.93287713e-03 1.11303344e+02] [-8.66502224e-02 -9.96238472e-01 8.03642786e-04 -1.28345112e+02] [-7.97267615e-03 -1.13208915e-04 -9.99968211e-01 -4.13845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.015546086258505119 Centerline is valid? [True, True] Translation: X:111.33, Y:-128.36, Z:-4.14 [[ 9.99959508e-01 -5.11033265e-03 -7.40724958e-03 1.11331296e+02] [-5.10923168e-03 -9.99986934e-01 1.67550283e-04 -1.28357023e+02] [-7.40800903e-03 -1.29698145e-04 -9.99972552e-01 -4.13772445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.01657715163662261 Centerline is valid? [True, True] Translation: X:111.36, Y:-128.36, Z:-4.14 [[ 9.97118823e-01 7.54155485e-02 -8.15770813e-03 1.11360744e+02] [ 7.54143447e-02 -9.97152180e-01 -4.55512227e-04 -1.28359585e+02] [-8.16882915e-03 -1.61008397e-04 -9.99966622e-01 -4.13653873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.01615836038375992 Centerline is valid? [True, True] Translation: X:111.39, Y:-128.36, Z:-4.14 [[ 9.88145350e-01 1.53220168e-01 -9.60978392e-03 1.11389901e+02] [ 1.53214795e-01 -9.88192058e-01 -1.29728833e-03 -1.28357882e+02] [-9.69508288e-03 -1.90451641e-04 -9.99952984e-01 -4.13575904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.015181755463930717 Centerline is valid? [True, True] Translation: X:111.42, Y:-128.36, Z:-4.14 [[ 9.73189126e-01 2.29787651e-01 -1.00279670e-02 1.11418955e+02] [ 2.29777540e-01 -9.73240770e-01 -2.16459379e-03 -1.28357380e+02] [-1.02570233e-02 -1.97642456e-04 -9.99947376e-01 -4.13622056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.017127782629314713 Centerline is valid? [True, True] Translation: X:111.45, Y:-128.36, Z:-4.13 [[ 9.52211050e-01 3.05282001e-01 -9.84965355e-03 1.11448828e+02] [ 3.05267814e-01 -9.52261971e-01 -2.94973783e-03 -1.28360499e+02] [-1.02799524e-02 -1.98009248e-04 -9.99947140e-01 -4.13393879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.017349066673044526 Centerline is valid? [True, True] Translation: X:111.47, Y:-128.35, Z:-4.13 [[ 9.25583126e-01 3.78378531e-01 -1.12055729e-02 1.11474379e+02] [ 3.78353734e-01 -9.25650926e-01 -4.33761960e-03 -1.28346453e+02] [-1.20137111e-02 -2.24842848e-04 -9.99927808e-01 -4.13176574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.015154692428956501 Centerline is valid? [True, True] Translation: X:111.50, Y:-128.34, Z:-4.13 [[ 8.93712178e-01 4.48480625e-01 -1.19863380e-02 1.11500687e+02] [ 4.48443742e-01 -8.93792524e-01 -5.75629117e-03 -1.28335304e+02] [-1.32948844e-02 -2.30730764e-04 -9.99911593e-01 -4.13282419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.014547187958088246 Centerline is valid? [True, True] Translation: X:111.53, Y:-128.32, Z:-4.13 [[ 8.57499133e-01 5.14369408e-01 -1.09246843e-02 1.11526830e+02] [ 5.14330319e-01 -8.57568703e-01 -6.34371247e-03 -1.28322562e+02] [-1.26316790e-02 -1.79168445e-04 -9.99920201e-01 -4.13353633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.013851961452551987 Centerline is valid? [True, True] Translation: X:111.55, Y:-128.31, Z:-4.14 [[ 8.17111649e-01 5.76423211e-01 -8.05203698e-03 1.11550766e+02] [ 5.76396390e-01 -8.17151316e-01 -5.56143542e-03 -1.28306659e+02] [-9.78547307e-03 -9.68513775e-05 -9.99952116e-01 -4.13518401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.013352997658963115 Centerline is valid? [True, True] Translation: X:111.57, Y:-128.29, Z:-4.14 [[ 7.71434485e-01 6.36270791e-01 -6.95093750e-03 1.11574199e+02] [ 6.36245680e-01 -7.71465797e-01 -5.65313199e-03 -1.28291774e+02] [-8.95933331e-03 -6.14829923e-05 -9.99959863e-01 -4.13653967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.013171389840438854 Centerline is valid? [True, True] Translation: X:111.60, Y:-128.28, Z:-4.14 [[ 7.19833500e-01 6.94122623e-01 -5.78938553e-03 1.11600457e+02] [ 6.94100711e-01 -7.19856779e-01 -5.51547528e-03 -1.28280475e+02] [-7.99594459e-03 -4.81927409e-05 -9.99968031e-01 -4.13702866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.013178233454893771 Centerline is valid? [True, True] Translation: X:111.62, Y:-128.26, Z:-4.13 [[ 6.65012289e-01 7.46796398e-01 -7.33453332e-03 1.11623415e+02] [ 7.46751649e-01 -6.65052733e-01 -8.17538330e-03 -1.28264182e+02] [-1.09831982e-02 -4.03444875e-05 -9.99939682e-01 -4.13443233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.013116829480541934 Centerline is valid? [True, True] Translation: X:111.64, Y:-128.25, Z:-4.13 [[ 6.06401101e-01 7.95129042e-01 -6.89276602e-03 1.11642511e+02] [ 7.95077950e-01 -6.06440274e-01 -9.01371088e-03 -1.28246571e+02] [-1.13471142e-02 -1.43620750e-05 -9.99935619e-01 -4.13393283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.013147798426018008 Centerline is valid? [True, True] Translation: X:111.66, Y:-128.23, Z:-4.13 [[ 5.45286302e-01 8.38231490e-01 -5.55136281e-03 1.11662695e+02] [ 8.38187611e-01 -5.45314559e-01 -8.57673736e-03 -1.28227933e+02] [-1.02165303e-02 2.36938603e-05 -9.99947810e-01 -4.13492443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.013264725803259578 Centerline is valid? [True, True] Translation: X:111.68, Y:-128.21, Z:-4.14 [[ 4.79730959e-01 8.77404453e-01 -4.43077561e-03 1.11682041e+02] [ 8.77366257e-01 -4.79751419e-01 -8.18709049e-03 -1.28208066e+02] [-9.30906054e-03 4.01877627e-05 -9.99956669e-01 -4.13548841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.013242782780791057 Centerline is valid? [True, True] Translation: X:111.70, Y:-128.19, Z:-4.14 [[ 4.10392959e-01 9.11900768e-01 -3.82216804e-03 1.11701818e+02] [ 9.11860098e-01 -4.10410754e-01 -8.61248727e-03 -1.28188615e+02] [-9.42239262e-03 4.92216125e-05 -9.99955607e-01 -4.13652018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.013036045476125795 Centerline is valid? [True, True] Translation: X:111.72, Y:-128.17, Z:-4.14 [[ 3.35968382e-01 9.41868170e-01 -3.09797657e-03 1.11723855e+02] [ 9.41827265e-01 -3.35982663e-01 -8.77802892e-03 -1.28168177e+02] [-9.30861246e-03 3.13813714e-05 -9.99956673e-01 -4.13667147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.013004669711483962 Centerline is valid? [True, True] Translation: X:111.74, Y:-128.15, Z:-4.14 [[ 2.57157688e-01 9.66367280e-01 -2.05017822e-03 1.11744962e+02] [ 9.66336760e-01 -2.57165860e-01 -7.68024050e-03 -1.28146739e+02] [-7.94916897e-03 -6.12969346e-06 -9.99968405e-01 -4.13730834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.013226520302946234 Centerline is valid? [True, True] Translation: X:111.76, Y:-128.12, Z:-4.14 [[ 1.76026378e-01 9.84384586e-01 -1.30393703e-03 1.11762844e+02] [ 9.84359225e-01 -1.76031203e-01 -7.06628463e-03 -1.28122810e+02] [-7.18547528e-03 -3.96899517e-05 -9.99974183e-01 -4.13745112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.013603871891332919 Centerline is valid? [True, True] Translation: X:111.78, Y:-128.10, Z:-4.14 [[ 9.54994671e-02 9.95429173e-01 -7.83818848e-04 1.11775167e+02] [ 9.95400900e-01 -9.55026624e-02 -7.50267805e-03 -1.28097385e+02] [-7.54324139e-03 -6.37122309e-05 -9.99971547e-01 -4.13643098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.014044977994092472 Centerline is valid? [True, True] Translation: X:111.79, Y:-128.07, Z:-4.14 [[ 1.38331065e-02 9.99904299e-01 -1.97203121e-04 1.11788497e+02] [ 9.99874845e-01 -1.38342127e-02 -7.67524700e-03 -1.28070146e+02] [-7.67724062e-03 -9.10059307e-05 -9.99970525e-01 -4.13580951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.014215626256018021 Centerline is valid? [True, True] Translation: X:111.80, Y:-128.04, Z:-4.14 [[-6.53950096e-02 9.97859375e-01 3.99878063e-04 1.11796729e+02] [ 9.97830621e-01 6.53961611e-02 -7.57582374e-03 -1.28042009e+02] [-7.58575724e-03 -9.64104901e-05 -9.99971223e-01 -4.13560131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.014315572174531938 Centerline is valid? [True, True] Translation: X:111.80, Y:-128.01, Z:-4.14 [[-1.43550978e-01 9.89642431e-01 9.87311198e-04 1.11801034e+02] [ 9.89614138e-01 1.43554340e-01 -7.48392805e-03 -1.28013162e+02] [-7.54814556e-03 -9.72680669e-05 -9.99971508e-01 -4.13585532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.014585398013052505 Centerline is valid? [True, True] Translation: X:111.80, Y:-127.98, Z:-4.14 [[-2.21512402e-01 9.75155987e-01 1.74858177e-03 1.11801877e+02] [ 9.75121360e-01 2.21519273e-01 -8.21861045e-03 -1.27984884e+02] [-8.40177175e-03 -1.15444714e-04 -9.99964698e-01 -4.13525715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.015272946811385593 Centerline is valid? [True, True] Translation: X:111.80, Y:-127.96, Z:-4.13 [[-3.00178066e-01 9.53878338e-01 3.04056887e-03 1.11803099e+02] [ 9.53823166e-01 3.00193411e-01 -1.02608010e-02 -1.27955395e+02] [-1.07003145e-02 -1.79902360e-04 -9.99942734e-01 -4.13290940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.016312770080168917 Centerline is valid? [True, True] Translation: X:111.80, Y:-127.93, Z:-4.13 [[-3.77276813e-01 9.26090729e-01 4.26245015e-03 1.11801264e+02] [ 9.26024177e-01 3.77300813e-01 -1.11049908e-02 -1.27926232e+02] [-1.18924549e-02 -2.42523635e-04 -9.99929253e-01 -4.13175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.016466152392358574 Centerline is valid? [True, True] Translation: X:111.79, Y:-127.90, Z:-4.13 [[-4.49688377e-01 8.93170914e-01 5.10714243e-03 1.11793873e+02] [ 8.93106711e-01 4.49717304e-01 -1.07120970e-02 -1.27898263e+02] [-1.18645038e-02 -2.55882350e-04 -9.99929582e-01 -4.13284998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.015808375167368507 Centerline is valid? [True, True] Translation: X:111.79, Y:-127.87, Z:-4.13 [[-5.18033589e-01 8.55342502e-01 5.51401703e-03 1.11785449e+02] [ 8.55289141e-01 5.18062881e-01 -9.55699793e-03 -1.27870343e+02] [-1.10311141e-02 -2.34767045e-04 -9.99939128e-01 -4.13394976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.015434744164363134 Centerline is valid? [True, True] Translation: X:111.78, Y:-127.84, Z:-4.13 [[-5.82889697e-01 8.12531593e-01 5.65786070e-03 1.11776146e+02] [ 8.12489845e-01 5.82917120e-01 -8.23913730e-03 -1.27841644e+02] [-9.99262322e-03 -2.05553886e-04 -9.99950051e-01 -4.13463844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.015302764349978156 Centerline is valid? [True, True] Translation: X:111.77, Y:-127.81, Z:-4.13 [[-6.44223464e-01 7.64813370e-01 6.05287180e-03 1.11765066e+02] [ 7.64776794e-01 6.44251870e-01 -7.48224119e-03 -1.27813446e+02] [-9.62209208e-03 -1.91139456e-04 -9.99953688e-01 -4.13488436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.015180335348597586 Centerline is valid? [True, True] Translation: X:111.75, Y:-127.79, Z:-4.13 [[-7.01436675e-01 7.12699714e-01 6.76078432e-03 1.11749717e+02] [ 7.12664038e-01 7.01469231e-01 -7.13349847e-03 -1.27788197e+02] [-9.82652450e-03 -1.85529593e-04 -9.99951701e-01 -4.13493680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.015489429100010162 Centerline is valid? [True, True] Translation: X:111.73, Y:-127.76, Z:-4.14 [[-7.55621359e-01 6.54973986e-01 6.74088205e-03 1.11734548e+02] [ 6.54945798e-01 7.55651405e-01 -6.07907148e-03 -1.27762995e+02] [-9.07539067e-03 -1.78563879e-04 -9.99958802e-01 -4.13542957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.016365571779640063 Centerline is valid? [True, True] Translation: X:112.20, Y:-127.25, Z:-5.12 [[-6.80076722e-01 -7.33110263e-01 6.70781578e-03 1.12195679e+02] [ 7.33077793e-01 -6.80109765e-01 -6.90341014e-03 -1.27252058e+02] [ 9.62301184e-03 2.22502250e-04 9.99953673e-01 -5.11686386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.016696044777887824 Centerline is valid? [True, True] Translation: X:112.15, Y:-127.21, Z:-5.12 [[-6.78255503e-01 -7.34780574e-01 8.18419548e-03 1.12154599e+02] [ 7.34732151e-01 -6.78304817e-01 -8.44048530e-03 -1.27210859e+02] [ 1.17532839e-02 2.88385945e-04 9.99930886e-01 -5.11815031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.017434557077289775 Centerline is valid? [True, True] Translation: X:112.12, Y:-127.17, Z:-5.12 [[-6.77553196e-01 -7.35423821e-01 8.57148168e-03 1.12115008e+02] [ 7.35370802e-01 -6.77607338e-01 -8.83627371e-03 -1.27170439e+02] [ 1.23065051e-02 3.16171859e-04 9.99924222e-01 -5.11938196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.017121429592244275 Centerline is valid? [True, True] Translation: X:112.08, Y:-127.13, Z:-5.12 [[-6.77725227e-01 -7.35269137e-01 8.23481168e-03 1.12076343e+02] [ 7.35220254e-01 -6.77775186e-01 -8.48382560e-03 -1.27128539e+02] [ 1.18192461e-02 3.04697701e-04 9.99930104e-01 -5.11867145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.016359244367970333 Centerline is valid? [True, True] Translation: X:112.04, Y:-127.09, Z:-5.12 [[-6.78158353e-01 -7.34876358e-01 7.61497136e-03 1.12037086e+02] [ 7.34834581e-01 -6.78201048e-01 -7.84070216e-03 -1.27085677e+02] [ 1.09264282e-02 2.78506628e-04 9.99940266e-01 -5.11699571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.0165613672015577 Centerline is valid? [True, True] Translation: X:112.00, Y:-127.05, Z:-5.12 [[-6.78739498e-01 -7.34349259e-01 6.62271308e-03 1.11997487e+02] [ 7.34317673e-01 -6.78771766e-01 -6.81505646e-03 -1.27045047e+02] [ 9.49994231e-03 2.37527262e-04 9.99954846e-01 -5.11600870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.016709953106985788 Centerline is valid? [True, True] Translation: X:111.96, Y:-127.00, Z:-5.11 [[-6.78508505e-01 -7.34568002e-01 6.00495093e-03 1.11957392e+02] [ 7.34542077e-01 -6.78535041e-01 -6.17540262e-03 -1.27004388e+02] [ 8.61082279e-03 2.20825928e-04 9.99962902e-01 -5.11465954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.017253975255652424 Centerline is valid? [True, True] Translation: X:111.92, Y:-126.96, Z:-5.11 [[-6.78168328e-01 -7.34885859e-01 5.52207936e-03 1.11915627e+02] [ 7.34863975e-01 -6.78190778e-01 -5.67521047e-03 -1.26964778e+02] [ 7.91565521e-03 2.09229190e-04 9.99968649e-01 -5.11496571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.01767013405880663 Centerline is valid? [True, True] Translation: X:111.87, Y:-126.93, Z:-5.12 [[-6.77950119e-01 -7.35087062e-01 5.53604937e-03 1.11872858e+02] [ 7.35065102e-01 -6.77972688e-01 -5.68598384e-03 -1.26926211e+02] [ 7.93298342e-03 2.14543278e-04 9.99968510e-01 -5.11597613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.016998249795798136 Centerline is valid? [True, True] Translation: X:111.83, Y:-126.88, Z:-5.12 [[-6.79506722e-01 -7.33644233e-01 6.06258301e-03 1.11832318e+02] [ 7.33617870e-01 -6.79533732e-01 -6.22328326e-03 -1.26884424e+02] [ 8.68540553e-03 2.18856426e-04 9.99962257e-01 -5.11661990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.016044517773417255 Centerline is valid? [True, True] Translation: X:111.79, Y:-126.84, Z:-5.12 [[-6.82799548e-01 -7.30579586e-01 6.18430706e-03 1.11793567e+02] [ 7.30552056e-01 -6.82827529e-01 -6.34504125e-03 -1.26842906e+02] [ 8.85837271e-03 1.85566937e-04 9.99960747e-01 -5.11673748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.014679959673442605 Centerline is valid? [True, True] Translation: X:111.75, Y:-126.80, Z:-5.12 [[-6.85828731e-01 -7.27737255e-01 6.11878956e-03 1.11754633e+02] [ 7.27710222e-01 -6.85856010e-01 -6.27426632e-03 -1.26799716e+02] [ 8.76262594e-03 1.49633596e-04 9.99961596e-01 -5.11713515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.013585390811895358 Centerline is valid? [True, True] Translation: X:111.72, Y:-126.76, Z:-5.12 [[-6.90719075e-01 -7.23096949e-01 6.16133240e-03 1.11717338e+02] [ 7.23069382e-01 -6.90746549e-01 -6.31462933e-03 -1.26756499e+02] [ 8.82200829e-03 9.34358775e-05 9.99961081e-01 -5.11753136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.012918186181577633 Centerline is valid? [True, True] Translation: X:111.68, Y:-126.71, Z:-5.12 [[-6.94860712e-01 -7.19113330e-01 6.67897318e-03 1.11679271e+02] [ 7.19080789e-01 -6.94892809e-01 -6.84131496e-03 -1.26711944e+02] [ 9.56085122e-03 4.89603188e-05 9.99954293e-01 -5.11762822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.012870173065978941 Centerline is valid? [True, True] Translation: X:111.64, Y:-126.67, Z:-5.12 [[-6.96712250e-01 -7.17316557e-01 6.99985117e-03 1.11639465e+02] [ 7.17280768e-01 -6.96747412e-01 -7.16543820e-03 -1.26671297e+02] [ 1.00170156e-02 2.86100500e-05 9.99949828e-01 -5.11847354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.012867040713648609 Centerline is valid? [True, True] Translation: X:111.60, Y:-126.63, Z:-5.12 [[-6.96689702e-01 -7.17334408e-01 7.40315772e-03 1.11598419e+02] [ 7.17294428e-01 -6.96729034e-01 -7.57347347e-03 -1.26631300e+02] [ 1.05907080e-02 3.38828134e-05 9.99943916e-01 -5.11878691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.012988127619800203 Centerline is valid? [True, True] Translation: X:111.56, Y:-126.59, Z:-5.12 [[-6.96017308e-01 -7.17981390e-01 7.91391583e-03 1.11556886e+02] [ 7.17935803e-01 -6.96062297e-01 -8.09087055e-03 -1.26592151e+02] [ 1.13176729e-02 5.02975761e-05 9.99935952e-01 -5.12017567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.012959645597997399 Centerline is valid? [True, True] Translation: X:111.52, Y:-126.55, Z:-5.12 [[-6.95724679e-01 -7.18270664e-01 7.37723733e-03 1.11516671e+02] [ 7.18231119e-01 -6.95763789e-01 -7.53724216e-03 -1.26552813e+02] [ 1.05465945e-02 5.47160394e-05 9.99944382e-01 -5.12026570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.01278709778008377 Centerline is valid? [True, True] Translation: X:111.48, Y:-126.51, Z:-5.12 [[-6.95679291e-01 -7.18327353e-01 6.01143217e-03 1.11475021e+02] [ 7.18301127e-01 -6.95705262e-01 -6.13832512e-03 -1.26512018e+02] [ 8.59151183e-03 4.77128358e-05 9.99963091e-01 -5.11790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.012871896087274069 Centerline is valid? [True, True] Translation: X:111.43, Y:-126.47, Z:-5.12 [[-6.95498077e-01 -7.18511389e-01 4.87938608e-03 1.11433928e+02] [ 7.18494139e-01 -6.95515192e-01 -4.97907358e-03 -1.26473008e+02] [ 6.97120822e-03 4.28742018e-05 9.99975700e-01 -5.11722801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.01281737727676269 Centerline is valid? [True, True] Translation: X:111.39, Y:-126.43, Z:-5.12 [[-6.95394927e-01 -7.18611770e-01 4.79789250e-03 1.11392332e+02] [ 7.18595114e-01 -6.95411477e-01 -4.89288982e-03 -1.26433180e+02] [ 6.85259772e-03 4.52513496e-05 9.99976520e-01 -5.11744125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.013021991988943802 Centerline is valid? [True, True] Translation: X:111.35, Y:-126.39, Z:-5.12 [[-6.95040960e-01 -7.18948516e-01 5.57628263e-03 1.11350384e+02] [ 7.18926056e-01 -6.95063327e-01 -5.68321026e-03 -1.26394442e+02] [ 7.96180513e-03 5.88709584e-05 9.99968303e-01 -5.11895777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.012876109350552561 Centerline is valid? [True, True] Translation: X:111.31, Y:-126.36, Z:-5.12 [[-6.95495362e-01 -7.18499492e-01 6.68436957e-03 1.11308766e+02] [ 7.18467239e-01 -6.95527480e-01 -6.80824343e-03 -1.26355189e+02] [ 9.54088217e-03 6.73988220e-05 9.99954483e-01 -5.12047296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.012774628442154413 Centerline is valid? [True, True] Translation: X:111.27, Y:-126.31, Z:-5.12 [[-6.96491684e-01 -7.17530017e-01 7.07169327e-03 1.11267971e+02] [ 7.17493908e-01 -6.96527581e-01 -7.19863929e-03 -1.26314234e+02] [ 1.00908692e-02 6.01044334e-05 9.99949084e-01 -5.12016144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.01263255443701553 Centerline is valid? [True, True] Translation: X:111.23, Y:-126.28, Z:-5.12 [[-6.97968856e-01 -7.16097444e-01 6.62764441e-03 1.11227463e+02] [ 7.16065706e-01 -6.98000321e-01 -6.74212045e-03 -1.26275058e+02] [ 9.45411315e-03 4.00387682e-05 9.99955308e-01 -5.12033612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.012517358310584452 Centerline is valid? [True, True] Translation: X:111.19, Y:-126.23, Z:-5.12 [[-6.98333964e-01 -7.15743332e-01 6.41537835e-03 1.11185395e+02] [ 7.15713613e-01 -6.98363431e-01 -6.52248637e-03 -1.26234987e+02] [ 9.14869176e-03 3.66998565e-05 9.99958149e-01 -5.11925084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.012689542251079775 Centerline is valid? [True, True] Translation: X:111.14, Y:-126.20, Z:-5.12 [[-6.97102084e-01 -7.16935181e-01 7.25469132e-03 1.11142180e+02] [ 7.16897284e-01 -6.97139830e-01 -7.37162957e-03 -1.26195734e+02] [ 1.03425149e-02 6.20901723e-05 9.99946513e-01 -5.12015815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.0133321325949029 Centerline is valid? [True, True] Translation: X:111.10, Y:-126.16, Z:-5.12 [[-6.95245273e-01 -7.18733733e-01 7.47213820e-03 1.11099438e+02] [ 7.18693667e-01 -6.95285418e-01 -7.58946769e-03 -1.26158303e+02] [ 1.06500752e-02 9.36368738e-05 9.99943282e-01 -5.12155903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.013939254373197724 Centerline is valid? [True, True] Translation: X:111.06, Y:-126.12, Z:-5.12 [[-6.92361626e-01 -7.21510441e-01 7.61986912e-03 1.11055897e+02] [ 7.21468989e-01 -6.92403541e-01 -7.73528168e-03 -1.26120062e+02] [ 1.08571109e-02 1.41887070e-04 9.99941050e-01 -5.12040676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.014210487686348874 Centerline is valid? [True, True] Translation: X:111.01, Y:-126.08, Z:-5.12 [[-6.90750480e-01 -7.23052521e-01 7.66983379e-03 1.11013363e+02] [ 7.23010666e-01 -6.90793039e-01 -7.78161750e-03 -1.26080899e+02] [ 1.09247859e-02 1.70215619e-04 9.99940308e-01 -5.12026759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.015261876169300576 Centerline is valid? [True, True] Translation: X:110.97, Y:-126.04, Z:-5.12 [[-6.88065079e-01 -7.25596751e-01 8.70651053e-03 1.10969688e+02] [ 7.25543080e-01 -6.88120118e-01 -8.82848508e-03 -1.26042288e+02] [ 1.23970451e-02 2.42376185e-04 9.99923124e-01 -5.12048827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.01530329193905605 Centerline is valid? [True, True] Translation: X:110.93, Y:-126.00, Z:-5.12 [[-6.86839317e-01 -7.26760021e-01 8.46318683e-03 1.10927597e+02] [ 7.26709459e-01 -6.86891407e-01 -8.57654382e-03 -1.26002906e+02] [ 1.20463795e-02 2.59570423e-04 9.99927406e-01 -5.11969132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.015235134660833824 Centerline is valid? [True, True] Translation: X:110.89, Y:-125.96, Z:-5.12 [[-6.87893351e-01 -7.25780945e-01 6.69011822e-03 1.10886783e+02] [ 7.25749340e-01 -6.87925856e-01 -6.77589117e-03 -1.25961237e+02] [ 9.52011799e-03 1.94258397e-04 9.99954664e-01 -5.11684993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.015398700288519945 Centerline is valid? [True, True] Translation: X:110.85, Y:-125.92, Z:-5.12 [[-6.89353486e-01 -7.24406171e-01 5.24127841e-03 1.10846530e+02] [ 7.24386755e-01 -6.89373397e-01 -5.30552250e-03 -1.25920128e+02] [ 7.45655114e-03 1.39332229e-04 9.99972190e-01 -5.11569960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.01427236807984147 Centerline is valid? [True, True] Translation: X:110.81, Y:-125.88, Z:-5.11 [[-6.91409124e-01 -7.22443974e-01 5.30352060e-03 1.10808277e+02] [ 7.22424059e-01 -6.91429454e-01 -5.36549345e-03 -1.25876786e+02] [ 7.54327876e-03 1.21639751e-04 9.99971542e-01 -5.11495989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.013717144981560956 Centerline is valid? [True, True] Translation: X:110.77, Y:-125.83, Z:-5.12 [[-6.93517240e-01 -7.20402603e-01 7.34355174e-03 1.10769138e+02] [ 7.20364350e-01 -6.93556104e-01 -7.42514757e-03 -1.25834297e+02] [ 1.04422608e-02 1.40565028e-04 9.99945468e-01 -5.11647899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.01370519742402336 Centerline is valid? [True, True] Translation: X:110.73, Y:-125.79, Z:-5.12 [[-6.94688490e-01 -7.19271638e-01 7.49750200e-03 1.10729149e+02] [ 7.19231750e-01 -6.94728936e-01 -7.57602285e-03 -1.25793549e+02] [ 1.06579499e-02 1.29465606e-04 9.99943194e-01 -5.11723858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.013006989016529512 Centerline is valid? [True, True] Translation: X:110.69, Y:-125.75, Z:-5.12 [[-6.98007610e-01 -7.16054212e-01 7.19315434e-03 1.10690656e+02] [ 7.16017367e-01 -6.98044668e-01 -7.26439209e-03 -1.25750015e+02] [ 1.02228416e-02 7.98224672e-05 9.99947742e-01 -5.11596598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.012651978281148802 Centerline is valid? [True, True] Translation: X:110.65, Y:-125.71, Z:-5.12 [[-7.02860902e-01 -7.11296462e-01 6.62541339e-03 1.10652451e+02] [ 7.11265025e-01 -7.02892128e-01 -6.68730398e-03 -1.25705850e+02] [ 9.41360657e-03 1.21803127e-05 9.99955691e-01 -5.11506023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.01266587205828662 Centerline is valid? [True, True] Translation: X:110.61, Y:-125.66, Z:-5.11 [[-7.06002582e-01 -7.08179044e-01 6.54176604e-03 1.10613528e+02] [ 7.08148297e-01 -7.06032889e-01 -6.59914533e-03 -1.25663274e+02] [ 9.29207841e-03 -2.64731575e-05 9.99956827e-01 -5.11448008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.013158066411385817 Centerline is valid? [True, True] Translation: X:110.57, Y:-125.62, Z:-5.11 [[-7.09518744e-01 -7.04659507e-01 6.17503002e-03 1.10574643e+02] [ 7.04632009e-01 -7.09545612e-01 -6.22551720e-03 -1.25622080e+02] [ 8.76833534e-03 -6.59973411e-05 9.99961555e-01 -5.11453885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.013163435522519968 Centerline is valid? [True, True] Translation: X:110.53, Y:-125.58, Z:-5.11 [[-7.10574895e-01 -7.03596189e-01 5.97668308e-03 1.10532632e+02] [ 7.03570421e-01 -7.10600026e-01 -6.02212345e-03 -1.25581346e+02] [ 8.48417426e-03 -7.41523169e-05 9.99964006e-01 -5.11353486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.013108198819094833 Centerline is valid? [True, True] Translation: X:110.49, Y:-125.54, Z:-5.11 [[-7.10103725e-01 -7.04069803e-01 6.19775949e-03 1.10490394e+02] [ 7.04042138e-01 -7.10130768e-01 -6.24182735e-03 -1.25544220e+02] [ 8.79590186e-03 -6.88610123e-05 9.99961313e-01 -5.11401090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.012829666267558113 Centerline is valid? [True, True] Translation: X:110.45, Y:-125.51, Z:-5.12 [[-7.07136286e-01 -7.07039344e-01 7.32394711e-03 1.10446142e+02] [ 7.07000917e-01 -7.07174212e-01 -7.37145211e-03 -1.25507782e+02] [ 1.03912132e-02 -3.45839379e-05 9.99946009e-01 -5.11558190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.012782355388210575 Centerline is valid? [True, True] Translation: X:110.40, Y:-125.47, Z:-5.12 [[-7.04103782e-01 -7.10051692e-01 8.02868846e-03 1.10402354e+02] [ 7.10005766e-01 -7.04149554e-01 -8.07574988e-03 -1.25470758e+02] [ 1.13875973e-02 1.42490654e-05 9.99935159e-01 -5.11627700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.013228503252903293 Centerline is valid? [True, True] Translation: X:110.36, Y:-125.44, Z:-5.12 [[-6.98077595e-01 -7.15981841e-01 7.59441453e-03 1.10355482e+02] [ 7.15941144e-01 -6.98118896e-01 -7.63454172e-03 -1.25435613e+02] [ 1.07679975e-02 1.07651304e-04 9.99942018e-01 -5.11502013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.014120350026740535 Centerline is valid? [True, True] Translation: X:110.31, Y:-125.40, Z:-5.11 [[-6.94231783e-01 -7.19721038e-01 6.62267459e-03 1.10310459e+02] [ 7.19690295e-01 -6.94263355e-01 -6.65385783e-03 -1.25398341e+02] [ 9.38680174e-03 1.46955050e-04 9.99955932e-01 -5.11430093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.015912539647566983 Centerline is valid? [True, True] Translation: X:110.27, Y:-125.36, Z:-5.11 [[-6.89611215e-01 -7.24158078e-01 5.60814721e-03 1.10265675e+02] [ 7.24136202e-01 -6.89633995e-01 -5.63157030e-03 -1.25363298e+02] [ 7.94571609e-03 1.77468384e-04 9.99968417e-01 -5.11281151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.016570691027057806 Centerline is valid? [True, True] Translation: X:110.22, Y:-125.32, Z:-5.11 [[-6.87011580e-01 -7.26628025e-01 5.17707506e-03 1.10221581e+02] [ 7.26609474e-01 -6.87031059e-01 -5.19572074e-03 -1.25324956e+02] [ 7.33216766e-03 1.92191472e-04 9.99973101e-01 -5.11242162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.017447445642436187 Centerline is valid? [True, True] Translation: X:110.18, Y:-125.29, Z:-5.11 [[-6.85710694e-01 -7.27853929e-01 5.43166077e-03 1.10178659e+02] [ 7.27833572e-01 -6.85732172e-01 -5.44793118e-03 -1.25286456e+02] [ 7.68996265e-03 2.17640390e-04 9.99970408e-01 -5.11304468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.01867485319207614 Centerline is valid? [True, True] Translation: X:110.13, Y:-125.25, Z:-5.12 [[-6.84373709e-01 -7.29098423e-01 6.93654857e-03 1.10134762e+02] [ 7.29065326e-01 -6.84408796e-01 -6.95342909e-03 -1.25248019e+02] [ 9.81716904e-03 2.98452991e-04 9.99951766e-01 -5.11543166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.01927145543739331 Centerline is valid? [True, True] Translation: X:110.09, Y:-125.21, Z:-5.12 [[-6.83702653e-01 -7.29706942e-01 8.85787389e-03 1.10092992e+02] [ 7.29653082e-01 -6.83759916e-01 -8.87448404e-03 -1.25207306e+02] [ 1.25324317e-02 3.95666702e-04 9.99921388e-01 -5.11778060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.018221578063021646 Centerline is valid? [True, True] Translation: X:110.05, Y:-125.16, Z:-5.12 [[-6.84450513e-01 -7.29000498e-01 9.26120268e-03 1.10053826e+02] [ 7.28941626e-01 -6.84513047e-01 -9.27330292e-03 -1.25164276e+02] [ 1.30996565e-02 4.03759197e-04 9.99914114e-01 -5.11759463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.017206026030908064 Centerline is valid? [True, True] Translation: X:110.02, Y:-125.12, Z:-5.12 [[-6.87364118e-01 -7.26256301e-01 9.07495419e-03 1.10016153e+02] [ 7.26199602e-01 -6.87423933e-01 -9.08154586e-03 -1.25120165e+02] [ 1.28338706e-02 3.47899356e-04 9.99917582e-01 -5.11726217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.015344508114312077 Centerline is valid? [True, True] Translation: X:109.98, Y:-125.07, Z:-5.12 [[-6.91520544e-01 -7.22304059e-01 8.72829686e-03 1.09981109e+02] [ 7.22251352e-01 -6.91575574e-01 -8.72980853e-03 -1.25073058e+02] [ 1.23418530e-02 2.67182264e-04 9.99923801e-01 -5.11635910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.015167295421969467 Centerline is valid? [True, True] Translation: X:109.94, Y:-125.03, Z:-5.12 [[-6.93783829e-01 -7.20129443e-01 8.80813249e-03 1.09943423e+02] [ 7.20075651e-01 -6.93839701e-01 -8.80487828e-03 -1.25029690e+02] [ 1.24520841e-02 2.33839573e-04 9.99922443e-01 -5.11699620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.014921549602525052 Centerline is valid? [True, True] Translation: X:109.51, Y:-125.46, Z:-4.13 [[-7.66769194e-01 6.41846282e-01 9.91734330e-03 1.09509392e+02] [ 6.41788697e-01 7.66833292e-01 -8.60065185e-03 -1.25462421e+02] [-1.31252454e-02 -2.29876056e-04 -9.99913834e-01 -4.13448222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.014745052197101064 Centerline is valid? [True, True] Translation: X:109.52, Y:-125.44, Z:-4.14 [[-8.10844259e-01 5.85157661e-01 1.10498978e-02 1.09521912e+02] [ 5.85098994e-01 8.10919507e-01 -8.28983476e-03 -1.25443378e+02] [-1.38114380e-02 -2.56480829e-04 -9.99904585e-01 -4.13562239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.015693220765854055 Centerline is valid? [True, True] Translation: X:109.53, Y:-125.42, Z:-4.14 [[-8.52302607e-01 5.22924791e-01 1.13986339e-02 1.09529117e+02] [ 5.22873212e-01 8.52378772e-01 -7.35081712e-03 -1.25418587e+02] [-1.35598781e-02 -3.05080289e-04 -9.99908014e-01 -4.13637223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.016786966052039335 Centerline is valid? [True, True] Translation: X:109.54, Y:-125.40, Z:-4.14 [[-8.88950121e-01 4.57882572e-01 1.05466976e-02 1.09541157e+02] [ 4.57846095e-01 8.89012627e-01 -5.78817427e-03 -1.25396600e+02] [-1.20264515e-02 -3.16633894e-04 -9.99927630e-01 -4.13763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.020323362334357636 Centerline is valid? [True, True] Translation: X:109.55, Y:-125.37, Z:-4.14 [[-9.20048392e-01 3.91654482e-01 1.08500574e-02 1.09554362e+02] [ 3.91622845e-01 9.20112303e-01 -4.98978284e-03 -1.25371245e+02] [-1.19375421e-02 -3.41711316e-04 -9.99928687e-01 -4.13604383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.018825898095598766 Centerline is valid? [True, True] Translation: X:109.55, Y:-125.35, Z:-4.14 [[-9.46010248e-01 3.23930844e-01 1.15507391e-02 1.09551600e+02] [ 3.23901838e-01 9.46080688e-01 -4.35103255e-03 -1.25346790e+02] [-1.23373648e-02 -3.74815757e-04 -9.99923822e-01 -4.13727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.019122117392030114 Centerline is valid? [True, True] Translation: X:109.56, Y:-125.33, Z:-4.14 [[-9.67354975e-01 2.53147353e-01 1.18646850e-02 1.09564256e+02] [ 2.53123037e-01 9.67427644e-01 -3.53301082e-03 -1.25325441e+02] [-1.23725965e-02 -4.14450507e-04 -9.99923371e-01 -4.13757766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.021219385146868455 Centerline is valid? [True, True] Translation: X:109.55, Y:-125.29, Z:-4.14 [[-9.83346008e-01 1.81356859e-01 1.18455948e-02 1.09551270e+02] [ 1.81338319e-01 9.83417255e-01 -2.62991667e-03 -1.25294449e+02] [-1.21261158e-02 -4.38057806e-04 -9.99926380e-01 -4.13739929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.020736969185578633 Centerline is valid? [True, True] Translation: X:109.71, Y:-124.67, Z:-5.11 [[-9.48399450e-01 -3.16898301e-01 1.06747345e-02 1.09711014e+02] [ 3.16882241e-01 -9.48459462e-01 -3.20845404e-03 -1.24667812e+02] [ 1.11413066e-02 3.39737749e-04 9.99937876e-01 -5.11302728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.019865396696704413 Centerline is valid? [True, True] Translation: X:109.52, Y:-125.30, Z:-4.14 [[-9.84169835e-01 1.77010044e-01 8.78521062e-03 1.09520689e+02] [ 1.76999989e-01 9.84208990e-01 -1.91532923e-03 -1.25295840e+02] [-8.98551578e-03 -3.30027064e-04 -9.99959575e-01 -4.14024844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.019647965260372886 Centerline is valid? [True, True] Translation: X:109.52, Y:-125.27, Z:-4.14 [[-9.94157598e-01 1.07611702e-01 8.38996711e-03 1.09521334e+02] [ 1.07605283e-01 9.94192954e-01 -1.21411032e-03 -1.25270554e+02] [-8.47189866e-03 -3.04212217e-04 -9.99964067e-01 -4.14051887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.019578232912319755 Centerline is valid? [True, True] Translation: X:109.53, Y:-125.25, Z:-4.14 [[-9.99199412e-01 3.90723589e-02 8.59564173e-03 1.09528871e+02] [ 3.90684189e-02 9.99236342e-01 -6.25869508e-04 -1.25245880e+02] [-8.61353179e-03 -2.89550312e-04 -9.99962861e-01 -4.13894648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.019479017122035324 Centerline is valid? [True, True] Translation: X:109.58, Y:-124.58, Z:-5.11 [[-9.85032321e-01 -1.72138989e-01 8.91600130e-03 1.09579342e+02] [ 1.72134928e-01 -9.85072618e-01 -1.22664291e-03 -1.24584220e+02] [ 8.99406181e-03 3.26472334e-04 9.99959499e-01 -5.11317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.019865813730338428 Centerline is valid? [True, True] Translation: X:109.47, Y:-125.24, Z:-4.14 [[-9.99292668e-01 3.63851141e-02 9.50195310e-03 1.09470478e+02] [ 3.63805381e-02 9.99337795e-01 -6.54039324e-04 -1.25243387e+02] [-9.51945816e-03 -3.07890534e-04 -9.99954642e-01 -4.13782601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.019226610238323668 Centerline is valid? [True, True] Translation: X:109.52, Y:-124.58, Z:-5.12 [[-9.85520955e-01 -1.69216922e-01 1.06808385e-02 1.09517488e+02] [ 1.69211695e-01 -9.85578738e-01 -1.39773547e-03 -1.24579091e+02] [ 1.07633278e-02 4.29825192e-04 9.99941981e-01 -5.11580481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.020448440823584095 Centerline is valid? [True, True] Translation: X:109.42, Y:-125.24, Z:-4.13 [[-9.99472281e-01 3.00679413e-02 1.22914236e-02 1.09423308e+02] [ 3.00604172e-02 9.99547766e-01 -7.96475014e-04 -1.25240019e+02] [-1.23098134e-02 -4.26569378e-04 -9.99924140e-01 -4.13379874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.018877806514383935 Centerline is valid? [True, True] Translation: X:109.43, Y:-125.22, Z:-4.13 [[-9.99138563e-01 -3.94386477e-02 1.29122359e-02 1.09425186e+02] [-3.94408698e-02 9.99221903e-01 8.26058563e-05 -1.25218734e+02] [-1.29054468e-02 -4.26735117e-04 -9.99916630e-01 -4.13453470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.017987831961246967 Centerline is valid? [True, True] Translation: X:109.40, Y:-125.20, Z:-4.14 [[-9.93977750e-01 -1.08959964e-01 1.16601743e-02 1.09404104e+02] [-1.08956837e-01 9.94046070e-01 9.05041370e-04 -1.25195875e+02] [-1.16893637e-02 -3.70864721e-04 -9.99931608e-01 -4.13674504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.017645030486744834 Centerline is valid? [True, True] Translation: X:109.37, Y:-124.52, Z:-5.11 [[-9.99754317e-01 -1.99927410e-02 9.57060110e-03 1.09374673e+02] [ 1.99934180e-02 -9.99800111e-01 -2.49401789e-05 -1.24515415e+02] [ 9.56918667e-03 1.66414977e-04 9.99954200e-01 -5.11303264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.017427839735929113 Centerline is valid? [True, True] Translation: X:109.35, Y:-125.20, Z:-4.14 [[-9.93769347e-01 -1.11065490e-01 9.32423869e-03 1.09354805e+02] [-1.11063159e-01 9.93813053e-01 7.69070162e-04 -1.25202896e+02] [-9.35196727e-03 -2.71301051e-04 -9.99956233e-01 -4.13864493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.01714854720892274 Centerline is valid? [True, True] Translation: X:109.34, Y:-125.18, Z:-4.14 [[-9.83428614e-01 -1.80965714e-01 1.09349071e-02 1.09340746e+02] [-1.80958088e-01 9.83489355e-01 1.69107075e-03 -1.25178749e+02] [-1.10603906e-02 -3.15712527e-04 -9.99938782e-01 -4.13785282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.01773464284026275 Centerline is valid? [True, True] Translation: X:109.25, Y:-124.50, Z:-5.12 [[-9.98303579e-01 5.66815490e-02 1.33103533e-02 1.09247568e+02] [-5.66693301e-02 -9.98392164e-01 1.29367899e-03 -1.24500214e+02] [ 1.33622801e-02 5.37195568e-04 9.99910577e-01 -5.11560246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.0184403301212228 Centerline is valid? [True, True] Translation: X:109.26, Y:-125.19, Z:-4.14 [[-9.82075982e-01 -1.87992810e-01 1.36186998e-02 1.09259460e+02] [-1.87980545e-01 9.82170318e-01 2.18669022e-03 -1.25187312e+02] [-1.37869648e-02 -4.12554665e-04 -9.99904870e-01 -4.13575853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.01886210662762457 Centerline is valid? [True, True] Translation: X:109.15, Y:-124.52, Z:-5.11 [[-9.98084807e-01 6.05423949e-02 1.27018643e-02 1.09151409e+02] [-6.05335309e-02 -9.98165578e-01 1.08150309e-03 -1.24518556e+02] [ 1.27440405e-02 3.10543102e-04 9.99918743e-01 -5.11414946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.02015622841974482 Centerline is valid? [True, True] Translation: X:109.17, Y:-125.20, Z:-4.14 [[-9.80578872e-01 -1.95788481e-01 1.14868409e-02 1.09169261e+02] [-1.95779481e-01 9.80646079e-01 1.91379207e-03 -1.25197070e+02] [-1.16392240e-02 -3.72263684e-04 -9.99932193e-01 -4.13773905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.02062743278488659 Centerline is valid? [True, True] Translation: X:109.16, Y:-125.17, Z:-4.14 [[-9.64131413e-01 -2.65170036e-01 1.16392114e-02 1.09158694e+02] [-2.65155478e-01 9.64201590e-01 2.80466938e-03 -1.25170546e+02] [-1.19662604e-02 -3.82130808e-04 -9.99928329e-01 -4.13748373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.02145240428131205 Centerline is valid? [True, True] Translation: X:109.14, Y:-125.14, Z:-4.14 [[-9.42705119e-01 -3.33426608e-01 1.15652970e-02 1.09139410e+02] [-3.33406532e-01 9.42775979e-01 3.67933207e-03 -1.25144548e+02] [-1.21302714e-02 -3.87420372e-04 -9.99926351e-01 -4.13661494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.02221074974146217 Centerline is valid? [True, True] Translation: X:109.11, Y:-125.13, Z:-4.14 [[-9.16075190e-01 -4.00827994e-01 1.19652055e-02 1.09105559e+02] [-4.00799728e-01 9.16153232e-01 4.77843620e-03 -1.25125192e+02] [-1.28772927e-02 -4.18244262e-04 -9.99916997e-01 -4.13615550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.019168414572611113 Centerline is valid? [True, True] Translation: X:109.06, Y:-125.12, Z:-4.14 [[-8.84542646e-01 -4.66317900e-01 1.14858075e-02 1.09059099e+02] [-4.66284667e-01 8.84617116e-01 5.58279342e-03 -1.25120489e+02] [-1.27638984e-02 -4.17437056e-04 -9.99918451e-01 -4.13799308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.01880708052519847 Centerline is valid? [True, True] Translation: X:109.00, Y:-125.12, Z:-4.14 [[-8.48234702e-01 -5.29520119e-01 1.03118044e-02 1.09002261e+02] [-5.29486394e-01 8.48297294e-01 5.98831821e-03 -1.25119026e+02] [-1.19184107e-02 -3.80460797e-04 -9.99928901e-01 -4.13863805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.01760689903216064 Centerline is valid? [True, True] Translation: X:108.93, Y:-125.13, Z:-4.14 [[-8.09478512e-01 -5.87078254e-01 9.14672097e-03 1.08934165e+02] [-5.87044944e-01 8.09530131e-01 6.26100814e-03 -1.25131548e+02] [-1.10802480e-02 -3.01384748e-04 -9.99938567e-01 -4.13892759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.016159732532163514 Centerline is valid? [True, True] Translation: X:108.86, Y:-125.15, Z:-4.14 [[-7.66403195e-01 -6.42318932e-01 7.24787609e-03 1.08864280e+02] [-6.42292777e-01 7.66437438e-01 5.80030425e-03 -1.25152580e+02] [-9.28068881e-03 -2.09886743e-04 -9.99956912e-01 -4.13974968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.014510703316179511 Centerline is valid? [True, True] Translation: X:108.79, Y:-125.18, Z:-4.14 [[-7.20279644e-01 -6.93657813e-01 6.00602025e-03 1.08792092e+02] [-6.93635265e-01 7.20304671e-01 5.59467038e-03 -1.25183529e+02] [-8.20695126e-03 -1.36260255e-04 -9.99966313e-01 -4.14113498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.0130236342726094 Centerline is valid? [True, True] Translation: X:108.71, Y:-125.23, Z:-4.14 [[-6.68726093e-01 -7.43484027e-01 6.07579115e-03 1.08711465e+02] [-7.43454905e-01 6.68753683e-01 6.58139055e-03 -1.25230304e+02] [-8.95636646e-03 -1.15929152e-04 -9.99959884e-01 -4.14146597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.01290018264254235 Centerline is valid? [True, True] Translation: X:108.63, Y:-125.28, Z:-4.14 [[-6.13982276e-01 -7.89290874e-01 6.75873124e-03 1.08631638e+02] [-7.89244738e-01 6.14019468e-01 8.53439711e-03 -1.25281584e+02] [-1.08861143e-02 -9.43245084e-05 -9.99940740e-01 -4.13904846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.012729092845907477 Centerline is valid? [True, True] Translation: X:108.55, Y:-125.34, Z:-4.14 [[-5.55723765e-01 -8.31340809e-01 6.59974976e-03 1.08552024e+02] [-8.31283353e-01 5.55762951e-01 9.77394518e-03 -1.25344650e+02] [-1.17933759e-02 -5.46484919e-05 -9.99930454e-01 -4.13746672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.012489019985488816 Centerline is valid? [True, True] Translation: X:108.48, Y:-125.42, Z:-4.14 [[-4.94319906e-01 -8.69263337e-01 5.39282174e-03 1.08476497e+02] [-8.69211792e-01 4.94349321e-01 9.46620472e-03 -1.25415858e+02] [-1.08945625e-02 -8.17082863e-06 -9.99940653e-01 -4.13943126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.01233482389076191 Centerline is valid? [True, True] Translation: X:108.41, Y:-125.49, Z:-4.14 [[-4.28089057e-01 -9.03725864e-01 4.39581147e-03 1.08405023e+02] [-9.03678008e-01 4.28111625e-01 9.30019219e-03 -1.25494789e+02] [-1.02867222e-02 8.91234974e-06 -9.99947090e-01 -4.14096312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.012333062498898345 Centerline is valid? [True, True] Translation: X:108.33, Y:-125.58, Z:-4.14 [[-3.59104608e-01 -9.33290189e-01 3.64746623e-03 1.08334202e+02] [-9.33241426e-01 3.59123131e-01 9.54034946e-03 -1.25584837e+02] [-1.02138040e-02 2.20168719e-05 -9.99947838e-01 -4.14042631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.012288286840477319 Centerline is valid? [True, True] Translation: X:108.27, Y:-125.68, Z:-4.14 [[-2.85944327e-01 -9.58241382e-01 3.04883463e-03 1.08270440e+02] [-9.58186389e-01 2.85960580e-01 1.02659799e-02 -1.25679048e+02] [-1.07091333e-02 1.41468744e-05 -9.99942656e-01 -4.14017018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.012196244907385733 Centerline is valid? [True, True] Translation: X:108.21, Y:-125.78, Z:-4.14 [[-2.09140826e-01 -9.77882952e-01 2.24649915e-03 1.08210316e+02] [-9.77827336e-01 2.09152890e-01 1.04292247e-02 -1.25780465e+02] [-1.06684229e-02 -1.55116074e-05 -9.99943091e-01 -4.13983343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.012123415519661037 Centerline is valid? [True, True] Translation: X:108.16, Y:-125.88, Z:-4.14 [[-1.32447785e-01 -9.91189061e-01 1.35263714e-03 1.08160436e+02] [-9.91139501e-01 1.32454688e-01 9.91185987e-03 -1.25884745e+02] [-1.00036902e-02 -2.78482153e-05 -9.99949962e-01 -4.13989115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.012059862256537606 Centerline is valid? [True, True] Translation: X:108.12, Y:-126.00, Z:-4.14 [[-5.54615467e-02 -9.98460696e-01 5.05557009e-04 1.08118300e+02] [-9.98424109e-01 5.54638423e-02 8.54751734e-03 -1.25996497e+02] [-8.56240024e-03 -3.07017748e-05 -9.99963342e-01 -4.14046538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.012049816699895658 Centerline is valid? [True, True] Translation: X:108.09, Y:-126.11, Z:-4.14 [[ 2.09984166e-02 -9.99779500e-01 -1.31117109e-04 1.08086350e+02] [-9.99751532e-01 -2.09988099e-02 7.47828336e-03 -1.26109074e+02] [-7.47938770e-03 -2.59475794e-05 -9.99972029e-01 -4.14061789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.011967332450964265 Centerline is valid? [True, True] Translation: X:108.06, Y:-126.23, Z:-4.14 [[ 9.74578942e-02 -9.95239476e-01 -5.87383742e-04 1.08062922e+02] [-9.95220040e-01 -9.74596619e-02 6.21988516e-03 -1.26225334e+02] [-6.24752147e-03 -2.16008387e-05 -9.99980484e-01 -4.14085464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.011904698424018203 Centerline is valid? [True, True] Translation: X:108.05, Y:-126.34, Z:-4.14 [[ 1.72809387e-01 -9.84954717e-01 -1.05852821e-03 1.08047477e+02] [-9.84935590e-01 -1.72812628e-01 6.13833000e-03 -1.26340425e+02] [-6.22890413e-03 -1.81789338e-05 -9.99980600e-01 -4.14104999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.011979246165717272 Centerline is valid? [True, True] Translation: X:108.04, Y:-126.46, Z:-4.14 [[ 2.46634495e-01 -9.69107302e-01 -1.56943394e-03 1.08042675e+02] [-9.69087365e-01 -2.46639488e-01 6.21631675e-03 -1.26458292e+02] [-6.41136234e-03 -1.22395444e-05 -9.99979447e-01 -4.13945995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.011863082956940312 Centerline is valid? [True, True] Translation: X:108.05, Y:-126.57, Z:-4.14 [[ 3.18800902e-01 -9.47818016e-01 -2.64453609e-03 1.08046280e+02] [-9.47785259e-01 -3.18811870e-01 7.88001947e-03 -1.26573545e+02] [-8.31193392e-03 -5.70499169e-06 -9.99965455e-01 -4.13833670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.011984671686905183 Centerline is valid? [True, True] Translation: X:108.06, Y:-126.69, Z:-4.14 [[ 3.90323987e-01 -9.20669302e-01 -3.90153239e-03 1.08057600e+02] [-9.20623121e-01 -3.90343486e-01 9.22128863e-03 -1.26689145e+02] [-1.00126951e-02 -7.44921829e-06 -9.99949872e-01 -4.13634185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.012062390818613353 Centerline is valid? [True, True] Translation: X:108.08, Y:-126.80, Z:-4.14 [[ 4.60244662e-01 -8.87779675e-01 -4.70106181e-03 1.08077783e+02] [-8.87732974e-01 -4.60268670e-01 9.10599556e-03 -1.26801143e+02] [-1.02478692e-02 -1.76982725e-05 -9.99947489e-01 -4.13627194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.011900514129758599 Centerline is valid? [True, True] Translation: X:108.11, Y:-126.91, Z:-4.14 [[ 5.28298762e-01 -8.49046743e-01 -4.47732742e-03 1.08105614e+02] [-8.49015724e-01 -5.28317733e-01 7.25758116e-03 -1.26912111e+02] [-8.52747712e-03 -3.28497625e-05 -9.99963640e-01 -4.13810678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.012100365431560787 Centerline is valid? [True, True] Translation: X:108.14, Y:-127.02, Z:-4.14 [[ 5.93760249e-01 -8.04635068e-01 -3.34288048e-03 1.08138324e+02] [-8.04621937e-01 -5.93769657e-01 4.59704669e-03 -1.27017504e+02] [-5.68384597e-03 -3.97886191e-05 -9.99983846e-01 -4.13966184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.01257236920520042 Centerline is valid? [True, True] Translation: X:108.18, Y:-127.12, Z:-4.14 [[ 6.55694024e-01 -7.55020375e-01 -3.09513130e-03 1.08180838e+02] [-7.55011601e-01 -6.55701327e-01 3.64034338e-03 -1.27121034e+02] [-4.77801513e-03 -5.00913619e-05 -9.99988584e-01 -4.14080870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.014076601196166353 Centerline is valid? [True, True] Translation: X:108.23, Y:-127.22, Z:-4.14 [[ 7.16117320e-01 -6.97973808e-01 -2.92364612e-03 1.08226322e+02] [-6.97967562e-01 -7.16123284e-01 2.95363426e-03 -1.27219504e+02] [-4.15525042e-03 -7.45384977e-05 -9.99991364e-01 -4.14130225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.01687374178685464 Centerline is valid? [True, True] Translation: X:108.28, Y:-127.32, Z:-4.14 [[ 7.72665195e-01 -6.34805292e-01 -3.27669547e-03 1.08275704e+02] [-6.34798927e-01 -7.72672134e-01 2.84523567e-03 -1.27315014e+02] [-4.33798194e-03 -1.18371803e-04 -9.99990584e-01 -4.14009458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.01988416824151419 Centerline is valid? [True, True] Translation: X:108.30, Y:-127.35, Z:-4.14 [[ 8.24382694e-01 -5.66015988e-01 -4.36745903e-03 1.08297869e+02] [-5.66006803e-01 -8.24394241e-01 3.23024131e-03 -1.27349994e+02] [-5.42887630e-03 -1.90943516e-04 -9.99985245e-01 -4.13858011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.020776775946337353 Centerline is valid? [True, True] Translation: X:108.33, Y:-127.38, Z:-4.14 [[ 8.67478607e-01 -4.97445556e-01 -5.36511605e-03 1.08326161e+02] [-4.97434315e-01 -8.67495165e-01 3.35285625e-03 -1.27379063e+02] [-6.32207568e-03 -2.39738240e-04 -9.99979987e-01 -4.13792792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.02275780193454763 Centerline is valid? [True, True] Translation: X:108.36, Y:-127.40, Z:-4.14 [[ 9.04271430e-01 -4.26915450e-01 -6.03155217e-03 1.08356108e+02] [-4.26903967e-01 -9.04291506e-01 3.14255293e-03 -1.27404417e+02] [-6.79588580e-03 -2.66827283e-04 -9.99976872e-01 -4.13688541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.021279717392579948 Centerline is valid? [True, True] Translation: X:108.39, Y:-127.42, Z:-4.14 [[ 9.34423707e-01 -3.56107273e-01 -6.32027160e-03 1.08391065e+02] [-3.56097227e-01 -9.34445045e-01 2.68757466e-03 -1.27422268e+02] [-6.86301136e-03 -2.60702282e-04 -9.99976415e-01 -4.13765810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.021176236744776086 Centerline is valid? [True, True] Translation: X:108.43, Y:-127.44, Z:-4.14 [[ 9.58890808e-01 -2.83715191e-01 -5.84026871e-03 1.08427069e+02] [-2.83708507e-01 -9.58908567e-01 1.96019308e-03 -1.27437858e+02] [-6.15642025e-03 -2.22677208e-04 -9.99981024e-01 -4.13808183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.019263325359858474 Centerline is valid? [True, True] Translation: X:108.46, Y:-127.45, Z:-4.14 [[ 9.77611964e-01 -2.10336572e-01 -5.77705842e-03 1.08464947e+02] [-2.10331685e-01 -9.77629013e-01 1.44765590e-03 -1.27447896e+02] [-5.95231490e-03 -2.00147300e-04 -9.99982265e-01 -4.13884201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.018508671859930943 Centerline is valid? [True, True] Translation: X:108.50, Y:-127.46, Z:-4.14 [[ 9.90810958e-01 -1.35121005e-01 -5.99663364e-03 1.08502731e+02] [-1.35117349e-01 -9.90829086e-01 1.01248572e-03 -1.27457297e+02] [-6.07844711e-03 -1.92932706e-04 -9.99981508e-01 -4.13880874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.018594879739717816 Centerline is valid? [True, True] Translation: X:108.54, Y:-127.46, Z:-4.14 [[ 9.98319789e-01 -5.76105819e-02 -6.21455858e-03 1.08540816e+02] [-5.76082448e-02 -9.98339112e-01 5.54580971e-04 -1.27464927e+02] [-6.23618663e-03 -1.95639345e-04 -9.99980536e-01 -4.13857289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.018164890990501555 Centerline is valid? [True, True] Translation: X:108.58, Y:-127.47, Z:-4.14 [[ 9.99787080e-01 1.96854575e-02 -6.18681471e-03 1.08575245e+02] [ 1.96862423e-02 -9.99806205e-01 6.59811053e-05 -1.27466726e+02] [-6.18431687e-03 -1.87762190e-04 -9.99980859e-01 -4.13890438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.018154047304005844 Centerline is valid? [True, True] Translation: X:108.61, Y:-127.47, Z:-4.14 [[ 9.95235915e-01 9.72643677e-02 -6.71693755e-03 1.08609761e+02] [ 9.72635069e-02 -9.95258561e-01 -4.55473850e-04 -1.27468350e+02] [-6.72939098e-03 -2.00008969e-04 -9.99977337e-01 -4.13851253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.01785969224536271 Centerline is valid? [True, True] Translation: X:108.64, Y:-127.46, Z:-4.14 [[ 9.84812529e-01 1.73493125e-01 -6.66476174e-03 1.08643583e+02] [ 1.73490458e-01 -9.84835062e-01 -9.80667373e-04 -1.27464397e+02] [-6.73383009e-03 -1.90499049e-04 -9.99977309e-01 -4.13827125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.015861013124328846 Centerline is valid? [True, True] Translation: X:108.68, Y:-127.46, Z:-4.14 [[ 9.68979923e-01 2.47084010e-01 -5.23459944e-03 1.08676285e+02] [ 2.47081157e-01 -9.68994053e-01 -1.19500689e-03 -1.27457488e+02] [-5.36756282e-03 -1.35433204e-04 -9.99985585e-01 -4.14052119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.014882902717010212 Centerline is valid? [True, True] Translation: X:108.71, Y:-127.45, Z:-4.14 [[ 9.47965862e-01 3.18354322e-01 -3.35429798e-03 1.08708285e+02] [ 3.18352606e-01 -9.47971793e-01 -1.04772631e-03 -1.27450195e+02] [-3.51332807e-03 -7.46407354e-05 -9.99993826e-01 -4.14175697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.013819763642871416 Centerline is valid? [True, True] Translation: X:108.74, Y:-127.44, Z:-4.14 [[ 9.21188921e-01 3.89098977e-01 -3.59977244e-03 1.08740622e+02] [ 3.89096310e-01 -9.21195952e-01 -1.44247801e-03 -1.27443847e+02] [-3.87736251e-03 -7.18634105e-05 -9.99992480e-01 -4.14138134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.013716697939874402 Centerline is valid? [True, True] Translation: X:108.77, Y:-127.44, Z:-4.14 [[ 8.89057579e-01 4.57772905e-01 -4.53757768e-03 1.08770064e+02] [ 4.57767405e-01 -8.89069154e-01 -2.24543192e-03 -1.27435218e+02] [-5.06211824e-03 -8.08368963e-05 -9.99987184e-01 -4.13920532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.013475049045718704 Centerline is valid? [True, True] Translation: X:108.80, Y:-127.42, Z:-4.14 [[ 8.51247810e-01 5.24733693e-01 -5.63178450e-03 1.08799662e+02] [ 5.24722946e-01 -8.51266434e-01 -3.35977184e-03 -1.27422674e+02] [-6.55713460e-03 -9.51281303e-05 -9.99978497e-01 -4.13762072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.013412889366047677 Centerline is valid? [True, True] Translation: X:108.83, Y:-127.41, Z:-4.14 [[ 8.08137477e-01 5.88968840e-01 -5.43349813e-03 1.08826848e+02] [ 5.88956272e-01 -8.08155738e-01 -3.84875052e-03 -1.27407377e+02] [-6.65790682e-03 -8.97732694e-05 -9.99977832e-01 -4.13697839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.013641548131482842 Centerline is valid? [True, True] Translation: X:108.85, Y:-127.39, Z:-4.14 [[ 7.59998384e-01 6.49908774e-01 -4.58712572e-03 1.08852162e+02] [ 6.49897540e-01 -7.60012224e-01 -3.82203727e-03 -1.27391212e+02] [-5.97024717e-03 -7.64195668e-05 -9.99982175e-01 -4.13694294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.013877475926186454 Centerline is valid? [True, True] Translation: X:108.87, Y:-127.37, Z:-4.14 [[ 7.06557566e-01 7.07649804e-01 -2.85671432e-03 1.08874552e+02] [ 7.07644318e-01 -7.06563339e-01 -2.78689608e-03 -1.27370771e+02] [-3.99059608e-03 -5.24351444e-05 -9.99992036e-01 -4.13807095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.013925274596896065 Centerline is valid? [True, True] Translation: X:108.90, Y:-127.35, Z:-4.14 [[ 6.47058688e-01 7.62438705e-01 -1.50859432e-03 1.08898910e+02] [ 7.62436761e-01 -6.47060446e-01 -1.72218095e-03 -1.27352062e+02] [-2.28920913e-03 -3.58556162e-05 -9.99997379e-01 -4.13864685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.014355036640263703 Centerline is valid? [True, True] Translation: X:108.92, Y:-127.33, Z:-4.14 [[ 5.84085987e-01 8.11690677e-01 -1.34354855e-03 1.08923361e+02] [ 8.11688680e-01 -5.84087531e-01 -1.80082520e-03 -1.27333423e+02] [-2.24646298e-03 -3.87063845e-05 -9.99997476e-01 -4.13844372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.015824639706699756 Centerline is valid? [True, True] Translation: X:108.95, Y:-127.31, Z:-4.14 [[ 5.13961476e-01 8.57811094e-01 -1.93109414e-03 1.08947091e+02] [ 8.57805630e-01 -5.13965097e-01 -3.06279131e-03 -1.27313808e+02] [-3.61981135e-03 -8.23466862e-05 -9.99993445e-01 -4.13593372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.01827410665157899 Centerline is valid? [True, True] Translation: X:108.97, Y:-127.29, Z:-4.13 [[ 4.40519552e-01 8.97739655e-01 -2.45697765e-03 1.08968898e+02] [ 8.97727508e-01 -4.40526379e-01 -4.67238778e-03 -1.27293399e+02] [-5.27695126e-03 -1.47418249e-04 -9.99986066e-01 -4.13341039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.01687775066351071 Centerline is valid? [True, True] Translation: X:108.98, Y:-127.27, Z:-4.13 [[ 3.70418826e-01 9.28860583e-01 -2.81263991e-03 1.08983701e+02] [ 9.28837525e-01 -3.70429457e-01 -6.54755320e-03 -1.27268199e+02] [-7.12364876e-03 -1.87148524e-04 -9.99974609e-01 -4.13119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.016325654653796318 Centerline is valid? [True, True] Translation: X:109.00, Y:-127.24, Z:-4.13 [[ 2.99548130e-01 9.54078650e-01 -2.20194349e-03 1.08996000e+02] [ 9.54056624e-01 -2.99556181e-01 -6.48475738e-03 -1.27242815e+02] [-6.84657435e-03 -1.58281833e-04 -9.99976549e-01 -4.13098844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.015433206632887704 Centerline is valid? [True, True] Translation: X:109.00, Y:-127.22, Z:-4.13 [[ 2.29643521e-01 9.73273499e-01 -1.59681733e-03 1.09001375e+02] [ 9.73253238e-01 -2.29649046e-01 -6.28089544e-03 -1.27215371e+02] [-6.47973665e-03 -1.11740688e-04 -9.99979000e-01 -4.13051505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.01350936869029761 Centerline is valid? [True, True] Translation: X:109.01, Y:-127.19, Z:-4.13 [[ 1.56932646e-01 9.87608512e-01 -1.25402607e-03 1.09009004e+02] [ 9.87581684e-01 -1.56937627e-01 -7.27996850e-03 -1.27188719e+02] [-7.38656273e-03 -9.59884545e-05 -9.99972714e-01 -4.13128054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.013675699345358205 Centerline is valid? [True, True] Translation: X:109.02, Y:-127.16, Z:-4.13 [[ 8.11358606e-02 9.96702698e-01 -8.39047254e-04 1.09019656e+02] [ 9.96661357e-01 -8.11401377e-02 -9.07846512e-03 -1.27163046e+02] [-9.11661109e-03 -9.96568941e-05 -9.99958438e-01 -4.12942371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.01368620318296821 Centerline is valid? [True, True] Translation: X:109.02, Y:-127.14, Z:-4.13 [[ 4.73608560e-03 9.99988776e-01 -1.31997838e-04 1.09021986e+02] [ 9.99942556e-01 -4.73713584e-03 -9.61478176e-03 -1.27136511e+02] [-9.61529914e-03 -8.64538259e-05 -9.99953768e-01 -4.12838821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.013099592454269624 Centerline is valid? [True, True] Translation: X:109.02, Y:-127.11, Z:-4.13 [[-7.11594005e-02 9.97464788e-01 5.80330478e-04 1.09024695e+02] [ 9.97424515e-01 7.11617424e-02 -8.96341703e-03 -1.27108802e+02] [-8.98199020e-03 -5.89955362e-05 -9.99959659e-01 -4.13030407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.012853766628144846 Centerline is valid? [True, True] Translation: X:109.03, Y:-127.08, Z:-4.13 [[-1.47394046e-01 9.89077107e-01 1.21322024e-03 1.09028852e+02] [ 9.89041268e-01 1.47399033e-01 -8.41993850e-03 -1.27080934e+02] [-8.50679590e-03 -4.11239184e-05 -9.99963816e-01 -4.13114198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.012872242267778184 Centerline is valid? [True, True] Translation: X:109.03, Y:-127.05, Z:-4.13 [[-2.22924481e-01 9.74834505e-01 1.53767329e-03 1.09031271e+02] [ 9.74810602e-01 2.22929783e-01 -6.82651560e-03 -1.27052897e+02] [-6.99751613e-03 -2.28572179e-05 -9.99975517e-01 -4.13192130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.012924136963821671 Centerline is valid? [True, True] Translation: X:109.03, Y:-127.02, Z:-4.13 [[-2.98526202e-01 9.54398884e-01 2.20834368e-03 1.09031460e+02] [ 9.54372174e-01 2.98534369e-01 -7.14029987e-03 -1.27024398e+02] [-7.47396071e-03 -2.39848382e-05 -9.99972069e-01 -4.13154568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.013039914585534143 Centerline is valid? [True, True] Translation: X:109.03, Y:-127.00, Z:-4.13 [[-3.73502577e-01 9.27622980e-01 3.38109904e-03 1.09031266e+02] [ 9.27583988e-01 3.73517878e-01 -8.50534744e-03 -1.26995754e+02] [-9.15265667e-03 -4.05158608e-05 -9.99958113e-01 -4.13068968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.013255423610860642 Centerline is valid? [True, True] Translation: X:109.03, Y:-126.97, Z:-4.13 [[-4.45804545e-01 8.95120922e-01 4.10399301e-03 1.09028057e+02] [ 8.95081971e-01 4.45823432e-01 -8.35059693e-03 -1.26966921e+02] [-9.30445027e-03 -4.93239091e-05 -9.99956712e-01 -4.12959545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.013307850404444632 Centerline is valid? [True, True] Translation: X:109.02, Y:-126.94, Z:-4.13 [[-5.15525538e-01 8.56860600e-01 4.83037429e-03 1.09021660e+02] [ 8.56821873e-01 5.15548164e-01 -8.14671059e-03 -1.26939596e+02] [-9.47088591e-03 -6.10670130e-05 -9.99955148e-01 -4.12929633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.013309311214757794 Centerline is valid? [True, True] Translation: X:109.01, Y:-126.91, Z:-4.13 [[-5.81962992e-01 8.13203234e-01 4.42455300e-03 1.09012150e+02] [ 8.13178972e-01 5.81979808e-01 -6.28185588e-03 -1.26913630e+02] [-7.68342602e-03 -5.78541745e-05 -9.99970480e-01 -4.13105489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.013307757199133902 Centerline is valid? [True, True] Translation: X:109.00, Y:-126.89, Z:-4.13 [[-6.44452673e-01 7.64637340e-01 3.23898250e-03 1.09001403e+02] [ 7.64627354e-01 6.44460811e-01 -3.90811750e-03 -1.26887015e+02] [-5.07568986e-03 -4.19821508e-05 -9.99987118e-01 -4.13324104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.013407096861931117 Centerline is valid? [True, True] Translation: X:108.99, Y:-126.86, Z:-4.13 [[-7.02632405e-01 7.11547549e-01 2.79072882e-03 1.08988609e+02] [ 7.11541740e-01 7.02637946e-01 -2.87556542e-03 -1.26862490e+02] [-4.00697350e-03 -3.47454064e-05 -9.99991972e-01 -4.13333078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.01346981001244663 Centerline is valid? [True, True] Translation: X:108.97, Y:-126.84, Z:-4.13 [[-7.56532638e-01 6.53946573e-01 3.49975549e-03 1.08974285e+02] [ 6.53939313e-01 7.56540731e-01 -3.08167000e-03 -1.26837000e+02] [-4.66295511e-03 -4.27562332e-05 -9.99989128e-01 -4.13279962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.014073101514882573 Centerline is valid? [True, True] Translation: X:108.99, Y:-126.81, Z:-4.13 [[-8.02088102e-01 5.97180829e-01 5.45302150e-03 1.08993278e+02] [ 5.97166379e-01 8.02106634e-01 -4.15497711e-03 -1.26814081e+02] [-6.85517740e-03 -7.62965960e-05 -9.99976500e-01 -4.12954329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.014384828242108003 Centerline is valid? [True, True] Translation: X:109.01, Y:-126.79, Z:-4.13 [[-8.42938276e-01 5.37953753e-01 7.79895297e-03 1.09010828e+02] [ 5.37929462e-01 8.42974345e-01 -5.11347560e-03 -1.26793071e+02] [-9.32513066e-03 -1.15057729e-04 -9.99956513e-01 -4.12772350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.014291723709324569 Centerline is valid? [True, True] Translation: X:109.02, Y:-126.77, Z:-4.13 [[-8.79204441e-01 4.76374389e-01 8.18489921e-03 1.09024805e+02] [ 4.76352456e-01 8.79242530e-01 -4.57276515e-03 -1.26770881e+02] [-9.37485969e-03 -1.21498584e-04 -9.99956048e-01 -4.12841314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.014294087133239356 Centerline is valid? [True, True] Translation: X:109.03, Y:-126.74, Z:-4.13 [[-9.10575943e-01 4.13271017e-01 7.64974113e-03 1.09030097e+02] [ 4.13255447e-01 9.10608069e-01 -3.58891091e-03 -1.26743781e+02] [-8.44910886e-03 -1.06678745e-04 -9.99964300e-01 -4.12929986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.013952371383750007 Centerline is valid? [True, True] Translation: X:109.05, Y:-126.73, Z:-4.13 [[-9.37263227e-01 3.48561541e-01 6.51882173e-03 1.09050203e+02] [ 3.48552500e-01 9.37285893e-01 -2.51174964e-03 -1.26725560e+02] [-6.98549898e-03 -8.20189581e-05 -9.99975598e-01 -4.13130607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.014082683733959336 Centerline is valid? [True, True] Translation: X:109.05, Y:-126.70, Z:-4.13 [[-9.59746219e-01 2.80794925e-01 6.43465418e-03 1.09053097e+02] [ 2.80788038e-01 9.59767786e-01 -1.96845021e-03 -1.26697924e+02] [-6.72850462e-03 -8.24387252e-05 -9.99977360e-01 -4.13168686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.01516061471580283 Centerline is valid? [True, True] Translation: X:109.07, Y:-126.67, Z:-4.13 [[-9.77517959e-01 2.10710049e-01 7.74042762e-03 1.09065663e+02] [ 2.10702562e-01 9.77548599e-01 -1.77957068e-03 -1.26669909e+02] [-7.94161760e-03 -1.08634370e-04 -9.99968459e-01 -4.13006796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.015264940651611434 Centerline is valid? [True, True] Translation: X:109.07, Y:-126.64, Z:-4.13 [[-9.90316272e-01 1.38518777e-01 9.28598972e-03 1.09070338e+02] [ 1.38511259e-01 9.90359796e-01 -1.45107637e-03 -1.26640476e+02] [-9.39747221e-03 -1.50810416e-04 -9.99955831e-01 -4.12876686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.015610347400901184 Centerline is valid? [True, True] Translation: X:109.07, Y:-126.61, Z:-4.13 [[-9.97731347e-01 6.66606917e-02 9.40801934e-03 1.09074080e+02] [ 6.66561766e-02 9.97775689e-01 -7.93010160e-04 -1.26611572e+02] [-9.43995558e-03 -1.64108497e-04 -9.99955429e-01 -4.12888621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.015397336722661243 Centerline is valid? [True, True] Translation: X:109.07, Y:-126.58, Z:-4.13 [[-9.99954878e-01 -4.43018068e-03 8.40335745e-03 1.09070753e+02] [-4.43126013e-03 9.99990176e-01 -1.09839661e-04 -1.26583531e+02] [-8.40278828e-03 -1.47072167e-04 -9.99964685e-01 -4.12988268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.014748389377730974 Centerline is valid? [True, True] Translation: X:109.07, Y:-126.56, Z:-4.13 [[-9.97267595e-01 -7.34145049e-02 8.22527553e-03 1.09072136e+02] [-7.34130618e-02 9.97301506e-01 4.77638525e-04 -1.26557842e+02] [-8.23814527e-03 -1.27509238e-04 -9.99966058e-01 -4.13007803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.013622126058897012 Centerline is valid? [True, True] Translation: X:109.04, Y:-125.86, Z:-5.12 [[-9.99780275e-01 -1.90226464e-02 8.80577507e-03 1.09039483e+02] [ 1.90234078e-02 -9.99819039e-01 2.70399041e-06 -1.25856656e+02] [ 8.80413013e-03 1.70219246e-04 9.99961228e-01 -5.12229960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.0134825086111359 Centerline is valid? [True, True] Translation: X:109.00, Y:-126.57, Z:-4.13 [[-9.97458694e-01 -7.06837766e-02 8.94190343e-03 1.09002258e+02] [-7.06815868e-02 9.97498771e-01 5.61074629e-04 -1.26566893e+02] [-8.95919656e-03 -7.23791569e-05 -9.99959863e-01 -4.12910305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.013203601068039143 Centerline is valid? [True, True] Translation: X:108.97, Y:-125.86, Z:-5.12 [[-9.99902565e-01 -1.05979648e-02 9.08533734e-03 1.08967780e+02] [ 1.05982671e-02 -9.99943837e-01 -1.48742341e-05 -1.25858358e+02] [ 9.08498471e-03 8.14160472e-05 9.99958727e-01 -5.12251203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.013145406420557802 Centerline is valid? [True, True] Translation: X:108.93, Y:-126.57, Z:-4.13 [[-9.97372837e-01 -7.19174122e-02 8.67816890e-03 1.08932748e+02] [-7.19150050e-02 9.97410590e-01 5.89521184e-04 -1.26575000e+02] [-8.69809439e-03 -3.61181438e-05 -9.99962170e-01 -4.12996573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.013201423547765226 Centerline is valid? [True, True] Translation: X:108.89, Y:-125.86, Z:-5.12 [[-9.99961187e-01 -4.35611566e-03 7.65829892e-03 1.08887546e+02] [ 4.35570275e-03 -9.99990511e-01 -7.05944117e-05 -1.25861879e+02] [ 7.65853377e-03 -3.72343980e-05 9.99970672e-01 -5.12134688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.013508115557548953 Centerline is valid? [True, True] Translation: X:108.86, Y:-126.58, Z:-4.13 [[-9.96713021e-01 -8.05794302e-02 8.37313336e-03 1.08856611e+02] [-8.05771348e-02 9.96748189e-01 6.11675884e-04 -1.26577881e+02] [-8.39519401e-03 -6.50177772e-05 -9.99964758e-01 -4.12967204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.014129842311317252 Centerline is valid? [True, True] Translation: X:108.81, Y:-125.87, Z:-5.12 [[-9.99945662e-01 -5.18272980e-03 9.04500263e-03 1.08805044e+02] [ 5.18355449e-03 -9.99986563e-01 6.77349957e-05 -1.25871849e+02] [ 9.04453004e-03 1.14616579e-04 9.99959091e-01 -5.12325333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.01517406091203062 Centerline is valid? [True, True] Translation: X:108.78, Y:-126.58, Z:-4.13 [[-9.95585171e-01 -9.33613634e-02 9.68627467e-03 1.08777114e+02] [-9.33584466e-02 9.95632278e-01 7.53840211e-04 -1.26577730e+02] [-9.71434726e-03 -1.53783421e-04 -9.99952803e-01 -4.12873648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.01667595912744907 Centerline is valid? [True, True] Translation: X:108.72, Y:-125.89, Z:-5.12 [[-9.99909235e-01 -1.00840162e-02 8.93503999e-03 1.08721710e+02] [ 1.00843891e-02 -9.99949151e-01 -3.32487532e-06 -1.25885544e+02] [ 8.93461918e-03 8.67798459e-05 9.99960082e-01 -5.12286378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.017024112904048302 Centerline is valid? [True, True] Translation: X:108.70, Y:-126.58, Z:-4.13 [[-9.94432588e-01 -1.04980120e-01 9.11058417e-03 1.08702146e+02] [-1.04977611e-01 9.94474299e-01 7.54576532e-04 -1.26578253e+02] [-9.13945735e-03 -2.06031864e-04 -9.99958213e-01 -4.12874418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.016713223345011533 Centerline is valid? [True, True] Translation: X:108.65, Y:-125.89, Z:-5.12 [[-9.99916899e-01 -7.49674474e-03 1.04878200e-02 1.08646154e+02] [ 7.49974256e-03 -9.99971846e-01 2.46537894e-04 -1.25892330e+02] [ 1.04856765e-02 3.25173356e-04 9.99944971e-01 -5.12384951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.01592622517486154 Centerline is valid? [True, True] Translation: X:108.63, Y:-126.59, Z:-4.13 [[-9.93939189e-01 -1.09410986e-01 1.06829133e-02 1.08625078e+02] [-1.09407229e-01 9.93996569e-01 9.37169666e-04 -1.26586192e+02] [-1.07213158e-02 -2.37298286e-04 -9.99942497e-01 -4.12822777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.015958536265545394 Centerline is valid? [True, True] Translation: X:108.58, Y:-125.90, Z:-5.12 [[-9.99944258e-01 1.31617407e-04 1.05576017e-02 1.08575887e+02] [-1.29253675e-04 -9.99999966e-01 2.24571064e-04 -1.25897114e+02] [ 1.05576309e-02 2.23193937e-04 9.99944242e-01 -5.12377924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.016020179980371977 Centerline is valid? [True, True] Translation: X:108.56, Y:-126.59, Z:-4.13 [[-9.93824351e-01 -1.10486316e-01 1.02923771e-02 1.08558037e+02] [-1.10482329e-01 9.93877628e-01 9.56921776e-04 -1.26593372e+02] [-1.03350901e-02 -1.86113629e-04 -9.99946574e-01 -4.12835087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.014998886564566717 Centerline is valid? [True, True] Translation: X:108.48, Y:-125.90, Z:-5.12 [[-9.99884077e-01 1.11139158e-02 1.04073759e-02 1.08483265e+02] [-1.11113141e-02 -9.99938220e-01 3.07780750e-04 -1.25900752e+02] [ 1.04101535e-02 1.92105449e-04 9.99945794e-01 -5.12368513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.014382032945171283 Centerline is valid? [True, True] Translation: X:108.47, Y:-126.61, Z:-4.13 [[-9.93812064e-01 -1.10561316e-01 1.06666460e-02 1.08467006e+02] [-1.10556348e-01 9.93869297e-01 1.05605099e-03 -1.26607162e+02] [-1.07180104e-02 -1.29749213e-04 -9.99942552e-01 -4.12821066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.014633053073804744 Centerline is valid? [True, True] Translation: X:108.46, Y:-126.58, Z:-4.13 [[-9.83374247e-01 -1.81220768e-01 1.15811682e-02 1.08455634e+02] [-1.81209938e-01 9.83442430e-01 1.98644309e-03 -1.26581177e+02] [-1.17493970e-02 -1.45205798e-04 -9.99930963e-01 -4.12764423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.014392537791819784 Centerline is valid? [True, True] Translation: X:108.45, Y:-126.56, Z:-4.13 [[-9.67660345e-01 -2.51956698e-01 1.22995515e-02 1.08445505e+02] [-2.51938581e-01 9.67738494e-01 3.02625734e-03 -1.26556197e+02] [-1.26652352e-02 -1.70342332e-04 -9.99919778e-01 -4.12819953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.01431886622330185 Centerline is valid? [True, True] Translation: X:108.42, Y:-126.54, Z:-4.13 [[-9.47149138e-01 -3.20560469e-01 1.22268975e-02 1.08420668e+02] [-3.20536065e-01 9.47228039e-01 3.95903045e-03 -1.26536336e+02] [-1.28507688e-02 -1.69369321e-04 -9.99917411e-01 -4.12944228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.013883821783601763 Centerline is valid? [True, True] Translation: X:108.38, Y:-126.52, Z:-4.13 [[-9.21736889e-01 -3.87638361e-01 1.17307042e-02 1.08381377e+02] [-3.87609125e-01 9.21811519e-01 4.76334921e-03 -1.26522115e+02] [-1.26599551e-02 -1.56373312e-04 -9.99919847e-01 -4.13030832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.013691503795744969 Centerline is valid? [True, True] Translation: X:108.32, Y:-126.52, Z:-4.13 [[-8.92107467e-01 -4.51684992e-01 1.11774219e-02 1.08320007e+02] [-4.51651168e-01 8.92177479e-01 5.52878061e-03 -1.26519777e+02] [-1.24695113e-02 -1.16029200e-04 -9.99922246e-01 -4.12953916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.012872734864709048 Centerline is valid? [True, True] Translation: X:108.26, Y:-126.53, Z:-4.13 [[-8.59712125e-01 -5.10673064e-01 1.03963321e-02 1.08257510e+02] [-5.10636145e-01 8.59774983e-01 6.14055919e-03 -1.26527697e+02] [-1.20743244e-02 -2.96297437e-05 -9.99927102e-01 -4.13114920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.013246055647239052 Centerline is valid? [True, True] Translation: X:108.18, Y:-126.55, Z:-4.13 [[-8.24099499e-01 -5.66353432e-01 1.01884784e-02 1.08183140e+02] [-5.66309023e-01 8.24162474e-01 7.09269299e-03 -1.26549054e+02] [-1.24139326e-02 7.52574983e-05 -9.99922941e-01 -4.13241368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.013906458514695045 Centerline is valid? [True, True] Translation: X:108.11, Y:-126.58, Z:-4.13 [[-7.82133207e-01 -6.23030985e-01 1.00019032e-02 1.08106557e+02] [-6.22977785e-01 7.82197144e-01 8.14290594e-03 -1.26575006e+02] [-1.28967428e-02 1.37873645e-04 -9.99916824e-01 -4.13225033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.014206982472245375 Centerline is valid? [True, True] Translation: X:108.02, Y:-126.61, Z:-4.13 [[-7.35313631e-01 -6.77652529e-01 1.00456585e-02 1.08019698e+02] [-6.77585648e-01 7.35382222e-01 9.52247315e-03 -1.26613956e+02] [-1.38403267e-02 1.95210264e-04 -9.99904199e-01 -4.13292221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.014272858377309768 Centerline is valid? [True, True] Translation: X:107.93, Y:-126.66, Z:-4.13 [[-6.81473941e-01 -7.31783785e-01 9.26063441e-03 1.07932394e+02] [-7.31712524e-01 6.81536835e-01 1.02139526e-02 -1.26659184e+02] [-1.37858684e-02 1.84420360e-04 -9.99904953e-01 -4.13221741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.013535659894241624 Centerline is valid? [True, True] Translation: X:107.84, Y:-126.72, Z:-4.13 [[-6.22532940e-01 -7.82548084e-01 8.44009927e-03 1.07844046e+02] [-7.82472732e-01 6.22590132e-01 1.08605814e-02 -1.26715153e+02] [-1.37536497e-02 1.56922164e-04 -9.99905402e-01 -4.13314276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.013106303961009457 Centerline is valid? [True, True] Translation: X:107.75, Y:-126.78, Z:-4.13 [[-5.57857605e-01 -8.29905620e-01 7.18014245e-03 1.07754310e+02] [-8.29834716e-01 5.57903802e-01 1.08485825e-02 -1.26782178e+02] [-1.30091284e-02 9.36327807e-05 -9.99915373e-01 -4.13312914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.012646413323309857 Centerline is valid? [True, True] Translation: X:107.67, Y:-126.85, Z:-4.13 [[-4.87783214e-01 -8.72944846e-01 5.90180182e-03 1.07672008e+02] [-8.72880640e-01 4.87818917e-01 1.05873819e-02 -1.26849262e+02] [-1.21212111e-02 1.27786363e-05 -9.99926535e-01 -4.13401468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.012951239362947932 Centerline is valid? [True, True] Translation: X:107.59, Y:-126.93, Z:-4.13 [[-4.13463349e-01 -9.10505679e-01 5.24098041e-03 1.07589247e+02] [-9.10434918e-01 4.13496557e-01 1.13515543e-02 -1.26930545e+02] [-1.25027820e-02 -7.81199128e-05 -9.99921834e-01 -4.13338502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.014216811995099669 Centerline is valid? [True, True] Translation: X:107.51, Y:-127.02, Z:-4.13 [[-3.35448037e-01 -9.42049473e-01 4.17194749e-03 1.07512784e+02] [-9.41982800e-01 3.35473936e-01 1.12090910e-02 -1.27017183e+02] [-1.19590979e-02 -1.69835209e-04 -9.99928473e-01 -4.13434411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.015410730908859317 Centerline is valid? [True, True] Translation: X:107.45, Y:-127.11, Z:-4.14 [[-2.57936217e-01 -9.66156974e-01 3.09991677e-03 1.07447292e+02] [-9.66096879e-01 2.57954754e-01 1.07780173e-02 -1.27109778e+02] [-1.12128949e-02 -2.14778906e-04 -9.99937111e-01 -4.13528848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.01611087713241436 Centerline is valid? [True, True] Translation: X:107.39, Y:-127.21, Z:-4.14 [[-1.78518670e-01 -9.83933606e-01 2.39659377e-03 1.07389344e+02] [-9.83865276e-01 1.78534525e-01 1.15991857e-02 -1.27211985e+02] [-1.18407034e-02 -2.87254178e-04 -9.99929855e-01 -4.13694199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.017157262218800377 Centerline is valid? [True, True] Translation: X:107.34, Y:-127.31, Z:-4.14 [[-1.01737790e-01 -9.94810000e-01 1.57666191e-03 1.07342238e+02] [-9.94733804e-01 1.01749518e-01 1.23164436e-02 -1.27314781e+02] [-1.24129458e-02 -3.15311146e-04 -9.99922907e-01 -4.13616612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.017396525971869622 Centerline is valid? [True, True] Translation: X:107.30, Y:-127.42, Z:-4.14 [[-2.42295900e-02 -9.99706204e-01 6.57540347e-04 1.07303432e+02] [-9.99622655e-01 2.42360689e-02 1.29291011e-02 -1.27422317e+02] [-1.29412388e-02 -3.44025409e-04 -9.99916200e-01 -4.13604930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.016631545195486704 Centerline is valid? [True, True] Translation: X:107.27, Y:-127.53, Z:-4.14 [[ 5.23976775e-02 -9.98626236e-01 -3.53119668e-04 1.07274432e+02] [-9.98531726e-01 -5.23975784e-02 1.37435785e-02 -1.27534568e+02] [-1.37432007e-02 -3.67530405e-04 -9.99905490e-01 -4.13638831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.016757675618207426 Centerline is valid? [True, True] Translation: X:107.25, Y:-127.65, Z:-4.14 [[ 1.27902356e-01 -9.91785535e-01 -1.56228822e-03 1.07254650e+02] [-9.91668571e-01 -1.27911274e-01 1.52365012e-02 -1.27648422e+02] [-1.53111757e-02 -3.99512276e-04 -9.99882697e-01 -4.13562857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.015883411513052514 Centerline is valid? [True, True] Translation: X:107.25, Y:-127.76, Z:-4.14 [[ 2.00117490e-01 -9.79767729e-01 -2.86153619e-03 1.07245705e+02] [-9.79639807e-01 -2.00137613e-01 1.58361929e-02 -1.27762322e+02] [-1.60884918e-02 -3.65824412e-04 -9.99870505e-01 -4.13607654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.014715034220838601 Centerline is valid? [True, True] Translation: X:107.25, Y:-127.87, Z:-4.14 [[ 2.69085350e-01 -9.63109694e-01 -3.57648243e-03 1.07246109e+02] [-9.63012284e-01 -2.69109008e-01 1.36997564e-02 -1.27872855e+02] [-1.41568318e-02 -2.42207238e-04 -9.99899758e-01 -4.13801990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.013982820940834145 Centerline is valid? [True, True] Translation: X:107.26, Y:-127.98, Z:-4.14 [[ 3.37978234e-01 -9.41144508e-01 -4.21065331e-03 1.07255040e+02] [-9.41065243e-01 -3.38004421e-01 1.22155604e-02 -1.27984415e+02] [-1.29198271e-02 -1.66094059e-04 -9.99916522e-01 -4.13877909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.01317255524475172 Centerline is valid? [True, True] Translation: X:107.27, Y:-128.10, Z:-4.14 [[ 4.02788685e-01 -9.15279572e-01 -4.95785403e-03 1.07274233e+02] [-9.15207898e-01 -4.02819190e-01 1.14544351e-02 -1.28095734e+02] [-1.24811292e-02 -7.62496927e-05 -9.99922105e-01 -4.13896701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.013071452334443148 Centerline is valid? [True, True] Translation: X:107.30, Y:-128.20, Z:-4.14 [[ 4.66447714e-01 -8.84528313e-01 -6.01612888e-03 1.07297704e+02] [-8.84454634e-01 -4.66486510e-01 1.14164874e-02 -1.28198945e+02] [-1.29046493e-02 -4.20141479e-06 -9.99916732e-01 -4.13894264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.013270949692325213 Centerline is valid? [True, True] Translation: X:107.33, Y:-128.31, Z:-4.14 [[ 5.30142954e-01 -8.47878326e-01 -7.12684513e-03 1.07330760e+02] [-8.47802579e-01 -5.30190855e-01 1.13333059e-02 -1.28307508e+02] [-1.33878526e-02 3.38854116e-05 -9.99910378e-01 -4.13871880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.013424024908554941 Centerline is valid? [True, True] Translation: X:107.37, Y:-128.41, Z:-4.14 [[ 5.91931424e-01 -8.05942554e-01 -8.58999411e-03 1.07366712e+02] [-8.05859163e-01 -5.91993746e-01 1.15937066e-02 -1.28410575e+02] [-1.44290843e-02 5.96462196e-05 -9.99895894e-01 -4.13786451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.013344957024125892 Centerline is valid? [True, True] Translation: X:107.41, Y:-128.51, Z:-4.14 [[ 6.52075710e-01 -7.58103988e-01 -8.69552342e-03 1.07409846e+02] [-7.58037511e-01 -6.52133684e-01 1.00394894e-02 -1.28512486e+02] [-1.32816207e-02 4.50257652e-05 -9.99911794e-01 -4.13782270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.013003889627648372 Centerline is valid? [True, True] Translation: X:107.46, Y:-128.61, Z:-4.14 [[ 7.09178044e-01 -7.04973300e-01 -8.89650390e-03 1.07457128e+02] [-7.04918111e-01 -7.09233844e-01 8.82102623e-03 -1.28609779e+02] [-1.25282896e-02 1.56285969e-05 -9.99921518e-01 -4.13872742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.012928081736469811 Centerline is valid? [True, True] Translation: X:107.47, Y:-128.64, Z:-4.14 [[ 7.64344505e-01 -6.44744943e-01 -9.02418624e-03 1.07474947e+02] [-6.44699612e-01 -7.64397775e-01 7.64541200e-03 -1.28641839e+02] [-1.18274086e-02 -2.58392870e-05 -9.99930053e-01 -4.13872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.013070708087280742 Centerline is valid? [True, True] Translation: X:107.50, Y:-128.67, Z:-4.14 [[ 8.14340651e-01 -5.80321636e-01 -8.72373138e-03 1.07497035e+02] [-5.80287554e-01 -8.14387374e-01 6.28962531e-03 -1.28673307e+02] [-1.07545023e-02 -5.96248213e-05 -9.99942167e-01 -4.13961324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.013862924718734732 Centerline is valid? [True, True] Translation: X:107.52, Y:-128.71, Z:-4.14 [[ 8.60602634e-01 -5.09226456e-01 -7.17795254e-03 1.07519709e+02] [-5.09207749e-01 -8.60632562e-01 4.36600988e-03 -1.28705050e+02] [-8.40086742e-03 -1.02330549e-04 -9.99964707e-01 -4.14013515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.015192327984521237 Centerline is valid? [True, True] Translation: X:107.55, Y:-128.74, Z:-4.14 [[ 9.00526427e-01 -4.34740286e-01 -7.28266911e-03 1.07546369e+02] [-4.34724713e-01 -9.00555862e-01 3.68285226e-03 -1.28735241e+02] [-8.15953461e-03 -1.50549553e-04 -9.99966699e-01 -4.13924812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.015730221257724195 Centerline is valid? [True, True] Translation: X:107.58, Y:-128.76, Z:-4.14 [[ 9.32446748e-01 -3.61220966e-01 -7.90422869e-03 1.07576600e+02] [-3.61206401e-01 -9.32480232e-01 3.24840549e-03 -1.28760005e+02] [-8.54392917e-03 -1.73907142e-04 -9.99963485e-01 -4.13780950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.015634620825966637 Centerline is valid? [True, True] Translation: X:107.61, Y:-128.78, Z:-4.14 [[ 9.58097329e-01 -2.86315946e-01 -8.52570619e-03 1.07609166e+02] [-2.86302834e-01 -9.58135242e-01 2.74667644e-03 -1.28783173e+02] [-8.95519683e-03 -1.90649513e-04 -9.99959883e-01 -4.13684334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.01597281785283783 Centerline is valid? [True, True] Translation: X:107.64, Y:-128.80, Z:-4.14 [[ 9.77306232e-01 -2.11666216e-01 -8.36307359e-03 1.07643126e+02] [-2.11656947e-01 -9.77341999e-01 1.98846626e-03 -1.28801459e+02] [-8.59447419e-03 -1.73237846e-04 -9.99963052e-01 -4.13601676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.015101211963430979 Centerline is valid? [True, True] Translation: X:107.68, Y:-128.82, Z:-4.14 [[ 9.90807877e-01 -1.35069094e-01 -7.48934240e-03 1.07679030e+02] [-1.35064095e-01 -9.90836171e-01 1.17159901e-03 -1.28817662e+02] [-7.57895817e-03 -1.49288274e-04 -9.99971268e-01 -4.13666953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.016010685229316476 Centerline is valid? [True, True] Translation: X:107.71, Y:-128.83, Z:-4.13 [[ 9.98387162e-01 -5.62065131e-02 -7.99397898e-03 1.07712957e+02] [-5.62033850e-02 -9.98419151e-01 6.15597261e-04 -1.28833810e+02] [-8.01594228e-03 -1.65315723e-04 -9.99967858e-01 -4.13495525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.01622344236141718 Centerline is valid? [True, True] Translation: X:107.75, Y:-128.84, Z:-4.13 [[ 9.99690725e-01 2.29181170e-02 -9.65472922e-03 1.07747471e+02] [ 2.29190429e-02 -9.99737324e-01 -1.47443142e-05 -1.28841747e+02] [-9.65253106e-03 -2.06537398e-04 -9.99953392e-01 -4.13232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.01562307354958039 Centerline is valid? [True, True] Translation: X:107.78, Y:-128.85, Z:-4.13 [[ 9.94824447e-01 1.01053895e-01 -1.06033313e-02 1.07782432e+02] [ 1.01050578e-01 -9.94880927e-01 -8.49458332e-04 -1.28845844e+02] [-1.06348931e-02 -2.26410844e-04 -9.99943422e-01 -4.13181899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.015381353954131592 Centerline is valid? [True, True] Translation: X:107.82, Y:-128.85, Z:-4.13 [[ 9.84107788e-01 1.77267824e-01 -1.03913636e-02 1.07817725e+02] [ 1.77260183e-01 -9.84162626e-01 -1.65914492e-03 -1.28847202e+02] [-1.05209047e-02 -2.09197575e-04 -9.99944632e-01 -4.13187042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.01457298056817332 Centerline is valid? [True, True] Translation: X:107.85, Y:-128.84, Z:-4.13 [[ 9.67986644e-01 2.50858560e-01 -8.47584880e-03 1.07851824e+02] [ 2.50850274e-01 -9.68023740e-01 -2.04421772e-03 -1.28843649e+02] [-8.71763237e-03 -1.47393544e-04 -9.99961990e-01 -4.13316016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.013996415668935383 Centerline is valid? [True, True] Translation: X:107.88, Y:-128.84, Z:-4.13 [[ 9.46480898e-01 3.22706498e-01 -5.86736186e-03 1.07883880e+02] [ 3.22700846e-01 -9.46499080e-01 -1.91181560e-03 -1.28836479e+02] [-6.17040792e-03 -8.39056937e-05 -9.99980959e-01 -4.13400251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.013454612833784699 Centerline is valid? [True, True] Translation: X:107.92, Y:-128.83, Z:-4.13 [[ 9.19409427e-01 3.93266919e-01 -5.23802024e-03 1.07916939e+02] [ 3.93260917e-01 -9.19424345e-01 -2.17354689e-03 -1.28827587e+02] [-5.67074742e-03 -6.15291432e-05 -9.99983919e-01 -4.13437481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.0133427771842865 Centerline is valid? [True, True] Translation: X:107.95, Y:-128.82, Z:-4.13 [[ 8.86100053e-01 4.63461241e-01 -5.51119550e-03 1.07949529e+02] [ 4.63452719e-01 -8.86117190e-01 -2.81129480e-03 -1.28818457e+02] [-6.18649124e-03 -6.30900706e-05 -9.99980862e-01 -4.13387043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.01342762905366922 Centerline is valid? [True, True] Translation: X:107.98, Y:-128.81, Z:-4.13 [[ 8.46551469e-01 5.32281948e-01 -5.15152001e-03 1.07981971e+02] [ 5.32272577e-01 -8.46567141e-01 -3.15918058e-03 -1.28807582e+02] [-6.04268236e-03 -6.76038648e-05 -9.99981741e-01 -4.13324203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.014267984498789374 Centerline is valid? [True, True] Translation: X:108.01, Y:-128.80, Z:-4.13 [[ 8.00820249e-01 5.98887843e-01 -4.50346925e-03 1.08012790e+02] [ 5.98878905e-01 -8.00832908e-01 -3.27280496e-03 -1.28795049e+02] [-5.56656947e-03 -7.61042462e-05 -9.99984504e-01 -4.13245988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.014169859271849576 Centerline is valid? [True, True] Translation: X:108.04, Y:-128.78, Z:-4.13 [[ 7.51083464e-01 6.60193448e-01 -4.27099886e-03 1.08042271e+02] [ 6.60183378e-01 -7.51095603e-01 -3.64726427e-03 -1.28777742e+02] [-5.61582844e-03 -8.02425687e-05 -9.99984228e-01 -4.13242800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.014245133939928947 Centerline is valid? [True, True] Translation: X:108.07, Y:-128.76, Z:-4.13 [[ 6.96877643e-01 7.17176260e-01 -4.44561648e-03 1.08068621e+02] [ 7.17162499e-01 -6.96891817e-01 -4.44352396e-03 -1.28757797e+02] [-6.28490363e-03 -9.16369227e-05 -9.99980246e-01 -4.13122081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.014099010190600537 Centerline is valid? [True, True] Translation: X:108.09, Y:-128.73, Z:-4.13 [[ 6.39932686e-01 7.68421206e-01 -3.87391642e-03 1.08089570e+02] [ 7.68407847e-01 -6.39944407e-01 -4.53174202e-03 -1.28734359e+02] [-5.96137781e-03 -7.67379318e-05 -9.99982228e-01 -4.13136200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.013344093697524696 Centerline is valid? [True, True] Translation: X:108.11, Y:-128.71, Z:-4.13 [[ 5.79745518e-01 8.14792251e-01 -2.95328599e-03 1.08110162e+02] [ 8.14782139e-01 -5.79753037e-01 -4.05976125e-03 -1.28709788e+02] [-5.02003853e-03 -5.26562923e-05 -9.99987398e-01 -4.13293953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.013218179726035447 Centerline is valid? [True, True] Translation: X:108.13, Y:-128.69, Z:-4.13 [[ 5.15187489e-01 8.57074867e-01 -2.12681365e-03 1.08131028e+02] [ 8.57067865e-01 -5.15191877e-01 -3.46474995e-03 -1.28685299e+02] [-4.06526722e-03 -3.78278059e-05 -9.99991736e-01 -4.13275288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.013024923049425543 Centerline is valid? [True, True] Translation: X:108.15, Y:-128.66, Z:-4.13 [[ 4.48114970e-01 8.93973932e-01 -1.89249851e-03 1.08148061e+02] [ 8.93966250e-01 -4.48118966e-01 -3.70622454e-03 -1.28659288e+02] [-4.16133260e-03 -3.10150977e-05 -9.99991341e-01 -4.13225120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.012756767737546115 Centerline is valid? [True, True] Translation: X:108.16, Y:-128.63, Z:-4.13 [[ 3.79093100e-01 9.25356338e-01 -2.01738178e-03 1.08161177e+02] [ 9.25343591e-01 -3.79098466e-01 -4.85718700e-03 -1.28632576e+02] [-5.25941512e-03 -2.54452275e-05 -9.99986169e-01 -4.13087203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.01252791397376998 Centerline is valid? [True, True] Translation: X:108.17, Y:-128.60, Z:-4.13 [[ 3.06755884e-01 9.51786759e-01 -1.67112087e-03 1.08172388e+02] [ 9.51772963e-01 -3.06760435e-01 -5.12472256e-03 -1.28604002e+02] [-5.39027684e-03 -1.84888612e-05 -9.99985472e-01 -4.13076990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.012577743870784105 Centerline is valid? [True, True] Translation: X:108.18, Y:-128.58, Z:-4.13 [[ 2.31227379e-01 9.72898946e-01 -1.24068471e-03 1.08183188e+02] [ 9.72885369e-01 -2.31230707e-01 -5.14001743e-03 -1.28575590e+02] [-5.28760194e-03 -1.85312428e-05 -9.99986020e-01 -4.13101396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.012845325018076913 Centerline is valid? [True, True] Translation: X:108.19, Y:-128.55, Z:-4.13 [[ 1.52025015e-01 9.88376213e-01 -9.25692094e-04 1.08191532e+02] [ 9.88359225e-01 -1.52027829e-01 -5.79497929e-03 -1.28548015e+02] [-5.86835064e-03 -3.39345079e-05 -9.99982781e-01 -4.12997812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.013026452452519767 Centerline is valid? [True, True] Translation: X:108.20, Y:-128.52, Z:-4.13 [[ 7.17407814e-02 9.97423165e-01 -5.39440825e-04 1.08198521e+02] [ 9.97400475e-01 -7.17427881e-02 -6.72790144e-03 -1.28518243e+02] [-6.74926574e-03 -5.53736290e-05 -9.99977222e-01 -4.12982431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.013902341275232707 Centerline is valid? [True, True] Translation: X:108.20, Y:-128.49, Z:-4.13 [[-1.09058385e-02 9.99940530e-01 -1.45992086e-05 1.08203544e+02] [ 9.99897853e-01 1.09052382e-02 -9.23899826e-03 -1.28488962e+02] [-9.23828961e-03 -1.15356741e-04 -9.99957320e-01 -4.12806361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.014041783120311513 Centerline is valid? [True, True] Translation: X:108.21, Y:-128.46, Z:-4.13 [[-9.26599349e-02 9.95697532e-01 7.49279992e-04 1.08208546e+02] [ 9.95649961e-01 9.26628331e-02 -9.73423944e-03 -1.28458392e+02] [-9.76178859e-03 -1.55953398e-04 -9.99952341e-01 -4.12873139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.01431198038258819 Centerline is valid? [True, True] Translation: X:108.21, Y:-128.43, Z:-4.13 [[-1.71680577e-01 9.85151911e-01 1.22149753e-03 1.08209461e+02] [ 9.85121000e-01 1.71684868e-01 -7.80525204e-03 -1.28428310e+02] [-7.89907160e-03 -1.36687309e-04 -9.99968793e-01 -4.13026810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.014866695257159071 Centerline is valid? [True, True] Translation: X:108.21, Y:-128.40, Z:-4.13 [[-2.48818401e-01 9.68548825e-01 1.60505572e-03 1.08207841e+02] [ 9.68525352e-01 2.48823547e-01 -6.74425412e-03 -1.28400105e+02] [-6.93151507e-03 -1.23557371e-04 -9.99975969e-01 -4.13094770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.014755876583716793 Centerline is valid? [True, True] Translation: X:108.20, Y:-128.37, Z:-4.13 [[-3.23924862e-01 9.46080300e-01 2.17946649e-03 1.08202739e+02] [ 9.46056181e-01 3.23932169e-01 -6.75657868e-03 -1.28371930e+02] [-7.09826529e-03 -1.26726075e-04 -9.99974799e-01 -4.13145632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.014820967507774448 Centerline is valid? [True, True] Translation: X:108.19, Y:-128.35, Z:-4.13 [[-3.96994002e-01 9.17816538e-01 2.92649853e-03 1.08193388e+02] [ 9.17789007e-01 3.97004765e-01 -7.11027973e-03 -1.28345078e+02] [-7.68776619e-03 -1.36830224e-04 -9.99970439e-01 -4.13063137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.014656445271770213 Centerline is valid? [True, True] Translation: X:108.18, Y:-128.32, Z:-4.13 [[-4.68597120e-01 8.83402866e-01 4.01433261e-03 1.08183717e+02] [ 8.83367341e-01 4.68614285e-01 -7.92420338e-03 -1.28317848e+02] [-8.88143758e-03 -1.67128564e-04 -9.99960545e-01 -4.13114995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.015382526808255909 Centerline is valid? [True, True] Translation: X:108.18, Y:-128.29, Z:-4.13 [[-5.37308153e-01 8.43371407e-01 4.96164545e-03 1.08176237e+02] [ 8.43332135e-01 5.37331028e-01 -8.14099969e-03 -1.28291337e+02] [-9.53193241e-03 -1.89910452e-04 -9.99954552e-01 -4.12974327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.016072480296921574 Centerline is valid? [True, True] Translation: X:108.16, Y:-128.27, Z:-4.13 [[-6.03400756e-01 7.97409568e-01 6.74600569e-03 1.08164137e+02] [ 7.97354961e-01 6.03438411e-01 -9.33540003e-03 -1.28266506e+02] [-1.15149363e-02 -2.54026324e-04 -9.99933669e-01 -4.12815711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.016580492335633232 Centerline is valid? [True, True] Translation: X:108.15, Y:-128.24, Z:-4.13 [[-6.64250511e-01 7.47467973e-01 7.93025195e-03 1.08149385e+02] [ 7.47409719e-01 6.64297791e-01 -9.33577669e-03 -1.28243985e+02] [-1.22462429e-02 -2.74147044e-04 -9.99924974e-01 -4.12799540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.01500284651103328 Centerline is valid? [True, True] Translation: X:108.13, Y:-128.22, Z:-4.13 [[-7.18862447e-01 6.95112310e-01 7.46049418e-03 1.08134525e+02] [ 6.95071852e-01 7.18901129e-01 -7.50251993e-03 -1.28220137e+02] [-1.05784516e-02 -2.07700331e-04 -9.99944025e-01 -4.13067446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.014898131411450766 Centerline is valid? [True, True] Translation: X:108.12, Y:-128.20, Z:-4.13 [[-7.69029229e-01 6.39174050e-01 7.11188773e-03 1.08120085e+02] [ 6.39144860e-01 7.69062098e-01 -6.11054265e-03 -1.28195922e+02] [-9.37518359e-03 -1.53659415e-04 -9.99956040e-01 -4.13091465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.014008067583772935 Centerline is valid? [True, True] Translation: X:108.14, Y:-128.18, Z:-4.13 [[-8.11255321e-01 5.84651008e-01 6.92844570e-03 1.08141320e+02] [ 5.84628356e-01 8.11284896e-01 -5.14809092e-03 -1.28181877e+02] [-8.63077990e-03 -1.25850326e-04 -9.99962746e-01 -4.13297781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.013832801940148975 Centerline is valid? [True, True] Translation: X:108.16, Y:-128.16, Z:-4.13 [[-8.49978612e-01 5.26760399e-01 7.73571610e-03 1.08157067e+02] [ 5.26737262e-01 8.50013804e-01 -4.93858216e-03 -1.28162212e+02] [-9.17691498e-03 -1.22999294e-04 -9.99957884e-01 -4.13194022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.013727924211217237 Centerline is valid? [True, True] Translation: X:108.54, Y:-127.56, Z:-5.12 [[-7.97515360e-01 -6.03235203e-01 8.74872511e-03 1.08539993e+02] [ 6.03202161e-01 -7.97563310e-01 -6.31826020e-03 -1.27563536e+02] [ 1.07890591e-02 2.38340329e-04 9.99941768e-01 -5.12210575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.01338260723371175 Centerline is valid? [True, True] Translation: X:108.12, Y:-128.14, Z:-4.13 [[-8.50587015e-01 5.25744532e-01 9.71688056e-03 1.08121288e+02] [ 5.25708525e-01 8.50642505e-01 -6.15433936e-03 -1.28142773e+02] [-1.15012019e-02 -1.26554196e-04 -9.99933851e-01 -4.13044601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.013333748509535821 Centerline is valid? [True, True] Translation: X:108.14, Y:-128.12, Z:-4.13 [[-8.85510511e-01 4.64523962e-01 9.41398127e-03 1.08137604e+02] [ 4.64496338e-01 8.85560543e-01 -5.06716791e-03 -1.28121181e+02] [-1.06904713e-02 -1.14270624e-04 -9.99942849e-01 -4.13157516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.014065420816178604 Centerline is valid? [True, True] Translation: X:108.15, Y:-128.09, Z:-4.13 [[-9.16547035e-01 3.99782424e-01 1.07492254e-02 1.08148564e+02] [ 3.99753174e-01 9.16610056e-01 -4.83789628e-03 -1.28093082e+02] [-1.17869540e-02 -1.37122518e-04 -9.99930522e-01 -4.12898984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.014008127539317242 Centerline is valid? [True, True] Translation: X:108.16, Y:-128.07, Z:-4.13 [[-9.43401588e-01 3.31464903e-01 1.11562372e-02 1.08158324e+02] [ 3.31439610e-01 9.43467535e-01 -4.09819700e-03 -1.28067244e+02] [-1.18839561e-02 -1.68626657e-04 -9.99929369e-01 -4.13023959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.014661623255200573 Centerline is valid? [True, True] Translation: X:108.17, Y:-128.04, Z:-4.13 [[-9.65185822e-01 2.61345683e-01 1.07127437e-02 1.08168292e+02] [ 2.61327437e-01 9.65245254e-01 -3.09374214e-03 -1.28039654e+02] [-1.11489612e-02 -1.86502197e-04 -9.99937831e-01 -4.13161365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.015299716797418771 Centerline is valid? [True, True] Translation: X:108.18, Y:-128.01, Z:-4.13 [[-9.81579230e-01 1.90812626e-01 9.63109705e-03 1.08176222e+02] [ 1.90801641e-01 9.81626461e-01 -2.05526925e-03 -1.28010482e+02] [-9.84631104e-03 -1.79780484e-04 -9.99951508e-01 -4.13214666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.015484944350387672 Centerline is valid? [True, True] Translation: X:108.18, Y:-127.98, Z:-4.13 [[-9.92707272e-01 1.20197181e-01 9.21470894e-03 1.08178287e+02] [ 1.20190367e-01 9.92750023e-01 -1.29167454e-03 -1.27982562e+02] [-9.30315815e-03 -1.74735456e-04 -9.99956709e-01 -4.13249232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.01617102991317763 Centerline is valid? [True, True] Translation: X:108.28, Y:-127.30, Z:-5.12 [[-9.74375052e-01 -2.24747712e-01 9.04019141e-03 1.08279204e+02] [ 2.24739648e-01 -9.74416973e-01 -1.91133865e-03 -1.27299306e+02] [ 9.23848494e-03 1.69328736e-04 9.99957310e-01 -5.11893037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.01617845039674079 Centerline is valid? [True, True] Translation: X:108.13, Y:-127.97, Z:-4.13 [[-9.93434441e-01 1.13954457e-01 1.01189066e-02 1.08128419e+02] [ 1.13946322e-01 9.93485951e-01 -1.37873107e-03 -1.27972478e+02] [-1.02101041e-02 -2.16666737e-04 -9.99947852e-01 -4.13236985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.015490957162653614 Centerline is valid? [True, True] Translation: X:108.13, Y:-127.95, Z:-4.13 [[-9.98995890e-01 4.33961855e-02 1.11347333e-02 1.08133029e+02] [ 4.33908770e-02 9.99057914e-01 -7.18007189e-04 -1.27945223e+02] [-1.11554022e-02 -2.34140388e-04 -9.99937749e-01 -4.13124090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.015064702012751579 Centerline is valid? [True, True] Translation: X:108.18, Y:-127.26, Z:-5.12 [[-9.88768022e-01 -1.49041426e-01 1.11558066e-02 1.08177216e+02] [ 1.49034692e-01 -9.88830923e-01 -1.43721475e-03 -1.27261281e+02] [ 1.12454110e-02 2.41530203e-04 9.99936739e-01 -5.12048442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.014432003457402249 Centerline is valid? [True, True] Translation: X:108.08, Y:-127.95, Z:-4.13 [[-9.98911230e-01 4.53001003e-02 1.11470022e-02 1.08079611e+02] [ 4.52954208e-02 9.98973410e-01 -6.72030566e-04 -1.27945084e+02] [-1.11660019e-02 -1.66390723e-04 -9.99937644e-01 -4.13169043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.014164020289661239 Centerline is valid? [True, True] Translation: X:108.13, Y:-127.26, Z:-5.12 [[-9.90048647e-01 -1.40220827e-01 1.19078502e-02 1.08127002e+02] [ 1.40213484e-01 -9.90120228e-01 -1.45343875e-03 -1.27257523e+02] [ 1.19940057e-02 2.30666090e-04 9.99928043e-01 -5.12102594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.014204414165066237 Centerline is valid? [True, True] Translation: X:108.03, Y:-127.94, Z:-4.13 [[-9.98987798e-01 4.31169879e-02 1.28181587e-02 1.08025737e+02] [ 4.31112942e-02 9.99070016e-01 -7.20300455e-04 -1.27942051e+02] [-1.28372952e-02 -1.66963954e-04 -9.99917585e-01 -4.12979551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.014029278993578564 Centerline is valid? [True, True] Translation: X:108.03, Y:-127.92, Z:-4.13 [[-9.99569093e-01 -2.64569580e-02 1.27144664e-02 1.08025968e+02] [-2.64566832e-02 9.99649943e-01 1.89840397e-04 -1.27916207e+02] [-1.27150382e-02 -1.46624015e-04 -9.99919150e-01 -4.13004191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.013010480768756822 Centerline is valid? [True, True] Translation: X:108.02, Y:-127.89, Z:-4.13 [[-9.95392979e-01 -9.52107092e-02 1.13021427e-02 1.08020788e+02] [-9.52057720e-02 9.95457136e-01 9.75296967e-04 -1.27893182e+02] [-1.13436573e-02 -1.05225465e-04 -9.99935653e-01 -4.13342627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.012601899178243236 Centerline is valid? [True, True] Translation: X:107.96, Y:-127.20, Z:-5.12 [[-9.99879770e-01 1.15897381e-02 1.03015932e-02 1.07961482e+02] [-1.15888231e-02 -9.99932836e-01 1.48510000e-04 -1.27195611e+02] [ 1.03026225e-02 2.91088032e-05 9.99946926e-01 -5.11757190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.012514614325190805 Centerline is valid? [True, True] Translation: X:107.94, Y:-127.90, Z:-4.13 [[-9.95195453e-01 -9.73662426e-02 1.02871792e-02 1.07938326e+02] [-9.73616806e-02 9.95248618e-01 9.44534848e-04 -1.27903978e+02] [-1.03302667e-02 -6.15802740e-05 -9.99946640e-01 -4.13426718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.0123997250358308 Centerline is valid? [True, True] Translation: X:107.88, Y:-127.20, Z:-5.12 [[-9.99744640e-01 2.00594312e-02 1.04054743e-02 1.07878882e+02] [-2.00576461e-02 -9.99798787e-01 2.75893301e-04 -1.27199745e+02] [ 1.04089149e-02 6.71135271e-05 9.99945824e-01 -5.11799988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.0125047473308641 Centerline is valid? [True, True] Translation: X:107.86, Y:-127.91, Z:-4.13 [[-9.94863430e-01 -1.00635556e-01 1.09197174e-02 1.07856715e+02] [-1.00629922e-01 9.94923356e-01 1.06553808e-03 -1.27913830e+02] [-1.09715129e-02 -3.87854365e-05 -9.99939810e-01 -4.13313866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.012609892767182738 Centerline is valid? [True, True] Translation: X:107.79, Y:-127.21, Z:-5.12 [[-9.99616608e-01 2.51642363e-02 1.15498227e-02 1.07788529e+02] [-2.51616300e-02 -9.99683327e-01 3.70932570e-04 -1.27208162e+02] [ 1.15554994e-02 8.01779922e-05 9.99933230e-01 -5.11947172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.012690277638747574 Centerline is valid? [True, True] Translation: X:107.77, Y:-127.92, Z:-4.13 [[-9.94019567e-01 -1.08592957e-01 1.15182464e-02 1.07765847e+02] [-1.08586538e-01 9.94086296e-01 1.18308899e-03 -1.27919173e+02] [-1.15786060e-02 -7.47128847e-05 -9.99932963e-01 -4.13223482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.01303708907059424 Centerline is valid? [True, True] Translation: X:107.77, Y:-127.89, Z:-4.13 [[-9.83571789e-01 -1.80192691e-01 1.08226909e-02 1.07768981e+02] [-1.80182730e-01 9.83631327e-01 1.89650311e-03 -1.27889149e+02] [-1.09872739e-02 -8.47150455e-05 -9.99939635e-01 -4.13156163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.012809699086840405 Centerline is valid? [True, True] Translation: X:107.76, Y:-127.86, Z:-4.13 [[-9.68208435e-01 -2.49914768e-01 1.07254914e-02 1.07755334e+02] [-2.49900415e-01 9.68267836e-01 2.67978030e-03 -1.27864004e+02] [-1.10548650e-02 -8.57188641e-05 -9.99938890e-01 -4.13228836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.012934419256151047 Centerline is valid? [True, True] Translation: X:107.58, Y:-127.19, Z:-5.12 [[-9.85634069e-01 1.68578502e-01 1.03330335e-02 1.07577367e+02] [-1.68568776e-01 -9.85688230e-01 1.81135945e-03 -1.27188521e+02] [ 1.04905058e-02 4.35107691e-05 9.99944972e-01 -5.11961483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.013535630614690533 Centerline is valid? [True, True] Translation: X:107.64, Y:-127.89, Z:-4.13 [[-9.66270986e-01 -2.57363779e-01 9.17967830e-03 1.07641607e+02] [-2.57353003e-01 9.66314585e-01 2.35668677e-03 -1.27889305e+02] [-9.47698284e-03 -8.52197289e-05 -9.99955089e-01 -4.13195415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.013658192586159638 Centerline is valid? [True, True] Translation: X:107.46, Y:-127.22, Z:-5.12 [[-9.85127160e-01 1.71651277e-01 7.76642698e-03 1.07461795e+02] [-1.71646263e-01 -9.85157773e-01 1.31265367e-03 -1.27220258e+02] [ 7.87647459e-03 -3.99473860e-05 9.99968979e-01 -5.11838313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.013795316316451872 Centerline is valid? [True, True] Translation: X:107.53, Y:-127.91, Z:-4.13 [[-9.63173964e-01 -2.68795614e-01 6.69569839e-03 1.07528326e+02] [-2.68789835e-01 9.63197232e-01 1.76525224e-03 -1.27913547e+02] [-6.92377022e-03 -9.94906738e-05 -9.99976026e-01 -4.13447546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.014719565039373177 Centerline is valid? [True, True] Translation: X:107.50, Y:-127.89, Z:-4.13 [[-9.40450862e-01 -3.39848935e-01 7.40792533e-03 1.07502227e+02] [-3.39839509e-01 9.40480028e-01 2.53467807e-03 -1.27891116e+02] [-7.82841347e-03 -1.33765538e-04 -9.99969349e-01 -4.13336586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.014807211097198037 Centerline is valid? [True, True] Translation: X:107.46, Y:-127.88, Z:-4.13 [[-9.12711739e-01 -4.08522310e-01 8.17331755e-03 1.07464294e+02] [-4.08507560e-01 9.12748319e-01 3.47546551e-03 -1.27876010e+02] [-8.87998705e-03 -1.66763841e-04 -9.99960558e-01 -4.13297776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.01538200153246862 Centerline is valid? [True, True] Translation: X:107.40, Y:-127.87, Z:-4.13 [[-8.79599044e-01 -4.75652299e-01 7.77257917e-03 1.07404380e+02] [-4.75635507e-01 8.79633366e-01 4.00061642e-03 -1.27872715e+02] [-8.73992238e-03 -1.77976257e-04 -9.99961790e-01 -4.13287668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.016212810808641752 Centerline is valid? [True, True] Translation: X:107.34, Y:-127.88, Z:-4.13 [[-8.42040190e-01 -5.39354961e-01 8.03397207e-03 1.07339361e+02] [-5.39332581e-01 8.42078493e-01 4.91708448e-03 -1.27876736e+02] [-9.41728900e-03 -1.92600147e-04 -9.99955638e-01 -4.13230617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.015459021862485748 Centerline is valid? [True, True] Translation: X:107.27, Y:-127.89, Z:-4.13 [[-8.00265836e-01 -5.99602713e-01 7.15394738e-03 1.07268717e+02] [-5.99580656e-01 8.00297793e-01 5.14575992e-03 -1.27894480e+02] [-8.81069991e-03 -1.71392599e-04 -9.99961170e-01 -4.13411983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.014180598398764281 Centerline is valid? [True, True] Translation: X:107.19, Y:-127.93, Z:-4.14 [[-7.54808318e-01 -6.55918104e-01 5.98692663e-03 1.07192990e+02] [-6.55898861e-01 7.54832050e-01 5.02604069e-03 -1.27925078e+02] [-7.81579518e-03 -1.33121037e-04 -9.99969447e-01 -4.13637790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.014117758908439188 Centerline is valid? [True, True] Translation: X:107.11, Y:-127.96, Z:-4.14 [[-7.04545090e-01 -7.09639870e-01 5.24120893e-03 1.07114604e+02] [-7.09621422e-01 7.04564576e-01 5.11816259e-03 -1.27961803e+02] [-7.32482238e-03 -1.13297815e-04 -9.99973167e-01 -4.13682435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.014029444192330145 Centerline is valid? [True, True] Translation: X:107.03, Y:-128.01, Z:-4.14 [[-6.49709479e-01 -7.60168922e-01 4.56097498e-03 1.07033225e+02] [-7.60151270e-01 6.49725480e-01 5.18138929e-03 -1.28010220e+02] [-6.90211277e-03 -1.00633188e-04 -9.99976175e-01 -4.13670768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.014149076666007515 Centerline is valid? [True, True] Translation: X:106.95, Y:-128.07, Z:-4.14 [[-5.89057092e-01 -8.08073526e-01 5.37772200e-03 1.06953571e+02] [-8.08042052e-01 5.89081621e-01 7.13338319e-03 -1.28066520e+02] [-8.93221530e-03 -1.43455570e-04 -9.99960097e-01 -4.13588612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.015147528360619599 Centerline is valid? [True, True] Translation: X:106.87, Y:-128.14, Z:-4.13 [[-5.24069276e-01 -8.51651769e-01 6.37649503e-03 1.06870323e+02] [-8.51593702e-01 5.24108021e-01 9.94728334e-03 -1.28136289e+02] [-1.18135936e-02 -2.17117437e-04 -9.99930194e-01 -4.13271285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.015068154194740571 Centerline is valid? [True, True] Translation: X:106.80, Y:-128.21, Z:-4.13 [[-4.56895166e-01 -8.89501821e-01 5.77209323e-03 1.06795072e+02] [-8.89437221e-01 4.56931565e-01 1.07226207e-02 -1.28211662e+02] [-1.21752422e-02 -2.34801009e-04 -9.99925851e-01 -4.13269462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.017066201298034215 Centerline is valid? [True, True] Translation: X:106.72, Y:-128.30, Z:-4.13 [[-3.85913726e-01 -9.22521400e-01 4.98627351e-03 1.06720473e+02] [-9.22452979e-01 3.85945848e-01 1.12385142e-02 -1.28297889e+02] [-1.22922014e-02 -2.62505951e-04 -9.99924414e-01 -4.13148624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.01611188478985606 Centerline is valid? [True, True] Translation: X:106.66, Y:-128.39, Z:-4.13 [[-3.13477907e-01 -9.49588256e-01 3.70749582e-03 1.06659093e+02] [-9.49530819e-01 3.13499734e-01 1.04470044e-02 -1.28387261e+02] [-1.10826516e-02 -2.45476479e-04 -9.99938555e-01 -4.13385538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.01588521325818986 Centerline is valid? [True, True] Translation: X:106.60, Y:-128.48, Z:-4.13 [[-2.39909041e-01 -9.70790878e-01 2.95344895e-03 1.06602952e+02] [-9.70729583e-01 2.39927090e-01 1.09118790e-02 -1.28483347e+02] [-1.13017651e-02 -2.49141828e-04 -9.99936102e-01 -4.13407729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.015142824927685674 Centerline is valid? [True, True] Translation: X:106.55, Y:-128.59, Z:-4.13 [[-1.66946797e-01 -9.85963509e-01 2.17408378e-03 1.06554688e+02] [-9.85896958e-01 1.66960793e-01 1.14578390e-02 -1.28586847e+02] [-1.16599979e-02 -2.30573060e-04 -9.99931993e-01 -4.13390547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.014035220995587197 Centerline is valid? [True, True] Translation: X:106.52, Y:-128.69, Z:-4.13 [[-9.52571518e-02 -9.95452033e-01 1.15082025e-03 1.06515063e+02] [-9.95398099e-01 9.52639716e-02 1.03633749e-02 -1.28694596e+02] [-1.04258743e-02 -1.58338716e-04 -9.99945637e-01 -4.13490180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.013654929654681935 Centerline is valid? [True, True] Translation: X:106.48, Y:-128.81, Z:-4.14 [[-2.04987900e-02 -9.99789824e-01 3.26434340e-04 1.06481143e+02] [-9.99742697e-01 2.05009935e-02 9.70814997e-03 -1.28805435e+02] [-9.71280178e-03 -1.27345020e-04 -9.99952822e-01 -4.13545341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.013367347303060538 Centerline is valid? [True, True] Translation: X:106.46, Y:-128.92, Z:-4.14 [[ 5.45587318e-02 -9.98510473e-01 -4.24419767e-04 1.06455668e+02] [-9.98462580e-01 -5.45602721e-02 9.78020561e-03 -1.28921422e+02] [-9.78879418e-03 -1.09828359e-04 -9.99952083e-01 -4.13532499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.013147982716067918 Centerline is valid? [True, True] Translation: X:106.44, Y:-129.04, Z:-4.13 [[ 1.28981154e-01 -9.91646113e-01 -1.35922947e-03 1.06438518e+02] [-9.91582458e-01 -1.28988276e-01 1.12362989e-02 -1.29040243e+02] [-1.13177568e-02 -1.01482698e-04 -9.99935947e-01 -4.13382170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.012946254993968629 Centerline is valid? [True, True] Translation: X:106.43, Y:-129.16, Z:-4.13 [[ 2.03487249e-01 -9.79074396e-01 -2.50331859e-03 1.06430338e+02] [-9.78994400e-01 -2.03502623e-01 1.25158941e-02 -1.29160945e+02] [-1.27634233e-02 -9.60899653e-05 -9.99918540e-01 -4.13294153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.012832349381869902 Centerline is valid? [True, True] Translation: X:106.43, Y:-129.28, Z:-4.13 [[ 2.77314096e-01 -9.60772873e-01 -3.51843453e-03 1.06430618e+02] [-9.60691565e-01 -2.77336402e-01 1.24995190e-02 -1.29280431e+02] [-1.29849887e-02 -8.61624370e-05 -9.99915688e-01 -4.13302028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.012791701787775936 Centerline is valid? [True, True] Translation: X:106.44, Y:-129.40, Z:-4.13 [[ 3.49262708e-01 -9.37014054e-01 -4.49704195e-03 1.06438978e+02] [-9.36933708e-01 -3.49291651e-01 1.22706554e-02 -1.29398873e+02] [-1.30685558e-02 -7.22521581e-05 -9.99914600e-01 -4.13342882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.012799734285472096 Centerline is valid? [True, True] Translation: X:106.46, Y:-129.51, Z:-4.13 [[ 4.19369019e-01 -9.07800450e-01 -5.28861201e-03 1.06456055e+02] [-9.07726490e-01 -4.19402361e-01 1.15878778e-02 -1.29512998e+02] [-1.27375371e-02 -5.89837399e-05 -9.99918873e-01 -4.13338462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.012598172745175253 Centerline is valid? [True, True] Translation: X:106.48, Y:-129.63, Z:-4.14 [[ 4.87532978e-01 -8.73086034e-01 -5.68973565e-03 1.06482027e+02] [-8.73025339e-01 -4.87566175e-01 1.02947567e-02 -1.29627344e+02] [-1.17623310e-02 -5.17500181e-05 -9.99930820e-01 -4.13542661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.012594663991116889 Centerline is valid? [True, True] Translation: X:106.51, Y:-129.74, Z:-4.14 [[ 5.53770056e-01 -8.32650517e-01 -5.64285325e-03 1.06514779e+02] [-8.32606269e-01 -5.53798803e-01 8.58407576e-03 -1.29738994e+02] [-1.02725405e-02 -5.53291236e-05 -9.99947235e-01 -4.13674436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.012615009115249856 Centerline is valid? [True, True] Translation: X:106.55, Y:-129.84, Z:-4.14 [[ 6.16555289e-01 -7.87290065e-01 -5.82486926e-03 1.06554159e+02] [-7.87253999e-01 -6.16582800e-01 7.53601225e-03 -1.29844496e+02] [-9.52454178e-03 -6.07165851e-05 -9.99954639e-01 -4.13747369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.012828459090835628 Centerline is valid? [True, True] Translation: X:106.60, Y:-129.95, Z:-4.14 [[ 6.76244376e-01 -7.36656105e-01 -5.59709394e-03 1.06602462e+02] [-7.36630022e-01 -6.76267535e-01 6.19939602e-03 -1.29949913e+02] [-8.35195585e-03 -6.93192572e-05 -9.99965119e-01 -4.13863237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.012935862849316568 Centerline is valid? [True, True] Translation: X:106.65, Y:-130.04, Z:-4.14 [[ 7.31733939e-01 -6.81562900e-01 -6.12014260e-03 1.06650910e+02] [-6.81538060e-01 -7.31759527e-01 5.81956233e-03 -1.30042367e+02] [-8.44487043e-03 -8.72611474e-05 -9.99964338e-01 -4.13854708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.013926985622292607 Centerline is valid? [True, True] Translation: X:106.67, Y:-130.07, Z:-4.14 [[ 7.84991699e-01 -6.19462596e-01 -7.35700874e-03 1.06666823e+02] [-6.19433808e-01 -7.85026162e-01 5.97346015e-03 -1.30073595e+02] [-9.47577946e-03 -1.31936689e-04 -9.99955095e-01 -4.13643554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.014696891816548202 Centerline is valid? [True, True] Translation: X:106.69, Y:-130.10, Z:-4.13 [[ 8.32728427e-01 -5.53612238e-01 -8.76682370e-03 1.06688908e+02] [-5.53579252e-01 -8.32774553e-01 6.04606323e-03 -1.30101227e+02] [-1.06479623e-02 -1.81597013e-04 -9.99943292e-01 -4.13475072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.015578525190825572 Centerline is valid? [True, True] Translation: X:106.72, Y:-130.13, Z:-4.13 [[ 8.74482038e-01 -4.84947591e-01 -1.03440583e-02 1.06715153e+02] [-4.84910548e-01 -8.74543184e-01 5.99830615e-03 -1.30125329e+02] [-1.19551898e-02 -2.29468022e-04 -9.99928508e-01 -4.13369227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.014978177676738614 Centerline is valid? [True, True] Translation: X:106.74, Y:-130.15, Z:-4.13 [[ 9.10062866e-01 -4.14332873e-01 -1.06700772e-02 1.06742228e+02] [-4.14301327e-01 -9.10125384e-01 5.11819139e-03 -1.30148693e+02] [-1.18317430e-02 -2.37248795e-04 -9.99929974e-01 -4.13461357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.014943796581408752 Centerline is valid? [True, True] Translation: X:106.77, Y:-130.17, Z:-4.13 [[ 9.39890935e-01 -3.41282531e-01 -1.14570346e-02 1.06770065e+02] [-3.41253868e-01 -9.39960728e-01 4.43032870e-03 -1.30170651e+02] [-1.22811563e-02 -2.54268419e-04 -9.99924551e-01 -4.13394003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.015070529810350926 Centerline is valid? [True, True] Translation: X:106.80, Y:-130.19, Z:-4.13 [[ 9.63389005e-01 -2.67872945e-01 -1.12120572e-02 1.06799775e+02] [-2.67852033e-01 -9.63454219e-01 3.35496500e-03 -1.30187468e+02] [-1.17010081e-02 -2.28964090e-04 -9.99931515e-01 -4.13409798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.014771729316669962 Centerline is valid? [True, True] Translation: X:106.83, Y:-130.20, Z:-4.13 [[ 9.81066066e-01 -1.93371795e-01 -1.08038894e-02 1.06831967e+02] [-1.93357842e-01 -9.81125532e-01 2.33137684e-03 -1.30199653e+02] [-1.10507943e-02 -1.98217957e-04 -9.99938919e-01 -4.13457122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.013484678176674036 Centerline is valid? [True, True] Translation: X:106.86, Y:-130.21, Z:-4.14 [[ 9.92698239e-01 -1.20232074e-01 -9.71873378e-03 1.06864173e+02] [-1.20224991e-01 -9.92745804e-01 1.31187236e-03 -1.30208956e+02] [-9.80596131e-03 -1.33858692e-04 -9.99951912e-01 -4.13586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.012917217939454044 Centerline is valid? [True, True] Translation: X:106.89, Y:-130.21, Z:-4.14 [[ 9.98894472e-01 -4.60430347e-02 -9.48014836e-03 1.06892847e+02] [-4.60400832e-02 -9.98939453e-01 5.29455835e-04 -1.30214148e+02] [-9.49447197e-03 -9.24036876e-05 -9.99954922e-01 -4.13592475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.012509876093376188 Centerline is valid? [True, True] Translation: X:106.92, Y:-130.22, Z:-4.14 [[ 9.99525576e-01 2.94948815e-02 -8.86984852e-03 1.06922738e+02] [ 2.94942660e-02 -9.99564929e-01 -2.00222951e-04 -1.30217947e+02] [-8.87189507e-03 -6.14817112e-05 -9.99960642e-01 -4.13584101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.01234286154776736 Centerline is valid? [True, True] Translation: X:106.95, Y:-130.22, Z:-4.14 [[ 9.94294912e-01 1.06333456e-01 -8.41568040e-03 1.06952626e+02] [ 1.06330053e-01 -9.94330526e-01 -8.52038750e-04 -1.30220111e+02] [-8.45856813e-03 -4.76619453e-05 -9.99964225e-01 -4.13624790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.012529959149294046 Centerline is valid? [True, True] Translation: X:106.98, Y:-130.22, Z:-4.13 [[ 9.83140494e-01 1.82593249e-01 -9.71980264e-03 1.06981635e+02] [ 1.82584763e-01 -9.83188539e-01 -1.76094885e-03 -1.30218978e+02] [-9.87793593e-03 -4.34277433e-05 -9.99951211e-01 -4.13436753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.012420785988997448 Centerline is valid? [True, True] Translation: X:107.01, Y:-130.21, Z:-4.13 [[ 9.66002027e-01 2.58318445e-01 -1.05671643e-02 1.07011606e+02] [ 2.58303446e-01 -9.66059822e-01 -2.78396682e-03 -1.30213789e+02] [-1.09276628e-02 -4.02173530e-05 -9.99940291e-01 -4.13341625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.012446625490632217 Centerline is valid? [True, True] Translation: X:107.04, Y:-130.20, Z:-4.13 [[ 9.43244187e-01 3.31942456e-01 -1.02279106e-02 1.07040031e+02] [ 3.31923240e-01 -9.43299637e-01 -3.57176561e-03 -1.30204108e+02] [-1.08336050e-02 -2.58340944e-05 -9.99941315e-01 -4.13313805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.012433199348153736 Centerline is valid? [True, True] Translation: X:107.07, Y:-130.19, Z:-4.13 [[ 9.14535803e-01 4.04386897e-01 -9.77250996e-03 1.07067353e+02] [ 4.04364059e-01 -9.14588015e-01 -4.29774514e-03 -1.30192574e+02] [-1.06757723e-02 -2.12099973e-05 -9.99943012e-01 -4.13327547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.012197880560118385 Centerline is valid? [True, True] Translation: X:107.10, Y:-130.19, Z:-4.14 [[ 8.80242326e-01 4.74453271e-01 -8.21839824e-03 1.07097061e+02] [ 4.74432761e-01 -8.80280690e-01 -4.41160648e-03 -1.30185039e+02] [-9.32759839e-03 -1.57946199e-05 -9.99956497e-01 -4.13568233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.012173523525750681 Centerline is valid? [True, True] Translation: X:107.13, Y:-130.18, Z:-4.14 [[ 8.40038784e-01 5.42485696e-01 -6.64160325e-03 1.07126714e+02] [ 5.42468917e-01 -8.40065039e-01 -4.26674144e-03 -1.30177518e+02] [-7.89402489e-03 -1.86350303e-05 -9.99968842e-01 -4.13659382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.012214241232005756 Centerline is valid? [True, True] Translation: X:107.15, Y:-130.17, Z:-4.14 [[ 7.93837413e-01 6.08110307e-01 -4.90067785e-03 1.07154584e+02] [ 6.08098925e-01 -7.93852539e-01 -3.72074099e-03 -1.30167426e+02] [-6.15303650e-03 -2.64335323e-05 -9.99981070e-01 -4.13687087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.01241072011836095 Centerline is valid? [True, True] Translation: X:107.18, Y:-130.16, Z:-4.14 [[ 7.41625414e-01 6.70801951e-01 -4.06047714e-03 1.07183805e+02] [ 6.70792198e-01 -7.41636529e-01 -3.61759859e-03 -1.30156343e+02] [-5.43809036e-03 -4.08333325e-05 -9.99985213e-01 -4.13786068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.012739605868130607 Centerline is valid? [True, True] Translation: X:107.21, Y:-130.14, Z:-4.14 [[ 6.84599683e-01 7.28908947e-01 -3.87561362e-03 1.07212624e+02] [ 7.28897752e-01 -6.84610651e-01 -4.04023676e-03 -1.30143112e+02] [-5.59825109e-03 -5.89812496e-05 -9.99984328e-01 -4.13727197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.013715375758044851 Centerline is valid? [True, True] Translation: X:107.24, Y:-130.13, Z:-4.14 [[ 6.21309635e-01 7.83554874e-01 -4.01203610e-03 1.07241001e+02] [ 7.83539565e-01 -6.21322581e-01 -4.89902285e-03 -1.30128662e+02] [-6.33142186e-03 -9.97789251e-05 -9.99979951e-01 -4.13526629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.015498943048362008 Centerline is valid? [True, True] Translation: X:107.27, Y:-130.11, Z:-4.13 [[ 5.55557053e-01 8.31463709e-01 -4.94587498e-03 1.07266155e+02] [ 8.31433320e-01 -5.55579044e-01 -7.11056008e-03 -1.30111822e+02] [-8.65999715e-03 -1.61843459e-04 -9.99962488e-01 -4.13194712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.014241189415321551 Centerline is valid? [True, True] Translation: X:107.28, Y:-130.09, Z:-4.13 [[ 4.90311266e-01 8.71533877e-01 -4.85431472e-03 1.07283867e+02] [ 8.71494391e-01 -4.90335269e-01 -8.29761283e-03 -1.30087662e+02] [-9.61189239e-03 -1.62094999e-04 -9.99953792e-01 -4.13164086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.013580492369812548 Centerline is valid? [True, True] Translation: X:107.30, Y:-130.06, Z:-4.13 [[ 4.24006423e-01 9.05650272e-01 -4.01736160e-03 1.07299015e+02] [ 9.05612279e-01 -4.24025437e-01 -8.29634453e-03 -1.30062299e+02] [-9.21705019e-03 -1.20468629e-04 -9.99957515e-01 -4.13169245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.0123596464385797 Centerline is valid? [True, True] Translation: X:107.31, Y:-130.03, Z:-4.13 [[ 3.59371913e-01 9.33190963e-01 -2.54073043e-03 1.07306898e+02] [ 9.33168321e-01 -3.59380893e-01 -6.50069938e-03 -1.30034310e+02] [-6.97948389e-03 -3.47603715e-05 -9.99975643e-01 -4.13339761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.012301480289477746 Centerline is valid? [True, True] Translation: X:107.32, Y:-130.01, Z:-4.14 [[ 2.92799417e-01 9.56172269e-01 -1.75859865e-03 1.07317774e+02] [ 9.56154653e-01 -2.92804698e-01 -5.80422844e-03 -1.30008509e+02] [-6.06476823e-03 1.79824224e-05 -9.99981609e-01 -4.13521031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.012579218068115116 Centerline is valid? [True, True] Translation: X:107.33, Y:-129.99, Z:-4.13 [[ 2.20213989e-01 9.75450749e-01 -1.27890471e-03 1.07330961e+02] [ 9.75433299e-01 -2.20217699e-01 -5.83470207e-03 -1.29985131e+02] [-5.97310195e-03 3.73967745e-05 -9.99982160e-01 -4.13486234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.012546959099666851 Centerline is valid? [True, True] Translation: X:107.35, Y:-129.96, Z:-4.13 [[ 1.43619121e-01 9.89632567e-01 -9.64174735e-04 1.07345744e+02] [ 9.89607978e-01 -1.43622350e-01 -6.97646824e-03 -1.29959842e+02] [-7.04261722e-03 4.77992272e-05 -9.99975199e-01 -4.13411533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.012563392847600368 Centerline is valid? [True, True] Translation: X:107.36, Y:-129.93, Z:-4.13 [[ 6.57716925e-02 9.97834600e-01 -4.42503709e-04 1.07357276e+02] [ 9.97806371e-01 -6.57731604e-02 -7.50585134e-03 -1.29933061e+02] [-7.51870303e-03 5.21395267e-05 -9.99971733e-01 -4.13416880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.012621207981963012 Centerline is valid? [True, True] Translation: X:107.37, Y:-129.91, Z:-4.13 [[-1.26872585e-02 9.99919505e-01 1.30469129e-04 1.07368581e+02] [ 9.99897143e-01 1.26878473e-02 -6.68738227e-03 -1.29905838e+02] [-6.68849934e-03 4.56111621e-05 -9.99977631e-01 -4.13402713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.012569679919209077 Centerline is valid? [True, True] Translation: X:107.38, Y:-129.88, Z:-4.13 [[-9.15521042e-02 9.95800108e-01 5.97374283e-04 1.07378230e+02] [ 9.95781548e-01 9.15540451e-02 -6.07994816e-03 -1.29877894e+02] [-6.10910507e-03 3.82222402e-05 -9.99981339e-01 -4.13388155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.01238839994913862 Centerline is valid? [True, True] Translation: X:107.39, Y:-129.85, Z:-4.13 [[-1.71961603e-01 9.85102947e-01 1.17946783e-03 1.07385638e+02] [ 9.85080711e-01 1.71965646e-01 -6.61882628e-03 -1.29849530e+02] [-6.72305322e-03 2.36870328e-05 -9.99977400e-01 -4.13298837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.012312655171599542 Centerline is valid? [True, True] Translation: X:107.39, Y:-129.82, Z:-4.13 [[-2.51198005e-01 9.67934266e-01 1.67914846e-03 1.07390546e+02] [ 9.67912790e-01 2.51203617e-01 -6.44774849e-03 -1.29819789e+02] [-6.66280486e-03 5.60771676e-06 -9.99977803e-01 -4.13245172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.012306938492420814 Centerline is valid? [True, True] Translation: X:107.39, Y:-129.79, Z:-4.13 [[-3.27368691e-01 9.44893769e-01 2.34629085e-03 1.07389993e+02] [ 9.44869448e-01 3.27377099e-01 -6.77956417e-03 -1.29790671e+02] [-7.17408983e-03 -2.47850711e-06 -9.99974266e-01 -4.13138153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.012302131997983612 Centerline is valid? [True, True] Translation: X:107.39, Y:-129.76, Z:-4.13 [[-4.00899541e-01 9.16118429e-01 2.56538815e-03 1.07388186e+02] [ 9.16099576e-01 4.00907749e-01 -5.87742177e-03 -1.29761351e+02] [-6.41289839e-03 -6.10469928e-06 -9.99979437e-01 -4.13138243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.012244213262054852 Centerline is valid? [True, True] Translation: X:107.38, Y:-129.73, Z:-4.13 [[-4.69823002e-01 8.82756742e-01 2.62328185e-03 1.07382622e+02] [ 8.82743040e-01 4.69830326e-01 -4.91834317e-03 -1.29732351e+02] [-5.57419796e-03 4.93303591e-06 -9.99984464e-01 -4.13239638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.012532910678002709 Centerline is valid? [True, True] Translation: X:107.37, Y:-129.70, Z:-4.13 [[-5.33827008e-01 8.45590539e-01 2.31642167e-03 1.07374894e+02] [ 8.45582762e-01 5.33832033e-01 -3.62676704e-03 -1.29704081e+02] [-4.30333999e-03 2.26600382e-05 -9.99990740e-01 -4.13315908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.013253397099782438 Centerline is valid? [True, True] Translation: X:107.36, Y:-129.68, Z:-4.13 [[-5.94304063e-01 8.04235216e-01 2.89802397e-03 1.07363237e+02] [ 8.04226062e-01 5.94311126e-01 -3.83756269e-03 -1.29678907e+02] [-4.80863095e-03 4.99873104e-05 -9.99988437e-01 -4.13231315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.014075847666361989 Centerline is valid? [True, True] Translation: X:107.35, Y:-129.65, Z:-4.13 [[-6.51690615e-01 7.58471667e-01 4.48021348e-03 1.07350403e+02] [ 7.58454834e-01 6.51706007e-01 -5.05420412e-03 -1.29653472e+02] [-6.75325267e-03 1.04262184e-04 -9.99977191e-01 -4.13090364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.01511089606884036 Centerline is valid? [True, True] Translation: X:107.34, Y:-129.63, Z:-4.13 [[-7.07306754e-01 7.06880102e-01 6.13812266e-03 1.07335587e+02] [ 7.06855353e-01 7.07333371e-01 -5.91710139e-03 -1.29631042e+02] [-8.52438022e-03 1.53559084e-04 -9.99963655e-01 -4.12964268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.015257033435498696 Centerline is valid? [True, True] Translation: X:107.36, Y:-129.62, Z:-4.13 [[-7.54684136e-01 6.56039977e-01 7.96265951e-03 1.07359196e+02] [ 6.56006243e-01 7.54726115e-01 -6.65590569e-03 -1.29616886e+02] [-1.03761673e-02 2.00447913e-04 -9.99946146e-01 -4.12940839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.01484583044221069 Centerline is valid? [True, True] Translation: X:107.38, Y:-129.59, Z:-4.13 [[-8.01168055e-01 5.98378208e-01 8.55970144e-03 1.07376977e+02] [ 5.98346314e-01 8.01213761e-01 -6.18040356e-03 -1.29593803e+02] [-1.05563694e-02 1.70123912e-04 -9.99944266e-01 -4.12931455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.013477415552421842 Centerline is valid? [True, True] Translation: X:107.39, Y:-129.56, Z:-4.13 [[-8.44939787e-01 5.34800254e-01 8.08982320e-03 1.07390225e+02] [ 5.34776792e-01 8.44978508e-01 -5.01030738e-03 -1.29564986e+02] [-9.51524040e-03 9.28416471e-05 -9.99954725e-01 -4.13055217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.01303889178819561 Centerline is valid? [True, True] Translation: X:107.40, Y:-129.54, Z:-4.13 [[-8.83396926e-01 4.68558052e-01 7.95122143e-03 1.07403401e+02] [ 4.68539437e-01 8.83432708e-01 -4.17683336e-03 -1.29537351e+02] [-8.98145799e-03 3.56590621e-05 -9.99959665e-01 -4.13094374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.013370224971472158 Centerline is valid? [True, True] Translation: X:107.41, Y:-129.50, Z:-4.13 [[-9.18688509e-01 3.94910093e-01 7.57901393e-03 1.07413685e+02] [ 3.94896142e-01 9.18719770e-01 -3.31987996e-03 -1.29503284e+02] [-8.27404403e-03 -5.70122089e-05 -9.99965768e-01 -4.13090899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.014043131375675501 Centerline is valid? [True, True] Translation: X:107.42, Y:-129.47, Z:-4.13 [[-9.45652913e-01 3.25079329e-01 7.99985944e-03 1.07418613e+02] [ 3.25066871e-01 9.45686746e-01 -2.84745223e-03 -1.29472341e+02] [-8.49100890e-03 -9.22122119e-05 -9.99963947e-01 -4.13074525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.017416874539210894 Centerline is valid? [True, True] Translation: X:107.42, Y:-129.44, Z:-4.13 [[-9.69184468e-01 2.46180817e-01 8.74481040e-03 1.07423229e+02] [ 2.46168904e-01 9.69223898e-01 -2.43034980e-03 -1.29436577e+02] [-9.07398473e-03 -2.02756892e-04 -9.99958810e-01 -4.13053849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.020562233943343576 Centerline is valid? [True, True] Translation: X:107.42, Y:-129.40, Z:-4.13 [[-9.85392183e-01 1.70047777e-01 9.27353802e-03 1.07424127e+02] [ 1.70037599e-01 9.85435780e-01 -1.88097645e-03 -1.29403698e+02] [-9.45833204e-03 -2.76649357e-04 -9.99955231e-01 -4.13023896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.01955970020823501 Centerline is valid? [True, True] Translation: X:107.56, Y:-128.77, Z:-5.12 [[-9.55847559e-01 -2.93726995e-01 8.93850092e-03 1.07556174e+02] [ 2.93716678e-01 -9.55889316e-01 -2.47554080e-03 -1.28769500e+02] [ 9.27135070e-03 2.59147165e-04 9.99956987e-01 -5.12120937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.01786775368824563 Centerline is valid? [True, True] Translation: X:107.37, Y:-129.40, Z:-4.13 [[-9.85942334e-01 1.66801335e-01 9.74829198e-03 1.07373817e+02] [ 1.66790307e-01 9.85990483e-01 -1.93922782e-03 -1.29400452e+02] [-9.93518891e-03 -2.86046194e-04 -9.99950604e-01 -4.13072512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.01640874790197077 Centerline is valid? [True, True] Translation: X:107.52, Y:-128.75, Z:-5.12 [[-9.58983103e-01 -2.83293902e-01 9.79663699e-03 1.07515991e+02] [ 2.83282330e-01 -9.59033093e-01 -2.57840006e-03 -1.28750144e+02] [ 1.01257441e-02 3.02572059e-04 9.99948688e-01 -5.12075177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.01500204244420246 Centerline is valid? [True, True] Translation: X:107.34, Y:-129.41, Z:-4.13 [[-9.84633173e-01 1.74314704e-01 1.05781865e-02 1.07338695e+02] [ 1.74302601e-01 9.84689976e-01 -2.06259205e-03 -1.29408949e+02] [-1.07757744e-02 -1.87091128e-04 -9.99941922e-01 -4.13082555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.014248087712384802 Centerline is valid? [True, True] Translation: X:107.35, Y:-129.39, Z:-4.13 [[-9.93969199e-01 1.09140812e-01 1.06542888e-02 1.07350393e+02] [ 1.09133011e-01 9.94026289e-01 -1.31253209e-03 -1.29387217e+02] [-1.07338939e-02 -1.41881852e-04 -9.99942380e-01 -4.13021334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.013209895333042655 Centerline is valid? [True, True] Translation: X:107.44, Y:-128.69, Z:-5.12 [[-9.80626763e-01 -1.95637780e-01 9.84945140e-03 1.07439732e+02] [ 1.95628851e-01 -9.80676221e-01 -1.87130835e-03 -1.28690334e+02] [ 1.00252214e-02 9.17818154e-05 9.99949742e-01 -5.12037809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.012954209242015546 Centerline is valid? [True, True] Translation: X:107.30, Y:-129.39, Z:-4.13 [[-9.93332824e-01 1.14995437e-01 8.12100251e-03 1.07302750e+02] [ 1.14991367e-01 9.93366020e-01 -9.67890902e-04 -1.29394007e+02] [-8.17843097e-03 -2.75926262e-05 -9.99966556e-01 -4.13359763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.012925371834520796 Centerline is valid? [True, True] Translation: X:107.31, Y:-129.37, Z:-4.13 [[-9.98936296e-01 4.51754716e-02 9.24415083e-03 1.07305241e+02] [ 4.51733322e-02 9.98979067e-01 -4.40202372e-04 -1.29367888e+02] [-9.25459952e-03 -2.21450297e-05 -9.99957175e-01 -4.13298537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.013059823945349585 Centerline is valid? [True, True] Translation: X:107.34, Y:-128.65, Z:-5.12 [[-9.93045515e-01 -1.17299849e-01 1.00672995e-02 1.07337427e+02] [ 1.17294645e-01 -9.93096541e-01 -1.10790352e-03 -1.28648805e+02] [ 1.01277572e-02 8.06416981e-05 9.99948710e-01 -5.11928037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.013190237568838754 Centerline is valid? [True, True] Translation: X:107.24, Y:-129.36, Z:-4.13 [[-9.99204429e-01 3.88659476e-02 8.94129513e-03 1.07241005e+02] [ 3.88640317e-02 9.99244433e-01 -3.87990253e-04 -1.29362810e+02] [-8.94961899e-03 -4.01868021e-05 -9.99959951e-01 -4.13312128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.013192468271419866 Centerline is valid? [True, True] Translation: X:107.28, Y:-128.65, Z:-5.12 [[-9.93118623e-01 -1.16869210e-01 7.54909706e-03 1.07278850e+02] [ 1.16865412e-01 -9.93147313e-01 -9.43815632e-04 -1.28652977e+02] [ 7.60766844e-03 -5.50925454e-05 9.99971060e-01 -5.11825655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.013430805113548458 Centerline is valid? [True, True] Translation: X:107.19, Y:-129.35, Z:-4.13 [[-9.99550361e-01 2.93364552e-02 6.20067151e-03 1.07187592e+02] [ 2.93355142e-02 9.99569592e-01 -2.42685858e-04 -1.29352054e+02] [-6.20512223e-03 -6.06768502e-05 -9.99980746e-01 -4.13495074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.013945843163955989 Centerline is valid? [True, True] Translation: X:107.18, Y:-129.32, Z:-4.14 [[-9.99033014e-01 -4.37086238e-02 4.75319516e-03 1.07180572e+02] [-4.37083968e-02 9.99044320e-01 1.51679248e-04 -1.29320283e+02] [-4.75528231e-03 -5.62219635e-05 -9.99988692e-01 -4.13642605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.013458646386589309 Centerline is valid? [True, True] Translation: X:107.18, Y:-129.29, Z:-4.14 [[-9.93373733e-01 -1.14846563e-01 4.34665345e-03 1.07175682e+02] [-1.14845695e-01 9.93383241e-01 4.49562357e-04 -1.29291246e+02] [-4.36952339e-03 -5.26110023e-05 -9.99990452e-01 -4.13622079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.013152591459176927 Centerline is valid? [True, True] Translation: X:107.11, Y:-128.61, Z:-5.12 [[-9.99660747e-01 2.55418358e-02 5.09966402e-03 1.07112820e+02] [-2.55409483e-02 -9.99673748e-01 2.39088084e-04 -1.28614387e+02] [ 5.10410699e-03 1.08756717e-04 9.99986968e-01 -5.11749139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.012740166004725354 Centerline is valid? [True, True] Translation: X:107.10, Y:-129.30, Z:-4.13 [[-9.93351061e-01 -1.14981140e-01 5.74520306e-03 1.07100856e+02] [-1.14979449e-01 9.93367674e-01 6.24927209e-04 -1.29297132e+02] [-5.77895384e-03 -3.98081735e-05 -9.99983301e-01 -4.13327533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.01234312577686421 Centerline is valid? [True, True] Translation: X:107.09, Y:-129.27, Z:-4.13 [[-9.83216319e-01 -1.82334469e-01 6.30960429e-03 1.07092738e+02] [-1.82330872e-01 9.83236564e-01 1.14560789e-03 -1.29270941e+02] [-6.41271745e-03 -2.40552819e-05 -9.99979438e-01 -4.13298430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.012240113190693364 Centerline is valid? [True, True] Translation: X:107.08, Y:-129.25, Z:-4.13 [[-9.68121685e-01 -2.50399417e-01 6.36676679e-03 1.07075837e+02] [-2.50394093e-01 9.68142620e-01 1.63292140e-03 -1.29245975e+02] [-6.57282085e-03 -1.33341803e-05 -9.99978399e-01 -4.13246449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.0121266316665703 Centerline is valid? [True, True] Translation: X:107.05, Y:-129.23, Z:-4.13 [[-9.48252738e-01 -3.17463809e-01 5.78578516e-03 1.07049003e+02] [-3.17457903e-01 9.48270389e-01 1.93645878e-03 -1.29225087e+02] [-6.10124432e-03 -4.90887476e-07 -9.99981387e-01 -4.13247130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.012150361039223833 Centerline is valid? [True, True] Translation: X:107.01, Y:-129.21, Z:-4.13 [[-9.22838326e-01 -3.85135508e-01 6.32966554e-03 1.07008710e+02] [-3.85126454e-01 9.22860033e-01 2.64087739e-03 -1.29210023e+02] [-6.85849100e-03 -6.18774657e-07 -9.99976480e-01 -4.13181050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.01219392235341351 Centerline is valid? [True, True] Translation: X:106.96, Y:-129.20, Z:-4.13 [[-8.91475845e-01 -4.53010212e-01 7.25020911e-03 1.06955264e+02] [-4.52995357e-01 8.91505327e-01 3.66866625e-03 -1.29201924e+02] [-8.12554332e-03 -1.37837164e-05 -9.99966987e-01 -4.13013113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.01243172017094035 Centerline is valid? [True, True] Translation: X:106.89, Y:-129.20, Z:-4.13 [[-8.53764716e-01 -5.20602396e-01 7.67819937e-03 1.06889421e+02] [-5.20581848e-01 8.53799240e-01 4.62563967e-03 -1.29202653e+02] [-8.96375989e-03 -4.79232753e-05 -9.99959824e-01 -4.12878654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.012778811815020328 Centerline is valid? [True, True] Translation: X:106.81, Y:-129.22, Z:-4.13 [[-8.11780150e-01 -5.83910756e-01 7.82408768e-03 1.06810431e+02] [-5.83884470e-01 8.11817852e-01 5.54094123e-03 -1.29219883e+02] [-9.58714923e-03 -7.03371816e-05 -9.99954040e-01 -4.12845143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.0135131186618645 Centerline is valid? [True, True] Translation: X:106.74, Y:-129.24, Z:-4.13 [[-7.63995779e-01 -6.45180686e-01 7.23417628e-03 1.06735490e+02] [-6.45152965e-01 7.64030021e-01 5.98145970e-03 -1.29242014e+02] [-9.38625012e-03 -9.73403163e-05 -9.99955944e-01 -4.12870150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.013830276635224015 Centerline is valid? [True, True] Translation: X:106.66, Y:-129.28, Z:-4.13 [[-7.12762549e-01 -7.01378712e-01 6.11977822e-03 1.06657234e+02] [-7.01354028e-01 7.12788814e-01 5.88512041e-03 -1.29275987e+02] [-8.48980763e-03 -9.74376834e-05 -9.99963956e-01 -4.12942104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.014608087529502423 Centerline is valid? [True, True] Translation: X:106.58, Y:-129.32, Z:-4.13 [[-6.56509776e-01 -7.54302464e-01 4.76520284e-03 1.06575572e+02] [-7.54283659e-01 6.56527062e-01 5.32711357e-03 -1.29321914e+02] [-7.14673951e-03 -9.70125056e-05 -9.99974457e-01 -4.13094655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.013924730839009743 Centerline is valid? [True, True] Translation: X:106.50, Y:-129.38, Z:-4.13 [[-5.95758970e-01 -8.03153330e-01 3.99735649e-03 1.06498246e+02] [-8.03136422e-01 5.95772371e-01 5.21254490e-03 -1.29378450e+02] [-6.56798735e-03 -1.05002213e-04 -9.99978425e-01 -4.13318069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.014710357462662058 Centerline is valid? [True, True] Translation: X:106.42, Y:-129.44, Z:-4.13 [[-5.31426997e-01 -8.47097012e-01 3.46400575e-03 1.06420152e+02] [-8.47080405e-01 5.31438274e-01 5.30550091e-03 -1.29442231e+02] [-6.33517921e-03 -1.14804981e-04 -9.99979926e-01 -4.13280056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.01574241229355909 Centerline is valid? [True, True] Translation: X:106.34, Y:-129.52, Z:-4.13 [[-4.63917330e-01 -8.85868844e-01 4.13549042e-03 1.06342996e+02] [-8.85836882e-01 4.63935731e-01 7.52697463e-03 -1.29519504e+02] [-8.58651408e-03 -1.71475959e-04 -9.99963121e-01 -4.13064921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.015088646547654704 Centerline is valid? [True, True] Translation: X:106.27, Y:-129.60, Z:-4.13 [[-3.95022479e-01 -9.18663456e-01 3.83339982e-03 1.06272894e+02] [-9.18624678e-01 3.95041035e-01 8.44288047e-03 -1.29604155e+02] [-9.27051599e-03 -1.86328102e-04 -9.99957011e-01 -4.13044128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.01568852788473969 Centerline is valid? [True, True] Translation: X:106.21, Y:-129.69, Z:-4.13 [[-3.24635729e-01 -9.45832654e-01 3.49776245e-03 1.06211532e+02] [-9.45784055e-01 3.24654513e-01 9.59001112e-03 -1.29689762e+02] [-1.02061100e-02 -1.94867709e-04 -9.99947897e-01 -4.12952116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.013592120022117836 Centerline is valid? [True, True] Translation: X:106.16, Y:-129.79, Z:-4.13 [[-2.55282506e-01 -9.66863240e-01 2.51330984e-03 1.06159459e+02] [-9.66821632e-01 2.55294839e-01 8.97089417e-03 -1.29789464e+02] [-9.31526283e-03 -1.39809984e-04 -9.99956602e-01 -4.13227821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.012556475061420273 Centerline is valid? [True, True] Translation: X:106.12, Y:-129.89, Z:-4.13 [[-1.87202322e-01 -9.82319899e-01 1.70494363e-03 1.06115367e+02] [-9.82282512e-01 1.87210072e-01 8.57066862e-03 -1.29887631e+02] [-8.73832095e-03 -7.02872453e-05 -9.99961818e-01 -4.13328349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.012247872241509293 Centerline is valid? [True, True] Translation: X:106.08, Y:-129.99, Z:-4.13 [[-1.15977752e-01 -9.93251250e-01 1.05623343e-03 1.06075681e+02] [-9.93212258e-01 1.15982558e-01 8.80099726e-03 -1.29993503e+02] [-8.86410618e-03 -2.83441127e-05 -9.99960713e-01 -4.13336860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.012177386681759658 Centerline is valid? [True, True] Translation: X:106.04, Y:-130.11, Z:-4.13 [[-4.22966548e-02 -9.99105026e-01 3.73125931e-04 1.06039172e+02] [-9.99066535e-01 4.22983005e-02 8.77001463e-03 -1.30106463e+02] [-8.77794829e-03 -1.83534967e-06 -9.99961473e-01 -4.13287114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.012354606573774907 Centerline is valid? [True, True] Translation: X:106.01, Y:-130.23, Z:-4.13 [[ 3.26974412e-02 -9.99465237e-01 -3.43556627e-04 1.06011208e+02] [-9.99415064e-01 -3.26992422e-02 1.00144501e-02 -1.30225494e+02] [-1.00203288e-02 1.59087753e-05 -9.99949795e-01 -4.13190311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.012334813556651156 Centerline is valid? [True, True] Translation: X:105.31, Y:-130.36, Z:-5.12 [[-3.04285129e-02 9.99536899e-01 3.05115486e-04 1.05306997e+02] [-9.99482048e-01 -3.04300396e-02 1.04713256e-02 -1.30355740e+02] [ 1.04757610e-02 1.36694140e-05 9.99945128e-01 -5.12000279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.012339119610833381 Centerline is valid? [True, True] Translation: X:106.02, Y:-130.50, Z:-4.13 [[ 4.11638533e-02 -9.99152308e-01 -4.50443717e-04 1.06015758e+02] [-9.99099559e-01 -4.11663086e-02 1.02667556e-02 -1.30503528e+02] [-1.02765956e-02 2.74188987e-05 -9.99947194e-01 -4.13101808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.012246667037298363 Centerline is valid? [True, True] Translation: X:105.99, Y:-130.62, Z:-4.13 [[ 1.20630939e-01 -9.92696709e-01 -1.19164618e-03 1.05993888e+02] [-9.92648147e-01 -1.20636825e-01 9.81905332e-03 -1.30623132e+02] [-9.89109833e-03 -1.59624827e-06 -9.99951082e-01 -4.13057049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.012325229818770218 Centerline is valid? [True, True] Translation: X:105.98, Y:-130.75, Z:-4.13 [[ 2.01685562e-01 -9.79448865e-01 -1.68941549e-03 1.05980793e+02] [-9.79412495e-01 -2.01692632e-01 8.44079434e-03 -1.30746985e+02] [-8.60806909e-03 -4.77517053e-05 -9.99962949e-01 -4.13171537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.012999791342795972 Centerline is valid? [True, True] Translation: X:105.98, Y:-130.87, Z:-4.13 [[ 2.80357596e-01 -9.59893367e-01 -2.08368745e-03 1.05978223e+02] [-9.59864815e-01 -2.80365329e-01 7.40398621e-03 -1.30869499e+02] [-7.69123097e-03 -7.57055015e-05 -9.99970419e-01 -4.13176624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.014751487261595192 Centerline is valid? [True, True] Translation: X:105.98, Y:-130.99, Z:-4.13 [[ 3.61702893e-01 -9.32290542e-01 -2.31562184e-03 1.05981755e+02] [-9.32269102e-01 -3.61710282e-01 6.32408103e-03 -1.30993230e+02] [-6.73346516e-03 -1.28655716e-04 -9.99977322e-01 -4.13177476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.015280766990337317 Centerline is valid? [True, True] Translation: X:106.00, Y:-131.11, Z:-4.13 [[ 4.33818129e-01 -9.00996096e-01 -2.80460938e-03 1.05997633e+02] [-9.00975096e-01 -4.33827172e-01 6.15314222e-03 -1.31107061e+02] [-6.76067287e-03 -1.42461445e-04 -9.99977136e-01 -4.13149122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.017122103796099793 Centerline is valid? [True, True] Translation: X:106.02, Y:-131.23, Z:-4.13 [[ 5.04967977e-01 -8.63131383e-01 -3.39981995e-03 1.06022378e+02] [-8.63109413e-01 -5.04979391e-01 6.16080699e-03 -1.31226329e+02] [-7.03442487e-03 -1.76593639e-04 -9.99975243e-01 -4.13009907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.017356571176379672 Centerline is valid? [True, True] Translation: X:106.05, Y:-131.33, Z:-4.13 [[ 5.70692894e-01 -8.21156375e-01 -3.43917594e-03 1.06053487e+02] [-8.21139667e-01 -5.70703233e-01 5.24097063e-03 -1.31332174e+02] [-6.26640527e-03 -1.66940913e-04 -9.99980352e-01 -4.12934084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.016729250719055854 Centerline is valid? [True, True] Translation: X:106.10, Y:-131.44, Z:-4.13 [[ 6.31212133e-01 -7.75600341e-01 -3.91856517e-03 1.06096312e+02] [-7.75583726e-01 -6.31224274e-01 5.07942716e-03 -1.31435763e+02] [-6.41309889e-03 -1.67020677e-04 -9.99979422e-01 -4.12910817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.015868593028539636 Centerline is valid? [True, True] Translation: X:106.15, Y:-131.53, Z:-4.13 [[ 6.86933216e-01 -7.26704644e-01 -4.80792212e-03 1.06146837e+02] [-7.26685076e-01 -6.86950020e-01 5.33579747e-03 -1.31531987e+02] [-7.18035100e-03 -1.71491269e-04 -9.99974206e-01 -4.12858473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.01596097404323045 Centerline is valid? [True, True] Translation: X:106.20, Y:-131.62, Z:-4.13 [[ 7.37445802e-01 -6.75376300e-01 -6.36729030e-03 1.06200875e+02] [-6.75349074e-01 -7.37473270e-01 6.06664756e-03 -1.31621539e+02] [-8.79297638e-03 -1.73680168e-04 -9.99961326e-01 -4.12558230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.014666445457141452 Centerline is valid? [True, True] Translation: X:106.23, Y:-131.64, Z:-4.12 [[ 7.84896098e-01 -6.19578794e-01 -7.76097115e-03 1.06230260e+02] [-6.19546632e-01 -7.84934453e-01 6.31463509e-03 -1.31639299e+02] [-1.00042676e-02 -1.48048911e-04 -9.99949945e-01 -4.12367033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.013935326661891602 Centerline is valid? [True, True] Translation: X:106.26, Y:-131.66, Z:-4.12 [[ 8.29372944e-01 -5.58640496e-01 -7.83050454e-03 1.06259845e+02] [-5.58614289e-01 -8.29409901e-01 5.41230640e-03 -1.31657292e+02] [-9.51823152e-03 -1.14588767e-04 -9.99954694e-01 -4.12420132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.01311515220951042 Centerline is valid? [True, True] Translation: X:106.29, Y:-131.68, Z:-4.13 [[ 8.69469121e-01 -4.93932922e-01 -7.32913527e-03 1.06286108e+02] [-4.93914554e-01 -8.69500007e-01 4.26045387e-03 -1.31678552e+02] [-8.47706159e-03 -8.43665016e-05 -9.99964066e-01 -4.12579564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.01247177282197197 Centerline is valid? [True, True] Translation: X:106.32, Y:-131.70, Z:-4.13 [[ 9.03177217e-01 -4.29192275e-01 -8.05638409e-03 1.06315144e+02] [-4.29174788e-01 -9.03213147e-01 3.87455572e-03 -1.31695994e+02] [-8.93956142e-03 -4.18135220e-05 -9.99960041e-01 -4.12664832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.012350781297795155 Centerline is valid? [True, True] Translation: X:106.35, Y:-131.71, Z:-4.13 [[ 9.32398240e-01 -3.61355322e-01 -7.47348875e-03 1.06345477e+02] [-3.61343693e-01 -9.32428191e-01 2.89909865e-03 -1.31711126e+02] [-8.01609632e-03 -2.61645505e-06 -9.99967871e-01 -4.12704058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.012482538566633502 Centerline is valid? [True, True] Translation: X:106.37, Y:-131.73, Z:-4.13 [[ 9.56295605e-01 -2.92333354e-01 -6.31872895e-03 1.06374049e+02] [-2.92327191e-01 -9.56316480e-01 1.89839280e-03 -1.31729738e+02] [-6.59766816e-03 3.17116006e-05 -9.99978235e-01 -4.12772207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.012703985237643059 Centerline is valid? [True, True] Translation: X:106.40, Y:-131.75, Z:-4.13 [[ 9.75632481e-01 -2.19339615e-01 -5.60321110e-03 1.06404543e+02] [-2.19336250e-01 -9.75648570e-01 1.21574949e-03 -1.31746641e+02] [-5.73342691e-03 4.28626205e-05 -9.99983563e-01 -4.12761470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.012503488052787568 Centerline is valid? [True, True] Translation: X:106.43, Y:-131.76, Z:-4.13 [[ 9.90034850e-01 -1.40732840e-01 -5.02630407e-03 1.06431601e+02] [-1.40731180e-01 -9.90047608e-01 6.84199590e-04 -1.31761935e+02] [-5.07256967e-03 2.99762659e-05 -9.99987134e-01 -4.12841958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.012191101673807788 Centerline is valid? [True, True] Translation: X:106.46, Y:-131.78, Z:-4.13 [[ 9.98423000e-01 -5.58818438e-02 -5.36030993e-03 1.06459561e+02] [-5.58810101e-02 -9.98437389e-01 3.05295888e-04 -1.31779094e+02] [-5.36899434e-03 -5.27490366e-06 -9.99985587e-01 -4.12657224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.01288670899014739 Centerline is valid? [True, True] Translation: X:106.49, Y:-131.80, Z:-4.13 [[ 9.99500688e-01 3.11305947e-02 -5.40937280e-03 1.06489992e+02] [ 3.11304215e-02 -9.99515324e-01 -1.16244216e-04 -1.31795708e+02] [-5.41036976e-03 -5.22098816e-05 -9.99985363e-01 -4.12518765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.013487160938583815 Centerline is valid? [True, True] Translation: X:106.52, Y:-131.81, Z:-4.13 [[ 9.93544088e-01 1.13335049e-01 -5.03119633e-03 1.06521460e+02] [ 1.13333950e-01 -9.93556824e-01 -5.03926742e-04 -1.31806209e+02] [-5.05589200e-03 -6.95319157e-05 -9.99987217e-01 -4.12564251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.014089097604447876 Centerline is valid? [True, True] Translation: X:106.55, Y:-131.81, Z:-4.13 [[ 9.81097875e-01 1.93494690e-01 -2.60077067e-03 1.06552399e+02] [ 1.93494130e-01 -9.81101321e-01 -4.67892886e-04 -1.31812817e+02] [-2.64215433e-03 -4.41851415e-05 -9.99996509e-01 -4.12768437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.014543946965970802 Centerline is valid? [True, True] Translation: X:106.59, Y:-131.82, Z:-4.13 [[ 9.62559935e-01 2.71068230e-01 -6.21200950e-04 1.06585426e+02] [ 2.71068182e-01 -9.62560136e-01 -1.62051810e-04 -1.31815643e+02] [-6.41870368e-04 -1.24032325e-05 -9.99999794e-01 -4.12824437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.015322013713615317 Centerline is valid? [True, True] Translation: X:106.62, Y:-131.81, Z:-4.13 [[ 9.37731537e-01 3.47360370e-01 -5.81630581e-04 1.06617018e+02] [ 3.47360312e-01 -9.37731717e-01 -2.01491659e-04 -1.31814249e+02] [-6.15403661e-04 -1.30902966e-05 -9.99999811e-01 -4.12777954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.015588580114314049 Centerline is valid? [True, True] Translation: X:106.65, Y:-131.81, Z:-4.13 [[ 9.07333628e-01 4.20405601e-01 -2.19526775e-03 1.06649114e+02] [ 4.20404503e-01 -9.07336282e-01 -9.62079652e-04 -1.31808921e+02] [-2.39630975e-03 -4.99732237e-05 -9.99997128e-01 -4.12572253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.014983860207869777 Centerline is valid? [True, True] Translation: X:106.68, Y:-131.80, Z:-4.12 [[ 8.72324139e-01 4.88898911e-01 -5.33396740e-03 1.06680170e+02] [ 4.88890581e-01 -8.72340439e-01 -2.85632681e-03 -1.31799081e+02] [-6.04949053e-03 -1.16083597e-04 -9.99981695e-01 -4.12241710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.014539043825542405 Centerline is valid? [True, True] Translation: X:106.71, Y:-131.79, Z:-4.12 [[ 8.32633537e-01 5.53786568e-01 -6.46772000e-03 1.06709237e+02] [ 5.53771063e-01 -8.32658646e-01 -4.14594249e-03 -1.31786644e+02] [-7.68137024e-03 -1.29585428e-04 -9.99970490e-01 -4.12114297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.013565975298238487 Centerline is valid? [True, True] Translation: X:106.73, Y:-131.77, Z:-4.12 [[ 7.89863015e-01 6.13248661e-01 -6.51896655e-03 1.06734741e+02] [ 6.13228776e-01 -7.89889911e-01 -4.93934850e-03 -1.31767889e+02] [-8.17831475e-03 -9.62091814e-05 -9.99966552e-01 -4.12060786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.012409598452657855 Centerline is valid? [True, True] Translation: X:106.75, Y:-131.74, Z:-4.12 [[ 7.46182172e-01 6.65714935e-01 -5.98257628e-03 1.06753801e+02] [ 6.65693684e-01 -7.46206154e-01 -5.31921054e-03 -1.31744618e+02] [-8.00531314e-03 -1.34631708e-05 -9.99967957e-01 -4.12084522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.013003359650416426 Centerline is valid? [True, True] Translation: X:106.77, Y:-131.72, Z:-4.12 [[ 6.97888337e-01 7.16183956e-01 -5.69298852e-03 1.06771170e+02] [ 7.16159471e-01 -6.97911554e-01 -5.92240424e-03 -1.31720676e+02] [-8.21473337e-03 5.60891961e-05 -9.99966257e-01 -4.12082688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.015521258645372094 Centerline is valid? [True, True] Translation: X:106.79, Y:-131.70, Z:-4.12 [[ 6.48583097e-01 7.61123646e-01 -5.54621708e-03 1.06785717e+02] [ 7.61093661e-01 -6.48606790e-01 -6.75805015e-03 -1.31695293e+02] [-8.74102583e-03 1.61966435e-04 -9.99961783e-01 -4.12064590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.01673805286678082 Centerline is valid? [True, True] Translation: X:106.80, Y:-131.67, Z:-4.12 [[ 5.91709282e-01 8.06135696e-01 -5.03649604e-03 1.06804899e+02] [ 8.06103352e-01 -5.91730677e-01 -7.22437165e-03 -1.31674612e+02] [-8.80407308e-03 2.14791423e-04 -9.99961220e-01 -4.12131329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.014822044764209511 Centerline is valid? [True, True] Translation: X:106.83, Y:-131.66, Z:-4.12 [[ 5.23281415e-01 8.52147542e-01 -4.59648405e-03 1.06834587e+02] [ 8.52111514e-01 -5.23301570e-01 -7.83806804e-03 -1.31659783e+02] [-9.08453773e-03 1.84798356e-04 -9.99958718e-01 -4.12158387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.015521086584036064 Centerline is valid? [True, True] Translation: X:106.85, Y:-131.64, Z:-4.12 [[ 4.52601274e-01 8.91703060e-01 -4.21193116e-03 1.06854941e+02] [ 8.91660863e-01 -4.52620839e-01 -8.67650032e-03 -1.31639854e+02] [-9.64326970e-03 1.71380926e-04 -9.99953488e-01 -4.12030183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.013328350894966099 Centerline is valid? [True, True] Translation: X:106.88, Y:-131.62, Z:-4.12 [[ 3.72632798e-01 9.27972266e-01 -3.50305138e-03 1.06875277e+02] [ 9.27929224e-01 -3.72649255e-01 -8.93803718e-03 -1.31619398e+02] [-9.59966010e-03 8.00220614e-05 -9.99953919e-01 -4.11969771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.012389476332648912 Centerline is valid? [True, True] Translation: X:106.89, Y:-131.60, Z:-4.12 [[ 2.89865762e-01 9.57063504e-01 -2.69984767e-03 1.06893848e+02] [ 9.57022297e-01 -2.89878335e-01 -8.88108982e-03 -1.31596602e+02] [-9.28239429e-03 -9.49055109e-06 -9.99956918e-01 -4.11964386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.012711641882947902 Centerline is valid? [True, True] Translation: X:106.91, Y:-131.57, Z:-4.12 [[ 2.07031983e-01 9.78332103e-01 -2.01339821e-03 1.06914668e+02] [ 9.78289376e-01 -2.07041759e-01 -9.14363505e-03 -1.31571035e+02] [-9.36236922e-03 -7.66611767e-05 -9.99956169e-01 -4.12149970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.013052453825204861 Centerline is valid? [True, True] Translation: X:106.93, Y:-131.54, Z:-4.12 [[ 1.25807654e-01 9.92053838e-01 -1.27147532e-03 1.06932027e+02] [ 9.92011785e-01 -1.25814029e-01 -9.13504628e-03 -1.31544047e+02] [-9.22242715e-03 -1.12059753e-04 -9.99957466e-01 -4.12197372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.013957766270581068 Centerline is valid? [True, True] Translation: X:106.95, Y:-131.52, Z:-4.12 [[ 4.29308622e-02 9.99077895e-01 -5.49236783e-04 1.06949401e+02] [ 9.99035958e-01 -4.29340932e-02 -9.15523282e-03 -1.31515203e+02] [-9.17037171e-03 -1.55665257e-04 -9.99957939e-01 -4.12147075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.01465668147704459 Centerline is valid? [True, True] Translation: X:106.96, Y:-131.48, Z:-4.12 [[-3.82760124e-02 9.99267193e-01 1.57492068e-04 1.06962311e+02] [ 9.99230835e-01 3.82759635e-02 -8.52579242e-03 -1.31484525e+02] [-8.52557281e-03 -1.68962405e-04 -9.99963642e-01 -4.12109940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.014616263969805605 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.45, Z:-4.12 [[-1.16641480e-01 9.93173793e-01 7.63037440e-04 1.06969620e+02] [ 9.93142784e-01 1.16643869e-01 -7.84973554e-03 -1.31453151e+02] [-7.88515526e-03 -1.57799640e-04 -9.99968899e-01 -4.12157138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.014878114567101372 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.42, Z:-4.12 [[-1.93894396e-01 9.81021218e-01 1.52757609e-03 1.06973215e+02] [ 9.80983341e-01 1.93900336e-01 -8.62237582e-03 -1.31422413e+02] [-8.75493114e-03 -1.73303660e-04 -9.99961660e-01 -4.12003617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.01544991042536572 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.39, Z:-4.12 [[-2.72697598e-01 9.62094819e-01 3.09512528e-03 1.06974567e+02] [ 9.62020875e-01 2.72715023e-01 -1.19311981e-02 -1.31390973e+02] [-1.23230310e-02 -2.76033924e-04 -9.99924031e-01 -4.11717932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.01628798990972821 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.36, Z:-4.11 [[-3.49823236e-01 9.36801282e-01 5.20218836e-03 1.06973403e+02] [ 9.36680040e-01 3.49861684e-01 -1.50766102e-02 -1.31359429e+02] [-1.59438341e-02 -4.01362566e-04 -9.99872809e-01 -4.11397691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.017410464188196372 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.33, Z:-4.11 [[-4.22196106e-01 9.06480259e-01 6.63232301e-03 1.06967507e+02] [ 9.06352395e-01 4.22247988e-01 -1.52306350e-02 -1.31329744e+02] [-1.66067550e-02 -4.19092920e-04 -9.99862011e-01 -4.11257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.015169479920853319 Centerline is valid? [True, True] Translation: X:106.95, Y:-131.30, Z:-4.12 [[-4.87728527e-01 8.72963933e-01 7.40645725e-03 1.06951373e+02] [ 8.72853088e-01 4.87784654e-01 -1.39147235e-02 -1.31304505e+02] [-1.57598080e-02 -3.21858531e-04 -9.99875755e-01 -4.11554595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.014683658680386751 Centerline is valid? [True, True] Translation: X:106.94, Y:-131.28, Z:-4.12 [[-5.49139952e-01 8.35697464e-01 7.42037780e-03 1.06936506e+02] [ 8.35616434e-01 5.49190051e-01 -1.16388771e-02 -1.31279909e+02] [-1.38017777e-02 -1.90782773e-04 -9.99904733e-01 -4.11568618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.012303099740510207 Centerline is valid? [True, True] Translation: X:106.91, Y:-131.26, Z:-4.12 [[-6.02759781e-01 7.97897641e-01 6.32466529e-03 1.06913135e+02] [ 7.97853535e-01 6.02792962e-01 -8.38936205e-03 -1.31260633e+02] [-1.05063159e-02 -1.06134769e-05 -9.99944807e-01 -4.12065400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.0130760662276608 Centerline is valid? [True, True] Translation: X:106.89, Y:-131.24, Z:-4.12 [[-6.55024492e-01 7.55583720e-01 6.01304420e-03 1.06893767e+02] [ 7.55553163e-01 6.55052085e-01 -6.79591787e-03 -1.31240374e+02] [-9.07374204e-03 9.16819039e-05 -9.99958829e-01 -4.12285015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.014118274911352624 Centerline is valid? [True, True] Translation: X:106.88, Y:-131.22, Z:-4.12 [[-7.08738848e-01 7.05431072e-01 7.49987330e-03 1.06877199e+02] [ 7.05393902e-01 7.08778512e-01 -7.24324925e-03 -1.31218099e+02] [-1.04253621e-02 1.56792762e-04 -9.99945642e-01 -4.12243922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.014423220397836202 Centerline is valid? [True, True] Translation: X:106.90, Y:-131.20, Z:-4.12 [[-7.55626733e-01 6.54940321e-01 9.02303087e-03 1.06901357e+02] [ 6.54896741e-01 7.55680578e-01 -7.55798042e-03 -1.31203054e+02] [-1.17685553e-02 1.98141450e-04 -9.99930729e-01 -4.12183086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.015168846998983632 Centerline is valid? [True, True] Translation: X:106.92, Y:-131.18, Z:-4.12 [[-7.99198006e-01 6.00985365e-01 9.95683573e-03 1.06919652e+02] [ 6.00942203e-01 7.99259996e-01 -7.20610724e-03 -1.31182417e+02] [-1.22888655e-02 2.24376262e-04 -9.99924464e-01 -4.12080532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.015162073659197237 Centerline is valid? [True, True] Translation: X:106.94, Y:-131.16, Z:-4.12 [[-8.38830548e-01 5.44303952e-01 9.82448854e-03 1.06939038e+02] [ 5.44269811e-01 8.38888047e-01 -6.10063151e-03 -1.31158395e+02] [-1.15622438e-02 2.29776457e-04 -9.99933129e-01 -4.12099529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.014800659892432497 Centerline is valid? [True, True] Translation: X:106.96, Y:-131.13, Z:-4.12 [[-8.75286417e-01 4.83521796e-01 8.96440136e-03 1.06956787e+02] [ 4.83498778e-01 8.75332298e-01 -4.72219052e-03 -1.31133049e+02] [-1.01301121e-02 2.01007880e-04 -9.99948669e-01 -4.12282666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.014709069233545395 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.10, Z:-4.12 [[-9.08125516e-01 4.18630917e-01 7.49688978e-03 1.06969824e+02] [ 4.18617984e-01 9.08156448e-01 -3.29393127e-03 -1.31104252e+02] [-8.18729026e-03 1.47029855e-04 -9.99966473e-01 -4.12403296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.014132999696026938 Centerline is valid? [True, True] Translation: X:106.97, Y:-131.07, Z:-4.12 [[-9.36033667e-01 3.51836878e-01 7.19618978e-03 1.06973151e+02] [ 3.51827509e-01 9.36061320e-01 -2.57066977e-03 -1.31073128e+02] [-7.64053133e-03 1.25584077e-04 -9.99970803e-01 -4.12467064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.01328333072696034 Centerline is valid? [True, True] Translation: X:106.99, Y:-131.04, Z:-4.12 [[-9.59726653e-01 2.80854346e-01 6.75187747e-03 1.06987355e+02] [ 2.80848036e-01 9.59750399e-01 -1.88470673e-03 -1.31042582e+02] [-7.00944517e-03 8.74482474e-05 -9.99975430e-01 -4.12472004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.012362717909690492 Centerline is valid? [True, True] Translation: X:107.16, Y:-130.40, Z:-5.13 [[-9.44394351e-01 -3.28744490e-01 6.80953096e-03 1.07163445e+02] [ 3.28735376e-01 -9.44418898e-01 -2.44909522e-03 -1.30395705e+02] [ 7.23617629e-03 -7.43779746e-05 9.99973816e-01 -5.12783320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.012302933035188998 Centerline is valid? [True, True] Translation: X:106.94, Y:-131.01, Z:-4.12 [[-9.65395505e-01 2.60676532e-01 7.69831771e-03 1.06937640e+02] [ 2.60667934e-01 9.65426198e-01 -2.11750305e-03 -1.31007463e+02] [-7.98414095e-03 -3.75233514e-05 -9.99968126e-01 -4.12426635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.012743404006847245 Centerline is valid? [True, True] Translation: X:106.94, Y:-130.97, Z:-4.12 [[-9.82446519e-01 1.86360407e-01 8.28471066e-03 1.06936736e+02] [ 1.86353055e-01 9.82481446e-01 -1.65747433e-03 -1.30973044e+02] [-8.44846210e-03 -8.44987446e-05 -9.99964308e-01 -4.12377508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.013613302464243998 Centerline is valid? [True, True] Translation: X:107.06, Y:-130.37, Z:-5.13 [[-9.61088732e-01 -2.76112096e-01 8.39998296e-03 1.07056824e+02] [ 2.76102502e-01 -9.61125434e-01 -2.30404962e-03 -1.30365036e+02] [ 8.70961323e-03 1.04860189e-04 9.99962065e-01 -5.12855769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.014159251178037235 Centerline is valid? [True, True] Translation: X:106.89, Y:-130.95, Z:-4.12 [[-9.84521202e-01 1.75073434e-01 8.20333882e-03 1.06886356e+02] [ 1.75066104e-01 9.84555367e-01 -1.60880011e-03 -1.30954515e+02] [-8.35829942e-03 -1.47771255e-04 -9.99965058e-01 -4.12399304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.01625848439621675 Centerline is valid? [True, True] Translation: X:107.00, Y:-130.36, Z:-5.13 [[-9.60797167e-01 -2.77109817e-01 8.88554233e-03 1.07004287e+02] [ 2.77100043e-01 -9.60838229e-01 -2.33740465e-03 -1.30363992e+02] [ 9.18528653e-03 2.16412396e-04 9.99957791e-01 -5.13026211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.015967507907734504 Centerline is valid? [True, True] Translation: X:106.84, Y:-130.94, Z:-4.12 [[-9.86043473e-01 1.66077348e-01 1.16868832e-02 1.06838388e+02] [ 1.66062390e-01 9.86112691e-01 -2.24564174e-03 -1.30939139e+02] [-1.18975340e-02 -2.73548633e-04 -9.99929184e-01 -4.12045134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.0159460728276175 Centerline is valid? [True, True] Translation: X:106.84, Y:-130.91, Z:-4.12 [[-9.95383936e-01 9.50659292e-02 1.31639626e-02 1.06836893e+02] [ 9.50534536e-02 9.95470929e-01 -1.57157976e-03 -1.30911365e+02] [-1.32537458e-02 -3.13045132e-04 -9.99912116e-01 -4.11950184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.014933533175399256 Centerline is valid? [True, True] Translation: X:106.84, Y:-130.89, Z:-4.12 [[-9.99534479e-01 2.76776619e-02 1.28363679e-02 1.06839236e+02] [ 2.76720654e-02 9.99616867e-01 -6.13427489e-04 -1.30887120e+02] [-1.28484281e-02 -2.57933112e-04 -9.99917422e-01 -4.12081112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.014061724375976253 Centerline is valid? [True, True] Translation: X:106.87, Y:-130.29, Z:-5.13 [[-9.91476772e-01 -1.29745417e-01 1.18295374e-02 1.06868095e+02] [ 1.29738382e-01 -9.91547323e-01 -1.36341570e-03 -1.30285765e+02] [ 1.19064431e-02 1.82950043e-04 9.99929099e-01 -5.13077349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.012715155372527308 Centerline is valid? [True, True] Translation: X:106.79, Y:-130.90, Z:-4.12 [[-9.99149267e-01 3.94231973e-02 1.21059542e-02 1.06791282e+02] [ 3.94197007e-02 9.99222602e-01 -5.27404536e-04 -1.30898081e+02] [-1.21173350e-02 -4.97427651e-05 -9.99926581e-01 -4.12141675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.012904123266029056 Centerline is valid? [True, True] Translation: X:106.83, Y:-130.27, Z:-5.13 [[-9.94237910e-01 -1.06431459e-01 1.27797784e-02 1.06825290e+02] [ 1.06423879e-01 -9.94320037e-01 -1.27364057e-03 -1.30269507e+02] [ 1.28427452e-02 9.37718536e-05 9.99917524e-01 -5.13160999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.014326305486788565 Centerline is valid? [True, True] Translation: X:106.74, Y:-130.91, Z:-4.12 [[-9.98430064e-01 5.42213781e-02 1.40516664e-02 1.06739391e+02] [ 5.42189998e-02 9.98528917e-01 -5.50426996e-04 -1.30912872e+02] [-1.40608402e-02 2.12304439e-04 -9.99901119e-01 -4.12166208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.016268526863167914 Centerline is valid? [True, True] Translation: X:106.77, Y:-130.25, Z:-5.13 [[-9.96422245e-01 -8.33056211e-02 1.42437390e-02 1.06773383e+02] [ 8.32942147e-02 -9.96524025e-01 -1.39320700e-03 -1.30251340e+02] [ 1.43102901e-02 -2.01801396e-04 9.99897582e-01 -5.12956049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.017496750751921326 Centerline is valid? [True, True] Translation: X:106.68, Y:-130.92, Z:-4.12 [[-9.97986449e-01 6.18782596e-02 1.39329782e-02 1.06682523e+02] [ 6.18775260e-02 9.98083633e-01 -4.84150676e-04 -1.30922294e+02] [-1.39362358e-02 3.78962404e-04 -9.99902814e-01 -4.12396525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.017534483041644275 Centerline is valid? [True, True] Translation: X:106.71, Y:-130.24, Z:-5.13 [[-9.97130331e-01 -7.44887378e-02 1.35103895e-02 1.06707436e+02] [ 7.44765642e-02 -9.97221778e-01 -1.40265530e-03 -1.30244327e+02] [ 1.35773367e-02 -3.92422755e-04 9.99907747e-01 -5.12750471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.016422783081517334 Centerline is valid? [True, True] Translation: X:106.62, Y:-130.92, Z:-4.13 [[-9.98465407e-01 5.38022509e-02 1.31205161e-02 1.06617151e+02] [ 5.38016433e-02 9.98551563e-01 -3.99527373e-04 -1.30918198e+02] [-1.31230073e-02 3.06991067e-04 -9.99913843e-01 -4.12532144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.015340023902269387 Centerline is valid? [True, True] Translation: X:106.61, Y:-130.89, Z:-4.13 [[-9.99681761e-01 -2.18433416e-02 1.26192784e-02 1.06612271e+02] [-2.18385997e-02 9.99761378e-01 5.13463060e-04 -1.30887391e+02] [-1.26274829e-02 2.37712288e-04 -9.99920242e-01 -4.12564588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.013476705751791272 Centerline is valid? [True, True] Translation: X:106.58, Y:-130.23, Z:-5.13 [[-9.99790392e-01 -1.68677643e-02 1.16039319e-02 1.06580124e+02] [ 1.68632126e-02 -9.99857686e-01 -4.89990767e-04 -1.30228579e+02] [ 1.16105456e-02 -2.94208490e-04 9.99932552e-01 -5.12540811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.012800590959782041 Centerline is valid? [True, True] Translation: X:106.53, Y:-130.88, Z:-4.13 [[-9.98938805e-01 -4.43844819e-02 1.22996607e-02 1.06533513e+02] [-4.43809913e-02 9.99014523e-01 5.56736035e-04 -1.30876900e+02] [-1.23122502e-02 1.02740935e-05 -9.99924201e-01 -4.12685212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.01304630181693594 Centerline is valid? [True, True] Translation: X:106.50, Y:-130.25, Z:-5.13 [[-9.99521456e-01 -2.84964272e-02 1.20337899e-02 1.06501008e+02] [ 2.84940029e-02 -9.99593894e-01 -3.72891489e-04 -1.30246028e+02] [ 1.20395290e-02 -2.98221979e-05 9.99927522e-01 -5.12666088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.01369072195539727 Centerline is valid? [True, True] Translation: X:106.46, Y:-130.87, Z:-4.13 [[-9.98051785e-01 -6.12018519e-02 1.21230096e-02 1.06461161e+02] [-6.11990496e-02 9.98125400e-01 6.02340650e-04 -1.30868394e+02] [-1.21371481e-02 -1.40749502e-04 -9.99926332e-01 -4.12565211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.014253293897593916 Centerline is valid? [True, True] Translation: X:106.45, Y:-130.84, Z:-4.13 [[-9.90805887e-01 -1.34684268e-01 1.28000970e-02 1.06451178e+02] [-1.34675430e-01 9.90888548e-01 1.55388490e-03 -1.30840712e+02] [-1.28927534e-02 -1.84260261e-04 -9.99916868e-01 -4.12503108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.014643843741149734 Centerline is valid? [True, True] Translation: X:106.44, Y:-130.81, Z:-4.12 [[-9.78342957e-01 -2.06554237e-01 1.34315359e-02 1.06435594e+02] [-2.06537837e-01 9.78435128e-01 2.61199553e-03 -1.30814920e+02] [-1.36814053e-02 -2.18692933e-04 -9.99906381e-01 -4.12427008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.014690958978559442 Centerline is valid? [True, True] Translation: X:106.32, Y:-130.21, Z:-5.13 [[-9.94023612e-01 1.08352557e-01 1.32959543e-02 1.06323544e+02] [-1.08340240e-01 -9.94112511e-01 1.64533310e-03 -1.30214334e+02] [ 1.33959505e-02 1.95013075e-04 9.99910251e-01 -5.12769789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.015044310454521372 Centerline is valid? [True, True] Translation: X:106.35, Y:-130.83, Z:-4.12 [[-9.77007080e-01 -2.12758786e-01 1.38153950e-02 1.06351353e+02] [-2.12740919e-01 9.77104725e-01 2.76731856e-03 -1.30831684e+02] [-1.40878591e-02 -2.35410007e-04 -9.99900734e-01 -4.12346413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.014782277527725436 Centerline is valid? [True, True] Translation: X:106.34, Y:-130.81, Z:-4.12 [[-9.58828991e-01 -2.83614789e-01 1.44781964e-02 1.06335900e+02] [-2.83586841e-01 9.58938253e-01 3.99123616e-03 -1.30810811e+02] [-1.50156699e-02 -2.78913030e-04 -9.99887220e-01 -4.12422442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.016866442599568602 Centerline is valid? [True, True] Translation: X:106.31, Y:-130.79, Z:-4.12 [[-9.35206122e-01 -3.53754756e-01 1.57188293e-02 1.06309415e+02] [-3.53710992e-01 9.35338149e-01 5.57506436e-03 -1.30789338e+02] [-1.66746262e-02 -3.46088395e-04 -9.99860909e-01 -4.12051423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.01572226399185064 Centerline is valid? [True, True] Translation: X:106.27, Y:-130.78, Z:-4.12 [[-9.06605437e-01 -4.21717033e-01 1.48770275e-02 1.06272331e+02] [-4.21666843e-01 9.06727418e-01 6.51637814e-03 -1.30781750e+02] [-1.62374764e-02 -3.65365367e-04 -9.99868097e-01 -4.12371863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.01570225627091144 Centerline is valid? [True, True] Translation: X:106.22, Y:-130.78, Z:-4.12 [[-8.73096326e-01 -4.87344816e-01 1.40654102e-02 1.06219112e+02] [-4.87288273e-01 8.73209538e-01 7.43246432e-03 -1.30778910e+02] [-1.59042233e-02 -3.64652157e-04 -9.99873453e-01 -4.12432668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.01624868006070219 Centerline is valid? [True, True] Translation: X:106.15, Y:-130.79, Z:-4.12 [[-8.34699380e-01 -5.50575759e-01 1.19699016e-02 1.06152950e+02] [-5.50524752e-01 8.34785138e-01 7.50140870e-03 -1.30788135e+02] [-1.41223898e-02 -3.28305937e-04 -9.99900220e-01 -4.12424568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.015947689027776532 Centerline is valid? [True, True] Translation: X:106.09, Y:-130.81, Z:-4.12 [[-7.93069238e-01 -6.09037786e-01 1.06845410e-02 1.06087979e+02] [-6.08987153e-01 7.93141160e-01 7.85798740e-03 -1.30806228e+02] [-1.32601605e-02 -2.74820123e-04 -9.99912043e-01 -4.12384811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.015009820645603416 Centerline is valid? [True, True] Translation: X:106.01, Y:-130.84, Z:-4.12 [[-7.46956956e-01 -6.64790302e-01 1.04479956e-02 1.06013839e+02] [-6.64729968e-01 7.47029980e-01 8.95982457e-03 -1.30840191e+02] [-1.37613704e-02 -2.52492496e-04 -9.99905276e-01 -4.12468631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.015285472139036665 Centerline is valid? [True, True] Translation: X:105.94, Y:-130.88, Z:-4.12 [[-6.94690493e-01 -7.19218685e-01 1.13842864e-02 1.05935758e+02] [-7.19129130e-01 6.94783703e-01 1.13534695e-02 -1.30878133e+02] [-1.60752441e-02 -2.99624617e-04 -9.99870740e-01 -4.12299668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.015601535015126126 Centerline is valid? [True, True] Translation: X:105.85, Y:-130.93, Z:-4.12 [[-6.37288059e-01 -7.70544110e-01 1.12117839e-02 1.05853657e+02] [-7.70434407e-01 6.37386581e-01 1.30066211e-02 -1.30930428e+02] [-1.71684159e-02 -3.48979780e-04 -9.99852551e-01 -4.12269528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.015325502400708348 Centerline is valid? [True, True] Translation: X:105.78, Y:-130.99, Z:-4.12 [[-5.78162080e-01 -8.15867168e-01 9.45373295e-03 1.05776560e+02] [-8.15766597e-01 5.78239286e-01 1.28135639e-02 -1.30989319e+02] [-1.59206859e-02 -3.03722807e-04 -9.99873212e-01 -4.12389843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.01426693348434461 Centerline is valid? [True, True] Translation: X:105.70, Y:-131.06, Z:-4.12 [[-5.18560186e-01 -8.55003925e-01 7.97635862e-03 1.05704516e+02] [-8.54909121e-01 5.18621483e-01 1.27338920e-02 -1.31057401e+02] [-1.50242386e-02 -2.15772334e-04 -9.99887107e-01 -4.12448854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.013623157542035146 Centerline is valid? [True, True] Translation: X:105.63, Y:-131.14, Z:-4.12 [[-4.55579522e-01 -8.90168439e-01 6.88836534e-03 1.05633630e+02] [-8.90071678e-01 4.55631570e-01 1.31255358e-02 -1.31135543e+02] [-1.48224944e-02 -1.51413569e-04 -9.99890129e-01 -4.12419173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.013352356675271463 Centerline is valid? [True, True] Translation: X:105.57, Y:-131.22, Z:-4.12 [[-3.90184138e-01 -9.20719516e-01 5.64899998e-03 1.05568741e+02] [-9.20626159e-01 3.90225019e-01 1.31114476e-02 -1.31222048e+02] [-1.42763468e-02 -8.47382900e-05 -9.99898084e-01 -4.12443525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.013082891920671535 Centerline is valid? [True, True] Translation: X:105.50, Y:-131.32, Z:-4.13 [[-3.19198462e-01 -9.47678841e-01 4.14198707e-03 1.05504192e+02] [-9.47601798e-01 3.19225328e-01 1.20839706e-02 -1.31319133e+02] [-1.27739505e-02 -6.77695445e-05 -9.99918408e-01 -4.12609959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.013042903921935906 Centerline is valid? [True, True] Translation: X:105.45, Y:-131.42, Z:-4.13 [[-2.44265756e-01 -9.69703451e-01 3.07535557e-03 1.05446624e+02] [-9.69630819e-01 2.44285100e-01 1.18686205e-02 -1.31418462e+02] [-1.22603058e-02 -8.28619890e-05 -9.99924836e-01 -4.12715843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.013296806244635738 Centerline is valid? [True, True] Translation: X:105.39, Y:-131.53, Z:-4.13 [[-1.66768851e-01 -9.85993980e-01 2.00548534e-03 1.05393355e+02] [-9.85930058e-01 1.66780876e-01 1.12276214e-02 -1.31526201e+02] [-1.14048438e-02 -1.04850752e-04 -9.99934957e-01 -4.12734799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.01331553066403884 Centerline is valid? [True, True] Translation: X:105.35, Y:-131.63, Z:-4.13 [[-8.93019463e-02 -9.96004026e-01 1.06933094e-03 1.05350530e+02] [-9.95947442e-01 8.93082719e-02 1.06172500e-02 -1.31627947e+02] [-1.06703238e-02 -1.16856322e-04 -9.99943064e-01 -4.12811865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.014203668995583927 Centerline is valid? [True, True] Translation: X:105.31, Y:-131.74, Z:-4.13 [[-1.04649493e-02 -9.99945211e-01 2.43002840e-04 1.05312674e+02] [-9.99891872e-01 1.04669012e-02 1.03289641e-02 -1.31740065e+02] [-1.03309417e-02 -1.34884479e-04 -9.99946625e-01 -4.12680661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.014202900522281497 Centerline is valid? [True, True] Translation: X:105.29, Y:-131.86, Z:-4.13 [[ 6.93134394e-02 -9.97594746e-01 -6.08152773e-04 1.05286647e+02] [-9.97529846e-01 -6.93158679e-02 1.13805797e-02 -1.31859961e+02] [-1.13953611e-02 -1.82176576e-04 -9.99935054e-01 -4.12705345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.014742469110547315 Centerline is valid? [True, True] Translation: X:105.27, Y:-131.98, Z:-4.12 [[ 1.48133889e-01 -9.88965200e-01 -2.04559713e-03 1.05267864e+02] [-9.88841999e-01 -1.48147728e-01 1.56125548e-02 -1.31980769e+02] [-1.57433239e-02 -2.89976105e-04 -9.99876024e-01 -4.12209476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:105.26, Y:-132.10, Z:-4.12 [[ 2.23214159e-01 -9.74763165e-01 -3.49438352e-03 1.05263162e+02] [-9.74621389e-01 -2.23241300e-01 1.66273769e-02 -1.32100814e+02] [-1.69878452e-02 -3.05765037e-04 -9.99855649e-01 -4.12224208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:105.26, Y:-132.22, Z:-4.12 [[ 2.97293566e-01 -9.54774260e-01 -4.75912465e-03 1.05264486e+02] [-9.54634982e-01 -2.97331498e-01 1.63104431e-02 -1.32216472e+02] [-1.69878288e-02 -3.05762898e-04 -9.99855650e-01 -4.12224287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.014558341499024163 Centerline is valid? [True, True] Translation: X:105.27, Y:-132.33, Z:-4.12 [[ 3.69249252e-01 -9.29311773e-01 -5.88368775e-03 1.05274788e+02] [-9.29180981e-01 -3.69296011e-01 1.55936490e-02 -1.32329245e+02] [-1.66641840e-02 -2.90932488e-04 -9.99861101e-01 -4.12286383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.014349343500862725 Centerline is valid? [True, True] Translation: X:105.29, Y:-132.44, Z:-4.12 [[ 4.37669701e-01 -8.99110517e-01 -6.74624827e-03 1.05294599e+02] [-8.98994908e-01 -4.37721622e-01 1.44200216e-02 -1.32442418e+02] [-1.59181718e-02 -2.46363715e-04 -9.99873268e-01 -4.12312988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.013682142718892691 Centerline is valid? [True, True] Translation: X:105.32, Y:-132.55, Z:-4.12 [[ 5.01670641e-01 -8.65026189e-01 -7.50065597e-03 1.05324474e+02] [-8.64924257e-01 -5.01726680e-01 1.32803451e-02 -1.32552510e+02] [-1.52511255e-02 -1.74859925e-04 -9.99883680e-01 -4.12403804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.01308564983679083 Centerline is valid? [True, True] Translation: X:105.36, Y:-132.65, Z:-4.12 [[ 5.60744886e-01 -8.27944806e-01 -8.51888234e-03 1.05360344e+02] [-8.27847409e-01 -5.60809588e-01 1.26993649e-02 -1.32652577e+02] [-1.52918441e-02 -6.87692293e-05 -9.99883071e-01 -4.12328789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.012745682946428026 Centerline is valid? [True, True] Translation: X:105.40, Y:-132.76, Z:-4.13 [[ 6.19523043e-01 -7.84931204e-01 -8.61418486e-03 1.05404149e+02] [-7.84855079e-01 -6.19582928e-01 1.09316225e-02 -1.32756395e+02] [-1.39177735e-02 -1.15052930e-05 -9.99903143e-01 -4.12591111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.012762507497274957 Centerline is valid? [True, True] Translation: X:105.45, Y:-132.86, Z:-4.13 [[ 6.75789133e-01 -7.37037307e-01 -9.22254651e-03 1.05454778e+02] [-7.36969136e-01 -6.75852060e-01 1.00242666e-02 -1.32855040e+02] [-1.36213355e-02 2.24417031e-05 -9.99907225e-01 -4.12690743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.012967359582945584 Centerline is valid? [True, True] Translation: X:105.51, Y:-132.95, Z:-4.13 [[ 7.27622582e-01 -6.85908194e-01 -9.76359339e-03 1.05509035e+02] [-6.85847698e-01 -7.27688083e-01 9.10990184e-03 -1.32947433e+02] [-1.33534069e-02 6.77677475e-05 -9.99910837e-01 -4.12719684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.012946119476686349 Centerline is valid? [True, True] Translation: X:105.53, Y:-132.98, Z:-4.13 [[ 7.78722084e-01 -6.27276045e-01 -1.08018108e-02 1.05525662e+02] [-6.27217055e-01 -7.78796994e-01 8.60279552e-03 -1.32978769e+02] [-1.38087453e-02 7.58930871e-05 -9.99904652e-01 -4.12638316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.013000772349771018 Centerline is valid? [True, True] Translation: X:105.55, Y:-133.01, Z:-4.13 [[ 8.25969755e-01 -5.63584766e-01 -1.20903332e-02 1.05545228e+02] [-5.63525550e-01 -8.26058235e-01 8.16985486e-03 -1.33006474e+02] [-1.45917250e-02 6.51586641e-05 -9.99893533e-01 -4.12509125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.012763900323032734 Centerline is valid? [True, True] Translation: X:105.57, Y:-133.03, Z:-4.13 [[ 8.67766279e-01 -4.96802105e-01 -1.30136007e-02 1.05567770e+02] [-4.96747249e-01 -8.67863852e-01 7.38279018e-03 -1.33033336e+02] [-1.49618193e-02 5.79339956e-05 -9.99888064e-01 -4.12632558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.01265821824884103 Centerline is valid? [True, True] Translation: X:105.59, Y:-133.06, Z:-4.13 [[ 9.04323041e-01 -4.26675645e-01 -1.21544827e-02 1.05591923e+02] [-4.26637707e-01 -9.04404717e-01 5.68984428e-03 -1.33057820e+02] [-1.34202895e-02 4.01033570e-05 -9.99909943e-01 -4.12685895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.012519453104277236 Centerline is valid? [True, True] Translation: X:105.62, Y:-133.08, Z:-4.13 [[ 9.35258118e-01 -3.53778209e-01 -1.15425827e-02 1.05618375e+02] [-3.53751597e-01 -9.35329342e-01 4.33929007e-03 -1.33080381e+02] [-1.23312625e-02 2.48507872e-05 -9.99923967e-01 -4.12857497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.012296734555436901 Centerline is valid? [True, True] Translation: X:105.65, Y:-133.10, Z:-4.13 [[ 9.60876798e-01 -2.76771860e-01 -1.06356489e-02 1.05646502e+02] [-2.76754792e-01 -9.60935657e-01 3.07370713e-03 -1.33103939e+02] [-1.10708899e-02 -9.98707034e-06 -9.99938716e-01 -4.13022971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.012362503021885705 Centerline is valid? [True, True] Translation: X:105.68, Y:-133.12, Z:-4.13 [[ 9.80201294e-01 -1.97764064e-01 -9.73643017e-03 1.05676811e+02] [-1.97753901e-01 -9.80249649e-01 2.00533485e-03 -1.33124082e+02] [-9.94071542e-03 -4.02147709e-05 -9.99950589e-01 -4.13049371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.012600075632195909 Centerline is valid? [True, True] Translation: X:105.71, Y:-133.14, Z:-4.13 [[ 9.93114744e-01 -1.16782615e-01 -9.21555722e-03 1.05707626e+02] [-1.16776918e-01 -9.93157498e-01 1.15569332e-03 -1.33141376e+02] [-9.28746464e-03 -7.15717077e-05 -9.99956868e-01 -4.13138812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.013231761160299447 Centerline is valid? [True, True] Translation: X:105.74, Y:-133.16, Z:-4.13 [[ 9.99391307e-01 -3.35695137e-02 -9.49225386e-03 1.05737393e+02] [-3.35668408e-02 -9.99436378e-01 4.40810592e-04 -1.33158714e+02] [-9.50170161e-03 -1.21917299e-04 -9.99954850e-01 -4.13097392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.014079292410609437 Centerline is valid? [True, True] Translation: X:105.77, Y:-133.17, Z:-4.13 [[ 9.98800033e-01 4.78270159e-02 -1.05390451e-02 1.05769183e+02] [ 4.78261211e-02 -9.98855620e-01 -3.37059981e-04 -1.33169885e+02] [-1.05431050e-02 -1.67386125e-04 -9.99944406e-01 -4.12945295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.014663781364307703 Centerline is valid? [True, True] Translation: X:105.80, Y:-133.18, Z:-4.13 [[ 9.91662415e-01 1.28158948e-01 -1.34513648e-02 1.05801782e+02] [ 1.28150519e-01 -9.91753610e-01 -1.49026699e-03 -1.33178250e+02] [-1.35314306e-02 -2.45957619e-04 -9.99908416e-01 -4.12662162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.014438502001574049 Centerline is valid? [True, True] Translation: X:105.83, Y:-133.18, Z:-4.13 [[ 9.79177447e-01 2.02516909e-01 -1.40865125e-02 1.05832981e+02] [ 2.02499152e-01 -9.79278742e-01 -2.69057216e-03 -1.33178170e+02] [-1.43395086e-02 -2.17959258e-04 -9.99897160e-01 -4.12644911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.012667165074906471 Centerline is valid? [True, True] Translation: X:105.86, Y:-133.17, Z:-4.13 [[ 9.62923641e-01 2.69480820e-01 -1.25757070e-02 1.05863256e+02] [ 2.69458865e-01 -9.63005754e-01 -3.44065934e-03 -1.33167594e+02] [-1.30376699e-02 -7.55435068e-05 -9.99915003e-01 -4.12838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.012799249133805797 Centerline is valid? [True, True] Translation: X:105.89, Y:-133.15, Z:-4.13 [[ 9.42996059e-01 3.32646412e-01 -1.02370683e-02 1.05891681e+02] [ 3.32626025e-01 -9.43051621e-01 -3.68341918e-03 -1.33154964e+02] [-1.08793601e-02 6.83344181e-05 -9.99940816e-01 -4.13128819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.01434766580492982 Centerline is valid? [True, True] Translation: X:105.92, Y:-133.14, Z:-4.13 [[ 9.18430220e-01 3.95479805e-01 -9.03628356e-03 1.05920110e+02] [ 3.95458831e-01 -9.18474657e-01 -4.07651644e-03 -1.33144814e+02] [-9.91177736e-03 1.70517761e-04 -9.99950863e-01 -4.13262205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.015358877141522153 Centerline is valid? [True, True] Translation: X:105.95, Y:-133.14, Z:-4.13 [[ 8.87455105e-01 4.60812259e-01 -8.68900357e-03 1.05949791e+02] [ 4.60787622e-01 -8.87497611e-01 -4.77058686e-03 -1.33137761e+02] [-9.90981481e-03 2.29896371e-04 -9.99950870e-01 -4.13345936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.01777913706735321 Centerline is valid? [True, True] Translation: X:105.98, Y:-133.13, Z:-4.13 [[ 8.51603763e-01 5.24085113e-01 -1.02871036e-02 1.05976469e+02] [ 5.24041806e-01 -8.51665820e-01 -6.74667227e-03 -1.33126626e+02] [-1.22970050e-02 3.54619159e-04 -9.99924326e-01 -4.13309138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.018041217498554432 Centerline is valid? [True, True] Translation: X:106.01, Y:-133.12, Z:-4.13 [[ 8.08626257e-01 5.88228940e-01 -1.05019557e-02 1.06006475e+02] [ 5.88172868e-01 -8.08694353e-01 -8.13147727e-03 -1.33117423e+02] [-1.32760425e-02 3.98360604e-04 -9.99911790e-01 -4.13238797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.018070985346576175 Centerline is valid? [True, True] Translation: X:106.04, Y:-133.11, Z:-4.13 [[ 7.59152457e-01 6.50839084e-01 -9.79969362e-03 1.06036140e+02] [ 6.50778357e-01 -7.59215611e-01 -8.89866174e-03 -1.33107091e+02] [-1.32316772e-02 3.78012404e-04 -9.99912386e-01 -4.13260731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.015937029582277138 Centerline is valid? [True, True] Translation: X:106.07, Y:-133.10, Z:-4.14 [[ 7.02423990e-01 7.11718510e-01 -7.56974971e-03 1.06069138e+02] [ 7.11673126e-01 -7.02464728e-01 -8.04158885e-03 -1.33097255e+02] [-1.10408298e-02 2.61417491e-04 -9.99939014e-01 -4.13571410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.013103747404304816 Centerline is valid? [True, True] Translation: X:106.11, Y:-133.09, Z:-4.14 [[ 6.34526116e-01 7.72871481e-01 -6.80317428e-03 1.06108102e+02] [ 7.72825101e-01 -6.34562575e-01 -8.46771079e-03 -1.33090248e+02] [-1.08614920e-02 1.15319792e-04 -9.99941006e-01 -4.13658472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.0124158939098907 Centerline is valid? [True, True] Translation: X:106.14, Y:-133.08, Z:-4.14 [[ 5.65079572e-01 8.25010657e-01 -6.51870042e-03 1.06139304e+02] [ 8.24955269e-01 -5.65117170e-01 -9.55976235e-03 -1.33075785e+02] [-1.15707353e-02 2.43901623e-05 -9.99933057e-01 -4.13540288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.01350918470407172 Centerline is valid? [True, True] Translation: X:106.17, Y:-133.06, Z:-4.13 [[ 4.88072731e-01 8.72785006e-01 -5.59842720e-03 1.06172008e+02] [ 8.72730259e-01 -4.88104825e-01 -9.77618546e-03 -1.33058703e+02] [-1.12651274e-02 -1.14427284e-04 -9.99936540e-01 -4.13475509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.014505796918183423 Centerline is valid? [True, True] Translation: X:106.20, Y:-133.04, Z:-4.14 [[ 4.10332263e-01 9.11924288e-01 -4.63972762e-03 1.06202780e+02] [ 9.11871527e-01 -4.10358442e-01 -9.81154824e-03 -1.33036532e+02] [-1.08513405e-02 -2.04840716e-04 -9.99941102e-01 -4.13718528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.015807310772042626 Centerline is valid? [True, True] Translation: X:106.23, Y:-133.01, Z:-4.14 [[ 3.34477705e-01 9.42394579e-01 -4.13795127e-03 1.06228094e+02] [ 9.42331756e-01 -3.34503200e-01 -1.08844132e-02 -1.33010913e+02] [-1.16415699e-02 -2.58729335e-04 -9.99932201e-01 -4.13604293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.015298837179468392 Centerline is valid? [True, True] Translation: X:106.25, Y:-132.98, Z:-4.14 [[ 2.61953698e-01 9.65075184e-01 -3.18578057e-03 1.06245019e+02] [ 9.65013909e-01 -2.61972973e-01 -1.08774078e-02 -1.32980832e+02] [-1.13321047e-02 -2.24945364e-04 -9.99935764e-01 -4.13626033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.015056630813956933 Centerline is valid? [True, True] Translation: X:106.26, Y:-132.95, Z:-4.14 [[ 1.87530467e-01 9.82255760e-01 -2.43850972e-03 1.06256973e+02] [ 9.82186815e-01 -1.87546200e-01 -1.16397492e-02 -1.32948319e+02] [-1.18905439e-02 -2.12264487e-04 -9.99929283e-01 -4.13544737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.014711174276727563 Centerline is valid? [True, True] Translation: X:106.27, Y:-132.91, Z:-4.13 [[ 1.11602897e-01 9.93751481e-01 -1.66983230e-03 1.06265537e+02] [ 9.93666919e-01 -1.11615187e-01 -1.29655209e-02 -1.32914840e+02] [-1.30708842e-02 -2.12267423e-04 -9.99914550e-01 -4.13432748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.014070308149002644 Centerline is valid? [True, True] Translation: X:106.27, Y:-132.88, Z:-4.13 [[ 3.49182727e-02 9.99389864e-01 -7.82995827e-04 1.06272676e+02] [ 9.99265856e-01 -3.49262757e-02 -1.57449956e-02 -1.32881199e+02] [-1.57627361e-02 -2.32632946e-04 -9.99875733e-01 -4.13305794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.01487432744990053 Centerline is valid? [True, True] Translation: X:106.28, Y:-132.85, Z:-4.13 [[-4.32928607e-02 9.99062304e-01 4.90118408e-04 1.06277563e+02] [ 9.98916564e-01 4.32949175e-02 -1.70660146e-02 -1.32848806e+02] [-1.70712315e-02 -2.49249199e-04 -9.99854245e-01 -4.13077688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.013694464403507894 Centerline is valid? [True, True] Translation: X:106.28, Y:-132.81, Z:-4.13 [[-1.20816638e-01 9.92673163e-01 1.82523696e-03 1.06278595e+02] [ 9.92528063e-01 1.20830188e-01 -1.69737824e-02 -1.32814985e+02] [-1.70699620e-02 -2.39116427e-04 -9.99854269e-01 -4.13375981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.013158139866818264 Centerline is valid? [True, True] Translation: X:106.28, Y:-132.78, Z:-4.14 [[-1.96482197e-01 9.80503095e-01 2.90307703e-03 1.06280198e+02] [ 9.80381138e-01 1.96503548e-01 -1.54654438e-02 -1.32780607e+02] [-1.57343805e-02 -1.92562418e-04 -9.99876188e-01 -4.13583885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.012367671645252402 Centerline is valid? [True, True] Translation: X:106.27, Y:-132.75, Z:-4.14 [[-2.65323175e-01 9.64152729e-01 3.62328127e-03 1.06273047e+02] [ 9.64059542e-01 2.65347907e-01 -1.34047923e-02 -1.32749648e+02] [-1.38856972e-02 -6.35431874e-05 -9.99903587e-01 -4.13732141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.01233107109782537 Centerline is valid? [True, True] Translation: X:106.27, Y:-132.72, Z:-4.14 [[-3.35402503e-01 9.42063528e-01 4.63350528e-03 1.06265738e+02] [ 9.41973838e-01 3.35434507e-01 -1.29992141e-02 -1.32718933e+02] [-1.38003231e-02 4.67178952e-06 -9.99904771e-01 -4.13703218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.012762362473217806 Centerline is valid? [True, True] Translation: X:106.25, Y:-132.69, Z:-4.14 [[-4.01566109e-01 9.15810757e-01 5.94279570e-03 1.06254046e+02] [ 9.15714482e-01 4.01610065e-01 -1.32794462e-02 -1.32689266e+02] [-1.45481462e-02 1.09328559e-04 -9.99894164e-01 -4.13728575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.014321094312938033 Centerline is valid? [True, True] Translation: X:106.24, Y:-132.66, Z:-4.14 [[-4.65365037e-01 8.85087901e-01 7.40197193e-03 1.06238830e+02] [ 8.84983819e-01 4.65423842e-01 -1.35752829e-02 -1.32662392e+02] [-1.54603729e-02 2.33163335e-04 -9.99880454e-01 -4.13737837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.01647196290114116 Centerline is valid? [True, True] Translation: X:106.22, Y:-132.64, Z:-4.14 [[-5.27864524e-01 8.49285288e-01 8.57581879e-03 1.06221780e+02] [ 8.49183401e-01 5.27934074e-01 -1.31592088e-02 -1.32638181e+02] [-1.57033894e-02 3.36163490e-04 -9.99876638e-01 -4.13593527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.017672536410438918 Centerline is valid? [True, True] Translation: X:106.20, Y:-132.61, Z:-4.14 [[-5.90444625e-01 8.07021373e-01 9.57329924e-03 1.06203033e+02] [ 8.06925612e-01 5.90522106e-01 -1.24377918e-02 -1.32614168e+02] [-1.56908087e-02 3.81113012e-04 -9.99876819e-01 -4.13609926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.017979975637094074 Centerline is valid? [True, True] Translation: X:106.18, Y:-132.59, Z:-4.14 [[-6.51546488e-01 7.58536062e-01 1.04984246e-02 1.06183881e+02] [ 7.58447026e-01 6.51630949e-01 -1.16281772e-02 -1.32591615e+02] [-1.56614901e-02 3.86200849e-04 -9.99877277e-01 -4.13613587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.017059295464929923 Centerline is valid? [True, True] Translation: X:106.16, Y:-132.57, Z:-4.14 [[-7.12145139e-01 7.01939982e-01 1.13825459e-02 1.06164302e+02] [ 7.01857343e-01 7.12236030e-01 -1.07753557e-02 -1.32570360e+02] [-1.56707123e-02 3.15306245e-04 -9.99877157e-01 -4.13525387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.01464874454984048 Centerline is valid? [True, True] Translation: X:106.18, Y:-132.54, Z:-4.14 [[-7.64545731e-01 6.44456442e-01 1.20714399e-02 1.06179334e+02] [ 6.44380347e-01 7.64640996e-01 -9.90538674e-03 -1.32541782e+02] [-1.56139082e-02 2.05477514e-04 -9.99878074e-01 -4.13538263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.012291903870480141 Centerline is valid? [True, True] Translation: X:106.58, Y:-132.05, Z:-5.11 [[-7.26939367e-01 -6.86623740e-01 1.03439092e-02 1.06583813e+02] [ 6.86548810e-01 -7.27012905e-01 -1.01472549e-02 -1.32045305e+02] [ 1.44875016e-02 -2.74840493e-04 9.99895013e-01 -5.11426459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.015253700184649176 Centerline is valid? [True, True] Translation: X:106.15, Y:-132.49, Z:-4.14 [[-7.86377593e-01 6.17650071e-01 1.08936157e-02 1.06145380e+02] [ 6.17586376e-01 7.86453004e-01 -8.87361946e-03 -1.32490550e+02] [-1.40481085e-02 -2.50266868e-04 -9.99901289e-01 -4.13680630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.018393417864587383 Centerline is valid? [True, True] Translation: X:106.16, Y:-132.46, Z:-4.14 [[-8.33425966e-01 5.52547936e-01 9.58839303e-03 1.06155764e+02] [ 5.52506917e-01 8.33481059e-01 -6.74021174e-03 -1.32458703e+02] [-1.17160341e-02 -3.19814004e-04 -9.99931314e-01 -4.13899457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.01950382615373456 Centerline is valid? [True, True] Translation: X:106.17, Y:-132.44, Z:-4.14 [[-8.71553166e-01 4.90217540e-01 9.04666004e-03 1.06171835e+02] [ 4.90187383e-01 8.71600061e-01 -5.44643609e-03 -1.32437437e+02] [-1.05550079e-02 -3.12300012e-04 -9.99944246e-01 -4.13984059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.02010986638351413 Centerline is valid? [True, True] Translation: X:106.18, Y:-132.41, Z:-4.14 [[-9.03776908e-01 4.27902062e-01 9.33414897e-03 1.06178738e+02] [ 4.27875757e-01 9.03825057e-01 -4.75425000e-03 -1.32414065e+02] [-1.04707911e-02 -3.02925302e-04 -9.99945134e-01 -4.13921718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.01944488375815663 Centerline is valid? [True, True] Translation: X:106.19, Y:-132.40, Z:-4.14 [[-9.30912249e-01 3.65073602e-01 1.11197971e-02 1.06190623e+02] [ 3.65043436e-01 9.30978605e-01 -4.70391646e-03 -1.32395921e+02] [-1.20695690e-02 -3.19724490e-04 -9.99927109e-01 -4.13725412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.01829559673026669 Centerline is valid? [True, True] Translation: X:106.44, Y:-131.82, Z:-5.12 [[-8.82335437e-01 -4.70432931e-01 1.33054092e-02 1.06440076e+02] [ 4.70388708e-01 -8.82435583e-01 -6.47343153e-03 -1.31820940e+02] [ 1.47864819e-02 5.46976222e-04 9.99890524e-01 -5.11793596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.014063673834196362 Centerline is valid? [True, True] Translation: X:106.15, Y:-132.40, Z:-4.14 [[-9.28291091e-01 3.71559778e-01 1.47980533e-02 1.06147619e+02] [ 3.71508178e-01 9.28408997e-01 -6.19739051e-03 -1.32403788e+02] [-1.60413469e-02 -2.55384571e-04 -9.99871297e-01 -4.13721598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.013030037533210245 Centerline is valid? [True, True] Translation: X:106.42, Y:-131.78, Z:-5.12 [[-8.90293062e-01 -4.55176913e-01 1.38651354e-02 1.06418241e+02] [ 4.55125468e-01 -8.90400995e-01 -6.84666310e-03 -1.31784407e+02] [ 1.54619733e-02 2.14839577e-04 9.99880434e-01 -5.11523279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.012672747931273083 Centerline is valid? [True, True] Translation: X:106.11, Y:-132.41, Z:-4.14 [[-9.24999554e-01 3.79699463e-01 1.42878787e-02 1.06107077e+02] [ 3.79653254e-01 9.25109894e-01 -5.92384279e-03 -1.32408846e+02] [-1.54671378e-02 -5.51123141e-05 -9.99880375e-01 -4.13730368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.012620049895556911 Centerline is valid? [True, True] Translation: X:106.11, Y:-132.39, Z:-4.14 [[-9.47793876e-01 3.18587971e-01 1.37285386e-02 1.06114824e+02] [ 3.18555013e-01 9.47893298e-01 -4.58250507e-03 -1.32393887e+02] [-1.44731207e-02 3.00245485e-05 -9.99895259e-01 -4.13843773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.012723081310442214 Centerline is valid? [True, True] Translation: X:106.35, Y:-131.70, Z:-5.11 [[-9.26307536e-01 -3.76539798e-01 1.31198183e-02 1.06351229e+02] [ 3.76501316e-01 -9.26400442e-01 -5.38336167e-03 -1.31703641e+02] [ 1.41812554e-02 -4.70196291e-05 9.99899440e-01 -5.11279778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.012624846563490208 Centerline is valid? [True, True] Translation: X:106.07, Y:-132.38, Z:-4.14 [[-9.50888765e-01 3.09253103e-01 1.31558154e-02 1.06068295e+02] [ 3.09222699e-01 9.50979766e-01 -4.33673651e-03 -1.32381098e+02] [-1.38520634e-02 -5.56772917e-05 -9.99904054e-01 -4.13969974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.013837134307354653 Centerline is valid? [True, True] Translation: X:106.07, Y:-132.35, Z:-4.14 [[-9.72350882e-01 2.33164447e-01 1.29654512e-02 1.06072024e+02] [ 2.33141480e-01 9.72437306e-01 -3.27664244e-03 -1.32348605e+02] [-1.33720850e-02 -1.63261687e-04 -9.99910576e-01 -4.13912496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.014948604234665614 Centerline is valid? [True, True] Translation: X:106.08, Y:-132.32, Z:-4.14 [[-9.87632586e-01 1.56296900e-01 1.23755367e-02 1.06075430e+02] [ 1.56281490e-01 9.87710088e-01 -2.20857476e-03 -1.32316773e+02] [-1.25686359e-02 -2.47193080e-04 -9.99920981e-01 -4.14048894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.015490772139930822 Centerline is valid? [True, True] Translation: X:106.20, Y:-131.63, Z:-5.11 [[-9.65046858e-01 -2.61762097e-01 1.28516783e-02 1.06202148e+02] [ 2.61743057e-01 -9.65132381e-01 -3.17165844e-03 -1.31625271e+02] [ 1.32337908e-02 3.03038543e-04 9.99912384e-01 -5.11320472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.01525636032115081 Centerline is valid? [True, True] Translation: X:106.03, Y:-132.30, Z:-4.14 [[-9.88412152e-01 1.51204753e-01 1.33618915e-02 1.06026336e+02] [ 1.51187048e-01 9.88502424e-01 -2.33117572e-03 -1.32303143e+02] [-1.35607469e-02 -2.84017485e-04 -9.99908009e-01 -4.13847619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.015475434738727874 Centerline is valid? [True, True] Translation: X:106.15, Y:-131.62, Z:-5.11 [[-9.66764521e-01 -2.55383060e-01 1.20770054e-02 1.06154664e+02] [ 2.55365621e-01 -9.66839933e-01 -2.99068737e-03 -1.31619782e+02] [ 1.24403020e-02 1.92761540e-04 9.99922598e-01 -5.11397474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.013308110119657 Centerline is valid? [True, True] Translation: X:105.99, Y:-132.30, Z:-4.14 [[-9.87715412e-01 1.55860632e-01 1.12128819e-02 1.05987522e+02] [ 1.55848974e-01 9.87779046e-01 -1.91142520e-03 -1.32302980e+02] [-1.13737657e-02 -1.40427987e-04 -9.99935307e-01 -4.14032817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.012948975483183696 Centerline is valid? [True, True] Translation: X:105.99, Y:-132.28, Z:-4.14 [[-9.95773274e-01 9.11217485e-02 1.15070945e-02 1.05994479e+02] [ 9.11147770e-02 9.95839757e-01 -1.12973423e-03 -1.32278921e+02] [-1.15621655e-02 -7.64928101e-05 -9.99933153e-01 -4.13768109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.012662997095471269 Centerline is valid? [True, True] Translation: X:106.07, Y:-131.56, Z:-5.11 [[-9.86952023e-01 -1.60526518e-01 1.25276242e-02 1.06074873e+02] [ 1.60515428e-01 -9.87031518e-01 -1.89231933e-03 -1.31564010e+02] [ 1.26689274e-02 1.43248569e-04 9.99919736e-01 -5.11434911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.013108504553760674 Centerline is valid? [True, True] Translation: X:105.95, Y:-132.29, Z:-4.14 [[-9.94643120e-01 1.02601749e-01 1.25675807e-02 1.05946176e+02] [ 1.02595007e-01 9.94722508e-01 -1.18173618e-03 -1.32286883e+02] [-1.26225036e-02 1.13965274e-04 -9.99920327e-01 -4.13908127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.013429500597777087 Centerline is valid? [True, True] Translation: X:105.95, Y:-132.26, Z:-4.14 [[-9.99338829e-01 3.40237154e-02 1.28176675e-02 1.05945649e+02] [ 3.40227871e-02 9.99421015e-01 -2.90530807e-04 -1.32259662e+02] [-1.28201312e-02 1.45754055e-04 -9.99917808e-01 -4.13881927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.013483324635865544 Centerline is valid? [True, True] Translation: X:105.97, Y:-131.53, Z:-5.12 [[-9.96753406e-01 -7.92731248e-02 1.40861166e-02 1.05966124e+02] [ 7.92641572e-02 -9.96852931e-01 -1.19465616e-03 -1.31527080e+02] [ 1.41364907e-02 -7.42534354e-05 9.99900072e-01 -5.11509277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.013342609944767799 Centerline is valid? [True, True] Translation: X:105.88, Y:-132.25, Z:-4.14 [[-9.99566735e-01 2.57817201e-02 1.42001972e-02 1.05876705e+02] [ 2.57806603e-02 9.99667590e-01 -2.57714919e-04 -1.32253059e+02] [-1.42021212e-02 1.08487199e-04 -9.99899139e-01 -4.13607889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.01272746499605487 Centerline is valid? [True, True] Translation: X:105.87, Y:-132.22, Z:-4.14 [[-9.98648056e-01 -5.01637654e-02 1.36256183e-02 1.05868493e+02] [-5.01585684e-02 9.98741005e-01 7.23096365e-04 -1.32220129e+02] [-1.36447370e-02 3.86772712e-05 -9.99906906e-01 -4.13625140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.012528647386482673 Centerline is valid? [True, True] Translation: X:105.86, Y:-132.19, Z:-4.14 [[-9.92024858e-01 -1.25360484e-01 1.30931243e-02 1.05863681e+02] [-1.25349830e-01 9.92111258e-01 1.63446670e-03 -1.32189152e+02] [-1.31947336e-02 -1.97893176e-05 -9.99912946e-01 -4.13785880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.012696729917345438 Centerline is valid? [True, True] Translation: X:105.85, Y:-132.16, Z:-4.14 [[-9.79564096e-01 -2.00789592e-01 1.17355353e-02 1.05849963e+02] [-2.00776161e-01 9.79634388e-01 2.32370547e-03 -1.32159290e+02] [-1.19631098e-02 -7.99972847e-05 -9.99928436e-01 -4.13931767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.01282955548646894 Centerline is valid? [True, True] Translation: X:105.71, Y:-131.48, Z:-5.11 [[-9.92870986e-01 1.18799170e-01 9.69341437e-03 1.05713156e+02] [-1.18794371e-01 -9.92918300e-01 1.07143121e-03 -1.31480705e+02] [ 9.75205365e-03 -8.77300996e-05 9.99952444e-01 -5.11143297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.013472490025308353 Centerline is valid? [True, True] Translation: X:105.75, Y:-132.17, Z:-4.14 [[-9.77654399e-01 -2.10023789e-01 9.04898202e-03 1.05748350e+02] [-2.10015647e-01 9.77696272e-01 1.85147683e-03 -1.32173010e+02] [-9.23601016e-03 -9.03233448e-05 -9.99957343e-01 -4.13901856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.01347484474870431 Centerline is valid? [True, True] Translation: X:105.73, Y:-132.15, Z:-4.14 [[-9.60288029e-01 -2.78911971e-01 7.41711213e-03 1.05730013e+02] [-2.78904234e-01 9.60316670e-01 2.07876268e-03 -1.32149372e+02] [-7.70256822e-03 -7.24530566e-05 -9.99970332e-01 -4.13987610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.012839810317854073 Centerline is valid? [True, True] Translation: X:105.70, Y:-132.13, Z:-4.14 [[-9.38257658e-01 -3.45874295e-01 6.59843379e-03 1.05701259e+02] [-3.45866158e-01 9.38280858e-01 2.37319829e-03 -1.32133521e+02] [-7.01201240e-03 -5.55034699e-05 -9.99975414e-01 -4.14170927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.01264257474773414 Centerline is valid? [True, True] Translation: X:105.65, Y:-132.13, Z:-4.14 [[-9.11001771e-01 -4.12327754e-01 7.84836769e-03 1.05653226e+02] [-4.12312989e-01 9.11035576e-01 3.48986761e-03 -1.32125731e+02] [-8.58911145e-03 -5.67083684e-05 -9.99963111e-01 -4.14059803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.012840608000742552 Centerline is valid? [True, True] Translation: X:105.59, Y:-132.13, Z:-4.14 [[-8.78201592e-01 -4.78194781e-01 9.57685572e-03 1.05591062e+02] [-4.78167225e-01 8.78253805e-01 5.13405427e-03 -1.32125843e+02] [-1.08659879e-02 -7.06038910e-05 -9.99940961e-01 -4.13763628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.012943324220445543 Centerline is valid? [True, True] Translation: X:105.52, Y:-132.14, Z:-4.14 [[-8.39965080e-01 -5.42555487e-01 9.60249550e-03 1.05521197e+02] [-5.42521160e-01 8.40019962e-01 6.10369659e-03 -1.32135256e+02] [-1.13778820e-02 -8.26650029e-05 -9.99935266e-01 -4.13673418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.012989913547944624 Centerline is valid? [True, True] Translation: X:105.44, Y:-132.16, Z:-4.14 [[-7.96996257e-01 -6.03918373e-01 8.91994871e-03 1.05444946e+02] [-6.03881744e-01 7.97046166e-01 6.65189674e-03 -1.32156174e+02] [-1.11268136e-02 -8.50573871e-05 -9.99938092e-01 -4.13680136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.013103112826586197 Centerline is valid? [True, True] Translation: X:105.37, Y:-132.19, Z:-4.14 [[-7.49417629e-01 -6.62052572e-01 7.72073602e-03 1.05366234e+02] [-6.62018542e-01 7.49457394e-01 6.71297676e-03 -1.32187337e+02] [-1.02307062e-02 -8.04472731e-05 -9.99947662e-01 -4.13710960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.013154012850335229 Centerline is valid? [True, True] Translation: X:105.28, Y:-132.23, Z:-4.14 [[-6.97435792e-01 -7.16613340e-01 6.97402341e-03 1.05278902e+02] [-7.16578658e-01 6.97470655e-01 7.05073122e-03 -1.32234452e+02] [-9.91682473e-03 -8.00040279e-05 -9.99950824e-01 -4.13752361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.013412515897738259 Centerline is valid? [True, True] Translation: X:105.20, Y:-132.28, Z:-4.14 [[-6.41067237e-01 -7.67467266e-01 5.17622369e-03 1.05201150e+02] [-7.67443090e-01 6.41088131e-01 6.09196590e-03 -1.32280567e+02] [-7.99379999e-03 -6.70973502e-05 -9.99968047e-01 -4.13825453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.013155642662154167 Centerline is valid? [True, True] Translation: X:105.12, Y:-132.34, Z:-4.14 [[-5.80572856e-01 -8.14192965e-01 4.99737578e-03 1.05124032e+02] [-8.14163913e-01 5.80594359e-01 6.87847887e-03 -1.32339615e+02] [-8.50185730e-03 -7.52248943e-05 -9.99963856e-01 -4.13870617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.01325855850489376 Centerline is valid? [True, True] Translation: X:105.05, Y:-132.41, Z:-4.14 [[-5.16973542e-01 -8.55987672e-01 4.84376202e-03 1.05045217e+02] [-8.55951575e-01 5.16996227e-01 7.86145757e-03 -1.32412742e+02] [-9.23351745e-03 -8.18601639e-05 -9.99957367e-01 -4.13810351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.013378279018617427 Centerline is valid? [True, True] Translation: X:104.97, Y:-132.49, Z:-4.14 [[-4.49729348e-01 -8.93152734e-01 4.65922932e-03 1.04969162e+02] [-8.93107001e-01 4.49753472e-01 9.03875139e-03 -1.32493672e+02] [-1.01684901e-02 -9.61985558e-05 -9.99948295e-01 -4.13765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.013904125268874362 Centerline is valid? [True, True] Translation: X:104.90, Y:-132.58, Z:-4.14 [[-3.79279077e-01 -9.25273982e-01 3.92928194e-03 1.04899973e+02] [-9.25227164e-01 3.79299416e-01 9.30852018e-03 -1.32576193e+02] [-1.01033059e-02 -1.04951437e-04 -9.99948955e-01 -4.13684776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.013793495531096411 Centerline is valid? [True, True] Translation: X:104.83, Y:-132.67, Z:-4.14 [[-3.05574957e-01 -9.52164105e-01 2.73179913e-03 1.04834307e+02] [-9.52129087e-01 3.05587150e-01 8.16676341e-03 -1.32673655e+02] [-8.61090168e-03 -1.05467032e-04 -9.99962920e-01 -4.13913862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.014275154002952409 Centerline is valid? [True, True] Translation: X:104.78, Y:-132.77, Z:-4.14 [[-2.29827418e-01 -9.73229279e-01 2.03188533e-03 1.04776076e+02] [-9.73195676e-01 2.29836369e-01 8.08819556e-03 -1.32771033e+02] [-8.33866988e-03 -1.18532918e-04 -9.99965226e-01 -4.13939896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.014773091090194656 Centerline is valid? [True, True] Translation: X:104.72, Y:-132.88, Z:-4.14 [[-1.51277709e-01 -9.88489982e-01 1.61589906e-03 1.04723686e+02] [-9.88444824e-01 1.51286247e-01 9.44998763e-03 -1.32880476e+02] [-9.58568140e-03 -1.67654583e-04 -9.99954042e-01 -4.13821292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.01577156272313956 Centerline is valid? [True, True] Translation: X:104.68, Y:-132.99, Z:-4.14 [[-7.17290004e-02 -9.97423704e-01 9.51282795e-04 1.04678794e+02] [-9.97371012e-01 7.17349912e-02 1.02545372e-02 -1.32992417e+02] [-1.02963588e-02 -2.13234180e-04 -9.99946968e-01 -4.13700838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.016134678894959818 Centerline is valid? [True, True] Translation: X:104.64, Y:-133.11, Z:-4.14 [[ 7.76822395e-03 -9.99969816e-01 1.49720972e-04 1.04643204e+02] [-9.99924166e-01 -7.76643833e-03 9.55743872e-03 -1.33110362e+02] [-9.55598743e-03 -2.23953943e-04 -9.99954315e-01 -4.13770945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.016264751100960727 Centerline is valid? [True, True] Translation: X:104.62, Y:-133.24, Z:-4.14 [[ 8.57503917e-02 -9.96316517e-01 -5.17934537e-04 1.04618486e+02] [-9.96280650e-01 -8.57517008e-02 8.45655112e-03 -1.33236779e+02] [-8.46981532e-03 -2.09144413e-04 -9.99964109e-01 -4.13870788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.018110248837754004 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.34, Z:-4.14 [[ 1.61530243e-01 -9.86867202e-01 -1.05130031e-03 1.04599171e+02] [-9.86838250e-01 -1.61533560e-01 7.56164022e-03 -1.33340117e+02] [-7.63215501e-03 -1.83970230e-04 -9.99970858e-01 -4.13814582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.016077145601326916 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.46, Z:-4.14 [[ 2.35689397e-01 -9.71827174e-01 -1.56627023e-03 1.04597809e+02] [-9.71800743e-01 -2.35694541e-01 7.16938597e-03 -1.33463480e+02] [-7.33656545e-03 -1.67645679e-04 -9.99973073e-01 -4.13955838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.016389541321164266 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.57, Z:-4.14 [[ 3.10417132e-01 -9.50597995e-01 -2.15760200e-03 1.04595680e+02] [-9.50570880e-01 -3.10424579e-01 7.18207760e-03 -1.33570609e+02] [-7.49704126e-03 -1.78486300e-04 -9.99971881e-01 -4.13886567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.017191255351877148 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.69, Z:-4.14 [[ 3.83512204e-01 -9.23529421e-01 -3.43496337e-03 1.04604798e+02] [-9.23486642e-01 -3.83527512e-01 8.89205302e-03 -1.33691287e+02] [-9.52947553e-03 -2.38068064e-04 -9.99954565e-01 -4.13612282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.019066303454570062 Centerline is valid? [True, True] Translation: X:104.62, Y:-133.80, Z:-4.13 [[ 4.53718119e-01 -8.91135136e-01 -4.24715412e-03 1.04620114e+02] [-8.91090750e-01 -4.53737927e-01 8.89767844e-03 -1.33803701e+02] [-9.85612879e-03 -2.52438178e-04 -9.99951395e-01 -4.13496401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.01717352603256661 Centerline is valid? [True, True] Translation: X:104.65, Y:-133.92, Z:-4.14 [[ 5.21466977e-01 -8.53256544e-01 -5.04601686e-03 1.04654728e+02] [-8.53211489e-01 -5.21491321e-01 8.77251094e-03 -1.33920850e+02] [-1.01166564e-02 -2.69255199e-04 -9.99948789e-01 -4.13661765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.01883253224853137 Centerline is valid? [True, True] Translation: X:104.69, Y:-134.03, Z:-4.14 [[ 5.85768796e-01 -8.10459331e-01 -5.53088858e-03 1.04685117e+02] [-8.10418798e-01 -5.85794846e-01 8.10984939e-03 -1.34027163e+02] [-9.81266913e-03 -2.68160636e-04 -9.99951819e-01 -4.13598231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.01773016441946197 Centerline is valid? [True, True] Translation: X:104.73, Y:-134.13, Z:-4.14 [[ 6.45056764e-01 -7.64116240e-01 -5.30511680e-03 1.04728248e+02] [-7.64087532e-01 -6.45078541e-01 6.62720606e-03 -1.34127921e+02] [-8.48617278e-03 -2.21350487e-04 -9.99963967e-01 -4.13755464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.016919837849631574 Centerline is valid? [True, True] Translation: X:104.78, Y:-134.22, Z:-4.14 [[ 7.00351532e-01 -7.13778163e-01 -5.33532770e-03 1.04776152e+02] [-7.13755341e-01 -7.00371828e-01 5.71099084e-03 -1.34221380e+02] [-7.81309376e-03 -1.91582535e-04 -9.99969459e-01 -4.13868427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.016429472556611337 Centerline is valid? [True, True] Translation: X:104.83, Y:-134.31, Z:-4.14 [[ 7.51413484e-01 -6.59801385e-01 -6.31737245e-03 1.04828333e+02] [-6.59775872e-01 -7.51440014e-01 5.80551119e-03 -1.34311120e+02] [-8.57761077e-03 -1.94289477e-04 -9.99963193e-01 -4.13772877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.01604158709037879 Centerline is valid? [True, True] Translation: X:104.85, Y:-134.34, Z:-4.14 [[ 7.99784375e-01 -6.00247330e-01 -6.93522374e-03 1.04849517e+02] [-6.00222729e-01 -7.99814421e-01 5.43756514e-03 -1.34338326e+02] [-8.81077592e-03 -1.86200711e-04 -9.99961167e-01 -4.13745966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.01575047150199971 Centerline is valid? [True, True] Translation: X:104.87, Y:-134.36, Z:-4.14 [[ 8.43136967e-01 -5.37661038e-01 -6.37676914e-03 1.04873313e+02] [-5.37644348e-01 -8.43161068e-01 4.23895693e-03 -1.34363027e+02] [-7.65576547e-03 -1.45587402e-04 -9.99970684e-01 -4.13878115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.015629143573916014 Centerline is valid? [True, True] Translation: X:104.90, Y:-134.39, Z:-4.14 [[ 8.82103896e-01 -4.71010748e-01 -6.44923045e-03 1.04899165e+02] [-4.70997053e-01 -8.82127461e-01 3.59423175e-03 -1.34385855e+02] [-7.38196507e-03 -1.32917288e-04 -9.99972744e-01 -4.13877003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.014483773577209931 Centerline is valid? [True, True] Translation: X:104.93, Y:-134.40, Z:-4.14 [[ 9.14135930e-01 -4.05337653e-01 -7.54245246e-03 1.04927744e+02] [-4.05322894e-01 -9.14167039e-01 3.46055814e-03 -1.34404680e+02] [-8.29775595e-03 -1.06291868e-04 -9.99965567e-01 -4.13807285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.014290344117369498 Centerline is valid? [True, True] Translation: X:104.96, Y:-134.42, Z:-4.14 [[ 9.42287310e-01 -3.34711476e-01 -7.92801913e-03 1.04956526e+02] [-3.34698826e-01 -9.42320657e-01 2.91144325e-03 -1.34421249e+02] [-8.44522966e-03 -8.99173339e-05 -9.99964334e-01 -4.13802189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.013869197103848416 Centerline is valid? [True, True] Translation: X:104.99, Y:-134.44, Z:-4.14 [[ 9.64789178e-01 -2.62919849e-01 -7.41586106e-03 1.04986409e+02] [-2.62911613e-01 -9.64817677e-01 2.08186483e-03 -1.34436681e+02] [-7.70231743e-03 -5.88446659e-05 -9.99970335e-01 -4.13972156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.013662869812514423 Centerline is valid? [True, True] Translation: X:105.02, Y:-134.45, Z:-4.14 [[ 9.82026218e-01 -1.88607667e-01 -7.18709958e-03 1.05016420e+02] [-1.88602304e-01 -9.82052517e-01 1.42293170e-03 -1.34451788e+02] [-7.32648506e-03 -4.18527038e-05 -9.99973160e-01 -4.13961615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.013642194826307597 Centerline is valid? [True, True] Translation: X:105.04, Y:-134.46, Z:-4.14 [[ 9.93578592e-01 -1.12966452e-01 -6.33745182e-03 1.05043472e+02] [-1.12963993e-01 -9.93598802e-01 7.45829367e-04 -1.34461625e+02] [-6.38113824e-03 -2.51362315e-05 -9.99979640e-01 -4.13958851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.013648914916025006 Centerline is valid? [True, True] Translation: X:105.07, Y:-134.47, Z:-4.14 [[ 9.99326301e-01 -3.58964964e-02 -7.64112283e-03 1.05072238e+02] [-3.58952806e-02 -9.99355513e-01 2.96238783e-04 -1.34471730e+02] [-7.64683216e-03 -2.17589592e-05 -9.99970762e-01 -4.13873151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.013667477424492938 Centerline is valid? [True, True] Translation: X:105.10, Y:-134.48, Z:-4.14 [[ 9.99072805e-01 4.20584807e-02 -9.19863125e-03 1.05101518e+02] [ 4.20569020e-02 -9.99115150e-01 -3.65080512e-04 -1.34483480e+02] [-9.20584657e-03 -2.21239217e-05 -9.99957625e-01 -4.13686219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.013651018404640792 Centerline is valid? [True, True] Translation: X:105.13, Y:-134.49, Z:-4.14 [[ 9.92708231e-01 1.20199907e-01 -9.07469155e-03 1.05130670e+02] [ 1.20195095e-01 -9.92749708e-01 -1.07580969e-03 -1.34489790e+02] [-9.13820961e-03 -2.27682744e-05 -9.99958245e-01 -4.13623229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.013740729525020357 Centerline is valid? [True, True] Translation: X:105.16, Y:-134.49, Z:-4.14 [[ 9.80270055e-01 1.97448544e-01 -9.20284882e-03 1.05161023e+02] [ 1.97440056e-01 -9.80313252e-01 -1.83094887e-03 -1.34492484e+02] [-9.38319284e-03 -2.21866416e-05 -9.99955977e-01 -4.13592287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.013575241596123212 Centerline is valid? [True, True] Translation: X:105.19, Y:-134.49, Z:-4.14 [[ 9.62195562e-01 2.72205529e-01 -9.15698597e-03 1.05191669e+02] [ 2.72193295e-01 -9.62239133e-01 -2.58078317e-03 -1.34494120e+02] [-9.51371369e-03 -9.25207242e-06 -9.99954744e-01 -4.13526878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.013521053933237518 Centerline is valid? [True, True] Translation: X:105.22, Y:-134.49, Z:-4.14 [[ 9.38762659e-01 3.44476925e-01 -7.76648555e-03 1.05220694e+02] [ 3.44465034e-01 -9.38794785e-01 -2.86221740e-03 -1.34490204e+02] [-8.27710398e-03 1.16601012e-05 -9.99965744e-01 -4.13639276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.01350211030976668 Centerline is valid? [True, True] Translation: X:105.25, Y:-134.48, Z:-4.14 [[ 9.09874647e-01 4.14822998e-01 -7.07157624e-03 1.05249355e+02] [ 4.14810223e-01 -9.09902126e-01 -3.25571057e-03 -1.34483633e+02] [-7.78498588e-03 2.89263897e-05 -9.99969696e-01 -4.13739760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.013564045695539134 Centerline is valid? [True, True] Translation: X:105.28, Y:-134.48, Z:-4.14 [[ 8.74826977e-01 4.84381913e-01 -7.20568776e-03 1.05278094e+02] [ 4.84365161e-01 -8.74856652e-01 -4.02866157e-03 -1.34476826e+02] [-8.25535467e-03 3.41977140e-05 -9.99965923e-01 -4.13641261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.013407079140973534 Centerline is valid? [True, True] Translation: X:105.31, Y:-134.47, Z:-4.14 [[ 8.33448193e-01 5.52559278e-01 -6.50793321e-03 1.05306913e+02] [ 5.52542234e-01 -8.33473601e-01 -4.34004414e-03 -1.34468783e+02] [-7.82232218e-03 2.12939912e-05 -9.99969405e-01 -4.13623389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.013324798523119805 Centerline is valid? [True, True] Translation: X:105.34, Y:-134.46, Z:-4.14 [[ 7.86520019e-01 6.17533594e-01 -6.20644086e-03 1.05336932e+02] [ 6.17514296e-01 -7.86544506e-01 -4.88201224e-03 -1.34459689e+02] [-7.89644853e-03 7.23439748e-06 -9.99968823e-01 -4.13626399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.013480127459603917 Centerline is valid? [True, True] Translation: X:105.37, Y:-134.45, Z:-4.13 [[ 7.33294811e-01 6.79877111e-01 -6.77014125e-03 1.05366063e+02] [ 6.79848450e-01 -7.33326063e-01 -6.24272917e-03 -1.34448865e+02] [-9.20900970e-03 -2.49091246e-05 -9.99957596e-01 -4.13468054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.013626019168720499 Centerline is valid? [True, True] Translation: X:105.39, Y:-134.43, Z:-4.13 [[ 6.75230144e-01 7.37581524e-01 -6.14385472e-03 1.05392142e+02] [ 7.37551747e-01 -6.75258093e-01 -6.62790509e-03 -1.34434430e+02] [-9.03730796e-03 -5.60494707e-05 -9.99959161e-01 -4.13459762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.013911546002284007 Centerline is valid? [True, True] Translation: X:105.42, Y:-134.42, Z:-4.14 [[ 6.12917195e-01 7.90131313e-01 -5.00202062e-03 1.05418540e+02] [ 7.90105998e-01 -6.12937601e-01 -6.32521283e-03 -1.34418342e+02] [-8.06367524e-03 -7.52947874e-05 -9.99967485e-01 -4.13575653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.014074466671011192 Centerline is valid? [True, True] Translation: X:105.44, Y:-134.40, Z:-4.14 [[ 5.48007265e-01 8.36462764e-01 -4.25228692e-03 1.05442212e+02] [ 8.36438733e-01 -5.48023756e-01 -6.34104951e-03 -1.34399004e+02] [-7.63440605e-03 -8.18362856e-05 -9.99970854e-01 -4.13624693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.014923580063642384 Centerline is valid? [True, True] Translation: X:105.46, Y:-134.38, Z:-4.14 [[ 4.78510652e-01 8.78073993e-01 -3.69035133e-03 1.05463036e+02] [ 8.78049486e-01 -4.78524871e-01 -6.56102797e-03 -1.34378418e+02] [-7.52699292e-03 -1.00789318e-04 -9.99971667e-01 -4.13529919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.014933625303340983 Centerline is valid? [True, True] Translation: X:105.48, Y:-134.36, Z:-4.13 [[ 4.06707687e-01 9.13550938e-01 -3.67996447e-03 1.05483140e+02] [ 9.13516431e-01 -4.06724313e-01 -7.94128319e-03 -1.34355370e+02] [-8.75149772e-03 -1.31927090e-04 -9.99961696e-01 -4.13415645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.01512117398315241 Centerline is valid? [True, True] Translation: X:105.50, Y:-134.33, Z:-4.13 [[ 3.34219754e-01 9.42490207e-01 -3.06044937e-03 1.05498453e+02] [ 9.42454172e-01 -3.34233741e-01 -8.24260745e-03 -1.34330300e+02] [-8.79148224e-03 -1.29491043e-04 -9.99961346e-01 -4.13407687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.01482467234227873 Centerline is valid? [True, True] Translation: X:105.51, Y:-134.30, Z:-4.14 [[ 2.61146360e-01 9.65297298e-01 -1.92464016e-03 1.05508135e+02] [ 9.65273591e-01 -2.61153437e-01 -6.76585454e-03 -1.34303111e+02] [-7.03368750e-03 -9.09260315e-05 -9.99975259e-01 -4.13545510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.014322729681885199 Centerline is valid? [True, True] Translation: X:105.52, Y:-134.28, Z:-4.14 [[ 1.86752263e-01 9.82406343e-01 -1.17015184e-03 1.05516777e+02] [ 9.82389163e-01 -1.86755917e-01 -5.81038527e-03 -1.34276556e+02] [-5.92669213e-03 -6.44418926e-05 -9.99982435e-01 -4.13611265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.014340210293628981 Centerline is valid? [True, True] Translation: X:105.52, Y:-134.25, Z:-4.14 [[ 1.09973463e-01 9.93934299e-01 -6.69048801e-04 1.05524852e+02] [ 9.93918889e-01 -1.09975484e-01 -5.53485102e-03 -1.34249207e+02] [-5.57485723e-03 -5.62935067e-05 -9.99984459e-01 -4.13574735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.014181625183978258 Centerline is valid? [True, True] Translation: X:105.53, Y:-134.22, Z:-4.14 [[ 3.18639618e-02 9.99492175e-01 -2.83349445e-04 1.05530934e+02] [ 9.99469322e-01 -3.18651494e-02 -6.75920913e-03 -1.34222229e+02] [-6.76480560e-03 -6.78238962e-05 -9.99977116e-01 -4.13508033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.014502012217562553 Centerline is valid? [True, True] Translation: X:105.54, Y:-134.20, Z:-4.13 [[-4.84598936e-02 9.98825092e-01 2.71732560e-04 1.05536634e+02] [ 9.98797415e-01 4.84605738e-02 -7.43617682e-03 -1.34195353e+02] [-7.44060831e-03 -8.89505595e-05 -9.99972314e-01 -4.13392221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.014879539811827281 Centerline is valid? [True, True] Translation: X:105.54, Y:-134.17, Z:-4.13 [[-1.29308025e-01 9.91604077e-01 8.88855871e-04 1.05542981e+02] [ 9.91574200e-01 1.29311030e-01 -7.69827930e-03 -1.34167848e+02] [-7.74858400e-03 -1.14082745e-04 -9.99969973e-01 -4.13363148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.016600481770617924 Centerline is valid? [True, True] Translation: X:105.55, Y:-134.14, Z:-4.13 [[-2.09670862e-01 9.77770496e-01 1.72851965e-03 1.05548722e+02] [ 9.77730658e-01 2.09677925e-01 -8.82775276e-03 -1.34140035e+02] [-8.99394860e-03 -1.60895871e-04 -9.99959541e-01 -4.13182300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.018017427747347693 Centerline is valid? [True, True] Translation: X:105.55, Y:-134.11, Z:-4.13 [[-2.89532715e-01 9.57164717e-01 2.55176537e-03 1.05545056e+02] [ 9.57120940e-01 2.89543885e-01 -9.15672260e-03 -1.34113255e+02] [-9.50333985e-03 -2.08822692e-04 -9.99954821e-01 -4.13079002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.018429980586440263 Centerline is valid? [True, True] Translation: X:105.54, Y:-134.09, Z:-4.13 [[-3.64776372e-01 9.31090367e-01 2.98781330e-03 1.05537818e+02] [ 9.31054452e-01 3.64788552e-01 -8.18040807e-03 -1.34086856e+02] [-8.70661924e-03 -2.02202701e-04 -9.99962076e-01 -4.13120444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.01624280773573168 Centerline is valid? [True, True] Translation: X:105.53, Y:-134.06, Z:-4.13 [[-4.35208949e-01 9.00324578e-01 2.97075112e-03 1.05530881e+02] [ 9.00301114e-01 4.35219061e-01 -6.50183254e-03 -1.34060008e+02] [-7.14668714e-03 -1.55085165e-04 -9.99974450e-01 -4.13334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.015030022560195989 Centerline is valid? [True, True] Translation: X:105.52, Y:-134.03, Z:-4.14 [[-4.99755632e-01 8.66164408e-01 1.87808853e-03 1.05522613e+02] [ 8.66157808e-01 4.99759156e-01 -3.38185251e-03 -1.34033972e+02] [-3.86783222e-03 -6.33787982e-05 -9.99992518e-01 -4.13579336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.014135157908913239 Centerline is valid? [True, True] Translation: X:105.51, Y:-134.01, Z:-4.14 [[-5.62008230e-01 8.27130079e-01 1.60708020e-03 1.05512447e+02] [ 8.27126526e-01 5.62010527e-01 -2.42460878e-03 -1.34008617e+02] [-2.90866284e-03 -3.33914233e-05 -9.99995769e-01 -4.13661436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.013901779937124891 Centerline is valid? [True, True] Translation: X:105.50, Y:-133.98, Z:-4.13 [[-6.23492808e-01 7.81824216e-01 2.75940417e-03 1.05502521e+02] [ 7.81816259e-01 6.23498912e-01 -3.52758070e-03 -1.33982631e+02] [-4.47843351e-03 -4.20741470e-05 -9.99989971e-01 -4.13461856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.013938118555656498 Centerline is valid? [True, True] Translation: X:105.49, Y:-133.96, Z:-4.13 [[-6.82046596e-01 7.31297735e-01 4.00809849e-03 1.05491376e+02] [ 7.31284680e-01 6.82058371e-01 -4.36980137e-03 -1.33955997e+02] [-5.92938297e-03 -4.93471211e-05 -9.99982420e-01 -4.13286165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.013683515836929469 Centerline is valid? [True, True] Translation: X:105.48, Y:-133.93, Z:-4.13 [[-7.36592280e-01 6.76321979e-01 4.51591862e-03 1.05478208e+02] [ 6.76308890e-01 7.36606121e-01 -4.20793206e-03 -1.33930738e+02] [-6.17237024e-03 -4.53743648e-05 -9.99980950e-01 -4.13251282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.013551178104116136 Centerline is valid? [True, True] Translation: X:105.50, Y:-133.91, Z:-4.13 [[-7.81540022e-01 6.23834319e-01 5.09283716e-03 1.05497337e+02] [ 6.23820764e-01 7.81556614e-01 -4.11259426e-03 -1.33911341e+02] [-6.54591800e-03 -3.71394394e-05 -9.99978575e-01 -4.13252076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.013434370253438813 Centerline is valid? [True, True] Translation: X:105.51, Y:-133.89, Z:-4.13 [[-8.22288207e-01 5.69040959e-01 5.87292974e-03 1.05514869e+02] [ 5.69026245e-01 8.22309180e-01 -4.09219669e-03 -1.33890342e+02] [-7.15799157e-03 -2.31139259e-05 -9.99974381e-01 -4.13181940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.013257565857294887 Centerline is valid? [True, True] Translation: X:105.93, Y:-133.30, Z:-5.12 [[-7.79812093e-01 -6.25989287e-01 5.52387499e-03 1.05931901e+02] [ 6.25973744e-01 -7.79831657e-01 -4.41131546e-03 -1.33300846e+02] [ 7.06912880e-03 1.78035659e-05 9.99975013e-01 -5.12069411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.013276558859405402 Centerline is valid? [True, True] Translation: X:105.49, Y:-133.87, Z:-4.13 [[-8.21480741e-01 5.70207060e-01 5.77061215e-03 1.05486031e+02] [ 5.70193095e-01 8.21501009e-01 -3.99083847e-03 -1.33871981e+02] [-7.01616798e-03 1.19662560e-05 -9.99975386e-01 -4.13155327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.01341148841615941 Centerline is valid? [True, True] Translation: X:105.51, Y:-133.85, Z:-4.13 [[-8.58050609e-01 5.13540715e-01 5.00873414e-03 1.05505337e+02] [ 5.13532167e-01 8.58065227e-01 -2.96312178e-03 -1.33853740e+02] [-5.81950427e-03 2.96376454e-05 -9.99983066e-01 -4.13236868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.013569730858268281 Centerline is valid? [True, True] Translation: X:105.52, Y:-133.83, Z:-4.13 [[-8.91341917e-01 4.53306930e-01 4.73430755e-03 1.05518463e+02] [ 4.53300760e-01 8.91354489e-01 -2.36541620e-03 -1.33831387e+02] [-5.29220584e-03 3.76705943e-05 -9.99985996e-01 -4.13349200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.013753411839730466 Centerline is valid? [True, True] Translation: X:105.53, Y:-133.81, Z:-4.13 [[-9.20545955e-01 3.90602126e-01 5.01242121e-03 1.05531056e+02] [ 3.90596617e-01 9.20559600e-01 -2.07508935e-03 -1.33807453e+02] [-5.42476678e-03 4.76196600e-05 -9.99985285e-01 -4.13340839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.013722897781788274 Centerline is valid? [True, True] Translation: X:105.54, Y:-133.78, Z:-4.13 [[-9.46128148e-01 3.23725542e-01 6.58036782e-03 1.05539916e+02] [ 3.23718126e-01 9.46151029e-01 -2.19196874e-03 -1.33778723e+02] [-6.93561806e-03 5.63010181e-05 -9.99975947e-01 -4.13176485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.013498640533045076 Centerline is valid? [True, True] Translation: X:105.78, Y:-133.10, Z:-5.12 [[-9.27795214e-01 -3.73035399e-01 6.37431619e-03 1.05775025e+02] [ 3.73026161e-01 -9.27817109e-01 -2.62600808e-03 -1.33099566e+02] [ 6.89379359e-03 -5.86110311e-05 9.99976236e-01 -5.12148849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.01327716076617732 Centerline is valid? [True, True] Translation: X:105.50, Y:-133.76, Z:-4.13 [[-9.48472600e-01 3.16791231e-01 6.56074751e-03 1.05498930e+02] [ 3.16783879e-01 9.48495290e-01 -2.15848949e-03 -1.33759040e+02] [-6.90662865e-03 3.10709060e-05 -9.99976149e-01 -4.13127914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.013176448158756147 Centerline is valid? [True, True] Translation: X:105.72, Y:-133.09, Z:-5.12 [[-9.26989547e-01 -3.75024725e-01 6.84372307e-03 1.05719323e+02] [ 3.75014488e-01 -9.27014809e-01 -2.77082222e-03 -1.33089620e+02] [ 7.38335948e-03 -2.02793005e-06 9.99972743e-01 -5.12130467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.01321981083582886 Centerline is valid? [True, True] Translation: X:105.45, Y:-133.74, Z:-4.13 [[-9.51800374e-01 3.06626685e-01 7.49154144e-03 1.05452537e+02] [ 3.06617027e-01 9.51829856e-01 -2.43379482e-03 -1.33736394e+02] [-7.87693925e-03 -1.94526546e-05 -9.99968976e-01 -4.13031817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.01364048244836991 Centerline is valid? [True, True] Translation: X:105.46, Y:-133.71, Z:-4.13 [[-9.72452732e-01 2.32958410e-01 8.12795520e-03 1.05462839e+02] [ 2.32949692e-01 9.72486697e-01 -2.01642014e-03 -1.33705423e+02] [-8.37407033e-03 -6.74686118e-05 -9.99964935e-01 -4.12961920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.01415290430623797 Centerline is valid? [True, True] Translation: X:105.46, Y:-133.67, Z:-4.13 [[-9.87080967e-01 1.59998015e-01 8.47343879e-03 1.05462675e+02] [ 1.59991255e-01 9.87117331e-01 -1.47406741e-03 -1.33674568e+02] [-8.60012614e-03 -9.93477770e-05 -9.99963013e-01 -4.12961330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.015047487322995361 Centerline is valid? [True, True] Translation: X:105.58, Y:-133.01, Z:-5.12 [[-9.67733240e-01 -2.51805649e-01 9.28934200e-03 1.05581703e+02] [ 2.51795769e-01 -9.67777808e-01 -2.23730828e-03 -1.33013970e+02] [ 9.55338590e-03 1.73899430e-04 9.99954350e-01 -5.12383625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.0153484883378043 Centerline is valid? [True, True] Translation: X:105.41, Y:-133.66, Z:-4.13 [[-9.88256405e-01 1.52554771e-01 8.73614689e-03 1.05413081e+02] [ 1.52547602e-01 9.88295008e-01 -1.48506618e-03 -1.33660666e+02] [-8.86044429e-03 -1.34947901e-04 -9.99960736e-01 -4.12865580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.013997291486233047 Centerline is valid? [True, True] Translation: X:105.53, Y:-133.00, Z:-5.12 [[-9.69391282e-01 -2.45402490e-01 7.62627627e-03 1.05533469e+02] [ 2.45395372e-01 -9.69421278e-01 -1.87000006e-03 -1.33003534e+02] [ 7.85197716e-03 5.86911455e-05 9.99969171e-01 -5.12191422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.013465174824492677 Centerline is valid? [True, True] Translation: X:105.37, Y:-133.66, Z:-4.13 [[-9.87565826e-01 1.57016961e-01 7.70797596e-03 1.05372828e+02] [ 1.57011757e-01 9.87595905e-01 -1.27951607e-03 -1.33661480e+02] [-7.81327121e-03 -5.33635044e-05 -9.99969475e-01 -4.13025242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.013065252605618074 Centerline is valid? [True, True] Translation: X:105.49, Y:-132.99, Z:-5.12 [[-9.72551561e-01 -2.32531329e-01 8.52308181e-03 1.05487657e+02] [ 2.32523429e-01 -9.72588900e-01 -1.92007505e-03 -1.32990747e+02] [ 8.73593236e-03 1.14444222e-04 9.99961835e-01 -5.12308504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.013254186574382423 Centerline is valid? [True, True] Translation: X:105.33, Y:-133.66, Z:-4.13 [[-9.86534529e-01 1.63175381e-01 1.11093834e-02 1.05328050e+02] [ 1.63165470e-01 9.86597078e-01 -1.79880623e-03 -1.33664132e+02] [-1.12540061e-02 3.80833072e-05 -9.99936671e-01 -4.12833218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.01354414231522791 Centerline is valid? [True, True] Translation: X:105.33, Y:-133.64, Z:-4.13 [[-9.95258424e-01 9.64761570e-02 1.23701854e-02 1.05328653e+02] [ 9.64698149e-02 9.95335292e-01 -1.10976457e-03 -1.33640148e+02] [-1.24195479e-02 8.88469521e-05 -9.99922871e-01 -4.12833650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.013885227487955596 Centerline is valid? [True, True] Translation: X:105.40, Y:-132.94, Z:-5.12 [[-9.89387398e-01 -1.44809280e-01 1.19519364e-02 1.05399840e+02] [ 1.44797420e-01 -9.89459580e-01 -1.85633650e-03 -1.32938122e+02] [ 1.20947727e-02 -1.06026392e-04 9.99926850e-01 -5.12288461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.014077762623463401 Centerline is valid? [True, True] Translation: X:105.28, Y:-133.64, Z:-4.13 [[-9.95139082e-01 9.78828035e-02 1.08242450e-02 1.05276754e+02] [ 9.78785099e-02 9.95197939e-01 -9.26980197e-04 -1.33641787e+02] [-1.08630017e-02 1.36986747e-04 -9.99940987e-01 -4.13065299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.01408415040445635 Centerline is valid? [True, True] Translation: X:105.28, Y:-133.61, Z:-4.13 [[-9.99623914e-01 2.55060173e-02 1.00734234e-02 1.05278290e+02] [ 2.55058567e-02 9.99674662e-01 -1.44440928e-04 -1.33614470e+02] [-1.00738303e-02 1.12544689e-04 -9.99949251e-01 -4.13107879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.012974793233395095 Centerline is valid? [True, True] Translation: X:105.29, Y:-132.91, Z:-5.12 [[-9.97099036e-01 -7.55344368e-02 9.38407964e-03 1.05285230e+02] [ 7.55296683e-02 -9.97143182e-01 -8.62017183e-04 -1.32906126e+02] [ 9.42238301e-03 -1.50740080e-04 9.99955597e-01 -5.11970332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.012707459969349497 Centerline is valid? [True, True] Translation: X:105.20, Y:-133.61, Z:-4.13 [[-9.99869683e-01 1.30824689e-02 9.45864264e-03 1.05204954e+02] [ 1.30821702e-02 9.99914420e-01 -9.34504441e-05 -1.33607549e+02] [-9.45905573e-03 3.03013068e-05 -9.99955262e-01 -4.13278176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.0130351776556607 Centerline is valid? [True, True] Translation: X:105.21, Y:-132.92, Z:-5.12 [[-9.96432758e-01 -8.38863729e-02 9.21063201e-03 1.05212380e+02] [ 8.38823676e-02 -9.96475326e-01 -8.20992397e-04 -1.32915704e+02] [ 9.24703760e-03 -4.54540981e-05 9.99957244e-01 -5.11971268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.013889963242813786 Centerline is valid? [True, True] Translation: X:105.14, Y:-133.59, Z:-4.13 [[-9.99922357e-01 -7.96487917e-03 9.58340240e-03 1.05142050e+02] [-7.96575717e-03 9.99968271e-01 -5.34489430e-05 -1.33592382e+02] [-9.58267261e-03 -1.29783849e-04 -9.99954077e-01 -4.13242965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.015534460186706288 Centerline is valid? [True, True] Translation: X:105.13, Y:-133.56, Z:-4.13 [[-9.96161433e-01 -8.68972092e-02 1.05486699e-02 1.05132231e+02] [-8.68947477e-02 9.96217257e-01 6.92319171e-04 -1.33559212e+02] [-1.05689276e-02 -2.26962354e-04 -9.99944122e-01 -4.13129048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.01786028881166417 Centerline is valid? [True, True] Translation: X:105.09, Y:-132.91, Z:-5.12 [[-9.99614337e-01 -2.54108177e-02 1.12012210e-02 1.05089499e+02] [ 2.54123935e-02 -9.99677053e-01 -1.64768761e-06 -1.32907469e+02] [ 1.11976454e-02 2.83002782e-04 9.99937264e-01 -5.12269725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.01566433364799632 Centerline is valid? [True, True] Translation: X:105.07, Y:-133.56, Z:-4.13 [[-9.95672273e-01 -9.23676667e-02 1.02439668e-02 1.05066269e+02] [-9.23651547e-02 9.95724943e-01 7.19066614e-04 -1.33562977e+02] [-1.02665917e-02 -2.30230886e-04 -9.99947271e-01 -4.13202710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.014958729309142382 Centerline is valid? [True, True] Translation: X:105.06, Y:-133.54, Z:-4.13 [[-9.86964047e-01 -1.60677039e-01 9.21187621e-03 1.05057285e+02] [-1.60671812e-01 9.87007018e-01 1.30950870e-03 -1.33539389e+02] [-9.30259445e-03 -1.87650833e-04 -9.99956712e-01 -4.13314672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.014741098036014796 Centerline is valid? [True, True] Translation: X:104.96, Y:-132.88, Z:-5.12 [[-9.98450097e-01 5.46757692e-02 1.03906018e-02 1.04964110e+02] [-5.46698528e-02 -9.98504121e-01 8.52791024e-04 -1.32883773e+02] [ 1.04216857e-02 2.83416610e-04 9.99945653e-01 -5.12080317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.014534355332768627 Centerline is valid? [True, True] Translation: X:104.97, Y:-133.55, Z:-4.13 [[-9.86246151e-01 -1.64888051e-01 1.14218903e-02 1.04970372e+02] [-1.64879526e-01 9.86312265e-01 1.69056776e-03 -1.33554098e+02] [-1.15443049e-02 -2.15919914e-04 -9.99933339e-01 -4.13037520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.014671626021295653 Centerline is valid? [True, True] Translation: X:104.88, Y:-132.89, Z:-5.12 [[-9.97998271e-01 6.21244457e-02 1.18323684e-02 1.04875853e+02] [-6.21171877e-02 -9.98068381e-01 9.80280512e-04 -1.32893822e+02] [ 1.18704122e-02 2.43324807e-04 9.99929515e-01 -5.12308313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.013501280156486533 Centerline is valid? [True, True] Translation: X:104.88, Y:-133.57, Z:-4.13 [[-9.86186412e-01 -1.65294112e-01 1.06872154e-02 1.04882099e+02] [-1.65285959e-01 9.86244309e-01 1.64781050e-03 -1.33574133e+02] [-1.08125788e-02 -1.41398329e-04 -9.99941532e-01 -4.13064084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.01290112803141382 Centerline is valid? [True, True] Translation: X:104.87, Y:-133.55, Z:-4.13 [[-9.72981659e-01 -2.30679985e-01 9.66617954e-03 1.04873356e+02] [-2.30669459e-01 9.73029669e-01 2.20530777e-03 -1.33553490e+02] [-9.91419984e-03 -8.39683959e-05 -9.99950850e-01 -4.13134887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.012378889013767767 Centerline is valid? [True, True] Translation: X:104.85, Y:-133.54, Z:-4.13 [[-9.56313512e-01 -2.92216427e-01 8.60383560e-03 1.04853198e+02] [-2.92204619e-01 9.56352215e-01 2.62687563e-03 -1.33538866e+02] [-8.99591345e-03 -1.96384944e-06 -9.99959536e-01 -4.13167431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.012970259113733652 Centerline is valid? [True, True] Translation: X:104.81, Y:-133.53, Z:-4.13 [[-9.35526935e-01 -3.53182130e-01 7.19279063e-03 1.04814479e+02] [-3.53171191e-01 9.35554584e-01 2.78040245e-03 -1.33532476e+02] [-7.71123670e-03 6.08549500e-05 -9.99970266e-01 -4.13303967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.013766265175745099 Centerline is valid? [True, True] Translation: X:104.76, Y:-133.53, Z:-4.13 [[-9.08894926e-01 -4.16978534e-01 6.23817856e-03 1.04760539e+02] [-4.16968070e-01 9.08916330e-01 2.95522876e-03 -1.33531381e+02] [-6.90224932e-03 8.48711434e-05 -9.99976176e-01 -4.13373335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.014199059999013565 Centerline is valid? [True, True] Translation: X:104.70, Y:-133.54, Z:-4.13 [[-8.77165623e-01 -4.80158416e-01 5.32593314e-03 1.04696474e+02] [-4.80148897e-01 8.77181786e-01 3.02508590e-03 -1.33536836e+02] [-6.12433200e-03 9.62604374e-05 -9.99981242e-01 -4.13405093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.013984323156009558 Centerline is valid? [True, True] Translation: X:104.62, Y:-133.55, Z:-4.13 [[-8.38870836e-01 -5.44307579e-01 4.99805554e-03 1.04616701e+02] [-5.44297256e-01 8.38885720e-01 3.35348746e-03 -1.33553604e+02] [-6.01812606e-03 9.27149109e-05 -9.99981887e-01 -4.13362807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.013421363861827483 Centerline is valid? [True, True] Translation: X:104.54, Y:-133.57, Z:-4.13 [[-7.93978747e-01 -6.07929863e-01 4.36247757e-03 1.04538142e+02] [-6.07920206e-01 7.93990729e-01 3.42723138e-03 -1.33574387e+02] [-5.54728304e-03 6.91106105e-05 -9.99984611e-01 -4.13277295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.012846998551550033 Centerline is valid? [True, True] Translation: X:104.45, Y:-133.61, Z:-4.13 [[-7.42981101e-01 -6.69304133e-01 3.32587870e-03 1.04452255e+02] [-6.69297220e-01 7.42988544e-01 3.04222264e-03 -1.33606118e+02] [-4.50726196e-03 3.43125619e-05 -9.99989842e-01 -4.13287356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.012300987246220899 Centerline is valid? [True, True] Translation: X:104.36, Y:-133.65, Z:-4.13 [[-6.87024216e-01 -7.26631280e-01 2.17014194e-03 1.04362150e+02] [-7.26627615e-01 6.87027643e-01 2.30789723e-03 -1.33651625e+02] [-3.16793782e-03 8.69622298e-06 -9.99994982e-01 -4.13343751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.012444321249590362 Centerline is valid? [True, True] Translation: X:104.27, Y:-133.70, Z:-4.13 [[-6.23643467e-01 -7.81706267e-01 2.03433408e-03 1.04273276e+02] [-7.81702203e-01 6.23646785e-01 2.52082923e-03 -1.33700902e+02] [-3.23925391e-03 -1.81447522e-05 -9.99994754e-01 -4.13203608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.0130928850941495 Centerline is valid? [True, True] Translation: X:104.19, Y:-133.76, Z:-4.13 [[-5.57938320e-01 -8.29880808e-01 1.63559311e-03 1.04188497e+02] [-8.29877412e-01 5.57940716e-01 2.37437852e-03 -1.33761578e+02] [-2.88301516e-03 -3.25850140e-05 -9.99995844e-01 -4.13171697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.015168468213611359 Centerline is valid? [True, True] Translation: X:104.10, Y:-133.83, Z:-4.13 [[-4.88149684e-01 -8.72759482e-01 8.79552267e-04 1.04104181e+02] [-8.72758176e-01 4.88150475e-01 1.50984361e-03 -1.33830622e+02] [-1.74708419e-03 -3.06067494e-05 -9.99998473e-01 -4.13105088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.014672203492921797 Centerline is valid? [True, True] Translation: X:104.03, Y:-133.91, Z:-4.13 [[-4.18506566e-01 -9.08213602e-01 5.55518146e-04 1.04028990e+02] [-9.08212879e-01 4.18506934e-01 1.14555600e-03 -1.33913499e+02] [-1.27289773e-03 -2.51060297e-05 -9.99999190e-01 -4.13118873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.015035675233979804 Centerline is valid? [True, True] Translation: X:103.96, Y:-134.00, Z:-4.13 [[-3.47883769e-01 -9.37537634e-01 2.62686013e-04 1.03962898e+02] [-9.37537397e-01 3.47883868e-01 6.65999148e-04 -1.33996021e+02] [-7.15783491e-04 -1.45876668e-05 -9.99999744e-01 -4.13076490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.015698243598881657 Centerline is valid? [True, True] Translation: X:103.90, Y:-134.09, Z:-4.13 [[-2.74920304e-01 -9.61466989e-01 2.36097384e-04 1.03899866e+02] [-9.61466684e-01 2.74920404e-01 7.65525078e-04 -1.34089212e+02] [-8.00935080e-04 -1.65413821e-05 -9.99999679e-01 -4.13021603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.01582389400418274 Centerline is valid? [True, True] Translation: X:103.84, Y:-134.19, Z:-4.13 [[-2.00010827e-01 -9.79793542e-01 5.32144607e-04 1.03842963e+02] [-9.79790705e-01 2.00011529e-01 2.35869862e-03 -1.34194890e+02] [-2.41747273e-03 -4.96250782e-05 -9.99997077e-01 -4.12744157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.015892700840499728 Centerline is valid? [True, True] Translation: X:103.80, Y:-134.29, Z:-4.13 [[-1.24568921e-01 -9.92210754e-01 6.34757594e-04 1.03797554e+02] [-9.92201237e-01 1.24570506e-01 4.34675909e-03 -1.34294890e+02] [-4.39197319e-03 -8.83361826e-05 -9.99990351e-01 -4.12518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.01458784273904039 Centerline is valid? [True, True] Translation: X:103.76, Y:-134.41, Z:-4.13 [[-4.93583099e-02 -9.98781088e-01 3.10419014e-04 1.03761922e+02] [-9.98770769e-01 4.93592113e-02 4.54090572e-03 -1.34411591e+02] [-4.55069279e-03 -8.59060057e-05 -9.99989642e-01 -4.12523183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.013930759236810319 Centerline is valid? [True, True] Translation: X:103.74, Y:-134.52, Z:-4.13 [[ 2.38851382e-02 -9.99714709e-01 -3.89802599e-05 1.03735162e+02] [-9.99704622e-01 -2.38850724e-02 4.49143220e-03 -1.34520215e+02] [-4.49108188e-03 -6.83097328e-05 -9.99989913e-01 -4.12571770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.012902429326298905 Centerline is valid? [True, True] Translation: X:103.72, Y:-134.63, Z:-4.13 [[ 9.67374982e-02 -9.95309859e-01 -3.76900498e-04 1.03717888e+02] [-9.95300165e-01 -9.67382196e-02 4.39292602e-03 -1.34633873e+02] [-4.40878326e-03 -4.98315455e-05 -9.99990280e-01 -4.12603226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.01193294346962624 Centerline is valid? [True, True] Translation: X:103.71, Y:-134.75, Z:-4.13 [[ 1.65158713e-01 -9.86266833e-01 -5.78130153e-04 1.03712914e+02] [-9.86260534e-01 -1.65159725e-01 3.52471906e-03 -1.34746979e+02] [-3.57179732e-03 -1.19511100e-05 -9.99993621e-01 -4.12668695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.01189719789244992 Centerline is valid? [True, True] Translation: X:103.71, Y:-134.86, Z:-4.13 [[ 2.34888115e-01 -9.72021991e-01 -9.06573350e-04 1.03714772e+02] [-9.72014911e-01 -2.34889864e-01 3.71019007e-03 -1.34864371e+02] [-3.81933123e-03 9.72326223e-06 -9.99992706e-01 -4.12603939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.012366365543046633 Centerline is valid? [True, True] Translation: X:103.72, Y:-134.98, Z:-4.13 [[ 3.04227669e-01 -9.52598418e-01 -1.33426557e-03 1.03724428e+02] [-9.52589718e-01 -3.04230593e-01 4.07131076e-03 -1.34980693e+02] [-4.28424859e-03 3.24022799e-05 -9.99990822e-01 -4.12651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.01283370413035063 Centerline is valid? [True, True] Translation: X:103.74, Y:-135.10, Z:-4.13 [[ 3.72808365e-01 -9.27906391e-01 -1.91122415e-03 1.03741479e+02] [-9.27894984e-01 -3.72813260e-01 4.60129362e-03 -1.35095157e+02] [-4.98209946e-03 5.80145514e-05 -9.99987588e-01 -4.12599557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.012912414601690653 Centerline is valid? [True, True] Translation: X:103.77, Y:-135.21, Z:-4.13 [[ 4.43581859e-01 -8.96229195e-01 -2.89215001e-03 1.03765564e+02] [-8.96211168e-01 -4.43591282e-01 5.68478102e-03 -1.35212167e+02] [-6.37779925e-03 7.03114105e-05 -9.99979659e-01 -4.12511923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.012659621804422408 Centerline is valid? [True, True] Translation: X:103.80, Y:-135.33, Z:-4.13 [[ 5.11984657e-01 -8.58987862e-01 -3.40067427e-03 1.03796936e+02] [-8.58969751e-01 -5.11995947e-01 5.57838773e-03 -1.35326726e+02] [-6.53289879e-03 6.50273986e-05 -9.99978658e-01 -4.12540486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.012335110731089529 Centerline is valid? [True, True] Translation: X:103.83, Y:-135.44, Z:-4.13 [[ 5.79171616e-01 -8.15199153e-01 -3.25279108e-03 1.03834506e+02] [-8.15186636e-01 -5.79180749e-01 4.51761806e-03 -1.35437147e+02] [-5.56671239e-03 3.51556697e-05 -9.99984505e-01 -4.12590061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.011933509945677646 Centerline is valid? [True, True] Translation: X:103.88, Y:-135.55, Z:-4.13 [[ 6.44527992e-01 -7.64575379e-01 -2.85614271e-03 1.03876942e+02] [-7.64567873e-01 -6.44534320e-01 3.38780645e-03 -1.35545908e+02] [-4.43111540e-03 1.78870275e-07 -9.99990183e-01 -4.12684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.012087848461773429 Centerline is valid? [True, True] Translation: X:103.93, Y:-135.65, Z:-4.13 [[ 7.04315199e-01 -7.09881931e-01 -2.78284531e-03 1.03927833e+02] [-7.09876283e-01 -7.04320697e-01 2.83167997e-03 -1.35649488e+02] [-3.97017399e-03 -1.89193578e-05 -9.99992119e-01 -4.12685894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.012272510407965427 Centerline is valid? [True, True] Translation: X:103.98, Y:-135.74, Z:-4.13 [[ 7.58201098e-01 -6.52015990e-01 -2.49872871e-03 1.03980668e+02] [-6.52012336e-01 -7.58205215e-01 2.18297761e-03 -1.35741727e+02] [-3.31788544e-03 -2.59340730e-05 -9.99994496e-01 -4.12725095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.012481655010967221 Centerline is valid? [True, True] Translation: X:104.00, Y:-135.77, Z:-4.13 [[ 8.07059532e-01 -5.90462965e-01 -2.89814046e-03 1.03998611e+02] [-5.90459025e-01 -8.07064735e-01 2.15710477e-03 -1.35770730e+02] [-3.61267744e-03 -2.96787773e-05 -9.99993474e-01 -4.12686464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.012301209492975317 Centerline is valid? [True, True] Translation: X:104.02, Y:-135.80, Z:-4.13 [[ 8.49892217e-01 -5.26949354e-01 -2.75635386e-03 1.04020308e+02] [-5.26946501e-01 -8.49896687e-01 1.73417718e-03 -1.35797282e+02] [-3.25643956e-03 -2.14126691e-05 -9.99994698e-01 -4.12608373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.012007483624658956 Centerline is valid? [True, True] Translation: X:104.05, Y:-135.82, Z:-4.13 [[ 8.86892633e-01 -4.61968477e-01 -2.56600063e-03 1.04045391e+02] [-4.61966513e-01 -8.86896345e-01 1.34688432e-03 -1.35820262e+02] [-2.89799467e-03 -9.13541692e-06 -9.99995801e-01 -4.12604979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.011911696011679358 Centerline is valid? [True, True] Translation: X:104.07, Y:-135.84, Z:-4.13 [[ 9.19368294e-01 -3.93384319e-01 -3.27364187e-03 1.04073126e+02] [-3.93381815e-01 -9.19374123e-01 1.40363955e-03 -1.35840468e+02] [-3.56187141e-03 -2.67051954e-06 -9.99993657e-01 -4.12569447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.012040296360376242 Centerline is valid? [True, True] Translation: X:104.10, Y:-135.86, Z:-4.12 [[ 9.46381733e-01 -3.23020087e-01 -4.43169908e-03 1.04101931e+02] [-3.23016595e-01 -9.46392109e-01 1.50187738e-03 -1.35859505e+02] [-4.67926160e-03 1.01630348e-05 -9.99989052e-01 -4.12367206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.012143711051759 Centerline is valid? [True, True] Translation: X:104.13, Y:-135.88, Z:-4.12 [[ 9.68519039e-01 -2.48854723e-01 -6.49606804e-03 1.04131032e+02] [-2.48849268e-01 -9.68540823e-01 1.64792000e-03 -1.35878682e+02] [-6.70179976e-03 2.04998824e-05 -9.99977543e-01 -4.12202266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.012153705738169773 Centerline is valid? [True, True] Translation: X:104.16, Y:-135.89, Z:-4.12 [[ 9.85038430e-01 -1.72143083e-01 -8.12715644e-03 1.04162488e+02] [-1.72137418e-01 -9.85071956e-01 1.39678926e-03 -1.35894043e+02] [-8.24628150e-03 2.30966222e-05 -9.99965999e-01 -4.12055068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.012139632041170335 Centerline is valid? [True, True] Translation: X:104.19, Y:-135.91, Z:-4.12 [[ 9.95552926e-01 -9.37473038e-02 -9.26356753e-03 1.04191050e+02] [-9.37434233e-02 -9.95596024e-01 8.53175941e-04 -1.35906595e+02] [-9.30275395e-03 1.90167276e-05 -9.99956728e-01 -4.12014186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.01215264472110873 Centerline is valid? [True, True] Translation: X:104.22, Y:-135.92, Z:-4.12 [[ 9.99875815e-01 -1.34103710e-02 -8.27747786e-03 1.04220203e+02] [-1.34099042e-02 -9.99910077e-01 1.11886382e-04 -1.35917530e+02] [-8.27823396e-03 -8.72301548e-07 -9.99965735e-01 -4.12088774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.012311082263818381 Centerline is valid? [True, True] Translation: X:104.25, Y:-135.93, Z:-4.12 [[ 9.97498254e-01 7.03775486e-02 -6.65081164e-03 1.04250300e+02] [ 7.03762346e-02 -9.97520426e-01 -4.31684784e-04 -1.35926715e+02] [-6.66470138e-03 -3.74542622e-05 -9.99977790e-01 -4.12302815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.013062099720103014 Centerline is valid? [True, True] Translation: X:104.28, Y:-135.93, Z:-4.12 [[ 9.88021426e-01 1.54168675e-01 -6.75879590e-03 1.04281012e+02] [ 1.54165615e-01 -9.88044540e-01 -9.74479452e-04 -1.35933924e+02] [-6.82822559e-03 -7.91673515e-05 -9.99976684e-01 -4.12298200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.014046972403091612 Centerline is valid? [True, True] Translation: X:104.31, Y:-135.94, Z:-4.12 [[ 9.71834399e-01 2.35545368e-01 -7.50209103e-03 1.04311693e+02] [ 2.35539336e-01 -9.71863347e-01 -1.69030664e-03 -1.35935857e+02] [-7.68915119e-03 -1.24339402e-04 -9.99970430e-01 -4.12227078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.015429197397072068 Centerline is valid? [True, True] Translation: X:104.34, Y:-135.94, Z:-4.12 [[ 9.49644077e-01 3.13234844e-01 -7.74983231e-03 1.04341769e+02] [ 3.13225707e-01 -9.49675687e-01 -2.39724308e-03 -1.35935099e+02] [-8.11072738e-03 -1.50919009e-04 -9.99967096e-01 -4.12083854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.01603132818799523 Centerline is valid? [True, True] Translation: X:104.37, Y:-135.93, Z:-4.12 [[ 9.21351259e-01 3.88625349e-01 -9.06618902e-03 1.04371787e+02] [ 3.88608691e-01 -9.21395842e-01 -3.60389895e-03 -1.35927338e+02] [-9.75411535e-03 -2.02743010e-04 -9.99952407e-01 -4.11945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.014951191647972489 Centerline is valid? [True, True] Translation: X:104.40, Y:-135.92, Z:-4.12 [[ 8.88543909e-01 4.58710096e-01 -8.64695315e-03 1.04400380e+02] [ 4.58690459e-01 -8.88585962e-01 -4.24869747e-03 -1.35917917e+02] [-9.63248160e-03 -1.91120657e-04 -9.99953588e-01 -4.11960031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.01463363600800148 Centerline is valid? [True, True] Translation: X:104.43, Y:-135.91, Z:-4.12 [[ 8.50972060e-01 5.25159654e-01 -7.34110447e-03 1.04428822e+02] [ 5.25141648e-01 -8.51003710e-01 -4.35145933e-03 -1.35906192e+02] [-8.53251802e-03 -1.52149387e-04 -9.99963586e-01 -4.12027254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.013853190250285464 Centerline is valid? [True, True] Translation: X:104.45, Y:-135.89, Z:-4.12 [[ 8.09507219e-01 5.87085306e-01 -5.37643134e-03 1.04453272e+02] [ 5.87073114e-01 -8.09525067e-01 -3.78484027e-03 -1.35891025e+02] [-6.57438005e-03 -9.25027702e-05 -9.99978384e-01 -4.12120826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.013442697717600293 Centerline is valid? [True, True] Translation: X:104.48, Y:-135.87, Z:-4.12 [[ 7.62361116e-01 6.47133702e-01 -4.84774921e-03 1.04477272e+02] [ 6.47121249e-01 -7.62376525e-01 -4.01540845e-03 -1.35873463e+02] [-6.29431633e-03 -7.58902507e-05 -9.99980188e-01 -4.12115350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.013622684546014998 Centerline is valid? [True, True] Translation: X:104.50, Y:-135.86, Z:-4.12 [[ 7.09545738e-01 7.04646268e-01 -4.29917715e-03 1.04499942e+02] [ 7.04633934e-01 -7.09558758e-01 -4.16987744e-03 -1.35855476e+02] [-5.98880738e-03 -7.06273479e-05 -9.99982065e-01 -4.12053360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.014201806674425202 Centerline is valid? [True, True] Translation: X:104.52, Y:-135.84, Z:-4.12 [[ 6.50908208e-01 7.59141048e-01 -4.83465882e-03 1.04521727e+02] [ 7.59121222e-01 -6.50926155e-01 -5.48740092e-03 -1.35835652e+02] [-7.31271716e-03 -9.82978081e-05 -9.99973257e-01 -4.11886422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.01564437617657056 Centerline is valid? [True, True] Translation: X:104.54, Y:-135.81, Z:-4.11 [[ 5.86745768e-01 8.09746780e-01 -6.28935572e-03 1.04543414e+02] [ 8.09703432e-01 -5.86779448e-01 -8.38039276e-03 -1.35814514e+02] [-1.04764607e-02 -1.75352931e-04 -9.99945105e-01 -4.11494185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.014620326678116297 Centerline is valid? [True, True] Translation: X:104.57, Y:-135.79, Z:-4.12 [[ 5.20111004e-01 8.54078690e-01 -5.84246170e-03 1.04565109e+02] [ 8.54029087e-01 -5.20143778e-01 -9.20700803e-03 -1.35793228e+02] [-1.09024295e-02 -2.00966041e-04 -9.99940547e-01 -4.11697702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.014112974631703126 Centerline is valid? [True, True] Translation: X:104.59, Y:-135.77, Z:-4.12 [[ 4.51975274e-01 8.92018268e-01 -4.66498737e-03 1.04586940e+02] [ 8.91974802e-01 -4.51999312e-01 -8.80770463e-03 -1.35771420e+02] [-9.96520451e-03 -1.80186479e-04 -9.99950330e-01 -4.11826129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.013962802872380187 Centerline is valid? [True, True] Translation: X:104.61, Y:-135.75, Z:-4.12 [[ 3.82809839e-01 9.23821999e-01 -3.08893123e-03 1.04605365e+02] [ 9.23794474e-01 -3.82822281e-01 -7.13232610e-03 -1.35748340e+02] [-7.77151145e-03 -1.23212996e-04 -9.99969794e-01 -4.12015649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.013256614557886768 Centerline is valid? [True, True] Translation: X:104.62, Y:-135.72, Z:-4.12 [[ 3.10777069e-01 9.50479950e-01 -2.34077930e-03 1.04620726e+02] [ 9.50455432e-01 -3.10785867e-01 -6.82771834e-03 -1.35722737e+02] [-7.21709051e-03 -1.02908109e-04 -9.99973951e-01 -4.12161366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.013368776941645196 Centerline is valid? [True, True] Translation: X:104.64, Y:-135.70, Z:-4.12 [[ 2.34506039e-01 9.72112775e-01 -1.91584806e-03 1.04635795e+02] [ 9.72084269e-01 -2.34513835e-01 -7.44544329e-03 -1.35696417e+02] [-7.68710341e-03 -1.16364352e-04 -9.99970447e-01 -4.12230805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.014667857908231994 Centerline is valid? [True, True] Translation: X:104.65, Y:-135.67, Z:-4.12 [[ 1.55709813e-01 9.87801870e-01 -1.38562090e-03 1.04651423e+02] [ 9.87770219e-01 -1.55715917e-01 -7.90873744e-03 -1.35671392e+02] [-8.02802886e-03 -1.37207033e-04 -9.99967766e-01 -4.12145612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.01458698977757262 Centerline is valid? [True, True] Translation: X:104.67, Y:-135.64, Z:-4.12 [[ 7.45956631e-02 9.97213499e-01 -8.50797001e-04 1.04665517e+02] [ 9.97173569e-01 -7.46002915e-02 -8.92580717e-03 -1.35644195e+02] [-8.96440511e-03 -1.82565776e-04 -9.99959802e-01 -4.12142223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.01665243802135276 Centerline is valid? [True, True] Translation: X:104.68, Y:-135.62, Z:-4.12 [[-5.02965824e-03 9.99987339e-01 -1.54804595e-04 1.04679112e+02] [ 9.99944226e-01 5.02800357e-03 -9.28784433e-03 -1.35616495e+02] [-9.28694838e-03 -2.01510643e-04 -9.99956855e-01 -4.11967089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.0152119130176138 Centerline is valid? [True, True] Translation: X:104.68, Y:-135.59, Z:-4.12 [[-8.37061975e-02 9.96490321e-01 5.59600908e-04 1.04684594e+02] [ 9.96449204e-01 8.37078284e-02 -9.05448684e-03 -1.35586826e+02] [-9.06955148e-03 -2.00302785e-04 -9.99958851e-01 -4.12140139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.01417119494482503 Centerline is valid? [True, True] Translation: X:104.69, Y:-135.56, Z:-4.12 [[-1.59983876e-01 9.87119009e-01 1.10480821e-03 1.04689351e+02] [ 9.87087936e-01 1.59987608e-01 -7.83397452e-03 -1.35556577e+02] [-7.90982079e-03 -1.62766756e-04 -9.99968704e-01 -4.12241564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.014336457829868846 Centerline is valid? [True, True] Translation: X:104.69, Y:-135.53, Z:-4.12 [[-2.35547932e-01 9.71861748e-01 1.38381605e-03 1.04692827e+02] [ 9.71841777e-01 2.35551965e-01 -6.23164513e-03 -1.35527479e+02] [-6.38225812e-03 -1.23000871e-04 -9.99979626e-01 -4.12285285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.01388764576238296 Centerline is valid? [True, True] Translation: X:104.69, Y:-135.50, Z:-4.12 [[-3.09393721e-01 9.50931875e-01 2.02350025e-03 1.04690799e+02] [ 9.50908890e-01 3.09400314e-01 -6.61281350e-03 -1.35498185e+02] [-6.91440675e-03 -1.21798598e-04 -9.99976088e-01 -4.12265164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.013301051216120375 Centerline is valid? [True, True] Translation: X:104.69, Y:-135.47, Z:-4.12 [[-3.80537954e-01 9.24759506e-01 3.27439973e-03 1.04686793e+02] [ 9.24722181e-01 3.80552018e-01 -8.30959897e-03 -1.35468982e+02] [-8.93046006e-03 -1.34207732e-04 -9.99960114e-01 -4.12099358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.012752666904397357 Centerline is valid? [True, True] Translation: X:104.68, Y:-135.44, Z:-4.12 [[-4.48897086e-01 8.93569926e-01 4.91877072e-03 1.04681244e+02] [ 8.93513021e-01 4.48924014e-01 -1.00851724e-02 -1.35439672e+02] [-1.12199611e-02 -1.32218829e-04 -9.99937046e-01 -4.11837861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.012933611730001012 Centerline is valid? [True, True] Translation: X:104.67, Y:-135.41, Z:-4.12 [[-5.15641309e-01 8.56783567e-01 5.99663708e-03 1.04673360e+02] [ 8.56723064e-01 5.15676165e-01 -1.01825464e-02 -1.35412704e+02] [-1.18165612e-02 -1.13084253e-04 -9.99930176e-01 -4.11700940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.012481356785281726 Centerline is valid? [True, True] Translation: X:104.66, Y:-135.39, Z:-4.12 [[-5.78806669e-01 8.15432653e-01 7.24071235e-03 1.04660497e+02] [ 8.15367023e-01 5.78851951e-01 -1.03458512e-02 -1.35386356e+02] [-1.26276453e-02 -8.44095830e-05 -9.99920265e-01 -4.11772987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.012550149211932754 Centerline is valid? [True, True] Translation: X:104.64, Y:-135.36, Z:-4.12 [[-6.36663910e-01 7.71091423e-01 8.77971451e-03 1.04644578e+02] [ 7.71017753e-01 6.36724444e-01 -1.06586647e-02 -1.35363320e+02] [-1.38090638e-02 -1.66713738e-05 -9.99904650e-01 -4.11774217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.012595586024787121 Centerline is valid? [True, True] Translation: X:104.63, Y:-135.34, Z:-4.12 [[-6.92862060e-01 7.21009665e-01 9.33964688e-03 1.04631322e+02] [ 7.20944667e-01 6.92925005e-01 -9.68114360e-03 -1.35337074e+02] [-1.34518730e-02 2.56715060e-05 -9.99909519e-01 -4.11881458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.013011620183422794 Centerline is valid? [True, True] Translation: X:104.61, Y:-135.31, Z:-4.12 [[-7.44652280e-01 6.67393347e-01 8.89402448e-03 1.04614487e+02] [ 6.67346837e-01 7.44705389e-01 -7.87923556e-03 -1.35312511e+02] [-1.18819774e-02 6.81083916e-05 -9.99929405e-01 -4.12010758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.013615115822299967 Centerline is valid? [True, True] Translation: X:104.62, Y:-135.28, Z:-4.12 [[-7.88044843e-01 6.15563716e-01 8.16318578e-03 1.04621263e+02] [ 6.15531892e-01 7.88087117e-01 -6.25991469e-03 -1.35284000e+02] [-1.02866779e-02 9.16076977e-05 -9.99947087e-01 -4.11985663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.01367512799415161 Centerline is valid? [True, True] Translation: X:104.61, Y:-135.24, Z:-4.12 [[-8.29467368e-01 5.58500887e-01 7.78743217e-03 1.04611069e+02] [ 5.58477241e-01 8.29503919e-01 -5.14002251e-03 -1.35243941e+02] [-9.33041264e-03 8.56226824e-05 -9.99956467e-01 -4.12058220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.013549611842653048 Centerline is valid? [True, True] Translation: X:104.65, Y:-135.23, Z:-4.12 [[-8.68695286e-01 4.95289019e-01 7.56891296e-03 1.04654819e+02] [ 4.95270706e-01 8.68728258e-01 -4.25941526e-03 -1.35234624e+02] [-8.68497018e-03 4.85269058e-05 -9.99962284e-01 -4.12003617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.013175063201737383 Centerline is valid? [True, True] Translation: X:104.68, Y:-135.21, Z:-4.12 [[-9.03118903e-01 4.29312450e-01 8.18943154e-03 1.04681468e+02] [ 4.29294983e-01 9.03156033e-01 -3.87268303e-03 -1.35212302e+02] [-9.05892554e-03 1.81886274e-05 -9.99958967e-01 -4.11963051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.01328361432670136 Centerline is valid? [True, True] Translation: X:104.97, Y:-134.61, Z:-5.13 [[-8.71608529e-01 -4.90151689e-01 7.06351923e-03 1.04968233e+02] [ 4.90134880e-01 -8.71637147e-01 -4.05997055e-03 -1.34610332e+02] [ 8.14682717e-03 -7.66278035e-05 9.99966811e-01 -5.13418287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.013401425595454194 Centerline is valid? [True, True] Translation: X:104.95, Y:-134.64, Z:-5.13 [[-8.35052521e-01 -5.50132532e-01 6.44086560e-03 1.04951962e+02] [ 5.50116604e-01 -8.35077359e-01 -4.18661149e-03 -1.34637734e+02] [ 7.68181221e-03 4.71866292e-05 9.99970493e-01 -5.13335232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.013812348824130929 Centerline is valid? [True, True] Translation: X:104.94, Y:-134.67, Z:-5.13 [[-7.93576230e-01 -6.08443509e-01 5.76756346e-03 1.04936221e+02] [ 6.08428120e-01 -7.93597185e-01 -4.32800604e-03 -1.34667584e+02] [ 7.21046931e-03 7.45450802e-05 9.99974002e-01 -5.13333563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.014287107155976348 Centerline is valid? [True, True] Translation: X:104.54, Y:-135.18, Z:-4.12 [[-8.46961906e-01 5.31629530e-01 5.05694356e-03 1.04541215e+02] [ 5.31619526e-01 8.46977000e-01 -3.26211371e-03 -1.35181187e+02] [-6.01735086e-03 -7.45161055e-05 -9.99981893e-01 -4.11887492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.014295976977207194 Centerline is valid? [True, True] Translation: X:104.56, Y:-135.16, Z:-4.12 [[-8.82374805e-01 4.70517526e-01 5.28783969e-03 1.04557816e+02] [ 4.70508575e-01 8.82390646e-01 -2.90306870e-03 -1.35160033e+02] [-6.03188498e-03 -7.36207577e-05 -9.99981805e-01 -4.11713680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.01403431742279685 Centerline is valid? [True, True] Translation: X:104.57, Y:-135.14, Z:-4.12 [[-9.12840145e-01 4.08281086e-01 5.42440523e-03 1.04566491e+02] [ 4.08273464e-01 9.12856260e-01 -2.49553979e-03 -1.35136651e+02] [-5.97058397e-03 -6.33881951e-05 -9.99982174e-01 -4.11621324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.013624012389814817 Centerline is valid? [True, True] Translation: X:104.58, Y:-135.12, Z:-4.12 [[-9.38190778e-01 3.46068184e-01 5.90561578e-03 1.04578748e+02] [ 3.46061034e-01 9.38209364e-01 -2.22507418e-03 -1.35117658e+02] [-6.31073141e-03 -4.38405767e-05 -9.99980086e-01 -4.11578611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.013315687175667055 Centerline is valid? [True, True] Translation: X:104.82, Y:-134.50, Z:-5.14 [[-9.08570282e-01 -4.17684347e-01 6.31098694e-03 1.04817012e+02] [ 4.17674901e-01 -9.08592197e-01 -2.81032223e-03 -1.34500666e+02] [ 6.90794109e-03 8.25655787e-05 9.99976137e-01 -5.13797653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.013395306950604677 Centerline is valid? [True, True] Translation: X:104.54, Y:-135.11, Z:-4.11 [[-9.37245036e-01 3.48599400e-01 7.08524445e-03 1.04536115e+02] [ 3.48589401e-01 9.37271817e-01 -2.64035154e-03 -1.35113419e+02] [-7.56122490e-03 -4.81526259e-06 -9.99971414e-01 -4.11458763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.014040046946799887 Centerline is valid? [True, True] Translation: X:104.54, Y:-135.09, Z:-4.11 [[-9.59436732e-01 2.81820406e-01 7.64298856e-03 1.04543272e+02] [ 2.81811459e-01 9.59467174e-01 -2.24565179e-03 -1.35090789e+02] [-7.96606713e-03 -6.79057736e-07 -9.99968270e-01 -4.11433180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.014647098530305592 Centerline is valid? [True, True] Translation: X:104.55, Y:-135.07, Z:-4.11 [[-9.77075120e-01 2.12770337e-01 7.27968121e-03 1.04548574e+02] [ 2.12764408e-01 9.77102238e-01 -1.58843582e-03 -1.35065202e+02] [-7.45096483e-03 -3.16405996e-06 -9.99972241e-01 -4.11306417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.01517999752408359 Centerline is valid? [True, True] Translation: X:104.55, Y:-135.04, Z:-4.11 [[-9.89849078e-01 1.41959454e-01 6.80554215e-03 1.04550851e+02] [ 1.41956030e-01 9.89872473e-01 -9.86030557e-04 -1.35038304e+02] [-6.87659520e-03 -9.93369380e-06 -9.99976356e-01 -4.11390491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.015461390959161771 Centerline is valid? [True, True] Translation: X:104.55, Y:-135.01, Z:-4.11 [[-9.97485566e-01 7.05759885e-02 6.44795120e-03 1.04550529e+02] [ 7.05744204e-02 9.97506406e-01 -4.70688654e-04 -1.35011414e+02] [-6.46509194e-03 -1.44447198e-05 -9.99979101e-01 -4.11459964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.015776983512542014 Centerline is valid? [True, True] Translation: X:104.55, Y:-134.98, Z:-4.12 [[-9.99971707e-01 -4.49747829e-03 6.02974573e-03 1.04549077e+02] [-4.49762507e-03 9.99989886e-01 -1.07827838e-05 -1.34982528e+02] [-6.02963625e-03 -3.79020143e-05 -9.99981821e-01 -4.11503826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.015906131227753598 Centerline is valid? [True, True] Translation: X:104.55, Y:-134.30, Z:-5.14 [[-9.96905037e-01 -7.83406963e-02 6.56374331e-03 1.04550138e+02] [ 7.83395168e-02 -9.96926642e-01 -4.37016471e-04 -1.34300988e+02] [ 6.57780675e-03 7.85365583e-05 9.99978363e-01 -5.13711406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.01609596590217051 Centerline is valid? [True, True] Translation: X:104.48, Y:-134.98, Z:-4.12 [[-9.99855004e-01 -1.57340003e-02 6.51248926e-03 1.04483902e+02] [-1.57342277e-02 9.99876209e-01 1.63196664e-05 -1.34977518e+02] [-6.51193984e-03 -8.61516887e-05 -9.99978793e-01 -4.11631339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.016850516817319226 Centerline is valid? [True, True] Translation: X:104.48, Y:-134.95, Z:-4.12 [[-9.96102638e-01 -8.79868001e-02 6.15290323e-03 1.04479828e+02] [-8.79856760e-02 9.96121637e-01 4.53674471e-04 -1.34947491e+02] [-6.16895740e-03 -8.94610122e-05 -9.99980968e-01 -4.11666383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.016420055702220087 Centerline is valid? [True, True] Translation: X:104.47, Y:-134.92, Z:-4.12 [[-9.87430657e-01 -1.57929915e-01 6.23221682e-03 1.04469853e+02] [-1.57927325e-01 9.87450320e-01 9.08634066e-04 -1.34922134e+02] [-6.29750499e-03 -8.70241971e-05 -9.99980167e-01 -4.11712565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.01610240416383187 Centerline is valid? [True, True] Translation: X:104.46, Y:-134.90, Z:-4.12 [[-9.74184741e-01 -2.25654370e-01 6.64802254e-03 1.04460167e+02] [-2.25649667e-01 9.74207421e-01 1.45902195e-03 -1.34899040e+02] [-6.80578757e-03 -7.87671502e-05 -9.99976837e-01 -4.11755498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.01584363261093739 Centerline is valid? [True, True] Translation: X:104.44, Y:-134.88, Z:-4.12 [[-9.56241483e-01 -2.92491366e-01 7.14335429e-03 1.04444197e+02] [-2.92483734e-01 9.56268161e-01 2.11395724e-03 -1.34876498e+02] [-7.44927652e-03 -6.78613334e-05 -9.99972252e-01 -4.11711090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.01571550376949196 Centerline is valid? [True, True] Translation: X:104.42, Y:-134.86, Z:-4.12 [[-9.33205741e-01 -3.59263513e-01 7.53484720e-03 1.04415176e+02] [-3.59252342e-01 9.33236157e-01 2.83386310e-03 -1.34857626e+02] [-8.04989545e-03 -6.23341916e-05 -9.99967597e-01 -4.11625042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.015731747928354658 Centerline is valid? [True, True] Translation: X:104.36, Y:-134.85, Z:-4.11 [[-9.04804752e-01 -4.25732570e-01 8.95208820e-03 1.04363749e+02] [-4.25712488e-01 9.04849034e-01 4.13558910e-03 -1.34849302e+02] [-9.86094333e-03 -6.91150713e-05 -9.99951377e-01 -4.11460883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.01571471637582623 Centerline is valid? [True, True] Translation: X:104.30, Y:-134.85, Z:-4.11 [[-8.70609314e-01 -4.91888487e-01 9.22712517e-03 1.04295619e+02] [-4.91861867e-01 8.70658205e-01 5.11802666e-03 -1.34852665e+02] [-1.05511706e-02 -8.26693327e-05 -9.99944331e-01 -4.11415116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.01590094713983041 Centerline is valid? [True, True] Translation: X:104.23, Y:-134.86, Z:-4.11 [[-8.30808515e-01 -5.56489598e-01 8.74867487e-03 1.04228893e+02] [-5.56460025e-01 8.30854570e-01 5.73792082e-03 -1.34860259e+02] [-1.04619698e-02 -1.01174365e-04 -9.99945267e-01 -4.11426505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.016911693142596065 Centerline is valid? [True, True] Translation: X:104.15, Y:-134.88, Z:-4.11 [[-7.84574218e-01 -6.19981444e-01 8.14286859e-03 1.04149070e+02] [-6.19949938e-01 7.84616460e-01 6.25184840e-03 -1.34877960e+02] [-1.02650587e-02 -1.43131811e-04 -9.99947303e-01 -4.11317804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.01695936390067679 Centerline is valid? [True, True] Translation: X:104.07, Y:-134.91, Z:-4.11 [[-7.34104671e-01 -6.78989697e-01 7.95760092e-03 1.04070447e+02] [-6.78952439e-01 7.34147778e-01 7.11514883e-03 -1.34907119e+02] [-1.06731678e-02 -1.79568562e-04 -9.99943024e-01 -4.11430223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.017762395974974712 Centerline is valid? [True, True] Translation: X:103.99, Y:-134.94, Z:-4.12 [[-6.78335291e-01 -7.34714315e-01 7.49048437e-03 1.03988742e+02] [-7.34673119e-01 6.78376610e-01 7.78348530e-03 -1.34944276e+02] [-1.08000075e-02 -2.23244746e-04 -9.99941653e-01 -4.11500043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.01789547492472915 Centerline is valid? [True, True] Translation: X:103.91, Y:-134.99, Z:-4.12 [[-6.19904423e-01 -7.84644829e-01 7.14141507e-03 1.03905999e+02] [-7.84597326e-01 6.19945507e-01 8.63741328e-03 -1.34994187e+02] [-1.12045898e-02 -2.48764476e-04 -9.99937196e-01 -4.11542106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.01774798476954842 Centerline is valid? [True, True] Translation: X:103.83, Y:-135.05, Z:-4.11 [[-5.58835374e-01 -8.29244465e-01 7.52614003e-03 1.03825840e+02] [-8.29176114e-01 5.58885976e-01 1.06507308e-02 -1.35053217e+02] [-1.30383137e-02 -2.88490390e-04 -9.99914956e-01 -4.11410691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.01732432364690555 Centerline is valid? [True, True] Translation: X:103.75, Y:-135.12, Z:-4.11 [[-4.97563211e-01 -8.67402036e-01 6.67523790e-03 1.03751407e+02] [-8.67330326e-01 4.97607928e-01 1.11559324e-02 -1.35122905e+02] [-1.29983298e-02 -2.38854727e-04 -9.99915490e-01 -4.11381461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.015299956041140513 Centerline is valid? [True, True] Translation: X:103.69, Y:-135.20, Z:-4.12 [[-4.35203882e-01 -9.00316361e-01 5.29435353e-03 1.03685541e+02] [-9.00253912e-01 4.35236059e-01 1.06050828e-02 -1.35201157e+02] [-1.18522231e-02 -1.50889287e-04 -9.99929749e-01 -4.11653968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.014819590302016008 Centerline is valid? [True, True] Translation: X:103.62, Y:-135.29, Z:-4.12 [[-3.69439723e-01 -9.29243590e-01 4.54327421e-03 1.03619892e+02] [-9.29176589e-01 3.69467645e-01 1.11590857e-02 -1.35287166e+02] [-1.20481017e-02 -9.88945033e-05 -9.99927414e-01 -4.11622579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.014279313463647568 Centerline is valid? [True, True] Translation: X:103.56, Y:-135.38, Z:-4.12 [[-3.03260864e-01 -9.52900539e-01 3.66217420e-03 1.03563471e+02] [-9.52832011e-01 3.03282975e-01 1.14278740e-02 -1.35378371e+02] [-1.20003024e-02 -2.38098652e-05 -9.99927994e-01 -4.11652545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.014370215409976453 Centerline is valid? [True, True] Translation: X:103.51, Y:-135.48, Z:-4.11 [[-2.32252432e-01 -9.72651193e-01 2.90925639e-03 1.03508091e+02] [-9.72574222e-01 2.32270652e-01 1.22362875e-02 -1.35480248e+02] [-1.25773745e-02 1.24397576e-05 -9.99920902e-01 -4.11431140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.014271563005784511 Centerline is valid? [True, True] Translation: X:103.46, Y:-135.58, Z:-4.11 [[-1.57237422e-01 -9.87558375e-01 2.20224460e-03 1.03459190e+02] [-9.87459994e-01 1.57252842e-01 1.39393231e-02 -1.35583124e+02] [-1.41122044e-02 1.71547771e-05 -9.99900418e-01 -4.11467332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.014370416038533528 Centerline is valid? [True, True] Translation: X:103.41, Y:-135.69, Z:-4.11 [[-7.97527067e-02 -9.96813808e-01 1.31871405e-03 1.03414701e+02] [-9.96678008e-01 7.97636084e-02 1.64534264e-02 -1.35693774e+02] [-1.65061880e-02 -2.12801080e-06 -9.99863764e-01 -4.11233208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.014234662014252919 Centerline is valid? [True, True] Translation: X:103.38, Y:-135.81, Z:-4.11 [[-1.95079420e-03 -9.99998096e-01 5.34158229e-05 1.03379029e+02] [-9.99865994e-01 1.95140471e-03 1.62538336e-02 -1.35809785e+02] [-1.62539069e-02 -2.17007805e-05 -9.99867896e-01 -4.11274409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.013997176472877383 Centerline is valid? [True, True] Translation: X:103.36, Y:-135.93, Z:-4.12 [[ 7.41860562e-02 -9.97243817e-01 -1.09452192e-03 1.03355544e+02] [-9.97132947e-01 -7.41941290e-02 1.48700300e-02 -1.35930230e+02] [-1.49102526e-02 -1.17650096e-05 -9.99888836e-01 -4.11531888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.013916534298921248 Centerline is valid? [True, True] Translation: X:103.34, Y:-136.04, Z:-4.12 [[ 1.49526267e-01 -9.88756086e-01 -1.81597212e-03 1.03339771e+02] [-9.88683302e-01 -1.49537294e-01 1.19968932e-02 -1.36041397e+02] [-1.21335567e-02 1.57065591e-06 -9.99926386e-01 -4.11704097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.013581263286374882 Centerline is valid? [True, True] Translation: X:103.33, Y:-136.16, Z:-4.12 [[ 2.25651951e-01 -9.74205237e-01 -2.31372414e-03 1.03332098e+02] [-9.74153644e-01 -2.25663812e-01 1.00261031e-02 -1.36156503e+02] [-1.02896060e-02 -8.48692277e-06 -9.99947061e-01 -4.11818112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.01358928928310679 Centerline is valid? [True, True] Translation: X:103.33, Y:-136.28, Z:-4.12 [[ 3.01853035e-01 -9.53349713e-01 -3.01181847e-03 1.03333896e+02] [-9.53301179e-01 -3.01868058e-01 9.61968337e-03 -1.36275370e+02] [-1.00800942e-02 -3.25605204e-05 -9.99949194e-01 -4.11766164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.013605276987454529 Centerline is valid? [True, True] Translation: X:103.35, Y:-136.39, Z:-4.12 [[ 3.76583174e-01 -9.26374836e-01 -3.84397501e-03 1.03345765e+02] [-9.26324851e-01 -3.76602786e-01 9.62354277e-03 -1.36394884e+02] [-1.03626596e-02 -6.32947036e-05 -9.99946304e-01 -4.11745053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.014053636251136103 Centerline is valid? [True, True] Translation: X:103.36, Y:-136.51, Z:-4.12 [[ 4.49314659e-01 -8.93361183e-01 -4.70472816e-03 1.03363843e+02] [-8.93309846e-01 -4.49339278e-01 9.57766861e-03 -1.36510106e+02] [-1.06703365e-02 -1.00606908e-04 -9.99943065e-01 -4.11589725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.01484695196542005 Centerline is valid? [True, True] Translation: X:103.39, Y:-136.63, Z:-4.12 [[ 5.19788177e-01 -8.54278801e-01 -5.28963175e-03 1.03391880e+02] [-8.54231755e-01 -5.19815072e-01 8.96658330e-03 -1.36626289e+02] [-1.04095923e-02 -1.42152573e-04 -9.99945809e-01 -4.11536140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.01577208079756351 Centerline is valid? [True, True] Translation: X:103.43, Y:-136.73, Z:-4.11 [[ 5.85794793e-01 -8.10441184e-01 -5.43577219e-03 1.03425415e+02] [-8.10403750e-01 -5.85819991e-01 7.79103276e-03 -1.36733562e+02] [-9.49855783e-03 -1.58776254e-04 -9.99954875e-01 -4.11489913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.016425725870467783 Centerline is valid? [True, True] Translation: X:103.47, Y:-136.84, Z:-4.11 [[ 6.46792219e-01 -7.62645124e-01 -5.67815013e-03 1.03468616e+02] [-7.62613514e-01 -6.46817122e-01 6.94541323e-03 -1.36836564e+02] [-8.96961026e-03 -1.62005205e-04 -9.99959759e-01 -4.11443462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.015787422697509063 Centerline is valid? [True, True] Translation: X:103.52, Y:-136.93, Z:-4.12 [[ 7.03679361e-01 -7.10494658e-01 -5.71813009e-03 1.03518194e+02] [-7.10469353e-01 -7.03702576e-01 5.99865968e-03 -1.36930823e+02] [-8.28587853e-03 -1.58576824e-04 -9.99965659e-01 -4.11525000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.01583891063614955 Centerline is valid? [True, True] Translation: X:103.57, Y:-137.02, Z:-4.11 [[ 7.55932757e-01 -6.54616708e-01 -6.52934834e-03 1.03570909e+02] [-6.54590285e-01 -7.55960935e-01 5.88408429e-03 -1.37018815e+02] [-8.78775217e-03 -1.73924067e-04 -9.99961372e-01 -4.11409963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.015674301201518945 Centerline is valid? [True, True] Translation: X:103.60, Y:-137.04, Z:-4.11 [[ 8.03928181e-01 -5.94677994e-01 -7.58703940e-03 1.03596210e+02] [-5.94649436e-01 -8.03963962e-01 5.83052499e-03 -1.37043817e+02] [-9.56699116e-03 -1.75694649e-04 -9.99954220e-01 -4.11323666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.01499973423236282 Centerline is valid? [True, True] Translation: X:103.62, Y:-137.06, Z:-4.11 [[ 8.46039961e-01 -5.33052337e-01 -8.46108266e-03 1.03624594e+02] [-5.33023911e-01 -8.46082256e-01 5.50690923e-03 -1.37063644e+02] [-1.00942427e-02 -1.49105898e-04 -9.99949041e-01 -4.11237975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.013748304463725651 Centerline is valid? [True, True] Translation: X:103.66, Y:-137.08, Z:-4.11 [[ 8.82227752e-01 -4.70733969e-01 -9.15013225e-03 1.03656915e+02] [-4.70707596e-01 -8.82275197e-01 4.98368845e-03 -1.37077085e+02] [-1.04189262e-02 -8.97115010e-05 -9.99945718e-01 -4.11242014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.013268527698132936 Centerline is valid? [True, True] Translation: X:103.69, Y:-137.09, Z:-4.11 [[ 9.14635074e-01 -4.04157118e-01 -9.98529023e-03 1.03688265e+02] [-4.04132453e-01 -9.14689577e-01 4.46528709e-03 -1.37091500e+02] [-1.09381185e-02 -4.87283515e-05 -9.99940176e-01 -4.11295580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.013019412973182513 Centerline is valid? [True, True] Translation: X:103.72, Y:-137.11, Z:-4.11 [[ 9.42138202e-01 -3.35063946e-01 -1.03807944e-02 1.03719432e+02] [-3.35043531e-01 -9.42195390e-01 3.69865390e-03 -1.37106093e+02] [-1.10200222e-02 -6.62513668e-06 -9.99939278e-01 -4.11309825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.012937240513584856 Centerline is valid? [True, True] Translation: X:103.75, Y:-137.12, Z:-4.11 [[ 9.65041440e-01 -2.61883886e-01 -1.05758654e-02 1.03750278e+02] [-2.61868280e-01 -9.65099389e-01 2.85891330e-03 -1.37122759e+02] [-1.09554646e-02 1.05138814e-05 -9.99939987e-01 -4.11360843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.01280054213752654 Centerline is valid? [True, True] Translation: X:103.78, Y:-137.14, Z:-4.12 [[ 9.82752437e-01 -1.84651221e-01 -1.00783525e-02 1.03781164e+02] [-1.84641507e-01 -9.82804114e-01 1.89410342e-03 -1.37139229e+02] [-1.02547948e-02 -5.52567407e-07 -9.99947418e-01 -4.11523178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.012875209857173662 Centerline is valid? [True, True] Translation: X:103.81, Y:-137.15, Z:-4.12 [[ 9.94338718e-01 -1.05890183e-01 -8.81941815e-03 1.03809491e+02] [-1.05885918e-01 -9.94377830e-01 9.50511844e-04 -1.37152012e+02] [-8.87048376e-03 -1.12785441e-05 -9.99960656e-01 -4.11525502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.0128005816102763 Centerline is valid? [True, True] Translation: X:103.84, Y:-137.17, Z:-4.12 [[ 9.99633457e-01 -2.59636183e-02 -7.67084305e-03 1.03839588e+02] [-2.59626747e-02 -9.99662888e-01 2.22575924e-04 -1.37165290e+02] [-7.67403599e-03 -2.33387378e-05 -9.99970554e-01 -4.11649873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.012920515045801849 Centerline is valid? [True, True] Translation: X:103.87, Y:-137.17, Z:-4.12 [[ 9.98578987e-01 5.27362740e-02 -7.67411574e-03 1.03870097e+02] [ 5.27349166e-02 -9.98608474e-01 -3.79265524e-04 -1.37172497e+02] [-7.68343806e-03 -2.59672704e-05 -9.99970482e-01 -4.11596201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.012867883623088217 Centerline is valid? [True, True] Translation: X:103.90, Y:-137.17, Z:-4.12 [[ 9.91550111e-01 1.29542123e-01 -6.87139192e-03 1.03900579e+02] [ 1.29539117e-01 -9.91573920e-01 -8.82562842e-04 -1.37171853e+02] [-6.92782209e-03 -1.50087576e-05 -9.99976002e-01 -4.11540039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.012875783321219034 Centerline is valid? [True, True] Translation: X:103.93, Y:-137.17, Z:-4.11 [[ 9.78504310e-01 2.06100638e-01 -7.20023018e-03 1.03929927e+02] [ 2.06095141e-01 -9.78530800e-01 -1.50526903e-03 -1.37165473e+02] [-7.35588391e-03 -1.10202237e-05 -9.99972945e-01 -4.11434392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.012840039349082115 Centerline is valid? [True, True] Translation: X:103.96, Y:-137.16, Z:-4.11 [[ 9.59286418e-01 2.82338332e-01 -7.39153025e-03 1.03960766e+02] [ 2.82330060e-01 -9.59314894e-01 -2.16124283e-03 -1.37160491e+02] [-7.70100676e-03 -1.36002873e-05 -9.99970347e-01 -4.11428324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.012760074202700502 Centerline is valid? [True, True] Translation: X:103.99, Y:-137.15, Z:-4.11 [[ 9.34128080e-01 3.56868144e-01 -7.06104843e-03 1.03990192e+02] [ 3.56858075e-01 -9.34154766e-01 -2.68087849e-03 -1.37152047e+02] [-7.55283217e-03 -1.55082731e-05 -9.99971477e-01 -4.11426096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.012768495416316679 Centerline is valid? [True, True] Translation: X:104.02, Y:-137.14, Z:-4.11 [[ 9.03156416e-01 4.29275105e-01 -5.60112727e-03 1.04018126e+02] [ 4.29266956e-01 -9.03173784e-01 -2.64513587e-03 -1.37140309e+02] [-6.19428229e-03 -1.54074208e-05 -9.99980815e-01 -4.11483572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.012720863962624543 Centerline is valid? [True, True] Translation: X:104.05, Y:-137.13, Z:-4.12 [[ 8.66233213e-01 4.99615654e-01 -4.92128527e-03 1.04045992e+02] [ 4.99607726e-01 -8.66247192e-01 -2.81463889e-03 -1.37125066e+02] [-5.66928720e-03 -2.05784557e-05 -9.99983929e-01 -4.11542501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.013306297065920469 Centerline is valid? [True, True] Translation: X:104.07, Y:-137.11, Z:-4.11 [[ 8.22579568e-01 5.68629803e-01 -4.79589814e-03 1.04072182e+02] [ 5.68620424e-01 -8.22593548e-01 -3.26616707e-03 -1.37109693e+02] [-5.80231481e-03 -4.03633395e-05 -9.99983166e-01 -4.11420792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.014191192419556452 Centerline is valid? [True, True] Translation: X:104.10, Y:-137.09, Z:-4.11 [[ 7.73734934e-01 6.33485001e-01 -5.56821264e-03 1.04095991e+02] [ 6.33469245e-01 -7.73754967e-01 -4.46849387e-03 -1.37089019e+02] [-7.13915603e-03 -6.98616444e-05 -9.99974514e-01 -4.11216552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.014970116100417456 Centerline is valid? [True, True] Translation: X:104.12, Y:-137.07, Z:-4.11 [[ 7.19966318e-01 6.93978983e-01 -6.45542975e-03 1.04116589e+02] [ 6.93952445e-01 -7.19995250e-01 -6.06999451e-03 -1.37065179e+02] [-8.86032737e-03 -1.09569655e-04 -9.99960741e-01 -4.10994920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.014766115310598581 Centerline is valid? [True, True] Translation: X:104.13, Y:-137.04, Z:-4.11 [[ 6.64684967e-01 7.47091894e-01 -6.89912586e-03 1.04129636e+02] [ 7.47053346e-01 -6.64720762e-01 -7.58998195e-03 -1.37036026e+02] [-1.02564062e-02 -1.09068157e-04 -9.99947396e-01 -4.10829936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.013393977546918267 Centerline is valid? [True, True] Translation: X:104.14, Y:-137.00, Z:-4.11 [[ 6.08168782e-01 7.93789214e-01 -5.42365865e-03 1.04135313e+02] [ 7.93758377e-01 -6.08192963e-01 -6.99701047e-03 -1.37002652e+02] [-8.85278247e-03 -4.97111561e-05 -9.99960812e-01 -4.10911376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.012911143849538257 Centerline is valid? [True, True] Translation: X:104.14, Y:-136.97, Z:-4.11 [[ 5.46776911e-01 8.37267836e-01 -4.19285582e-03 1.04139846e+02] [ 8.37243490e-01 -5.46792986e-01 -6.38499175e-03 -1.36969299e+02] [-7.63857238e-03 -1.92751729e-05 -9.99970826e-01 -4.11050302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.012628727761236372 Centerline is valid? [True, True] Translation: X:104.16, Y:-136.95, Z:-4.12 [[ 4.80622045e-01 8.76923341e-01 -2.81133086e-03 1.04159487e+02] [ 8.76908432e-01 -4.80630267e-01 -5.11353888e-03 -1.36945921e+02] [-5.83539231e-03 -7.60022512e-06 -9.99982974e-01 -4.11501301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.012908898643176944 Centerline is valid? [True, True] Translation: X:104.18, Y:-136.92, Z:-4.11 [[ 4.06282580e-01 9.13744236e-01 -2.43648608e-03 1.04183305e+02] [ 9.13728317e-01 -4.06289884e-01 -5.39374704e-03 -1.36924424e+02] [-5.91842491e-03 -3.49008645e-05 -9.99982485e-01 -4.11402801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.013512520537080313 Centerline is valid? [True, True] Translation: X:104.21, Y:-136.90, Z:-4.11 [[ 3.29091689e-01 9.44293195e-01 -3.00361452e-03 1.04205297e+02] [ 9.44256407e-01 -3.29105383e-01 -8.33580918e-03 -1.36900215e+02] [-8.85995359e-03 -9.29367281e-05 -9.99960746e-01 -4.11152537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.014599339083246399 Centerline is valid? [True, True] Translation: X:104.23, Y:-136.88, Z:-4.11 [[ 2.47662633e-01 9.68841856e-01 -2.94607392e-03 1.04227602e+02] [ 9.68782205e-01 -2.47680081e-01 -1.07524934e-02 -1.36875527e+02] [-1.11471495e-02 -1.91113169e-04 -9.99937850e-01 -4.10899965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.01603916889611087 Centerline is valid? [True, True] Translation: X:104.24, Y:-136.85, Z:-4.11 [[ 1.69549375e-01 9.85519489e-01 -2.08487634e-03 1.04244146e+02] [ 9.85459253e-01 -1.69562067e-01 -1.08979547e-02 -1.36849280e+02] [-1.10936627e-02 -2.06819267e-04 -9.99938442e-01 -4.10714855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.015876847048154355 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.82, Z:-4.11 [[ 9.01455882e-02 9.95927844e-01 -1.22563306e-03 1.04255038e+02] [ 9.95866758e-01 -9.01536364e-02 -1.10328062e-02 -1.36820144e+02] [-1.10983742e-02 -2.26008418e-04 -9.99938386e-01 -4.10765260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.015045870434921891 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.79, Z:-4.11 [[ 1.37777968e-02 9.99905028e-01 -3.26516647e-04 1.04261523e+02] [ 9.99853801e-01 -1.37803966e-02 -1.01231387e-02 -1.36790017e+02] [-1.01266768e-02 -1.86994362e-04 -9.99948706e-01 -4.10879379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.013969836146370405 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.76, Z:-4.11 [[-5.96277544e-02 9.98220598e-01 4.09865277e-04 1.04263084e+02] [ 9.98181125e-01 5.96290418e-02 -8.87806016e-03 -1.36759654e+02] [-8.88670239e-03 -1.20259007e-04 -9.99960505e-01 -4.10976655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.01320695939256025 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.73, Z:-4.11 [[-1.32758002e-01 9.91147794e-01 1.16743600e-03 1.04261291e+02] [ 9.91103964e-01 1.32763111e-01 -9.32141491e-03 -1.36731441e+02] [-9.39389226e-03 -8.04419737e-05 -9.99955873e-01 -4.10896968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.013165059029469475 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.70, Z:-4.11 [[-2.09808103e-01 9.77740422e-01 2.05624745e-03 1.04264635e+02] [ 9.77689390e-01 2.09818161e-01 -9.98975511e-03 -1.36701313e+02] [-1.01988254e-02 -8.55602469e-05 -9.99947987e-01 -4.10834369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.01351745776052743 Centerline is valid? [True, True] Translation: X:104.27, Y:-136.67, Z:-4.11 [[-2.87623426e-01 9.57737660e-01 3.36728112e-03 1.04267172e+02] [ 9.57666825e-01 2.87643109e-01 -1.16487832e-02 -1.36670009e+02] [-1.21250536e-02 -1.25729537e-04 -9.99926481e-01 -4.10625493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.013663796238652975 Centerline is valid? [True, True] Translation: X:104.27, Y:-136.64, Z:-4.11 [[-3.63406802e-01 9.31618521e-01 4.73573226e-03 1.04267945e+02] [ 9.31533470e-01 3.63437620e-01 -1.25892859e-02 -1.36638326e+02] [-1.34495552e-02 -1.63539032e-04 -9.99909537e-01 -4.10534606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.013770990297153078 Centerline is valid? [True, True] Translation: X:104.26, Y:-136.61, Z:-4.10 [[-4.35452588e-01 9.00194744e-01 5.51963240e-03 1.04264128e+02] [ 9.00117690e-01 4.35487539e-01 -1.17790975e-02 -1.36608534e+02] [-1.30072128e-02 -1.60919726e-04 -9.99915390e-01 -4.10459822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.013258245387502641 Centerline is valid? [True, True] Translation: X:104.25, Y:-136.58, Z:-4.10 [[-5.02015530e-01 8.64840862e-01 5.53994127e-03 1.04253753e+02] [ 8.64785878e-01 5.02046086e-01 -9.75255130e-03 -1.36580370e+02] [-1.12157107e-02 -1.05069236e-04 -9.99937096e-01 -4.10484924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.012487364586941649 Centerline is valid? [True, True] Translation: X:104.24, Y:-136.56, Z:-4.11 [[-5.62134637e-01 8.27029980e-01 5.10523690e-03 1.04237759e+02] [ 8.26995583e-01 5.62157818e-01 -7.54279405e-03 -1.36555159e+02] [-9.10806565e-03 -1.80574288e-05 -9.99958521e-01 -4.10715232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.012525572116263439 Centerline is valid? [True, True] Translation: X:104.22, Y:-136.53, Z:-4.11 [[-6.20549479e-01 7.84153962e-01 4.57259962e-03 1.04221758e+02] [ 7.84133018e-01 6.20566325e-01 -5.73118689e-03 -1.36531596e+02] [-7.33173424e-03 2.90413043e-05 -9.99973122e-01 -4.10811965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.012608628034723684 Centerline is valid? [True, True] Translation: X:104.21, Y:-136.50, Z:-4.11 [[-6.79645043e-01 7.33519398e-01 5.64869949e-03 1.04210039e+02] [ 7.33494522e-01 6.79668515e-01 -6.04116558e-03 -1.36502602e+02] [-8.27055534e-03 3.74418925e-05 -9.99965798e-01 -4.10637632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.01280028272375593 Centerline is valid? [True, True] Translation: X:104.19, Y:-136.48, Z:-4.10 [[-7.35127918e-01 6.77889364e-01 7.27698309e-03 1.04193580e+02] [ 6.77856733e-01 7.35163933e-01 -6.65131356e-03 -1.36478117e+02] [-9.85863023e-03 4.31856890e-05 -9.99951402e-01 -4.10435762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.012677298748586965 Centerline is valid? [True, True] Translation: X:104.64, Y:-135.99, Z:-5.15 [[-6.93901157e-01 -7.20030177e-01 7.59794595e-03 1.04644834e+02] [ 7.19987267e-01 -6.93942752e-01 -7.86074494e-03 -1.35991865e+02] [ 1.09325131e-02 1.58443377e-05 9.99940238e-01 -5.14854888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.012676409776124251 Centerline is valid? [True, True] Translation: X:104.60, Y:-135.95, Z:-5.15 [[-6.93660500e-01 -7.20273665e-01 6.39995111e-03 1.04602963e+02] [ 7.20242607e-01 -6.93690022e-01 -6.68884565e-03 -1.35952360e+02] [ 9.25738159e-03 -3.02705438e-05 9.99957149e-01 -5.14732929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.012352672854322113 Centerline is valid? [True, True] Translation: X:104.56, Y:-135.91, Z:-5.14 [[-6.92572807e-01 -7.21337003e-01 3.97923539e-03 1.04560600e+02] [ 7.21325028e-01 -6.92584239e-01 -4.15648726e-03 -1.35912086e+02] [ 5.75418378e-03 -8.34796487e-06 9.99983445e-01 -5.14407682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.01228170028143653 Centerline is valid? [True, True] Translation: X:104.52, Y:-135.87, Z:-5.14 [[-6.91129935e-01 -7.22724422e-01 2.97026005e-03 1.04520847e+02] [ 7.22717772e-01 -6.91136318e-01 -3.10049867e-03 -1.35871855e+02] [ 4.29366071e-03 3.81227954e-06 9.99990782e-01 -5.14278080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.012463181772203038 Centerline is valid? [True, True] Translation: X:104.48, Y:-135.83, Z:-5.14 [[-6.90139999e-01 -7.23668781e-01 3.20573526e-03 1.04480278e+02] [ 7.23661054e-01 -6.90147444e-01 -3.34419833e-03 -1.35831850e+02] [ 4.63252193e-03 1.19007276e-05 9.99989270e-01 -5.14302846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.012543961551090912 Centerline is valid? [True, True] Translation: X:104.44, Y:-135.79, Z:-5.14 [[-6.89786971e-01 -7.24005873e-01 3.07101575e-03 1.04439822e+02] [ 7.23998794e-01 -6.89793807e-01 -3.20156851e-03 -1.35792139e+02] [ 4.43632205e-03 1.50114550e-05 9.99990159e-01 -5.14367001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.012491445072096747 Centerline is valid? [True, True] Translation: X:104.40, Y:-135.75, Z:-5.14 [[-6.90410142e-01 -7.23406793e-01 4.05562649e-03 1.04400732e+02] [ 7.23394452e-01 -6.90422054e-01 -4.22549127e-03 -1.35749750e+02] [ 5.85684306e-03 1.64956698e-05 9.99982848e-01 -5.14460521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.012543052432698635 Centerline is valid? [True, True] Translation: X:104.36, Y:-135.71, Z:-5.14 [[-6.89608696e-01 -7.24168175e-01 4.50559666e-03 1.04361234e+02] [ 7.24152979e-01 -6.89623415e-01 -4.69133459e-03 -1.35708095e+02] [ 6.50448016e-03 2.75561088e-05 9.99978845e-01 -5.14318305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.012708953859337943 Centerline is valid? [True, True] Translation: X:104.32, Y:-135.67, Z:-5.14 [[-6.88182127e-01 -7.25526396e-01 4.09994894e-03 1.04319068e+02] [ 7.25513852e-01 -6.88194338e-01 -4.26652007e-03 -1.35667391e+02] [ 5.91703457e-03 3.84268912e-05 9.99982494e-01 -5.14289961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.012927717875702278 Centerline is valid? [True, True] Translation: X:104.28, Y:-135.63, Z:-5.14 [[-6.87100672e-01 -7.26550835e-01 4.06823199e-03 1.04277975e+02] [ 7.26538519e-01 -6.87112714e-01 -4.23068020e-03 -1.35628374e+02] [ 5.86913815e-03 4.88240384e-05 9.99982775e-01 -5.14249598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.012719835600795076 Centerline is valid? [True, True] Translation: X:104.24, Y:-135.59, Z:-5.14 [[-6.88031936e-01 -7.25667606e-01 4.31052631e-03 1.04239315e+02] [ 7.25653778e-01 -6.88045437e-01 -4.48010000e-03 -1.35585337e+02] [ 6.21690140e-03 4.54978246e-05 9.99980674e-01 -5.14163067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.01246963684581269 Centerline is valid? [True, True] Translation: X:104.20, Y:-135.54, Z:-5.14 [[-6.91218760e-01 -7.22624422e-01 5.52906882e-03 1.04201695e+02] [ 7.22601598e-01 -6.91240873e-01 -5.74328765e-03 -1.35540683e+02] [ 7.97215827e-03 2.54457914e-05 9.99968222e-01 -5.14222799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.012440297824625536 Centerline is valid? [True, True] Translation: X:104.16, Y:-135.50, Z:-5.14 [[-6.94245961e-01 -7.19710418e-01 6.28173753e-03 1.04163136e+02] [ 7.19680872e-01 -6.94274380e-01 -6.52137863e-03 -1.35497007e+02] [ 9.05475356e-03 -6.59442801e-06 9.99959005e-01 -5.14277820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.01291179208359324 Centerline is valid? [True, True] Translation: X:104.13, Y:-135.45, Z:-5.14 [[-6.98900852e-01 -7.15182399e-01 7.19273056e-03 1.04126176e+02] [ 7.15143453e-01 -6.98937859e-01 -7.46403796e-03 -1.35452808e+02] [ 1.03654203e-02 -7.27883173e-05 9.99946275e-01 -5.14317360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.013722407815361872 Centerline is valid? [True, True] Translation: X:104.09, Y:-135.41, Z:-5.14 [[-7.03357230e-01 -7.10796914e-01 7.50693786e-03 1.04089181e+02] [ 7.10754285e-01 -7.03397276e-01 -7.78576191e-03 -1.35408252e+02] [ 1.08144552e-02 -1.40583677e-04 9.99941512e-01 -5.14295437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.013985221781804261 Centerline is valid? [True, True] Translation: X:104.05, Y:-135.37, Z:-5.14 [[-7.05469953e-01 -7.08696346e-01 7.85076930e-03 1.04048993e+02] [ 7.08649645e-01 -7.05513613e-01 -8.13774421e-03 -1.35365738e+02] [ 1.13060142e-02 -1.77489153e-04 9.99936069e-01 -5.14226279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.014432342207370472 Centerline is valid? [True, True] Translation: X:104.01, Y:-135.33, Z:-5.14 [[-7.06473680e-01 -7.07698486e-01 7.60215708e-03 1.04010047e+02] [ 7.07654695e-01 -7.06514557e-01 -7.87483438e-03 -1.35325617e+02] [ 1.09440430e-02 -1.83661074e-04 9.99940095e-01 -5.14162384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.013608684019618443 Centerline is valid? [True, True] Translation: X:103.97, Y:-135.29, Z:-5.14 [[-7.04671501e-01 -7.09502053e-01 6.70164745e-03 1.03966460e+02] [ 7.09468141e-01 -7.04703355e-01 -6.93814142e-03 -1.35286451e+02] [ 9.64529903e-03 -1.34505167e-04 9.99953474e-01 -5.13989502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.013293374426197447 Centerline is valid? [True, True] Translation: X:103.93, Y:-135.25, Z:-5.14 [[-7.03694799e-01 -7.10472930e-01 6.46882299e-03 1.03925533e+02] [ 7.10441414e-01 -7.03724522e-01 -6.69287825e-03 -1.35246723e+02] [ 9.30737819e-03 -1.14023864e-04 9.99956679e-01 -5.13931831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.012498065065577418 Centerline is valid? [True, True] Translation: X:103.88, Y:-135.21, Z:-5.14 [[-7.00334812e-01 -7.13783862e-01 6.61433229e-03 1.03880062e+02] [ 7.13751096e-01 -7.00366043e-01 -6.83951804e-03 -1.35210345e+02] [ 9.51439133e-03 -6.89656576e-05 9.99954735e-01 -5.13972396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.012337693270388113 Centerline is valid? [True, True] Translation: X:103.84, Y:-135.17, Z:-5.14 [[-6.98534516e-01 -7.15533872e-01 7.79790190e-03 1.03837455e+02] [ 7.15488494e-01 -6.98578038e-01 -8.05856044e-03 -1.35172115e+02] [ 1.12136160e-02 -4.98735300e-05 9.99937124e-01 -5.14171208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.01236516178340416 Centerline is valid? [True, True] Translation: X:103.80, Y:-135.13, Z:-5.14 [[-6.99239406e-01 -7.14836763e-01 8.52378804e-03 1.03796535e+02] [ 7.14782559e-01 -6.99291354e-01 -8.80314909e-03 -1.35131818e+02] [ 1.22534259e-02 -6.28537110e-05 9.99924922e-01 -5.14223640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.013103045346381839 Centerline is valid? [True, True] Translation: X:103.76, Y:-135.09, Z:-5.14 [[-7.03031657e-01 -7.11095335e-01 9.48222872e-03 1.03756729e+02] [ 7.11027988e-01 -7.03095587e-01 -9.78751288e-03 -1.35089528e+02] [ 1.36267679e-02 -1.38801394e-04 9.99907142e-01 -5.14270191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.01467534756686367 Centerline is valid? [True, True] Translation: X:103.72, Y:-135.05, Z:-5.14 [[-7.07601396e-01 -7.06561815e-01 8.40628378e-03 1.03719754e+02] [ 7.06508610e-01 -7.07651300e-01 -8.67304055e-03 -1.35046456e+02] [ 1.20767569e-02 -1.97943726e-04 9.99927054e-01 -5.14188278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.014596074418017139 Centerline is valid? [True, True] Translation: X:103.68, Y:-135.01, Z:-5.14 [[-7.10126136e-01 -7.04040662e-01 6.90050201e-03 1.03678933e+02] [ 7.04004732e-01 -7.10159635e-01 -7.11544645e-03 -1.35005424e+02] [ 9.91002162e-03 -1.94878421e-04 9.99950876e-01 -5.13925307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.014700966555501623 Centerline is valid? [True, True] Translation: X:103.64, Y:-134.97, Z:-5.14 [[-7.10100443e-01 -7.04066543e-01 6.90392526e-03 1.03638288e+02] [ 7.04030623e-01 -7.10133978e-01 -7.11448857e-03 -1.34965635e+02] [ 9.91178528e-03 -1.91426679e-04 9.99950859e-01 -5.13934715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.013446491302464008 Centerline is valid? [True, True] Translation: X:103.59, Y:-134.93, Z:-5.14 [[-7.06835980e-01 -7.07336829e-01 7.58338281e-03 1.03592499e+02] [ 7.07293722e-01 -7.06876641e-01 -7.81064201e-03 -1.34928245e+02] [ 1.08852709e-02 -1.57163746e-04 9.99940741e-01 -5.13974535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.012796444826203708 Centerline is valid? [True, True] Translation: X:103.55, Y:-134.89, Z:-5.14 [[-7.02996772e-01 -7.11148363e-01 7.97140554e-03 1.03548047e+02] [ 7.11101025e-01 -7.03041958e-01 -8.20594158e-03 -1.34889777e+02] [ 1.14398745e-02 -1.00275791e-04 9.99934558e-01 -5.14042437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.012283528352548444 Centerline is valid? [True, True] Translation: X:103.50, Y:-134.85, Z:-5.14 [[-6.95546003e-01 -7.18427552e-01 8.80965529e-03 1.03501106e+02] [ 7.18370376e-01 -6.95601791e-01 -9.06369379e-03 -1.34854001e+02] [ 1.26396193e-02 2.43793981e-05 9.99920117e-01 -5.14099760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.013205180618506935 Centerline is valid? [True, True] Translation: X:103.45, Y:-134.82, Z:-5.14 [[-6.88696180e-01 -7.24993361e-01 9.06634788e-03 1.03454879e+02] [ 7.24933436e-01 -6.88755838e-01 -9.32254143e-03 -1.34817764e+02] [ 1.30032807e-02 1.52100045e-04 9.99915442e-01 -5.14196722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.014469971115128683 Centerline is valid? [True, True] Translation: X:103.41, Y:-134.78, Z:-5.14 [[-6.84797688e-01 -7.28683510e-01 8.51287456e-03 1.03411272e+02] [ 7.28631006e-01 -6.84850566e-01 -8.74985046e-03 -1.34779766e+02] [ 1.22059187e-02 2.10866985e-04 9.99925483e-01 -5.14194284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.014667197315134904 Centerline is valid? [True, True] Translation: X:103.37, Y:-134.74, Z:-5.14 [[-6.84810373e-01 -7.28673881e-01 8.31440594e-03 1.03372337e+02] [ 7.28623859e-01 -6.84860812e-01 -8.54054026e-03 -1.34737739e+02] [ 1.19174794e-02 2.09423978e-04 9.99928962e-01 -5.14115217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.013848438068341259 Centerline is valid? [True, True] Translation: X:103.34, Y:-134.69, Z:-5.14 [[-6.86456873e-01 -7.27133179e-01 7.36893477e-03 1.03335436e+02] [ 7.27093840e-01 -6.86496404e-01 -7.56532944e-03 -1.34691960e+02] [ 1.05597493e-02 1.64634690e-04 9.99944231e-01 -5.13906060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.01354010751519238 Centerline is valid? [True, True] Translation: X:103.30, Y:-134.65, Z:-5.14 [[-6.87373769e-01 -7.26267608e-01 7.25698655e-03 1.03296312e+02] [ 7.26229452e-01 -6.87412059e-01 -7.44609940e-03 -1.34648491e+02] [ 1.03964009e-02 1.51983963e-04 9.99945944e-01 -5.13849918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.013852904066218221 Centerline is valid? [True, True] Translation: X:103.26, Y:-134.61, Z:-5.14 [[-6.87460782e-01 -7.26177290e-01 8.01357650e-03 1.03257851e+02] [ 7.26130813e-01 -6.87507466e-01 -8.21744399e-03 -1.34606167e+02] [ 1.14767149e-02 1.69734356e-04 9.99934126e-01 -5.13955136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.014078405512508482 Centerline is valid? [True, True] Translation: X:103.22, Y:-134.56, Z:-5.14 [[-6.88794963e-01 -7.24898830e-01 9.12055263e-03 1.03220921e+02] [ 7.24838595e-01 -6.88855323e-01 -9.34640645e-03 -1.34563340e+02] [ 1.30579403e-02 1.73170869e-04 9.99914727e-01 -5.14181671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.012978780189814139 Centerline is valid? [True, True] Translation: X:103.19, Y:-134.51, Z:-5.14 [[-6.92770000e-01 -7.21092597e-01 9.75674358e-03 1.03187011e+02] [ 7.21023363e-01 -6.92838693e-01 -9.99277104e-03 -1.34514777e+02] [ 1.39655627e-02 1.12148086e-04 9.99902471e-01 -5.14125432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.01257729743110635 Centerline is valid? [True, True] Translation: X:103.15, Y:-134.47, Z:-5.14 [[-6.96808673e-01 -7.17198544e-01 9.16084459e-03 1.03151532e+02] [ 7.17137240e-01 -6.96868888e-01 -9.37722178e-03 -1.34467809e+02] [ 1.31092374e-02 3.54533403e-05 9.99914070e-01 -5.14073604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.012866608489979697 Centerline is valid? [True, True] Translation: X:103.12, Y:-134.42, Z:-5.14 [[-7.04146529e-01 -7.09998748e-01 8.91308436e-03 1.03119445e+02] [ 7.09940199e-01 -7.04202932e-01 -9.11841359e-03 -1.34417768e+02] [ 1.27506824e-02 -9.29424003e-05 9.99918702e-01 -5.13938976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.014792461653222738 Centerline is valid? [True, True] Translation: X:103.09, Y:-134.37, Z:-5.14 [[-7.11072988e-01 -7.03059559e-01 9.08086224e-03 1.03088598e+02] [ 7.02998263e-01 -7.11130936e-01 -9.28621120e-03 -1.34368367e+02] [ 1.29864416e-02 -2.19343568e-04 9.99915649e-01 -5.13944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.014818870203833765 Centerline is valid? [True, True] Translation: X:103.05, Y:-134.33, Z:-5.14 [[-7.12857706e-01 -7.01253006e-01 8.83816182e-03 1.03049689e+02] [ 7.01194868e-01 -7.12912452e-01 -9.03291485e-03 -1.34325296e+02] [ 1.26351943e-02 -2.41909246e-04 9.99920144e-01 -5.13786919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.014126426931357404 Centerline is valid? [True, True] Translation: X:103.01, Y:-134.29, Z:-5.14 [[-7.10931429e-01 -7.03199830e-01 9.30068123e-03 1.03007252e+02] [ 7.03135686e-01 -7.10992231e-01 -9.50021191e-03 -1.34285477e+02] [ 1.32932595e-02 -2.14358349e-04 9.99911618e-01 -5.13823594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.013721771615452271 Centerline is valid? [True, True] Translation: X:102.96, Y:-134.25, Z:-5.14 [[-7.08369397e-01 -7.05767477e-01 1.02501976e-02 1.02964800e+02] [ 7.05689921e-01 -7.08443531e-01 -1.04641916e-02 -1.34245223e+02] [ 1.46469723e-02 -1.79051967e-04 9.99892711e-01 -5.13951019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.013353366397732498 Centerline is valid? [True, True] Translation: X:102.92, Y:-134.21, Z:-5.14 [[-7.06260678e-01 -7.07884270e-01 9.78342795e-03 1.02923585e+02] [ 7.07813896e-01 -7.06328425e-01 -9.98217656e-03 -1.34206067e+02] [ 1.39765390e-02 -1.25172523e-04 9.99902316e-01 -5.13959737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.012616937139037068 Centerline is valid? [True, True] Translation: X:102.88, Y:-134.17, Z:-5.14 [[-7.02448071e-01 -7.11685367e-01 8.40505919e-03 1.02877345e+02] [ 7.11633754e-01 -7.02498353e-01 -8.57111055e-03 -1.34170440e+02] [ 1.20044742e-02 -3.94362501e-05 9.99927943e-01 -5.13908983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.01255916393679906 Centerline is valid? [True, True] Translation: X:102.83, Y:-134.13, Z:-5.14 [[-6.99556655e-01 -7.14535992e-01 7.66829177e-03 1.02834599e+02] [ 7.14493255e-01 -6.99598682e-01 -7.81492003e-03 -1.34132514e+02] [ 1.09487685e-02 1.19634400e-05 9.99940060e-01 -5.13802232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.013090305075811711 Centerline is valid? [True, True] Translation: X:102.79, Y:-134.10, Z:-5.14 [[-6.94923689e-01 -7.19047107e-01 7.23362109e-03 1.02790651e+02] [ 7.19009351e-01 -6.94961331e-01 -7.36899163e-03 -1.34096030e+02] [ 1.03257391e-02 8.01543602e-05 9.99946685e-01 -5.13896503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.013783529812369064 Centerline is valid? [True, True] Translation: X:102.75, Y:-134.06, Z:-5.14 [[-6.90368768e-01 -7.23423856e-01 6.99207722e-03 1.02747630e+02] [ 7.23388843e-01 -6.90404160e-01 -7.11883682e-03 -1.34057041e+02] [ 9.97729559e-03 1.43368047e-04 9.99950215e-01 -5.13918469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.015401622749070518 Centerline is valid? [True, True] Translation: X:102.70, Y:-134.02, Z:-5.14 [[-6.88008762e-01 -7.25668145e-01 7.04884841e-03 1.02704319e+02] [ 7.25632722e-01 -6.88044846e-01 -7.17232338e-03 -1.34019311e+02] [ 1.00546504e-02 1.80253728e-04 9.99949435e-01 -5.14083284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.016578664253753584 Centerline is valid? [True, True] Translation: X:102.66, Y:-133.98, Z:-5.14 [[-6.85997195e-01 -7.27572521e-01 6.78788297e-03 1.02662585e+02] [ 7.27539801e-01 -6.86030747e-01 -6.90309199e-03 -1.33978861e+02] [ 9.67919647e-03 2.02953282e-04 9.99953135e-01 -5.14029667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.018357984889762043 Centerline is valid? [True, True] Translation: X:102.62, Y:-133.94, Z:-5.14 [[-6.83180405e-01 -7.30225596e-01 5.92574049e-03 1.02620316e+02] [ 7.30200787e-01 -6.83206070e-01 -6.02291420e-03 -1.33939598e+02] [ 8.44658798e-03 2.12243408e-04 9.99964304e-01 -5.13945488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.020008030585844366 Centerline is valid? [True, True] Translation: X:102.58, Y:-133.90, Z:-5.14 [[-6.81463064e-01 -7.31830116e-01 5.72486599e-03 1.02578922e+02] [ 7.31807048e-01 -6.81487072e-01 -5.81512216e-03 -1.33901884e+02] [ 8.15710369e-03 2.26706310e-04 9.99966705e-01 -5.14029750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.018250941417481018 Centerline is valid? [True, True] Translation: X:102.54, Y:-133.86, Z:-5.14 [[-6.79573299e-01 -7.33575356e-01 6.87952836e-03 1.02540256e+02] [ 7.33542172e-01 -6.79608053e-01 -6.98400271e-03 -1.33858522e+02] [ 9.79867516e-03 3.00282408e-04 9.99951947e-01 -5.14135460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.01871844714573932 Centerline is valid? [True, True] Translation: X:102.50, Y:-133.82, Z:-5.14 [[-6.79439175e-01 -7.33694126e-01 7.43885497e-03 1.02500298e+02] [ 7.33655378e-01 -6.79479816e-01 -7.54755074e-03 -1.33816896e+02] [ 1.05921455e-02 3.29454311e-04 9.99943847e-01 -5.14255122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.01837796075378751 Centerline is valid? [True, True] Translation: X:102.46, Y:-133.77, Z:-5.14 [[-6.81872809e-01 -7.31427659e-01 7.94053913e-03 1.02462864e+02] [ 7.31383402e-01 -6.81918968e-01 -8.05230910e-03 -1.33773726e+02] [ 1.13044858e-02 3.16927902e-04 9.99936052e-01 -5.14379226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.016567674705612653 Centerline is valid? [True, True] Translation: X:102.43, Y:-133.73, Z:-5.15 [[-6.86204789e-01 -7.27354085e-01 8.88949266e-03 1.02427163e+02] [ 7.27298339e-01 -6.86262308e-01 -9.00950566e-03 -1.33727881e+02] [ 1.26536245e-02 2.82947316e-04 9.99919900e-01 -5.14530993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.015411677371745475 Centerline is valid? [True, True] Translation: X:102.39, Y:-133.68, Z:-5.15 [[-6.90984112e-01 -7.22806199e-01 9.59981308e-03 1.02390618e+02] [ 7.22740820e-01 -6.91050759e-01 -9.72398227e-03 -1.33683144e+02] [ 1.36625128e-02 2.19059533e-04 9.99906640e-01 -5.14703582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.014316723094720431 Centerline is valid? [True, True] Translation: X:102.35, Y:-133.64, Z:-5.15 [[-6.92222488e-01 -7.21631065e-01 8.75404388e-03 1.02350415e+02] [ 7.21576667e-01 -6.92277815e-01 -8.86230957e-03 -1.33641439e+02] [ 1.24555483e-02 1.82023827e-04 9.99922410e-01 -5.14568384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.01334702750406864 Centerline is valid? [True, True] Translation: X:102.31, Y:-133.60, Z:-5.14 [[-6.96515698e-01 -7.17492559e-01 8.38513616e-03 1.02312044e+02] [ 7.17442405e-01 -6.96566161e-01 -8.48403831e-03 -1.33597846e+02] [ 1.19280365e-02 1.06586396e-04 9.99928853e-01 -5.14404111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.012904383823265564 Centerline is valid? [True, True] Translation: X:102.27, Y:-133.55, Z:-5.14 [[-6.99874958e-01 -7.14229380e-01 7.17185483e-03 1.02273400e+02] [ 7.14192559e-01 -6.99911702e-01 -7.25241740e-03 -1.33553845e+02] [ 1.01995547e-02 4.63000313e-05 9.99947982e-01 -5.14227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.012707573553840038 Centerline is valid? [True, True] Translation: X:102.23, Y:-133.51, Z:-5.14 [[-7.02837750e-01 -7.11322384e-01 6.28998301e-03 1.02234271e+02] [ 7.11293981e-01 -7.02865895e-01 -6.35661557e-03 -1.33512020e+02] [ 8.94261748e-03 6.35766688e-06 9.99960014e-01 -5.14088011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.012712507685507345 Centerline is valid? [True, True] Translation: X:102.19, Y:-133.47, Z:-5.14 [[-7.04100364e-01 -7.10071161e-01 6.45161061e-03 1.02192241e+02] [ 7.10041261e-01 -7.04129921e-01 -6.51626291e-03 -1.33471654e+02] [ 9.16978244e-03 -7.19335418e-06 9.99957957e-01 -5.14192354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.012840470466694195 Centerline is valid? [True, True] Translation: X:102.15, Y:-133.43, Z:-5.14 [[-7.03966813e-01 -7.10194161e-01 7.41481475e-03 1.02151458e+02] [ 7.10154725e-01 -7.04005862e-01 -7.48416500e-03 -1.33432678e+02] [ 1.05352833e-02 -2.93805093e-06 9.99944502e-01 -5.14335851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.012870735612144583 Centerline is valid? [True, True] Translation: X:102.11, Y:-133.39, Z:-5.14 [[-7.03004059e-01 -7.11147599e-01 7.37459952e-03 1.02110212e+02] [ 7.11108691e-01 -7.03042738e-01 -7.43896779e-03 -1.33393492e+02] [ 1.04748627e-02 1.45172538e-05 9.99945137e-01 -5.14261419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.012919515911387968 Centerline is valid? [True, True] Translation: X:102.07, Y:-133.36, Z:-5.14 [[-7.01309754e-01 -7.12823100e-01 6.91783443e-03 1.02067831e+02] [ 7.12788987e-01 -7.01343872e-01 -6.97380937e-03 -1.33355416e+02] [ 9.82287320e-03 4.01556635e-05 9.99951754e-01 -5.14254590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.012921369035763354 Centerline is valid? [True, True] Translation: X:102.03, Y:-133.31, Z:-5.14 [[-7.01309737e-01 -7.12816476e-01 7.57122507e-03 1.02027448e+02] [ 7.12775661e-01 -7.01350603e-01 -7.62811022e-03 -1.33313842e+02] [ 1.07475259e-02 4.69169825e-05 9.99942243e-01 -5.14296383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.012808543070929549 Centerline is valid? [True, True] Translation: X:101.99, Y:-133.27, Z:-5.14 [[-7.03463556e-01 -7.10701781e-01 6.48105164e-03 1.01987959e+02] [ 7.10671818e-01 -7.03493410e-01 -6.52606012e-03 -1.33271591e+02] [ 9.19745967e-03 1.50552995e-05 9.99957702e-01 -5.14235832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.012764703606761086 Centerline is valid? [True, True] Translation: X:101.95, Y:-133.23, Z:-5.14 [[-7.05374057e-01 -7.08814339e-01 5.44721852e-03 1.01948742e+02] [ 7.08793144e-01 -7.05395090e-01 -5.48142242e-03 -1.33230917e+02] [ 7.72775201e-03 -5.50202316e-06 9.99970141e-01 -5.14165614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.012741581886392751 Centerline is valid? [True, True] Translation: X:101.91, Y:-133.19, Z:-5.14 [[-7.06997895e-01 -7.07196502e-01 5.20419139e-03 1.01908865e+02] [ 7.07177137e-01 -7.07017049e-01 -5.23357067e-03 -1.33190214e+02] [ 7.38061491e-03 -1.98382813e-05 9.99972763e-01 -5.14086046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.012929320775270918 Centerline is valid? [True, True] Translation: X:101.87, Y:-133.15, Z:-5.14 [[-7.08148578e-01 -7.06032161e-01 6.64674205e-03 1.01868751e+02] [ 7.06000556e-01 -7.08179770e-01 -6.68049373e-03 -1.33148584e+02] [ 9.42373168e-03 -3.81785528e-05 9.99955595e-01 -5.14221671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.01289838223530543 Centerline is valid? [True, True] Translation: X:101.83, Y:-133.11, Z:-5.14 [[-7.07600998e-01 -7.06566954e-01 7.99799884e-03 1.01827087e+02] [ 7.06521286e-01 -7.07646196e-01 -8.03331429e-03 -1.33110525e+02] [ 1.13358279e-02 -3.36247781e-05 9.99935747e-01 -5.14436277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.01276830294883185 Centerline is valid? [True, True] Translation: X:101.78, Y:-133.07, Z:-5.15 [[-7.05462346e-01 -7.08684136e-01 9.46967049e-03 1.01782736e+02] [ 7.08620377e-01 -7.05525900e-01 -9.50609842e-03 -1.33072790e+02] [ 1.34179189e-02 4.20698706e-06 9.99909976e-01 -5.14577634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.012901464010827129 Centerline is valid? [True, True] Translation: X:101.74, Y:-133.03, Z:-5.15 [[-7.02898187e-01 -7.11203244e-01 1.11393371e-02 1.01739495e+02] [ 7.11115433e-01 -7.02986445e-01 -1.11758752e-02 -1.33034011e+02] [ 1.57791217e-02 6.58520467e-05 9.99875500e-01 -5.14669660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.013066899634945225 Centerline is valid? [True, True] Translation: X:101.70, Y:-132.99, Z:-5.15 [[-7.01754233e-01 -7.12322855e-01 1.17109622e-02 1.01697193e+02] [ 7.12226064e-01 -7.01851936e-01 -1.17427848e-02 -1.32993683e+02] [ 1.65840155e-02 1.00303540e-04 9.99862471e-01 -5.14753127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.013150948971958657 Centerline is valid? [True, True] Translation: X:101.66, Y:-132.95, Z:-5.15 [[-7.00891755e-01 -7.13176171e-01 1.14235132e-02 1.01656312e+02] [ 7.13084303e-01 -7.00984831e-01 -1.14474081e-02 -1.32953374e+02] [ 1.61717281e-02 1.22534050e-04 9.99869222e-01 -5.14711400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.013102255228236284 Centerline is valid? [True, True] Translation: X:101.62, Y:-132.91, Z:-5.15 [[-7.01040847e-01 -7.13033913e-01 1.11521471e-02 1.01615961e+02] [ 7.12946451e-01 -7.01129535e-01 -1.11683838e-02 -1.32912786e+02] [ 1.57825361e-02 1.21390413e-04 9.99875441e-01 -5.14590439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.01339545753314521 Centerline is valid? [True, True] Translation: X:101.58, Y:-132.87, Z:-5.15 [[-7.01082325e-01 -7.12999093e-01 1.07641266e-02 1.01577071e+02] [ 7.12917717e-01 -7.01164944e-01 -1.07726861e-02 -1.32872711e+02] [ 1.52283437e-02 1.21396753e-04 9.99884035e-01 -5.14612117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.013301723312317595 Centerline is valid? [True, True] Translation: X:101.54, Y:-132.83, Z:-5.14 [[-7.00973176e-01 -7.13114332e-01 1.02253030e-02 1.01537851e+02] [ 7.13041003e-01 -7.01047741e-01 -1.02270716e-02 -1.32831168e+02] [ 1.44614969e-02 1.22157402e-04 9.99895420e-01 -5.14401244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.013827118421700297 Centerline is valid? [True, True] Translation: X:101.50, Y:-132.79, Z:-5.15 [[-7.00720535e-01 -7.13365261e-01 1.00367331e-02 1.01497591e+02] [ 7.13294730e-01 -7.00792400e-01 -1.00319819e-02 -1.32792115e+02] [ 1.41901336e-02 1.29533103e-04 9.99899307e-01 -5.14542211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.013298312780717797 Centerline is valid? [True, True] Translation: X:101.03, Y:-133.25, Z:-4.11 [[-7.61055171e-01 6.48595851e-01 1.08834396e-02 1.01034571e+02] [ 6.48527202e-01 7.61132976e-01 -9.43721718e-03 -1.33253729e+02] [-1.44046846e-02 -1.24036329e-04 -9.99896240e-01 -4.10940833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.012980019329388732 Centerline is valid? [True, True] Translation: X:101.05, Y:-133.24, Z:-4.11 [[-8.02416026e-01 5.96642121e-01 1.21120110e-02 1.01052759e+02] [ 5.96572965e-01 8.02507430e-01 -9.08417712e-03 -1.33239469e+02] [-1.51399815e-02 -6.35910119e-05 -9.99885382e-01 -4.11015905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.013181099576577194 Centerline is valid? [True, True] Translation: X:101.45, Y:-132.71, Z:-5.14 [[-7.56583671e-01 -6.53792918e-01 1.16606068e-02 1.01454808e+02] [ 6.53716829e-01 -7.56673520e-01 -9.97458614e-03 -1.32711116e+02] [ 1.53445862e-02 7.61259057e-05 9.99882262e-01 -5.14441615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.013699793810553954 Centerline is valid? [True, True] Translation: X:101.02, Y:-133.23, Z:-4.11 [[-7.98149317e-01 6.02318988e-01 1.30193758e-02 1.01017391e+02] [ 6.02240996e-01 7.98255489e-01 -9.69315662e-03 -1.33226435e+02] [-1.62311605e-02 1.04215506e-04 -9.99868261e-01 -4.10938397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.015085284139877335 Centerline is valid? [True, True] Translation: X:101.04, Y:-133.21, Z:-4.11 [[-8.34021597e-01 5.51565792e-01 1.35334290e-02 1.01035572e+02] [ 5.51497868e-01 8.34131356e-01 -8.65925372e-03 -1.33214138e+02] [-1.60648056e-02 2.41652608e-04 -9.99870924e-01 -4.11002202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.016498639302676678 Centerline is valid? [True, True] Translation: X:101.05, Y:-133.20, Z:-4.11 [[-8.67714486e-01 4.96880965e-01 1.34490908e-02 1.01051126e+02] [ 4.96827162e-01 8.67818643e-01 -7.31940616e-03 -1.33197177e+02] [-1.53082453e-02 3.30718884e-04 -9.99882767e-01 -4.11214146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.018252126780621204 Centerline is valid? [True, True] Translation: X:101.07, Y:-133.18, Z:-4.12 [[-8.96712041e-01 4.42467745e-01 1.13934402e-02 1.01069503e+02] [ 4.42437435e-01 8.96784337e-01 -5.19320926e-03 -1.33180705e+02] [-1.25152863e-02 3.84071174e-04 -9.99921607e-01 -4.11636249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.019693576992312018 Centerline is valid? [True, True] Translation: X:101.37, Y:-132.54, Z:-5.13 [[-8.96002068e-01 -4.43952152e-01 9.31560503e-03 1.01373318e+02] [ 4.43923071e-01 -8.96050388e-01 -5.09984514e-03 -1.32535147e+02] [ 1.06113387e-02 -4.34059799e-04 9.99943604e-01 -5.13374605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.019488819547690106 Centerline is valid? [True, True] Translation: X:101.03, Y:-133.16, Z:-4.12 [[-8.97752426e-01 4.40373330e-01 1.05788323e-02 1.01032470e+02] [ 4.40347590e-01 8.97814676e-01 -4.77568093e-03 -1.33157617e+02] [-1.16009134e-02 3.70984174e-04 -9.99932638e-01 -4.11856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.017814035438736303 Centerline is valid? [True, True] Translation: X:101.32, Y:-132.53, Z:-5.13 [[-8.94048853e-01 -4.47833556e-01 1.10342940e-02 1.01317734e+02] [ 4.47794727e-01 -8.94116878e-01 -5.90688882e-03 -1.32527461e+02] [ 1.25112516e-02 -3.39948481e-04 9.99921674e-01 -5.13371362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.01555809899203109 Centerline is valid? [True, True] Translation: X:100.99, Y:-133.12, Z:-4.12 [[-9.05085322e-01 4.25066552e-01 1.17892274e-02 1.00992558e+02] [ 4.25033953e-01 9.05162067e-01 -5.26978359e-03 -1.33115025e+02] [-1.29111702e-02 2.41218152e-04 -9.99916618e-01 -4.11975847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.014547203519126547 Centerline is valid? [True, True] Translation: X:101.00, Y:-133.08, Z:-4.12 [[-9.34851092e-01 3.54835958e-01 1.20365783e-02 1.01001015e+02] [ 3.54808895e-01 9.34928561e-01 -4.38569268e-03 -1.33076358e+02] [-1.28095423e-02 1.70715465e-04 -9.99917940e-01 -4.12014798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.014019159176631673 Centerline is valid? [True, True] Translation: X:101.01, Y:-133.04, Z:-4.12 [[-9.58220392e-01 2.85791997e-01 1.16882437e-02 1.01008279e+02] [ 2.85772496e-01 9.58291665e-01 -3.34143202e-03 -1.33040456e+02] [-1.21557010e-02 1.38350283e-04 -9.99926107e-01 -4.12156683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.013886129936438988 Centerline is valid? [True, True] Translation: X:101.01, Y:-133.01, Z:-4.12 [[-9.76229388e-01 2.16435629e-01 1.14804362e-02 1.01008884e+02] [ 2.16422173e-01 9.76296882e-01 -2.41669955e-03 -1.33005496e+02] [-1.17313740e-02 1.25367839e-04 -9.99931177e-01 -4.12103544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.013502651685987336 Centerline is valid? [True, True] Translation: X:101.01, Y:-132.97, Z:-4.12 [[-9.89413582e-01 1.44786108e-01 9.88673895e-03 1.01013379e+02] [ 1.44779768e-01 9.89462973e-01 -1.35775446e-03 -1.32968765e+02] [-9.97914610e-03 8.80190672e-05 -9.99950203e-01 -4.12164006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.013170848914583538 Centerline is valid? [True, True] Translation: X:101.09, Y:-132.40, Z:-5.13 [[-9.80373822e-01 -1.96930525e-01 9.24862760e-03 1.01087433e+02] [ 1.96920622e-01 -9.80417439e-01 -1.97845871e-03 -1.32400720e+02] [ 9.45713470e-03 -1.18383625e-04 9.99955273e-01 -5.13084074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.012860400660336894 Centerline is valid? [True, True] Translation: X:100.96, Y:-132.94, Z:-4.12 [[-9.91476106e-01 1.29942867e-01 9.48596663e-03 1.00960740e+02] [ 1.29936699e-01 9.91521483e-01 -1.26629309e-03 -1.32942239e+02] [-9.57008545e-03 -2.29241505e-05 -9.99954205e-01 -4.12194977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.0135865425473571 Centerline is valid? [True, True] Translation: X:100.95, Y:-132.90, Z:-4.12 [[-9.98607841e-01 5.13846445e-02 1.19163047e-02 1.00950247e+02] [ 5.13795250e-02 9.98678929e-01 -7.35564579e-04 -1.32899864e+02] [-1.19383591e-02 -1.22286482e-04 -9.99928728e-01 -4.11941305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.014231649126573185 Centerline is valid? [True, True] Translation: X:100.98, Y:-132.40, Z:-5.14 [[-9.89714323e-01 -1.42442664e-01 1.32531265e-02 1.00976289e+02] [ 1.42433049e-01 -9.89803027e-01 -1.67143846e-03 -1.32396598e+02] [ 1.33560689e-02 2.33436631e-04 9.99910777e-01 -5.13535482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.014882924718757774 Centerline is valid? [True, True] Translation: X:100.90, Y:-132.88, Z:-4.11 [[-9.98995650e-01 4.18330641e-02 1.60526176e-02 1.00897821e+02] [ 4.18235498e-02 9.99124582e-01 -9.28096621e-04 -1.32881597e+02] [-1.60773899e-02 -2.55787037e-04 -9.99870718e-01 -4.11472086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.014414305898665975 Centerline is valid? [True, True] Translation: X:100.89, Y:-132.85, Z:-4.11 [[-9.99479001e-01 -2.71106037e-02 1.75140446e-02 1.00887479e+02] [-2.71106701e-02 9.99632411e-01 2.33676418e-04 -1.32852166e+02] [-1.75139417e-02 -2.41262813e-04 -9.99846590e-01 -4.11400857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.013806225533479252 Centerline is valid? [True, True] Translation: X:100.88, Y:-132.83, Z:-4.12 [[-9.95231836e-01 -9.61238292e-02 1.65469775e-02 1.00878357e+02] [-9.61138050e-02 9.95369364e-01 1.40183728e-03 -1.32826728e+02] [-1.66051044e-02 -1.95239875e-04 -9.99862107e-01 -4.11604480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.013528565859047133 Centerline is valid? [True, True] Translation: X:100.87, Y:-132.80, Z:-4.12 [[-9.86377813e-01 -1.63929732e-01 1.36327876e-02 1.00866104e+02] [-1.63915807e-01 9.86472011e-01 2.14022011e-03 -1.32801863e+02] [-1.37992091e-02 -1.23563758e-04 -9.99904779e-01 -4.11874623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.01327202008934855 Centerline is valid? [True, True] Translation: X:100.78, Y:-132.33, Z:-5.13 [[-9.96704810e-01 8.02167098e-02 1.20333295e-02 1.00783862e+02] [-8.02109196e-02 -9.96777447e-01 9.63807586e-04 -1.32329047e+02] [ 1.20718649e-02 -4.57276671e-06 9.99927132e-01 -5.13266393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.013274140533248739 Centerline is valid? [True, True] Translation: X:100.80, Y:-132.81, Z:-4.12 [[-9.85929032e-01 -1.66846341e-01 1.03073680e-02 1.00803946e+02] [-1.66838043e-01 9.85982907e-01 1.66579485e-03 -1.32812047e+02] [-1.04408205e-02 -7.73056055e-05 -9.99945490e-01 -4.12101136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.013174377365927262 Centerline is valid? [True, True] Translation: X:100.79, Y:-132.79, Z:-4.12 [[-9.71748288e-01 -2.35778598e-01 1.06638918e-02 1.00785186e+02] [-2.35765210e-01 9.71806795e-01 2.51361274e-03 -1.32788736e+02] [-1.09558986e-02 -7.15758140e-05 -9.99939980e-01 -4.12044925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.013243618457136301 Centerline is valid? [True, True] Translation: X:100.67, Y:-132.32, Z:-5.13 [[-9.87445415e-01 1.57455778e-01 1.26186508e-02 1.00668702e+02] [-1.57440248e-01 -9.87526018e-01 2.22104720e-03 -1.32321153e+02] [ 1.28109627e-02 2.06479369e-04 9.99917915e-01 -5.13347660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.01326446844899282 Centerline is valid? [True, True] Translation: X:100.72, Y:-132.81, Z:-4.12 [[-9.70734810e-01 -2.39834274e-01 1.23874823e-02 1.00716389e+02] [-2.39815776e-01 9.70813842e-01 2.97970944e-03 -1.32806984e+02] [-1.27405758e-02 -7.82060174e-05 -9.99918833e-01 -4.11941750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.013247694521355224 Centerline is valid? [True, True] Translation: X:100.70, Y:-132.79, Z:-4.12 [[-9.50949965e-01 -3.09109969e-01 1.20495408e-02 1.00696054e+02] [-3.09086299e-01 9.51026298e-01 3.82623895e-03 -1.32785462e+02] [-1.26421588e-02 -8.57861768e-05 -9.99920081e-01 -4.11947279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.013443732518191876 Centerline is valid? [True, True] Translation: X:100.54, Y:-132.32, Z:-5.13 [[-9.72949758e-01 2.30694439e-01 1.22001911e-02 1.00539605e+02] [-2.30675279e-01 -9.73026243e-01 2.97424027e-03 -1.32324136e+02] [ 1.25572468e-02 7.95038586e-05 9.99921152e-01 -5.13452694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.013470548738137744 Centerline is valid? [True, True] Translation: X:100.61, Y:-132.82, Z:-4.12 [[-9.48932443e-01 -3.15257843e-01 1.18199786e-02 1.00609832e+02] [-3.15234668e-01 9.49006050e-01 3.82372013e-03 -1.32815335e+02] [-1.24226890e-02 -9.76149563e-05 -9.99922831e-01 -4.11814146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.01382063424226214 Centerline is valid? [True, True] Translation: X:100.45, Y:-132.35, Z:-5.13 [[-9.72550124e-01 2.32425899e-01 1.11561121e-02 1.00449373e+02] [-2.32410324e-01 -9.72614107e-01 2.69072788e-03 -1.32350475e+02] [ 1.14759869e-02 2.40720932e-05 9.99934148e-01 -5.13377974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.015016798729354781 Centerline is valid? [True, True] Translation: X:100.53, Y:-132.84, Z:-4.12 [[-9.44477258e-01 -3.28456256e-01 8.89932763e-03 1.00525725e+02] [-3.28443206e-01 9.44519171e-01 2.93188673e-03 -1.32840382e+02] [-9.36858210e-03 -1.53823359e-04 -9.99956102e-01 -4.12019692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.015700897290580187 Centerline is valid? [True, True] Translation: X:100.50, Y:-132.82, Z:-4.12 [[-9.17244736e-01 -3.98251773e-01 7.59077554e-03 1.00497043e+02] [-3.98239593e-01 9.17276130e-01 3.11890385e-03 -1.32821854e+02] [-8.20494620e-03 -1.62149222e-04 -9.99966326e-01 -4.12078960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.016913846098863244 Centerline is valid? [True, True] Translation: X:100.46, Y:-132.81, Z:-4.12 [[-8.85226653e-01 -4.65094722e-01 7.78921773e-03 1.00457515e+02] [-4.65078600e-01 8.85260901e-01 3.87720378e-03 -1.32809770e+02] [-8.69875692e-03 -1.90394344e-04 -9.99962147e-01 -4.11982972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.01635409919102994 Centerline is valid? [True, True] Translation: X:100.41, Y:-132.81, Z:-4.12 [[-8.48660537e-01 -5.28876475e-01 8.06027263e-03 1.00411257e+02] [-5.28855016e-01 8.48698785e-01 4.76905345e-03 -1.32808067e+02] [-9.36298377e-03 -2.15408146e-04 -9.99956143e-01 -4.11911181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.016814863964574298 Centerline is valid? [True, True] Translation: X:100.35, Y:-132.82, Z:-4.12 [[-8.07389984e-01 -5.89967695e-01 7.71568498e-03 1.00348764e+02] [-5.89943384e-01 8.07426819e-01 5.36048725e-03 -1.32819445e+02] [-9.39236530e-03 -2.23813589e-04 -9.99955866e-01 -4.11857537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.01684453033468203 Centerline is valid? [True, True] Translation: X:100.29, Y:-132.84, Z:-4.12 [[-7.61369232e-01 -6.48282274e-01 6.85455779e-03 1.00289502e+02] [-6.48258518e-01 7.61400057e-01 5.55400410e-03 -1.32836821e+02] [-8.81962310e-03 -2.14877635e-04 -9.99961083e-01 -4.11933165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.016881769700336297 Centerline is valid? [True, True] Translation: X:100.22, Y:-132.87, Z:-4.12 [[-7.11117523e-01 -7.03045243e-01 6.26533716e-03 1.00220671e+02] [-7.03020549e-01 7.11145092e-01 5.89626768e-03 -1.32866498e+02] [-8.60090671e-03 -2.11721507e-04 -9.99962989e-01 -4.11897417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.017912908524464134 Centerline is valid? [True, True] Translation: X:100.15, Y:-132.90, Z:-4.12 [[-6.56070448e-01 -7.54678483e-01 5.65276629e-03 1.00150850e+02] [-7.54653245e-01 6.56094765e-01 6.17565705e-03 -1.32904572e+02] [-8.36938587e-03 -2.14212332e-04 -9.99964953e-01 -4.11795681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.019347216691577872 Centerline is valid? [True, True] Translation: X:100.08, Y:-132.95, Z:-4.12 [[-5.95831157e-01 -8.03088051e-01 5.90031670e-03 1.00077520e+02] [-8.03053052e-01 5.95860311e-01 7.50240814e-03 -1.32954538e+02] [-9.54085888e-03 -2.68098808e-04 -9.99954449e-01 -4.11601891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.02062620655661493 Centerline is valid? [True, True] Translation: X:100.01, Y:-133.01, Z:-4.12 [[-5.32361080e-01 -8.46498902e-01 5.59373634e-03 1.00005826e+02] [-8.46457971e-01 5.32390383e-01 8.32967796e-03 -1.33011075e+02] [-1.00291147e-02 -3.00466357e-04 -9.99949662e-01 -4.11502993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.02224812932258921 Centerline is valid? [True, True] Translation: X:99.94, Y:-133.08, Z:-4.11 [[-4.65366191e-01 -8.85098983e-01 5.83943728e-03 9.99365931e+01] [-8.85039202e-01 4.65402673e-01 1.02938675e-02 -1.33081203e+02] [-1.18287814e-02 -3.77712985e-04 -9.99929966e-01 -4.11334658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.01911120133122253 Centerline is valid? [True, True] Translation: X:99.88, Y:-133.16, Z:-4.11 [[-3.96778300e-01 -9.17896863e-01 5.68595647e-03 9.98775738e+01] [-9.17817622e-01 3.96818806e-01 1.20684879e-02 -1.33162608e+02] [-1.33339217e-02 -4.30156916e-04 -9.99911007e-01 -4.11424719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.018786415412444465 Centerline is valid? [True, True] Translation: X:99.82, Y:-133.25, Z:-4.11 [[-3.26603856e-01 -9.45151034e-01 4.40962884e-03 9.98200421e+01] [-9.45080392e-01 3.26633389e-01 1.15621188e-02 -1.33246790e+02] [-1.23682806e-02 -3.91221153e-04 -9.99923433e-01 -4.11499654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.018839015988393572 Centerline is valid? [True, True] Translation: X:99.77, Y:-133.34, Z:-4.12 [[-2.55061617e-01 -9.66919631e-01 3.16206783e-03 9.97658459e+01] [-9.66860872e-01 2.55080994e-01 1.06648897e-02 -1.33338574e+02] [-1.11186746e-02 -3.37075647e-04 -9.99938129e-01 -4.11586723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.018331542776202126 Centerline is valid? [True, True] Translation: X:99.72, Y:-133.44, Z:-4.12 [[-1.82728623e-01 -9.83161391e-01 1.98252403e-03 9.97224693e+01] [-9.83118242e-01 1.82739185e-01 9.21482225e-03 -1.33436365e+02] [-9.42194228e-03 -2.65243762e-04 -9.99955577e-01 -4.11787908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.018243873007061873 Centerline is valid? [True, True] Translation: X:99.69, Y:-133.53, Z:-4.12 [[-1.06919143e-01 -9.94266962e-01 1.22651793e-03 9.96850130e+01] [-9.94226557e-01 1.06925860e-01 8.96738666e-03 -1.33531965e+02] [-9.04712278e-03 -2.60651407e-04 -9.99959040e-01 -4.11820467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.019551249064580143 Centerline is valid? [True, True] Translation: X:99.65, Y:-133.65, Z:-4.12 [[-2.81470263e-02 -9.99603628e-01 5.75725706e-04 9.96483020e+01] [-9.99556945e-01 2.81512786e-02 9.66535198e-03 -1.33648793e+02] [-9.67772832e-03 -3.03419711e-04 -9.99953124e-01 -4.11722437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.021021350935665623 Centerline is valid? [True, True] Translation: X:99.62, Y:-133.76, Z:-4.12 [[ 5.36655034e-02 -9.98558951e-01 -1.88944726e-04 9.96217408e+01] [-9.98497790e-01 -5.36643090e-02 1.10591946e-02 -1.33760163e+02] [-1.10533973e-02 -4.04836354e-04 -9.99938827e-01 -4.11545201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.022595435168648814 Centerline is valid? [True, True] Translation: X:99.60, Y:-133.87, Z:-4.11 [[ 1.33412927e-01 -9.91059832e-01 -1.18370046e-03 9.96048032e+01] [-9.90979999e-01 -1.33417216e-01 1.25892036e-02 -1.33874185e+02] [-1.26345801e-02 -5.06539027e-04 -9.99920052e-01 -4.11452031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.021463716793700748 Centerline is valid? [True, True] Translation: X:99.60, Y:-133.99, Z:-4.11 [[ 2.07588505e-01 -9.78213684e-01 -2.23633622e-03 9.95990803e+01] [-9.78127553e-01 -2.07599926e-01 1.29908296e-02 -1.33993534e+02] [-1.31720705e-02 -5.09324821e-04 -9.99913115e-01 -4.11487813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.018986655704444504 Centerline is valid? [True, True] Translation: X:99.60, Y:-134.11, Z:-4.12 [[ 2.75293260e-01 -9.61354745e-01 -3.26728947e-03 9.96042449e+01] [-9.61267744e-01 -2.75312325e-01 1.29401757e-02 -1.34106600e+02] [-1.33396244e-02 -4.21603171e-04 -9.99910934e-01 -4.11504849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.01712216772161309 Centerline is valid? [True, True] Translation: X:99.61, Y:-134.21, Z:-4.12 [[ 3.43163631e-01 -9.39267135e-01 -3.99645861e-03 9.96131520e+01] [-9.39191927e-01 -3.43186746e-01 1.18904135e-02 -1.34209202e+02] [-1.25398063e-02 -3.26915818e-04 -9.99921320e-01 -4.11615086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.016473146251023137 Centerline is valid? [True, True] Translation: X:99.63, Y:-134.32, Z:-4.12 [[ 4.12642648e-01 -9.10885356e-01 -3.73019660e-03 9.96306586e+01] [-9.10842905e-01 -4.12659442e-01 8.79699729e-03 -1.34323787e+02] [-9.55235685e-03 -2.32393152e-04 -9.99954348e-01 -4.11873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.017412733594699647 Centerline is valid? [True, True] Translation: X:99.65, Y:-134.44, Z:-4.12 [[ 4.80980697e-01 -8.76721975e-01 -4.01851822e-03 9.96515181e+01] [-8.76687648e-01 -4.80997438e-01 7.76092263e-03 -1.34438197e+02] [-8.73706838e-03 -2.09868690e-04 -9.99961809e-01 -4.11800567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.0163423853289572 Centerline is valid? [True, True] Translation: X:99.69, Y:-134.55, Z:-4.12 [[ 5.46369709e-01 -8.37525436e-01 -5.59334774e-03 9.96858415e+01] [-8.37476758e-01 -5.46398281e-01 9.03322574e-03 -1.34552184e+02] [-1.06217519e-02 -2.51182187e-04 -9.99943556e-01 -4.11609805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.016730598700171198 Centerline is valid? [True, True] Translation: X:99.72, Y:-134.66, Z:-4.11 [[ 6.09431623e-01 -7.92796775e-01 -8.14674610e-03 9.97230605e+01] [-7.92718405e-01 -6.09485979e-01 1.11522476e-02 -1.34655599e+02] [-1.38067934e-02 -3.38456774e-04 -9.99904624e-01 -4.11394125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.01684665795531641 Centerline is valid? [True, True] Translation: X:99.77, Y:-134.76, Z:-4.11 [[ 6.69476333e-01 -7.42775995e-01 -9.23365508e-03 9.97696635e+01] [-7.42697539e-01 -6.69539902e-01 1.08020804e-02 -1.34759503e+02] [-1.42058266e-02 -3.73924282e-04 -9.99899022e-01 -4.11386507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.01832520881432627 Centerline is valid? [True, True] Translation: X:99.82, Y:-134.86, Z:-4.11 [[ 7.25880475e-01 -6.87756486e-01 -9.41024617e-03 9.98176122e+01] [-6.87691705e-01 -7.25941366e-01 9.44732518e-03 -1.34860041e+02] [-1.33287461e-02 -3.86280656e-04 -9.99911094e-01 -4.11380409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.017294552195443777 Centerline is valid? [True, True] Translation: X:99.87, Y:-134.95, Z:-4.11 [[ 7.74844857e-01 -6.32086400e-01 -9.06807301e-03 9.98695575e+01] [-6.32038161e-01 -7.74897849e-01 7.81579011e-03 -1.34945521e+02] [-1.19670849e-02 -3.24656590e-04 -9.99928339e-01 -4.11488924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.015571718196790912 Centerline is valid? [True, True] Translation: X:99.90, Y:-134.97, Z:-4.12 [[ 8.18400775e-01 -5.74573945e-01 -9.21702214e-03 9.98961138e+01] [-5.74534174e-01 -8.18452640e-01 6.76453660e-03 -1.34966621e+02] [-1.14304226e-02 -2.40607797e-04 -9.99934642e-01 -4.11636908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.014710018039733163 Centerline is valid? [True, True] Translation: X:99.92, Y:-134.99, Z:-4.12 [[ 8.58995952e-01 -5.11892958e-01 -9.56844101e-03 9.99229497e+01] [-5.11858632e-01 -8.59049219e-01 5.93129021e-03 -1.34988345e+02] [-1.12559475e-02 -1.97265159e-04 -9.99936630e-01 -4.11611665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.014109332722544925 Centerline is valid? [True, True] Translation: X:99.95, Y:-135.01, Z:-4.12 [[ 8.94661777e-01 -4.46628803e-01 -1.01497554e-02 9.99506694e+01] [-4.46598076e-01 -8.94719335e-01 5.24127199e-03 -1.35008226e+02] [-1.14220855e-02 -1.56304468e-04 -9.99934754e-01 -4.11561013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.013802327225678918 Centerline is valid? [True, True] Translation: X:99.98, Y:-135.03, Z:-4.12 [[ 9.26074640e-01 -3.77189233e-01 -1.06791242e-02 9.99799443e+01] [-3.77162469e-01 -9.26136202e-01 4.49536824e-03 -1.35026107e+02] [-1.15859280e-02 -1.35281672e-04 -9.99932872e-01 -4.11531548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.013488463149643023 Centerline is valid? [True, True] Translation: X:100.01, Y:-135.04, Z:-4.12 [[ 9.52347154e-01 -3.04782023e-01 -1.19505959e-02 1.00009434e+02] [-3.04756297e-01 -9.52422123e-01 3.96208147e-03 -1.35042269e+02] [-1.25895832e-02 -1.31257646e-04 -9.99920740e-01 -4.11555464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.01363584600401556 Centerline is valid? [True, True] Translation: X:100.04, Y:-135.06, Z:-4.11 [[ 9.73016918e-01 -2.30424119e-01 -1.19499869e-02 1.00039123e+02] [-2.30405290e-01 -9.73090290e-01 2.94789430e-03 -1.35057108e+02] [-1.23076821e-02 -1.15010846e-04 -9.99924251e-01 -4.11417431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.01320523252208998 Centerline is valid? [True, True] Translation: X:100.07, Y:-135.07, Z:-4.11 [[ 9.87783206e-01 -1.55423346e-01 -1.13102250e-02 1.00070899e+02] [-1.55412157e-01 -9.87847952e-01 1.86690543e-03 -1.35071047e+02] [-1.14629433e-02 -8.63513619e-05 -9.99934295e-01 -4.11477805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.012872963152316636 Centerline is valid? [True, True] Translation: X:100.10, Y:-135.08, Z:-4.12 [[ 9.96721323e-01 -8.02191553e-02 -1.05589108e-02 1.00099546e+02] [-8.02141037e-02 -9.96777249e-01 9.01741351e-04 -1.35082161e+02] [-1.05972190e-02 -5.18112690e-05 -9.99943847e-01 -4.11599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.012844772097858611 Centerline is valid? [True, True] Translation: X:100.13, Y:-135.09, Z:-4.12 [[ 9.99913187e-01 -6.70899683e-03 -1.13405633e-02 1.00129680e+02] [-6.70855119e-03 -9.99977494e-01 7.73367975e-05 -1.35089011e+02] [-1.13408269e-02 -1.25133414e-06 -9.99935691e-01 -4.11611916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.012842829435535613 Centerline is valid? [True, True] Translation: X:100.16, Y:-135.10, Z:-4.12 [[ 9.97502781e-01 6.96944389e-02 -1.14405647e-02 1.00160311e+02] [ 6.96896175e-02 -9.97568386e-01 -8.20037939e-04 -1.35095628e+02] [-1.14698977e-02 2.07015478e-05 -9.99934218e-01 -4.11597634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.012713047366768922 Centerline is valid? [True, True] Translation: X:100.19, Y:-135.11, Z:-4.12 [[ 9.88912888e-01 1.48080864e-01 -1.11066865e-02 1.00191858e+02] [ 1.48071364e-01 -9.88975256e-01 -1.67741386e-03 -1.35106531e+02] [-1.12326310e-02 1.42339713e-05 -9.99936912e-01 -4.11632652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.012813991961565328 Centerline is valid? [True, True] Translation: X:100.22, Y:-135.11, Z:-4.11 [[ 9.73934026e-01 2.26536835e-01 -1.15575121e-02 1.00223457e+02] [ 2.26520927e-01 -9.74002599e-01 -2.68469123e-03 -1.35113989e+02] [-1.18652283e-02 -3.30621383e-06 -9.99929606e-01 -4.11422751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.012618753520594654 Centerline is valid? [True, True] Translation: X:100.26, Y:-135.12, Z:-4.12 [[ 9.52874576e-01 3.03154479e-01 -1.12873263e-02 1.00256152e+02] [ 3.03133419e-01 -9.52941426e-01 -3.57333563e-03 -1.35116340e+02] [-1.18394335e-02 -1.66251330e-05 -9.99929911e-01 -4.11577225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.01262527480193948 Centerline is valid? [True, True] Translation: X:100.29, Y:-135.12, Z:-4.12 [[ 9.25813251e-01 3.77854812e-01 -9.77581475e-03 1.00289572e+02] [ 3.77834051e-01 -9.25864861e-01 -3.96092283e-03 -1.35116136e+02] [-1.05477371e-02 -2.65608569e-05 -9.99944371e-01 -4.11685777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.01245527120913191 Centerline is valid? [True, True] Translation: X:100.32, Y:-135.11, Z:-4.12 [[ 8.93024551e-01 4.49930676e-01 -8.33898255e-03 1.00322362e+02] [ 4.49911388e-01 -8.93063484e-01 -4.16612469e-03 -1.35112463e+02] [-9.32170811e-03 -3.13515837e-05 -9.99956552e-01 -4.11849793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.012570049874958269 Centerline is valid? [True, True] Translation: X:100.35, Y:-135.10, Z:-4.12 [[ 8.55234582e-01 5.18184895e-01 -7.63050001e-03 1.00352819e+02] [ 5.18164551e-01 -8.55268621e-01 -4.59172756e-03 -1.35104201e+02] [-8.90549109e-03 -2.68504161e-05 -9.99960345e-01 -4.11831426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.012478472592173056 Centerline is valid? [True, True] Translation: X:100.38, Y:-135.09, Z:-4.12 [[ 8.13222117e-01 5.81899122e-01 -7.94987009e-03 1.00382806e+02] [ 5.81871435e-01 -8.13260974e-01 -5.67633621e-03 -1.35093031e+02] [-9.76837415e-03 -9.68016832e-06 -9.99952288e-01 -4.11852509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.012490674466957374 Centerline is valid? [True, True] Translation: X:100.41, Y:-135.08, Z:-4.12 [[ 7.66090751e-01 6.42675920e-01 -8.52198613e-03 1.00411466e+02] [ 6.42636088e-01 -7.66138148e-01 -7.15515690e-03 -1.35079001e+02] [-1.11274657e-02 4.96369251e-06 -9.99938088e-01 -4.11737906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.012539631964508791 Centerline is valid? [True, True] Translation: X:100.44, Y:-135.06, Z:-4.12 [[ 7.13387282e-01 7.00719036e-01 -8.45095246e-03 1.00438422e+02] [ 7.00669796e-01 -7.13437336e-01 -8.30689424e-03 -1.35062836e+02] [-1.18500239e-02 4.70557467e-06 -9.99929786e-01 -4.11697405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.012641650349533271 Centerline is valid? [True, True] Translation: X:100.46, Y:-135.04, Z:-4.12 [[ 6.55933824e-01 7.54775590e-01 -8.03918684e-03 1.00463961e+02] [ 7.54718937e-01 -6.55983086e-01 -9.24751469e-03 -1.35043595e+02] [-1.22533689e-02 -1.56887776e-06 -9.99924925e-01 -4.11625801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.01272379666722272 Centerline is valid? [True, True] Translation: X:100.49, Y:-135.02, Z:-4.12 [[ 5.93824676e-01 8.04558643e-01 -7.59240351e-03 1.00486902e+02] [ 8.04493264e-01 -5.93873210e-01 -1.02566384e-02 -1.35022826e+02] [-1.27609921e-02 -1.73924841e-05 -9.99918575e-01 -4.11584008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.012966147117944412 Centerline is valid? [True, True] Translation: X:100.51, Y:-135.00, Z:-4.12 [[ 5.26240420e-01 8.50305830e-01 -7.14259193e-03 1.00509488e+02] [ 8.50229125e-01 -5.26288886e-01 -1.14212053e-02 -1.34999908e+02] [-1.34705842e-02 -6.25398323e-05 -9.99909266e-01 -4.11588656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.013824747190222312 Centerline is valid? [True, True] Translation: X:100.53, Y:-134.98, Z:-4.11 [[ 4.54123257e-01 8.90915769e-01 -6.41563656e-03 1.00529647e+02] [ 8.90830745e-01 -4.54168555e-01 -1.23088012e-02 -1.34976732e+02] [-1.38798855e-02 -1.25533395e-04 -9.99903662e-01 -4.11477226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.014501161174366645 Centerline is valid? [True, True] Translation: X:100.54, Y:-134.95, Z:-4.12 [[ 3.80614521e-01 9.24718347e-01 -5.34471822e-03 1.00543661e+02] [ 9.24632951e-01 -3.80652012e-01 -1.25678804e-02 -1.34949038e+02] [-1.36562273e-02 -1.58384825e-04 -9.99906737e-01 -4.11533516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.015034247826688135 Centerline is valid? [True, True] Translation: X:100.55, Y:-134.92, Z:-4.12 [[ 3.05471857e-01 9.52192519e-01 -4.04359920e-03 1.00552884e+02] [ 9.52116246e-01 -3.05498573e-01 -1.20530968e-02 -1.34920244e+02] [-1.27121824e-02 -1.68094626e-04 -9.99919183e-01 -4.11749079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.014074086442802919 Centerline is valid? [True, True] Translation: X:100.56, Y:-134.89, Z:-4.12 [[ 2.30261207e-01 9.73124884e-01 -2.78133631e-03 1.00564218e+02] [ 9.73061456e-01 -2.30277957e-01 -1.11114730e-02 -1.34890971e+02] [-1.14533314e-02 -1.47869969e-04 -9.99934398e-01 -4.12111875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.013601350425704463 Centerline is valid? [True, True] Translation: X:100.57, Y:-134.86, Z:-4.12 [[ 1.55589376e-01 9.87820406e-01 -1.67105405e-03 1.00574616e+02] [ 9.87770579e-01 -1.55598313e-01 -9.92208046e-03 -1.34861172e+02] [-1.00612467e-02 -1.06847711e-04 -9.99949379e-01 -4.12219491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.013212839144746202 Centerline is valid? [True, True] Translation: X:100.58, Y:-134.83, Z:-4.12 [[ 7.94538737e-02 9.96838149e-01 -8.86634186e-04 1.00583995e+02] [ 9.96788012e-01 -7.94587702e-02 -9.99810307e-03 -1.34830799e+02] [-1.00369414e-02 -8.93983103e-05 -9.99949625e-01 -4.12243017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.01318106194366766 Centerline is valid? [True, True] Translation: X:100.59, Y:-134.80, Z:-4.12 [[ 1.60447062e-03 9.99998707e-01 -1.06623201e-04 1.00591107e+02] [ 9.99942493e-01 -1.60551101e-03 -1.06034748e-02 -1.34799837e+02] [-1.06036323e-02 -8.96041057e-05 -9.99943776e-01 -4.12176899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.013229690282925508 Centerline is valid? [True, True] Translation: X:100.60, Y:-134.77, Z:-4.12 [[-7.63155471e-02 9.97083334e-01 8.73050464e-04 1.00595873e+02] [ 9.97001768e-01 7.63204715e-02 -1.27538678e-02 -1.34769001e+02] [-1.27833006e-02 -1.02885540e-04 -9.99918285e-01 -4.12072299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.013005985299769693 Centerline is valid? [True, True] Translation: X:100.60, Y:-134.74, Z:-4.12 [[-1.53764508e-01 9.88105349e-01 2.07236266e-03 1.00600795e+02] [ 9.88005918e-01 1.53778435e-01 -1.40177816e-02 -1.34736885e+02] [-1.41697296e-02 -1.07930711e-04 -9.99899599e-01 -4.12024290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.013003659836076412 Centerline is valid? [True, True] Translation: X:100.60, Y:-134.71, Z:-4.12 [[-2.28111470e-01 9.73630646e-01 2.91939566e-03 1.00601436e+02] [ 9.73547263e-01 2.28130142e-01 -1.27422959e-02 -1.34705771e+02] [-1.30722919e-02 -6.44941927e-05 -9.99914552e-01 -4.12065505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.012539520084384175 Centerline is valid? [True, True] Translation: X:100.60, Y:-134.67, Z:-4.12 [[-3.00346288e-01 9.53824013e-01 3.44390834e-03 1.00599060e+02] [ 9.53760663e-01 3.00366032e-01 -1.09929166e-02 -1.34674495e+02] [-1.15197409e-02 -1.70173880e-05 -9.99933646e-01 -4.12299993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.01261272915271702 Centerline is valid? [True, True] Translation: X:100.59, Y:-134.64, Z:-4.12 [[-3.69283371e-01 9.29309901e-01 3.59163962e-03 1.00593455e+02] [ 9.29266896e-01 3.69300835e-01 -8.94036229e-03 -1.34644184e+02] [-9.63476271e-03 3.60646764e-05 -9.99953584e-01 -4.12490840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.012836810835148012 Centerline is valid? [True, True] Translation: X:100.59, Y:-134.61, Z:-4.13 [[-4.38838076e-01 8.98556398e-01 4.18838657e-03 1.00586838e+02] [ 8.98516719e-01 4.38858060e-01 -8.44451823e-03 -1.34613866e+02] [-9.42598309e-03 5.75592238e-05 -9.99955573e-01 -4.12580928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.012696320113822185 Centerline is valid? [True, True] Translation: X:100.58, Y:-134.58, Z:-4.13 [[-5.09890523e-01 8.60224905e-01 4.97669962e-03 1.00583080e+02] [ 8.60184629e-01 5.09914808e-01 -8.32416410e-03 -1.34580347e+02] [-9.69834610e-03 3.64681339e-05 -9.99952969e-01 -4.12591696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.01258463515765332 Centerline is valid? [True, True] Translation: X:100.58, Y:-134.55, Z:-4.13 [[-5.79029079e-01 8.15284127e-01 6.09246466e-03 1.00577734e+02] [ 8.15238940e-01 5.79061131e-01 -8.58354269e-03 -1.34546268e+02] [-1.05259356e-02 -3.30639074e-06 -9.99944601e-01 -4.12586852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.0126012572287674 Centerline is valid? [True, True] Translation: X:100.57, Y:-134.51, Z:-4.13 [[-6.42932312e-01 7.65891441e-01 6.95289633e-03 1.00568071e+02] [ 7.65846173e-01 6.42969906e-01 -8.32704600e-03 -1.34513951e+02] [-1.08481164e-02 -2.88779010e-05 -9.99941157e-01 -4.12551898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.013194961126013347 Centerline is valid? [True, True] Translation: X:100.56, Y:-134.48, Z:-4.12 [[-7.05633618e-01 7.08526345e-01 8.46261923e-03 1.00558505e+02] [ 7.08473473e-01 7.05684353e-01 -8.65631176e-03 -1.34479596e+02] [-1.21051629e-02 -1.12643348e-04 -9.99926724e-01 -4.12428890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.014330545283863664 Centerline is valid? [True, True] Translation: X:100.54, Y:-134.45, Z:-4.12 [[-7.62640070e-01 6.46739102e-01 1.04238935e-02 1.00543734e+02] [ 6.46674951e-01 7.62711276e-01 -9.11139320e-03 -1.34448585e+02] [-1.38431153e-02 -2.07842760e-04 -9.99904158e-01 -4.12315912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.015319633887582309 Centerline is valid? [True, True] Translation: X:100.93, Y:-134.00, Z:-5.13 [[-6.93807203e-01 -7.20087487e-01 1.02750560e-02 1.00927318e+02] [ 7.20014068e-01 -6.93883235e-01 -1.02858812e-02 -1.34004919e+02] [ 1.45364234e-02 2.61766351e-04 9.99894306e-01 -5.12920894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.015152912420521482 Centerline is valid? [True, True] Translation: X:100.89, Y:-133.97, Z:-5.13 [[-6.93819902e-01 -7.20080692e-01 9.88636725e-03 1.00886245e+02] [ 7.20012892e-01 -6.93890286e-01 -9.88460829e-03 -1.33965046e+02] [ 1.39777698e-02 2.60173915e-04 9.99902272e-01 -5.12755057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.014575045760563864 Centerline is valid? [True, True] Translation: X:100.87, Y:-133.99, Z:-5.13 [[-6.44919672e-01 -7.64199106e-01 8.85118672e-03 1.00870636e+02] [ 7.64132002e-01 -6.44980366e-01 -1.01296587e-02 -1.33987553e+02] [ 1.34499178e-02 2.30658877e-04 9.99909519e-01 -5.12580215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.014023800316459585 Centerline is valid? [True, True] Translation: X:100.83, Y:-133.94, Z:-5.13 [[-6.47925737e-01 -7.61646976e-01 9.28024213e-03 1.00834342e+02] [ 7.61573032e-01 -6.47992166e-01 -1.06145796e-02 -1.33941644e+02] [ 1.40980866e-02 1.90122833e-04 9.99900599e-01 -5.12620912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.01328631428046625 Centerline is valid? [True, True] Translation: X:100.80, Y:-133.90, Z:-5.13 [[-6.50229772e-01 -7.59676844e-01 9.60919482e-03 1.00798666e+02] [ 7.59597442e-01 -6.50300752e-01 -1.09844453e-02 -1.33895647e+02] [ 1.45934954e-02 1.56706415e-04 9.99893497e-01 -5.12524469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.01374371275862624 Centerline is valid? [True, True] Translation: X:100.76, Y:-133.85, Z:-5.13 [[-6.50007401e-01 -7.59867416e-01 9.58589167e-03 1.00760983e+02] [ 7.59788516e-01 -6.50078059e-01 -1.09511557e-02 -1.33852664e+02] [ 1.45530042e-02 1.64918167e-04 9.99894086e-01 -5.12636627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.014366221662112372 Centerline is valid? [True, True] Translation: X:100.72, Y:-133.81, Z:-5.13 [[-6.47089651e-01 -7.62330293e-01 1.12919363e-02 1.00722102e+02] [ 7.62221272e-01 -6.47188114e-01 -1.28948564e-02 -1.33810017e+02] [ 1.71381467e-02 2.62825962e-04 9.99853097e-01 -5.12786375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.016383267538801316 Centerline is valid? [True, True] Translation: X:100.68, Y:-133.77, Z:-5.13 [[-6.42351861e-01 -7.66301892e-01 1.28645581e-02 1.00680429e+02] [ 7.66161339e-01 -6.42480529e-01 -1.46823751e-02 -1.33769467e+02] [ 1.95163599e-02 4.25076071e-04 9.99809447e-01 -5.13120145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.017412418601962985 Centerline is valid? [True, True] Translation: X:100.64, Y:-133.73, Z:-5.13 [[-6.40209353e-01 -7.68093005e-01 1.28498884e-02 1.00641493e+02] [ 7.67953300e-01 -6.40338114e-01 -1.46570099e-02 -1.33727029e+02] [ 1.94862201e-02 4.84559385e-04 9.99810008e-01 -5.13159011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.016101417155810586 Centerline is valid? [True, True] Translation: X:100.61, Y:-133.68, Z:-5.13 [[-6.41105234e-01 -7.67361093e-01 1.18756457e-02 1.00607872e+02] [ 7.67241785e-01 -6.41215070e-01 -1.35379951e-02 -1.33678843e+02] [ 1.80033737e-02 4.32212123e-04 9.99837833e-01 -5.12807078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.014589472646192527 Centerline is valid? [True, True] Translation: X:100.58, Y:-133.63, Z:-5.13 [[-6.46914036e-01 -7.62491131e-01 1.04645419e-02 1.00576615e+02] [ 7.62397970e-01 -6.46998613e-01 -1.19218032e-02 -1.33630524e+02] [ 1.58608133e-02 2.65763650e-04 9.99874174e-01 -5.12628319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.01293704629072384 Centerline is valid? [True, True] Translation: X:100.55, Y:-133.58, Z:-5.12 [[-6.53328024e-01 -7.57015327e-01 9.50194792e-03 1.00546186e+02] [ 7.56938029e-01 -6.53397107e-01 -1.08185646e-02 -1.33580521e+02] [ 1.43983645e-02 1.24314285e-04 9.99896331e-01 -5.12466261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.012610880791470392 Centerline is valid? [True, True] Translation: X:100.51, Y:-133.53, Z:-5.12 [[-6.56814739e-01 -7.53996602e-01 9.13904286e-03 1.00511712e+02] [ 7.53924885e-01 -6.56878315e-01 -1.03993962e-02 -1.33533037e+02] [ 1.38443485e-02 5.96751153e-05 9.99904161e-01 -5.12371880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.012730767829841411 Centerline is valid? [True, True] Translation: X:100.48, Y:-133.49, Z:-5.12 [[-6.60924216e-01 -7.50399541e-01 8.92796837e-03 1.00479444e+02] [ 7.50330861e-01 -6.60984514e-01 -1.01523910e-02 -1.33486414e+02] [ 1.35195984e-02 -1.10308847e-05 9.99908606e-01 -5.12405791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.01271880741919939 Centerline is valid? [True, True] Translation: X:100.44, Y:-133.44, Z:-5.12 [[-6.62555690e-01 -7.48950558e-01 9.64462039e-03 1.00444703e+02] [ 7.48870355e-01 -6.62625882e-01 -1.09604186e-02 -1.33440227e+02] [ 1.45995868e-02 -3.93174393e-05 9.99893420e-01 -5.12423280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.012745044836049524 Centerline is valid? [True, True] Translation: X:100.41, Y:-133.40, Z:-5.12 [[-6.62435074e-01 -7.49057708e-01 9.60846980e-03 1.00408510e+02] [ 7.48978216e-01 -6.62504754e-01 -1.09125135e-02 -1.33396069e+02] [ 1.45397593e-02 -3.22971339e-05 9.99894292e-01 -5.12474310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.01260527445734736 Centerline is valid? [True, True] Translation: X:100.37, Y:-133.35, Z:-5.12 [[-6.61701226e-01 -7.49707751e-01 9.47499013e-03 1.00370996e+02] [ 7.49630617e-01 -6.61769059e-01 -1.07540782e-02 -1.33353185e+02] [ 1.43326711e-02 -1.32440281e-05 9.99897282e-01 -5.12437626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.01273274965301159 Centerline is valid? [True, True] Translation: X:100.33, Y:-133.31, Z:-5.13 [[-6.59638819e-01 -7.51524913e-01 9.32382729e-03 1.00333849e+02] [ 7.51450475e-01 -6.59704710e-01 -1.05773482e-02 -1.33310821e+02] [ 1.41001135e-02 2.91649763e-05 9.99900588e-01 -5.12542667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.012763813620222594 Centerline is valid? [True, True] Translation: X:100.30, Y:-133.27, Z:-5.12 [[-6.56417312e-01 -7.54344525e-01 8.98054468e-03 1.00295187e+02] [ 7.54275818e-01 -6.56478735e-01 -1.01813987e-02 -1.33268052e+02] [ 1.35758190e-02 9.05613348e-05 9.99907840e-01 -5.12430139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.01343243074332684 Centerline is valid? [True, True] Translation: X:100.25, Y:-133.23, Z:-5.12 [[-6.51984858e-01 -7.58181485e-01 8.75103941e-03 1.00254893e+02] [ 7.58116664e-01 -6.52043562e-01 -9.91548074e-03 -1.33226436e+02] [ 1.32237928e-02 1.69565503e-04 9.99912548e-01 -5.12340490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.015018220230167351 Centerline is valid? [True, True] Translation: X:100.21, Y:-133.19, Z:-5.12 [[-6.46600438e-01 -7.62785492e-01 8.13433426e-03 1.00213805e+02] [ 7.62729915e-01 -6.46651553e-01 -9.21111058e-03 -1.33186125e+02] [ 1.22861814e-02 2.48391955e-04 9.99924491e-01 -5.12355412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.016386815574819965 Centerline is valid? [True, True] Translation: X:100.17, Y:-133.14, Z:-5.12 [[-6.43637776e-01 -7.65290084e-01 7.84228219e-03 1.00173732e+02] [ 7.65238671e-01 -6.43685486e-01 -8.87538408e-03 -1.33143944e+02] [ 1.18402066e-02 2.88685125e-04 9.99929861e-01 -5.12334315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.01688326956744317 Centerline is valid? [True, True] Translation: X:100.14, Y:-133.10, Z:-5.12 [[-6.41031757e-01 -7.67481973e-01 7.05036758e-03 1.00135048e+02] [ 7.67440600e-01 -6.41070458e-01 -7.97452642e-03 -1.33100550e+02] [ 1.06400876e-02 2.98813643e-04 9.99943348e-01 -5.12266514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.01921924760451324 Centerline is valid? [True, True] Translation: X:100.10, Y:-133.06, Z:-5.12 [[-6.39561693e-01 -7.68708606e-01 6.92240483e-03 1.00095098e+02] [ 7.68668843e-01 -6.39599077e-01 -7.82505049e-03 -1.33059677e+02] [ 1.04427474e-02 3.16434369e-04 9.99945423e-01 -5.12410607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.01884826462358152 Centerline is valid? [True, True] Translation: X:100.06, Y:-133.01, Z:-5.13 [[-6.38691621e-01 -7.69420723e-01 8.04762236e-03 1.00058868e+02] [ 7.69367104e-01 -6.38742204e-01 -9.09152099e-03 -1.33014960e+02] [ 1.21355607e-02 3.84897637e-04 9.99926287e-01 -5.12538141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.019432623269261814 Centerline is valid? [True, True] Translation: X:100.02, Y:-132.97, Z:-5.13 [[-6.38508533e-01 -7.69560548e-01 9.13323369e-03 1.00020713e+02] [ 7.69491586e-01 -6.38573697e-01 -1.03118004e-02 -1.32971865e+02] [ 1.37677976e-02 4.43773930e-04 9.99905121e-01 -5.12775798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.01998361616632445 Centerline is valid? [True, True] Translation: X:99.98, Y:-132.93, Z:-5.13 [[-6.38323834e-01 -7.69690565e-01 1.09140872e-02 9.99823599e+01] [ 7.69592218e-01 -6.38416905e-01 -1.23156021e-02 -1.32928139e+02] [ 1.64469405e-02 5.38054260e-04 9.99864595e-01 -5.13049661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.018686282015677073 Centerline is valid? [True, True] Translation: X:99.95, Y:-132.88, Z:-5.13 [[-6.39722925e-01 -7.68527299e-01 1.09713371e-02 9.99466889e+01] [ 7.68427862e-01 -6.39816791e-01 -1.23731580e-02 -1.32882169e+02] [ 1.65287554e-02 5.15288295e-04 9.99863258e-01 -5.12971500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.018442358549966217 Centerline is valid? [True, True] Translation: X:99.91, Y:-132.84, Z:-5.13 [[-6.40621062e-01 -7.67782667e-01 1.06972542e-02 9.99094758e+01] [ 7.67688151e-01 -6.40710182e-01 -1.20567744e-02 -1.32838039e+02] [ 1.61108221e-02 4.88331620e-04 9.99870093e-01 -5.12900367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.017630131624553715 Centerline is valid? [True, True] Translation: X:99.87, Y:-132.79, Z:-5.13 [[-6.44535540e-01 -7.64522383e-01 8.91430278e-03 9.98747366e+01] [ 7.64456509e-01 -6.44597091e-01 -1.00417094e-02 -1.32793716e+02] [ 1.34232453e-02 3.42358167e-04 9.99909846e-01 -5.12716251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.015508179346771027 Centerline is valid? [True, True] Translation: X:99.84, Y:-132.75, Z:-5.13 [[-6.47753861e-01 -7.61808437e-01 7.92725911e-03 9.98401188e+01] [ 7.61756203e-01 -6.47802315e-01 -8.92460849e-03 -1.32746797e+02] [ 1.19341388e-02 2.57689188e-04 9.99928752e-01 -5.12513100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.01618575412759432 Centerline is valid? [True, True] Translation: X:99.80, Y:-132.71, Z:-5.13 [[-6.48451907e-01 -7.61213431e-01 8.01477818e-03 9.98025941e+01] [ 7.61160064e-01 -6.48501386e-01 -9.01712953e-03 -1.32705317e+02] [ 1.20615549e-02 2.53354241e-04 9.99927225e-01 -5.12568288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.015969815129754372 Centerline is valid? [True, True] Translation: X:99.76, Y:-132.66, Z:-5.12 [[-6.47513209e-01 -7.62011207e-01 8.09727610e-03 9.97634021e+01] [ 7.61956860e-01 -6.47563777e-01 -9.10480510e-03 -1.32662192e+02] [ 1.21814662e-02 2.74293514e-04 9.99925766e-01 -5.12462403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.018497205911453478 Centerline is valid? [True, True] Translation: X:99.72, Y:-132.63, Z:-5.13 [[-6.44497129e-01 -7.64567940e-01 7.70162725e-03 9.97198678e+01] [ 7.64519007e-01 -6.44543070e-01 -8.65563382e-03 -1.32625045e+02] [ 1.15818506e-02 3.09509270e-04 9.99932880e-01 -5.12554250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.018813230944576896 Centerline is valid? [True, True] Translation: X:99.68, Y:-132.58, Z:-5.13 [[-6.42552466e-01 -7.66200836e-01 7.91251829e-03 9.96791813e+01] [ 7.66149367e-01 -6.42601086e-01 -8.88772362e-03 -1.32583237e+02] [ 1.18943741e-02 3.51342147e-04 9.99929198e-01 -5.12542066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.018497769184065583 Centerline is valid? [True, True] Translation: X:99.64, Y:-132.54, Z:-5.13 [[-6.41713301e-01 -7.66897274e-01 8.52117976e-03 9.96413921e+01] [ 7.66837713e-01 -6.41769752e-01 -9.56596611e-03 -1.32539543e+02] [ 1.28047488e-02 3.95754318e-04 9.99917938e-01 -5.12529595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.018232566401747266 Centerline is valid? [True, True] Translation: X:99.60, Y:-132.50, Z:-5.12 [[-6.42714068e-01 -7.66067203e-01 7.72448051e-03 9.96028513e+01] [ 7.66018256e-01 -6.42760391e-01 -8.66668410e-03 -1.32496029e+02] [ 1.16042526e-02 3.46893296e-04 9.99932608e-01 -5.12426872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.018568322319624967 Centerline is valid? [True, True] Translation: X:99.56, Y:-132.45, Z:-5.12 [[-6.44780924e-01 -7.64344778e-01 5.88390077e-03 9.95642638e+01] [ 7.64316332e-01 -6.44807724e-01 -6.59880378e-03 -1.32454017e+02] [ 8.83774588e-03 2.42378662e-04 9.99960917e-01 -5.12216968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.016598558950764973 Centerline is valid? [True, True] Translation: X:99.53, Y:-132.41, Z:-5.12 [[-6.46453422e-01 -7.62934147e-01 5.42774529e-03 9.95286877e+01] [ 7.62909918e-01 -6.46476175e-01 -6.08376192e-03 -1.32407680e+02] [ 8.15041772e-03 2.08012003e-04 9.99966763e-01 -5.12003066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.016195442724604887 Centerline is valid? [True, True] Translation: X:99.49, Y:-132.36, Z:-5.12 [[-6.48854178e-01 -7.60890916e-01 5.76798629e-03 9.94918310e+01] [ 7.60863505e-01 -6.48879785e-01 -6.46150869e-03 -1.32363587e+02] [ 8.65923297e-03 1.96073352e-04 9.99962489e-01 -5.12017108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.015258219989930868 Centerline is valid? [True, True] Translation: X:99.45, Y:-132.32, Z:-5.12 [[-6.50533506e-01 -7.59453324e-01 6.06691819e-03 9.94536957e+01] [ 7.59422970e-01 -6.50561768e-01 -6.79252281e-03 -1.32319648e+02] [ 9.10550905e-03 1.88593353e-04 9.99958526e-01 -5.12069961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.014907654415684292 Centerline is valid? [True, True] Translation: X:99.42, Y:-132.28, Z:-5.12 [[-6.52514742e-01 -7.57747077e-01 6.62407246e-03 9.94162513e+01] [ 7.57710846e-01 -6.52548338e-01 -7.41216347e-03 -1.32276355e+02] [ 9.93907268e-03 1.82585611e-04 9.99950590e-01 -5.12140463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.01407192902952792 Centerline is valid? [True, True] Translation: X:99.38, Y:-132.23, Z:-5.12 [[-6.54922187e-01 -7.55663661e-01 7.02572529e-03 9.93798058e+01] [ 7.55622832e-01 -6.54959850e-01 -7.85689756e-03 -1.32231408e+02] [ 1.05387400e-02 1.63141904e-04 9.99944453e-01 -5.12137081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.013265115838903753 Centerline is valid? [True, True] Translation: X:99.34, Y:-132.19, Z:-5.12 [[-6.58950451e-01 -7.52152849e-01 7.09890717e-03 9.93438341e+01] [ 7.52110990e-01 -6.58988679e-01 -7.93594834e-03 -1.32185093e+02] [ 1.06471456e-02 1.09769367e-04 9.99943312e-01 -5.12178710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.012643468244949864 Centerline is valid? [True, True] Translation: X:99.31, Y:-132.14, Z:-5.12 [[-6.63760002e-01 -7.47916689e-01 6.57921765e-03 9.93073551e+01] [ 7.47880550e-01 -6.63792607e-01 -7.35242497e-03 -1.32139143e+02] [ 9.86623737e-03 4.02233034e-05 9.99951327e-01 -5.12256392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.012683646305118755 Centerline is valid? [True, True] Translation: X:99.27, Y:-132.09, Z:-5.12 [[-6.69719587e-01 -7.42587848e-01 6.24198535e-03 9.92736465e+01] [ 7.42555127e-01 -6.69748674e-01 -6.97113102e-03 -1.32093115e+02] [ 9.35723860e-03 -3.36847585e-05 9.99956220e-01 -5.12163598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.013322944014366832 Centerline is valid? [True, True] Translation: X:99.24, Y:-132.05, Z:-5.12 [[-6.73903909e-01 -7.38789606e-01 6.59085436e-03 9.92376502e+01] [ 7.38752983e-01 -6.73936132e-01 -7.35664257e-03 -1.32047440e+02] [ 9.87682596e-03 -8.86568743e-05 9.99951219e-01 -5.12217379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.014539268861044898 Centerline is valid? [True, True] Translation: X:99.20, Y:-132.00, Z:-5.12 [[-6.78822449e-01 -7.34265058e-01 7.40996490e-03 9.92012111e+01] [ 7.34218546e-01 -6.78862870e-01 -8.26628042e-03 -1.32001840e+02] [ 1.10999909e-02 -1.70803063e-04 9.99938379e-01 -5.12313757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.015132384554633496 Centerline is valid? [True, True] Translation: X:99.16, Y:-131.96, Z:-5.12 [[-6.80807498e-01 -7.32425022e-01 7.39845496e-03 9.91629444e+01] [ 7.32378597e-01 -6.80847669e-01 -8.24884352e-03 -1.31958625e+02] [ 1.10788802e-02 -1.97404462e-04 9.99938608e-01 -5.12245774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.01531838588134014 Centerline is valid? [True, True] Translation: X:99.12, Y:-131.92, Z:-5.12 [[-6.81107487e-01 -7.32150029e-01 6.99472113e-03 9.91239999e+01] [ 7.32108568e-01 -6.81143377e-01 -7.79388640e-03 -1.31917084e+02] [ 1.04707021e-02 -1.87579112e-04 9.99945163e-01 -5.12188526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.013954622626568122 Centerline is valid? [True, True] Translation: X:99.08, Y:-131.88, Z:-5.12 [[-6.78741925e-01 -7.34346786e-01 6.64811229e-03 9.90802191e+01] [ 7.34309479e-01 -6.78774467e-01 -7.40346900e-03 -1.31878006e+02] [ 9.94928254e-03 -1.43272924e-04 9.99950494e-01 -5.12074857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.012954770068581293 Centerline is valid? [True, True] Translation: X:99.04, Y:-131.84, Z:-5.12 [[-6.73643982e-01 -7.39029028e-01 6.31521383e-03 9.90358847e+01] [ 7.38995606e-01 -6.73673579e-01 -7.02874044e-03 -1.31840345e+02] [ 9.44883591e-03 -6.79534282e-05 9.99955357e-01 -5.12121637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.012462640634299868 Centerline is valid? [True, True] Translation: X:98.99, Y:-131.80, Z:-5.12 [[-6.69426775e-01 -7.42852484e-01 6.16282915e-03 9.89927134e+01] [ 7.42820856e-01 -6.69455142e-01 -6.85485643e-03 -1.31801715e+02] [ 9.21788479e-03 -1.09464051e-05 9.99957514e-01 -5.12116158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.012794011080788047 Centerline is valid? [True, True] Translation: X:98.94, Y:-131.77, Z:-5.12 [[-6.62456958e-01 -7.49079885e-01 5.48685666e-03 9.89448549e+01] [ 7.49055054e-01 -6.62479676e-01 -6.09954678e-03 -1.31766095e+02] [ 8.20397882e-03 6.92705063e-05 9.99966344e-01 -5.12103095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.014520707853856112 Centerline is valid? [True, True] Translation: X:98.90, Y:-131.73, Z:-5.12 [[-6.56006310e-01 -7.54742050e-01 4.48999123e-03 9.88984839e+01] [ 7.54725574e-01 -6.56021665e-01 -4.98837048e-03 -1.31730507e+02] [ 6.71046448e-03 1.16308695e-04 9.99977478e-01 -5.12094004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.016208782476788565 Centerline is valid? [True, True] Translation: X:98.85, Y:-131.69, Z:-5.12 [[-6.51592444e-01 -7.58557586e-01 4.20425103e-03 9.88539172e+01] [ 7.58543236e-01 -6.51605991e-01 -4.66807909e-03 -1.31693156e+02] [ 6.28052197e-03 1.47421118e-04 9.99980267e-01 -5.12127652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.016505787687840442 Centerline is valid? [True, True] Translation: X:98.81, Y:-131.65, Z:-5.12 [[-6.50170917e-01 -7.59776664e-01 4.14718190e-03 9.88132280e+01] [ 7.59762744e-01 -6.50184124e-01 -4.60190182e-03 -1.31652294e+02] [ 6.19284944e-03 1.58851572e-04 9.99980812e-01 -5.12121149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.01641685939893177 Centerline is valid? [True, True] Translation: X:98.77, Y:-131.61, Z:-5.12 [[-6.50544136e-01 -7.59455705e-01 4.39996107e-03 9.87722062e+01] [ 7.59440047e-01 -6.50558994e-01 -4.87957880e-03 -1.31610670e+02] [ 6.56825820e-03 1.67125264e-04 9.99978415e-01 -5.12181803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.0160455529263108 Centerline is valid? [True, True] Translation: X:98.73, Y:-131.57, Z:-5.12 [[-6.52231150e-01 -7.58002877e-01 5.11520834e-03 9.87326891e+01] [ 7.57981695e-01 -6.52251183e-01 -5.66953880e-03 -1.31568247e+02] [ 7.63392741e-03 1.79384479e-04 9.99970845e-01 -5.12337395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.0152768213845336 Centerline is valid? [True, True] Translation: X:98.69, Y:-131.52, Z:-5.12 [[-6.54275238e-01 -7.56230013e-01 6.33089428e-03 9.86941254e+01] [ 7.56197519e-01 -6.54305837e-01 -7.01319677e-03 -1.31524133e+02] [ 9.44593097e-03 1.98845557e-04 9.99955366e-01 -5.12453200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.015024455451865587 Centerline is valid? [True, True] Translation: X:98.66, Y:-131.48, Z:-5.12 [[-6.55405216e-01 -7.55247557e-01 6.71784599e-03 9.86559858e+01] [ 7.55210960e-01 -6.55439614e-01 -7.43760322e-03 -1.31480952e+02] [ 1.00203740e-02 1.98746976e-04 9.99949775e-01 -5.12476052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.014392227023254984 Centerline is valid? [True, True] Translation: X:98.62, Y:-131.44, Z:-5.12 [[-6.59127754e-01 -7.52001223e-01 6.69068318e-03 9.86196246e+01] [ 7.51964792e-01 -6.59161694e-01 -7.40357530e-03 -1.31436937e+02] [ 9.97773974e-03 1.51256230e-04 9.99950210e-01 -5.12410544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.013400277337406228 Centerline is valid? [True, True] Translation: X:98.58, Y:-131.39, Z:-5.12 [[-6.62733127e-01 -7.48830408e-01 6.14997279e-03 9.85834000e+01] [ 7.48799523e-01 -6.62761655e-01 -6.80170039e-03 -1.31390665e+02] [ 9.16928622e-03 9.73845271e-05 9.99957957e-01 -5.12268611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.012559506882081415 Centerline is valid? [True, True] Translation: X:98.55, Y:-131.34, Z:-5.12 [[-6.69559946e-01 -7.42735653e-01 5.76442660e-03 9.85497944e+01] [ 7.42708322e-01 -6.69584759e-01 -6.37175315e-03 -1.31342308e+02] [ 8.59230043e-03 1.50169036e-05 9.99963085e-01 -5.12218485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.013034610668688284 Centerline is valid? [True, True] Translation: X:98.52, Y:-131.29, Z:-5.12 [[-6.77225593e-01 -7.35759333e-01 4.86836472e-03 9.85169062e+01] [ 7.35739678e-01 -6.77243088e-01 -5.37823571e-03 -1.31294018e+02] [ 7.25415347e-03 -6.04297727e-05 9.99973687e-01 -5.12081382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.014390381198324169 Centerline is valid? [True, True] Translation: X:98.48, Y:-131.25, Z:-5.12 [[-6.84512127e-01 -7.28988689e-01 4.31736139e-03 9.84831288e+01] [ 7.28973115e-01 -6.84525732e-01 -4.76658199e-03 -1.31246941e+02] [ 6.43012932e-03 -1.15542795e-04 9.99979320e-01 -5.11980773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.015971494896433732 Centerline is valid? [True, True] Translation: X:98.45, Y:-131.20, Z:-5.12 [[-6.88423830e-01 -7.25294113e-01 4.59132673e-03 9.84487584e+01] [ 7.25276437e-01 -6.88439122e-01 -5.06599583e-03 -1.31201436e+02] [ 6.83518590e-03 -1.57571160e-04 9.99976627e-01 -5.11983496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.017361576422985747 Centerline is valid? [True, True] Translation: X:98.41, Y:-131.16, Z:-5.12 [[-6.91672704e-01 -7.22198011e-01 4.34779881e-03 9.84131437e+01] [ 7.22182118e-01 -6.91686346e-01 -4.79445012e-03 -1.31155790e+02] [ 6.46985541e-03 -1.76287719e-04 9.99979055e-01 -5.11959024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.016945674639191454 Centerline is valid? [True, True] Translation: X:98.37, Y:-131.11, Z:-5.12 [[-6.92408783e-01 -7.21493905e-01 4.07699487e-03 9.83740732e+01] [ 7.21479936e-01 -6.92420765e-01 -4.49297034e-03 -1.31113538e+02] [ 6.06464662e-03 -1.69502130e-04 9.99981596e-01 -5.11892508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.015735942749853786 Centerline is valid? [True, True] Translation: X:98.33, Y:-131.07, Z:-5.12 [[-6.88868907e-01 -7.24867846e-01 5.12208928e-03 9.83320337e+01] [ 7.24845913e-01 -6.88887927e-01 -5.64151036e-03 -1.31073387e+02] [ 7.61789493e-03 -1.73535597e-04 9.99970968e-01 -5.12089178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.013558760421504196 Centerline is valid? [True, True] Translation: X:98.29, Y:-131.04, Z:-5.12 [[-6.82527582e-01 -7.30850264e-01 3.74062202e-03 9.82881557e+01] [ 7.30838669e-01 -6.82537828e-01 -4.11746591e-03 -1.31035592e+02] [ 5.56236707e-03 -7.64928381e-05 9.99984527e-01 -5.11950211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.01250125622142939 Centerline is valid? [True, True] Translation: X:98.25, Y:-131.00, Z:-5.12 [[-6.76000084e-01 -7.36895732e-01 2.92687900e-03 9.82451037e+01] [ 7.36888695e-01 -6.76006420e-01 -3.22038064e-03 -1.30998234e+02] [ 4.35167375e-03 -2.01935372e-05 9.99990531e-01 -5.11873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.012254974851331153 Centerline is valid? [True, True] Translation: X:98.20, Y:-130.96, Z:-5.12 [[-6.71980801e-01 -7.40564683e-01 2.39874865e-03 9.82027250e+01] [ 7.40559985e-01 -6.71985082e-01 -2.63778248e-03 -1.30958647e+02] [ 3.56537186e-03 3.87808401e-06 9.99993644e-01 -5.11784854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.013102963045014545 Centerline is valid? [True, True] Translation: X:98.16, Y:-130.92, Z:-5.12 [[-6.65846860e-01 -7.46088070e-01 7.42536279e-04 9.81582440e+01] [ 7.46087624e-01 -6.65847274e-01 -8.16040372e-04 -1.30922492e+02] [ 1.10325374e-03 1.06392089e-05 9.99999391e-01 -5.11748786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.013796041430002 Centerline is valid? [True, True] Translation: X:98.12, Y:-130.88, Z:-5.12 [[-6.62106531e-01 -7.49409647e-01 3.50880694e-04 9.81162260e+01] [ 7.49409548e-01 -6.62106624e-01 -3.85391803e-04 -1.30882236e+02] [ 5.21136767e-04 7.78291231e-06 9.99999864e-01 -5.11854389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.015739162786811176 Centerline is valid? [True, True] Translation: X:98.07, Y:-130.84, Z:-5.12 [[-6.58307943e-01 -7.52748009e-01 1.04242673e-03 9.80742741e+01] [ 7.52747140e-01 -6.58308768e-01 -1.14426553e-03 -1.30842768e+02] [ 1.54758226e-03 3.14046578e-05 9.99998802e-01 -5.12079705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.017745336615094313 Centerline is valid? [True, True] Translation: X:98.03, Y:-130.80, Z:-5.12 [[-6.57065810e-01 -7.53831935e-01 1.39097258e-03 9.80342748e+01] [ 7.53830392e-01 -6.57067281e-01 -1.52598057e-03 -1.30802055e+02] [ 2.06429545e-03 4.58877475e-05 9.99997868e-01 -5.12160810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.017806094083964566 Centerline is valid? [True, True] Translation: X:98.00, Y:-130.76, Z:-5.12 [[-6.55536799e-01 -7.55161584e-01 1.57727963e-03 9.79960178e+01] [ 7.55159606e-01 -6.55538694e-01 -1.72943740e-03 -1.30758579e+02] [ 2.33997251e-03 5.73880087e-05 9.99997261e-01 -5.12252270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.01797580269425491 Centerline is valid? [True, True] Translation: X:97.96, Y:-130.71, Z:-5.12 [[-6.53909627e-01 -7.56568402e-01 2.54018448e-03 9.79585974e+01] [ 7.56563288e-01 -6.53914553e-01 -2.78369167e-03 -1.30714545e+02] [ 3.76711676e-03 1.01527539e-04 9.99992899e-01 -5.12454553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.018074773731410268 Centerline is valid? [True, True] Translation: X:97.92, Y:-130.67, Z:-5.13 [[-6.53304499e-01 -7.57087193e-01 3.49484978e-03 9.79215065e+01] [ 7.57077530e-01 -6.53313831e-01 -3.82774220e-03 -1.30669297e+02] [ 5.18116830e-03 1.45191041e-04 9.99986567e-01 -5.12643941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.017917809044150034 Centerline is valid? [True, True] Translation: X:97.89, Y:-130.62, Z:-5.13 [[-6.54787130e-01 -7.55800903e-01 4.33690543e-03 9.78865761e+01] [ 7.55786012e-01 -6.54801471e-01 -4.74740284e-03 -1.30623064e+02] [ 6.42790341e-03 1.69234175e-04 9.99979327e-01 -5.12787798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.016091496540303982 Centerline is valid? [True, True] Translation: X:97.85, Y:-130.57, Z:-5.13 [[-6.57039990e-01 -7.53841880e-01 4.56858146e-03 9.78529121e+01] [ 7.53825327e-01 -6.57055853e-01 -4.99816524e-03 -1.30574906e+02] [ 6.76963947e-03 1.59917973e-04 9.99977073e-01 -5.12761946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.01374979238435608 Centerline is valid? [True, True] Translation: X:97.83, Y:-130.52, Z:-5.13 [[-6.64772609e-01 -7.47037589e-01 3.49553831e-03 9.78269237e+01] [ 7.47027812e-01 -6.64781795e-01 -3.82261059e-03 -1.30520363e+02] [ 5.17940403e-03 7.00975275e-05 9.99986584e-01 -5.12511997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.012911453372308422 Centerline is valid? [True, True] Translation: X:97.80, Y:-130.47, Z:-5.13 [[-6.69819504e-01 -7.42516468e-01 3.33573321e-03 9.77950347e+01] [ 7.42507518e-01 -6.69827809e-01 -3.64582583e-03 -1.30470371e+02] [ 4.94145259e-03 3.47617428e-05 9.99987790e-01 -5.12570642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.012911453372308422 Centerline is valid? [True, True] Translation: X:97.76, Y:-130.43, Z:-5.13 [[-6.70049997e-01 -7.42308472e-01 3.33686500e-03 9.77566311e+01] [ 7.42299524e-01 -6.70058305e-01 -3.64478998e-03 -1.30428569e+02] [ 4.94145259e-03 3.47617817e-05 9.99987790e-01 -5.12570648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.012669848670758993 Centerline is valid? [True, True] Translation: X:97.72, Y:-130.38, Z:-5.13 [[-6.72371303e-01 -7.40205850e-01 3.48292754e-03 9.77229710e+01] [ 7.40196086e-01 -6.72380324e-01 -3.80190357e-03 -1.30382062e+02] [ 5.15604321e-03 2.17584804e-05 9.99986707e-01 -5.12510999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.012851689194439292 Centerline is valid? [True, True] Translation: X:97.68, Y:-130.34, Z:-5.12 [[-6.71153118e-01 -7.41312111e-01 3.13783147e-03 9.76828856e+01] [ 7.41304208e-01 -6.71160453e-01 -3.42303812e-03 -1.30340907e+02] [ 4.64352801e-03 2.87049649e-05 9.99989218e-01 -5.12499848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.012949786768854502 Centerline is valid? [True, True] Translation: X:97.64, Y:-130.30, Z:-5.13 [[-6.70003161e-01 -7.42347570e-01 3.98120079e-03 9.76430912e+01] [ 7.42334882e-01 -6.70014987e-01 -4.34045107e-03 -1.30299247e+02] [ 5.88958750e-03 4.72682825e-05 9.99982655e-01 -5.12572836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.013006303972285062 Centerline is valid? [True, True] Translation: X:97.60, Y:-130.26, Z:-5.13 [[-6.70464558e-01 -7.41931098e-01 3.93986882e-03 9.76042753e+01] [ 7.41918681e-01 -6.70476133e-01 -4.29266805e-03 -1.30257659e+02] [ 5.82645193e-03 4.49804905e-05 9.99983025e-01 -5.12656592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.012952577210120218 Centerline is valid? [True, True] Translation: X:97.56, Y:-130.22, Z:-5.13 [[-6.71222000e-01 -7.41247210e-01 3.68801004e-03 9.75645071e+01] [ 7.41236333e-01 -6.71232130e-01 -4.01570174e-03 -1.30215916e+02] [ 5.45213854e-03 3.82596868e-05 9.99985136e-01 -5.12644452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.012722562368547624 Centerline is valid? [True, True] Translation: X:97.53, Y:-130.17, Z:-5.13 [[-6.73200308e-01 -7.39455716e-01 2.56711732e-03 9.75259880e+01] [ 7.39450440e-01 -6.73205202e-01 -2.79346053e-03 -1.30173271e+02] [ 3.79383709e-03 1.76975395e-05 9.99992803e-01 -5.12502604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.012655210014410492 Centerline is valid? [True, True] Translation: X:97.49, Y:-130.13, Z:-5.12 [[-6.75360067e-01 -7.37485117e-01 2.11709689e-03 9.74879886e+01] [ 7.37481523e-01 -6.75363386e-01 -2.30225941e-03 -1.30131413e+02] [ 3.12769177e-03 6.46577125e-06 9.99995109e-01 -5.12454724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.012591779576271202 Centerline is valid? [True, True] Translation: X:97.45, Y:-130.09, Z:-5.12 [[-6.76514740e-01 -7.36427072e-01 1.72445476e-03 9.74498497e+01] [ 7.36424687e-01 -6.76516938e-01 -1.87411966e-03 -1.30089322e+02] [ 2.54677531e-03 2.06148480e-06 9.99996757e-01 -5.12400104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.012634130175623487 Centerline is valid? [True, True] Translation: X:97.41, Y:-130.05, Z:-5.12 [[-6.79352365e-01 -7.33811326e-01 1.14162897e-03 9.74117279e+01] [ 7.33810278e-01 -6.79353324e-01 -1.23992327e-03 -1.30046962e+02] [ 1.68543917e-03 -4.60573888e-06 9.99998580e-01 -5.12408438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.01283742930460181 Centerline is valid? [True, True] Translation: X:97.37, Y:-130.00, Z:-5.13 [[-6.81631679e-01 -7.31694189e-01 1.36699567e-03 9.73738412e+01] [ 7.31692685e-01 -6.81633049e-01 -1.48371623e-03 -1.30004721e+02] [ 2.01741597e-03 -1.11272492e-05 9.99997965e-01 -5.12557466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.01285332084104756 Centerline is valid? [True, True] Translation: X:97.33, Y:-129.96, Z:-5.13 [[-6.82614845e-01 -7.30777056e-01 1.36716920e-03 9.73345282e+01] [ 7.30775551e-01 -6.82616214e-01 -1.48306117e-03 -1.29962482e+02] [ 2.01703894e-03 -1.32657424e-05 9.99997966e-01 -5.12647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.01305984178522522 Centerline is valid? [True, True] Translation: X:97.29, Y:-129.92, Z:-5.13 [[-6.82523766e-01 -7.30860796e-01 1.95065818e-03 9.72947455e+01] [ 7.30857737e-01 -6.82526553e-01 -2.11466700e-03 -1.29920963e+02] [ 2.87690321e-03 -1.76568658e-05 9.99995862e-01 -5.12777267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.012755191109715208 Centerline is valid? [True, True] Translation: X:97.25, Y:-129.88, Z:-5.13 [[-6.80270148e-01 -7.32958199e-01 2.19191393e-03 9.72534890e+01] [ 7.32954352e-01 -6.80273679e-01 -2.37471057e-03 -1.29881248e+02] [ 3.23166494e-03 -8.87185644e-06 9.99994778e-01 -5.12874323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.012821859232155876 Centerline is valid? [True, True] Translation: X:97.21, Y:-129.84, Z:-5.13 [[-6.77772999e-01 -7.35266609e-01 2.60298764e-03 9.72122357e+01] [ 7.35261208e-01 -6.77777997e-01 -2.81828669e-03 -1.29841464e+02] [ 3.83643985e-03 3.71721504e-06 9.99992641e-01 -5.12972947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.013182454310301342 Centerline is valid? [True, True] Translation: X:97.17, Y:-129.80, Z:-5.13 [[-6.73585551e-01 -7.39102675e-01 3.12103062e-03 9.71687612e+01] [ 7.39094960e-01 -6.73592781e-01 -3.37730358e-03 -1.29802651e+02] [ 4.59847780e-03 3.18351049e-05 9.99989427e-01 -5.13092462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.01367013868517232 Centerline is valid? [True, True] Translation: X:97.13, Y:-129.76, Z:-5.13 [[-6.70823004e-01 -7.41610544e-01 3.20918776e-03 9.71259678e+01] [ 7.41602424e-01 -6.70830678e-01 -3.47075798e-03 -1.29762790e+02] [ 4.72677231e-03 5.16771285e-05 9.99988827e-01 -5.13142492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.013862867146613885 Centerline is valid? [True, True] Translation: X:97.09, Y:-129.72, Z:-5.13 [[-6.70302270e-01 -7.42081724e-01 3.09544817e-03 9.70865656e+01] [ 7.42074184e-01 -6.70309415e-01 -3.34563496e-03 -1.29720654e+02] [ 4.55764261e-03 5.44654657e-05 9.99989612e-01 -5.13108743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.013670497926154669 Centerline is valid? [True, True] Translation: X:97.05, Y:-129.68, Z:-5.13 [[-6.70754548e-01 -7.41674083e-01 2.80907357e-03 9.70489792e+01] [ 7.41667879e-01 -6.70760428e-01 -3.03417185e-03 -1.29677273e+02] [ 4.13458201e-03 4.82150654e-05 9.99991451e-01 -5.13077488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.013779660679184558 Centerline is valid? [True, True] Translation: X:97.01, Y:-129.64, Z:-5.13 [[-6.72051278e-01 -7.40498676e-01 2.96496654e-03 9.70113859e+01] [ 7.40491761e-01 -6.72057817e-01 -3.20043103e-03 -1.29635825e+02] [ 4.36254388e-03 4.46795279e-05 9.99990483e-01 -5.13133268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.01337416349247043 Centerline is valid? [True, True] Translation: X:96.97, Y:-129.59, Z:-5.13 [[-6.74114129e-01 -7.38623680e-01 2.28059785e-03 9.69745970e+01] [ 7.38619583e-01 -6.74117986e-01 -2.46017087e-03 -1.29591493e+02] [ 3.35453249e-03 2.60582897e-05 9.99994373e-01 -5.13091217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.013188750671329847 Centerline is valid? [True, True] Translation: X:96.94, Y:-129.55, Z:-5.13 [[-6.75372536e-01 -7.37474433e-01 1.84377315e-03 9.69380195e+01] [ 7.37471754e-01 -6.75375052e-01 -1.98769371e-03 -1.29547952e+02] [ 2.71111168e-03 1.72968770e-05 9.99996325e-01 -5.13023954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.013241407949210287 Centerline is valid? [True, True] Translation: X:96.90, Y:-129.51, Z:-5.13 [[-6.76410347e-01 -7.36523210e-01 1.61339551e-03 9.69014388e+01] [ 7.36521159e-01 -6.76412271e-01 -1.73849175e-03 -1.29505634e+02] [ 2.37176005e-03 1.23661228e-05 9.99997187e-01 -5.13047822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.01328957865539336 Centerline is valid? [True, True] Translation: X:96.86, Y:-129.46, Z:-5.13 [[-6.75899873e-01 -7.36988385e-01 2.73526603e-03 9.68622452e+01] [ 7.36982500e-01 -6.75905407e-01 -2.94551223e-03 -1.29464094e+02] [ 4.01958940e-03 2.49718544e-05 9.99991921e-01 -5.13212556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.013715795786783287 Centerline is valid? [True, True] Translation: X:96.82, Y:-129.42, Z:-5.13 [[-6.74627926e-01 -7.38150202e-01 3.38239979e-03 9.68207023e+01] [ 7.38141227e-01 -6.74636404e-01 -3.64027808e-03 -1.29424956e+02] [ 4.96896203e-03 4.08554850e-05 9.99987654e-01 -5.13379771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.013984291192647488 Centerline is valid? [True, True] Translation: X:96.78, Y:-129.39, Z:-5.13 [[-6.71927960e-01 -7.40603428e-01 4.40208755e-03 9.67774442e+01] [ 7.40588296e-01 -6.71942376e-01 -4.73502128e-03 -1.29385398e+02] [ 6.46472216e-03 7.85413278e-05 9.99979100e-01 -5.13442889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.014550930963487146 Centerline is valid? [True, True] Translation: X:96.73, Y:-129.35, Z:-5.13 [[-6.70211116e-01 -7.42157914e-01 4.32335088e-03 9.67344056e+01] [ 7.42143367e-01 -6.70225053e-01 -4.64771772e-03 -1.29345782e+02] [ 6.34695856e-03 9.35940938e-05 9.99979854e-01 -5.13474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.015004996162363426 Centerline is valid? [True, True] Translation: X:96.69, Y:-129.31, Z:-5.13 [[-6.67975412e-01 -7.44174290e-01 3.67071163e-03 9.66932477e+01] [ 7.44163847e-01 -6.67985491e-01 -3.94370871e-03 -1.29305476e+02] [ 5.38678875e-03 9.73104365e-05 9.99985486e-01 -5.13351125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.015404270526074224 Centerline is valid? [True, True] Translation: X:96.65, Y:-129.26, Z:-5.13 [[-6.67536199e-01 -7.44568687e-01 3.59075085e-03 9.66528708e+01] [ 7.44558712e-01 -6.67545849e-01 -3.85535186e-03 -1.29264298e+02] [ 5.26756509e-03 9.99379005e-05 9.99986121e-01 -5.13389446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.015543854231508865 Centerline is valid? [True, True] Translation: X:96.61, Y:-129.22, Z:-5.14 [[-6.68081644e-01 -7.44076009e-01 4.22005327e-03 9.66132441e+01] [ 7.44062239e-01 -6.68094963e-01 -4.52819284e-03 -1.29222768e+02] [ 6.18871599e-03 1.14779771e-04 9.99980843e-01 -5.13527479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.01557396380071033 Centerline is valid? [True, True] Translation: X:96.57, Y:-129.18, Z:-5.14 [[-6.68746546e-01 -7.43479512e-01 4.03394021e-03 9.65736208e+01] [ 7.43466935e-01 -6.68758704e-01 -4.32581428e-03 -1.29181236e+02] [ 5.91388692e-03 1.06227803e-04 9.99982507e-01 -5.13509218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.015210046077224032 Centerline is valid? [True, True] Translation: X:96.54, Y:-129.14, Z:-5.13 [[-6.68906970e-01 -7.43338157e-01 3.44227287e-03 9.65352330e+01] [ 7.43329009e-01 -6.68915821e-01 -3.68900694e-03 -1.29139256e+02] [ 5.04477040e-03 9.11388306e-05 9.99987271e-01 -5.13404783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.015157940895714274 Centerline is valid? [True, True] Translation: X:96.50, Y:-129.10, Z:-5.13 [[-6.68915726e-01 -7.43328972e-01 3.71356109e-03 9.64961803e+01] [ 7.43318338e-01 -6.68926027e-01 -3.97721770e-03 -1.29097178e+02] [ 5.44047881e-03 9.99345896e-05 9.99985196e-01 -5.13456244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.015076760607447373 Centerline is valid? [True, True] Translation: X:96.46, Y:-129.05, Z:-5.14 [[-6.69430434e-01 -7.42861561e-01 4.42660593e-03 9.64578550e+01] [ 7.42846462e-01 -6.69445059e-01 -4.73788008e-03 -1.29054050e+02] [ 6.48295846e-03 1.16607432e-04 9.99978979e-01 -5.13605080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.01526933200420203 Centerline is valid? [True, True] Translation: X:96.42, Y:-129.01, Z:-5.14 [[-6.69726186e-01 -7.42590892e-01 5.05989828e-03 9.64198021e+01] [ 7.42571182e-01 -6.69745287e-01 -5.41213600e-03 -1.29012815e+02] [ 7.40784593e-03 1.32685441e-04 9.99972553e-01 -5.13703381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.015003773462614207 Centerline is valid? [True, True] Translation: X:96.38, Y:-128.97, Z:-5.14 [[-6.70688719e-01 -7.41723221e-01 4.82761338e-03 9.63811656e+01] [ 7.41705279e-01 -6.70706083e-01 -5.16044196e-03 -1.28970327e+02] [ 7.06552929e-03 1.19616122e-04 9.99975032e-01 -5.13694605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.01481059690607988 Centerline is valid? [True, True] Translation: X:96.34, Y:-128.93, Z:-5.14 [[-6.71480602e-01 -7.41009367e-01 4.34961277e-03 9.63414841e+01] [ 7.40994804e-01 -6.71494682e-01 -4.64675060e-03 -1.28928371e+02] [ 6.36402757e-03 1.02837573e-04 9.99979744e-01 -5.13703188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.014600142774552311 Centerline is valid? [True, True] Translation: X:96.30, Y:-128.89, Z:-5.14 [[-6.72855568e-01 -7.39760042e-01 4.52380254e-03 9.63025117e+01] [ 7.39744277e-01 -6.72870768e-01 -4.83053331e-03 -1.28887887e+02] [ 6.61737002e-03 9.62058078e-05 9.99978100e-01 -5.13754744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.014313212477414591 Centerline is valid? [True, True] Translation: X:96.26, Y:-128.85, Z:-5.14 [[-6.73771149e-01 -7.38926229e-01 4.52401145e-03 9.62631304e+01] [ 7.38910463e-01 -6.73786331e-01 -4.82774405e-03 -1.28846571e+02] [ 6.61556378e-03 9.00447418e-05 9.99978113e-01 -5.13779006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.01447566153519509 Centerline is valid? [True, True] Translation: X:96.22, Y:-128.81, Z:-5.14 [[-6.74104266e-01 -7.38623011e-01 4.41432638e-03 9.62240233e+01] [ 7.38608014e-01 -6.74118713e-01 -4.70764364e-03 -1.28806220e+02] [ 6.45295394e-03 8.70141841e-05 9.99979176e-01 -5.13817271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.014302539602635445 Centerline is valid? [True, True] Translation: X:96.19, Y:-128.76, Z:-5.14 [[-6.75204767e-01 -7.37616346e-01 4.54416072e-03 9.61850779e+01] [ 7.37600450e-01 -6.75220053e-01 -4.84320900e-03 -1.28764764e+02] [ 6.64073856e-03 8.16171870e-05 9.99977947e-01 -5.13890631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.013660144937981782 Centerline is valid? [True, True] Translation: X:96.15, Y:-128.72, Z:-5.14 [[-6.76754548e-01 -7.36187502e-01 5.58962497e-03 9.61472642e+01] [ 7.36163431e-01 -6.76777626e-01 -5.95373565e-03 -1.28722055e+02] [ 8.16599890e-03 8.56598155e-05 9.99966654e-01 -5.13978393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.013199689496800088 Centerline is valid? [True, True] Translation: X:96.11, Y:-128.68, Z:-5.14 [[-6.79850572e-01 -7.33317586e-01 6.96548105e-03 9.61098204e+01] [ 7.33280103e-01 -6.79886251e-01 -7.41461216e-03 -1.28678091e+02] [ 1.01730003e-02 6.68203374e-05 9.99948252e-01 -5.14101950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.01292712823271486 Centerline is valid? [True, True] Translation: X:96.07, Y:-128.63, Z:-5.14 [[-6.82899486e-01 -7.30477679e-01 7.11702791e-03 9.60733195e+01] [ 7.30438444e-01 -6.82936570e-01 -7.57105348e-03 -1.28634600e+02] [ 1.03909642e-02 2.82822577e-05 9.99946012e-01 -5.14093516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.012796931684012918 Centerline is valid? [True, True] Translation: X:96.04, Y:-128.59, Z:-5.14 [[-6.84529611e-01 -7.28959955e-01 6.04946232e-03 9.60353696e+01] [ 7.28931584e-01 -6.84556341e-01 -6.43130679e-03 -1.28593103e+02] [ 8.82936290e-03 7.22421614e-06 9.99961020e-01 -5.13995772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.012648371339576619 Centerline is valid? [True, True] Translation: X:96.00, Y:-128.55, Z:-5.14 [[-6.86005792e-01 -7.27578494e-01 5.05846637e-03 9.59963965e+01] [ 7.27558644e-01 -6.86024442e-01 -5.37445434e-03 -1.28551545e+02] [ 7.38056896e-03 -6.57587640e-06 9.99972763e-01 -5.13832638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.012645101954136373 Centerline is valid? [True, True] Translation: X:95.96, Y:-128.51, Z:-5.14 [[-6.86387319e-01 -7.27223592e-01 4.27733207e-03 9.59571970e+01] [ 7.27209410e-01 -6.86400646e-01 -4.54176763e-03 -1.28510472e+02] [ 6.23884407e-03 -6.89557344e-06 9.99980538e-01 -5.13765998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.012630208770155553 Centerline is valid? [True, True] Translation: X:95.92, Y:-128.47, Z:-5.14 [[-6.85365338e-01 -7.28189068e-01 3.87740730e-03 9.59170243e+01] [ 7.28177444e-01 -6.85376306e-01 -4.11452132e-03 -1.28471316e+02] [ 5.65363254e-03 3.49024412e-06 9.99984018e-01 -5.13720640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.012791644697142094 Centerline is valid? [True, True] Translation: X:95.87, Y:-128.43, Z:-5.14 [[-6.83096956e-01 -7.30314106e-01 4.45591612e-03 9.58738633e+01] [ 7.30298819e-01 -6.83111488e-01 -4.72547039e-03 -1.28433969e+02] [ 6.49496518e-03 2.61958397e-05 9.99978907e-01 -5.13912703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.012894876333467626 Centerline is valid? [True, True] Translation: X:95.83, Y:-128.39, Z:-5.14 [[-6.81981464e-01 -7.31351343e-01 5.14729915e-03 9.58330481e+01] [ 7.31330997e-01 -6.82000888e-01 -5.45542661e-03 -1.28394397e+02] [ 7.50029617e-03 4.38795958e-05 9.99971871e-01 -5.13997780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.012996645286382428 Centerline is valid? [True, True] Translation: X:95.79, Y:-128.35, Z:-5.14 [[-6.81825089e-01 -7.31493594e-01 5.62759828e-03 9.57922638e+01] [ 7.31469308e-01 -6.81848311e-01 -5.96094562e-03 -1.28353671e+02] [ 8.19756192e-03 5.20931366e-05 9.99966398e-01 -5.14106199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.012713388218247437 Centerline is valid? [True, True] Translation: X:95.75, Y:-128.31, Z:-5.14 [[-6.81933135e-01 -7.31393611e-01 5.53036623e-03 9.57533960e+01] [ 7.31370183e-01 -6.81955558e-01 -5.85424638e-03 -1.28311726e+02] [ 8.05322239e-03 5.25403735e-05 9.99967571e-01 -5.13993522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.012667715317607702 Centerline is valid? [True, True] Translation: X:95.71, Y:-128.27, Z:-5.14 [[-6.82460536e-01 -7.30904878e-01 5.06725039e-03 9.57142016e+01] [ 7.30885221e-01 -6.82479346e-01 -5.36064438e-03 -1.28270059e+02] [ 7.37641485e-03 4.51501864e-05 9.99972793e-01 -5.14011511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.012565366259919393 Centerline is valid? [True, True] Translation: X:95.68, Y:-128.23, Z:-5.14 [[-6.83858502e-01 -7.29593636e-01 5.53854755e-03 9.56758580e+01] [ 7.29570140e-01 -6.83880928e-01 -5.85548635e-03 -1.28227242e+02] [ 8.05983261e-03 3.64347895e-05 9.99967518e-01 -5.14070591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.012477905895802357 Centerline is valid? [True, True] Translation: X:95.64, Y:-128.18, Z:-5.14 [[-6.84614771e-01 -7.28881543e-01 5.85752797e-03 9.56373218e+01] [ 7.28855270e-01 -6.84639828e-01 -6.18878627e-03 -1.28184368e+02] [ 8.52118904e-03 3.23556300e-05 9.99963694e-01 -5.14087004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.012568378189295773 Centerline is valid? [True, True] Translation: X:95.60, Y:-128.14, Z:-5.14 [[-6.83509459e-01 -7.29921779e-01 5.38661325e-03 9.55975801e+01] [ 7.29899621e-01 -6.83530683e-01 -5.68764325e-03 -1.28142548e+02] [ 7.83345011e-03 4.41290058e-05 9.99969317e-01 -5.14045380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.013055448851534488 Centerline is valid? [True, True] Translation: X:95.56, Y:-128.10, Z:-5.14 [[-6.80781200e-01 -7.32462845e-01 5.92776669e-03 9.55566010e+01] [ 7.32436137e-01 -6.80807002e-01 -6.25547613e-03 -1.28101645e+02] [ 8.61756892e-03 8.30999881e-05 9.99962865e-01 -5.14055426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.013666071693603064 Centerline is valid? [True, True] Translation: X:95.52, Y:-128.06, Z:-5.14 [[-6.78958949e-01 -7.34135456e-01 7.73814015e-03 9.55164106e+01] [ 7.34090103e-01 -6.79003029e-01 -8.16133342e-03 -1.28059380e+02] [ 1.12457448e-02 1.39281737e-04 9.99936755e-01 -5.14249848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.013866421619340102 Centerline is valid? [True, True] Translation: X:95.48, Y:-128.02, Z:-5.14 [[-6.79178896e-01 -7.33919764e-01 8.82085364e-03 9.54777774e+01] [ 7.33860888e-01 -6.79236156e-01 -9.29741203e-03 -1.28017045e+02] [ 1.28149972e-02 1.58673436e-04 9.99917872e-01 -5.14351466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.013707140450747527 Centerline is valid? [True, True] Translation: X:95.44, Y:-127.97, Z:-5.14 [[-6.80610766e-01 -7.32598042e-01 8.31230693e-03 9.54398852e+01] [ 7.32545727e-01 -6.80661511e-01 -8.75595586e-03 -1.27974630e+02] [ 1.20724635e-02 1.29747099e-04 9.99927117e-01 -5.14302255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.012984721921073594 Centerline is valid? [True, True] Translation: X:95.40, Y:-127.93, Z:-5.14 [[-6.84471031e-01 -7.29004020e-01 7.24890718e-03 9.54028213e+01] [ 7.28964077e-01 -6.84509412e-01 -7.63148560e-03 -1.27929605e+02] [ 1.05253289e-02 6.06621084e-05 9.99944605e-01 -5.14011346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.012718593149255603 Centerline is valid? [True, True] Translation: X:95.37, Y:-127.89, Z:-5.14 [[-6.89520505e-01 -7.24238040e-01 6.38240804e-03 9.53662828e+01] [ 7.24206909e-01 -6.89550043e-01 -6.71499880e-03 -1.27885640e+02] [ 9.26424731e-03 -7.94535832e-06 9.99957086e-01 -5.13777630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.013081062849921419 Centerline is valid? [True, True] Translation: X:95.33, Y:-127.84, Z:-5.14 [[-6.92949500e-01 -7.20952756e-01 6.93647963e-03 9.53282339e+01] [ 7.20915849e-01 -6.92984214e-01 -7.29497380e-03 -1.27842878e+02] [ 1.00662024e-02 -5.44303378e-05 9.99949333e-01 -5.13778369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.013213358282677551 Centerline is valid? [True, True] Translation: X:95.29, Y:-127.80, Z:-5.14 [[-6.95125376e-01 -7.18852396e-01 7.20716660e-03 9.52880006e+01] [ 7.18812485e-01 -6.95162733e-01 -7.57537404e-03 -1.27801561e+02] [ 1.04557294e-02 -8.52333962e-05 9.99945334e-01 -5.13730154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.013495672977921017 Centerline is valid? [True, True] Translation: X:95.25, Y:-127.76, Z:-5.14 [[-6.96034986e-01 -7.17972247e-01 7.15198687e-03 9.52479755e+01] [ 7.17932950e-01 -6.96071723e-01 -7.51241994e-03 -1.27761549e+02] [ 1.03720048e-02 -9.42600733e-05 9.99946205e-01 -5.13785140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.013170234945617237 Centerline is valid? [True, True] Translation: X:95.20, Y:-127.72, Z:-5.14 [[-6.96255226e-01 -7.17769055e-01 6.02034812e-03 9.52039217e+01] [ 7.17741233e-01 -6.96281249e-01 -6.32018029e-03 -1.27723352e+02] [ 8.72828535e-03 -7.94064729e-05 9.99961905e-01 -5.13629975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.013103370043559706 Centerline is valid? [True, True] Translation: X:95.16, Y:-127.68, Z:-5.14 [[-6.95550705e-01 -7.18455484e-01 5.56183217e-03 9.51619924e+01] [ 7.18431791e-01 -6.95572939e-01 -5.83516439e-03 -1.27684293e+02] [ 8.06096580e-03 -6.28556548e-05 9.99967508e-01 -5.13634104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.01260360036440936 Centerline is valid? [True, True] Translation: X:95.12, Y:-127.65, Z:-5.14 [[-6.91304303e-01 -7.22539386e-01 5.93265262e-03 9.51169025e+01] [ 7.22512607e-01 -6.91329759e-01 -6.22069185e-03 -1.27647618e+02] [ 8.59611417e-03 -1.39747286e-05 9.99963053e-01 -5.13663126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.012939955986701137 Centerline is valid? [True, True] Translation: X:95.07, Y:-127.61, Z:-5.14 [[-6.86170238e-01 -7.27411820e-01 6.51525519e-03 9.50723922e+01] [ 7.27379767e-01 -6.86201166e-01 -6.82892109e-03 -1.27611941e+02] [ 9.43821363e-03 5.32623943e-05 9.99955458e-01 -5.13794083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.014579277460667799 Centerline is valid? [True, True] Translation: X:95.02, Y:-127.58, Z:-5.14 [[-6.77921828e-01 -7.35106228e-01 6.38982294e-03 9.50245370e+01] [ 7.35075772e-01 -6.77951922e-01 -6.69338058e-03 -1.27578268e+02] [ 9.25233849e-03 1.59415231e-04 9.99957184e-01 -5.13779208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.016567864763983656 Centerline is valid? [True, True] Translation: X:94.98, Y:-127.54, Z:-5.14 [[-6.73386515e-01 -7.39271479e-01 5.31808342e-03 9.49798423e+01] [ 7.39250536e-01 -6.73407490e-01 -5.56758708e-03 -1.27540557e+02] [ 7.69719554e-03 1.82257953e-04 9.99970360e-01 -5.13598981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.01710080955797501 Centerline is valid? [True, True] Translation: X:94.94, Y:-127.50, Z:-5.14 [[-6.73160911e-01 -7.39478971e-01 5.02387655e-03 9.49390932e+01] [ 7.39460311e-01 -6.73179634e-01 -5.25630971e-03 -1.27499758e+02] [ 7.26890187e-03 1.76615083e-04 9.99973566e-01 -5.13560046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.017264016950102806 Centerline is valid? [True, True] Translation: X:94.90, Y:-127.46, Z:-5.13 [[-6.73050126e-01 -7.39583408e-01 4.46218948e-03 9.48996110e+01] [ 7.39568708e-01 -6.73064898e-01 -4.66572636e-03 -1.27458083e+02] [ 6.45403691e-03 1.59827996e-04 9.99979160e-01 -5.13413096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.01757406361640904 Centerline is valid? [True, True] Translation: X:94.86, Y:-127.42, Z:-5.13 [[-6.73328258e-01 -7.39330312e-01 4.44375663e-03 9.48600620e+01] [ 7.39315742e-01 -6.73342903e-01 -4.64423483e-03 -1.27418052e+02] [ 6.42579557e-03 1.58244684e-04 9.99979342e-01 -5.13457326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.016202988497349715 Centerline is valid? [True, True] Translation: X:94.82, Y:-127.37, Z:-5.13 [[-6.74623533e-01 -7.38140886e-01 5.57862608e-03 9.48227882e+01] [ 7.38117913e-01 -6.74646573e-01 -5.82658879e-03 -1.27374729e+02] [ 8.06444438e-03 1.86929921e-04 9.99967464e-01 -5.13497919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.015539515605509072 Centerline is valid? [True, True] Translation: X:94.79, Y:-127.33, Z:-5.14 [[-6.76609074e-01 -7.36310004e-01 6.90931436e-03 9.47851701e+01] [ 7.36274709e-01 -6.76644320e-01 -7.21233806e-03 -1.27330269e+02] [ 9.98566498e-03 2.07220036e-04 9.99950121e-01 -5.13644065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.015118347744315535 Centerline is valid? [True, True] Translation: X:94.75, Y:-127.29, Z:-5.14 [[-6.78834900e-01 -7.34248344e-01 7.90873670e-03 9.47468390e+01] [ 7.34202012e-01 -6.78880937e-01 -8.25096635e-03 -1.27286347e+02] [ 1.14273490e-02 2.05566485e-04 9.99934685e-01 -5.13726136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.014073644266788784 Centerline is valid? [True, True] Translation: X:94.71, Y:-127.24, Z:-5.14 [[-6.83485301e-01 -7.29906806e-01 9.15962217e-03 9.47100231e+01] [ 7.29844331e-01 -6.83546656e-01 -9.55101553e-03 -1.27240417e+02] [ 1.32323803e-02 1.57119599e-04 9.99912436e-01 -5.13907993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.01323862846254477 Centerline is valid? [True, True] Translation: X:94.68, Y:-127.19, Z:-5.14 [[-6.90562467e-01 -7.23203939e-01 9.97706437e-03 9.46765746e+01] [ 7.23129189e-01 -6.90634535e-01 -1.03978523e-02 -1.27193031e+02] [ 1.44102729e-02 3.43399524e-05 9.99896166e-01 -5.14024836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.013695595270574292 Centerline is valid? [True, True] Translation: X:94.64, Y:-127.15, Z:-5.14 [[-6.96485090e-01 -7.17497735e-01 1.02722759e-02 9.46422276e+01] [ 7.17417955e-01 -6.96560833e-01 -1.06997425e-02 -1.27145923e+02] [ 1.48323060e-02 -8.26959454e-05 9.99889992e-01 -5.14022008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.015431822148332677 Centerline is valid? [True, True] Translation: X:94.61, Y:-127.10, Z:-5.14 [[-7.05138768e-01 -7.08997234e-01 1.01113934e-02 9.46096463e+01] [ 7.08919135e-01 -7.05211215e-01 -1.05262345e-02 -1.27096455e+02] [ 1.45937392e-02 -2.54295793e-04 9.99893473e-01 -5.13847982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.017537371168042104 Centerline is valid? [True, True] Translation: X:94.58, Y:-127.05, Z:-5.14 [[-7.11927301e-01 -7.02193123e-01 9.18354275e-03 9.45754117e+01] [ 7.02128202e-01 -7.11986442e-01 -9.55485139e-03 -1.27049091e+02] [ 1.32479089e-02 -3.54335199e-04 9.99912180e-01 -5.13656930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.018168301106878608 Centerline is valid? [True, True] Translation: X:94.54, Y:-127.01, Z:-5.14 [[-7.13996316e-01 -7.00096118e-01 8.64215541e-03 9.45374734e+01] [ 7.00038518e-01 -7.14048521e-01 -8.98789254e-03 -1.27005772e+02] [ 1.24633070e-02 -3.67480491e-04 9.99922263e-01 -5.13556354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.01817424799358423 Centerline is valid? [True, True] Translation: X:94.50, Y:-126.96, Z:-5.14 [[-7.13733139e-01 -7.00369163e-01 8.24872317e-03 9.44978505e+01] [ 7.00316771e-01 -7.13780721e-01 -8.57337720e-03 -1.26964192e+02] [ 1.18923086e-02 -3.42384243e-04 9.99929225e-01 -5.13555378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.016471413563327843 Centerline is valid? [True, True] Translation: X:94.45, Y:-126.93, Z:-5.14 [[-7.09526818e-01 -7.04632928e-01 8.00821796e-03 9.44540586e+01] [ 7.04583876e-01 -7.09571962e-01 -8.31814843e-03 -1.26926720e+02] [ 1.15436482e-02 -2.59488134e-04 9.99933336e-01 -5.13545722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.015102497287800104 Centerline is valid? [True, True] Translation: X:94.41, Y:-126.89, Z:-5.14 [[-7.05069748e-01 -7.09094829e-01 7.82139222e-03 9.44115114e+01] [ 7.09048360e-01 -7.05113105e-01 -8.11984197e-03 -1.26889254e+02] [ 1.12727041e-02 -1.79309601e-04 9.99936445e-01 -5.13597492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.01342738910335805 Centerline is valid? [True, True] Translation: X:94.37, Y:-126.85, Z:-5.14 [[-6.97620522e-01 -7.16427727e-01 7.54450339e-03 9.43652198e+01] [ 7.16384962e-01 -6.97661314e-01 -7.82790201e-03 -1.26854511e+02] [ 1.08716342e-02 -5.61363082e-05 9.99940901e-01 -5.13653678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.013146848507199285 Centerline is valid? [True, True] Translation: X:94.32, Y:-126.82, Z:-5.13 [[-6.91142488e-01 -7.22686702e-01 6.78172676e-03 9.43196355e+01] [ 7.22652490e-01 -6.91175758e-01 -7.03203645e-03 -1.26819366e+02] [ 9.76932437e-03 4.06925651e-05 9.99952278e-01 -5.13488762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.013711760474449537 Centerline is valid? [True, True] Translation: X:94.28, Y:-126.78, Z:-5.14 [[-6.87446248e-01 -7.26209937e-01 6.06485595e-03 9.42750825e+01] [ 7.26182743e-01 -6.87472996e-01 -6.28522019e-03 -1.26781785e+02] [ 8.73381405e-03 8.34426882e-05 9.99961856e-01 -5.13527325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.014732807487637351 Centerline is valid? [True, True] Translation: X:94.23, Y:-126.74, Z:-5.13 [[-6.82946678e-01 -7.30448149e-01 5.41635394e-03 9.42303076e+01] [ 7.30426616e-01 -6.82968144e-01 -5.61001206e-03 -1.26744671e+02] [ 7.79702012e-03 1.24909978e-04 9.99969595e-01 -5.13492191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.016627191735785217 Centerline is valid? [True, True] Translation: X:94.19, Y:-126.71, Z:-5.14 [[-6.80644428e-01 -7.32595556e-01 5.18786879e-03 9.41865717e+01] [ 7.32575888e-01 -6.80664183e-01 -5.37020873e-03 -1.26707433e+02] [ 7.46538752e-03 1.45304936e-04 9.99972123e-01 -5.13594676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.01814770325757325 Centerline is valid? [True, True] Translation: X:94.14, Y:-126.67, Z:-5.14 [[-6.78649291e-01 -7.34442201e-01 5.45831626e-03 9.41437947e+01] [ 7.34420514e-01 -6.78671218e-01 -5.64685875e-03 -1.26669122e+02] [ 7.85169351e-03 1.76462752e-04 9.99969159e-01 -5.13728158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.017480333387206906 Centerline is valid? [True, True] Translation: X:94.10, Y:-126.63, Z:-5.14 [[-6.78131853e-01 -7.34912903e-01 6.34151181e-03 9.41039561e+01] [ 7.34883682e-01 -6.78161470e-01 -6.55701453e-03 -1.26627167e+02] [ 9.11940355e-03 2.13753129e-04 9.99958395e-01 -5.13923092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.017120299966093794 Centerline is valid? [True, True] Translation: X:94.07, Y:-126.59, Z:-5.14 [[-6.78613299e-01 -7.34457064e-01 7.53735756e-03 9.40657551e+01] [ 7.34415806e-01 -6.78655111e-01 -7.78871609e-03 -1.26585133e+02] [ 1.08357438e-02 2.50028208e-04 9.99941260e-01 -5.14101966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.015704165665040102 Centerline is valid? [True, True] Translation: X:94.03, Y:-126.54, Z:-5.14 [[-6.80372840e-01 -7.32802079e-01 9.69077635e-03 9.40295604e+01] [ 7.32733790e-01 -6.80441789e-01 -1.00082670e-02 -1.26539434e+02] [ 1.39280881e-02 2.91406199e-04 9.99902957e-01 -5.14289348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.017137973773651824 Centerline is valid? [True, True] Translation: X:93.99, Y:-126.50, Z:-5.15 [[-6.83922056e-01 -7.29470577e-01 1.11040091e-02 9.39910161e+01] [ 7.29380577e-01 -6.84012142e-01 -1.14614010e-02 -1.26496570e+02] [ 1.59560318e-02 2.60343616e-04 9.99872661e-01 -5.14939888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.014166822627322611 Centerline is valid? [True, True] Translation: X:93.96, Y:-126.45, Z:-5.14 [[-6.86947151e-01 -7.26618025e-01 1.13954999e-02 9.39584591e+01] [ 7.26522952e-01 -6.87041633e-01 -1.17556621e-02 -1.26447600e+02] [ 1.63710588e-02 2.03573624e-04 9.99865965e-01 -5.14456917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.013394729533793833 Centerline is valid? [True, True] Translation: X:93.92, Y:-126.40, Z:-5.14 [[-6.91901813e-01 -7.21914260e-01 1.05679385e-02 9.39249230e+01] [ 7.21832030e-01 -6.91982509e-01 -1.08962041e-02 -1.26400326e+02] [ 1.51789537e-02 8.91731338e-05 9.99884789e-01 -5.14369636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.01304522907832975 Centerline is valid? [True, True] Translation: X:93.89, Y:-126.36, Z:-5.14 [[-6.94718012e-01 -7.19216399e-01 9.72915167e-03 9.38872867e+01] [ 7.19146517e-01 -6.94786133e-01 -1.00257588e-02 -1.26356353e+02] [ 1.39703698e-02 3.16102960e-05 9.99902409e-01 -5.14180483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.013041844283024743 Centerline is valid? [True, True] Translation: X:93.85, Y:-126.32, Z:-5.14 [[-6.95938624e-01 -7.18044301e-01 9.04511972e-03 9.38458978e+01] [ 7.17983876e-01 -6.95997401e-01 -9.31510596e-03 -1.26317455e+02] [ 1.29840386e-02 1.15080971e-05 9.99915704e-01 -5.14214488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.013295842875584548 Centerline is valid? [True, True] Translation: X:93.81, Y:-126.28, Z:-5.14 [[-6.97343803e-01 -7.16670945e-01 9.71481301e-03 9.38062741e+01] [ 7.16601191e-01 -6.97411469e-01 -9.99881511e-03 -1.26276063e+02] [ 1.39410823e-02 -1.09651837e-05 9.99902818e-01 -5.14198515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.01320154171721947 Centerline is valid? [True, True] Translation: X:93.77, Y:-126.24, Z:-5.14 [[-6.98575308e-01 -7.15468220e-01 9.88764125e-03 9.37668245e+01] [ 7.15395932e-01 -6.98645279e-01 -1.01703309e-02 -1.26235220e+02] [ 1.41845024e-02 -3.11636921e-05 9.99899394e-01 -5.14045320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.013276622343219082 Centerline is valid? [True, True] Translation: X:93.73, Y:-126.19, Z:-5.14 [[-7.00749550e-01 -7.13330341e-01 1.04830109e-02 9.37253525e+01] [ 7.13248935e-01 -7.00827953e-01 -1.07766942e-02 -1.26194520e+02] [ 1.50341300e-02 -7.47672689e-05 9.99886978e-01 -5.14099912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.013444842399579994 Centerline is valid? [True, True] Translation: X:93.69, Y:-126.15, Z:-5.14 [[-7.01882243e-01 -7.12221161e-01 1.01160714e-02 9.36852188e+01] [ 7.12145335e-01 -7.01955134e-01 -1.03928904e-02 -1.26153611e+02] [ 1.45030647e-02 -9.04721636e-05 9.99894821e-01 -5.14109784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.013719644953006182 Centerline is valid? [True, True] Translation: X:93.65, Y:-126.11, Z:-5.14 [[-7.04883548e-01 -7.09260044e-01 9.45377145e-03 9.36460943e+01] [ 7.09193637e-01 -7.04946928e-01 -9.70634242e-03 -1.26111642e+02] [ 1.35487280e-02 -1.37286528e-04 9.99908202e-01 -5.13964937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.014298989463843299 Centerline is valid? [True, True] Translation: X:93.61, Y:-126.07, Z:-5.14 [[-7.07379722e-01 -7.06784351e-01 8.35523619e-03 9.36075767e+01] [ 7.06732372e-01 -7.07429047e-01 -8.57311309e-03 -1.26069801e+02] [ 1.19700789e-02 -1.59530462e-04 9.99928343e-01 -5.13720375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.01480349528956196 Centerline is valid? [True, True] Translation: X:93.57, Y:-126.03, Z:-5.14 [[-7.07750370e-01 -7.06420616e-01 7.70242545e-03 9.35674451e+01] [ 7.06376474e-01 -7.07792266e-01 -7.89843547e-03 -1.26029659e+02] [ 1.10313348e-02 -1.49308501e-04 9.99939142e-01 -5.13744282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.013995549661868443 Centerline is valid? [True, True] Translation: X:93.52, Y:-125.99, Z:-5.14 [[-7.05907392e-01 -7.08278226e-01 6.05875692e-03 9.35245474e+01] [ 7.08251011e-01 -7.05933387e-01 -6.20959114e-03 -1.25990814e+02] [ 8.67519699e-03 -9.22755739e-05 9.99962366e-01 -5.13587374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.013102646322346815 Centerline is valid? [True, True] Translation: X:93.48, Y:-125.95, Z:-5.14 [[-7.01710992e-01 -7.12438777e-01 5.71595192e-03 9.34796403e+01] [ 7.12414718e-01 -7.01734271e-01 -5.85512800e-03 -1.25953744e+02] [ 8.18249959e-03 -3.64794043e-05 9.99966522e-01 -5.13650046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.012863850361334972 Centerline is valid? [True, True] Translation: X:93.44, Y:-125.92, Z:-5.14 [[-6.98223535e-01 -7.15852355e-01 6.26907142e-03 9.34361886e+01] [ 7.15823585e-01 -6.98251678e-01 -6.41781223e-03 -1.25915631e+02] [ 8.97159564e-03 6.48163840e-06 9.99959754e-01 -5.13680123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.013485208332399837 Centerline is valid? [True, True] Translation: X:93.39, Y:-125.88, Z:-5.14 [[-6.93687421e-01 -7.20244765e-01 6.72616670e-03 9.33919277e+01] [ 7.20211890e-01 -6.93720026e-01 -6.88185736e-03 -1.25879402e+02] [ 9.62269827e-03 7.04073449e-05 9.99953698e-01 -5.13843313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.013797032689316983 Centerline is valid? [True, True] Translation: X:93.35, Y:-125.84, Z:-5.14 [[-6.91957261e-01 -7.21900031e-01 7.44940074e-03 9.33504155e+01] [ 7.21859834e-01 -6.91997351e-01 -7.61878844e-03 -1.25839513e+02] [ 1.06549692e-02 1.05547196e-04 9.99943229e-01 -5.13883114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.013643084152521124 Centerline is valid? [True, True] Translation: X:93.31, Y:-125.80, Z:-5.14 [[-6.92645447e-01 -7.21230612e-01 8.28789177e-03 9.33117971e+01] [ 7.21180871e-01 -6.92695021e-01 -8.47108099e-03 -1.25797156e+02] [ 1.18505843e-02 1.09613322e-04 9.99929773e-01 -5.13973982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.013316151010648446 Centerline is valid? [True, True] Translation: X:93.28, Y:-125.75, Z:-5.14 [[-6.95828413e-01 -7.18161187e-01 8.20536688e-03 9.32751097e+01] [ 7.18112278e-01 -6.95876789e-01 -8.38159251e-03 -1.25752628e+02] [ 1.17292588e-02 6.02244814e-05 9.99931208e-01 -5.14032520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.013071015896056559 Centerline is valid? [True, True] Translation: X:93.24, Y:-125.71, Z:-5.14 [[-6.98531867e-01 -7.15526883e-01 8.63188772e-03 9.32379977e+01] [ 7.15472617e-01 -6.98585198e-01 -8.81227863e-03 -1.25708285e+02] [ 1.23355313e-02 2.02218481e-05 9.99923914e-01 -5.13971852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.013367165393504875 Centerline is valid? [True, True] Translation: X:93.20, Y:-125.66, Z:-5.14 [[-7.01064070e-01 -7.13028526e-01 9.97451045e-03 9.32015487e+01] [ 7.12955896e-01 -7.01135023e-01 -1.01769284e-02 -1.25663613e+02] [ 1.42499189e-02 -2.32928122e-05 9.99898465e-01 -5.14189927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.013490515594256475 Centerline is valid? [True, True] Translation: X:93.16, Y:-125.62, Z:-5.14 [[-7.02447802e-01 -7.11655301e-01 1.06685300e-02 9.31635956e+01] [ 7.11572155e-01 -7.02528811e-01 -1.08783287e-02 -1.25620637e+02] [ 1.52365700e-02 -5.00291572e-05 9.99883916e-01 -5.14176058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.013342793775861844 Centerline is valid? [True, True] Translation: X:93.12, Y:-125.58, Z:-5.14 [[-7.02550529e-01 -7.11555566e-01 1.05561064e-02 9.31231574e+01] [ 7.11474254e-01 -7.02629828e-01 -1.07569187e-02 -1.25579644e+02] [ 1.50711805e-02 -4.68809910e-05 9.99886422e-01 -5.14084572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.013386025154500223 Centerline is valid? [True, True] Translation: X:93.08, Y:-125.54, Z:-5.14 [[-7.02069738e-01 -7.12040966e-01 9.78496744e-03 9.30837426e+01] [ 7.11971234e-01 -7.02137922e-01 -9.96493096e-03 -1.25538829e+02] [ 1.39658358e-02 -2.94611223e-05 9.99902473e-01 -5.14031264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.013197656165721801 Centerline is valid? [True, True] Translation: X:93.04, Y:-125.50, Z:-5.14 [[-7.02228738e-01 -7.11893709e-01 9.06349362e-03 9.30436321e+01] [ 7.11833944e-01 -7.02287225e-01 -9.22444682e-03 -1.25498484e+02] [ 1.29320014e-02 -2.59692375e-05 9.99916378e-01 -5.13890560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.013495231426949285 Centerline is valid? [True, True] Translation: X:93.01, Y:-125.46, Z:-5.14 [[-7.04056013e-01 -7.10085236e-01 9.16998180e-03 9.30057330e+01] [ 7.10023983e-01 -7.04115726e-01 -9.32679415e-03 -1.25457227e+02] [ 1.30795472e-02 -5.56785046e-05 9.99914458e-01 -5.13960856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.013344330510081484 Centerline is valid? [True, True] Translation: X:92.97, Y:-125.42, Z:-5.14 [[-7.05431104e-01 -7.08717751e-01 9.27944696e-03 9.29659192e+01] [ 7.08654987e-01 -7.05492129e-01 -9.43217294e-03 -1.25415571e+02] [ 1.32313252e-02 -7.78218042e-05 9.99912459e-01 -5.13772291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.013350065635379696 Centerline is valid? [True, True] Translation: X:92.93, Y:-125.37, Z:-5.14 [[-7.06319449e-01 -7.07843281e-01 8.40985260e-03 9.29258828e+01] [ 7.07791733e-01 -7.06369509e-01 -8.54285090e-03 -1.25374334e+02] [ 1.19874631e-02 -8.15575955e-05 9.99928145e-01 -5.13636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.013462135691273351 Centerline is valid? [True, True] Translation: X:92.89, Y:-125.33, Z:-5.14 [[-7.06312320e-01 -7.07854926e-01 8.01938182e-03 9.28860031e+01] [ 7.07808115e-01 -7.06357840e-01 -8.14084549e-03 -1.25334155e+02] [ 1.14270908e-02 -7.37959291e-05 9.99934706e-01 -5.13598938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.013354828425520635 Centerline is valid? [True, True] Translation: X:92.84, Y:-125.30, Z:-5.14 [[-7.05312473e-01 -7.08846304e-01 8.43996335e-03 9.28445392e+01] [ 7.08794588e-01 -7.05362967e-01 -8.56254065e-03 -1.25295297e+02] [ 1.20227629e-02 -5.70663747e-05 9.99927722e-01 -5.13667585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.013142532419713577 Centerline is valid? [True, True] Translation: X:92.80, Y:-125.26, Z:-5.14 [[-7.02372113e-01 -7.11752359e-01 9.05513792e-03 9.28010481e+01] [ 7.11693144e-01 -7.02430480e-01 -9.18091485e-03 -1.25257158e+02] [ 1.28951427e-02 -3.93898890e-06 9.99916854e-01 -5.13712589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.013391883605942618 Centerline is valid? [True, True] Translation: X:92.76, Y:-125.22, Z:-5.14 [[-6.97125371e-01 -7.16887753e-01 9.38970173e-03 9.27551524e+01] [ 7.16824615e-01 -6.97188597e-01 -9.51482514e-03 -1.25220705e+02] [ 1.33674546e-02 9.77433276e-05 9.99910647e-01 -5.13723983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.014393556466458617 Centerline is valid? [True, True] Translation: X:92.71, Y:-125.18, Z:-5.14 [[-6.92885771e-01 -7.20991754e-01 8.95537949e-03 9.27112843e+01] [ 7.20934730e-01 -6.92943620e-01 -9.06941415e-03 -1.25184314e+02] [ 1.27445459e-02 1.72176078e-04 9.99918770e-01 -5.13748951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.01609581128300429 Centerline is valid? [True, True] Translation: X:92.67, Y:-125.15, Z:-5.14 [[-6.86862490e-01 -7.26727875e-01 9.30140317e-03 9.26665126e+01] [ 7.26666932e-01 -6.86925404e-01 -9.41586616e-03 -1.25147507e+02] [ 1.32321425e-02 2.91616831e-04 9.99912409e-01 -5.13730636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.018317471932355903 Centerline is valid? [True, True] Translation: X:92.62, Y:-125.11, Z:-5.14 [[-6.83905483e-01 -7.29507603e-01 9.58897600e-03 9.26227094e+01] [ 7.29443173e-01 -6.83972608e-01 -9.70197526e-03 -1.25111423e+02] [ 1.36362616e-02 3.59379015e-04 9.99906957e-01 -5.13915860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.01783810063584807 Centerline is valid? [True, True] Translation: X:92.58, Y:-125.07, Z:-5.14 [[-6.83596510e-01 -7.29805831e-01 8.90284598e-03 9.25834517e+01] [ 7.29750393e-01 -6.83654394e-01 -9.00180515e-03 -1.25070414e+02] [ 1.26560397e-02 3.43252781e-04 9.99919850e-01 -5.13738016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.01741094028651092 Centerline is valid? [True, True] Translation: X:92.54, Y:-125.03, Z:-5.14 [[-6.84552090e-01 -7.28916088e-01 8.35300999e-03 9.25438326e+01] [ 7.28867276e-01 -6.84602981e-01 -8.44114262e-03 -1.25028243e+02] [ 1.18713802e-02 3.09833810e-04 9.99929485e-01 -5.13685860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.015915798098003007 Centerline is valid? [True, True] Translation: X:92.51, Y:-124.98, Z:-5.14 [[-6.86210026e-01 -7.27355909e-01 8.31757226e-03 9.25064434e+01] [ 7.27307451e-01 -6.86260374e-01 -8.40066782e-03 -1.24983116e+02] [ 1.18182956e-02 2.84809795e-04 9.99930121e-01 -5.13642780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.01673749946884457 Centerline is valid? [True, True] Translation: X:92.47, Y:-124.94, Z:-5.14 [[-6.87072799e-01 -7.26535299e-01 8.79932163e-03 9.24663894e+01] [ 7.26481044e-01 -6.87129083e-01 -8.88350872e-03 -1.24943086e+02] [ 1.25004525e-02 2.88923161e-04 9.99921825e-01 -5.13806190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.01649259890175679 Centerline is valid? [True, True] Translation: X:92.43, Y:-124.90, Z:-5.14 [[-6.88038278e-01 -7.25608239e-01 9.79851125e-03 9.24268640e+01] [ 7.25540954e-01 -6.88107978e-01 -9.88611868e-03 -1.24901382e+02] [ 1.39158829e-02 3.07193125e-04 9.99903122e-01 -5.13967495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.015367759705744924 Centerline is valid? [True, True] Translation: X:92.39, Y:-124.86, Z:-5.14 [[-6.89118460e-01 -7.24568429e-01 1.07860892e-02 9.23888832e+01] [ 7.24486864e-01 -6.89202793e-01 -1.08763122e-02 -1.24857833e+02] [ 1.53144353e-02 3.19312473e-04 9.99882676e-01 -5.14030495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.014968388828280355 Centerline is valid? [True, True] Translation: X:92.35, Y:-124.81, Z:-5.14 [[-6.90044355e-01 -7.23679840e-01 1.12373178e-02 9.23494486e+01] [ 7.23591294e-01 -6.90135776e-01 -1.13247789e-02 -1.24814670e+02] [ 1.59507892e-02 3.16625547e-04 9.99872728e-01 -5.14017616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.01474056322886012 Centerline is valid? [True, True] Translation: X:92.31, Y:-124.77, Z:-5.14 [[-6.91847864e-01 -7.21955228e-01 1.12774832e-02 9.23087809e+01] [ 7.21865894e-01 -6.91939715e-01 -1.13605053e-02 -1.24774336e+02] [ 1.60051147e-02 2.81089176e-04 9.99871871e-01 -5.14086706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.014221325513747623 Centerline is valid? [True, True] Translation: X:92.27, Y:-124.73, Z:-5.14 [[-6.94594865e-01 -7.19317490e-01 1.09691745e-02 9.22675130e+01] [ 7.19232740e-01 -6.94681438e-01 -1.10437651e-02 -1.24733263e+02] [ 1.55640553e-02 2.18446942e-04 9.99878849e-01 -5.14123479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.012966491701671436 Centerline is valid? [True, True] Translation: X:92.23, Y:-124.69, Z:-5.14 [[-6.99697251e-01 -7.14362954e-01 1.04559504e-02 9.22300657e+01] [ 7.14285482e-01 -6.99775363e-01 -1.05209866e-02 -1.24688705e+02] [ 1.48326196e-02 1.07028199e-04 9.99889985e-01 -5.13915049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.012853606237329297 Centerline is valid? [True, True] Translation: X:92.19, Y:-124.65, Z:-5.14 [[-7.04146969e-01 -7.09981632e-01 1.01552012e-02 9.21923600e+01] [ 7.09908192e-01 -7.04220194e-01 -1.02115890e-02 -1.24647178e+02] [ 1.44015384e-02 1.88011290e-05 9.99896292e-01 -5.13955908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.013289816139394358 Centerline is valid? [True, True] Translation: X:92.15, Y:-124.60, Z:-5.14 [[-7.10857311e-01 -7.03269440e-01 9.69424095e-03 9.21540216e+01] [ 7.03201961e-01 -7.10923402e-01 -9.74266162e-03 -1.24603127e+02] [ 1.37435789e-02 -1.08633001e-04 9.99905547e-01 -5.13932573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.014311548628653036 Centerline is valid? [True, True] Translation: X:92.12, Y:-124.56, Z:-5.14 [[-7.16082748e-01 -6.97952947e-01 9.33711022e-03 9.21161689e+01] [ 6.97889962e-01 -7.16143592e-01 -9.37851005e-03 -1.24558945e+02] [ 1.32324704e-02 -1.99513756e-04 9.99912427e-01 -5.13863369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.015332929124335095 Centerline is valid? [True, True] Translation: X:92.08, Y:-124.52, Z:-5.14 [[-7.17551473e-01 -6.96440571e-01 9.50867695e-03 9.20772596e+01] [ 6.96375193e-01 -7.17614436e-01 -9.54527050e-03 -1.24516745e+02] [ 1.34712775e-02 -2.27616162e-04 9.99909232e-01 -5.13906839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.014331924241980773 Centerline is valid? [True, True] Translation: X:92.03, Y:-124.48, Z:-5.14 [[-7.16684824e-01 -6.97341166e-01 8.84083809e-03 9.20340956e+01] [ 6.97284780e-01 -7.16739326e-01 -8.86988502e-03 -1.24477257e+02] [ 1.25219123e-02 -1.92330146e-04 9.99921579e-01 -5.13813741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.013627658144615742 Centerline is valid? [True, True] Translation: X:91.99, Y:-124.44, Z:-5.14 [[-7.13143838e-01 -7.00973944e-01 7.83560539e-03 9.19912469e+01] [ 7.00929918e-01 -7.13186875e-01 -7.85693690e-03 -1.24438757e+02] [ 1.10957590e-02 -1.10915892e-04 9.99938434e-01 -5.13886125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.01265618461104942 Centerline is valid? [True, True] Translation: X:91.95, Y:-124.40, Z:-5.14 [[-7.07595915e-01 -7.06585431e-01 6.71190611e-03 9.19471466e+01] [ 7.06553413e-01 -7.07627747e-01 -6.72645934e-03 -1.24401183e+02] [ 9.50234917e-03 -1.72949830e-05 9.99954852e-01 -5.13696940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.013005651293323296 Centerline is valid? [True, True] Translation: X:91.90, Y:-124.37, Z:-5.14 [[-7.00441604e-01 -7.13691559e-01 5.09094151e-03 9.19008524e+01] [ 7.13673348e-01 -7.00460102e-01 -5.09875419e-03 -1.24365834e+02] [ 7.20493924e-03 6.18897063e-05 9.99974042e-01 -5.13500295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.013926195695155059 Centerline is valid? [True, True] Translation: X:91.86, Y:-124.33, Z:-5.13 [[-6.96117771e-01 -7.17912918e-01 4.59246290e-03 9.18563805e+01] [ 7.17898207e-01 -6.96132913e-01 -4.59691443e-03 -1.24328090e+02] [ 6.49714884e-03 9.69270522e-05 9.99978889e-01 -5.13449495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.015201804148526775 Centerline is valid? [True, True] Translation: X:91.81, Y:-124.29, Z:-5.13 [[-6.92492562e-01 -7.21411531e-01 4.41077992e-03 9.18128902e+01] [ 7.21398047e-01 -6.92506597e-01 -4.41256416e-03 -1.24289867e+02] [ 6.23776886e-03 1.26260156e-04 9.99980537e-01 -5.13406796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.015882194612984853 Centerline is valid? [True, True] Translation: X:91.77, Y:-124.25, Z:-5.14 [[-6.91232037e-01 -7.22612725e-01 5.39633117e-03 9.17708562e+01] [ 7.22592602e-01 -6.91253080e-01 -5.39549659e-03 -1.24250023e+02] [ 7.62908504e-03 1.69808885e-04 9.99970884e-01 -5.13542807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.016479654389435716 Centerline is valid? [True, True] Translation: X:91.32, Y:-124.70, Z:-4.12 [[-7.69718410e-01 6.38353710e-01 6.17332530e-03 9.13229064e+01] [ 6.38331279e-01 7.69743144e-01 -5.35448910e-03 -1.24697786e+02] [-8.16993281e-03 -1.80822205e-04 -9.99966609e-01 -4.11599875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.015775398508551332 Centerline is valid? [True, True] Translation: X:91.34, Y:-124.68, Z:-4.12 [[-8.11826892e-01 5.83842248e-01 8.08254606e-03 9.13394163e+01] [ 5.83810787e-01 8.11867100e-01 -6.06436416e-03 -1.24681299e+02] [-1.01025852e-02 -2.04536325e-04 -9.99948947e-01 -4.11512393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.015051014957538612 Centerline is valid? [True, True] Translation: X:91.35, Y:-124.66, Z:-4.11 [[-8.49100249e-01 5.28127532e-01 1.04917965e-02 9.13529464e+01] [ 5.28084211e-01 8.49165042e-01 -6.76744258e-03 -1.24664415e+02] [-1.24833396e-02 -2.05685083e-04 -9.99922059e-01 -4.11279653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.013929400340664082 Centerline is valid? [True, True] Translation: X:91.36, Y:-124.65, Z:-4.11 [[-8.81972099e-01 4.71141230e-01 1.22946295e-02 9.13635531e+01] [ 4.71092919e-01 8.82057774e-01 -6.74872981e-03 -1.24648249e+02] [-1.40241784e-02 -1.60278475e-04 -9.99901644e-01 -4.11253192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.012797393849810306 Centerline is valid? [True, True] Translation: X:91.38, Y:-124.64, Z:-4.11 [[-9.09950934e-01 4.14545220e-01 1.18978326e-02 9.13795582e+01] [ 4.14509045e-01 9.10028713e-01 -5.47665434e-03 -1.24636937e+02] [-1.30976901e-02 -5.17275154e-05 -9.99914220e-01 -4.11402807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.01288254072752963 Centerline is valid? [True, True] Translation: X:91.39, Y:-124.61, Z:-4.12 [[-9.35860010e-01 3.52216787e-01 1.04583115e-02 9.13881441e+01] [ 3.52194716e-01 9.35918445e-01 -3.94300001e-03 -1.24613044e+02] [-1.11769175e-02 -6.73397140e-06 -9.99937536e-01 -4.11554620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.013085077545093948 Centerline is valid? [True, True] Translation: X:91.40, Y:-124.59, Z:-4.12 [[-9.57440418e-01 2.88419151e-01 1.10561704e-02 9.13993655e+01] [ 2.88400337e-01 9.57504252e-01 -3.29445251e-03 -1.24591383e+02] [-1.15365134e-02 3.43612841e-05 -9.99933452e-01 -4.11520959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.013483402285972633 Centerline is valid? [True, True] Translation: X:91.61, Y:-123.93, Z:-5.14 [[-9.40033788e-01 -3.40856166e-01 1.23916318e-02 9.16088897e+01] [ 3.40827288e-01 -9.40115457e-01 -4.43716112e-03 -1.23929046e+02] [ 1.31619983e-02 5.23249018e-05 9.99913376e-01 -5.13598238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.014443325627520211 Centerline is valid? [True, True] Translation: X:91.36, Y:-124.58, Z:-4.12 [[-9.55008846e-01 2.96237919e-01 1.41844944e-02 9.13612005e+01] [ 2.96208664e-01 9.55114154e-01 -4.16899426e-03 -1.24584470e+02] [-1.47828256e-02 2.20143756e-04 -9.99890704e-01 -4.11595852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.015317439885477499 Centerline is valid? [True, True] Translation: X:91.37, Y:-124.56, Z:-4.12 [[-9.72840643e-01 2.30995921e-01 1.48986085e-02 9.13698667e+01] [ 2.30973211e-01 9.72954679e-01 -3.25099441e-03 -1.24558193e+02] [-1.52466373e-02 2.78479949e-04 -9.99883725e-01 -4.11571570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.015829464201695155 Centerline is valid? [True, True] Translation: X:91.52, Y:-123.88, Z:-5.14 [[-9.66156172e-01 -2.57500293e-01 1.53574022e-02 9.15239140e+01] [ 2.57463666e-01 -9.66278188e-01 -4.35011925e-03 -1.23878868e+02] [ 1.59596798e-02 -2.48921475e-04 9.99872605e-01 -5.13581770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.01572895953680539 Centerline is valid? [True, True] Translation: X:91.33, Y:-124.55, Z:-4.12 [[-9.72722069e-01 2.31448374e-01 1.56021262e-02 9.13258110e+01] [ 2.31424508e-01 9.72847121e-01 -3.34301548e-03 -1.24545884e+02] [-1.59522191e-02 3.58889450e-04 -9.99872691e-01 -4.11832270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.015618910277408114 Centerline is valid? [True, True] Translation: X:91.47, Y:-123.88, Z:-5.13 [[-9.66640495e-01 -2.55731219e-01 1.44117163e-02 9.14698293e+01] [ 2.55696620e-01 -9.66747839e-01 -4.22547851e-03 -1.23875272e+02] [ 1.50130824e-02 -3.99491485e-04 9.99887218e-01 -5.13477016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.014281490270691994 Centerline is valid? [True, True] Translation: X:91.27, Y:-124.53, Z:-4.12 [[-9.75064040e-01 2.21516922e-01 1.34302471e-02 9.12673177e+01] [ 2.21499038e-01 9.75156502e-01 -2.82353217e-03 -1.24525472e+02] [-1.37220529e-02 2.21662121e-04 -9.99905824e-01 -4.12041863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.013104522861778434 Centerline is valid? [True, True] Translation: X:91.27, Y:-124.49, Z:-4.12 [[-9.89379742e-01 1.44776608e-01 1.29406190e-02 9.12722657e+01] [ 1.44765798e-01 9.89464360e-01 -1.77318865e-03 -1.24492976e+02] [-1.30609976e-02 1.19002106e-04 -9.99914695e-01 -4.12203582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.012544370741539605 Centerline is valid? [True, True] Translation: X:91.36, Y:-123.84, Z:-5.13 [[-9.79587005e-01 -2.00628856e-01 1.25443764e-02 9.13584700e+01] [ 2.00610664e-01 -9.79667313e-01 -2.70495886e-03 -1.23844442e+02] [ 1.28320083e-02 -1.33206862e-04 9.99917658e-01 -5.13133829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.012496889445356398 Centerline is valid? [True, True] Translation: X:91.21, Y:-124.47, Z:-4.12 [[-9.91270172e-01 1.31267132e-01 1.23444900e-02 9.12125166e+01] [ 1.31256850e-01 9.91347033e-01 -1.64300018e-03 -1.24474406e+02] [-1.24533454e-02 -8.35820212e-06 -9.99922454e-01 -4.12113980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.012493186068071142 Centerline is valid? [True, True] Translation: X:91.30, Y:-123.84, Z:-5.13 [[-9.79261183e-01 -2.02296833e-01 1.11142768e-02 9.13025181e+01] [ 2.02283044e-01 -9.79324250e-01 -2.36288731e-03 -1.23843773e+02] [ 1.13624855e-02 -6.56540759e-05 9.99935443e-01 -5.13054883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.012526196049262516 Centerline is valid? [True, True] Translation: X:91.17, Y:-124.46, Z:-4.12 [[-9.92122661e-01 1.24775704e-01 1.11197586e-02 9.11683308e+01] [ 1.24767453e-01 9.92184974e-01 -1.43537782e-03 -1.24464494e+02] [-1.12119577e-02 -3.66868974e-05 -9.99937143e-01 -4.12226772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.012435546738972828 Centerline is valid? [True, True] Translation: X:91.17, Y:-124.44, Z:-4.12 [[-9.98229189e-01 5.83676455e-02 1.14762317e-02 9.11688798e+01] [ 5.83639289e-02 9.98295156e-01 -6.58786486e-04 -1.24440318e+02] [-1.14951184e-02 1.21780736e-05 -9.99933929e-01 -4.12292527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.012992049621560172 Centerline is valid? [True, True] Translation: X:91.17, Y:-124.42, Z:-4.12 [[-9.99889194e-01 -7.92033926e-03 1.26043214e-02 9.11664327e+01] [-7.91878517e-03 9.99968631e-01 1.73201640e-04 -1.24417251e+02] [-1.26052979e-02 7.33715343e-05 -9.99920547e-01 -4.12126921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.014255291520198762 Centerline is valid? [True, True] Translation: X:91.17, Y:-123.77, Z:-5.13 [[-9.99053163e-01 -4.06833837e-02 1.54155456e-02 9.11658011e+01] [ 4.06797025e-02 -9.99172086e-01 -5.52419494e-04 -1.23767456e+02] [ 1.54252572e-02 7.52033674e-05 9.99881021e-01 -5.13379407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.01531608377413538 Centerline is valid? [True, True] Translation: X:91.11, Y:-124.43, Z:-4.12 [[-9.99867767e-01 -7.91260821e-05 1.62616531e-02 9.11071416e+01] [-7.42968625e-05 9.99999953e-01 2.97573727e-04 -1.24427251e+02] [-1.62616759e-02 2.96326188e-04 -9.99867726e-01 -4.11887112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.01582512880004937 Centerline is valid? [True, True] Translation: X:91.10, Y:-124.40, Z:-4.12 [[-9.97496406e-01 -6.87101067e-02 1.67284660e-02 9.11024889e+01] [-6.86945920e-02 9.97636607e-01 1.50098224e-03 -1.24403395e+02] [-1.67920627e-02 3.48069245e-04 -9.99858943e-01 -4.11983221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.015692741656396884 Centerline is valid? [True, True] Translation: X:91.09, Y:-124.38, Z:-4.12 [[-9.89808190e-01 -1.41512106e-01 1.59395704e-02 9.10912292e+01] [-1.41488817e-01 9.89936479e-01 2.58515285e-03 -1.24378327e+02] [-1.61449926e-02 3.03534502e-04 -9.99869615e-01 -4.11998854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.015057487505335186 Centerline is valid? [True, True] Translation: X:91.06, Y:-124.35, Z:-4.12 [[-9.76502266e-01 -2.15023982e-01 1.44226404e-02 9.10649079e+01] [-2.14997076e-01 9.76608742e-01 3.40913617e-03 -1.24354639e+02] [-1.48183227e-02 2.28203678e-04 -9.99890177e-01 -4.12052713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.01340607256876886 Centerline is valid? [True, True] Translation: X:91.04, Y:-124.33, Z:-4.12 [[-9.56372230e-01 -2.91893657e-01 1.22576942e-02 9.10425461e+01] [-2.91868324e-01 9.56450774e-01 3.84689786e-03 -1.24327554e+02] [-1.28467662e-02 1.01433621e-04 -9.99917472e-01 -4.12186399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.012397656816107964 Centerline is valid? [True, True] Translation: X:91.00, Y:-124.31, Z:-4.12 [[-9.29550255e-01 -3.68532460e-01 1.09612838e-02 9.10043334e+01] [-3.68507038e-01 9.29614880e-01 4.32865349e-03 -1.24306330e+02] [-1.17850219e-02 -1.56092673e-05 -9.99930554e-01 -4.12389912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.013145549108814202 Centerline is valid? [True, True] Translation: X:90.95, Y:-124.30, Z:-4.12 [[-8.96940261e-01 -4.42020285e-01 1.07812813e-02 9.09521013e+01] [-4.41989832e-01 8.97005048e-01 5.18971945e-03 -1.24295326e+02] [-1.19648250e-02 -1.10348396e-04 -9.99928413e-01 -4.12366482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.013975343233300864 Centerline is valid? [True, True] Translation: X:90.88, Y:-124.30, Z:-4.12 [[-8.59420235e-01 -5.11158632e-01 1.06635899e-02 9.08847149e+01] [-5.11121812e-01 8.59486371e-01 6.13769716e-03 -1.24298185e+02] [-1.23025470e-02 -1.75532234e-04 -9.99924305e-01 -4.12361768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.014103256260084579 Centerline is valid? [True, True] Translation: X:90.82, Y:-124.31, Z:-4.12 [[-8.18553303e-01 -5.74351987e-01 9.50188510e-03 9.08164497e+01] [-5.74315819e-01 8.18608431e-01 6.44801632e-03 -1.24310009e+02] [-1.14817542e-02 -1.79037871e-04 -9.99934067e-01 -4.12464888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.013657854569992087 Centerline is valid? [True, True] Translation: X:90.74, Y:-124.33, Z:-4.12 [[-7.73842483e-01 -6.33307256e-01 9.47260996e-03 9.07430815e+01] [-6.33262692e-01 7.73900436e-01 7.51512242e-03 -1.24333304e+02] [-1.20902385e-02 -1.83129498e-04 -9.99926894e-01 -4.12427319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.013578015837257993 Centerline is valid? [True, True] Translation: X:90.67, Y:-124.37, Z:-4.12 [[-7.25998765e-01 -6.87614241e-01 1.06042280e-02 9.06684790e+01] [-6.87544527e-01 7.26076183e-01 9.79282374e-03 -1.24368712e+02] [-1.44331624e-02 -1.81300978e-04 -9.99895820e-01 -4.12227888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.013389404837994332 Centerline is valid? [True, True] Translation: X:90.59, Y:-124.41, Z:-4.12 [[-6.72755377e-01 -7.39796747e-01 1.00486614e-02 9.05886470e+01] [-7.39718100e-01 6.72830396e-01 1.07884411e-02 -1.24414271e+02] [-1.47422985e-02 -1.75194993e-04 -9.99891311e-01 -4.12266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.013580959555885572 Centerline is valid? [True, True] Translation: X:90.51, Y:-124.47, Z:-4.12 [[-6.15433717e-01 -7.88135892e-01 9.11901631e-03 9.05112365e+01] [-7.88053444e-01 6.15501249e-01 1.14009937e-02 -1.24465369e+02] [-1.45982982e-02 -1.69716286e-04 -9.99893425e-01 -4.12259335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.014128909922266604 Centerline is valid? [True, True] Translation: X:90.44, Y:-124.53, Z:-4.12 [[-5.52528047e-01 -8.33452713e-01 8.32657286e-03 9.04357421e+01] [-8.33363420e-01 5.52590749e-01 1.22014139e-02 -1.24529936e+02] [-1.47704887e-02 -1.97437836e-04 -9.99890891e-01 -4.12160824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.014267497362448553 Centerline is valid? [True, True] Translation: X:90.36, Y:-124.61, Z:-4.12 [[-4.86406621e-01 -8.73701266e-01 7.39576160e-03 9.03598673e+01] [-8.73607038e-01 4.86462795e-01 1.28332766e-02 -1.24605546e+02] [-1.48102129e-02 -2.18798655e-04 -9.99890299e-01 -4.12240430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.0151194571237916 Centerline is valid? [True, True] Translation: X:90.29, Y:-124.69, Z:-4.12 [[-4.16169813e-01 -9.09261537e-01 6.79288565e-03 9.02880687e+01] [-9.09150861e-01 4.16225159e-01 1.41890282e-02 -1.24690849e+02] [-1.57289075e-02 -2.70712638e-04 -9.99876257e-01 -4.12163010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.016224041836352013 Centerline is valid? [True, True] Translation: X:90.22, Y:-124.78, Z:-4.12 [[-3.41855192e-01 -9.39736834e-01 5.45076254e-03 9.02183024e+01] [-9.39631845e-01 3.41898497e-01 1.40504074e-02 -1.24778506e+02] [-1.50672928e-02 -3.18505351e-04 -9.99886431e-01 -4.12297737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.017699292984034054 Centerline is valid? [True, True] Translation: X:90.15, Y:-124.87, Z:-4.12 [[-2.65972666e-01 -9.63971696e-01 4.13652774e-03 9.01492398e+01] [-9.63874693e-01 2.66004602e-01 1.36795149e-02 -1.24869218e+02] [-1.42870006e-02 -3.48717359e-04 -9.99897875e-01 -4.12295494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.017522089309292038 Centerline is valid? [True, True] Translation: X:90.09, Y:-124.97, Z:-4.12 [[-1.91244135e-01 -9.81537586e-01 3.10599541e-03 9.00895705e+01] [-9.81436678e-01 1.91269024e-01 1.40786126e-02 -1.24973951e+02] [-1.44127682e-02 -3.55885722e-04 -9.99896067e-01 -4.12280884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.017638603611921235 Centerline is valid? [True, True] Translation: X:90.04, Y:-125.07, Z:-4.12 [[-1.15674966e-01 -9.93285207e-01 1.94926799e-03 9.00445969e+01] [-9.93189623e-01 1.15690885e-01 1.37837798e-02 -1.25072170e+02] [-1.39167371e-02 -3.41554473e-04 -9.99903099e-01 -4.12343272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.018035856624191632 Centerline is valid? [True, True] Translation: X:90.01, Y:-125.18, Z:-4.12 [[-4.04135759e-02 -9.99182712e-01 8.07037806e-04 9.00057322e+01] [-9.99102956e-01 4.04205495e-02 1.26278476e-02 -1.25183725e+02] [-1.26501479e-02 -2.95977380e-04 -9.99919940e-01 -4.12308905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.01498974491365165 Centerline is valid? [True, True] Translation: X:89.98, Y:-125.30, Z:-4.12 [[ 3.28478182e-02 -9.99460348e-01 -1.81660340e-04 8.99817140e+01] [-9.99362680e-01 -3.28471483e-02 1.39749410e-02 -1.25296572e+02] [-1.39733664e-02 -2.77501755e-04 -9.99902329e-01 -4.12268138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.014408946565693945 Centerline is valid? [True, True] Translation: X:89.96, Y:-125.41, Z:-4.12 [[ 1.05681548e-01 -9.94399021e-01 -1.41350426e-03 8.99640300e+01] [-9.94275346e-01 -1.05690700e-01 1.56847953e-02 -1.25408775e+02] [-1.57463393e-02 -2.52181014e-04 -9.99875987e-01 -4.12101755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.013593609104964004 Centerline is valid? [True, True] Translation: X:89.95, Y:-125.52, Z:-4.12 [[ 1.67176016e-01 -9.85924004e-01 -2.45704925e-03 8.99505935e+01] [-9.85788038e-01 -1.67193774e-01 1.63763905e-02 -1.25516665e+02] [-1.65566798e-02 -3.15609962e-04 -9.99862879e-01 -4.12081314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.013005295364657785 Centerline is valid? [True, True] Translation: X:89.95, Y:-125.64, Z:-4.12 [[ 2.41359526e-01 -9.70429754e-01 -3.41651708e-03 8.99482178e+01] [-9.70324433e-01 -2.41383667e-01 1.42975808e-02 -1.25635392e+02] [-1.46994892e-02 -1.35727333e-04 -9.99891948e-01 -4.12426174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.012679587591202577 Centerline is valid? [True, True] Translation: X:89.95, Y:-125.75, Z:-4.13 [[ 3.13902215e-01 -9.49445881e-01 -4.23298215e-03 8.99542442e+01] [-9.49354802e-01 -3.13930736e-01 1.31511271e-02 -1.25750905e+02] [-1.38151467e-02 -1.09566004e-04 -9.99904560e-01 -4.12574423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.012442307469240663 Centerline is valid? [True, True] Translation: X:89.97, Y:-125.87, Z:-4.13 [[ 3.82994061e-01 -9.23740414e-01 -4.38154521e-03 8.99696017e+01] [-9.23678243e-01 -3.83019119e-01 1.07172142e-02 -1.25865716e+02] [-1.15781394e-02 -5.74913968e-05 -9.99932970e-01 -4.12771253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.012435604869139994 Centerline is valid? [True, True] Translation: X:89.99, Y:-125.98, Z:-4.13 [[ 4.51120864e-01 -8.92450207e-01 -4.75337913e-03 8.99932962e+01] [-8.92399874e-01 -4.51145905e-01 9.47827843e-03 -1.25983982e+02] [-1.06033591e-02 -3.39342282e-05 -9.99943782e-01 -4.12811014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.012364236550596456 Centerline is valid? [True, True] Translation: X:90.02, Y:-126.09, Z:-4.13 [[ 5.17876629e-01 -8.55436272e-01 -5.70805126e-03 9.00167301e+01] [-8.55383628e-01 -5.17908084e-01 9.49024743e-03 -1.26088079e+02] [-1.10745478e-02 -3.22037490e-05 -9.99938675e-01 -4.12778238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.012449003554859237 Centerline is valid? [True, True] Translation: X:90.05, Y:-126.20, Z:-4.13 [[ 5.82096161e-01 -8.13090693e-01 -6.89807919e-03 9.00531143e+01] [-8.13032791e-01 -5.82137031e-01 9.70353551e-03 -1.26198767e+02] [-1.19054818e-02 -4.00261973e-05 -9.99929127e-01 -4.12670461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.01262084514467688 Centerline is valid? [True, True] Translation: X:90.10, Y:-126.30, Z:-4.12 [[ 6.42072229e-01 -7.66603373e-01 -7.90701817e-03 9.00955246e+01] [-7.66544556e-01 -6.42120913e-01 9.49611173e-03 -1.26299647e+02] [-1.23570130e-02 -3.61078962e-05 -9.99923649e-01 -4.12496658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.012613119664662335 Centerline is valid? [True, True] Translation: X:90.14, Y:-126.39, Z:-4.12 [[ 6.98410138e-01 -7.15641556e-01 -8.96896471e-03 9.01446668e+01] [-7.15581913e-01 -6.98467725e-01 9.23921189e-03 -1.26394680e+02] [-1.28764963e-02 -3.47303333e-05 -9.99917094e-01 -4.12456116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.012490086405583082 Centerline is valid? [True, True] Translation: X:90.20, Y:-126.48, Z:-4.13 [[ 7.51205796e-01 -6.60004891e-01 -9.13212193e-03 9.01997298e+01] [-6.59955452e-01 -7.51261301e-01 8.07835557e-03 -1.26484637e+02] [-1.21923640e-02 -4.17138674e-05 -9.99925670e-01 -4.12582882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.012489176362869756 Centerline is valid? [True, True] Translation: X:90.22, Y:-126.51, Z:-4.13 [[ 8.01783305e-01 -5.97555525e-01 -8.42182098e-03 9.02205517e+01] [-5.97521788e-01 -8.01827532e-01 6.34998020e-03 -1.26513487e+02] [-1.05473137e-02 -5.90865853e-05 -9.99944374e-01 -4.12699529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.012694711522309993 Centerline is valid? [True, True] Translation: X:90.24, Y:-126.54, Z:-4.13 [[ 8.47516831e-01 -5.30711846e-01 -7.75613088e-03 9.02430172e+01] [-5.30688793e-01 -8.47552317e-01 4.94718055e-03 -1.26540388e+02] [-9.19925402e-03 -7.67270430e-05 -9.99957683e-01 -4.12771978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.01396538725739938 Centerline is valid? [True, True] Translation: X:90.27, Y:-126.57, Z:-4.13 [[ 8.88887320e-01 -4.58057141e-01 -7.93651229e-03 9.02664461e+01] [-4.58037639e-01 -8.88922742e-01 4.22860017e-03 -1.26566318e+02] [-8.99188677e-03 -1.23527728e-04 -9.99959565e-01 -4.12763394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.015491238987585433 Centerline is valid? [True, True] Translation: X:90.29, Y:-126.59, Z:-4.13 [[ 9.23741465e-01 -3.82919364e-01 -8.62945688e-03 9.02948110e+01] [-3.82900903e-01 -9.23781755e-01 3.76398389e-03 -1.26586704e+02] [-9.41303714e-03 -1.72721160e-04 -9.99955682e-01 -4.12653988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.016508098794483218 Centerline is valid? [True, True] Translation: X:90.32, Y:-126.61, Z:-4.12 [[ 9.52279227e-01 -3.05034942e-01 -1.08608347e-02 9.03247070e+01] [-3.05011919e-01 -9.52341123e-01 3.75705134e-03 -1.26606367e+02] [-1.14892514e-02 -2.65077925e-04 -9.99933961e-01 -4.12318489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.015373082789691525 Centerline is valid? [True, True] Translation: X:90.36, Y:-126.62, Z:-4.12 [[ 9.73119705e-01 -2.29978056e-01 -1.21710362e-02 9.03574468e+01] [-2.29956383e-01 -9.73195773e-01 3.17016842e-03 -1.26619675e+02] [-1.25738702e-02 -2.86145890e-04 -9.99920905e-01 -4.12337382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.015541650754536554 Centerline is valid? [True, True] Translation: X:90.39, Y:-126.63, Z:-4.12 [[ 9.87368951e-01 -1.57997047e-01 -1.18104843e-02 9.03893218e+01] [-1.57983145e-01 -9.87439561e-01 2.10686429e-03 -1.26629061e+02] [-1.19950178e-02 -2.14394939e-04 -9.99928034e-01 -4.12227892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.013033540206054201 Centerline is valid? [True, True] Translation: X:90.42, Y:-126.63, Z:-4.12 [[ 9.96088390e-01 -8.77522187e-02 -1.03666990e-02 9.04197160e+01] [-8.77463472e-02 -9.96142328e-01 1.02074091e-03 -1.26630083e+02] [-1.04162799e-02 -1.07108202e-04 -9.99945743e-01 -4.12453141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.01249652192596807 Centerline is valid? [True, True] Translation: X:90.45, Y:-126.64, Z:-4.13 [[ 9.99860935e-01 -1.36706718e-02 -9.55113017e-03 9.04486193e+01] [-1.36694904e-02 -9.99906550e-01 1.88962063e-04 -1.26635446e+02] [-9.55282086e-03 -5.83767027e-05 -9.99954369e-01 -4.12540105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.01240760899982971 Centerline is valid? [True, True] Translation: X:90.48, Y:-126.64, Z:-4.13 [[ 9.98040731e-01 6.18042791e-02 -9.74325035e-03 9.04782779e+01] [ 6.18016479e-02 -9.98088288e-01 -5.71192277e-04 -1.26639043e+02] [-9.75992618e-03 -3.20757698e-05 -9.99952370e-01 -4.12556024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.012462630687098089 Centerline is valid? [True, True] Translation: X:90.51, Y:-126.64, Z:-4.12 [[ 9.90296391e-01 1.38500450e-01 -1.14317018e-02 9.05083938e+01] [ 1.38491494e-01 -9.90362370e-01 -1.57520841e-03 -1.26643161e+02] [-1.15396944e-02 -2.32702706e-05 -9.99933415e-01 -4.12491134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.01257365129233668 Centerline is valid? [True, True] Translation: X:90.54, Y:-126.65, Z:-4.12 [[ 9.76818977e-01 2.13697627e-01 -1.25702431e-02 9.05386564e+01] [ 2.13679948e-01 -9.76899854e-01 -2.74874842e-03 -1.26645993e+02] [-1.28672696e-02 -9.79266327e-07 -9.99917213e-01 -4.12278627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.012977956227900895 Centerline is valid? [True, True] Translation: X:90.57, Y:-126.65, Z:-4.12 [[ 9.57654781e-01 2.87657317e-01 -1.22714423e-02 9.05691374e+01] [ 2.87633388e-01 -9.57733401e-01 -3.71034941e-03 -1.26645273e+02] [-1.28200793e-02 2.35573235e-05 -9.99917819e-01 -4.12284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.012636131243481159 Centerline is valid? [True, True] Translation: X:90.60, Y:-126.64, Z:-4.12 [[ 9.32158190e-01 3.61860959e-01 -1.17369499e-02 9.06002228e+01] [ 3.61831983e-01 -9.32232077e-01 -4.57933057e-03 -1.26644213e+02] [-1.25986421e-02 2.18566517e-05 -9.99920634e-01 -4.12409696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.012621980768055053 Centerline is valid? [True, True] Translation: X:90.63, Y:-126.64, Z:-4.12 [[ 9.00117140e-01 4.35489504e-01 -1.17484579e-02 9.06318397e+01] [ 4.35452450e-01 -9.00193808e-01 -5.68083762e-03 -1.26643362e+02] [-1.30498342e-02 -2.47547418e-06 -9.99914847e-01 -4.12407177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.012754632085590566 Centerline is valid? [True, True] Translation: X:90.66, Y:-126.64, Z:-4.12 [[ 8.61976146e-01 5.06808416e-01 -1.19311952e-02 9.06636316e+01] [ 5.06760477e-01 -8.62058715e-01 -6.97072721e-03 -1.26638285e+02] [-1.38182140e-02 -3.76575967e-05 -9.99904523e-01 -4.12253543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.012779364370821094 Centerline is valid? [True, True] Translation: X:90.69, Y:-126.63, Z:-4.12 [[ 8.18984186e-01 5.73738389e-01 -9.44272952e-03 9.06919064e+01] [ 5.73700900e-01 -8.19038619e-01 -6.55882629e-03 -1.26628075e+02] [-1.14970106e-02 -4.57274109e-05 -9.99933906e-01 -4.12447989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.012584011783199227 Centerline is valid? [True, True] Translation: X:90.72, Y:-126.62, Z:-4.13 [[ 7.71121876e-01 6.36657414e-01 -6.19591601e-03 9.07215807e+01] [ 6.36637257e-01 -7.71146767e-01 -5.06628703e-03 -1.26617235e+02] [-8.00344979e-03 -3.78262127e-05 -9.99967971e-01 -4.12866818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.012694823319223933 Centerline is valid? [True, True] Translation: X:90.75, Y:-126.60, Z:-4.13 [[ 7.18048749e-01 6.95977026e-01 -4.68752405e-03 9.07498364e+01] [ 6.95962549e-01 -7.18064048e-01 -4.48924215e-03 -1.26604176e+02] [-6.49035190e-03 -3.88464788e-05 -9.99978937e-01 -4.13012082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.013095608356732222 Centerline is valid? [True, True] Translation: X:90.78, Y:-126.59, Z:-4.13 [[ 6.59360422e-01 7.51815730e-01 -4.11599722e-03 9.07770135e+01] [ 7.51801589e-01 -6.59373267e-01 -4.61156473e-03 -1.26590479e+02] [-6.18102544e-03 -5.37299776e-05 -9.99980896e-01 -4.12904361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.013794153797613161 Centerline is valid? [True, True] Translation: X:90.80, Y:-126.57, Z:-4.13 [[ 5.95237413e-01 8.03534981e-01 -4.89450986e-03 9.08026473e+01] [ 8.03509225e-01 -5.95257527e-01 -6.43439839e-03 -1.26573160e+02] [-8.08375803e-03 -1.02789173e-04 -9.99967321e-01 -4.12685615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.014222741121122715 Centerline is valid? [True, True] Translation: X:90.83, Y:-126.55, Z:-4.13 [[ 5.27850444e-01 8.49322372e-01 -5.04157971e-03 9.08273525e+01] [ 8.49286267e-01 -5.27874499e-01 -7.83260541e-03 -1.26553529e+02] [-9.31372837e-03 -1.47300171e-04 -9.99956616e-01 -4.12622138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.015261970628295174 Centerline is valid? [True, True] Translation: X:90.85, Y:-126.53, Z:-4.12 [[ 4.56199137e-01 8.89861270e-01 -5.40988776e-03 9.08515949e+01] [ 8.89804469e-01 -4.56231157e-01 -1.00567644e-02 -1.26532266e+02] [-1.14172845e-02 -2.25855069e-04 -9.99934795e-01 -4.12458903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.014854370872141753 Centerline is valid? [True, True] Translation: X:90.87, Y:-126.51, Z:-4.12 [[ 3.86595190e-01 9.22235584e-01 -5.06826689e-03 9.08691505e+01] [ 9.22163921e-01 -3.86628343e-01 -1.14990140e-02 -1.26507296e+02] [-1.25643355e-02 -2.28309389e-04 -9.99921040e-01 -4.12367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.014365150055470175 Centerline is valid? [True, True] Translation: X:90.88, Y:-126.48, Z:-4.12 [[ 3.15144804e-01 9.49034392e-01 -4.18031082e-03 9.08849097e+01] [ 9.48959296e-01 -3.15172462e-01 -1.19404025e-02 -1.26481825e+02] [-1.26493715e-02 -2.03988995e-04 -9.99919973e-01 -4.12396208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.013019521919566693 Centerline is valid? [True, True] Translation: X:90.89, Y:-126.45, Z:-4.13 [[ 2.49253408e-01 9.68434815e-01 -2.59763982e-03 9.08912554e+01] [ 9.68384925e-01 -2.49266935e-01 -9.83015466e-03 -1.26453858e+02] [-1.01673697e-02 -6.53156942e-05 -9.99948309e-01 -4.12585491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.012639927708054558 Centerline is valid? [True, True] Translation: X:90.90, Y:-126.43, Z:-4.13 [[ 1.80083629e-01 9.83650130e-01 -1.51915061e-03 9.08983712e+01] [ 9.83614685e-01 -1.80090036e-01 -8.35050014e-03 -1.26426463e+02] [-8.48755444e-03 9.52951328e-06 -9.99963980e-01 -4.12911804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.013669235423917285 Centerline is valid? [True, True] Translation: X:90.90, Y:-126.40, Z:-4.13 [[ 1.13060185e-01 9.93587796e-01 -8.28842822e-04 9.09016432e+01] [ 9.93554517e-01 -1.13063182e-01 -8.13259727e-03 -1.26399172e+02] [-8.17416100e-03 9.59724217e-05 -9.99966586e-01 -4.13011770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.014654470675524665 Centerline is valid? [True, True] Translation: X:90.91, Y:-126.37, Z:-4.13 [[ 4.07952908e-02 9.99167502e-01 -2.18765030e-04 9.09085464e+01] [ 9.99122933e-01 -4.07955377e-02 -9.43866993e-03 -1.26372297e+02] [-9.43973689e-03 1.66480126e-04 -9.99955431e-01 -4.13026315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.015310262044382869 Centerline is valid? [True, True] Translation: X:90.92, Y:-126.35, Z:-4.13 [[-3.65634769e-02 9.99331147e-01 6.09641538e-04 9.09161224e+01] [ 9.99270313e-01 3.65679790e-02 -1.10283857e-02 -1.26346354e+02] [-1.10433027e-02 2.05960565e-04 -9.99939000e-01 -4.12851333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.014890366173213158 Centerline is valid? [True, True] Translation: X:90.92, Y:-126.32, Z:-4.13 [[-1.16009367e-01 9.93246927e-01 1.53893153e-03 9.09245376e+01] [ 9.93180959e-01 1.16019401e-01 -1.14491065e-02 -1.26318234e+02] [-1.15503358e-02 2.00233900e-04 -9.99933273e-01 -4.12809345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.014953816314201462 Centerline is valid? [True, True] Translation: X:90.93, Y:-126.29, Z:-4.13 [[-1.95952287e-01 9.80610617e-01 2.34923666e-03 9.09277915e+01] [ 9.80549892e-01 1.95966299e-01 -1.09142032e-02 -1.26291389e+02] [-1.11629547e-02 1.64880674e-04 -9.99937679e-01 -4.12776768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.01388911219165909 Centerline is valid? [True, True] Translation: X:90.93, Y:-126.26, Z:-4.13 [[-2.75025952e-01 9.61432164e-01 2.98663405e-03 9.09313981e+01] [ 9.61380242e-01 2.75042141e-01 -9.99258131e-03 -1.26261684e+02] [-1.04286393e-02 1.23071779e-04 -9.99945613e-01 -4.12905340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.013192953567457477 Centerline is valid? [True, True] Translation: X:90.93, Y:-126.23, Z:-4.13 [[-3.55886381e-01 9.34521535e-01 3.79274397e-03 9.09346914e+01] [ 9.34470033e-01 3.55906587e-01 -9.81116186e-03 -1.26231808e+02] [-1.05186046e-02 5.25466983e-05 -9.99944677e-01 -4.12904438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.013039796814876554 Centerline is valid? [True, True] Translation: X:90.94, Y:-126.20, Z:-4.13 [[-4.35834221e-01 9.00014166e-01 4.79931206e-03 9.09385588e+01] [ 8.99958563e-01 4.35860643e-01 -1.00042479e-02 -1.26198970e+02] [-1.10957960e-02 -4.10115989e-05 -9.99938439e-01 -4.12858860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.013374747303473869 Centerline is valid? [True, True] Translation: X:90.94, Y:-126.17, Z:-4.13 [[-5.09222842e-01 8.60616352e-01 5.62063438e-03 9.09354988e+01] [ 8.60561825e-01 5.09253852e-01 -9.68818356e-03 -1.26167523e+02] [-1.12001389e-02 -9.65409973e-05 -9.99937272e-01 -4.12845504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.013835013693815103 Centerline is valid? [True, True] Translation: X:90.93, Y:-126.13, Z:-4.13 [[-5.78555488e-01 8.15619751e-01 6.16197874e-03 9.09307209e+01] [ 8.15570894e-01 5.78588285e-01 -8.92822510e-03 -1.26134403e+02] [-1.08472854e-02 -1.39943119e-04 -9.99941157e-01 -4.12891804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.013992646666522814 Centerline is valid? [True, True] Translation: X:90.92, Y:-126.10, Z:-4.13 [[-6.41033164e-01 7.67482861e-01 6.82213319e-03 9.09197204e+01] [ 7.67436982e-01 6.41069448e-01 -8.39291638e-03 -1.26104004e+02] [-1.08148806e-02 -1.44580439e-04 -9.99941507e-01 -4.12842147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.013748942237562818 Centerline is valid? [True, True] Translation: X:90.90, Y:-126.08, Z:-4.13 [[-6.98149791e-01 7.15917442e-01 7.00611949e-03 9.09038404e+01] [ 7.15879642e-01 6.98184934e-01 -7.35776383e-03 -1.26077695e+02] [-1.01591185e-02 -1.21282969e-04 -9.99948388e-01 -4.12881089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.013607430839396613 Centerline is valid? [True, True] Translation: X:90.89, Y:-126.05, Z:-4.13 [[-7.51509785e-01 6.59667680e-01 8.46139364e-03 9.08858522e+01] [ 6.59623967e-01 7.51557407e-01 -7.59512774e-03 -1.26052030e+02] [-1.13694834e-02 -1.26474767e-04 -9.99935357e-01 -4.12782627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.013999394423365032 Centerline is valid? [True, True] Translation: X:90.90, Y:-126.03, Z:-4.13 [[-7.96678155e-01 6.04317122e-01 1.02339724e-02 9.09015895e+01] [ 6.04264794e-01 7.96743869e-01 -7.95400253e-03 -1.26028944e+02] [-1.29605947e-02 -1.52750836e-04 -9.99915996e-01 -4.12528055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.014018275620783246 Centerline is valid? [True, True] Translation: X:90.91, Y:-126.01, Z:-4.12 [[-8.37507953e-01 5.46272133e-01 1.29300257e-02 9.09123908e+01] [ 5.46203600e-01 8.37607738e-01 -8.65478403e-03 -1.26005387e+02] [-1.55581569e-02 -1.86023884e-04 -9.99878947e-01 -4.12293533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.013445036451439213 Centerline is valid? [True, True] Translation: X:90.93, Y:-125.99, Z:-4.12 [[-8.73112126e-01 4.87314630e-01 1.41303500e-02 9.09290272e+01] [ 4.87247806e-01 8.73226446e-01 -8.07153759e-03 -1.25989907e+02] [-1.62723736e-02 -1.62375319e-04 -9.99867583e-01 -4.12354615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.012938740139232343 Centerline is valid? [True, True] Translation: X:90.94, Y:-125.97, Z:-4.12 [[-9.02904524e-01 4.29646752e-01 1.29263244e-02 9.09389817e+01] [ 4.29601801e-01 9.02997046e-01 -6.21508753e-03 -1.25972960e+02] [-1.43427249e-02 -5.84583872e-05 -9.99897136e-01 -4.12465916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.013002737268595625 Centerline is valid? [True, True] Translation: X:90.95, Y:-125.96, Z:-4.13 [[-9.28071857e-01 3.72202835e-01 1.21522413e-02 9.09511791e+01] [ 3.72171683e-01 9.28151414e-01 -4.81577017e-03 -1.25959923e+02] [-1.30715633e-02 5.33393430e-05 -9.99914562e-01 -4.12635441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.013791360427579946 Centerline is valid? [True, True] Translation: X:91.21, Y:-125.32, Z:-5.13 [[-9.06510165e-01 -4.22039334e-01 1.10508746e-02 9.12121932e+01] [ 4.22006666e-01 -9.06577515e-01 -5.25187486e-03 -1.25324683e+02] [ 1.22349722e-02 -9.73351872e-05 9.99925145e-01 -5.12706467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.01395919966290649 Centerline is valid? [True, True] Translation: X:90.91, Y:-125.96, Z:-4.13 [[-9.26094530e-01 3.77135004e-01 1.08678643e-02 9.09050856e+01] [ 3.77110962e-01 9.26158283e-01 -4.26106653e-03 -1.25955467e+02] [-1.16723599e-02 1.52240376e-04 -9.99931864e-01 -4.12843110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.013772305599437807 Centerline is valid? [True, True] Translation: X:90.92, Y:-125.93, Z:-4.13 [[-9.50953747e-01 3.09131746e-01 1.11595258e-02 9.09202864e+01] [ 3.09112119e-01 9.51019214e-01 -3.48603194e-03 -1.25934922e+02] [-1.16905666e-02 1.34489535e-04 -9.99931654e-01 -4.12902764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.013479347045651272 Centerline is valid? [True, True] Translation: X:90.92, Y:-125.91, Z:-4.13 [[-9.71412063e-01 2.37113736e-01 1.16481907e-02 9.09234415e+01] [ 2.37097803e-01 9.71481893e-01 -2.75025392e-03 -1.25907753e+02] [-1.19681293e-02 9.01305735e-05 -9.99928375e-01 -4.12860939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.012995398712274437 Centerline is valid? [True, True] Translation: X:90.93, Y:-125.88, Z:-4.13 [[-9.87166949e-01 1.59125164e-01 1.34386457e-02 9.09253721e+01] [ 1.59110212e-01 9.87258417e-01 -2.18134756e-03 -1.25876909e+02] [-1.36145234e-02 -1.51284476e-05 -9.99907318e-01 -4.12769711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.013795061159311535 Centerline is valid? [True, True] Translation: X:91.03, Y:-125.18, Z:-5.13 [[-9.71659519e-01 -2.36000952e-01 1.34658639e-02 9.10329583e+01] [ 2.35978752e-01 -9.71752823e-01 -3.23713175e-03 -1.25183479e+02] [ 1.38494574e-02 3.22678705e-05 9.99904091e-01 -5.12554905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.014947729059931324 Centerline is valid? [True, True] Translation: X:90.87, Y:-125.87, Z:-4.13 [[-9.89952973e-01 1.40801707e-01 1.29610800e-02 9.08680482e+01] [ 1.40786907e-01 9.90037796e-01 -2.05190811e-03 -1.25865423e+02] [-1.31208712e-02 -2.06542170e-04 -9.99913896e-01 -4.12907832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.015067018111734179 Centerline is valid? [True, True] Translation: X:90.87, Y:-125.84, Z:-4.13 [[-9.97534181e-01 6.92515378e-02 1.13922350e-02 9.08717764e+01] [ 6.92448383e-02 9.97599212e-01 -9.81941930e-04 -1.25838938e+02] [-1.14328857e-02 -1.90667166e-04 -9.99934624e-01 -4.13035090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.01447625993666037 Centerline is valid? [True, True] Translation: X:90.94, Y:-125.14, Z:-5.12 [[-9.86166743e-01 -1.65425247e-01 1.04710425e-02 9.09372168e+01] [ 1.65417281e-01 -9.86222324e-01 -1.62832269e-03 -1.25143177e+02] [ 1.05961416e-02 1.26293700e-04 9.99943851e-01 -5.12260870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.01360865798829887 Centerline is valid? [True, True] Translation: X:90.82, Y:-125.84, Z:-4.13 [[-9.97272478e-01 7.31953620e-02 9.48916162e-03 9.08195179e+01] [ 7.31912580e-02 9.97317619e-01 -7.79511243e-04 -1.25835949e+02] [-9.52076468e-03 -8.28614325e-05 -9.99954673e-01 -4.13108807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.013469109082629384 Centerline is valid? [True, True] Translation: X:90.88, Y:-125.14, Z:-5.12 [[-9.87669016e-01 -1.56310482e-01 8.77202930e-03 9.08811621e+01] [ 1.56304646e-01 -9.87707969e-01 -1.35116592e-03 -1.25139209e+02] [ 8.87540464e-03 3.66042259e-05 9.99960612e-01 -5.12131208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.013279193054373428 Centerline is valid? [True, True] Translation: X:90.77, Y:-125.83, Z:-4.13 [[-9.97496519e-01 7.01492110e-02 8.93208340e-03 9.07682127e+01] [ 7.01457842e-02 9.97536507e-01 -6.96746414e-04 -1.25831907e+02] [-8.95895549e-03 -6.84541285e-05 -9.99959865e-01 -4.13187738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.013300577309795844 Centerline is valid? [True, True] Translation: X:90.83, Y:-125.14, Z:-5.12 [[-9.88447943e-01 -1.51230666e-01 9.99750970e-03 9.08287581e+01] [ 1.51224450e-01 -9.88498489e-01 -1.37918174e-03 -1.25136508e+02] [ 1.00910978e-02 1.48618556e-04 9.99949073e-01 -5.12336295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.013343296182371725 Centerline is valid? [True, True] Translation: X:90.72, Y:-125.83, Z:-4.12 [[-9.97386665e-01 7.07500954e-02 1.46377949e-02 9.07154893e+01] [ 7.07418545e-02 9.97494071e-01 -1.08065286e-03 -1.25830592e+02] [-1.46775700e-02 -4.23239927e-05 -9.99892278e-01 -4.12478255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.013330805145320182 Centerline is valid? [True, True] Translation: X:90.72, Y:-125.80, Z:-4.12 [[-9.99887911e-01 1.02699047e-03 1.49369265e-02 9.07157084e+01] [ 1.02651322e-03 9.99999472e-01 -3.96175597e-05 -1.25804125e+02] [-1.49369593e-02 -2.42801664e-05 -9.99888437e-01 -4.12497241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.013173780026132443 Centerline is valid? [True, True] Translation: X:90.72, Y:-125.10, Z:-5.13 [[-9.97358055e-01 -7.12777381e-02 1.40140979e-02 9.07209013e+01] [ 7.12702180e-02 -9.97456507e-01 -1.03593693e-03 -1.25100480e+02] [ 1.40522924e-02 -3.44122323e-05 9.99901261e-01 -5.12628736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.013044810298837911 Centerline is valid? [True, True] Translation: X:90.65, Y:-125.80, Z:-4.13 [[-9.99935823e-01 -1.39518225e-03 1.12429203e-02 9.06502456e+01] [-1.39502101e-03 9.99999027e-01 2.21840124e-05 -1.25804904e+02] [-1.12429404e-02 6.49847862e-06 -9.99936796e-01 -4.12956007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.013041425742948823 Centerline is valid? [True, True] Translation: X:90.65, Y:-125.10, Z:-5.12 [[-9.97950441e-01 -6.33014337e-02 9.37259911e-03 9.06548902e+01] [ 6.32974868e-02 -9.97994446e-01 -7.17441962e-04 -1.25098385e+02] [ 9.39921696e-03 -1.22709554e-04 9.99955819e-01 -5.12236316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.012992058443483988 Centerline is valid? [True, True] Translation: X:90.59, Y:-125.81, Z:-4.13 [[-9.99953586e-01 -3.13953182e-03 9.10869803e-03 9.05863055e+01] [-3.13910915e-03 9.99995071e-01 6.07003053e-05 -1.25806225e+02] [-9.10884370e-03 3.21042907e-05 -9.99958513e-01 -4.13089772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.013158882334146563 Centerline is valid? [True, True] Translation: X:90.58, Y:-125.78, Z:-4.13 [[-9.97194122e-01 -7.43430357e-02 8.77471558e-03 9.05809903e+01] [-7.43398916e-02 9.97232727e-01 6.84385069e-04 -1.25777626e+02] [-8.80131281e-03 3.01533636e-05 -9.99961267e-01 -4.13045473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.01312914791468049 Centerline is valid? [True, True] Translation: X:90.53, Y:-125.08, Z:-5.12 [[-9.99868116e-01 1.37633323e-02 8.62093227e-03 9.05280290e+01] [-1.37631777e-02 -9.99905280e-01 7.72588425e-05 -1.25076039e+02] [ 8.62117903e-03 -4.14027697e-05 9.99962836e-01 -5.12282095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.013163157070510115 Centerline is valid? [True, True] Translation: X:90.50, Y:-125.78, Z:-4.13 [[-9.96750817e-01 -8.00077203e-02 9.30448414e-03 9.04981764e+01] [-8.00039642e-02 9.96794244e-01 7.75789324e-04 -1.25783248e+02] [-9.33672537e-03 2.88730264e-05 -9.99956411e-01 -4.13061465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.013089513328225826 Centerline is valid? [True, True] Translation: X:90.49, Y:-125.76, Z:-4.13 [[-9.88540037e-01 -1.50696745e-01 8.89301982e-03 9.04910137e+01] [-1.50690391e-01 9.88580037e-01 1.38415381e-03 -1.25755919e+02] [-9.00004934e-03 2.81988307e-05 -9.99959498e-01 -4.13047502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.013322832854904166 Centerline is valid? [True, True] Translation: X:90.39, Y:-125.06, Z:-5.12 [[-9.95852141e-01 9.04867403e-02 9.52172361e-03 9.03874956e+01] [-9.04825355e-02 -9.95897660e-01 8.72354684e-04 -1.25061677e+02] [ 9.56159879e-03 7.18658598e-06 9.99954287e-01 -5.12366083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.01325495806811687 Centerline is valid? [True, True] Translation: X:90.39, Y:-125.77, Z:-4.13 [[-9.87764598e-01 -1.55677090e-01 9.25973398e-03 9.03924405e+01] [-1.55669863e-01 9.87807999e-01 1.50054314e-03 -1.25772664e+02] [-9.38043948e-03 4.07218721e-05 -9.99956002e-01 -4.13005589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.013182910878054165 Centerline is valid? [True, True] Translation: X:90.38, Y:-125.75, Z:-4.13 [[-9.73991136e-01 -2.26417152e-01 8.74870419e-03 9.03793974e+01] [-2.26407716e-01 9.74030427e-01 2.06737821e-03 -1.25747724e+02] [-8.98959397e-03 3.28339121e-05 -9.99959592e-01 -4.12992651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.013241389871109848 Centerline is valid? [True, True] Translation: X:90.35, Y:-125.73, Z:-4.13 [[-9.54475473e-01 -2.98151702e-01 9.06278179e-03 9.03525747e+01] [-2.98138172e-01 9.54518498e-01 2.84037164e-03 -1.25725450e+02] [-9.49745449e-03 9.10386789e-06 -9.99954898e-01 -4.12896456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.013386565812711063 Centerline is valid? [True, True] Translation: X:90.31, Y:-125.71, Z:-4.13 [[-9.30575795e-01 -3.65989374e-01 8.97042369e-03 9.03138427e+01] [-3.65972199e-01 9.30619029e-01 3.54569928e-03 -1.25711256e+02] [-9.64573524e-03 1.66162404e-05 -9.99953479e-01 -4.12900619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.013459553616190525 Centerline is valid? [True, True] Translation: X:90.25, Y:-125.71, Z:-4.13 [[-9.02223619e-01 -4.31195778e-01 7.92098202e-03 9.02546590e+01] [-4.31178799e-01 9.02258389e-01 3.82666284e-03 -1.25711282e+02] [-8.79681334e-03 3.71460810e-05 -9.99961307e-01 -4.13002019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.013595618623229047 Centerline is valid? [True, True] Translation: X:90.19, Y:-125.72, Z:-4.13 [[-8.69001544e-01 -4.94738993e-01 8.34532270e-03 9.01872015e+01] [-4.94715497e-01 8.69041613e-01 4.82211185e-03 -1.25719308e+02] [-9.63811946e-03 6.18621782e-05 -9.99953550e-01 -4.12965790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.013669800585989596 Centerline is valid? [True, True] Translation: X:90.11, Y:-125.73, Z:-4.13 [[-8.29293010e-01 -5.58753252e-01 8.24058182e-03 9.01132268e+01] [-5.58725002e-01 8.29333950e-01 5.61893365e-03 -1.25731705e+02] [-9.97379172e-03 5.55233035e-05 -9.99950259e-01 -4.12895183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.013587587122009163 Centerline is valid? [True, True] Translation: X:90.03, Y:-125.76, Z:-4.13 [[-7.83124662e-01 -6.21803568e-01 8.72283796e-03 9.00308350e+01] [-6.21764647e-01 7.83173239e-01 6.95703711e-03 -1.25755823e+02] [-1.11574038e-02 2.46750624e-05 -9.99937754e-01 -4.12779484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.013463265860017708 Centerline is valid? [True, True] Translation: X:89.95, Y:-125.79, Z:-4.13 [[-7.33329597e-01 -6.79824367e-01 8.15674943e-03 8.99455712e+01] [-6.79782163e-01 7.33374958e-01 7.57505267e-03 -1.25793121e+02] [-1.11316612e-02 1.01975487e-05 -9.99938041e-01 -4.12953866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.01348177009102747 Centerline is valid? [True, True] Translation: X:89.86, Y:-125.84, Z:-4.13 [[-6.79127782e-01 -7.33981059e-01 7.56703245e-03 8.98596676e+01] [-7.33935539e-01 6.79169938e-01 8.17430862e-03 -1.25838163e+02] [-1.11390887e-02 -2.31395798e-06 -9.99937958e-01 -4.12839344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.013392173571381255 Centerline is valid? [True, True] Translation: X:89.78, Y:-125.89, Z:-4.13 [[-6.20555839e-01 -7.84131963e-01 6.89310979e-03 8.97775142e+01] [-7.84083909e-01 6.20594122e-01 8.68102100e-03 -1.25889442e+02] [-1.10848895e-02 -1.77181962e-05 -9.99938561e-01 -4.12849429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.013844792531285184 Centerline is valid? [True, True] Translation: X:89.69, Y:-125.95, Z:-4.13 [[-5.54581285e-01 -8.32102423e-01 6.71980654e-03 8.96914145e+01] [-8.32043250e-01 5.54621988e-01 9.92372884e-03 -1.25953729e+02] [-1.19845113e-02 -8.76553800e-05 -9.99928179e-01 -4.12881795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.014196093236509468 Centerline is valid? [True, True] Translation: X:89.61, Y:-126.03, Z:-4.13 [[-4.86884441e-01 -8.73444782e-01 6.14435297e-03 8.96118234e+01] [-8.73378630e-01 4.86923192e-01 1.07505113e-02 -1.26025165e+02] [-1.23818060e-02 -1.32089886e-04 -9.99923334e-01 -4.12844258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.014727378675852764 Centerline is valid? [True, True] Translation: X:89.54, Y:-126.11, Z:-4.13 [[-4.15668220e-01 -9.09500183e-01 5.41746546e-03 8.95350387e+01] [-9.09428527e-01 4.15703482e-01 1.14179241e-02 -1.26107085e+02] [-1.26366633e-02 -1.80729465e-04 -9.99920138e-01 -4.12822210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.014868246329919418 Centerline is valid? [True, True] Translation: X:89.47, Y:-126.19, Z:-4.13 [[-3.44067105e-01 -9.38933793e-01 4.59998596e-03 8.94687587e+01] [-9.38857359e-01 3.44097797e-01 1.19818603e-02 -1.26194859e+02] [-1.28330186e-02 -1.96166683e-04 -9.99917634e-01 -4.12865505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.015128449818819483 Centerline is valid? [True, True] Translation: X:89.41, Y:-126.29, Z:-4.13 [[-2.71424935e-01 -9.62452224e-01 3.77111232e-03 8.94076562e+01] [-9.62369300e-01 2.71451058e-01 1.26354172e-02 -1.26290122e+02] [-1.31846578e-02 -1.99635423e-04 -9.99913059e-01 -4.12820931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.015194777267583358 Centerline is valid? [True, True] Translation: X:89.35, Y:-126.39, Z:-4.13 [[-1.97734388e-01 -9.80251435e-01 2.86984216e-03 8.93535594e+01] [-9.80161981e-01 1.97755118e-01 1.32440323e-02 -1.26393023e+02] [-1.35500076e-02 -1.94109555e-04 -9.99908176e-01 -4.12666484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.014559403462196238 Centerline is valid? [True, True] Translation: X:89.31, Y:-126.50, Z:-4.13 [[-1.23731447e-01 -9.92313694e-01 2.01523985e-03 8.93106230e+01] [-9.92205461e-01 1.23747717e-01 1.46569589e-02 -1.26502811e+02] [-1.47936824e-02 -1.86005247e-04 -9.99890550e-01 -4.12700580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.014295899655550988 Centerline is valid? [True, True] Translation: X:89.27, Y:-126.61, Z:-4.13 [[-4.78078911e-02 -9.98856167e-01 8.73350205e-04 8.92746294e+01] [-9.98749513e-01 4.78155496e-02 1.45973897e-02 -1.26610681e+02] [-1.46224525e-02 -1.74387673e-04 -9.99893071e-01 -4.12751643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.013928879333816821 Centerline is valid? [True, True] Translation: X:89.25, Y:-126.73, Z:-4.13 [[ 2.58764222e-02 -9.99665120e-01 -2.40926324e-04 8.92492771e+01] [-9.99566851e-01 -2.58772567e-02 1.40170438e-02 -1.26727322e+02] [-1.40185843e-02 -1.21888976e-04 -9.99901727e-01 -4.12819280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.013666065868536388 Centerline is valid? [True, True] Translation: X:89.23, Y:-126.84, Z:-4.13 [[ 9.99108883e-02 -9.94995564e-01 -1.28167991e-03 8.92313257e+01] [-9.94903014e-01 -9.99190761e-02 1.35709707e-02 -1.26841426e+02] [-1.36311200e-02 -8.07405360e-05 -9.99907089e-01 -4.12826787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.013405089932390256 Centerline is valid? [True, True] Translation: X:89.22, Y:-126.96, Z:-4.13 [[ 1.71131071e-01 -9.85245309e-01 -2.41616793e-03 8.92236703e+01] [-9.85146138e-01 -1.71148127e-01 1.39787814e-02 -1.26961567e+02] [-1.41860514e-02 -1.19253316e-05 -9.99899373e-01 -4.12917317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.013391698803403372 Centerline is valid? [True, True] Translation: X:89.22, Y:-127.08, Z:-4.13 [[ 2.41145979e-01 -9.70481916e-01 -3.66971653e-03 8.92223410e+01] [-9.70373849e-01 -2.41173890e-01 1.44826849e-02 -1.27077312e+02] [-1.49402236e-02 6.85557247e-05 -9.99888386e-01 -4.12888237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.013926351876291272 Centerline is valid? [True, True] Translation: X:89.23, Y:-127.19, Z:-4.13 [[ 3.09061623e-01 -9.51031567e-01 -4.45775944e-03 8.92296753e+01] [-9.50939612e-01 -3.09093733e-01 1.32256986e-02 -1.27191345e+02] [-1.39559223e-02 1.51504164e-04 -9.99902600e-01 -4.13018840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.014995112748682458 Centerline is valid? [True, True] Translation: X:89.25, Y:-127.31, Z:-4.13 [[ 3.75427295e-01 -9.26836201e-01 -5.38540647e-03 8.92456863e+01] [-9.26749669e-01 -3.75465845e-01 1.26669066e-02 -1.27305074e+02] [-1.37621838e-02 2.35421182e-04 -9.99905269e-01 -4.13072111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.01563479982941705 Centerline is valid? [True, True] Translation: X:89.27, Y:-127.42, Z:-4.13 [[ 4.42757310e-01 -8.96616644e-01 -6.67522294e-03 8.92696745e+01] [-8.96524471e-01 -4.42807531e-01 1.28593556e-02 -1.27421830e+02] [-1.44857513e-02 2.90926995e-04 -9.99895034e-01 -4.12990400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.016168607639638826 Centerline is valid? [True, True] Translation: X:89.30, Y:-127.53, Z:-4.13 [[ 5.08359948e-01 -8.61105865e-01 -8.17637425e-03 8.92994109e+01] [-8.61005154e-01 -5.08425582e-01 1.31738956e-02 -1.27533893e+02] [-1.55011966e-02 3.42819489e-04 -9.99879791e-01 -4.12989983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.01610199828225491 Centerline is valid? [True, True] Translation: X:89.33, Y:-127.64, Z:-4.13 [[ 5.74005167e-01 -8.18802269e-01 -8.99513482e-03 8.93336450e+01] [-8.18710157e-01 -5.74075558e-01 1.22854448e-02 -1.27643358e+02] [-1.52232372e-02 3.12499427e-04 -9.99884071e-01 -4.13015670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.014535995730725313 Centerline is valid? [True, True] Translation: X:89.38, Y:-127.75, Z:-4.13 [[ 6.39172987e-01 -7.69008192e-01 -9.18118749e-03 8.93753725e+01] [-7.68933502e-01 -6.39238890e-01 1.07196995e-02 -1.27754686e+02] [-1.41125088e-02 2.07980318e-04 -9.99900392e-01 -4.13106532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.013315117165592737 Centerline is valid? [True, True] Translation: X:89.42, Y:-127.86, Z:-4.13 [[ 7.02463731e-01 -7.11656393e-01 -9.48077769e-03 8.94186941e+01] [-7.11592965e-01 -7.02527703e-01 9.50153820e-03 -1.27856809e+02] [-1.34223394e-02 7.19687321e-05 -9.99909914e-01 -4.13173896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.012923263706034497 Centerline is valid? [True, True] Translation: X:89.47, Y:-127.95, Z:-4.13 [[ 7.59466628e-01 -6.50467919e-01 -1.00959580e-02 8.94697344e+01] [-6.50409857e-01 -7.59533729e-01 8.69096594e-03 -1.27953741e+02] [-1.33214151e-02 -3.39880111e-05 -9.99911266e-01 -4.13195857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.014487499477733186 Centerline is valid? [True, True] Translation: X:89.48, Y:-127.99, Z:-4.13 [[ 8.14440614e-01 -5.80160750e-01 -9.99956143e-03 8.94848869e+01] [-5.80114479e-01 -8.14501981e-01 7.32905180e-03 -1.27989293e+02] [-1.23966908e-02 -1.68187084e-04 -9.99923144e-01 -4.13231574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.016447916783521435 Centerline is valid? [True, True] Translation: X:89.51, Y:-128.02, Z:-4.13 [[ 8.60961369e-01 -5.08571637e-01 -1.00205636e-02 8.95078090e+01] [-5.08533868e-01 -8.61019646e-01 6.20275915e-03 -1.28021191e+02] [-1.17824495e-02 -2.44540034e-04 -9.99930555e-01 -4.13330178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.017488420617155033 Centerline is valid? [True, True] Translation: X:89.54, Y:-128.05, Z:-4.13 [[ 8.99105965e-01 -4.37618486e-01 -9.92598253e-03 8.95366290e+01] [-4.37588635e-01 -8.99160717e-01 5.11784383e-03 -1.28045217e+02] [-1.11647166e-02 -2.57986768e-04 -9.99937639e-01 -4.13383803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.016641012037268157 Centerline is valid? [True, True] Translation: X:89.57, Y:-128.07, Z:-4.13 [[ 9.31347426e-01 -3.63984328e-01 -1.03625226e-02 8.95657432e+01] [-3.63958390e-01 -9.31405029e-01 4.35455626e-03 -1.28070540e+02] [-1.12366959e-02 -2.84077707e-04 -9.99936826e-01 -4.13496171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.017347247289440017 Centerline is valid? [True, True] Translation: X:89.60, Y:-128.10, Z:-4.13 [[ 9.57426012e-01 -2.88406867e-01 -1.25263973e-02 8.95965115e+01] [-2.88377293e-01 -9.57507886e-01 4.14548477e-03 -1.28096097e+02] [-1.31897105e-02 -3.56666398e-04 -9.99912948e-01 -4.13213866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.017994837142288413 Centerline is valid? [True, True] Translation: X:89.63, Y:-128.12, Z:-4.13 [[ 9.77136206e-01 -2.12235243e-01 -1.26900161e-02 8.96296380e+01] [-2.12212554e-01 -9.77218539e-01 3.12411169e-03 -1.28115070e+02] [-1.30639656e-02 -3.59701926e-04 -9.99914598e-01 -4.13202946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.017073944869224738 Centerline is valid? [True, True] Translation: X:89.67, Y:-128.13, Z:-4.13 [[ 9.90397825e-01 -1.37754215e-01 -1.16587018e-02 8.96661461e+01] [-1.37741166e-01 -9.90466400e-01 1.91877874e-03 -1.28127863e+02] [-1.18118723e-02 -2.94471117e-04 -9.99930194e-01 -4.13406446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.014778152308240717 Centerline is valid? [True, True] Translation: X:89.70, Y:-128.13, Z:-4.14 [[ 9.97694798e-01 -6.72304132e-02 -9.22825754e-03 8.97010391e+01] [-6.72260385e-02 -9.97737463e-01 7.83784062e-04 -1.28133635e+02] [-9.26007239e-03 -1.61598086e-04 -9.99957112e-01 -4.13626721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.01331812385235047 Centerline is valid? [True, True] Translation: X:89.73, Y:-128.14, Z:-4.14 [[ 9.99956862e-01 3.82699892e-03 -8.46337307e-03 8.97349131e+01] [ 3.82759228e-03 -9.99992673e-01 5.39127837e-05 -1.28137227e+02] [-8.46310474e-03 -8.63047994e-05 -9.99964184e-01 -4.13718527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.012738758697881747 Centerline is valid? [True, True] Translation: X:89.77, Y:-128.13, Z:-4.14 [[ 9.97486697e-01 7.03828192e-02 -8.15769505e-03 8.97672252e+01] [ 7.03803594e-02 -9.97520054e-01 -5.88573383e-04 -1.28133998e+02] [-8.17888986e-03 1.29526104e-05 -9.99966552e-01 -4.13715791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.013106471663520159 Centerline is valid? [True, True] Translation: X:89.80, Y:-128.14, Z:-4.14 [[ 9.89927068e-01 1.41313516e-01 -8.65387441e-03 8.98011965e+01] [ 1.41307452e-01 -9.89964891e-01 -1.31134288e-03 -1.28135860e+02] [-8.75234230e-03 7.52768743e-05 -9.99961695e-01 -4.13853252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.014297203070502876 Centerline is valid? [True, True] Translation: X:89.83, Y:-128.14, Z:-4.14 [[ 9.77432675e-01 2.11054948e-01 -9.00974084e-03 8.98337306e+01] [ 2.11044576e-01 -9.77474187e-01 -2.09762776e-03 -1.28135028e+02] [-9.24950382e-03 1.48832976e-04 -9.99957211e-01 -4.13876704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.015118025630790973 Centerline is valid? [True, True] Translation: X:89.87, Y:-128.13, Z:-4.14 [[ 9.58777522e-01 2.83992014e-01 -9.70559818e-03 8.98672499e+01] [ 2.83975402e-01 -9.58826626e-01 -3.07784570e-03 -1.28133894e+02] [-1.01800696e-02 1.94818130e-04 -9.99948163e-01 -4.13824549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.014449532114425928 Centerline is valid? [True, True] Translation: X:89.90, Y:-128.14, Z:-4.14 [[ 9.33082518e-01 3.59518440e-01 -1.01737703e-02 8.99037222e+01] [ 3.59494794e-01 -9.33137961e-01 -4.12792235e-03 -1.28137154e+02] [-1.09775955e-02 1.94274720e-04 -9.99939726e-01 -4.13758242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.013782721820549342 Centerline is valid? [True, True] Translation: X:89.94, Y:-128.14, Z:-4.14 [[ 8.99774787e-01 4.36262809e-01 -8.94949191e-03 8.99383472e+01] [ 4.36239856e-01 -8.99819285e-01 -4.47680561e-03 -1.28136275e+02] [-1.00059892e-02 1.23991750e-04 -9.99949931e-01 -4.13738380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.01302465490678934 Centerline is valid? [True, True] Translation: X:89.97, Y:-128.13, Z:-4.14 [[ 8.60573630e-01 5.09268818e-01 -7.63534544e-03 8.99735541e+01] [ 5.09248053e-01 -8.60607498e-01 -4.59937585e-03 -1.28131010e+02] [-8.91335424e-03 6.98167645e-05 -9.99960273e-01 -4.13843395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.012553905818187987 Centerline is valid? [True, True] Translation: X:90.01, Y:-128.13, Z:-4.14 [[ 8.13005607e-01 5.82215974e-01 -6.81497576e-03 9.00118390e+01] [ 5.82195597e-01 -8.13034169e-01 -4.87104057e-03 -1.28127713e+02] [-8.37680579e-03 -7.46558697e-06 -9.99964914e-01 -4.13948084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.013145695566641672 Centerline is valid? [True, True] Translation: X:90.05, Y:-128.12, Z:-4.14 [[ 7.59239315e-01 6.50793155e-01 -4.89210166e-03 9.00509015e+01] [ 6.50780166e-01 -7.59255073e-01 -4.11206687e-03 -1.28121111e+02] [-6.39045797e-03 -6.16399000e-05 -9.99979579e-01 -4.13996134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.013803010886354784 Centerline is valid? [True, True] Translation: X:90.09, Y:-128.11, Z:-4.14 [[ 7.02267407e-01 7.11904364e-01 -3.55899324e-03 9.00874094e+01] [ 7.11895752e-01 -7.02276421e-01 -3.50244249e-03 -1.28109092e+02] [-4.99280113e-03 -7.39809674e-05 -9.99987533e-01 -4.14047837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.014495591150356634 Centerline is valid? [True, True] Translation: X:90.12, Y:-128.09, Z:-4.14 [[ 6.42649788e-01 7.66153619e-01 -3.14348497e-03 9.01194904e+01] [ 7.66145071e-01 -6.42657471e-01 -3.62005627e-03 -1.28091464e+02] [-4.79370332e-03 -8.19371162e-05 -9.99988507e-01 -4.14016971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.01597625216866458 Centerline is valid? [True, True] Translation: X:90.15, Y:-128.07, Z:-4.14 [[ 5.77083380e-01 8.16677415e-01 -3.57395962e-03 9.01501883e+01] [ 8.16663122e-01 -5.77094432e-01 -4.83332941e-03 -1.28071988e+02] [-6.00978316e-03 -1.29486952e-04 -9.99981933e-01 -4.13798168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.01658074476288757 Centerline is valid? [True, True] Translation: X:90.18, Y:-128.05, Z:-4.14 [[ 5.10284201e-01 8.59997820e-01 -3.71275827e-03 9.01757111e+01] [ 8.59977294e-01 -5.10297682e-01 -5.94377064e-03 -1.28046021e+02] [-7.00624173e-03 -1.59875563e-04 -9.99975443e-01 -4.13698102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.01628316961828572 Centerline is valid? [True, True] Translation: X:90.20, Y:-128.02, Z:-4.14 [[ 4.41268659e-01 8.97369084e-01 -3.27082498e-03 9.01991013e+01] [ 8.97347103e-01 -4.41280751e-01 -6.28293136e-03 -1.28018567e+02] [-7.08146046e-03 -1.62604621e-04 -9.99974913e-01 -4.13655196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.016052004828851472 Centerline is valid? [True, True] Translation: X:90.22, Y:-127.99, Z:-4.14 [[ 3.71013521e-01 9.28623203e-01 -2.81325367e-03 9.02180900e+01] [ 9.28599586e-01 -3.71024155e-01 -6.62461420e-03 -1.27988297e+02] [-7.19555552e-03 -1.54564753e-04 -9.99974100e-01 -4.13560288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.015157843293713094 Centerline is valid? [True, True] Translation: X:90.23, Y:-127.96, Z:-4.13 [[ 3.00956635e-01 9.53633859e-01 -2.75077091e-03 9.02299632e+01] [ 9.53598510e-01 -3.00969168e-01 -8.21229240e-03 -1.27955740e+02] [-8.65941732e-03 -1.51587156e-04 -9.99962495e-01 -4.13447319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.014186579492865578 Centerline is valid? [True, True] Translation: X:90.24, Y:-127.92, Z:-4.13 [[ 2.29004618e-01 9.73422736e-01 -2.25013854e-03 9.02408540e+01] [ 9.73381069e-01 -2.29015637e-01 -9.00736855e-03 -1.27922991e+02] [-9.28329424e-03 -1.27513266e-04 -9.99956901e-01 -4.13448302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.013191261981887296 Centerline is valid? [True, True] Translation: X:90.25, Y:-127.89, Z:-4.14 [[ 1.58577622e-01 9.87345373e-01 -1.50045783e-03 9.02472307e+01] [ 9.87304960e-01 -1.58584707e-01 -8.93342672e-03 -1.27890581e+02] [-9.05832721e-03 -6.47678940e-05 -9.99958970e-01 -4.13608085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.012953215853583734 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.86, Z:-4.14 [[ 8.46244233e-02 9.96412688e-01 -6.79588777e-04 9.02554943e+01] [ 9.96382936e-01 -8.46271482e-02 -7.70008743e-03 -1.27858865e+02] [-7.72997648e-03 -2.55152016e-05 -9.99970123e-01 -4.13714894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.012941172343785473 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.83, Z:-4.14 [[ 1.12399445e-02 9.99936828e-01 -6.83735332e-05 9.02603263e+01] [ 9.99911614e-01 -1.12401466e-02 -7.10094516e-03 -1.27826661e+02] [-7.10126511e-03 1.14467397e-05 -9.99974786e-01 -4.13736551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.01330180651167268 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.80, Z:-4.14 [[-6.25640316e-02 9.98040803e-01 5.46195339e-04 9.02611258e+01] [ 9.98009308e-01 6.25663966e-02 -7.92886993e-03 -1.27795716e+02] [-7.94750918e-03 4.90459636e-05 -9.99968417e-01 -4.13610446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.013504970860780455 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.76, Z:-4.14 [[-1.38487947e-01 9.90363369e-01 1.21894643e-03 9.02633323e+01] [ 9.90329230e-01 1.38493294e-01 -8.22338007e-03 -1.27764160e+02] [-8.31295030e-03 6.83192539e-05 -9.99965445e-01 -4.13618561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.013745703739784131 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.73, Z:-4.14 [[-2.15394771e-01 9.76524679e-01 2.15488290e-03 9.02630733e+01] [ 9.76479534e-01 2.15405535e-01 -9.39019421e-03 -1.27733005e+02] [-9.63393009e-03 8.16003190e-05 -9.99953589e-01 -4.13569327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.013650325664461551 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.70, Z:-4.14 [[-2.92644987e-01 9.56216799e-01 2.88863523e-03 9.02606770e+01] [ 9.56172469e-01 2.92659236e-01 -9.20771601e-03 -1.27701511e+02] [-9.64995851e-03 6.74415460e-05 -9.99953436e-01 -4.13611797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.013483783681938304 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.67, Z:-4.14 [[-3.67670621e-01 9.29948820e-01 3.67520107e-03 9.02581168e+01] [ 9.29903924e-01 3.67688985e-01 -9.13802191e-03 -1.27670041e+02] [-9.84922364e-03 5.78017030e-05 -9.99951494e-01 -4.13569416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.013436461936610905 Centerline is valid? [True, True] Translation: X:90.25, Y:-127.64, Z:-4.14 [[-4.41645245e-01 8.97179071e-01 4.38096380e-03 9.02508936e+01] [ 8.97135673e-01 4.41666972e-01 -8.82445155e-03 -1.27639926e+02] [-9.85204025e-03 3.30418425e-05 -9.99951467e-01 -4.13548443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.013309508368294438 Centerline is valid? [True, True] Translation: X:90.24, Y:-127.61, Z:-4.14 [[-5.13548331e-01 8.58046052e-01 5.00851104e-03 9.02401638e+01] [ 8.58005215e-01 5.13572754e-01 -8.37127631e-03 -1.27612849e+02] [-9.75517539e-03 -1.72638166e-06 -9.99952417e-01 -4.13599483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.013356363563416929 Centerline is valid? [True, True] Translation: X:90.23, Y:-127.59, Z:-4.14 [[-5.81575332e-01 8.13475278e-01 5.30139266e-03 9.02276169e+01] [ 8.13441035e-01 5.81599493e-01 -7.46399910e-03 -1.27585215e+02] [-9.15506603e-03 -2.85074182e-05 -9.99958091e-01 -4.13687398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.013971897998688353 Centerline is valid? [True, True] Translation: X:90.21, Y:-127.56, Z:-4.14 [[-6.47665929e-01 7.61907320e-01 5.10689106e-03 9.02134378e+01] [ 7.61882799e-01 6.47686059e-01 -6.11306641e-03 -1.27559594e+02] [-7.96525219e-03 -6.83723786e-05 -9.99968275e-01 -4.13771555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.014143363672698485 Centerline is valid? [True, True] Translation: X:90.20, Y:-127.53, Z:-4.14 [[-7.07946800e-01 7.06240917e-01 5.92411886e-03 9.01983109e+01] [ 7.06214956e-01 7.07971579e-01 -6.05634461e-03 -1.27531341e+02] [-8.47134615e-03 -1.03868451e-04 -9.99964112e-01 -4.13832997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.014671356154674058 Centerline is valid? [True, True] Translation: X:90.18, Y:-127.50, Z:-4.14 [[-7.63531779e-01 6.45729773e-01 7.23062187e-03 9.01814721e+01] [ 6.45698894e-01 7.63566000e-01 -6.31681691e-03 -1.27503914e+02] [-9.60001377e-03 -1.54285913e-04 -9.99953907e-01 -4.13753319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.014975597312352141 Centerline is valid? [True, True] Translation: X:90.19, Y:-127.48, Z:-4.14 [[-8.07952882e-01 5.89176733e-01 9.10593460e-03 9.01943911e+01] [ 5.89136555e-01 8.08004170e-01 -6.88332574e-03 -1.27483866e+02] [-1.14131285e-02 -1.96763919e-04 -9.99934849e-01 -4.13629440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.015232786814705013 Centerline is valid? [True, True] Translation: X:90.21, Y:-127.47, Z:-4.14 [[-8.47687286e-01 5.30411325e-01 9.49164213e-03 9.02101491e+01] [ 5.30375470e-01 8.47740401e-01 -6.17029649e-03 -1.27465664e+02] [-1.13192436e-02 -1.96347731e-04 -9.99935916e-01 -4.13615770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.015447746882541519 Centerline is valid? [True, True] Translation: X:90.22, Y:-127.45, Z:-4.13 [[-8.82798200e-01 4.69616118e-01 1.13154586e-02 9.02220586e+01] [ 4.69574395e-01 8.82870690e-01 -6.26357049e-03 -1.27446587e+02] [-1.29315604e-02 -2.16019121e-04 -9.99916361e-01 -4.13493396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.015563427187755656 Centerline is valid? [True, True] Translation: X:90.23, Y:-127.42, Z:-4.13 [[-9.13717447e-01 4.06164653e-01 1.22760759e-02 9.02335224e+01] [ 4.06124704e-01 9.13799882e-01 -5.70083674e-03 -1.27424964e+02] [-1.35333551e-02 -2.23336304e-04 -9.99908395e-01 -4.13337429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.014858201491949065 Centerline is valid? [True, True] Translation: X:90.25, Y:-127.41, Z:-4.13 [[-9.39466116e-01 3.42423887e-01 1.22187980e-02 9.02450485e+01] [ 3.42392314e-01 9.39545553e-01 -4.65369013e-03 -1.27408738e+02] [-1.30736520e-02 -1.88361660e-04 -9.99914518e-01 -4.13400350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.013984842876517616 Centerline is valid? [True, True] Translation: X:90.25, Y:-127.39, Z:-4.14 [[-9.60080264e-01 2.79516909e-01 1.07788893e-02 9.02492468e+01] [ 2.79498019e-01 9.60140764e-01 -3.25138791e-03 -1.27392013e+02] [-1.12580689e-02 -1.08915146e-04 -9.99936620e-01 -4.13547474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.01360276091470006 Centerline is valid? [True, True] Translation: X:90.26, Y:-127.37, Z:-4.14 [[-9.76812848e-01 2.13849393e-01 1.02517139e-02 9.02595926e+01] [ 2.13836881e-01 9.76866640e-01 -2.31427498e-03 -1.27373351e+02] [-1.05094636e-02 -6.84190146e-05 -9.99944772e-01 -4.13642494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.013444801137585824 Centerline is valid? [True, True] Translation: X:90.43, Y:-126.67, Z:-5.12 [[-9.57437834e-01 -2.88484018e-01 9.47449759e-03 9.04264401e+01] [ 2.88470177e-01 -9.57484710e-01 -2.82596573e-03 -1.26667602e+02] [ 9.88693253e-03 2.74234923e-05 9.99951123e-01 -5.11637985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.013388327095101078 Centerline is valid? [True, True] Translation: X:90.22, Y:-127.37, Z:-4.14 [[-9.77059114e-01 2.12809383e-01 8.22521502e-03 9.02153776e+01] [ 2.12801567e-01 9.77093734e-01 -1.82419421e-03 -1.27369636e+02] [-8.42501170e-03 -3.20069332e-05 -9.99964509e-01 -4.13646605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.01332364288059252 Centerline is valid? [True, True] Translation: X:90.22, Y:-127.34, Z:-4.14 [[-9.89689680e-01 1.42944686e-01 9.00858193e-03 9.02217686e+01] [ 1.42938445e-01 9.89730678e-01 -1.33622044e-03 -1.27343177e+02] [-9.10707551e-03 -3.47708852e-05 -9.99958529e-01 -4.13703501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.013358058791294319 Centerline is valid? [True, True] Translation: X:90.22, Y:-127.32, Z:-4.14 [[-9.97282130e-01 7.29083812e-02 1.06170239e-02 9.02221829e+01] [ 7.29038730e-02 9.97338642e-01 -8.11540466e-04 -1.27315417e+02] [-1.06479363e-02 -3.53126447e-05 -9.99943309e-01 -4.13559834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.013271637955112246 Centerline is valid? [True, True] Translation: X:90.28, Y:-126.59, Z:-5.12 [[-9.89179007e-01 -1.46332450e-01 1.05691426e-02 9.02842146e+01] [ 1.46324502e-01 -9.89235469e-01 -1.52565364e-03 -1.26590909e+02] [ 1.06786234e-02 3.73799781e-05 9.99942981e-01 -5.11675859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.013172899214049289 Centerline is valid? [True, True] Translation: X:90.17, Y:-127.31, Z:-4.14 [[-9.97554003e-01 6.92277447e-02 9.67109993e-03 9.01693166e+01] [ 6.92242252e-02 9.97600881e-01 -6.98594901e-04 -1.27308989e+02] [-9.69625996e-03 -2.74117403e-05 -9.99952990e-01 -4.13565369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.013157022384124167 Centerline is valid? [True, True] Translation: X:90.23, Y:-126.59, Z:-5.12 [[-9.89808480e-01 -1.42063605e-01 9.85420856e-03 9.02265840e+01] [ 1.42057012e-01 -9.89857530e-01 -1.36941824e-03 -1.26591704e+02] [ 9.94880704e-03 4.43976323e-05 9.99950508e-01 -5.11779321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.01317538541971378 Centerline is valid? [True, True] Translation: X:90.11, Y:-127.30, Z:-4.13 [[-9.97887773e-01 6.41646462e-02 1.01435438e-02 9.01147812e+01] [ 6.41609388e-02 9.97939325e-01 -6.90830446e-04 -1.27301459e+02] [-1.01669681e-02 -3.85519637e-05 -9.99948314e-01 -4.13413635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.01334596091722386 Centerline is valid? [True, True] Translation: X:90.11, Y:-127.27, Z:-4.13 [[-9.99890617e-01 -1.05490635e-02 1.03668547e-02 9.01120550e+01] [-1.05493032e-02 9.99944354e-01 3.15671924e-05 -1.27271957e+02] [-1.03666108e-02 -7.77993535e-05 -9.99946262e-01 -4.13388817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.014351063510159606 Centerline is valid? [True, True] Translation: X:90.10, Y:-127.24, Z:-4.13 [[-9.96043777e-01 -8.83549948e-02 9.49679396e-03 9.01039200e+01] [-8.83522819e-02 9.96089040e-01 7.05641439e-04 -1.27240268e+02] [-9.52199933e-03 -1.36213654e-04 -9.99954656e-01 -4.13360558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.015701772284568125 Centerline is valid? [True, True] Translation: X:90.05, Y:-126.55, Z:-5.12 [[-9.99879282e-01 -1.23315987e-02 9.45272830e-03 9.00475318e+01] [ 1.23322794e-02 -9.99923955e-01 1.37159739e-05 -1.26547961e+02] [ 9.45184033e-03 1.30288004e-04 9.99955322e-01 -5.11961433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.017126740964847762 Centerline is valid? [True, True] Translation: X:90.03, Y:-127.24, Z:-4.13 [[-9.94632331e-01 -1.03161852e-01 8.00992039e-03 9.00278677e+01] [-1.03160094e-01 9.94664563e-01 6.33468645e-04 -1.27239654e+02] [-8.03253377e-03 -1.96235745e-04 -9.99967719e-01 -4.13490441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.017381810230882925 Centerline is valid? [True, True] Translation: X:89.97, Y:-126.56, Z:-5.12 [[-9.99862040e-01 -1.53000508e-02 6.46604274e-03 8.99655396e+01] [ 1.53000677e-02 -9.99882946e-01 -4.68619577e-05 -1.26555631e+02] [ 6.46600285e-03 5.20753990e-05 9.99979094e-01 -5.11616330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.018567625327901075 Centerline is valid? [True, True] Translation: X:89.95, Y:-127.24, Z:-4.14 [[-9.93857695e-01 -1.10556380e-01 4.91628936e-03 8.99504948e+01] [-1.10555684e-01 9.93869845e-01 4.13873043e-04 -1.27244523e+02] [-4.93190805e-03 -1.32192825e-04 -9.99987829e-01 -4.13723555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.015981674398655808 Centerline is valid? [True, True] Translation: X:89.90, Y:-126.56, Z:-5.12 [[-9.99956637e-01 -7.98056748e-03 4.79944057e-03 8.99019496e+01] [ 7.98105225e-03 -9.99968148e-01 8.18616376e-05 -1.26557039e+02] [ 4.79863440e-03 1.20162674e-04 9.99988479e-01 -5.11585012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.015438930334907012 Centerline is valid? [True, True] Translation: X:89.88, Y:-127.26, Z:-4.14 [[-9.94362711e-01 -1.05871549e-01 5.83210323e-03 8.98820209e+01] [-1.05870307e-01 9.94379810e-01 5.22163048e-04 -1.27261157e+02] [-5.85460791e-03 -9.82270933e-05 -9.99982857e-01 -4.13513422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.013574232886750354 Centerline is valid? [True, True] Translation: X:89.82, Y:-126.55, Z:-5.12 [[-9.99900983e-01 1.25090236e-02 6.44578649e-03 8.98212093e+01] [-1.25078426e-02 -9.99921749e-01 2.23493097e-04 -1.26551182e+02] [ 6.44807778e-03 1.42848084e-04 9.99979201e-01 -5.11804880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.012701798193724778 Centerline is valid? [True, True] Translation: X:89.80, Y:-127.28, Z:-4.13 [[-9.95139802e-01 -9.82655427e-02 6.37628039e-03 8.97980340e+01] [-9.82636570e-02 9.95160230e-01 6.09114609e-04 -1.27278735e+02] [-6.40527563e-03 -2.04024370e-05 -9.99979486e-01 -4.13446356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.012687864994083262 Centerline is valid? [True, True] Translation: X:89.80, Y:-127.26, Z:-4.13 [[-9.86646458e-01 -1.62751384e-01 6.38385178e-03 8.97958388e+01] [-1.62747849e-01 9.86667110e-01 1.07289390e-03 -1.27255163e+02] [-6.47335156e-03 1.96088214e-05 -9.99979048e-01 -4.13404149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.014204827457822556 Centerline is valid? [True, True] Translation: X:89.78, Y:-127.24, Z:-4.14 [[-9.75402571e-01 -2.20375489e-01 4.94661754e-03 8.97820904e+01] [-2.20372233e-01 9.75415110e-01 1.20064280e-03 -1.27238240e+02] [-5.08959774e-03 8.10129251e-05 -9.99987045e-01 -4.13565935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.017555237799913304 Centerline is valid? [True, True] Translation: X:89.75, Y:-127.22, Z:-4.14 [[-9.60783871e-01 -2.77275465e-01 3.55935227e-03 8.97533347e+01] [-2.77273127e-01 9.60790458e-01 1.14430247e-03 -1.27223118e+02] [-3.73707869e-03 1.12514622e-04 -9.99993011e-01 -4.13651894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.020152785248622174 Centerline is valid? [True, True] Translation: X:89.70, Y:-127.22, Z:-4.14 [[-9.40941558e-01 -3.38552623e-01 3.33267701e-03 8.96994276e+01] [-3.38549963e-01 9.40947449e-01 1.34928186e-03 -1.27215234e+02] [-3.59267685e-03 1.41317696e-04 -9.99993536e-01 -4.13647269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.022254432103302232 Centerline is valid? [True, True] Translation: X:89.64, Y:-127.21, Z:-4.14 [[-9.16695254e-01 -3.99576618e-01 2.88757877e-03 8.96353586e+01] [-3.99574103e-01 9.16699789e-01 1.42613730e-03 -1.27214798e+02] [-3.21689397e-03 1.53531594e-04 -9.99994814e-01 -4.13686184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.025020267119401286 Centerline is valid? [True, True] Translation: X:89.56, Y:-127.22, Z:-4.14 [[-8.87203800e-01 -4.61368078e-01 2.98565220e-03 8.95606122e+01] [-4.61364749e-01 8.87208804e-01 1.76254929e-03 -1.27221354e+02] [-3.46208090e-03 1.86265750e-04 -9.99993990e-01 -4.13681145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.022560650828497154 Centerline is valid? [True, True] Translation: X:89.47, Y:-127.23, Z:-4.14 [[-8.47527527e-01 -5.30743160e-01 2.96475654e-03 8.94675447e+01] [-5.30739181e-01 8.47532694e-01 2.06260009e-03 -1.27232410e+02] [-3.60743899e-03 1.74597899e-04 -9.99993478e-01 -4.13566911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.019995939244743827 Centerline is valid? [True, True] Translation: X:89.37, Y:-127.25, Z:-4.13 [[-7.97162559e-01 -6.03759356e-01 2.54861086e-03 8.93743275e+01] [-6.03755811e-01 7.97166625e-01 2.07209950e-03 -1.27250173e+02] [-3.28271697e-03 1.13061523e-04 -9.99994606e-01 -4.13489182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.015568520596429433 Centerline is valid? [True, True] Translation: X:89.28, Y:-127.28, Z:-4.13 [[-7.42361193e-01 -6.69994283e-01 2.74202531e-03 8.92775506e+01] [-6.69989270e-01 7.42366252e-01 2.59331692e-03 -1.27279460e+02] [-3.77309457e-03 8.80503037e-05 -9.99992878e-01 -4.13467413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.012733526075048428 Centerline is valid? [True, True] Translation: X:89.18, Y:-127.32, Z:-4.13 [[-6.78291734e-01 -7.34788860e-01 2.37819216e-03 8.91765863e+01] [-7.34784213e-01 6.78295902e-01 2.61342266e-03 -1.27316392e+02] [-3.53343186e-03 2.52049336e-05 -9.99993757e-01 -4.13368948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.012641295541739641 Centerline is valid? [True, True] Translation: X:89.08, Y:-127.36, Z:-4.13 [[-6.10216369e-01 -7.92232590e-01 1.87283894e-03 8.90816661e+01] [-7.92228963e-01 6.10219242e-01 2.39730397e-03 -1.27361327e+02] [-3.04206469e-03 -2.08431274e-05 -9.99995373e-01 -4.13303141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.014354076102313066 Centerline is valid? [True, True] Translation: X:89.00, Y:-127.41, Z:-4.13 [[-5.42472925e-01 -8.40071970e-01 1.48719915e-03 8.89975276e+01] [-8.40069008e-01 5.42474962e-01 2.23123445e-03 -1.27414522e+02] [-2.68116582e-03 -3.89656386e-05 -9.99996405e-01 -4.13249404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.016023575368606137 Centerline is valid? [True, True] Translation: X:88.91, Y:-127.48, Z:-4.13 [[-4.70069527e-01 -8.82627850e-01 1.64884201e-03 8.89140017e+01] [-8.82622990e-01 4.70072413e-01 2.92995879e-03 -1.27481706e+02] [-3.36113837e-03 -7.80215173e-05 -9.99994348e-01 -4.13057986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.01826387523898464 Centerline is valid? [True, True] Translation: X:88.84, Y:-127.56, Z:-4.13 [[-3.97057767e-01 -9.17791955e-01 1.74865594e-03 8.88372109e+01] [-9.17784331e-01 3.97061600e-01 3.74267101e-03 -1.27556239e+02] [-4.12931747e-03 -1.18832429e-04 -9.99991467e-01 -4.12877201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.01831273290957553 Centerline is valid? [True, True] Translation: X:88.77, Y:-127.64, Z:-4.13 [[-3.24646623e-01 -9.45833389e-01 1.94171647e-03 8.87746206e+01] [-9.45819452e-01 3.24652386e-01 5.13732128e-03 -1.27635061e+02] [-5.48943289e-03 -1.68699203e-04 -9.99984919e-01 -4.12771593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.018999283091422025 Centerline is valid? [True, True] Translation: X:88.72, Y:-127.72, Z:-4.12 [[-2.51998803e-01 -9.67724384e-01 2.47406923e-03 8.87163212e+01] [-9.67687717e-01 2.52010802e-01 8.42843502e-03 -1.27723529e+02] [-8.77989425e-03 -2.70170869e-04 -9.99961420e-01 -4.12424309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.018523820517412182 Centerline is valid? [True, True] Translation: X:88.67, Y:-127.82, Z:-4.12 [[-1.80464360e-01 -9.83579027e-01 2.21640801e-03 8.86676231e+01] [-9.83523793e-01 1.80477724e-01 1.04278583e-02 -1.27822164e+02] [-1.06566350e-02 -2.98033240e-04 -9.99943172e-01 -4.12170415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.017587941654911655 Centerline is valid? [True, True] Translation: X:88.63, Y:-127.92, Z:-4.12 [[-1.06485225e-01 -9.94313237e-01 1.44364190e-03 8.86262563e+01] [-9.94254923e-01 1.06494621e-01 1.07724150e-02 -1.27922160e+02] [-1.08648949e-02 -2.88245028e-04 -9.99940934e-01 -4.12186058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.016132883728063218 Centerline is valid? [True, True] Translation: X:88.60, Y:-128.03, Z:-4.12 [[-3.59111650e-02 -9.99354757e-01 6.77360927e-04 8.85989901e+01] [-9.99283888e-01 3.59166868e-02 1.19038646e-02 -1.28027272e+02] [-1.19205122e-02 -2.49394216e-04 -9.99928917e-01 -4.12172713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.013396358007077676 Centerline is valid? [True, True] Translation: X:88.58, Y:-128.13, Z:-4.12 [[ 3.13052921e-02 -9.99509849e-01 -1.99922531e-04 8.85849781e+01] [-9.99458547e-01 -3.13057110e-02 1.01274255e-02 -1.28132306e+02] [-1.01287203e-02 -1.17227732e-04 -9.99948696e-01 -4.12492553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.012509746520680763 Centerline is valid? [True, True] Translation: X:88.57, Y:-128.24, Z:-4.13 [[ 9.93788309e-02 -9.95049372e-01 -7.71705033e-04 8.85744921e+01] [-9.95017316e-01 -9.93818237e-02 7.98717787e-03 -1.28240447e+02] [-8.02432978e-03 -2.58965285e-05 -9.99967804e-01 -4.12656971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.012969731195026311 Centerline is valid? [True, True] Translation: X:88.58, Y:-128.35, Z:-4.13 [[ 1.62520768e-01 -9.86704683e-01 -9.31979163e-04 8.85789286e+01] [-9.86690312e-01 -1.62523431e-01 5.32560508e-03 -1.28349048e+02] [-5.40626793e-03 5.40533854e-05 -9.99985385e-01 -4.13045695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.014255754212992971 Centerline is valid? [True, True] Translation: X:88.58, Y:-128.46, Z:-4.13 [[ 2.30493427e-01 -9.73073401e-01 -9.67601890e-04 8.85848402e+01] [-9.73066036e-01 -2.30495447e-01 3.78666990e-03 -1.28462765e+02] [-3.90773559e-03 6.87380154e-05 -9.99992362e-01 -4.13188211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.01603674488269099 Centerline is valid? [True, True] Translation: X:88.60, Y:-128.58, Z:-4.13 [[ 2.98227167e-01 -9.54493883e-01 -1.40884538e-03 8.86001747e+01] [-9.54484856e-01 -2.98230476e-01 4.15256516e-03 -1.28576219e+02] [-4.38375867e-03 1.06313835e-04 -9.99990386e-01 -4.13139985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.016145998617942907 Centerline is valid? [True, True] Translation: X:88.62, Y:-128.69, Z:-4.13 [[ 3.70081714e-01 -9.28996220e-01 -2.35537374e-03 8.86204210e+01] [-9.28979887e-01 -3.70089180e-01 5.51082941e-03 -1.28693260e+02] [-5.99123803e-03 1.48637632e-04 -9.99982041e-01 -4.12994411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.015226348791777153 Centerline is valid? [True, True] Translation: X:88.65, Y:-128.81, Z:-4.13 [[ 4.44555753e-01 -8.95743835e-01 -3.62836126e-03 8.86486944e+01] [-8.95716810e-01 -4.44570533e-01 6.95975466e-03 -1.28814694e+02] [-7.84721983e-03 1.55985200e-04 -9.99969198e-01 -4.12876845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.014412288841475452 Centerline is valid? [True, True] Translation: X:88.68, Y:-128.93, Z:-4.13 [[ 5.16277408e-01 -8.56411470e-01 -4.12685031e-03 8.86796502e+01] [-8.56385871e-01 -5.16293889e-01 6.62272369e-03 -1.28926316e+02] [-7.80244413e-03 1.15013671e-04 -9.99969554e-01 -4.12850841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.01278182929704431 Centerline is valid? [True, True] Translation: X:88.72, Y:-129.04, Z:-4.13 [[ 5.87862099e-01 -8.08953417e-01 -3.53859443e-03 8.87192572e+01] [-8.08939086e-01 -5.87872748e-01 4.81527337e-03 -1.29041769e+02] [-5.97557508e-03 3.17906343e-05 -9.99982146e-01 -4.12974891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.012488595098163684 Centerline is valid? [True, True] Translation: X:88.76, Y:-129.15, Z:-4.13 [[ 6.53579590e-01 -7.56850417e-01 -3.34153397e-03 8.87640084e+01] [-7.56840439e-01 -6.53588132e-01 3.88641468e-03 -1.29148049e+02] [-5.12542152e-03 -1.10732779e-05 -9.99986865e-01 -4.13054972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.014033571395409465 Centerline is valid? [True, True] Translation: X:88.82, Y:-129.26, Z:-4.13 [[ 7.17892294e-01 -6.96147814e-01 -2.97910368e-03 8.88189266e+01] [-6.96141468e-01 -7.17898473e-01 2.97319549e-03 -1.29255768e+02] [-4.20847753e-03 -6.05565235e-05 -9.99991143e-01 -4.13139062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.017223333263774364 Centerline is valid? [True, True] Translation: X:88.84, Y:-129.29, Z:-4.13 [[ 7.76415901e-01 -6.30210959e-01 -3.53511592e-03 8.88351682e+01] [-6.30203757e-01 -7.76423940e-01 3.01496856e-03 -1.29286803e+02] [-4.64481485e-03 -1.13026195e-04 -9.99989206e-01 -4.13082401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.016650748502246977 Centerline is valid? [True, True] Translation: X:88.86, Y:-129.32, Z:-4.13 [[ 8.23409180e-01 -5.67419092e-01 -5.73554177e-03 8.88563043e+01] [-5.67403837e-01 -8.23429137e-01 4.16443994e-03 -1.29316065e+02] [-7.08579494e-03 -1.74669665e-04 -9.99974880e-01 -4.12742810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.01654828432967729 Centerline is valid? [True, True] Translation: X:88.88, Y:-129.34, Z:-4.12 [[ 8.63649752e-01 -5.04031489e-01 -7.83345347e-03 8.88795078e+01] [-5.04008666e-01 -8.63685254e-01 4.80065723e-03 -1.29342058e+02] [-9.18532066e-03 -1.97957998e-04 -9.99957795e-01 -4.12427949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.016277457981190815 Centerline is valid? [True, True] Translation: X:88.91, Y:-129.36, Z:-4.13 [[ 9.00694446e-01 -4.34363808e-01 -8.80895204e-03 8.89078916e+01] [-4.34340633e-01 -9.00737494e-01 4.49232758e-03 -1.29361483e+02] [-9.88585790e-03 -2.20128698e-04 -9.99951110e-01 -4.12605937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.016816779171726106 Centerline is valid? [True, True] Translation: X:88.94, Y:-129.38, Z:-4.12 [[ 9.32220516e-01 -3.61750559e-01 -1.00719204e-02 8.89368800e+01] [-3.61726502e-01 -9.32274889e-01 4.17948962e-03 -1.29380547e+02] [-1.09017312e-02 -2.52925437e-04 -9.99940542e-01 -4.12451387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.016940479567926086 Centerline is valid? [True, True] Translation: X:88.97, Y:-129.39, Z:-4.12 [[ 9.57055398e-01 -2.89673925e-01 -1.15751273e-02 8.89678890e+01] [-2.89649465e-01 -9.57125358e-01 3.77320108e-03 -1.29394346e+02] [-1.21718459e-02 -2.58433026e-04 -9.99925887e-01 -4.12123124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.015519865260233358 Centerline is valid? [True, True] Translation: X:89.00, Y:-129.40, Z:-4.12 [[ 9.76009270e-01 -2.17396449e-01 -1.20286588e-02 8.90018513e+01] [-2.17377163e-01 -9.76083365e-01 2.90398216e-03 -1.29400944e+02] [-1.23722892e-02 -2.19557776e-04 -9.99923436e-01 -4.12189670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.014467495273759373 Centerline is valid? [True, True] Translation: X:89.04, Y:-129.40, Z:-4.12 [[ 9.89484934e-01 -1.44132857e-01 -1.20533910e-02 8.90354794e+01] [-1.44120058e-01 -9.89558331e-01 1.92835774e-03 -1.29403688e+02] [-1.22054732e-02 -1.70945524e-04 -9.99925496e-01 -4.12365273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.01397337134400285 Centerline is valid? [True, True] Translation: X:89.06, Y:-129.41, Z:-4.12 [[ 9.97688315e-01 -6.68120848e-02 -1.24166175e-02 8.90649965e+01] [-6.68048277e-02 -9.97765562e-01 9.98781229e-04 -1.29412785e+02] [-1.24556040e-02 -1.66982367e-04 -9.99922412e-01 -4.12395168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.014296557669048087 Centerline is valid? [True, True] Translation: X:89.09, Y:-129.42, Z:-4.12 [[ 9.99830335e-01 1.22258406e-02 -1.37778700e-02 8.90949319e+01] [ 1.22273652e-02 -9.99925243e-01 2.64172658e-05 -1.29420017e+02] [-1.37765170e-02 -1.94879831e-04 -9.99905080e-01 -4.12248679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.014330754443778662 Centerline is valid? [True, True] Translation: X:89.13, Y:-129.42, Z:-4.12 [[ 9.95853548e-01 8.97282604e-02 -1.49849712e-02 8.91250530e+01] [ 8.97211560e-02 -9.95966264e-01 -1.14706207e-03 -1.29422213e+02] [-1.50274496e-02 -2.02163105e-04 -9.99887061e-01 -4.12197328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.013556048561307875 Centerline is valid? [True, True] Translation: X:89.15, Y:-129.42, Z:-4.12 [[ 9.86515759e-01 1.63072610e-01 -1.39277413e-02 8.91537384e+01] [ 1.63058182e-01 -9.86614062e-01 -2.17289335e-03 -1.29418752e+02] [-1.40956448e-02 -1.27438656e-04 -9.99900643e-01 -4.12292801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.012864120529483417 Centerline is valid? [True, True] Translation: X:89.18, Y:-129.41, Z:-4.12 [[ 9.71920118e-01 2.34984791e-01 -1.23867330e-02 8.91823871e+01] [ 2.34966385e-01 -9.71999046e-01 -2.94152783e-03 -1.29410857e+02] [-1.27311070e-02 -5.15358019e-05 -9.99918955e-01 -4.12410144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.012684761153303126 Centerline is valid? [True, True] Translation: X:89.21, Y:-129.40, Z:-4.13 [[ 9.53085363e-01 3.02564723e-01 -9.10386132e-03 8.92106697e+01] [ 3.02550520e-01 -9.53128841e-01 -2.93190740e-03 -1.29404195e+02] [-9.56424454e-03 3.99800513e-05 -9.99954261e-01 -4.12877724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.01323349091977047 Centerline is valid? [True, True] Translation: X:89.24, Y:-129.40, Z:-4.13 [[ 9.28141584e-01 3.72124480e-01 -8.75046258e-03 8.92388998e+01] [ 3.72107114e-01 -9.28182829e-01 -3.59605136e-03 -1.29396775e+02] [-9.46020786e-03 8.15354336e-05 -9.99955248e-01 -4.12919933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.01385691407552075 Centerline is valid? [True, True] Translation: X:89.27, Y:-129.39, Z:-4.13 [[ 8.97253201e-01 4.41428805e-01 -8.79226888e-03 8.92651808e+01] [ 4.41406418e-01 -8.97296271e-01 -4.44701077e-03 -1.29387479e+02] [-9.85230873e-03 1.09130735e-04 -9.99951459e-01 -4.12863676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.01319041007606329 Centerline is valid? [True, True] Translation: X:89.30, Y:-129.38, Z:-4.13 [[ 8.58307292e-01 5.13053182e-01 -9.22086587e-03 8.92964568e+01] [ 5.13022505e-01 -8.58356817e-01 -5.61114434e-03 -1.29384400e+02] [-1.07936085e-02 8.55744007e-05 -9.99941744e-01 -4.12919673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.012756300960994709 Centerline is valid? [True, True] Translation: X:89.33, Y:-129.38, Z:-4.13 [[ 8.12452759e-01 5.82938177e-01 -1.01782625e-02 8.93284394e+01] [ 5.82891916e-01 -8.12516511e-01 -7.34392689e-03 -1.29379678e+02] [-1.25510617e-02 3.37667453e-05 -9.99921232e-01 -4.12813278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.012564892062911611 Centerline is valid? [True, True] Translation: X:89.36, Y:-129.37, Z:-4.13 [[ 7.61460506e-01 6.48141615e-01 -9.50502297e-03 8.93588000e+01] [ 6.48091483e-01 -7.61519827e-01 -8.06115604e-03 -1.29370795e+02] [-1.24630341e-02 -2.18724817e-05 -9.99922333e-01 -4.12791128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.012990426937650738 Centerline is valid? [True, True] Translation: X:89.39, Y:-129.36, Z:-4.13 [[ 7.03914074e-01 7.10244021e-01 -7.64247420e-03 8.93884827e+01] [ 7.10203492e-01 -7.03955555e-01 -7.58793088e-03 -1.29359814e+02] [-1.07692447e-02 -8.64605228e-05 -9.99942006e-01 -4.12916122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.013212771743852651 Centerline is valid? [True, True] Translation: X:89.41, Y:-129.34, Z:-4.13 [[ 6.44510620e-01 7.64565625e-01 -6.74286938e-03 8.94142757e+01] [ 7.64525490e-01 -6.44545882e-01 -7.83460716e-03 -1.29342747e+02] [-1.03361600e-02 -1.05608000e-04 -9.99946575e-01 -4.12997710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.014350588324874042 Centerline is valid? [True, True] Translation: X:89.44, Y:-129.33, Z:-4.13 [[ 5.78369632e-01 8.15752389e-01 -6.05050191e-03 8.94406852e+01] [ 8.15710590e-01 -5.78401258e-01 -8.25942621e-03 -1.29325357e+02] [-1.02372646e-02 -1.58457183e-04 -9.99947585e-01 -4.12955611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.014433454643750777 Centerline is valid? [True, True] Translation: X:89.46, Y:-129.30, Z:-4.13 [[ 5.10953199e-01 8.59588346e-01 -5.89097577e-03 8.94637929e+01] [ 8.59535588e-01 -5.10987119e-01 -9.52560202e-03 -1.29304518e+02] [-1.11983092e-02 -1.96366508e-04 -9.99937278e-01 -4.12948571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.014276438456424166 Centerline is valid? [True, True] Translation: X:89.49, Y:-129.28, Z:-4.13 [[ 4.42316048e-01 8.96842897e-01 -5.41589367e-03 8.94852362e+01] [ 8.96781237e-01 -4.42349157e-01 -1.05184101e-02 -1.29281992e+02] [-1.18290774e-02 -2.04410227e-04 -9.99930013e-01 -4.12927712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.013797377716944944 Centerline is valid? [True, True] Translation: X:89.50, Y:-129.26, Z:-4.13 [[ 3.73504222e-01 9.27614132e-01 -5.15925292e-03 8.95036788e+01] [ 9.27532561e-01 -3.73539805e-01 -1.23029500e-02 -1.29257165e+02] [-1.33395767e-02 -1.90171287e-04 -9.99911006e-01 -4.12739631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.012846464204288182 Centerline is valid? [True, True] Translation: X:89.52, Y:-129.23, Z:-4.13 [[ 3.05302572e-01 9.52244167e-01 -4.62456991e-03 8.95160755e+01] [ 9.52141012e-01 -3.05337571e-01 -1.40164956e-02 -1.29230490e+02] [-1.47591811e-02 -1.23970496e-04 -9.99891070e-01 -4.12719441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.012550849067330285 Centerline is valid? [True, True] Translation: X:89.53, Y:-129.20, Z:-4.13 [[ 2.35200243e-01 9.71940413e-01 -3.56074530e-03 8.95264429e+01] [ 9.71831781e-01 -2.35227191e-01 -1.45313144e-02 -1.29202948e+02] [-1.49611558e-02 -4.26767757e-05 -9.99888075e-01 -4.12684648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.012818346309234261 Centerline is valid? [True, True] Translation: X:89.53, Y:-129.17, Z:-4.13 [[ 1.67100618e-01 9.85937268e-01 -2.25555724e-03 8.95294907e+01] [ 9.85840554e-01 -1.67115819e-01 -1.38096115e-02 -1.29174295e+02] [-1.39923499e-02 8.39748184e-05 -9.99902099e-01 -4.12755635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.013169228037481025 Centerline is valid? [True, True] Translation: X:89.54, Y:-129.15, Z:-4.13 [[ 9.35066271e-02 9.95618018e-01 -1.12843170e-03 8.95370147e+01] [ 9.95526740e-01 -9.35133350e-02 -1.34820710e-02 -1.29147655e+02] [-1.35285162e-02 1.37279054e-04 -9.99908476e-01 -4.12821154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.013584093354605304 Centerline is valid? [True, True] Translation: X:89.54, Y:-129.12, Z:-4.13 [[ 1.66777936e-02 9.99860914e-01 -6.96299484e-05 8.95442969e+01] [ 9.99767609e-01 -1.66771886e-02 -1.36601124e-02 -1.29120918e+02] [-1.36593737e-02 1.58206768e-04 -9.99906694e-01 -4.12704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.013426639398898502 Centerline is valid? [True, True] Translation: X:89.55, Y:-129.09, Z:-4.13 [[-6.40607143e-02 9.97945404e-01 1.09372114e-03 8.95504129e+01] [ 9.97834392e-01 6.40699021e-02 -1.48853586e-02 -1.29093883e+02] [-1.49248498e-02 1.37785858e-04 -9.99888609e-01 -4.12606522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.012973046453767088 Centerline is valid? [True, True] Translation: X:89.56, Y:-129.06, Z:-4.13 [[-1.44961612e-01 9.89434565e-01 2.31780948e-03 8.95582022e+01] [ 9.89318541e-01 1.44980109e-01 -1.51523201e-02 -1.29064818e+02] [-1.53282655e-02 9.65471533e-05 -9.99882511e-01 -4.12654159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.012601235189260462 Centerline is valid? [True, True] Translation: X:89.57, Y:-129.03, Z:-4.13 [[-2.27230712e-01 9.73835033e-01 3.39582301e-03 8.95670491e+01] [ 9.73727242e-01 2.27256084e-01 -1.44889993e-02 -1.29034184e+02] [-1.48816165e-02 1.42597519e-05 -9.99889263e-01 -4.12582117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.012704272745390698 Centerline is valid? [True, True] Translation: X:89.57, Y:-129.00, Z:-4.13 [[-3.06654443e-01 9.51811782e-01 4.16952066e-03 8.95714988e+01] [ 9.51721944e-01 3.06682785e-01 -1.30770711e-02 -1.29004442e+02] [-1.37256306e-02 -4.19176581e-05 -9.99905798e-01 -4.12600964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.012631977401285273 Centerline is valid? [True, True] Translation: X:89.57, Y:-128.97, Z:-4.13 [[-3.81189068e-01 9.24483341e-01 5.04444040e-03 8.95711830e+01] [ 9.24400527e-01 3.81222440e-01 -1.23740683e-02 -1.28974595e+02] [-1.33626739e-02 -5.37762018e-05 -9.99910714e-01 -4.12705647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.012804896368959491 Centerline is valid? [True, True] Translation: X:89.57, Y:-128.95, Z:-4.13 [[-4.52832750e-01 8.91579949e-01 5.26264141e-03 8.95677530e+01] [ 8.91518398e-01 4.52863327e-01 -1.04763654e-02 -1.28946168e+02] [-1.17237746e-02 -5.22997086e-05 -9.99931273e-01 -4.12612718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.012488911412915634 Centerline is valid? [True, True] Translation: X:89.56, Y:-128.92, Z:-4.13 [[-5.21891741e-01 8.52996107e-01 5.16261763e-03 8.95630956e+01] [ 8.52953398e-01 5.21917272e-01 -8.53593301e-03 -1.28915815e+02] [-9.97557694e-03 -5.13606931e-05 -9.99950241e-01 -4.12894566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.012587687759386857 Centerline is valid? [True, True] Translation: X:89.56, Y:-128.89, Z:-4.13 [[-5.87901473e-01 8.08918305e-01 4.79936053e-03 8.95555266e+01] [ 8.08890651e-01 5.87921061e-01 -6.68889099e-03 -1.28887523e+02] [-8.23241149e-03 -5.02510017e-05 -9.99966112e-01 -4.12955448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.012654787840501211 Centerline is valid? [True, True] Translation: X:89.54, Y:-128.86, Z:-4.13 [[-6.50266500e-01 7.59690458e-01 4.88743320e-03 8.95442949e+01] [ 7.59668369e-01 6.50284864e-01 -5.79352733e-03 -1.28858521e+02] [-7.57951126e-03 -5.45083309e-05 -9.99971274e-01 -4.12986458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.012720200812504136 Centerline is valid? [True, True] Translation: X:89.53, Y:-128.83, Z:-4.13 [[-7.08136909e-01 7.06046131e-01 6.40151387e-03 8.95313625e+01] [ 7.06016376e-01 7.08165839e-01 -6.48236152e-03 -1.28830691e+02] [-9.11017971e-03 -7.08258263e-05 -9.99958499e-01 -4.12815990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.012867818646077372 Centerline is valid? [True, True] Translation: X:89.52, Y:-128.81, Z:-4.13 [[-7.61365482e-01 6.48273843e-01 7.97672809e-03 8.95153678e+01] [ 6.48237102e-01 7.61407261e-01 -6.90236451e-03 -1.28806150e+02] [-1.05481611e-02 -8.44109798e-05 -9.99944363e-01 -4.12631732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.012717468972515274 Centerline is valid? [True, True] Translation: X:89.53, Y:-128.79, Z:-4.12 [[-8.04617457e-01 5.93703055e-01 1.03648330e-02 8.95317639e+01] [ 5.93652383e-01 8.04684208e-01 -7.75718058e-03 -1.28788010e+02] [-1.29458793e-02 -8.84550732e-05 -9.99916195e-01 -4.12487396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.012675351468753503 Centerline is valid? [True, True] Translation: X:89.54, Y:-128.77, Z:-4.12 [[-8.43871445e-01 5.36429388e-01 1.11578222e-02 8.95449036e+01] [ 5.36381360e-01 8.43945204e-01 -7.17846089e-03 -1.28766466e+02] [-1.32673279e-02 -7.28503019e-05 -9.99911983e-01 -4.12404463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.01241185234389533 Centerline is valid? [True, True] Translation: X:89.56, Y:-128.75, Z:-4.13 [[-8.78470263e-01 4.77694383e-01 9.90315745e-03 8.95599686e+01] [ 4.77663627e-01 8.78526081e-01 -5.42075255e-03 -1.28748271e+02] [-1.12896452e-02 -3.15918172e-05 -9.99936269e-01 -4.12623527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.012518846842359894 Centerline is valid? [True, True] Translation: X:89.90, Y:-128.15, Z:-5.13 [[-8.42873882e-01 -5.38040514e-01 8.71921647e-03 8.98953046e+01] [ 5.38011428e-01 -8.42918979e-01 -5.59459277e-03 -1.28154546e+02] [ 1.03597106e-02 -2.44980267e-05 9.99946337e-01 -5.12564682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.012932881279144872 Centerline is valid? [True, True] Translation: X:89.52, Y:-128.74, Z:-4.13 [[-8.75570397e-01 4.83009450e-01 8.85164424e-03 8.95243363e+01] [ 4.82985574e-01 8.75615136e-01 -4.80302907e-03 -1.28740909e+02] [-1.00705421e-02 6.98264032e-05 -9.99949288e-01 -4.12730328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.013843355980126159 Centerline is valid? [True, True] Translation: X:89.53, Y:-128.72, Z:-4.13 [[-9.05145492e-01 4.25012211e-01 8.73260799e-03 8.95349328e+01] [ 4.24993730e-01 9.05187608e-01 -3.96533561e-03 -1.28722271e+02] [-9.58996460e-03 1.22097992e-04 -9.99954008e-01 -4.12795909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.014182039805078732 Centerline is valid? [True, True] Translation: X:89.55, Y:-128.70, Z:-4.13 [[-9.32238816e-01 3.61729525e-01 9.08515602e-03 8.95476321e+01] [ 3.61713838e-01 9.32283074e-01 -3.37182868e-03 -1.28700220e+02] [-9.68962717e-03 1.42877078e-04 -9.99953044e-01 -4.12855896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.013955804113759455 Centerline is valid? [True, True] Translation: X:89.55, Y:-128.67, Z:-4.13 [[-9.55825892e-01 2.93756951e-01 1.01842200e-02 8.95536146e+01] [ 2.93741889e-01 9.55880135e-01 -2.97818023e-03 -1.28672867e+02] [-1.06097547e-02 1.44910233e-04 -9.99943705e-01 -4.12748322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.01354781169696012 Centerline is valid? [True, True] Translation: X:89.56, Y:-128.65, Z:-4.13 [[-9.74969195e-01 2.22054576e-01 1.12620752e-02 8.95611951e+01] [ 2.22041182e-01 9.75034231e-01 -2.44183923e-03 -1.28646057e+02] [-1.15231304e-02 1.19926454e-04 -9.99933599e-01 -4.12708425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.012885725510209538 Centerline is valid? [True, True] Translation: X:89.71, Y:-127.95, Z:-5.12 [[-9.62599733e-01 -2.70717763e-01 1.06605109e-02 8.97056461e+01] [ 2.70699519e-01 -9.62658752e-01 -3.14616918e-03 -1.27952689e+02] [ 1.11141580e-02 -1.42706455e-04 9.99938226e-01 -5.12491499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.012815528342248101 Centerline is valid? [True, True] Translation: X:89.51, Y:-128.63, Z:-4.13 [[-9.76766312e-01 2.14054968e-01 1.03943951e-02 8.95135621e+01] [ 2.14043547e-01 9.76821615e-01 -2.21206437e-03 -1.28632888e+02] [-1.06269732e-02 6.41832462e-05 -9.99943530e-01 -4.12754677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.012634683630437881 Centerline is valid? [True, True] Translation: X:89.52, Y:-128.61, Z:-4.13 [[-9.89735738e-01 1.42603004e-01 9.35695140e-03 8.95171597e+01] [ 1.42597026e-01 9.89779966e-01 -1.30634854e-03 -1.28605341e+02] [-9.44761227e-03 4.13336102e-05 -9.99955370e-01 -4.12843264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.012476907231319067 Centerline is valid? [True, True] Translation: X:89.52, Y:-128.58, Z:-4.13 [[-9.97474604e-01 7.05862218e-02 7.87403102e-03 8.95178400e+01] [ 7.05842086e-02 9.97505682e-01 -5.33632401e-04 -1.28577986e+02] [-7.89205778e-03 2.34974799e-05 -9.99968857e-01 -4.13018093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.01262060310288353 Centerline is valid? [True, True] Translation: X:89.57, Y:-127.88, Z:-5.12 [[-9.90920946e-01 -1.34176118e-01 8.51165991e-03 8.95682064e+01] [ 1.34171348e-01 -9.90957501e-01 -1.13157467e-03 -1.27880179e+02] [ 8.58652353e-03 2.07198478e-05 9.99963135e-01 -5.12479542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.012464024129696246 Centerline is valid? [True, True] Translation: X:89.46, Y:-128.57, Z:-4.13 [[-9.98061434e-01 6.16265379e-02 8.69158929e-03 8.94608364e+01] [ 6.16240498e-02 9.98099278e-01 -5.54041791e-04 -1.28568849e+02] [-8.70921268e-03 -1.73568133e-05 -9.99962074e-01 -4.12774965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.012405454985185199 Centerline is valid? [True, True] Translation: X:89.50, Y:-127.88, Z:-5.13 [[-9.90904068e-01 -1.34290473e-01 8.67163864e-03 8.95010276e+01] [ 1.34285507e-01 -9.90942011e-01 -1.15498786e-03 -1.27880515e+02] [ 8.74819489e-03 1.99932243e-05 9.99961734e-01 -5.12511251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.012583333374316706 Centerline is valid? [True, True] Translation: X:89.40, Y:-128.56, Z:-4.13 [[-9.98384039e-01 5.58468153e-02 1.05091972e-02 8.94023635e+01] [ 5.58433210e-02 9.98439348e-01 -6.25874447e-04 -1.28562870e+02] [-1.05277491e-02 -3.79945841e-05 -9.99944581e-01 -4.12501582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.012453629065732282 Centerline is valid? [True, True] Translation: X:89.40, Y:-128.54, Z:-4.12 [[-9.99817422e-01 -1.49090928e-02 1.19516496e-02 8.94027009e+01] [-1.49085000e-02 9.99888853e-01 1.38693495e-04 -1.28535658e+02] [-1.19523890e-02 -3.95129956e-05 -9.99928567e-01 -4.12474958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.01260558997798454 Centerline is valid? [True, True] Translation: X:89.40, Y:-128.51, Z:-4.12 [[-9.96161841e-01 -8.67723940e-02 1.14951403e-02 8.93961345e+01] [-8.67671742e-02 9.96228161e-01 9.52973004e-04 -1.28507873e+02] [-1.15344743e-02 -4.80855003e-05 -9.99933475e-01 -4.12494576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.012569039953670442 Centerline is valid? [True, True] Translation: X:89.34, Y:-127.83, Z:-5.13 [[-9.99891586e-01 9.48771864e-03 1.12605383e-02 8.93408539e+01] [-9.48679580e-03 -9.99954990e-01 1.35366190e-04 -1.27829509e+02] [ 1.12613158e-02 2.85250867e-05 9.99936589e-01 -5.12693871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.012661567821063388 Centerline is valid? [True, True] Translation: X:89.32, Y:-128.51, Z:-4.13 [[-9.95520124e-01 -9.38305584e-02 1.16408543e-02 8.93184866e+01] [-9.38249941e-02 9.95588179e-01 1.02441043e-03 -1.28511028e+02] [-1.16856180e-02 -7.23818914e-05 -9.99931718e-01 -4.12535717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.012664348991344427 Centerline is valid? [True, True] Translation: X:89.31, Y:-128.49, Z:-4.13 [[-9.86261503e-01 -1.64727264e-01 1.23764209e-02 8.93083554e+01] [-1.64715332e-01 9.86339152e-01 1.98432949e-03 -1.28485844e+02] [-1.25342216e-02 -8.15184844e-05 -9.99921440e-01 -4.12566627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.012676402842695484 Centerline is valid? [True, True] Translation: X:89.30, Y:-128.46, Z:-4.13 [[-9.72001778e-01 -2.34760773e-01 9.99612798e-03 8.92955569e+01] [-2.34749081e-01 9.72053175e-01 2.34404263e-03 -1.28460539e+02] [-1.02670572e-02 -6.81682512e-05 -9.99947290e-01 -4.12762197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.012653801001765233 Centerline is valid? [True, True] Translation: X:89.14, Y:-127.80, Z:-5.12 [[-9.87867523e-01 1.55048776e-01 8.81098761e-03 8.91400312e+01] [-1.55042895e-01 -9.87906815e-01 1.35077579e-03 -1.27802765e+02] [ 8.91387084e-03 -3.16934997e-05 9.99960270e-01 -5.12400192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.012743431903792945 Centerline is valid? [True, True] Translation: X:89.19, Y:-128.48, Z:-4.13 [[-9.70441014e-01 -2.41224808e-01 7.40469836e-03 8.91917565e+01] [-2.41218208e-01 9.70469262e-01 1.78523934e-03 -1.28482547e+02] [-7.61667617e-03 -5.36785941e-05 -9.99970991e-01 -4.12979642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.01287890231828317 Centerline is valid? [True, True] Translation: X:89.17, Y:-128.46, Z:-4.13 [[-9.50575830e-01 -3.10388157e-01 8.04882970e-03 8.91677860e+01] [-3.10377589e-01 9.50609903e-01 2.56203317e-03 -1.28461691e+02] [-8.44652197e-03 -6.27695527e-05 -9.99964326e-01 -4.12973709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.012967685076345449 Centerline is valid? [True, True] Translation: X:89.13, Y:-128.44, Z:-4.13 [[-9.25651014e-01 -3.78272232e-01 8.96207904e-03 8.91327126e+01] [-3.78255260e-01 9.25694395e-01 3.58401636e-03 -1.28444629e+02] [-9.65188021e-03 -7.24051616e-05 -9.99953417e-01 -4.12856356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.012885481986001144 Centerline is valid? [True, True] Translation: X:89.08, Y:-128.44, Z:-4.13 [[-8.95587061e-01 -4.44782068e-01 9.62957544e-03 8.90755566e+01] [-4.44757280e-01 8.95638826e-01 4.69631407e-03 -1.28439414e+02] [-1.07134579e-02 -7.68656675e-05 -9.99942606e-01 -4.12809544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.012840720533038115 Centerline is valid? [True, True] Translation: X:89.01, Y:-128.44, Z:-4.13 [[-8.60566294e-01 -5.09243962e-01 9.81024630e-03 8.90123938e+01] [-5.09211905e-01 8.60622206e-01 5.71440559e-03 -1.28443548e+02] [-1.13529424e-02 -7.78693626e-05 -9.99935550e-01 -4.12813165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.012789859045527785 Centerline is valid? [True, True] Translation: X:88.94, Y:-128.46, Z:-4.13 [[-8.21038949e-01 -5.70789327e-01 9.72568762e-03 8.89407500e+01] [-5.70750258e-01 8.21096547e-01 6.67860364e-03 -1.28457776e+02] [-1.17978042e-02 -6.75450072e-05 -9.99930401e-01 -4.12860107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.012769194173899446 Centerline is valid? [True, True] Translation: X:88.86, Y:-128.48, Z:-4.13 [[-7.77015887e-01 -6.29421169e-01 8.67773241e-03 8.88639384e+01] [-6.29382617e-01 7.77064340e-01 6.96649998e-03 -1.28481492e+02] [-1.11280190e-02 -4.85327764e-05 -9.99938081e-01 -4.12891838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.012723581702552555 Centerline is valid? [True, True] Translation: X:88.78, Y:-128.52, Z:-4.13 [[-7.28028521e-01 -6.85503671e-01 7.69345919e-03 8.87836508e+01] [-6.85465998e-01 7.28069169e-01 7.18680481e-03 -1.28516008e+02] [-1.05279515e-02 -4.14058124e-05 -9.99944579e-01 -4.12951224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.0126824302862746 Centerline is valid? [True, True] Translation: X:88.70, Y:-128.56, Z:-4.13 [[-6.73476693e-01 -7.39181470e-01 6.31645624e-03 8.86986878e+01] [-7.39149632e-01 6.73506312e-01 6.86072912e-03 -1.28563502e+02] [-9.32549698e-03 -4.82651455e-05 -9.99956516e-01 -4.13228535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.012805539402458137 Centerline is valid? [True, True] Translation: X:88.62, Y:-128.61, Z:-4.13 [[-6.13739676e-01 -7.89487351e-01 5.77339721e-03 8.86183821e+01] [-7.89453509e-01 6.13766827e-01 7.31023009e-03 -1.28612928e+02] [-9.31485388e-03 -7.12504388e-05 -9.99956613e-01 -4.13302415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.013078611293495319 Centerline is valid? [True, True] Translation: X:88.54, Y:-128.68, Z:-4.13 [[-5.51124187e-01 -8.34401951e-01 5.95951483e-03 8.85362823e+01] [-8.34355026e-01 5.51156399e-01 8.84956384e-03 -1.28676269e+02] [-1.06687181e-02 -9.51424775e-05 -9.99943083e-01 -4.13094670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.012896876556011799 Centerline is valid? [True, True] Translation: X:88.46, Y:-128.75, Z:-4.13 [[-4.87423455e-01 -8.73145259e-01 5.97764258e-03 8.84610980e+01] [-8.73081832e-01 4.87460100e-01 1.05245226e-02 -1.28750536e+02] [-1.21032993e-02 -8.90719470e-05 -9.99926748e-01 -4.12998466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.012734075495700905 Centerline is valid? [True, True] Translation: X:88.39, Y:-128.83, Z:-4.13 [[-4.22526398e-01 -9.06337566e-01 4.86404437e-03 8.83912817e+01] [-9.06278755e-01 4.22554392e-01 1.03249493e-02 -1.28831569e+02] [-1.14132128e-02 -4.56164199e-05 -9.99934866e-01 -4.12971984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.01263215300855569 Centerline is valid? [True, True] Translation: X:88.33, Y:-128.92, Z:-4.13 [[-3.57817131e-01 -9.33785180e-01 3.48394370e-03 8.83307490e+01] [-9.33740329e-01 3.57834091e-01 9.15209579e-03 -1.28921675e+02] [-9.79276524e-03 2.16779210e-05 -9.99952050e-01 -4.13078856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.012876722325361892 Centerline is valid? [True, True] Translation: X:88.27, Y:-129.02, Z:-4.13 [[-2.88713283e-01 -9.57411339e-01 2.85789339e-03 8.82730368e+01] [-9.57362406e-01 2.88727421e-01 9.67990726e-03 -1.29019227e+02] [-1.00928052e-02 5.86781142e-05 -9.99949065e-01 -4.13046439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.013345732564619513 Centerline is valid? [True, True] Translation: X:88.22, Y:-129.12, Z:-4.13 [[-2.16492714e-01 -9.76280924e-01 2.54230161e-03 8.82230527e+01] [-9.76208304e-01 2.16507619e-01 1.19078600e-02 -1.29122622e+02] [-1.21758442e-02 9.61489795e-05 -9.99925867e-01 -4.12900463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.01339372134835124 Centerline is valid? [True, True] Translation: X:88.18, Y:-129.24, Z:-4.13 [[-1.40060705e-01 -9.90141390e-01 1.73966620e-03 8.81761286e+01] [-9.90056652e-01 1.40071478e-01 1.29540423e-02 -1.29236487e+02] [-1.30700111e-02 9.19842085e-05 -9.99914580e-01 -4.12807241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.013199631176784037 Centerline is valid? [True, True] Translation: X:88.14, Y:-129.35, Z:-4.13 [[-6.25754369e-02 -9.98039986e-01 7.07968385e-04 8.81381559e+01] [-9.97961985e-01 6.25793976e-02 1.24778012e-02 -1.29345308e+02] [-1.24976488e-02 7.42783291e-05 -9.99921899e-01 -4.12832410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.012980932256497525 Centerline is valid? [True, True] Translation: X:88.11, Y:-129.46, Z:-4.13 [[ 1.49291734e-02 -9.99888527e-01 -2.32919667e-04 8.81087336e+01] [-9.99822395e-01 -1.49308648e-02 1.14999490e-02 -1.29461786e+02] [-1.15021447e-02 6.11935671e-05 -9.99933846e-01 -4.12933439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.012853511457491489 Centerline is valid? [True, True] Translation: X:87.40, Y:-129.59, Z:-5.12 [[-4.42456580e-02 9.99020518e-01 5.70663131e-04 8.74013730e+01] [-9.98954791e-01 -4.42492931e-02 1.14597563e-02 -1.29587838e+02] [ 1.14737831e-02 -6.30222122e-05 9.99934172e-01 -5.12339327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.012902260401139095 Centerline is valid? [True, True] Translation: X:88.11, Y:-129.75, Z:-4.13 [[ 2.73344528e-02 -9.99626286e-01 -3.41015444e-04 8.81112592e+01] [-9.99561217e-01 -2.73365645e-02 1.14055412e-02 -1.29751691e+02] [-1.14106010e-02 2.91015847e-05 -9.99934897e-01 -4.12843394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.01292239251382458 Centerline is valid? [True, True] Translation: X:88.09, Y:-129.87, Z:-4.13 [[ 1.04357417e-01 -9.94539069e-01 -1.25254409e-03 8.80919943e+01] [-9.94470489e-01 -1.04364931e-01 1.16793434e-02 -1.29866898e+02] [-1.17462850e-02 2.67920147e-05 -9.99931010e-01 -4.12801797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.012954639146331636 Centerline is valid? [True, True] Translation: X:88.08, Y:-129.99, Z:-4.13 [[ 1.81200843e-01 -9.83443826e-01 -2.12029932e-03 8.80822338e+01] [-9.83377704e-01 -1.81213247e-01 1.14039804e-02 -1.29990271e+02] [-1.15994005e-02 1.86442197e-05 -9.99932725e-01 -4.12807649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.012945711895041867 Centerline is valid? [True, True] Translation: X:88.08, Y:-130.11, Z:-4.13 [[ 2.57684034e-01 -9.66225450e-01 -2.70512930e-03 8.80792382e+01] [-9.66172281e-01 -2.57698233e-01 1.01362603e-02 -1.30107144e+02] [-1.04910197e-02 1.66851007e-06 -9.99944968e-01 -4.12801268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.01306582979434888 Centerline is valid? [True, True] Translation: X:88.09, Y:-130.23, Z:-4.13 [[ 3.32137737e-01 -9.43225243e-01 -3.26559552e-03 8.80867454e+01] [-9.43179390e-01 -3.32153791e-01 9.30044001e-03 -1.30227547e+02] [-9.85708972e-03 -8.98471601e-06 -9.99951418e-01 -4.12852225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.013168250312754143 Centerline is valid? [True, True] Translation: X:88.10, Y:-130.35, Z:-4.13 [[ 4.04817322e-01 -9.14390152e-01 -3.68587916e-03 8.81031557e+01] [-9.14351775e-01 -4.04834101e-01 8.37751734e-03 -1.30347496e+02] [-9.15248893e-03 -2.11739757e-05 -9.99958115e-01 -4.12773932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.013535280239189639 Centerline is valid? [True, True] Translation: X:88.13, Y:-130.46, Z:-4.13 [[ 4.76620561e-01 -8.79099919e-01 -4.02155237e-03 8.81257876e+01] [-8.79067778e-01 -4.76637525e-01 7.51736942e-03 -1.30463203e+02] [-8.52534161e-03 -4.77157203e-05 -9.99963658e-01 -4.12793479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.014360169093511786 Centerline is valid? [True, True] Translation: X:88.16, Y:-130.58, Z:-4.13 [[ 5.46308556e-01 -8.37574114e-01 -4.07001924e-03 8.81553673e+01] [-8.37549815e-01 -5.46323711e-01 6.38046361e-03 -1.30576069e+02] [-7.56765918e-03 -7.68579957e-05 -9.99971362e-01 -4.12754712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.014523230111502267 Centerline is valid? [True, True] Translation: X:88.20, Y:-130.69, Z:-4.13 [[ 6.10284152e-01 -7.92168973e-01 -4.64454991e-03 8.82020834e+01] [-7.92144855e-01 -6.10301818e-01 6.18215399e-03 -1.30691754e+02] [-7.73188784e-03 -9.37142879e-05 -9.99970104e-01 -4.12802660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.015068525086381438 Centerline is valid? [True, True] Translation: X:88.24, Y:-130.79, Z:-4.13 [[ 6.70410075e-01 -7.41967787e-01 -5.84247755e-03 8.82437185e+01] [-7.41937973e-01 -6.70435520e-01 6.65263779e-03 -1.30787348e+02] [-8.85304742e-03 -1.25239448e-04 -9.99960803e-01 -4.12709060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.014775546741638355 Centerline is valid? [True, True] Translation: X:88.29, Y:-130.88, Z:-4.13 [[ 7.24426881e-01 -6.89321420e-01 -6.45557718e-03 8.82930998e+01] [-6.89292553e-01 -7.24455634e-01 6.30964820e-03 -1.30877665e+02] [-9.02615491e-03 -1.21097490e-04 -9.99959256e-01 -4.12678907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.014562751815550303 Centerline is valid? [True, True] Translation: X:88.31, Y:-130.90, Z:-4.13 [[ 7.74790118e-01 -6.32186360e-01 -6.37803569e-03 8.83144301e+01] [-6.32163935e-01 -7.74816364e-01 5.32566412e-03 -1.30902822e+02] [-8.30861863e-03 -9.43077984e-05 -9.99965478e-01 -4.12716501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.013894626326232094 Centerline is valid? [True, True] Translation: X:88.34, Y:-130.93, Z:-4.13 [[ 8.19626526e-01 -5.72859011e-01 -6.70151911e-03 8.83385325e+01] [-5.72839246e-01 -8.19653920e-01 4.75904661e-03 -1.30926068e+02] [-8.21918915e-03 -6.17476888e-05 -9.99966220e-01 -4.12760560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.013715920027416856 Centerline is valid? [True, True] Translation: X:88.36, Y:-130.95, Z:-4.13 [[ 8.60148234e-01 -5.09996435e-01 -6.97511877e-03 8.83644616e+01] [-5.09979353e-01 -8.60176514e-01 4.17427188e-03 -1.30947610e+02] [-8.12869712e-03 -3.33260263e-05 -9.99966961e-01 -4.12802603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.013689289494049815 Centerline is valid? [True, True] Translation: X:88.39, Y:-130.97, Z:-4.13 [[ 8.96567270e-01 -4.42851692e-01 -7.03621030e-03 8.83905748e+01] [-4.42837898e-01 -8.96594880e-01 3.49535974e-03 -1.30968435e+02] [-7.85655610e-03 -1.79245569e-05 -9.99969137e-01 -4.12732093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.013684320514080105 Centerline is valid? [True, True] Translation: X:88.42, Y:-130.99, Z:-4.13 [[ 9.27225630e-01 -3.74418539e-01 -7.96173997e-03 8.84188799e+01] [-3.74404811e-01 -9.27259811e-01 3.20628924e-03 -1.30986915e+02] [-8.58309564e-03 7.96018659e-06 -9.99963165e-01 -4.12738660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.013876398997582483 Centerline is valid? [True, True] Translation: X:88.45, Y:-131.00, Z:-4.13 [[ 9.52265343e-01 -3.05156110e-01 -8.39435337e-03 8.84479753e+01] [-3.05144700e-01 -9.52302340e-01 2.63928029e-03 -1.31002454e+02] [-8.79935487e-03 4.81972855e-05 -9.99961284e-01 -4.12680378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.014210800308222119 Centerline is valid? [True, True] Translation: X:88.48, Y:-131.02, Z:-4.13 [[ 9.72386435e-01 -2.33237191e-01 -8.06440283e-03 8.84773273e+01] [-2.33229811e-01 -9.72419872e-01 1.85698352e-03 -1.31017023e+02] [-8.27510319e-03 7.51535660e-05 -9.99965758e-01 -4.12701454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.015267712030554848 Centerline is valid? [True, True] Translation: X:88.50, Y:-131.02, Z:-4.13 [[ 9.86709797e-01 -1.62312842e-01 -7.63659972e-03 8.85040373e+01] [-1.62308894e-01 -9.86739341e-01 1.13805565e-03 -1.31024655e+02] [-7.72005442e-03 1.16557400e-04 -9.99970193e-01 -4.12791847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.01612269781753295 Centerline is valid? [True, True] Translation: X:88.53, Y:-131.03, Z:-4.13 [[ 9.95894762e-01 -9.03625378e-02 -5.31369315e-03 8.85312993e+01] [-9.03618501e-02 -9.95908931e-01 3.69853988e-04 -1.31034208e+02] [-5.32537541e-03 1.11819494e-04 -9.99985814e-01 -4.12985971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.0171104494048651 Centerline is valid? [True, True] Translation: X:88.56, Y:-131.04, Z:-4.13 [[ 9.99884490e-01 -1.47612437e-02 -3.62104329e-03 8.85585091e+01] [-1.47614585e-02 -9.99891043e-01 -3.26061693e-05 -1.31041392e+02] [-3.62016744e-03 8.60542831e-05 -9.99993444e-01 -4.13109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.01652337252744928 Centerline is valid? [True, True] Translation: X:88.59, Y:-131.05, Z:-4.13 [[ 9.97900336e-01 6.46311624e-02 -4.21106785e-03 8.85873877e+01] [ 6.46301821e-02 -9.97909216e-01 -3.68612241e-04 -1.31051972e+02] [-4.22608725e-03 9.56761977e-05 -9.99991066e-01 -4.13066930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.0154519663153159 Centerline is valid? [True, True] Translation: X:88.62, Y:-131.07, Z:-4.13 [[ 9.89045613e-01 1.47493912e-01 -5.85845948e-03 8.86179717e+01] [ 1.47490699e-01 -9.89062958e-01 -9.79087073e-04 -1.31065066e+02] [-5.93879465e-03 1.04293491e-04 -9.99982360e-01 -4.12928098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.01460108907340803 Centerline is valid? [True, True] Translation: X:88.65, Y:-131.07, Z:-4.13 [[ 9.73331135e-01 2.29307836e-01 -6.66465124e-03 8.86502037e+01] [ 2.29301853e-01 -9.73353948e-01 -1.65867184e-03 -1.31074502e+02] [-6.86741105e-03 8.62200613e-05 -9.99976415e-01 -4.12788697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.013839744821548698 Centerline is valid? [True, True] Translation: X:88.68, Y:-131.08, Z:-4.13 [[ 9.49796067e-01 3.12770556e-01 -7.87472177e-03 8.86828099e+01] [ 3.12759505e-01 -9.49828710e-01 -2.62943243e-03 -1.31081795e+02] [-8.30204586e-03 3.45304967e-05 -9.99965537e-01 -4.12749003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.0137127822881605 Centerline is valid? [True, True] Translation: X:88.72, Y:-131.08, Z:-4.13 [[ 9.20825761e-01 3.89889546e-01 -8.12769913e-03 8.87158277e+01] [ 3.89874352e-01 -9.20861630e-01 -3.44204214e-03 -1.31081833e+02] [-8.82650252e-03 7.39635011e-07 -9.99961046e-01 -4.12678950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.01382958358411598 Centerline is valid? [True, True] Translation: X:88.75, Y:-131.08, Z:-4.13 [[ 8.86237917e-01 4.63169189e-01 -7.52709985e-03 8.87468293e+01] [ 4.63152696e-01 -8.86269881e-01 -3.90875173e-03 -1.31078492e+02] [-8.48145526e-03 -2.21126066e-05 -9.99964032e-01 -4.12652483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.013651142344891688 Centerline is valid? [True, True] Translation: X:88.78, Y:-131.07, Z:-4.13 [[ 8.47847986e-01 5.30206633e-01 -5.89230833e-03 8.87771696e+01] [ 5.30193912e-01 -8.47868461e-01 -3.67278385e-03 -1.31068773e+02] [-6.94323675e-03 -1.01036093e-05 -9.99975895e-01 -4.12889144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.013601114645243235 Centerline is valid? [True, True] Translation: X:88.81, Y:-131.06, Z:-4.13 [[ 8.04958549e-01 5.93316902e-01 -4.09739864e-03 8.88082418e+01] [ 5.93309194e-01 -8.04968977e-01 -3.02432366e-03 -1.31058760e+02] [-5.09266114e-03 3.43089704e-06 -9.99987032e-01 -4.13022902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.013620838183107437 Centerline is valid? [True, True] Translation: X:88.84, Y:-131.04, Z:-4.13 [[ 7.56504404e-01 6.53976324e-01 -4.00681383e-03 8.88352288e+01] [ 6.53967101e-01 -7.56515015e-01 -3.47327942e-03 -1.31044458e+02] [-5.30265734e-03 7.22675232e-06 -9.99985941e-01 -4.12941440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.013698495503563751 Centerline is valid? [True, True] Translation: X:88.86, Y:-131.02, Z:-4.13 [[ 7.02854701e-01 7.11320542e-01 -4.28436732e-03 8.88587032e+01] [ 7.11307266e-01 -7.02867759e-01 -4.34595695e-03 -1.31024566e+02] [-6.10271211e-03 7.07466754e-06 -9.99981378e-01 -4.12816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.013722565868486376 Centerline is valid? [True, True] Translation: X:88.88, Y:-131.00, Z:-4.13 [[ 6.43521668e-01 7.65407340e-01 -5.60948821e-03 8.88813750e+01] [ 7.65378365e-01 -6.43546116e-01 -6.65996285e-03 -1.31004458e+02] [-8.70754880e-03 -7.55050470e-06 -9.99962089e-01 -4.12501697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.013762514516936037 Centerline is valid? [True, True] Translation: X:88.91, Y:-130.99, Z:-4.12 [[ 5.79288431e-01 8.15093967e-01 -6.83659826e-03 8.89108172e+01] [ 8.15038102e-01 -5.79328770e-01 -9.54299927e-03 -1.30987314e+02] [-1.17390792e-02 -4.39389885e-05 -9.99931094e-01 -4.12466238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.014058195281798745 Centerline is valid? [True, True] Translation: X:88.93, Y:-130.97, Z:-4.12 [[ 5.12322299e-01 8.58761149e-01 -7.42638494e-03 8.89348303e+01] [ 8.58673099e-01 -5.12376115e-01 -1.22974190e-02 -1.30965932e+02] [-1.43656480e-02 -7.65949801e-05 -9.99896806e-01 -4.12184538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.014236090355075594 Centerline is valid? [True, True] Translation: X:88.96, Y:-130.94, Z:-4.12 [[ 4.42990373e-01 8.96499400e-01 -6.95387722e-03 8.89561655e+01] [ 8.96392197e-01 -4.43044939e-01 -1.38639905e-02 -1.30941052e+02] [-1.55099392e-02 -9.17869747e-05 -9.99879710e-01 -4.12075456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.013920936433955214 Centerline is valid? [True, True] Translation: X:88.97, Y:-130.91, Z:-4.12 [[ 3.72114601e-01 9.28173919e-01 -4.88871505e-03 8.89722823e+01] [ 9.28096184e-01 -3.72146707e-01 -1.20125854e-02 -1.30913750e+02] [-1.29690877e-02 -6.71393398e-05 -9.99915896e-01 -4.12262458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.01371549964923702 Centerline is valid? [True, True] Translation: X:88.99, Y:-130.88, Z:-4.12 [[ 2.99076727e-01 9.54222829e-01 -3.45037519e-03 8.89857961e+01] [ 9.54161226e-01 -2.99096625e-01 -1.08426645e-02 -1.30884767e+02] [-1.13783136e-02 -4.94256140e-05 -9.99935264e-01 -4.12424572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.013441261220288603 Centerline is valid? [True, True] Translation: X:89.00, Y:-130.86, Z:-4.13 [[ 2.24772047e-01 9.74408750e-01 -2.26144526e-03 8.89959289e+01] [ 9.74360754e-01 -2.24783421e-01 -9.67131732e-03 -1.30855053e+02] [-9.93215162e-03 -2.96217161e-05 -9.99950675e-01 -4.12642673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.01355779201217736 Centerline is valid? [True, True] Translation: X:89.00, Y:-130.82, Z:-4.13 [[ 1.47168660e-01 9.89110064e-01 -1.63317105e-03 8.90047623e+01] [ 9.89052067e-01 -1.47177716e-01 -1.07111556e-02 -1.30824421e+02] [-1.08348782e-02 -3.89447879e-05 -9.99941300e-01 -4.12603161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.013638234336462753 Centerline is valid? [True, True] Translation: X:89.02, Y:-130.79, Z:-4.13 [[ 6.70708324e-02 9.97747814e-01 -8.96662947e-04 8.90161266e+01] [ 9.97672339e-01 -6.70767878e-02 -1.22722873e-02 -1.30794330e+02] [-1.23047931e-02 -7.14632911e-05 -9.99924291e-01 -4.12549942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.014068997038230845 Centerline is valid? [True, True] Translation: X:89.02, Y:-130.76, Z:-4.12 [[-1.35740830e-02 9.99907865e-01 7.14331742e-05 8.90236980e+01] [ 9.99822212e-01 1.35738552e-02 -1.30879334e-02 -1.30764563e+02] [-1.30876971e-02 -1.06236219e-04 -9.99914347e-01 -4.12448327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.014369578138539797 Centerline is valid? [True, True] Translation: X:89.03, Y:-130.73, Z:-4.12 [[-9.58380082e-02 9.95396222e-01 1.19901779e-03 8.90294386e+01] [ 9.95294101e-01 9.58453518e-02 -1.42590806e-02 -1.30733066e+02] [-1.43083553e-02 -1.73186549e-04 -9.99897615e-01 -4.12454791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.014930744949891737 Centerline is valid? [True, True] Translation: X:89.03, Y:-130.70, Z:-4.12 [[-1.75529271e-01 9.84471201e-01 2.43508431e-03 8.90315540e+01] [ 9.84358874e-01 1.75546031e-01 -1.48727585e-02 -1.30702351e+02] [-1.50692718e-02 -2.13607610e-04 -9.99886429e-01 -4.12311852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.015196612256043837 Centerline is valid? [True, True] Translation: X:89.03, Y:-130.67, Z:-4.12 [[-2.53609681e-01 9.67300450e-01 3.45976181e-03 8.90278120e+01] [ 9.67197769e-01 2.53633176e-01 -1.40956601e-02 -1.30671890e+02] [-1.45122487e-02 -2.28521958e-04 -9.99894666e-01 -4.12422959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.0160950810087195 Centerline is valid? [True, True] Translation: X:89.02, Y:-130.64, Z:-4.12 [[-3.29013200e-01 9.44316761e-01 4.02103701e-03 8.90219326e+01] [ 9.44238350e-01 3.29037706e-01 -1.21707443e-02 -1.30643150e+02] [-1.28161106e-02 -2.07518182e-04 -9.99917849e-01 -4.12485349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.015237499764040013 Centerline is valid? [True, True] Translation: X:89.01, Y:-130.62, Z:-4.13 [[-4.01979801e-01 9.15637569e-01 4.48118841e-03 8.90113345e+01] [ 9.15575397e-01 4.02004735e-01 -1.06716933e-02 -1.30615054e+02] [-1.15728623e-02 -1.86939315e-04 -9.99933015e-01 -4.12738644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.015497395273192402 Centerline is valid? [True, True] Translation: X:89.00, Y:-130.59, Z:-4.13 [[-4.72359934e-01 8.81389563e-01 5.34148722e-03 8.90008559e+01] [ 8.81328680e-01 4.72390097e-01 -1.03611307e-02 -1.30588234e+02] [-1.16554581e-02 -1.86577124e-04 -9.99932056e-01 -4.12681659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.015080998100412774 Centerline is valid? [True, True] Translation: X:88.99, Y:-130.56, Z:-4.13 [[-5.38914100e-01 8.42336795e-01 6.34953987e-03 8.89850117e+01] [ 8.42274391e-01 5.38951474e-01 -1.02546601e-02 -1.30562627e+02] [-1.20599714e-02 -1.78326085e-04 -9.99927260e-01 -4.12686748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.014382681314507331 Centerline is valid? [True, True] Translation: X:88.97, Y:-130.54, Z:-4.13 [[-6.02754749e-01 7.97891060e-01 7.52120224e-03 8.89704726e+01] [ 7.97825189e-01 6.02801645e-01 -1.02539778e-02 -1.30536387e+02] [-1.27153503e-02 -1.80029211e-04 -9.99919141e-01 -4.12799111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.014807819602661407 Centerline is valid? [True, True] Translation: X:88.96, Y:-130.51, Z:-4.13 [[-6.63628312e-01 7.47998366e-01 9.79330747e-03 8.89556317e+01] [ 7.47912060e-01 6.63700533e-01 -1.13645037e-02 -1.30511626e+02] [-1.50004535e-02 -2.17273608e-04 -9.99887463e-01 -4.12502854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.014949640291227835 Centerline is valid? [True, True] Translation: X:88.94, Y:-130.49, Z:-4.12 [[-7.20521516e-01 6.93334206e-01 1.16800274e-02 8.89371555e+01] [ 6.93237536e-01 7.20616138e-01 -1.15801902e-02 -1.30487755e+02] [-1.64457582e-02 -2.46742783e-04 -9.99864729e-01 -4.12414218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.015232389463629982 Centerline is valid? [True, True] Translation: X:88.95, Y:-130.47, Z:-4.12 [[-7.67471388e-01 6.40964300e-01 1.23464788e-02 8.89547122e+01] [ 6.40876362e-01 7.67570655e-01 -1.06197121e-02 -1.30471246e+02] [-1.62836511e-02 -2.37758755e-04 -9.99867384e-01 -4.12388724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.014979138565530308 Centerline is valid? [True, True] Translation: X:88.97, Y:-130.46, Z:-4.13 [[-8.10067618e-01 5.86221525e-01 1.16093813e-02 8.89728771e+01] [ 5.86157944e-01 8.10150781e-01 -8.63579682e-03 -1.30455419e+02] [-1.44678393e-02 -1.90648262e-04 -9.99895317e-01 -4.12537882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.014250272559220666 Centerline is valid? [True, True] Translation: X:88.99, Y:-130.44, Z:-4.13 [[-8.47812744e-01 5.30185306e-01 1.08209200e-02 8.89887062e+01] [ 5.30140209e-01 8.47881787e-01 -6.91615186e-03 -1.30440747e+02] [-1.28417031e-02 -1.26996899e-04 -9.99917534e-01 -4.12639239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.013276256402845523 Centerline is valid? [True, True] Translation: X:89.00, Y:-130.42, Z:-4.13 [[-8.81850167e-01 4.71390839e-01 1.14437635e-02 8.90016451e+01] [ 4.71349808e-01 8.81924412e-01 -6.22012121e-03 -1.30423456e+02] [-1.30246426e-02 -9.11991879e-05 -9.99915172e-01 -4.12871313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.013495404280912466 Centerline is valid? [True, True] Translation: X:89.34, Y:-129.81, Z:-5.13 [[-8.42507092e-01 -5.38558994e-01 1.16622896e-02 8.93403187e+01] [ 5.38509658e-01 -8.42587794e-01 -7.29089064e-03 -1.29813305e+02] [ 1.37530776e-02 1.37628529e-04 9.99905413e-01 -5.12639592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.012938120648368016 Centerline is valid? [True, True] Translation: X:89.33, Y:-129.84, Z:-5.12 [[-8.05166043e-01 -5.92936205e-01 1.15888004e-02 8.93315671e+01] [ 5.92875326e-01 -8.05249437e-01 -8.49660696e-03 -1.29838649e+02] [ 1.43698209e-02 2.95343980e-05 9.99896748e-01 -5.12367962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.013015209544285453 Centerline is valid? [True, True] Translation: X:88.91, Y:-130.42, Z:-4.13 [[-8.46691314e-01 5.31931832e-01 1.27414616e-02 8.89066522e+01] [ 5.31871374e-01 8.46787179e-01 -8.01967086e-03 -1.30415949e+02] [-1.50552246e-02 -1.33669555e-05 -9.99886664e-01 -4.12896007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.013000612701610166 Centerline is valid? [True, True] Translation: X:88.92, Y:-130.40, Z:-4.13 [[-8.82735522e-01 4.69698604e-01 1.26972428e-02 8.89233840e+01] [ 4.69649556e-01 8.82826835e-01 -6.78778254e-03 -1.30397249e+02] [-1.43976786e-02 -2.85623384e-05 -9.99896348e-01 -4.12990477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.013080753100270308 Centerline is valid? [True, True] Translation: X:88.94, Y:-130.37, Z:-4.13 [[-9.15014089e-01 4.03227190e-01 1.25319324e-02 8.89352335e+01] [ 4.03188334e-01 9.15099901e-01 -5.59814869e-03 -1.30373376e+02] [-1.37252958e-02 -6.96559961e-05 -9.99905801e-01 -4.13042166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.013385974014916287 Centerline is valid? [True, True] Translation: X:88.94, Y:-130.35, Z:-4.13 [[-9.42175366e-01 3.34868179e-01 1.29954542e-02 8.89449814e+01] [ 3.34834757e-01 9.42264979e-01 -4.73224635e-03 -1.30346930e+02] [-1.38298401e-02 -1.07276181e-04 -9.99904358e-01 -4.12939477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.013519902124243416 Centerline is valid? [True, True] Translation: X:88.96, Y:-130.32, Z:-4.13 [[-9.63895053e-01 2.65944022e-01 1.34203116e-02 8.89551807e+01] [ 2.65916397e-01 9.63988465e-01 -3.83524144e-03 -1.30321525e+02] [-1.39569851e-02 -1.28089341e-04 -9.99902588e-01 -4.12950643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.014104894176204075 Centerline is valid? [True, True] Translation: X:88.95, Y:-130.29, Z:-4.13 [[-9.80861537e-01 1.94245330e-01 1.33939160e-02 8.89508408e+01] [ 1.94224936e-01 9.80952968e-01 -2.81944653e-03 -1.30292157e+02] [-1.36864660e-02 -1.64054173e-04 -9.99906323e-01 -4.12906393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.013795802244762508 Centerline is valid? [True, True] Translation: X:88.96, Y:-130.27, Z:-4.13 [[-9.92161787e-01 1.24263538e-01 1.31743062e-02 8.89647555e+01] [ 1.24250462e-01 9.92249237e-01 -1.80960477e-03 -1.30269539e+02] [-1.32970632e-02 -1.58507062e-04 -9.99911578e-01 -4.13080523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.013416983685960318 Centerline is valid? [True, True] Translation: X:88.96, Y:-130.24, Z:-4.13 [[-9.98370256e-01 5.58558981e-02 1.17025781e-02 8.89630786e+01] [ 5.58507336e-02 9.98438834e-01 -7.67911593e-04 -1.30244262e+02] [-1.17272008e-02 -1.13062523e-04 -9.99931228e-01 -4.13167483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.01302232228170596 Centerline is valid? [True, True] Translation: X:88.97, Y:-130.22, Z:-4.13 [[-9.99875746e-01 -1.16503171e-02 1.06189590e-02 8.89732442e+01] [-1.16503430e-02 9.99932131e-01 5.94226784e-05 -1.30219522e+02] [-1.06189306e-02 -6.42992195e-05 -9.99943616e-01 -4.13184571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.01286861615770359 Centerline is valid? [True, True] Translation: X:88.97, Y:-129.48, Z:-5.12 [[-9.97804140e-01 -6.54560711e-02 1.01193003e-02 8.89738410e+01] [ 6.54530235e-02 -9.97855451e-01 -6.32402263e-04 -1.29484647e+02] [ 1.01389936e-02 3.13252062e-05 9.99948599e-01 -5.12058126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.012765266382059572 Centerline is valid? [True, True] Translation: X:88.91, Y:-130.22, Z:-4.13 [[-9.99893274e-01 -1.16960451e-02 8.75466606e-03 8.89077740e+01] [-1.16957098e-02 9.99931599e-01 8.94936560e-05 -1.30222995e+02] [-8.75511396e-03 -1.29079291e-05 -9.99961673e-01 -4.13256538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.012926649470899072 Centerline is valid? [True, True] Translation: X:88.90, Y:-129.49, Z:-5.12 [[-9.98252041e-01 -5.83523789e-02 9.37353738e-03 8.89018212e+01] [ 5.83503208e-02 -9.98296047e-01 -4.93129888e-04 -1.29485065e+02] [ 9.38634062e-03 5.46809961e-05 9.99955946e-01 -5.12151190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.012958094385039318 Centerline is valid? [True, True] Translation: X:88.84, Y:-130.22, Z:-4.13 [[-9.99815900e-01 -1.67278630e-02 9.39916977e-03 8.88400044e+01] [-1.67272901e-02 9.99860079e-01 1.39570059e-04 -1.30221924e+02] [-9.40018934e-03 -1.76782746e-05 -9.99955817e-01 -4.13037492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.012999721824055382 Centerline is valid? [True, True] Translation: X:88.83, Y:-130.19, Z:-4.13 [[-9.95852271e-01 -9.03799710e-02 1.04745328e-02 8.88315666e+01] [-9.03754791e-02 9.95907354e-01 9.02355735e-04 -1.30190736e+02] [-1.05132191e-02 -4.80279091e-05 -9.99944734e-01 -4.12927128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.01326761010232892 Centerline is valid? [True, True] Translation: X:88.83, Y:-130.16, Z:-4.13 [[-9.86562754e-01 -1.63104190e-01 9.53705615e-03 8.88265226e+01] [-1.63097199e-01 9.86608848e-01 1.51140499e-03 -1.30160293e+02] [-9.65586047e-03 -6.43712737e-05 -9.99953379e-01 -4.12939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.013454005386643285 Centerline is valid? [True, True] Translation: X:88.80, Y:-130.14, Z:-4.13 [[-9.72169052e-01 -2.34116176e-01 8.77214821e-03 8.88045229e+01] [-2.34107302e-01 9.72208625e-01 2.03962486e-03 -1.30135053e+02] [-9.00586732e-03 -7.07637826e-05 -9.99959444e-01 -4.13028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.013222921495637516 Centerline is valid? [True, True] Translation: X:88.78, Y:-130.11, Z:-4.13 [[-9.52458962e-01 -3.04583383e-01 7.13360028e-03 8.87823630e+01] [-3.04575393e-01 9.52485673e-01 2.20722219e-03 -1.30112142e+02] [-7.46693527e-03 -7.04305559e-05 -9.99972120e-01 -4.13301831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.013278441520231938 Centerline is valid? [True, True] Translation: X:88.75, Y:-130.09, Z:-4.13 [[-9.27374544e-01 -3.74067457e-01 7.07053980e-03 8.87503931e+01] [-3.74057251e-01 9.27401494e-01 2.76449591e-03 -1.30092283e+02] [-7.59133712e-03 -8.10635444e-05 -9.99971182e-01 -4.13310496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.0135597386447311 Centerline is valid? [True, True] Translation: X:88.69, Y:-130.09, Z:-4.13 [[-8.97074209e-01 -4.41819400e-01 7.31312365e-03 8.86947019e+01] [-4.41805577e-01 8.97104012e-01 3.49615349e-03 -1.30085069e+02] [-8.10530101e-03 -9.46696843e-05 -9.99967147e-01 -4.13269033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.013800572951116955 Centerline is valid? [True, True] Translation: X:88.63, Y:-130.09, Z:-4.13 [[-8.61544790e-01 -5.07631246e-01 7.14797769e-03 8.86315241e+01] [-5.07614781e-01 8.61574435e-01 4.08981506e-03 -1.30086347e+02] [-8.23463276e-03 -1.04860277e-04 -9.99966089e-01 -4.13273661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.013525877154546569 Centerline is valid? [True, True] Translation: X:88.56, Y:-130.10, Z:-4.13 [[-8.21455335e-01 -5.70224369e-01 7.43645621e-03 8.85596419e+01] [-5.70202266e-01 8.21488987e-01 5.02200789e-03 -1.30098938e+02] [-8.97263816e-03 -1.14929006e-04 -9.99959739e-01 -4.13252365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.01553245888578092 Centerline is valid? [True, True] Translation: X:88.48, Y:-130.12, Z:-4.13 [[-7.76647421e-01 -6.29882139e-01 8.20208958e-03 8.84798087e+01] [-6.29848830e-01 7.76690719e-01 6.47909575e-03 -1.30118559e+02] [-1.04515535e-02 -1.34103522e-04 -9.99945372e-01 -4.12809798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.013659705734343849 Centerline is valid? [True, True] Translation: X:88.40, Y:-130.16, Z:-4.13 [[-7.27437052e-01 -6.86126935e-01 8.07250119e-03 8.84010985e+01] [-6.86086776e-01 7.27481828e-01 7.42469447e-03 -1.30156425e+02] [-1.09668808e-02 -1.37438457e-04 -9.99939853e-01 -4.13074436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.013239186989827003 Centerline is valid? [True, True] Translation: X:88.32, Y:-130.20, Z:-4.13 [[-6.75193018e-01 -7.37613108e-01 6.42574548e-03 8.83221494e+01] [-7.37581079e-01 6.75223587e-01 6.87448850e-03 -1.30201017e+02] [-9.40952774e-03 -9.79016509e-05 -9.99955725e-01 -4.13235392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.012823775741434906 Centerline is valid? [True, True] Translation: X:88.24, Y:-130.25, Z:-4.13 [[-6.18612972e-01 -7.85682947e-01 4.50539308e-03 8.82431962e+01] [-7.85662861e-01 6.18629375e-01 5.61827592e-03 -1.30254315e+02] [-7.20135208e-03 -6.41816580e-05 -9.99974068e-01 -4.13450065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.012930077289165428 Centerline is valid? [True, True] Translation: X:88.16, Y:-130.32, Z:-4.13 [[-5.56255327e-01 -8.31001968e-01 3.96750833e-03 8.81609034e+01] [-8.30981729e-01 5.56269471e-01 5.80020960e-03 -1.30318971e+02] [-7.02698935e-03 -7.05294442e-05 -9.99975308e-01 -4.13430161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.013190144941914193 Centerline is valid? [True, True] Translation: X:88.08, Y:-130.40, Z:-4.13 [[-4.89360604e-01 -8.72071794e-01 4.12134108e-03 8.80781067e+01] [-8.72042614e-01 4.89377948e-01 7.13466812e-03 -1.30397719e+02] [-8.23883626e-03 -1.02559545e-04 -9.99966055e-01 -4.13308709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.0135043870715173 Centerline is valid? [True, True] Translation: X:88.01, Y:-130.47, Z:-4.13 [[-4.19901810e-01 -9.07562257e-01 3.63600251e-03 8.80064649e+01] [-9.07530632e-01 4.19917535e-01 7.57732040e-03 -1.30473998e+02] [-8.40371121e-03 -1.18053107e-04 -9.99964681e-01 -4.13276529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.014183391171859518 Centerline is valid? [True, True] Translation: X:87.94, Y:-130.56, Z:-4.13 [[-3.47521071e-01 -9.37667017e-01 3.10974085e-03 8.79368033e+01] [-9.37632930e-01 3.47534957e-01 7.99640324e-03 -1.30562720e+02] [-8.57870722e-03 -1.36876804e-04 -9.99963193e-01 -4.13175661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.014138184087582814 Centerline is valid? [True, True] Translation: X:87.88, Y:-130.66, Z:-4.13 [[-2.75023877e-01 -9.61433904e-01 2.59155154e-03 8.78752412e+01] [-9.61395894e-01 2.75036051e-01 8.55014984e-03 -1.30661096e+02] [-8.93317404e-03 -1.40011656e-04 -9.99960089e-01 -4.13095811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.01382842285473056 Centerline is valid? [True, True] Translation: X:87.82, Y:-130.77, Z:-4.13 [[-2.02723624e-01 -9.79234247e-01 1.84992326e-03 8.78225560e+01] [-9.79198497e-01 2.02732032e-01 8.36822968e-03 -1.30768846e+02] [-8.56949579e-03 -1.15004220e-04 -9.99963275e-01 -4.13134348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.013408498647532205 Centerline is valid? [True, True] Translation: X:87.78, Y:-130.87, Z:-4.13 [[-1.29164097e-01 -9.91622616e-01 1.10585769e-03 8.77791078e+01] [-9.91591826e-01 1.29168802e-01 7.81487851e-03 -1.30867625e+02] [-7.89225258e-03 -8.71577155e-05 -9.99968852e-01 -4.13131319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.01272107215565798 Centerline is valid? [True, True] Translation: X:87.74, Y:-130.98, Z:-4.13 [[-5.74809953e-02 -9.98346532e-01 3.69464352e-04 8.77440767e+01] [-9.98329668e-01 5.74821719e-02 5.80296608e-03 -1.30983641e+02] [-5.81460868e-03 -3.52869574e-05 -9.99983094e-01 -4.13302629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.012478107079796465 Centerline is valid? [True, True] Translation: X:87.72, Y:-131.09, Z:-4.13 [[ 1.50637254e-02 -9.99886533e-01 -7.12901860e-05 8.77183373e+01] [-9.99872584e-01 -1.50638918e-02 5.28148917e-03 -1.31092509e+02] [-5.28196380e-03 -8.27780001e-06 -9.99986050e-01 -4.13380710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.012585806859966795 Centerline is valid? [True, True] Translation: X:87.70, Y:-131.20, Z:-4.13 [[ 9.00274277e-02 -9.95939109e-01 -5.94951040e-04 8.76967299e+01] [-9.95917235e-01 -9.00293935e-02 6.60069290e-03 -1.31201248e+02] [-6.62745128e-03 -1.72140740e-06 -9.99978038e-01 -4.13222019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.012617721092745454 Centerline is valid? [True, True] Translation: X:87.68, Y:-131.32, Z:-4.13 [[ 1.66503826e-01 -9.86039980e-01 -1.27853068e-03 8.76845860e+01] [-9.86010775e-01 -1.66508735e-01 7.58903975e-03 -1.31323804e+02] [-7.69598312e-03 -2.95912944e-06 -9.99970386e-01 -4.13086899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.01264661074112149 Centerline is valid? [True, True] Translation: X:87.68, Y:-131.44, Z:-4.13 [[ 2.42140022e-01 -9.70239395e-01 -1.93040586e-03 8.76812840e+01] [-9.70208392e-01 -2.42147716e-01 7.75630405e-03 -1.31442878e+02] [-7.99291512e-03 -5.21566883e-06 -9.99968056e-01 -4.13026735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.012737475177379713 Centerline is valid? [True, True] Translation: X:87.69, Y:-131.56, Z:-4.13 [[ 3.17537151e-01 -9.48241889e-01 -2.73451676e-03 8.76869353e+01] [-9.48206194e-01 -3.17548925e-01 8.22769502e-03 -1.31563186e+02] [-8.67018793e-03 -1.97131098e-05 -9.99962413e-01 -4.13005471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.012875658414815817 Centerline is valid? [True, True] Translation: X:87.70, Y:-131.69, Z:-4.13 [[ 3.91595967e-01 -9.20131554e-01 -3.24393899e-03 8.77020488e+01] [-9.20099174e-01 -3.91609401e-01 7.71922472e-03 -1.31685430e+02] [-8.37305924e-03 -3.80716821e-05 -9.99964945e-01 -4.13051156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.013365645872983466 Centerline is valid? [True, True] Translation: X:87.72, Y:-131.80, Z:-4.13 [[ 4.64449037e-01 -8.85591286e-01 -3.89427375e-03 8.77228135e+01] [-8.85558859e-01 -4.64465358e-01 7.57887216e-03 -1.31803267e+02] [-8.52053840e-03 -7.13912600e-05 -9.99963697e-01 -4.12944066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.013849893950911915 Centerline is valid? [True, True] Translation: X:87.75, Y:-131.91, Z:-4.13 [[ 5.33058372e-01 -8.46065845e-01 -4.62133576e-03 8.77523520e+01] [-8.46032474e-01 -5.33078396e-01 7.51517527e-03 -1.31914556e+02] [-8.82186737e-03 -9.62269719e-05 -9.99961082e-01 -4.12854900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.014234596898962686 Centerline is valid? [True, True] Translation: X:87.79, Y:-132.02, Z:-4.13 [[ 5.98672303e-01 -8.00979940e-01 -4.75500473e-03 8.77912299e+01] [-8.00953165e-01 -5.98691176e-01 6.55011592e-03 -1.32023993e+02] [-8.09329083e-03 -1.12836891e-04 -9.99967242e-01 -4.12919853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.015150272173012317 Centerline is valid? [True, True] Translation: X:87.84, Y:-132.13, Z:-4.13 [[ 6.60509346e-01 -7.50804591e-01 -4.45752664e-03 8.78398685e+01] [-7.50786281e-01 -6.60524377e-01 5.24477850e-03 -1.32134559e+02] [-6.88210878e-03 -1.17575369e-04 -9.99976311e-01 -4.12971265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.015543625146645137 Centerline is valid? [True, True] Translation: X:87.89, Y:-132.23, Z:-4.13 [[ 7.17785437e-01 -6.96249392e-01 -4.56624785e-03 8.78884228e+01] [-6.96234150e-01 -7.17799949e-01 4.60877756e-03 -1.32229831e+02] [-6.48651105e-03 -1.28935718e-04 -9.99978954e-01 -4.13015386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.015338722909633047 Centerline is valid? [True, True] Translation: X:87.94, Y:-132.32, Z:-4.13 [[ 7.69465932e-01 -6.38666706e-01 -5.19791849e-03 8.79433361e+01] [-6.38650847e-01 -7.69483475e-01 4.50318389e-03 -1.32318026e+02] [-6.87574599e-03 -1.45391545e-04 -9.99976351e-01 -4.13016802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.01734442184456782 Centerline is valid? [True, True] Translation: X:87.96, Y:-132.35, Z:-4.13 [[ 8.18474207e-01 -5.74503302e-01 -6.77707487e-03 8.79607490e+01] [-5.74481577e-01 -8.18502240e-01 5.00011552e-03 -1.32348371e+02] [-8.41963383e-03 -1.99160927e-04 -9.99964534e-01 -4.12777057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.016959792344527297 Centerline is valid? [True, True] Translation: X:87.98, Y:-132.37, Z:-4.13 [[ 8.61680474e-01 -5.07383638e-01 -8.28274877e-03 8.79847744e+01] [-5.07357431e-01 -8.61720247e-01 5.16273739e-03 -1.32372395e+02] [-9.75690080e-03 -2.46315864e-04 -9.99952370e-01 -4.12700321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.01689212695363736 Centerline is valid? [True, True] Translation: X:88.01, Y:-132.39, Z:-4.13 [[ 8.98488149e-01 -4.38880691e-01 -1.01382865e-02 8.80112595e+01] [-4.38849181e-01 -8.98545302e-01 5.26663099e-03 -1.32392584e+02] [-1.14211324e-02 -2.82826787e-04 -9.99934737e-01 -4.12577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.016850556257045218 Centerline is valid? [True, True] Translation: X:88.04, Y:-132.41, Z:-4.13 [[ 9.29593280e-01 -3.68426117e-01 -1.08871404e-02 8.80397661e+01] [-3.68397326e-01 -9.29656990e-01 4.61425196e-03 -1.32409637e+02] [-1.18213171e-02 -2.78584206e-04 -9.99930087e-01 -4.12518836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.016267862533594944 Centerline is valid? [True, True] Translation: X:88.07, Y:-132.42, Z:-4.13 [[ 9.55120665e-01 -2.96045213e-01 -1.00870140e-02 8.80696540e+01] [-2.96026103e-01 -9.55173899e-01 3.37194301e-03 -1.32424842e+02] [-1.06331001e-02 -2.34593001e-04 -9.99943440e-01 -4.12619151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.016108380107453336 Centerline is valid? [True, True] Translation: X:88.10, Y:-132.44, Z:-4.13 [[ 9.74714711e-01 -2.23300113e-01 -8.26394760e-03 8.80998082e+01] [-2.23290667e-01 -9.74749729e-01 2.06032490e-03 -1.32436437e+02] [-8.51535146e-03 -1.62966613e-04 -9.99963731e-01 -4.12745146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.014837025475322688 Centerline is valid? [True, True] Translation: X:88.13, Y:-132.44, Z:-4.13 [[ 9.88646600e-01 -1.50053033e-01 -7.87324706e-03 8.81321462e+01] [-1.50047279e-01 -9.88677942e-01 1.31988241e-03 -1.32443675e+02] [-7.98215806e-03 -1.23537956e-04 -9.99968135e-01 -4.12786446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.014054697441362294 Centerline is valid? [True, True] Translation: X:88.16, Y:-132.45, Z:-4.13 [[ 9.97052916e-01 -7.61803534e-02 -9.05739419e-03 8.81612599e+01] [-7.61762560e-02 -9.97094049e-01 7.97016208e-04 -1.32445899e+02] [-9.09179083e-03 -1.04708956e-04 -9.99958663e-01 -4.12728752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.013892389441760902 Centerline is valid? [True, True] Translation: X:88.19, Y:-132.45, Z:-4.13 [[ 9.99945681e-01 4.85559353e-04 -1.04115263e-02 8.81892920e+01] [ 4.86605204e-04 -9.99999877e-01 9.79182315e-05 -1.32446165e+02] [-1.04114775e-02 -1.02979215e-04 -9.99945794e-01 -4.12694344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.0132927038092718 Centerline is valid? [True, True] Translation: X:88.22, Y:-132.45, Z:-4.13 [[ 9.96894446e-01 7.79421117e-02 -1.12468240e-02 8.82182549e+01] [ 7.79383124e-02 -9.96957881e-01 -7.76371119e-04 -1.32453072e+02] [-1.12731218e-02 -1.02598424e-04 -9.99936451e-01 -4.12731082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.013259724306077752 Centerline is valid? [True, True] Translation: X:88.25, Y:-132.46, Z:-4.13 [[ 9.88037702e-01 1.53746596e-01 -1.19785071e-02 8.82476301e+01] [ 1.53736351e-01 -9.88110306e-01 -1.77695455e-03 -1.32458767e+02] [-1.21092870e-02 -8.58338766e-05 -9.99926676e-01 -4.12635974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.014229016933645304 Centerline is valid? [True, True] Translation: X:88.28, Y:-132.46, Z:-4.13 [[ 9.73676779e-01 2.27691232e-01 -1.04991639e-02 8.82778380e+01] [ 2.27678482e-01 -9.73733383e-01 -2.40995304e-03 -1.32461168e+02] [-1.07721115e-02 -4.39183729e-05 -9.99941978e-01 -4.12720805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.012945866516591624 Centerline is valid? [True, True] Translation: X:88.31, Y:-132.46, Z:-4.13 [[ 9.53141803e-01 3.02405018e-01 -8.47990990e-03 8.83076201e+01] [ 3.02393316e-01 -9.53179524e-01 -2.66043137e-03 -1.32462385e+02] [-8.88740428e-03 -2.84997215e-05 -9.99960506e-01 -4.13106947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.013011697551885389 Centerline is valid? [True, True] Translation: X:88.34, Y:-132.46, Z:-4.13 [[ 9.26352334e-01 3.76571543e-01 -8.07625933e-03 8.83385667e+01] [ 3.76557535e-01 -9.26387539e-01 -3.24813213e-03 -1.32462785e+02] [-8.70490013e-03 -3.22615297e-05 -9.99962111e-01 -4.13040407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.013467648171622429 Centerline is valid? [True, True] Translation: X:88.37, Y:-132.46, Z:-4.13 [[ 8.91911257e-01 4.52130350e-01 -8.51215174e-03 8.83707527e+01] [ 4.52110613e-01 -8.91951871e-01 -4.22539966e-03 -1.32463191e+02] [-9.50286109e-03 -7.97526194e-05 -9.99954844e-01 -4.12936290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.014631443843586145 Centerline is valid? [True, True] Translation: X:88.40, Y:-132.46, Z:-4.13 [[ 8.50079625e-01 5.26571373e-01 -9.33913380e-03 8.84028903e+01] [ 5.26541758e-01 -8.50130908e-01 -5.58716707e-03 -1.32461307e+02] [-1.08815285e-02 -1.67907039e-04 -9.99940780e-01 -4.12801618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.01626679867095615 Centerline is valid? [True, True] Translation: X:88.43, Y:-132.46, Z:-4.13 [[ 8.03063308e-01 5.95837505e-01 -8.18486526e-03 8.84336100e+01] [ 5.95809190e-01 -8.03104990e-01 -5.81244801e-03 -1.32455758e+02] [-1.00365806e-02 -2.08854212e-04 -9.99949611e-01 -4.12772155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.01678503386834293 Centerline is valid? [True, True] Translation: X:88.46, Y:-132.44, Z:-4.13 [[ 7.51763109e-01 6.59398603e-01 -6.76100392e-03 8.84627306e+01] [ 6.59374452e-01 -7.51793481e-01 -5.64750146e-03 -1.32444088e+02] [-8.80683324e-03 -2.12450002e-04 -9.99961197e-01 -4.12909789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.01694259678627034 Centerline is valid? [True, True] Translation: X:88.49, Y:-132.43, Z:-4.13 [[ 6.97008728e-01 7.17034287e-01 -6.37688341e-03 8.84904111e+01] [ 7.17007203e-01 -6.97037862e-01 -6.23625140e-03 -1.32429452e+02] [-8.91653525e-03 -2.25549684e-04 -9.99960222e-01 -4.12938351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.016473537812967464 Centerline is valid? [True, True] Translation: X:88.52, Y:-132.41, Z:-4.13 [[ 6.39408237e-01 7.68844355e-01 -5.95516503e-03 8.85168645e+01] [ 7.68814186e-01 -6.39435930e-01 -6.81456714e-03 -1.32412764e+02] [-9.04728797e-03 -2.21124997e-04 -9.99959048e-01 -4.12878174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.016130620145492016 Centerline is valid? [True, True] Translation: X:88.54, Y:-132.39, Z:-4.13 [[ 5.79156709e-01 8.15197167e-01 -5.57549766e-03 8.85397475e+01] [ 8.15162768e-01 -5.79183509e-01 -7.49163040e-03 -1.32393368e+02] [-9.33639218e-03 -2.06110096e-04 -9.99956394e-01 -4.12776155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.01517611849123286 Centerline is valid? [True, True] Translation: X:88.56, Y:-132.37, Z:-4.13 [[ 5.16855240e-01 8.56052826e-01 -5.84975058e-03 8.85583689e+01] [ 8.56002326e-01 -5.16888303e-01 -9.30053398e-03 -1.32370591e+02] [-1.09854161e-02 -2.00370382e-04 -9.99939638e-01 -4.12700475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.014358130500849178 Centerline is valid? [True, True] Translation: X:88.58, Y:-132.35, Z:-4.13 [[ 4.51446698e-01 8.92281413e-01 -5.45520501e-03 8.85751368e+01] [ 8.92220817e-01 -4.51479624e-01 -1.04001702e-02 -1.32345975e+02] [-1.17427925e-02 -1.72124973e-04 -9.99931036e-01 -4.12697678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.013457853736141466 Centerline is valid? [True, True] Translation: X:88.59, Y:-132.32, Z:-4.13 [[ 3.84858382e-01 9.22963955e-01 -4.64366469e-03 8.85892444e+01] [ 9.22900278e-01 -3.84886379e-01 -1.08421600e-02 -1.32320513e+02] [-1.17942062e-02 -1.12943268e-04 -9.99930440e-01 -4.12687146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.012775172179452704 Centerline is valid? [True, True] Translation: X:88.60, Y:-132.29, Z:-4.13 [[ 3.20636762e-01 9.47194264e-01 -3.88505646e-03 8.85990355e+01] [ 9.47124658e-01 -3.20660298e-01 -1.14828114e-02 -1.32293466e+02] [-1.21222364e-02 2.17868146e-06 -9.99926523e-01 -4.12733922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.013246332441583977 Centerline is valid? [True, True] Translation: X:88.61, Y:-132.27, Z:-4.13 [[ 2.52161063e-01 9.67680388e-01 -3.07650910e-03 8.86088833e+01] [ 9.67604011e-01 -2.52179814e-01 -1.21581245e-02 -1.32267633e+02] [-1.25410121e-02 8.89630531e-05 -9.99921355e-01 -4.12736168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.014485030812272566 Centerline is valid? [True, True] Translation: X:88.61, Y:-132.24, Z:-4.13 [[ 1.82999635e-01 9.83110610e-01 -2.15934200e-03 8.86149119e+01] [ 9.83029624e-01 -1.83012279e-01 -1.26200237e-02 -1.32241649e+02] [-1.28020653e-02 1.86762576e-04 -9.99918033e-01 -4.12820045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.014441676944719683 Centerline is valid? [True, True] Translation: X:88.63, Y:-132.22, Z:-4.13 [[ 1.06884347e-01 9.94270842e-01 -1.10898217e-03 8.86280795e+01] [ 9.94196614e-01 -1.06889920e-01 -1.21506076e-02 -1.32216784e+02] [-1.21995339e-02 1.96163442e-04 -9.99925564e-01 -4.12892097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.014093883429468126 Centerline is valid? [True, True] Translation: X:88.64, Y:-132.19, Z:-4.13 [[ 2.59648010e-02 9.99662845e-01 -1.57294923e-04 8.86394460e+01] [ 9.99584957e-01 -2.59647416e-02 -1.24798406e-02 -1.32190771e+02] [-1.24797171e-02 1.66806939e-04 -9.99922111e-01 -4.12855125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.013515769967935203 Centerline is valid? [True, True] Translation: X:88.65, Y:-132.16, Z:-4.13 [[-5.75474582e-02 9.98342374e-01 8.91307142e-04 8.86504859e+01] [ 9.98250717e-01 5.75542527e-02 -1.35282769e-02 -1.32163434e+02] [-1.35571506e-02 1.11230043e-04 -9.99908091e-01 -4.12711086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.013223272198587509 Centerline is valid? [True, True] Translation: X:88.66, Y:-132.14, Z:-4.13 [[-1.39051510e-01 9.90283224e-01 1.95306656e-03 8.86574954e+01] [ 9.90191905e-01 1.39065210e-01 -1.34483732e-02 -1.32135390e+02] [-1.35893020e-02 6.38940916e-05 -9.99907659e-01 -4.12609958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.012809225027889322 Centerline is valid? [True, True] Translation: X:88.66, Y:-132.11, Z:-4.13 [[-2.21106881e-01 9.75245703e-01 2.75081469e-03 8.86646288e+01] [ 9.75170028e-01 2.21123992e-01 -1.21489744e-02 -1.32106660e+02] [-1.24565062e-02 -3.70979372e-06 -9.99922415e-01 -4.12743562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.012829038067656123 Centerline is valid? [True, True] Translation: X:88.67, Y:-132.08, Z:-4.13 [[-2.99903250e-01 9.53964716e-01 3.05971427e-03 8.86682698e+01] [ 9.53913836e-01 2.99918856e-01 -9.85254722e-03 -1.32076882e+02] [-1.03166484e-02 -3.61071623e-05 -9.99946781e-01 -4.12921221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.012759147681178817 Centerline is valid? [True, True] Translation: X:88.67, Y:-132.05, Z:-4.13 [[-3.73269799e-01 9.27716214e-01 3.50479442e-03 8.86689986e+01] [ 9.27674610e-01 3.73286252e-01 -8.78587576e-03 -1.32046658e+02] [-9.45909097e-03 -2.81932806e-05 -9.99955261e-01 -4.12918968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.012695608233262908 Centerline is valid? [True, True] Translation: X:88.66, Y:-132.02, Z:-4.13 [[-4.42300212e-01 8.96858943e-01 3.81566022e-03 8.86642567e+01] [ 8.96825544e-01 4.42316670e-01 -7.74001669e-03 -1.32018141e+02] [-8.62943331e-03 -1.42946621e-06 -9.99962766e-01 -4.12900347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.012722234261879769 Centerline is valid? [True, True] Translation: X:88.66, Y:-131.99, Z:-4.13 [[-5.08510478e-01 8.61043293e-01 4.64128686e-03 8.86598743e+01] [ 8.61007905e-01 5.08531658e-01 -7.80642640e-03 -1.31988769e+02] [-9.08191239e-03 2.65350584e-05 -9.99958758e-01 -4.12885775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.012856059718212885 Centerline is valid? [True, True] Translation: X:88.65, Y:-131.96, Z:-4.13 [[-5.72538238e-01 8.19856287e-01 5.96944393e-03 8.86525087e+01] [ 8.19812704e-01 5.72569354e-01 -8.45365190e-03 -1.31961504e+02] [-1.03487003e-02 5.37870059e-05 -9.99946449e-01 -4.12750383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.012893589782314013 Centerline is valid? [True, True] Translation: X:88.64, Y:-131.93, Z:-4.13 [[-6.34935276e-01 7.72533648e-01 6.99699572e-03 8.86429198e+01] [ 7.72487741e-01 6.34973826e-01 -8.42201507e-03 -1.31933721e+02] [-1.09491992e-02 5.76589529e-05 -9.99940054e-01 -4.12686555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.012981544824299513 Centerline is valid? [True, True] Translation: X:88.63, Y:-131.91, Z:-4.13 [[-6.93942846e-01 7.19984327e-01 8.11757907e-03 8.86309407e+01] [ 7.19935976e-01 6.93990321e-01 -8.34415201e-03 -1.31908209e+02] [-1.16411800e-02 5.37726178e-05 -9.99932238e-01 -4.12545299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.013019765489130421 Centerline is valid? [True, True] Translation: X:88.61, Y:-131.88, Z:-4.13 [[-7.48152331e-01 6.63464205e-01 9.12901695e-03 8.86148549e+01] [ 6.63415744e-01 7.48208023e-01 -8.01903989e-03 -1.31884741e+02] [-1.21507497e-02 5.68701834e-05 -9.99926175e-01 -4.12552131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.012770544226059992 Centerline is valid? [True, True] Translation: X:88.63, Y:-131.86, Z:-4.13 [[-7.94328622e-01 6.07425628e-01 8.72622910e-03 8.86301255e+01] [ 6.07389409e-01 7.94376551e-01 -6.63332184e-03 -1.31861277e+02] [-1.09611615e-02 3.11817352e-05 -9.99939924e-01 -4.12680284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.012751724202693259 Centerline is valid? [True, True] Translation: X:88.65, Y:-131.84, Z:-4.13 [[-8.36594597e-01 5.47752454e-01 8.75952336e-03 8.86499418e+01] [ 5.47722502e-01 8.36640454e-01 -5.72820819e-03 -1.31840250e+02] [-1.04662117e-02 5.60002348e-06 -9.99945228e-01 -4.12672621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.01275101243364579 Centerline is valid? [True, True] Translation: X:88.67, Y:-131.81, Z:-4.13 [[-8.75209560e-01 4.83674033e-01 8.22530886e-03 8.86651331e+01] [ 4.83652323e-01 8.75248210e-01 -4.58274762e-03 -1.31813574e+02] [-9.41574287e-03 -3.26747927e-05 -9.99955670e-01 -4.12751597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.012734018707927468 Centerline is valid? [True, True] Translation: X:88.68, Y:-131.79, Z:-4.13 [[-9.08043085e-01 4.18814728e-01 7.20966842e-03 8.86776681e+01] [ 4.18801156e-01 9.08071705e-01 -3.37190535e-03 -1.31788295e+02] [-7.95909952e-03 -4.24178612e-05 -9.99968325e-01 -4.12845359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.012654050512034925 Centerline is valid? [True, True] Translation: X:88.68, Y:-131.76, Z:-4.13 [[-9.35211507e-01 3.54016443e-01 7.19690148e-03 8.86844589e+01] [ 3.54005659e-01 9.35239198e-01 -2.76340142e-03 -1.31763375e+02] [-7.70911391e-03 -3.66209512e-05 -9.99970284e-01 -4.12808866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.01260292361412271 Centerline is valid? [True, True] Translation: X:88.70, Y:-131.74, Z:-4.13 [[-9.57941424e-01 2.86867212e-01 7.44514543e-03 8.86977770e+01] [ 2.86858248e-01 9.57970355e-01 -2.26805510e-03 -1.31740141e+02] [-7.78285926e-03 -3.69625539e-05 -9.99969712e-01 -4.12783492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.012657795745197934 Centerline is valid? [True, True] Translation: X:88.70, Y:-131.71, Z:-4.13 [[-9.76058290e-01 2.17383396e-01 7.39411960e-03 8.87037782e+01] [ 2.17376829e-01 9.76086296e-01 -1.69028440e-03 -1.31713319e+02] [-7.58473857e-03 -4.25058343e-05 -9.99971235e-01 -4.12827118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.013073822912762394 Centerline is valid? [True, True] Translation: X:88.71, Y:-131.69, Z:-4.13 [[-9.89349740e-01 1.45390483e-01 6.97843505e-03 8.87094714e+01] [ 1.45386460e-01 9.89374350e-01 -1.08316501e-03 -1.31685588e+02] [-7.06176653e-03 -5.70590567e-05 -9.99975064e-01 -4.12843563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.013291181120907615 Centerline is valid? [True, True] Translation: X:88.71, Y:-131.66, Z:-4.13 [[-9.97364154e-01 7.20862159e-02 8.26570188e-03 8.87096482e+01] [ 7.20829946e-02 9.97398401e-01 -6.87357721e-04 -1.31659112e+02] [-8.29374685e-03 -8.97294083e-05 -9.99965602e-01 -4.12816776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.014100135048081254 Centerline is valid? [True, True] Translation: X:88.70, Y:-131.63, Z:-4.13 [[-9.99966525e-01 -2.86624238e-04 8.17719156e-03 8.87030551e+01] [-2.87433106e-04 9.99999954e-01 -9.77425411e-05 -1.31630726e+02] [-8.17716317e-03 -1.00089665e-04 -9.99966562e-01 -4.12719206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.013803323251556452 Centerline is valid? [True, True] Translation: X:88.72, Y:-130.94, Z:-5.12 [[-9.95824095e-01 -9.10513789e-02 6.63460950e-03 8.87186215e+01] [ 9.10492518e-02 -9.95846196e-01 -6.22577314e-04 -1.30941132e+02] [ 6.66373716e-03 -1.59012596e-05 9.99977797e-01 -5.12318580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.013175758720338342 Centerline is valid? [True, True] Translation: X:88.65, Y:-131.64, Z:-4.13 [[-9.99983120e-01 -1.91905193e-03 5.48430768e-03 8.86452189e+01] [-1.91930444e-03 9.99998157e-01 -4.07789057e-05 -1.31638463e+02] [-5.48421931e-03 -5.13042734e-05 -9.99984960e-01 -4.13107425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.012541238020894317 Centerline is valid? [True, True] Translation: X:88.65, Y:-130.93, Z:-5.12 [[-9.96818360e-01 -7.95402998e-02 5.14770669e-03 8.86547300e+01] [ 7.95393889e-02 -9.96831651e-01 -3.81759883e-04 -1.30929773e+02] [ 5.16176225e-03 2.89001833e-05 9.99986678e-01 -5.12090684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.012553796363722692 Centerline is valid? [True, True] Translation: X:88.59, Y:-131.65, Z:-4.13 [[-9.99975382e-01 4.02968411e-03 5.74433242e-03 8.85864353e+01] [ 4.02965781e-03 9.99991881e-01 -1.61527219e-05 -1.31652026e+02] [-5.74435087e-03 6.99536979e-06 -9.99983501e-01 -4.13040684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.012477095571792015 Centerline is valid? [True, True] Translation: X:88.58, Y:-131.63, Z:-4.13 [[-9.97809585e-01 -6.58718434e-02 6.07716707e-03 8.85836878e+01] [-6.58705337e-02 9.97828091e-01 4.15639494e-04 -1.31626817e+02] [-6.09134696e-03 1.44228337e-05 -9.99981448e-01 -4.13007399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.012602744895269313 Centerline is valid? [True, True] Translation: X:88.54, Y:-130.89, Z:-5.12 [[-9.99977240e-01 3.49755860e-03 5.76942968e-03 8.85395816e+01] [-3.49770074e-03 -9.99993883e-01 -1.45472482e-05 -1.30894304e+02] [ 5.76934350e-03 -3.47266555e-05 9.99983357e-01 -5.12222359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.012573617495644488 Centerline is valid? [True, True] Translation: X:88.50, Y:-131.63, Z:-4.13 [[-9.97254534e-01 -7.37699793e-02 6.43312618e-03 8.85025946e+01] [-7.37684617e-02 9.97275283e-01 4.73192166e-04 -1.31631505e+02] [-6.45050511e-03 -2.66878913e-06 -9.99979195e-01 -4.13028109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.012715695826911975 Centerline is valid? [True, True] Translation: X:88.50, Y:-131.60, Z:-4.13 [[-9.89050189e-01 -1.47390226e-01 7.47299700e-03 8.84978361e+01] [-1.47386209e-01 9.89078420e-01 1.08850880e-03 -1.31603092e+02] [-7.55181562e-03 -2.48268595e-05 -9.99971484e-01 -4.12975976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.013464365236788347 Centerline is valid? [True, True] Translation: X:88.40, Y:-130.89, Z:-5.13 [[-9.97497695e-01 7.01330846e-02 8.92742352e-03 8.83960587e+01] [-7.01291251e-02 -9.97537635e-01 7.56179529e-04 -1.30886907e+02] [ 8.95847415e-03 1.28214937e-04 9.99959864e-01 -5.12569472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.0133283494361444 Centerline is valid? [True, True] Translation: X:88.40, Y:-131.61, Z:-4.13 [[-9.87265957e-01 -1.58784459e-01 9.66572265e-03 8.83974930e+01] [-1.58777705e-01 9.87313267e-01 1.46706478e-03 -1.31611300e+02] [-9.77604330e-03 -8.63181486e-05 -9.99952210e-01 -4.12793251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.013604286817856534 Centerline is valid? [True, True] Translation: X:88.38, Y:-131.59, Z:-4.13 [[-9.73189186e-01 -2.29813908e-01 9.40089082e-03 8.83829942e+01] [-2.29804136e-01 9.73234586e-01 2.12139557e-03 -1.31585894e+02] [-9.63679829e-03 -9.58443615e-05 -9.99953560e-01 -4.12908809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.013899056786879794 Centerline is valid? [True, True] Translation: X:88.36, Y:-131.56, Z:-4.13 [[-9.54030615e-01 -2.99582584e-01 8.70979934e-03 8.83630879e+01] [-2.99571028e-01 9.54070367e-01 2.63315166e-03 -1.31561789e+02] [-9.09860784e-03 -9.70962428e-05 -9.99958602e-01 -4.12948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.01388269338992194 Centerline is valid? [True, True] Translation: X:88.33, Y:-131.54, Z:-4.13 [[-9.29620757e-01 -3.68436154e-01 7.74909282e-03 8.83325313e+01] [-3.68424214e-01 9.29653049e-01 2.96771688e-03 -1.31541936e+02] [-8.29738196e-03 -9.61022231e-05 -9.99965572e-01 -4.13069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.01402401129695381 Centerline is valid? [True, True] Translation: X:88.28, Y:-131.53, Z:-4.13 [[-9.00367028e-01 -4.35074104e-01 7.05261251e-03 8.82802777e+01] [-4.35061530e-01 9.00394645e-01 3.30894415e-03 -1.31533783e+02] [-7.78977045e-03 -8.90561767e-05 -9.99969655e-01 -4.13051486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.013677127305146275 Centerline is valid? [True, True] Translation: X:88.22, Y:-131.54, Z:-4.13 [[-8.66396132e-01 -4.99304389e-01 7.27112835e-03 8.82200048e+01] [-4.99287632e-01 8.66426639e-01 4.09148500e-03 -1.31535546e+02] [-8.34279571e-03 -8.55376795e-05 -9.99965195e-01 -4.13099044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.013689270464063994 Centerline is valid? [True, True] Translation: X:88.15, Y:-131.55, Z:-4.13 [[-8.27426742e-01 -5.61518113e-01 7.89913451e-03 8.81477909e+01] [-5.61493554e-01 8.27464441e-01 5.25241653e-03 -1.31548626e+02] [-9.48557994e-03 -8.93232155e-05 -9.99955007e-01 -4.12961531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.013678017222516187 Centerline is valid? [True, True] Translation: X:88.07, Y:-131.57, Z:-4.13 [[-7.83180713e-01 -6.21727937e-01 9.07426687e-03 8.80684127e+01] [-6.21687808e-01 7.83233273e-01 7.06464510e-03 -1.31572606e+02] [-1.14995550e-02 -1.08467287e-04 -9.99933872e-01 -4.12827085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.013617857266197525 Centerline is valid? [True, True] Translation: X:87.99, Y:-131.60, Z:-4.13 [[-7.34664147e-01 -6.78353822e-01 1.02314866e-02 8.79899822e+01] [-6.78290337e-01 7.34735379e-01 9.28122248e-03 -1.31604684e+02] [-1.38133879e-02 -1.21337122e-04 -9.99904583e-01 -4.12711484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.013658349409381137 Centerline is valid? [True, True] Translation: X:87.91, Y:-131.65, Z:-4.13 [[-6.82373203e-01 -7.30942820e-01 9.45544371e-03 8.79086300e+01] [-7.30874735e-01 6.82438703e-01 9.97688377e-03 -1.31648972e+02] [-1.37452923e-02 -1.02786784e-04 -9.99905524e-01 -4.12756479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.013394420105257673 Centerline is valid? [True, True] Translation: X:87.83, Y:-131.71, Z:-4.13 [[-6.27364699e-01 -7.78686970e-01 7.75482751e-03 8.78283199e+01] [-7.78628581e-01 6.27412624e-01 9.53589414e-03 -1.31705103e+02] [-1.22909532e-02 -5.56469798e-05 -9.99924462e-01 -4.13035328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.013342719635236474 Centerline is valid? [True, True] Translation: X:87.75, Y:-131.77, Z:-4.13 [[-5.67404332e-01 -8.23415825e-01 6.22124295e-03 8.77471988e+01] [-8.23367041e-01 5.67438435e-01 8.96316902e-03 -1.31769461e+02] [-1.09105876e-02 -3.66254697e-05 -9.99940477e-01 -4.13125197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.013634699924311842 Centerline is valid? [True, True] Translation: X:87.67, Y:-131.84, Z:-4.13 [[-5.01385463e-01 -8.65208376e-01 5.20416870e-03 8.76676736e+01] [-8.65162904e-01 5.01412468e-01 8.87056822e-03 -1.31839126e+02] [-1.02843250e-02 -5.48797461e-05 -9.99947113e-01 -4.13041095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.01351448381166724 Centerline is valid? [True, True] Translation: X:87.59, Y:-131.93, Z:-4.13 [[-4.32703060e-01 -9.01524082e-01 4.73191133e-03 8.75888005e+01] [-9.01471997e-01 4.32728926e-01 9.69094095e-03 -1.31926742e+02] [-1.07842516e-02 -7.23857569e-05 -9.99941846e-01 -4.13144597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.014108905794535952 Centerline is valid? [True, True] Translation: X:87.51, Y:-132.02, Z:-4.13 [[-3.59215099e-01 -9.33244027e-01 4.48317803e-03 8.75111366e+01] [-9.33175673e-01 3.59243052e-01 1.12956909e-02 -1.32024829e+02] [-1.21521866e-02 -1.26009952e-04 -9.99926152e-01 -4.12946981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.014770047346483727 Centerline is valid? [True, True] Translation: X:87.45, Y:-132.11, Z:-4.13 [[-2.83628074e-01 -9.58926492e-01 3.88559102e-03 8.74492764e+01] [-9.58844883e-01 2.83654634e-01 1.25115837e-02 -1.32110401e+02] [-1.30998550e-02 -1.77042663e-04 -9.99914178e-01 -4.12806443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.015626336263995764 Centerline is valid? [True, True] Translation: X:87.40, Y:-132.20, Z:-4.13 [[-2.09601681e-01 -9.77782896e-01 2.78276764e-03 8.73972373e+01] [-9.77706813e-01 2.09620088e-01 1.21985996e-02 -1.32204976e+02] [-1.25109060e-02 -1.63883903e-04 -9.99921722e-01 -4.12805831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.014243117579759457 Centerline is valid? [True, True] Translation: X:87.35, Y:-132.31, Z:-4.13 [[-1.35265512e-01 -9.90808120e-01 1.58458271e-03 8.73504837e+01] [-9.90750660e-01 1.35274734e-01 1.06712760e-02 -1.32311489e+02] [-1.07875409e-02 -1.26470750e-04 -9.99941805e-01 -4.13090322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.01371609952606518 Centerline is valid? [True, True] Translation: X:87.31, Y:-132.42, Z:-4.13 [[-6.27652017e-02 -9.98028073e-01 7.03264478e-04 8.73140145e+01] [-9.97978385e-01 6.27690946e-02 9.95912877e-03 -1.32423690e+02] [-9.98363338e-03 -7.67560221e-05 -9.99950159e-01 -4.13203472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.013386203469184267 Centerline is valid? [True, True] Translation: X:87.29, Y:-132.53, Z:-4.13 [[ 9.09261712e-03 -9.99958659e-01 -6.42040952e-05 8.72878818e+01] [-9.99910081e-01 -9.09280826e-03 9.85647407e-03 -1.32533735e+02] [-9.85665039e-03 -2.54228229e-05 -9.99951422e-01 -4.13261044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.013398395721777343 Centerline is valid? [True, True] Translation: X:87.27, Y:-132.65, Z:-4.13 [[ 8.29099643e-02 -9.96556697e-01 -8.29180778e-04 8.72691013e+01] [-9.96507495e-01 -8.29141104e-02 9.90263656e-03 -1.32653007e+02] [-9.93728956e-03 5.25761626e-06 -9.99950624e-01 -4.13240753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.013575521529607571 Centerline is valid? [True, True] Translation: X:87.26, Y:-132.77, Z:-4.13 [[ 1.56641576e-01 -9.87654076e-01 -1.68620201e-03 8.72584266e+01] [-9.87599220e-01 -1.56650647e-01 1.04093990e-02 -1.32770559e+02] [-1.05450300e-02 3.47471364e-05 -9.99944399e-01 -4.13232841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.013754891543334395 Centerline is valid? [True, True] Translation: X:87.25, Y:-132.89, Z:-4.13 [[ 2.31516116e-01 -9.72827091e-01 -2.78209174e-03 8.72529172e+01] [-9.72758954e-01 -2.31532827e-01 1.15137875e-02 -1.32885965e+02] [-1.18450699e-02 4.06773035e-05 -9.99929844e-01 -4.13032914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.013705355389808178 Centerline is valid? [True, True] Translation: X:87.26, Y:-133.00, Z:-4.13 [[ 3.06519644e-01 -9.51856291e-01 -3.91267078e-03 8.72570924e+01] [-9.51780054e-01 -3.06544613e-01 1.20469637e-02 -1.33004239e+02] [-1.26663863e-02 3.13709933e-05 -9.99919778e-01 -4.13073208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.013600578145727377 Centerline is valid? [True, True] Translation: X:87.27, Y:-133.12, Z:-4.13 [[ 3.81110695e-01 -9.24516089e-01 -4.96382283e-03 8.72701672e+01] [-9.24437648e-01 -3.81143020e-01 1.20429707e-02 -1.33122092e+02] [-1.30258466e-02 -9.60228278e-07 -9.99915160e-01 -4.13103783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.013675687007524584 Centerline is valid? [True, True] Translation: X:87.29, Y:-133.24, Z:-4.13 [[ 4.54111978e-01 -8.90925334e-01 -5.86180697e-03 8.72907424e+01] [-8.90849773e-01 -4.54149807e-01 1.16032091e-02 -1.33240847e+02] [-1.29997314e-02 -4.71668074e-05 -9.99915499e-01 -4.13045762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.01432709469634693 Centerline is valid? [True, True] Translation: X:87.32, Y:-133.36, Z:-4.13 [[ 5.25533912e-01 -8.50746634e-01 -6.65381880e-03 8.73204787e+01] [-8.50675685e-01 -5.25576020e-01 1.09875735e-02 -1.33361532e+02] [-1.28447288e-02 -1.14100623e-04 -9.99917497e-01 -4.12957318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.014950602642468377 Centerline is valid? [True, True] Translation: X:87.36, Y:-133.48, Z:-4.13 [[ 5.93832227e-01 -8.04552417e-01 -7.66116437e-03 8.73583110e+01] [-8.04481204e-01 -5.93881613e-01 1.07061780e-02 -1.33475302e+02] [-1.31635060e-02 -1.94410777e-04 -9.99913338e-01 -4.13059659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.015914390193181586 Centerline is valid? [True, True] Translation: X:87.40, Y:-133.58, Z:-4.13 [[ 6.54885970e-01 -7.55678922e-01 -8.58685237e-03 8.74011340e+01] [-7.55609492e-01 -6.54942225e-01 1.02458129e-02 -1.33579178e+02] [-1.33664371e-02 -2.21531974e-04 -9.99910641e-01 -4.12935660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.016320585582519233 Centerline is valid? [True, True] Translation: X:87.45, Y:-133.68, Z:-4.13 [[ 7.13251773e-01 -7.00844350e-01 -9.43957568e-03 8.74500231e+01] [-7.00777814e-01 -7.13314182e-01 9.66094826e-03 -1.33676972e+02] [-1.35042042e-02 -2.75643264e-04 -9.99908776e-01 -4.13022019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.01745983865620286 Centerline is valid? [True, True] Translation: X:87.50, Y:-133.77, Z:-4.13 [[ 7.67668762e-01 -6.40778516e-01 -9.35762938e-03 8.75024599e+01] [-6.40725823e-01 -7.67725728e-01 8.22352127e-03 -1.33768605e+02] [-1.24535486e-02 -3.17265606e-04 -9.99922401e-01 -4.13159576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.01919291680636589 Centerline is valid? [True, True] Translation: X:87.52, Y:-133.80, Z:-4.13 [[ 8.17055900e-01 -5.76487175e-01 -9.06603378e-03 8.75230315e+01] [-5.76447291e-01 -8.17106134e-01 6.78872487e-03 -1.33796308e+02] [-1.13215246e-02 -3.20677103e-04 -9.99935858e-01 -4.13199641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.017769783000247806 Centerline is valid? [True, True] Translation: X:87.55, Y:-133.82, Z:-4.13 [[ 8.60023812e-01 -5.10175070e-01 -8.96889663e-03 8.75471114e+01] [-5.10143551e-01 -8.60070522e-01 5.67931007e-03 -1.33821172e+02] [-1.06113260e-02 -3.08917122e-04 -9.99943651e-01 -4.13342287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.01938811420864607 Centerline is valid? [True, True] Translation: X:87.57, Y:-133.85, Z:-4.13 [[ 8.97391026e-01 -4.41119373e-01 -1.01511232e-02 8.75710922e+01] [-4.41086860e-01 -8.97448374e-01 5.36634135e-03 -1.33846837e+02] [-1.14773062e-02 -3.38179496e-04 -9.99934076e-01 -4.13125977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.01785631749016968 Centerline is valid? [True, True] Translation: X:87.60, Y:-133.86, Z:-4.13 [[ 9.28468422e-01 -3.71222134e-01 -1.18539605e-02 8.75998931e+01] [-3.71186940e-01 -9.28544021e-01 5.12409699e-03 -1.33864894e+02] [-1.29091024e-02 -3.57526917e-04 -9.99916610e-01 -4.13009905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.016709335343883042 Centerline is valid? [True, True] Translation: X:87.63, Y:-133.88, Z:-4.13 [[ 9.53452982e-01 -3.01259365e-01 -1.30463371e-02 8.76305178e+01] [-3.01226444e-01 -9.53542179e-01 4.46568093e-03 -1.33878964e+02] [-1.37855609e-02 -3.27915067e-04 -9.99904921e-01 -4.12968886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.01495642225974297 Centerline is valid? [True, True] Translation: X:87.66, Y:-133.89, Z:-4.13 [[ 9.72892126e-01 -2.30960937e-01 -1.17454998e-02 8.76625127e+01] [-2.30941323e-01 -9.72962998e-01 3.01825384e-03 -1.33890132e+02] [-1.21250354e-02 -2.23914133e-04 -9.99926464e-01 -4.13265162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.01409464809534478 Centerline is valid? [True, True] Translation: X:87.69, Y:-133.90, Z:-4.13 [[ 9.87312487e-01 -1.58466235e-01 -1.01244479e-02 8.76940103e+01] [-1.58456391e-01 -9.87364386e-01 1.77227515e-03 -1.33902364e+02] [-1.02773651e-02 -1.45505907e-04 -9.99947176e-01 -4.13391311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.01322292918737805 Centerline is valid? [True, True] Translation: X:87.72, Y:-133.91, Z:-4.13 [[ 9.96044937e-01 -8.83506929e-02 -9.41478385e-03 8.77215994e+01] [-8.83461669e-02 -9.96089429e-01 8.96359763e-04 -1.33907654e+02] [-9.45716068e-03 -6.10545380e-05 -9.99955278e-01 -4.13413066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.012908132582866588 Centerline is valid? [True, True] Translation: X:87.75, Y:-133.91, Z:-4.14 [[ 9.99826429e-01 -1.63585676e-02 -8.91675894e-03 8.77500002e+01] [-1.63579014e-02 -9.99866190e-01 1.47646246e-04 -1.33911204e+02] [-8.91798107e-03 -1.76115503e-06 -9.99960234e-01 -4.13513345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.013125568720203377 Centerline is valid? [True, True] Translation: X:87.78, Y:-133.92, Z:-4.14 [[ 9.98277342e-01 5.80018974e-02 -8.83903492e-03 8.77784476e+01] [ 5.79993277e-02 -9.98316472e-01 -5.46990955e-04 -1.33916680e+02] [-8.85588068e-03 3.33905933e-05 -9.99960785e-01 -4.13520883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.013440490162838636 Centerline is valid? [True, True] Translation: X:87.81, Y:-133.92, Z:-4.14 [[ 9.91118991e-01 1.32725059e-01 -8.19780357e-03 8.78077252e+01] [ 1.32720034e-01 -9.91152892e-01 -1.15643033e-03 -1.33919528e+02] [-8.27876400e-03 5.81472937e-05 -9.99965729e-01 -4.13566190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.01413024889041818 Centerline is valid? [True, True] Translation: X:87.84, Y:-133.92, Z:-4.13 [[ 9.78725988e-01 2.05017207e-01 -7.96150716e-03 8.78363668e+01] [ 2.05009607e-01 -9.78758364e-01 -1.76796099e-03 -1.33921153e+02] [-8.15485415e-03 9.81639144e-05 -9.99966744e-01 -4.13483416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.014835565473215913 Centerline is valid? [True, True] Translation: X:87.87, Y:-133.92, Z:-4.13 [[ 9.61016647e-01 2.76389219e-01 -7.48359971e-03 8.78661068e+01] [ 2.76379768e-01 -9.61045775e-01 -2.28949869e-03 -1.33923126e+02] [-7.82487464e-03 1.31930803e-04 -9.99969377e-01 -4.13424357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.015841395844177746 Centerline is valid? [True, True] Translation: X:87.90, Y:-133.92, Z:-4.13 [[ 9.37801579e-01 3.47094137e-01 -7.33889412e-03 8.78960380e+01] [ 3.47082134e-01 -9.37830280e-01 -2.89120040e-03 -1.33922123e+02] [-7.88615583e-03 1.64173268e-04 -9.99968890e-01 -4.13442054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.017043443830034782 Centerline is valid? [True, True] Translation: X:87.92, Y:-133.92, Z:-4.13 [[ 9.08502489e-01 4.17829515e-01 -6.45935628e-03 8.79237550e+01] [ 4.17817678e-01 -9.08525437e-01 -3.14937678e-03 -1.33916432e+02] [-7.18439206e-03 1.62383402e-04 -9.99974179e-01 -4.13483569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.015971101538139666 Centerline is valid? [True, True] Translation: X:87.96, Y:-133.92, Z:-4.14 [[ 8.72495530e-01 4.88594145e-01 -5.22613508e-03 8.79560251e+01] [ 4.88584479e-01 -8.72511172e-01 -3.07613833e-03 -1.33915548e+02] [-6.06284442e-03 1.30508457e-04 -9.99981612e-01 -4.13648528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.016197104018578056 Centerline is valid? [True, True] Translation: X:87.98, Y:-133.91, Z:-4.14 [[ 8.29628590e-01 5.58296580e-01 -4.61858568e-03 8.79848846e+01] [ 5.58287242e-01 -8.29641440e-01 -3.23059948e-03 -1.33909429e+02] [-5.63540272e-03 1.01700233e-04 -9.99984116e-01 -4.13572897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.013147788304086075 Centerline is valid? [True, True] Translation: X:88.02, Y:-133.91, Z:-4.14 [[ 7.78094710e-01 6.28129988e-01 -4.61953949e-03 8.80231662e+01] [ 6.28118478e-01 -7.78108421e-01 -3.80294483e-03 -1.33910627e+02] [-5.98324626e-03 5.74331389e-05 -9.99982099e-01 -4.13619222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.01248161517718315 Centerline is valid? [True, True] Translation: X:88.06, Y:-133.91, Z:-4.14 [[ 7.18185269e-01 6.95835280e-01 -4.81485131e-03 8.80614138e+01] [ 6.95819797e-01 -7.18201409e-01 -4.64177532e-03 -1.33907396e+02] [-6.68794402e-03 -1.66142093e-05 -9.99977635e-01 -4.13560287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.013207462952479812 Centerline is valid? [True, True] Translation: X:88.10, Y:-133.90, Z:-4.13 [[ 6.55210771e-01 7.55431342e-01 -4.72584350e-03 8.80956342e+01] [ 7.55412540e-01 -6.55227809e-01 -5.33030832e-03 -1.33897333e+02] [-7.12318605e-03 -7.74860192e-05 -9.99974627e-01 -4.13468688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.01502743360552156 Centerline is valid? [True, True] Translation: X:88.13, Y:-133.88, Z:-4.13 [[ 5.86529351e-01 8.09917007e-01 -4.21447896e-03 8.81303651e+01] [ 8.09897803e-01 -5.86544476e-01 -5.57911881e-03 -1.33884578e+02] [-6.99060256e-03 -1.40980310e-04 -9.99975556e-01 -4.13452549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.016612076383502428 Centerline is valid? [True, True] Translation: X:88.16, Y:-133.87, Z:-4.13 [[ 5.17800715e-01 8.55491143e-01 -4.16208182e-03 8.81591453e+01] [ 8.55466369e-01 -5.17817408e-01 -6.51327597e-03 -1.33866294e+02] [-7.72724833e-03 -1.87942066e-04 -9.99970127e-01 -4.13353014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.01672941786208545 Centerline is valid? [True, True] Translation: X:88.18, Y:-133.84, Z:-4.13 [[ 4.48659440e-01 8.93693430e-01 -4.09398913e-03 8.81832028e+01] [ 8.93660528e-01 -4.48678066e-01 -7.67160720e-03 -1.33841993e+02] [-8.69294808e-03 -2.16697498e-04 -9.99962192e-01 -4.13199325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.016105132422742904 Centerline is valid? [True, True] Translation: X:88.20, Y:-133.81, Z:-4.13 [[ 3.78262160e-01 9.25688638e-01 -4.27600174e-03 8.82030666e+01] [ 9.25636905e-01 -3.78286242e-01 -9.78975155e-03 -1.33814934e+02] [-1.06798144e-02 -2.54932457e-04 -9.99942937e-01 -4.13046309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.016343471547025524 Centerline is valid? [True, True] Translation: X:88.22, Y:-133.79, Z:-4.13 [[ 3.05633464e-01 9.52140117e-01 -4.16937697e-03 8.82199482e+01] [ 9.52064047e-01 -3.05661764e-01 -1.20389691e-02 -1.33787542e+02] [-1.27372046e-02 -2.90002068e-04 -9.99918837e-01 -4.12846115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.014930337400068307 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.76, Z:-4.13 [[ 2.35280151e-01 9.71921475e-01 -3.44930130e-03 8.82284571e+01] [ 9.71831426e-01 -2.35305313e-01 -1.32321520e-02 -1.33755813e+02] [-1.36722516e-02 -2.38876683e-04 -9.99906502e-01 -4.12771554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.014105365567953231 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.72, Z:-4.13 [[ 1.61946541e-01 9.86796851e-01 -2.30048179e-03 8.82344734e+01] [ 9.86712647e-01 -1.61962778e-01 -1.28922728e-02 -1.33724603e+02] [-1.30946466e-02 -1.82055486e-04 -9.99914245e-01 -4.12812616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.013205319175687366 Centerline is valid? [True, True] Translation: X:88.24, Y:-133.69, Z:-4.13 [[ 8.80299897e-02 9.96117033e-01 -1.25579478e-03 8.82375686e+01] [ 9.96035442e-01 -8.80388529e-02 -1.27498303e-02 -1.33693587e+02] [-1.28108818e-02 -1.28448680e-04 -9.99917929e-01 -4.12895330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.012596008699149319 Centerline is valid? [True, True] Translation: X:88.24, Y:-133.66, Z:-4.13 [[ 1.36976466e-02 9.99906154e-01 -2.40897649e-04 8.82380936e+01] [ 9.99831755e-01 -1.36995661e-02 -1.21977200e-02 -1.33662738e+02] [-1.21998755e-02 -7.37770599e-05 -9.99925576e-01 -4.12874158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.01247702393214453 Centerline is valid? [True, True] Translation: X:88.24, Y:-133.63, Z:-4.13 [[-6.13642420e-02 9.98115189e-01 7.07283877e-04 8.82362077e+01] [ 9.98042546e-01 6.13683090e-02 -1.20418975e-02 -1.33632140e+02] [-1.20626056e-02 -3.30425113e-05 -9.99927244e-01 -4.12888567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.012346176891988804 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.60, Z:-4.13 [[-1.35842656e-01 9.90729004e-01 1.67767993e-03 8.82331271e+01] [ 9.90654310e-01 1.35853015e-01 -1.21653964e-02 -1.33602071e+02] [-1.22805289e-02 9.42109476e-06 -9.99924591e-01 -4.12988731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.012565927985697842 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.57, Z:-4.13 [[-2.11497336e-01 9.77375375e-01 2.50055749e-03 8.82281420e+01] [ 9.77308577e-01 2.11512116e-01 -1.14267447e-02 -1.33573583e+02] [-1.16971171e-02 2.70902235e-05 -9.99931586e-01 -4.12886322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.012283290176214913 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.54, Z:-4.13 [[-2.88863009e-01 9.57364649e-01 3.33040830e-03 8.82286684e+01] [ 9.57301371e-01 2.88882207e-01 -1.10070562e-02 -1.33542479e+02] [-1.14998622e-02 8.67306145e-06 -9.99933874e-01 -4.13127615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.012288918217032905 Centerline is valid? [True, True] Translation: X:88.23, Y:-133.51, Z:-4.13 [[-3.65350305e-01 9.30861421e-01 4.02107863e-03 8.82277298e+01] [ 9.30804448e-01 3.65372432e-01 -1.02988005e-02 -1.33511355e+02] [-1.10559474e-02 -1.98320467e-05 -9.99938881e-01 -4.13090946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.012441610531326499 Centerline is valid? [True, True] Translation: X:88.22, Y:-133.48, Z:-4.13 [[-4.39189986e-01 8.98379601e-01 5.12334568e-03 8.82235932e+01] [ 8.98317190e-01 4.39219866e-01 -1.05894480e-02 -1.33482517e+02] [-1.17636193e-02 -4.83900230e-05 -9.99930805e-01 -4.12987482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.012877673790691626 Centerline is valid? [True, True] Translation: X:88.21, Y:-133.46, Z:-4.13 [[-5.10389438e-01 8.59922456e-01 5.99933311e-03 8.82147507e+01] [ 8.59861227e-01 5.10424690e-01 -1.02618706e-02 -1.33455023e+02] [-1.18866207e-02 -7.89564475e-05 -9.99929349e-01 -4.12773370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.012524810765054403 Centerline is valid? [True, True] Translation: X:88.20, Y:-133.43, Z:-4.13 [[-5.76732115e-01 8.16912260e-01 5.86747603e-03 8.82023780e+01] [ 8.16868656e-01 5.76761956e-01 -8.44069321e-03 -1.33428322e+02] [-1.02794427e-02 -7.50615931e-05 -9.99947162e-01 -4.13132651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.012349937198444186 Centerline is valid? [True, True] Translation: X:88.19, Y:-133.40, Z:-4.13 [[-6.36996204e-01 7.70849245e-01 5.22281016e-03 8.81864565e+01] [ 7.70822828e-01 6.37017614e-01 -6.38174855e-03 -1.33404292e+02] [-8.24638812e-03 -3.92882973e-05 -9.99965997e-01 -4.13374515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.01215523607846022 Centerline is valid? [True, True] Translation: X:88.17, Y:-133.38, Z:-4.13 [[-6.92690415e-01 7.21221009e-01 4.49938584e-03 8.81699692e+01] [ 7.21205737e-01 6.92705028e-01 -4.69354128e-03 -1.33380639e+02] [-6.50182777e-03 -6.18817858e-06 -9.99978863e-01 -4.13480125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.012541228263769324 Centerline is valid? [True, True] Translation: X:88.15, Y:-133.36, Z:-4.14 [[-7.41817176e-01 6.70592350e-01 3.63000075e-03 8.81482318e+01] [ 6.70584545e-01 7.41826057e-01 -3.23572712e-03 -1.33362273e+02] [-4.86268299e-03 3.39044441e-05 -9.99988177e-01 -4.13616239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.01390858094978757 Centerline is valid? [True, True] Translation: X:88.63, Y:-132.84, Z:-5.12 [[-7.10002314e-01 -7.04194753e-01 2.54246795e-03 8.86297041e+01] [ 7.04189794e-01 -7.10006861e-01 -2.64411657e-03 -1.32836952e+02] [ 3.66714270e-03 -8.69488969e-05 9.99993272e-01 -5.11558740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.0143614481255532 Centerline is valid? [True, True] Translation: X:88.59, Y:-132.79, Z:-5.12 [[-7.12806494e-01 -7.01352870e-01 3.32463652e-03 8.85912526e+01] [ 7.01344681e-01 -7.12814243e-01 -3.39024546e-03 -1.32794104e+02] [ 4.74760664e-03 -8.48728375e-05 9.99988727e-01 -5.11572609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.0158029516825403 Centerline is valid? [True, True] Translation: X:88.55, Y:-132.75, Z:-5.12 [[-7.16090362e-01 -6.97991343e-01 4.76225022e-03 8.85541852e+01] [ 6.97974483e-01 -7.16106181e-01 -4.85377201e-03 -1.32751423e+02] [ 6.79816766e-03 -1.51810217e-04 9.99976881e-01 -5.11720553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.016493137889864465 Centerline is valid? [True, True] Translation: X:88.51, Y:-132.71, Z:-5.12 [[-7.18547826e-01 -6.95455483e-01 5.54012641e-03 8.85136682e+01] [ 6.95432614e-01 -7.18569155e-01 -5.64344547e-03 -1.32709988e+02] [ 7.90572904e-03 -2.02300882e-04 9.99968729e-01 -5.11786377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.0177333985425819 Centerline is valid? [True, True] Translation: X:88.47, Y:-132.67, Z:-5.12 [[-7.19607341e-01 -6.94357985e-01 5.68015026e-03 8.84730917e+01] [ 6.94333939e-01 -7.19629725e-01 -5.78270405e-03 -1.32669410e+02] [ 8.10287171e-03 -2.17355183e-04 9.99967148e-01 -5.11863842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.017772854918858695 Centerline is valid? [True, True] Translation: X:88.43, Y:-132.63, Z:-5.12 [[-7.19194577e-01 -6.94785397e-01 5.69315898e-03 8.84321945e+01] [ 6.94761281e-01 -7.19217080e-01 -5.79265583e-03 -1.32628594e+02] [ 8.11926986e-03 -2.10660233e-04 9.99967016e-01 -5.11837946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.017095832015395912 Centerline is valid? [True, True] Translation: X:88.39, Y:-132.59, Z:-5.12 [[-7.18018361e-01 -6.96002226e-01 5.52575842e-03 8.83893680e+01] [ 6.95979567e-01 -7.18039599e-01 -5.61931831e-03 -1.32588908e+02] [ 7.87877141e-03 -1.88958766e-04 9.99968944e-01 -5.11677689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.015814132571842037 Centerline is valid? [True, True] Translation: X:88.34, Y:-132.55, Z:-5.12 [[-7.15389664e-01 -6.98701027e-01 5.87387852e-03 8.83435388e+01] [ 6.98675540e-01 -7.15413759e-01 -5.97026233e-03 -1.32551999e+02] [ 8.37368193e-03 -1.67128726e-04 9.99964926e-01 -5.11720042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.014537188924024096 Centerline is valid? [True, True] Translation: X:88.30, Y:-132.52, Z:-5.12 [[-7.10542064e-01 -7.03628310e-01 6.09721158e-03 8.82981751e+01] [ 7.03601058e-01 -7.10568216e-01 -6.19375876e-03 -1.32516358e+02] [ 8.69058876e-03 -1.10921617e-04 9.99962230e-01 -5.11845776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.013344905601959785 Centerline is valid? [True, True] Translation: X:88.25, Y:-132.48, Z:-5.12 [[-7.06868966e-01 -7.07316915e-01 6.24877255e-03 8.82535384e+01] [ 7.07288467e-01 -7.06896582e-01 -6.34403969e-03 -1.32480063e+02] [ 8.90448254e-03 -6.47200222e-05 9.99960352e-01 -5.11892884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.012446577034518591 Centerline is valid? [True, True] Translation: X:88.21, Y:-132.45, Z:-5.12 [[-6.98904688e-01 -7.15197506e-01 4.97638002e-03 8.82050307e+01] [ 7.15179684e-01 -6.98922404e-01 -5.04907154e-03 -1.32446913e+02] [ 7.08918686e-03 3.01861205e-05 9.99974871e-01 -5.11580386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.012861783531714048 Centerline is valid? [True, True] Translation: X:88.16, Y:-132.41, Z:-5.12 [[-6.95434972e-01 -7.18573735e-01 4.68910517e-03 8.81606318e+01] [ 7.18558005e-01 -6.95450777e-01 -4.75495107e-03 -1.32408566e+02] [ 6.67782479e-03 6.26347942e-05 9.99977701e-01 -5.11520694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.013704938795108442 Centerline is valid? [True, True] Translation: X:88.12, Y:-132.37, Z:-5.12 [[-6.90803355e-01 -7.23025084e-01 5.04510283e-03 8.81162192e+01] [ 7.23007014e-01 -6.90821768e-01 -5.11299601e-03 -1.32370318e+02] [ 7.18209122e-03 1.15569938e-04 9.99974202e-01 -5.11513788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.014904650452491449 Centerline is valid? [True, True] Translation: X:88.07, Y:-132.33, Z:-5.12 [[-6.87997779e-01 -7.25685905e-01 6.24682259e-03 8.80727231e+01] [ 7.25658345e-01 -6.88026115e-01 -6.32706104e-03 -1.32332857e+02] [ 8.88943609e-03 1.80054998e-04 9.99960472e-01 -5.11751054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.01591983433021493 Centerline is valid? [True, True] Translation: X:88.03, Y:-132.29, Z:-5.12 [[-6.85046452e-01 -7.28448947e-01 8.57269505e-03 8.80298663e+01] [ 7.28397322e-01 -6.85100024e-01 -8.67747030e-03 -1.32294119e+02] [ 1.21942477e-02 2.99857876e-04 9.99925603e-01 -5.11977658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.016073897299310545 Centerline is valid? [True, True] Translation: X:87.99, Y:-132.25, Z:-5.12 [[-6.86237776e-01 -7.27310227e-01 9.87669078e-03 8.79909840e+01] [ 7.27241654e-01 -6.86308770e-01 -9.99248010e-03 -1.32252956e+02] [ 1.40460925e-02 3.25523622e-04 9.99901296e-01 -5.12166605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.015139351991744949 Centerline is valid? [True, True] Translation: X:87.95, Y:-132.21, Z:-5.12 [[-6.89683385e-01 -7.24048123e-01 9.54694581e-03 8.79547152e+01] [ 7.23983793e-01 -6.89749412e-01 -9.65481200e-03 -1.32208844e+02] [ 1.35755488e-02 2.53070624e-04 9.99907816e-01 -5.12136118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.012644992655583361 Centerline is valid? [True, True] Translation: X:87.92, Y:-132.16, Z:-5.12 [[-6.98436986e-01 -7.15629816e-01 7.72939778e-03 8.79246094e+01] [ 7.15587180e-01 -6.98479750e-01 -7.81200129e-03 -1.32157811e+02] [ 1.09893289e-02 7.48673229e-05 9.99939613e-01 -5.11817032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.013017758203104902 Centerline is valid? [True, True] Translation: X:87.90, Y:-132.11, Z:-5.12 [[-7.09633957e-01 -7.04545155e-01 5.98094164e-03 8.78962255e+01] [ 7.04519260e-01 -7.09659157e-01 -6.04103679e-03 -1.32106016e+02] [ 8.50061320e-03 -7.32362580e-05 9.99963867e-01 -5.11585547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.016111812148611668 Centerline is valid? [True, True] Translation: X:87.87, Y:-132.06, Z:-5.12 [[-7.19155965e-01 -6.94825860e-01 5.63224567e-03 8.78671748e+01] [ 6.94802615e-01 -7.19177999e-01 -5.68619491e-03 -1.32055664e+02] [ 8.00150244e-03 -1.75961974e-04 9.99967972e-01 -5.11573767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.01680196966163884 Centerline is valid? [True, True] Translation: X:87.83, Y:-132.01, Z:-5.12 [[-7.21163874e-01 -6.92737954e-01 6.06575720e-03 8.78288850e+01] [ 6.92710950e-01 -7.21189352e-01 -6.12027499e-03 -1.32012361e+02] [ 8.61430628e-03 -2.11904795e-04 9.99962874e-01 -5.11584132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.017894443358941435 Centerline is valid? [True, True] Translation: X:87.79, Y:-131.97, Z:-5.12 [[-7.22584247e-01 -6.91248001e-01 6.94316378e-03 8.77922881e+01] [ 6.91212590e-01 -7.22617557e-01 -7.00153186e-03 -1.31967860e+02] [ 9.85704695e-03 -2.59994401e-04 9.99951384e-01 -5.11703185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.01712219592642479 Centerline is valid? [True, True] Translation: X:87.75, Y:-131.93, Z:-5.12 [[-7.20206730e-01 -6.93719580e-01 7.44382570e-03 8.77503925e+01] [ 6.93679053e-01 -7.20245157e-01 -7.50231930e-03 -1.31927354e+02] [ 1.05658852e-02 -2.39594884e-04 9.99944151e-01 -5.11751943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.014053203969713022 Centerline is valid? [True, True] Translation: X:87.70, Y:-131.89, Z:-5.12 [[-7.14075500e-01 -7.00033527e-01 7.01725118e-03 8.77039965e+01] [ 6.99997856e-01 -7.14109966e-01 -7.06817831e-03 -1.31892144e+02] [ 9.95905078e-03 -1.35152181e-04 9.99950398e-01 -5.11633408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.012664343909772672 Centerline is valid? [True, True] Translation: X:87.66, Y:-131.86, Z:-5.12 [[-7.06484910e-01 -7.07699613e-01 6.35052069e-03 8.76587783e+01] [ 7.07670729e-01 -7.06513451e-01 -6.39390829e-03 -1.31856898e+02] [ 9.01169472e-03 -2.31221156e-05 9.99959394e-01 -5.11546328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.012789948635896336 Centerline is valid? [True, True] Translation: X:87.61, Y:-131.82, Z:-5.12 [[-7.00036334e-01 -7.14076268e-01 6.64936389e-03 8.76140832e+01] [ 7.14044922e-01 -7.00067911e-01 -6.69103365e-03 -1.31819932e+02] [ 9.43291462e-03 6.39778517e-05 9.99955507e-01 -5.11523125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.013858716338161865 Centerline is valid? [True, True] Translation: X:87.57, Y:-131.78, Z:-5.12 [[-6.94471417e-01 -7.19488262e-01 6.78912044e-03 8.75694547e+01] [ 7.19455878e-01 -6.94504586e-01 -6.82779745e-03 -1.31782512e+02] [ 9.62759540e-03 1.42762439e-04 9.99953644e-01 -5.11596443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.014958072670256476 Centerline is valid? [True, True] Translation: X:87.53, Y:-131.74, Z:-5.12 [[-6.91495653e-01 -7.22346410e-01 7.03040649e-03 8.75266698e+01] [ 7.22311872e-01 -6.91531364e-01 -7.06623850e-03 -1.31743844e+02] [ 9.96601860e-03 1.91872866e-04 9.99950320e-01 -5.11618868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.0163816644215484 Centerline is valid? [True, True] Translation: X:87.48, Y:-131.70, Z:-5.12 [[-6.89236282e-01 -7.24507502e-01 6.49830525e-03 8.74846903e+01] [ 7.24478126e-01 -6.89266883e-01 -6.52758525e-03 -1.31704668e+02] [ 9.20835109e-03 2.08831424e-04 9.99957581e-01 -5.11597483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.015585318674647743 Centerline is valid? [True, True] Translation: X:87.45, Y:-131.66, Z:-5.11 [[-6.89318207e-01 -7.24436269e-01 5.70100967e-03 8.74456009e+01] [ 7.24413683e-01 -6.89341757e-01 -5.72340963e-03 -1.31661867e+02] [ 8.07618954e-03 1.84638949e-04 9.99967370e-01 -5.11455715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.015556740399225052 Centerline is valid? [True, True] Translation: X:87.41, Y:-131.62, Z:-5.11 [[-6.90648907e-01 -7.23166969e-01 5.79855599e-03 8.74061163e+01] [ 7.23143586e-01 -6.90673226e-01 -5.81800682e-03 -1.31620560e+02] [ 8.21229773e-03 1.74988524e-04 9.99966263e-01 -5.11485433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.015226951649095133 Centerline is valid? [True, True] Translation: X:87.37, Y:-131.58, Z:-5.12 [[-6.92142631e-01 -7.21729505e-01 6.71569783e-03 8.73660491e+01] [ 7.21698113e-01 -6.92175185e-01 -6.73398630e-03 -1.31579668e+02] [ 9.50855599e-03 1.85827454e-04 9.99954775e-01 -5.11696265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.014301769254722102 Centerline is valid? [True, True] Translation: X:87.33, Y:-131.54, Z:-5.12 [[-6.94603128e-01 -7.19339352e-01 8.79718398e-03 8.73280580e+01] [ 7.19285354e-01 -6.94658805e-01 -8.81613039e-03 -1.31536019e+02] [ 1.24528308e-02 2.03973849e-04 9.99922440e-01 -5.11899935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.014703597699546177 Centerline is valid? [True, True] Translation: X:87.29, Y:-131.50, Z:-5.12 [[-6.94673585e-01 -7.19259001e-01 9.75188740e-03 8.72876265e+01] [ 7.19192719e-01 -6.94741993e-01 -9.76707287e-03 -1.31496259e+02] [ 1.38001008e-02 2.28558889e-04 9.99904748e-01 -5.12072807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.014561678562862487 Centerline is valid? [True, True] Translation: X:87.25, Y:-131.46, Z:-5.12 [[-6.94578802e-01 -7.19347975e-01 9.93879142e-03 8.72478102e+01] [ 7.19279226e-01 -6.94649864e-01 -9.94792021e-03 -1.31455370e+02] [ 1.40599964e-02 2.39151700e-04 9.99901125e-01 -5.12134811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.014122793618638581 Centerline is valid? [True, True] Translation: X:87.21, Y:-131.41, Z:-5.12 [[-6.95492883e-01 -7.18473943e-01 9.21098095e-03 8.72083627e+01] [ 7.18414888e-01 -6.95553844e-01 -9.21411865e-03 -1.31412123e+02] [ 1.30268374e-02 2.08951902e-04 9.99915125e-01 -5.11938408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.014142707962644387 Centerline is valid? [True, True] Translation: X:87.17, Y:-131.37, Z:-5.12 [[-6.96278166e-01 -7.17725892e-01 8.13995137e-03 8.71669667e+01] [ 7.17679754e-01 -6.96325724e-01 -8.13983771e-03 -1.31370658e+02] [ 1.15102298e-02 1.74287024e-04 9.99933740e-01 -5.11811695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.013819633112467915 Centerline is valid? [True, True] Translation: X:86.66, Y:-131.87, Z:-4.14 [[-7.64336737e-01 6.44778006e-01 7.11867480e-03 8.66617489e+01] [ 6.44748460e-01 7.64369875e-01 -6.17389678e-03 -1.31872507e+02] [-9.42209343e-03 -1.29181501e-04 -9.99955603e-01 -4.13535737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.013769412375701047 Centerline is valid? [True, True] Translation: X:87.13, Y:-131.35, Z:-5.12 [[-7.00541223e-01 -7.13580343e-01 6.71490590e-03 8.71334434e+01] [ 7.13549347e-01 -7.00573392e-01 -6.65222582e-03 -1.31345111e+02] [ 9.45118198e-03 1.31258310e-04 9.99955328e-01 -5.11713504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.013813083492802478 Centerline is valid? [True, True] Translation: X:86.63, Y:-131.85, Z:-4.13 [[-7.65557085e-01 6.43319557e-01 7.89288045e-03 8.66345577e+01] [ 6.43283659e-01 7.65597761e-01 -6.79716163e-03 -1.31849184e+02] [-1.04155186e-02 -1.26254229e-04 -9.99945749e-01 -4.13453167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.013571218619731776 Centerline is valid? [True, True] Translation: X:87.10, Y:-131.32, Z:-5.12 [[-7.03989654e-01 -7.10156341e-01 8.74868533e-03 8.70994819e+01] [ 7.10105866e-01 -7.04043969e-01 -8.47048456e-03 -1.31316230e+02] [ 1.21748275e-02 2.49359281e-04 9.99925853e-01 -5.11836034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.013529278526568057 Centerline is valid? [True, True] Translation: X:86.60, Y:-131.82, Z:-4.13 [[-7.66116534e-01 6.42632290e-01 9.44435233e-03 8.66040295e+01] [ 6.42581558e-01 7.66174736e-01 -8.07563296e-03 -1.31823294e+02] [-1.24256867e-02 -1.18109301e-04 -9.99922791e-01 -4.13283095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.013011295215930157 Centerline is valid? [True, True] Translation: X:87.07, Y:-131.29, Z:-5.12 [[-7.10176995e-01 -7.03978513e-01 7.93027880e-03 8.70716332e+01] [ 7.03935162e-01 -7.10221270e-01 -7.81256074e-03 -1.31292010e+02] [ 1.11321276e-02 3.41011804e-05 9.99938035e-01 -5.11749962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.012750258235428859 Centerline is valid? [True, True] Translation: X:86.57, Y:-131.80, Z:-4.14 [[-7.64557621e-01 6.44512866e-01 7.40338325e-03 8.65725456e+01] [ 6.44482217e-01 7.64593464e-01 -6.28549791e-03 -1.31804327e+02] [-9.71166271e-03 -3.42764765e-05 -9.99952840e-01 -4.13550012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.012661902617270248 Centerline is valid? [True, True] Translation: X:86.59, Y:-131.79, Z:-4.14 [[-8.06365723e-01 5.91381930e-01 6.46010822e-03 8.65949047e+01] [ 5.91362900e-01 8.06391600e-01 -4.74429322e-03 -1.31789757e+02] [-8.01506628e-03 -5.36710311e-06 -9.99967879e-01 -4.13561058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.01265531119890346 Centerline is valid? [True, True] Translation: X:87.02, Y:-131.21, Z:-5.12 [[-7.63791478e-01 -6.45438812e-01 5.59625537e-03 8.70232246e+01] [ 6.45421160e-01 -7.63811979e-01 -4.77356050e-03 -1.31213187e+02] [ 7.35552810e-03 -3.40631956e-05 9.99972947e-01 -5.11704706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.012743957770024392 Centerline is valid? [True, True] Translation: X:86.56, Y:-131.76, Z:-4.13 [[-8.09657472e-01 5.86866026e-01 6.56088373e-03 8.65586192e+01] [ 5.86846541e-01 8.09684054e-01 -4.78234466e-03 -1.31760912e+02] [-8.11883854e-03 -2.18291640e-05 -9.99967042e-01 -4.13354487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.012957517406961406 Centerline is valid? [True, True] Translation: X:86.58, Y:-131.74, Z:-4.13 [[-8.51022022e-01 5.25076905e-01 7.46731610e-03 8.65760835e+01] [ 5.25056127e-01 8.51054781e-01 -4.67151267e-03 -1.31737334e+02] [-8.80799848e-03 -5.48000928e-05 -9.99961207e-01 -4.13207480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.013214089371563846 Centerline is valid? [True, True] Translation: X:86.59, Y:-131.71, Z:-4.13 [[-8.87444834e-01 4.60843169e-01 8.07716669e-03 8.65919793e+01] [ 4.60823210e-01 8.87481586e-01 -4.28992084e-03 -1.31713043e+02] [-9.14531743e-03 -8.49222047e-05 -9.99958177e-01 -4.13125482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.013214805082583898 Centerline is valid? [True, True] Translation: X:86.61, Y:-131.69, Z:-4.13 [[-9.18299741e-01 3.95824814e-01 6.95001378e-03 8.66058241e+01] [ 3.95812828e-01 9.18326037e-01 -3.08136347e-03 -1.31689083e+02] [-7.60205874e-03 -7.87106702e-05 -9.99971101e-01 -4.13192862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.013475407967310308 Centerline is valid? [True, True] Translation: X:86.61, Y:-131.66, Z:-4.13 [[-9.44533567e-01 3.28367855e-01 5.55815306e-03 8.66096892e+01] [ 3.28361733e-01 9.44549918e-01 -2.00629299e-03 -1.31660443e+02] [-5.90875514e-03 -6.99263015e-05 -9.99982541e-01 -4.13234014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.01374105063390981 Centerline is valid? [True, True] Translation: X:86.86, Y:-131.00, Z:-5.12 [[-9.10280078e-01 -4.13954342e-01 5.65534516e-03 8.68563276e+01] [ 4.13946962e-01 -9.10297641e-01 -2.47340807e-03 -1.31004239e+02] [ 6.17192537e-03 8.95188606e-05 9.99980950e-01 -5.12004250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.01415670409672419 Centerline is valid? [True, True] Translation: X:86.57, Y:-131.64, Z:-4.13 [[-9.46795724e-01 3.21773759e-01 6.28525807e-03 8.65696568e+01] [ 3.21765957e-01 9.46816581e-01 -2.24294086e-03 -1.31644516e+02] [-6.67270606e-03 -1.01224739e-04 -9.99977732e-01 -4.13079633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.01487722022033462 Centerline is valid? [True, True] Translation: X:86.81, Y:-130.99, Z:-5.12 [[-9.09697482e-01 -4.15208380e-01 7.24520144e-03 8.68095139e+01] [ 4.15196925e-01 -9.09726312e-01 -3.09052943e-03 -1.30992447e+02] [ 7.87436410e-03 1.96738518e-04 9.99968977e-01 -5.12359845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.014771762427460424 Centerline is valid? [True, True] Translation: X:86.53, Y:-131.63, Z:-4.13 [[-9.48917794e-01 3.15427179e-01 7.79195117e-03 8.65297252e+01] [ 3.15415241e-01 9.48949773e-01 -2.74844107e-03 -1.31629543e+02] [-8.26110331e-03 -1.50344483e-04 -9.99965865e-01 -4.12731549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.014077339390021525 Centerline is valid? [True, True] Translation: X:86.77, Y:-130.97, Z:-5.12 [[-9.12153337e-01 -4.09802709e-01 6.16682676e-03 8.67672058e+01] [ 4.09793590e-01 -9.12174182e-01 -2.73403394e-03 -1.30974775e+02] [ 6.74563467e-03 3.32678973e-05 9.99977247e-01 -5.12410332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.014116632569224196 Centerline is valid? [True, True] Translation: X:86.49, Y:-131.62, Z:-4.13 [[-9.48638822e-01 3.16325212e-01 4.76915955e-03 8.64884621e+01] [ 3.16320852e-01 9.48650808e-01 -1.66224716e-03 -1.31618670e+02] [-5.05007775e-03 -6.82875742e-05 -9.99987246e-01 -4.12870156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.012882331025858071 Centerline is valid? [True, True] Translation: X:86.50, Y:-131.60, Z:-4.13 [[-9.67643308e-01 2.52296488e-01 3.59302980e-03 8.64974713e+01] [ 2.52294615e-01 9.67649979e-01 -9.72855908e-04 -1.31597811e+02] [-3.72224334e-03 -3.48754394e-05 -9.99993072e-01 -4.13003410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.012736302038036443 Centerline is valid? [True, True] Translation: X:86.68, Y:-130.91, Z:-5.12 [[-9.43012312e-01 -3.32739264e-01 3.51600920e-03 8.66841464e+01] [ 3.32737087e-01 -9.43018866e-01 -1.20405959e-03 -1.30913426e+02] [ 3.71630091e-03 3.44636419e-05 9.99993094e-01 -5.12244916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.01245026795691576 Centerline is valid? [True, True] Translation: X:86.46, Y:-131.59, Z:-4.13 [[-9.67373006e-01 2.53325682e-01 3.94535304e-03 8.64561585e+01] [ 2.53323497e-01 9.67381051e-01 -1.05234457e-03 -1.31591465e+02] [-4.08324568e-03 -1.85591048e-05 -9.99991663e-01 -4.12905220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.012552116981507407 Centerline is valid? [True, True] Translation: X:86.46, Y:-131.56, Z:-4.13 [[-9.82710866e-01 1.85041604e-01 6.24176988e-03 8.64628797e+01] [ 1.85037720e-01 9.82730688e-01 -1.19903476e-03 -1.31564627e+02] [-6.35585012e-03 -2.33416174e-05 -9.99979801e-01 -4.12605058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.012517516081909066 Centerline is valid? [True, True] Translation: X:86.60, Y:-130.87, Z:-5.13 [[-9.65497576e-01 -2.60289643e-01 7.98325617e-03 8.65975471e+01] [ 2.60282046e-01 -9.65530569e-01 -1.99441937e-03 -1.30865898e+02] [ 8.22720457e-03 1.52291181e-04 9.99966144e-01 -5.12675163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.013146123165790684 Centerline is valid? [True, True] Translation: X:86.41, Y:-131.55, Z:-4.13 [[-9.84336457e-01 1.76141574e-01 7.47567554e-03 8.64141265e+01] [ 1.76135970e-01 9.84364842e-01 -1.40678718e-03 -1.31548141e+02] [-7.60658588e-03 -6.80165471e-05 -9.99971067e-01 -4.12525350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.012946984583575114 Centerline is valid? [True, True] Translation: X:86.42, Y:-131.52, Z:-4.13 [[-9.94419652e-01 1.05269308e-01 6.92305532e-03 8.64166599e+01] [ 1.05266292e-01 9.94443748e-01 -7.99649787e-04 -1.31520291e+02] [-6.96876766e-03 -6.64230999e-05 -9.99975716e-01 -4.12668602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.012723825441015094 Centerline is valid? [True, True] Translation: X:86.50, Y:-130.83, Z:-5.12 [[-9.81961688e-01 -1.88988064e-01 5.89526187e-03 8.65027318e+01] [ 1.88984643e-01 -9.81979385e-01 -1.13718265e-03 -1.30827709e+02] [ 6.00393957e-03 -2.55583415e-06 9.99981976e-01 -5.12444767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.01237953354804566 Centerline is valid? [True, True] Translation: X:86.37, Y:-131.52, Z:-4.13 [[-9.94367229e-01 1.05857788e-01 5.28605878e-03 8.63688056e+01] [ 1.05856152e-01 9.94381279e-01 -5.89017822e-04 -1.31518573e+02] [-5.31871002e-03 -2.61381772e-05 -9.99985855e-01 -4.12891455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.012319377442026649 Centerline is valid? [True, True] Translation: X:86.37, Y:-131.49, Z:-4.13 [[-9.99316666e-01 3.65338163e-02 5.61082394e-03 8.63664607e+01] [ 3.65331317e-02 9.99332417e-01 -2.24491698e-04 -1.31489958e+02] [-5.61527979e-03 -1.93573250e-05 -9.99984234e-01 -4.12884073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.012358834563653543 Centerline is valid? [True, True] Translation: X:86.40, Y:-130.79, Z:-5.12 [[-9.93855155e-01 -1.10513654e-01 6.21790537e-03 8.64004917e+01] [ 1.10511884e-01 -9.93874604e-01 -6.28582049e-04 -1.30792729e+02] [ 6.24928514e-03 6.24329292e-05 9.99980471e-01 -5.12417968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.012383732753421332 Centerline is valid? [True, True] Translation: X:86.31, Y:-131.49, Z:-4.13 [[-9.99393813e-01 3.39514406e-02 7.70105647e-03 8.63103564e+01] [ 3.39503207e-02 9.99423484e-01 -2.76153367e-04 -1.31485557e+02] [-7.70599249e-03 -1.45326297e-05 -9.99970308e-01 -4.12716260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.012502757344207952 Centerline is valid? [True, True] Translation: X:86.31, Y:-131.46, Z:-4.13 [[-9.99337992e-01 -3.52366212e-02 9.05303370e-03 8.63125532e+01] [-3.52351749e-02 9.99378997e-01 3.19252079e-04 -1.31457589e+02] [-9.05866111e-03 5.55059811e-08 -9.99958970e-01 -4.12623301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.012465003437155443 Centerline is valid? [True, True] Translation: X:86.31, Y:-131.43, Z:-4.13 [[-9.94402197e-01 -1.05211824e-01 9.73357299e-03 8.63053497e+01] [-1.05206687e-01 9.94449834e-01 1.03971971e-03 -1.31429061e+02] [-9.78894085e-03 9.86259202e-06 -9.99952087e-01 -4.12630233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.01237881594832893 Centerline is valid? [True, True] Translation: X:86.30, Y:-131.40, Z:-4.13 [[-9.84674347e-01 -1.74181498e-01 8.78838769e-03 8.62972507e+01] [-1.74174351e-01 9.84713565e-01 1.57805257e-03 -1.31402013e+02] [-8.92891213e-03 2.31561653e-05 -9.99960136e-01 -4.12718130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.012378474936774776 Centerline is valid? [True, True] Translation: X:86.28, Y:-131.38, Z:-4.13 [[-9.69798287e-01 -2.43768259e-01 8.26551623e-03 8.62807011e+01] [-2.43759194e-01 9.69833509e-01 2.10231760e-03 -1.31376989e+02] [-8.52865291e-03 2.40284331e-05 -9.99963630e-01 -4.12711793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.012343854471325213 Centerline is valid? [True, True] Translation: X:86.25, Y:-131.36, Z:-4.13 [[-9.49861416e-01 -3.12563180e-01 8.21876192e-03 8.62535252e+01] [-3.12551229e-01 9.49896972e-01 2.73338915e-03 -1.31355256e+02] [-8.66133387e-03 2.75567493e-05 -9.99962490e-01 -4.12778827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.012182899017860125 Centerline is valid? [True, True] Translation: X:86.22, Y:-131.34, Z:-4.13 [[-9.24877078e-01 -3.80201347e-01 7.02332494e-03 8.62177357e+01] [-3.80190182e-01 9.24903744e-01 2.91377894e-03 -1.31335883e+02] [-7.60372221e-03 2.46881667e-05 -9.99971091e-01 -4.12890921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.012194292517821902 Centerline is valid? [True, True] Translation: X:86.16, Y:-131.33, Z:-4.13 [[-8.94123833e-01 -4.47774792e-01 6.34881458e-03 8.61562712e+01] [-4.47763359e-01 8.94146373e-01 3.19973876e-03 -1.31330454e+02] [-7.10953188e-03 1.81961413e-05 -9.99974727e-01 -4.12987778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.012067473784160926 Centerline is valid? [True, True] Translation: X:86.09, Y:-131.33, Z:-4.13 [[-8.58136896e-01 -5.13381484e-01 6.36558468e-03 8.60871763e+01] [-5.13367266e-01 8.58160505e-01 3.82075287e-03 -1.31331641e+02] [-7.42419714e-03 1.08462047e-05 -9.99972440e-01 -4.13024099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.011998608728249975 Centerline is valid? [True, True] Translation: X:86.01, Y:-131.34, Z:-4.13 [[-8.16976279e-01 -5.76637484e-01 6.24279532e-03 8.60134036e+01] [-5.76620641e-01 8.17000130e-01 4.40721958e-03 -1.31342026e+02] [-7.64173259e-03 8.69208969e-07 -9.99970802e-01 -4.13007413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.01203401521989663 Centerline is valid? [True, True] Translation: X:85.93, Y:-131.36, Z:-4.13 [[-7.69959446e-01 -6.38063071e-01 6.16188502e-03 8.59313609e+01] [-6.38042866e-01 7.69984102e-01 5.07781118e-03 -1.31362523e+02] [-7.98451730e-03 -2.18380904e-05 -9.99968123e-01 -4.12866517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.012051400807730848 Centerline is valid? [True, True] Translation: X:85.85, Y:-131.39, Z:-4.13 [[-7.18129908e-01 -6.95879846e-01 6.37770685e-03 8.58457135e+01] [-6.95853019e-01 7.18158226e-01 6.11048562e-03 -1.31394188e+02] [-8.83236643e-03 -4.98240853e-05 -9.99960993e-01 -4.12933418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.012445573969214072 Centerline is valid? [True, True] Translation: X:85.76, Y:-131.43, Z:-4.13 [[-6.61674538e-01 -7.49766389e-01 6.09659482e-03 8.57619017e+01] [-7.49735661e-01 6.61702619e-01 6.78840793e-03 -1.31432291e+02] [-9.12385286e-03 -7.91178715e-05 -9.99958374e-01 -4.12890052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.012619854609872933 Centerline is valid? [True, True] Translation: X:85.68, Y:-131.48, Z:-4.13 [[-6.02114971e-01 -7.98390493e-01 5.49381364e-03 8.56814051e+01] [-7.98358655e-01 6.02140027e-01 7.13067018e-03 -1.31480948e+02] [-9.00110437e-03 -9.25503958e-05 -9.99959485e-01 -4.12883027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.012731407588194537 Centerline is valid? [True, True] Translation: X:85.60, Y:-131.54, Z:-4.13 [[-5.39051604e-01 -8.42264365e-01 3.75599068e-03 8.55992949e+01] [-8.42244946e-01 5.39064683e-01 5.72007077e-03 -1.31541109e+02] [-6.84253371e-03 -8.00508447e-05 -9.99976586e-01 -4.13053740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.013086122667844318 Centerline is valid? [True, True] Translation: X:85.52, Y:-131.61, Z:-4.13 [[-4.73078715e-01 -8.81015029e-01 3.00799208e-03 8.55232057e+01] [-8.80998263e-01 4.73088271e-01 5.43581247e-03 -1.31608837e+02] [-6.21207826e-03 -7.84686142e-05 -9.99980702e-01 -4.13059481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.01301518089832896 Centerline is valid? [True, True] Translation: X:85.45, Y:-131.69, Z:-4.13 [[-4.04500646e-01 -9.14532967e-01 2.94633946e-03 8.54524052e+01] [-9.14510356e-01 4.04511365e-01 6.43155633e-03 -1.31685327e+02] [-7.07369809e-03 -9.28892571e-05 -9.99974977e-01 -4.13025638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.013192802486264034 Centerline is valid? [True, True] Translation: X:85.38, Y:-131.78, Z:-4.13 [[-3.33489732e-01 -9.42749702e-01 2.75634392e-03 8.53841007e+01] [-9.42720147e-01 3.33501105e-01 7.46577255e-03 -1.31775082e+02] [-7.95759860e-03 -1.08702462e-04 -9.99968332e-01 -4.12965577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.01372892877224612 Centerline is valid? [True, True] Translation: X:85.32, Y:-131.86, Z:-4.13 [[-2.59406001e-01 -9.65765255e-01 2.44937043e-03 8.53245070e+01] [-9.65727015e-01 2.59417529e-01 8.59523360e-03 -1.31864852e+02] [-8.93638759e-03 -1.35768024e-04 -9.99960061e-01 -4.12926505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.014731656432153854 Centerline is valid? [True, True] Translation: X:85.27, Y:-131.96, Z:-4.13 [[-1.82422086e-01 -9.83218140e-01 2.06677873e-03 8.52702917e+01] [-9.83166066e-01 1.82433699e-01 1.01208415e-02 -1.31961312e+02] [-1.03280450e-02 -1.85721702e-04 -9.99946647e-01 -4.12780193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.014871983427108678 Centerline is valid? [True, True] Translation: X:85.23, Y:-132.06, Z:-4.13 [[-1.05103977e-01 -9.94460397e-01 1.29301123e-03 8.52271466e+01] [-9.94407322e-01 1.05111729e-01 1.02762884e-02 -1.32064217e+02] [-1.03552725e-02 -2.05701053e-04 -9.99946362e-01 -4.12847797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.014995895517375348 Centerline is valid? [True, True] Translation: X:85.19, Y:-132.17, Z:-4.13 [[-2.95890600e-02 -9.99562044e-01 4.55617046e-04 8.51933252e+01] [-9.99518629e-01 2.95920220e-02 9.31784309e-03 -1.32173433e+02] [-9.32724491e-03 -1.79691507e-04 -9.99956484e-01 -4.12967217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.01446464576498868 Centerline is valid? [True, True] Translation: X:85.17, Y:-132.28, Z:-4.13 [[ 4.41359823e-02 -9.99025510e-01 -2.15369110e-04 8.51692439e+01] [-9.98995074e-01 -4.41363190e-02 7.79915068e-03 -1.32278485e+02] [-7.80105608e-03 -1.29070496e-04 -9.99969563e-01 -4.13134441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.013164913577549512 Centerline is valid? [True, True] Translation: X:85.16, Y:-132.39, Z:-4.13 [[ 1.15085218e-01 -9.93355375e-01 -7.01332990e-04 8.51565166e+01] [-9.93332688e-01 -1.15087330e-01 6.71402938e-03 -1.32387952e+02] [-6.75013171e-03 -7.60285526e-05 -9.99977215e-01 -4.13273591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.0123998064715462 Centerline is valid? [True, True] Translation: X:85.15, Y:-132.50, Z:-4.13 [[ 1.86707004e-01 -9.82414633e-01 -1.40831452e-03 8.51512086e+01] [-9.82384347e-01 -1.86712307e-01 7.71424056e-03 -1.32501308e+02] [-7.84153246e-03 -5.67966057e-05 -9.99969253e-01 -4.13260453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.01217090817295977 Centerline is valid? [True, True] Translation: X:85.15, Y:-132.61, Z:-4.13 [[ 2.56739085e-01 -9.66477363e-01 -2.55897064e-03 8.51544297e+01] [-9.66428391e-01 -2.56751837e-01 9.72926414e-03 -1.32612554e+02] [-1.00601340e-02 -2.48204935e-05 -9.99949395e-01 -4.12986441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.012100669293429263 Centerline is valid? [True, True] Translation: X:85.17, Y:-132.73, Z:-4.13 [[ 3.25823004e-01 -9.45426657e-01 -2.79408988e-03 8.51685039e+01] [-9.45392323e-01 -3.25834984e-01 8.05717305e-03 -1.32729428e+02] [-8.52787841e-03 1.62987887e-05 -9.99963637e-01 -4.13171471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.01210015603652959 Centerline is valid? [True, True] Translation: X:85.19, Y:-132.84, Z:-4.13 [[ 3.96560387e-01 -9.18003632e-01 -3.03180658e-03 8.51864884e+01] [-9.17977184e-01 -3.96571976e-01 6.96830305e-03 -1.32839466e+02] [-7.59925703e-03 1.97763192e-05 -9.99971125e-01 -4.13212463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.012191152517099086 Centerline is valid? [True, True] Translation: X:85.21, Y:-132.95, Z:-4.13 [[ 4.66530852e-01 -8.84496016e-01 -3.97017695e-03 8.52134510e+01] [-8.84464224e-01 -4.66547745e-01 7.49922381e-03 -1.32953637e+02] [-8.48531068e-03 1.28602004e-05 -9.99963999e-01 -4.13077400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.012116899567323043 Centerline is valid? [True, True] Translation: X:85.25, Y:-133.07, Z:-4.13 [[ 5.36613083e-01 -8.43812773e-01 -5.13844079e-03 8.52496492e+01] [-8.43773551e-01 -5.36637683e-01 8.13585858e-03 -1.33070522e+02] [-9.62262235e-03 -3.01277272e-05 -9.99953701e-01 -4.13032007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.012521836403971339 Centerline is valid? [True, True] Translation: X:85.29, Y:-133.17, Z:-4.13 [[ 6.03248479e-01 -7.97531764e-01 -5.86156531e-03 8.52852263e+01] [-7.97492856e-01 -6.03276951e-01 7.87812761e-03 -1.33172518e+02] [-9.81920426e-03 -7.79120342e-05 -9.99951787e-01 -4.12972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.013713067438062021 Centerline is valid? [True, True] Translation: X:85.33, Y:-133.28, Z:-4.13 [[ 6.67355472e-01 -7.44713376e-01 -6.21794175e-03 8.53340794e+01] [-7.44679069e-01 -6.67384423e-01 7.14953206e-03 -1.33278045e+02] [-9.47410962e-03 -1.40908263e-04 -9.99955110e-01 -4.12964516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.01500154766145484 Centerline is valid? [True, True] Translation: X:85.39, Y:-133.37, Z:-4.13 [[ 7.24509888e-01 -6.89247328e-01 -4.85207940e-03 8.53877895e+01] [-6.89230699e-01 -7.24526124e-01 4.78944089e-03 -1.33371999e+02] [-6.81656762e-03 -1.25795206e-04 -9.99976759e-01 -4.13135567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.014495575378731166 Centerline is valid? [True, True] Translation: X:85.41, Y:-133.40, Z:-4.13 [[ 7.76344728e-01 -6.30290600e-01 -4.75639727e-03 8.54107444e+01] [-6.30277846e-01 -7.76359289e-01 4.01132149e-03 -1.33398288e+02] [-6.22097143e-03 -1.16316465e-04 -9.99980643e-01 -4.13201569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.014565400360659606 Centerline is valid? [True, True] Translation: X:85.44, Y:-133.42, Z:-4.13 [[ 8.23525999e-01 -5.67255446e-01 -5.11738507e-03 8.54352658e+01] [-5.67243577e-01 -8.23541890e-01 3.67159071e-03 -1.33423726e+02] [-6.29711080e-03 -1.20846596e-04 -9.99980166e-01 -4.13075354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.015120049883514486 Centerline is valid? [True, True] Translation: X:85.46, Y:-133.45, Z:-4.13 [[ 8.65937485e-01 -5.00121684e-01 -5.52925413e-03 8.54606275e+01] [-5.00110514e-01 -8.65955128e-01 3.34516531e-03 -1.33447820e+02] [-6.46107568e-03 -1.31465915e-04 -9.99979118e-01 -4.12976877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.01538197393005835 Centerline is valid? [True, True] Translation: X:85.49, Y:-133.47, Z:-4.13 [[ 9.03604399e-01 -4.28306730e-01 -7.24126737e-03 8.54876418e+01] [-4.28291301e-01 -9.03633394e-01 3.64031062e-03 -1.33470191e+02] [-8.10262055e-03 -1.88028869e-04 -9.99967156e-01 -4.12887894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.017689633549932655 Centerline is valid? [True, True] Translation: X:85.51, Y:-133.49, Z:-4.13 [[ 9.35495705e-01 -3.53200687e-01 -9.85194504e-03 8.55146789e+01] [-3.53177900e-01 -9.35547537e-01 4.02198635e-03 -1.33492863e+02] [-1.06375313e-02 -2.83061700e-04 -9.99943380e-01 -4.12532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.01781249769430331 Centerline is valid? [True, True] Translation: X:85.55, Y:-133.51, Z:-4.12 [[ 9.60774297e-01 -2.77107562e-01 -1.11422030e-02 8.55457355e+01] [-2.77084878e-01 -9.60838846e-01 3.56128698e-03 -1.33507371e+02] [-1.16927210e-02 -3.34257050e-04 -9.99931582e-01 -4.12441063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.01667120311434831 Centerline is valid? [True, True] Translation: X:85.58, Y:-133.52, Z:-4.13 [[ 9.78984558e-01 -2.03627040e-01 -1.11921070e-02 8.55784821e+01] [-2.03610231e-01 -9.79048487e-01 2.63339304e-03 -1.33516783e+02] [-1.14938454e-02 -2.99223644e-04 -9.99933899e-01 -4.12541749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.015581366673272427 Centerline is valid? [True, True] Translation: X:85.61, Y:-133.52, Z:-4.13 [[ 9.91418159e-01 -1.30384189e-01 -9.48665912e-03 8.56117891e+01] [-1.30376172e-01 -9.91463524e-01 1.46130950e-03 -1.33524456e+02] [-9.59620813e-03 -2.11934475e-04 -9.99953933e-01 -4.12678927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.01372188636201132 Centerline is valid? [True, True] Translation: X:85.64, Y:-133.53, Z:-4.13 [[ 9.98082298e-01 -6.13038431e-02 -8.57701522e-03 8.56415610e+01] [-6.13006083e-02 -9.98119144e-01 6.39773223e-04 -1.33525106e+02] [-8.60010365e-03 -1.12770078e-04 -9.99963012e-01 -4.12779202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.013628598051080583 Centerline is valid? [True, True] Translation: X:85.67, Y:-133.54, Z:-4.13 [[ 9.99838490e-01 1.53308647e-02 -9.37863065e-03 8.56701145e+01] [ 1.53311962e-02 -9.99882470e-01 -3.65603172e-05 -1.33535200e+02] [-9.37808887e-03 -1.07231214e-04 -9.99956019e-01 -4.12668946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.013808102113118368 Centerline is valid? [True, True] Translation: X:85.70, Y:-133.54, Z:-4.13 [[ 9.95514162e-01 9.40052624e-02 -1.07034542e-02 8.56995396e+01] [ 9.40012075e-02 -9.95571692e-01 -8.82411097e-04 -1.33542539e+02] [-1.07390073e-02 -1.27684875e-04 -9.99942327e-01 -4.12553574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.014011725548892125 Centerline is valid? [True, True] Translation: X:85.73, Y:-133.55, Z:-4.13 [[ 9.84787472e-01 1.73434062e-01 -1.06892965e-02 8.57301637e+01] [ 1.73425477e-01 -9.84845472e-01 -1.73198395e-03 -1.33547659e+02] [-1.08276903e-02 -1.48160251e-04 -9.99941368e-01 -4.12568322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.014615500455080269 Centerline is valid? [True, True] Translation: X:85.76, Y:-133.55, Z:-4.13 [[ 9.67620153e-01 2.52203100e-01 -1.02389792e-02 8.57608836e+01] [ 2.52190816e-01 -9.67674309e-01 -2.49487112e-03 -1.33549680e+02] [-1.05372114e-02 -1.68088938e-04 -9.99944468e-01 -4.12530108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.014676081076027997 Centerline is valid? [True, True] Translation: X:85.79, Y:-133.55, Z:-4.13 [[ 9.43805758e-01 3.30353694e-01 -9.85534935e-03 8.57925588e+01] [ 3.30337889e-01 -9.43857191e-01 -3.23757997e-03 -1.33553265e+02] [-1.03715889e-02 -1.99948684e-04 -9.99946194e-01 -4.12616199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.015095916143599666 Centerline is valid? [True, True] Translation: X:85.82, Y:-133.55, Z:-4.13 [[ 9.14784943e-01 4.03831696e-01 -9.40578515e-03 8.58235682e+01] [ 4.03812626e-01 -9.14833275e-01 -3.92977788e-03 -1.33552430e+02] [-1.01916941e-02 -2.03273159e-04 -9.99948043e-01 -4.12613280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.01583165819898552 Centerline is valid? [True, True] Translation: X:85.85, Y:-133.55, Z:-4.13 [[ 8.79755962e-01 4.75347031e-01 -8.63992524e-03 8.58529166e+01] [ 4.75326397e-01 -8.79798362e-01 -4.43376118e-03 -1.33548179e+02] [-9.70896729e-03 -2.06156710e-04 -9.99952846e-01 -4.12669349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.01580407177358255 Centerline is valid? [True, True] Translation: X:85.88, Y:-133.54, Z:-4.13 [[ 8.39238526e-01 5.43710528e-01 -7.58671325e-03 8.58835102e+01] [ 5.43690447e-01 -8.39272793e-01 -4.67718976e-03 -1.33540548e+02] [-8.91035934e-03 -1.99545685e-04 -9.99960282e-01 -4.12758291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.015800486660178123 Centerline is valid? [True, True] Translation: X:85.91, Y:-133.53, Z:-4.13 [[ 7.93607717e-01 6.08393369e-01 -6.65582520e-03 8.59141895e+01] [ 6.08373975e-01 -7.93635604e-01 -4.86155098e-03 -1.33532838e+02] [-8.24003524e-03 -1.91066459e-04 -9.99966032e-01 -4.12795450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.01600239311956826 Centerline is valid? [True, True] Translation: X:85.94, Y:-133.52, Z:-4.13 [[ 7.43616897e-01 6.68572284e-01 -6.70904803e-03 8.59426791e+01] [ 6.68547526e-01 -7.43647133e-01 -5.75729117e-03 -1.33520858e+02] [-8.83832965e-03 -2.04098470e-04 -9.99960920e-01 -4.12700255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.016277044331020084 Centerline is valid? [True, True] Translation: X:85.97, Y:-133.50, Z:-4.13 [[ 6.89174111e-01 7.24564704e-01 -6.71082383e-03 8.59685564e+01] [ 7.24533386e-01 -6.89206749e-01 -6.74017303e-03 -1.33504095e+02] [-9.50883656e-03 -2.17063154e-04 -9.99954767e-01 -4.12670921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.016333250690240518 Centerline is valid? [True, True] Translation: X:85.99, Y:-133.49, Z:-4.13 [[ 6.29827841e-01 7.76713641e-01 -5.72799474e-03 8.59932789e+01] [ 7.76684477e-01 -6.29853853e-01 -6.73398112e-03 -1.33486892e+02] [-8.83817456e-03 -2.07595804e-04 -9.99960921e-01 -4.12714491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.016917867134332465 Centerline is valid? [True, True] Translation: X:86.02, Y:-133.47, Z:-4.13 [[ 5.66766552e-01 8.23862891e-01 -5.06092761e-03 8.60171792e+01] [ 8.23833237e-01 -5.66789110e-01 -6.99311419e-03 -1.33468611e+02] [-8.62984593e-03 -2.05897155e-04 -9.99962741e-01 -4.12647342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.016161443013537915 Centerline is valid? [True, True] Translation: X:86.04, Y:-133.45, Z:-4.13 [[ 5.01050371e-01 8.65404659e-01 -4.82718340e-03 8.60382925e+01] [ 8.65368560e-01 -5.01073577e-01 -7.90729758e-03 -1.33446261e+02] [-9.26178622e-03 -2.15338354e-04 -9.99957086e-01 -4.12605841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.01556530206841165 Centerline is valid? [True, True] Translation: X:86.06, Y:-133.42, Z:-4.13 [[ 4.32730081e-01 9.01513613e-01 -4.22870402e-03 8.60568282e+01] [ 9.01475138e-01 -4.32750693e-01 -8.33147572e-03 -1.33423017e+02] [-9.34091337e-03 -2.06791383e-04 -9.99956351e-01 -4.12673338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.016707122289188688 Centerline is valid? [True, True] Translation: X:86.08, Y:-133.40, Z:-4.12 [[ 3.62379147e-01 9.32023372e-01 -3.71324353e-03 8.60757003e+01] [ 9.31979943e-01 -3.62398117e-01 -8.99954367e-03 -1.33400149e+02] [-9.73345750e-03 -1.99421532e-04 -9.99952609e-01 -4.12484407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.015125072411094675 Centerline is valid? [True, True] Translation: X:86.09, Y:-133.37, Z:-4.13 [[ 2.89031637e-01 9.57314379e-01 -3.14534712e-03 8.60901855e+01] [ 9.57265030e-01 -2.89048681e-01 -9.72224775e-03 -1.33374246e+02] [-1.02164060e-02 -2.00893623e-04 -9.99947791e-01 -4.12562369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.01483541161213513 Centerline is valid? [True, True] Translation: X:86.10, Y:-133.35, Z:-4.13 [[ 2.15145105e-01 9.76579101e-01 -2.41720616e-03 8.61033396e+01] [ 9.76526709e-01 -2.15158605e-01 -1.01173734e-02 -1.33347649e+02] [-1.04004981e-02 -1.83763005e-04 -9.99945897e-01 -4.12538205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.013756732902848474 Centerline is valid? [True, True] Translation: X:86.11, Y:-133.32, Z:-4.13 [[ 1.42602246e-01 9.89778773e-01 -1.60632870e-03 8.61124710e+01] [ 9.89726186e-01 -1.42611229e-01 -1.02036126e-02 -1.33320350e+02] [-1.03283996e-02 -1.34767510e-04 -9.99946652e-01 -4.12626177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.013230092490693863 Centerline is valid? [True, True] Translation: X:86.12, Y:-133.29, Z:-4.13 [[ 6.87039717e-02 9.97636825e-01 -7.28262800e-04 8.61208611e+01] [ 9.97592996e-01 -6.87077800e-02 -9.35176389e-03 -1.33293400e+02] [-9.37970135e-03 -8.40065471e-05 -9.99956006e-01 -4.12723741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.012631516410131638 Centerline is valid? [True, True] Translation: X:86.12, Y:-133.27, Z:-4.13 [[-2.03104195e-03 9.99997937e-01 5.61191476e-06 8.61236135e+01] [ 9.99964417e-01 2.03101981e-03 -8.18776251e-03 -1.33267150e+02] [-8.18775702e-03 -1.10179740e-05 -9.99966480e-01 -4.12796846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.012946962507589938 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.24, Z:-4.13 [[-7.37661074e-02 9.97275346e-01 6.67143495e-04 8.61261732e+01] [ 9.97239833e-01 7.37691108e-02 -8.41625733e-03 -1.33239851e+02] [-8.44254052e-03 4.44675259e-05 -9.99964360e-01 -4.12748590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.013343760556592877 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.21, Z:-4.13 [[-1.48453733e-01 9.88918389e-01 1.38192899e-03 8.61288521e+01] [ 9.88880114e-01 1.48460146e-01 -8.70091051e-03 -1.33211897e+02] [-8.80965178e-03 7.48794484e-05 -9.99961192e-01 -4.12654902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.01377875691191698 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.18, Z:-4.13 [[-2.23782815e-01 9.74636840e-01 2.06918170e-03 8.61292578e+01] [ 9.74598853e-01 2.23792363e-01 -8.60544832e-03 -1.33184546e+02] [-8.85025402e-03 9.08706663e-05 -9.99960832e-01 -4.12628028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.01368031775520193 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.16, Z:-4.13 [[-2.99957886e-01 9.53948230e-01 2.83573109e-03 8.61291547e+01] [ 9.53908366e-01 2.99971276e-01 -8.72138929e-03 -1.33156342e+02] [-9.17039175e-03 8.89781173e-05 -9.99957947e-01 -4.12569942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.013384789346954152 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.13, Z:-4.12 [[-3.75890840e-01 9.26656647e-01 3.67908920e-03 8.61286425e+01] [ 9.26614102e-01 3.75908838e-01 -8.87980290e-03 -1.33127989e+02] [-9.61153053e-03 7.12593616e-05 -9.99953806e-01 -4.12457890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.012991795538599598 Centerline is valid? [True, True] Translation: X:86.13, Y:-133.10, Z:-4.12 [[-4.51317217e-01 8.92351875e-01 4.57187638e-03 8.61272715e+01] [ 8.92306756e-01 4.51340372e-01 -8.97345383e-03 -1.33099713e+02] [-1.00709507e-02 2.96419757e-05 -9.99949286e-01 -4.12333824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.012717475851814557 Centerline is valid? [True, True] Translation: X:86.12, Y:-133.07, Z:-4.13 [[-5.22692020e-01 8.52508832e-01 4.66301832e-03 8.61236244e+01] [ 8.52474849e-01 5.22712819e-01 -7.61185527e-03 -1.33069780e+02] [-8.92659330e-03 -3.55016098e-06 -9.99960157e-01 -4.12541855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.012818651525996339 Centerline is valid? [True, True] Translation: X:86.12, Y:-133.04, Z:-4.13 [[-5.91803907e-01 8.06071213e-01 4.16363859e-03 8.61194855e+01] [ 8.06050819e-01 5.91818552e-01 -5.73393732e-03 -1.33037618e+02] [-7.08608037e-03 -3.72622068e-05 -9.99974893e-01 -4.12661710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.013334551986672879 Centerline is valid? [True, True] Translation: X:86.11, Y:-133.01, Z:-4.13 [[-6.55532797e-01 7.55154000e-01 4.38047840e-03 8.61108140e+01] [ 7.55136556e-01 6.55547430e-01 -5.13304790e-03 -1.33008965e+02] [-6.74785301e-03 -5.70218740e-05 -9.99977231e-01 -4.12574868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.014437408782152644 Centerline is valid? [True, True] Translation: X:86.10, Y:-132.98, Z:-4.12 [[-7.15852231e-01 6.98233860e-01 5.00603316e-03 8.60954863e+01] [ 6.98215882e-01 7.15869729e-01 -5.01134773e-03 -1.32984241e+02] [-7.08276027e-03 -9.20925950e-05 -9.99974913e-01 -4.12489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.015583185245069159 Centerline is valid? [True, True] Translation: X:86.08, Y:-132.96, Z:-4.12 [[-7.70139044e-01 6.37842500e-01 6.54204611e-03 8.60768533e+01] [ 6.37817977e-01 7.70166818e-01 -5.59480646e-03 -1.32962495e+02] [-8.60707217e-03 -1.36144286e-04 -9.99962949e-01 -4.12303752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.014316528426103507 Centerline is valid? [True, True] Translation: X:86.50, Y:-132.47, Z:-5.13 [[-7.02718540e-01 -7.11436079e-01 6.73489057e-03 8.64990133e+01] [ 7.11406041e-01 -7.02750786e-01 -6.54045270e-03 -1.32472569e+02] [ 9.38606366e-03 1.95144465e-04 9.99955931e-01 -5.12857407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.015432645139434825 Centerline is valid? [True, True] Translation: X:86.05, Y:-132.93, Z:-4.12 [[-7.73096541e-01 6.34239799e-01 7.84961697e-03 8.60458219e+01] [ 6.34204800e-01 7.73136370e-01 -6.66520813e-03 -1.32933482e+02] [-1.02961646e-02 -1.74584590e-04 -9.99946978e-01 -4.12159482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.014294533749142696 Centerline is valid? [True, True] Translation: X:86.06, Y:-132.92, Z:-4.12 [[-8.16029123e-01 5.77936063e-01 9.29394906e-03 8.60618052e+01] [ 5.77895837e-01 8.16082023e-01 -6.82151353e-03 -1.32915077e+02] [-1.15270234e-02 -1.95619231e-04 -9.99933543e-01 -4.12217059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.01477088853399865 Centerline is valid? [True, True] Translation: X:86.08, Y:-132.89, Z:-4.12 [[-8.54767388e-01 5.18907479e-01 1.03798150e-02 8.60768399e+01] [ 5.18866287e-01 8.54830384e-01 -6.54144936e-03 -1.32892910e+02] [-1.22673883e-02 -2.05681492e-04 -9.99924732e-01 -4.12184296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.014428362479763689 Centerline is valid? [True, True] Translation: X:86.09, Y:-132.87, Z:-4.12 [[-8.88797431e-01 4.58190636e-01 1.00233268e-02 8.60927434e+01] [ 4.58159120e-01 8.88853928e-01 -5.37725372e-03 -1.32872347e+02] [-1.13730807e-02 -1.87010723e-04 -9.99935307e-01 -4.12312425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.01438737092942376 Centerline is valid? [True, True] Translation: X:86.11, Y:-132.85, Z:-4.12 [[-9.18697681e-01 3.94851803e-01 9.30724939e-03 8.61051491e+01] [ 3.94829778e-01 9.18744811e-01 -4.17347481e-03 -1.32849629e+02] [-1.01988911e-02 -1.59382417e-04 -9.99947977e-01 -4.12457945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.01387645317750488 Centerline is valid? [True, True] Translation: X:86.38, Y:-132.26, Z:-5.13 [[-8.75916481e-01 -4.82396353e-01 8.00484855e-03 8.63762454e+01] [ 4.82377002e-01 -8.75953054e-01 -4.32148843e-03 -1.32256285e+02] [ 9.09654180e-03 7.60919105e-05 9.99958623e-01 -5.12636145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.01393570324360796 Centerline is valid? [True, True] Translation: X:86.07, Y:-132.84, Z:-4.13 [[-9.19029219e-01 3.94106457e-01 8.08668642e-03 8.60664556e+01] [ 3.94090113e-01 9.19064790e-01 -3.59100899e-03 -1.32837687e+02] [-8.84742859e-03 -1.13359026e-04 -9.99960854e-01 -4.12551166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.013096345683789243 Centerline is valid? [True, True] Translation: X:86.08, Y:-132.82, Z:-4.13 [[-9.43496479e-01 3.31252549e-01 9.28134523e-03 8.60751822e+01] [ 3.31235554e-01 9.43542124e-01 -3.35676734e-03 -1.32817304e+02] [-9.86927793e-03 -9.27866411e-05 -9.99951293e-01 -4.12537746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.012796535811429173 Centerline is valid? [True, True] Translation: X:86.09, Y:-132.80, Z:-4.12 [[-9.63847376e-01 2.66248500e-01 1.04867739e-02 8.60856709e+01] [ 2.66231928e-01 9.63904420e-01 -2.97138001e-03 -1.32795053e+02] [-1.08993732e-02 -7.20427769e-05 -9.99940598e-01 -4.12499486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.012838502190272246 Centerline is valid? [True, True] Translation: X:86.27, Y:-132.15, Z:-5.13 [[-9.39645335e-01 -3.42008557e-01 9.83826322e-03 8.62736134e+01] [ 3.41990278e-01 -9.39696837e-01 -3.53615806e-03 -1.32148005e+02] [ 1.04543811e-02 4.18559523e-05 9.99945351e-01 -5.12678877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.01287817885981837 Centerline is valid? [True, True] Translation: X:86.04, Y:-132.79, Z:-4.13 [[-9.64283205e-01 2.64651611e-01 1.08363032e-02 8.60411203e+01] [ 2.64634308e-01 9.64344089e-01 -3.02669305e-03 -1.32786352e+02] [-1.12509442e-02 -5.09316672e-05 -9.99936705e-01 -4.12540424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.012710694553526698 Centerline is valid? [True, True] Translation: X:86.05, Y:-132.76, Z:-4.13 [[-9.80145656e-01 1.97954433e-01 1.13373899e-02 8.60528457e+01] [ 1.97940844e-01 9.80211223e-01 -2.31961658e-03 -1.32764171e+02] [-1.15722152e-02 -2.94295778e-05 -9.99933039e-01 -4.12525361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.012773255377892447 Centerline is valid? [True, True] Translation: X:86.20, Y:-132.09, Z:-5.12 [[-9.63844979e-01 -2.66237030e-01 1.09864088e-02 8.61951369e+01] [ 2.66219950e-01 -9.63907591e-01 -3.01575730e-03 -1.32091103e+02] [ 1.13927891e-02 1.80786671e-05 9.99935100e-01 -5.12486222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.012655914836535997 Centerline is valid? [True, True] Translation: X:86.00, Y:-132.76, Z:-4.13 [[-9.80377266e-01 1.96802302e-01 1.13696935e-02 8.60045865e+01] [ 1.96789085e-01 9.80443193e-01 -2.28088679e-03 -1.32760783e+02] [-1.15962224e-02 1.30201649e-06 -9.99932762e-01 -4.12799335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.012667797143467179 Centerline is valid? [True, True] Translation: X:86.01, Y:-132.73, Z:-4.13 [[-9.92002410e-01 1.25692153e-01 1.15195694e-02 8.60081216e+01] [ 1.25683545e-01 9.92069293e-01 -1.47101119e-03 -1.32734141e+02] [-1.16131057e-02 -1.14263264e-05 -9.99932566e-01 -4.12814546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.012705705233201114 Centerline is valid? [True, True] Translation: X:86.01, Y:-132.71, Z:-4.13 [[-9.98618888e-01 5.13677474e-02 1.10304683e-02 8.60078878e+01] [ 5.13640505e-02 9.98679805e-01 -6.18368281e-04 -1.32705611e+02] [-1.10476701e-02 -5.09447155e-05 -9.99938971e-01 -4.12941541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.013008351671560957 Centerline is valid? [True, True] Translation: X:86.05, Y:-132.02, Z:-5.12 [[-9.91355172e-01 -1.30719061e-01 1.12893898e-02 8.60471963e+01] [ 1.30711443e-01 -9.91419448e-01 -1.41319542e-03 -1.32015578e+02] [ 1.13772522e-02 7.46738473e-05 9.99935274e-01 -5.12304484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.013745736520113324 Centerline is valid? [True, True] Translation: X:85.95, Y:-132.70, Z:-4.13 [[-9.99086566e-01 4.11990110e-02 1.13434925e-02 8.59479007e+01] [ 4.11949759e-02 9.99150953e-01 -5.89244713e-04 -1.32698712e+02] [-1.13581377e-02 -1.21411576e-04 -9.99935487e-01 -4.12862560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.013972001158863696 Centerline is valid? [True, True] Translation: X:85.99, Y:-132.02, Z:-5.12 [[-9.91029940e-01 -1.33214742e-01 1.06531847e-02 8.59875376e+01] [ 1.33207834e-01 -9.91087195e-01 -1.35857257e-03 -1.32015232e+02] [ 1.07392169e-02 7.27015706e-05 9.99942330e-01 -5.12068779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.014367287040215624 Centerline is valid? [True, True] Translation: X:85.89, Y:-132.70, Z:-4.13 [[-9.99436151e-01 3.15355439e-02 1.15278147e-02 8.58914077e+01] [ 3.15312859e-02 9.99502614e-01 -5.50977427e-04 -1.32695236e+02] [-1.15394563e-02 -1.87179936e-04 -9.99933401e-01 -4.13101066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.01532880493963172 Centerline is valid? [True, True] Translation: X:85.89, Y:-132.67, Z:-4.13 [[-9.99002059e-01 -4.28834922e-02 1.24856705e-02 8.58874949e+01] [-4.28832042e-02 9.99080050e-01 2.90916245e-04 -1.32665939e+02] [-1.24866598e-02 -2.44799630e-04 -9.99922009e-01 -4.13043362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.0160173230127934 Centerline is valid? [True, True] Translation: X:85.88, Y:-132.64, Z:-4.13 [[-9.93188816e-01 -1.15806100e-01 1.28422037e-02 8.58796423e+01] [-1.15800042e-01 9.93271801e-01 1.21684502e-03 -1.32637813e+02] [-1.28967169e-02 -2.78570861e-04 -9.99916795e-01 -4.13088208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.017043211948718343 Centerline is valid? [True, True] Translation: X:85.87, Y:-132.61, Z:-4.13 [[-9.82067356e-01 -1.88134371e-01 1.22133618e-02 8.58726742e+01] [-1.88123506e-01 9.82143255e-01 2.04274841e-03 -1.32608405e+02] [-1.23795821e-02 -2.91503929e-04 -9.99923328e-01 -4.13184329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.01765628904446687 Centerline is valid? [True, True] Translation: X:85.76, Y:-131.95, Z:-5.12 [[-9.97160883e-01 7.43046107e-02 1.22064762e-02 8.57607207e+01] [-7.42955946e-02 -9.97235552e-01 1.19106494e-03 -1.31951324e+02] [ 1.22612336e-02 2.80795962e-04 9.99924789e-01 -5.12035185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.017487730309193882 Centerline is valid? [True, True] Translation: X:85.78, Y:-132.62, Z:-4.13 [[-9.81081617e-01 -1.93179084e-01 1.26768023e-02 8.57779606e+01] [-1.93166777e-01 9.81163471e-01 2.19988829e-03 -1.32623008e+02] [-1.28629878e-02 -2.90467079e-04 -9.99917226e-01 -4.13161595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.015235840984746644 Centerline is valid? [True, True] Translation: X:85.77, Y:-132.60, Z:-4.13 [[-9.65577821e-01 -2.59808628e-01 1.26075148e-02 8.57679643e+01] [-2.59789927e-01 9.65660091e-01 3.12762107e-03 -1.32603273e+02] [-1.29871568e-02 -2.55343807e-04 -9.99915631e-01 -4.13379268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.013627107449128968 Centerline is valid? [True, True] Translation: X:85.74, Y:-132.59, Z:-4.14 [[-9.46736955e-01 -3.21774997e-01 1.22469899e-02 8.57447816e+01] [-3.21750261e-01 9.46816152e-01 3.99295958e-03 -1.32587156e+02] [-1.28804824e-02 -1.60189817e-04 -9.99917030e-01 -4.13546776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.012823489825382442 Centerline is valid? [True, True] Translation: X:85.71, Y:-132.58, Z:-4.14 [[-9.23377487e-01 -3.83717432e-01 1.16167563e-02 8.57050364e+01] [-3.83688079e-01 9.23450555e-01 4.74674058e-03 -1.32576320e+02] [-1.25489072e-02 -7.41775306e-05 -9.99921257e-01 -4.13554037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.012738649097732459 Centerline is valid? [True, True] Translation: X:85.65, Y:-132.58, Z:-4.14 [[-8.95942069e-01 -4.44039450e-01 1.08063103e-02 8.56469766e+01] [-4.44006919e-01 8.96007236e-01 5.37485832e-03 -1.32577276e+02] [-1.20691814e-02 1.74851190e-05 -9.99927165e-01 -4.13593767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.013813463194390094 Centerline is valid? [True, True] Translation: X:85.58, Y:-132.59, Z:-4.14 [[-8.65593818e-01 -5.00640489e-01 1.03171615e-02 8.55833984e+01] [-5.00603022e-01 8.65655291e-01 6.12634143e-03 -1.32587970e+02] [-1.19982000e-02 1.38121024e-04 -9.99928010e-01 -4.13623302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.0149435030483783 Centerline is valid? [True, True] Translation: X:85.51, Y:-132.61, Z:-4.14 [[-8.28761262e-01 -5.59509192e-01 1.02095814e-02 8.55098453e+01] [-5.59463663e-01 8.28824120e-01 7.14056740e-03 -1.32605808e+02] [-1.24571604e-02 2.05935824e-04 -9.99922385e-01 -4.13593971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.015423651306139955 Centerline is valid? [True, True] Translation: X:85.43, Y:-132.63, Z:-4.14 [[-7.87003260e-01 -6.16876643e-01 9.43803625e-03 8.54287345e+01] [-6.16828422e-01 7.87059810e-01 7.71704546e-03 -1.32631699e+02] [-1.21887641e-02 2.51690930e-04 -9.99925683e-01 -4.13642882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.015843565914249864 Centerline is valid? [True, True] Translation: X:85.34, Y:-132.67, Z:-4.14 [[-7.38596534e-01 -6.74092593e-01 8.62190490e-03 8.53395264e+01] [-6.74042684e-01 7.38646813e-01 8.20644267e-03 -1.32671944e+02] [-1.19004448e-02 2.49718189e-04 -9.99929156e-01 -4.13613083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.015329991557995136 Centerline is valid? [True, True] Translation: X:85.26, Y:-132.72, Z:-4.14 [[-6.84186181e-01 -7.29264879e-01 7.87433608e-03 8.52551879e+01] [-7.29212772e-01 6.84231456e-01 8.72050972e-03 -1.32715929e+02] [-1.17474299e-02 2.24385803e-04 -9.99930971e-01 -4.13613193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.014624700319666825 Centerline is valid? [True, True] Translation: X:85.16, Y:-132.78, Z:-4.14 [[-6.24410185e-01 -7.81058540e-01 7.71221234e-03 8.51646998e+01] [-7.80995009e-01 6.24457779e-01 9.96380456e-03 -1.32775312e+02] [-1.25982656e-02 1.98301707e-04 -9.99920619e-01 -4.13567139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.013973539828644516 Centerline is valid? [True, True] Translation: X:85.08, Y:-132.84, Z:-4.14 [[-5.59752894e-01 -8.28629878e-01 7.01586377e-03 8.50802409e+01] [-8.28561511e-01 5.59796842e-01 1.06451557e-02 -1.32839099e+02] [-1.27483524e-02 1.45582014e-04 -9.99918726e-01 -4.13505858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.013322425489315427 Centerline is valid? [True, True] Translation: X:85.00, Y:-132.91, Z:-4.14 [[-4.91230756e-01 -8.71010949e-01 5.68076793e-03 8.49986065e+01] [-8.70950777e-01 4.91263595e-01 1.02383900e-02 -1.32911883e+02] [-1.17085042e-02 8.17427964e-05 -9.99931450e-01 -4.13587384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.012808679787221697 Centerline is valid? [True, True] Translation: X:84.92, Y:-132.99, Z:-4.14 [[-4.18888802e-01 -9.08027871e-01 4.19004663e-03 8.49211028e+01] [-9.07982001e-01 4.18909758e-01 9.12693392e-03 -1.32994646e+02] [-1.00427618e-02 1.86834991e-05 -9.99949570e-01 -4.13744071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.012771067445583836 Centerline is valid? [True, True] Translation: X:84.85, Y:-133.09, Z:-4.14 [[-3.43593423e-01 -9.39113926e-01 2.93143763e-03 8.48477438e+01] [-9.39080443e-01 3.43605926e-01 7.93025336e-03 -1.33087395e+02] [-8.45467071e-03 -2.80728549e-05 -9.99964258e-01 -4.13901350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.013174688502451057 Centerline is valid? [True, True] Translation: X:84.78, Y:-133.18, Z:-4.14 [[-2.65991227e-01 -9.63972952e-01 2.19445355e-03 8.47820043e+01] [-9.63942207e-01 2.66000271e-01 7.69913769e-03 -1.33184450e+02] [-8.00548573e-03 -6.74233189e-05 -9.99967953e-01 -4.13904937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.014437888847576534 Centerline is valid? [True, True] Translation: X:84.72, Y:-133.29, Z:-4.14 [[-1.85135953e-01 -9.82711389e-01 1.73376955e-03 8.47208791e+01] [-9.82674654e-01 1.85144025e-01 8.49794713e-03 -1.33285914e+02] [-8.67202650e-03 -1.30455851e-04 -9.99962389e-01 -4.13715461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.014466689703167699 Centerline is valid? [True, True] Translation: X:84.67, Y:-133.39, Z:-4.14 [[-1.06041178e-01 -9.94361069e-01 1.15445812e-03 8.46741080e+01] [-9.94318464e-01 1.06047323e-01 9.20638467e-03 -1.33393488e+02] [-9.27689770e-03 -1.71643151e-04 -9.99956954e-01 -4.13795101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.015638818644996087 Centerline is valid? [True, True] Translation: X:84.63, Y:-133.50, Z:-4.14 [[-2.65402530e-02 -9.99647632e-01 4.76722985e-04 8.46332058e+01] [-9.99598843e-01 2.65436687e-02 9.87859681e-03 -1.33501158e+02] [-9.88776988e-03 -2.14351285e-04 -9.99951092e-01 -4.13755168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.016521789904814916 Centerline is valid? [True, True] Translation: X:84.60, Y:-133.62, Z:-4.14 [[ 5.13676589e-02 -9.98679766e-01 -2.96293139e-04 8.46020311e+01] [-9.98624857e-01 -5.13679424e-02 1.04752071e-02 -1.33617671e+02] [-1.04765973e-02 -2.42201170e-04 -9.99945090e-01 -4.13665788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.01609252947365551 Centerline is valid? [True, True] Translation: X:84.58, Y:-133.73, Z:-4.14 [[ 1.27463689e-01 -9.91842517e-01 -1.19588323e-03 8.45826763e+01] [-9.91777507e-01 -1.27469030e-01 1.13588373e-02 -1.33729845e+02] [-1.14186159e-02 -2.61789217e-04 -9.99934771e-01 -4.13557864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.015260824406265996 Centerline is valid? [True, True] Translation: X:84.58, Y:-133.84, Z:-4.13 [[ 1.99802091e-01 -9.79833492e-01 -2.33489130e-03 8.45750060e+01] [-9.79750981e-01 -1.99815572e-01 1.27182219e-02 -1.33843804e+02] [-1.29282874e-02 -2.53515282e-04 -9.99916394e-01 -4.13412227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.013795494955874475 Centerline is valid? [True, True] Translation: X:84.58, Y:-133.96, Z:-4.14 [[ 2.68320212e-01 -9.63325774e-01 -2.77784206e-03 8.45794243e+01] [-9.63268396e-01 -2.68334551e-01 1.05150036e-02 -1.33955154e+02] [-1.08747650e-02 -1.45580523e-04 -9.99940857e-01 -4.13680430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.013642171079442532 Centerline is valid? [True, True] Translation: X:84.59, Y:-134.07, Z:-4.14 [[ 3.39201005e-01 -9.40708019e-01 -3.33179454e-03 8.45869931e+01] [-9.40659322e-01 -3.39217349e-01 9.57230707e-03 -1.34066603e+02] [-1.01349485e-02 -1.12852591e-04 -9.99948634e-01 -4.13718562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.013036364270174438 Centerline is valid? [True, True] Translation: X:84.61, Y:-134.18, Z:-4.14 [[ 4.06221830e-01 -9.13766717e-01 -3.76977174e-03 8.46062314e+01] [-9.13725917e-01 -4.06239316e-01 8.63524336e-03 -1.34178030e+02] [-9.42202747e-03 -6.32862229e-05 -9.99955610e-01 -4.13836462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.012881737321607804 Centerline is valid? [True, True] Translation: X:84.63, Y:-134.29, Z:-4.14 [[ 4.73411640e-01 -8.80829881e-01 -4.48771407e-03 8.46320027e+01] [-8.80789343e-01 -4.73432908e-01 8.45074800e-03 -1.34289880e+02] [-9.56830287e-03 -4.79517491e-05 -9.99954222e-01 -4.13830832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.01289003341590538 Centerline is valid? [True, True] Translation: X:84.66, Y:-134.40, Z:-4.14 [[ 5.38565662e-01 -8.42562591e-01 -5.94205248e-03 8.46648134e+01] [-8.42510361e-01 -5.38598438e-01 9.38157391e-03 -1.34397744e+02] [-1.11049434e-02 -4.63527780e-05 -9.99938337e-01 -4.13768350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.012872487453816703 Centerline is valid? [True, True] Translation: X:84.70, Y:-134.50, Z:-4.14 [[ 6.00989196e-01 -7.99227401e-01 -6.89545423e-03 8.47036531e+01] [-7.99173962e-01 -6.01028751e-01 9.24228523e-03 -1.34501821e+02] [-1.15310538e-02 -4.38460968e-05 -9.99933514e-01 -4.13653090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.012896648232653097 Centerline is valid? [True, True] Translation: X:84.75, Y:-134.60, Z:-4.14 [[ 6.59688984e-01 -7.51496051e-01 -8.00809868e-03 8.47525598e+01] [-7.51439952e-01 -6.59737587e-01 9.18229525e-03 -1.34603570e+02] [-1.21837023e-02 -3.98537460e-05 -9.99925775e-01 -4.13658238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.01288704286000615 Centerline is valid? [True, True] Translation: X:84.81, Y:-134.70, Z:-4.14 [[ 7.14634766e-01 -6.99441744e-01 -8.85426402e-03 8.48073641e+01] [-6.99387425e-01 -7.14689615e-01 8.71692518e-03 -1.34699522e+02] [-1.24250319e-02 -3.68568706e-05 -9.99922806e-01 -4.13728627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.012885829815951013 Centerline is valid? [True, True] Translation: X:84.83, Y:-134.73, Z:-4.14 [[ 7.67358238e-01 -6.41154890e-01 -9.04112350e-03 8.48282065e+01] [-6.41109779e-01 -7.67411497e-01 7.60561099e-03 -1.34729155e+02] [-1.18146368e-02 -3.98755539e-05 -9.99930204e-01 -4.13793750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.012854769234931573 Centerline is valid? [True, True] Translation: X:84.85, Y:-134.76, Z:-4.14 [[ 8.15922946e-01 -5.78098184e-01 -8.49918902e-03 8.48492672e+01] [-5.78066196e-01 -8.15967210e-01 6.08154243e-03 -1.34758344e+02] [-1.04507882e-02 -4.89761469e-05 -9.99945388e-01 -4.13895731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.012949667121311048 Centerline is valid? [True, True] Translation: X:84.87, Y:-134.78, Z:-4.14 [[ 8.58821540e-01 -5.12213764e-01 -7.91347771e-03 8.48728403e+01] [-5.12191518e-01 -8.58857997e-01 4.77395216e-03 -1.34783546e+02] [-9.24183761e-03 -4.67567804e-05 -9.99957292e-01 -4.13807794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.012951216154449366 Centerline is valid? [True, True] Translation: X:84.90, Y:-134.80, Z:-4.14 [[ 8.96287674e-01 -4.43395338e-01 -8.30537653e-03 8.49029996e+01] [-4.43375804e-01 -8.96326153e-01 4.16226639e-03 -1.34800779e+02] [-9.28985571e-03 -4.81850593e-05 -9.99956847e-01 -4.13838125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.012811335054541113 Centerline is valid? [True, True] Translation: X:84.93, Y:-134.82, Z:-4.14 [[ 9.27832983e-01 -3.72909366e-01 -8.03497254e-03 8.49329100e+01] [-3.72895048e-01 -9.27867773e-01 3.26800489e-03 -1.34819682e+02] [-8.67406171e-03 -3.59612556e-05 -9.99962379e-01 -4.13951100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.012697781170561282 Centerline is valid? [True, True] Translation: X:84.96, Y:-134.84, Z:-4.14 [[ 9.53886651e-01 -3.00048125e-01 -8.44871349e-03 8.49632544e+01] [-3.00036083e-01 -9.53924065e-01 2.68829217e-03 -1.34839102e+02] [-8.86604814e-03 -2.94071123e-05 -9.99960695e-01 -4.13983793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.012666558734378013 Centerline is valid? [True, True] Translation: X:84.99, Y:-134.85, Z:-4.14 [[ 9.73849007e-01 -2.27003702e-01 -9.35048872e-03 8.49939701e+01] [-2.26993164e-01 -9.73893895e-01 2.18724919e-03 -1.34853527e+02] [-9.60289755e-03 -7.55342904e-06 -9.99953891e-01 -4.13907096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.012757166266273018 Centerline is valid? [True, True] Translation: X:85.03, Y:-134.86, Z:-4.14 [[ 9.88001652e-01 -1.54157507e-01 -9.39144460e-03 8.50268592e+01] [-1.54150849e-01 -9.88046285e-01 1.43310648e-03 -1.34864366e+02] [-9.50010608e-03 3.17875928e-05 -9.99954873e-01 -4.13888281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.013090999844836321 Centerline is valid? [True, True] Translation: X:85.06, Y:-134.87, Z:-4.14 [[ 9.96789431e-01 -7.94231741e-02 -1.01385634e-02 8.50575614e+01] [-7.94197348e-02 -9.96840988e-01 7.42023640e-04 -1.34871790e+02] [-1.01654695e-02 6.55606977e-05 -9.99948328e-01 -4.13771897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.013517294380100783 Centerline is valid? [True, True] Translation: X:85.09, Y:-134.88, Z:-4.14 [[ 9.99927538e-01 -4.10788588e-03 -1.13156182e-02 8.50883002e+01] [-4.10882990e-03 -9.99991557e-01 -6.01803223e-05 -1.34877798e+02] [-1.13152754e-02 1.06669912e-04 -9.99935975e-01 -4.13696691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.014325488350608487 Centerline is valid? [True, True] Translation: X:85.12, Y:-134.88, Z:-4.14 [[ 9.97277615e-01 7.27841536e-02 -1.18247547e-02 8.51177077e+01] [ 7.27775052e-02 -9.97347708e-01 -9.92142967e-04 -1.34878141e+02] [-1.18656043e-02 1.28865826e-04 -9.99929593e-01 -4.13549391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.013476991018813549 Centerline is valid? [True, True] Translation: X:85.15, Y:-134.88, Z:-4.14 [[ 9.88379288e-01 1.51550824e-01 -1.17784176e-02 8.51488717e+01] [ 1.51538630e-01 -9.88449459e-01 -1.92610920e-03 -1.34884083e+02] [-1.19342740e-02 1.18841166e-04 -9.99928777e-01 -4.13760237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.01344077928466619 Centerline is valid? [True, True] Translation: X:85.18, Y:-134.89, Z:-4.14 [[ 9.73019146e-01 2.30418187e-01 -1.18828050e-02 8.51790876e+01] [ 2.30399786e-01 -9.73091696e-01 -2.91362176e-03 -1.34885918e+02] [-1.22344103e-02 9.72140293e-05 -9.99925152e-01 -4.13657246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.013132331370357206 Centerline is valid? [True, True] Translation: X:85.21, Y:-134.89, Z:-4.14 [[ 9.51319809e-01 3.07985013e-01 -1.16556244e-02 8.52111183e+01] [ 3.07960997e-01 -9.51391206e-01 -3.84675054e-03 -1.34886017e+02] [-1.22738001e-02 7.00122827e-05 -9.99924672e-01 -4.13623404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.013022739329733812 Centerline is valid? [True, True] Translation: X:85.24, Y:-134.88, Z:-4.14 [[ 9.23909459e-01 3.82437644e-01 -1.15221511e-02 8.52424053e+01] [ 3.82407114e-01 -9.23981301e-01 -4.83263977e-03 -1.34881744e+02] [-1.24944356e-02 5.87690407e-05 -9.99921940e-01 -4.13587292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.012752262137803068 Centerline is valid? [True, True] Translation: X:85.27, Y:-134.88, Z:-4.14 [[ 8.89648534e-01 4.56529560e-01 -1.03076431e-02 8.52733449e+01] [ 4.56498703e-01 -8.89708245e-01 -5.30791673e-03 -1.34875777e+02] [-1.15940159e-02 1.67546583e-05 -9.99932787e-01 -4.13658454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.012625436096990031 Centerline is valid? [True, True] Translation: X:85.30, Y:-134.87, Z:-4.14 [[ 8.50180886e-01 5.26419850e-01 -8.63725544e-03 8.53036446e+01] [ 5.26392746e-01 -8.50224760e-01 -5.34181204e-03 -1.34868426e+02] [-1.01556443e-02 -5.08211077e-06 -9.99948430e-01 -4.13749985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.012557475566055687 Centerline is valid? [True, True] Translation: X:85.33, Y:-134.86, Z:-4.14 [[ 8.05516681e-01 5.92536532e-01 -6.58299365e-03 8.53341596e+01] [ 5.92516904e-01 -8.05543579e-01 -4.82283757e-03 -1.34858362e+02] [-8.16059572e-03 -1.56589095e-05 -9.99966702e-01 -4.13846359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.012528310767131467 Centerline is valid? [True, True] Translation: X:85.36, Y:-134.84, Z:-4.14 [[ 7.56933155e-01 6.53468762e-01 -5.54764109e-03 8.53612202e+01] [ 6.53451315e-01 -7.56953484e-01 -4.77509913e-03 -1.34844138e+02] [-7.31968437e-03 -1.06825163e-05 -9.99973211e-01 -4.13865973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.012542072524563196 Centerline is valid? [True, True] Translation: X:85.39, Y:-134.83, Z:-4.14 [[ 7.04357182e-01 7.09827000e-01 -5.15660362e-03 8.53857444e+01] [ 7.09807990e-01 -7.04376057e-01 -5.19489064e-03 -1.34827241e+02] [-7.31966176e-03 -1.13991747e-06 -9.99973211e-01 -4.13735340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.012573516131162954 Centerline is valid? [True, True] Translation: X:85.41, Y:-134.81, Z:-4.14 [[ 6.47557709e-01 7.61998973e-01 -5.15546967e-03 8.54112212e+01] [ 7.61974721e-01 -6.47578231e-01 -6.07949068e-03 -1.34809555e+02] [-7.97113558e-03 8.48349576e-06 -9.99968230e-01 -4.13763321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.012678831102602558 Centerline is valid? [True, True] Translation: X:85.43, Y:-134.79, Z:-4.14 [[ 5.86802110e-01 8.09716844e-01 -4.68147129e-03 8.54347531e+01] [ 8.09690840e-01 -5.86820783e-01 -6.48933563e-03 -1.34789825e+02] [-8.00170902e-03 1.74114138e-05 -9.99967986e-01 -4.13730122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.012804966990960946 Centerline is valid? [True, True] Translation: X:85.45, Y:-134.77, Z:-4.14 [[ 5.21648712e-01 8.53148410e-01 -4.51789346e-03 8.54537971e+01] [ 8.53116093e-01 -5.21668276e-01 -7.42579393e-03 -1.34768513e+02] [-8.69214598e-03 1.93682236e-05 -9.99962222e-01 -4.13543111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.012812457984443911 Centerline is valid? [True, True] Translation: X:85.47, Y:-134.75, Z:-4.14 [[ 4.52755298e-01 8.91624372e-01 -4.31498716e-03 8.54747420e+01] [ 8.91583544e-01 -4.52775859e-01 -8.53266236e-03 -1.34746731e+02] [-9.56165173e-03 1.60365418e-05 -9.99954286e-01 -4.13645419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.01295004349463101 Centerline is valid? [True, True] Translation: X:85.49, Y:-134.72, Z:-4.13 [[ 3.80943210e-01 9.24590314e-01 -3.87597057e-03 8.54926039e+01] [ 9.24542184e-01 -3.80962927e-01 -9.43391523e-03 -1.34724162e+02] [-1.01991077e-02 1.02876463e-05 -9.99947988e-01 -4.13446721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.012921944820216396 Centerline is valid? [True, True] Translation: X:85.51, Y:-134.70, Z:-4.14 [[ 3.06233486e-01 9.51951004e-01 -3.21524222e-03 8.55074613e+01] [ 9.51898601e-01 -3.06250365e-01 -9.98834438e-03 -1.34699253e+02] [-1.04930836e-02 -1.81904980e-06 -9.99944946e-01 -4.13569636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.012932082531012187 Centerline is valid? [True, True] Translation: X:85.52, Y:-134.67, Z:-4.14 [[ 2.29542689e-01 9.73295897e-01 -2.29144680e-03 8.55224423e+01] [ 9.73247988e-01 -2.29554125e-01 -9.65699160e-03 -1.34674111e+02] [-9.92512136e-03 -1.34541717e-05 -9.99950745e-01 -4.13659081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.012942006933228124 Centerline is valid? [True, True] Translation: X:85.54, Y:-134.65, Z:-4.14 [[ 1.51589745e-01 9.88442374e-01 -1.49057959e-03 8.55365886e+01] [ 9.88396067e-01 -1.51597072e-01 -9.56781466e-03 -1.34648210e+02] [-9.68320094e-03 -2.29004135e-05 -9.99953117e-01 -4.13684641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.013294821457331348 Centerline is valid? [True, True] Translation: X:85.55, Y:-134.62, Z:-4.14 [[ 6.91565850e-02 9.97605577e-01 -6.92160877e-04 8.55492884e+01] [ 9.97564342e-01 -6.91600199e-02 -9.07056442e-03 -1.34621857e+02] [-9.09671552e-03 -6.31857503e-05 -9.99958622e-01 -4.13576379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.013425946982341896 Centerline is valid? [True, True] Translation: X:85.56, Y:-134.59, Z:-4.14 [[-1.20427354e-02 9.99927483e-01 2.12892895e-05 8.55591295e+01] [ 9.99883887e-01 1.20424091e-02 -9.33771692e-03 -1.34593724e+02] [-9.33729615e-03 -9.11648365e-05 -9.99956402e-01 -4.13591475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.013752419577319559 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.57, Z:-4.14 [[-9.20292530e-02 9.95756029e-01 7.39404623e-04 8.55650871e+01] [ 9.95714096e-01 9.20321636e-02 -9.13887517e-03 -1.34565543e+02] [-9.16813906e-03 -1.04808249e-04 -9.99957966e-01 -4.13593075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.013847985109854487 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.54, Z:-4.14 [[-1.70025821e-01 9.85438729e-01 1.31572852e-03 8.55672387e+01] [ 9.85404650e-01 1.70030884e-01 -8.19606095e-03 -1.34537058e+02] [-8.30043037e-03 -9.70169908e-05 -9.99965546e-01 -4.13567661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.013711466997681287 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.51, Z:-4.14 [[-2.46907347e-01 9.69037041e-01 1.99385063e-03 8.55677088e+01] [ 9.69002078e-01 2.46915377e-01 -8.23219251e-03 -1.34508326e+02] [-8.46961185e-03 -1.00543403e-04 -9.99964127e-01 -4.13508845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.01406059907806787 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.48, Z:-4.13 [[-3.22870179e-01 9.46438902e-01 2.87278043e-03 8.55661908e+01] [ 9.46398142e-01 3.22882938e-01 -8.78433786e-03 -1.34480692e+02] [-9.24141086e-03 -1.17406684e-04 -9.99957290e-01 -4.13378282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.014263614918593237 Centerline is valid? [True, True] Translation: X:85.56, Y:-134.45, Z:-4.13 [[-3.97072011e-01 9.17779310e-01 3.86734484e-03 8.55626365e+01] [ 9.17732299e-01 3.97090819e-01 -9.29025144e-03 -1.34452643e+02] [-1.00620877e-02 -1.39711552e-04 -9.99949366e-01 -4.13245710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.014450859763072534 Centerline is valid? [True, True] Translation: X:85.56, Y:-134.42, Z:-4.13 [[-4.68774278e-01 8.83304566e-01 4.87020737e-03 8.55570825e+01] [ 8.83253276e-01 4.68799549e-01 -9.52016539e-03 -1.34424943e+02] [-1.06923566e-02 -1.61182041e-04 -9.99942822e-01 -4.13150057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.014276998773719867 Centerline is valid? [True, True] Translation: X:85.55, Y:-134.40, Z:-4.13 [[-5.36742655e-01 8.43726125e-01 5.79215443e-03 8.55488936e+01] [ 8.43673541e-01 5.36773880e-01 -9.42120739e-03 -1.34397679e+02] [-1.10579960e-02 -1.70076435e-04 -9.99938844e-01 -4.13117374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.014909737908410487 Centerline is valid? [True, True] Translation: X:85.54, Y:-134.37, Z:-4.13 [[-6.00639984e-01 7.99498007e-01 5.87760402e-03 8.55400667e+01] [ 7.99457316e-01 6.00668723e-01 -8.06751027e-03 -1.34371253e+02] [-9.98045129e-03 -1.46775700e-04 -9.99950183e-01 -4.13110618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.013933687355509327 Centerline is valid? [True, True] Translation: X:85.52, Y:-134.35, Z:-4.13 [[-6.59910688e-01 7.51328873e-01 4.77579018e-03 8.55238158e+01] [ 7.51308171e-01 6.59927962e-01 -5.57831594e-03 -1.34349429e+02] [-7.34282732e-03 -9.31001238e-05 -9.99973037e-01 -4.13360735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.013374391817892545 Centerline is valid? [True, True] Translation: X:85.51, Y:-134.33, Z:-4.13 [[-7.14988555e-01 6.99122071e-01 4.43801667e-03 8.55087236e+01] [ 6.99108049e-01 7.15002326e-01 -4.42827960e-03 -1.34325911e+02] [-6.26910025e-03 -6.35160559e-05 -9.99980347e-01 -4.13396648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.012936069634496894 Centerline is valid? [True, True] Translation: X:85.53, Y:-134.31, Z:-4.13 [[-7.60712464e-01 6.49075412e-01 4.20189439e-03 8.55278884e+01] [ 6.49065222e-01 7.60724068e-01 -3.63733204e-03 -1.34309311e+02] [-5.55738499e-03 -3.96603086e-05 -9.99984557e-01 -4.13441016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.012630639348036338 Centerline is valid? [True, True] Translation: X:85.55, Y:-134.29, Z:-4.13 [[-8.02698368e-01 5.96377701e-01 2.99477725e-03 8.55483608e+01] [ 5.96373485e-01 8.02703954e-01 -2.24231406e-03 -1.34291237e+02] [-3.74118564e-03 -1.38960891e-05 -9.99993002e-01 -4.13495049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.01260972050097218 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.27, Z:-4.13 [[-8.41519052e-01 5.40218503e-01 3.10731379e-03 8.55673389e+01] [ 5.40214801e-01 8.41524788e-01 -1.99994752e-03 -1.34272843e+02] [-3.69529024e-03 -4.37704282e-06 -9.99993172e-01 -4.13497154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.012640759051456108 Centerline is valid? [True, True] Translation: X:85.58, Y:-134.25, Z:-4.13 [[-8.76220346e-01 4.81894394e-01 3.96201780e-03 8.55844754e+01] [ 4.81889509e-01 8.76229304e-01 -2.16998533e-03 -1.34253184e+02] [-4.51733986e-03 7.86950823e-06 -9.99989797e-01 -4.13407593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.012861630951767782 Centerline is valid? [True, True] Translation: X:85.60, Y:-134.23, Z:-4.13 [[-9.07013146e-01 4.21079264e-01 4.40522241e-03 8.55985770e+01] [ 4.21074412e-01 9.07023844e-01 -2.02158261e-03 -1.34231369e+02] [-4.84688828e-03 2.13244300e-05 -9.99988254e-01 -4.13346500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.012913364293609116 Centerline is valid? [True, True] Translation: X:85.61, Y:-134.21, Z:-4.13 [[-9.33906323e-01 3.57490242e-01 4.43920291e-03 8.56108276e+01] [ 3.57486353e-01 9.33916873e-01 -1.66761521e-03 -1.34206786e+02] [-4.74200267e-03 2.95580697e-05 -9.99988756e-01 -4.13326122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.012936092095008133 Centerline is valid? [True, True] Translation: X:85.62, Y:-134.18, Z:-4.13 [[-9.56657088e-01 2.91183385e-01 4.41056117e-03 8.56203662e+01] [ 2.91180446e-01 9.56667254e-01 -1.30872687e-03 -1.34180188e+02] [-4.60051896e-03 3.22663298e-05 -9.99989417e-01 -4.13343913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.013082700394001981 Centerline is valid? [True, True] Translation: X:85.63, Y:-134.15, Z:-4.13 [[-9.74819302e-01 2.22949930e-01 4.54494075e-03 8.56271012e+01] [ 2.22947670e-01 9.74829897e-01 -1.00452956e-03 -1.34153587e+02] [-4.65450392e-03 3.40491407e-05 -9.99989167e-01 -4.13333469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.013021706997098712 Centerline is valid? [True, True] Translation: X:85.63, Y:-134.13, Z:-4.13 [[-9.88258112e-01 1.52739565e-01 4.06567289e-03 8.56322103e+01] [ 1.52738389e-01 9.88266474e-01 -6.00081699e-04 -1.34125356e+02] [-4.10962443e-03 2.79487218e-05 -9.99991555e-01 -4.13340999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.012894447930809936 Centerline is valid? [True, True] Translation: X:85.64, Y:-134.10, Z:-4.13 [[-9.96718553e-01 8.08533951e-02 3.85428534e-03 8.56358813e+01] [ 8.08528719e-02 9.96726005e-01 -2.91632015e-04 -1.34096627e+02] [-3.86524586e-03 2.09549986e-05 -9.99992530e-01 -4.13409046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.012676878568485893 Centerline is valid? [True, True] Translation: X:85.63, Y:-134.06, Z:-4.13 [[-9.99972746e-01 6.64422782e-03 3.21885605e-03 8.56308999e+01] [ 6.64421638e-03 9.99977927e-01 -1.42464366e-05 -1.34064216e+02] [-3.21887966e-03 7.14072776e-06 -9.99994819e-01 -4.13425289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.012666498073488727 Centerline is valid? [True, True] Translation: X:85.64, Y:-133.37, Z:-5.12 [[-9.97393503e-01 -7.20975443e-02 2.85396281e-03 8.56376642e+01] [ 7.20971624e-02 -9.97397585e-01 -2.36615947e-04 -1.33365342e+02] [ 2.86359504e-03 -3.02365885e-05 9.99995900e-01 -5.11827162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.012607855010251466 Centerline is valid? [True, True] Translation: X:85.57, Y:-134.06, Z:-4.13 [[-9.99992527e-01 -1.97000231e-03 3.32655131e-03 8.55686422e+01] [-1.97001302e-03 9.99998060e-01 5.67440172e-08 -1.34057798e+02] [-3.32654497e-03 -6.49660582e-06 -9.99994467e-01 -4.13348514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.012642801820667028 Centerline is valid? [True, True] Translation: X:85.56, Y:-134.03, Z:-4.13 [[-9.97151333e-01 -7.53269090e-02 3.88287617e-03 8.55635826e+01] [-7.53264028e-02 9.97158892e-01 2.76638637e-04 -1.34026596e+02] [-3.89268283e-03 -1.66325082e-05 -9.99992423e-01 -4.13280538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.012777802739210257 Centerline is valid? [True, True] Translation: X:85.52, Y:-133.35, Z:-5.12 [[-9.99989841e-01 -2.74752297e-03 3.57328205e-03 8.55155049e+01] [ 2.74748286e-03 -9.99996226e-01 -1.61340050e-05 -1.33350705e+02] [ 3.57331290e-03 -6.31630988e-06 9.99993616e-01 -5.11938583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.012967646562041921 Centerline is valid? [True, True] Translation: X:85.49, Y:-134.03, Z:-4.13 [[-9.96451225e-01 -8.40694768e-02 4.15692610e-03 8.54904072e+01] [-8.40688923e-02 9.96459895e-01 3.15475268e-04 -1.34025824e+02] [-4.16873199e-03 -3.51124553e-05 -9.99991310e-01 -4.13265979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.013093820420455801 Centerline is valid? [True, True] Translation: X:85.48, Y:-134.00, Z:-4.13 [[-9.87901968e-01 -1.54939968e-01 6.58094548e-03 8.54847175e+01] [-1.54936920e-01 9.87923885e-01 9.73554871e-04 -1.33997600e+02] [-6.65231579e-03 -5.78546541e-05 -9.99977872e-01 -4.13062062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.013142243231314505 Centerline is valid? [True, True] Translation: X:85.38, Y:-133.34, Z:-5.12 [[-9.97435427e-01 7.10797994e-02 8.38039742e-03 8.53849159e+01] [-7.10756937e-02 -9.97470614e-01 7.87108408e-04 -1.33339930e+02] [ 8.41514767e-03 1.89447251e-04 9.99964574e-01 -5.12278647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.013069584582098006 Centerline is valid? [True, True] Translation: X:85.39, Y:-134.01, Z:-4.13 [[-9.87290156e-01 -1.58689242e-01 8.71045626e-03 8.53905906e+01] [-1.58683597e-01 9.87328578e-01 1.33982538e-03 -1.34012099e+02] [-8.81269827e-03 -5.94101239e-05 -9.99961166e-01 -4.12928058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.01288572639877021 Centerline is valid? [True, True] Translation: X:85.38, Y:-133.99, Z:-4.13 [[-9.74766614e-01 -2.23112774e-01 7.12308633e-03 8.53849288e+01] [-2.23106870e-01 9.74792640e-01 1.62318570e-03 -1.33990529e+02] [-7.30568559e-03 -6.98226221e-06 -9.99973313e-01 -4.13109622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.01302228242144237 Centerline is valid? [True, True] Translation: X:85.37, Y:-133.97, Z:-4.13 [[-9.57819016e-01 -2.87324916e-01 5.20826119e-03 8.53654118e+01] [-2.87320533e-01 9.57833175e-01 1.58736030e-03 -1.33972505e+02] [-5.44473352e-03 2.39635051e-05 -9.99985177e-01 -4.13298453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.013950877067466153 Centerline is valid? [True, True] Translation: X:85.33, Y:-133.96, Z:-4.13 [[-9.37056720e-01 -3.49159043e-01 3.55891309e-03 8.53296340e+01] [-3.49156343e-01 9.37063477e-01 1.37396701e-03 -1.33963007e+02] [-3.81466048e-03 4.48679380e-05 -9.99992723e-01 -4.13469808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.01450478005150594 Centerline is valid? [True, True] Translation: X:85.27, Y:-133.96, Z:-4.13 [[-9.10389238e-01 -4.13735868e-01 3.75049317e-03 8.52701114e+01] [-4.13732066e-01 9.10396961e-01 1.77502405e-03 -1.33961106e+02] [-4.14882870e-03 6.42635059e-05 -9.99991392e-01 -4.13463518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.015448014622375016 Centerline is valid? [True, True] Translation: X:85.20, Y:-133.97, Z:-4.13 [[-8.78550019e-01 -4.77630017e-01 4.40813927e-03 8.52035860e+01] [-4.77623480e-01 8.78561073e-01 2.50055851e-03 -1.33967508e+02] [-5.06716137e-03 9.14349084e-05 -9.99987158e-01 -4.13335113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.015245897936677782 Centerline is valid? [True, True] Translation: X:85.13, Y:-133.98, Z:-4.13 [[-8.41174758e-01 -5.40736186e-01 5.42247377e-03 8.51275470e+01] [-5.40723992e-01 8.41192226e-01 3.63363523e-03 -1.33981283e+02] [-6.52618084e-03 1.24460570e-04 -9.99978697e-01 -4.13241474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.015744553289727504 Centerline is valid? [True, True] Translation: X:85.05, Y:-134.01, Z:-4.13 [[-7.97902564e-01 -6.02762687e-01 5.35179029e-03 8.50488520e+01] [-6.02748077e-01 7.97920502e-01 4.19867862e-03 -1.34005057e+02] [-6.80111000e-03 1.24355129e-04 -9.99976865e-01 -4.13127476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.01484697301927626 Centerline is valid? [True, True] Translation: X:84.96, Y:-134.04, Z:-4.13 [[-7.49357402e-01 -6.62135120e-01 6.36925997e-03 8.49624577e+01] [-6.62109558e-01 7.49384455e-01 5.81984809e-03 -1.34038076e+02] [-8.62655023e-03 1.43998341e-04 -9.99962780e-01 -4.13064414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.014784951186430677 Centerline is valid? [True, True] Translation: X:84.88, Y:-134.08, Z:-4.13 [[-6.96077773e-01 -7.17940906e-01 6.04895411e-03 8.48761988e+01] [-7.17912138e-01 6.96104043e-01 6.42838208e-03 -1.34083479e+02] [-8.82589987e-03 1.32036308e-04 -9.99961042e-01 -4.12993803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.014051514739173064 Centerline is valid? [True, True] Translation: X:84.79, Y:-134.14, Z:-4.13 [[-6.37269270e-01 -7.70624109e-01 5.13434559e-03 8.47895692e+01] [-7.70597889e-01 6.37289945e-01 6.35762362e-03 -1.34137086e+02] [-8.17140485e-03 9.50022858e-05 -9.99966609e-01 -4.13046808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.013847800766038965 Centerline is valid? [True, True] Translation: X:84.71, Y:-134.20, Z:-4.13 [[-5.75057197e-01 -8.18102010e-01 4.28035081e-03 8.47062068e+01] [-8.18078442e-01 5.75073123e-01 6.21015388e-03 -1.34200168e+02] [-7.54205408e-03 6.95309647e-05 -9.99971556e-01 -4.13073048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.013282759833719968 Centerline is valid? [True, True] Translation: X:84.62, Y:-134.28, Z:-4.13 [[-5.08402076e-01 -8.61111754e-01 3.72512429e-03 8.46239767e+01] [-8.61088003e-01 5.08415721e-01 6.39584040e-03 -1.34276165e+02] [-7.40144510e-03 4.39987000e-05 -9.99972608e-01 -4.13147684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.012988260683558715 Centerline is valid? [True, True] Translation: X:84.55, Y:-134.35, Z:-4.13 [[-4.37461683e-01 -8.99232122e-01 2.97756936e-03 8.45484153e+01] [-8.99211119e-01 4.37471817e-01 6.14606907e-03 -1.34354883e+02] [-6.82934541e-03 1.12062469e-05 -9.99976680e-01 -4.13252353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.012977354072082505 Centerline is valid? [True, True] Translation: X:84.48, Y:-134.44, Z:-4.13 [[-3.64717689e-01 -9.31115111e-01 2.37877234e-03 8.44776985e+01] [-9.31095468e-01 3.64725446e-01 6.04808662e-03 -1.34444019e+02] [-6.49906365e-03 -9.01997302e-06 -9.99978881e-01 -4.13239374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.013099979533077085 Centerline is valid? [True, True] Translation: X:84.41, Y:-134.54, Z:-4.13 [[-2.88950551e-01 -9.57342594e-01 1.65454150e-03 8.44134848e+01] [-9.57327464e-01 2.88955286e-01 5.38230671e-03 -1.34537961e+02] [-5.63079998e-03 -2.87175278e-05 -9.99984147e-01 -4.13311648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.013329754001456027 Centerline is valid? [True, True] Translation: X:84.36, Y:-134.64, Z:-4.13 [[-2.13578934e-01 -9.76925069e-01 1.20358286e-03 8.43570337e+01] [-9.76910471e-01 2.13582322e-01 5.34075754e-03 -1.34640536e+02] [-5.47458395e-03 -3.51194012e-05 -9.99985014e-01 -4.13268361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.01338303161271433 Centerline is valid? [True, True] Translation: X:84.31, Y:-134.75, Z:-4.13 [[-1.36817819e-01 -9.90595821e-01 8.96201733e-04 8.43093033e+01] [-9.90576814e-01 1.36820746e-01 6.13662423e-03 -1.34746977e+02] [-6.20153331e-03 -4.81571120e-05 -9.99980769e-01 -4.13214409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.01378969603908181 Centerline is valid? [True, True] Translation: X:84.27, Y:-134.86, Z:-4.13 [[-5.91607135e-02 -9.98248350e-01 4.92637815e-04 8.42678018e+01] [-9.98222402e-01 5.91627279e-02 7.19778298e-03 -1.34862354e+02] [-7.21432078e-03 -6.59361260e-05 -9.99973974e-01 -4.13043507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.013880708914632564 Centerline is valid? [True, True] Translation: X:83.59, Y:-134.92, Z:-5.12 [[-1.45703104e-01 9.89327829e-01 1.02591450e-03 8.35944799e+01] [-9.89297640e-01 -1.45706673e-01 7.72946027e-03 -1.34920698e+02] [ 7.79645274e-03 1.11271561e-04 9.99969601e-01 -5.12179305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.014798179998291078 Centerline is valid? [True, True] Translation: X:84.24, Y:-135.14, Z:-4.13 [[-4.54711537e-02 -9.98965454e-01 6.29291653e-04 8.42417709e+01] [-9.98908645e-01 4.54752796e-02 1.06544377e-02 -1.35144231e+02] [-1.06720324e-02 -1.44135299e-04 -9.99943042e-01 -4.12682077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.015181506697861134 Centerline is valid? [True, True] Translation: X:84.21, Y:-135.26, Z:-4.13 [[ 3.36935148e-02 -9.99432188e-01 -2.22987007e-04 8.42116099e+01] [-9.99353040e-01 -3.36936532e-02 1.25793283e-02 -1.35256482e+02] [-1.25796988e-02 -2.00999041e-04 -9.99920852e-01 -4.12553042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.015026792579767034 Centerline is valid? [True, True] Translation: X:84.19, Y:-135.37, Z:-4.13 [[ 1.10115978e-01 -9.93918178e-01 -1.06194226e-03 8.41915655e+01] [-9.93855067e-01 -1.10120955e-01 1.12017967e-02 -1.35369087e+02] [-1.12506115e-02 -1.78080116e-04 -9.99936694e-01 -4.12658783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.01493588129734194 Centerline is valid? [True, True] Translation: X:84.18, Y:-135.49, Z:-4.13 [[ 1.84563051e-01 -9.82819314e-01 -1.63574110e-03 8.41809255e+01] [-9.82773838e-01 -1.84570248e-01 9.45554789e-03 -1.35485391e+02] [-9.59500423e-03 -1.37581207e-04 -9.99953957e-01 -4.12786748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.013785418084520574 Centerline is valid? [True, True] Translation: X:84.18, Y:-135.59, Z:-4.13 [[ 2.54445369e-01 -9.67085185e-01 -1.94898293e-03 8.41816831e+01] [-9.67054526e-01 -2.54452822e-01 7.70105618e-03 -1.35594699e+02] [-7.94350155e-03 -7.47253114e-05 -9.99968447e-01 -4.13035618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.013367657495762597 Centerline is valid? [True, True] Translation: X:84.19, Y:-135.71, Z:-4.13 [[ 3.24141627e-01 -9.46006016e-01 -2.19626783e-03 8.41909888e+01] [-9.45983518e-01 -3.24149066e-01 6.52432875e-03 -1.35709482e+02] [-6.88397241e-03 -3.71733748e-05 -9.99976305e-01 -4.13061976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.013148786229952733 Centerline is valid? [True, True] Translation: X:84.21, Y:-135.83, Z:-4.13 [[ 3.92058875e-01 -9.19936282e-01 -2.66016154e-03 8.42105295e+01] [-9.19914941e-01 -3.92067900e-01 6.26611416e-03 -1.35825911e+02] [-6.80738970e-03 -9.56332623e-06 -9.99976829e-01 -4.13030939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.01334046905341574 Centerline is valid? [True, True] Translation: X:84.24, Y:-135.94, Z:-4.13 [[ 4.57547099e-01 -8.89175968e-01 -4.09276412e-03 8.42387128e+01] [-8.89140920e-01 -4.57565402e-01 7.89472774e-03 -1.35937267e+02] [-8.89250944e-03 2.68342816e-05 -9.99960461e-01 -4.12911961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.013404347464660306 Centerline is valid? [True, True] Translation: X:84.27, Y:-136.04, Z:-4.13 [[ 5.23662418e-01 -8.51912696e-01 -4.73608121e-03 8.42706321e+01] [-8.51878444e-01 -5.23683834e-01 7.63933806e-03 -1.36044966e+02] [-8.98825824e-03 3.41312468e-05 -9.99959604e-01 -4.12842989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.013174519560854121 Centerline is valid? [True, True] Translation: X:84.31, Y:-136.15, Z:-4.13 [[ 5.88343077e-01 -8.08593001e-01 -5.45736475e-03 8.43108362e+01] [-8.08558581e-01 -5.88368386e-01 7.46075794e-03 -1.36154471e+02] [-9.24365755e-03 2.31138191e-05 -9.99957276e-01 -4.12876967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.013221237197407395 Centerline is valid? [True, True] Translation: X:84.35, Y:-136.26, Z:-4.13 [[ 6.50552225e-01 -7.59426360e-01 -7.30800418e-03 8.43549382e+01] [-7.59378361e-01 -6.50593271e-01 8.53821619e-03 -1.36255332e+02] [-1.12386848e-02 -5.01530278e-06 -9.99936844e-01 -4.12729666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.013287857877407092 Centerline is valid? [True, True] Translation: X:84.41, Y:-136.35, Z:-4.13 [[ 7.08084606e-01 -7.06070666e-01 -8.96692766e-03 8.44066476e+01] [-7.06013430e-01 -7.08141379e-01 8.99019646e-03 -1.36353012e+02] [-1.26975665e-02 -3.50483600e-05 -9.99919382e-01 -4.12598456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.013273545991739235 Centerline is valid? [True, True] Translation: X:84.46, Y:-136.44, Z:-4.13 [[ 7.61932597e-01 -6.47599312e-01 -8.59354246e-03 8.44609371e+01] [-6.47557077e-01 -7.61981054e-01 7.39632529e-03 -1.36443855e+02] [-1.13379717e-02 -7.06921007e-05 -9.99935721e-01 -4.12726978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.01348946154085242 Centerline is valid? [True, True] Translation: X:84.48, Y:-136.47, Z:-4.13 [[ 8.11603877e-01 -5.84150721e-01 -8.19035933e-03 8.44801621e+01] [-5.84119888e-01 -8.11645198e-01 6.00233823e-03 -1.36473364e+02] [-1.01539360e-02 -8.73692080e-05 -9.99948444e-01 -4.12827661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.015324754813419316 Centerline is valid? [True, True] Translation: X:84.50, Y:-136.50, Z:-4.13 [[ 8.56545539e-01 -5.16017750e-01 -7.44460082e-03 8.44989482e+01] [-5.15997193e-01 -8.56577884e-01 4.60720580e-03 -1.36503686e+02] [-8.75428038e-03 -1.04888455e-04 -9.99961675e-01 -4.12660122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.01396967291203734 Centerline is valid? [True, True] Translation: X:84.53, Y:-136.53, Z:-4.13 [[ 8.94756684e-01 -4.46488462e-01 -7.65041899e-03 8.45266123e+01] [-4.46471059e-01 -8.94789383e-01 3.94370899e-03 -1.36525556e+02] [-8.60633425e-03 -1.12969311e-04 -9.99962959e-01 -4.13001114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.013851481618105383 Centerline is valid? [True, True] Translation: X:84.55, Y:-136.55, Z:-4.13 [[ 9.27029753e-01 -3.74907070e-01 -7.77988435e-03 8.45533939e+01] [-3.74892841e-01 -9.27062391e-01 3.26828290e-03 -1.36548578e+02] [-8.43774055e-03 -1.13172540e-04 -9.99964395e-01 -4.12980090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.013896193375407739 Centerline is valid? [True, True] Translation: X:84.58, Y:-136.57, Z:-4.13 [[ 9.53104072e-01 -3.02492290e-01 -9.54162798e-03 8.45821843e+01] [-3.02475850e-01 -9.53151824e-01 3.15609599e-03 -1.36567683e+02] [-1.00493148e-02 -1.21975904e-04 -9.99949497e-01 -4.12791427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.013409860750015858 Centerline is valid? [True, True] Translation: X:84.61, Y:-136.58, Z:-4.13 [[ 9.73464412e-01 -2.28581837e-01 -1.08342991e-02 8.46137891e+01] [-2.28566334e-01 -9.73524694e-01 2.66473463e-03 -1.36583083e+02] [-1.11565677e-02 -1.17668289e-04 -9.99937757e-01 -4.12778577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.013110553266381776 Centerline is valid? [True, True] Translation: X:84.65, Y:-136.59, Z:-4.13 [[ 9.87940181e-01 -1.54469073e-01 -1.06538865e-02 8.46462904e+01] [-1.54459168e-01 -9.87997621e-01 1.75130676e-03 -1.36594690e+02] [-1.07965373e-02 -8.45958752e-05 -9.99941712e-01 -4.12806725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.01276250154686827 Centerline is valid? [True, True] Translation: X:84.68, Y:-136.60, Z:-4.13 [[ 9.96878520e-01 -7.81939989e-02 -1.09047814e-02 8.46758334e+01] [-7.81885644e-02 -9.96938160e-01 9.24456447e-04 -1.36604796e+02] [-1.09436797e-02 -6.89415704e-05 -9.99940114e-01 -4.12965176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.012728177847180139 Centerline is valid? [True, True] Translation: X:84.71, Y:-136.61, Z:-4.13 [[ 9.99941312e-01 -1.27773605e-03 -1.07582416e-02 8.47061809e+01] [-1.27709166e-03 -9.99999182e-01 6.67674102e-05 -1.36612630e+02] [-1.07583181e-02 -5.30242312e-05 -9.99942126e-01 -4.12947002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.01275962326344492 Centerline is valid? [True, True] Translation: X:84.74, Y:-136.62, Z:-4.13 [[ 9.97019615e-01 7.62764626e-02 -1.15667387e-02 8.47355486e+01] [ 7.62719008e-02 -9.97086706e-01 -8.35641549e-04 -1.36616840e+02] [-1.15967812e-02 -4.90661309e-05 -9.99932754e-01 -4.12814532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.012762159536819768 Centerline is valid? [True, True] Translation: X:84.77, Y:-136.62, Z:-4.13 [[ 9.87852609e-01 1.54952000e-01 -1.17089658e-02 8.47660546e+01] [ 1.54941840e-01 -9.87921998e-01 -1.77548315e-03 -1.36618198e+02] [-1.18426596e-02 -6.02930423e-05 -9.99929872e-01 -4.12840185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.01265845403952088 Centerline is valid? [True, True] Translation: X:84.80, Y:-136.62, Z:-4.13 [[ 9.72334796e-01 2.33290780e-01 -1.18514140e-02 8.47971500e+01] [ 2.33274458e-01 -9.72407016e-01 -2.76074042e-03 -1.36621727e+02] [-1.21684534e-02 -8.02682061e-05 -9.99925958e-01 -4.12930401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.012949535680311196 Centerline is valid? [True, True] Translation: X:84.83, Y:-136.62, Z:-4.13 [[ 9.50329012e-01 3.11039122e-01 -1.13769239e-02 8.48288015e+01] [ 3.11018192e-01 -9.50397103e-01 -3.60991003e-03 -1.36623230e+02] [-1.19354188e-02 -1.07828073e-04 -9.99928765e-01 -4.12955132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.013508393091002612 Centerline is valid? [True, True] Translation: X:84.86, Y:-136.62, Z:-4.13 [[ 9.21708372e-01 3.87737126e-01 -1.06582221e-02 8.48607795e+01] [ 3.87713014e-01 -9.21769982e-01 -4.32642949e-03 -1.36621910e+02] [-1.15019466e-02 -1.44625154e-04 -9.99933840e-01 -4.12981226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.014602579885810759 Centerline is valid? [True, True] Translation: X:84.89, Y:-136.62, Z:-4.13 [[ 8.86153401e-01 4.63269925e-01 -1.06360604e-02 8.48928959e+01] [ 4.63239397e-01 -8.86217204e-01 -5.32250965e-03 -1.36620140e+02] [-1.18916183e-02 -2.10482174e-04 -9.99929270e-01 -4.12993200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.015210779721263605 Centerline is valid? [True, True] Translation: X:84.92, Y:-136.61, Z:-4.13 [[ 8.45880091e-01 5.33269672e-01 -1.05037359e-02 8.49243694e+01] [ 5.33232159e-01 -8.45945268e-01 -6.32990718e-03 -1.36612777e+02] [-1.22611332e-02 -2.46587313e-04 -9.99924799e-01 -4.13015727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.015366142866992288 Centerline is valid? [True, True] Translation: X:84.95, Y:-136.60, Z:-4.13 [[ 8.01412644e-01 5.98024571e-01 -1.02169662e-02 8.49537267e+01] [ 5.97980006e-01 -8.01477727e-01 -7.30508998e-03 -1.36601066e+02] [-1.25572941e-02 -2.55150011e-04 -9.99921122e-01 -4.12999768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.01582230897917874 Centerline is valid? [True, True] Translation: X:84.98, Y:-136.59, Z:-4.13 [[ 7.52281687e-01 6.58768909e-01 -9.78712638e-03 8.49801369e+01] [ 6.58717564e-01 -7.52345306e-01 -8.22872163e-03 -1.36587205e+02] [-1.27841246e-02 -2.56635452e-04 -9.99918247e-01 -4.12954759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.015762085951837715 Centerline is valid? [True, True] Translation: X:85.00, Y:-136.57, Z:-4.13 [[ 6.98881665e-01 7.15174359e-01 -9.48974228e-03 8.50039797e+01] [ 7.15113400e-01 -6.98946042e-01 -9.34106494e-03 -1.36567430e+02] [-1.33133079e-02 -2.57942845e-04 -9.99911341e-01 -4.12997322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.015929877006029117 Centerline is valid? [True, True] Translation: X:85.03, Y:-136.55, Z:-4.13 [[ 6.40564983e-01 7.67849070e-01 -9.18192162e-03 8.50267554e+01] [ 7.67776270e-01 -6.40630729e-01 -1.05767877e-02 -1.36547805e+02] [-1.40035977e-02 -2.74541702e-04 -9.99901907e-01 -4.12958638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.014692803623584364 Centerline is valid? [True, True] Translation: X:85.05, Y:-136.53, Z:-4.13 [[ 5.79468793e-01 8.14940134e-01 -9.40722949e-03 8.50482753e+01] [ 8.14840807e-01 -5.79545074e-01 -1.27265916e-02 -1.36526527e+02] [-1.58233238e-02 -2.90731802e-04 -9.99874761e-01 -4.13097110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.01458385085615728 Centerline is valid? [True, True] Translation: X:85.07, Y:-136.51, Z:-4.13 [[ 5.15257337e-01 8.56995294e-01 -8.30325526e-03 8.50701311e+01] [ 8.56892140e-01 -5.15324168e-01 -1.32989522e-02 -1.36505118e+02] [-1.56760076e-02 -2.62611460e-04 -9.99877089e-01 -4.13123213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.013984088863091791 Centerline is valid? [True, True] Translation: X:85.09, Y:-136.48, Z:-4.13 [[ 4.48140384e-01 8.93936743e-01 -6.87726148e-03 8.50903610e+01] [ 8.93839033e-01 -4.48193095e-01 -1.32186619e-02 -1.36481920e+02] [-1.48989887e-02 -2.23348529e-04 -9.99888979e-01 -4.13264150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.013552725742010479 Centerline is valid? [True, True] Translation: X:85.11, Y:-136.46, Z:-4.13 [[ 3.79314329e-01 9.25250712e-01 -5.63556931e-03 8.51080375e+01] [ 9.25155424e-01 -3.79356150e-01 -1.32798157e-02 -1.36457938e+02] [-1.44250468e-02 -1.76553136e-04 -9.99895938e-01 -4.13364027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.013541951543618532 Centerline is valid? [True, True] Translation: X:85.12, Y:-136.43, Z:-4.13 [[ 3.06095863e-01 9.51989464e-01 -4.62414008e-03 8.51244798e+01] [ 9.51889202e-01 -3.06130740e-01 -1.38172853e-02 -1.36433104e+02] [-1.45695015e-02 -1.72255130e-04 -9.99893844e-01 -4.13344892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.013960921651025937 Centerline is valid? [True, True] Translation: X:85.14, Y:-136.41, Z:-4.13 [[ 2.29352564e-01 9.73336789e-01 -3.59108450e-03 8.51396541e+01] [ 9.73230407e-01 -2.29380593e-01 -1.43915750e-02 -1.36408057e+02] [-1.48315745e-02 -1.94208017e-04 -9.99889987e-01 -4.13298333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.014327319989075146 Centerline is valid? [True, True] Translation: X:85.15, Y:-136.38, Z:-4.13 [[ 1.50863687e-01 9.88551271e-01 -2.55574423e-03 8.51523467e+01] [ 9.88433752e-01 -1.50885163e-01 -1.52441803e-02 -1.36381422e+02] [-1.54552777e-02 -2.26390621e-04 -9.99880535e-01 -4.13257278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.014423048061252153 Centerline is valid? [True, True] Translation: X:85.16, Y:-136.35, Z:-4.13 [[ 7.16407945e-02 9.97429650e-01 -1.30032229e-03 8.51632648e+01] [ 9.97319993e-01 -7.16522019e-02 -1.47917069e-02 -1.36353933e+02] [-1.48468580e-02 -2.37147785e-04 -9.99889751e-01 -4.13310623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.015552505218177375 Centerline is valid? [True, True] Translation: X:85.17, Y:-136.33, Z:-4.13 [[-7.76339778e-03 9.99969856e-01 -1.33324166e-04 8.51723428e+01] [ 9.99866768e-01 7.76068282e-03 -1.43602858e-02 -1.36326095e+02] [-1.43588182e-02 -2.44791013e-04 -9.99896877e-01 -4.13269558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.01486203354524262 Centerline is valid? [True, True] Translation: X:85.18, Y:-136.30, Z:-4.13 [[-8.70336893e-02 9.96204911e-01 9.55415556e-04 8.51778609e+01] [ 9.96109347e-01 8.70385759e-02 -1.38005797e-02 -1.36296447e+02] [-1.38313633e-02 -2.49417002e-04 -9.99904311e-01 -4.13471240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.015090901183988299 Centerline is valid? [True, True] Translation: X:85.18, Y:-136.27, Z:-4.13 [[-1.64809138e-01 9.86323252e-01 2.09521918e-03 8.51813765e+01] [ 9.86222493e-01 1.64822254e-01 -1.41002966e-02 -1.36266579e+02] [-1.42527891e-02 -2.57505442e-04 -9.99898391e-01 -4.13391198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.014896955488381367 Centerline is valid? [True, True] Translation: X:85.18, Y:-136.24, Z:-4.13 [[-2.39798429e-01 9.70817997e-01 3.02163051e-03 8.51808655e+01] [ 9.70729007e-01 2.39817365e-01 -1.31463148e-02 -1.36237817e+02] [-1.34873185e-02 -2.19281257e-04 -9.99909018e-01 -4.13372545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.013976337052987372 Centerline is valid? [True, True] Translation: X:85.18, Y:-136.21, Z:-4.14 [[-3.12873619e-01 9.49787447e-01 3.72890635e-03 8.51782472e+01] [ 9.49713275e-01 3.12895791e-01 -1.18709226e-02 -1.36208156e+02] [-1.24416124e-02 -1.72706646e-04 -9.99922585e-01 -4.13511687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.013246813153407838 Centerline is valid? [True, True] Translation: X:85.17, Y:-136.18, Z:-4.14 [[-3.82709957e-01 9.23859176e-01 4.16083041e-03 8.51730102e+01] [ 9.23801395e-01 3.82732559e-01 -1.03330186e-02 -1.36179276e+02] [-1.11387394e-02 -1.10768184e-04 -9.99937956e-01 -4.13543641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.012761352904630393 Centerline is valid? [True, True] Translation: X:85.16, Y:-136.15, Z:-4.14 [[-4.47528572e-01 8.94260237e-01 4.09957248e-03 8.51645572e+01] [ 8.94222187e-01 4.47547348e-01 -8.24935886e-03 -1.36151274e+02] [-9.21182640e-03 -2.58951286e-05 -9.99957570e-01 -4.13615041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.012891383446406831 Centerline is valid? [True, True] Translation: X:85.16, Y:-136.12, Z:-4.14 [[-5.09334560e-01 8.60556091e-01 4.63902187e-03 8.51560697e+01] [ 8.60521235e-01 5.09355683e-01 -7.74549546e-03 -1.36122783e+02] [-9.02834545e-03 4.69283121e-05 -9.99959243e-01 -4.13576424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.013803641529878837 Centerline is valid? [True, True] Translation: X:85.15, Y:-136.10, Z:-4.13 [[-5.70441715e-01 8.21323534e-01 4.88906729e-03 8.51455558e+01] [ 8.21294749e-01 5.70462658e-01 -6.87677124e-03 -1.36096937e+02] [-8.43708438e-03 9.25681130e-05 -9.99964403e-01 -4.13487051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.01448176743720804 Centerline is valid? [True, True] Translation: X:85.13, Y:-136.07, Z:-4.14 [[-6.28552323e-01 7.77751375e-01 4.97754251e-03 8.51349649e+01] [ 7.77728610e-01 6.28572018e-01 -5.95212239e-03 -1.36068528e+02] [-7.75801531e-03 1.29956858e-04 -9.99969898e-01 -4.13574889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.015728676722397684 Centerline is valid? [True, True] Translation: X:85.12, Y:-136.04, Z:-4.14 [[-6.84153039e-01 7.29318481e-01 5.40127589e-03 8.51207466e+01] [ 7.29297635e-01 6.84174339e-01 -5.51657917e-03 -1.36041809e+02] [-7.71875750e-03 1.64953327e-04 -9.99970196e-01 -4.13587476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.016544439653093938 Centerline is valid? [True, True] Translation: X:85.11, Y:-136.01, Z:-4.14 [[-7.36690698e-01 6.76202263e-01 6.10861127e-03 8.51065076e+01] [ 6.76181278e-01 7.36715995e-01 -5.33119129e-03 -1.36014998e+02] [-8.10527525e-03 2.03089541e-04 -9.99967131e-01 -4.13565760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.017859356137724464 Centerline is valid? [True, True] Translation: X:85.13, Y:-135.99, Z:-4.14 [[-7.80976200e-01 6.24528693e-01 6.33145200e-03 8.51289691e+01] [ 6.24510431e-01 7.81001833e-01 -4.78100972e-03 -1.35994781e+02] [-7.93075337e-03 2.20203022e-04 -9.99968527e-01 -4.13536372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.01644258838952743 Centerline is valid? [True, True] Translation: X:85.15, Y:-135.96, Z:-4.14 [[-8.24250572e-01 5.66195113e-01 5.83860736e-03 8.51496797e+01] [ 5.66182445e-01 8.24271231e-01 -3.79179787e-03 -1.35964974e+02] [-6.95949349e-03 1.80325427e-04 -9.99975766e-01 -4.13616343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.01739394826002576 Centerline is valid? [True, True] Translation: X:85.16, Y:-135.94, Z:-4.14 [[-8.62976054e-01 5.05209705e-01 5.95690935e-03 8.51605999e+01] [ 5.05198992e-01 8.62996597e-01 -3.29420809e-03 -1.35938831e+02] [-6.80505839e-03 1.66601905e-04 -9.99976832e-01 -4.13588811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.014826361462903689 Centerline is valid? [True, True] Translation: X:85.17, Y:-135.90, Z:-4.14 [[-8.99566954e-01 4.36738555e-01 6.22331369e-03 8.51735056e+01] [ 4.36729036e-01 8.99588472e-01 -2.88610498e-03 -1.35900034e+02] [-6.85889457e-03 1.21657117e-04 -9.99976470e-01 -4.13547897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.013340933461881798 Centerline is valid? [True, True] Translation: X:85.18, Y:-135.86, Z:-4.13 [[-9.31722567e-01 3.63109961e-01 6.64942661e-03 8.51808815e+01] [ 3.63101166e-01 9.31746292e-01 -2.52795865e-03 -1.35858119e+02] [-7.11350556e-03 5.90584277e-05 -9.99974697e-01 -4.13351303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.012848147584773088 Centerline is valid? [True, True] Translation: X:85.19, Y:-135.82, Z:-4.13 [[-9.57078677e-01 2.89740728e-01 7.12152828e-03 8.51869828e+01] [ 2.89732798e-01 9.57105172e-01 -2.14378091e-03 -1.35821896e+02] [-7.43719219e-03 1.15733111e-05 -9.99972344e-01 -4.13290990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.01302014819825903 Centerline is valid? [True, True] Translation: X:85.18, Y:-135.78, Z:-4.13 [[-9.76666008e-01 2.14635925e-01 7.41130720e-03 8.51788461e+01] [ 2.14629442e-01 9.76694127e-01 -1.66879387e-03 -1.35782527e+02] [-7.59676333e-03 -3.91695200e-05 -9.99971143e-01 -4.13246772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.013913433714885376 Centerline is valid? [True, True] Translation: X:85.18, Y:-135.74, Z:-4.13 [[-9.90641390e-01 1.36304841e-01 7.11519859e-03 8.51784252e+01] [ 1.36300606e-01 9.90666937e-01 -1.07896231e-03 -1.35742749e+02] [-7.19585978e-03 -9.90588431e-05 -9.99974105e-01 -4.13216067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.014951358373731367 Centerline is valid? [True, True] Translation: X:85.18, Y:-135.71, Z:-4.13 [[-9.98077622e-01 6.16466959e-02 6.38323765e-03 8.51754895e+01] [ 6.16447065e-02 9.98098027e-01 -5.08126715e-04 -1.35708879e+02] [-6.40242124e-03 -1.13657092e-04 -9.99979498e-01 -4.13220779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.015229486281283396 Centerline is valid? [True, True] Translation: X:85.22, Y:-135.18, Z:-5.12 [[-9.86256364e-01 -1.65094560e-01 6.49385767e-03 8.52162991e+01] [ 1.65091828e-01 -9.86277735e-01 -9.58224712e-04 -1.35178973e+02] [ 6.56294492e-03 1.27027615e-04 9.99978456e-01 -5.11968859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.015815577938972026 Centerline is valid? [True, True] Translation: X:85.12, Y:-135.70, Z:-4.13 [[-9.98493092e-01 5.44517388e-02 6.82294865e-03 8.51239117e+01] [ 5.44494757e-02 9.98516393e-01 -5.17136977e-04 -1.35699405e+02] [-6.84098508e-03 -1.44851722e-04 -9.99976590e-01 -4.13205786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.01644624687115024 Centerline is valid? [True, True] Translation: X:85.16, Y:-135.18, Z:-5.12 [[-9.86288255e-01 -1.64875793e-01 7.17294286e-03 8.51584580e+01] [ 1.64872755e-01 -9.86314322e-01 -1.01686076e-03 -1.35182113e+02] [ 7.24243199e-03 1.79705029e-04 9.99973757e-01 -5.12076295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.01715477654418401 Centerline is valid? [True, True] Translation: X:85.07, Y:-135.69, Z:-4.13 [[-9.98851338e-01 4.72472759e-02 7.98118250e-03 8.50745862e+01] [ 4.72441958e-02 9.98883205e-01 -5.74129716e-04 -1.35690107e+02] [-7.99939522e-03 -1.96405686e-04 -9.99967985e-01 -4.13057618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.017957100006683737 Centerline is valid? [True, True] Translation: X:85.07, Y:-135.66, Z:-4.13 [[-9.99585304e-01 -2.71873422e-02 9.49043684e-03 8.50661411e+01] [-2.71886557e-02 9.99630320e-01 -9.38960723e-06 -1.35661306e+02] [-9.48667313e-03 -2.67417933e-04 -9.99954965e-01 -4.13012305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.017459150314632608 Centerline is valid? [True, True] Translation: X:85.06, Y:-135.15, Z:-5.12 [[-9.95158400e-01 -9.77732011e-02 1.00080153e-02 8.50604318e+01] [ 9.77714678e-02 -9.95208672e-01 -6.63481391e-04 -1.35153735e+02] [ 1.00249343e-02 3.18229264e-04 9.99949699e-01 -5.12169894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.018712003422798596 Centerline is valid? [True, True] Translation: X:85.01, Y:-135.66, Z:-4.13 [[-9.99412187e-01 -3.29484162e-02 9.47012666e-03 8.50123711e+01] [-3.29496261e-02 9.99457013e-01 2.82763015e-05 -1.35663163e+02] [-9.46591617e-03 -2.83777452e-04 -9.99955157e-01 -4.13029444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.017572200360861722 Centerline is valid? [True, True] Translation: X:85.01, Y:-135.15, Z:-5.12 [[-9.95643007e-01 -9.29441088e-02 7.50963932e-03 8.50106098e+01] [ 9.29422425e-02 -9.95671322e-01 -5.97882223e-04 -1.35149122e+02] [ 7.53270214e-03 1.02685464e-04 9.99971624e-01 -5.11931182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.01792342569224338 Centerline is valid? [True, True] Translation: X:84.97, Y:-135.67, Z:-4.13 [[-9.99387723e-01 -3.43786824e-02 6.50267573e-03 8.49655516e+01] [-3.43791132e-02 9.99408863e-01 4.55453570e-05 -1.35672020e+02] [-6.50039754e-03 -1.78038754e-04 -9.99978856e-01 -4.13271818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.017316657445516706 Centerline is valid? [True, True] Translation: X:84.96, Y:-135.65, Z:-4.13 [[-9.94481026e-01 -1.04737913e-01 6.12027872e-03 8.49561099e+01] [-1.04736946e-01 9.94499845e-01 4.79098472e-04 -1.35649384e+02] [-6.13679602e-03 -1.64564964e-04 -9.99981156e-01 -4.13278656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.018078126275373658 Centerline is valid? [True, True] Translation: X:84.94, Y:-135.63, Z:-4.13 [[-9.84419401e-01 -1.75701387e-01 6.88953042e-03 8.49443288e+01] [-1.75698434e-01 9.84443491e-01 1.03621509e-03 -1.35626774e+02] [-6.96441780e-03 -1.90409465e-04 -9.99975730e-01 -4.13202737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.01863325516732126 Centerline is valid? [True, True] Translation: X:84.86, Y:-135.09, Z:-5.12 [[-9.98611489e-01 5.20802328e-02 7.92108231e-03 8.48609285e+01] [-5.20763316e-02 -9.98642863e-01 6.98108478e-04 -1.35094531e+02] [ 7.94668997e-03 2.84638238e-04 9.99968384e-01 -5.12040529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.01934092797752671 Centerline is valid? [True, True] Translation: X:84.87, Y:-135.64, Z:-4.13 [[-9.82332911e-01 -1.86945948e-01 8.55946702e-03 8.48732652e+01] [-1.86941476e-01 9.82370157e-01 1.32665425e-03 -1.35641482e+02] [-8.65657759e-03 -2.96903274e-04 -9.99962487e-01 -4.13066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.02248232384646701 Centerline is valid? [True, True] Translation: X:84.79, Y:-135.11, Z:-5.12 [[-9.98780277e-01 4.85304103e-02 9.09711431e-03 8.47864387e+01] [-4.85252432e-02 -9.98821646e-01 7.87992765e-04 -1.35105995e+02] [ 9.12463630e-03 3.45591948e-04 9.99958310e-01 -5.12284974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.023694179761852882 Centerline is valid? [True, True] Translation: X:84.81, Y:-135.65, Z:-4.13 [[-9.80257591e-01 -1.97492461e-01 9.58032176e-03 8.48092700e+01] [-1.97486921e-01 9.80304327e-01 1.53027125e-03 -1.35650504e+02] [-9.69384791e-03 -3.91928232e-04 -9.99952937e-01 -4.12858721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.022731036723327228 Centerline is valid? [True, True] Translation: X:84.72, Y:-135.11, Z:-5.12 [[-9.98775664e-01 4.84685082e-02 9.89837192e-03 8.47186557e+01] [-4.84619801e-02 -9.98824624e-01 8.98445822e-04 -1.35109703e+02] [ 9.93028394e-03 4.17651118e-04 9.99950606e-01 -5.12330398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.027422073281080275 Centerline is valid? [True, True] Translation: X:84.73, Y:-135.67, Z:-4.13 [[-9.78924638e-01 -2.03991631e-01 9.69370935e-03 8.47348821e+01] [-2.03985843e-01 9.78972543e-01 1.59263130e-03 -1.35665420e+02] [-9.81475875e-03 -4.18313448e-04 -9.99951747e-01 -4.12730602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.023669427532009412 Centerline is valid? [True, True] Translation: X:84.73, Y:-135.65, Z:-4.13 [[-9.62007031e-01 -2.72888781e-01 8.61315822e-03 8.47273291e+01] [-2.72881303e-01 9.62045515e-01 2.05448428e-03 -1.35649767e+02] [-8.84689595e-03 -3.73941524e-04 -9.99960796e-01 -4.12964876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.024377857400959543 Centerline is valid? [True, True] Translation: X:84.71, Y:-135.63, Z:-4.13 [[-9.40445122e-01 -3.39846098e-01 8.22203846e-03 8.47120066e+01] [-3.39836389e-01 9.40480996e-01 2.59336709e-03 -1.35631619e+02] [-8.61401660e-03 -3.55228434e-04 -9.99962836e-01 -4.13030882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.02225664614550991 Centerline is valid? [True, True] Translation: X:84.69, Y:-135.62, Z:-4.13 [[-9.14819100e-01 -4.03800064e-01 7.17792634e-03 8.46883569e+01] [-4.03790144e-01 9.14847212e-01 2.84582709e-03 -1.35620540e+02] [-7.71585106e-03 -2.94958931e-04 -9.99970189e-01 -4.13048392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.020612610995800387 Centerline is valid? [True, True] Translation: X:84.65, Y:-135.62, Z:-4.13 [[-8.84979816e-01 -4.65585137e-01 6.41916449e-03 8.46512894e+01] [-4.65574880e-01 8.85003062e-01 3.10017369e-03 -1.35615165e+02] [-7.12437503e-03 -2.45010592e-04 -9.99974591e-01 -4.13081543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.018735483029466832 Centerline is valid? [True, True] Translation: X:84.59, Y:-135.62, Z:-4.13 [[-8.50995189e-01 -5.25133034e-01 6.51801055e-03 8.45927844e+01] [-5.25119600e-01 8.51020122e-01 3.76262262e-03 -1.35624562e+02] [-7.52283556e-03 -2.20761343e-04 -9.99971679e-01 -4.13052755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.016699336737953485 Centerline is valid? [True, True] Translation: X:84.53, Y:-135.64, Z:-4.13 [[-8.14269993e-01 -5.80433642e-01 7.82086416e-03 8.45311080e+01] [-5.80409263e-01 8.14307525e-01 5.32378474e-03 -1.35644872e+02] [-9.45869230e-03 -2.04303839e-04 -9.99955245e-01 -4.12882009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.015418495139245845 Centerline is valid? [True, True] Translation: X:84.46, Y:-135.67, Z:-4.13 [[-7.71647328e-01 -6.36004176e-01 7.68697058e-03 8.44606373e+01] [-6.35974767e-01 7.71685597e-01 6.11844476e-03 -1.35672093e+02] [-9.82328090e-03 -1.67437764e-04 -9.99951736e-01 -4.12795840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.014778571911432364 Centerline is valid? [True, True] Translation: X:84.39, Y:-135.71, Z:-4.13 [[-7.23959815e-01 -6.89804810e-01 7.17706515e-03 8.43865958e+01] [-6.89772768e-01 7.23995377e-01 6.65007629e-03 -1.35708303e+02] [-9.78341660e-03 -1.36156087e-04 -9.99952132e-01 -4.12788383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.014319786542702256 Centerline is valid? [True, True] Translation: X:84.31, Y:-135.76, Z:-4.13 [[-6.72072461e-01 -7.40451619e-01 7.07158053e-03 8.43119586e+01] [-7.40412415e-01 6.72109654e-01 7.62028822e-03 -1.35755845e+02] [-1.03953323e-02 -1.14500162e-04 -9.99945961e-01 -4.12756854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.013819672618911191 Centerline is valid? [True, True] Translation: X:84.23, Y:-135.81, Z:-4.13 [[-6.15752317e-01 -7.87911573e-01 6.66612209e-03 8.42325777e+01] [-7.87867078e-01 6.15788392e-01 8.37404608e-03 -1.35814275e+02] [-1.07029284e-02 -9.56798542e-05 -9.99942718e-01 -4.12763139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.013542830966171078 Centerline is valid? [True, True] Translation: X:84.15, Y:-135.88, Z:-4.13 [[-5.56122281e-01 -8.31079923e-01 5.84544112e-03 8.41539564e+01] [-8.31035311e-01 5.56152997e-01 8.61138173e-03 -1.35883781e+02] [-1.04077061e-02 -6.87867269e-05 -9.99945836e-01 -4.12744492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.013459842984779308 Centerline is valid? [True, True] Translation: X:84.08, Y:-135.95, Z:-4.13 [[-4.91726073e-01 -8.70737971e-01 4.56664196e-03 8.40810270e+01] [-8.70701456e-01 4.91747275e-01 7.97448391e-03 -1.35953246e+02] [-9.18931969e-03 -5.49201481e-05 -9.99957776e-01 -4.12856130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.013767576195959249 Centerline is valid? [True, True] Translation: X:84.01, Y:-136.04, Z:-4.13 [[-4.22698406e-01 -9.06260643e-01 4.20761941e-03 8.40061477e+01] [-9.06217415e-01 4.22719342e-01 8.85187938e-03 -1.36036275e+02] [-9.80075201e-03 -7.13426734e-05 -9.99951969e-01 -4.12815566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.014464980017289904 Centerline is valid? [True, True] Translation: X:83.93, Y:-136.13, Z:-4.13 [[-3.49513664e-01 -9.36923973e-01 3.69691852e-03 8.39333865e+01] [-9.36874694e-01 3.49533200e-01 9.60989184e-03 -1.36128492e+02] [-1.02959338e-02 -1.04760899e-04 -9.99946990e-01 -4.12706203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.013521044742573722 Centerline is valid? [True, True] Translation: X:83.87, Y:-136.22, Z:-4.13 [[-2.75597807e-01 -9.61269000e-01 2.78550662e-03 8.38747506e+01] [-9.61223871e-01 2.75611861e-01 9.31519545e-03 -1.36224112e+02] [-9.72212728e-03 -1.10248022e-04 -9.99952733e-01 -4.13032266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.01355233313984649 Centerline is valid? [True, True] Translation: X:83.82, Y:-136.33, Z:-4.13 [[-2.01035804e-01 -9.79581793e-01 2.02888467e-03 8.38197154e+01] [-9.79537232e-01 2.01046012e-01 9.34406741e-03 -1.36327932e+02] [-9.56117748e-03 -1.08875971e-04 -9.99954285e-01 -4.12994808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.013922075400621667 Centerline is valid? [True, True] Translation: X:83.77, Y:-136.43, Z:-4.13 [[-1.25496630e-01 -9.92093310e-01 1.20825904e-03 8.37723343e+01] [-9.92054608e-01 1.25502407e-01 8.76354891e-03 -1.36431375e+02] [-8.84589767e-03 -9.88630949e-05 -9.99960869e-01 -4.12931317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.013578455525666241 Centerline is valid? [True, True] Translation: X:83.73, Y:-136.55, Z:-4.13 [[-4.88638072e-02 -9.98805298e-01 5.53071625e-04 8.37340482e+01] [-9.98763059e-01 4.88668275e-02 9.18619019e-03 -1.36545082e+02] [-9.20224229e-03 -1.03515281e-04 -9.99957653e-01 -4.12979967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.013680659769688243 Centerline is valid? [True, True] Translation: X:83.70, Y:-136.67, Z:-4.13 [[ 2.89686094e-02 -9.99580310e-01 -1.51954787e-04 8.37019985e+01] [-9.99538944e-01 -2.89687931e-02 9.09441192e-03 -1.36666657e+02] [-9.09499704e-03 -1.11567739e-04 -9.99958634e-01 -4.12963564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.01436082364061078 Centerline is valid? [True, True] Translation: X:83.68, Y:-136.78, Z:-4.13 [[ 1.06705601e-01 -9.94290286e-01 -8.61783947e-04 8.36780628e+01] [-9.94247947e-01 -1.06709011e-01 9.17639216e-03 -1.36779133e+02] [-9.21595770e-03 -1.22345522e-04 -9.99957525e-01 -4.12907806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.013990205791145065 Centerline is valid? [True, True] Translation: X:83.67, Y:-136.90, Z:-4.13 [[ 1.84049373e-01 -9.82915698e-01 -1.60001272e-03 8.36651585e+01] [-9.82871774e-01 -1.84056276e-01 9.29319160e-03 -1.36899099e+02] [-9.42891629e-03 -1.37798740e-04 -9.99955537e-01 -4.12970384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.013818546875603384 Centerline is valid? [True, True] Translation: X:83.66, Y:-137.02, Z:-4.13 [[ 2.59294713e-01 -9.65794897e-01 -2.54332698e-03 8.36619132e+01] [-9.65742403e-01 -2.59307139e-01 1.00707140e-02 -1.37017796e+02] [-1.03857471e-02 -1.55084193e-04 -9.99946055e-01 -4.12942353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.0140735532985853 Centerline is valid? [True, True] Translation: X:83.67, Y:-137.14, Z:-4.13 [[ 3.32266035e-01 -9.43179032e-01 -3.54913743e-03 8.36672104e+01] [-9.43119875e-01 -3.32284949e-01 1.05647798e-02 -1.37135174e+02] [-1.11438037e-02 -1.63055441e-04 -9.99937893e-01 -4.12852106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.01374603167952543 Centerline is valid? [True, True] Translation: X:83.68, Y:-137.25, Z:-4.13 [[ 4.03022978e-01 -9.15178740e-01 -4.51143087e-03 8.36841409e+01] [-9.15116865e-01 -4.03048195e-01 1.06430712e-02 -1.37253151e+02] [-1.15586365e-02 -1.60915757e-04 -9.99933184e-01 -4.12921900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.01400023518811542 Centerline is valid? [True, True] Translation: X:83.71, Y:-137.36, Z:-4.13 [[ 4.71843448e-01 -8.81666937e-01 -5.21274992e-03 8.37050752e+01] [-8.81609435e-01 -4.71872216e-01 1.00705383e-02 -1.37362530e+02] [-1.13386125e-02 -1.56108006e-04 -9.99935704e-01 -4.12928718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.014044896767684454 Centerline is valid? [True, True] Translation: X:83.74, Y:-137.48, Z:-4.13 [[ 5.38192147e-01 -8.42803873e-01 -5.55381934e-03 8.37388279e+01] [-8.42756124e-01 -5.38220782e-01 8.97245993e-03 -1.37476093e+02] [-1.05512050e-02 -1.48392209e-04 -9.99944324e-01 -4.13017885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.013986844387895145 Centerline is valid? [True, True] Translation: X:83.78, Y:-137.59, Z:-4.13 [[ 6.01181359e-01 -7.99089526e-01 -6.07482571e-03 8.37811188e+01] [-7.99046243e-01 -6.01212033e-01 8.31824266e-03 -1.37586559e+02] [-1.02992789e-02 -1.46705767e-04 -9.99946950e-01 -4.12996173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.014378855490997789 Centerline is valid? [True, True] Translation: X:83.82, Y:-137.68, Z:-4.13 [[ 6.61187940e-01 -7.50180659e-01 -7.71286603e-03 8.38213772e+01] [-7.50126406e-01 -6.61232899e-01 9.02374013e-03 -1.37680302e+02] [-1.18694361e-02 -1.80763667e-04 -9.99929539e-01 -4.12942220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.014457727162574001 Centerline is valid? [True, True] Translation: X:83.87, Y:-137.78, Z:-4.13 [[ 7.16467563e-01 -6.97567736e-01 -8.57236584e-03 8.38740464e+01] [-6.97514681e-01 -7.16518820e-01 8.60524428e-03 -1.37776979e+02] [-1.21450022e-02 -1.86027369e-04 -9.99926230e-01 -4.12937626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.015000920476867916 Centerline is valid? [True, True] Translation: X:83.93, Y:-137.87, Z:-4.13 [[ 7.67695929e-01 -6.40759489e-01 -8.38080865e-03 8.39298716e+01] [-6.40718805e-01 -7.67741653e-01 7.22268211e-03 -1.37867575e+02] [-1.10622980e-02 -1.75081953e-04 -9.99938796e-01 -4.12952405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.014686115500645754 Centerline is valid? [True, True] Translation: X:83.95, Y:-137.89, Z:-4.13 [[ 8.15847046e-01 -5.78211552e-01 -8.06220665e-03 8.39538123e+01] [-5.78181313e-01 -8.15886864e-01 5.91569408e-03 -1.37892202e+02] [-9.99837115e-03 -1.64884313e-04 -9.99950002e-01 -4.13178018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.014732645110234144 Centerline is valid? [True, True] Translation: X:83.98, Y:-137.92, Z:-4.13 [[ 8.58708644e-01 -5.12385210e-01 -8.99231122e-03 8.39782935e+01] [-5.12354938e-01 -8.58755708e-01 5.57248973e-03 -1.37915410e+02] [-1.05774599e-02 -1.77890041e-04 -9.99944041e-01 -4.13235221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.014906419566645086 Centerline is valid? [True, True] Translation: X:84.00, Y:-137.94, Z:-4.13 [[ 8.96331019e-01 -4.43274082e-01 -9.93942796e-03 8.40045780e+01] [-4.43244430e-01 -8.96386106e-01 5.13076090e-03 -1.37937015e+02] [-1.11838985e-02 -1.93264071e-04 -9.99937440e-01 -4.13142190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.014896272007915223 Centerline is valid? [True, True] Translation: X:84.03, Y:-137.96, Z:-4.13 [[ 9.28350890e-01 -3.71559254e-01 -1.04089042e-02 8.40322779e+01] [-3.71533495e-01 -9.28409221e-01 4.37960727e-03 -1.37957152e+02] [-1.12910063e-02 -1.98555732e-04 -9.99936235e-01 -4.13186951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.014973953081494665 Centerline is valid? [True, True] Translation: X:84.06, Y:-137.97, Z:-4.13 [[ 9.54510700e-01 -2.98008652e-01 -1.00083420e-02 8.40603428e+01] [-2.97990252e-01 -9.54563151e-01 3.31656879e-03 -1.37974202e+02] [-1.05419606e-02 -1.83312051e-04 -9.99944415e-01 -4.13224782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.01540119530046951 Centerline is valid? [True, True] Translation: X:84.09, Y:-137.99, Z:-4.13 [[ 9.74881333e-01 -2.22497850e-01 -1.00544791e-02 8.40895163e+01] [-2.22484111e-01 -9.74933164e-01 2.47904311e-03 -1.37988230e+02] [-1.03540269e-02 -1.79810997e-04 -9.99946380e-01 -4.13189811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.015197933603254159 Centerline is valid? [True, True] Translation: X:84.12, Y:-138.00, Z:-4.13 [[ 9.89085603e-01 -1.46966628e-01 -1.05109489e-02 8.41217899e+01] [-1.46956499e-01 -9.89141436e-01 1.73388249e-03 -1.37996286e+02] [-1.06516380e-02 -1.70305959e-04 -9.99943255e-01 -4.13094735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.014808725189576407 Centerline is valid? [True, True] Translation: X:84.15, Y:-138.00, Z:-4.13 [[ 9.97447377e-01 -7.06198007e-02 -1.05628888e-02 8.41511972e+01] [-7.06142152e-02 -9.97503293e-01 9.01277442e-04 -1.38000292e+02] [-1.06001644e-02 -1.53086719e-04 -9.99943805e-01 -4.13137534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.013674000038283425 Centerline is valid? [True, True] Translation: X:84.18, Y:-138.01, Z:-4.13 [[ 9.99936478e-01 4.91333247e-03 -1.01439231e-02 8.41800007e+01] [ 4.91427669e-03 -9.99987923e-01 6.81587006e-05 -1.38006208e+02] [-1.01434657e-02 -1.18004416e-04 -9.99948547e-01 -4.13245356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.013734099284396449 Centerline is valid? [True, True] Translation: X:84.21, Y:-138.01, Z:-4.13 [[ 9.96590947e-01 8.19097241e-02 -9.86318810e-03 8.42086485e+01] [ 8.19067303e-02 -9.96639748e-01 -7.07775780e-04 -1.38010384e+02] [-9.88801902e-03 -1.02498553e-04 -9.99951107e-01 -4.13262152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.013590668029020701 Centerline is valid? [True, True] Translation: X:84.24, Y:-138.01, Z:-4.13 [[ 9.87197015e-01 1.59222708e-01 -9.49646508e-03 8.42374549e+01] [ 1.59216270e-01 -9.87242686e-01 -1.43499856e-03 -1.38011594e+02] [-9.60380005e-03 -9.53654438e-05 -9.99953878e-01 -4.13345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.013794411136622317 Centerline is valid? [True, True] Translation: X:84.27, Y:-138.01, Z:-4.13 [[ 9.71787144e-01 2.35679885e-01 -9.20538039e-03 8.42667031e+01] [ 2.35670195e-01 -9.71830738e-01 -2.13901417e-03 -1.38011068e+02] [-9.45019424e-03 -9.07673294e-05 -9.99955342e-01 -4.13351975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.013461353716646545 Centerline is valid? [True, True] Translation: X:84.30, Y:-138.01, Z:-4.13 [[ 9.50352907e-01 3.11025117e-01 -9.62956350e-03 8.42975859e+01] [ 3.11010182e-01 -9.50401687e-01 -3.04951918e-03 -1.38011551e+02] [-1.01004305e-02 -9.67728786e-05 -9.99948985e-01 -4.13331273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.013651443262818039 Centerline is valid? [True, True] Translation: X:84.33, Y:-138.01, Z:-4.13 [[ 9.23339977e-01 3.83862297e-01 -9.64492443e-03 8.43265359e+01] [ 3.83842408e-01 -9.23390345e-01 -3.90856906e-03 -1.38008801e+02] [-1.04063824e-02 -9.31929510e-05 -9.99945848e-01 -4.13226103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.013170013503670272 Centerline is valid? [True, True] Translation: X:84.35, Y:-138.00, Z:-4.13 [[ 8.91842312e-01 4.52267072e-01 -8.47267801e-03 8.43548716e+01] [ 4.52247257e-01 -8.91882555e-01 -4.23389100e-03 -1.38000485e+02] [-9.47148320e-03 -5.57822529e-05 -9.99955143e-01 -4.13268196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.01283462846694851 Centerline is valid? [True, True] Translation: X:84.38, Y:-137.99, Z:-4.13 [[ 8.56254315e-01 5.16506932e-01 -7.00973612e-03 8.43821718e+01] [ 5.16489702e-01 -8.56283008e-01 -4.21887882e-03 -1.37990737e+02] [-8.18139808e-03 -8.02332259e-06 -9.99966532e-01 -4.13314110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.012911898231600202 Centerline is valid? [True, True] Translation: X:84.41, Y:-137.98, Z:-4.13 [[ 8.15510083e-01 5.78704713e-01 -6.64528377e-03 8.44089369e+01] [ 5.78685256e-01 -8.15537157e-01 -4.74548065e-03 -1.37978495e+02] [-8.16570786e-03 2.44595821e-05 -9.99966660e-01 -4.13245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.013004323374884767 Centerline is valid? [True, True] Translation: X:84.44, Y:-137.97, Z:-4.13 [[ 7.68964599e-01 6.39261169e-01 -6.21313925e-03 8.44358994e+01] [ 6.39239874e-01 -7.68989699e-01 -5.21790114e-03 -1.37966983e+02] [-8.11344166e-03 4.06949088e-05 -9.99967085e-01 -4.13249763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.013337066844067165 Centerline is valid? [True, True] Translation: X:84.46, Y:-137.95, Z:-4.13 [[ 7.19594269e-01 6.94371923e-01 -5.63214048e-03 8.44619026e+01] [ 6.94349846e-01 -7.19616306e-01 -5.53750106e-03 -1.37953410e+02] [-7.89806538e-03 7.40781517e-05 -9.99968807e-01 -4.13248163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.01401569788841944 Centerline is valid? [True, True] Translation: X:84.49, Y:-137.94, Z:-4.13 [[ 6.66907849e-01 7.45126512e-01 -4.51689965e-03 8.44863794e+01] [ 7.45108395e-01 -6.66923138e-01 -5.19696567e-03 -1.37938512e+02] [-6.88482179e-03 1.00317347e-04 -9.99976294e-01 -4.13242968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.014204687431601562 Centerline is valid? [True, True] Translation: X:84.51, Y:-137.92, Z:-4.13 [[ 6.07478166e-01 7.94327048e-01 -3.84964764e-03 8.45108116e+01] [ 7.94310024e-01 -6.07490355e-01 -5.20144540e-03 -1.37923011e+02] [-6.47027258e-03 1.01950801e-04 -9.99979062e-01 -4.13250491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.013949549349009481 Centerline is valid? [True, True] Translation: X:84.54, Y:-137.91, Z:-4.13 [[ 5.42624766e-01 8.39967823e-01 -3.52412260e-03 8.45360486e+01] [ 8.39948913e-01 -5.42636201e-01 -5.63714080e-03 -1.37906902e+02] [-6.64733339e-03 9.87692571e-05 -9.99977901e-01 -4.13269856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.01349671465236767 Centerline is valid? [True, True] Translation: X:84.56, Y:-137.89, Z:-4.13 [[ 4.72922969e-01 8.81098114e-01 -3.15908731e-03 8.45615467e+01] [ 8.81077255e-01 -4.72933512e-01 -6.06326608e-03 -1.37889370e+02] [-6.83637056e-03 8.40578134e-05 -9.99976628e-01 -4.13242457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.012902948699096736 Centerline is valid? [True, True] Translation: X:84.59, Y:-137.87, Z:-4.13 [[ 3.97749935e-01 9.17489247e-01 -2.91039802e-03 8.45866278e+01] [ 9.17463697e-01 -3.97760579e-01 -6.84741096e-03 -1.37870504e+02] [-7.44006753e-03 5.33727383e-05 -9.99972321e-01 -4.13128216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.012613982806978207 Centerline is valid? [True, True] Translation: X:84.61, Y:-137.85, Z:-4.13 [[ 3.21885495e-01 9.46775211e-01 -2.53549909e-03 8.46079701e+01] [ 9.46745012e-01 -3.21895479e-01 -7.56200451e-03 -1.37847412e+02] [-7.97568410e-03 3.36284475e-05 -9.99968193e-01 -4.13071111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.012439733251398553 Centerline is valid? [True, True] Translation: X:84.63, Y:-137.82, Z:-4.13 [[ 2.44376710e-01 9.69678409e-01 -1.95122720e-03 8.46275448e+01] [ 9.69647022e-01 -2.44384499e-01 -7.80195340e-03 -1.37823463e+02] [-8.04223545e-03 1.46140555e-05 -9.99967661e-01 -4.13148377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.012458504980978934 Centerline is valid? [True, True] Translation: X:84.64, Y:-137.80, Z:-4.13 [[ 1.64929345e-01 9.86304671e-01 -1.18651650e-03 8.46444855e+01] [ 9.86279444e-01 -1.64933613e-01 -7.05421029e-03 -1.37797212e+02] [-7.15329701e-03 -6.79054727e-06 -9.99974415e-01 -4.13313307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.01254894703782494 Centerline is valid? [True, True] Translation: X:84.66, Y:-137.77, Z:-4.13 [[ 8.48929026e-02 9.96389907e-01 -5.90050031e-04 8.46603578e+01] [ 9.96367578e-01 -8.48949504e-02 -6.67064909e-03 -1.37769182e+02] [-6.69665969e-03 -2.16159575e-05 -9.99977577e-01 -4.13306659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.012906988646382534 Centerline is valid? [True, True] Translation: X:84.67, Y:-137.74, Z:-4.13 [[ 2.21479966e-03 9.99997545e-01 -6.35204902e-05 8.46743391e+01] [ 9.99976624e-01 -2.21516422e-03 -6.46871661e-03 -1.37741508e+02] [-6.46884144e-03 -4.91920940e-05 -9.99979076e-01 -4.13228000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.013348560179654453 Centerline is valid? [True, True] Translation: X:84.68, Y:-137.71, Z:-4.13 [[-7.90165953e-02 9.96873191e-01 4.67819079e-04 8.46831199e+01] [ 9.96849921e-01 7.90179475e-02 -6.81165102e-03 -1.37711164e+02] [-6.82731839e-03 -7.18880597e-05 -9.99976691e-01 -4.13166133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.013910142979952968 Centerline is valid? [True, True] Translation: X:84.69, Y:-137.68, Z:-4.13 [[-1.60905390e-01 9.86969109e-01 1.19693626e-03 8.46917481e+01] [ 9.86936011e-01 1.60909797e-01 -8.08381209e-03 -1.37680361e+02] [-8.17107159e-03 -1.19429431e-04 -9.99966609e-01 -4.13082404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.014426201644504555 Centerline is valid? [True, True] Translation: X:84.70, Y:-137.65, Z:-4.13 [[-2.40011729e-01 9.70767885e-01 2.02065123e-03 8.46956046e+01] [ 9.70727888e-01 2.40020186e-01 -8.81353904e-03 -1.37648269e+02] [-9.04089774e-03 -1.53850244e-04 -9.99959118e-01 -4.13022267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.015754450089546748 Centerline is valid? [True, True] Translation: X:84.70, Y:-137.62, Z:-4.13 [[-3.18009906e-01 9.48082177e-01 3.14404595e-03 8.46965368e+01] [ 9.48029163e-01 3.18025379e-01 -1.00281826e-02 -1.37617346e+02] [-1.05074276e-02 -2.08414157e-04 -9.99944774e-01 -4.12880996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.015401716586276691 Centerline is valid? [True, True] Translation: X:84.69, Y:-137.59, Z:-4.13 [[-3.93841210e-01 9.19167413e-01 4.51316522e-03 8.46949917e+01] [ 9.19098883e-01 3.93866973e-01 -1.12272172e-02 -1.37585584e+02] [-1.20972789e-02 -2.73695716e-04 -9.99926788e-01 -4.12818878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.016540791405539254 Centerline is valid? [True, True] Translation: X:84.69, Y:-137.55, Z:-4.13 [[-4.64602618e-01 8.85502075e-01 5.52113068e-03 8.46911307e+01] [ 8.85432213e-01 4.64635338e-01 -1.11265246e-02 -1.37554357e+02] [-1.24178731e-02 -2.80825525e-04 -9.99922856e-01 -4.12662074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.01528154353865783 Centerline is valid? [True, True] Translation: X:84.68, Y:-137.53, Z:-4.13 [[-5.30762688e-01 8.47499369e-01 5.98233777e-03 8.46785316e+01] [ 8.47440380e-01 5.30796347e-01 -1.00020398e-02 -1.37526440e+02] [-1.16521255e-02 -2.39034953e-04 -9.99932083e-01 -4.12800992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.013587582282010624 Centerline is valid? [True, True] Translation: X:84.66, Y:-137.50, Z:-4.13 [[-5.90480861e-01 8.07032754e-01 5.52158120e-03 8.46618281e+01] [ 8.06995301e-01 5.90506661e-01 -7.77617059e-03 -1.37501719e+02] [-9.53615484e-03 -1.35789826e-04 -9.99954521e-01 -4.13063298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.01280309075514751 Centerline is valid? [True, True] Translation: X:84.65, Y:-137.48, Z:-4.13 [[-6.47952890e-01 7.61661986e-01 5.29836606e-03 8.46457459e+01] [ 7.61635568e-01 6.47974548e-01 -6.34407119e-03 -1.37477108e+02] [-8.26524421e-03 -7.52352117e-05 -9.99965840e-01 -4.13136784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.012322626027310825 Centerline is valid? [True, True] Translation: X:84.63, Y:-137.45, Z:-4.13 [[-7.02327680e-01 7.11833200e-01 5.41540196e-03 8.46278034e+01] [ 7.11811664e-01 7.02348557e-01 -5.53720284e-03 -1.37454401e+02] [-7.74506457e-03 -3.41845430e-05 -9.99970006e-01 -4.13125474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.012232152411115218 Centerline is valid? [True, True] Translation: X:84.61, Y:-137.43, Z:-4.13 [[-7.52298520e-01 6.58786461e-01 6.88010292e-03 8.46073490e+01] [ 6.58759030e-01 7.52329980e-01 -6.01175744e-03 -1.37432954e+02] [-9.13657210e-03 9.69370199e-06 -9.99958261e-01 -4.12981485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.012508995597891258 Centerline is valid? [True, True] Translation: X:84.63, Y:-137.42, Z:-4.13 [[-7.95049975e-01 6.06476670e-01 9.03250854e-03 8.46274133e+01] [ 6.06438230e-01 7.95101281e-01 -6.82834321e-03 -1.37418973e+02] [-1.13229900e-02 4.87843896e-05 -9.99935892e-01 -4.12797029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.012683482725022977 Centerline is valid? [True, True] Translation: X:84.64, Y:-137.40, Z:-4.13 [[-8.35532240e-01 5.49346199e-01 1.02288447e-02 8.46392902e+01] [ 5.49305945e-01 8.35594848e-01 -6.65043845e-03 -1.37396186e+02] [-1.22005630e-02 6.21094656e-05 -9.99925569e-01 -4.12753304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.012653082009756856 Centerline is valid? [True, True] Translation: X:84.66, Y:-137.38, Z:-4.13 [[-8.70784132e-01 4.91556745e-01 1.03422112e-02 8.46595113e+01] [ 4.91523203e-01 8.70845543e-01 -5.74296367e-03 -1.37375214e+02] [-1.18294610e-02 8.25551332e-05 -9.99930026e-01 -4.12791921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.012235360890563112 Centerline is valid? [True, True] Translation: X:85.00, Y:-136.77, Z:-5.12 [[-8.39117245e-01 -5.43884378e-01 8.48717285e-03 8.50041039e+01] [ 5.43854419e-01 -8.39160147e-01 -5.71127208e-03 -1.36773565e+02] [ 1.02283689e-02 -1.76640437e-04 9.99947673e-01 -5.12281945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.012187819852994917 Centerline is valid? [True, True] Translation: X:84.62, Y:-137.35, Z:-4.13 [[-8.75961264e-01 4.82313779e-01 8.07980007e-03 8.46229830e+01] [ 4.82293049e-01 8.75998527e-01 -4.47177415e-03 -1.37352038e+02] [-9.23469125e-03 -2.02695304e-05 -9.99957359e-01 -4.12962561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.01314394469854039 Centerline is valid? [True, True] Translation: X:84.95, Y:-136.75, Z:-5.12 [[-8.35278211e-01 -5.49781015e-01 7.15162734e-03 8.49547356e+01] [ 5.49760606e-01 -8.35308826e-01 -4.73720720e-03 -1.36754783e+02] [ 8.57824402e-03 -2.52029776e-05 9.99963206e-01 -5.12235751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.014691255710869848 Centerline is valid? [True, True] Translation: X:84.58, Y:-137.32, Z:-4.13 [[-8.83272996e-01 4.68802546e-01 7.27920817e-03 8.45842401e+01] [ 4.68785549e-01 8.83302983e-01 -3.99365830e-03 -1.37322087e+02] [-8.30198347e-03 -1.15102931e-04 -9.99965531e-01 -4.12921481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.015458089437818852 Centerline is valid? [True, True] Translation: X:84.59, Y:-137.29, Z:-4.13 [[-9.17034309e-01 3.98751844e-01 6.71140281e-03 8.45899666e+01] [ 3.98739932e-01 9.17058855e-01 -3.08610419e-03 -1.37294138e+02] [-7.38534111e-03 -1.53959122e-04 -9.99972716e-01 -4.13124321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.015486759572030339 Centerline is valid? [True, True] Translation: X:84.87, Y:-136.69, Z:-5.12 [[-8.67103904e-01 -4.98090671e-01 6.04178215e-03 8.48746940e+01] [ 4.98079488e-01 -8.67124945e-01 -3.33955300e-03 -1.36687390e+02] [ 6.90238021e-03 1.13548315e-04 9.99976172e-01 -5.12012675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.016460752867547352 Centerline is valid? [True, True] Translation: X:84.55, Y:-137.28, Z:-4.13 [[-9.20459205e-01 3.90796527e-01 5.73809843e-03 8.45516078e+01] [ 3.90787825e-01 9.20477076e-01 -2.61296674e-03 -1.37276300e+02] [-6.30292639e-03 -1.62750282e-04 -9.99980123e-01 -4.13211701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.019696525929738074 Centerline is valid? [True, True] Translation: X:84.56, Y:-137.25, Z:-4.13 [[-9.46660160e-01 3.22177422e-01 6.02081692e-03 8.45602952e+01] [ 3.22169672e-01 9.46679289e-01 -2.24204217e-03 -1.37246201e+02] [-6.42211805e-03 -1.82727384e-04 -9.99979361e-01 -4.13040449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.018649481645866703 Centerline is valid? [True, True] Translation: X:84.57, Y:-137.22, Z:-4.13 [[-9.67176489e-01 2.54019759e-01 6.60307238e-03 8.45684008e+01] [ 2.54012437e-01 9.67199009e-01 -1.93881426e-03 -1.37223451e+02] [-6.87898220e-03 -1.97913061e-04 -9.99976320e-01 -4.12991945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.019916799946649882 Centerline is valid? [True, True] Translation: X:84.75, Y:-136.59, Z:-5.12 [[-9.27562225e-01 -3.73590008e-01 7.66977950e-03 8.47535163e+01] [ 3.73580011e-01 -9.27593881e-01 -2.75089424e-03 -1.36585574e+02] [ 8.14214713e-03 3.13650732e-04 9.99966803e-01 -5.12359485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.01917490538646477 Centerline is valid? [True, True] Translation: X:84.52, Y:-137.21, Z:-4.13 [[-9.68408603e-01 2.49193686e-01 9.34263792e-03 8.45219510e+01] [ 2.49179157e-01 9.68453623e-01 -2.70683327e-03 -1.37212091e+02] [-9.72243730e-03 -2.93329982e-04 -9.99952693e-01 -4.12723400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.017761235741628096 Centerline is valid? [True, True] Translation: X:84.52, Y:-137.19, Z:-4.13 [[-9.83516727e-01 1.80524774e-01 1.02787726e-02 8.45237683e+01] [ 1.80511603e-01 9.83570389e-01 -2.20267078e-03 -1.37187702e+02] [-1.05075330e-02 -3.10925824e-04 -9.99944746e-01 -4.12692946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.017777993272886785 Centerline is valid? [True, True] Translation: X:84.67, Y:-136.53, Z:-5.13 [[-9.53345026e-01 -3.01670733e-01 1.13150325e-02 8.46720367e+01] [ 3.01654715e-01 -9.53412078e-01 -3.13733830e-03 -1.36530547e+02] [ 1.17343318e-02 4.22267043e-04 9.99931061e-01 -5.12585385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.017938152946312444 Centerline is valid? [True, True] Translation: X:84.48, Y:-137.18, Z:-4.13 [[-9.83668378e-01 1.79650820e-01 1.10500783e-02 8.44845035e+01] [ 1.79636038e-01 9.83730396e-01 -2.32411677e-03 -1.37182813e+02] [-1.12878274e-02 -3.01167877e-04 -9.99936245e-01 -4.12619428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.015922686597641993 Centerline is valid? [True, True] Translation: X:84.49, Y:-137.16, Z:-4.13 [[-9.93698345e-01 1.11621438e-01 1.02105150e-02 8.44891874e+01] [ 1.11612933e-01 9.93750769e-01 -1.40089574e-03 -1.37161131e+02] [-1.03030772e-02 -2.52442252e-04 -9.99946890e-01 -4.12826852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.01520209453752571 Centerline is valid? [True, True] Translation: X:84.49, Y:-137.14, Z:-4.13 [[-9.98951644e-01 4.49371952e-02 8.73284093e-03 8.44866158e+01] [ 4.49339181e-02 9.98989798e-01 -5.71198618e-04 -1.37137400e+02] [-8.74968706e-03 -1.78199039e-04 -9.99961705e-01 -4.12989886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.01429386779042397 Centerline is valid? [True, True] Translation: X:84.54, Y:-136.44, Z:-5.12 [[-9.88634833e-01 -1.50079120e-01 8.79913912e-03 8.45434427e+01] [ 1.50074868e-01 -9.88673972e-01 -1.14533303e-03 -1.36444304e+02] [ 8.87137040e-03 1.88213511e-04 9.99960631e-01 -5.12139214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.01405347655742183 Centerline is valid? [True, True] Translation: X:84.43, Y:-137.14, Z:-4.13 [[-9.98899666e-01 4.59661994e-02 9.30403797e-03 8.44343106e+01] [ 4.59628738e-02 9.98942985e-01 -5.71055397e-04 -1.37138340e+02] [-9.32045272e-03 -1.42786722e-04 -9.99956554e-01 -4.12953601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.013610784491669733 Centerline is valid? [True, True] Translation: X:84.44, Y:-137.11, Z:-4.13 [[-9.99698705e-01 -2.25588806e-02 9.67454733e-03 8.44390666e+01] [-2.25590188e-02 9.99745509e-01 9.48611563e-05 -1.37113434e+02] [-9.67422520e-03 -1.23415720e-04 -9.99953196e-01 -4.12898891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.01330496372677534 Centerline is valid? [True, True] Translation: X:84.44, Y:-136.41, Z:-5.12 [[-9.97544266e-01 -6.95468690e-02 8.28672289e-03 8.44400897e+01] [ 6.95446184e-02 -9.97578685e-01 -5.59789443e-04 -1.36408929e+02] [ 8.30558973e-03 1.78822322e-05 9.99965508e-01 -5.12105551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.013483523651487975 Centerline is valid? [True, True] Translation: X:84.38, Y:-137.11, Z:-4.13 [[-9.99612299e-01 -2.67462586e-02 7.73886818e-03 8.43767000e+01] [-2.67461999e-02 9.99642250e-01 1.11089778e-04 -1.37113475e+02] [-7.73907084e-03 -9.59386076e-05 -9.99970048e-01 -4.13128608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.014209814800932596 Centerline is valid? [True, True] Translation: X:84.37, Y:-137.08, Z:-4.13 [[-9.95094610e-01 -9.85381939e-02 8.77163883e-03 8.43740924e+01] [-9.85353987e-02 9.95133263e-01 7.51315116e-04 -1.37083361e+02] [-8.80298281e-03 -1.16687308e-04 -9.99961246e-01 -4.12913007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.013833348124975154 Centerline is valid? [True, True] Translation: X:84.32, Y:-136.39, Z:-5.12 [[-9.99942244e-01 4.15147176e-03 9.91328059e-03 8.43155960e+01] [-4.14923397e-03 -9.99991362e-01 2.46292910e-04 -1.36390169e+02] [ 9.91421744e-03 2.05146165e-04 9.99950832e-01 -5.12276646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.013908629537516409 Centerline is valid? [True, True] Translation: X:84.29, Y:-137.09, Z:-4.13 [[-9.94504236e-01 -1.04122424e-01 1.09473770e-02 8.42940035e+01] [-1.04117785e-01 9.94564477e-01 9.94365541e-04 -1.37088770e+02] [-1.09914080e-02 -1.50915903e-04 -9.99939581e-01 -4.12818673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.013785275982478001 Centerline is valid? [True, True] Translation: X:84.29, Y:-137.06, Z:-4.13 [[-9.84671433e-01 -1.74099016e-01 1.05688914e-02 8.42878563e+01] [-1.74090520e-01 9.84728142e-01 1.72570111e-03 -1.37061421e+02] [-1.07079277e-02 -1.40695221e-04 -9.99942659e-01 -4.12849938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.013255824646822647 Centerline is valid? [True, True] Translation: X:84.28, Y:-137.04, Z:-4.13 [[-9.70285987e-01 -2.41804089e-01 8.71126390e-03 8.42760055e+01] [-2.41795257e-01 9.70325086e-01 2.06908429e-03 -1.37035366e+02] [-8.95307094e-03 -9.87387961e-05 -9.99959916e-01 -4.13000270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.012627468979976525 Centerline is valid? [True, True] Translation: X:84.26, Y:-137.01, Z:-4.13 [[-9.51411439e-01 -3.07824070e-01 7.78564551e-03 8.42554884e+01] [-3.07814314e-01 9.51443292e-01 2.45163529e-03 -1.37014013e+02] [-8.16227255e-03 -6.40192682e-05 -9.99966686e-01 -4.13130252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.012512277122973104 Centerline is valid? [True, True] Translation: X:84.22, Y:-137.00, Z:-4.13 [[-9.28292936e-01 -3.71788322e-01 6.75781557e-03 8.42193192e+01] [-3.71778677e-01 9.28317534e-01 2.67812465e-03 -1.36998726e+02] [-7.26909415e-03 -2.63275343e-05 -9.99973580e-01 -4.13076044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.01231311217125354 Centerline is valid? [True, True] Translation: X:84.17, Y:-137.00, Z:-4.13 [[-9.01319727e-01 -4.33119055e-01 5.53472546e-03 8.41654676e+01] [-4.33110763e-01 9.01336720e-01 2.68025091e-03 -1.36995510e+02] [-6.14951904e-03 1.86138536e-05 -9.99981091e-01 -4.13283787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.012608000677886397 Centerline is valid? [True, True] Translation: X:84.10, Y:-137.00, Z:-4.13 [[-8.68614556e-01 -4.95463922e-01 4.92496326e-03 8.41010047e+01] [-4.95455716e-01 8.68628517e-01 2.85177582e-03 -1.36999167e+02] [-5.69091557e-03 3.69927942e-05 -9.99983806e-01 -4.13315284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.012766314442967256 Centerline is valid? [True, True] Translation: X:84.03, Y:-137.01, Z:-4.13 [[-8.30637784e-01 -5.56790863e-01 4.98062907e-03 8.40264129e+01] [-5.56780472e-01 8.30652715e-01 3.40194167e-03 -1.37013200e+02] [-6.03134310e-03 5.26642821e-05 -9.99981810e-01 -4.13234828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.013084535974347375 Centerline is valid? [True, True] Translation: X:83.95, Y:-137.04, Z:-4.13 [[-7.87205308e-01 -6.16662917e-01 5.88641488e-03 8.39467392e+01] [-6.16644991e-01 7.87227312e-01 4.70249778e-03 -1.37036070e+02] [-7.53380257e-03 7.20029608e-05 -9.99971618e-01 -4.13084606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.012937029885324254 Centerline is valid? [True, True] Translation: X:83.86, Y:-137.07, Z:-4.13 [[-7.38295527e-01 -6.74454350e-01 5.57174519e-03 8.38618504e+01] [-6.74434451e-01 7.38316548e-01 5.18134091e-03 -1.37069528e+02] [-7.60828959e-03 6.75839097e-05 -9.99971054e-01 -4.13028991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.012912087061786311 Centerline is valid? [True, True] Translation: X:83.77, Y:-137.12, Z:-4.13 [[-6.84883334e-01 -7.28632930e-01 5.37316971e-03 8.37720666e+01] [-7.28609769e-01 6.84904408e-01 5.81002062e-03 -1.37116423e+02] [-7.91347997e-03 6.42423572e-05 -9.99968686e-01 -4.12969268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.012822269104434193 Centerline is valid? [True, True] Translation: X:83.69, Y:-137.16, Z:-4.13 [[-6.27238924e-01 -7.78809898e-01 5.14540484e-03 8.36903077e+01] [-7.78782895e-01 6.27260025e-01 6.48567476e-03 -1.37164825e+02] [-8.27861447e-03 6.09143832e-05 -9.99965730e-01 -4.12848267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.012684979954092417 Centerline is valid? [True, True] Translation: X:83.61, Y:-137.23, Z:-4.13 [[-5.65294902e-01 -8.24872339e-01 5.22473739e-03 8.36082114e+01] [-8.24836188e-01 5.65319044e-01 7.72279768e-03 -1.37228303e+02] [-9.32396572e-03 5.61056890e-05 -9.99956529e-01 -4.12775714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.012619308066365659 Centerline is valid? [True, True] Translation: X:83.53, Y:-137.30, Z:-4.13 [[-4.99359004e-01 -8.66381432e-01 4.87841550e-03 8.35261353e+01] [-8.66339304e-01 4.99382832e-01 8.54390570e-03 -1.37303341e+02] [-9.83847820e-03 4.01131538e-05 -9.99951600e-01 -4.12729951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.012316852523210393 Centerline is valid? [True, True] Translation: X:83.45, Y:-137.38, Z:-4.13 [[-4.27964277e-01 -9.03788358e-01 3.63056703e-03 8.34492905e+01] [-9.03755905e-01 4.27979676e-01 7.65902312e-03 -1.37379281e+02] [-8.47594483e-03 -3.35809797e-06 -9.99964079e-01 -4.12871908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.012245698269515708 Centerline is valid? [True, True] Translation: X:83.38, Y:-137.47, Z:-4.13 [[-3.56430232e-01 -9.34317261e-01 2.95736791e-03 8.33801919e+01] [-9.34285474e-01 3.56442501e-01 7.70688827e-03 -1.37467413e+02] [-8.25481035e-03 -1.60579031e-05 -9.99965928e-01 -4.12899673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.012439838396423923 Centerline is valid? [True, True] Translation: X:83.32, Y:-137.56, Z:-4.13 [[-2.81013429e-01 -9.59701238e-01 2.23320368e-03 8.33153171e+01] [-9.59672063e-01 2.81022300e-01 7.48319401e-03 -1.37564814e+02] [-7.80921058e-03 -4.02651728e-05 -9.99969507e-01 -4.12914172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.01292267084252693 Centerline is valid? [True, True] Translation: X:83.26, Y:-137.67, Z:-4.13 [[-2.02423180e-01 -9.79296606e-01 1.73626596e-03 8.32565312e+01] [-9.79263906e-01 2.02430610e-01 8.00317411e-03 -1.37665069e+02] [-8.18895462e-03 -8.02346323e-05 -9.99966467e-01 -4.12852614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.013289488689692769 Centerline is valid? [True, True] Translation: X:83.21, Y:-137.77, Z:-4.13 [[-1.24381672e-01 -9.92233773e-01 1.15733840e-03 8.32078089e+01] [-9.92198325e-01 1.24387012e-01 8.38775440e-03 -1.37770189e+02] [-8.46657107e-03 -1.05026304e-04 -9.99964153e-01 -4.12791165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.013337368857705222 Centerline is valid? [True, True] Translation: X:83.17, Y:-137.88, Z:-4.13 [[-4.67017266e-02 -9.98908729e-01 5.48197102e-04 8.31691716e+01] [-9.98867939e-01 4.67047741e-02 9.02795394e-03 -1.37880309e+02] [-9.04370542e-03 -1.25955473e-04 -9.99959097e-01 -4.12756395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.013485840620378612 Centerline is valid? [True, True] Translation: X:83.14, Y:-137.99, Z:-4.13 [[ 3.05282899e-02 -9.99533890e-01 -1.62290612e-04 8.31397228e+01] [-9.99481971e-01 -3.05283584e-02 1.01886293e-02 -1.37994895e+02] [-1.01888347e-02 -1.48834888e-04 -9.99948081e-01 -4.12680850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.013610945584521604 Centerline is valid? [True, True] Translation: X:83.12, Y:-138.11, Z:-4.13 [[ 1.07531539e-01 -9.94201172e-01 -9.98559431e-04 8.31184205e+01] [-9.94143001e-01 -1.07536051e-01 1.07560144e-02 -1.38106574e+02] [-1.08010233e-02 -1.63899917e-04 -9.99941654e-01 -4.12621171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.013872072361638978 Centerline is valid? [True, True] Translation: X:83.11, Y:-138.23, Z:-4.13 [[ 1.83121914e-01 -9.83088385e-01 -1.89497600e-03 8.31072140e+01] [-9.83025807e-01 -1.83131641e-01 1.10934871e-02 -1.38225480e+02] [-1.12529084e-02 -1.68650290e-04 -9.99936670e-01 -4.12558526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.013336507465365457 Centerline is valid? [True, True] Translation: X:83.11, Y:-138.34, Z:-4.13 [[ 2.55856885e-01 -9.66710675e-01 -2.77944489e-03 8.31082690e+01] [-9.66647238e-01 -2.55871939e-01 1.10755698e-02 -1.38340262e+02] [-1.14180536e-02 -1.47018069e-04 -9.99934801e-01 -4.12578262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.013194959560195927 Centerline is valid? [True, True] Translation: X:83.12, Y:-138.45, Z:-4.13 [[ 3.27879477e-01 -9.44713696e-01 -3.32874611e-03 8.31163706e+01] [-9.44661207e-01 -3.27896352e-01 9.95919678e-03 -1.38453933e+02] [-1.05000733e-02 -1.20878920e-04 -9.99944865e-01 -4.12669005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.012998765516929342 Centerline is valid? [True, True] Translation: X:83.13, Y:-138.57, Z:-4.13 [[ 3.98310364e-01 -9.17242321e-01 -3.92160733e-03 8.31327718e+01] [-9.17195209e-01 -3.98329654e-01 9.29707461e-03 -1.38568230e+02] [-1.00897628e-02 -1.06241717e-04 -9.99949091e-01 -4.12721695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.012934496634343002 Centerline is valid? [True, True] Translation: X:83.16, Y:-138.68, Z:-4.13 [[ 4.67329830e-01 -8.84070996e-01 -4.61563903e-03 8.31566011e+01] [-8.84025621e-01 -4.67352611e-01 8.95753101e-03 -1.38679441e+02] [-1.00762243e-02 -1.05778284e-04 -9.99949228e-01 -4.12718317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.012910474396585396 Centerline is valid? [True, True] Translation: X:83.19, Y:-138.79, Z:-4.13 [[ 5.34110623e-01 -8.45397613e-01 -5.35889993e-03 8.31915796e+01] [-8.45352893e-01 -5.34137494e-01 8.69621071e-03 -1.38789477e+02] [-1.02141452e-02 -1.14576966e-04 -9.99947828e-01 -4.12766487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.0131863989584122 Centerline is valid? [True, True] Translation: X:83.23, Y:-138.90, Z:-4.13 [[ 5.97712284e-01 -8.01682585e-01 -6.71263233e-03 8.32319642e+01] [-8.01629442e-01 -5.97749960e-01 9.23158906e-03 -1.38895602e+02] [-1.14132799e-02 -1.36790466e-04 -9.99934857e-01 -4.12698545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.013540776972780659 Centerline is valid? [True, True] Translation: X:83.28, Y:-139.00, Z:-4.13 [[ 6.58195456e-01 -7.52807134e-01 -7.75633122e-03 8.32770216e+01] [-7.52751959e-01 -6.58241136e-01 9.11562155e-03 -1.38995186e+02] [-1.19678412e-02 -1.61267161e-04 -9.99928370e-01 -4.12668235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.013885136486228156 Centerline is valid? [True, True] Translation: X:83.33, Y:-139.09, Z:-4.13 [[ 7.15199416e-01 -6.98878199e-01 -7.68488798e-03 8.33294583e+01] [-6.98835240e-01 -7.15240682e-01 7.75075547e-03 -1.39088959e+02] [-1.09133785e-02 -1.72865245e-04 -9.99940432e-01 -4.12817731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.014262659957945885 Centerline is valid? [True, True] Translation: X:83.38, Y:-139.18, Z:-4.13 [[ 7.67583771e-01 -6.40901956e-01 -7.73552070e-03 8.33849083e+01] [-6.40866973e-01 -7.67622726e-01 6.69876916e-03 -1.39176130e+02] [-1.02312157e-02 -1.84426756e-04 -9.99947643e-01 -4.12942080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.014660723762671241 Centerline is valid? [True, True] Translation: X:83.41, Y:-139.20, Z:-4.13 [[ 8.16021464e-01 -5.77968159e-01 -7.85985714e-03 8.34079987e+01] [-5.77939116e-01 -8.16059295e-01 5.79708105e-03 -1.39202130e+02] [-9.76463773e-03 -1.88023684e-04 -9.99952307e-01 -4.13004438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.015267476220159368 Centerline is valid? [True, True] Translation: X:83.43, Y:-139.23, Z:-4.13 [[ 8.59743789e-01 -5.10661375e-01 -8.09795955e-03 8.34341314e+01] [-5.10636486e-01 -8.59781902e-01 5.04583479e-03 -1.39225340e+02] [-9.53919199e-03 -2.03011520e-04 -9.99954480e-01 -4.13040792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.015864995818323565 Centerline is valid? [True, True] Translation: X:83.46, Y:-139.25, Z:-4.13 [[ 8.97982505e-01 -4.39946812e-01 -8.61529948e-03 8.34609246e+01] [-4.39924119e-01 -8.98023803e-01 4.47423183e-03 -1.39247348e+02] [-9.70516803e-03 -2.27703874e-04 -9.99952878e-01 -4.13077956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.0166431905212988 Centerline is valid? [True, True] Translation: X:83.49, Y:-139.27, Z:-4.13 [[ 9.30319122e-01 -3.66627554e-01 -9.51678291e-03 8.34893362e+01] [-3.66605474e-01 -9.30367760e-01 4.03218207e-03 -1.39267265e+02] [-1.03324170e-02 -2.62311372e-04 -9.99946585e-01 -4.13072951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.017555518000701462 Centerline is valid? [True, True] Translation: X:83.52, Y:-139.28, Z:-4.13 [[ 9.56465609e-01 -2.91690778e-01 -9.48837875e-03 8.35191302e+01] [-2.91673663e-01 -9.56512634e-01 3.17096952e-03 -1.39283117e+02] [-1.00006967e-02 -2.65413107e-04 -9.99949957e-01 -4.13091549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.017008994789422725 Centerline is valid? [True, True] Translation: X:83.55, Y:-139.30, Z:-4.13 [[ 9.76331161e-01 -2.16102322e-01 -8.78928626e-03 8.35511835e+01] [-2.16091349e-01 -9.76370692e-01 2.19081770e-03 -1.39295696e+02] [-9.05504231e-03 -2.39674854e-04 -9.99958974e-01 -4.13207779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.015724188080570408 Centerline is valid? [True, True] Translation: X:83.58, Y:-139.31, Z:-4.13 [[ 9.90092121e-01 -1.40180463e-01 -8.18718666e-03 8.35833986e+01] [-1.40173908e-01 -9.90125948e-01 1.37194329e-03 -1.39307416e+02] [-8.29866560e-03 -2.10720294e-04 -9.99965543e-01 -4.13403448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.01710784054185339 Centerline is valid? [True, True] Translation: X:83.61, Y:-139.32, Z:-4.13 [[ 9.97901354e-01 -6.43742050e-02 -6.98923594e-03 8.36107748e+01] [-6.43714821e-02 -9.97925817e-01 6.14075519e-04 -1.39320144e+02] [-7.01426961e-03 -1.62879315e-04 -9.99975387e-01 -4.13400132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.014416882915004745 Centerline is valid? [True, True] Translation: X:83.64, Y:-139.32, Z:-4.14 [[ 9.99926542e-01 1.01075924e-02 -6.68932070e-03 8.36404842e+01] [ 1.01082321e-02 -9.99948909e-01 6.18290005e-05 -1.39323149e+02] [-6.68835400e-03 -1.29441665e-04 -9.99977624e-01 -4.13608339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.014481521630396763 Centerline is valid? [True, True] Translation: X:83.67, Y:-139.33, Z:-4.14 [[ 9.96180179e-01 8.70252930e-02 -7.18669571e-03 8.36696122e+01] [ 8.70239685e-02 -9.96206094e-01 -4.97403848e-04 -1.39329682e+02] [-7.20271678e-03 -1.29910927e-04 -9.99974052e-01 -4.13546342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.013878228024723252 Centerline is valid? [True, True] Translation: X:83.70, Y:-139.34, Z:-4.14 [[ 9.86390838e-01 1.64235979e-01 -7.72385723e-03 8.36998586e+01] [ 1.64232028e-01 -9.86421069e-01 -1.14738356e-03 -1.39335454e+02] [-7.80741717e-03 -1.36736107e-04 -9.99969512e-01 -4.13528040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.013966268547985721 Centerline is valid? [True, True] Translation: X:83.73, Y:-139.34, Z:-4.13 [[ 9.70722921e-01 2.40038916e-01 -8.85033737e-03 8.37299513e+01] [ 2.40030353e-01 -9.70763254e-01 -2.03318871e-03 -1.39338692e+02] [-9.07962673e-03 -1.50686716e-04 -9.99958768e-01 -4.13377918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.01329415388555776 Centerline is valid? [True, True] Translation: X:83.76, Y:-139.34, Z:-4.13 [[ 9.49676435e-01 3.13068450e-01 -1.01397647e-02 8.37609465e+01] [ 3.13052311e-01 -9.49730553e-01 -3.18245111e-03 -1.39338891e+02] [-1.06263693e-02 -1.51977935e-04 -9.99943527e-01 -4.13294623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.012764900512440952 Centerline is valid? [True, True] Translation: X:83.79, Y:-139.34, Z:-4.13 [[ 9.23335386e-01 3.83850983e-01 -1.04970851e-02 8.37908679e+01] [ 3.83827777e-01 -9.23395043e-01 -4.22269800e-03 -1.39336250e+02] [-1.13138431e-02 -1.30106355e-04 -9.99935988e-01 -4.13307524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.01267892592798658 Centerline is valid? [True, True] Translation: X:83.82, Y:-139.33, Z:-4.13 [[ 8.91221520e-01 4.53457601e-01 -1.00202646e-02 8.38201561e+01] [ 4.53430322e-01 -8.91277842e-01 -4.97503508e-03 -1.39330481e+02] [-1.11868073e-02 -1.09633469e-04 -9.99937420e-01 -4.13292137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.012195479063707996 Centerline is valid? [True, True] Translation: X:83.85, Y:-139.32, Z:-4.13 [[ 8.55557451e-01 5.17623921e-01 -9.32332620e-03 8.38474477e+01] [ 5.17593858e-01 -8.55608248e-01 -5.57897455e-03 -1.39320287e+02] [-1.08649255e-02 -5.25631320e-05 -9.99940974e-01 -4.13310651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.01210220335339614 Centerline is valid? [True, True] Translation: X:83.87, Y:-139.31, Z:-4.13 [[ 8.13707217e-01 5.81208166e-01 -8.81092792e-03 8.38744955e+01] [ 5.81174474e-01 -8.13754918e-01 -6.25810877e-03 -1.39307923e+02] [-1.08071999e-02 -2.84181230e-05 -9.99941600e-01 -4.13334383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.012033907531142226 Centerline is valid? [True, True] Translation: X:83.90, Y:-139.30, Z:-4.13 [[ 7.66556354e-01 6.42129164e-01 -7.84173644e-03 8.39009564e+01] [ 6.42095750e-01 -7.66596463e-01 -6.55063166e-03 -1.39295680e+02] [-1.02177990e-02 -1.37173240e-05 -9.99947797e-01 -4.13376676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.012000646165128736 Centerline is valid? [True, True] Translation: X:83.93, Y:-139.28, Z:-4.13 [[ 7.13867344e-01 7.00250247e-01 -6.55790568e-03 8.39255516e+01] [ 7.00220874e-01 -7.13897466e-01 -6.41379247e-03 -1.39281836e+02] [-9.17293200e-03 -1.33854448e-05 -9.99957928e-01 -4.13463749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.012013276793931417 Centerline is valid? [True, True] Translation: X:83.95, Y:-139.27, Z:-4.14 [[ 6.55872619e-01 7.54848313e-01 -5.92726668e-03 8.39512646e+01] [ 7.54817831e-01 -6.55899401e-01 -6.78357780e-03 -1.39266556e+02] [-9.00826292e-03 -2.48436404e-05 -9.99959425e-01 -4.13504517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.012314577441844877 Centerline is valid? [True, True] Translation: X:83.98, Y:-139.25, Z:-4.13 [[ 5.92271175e-01 8.05718564e-01 -5.69661501e-03 8.39767126e+01] [ 8.05682201e-01 -5.92298567e-01 -7.65490647e-03 -1.39250377e+02] [-9.54179715e-03 -5.58808722e-05 -9.99954475e-01 -4.13431783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.012425960355843608 Centerline is valid? [True, True] Translation: X:84.00, Y:-139.23, Z:-4.13 [[ 5.25915172e-01 8.50519631e-01 -5.43962721e-03 8.40022560e+01] [ 8.50475648e-01 -5.25943297e-01 -8.64986002e-03 -1.39232160e+02] [-1.02178112e-02 -7.71778605e-05 -9.99947794e-01 -4.13466681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.012675468892773213 Centerline is valid? [True, True] Translation: X:84.02, Y:-139.21, Z:-4.13 [[ 4.56454968e-01 8.89733444e-01 -4.82300402e-03 8.40234636e+01] [ 8.89685912e-01 -4.56480439e-01 -9.19712517e-03 -1.39212191e+02] [-1.03845968e-02 -9.28852498e-05 -9.99946074e-01 -4.13479021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.013448835526378187 Centerline is valid? [True, True] Translation: X:84.04, Y:-139.19, Z:-4.13 [[ 3.84155457e-01 9.23259537e-01 -4.05110252e-03 8.40430110e+01] [ 9.23211077e-01 -3.84176803e-01 -9.46005080e-03 -1.39190415e+02] [-1.02904217e-02 -1.05892580e-04 -9.99947047e-01 -4.13311892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.013544225687902865 Centerline is valid? [True, True] Translation: X:84.06, Y:-139.17, Z:-4.13 [[ 3.07646976e-01 9.51494829e-01 -3.30571234e-03 8.40596994e+01] [ 9.51444669e-01 -3.07664705e-01 -9.77098082e-03 -1.39165749e+02] [-1.03140887e-02 -1.39189672e-04 -9.99946799e-01 -4.13411610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.013840084664953832 Centerline is valid? [True, True] Translation: X:84.08, Y:-139.14, Z:-4.13 [[ 2.29413501e-01 9.73325049e-01 -2.79203027e-03 8.40778848e+01] [ 9.73262527e-01 -2.29430414e-01 -1.10335288e-02 -1.39140903e+02] [-1.13797866e-02 -1.86137963e-04 -9.99935231e-01 -4.13351521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.014823972029719242 Centerline is valid? [True, True] Translation: X:84.09, Y:-139.12, Z:-4.13 [[ 1.49535477e-01 9.88754217e-01 -2.05912202e-03 8.40932378e+01] [ 9.88681001e-01 -1.49549467e-01 -1.20347138e-02 -1.39115245e+02] [-1.22073146e-02 -2.36198157e-04 -9.99925460e-01 -4.13252190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.015668436329520592 Centerline is valid? [True, True] Translation: X:84.10, Y:-139.09, Z:-4.13 [[ 6.90560010e-02 9.97612178e-01 -1.10063412e-03 8.41045274e+01] [ 9.97539425e-01 -6.90642603e-02 -1.20508367e-02 -1.39087697e+02] [-1.20980759e-02 -2.65743336e-04 -9.99926780e-01 -4.13370410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.01591040638092273 Centerline is valid? [True, True] Translation: X:84.11, Y:-139.06, Z:-4.13 [[-9.52431067e-03 9.99954632e-01 -1.45377911e-04 8.41114236e+01] [ 9.99888366e-01 9.52200545e-03 -1.15146318e-02 -1.39059076e+02] [-1.15127252e-02 -2.55030613e-04 -9.99933694e-01 -4.13388120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.014726840940200457 Centerline is valid? [True, True] Translation: X:84.12, Y:-139.03, Z:-4.13 [[-8.58575316e-02 9.96307178e-01 7.00591867e-04 8.41158954e+01] [ 9.96250465e-01 8.58601210e-02 -1.06325030e-02 -1.39029537e+02] [-1.06533920e-02 -2.14915489e-04 -9.99943228e-01 -4.13473541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.013795815146278333 Centerline is valid? [True, True] Translation: X:84.12, Y:-139.00, Z:-4.14 [[-1.58735928e-01 9.87320079e-01 1.40211388e-03 8.41155303e+01] [ 9.87272901e-01 1.58742051e-01 -9.65298913e-03 -1.39000833e+02] [-9.75316443e-03 -1.48007148e-04 -9.99952426e-01 -4.13572257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.013167740594928524 Centerline is valid? [True, True] Translation: X:84.11, Y:-138.97, Z:-4.14 [[-2.32277892e-01 9.72647443e-01 1.98288072e-03 8.41142493e+01] [ 9.72608015e-01 2.32286332e-01 -8.75843267e-03 -1.38972283e+02] [-8.97946323e-03 -1.05824603e-04 -9.99959678e-01 -4.13614350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.012810087662320476 Centerline is valid? [True, True] Translation: X:84.11, Y:-138.94, Z:-4.14 [[-3.05067726e-01 9.52327589e-01 2.41773329e-03 8.41119794e+01] [ 9.52295754e-01 3.05077298e-01 -7.78714037e-03 -1.38944139e+02] [-8.15350415e-03 -7.32080587e-05 -9.99966757e-01 -4.13644788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.0127650596342462 Centerline is valid? [True, True] Translation: X:84.11, Y:-138.92, Z:-4.14 [[-3.76918483e-01 9.26240184e-01 3.40280295e-03 8.41082372e+01] [ 9.26200878e-01 3.76933838e-01 -8.53321869e-03 -1.38915620e+02] [-9.18644162e-03 -6.46487691e-05 -9.99957802e-01 -4.13547253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.013005280464444005 Centerline is valid? [True, True] Translation: X:84.10, Y:-138.89, Z:-4.13 [[-4.48229025e-01 8.93905997e-01 4.77585983e-03 8.41038525e+01] [ 8.93853467e-01 4.48254461e-01 -9.69111292e-03 -1.38889082e+02] [-1.08037444e-02 -7.49192296e-05 -9.99941635e-01 -4.13265873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.013093696564938721 Centerline is valid? [True, True] Translation: X:84.09, Y:-138.87, Z:-4.13 [[-5.16363654e-01 8.56347280e-01 6.15734198e-03 8.40907823e+01] [ 8.56284636e-01 5.16400358e-01 -1.03581712e-02 -1.38866491e+02] [-1.20498453e-02 -7.61457914e-05 -9.99927395e-01 -4.13078311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.012753181179075269 Centerline is valid? [True, True] Translation: X:84.08, Y:-138.84, Z:-4.13 [[-5.80440487e-01 8.14274582e-01 6.76368073e-03 8.40767884e+01] [ 8.14218228e-01 5.80479890e-01 -9.57989888e-03 -1.38843021e+02] [-1.17268488e-02 -5.34490295e-05 -9.99931237e-01 -4.13171235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.012619578415158357 Centerline is valid? [True, True] Translation: X:84.06, Y:-138.82, Z:-4.13 [[-6.39955779e-01 7.68382635e-01 6.68783550e-03 8.40609272e+01] [ 7.68340452e-01 6.39990724e-01 -8.05129629e-03 -1.38821216e+02] [-1.04666289e-02 -1.39390422e-05 -9.99945223e-01 -4.13337487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.012629904501326592 Centerline is valid? [True, True] Translation: X:84.05, Y:-138.80, Z:-4.14 [[-6.94419920e-01 7.19554960e-01 4.65133518e-03 8.40452787e+01] [ 7.19539072e-01 6.94435497e-01 -4.78168513e-03 -1.38798895e+02] [-6.67073751e-03 2.63199942e-05 -9.99977750e-01 -4.13677256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.012814139199048436 Centerline is valid? [True, True] Translation: X:84.03, Y:-138.78, Z:-4.14 [[-7.47499484e-01 6.64251540e-01 3.79651218e-03 8.40294845e+01] [ 6.64243169e-01 7.47509124e-01 -3.33483362e-03 -1.38775779e+02] [-5.05309587e-03 2.90208727e-05 -9.99987233e-01 -4.13791037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.01291822206810247 Centerline is valid? [True, True] Translation: X:84.05, Y:-138.76, Z:-4.14 [[-7.92754218e-01 6.09529775e-01 3.76881716e-03 8.40544984e+01] [ 6.09523043e-01 7.92763176e-01 -2.86488635e-03 -1.38759394e+02] [-4.73401299e-03 2.60301673e-05 -9.99988794e-01 -4.13785177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.012959030143648784 Centerline is valid? [True, True] Translation: X:84.07, Y:-138.74, Z:-4.14 [[-8.34671219e-01 5.50722925e-01 5.31183776e-03 8.40722976e+01] [ 5.50711968e-01 8.34688121e-01 -3.47416364e-03 -1.38735688e+02] [-6.34702944e-03 2.55082265e-05 -9.99979857e-01 -4.13530565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.012964531791948954 Centerline is valid? [True, True] Translation: X:84.09, Y:-138.71, Z:-4.13 [[-8.72236035e-01 4.89037585e-01 6.82199899e-03 8.40854325e+01] [ 4.89022807e-01 8.72262713e-01 -3.80188832e-03 -1.38709594e+02] [-7.80984163e-03 1.99690926e-05 -9.99969503e-01 -4.13373884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.012874260807348784 Centerline is valid? [True, True] Translation: X:84.10, Y:-138.68, Z:-4.13 [[-9.05263229e-01 4.24789345e-01 7.24556619e-03 8.41013886e+01] [ 4.24775820e-01 9.05292225e-01 -3.38985000e-03 -1.38683945e+02] [-7.99932690e-03 9.03475768e-06 -9.99968005e-01 -4.13345212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.01291422886597556 Centerline is valid? [True, True] Translation: X:84.11, Y:-138.65, Z:-4.13 [[-9.33862932e-01 3.57561355e-01 7.06412830e-03 8.41114917e+01] [ 3.57551060e-01 9.33889650e-01 -2.71332151e-03 -1.38654698e+02] [-7.56729522e-03 -8.08381575e-06 -9.99971368e-01 -4.13290446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.012771281735357382 Centerline is valid? [True, True] Translation: X:84.37, Y:-138.00, Z:-5.12 [[-9.06614449e-01 -4.21910229e-01 6.48076998e-03 8.43704925e+01] [ 4.21899310e-01 -9.06637612e-01 -3.03541359e-03 -1.38004105e+02] [ 7.15638186e-03 -1.77174367e-05 9.99974393e-01 -5.11739401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.012794585650454611 Centerline is valid? [True, True] Translation: X:84.07, Y:-138.64, Z:-4.13 [[-9.35294042e-01 3.53810165e-01 6.58951654e-03 8.40736768e+01] [ 3.53801311e-01 9.35317255e-01 -2.50293377e-03 -1.38639245e+02] [-7.04885193e-03 -9.59944914e-06 -9.99975157e-01 -4.13453194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.0127476715430096 Centerline is valid? [True, True] Translation: X:84.08, Y:-138.61, Z:-4.13 [[-9.57791182e-01 2.87402824e-01 5.97223518e-03 8.40828603e+01] [ 2.87397213e-01 9.57809802e-01 -1.79586376e-03 -1.38612720e+02] [-6.23640171e-03 -3.65872412e-06 -9.99980554e-01 -4.13462149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.012597088816843667 Centerline is valid? [True, True] Translation: X:84.09, Y:-138.58, Z:-4.13 [[-9.75603892e-01 2.19472132e-01 5.38780465e-03 8.40890195e+01] [ 2.19468790e-01 9.75618769e-01 -1.21121361e-03 -1.38584974e+02] [-5.52227098e-03 7.90256076e-07 -9.99984752e-01 -4.13391196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.012603432713416561 Centerline is valid? [True, True] Translation: X:84.09, Y:-138.56, Z:-4.13 [[-9.88772088e-01 1.49312122e-01 5.97056702e-03 8.40913472e+01] [ 1.49309390e-01 9.88790114e-01 -9.03316183e-04 -1.38557662e+02] [-6.03851370e-03 -1.71211220e-06 -9.99981768e-01 -4.13362416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.012553563756194843 Centerline is valid? [True, True] Translation: X:84.20, Y:-137.87, Z:-5.12 [[-9.76013881e-01 -2.17608918e-01 6.57742058e-03 8.41997541e+01] [ 2.17604298e-01 -9.76036043e-01 -1.41862813e-03 -1.37874681e+02] [ 6.72850569e-03 4.66742484e-05 9.99977362e-01 -5.11914615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.01277301226578175 Centerline is valid? [True, True] Translation: X:84.04, Y:-138.55, Z:-4.13 [[-9.90040346e-01 1.40594297e-01 7.30464200e-03 8.40420181e+01] [ 1.40590180e-01 9.90067292e-01 -1.07660725e-03 -1.38546421e+02] [-7.38345197e-03 -3.89236845e-05 -9.99972741e-01 -4.13091110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.013057629354227746 Centerline is valid? [True, True] Translation: X:84.14, Y:-137.87, Z:-5.12 [[-9.75300681e-01 -2.20750233e-01 7.61025337e-03 8.41380210e+01] [ 2.20744056e-01 -9.75330370e-01 -1.65272958e-03 -1.37871862e+02] [ 7.78735167e-03 6.80099094e-05 9.99969676e-01 -5.12169819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.013675591320500072 Centerline is valid? [True, True] Translation: X:83.99, Y:-138.53, Z:-4.13 [[-9.91471026e-01 1.30135155e-01 7.07440800e-03 8.39916064e+01] [ 1.30131225e-01 9.91496260e-01 -1.01495854e-03 -1.38534333e+02] [-7.14633087e-03 -8.57006111e-05 -9.99974461e-01 -4.12985815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.014380795116387223 Centerline is valid? [True, True] Translation: X:84.09, Y:-137.87, Z:-5.12 [[-9.74708137e-01 -2.23397934e-01 6.11645670e-03 8.40890356e+01] [ 2.23393644e-01 -9.74727327e-01 -1.38458140e-03 -1.37870510e+02] [ 6.27119012e-03 1.68147991e-05 9.99980336e-01 -5.12144751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.015009271120240461 Centerline is valid? [True, True] Translation: X:83.94, Y:-138.52, Z:-4.13 [[-9.92550789e-01 1.21684902e-01 5.97632241e-03 8.39385996e+01] [ 1.21682088e-01 9.92568776e-01 -8.33548705e-04 -1.38524051e+02] [-6.03334132e-03 -1.00128034e-04 -9.99981794e-01 -4.13064243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.014882820747561126 Centerline is valid? [True, True] Translation: X:83.93, Y:-138.50, Z:-4.13 [[-9.98749517e-01 4.95803656e-02 6.41795811e-03 8.39348878e+01] [ 4.95785967e-02 9.98770131e-01 -4.34524972e-04 -1.38497746e+02] [-6.43160877e-03 -1.15788249e-04 -9.99979310e-01 -4.13108305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.015089385067310461 Centerline is valid? [True, True] Translation: X:83.94, Y:-138.47, Z:-4.13 [[-9.99717628e-01 -2.25099103e-02 7.61366697e-03 8.39372244e+01] [-2.25103639e-02 9.99746609e-01 2.61158361e-05 -1.38470121e+02] [-7.61232560e-03 -1.45277953e-04 -9.99971015e-01 -4.12905732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.015079687366164577 Centerline is valid? [True, True] Translation: X:83.93, Y:-138.44, Z:-4.13 [[-9.95611033e-01 -9.31397616e-02 9.14637033e-03 8.39342742e+01] [-9.31374414e-02 9.95653029e-01 6.80216060e-04 -1.38443434e+02] [-9.16996649e-03 -1.74638917e-04 -9.99957940e-01 -4.12766246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.014334778647261268 Centerline is valid? [True, True] Translation: X:83.92, Y:-138.42, Z:-4.13 [[-9.86654295e-01 -1.62581080e-01 8.98298550e-03 8.39150862e+01] [-1.62575844e-01 9.86695174e-01 1.31487963e-03 -1.38421163e+02] [-9.07724299e-03 -1.63084820e-04 -9.99958788e-01 -4.12840019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.01392806682497776 Centerline is valid? [True, True] Translation: X:83.92, Y:-138.40, Z:-4.13 [[-9.73255583e-01 -2.29611350e-01 7.22486557e-03 8.39207059e+01] [-2.29605861e-01 9.73282393e-01 1.59141782e-03 -1.38395956e+02] [-7.39724205e-03 -1.10015204e-04 -9.99972634e-01 -4.13022789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.013442324497700865 Centerline is valid? [True, True] Translation: X:83.90, Y:-138.38, Z:-4.13 [[-9.55123526e-01 -2.96148520e-01 5.92493864e-03 8.39010025e+01] [-2.96143317e-01 9.55141900e-01 1.75721813e-03 -1.38376539e+02] [-6.17955469e-03 -7.62706036e-05 -9.99980904e-01 -4.13195693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.013253127511542234 Centerline is valid? [True, True] Translation: X:83.87, Y:-138.36, Z:-4.13 [[-9.31925021e-01 -3.62605686e-01 5.73334604e-03 8.38744700e+01] [-3.62599254e-01 9.31942655e-01 2.16071382e-03 -1.38358470e+02] [-6.12663685e-03 -6.52837256e-05 -9.99981230e-01 -4.13164743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.013160765258858446 Centerline is valid? [True, True] Translation: X:83.82, Y:-138.35, Z:-4.13 [[-9.03405390e-01 -4.28741852e-01 6.25510557e-03 8.38242611e+01] [-4.28732084e-01 9.03427042e-01 2.89491560e-03 -1.38351207e+02] [-6.89220300e-03 -6.64820867e-05 -9.99976246e-01 -4.12993898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.013306394492694246 Centerline is valid? [True, True] Translation: X:83.76, Y:-138.35, Z:-4.13 [[-8.69281072e-01 -4.94270590e-01 6.85573222e-03 8.37610287e+01] [-4.94255919e-01 8.69308103e-01 3.80902912e-03 -1.38352890e+02] [-7.84243465e-03 -7.73693148e-05 -9.99969245e-01 -4.12882069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.013259757205045295 Centerline is valid? [True, True] Translation: X:83.69, Y:-138.37, Z:-4.13 [[-8.30132228e-01 -5.57519149e-01 7.27208015e-03 8.36890373e+01] [-5.57498690e-01 8.30164074e-01 4.77705081e-03 -1.38365131e+02] [-8.70031699e-03 -8.85913305e-05 -9.99962148e-01 -4.12851995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.013611423281304243 Centerline is valid? [True, True] Translation: X:83.61, Y:-138.38, Z:-4.13 [[-7.85510855e-01 -6.18801862e-01 7.54673688e-03 8.36141453e+01] [-6.18774621e-01 7.85547099e-01 5.80729279e-03 -1.38383896e+02] [-9.52188085e-03 -1.08037733e-04 -9.99954660e-01 -4.12732438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.013443567977672028 Centerline is valid? [True, True] Translation: X:83.53, Y:-138.42, Z:-4.13 [[-7.36764022e-01 -6.76108908e-01 7.45123628e-03 8.35320130e+01] [-6.76075937e-01 7.36801691e-01 6.67807085e-03 -1.38418197e+02] [-1.00051867e-02 -1.17439211e-04 -9.99949940e-01 -4.12731899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.013488280492339386 Centerline is valid? [True, True] Translation: X:83.45, Y:-138.46, Z:-4.13 [[-6.83888044e-01 -7.29556572e-01 6.65962916e-03 8.34504309e+01] [-7.29523572e-01 6.83920460e-01 6.93997064e-03 -1.38459358e+02] [-9.61775783e-03 -1.12193509e-04 -9.99953742e-01 -4.12733464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.013216631891202077 Centerline is valid? [True, True] Translation: X:83.37, Y:-138.51, Z:-4.13 [[-6.26902023e-01 -7.79077922e-01 5.60758000e-03 8.33698662e+01] [-7.79048198e-01 6.26927094e-01 6.80611068e-03 -1.38509983e+02] [-8.81803440e-03 -1.01810544e-04 -9.99961115e-01 -4.12847426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.013667371034494023 Centerline is valid? [True, True] Translation: X:83.29, Y:-138.57, Z:-4.13 [[-5.66358160e-01 -8.24144345e-01 4.95322280e-03 8.32881597e+01] [-8.24114301e-01 5.66379811e-01 7.03773202e-03 -1.38569234e+02] [-8.60551243e-03 -9.61447915e-05 -9.99962967e-01 -4.12716520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.013008412482903443 Centerline is valid? [True, True] Translation: X:83.21, Y:-138.64, Z:-4.13 [[-5.03642769e-01 -8.63897622e-01 4.98600887e-03 8.32118897e+01] [-8.63857067e-01 5.03667440e-01 8.37117763e-03 -1.38642109e+02] [-9.74313077e-03 -9.11159218e-05 -9.99952530e-01 -4.12728703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.012794075215130719 Centerline is valid? [True, True] Translation: X:83.14, Y:-138.72, Z:-4.13 [[-4.38241050e-01 -8.98846299e-01 4.48471876e-03 8.31388019e+01] [-8.98800925e-01 4.38263991e-01 9.03173395e-03 -1.38722535e+02] [-1.00836314e-02 -7.27928006e-05 -9.99949156e-01 -4.12713041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.012690939474445793 Centerline is valid? [True, True] Translation: X:83.07, Y:-138.81, Z:-4.13 [[-3.69039365e-01 -9.29406364e-01 3.70914399e-03 8.30697772e+01] [-9.29361150e-01 3.69057999e-01 9.16768144e-03 -1.38810064e+02] [-9.88939073e-03 -6.38989904e-05 -9.99951097e-01 -4.12707407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.012489145099365035 Centerline is valid? [True, True] Translation: X:83.01, Y:-138.90, Z:-4.13 [[-2.97673760e-01 -9.54663643e-01 2.76807407e-03 8.30084309e+01] [-9.54623956e-01 2.97686625e-01 8.70493142e-03 -1.38901153e+02] [-9.13430016e-03 -5.12401601e-05 -9.99958280e-01 -4.12844693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.012455612412016802 Centerline is valid? [True, True] Translation: X:82.95, Y:-139.01, Z:-4.13 [[-2.24267976e-01 -9.74525547e-01 1.95790196e-03 8.29510267e+01] [-9.74490054e-01 2.24276518e-01 8.31738307e-03 -1.39005284e+02] [-8.54461372e-03 -4.26333218e-05 -9.99963493e-01 -4.12829219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.012515625426226477 Centerline is valid? [True, True] Translation: X:82.90, Y:-139.11, Z:-4.13 [[-1.49224048e-01 -9.88802417e-01 1.40127297e-03 8.29030894e+01] [-9.88761446e-01 1.49230621e-01 9.00138121e-03 -1.39108911e+02] [-9.10970033e-03 -4.23021471e-05 -9.99958505e-01 -4.12741049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.012407349386154254 Centerline is valid? [True, True] Translation: X:82.86, Y:-139.22, Z:-4.13 [[-7.25224663e-02 -9.97366525e-01 7.11920819e-04 8.28633844e+01] [-9.97324538e-01 7.25259457e-02 9.15172681e-03 -1.39218816e+02] [-9.17925870e-03 -4.63103023e-05 -9.99957869e-01 -4.12810681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.012491693408220013 Centerline is valid? [True, True] Translation: X:82.83, Y:-139.33, Z:-4.13 [[ 4.59771852e-03 -9.99989430e-01 7.04863606e-06 8.28312819e+01] [-9.99943143e-01 -4.59743789e-03 9.62154612e-03 -1.39334339e+02] [-9.62141202e-03 -5.12853961e-05 -9.99953712e-01 -4.12841678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.012610369972577954 Centerline is valid? [True, True] Translation: X:82.81, Y:-139.45, Z:-4.13 [[ 8.19139815e-02 -9.96639138e-01 -7.26569729e-04 8.28071286e+01] [-9.96593630e-01 -8.19171846e-02 9.52423915e-03 -1.39452280e+02] [-9.55174805e-03 -5.60735858e-05 -9.99954380e-01 -4.12808085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.012681734575141244 Centerline is valid? [True, True] Translation: X:82.79, Y:-139.57, Z:-4.13 [[ 1.58837789e-01 -9.87303660e-01 -1.42794973e-03 8.27917310e+01] [-9.87260252e-01 -1.58844196e-01 9.25835412e-03 -1.39571427e+02] [-9.36762843e-03 -6.08184881e-05 -9.99956121e-01 -4.12831367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.01272236205949829 Centerline is valid? [True, True] Translation: X:82.79, Y:-139.69, Z:-4.13 [[ 2.33927871e-01 -9.72251324e-01 -2.26159829e-03 8.27871980e+01] [-9.72203284e-01 -2.33938795e-01 9.66512115e-03 -1.39691461e+02] [-9.92600241e-03 -6.22079326e-05 -9.99950734e-01 -4.12874772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.012617769015558096 Centerline is valid? [True, True] Translation: X:82.79, Y:-139.81, Z:-4.13 [[ 3.06751896e-01 -9.51784188e-01 -3.18336527e-03 8.27907351e+01] [-9.51731118e-01 -3.06768408e-01 1.00509986e-02 -1.39807619e+02] [-1.05429374e-02 -5.34550792e-05 -9.99944420e-01 -4.12830915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.012387455656738412 Centerline is valid? [True, True] Translation: X:82.81, Y:-139.92, Z:-4.13 [[ 3.75513348e-01 -9.26808983e-01 -3.85151318e-03 8.28052108e+01] [-9.26759825e-01 -3.75533099e-01 9.54563834e-03 -1.39924036e+02] [-1.02933540e-02 -1.50869308e-05 -9.99947022e-01 -4.12899878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.01244221966035443 Centerline is valid? [True, True] Translation: X:82.83, Y:-140.04, Z:-4.13 [[ 4.42974161e-01 -8.96527170e-01 -3.59532847e-03 8.28269321e+01] [-8.96497831e-01 -4.42988751e-01 7.25299169e-03 -1.40035041e+02] [-8.09519418e-03 1.03162723e-05 -9.99967233e-01 -4.13112480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.012531840721760152 Centerline is valid? [True, True] Translation: X:82.86, Y:-140.15, Z:-4.13 [[ 5.08744394e-01 -8.60910274e-01 -3.55558178e-03 8.28610469e+01] [-8.60889546e-01 -5.08756819e-01 5.97404999e-03 -1.40153123e+02] [-6.95204749e-03 2.16987404e-05 -9.99975834e-01 -4.13194357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.012539603827140266 Centerline is valid? [True, True] Translation: X:82.89, Y:-140.25, Z:-4.13 [[ 5.72468591e-01 -8.19915997e-01 -4.17972544e-03 8.28906415e+01] [-8.19894504e-01 -5.72483849e-01 5.93674335e-03 -1.40252146e+02] [-7.26045615e-03 2.83348154e-05 -9.99973642e-01 -4.13191081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.012695266062543805 Centerline is valid? [True, True] Translation: X:82.94, Y:-140.36, Z:-4.13 [[ 6.33894138e-01 -7.73403089e-01 -5.08766109e-03 8.29367191e+01] [-7.73378503e-01 -6.33914554e-01 6.16679192e-03 -1.40359850e+02] [-7.99455833e-03 2.55944639e-05 -9.99968043e-01 -4.13103709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.012658814741448041 Centerline is valid? [True, True] Translation: X:82.98, Y:-140.45, Z:-4.13 [[ 6.91706027e-01 -7.22153892e-01 -6.04391327e-03 8.29820589e+01] [-7.22126558e-01 -6.91732431e-01 6.28317944e-03 -1.40454285e+02] [-8.71819330e-03 1.83572076e-05 -9.99961996e-01 -4.13137755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.012665769203051907 Centerline is valid? [True, True] Translation: X:83.03, Y:-140.55, Z:-4.13 [[ 7.46119884e-01 -6.65776402e-01 -6.84848448e-03 8.30344436e+01] [-6.65748321e-01 -7.46151314e-01 6.11471860e-03 -1.40547261e+02] [-9.18104104e-03 -2.94608841e-06 -9.99957853e-01 -4.13164497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.012682220903287572 Centerline is valid? [True, True] Translation: X:83.05, Y:-140.58, Z:-4.13 [[ 7.96696353e-01 -6.04337382e-01 -7.15889746e-03 8.30544212e+01] [-6.04312818e-01 -7.96728516e-01 5.44884407e-03 -1.40576767e+02] [-8.99663791e-03 -1.48607059e-05 -9.99959529e-01 -4.13146016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.012812238351932435 Centerline is valid? [True, True] Translation: X:83.08, Y:-140.60, Z:-4.13 [[ 8.42350254e-01 -5.38874522e-01 -7.76528724e-03 8.30780067e+01] [-5.38851298e-01 -8.42386045e-01 5.00302619e-03 -1.40603708e+02] [-9.23737295e-03 -2.99652711e-05 -9.99957334e-01 -4.13185619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.012865548644909774 Centerline is valid? [True, True] Translation: X:83.10, Y:-140.63, Z:-4.13 [[ 8.83028373e-01 -4.69257283e-01 -7.64814627e-03 8.31026141e+01] [-4.69239205e-01 -8.83061493e-01 4.11928566e-03 -1.40630983e+02] [-8.68678826e-03 -4.86360410e-05 -9.99962268e-01 -4.13311319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.013081870924844016 Centerline is valid? [True, True] Translation: X:83.13, Y:-140.66, Z:-4.13 [[ 9.17735020e-01 -3.97125840e-01 -7.31439122e-03 8.31292626e+01] [-3.97112711e-01 -9.17764166e-01 3.22971268e-03 -1.40655527e+02] [-7.99548851e-03 -5.93827067e-05 -9.99968034e-01 -4.13366235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.013424192105388399 Centerline is valid? [True, True] Translation: X:83.16, Y:-140.68, Z:-4.13 [[ 9.47026628e-01 -3.21064234e-01 -7.63703620e-03 8.31578385e+01] [-3.21053052e-01 -9.47057416e-01 2.68101108e-03 -1.40680143e+02] [-8.09348854e-03 -8.70950992e-05 -9.99967243e-01 -4.13421928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.013873938125633232 Centerline is valid? [True, True] Translation: X:83.19, Y:-140.70, Z:-4.13 [[ 9.69742101e-01 -2.43986612e-01 -8.41374740e-03 8.31887289e+01] [-2.43976421e-01 -9.69778594e-01 2.23284198e-03 -1.40699440e+02] [-8.70425567e-03 -1.12524888e-04 -9.99962111e-01 -4.13441821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.013830062131129995 Centerline is valid? [True, True] Translation: X:83.22, Y:-140.72, Z:-4.14 [[ 9.86048363e-01 -1.66244002e-01 -8.45914890e-03 8.32209771e+01] [-1.66236826e-01 -9.86084640e-01 1.54945327e-03 -1.40717947e+02] [-8.59902411e-03 -1.21613797e-04 -9.99963020e-01 -4.13504419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.013759592098915596 Centerline is valid? [True, True] Translation: X:83.25, Y:-140.73, Z:-4.13 [[ 9.95983962e-01 -8.91582019e-02 -8.17078967e-03 8.32517352e+01] [-8.91542889e-02 -9.96017471e-01 8.42613218e-04 -1.40733622e+02] [-8.21337514e-03 -1.10768308e-04 -9.99966264e-01 -4.13487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.01353741612385834 Centerline is valid? [True, True] Translation: X:83.28, Y:-140.74, Z:-4.13 [[ 9.99884272e-01 -1.28898060e-02 -8.08057738e-03 8.32829322e+01] [-1.28886335e-02 -9.99916919e-01 1.97161225e-04 -1.40744140e+02] [-8.08244741e-03 -9.29908075e-05 -9.99967332e-01 -4.13408248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.012981413426683852 Centerline is valid? [True, True] Translation: X:83.31, Y:-140.75, Z:-4.13 [[ 9.98116454e-01 6.09002780e-02 -7.39602852e-03 8.33147699e+01] [ 6.08989903e-02 -9.98143854e-01 -3.99410505e-04 -1.40748907e+02] [-7.40662463e-03 -5.17524725e-05 -9.99972569e-01 -4.13450049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.012790122383941107 Centerline is valid? [True, True] Translation: X:83.35, Y:-140.75, Z:-4.13 [[ 9.90590196e-01 1.36609186e-01 -8.30627042e-03 8.33467450e+01] [ 1.36604717e-01 -9.90625019e-01 -1.10576798e-03 -1.40754440e+02] [-8.37945736e-03 -3.93127956e-05 -9.99964891e-01 -4.13428867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.012784123345983552 Centerline is valid? [True, True] Translation: X:83.38, Y:-140.76, Z:-4.13 [[ 9.77118077e-01 2.12503462e-01 -9.08526625e-03 8.33785512e+01] [ 2.12494583e-01 -9.77160313e-01 -1.94287806e-03 -1.40757141e+02] [-9.29062993e-03 -3.21485869e-05 -9.99956841e-01 -4.13330845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.012868656938757871 Centerline is valid? [True, True] Translation: X:83.41, Y:-140.76, Z:-4.13 [[ 9.57379994e-01 2.88672124e-01 -9.58912435e-03 8.34122870e+01] [ 2.88658041e-01 -9.57428015e-01 -2.85161412e-03 -1.40758831e+02] [-1.00040778e-02 -3.78995374e-05 -9.99949957e-01 -4.13270389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.012890372931526287 Centerline is valid? [True, True] Translation: X:83.45, Y:-140.76, Z:-4.13 [[ 9.31375337e-01 3.63941229e-01 -9.31471047e-03 8.34458582e+01] [ 3.63923574e-01 -9.31421913e-01 -3.58510936e-03 -1.40756815e+02] [-9.98069455e-03 -5.07602926e-05 -9.99950190e-01 -4.13257393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.012920838297975733 Centerline is valid? [True, True] Translation: X:83.48, Y:-140.75, Z:-4.13 [[ 8.99325489e-01 4.37188961e-01 -8.91497531e-03 8.34794583e+01] [ 4.37168211e-01 -8.99369673e-01 -4.25993503e-03 -1.40753666e+02] [-9.88025499e-03 -6.62756536e-05 -9.99951187e-01 -4.13275485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.013246122628080833 Centerline is valid? [True, True] Translation: X:83.51, Y:-140.75, Z:-4.13 [[ 8.61500327e-01 5.07695742e-01 -7.88793565e-03 8.35126761e+01] [ 5.07675272e-01 -8.61536434e-01 -4.55970430e-03 -1.40746844e+02] [-9.11068641e-03 -7.63231214e-05 -9.99958494e-01 -4.13320364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.013041841846405812 Centerline is valid? [True, True] Translation: X:83.55, Y:-140.74, Z:-4.13 [[ 8.19247869e-01 5.73402168e-01 -6.54849835e-03 8.35450623e+01] [ 5.73384483e-01 -8.19274038e-01 -4.50398734e-03 -1.40737744e+02] [-7.94761079e-03 -6.49253111e-05 -9.99968415e-01 -4.13446559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.013077824275938295 Centerline is valid? [True, True] Translation: X:83.58, Y:-140.73, Z:-4.14 [[ 7.72990687e-01 6.34399709e-01 -4.73362031e-03 8.35751393e+01] [ 6.34388120e-01 -7.73005180e-01 -3.83466991e-03 -1.40725186e+02] [-6.09182649e-03 -3.87883671e-05 -9.99981444e-01 -4.13589326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.012934642039045215 Centerline is valid? [True, True] Translation: X:83.60, Y:-140.71, Z:-4.14 [[ 7.21571831e-01 6.92329463e-01 -3.74276078e-03 8.36049595e+01] [ 6.92320351e-01 -7.21581537e-01 -3.55215055e-03 -1.40710139e+02] [-5.15996556e-03 -2.80576816e-05 -9.99986687e-01 -4.13716357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.01288201237919152 Centerline is valid? [True, True] Translation: X:83.63, Y:-140.69, Z:-4.14 [[ 6.65404346e-01 7.46475149e-01 -3.45097530e-03 8.36347043e+01] [ 7.46465315e-01 -6.65413294e-01 -3.83176132e-03 -1.40693962e+02] [-5.15663944e-03 -2.63627306e-05 -9.99986704e-01 -4.13715216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.0128982050784022 Centerline is valid? [True, True] Translation: X:83.66, Y:-140.68, Z:-4.14 [[ 6.05751875e-01 7.95643584e-01 -3.99413784e-03 8.36624572e+01] [ 7.95626578e-01 -6.05765042e-01 -5.20207430e-03 -1.40676566e+02] [-6.55850612e-03 -2.66759657e-05 -9.99978492e-01 -4.13532658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.012933810487406926 Centerline is valid? [True, True] Translation: X:83.69, Y:-140.65, Z:-4.14 [[ 5.42805505e-01 8.39848948e-01 -3.99096000e-03 8.36868251e+01] [ 8.39826511e-01 -5.42820176e-01 -6.13906905e-03 -1.40653947e+02] [-7.32226430e-03 -1.93935354e-05 -9.99973192e-01 -4.13513652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.012928965029601834 Centerline is valid? [True, True] Translation: X:83.71, Y:-140.63, Z:-4.14 [[ 4.76807181e-01 8.78998992e-01 -3.96039791e-03 8.37109238e+01] [ 8.78968816e-01 -4.76823629e-01 -7.28336166e-03 -1.40630031e+02] [-8.29047885e-03 -8.30712243e-06 -9.99965633e-01 -4.13528492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.012899603620869738 Centerline is valid? [True, True] Translation: X:83.73, Y:-140.61, Z:-4.14 [[ 4.08317866e-01 9.12832738e-01 -3.59341190e-03 8.37332391e+01] [ 9.12797204e-01 -4.08333677e-01 -8.05431815e-03 -1.40605438e+02] [-8.81955639e-03 8.66566302e-06 -9.99961107e-01 -4.13510065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.012903003443552311 Centerline is valid? [True, True] Translation: X:83.75, Y:-140.58, Z:-4.13 [[ 3.34291728e-01 9.42464800e-01 -3.02357455e-03 8.37547210e+01] [ 9.42426342e-01 -3.34305401e-01 -8.51401614e-03 -1.40579783e+02] [-9.03495782e-03 -3.33113161e-06 -9.99959184e-01 -4.13451472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.013020427460770147 Centerline is valid? [True, True] Translation: X:83.77, Y:-140.55, Z:-4.13 [[ 2.56479494e-01 9.66546631e-01 -2.42484546e-03 8.37730557e+01] [ 9.66504624e-01 -2.56490955e-01 -9.01119721e-03 -1.40552559e+02] [-9.33169322e-03 -3.24370500e-05 -9.99956458e-01 -4.13400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.013338587097494518 Centerline is valid? [True, True] Translation: X:83.79, Y:-140.52, Z:-4.13 [[ 1.75862461e-01 9.84412945e-01 -1.88364681e-03 8.37913319e+01] [ 9.84361187e-01 -1.75872531e-01 -1.00948550e-02 -1.40523552e+02] [-1.02687877e-02 -7.88827657e-05 -9.99947272e-01 -4.13334448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.014669844261652985 Centerline is valid? [True, True] Translation: X:83.81, Y:-140.49, Z:-4.13 [[ 9.14383914e-02 9.95810163e-01 -1.06726112e-03 8.38075077e+01] [ 9.95759723e-01 -9.14445029e-02 -1.00238721e-02 -1.40493794e+02] [-1.00794689e-02 -1.46168889e-04 -9.99949190e-01 -4.13282035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.014928665156726114 Centerline is valid? [True, True] Translation: X:83.82, Y:-140.46, Z:-4.13 [[ 9.50670085e-03 9.99954781e-01 -2.44308934e-04 8.38197287e+01] [ 9.99915791e-01 -9.50848794e-03 -8.83173581e-03 -1.40461049e+02] [-8.83365945e-03 -1.60327691e-04 -9.99960970e-01 -4.13458286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.015354210690533613 Centerline is valid? [True, True] Translation: X:83.83, Y:-140.43, Z:-4.14 [[-7.09512556e-02 9.97479726e-01 3.40491870e-04 8.38296209e+01] [ 9.97457231e-01 7.09519427e-02 -6.70029952e-03 -1.40427540e+02] [-6.70757149e-03 -1.35768587e-04 -9.99977495e-01 -4.13580072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.01601069824225642 Centerline is valid? [True, True] Translation: X:83.84, Y:-140.39, Z:-4.14 [[-1.49716191e-01 9.88728794e-01 6.59577542e-04 8.38350224e+01] [ 9.88715767e-01 1.49717605e-01 -5.07645216e-03 -1.40394706e+02] [-5.11798479e-03 -1.07892365e-04 -9.99986897e-01 -4.13603883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.01575069479173457 Centerline is valid? [True, True] Translation: X:83.84, Y:-140.36, Z:-4.14 [[-2.26365076e-01 9.74042022e-01 9.96278993e-04 8.38358696e+01] [ 9.74030546e-01 2.26367247e-01 -4.72927393e-03 -1.40360937e+02] [-4.83203648e-03 -1.00136285e-04 -9.99988321e-01 -4.13557730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.015339852078874403 Centerline is valid? [True, True] Translation: X:83.83, Y:-140.33, Z:-4.13 [[-3.00957139e-01 9.53636048e-01 1.75765035e-03 8.38327855e+01] [ 9.53617327e-01 3.00962247e-01 -5.97666381e-03 -1.40328258e+02] [-6.22854845e-03 -1.22593815e-04 -9.99980595e-01 -4.13436854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.015400341013211407 Centerline is valid? [True, True] Translation: X:83.83, Y:-140.30, Z:-4.13 [[-3.74329372e-01 9.27292739e-01 2.38681329e-03 8.38278137e+01] [ 9.27271640e-01 3.74336959e-01 -6.25673560e-03 -1.40295556e+02] [-6.69529792e-03 -1.28855630e-04 -9.99977578e-01 -4.13321676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.01582419017654982 Centerline is valid? [True, True] Translation: X:83.82, Y:-140.27, Z:-4.13 [[-4.45504184e-01 8.95273366e-01 3.40905356e-03 8.38186597e+01] [ 8.95244521e-01 4.45517202e-01 -7.18821031e-03 -1.40265499e+02] [-7.95420524e-03 -1.50441251e-04 -9.99968354e-01 -4.13098245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.015521058923867697 Centerline is valid? [True, True] Translation: X:83.81, Y:-140.23, Z:-4.13 [[-5.14512399e-01 8.57471163e-01 4.49400574e-03 8.38073632e+01] [ 8.57435464e-01 5.14531996e-01 -7.82626213e-03 -1.40234650e+02] [-9.02310383e-03 -1.73389005e-04 -9.99959276e-01 -4.13006057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.015568265527090295 Centerline is valid? [True, True] Translation: X:83.79, Y:-140.20, Z:-4.13 [[-5.80596584e-01 8.14172834e-01 5.49580440e-03 8.37941191e+01] [ 8.14133172e-01 5.80622562e-01 -8.03856280e-03 -1.40204876e+02] [-9.73576749e-03 -1.92845437e-04 -9.99952588e-01 -4.12942456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.015788168051576824 Centerline is valid? [True, True] Translation: X:83.78, Y:-140.18, Z:-4.13 [[-6.43454055e-01 7.65457587e-01 6.44687187e-03 8.37776166e+01] [ 7.65415775e-01 6.43486314e-01 -8.00339838e-03 -1.40177506e+02] [-1.02747358e-02 -2.15281712e-04 -9.99947190e-01 -4.12903201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.015927424130159653 Centerline is valid? [True, True] Translation: X:83.76, Y:-140.15, Z:-4.13 [[-7.01840506e-01 7.12301882e-01 6.77746271e-03 8.37593380e+01] [ 7.12265720e-01 7.01873197e-01 -7.18054275e-03 -1.40150953e+02] [-9.87163353e-03 -2.12241397e-04 -9.99951252e-01 -4.12999406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.017038555753482322 Centerline is valid? [True, True] Translation: X:83.74, Y:-140.13, Z:-4.13 [[-7.56323553e-01 6.54168918e-01 6.14088799e-03 8.37392787e+01] [ 6.54145313e-01 7.56348459e-01 -5.56042154e-03 -1.40128450e+02] [-8.28210611e-03 -1.88444678e-04 -9.99965685e-01 -4.13139156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.016682596592188657 Centerline is valid? [True, True] Translation: X:83.75, Y:-140.11, Z:-4.13 [[-8.01487458e-01 5.97984110e-01 5.73229177e-03 8.37521452e+01] [ 5.97967238e-01 8.01507938e-01 -4.49534313e-03 -1.40110484e+02] [-7.28262112e-03 -1.75238459e-04 -9.99973466e-01 -4.13340940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.017755099603934284 Centerline is valid? [True, True] Translation: X:83.77, Y:-140.09, Z:-4.13 [[-8.43030104e-01 5.37842714e-01 5.04570320e-03 8.37651629e+01] [ 5.37831933e-01 8.43045188e-01 -3.40914078e-03 -1.40088665e+02] [-6.08733734e-03 -1.60267996e-04 -9.99981459e-01 -4.13391808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.018060007277811794 Centerline is valid? [True, True] Translation: X:83.78, Y:-140.07, Z:-4.13 [[-8.80999196e-01 4.73084405e-01 5.61810177e-03 8.37751193e+01] [ 4.73073339e-01 8.81017086e-01 -3.24187777e-03 -1.40068380e+02] [-6.48332547e-03 -1.98317547e-04 -9.99978963e-01 -4.13370705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.020787501078135887 Centerline is valid? [True, True] Translation: X:83.79, Y:-140.04, Z:-4.13 [[-9.13954969e-01 4.05745447e-01 7.54630755e-03 8.37861177e+01] [ 4.05728945e-01 9.13986076e-01 -3.67107492e-03 -1.40043248e+02] [-8.38674196e-03 -2.93441764e-04 -9.99964788e-01 -4.13187937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.021939796862444915 Centerline is valid? [True, True] Translation: X:84.07, Y:-139.47, Z:-5.12 [[-8.48221110e-01 -5.29574988e-01 8.44284388e-03 8.40665869e+01] [ 5.29553641e-01 -8.48263022e-01 -4.77355585e-03 -1.39465082e+02] [ 9.68970805e-03 4.21907882e-04 9.99952965e-01 -5.12127060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.022855010890524628 Centerline is valid? [True, True] Translation: X:84.06, Y:-139.49, Z:-5.12 [[-8.09601387e-01 -5.86922958e-01 8.18756515e-03 8.40567004e+01] [ 5.86897760e-01 -8.09642692e-01 -5.45255795e-03 -1.39492101e+02] [ 9.82923373e-03 3.90865175e-04 9.99951616e-01 -5.12221773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.022630030929486646 Centerline is valid? [True, True] Translation: X:83.69, Y:-140.03, Z:-4.13 [[-8.87439504e-01 4.60840113e-01 8.80440637e-03 8.36946777e+01] [ 4.60813131e-01 8.87483096e-01 -5.00136791e-03 -1.40033387e+02] [-1.01185928e-02 -3.81225388e-04 -9.99948733e-01 -4.12941051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.02065158179176981 Centerline is valid? [True, True] Translation: X:83.70, Y:-140.01, Z:-4.13 [[-9.16376181e-01 4.00214297e-01 9.12207104e-03 8.37021409e+01] [ 4.00190714e-01 9.16421518e-01 -4.35823111e-03 -1.40013583e+02] [-1.01038886e-02 -3.43211055e-04 -9.99948896e-01 -4.12989043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.01867441204439728 Centerline is valid? [True, True] Translation: X:83.72, Y:-140.00, Z:-4.13 [[-9.40443187e-01 3.39798494e-01 1.01781820e-02 8.37164523e+01] [ 3.39775036e-01 9.40498213e-01 -4.00448387e-03 -1.39997715e+02] [-1.09332796e-02 -3.07697402e-04 -9.99940183e-01 -4.12934749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.017893377732373653 Centerline is valid? [True, True] Translation: X:83.73, Y:-139.98, Z:-4.13 [[-9.61470589e-01 2.74694386e-01 1.08305701e-02 8.37309553e+01] [ 2.74673537e-01 9.61531544e-01 -3.39684334e-03 -1.39978252e+02] [-1.13470286e-02 -2.91093973e-04 -9.99935578e-01 -4.12929958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.016667446613380377 Centerline is valid? [True, True] Translation: X:83.73, Y:-139.96, Z:-4.13 [[-9.77873263e-01 2.08913660e-01 1.09070532e-02 8.37330193e+01] [ 2.08897773e-01 9.77934056e-01 -2.58877139e-03 -1.39956114e+02] [-1.12072085e-02 -2.53031204e-04 -9.99937165e-01 -4.12932217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.01647172413106874 Centerline is valid? [True, True] Translation: X:83.91, Y:-139.28, Z:-5.12 [[-9.48614761e-01 -3.16236259e-01 1.11652834e-02 8.39064456e+01] [ 3.16217965e-01 -9.48680422e-01 -3.41398110e-03 -1.39283735e+02] [ 1.16719104e-02 2.92110330e-04 9.99931838e-01 -5.12300120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.015991428264779183 Centerline is valid? [True, True] Translation: X:83.69, Y:-139.95, Z:-4.13 [[-9.78045057e-01 2.08078444e-01 1.14554627e-02 8.36936065e+01] [ 2.08061397e-01 9.78112114e-01 -2.67345725e-03 -1.39951089e+02] [-1.17610157e-02 -2.31322071e-04 -9.99930810e-01 -4.12845951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.016411469597631623 Centerline is valid? [True, True] Translation: X:83.85, Y:-139.27, Z:-5.12 [[-9.50243332e-01 -3.11327218e-01 1.06288707e-02 8.38537221e+01] [ 3.11309846e-01 -9.50302758e-01 -3.29373000e-03 -1.39271170e+02] [ 1.11260730e-02 1.79027133e-04 9.99938087e-01 -5.12346110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.016901600433968628 Centerline is valid? [True, True] Translation: X:83.65, Y:-139.94, Z:-4.13 [[-9.79129013e-01 2.02962525e-01 1.06108636e-02 8.36506262e+01] [ 2.02948067e-01 9.79186479e-01 -2.43328580e-03 -1.39938129e+02] [-1.08838800e-02 -2.29046456e-04 -9.99940743e-01 -4.12776108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.016981733569207326 Centerline is valid? [True, True] Translation: X:83.65, Y:-139.91, Z:-4.13 [[-9.91259817e-01 1.31522777e-01 1.02826922e-02 8.36487528e+01] [ 1.31513236e-01 9.91313121e-01 -1.60154092e-03 -1.39908754e+02] [-1.04040068e-02 -2.35233031e-04 -9.99945849e-01 -4.12739791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.01617923059491758 Centerline is valid? [True, True] Translation: X:83.76, Y:-139.23, Z:-5.12 [[-9.69933327e-01 -2.43170215e-01 9.87865268e-03 8.37621385e+01] [ 2.43159819e-01 -9.69983609e-01 -2.25850493e-03 -1.39227986e+02] [ 1.01313323e-02 2.11492193e-04 9.99948654e-01 -5.12303846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.0169982930175008 Centerline is valid? [True, True] Translation: X:83.60, Y:-139.90, Z:-4.13 [[-9.92020465e-01 1.25697028e-01 9.78031856e-03 8.36027182e+01] [ 1.25688494e-01 9.92068646e-01 -1.48481978e-03 -1.39900439e+02] [-9.88938482e-03 -2.43698094e-04 -9.99951069e-01 -4.12791843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.018416255078432486 Centerline is valid? [True, True] Translation: X:83.59, Y:-139.87, Z:-4.13 [[-9.98550284e-01 5.28737181e-02 1.00846811e-02 8.35939905e+01] [ 5.28682803e-02 9.98601170e-01 -8.05223315e-04 -1.39867142e+02] [-1.01131495e-02 -2.70896221e-04 -9.99948824e-01 -4.12665111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.01847517528756763 Centerline is valid? [True, True] Translation: X:83.59, Y:-139.84, Z:-4.13 [[-9.99758632e-01 -1.97996706e-02 9.52104395e-03 8.35919749e+01] [-1.98013493e-02 9.99803931e-01 -8.20657505e-05 -1.39838332e+02] [-9.51755229e-03 -2.70575459e-04 -9.99954671e-01 -4.12678964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.019615998957325766 Centerline is valid? [True, True] Translation: X:83.61, Y:-139.17, Z:-5.12 [[-9.94195941e-01 -1.07173595e-01 9.39424993e-03 8.36072626e+01] [ 1.07171290e-01 -9.94240289e-01 -7.49914689e-04 -1.39172753e+02] [ 9.42051282e-03 2.61231744e-04 9.99955592e-01 -5.12432907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.019814568913518966 Centerline is valid? [True, True] Translation: X:83.54, Y:-139.83, Z:-4.13 [[-9.99558091e-01 -2.82841754e-02 9.14480602e-03 8.35447102e+01] [-2.82857240e-02 9.99599878e-01 -4.00225343e-05 -1.39832639e+02] [-9.14001498e-03 -2.98672307e-04 -9.99958185e-01 -4.12709660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.02113640585625135 Centerline is valid? [True, True] Translation: X:83.53, Y:-139.80, Z:-4.13 [[-9.94941484e-01 -1.00030026e-01 9.24319255e-03 8.35302702e+01] [-1.00028602e-01 9.94984371e-01 6.17329969e-04 -1.39803091e+02] [-9.25858365e-03 -3.10376435e-04 -9.99957090e-01 -4.12614787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.02166708639287542 Centerline is valid? [True, True] Translation: X:83.53, Y:-139.78, Z:-4.13 [[-9.85402883e-01 -1.69961325e-01 9.71116714e-03 8.35301047e+01] [-1.69956287e-01 9.85450681e-01 1.34769240e-03 -1.39775227e+02] [-9.79893186e-03 -3.22453940e-04 -9.99951937e-01 -4.12544364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.021269416092374687 Centerline is valid? [True, True] Translation: X:83.52, Y:-139.75, Z:-4.12 [[-9.71538734e-01 -2.36629525e-01 1.09066962e-02 8.35229595e+01] [-2.36618431e-01 9.71599896e-01 2.31511063e-03 -1.39750400e+02] [-1.11447684e-02 -3.31505698e-04 -9.99937840e-01 -4.12389404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.017949987025402535 Centerline is valid? [True, True] Translation: X:83.51, Y:-139.73, Z:-4.13 [[-9.53321682e-01 -3.01747287e-01 1.12403977e-02 8.35081892e+01] [-3.01730043e-01 9.53387898e-01 3.24004101e-03 -1.39733580e+02] [-1.16941327e-02 -3.02764326e-04 -9.99931576e-01 -4.12517468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.016302498754127228 Centerline is valid? [True, True] Translation: X:83.48, Y:-139.72, Z:-4.13 [[-9.32137044e-01 -3.61939087e-01 1.09831245e-02 8.34841073e+01] [-3.61916563e-01 9.32201724e-01 4.04313456e-03 -1.39718256e+02] [-1.17018561e-02 -2.06219183e-04 -9.99931510e-01 -4.12576710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.015426381605956213 Centerline is valid? [True, True] Translation: X:83.44, Y:-139.71, Z:-4.13 [[-9.05965833e-01 -4.23234366e-01 9.92874379e-03 8.34362144e+01] [-4.23210439e-01 9.06020229e-01 4.50199893e-03 -1.39712168e+02] [-1.09010434e-02 -1.23290814e-04 -9.99940574e-01 -4.12655626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.014609962063511898 Centerline is valid? [True, True] Translation: X:83.38, Y:-139.72, Z:-4.13 [[-8.76688347e-01 -4.80991175e-01 8.06421132e-03 8.33779678e+01] [-4.80971062e-01 8.76725435e-01 4.39867720e-03 -1.39716951e+02] [-9.18582410e-03 -2.23832418e-05 -9.99957809e-01 -4.12813108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.014516438462546556 Centerline is valid? [True, True] Translation: X:83.31, Y:-139.73, Z:-4.13 [[-8.40783076e-01 -5.41324108e-01 7.21314949e-03 8.33124403e+01] [-5.41304040e-01 8.40814016e-01 4.66111081e-03 -1.39726691e+02] [-8.58808884e-03 1.44761155e-05 -9.99963122e-01 -4.12835382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.014547663528324716 Centerline is valid? [True, True] Translation: X:83.24, Y:-139.75, Z:-4.13 [[-7.99565731e-01 -6.00539123e-01 6.88506459e-03 8.32353390e+01] [-6.00516471e-01 7.99595373e-01 5.21609300e-03 -1.39748719e+02] [-8.63773370e-03 3.60145229e-05 -9.99962694e-01 -4.12803888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.014482553876476645 Centerline is valid? [True, True] Translation: X:83.15, Y:-139.78, Z:-4.13 [[-7.52246910e-01 -6.58841464e-01 7.24648256e-03 8.31512408e+01] [-6.58810391e-01 7.52281812e-01 6.39883123e-03 -1.39780014e+02] [-9.66721236e-03 3.94430160e-05 -9.99953271e-01 -4.12723948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.014366417316706763 Centerline is valid? [True, True] Translation: X:83.07, Y:-139.82, Z:-4.13 [[-6.99367150e-01 -7.14728270e-01 7.00643071e-03 8.30673345e+01] [-7.14692052e-01 6.99402245e-01 7.19519699e-03 -1.39819553e+02] [-1.00429241e-02 2.46440660e-05 -9.99949568e-01 -4.12673436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.014078099914411184 Centerline is valid? [True, True] Translation: X:82.98, Y:-139.87, Z:-4.13 [[-6.39964536e-01 -7.68382713e-01 5.77930948e-03 8.29821815e+01] [-7.68351658e-01 6.39990630e-01 6.90819987e-03 -1.39866317e+02] [-9.00684527e-03 -1.95391010e-05 -9.99959437e-01 -4.12757613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.014152983740906042 Centerline is valid? [True, True] Translation: X:82.90, Y:-139.93, Z:-4.13 [[-5.76239139e-01 -8.17269040e-01 4.44648801e-03 8.28963223e+01] [-8.17245404e-01 5.76256292e-01 6.21573240e-03 -1.39925245e+02] [-7.64224234e-03 -5.21236006e-05 -9.99970796e-01 -4.12929463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.01457686186636827 Centerline is valid? [True, True] Translation: X:82.81, Y:-139.99, Z:-4.13 [[-5.07854944e-01 -8.61438655e-01 2.60766190e-03 8.28119729e+01] [-8.61427926e-01 5.07861635e-01 4.29967972e-03 -1.39992097e+02] [-5.02824175e-03 -6.26991802e-05 -9.99987356e-01 -4.13230814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.015152011655620558 Centerline is valid? [True, True] Translation: X:82.73, Y:-140.07, Z:-4.13 [[-4.37872784e-01 -8.99034707e-01 2.00495038e-03 8.27306087e+01] [-8.99026014e-01 4.37877369e-01 3.95435362e-03 -1.40073621e+02] [-4.43302355e-03 -7.09987169e-05 -9.99990172e-01 -4.13322088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.015891402437370788 Centerline is valid? [True, True] Translation: X:82.66, Y:-140.15, Z:-4.13 [[-3.64795170e-01 -9.31086415e-01 1.60336806e-03 8.26606098e+01] [-9.31078390e-01 3.64798685e-01 3.86678499e-03 -1.40149005e+02] [-4.18521753e-03 -8.22768612e-05 -9.99991239e-01 -4.13329843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.016618095520682833 Centerline is valid? [True, True] Translation: X:82.59, Y:-140.24, Z:-4.13 [[-2.91738549e-01 -9.56496938e-01 1.49229008e-03 8.25946620e+01] [-9.56486115e-01 2.91742348e-01 4.55120957e-03 -1.40237825e+02] [-4.78858223e-03 -9.95914701e-05 -9.99988530e-01 -4.13291899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.015404553746854037 Centerline is valid? [True, True] Translation: X:82.54, Y:-140.33, Z:-4.13 [[-2.19011527e-01 -9.75721175e-01 1.46288921e-03 8.25384469e+01] [-9.75702950e-01 2.19016379e-01 5.96491015e-03 -1.40334695e+02] [-6.14048584e-03 -1.20961239e-04 -9.99981140e-01 -4.13224612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.014811447741474046 Centerline is valid? [True, True] Translation: X:82.49, Y:-140.44, Z:-4.13 [[-1.46767691e-01 -9.89170360e-01 1.11544367e-03 8.24899338e+01] [-9.89147416e-01 1.46771886e-01 6.73823322e-03 -1.40438667e+02] [-6.82897635e-03 -1.14383285e-04 -9.99976676e-01 -4.13233216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.01369466929298286 Centerline is valid? [True, True] Translation: X:82.45, Y:-140.54, Z:-4.13 [[-7.81240389e-02 -9.96943527e-01 4.89271586e-04 8.24522128e+01] [-9.96927907e-01 7.81255538e-02 5.58094352e-03 -1.40539946e+02] [-5.60211012e-03 -5.17626492e-05 -9.99984307e-01 -4.13372738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.013278994222312861 Centerline is valid? [True, True] Translation: X:82.42, Y:-140.65, Z:-4.13 [[-8.25720764e-03 -9.99965907e-01 6.03219303e-05 8.24225369e+01] [-9.99950309e-01 8.25741577e-03 5.58521455e-03 -1.40648302e+02] [-5.58552224e-03 -1.42006565e-05 -9.99984401e-01 -4.13448086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.01324078150542936 Centerline is valid? [True, True] Translation: X:82.40, Y:-140.76, Z:-4.13 [[ 6.49180361e-02 -9.97890526e-01 -3.82832084e-04 8.23997596e+01] [-9.97873660e-01 -6.49191646e-02 5.80183093e-03 -1.40762264e+02] [-5.81444526e-03 5.37458282e-06 -9.99983096e-01 -4.13423378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.014109241612522494 Centerline is valid? [True, True] Translation: X:82.39, Y:-140.87, Z:-4.13 [[ 1.31932892e-01 -9.91258075e-01 -1.06780203e-03 8.23871162e+01] [-9.91230174e-01 -1.31937190e-01 7.43781302e-03 -1.40874782e+02] [-7.51367502e-03 7.71454165e-05 -9.99971769e-01 -4.13323961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.014875018468632794 Centerline is valid? [True, True] Translation: X:82.38, Y:-140.99, Z:-4.13 [[ 2.03232856e-01 -9.79128812e-01 -1.78202720e-03 8.23809783e+01] [-9.79096163e-01 -2.03240633e-01 7.99676937e-03 -1.40989458e+02] [-8.19204763e-03 1.19569721e-04 -9.99966438e-01 -4.13294796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.015281891722850438 Centerline is valid? [True, True] Translation: X:82.38, Y:-141.11, Z:-4.13 [[ 2.74909637e-01 -9.61466940e-01 -2.45247044e-03 8.23812964e+01] [-9.61433296e-01 -2.74920537e-01 8.04466272e-03 -1.41109356e+02] [-8.40891174e-03 1.46331432e-04 -9.99964634e-01 -4.13405310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.014786276721664746 Centerline is valid? [True, True] Translation: X:82.39, Y:-141.22, Z:-4.14 [[ 3.47716052e-01 -9.37594807e-01 -3.08636442e-03 8.23876735e+01] [-9.37561517e-01 -3.47729719e-01 7.90221026e-03 -1.41223739e+02] [-8.48229193e-03 1.45931148e-04 -9.99964014e-01 -4.13521032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.014267726323415907 Centerline is valid? [True, True] Translation: X:82.40, Y:-141.34, Z:-4.14 [[ 4.21262486e-01 -9.06930883e-01 -3.78054544e-03 8.24017390e+01] [-9.06896903e-01 -4.21279432e-01 7.85157419e-03 -1.41341383e+02] [-8.71350114e-03 1.20991287e-04 -9.99962029e-01 -4.13547852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.013309758968817635 Centerline is valid? [True, True] Translation: X:82.42, Y:-141.46, Z:-4.13 [[ 4.96181003e-01 -8.68204515e-01 -5.03320198e-03 8.24222299e+01] [-8.68161019e-01 -4.96206527e-01 8.69068727e-03 -1.41460081e+02] [-1.00428016e-02 5.74758329e-05 -9.99949568e-01 -4.13467752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.012985986416675862 Centerline is valid? [True, True] Translation: X:82.45, Y:-141.57, Z:-4.13 [[ 5.66834516e-01 -8.23810620e-01 -5.89015801e-03 8.24510179e+01] [-8.23765829e-01 -5.66865118e-01 8.59049159e-03 -1.41571846e+02] [-1.04158633e-02 -1.72762472e-05 -9.99945753e-01 -4.13387954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.013470716457430774 Centerline is valid? [True, True] Translation: X:82.49, Y:-141.68, Z:-4.13 [[ 6.34026198e-01 -7.73281378e-01 -6.83311918e-03 8.24895507e+01] [-7.73234619e-01 -6.34063009e-01 8.50442174e-03 -1.41682392e+02] [-1.09089391e-02 -1.08421876e-04 -9.99940490e-01 -4.13399864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.015692127840232776 Centerline is valid? [True, True] Translation: X:82.53, Y:-141.78, Z:-4.13 [[ 6.98063462e-01 -7.15987822e-01 -8.29705693e-03 8.25290528e+01] [-7.15933021e-01 -6.98112726e-01 8.86178847e-03 -1.41784558e+02] [-1.21372137e-02 -2.45953705e-04 -9.99926311e-01 -4.13271375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.01705420289339611 Centerline is valid? [True, True] Translation: X:82.58, Y:-141.87, Z:-4.13 [[ 7.52767886e-01 -6.58226285e-01 -8.86948964e-03 8.25756076e+01] [-6.58175952e-01 -7.52820079e-01 8.14517873e-03 -1.41874933e+02] [-1.20385006e-02 -2.93744184e-04 -9.99927492e-01 -4.13260555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.018047517977690358 Centerline is valid? [True, True] Translation: X:82.60, Y:-141.91, Z:-4.13 [[ 8.03165408e-01 -5.95697688e-01 -8.34220244e-03 8.26011872e+01] [-5.95661892e-01 -8.03208682e-01 6.53633372e-03 -1.41906059e+02] [-1.05942083e-02 -2.80625048e-04 -9.99943840e-01 -4.13433513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.01821636137126928 Centerline is valid? [True, True] Translation: X:82.63, Y:-141.93, Z:-4.14 [[ 8.47166202e-01 -5.31278881e-01 -7.22332739e-03 8.26315245e+01] [-5.31257258e-01 -8.47196966e-01 4.79870348e-03 -1.41932594e+02] [-8.66903086e-03 -2.27854303e-04 -9.99962397e-01 -4.13553264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.017457213342956933 Centerline is valid? [True, True] Translation: X:82.66, Y:-141.96, Z:-4.14 [[ 8.85820735e-01 -4.63968055e-01 -7.43430999e-03 8.26635345e+01] [-4.63949632e-01 -8.85851904e-01 4.14044354e-03 -1.41955894e+02] [-8.50673120e-03 -2.18545353e-04 -9.99963793e-01 -4.13578858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.017516896946356216 Centerline is valid? [True, True] Translation: X:82.70, Y:-141.98, Z:-4.13 [[ 9.19199793e-01 -3.93699230e-01 -8.52395206e-03 8.26976020e+01] [-3.93679902e-01 -9.19239284e-01 3.90820780e-03 -1.41976941e+02] [-9.37420998e-03 -2.36715183e-04 -9.99956033e-01 -4.13437675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.016524138879689454 Centerline is valid? [True, True] Translation: X:82.73, Y:-142.00, Z:-4.13 [[ 9.46970415e-01 -3.21143486e-01 -1.06721233e-02 8.27320837e+01] [-3.21119737e-01 -9.47030508e-01 3.91557711e-03 -1.41995157e+02] [-1.13642884e-02 -2.80906256e-04 -9.99935385e-01 -4.13300524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.016335760786852373 Centerline is valid? [True, True] Translation: X:82.77, Y:-142.01, Z:-4.13 [[ 9.68882693e-01 -2.47244963e-01 -1.16728738e-02 8.27682082e+01] [-2.47223460e-01 -9.68952964e-01 3.27318162e-03 -1.42011835e+02] [-1.21197433e-02 -2.85520777e-04 -9.99926513e-01 -4.13213791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.015570075753811153 Centerline is valid? [True, True] Translation: X:82.81, Y:-142.02, Z:-4.13 [[ 9.84743388e-01 -1.73624751e-01 -1.16148646e-02 8.28054974e+01] [-1.73609740e-01 -9.84811853e-01 2.29607946e-03 -1.42022007e+02] [-1.18371126e-02 -2.44595441e-04 -9.99929909e-01 -4.13217794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.014635972985489815 Centerline is valid? [True, True] Translation: X:82.84, Y:-142.03, Z:-4.13 [[ 9.95003798e-01 -9.92192500e-02 -1.10897302e-02 8.28433262e+01] [-9.92108904e-02 -9.95065577e-01 1.30278284e-03 -1.42030649e+02] [-1.11642699e-02 -1.96051866e-04 -9.99937658e-01 -4.13324080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.013637686236411517 Centerline is valid? [True, True] Translation: X:82.88, Y:-142.03, Z:-4.13 [[ 9.99604137e-01 -2.63642784e-02 -9.82319038e-03 8.28779210e+01] [-2.63618229e-02 -9.99652395e-01 3.79391932e-04 -1.42033445e+02] [-9.82977818e-03 -1.20284539e-04 -9.99951679e-01 -4.13479189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.013122459963492162 Centerline is valid? [True, True] Translation: X:82.91, Y:-142.04, Z:-4.14 [[ 9.98747207e-01 4.92677283e-02 -8.75828489e-03 8.29121916e+01] [ 4.92665652e-02 -9.98785605e-01 -3.48626525e-04 -1.42036894e+02] [-8.76482491e-03 -8.33008455e-05 -9.99961585e-01 -4.13600306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.013068851390510611 Centerline is valid? [True, True] Translation: X:82.95, Y:-142.04, Z:-4.14 [[ 9.91965908e-01 1.26291814e-01 -7.34953818e-03 8.29463291e+01] [ 1.26288815e-01 -9.91993132e-01 -8.72668435e-04 -1.42038349e+02] [-7.40090227e-03 -6.25071279e-05 -9.99972611e-01 -4.13684818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.01319277271522089 Centerline is valid? [True, True] Translation: X:82.98, Y:-142.04, Z:-4.14 [[ 9.78622184e-01 2.05542425e-01 -7.13671600e-03 8.29809077e+01] [ 2.05537529e-01 -9.78648203e-01 -1.42074455e-03 -1.42040646e+02] [-7.27635757e-03 -7.64908316e-05 -9.99973524e-01 -4.13707844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.014460891080874543 Centerline is valid? [True, True] Translation: X:83.02, Y:-142.04, Z:-4.14 [[ 9.57904722e-01 2.86960863e-01 -8.48564609e-03 8.30150364e+01] [ 2.86950920e-01 -9.57942296e-01 -2.39306509e-03 -1.42042505e+02] [-8.81547532e-03 -1.42635604e-04 -9.99961133e-01 -4.13505446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.01675905961441739 Centerline is valid? [True, True] Translation: X:83.05, Y:-142.04, Z:-4.13 [[ 9.29868550e-01 3.67730332e-01 -1.09032807e-02 8.30492939e+01] [ 3.67708463e-01 -9.29932432e-01 -4.01960234e-03 -1.42040446e+02] [-1.16174440e-02 -2.71526788e-04 -9.99932478e-01 -4.13249267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.018176296295752434 Centerline is valid? [True, True] Translation: X:83.08, Y:-142.03, Z:-4.13 [[ 8.96690164e-01 4.42518155e-01 -1.11549415e-02 8.30824786e+01] [ 4.42488461e-01 -8.96759485e-01 -5.13687206e-03 -1.42032589e+02] [-1.22764588e-02 -3.29750257e-04 -9.99924587e-01 -4.13158961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.01927194847649923 Centerline is valid? [True, True] Translation: X:83.11, Y:-142.02, Z:-4.13 [[ 8.58470324e-01 5.12760762e-01 -1.02520359e-02 8.31135434e+01] [ 5.12728809e-01 -8.58531473e-01 -5.73404833e-03 -1.42019507e+02] [-1.17418904e-02 -3.34003814e-04 -9.99931006e-01 -4.13180088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.01944894721288353 Centerline is valid? [True, True] Translation: X:83.14, Y:-142.00, Z:-4.13 [[ 8.15968302e-01 5.78036649e-01 -8.32841008e-03 8.31419091e+01] [ 5.78010015e-01 -8.16010756e-01 -5.55595791e-03 -1.42001302e+02] [-1.00076195e-02 -2.80418888e-04 -9.99949883e-01 -4.13302053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.018033958999340766 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.98, Z:-4.13 [[ 7.71103971e-01 6.36671909e-01 -6.89535375e-03 8.31649740e+01] [ 6.36648823e-01 -7.71134773e-01 -5.42569520e-03 -1.41975887e+02] [-8.77163477e-03 -2.06143739e-04 -9.99961507e-01 -4.13453066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.016692154558752562 Centerline is valid? [True, True] Translation: X:83.19, Y:-141.95, Z:-4.13 [[ 7.22026561e-01 6.91843258e-01 -5.52734237e-03 8.31859330e+01] [ 6.91824487e-01 -7.22047704e-01 -5.09828568e-03 -1.41949303e+02] [-7.51821944e-03 -1.42853123e-04 -9.99971728e-01 -4.13492913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.01448183571970933 Centerline is valid? [True, True] Translation: X:83.20, Y:-141.92, Z:-4.13 [[ 6.70661807e-01 7.41743895e-01 -5.36043515e-03 8.32014530e+01] [ 7.41721345e-01 -6.70683222e-01 -5.78466838e-03 -1.41919161e+02] [-7.88589638e-03 -9.63930196e-05 -9.99968901e-01 -4.13462566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.014146155015307946 Centerline is valid? [True, True] Translation: X:83.22, Y:-141.89, Z:-4.13 [[ 6.11840225e-01 7.90963911e-01 -5.25648234e-03 8.32190531e+01] [ 7.90935969e-01 -6.11862798e-01 -6.64901775e-03 -1.41892773e+02] [-8.47537908e-03 -8.94044377e-05 -9.99964079e-01 -4.13382152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.013482333835037297 Centerline is valid? [True, True] Translation: X:83.23, Y:-141.86, Z:-4.13 [[ 5.51726657e-01 8.34001415e-01 -6.27180569e-03 8.32289484e+01] [ 8.33948955e-01 -5.51762299e-01 -9.35443823e-03 -1.41862498e+02] [-1.12621607e-02 -6.92728615e-05 -9.99936578e-01 -4.13086348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.01355468860470101 Centerline is valid? [True, True] Translation: X:83.24, Y:-141.83, Z:-4.13 [[ 4.87319165e-01 8.73201550e-01 -6.25174622e-03 8.32366144e+01] [ 8.73130770e-01 -4.87359263e-01 -1.11178576e-02 -1.41833642e+02] [-1.27549769e-02 -4.06469090e-05 -9.99918651e-01 -4.12853357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.013635312693512128 Centerline is valid? [True, True] Translation: X:83.24, Y:-141.80, Z:-4.13 [[ 4.22207426e-01 9.06482491e-01 -5.51206935e-03 8.32360855e+01] [ 9.06404412e-01 -4.22243404e-01 -1.18974669e-02 -1.41801342e+02] [-1.31122803e-02 2.70348810e-05 -9.99914030e-01 -4.12791748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.014143823419431798 Centerline is valid? [True, True] Translation: X:83.23, Y:-141.77, Z:-4.13 [[ 3.53027450e-01 9.35603031e-01 -4.31134563e-03 8.32334125e+01] [ 9.35530939e-01 -3.53053769e-01 -1.16145469e-02 -1.41771691e+02] [-1.23887421e-02 6.68566486e-05 -9.99923254e-01 -4.12823249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.014562342830239342 Centerline is valid? [True, True] Translation: X:83.23, Y:-141.74, Z:-4.13 [[ 2.80834688e-01 9.59751600e-01 -2.95710766e-03 8.32278392e+01] [ 9.59695257e-01 -2.80850244e-01 -1.03996929e-02 -1.41740948e+02] [-1.08116263e-02 8.26723151e-05 -9.99941549e-01 -4.12995561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.013932082615645165 Centerline is valid? [True, True] Translation: X:83.22, Y:-141.71, Z:-4.13 [[ 2.02740659e-01 9.79230704e-01 -1.85833236e-03 8.32248916e+01] [ 9.79187179e-01 -2.02749169e-01 -9.23274870e-03 -1.41712933e+02] [-9.41776635e-03 5.21983356e-05 -9.99955651e-01 -4.13125150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.013423898143900612 Centerline is valid? [True, True] Translation: X:83.22, Y:-141.69, Z:-4.13 [[ 1.21336890e-01 9.92610851e-01 -1.02861736e-03 8.32204295e+01] [ 9.92574302e-01 -1.21341249e-01 -8.51804248e-03 -1.41685501e+02] [-8.57991510e-03 1.25736293e-05 -9.99963192e-01 -4.13148945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.014370193368197236 Centerline is valid? [True, True] Translation: X:83.22, Y:-141.66, Z:-4.13 [[ 3.41766766e-02 9.99415736e-01 -3.76036093e-04 8.32166518e+01] [ 9.99375194e-01 -3.41786774e-02 -9.00220057e-03 -1.41659941e+02] [-9.00979332e-03 -6.81358458e-05 -9.99959409e-01 -4.13025012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.017128706237554005 Centerline is valid? [True, True] Translation: X:83.21, Y:-141.63, Z:-4.13 [[-5.08427262e-02 9.98706609e-01 3.55605049e-04 8.32087590e+01] [ 9.98659517e-01 5.08437824e-02 -9.69941699e-03 -1.41633283e+02] [-9.70495216e-03 -1.38016435e-04 -9.99952896e-01 -4.12887148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.02305872912403537 Centerline is valid? [True, True] Translation: X:83.20, Y:-141.61, Z:-4.13 [[-1.38030058e-01 9.90427404e-01 1.12288912e-03 8.31999906e+01] [ 9.90379779e-01 1.38034436e-01 -9.71536375e-03 -1.41607968e+02] [-9.77735986e-03 -2.28925551e-04 -9.99952174e-01 -4.12833213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.023779080847243884 Centerline is valid? [True, True] Translation: X:83.18, Y:-141.58, Z:-4.13 [[-2.15762928e-01 9.76443889e-01 1.92109250e-03 8.31793615e+01] [ 9.76394697e-01 2.15771347e-01 -9.80413792e-03 -1.41583627e+02] [-9.98770728e-03 -2.39624975e-04 -9.99950093e-01 -4.12684155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.016273016814334275 Centerline is valid? [True, True] Translation: X:83.17, Y:-141.56, Z:-4.13 [[-2.89429290e-01 9.57196029e-01 2.53917125e-03 8.31672071e+01] [ 9.57152733e-01 2.89440355e-01 -9.10639974e-03 -1.41557991e+02] [-9.45154830e-03 -2.05284114e-04 -9.99955312e-01 -4.13194800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.01579178896830793 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.53, Z:-4.13 [[-3.60468671e-01 9.32767709e-01 2.59584788e-03 8.31632191e+01] [ 9.32740674e-01 3.60477990e-01 -7.10301971e-03 -1.41531392e+02] [-7.56121345e-03 -1.39163171e-04 -9.99971404e-01 -4.13361713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.01564684136484685 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.50, Z:-4.13 [[-4.32271026e-01 9.01739105e-01 2.88921450e-03 8.31581324e+01] [ 9.01716966e-01 4.32280663e-01 -6.31999143e-03 -1.41503259e+02] [-6.94793497e-03 -1.26695443e-04 -9.99975855e-01 -4.13439871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.016492224391150154 Centerline is valid? [True, True] Translation: X:83.15, Y:-141.47, Z:-4.13 [[-5.03906449e-01 8.63749300e-01 3.92908690e-03 8.31535505e+01] [ 8.63720375e-01 5.03921738e-01 -7.07077137e-03 -1.41474216e+02] [-8.08732612e-03 -1.69374882e-04 -9.99967283e-01 -4.13246869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.01710438138909942 Centerline is valid? [True, True] Translation: X:83.15, Y:-141.45, Z:-4.13 [[-5.72026719e-01 8.20219005e-01 5.12032655e-03 8.31463705e+01] [ 8.20182697e-01 5.72049594e-01 -7.72050449e-03 -1.41446258e+02] [-9.26158523e-03 -2.16731616e-04 -9.99957087e-01 -4.13110193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.017319439554839618 Centerline is valid? [True, True] Translation: X:83.14, Y:-141.42, Z:-4.13 [[-6.36176043e-01 7.71515911e-01 6.57588388e-03 8.31371766e+01] [ 7.71470194e-01 6.36209970e-01 -8.40322940e-03 -1.41418445e+02] [-1.06668681e-02 -2.72834815e-04 -9.99943070e-01 -4.13082197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.01783618256840454 Centerline is valid? [True, True] Translation: X:83.13, Y:-141.39, Z:-4.13 [[-6.95373444e-01 7.18610285e-01 7.41833323e-03 8.31253320e+01] [ 7.18564858e-01 6.95412951e-01 -8.08533230e-03 -1.41391385e+02] [-1.09690080e-02 -2.91771803e-04 -9.99939796e-01 -4.13041964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.017331700661998226 Centerline is valid? [True, True] Translation: X:83.11, Y:-141.37, Z:-4.13 [[-7.48101983e-01 6.63543769e-01 7.28629517e-03 8.31076626e+01] [ 6.63509101e-01 7.48137426e-01 -6.78712449e-03 -1.41368154e+02] [-9.95470428e-03 -2.42938130e-04 -9.99950421e-01 -4.13129839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.016314449453195226 Centerline is valid? [True, True] Translation: X:83.13, Y:-141.35, Z:-4.13 [[-7.91385637e-01 6.11275065e-01 7.18110032e-03 8.31257179e+01] [ 6.11247612e-01 7.91418193e-01 -5.79666156e-03 -1.41352983e+02] [-9.22660811e-03 -1.97964277e-04 -9.99957414e-01 -4.13191045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.015781952492509698 Centerline is valid? [True, True] Translation: X:83.15, Y:-141.34, Z:-4.13 [[-8.30733388e-01 5.56618024e-01 7.64289966e-03 8.31451000e+01] [ 5.56592600e-01 8.30768528e-01 -5.32262865e-03 -1.41337397e+02] [-9.31215154e-03 -1.67703937e-04 -9.99956627e-01 -4.13184136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.015347696133047919 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.32, Z:-4.13 [[-8.65790191e-01 5.00352009e-01 7.43049163e-03 8.31602834e+01] [ 5.00332424e-01 8.65822068e-01 -4.42848000e-03 -1.41318456e+02] [-8.64928249e-03 -1.16418649e-04 -9.99962588e-01 -4.13222097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.014295999423145883 Centerline is valid? [True, True] Translation: X:83.18, Y:-141.30, Z:-4.13 [[-8.98473560e-01 4.38961097e-01 7.64308305e-03 8.31753161e+01] [ 4.38944224e-01 8.98506062e-01 -3.85017088e-03 -1.41298658e+02] [-8.55743169e-03 -1.04389576e-04 -9.99963379e-01 -4.13401911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.014204708804679002 Centerline is valid? [True, True] Translation: X:83.19, Y:-141.27, Z:-4.13 [[-9.27326556e-01 3.74161564e-01 8.28150591e-03 8.31862076e+01] [ 3.74145578e-01 9.27363527e-01 -3.46044236e-03 -1.41271021e+02] [-8.97473106e-03 -1.10471285e-04 -9.99959720e-01 -4.13378180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.014933291240888031 Centerline is valid? [True, True] Translation: X:83.20, Y:-141.24, Z:-4.13 [[-9.51605565e-01 3.07197040e-01 8.76508796e-03 8.31998427e+01] [ 3.07182876e-01 9.51645924e-01 -2.95231477e-03 -1.41243951e+02] [-9.24820259e-03 -1.16954242e-04 -9.99957228e-01 -4.13208365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.014408652734993744 Centerline is valid? [True, True] Translation: X:83.20, Y:-141.22, Z:-4.13 [[-9.71142841e-01 2.38307845e-01 9.53690724e-03 8.32036631e+01] [ 2.38295020e-01 9.71189659e-01 -2.47590499e-03 -1.41217679e+02] [-9.85217327e-03 -1.31859912e-04 -9.99951458e-01 -4.13317770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.014179605561216497 Centerline is valid? [True, True] Translation: X:83.21, Y:-141.19, Z:-4.13 [[-9.85590611e-01 1.68864622e-01 9.79220992e-03 8.32100142e+01] [ 1.68854943e-01 9.85639245e-01 -1.81292443e-03 -1.41191098e+02] [-9.95772519e-03 -1.33338245e-04 -9.99950412e-01 -4.13357770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.01417537209566459 Centerline is valid? [True, True] Translation: X:83.35, Y:-140.50, Z:-5.12 [[-9.65490133e-01 -2.60256082e-01 9.77624121e-03 8.33451088e+01] [ 2.60244239e-01 -9.65539617e-01 -2.48691612e-03 -1.40501470e+02] [ 1.00865832e-02 1.43117484e-04 9.99949119e-01 -5.11849761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.014660698548055812 Centerline is valid? [True, True] Translation: X:83.17, Y:-141.18, Z:-4.13 [[-9.86030719e-01 1.66311611e-01 9.15805433e-03 8.31677026e+01] [ 1.66303372e-01 9.86073240e-01 -1.65931655e-03 -1.41181718e+02] [-9.30647592e-03 -1.13121772e-04 -9.99956687e-01 -4.13330123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.014205638482462727 Centerline is valid? [True, True] Translation: X:83.17, Y:-141.16, Z:-4.14 [[-9.95349700e-01 9.59623051e-02 8.37918570e-03 8.31725285e+01] [ 9.59580386e-02 9.95384964e-01 -9.10662012e-04 -1.41155770e+02] [-8.42790468e-03 -1.02376935e-04 -9.99964479e-01 -4.13542329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.0143378109323007 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.13, Z:-4.14 [[-9.99681584e-01 2.39700141e-02 7.88474338e-03 8.31618478e+01] [ 2.39684440e-02 9.99712673e-01 -2.93578436e-04 -1.41126505e+02] [-7.88951496e-03 -1.04499926e-04 -9.99968872e-01 -4.13550307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.0143078122418207 Centerline is valid? [True, True] Translation: X:83.17, Y:-141.10, Z:-4.14 [[-9.98829707e-01 -4.76793817e-02 8.11740396e-03 8.31688122e+01] [-4.76787227e-02 9.98862685e-01 2.74786771e-04 -1.41099079e+02] [-8.12127358e-03 -1.12562263e-04 -9.99967016e-01 -4.13547770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.014639976359101215 Centerline is valid? [True, True] Translation: X:83.16, Y:-141.07, Z:-4.13 [[-9.92767195e-01 -1.19738294e-01 8.71990446e-03 8.31630060e+01] [-1.19734840e-01 9.92805481e-01 9.18912068e-04 -1.41070113e+02] [-8.76719790e-03 -1.31810610e-04 -9.99961559e-01 -4.13448939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.014561561557212927 Centerline is valid? [True, True] Translation: X:83.15, Y:-141.04, Z:-4.14 [[-9.81637825e-01 -1.90555462e-01 8.70613737e-03 8.31546205e+01] [-1.90549203e-01 9.81676422e-01 1.55055409e-03 -1.41043728e+02] [-8.84207633e-03 -1.36864993e-04 -9.99960899e-01 -4.13513860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.014808771595605601 Centerline is valid? [True, True] Translation: X:83.04, Y:-140.37, Z:-5.12 [[-9.95658208e-01 9.27696519e-02 7.65014048e-03 8.30364051e+01] [-9.27665944e-02 -9.95687597e-01 7.54307680e-04 -1.40365245e+02] [ 7.68712685e-03 4.13551538e-05 9.99970453e-01 -5.11553770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.014748370380357981 Centerline is valid? [True, True] Translation: X:83.06, Y:-141.06, Z:-4.14 [[-9.80493050e-01 -1.96439799e-01 6.69209655e-03 8.30565218e+01] [-1.96435951e-01 9.80515882e-01 1.23400592e-03 -1.41057630e+02] [-6.80411483e-03 -1.04634129e-04 -9.99976846e-01 -4.13605436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.014180753932695309 Centerline is valid? [True, True] Translation: X:83.05, Y:-141.03, Z:-4.14 [[-9.64311389e-01 -2.64687698e-01 6.63083469e-03 8.30461974e+01] [-2.64682126e-01 9.64334181e-01 1.72017215e-03 -1.41033562e+02] [-6.84964895e-03 -9.62818292e-05 -9.99976536e-01 -4.13610352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.013758495051625016 Centerline is valid? [True, True] Translation: X:83.02, Y:-141.01, Z:-4.13 [[-9.43792999e-01 -3.30448492e-01 7.65302601e-03 8.30191110e+01] [-3.30438396e-01 9.43824023e-01 2.58473766e-03 -1.41014970e+02] [-8.07723246e-03 -8.93963308e-05 -9.99967375e-01 -4.13432270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.013612961892707337 Centerline is valid? [True, True] Translation: X:82.98, Y:-141.00, Z:-4.13 [[-9.18217474e-01 -3.95996649e-01 7.95766276e-03 8.29782525e+01] [-3.95982490e-01 9.18251953e-01 3.34948602e-03 -1.41002306e+02] [-8.63352460e-03 -7.55385240e-05 -9.99962728e-01 -4.13298205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.013169149084048731 Centerline is valid? [True, True] Translation: X:82.92, Y:-141.00, Z:-4.13 [[-8.87889763e-01 -4.59976797e-01 8.55075735e-03 8.29170792e+01] [-4.59956080e-01 8.87930934e-01 4.36598519e-03 -1.41002430e+02] [-9.60073384e-03 -5.64592688e-05 -9.99953910e-01 -4.13283605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.013071635455276651 Centerline is valid? [True, True] Translation: X:82.85, Y:-141.01, Z:-4.13 [[-8.52685450e-01 -5.22361407e-01 8.12918026e-03 8.28481972e+01] [-5.22338051e-01 8.52724199e-01 4.93970243e-03 -1.41011942e+02] [-9.51225864e-03 -3.41677902e-05 -9.99954757e-01 -4.13265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.012993363456698902 Centerline is valid? [True, True] Translation: X:82.78, Y:-141.03, Z:-4.13 [[-8.13521821e-01 -5.81498869e-01 6.42747192e-03 8.27779948e+01] [-5.81480712e-01 8.13547211e-01 4.59522217e-03 -1.41029255e+02] [-7.90116835e-03 8.62549709e-07 -9.99968785e-01 -4.13349564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.013111564744009874 Centerline is valid? [True, True] Translation: X:82.70, Y:-141.06, Z:-4.13 [[-7.68516512e-01 -6.39800094e-01 6.18152977e-03 8.26999772e+01] [-6.39779278e-01 7.68541372e-01 5.16102485e-03 -1.41056477e+02] [-8.05278555e-03 1.15181675e-05 -9.99967576e-01 -4.13363509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.01308030610498852 Centerline is valid? [True, True] Translation: X:82.62, Y:-141.09, Z:-4.13 [[-7.18661104e-01 -6.95341608e-01 5.12506830e-03 8.26167933e+01] [-6.95323784e-01 7.18679378e-01 4.97872974e-03 -1.41094566e+02] [-7.14519884e-03 1.44375326e-05 -9.99974473e-01 -4.13342133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.01301393007642163 Centerline is valid? [True, True] Translation: X:82.53, Y:-141.15, Z:-4.13 [[-6.62982657e-01 -7.48623005e-01 4.19448592e-03 8.25302082e+01] [-7.48607998e-01 6.62995925e-01 4.74007399e-03 -1.41145329e+02] [-6.32945551e-03 2.56113878e-06 -9.99979969e-01 -4.13361756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.013010794207425005 Centerline is valid? [True, True] Translation: X:82.45, Y:-141.20, Z:-4.13 [[-6.02081689e-01 -7.98425528e-01 3.78366198e-03 8.24483392e+01] [-7.98409922e-01 6.02093578e-01 4.99206934e-03 -1.41200420e+02] [-6.26391417e-03 -1.52797250e-05 -9.99980381e-01 -4.13338526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.01363211596918797 Centerline is valid? [True, True] Translation: X:82.36, Y:-141.27, Z:-4.13 [[-5.34582567e-01 -8.45108298e-01 3.66659915e-03 8.23616690e+01] [-8.45089164e-01 5.34595138e-01 5.68709396e-03 -1.41269831e+02] [-6.76635638e-03 -5.83819276e-05 -9.99977106e-01 -4.13236297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.01443897438310173 Centerline is valid? [True, True] Translation: X:82.28, Y:-141.34, Z:-4.13 [[-4.65056983e-01 -8.85275602e-01 3.01836587e-03 8.22841188e+01] [-8.85258072e-01 4.65066771e-01 5.57167918e-03 -1.41341504e+02] [-6.33621331e-03 -8.08844393e-05 -9.99979923e-01 -4.13148894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.016045112091245883 Centerline is valid? [True, True] Translation: X:82.20, Y:-141.44, Z:-4.13 [[-3.92500531e-01 -9.19749698e-01 1.95621027e-03 8.22026946e+01] [-9.19739288e-01 3.92505398e-01 4.37665402e-03 -1.41436828e+02] [-4.79324930e-03 -8.13644117e-05 -9.99988509e-01 -4.13160722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.015051092074373738 Centerline is valid? [True, True] Translation: X:82.15, Y:-141.52, Z:-4.13 [[-3.19977721e-01 -9.47424408e-01 1.11765779e-03 8.21452301e+01] [-9.47419262e-01 3.19979668e-01 3.12319033e-03 -1.41515195e+02] [-3.31661451e-03 -5.95391895e-05 -9.99994498e-01 -4.13373233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.015233663370077193 Centerline is valid? [True, True] Translation: X:82.08, Y:-141.62, Z:-4.14 [[-2.46959805e-01 -9.69025724e-01 -4.08780796e-05 8.20847117e+01] [-9.69025713e-01 2.46959808e-01 -1.45827117e-04 -1.41619840e+02] [ 1.51405470e-04 3.59847390e-06 -9.99999989e-01 -4.13567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.015106707160590057 Centerline is valid? [True, True] Translation: X:82.03, Y:-141.72, Z:-4.14 [[-1.73114138e-01 -9.84901760e-01 -1.37704242e-04 8.20343066e+01] [-9.84901505e-01 1.73114192e-01 -7.08382529e-04 -1.41722894e+02] [ 7.21525758e-04 1.29940843e-05 -9.99999740e-01 -4.13569376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.014166342713350771 Centerline is valid? [True, True] Translation: X:82.00, Y:-141.82, Z:-4.13 [[-9.90897468e-02 -9.95078499e-01 -6.12728855e-05 8.19950782e+01] [-9.95078359e-01 9.90897654e-02 -5.27725897e-04 -1.41820755e+02] [ 5.31200209e-04 8.67909685e-06 -9.99999859e-01 -4.13489907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.013510046952524331 Centerline is valid? [True, True] Translation: X:81.96, Y:-141.93, Z:-4.13 [[-2.67895143e-02 -9.99641095e-01 4.96265211e-05 8.19629921e+01] [-9.99640163e-01 2.67895571e-02 1.36531609e-03 -1.41931523e+02] [-1.36615554e-03 -1.30325088e-05 -9.99999067e-01 -4.13320364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.012979382730108627 Centerline is valid? [True, True] Translation: X:81.94, Y:-142.04, Z:-4.13 [[ 4.55527466e-02 -9.98961931e-01 -8.73267959e-05 8.19403083e+01] [-9.98959554e-01 -4.55528287e-02 2.17939379e-03 -1.42039795e+02] [-2.18110941e-03 -1.20414358e-05 -9.99997621e-01 -4.13306298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.012721171396197974 Centerline is valid? [True, True] Translation: X:81.93, Y:-142.16, Z:-4.13 [[ 1.13637753e-01 -9.93522195e-01 -3.29276685e-04 8.19298564e+01] [-9.93518250e-01 -1.13638229e-01 2.79986154e-03 -1.42156095e+02] [-2.81914300e-03 8.97242312e-06 -9.99996026e-01 -4.13251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.013329910058726802 Centerline is valid? [True, True] Translation: X:81.93, Y:-142.27, Z:-4.13 [[ 1.83367113e-01 -9.83044315e-01 -6.14489663e-04 8.19256352e+01] [-9.83039343e-01 -1.83368140e-01 3.12656075e-03 -1.42272694e+02] [-3.18622559e-03 3.07590954e-05 -9.99994924e-01 -4.13227557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.013954581744661066 Centerline is valid? [True, True] Translation: X:81.93, Y:-142.39, Z:-4.13 [[ 2.54859315e-01 -9.66977876e-01 -7.18888614e-04 8.19266269e+01] [-9.66974420e-01 -2.54860326e-01 2.58560588e-03 -1.42390435e+02] [-2.68343986e-03 3.61811587e-05 -9.99996399e-01 -4.13235853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.014458433509545504 Centerline is valid? [True, True] Translation: X:81.94, Y:-142.51, Z:-4.13 [[ 3.25110999e-01 -9.45675317e-01 -1.01665662e-03 8.19377256e+01] [-9.45671169e-01 -3.25112585e-01 2.80137800e-03 -1.42510806e+02] [-2.97972189e-03 5.06640522e-05 -9.99995559e-01 -4.13214687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.014516628899235825 Centerline is valid? [True, True] Translation: X:81.96, Y:-142.63, Z:-4.13 [[ 3.96387005e-01 -9.18082616e-01 -1.28558250e-03 8.19562743e+01] [-9.18078224e-01 -3.96389086e-01 2.84009729e-03 -1.42631773e+02] [-3.11703482e-03 5.44876377e-05 -9.99995141e-01 -4.13180081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.014627927180024014 Centerline is valid? [True, True] Translation: X:81.98, Y:-142.74, Z:-4.13 [[ 4.66019485e-01 -8.84772183e-01 -2.00574992e-03 8.19799694e+01] [-8.84764633e-01 -4.66023796e-01 3.65581196e-03 -1.42743418e+02] [-4.16928792e-03 7.09369878e-05 -9.99991306e-01 -4.13061968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.014637569377429072 Centerline is valid? [True, True] Translation: X:82.01, Y:-142.86, Z:-4.13 [[ 5.34614279e-01 -8.45090561e-01 -3.08485775e-03 8.20114641e+01] [-8.45077359e-01 -5.34623173e-01 4.72444244e-03 -1.42857661e+02] [-5.64181815e-03 8.11890497e-05 -9.99984082e-01 -4.12807001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.013955557329834462 Centerline is valid? [True, True] Translation: X:82.05, Y:-142.97, Z:-4.13 [[ 5.99881433e-01 -8.00079083e-01 -3.96577530e-03 8.20506847e+01] [-8.00062423e-01 -5.99894537e-01 5.16371611e-03 -1.42968589e+02] [-6.51042819e-03 7.52503687e-05 -9.99978804e-01 -4.12736103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.013539650059451621 Centerline is valid? [True, True] Translation: X:82.10, Y:-143.07, Z:-4.13 [[ 6.61871365e-01 -7.49602517e-01 -4.72885806e-03 8.20968441e+01] [-7.49583989e-01 -6.61888256e-01 5.27067065e-03 -1.43074980e+02] [-7.08088360e-03 5.61703096e-05 -9.99974929e-01 -4.12643054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.013116138540240732 Centerline is valid? [True, True] Translation: X:82.15, Y:-143.17, Z:-4.13 [[ 7.19921811e-01 -6.94031103e-01 -5.78055845e-03 8.21464618e+01] [-6.94009054e-01 -7.19945017e-01 5.53218441e-03 -1.43173352e+02] [-8.00119230e-03 2.90196827e-05 -9.99967990e-01 -4.12528697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.013032130247414234 Centerline is valid? [True, True] Translation: X:82.16, Y:-143.21, Z:-4.12 [[ 7.74689102e-01 -6.32299195e-01 -7.38394947e-03 8.21613654e+01] [-6.32270396e-01 -7.74724291e-01 6.03479025e-03 -1.43207422e+02] [-9.53631804e-03 -6.43358581e-06 -9.99954528e-01 -4.12417980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.013396420034257032 Centerline is valid? [True, True] Translation: X:82.18, Y:-143.24, Z:-4.12 [[ 8.25593388e-01 -5.64195000e-01 -8.91963318e-03 8.21779563e+01] [-5.64161013e-01 -8.25641566e-01 6.19327640e-03 -1.43242398e+02] [-1.08586355e-02 -8.10187542e-05 -9.99941040e-01 -4.12189793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.014046555222754002 Centerline is valid? [True, True] Translation: X:82.20, Y:-143.27, Z:-4.12 [[ 8.69307586e-01 -4.94177835e-01 -9.62230960e-03 8.21995098e+01] [-4.94145884e-01 -8.69360829e-01 5.62093062e-03 -1.43272120e+02] [-1.11429984e-02 -1.31492941e-04 -9.99937906e-01 -4.12034187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.01485927470356598 Centerline is valid? [True, True] Translation: X:82.22, Y:-143.30, Z:-4.12 [[ 9.07388362e-01 -4.20174469e-01 -9.98883002e-03 8.22245190e+01] [-4.20146746e-01 -9.07443321e-01 4.83025171e-03 -1.43300125e+02] [-1.10938455e-02 -1.86139761e-04 -9.99938444e-01 -4.12023939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.020148607508749444 Centerline is valid? [True, True] Translation: X:82.25, Y:-143.33, Z:-4.12 [[ 9.39781609e-01 -3.41625982e-01 -1.01101839e-02 8.22487719e+01] [-3.41603282e-01 -9.39835956e-01 3.94641904e-03 -1.43332717e+02] [-1.08501136e-02 -2.55100048e-04 -9.99941103e-01 -4.11753873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.01944266853482409 Centerline is valid? [True, True] Translation: X:82.28, Y:-143.35, Z:-4.12 [[ 9.64781115e-01 -2.62843439e-01 -1.05227135e-02 8.22818952e+01] [-2.62824321e-01 -9.64838449e-01 3.18499024e-03 -1.43349043e+02] [-1.09898723e-02 -3.07193412e-04 -9.99939562e-01 -4.11839915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.01891761992876312 Centerline is valid? [True, True] Translation: X:82.32, Y:-143.37, Z:-4.12 [[ 9.83091760e-01 -1.82725303e-01 -1.19187323e-02 8.23155831e+01] [-1.82707063e-01 -9.83163930e-01 2.61086769e-03 -1.43367388e+02] [-1.21951393e-02 -3.89085929e-04 -9.99925561e-01 -4.11866575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.020128273539768503 Centerline is valid? [True, True] Translation: X:82.35, Y:-143.38, Z:-4.12 [[ 9.94631617e-01 -1.02743349e-01 -1.23187182e-02 8.23498657e+01] [-1.02730121e-01 -9.94707806e-01 1.70356834e-03 -1.43384597e+02] [-1.24285554e-02 -4.28919527e-04 -9.99922671e-01 -4.11843658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.020293547439793898 Centerline is valid? [True, True] Translation: X:82.38, Y:-143.39, Z:-4.12 [[ 9.99607385e-01 -2.50262813e-02 -1.26000353e-02 8.23832258e+01] [-2.50188728e-02 -9.99686701e-01 7.45280350e-04 -1.43394690e+02] [-1.26147393e-02 -4.29749061e-04 -9.99920339e-01 -4.11846585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.018956987781994433 Centerline is valid? [True, True] Translation: X:82.42, Y:-143.40, Z:-4.12 [[ 9.98570574e-01 5.19494985e-02 -1.25721297e-02 8.24172715e+01] [ 5.19505566e-02 -9.98649629e-01 -2.42619713e-04 -1.43400930e+02] [-1.25677566e-02 -4.10856229e-04 -9.99920938e-01 -4.11959584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.018705638097949093 Centerline is valid? [True, True] Translation: X:82.45, Y:-143.40, Z:-4.12 [[ 9.91981607e-01 1.25751147e-01 -1.26151286e-02 8.24500644e+01] [ 1.25745591e-01 -9.92061752e-01 -1.23578284e-03 -1.43402663e+02] [-1.26703877e-02 -3.60422959e-04 -9.99919663e-01 -4.11961684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.017607530146195968 Centerline is valid? [True, True] Translation: X:82.48, Y:-143.40, Z:-4.12 [[ 9.79903444e-01 1.99108302e-01 -1.20467731e-02 8.24831564e+01] [ 1.99096998e-01 -9.79977446e-01 -2.14257293e-03 -1.43398847e+02] [-1.22321700e-02 -2.98961779e-04 -9.99925140e-01 -4.11960575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.015593727122521703 Centerline is valid? [True, True] Translation: X:82.52, Y:-143.39, Z:-4.12 [[ 9.62468200e-01 2.71154535e-01 -1.14097792e-02 8.25157948e+01] [ 2.71138415e-01 -9.62535797e-01 -2.96626712e-03 -1.43393157e+02] [-1.17866377e-02 -2.38691684e-04 -9.99930507e-01 -4.12082427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.01456752702475168 Centerline is valid? [True, True] Translation: X:82.55, Y:-143.39, Z:-4.12 [[ 9.39677292e-01 3.41926344e-01 -9.64167838e-03 8.25478683e+01] [ 3.41910154e-01 -9.39726741e-01 -3.33157804e-03 -1.43386649e+02] [-1.01996973e-02 -1.65979506e-04 -9.99947968e-01 -4.12306205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.014186024912625083 Centerline is valid? [True, True] Translation: X:82.58, Y:-143.38, Z:-4.12 [[ 9.10929933e-01 4.12484806e-01 -7.93362623e-03 8.25794797e+01] [ 4.12470325e-01 -9.10964472e-01 -3.45845310e-03 -1.43378756e+02] [-8.65381099e-03 -1.21976937e-04 -9.99962548e-01 -4.12488106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.014386574521165162 Centerline is valid? [True, True] Translation: X:82.61, Y:-143.37, Z:-4.12 [[ 8.74918891e-01 4.84203996e-01 -7.96392416e-03 8.26125512e+01] [ 4.84185435e-01 -8.74955124e-01 -4.24208112e-03 -1.43373858e+02] [-9.02210888e-03 -1.44539178e-04 -9.99959290e-01 -4.12453220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.015516697858728267 Centerline is valid? [True, True] Translation: X:82.64, Y:-143.37, Z:-4.12 [[ 8.32543773e-01 5.53899470e-01 -8.13895434e-03 8.26444800e+01] [ 5.53875168e-01 -8.32583535e-01 -5.19187900e-03 -1.43367488e+02] [-9.65213840e-03 -1.85498168e-04 -9.99953400e-01 -4.12285364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.01609616689290242 Centerline is valid? [True, True] Translation: X:82.68, Y:-143.36, Z:-4.12 [[ 7.84261876e-01 6.20377624e-01 -8.05682207e-03 8.26755738e+01] [ 6.20347902e-01 -7.84303225e-01 -6.07706915e-03 -1.43355999e+02] [-1.00890693e-02 -2.32019018e-04 -9.99949077e-01 -4.12298636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.01722783137870116 Centerline is valid? [True, True] Translation: X:82.70, Y:-143.34, Z:-4.12 [[ 7.32608781e-01 6.80611660e-01 -7.22102603e-03 8.27043335e+01] [ 6.80581684e-01 -7.32644330e-01 -6.39186085e-03 -1.43342010e+02] [-9.64081880e-03 -2.31764675e-04 -9.99953499e-01 -4.12271243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.01645501521864502 Centerline is valid? [True, True] Translation: X:82.73, Y:-143.32, Z:-4.12 [[ 6.77190011e-01 7.35783576e-01 -6.01813581e-03 8.27305083e+01] [ 7.35757201e-01 -6.77216721e-01 -6.23330728e-03 -1.43323593e+02] [-8.66194732e-03 -2.06753336e-04 -9.99962463e-01 -4.12409275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.01607040938994234 Centerline is valid? [True, True] Translation: X:82.75, Y:-143.30, Z:-4.13 [[ 6.18246019e-01 7.85973528e-01 -4.18013771e-03 8.27547352e+01] [ 7.85957185e-01 -6.18260132e-01 -5.07070011e-03 -1.43303342e+02] [-6.56984855e-03 -1.50469113e-04 -9.99978407e-01 -4.12553581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.0161402680376768 Centerline is valid? [True, True] Translation: X:82.78, Y:-143.28, Z:-4.13 [[ 5.55589046e-01 8.31448971e-01 -3.66327860e-03 8.27774423e+01] [ 8.31432533e-01 -5.55601106e-01 -5.23011740e-03 -1.43281608e+02] [-6.38389737e-03 -1.39973062e-04 -9.99979613e-01 -4.12512036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.015458968350816496 Centerline is valid? [True, True] Translation: X:82.80, Y:-143.26, Z:-4.12 [[ 4.90135465e-01 8.71639809e-01 -3.35695494e-03 8.27980365e+01] [ 8.71621218e-01 -4.90146943e-01 -5.69452029e-03 -1.43258623e+02] [-6.60897178e-03 -1.34906797e-04 -9.99978151e-01 -4.12393712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.014850272228128073 Centerline is valid? [True, True] Translation: X:82.82, Y:-143.23, Z:-4.12 [[ 4.22758197e-01 9.06236983e-01 -3.16821712e-03 8.28155811e+01] [ 9.06213770e-01 -4.22770049e-01 -6.48764542e-03 -1.43233055e+02] [-7.21877152e-03 -1.28376694e-04 -9.99973936e-01 -4.12292859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.014725109350143522 Centerline is valid? [True, True] Translation: X:82.83, Y:-143.21, Z:-4.12 [[ 3.52311605e-01 9.35879020e-01 -2.64462318e-03 8.28302433e+01] [ 9.35855033e-01 -3.52321512e-01 -6.70138626e-03 -1.43208207e+02] [-7.20344444e-03 -1.14007768e-04 -9.99974048e-01 -4.12254758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.014158364651890036 Centerline is valid? [True, True] Translation: X:82.84, Y:-143.18, Z:-4.12 [[ 2.79469031e-01 9.60152441e-01 -2.08604427e-03 8.28429361e+01] [ 9.60128332e-01 -2.79476798e-01 -6.80477197e-03 -1.43180850e+02] [-7.11661939e-03 -1.01147175e-04 -9.99974672e-01 -4.12349736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.014406067841371724 Centerline is valid? [True, True] Translation: X:82.85, Y:-143.15, Z:-4.12 [[ 2.03874978e-01 9.78995775e-01 -1.50519468e-03 8.28547141e+01] [ 9.78972427e-01 -2.03880513e-01 -6.76190040e-03 -1.43154518e+02] [-6.92675178e-03 -9.49617910e-05 -9.99976005e-01 -4.12263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.014590867964776719 Centerline is valid? [True, True] Translation: X:82.86, Y:-143.13, Z:-4.12 [[ 1.26311341e-01 9.91989913e-01 -1.20715488e-03 8.28619459e+01] [ 9.91953284e-01 -1.26317051e-01 -8.52557448e-03 -1.43126959e+02] [-8.60976813e-03 -1.20564503e-04 -9.99962928e-01 -4.12069585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.014713060782577793 Centerline is valid? [True, True] Translation: X:82.87, Y:-143.10, Z:-4.12 [[ 4.81312251e-02 9.98840852e-01 -5.81539641e-04 8.28669672e+01] [ 9.98797252e-01 -4.81345583e-02 -9.33347410e-03 -1.43098555e+02] [-9.35064737e-03 -1.31608653e-04 -9.99956273e-01 -4.11984843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.014428123696914767 Centerline is valid? [True, True] Translation: X:82.87, Y:-143.07, Z:-4.12 [[-2.95520217e-02 9.99563233e-01 1.47225699e-04 8.28686999e+01] [ 9.99521706e-01 2.95521361e-02 -9.11211778e-03 -1.43070419e+02] [-9.11248874e-03 -1.22126221e-04 -9.99958473e-01 -4.12031025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.014015344665159331 Centerline is valid? [True, True] Translation: X:82.87, Y:-143.04, Z:-4.12 [[-1.06384052e-01 9.94324743e-01 8.59265969e-04 8.28693531e+01] [ 9.94283480e-01 1.06387465e-01 -9.05917645e-03 -1.43042507e+02] [-9.09917843e-03 -1.09397937e-04 -9.99958596e-01 -4.12111843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.013440173956948485 Centerline is valid? [True, True] Translation: X:82.87, Y:-143.01, Z:-4.12 [[-1.81726302e-01 9.83347909e-01 1.56266262e-03 8.28698494e+01] [ 9.83307241e-01 1.81732999e-01 -8.94355081e-03 -1.43014370e+02] [-9.07860935e-03 -8.87009409e-05 -9.99958785e-01 -4.12192516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.01314563717732304 Centerline is valid? [True, True] Translation: X:82.87, Y:-142.99, Z:-4.12 [[-2.54997051e-01 9.66939411e-01 2.16320955e-03 8.28671936e+01] [ 9.66902737e-01 2.55006221e-01 -8.42163613e-03 -1.42987838e+02] [-8.69484377e-03 -5.58791486e-05 -9.99962198e-01 -4.12192171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.012854725388419332 Centerline is valid? [True, True] Translation: X:82.86, Y:-142.96, Z:-4.12 [[-3.22085575e-01 9.46705870e-01 2.97964058e-03 8.28575131e+01] [ 9.46665856e-01 3.22099357e-01 -8.70413216e-03 -1.42962852e+02] [-9.19999332e-03 1.72485837e-05 -9.99957679e-01 -4.12143915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.013479063989194462 Centerline is valid? [True, True] Translation: X:82.85, Y:-142.94, Z:-4.12 [[-3.88626846e-01 9.21387729e-01 3.71846698e-03 8.28482715e+01] [ 9.21347617e-01 3.88644626e-01 -8.59780815e-03 -1.42937457e+02] [-9.36707713e-03 8.46616309e-05 -9.99956124e-01 -4.12227158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.015037447228582886 Centerline is valid? [True, True] Translation: X:82.84, Y:-142.91, Z:-4.12 [[-4.53164095e-01 8.91414804e-01 4.68523911e-03 8.28367741e+01] [ 8.91370825e-01 4.53188285e-01 -8.85614543e-03 -1.42913846e+02] [-1.00177946e-02 1.62998329e-04 -9.99949807e-01 -4.12165031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.016077992351902548 Centerline is valid? [True, True] Translation: X:82.83, Y:-142.89, Z:-4.12 [[-5.15612554e-01 8.56803177e-01 5.65777880e-03 8.28295081e+01] [ 8.56756734e-01 5.15643536e-01 -8.92427083e-03 -1.42886963e+02] [-1.05637407e-02 2.45874010e-04 -9.99944172e-01 -4.12278186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.016702738361938203 Centerline is valid? [True, True] Translation: X:82.82, Y:-142.86, Z:-4.12 [[-5.79319193e-01 8.15077448e-01 6.16654014e-03 8.28208225e+01] [ 8.15036016e-01 5.79351953e-01 -8.22237557e-03 -1.42860152e+02] [-1.02744700e-02 2.62572324e-04 -9.99947182e-01 -4.12330561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.016974627104297108 Centerline is valid? [True, True] Translation: X:82.81, Y:-142.83, Z:-4.12 [[-6.41543568e-01 7.67054775e-01 6.98731651e-03 8.28100430e+01] [ 7.67013763e-01 6.41581562e-01 -7.93646329e-03 -1.42833658e+02] [-1.05706355e-02 2.67780961e-04 -9.99944093e-01 -4.12385006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.016028885223987713 Centerline is valid? [True, True] Translation: X:82.80, Y:-142.81, Z:-4.12 [[-7.02481413e-01 7.11663275e-01 7.43289819e-03 8.28003777e+01] [ 7.11626742e-01 7.02520700e-01 -7.21426534e-03 -1.42805135e+02] [-1.03558925e-02 2.21561816e-04 -9.99946352e-01 -4.12352167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.015214998015714765 Centerline is valid? [True, True] Translation: X:83.30, Y:-142.30, Z:-5.13 [[-6.80833784e-01 -7.32402909e-01 7.16504418e-03 8.33019737e+01] [ 7.32359151e-01 -6.80871454e-01 -8.00854575e-03 -1.42300843e+02] [ 1.07439562e-02 -2.05102832e-04 9.99942261e-01 -5.12856896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.013225300439336918 Centerline is valid? [True, True] Translation: X:83.26, Y:-142.26, Z:-5.13 [[-6.76415934e-01 -7.36484603e-01 7.20513487e-03 8.32568920e+01] [ 7.36441162e-01 -6.76454299e-01 -7.99983153e-03 -1.42262910e+02] [ 1.07656972e-02 -1.05055622e-04 9.99942043e-01 -5.12759417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.012393325913665673 Centerline is valid? [True, True] Translation: X:83.21, Y:-142.23, Z:-5.13 [[-6.68560479e-01 -7.43619807e-01 7.51458434e-03 8.32105970e+01] [ 7.43573051e-01 -6.68602709e-01 -8.33876522e-03 -1.42226823e+02] [ 1.12251424e-02 1.26735412e-05 9.99936996e-01 -5.12733728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.01292791200809154 Centerline is valid? [True, True] Translation: X:83.17, Y:-142.19, Z:-5.13 [[-6.63320635e-01 -7.48295248e-01 7.74313804e-03 8.31657782e+01] [ 7.48245976e-01 -6.63365821e-01 -8.58761679e-03 -1.42188839e+02] [ 1.15626060e-02 9.74284594e-05 9.99933146e-01 -5.12747412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.014310148113722837 Centerline is valid? [True, True] Translation: X:83.12, Y:-142.15, Z:-5.13 [[-6.58797007e-01 -7.52282488e-01 7.58699214e-03 8.31217504e+01] [ 7.52235489e-01 -6.58840672e-01 -8.41060657e-03 -1.42152481e+02] [ 1.13257710e-02 1.66322309e-04 9.99935848e-01 -5.12766110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.016310397416041098 Centerline is valid? [True, True] Translation: X:83.08, Y:-142.12, Z:-5.13 [[-6.54625142e-01 -7.55920762e-01 7.05161674e-03 8.30771515e+01] [ 7.55880419e-01 -6.54663085e-01 -7.81268161e-03 -1.42115363e+02] [ 1.05222014e-02 2.15801209e-04 9.99944617e-01 -5.12695842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.0156994747014918 Centerline is valid? [True, True] Translation: X:83.04, Y:-142.07, Z:-5.13 [[-6.53818320e-01 -7.56623348e-01 6.53562817e-03 8.30385087e+01] [ 7.56588767e-01 -6.53850949e-01 -7.23694263e-03 -1.42072464e+02] [ 9.74896645e-03 2.13137195e-04 9.99952455e-01 -5.12519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.015875288387315747 Centerline is valid? [True, True] Translation: X:83.00, Y:-142.03, Z:-5.12 [[-6.54150618e-01 -7.56337485e-01 6.37011721e-03 8.29991616e+01] [ 7.56304662e-01 -6.54181601e-01 -7.04926855e-03 -1.42030936e+02] [ 9.49883952e-03 2.06465965e-04 9.99954864e-01 -5.12492749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.015561846012905802 Centerline is valid? [True, True] Translation: X:82.96, Y:-141.99, Z:-5.12 [[-6.54325589e-01 -7.56184750e-01 6.53048560e-03 8.29602946e+01] [ 7.56150290e-01 -6.54358143e-01 -7.22216314e-03 -1.41988535e+02] [ 9.73456605e-03 2.12382430e-04 9.99952596e-01 -5.12471836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.01609045930961561 Centerline is valid? [True, True] Translation: X:82.92, Y:-141.95, Z:-5.13 [[-6.54346495e-01 -7.56151651e-01 8.08360450e-03 8.29206445e+01] [ 7.56098912e-01 -6.54396370e-01 -8.93452017e-03 -1.41947393e+02] [ 1.20457336e-02 2.65732615e-04 9.99927412e-01 -5.12668632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.01638262659785931 Centerline is valid? [True, True] Translation: X:82.88, Y:-141.90, Z:-5.13 [[-6.54484726e-01 -7.56020036e-01 9.13506018e-03 8.28818555e+01] [ 7.55952746e-01 -6.54548406e-01 -1.00911455e-02 -1.41904762e+02] [ 1.36084473e-02 3.01173210e-04 9.99907356e-01 -5.12806608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.01480461135065291 Centerline is valid? [True, True] Translation: X:82.85, Y:-141.86, Z:-5.13 [[-6.57180171e-01 -7.53672988e-01 9.55244971e-03 8.28467311e+01] [ 7.53599245e-01 -6.57249538e-01 -1.05462712e-02 -1.41857789e+02] [ 1.42267829e-02 2.67918599e-04 9.99898758e-01 -5.12681114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.01324616752993823 Centerline is valid? [True, True] Translation: X:82.81, Y:-141.81, Z:-5.12 [[-6.63615936e-01 -7.48029492e-01 8.10974292e-03 8.28142125e+01] [ 7.47975981e-01 -6.63665475e-01 -8.94816441e-03 -1.41808996e+02] [ 1.20756473e-02 1.27748410e-04 9.99927079e-01 -5.12381399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.012741875505330532 Centerline is valid? [True, True] Translation: X:82.78, Y:-141.76, Z:-5.12 [[-6.66381033e-01 -7.45570339e-01 7.82231842e-03 8.27779234e+01] [ 7.45520441e-01 -6.66426938e-01 -8.62608899e-03 -1.41763017e+02] [ 1.16443598e-02 8.34361776e-05 9.99932199e-01 -5.12240596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.012604070026160766 Centerline is valid? [True, True] Translation: X:82.74, Y:-141.71, Z:-5.12 [[-6.72440728e-01 -7.40113266e-01 7.47135403e-03 8.27442311e+01] [ 7.40067457e-01 -6.72482233e-01 -8.23438480e-03 -1.41714796e+02] [ 1.11187303e-02 -7.82973084e-06 9.99938185e-01 -5.12080958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.014244023039290907 Centerline is valid? [True, True] Translation: X:82.71, Y:-141.66, Z:-5.12 [[-6.81636071e-01 -7.31643236e-01 8.39301403e-03 8.27130490e+01] [ 7.31584843e-01 -6.81687721e-01 -9.24492704e-03 -1.41664584e+02] [ 1.24854029e-02 -1.61473888e-04 9.99922041e-01 -5.11960059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.016044123247684394 Centerline is valid? [True, True] Translation: X:82.68, Y:-141.62, Z:-5.12 [[-6.87144870e-01 -7.26455645e-01 9.70174973e-03 8.26789269e+01] [ 7.26377187e-01 -6.87213294e-01 -1.06804092e-02 -1.41617425e+02] [ 1.44260149e-02 -2.91858689e-04 9.99895897e-01 -5.11970195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.01940452799850079 Centerline is valid? [True, True] Translation: X:82.64, Y:-141.57, Z:-5.12 [[-6.92861699e-01 -7.20962752e-01 1.24649989e-02 8.26448738e+01] [ 7.20832489e-01 -6.92973624e-01 -1.37142259e-02 -1.41570590e+02] [ 1.85253615e-02 -5.16885700e-04 9.99828257e-01 -5.12072225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.019081053973590917 Centerline is valid? [True, True] Translation: X:82.61, Y:-141.53, Z:-5.12 [[-6.94671452e-01 -7.19217039e-01 1.25866593e-02 8.26071534e+01] [ 7.19084078e-01 -6.94785242e-01 -1.38403905e-02 -1.41526230e+02] [ 1.86992698e-02 -5.63657872e-04 9.99824995e-01 -5.11921556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.017955930955402957 Centerline is valid? [True, True] Translation: X:82.57, Y:-141.48, Z:-5.12 [[-6.93990527e-01 -7.19879254e-01 1.22885651e-02 8.25657262e+01] [ 7.19752760e-01 -6.94099115e-01 -1.35049183e-02 -1.41484998e+02] [ 1.82513927e-02 -5.27556692e-04 9.99833290e-01 -5.11629380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.01885372470953151 Centerline is valid? [True, True] Translation: X:82.53, Y:-141.44, Z:-5.12 [[-6.92086846e-01 -7.21721837e-01 1.15493395e-02 8.25273352e+01] [ 7.21610454e-01 -6.92183061e-01 -1.26871052e-02 -1.41442949e+02] [ 1.71508181e-02 -4.46454512e-04 9.99852814e-01 -5.11662723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.017525559193469334 Centerline is valid? [True, True] Translation: X:82.49, Y:-141.40, Z:-5.12 [[-6.90742492e-01 -7.23005797e-01 1.17229139e-02 8.24856846e+01] [ 7.22891349e-01 -6.90841837e-01 -1.28706625e-02 -1.41402113e+02] [ 1.74042429e-02 -4.15920470e-04 9.99848448e-01 -5.11505303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.01595641189189516 Centerline is valid? [True, True] Translation: X:82.44, Y:-141.36, Z:-5.11 [[-6.86360704e-01 -7.27181761e-01 1.07550347e-02 8.24419470e+01] [ 7.27086051e-01 -6.86444905e-01 -1.18011530e-02 -1.41364281e+02] [ 1.59643220e-02 -2.80011985e-04 9.99872523e-01 -5.11352130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.014638381593722653 Centerline is valid? [True, True] Translation: X:82.40, Y:-141.32, Z:-5.11 [[-6.84503658e-01 -7.28932589e-01 1.05840850e-02 8.23993929e+01] [ 7.28840171e-01 -6.84585441e-01 -1.16094295e-02 -1.41323913e+02] [ 1.57082020e-02 -2.32590602e-04 9.99876592e-01 -5.11192716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.013688035109971613 Centerline is valid? [True, True] Translation: X:82.35, Y:-141.29, Z:-5.11 [[-6.78369085e-01 -7.34645300e-01 1.05673178e-02 8.23544554e+01] [ 7.34553957e-01 -6.78451379e-01 -1.15849374e-02 -1.41287928e+02] [ 1.56802312e-02 -9.65982730e-05 9.99877053e-01 -5.11261897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.013316562896423603 Centerline is valid? [True, True] Translation: X:82.31, Y:-141.25, Z:-5.11 [[-6.74471701e-01 -7.38223996e-01 1.06421566e-02 8.23103191e+01] [ 7.38131914e-01 -6.74555655e-01 -1.16596202e-02 -1.41250449e+02] [ 1.57861383e-02 -8.76847012e-06 9.99875391e-01 -5.11362377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.013355005218111804 Centerline is valid? [True, True] Translation: X:82.27, Y:-141.21, Z:-5.11 [[-6.71070378e-01 -7.41315802e-01 1.07438338e-02 8.22668099e+01] [ 7.41222465e-01 -6.71156373e-01 -1.17635335e-02 -1.41212917e+02] [ 1.59312858e-02 6.94121085e-05 9.99873087e-01 -5.11441975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.013858081246480615 Centerline is valid? [True, True] Translation: X:82.22, Y:-141.18, Z:-5.12 [[-6.67101747e-01 -7.44893981e-01 1.04027166e-02 8.22211489e+01] [ 7.44807007e-01 -6.67182834e-01 -1.13836930e-02 -1.41175613e+02] [ 1.54201583e-02 1.53934732e-04 9.99881091e-01 -5.11600693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.014438553629213702 Centerline is valid? [True, True] Translation: X:82.18, Y:-141.14, Z:-5.12 [[-6.65056434e-01 -7.46723711e-01 1.01803749e-02 8.21788003e+01] [ 7.46640722e-01 -6.65134319e-01 -1.11341850e-02 -1.41135829e+02] [ 1.50854767e-02 1.96221137e-04 9.99886189e-01 -5.11616932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.01448873499116971 Centerline is valid? [True, True] Translation: X:82.14, Y:-141.10, Z:-5.12 [[-6.63116748e-01 -7.48457202e-01 9.38053276e-03 8.21365352e+01] [ 7.48386998e-01 -6.63183057e-01 -1.02535075e-02 -1.41096281e+02] [ 1.38953219e-02 2.20996192e-04 9.99903431e-01 -5.11541372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.015590088445145957 Centerline is valid? [True, True] Translation: X:82.10, Y:-141.06, Z:-5.12 [[-6.62455811e-01 -7.49049308e-01 8.79959602e-03 8.20954375e+01] [ 7.48987666e-01 -6.62514215e-01 -9.61204523e-03 -1.41057111e+02] [ 1.30297533e-02 2.23233664e-04 9.99915084e-01 -5.11704764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.016452322963452726 Centerline is valid? [True, True] Translation: X:82.05, Y:-141.02, Z:-5.12 [[-6.61313982e-01 -7.50059894e-01 8.60077450e-03 8.20546420e+01] [ 7.50001160e-01 -6.61369864e-01 -9.38953094e-03 -1.41017640e+02] [ 1.27310036e-02 2.41162761e-04 9.99918928e-01 -5.11848792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.01599274511799861 Centerline is valid? [True, True] Translation: X:82.02, Y:-140.97, Z:-5.12 [[-6.60654715e-01 -7.50642216e-01 8.46228781e-03 8.20155791e+01] [ 7.50585470e-01 -6.60708862e-01 -9.23322172e-03 -1.40974949e+02] [ 1.25219546e-02 2.51698806e-04 9.99921566e-01 -5.11866721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.015629585975066404 Centerline is valid? [True, True] Translation: X:81.98, Y:-140.93, Z:-5.12 [[-6.60781348e-01 -7.50535334e-01 8.04506891e-03 8.19771479e+01] [ 7.50484097e-01 -6.60830277e-01 -8.77299199e-03 -1.40931475e+02] [ 1.19008656e-02 2.40666806e-04 9.99929153e-01 -5.11849920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.01472523523112771 Centerline is valid? [True, True] Translation: X:81.94, Y:-140.89, Z:-5.12 [[-6.63956376e-01 -7.47735751e-01 7.29226406e-03 8.19409396e+01] [ 7.47693532e-01 -6.63996397e-01 -7.94776726e-03 -1.40885247e+02] [ 1.07848668e-02 1.75407928e-04 9.99941826e-01 -5.11830303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.013732810630315041 Centerline is valid? [True, True] Translation: X:81.91, Y:-140.84, Z:-5.12 [[-6.68390516e-01 -7.43782534e-01 6.45445512e-03 8.19055706e+01] [ 7.43749312e-01 -6.68421672e-01 -7.03059491e-03 -1.40839417e+02] [ 9.54353138e-03 1.01313596e-04 9.99954454e-01 -5.11788653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.013079437777041179 Centerline is valid? [True, True] Translation: X:81.87, Y:-140.79, Z:-5.12 [[-6.73837408e-01 -7.38860965e-01 5.25569968e-03 8.18706725e+01] [ 7.38838812e-01 -6.73857904e-01 -5.72155866e-03 -1.40792189e+02] [ 7.76903111e-03 2.77146503e-05 9.99969820e-01 -5.11709261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.013508218623333929 Centerline is valid? [True, True] Translation: X:81.84, Y:-140.74, Z:-5.12 [[-6.82965203e-01 -7.30441926e-01 3.62267280e-03 8.18382203e+01] [ 7.30431293e-01 -6.82974810e-01 -3.94154971e-03 -1.40742622e+02] [ 5.35326743e-03 -4.58277235e-05 9.99985670e-01 -5.11641700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.017051058777520705 Centerline is valid? [True, True] Translation: X:81.81, Y:-140.69, Z:-5.12 [[-6.88428501e-01 -7.25295882e-01 3.47588858e-03 8.18074695e+01] [ 7.25286039e-01 -6.88437271e-01 -3.77961004e-03 -1.40693025e+02] [ 5.13426685e-03 -8.09778183e-05 9.99986816e-01 -5.11883848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.016349793067241655 Centerline is valid? [True, True] Translation: X:81.77, Y:-140.65, Z:-5.12 [[-6.92942204e-01 -7.20982414e-01 3.93194301e-03 8.17690220e+01] [ 7.20969763e-01 -6.92953348e-01 -4.27299558e-03 -1.40650488e+02] [ 5.80540775e-03 -1.26126956e-04 9.99983141e-01 -5.11881526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.017397734992241887 Centerline is valid? [True, True] Translation: X:81.73, Y:-140.61, Z:-5.12 [[-6.96773561e-01 -7.17277120e-01 4.48741628e-03 8.17333158e+01] [ 7.17260584e-01 -6.96787989e-01 -4.87373155e-03 -1.40605427e+02] [ 6.62259390e-03 -1.77240467e-04 9.99978055e-01 -5.11964760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.017377200622772364 Centerline is valid? [True, True] Translation: X:81.69, Y:-140.56, Z:-5.12 [[-6.97406611e-01 -7.16663147e-01 4.23708419e-03 8.16947961e+01] [ 7.16648411e-01 -6.97419461e-01 -4.59895713e-03 -1.40563122e+02] [ 6.25092807e-03 -1.70843457e-04 9.99980448e-01 -5.12012594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.016700412443413377 Centerline is valid? [True, True] Translation: X:81.65, Y:-140.52, Z:-5.12 [[-6.96324716e-01 -7.17715852e-01 3.98066338e-03 8.16544742e+01] [ 7.17702877e-01 -6.96336078e-01 -4.31820449e-03 -1.40521138e+02] [ 5.87112333e-03 -1.49938954e-04 9.99982754e-01 -5.11999750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.015937154152540694 Centerline is valid? [True, True] Translation: X:81.61, Y:-140.48, Z:-5.12 [[-6.92923766e-01 -7.21004396e-01 3.05216216e-03 8.16140783e+01] [ 7.20996809e-01 -6.92930482e-01 -3.30901233e-03 -1.40480846e+02] [ 4.50074864e-03 -9.22941074e-05 9.99989867e-01 -5.12071695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.015046748396633091 Centerline is valid? [True, True] Translation: X:81.57, Y:-140.44, Z:-5.12 [[-6.89857024e-01 -7.23940419e-01 2.74885127e-03 8.15724956e+01] [ 7.23934294e-01 -6.89862498e-01 -2.97853534e-03 -1.40440121e+02] [ 4.05261152e-03 -6.47758268e-05 9.99991786e-01 -5.12103690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.013475181582015317 Centerline is valid? [True, True] Translation: X:81.53, Y:-140.40, Z:-5.12 [[-6.85734239e-01 -7.27847285e-01 2.62371913e-03 8.15290131e+01] [ 7.27841740e-01 -6.85739257e-01 -2.84130396e-03 -1.40401680e+02] [ 3.86722258e-03 -3.87271152e-05 9.99992522e-01 -5.12127185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.012771756612530357 Centerline is valid? [True, True] Translation: X:81.49, Y:-140.36, Z:-5.12 [[-6.78314434e-01 -7.34768102e-01 2.31623189e-03 8.14852476e+01] [ 7.34763825e-01 -6.78318389e-01 -2.50690104e-03 -1.40363506e+02] [ 3.41313360e-03 1.41624431e-06 9.99994175e-01 -5.12115122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.013220182375546691 Centerline is valid? [True, True] Translation: X:81.44, Y:-140.32, Z:-5.12 [[-6.72831079e-01 -7.39794118e-01 1.73277720e-03 8.14422884e+01] [ 7.39791744e-01 -6.72833310e-01 -1.87435887e-03 -1.40323846e+02] [ 2.55250989e-03 2.07673675e-05 9.99996742e-01 -5.12043623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.014810660998446348 Centerline is valid? [True, True] Translation: X:81.40, Y:-140.29, Z:-5.12 [[-6.67643032e-01 -7.44479785e-01 1.62259898e-03 8.13998712e+01] [ 7.44477718e-01 -6.67645002e-01 -1.75438184e-03 -1.40285804e+02] [ 2.38942191e-03 3.66879717e-05 9.99997145e-01 -5.12139026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.01624076844535563 Centerline is valid? [True, True] Translation: X:81.36, Y:-140.24, Z:-5.12 [[-6.62496871e-01 -7.49062244e-01 1.91092184e-03 8.13596262e+01] [ 7.49059400e-01 -6.62499624e-01 -2.06486032e-03 -1.40244445e+02] [ 2.81269391e-03 6.34304666e-05 9.99996042e-01 -5.12254455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.017380765751827437 Centerline is valid? [True, True] Translation: X:81.32, Y:-140.20, Z:-5.12 [[-6.61301794e-01 -7.50117975e-01 1.72096049e-03 8.13210475e+01] [ 7.50115675e-01 -6.61304030e-01 -1.85849267e-03 -1.40202098e+02] [ 2.53216686e-03 6.18949041e-05 9.99996792e-01 -5.12248485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.016721026400464457 Centerline is valid? [True, True] Translation: X:81.29, Y:-140.16, Z:-5.12 [[-6.61629058e-01 -7.49828972e-01 1.87165465e-03 8.12852069e+01] [ 7.49826254e-01 -6.61631701e-01 -2.01994245e-03 -1.40157120e+02] [ 2.75295742e-03 6.69631774e-05 9.99996208e-01 -5.12243013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.01652968955552675 Centerline is valid? [True, True] Translation: X:81.25, Y:-140.11, Z:-5.12 [[-6.63161855e-01 -7.48471666e-01 2.55333333e-03 8.12503558e+01] [ 7.48466604e-01 -6.63166765e-01 -2.75409129e-03 -1.40110779e+02] [ 3.75464511e-03 8.46764398e-05 9.99992948e-01 -5.12367265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.016478095109686598 Centerline is valid? [True, True] Translation: X:81.21, Y:-140.07, Z:-5.12 [[-6.63723013e-01 -7.47971934e-01 3.12206069e-03 8.12130168e+01] [ 7.47964370e-01 -6.63730348e-01 -3.36542963e-03 -1.40067301e+02] [ 4.58945334e-03 1.01477061e-04 9.99989463e-01 -5.12446467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.016708594728053895 Centerline is valid? [True, True] Translation: X:81.18, Y:-140.02, Z:-5.13 [[-6.64092598e-01 -7.47634627e-01 4.84612532e-03 8.11793703e+01] [ 7.47616417e-01 -6.64110262e-01 -5.22049065e-03 -1.40022072e+02] [ 7.12138114e-03 1.56153644e-04 9.99974631e-01 -5.12671271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.01692197219080063 Centerline is valid? [True, True] Translation: X:81.14, Y:-139.98, Z:-5.13 [[-6.64472007e-01 -7.47291268e-01 5.71950190e-03 8.11430027e+01] [ 7.47265921e-01 -6.64496598e-01 -6.15758638e-03 -1.39977690e+02] [ 8.40210008e-03 1.82445071e-04 9.99964685e-01 -5.12821685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.015964200036843616 Centerline is valid? [True, True] Translation: X:81.11, Y:-139.93, Z:-5.13 [[-6.64933068e-01 -7.46875405e-01 6.41432169e-03 8.11090047e+01] [ 7.46843548e-01 -6.64963975e-01 -6.90124294e-03 -1.39931157e+02] [ 9.41966147e-03 2.01630125e-04 9.99955614e-01 -5.12724426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.016933543299026767 Centerline is valid? [True, True] Translation: X:81.07, Y:-139.89, Z:-5.13 [[-6.65820620e-01 -7.46090210e-01 5.68339091e-03 8.10735646e+01] [ 7.46065204e-01 -6.65844854e-01 -6.11079264e-03 -1.39886693e+02] [ 8.34345915e-03 1.71488457e-04 9.99965178e-01 -5.12615905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.016013187813507957 Centerline is valid? [True, True] Translation: X:81.04, Y:-139.84, Z:-5.12 [[-6.66386389e-01 -7.45590042e-01 4.96690528e-03 8.10365397e+01] [ 7.45570954e-01 -6.66404883e-01 -5.33709475e-03 -1.39843266e+02] [ 7.28925463e-03 1.46613010e-04 9.99973422e-01 -5.12435131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.016030613862088924 Centerline is valid? [True, True] Translation: X:81.00, Y:-139.80, Z:-5.12 [[-6.67556639e-01 -7.44542483e-01 4.96232601e-03 8.09965480e+01] [ 7.44523426e-01 -6.67575069e-01 -5.32871446e-03 -1.39803468e+02] [ 7.28017942e-03 1.37349244e-04 9.99973490e-01 -5.12449895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.015143795071439327 Centerline is valid? [True, True] Translation: X:80.96, Y:-139.76, Z:-5.13 [[-6.69926025e-01 -7.42402884e-01 6.08927747e-03 8.09555461e+01] [ 7.42374132e-01 -6.69953683e-01 -6.53534621e-03 -1.39762279e+02] [ 8.93139375e-03 1.42323573e-04 9.99960104e-01 -5.12622217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.015006431189001667 Centerline is valid? [True, True] Translation: X:80.92, Y:-139.72, Z:-5.13 [[-6.71077932e-01 -7.41363548e-01 5.87355534e-03 8.09178022e+01] [ 7.41336790e-01 -6.71103624e-01 -6.30004752e-03 -1.39719438e+02] [ 8.61238985e-03 1.26459794e-04 9.99962905e-01 -5.12534013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.014799448443459762 Centerline is valid? [True, True] Translation: X:80.88, Y:-139.68, Z:-5.12 [[-6.71890414e-01 -7.40630802e-01 5.41183037e-03 8.08803383e+01] [ 7.40608089e-01 -6.71912199e-01 -5.80134579e-03 -1.39675745e+02] [ 7.93293023e-03 1.10176723e-04 9.99968528e-01 -5.12382718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.014233524491433341 Centerline is valid? [True, True] Translation: X:80.84, Y:-139.63, Z:-5.12 [[-6.72300862e-01 -7.40253493e-01 6.02627266e-03 8.08427815e+01] [ 7.40225350e-01 -6.72327860e-01 -6.45597445e-03 -1.39632060e+02] [ 8.83068864e-03 1.20442601e-04 9.99961002e-01 -5.12405883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.014289720636838721 Centerline is valid? [True, True] Translation: X:80.80, Y:-139.59, Z:-5.13 [[-6.73267495e-01 -7.39372909e-01 6.21147078e-03 8.08035654e+01] [ 7.39343011e-01 -6.73296138e-01 -6.65006225e-03 -1.39591511e+02] [ 9.09903515e-03 1.15136753e-04 9.99958596e-01 -5.12578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.013905695285644499 Centerline is valid? [True, True] Translation: X:80.77, Y:-139.55, Z:-5.13 [[-6.75465067e-01 -7.37365197e-01 6.28558980e-03 8.07665456e+01] [ 7.37334534e-01 -6.75494306e-01 -6.72512401e-03 -1.39548723e+02] [ 9.20475252e-03 9.19960825e-05 9.99957631e-01 -5.12614870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.013533640039271789 Centerline is valid? [True, True] Translation: X:80.73, Y:-139.51, Z:-5.12 [[-6.76687830e-01 -7.36249304e-01 5.52660315e-03 8.07288967e+01] [ 7.36225590e-01 -6.76710395e-01 -5.90954181e-03 -1.39505207e+02] [ 8.09080584e-03 6.99116329e-05 9.99967267e-01 -5.12453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.013538710383290391 Centerline is valid? [True, True] Translation: X:80.69, Y:-139.46, Z:-5.12 [[-6.77033021e-01 -7.35938175e-01 4.61423915e-03 8.06901170e+01] [ 7.35921657e-01 -6.77048742e-01 -4.93105588e-03 -1.39463209e+02] [ 6.75301707e-03 5.72308614e-05 9.99977197e-01 -5.12334012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.013874351883327689 Centerline is valid? [True, True] Translation: X:80.65, Y:-139.42, Z:-5.13 [[-6.76085387e-01 -7.36810129e-01 4.40259560e-03 8.06489415e+01] [ 7.36795129e-01 -6.76099718e-01 -4.70200177e-03 -1.39424170e+02] [ 6.44107617e-03 6.48563032e-05 9.99979254e-01 -5.12514861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.013855063514966195 Centerline is valid? [True, True] Translation: X:80.61, Y:-139.38, Z:-5.13 [[-6.75455268e-01 -7.37378935e-01 5.69975412e-03 8.06094953e+01] [ 7.37353841e-01 -6.75479310e-01 -6.08405977e-03 -1.39381732e+02] [ 8.33632349e-03 9.32253651e-05 9.99965248e-01 -5.12606050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.014036170196336887 Centerline is valid? [True, True] Translation: X:80.57, Y:-139.34, Z:-5.13 [[-6.75350651e-01 -7.37468673e-01 6.43848791e-03 8.05703617e+01] [ 7.37436698e-01 -6.75381333e-01 -6.86822511e-03 -1.39341318e+02] [ 9.41353541e-03 1.09516962e-04 9.99955686e-01 -5.12699231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.014069101931277462 Centerline is valid? [True, True] Translation: X:80.53, Y:-139.30, Z:-5.13 [[-6.75140438e-01 -7.37667335e-01 5.68253948e-03 8.05302035e+01] [ 7.37642465e-01 -6.75164345e-01 -6.05817735e-03 -1.39300889e+02] [ 8.30556758e-03 1.01561920e-04 9.99965503e-01 -5.12560824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.014287161833469886 Centerline is valid? [True, True] Translation: X:80.49, Y:-139.26, Z:-5.12 [[-6.74925119e-01 -7.37869714e-01 4.93638602e-03 8.04895641e+01] [ 7.37850975e-01 -6.74943165e-01 -5.25956703e-03 -1.39260471e+02] [ 7.21265523e-03 9.25033318e-05 9.99973984e-01 -5.12468698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.014415716298038974 Centerline is valid? [True, True] Translation: X:80.45, Y:-139.22, Z:-5.12 [[-6.74891177e-01 -7.37900759e-01 4.93653624e-03 8.04498905e+01] [ 7.37882041e-01 -6.74909225e-01 -5.25658004e-03 -1.39219462e+02] [ 7.21054824e-03 9.49619507e-05 9.99973999e-01 -5.12479065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.014708066910788197 Centerline is valid? [True, True] Translation: X:80.41, Y:-139.18, Z:-5.13 [[-6.75281531e-01 -7.37535759e-01 5.98816703e-03 8.04107634e+01] [ 7.37508228e-01 -6.75308072e-01 -6.37346246e-03 -1.39178757e+02] [ 8.74451400e-03 1.12440969e-04 9.99961760e-01 -5.12685616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.014836695776455923 Centerline is valid? [True, True] Translation: X:80.37, Y:-139.14, Z:-5.13 [[-6.75533937e-01 -7.37298453e-01 6.70004518e-03 8.03714727e+01] [ 7.37264021e-01 -6.75567151e-01 -7.12661147e-03 -1.39138230e+02] [ 9.78077004e-03 1.25434345e-04 9.99952159e-01 -5.12841052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.0149831755604376 Centerline is valid? [True, True] Translation: X:80.33, Y:-139.10, Z:-5.13 [[-6.75671451e-01 -7.37169710e-01 6.99347100e-03 8.03321705e+01] [ 7.37132237e-01 -6.75707630e-01 -7.43403833e-03 -1.39097682e+02] [ 1.02056896e-02 1.32145461e-04 9.99947912e-01 -5.12899033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.01375190021458657 Centerline is valid? [True, True] Translation: X:80.30, Y:-139.05, Z:-5.13 [[-6.75767286e-01 -7.37080871e-01 7.09677528e-03 8.02951882e+01] [ 7.37042327e-01 -6.75804536e-01 -7.53907207e-03 -1.39053945e+02] [ 1.03529387e-02 1.35965489e-04 9.99946398e-01 -5.12691750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.01419369063445241 Centerline is valid? [True, True] Translation: X:80.26, Y:-139.01, Z:-5.13 [[-6.76634071e-01 -7.36284921e-01 7.13080413e-03 8.02562482e+01] [ 7.36246001e-01 -6.76671633e-01 -7.57154393e-03 -1.39013964e+02] [ 1.04000265e-02 1.26861429e-04 9.99945910e-01 -5.12807562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.013243177444918654 Centerline is valid? [True, True] Translation: X:80.22, Y:-138.97, Z:-5.13 [[-6.78247289e-01 -7.34801085e-01 6.92681003e-03 8.02195346e+01] [ 7.34764328e-01 -6.78282651e-01 -7.35030928e-03 -1.38969902e+02] [ 1.00993503e-02 1.04245576e-04 9.99948995e-01 -5.12643152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.01286010642627949 Centerline is valid? [True, True] Translation: X:80.18, Y:-138.93, Z:-5.13 [[-6.81440069e-01 -7.31840811e-01 6.96128981e-03 8.01832330e+01] [ 7.31803579e-01 -6.81475622e-01 -7.38227238e-03 -1.38926788e+02] [ 1.01465975e-02 6.37205979e-05 9.99948520e-01 -5.12694911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.012659487904746454 Centerline is valid? [True, True] Translation: X:80.14, Y:-138.88, Z:-5.13 [[-6.82851490e-01 -7.30528761e-01 6.44758031e-03 8.01438077e+01] [ 7.30496803e-01 -6.82881928e-01 -6.83326746e-03 -1.38884840e+02] [ 9.39483448e-03 4.38299438e-05 9.99955867e-01 -5.12638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.012587691087110548 Centerline is valid? [True, True] Translation: X:80.10, Y:-138.84, Z:-5.13 [[-6.84205514e-01 -7.29263071e-01 6.17966142e-03 8.01049959e+01] [ 7.29233700e-01 -6.84233419e-01 -6.54515910e-03 -1.38842305e+02] [ 9.00147369e-03 2.81834225e-05 9.99959486e-01 -5.12537720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.012566097273601877 Centerline is valid? [True, True] Translation: X:80.07, Y:-138.80, Z:-5.12 [[-6.86933205e-01 -7.26695809e-01 5.99773691e-03 8.00676419e+01] [ 7.26668078e-01 -6.86959389e-01 -6.34844331e-03 -1.38799152e+02] [ 8.73358882e-03 -2.59255666e-06 9.99961862e-01 -5.12499341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.012474233360659575 Centerline is valid? [True, True] Translation: X:80.03, Y:-138.76, Z:-5.13 [[-6.86940334e-01 -7.26689363e-01 5.96216887e-03 8.00258829e+01] [ 7.26661994e-01 -6.86966207e-01 -6.30683634e-03 -1.38759839e+02] [ 8.67891942e-03 6.12652364e-08 9.99962338e-01 -5.12574003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.012479324957282658 Centerline is valid? [True, True] Translation: X:79.99, Y:-138.72, Z:-5.13 [[-6.86815218e-01 -7.26805133e-01 6.25735693e-03 7.99855456e+01] [ 7.26775030e-01 -6.86843722e-01 -6.61494951e-03 -1.38719683e+02] [ 9.10560559e-03 4.44277956e-06 9.99958543e-01 -5.12683286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.012589738485566857 Centerline is valid? [True, True] Translation: X:79.94, Y:-138.68, Z:-5.13 [[-6.85982520e-01 -7.27583717e-01 7.06518730e-03 7.99437994e+01] [ 7.27545424e-01 -6.86018903e-01 -7.46470270e-03 -1.38679355e+02] [ 1.02780482e-02 1.95891175e-05 9.99947179e-01 -5.12794435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.012704899348333723 Centerline is valid? [True, True] Translation: X:79.90, Y:-138.64, Z:-5.13 [[-6.83917281e-01 -7.29515127e-01 8.05184983e-03 7.99014151e+01] [ 7.29465581e-01 -6.83964675e-01 -8.50233297e-03 -1.38638930e+02] [ 1.17097614e-02 5.86548664e-05 9.99931437e-01 -5.12907534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.012844933459276932 Centerline is valid? [True, True] Translation: X:79.86, Y:-138.60, Z:-5.13 [[-6.82439766e-01 -7.30901642e-01 7.66521408e-03 7.98589497e+01] [ 7.30856885e-01 -6.82482808e-01 -8.08892795e-03 -1.38600422e+02] [ 1.11435875e-02 8.19683869e-05 9.99937905e-01 -5.12983052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.013015889495264037 Centerline is valid? [True, True] Translation: X:79.82, Y:-138.56, Z:-5.13 [[-6.80805056e-01 -7.32431634e-01 6.95548007e-03 7.98159459e+01] [ 7.32394903e-01 -6.80840578e-01 -7.33578344e-03 -1.38560944e+02] [ 1.01085329e-02 9.99196985e-05 9.99948903e-01 -5.12882440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.013215848210986064 Centerline is valid? [True, True] Translation: X:79.77, Y:-138.52, Z:-5.13 [[-6.79927269e-01 -7.33258672e-01 5.53439592e-03 7.97744154e+01] [ 7.33235475e-01 -6.79949786e-01 -5.83330108e-03 -1.38522095e+02] [ 8.04042992e-03 9.17949501e-05 9.99967671e-01 -5.12754230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.01308815608947999 Centerline is valid? [True, True] Translation: X:79.74, Y:-138.48, Z:-5.13 [[-6.81075234e-01 -7.32194754e-01 5.23147917e-03 7.97357280e+01] [ 7.32174023e-01 -6.81095321e-01 -5.51039726e-03 -1.38481626e+02] [ 7.59781995e-03 7.73580420e-05 9.99971133e-01 -5.12693140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.01250994617510102 Centerline is valid? [True, True] Translation: X:79.70, Y:-138.44, Z:-5.13 [[-6.83070110e-01 -7.30338302e-01 4.60309044e-03 7.96966157e+01] [ 7.30322231e-01 -6.83085618e-01 -4.84542110e-03 -1.38439682e+02] [ 6.68310150e-03 5.19769572e-05 9.99977667e-01 -5.12611476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.012357881543598292 Centerline is valid? [True, True] Translation: X:79.66, Y:-138.40, Z:-5.13 [[-6.85291357e-01 -7.28255956e-01 4.36097133e-03 7.96569355e+01] [ 7.28241508e-01 -6.85305232e-01 -4.58752188e-03 -1.38399779e+02] [ 6.32948661e-03 3.20512434e-05 9.99979968e-01 -5.12751467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.012227400644713018 Centerline is valid? [True, True] Translation: X:79.62, Y:-138.36, Z:-5.13 [[-6.86899637e-01 -7.26738235e-01 4.51949617e-03 7.96179659e+01] [ 7.26722703e-01 -6.86914505e-01 -4.75142057e-03 -1.38357262e+02] [ 6.55754647e-03 2.06714077e-05 9.99978499e-01 -5.12777929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.012290181594174833 Centerline is valid? [True, True] Translation: X:79.58, Y:-138.31, Z:-5.13 [[-6.88700518e-01 -7.25024783e-01 5.53725662e-03 7.95791390e+01] [ 7.25001440e-01 -6.88722778e-01 -5.81785977e-03 -1.38314523e+02] [ 8.03172728e-03 7.75599245e-06 9.99967745e-01 -5.12879739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.012446510621365526 Centerline is valid? [True, True] Translation: X:79.54, Y:-138.27, Z:-5.13 [[-6.90402889e-01 -7.23394177e-01 6.68700224e-03 7.95415787e+01] [ 7.23360101e-01 -6.90435272e-01 -7.02141758e-03 -1.38272653e+02] [ 9.69619480e-03 -1.04963687e-05 9.99952991e-01 -5.13039254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.012595290349164621 Centerline is valid? [True, True] Translation: X:79.50, Y:-138.23, Z:-5.13 [[-6.91356165e-01 -7.22482879e-01 6.71884409e-03 7.95037844e+01] [ 7.22448477e-01 -6.91388812e-01 -7.05045753e-03 -1.38230568e+02] [ 9.73916849e-03 -2.03585995e-05 9.99952573e-01 -5.13129580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.012475512778496229 Centerline is valid? [True, True] Translation: X:79.47, Y:-138.19, Z:-5.13 [[-6.92665988e-01 -7.21227402e-01 6.69795918e-03 7.94657048e+01] [ 7.21193198e-01 -6.92698371e-01 -7.02415774e-03 -1.38187792e+02] [ 9.70568045e-03 -3.48725696e-05 9.99952898e-01 -5.12924836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.012616552458046633 Centerline is valid? [True, True] Translation: X:79.43, Y:-138.14, Z:-5.13 [[-6.95423223e-01 -7.18574839e-01 6.06148365e-03 7.94287489e+01] [ 7.18546757e-01 -6.95449636e-01 -6.35308074e-03 -1.38143405e+02] [ 8.78062057e-03 -6.26204564e-05 9.99961448e-01 -5.12759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.013023600936343178 Centerline is valid? [True, True] Translation: X:79.39, Y:-138.10, Z:-5.13 [[-6.97516671e-01 -7.16548563e-01 5.35265402e-03 7.93916206e+01] [ 7.16526632e-01 -6.97537205e-01 -5.60662008e-03 -1.38100006e+02] [ 7.75109088e-03 -7.53918166e-05 9.99969957e-01 -5.12714759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.013291374764278012 Centerline is valid? [True, True] Translation: X:79.35, Y:-138.06, Z:-5.13 [[-6.99335576e-01 -7.14776802e-01 4.88627756e-03 7.93536188e+01] [ 7.14758504e-01 -6.99352641e-01 -5.11525602e-03 -1.38055806e+02] [ 7.07349745e-03 -8.47720809e-05 9.99974979e-01 -5.12670857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.013546692705314103 Centerline is valid? [True, True] Translation: X:79.32, Y:-138.01, Z:-5.13 [[-7.00329534e-01 -7.13801099e-01 5.15121734e-03 7.93164524e+01] [ 7.13780761e-01 -7.00348471e-01 -5.38923138e-03 -1.38012390e+02] [ 7.45448647e-03 -9.73980610e-05 9.99972210e-01 -5.12608020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.013425750604238416 Centerline is valid? [True, True] Translation: X:79.28, Y:-137.97, Z:-5.13 [[-6.99661964e-01 -7.14452129e-01 5.59380205e-03 7.92764419e+01] [ 7.14428197e-01 -6.99684319e-01 -5.84862895e-03 -1.37971291e+02] [ 8.09246099e-03 -9.56933119e-05 9.99967251e-01 -5.12684436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.012526393553777016 Centerline is valid? [True, True] Translation: X:79.23, Y:-137.93, Z:-5.13 [[-6.96354637e-01 -7.17669478e-01 6.38282543e-03 7.92332554e+01] [ 7.17638485e-01 -6.96383886e-01 -6.67001245e-03 -1.37931574e+02] [ 9.23176113e-03 -6.41329270e-05 9.99957384e-01 -5.12772540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.012417738135642398 Centerline is valid? [True, True] Translation: X:79.19, Y:-137.89, Z:-5.13 [[-6.93631041e-01 -7.20301611e-01 6.44737361e-03 7.91927612e+01] [ 7.20270143e-01 -6.93661004e-01 -6.73295566e-03 -1.37891990e+02] [ 9.32205046e-03 -2.63363277e-05 9.99956548e-01 -5.12925791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.012123812578885411 Centerline is valid? [True, True] Translation: X:79.15, Y:-137.85, Z:-5.13 [[-6.91077862e-01 -7.22748135e-01 6.82077106e-03 7.91502448e+01] [ 7.22713075e-01 -6.91111521e-01 -7.11882572e-03 -1.37851640e+02] [ 9.85903147e-03 9.79756489e-06 9.99951399e-01 -5.12829983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.012249501744104923 Centerline is valid? [True, True] Translation: X:79.11, Y:-137.81, Z:-5.13 [[-6.88957616e-01 -7.24766847e-01 7.10079042e-03 7.91090295e+01] [ 7.24729002e-01 -6.88994206e-01 -7.40661265e-03 -1.37811371e+02] [ 1.02604708e-02 4.33065664e-05 9.99947359e-01 -5.12777428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.012484117627641624 Centerline is valid? [True, True] Translation: X:79.07, Y:-137.77, Z:-5.13 [[-6.87301928e-01 -7.26345783e-01 6.15335432e-03 7.90677373e+01] [ 7.26317463e-01 -6.87329470e-01 -6.41430566e-03 -1.37771450e+02] [ 8.88838563e-03 6.07240587e-05 9.99960496e-01 -5.12679632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.01242391895397593 Centerline is valid? [True, True] Translation: X:79.03, Y:-137.73, Z:-5.13 [[-6.87374626e-01 -7.26280764e-01 5.68997623e-03 7.90273419e+01] [ 7.26256577e-01 -6.87398173e-01 -5.92754387e-03 -1.37730945e+02] [ 8.21634036e-03 5.79394125e-05 9.99966244e-01 -5.12673524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.012415631716889777 Centerline is valid? [True, True] Translation: X:78.99, Y:-137.69, Z:-5.13 [[-6.88355952e-01 -7.25351144e-01 5.63931935e-03 7.89880386e+01] [ 7.25327384e-01 -6.88379050e-01 -5.87113083e-03 -1.37689593e+02] [ 8.14062076e-03 4.89248947e-05 9.99966863e-01 -5.12696696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.012203794689358328 Centerline is valid? [True, True] Translation: X:78.95, Y:-137.65, Z:-5.13 [[-6.91625158e-01 -7.22229073e-01 6.30924343e-03 7.89503941e+01] [ 7.22199240e-01 -6.91653935e-01 -6.56451065e-03 -1.37646861e+02] [ 9.10489348e-03 1.63500911e-05 9.99958550e-01 -5.12677809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.012151155173203785 Centerline is valid? [True, True] Translation: X:78.91, Y:-137.60, Z:-5.13 [[-6.93791220e-01 -7.20148051e-01 6.36612272e-03 7.89112966e+01] [ 7.20117628e-01 -6.93820427e-01 -6.61949584e-03 -1.37604521e+02] [ 9.18396301e-03 -8.19090805e-06 9.99957827e-01 -5.12640587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.012270093195558749 Centerline is valid? [True, True] Translation: X:78.87, Y:-137.56, Z:-5.13 [[-6.95604161e-01 -7.18392094e-01 6.90294761e-03 7.88710523e+01] [ 7.18356277e-01 -6.95638411e-01 -7.17360701e-03 -1.37562510e+02] [ 9.95541807e-03 -3.12151352e-05 9.99950443e-01 -5.12718570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.012602716050814113 Centerline is valid? [True, True] Translation: X:78.83, Y:-137.52, Z:-5.13 [[-6.96733221e-01 -7.17280969e-01 8.41606080e-03 7.88316590e+01] [ 7.17227711e-01 -6.96784047e-01 -8.74085185e-03 -1.37521087e+02] [ 1.21338236e-02 -5.38098429e-05 9.99926381e-01 -5.12960114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.012524796713156788 Centerline is valid? [True, True] Translation: X:78.79, Y:-137.48, Z:-5.13 [[-6.96766067e-01 -7.17241228e-01 9.05912672e-03 7.87910373e+01] [ 7.17179593e-01 -6.96824955e-01 -9.40283735e-03 -1.37480420e+02] [ 1.30567282e-02 -5.45571883e-05 9.99914756e-01 -5.12967158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.012418027061838316 Centerline is valid? [True, True] Translation: X:78.75, Y:-137.44, Z:-5.13 [[-6.95806417e-01 -7.18168959e-01 9.31541253e-03 7.87498306e+01] [ 7.18103952e-01 -6.95868770e-01 -9.66276868e-03 -1.37440248e+02] [ 1.34218052e-02 -3.39819021e-05 9.99909923e-01 -5.12998646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.012458924069034275 Centerline is valid? [True, True] Translation: X:78.71, Y:-137.40, Z:-5.13 [[-6.94418959e-01 -7.19496001e-01 1.03833520e-02 7.87088804e+01] [ 7.19415483e-01 -6.94496584e-01 -1.07637354e-02 -1.37400627e+02] [ 1.49556671e-02 -4.59768597e-06 9.99888158e-01 -5.13051761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.012571994542456512 Centerline is valid? [True, True] Translation: X:78.67, Y:-137.36, Z:-5.13 [[-6.93587466e-01 -7.20297867e-01 1.03638384e-02 7.86686401e+01] [ 7.20217846e-01 -6.93664892e-01 -1.07364686e-02 -1.37361044e+02] [ 1.49224863e-02 1.75412867e-05 9.99888653e-01 -5.13156731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.012720898709760219 Centerline is valid? [True, True] Translation: X:78.63, Y:-137.32, Z:-5.13 [[-6.89783661e-01 -7.23943724e-01 1.01973507e-02 7.86259138e+01] [ 7.23866745e-01 -6.89859025e-01 -1.05574572e-02 -1.37322932e+02] [ 1.46777393e-02 9.91615466e-05 9.99892271e-01 -5.13046007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.01303122648916427 Centerline is valid? [True, True] Translation: X:78.58, Y:-137.28, Z:-5.13 [[-6.87752600e-01 -7.25887553e-01 9.14454566e-03 7.85847027e+01] [ 7.25825899e-01 -6.87813379e-01 -9.46154082e-03 -1.37282751e+02] [ 1.31577556e-02 1.30148775e-04 9.99913425e-01 -5.12878335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.01313501071918765 Centerline is valid? [True, True] Translation: X:78.54, Y:-137.24, Z:-5.13 [[-6.86159819e-01 -7.27406141e-01 8.06275994e-03 7.85437925e+01] [ 7.27358372e-01 -6.86207174e-01 -8.33744300e-03 -1.37241425e+02] [ 1.15974310e-02 1.43697562e-04 9.99932737e-01 -5.12657377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.013831387639483989 Centerline is valid? [True, True] Translation: X:78.50, Y:-137.20, Z:-5.13 [[-6.84404865e-01 -7.29069803e-01 6.87039652e-03 7.85031559e+01] [ 7.29035245e-01 -6.84439332e-01 -7.10017074e-03 -1.37201709e+02] [ 9.87888969e-03 1.49369813e-04 9.99951191e-01 -5.12604886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.0139375162200846 Centerline is valid? [True, True] Translation: X:78.46, Y:-137.16, Z:-5.13 [[-6.83756372e-01 -7.29678253e-01 6.84619242e-03 7.84631622e+01] [ 7.29644008e-01 -6.83790627e-01 -7.07114100e-03 -1.37159714e+02] [ 9.84102002e-03 1.60345558e-04 9.99951563e-01 -5.12524309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.014578372317994092 Centerline is valid? [True, True] Translation: X:78.42, Y:-137.12, Z:-5.13 [[-6.83289038e-01 -7.30114631e-01 6.97970078e-03 7.84227008e+01] [ 7.30079102e-01 -6.83324664e-01 -7.20475360e-03 -1.37119889e+02] [ 1.00296977e-02 1.72804520e-04 9.99949686e-01 -5.12598451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.014212819489462205 Centerline is valid? [True, True] Translation: X:78.38, Y:-137.08, Z:-5.13 [[-6.82964959e-01 -7.30408054e-01 7.93346837e-03 7.83827925e+01] [ 7.30362225e-01 -6.83011005e-01 -8.18459490e-03 -1.37077100e+02] [ 1.13967402e-02 2.04514087e-04 9.99935034e-01 -5.12672659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.01509487697437006 Centerline is valid? [True, True] Translation: X:78.34, Y:-137.04, Z:-5.13 [[-6.82917427e-01 -7.30441425e-01 8.89450042e-03 7.83423760e+01] [ 7.30383893e-01 -6.82975307e-01 -9.17056554e-03 -1.37037122e+02] [ 1.27732851e-02 2.33660827e-04 9.99918391e-01 -5.12903005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.014612087317164128 Centerline is valid? [True, True] Translation: X:78.30, Y:-136.99, Z:-5.13 [[-6.84417801e-01 -7.29024820e-01 9.75120036e-03 7.83046297e+01] [ 7.28955614e-01 -6.84487223e-01 -1.00476426e-02 -1.36993436e+02] [ 1.39995529e-02 2.31406817e-04 9.99901975e-01 -5.12925300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.013670948673151176 Centerline is valid? [True, True] Translation: X:78.27, Y:-136.95, Z:-5.13 [[-6.87143884e-01 -7.26464541e-01 9.08586101e-03 7.82668817e+01] [ 7.26404300e-01 -6.87203930e-01 -9.35686059e-03 -1.36948870e+02] [ 1.30412668e-02 1.70498973e-04 9.99914945e-01 -5.12803808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.013251010527923561 Centerline is valid? [True, True] Translation: X:78.23, Y:-136.90, Z:-5.13 [[-6.90876521e-01 -7.22917300e-01 8.95599538e-03 7.82300755e+01] [ 7.22858533e-01 -6.90934560e-01 -9.21819187e-03 -1.36904689e+02] [ 1.28519971e-02 1.05285355e-04 9.99917404e-01 -5.12869817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.01278298586619122 Centerline is valid? [True, True] Translation: X:78.20, Y:-136.86, Z:-5.13 [[-6.98149827e-01 -7.15902143e-01 8.42265906e-03 7.81981712e+01] [ 7.15849706e-01 -6.98200631e-01 -8.66473943e-03 -1.36856688e+02] [ 1.20838114e-02 -1.99283228e-05 9.99926988e-01 -5.12806963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.013323369282723497 Centerline is valid? [True, True] Translation: X:78.16, Y:-136.81, Z:-5.13 [[-7.02920818e-01 -7.11221674e-01 8.12742434e-03 7.81622858e+01] [ 7.11172585e-01 -7.02967796e-01 -8.35656510e-03 -1.36810581e+02] [ 1.16566878e-02 -9.40021991e-05 9.99932054e-01 -5.12714522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.0143078157758077 Centerline is valid? [True, True] Translation: X:78.12, Y:-136.77, Z:-5.13 [[-7.06279558e-01 -7.07895201e-01 7.31917299e-03 7.81234866e+01] [ 7.07855252e-01 -7.06317469e-01 -7.52157278e-03 -1.36767117e+02] [ 1.04941450e-02 -1.31418061e-04 9.99944926e-01 -5.12647437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.015738406867093248 Centerline is valid? [True, True] Translation: X:78.09, Y:-136.73, Z:-5.13 [[-7.08911388e-01 -7.05256401e-01 7.61917852e-03 7.80858329e+01] [ 7.05213000e-01 -7.08952310e-01 -7.82607036e-03 -1.36726077e+02] [ 1.09210204e-02 -1.74846663e-04 9.99940349e-01 -5.12712895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.016547097442943103 Centerline is valid? [True, True] Translation: X:78.05, Y:-136.68, Z:-5.13 [[-7.10207108e-01 -7.03944935e-01 8.20933208e-03 7.80465058e+01] [ 7.03894518e-01 -7.10254522e-01 -8.42744378e-03 -1.36684237e+02] [ 1.17631716e-02 -2.06726626e-04 9.99930790e-01 -5.12829291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.014981378531744638 Centerline is valid? [True, True] Translation: X:78.00, Y:-136.65, Z:-5.13 [[-7.10405790e-01 -7.03741863e-01 8.42643734e-03 7.80028684e+01] [ 7.03688794e-01 -7.10455731e-01 -8.64496862e-03 -1.36646614e+02] [ 1.20704370e-02 -2.11846232e-04 9.99927127e-01 -5.12710133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.01670956602087198 Centerline is valid? [True, True] Translation: X:77.96, Y:-136.61, Z:-5.13 [[-7.09536945e-01 -7.04616124e-01 8.56973749e-03 7.79622069e+01] [ 7.04561365e-01 -7.09588669e-01 -8.78662732e-03 -1.36607038e+02] [ 1.22721879e-02 -1.96530773e-04 9.99924675e-01 -5.13007360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.01371904606061444 Centerline is valid? [True, True] Translation: X:77.92, Y:-136.57, Z:-5.13 [[-7.07973518e-01 -7.06192521e-01 8.10068752e-03 7.79159382e+01] [ 7.06143749e-01 -7.08019844e-01 -8.30101437e-03 -1.36570983e+02] [ 1.15975618e-02 -1.56648495e-04 9.99932734e-01 -5.12604693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.012879325724868716 Centerline is valid? [True, True] Translation: X:77.87, Y:-136.53, Z:-5.13 [[-7.04131978e-01 -7.10034620e-01 6.99972617e-03 7.78711176e+01] [ 7.09998433e-01 -7.04166765e-01 -7.16880019e-03 -1.36534428e+02] [ 1.00190709e-02 -7.79868445e-05 9.99949805e-01 -5.12536164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.012328197448938066 Centerline is valid? [True, True] Translation: X:77.83, Y:-136.50, Z:-5.13 [[-7.00336047e-01 -7.13778379e-01 7.06019812e-03 7.78263997e+01] [ 7.13741800e-01 -7.00371634e-01 -7.22621386e-03 -1.36498081e+02] [ 1.01026777e-02 -2.16195359e-05 9.99948966e-01 -5.12536446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.012355453274423814 Centerline is valid? [True, True] Translation: X:77.78, Y:-136.46, Z:-5.13 [[-6.96065296e-01 -7.17940012e-01 7.43250078e-03 7.77810756e+01] [ 7.17899760e-01 -6.96104976e-01 -7.60244957e-03 -1.36462574e+02] [ 1.06319035e-02 4.39892167e-05 9.99943479e-01 -5.12630132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.013135937858368033 Centerline is valid? [True, True] Translation: X:77.73, Y:-136.43, Z:-5.13 [[-6.90726211e-01 -7.23079404e-01 7.31283984e-03 7.77338675e+01] [ 7.23040767e-01 -6.90764910e-01 -7.47583605e-03 -1.36427376e+02] [ 1.04570762e-02 1.23725419e-04 9.99945316e-01 -5.12685605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.01375806231548822 Centerline is valid? [True, True] Translation: X:77.69, Y:-136.39, Z:-5.13 [[-6.88530340e-01 -7.25180037e-01 6.31542968e-03 7.76902967e+01] [ 7.25151342e-01 -6.88559290e-01 -6.45257853e-03 -1.36389061e+02] [ 9.02782891e-03 1.36846219e-04 9.99959239e-01 -5.12565436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.014022626359320074 Centerline is valid? [True, True] Translation: X:77.65, Y:-136.35, Z:-5.12 [[-6.87642994e-01 -7.26027668e-01 5.56217030e-03 7.76482835e+01] [ 7.26005467e-01 -6.87665477e-01 -5.67934617e-03 -1.36350507e+02] [ 7.94827494e-03 1.32803442e-04 9.99968403e-01 -5.12475449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.013954702530273975 Centerline is valid? [True, True] Translation: X:77.61, Y:-136.31, Z:-5.13 [[-6.87471479e-01 -7.26194040e-01 5.01813912e-03 7.76062506e+01] [ 7.26175995e-01 -6.87489782e-01 -5.12092110e-03 -1.36310485e+02] [ 7.16870176e-03 1.23564966e-04 9.99974297e-01 -5.12507356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.014437455200797145 Centerline is valid? [True, True] Translation: X:77.57, Y:-136.27, Z:-5.13 [[-6.87419434e-01 -7.26243838e-01 4.94057597e-03 7.75653033e+01] [ 7.26226371e-01 -6.87437177e-01 -5.03839849e-03 -1.36271976e+02] [ 7.05544146e-03 1.24483517e-04 9.99975102e-01 -5.12552927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.014457378210632062 Centerline is valid? [True, True] Translation: X:77.52, Y:-136.23, Z:-5.13 [[-6.87468023e-01 -7.26193383e-01 5.55776551e-03 7.75247830e+01] [ 7.26171306e-01 -6.87490473e-01 -5.66419899e-03 -1.36231118e+02] [ 7.93421467e-03 1.41934164e-04 9.99968514e-01 -5.12557048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.01423406534299708 Centerline is valid? [True, True] Translation: X:77.48, Y:-136.19, Z:-5.13 [[-6.87966384e-01 -7.25707204e-01 7.16306922e-03 7.74835090e+01] [ 7.25670548e-01 -6.88003650e-01 -7.29606205e-03 -1.36190250e+02] [ 1.02230226e-02 1.78582948e-04 9.99947728e-01 -5.12785222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.01465338945646825 Centerline is valid? [True, True] Translation: X:77.44, Y:-136.15, Z:-5.13 [[-6.88738930e-01 -7.24967084e-01 7.83667958e-03 7.74436369e+01] [ 7.24923222e-01 -6.88783487e-01 -7.97683848e-03 -1.36149873e+02] [ 1.11807208e-02 1.87031807e-04 9.99937476e-01 -5.12954578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.014701211192879277 Centerline is valid? [True, True] Translation: X:77.40, Y:-136.11, Z:-5.13 [[-6.89668006e-01 -7.24079968e-01 8.13888780e-03 7.74046259e+01] [ 7.24032658e-01 -6.89716004e-01 -8.27913693e-03 -1.36109885e+02] [ 1.16082784e-02 1.82964710e-04 9.99932605e-01 -5.13035838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.014041707491500554 Centerline is valid? [True, True] Translation: X:77.37, Y:-136.07, Z:-5.13 [[-6.92340819e-01 -7.21520393e-01 8.51543293e-03 7.73659831e+01] [ 7.21468465e-01 -6.92393168e-01 -8.65758028e-03 -1.36066065e+02] [ 1.21426483e-02 1.49620103e-04 9.99926264e-01 -5.13087181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.012655753308330929 Centerline is valid? [True, True] Translation: X:77.33, Y:-136.02, Z:-5.13 [[-6.96595476e-01 -7.17415178e-01 8.37892116e-03 7.73295569e+01] [ 7.17364661e-01 -6.96645862e-01 -8.51394791e-03 -1.36019919e+02] [ 1.19451762e-02 7.99643405e-05 9.99928651e-01 -5.12848468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.01262860023108618 Centerline is valid? [True, True] Translation: X:77.30, Y:-135.97, Z:-5.13 [[-7.05273725e-01 -7.08896092e-01 7.43667963e-03 7.72961415e+01] [ 7.08855866e-01 -7.05312929e-01 -7.55199693e-03 -1.35971770e+02] [ 1.05987674e-02 -5.46910167e-05 9.99943830e-01 -5.12729550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.013860546263007045 Centerline is valid? [True, True] Translation: X:77.26, Y:-135.92, Z:-5.13 [[-7.11713736e-01 -7.02440211e-01 6.42721314e-03 7.72614195e+01] [ 7.02409933e-01 -7.11742744e-01 -6.52323135e-03 -1.35924133e+02] [ 9.15670232e-03 -1.28135008e-04 9.99958068e-01 -5.12578593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.015157178938205564 Centerline is valid? [True, True] Translation: X:77.23, Y:-135.88, Z:-5.12 [[-7.17477747e-01 -6.96559581e-01 5.51660472e-03 7.72256198e+01] [ 6.96537126e-01 -7.17498934e-01 -5.59561160e-03 -1.35878870e+02] [ 7.85583487e-03 -1.72206808e-04 9.99969128e-01 -5.12478750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.018118626408466808 Centerline is valid? [True, True] Translation: X:77.19, Y:-135.83, Z:-5.13 [[-7.23396531e-01 -6.90410345e-01 5.56914673e-03 7.71918783e+01] [ 6.90387304e-01 -7.23417928e-01 -5.64547999e-03 -1.35832087e+02] [ 7.92651838e-03 -2.39052433e-04 9.99968556e-01 -5.12508470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.018147247661608867 Centerline is valid? [True, True] Translation: X:77.15, Y:-135.79, Z:-5.13 [[-7.24900355e-01 -6.88824140e-01 6.38585682e-03 7.71517461e+01] [ 6.88793817e-01 -7.24928424e-01 -6.46976128e-03 -1.35789689e+02] [ 9.08581687e-03 -2.91393556e-04 9.99958681e-01 -5.12569577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.01789429722134505 Centerline is valid? [True, True] Translation: X:77.11, Y:-135.75, Z:-5.13 [[-7.22952173e-01 -6.90853137e-01 7.88029176e-03 7.71110258e+01] [ 6.90807130e-01 -7.22995047e-01 -7.97940330e-03 -1.35748294e+02] [ 1.12100077e-02 -3.24965217e-04 9.99937113e-01 -5.12797287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.016348768534984327 Centerline is valid? [True, True] Translation: X:77.07, Y:-135.71, Z:-5.13 [[-7.19620107e-01 -6.94317759e-01 8.35177381e-03 7.70679805e+01] [ 6.94266371e-01 -7.19668514e-01 -8.45202675e-03 -1.35709520e+02] [ 1.18789009e-02 -2.83892704e-04 9.99929403e-01 -5.12912383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.014624625438150535 Centerline is valid? [True, True] Translation: X:77.02, Y:-135.67, Z:-5.13 [[-7.15603610e-01 -6.98450378e-01 8.86241882e-03 7.70242024e+01] [ 6.98392892e-01 -7.15658451e-01 -8.96380909e-03 -1.35670910e+02] [ 1.26032408e-02 -2.25083836e-04 9.99920551e-01 -5.12948533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.013176388303110737 Centerline is valid? [True, True] Translation: X:76.98, Y:-135.63, Z:-5.13 [[-7.09666642e-01 -7.04486751e-01 8.46609852e-03 7.69803197e+01] [ 7.04434776e-01 -7.09717131e-01 -8.55807607e-03 -1.35633020e+02] [ 1.20375864e-02 -1.09566891e-04 9.99927540e-01 -5.12933244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.012469140216694683 Centerline is valid? [True, True] Translation: X:76.94, Y:-135.59, Z:-5.13 [[-7.04161088e-01 -7.10004327e-01 7.14266574e-03 7.69365532e+01] [ 7.09967654e-01 -7.04197313e-01 -7.21622442e-03 -1.35594781e+02] [ 1.01533966e-02 -1.03227996e-05 9.99948453e-01 -5.12686448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.012361934587124424 Centerline is valid? [True, True] Translation: X:76.89, Y:-135.56, Z:-5.13 [[-7.02600418e-01 -7.11555501e-01 6.43591113e-03 7.68945631e+01] [ 7.11525818e-01 -7.02629895e-01 -6.49936607e-03 -1.35555099e+02] [ 9.14672324e-03 1.28596117e-05 9.99958168e-01 -5.12640504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.012629762956548569 Centerline is valid? [True, True] Translation: X:76.85, Y:-135.52, Z:-5.13 [[-6.98721616e-01 -7.15372679e-01 5.48018219e-03 7.68518457e+01] [ 7.15351302e-01 -6.98743105e-01 -5.53063539e-03 -1.35518878e+02] [ 7.78570498e-03 5.58809675e-05 9.99969689e-01 -5.12621498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.01287779496553389 Centerline is valid? [True, True] Translation: X:76.81, Y:-135.48, Z:-5.13 [[-6.96916955e-01 -7.17131493e-01 5.40182003e-03 7.68095362e+01] [ 7.17110799e-01 -6.96937886e-01 -5.44848741e-03 -1.35478799e+02] [ 7.67201494e-03 7.65602209e-05 9.99970567e-01 -5.12647689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.01380390519348803 Centerline is valid? [True, True] Translation: X:76.77, Y:-135.44, Z:-5.13 [[-6.94373848e-01 -7.19590460e-01 5.87617002e-03 7.67675135e+01] [ 7.19566089e-01 -6.94398701e-01 -5.92345219e-03 -1.35440507e+02] [ 8.34286452e-03 1.15202395e-04 9.99965191e-01 -5.12826304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.013749782815773154 Centerline is valid? [True, True] Translation: X:76.73, Y:-135.40, Z:-5.13 [[-6.93405447e-01 -7.20514441e-01 6.91566178e-03 7.67262524e+01] [ 7.20480769e-01 -6.93439916e-01 -6.96733359e-03 -1.35399119e+02] [ 9.81566039e-03 1.51414256e-04 9.99951814e-01 -5.12915993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.014097782524140207 Centerline is valid? [True, True] Translation: X:76.69, Y:-135.36, Z:-5.13 [[-6.93378561e-01 -7.20523335e-01 8.50262885e-03 7.66857137e+01] [ 7.20472495e-01 -6.93430666e-01 -8.56134633e-03 -1.35357690e+02] [ 1.20646334e-02 1.89656222e-04 9.99927202e-01 -5.13159844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.01400807370527498 Centerline is valid? [True, True] Translation: X:76.65, Y:-135.32, Z:-5.13 [[-6.93888252e-01 -7.20023272e-01 9.25106344e-03 7.66462613e+01] [ 7.19963120e-01 -6.93949888e-01 -9.30909009e-03 -1.35315808e+02] [ 1.31225360e-02 2.00956249e-04 9.99913876e-01 -5.13219842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.013649723963016482 Centerline is valid? [True, True] Translation: X:76.61, Y:-135.27, Z:-5.13 [[-6.94762345e-01 -7.19174154e-01 9.68612202e-03 7.66071840e+01] [ 7.19108204e-01 -6.94829834e-01 -9.74133502e-03 -1.35272793e+02] [ 1.37359229e-02 1.97457047e-04 9.99905638e-01 -5.13224577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.01356679381997226 Centerline is valid? [True, True] Translation: X:76.57, Y:-135.23, Z:-5.13 [[-6.97638799e-01 -7.16389148e-01 9.31096767e-03 7.65702624e+01] [ 7.16328027e-01 -6.97700916e-01 -9.35893371e-03 -1.35228692e+02] [ 1.32009092e-02 1.40551823e-04 9.99912854e-01 -5.13293795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.012645235036910124 Centerline is valid? [True, True] Translation: X:76.53, Y:-135.18, Z:-5.13 [[-7.00233501e-01 -7.13867133e-01 8.17071136e-03 7.65334519e+01] [ 7.13819947e-01 -7.00281165e-01 -8.20813864e-03 -1.35183282e+02] [ 1.15813157e-02 8.48030940e-05 9.99932931e-01 -5.12997733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.012464526118923989 Centerline is valid? [True, True] Translation: X:76.50, Y:-135.14, Z:-5.13 [[-7.03116976e-01 -7.11042949e-01 6.66654860e-03 7.64961048e+01] [ 7.11011436e-01 -7.03148579e-01 -6.69432939e-03 -1.35139750e+02] [ 9.44752988e-03 3.30956592e-05 9.99955371e-01 -5.12891401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.012283578007375635 Centerline is valid? [True, True] Translation: X:76.46, Y:-135.09, Z:-5.13 [[-7.07323128e-01 -7.06870807e-01 5.25878593e-03 7.64600732e+01] [ 7.06851107e-01 -7.07342677e-01 -5.27736870e-03 -1.35094917e+02] [ 7.45018158e-03 -1.56262815e-05 9.99972247e-01 -5.12644596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.012650280741661381 Centerline is valid? [True, True] Translation: X:76.42, Y:-135.05, Z:-5.13 [[-7.10254099e-01 -7.03929528e-01 4.72590010e-03 7.64223789e+01] [ 7.03913573e-01 -7.10269821e-01 -4.73963921e-03 -1.35052174e+02] [ 6.69303621e-03 -3.97229596e-05 9.99977601e-01 -5.12665353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.013223202283524764 Centerline is valid? [True, True] Translation: X:76.38, Y:-135.01, Z:-5.13 [[-7.13398690e-01 -7.00742043e-01 4.78524698e-03 7.63841379e+01] [ 7.00725630e-01 -7.13414736e-01 -4.79652015e-03 -1.35008394e+02] [ 6.77498903e-03 -6.86859862e-05 9.99977047e-01 -5.12662943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.0145006462717439 Centerline is valid? [True, True] Translation: X:76.35, Y:-134.97, Z:-5.13 [[-7.18608632e-01 -6.95397818e-01 4.84856416e-03 7.63455718e+01] [ 6.95380864e-01 -7.18624979e-01 -4.85727624e-03 -1.34965096e+02] [ 6.86203862e-03 -1.18881902e-04 9.99976449e-01 -5.12683602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.015875659585623248 Centerline is valid? [True, True] Translation: X:76.31, Y:-134.92, Z:-5.13 [[-7.22053265e-01 -6.91819552e-01 4.97895880e-03 7.63062457e+01] [ 6.91801608e-01 -7.22070414e-01 -4.98515921e-03 -1.34922540e+02] [ 7.04398945e-03 -1.55098780e-04 9.99975179e-01 -5.12732391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.01710130813303769 Centerline is valid? [True, True] Translation: X:76.27, Y:-134.88, Z:-5.13 [[-7.24806643e-01 -6.88935527e-01 4.81347459e-03 7.62663959e+01] [ 6.88918710e-01 -7.24822605e-01 -4.81684295e-03 -1.34880391e+02] [ 6.80740943e-03 -1.75187068e-04 9.99976814e-01 -5.12716922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.01641979525113347 Centerline is valid? [True, True] Translation: X:76.22, Y:-134.84, Z:-5.13 [[-7.26474629e-01 -6.87176387e-01 4.81951277e-03 7.62226388e+01] [ 6.87159507e-01 -7.26490590e-01 -4.82014112e-03 -1.34841524e+02] [ 6.81361783e-03 -1.89936206e-04 9.99976769e-01 -5.12546975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.01745909207718529 Centerline is valid? [True, True] Translation: X:76.18, Y:-134.80, Z:-5.13 [[-7.26638988e-01 -6.87004636e-01 4.51782037e-03 7.61830167e+01] [ 6.86989820e-01 -7.26653011e-01 -4.51541037e-03 -1.34801868e+02] [ 6.38499563e-03 -1.77376618e-04 9.99979600e-01 -5.12587045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.01541335224325558 Centerline is valid? [True, True] Translation: X:75.67, Y:-135.31, Z:-4.13 [[-7.39893292e-01 6.72706146e-01 4.93539442e-03 7.56652918e+01] [ 6.72692561e-01 7.39909736e-01 -4.27790171e-03 -1.35312149e+02] [-6.52951715e-03 1.54812339e-04 -9.99978671e-01 -4.12649536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.014316668397990772 Centerline is valid? [True, True] Translation: X:75.69, Y:-135.29, Z:-4.13 [[-7.88473142e-01 6.15050995e-01 4.73046518e-03 7.56915617e+01] [ 6.15040771e-01 7.88487324e-01 -3.54808327e-03 -1.35289079e+02] [-5.91216398e-03 1.11860593e-04 -9.99982517e-01 -4.12712201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.013792248673893661 Centerline is valid? [True, True] Translation: X:75.70, Y:-135.26, Z:-4.13 [[-8.33311599e-01 5.52785278e-01 4.49620956e-03 7.57044734e+01] [ 5.52777683e-01 8.33323726e-01 -2.89861744e-03 -1.35257033e+02] [-5.34911115e-03 6.99527672e-05 -9.99985691e-01 -4.12724222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.012249168770941246 Centerline is valid? [True, True] Translation: X:75.72, Y:-135.22, Z:-4.13 [[-8.74308365e-01 4.85342658e-01 5.23322639e-03 7.57239355e+01] [ 4.85334168e-01 8.74324026e-01 -2.87097116e-03 -1.35221523e+02] [-5.96894034e-03 2.97494790e-05 -9.99982185e-01 -4.12745978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.012151106315728868 Centerline is valid? [True, True] Translation: X:75.74, Y:-135.19, Z:-4.13 [[-9.07997419e-01 4.18933500e-01 5.95056632e-03 7.57351910e+01] [ 4.18924567e-01 9.08016917e-01 -2.73590548e-03 -1.35188804e+02] [-6.54937734e-03 8.64330138e-06 -9.99978553e-01 -4.12670652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.011970186000792329 Centerline is valid? [True, True] Translation: X:76.00, Y:-134.61, Z:-5.12 [[-8.77834361e-01 -4.78921625e-01 6.39632184e-03 7.60049246e+01] [ 4.78909209e-01 -8.77857663e-01 -3.44866457e-03 -1.34606383e+02] [ 7.26670018e-03 3.59011757e-05 9.99973597e-01 -5.12405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.01199215393220097 Centerline is valid? [True, True] Translation: X:75.70, Y:-135.16, Z:-4.13 [[-9.10694519e-01 4.13026086e-01 6.70412842e-03 7.56996219e+01] [ 4.13014802e-01 9.10719195e-01 -3.05317162e-03 -1.35160469e+02] [-7.36661796e-03 -1.16023884e-05 -9.99972866e-01 -4.12766611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.012137258962601588 Centerline is valid? [True, True] Translation: X:75.71, Y:-135.13, Z:-4.13 [[-9.37596430e-01 3.47650173e-01 7.23125382e-03 7.57093861e+01] [ 3.47639749e-01 9.37624315e-01 -2.69226065e-03 -1.35131590e+02] [-7.71616430e-03 -1.03827126e-05 -9.99970230e-01 -4.12739996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.012001231401992917 Centerline is valid? [True, True] Translation: X:75.93, Y:-134.56, Z:-5.12 [[-9.10908375e-01 -4.12511918e-01 8.93587140e-03 7.59252115e+01] [ 4.12493561e-01 -9.10952193e-01 -3.89411512e-03 -1.34557686e+02] [ 9.74652055e-03 1.38807334e-04 9.99952492e-01 -5.12432440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.012040317682628917 Centerline is valid? [True, True] Translation: X:75.67, Y:-135.11, Z:-4.13 [[-9.38920693e-01 3.43993034e-01 9.83486768e-03 7.56682893e+01] [ 3.43973974e-01 9.38972200e-01 -3.62120361e-03 -1.35110177e+02] [-1.04803362e-02 -1.70844822e-05 -9.99945080e-01 -4.12656297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.0121314059115145 Centerline is valid? [True, True] Translation: X:75.67, Y:-135.08, Z:-4.13 [[-9.61283497e-01 2.75334374e-01 1.11812283e-02 7.56722360e+01] [ 2.75315338e-01 9.61348522e-01 -3.23779264e-03 -1.35079275e+02] [-1.16405329e-02 -3.40729893e-05 -9.99932246e-01 -4.12554694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.012310101636976208 Centerline is valid? [True, True] Translation: X:75.84, Y:-134.51, Z:-5.13 [[-9.37939161e-01 -3.46572862e-01 1.25451735e-02 7.58365206e+01] [ 3.46543957e-01 -9.38023043e-01 -4.47838919e-03 -1.34509710e+02] [ 1.33197499e-02 1.46997458e-04 9.99911277e-01 -5.12653520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.01261893808803868 Centerline is valid? [True, True] Translation: X:75.63, Y:-135.06, Z:-4.12 [[-9.63033148e-01 2.69004220e-01 1.42788631e-02 7.56280242e+01] [ 2.68973326e-01 9.63138994e-01 -4.07770982e-03 -1.35061026e+02] [-1.48494510e-02 -8.63364278e-05 -9.99889737e-01 -4.12303153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.012461413180526132 Centerline is valid? [True, True] Translation: X:75.63, Y:-135.03, Z:-4.12 [[-9.79758396e-01 1.99584455e-01 1.54768084e-02 7.56278388e+01] [ 1.99557964e-01 9.79880623e-01 -3.25325387e-03 -1.35033483e+02] [-1.58147235e-02 -9.88824244e-05 -9.99874935e-01 -4.12427208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.012424555549292938 Centerline is valid? [True, True] Translation: X:75.75, Y:-134.46, Z:-5.13 [[-9.60601806e-01 -2.77532855e-01 1.48217617e-02 7.57481932e+01] [ 2.77500954e-01 -9.60716144e-01 -4.20843355e-03 -1.34460187e+02] [ 1.54074844e-02 7.04241472e-05 9.99881295e-01 -5.12570460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.012454395247558644 Centerline is valid? [True, True] Translation: X:75.58, Y:-135.03, Z:-4.13 [[-9.80571822e-01 1.95651974e-01 1.41141037e-02 7.55812081e+01] [ 1.95630335e-01 9.80673389e-01 -2.91126970e-03 -1.35025598e+02] [-1.44109215e-02 -9.35621965e-05 -9.99896153e-01 -4.12663049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.012463608238137937 Centerline is valid? [True, True] Translation: X:75.70, Y:-134.45, Z:-5.12 [[-9.62010183e-01 -2.72723939e-01 1.25722165e-02 7.57025490e+01] [ 2.72700669e-01 -9.62092331e-01 -3.56256672e-03 -1.34448523e+02] [ 1.30672303e-02 1.22639703e-06 9.99914620e-01 -5.12390648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.012228258531470223 Centerline is valid? [True, True] Translation: X:75.54, Y:-135.02, Z:-4.13 [[-9.80971628e-01 1.93770151e-01 1.21570325e-02 7.55350122e+01] [ 1.93754559e-01 9.81046954e-01 -2.45873926e-03 -1.35022375e+02] [-1.24030499e-02 -5.64729894e-05 -9.99923078e-01 -4.12935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.012197257941453482 Centerline is valid? [True, True] Translation: X:75.66, Y:-134.43, Z:-5.12 [[-9.63552790e-01 -2.67237441e-01 1.22544156e-02 7.56555208e+01] [ 2.67216834e-01 -9.63630710e-01 -3.31952933e-03 -1.34434341e+02] [ 1.26958338e-02 7.60444062e-05 9.99919402e-01 -5.12201400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.012222804294778225 Centerline is valid? [True, True] Translation: X:75.49, Y:-135.02, Z:-4.13 [[-9.81438550e-01 1.91337071e-01 1.29806751e-02 7.54881152e+01] [ 1.91319755e-01 9.81524388e-01 -2.57443599e-03 -1.35018114e+02] [-1.32334343e-02 -4.31911346e-05 -9.99912433e-01 -4.12905219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.012292424834461158 Centerline is valid? [True, True] Translation: X:75.49, Y:-134.99, Z:-4.13 [[-9.92612156e-01 1.20564169e-01 1.36157297e-02 7.54889955e+01] [ 1.20552078e-01 9.92705535e-01 -1.70834658e-03 -1.34991330e+02] [-1.37223756e-02 -5.43210789e-05 -9.99905842e-01 -4.12860393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.012287306923001718 Centerline is valid? [True, True] Translation: X:75.48, Y:-134.96, Z:-4.13 [[-9.98719803e-01 4.85012467e-02 1.43660982e-02 7.54849226e+01] [ 4.84951401e-02 9.98823119e-01 -7.73337203e-04 -1.34964059e+02] [-1.43866989e-02 -7.56612335e-05 -9.99896503e-01 -4.12815542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.012606902480991906 Centerline is valid? [True, True] Translation: X:75.48, Y:-134.94, Z:-4.13 [[-9.99595200e-01 -2.39700286e-02 1.53256284e-02 7.54766631e+01] [-2.39687850e-02 9.99712672e-01 2.64844071e-04 -1.34936809e+02] [-1.53275732e-02 -1.02599829e-04 -9.99882521e-01 -4.12682336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.012773807750428154 Centerline is valid? [True, True] Translation: X:75.47, Y:-134.91, Z:-4.13 [[-9.95229940e-01 -9.63491069e-02 1.53041383e-02 7.54693603e+01] [-9.63396308e-02 9.95347595e-01 1.35694383e-03 -1.34911249e+02] [-1.53636775e-02 -1.23923899e-04 -9.99881964e-01 -4.12648597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.01314180892393416 Centerline is valid? [True, True] Translation: X:75.46, Y:-134.89, Z:-4.13 [[-9.85479079e-01 -1.69171899e-01 1.45551855e-02 7.54576116e+01] [-1.69155723e-01 9.85586549e-01 2.34436669e-03 -1.34888084e+02] [-1.47419960e-02 -1.51768606e-04 -9.99891319e-01 -4.12701409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.013407882613736245 Centerline is valid? [True, True] Translation: X:75.36, Y:-134.28, Z:-5.12 [[-9.96719180e-01 7.98034348e-02 1.35014253e-02 7.53578889e+01] [-7.97953312e-02 -9.96810618e-01 1.13870453e-03 -1.34279996e+02] [ 1.35492366e-02 5.76179421e-05 9.99908203e-01 -5.12308347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.013650892641121067 Centerline is valid? [True, True] Translation: X:75.37, Y:-134.90, Z:-4.13 [[-9.83729601e-01 -1.79250754e-01 1.20514938e-02 7.53749326e+01] [-1.79239593e-01 9.83803402e-01 2.00875377e-03 -1.34903642e+02] [-1.22163712e-02 -1.84034296e-04 -9.99925360e-01 -4.12913406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.015015070212705667 Centerline is valid? [True, True] Translation: X:75.36, Y:-134.88, Z:-4.13 [[-9.67383807e-01 -2.53074026e-01 1.10502390e-02 7.53606129e+01] [-2.53060119e-01 9.67446892e-01 2.66224993e-03 -1.34879788e+02] [-1.13642657e-02 -2.20957321e-04 -9.99935400e-01 -4.12873339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.01578972393462705 Centerline is valid? [True, True] Translation: X:75.34, Y:-134.86, Z:-4.13 [[-9.46165023e-01 -3.23506136e-01 1.07484188e-02 7.53382050e+01] [-3.23488168e-01 9.46226041e-01 3.41816327e-03 -1.34858972e+02] [-1.12762306e-02 -2.42839786e-04 -9.99936392e-01 -4.12832973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.01625138951581275 Centerline is valid? [True, True] Translation: X:75.31, Y:-134.84, Z:-4.13 [[-9.19079274e-01 -3.93928828e-01 1.06473916e-02 7.53053537e+01] [-3.93905985e-01 9.19140902e-01 4.25186749e-03 -1.34844807e+02] [-1.14613863e-02 -2.86267995e-04 -9.99934275e-01 -4.12844941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.01779967433017372 Centerline is valid? [True, True] Translation: X:75.26, Y:-134.83, Z:-4.13 [[-8.87320480e-01 -4.61031407e-01 1.06022491e-02 7.52594679e+01] [-4.61002705e-01 8.87383763e-01 5.15398092e-03 -1.34834699e+02] [-1.17844107e-02 -3.14432666e-04 -9.99930512e-01 -4.12662866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.018096307756309018 Centerline is valid? [True, True] Translation: X:75.20, Y:-134.84, Z:-4.13 [[-8.50930356e-01 -5.25166756e-01 1.08354706e-02 7.51991463e+01] [-5.25129171e-01 8.50999275e-01 6.29186187e-03 -1.34837514e+02] [-1.25252543e-02 -3.36085438e-04 -9.99921500e-01 -4.12586953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.016705805981067173 Centerline is valid? [True, True] Translation: X:75.13, Y:-134.86, Z:-4.13 [[-8.10609957e-01 -5.85493731e-01 1.04205546e-02 7.51304985e+01] [-5.85450442e-01 8.10676869e-01 7.12700074e-03 -1.34857390e+02] [-1.26205168e-02 -3.23500511e-04 -9.99920306e-01 -4.12624445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.016582083709397455 Centerline is valid? [True, True] Translation: X:75.06, Y:-134.88, Z:-4.13 [[-7.65765250e-01 -6.43054865e-01 9.16641242e-03 7.50642748e+01] [-6.43013171e-01 7.65820058e-01 7.32806624e-03 -1.34877188e+02] [-1.17321711e-02 -2.82545437e-04 -9.99931136e-01 -4.12637103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.016136544558647714 Centerline is valid? [True, True] Translation: X:74.99, Y:-134.92, Z:-4.13 [[-7.17619400e-01 -6.96394841e-01 7.52478477e-03 7.49874700e+01] [-6.96359695e-01 7.17658818e-01 6.99972868e-03 -1.34915262e+02] [-1.02748031e-02 -2.16815738e-04 -9.99947189e-01 -4.12646992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.014957912252810146 Centerline is valid? [True, True] Translation: X:74.91, Y:-134.96, Z:-4.13 [[-6.64280013e-01 -7.47451924e-01 6.90553060e-03 7.49144829e+01] [-7.47414619e-01 6.64315875e-01 7.47033741e-03 -1.34958644e+02] [-1.01711717e-02 -1.98898686e-04 -9.99948253e-01 -4.12702491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.014771693153551004 Centerline is valid? [True, True] Translation: X:74.84, Y:-135.02, Z:-4.13 [[-6.07928564e-01 -7.93961379e-01 6.94190836e-03 7.48359376e+01] [-7.93913161e-01 6.07968167e-01 8.75217692e-03 -1.35015105e+02] [-1.11693498e-02 -1.90574070e-04 -9.99937603e-01 -4.12541547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.014704907376495666 Centerline is valid? [True, True] Translation: X:74.76, Y:-135.08, Z:-4.12 [[-5.45386747e-01 -8.38160448e-01 6.35296678e-03 7.47554927e+01] [-8.38107853e-01 5.45423710e-01 9.39171229e-03 -1.35075059e+02] [-1.13368205e-02 -2.02355929e-04 -9.99935716e-01 -4.12482123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.015025293235336294 Centerline is valid? [True, True] Translation: X:74.68, Y:-135.14, Z:-4.12 [[-4.79910633e-01 -8.77297511e-01 5.90437766e-03 7.46755954e+01] [-8.77236569e-01 4.79946904e-01 1.03426945e-02 -1.35144223e+02] [-1.19074080e-02 -2.15966914e-04 -9.99929081e-01 -4.12300945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.014842925744882399 Centerline is valid? [True, True] Translation: X:74.60, Y:-135.22, Z:-4.12 [[-4.12188860e-01 -9.11084076e-01 5.11380839e-03 7.46018544e+01] [-9.11020203e-01 4.12220527e-01 1.07901339e-02 -1.35222132e+02] [-1.19387359e-02 -2.11209773e-04 -9.99928709e-01 -4.12256642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.015369783473174092 Centerline is valid? [True, True] Translation: X:74.53, Y:-135.32, Z:-4.12 [[-3.42174190e-01 -9.39628178e-01 3.96377499e-03 7.45335428e+01] [-9.39571404e-01 3.42197096e-01 1.03308023e-02 -1.35315805e+02] [-1.10635052e-02 -1.89315718e-04 -9.99938780e-01 -4.12292636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.015086223045720276 Centerline is valid? [True, True] Translation: X:74.48, Y:-135.41, Z:-4.12 [[-2.69693253e-01 -9.62942613e-01 2.65956246e-03 7.44758842e+01] [-9.62901332e-01 2.69706321e-01 8.91764884e-03 -1.35407479e+02] [-9.30448488e-03 -1.55866518e-04 -9.99956700e-01 -4.12362724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.014442783792105845 Centerline is valid? [True, True] Translation: X:74.42, Y:-135.51, Z:-4.12 [[-1.96129379e-01 -9.80576113e-01 1.93718457e-03 7.44241445e+01] [-9.80535316e-01 1.96138892e-01 8.94589234e-03 -1.35506638e+02] [-9.15208558e-03 -1.44925570e-04 -9.99958108e-01 -4.12329859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.01481854669629718 Centerline is valid? [True, True] Translation: X:74.38, Y:-135.61, Z:-4.12 [[-1.21904682e-01 -9.92540974e-01 1.28976440e-03 7.43784111e+01] [-9.92496611e-01 1.21911429e-01 9.38510351e-03 -1.35611050e+02] [-9.47233680e-03 -1.35998740e-04 -9.99955127e-01 -4.12177176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.013621618591225008 Centerline is valid? [True, True] Translation: X:74.35, Y:-135.72, Z:-4.12 [[-4.78008880e-02 -9.98856742e-01 5.33123381e-04 7.43460417e+01] [-9.98817033e-01 4.78037417e-02 8.90715231e-03 -1.35721704e+02] [-8.92245443e-03 -1.06722924e-04 -9.99960188e-01 -4.12364676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.013450613395901803 Centerline is valid? [True, True] Translation: X:74.32, Y:-135.84, Z:-4.12 [[ 2.83823651e-02 -9.99597131e-01 -1.30513893e-04 7.43176980e+01] [-9.99567939e-01 -2.83825337e-02 7.63980017e-03 -1.35835474e+02] [-7.64042664e-03 -8.63780945e-05 -9.99970808e-01 -4.12485608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.0135223582240773 Centerline is valid? [True, True] Translation: X:74.30, Y:-135.96, Z:-4.13 [[ 1.06160866e-01 -9.94348783e-01 -6.07650593e-04 7.42967135e+01] [-9.94327878e-01 -1.06162574e-01 6.44818699e-03 -1.35957495e+02] [-6.47625664e-03 -8.03411897e-05 -9.99979026e-01 -4.12550301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.014203945368943822 Centerline is valid? [True, True] Translation: X:74.28, Y:-136.08, Z:-4.12 [[ 1.84776127e-01 -9.82780023e-01 -1.09954930e-03 7.42829624e+01] [-9.82759341e-01 -1.84779373e-01 6.37658099e-03 -1.36082110e+02] [-6.46995044e-03 -9.76475903e-05 -9.99979065e-01 -4.12387596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.014249413107093836 Centerline is valid? [True, True] Translation: X:74.28, Y:-136.19, Z:-4.12 [[ 2.59711771e-01 -9.65684556e-01 -1.77017284e-03 7.42782630e+01] [-9.65659183e-01 -2.59717781e-01 7.00119121e-03 -1.36190304e+02] [-7.22068759e-03 -1.08908116e-04 -9.99973925e-01 -4.12304334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.013785585880309394 Centerline is valid? [True, True] Translation: X:74.29, Y:-136.31, Z:-4.12 [[ 3.32105666e-01 -9.43239799e-01 -2.12334975e-03 7.42856366e+01] [-9.43218679e-01 -3.32112441e-01 6.31276228e-03 -1.36308041e+02] [-6.65963949e-03 -9.37209716e-05 -9.99977820e-01 -4.12323520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.01368177341154124 Centerline is valid? [True, True] Translation: X:74.30, Y:-136.42, Z:-4.12 [[ 4.02558844e-01 -9.15391383e-01 -2.23441993e-03 7.43010189e+01] [-9.15376240e-01 -4.02565038e-01 5.26595056e-03 -1.36423921e+02] [-5.71990511e-03 -7.45200554e-05 -9.99983639e-01 -4.12367684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.01346195537913191 Centerline is valid? [True, True] Translation: X:74.32, Y:-136.53, Z:-4.12 [[ 4.70418750e-01 -8.82440263e-01 -2.31982640e-03 7.43241828e+01] [-8.82428902e-01 -4.70424466e-01 4.47819475e-03 -1.36534981e+02] [-5.04304245e-03 -5.95449088e-05 -9.99987282e-01 -4.12293354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.013366128032303732 Centerline is valid? [True, True] Translation: X:74.36, Y:-136.64, Z:-4.12 [[ 5.35537619e-01 -8.44505286e-01 -3.20638245e-03 7.43558959e+01] [-8.44489421e-01 -5.35547214e-01 5.17680871e-03 -1.36643922e+02] [-6.08901150e-03 -6.46197539e-05 -9.99981460e-01 -4.12137586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.013504004616952985 Centerline is valid? [True, True] Translation: X:74.39, Y:-136.75, Z:-4.12 [[ 5.97756350e-01 -8.01667469e-01 -4.07618402e-03 7.43946212e+01] [-8.01648061e-01 -5.97770244e-01 5.57877095e-03 -1.36749835e+02] [-6.90894070e-03 -6.70807470e-05 -9.99976131e-01 -4.11872721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.013395074578530258 Centerline is valid? [True, True] Translation: X:74.44, Y:-136.85, Z:-4.12 [[ 6.57414241e-01 -7.53516858e-01 -4.34294617e-03 7.44407662e+01] [-7.53499739e-01 -6.57428582e-01 5.07961103e-03 -1.36850636e+02] [-6.68274948e-03 -6.69998239e-05 -9.99977668e-01 -4.11911476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.01354610323899199 Centerline is valid? [True, True] Translation: X:74.49, Y:-136.95, Z:-4.12 [[ 7.13392498e-01 -7.00749444e-01 -4.62167112e-03 7.44920200e+01] [-7.00734096e-01 -7.13407465e-01 4.63850962e-03 -1.36947492e+02] [-6.54756772e-03 -7.05154349e-05 -9.99978562e-01 -4.11909339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.013407694864965708 Centerline is valid? [True, True] Translation: X:74.56, Y:-137.04, Z:-4.12 [[ 7.64094172e-01 -6.45084981e-01 -5.04607517e-03 7.45565007e+01] [-6.45070331e-01 -7.64110831e-01 4.34807949e-03 -1.37043839e+02] [-6.66064147e-03 -6.72688155e-05 -9.99977815e-01 -4.11892816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.013110572408129054 Centerline is valid? [True, True] Translation: X:74.58, Y:-137.07, Z:-4.12 [[ 8.10417944e-01 -5.85827382e-01 -5.38839953e-03 7.45812583e+01] [-5.85814045e-01 -8.10435856e-01 3.95339159e-03 -1.37065701e+02] [-6.68295723e-03 -4.72993648e-05 -9.99977668e-01 -4.11928343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.012795179778983189 Centerline is valid? [True, True] Translation: X:74.61, Y:-137.09, Z:-4.12 [[ 8.52406735e-01 -5.22841028e-01 -6.32592683e-03 7.46062871e+01] [-5.22826335e-01 -8.52430208e-01 3.91976724e-03 -1.37089446e+02] [-7.44182625e-03 -3.38748591e-05 -9.99972309e-01 -4.11948271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.012649978547322667 Centerline is valid? [True, True] Translation: X:74.63, Y:-137.11, Z:-4.12 [[ 8.89422582e-01 -4.57030562e-01 -7.10894868e-03 7.46324614e+01] [-4.57015830e-01 -8.89450991e-01 3.66957361e-03 -1.37112293e+02] [-8.00016873e-03 -1.48995537e-05 -9.99967998e-01 -4.11911633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.012712588655148113 Centerline is valid? [True, True] Translation: X:74.66, Y:-137.13, Z:-4.12 [[ 9.22146691e-01 -3.86758293e-01 -7.96887084e-03 7.46596559e+01] [-3.86743760e-01 -9.22181122e-01 3.35285084e-03 -1.37133550e+02] [-8.64548512e-03 -9.90923395e-06 -9.99962627e-01 -4.11862704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.01270886204624619 Centerline is valid? [True, True] Translation: X:74.69, Y:-137.15, Z:-4.12 [[ 9.49591772e-01 -3.13358481e-01 -9.05143942e-03 7.46879743e+01] [-3.13344122e-01 -9.49634910e-01 2.99986747e-03 -1.37154363e+02] [-9.53559677e-03 -1.24341276e-05 -9.99954535e-01 -4.11866271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.012869989417074644 Centerline is valid? [True, True] Translation: X:74.72, Y:-137.17, Z:-4.12 [[ 9.71484330e-01 -2.36853407e-01 -1.08931598e-02 7.47176955e+01] [-2.36838176e-01 -9.71545399e-01 2.68623103e-03 -1.37173198e+02] [-1.12194423e-02 -2.97152393e-05 -9.99937060e-01 -4.11827725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.012863071201418014 Centerline is valid? [True, True] Translation: X:74.75, Y:-137.19, Z:-4.12 [[ 9.87174776e-01 -1.59257838e-01 -1.10861786e-02 7.47487740e+01] [-1.59247341e-01 -9.87237023e-01 1.82889533e-03 -1.37189839e+02] [-1.12359519e-02 -3.99948614e-05 -9.99936874e-01 -4.11809960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.01319038262904309 Centerline is valid? [True, True] Translation: X:74.78, Y:-137.20, Z:-4.12 [[ 9.96885717e-01 -7.79229551e-02 -1.21194141e-02 7.47772618e+01] [-7.79161341e-02 -9.96959380e-01 1.03468133e-03 -1.37204706e+02] [-1.21631890e-02 -8.71611417e-05 -9.99926022e-01 -4.11722677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.013915168134150906 Centerline is valid? [True, True] Translation: X:74.81, Y:-137.22, Z:-4.11 [[ 9.99909886e-01 3.48728722e-03 -1.29637796e-02 7.48060105e+01] [ 3.48872193e-03 -9.99993911e-01 8.80583051e-05 -1.37215867e+02] [-1.29633936e-02 -1.33277392e-04 -9.99915963e-01 -4.11479612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.01392173047067923 Centerline is valid? [True, True] Translation: X:74.84, Y:-137.22, Z:-4.12 [[ 9.96342920e-01 8.44544954e-02 -1.29701368e-02 7.48369797e+01] [ 8.44495518e-02 -9.96427323e-01 -9.29351106e-04 -1.37223780e+02] [-1.30022866e-02 -1.69369846e-04 -9.99915452e-01 -4.11555518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.01451234989055376 Centerline is valid? [True, True] Translation: X:74.87, Y:-137.23, Z:-4.12 [[ 9.86268058e-01 1.64718100e-01 -1.19693446e-02 7.48682652e+01] [ 1.64708293e-01 -9.86340667e-01 -1.80736888e-03 -1.37227402e+02] [-1.21035577e-02 -1.88900120e-04 -9.99926731e-01 -4.11657206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.01464782409884178 Centerline is valid? [True, True] Translation: X:74.90, Y:-137.23, Z:-4.12 [[ 9.69841158e-01 2.43477804e-01 -1.12555909e-02 7.49003764e+01] [ 2.43463854e-01 -9.69906448e-01 -2.61433488e-03 -1.37229000e+02] [-1.15534027e-02 -2.04839974e-04 -9.99933236e-01 -4.11800605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.015476296146631395 Centerline is valid? [True, True] Translation: X:74.93, Y:-137.23, Z:-4.12 [[ 9.46539172e-01 3.22402952e-01 -1.09513876e-02 7.49331669e+01] [ 3.22384406e-01 -9.46602490e-01 -3.46701026e-03 -1.37231017e+02] [-1.14843851e-02 -2.48895573e-04 -9.99934021e-01 -4.11784285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.016302010431792878 Centerline is valid? [True, True] Translation: X:74.97, Y:-137.23, Z:-4.12 [[ 9.17565958e-01 3.97430875e-01 -1.10187179e-02 7.49656421e+01] [ 3.97405894e-01 -9.17632072e-01 -4.46491803e-03 -1.37228836e+02] [-1.18856252e-02 -2.82046645e-04 -9.99929324e-01 -4.11665859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.016777855377047245 Centerline is valid? [True, True] Translation: X:75.00, Y:-137.22, Z:-4.12 [[ 8.82459474e-01 4.70269116e-01 -1.05941077e-02 7.49973355e+01] [ 4.70239429e-01 -8.82523009e-01 -5.29316690e-03 -1.37222778e+02] [-1.18387567e-02 -3.10761854e-04 -9.99929871e-01 -4.11684453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.017155737122672033 Centerline is valid? [True, True] Translation: X:75.03, Y:-137.21, Z:-4.12 [[ 8.42578226e-01 5.38484117e-01 -9.83814332e-03 7.50276988e+01] [ 5.38451656e-01 -8.42635604e-01 -5.92061134e-03 -1.37213419e+02] [-1.14781250e-02 -3.08786362e-04 -9.99934077e-01 -4.11752968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.0173575376692374 Centerline is valid? [True, True] Translation: X:75.06, Y:-137.20, Z:-4.12 [[ 7.97958266e-01 6.02648103e-01 -8.82438171e-03 7.50563068e+01] [ 6.02615223e-01 -7.98007005e-01 -6.30180876e-03 -1.37200355e+02] [-1.08396915e-02 -2.89126372e-04 -9.99941207e-01 -4.11822198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.01789195266528119 Centerline is valid? [True, True] Translation: X:75.08, Y:-137.18, Z:-4.12 [[ 7.49407565e-01 6.62063231e-01 -7.78329642e-03 7.50818927e+01] [ 6.62031010e-01 -7.49447939e-01 -6.53662537e-03 -1.37184887e+02] [-1.01608348e-02 -2.54187090e-04 -9.99948345e-01 -4.11818898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.015966108103413684 Centerline is valid? [True, True] Translation: X:75.11, Y:-137.17, Z:-4.12 [[ 6.96174686e-01 7.17833422e-01 -7.48226790e-03 7.51077135e+01] [ 7.17795766e-01 -6.96214849e-01 -7.35679965e-03 -1.37167261e+02] [-1.04902227e-02 -2.49122530e-04 -9.99944945e-01 -4.11885479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.015485699202452036 Centerline is valid? [True, True] Translation: X:75.13, Y:-137.15, Z:-4.12 [[ 6.39558858e-01 7.68702332e-01 -7.82249368e-03 7.51327196e+01] [ 7.68649677e-01 -6.39606644e-01 -9.00089304e-03 -1.37149481e+02] [-1.19223264e-02 -2.56156362e-04 -9.99928894e-01 -4.11804916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.015144075084453716 Centerline is valid? [True, True] Translation: X:75.16, Y:-137.13, Z:-4.12 [[ 5.78983055e-01 8.15309529e-01 -6.99958122e-03 7.51563534e+01] [ 8.15254695e-01 -5.79025318e-01 -9.45851294e-03 -1.37130254e+02] [-1.17645505e-02 -2.30122741e-04 -9.99930769e-01 -4.11779176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.014875492081049501 Centerline is valid? [True, True] Translation: X:75.18, Y:-137.11, Z:-4.12 [[ 5.15539838e-01 8.56847743e-01 -5.53361581e-03 7.51755557e+01] [ 8.56802038e-01 -5.15569504e-01 -8.85181289e-03 -1.37109300e+02] [-1.04376195e-02 -1.77751117e-04 -9.99945511e-01 -4.11897351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.014751845593095187 Centerline is valid? [True, True] Translation: X:75.19, Y:-137.09, Z:-4.12 [[ 4.47014727e-01 8.94515756e-01 -4.40403194e-03 7.51940063e+01] [ 8.94475825e-01 -4.47036393e-01 -8.45355770e-03 -1.37086617e+02] [-9.53060311e-03 -1.60435316e-04 -9.99954570e-01 -4.12051866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.014887108763860929 Centerline is valid? [True, True] Translation: X:75.21, Y:-137.06, Z:-4.12 [[ 3.75409196e-01 9.26851906e-01 -3.67156815e-03 7.52111674e+01] [ 9.26811668e-01 -3.75427116e-01 -8.63784129e-03 -1.37062972e+02] [-9.38440590e-03 -1.60127144e-04 -9.99955953e-01 -4.12098135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.014504530579281031 Centerline is valid? [True, True] Translation: X:75.23, Y:-137.04, Z:-4.12 [[ 3.01069831e-01 9.53597072e-01 -3.09539297e-03 7.52299695e+01] [ 9.53552389e-01 -3.01085694e-01 -9.23293629e-03 -1.37039341e+02] [-9.73647955e-03 -1.71860797e-04 -9.99952585e-01 -4.12030251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.014562992850418476 Centerline is valid? [True, True] Translation: X:75.25, Y:-137.01, Z:-4.12 [[ 2.25274632e-01 9.74292596e-01 -2.29728764e-03 7.52470164e+01] [ 9.74249307e-01 -2.25286282e-01 -9.18579001e-03 -1.37013718e+02] [-9.46719458e-03 -1.68805427e-04 -9.99955171e-01 -4.12044773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.014529509710165648 Centerline is valid? [True, True] Translation: X:75.26, Y:-136.99, Z:-4.12 [[ 1.48564585e-01 9.88901877e-01 -1.28168400e-03 7.52603098e+01] [ 9.88872540e-01 -1.48570051e-01 -7.61831444e-03 -1.36986821e+02] [-7.72418530e-03 -1.35610389e-04 -9.99970159e-01 -4.12364537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.014353932189456792 Centerline is valid? [True, True] Translation: X:75.27, Y:-136.96, Z:-4.13 [[ 7.18950739e-02 9.97412085e-01 -4.81611211e-04 7.52722838e+01] [ 9.97397226e-01 -7.18966321e-02 -5.44502275e-03 -1.36959472e+02] [-5.46555772e-03 -8.88873726e-05 -9.99985060e-01 -4.12539995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.014118872922346625 Centerline is valid? [True, True] Translation: X:75.28, Y:-136.93, Z:-4.13 [[-4.01147744e-03 9.99991953e-01 -3.97914596e-05 7.52800713e+01] [ 9.99983691e-01 4.01128252e-03 -4.06551595e-03 -1.36932052e+02] [-4.06532362e-03 -5.60995361e-05 -9.99991735e-01 -4.12642274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.013643674240714786 Centerline is valid? [True, True] Translation: X:75.29, Y:-136.90, Z:-4.13 [[-7.99074736e-02 9.96802251e-01 2.60769414e-04 7.52851681e+01] [ 9.96795032e-01 7.99078874e-02 -3.79402941e-03 -1.36902972e+02] [-3.80273459e-03 -4.32376488e-05 -9.99992769e-01 -4.12603661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.013003688392989826 Centerline is valid? [True, True] Translation: X:75.29, Y:-136.87, Z:-4.13 [[-1.53403197e-01 9.88163413e-01 7.27105983e-04 7.52884527e+01] [ 9.88151214e-01 1.53404916e-01 -4.91027025e-03 -1.36874158e+02] [-4.96369104e-03 -3.47604949e-05 -9.99987680e-01 -4.12527973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.012823800082929725 Centerline is valid? [True, True] Translation: X:75.29, Y:-136.85, Z:-4.12 [[-2.28023880e-01 9.73654667e-01 1.30401324e-03 7.52912443e+01] [ 9.73638058e-01 2.28027607e-01 -5.68703681e-03 -1.36845220e+02] [-5.83456095e-03 -2.71432775e-05 -9.99982979e-01 -4.12404852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.012784488938799151 Centerline is valid? [True, True] Translation: X:75.29, Y:-136.82, Z:-4.12 [[-3.02172337e-01 9.53250634e-01 2.26012778e-03 7.52910916e+01] [ 9.53223365e-01 3.02180789e-01 -7.21027030e-03 -1.36816114e+02] [-7.55616193e-03 -2.43376231e-05 -9.99971452e-01 -4.12251117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.012842486882173376 Centerline is valid? [True, True] Translation: X:75.29, Y:-136.79, Z:-4.12 [[-3.74391208e-01 9.27263309e-01 3.73876249e-03 7.52886813e+01] [ 9.27216647e-01 3.74409876e-01 -9.30243816e-03 -1.36786685e+02] [-1.00256392e-02 -1.61082443e-05 -9.99949742e-01 -4.12096805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.012884770792225473 Centerline is valid? [True, True] Translation: X:75.28, Y:-136.76, Z:-4.12 [[-4.44691722e-01 8.95671296e-01 4.71189472e-03 7.52840585e+01] [ 8.95620954e-01 4.44716685e-01 -9.49618336e-03 -1.36757690e+02] [-1.06009171e-02 -2.80249186e-06 -9.99943809e-01 -4.12065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.013066816263201858 Centerline is valid? [True, True] Translation: X:75.28, Y:-136.73, Z:-4.12 [[-5.12087353e-01 8.58917874e-01 5.16035753e-03 7.52783911e+01] [ 8.58874541e-01 5.12113353e-01 -8.62769423e-03 -1.36727989e+02] [-1.00531688e-02 1.39665971e-05 -9.99949466e-01 -4.12133830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.01293603580482269 Centerline is valid? [True, True] Translation: X:75.27, Y:-136.70, Z:-4.12 [[-5.76805745e-01 8.16865673e-01 5.06017500e-03 7.52691285e+01] [ 8.16834586e-01 5.76827940e-01 -7.12651294e-03 -1.36700618e+02] [-8.74025411e-03 2.27123446e-05 -9.99961803e-01 -4.12251586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.012912828301961778 Centerline is valid? [True, True] Translation: X:75.26, Y:-136.67, Z:-4.12 [[-6.38312881e-01 7.69759640e-01 5.17324140e-03 7.52567062e+01] [ 7.69734720e-01 6.38333843e-01 -6.19393473e-03 -1.36673924e+02] [-8.07009604e-03 2.83552025e-05 -9.99967436e-01 -4.12332229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.01316839427023994 Centerline is valid? [True, True] Translation: X:75.24, Y:-136.65, Z:-4.12 [[-6.94275664e-01 7.19694077e-01 4.66240707e-03 7.52412999e+01] [ 7.19678289e-01 6.94291317e-01 -4.76740023e-03 -1.36651512e+02] [-6.66813846e-03 4.55431864e-05 -9.99977767e-01 -4.12484733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.013348251513169531 Centerline is valid? [True, True] Translation: X:75.23, Y:-136.63, Z:-4.12 [[-7.47188899e-01 6.64587517e-01 5.67288440e-03 7.52253722e+01] [ 6.64569033e-01 7.47210431e-01 -4.95703446e-03 -1.36627099e+02] [-7.53322163e-03 6.61821814e-05 -9.99971623e-01 -4.12452873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.01349809520289141 Centerline is valid? [True, True] Translation: X:75.69, Y:-136.11, Z:-5.13 [[-7.13881638e-01 -7.00235305e-01 6.59725679e-03 7.56876786e+01] [ 7.00205622e-01 -7.13912122e-01 -6.44747141e-03 -1.36108093e+02] [ 9.22460870e-03 1.67048393e-05 9.99957452e-01 -5.12765157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.01393936332698259 Centerline is valid? [True, True] Translation: X:75.65, Y:-136.07, Z:-5.13 [[-7.15055773e-01 -6.99033847e-01 6.84993434e-03 7.56468093e+01] [ 6.99000300e-01 -7.15088574e-01 -6.84921188e-03 -1.36068492e+02] [ 9.68614071e-03 -1.09462341e-04 9.99953082e-01 -5.12838667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.014264522502568619 Centerline is valid? [True, True] Translation: X:75.16, Y:-136.56, Z:-4.12 [[-7.46946351e-01 6.64853353e-01 6.41612050e-03 7.51566306e+01] [ 6.64830071e-01 7.46973900e-01 -5.56507024e-03 -1.36559039e+02] [-8.49263016e-03 1.08820941e-04 -9.99963931e-01 -4.12317744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.014622972610610485 Centerline is valid? [True, True] Translation: X:75.18, Y:-136.54, Z:-4.12 [[-7.91535274e-01 6.11088567e-01 6.53239139e-03 7.51761972e+01] [ 6.11068925e-01 7.91562221e-01 -4.90090803e-03 -1.36538945e+02] [-8.16568310e-03 1.12499800e-04 -9.99966654e-01 -4.12359799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.013804463329914335 Centerline is valid? [True, True] Translation: X:75.19, Y:-136.51, Z:-4.12 [[-8.33437442e-01 5.52572614e-01 6.74809096e-03 7.51929252e+01] [ 5.52555484e-01 8.33464754e-01 -4.35216432e-03 -1.36510783e+02] [-8.02918279e-03 1.01437963e-04 -9.99967761e-01 -4.12480962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.013604745563587777 Centerline is valid? [True, True] Translation: X:75.21, Y:-136.48, Z:-4.12 [[-8.71768941e-01 4.89854382e-01 7.84841168e-03 7.52089217e+01] [ 4.89835449e-01 8.71804265e-01 -4.30772581e-03 -1.36483801e+02] [-8.95243714e-03 8.90886816e-05 -9.99959922e-01 -4.12433811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.013026679198227352 Centerline is valid? [True, True] Translation: X:75.53, Y:-135.90, Z:-5.13 [[-8.45596837e-01 -5.33767767e-01 7.61321215e-03 7.55300376e+01] [ 5.33745243e-01 -8.45631104e-01 -4.90423774e-03 -1.35902857e+02] [ 9.05569302e-03 -8.34921537e-05 9.99958993e-01 -5.12676011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.012766527491933854 Centerline is valid? [True, True] Translation: X:75.17, Y:-136.45, Z:-4.12 [[-8.77679479e-01 4.79174792e-01 8.38157745e-03 7.51738711e+01] [ 4.79153082e-01 8.77719499e-01 -4.56129327e-03 -1.36450184e+02] [-9.54233071e-03 1.27051716e-05 -9.99954471e-01 -4.12310637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.012795602271494634 Centerline is valid? [True, True] Translation: X:75.18, Y:-136.42, Z:-4.12 [[-9.10456606e-01 4.13506491e-01 9.00836784e-03 7.51838919e+01] [ 4.13486092e-01 9.10501171e-01 -4.10731536e-03 -1.36419520e+02] [-9.90053103e-03 -1.46975933e-05 -9.99950989e-01 -4.12281084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.012901784117607926 Centerline is valid? [True, True] Translation: X:75.45, Y:-135.85, Z:-5.13 [[-8.77395308e-01 -4.79699651e-01 8.10671607e-03 7.54459416e+01] [ 4.79678880e-01 -8.77432758e-01 -4.46409370e-03 -1.35849508e+02] [ 9.25452242e-03 -2.81543808e-05 9.99957176e-01 -5.12757409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.013106117852343847 Centerline is valid? [True, True] Translation: X:75.15, Y:-136.39, Z:-4.12 [[-9.14365419e-01 4.04817314e-01 7.66958873e-03 7.51466396e+01] [ 4.04802501e-01 9.14397582e-01 -3.46362186e-03 -1.36393260e+02] [-8.41518749e-03 -6.23473483e-05 -9.99964590e-01 -4.12317642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.013517437838228735 Centerline is valid? [True, True] Translation: X:75.15, Y:-136.36, Z:-4.12 [[-9.41473258e-01 3.37002046e-01 7.59774866e-03 7.51542050e+01] [ 3.36990408e-01 9.41503911e-01 -2.80178379e-03 -1.36363809e+02] [-8.09751695e-03 -7.74360937e-05 -9.99967212e-01 -4.12264751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.013591043528369196 Centerline is valid? [True, True] Translation: X:75.16, Y:-136.34, Z:-4.12 [[-9.63694509e-01 2.66925321e-01 6.61567024e-03 7.51602924e+01] [ 2.66918435e-01 9.63717213e-01 -1.91905689e-03 -1.36335716e+02] [-6.88788016e-03 -8.35402390e-05 -9.99976275e-01 -4.12380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.013924265478781329 Centerline is valid? [True, True] Translation: X:75.33, Y:-135.76, Z:-5.13 [[-9.34710488e-01 -3.55339817e-01 7.06531476e-03 7.53268116e+01] [ 3.55330719e-01 -9.34737181e-01 -2.54609607e-03 -1.35756488e+02] [ 7.50894171e-03 1.30660669e-04 9.99971799e-01 -5.12886640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.014395543959056985 Centerline is valid? [True, True] Translation: X:75.11, Y:-136.32, Z:-4.12 [[-9.65416943e-01 2.60584712e-01 8.10765524e-03 7.51147536e+01] [ 2.60574422e-01 9.65450979e-01 -2.31922579e-03 -1.36319530e+02] [-8.43189847e-03 -1.26372295e-04 -9.99964443e-01 -4.12025218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.014159777002953865 Centerline is valid? [True, True] Translation: X:75.12, Y:-136.29, Z:-4.12 [[-9.81353988e-01 1.91993988e-01 9.09171429e-03 7.51165431e+01] [ 1.91984481e-01 9.81396093e-01 -1.91529625e-03 -1.36293500e+02] [-9.29029825e-03 -1.34115559e-04 -9.99956835e-01 -4.11976684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.013676457856968792 Centerline is valid? [True, True] Translation: X:75.12, Y:-136.27, Z:-4.12 [[-9.92221969e-01 1.24089755e-01 9.86395267e-03 7.51184774e+01] [ 1.24082401e-01 9.92270990e-01 -1.35641408e-03 -1.36269104e+02] [-9.95603117e-03 -1.21920918e-04 -9.99950430e-01 -4.11916034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.01308821441876472 Centerline is valid? [True, True] Translation: X:75.12, Y:-136.25, Z:-4.12 [[-9.98173659e-01 5.94428667e-02 1.07653039e-02 7.51210726e+01] [ 5.94386887e-02 9.98231707e-01 -7.07912642e-04 -1.36246971e+02] [-1.07883480e-02 -6.67442060e-05 -9.99941802e-01 -4.11776468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.012945236024968705 Centerline is valid? [True, True] Translation: X:75.17, Y:-135.63, Z:-5.13 [[-9.90947657e-01 -1.33832932e-01 1.05587167e-02 7.51672974e+01] [ 1.33825953e-01 -9.91003907e-01 -1.36797276e-03 -1.35629793e+02] [ 1.06468093e-02 5.74409291e-05 9.99943320e-01 -5.13280177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.013291405752256267 Centerline is valid? [True, True] Translation: X:75.07, Y:-136.26, Z:-4.12 [[-9.97601303e-01 6.86022810e-02 9.23940489e-03 7.50732291e+01] [ 6.85999494e-02 9.97644086e-01 -5.69404252e-04 -1.36255727e+02] [-9.25670007e-03 6.57842844e-05 -9.99957154e-01 -4.11912409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.014102058080862772 Centerline is valid? [True, True] Translation: X:75.11, Y:-135.62, Z:-5.13 [[-9.93173790e-01 -1.16330788e-01 8.54228937e-03 7.51141194e+01] [ 1.16325624e-01 -9.93210521e-01 -1.10060618e-03 -1.35615520e+02] [ 8.61232605e-03 -9.94060780e-05 9.99962908e-01 -5.13172868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.014997530396502872 Centerline is valid? [True, True] Translation: X:75.02, Y:-136.26, Z:-4.12 [[-9.97081058e-01 7.59542260e-02 7.76658836e-03 7.50217506e+01] [ 7.59530625e-02 9.97111295e-01 -4.45078136e-04 -1.36264194e+02] [-7.77795854e-03 1.46117193e-04 -9.99969741e-01 -4.12074167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.015448881596676869 Centerline is valid? [True, True] Translation: X:75.02, Y:-136.24, Z:-4.12 [[-9.99946891e-01 6.92072605e-03 7.63669614e-03 7.50191279e+01] [ 6.92173463e-03 9.99976039e-01 1.05647850e-04 -1.36238969e+02] [-7.63578200e-03 1.58501423e-04 -9.99970835e-01 -4.12111699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.01527922518464701 Centerline is valid? [True, True] Translation: X:75.01, Y:-135.58, Z:-5.13 [[-9.99399161e-01 -3.37832004e-02 7.74682762e-03 7.50105853e+01] [ 3.37809984e-02 -9.99429173e-01 -4.14959173e-04 -1.35575795e+02] [ 7.75642417e-03 -1.53014278e-04 9.99969907e-01 -5.13033602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.015018178268779471 Centerline is valid? [True, True] Translation: X:74.95, Y:-136.24, Z:-4.12 [[-9.99965970e-01 -1.40924434e-03 8.12848984e-03 7.49481323e+01] [-1.40806956e-03 9.99998997e-01 1.50246316e-04 -1.36239837e+02] [-8.12869342e-03 1.38795725e-04 -9.99966952e-01 -4.12048974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.014098733555249144 Centerline is valid? [True, True] Translation: X:74.93, Y:-135.58, Z:-5.13 [[-9.99330859e-01 -3.55362092e-02 8.66094443e-03 7.49347136e+01] [ 3.55339142e-02 -9.99368383e-01 -4.18770794e-04 -1.35580111e+02] [ 8.67035556e-03 -1.10733321e-04 9.99962406e-01 -5.13100929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.013386260329907942 Centerline is valid? [True, True] Translation: X:74.88, Y:-136.24, Z:-4.12 [[-9.99852796e-01 -1.50172779e-02 8.29867779e-03 7.48776906e+01] [-1.50162144e-02 9.99887232e-01 1.90446478e-04 -1.36235936e+02] [-8.30060195e-03 6.58037181e-05 -9.99965547e-01 -4.12003311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.013155816235069265 Centerline is valid? [True, True] Translation: X:74.86, Y:-135.59, Z:-5.13 [[-9.99192067e-01 -3.94019889e-02 7.91811903e-03 7.48571006e+01] [ 3.94000524e-02 -9.99223436e-01 -4.00467698e-04 -1.35586294e+02] [ 7.92774933e-03 -8.81698422e-05 9.99968571e-01 -5.13108852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.012922697787347753 Centerline is valid? [True, True] Translation: X:74.81, Y:-136.23, Z:-4.12 [[-9.99663159e-01 -2.49599592e-02 7.11120544e-03 7.48074460e+01] [-2.49591967e-02 9.99688452e-01 1.95974397e-04 -1.36234057e+02] [-7.11388147e-03 1.84184096e-05 -9.99974696e-01 -4.12057886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.012832580348830804 Centerline is valid? [True, True] Translation: X:74.80, Y:-136.21, Z:-4.12 [[-9.95153770e-01 -9.80891568e-02 6.89146532e-03 7.47984720e+01] [-9.80867825e-02 9.95177631e-01 6.82479771e-04 -1.36206168e+02] [-6.92517600e-03 3.21065638e-06 -9.99976021e-01 -4.12098352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.012815830627052573 Centerline is valid? [True, True] Translation: X:74.79, Y:-136.18, Z:-4.12 [[-9.85298810e-01 -1.70720240e-01 6.39185045e-03 7.47853122e+01] [-1.70716717e-01 9.85319542e-01 1.09683639e-03 -1.36178926e+02] [-6.48526733e-03 -1.04841283e-05 -9.99978970e-01 -4.12090817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.013078965387804004 Centerline is valid? [True, True] Translation: X:74.77, Y:-136.15, Z:-4.12 [[-9.69700754e-01 -2.44215414e-01 6.26732992e-03 7.47684069e+01] [-2.44210547e-01 9.69721006e-01 1.54222462e-03 -1.36152700e+02] [-6.45419650e-03 -3.50516882e-05 -9.99979171e-01 -4.12101667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.013272723966932765 Centerline is valid? [True, True] Translation: X:74.75, Y:-136.13, Z:-4.12 [[-9.49069210e-01 -3.14991723e-01 6.91733016e-03 7.47450432e+01] [-3.14983780e-01 9.49094417e-01 2.23759395e-03 -1.36130224e+02] [-7.27002300e-03 -5.52152805e-05 -9.99973572e-01 -4.12016606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.013862010544693276 Centerline is valid? [True, True] Translation: X:74.71, Y:-136.11, Z:-4.12 [[-9.23024593e-01 -3.84658849e-01 7.94804231e-03 7.47127003e+01] [-3.84645388e-01 9.23058808e-01 3.21921328e-03 -1.36112142e+02] [-8.57480934e-03 -8.57647891e-05 -9.99963232e-01 -4.11777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.014279969795054389 Centerline is valid? [True, True] Translation: X:74.66, Y:-136.11, Z:-4.12 [[-8.90577294e-01 -4.54739317e-01 9.17808997e-03 7.46616653e+01] [-4.54716886e-01 8.90624574e-01 4.51902084e-03 -1.36105646e+02] [-1.02292089e-02 -1.48895144e-04 -9.99947669e-01 -4.11696652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.015034224773021606 Centerline is valid? [True, True] Translation: X:74.59, Y:-136.11, Z:-4.12 [[-8.53143015e-01 -5.21580642e-01 1.00314637e-02 7.45930769e+01] [-5.21547410e-01 8.53201964e-01 5.89131125e-03 -1.36111368e+02] [-1.16316584e-02 -2.05752867e-04 -9.99932329e-01 -4.11586570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.016320643144607083 Centerline is valid? [True, True] Translation: X:74.53, Y:-136.12, Z:-4.12 [[-8.10237628e-01 -5.86022197e-01 9.64217156e-03 7.45256647e+01] [-5.85984313e-01 8.10294961e-01 6.66789625e-03 -1.36121448e+02] [-1.17205382e-02 -2.47580839e-04 -9.99931282e-01 -4.11561477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.015500736596007729 Centerline is valid? [True, True] Translation: X:74.46, Y:-136.15, Z:-4.12 [[-7.64249522e-01 -6.44866636e-01 8.34804787e-03 7.44553925e+01] [-6.44831417e-01 7.64295080e-01 6.74350856e-03 -1.36146666e+02] [-1.07290356e-02 -2.29360343e-04 -9.99942416e-01 -4.11763824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.016292496876546794 Centerline is valid? [True, True] Translation: X:74.38, Y:-136.18, Z:-4.12 [[-7.14651511e-01 -6.99439963e-01 7.54686228e-03 7.43761711e+01] [-6.99404053e-01 7.14691327e-01 7.09069477e-03 -1.36182455e+02] [-1.03531923e-02 -2.10930332e-04 -9.99946382e-01 -4.11681798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.015907888802294236 Centerline is valid? [True, True] Translation: X:74.30, Y:-136.22, Z:-4.12 [[-6.60872688e-01 -7.50466435e-01 6.88630208e-03 7.43021204e+01] [-7.50428755e-01 6.60908535e-01 7.52272110e-03 -1.36224418e+02] [-1.01967655e-02 -1.96118189e-04 -9.99947992e-01 -4.11717670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.015279291006691823 Centerline is valid? [True, True] Translation: X:74.22, Y:-136.28, Z:-4.12 [[-6.01852346e-01 -7.98577219e-01 6.94114701e-03 7.42214105e+01] [-7.98528348e-01 6.01892329e-01 8.83758883e-03 -1.36284318e+02] [-1.12353202e-02 -2.23779084e-04 -9.99936857e-01 -4.11676046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.015842347641512086 Centerline is valid? [True, True] Translation: X:74.15, Y:-136.34, Z:-4.12 [[-5.38585450e-01 -8.42546218e-01 6.44854735e-03 7.41467054e+01] [-8.42491203e-01 5.38623997e-01 9.63139150e-03 -1.36343844e+02] [-1.15882348e-02 -2.45517086e-04 -9.99932824e-01 -4.11582675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.017152174283580297 Centerline is valid? [True, True] Translation: X:74.07, Y:-136.42, Z:-4.11 [[-4.70924287e-01 -8.82150630e-01 6.37039932e-03 7.40705863e+01] [-8.82078524e-01 4.70967273e-01 1.12829527e-02 -1.36419176e+02] [-1.29535135e-02 -3.05775962e-04 -9.99916053e-01 -4.11465251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.01732723930244893 Centerline is valid? [True, True] Translation: X:74.00, Y:-136.50, Z:-4.11 [[-4.03047897e-01 -9.15161600e-01 5.62492920e-03 7.39989985e+01] [-9.15082755e-01 4.03087031e-01 1.20165726e-02 -1.36499672e+02] [-1.32644418e-02 -3.04021376e-04 -9.99911977e-01 -4.11373861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.01512448614161837 Centerline is valid? [True, True] Translation: X:73.94, Y:-136.59, Z:-4.11 [[-3.35719049e-01 -9.41950711e-01 4.64519290e-03 7.39375896e+01] [-9.41870559e-01 3.35751092e-01 1.22904022e-02 -1.36586956e+02] [-1.31365817e-02 -2.49048291e-04 -9.99913680e-01 -4.11479136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.015087113713376421 Centerline is valid? [True, True] Translation: X:73.88, Y:-136.68, Z:-4.11 [[-2.64910254e-01 -9.64267180e-01 3.37076492e-03 7.38776583e+01] [-9.64198518e-01 2.64931622e-01 1.15088619e-02 -1.36680014e+02] [-1.19906400e-02 -2.01271013e-04 -9.99928090e-01 -4.11482656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.014556293647138436 Centerline is valid? [True, True] Translation: X:73.82, Y:-136.79, Z:-4.12 [[-1.90823253e-01 -9.81621215e-01 2.50545341e-03 7.38239750e+01] [-9.81549686e-01 1.90839598e-01 1.18516673e-02 -1.36786560e+02] [-1.21119878e-02 -1.97653292e-04 -9.99926628e-01 -4.11663822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.016044724267804712 Centerline is valid? [True, True] Translation: X:73.77, Y:-136.89, Z:-4.12 [[-1.11733926e-01 -9.93736978e-01 1.53216452e-03 7.37730598e+01] [-9.93669707e-01 1.11744193e-01 1.15649437e-02 -1.36890455e+02] [-1.16637227e-02 -2.30268902e-04 -9.99931950e-01 -4.11560585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.017788871225990616 Centerline is valid? [True, True] Translation: X:73.73, Y:-137.00, Z:-4.12 [[-3.02171511e-02 -9.99543140e-01 6.60243181e-04 7.37307917e+01] [-9.99471616e-01 3.02228896e-02 1.19610103e-02 -1.37003687e+02] [-1.19755003e-02 -2.98466663e-04 -9.99928247e-01 -4.11561074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.01732007180607674 Centerline is valid? [True, True] Translation: X:73.70, Y:-137.11, Z:-4.12 [[ 4.85172832e-02 -9.98822309e-01 -2.60401101e-04 7.37025104e+01] [-9.98749420e-01 -4.85168896e-02 1.20709341e-02 -1.37112964e+02] [-1.20693521e-02 -3.25573478e-04 -9.99927110e-01 -4.11641638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.01860116275495936 Centerline is valid? [True, True] Translation: X:73.68, Y:-137.23, Z:-4.12 [[ 1.25930211e-01 -9.92038464e-01 -1.12603559e-03 7.36802125e+01] [-9.91972824e-01 -1.25934837e-01 1.14163916e-02 -1.37231267e+02] [-1.14673067e-02 -3.20671904e-04 -9.99934197e-01 -4.11663984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.018266335558328912 Centerline is valid? [True, True] Translation: X:73.67, Y:-137.35, Z:-4.12 [[ 2.02393824e-01 -9.79302572e-01 -1.79243065e-03 7.36684141e+01] [-9.79250161e-01 -2.02401544e-01 1.01359513e-02 -1.37346339e+02] [-1.02889539e-02 -2.96215932e-04 -9.99947024e-01 -4.11791123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.018661785305568813 Centerline is valid? [True, True] Translation: X:73.66, Y:-137.46, Z:-4.12 [[ 2.76627740e-01 -9.60974550e-01 -2.23769013e-03 7.36643148e+01] [-9.60935102e-01 -2.76636669e-01 8.71104727e-03 -1.37458086e+02] [-8.99012188e-03 -2.59442325e-04 -9.99959554e-01 -4.11877854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.018330345064716504 Centerline is valid? [True, True] Translation: X:73.67, Y:-137.57, Z:-4.12 [[ 3.49977397e-01 -9.36753454e-01 -2.96443898e-03 7.36712954e+01] [-9.36713033e-01 -3.49989847e-01 8.70637840e-03 -1.37573571e+02] [-9.19325359e-03 -2.70207024e-04 -9.99957705e-01 -4.11915763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.018696300647796055 Centerline is valid? [True, True] Translation: X:73.69, Y:-137.69, Z:-4.12 [[ 4.20352382e-01 -9.07350967e-01 -4.25411115e-03 7.36854142e+01] [-9.07296705e-01 -4.20373791e-01 9.92798224e-03 -1.37687447e+02] [-1.07964811e-02 -3.13509953e-04 -9.99941667e-01 -4.11754929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.01765902030321719 Centerline is valid? [True, True] Translation: X:73.71, Y:-137.80, Z:-4.12 [[ 4.86754744e-01 -8.73521524e-01 -5.47414508e-03 7.37093604e+01] [-8.73458724e-01 -4.86785420e-01 1.04791072e-02 -1.37796340e+02] [-1.18184597e-02 -3.19315389e-04 -9.99930109e-01 -4.11671619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.01663549585786349 Centerline is valid? [True, True] Translation: X:73.74, Y:-137.90, Z:-4.12 [[ 5.47183181e-01 -8.36990003e-01 -6.18879900e-03 7.37432799e+01] [-8.36931279e-01 -5.47218123e-01 9.91770758e-03 -1.37902716e+02] [-1.16876451e-02 -2.47203319e-04 -9.99931667e-01 -4.11603159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.015026564090440698 Centerline is valid? [True, True] Translation: X:73.79, Y:-138.01, Z:-4.12 [[ 6.05052679e-01 -7.96157795e-01 -6.63486992e-03 7.37875710e+01] [-7.96106754e-01 -6.05089032e-01 9.01667613e-03 -1.38005457e+02] [-1.11933840e-02 -1.73499299e-04 -9.99937337e-01 -4.11693409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.013761148696982287 Centerline is valid? [True, True] Translation: X:73.84, Y:-138.10, Z:-4.12 [[ 6.57098435e-01 -7.53773749e-01 -6.83976107e-03 7.38380426e+01] [-7.53731874e-01 -6.57134029e-01 7.94545028e-03 -1.38098422e+02] [-1.04837116e-02 -6.55970087e-05 -9.99945042e-01 -4.11736214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.013524363458205749 Centerline is valid? [True, True] Translation: X:73.88, Y:-138.18, Z:-4.12 [[ 7.09206660e-01 -7.04966719e-01 -6.91654746e-03 7.38846502e+01] [-7.04933002e-01 -7.09240386e-01 6.89477589e-03 -1.38182516e+02] [-9.76608233e-03 -1.41184159e-05 -9.99952311e-01 -4.11754513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.013576143791085396 Centerline is valid? [True, True] Translation: X:73.90, Y:-138.21, Z:-4.12 [[ 7.60835026e-01 -6.48902260e-01 -7.47793052e-03 7.39044001e+01] [-6.48870990e-01 -7.60871774e-01 6.37035561e-03 -1.38210570e+02] [-9.82348442e-03 5.42251148e-06 -9.99951748e-01 -4.11881855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.013453000500720078 Centerline is valid? [True, True] Translation: X:73.92, Y:-138.24, Z:-4.12 [[ 8.10468288e-01 -5.85713677e-01 -8.98016446e-03 7.39244089e+01] [-5.85677487e-01 -8.10518037e-01 6.51100537e-03 -1.38239057e+02] [-1.10921702e-02 -1.74832283e-05 -9.99938480e-01 -4.11744571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.013647690027237175 Centerline is valid? [True, True] Translation: X:73.95, Y:-138.26, Z:-4.12 [[ 8.55308223e-01 -5.18011041e-01 -1.06021110e-02 7.39469599e+01] [-5.17970427e-01 -8.55373929e-01 6.48676846e-03 -1.38263787e+02] [-1.24289870e-02 -5.66064503e-05 -9.99922756e-01 -4.11560313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.014067854530422393 Centerline is valid? [True, True] Translation: X:73.97, Y:-138.29, Z:-4.12 [[ 8.95400679e-01 -4.45116141e-01 -1.13685822e-02 7.39711291e+01] [-4.45078550e-01 -8.95472840e-01 5.78601649e-03 -1.38290657e+02] [-1.27557059e-02 -1.20891038e-04 -9.99918635e-01 -4.11608257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.014328150802206457 Centerline is valid? [True, True] Translation: X:74.00, Y:-138.31, Z:-4.12 [[ 9.28074267e-01 -3.72234044e-01 -1.09531278e-02 7.39976282e+01] [-3.72206444e-01 -9.28138890e-01 4.53474235e-03 -1.38314687e+02] [-1.18540093e-02 -1.31752953e-04 -9.99929730e-01 -4.11598815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.014525449124697153 Centerline is valid? [True, True] Translation: X:74.03, Y:-138.33, Z:-4.12 [[ 9.54545578e-01 -2.97940487e-01 -8.61427009e-03 7.40254303e+01] [-2.97927350e-01 -9.54584441e-01 2.79990033e-03 -1.38334139e+02] [-9.05725187e-03 -1.06205825e-04 -9.99958977e-01 -4.11734275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.014187531458657011 Centerline is valid? [True, True] Translation: X:74.06, Y:-138.35, Z:-4.12 [[ 9.74757068e-01 -2.23161267e-01 -6.90698170e-03 7.40576297e+01] [-2.23155099e-01 -9.74781536e-01 1.66105814e-03 -1.38348301e+02] [-7.10348207e-03 -7.77999746e-05 -9.99974767e-01 -4.11974637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.01380180781159707 Centerline is valid? [True, True] Translation: X:74.09, Y:-138.36, Z:-4.12 [[ 9.89014442e-01 -1.47700143e-01 -5.92458457e-03 7.40898548e+01] [-1.47697146e-01 -9.89032186e-01 9.42740013e-04 -1.38362895e+02] [-5.99884766e-03 -5.73392582e-05 -9.99982005e-01 -4.12074759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.0138308549117536 Centerline is valid? [True, True] Translation: X:74.12, Y:-138.38, Z:-4.12 [[ 9.97507954e-01 -7.02307059e-02 -6.74762738e-03 7.41197002e+01] [-7.02286792e-02 -9.97530774e-01 5.37123764e-04 -1.38375451e+02] [-6.76868854e-03 -6.19082679e-05 -9.99977090e-01 -4.11953966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.013838438991369873 Centerline is valid? [True, True] Translation: X:74.15, Y:-138.39, Z:-4.12 [[ 9.99936229e-01 7.62136617e-03 -8.33378251e-03 7.41497894e+01] [ 7.62170546e-03 -9.99970954e-01 8.95333786e-06 -1.38385760e+02] [-8.33347221e-03 -7.24704026e-05 -9.99965273e-01 -4.11709187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.01366536713400016 Centerline is valid? [True, True] Translation: X:74.18, Y:-138.39, Z:-4.12 [[ 9.96315394e-01 8.52609563e-02 -9.28463262e-03 7.41810462e+01] [ 8.52579613e-02 -9.96358652e-01 -7.18624768e-04 -1.38391988e+02] [-9.31209467e-03 -7.56119291e-05 -9.99956639e-01 -4.11679964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.013591382170347855 Centerline is valid? [True, True] Translation: X:74.21, Y:-138.39, Z:-4.12 [[ 9.86788184e-01 1.61727693e-01 -9.65571720e-03 7.42122013e+01] [ 1.61720611e-01 -9.86835421e-01 -1.51491045e-03 -1.38393994e+02] [-9.77360672e-03 -6.66327564e-05 -9.99952235e-01 -4.11549035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.013488893608233516 Centerline is valid? [True, True] Translation: X:74.24, Y:-138.39, Z:-4.11 [[ 9.71675105e-01 2.36085464e-01 -1.05425339e-02 7.42436907e+01] [ 2.36072096e-01 -9.71732294e-01 -2.51277894e-03 -1.38392808e+02] [-1.08377512e-02 -4.71933333e-05 -9.99941269e-01 -4.11376423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.013343104030527759 Centerline is valid? [True, True] Translation: X:74.27, Y:-138.39, Z:-4.11 [[ 9.50664513e-01 3.10016851e-01 -1.12488009e-02 7.42749002e+01] [ 3.09995575e-01 -9.50731061e-01 -3.63214681e-03 -1.38387909e+02] [-1.18206111e-02 -3.41254292e-05 -9.99930134e-01 -4.11305514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.01314506544551842 Centerline is valid? [True, True] Translation: X:74.31, Y:-138.38, Z:-4.12 [[ 9.24335980e-01 3.81433338e-01 -1.05642948e-02 7.43056353e+01] [ 3.81408523e-01 -9.24396348e-01 -4.35084673e-03 -1.38381183e+02] [-1.14251535e-02 -7.66790560e-06 -9.99934731e-01 -4.11547906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.012999420880614575 Centerline is valid? [True, True] Translation: X:74.34, Y:-138.37, Z:-4.12 [[ 8.91463421e-01 4.53007892e-01 -8.76462998e-03 7.43373509e+01] [ 4.52986123e-01 -8.91506506e-01 -4.44107961e-03 -1.38374969e+02] [-9.82556876e-03 -1.11957277e-05 -9.99951728e-01 -4.11764823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.013360595606057846 Centerline is valid? [True, True] Translation: X:74.37, Y:-138.37, Z:-4.12 [[ 8.50430717e-01 5.26010408e-01 -8.98039637e-03 7.43685352e+01] [ 5.25981935e-01 -8.50478128e-01 -5.47332615e-03 -1.38368704e+02] [-1.05166572e-02 -6.88415866e-05 -9.99944696e-01 -4.11631105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.013360595606057846 Centerline is valid? [True, True] Translation: X:74.40, Y:-138.35, Z:-4.12 [[ 8.06670040e-01 5.90940587e-01 -8.52463324e-03 7.43960954e+01] [ 5.90908492e-01 -8.06715079e-01 -6.15919199e-03 -1.38354170e+02] [-1.05166667e-02 -6.88425208e-05 -9.99944696e-01 -4.11631087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.013531470533885865 Centerline is valid? [True, True] Translation: X:74.43, Y:-138.34, Z:-4.12 [[ 7.56376497e-01 6.54085967e-01 -8.13281869e-03 7.44253137e+01] [ 6.54049510e-01 -7.56420213e-01 -6.90651541e-03 -1.38340259e+02] [-1.06692833e-02 -9.53401502e-05 -9.99943077e-01 -4.11709971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.013896439628048833 Centerline is valid? [True, True] Translation: X:74.45, Y:-138.32, Z:-4.12 [[ 7.01049201e-01 7.13072839e-01 -7.55942071e-03 7.44532204e+01] [ 7.13033257e-01 -7.01089946e-01 -7.51418197e-03 -1.38324272e+02] [-1.06579929e-02 -1.22307109e-04 -9.99943195e-01 -4.11697747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.014286417895013606 Centerline is valid? [True, True] Translation: X:74.48, Y:-138.31, Z:-4.12 [[ 6.40905188e-01 7.67596825e-01 -5.97114598e-03 7.44788869e+01] [ 7.67565400e-01 -6.40932990e-01 -6.94694130e-03 -1.38306173e+02] [-9.15955454e-03 -1.30914333e-04 -9.99958042e-01 -4.11833596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.01447766186567609 Centerline is valid? [True, True] Translation: X:74.50, Y:-138.28, Z:-4.12 [[ 5.78487981e-01 8.15673852e-01 -5.27473537e-03 7.45019480e+01] [ 8.15642000e-01 -5.78512013e-01 -7.20959322e-03 -1.38284856e+02] [-8.93217445e-03 -1.31632683e-04 -9.99960099e-01 -4.11793280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.013984470543730771 Centerline is valid? [True, True] Translation: X:74.52, Y:-138.26, Z:-4.12 [[ 5.14234099e-01 8.57637622e-01 -4.58255055e-03 7.45203284e+01] [ 8.57605532e-01 -5.14254505e-01 -7.41990666e-03 -1.38260034e+02] [-8.72018836e-03 -1.14451683e-04 -9.99961972e-01 -4.11814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.013853925212262572 Centerline is valid? [True, True] Translation: X:74.54, Y:-138.24, Z:-4.12 [[ 4.47561152e-01 8.94245913e-01 -3.64174761e-03 7.45356673e+01] [ 8.94217856e-01 -4.47575959e-01 -7.08421438e-03 -1.38235845e+02] [-7.96498843e-03 -8.58965964e-05 -9.99968275e-01 -4.11777805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.013063039694293226 Centerline is valid? [True, True] Translation: X:74.55, Y:-138.21, Z:-4.12 [[ 3.79427216e-01 9.25216978e-01 -2.92100751e-03 7.45493435e+01] [ 9.25190670e-01 -3.79438455e-01 -6.97735751e-03 -1.38209804e+02] [-7.56391220e-03 -5.50895621e-05 -9.99971392e-01 -4.11924069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.012895119099226585 Centerline is valid? [True, True] Translation: X:74.56, Y:-138.18, Z:-4.12 [[ 3.06912686e-01 9.51735178e-01 -2.18066936e-03 7.45643754e+01] [ 9.51712134e-01 -3.06920430e-01 -6.62302244e-03 -1.38184526e+02] [-6.97265541e-03 -4.26798809e-05 -9.99975690e-01 -4.11985328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.012932908999952595 Centerline is valid? [True, True] Translation: X:74.58, Y:-138.16, Z:-4.12 [[ 2.31328271e-01 9.72874441e-01 -1.59807478e-03 7.45795962e+01] [ 9.72852462e-01 -2.31333787e-01 -6.53953579e-03 -1.38158574e+02] [-6.73183592e-03 -4.19114807e-05 -9.99977340e-01 -4.11966764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.013297023992417344 Centerline is valid? [True, True] Translation: X:74.59, Y:-138.13, Z:-4.12 [[ 1.52886620e-01 9.88242659e-01 -1.45877463e-03 7.45949495e+01] [ 9.88202002e-01 -1.52893563e-01 -8.96443999e-03 -1.38133062e+02] [-9.08207926e-03 -7.10210731e-05 -9.99958755e-01 -4.11601723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.013153141247876554 Centerline is valid? [True, True] Translation: X:74.61, Y:-138.11, Z:-4.12 [[ 7.35319022e-02 9.97292463e-01 -8.95799367e-04 7.46078770e+01] [ 9.97234252e-01 -7.35372892e-02 -1.07756020e-02 -1.38105753e+02] [-1.08123013e-02 -1.00971302e-04 -9.99941540e-01 -4.11528758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.0136376212499057 Centerline is valid? [True, True] Translation: X:74.62, Y:-138.08, Z:-4.11 [[-6.03949188e-03 9.99981761e-01 -5.09338977e-05 7.46176430e+01] [ 9.99919888e-01 6.03855156e-03 -1.11244966e-02 -1.38078673e+02] [-1.11239861e-02 -1.18116124e-04 -9.99938120e-01 -4.11438708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.01381864364666797 Centerline is valid? [True, True] Translation: X:74.62, Y:-138.05, Z:-4.11 [[-8.41377691e-02 9.96453832e-01 7.71821088e-04 7.46224072e+01] [ 9.96399153e-01 8.41412381e-02 -1.04393214e-02 -1.38050586e+02] [-1.04672438e-02 -1.09299336e-04 -9.99945211e-01 -4.11384096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.013498425650080857 Centerline is valid? [True, True] Translation: X:74.62, Y:-138.02, Z:-4.11 [[-1.60708016e-01 9.87000901e-01 1.46823296e-03 7.46215598e+01] [ 9.86954493e-01 1.60714698e-01 -9.57151423e-03 -1.38021598e+02] [-9.68305978e-03 -8.91399472e-05 -9.99953114e-01 -4.11484657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.01288347443763661 Centerline is valid? [True, True] Translation: X:74.62, Y:-137.99, Z:-4.12 [[-2.34982658e-01 9.71997638e-01 1.93443768e-03 7.46213007e+01] [ 9.71962723e-01 2.34990613e-01 -8.23875681e-03 -1.37992325e+02] [-8.46262686e-03 -5.57636559e-05 -9.99964190e-01 -4.11731325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.012902896988064806 Centerline is valid? [True, True] Translation: X:74.62, Y:-137.96, Z:-4.12 [[-3.09433544e-01 9.50917611e-01 2.56514003e-03 7.46199769e+01] [ 9.50883667e-01 3.09444172e-01 -8.03462621e-03 -1.37963736e+02] [-8.43403519e-03 -4.70331006e-05 -9.99964432e-01 -4.11709854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.012829306313245338 Centerline is valid? [True, True] Translation: X:74.62, Y:-137.93, Z:-4.12 [[-3.80403444e-01 9.24814033e-01 3.49638089e-03 7.46175479e+01] [ 9.24774332e-01 3.80419510e-01 -8.56917673e-03 -1.37934526e+02] [-9.25498639e-03 -2.63810300e-05 -9.99957171e-01 -4.11743473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.01274004007998522 Centerline is valid? [True, True] Translation: X:74.61, Y:-137.91, Z:-4.12 [[-4.50384757e-01 8.92824156e-01 4.31253689e-03 7.46129946e+01] [ 8.92782941e-01 4.50405403e-01 -8.57870274e-03 -1.37905482e+02] [-9.60166294e-03 -1.35575804e-05 -9.99953903e-01 -4.11707828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.012690763621066279 Centerline is valid? [True, True] Translation: X:74.61, Y:-137.88, Z:-4.12 [[-5.18548168e-01 8.55036522e-01 4.51028573e-03 7.46060568e+01] [ 8.55004045e-01 5.18567783e-01 -7.45230450e-03 -1.37877359e+02] [-8.71088139e-03 -8.06630208e-06 -9.99962060e-01 -4.11817242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.012768480494476419 Centerline is valid? [True, True] Translation: X:74.60, Y:-137.85, Z:-4.12 [[-5.84697752e-01 8.11233667e-01 5.33631602e-03 7.45969367e+01] [ 8.11199620e-01 5.84722102e-01 -7.43235102e-03 -1.37849291e+02] [-9.14963530e-03 -1.68614103e-05 -9.99958141e-01 -4.11773204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.012773571124565695 Centerline is valid? [True, True] Translation: X:74.59, Y:-137.82, Z:-4.12 [[-6.47759345e-01 7.61815732e-01 6.67987020e-03 7.45858833e+01] [ 7.61774640e-01 6.47793786e-01 -7.91260684e-03 -1.37822118e+02] [-1.03551268e-02 -3.69093109e-05 -9.99946384e-01 -4.11691572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.013024146098215074 Centerline is valid? [True, True] Translation: X:74.57, Y:-137.80, Z:-4.12 [[-7.07070729e-01 7.07097140e-01 8.03858998e-03 7.45724550e+01] [ 7.07050363e-01 7.07116420e-01 -8.13346446e-03 -1.37795542e+02] [-1.14353684e-02 -6.72466814e-05 -9.99934612e-01 -4.11567714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.013129750352801456 Centerline is valid? [True, True] Translation: X:74.56, Y:-137.77, Z:-4.11 [[-7.61173517e-01 6.48483720e-01 9.15110170e-03 7.45566085e+01] [ 6.48435465e-01 7.61228519e-01 -7.91136922e-03 -1.37772199e+02] [-1.20964737e-02 -8.80258443e-05 -9.99926831e-01 -4.11492543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.013121259065198723 Centerline is valid? [True, True] Translation: X:74.58, Y:-137.75, Z:-4.11 [[-8.05321791e-01 5.92756027e-01 9.85423460e-03 7.45778570e+01] [ 5.92710239e-01 8.05382073e-01 -7.36805175e-03 -1.37753295e+02] [-1.23038810e-02 -9.29468809e-05 -9.99924300e-01 -4.11451450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.013038710036162495 Centerline is valid? [True, True] Translation: X:74.60, Y:-137.73, Z:-4.11 [[-8.44044985e-01 5.36185105e-01 9.67447329e-03 7.45952440e+01] [ 5.36149059e-01 8.44100426e-01 -6.21751803e-03 -1.37733325e+02] [-1.14999676e-02 -6.09051604e-05 -9.99933871e-01 -4.11454426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.012625371576930193 Centerline is valid? [True, True] Translation: X:74.61, Y:-137.71, Z:-4.12 [[-8.78388687e-01 4.77841629e-01 1.00345581e-02 7.46095124e+01] [ 4.77810134e-01 8.78446001e-01 -5.48622261e-03 -1.37713943e+02] [-1.14363630e-02 -2.44222962e-05 -9.99934602e-01 -4.11685922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.01318037299518059 Centerline is valid? [True, True] Translation: X:74.62, Y:-137.69, Z:-4.12 [[-9.07678430e-01 4.19534900e-01 1.05040405e-02 7.46206240e+01] [ 4.19507317e-01 9.07739206e-01 -4.81093414e-03 -1.37694327e+02] [-1.15532842e-02 3.97407122e-05 -9.99933258e-01 -4.11532783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.013165913574480586 Centerline is valid? [True, True] Translation: X:74.63, Y:-137.67, Z:-4.12 [[-9.34010696e-01 3.57097750e-01 1.02574742e-02 7.46346602e+01] [ 3.57077060e-01 9.34067017e-01 -3.84468628e-03 -1.37671945e+02] [-1.09540971e-02 7.17306006e-05 -9.99940000e-01 -4.11767724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.013320656865044623 Centerline is valid? [True, True] Translation: X:74.64, Y:-137.65, Z:-4.12 [[-9.56229253e-01 2.92443247e-01 1.01273826e-02 7.46430415e+01] [ 2.92427906e-01 9.56282876e-01 -2.99691600e-03 -1.37647236e+02] [-1.05610704e-02 9.57905536e-05 -9.99944226e-01 -4.11804995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.013134339776851599 Centerline is valid? [True, True] Translation: X:74.65, Y:-137.62, Z:-4.12 [[-9.74912709e-01 2.22364924e-01 9.95240216e-03 7.46490966e+01] [ 2.22354132e-01 9.74963504e-01 -2.19209413e-03 -1.37619848e+02] [-1.01906737e-02 7.58573096e-05 -9.99948071e-01 -4.11905194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.012821641838125326 Centerline is valid? [True, True] Translation: X:74.79, Y:-136.94, Z:-5.13 [[-9.60912745e-01 -2.76663221e-01 1.02057908e-02 7.47931251e+01] [ 2.76647067e-01 -9.60966940e-01 -2.99006002e-03 -1.36944049e+02] [ 1.06346672e-02 -4.97846815e-05 9.99943449e-01 -5.13261562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.012628890399999558 Centerline is valid? [True, True] Translation: X:74.60, Y:-137.60, Z:-4.12 [[-9.77950115e-01 2.08605606e-01 9.86274108e-03 7.45995911e+01] [ 2.08594702e-01 9.77999847e-01 -2.13301713e-03 -1.37600216e+02] [-1.00907186e-02 -2.86688057e-05 -9.99949087e-01 -4.11907869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.012845031750151056 Centerline is valid? [True, True] Translation: X:74.74, Y:-136.94, Z:-5.13 [[-9.58968360e-01 -2.83354982e-01 9.46780404e-03 7.47405361e+01] [ 2.83341309e-01 -9.59015096e-01 -2.78362665e-03 -1.36942870e+02] [ 9.86852148e-03 1.32101014e-05 9.99951305e-01 -5.13239733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.013216336588402261 Centerline is valid? [True, True] Translation: X:74.55, Y:-137.58, Z:-4.12 [[-9.80098864e-01 1.98286463e-01 9.41783474e-03 7.45507216e+01] [ 1.98276402e-01 9.80144107e-01 -1.99953748e-03 -1.37584210e+02] [-9.62731643e-03 -9.24100224e-05 -9.99953652e-01 -4.11833903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.013303039990640253 Centerline is valid? [True, True] Translation: X:74.69, Y:-136.94, Z:-5.13 [[-9.58770708e-01 -2.84051363e-01 8.57630494e-03 7.46882225e+01] [ 2.84040381e-01 -9.58809064e-01 -2.49809314e-03 -1.36935338e+02] [ 8.93262568e-03 4.09183955e-05 9.99960103e-01 -5.13175547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.013280140716226742 Centerline is valid? [True, True] Translation: X:74.50, Y:-137.57, Z:-4.12 [[-9.81301162e-01 1.92292591e-01 8.46099738e-03 7.45018647e+01] [ 1.92284537e-01 9.81337632e-01 -1.76290706e-03 -1.37574495e+02] [-8.64208911e-03 -1.03023777e-04 -9.99962651e-01 -4.12040037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.013390535694353674 Centerline is valid? [True, True] Translation: X:74.50, Y:-137.55, Z:-4.12 [[-9.92514652e-01 1.21778521e-01 9.20098805e-03 7.45047597e+01] [ 1.21772213e-01 9.92557292e-01 -1.24490481e-03 -1.37546899e+02] [-9.28411046e-03 -1.15161594e-04 -9.99956895e-01 -4.12014304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.013581709887701654 Centerline is valid? [True, True] Translation: X:74.60, Y:-136.89, Z:-5.13 [[-9.76907070e-01 -2.13395858e-01 1.07137707e-02 7.45955214e+01] [ 2.13385715e-01 -9.76965788e-01 -2.09437401e-03 -1.36892120e+02] [ 1.09139182e-02 2.40156857e-04 9.99940413e-01 -5.13254500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.013434173081493845 Centerline is valid? [True, True] Translation: X:74.46, Y:-137.54, Z:-4.12 [[-9.92936271e-01 1.18110082e-01 1.12946822e-02 7.44558798e+01] [ 1.18100842e-01 9.93000498e-01 -1.48392287e-03 -1.37541675e+02] [-1.13908913e-02 -1.39529358e-04 -9.99935112e-01 -4.11819261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.013064637626310391 Centerline is valid? [True, True] Translation: X:74.55, Y:-136.88, Z:-5.13 [[-9.78405081e-01 -2.06367091e-01 1.16671080e-02 7.45465002e+01] [ 2.06354561e-01 -9.78474626e-01 -2.28084051e-03 -1.36880954e+02] [ 1.18866595e-02 1.75975005e-04 9.99929336e-01 -5.13278843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.012844397959333563 Centerline is valid? [True, True] Translation: X:74.41, Y:-137.54, Z:-4.12 [[-9.92905980e-01 1.18333434e-01 1.16152203e-02 7.44070717e+01] [ 1.18324224e-01 9.92973912e-01 -1.47942252e-03 -1.37542398e+02] [-1.17086758e-02 -9.45655537e-05 -9.99931447e-01 -4.11871944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.012729339245016338 Centerline is valid? [True, True] Translation: X:74.41, Y:-137.52, Z:-4.12 [[-9.98742545e-01 4.88960064e-02 1.10684108e-02 7.44060739e+01] [ 4.88921782e-02 9.98803872e-01 -6.16346472e-04 -1.37517444e+02] [-1.10853085e-02 -7.44127297e-05 -9.99938553e-01 -4.11921553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.012480568445028215 Centerline is valid? [True, True] Translation: X:74.45, Y:-136.84, Z:-5.13 [[-9.91866156e-01 -1.26847644e-01 1.05452900e-02 7.44515360e+01] [ 1.26840934e-01 -9.91922211e-01 -1.30536418e-03 -1.36835527e+02] [ 1.06256898e-02 4.28278856e-05 9.99943545e-01 -5.13203180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.012563240257693599 Centerline is valid? [True, True] Translation: X:74.35, Y:-137.52, Z:-4.12 [[-9.98748968e-01 4.87825943e-02 1.09889545e-02 7.43535563e+01] [ 4.87793247e-02 9.98809420e-01 -5.65517931e-04 -1.37521739e+02] [-1.10034587e-02 -2.87766677e-05 -9.99939460e-01 -4.11716373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.012695494550014596 Centerline is valid? [True, True] Translation: X:74.35, Y:-137.50, Z:-4.12 [[-9.99674501e-01 -2.25516696e-02 1.19295788e-02 7.43489171e+01] [-2.25504792e-02 9.99745678e-01 2.34304265e-04 -1.37495747e+02] [-1.19318288e-02 -3.47897202e-05 -9.99928813e-01 -4.11564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.012955521688662203 Centerline is valid? [True, True] Translation: X:74.33, Y:-136.80, Z:-5.14 [[-9.98582652e-01 -5.18125360e-02 1.21716138e-02 7.43294718e+01] [ 5.18093256e-02 -9.98656827e-01 -5.79137528e-04 -1.36800777e+02] [ 1.21852718e-02 5.22864135e-05 9.99925756e-01 -5.13645191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.01284689493011699 Centerline is valid? [True, True] Translation: X:74.28, Y:-137.50, Z:-4.12 [[-9.99417256e-01 -3.20998973e-02 1.16079729e-02 7.42816076e+01] [-3.20987868e-02 9.99484661e-01 2.82010207e-04 -1.37495487e+02] [-1.16110434e-02 -9.07559808e-05 -9.99932586e-01 -4.11719065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.013395175784291544 Centerline is valid? [True, True] Translation: X:74.27, Y:-136.81, Z:-5.13 [[-9.98562420e-01 -5.24375613e-02 1.11083678e-02 7.42666377e+01] [ 5.24349207e-02 -9.98624203e-01 -5.29019955e-04 -1.36805768e+02] [ 1.11208254e-02 5.42069361e-05 9.99938160e-01 -5.13476321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.013847618653889686 Centerline is valid? [True, True] Translation: X:74.21, Y:-137.49, Z:-4.12 [[-9.99038532e-01 -4.24300429e-02 1.10319132e-02 7.42135820e+01] [-4.24291041e-02 9.99099429e-01 3.19228996e-04 -1.37493773e+02] [-1.10355231e-02 -1.49152125e-04 -9.99939096e-01 -4.11638364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.014159458963167677 Centerline is valid? [True, True] Translation: X:74.19, Y:-136.81, Z:-5.13 [[-9.98463039e-01 -5.41626666e-02 1.17458573e-02 7.41943775e+01] [ 5.41613579e-02 -9.98532104e-01 -4.29720455e-04 -1.36809843e+02] [ 1.17518904e-02 2.07111588e-04 9.99930923e-01 -5.13494857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.014452806797057842 Centerline is valid? [True, True] Translation: X:74.14, Y:-137.50, Z:-4.12 [[-9.98629140e-01 -5.09664466e-02 1.19273602e-02 7.41447936e+01] [-5.09653002e-02 9.98700344e-01 4.00252601e-04 -1.37495251e+02] [-1.19322582e-02 -2.08177581e-04 -9.99928786e-01 -4.11642802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.015548672706515413 Centerline is valid? [True, True] Translation: X:74.11, Y:-136.82, Z:-5.13 [[-9.98514880e-01 -5.35801098e-02 9.85932089e-03 7.41093947e+01] [ 5.35778350e-02 -9.98563554e-01 -4.94896959e-04 -1.36816004e+02] [ 9.87167513e-03 3.40790896e-05 9.99951273e-01 -5.13420503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.015074062666881256 Centerline is valid? [True, True] Translation: X:74.07, Y:-137.50, Z:-4.12 [[-9.98285440e-01 -5.79492575e-02 8.25009283e-03 7.40743382e+01] [-5.79486241e-02 9.98319517e-01 3.15998009e-04 -1.37495129e+02] [-8.25454053e-03 -1.62625316e-04 -9.99965918e-01 -4.11943030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.014286059818601274 Centerline is valid? [True, True] Translation: X:74.07, Y:-137.47, Z:-4.12 [[-9.91922447e-01 -1.26545794e-01 8.71906801e-03 7.40722603e+01] [-1.26542261e-01 9.91960755e-01 9.57948935e-04 -1.37470817e+02] [-8.77019769e-03 -1.53119526e-04 -9.99961529e-01 -4.11840467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.014258234662285372 Centerline is valid? [True, True] Translation: X:74.06, Y:-137.45, Z:-4.12 [[-9.80894033e-01 -1.94336043e-01 8.96648198e-03 7.40624278e+01] [-1.94329186e-01 9.80935005e-01 1.63812830e-03 -1.37445774e+02] [-9.11388341e-03 -1.35618874e-04 -9.99958459e-01 -4.11670757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.013131237952128954 Centerline is valid? [True, True] Translation: X:74.05, Y:-137.42, Z:-4.12 [[-9.65325052e-01 -2.60910673e-01 8.55369862e-03 7.40526791e+01] [-2.60901389e-01 9.65362942e-01 2.20346557e-03 -1.37423716e+02] [-8.83233135e-03 -1.04611341e-04 -9.99960989e-01 -4.11782837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.012530551885459255 Centerline is valid? [True, True] Translation: X:74.03, Y:-137.41, Z:-4.12 [[-9.45522198e-01 -3.25448112e-01 8.44389605e-03 7.40256715e+01] [-3.25435756e-01 9.45559899e-01 2.83663849e-03 -1.37406372e+02] [-8.90738813e-03 -6.58410258e-05 -9.99960326e-01 -4.11825425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.012408737689742518 Centerline is valid? [True, True] Translation: X:73.98, Y:-137.40, Z:-4.12 [[-9.20418769e-01 -3.90832776e-01 8.88997067e-03 7.39818995e+01] [-3.90815016e-01 9.20461699e-01 3.72610894e-03 -1.37396468e+02] [-9.63916300e-03 -4.47534303e-05 -9.99953541e-01 -4.11851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.01225098959404201 Centerline is valid? [True, True] Translation: X:73.92, Y:-137.40, Z:-4.12 [[-8.90817187e-01 -4.54246986e-01 1.02183555e-02 7.39177174e+01] [-4.54217245e-01 8.90875792e-01 5.19790368e-03 -1.37396921e+02] [-1.14644176e-02 -1.09713581e-05 -9.99934281e-01 -4.11599961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.01239736573928955 Centerline is valid? [True, True] Translation: X:73.85, Y:-137.40, Z:-4.12 [[-8.56403559e-01 -5.16224345e-01 9.23958601e-03 7.38515654e+01] [-5.16193994e-01 8.56453399e-01 5.59782844e-03 -1.37403338e+02] [-1.08030102e-02 2.45813933e-05 -9.99941646e-01 -4.11550857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.012541179863692808 Centerline is valid? [True, True] Translation: X:73.78, Y:-137.42, Z:-4.12 [[-8.17313772e-01 -5.76147614e-01 7.21976902e-03 7.37796892e+01] [-5.76124624e-01 8.17345658e-01 5.14716901e-03 -1.37418830e+02] [-8.86657600e-03 4.73654106e-05 -9.99960690e-01 -4.11708821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.013035565951454466 Centerline is valid? [True, True] Translation: X:73.70, Y:-137.45, Z:-4.12 [[-7.74639103e-01 -6.32377775e-01 5.71052410e-03 7.36997107e+01] [-6.32359899e-01 7.74660148e-01 4.75542191e-03 -1.37448649e+02] [-7.43093857e-03 7.26293210e-05 -9.99972388e-01 -4.11888906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.014732613978842367 Centerline is valid? [True, True] Translation: X:73.62, Y:-137.49, Z:-4.12 [[-7.29445454e-01 -6.84027728e-01 3.92387746e-03 7.36226182e+01] [-6.84017161e-01 7.29456002e-01 3.80322928e-03 -1.37486177e+02] [-5.46381025e-03 9.02487924e-05 -9.99985069e-01 -4.12029229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.015928951593199195 Centerline is valid? [True, True] Translation: X:73.54, Y:-137.54, Z:-4.12 [[-6.78091142e-01 -7.34972349e-01 2.83706506e-03 7.35387170e+01] [-7.34965388e-01 6.78097072e-01 3.19989369e-03 -1.37535000e+02] [-4.27563889e-03 8.46749441e-05 -9.99990856e-01 -4.12116268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.014943661890947185 Centerline is valid? [True, True] Translation: X:73.45, Y:-137.59, Z:-4.12 [[-6.21199462e-01 -7.83648084e-01 2.62871736e-03 7.34527140e+01] [-7.83640444e-01 6.21205017e-01 3.46138953e-03 -1.37589292e+02] [-4.34548368e-03 9.02440717e-05 -9.99990554e-01 -4.12181077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.014245369553823394 Centerline is valid? [True, True] Translation: X:73.36, Y:-137.65, Z:-4.12 [[-5.57344700e-01 -8.30277427e-01 2.50575952e-03 7.33644445e+01] [-8.30268369e-01 5.57350327e-01 3.87917369e-03 -1.37654688e+02] [-4.61737624e-03 8.15840305e-05 -9.99989337e-01 -4.12093658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.013414395075947784 Centerline is valid? [True, True] Translation: X:73.28, Y:-137.73, Z:-4.12 [[-4.87005208e-01 -8.73397265e-01 1.77359912e-03 7.32791854e+01] [-8.73391156e-01 4.87008435e-01 3.26683295e-03 -1.37728266e+02] [-3.71700070e-03 4.19188759e-05 -9.99993091e-01 -4.12158848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.012548923025951318 Centerline is valid? [True, True] Translation: X:73.19, Y:-137.81, Z:-4.12 [[-4.10505069e-01 -9.11857410e-01 1.28565082e-03 7.31946722e+01] [-9.11852896e-01 4.10507082e-01 2.86923731e-03 -1.37808877e+02] [-3.14410407e-03 5.51203894e-06 -9.99995057e-01 -4.12275942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.013213425170038146 Centerline is valid? [True, True] Translation: X:73.11, Y:-137.90, Z:-4.12 [[-3.29215072e-01 -9.44253930e-01 1.39754959e-03 7.31136823e+01] [-9.44245937e-01 3.29218036e-01 3.88520744e-03 -1.37897134e+02] [-4.12872093e-03 -4.05616721e-05 -9.99991476e-01 -4.12171708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.014311960274882884 Centerline is valid? [True, True] Translation: X:73.05, Y:-137.99, Z:-4.12 [[-2.50134137e-01 -9.68210457e-01 1.19326494e-03 7.30458896e+01] [-9.68200799e-01 2.50136972e-01 4.32536959e-03 -1.37992402e+02] [-4.48634775e-03 -7.33974750e-05 -9.99989934e-01 -4.12109707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.016254842271730414 Centerline is valid? [True, True] Translation: X:72.98, Y:-138.09, Z:-4.12 [[-1.70480668e-01 -9.85360462e-01 1.05013765e-03 7.29836646e+01] [-9.85345830e-01 1.70483861e-01 5.37101682e-03 -1.38091394e+02] [-5.47141913e-03 -1.19094217e-04 -9.99985025e-01 -4.12024635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.016020682512348446 Centerline is valid? [True, True] Translation: X:72.94, Y:-138.19, Z:-4.12 [[-9.44792541e-02 -9.95526606e-01 6.68641179e-04 7.29387020e+01] [-9.95510320e-01 9.44815341e-02 5.69580059e-03 -1.38189043e+02] [-5.73349527e-03 -1.27504203e-04 -9.99983555e-01 -4.12062434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.014407298549431359 Centerline is valid? [True, True] Translation: X:72.90, Y:-138.30, Z:-4.12 [[-2.17314908e-02 -9.99763818e-01 2.24998066e-04 7.29011611e+01] [-9.99748450e-01 2.17324045e-02 5.54423905e-03 -1.38304003e+02] [-5.54781935e-03 -1.04456888e-04 -9.99984605e-01 -4.12166864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.013944960537887621 Centerline is valid? [True, True] Translation: X:72.87, Y:-138.41, Z:-4.12 [[ 5.21241346e-02 -9.98640593e-01 -2.04155568e-04 7.28720788e+01] [-9.98624372e-01 -5.21244518e-02 5.69253274e-03 -1.38405765e+02] [-5.69543577e-03 -9.28436171e-05 -9.99983777e-01 -4.12079896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.013740027609189642 Centerline is valid? [True, True] Translation: X:72.85, Y:-138.52, Z:-4.12 [[ 1.27144698e-01 -9.91883962e-01 -6.56794605e-04 7.28523788e+01] [-9.91866837e-01 -1.27146362e-01 5.82933867e-03 -1.38515109e+02] [-5.86553658e-03 -8.97167159e-05 -9.99982794e-01 -4.11982504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.013186651397990279 Centerline is valid? [True, True] Translation: X:72.84, Y:-138.63, Z:-4.12 [[ 1.99612069e-01 -9.79873649e-01 -1.62935866e-03 7.28411600e+01] [-9.79836421e-01 -1.99618689e-01 8.54203879e-03 -1.38627930e+02] [-8.69536916e-03 -1.08589072e-04 -9.99962189e-01 -4.11732299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.012965188415598674 Centerline is valid? [True, True] Translation: X:72.84, Y:-138.74, Z:-4.12 [[ 2.70193348e-01 -9.62801602e-01 -2.93781033e-03 7.28403869e+01] [-9.62740648e-01 -2.70209300e-01 1.08341732e-02 -1.38739489e+02] [-1.12249830e-02 -9.89721081e-05 -9.99936993e-01 -4.11544006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.012869274418326885 Centerline is valid? [True, True] Translation: X:72.85, Y:-138.85, Z:-4.11 [[ 3.39274858e-01 -9.40678083e-01 -4.16117265e-03 7.28487751e+01] [-9.40605043e-01 -3.39300370e-01 1.17223229e-02 -1.38850114e+02] [-1.24388196e-02 -6.30694498e-05 -9.99922633e-01 -4.11428903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.012869274418326885 Centerline is valid? [True, True] Translation: X:72.86, Y:-138.96, Z:-4.11 [[ 4.09968534e-01 -9.12085728e-01 -5.04240162e-03 7.28641203e+01] [-9.12014844e-01 -4.09999538e-01 1.13711604e-02 -1.38961912e+02] [-1.24388554e-02 -6.30728310e-05 -9.99922633e-01 -4.11428738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.012903429205251223 Centerline is valid? [True, True] Translation: X:72.89, Y:-139.07, Z:-4.11 [[ 4.76672870e-01 -8.79058821e-01 -6.21001545e-03 7.28886192e+01] [-8.78983039e-01 -4.76713318e-01 1.15424803e-02 -1.39070168e+02] [-1.31069162e-02 -4.34889690e-05 -9.99914100e-01 -4.11418338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.012832210550091244 Centerline is valid? [True, True] Translation: X:72.92, Y:-139.18, Z:-4.12 [[ 5.42056749e-01 -8.40317446e-01 -6.40866482e-03 7.29227152e+01] [-8.40257884e-01 -5.42094630e-01 1.00050095e-02 -1.39181096e+02] [-1.18814868e-02 -3.83517666e-05 -9.99929412e-01 -4.11556262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.012882120303929946 Centerline is valid? [True, True] Translation: X:72.96, Y:-139.28, Z:-4.12 [[ 6.04883452e-01 -7.96283239e-01 -7.00097033e-03 7.29572215e+01] [-7.96229011e-01 -6.04923963e-01 9.29305419e-03 -1.39277604e+02] [-1.16349580e-02 -4.68390147e-05 -9.99932311e-01 -4.11622919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.013059189958557496 Centerline is valid? [True, True] Translation: X:73.00, Y:-139.37, Z:-4.12 [[ 6.64901112e-01 -7.46893099e-01 -7.56378219e-03 7.30004973e+01] [-7.46843597e-01 -6.64944129e-01 8.59926569e-03 -1.39374396e+02] [-1.14522248e-02 -6.86990216e-05 -9.99934419e-01 -4.11680975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.013526580729460015 Centerline is valid? [True, True] Translation: X:73.05, Y:-139.47, Z:-4.12 [[ 7.21517350e-01 -6.92349986e-01 -8.01311148e-03 7.30484373e+01] [-6.92305736e-01 -7.21561838e-01 7.82821652e-03 -1.39466724e+02] [-1.12018210e-02 -1.00670996e-04 -9.99937253e-01 -4.11627108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.014027649179268825 Centerline is valid? [True, True] Translation: X:73.07, Y:-139.50, Z:-4.12 [[ 7.75421518e-01 -6.31393226e-01 -8.00403963e-03 7.30723790e+01] [-6.31357906e-01 -7.75462816e-01 6.67944752e-03 -1.39497729e+02] [-1.04241930e-02 -1.25973627e-04 -9.99945659e-01 -4.11689250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.014363196500574875 Centerline is valid? [True, True] Translation: X:73.10, Y:-139.53, Z:-4.12 [[ 8.23273814e-01 -5.67588253e-01 -7.98769816e-03 7.30997236e+01] [-5.67559962e-01 -8.23312552e-01 5.66850518e-03 -1.39525048e+02] [-9.79374911e-03 -1.33234215e-04 -9.99952031e-01 -4.11732183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.01436881635736066 Centerline is valid? [True, True] Translation: X:73.13, Y:-139.55, Z:-4.12 [[ 8.65578340e-01 -5.00711599e-01 -7.87599333e-03 7.31282314e+01] [-5.00689468e-01 -8.65614162e-01 4.70954756e-03 -1.39550906e+02] [-9.17569646e-03 -1.33055451e-04 -9.99957894e-01 -4.11781073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.014800470173944903 Centerline is valid? [True, True] Translation: X:73.16, Y:-139.57, Z:-4.12 [[ 9.02128770e-01 -4.31364591e-01 -9.39527151e-03 7.31582883e+01] [-4.31339411e-01 -9.02177680e-01 4.66331985e-03 -1.39572709e+02] [-1.04877953e-02 -1.54364125e-04 -9.99944990e-01 -4.11567317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.014345664267382928 Centerline is valid? [True, True] Translation: X:73.19, Y:-139.59, Z:-4.12 [[ 9.32871592e-01 -3.60040610e-01 -1.10160025e-02 7.31912940e+01] [-3.60013371e-01 -9.32936617e-01 4.43190782e-03 -1.39591014e+02] [-1.18728989e-02 -1.68492700e-04 -9.99929501e-01 -4.11563396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.014435025179767165 Centerline is valid? [True, True] Translation: X:73.23, Y:-139.61, Z:-4.12 [[ 9.57945185e-01 -2.86745119e-01 -1.08747365e-02 7.32259496e+01] [-2.86724826e-01 -9.58006896e-01 3.41482802e-03 -1.39606819e+02] [-1.13972579e-02 -1.53161125e-04 -9.99935037e-01 -4.11599883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.01444685721394213 Centerline is valid? [True, True] Translation: X:73.26, Y:-139.62, Z:-4.12 [[ 9.77431940e-01 -2.11061375e-01 -8.93856526e-03 7.32618884e+01] [-2.11051405e-01 -9.77472803e-01 2.05513934e-03 -1.39618729e+02] [-9.17096498e-03 -1.22262076e-04 -9.99957938e-01 -4.11832809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.014672324937242265 Centerline is valid? [True, True] Translation: X:73.30, Y:-139.63, Z:-4.12 [[ 9.91010792e-01 -1.33550673e-01 -7.86313777e-03 7.32978511e+01] [-1.33545591e-01 -9.91041980e-01 1.17016342e-03 -1.39628333e+02] [-7.94897573e-03 -1.09557200e-04 -9.99968400e-01 -4.11869744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.014091509413587127 Centerline is valid? [True, True] Translation: X:73.33, Y:-139.64, Z:-4.12 [[ 9.98423957e-01 -5.57033796e-02 -6.83630613e-03 7.33304268e+01] [-5.57014344e-02 -9.98447357e-01 4.74749303e-04 -1.39636913e+02] [-6.85213693e-03 -9.32090197e-05 -9.99976520e-01 -4.12017839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.014085182687295132 Centerline is valid? [True, True] Translation: X:73.36, Y:-139.64, Z:-4.12 [[ 9.99734862e-01 2.21386860e-02 -6.33126333e-03 7.33628542e+01] [ 2.21387674e-02 -9.99754906e-01 -5.72346319e-05 -1.39642248e+02] [-6.33097867e-03 -8.29469092e-05 -9.99979956e-01 -4.12062115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.014152274933931496 Centerline is valid? [True, True] Translation: X:73.40, Y:-139.64, Z:-4.12 [[ 9.94948980e-01 1.00197208e-01 -6.08661265e-03 7.33957508e+01] [ 1.00195819e-01 -9.94967594e-01 -5.33504902e-04 -1.39643952e+02] [-6.10943804e-03 -7.90429811e-05 -9.99981334e-01 -4.12008745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.014351068733378389 Centerline is valid? [True, True] Translation: X:73.43, Y:-139.64, Z:-4.12 [[ 9.83988892e-01 1.78129573e-01 -5.97627589e-03 7.34288266e+01] [ 1.78126784e-01 -9.84007037e-01 -1.00001839e-03 -1.39643537e+02] [-6.05883038e-03 -8.05278147e-05 -9.99981642e-01 -4.11972777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.014437489884510138 Centerline is valid? [True, True] Translation: X:73.46, Y:-139.64, Z:-4.12 [[ 9.66930975e-01 2.54957322e-01 -6.42288386e-03 7.34616819e+01] [ 2.54952317e-01 -9.66952303e-01 -1.60012471e-03 -1.39639966e+02] [-6.61858585e-03 -9.03189808e-05 -9.99978093e-01 -4.11859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.014572742953562513 Centerline is valid? [True, True] Translation: X:73.49, Y:-139.63, Z:-4.12 [[ 9.43871588e-01 3.30231461e-01 -7.32180507e-03 7.34935650e+01] [ 3.30222413e-01 -9.43899979e-01 -2.44692367e-03 -1.39632973e+02] [-7.71910283e-03 -1.08242406e-04 -9.99970202e-01 -4.11580092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.01467501043231923 Centerline is valid? [True, True] Translation: X:73.52, Y:-139.62, Z:-4.11 [[ 9.15112757e-01 4.03112330e-01 -8.31216804e-03 7.35243415e+01] [ 4.03096958e-01 -9.15150498e-01 -3.52266199e-03 -1.39623265e+02] [-9.02691320e-03 -1.26976728e-04 -9.99959249e-01 -4.11423236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.014222252979101601 Centerline is valid? [True, True] Translation: X:73.55, Y:-139.61, Z:-4.12 [[ 8.80959203e-01 4.73132857e-01 -7.49547306e-03 7.35539690e+01] [ 4.73116841e-01 -8.80991082e-01 -3.89466262e-03 -1.39611373e+02] [-8.44613778e-03 -1.15195652e-04 -9.99964324e-01 -4.11506210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.014103343632105112 Centerline is valid? [True, True] Translation: X:73.58, Y:-139.60, Z:-4.12 [[ 8.41220926e-01 5.40653204e-01 -6.43951199e-03 7.35839281e+01] [ 5.40638304e-01 -8.41245566e-01 -4.01518551e-03 -1.39600694e+02] [-7.58803383e-03 -1.03788768e-04 -9.99971205e-01 -4.11663150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.014305399013519689 Centerline is valid? [True, True] Translation: X:73.61, Y:-139.59, Z:-4.12 [[ 7.95507471e-01 6.05914200e-01 -5.98717903e-03 7.36142403e+01] [ 6.05898090e-01 -7.95529993e-01 -4.41981058e-03 -1.39588613e+02] [-7.44100648e-03 -1.11628009e-04 -9.99972309e-01 -4.11633446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.01483840631001079 Centerline is valid? [True, True] Translation: X:73.64, Y:-139.57, Z:-4.11 [[ 7.44287696e-01 6.67823523e-01 -6.89690409e-03 7.36431892e+01] [ 6.67796771e-01 -7.44319634e-01 -5.97957095e-03 -1.39574507e+02] [-9.12679927e-03 -1.55209195e-04 -9.99958338e-01 -4.11364943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.01582046208727122 Centerline is valid? [True, True] Translation: X:73.67, Y:-139.56, Z:-4.11 [[ 6.87213394e-01 7.26410502e-01 -8.09528362e-03 7.36688862e+01] [ 7.26364108e-01 -6.87261032e-01 -8.21315775e-03 -1.39557053e+02] [-1.15296970e-02 -2.35931455e-04 -9.99933503e-01 -4.11177075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.015901667585994768 Centerline is valid? [True, True] Translation: X:73.69, Y:-139.54, Z:-4.11 [[ 6.27284164e-01 7.78753795e-01 -7.55672225e-03 7.36938329e+01] [ 7.78702119e-01 -6.27329628e-01 -8.97482469e-03 -1.39537938e+02] [-1.17297345e-02 -2.54670228e-04 -9.99931172e-01 -4.11163242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.016333795530444086 Centerline is valid? [True, True] Translation: X:73.71, Y:-139.52, Z:-4.11 [[ 5.64483672e-01 8.25418907e-01 -6.46623544e-03 7.37137141e+01] [ 8.25369553e-01 -5.64520655e-01 -9.02945946e-03 -1.39516433e+02] [-1.11034100e-02 -2.40051420e-04 -9.99938327e-01 -4.11192566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.015829774210408744 Centerline is valid? [True, True] Translation: X:73.73, Y:-139.49, Z:-4.11 [[ 4.99525480e-01 8.66286026e-01 -4.77661104e-03 7.37300320e+01] [ 8.66249899e-01 -4.99548283e-01 -7.91364780e-03 -1.39491324e+02] [-9.24163035e-03 -1.84670125e-04 -9.99957278e-01 -4.11395972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.01522088880416978 Centerline is valid? [True, True] Translation: X:73.75, Y:-139.47, Z:-4.11 [[ 4.31520171e-01 9.02094754e-01 -3.92392652e-03 7.37470368e+01] [ 9.02060802e-01 -4.31537981e-01 -7.82812803e-03 -1.39466760e+02] [-8.75503656e-03 -1.61625157e-04 -9.99961661e-01 -4.11446542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.015369760112344847 Centerline is valid? [True, True] Translation: X:73.76, Y:-139.44, Z:-4.11 [[ 3.61264603e-01 9.32457170e-01 -3.39308453e-03 7.37625227e+01] [ 9.32419865e-01 -3.61280506e-01 -8.34217207e-03 -1.39443196e+02] [-9.00457345e-03 -1.50047938e-04 -9.99959447e-01 -4.11335757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.014663966464825255 Centerline is valid? [True, True] Translation: X:73.78, Y:-139.42, Z:-4.11 [[ 2.88412827e-01 9.57501868e-01 -2.86594475e-03 7.37769423e+01] [ 9.57459462e-01 -2.88427030e-01 -9.01265543e-03 -1.39418321e+02] [-9.45625034e-03 -1.44660487e-04 -9.99955278e-01 -4.11307337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.01519641377648875 Centerline is valid? [True, True] Translation: X:73.79, Y:-139.39, Z:-4.11 [[ 2.12902973e-01 9.77070775e-01 -2.24166978e-03 7.37917850e+01] [ 9.77023664e-01 -2.12914723e-01 -9.59586488e-03 -1.39393735e+02] [-9.85312364e-03 -1.47176264e-04 -9.99951446e-01 -4.11145163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.015136957190272983 Centerline is valid? [True, True] Translation: X:73.80, Y:-139.37, Z:-4.11 [[ 1.35103424e-01 9.90829902e-01 -1.78070460e-03 7.38045940e+01] [ 9.90760885e-01 -1.35115033e-01 -1.16960270e-02 -1.39366596e+02] [-1.18293732e-02 -1.84079170e-04 -9.99930014e-01 -4.10967993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.015313012634706183 Centerline is valid? [True, True] Translation: X:73.82, Y:-139.34, Z:-4.11 [[ 5.51336829e-02 9.98478528e-01 -9.51545781e-04 7.38154795e+01] [ 9.98393056e-01 -5.51414155e-02 -1.30663717e-02 -1.39338624e+02] [-1.30989611e-02 -2.29619509e-04 -9.99914179e-01 -4.10982779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.016168684213328482 Centerline is valid? [True, True] Translation: X:73.82, Y:-139.31, Z:-4.11 [[-2.61211912e-02 9.99658781e-01 7.47160299e-05 7.38246205e+01] [ 9.99573288e-01 2.61199346e-02 -1.30763410e-02 -1.39310287e+02] [-1.30738307e-02 -2.66885457e-04 -9.99914498e-01 -4.11020804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.01633397328750786 Centerline is valid? [True, True] Translation: X:73.83, Y:-139.28, Z:-4.11 [[-1.03765799e-01 9.94601242e-01 1.01369418e-03 7.38284864e+01] [ 9.94528694e-01 1.03770476e-01 -1.20152117e-02 -1.39282227e+02] [-1.20555360e-02 -2.38620098e-04 -9.99927301e-01 -4.11025752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.01541213019508988 Centerline is valid? [True, True] Translation: X:73.82, Y:-139.25, Z:-4.11 [[-1.77833525e-01 9.84058837e-01 1.85573216e-03 7.38243055e+01] [ 9.83993823e-01 1.77843110e-01 -1.13129834e-02 -1.39253420e+02] [-1.14626705e-02 -1.85798739e-04 -9.99934284e-01 -4.11049184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.013617096125340854 Centerline is valid? [True, True] Translation: X:73.81, Y:-139.23, Z:-4.11 [[-2.47262125e-01 9.68945391e-01 2.50398113e-03 7.38138236e+01] [ 9.68891845e-01 2.47274786e-01 -1.01869161e-02 -1.39226572e+02] [-1.04897368e-02 -9.27516243e-05 -9.99944977e-01 -4.11228228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.01301177112892121 Centerline is valid? [True, True] Translation: X:73.81, Y:-139.20, Z:-4.11 [[-3.16981331e-01 9.48426188e-01 3.25612026e-03 7.38063730e+01] [ 9.48375098e-01 3.16998053e-01 -9.84423318e-03 -1.39199690e+02] [-1.03687123e-02 -3.24147677e-05 -9.99946243e-01 -4.11387919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.013075351486393274 Centerline is valid? [True, True] Translation: X:73.80, Y:-139.17, Z:-4.11 [[-3.88244971e-01 9.21546259e-01 4.28202627e-03 7.38004742e+01] [ 9.21489929e-01 3.88268584e-01 -1.01890975e-02 -1.39173796e+02] [-1.10523009e-02 -1.00217692e-05 -9.99938921e-01 -4.11191631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.01291392373697144 Centerline is valid? [True, True] Translation: X:73.80, Y:-139.15, Z:-4.11 [[-4.59097875e-01 8.88369520e-01 5.36074065e-03 7.37955405e+01] [ 8.88308727e-01 4.59129171e-01 -1.03927267e-02 -1.39145451e+02] [-1.16938541e-02 -9.28603936e-06 -9.99931625e-01 -4.11313699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.012873860489708844 Centerline is valid? [True, True] Translation: X:73.79, Y:-139.12, Z:-4.11 [[-5.28040788e-01 8.49193546e-01 6.57625453e-03 7.37897305e+01] [ 8.49127188e-01 5.28081737e-01 -1.06159634e-02 -1.39116262e+02] [-1.24878075e-02 -2.15851772e-05 -9.99922024e-01 -4.11351110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.012844831677317316 Centerline is valid? [True, True] Translation: X:73.78, Y:-139.09, Z:-4.11 [[-5.93533657e-01 8.04781420e-01 6.68318190e-03 7.37816802e+01] [ 8.04729873e-01 5.93571281e-01 -9.10856621e-03 -1.39087697e+02] [-1.12973497e-02 -2.80844882e-05 -9.99936183e-01 -4.11473199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.012818157195913775 Centerline is valid? [True, True] Translation: X:73.77, Y:-139.06, Z:-4.11 [[-6.55147455e-01 7.55465700e-01 7.30674644e-03 7.37703537e+01] [ 7.55418144e-01 6.55188198e-01 -8.47662478e-03 -1.39061503e+02] [-1.11910933e-02 -3.37903260e-05 -9.99937377e-01 -4.11438822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.012979520294946824 Centerline is valid? [True, True] Translation: X:73.76, Y:-139.03, Z:-4.11 [[-7.14052644e-01 7.00043028e-01 8.28130118e-03 7.37581589e+01] [ 6.99994902e-01 7.14100661e-01 -8.20866262e-03 -1.39034202e+02] [-1.16600997e-02 -6.45486401e-05 -9.99932017e-01 -4.11341527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.013208199236723077 Centerline is valid? [True, True] Translation: X:73.78, Y:-139.01, Z:-4.11 [[-7.62879681e-01 6.46473602e-01 9.29911640e-03 7.37781148e+01] [ 6.46424153e-01 7.62936350e-01 -7.99633923e-03 -1.39012260e+02] [-1.22640561e-02 -8.90712831e-05 -9.99924790e-01 -4.11218646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.013693483747280473 Centerline is valid? [True, True] Translation: X:73.80, Y:-138.99, Z:-4.11 [[-8.07935645e-01 5.89175166e-01 1.06121816e-02 7.37986499e+01] [ 5.89122333e-01 8.08005327e-01 -7.89103802e-03 -1.38990033e+02] [-1.32239029e-02 -1.23577690e-04 -9.99912553e-01 -4.11081265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.013493872084497559 Centerline is valid? [True, True] Translation: X:73.82, Y:-138.97, Z:-4.11 [[-8.48459324e-01 5.29134067e-01 1.15721563e-02 7.38153628e+01] [ 5.29082428e-01 8.48538223e-01 -7.39381793e-03 -1.38965982e+02] [-1.37317379e-02 -1.50729208e-04 -9.99905704e-01 -4.11132225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.013289681912154227 Centerline is valid? [True, True] Translation: X:73.83, Y:-138.94, Z:-4.11 [[-8.83323120e-01 4.68611461e-01 1.19818380e-02 7.38296582e+01] [ 4.68566256e-01 8.83404370e-01 -6.51031697e-03 -1.38943545e+02] [-1.36356172e-02 -1.36428512e-04 -9.99907021e-01 -4.11148124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.012931167051325326 Centerline is valid? [True, True] Translation: X:74.15, Y:-138.35, Z:-5.14 [[-8.40087907e-01 -5.42341979e-01 1.08390869e-02 7.41503619e+01] [ 5.42298109e-01 -8.40157825e-01 -6.89860351e-03 -1.38350988e+02] [ 1.28479460e-02 8.25829581e-05 9.99917458e-01 -5.13769258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.012487808679360909 Centerline is valid? [True, True] Translation: X:73.79, Y:-138.93, Z:-4.12 [[-8.82952867e-01 4.69346900e-01 1.03789425e-02 7.37923430e+01] [ 4.69313612e-01 8.83013863e-01 -5.59027422e-03 -1.38928670e+02] [-1.17885280e-02 -6.49696461e-05 -9.99930511e-01 -4.11501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.012414051503409771 Centerline is valid? [True, True] Translation: X:73.81, Y:-138.91, Z:-4.11 [[-9.13229011e-01 4.07300727e-01 1.09036973e-02 7.38113771e+01] [ 4.07271045e-01 9.13294101e-01 -4.91737239e-03 -1.38908091e+02] [-1.19611318e-02 -4.99269111e-05 -9.99928462e-01 -4.11478445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.012490979178351158 Centerline is valid? [True, True] Translation: X:73.82, Y:-138.88, Z:-4.11 [[-9.39678550e-01 3.41853062e-01 1.18619486e-02 7.38208109e+01] [ 3.41825164e-01 9.39753415e-01 -4.36758547e-03 -1.38882803e+02] [-1.26403792e-02 -4.94138604e-05 -9.99920106e-01 -4.11425423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.01258534648134711 Centerline is valid? [True, True] Translation: X:73.83, Y:-138.86, Z:-4.11 [[-9.61732009e-01 2.73606078e-01 1.45346555e-02 7.38252073e+01] [ 2.73573707e-01 9.61841831e-01 -4.20930625e-03 -1.38855539e+02] [-1.51317315e-02 -7.19249727e-05 -9.99885506e-01 -4.11321540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.012749357956067067 Centerline is valid? [True, True] Translation: X:74.01, Y:-138.20, Z:-5.14 [[-9.37583621e-01 -3.47430386e-01 1.51354022e-02 7.40117148e+01] [ 3.47387475e-01 -9.37705769e-01 -5.46204005e-03 -1.38203249e+02] [ 1.60902327e-02 1.36729879e-04 9.99870535e-01 -5.13921549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.012889264223721643 Centerline is valid? [True, True] Translation: X:73.78, Y:-138.84, Z:-4.11 [[-9.63044733e-01 2.68919932e-01 1.50635856e-02 7.37813523e+01] [ 2.68885546e-01 9.63162531e-01 -4.30131713e-03 -1.38842328e+02] [-1.56653911e-02 -9.19803761e-05 -9.99877286e-01 -4.11119419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.01278236535107994 Centerline is valid? [True, True] Translation: X:73.78, Y:-138.82, Z:-4.11 [[-9.79741485e-01 1.99839045e-01 1.30758711e-02 7.37828345e+01] [ 1.99820161e-01 9.79828735e-01 -2.74839562e-03 -1.38816752e+02] [-1.33613510e-02 -7.98945415e-05 -9.99910730e-01 -4.11396814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.01275445790735934 Centerline is valid? [True, True] Translation: X:73.79, Y:-138.79, Z:-4.11 [[-9.91253590e-01 1.31381528e-01 1.24585242e-02 7.37854179e+01] [ 1.31370445e-01 9.91331877e-01 -1.70741986e-03 -1.38791611e+02] [-1.25748557e-02 -5.58041858e-05 -9.99920932e-01 -4.11453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.012514613865777093 Centerline is valid? [True, True] Translation: X:73.89, Y:-138.11, Z:-5.13 [[-9.78909549e-01 -2.03935081e-01 1.21069589e-02 7.38900804e+01] [ 2.03920011e-01 -9.78984413e-01 -2.47955770e-03 -1.38112973e+02] [ 1.23581929e-02 4.15884886e-05 9.99923634e-01 -5.13498287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.012574624350541418 Centerline is valid? [True, True] Translation: X:73.74, Y:-138.79, Z:-4.12 [[-9.91315953e-01 1.30939062e-01 1.21508768e-02 7.37422906e+01] [ 1.30929086e-01 9.91390419e-01 -1.61635804e-03 -1.38792057e+02] [-1.22579072e-02 -1.14183237e-05 -9.99924869e-01 -4.11639446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.012805721342818693 Centerline is valid? [True, True] Translation: X:73.84, Y:-138.10, Z:-5.14 [[-9.79871972e-01 -1.99242017e-01 1.23910307e-02 7.38386006e+01] [ 1.99226552e-01 -9.79950314e-01 -2.48266577e-03 -1.38104841e+02] [ 1.26372458e-02 3.59277267e-05 9.99920146e-01 -5.13503875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.012850556163058708 Centerline is valid? [True, True] Translation: X:73.69, Y:-138.79, Z:-4.12 [[-9.91865215e-01 1.26618539e-01 1.30820999e-02 7.36903172e+01] [ 1.26607292e-01 9.91951483e-01 -1.68766034e-03 -1.38785639e+02] [-1.31904974e-02 -1.76423459e-05 -9.99913002e-01 -4.11610843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.013005278948113064 Centerline is valid? [True, True] Translation: X:73.78, Y:-138.10, Z:-5.13 [[-9.80281708e-01 -1.97159079e-01 1.32691809e-02 7.37840378e+01] [ 1.97141572e-01 -9.80371509e-01 -2.62771053e-03 -1.38099774e+02] [ 1.35268039e-02 4.00106180e-05 9.99908508e-01 -5.13456541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.01323718638584706 Centerline is valid? [True, True] Translation: X:73.64, Y:-138.78, Z:-4.12 [[-9.92557661e-01 1.21018830e-01 1.35547675e-02 7.36419947e+01] [ 1.21006984e-01 9.92650211e-01 -1.69376842e-03 -1.38778393e+02] [-1.36601207e-02 -4.09412896e-05 -9.99906695e-01 -4.11550671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.012979060890532737 Centerline is valid? [True, True] Translation: X:73.64, Y:-138.75, Z:-4.12 [[-9.98707278e-01 4.91505822e-02 1.29612357e-02 7.36431177e+01] [ 4.91457524e-02 9.98791378e-01 -6.91075733e-04 -1.38749922e+02] [-1.29795372e-02 -5.31926851e-05 -9.99915761e-01 -4.11822056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.01294156630119837 Centerline is valid? [True, True] Translation: X:73.64, Y:-138.72, Z:-4.12 [[-9.99682541e-01 -2.21694457e-02 1.19721857e-02 7.36407428e+01] [-2.21684852e-02 9.99754226e-01 2.12944546e-04 -1.38722323e+02] [-1.19739642e-02 -5.25282775e-05 -9.99928308e-01 -4.11840569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.012915668128771 Centerline is valid? [True, True] Translation: X:73.63, Y:-138.70, Z:-4.12 [[-9.95572087e-01 -9.33423419e-02 1.11097376e-02 7.36339575e+01] [-9.33370953e-02 9.95634072e-01 9.90942664e-04 -1.38695670e+02] [-1.11537301e-02 -5.03957766e-05 -9.99937794e-01 -4.11940071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.012882116459717657 Centerline is valid? [True, True] Translation: X:73.62, Y:-138.67, Z:-4.12 [[-9.86290390e-01 -1.64753624e-01 9.35466690e-03 7.36220102e+01] [-1.64746697e-01 9.86334751e-01 1.51160602e-03 -1.38668939e+02] [-9.47587562e-03 -5.02679765e-05 -9.99955102e-01 -4.11919382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.013216485123287167 Centerline is valid? [True, True] Translation: X:73.61, Y:-138.64, Z:-4.12 [[-9.71545754e-01 -2.36685803e-01 8.87008894e-03 7.36123582e+01] [-2.36676568e-01 9.71586242e-01 2.09183478e-03 -1.38640591e+02] [-9.11316398e-03 -6.70290141e-05 -9.99958472e-01 -4.11770287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.013538032939001863 Centerline is valid? [True, True] Translation: X:73.45, Y:-137.98, Z:-5.13 [[-9.88028025e-01 1.54005370e-01 9.10863979e-03 7.34549209e+01] [-1.53998116e-01 -9.88070008e-01 1.49660404e-03 -1.37982796e+02] [ 9.23045884e-03 7.59733662e-05 9.99957396e-01 -5.13400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.013953465559506262 Centerline is valid? [True, True] Translation: X:73.51, Y:-138.66, Z:-4.12 [[-9.68528152e-01 -2.48809332e-01 6.86555235e-03 7.35057201e+01] [-2.48803782e-01 9.68552480e-01 1.66470513e-03 -1.38659325e+02] [-7.06384192e-03 -9.58616091e-05 -9.99975046e-01 -4.11859592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.014408428594338406 Centerline is valid? [True, True] Translation: X:73.48, Y:-138.63, Z:-4.12 [[-9.47280858e-01 -3.20360144e-01 5.32481744e-03 7.34845098e+01] [-3.20355637e-01 9.47295819e-01 1.70194304e-03 -1.38634563e+02] [-5.58941201e-03 -9.36172208e-05 -9.99984375e-01 -4.11956734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.01554997065235662 Centerline is valid? [True, True] Translation: X:73.45, Y:-138.61, Z:-4.12 [[-9.20174686e-01 -3.91478690e-01 4.79411840e-03 7.34505064e+01] [-3.91473983e-01 9.20187168e-01 1.92272890e-03 -1.38613042e+02] [-5.16419363e-03 -1.07526160e-04 -9.99986660e-01 -4.11911757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.01659070825312045 Centerline is valid? [True, True] Translation: X:73.40, Y:-138.60, Z:-4.12 [[-8.88525896e-01 -4.58794955e-01 5.37789910e-03 7.34012859e+01] [-4.58787468e-01 8.88542161e-01 2.62445551e-03 -1.38601409e+02] [-5.98257703e-03 -1.35416032e-04 -9.99982095e-01 -4.11738548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.017015728678254006 Centerline is valid? [True, True] Translation: X:73.34, Y:-138.60, Z:-4.12 [[-8.51891147e-01 -5.23688340e-01 5.65644624e-03 7.33383810e+01] [-5.23677987e-01 8.51909912e-01 3.29658157e-03 -1.38602471e+02] [-6.54516396e-03 -1.53827725e-04 -9.99978568e-01 -4.11597469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.016975791119105084 Centerline is valid? [True, True] Translation: X:73.27, Y:-138.61, Z:-4.12 [[-8.11329981e-01 -5.84554705e-01 6.28161507e-03 7.32703263e+01] [-5.84538825e-01 8.11354279e-01 4.31223457e-03 -1.38613287e+02] [-7.61735227e-03 -1.73202699e-04 -9.99970973e-01 -4.11502363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.015436703683471149 Centerline is valid? [True, True] Translation: X:73.20, Y:-138.64, Z:-4.12 [[-7.66808137e-01 -6.41847887e-01 6.04747373e-03 7.31989001e+01] [-6.41829573e-01 7.66831966e-01 4.85126348e-03 -1.38636096e+02] [-7.75116938e-03 -1.61459173e-04 -9.99969946e-01 -4.11523417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.01446100759230086 Centerline is valid? [True, True] Translation: X:73.12, Y:-138.67, Z:-4.12 [[-7.18993051e-01 -6.94997853e-01 5.19394537e-03 7.31233763e+01] [-6.94980955e-01 7.19011800e-01 4.84811222e-03 -1.38668719e+02] [-7.10393560e-03 -1.23934116e-04 -9.99974759e-01 -4.11535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.014112074048333562 Centerline is valid? [True, True] Translation: X:73.04, Y:-138.71, Z:-4.12 [[-6.66857069e-01 -7.45171112e-01 4.65430563e-03 7.30443444e+01] [-7.45154003e-01 6.66873304e-01 5.05055553e-03 -1.38712872e+02] [-6.86736025e-03 -1.00175811e-04 -9.99976414e-01 -4.11552745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.013728684729304943 Centerline is valid? [True, True] Translation: X:72.96, Y:-138.77, Z:-4.11 [[-6.11187714e-01 -7.91474485e-01 4.20929326e-03 7.29645988e+01] [-7.91456591e-01 6.11202203e-01 5.32272652e-03 -1.38766523e+02] [-6.78553155e-03 -7.82878452e-05 -9.99976975e-01 -4.11490377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.01309225151412156 Centerline is valid? [True, True] Translation: X:72.89, Y:-138.83, Z:-4.11 [[-5.51997520e-01 -8.33836754e-01 3.87368012e-03 7.28884096e+01] [-8.33816967e-01 5.52011109e-01 5.74470892e-03 -1.38828083e+02] [-6.92846390e-03 -5.88751288e-05 -9.99975996e-01 -4.11477701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.012995038107167898 Centerline is valid? [True, True] Translation: X:72.81, Y:-138.90, Z:-4.11 [[-4.87783452e-01 -8.72955436e-01 4.01379938e-03 7.28113243e+01] [-8.72926932e-01 4.87799962e-01 7.05464851e-03 -1.38900558e+02] [-8.11632495e-03 -6.26127710e-05 -9.99967060e-01 -4.11435054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.013291031948257228 Centerline is valid? [True, True] Translation: X:72.74, Y:-138.98, Z:-4.11 [[-4.20030768e-01 -9.07500413e-01 4.14183283e-03 7.27371091e+01] [-9.07458022e-01 4.20051182e-01 8.77169889e-03 -1.38980251e+02] [-9.70010214e-03 -7.41560060e-05 -9.99952950e-01 -4.11142010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.013526656389148354 Centerline is valid? [True, True] Translation: X:72.67, Y:-139.07, Z:-4.11 [[-3.48969718e-01 -9.37125833e-01 3.91266511e-03 7.26674747e+01] [-9.37069852e-01 3.48991640e-01 1.02434423e-02 -1.39067901e+02] [-1.09648818e-02 -9.17893430e-05 -9.99939880e-01 -4.10969644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.013245018037985683 Centerline is valid? [True, True] Translation: X:72.61, Y:-139.16, Z:-4.11 [[-2.77093878e-01 -9.60837496e-01 3.20776544e-03 7.26085807e+01] [-9.60776687e-01 2.77112431e-01 1.08101020e-02 -1.39161352e+02] [-1.12756631e-02 -8.65331539e-05 -9.99936424e-01 -4.11103242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.013012033833401555 Centerline is valid? [True, True] Translation: X:72.56, Y:-139.26, Z:-4.11 [[-2.04563164e-01 -9.78850679e-01 2.29355661e-03 7.25553136e+01] [-9.78792616e-01 2.04576012e-01 1.06616399e-02 -1.39264640e+02] [-1.09053602e-02 -6.39374667e-05 -9.99940533e-01 -4.11205398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.012764961286659918 Centerline is valid? [True, True] Translation: X:72.51, Y:-139.37, Z:-4.11 [[-1.31367629e-01 -9.91332813e-01 1.34156490e-03 7.25106633e+01] [-9.91283775e-01 1.31374475e-01 9.86022959e-03 -1.39369444e+02] [-9.95101653e-03 -3.45565397e-05 -9.99950487e-01 -4.11315095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.012649892104647384 Centerline is valid? [True, True] Translation: X:72.47, Y:-139.48, Z:-4.11 [[-5.78421768e-02 -9.98325605e-01 5.19023585e-04 7.24738100e+01] [-9.98286251e-01 5.78445051e-02 8.86417595e-03 -1.39478460e+02] [-8.87935648e-03 -5.41087658e-06 -9.99960578e-01 -4.11456335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.012688557181462409 Centerline is valid? [True, True] Translation: X:72.45, Y:-139.59, Z:-4.12 [[ 1.46632575e-02 -9.99892480e-01 -1.31100037e-04 7.24460828e+01] [-9.99866833e-01 -1.46638204e-02 7.16160637e-03 -1.39590725e+02] [-7.16275879e-03 2.60700996e-05 -9.99974347e-01 -4.11585213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.012739556535504976 Centerline is valid? [True, True] Translation: X:72.43, Y:-139.70, Z:-4.12 [[ 8.93319102e-02 -9.96001713e-01 -6.31153507e-04 7.24254384e+01] [-9.95979622e-01 -8.93341325e-02 6.63368885e-03 -1.39701138e+02] [-6.66354900e-03 3.60159353e-05 -9.99977798e-01 -4.11617368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.012791196487355851 Centerline is valid? [True, True] Translation: X:72.41, Y:-139.82, Z:-4.11 [[ 1.66020815e-01 -9.86121364e-01 -1.32049152e-03 7.24125106e+01] [-9.86091906e-01 -1.66026062e-01 7.62225655e-03 -1.39821080e+02] [-7.73570604e-03 3.66727559e-05 -9.99970078e-01 -4.11495039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.012580174146372605 Centerline is valid? [True, True] Translation: X:72.41, Y:-139.94, Z:-4.11 [[ 2.43114346e-01 -9.69995278e-01 -2.13918059e-03 7.24069343e+01] [-9.69958574e-01 -2.43123756e-01 8.43827263e-03 -1.39940587e+02] [-8.70517022e-03 2.34514200e-05 -9.99962109e-01 -4.11476148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.012655223341968174 Centerline is valid? [True, True] Translation: X:72.41, Y:-140.06, Z:-4.11 [[ 3.19737298e-01 -9.47500844e-01 -3.19530963e-03 7.24113728e+01] [-9.47453366e-01 -3.19753264e-01 9.48519271e-03 -1.40063732e+02] [-1.00089388e-02 -5.36303010e-06 -9.99949909e-01 -4.11272494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.013052606082949633 Centerline is valid? [True, True] Translation: X:72.42, Y:-140.18, Z:-4.11 [[ 3.96007317e-01 -9.18236428e-01 -4.47966625e-03 7.24221717e+01] [-9.18175802e-01 -3.96032648e-01 1.05517323e-02 -1.40183423e+02] [-1.14630791e-02 -6.54420555e-05 -9.99934295e-01 -4.11115103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.012934848044782064 Centerline is valid? [True, True] Translation: X:72.44, Y:-140.29, Z:-4.11 [[ 4.66290490e-01 -8.84614756e-01 -5.46929635e-03 7.24437242e+01] [-8.84551729e-01 -4.66322556e-01 1.05599667e-02 -1.40293691e+02] [-1.18919586e-02 -8.61365019e-05 -9.99929285e-01 -4.11235719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.013735871214285466 Centerline is valid? [True, True] Translation: X:72.47, Y:-140.41, Z:-4.11 [[ 5.33322458e-01 -8.45888605e-01 -6.29479612e-03 7.24726487e+01] [-8.45827463e-01 -5.33359596e-01 1.01707831e-02 -1.40405185e+02] [-1.19607395e-02 -9.99956269e-05 -9.99928463e-01 -4.10997945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.01293678394339058 Centerline is valid? [True, True] Translation: X:72.51, Y:-140.51, Z:-4.11 [[ 5.95019137e-01 -8.03683119e-01 -6.75799678e-03 7.25112211e+01] [-8.03629780e-01 -5.95057508e-01 9.25950151e-03 -1.40506151e+02] [-1.14631018e-02 -7.86531355e-05 -9.99934293e-01 -4.11326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.012742022149806003 Centerline is valid? [True, True] Translation: X:72.56, Y:-140.61, Z:-4.11 [[ 6.52609053e-01 -7.57665613e-01 -6.65147879e-03 7.25570663e+01] [-7.57625560e-01 -6.52642947e-01 7.79067516e-03 -1.40606066e+02] [-1.02437674e-02 -4.49347973e-05 -9.99947530e-01 -4.11436921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.012725928789285012 Centerline is valid? [True, True] Translation: X:72.60, Y:-140.70, Z:-4.11 [[ 7.06145156e-01 -7.08037682e-01 -6.45446534e-03 7.26041863e+01] [-7.08007938e-01 -7.06174654e-01 6.48983763e-03 -1.40695091e+02] [-9.15302941e-03 -1.29547050e-05 -9.99958110e-01 -4.11467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.012670318945411745 Centerline is valid? [True, True] Translation: X:72.66, Y:-140.78, Z:-4.12 [[ 7.56948829e-01 -6.53438084e-01 -6.86586264e-03 7.26599401e+01] [-6.53411183e-01 -7.56979967e-01 5.92926022e-03 -1.40782863e+02] [-9.07172491e-03 -1.91516146e-06 -9.99958851e-01 -4.11556102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.012847186743818347 Centerline is valid? [True, True] Translation: X:72.68, Y:-140.81, Z:-4.11 [[ 8.05286568e-01 -5.92808326e-01 -9.58287687e-03 7.26825887e+01] [-5.92766436e-01 -8.05343584e-01 7.04722157e-03 -1.40810366e+02] [-1.18951600e-02 5.37490445e-06 -9.99929250e-01 -4.11434723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.012987718537183232 Centerline is valid? [True, True] Translation: X:72.71, Y:-140.84, Z:-4.11 [[ 8.49090437e-01 -5.28118768e-01 -1.16617353e-02 7.27074094e+01] [-5.28069078e-01 -8.49170517e-01 7.24448304e-03 -1.40836359e+02] [-1.37287493e-02 6.98055109e-06 -9.99905756e-01 -4.11248041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.012963539866701073 Centerline is valid? [True, True] Translation: X:72.73, Y:-140.86, Z:-4.11 [[ 8.87799256e-01 -4.60040306e-01 -1.32438095e-02 7.27343726e+01] [-4.59989226e-01 -8.87898033e-01 6.85534291e-03 -1.40860570e+02] [-1.49128864e-02 5.84133557e-06 -9.99888797e-01 -4.11242468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.01312050490931102 Centerline is valid? [True, True] Translation: X:72.76, Y:-140.88, Z:-4.11 [[ 9.21200108e-01 -3.88855173e-01 -1.34913153e-02 7.27632223e+01] [-3.88813480e-01 -9.21298895e-01 5.69414279e-03 -1.40878666e+02] [-1.46437308e-02 1.60323366e-07 -9.99892775e-01 -4.11200752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.013032234088450424 Centerline is valid? [True, True] Translation: X:72.79, Y:-140.90, Z:-4.11 [[ 9.48981761e-01 -3.15042054e-01 -1.34952351e-02 7.27933635e+01] [-3.15010075e-01 -9.49077713e-01 4.48865905e-03 -1.40896656e+02] [-1.42221432e-02 -8.52056185e-06 -9.99898860e-01 -4.11352422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.013083894003470337 Centerline is valid? [True, True] Translation: X:72.82, Y:-140.91, Z:-4.11 [[ 9.70990618e-01 -2.38709628e-01 -1.39618723e-02 7.28244690e+01] [-2.38684570e-01 -9.71090991e-01 3.45879665e-03 -1.40911151e+02] [-1.43838964e-02 -2.59756164e-05 -9.99896546e-01 -4.11265329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.01314177853048341 Centerline is valid? [True, True] Translation: X:72.86, Y:-140.92, Z:-4.11 [[ 9.87181836e-01 -1.58998088e-01 -1.38431031e-02 7.28566674e+01] [-1.58981483e-01 -9.87278888e-01 2.29885761e-03 -1.40924159e+02] [-1.40325174e-02 -6.85934112e-05 -9.99901537e-01 -4.11374309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.013394323936867108 Centerline is valid? [True, True] Translation: X:72.89, Y:-140.93, Z:-4.11 [[ 9.96795576e-01 -7.88639868e-02 -1.33809918e-02 7.28854599e+01] [-7.88555777e-02 -9.96885381e-01 1.15570707e-03 -1.40934559e+02] [-1.34304588e-02 -9.68378529e-05 -9.99909803e-01 -4.11396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.013721517108878593 Centerline is valid? [True, True] Translation: X:72.92, Y:-140.94, Z:-4.12 [[ 9.99921635e-01 3.51142280e-03 -1.20163903e-02 7.29152105e+01] [ 3.51279553e-03 -9.99993826e-01 9.31340315e-05 -1.40943542e+02] [-1.20159890e-02 -1.35337855e-04 -9.99927796e-01 -4.11566938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.014424810217979287 Centerline is valid? [True, True] Translation: X:72.95, Y:-140.95, Z:-4.12 [[ 9.96336355e-01 8.47980209e-02 -1.10978697e-02 7.29457215e+01] [ 8.47945403e-02 -9.96398149e-01 -7.84632547e-04 -1.40950373e+02] [-1.11244321e-02 -1.59280828e-04 -9.99938109e-01 -4.11635542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.015189746270531988 Centerline is valid? [True, True] Translation: X:72.98, Y:-140.95, Z:-4.12 [[ 9.86214592e-01 1.65135863e-01 -1.05321252e-02 7.29765764e+01] [ 1.65128400e-01 -9.86270812e-01 -1.58031504e-03 -1.40953265e+02] [-1.06484944e-02 -1.80623238e-04 -9.99943287e-01 -4.11678340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.015498988988526806 Centerline is valid? [True, True] Translation: X:73.01, Y:-140.95, Z:-4.12 [[ 9.69882830e-01 2.43285325e-01 -1.18130226e-02 7.30080949e+01] [ 2.43270086e-01 -9.69954741e-01 -2.73220410e-03 -1.40952866e+02] [-1.21228025e-02 -2.23837189e-04 -9.99926491e-01 -4.11503039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.015556267462138836 Centerline is valid? [True, True] Translation: X:73.04, Y:-140.95, Z:-4.11 [[ 9.47714283e-01 3.18880146e-01 -1.23730052e-02 7.30388490e+01] [ 3.18856336e-01 -9.47795016e-01 -3.90438098e-03 -1.40951024e+02] [-1.29721023e-02 -2.44973496e-04 -9.99915829e-01 -4.11426016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.015517880378920072 Centerline is valid? [True, True] Translation: X:73.07, Y:-140.95, Z:-4.11 [[ 9.19777984e-01 3.92253211e-01 -1.20780543e-02 7.30704674e+01] [ 3.92222929e-01 -9.19857248e-01 -4.88027332e-03 -1.40946777e+02] [-1.30243886e-02 -2.48521865e-04 -9.99915148e-01 -4.11443899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.015729121311187304 Centerline is valid? [True, True] Translation: X:73.10, Y:-140.94, Z:-4.11 [[ 8.86218384e-01 4.63126596e-01 -1.14338179e-02 7.31013100e+01] [ 4.63091592e-01 -8.86292106e-01 -5.69916820e-03 -1.40941399e+02] [-1.27731389e-02 -2.44197299e-04 -9.99918390e-01 -4.11449052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.01516853353267276 Centerline is valid? [True, True] Translation: X:73.13, Y:-140.93, Z:-4.11 [[ 8.47783535e-01 5.30235177e-01 -1.06646881e-02 7.31314746e+01] [ 5.30196548e-01 -8.47850580e-01 -6.40420854e-03 -1.40931917e+02] [-1.24377986e-02 -2.24998253e-04 -9.99922622e-01 -4.11498147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.01441788549278427 Centerline is valid? [True, True] Translation: X:73.16, Y:-140.92, Z:-4.12 [[ 8.05065978e-01 5.93100736e-01 -1.00143813e-02 7.31612233e+01] [ 5.93057828e-01 -8.05128238e-01 -7.13677365e-03 -1.40920822e+02] [-1.22956868e-02 -1.93533532e-04 -9.99924387e-01 -4.11559140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.013465430783656224 Centerline is valid? [True, True] Translation: X:73.19, Y:-140.91, Z:-4.12 [[ 7.60578382e-01 6.49184959e-01 -8.91147776e-03 7.31878432e+01] [ 6.49142007e-01 -7.60630579e-01 -7.46835840e-03 -1.40905756e+02] [-1.16266884e-02 -1.04542609e-04 -9.99932402e-01 -4.11629119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.013006175318710804 Centerline is valid? [True, True] Translation: X:73.21, Y:-140.89, Z:-4.12 [[ 7.12223449e-01 7.01906314e-01 -8.07994021e-03 7.32136117e+01] [ 7.01861546e-01 -7.12269279e-01 -7.92744311e-03 -1.40888766e+02] [-1.13194156e-02 -2.48884594e-05 -9.99935933e-01 -4.11673653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.013787464370284327 Centerline is valid? [True, True] Translation: X:73.23, Y:-140.87, Z:-4.12 [[ 6.63265160e-01 7.48351207e-01 -7.05681708e-03 7.32333716e+01] [ 7.48307357e-01 -6.63302693e-01 -8.10168556e-03 -1.40867843e+02] [-1.07437119e-02 9.28976306e-05 -9.99942280e-01 -4.11879492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.014871625667889191 Centerline is valid? [True, True] Translation: X:73.25, Y:-140.85, Z:-4.12 [[ 6.07422767e-01 7.94352166e-01 -6.49767549e-03 7.32543978e+01] [ 7.94303874e-01 -6.07457498e-01 -8.76042557e-03 -1.40847819e+02] [-1.09059247e-02 1.60153132e-04 -9.99940516e-01 -4.11985312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.015127747047297087 Centerline is valid? [True, True] Translation: X:73.28, Y:-140.83, Z:-4.12 [[ 5.46557080e-01 8.37400084e-01 -6.03800393e-03 7.32783693e+01] [ 8.37344678e-01 -5.46590390e-01 -9.63508820e-03 -1.40829550e+02] [-1.13687386e-02 2.10235210e-04 -9.99935352e-01 -4.12070785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.015888393794315125 Centerline is valid? [True, True] Translation: X:73.30, Y:-140.81, Z:-4.12 [[ 4.80666821e-01 8.76881099e-01 -6.24061275e-03 7.33008037e+01] [ 8.76799756e-01 -4.80707255e-01 -1.19466795e-02 -1.40809076e+02] [-1.34757252e-02 2.70604703e-04 -9.99909162e-01 -4.11930703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.015718144100525553 Centerline is valid? [True, True] Translation: X:73.32, Y:-140.79, Z:-4.12 [[ 4.09244102e-01 9.12408572e-01 -5.46469678e-03 7.33220614e+01] [ 9.12318552e-01 -4.09280503e-01 -1.28190995e-02 -1.40787120e+02] [-1.39328501e-02 2.60596621e-04 -9.99902899e-01 -4.11914123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.014886911328316724 Centerline is valid? [True, True] Translation: X:73.34, Y:-140.76, Z:-4.12 [[ 3.31808501e-01 9.43333836e-01 -4.93894916e-03 7.33439510e+01] [ 9.43219648e-01 -3.31845189e-01 -1.46787802e-02 -1.40764577e+02] [-1.54859565e-02 2.12030165e-04 -9.99880063e-01 -4.11954678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.014105866748390677 Centerline is valid? [True, True] Translation: X:73.36, Y:-140.74, Z:-4.12 [[ 2.51623613e-01 9.67817137e-01 -3.94299051e-03 7.33640342e+01] [ 9.67689903e-01 -2.51654470e-01 -1.56933232e-02 -1.40740057e+02] [-1.61805383e-02 1.33218586e-04 -9.99869078e-01 -4.12012232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.013781773285200275 Centerline is valid? [True, True] Translation: X:73.38, Y:-140.71, Z:-4.12 [[ 1.71982172e-01 9.85096363e-01 -2.69984254e-03 7.33796289e+01] [ 9.84967401e-01 -1.72003343e-01 -1.59395703e-02 -1.40713143e+02] [-1.61663946e-02 8.20650257e-05 -9.99869312e-01 -4.12030040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.013566266696261483 Centerline is valid? [True, True] Translation: X:73.40, Y:-140.69, Z:-4.12 [[ 8.80246005e-02 9.96117359e-01 -1.37024781e-03 7.33984434e+01] [ 9.96000051e-01 -8.80352629e-02 -1.52869845e-02 -1.40686062e+02] [-1.53482608e-02 -1.91361816e-05 -9.99882208e-01 -4.12082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.014001114688770494 Centerline is valid? [True, True] Translation: X:73.42, Y:-140.66, Z:-4.12 [[ 8.99646471e-04 9.99999584e-01 -1.51281995e-04 7.34168357e+01] [ 9.99905134e-01 -9.01640789e-04 -1.37444542e-02 -1.40656632e+02] [-1.37445849e-02 -1.38902493e-04 -9.99905529e-01 -4.12284969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.014991081179287633 Centerline is valid? [True, True] Translation: X:73.43, Y:-140.63, Z:-4.12 [[-8.17300337e-02 9.96654164e-01 8.24633213e-04 7.34279680e+01] [ 9.96579394e-01 8.17340041e-02 -1.22092012e-02 -1.40626991e+02] [-1.22357518e-02 -1.76045957e-04 -9.99925125e-01 -4.12309367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.015914043532033975 Centerline is valid? [True, True] Translation: X:73.43, Y:-140.60, Z:-4.12 [[-1.62377148e-01 9.86727217e-01 1.74944852e-03 7.34323277e+01] [ 9.86655344e-01 1.62386439e-01 -1.19111888e-02 -1.40596056e+02] [-1.20371809e-02 -2.08002131e-04 -9.99927529e-01 -4.12325720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.016322127760755888 Centerline is valid? [True, True] Translation: X:73.44, Y:-140.56, Z:-4.12 [[-2.42812789e-01 9.70068562e-01 2.98922409e-03 7.34362507e+01] [ 9.69980063e-01 2.42831023e-01 -1.31061733e-02 -1.40563034e+02] [-1.34397630e-02 -2.82858714e-04 -9.99909642e-01 -4.12355044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.016763219762121792 Centerline is valid? [True, True] Translation: X:73.44, Y:-140.53, Z:-4.12 [[-3.19350121e-01 9.47625479e-01 4.63167733e-03 7.34363068e+01] [ 9.47509429e-01 3.19383517e-01 -1.48341135e-02 -1.40530127e+02] [-1.55364653e-02 -3.48718007e-04 -9.99879241e-01 -4.12220722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.016742598180730223 Centerline is valid? [True, True] Translation: X:73.43, Y:-140.50, Z:-4.12 [[-3.92082589e-01 9.19907516e-01 6.43468231e-03 7.34316898e+01] [ 9.19767362e-01 3.92135204e-01 -1.60618395e-02 -1.40498758e+02] [-1.72986724e-02 -3.79156864e-04 -9.99850295e-01 -4.12056076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.016379063314917907 Centerline is valid? [True, True] Translation: X:73.42, Y:-140.47, Z:-4.12 [[-4.60004798e-01 8.87874318e-01 8.64758124e-03 7.34217167e+01] [ 8.87702336e-01 4.60085929e-01 -1.74785772e-02 -1.40470320e+02] [-1.94974103e-02 -3.63751307e-04 -9.99809841e-01 -4.11837927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.01590844648377307 Centerline is valid? [True, True] Translation: X:73.41, Y:-140.44, Z:-4.12 [[-5.25550504e-01 8.50696469e-01 1.05918241e-02 7.34055650e+01] [ 8.50511220e-01 5.25657126e-01 -1.77552782e-02 -1.40443569e+02] [-2.06720203e-02 -3.22830150e-04 -9.99786259e-01 -4.11780555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.01454453510086132 Centerline is valid? [True, True] Translation: X:73.39, Y:-140.42, Z:-4.12 [[-5.86299700e-01 8.10003515e-01 1.21229680e-02 7.33857411e+01] [ 8.09822702e-01 5.86424981e-01 -1.71152835e-02 -1.40419510e+02] [-2.09726510e-02 -2.17230852e-04 -9.99780026e-01 -4.11922725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.014221554855399022 Centerline is valid? [True, True] Translation: X:73.37, Y:-140.40, Z:-4.12 [[-6.45296447e-01 7.63811471e-01 1.35842859e-02 7.33653209e+01] [ 7.63637481e-01 6.45439398e-01 -1.63027998e-02 -1.40397688e+02] [-2.12200988e-02 -1.46668900e-04 -9.99774818e-01 -4.11977405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.013925389639831266 Centerline is valid? [True, True] Translation: X:73.34, Y:-140.38, Z:-4.12 [[-7.01323847e-01 7.12698448e-01 1.43451695e-02 7.33431447e+01] [ 7.12546787e-01 7.01470537e-01 -1.47024719e-02 -1.40377248e+02] [-2.05411426e-02 -8.95896966e-05 -9.99789005e-01 -4.12087946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.013364115575176468 Centerline is valid? [True, True] Translation: X:73.32, Y:-140.36, Z:-4.12 [[-7.53567716e-01 6.57213693e-01 1.43478133e-02 7.33209079e+01] [ 6.57093552e-01 7.53704292e-01 -1.25659867e-02 -1.40356613e+02] [-1.90725470e-02 -4.14662503e-05 -9.99818102e-01 -4.12312222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.013013022761460796 Centerline is valid? [True, True] Translation: X:73.34, Y:-140.34, Z:-4.13 [[-7.98044914e-01 6.02419904e-01 1.46483502e-02 7.33377892e+01] [ 6.02317615e-01 7.98179340e-01 -1.11010008e-02 -1.40337462e+02] [-1.83794743e-02 -3.61379125e-05 -9.99831083e-01 -4.12506124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.012945937494799551 Centerline is valid? [True, True] Translation: X:73.35, Y:-140.32, Z:-4.13 [[-8.38820523e-01 5.44169745e-01 1.61065165e-02 7.33520480e+01] [ 5.44068442e-01 8.38975141e-01 -1.04997000e-02 -1.40316561e+02] [-1.92265860e-02 -4.43164788e-05 -9.99815151e-01 -4.12552808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.013012504116697337 Centerline is valid? [True, True] Translation: X:73.37, Y:-140.30, Z:-4.13 [[-8.75492062e-01 4.82926522e-01 1.71936983e-02 7.33678528e+01] [ 4.82831991e-01 8.75660876e-01 -9.55498841e-03 -1.40295753e+02] [-1.96702063e-02 -6.36489096e-05 -9.99806521e-01 -4.12537036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.012925452641332165 Centerline is valid? [True, True] Translation: X:73.38, Y:-140.27, Z:-4.13 [[-9.08739176e-01 4.17015492e-01 1.70642528e-02 7.33795339e+01] [ 4.16939589e-01 9.08899370e-01 -7.95698008e-03 -1.40271972e+02] [-1.88278726e-02 -1.16056993e-04 -9.99822733e-01 -4.12649997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.013551992009551508 Centerline is valid? [True, True] Translation: X:73.39, Y:-140.24, Z:-4.13 [[-9.36756249e-01 3.49592400e-01 1.65191788e-02 7.33868011e+01] [ 3.49535290e-01 9.36901880e-01 -6.32051381e-03 -1.40244708e+02] [-1.76864533e-02 -1.46744844e-04 -9.99843572e-01 -4.12529612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.013151209923697305 Centerline is valid? [True, True] Translation: X:73.39, Y:-140.22, Z:-4.13 [[-9.59726193e-01 2.80524407e-01 1.52214107e-02 7.33948615e+01] [ 2.80486442e-01 9.59846879e-01 -4.61792526e-03 -1.40220732e+02] [-1.59056643e-02 -1.62544490e-04 -9.99873484e-01 -4.12701245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.013234158490390543 Centerline is valid? [True, True] Translation: X:73.59, Y:-139.58, Z:-5.12 [[-9.31413613e-01 -3.63690034e-01 1.40798153e-02 7.35863853e+01] [ 3.63650148e-01 -9.31520021e-01 -5.38709325e-03 -1.39581308e+02] [ 1.50748619e-02 1.02514915e-04 9.99886363e-01 -5.12384313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.013015753144937475 Centerline is valid? [True, True] Translation: X:73.35, Y:-140.21, Z:-4.13 [[-9.60692336e-01 2.77290445e-01 1.34255609e-02 7.33503527e+01] [ 2.77261361e-01 9.60786131e-01 -4.01841125e-03 -1.40212429e+02] [-1.40133598e-02 -1.38067603e-04 -9.99901799e-01 -4.12824709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.012713691625730019 Centerline is valid? [True, True] Translation: X:73.36, Y:-140.19, Z:-4.13 [[-9.77869626e-01 2.08888728e-01 1.16831100e-02 7.33553143e+01] [ 2.08872444e-01 9.77939409e-01 -2.61059546e-03 -1.40186481e+02] [-1.19706977e-02 -1.12542266e-04 -9.99928342e-01 -4.12898164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.012721416462960176 Centerline is valid? [True, True] Translation: X:73.36, Y:-140.16, Z:-4.13 [[-9.90148628e-01 1.39589871e-01 1.09709439e-02 7.33583809e+01] [ 1.39580203e-01 9.90209401e-01 -1.64576965e-03 -1.40159583e+02] [-1.10932646e-02 -9.82299818e-05 -9.99938463e-01 -4.12797900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.012630107279553344 Centerline is valid? [True, True] Translation: X:73.36, Y:-140.13, Z:-4.13 [[-9.97500449e-01 6.97939331e-02 1.10300148e-02 7.33625524e+01] [ 6.97886808e-02 9.97561426e-01 -8.60834015e-04 -1.40133684e+02] [-1.10631983e-02 -8.89121324e-05 -9.99938797e-01 -4.12664053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.011940987815463147 Centerline is valid? [True, True] Translation: X:73.42, Y:-139.46, Z:-5.12 [[-9.88601790e-01 -1.50213156e-01 1.01246925e-02 7.34174040e+01] [ 1.50205603e-01 -9.88653634e-01 -1.50661296e-03 -1.39456603e+02] [ 1.02361271e-02 3.13452705e-05 9.99947609e-01 -5.12341573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.011999345313514634 Centerline is valid? [True, True] Translation: X:73.31, Y:-140.13, Z:-4.13 [[-9.97471347e-01 7.03190363e-02 1.03026502e-02 7.33079955e+01] [ 7.03149186e-02 9.97524552e-01 -7.61809288e-04 -1.40134127e+02] [-1.03307162e-02 -3.54529303e-05 -9.99946636e-01 -4.12736156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.011881252114843763 Centerline is valid? [True, True] Translation: X:73.31, Y:-140.11, Z:-4.13 [[-9.99951191e-01 1.10939450e-03 9.81763223e-03 7.33119178e+01] [ 1.10918144e-03 9.99999385e-01 -2.71462759e-05 -1.40108270e+02] [-9.81765630e-03 -1.62554155e-05 -9.99951806e-01 -4.12746605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.011648832933105565 Centerline is valid? [True, True] Translation: X:73.32, Y:-139.42, Z:-5.12 [[-9.97498271e-01 -7.01513618e-02 8.71693950e-03 7.33150347e+01] [ 7.01482143e-02 -9.97536357e-01 -6.66683650e-04 -1.39420531e+02] [ 8.74223284e-03 -5.35380485e-05 9.99961785e-01 -5.12270200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.011550077951073217 Centerline is valid? [True, True] Translation: X:73.25, Y:-140.11, Z:-4.13 [[-9.99959528e-01 -1.40623955e-03 8.88622464e-03 7.32468878e+01] [-1.40615028e-03 9.99999011e-01 1.62942045e-05 -1.40109939e+02] [-8.88623877e-03 3.79817780e-06 -9.99960517e-01 -4.12743464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.01153048426917504 Centerline is valid? [True, True] Translation: X:73.24, Y:-139.42, Z:-5.13 [[-9.97683865e-01 -6.72952495e-02 9.91239409e-03 7.32423945e+01] [ 6.72925823e-02 -9.97733103e-01 -6.02739303e-04 -1.39422894e+02] [ 9.93048520e-03 6.56873166e-05 9.99950689e-01 -5.12576292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.011707784683935647 Centerline is valid? [True, True] Translation: X:73.18, Y:-140.10, Z:-4.12 [[-9.99889044e-01 -1.07325767e-02 1.03300837e-02 7.31778544e+01] [-1.07324714e-02 9.99942403e-01 6.56359241e-05 -1.40104966e+02] [-1.03301932e-02 -4.52386865e-05 -9.99946641e-01 -4.12361695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.011864842463854268 Centerline is valid? [True, True] Translation: X:73.17, Y:-140.08, Z:-4.12 [[-9.96423629e-01 -8.39002251e-02 1.00351247e-02 7.31720253e+01] [-8.38966364e-02 9.96474158e-01 7.78789448e-04 -1.40076607e+02] [-1.00650830e-02 -6.59089970e-05 -9.99949344e-01 -4.12386250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.012902562890162287 Centerline is valid? [True, True] Translation: X:73.16, Y:-140.05, Z:-4.12 [[-9.87058747e-01 -1.60092420e-01 9.24378289e-03 7.31603443e+01] [-1.60086491e-01 9.87102023e-01 1.38267680e-03 -1.40045793e+02] [-9.34591287e-03 -1.15021534e-04 -9.99956319e-01 -4.12314199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.013185190607227374 Centerline is valid? [True, True] Translation: X:73.06, Y:-139.39, Z:-5.13 [[-9.97835626e-01 6.51415874e-02 8.97981903e-03 7.30611441e+01] [-6.51381652e-02 -9.97876027e-01 6.73351779e-04 -1.39388514e+02] [ 9.00460935e-03 8.69654581e-05 9.99959454e-01 -5.12705419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.015683642696810926 Centerline is valid? [True, True] Translation: X:73.07, Y:-140.05, Z:-4.12 [[-9.84990396e-01 -1.72409144e-01 8.30703108e-03 7.30731997e+01] [-1.72404403e-01 9.85025411e-01 1.28898717e-03 -1.40051665e+02] [-8.40486988e-03 -1.62528744e-04 -9.99964665e-01 -4.12245794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.01618232166484302 Centerline is valid? [True, True] Translation: X:73.06, Y:-140.03, Z:-4.12 [[-9.69002498e-01 -2.46915908e-01 8.16656314e-03 7.30560850e+01] [-2.46908902e-01 9.69036889e-01 1.87103931e-03 -1.40025311e+02] [-8.37569032e-03 -2.03355377e-04 -9.99964903e-01 -4.12234647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.01708233616449531 Centerline is valid? [True, True] Translation: X:73.04, Y:-140.00, Z:-4.12 [[-9.48196622e-01 -3.17573014e-01 8.39920175e-03 7.30376678e+01] [-3.17562715e-01 9.48233794e-01 2.56803945e-03 -1.39999499e+02] [-8.77994697e-03 -2.32266985e-04 -9.99961429e-01 -4.12080308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.015798812589032395 Centerline is valid? [True, True] Translation: X:73.01, Y:-139.98, Z:-4.12 [[-9.22913159e-01 -3.84909722e-01 8.70670708e-03 7.30093705e+01] [-3.84895098e-01 9.22954194e-01 3.36435158e-03 -1.39983500e+02] [-9.33086345e-03 -2.46164524e-04 -9.99956436e-01 -4.12038825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.016932418203217062 Centerline is valid? [True, True] Translation: X:72.96, Y:-139.97, Z:-4.12 [[-8.93286449e-01 -4.49415415e-01 8.06872199e-03 7.29644060e+01] [-4.49399309e-01 8.93322862e-01 3.81123963e-03 -1.39972988e+02] [-8.92080366e-03 -2.21549371e-04 -9.99960184e-01 -4.11956292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.014991900896931701 Centerline is valid? [True, True] Translation: X:72.91, Y:-139.98, Z:-4.12 [[-8.59653518e-01 -5.10839448e-01 6.23603024e-03 7.29089412e+01] [-5.10827283e-01 8.59676122e-01 3.52870438e-03 -1.39978643e+02] [-7.16356769e-03 -1.52071250e-04 -9.99974330e-01 -4.12186423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.014120794093614266 Centerline is valid? [True, True] Translation: X:72.84, Y:-139.99, Z:-4.12 [[-8.21057600e-01 -5.70807279e-01 6.59300366e-03 7.28423865e+01] [-5.70790305e-01 8.21084057e-01 4.40435968e-03 -1.39991352e+02] [-7.92745075e-03 -1.46989583e-04 -9.99968567e-01 -4.12114021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.013778193406283452 Centerline is valid? [True, True] Translation: X:72.77, Y:-140.01, Z:-4.12 [[-7.77982975e-01 -6.28248117e-01 6.84068070e-03 7.27704431e+01] [-6.28225374e-01 7.78013037e-01 5.34737164e-03 -1.40013001e+02] [-8.68161493e-03 -1.37325098e-04 -9.99962305e-01 -4.11965006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.01287361035706272 Centerline is valid? [True, True] Translation: X:72.70, Y:-140.05, Z:-4.12 [[-7.30970952e-01 -6.82373477e-01 6.92133534e-03 7.26959569e+01] [-6.82344406e-01 7.31003710e-01 6.29988041e-03 -1.40046823e+02] [-9.35839311e-03 -1.17704864e-04 -9.99956202e-01 -4.11957083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.012255036147466604 Centerline is valid? [True, True] Translation: X:72.62, Y:-140.09, Z:-4.12 [[-6.80484012e-01 -7.32735946e-01 6.28829373e-03 7.26173905e+01] [-7.32705715e-01 6.80513062e-01 6.65638880e-03 -1.40091718e+02] [-9.15664137e-03 -7.79025957e-05 -9.99958074e-01 -4.11974473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.012183796490233722 Centerline is valid? [True, True] Translation: X:72.53, Y:-140.14, Z:-4.12 [[-6.23205536e-01 -7.82038503e-01 5.53530930e-03 7.25340069e+01] [-7.82008712e-01 6.23230113e-01 6.82639992e-03 -1.40144607e+02] [-8.78827902e-03 -7.44098754e-05 -9.99961380e-01 -4.12035359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.012240433580571381 Centerline is valid? [True, True] Translation: X:72.45, Y:-140.21, Z:-4.12 [[-5.61808440e-01 -8.27253628e-01 4.76565650e-03 7.24541393e+01] [-8.27224980e-01 5.61828647e-01 6.88507574e-03 -1.40205499e+02] [-8.37318623e-03 -7.41764450e-05 -9.99964942e-01 -4.12087667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.012611448247711548 Centerline is valid? [True, True] Translation: X:72.37, Y:-140.28, Z:-4.12 [[-4.96672989e-01 -8.67925237e-01 4.66104486e-03 7.23742670e+01] [-8.67888683e-01 4.96694851e-01 7.96612272e-03 -1.40278918e+02] [-9.22911594e-03 -8.87101089e-05 -9.99957407e-01 -4.12045513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.012643764746110914 Centerline is valid? [True, True] Translation: X:72.30, Y:-140.36, Z:-4.12 [[-4.29125485e-01 -9.03235546e-01 4.10679202e-03 7.23005008e+01] [-9.03196182e-01 4.29145127e-01 8.43305196e-03 -1.40355916e+02] [-9.37944208e-03 -9.04013562e-05 -9.99956008e-01 -4.11898630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.012838436368031505 Centerline is valid? [True, True] Translation: X:72.23, Y:-140.44, Z:-4.12 [[-3.57671222e-01 -9.33840724e-01 3.57752617e-03 7.22302738e+01] [-9.33796971e-01 3.57689098e-01 9.04031567e-03 -1.40442747e+02] [-9.72185704e-03 -1.07222339e-04 -9.99952736e-01 -4.11899582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.01356876371640447 Centerline is valid? [True, True] Translation: X:72.16, Y:-140.54, Z:-4.12 [[-2.83617768e-01 -9.58933288e-01 2.81265675e-03 7.21643747e+01] [-9.58890303e-01 2.83631688e-01 9.08033245e-03 -1.40539837e+02] [-9.50519163e-03 -1.21685657e-04 -9.99954817e-01 -4.11897891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.014064612098482518 Centerline is valid? [True, True] Translation: X:72.11, Y:-140.64, Z:-4.12 [[-2.08008814e-01 -9.78125097e-01 1.90494646e-03 7.21075505e+01] [-9.78089324e-01 2.08017500e-01 8.36630448e-03 -1.40637000e+02] [-8.57955458e-03 -1.22942723e-04 -9.99963187e-01 -4.12000459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.013801603570551291 Centerline is valid? [True, True] Translation: X:72.06, Y:-140.75, Z:-4.12 [[-1.31911044e-01 -9.91260857e-01 1.17865612e-03 7.20591721e+01] [-9.91229005e-01 1.31916255e-01 7.94746872e-03 -1.40745290e+02] [-8.03349856e-03 -1.19959241e-04 -9.99967724e-01 -4.12140300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.013011696247515865 Centerline is valid? [True, True] Translation: X:72.02, Y:-140.85, Z:-4.12 [[-5.73440901e-02 -9.98354364e-01 4.68699769e-04 7.20201275e+01] [-9.98332275e-01 5.73459394e-02 6.64170796e-03 -1.40850880e+02] [-6.65765615e-03 -8.70554073e-05 -9.99977834e-01 -4.12179077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.012659160368878425 Centerline is valid? [True, True] Translation: X:71.99, Y:-140.96, Z:-4.12 [[ 1.58362540e-02 -9.99874598e-01 -3.68314979e-05 7.19894169e+01] [-9.99857706e-01 -1.58362006e-02 5.81232485e-03 -1.40959036e+02] [-5.81217924e-03 -5.52191958e-05 -9.99983108e-01 -4.12084181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.011768268800226741 Centerline is valid? [True, True] Translation: X:71.97, Y:-141.07, Z:-4.12 [[ 8.39149292e-02 -9.96472868e-01 -3.29693201e-04 7.19728514e+01] [-9.96465013e-01 -8.39155768e-02 3.95653016e-03 -1.41070642e+02] [-3.97024135e-03 -3.48420899e-06 -9.99992119e-01 -4.12232055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.01202746815695653 Centerline is valid? [True, True] Translation: X:71.96, Y:-141.19, Z:-4.12 [[ 1.52818737e-01 -9.88254080e-01 -5.53435788e-04 7.19636032e+01] [-9.88248130e-01 -1.52819737e-01 3.42962910e-03 -1.41185587e+02] [-3.47392086e-03 2.28202959e-05 -9.99993966e-01 -4.12284030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.013883859398720194 Centerline is valid? [True, True] Translation: X:71.96, Y:-141.30, Z:-4.12 [[ 2.17178110e-01 -9.76131501e-01 -9.80496313e-04 7.19648075e+01] [-9.76123048e-01 -2.17180310e-01 4.06294512e-03 -1.41303224e+02] [-4.17891321e-03 7.47023089e-05 -9.99991266e-01 -4.12156466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.01600440201093683 Centerline is valid? [True, True] Translation: X:71.97, Y:-141.41, Z:-4.12 [[ 2.84338519e-01 -9.58722265e-01 -1.79594526e-03 7.19705920e+01] [-9.58706286e-01 -2.84344152e-01 5.53724368e-03 -1.41411119e+02] [-5.81934534e-03 1.47332339e-04 -9.99983057e-01 -4.11948374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.01801236542883841 Centerline is valid? [True, True] Translation: X:71.99, Y:-141.53, Z:-4.12 [[ 3.51086249e-01 -9.36338515e-01 -2.93802879e-03 7.19868768e+01] [-9.36311334e-01 -3.51098457e-01 7.13862356e-03 -1.41525941e+02] [-7.71570556e-03 2.44637094e-04 -9.99970204e-01 -4.11763855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.019152218558969345 Centerline is valid? [True, True] Translation: X:72.01, Y:-141.64, Z:-4.12 [[ 4.17831868e-01 -9.08516670e-01 -3.74046748e-03 7.20104403e+01] [-9.08486459e-01 -4.17848502e-01 7.41512131e-03 -1.41640078e+02] [-8.29971005e-03 2.99890069e-04 -9.99965512e-01 -4.11668228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.01997489666601837 Centerline is valid? [True, True] Translation: X:72.04, Y:-141.75, Z:-4.12 [[ 4.86117669e-01 -8.73880321e-01 -4.77448889e-03 7.20419504e+01] [-8.73844704e-01 -4.86141001e-01 7.89682713e-03 -1.41753236e+02] [-9.22195664e-03 3.33374634e-04 -9.99957421e-01 -4.11692892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.018190863066055066 Centerline is valid? [True, True] Translation: X:72.08, Y:-141.87, Z:-4.12 [[ 5.54540020e-01 -8.32137528e-01 -5.70093689e-03 7.20768006e+01] [-8.32099315e-01 -5.54569232e-01 7.98109474e-03 -1.41865647e+02] [-9.80293264e-03 3.17909249e-04 -9.99951900e-01 -4.11715249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.016179647980393324 Centerline is valid? [True, True] Translation: X:72.12, Y:-141.97, Z:-4.12 [[ 6.20113418e-01 -7.84485589e-01 -6.45837257e-03 7.21183685e+01] [-7.84447624e-01 -6.20146986e-01 7.72273249e-03 -1.41973648e+02] [-1.00635126e-02 2.77284982e-04 -9.99949323e-01 -4.11762204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.015327722886502864 Centerline is valid? [True, True] Translation: X:72.17, Y:-142.07, Z:-4.12 [[ 6.81725274e-01 -7.31576116e-01 -6.85833945e-03 7.21660918e+01] [-7.31542300e-01 -6.81759737e-01 7.03739964e-03 -1.42073770e+02] [-9.82413319e-03 2.19592218e-04 -9.99951718e-01 -4.11732466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.014417070567864149 Centerline is valid? [True, True] Translation: X:72.22, Y:-142.17, Z:-4.12 [[ 7.38211531e-01 -6.74532825e-01 -7.01458257e-03 7.22182347e+01] [-6.74504513e-01 -7.38244838e-01 6.18236906e-03 -1.42167946e+02] [-9.34869023e-03 1.67471474e-04 -9.99956286e-01 -4.11783617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.01329751770105385 Centerline is valid? [True, True] Translation: X:72.24, Y:-142.20, Z:-4.12 [[ 7.90895112e-01 -6.11923511e-01 -5.87694898e-03 7.22357475e+01] [-6.11907602e-01 -7.90916940e-01 4.41372277e-03 -1.42200594e+02] [-7.34903923e-03 1.05357991e-04 -9.99972990e-01 -4.11962859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.012821381729433024 Centerline is valid? [True, True] Translation: X:72.26, Y:-142.23, Z:-4.12 [[ 8.38413658e-01 -5.45006584e-01 -5.51012190e-03 7.22562201e+01] [-5.44995351e-01 -8.38431762e-01 3.49985864e-03 -1.42233049e+02] [-6.52730721e-03 6.86615276e-05 -9.99978695e-01 -4.12086214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.01237269602347608 Centerline is valid? [True, True] Translation: X:72.28, Y:-142.26, Z:-4.12 [[ 8.79473363e-01 -4.75921450e-01 -5.03753174e-03 7.22801918e+01] [-4.75913954e-01 -8.79487789e-01 2.67154068e-03 -1.42261324e+02] [-5.70189116e-03 4.78827798e-05 -9.99983743e-01 -4.12138315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.012012039234473805 Centerline is valid? [True, True] Translation: X:72.31, Y:-142.29, Z:-4.12 [[ 9.15173688e-01 -4.03036122e-01 -4.35948700e-03 7.23060762e+01] [-4.03031684e-01 -9.15184071e-01 1.89155844e-03 -1.42288822e+02] [-4.75209944e-03 2.59068763e-05 -9.99988708e-01 -4.12201855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.01195014362337016 Centerline is valid? [True, True] Translation: X:72.33, Y:-142.31, Z:-4.12 [[ 9.44444263e-01 -3.28643471e-01 -4.30139713e-03 7.23348525e+01] [-3.28640146e-01 -9.44454058e-01 1.47861586e-03 -1.42310931e+02] [-4.54840943e-03 1.71415138e-05 -9.99989656e-01 -4.12153082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.011954235100243557 Centerline is valid? [True, True] Translation: X:72.37, Y:-142.33, Z:-4.12 [[ 9.67525346e-01 -2.52714250e-01 -5.49661926e-03 7.23667764e+01] [-2.52710259e-01 -9.67540959e-01 1.42038389e-03 -1.42329308e+02] [-5.67715552e-03 1.47946649e-05 -9.99983885e-01 -4.11987866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.011925947611793148 Centerline is valid? [True, True] Translation: X:72.40, Y:-142.35, Z:-4.12 [[ 9.84556329e-01 -1.74913366e-01 -7.35860607e-03 7.24000825e+01] [-1.74908544e-01 -9.84583828e-01 1.29873563e-03 -1.42345480e+02] [-7.47233075e-03 8.40469312e-06 -9.99972082e-01 -4.11815846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.012018573204059009 Centerline is valid? [True, True] Translation: X:72.43, Y:-142.36, Z:-4.12 [[ 9.95279734e-01 -9.66913170e-02 -8.30908740e-03 7.24325350e+01] [-9.66879845e-02 -9.95314417e-01 8.02781513e-04 -1.42357042e+02] [-8.34777649e-03 4.39674336e-06 -9.99965157e-01 -4.11755238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.011955622632755066 Centerline is valid? [True, True] Translation: X:72.46, Y:-142.37, Z:-4.12 [[ 9.99799218e-01 -1.78437698e-02 -9.11727262e-03 7.24648252e+01] [-1.78430180e-02 -9.99840787e-01 1.63798300e-04 -1.42368165e+02] [-9.11874381e-03 -1.08575314e-06 -9.99958423e-01 -4.11768672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.0121246397153572 Centerline is valid? [True, True] Translation: X:72.50, Y:-142.37, Z:-4.12 [[ 9.98154449e-01 5.98208394e-02 -1.04481142e-02 7.24966631e+01] [ 5.98175066e-02 -9.98209130e-01 -6.31475796e-04 -1.42373253e+02] [-1.04671784e-02 5.33023367e-06 -9.99945218e-01 -4.11577606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.012224041502571236 Centerline is valid? [True, True] Translation: X:72.53, Y:-142.37, Z:-4.12 [[ 9.90586926e-01 1.36429423e-01 -1.11603920e-02 7.25292199e+01] [ 1.36420524e-01 -9.90649793e-01 -1.55839571e-03 -1.42374923e+02] [-1.12686511e-02 2.12198881e-05 -9.99936507e-01 -4.11540018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.012378131533114697 Centerline is valid? [True, True] Translation: X:72.56, Y:-142.37, Z:-4.11 [[ 9.77303508e-01 2.11537314e-01 -1.13937360e-02 7.25619222e+01] [ 2.11522388e-01 -9.77369921e-01 -2.51328568e-03 -1.42373367e+02] [-1.16675486e-02 4.62126559e-05 -9.99931931e-01 -4.11488125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.01271037517358061 Centerline is valid? [True, True] Translation: X:72.59, Y:-142.37, Z:-4.12 [[ 9.58447532e-01 2.85071874e-01 -1.05997519e-02 7.25932618e+01] [ 2.85053625e-01 -9.58506141e-01 -3.22640936e-03 -1.42366085e+02] [-1.10796858e-02 7.08464059e-05 -9.99938616e-01 -4.11552234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.012784502586695785 Centerline is valid? [True, True] Translation: X:72.62, Y:-142.36, Z:-4.12 [[ 9.33142850e-01 3.59374400e-01 -9.71915334e-03 7.26225396e+01] [ 3.59354182e-01 -9.33193461e-01 -3.81257804e-03 -1.42357893e+02] [-1.04399933e-02 6.50615359e-05 -9.99945500e-01 -4.11569907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.012461432822488403 Centerline is valid? [True, True] Translation: X:72.66, Y:-142.35, Z:-4.12 [[ 9.00342303e-01 4.35082824e-01 -9.30986220e-03 7.26552510e+01] [ 4.35059320e-01 -9.00390435e-01 -4.52239777e-03 -1.42353814e+02] [-1.03501285e-02 2.13637027e-05 -9.99946436e-01 -4.11607493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.012682544288224459 Centerline is valid? [True, True] Translation: X:72.69, Y:-142.35, Z:-4.12 [[ 8.59646548e-01 5.10798921e-01 -9.60599176e-03 7.26874123e+01] [ 5.10767833e-01 -8.59700214e-01 -5.63585616e-03 -1.42346792e+02] [-1.11370624e-02 -6.15872986e-05 -9.99937979e-01 -4.11616449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.01315159704018464 Centerline is valid? [True, True] Translation: X:72.72, Y:-142.34, Z:-4.12 [[ 8.15573317e-01 5.78582155e-01 -9.10244650e-03 7.27175792e+01] [ 5.78547333e-01 -8.15624106e-01 -6.34841383e-03 -1.42336075e+02] [-1.10972537e-02 -8.85992225e-05 -9.99938420e-01 -4.11541048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.014110847520388957 Centerline is valid? [True, True] Translation: X:72.75, Y:-142.32, Z:-4.11 [[ 7.63607484e-01 6.45618087e-01 -8.99424806e-03 7.27470450e+01] [ 6.45575890e-01 -7.63660433e-01 -7.38330664e-03 -1.42322188e+02] [-1.16353477e-02 -1.68521488e-04 -9.99932293e-01 -4.11461910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.0150909092330163 Centerline is valid? [True, True] Translation: X:72.77, Y:-142.31, Z:-4.11 [[ 7.08747552e-01 7.05416243e-01 -8.05175600e-03 7.27735858e+01] [ 7.05373793e-01 -7.08793261e-01 -7.74115767e-03 -1.42305577e+02] [-1.11677687e-02 -1.92971121e-04 -9.99937620e-01 -4.11286987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.015112364253075551 Centerline is valid? [True, True] Translation: X:72.80, Y:-142.29, Z:-4.11 [[ 6.50077963e-01 7.59839025e-01 -6.58021117e-03 7.27980320e+01] [ 7.59802992e-01 -6.50111238e-01 -7.40214268e-03 -1.42286028e+02] [-9.90230610e-03 -1.87694302e-04 -9.99950953e-01 -4.11371636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.015552471614915757 Centerline is valid? [True, True] Translation: X:72.82, Y:-142.27, Z:-4.11 [[ 5.87110480e-01 8.09492175e-01 -4.86859117e-03 7.28207096e+01] [ 8.09466678e-01 -5.87130642e-01 -6.42701231e-03 -1.42265169e+02] [-8.06111523e-03 -1.67596040e-04 -9.99967495e-01 -4.11498432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.016111620942934054 Centerline is valid? [True, True] Translation: X:72.84, Y:-142.24, Z:-4.11 [[ 5.21375710e-01 8.53316485e-01 -4.28322663e-03 7.28418666e+01] [ 8.53290323e-01 -5.21393276e-01 -6.68404307e-03 -1.42243705e+02] [-7.93684970e-03 -1.69938133e-04 -9.99968488e-01 -4.11422636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.015615104720767591 Centerline is valid? [True, True] Translation: X:72.86, Y:-142.22, Z:-4.11 [[ 4.52493577e-01 8.91760123e-01 -3.66686845e-03 7.28613876e+01] [ 8.91733830e-01 -4.52508403e-01 -6.84995557e-03 -1.42219452e+02] [-7.76780601e-03 -1.70309744e-04 -9.99969816e-01 -4.11382875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.015866012163454894 Centerline is valid? [True, True] Translation: X:72.88, Y:-142.20, Z:-4.11 [[ 3.80940886e-01 9.24592828e-01 -3.48477677e-03 7.28807460e+01] [ 9.24558668e-01 -3.80956776e-01 -7.95012674e-03 -1.42195244e+02] [-8.67817948e-03 -1.93352242e-04 -9.99962325e-01 -4.11282187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.01666732622899215 Centerline is valid? [True, True] Translation: X:72.90, Y:-142.17, Z:-4.11 [[ 3.06365460e-01 9.51908547e-01 -3.21309816e-03 7.28985553e+01] [ 9.51863757e-01 -3.06382224e-01 -9.23695107e-03 -1.42171667e+02] [-9.77716882e-03 -2.28548926e-04 -9.99952176e-01 -4.11149697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.017595302350928446 Centerline is valid? [True, True] Translation: X:72.92, Y:-142.15, Z:-4.11 [[ 2.28854339e-01 9.73456444e-01 -2.87118550e-03 7.29178028e+01] [ 9.73394871e-01 -2.28872168e-01 -1.09524411e-02 -1.42145714e+02] [-1.13188588e-02 -2.88283572e-04 -9.99935898e-01 -4.10901073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.017199403430314866 Centerline is valid? [True, True] Translation: X:72.93, Y:-142.12, Z:-4.11 [[ 1.51865795e-01 9.88399191e-01 -1.95416784e-03 7.29299085e+01] [ 9.88339514e-01 -1.51878107e-01 -1.08649090e-02 -1.42117202e+02] [-1.10356626e-02 -2.81373248e-04 -9.99939066e-01 -4.10925495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.016070739158212326 Centerline is valid? [True, True] Translation: X:72.94, Y:-142.09, Z:-4.11 [[ 7.69215115e-02 9.97036746e-01 -8.98809549e-04 7.29362813e+01] [ 9.96996141e-01 -7.69264926e-02 -9.00058835e-03 -1.42087780e+02] [-9.04305959e-03 -2.03770792e-04 -9.99959090e-01 -4.11091544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.015740066324972112 Centerline is valid? [True, True] Translation: X:72.94, Y:-142.06, Z:-4.11 [[ 1.35170277e-03 9.99999071e-01 -1.74500166e-04 7.29411936e+01] [ 9.99964924e-01 -1.35309898e-03 -8.26564850e-03 -1.42058996e+02] [-8.26587693e-03 -1.63321345e-04 -9.99965824e-01 -4.11045957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.014896971835232104 Centerline is valid? [True, True] Translation: X:72.94, Y:-142.03, Z:-4.11 [[-7.43257567e-02 9.97233934e-01 4.02782932e-04 7.29412114e+01] [ 9.97209243e-01 7.43267512e-02 -7.01858991e-03 -1.42029526e+02] [-7.02911358e-03 -1.20003143e-04 -9.99975288e-01 -4.11081843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.014151318225972436 Centerline is valid? [True, True] Translation: X:72.94, Y:-142.00, Z:-4.11 [[-1.50965553e-01 9.88538635e-01 8.77416828e-04 7.29435741e+01] [ 9.88517776e-01 1.50968068e-01 -6.42258082e-03 -1.42000060e+02] [-6.48143120e-03 -1.02246333e-04 -9.99978990e-01 -4.11128061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.014425156615175306 Centerline is valid? [True, True] Translation: X:72.94, Y:-141.97, Z:-4.11 [[-2.26796763e-01 9.73941213e-01 1.31986952e-03 7.29447672e+01] [ 9.73922316e-01 2.26800586e-01 -6.06764845e-03 -1.41970940e+02] [-6.20888007e-03 -9.06726446e-05 -9.99980721e-01 -4.11045493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.014691015830846303 Centerline is valid? [True, True] Translation: X:72.94, Y:-141.94, Z:-4.11 [[-3.03592229e-01 9.52800240e-01 1.86060059e-03 7.29423040e+01] [ 9.52780226e-01 3.03597913e-01 -6.17643777e-03 -1.41941230e+02] [-6.44978584e-03 -1.02375060e-04 -9.99979195e-01 -4.10956211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.014757228628336835 Centerline is valid? [True, True] Translation: X:72.94, Y:-141.91, Z:-4.11 [[-3.79559198e-01 9.25164007e-01 2.52506704e-03 7.29397309e+01] [ 9.25141249e-01 3.79567576e-01 -6.49031701e-03 -1.41911359e+02] [-6.96304126e-03 -1.27415841e-04 -9.99975750e-01 -4.10944800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.01620301879455868 Centerline is valid? [True, True] Translation: X:72.94, Y:-141.88, Z:-4.11 [[-4.54161079e-01 8.90914942e-01 2.87747552e-03 7.29369344e+01] [ 8.90894981e-01 4.54170171e-01 -5.96552623e-03 -1.41881659e+02] [-6.62164001e-03 -1.45781332e-04 -9.99978066e-01 -4.10832075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.01619746224562444 Centerline is valid? [True, True] Translation: X:72.93, Y:-141.85, Z:-4.11 [[-5.23242552e-01 8.52177364e-01 3.31233187e-03 7.29291534e+01] [ 8.52158438e-01 5.23253014e-01 -5.68145657e-03 -1.41851846e+02] [-6.57479632e-03 -1.50148277e-04 -9.99978375e-01 -4.10791595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.015618881951323101 Centerline is valid? [True, True] Translation: X:72.92, Y:-141.82, Z:-4.11 [[-5.87728316e-01 8.09053230e-01 2.88063050e-03 7.29188848e+01] [ 8.09042572e-01 5.87735365e-01 -4.15419693e-03 -1.41823326e+02] [-5.05401486e-03 -1.10986460e-04 -9.99987222e-01 -4.10885420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.014725387660372085 Centerline is valid? [True, True] Translation: X:72.90, Y:-141.80, Z:-4.11 [[-6.46098396e-01 7.63253366e-01 1.07791517e-03 7.29038641e+01] [ 7.63252227e-01 6.46099294e-01 -1.31917241e-03 -1.41798064e+02] [-1.70330301e-03 -2.95940253e-05 -9.99998549e-01 -4.11152334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.014100266750724628 Centerline is valid? [True, True] Translation: X:72.89, Y:-141.77, Z:-4.11 [[-7.01799188e-01 7.12374729e-01 3.81201409e-04 7.28866008e+01] [ 7.12374618e-01 7.01799291e-01 -3.97388641e-04 -1.41774001e+02] [-5.50616504e-04 -7.32881723e-06 -9.99999848e-01 -4.11250061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.013431975713737197 Centerline is valid? [True, True] Translation: X:72.87, Y:-141.75, Z:-4.11 [[-7.54181343e-01 6.56666174e-01 1.97705838e-04 7.28690609e+01] [ 6.56666150e-01 7.54181369e-01 -1.75518491e-04 -1.41749140e+02] [-2.64363116e-04 -2.54603938e-06 -9.99999965e-01 -4.11246307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.013765785728060675 Centerline is valid? [True, True] Translation: X:72.88, Y:-141.72, Z:-4.11 [[-7.98729701e-01 6.01689474e-01 8.01081990e-04 7.28829102e+01] [ 6.01689156e-01 7.98730102e-01 -6.18898662e-04 -1.41724151e+02] [-1.01223311e-03 -1.23303965e-05 -9.99999488e-01 -4.11189912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.013476516674987915 Centerline is valid? [True, True] Translation: X:73.30, Y:-141.21, Z:-5.14 [[-7.38922929e-01 -6.73787997e-01 1.62486984e-03 7.33042073e+01] [ 6.73786638e-01 -7.38924709e-01 -1.35631494e-03 -1.41207074e+02] [ 2.11452520e-03 9.26033828e-05 9.99997760e-01 -5.13950339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.013469701894045725 Centerline is valid? [True, True] Translation: X:72.86, Y:-141.71, Z:-4.11 [[-8.01236663e-01 5.98343447e-01 2.22035198e-03 7.28588442e+01] [ 5.98341018e-01 8.01239739e-01 -1.70516505e-03 -1.41705107e+02] [-2.79930857e-03 -3.77130881e-05 -9.99996081e-01 -4.11092885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.013678661503779839 Centerline is valid? [True, True] Translation: X:72.87, Y:-141.68, Z:-4.11 [[-8.41684444e-01 5.39965024e-01 2.25151439e-03 7.28720871e+01] [ 5.39962975e-01 8.41687455e-01 -1.48818755e-03 -1.41680065e+02] [-2.69864064e-03 -3.68499079e-05 -9.99996358e-01 -4.11182700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.013261116201076202 Centerline is valid? [True, True] Translation: X:72.88, Y:-141.66, Z:-4.11 [[-8.77503565e-01 4.79565707e-01 2.05562609e-03 7.28840484e+01] [ 4.79564309e-01 8.77505972e-01 -1.15835768e-03 -1.41656484e+02] [-2.35933279e-03 -3.06580873e-05 -9.99997216e-01 -4.11257348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.013252133220371482 Centerline is valid? [True, True] Translation: X:72.90, Y:-141.63, Z:-4.11 [[-9.09053108e-01 4.16674567e-01 2.17975181e-03 7.29020996e+01] [ 4.16673289e-01 9.09055721e-01 -1.03242001e-03 -1.41634910e+02] [-2.41169901e-03 -3.02802620e-05 -9.99997091e-01 -4.11274240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.012788463280226285 Centerline is valid? [True, True] Translation: X:72.91, Y:-141.61, Z:-4.11 [[-9.35865427e-01 3.52350178e-01 2.29228923e-03 7.29141910e+01] [ 3.52349047e-01 9.35868234e-01 -8.92935351e-04 -1.41611380e+02] [-2.45990661e-03 -2.79813970e-05 -9.99996974e-01 -4.11275987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.01260402119582375 Centerline is valid? [True, True] Translation: X:72.92, Y:-141.58, Z:-4.11 [[-9.58271715e-01 2.85844758e-01 2.84501751e-03 7.29187876e+01] [ 2.85843399e-01 9.58275938e-01 -8.81884502e-04 -1.41584370e+02] [-2.97839389e-03 -3.18554975e-05 -9.99995564e-01 -4.11230006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.012603173842409962 Centerline is valid? [True, True] Translation: X:72.93, Y:-141.56, Z:-4.11 [[-9.76026409e-01 2.17615679e-01 3.98326216e-03 7.29280405e+01] [ 2.17613690e-01 9.76034536e-01 -9.31251339e-04 -1.41558640e+02] [-4.09045633e-03 -4.21135211e-05 -9.99991633e-01 -4.11162801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.012268774962950117 Centerline is valid? [True, True] Translation: X:72.93, Y:-141.53, Z:-4.11 [[-9.88680688e-01 1.49922332e-01 5.81306729e-03 7.29316413e+01] [ 1.49919453e-01 9.88697776e-01 -9.30455978e-04 -1.41532985e+02] [-5.88686283e-03 -4.84319891e-05 -9.99982671e-01 -4.11046255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.01191177714951779 Centerline is valid? [True, True] Translation: X:73.04, Y:-140.87, Z:-5.14 [[-9.73292697e-01 -2.29461176e-01 6.99250948e-03 7.30389971e+01] [ 2.29456251e-01 -9.73317806e-01 -1.50944930e-03 -1.40874523e+02] [ 7.15229399e-03 1.35339025e-04 9.99974413e-01 -5.14036215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.011759644852876542 Centerline is valid? [True, True] Translation: X:72.88, Y:-141.53, Z:-4.11 [[-9.87706434e-01 1.56180322e-01 6.61109488e-03 7.28838698e+01] [ 1.56176912e-01 9.87728559e-01 -1.03201917e-03 -1.41534809e+02] [-6.69114830e-03 1.31684146e-05 -9.99977614e-01 -4.11096353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.012163048684623172 Centerline is valid? [True, True] Translation: X:72.88, Y:-141.51, Z:-4.11 [[-9.95803183e-01 9.13103198e-02 6.20058133e-03 7.28833112e+01] [ 9.13088440e-02 9.95822486e-01 -5.21283252e-04 -1.41511260e+02] [-6.22227686e-03 4.70723919e-05 -9.99980640e-01 -4.11136265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.012979383921837274 Centerline is valid? [True, True] Translation: X:72.96, Y:-140.82, Z:-5.14 [[-9.90314985e-01 -1.38728560e-01 5.53335513e-03 7.29557806e+01] [ 1.38725944e-01 -9.90330440e-01 -8.55685806e-04 -1.40824093e+02] [ 5.59855808e-03 -7.97785644e-05 9.99984325e-01 -5.13897674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.013621308523226527 Centerline is valid? [True, True] Translation: X:72.84, Y:-141.51, Z:-4.11 [[-9.95480040e-01 9.47896173e-02 5.86676455e-03 7.28410201e+01] [ 9.47885005e-02 9.95497323e-01 -4.68751437e-04 -1.41512365e+02] [-5.88478117e-03 8.94691158e-05 -9.99982681e-01 -4.11106793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.014216163565314913 Centerline is valid? [True, True] Translation: X:72.84, Y:-141.49, Z:-4.11 [[-9.99689356e-01 2.39240091e-02 6.98812566e-03 7.28406330e+01] [ 2.39241710e-02 9.99713774e-01 -6.04376005e-05 -1.41485208e+02] [-6.98757138e-03 1.06766287e-04 -9.99975581e-01 -4.10981915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.014055678327692164 Centerline is valid? [True, True] Translation: X:72.83, Y:-141.46, Z:-4.11 [[-9.98832690e-01 -4.77481003e-02 7.30594156e-03 7.28349748e+01] [-4.77460335e-02 9.98859403e-01 4.57160685e-04 -1.41455184e+02] [-7.31943699e-03 1.07797306e-04 -9.99973207e-01 -4.10909216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.01309456301234538 Centerline is valid? [True, True] Translation: X:72.83, Y:-141.42, Z:-4.11 [[-9.92724992e-01 -1.20143745e-01 7.91018857e-03 7.28303282e+01] [-1.20139113e-01 9.92756501e-01 1.05997353e-03 -1.41423341e+02] [-7.98024032e-03 1.01939174e-04 -9.99968152e-01 -4.10902502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.013036254813503121 Centerline is valid? [True, True] Translation: X:72.74, Y:-140.75, Z:-5.14 [[-9.97096950e-01 7.54195887e-02 1.04669579e-02 7.27417532e+01] [-7.54149986e-02 -9.97151886e-01 8.33105209e-04 -1.40752743e+02] [ 1.04999793e-02 4.13210455e-05 9.99944873e-01 -5.14432162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.012793353984473522 Centerline is valid? [True, True] Translation: X:72.74, Y:-141.43, Z:-4.11 [[-9.91321279e-01 -1.30933145e-01 1.17742815e-02 7.27376646e+01] [-1.30922815e-01 9.91391196e-01 1.64722689e-03 -1.41427120e+02] [-1.18885956e-02 9.14089894e-05 -9.99929324e-01 -4.10619766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.012643378654710265 Centerline is valid? [True, True] Translation: X:72.72, Y:-141.40, Z:-4.11 [[-9.79143905e-01 -2.02824234e-01 1.18128495e-02 7.27221375e+01] [-2.02808575e-01 9.79215158e-01 2.52138562e-03 -1.41400575e+02] [-1.20787194e-02 7.30521850e-05 -9.99927047e-01 -4.10707713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.012541176230562846 Centerline is valid? [True, True] Translation: X:72.70, Y:-141.38, Z:-4.11 [[-9.61930198e-01 -2.73053489e-01 1.14929111e-02 7.27034133e+01] [-2.73033208e-01 9.61998850e-01 3.32858058e-03 -1.41376081e+02] [-1.19650478e-02 6.39157935e-05 -9.99928414e-01 -4.10821583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.012208228660958111 Centerline is valid? [True, True] Translation: X:72.67, Y:-141.36, Z:-4.11 [[-9.38863560e-01 -3.44169601e-01 9.08306811e-03 7.26684782e+01] [-3.44153237e-01 9.38907496e-01 3.35617774e-03 -1.41355161e+02] [-9.68325509e-03 2.50256873e-05 -9.99953116e-01 -4.11035987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.01196605920590638 Centerline is valid? [True, True] Translation: X:72.62, Y:-141.34, Z:-4.11 [[-9.10564492e-01 -4.13302372e-01 7.31130146e-03 7.26209178e+01] [-4.13289027e-01 9.10593844e-01 3.32124144e-03 -1.41341594e+02] [-8.03030307e-03 2.52385492e-06 -9.99967757e-01 -4.11160398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.011992051319346206 Centerline is valid? [True, True] Translation: X:72.56, Y:-141.34, Z:-4.11 [[-8.76747683e-01 -4.80899763e-01 6.99416284e-03 7.25571363e+01] [-4.80884578e-01 8.76775580e-01 3.82156670e-03 -1.41340622e+02] [-7.97010170e-03 -1.28352908e-05 -9.99968238e-01 -4.11208076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.012210330391570608 Centerline is valid? [True, True] Translation: X:72.49, Y:-141.35, Z:-4.11 [[-8.37441664e-01 -5.46486508e-01 6.62993847e-03 7.24864678e+01] [-5.46469706e-01 8.37467907e-01 4.28535253e-03 -1.41346209e+02] [-7.89424803e-03 -3.43277728e-05 -9.99968839e-01 -4.11093844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.012444199040473758 Centerline is valid? [True, True] Translation: X:72.41, Y:-141.36, Z:-4.11 [[-7.93356471e-01 -6.08719335e-01 6.80304170e-03 7.24132294e+01] [-6.08697540e-01 7.93385637e-01 5.15132131e-03 -1.41361306e+02] [-8.53314445e-03 -5.41606490e-05 -9.99963591e-01 -4.11053673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.012525882659754205 Centerline is valid? [True, True] Translation: X:72.33, Y:-141.39, Z:-4.11 [[-7.45207531e-01 -6.66796267e-01 6.96226352e-03 7.23344737e+01] [-6.66768002e-01 7.45240051e-01 6.13982211e-03 -1.41389911e+02] [-9.28256808e-03 -6.67728593e-05 -9.99956914e-01 -4.11107144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.012632365531497129 Centerline is valid? [True, True] Translation: X:72.26, Y:-141.43, Z:-4.11 [[-6.92956228e-01 -7.20941840e-01 7.38441613e-03 7.22550957e+01] [-7.20902113e-01 6.92995568e-01 7.56885306e-03 -1.41427254e+02] [-1.05740705e-02 -7.85573244e-05 -9.99944090e-01 -4.10991111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.01263092003700029 Centerline is valid? [True, True] Translation: X:72.17, Y:-141.48, Z:-4.11 [[-6.38089830e-01 -7.69931234e-01 6.87485462e-03 7.21734341e+01] [-7.69887578e-01 6.38126861e-01 8.19919147e-03 -1.41478711e+02] [-1.06998430e-02 -6.10444747e-05 -9.99942753e-01 -4.10866214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.012456625191389677 Centerline is valid? [True, True] Translation: X:72.10, Y:-141.53, Z:-4.11 [[-5.79890502e-01 -8.14673248e-01 5.87400999e-03 7.20987807e+01] [-8.14632093e-01 5.79920251e-01 8.18879910e-03 -1.41534498e+02] [-1.00776529e-02 -3.65502301e-05 -9.99949219e-01 -4.10906290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.012276750530827692 Centerline is valid? [True, True] Translation: X:72.02, Y:-141.61, Z:-4.11 [[-5.19411429e-01 -8.54508697e-01 5.16279125e-03 7.20247746e+01] [-8.54466524e-01 5.19437087e-01 8.48955626e-03 -1.41605647e+02] [-9.93614490e-03 -1.85974356e-06 -9.99950635e-01 -4.11032794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.012274537668659108 Centerline is valid? [True, True] Translation: X:71.95, Y:-141.68, Z:-4.11 [[-4.53579893e-01 -8.91204698e-01 4.41207310e-03 7.19527617e+01] [-8.91162433e-01 4.53601351e-01 8.67938510e-03 -1.41684159e+02] [-9.73643110e-03 4.92076568e-06 -9.99952600e-01 -4.11065018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.012279297602386996 Centerline is valid? [True, True] Translation: X:71.88, Y:-141.77, Z:-4.11 [[-3.83432976e-01 -9.23561783e-01 3.57584398e-03 7.18848383e+01] [-9.23521749e-01 3.83449649e-01 8.59918614e-03 -1.41768682e+02] [-9.31303580e-03 -5.15815558e-06 -9.99956633e-01 -4.11052053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.012332668073797572 Centerline is valid? [True, True] Translation: X:71.82, Y:-141.86, Z:-4.11 [[-3.08014806e-01 -9.51376881e-01 2.98486473e-03 7.18195960e+01] [-9.51333633e-01 3.08029265e-01 9.07139108e-03 -1.41863066e+02] [-9.54973744e-03 -4.54794416e-05 -9.99954399e-01 -4.10924947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.012608268956600577 Centerline is valid? [True, True] Translation: X:71.76, Y:-141.96, Z:-4.11 [[-2.30725568e-01 -9.73016039e-01 2.34532578e-03 7.17624003e+01] [-9.72969427e-01 2.30737473e-01 9.52432667e-03 -1.41961714e+02] [-9.80847715e-03 -8.44245964e-05 -9.99951892e-01 -4.10920464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.013447952206462591 Centerline is valid? [True, True] Translation: X:71.71, Y:-142.07, Z:-4.11 [[-1.51720345e-01 -9.88422185e-01 1.58770172e-03 7.17117023e+01] [-9.88376151e-01 1.51728603e-01 9.54014847e-03 -1.42066393e+02] [-9.67059416e-03 -1.21811899e-04 -9.99953231e-01 -4.10805493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.01442896828784028 Centerline is valid? [True, True] Translation: X:71.67, Y:-142.18, Z:-4.11 [[-7.06560253e-02 -9.97500446e-01 7.66045904e-04 7.16709924e+01] [-9.97462983e-01 7.06600118e-02 8.64640887e-03 -1.42179826e+02] [-8.67892551e-03 -1.53181550e-04 -9.99962326e-01 -4.10910407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.014849501255934622 Centerline is valid? [True, True] Translation: X:71.64, Y:-142.29, Z:-4.11 [[ 8.28888743e-03 -9.99965643e-01 8.83917977e-05 7.16398180e+01] [-9.99937042e-01 -8.28798169e-03 7.56449820e-03 -1.42291211e+02] [-7.56350571e-03 -1.51087507e-04 -9.99971385e-01 -4.10990191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.015592451991188845 Centerline is valid? [True, True] Translation: X:71.62, Y:-142.41, Z:-4.11 [[ 8.79215193e-02 -9.96127312e-01 -4.30234503e-04 7.16181049e+01] [-9.96105390e-01 -8.79224394e-02 6.61037961e-03 -1.42406823e+02] [-6.62260694e-03 -1.52635711e-04 -9.99978059e-01 -4.11001994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.016849257275488087 Centerline is valid? [True, True] Translation: X:71.60, Y:-142.52, Z:-4.11 [[ 1.65863705e-01 -9.86148360e-01 -8.01695334e-04 7.16020911e+01] [-9.86132326e-01 -1.65865581e-01 5.62539142e-03 -1.42521240e+02] [-5.68044419e-03 -1.42470576e-04 -9.99983856e-01 -4.10950820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.016919060915318855 Centerline is valid? [True, True] Translation: X:71.60, Y:-142.64, Z:-4.11 [[ 2.40929528e-01 -9.70541928e-01 -1.15232877e-03 7.15987086e+01] [-9.70528040e-01 -2.40932247e-01 5.19381802e-03 -1.42637409e+02] [-5.31845131e-03 -1.32976742e-04 -9.99985848e-01 -4.10954378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.01628559952549172 Centerline is valid? [True, True] Translation: X:71.60, Y:-142.76, Z:-4.11 [[ 3.12605749e-01 -9.49881901e-01 -1.42128294e-03 7.16035736e+01] [-9.49870397e-01 -3.12608960e-01 4.67633750e-03 -1.42755157e+02] [-4.88627414e-03 -1.11815401e-04 -9.99988056e-01 -4.10909412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.015425929265009124 Centerline is valid? [True, True] Translation: X:71.62, Y:-142.87, Z:-4.11 [[ 3.83546213e-01 -9.23519569e-01 -1.97686146e-03 7.16173143e+01] [-9.23505662e-01 -3.83551289e-01 5.06956739e-03 -1.42869642e+02] [-5.44007245e-03 -1.18770629e-04 -9.99985196e-01 -4.10888060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.015500564485886608 Centerline is valid? [True, True] Translation: X:71.64, Y:-142.98, Z:-4.11 [[ 4.54199473e-01 -8.90896269e-01 -2.58399948e-03 7.16359272e+01] [-8.90880090e-01 -4.54206802e-01 5.37094245e-03 -1.42983382e+02] [-5.95862273e-03 -1.37445539e-04 -9.99982238e-01 -4.10817943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.016158747706778685 Centerline is valid? [True, True] Translation: X:71.66, Y:-143.10, Z:-4.11 [[ 5.22745603e-01 -8.52482361e-01 -3.29525503e-03 7.16622417e+01] [-8.52463392e-01 -5.22755963e-01 5.68935694e-03 -1.43095889e+02] [-6.57269065e-03 -1.65002046e-04 -9.99978386e-01 -4.10692203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.017904285573570627 Centerline is valid? [True, True] Translation: X:71.69, Y:-143.20, Z:-4.10 [[ 5.87799831e-01 -8.08993631e-01 -4.54566858e-03 7.16938267e+01] [-8.08966545e-01 -5.87817368e-01 6.62359061e-03 -1.43204472e+02] [-8.03046556e-03 -2.16051641e-04 -9.99967732e-01 -4.10415697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.017826639562026007 Centerline is valid? [True, True] Translation: X:71.74, Y:-143.31, Z:-4.10 [[ 6.47011865e-01 -7.62458002e-01 -5.78298564e-03 7.17370885e+01] [-7.62424198e-01 -6.47037664e-01 7.18356461e-03 -1.43306980e+02] [-9.21897584e-03 -2.38763347e-04 -9.99957476e-01 -4.10311146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.0172135166363294 Centerline is valid? [True, True] Translation: X:71.79, Y:-143.41, Z:-4.10 [[ 7.01192028e-01 -7.12942482e-01 -6.53897844e-03 7.17894732e+01] [-7.12908512e-01 -7.01222482e-01 6.96310486e-03 -1.43405511e+02] [-9.54957195e-03 -2.20780227e-04 -9.99954378e-01 -4.10286067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.01447776771400546 Centerline is valid? [True, True] Translation: X:71.84, Y:-143.49, Z:-4.11 [[ 7.50035669e-01 -6.61372711e-01 -5.71254611e-03 7.18411143e+01] [-6.61352092e-01 -7.50057410e-01 5.22419318e-03 -1.43485796e+02] [-7.73987635e-03 -1.40326904e-04 -9.99970037e-01 -4.10558094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.01365719966372865 Centerline is valid? [True, True] Translation: X:71.87, Y:-143.51, Z:-4.11 [[ 7.97494490e-01 -6.03306729e-01 -4.85079459e-03 7.18651068e+01] [-6.03294864e-01 -7.97509237e-01 3.78480016e-03 -1.43511187e+02] [-6.15194889e-03 -9.18978109e-05 -9.99981072e-01 -4.10687694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.013366607959009739 Centerline is valid? [True, True] Translation: X:71.89, Y:-143.53, Z:-4.11 [[ 8.40445533e-01 -5.41876867e-01 -4.55715019e-03 7.18902369e+01] [-5.41868487e-01 -8.40457885e-01 3.01416257e-03 -1.43532789e+02] [-5.46339778e-03 -6.38633851e-05 -9.99985074e-01 -4.10727589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.012669518534877876 Centerline is valid? [True, True] Translation: X:71.92, Y:-143.55, Z:-4.11 [[ 8.78716952e-01 -4.77316276e-01 -5.06863609e-03 7.19176403e+01] [-4.77308010e-01 -8.78731569e-01 2.80936779e-03 -1.43553308e+02] [-5.79492751e-03 -4.93384941e-05 -9.99983208e-01 -4.10671052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.012597904379498247 Centerline is valid? [True, True] Translation: X:71.94, Y:-143.58, Z:-4.11 [[ 9.13146529e-01 -4.07589770e-01 -5.83068490e-03 7.19446973e+01] [-4.07581100e-01 -9.13165142e-01 2.65895575e-03 -1.43575430e+02] [-6.40814137e-03 -5.15392514e-05 -9.99979466e-01 -4.10643121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.012780933030183735 Centerline is valid? [True, True] Translation: X:71.97, Y:-143.60, Z:-4.11 [[ 9.42462791e-01 -3.34244514e-01 -6.67022493e-03 7.19726190e+01] [-3.34235673e-01 -9.42486393e-01 2.43184129e-03 -1.43596352e+02] [-7.09942584e-03 -6.24928111e-05 -9.99974797e-01 -4.10565818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.012872437401777787 Centerline is valid? [True, True] Translation: X:72.00, Y:-143.61, Z:-4.11 [[ 9.66009456e-01 -2.58405540e-01 -7.23243828e-03 7.20031323e+01] [-2.58397717e-01 -9.66036527e-01 2.01212566e-03 -1.43614243e+02] [-7.50674397e-03 -7.48868697e-05 -9.99971821e-01 -4.10584872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.013117787547406237 Centerline is valid? [True, True] Translation: X:72.03, Y:-143.63, Z:-4.11 [[ 9.83335692e-01 -1.81619401e-01 -8.08149616e-03 7.20344003e+01] [-1.81612550e-01 -9.83368896e-01 1.57987049e-03 -1.43627871e+02] [-8.23402709e-03 -8.58419162e-05 -9.99966096e-01 -4.10533371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.012663816220050236 Centerline is valid? [True, True] Translation: X:72.06, Y:-143.64, Z:-4.11 [[ 9.94321664e-01 -1.06003288e-01 -9.36653568e-03 7.20636558e+01] [-1.05997825e-01 -9.94365776e-01 1.07915951e-03 -1.43640104e+02] [-9.42815697e-03 -8.01992736e-05 -9.99955551e-01 -4.10529387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.012542681212981063 Centerline is valid? [True, True] Translation: X:72.09, Y:-143.65, Z:-4.10 [[ 9.99471610e-01 -3.11194520e-02 -9.38511038e-03 7.20926161e+01] [-3.11176230e-02 -9.99515671e-01 3.40879921e-04 -1.43648390e+02] [-9.39117290e-03 -4.86574762e-05 -9.99955901e-01 -4.10470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.012238830121397986 Centerline is valid? [True, True] Translation: X:72.12, Y:-143.65, Z:-4.10 [[ 9.99029349e-01 4.31573935e-02 -8.82033890e-03 7.21234891e+01] [ 4.31557961e-02 -9.99068286e-01 -3.71440064e-04 -1.43651751e+02] [-8.82815125e-03 -9.56922194e-06 -9.99961031e-01 -4.10473245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.012433186337493985 Centerline is valid? [True, True] Translation: X:72.15, Y:-143.66, Z:-4.11 [[ 9.93264767e-01 1.15561598e-01 -8.40353523e-03 7.21548503e+01] [ 1.15557130e-01 -9.93300315e-01 -1.01683901e-03 -1.43656777e+02] [-8.46474173e-03 3.89019482e-05 -9.99964173e-01 -4.10589743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.012570962013823291 Centerline is valid? [True, True] Translation: X:72.19, Y:-143.66, Z:-4.11 [[ 9.81685001e-01 1.90344434e-01 -7.97217050e-03 7.21866184e+01] [ 1.90337668e-01 -9.81717369e-01 -1.60600127e-03 -1.43659659e+02] [-8.13211165e-03 5.91830234e-05 -9.99966932e-01 -4.10598264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.012734705010971459 Centerline is valid? [True, True] Translation: X:72.22, Y:-143.66, Z:-4.10 [[ 9.63897682e-01 2.66065367e-01 -1.05109414e-02 7.22187242e+01] [ 2.66048570e-01 -9.63954985e-01 -2.99084677e-03 -1.43661598e+02] [-1.09278351e-02 8.64493282e-05 -9.99940286e-01 -4.10389276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.012780472235262444 Centerline is valid? [True, True] Translation: X:72.25, Y:-143.66, Z:-4.10 [[ 9.39852235e-01 3.41383484e-01 -1.16230038e-02 7.22500533e+01] [ 3.41356202e-01 -9.39924098e-01 -4.31669657e-03 -1.43660810e+02] [-1.23983902e-02 8.94724912e-05 -9.99923133e-01 -4.10222258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.012793021778651239 Centerline is valid? [True, True] Translation: X:72.28, Y:-143.66, Z:-4.10 [[ 9.09769115e-01 4.14939874e-01 -1.20439824e-02 7.22814644e+01] [ 4.14902333e-01 -9.09848830e-01 -5.58208241e-03 -1.43657403e+02] [-1.32744319e-02 8.13297564e-05 -9.99911888e-01 -4.10049051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.012630238714964243 Centerline is valid? [True, True] Translation: X:72.31, Y:-143.65, Z:-4.10 [[ 8.73902311e-01 4.85972330e-01 -1.12091535e-02 7.23134399e+01] [ 4.85931436e-01 -8.73974193e-01 -6.30471620e-03 -1.43651433e+02] [-1.28604285e-02 6.28260157e-05 -9.99917299e-01 -4.09976156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.012411578928928517 Centerline is valid? [True, True] Translation: X:72.34, Y:-143.64, Z:-4.10 [[ 8.32602691e-01 5.53770084e-01 -1.05571187e-02 7.23445129e+01] [ 5.53724821e-01 -8.32669618e-01 -7.08026874e-03 -1.43643074e+02] [-1.27114330e-02 4.93121352e-05 -9.99919205e-01 -4.10117693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.012166535248031877 Centerline is valid? [True, True] Translation: X:72.37, Y:-143.63, Z:-4.10 [[ 7.85765287e-01 6.18461813e-01 -8.82606201e-03 7.23746585e+01] [ 6.18422426e-01 -7.85814854e-01 -6.97984558e-03 -1.43632102e+02] [-1.12524186e-02 2.62856816e-05 -9.99936689e-01 -4.10283845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.012234564830228585 Centerline is valid? [True, True] Translation: X:72.40, Y:-143.62, Z:-4.10 [[ 7.31738001e-01 6.81545041e-01 -7.47353586e-03 7.24044848e+01] [ 6.81509836e-01 -7.31776165e-01 -6.92729549e-03 -1.43620187e+02] [-1.01902193e-02 -2.43228397e-05 -9.99948078e-01 -4.10294518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.012427459597475212 Centerline is valid? [True, True] Translation: X:72.43, Y:-143.61, Z:-4.10 [[ 6.72690719e-01 7.39893477e-01 -6.69630285e-03 7.24345039e+01] [ 7.39857850e-01 -6.72724043e-01 -7.26106034e-03 -1.43605802e+02] [-9.87717511e-03 -6.98643363e-05 -9.99951217e-01 -4.10368009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.013283991852826296 Centerline is valid? [True, True] Translation: X:72.46, Y:-143.59, Z:-4.10 [[ 6.08768711e-01 7.93324032e-01 -6.13496026e-03 7.24619745e+01] [ 7.93285713e-01 -6.08799611e-01 -7.79811481e-03 -1.43588766e+02] [-9.92139330e-03 -1.19528023e-04 -9.99950775e-01 -4.10289493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.014637047046493774 Centerline is valid? [True, True] Translation: X:72.49, Y:-143.57, Z:-4.10 [[ 5.39604642e-01 8.41892650e-01 -6.60270432e-03 7.24888285e+01] [ 8.41834467e-01 -5.39644994e-01 -9.90010269e-03 -1.43569099e+02] [-1.18979400e-02 -2.16242704e-04 -9.99929194e-01 -4.10121961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.015410024187683634 Centerline is valid? [True, True] Translation: X:72.51, Y:-143.55, Z:-4.10 [[ 4.68923674e-01 8.83215911e-01 -6.34373653e-03 7.25123019e+01] [ 8.83143079e-01 -4.68966497e-01 -1.13457559e-02 -1.43546272e+02] [-1.29957520e-02 -2.82133462e-04 -9.99915512e-01 -4.10091446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.015522076969191733 Centerline is valid? [True, True] Translation: X:72.53, Y:-143.52, Z:-4.10 [[ 3.98502890e-01 9.17152481e-01 -5.17441479e-03 7.25307080e+01] [ 9.17083639e-01 -3.98536393e-01 -1.12401902e-02 -1.43519982e+02] [-1.23711610e-02 -2.66122861e-04 -9.99923439e-01 -4.10184530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.0150479512260869 Centerline is valid? [True, True] Translation: X:72.54, Y:-143.49, Z:-4.10 [[ 3.27692065e-01 9.44776806e-01 -3.83375671e-03 7.25439842e+01] [ 9.44719542e-01 -3.27714422e-01 -1.04040844e-02 -1.43492194e+02] [-1.10859150e-02 -2.12488977e-04 -9.99938527e-01 -4.10294878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.013245883148812313 Centerline is valid? [True, True] Translation: X:72.55, Y:-143.46, Z:-4.10 [[ 2.59422856e-01 9.65760793e-01 -2.42313574e-03 7.25498043e+01] [ 9.65722517e-01 -2.59434150e-01 -8.59894139e-03 -1.43462420e+02] [-8.93316462e-03 -1.09314810e-04 -9.99960093e-01 -4.10454974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.012246502674165478 Centerline is valid? [True, True] Translation: X:72.56, Y:-143.43, Z:-4.11 [[ 1.87934925e-01 9.82180047e-01 -1.67914701e-03 7.25582314e+01] [ 9.82143745e-01 -1.87942416e-01 -8.44463714e-03 -1.43433363e+02] [-8.60973705e-03 -6.21214789e-05 -9.99962934e-01 -4.10587759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.012067561957654085 Centerline is valid? [True, True] Translation: X:72.57, Y:-143.40, Z:-4.11 [[ 1.14440055e-01 9.93429691e-01 -9.60725870e-04 7.25660708e+01] [ 9.93396554e-01 -1.14444085e-01 -8.11401622e-03 -1.43404793e+02] [-8.17065402e-03 -2.58133018e-05 -9.99966619e-01 -4.10612631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.011946299971550157 Centerline is valid? [True, True] Translation: X:72.57, Y:-143.38, Z:-4.11 [[ 3.77171989e-02 9.99288400e-01 -3.26237319e-04 7.25732545e+01] [ 9.99254163e-01 -3.77186072e-02 -8.27185107e-03 -1.43375943e+02] [-8.27827004e-03 -1.40029473e-05 -9.99965735e-01 -4.10619958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.012037965698576717 Centerline is valid? [True, True] Translation: X:72.58, Y:-143.35, Z:-4.11 [[-4.21963862e-02 9.99109284e-01 3.21422611e-04 7.25808714e+01] [ 9.99075392e-01 4.21976023e-02 -8.22938782e-03 -1.43346961e+02] [-8.23562103e-03 -2.61250059e-05 -9.99966086e-01 -4.10601666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.01211918329438804 Centerline is valid? [True, True] Translation: X:72.59, Y:-143.32, Z:-4.11 [[-1.22112107e-01 9.92515779e-01 1.03042659e-03 7.25887928e+01] [ 9.92477369e-01 1.22116446e-01 -8.73184703e-03 -1.43317415e+02] [-8.79232799e-03 -4.35891683e-05 -9.99961346e-01 -4.10605391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.012313723892748749 Centerline is valid? [True, True] Translation: X:72.59, Y:-143.29, Z:-4.11 [[-2.01326539e-01 9.79522291e-01 1.92529581e-03 7.25937778e+01] [ 9.79474251e-01 2.01335733e-01 -9.70125510e-03 -1.43286835e+02] [-9.89022647e-03 -6.73424412e-05 -9.99951088e-01 -4.10537084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.012633312718702917 Centerline is valid? [True, True] Translation: X:72.59, Y:-143.26, Z:-4.10 [[-2.77316263e-01 9.60774748e-01 2.75197459e-03 7.25940908e+01] [ 9.60724980e-01 2.77329909e-01 -9.77924507e-03 -1.43257382e+02] [-1.01588566e-02 -6.80529622e-05 -9.99948395e-01 -4.10456977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.012580475739918481 Centerline is valid? [True, True] Translation: X:72.59, Y:-143.23, Z:-4.11 [[-3.50715193e-01 9.36476397e-01 3.28805277e-03 7.25854211e+01] [ 9.36433798e-01 3.50730602e-01 -8.93235099e-03 -1.43231695e+02] [-9.51815660e-03 -5.36674616e-05 -9.99954700e-01 -4.10557347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.012478011971183383 Centerline is valid? [True, True] Translation: X:72.57, Y:-143.21, Z:-4.11 [[-4.21738990e-01 9.06709174e-01 3.83387032e-03 7.25726208e+01] [ 9.06670867e-01 4.21756414e-01 -8.33466659e-03 -1.43206703e+02] [-9.17407806e-03 -3.89953444e-05 -9.99957917e-01 -4.10652652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.012148908327482503 Centerline is valid? [True, True] Translation: X:72.56, Y:-143.18, Z:-4.11 [[-4.89560766e-01 8.71959195e-01 4.17356180e-03 7.25648903e+01] [ 8.71927202e-01 4.89578555e-01 -7.46950263e-03 -1.43178094e+02] [-8.55638786e-03 -1.77333621e-05 -9.99963393e-01 -4.10911598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.012048964326876362 Centerline is valid? [True, True] Translation: X:72.56, Y:-143.15, Z:-4.11 [[-5.53820349e-01 8.32625478e-01 4.22311935e-03 7.25551550e+01] [ 8.32601374e-01 5.53836450e-01 -6.33556119e-03 -1.43150118e+02] [-7.61406709e-03 7.41226386e-06 -9.99971013e-01 -4.10983937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.012274415427308075 Centerline is valid? [True, True] Translation: X:72.54, Y:-143.12, Z:-4.11 [[-6.15356603e-01 7.88236377e-01 4.43470280e-03 7.25424587e+01] [ 7.88216203e-01 6.15372582e-01 -5.63949481e-03 -1.43124868e+02] [-7.17424947e-03 2.52042322e-05 -9.99974265e-01 -4.10929231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.012311617472111331 Centerline is valid? [True, True] Translation: X:72.53, Y:-143.10, Z:-4.11 [[-6.74069636e-01 7.38655470e-01 4.26879620e-03 7.25290794e+01] [ 7.38640957e-01 6.74083152e-01 -4.63038939e-03 -1.43098417e+02] [-6.29778605e-03 3.19028182e-05 -9.99980168e-01 -4.11165160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.012153158491635334 Centerline is valid? [True, True] Translation: X:72.52, Y:-143.07, Z:-4.11 [[-7.30339117e-01 6.83068107e-01 4.76820273e-03 7.25153378e+01] [ 6.83053799e-01 7.30354681e-01 -4.42118184e-03 -1.43071108e+02] [-6.50244750e-03 2.79769502e-05 -9.99978859e-01 -4.11179320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.012225839053199787 Centerline is valid? [True, True] Translation: X:72.54, Y:-143.05, Z:-4.11 [[-7.77726616e-01 6.28573256e-01 6.08059025e-03 7.25364473e+01] [ 6.28554271e-01 7.77750385e-01 -4.88534227e-03 -1.43049854e+02] [-7.79997691e-03 2.25202661e-05 -9.99969580e-01 -4.11076939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.01226094336910096 Centerline is valid? [True, True] Translation: X:72.55, Y:-143.02, Z:-4.11 [[-8.21851791e-01 5.69645629e-01 7.96806610e-03 7.25546060e+01] [ 5.69618868e-01 8.21890417e-01 -5.52165962e-03 -1.43023463e+02] [-9.69426643e-03 7.74940995e-07 -9.99953010e-01 -4.10931389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.012241726030952162 Centerline is valid? [True, True] Translation: X:72.93, Y:-142.48, Z:-5.14 [[-7.80369489e-01 -6.25272820e-01 7.57364884e-03 7.29341291e+01] [ 6.25243373e-01 -7.80406241e-01 -6.06827047e-03 -1.42481517e+02] [ 9.70484741e-03 -1.19376414e-07 9.99952907e-01 -5.14204653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.012390780465625723 Centerline is valid? [True, True] Translation: X:72.52, Y:-142.99, Z:-4.11 [[-8.26595317e-01 5.62736076e-01 8.26383807e-03 7.25226036e+01] [ 5.62707383e-01 8.26636623e-01 -5.68287383e-03 -1.42992388e+02] [-1.00291493e-02 -4.73141976e-05 -9.99949706e-01 -4.10849901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.012746866190628259 Centerline is valid? [True, True] Translation: X:72.53, Y:-142.96, Z:-4.11 [[-8.65825596e-01 5.00248849e-01 9.85528193e-03 7.25311088e+01] [ 5.00215286e-01 8.65881679e-01 -5.79537008e-03 -1.42961312e+02] [-1.14326353e-02 -8.80170873e-05 -9.99934641e-01 -4.10743922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.013080975445166733 Centerline is valid? [True, True] Translation: X:72.86, Y:-142.41, Z:-5.14 [[-8.20849735e-01 -5.71060442e-01 9.78180173e-03 7.28630585e+01] [ 5.71021577e-01 -8.20908008e-01 -6.66341433e-03 -1.42414725e+02] [ 1.18351717e-02 1.15957959e-04 9.99929955e-01 -5.14407446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.012940026956971112 Centerline is valid? [True, True] Translation: X:72.85, Y:-142.44, Z:-5.14 [[-7.79760356e-01 -6.26012645e-01 9.05296265e-03 7.28494252e+01] [ 6.25972193e-01 -7.79812898e-01 -7.11749884e-03 -1.42441955e+02] [ 1.15152613e-02 1.16959450e-04 9.99933690e-01 -5.14243460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.013124263876216012 Centerline is valid? [True, True] Translation: X:72.45, Y:-142.94, Z:-4.11 [[-8.34378011e-01 5.51131813e-01 8.18904098e-03 7.24527600e+01] [ 5.51103907e-01 8.34418188e-01 -5.54730101e-03 -1.42938776e+02] [-9.89037880e-03 -1.15533503e-04 -9.99951082e-01 -4.10912726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.013309236305172707 Centerline is valid? [True, True] Translation: X:72.46, Y:-142.91, Z:-4.11 [[-8.71456458e-01 4.90421160e-01 7.12235052e-03 7.24602235e+01] [ 4.90403852e-01 8.71485557e-01 -4.12140950e-03 -1.42910538e+02] [-8.22825204e-03 -9.88007934e-05 -9.99966143e-01 -4.11013600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.013169675972648702 Centerline is valid? [True, True] Translation: X:72.78, Y:-142.37, Z:-5.14 [[-8.23124304e-01 -5.67821737e-01 6.69740717e-03 7.27815662e+01] [ 5.67803806e-01 -8.23151546e-01 -4.51337237e-03 -1.42370409e+02] [ 8.07577200e-03 8.77467929e-05 9.99967387e-01 -5.13939187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.013253891026148401 Centerline is valid? [True, True] Translation: X:72.43, Y:-142.90, Z:-4.11 [[-8.72757600e-01 4.88091038e-01 7.83007305e-03 7.24340084e+01] [ 4.88070323e-01 8.72792717e-01 -4.49805247e-03 -1.42897167e+02] [-9.02948983e-03 -1.04083200e-04 -9.99959228e-01 -4.11035648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.0131882708569518 Centerline is valid? [True, True] Translation: X:72.44, Y:-142.87, Z:-4.11 [[-9.04982817e-01 4.25364505e-01 8.43435680e-03 7.24415946e+01] [ 4.25344948e-01 9.05022114e-01 -4.08031023e-03 -1.42870241e+02] [-9.36889857e-03 -1.05099598e-04 -9.99956105e-01 -4.10977994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.012969093493958531 Centerline is valid? [True, True] Translation: X:72.46, Y:-142.85, Z:-4.11 [[-9.32163807e-01 3.61921254e-01 9.14560352e-03 7.24558144e+01] [ 3.61902864e-01 9.32208666e-01 -3.64963764e-03 -1.42848788e+02] [-9.84649229e-03 -9.22400083e-05 -9.99951518e-01 -4.10927178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.01300718230758626 Centerline is valid? [True, True] Translation: X:72.69, Y:-142.26, Z:-5.14 [[-8.98449073e-01 -4.38981243e-01 9.20500225e-03 7.26949073e+01] [ 4.38959522e-01 -8.98496219e-01 -4.36838941e-03 -1.42263162e+02] [ 1.01883007e-02 1.15847971e-04 9.99948091e-01 -5.14227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.012592006886505651 Centerline is valid? [True, True] Translation: X:72.41, Y:-142.84, Z:-4.11 [[-9.31672206e-01 3.63178206e-01 9.40695568e-03 7.24143408e+01] [ 3.63159211e-01 9.31719694e-01 -3.71469789e-03 -1.42838549e+02] [-1.01137432e-02 -4.46581802e-05 -9.99948854e-01 -4.10902535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.012498722844991665 Centerline is valid? [True, True] Translation: X:72.66, Y:-142.24, Z:-5.14 [[-9.03793329e-01 -4.27876174e-01 8.92176343e-03 7.26587322e+01] [ 4.27855646e-01 -9.03837363e-01 -4.19131054e-03 -1.42241207e+02] [ 9.85718505e-03 2.91483445e-05 9.99951416e-01 -5.14152664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.012732319417468167 Centerline is valid? [True, True] Translation: X:72.37, Y:-142.83, Z:-4.11 [[-9.29687796e-01 3.68228459e-01 9.40234559e-03 7.23746045e+01] [ 3.68210137e-01 9.29735339e-01 -3.67351949e-03 -1.42833817e+02] [-1.00943874e-02 4.68127199e-05 -9.99949049e-01 -4.11002837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.012949756016978417 Centerline is valid? [True, True] Translation: X:72.38, Y:-142.81, Z:-4.11 [[-9.52437891e-01 3.04587296e-01 9.41508425e-03 7.23842075e+01] [ 3.04573227e-01 9.52484421e-01 -2.92854178e-03 -1.42811301e+02] [-9.85971769e-03 7.83284382e-05 -9.99951389e-01 -4.11087363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.012948557476529298 Centerline is valid? [True, True] Translation: X:72.39, Y:-142.78, Z:-4.11 [[-9.71496086e-01 2.36844258e-01 1.00076093e-02 7.23911930e+01] [ 2.36832616e-01 9.71547626e-01 -2.34987212e-03 -1.42784670e+02] [-1.02794228e-02 8.72367242e-05 -9.99947162e-01 -4.11105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.01277567052421036 Centerline is valid? [True, True] Translation: X:72.39, Y:-142.76, Z:-4.11 [[-9.86250782e-01 1.64917621e-01 1.05628236e-02 7.23870933e+01] [ 1.64908860e-01 9.86307343e-01 -1.70108732e-03 -1.42755497e+02] [-1.06987298e-02 6.42045029e-05 -9.99942765e-01 -4.11073422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.012648938827480636 Centerline is valid? [True, True] Translation: X:72.39, Y:-142.73, Z:-4.11 [[-9.95757565e-01 9.13211135e-02 1.12838495e-02 7.23855963e+01] [ 9.13156074e-02 9.95821497e-01 -1.00329354e-03 -1.42725978e+02] [-1.13283218e-02 3.13544421e-05 -9.99935832e-01 -4.10943660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.012584981808031963 Centerline is valid? [True, True] Translation: X:72.38, Y:-142.70, Z:-4.11 [[-9.99817115e-01 1.55718722e-02 1.11019794e-02 7.23823118e+01] [ 1.55706556e-02 9.99878751e-01 -1.96018277e-04 -1.42695526e+02] [-1.11036857e-02 -2.31173300e-05 -9.99938352e-01 -4.10928863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.013291009186066505 Centerline is valid? [True, True] Translation: X:72.39, Y:-142.05, Z:-5.14 [[-9.95381214e-01 -9.56123877e-02 8.63189312e-03 7.23917309e+01] [ 9.56074068e-02 -9.95418629e-01 -9.88801873e-04 -1.42049355e+02] [ 8.68688892e-03 -1.58961892e-04 9.99962256e-01 -5.13985804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.013949663922226992 Centerline is valid? [True, True] Translation: X:72.32, Y:-142.69, Z:-4.11 [[-9.99965969e-01 -2.17850386e-03 7.95711479e-03 7.23211490e+01] [-2.17942192e-03 9.99997619e-01 -1.06706915e-04 -1.42685566e+02] [-7.95686339e-03 -1.24045194e-04 -9.99968336e-01 -4.11108154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.015116165232968225 Centerline is valid? [True, True] Translation: X:72.32, Y:-142.66, Z:-4.11 [[-9.97027544e-01 -7.65820225e-02 8.44214179e-03 7.23164151e+01] [-7.65806430e-02 9.97063272e-01 4.87026179e-04 -1.42656555e+02] [-8.45464697e-03 -1.60926131e-04 -9.99964246e-01 -4.11053840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.015378471115582389 Centerline is valid? [True, True] Translation: X:72.27, Y:-142.03, Z:-5.14 [[-9.99464782e-01 -3.13105347e-02 9.47626671e-03 7.22705965e+01] [ 3.13114903e-02 -9.99509674e-01 -4.75422995e-05 -1.42029130e+02] [ 9.47310882e-03 2.49199179e-04 9.99955098e-01 -5.14096600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.016155690213844158 Centerline is valid? [True, True] Translation: X:72.25, Y:-142.66, Z:-4.11 [[-9.96407353e-01 -8.40872013e-02 1.00861314e-02 7.22463649e+01] [-8.40851516e-02 9.96458375e-01 6.27861568e-04 -1.42658658e+02] [-1.01032053e-02 -2.22488008e-04 -9.99948937e-01 -4.10856055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.01636794786745229 Centerline is valid? [True, True] Translation: X:72.20, Y:-142.03, Z:-5.14 [[-9.99537373e-01 -2.83467529e-02 1.10227863e-02 7.21990649e+01] [ 2.83483747e-02 -9.99598104e-01 -9.11571646e-06 -1.42034932e+02] [ 1.10186147e-02 3.03366577e-04 9.99939247e-01 -5.14331713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.016204532748752887 Centerline is valid? [True, True] Translation: X:72.18, Y:-142.66, Z:-4.11 [[-9.96028686e-01 -8.83924400e-02 1.06599091e-02 7.21773945e+01] [-8.83898775e-02 9.96085700e-01 7.12197076e-04 -1.42664987e+02] [-1.06811358e-02 -2.32859341e-04 -9.99942928e-01 -4.10778556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.014890332808428323 Centerline is valid? [True, True] Translation: X:72.14, Y:-142.03, Z:-5.14 [[-9.99754018e-01 -2.01218133e-02 9.32822372e-03 7.21390580e+01] [ 2.01220352e-02 -9.99797529e-01 -7.00683232e-05 -1.42032188e+02] [ 9.32774492e-03 1.17651758e-04 9.99956489e-01 -5.14099327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.013638145137857376 Centerline is valid? [True, True] Translation: X:72.12, Y:-142.68, Z:-4.11 [[-9.96310742e-01 -8.53876074e-02 8.59432177e-03 7.21173063e+01] [-8.53854675e-02 9.96347802e-01 6.16271713e-04 -1.42681519e+02] [-8.61555557e-03 -1.19832054e-04 -9.99962878e-01 -4.11046382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.013069916778228193 Centerline is valid? [True, True] Translation: X:72.11, Y:-142.66, Z:-4.11 [[-9.88262731e-01 -1.52513210e-01 8.74613115e-03 7.21077773e+01] [-1.52508056e-01 9.88301428e-01 1.25714947e-03 -1.42659764e+02] [-8.83554581e-03 -9.14614913e-05 -9.99960962e-01 -4.11025700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.012856470028162483 Centerline is valid? [True, True] Translation: X:72.10, Y:-142.64, Z:-4.11 [[-9.75530011e-01 -2.19676297e-01 9.13904407e-03 7.20997192e+01] [-2.19667317e-01 9.75572816e-01 1.98739264e-03 -1.42637507e+02] [-9.35238601e-03 -6.87881321e-05 -9.99956263e-01 -4.10937679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.012800216748793227 Centerline is valid? [True, True] Translation: X:71.96, Y:-141.98, Z:-5.14 [[-9.89934214e-01 1.41060621e-01 1.14957732e-02 7.19559958e+01] [-1.41048369e-01 -9.90000933e-01 1.87379837e-03 -1.41979986e+02] [ 1.16451454e-02 2.33477064e-04 9.99932166e-01 -5.14317567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.012821610014754483 Centerline is valid? [True, True] Translation: X:72.00, Y:-142.67, Z:-4.11 [[-9.74780530e-01 -2.22796776e-01 1.28263077e-02 7.19967516e+01] [-2.22778279e-01 9.74864910e-01 2.87148040e-03 -1.42665609e+02] [-1.31436739e-02 -5.83595547e-05 -9.99913617e-01 -4.10573251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.01282142537088826 Centerline is valid? [True, True] Translation: X:71.98, Y:-142.64, Z:-4.11 [[-9.56370890e-01 -2.91822197e-01 1.39472656e-02 7.19751077e+01] [-2.91792079e-01 9.56472583e-01 4.19293873e-03 -1.42644923e+02] [-1.45637697e-02 -5.96970726e-05 -9.99893941e-01 -4.10563988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.012809580547703073 Centerline is valid? [True, True] Translation: X:71.94, Y:-142.63, Z:-4.11 [[-9.32717327e-01 -3.60366848e-01 1.31955400e-02 7.19443243e+01] [-3.60331756e-01 9.32810662e-01 5.02941632e-03 -1.42627787e+02] [-1.41213753e-02 -6.37483501e-05 -9.99900286e-01 -4.10649766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.01274885456667659 Centerline is valid? [True, True] Translation: X:71.89, Y:-142.62, Z:-4.11 [[-9.03700546e-01 -4.28020730e-01 1.11165933e-02 7.18899651e+01] [-4.27989207e-01 9.03768915e-01 5.19500225e-03 -1.42620950e+02] [-1.22704001e-02 -6.30555798e-05 -9.99924714e-01 -4.10802680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.013039069300246207 Centerline is valid? [True, True] Translation: X:71.83, Y:-142.62, Z:-4.11 [[-8.68937197e-01 -4.94842946e-01 8.86603161e-03 7.18268435e+01] [-4.94818007e-01 8.68982424e-01 4.96857035e-03 -1.42620094e+02] [-1.01630876e-02 -6.96964990e-05 -9.99948352e-01 -4.10868621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.013339593901589562 Centerline is valid? [True, True] Translation: X:71.75, Y:-142.63, Z:-4.11 [[-8.29075597e-01 -5.59071454e-01 8.53017462e-03 7.17548536e+01] [-5.59042927e-01 8.29119474e-01 5.64834538e-03 -1.42630086e+02] [-1.02303626e-02 -8.58284678e-05 -9.99947665e-01 -4.10757686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.014032841672061064 Centerline is valid? [True, True] Translation: X:71.68, Y:-142.65, Z:-4.11 [[-7.82873458e-01 -6.22110722e-01 9.34869052e-03 7.16765548e+01] [-6.22068541e-01 7.82929262e-01 7.24582344e-03 -1.42649629e+02] [-1.18270678e-02 -1.42963415e-04 -9.99930048e-01 -4.10667743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.014215510193520325 Centerline is valid? [True, True] Translation: X:71.59, Y:-142.68, Z:-4.11 [[-7.31947516e-01 -6.81293612e-01 9.58373766e-03 7.15930718e+01] [-6.81238739e-01 7.32010229e-01 8.64901137e-03 -1.42681981e+02] [-1.29079102e-02 -1.98190968e-04 -9.99916670e-01 -4.10721205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.014769487062524322 Centerline is valid? [True, True] Translation: X:71.51, Y:-142.72, Z:-4.11 [[-6.76359178e-01 -7.36513926e-01 9.24658300e-03 7.15116501e+01] [-7.36450064e-01 6.76422336e-01 9.70194676e-03 -1.42719619e+02] [-1.34002142e-02 -2.47645896e-04 -9.99910183e-01 -4.10690562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.015877688231018965 Centerline is valid? [True, True] Translation: X:71.43, Y:-142.77, Z:-4.11 [[-6.17743498e-01 -7.86333087e-01 8.55845800e-03 7.14267846e+01] [-7.86263610e-01 6.17802723e-01 1.04561839e-02 -1.42769316e+02] [-1.35094820e-02 -2.69964453e-04 -9.99908706e-01 -4.10596796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.014741555948584121 Centerline is valid? [True, True] Translation: X:71.35, Y:-142.83, Z:-4.11 [[-5.57444644e-01 -8.30183687e-01 7.10738371e-03 7.13485656e+01] [-8.30121485e-01 5.57489902e-01 1.01651179e-02 -1.42832300e+02] [-1.24012097e-02 -2.33501370e-04 -9.99923075e-01 -4.10781556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.014350449548891699 Centerline is valid? [True, True] Translation: X:71.27, Y:-142.90, Z:-4.11 [[-4.94853700e-01 -8.68956111e-01 5.92394564e-03 7.12748332e+01] [-8.68898428e-01 4.94889119e-01 1.00140793e-02 -1.42900534e+02] [-1.16334916e-02 -1.91802865e-04 -9.99932310e-01 -4.10849310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.013541217258557394 Centerline is valid? [True, True] Translation: X:71.21, Y:-142.98, Z:-4.11 [[-4.30578332e-01 -9.02540863e-01 4.72130931e-03 7.12057098e+01] [-9.02490046e-01 4.30604194e-01 9.57833859e-03 -1.42977637e+02] [-1.06778576e-02 -1.36709604e-04 -9.99942981e-01 -4.10842860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.013138332263305453 Centerline is valid? [True, True] Translation: X:71.14, Y:-143.07, Z:-4.11 [[-3.62700092e-01 -9.31897125e-01 4.04869869e-03 7.11365688e+01] [-9.31842521e-01 3.62722671e-01 1.00886327e-02 -1.43070485e+02] [-1.08701226e-02 -1.13601579e-04 -9.99940912e-01 -4.10791569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.013011010466920873 Centerline is valid? [True, True] Translation: X:71.08, Y:-143.16, Z:-4.11 [[-2.92079436e-01 -9.56388498e-01 3.26256703e-03 7.10772232e+01] [-9.56332378e-01 2.92097642e-01 1.03610163e-02 -1.43160099e+02] [-1.08621450e-02 -9.38586790e-05 -9.99941001e-01 -4.10726938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.012866484045513375 Centerline is valid? [True, True] Translation: X:71.02, Y:-143.26, Z:-4.11 [[-2.20590519e-01 -9.75362947e-01 2.63520120e-03 7.10237602e+01] [-9.75297072e-01 2.20606248e-01 1.13360404e-02 -1.43261999e+02] [-1.16380956e-02 -6.94809825e-05 -9.99932273e-01 -4.10603024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.012718798247216173 Centerline is valid? [True, True] Translation: X:70.98, Y:-143.37, Z:-4.11 [[-1.47200835e-01 -9.89104738e-01 1.93182086e-03 7.09778688e+01] [-9.89023984e-01 1.47213502e-01 1.26389714e-02 -1.43367419e+02] [-1.27856566e-02 -5.01500297e-05 -9.99918259e-01 -4.10547019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.012688240134632085 Centerline is valid? [True, True] Translation: X:70.94, Y:-143.47, Z:-4.11 [[-7.51510586e-02 -9.97171642e-01 1.01731583e-03 7.09415407e+01] [-9.97079223e-01 7.51579437e-02 1.35759942e-02 -1.43474268e+02] [-1.36140558e-02 5.90585797e-06 -9.99907325e-01 -4.10510033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.012980328585240957 Centerline is valid? [True, True] Translation: X:70.91, Y:-143.59, Z:-4.11 [[-2.02957437e-03 -9.99997940e-01 -2.79859525e-05 7.09128741e+01] [-9.99908169e-01 2.02901718e-03 1.33991702e-02 -1.43590365e+02] [-1.33990858e-02 5.51779948e-05 -9.99910227e-01 -4.10504905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.013212581790168099 Centerline is valid? [True, True] Translation: X:70.89, Y:-143.70, Z:-4.11 [[ 7.06566836e-02 -9.97500218e-01 -9.74123435e-04 7.08928981e+01] [-9.97424379e-01 -7.06633239e-02 1.23005074e-02 -1.43704943e+02] [-1.23385936e-02 1.02501403e-04 -9.99923871e-01 -4.10782161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.013405956292345148 Centerline is valid? [True, True] Translation: X:70.88, Y:-143.83, Z:-4.11 [[ 1.46133087e-01 -9.89263298e-01 -1.80204507e-03 7.08797248e+01] [-9.89196901e-01 -1.46144158e-01 1.14619656e-02 -1.43829680e+02] [-1.16022603e-02 1.07604978e-04 -9.99932686e-01 -4.10884642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.013243180968621076 Centerline is valid? [True, True] Translation: X:70.87, Y:-143.94, Z:-4.11 [[ 2.22269320e-01 -9.74981929e-01 -2.56653363e-03 7.08715044e+01] [-9.74921761e-01 -2.22284118e-01 1.08319677e-02 -1.43943617e+02] [-1.11314724e-02 9.45553822e-05 -9.99938039e-01 -4.10917925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.0128669446574162 Centerline is valid? [True, True] Translation: X:70.87, Y:-144.06, Z:-4.11 [[ 2.98876729e-01 -9.54286230e-01 -3.23929191e-03 7.08722699e+01] [-9.54232442e-01 -2.98894276e-01 1.01320314e-02 -1.44063983e+02] [-1.06370638e-02 6.28090377e-05 -9.99943423e-01 -4.10977495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.01279130187557205 Centerline is valid? [True, True] Translation: X:70.88, Y:-144.18, Z:-4.11 [[ 3.74044509e-01 -9.27400524e-01 -4.35579903e-03 7.08824614e+01] [-9.27338655e-01 -3.74069869e-01 1.07122363e-02 -1.44182371e+02] [-1.15639067e-02 3.24476555e-05 -9.99933135e-01 -4.10838836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.012663833018478426 Centerline is valid? [True, True] Translation: X:70.90, Y:-144.30, Z:-4.11 [[ 4.45529324e-01 -8.95250862e-01 -5.43284047e-03 7.09025276e+01] [-8.95184630e-01 -4.45562447e-01 1.08895825e-02 -1.44299076e+02] [-1.21695778e-02 1.17669750e-05 -9.99925948e-01 -4.10902574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.012756270007479349 Centerline is valid? [True, True] Translation: X:70.93, Y:-144.42, Z:-4.11 [[ 5.18303016e-01 -8.55175372e-01 -6.08822139e-03 7.09269538e+01] [-8.55114844e-01 -5.18338768e-01 1.01746992e-02 -1.44416234e+02] [-1.18569133e-02 -6.74487880e-05 -9.99929702e-01 -4.10987250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.013285494514105737 Centerline is valid? [True, True] Translation: X:70.96, Y:-144.53, Z:-4.11 [[ 5.85593397e-01 -8.10578653e-01 -6.52842324e-03 7.09619793e+01] [-8.10526093e-01 -5.85629775e-01 9.23141780e-03 -1.44528831e+02] [-1.13060292e-02 -1.14399932e-04 -9.99936078e-01 -4.11021875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.0148866875963222 Centerline is valid? [True, True] Translation: X:71.00, Y:-144.64, Z:-4.11 [[ 6.49228089e-01 -7.60557672e-01 -7.41052258e-03 7.10022228e+01] [-7.60505058e-01 -6.49270358e-01 8.94757640e-03 -1.44637709e+02] [-1.16165805e-02 -1.73278020e-04 -9.99932510e-01 -4.10940130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.014449202681615017 Centerline is valid? [True, True] Translation: X:71.05, Y:-144.73, Z:-4.11 [[ 7.06655758e-01 -7.07517486e-01 -7.52632986e-03 7.10482519e+01] [-7.07474542e-01 -7.06695813e-01 7.79745649e-03 -1.44730501e+02] [-1.08356626e-02 -1.85430760e-04 -9.99941275e-01 -4.11228418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.014813631065521136 Centerline is valid? [True, True] Translation: X:71.10, Y:-144.82, Z:-4.11 [[ 7.59465483e-01 -6.50510571e-01 -6.94096016e-03 7.10994032e+01] [-6.50481264e-01 -7.59497180e-01 6.17726986e-03 -1.44820658e+02] [-9.29001901e-03 -1.76458697e-04 -9.99956831e-01 -4.11403933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.01570065005034364 Centerline is valid? [True, True] Translation: X:71.12, Y:-144.85, Z:-4.11 [[ 8.08706975e-01 -5.88158388e-01 -7.92079461e-03 7.11190151e+01] [-5.88127727e-01 -8.08745739e-01 6.00885921e-03 -1.44851673e+02] [-9.94006984e-03 -2.00967420e-04 -9.99950576e-01 -4.11431303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.015896701765383058 Centerline is valid? [True, True] Translation: X:71.15, Y:-144.88, Z:-4.11 [[ 8.52298947e-01 -5.22983136e-01 -8.66856641e-03 7.11453903e+01] [-5.22953569e-01 -8.52343003e-01 5.56506247e-03 -1.44878137e+02] [-1.02990257e-02 -2.09839143e-04 -9.99946942e-01 -4.11453434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.01600226730961354 Centerline is valid? [True, True] Translation: X:71.17, Y:-144.90, Z:-4.11 [[ 8.90620241e-01 -4.54630407e-01 -1.03334489e-02 7.11736989e+01] [-4.54596657e-01 -8.90680153e-01 5.54477630e-03 -1.44902395e+02] [-1.17246218e-02 -2.40738659e-04 -9.99931235e-01 -4.11342350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.01579437150681829 Centerline is valid? [True, True] Translation: X:71.20, Y:-144.92, Z:-4.11 [[ 9.23170735e-01 -3.84165959e-01 -1.31266690e-02 7.12043427e+01] [-3.84122711e-01 -9.23264011e-01 5.77134880e-03 -1.44924065e+02] [-1.43365368e-02 -2.85688628e-04 -9.99897186e-01 -4.11238824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.015504567017920648 Centerline is valid? [True, True] Translation: X:71.24, Y:-144.94, Z:-4.11 [[ 9.49918529e-01 -3.12153765e-01 -1.46566201e-02 7.12375942e+01] [-3.12111933e-01 -9.50031549e-01 5.11825210e-03 -1.44941103e+02] [-1.55219332e-02 -2.87416462e-04 -9.99879486e-01 -4.11241674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.015272021354697551 Centerline is valid? [True, True] Translation: X:71.27, Y:-144.95, Z:-4.11 [[ 9.70593805e-01 -2.40107682e-01 -1.72036627e-02 7.12717073e+01] [-2.40065010e-01 -9.70746222e-01 4.53475028e-03 -1.44952619e+02] [-1.77892190e-02 -2.71403069e-04 -9.99841723e-01 -4.11161193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.01467837527559038 Centerline is valid? [True, True] Translation: X:71.31, Y:-144.96, Z:-4.11 [[ 9.85900393e-01 -1.66408055e-01 -1.75719537e-02 7.13072071e+01] [-1.66377660e-01 -9.86056951e-01 3.18793202e-03 -1.44959236e+02] [-1.78574447e-02 -2.19402890e-04 -9.99840519e-01 -4.11212832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.013682433784627617 Centerline is valid? [True, True] Translation: X:71.34, Y:-144.96, Z:-4.12 [[ 9.95434063e-01 -9.41508639e-02 -1.57048028e-02 7.13403156e+01] [-9.41374487e-02 -9.95557936e-01 1.59292916e-03 -1.44958183e+02] [-1.57850167e-02 -1.07245885e-04 -9.99875403e-01 -4.11500167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.012902375482046494 Centerline is valid? [True, True] Translation: X:71.37, Y:-144.96, Z:-4.12 [[ 9.99712603e-01 -1.90091743e-02 -1.46069252e-02 7.13718631e+01] [-1.90063549e-02 -9.99819308e-01 3.31820273e-04 -1.44964089e+02] [-1.46105935e-02 -5.41005042e-05 -9.99893258e-01 -4.11898145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.012889997066943569 Centerline is valid? [True, True] Translation: X:71.40, Y:-144.97, Z:-4.12 [[ 9.98264243e-01 5.72482740e-02 -1.38252404e-02 7.14040376e+01] [ 5.72430923e-02 -9.98359973e-01 -7.70551219e-04 -1.44969235e+02] [-1.38466794e-02 -2.21857830e-05 -9.99904130e-01 -4.12040811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.01287408595218765 Centerline is valid? [True, True] Translation: X:71.44, Y:-144.98, Z:-4.12 [[ 9.90669711e-01 1.35690665e-01 -1.27109214e-02 7.14364738e+01] [ 1.35679840e-01 -9.90751252e-01 -1.71408391e-03 -1.44977208e+02] [-1.28259464e-02 -2.65247707e-05 -9.99917744e-01 -4.12153145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.012931293092566009 Centerline is valid? [True, True] Translation: X:71.47, Y:-144.98, Z:-4.12 [[ 9.76482638e-01 2.15213917e-01 -1.28307418e-02 7.14706726e+01] [ 2.15196138e-01 -9.76566929e-01 -2.76691242e-03 -1.44983180e+02] [-1.31255561e-02 -5.92841386e-05 -9.99913855e-01 -4.12203886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.013207022699316808 Centerline is valid? [True, True] Translation: X:71.51, Y:-144.99, Z:-4.12 [[ 9.55785477e-01 2.93770952e-01 -1.31434104e-02 7.15053660e+01] [ 2.93744639e-01 -9.55875838e-01 -3.93313901e-03 -1.44986894e+02] [-1.37189104e-02 -1.01569204e-04 -9.99905886e-01 -4.12118703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.013910240333498206 Centerline is valid? [True, True] Translation: X:71.54, Y:-144.99, Z:-4.12 [[ 9.28028527e-01 3.72217024e-01 -1.47492244e-02 7.15419003e+01] [ 3.72173343e-01 -9.28145705e-01 -5.70557839e-03 -1.44990595e+02] [-1.58131427e-02 -1.94328636e-04 -9.99874946e-01 -4.11961128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.014718434185977833 Centerline is valid? [True, True] Translation: X:71.58, Y:-144.99, Z:-4.12 [[ 8.95018911e-01 4.45769799e-01 -1.51801128e-02 7.15762647e+01] [ 4.45710329e-01 -8.95147600e-01 -7.28537099e-03 -1.44987876e+02] [-1.68360399e-02 -2.45388269e-04 -9.99858234e-01 -4.11761516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.014855087850025532 Centerline is valid? [True, True] Translation: X:71.61, Y:-144.98, Z:-4.12 [[ 8.56772866e-01 5.15504036e-01 -1.39944930e-02 7.16105643e+01] [ 5.15440119e-01 -8.56887113e-01 -8.12152880e-03 -1.44980174e+02] [-1.61783815e-02 -2.55017614e-04 -9.99869089e-01 -4.11870068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.014714348949667517 Centerline is valid? [True, True] Translation: X:71.64, Y:-144.97, Z:-4.12 [[ 8.13857913e-01 5.80936529e-01 -1.21674342e-02 7.16427962e+01] [ 5.80875856e-01 -8.13948829e-01 -8.39906321e-03 -1.44967577e+02] [-1.47829915e-02 -2.32124709e-04 -9.99890699e-01 -4.11996944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.014359719540868222 Centerline is valid? [True, True] Translation: X:71.67, Y:-144.95, Z:-4.12 [[ 7.66738237e-01 6.41885868e-01 -9.74725773e-03 7.16743395e+01] [ 6.41836987e-01 -7.66800170e-01 -7.92348090e-03 -1.44951908e+02] [-1.25601693e-02 -1.80914759e-04 -9.99921102e-01 -4.12233908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.013783508471774432 Centerline is valid? [True, True] Translation: X:71.71, Y:-144.93, Z:-4.12 [[ 7.15424919e-01 6.98636516e-01 -8.61415428e-03 7.17054451e+01] [ 6.98588378e-01 -7.15476761e-01 -8.20254640e-03 -1.44934822e+02] [-1.18938256e-02 -1.49441979e-04 -9.99929255e-01 -4.12290000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.013503217453047814 Centerline is valid? [True, True] Translation: X:71.73, Y:-144.91, Z:-4.12 [[ 6.60278033e-01 7.50976127e-01 -8.23262269e-03 7.17334597e+01] [ 7.50920125e-01 -6.60329343e-01 -9.17195214e-03 -1.44913972e+02] [-1.23241594e-02 -1.26003532e-04 -9.99924047e-01 -4.12239869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.013343413065317613 Centerline is valid? [True, True] Translation: X:71.76, Y:-144.89, Z:-4.12 [[ 6.01811187e-01 7.98599054e-01 -7.92756802e-03 7.17566199e+01] [ 7.98531843e-01 -6.01863392e-01 -1.03611361e-02 -1.44890784e+02] [-1.30457064e-02 -9.49679091e-05 -9.99914897e-01 -4.12133084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.013135995982940374 Centerline is valid? [True, True] Translation: X:71.78, Y:-144.87, Z:-4.12 [[ 5.37274852e-01 8.43372661e-01 -7.63472223e-03 7.17834255e+01] [ 8.43290270e-01 -5.37329084e-01 -1.17888078e-02 -1.44868004e+02] [-1.40447165e-02 -1.04456992e-04 -9.99901363e-01 -4.12155238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.013517048307962009 Centerline is valid? [True, True] Translation: X:71.81, Y:-144.85, Z:-4.12 [[ 4.67771309e-01 8.83815328e-01 -7.77608107e-03 7.18097928e+01] [ 8.83698681e-01 -4.67835913e-01 -1.43596582e-02 -1.44845083e+02] [-1.63292160e-02 -1.54676484e-04 -9.99866658e-01 -4.11927161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.014027146847454347 Centerline is valid? [True, True] Translation: X:71.83, Y:-144.82, Z:-4.12 [[ 3.95505522e-01 9.18438991e-01 -6.72325062e-03 7.18317060e+01] [ 9.18314208e-01 -3.95562619e-01 -1.51403682e-02 -1.44819181e+02] [-1.65649712e-02 -1.85957324e-04 -9.99862774e-01 -4.11812131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.013898938527667163 Centerline is valid? [True, True] Translation: X:71.85, Y:-144.79, Z:-4.12 [[ 3.21333238e-01 9.46950680e-01 -5.41851495e-03 7.18498976e+01] [ 9.46826401e-01 -3.21378857e-01 -1.53426454e-02 -1.44790995e+02] [-1.62701246e-02 -2.00291097e-04 -9.99867613e-01 -4.11929591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.014071319869013485 Centerline is valid? [True, True] Translation: X:71.86, Y:-144.76, Z:-4.12 [[ 2.45873401e-01 9.69293916e-01 -3.94641129e-03 7.18631819e+01] [ 9.69181396e-01 -2.45904994e-01 -1.47700949e-02 -1.44761418e+02] [-1.52870054e-02 -1.93214927e-04 -9.99883128e-01 -4.11904714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.0141156977261915 Centerline is valid? [True, True] Translation: X:71.87, Y:-144.73, Z:-4.12 [[ 1.69199821e-01 9.85578150e-01 -2.67041640e-03 7.18740734e+01] [ 9.85472213e-01 -1.69220790e-01 -1.44513557e-02 -1.44730630e+02] [-1.46948304e-02 -1.86454364e-04 -9.99892008e-01 -4.11939080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.014067820559475672 Centerline is valid? [True, True] Translation: X:71.88, Y:-144.70, Z:-4.12 [[ 9.16313055e-02 9.95792048e-01 -1.37879593e-03 7.18785327e+01] [ 9.95704948e-01 -9.16415282e-02 -1.31714816e-02 -1.44699182e+02] [-1.32424116e-02 -1.65953874e-04 -9.99912302e-01 -4.12138020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.01418482515072931 Centerline is valid? [True, True] Translation: X:71.88, Y:-144.67, Z:-4.12 [[ 1.27171170e-02 9.99919084e-01 -3.17813030e-04 7.18827927e+01] [ 9.99843940e-01 -1.27200579e-02 -1.22594865e-02 -1.44667283e+02] [-1.22625371e-02 -1.61858107e-04 -9.99924799e-01 -4.12240310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.014728115548368885 Centerline is valid? [True, True] Translation: X:71.89, Y:-144.64, Z:-4.12 [[-6.76710184e-02 9.97707501e-01 6.13739863e-04 7.18850977e+01] [ 9.97639147e-01 6.76735671e-02 -1.16799474e-02 -1.44636635e+02] [-1.16947051e-02 -1.78103023e-04 -9.99931599e-01 -4.12278963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.016202001739872757 Centerline is valid? [True, True] Translation: X:71.88, Y:-144.61, Z:-4.12 [[-1.48980875e-01 9.88838763e-01 1.61237318e-03 7.18841783e+01] [ 9.88762955e-01 1.48989422e-01 -1.22462912e-02 -1.44606383e+02] [-1.23498340e-02 -2.30208316e-04 -9.99923711e-01 -4.12134050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.015828869272767537 Centerline is valid? [True, True] Translation: X:71.88, Y:-144.58, Z:-4.12 [[-2.27966546e-01 9.73664526e-01 2.94030918e-03 7.18808426e+01] [ 9.73566201e-01 2.27985320e-01 -1.38400238e-02 -1.44575089e+02] [-1.41458875e-02 -2.92476780e-04 -9.99899899e-01 -4.12062172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.015425015502024454 Centerline is valid? [True, True] Translation: X:71.87, Y:-144.54, Z:-4.12 [[-3.02085184e-01 9.53271935e-01 4.14238613e-03 7.18747406e+01] [ 9.53169213e-01 3.02113454e-01 -1.39968567e-02 -1.44544222e+02] [-1.45942813e-02 -2.79848102e-04 -9.99893459e-01 -4.12073010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.01497484744346318 Centerline is valid? [True, True] Translation: X:71.86, Y:-144.52, Z:-4.12 [[-3.72445590e-01 9.28039846e-01 5.13099931e-03 7.18643540e+01] [ 9.27943402e-01 3.72480865e-01 -1.33809007e-02 -1.44516539e+02] [-1.43292081e-02 -2.22380499e-04 -9.99897307e-01 -4.12066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.013439553015414028 Centerline is valid? [True, True] Translation: X:71.84, Y:-144.49, Z:-4.12 [[-4.35684310e-01 9.00080537e-01 5.84886051e-03 7.18439619e+01] [ 8.99996783e-01 4.35723559e-01 -1.22788957e-02 -1.44492322e+02] [-1.36004814e-02 -8.57665520e-05 -9.99907506e-01 -4.12172989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.013193248366443215 Centerline is valid? [True, True] Translation: X:71.83, Y:-144.47, Z:-4.12 [[-4.98474798e-01 8.66881289e-01 6.30134588e-03 7.18286745e+01] [ 8.66812371e-01 4.98514625e-01 -1.09307777e-02 -1.44466789e+02] [-1.26169997e-02 1.33673703e-05 -9.99920402e-01 -4.12360700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.014770313167205971 Centerline is valid? [True, True] Translation: X:71.81, Y:-144.45, Z:-4.12 [[-5.56778202e-01 8.30635446e-01 6.54143909e-03 7.18078949e+01] [ 8.30580747e-01 5.56816613e-01 -9.53319639e-03 -1.44447624e+02] [-1.15609928e-02 1.25317418e-04 -9.99933162e-01 -4.12289288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.014939880470305053 Centerline is valid? [True, True] Translation: X:71.79, Y:-144.42, Z:-4.12 [[-6.16538170e-01 7.87291402e-01 7.27560686e-03 7.17933280e+01] [ 7.87239975e-01 6.16581071e-01 -9.00028872e-03 -1.44423611e+02] [-1.15718514e-02 1.78627030e-04 -9.99933028e-01 -4.12471529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.014323752035111168 Centerline is valid? [True, True] Translation: X:71.78, Y:-144.40, Z:-4.13 [[-6.78330234e-01 7.34724930e-01 6.88270095e-03 7.17819048e+01] [ 7.34688996e-01 6.78365139e-01 -7.26756694e-03 -1.44396689e+02] [-1.00086470e-02 1.26834268e-04 -9.99949904e-01 -4.12505396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.01366419477008489 Centerline is valid? [True, True] Translation: X:71.77, Y:-144.37, Z:-4.12 [[-7.37482479e-01 6.75310682e-01 8.66462475e-03 7.17687116e+01] [ 6.75265412e-01 7.37533372e-01 -7.81977861e-03 -1.44370331e+02] [-1.16712299e-02 8.39716864e-05 -9.99931885e-01 -4.12446174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.013127543270698793 Centerline is valid? [True, True] Translation: X:71.79, Y:-144.35, Z:-4.12 [[-7.87102259e-01 6.16733574e-01 1.04752976e-02 7.17889992e+01] [ 6.16679240e-01 7.87171962e-01 -8.18638060e-03 -1.44346928e+02] [-1.32946764e-02 1.63799204e-05 -9.99911622e-01 -4.12465829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.013462767254993426 Centerline is valid? [True, True] Translation: X:71.81, Y:-144.32, Z:-4.12 [[-8.33016419e-01 5.53122516e-01 1.17952605e-02 7.18056031e+01] [ 5.53065511e-01 8.33099919e-01 -7.94146932e-03 -1.44317591e+02] [-1.42192360e-02 -9.18225721e-05 -9.99898897e-01 -4.12289012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.01377367750318827 Centerline is valid? [True, True] Translation: X:71.82, Y:-144.29, Z:-4.12 [[-8.71620211e-01 4.90052055e-01 1.12778823e-02 7.18218928e+01] [ 4.90009178e-01 8.71693162e-01 -6.48362754e-03 -1.44291440e+02] [-1.30081679e-02 -1.24994974e-04 -9.99915382e-01 -4.12292582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.013837586630617559 Centerline is valid? [True, True] Translation: X:71.84, Y:-144.27, Z:-4.12 [[-9.04757338e-01 4.25789118e-01 1.08529145e-02 7.18350178e+01] [ 4.25756712e-01 9.04822418e-01 -5.25486513e-03 -1.44267053e+02] [-1.20574247e-02 -1.33676600e-04 -9.99927298e-01 -4.12455790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.013842895275241743 Centerline is valid? [True, True] Translation: X:71.84, Y:-144.24, Z:-4.13 [[-9.32555544e-01 3.60870751e-01 1.06046385e-02 7.18357451e+01] [ 3.60845907e-01 9.32615830e-01 -4.23616666e-03 -1.44238748e+02] [-1.14187624e-02 -1.23820308e-04 -9.99934796e-01 -4.12530636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.01373132928805143 Centerline is valid? [True, True] Translation: X:71.85, Y:-144.22, Z:-4.13 [[-9.55657044e-01 2.94298811e-01 1.03838015e-02 7.18539515e+01] [ 2.94280145e-01 9.55713449e-01 -3.31650426e-03 -1.44217633e+02] [-1.08999820e-02 -1.13694049e-04 -9.99940587e-01 -4.12622332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.013637128936134354 Centerline is valid? [True, True] Translation: X:72.06, Y:-143.57, Z:-5.12 [[-9.26450193e-01 -3.76313527e-01 8.84129527e-03 7.20610158e+01] [ 3.76296564e-01 -9.26492379e-01 -3.57314326e-03 -1.43574247e+02] [ 9.53601483e-03 1.66097670e-05 9.99954531e-01 -5.12331785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.013585133386127391 Centerline is valid? [True, True] Translation: X:71.81, Y:-144.20, Z:-4.13 [[-9.56537865e-01 2.91472061e-01 8.90794049e-03 7.18052676e+01] [ 2.91458543e-01 9.56579338e-01 -2.80861856e-03 -1.44203881e+02] [-9.33978566e-03 -9.02546474e-05 -9.99956379e-01 -4.12807503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.01376132881444377 Centerline is valid? [True, True] Translation: X:71.82, Y:-144.18, Z:-4.13 [[-9.75025663e-01 2.21872646e-01 9.87349381e-03 7.18178525e+01] [ 2.21860136e-01 9.75075647e-01 -2.35861037e-03 -1.44177526e+02] [-1.01507145e-02 -1.09170956e-04 -9.99948474e-01 -4.12633106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.014440989368967467 Centerline is valid? [True, True] Translation: X:71.97, Y:-143.52, Z:-5.13 [[-9.51079897e-01 -3.08753959e-01 1.08637889e-02 7.19723256e+01] [ 3.08736203e-01 -9.51141921e-01 -3.31724056e-03 -1.43523213e+02] [ 1.13572162e-02 1.99084122e-04 9.99935485e-01 -5.12714806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.015045365477249748 Centerline is valid? [True, True] Translation: X:71.77, Y:-144.17, Z:-4.12 [[-9.76548651e-01 2.14950220e-01 1.22120811e-02 7.17680901e+01] [ 2.14931148e-01 9.76624990e-01 -2.86883558e-03 -1.44165069e+02] [-1.25432804e-02 -1.76800911e-04 -9.99921314e-01 -4.12228033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.014754689637682592 Centerline is valid? [True, True] Translation: X:71.92, Y:-143.51, Z:-5.13 [[-9.51308589e-01 -3.07992723e-01 1.23470860e-02 7.19248090e+01] [ 3.07969579e-01 -9.51388691e-01 -3.78124963e-03 -1.43510636e+02] [ 1.29114753e-02 2.05391611e-04 9.99916622e-01 -5.12771145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.014623787091530775 Centerline is valid? [True, True] Translation: X:71.72, Y:-144.16, Z:-4.12 [[-9.77782923e-01 2.09229533e-01 1.27890126e-02 7.17199268e+01] [ 2.09208799e-01 9.77866534e-01 -2.95314264e-03 -1.44157720e+02] [-1.31238320e-02 -2.11958488e-04 -9.99913856e-01 -4.12307649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.014787624348897308 Centerline is valid? [True, True] Translation: X:71.72, Y:-144.13, Z:-4.12 [[-9.90115679e-01 1.39692871e-01 1.25237093e-02 7.17229212e+01] [ 1.39679119e-01 9.90194860e-01 -1.97036949e-03 -1.44132024e+02] [-1.26761592e-02 -2.01593034e-04 -9.99919634e-01 -4.12275154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.014298711183440675 Centerline is valid? [True, True] Translation: X:71.83, Y:-143.46, Z:-5.13 [[-9.71815890e-01 -2.35451239e-01 1.16871466e-02 7.18347714e+01] [ 2.35436046e-01 -9.71886152e-01 -2.67886019e-03 -1.43458845e+02] [ 1.19893168e-02 1.48216669e-04 9.99928115e-01 -5.12647673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.014165829567548052 Centerline is valid? [True, True] Translation: X:71.68, Y:-144.13, Z:-4.12 [[-9.90260378e-01 1.38759863e-01 1.14054144e-02 7.16777696e+01] [ 1.38748921e-01 9.90326046e-01 -1.74894768e-03 -1.44130087e+02] [-1.15377627e-02 -1.49424651e-04 -9.99933427e-01 -4.12437408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.014039325591163488 Centerline is valid? [True, True] Translation: X:71.67, Y:-144.10, Z:-4.13 [[-9.97563981e-01 6.88933077e-02 1.09460838e-02 7.16675693e+01] [ 6.88876813e-02 9.97624024e-01 -8.90667232e-04 -1.44102385e+02] [-1.09814372e-02 -1.34447218e-04 -9.99939693e-01 -4.12511415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.014126029074569725 Centerline is valid? [True, True] Translation: X:71.68, Y:-144.08, Z:-4.13 [[-9.99947042e-01 -1.41969785e-03 1.01930011e-02 7.16780413e+01] [-1.42082397e-03 9.99998985e-01 -1.03239437e-04 -1.44075588e+02] [-1.01928442e-02 -1.17716430e-04 -9.99948045e-01 -4.12532537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.013968731877672558 Centerline is valid? [True, True] Translation: X:71.69, Y:-143.39, Z:-5.13 [[-9.95994526e-01 -8.88442426e-02 1.00799051e-02 7.16921459e+01] [ 8.88408242e-02 -9.96045525e-01 -7.87277678e-04 -1.43388026e+02] [ 1.01099895e-02 1.11382821e-04 9.99948887e-01 -5.12533271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.014326065101904787 Centerline is valid? [True, True] Translation: X:71.62, Y:-144.08, Z:-4.12 [[-9.99925966e-01 -5.47141347e-03 1.08686153e-02 7.16190186e+01] [-5.47241045e-03 9.99985024e-01 -6.19923987e-05 -1.44075388e+02] [-1.08681134e-02 -1.21465333e-04 -9.99940933e-01 -4.12456370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.013974344152945517 Centerline is valid? [True, True] Translation: X:71.61, Y:-144.05, Z:-4.13 [[-9.97082177e-01 -7.55646304e-02 1.08221696e-02 7.16130064e+01] [-7.55613830e-02 9.97140900e-01 7.09216377e-04 -1.44049416e+02] [-1.08448196e-02 -1.10591090e-04 -9.99941187e-01 -4.12559382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.013919679845599268 Centerline is valid? [True, True] Translation: X:71.58, Y:-143.36, Z:-5.12 [[-9.99892149e-01 -1.04454551e-02 1.03239024e-02 7.15769439e+01] [ 1.04456398e-02 -9.99945442e-01 -3.60334405e-05 -1.43360306e+02] [ 1.03237155e-02 7.18102112e-05 9.99946707e-01 -5.12445910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.013488493713304902 Centerline is valid? [True, True] Translation: X:71.55, Y:-144.06, Z:-4.13 [[-9.97132986e-01 -7.51334044e-02 8.98774902e-03 7.15453972e+01] [-7.51307329e-02 9.97173490e-01 6.34987428e-04 -1.44058417e+02] [-9.01005383e-03 -4.20892609e-05 -9.99959408e-01 -4.12744708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.013223760662946395 Centerline is valid? [True, True] Translation: X:71.54, Y:-144.03, Z:-4.13 [[-9.90031819e-01 -1.40659493e-01 7.20451797e-03 7.15353643e+01] [-1.40655740e-01 9.90058032e-01 1.02763848e-03 -1.44034702e+02] [-7.27743799e-03 4.03799343e-06 -9.99973519e-01 -4.12875426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.013459110057710874 Centerline is valid? [True, True] Translation: X:71.53, Y:-144.01, Z:-4.13 [[-9.78456708e-01 -2.06363458e-01 6.04925743e-03 7.15315465e+01] [-2.06359309e-01 9.78475407e-01 1.30912574e-03 -1.44009111e+02] [-6.18920534e-03 3.26022860e-05 -9.99980846e-01 -4.12948880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.01358038647490688 Centerline is valid? [True, True] Translation: X:71.51, Y:-143.99, Z:-4.13 [[-9.61595065e-01 -2.74399473e-01 6.31345884e-03 7.15076325e+01] [-2.74393256e-01 9.61615790e-01 1.84759678e-03 -1.43987150e+02] [-6.57810130e-03 4.42694184e-05 -9.99978363e-01 -4.12951561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.014048163796413314 Centerline is valid? [True, True] Translation: X:71.48, Y:-143.97, Z:-4.13 [[-9.39978025e-01 -3.41158699e-01 7.21489131e-03 7.14771942e+01] [-3.41148085e-01 9.40005711e-01 2.69192902e-03 -1.43968090e+02] [-7.70041404e-03 6.90077698e-05 -9.99970349e-01 -4.12836131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.014104663696492053 Centerline is valid? [True, True] Translation: X:71.42, Y:-143.96, Z:-4.13 [[-9.12640145e-01 -4.08705383e-01 6.91926192e-03 7.14200646e+01] [-4.08693045e-01 9.12666371e-01 3.17645659e-03 -1.43960536e+02] [-7.61321257e-03 7.11075768e-05 -9.99971017e-01 -4.12856075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.013630704322171512 Centerline is valid? [True, True] Translation: X:71.35, Y:-143.96, Z:-4.13 [[-8.78957075e-01 -4.76858066e-01 6.39108326e-03 7.13508801e+01] [-4.76845041e-01 8.78980309e-01 3.52479429e-03 -1.43957627e+02] [-7.29846292e-03 5.05865150e-05 -9.99973365e-01 -4.12833005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.013313098840643382 Centerline is valid? [True, True] Translation: X:71.28, Y:-143.97, Z:-4.13 [[-8.39420171e-01 -5.43443830e-01 6.52528853e-03 7.12778410e+01] [-5.43427155e-01 8.39445533e-01 4.25724638e-03 -1.43965235e+02] [-7.79119858e-03 2.75995028e-05 -9.99969648e-01 -4.12854463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.013168164214445343 Centerline is valid? [True, True] Translation: X:71.20, Y:-143.98, Z:-4.13 [[-7.92775280e-01 -6.09472323e-01 7.13037773e-03 7.11981783e+01] [-6.09447965e-01 7.92807345e-01 5.44897349e-03 -1.43980165e+02] [-8.97401437e-03 -2.57827098e-05 -9.99959732e-01 -4.12792941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.013404049372385608 Centerline is valid? [True, True] Translation: X:71.11, Y:-144.01, Z:-4.13 [[-7.42013975e-01 -6.70345767e-01 7.19818862e-03 7.11094451e+01] [-6.70315176e-01 7.42048885e-01 6.40449983e-03 -1.44011218e+02] [-9.63463719e-03 -7.28266972e-05 -9.99953583e-01 -4.12720026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.013824332144028936 Centerline is valid? [True, True] Translation: X:71.03, Y:-144.05, Z:-4.13 [[-6.86762643e-01 -7.26850697e-01 6.71838174e-03 7.10266399e+01] [-7.26817497e-01 6.86795495e-01 6.94796610e-03 -1.44045450e+02] [-9.66428831e-03 -1.11433844e-04 -9.99953294e-01 -4.12665252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.014262451776445995 Centerline is valid? [True, True] Translation: X:70.94, Y:-144.09, Z:-4.13 [[-6.27270619e-01 -7.78778884e-01 5.91789393e-03 7.09431320e+01] [-7.78746335e-01 6.27298518e-01 7.12148410e-03 -1.44091477e+02] [-9.25834752e-03 -1.41440468e-04 -9.99957131e-01 -4.12731267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.014703842767491178 Centerline is valid? [True, True] Translation: X:70.86, Y:-144.15, Z:-4.13 [[-5.66637741e-01 -8.23950690e-01 5.18955775e-03 7.08639200e+01] [-8.23918338e-01 5.66661488e-01 7.30272687e-03 -1.44146221e+02] [-8.95780936e-03 -1.37771139e-04 -9.99959869e-01 -4.12659958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.014392251364495045 Centerline is valid? [True, True] Translation: X:70.79, Y:-144.21, Z:-4.13 [[-5.03197012e-01 -8.64159423e-01 4.61068038e-03 7.07870899e+01] [-8.64125510e-01 5.03218118e-01 7.65689468e-03 -1.44212853e+02] [-8.93695559e-03 -1.31280012e-04 -9.99960056e-01 -4.12686922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.014716368910989385 Centerline is valid? [True, True] Translation: X:70.71, Y:-144.29, Z:-4.13 [[-4.36239172e-01 -8.99824040e-01 3.47585393e-03 7.07113820e+01] [-8.99797518e-01 4.36253004e-01 6.90966379e-03 -1.44287340e+02] [-7.73383330e-03 -1.13298725e-04 -9.99970087e-01 -4.12715476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.014123274021381473 Centerline is valid? [True, True] Translation: X:70.64, Y:-144.37, Z:-4.13 [[-3.66442500e-01 -9.30436257e-01 2.87510446e-03 7.06441402e+01] [-9.30409981e-01 3.66453761e-01 6.99348152e-03 -1.44371189e+02] [-7.56058161e-03 -1.12317035e-04 -9.99971412e-01 -4.12811452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.014600783988642509 Centerline is valid? [True, True] Translation: X:70.58, Y:-144.46, Z:-4.13 [[-2.93411896e-01 -9.55982491e-01 2.63370421e-03 7.05803687e+01] [-9.55948075e-01 2.93423684e-01 8.11293149e-03 -1.44460555e+02] [-8.52861165e-03 -1.37253851e-04 -9.99963621e-01 -4.12676202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.014768053137651298 Centerline is valid? [True, True] Translation: X:70.52, Y:-144.56, Z:-4.13 [[-2.18845413e-01 -9.75757226e-01 2.12617080e-03 7.05230558e+01] [-9.75717743e-01 2.18855687e-01 8.77918443e-03 -1.44562242e+02] [-9.03167722e-03 -1.53258333e-04 -9.99959202e-01 -4.12612179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.015472805778699587 Centerline is valid? [True, True] Translation: X:70.47, Y:-144.66, Z:-4.13 [[-1.42201402e-01 -9.89836544e-01 1.54203623e-03 7.04742655e+01] [-9.89791140e-01 1.42209652e-01 9.48234905e-03 -1.44661582e+02] [-9.60526805e-03 -1.77890461e-04 -9.99953853e-01 -4.12500719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.015253677082846582 Centerline is valid? [True, True] Translation: X:70.44, Y:-144.77, Z:-4.13 [[-6.59270980e-02 -9.97824167e-01 7.41766692e-04 7.04362711e+01] [-9.97785960e-01 6.59310660e-02 8.73343407e-03 -1.44766777e+02] [-8.76333704e-03 -1.64354426e-04 -9.99961588e-01 -4.12614444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.01544899951804435 Centerline is valid? [True, True] Translation: X:70.40, Y:-144.88, Z:-4.13 [[ 1.01553132e-02 -9.99948432e-01 5.52395005e-05 7.04049244e+01] [-9.99925901e-01 -1.01547135e-02 6.71378430e-03 -1.44878743e+02] [-6.71287715e-03 -1.23415989e-04 -9.99977461e-01 -4.12733512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.014978993077637257 Centerline is valid? [True, True] Translation: X:69.78, Y:-144.98, Z:-5.12 [[-9.36073246e-02 9.95609068e-01 5.02093777e-04 6.97803609e+01] [-9.95589229e-01 -9.36086293e-02 6.28586652e-03 -1.44976944e+02] [ 6.30526602e-03 8.85239920e-05 9.99980118e-01 -5.12270038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.01505170686664676 Centerline is valid? [True, True] Translation: X:70.40, Y:-145.15, Z:-4.13 [[ 1.76649756e-02 -9.99843962e-01 -5.72283690e-06 7.04048196e+01] [-9.99828313e-01 -1.76647311e-02 5.59480088e-03 -1.45145825e+02] [-5.59402897e-03 -9.31101664e-05 -9.99984349e-01 -4.12817117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.015056325012073598 Centerline is valid? [True, True] Translation: X:70.38, Y:-145.25, Z:-4.13 [[ 9.30927353e-02 -9.95657363e-01 -3.97442729e-04 7.03831952e+01] [-9.95643999e-01 -9.30935452e-02 5.15932563e-03 -1.45252115e+02] [-5.17391991e-03 -8.45842668e-05 -9.99986612e-01 -4.12832082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.014788187684338053 Centerline is valid? [True, True] Translation: X:70.37, Y:-145.36, Z:-4.13 [[ 1.69076122e-01 -9.85602619e-01 -8.61638573e-04 7.03708717e+01] [-9.85586825e-01 -1.69078291e-01 5.58046423e-03 -1.45361467e+02] [-5.64580454e-03 -9.43036227e-05 -9.99984058e-01 -4.12811838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.015284555796842143 Centerline is valid? [True, True] Translation: X:70.37, Y:-145.48, Z:-4.13 [[ 2.45576741e-01 -9.69376102e-01 -1.42719722e-03 7.03671096e+01] [-9.69356925e-01 -2.45580861e-01 6.09856337e-03 -1.45482257e+02] [-6.26229392e-03 -1.14201811e-04 -9.99980385e-01 -4.12750776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.015554662314415803 Centerline is valid? [True, True] Translation: X:70.37, Y:-145.59, Z:-4.13 [[ 3.19353371e-01 -9.47633892e-01 -1.85253844e-03 7.03708919e+01] [-9.47615825e-01 -3.19358724e-01 5.85266504e-03 -1.45592976e+02] [-6.13780806e-03 -1.13573573e-04 -9.99981157e-01 -4.12745905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.014963609324015798 Centerline is valid? [True, True] Translation: X:70.39, Y:-145.71, Z:-4.13 [[ 3.89760570e-01 -9.20913496e-01 -2.24306539e-03 7.03880340e+01] [-9.20896698e-01 -3.89767010e-01 5.56319186e-03 -1.45705488e+02] [-5.99749135e-03 -1.02681319e-04 -9.99982010e-01 -4.12846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.014589317122629248 Centerline is valid? [True, True] Translation: X:70.41, Y:-145.82, Z:-4.13 [[ 4.58082362e-01 -8.88906553e-01 -2.38518925e-03 7.04132524e+01] [-8.88893511e-01 -4.58088564e-01 4.81596596e-03 -1.45822615e+02] [-5.37357162e-03 -8.59298147e-05 -9.99985559e-01 -4.12857745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.01453491819941919 Centerline is valid? [True, True] Translation: X:70.44, Y:-145.93, Z:-4.13 [[ 5.21935036e-01 -8.52982172e-01 -2.28766183e-03 7.04413655e+01] [-8.52973498e-01 -5.21940046e-01 3.84717895e-03 -1.45925378e+02] [-4.47559738e-03 -5.66625666e-05 -9.99989983e-01 -4.12860740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.01335463873186747 Centerline is valid? [True, True] Translation: X:70.48, Y:-146.03, Z:-4.13 [[ 5.80505270e-01 -8.14253168e-01 -2.32584356e-03 7.04848376e+01] [-8.14246456e-01 -5.80509929e-01 3.30641076e-03 -1.46027305e+02] [-4.04243072e-03 -2.55789950e-05 -9.99991829e-01 -4.12907417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.01299815645176606 Centerline is valid? [True, True] Translation: X:70.54, Y:-146.13, Z:-4.13 [[ 6.38060726e-01 -7.69980944e-01 -2.80295468e-03 7.05351359e+01] [-7.69973437e-01 -6.38066882e-01 3.39995656e-03 -1.46130267e+02] [-4.40637431e-03 -1.11780989e-05 -9.99990292e-01 -4.12941283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.012898161283439687 Centerline is valid? [True, True] Translation: X:70.58, Y:-146.22, Z:-4.13 [[ 6.92532753e-01 -7.21380337e-01 -2.96562433e-03 7.05821001e+01] [-7.21373743e-01 -6.92539103e-01 3.08452609e-03 -1.46218540e+02] [-4.27892728e-03 3.18817649e-06 -9.99990845e-01 -4.12880036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.01284387612464142 Centerline is valid? [True, True] Translation: X:70.64, Y:-146.30, Z:-4.13 [[ 7.43103993e-01 -6.69167495e-01 -3.36460443e-03 7.06374915e+01] [-6.69160750e-01 -7.43111609e-01 3.00448768e-03 -1.46304695e+02] [-4.51078210e-03 1.88144310e-05 -9.99989826e-01 -4.12837631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.012904273956910435 Centerline is valid? [True, True] Translation: X:70.66, Y:-146.33, Z:-4.13 [[ 7.92554081e-01 -6.09788699e-01 -3.97131560e-03 7.06577970e+01] [-6.09781205e-01 -7.92564030e-01 3.02335919e-03 -1.46332102e+02] [-4.99113216e-03 2.54579513e-05 -9.99987544e-01 -4.12755460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.012871132468804785 Centerline is valid? [True, True] Translation: X:70.68, Y:-146.36, Z:-4.13 [[ 8.38814980e-01 -5.44394857e-01 -4.86509731e-03 7.06800976e+01] [-5.44385829e-01 -8.38829088e-01 3.13525689e-03 -1.46356245e+02] [-5.78780287e-03 1.85895874e-05 -9.99983250e-01 -4.12538029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.012785963337971258 Centerline is valid? [True, True] Translation: X:70.70, Y:-146.38, Z:-4.12 [[ 8.80586828e-01 -4.73849283e-01 -5.80479659e-03 7.07036310e+01] [-4.73838962e-01 -8.80605960e-01 3.12756593e-03 -1.46380611e+02] [-6.59373335e-03 -3.55457413e-06 -9.99978261e-01 -4.12473386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.012915170696434723 Centerline is valid? [True, True] Translation: X:70.73, Y:-146.40, Z:-4.12 [[ 9.16956992e-01 -3.98930746e-01 -6.64347834e-03 7.07286121e+01] [-3.98919955e-01 -9.16981057e-01 2.93439383e-03 -1.46403611e+02] [-7.26256371e-03 -4.04968549e-05 -9.99973626e-01 -4.12399659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.014365335362928574 Centerline is valid? [True, True] Translation: X:70.75, Y:-146.43, Z:-4.12 [[ 9.47924010e-01 -3.18402290e-01 -7.74941809e-03 7.07548845e+01] [-3.18390682e-01 -9.47955679e-01 2.72114254e-03 -1.46425741e+02] [-8.21252291e-03 -1.12093833e-04 -9.99966270e-01 -4.12244116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.015580390689622794 Centerline is valid? [True, True] Translation: X:70.78, Y:-146.44, Z:-4.12 [[ 9.70665146e-01 -2.40297217e-01 -8.14994401e-03 7.07846123e+01] [-2.40287521e-01 -9.70699350e-01 2.16328487e-03 -1.46440629e+02] [-8.43097668e-03 -1.41495381e-04 -9.99964449e-01 -4.12223069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.013999982017632402 Centerline is valid? [True, True] Translation: X:70.82, Y:-146.45, Z:-4.12 [[ 9.86005802e-01 -1.66507558e-01 -8.23361822e-03 7.08168005e+01] [-1.66500765e-01 -9.86040171e-01 1.50854499e-03 -1.46454187e+02] [-8.36986246e-03 -1.16530380e-04 -9.99964965e-01 -4.12276341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.01344353280085073 Centerline is valid? [True, True] Translation: X:70.85, Y:-146.46, Z:-4.12 [[ 9.95768556e-01 -9.17007722e-02 -5.99595545e-03 7.08457545e+01] [-9.16987084e-02 -9.95786606e-01 6.18794331e-04 -1.46464754e+02] [-6.02743605e-03 -6.63545666e-05 -9.99981833e-01 -4.12402428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.013059193805350564 Centerline is valid? [True, True] Translation: X:70.88, Y:-146.47, Z:-4.13 [[ 9.99861088e-01 -1.62856270e-02 -3.54721414e-03 7.08750776e+01] [-1.62854209e-02 -9.99867380e-01 8.69725661e-05 -1.46469257e+02] [-3.54816011e-03 -2.91926093e-05 -9.99993705e-01 -4.12673292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.013050903622730753 Centerline is valid? [True, True] Translation: X:70.90, Y:-146.47, Z:-4.13 [[ 9.98131773e-01 6.09465751e-02 -4.29867557e-03 7.09039303e+01] [ 6.09461428e-02 -9.98141029e-01 -2.31608732e-04 -1.46472567e+02] [-4.30480022e-03 -3.08116613e-05 -9.99990734e-01 -4.12514027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.0129745523448174 Centerline is valid? [True, True] Translation: X:70.93, Y:-146.47, Z:-4.12 [[ 9.90540096e-01 1.37134639e-01 -4.94057694e-03 7.09341624e+01] [ 1.37133069e-01 -9.90552417e-01 -6.56797102e-04 -1.46472904e+02] [-4.98397006e-03 -2.69326148e-05 -9.99987580e-01 -4.12266302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.012775546688564413 Centerline is valid? [True, True] Translation: X:70.96, Y:-146.47, Z:-4.12 [[ 9.77517153e-01 2.10799894e-01 -4.86019239e-03 7.09623128e+01] [ 2.10797335e-01 -9.77529235e-01 -1.03870972e-03 -1.46467401e+02] [-4.96994005e-03 -9.15903834e-06 -9.99987650e-01 -4.12148397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.012769039734125751 Centerline is valid? [True, True] Translation: X:70.99, Y:-146.46, Z:-4.12 [[ 9.58854323e-01 2.83846923e-01 -5.41398384e-03 7.09908496e+01] [ 2.83842361e-01 -9.58869608e-01 -1.60933990e-03 -1.46458482e+02] [-5.64811074e-03 6.40456394e-06 -9.99984049e-01 -4.12101227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.013321967508979567 Centerline is valid? [True, True] Translation: X:71.02, Y:-146.45, Z:-4.12 [[ 9.34991784e-01 3.54599743e-01 -7.02753937e-03 7.10170198e+01] [ 3.54589436e-01 -9.35018193e-01 -2.70385933e-03 -1.46448215e+02] [-7.52966499e-03 3.61950356e-05 -9.99971651e-01 -4.11837444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.013289773487906602 Centerline is valid? [True, True] Translation: X:71.05, Y:-146.45, Z:-4.12 [[ 9.05207146e-01 4.24919768e-01 -6.57366780e-03 7.10486084e+01] [ 4.24908166e-01 -9.05231014e-01 -3.14041653e-03 -1.46446949e+02] [-7.28511303e-03 4.95223550e-05 -9.99973462e-01 -4.11902870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.014071294744392166 Centerline is valid? [True, True] Translation: X:71.08, Y:-146.44, Z:-4.12 [[ 8.71706742e-01 4.89995650e-01 -5.62305431e-03 7.10775144e+01] [ 4.89984879e-01 -8.71724875e-01 -3.24970242e-03 -1.46438987e+02] [-6.49409636e-03 7.75759247e-05 -9.99978910e-01 -4.11975972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.014814097585640146 Centerline is valid? [True, True] Translation: X:71.10, Y:-146.43, Z:-4.12 [[ 8.32231086e-01 5.54410188e-01 -4.55663782e-03 7.11046489e+01] [ 5.54401338e-01 -8.32243556e-01 -3.13355843e-03 -1.46428591e+02] [-5.52950918e-03 8.16386330e-05 -9.99984709e-01 -4.12011503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.01500239742422156 Centerline is valid? [True, True] Translation: X:71.13, Y:-146.42, Z:-4.12 [[ 7.87257843e-01 6.16612341e-01 -3.78274548e-03 7.11332997e+01] [ 6.16604734e-01 -7.87266927e-01 -3.06400775e-03 -1.46418941e+02] [-4.86733540e-03 7.97053613e-05 -9.99988151e-01 -4.12087214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.01489601426104591 Centerline is valid? [True, True] Translation: X:71.16, Y:-146.41, Z:-4.12 [[ 7.35141078e-01 6.77909705e-01 -2.45523788e-03 7.11614648e+01] [ 6.77905703e-01 -7.35145176e-01 -2.32962108e-03 -1.46408642e+02] [-3.38422902e-03 4.81803880e-05 -9.99994272e-01 -4.12152076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.013812938342901843 Centerline is valid? [True, True] Translation: X:71.19, Y:-146.40, Z:-4.12 [[ 6.76976701e-01 7.36001794e-01 -1.97655136e-03 7.11924118e+01] [ 7.35998524e-01 -6.76979585e-01 -2.19404358e-03 -1.46396872e+02] [-2.95290493e-03 3.05775005e-05 -9.99995640e-01 -4.12193038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.013022831853045756 Centerline is valid? [True, True] Translation: X:71.23, Y:-146.38, Z:-4.12 [[ 6.10462231e-01 7.92043276e-01 -1.82016633e-03 7.12252762e+01] [ 7.92039731e-01 -6.10464944e-01 -2.37001775e-03 -1.46384650e+02] [-2.98830436e-03 5.16227634e-06 -9.99995535e-01 -4.12111796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.013172672534947695 Centerline is valid? [True, True] Translation: X:71.25, Y:-146.37, Z:-4.12 [[ 5.41588672e-01 8.40642710e-01 -1.24291348e-03 7.12531545e+01] [ 8.40640537e-01 -5.41590098e-01 -1.91146584e-03 -1.46368688e+02] [-2.28000946e-03 -9.61521034e-06 -9.99997401e-01 -4.12076133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.013482978878971754 Centerline is valid? [True, True] Translation: X:71.28, Y:-146.35, Z:-4.12 [[ 4.69824129e-01 8.82759786e-01 -6.69919766e-04 7.12803853e+01] [ 8.82758927e-01 -4.69824606e-01 -1.23164555e-03 -1.46348557e+02] [-1.40199195e-03 -1.27208578e-05 -9.99999017e-01 -4.12125589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.014403583803639649 Centerline is valid? [True, True] Translation: X:71.30, Y:-146.33, Z:-4.12 [[ 3.94829624e-01 9.18754331e-01 -2.15675923e-04 7.13037481e+01] [ 9.18754204e-01 -3.94829683e-01 -4.83127601e-04 -1.46325794e+02] [-5.29030832e-04 -7.40007172e-06 -9.99999860e-01 -4.12184178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.014696856692379408 Centerline is valid? [True, True] Translation: X:71.33, Y:-146.30, Z:-4.12 [[ 3.19927698e-01 9.47441958e-01 -6.14486102e-05 7.13256791e+01] [ 9.47441943e-01 -3.19927704e-01 -1.72713311e-04 -1.46300643e+02] [-1.83294951e-04 -2.96321874e-06 -9.99999983e-01 -4.12133459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.015124265695741032 Centerline is valid? [True, True] Translation: X:71.34, Y:-146.27, Z:-4.12 [[ 2.43779163e-01 9.69830767e-01 -5.52597983e-05 7.13432220e+01] [ 9.69830745e-01 -2.43779170e-01 -2.04977476e-04 -1.46273998e+02] [-2.12264651e-04 -3.62341368e-06 -9.99999978e-01 -4.12102203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.015729100261578654 Centerline is valid? [True, True] Translation: X:71.36, Y:-146.25, Z:-4.12 [[ 1.63832670e-01 9.86488122e-01 -2.06007103e-04 7.13621896e+01] [ 9.86487504e-01 -1.63832798e-01 -1.10379581e-03 -1.46246114e+02] [-1.12263218e-03 -2.23856172e-05 -9.99999370e-01 -4.11931170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.016713859611432322 Centerline is valid? [True, True] Translation: X:71.38, Y:-146.22, Z:-4.12 [[ 8.40827955e-02 9.96458720e-01 -3.20958286e-04 7.13762126e+01] [ 9.96454160e-01 -8.40833820e-02 -3.01538854e-03 -1.46217180e+02] [-3.03169746e-03 -6.62779211e-05 -9.99995402e-01 -4.11700080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.016372851423229435 Centerline is valid? [True, True] Translation: X:71.38, Y:-146.19, Z:-4.12 [[ 5.89462504e-03 9.99982619e-01 -1.21696161e-04 7.13846592e+01] [ 9.99972926e-01 -5.89510385e-03 -4.40393779e-03 -1.46186358e+02] [-4.40457866e-03 -9.57333041e-05 -9.99990295e-01 -4.11531835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.016109385605204557 Centerline is valid? [True, True] Translation: X:71.39, Y:-146.16, Z:-4.11 [[-7.07028527e-02 9.97497372e-01 3.16865353e-04 7.13879216e+01] [ 9.97477904e-01 7.07034528e-02 -6.23316258e-03 -1.46156036e+02] [-6.23996677e-03 -1.24636188e-04 -9.99980524e-01 -4.11347097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.014887469674172612 Centerline is valid? [True, True] Translation: X:71.39, Y:-146.13, Z:-4.11 [[-1.44572534e-01 9.89493680e-01 1.01922736e-03 7.13855870e+01] [ 9.89462594e-01 1.44576072e-01 -7.84444400e-03 -1.46125102e+02] [-7.90938366e-03 -1.25603802e-04 -9.99968713e-01 -4.11252838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.014440597804184517 Centerline is valid? [True, True] Translation: X:71.38, Y:-146.10, Z:-4.11 [[-2.18645521e-01 9.75803123e-01 1.54942487e-03 7.13827838e+01] [ 9.75775417e-01 2.18650990e-01 -7.35393422e-03 -1.46095741e+02] [-7.51477526e-03 -9.60140808e-05 -9.99971759e-01 -4.11206737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.013384833119602292 Centerline is valid? [True, True] Translation: X:71.38, Y:-146.07, Z:-4.11 [[-2.89809016e-01 9.57082334e-01 2.03488680e-03 7.13755791e+01] [ 9.57057336e-01 2.89816155e-01 -6.91756215e-03 -1.46065539e+02] [-7.21041959e-03 -5.72685419e-05 -9.99974003e-01 -4.11328903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.013115577343736834 Centerline is valid? [True, True] Translation: X:71.37, Y:-146.04, Z:-4.11 [[-3.60894900e-01 9.32602951e-01 2.57046082e-03 7.13674246e+01] [ 9.32578619e-01 3.60904052e-01 -6.73688302e-03 -1.46037397e+02] [-7.21052671e-03 -3.41499247e-05 -9.99974003e-01 -4.11327121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.013005426909513056 Centerline is valid? [True, True] Translation: X:71.35, Y:-146.01, Z:-4.11 [[-4.30105287e-01 9.02772437e-01 3.37180595e-03 7.13529129e+01] [ 9.02744454e-01 4.30118503e-01 -7.10801630e-03 -1.46013204e+02] [-7.86719732e-03 -1.33162665e-05 -9.99969053e-01 -4.11242774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.012951485852785 Centerline is valid? [True, True] Translation: X:71.34, Y:-145.98, Z:-4.11 [[-4.99193355e-01 8.66481867e-01 3.89473295e-03 7.13446084e+01] [ 8.66455334e-01 4.99208548e-01 -6.78082063e-03 -1.45984027e+02] [-7.81974210e-03 -1.03284578e-05 -9.99969425e-01 -4.11335640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.01309963687496112 Centerline is valid? [True, True] Translation: X:71.33, Y:-145.96, Z:-4.11 [[-5.66583077e-01 8.23992377e-01 4.49218698e-03 7.13349733e+01] [ 8.23966191e-01 5.66600884e-01 -6.56919491e-03 -1.45956504e+02] [-7.95824365e-03 -2.05844632e-05 -9.99968333e-01 -4.11271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.013181000044985444 Centerline is valid? [True, True] Translation: X:71.32, Y:-145.93, Z:-4.11 [[-6.31180998e-01 7.75620543e-01 4.82915348e-03 7.13228525e+01] [ 7.75597387e-01 6.31199471e-01 -5.99346464e-03 -1.45928788e+02] [-7.69681342e-03 -3.74821702e-05 -9.99970378e-01 -4.11323754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.01345006788733708 Centerline is valid? [True, True] Translation: X:71.31, Y:-145.90, Z:-4.11 [[-6.92840370e-01 7.21067412e-01 5.83176425e-03 7.13090434e+01] [ 7.21040956e-01 6.92864909e-01 -6.17715394e-03 -1.45900391e+02] [-8.49476921e-03 -7.48407583e-05 -9.99963916e-01 -4.11375846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.014107792811701554 Centerline is valid? [True, True] Translation: X:71.29, Y:-145.87, Z:-4.11 [[-7.49389629e-01 6.62099884e-01 6.23922044e-03 7.12941309e+01] [ 6.62075799e-01 7.49415594e-01 -5.64839249e-03 -1.45874536e+02] [-8.41556911e-03 -1.02009894e-04 -9.99964583e-01 -4.11298580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.014149344613885301 Centerline is valid? [True, True] Translation: X:71.31, Y:-145.85, Z:-4.11 [[-7.95245613e-01 6.06251478e-01 6.60006958e-03 7.13094875e+01] [ 6.06229404e-01 7.95272993e-01 -5.17464393e-03 -1.45853836e+02] [-8.38599262e-03 -1.13956633e-04 -9.99964831e-01 -4.11349567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.014339461782743358 Centerline is valid? [True, True] Translation: X:71.32, Y:-145.83, Z:-4.11 [[-8.36454182e-01 5.47994999e-01 6.77369131e-03 7.13193858e+01] [ 5.47975898e-01 8.36481601e-01 -4.57684221e-03 -1.45829254e+02] [-8.17415479e-03 -1.16499225e-04 -9.99966584e-01 -4.11373796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.01429928181604501 Centerline is valid? [True, True] Translation: X:71.34, Y:-145.81, Z:-4.11 [[-8.72945768e-01 4.87765541e-01 7.10375422e-03 7.13392584e+01] [ 4.87748331e-01 8.72974664e-01 -4.09889823e-03 -1.45812016e+02] [-8.20069876e-03 -1.13271600e-04 -9.99966367e-01 -4.11434841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.01405319869533012 Centerline is valid? [True, True] Translation: X:71.35, Y:-145.79, Z:-4.11 [[-9.05133692e-01 4.25077119e-01 6.51482918e-03 7.13505477e+01] [ 4.25065333e-01 9.05157132e-01 -3.16693836e-03 -1.45788619e+02] [-7.24313713e-03 -9.72745748e-05 -9.99973763e-01 -4.11486444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.014553375394639065 Centerline is valid? [True, True] Translation: X:71.36, Y:-145.76, Z:-4.11 [[-9.32909874e-01 3.60023806e-01 7.87561007e-03 7.13605398e+01] [ 3.60009952e-01 9.32943110e-01 -3.16046919e-03 -1.45762851e+02] [-8.48534030e-03 -1.13134916e-04 -9.99963993e-01 -4.11309017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.014503376333980241 Centerline is valid? [True, True] Translation: X:71.61, Y:-145.15, Z:-5.14 [[-8.95149883e-01 -4.45682944e-01 8.56740843e-03 7.16140662e+01] [ 4.45664522e-01 -8.95190862e-01 -4.05656923e-03 -1.45151084e+02] [ 9.47740945e-03 1.86952504e-04 9.99955071e-01 -5.13850761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.01367589956232212 Centerline is valid? [True, True] Translation: X:71.32, Y:-145.75, Z:-4.11 [[-9.33876958e-01 3.57465171e-01 9.61660294e-03 7.13205248e+01] [ 3.57444800e-01 9.33926461e-01 -3.81838191e-03 -1.45752021e+02] [-1.03461385e-02 -1.28494167e-04 -9.99946469e-01 -4.11348507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.013668604750771095 Centerline is valid? [True, True] Translation: X:71.33, Y:-145.73, Z:-4.11 [[-9.56425371e-01 2.91798294e-01 1.02110353e-02 7.13276504e+01] [ 2.91780349e-01 9.56479870e-01 -3.23825303e-03 -1.45726958e+02] [-1.07115664e-02 -1.17767926e-04 -9.99942623e-01 -4.11292288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.013477455038381296 Centerline is valid? [True, True] Translation: X:71.53, Y:-145.09, Z:-5.14 [[-9.27401136e-01 -3.73907360e-01 1.09735535e-02 7.15332014e+01] [ 3.73883623e-01 -9.27466037e-01 -4.21745063e-03 -1.45086116e+02] [ 1.17545340e-02 1.91563453e-04 9.99930895e-01 -5.13838466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.0133475418813818 Centerline is valid? [True, True] Translation: X:71.29, Y:-145.72, Z:-4.11 [[-9.56321456e-01 2.92035662e-01 1.28236050e-02 7.12851295e+01] [ 2.92008073e-01 9.56407425e-01 -4.01528605e-03 -1.45719392e+02] [-1.34371977e-02 -9.53080345e-05 -9.99909712e-01 -4.11179469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.013303219012092329 Centerline is valid? [True, True] Translation: X:71.29, Y:-145.69, Z:-4.11 [[-9.74282334e-01 2.24884916e-01 1.41671962e-02 7.12928233e+01] [ 2.24859917e-01 9.74385328e-01 -3.35407832e-03 -1.45694986e+02] [-1.45585898e-02 -8.21846892e-05 -9.99894015e-01 -4.11118388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.0131233589225801 Centerline is valid? [True, True] Translation: X:71.46, Y:-145.03, Z:-5.14 [[-9.53990113e-01 -2.99475951e-01 1.47315770e-02 7.14565168e+01] [ 2.99442489e-01 -9.54103839e-01 -4.47883151e-03 -1.45031663e+02] [ 1.53967565e-02 1.38499101e-04 9.99881453e-01 -5.13943103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.012991997702117739 Centerline is valid? [True, True] Translation: X:71.25, Y:-145.69, Z:-4.11 [[-9.74826079e-01 2.22547308e-01 1.36679004e-02 7.12472880e+01] [ 2.22524577e-01 9.74921890e-01 -3.18130345e-03 -1.45685919e+02] [-1.40331258e-02 -5.97738175e-05 -9.99901529e-01 -4.11305856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.012841870344828222 Centerline is valid? [True, True] Translation: X:71.25, Y:-145.66, Z:-4.12 [[-9.88116236e-01 1.53257587e-01 1.17650747e-02 7.12497793e+01] [ 1.53246170e-01 9.88186273e-01 -1.87123396e-03 -1.45658896e+02] [-1.19128661e-02 -4.60440172e-05 -9.99929038e-01 -4.11561867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.01276998972500968 Centerline is valid? [True, True] Translation: X:71.25, Y:-145.63, Z:-4.12 [[-9.96508041e-01 8.26560147e-02 1.18197793e-02 7.12516807e+01] [ 8.26496444e-02 9.96578136e-01 -1.02724699e-03 -1.45630858e+02] [-1.18642418e-02 -4.67593254e-05 -9.99929616e-01 -4.11641441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.012785971877161123 Centerline is valid? [True, True] Translation: X:71.25, Y:-145.60, Z:-4.12 [[-9.99863290e-01 1.11919380e-02 1.21713166e-02 7.12504598e+01] [ 1.11904563e-02 9.99937367e-01 -1.89837483e-04 -1.45601691e+02] [-1.21726789e-02 -5.36089432e-05 -9.99925909e-01 -4.11545881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.012943714424942831 Centerline is valid? [True, True] Translation: X:71.26, Y:-144.93, Z:-5.14 [[-9.96058965e-01 -8.77736429e-02 1.27407520e-02 7.12576857e+01] [ 8.77676961e-02 -9.96140441e-01 -1.02622350e-03 -1.44926448e+02] [ 1.27816537e-02 9.60473351e-05 9.99918307e-01 -5.13703839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.012921598105936226 Centerline is valid? [True, True] Translation: X:71.19, Y:-145.60, Z:-4.11 [[-9.99898569e-01 5.87991168e-03 1.29721813e-02 7.11870646e+01] [ 5.87854865e-03 9.99982711e-01 -1.43201335e-04 -1.45597325e+02] [-1.29727990e-02 -6.69292109e-05 -9.99915848e-01 -4.11406995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.012836223675755898 Centerline is valid? [True, True] Translation: X:71.18, Y:-145.57, Z:-4.11 [[-9.97804329e-01 -6.48595758e-02 1.34073186e-02 7.11799634e+01] [-6.48545951e-02 9.97894399e-01 8.06398756e-04 -1.45570110e+02] [-1.34313908e-02 -6.48980510e-05 -9.99909793e-01 -4.11431736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.012844869596313254 Centerline is valid? [True, True] Translation: X:71.15, Y:-144.90, Z:-5.14 [[-9.99862277e-01 -9.13200243e-03 1.38576433e-02 7.11459497e+01] [ 9.13242517e-03 -9.99958298e-01 -3.27753931e-05 -1.44901184e+02] [ 1.38573647e-02 9.37830113e-05 9.99903978e-01 -5.13729053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.012865117657268695 Centerline is valid? [True, True] Translation: X:71.11, Y:-145.58, Z:-4.11 [[-9.97914895e-01 -6.30510271e-02 1.37996696e-02 7.11103583e+01] [-6.30446464e-02 9.98010304e-01 8.97342204e-04 -1.45576638e+02] [-1.38287908e-02 2.54758629e-05 -9.99904377e-01 -4.11384077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.013490596628412033 Centerline is valid? [True, True] Translation: X:71.11, Y:-145.55, Z:-4.12 [[-9.91946902e-01 -1.26007806e-01 1.27818674e-02 7.11141958e+01] [-1.25995690e-01 9.92029242e-01 1.75201390e-03 -1.45554279e+02] [-1.29007537e-02 1.27444549e-04 -9.99916774e-01 -4.11513635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.014561899166451286 Centerline is valid? [True, True] Translation: X:71.10, Y:-145.53, Z:-4.12 [[-9.81393903e-01 -1.91694774e-01 1.09142327e-02 7.11045662e+01] [-1.91681062e-01 9.81454577e-01 2.29865498e-03 -1.45532389e+02] [-1.11524638e-02 1.63834274e-04 -9.99937796e-01 -4.11609289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.014790985831675247 Centerline is valid? [True, True] Translation: X:71.08, Y:-145.51, Z:-4.12 [[-9.66187736e-01 -2.57707426e-01 8.25473816e-03 7.10833521e+01] [-2.57696598e-01 9.66222985e-01 2.36789281e-03 -1.45508893e+02] [-8.58614130e-03 1.60611054e-04 -9.99963126e-01 -4.11852834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.015119465649460625 Centerline is valid? [True, True] Translation: X:71.05, Y:-145.49, Z:-4.12 [[-9.44931651e-01 -3.27176741e-01 7.71725304e-03 7.10488605e+01] [-3.27164534e-01 9.44963152e-01 2.83017019e-03 -1.45490017e+02] [-8.21848561e-03 1.49505900e-04 -9.99966217e-01 -4.11811563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.014094245825320586 Centerline is valid? [True, True] Translation: X:70.99, Y:-145.48, Z:-4.12 [[-9.17258836e-01 -3.98196265e-01 8.71564235e-03 7.09915511e+01] [-3.98176803e-01 9.17300231e-01 3.93944945e-03 -1.45478815e+02] [-9.56353479e-03 1.43128208e-04 -9.99954258e-01 -4.11724474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.01326114229850531 Centerline is valid? [True, True] Translation: X:70.92, Y:-145.47, Z:-4.11 [[-8.81656984e-01 -4.71751992e-01 1.14463908e-02 7.09188494e+01] [-4.71710912e-01 8.81731280e-01 6.22618509e-03 -1.45474892e+02] [-1.30298560e-02 8.99721214e-05 -9.99915104e-01 -4.11389198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.013114945577342796 Centerline is valid? [True, True] Translation: X:70.84, Y:-145.48, Z:-4.11 [[-8.41455063e-01 -5.40205489e-01 1.14632450e-02 7.08449761e+01] [-5.40155048e-01 8.41533142e-01 7.38208540e-03 -1.45479789e+02] [-1.36345436e-02 1.97634945e-05 -9.99907045e-01 -4.11190082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.012946309647269488 Centerline is valid? [True, True] Translation: X:70.77, Y:-145.50, Z:-4.11 [[-7.96018792e-01 -6.05174419e-01 1.08630591e-02 7.07663156e+01] [-6.05118918e-01 7.96092910e-01 8.19597270e-03 -1.45495794e+02] [-1.36079973e-02 -4.92942794e-05 -9.99907406e-01 -4.11200595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.013455095062771332 Centerline is valid? [True, True] Translation: X:70.68, Y:-145.52, Z:-4.11 [[-7.44949154e-01 -6.67053868e-01 9.48134001e-03 7.06833444e+01] [-6.67001864e-01 7.45009479e-01 8.33010662e-03 -1.45523119e+02] [-1.26203180e-02 -1.18565578e-04 -9.99920354e-01 -4.11290253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.013969309475698827 Centerline is valid? [True, True] Translation: X:70.60, Y:-145.56, Z:-4.11 [[-6.91141132e-01 -7.22685141e-01 7.07972260e-03 7.06018553e+01] [-7.22649006e-01 6.91177381e-01 7.22780289e-03 -1.45560383e+02] [-1.01167699e-02 -1.20722629e-04 -9.99948817e-01 -4.11428044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.014780097382846052 Centerline is valid? [True, True] Translation: X:70.52, Y:-145.60, Z:-4.12 [[-6.32514813e-01 -7.74535329e-01 4.47614202e-03 7.05212432e+01] [-7.74517106e-01 6.32530642e-01 5.31411491e-03 -1.45603412e+02] [-6.94726672e-03 -1.05592164e-04 -9.99975862e-01 -4.11666711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.014238304784945442 Centerline is valid? [True, True] Translation: X:70.44, Y:-145.66, Z:-4.12 [[-5.71213527e-01 -8.20795032e-01 3.25912238e-03 7.04444388e+01] [-8.20782585e-01 5.71222817e-01 4.52128726e-03 -1.45659998e+02] [-5.57273519e-03 -9.24104424e-05 -9.99984468e-01 -4.11873591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.01489031401578983 Centerline is valid? [True, True] Translation: X:70.37, Y:-145.72, Z:-4.12 [[-5.05728428e-01 -8.62688503e-01 2.70238089e-03 7.03650467e+01] [-8.62677196e-01 5.05735639e-01 4.41809486e-03 -1.45724046e+02] [-5.17812997e-03 -9.69262007e-05 -9.99986589e-01 -4.11881477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.015799184291835865 Centerline is valid? [True, True] Translation: X:70.29, Y:-145.80, Z:-4.12 [[-4.37218006e-01 -8.99350755e-01 2.93840269e-03 7.02876711e+01] [-8.99332444e-01 4.37227860e-01 5.74048794e-03 -1.45797920e+02] [-6.44746369e-03 -1.32756183e-04 -9.99979206e-01 -4.11684293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.015624085012927457 Centerline is valid? [True, True] Translation: X:70.22, Y:-145.88, Z:-4.11 [[-3.66157666e-01 -9.30547039e-01 3.28216426e-03 7.02178388e+01] [-9.30514144e-01 3.66172327e-01 7.82654785e-03 -1.45878803e+02] [-8.48480865e-03 -1.88349780e-04 -9.99963986e-01 -4.11464852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.016559711112656 Centerline is valid? [True, True] Translation: X:70.15, Y:-145.97, Z:-4.11 [[-2.94489351e-01 -9.55647560e-01 3.70978386e-03 7.01524168e+01] [-9.55582440e-01 2.94512603e-01 1.11591895e-02 -1.45968355e+02] [-1.17568303e-02 -2.58741843e-04 -9.99930853e-01 -4.11130911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.015379099794537596 Centerline is valid? [True, True] Translation: X:70.10, Y:-146.06, Z:-4.11 [[-2.23818625e-01 -9.74626654e-01 2.84751604e-03 7.00994607e+01] [-9.74559979e-01 2.23836627e-01 1.14022860e-02 -1.46062052e+02] [-1.17503502e-02 -2.23031192e-04 -9.99930937e-01 -4.11180095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.014262362129050667 Centerline is valid? [True, True] Translation: X:70.06, Y:-146.16, Z:-4.11 [[-1.53640031e-01 -9.88125228e-01 1.80962794e-03 7.00552217e+01] [-9.88067861e-01 1.53650612e-01 1.06485684e-02 -1.46159248e+02] [-1.08001695e-02 -1.51988836e-04 -9.99941665e-01 -4.11258168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.012716031198935543 Centerline is valid? [True, True] Translation: X:70.02, Y:-146.27, Z:-4.11 [[-8.74027117e-02 -9.96172671e-01 8.81067193e-04 7.00225291e+01] [-9.96126729e-01 8.74071426e-02 9.56721303e-03 -1.46265160e+02] [-9.60760772e-03 -4.14542175e-05 -9.99953845e-01 -4.11490796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.012794506893766652 Centerline is valid? [True, True] Translation: X:69.99, Y:-146.37, Z:-4.11 [[-1.78420605e-02 -9.99840809e-01 1.35576428e-04 6.99944767e+01] [-9.99801155e-01 1.78425603e-02 8.90471624e-03 -1.46372956e+02] [-8.90571771e-03 2.33290160e-05 -9.99960343e-01 -4.11479698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.013684519293404794 Centerline is valid? [True, True] Translation: X:69.97, Y:-146.49, Z:-4.11 [[ 5.22052450e-02 -9.98636212e-01 -5.72881958e-04 6.99744616e+01] [-9.98592834e-01 -5.22083171e-02 9.30823759e-03 -1.46486253e+02] [-9.32545233e-03 8.61369942e-05 -9.99956513e-01 -4.11344016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.015948742717623473 Centerline is valid? [True, True] Translation: X:69.96, Y:-146.60, Z:-4.11 [[ 1.20321453e-01 -9.92733858e-01 -1.49508714e-03 6.99641455e+01] [-9.92675700e-01 -1.20330590e-01 1.07472489e-02 -1.46599959e+02] [-1.08490626e-02 1.91012074e-04 -9.99941129e-01 -4.11219030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.015894042034291095 Centerline is valid? [True, True] Translation: X:69.96, Y:-146.71, Z:-4.11 [[ 1.91740053e-01 -9.81442725e-01 -2.43491361e-03 6.99560715e+01] [-9.81379407e-01 -1.91755348e-01 1.11510982e-02 -1.46713494e+02] [-1.14110719e-02 2.51461913e-04 -9.99934860e-01 -4.11325167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.016975555479233427 Centerline is valid? [True, True] Translation: X:69.96, Y:-146.83, Z:-4.11 [[ 2.63028289e-01 -9.64782310e-01 -3.34860670e-03 6.99598467e+01] [-9.64717875e-01 -2.63049436e-01 1.11541841e-02 -1.46831136e+02] [-1.16422086e-02 2.96594791e-04 -9.99932183e-01 -4.11312612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.018737593428191184 Centerline is valid? [True, True] Translation: X:69.97, Y:-146.95, Z:-4.11 [[ 3.33512489e-01 -9.42735815e-01 -4.31310016e-03 6.99734876e+01] [-9.42669631e-01 -3.33540205e-01 1.11757813e-02 -1.46951664e+02] [-1.19744016e-02 3.38565912e-04 -9.99928247e-01 -4.11210398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.018390998729102753 Centerline is valid? [True, True] Translation: X:69.99, Y:-147.06, Z:-4.11 [[ 4.04539880e-01 -9.14505311e-01 -5.24612264e-03 6.99886589e+01] [-9.14439161e-01 -4.04573747e-01 1.10047601e-02 -1.47062597e+02] [-1.21863550e-02 3.45395667e-04 -9.99925684e-01 -4.11214971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.017571672187782047 Centerline is valid? [True, True] Translation: X:70.01, Y:-147.18, Z:-4.11 [[ 4.74809556e-01 -8.80067348e-01 -6.11128093e-03 7.00135510e+01] [-8.80003049e-01 -4.74848773e-01 1.06431212e-02 -1.47176398e+02] [-1.22685977e-02 3.24490177e-04 -9.99924685e-01 -4.11204925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.016158797671875398 Centerline is valid? [True, True] Translation: X:70.04, Y:-147.29, Z:-4.11 [[ 5.44708146e-01 -8.38601289e-01 -6.39639077e-03 7.00447481e+01] [-8.38548625e-01 -5.44745646e-01 9.40132612e-03 -1.47289446e+02] [-1.13683702e-02 2.42705759e-04 -9.99935349e-01 -4.11303935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.015537158942440848 Centerline is valid? [True, True] Translation: X:70.09, Y:-147.40, Z:-4.11 [[ 6.08512101e-01 -7.93514212e-01 -6.94394997e-03 7.00872213e+01] [-7.93466515e-01 -6.08551682e-01 8.70289431e-03 -1.47397350e+02] [-1.11316228e-02 2.13975285e-04 -9.99938019e-01 -4.11345424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.014217861240230781 Centerline is valid? [True, True] Translation: X:70.13, Y:-147.50, Z:-4.11 [[ 6.70825700e-01 -7.41574843e-01 -7.72217297e-03 7.01279748e+01] [-7.41528402e-01 -6.70870127e-01 8.30069475e-03 -1.47495290e+02] [-1.13361616e-02 1.57891221e-04 -9.99935731e-01 -4.11395355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.01316608931457222 Centerline is valid? [True, True] Translation: X:70.18, Y:-147.59, Z:-4.11 [[ 7.29123300e-01 -6.84332043e-01 -8.29863522e-03 7.01759131e+01] [-6.84289104e-01 -7.29170520e-01 7.66654955e-03 -1.47592241e+02] [-1.12975857e-02 8.88057459e-05 -9.99936176e-01 -4.11379963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.01258138556025866 Centerline is valid? [True, True] Translation: X:70.19, Y:-147.63, Z:-4.11 [[ 7.84465251e-01 -6.20119449e-01 -8.13259894e-03 7.01946068e+01] [-6.20086307e-01 -7.84507405e-01 6.41114575e-03 -1.47627688e+02] [-1.03557603e-02 1.35921770e-05 -9.99946378e-01 -4.11434238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.012732253459221876 Centerline is valid? [True, True] Translation: X:70.21, Y:-147.67, Z:-4.12 [[ 8.35117211e-01 -5.50032225e-01 -6.61774265e-03 7.02127597e+01] [-5.50014428e-01 -8.35143430e-01 4.42509104e-03 -1.47666691e+02] [-7.96070697e-03 -5.56157556e-05 -9.99968312e-01 -4.11592398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.01317822843087292 Centerline is valid? [True, True] Translation: X:70.24, Y:-147.70, Z:-4.12 [[ 8.77185959e-01 -4.80100824e-01 -6.92764596e-03 7.02385920e+01] [-4.80085107e-01 -8.77213311e-01 3.88553691e-03 -1.47697596e+02] [-7.94247271e-03 -8.24787688e-05 -9.99968455e-01 -4.11579623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.013730491741484118 Centerline is valid? [True, True] Translation: X:70.27, Y:-147.72, Z:-4.12 [[ 9.13077448e-01 -4.07718197e-01 -7.44618882e-03 7.02687302e+01] [-4.07703687e-01 -9.13107803e-01 3.44146596e-03 -1.47724911e+02] [-8.20232141e-03 -1.06486318e-04 -9.99966355e-01 -4.11519643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.014390965661604627 Centerline is valid? [True, True] Translation: X:70.30, Y:-147.75, Z:-4.11 [[ 9.43125205e-01 -3.32310013e-01 -9.21421696e-03 7.03006532e+01] [-3.32292528e-01 -9.43170202e-01 3.41251251e-03 -1.47751638e+02] [-9.82458695e-03 -1.56611116e-04 -9.99951725e-01 -4.11317174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.015041033966574791 Centerline is valid? [True, True] Translation: X:70.34, Y:-147.77, Z:-4.11 [[ 9.66591616e-01 -2.56097391e-01 -1.07132410e-02 7.03357861e+01] [-2.56079431e-01 -9.66650965e-01 3.03918919e-03 -1.47771611e+02] [-1.11342932e-02 -1.94214131e-04 -9.99937993e-01 -4.11178694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.01572174579214516 Centerline is valid? [True, True] Translation: X:70.37, Y:-147.79, Z:-4.11 [[ 9.83875994e-01 -1.78485041e-01 -1.14507286e-02 7.03720290e+01] [-1.78470361e-01 -9.83942601e-01 2.29955053e-03 -1.47785721e+02] [-1.16772951e-02 -2.18856888e-04 -9.99931794e-01 -4.11047997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.015598694102454305 Centerline is valid? [True, True] Translation: X:70.41, Y:-147.80, Z:-4.11 [[ 9.94826504e-01 -1.00661412e-01 -1.36933061e-02 7.04108499e+01] [-1.00648235e-01 -9.94920706e-01 1.64985688e-03 -1.47796114e+02] [-1.37898307e-02 -2.63114266e-04 -9.99904881e-01 -4.10946225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.015329580455181933 Centerline is valid? [True, True] Translation: X:70.45, Y:-147.80, Z:-4.11 [[ 9.99637724e-01 -2.27368002e-02 -1.44034326e-02 7.04463919e+01] [-2.27305317e-02 -9.99741449e-01 5.98787476e-04 -1.47802163e+02] [-1.44133231e-02 -2.71172868e-04 -9.99896086e-01 -4.10973658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.014926996913428582 Centerline is valid? [True, True] Translation: X:70.48, Y:-147.81, Z:-4.11 [[ 9.98408026e-01 5.47227872e-02 -1.36685559e-02 7.04819969e+01] [ 5.47210267e-02 -9.98501555e-01 -5.03042508e-04 -1.47805665e+02] [-1.36756022e-02 -2.45715733e-04 -9.99906454e-01 -4.11112269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.014294728440745327 Centerline is valid? [True, True] Translation: X:70.52, Y:-147.81, Z:-4.11 [[ 9.91312522e-01 1.30929933e-01 -1.25234130e-02 7.05182986e+01] [ 1.30922081e-01 -9.91391603e-01 -1.44831659e-03 -1.47805587e+02] [-1.26052345e-02 -2.03856923e-04 -9.99920530e-01 -4.11349522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.014405559621939597 Centerline is valid? [True, True] Translation: X:70.55, Y:-147.80, Z:-4.11 [[ 9.78209777e-01 2.07276015e-01 -1.19283392e-02 7.05525289e+01] [ 2.07262916e-01 -9.78282484e-01 -2.33765335e-03 -1.47804343e+02] [-1.21538247e-02 -1.85586991e-04 -9.99926122e-01 -4.11367160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.014081884983735238 Centerline is valid? [True, True] Translation: X:70.59, Y:-147.80, Z:-4.11 [[ 9.59159006e-01 2.82631476e-01 -1.15520344e-02 7.05878427e+01] [ 2.82613177e-01 -9.59228554e-01 -3.22087744e-03 -1.47800241e+02] [-1.19913626e-02 -1.75423537e-04 -9.99928086e-01 -4.11436610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.014220435527333857 Centerline is valid? [True, True] Translation: X:70.62, Y:-147.79, Z:-4.11 [[ 9.34350196e-01 3.56160291e-01 -1.18134830e-02 7.06206992e+01] [ 3.56134183e-01 -9.34424859e-01 -4.31595524e-03 -1.47793130e+02] [-1.25759841e-02 -1.74571498e-04 -9.99920904e-01 -4.11279578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.014068145611035145 Centerline is valid? [True, True] Translation: X:70.65, Y:-147.78, Z:-4.11 [[ 9.04157973e-01 4.27050365e-01 -1.12403985e-02 7.06521426e+01] [ 4.27019503e-01 -9.04227826e-01 -5.13640526e-03 -1.47779864e+02] [-1.23573849e-02 -1.55747627e-04 -9.99923633e-01 -4.11280482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.01346347864722944 Centerline is valid? [True, True] Translation: X:70.68, Y:-147.76, Z:-4.11 [[ 8.69392266e-01 4.94026715e-01 -9.73099132e-03 7.06814755e+01] [ 4.93997165e-01 -8.69446717e-01 -5.40446434e-03 -1.47761652e+02] [-1.11305282e-02 -1.08482627e-04 -9.99938048e-01 -4.11488704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.013193376666361587 Centerline is valid? [True, True] Translation: X:70.71, Y:-147.75, Z:-4.12 [[ 8.28678377e-01 5.59651515e-01 -9.07355308e-03 7.07115862e+01] [ 5.59619202e-01 -8.28728045e-01 -6.01464025e-03 -1.47746472e+02] [-1.08856104e-02 -9.35322099e-05 -9.99940746e-01 -4.11508267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.01315491001804494 Centerline is valid? [True, True] Translation: X:70.74, Y:-147.73, Z:-4.11 [[ 7.82612722e-01 6.22445860e-01 -8.85886104e-03 7.07406004e+01] [ 6.22407301e-01 -7.82662854e-01 -6.92877468e-03 -1.47729510e+02] [-1.12462886e-02 -9.12725784e-05 -9.99936754e-01 -4.11407476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.013249540744188071 Centerline is valid? [True, True] Translation: X:70.77, Y:-147.71, Z:-4.11 [[ 7.31810636e-01 6.81453400e-01 -8.62883749e-03 7.07654596e+01] [ 6.81407460e-01 -7.31861500e-01 -7.91312512e-03 -1.47710120e+02] [-1.17075400e-02 -8.88451197e-05 -9.99931461e-01 -4.11247750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.012887395445665242 Centerline is valid? [True, True] Translation: X:70.79, Y:-147.69, Z:-4.11 [[ 6.77740798e-01 7.35253217e-01 -8.37369149e-03 7.07877887e+01] [ 7.35198324e-01 -6.77792522e-01 -8.98447702e-03 -1.47687558e+02] [-1.22814911e-02 -6.71773323e-05 -9.99924577e-01 -4.11339731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.012927573671419078 Centerline is valid? [True, True] Translation: X:70.81, Y:-147.67, Z:-4.11 [[ 6.18872168e-01 7.85453390e-01 -7.75960598e-03 7.08086943e+01] [ 7.85392777e-01 -6.18920810e-01 -9.75794349e-03 -1.47665517e+02] [-1.24669914e-02 -5.54188393e-05 -9.99922283e-01 -4.11274361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.012938524043000124 Centerline is valid? [True, True] Translation: X:70.83, Y:-147.64, Z:-4.11 [[ 5.55123449e-01 8.31742370e-01 -6.52585544e-03 7.08304672e+01] [ 8.31686105e-01 -5.55161803e-01 -9.67449375e-03 -1.47643776e+02] [-1.16695920e-02 -5.69249470e-05 -9.99931906e-01 -4.11379168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.013062835642006934 Centerline is valid? [True, True] Translation: X:70.85, Y:-147.62, Z:-4.11 [[ 4.87331920e-01 8.73200296e-01 -5.37055649e-03 7.08492482e+01] [ 8.73148746e-01 -4.87361507e-01 -9.48839470e-03 -1.47620935e+02] [-1.09026716e-02 -6.52970609e-05 -9.99940562e-01 -4.11408804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.01299558156230067 Centerline is valid? [True, True] Translation: X:70.87, Y:-147.60, Z:-4.12 [[ 4.16931791e-01 9.08927238e-01 -4.37695688e-03 7.08679059e+01] [ 9.08878854e-01 -4.16954759e-01 -9.37860132e-03 -1.47596086e+02] [-1.03494592e-02 -6.78865136e-05 -9.99946441e-01 -4.11620948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.013028021867732683 Centerline is valid? [True, True] Translation: X:70.88, Y:-147.57, Z:-4.12 [[ 3.44346397e-01 9.38835782e-01 -3.59639219e-03 7.08838529e+01] [ 9.38786658e-01 -3.44365170e-01 -9.60415837e-03 -1.47570548e+02] [-1.02551997e-02 -6.90876840e-05 -9.99947412e-01 -4.11687800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.013085901943888874 Centerline is valid? [True, True] Translation: X:70.90, Y:-147.54, Z:-4.12 [[ 2.69330573e-01 9.63044076e-01 -2.67407663e-03 7.08970391e+01] [ 9.62999146e-01 -2.69343838e-01 -9.30281419e-03 -1.47544107e+02] [-9.67926616e-03 -6.96012373e-05 -9.99953152e-01 -4.11727737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.01299330682823745 Centerline is valid? [True, True] Translation: X:70.91, Y:-147.52, Z:-4.12 [[ 1.92204462e-01 9.81352850e-01 -2.00714715e-03 7.09131663e+01] [ 9.81303640e-01 -1.92214925e-01 -9.82798077e-03 -1.47517373e+02] [-1.00305206e-02 -8.06390455e-05 -9.99949690e-01 -4.11799912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.013366896010749732 Centerline is valid? [True, True] Translation: X:70.93, Y:-147.49, Z:-4.12 [[ 1.13082735e-01 9.93584721e-01 -1.30284530e-03 7.09275916e+01] [ 9.93528852e-01 -1.13090193e-01 -1.05369690e-02 -1.47491088e+02] [-1.06167104e-02 -1.02865121e-04 -9.99943636e-01 -4.11685923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.013630182717354621 Centerline is valid? [True, True] Translation: X:70.94, Y:-147.46, Z:-4.12 [[ 3.23648136e-02 9.99476008e-01 -4.77283057e-04 7.09393552e+01] [ 9.99418828e-01 -3.23680676e-02 -1.06917616e-02 -1.47462821e+02] [-1.07016079e-02 -1.30968805e-04 -9.99942728e-01 -4.11735152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.014031728977231024 Centerline is valid? [True, True] Translation: X:70.95, Y:-147.43, Z:-4.12 [[-4.80279848e-02 9.98845920e-01 3.74897529e-04 7.09481808e+01] [ 9.98784376e-01 4.80291876e-02 -1.10890331e-02 -1.47432983e+02] [-1.10942415e-02 -1.58142117e-04 -9.99938445e-01 -4.11766992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.014159353542669255 Centerline is valid? [True, True] Translation: X:70.96, Y:-147.40, Z:-4.12 [[-1.27236664e-01 9.91871644e-01 1.21343586e-03 7.09551440e+01] [ 9.91813210e-01 1.27242341e-01 -1.07676785e-02 -1.47402825e+02] [-1.08345554e-02 -1.66541765e-04 -9.99941291e-01 -4.11732809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.014372498846587511 Centerline is valid? [True, True] Translation: X:70.96, Y:-147.37, Z:-4.12 [[-2.05865348e-01 9.78578206e-01 2.03811995e-03 7.09606457e+01] [ 9.78521225e-01 2.05875358e-01 -1.05617199e-02 -1.47372311e+02] [-1.07550676e-02 -1.79948506e-04 -9.99942146e-01 -4.11750211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.015144789680674864 Centerline is valid? [True, True] Translation: X:70.96, Y:-147.34, Z:-4.12 [[-2.82749164e-01 9.59188978e-01 3.06838421e-03 7.09622071e+01] [ 9.59124442e-01 2.82765740e-01 -1.11284139e-02 -1.47342153e+02] [-1.15418859e-02 -2.03587428e-04 -9.99933370e-01 -4.11645852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.015072161669896396 Centerline is valid? [True, True] Translation: X:70.96, Y:-147.31, Z:-4.12 [[-3.57799102e-01 9.33790470e-01 3.89365863e-03 7.09590326e+01] [ 9.33728590e-01 3.57820225e-01 -1.07520407e-02 -1.47311742e+02] [-1.14333829e-02 -2.11450121e-04 -9.99934614e-01 -4.11671497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.015158335624174917 Centerline is valid? [True, True] Translation: X:70.95, Y:-147.28, Z:-4.12 [[-4.30398031e-01 9.02628653e-01 4.36457370e-03 7.09548232e+01] [ 9.02577387e-01 4.30420113e-01 -9.62221237e-03 -1.47281648e+02] [-1.05638849e-02 -2.02015728e-04 -9.99944180e-01 -4.11719943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.014856797770614757 Centerline is valid? [True, True] Translation: X:70.95, Y:-147.25, Z:-4.12 [[-4.99729620e-01 8.66166419e-01 5.10306355e-03 7.09480931e+01] [ 8.66117080e-01 4.99755634e-01 -9.24711833e-03 -1.47250950e+02] [-1.05598281e-02 -2.01208420e-04 -9.99944223e-01 -4.11732702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.014869676545935788 Centerline is valid? [True, True] Translation: X:70.94, Y:-147.22, Z:-4.12 [[-5.65330226e-01 8.24841100e-01 6.23663182e-03 7.09376724e+01] [ 8.24786844e-01 5.65364588e-01 -9.46284190e-03 -1.47222515e+02] [-1.13313117e-02 -2.05738674e-04 -9.99935778e-01 -4.11636709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.01484835982553703 Centerline is valid? [True, True] Translation: X:70.92, Y:-147.20, Z:-4.12 [[-6.27195954e-01 7.78824041e-01 7.63856151e-03 7.09232537e+01] [ 7.78762170e-01 6.27242432e-01 -9.81910962e-03 -1.47195817e+02] [-1.24385885e-02 -2.09883093e-04 -9.99922616e-01 -4.11514820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.014087835908811954 Centerline is valid? [True, True] Translation: X:70.91, Y:-147.17, Z:-4.12 [[-6.85606924e-01 7.27919439e-01 8.74276004e-03 7.09091102e+01] [ 7.27856387e-01 6.85662634e-01 -9.58294606e-03 -1.47168483e+02] [-1.29701966e-02 -2.06660439e-04 -9.99915862e-01 -4.11616739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.014553885486037818 Centerline is valid? [True, True] Translation: X:70.89, Y:-147.14, Z:-4.11 [[-7.39849532e-01 6.72703623e-01 9.61800670e-03 7.08942253e+01] [ 6.72643297e-01 7.39912020e-01 -9.01096811e-03 -1.47141435e+02] [-1.31781897e-02 -1.97272804e-04 -9.99913145e-01 -4.11463845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.01388067911385495 Centerline is valid? [True, True] Translation: X:70.91, Y:-147.13, Z:-4.12 [[-7.84681480e-01 6.19829507e-01 9.29288178e-03 7.09137875e+01] [ 6.19783604e-01 7.84736488e-01 -7.54504223e-03 -1.47125601e+02] [-1.19691032e-02 -1.60879136e-04 -9.99928355e-01 -4.11578779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.013771847232917423 Centerline is valid? [True, True] Translation: X:70.92, Y:-147.10, Z:-4.12 [[-8.26086611e-01 5.63460300e-01 9.66441258e-03 7.09245856e+01] [ 5.63419627e-01 8.26143128e-01 -6.77174660e-03 -1.47101164e+02] [-1.17997984e-02 -1.48929472e-04 -9.99930369e-01 -4.11599364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.014009403840362804 Centerline is valid? [True, True] Translation: X:70.95, Y:-147.08, Z:-4.11 [[-8.63682911e-01 5.03936358e-01 9.99885645e-03 7.09452560e+01] [ 5.03900656e-01 8.63740775e-01 -6.00018760e-03 -1.47082565e+02] [-1.16601327e-02 -1.43829162e-04 -9.99932008e-01 -4.11485356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.013587779359903294 Centerline is valid? [True, True] Translation: X:70.96, Y:-147.06, Z:-4.12 [[-8.96885225e-01 4.42147508e-01 1.01230111e-02 7.09551820e+01] [ 4.42117680e-01 8.96942341e-01 -5.13744642e-03 -1.47059427e+02] [-1.13512664e-02 -1.32137590e-04 -9.99935564e-01 -4.11574018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.013484612664852087 Centerline is valid? [True, True] Translation: X:70.97, Y:-147.04, Z:-4.12 [[-9.25683210e-01 3.78143072e-01 1.08816767e-02 7.09700621e+01] [ 3.78115307e-01 9.25747158e-01 -4.58413141e-03 -1.47038987e+02] [-1.18071388e-02 -1.28924964e-04 -9.99930285e-01 -4.11577972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.013344415264849266 Centerline is valid? [True, True] Translation: X:70.97, Y:-147.01, Z:-4.12 [[-9.49929220e-01 3.12249519e-01 1.16066578e-02 7.09730359e+01] [ 3.12224581e-01 9.50000117e-01 -3.94828378e-03 -1.47013474e+02] [-1.22591760e-02 -1.26706258e-04 -9.99924846e-01 -4.11601349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.013573758914606597 Centerline is valid? [True, True] Translation: X:71.19, Y:-146.38, Z:-5.14 [[-9.18783529e-01 -3.94589617e-01 1.16559866e-02 7.11949684e+01] [ 3.94559971e-01 -9.18857449e-01 -4.83920594e-03 -1.46383272e+02] [ 1.26196906e-02 1.52803034e-04 9.99920357e-01 -5.13593299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.013931115540297254 Centerline is valid? [True, True] Translation: X:70.93, Y:-147.00, Z:-4.11 [[-9.50940935e-01 3.09106982e-01 1.28145392e-02 7.09287300e+01] [ 3.09076999e-01 9.51027263e-01 -4.30730338e-03 -1.47000254e+02] [-1.35183937e-02 -1.35311782e-04 -9.99908613e-01 -4.11342000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.01321567625207308 Centerline is valid? [True, True] Translation: X:70.94, Y:-146.98, Z:-4.12 [[-9.70108804e-01 2.42320234e-01 1.30312392e-02 7.09397115e+01] [ 2.42296785e-01 9.70196316e-01 -3.37297739e-03 -1.46978692e+02] [-1.34602009e-02 -1.14727700e-04 -9.99909401e-01 -4.11557505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.013285041550640421 Centerline is valid? [True, True] Translation: X:71.12, Y:-146.33, Z:-5.14 [[-9.46692885e-01 -3.21937305e-01 1.13557508e-02 7.11151126e+01] [ 3.21914300e-01 -9.46760990e-01 -3.84864322e-03 -1.46327164e+02] [ 1.19902037e-02 1.20954254e-05 9.99928115e-01 -5.13582105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.013035820080514276 Centerline is valid? [True, True] Translation: X:70.89, Y:-146.97, Z:-4.12 [[-9.70471465e-01 2.40980659e-01 1.06516678e-02 7.08940933e+01] [ 2.40965382e-01 9.70529916e-01 -2.71433231e-03 -1.46968497e+02] [-1.09918638e-02 -6.74988577e-05 -9.99939585e-01 -4.11690656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.012902809728606263 Centerline is valid? [True, True] Translation: X:70.90, Y:-146.94, Z:-4.12 [[-9.84655157e-01 1.74271557e-01 9.14583685e-03 7.09009109e+01] [ 1.74263741e-01 9.84697631e-01 -1.65083404e-03 -1.46943970e+02] [-9.29357729e-03 -3.17145142e-05 -9.99956813e-01 -4.11815065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.012893245713273459 Centerline is valid? [True, True] Translation: X:71.03, Y:-146.28, Z:-5.13 [[-9.69784273e-01 -2.43818552e-01 8.42486021e-03 7.10296557e+01] [ 2.43809291e-01 -9.69820867e-01 -2.12512877e-03 -1.46275446e+02] [ 8.68875105e-03 -6.85727122e-06 9.99962252e-01 -5.13236346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.012961210978708683 Centerline is valid? [True, True] Translation: X:70.86, Y:-146.94, Z:-4.12 [[-9.84257419e-01 1.76528349e-01 8.66458718e-03 7.08574537e+01] [ 1.76521723e-01 9.84295556e-01 -1.52961464e-03 -1.46939119e+02] [-8.79853501e-03 2.39533066e-05 -9.99961292e-01 -4.11817885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.013304669786599712 Centerline is valid? [True, True] Translation: X:70.98, Y:-146.27, Z:-5.13 [[-9.72310800e-01 -2.33516490e-01 9.04193931e-03 7.09829810e+01] [ 2.33506437e-01 -9.72352842e-01 -2.16679742e-03 -1.46265173e+02] [ 9.29793831e-03 4.55050433e-06 9.99956773e-01 -5.13316576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.014074501957287107 Centerline is valid? [True, True] Translation: X:70.82, Y:-146.94, Z:-4.12 [[-9.83348784e-01 1.81496989e-01 9.16576722e-03 7.08159651e+01] [ 1.81490133e-01 9.83391494e-01 -1.58124830e-03 -1.46937878e+02] [-9.30052933e-03 1.08577712e-04 -9.99956743e-01 -4.11855873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.014392448981682843 Centerline is valid? [True, True] Translation: X:70.94, Y:-146.26, Z:-5.13 [[-9.75149681e-01 -2.21376703e-01 8.68647867e-03 7.09387472e+01] [ 2.21366765e-01 -9.75188361e-01 -2.10138971e-03 -1.46255040e+02] [ 8.93615163e-03 -1.26271821e-04 9.99960064e-01 -5.13184770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.015712018108937038 Centerline is valid? [True, True] Translation: X:70.77, Y:-146.93, Z:-4.12 [[-9.83123352e-01 1.82733537e-01 8.77093900e-03 7.07685314e+01] [ 1.82727618e-01 9.83162465e-01 -1.47826853e-03 -1.46932440e+02] [-8.89338724e-03 1.49372485e-04 -9.99960442e-01 -4.11795993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.015339164889517608 Centerline is valid? [True, True] Translation: X:70.77, Y:-146.90, Z:-4.12 [[-9.93440005e-01 1.14026454e-01 8.65589169e-03 7.07705880e+01] [ 1.14023519e-01 9.93477701e-01 -8.33346618e-04 -1.46903053e+02] [-8.69445894e-03 1.59095365e-04 -9.99962190e-01 -4.11914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.015139706913739018 Centerline is valid? [True, True] Translation: X:70.77, Y:-146.87, Z:-4.12 [[-9.99061925e-01 4.24170162e-02 8.72158229e-03 7.07669987e+01] [ 4.24167355e-02 9.99099982e-01 -2.17235506e-04 -1.46873606e+02] [-8.72294719e-03 1.52909327e-04 -9.99961943e-01 -4.11954538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.014629154720748983 Centerline is valid? [True, True] Translation: X:70.77, Y:-146.84, Z:-4.12 [[-9.99517686e-01 -2.98472104e-02 8.57554349e-03 7.07654187e+01] [-2.98449036e-02 9.99554463e-01 3.96871972e-04 -1.46844090e+02] [-8.58356829e-03 1.40744286e-04 -9.99963151e-01 -4.11966307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.013335017393667173 Centerline is valid? [True, True] Translation: X:70.75, Y:-146.81, Z:-4.12 [[-9.94171509e-01 -1.07407207e-01 9.31142414e-03 7.07530749e+01] [-1.07401633e-01 9.94215109e-01 1.09808690e-03 -1.46809895e+02] [-9.37550101e-03 9.16245540e-05 -9.99956045e-01 -4.11917248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.012843841088109945 Centerline is valid? [True, True] Translation: X:70.67, Y:-146.15, Z:-5.13 [[-9.98528726e-01 5.33969729e-02 9.44180200e-03 7.06706533e+01] [-5.33954086e-02 -9.98573360e-01 4.17854102e-04 -1.46151384e+02] [ 9.45064409e-03 -8.69095523e-05 9.99955338e-01 -5.13305711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.012857175838789425 Centerline is valid? [True, True] Translation: X:70.67, Y:-146.81, Z:-4.12 [[-9.91992368e-01 -1.25903982e-01 9.96637922e-03 7.06659090e+01] [-1.25898008e-01 9.92042432e-01 1.22707866e-03 -1.46806450e+02] [-1.00415652e-02 -3.74946280e-05 -9.99949582e-01 -4.11782928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.013723376572797315 Centerline is valid? [True, True] Translation: X:70.65, Y:-146.77, Z:-4.12 [[-9.78915113e-01 -2.04055472e-01 9.30404218e-03 7.06509744e+01] [-2.04047336e-01 9.78959321e-01 1.82555475e-03 -1.46773436e+02] [-9.48079325e-03 -1.11401886e-04 -9.99955050e-01 -4.11887491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.014389960454523105 Centerline is valid? [True, True] Translation: X:70.53, Y:-146.16, Z:-5.13 [[-9.93715616e-01 1.11609132e-01 8.52498009e-03 7.05281966e+01] [-1.11604694e-01 -9.93752182e-01 9.96024587e-04 -1.46161712e+02] [ 8.58288301e-03 3.83373883e-05 9.99963166e-01 -5.13152468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.014762833118117465 Centerline is valid? [True, True] Translation: X:70.56, Y:-146.79, Z:-4.12 [[-9.76810716e-01 -2.13957840e-01 7.92892388e-03 7.05592724e+01] [-2.13951877e-01 9.76842887e-01 1.60277100e-03 -1.46786070e+02] [-8.08823832e-03 -1.30804254e-04 -9.99967281e-01 -4.12056474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.014692166159489746 Centerline is valid? [True, True] Translation: X:70.54, Y:-146.76, Z:-4.12 [[-9.58957622e-01 -2.83417809e-01 8.63856285e-03 7.05435185e+01] [-2.83407693e-01 9.58996519e-01 2.39913609e-03 -1.46762315e+02] [-8.96430960e-03 -1.47565326e-04 -9.99959809e-01 -4.12020018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.01457177965413221 Centerline is valid? [True, True] Translation: X:70.52, Y:-146.74, Z:-4.12 [[-9.36424042e-01 -3.50730476e-01 9.90695164e-03 7.05153533e+01] [-3.50712709e-01 9.36476431e-01 3.53404350e-03 -1.46743970e+02] [-1.05171235e-02 -1.65130549e-04 -9.99944680e-01 -4.11885223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.013822476846057842 Centerline is valid? [True, True] Translation: X:70.48, Y:-146.73, Z:-4.12 [[-9.09190709e-01 -4.16235565e-01 1.09640470e-02 7.04770215e+01] [-4.16207561e-01 9.09256799e-01 4.83123118e-03 -1.46733495e+02] [-1.19800645e-02 -1.70808749e-04 -9.99928222e-01 -4.11891551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.014038116862086879 Centerline is valid? [True, True] Translation: X:70.42, Y:-146.74, Z:-4.12 [[-8.77001892e-01 -4.80339089e-01 1.19180824e-02 7.04170708e+01] [-4.80297315e-01 8.77082854e-01 6.33697425e-03 -1.46735445e+02] [-1.34970421e-02 -1.66684557e-04 -9.99908897e-01 -4.11717650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.0134952791718237 Centerline is valid? [True, True] Translation: X:70.35, Y:-146.75, Z:-4.12 [[-8.40118424e-01 -5.42274320e-01 1.18150566e-02 7.03509932e+01] [-5.42223190e-01 8.40201488e-01 7.44803434e-03 -1.46747592e+02] [-1.39659059e-02 -1.49166787e-04 -9.99902461e-01 -4.11811738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.013354049802123263 Centerline is valid? [True, True] Translation: X:70.28, Y:-146.77, Z:-4.12 [[-7.98627300e-01 -6.01738337e-01 1.02669641e-02 7.02841839e+01] [-6.01690423e-01 7.98693284e-01 7.59429274e-03 -1.46766144e+02] [-1.27699323e-02 -1.12524451e-04 -9.99918455e-01 -4.11859261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.013317045694762336 Centerline is valid? [True, True] Translation: X:70.21, Y:-146.80, Z:-4.12 [[-7.52051435e-01 -6.59040977e-01 9.14487850e-03 7.02078311e+01] [-6.58993800e-01 7.52107028e-01 7.88610006e-03 -1.46796396e+02] [-1.20751905e-02 -9.56653607e-05 -9.99927088e-01 -4.11926975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.013166271251946648 Centerline is valid? [True, True] Translation: X:70.13, Y:-146.84, Z:-4.12 [[-7.01090709e-01 -7.13021336e-01 8.50838013e-03 7.01277722e+01] [-7.12970329e-01 7.01142330e-01 8.52893188e-03 -1.46838294e+02] [-1.20468959e-02 -8.66676831e-05 -9.99927430e-01 -4.11980804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.013170097177319082 Centerline is valid? [True, True] Translation: X:70.05, Y:-146.89, Z:-4.12 [[-6.45759468e-01 -7.63497864e-01 8.10686554e-03 7.00473216e+01] [-7.63439322e-01 6.45810347e-01 9.45501687e-03 -1.46890410e+02] [-1.24543828e-02 -8.34332690e-05 -9.99922438e-01 -4.11977849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.013223671870888486 Centerline is valid? [True, True] Translation: X:69.97, Y:-146.95, Z:-4.12 [[-5.86256556e-01 -8.10086794e-01 7.91433501e-03 6.99718311e+01] [-8.10014967e-01 5.86309968e-01 1.07876687e-02 -1.46950652e+02] [-1.33792015e-02 -8.63883093e-05 -9.99910491e-01 -4.11994652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.01311134519898076 Centerline is valid? [True, True] Translation: X:69.90, Y:-147.02, Z:-4.12 [[-5.22512166e-01 -8.52602227e-01 7.10485153e-03 6.98950299e+01] [-8.52525883e-01 5.22560459e-01 1.14098676e-02 -1.47019328e+02] [-1.34407930e-02 -9.52752030e-05 -9.99909664e-01 -4.12097112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.013217570088788074 Centerline is valid? [True, True] Translation: X:69.82, Y:-147.10, Z:-4.12 [[-4.54491856e-01 -8.90730317e-01 6.05447089e-03 6.98194966e+01] [-8.90654675e-01 4.54532166e-01 1.16086087e-02 -1.47100832e+02] [-1.30920915e-02 -1.16424699e-04 -9.99914288e-01 -4.12186355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.013485961693409453 Centerline is valid? [True, True] Translation: X:69.75, Y:-147.19, Z:-4.12 [[-3.83764707e-01 -9.23418637e-01 4.76133544e-03 6.97487777e+01] [-9.23351638e-01 3.83794221e-01 1.11242719e-02 -1.47187363e+02] [-1.20997331e-02 -1.27283920e-04 -9.99926788e-01 -4.12217560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.013588495497400889 Centerline is valid? [True, True] Translation: X:69.68, Y:-147.28, Z:-4.12 [[-3.10477259e-01 -9.50573317e-01 3.77362622e-03 6.96831724e+01] [-9.50508616e-01 3.10500158e-01 1.10915367e-02 -1.47284185e+02] [-1.17150304e-02 -1.43194329e-04 -9.99931367e-01 -4.12294894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.014289351243352323 Centerline is valid? [True, True] Translation: X:69.62, Y:-147.38, Z:-4.12 [[-2.34634899e-01 -9.72078982e-01 2.98612150e-03 6.96244839e+01] [-9.72009422e-01 2.34653835e-01 1.16302110e-02 -1.47381581e+02] [-1.20061886e-02 -1.73684843e-04 -9.99927908e-01 -4.12206539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.014331757988524051 Centerline is valid? [True, True] Translation: X:69.57, Y:-147.48, Z:-4.12 [[-1.58333020e-01 -9.87383299e-01 2.20791622e-03 6.95748928e+01] [-9.87304125e-01 1.58348288e-01 1.25053609e-02 -1.47482860e+02] [-1.26972043e-02 -1.99873224e-04 -9.99919367e-01 -4.12190036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.014722664625356038 Centerline is valid? [True, True] Translation: X:69.53, Y:-147.59, Z:-4.12 [[-8.11883501e-02 -9.96697938e-01 1.29342391e-03 6.95304193e+01] [-9.96611186e-01 8.11983509e-02 1.31518850e-02 -1.47592911e+02] [-1.32134805e-02 -2.21260893e-04 -9.99912674e-01 -4.12087308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.014734531259726655 Centerline is valid? [True, True] Translation: X:69.49, Y:-147.71, Z:-4.12 [[-3.49941297e-03 -9.99993838e-01 2.80713761e-04 6.94942488e+01] [-9.99906412e-01 3.50281946e-03 1.32248922e-02 -1.47707122e+02] [-1.32257940e-02 -2.34408130e-04 -9.99912508e-01 -4.12111531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.015091254766338696 Centerline is valid? [True, True] Translation: X:68.82, Y:-147.80, Z:-5.13 [[-1.05933911e-01 9.94372505e-01 1.15277805e-03 6.88192617e+01] [-9.94294498e-01 -1.05940041e-01 1.24562668e-02 -1.47795424e+02] [ 1.25082946e-02 1.73340182e-04 9.99921753e-01 -5.13025730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.013824207586848523 Centerline is valid? [True, True] Translation: X:69.49, Y:-147.98, Z:-4.12 [[ 2.28779041e-03 -9.99997375e-01 1.29132362e-04 6.94870101e+01] [-9.99936456e-01 -2.28622556e-03 1.10388819e-02 -1.47984103e+02] [-1.10385577e-02 -1.54378804e-04 -9.99939061e-01 -4.12269286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.013329243786303461 Centerline is valid? [True, True] Translation: X:69.47, Y:-148.09, Z:-4.12 [[ 7.58464608e-02 -9.97119297e-01 -6.49567143e-04 6.94653331e+01] [-9.97069712e-01 -7.58491674e-02 9.94455260e-03 -1.48093464e+02] [-9.96517443e-03 -1.06595395e-04 -9.99950341e-01 -4.12307732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.012829638425941415 Centerline is valid? [True, True] Translation: X:69.45, Y:-148.21, Z:-4.12 [[ 1.48656361e-01 -9.88888070e-01 -1.29305594e-03 6.94528076e+01] [-9.88846727e-01 -1.48661970e-01 9.04261310e-03 -1.48210675e+02] [-9.13436045e-03 -6.56078162e-05 -9.99958279e-01 -4.12329051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.01286924092121544 Centerline is valid? [True, True] Translation: X:69.45, Y:-148.32, Z:-4.12 [[ 2.20822644e-01 -9.75311679e-01 -2.11876758e-03 6.94468173e+01] [-9.75265171e-01 -2.20832805e-01 9.52460099e-03 -1.48323560e+02] [-9.75734797e-03 -3.68873407e-05 -9.99952395e-01 -4.12062104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.01258511529417694 Centerline is valid? [True, True] Translation: X:69.45, Y:-148.45, Z:-4.12 [[ 2.94134373e-01 -9.55758589e-01 -3.23887380e-03 6.94518284e+01] [-9.55699477e-01 -2.94152203e-01 1.06297166e-02 -1.48445872e+02] [-1.11121648e-02 -3.11750282e-05 -9.99938258e-01 -4.12051875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.012712118008127684 Centerline is valid? [True, True] Translation: X:69.46, Y:-148.56, Z:-4.12 [[ 3.66688318e-01 -9.30333379e-01 -4.41373874e-03 6.94619227e+01] [-9.30264846e-01 -3.66714878e-01 1.12922591e-02 -1.48559370e+02] [-1.21241492e-02 -3.47935016e-05 -9.99926499e-01 -4.11929126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.01272669264141649 Centerline is valid? [True, True] Translation: X:69.48, Y:-148.68, Z:-4.12 [[ 4.37150860e-01 -8.99372650e-01 -5.28797357e-03 6.94826322e+01] [-8.99305790e-01 -4.37182840e-01 1.09663419e-02 -1.48676909e+02] [-1.21746393e-02 -3.84405323e-05 -9.99925886e-01 -4.11916227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.012895244257057417 Centerline is valid? [True, True] Translation: X:69.51, Y:-148.79, Z:-4.12 [[ 5.06729482e-01 -8.62083099e-01 -6.16141177e-03 6.95070352e+01] [-8.62017746e-01 -5.06766935e-01 1.06150255e-02 -1.48789468e+02] [-1.22734339e-02 -6.77001052e-05 -9.99924676e-01 -4.11689381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.012822656870579452 Centerline is valid? [True, True] Translation: X:69.54, Y:-148.90, Z:-4.12 [[ 5.72591648e-01 -8.19809532e-01 -7.15093712e-03 6.95436149e+01] [-8.19743583e-01 -5.72636292e-01 1.03987993e-02 -1.48898488e+02] [-1.26199209e-02 -9.23307953e-05 -9.99920361e-01 -4.11835987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.013319031426105287 Centerline is valid? [True, True] Translation: X:69.59, Y:-149.00, Z:-4.12 [[ 6.34578672e-01 -7.72818074e-01 -7.88254307e-03 6.95875781e+01] [-7.72756290e-01 -6.34627617e-01 9.77256643e-03 -1.49004730e+02] [-1.25548955e-02 -1.10177481e-04 -9.99921178e-01 -4.11761304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.013234466201387497 Centerline is valid? [True, True] Translation: X:69.64, Y:-149.10, Z:-4.12 [[ 6.93536011e-01 -7.20381325e-01 -7.65164764e-03 6.96350528e+01] [-7.20335434e-01 -6.93578208e-01 8.13217829e-03 -1.49100479e+02] [-1.11652854e-02 -1.28205573e-04 -9.99937658e-01 -4.12065824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.013728454423561805 Centerline is valid? [True, True] Translation: X:69.69, Y:-149.19, Z:-4.12 [[ 7.47685370e-01 -6.64007915e-01 -7.75088532e-03 6.96869625e+01] [-6.63970245e-01 -7.47725530e-01 7.07421328e-03 -1.49193296e+02] [-1.04928684e-02 -1.42928549e-04 -9.99944938e-01 -4.12025345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.014629879877558268 Centerline is valid? [True, True] Translation: X:69.71, Y:-149.22, Z:-4.12 [[ 7.98904231e-01 -6.01416692e-01 -7.07057054e-03 6.97078147e+01] [-6.01391516e-01 -7.98935505e-01 5.50479762e-03 -1.49220043e+02] [-8.95960703e-03 -1.45624970e-04 -9.99959851e-01 -4.12010833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.014461273888411535 Centerline is valid? [True, True] Translation: X:69.73, Y:-149.24, Z:-4.12 [[ 8.43611478e-01 -5.36901978e-01 -7.47930449e-03 6.97330971e+01] [-5.36879317e-01 -8.43644619e-01 4.93516370e-03 -1.49243689e+02] [-8.95957414e-03 -1.47876866e-04 -9.99959851e-01 -4.12051758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.014176456453218434 Centerline is valid? [True, True] Translation: X:69.76, Y:-149.27, Z:-4.12 [[ 8.82615677e-01 -4.70018674e-01 -8.48603554e-03 6.97596925e+01] [-4.69995288e-01 -8.82656458e-01 4.69112115e-03 -1.49265248e+02] [-9.69516862e-03 -1.52060356e-04 -9.99952989e-01 -4.11957906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.01397800665631372 Centerline is valid? [True, True] Translation: X:69.79, Y:-149.29, Z:-4.12 [[ 9.16396998e-01 -4.00172759e-01 -8.84897165e-03 6.97878076e+01] [-4.00152562e-01 -9.16439710e-01 4.02309344e-03 -1.49285417e+02] [-9.71948141e-03 -1.45812068e-04 -9.99952754e-01 -4.11916613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.01379933066722634 Centerline is valid? [True, True] Translation: X:69.82, Y:-149.30, Z:-4.12 [[ 9.44696683e-01 -3.27837439e-01 -8.41372826e-03 6.98170037e+01] [-3.27823212e-01 -9.44734141e-01 3.05692669e-03 -1.49303824e+02] [-8.95091135e-03 -1.29653087e-04 -9.99959931e-01 -4.11998431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.01356094651040234 Centerline is valid? [True, True] Translation: X:69.85, Y:-149.32, Z:-4.12 [[ 9.67122697e-01 -2.54205728e-01 -7.28953068e-03 6.98479283e+01] [-2.54197723e-01 -9.67150163e-01 2.01982688e-03 -1.49320579e+02] [-7.56352235e-03 -1.00438316e-04 -9.99971391e-01 -4.12032808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.013930638122643408 Centerline is valid? [True, True] Translation: X:69.88, Y:-149.33, Z:-4.12 [[ 9.83917331e-01 -1.78500123e-01 -6.66272334e-03 6.98786234e+01] [-1.78495442e-01 -9.83939886e-01 1.29546687e-03 -1.49334712e+02] [-6.78696024e-03 -8.53665627e-05 -9.99976965e-01 -4.11957703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.013786466419013458 Centerline is valid? [True, True] Translation: X:69.91, Y:-149.35, Z:-4.12 [[ 9.95018744e-01 -9.95346253e-02 -5.52781807e-03 6.99087753e+01] [-9.95326558e-02 -9.95034096e-01 6.30946084e-04 -1.49348119e+02] [-5.56316844e-03 -7.76047669e-05 -9.99984523e-01 -4.12030693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.013849012278459333 Centerline is valid? [True, True] Translation: X:69.94, Y:-149.36, Z:-4.12 [[ 9.99768102e-01 -2.04686326e-02 -6.69163572e-03 6.99382189e+01] [-2.04675115e-02 -9.99790491e-01 2.35976541e-04 -1.49358097e+02] [-6.69506388e-03 -9.89606870e-05 -9.99977583e-01 -4.11966748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.01394651177123272 Centerline is valid? [True, True] Translation: X:69.97, Y:-149.37, Z:-4.12 [[ 9.98254017e-01 5.86034050e-02 -7.38633691e-03 6.99687095e+01] [ 5.86026497e-02 -9.98281337e-01 -3.18833240e-04 -1.49366384e+02] [-7.39232700e-03 -1.14582351e-04 -9.99972670e-01 -4.11860325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.014393818508975025 Centerline is valid? [True, True] Translation: X:70.00, Y:-149.37, Z:-4.12 [[ 9.90607508e-01 1.36557017e-01 -6.99616872e-03 6.99992566e+01] [ 1.36554388e-01 -9.90632207e-01 -8.54240566e-04 -1.49371380e+02] [-7.04728260e-03 -1.09140422e-04 -9.99975162e-01 -4.11859218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.014243450268183635 Centerline is valid? [True, True] Translation: X:70.03, Y:-149.38, Z:-4.12 [[ 9.76654302e-01 2.14709774e-01 -6.78871662e-03 7.00310191e+01] [ 2.14705401e-01 -9.76677890e-01 -1.37515164e-03 -1.49375402e+02] [-6.92564791e-03 -1.14526361e-04 -9.99976011e-01 -4.11872725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.014243212773187594 Centerline is valid? [True, True] Translation: X:70.06, Y:-149.38, Z:-4.12 [[ 9.56758169e-01 2.90783228e-01 -7.67602430e-03 7.00627209e+01] [ 2.90774991e-01 -9.56788951e-01 -2.19271717e-03 -1.49375717e+02] [-7.98194061e-03 -1.34095832e-04 -9.99968135e-01 -4.11828987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.013834192632694866 Centerline is valid? [True, True] Translation: X:70.09, Y:-149.37, Z:-4.12 [[ 9.31561210e-01 3.63525943e-01 -6.52691945e-03 7.00939169e+01] [ 3.63517829e-01 -9.31584069e-01 -2.43134216e-03 -1.49373882e+02] [-6.96423012e-03 -1.07707540e-04 -9.99975744e-01 -4.11911296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.013859458228805788 Centerline is valid? [True, True] Translation: X:70.13, Y:-149.37, Z:-4.12 [[ 9.00501455e-01 4.34819929e-01 -5.36283921e-03 7.01257416e+01] [ 4.34812799e-01 -9.00517419e-01 -2.49155307e-03 -1.49370464e+02] [-5.91270705e-03 -8.81839645e-05 -9.99982516e-01 -4.12023324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.013859458228805788 Centerline is valid? [True, True] Translation: X:70.16, Y:-149.36, Z:-4.12 [[ 8.63690671e-01 5.03995922e-01 -5.15127081e-03 7.01561064e+01] [ 5.03987564e-01 -8.63706028e-01 -2.90381011e-03 -1.49363193e+02] [-5.91269211e-03 -8.81827225e-05 -9.99982516e-01 -4.12023352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.014109482749942413 Centerline is valid? [True, True] Translation: X:70.19, Y:-149.35, Z:-4.12 [[ 8.21518714e-01 5.70161795e-01 -4.74668519e-03 7.01850544e+01] [ 5.70152878e-01 -8.21532422e-01 -3.18992429e-03 -1.49353547e+02] [-5.71832874e-03 -8.57537180e-05 -9.99983647e-01 -4.12001873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.014107654879963464 Centerline is valid? [True, True] Translation: X:70.21, Y:-149.34, Z:-4.12 [[ 7.74046612e-01 6.33110778e-01 -4.75237654e-03 7.02144779e+01] [ 6.33099587e-01 -7.74061195e-01 -3.76551466e-03 -1.49340931e+02] [-6.06261818e-03 -9.40437560e-05 -9.99981618e-01 -4.11957080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.01426210257197356 Centerline is valid? [True, True] Translation: X:70.24, Y:-149.33, Z:-4.12 [[ 7.22309827e-01 6.91549897e-01 -5.22051499e-03 7.02419461e+01] [ 6.91532911e-01 -7.22328684e-01 -4.84820012e-03 -1.49325035e+02] [-7.12370002e-03 -1.08255340e-04 -9.99974620e-01 -4.11856890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.013772501081508721 Centerline is valid? [True, True] Translation: X:70.27, Y:-149.31, Z:-4.12 [[ 6.66990619e-01 7.45049297e-01 -5.00597429e-03 7.02668736e+01] [ 7.45029452e-01 -6.67009396e-01 -5.43877177e-03 -1.49306732e+02] [-7.39118497e-03 -1.01988531e-04 -9.99972680e-01 -4.11810115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.013527214549996117 Centerline is valid? [True, True] Translation: X:70.29, Y:-149.29, Z:-4.12 [[ 6.08224371e-01 7.93752369e-01 -4.50462958e-03 7.02885157e+01] [ 7.93731637e-01 -6.08241046e-01 -5.73745328e-03 -1.49285951e+02] [-7.29401774e-03 -8.58081009e-05 -9.99973395e-01 -4.11790711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.013521441238676869 Centerline is valid? [True, True] Translation: X:70.31, Y:-149.26, Z:-4.12 [[ 5.45906950e-01 8.37834606e-01 -4.33310254e-03 7.03063461e+01] [ 8.37809311e-01 -5.45924141e-01 -6.51089734e-03 -1.49263827e+02] [-7.82060038e-03 -7.59695438e-05 -9.99969416e-01 -4.11713316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.013185554659767394 Centerline is valid? [True, True] Translation: X:70.32, Y:-149.24, Z:-4.12 [[ 4.79276636e-01 8.77655284e-01 -3.88703938e-03 7.03246596e+01] [ 8.77627621e-01 -4.79292393e-01 -6.96854226e-03 -1.49240908e+02] [-7.97900634e-03 -7.15136281e-05 -9.99968165e-01 -4.11752545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.013241348582826516 Centerline is valid? [True, True] Translation: X:70.34, Y:-149.22, Z:-4.12 [[ 4.08815555e-01 9.12611480e-01 -3.18248175e-03 7.03440627e+01] [ 9.12585156e-01 -4.08827936e-01 -6.93190779e-03 -1.49217763e+02] [-7.62722608e-03 -7.04138766e-05 -9.99970910e-01 -4.11769059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.013350923712226865 Centerline is valid? [True, True] Translation: X:70.36, Y:-149.19, Z:-4.12 [[ 3.35150387e-01 9.42160852e-01 -2.67343083e-03 7.03630581e+01] [ 9.42132737e-01 -3.35161040e-01 -7.27896778e-03 -1.49193890e+02] [-7.75398835e-03 -7.91778398e-05 -9.99969934e-01 -4.11804473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.013297068894948872 Centerline is valid? [True, True] Translation: X:70.38, Y:-149.17, Z:-4.12 [[ 2.60129495e-01 9.65571619e-01 -2.02323965e-03 7.03802498e+01] [ 9.65544704e-01 -2.60137352e-01 -7.20986649e-03 -1.49168342e+02] [-7.48796267e-03 -7.80293966e-05 -9.99971962e-01 -4.11865176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.01342138331978465 Centerline is valid? [True, True] Translation: X:70.39, Y:-149.14, Z:-4.12 [[ 1.84231677e-01 9.82881641e-01 -1.53900363e-03 7.03942030e+01] [ 9.82850817e-01 -1.84238089e-01 -7.78446832e-03 -1.49142195e+02] [-7.93475408e-03 -7.84653205e-05 -9.99968516e-01 -4.11829571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.013264544565952923 Centerline is valid? [True, True] Translation: X:70.40, Y:-149.11, Z:-4.12 [[ 1.07681651e-01 9.94184889e-01 -1.03350747e-03 7.04046448e+01] [ 9.94145870e-01 -1.07686582e-01 -8.80845870e-03 -1.49114704e+02] [-8.86853142e-03 -7.89478094e-05 -9.99960671e-01 -4.11840302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.01309989367719195 Centerline is valid? [True, True] Translation: X:70.41, Y:-149.09, Z:-4.12 [[ 3.15978835e-02 9.99500574e-01 -4.18961150e-04 7.04120930e+01] [ 9.99441046e-01 -3.16005742e-02 -1.09086942e-02 -1.49085914e+02] [-1.09164855e-02 -7.40353216e-05 -9.99940411e-01 -4.11691896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.012992604834637468 Centerline is valid? [True, True] Translation: X:70.42, Y:-149.06, Z:-4.12 [[-4.48433131e-02 9.98993913e-01 4.88764274e-04 7.04165485e+01] [ 9.98919525e-01 4.48459385e-02 -1.21911871e-02 -1.49057425e+02] [-1.22008408e-02 -5.84570440e-05 -9.99925565e-01 -4.11565630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.013011887232771443 Centerline is valid? [True, True] Translation: X:70.42, Y:-149.03, Z:-4.12 [[-1.20767618e-01 9.92679690e-01 1.48871224e-03 7.04190414e+01] [ 9.92600923e-01 1.20776789e-01 -1.25050283e-02 -1.49028686e+02] [-1.25932895e-02 -3.25053349e-05 -9.99920701e-01 -4.11521208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.01303890647149875 Centerline is valid? [True, True] Translation: X:70.42, Y:-149.00, Z:-4.12 [[-1.95470194e-01 9.80706901e-01 2.31890857e-03 7.04182466e+01] [ 9.80638001e-01 1.95483949e-01 -1.16248450e-02 -1.49000113e+02] [-1.18538751e-02 1.69915553e-06 -9.99929740e-01 -4.11556828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.01298074485691399 Centerline is valid? [True, True] Translation: X:70.42, Y:-148.97, Z:-4.12 [[-2.71319139e-01 9.62484553e-01 3.06758812e-03 7.04193076e+01] [ 9.62423307e-01 2.71336480e-01 -1.08578401e-02 -1.48970892e+02] [-1.12828519e-02 6.37847612e-06 -9.99936347e-01 -4.11675093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.012935121678627749 Centerline is valid? [True, True] Translation: X:70.42, Y:-148.94, Z:-4.12 [[-3.48529535e-01 9.37290740e-01 3.63767497e-03 7.04191915e+01] [ 9.37238982e-01 3.48548518e-01 -9.84995572e-03 -1.48940761e+02] [-1.05001785e-02 -2.36297079e-05 -9.99944871e-01 -4.11726972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.01304018757411243 Centerline is valid? [True, True] Translation: X:70.42, Y:-148.91, Z:-4.12 [[-4.23697870e-01 9.05793742e-01 4.22046936e-03 7.04176438e+01] [ 9.05747536e-01 4.23718886e-01 -9.14912362e-03 -1.48910707e+02] [-1.00755115e-02 -5.37844656e-05 -9.99949239e-01 -4.11774153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.013537006546892045 Centerline is valid? [True, True] Translation: X:70.42, Y:-148.88, Z:-4.12 [[-4.97619444e-01 8.67382691e-01 4.70706048e-03 7.04168716e+01] [ 8.67341996e-01 4.97641696e-01 -8.40262822e-03 -1.48879688e+02] [-9.63072384e-03 -9.86799478e-05 -9.99953619e-01 -4.11612498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.013841266132392954 Centerline is valid? [True, True] Translation: X:70.41, Y:-148.85, Z:-4.12 [[-5.66975291e-01 8.23715804e-01 5.59399945e-03 7.04121113e+01] [ 8.23673269e-01 5.67002870e-01 -8.37204891e-03 -1.48848197e+02] [-1.00680027e-02 -1.39117059e-04 -9.99949307e-01 -4.11539846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.014867288169233902 Centerline is valid? [True, True] Translation: X:70.40, Y:-148.82, Z:-4.11 [[-6.33019694e-01 7.74107091e-01 6.65428287e-03 7.04037235e+01] [ 7.74061070e-01 6.33054638e-01 -8.44306126e-03 -1.48817349e+02] [-1.07483582e-02 -1.93802725e-04 -9.99942216e-01 -4.11484275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.014606935093729661 Centerline is valid? [True, True] Translation: X:70.39, Y:-148.79, Z:-4.12 [[-6.92188843e-01 7.21680124e-01 7.23912630e-03 7.03910896e+01] [ 7.21637616e-01 6.92226667e-01 -7.83534272e-03 -1.48788119e+02] [-1.06657274e-02 -1.99510963e-04 -9.99943100e-01 -4.11511150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.014253022732700384 Centerline is valid? [True, True] Translation: X:70.38, Y:-148.76, Z:-4.11 [[-7.45439080e-01 6.66523293e-01 8.20226706e-03 7.03759920e+01] [ 6.66480126e-01 7.45484181e-01 -7.58798293e-03 -1.48760655e+02] [-1.11722277e-02 -1.89731030e-04 -9.99937571e-01 -4.11391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.014622351161840096 Centerline is valid? [True, True] Translation: X:70.40, Y:-148.74, Z:-4.11 [[-7.89811636e-01 6.13299516e-01 7.82843789e-03 7.03957774e+01] [ 6.13267431e-01 7.89850416e-01 -6.27517569e-03 -1.48742981e+02] [-1.00318571e-02 -1.55280779e-04 -9.99949668e-01 -4.11351388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.013703352133372738 Centerline is valid? [True, True] Translation: X:70.81, Y:-148.23, Z:-5.14 [[-7.28644480e-01 -6.84865883e-01 5.99524997e-03 7.08141170e+01] [ 6.84842999e-01 -7.28669144e-01 -5.59874769e-03 -1.48228439e+02] [ 8.20294494e-03 2.63083675e-05 9.99966355e-01 -5.13591512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.013313620981527352 Centerline is valid? [True, True] Translation: X:70.36, Y:-148.73, Z:-4.11 [[-7.87689222e-01 6.16047686e-01 5.56229026e-03 7.03628688e+01] [ 6.16031786e-01 7.87708858e-01 -4.42635468e-03 -1.48727587e+02] [-7.10831087e-03 -6.00442636e-05 -9.99974734e-01 -4.11496401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.012687324854263432 Centerline is valid? [True, True] Translation: X:70.79, Y:-148.20, Z:-5.13 [[-7.34598122e-01 -6.78487968e-01 4.43593997e-03 7.07890214e+01] [ 6.78475521e-01 -7.34611515e-01 -4.10962592e-03 -1.48202063e+02] [ 6.04702432e-03 -9.24680016e-06 9.99981717e-01 -5.13493454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.012549218749475885 Centerline is valid? [True, True] Translation: X:70.32, Y:-148.70, Z:-4.12 [[-7.87680945e-01 6.16071574e-01 3.81377190e-03 7.03183071e+01] [ 6.16064206e-01 7.87690177e-01 -3.01312896e-03 -1.48701824e+02] [-4.86037376e-03 -2.38559127e-05 -9.99988188e-01 -4.11735167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.012689960473272775 Centerline is valid? [True, True] Translation: X:70.34, Y:-148.69, Z:-4.12 [[-8.29877332e-01 5.57932880e-01 3.80979081e-03 7.03439370e+01] [ 5.57926849e-01 8.29886077e-01 -2.59437500e-03 -1.48686777e+02] [-4.60917946e-03 -2.74284245e-05 -9.99989377e-01 -4.11739182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.013296409295434422 Centerline is valid? [True, True] Translation: X:70.36, Y:-148.66, Z:-4.12 [[-8.69050285e-01 4.94711858e-01 3.43216807e-03 7.03630749e+01] [ 4.94707828e-01 8.69057062e-01 -1.99711170e-03 -1.48660086e+02] [-3.97074473e-03 -3.76700825e-05 -9.99992116e-01 -4.11689810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.01321624442832354 Centerline is valid? [True, True] Translation: X:70.37, Y:-148.63, Z:-4.12 [[-9.03056989e-01 4.29506154e-01 3.54095339e-03 7.03744422e+01] [ 4.29502642e-01 9.03063930e-01 -1.73757799e-03 -1.48634021e+02] [-3.94400772e-03 -4.82831140e-05 -9.99992221e-01 -4.11796992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.013998241908969311 Centerline is valid? [True, True] Translation: X:70.66, Y:-148.03, Z:-5.13 [[-8.58530252e-01 -5.12746041e-01 4.15984728e-03 7.06642334e+01] [ 5.12740645e-01 -8.58540322e-01 -2.35502530e-03 -1.48031965e+02] [ 4.77892652e-03 1.11062313e-04 9.99988575e-01 -5.13439675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.014155868894200856 Centerline is valid? [True, True] Translation: X:70.33, Y:-148.61, Z:-4.12 [[-9.05846805e-01 4.23575920e-01 5.00057018e-03 7.03277673e+01] [ 4.23568949e-01 9.05860603e-01 -2.43172513e-03 -1.48607573e+02] [-5.55983973e-03 -8.46841821e-05 -9.99984540e-01 -4.11607067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.015130264258893356 Centerline is valid? [True, True] Translation: X:70.35, Y:-148.59, Z:-4.11 [[-9.33641265e-01 3.58155261e-01 6.22868801e-03 7.03453201e+01] [ 3.58146547e-01 9.33662036e-01 -2.50052982e-03 -1.48585930e+02] [-6.71106744e-03 -1.03814721e-04 -9.99977475e-01 -4.11479244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.015204197614322776 Centerline is valid? [True, True] Translation: X:70.35, Y:-148.56, Z:-4.12 [[-9.56606784e-01 2.91319263e-01 6.04550160e-03 7.03492857e+01] [ 2.91312806e-01 9.56625882e-01 -1.94212320e-03 -1.48561106e+02] [-6.34906119e-03 -9.67161934e-05 -9.99979840e-01 -4.11560761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.015935829973937287 Centerline is valid? [True, True] Translation: X:70.56, Y:-147.93, Z:-5.13 [[-9.24032842e-01 -3.82288118e-01 4.37050450e-03 7.05578181e+01] [ 3.82283712e-01 -9.24043178e-01 -1.83561829e-03 -1.47926641e+02] [ 4.74026993e-03 -2.53989043e-05 9.99988765e-01 -5.13472079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.015096476518567981 Centerline is valid? [True, True] Translation: X:70.31, Y:-148.55, Z:-4.12 [[-9.57280251e-01 2.89145449e-01 3.07083266e-03 7.03119707e+01] [ 2.89143813e-01 9.57285176e-01 -9.73665228e-04 -1.48551814e+02] [-3.22119345e-03 -4.41582296e-05 -9.99994811e-01 -4.11802800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.015991859833398656 Centerline is valid? [True, True] Translation: X:70.51, Y:-147.91, Z:-5.13 [[-9.24794615e-01 -3.80454328e-01 3.06998099e-03 7.05090298e+01] [ 3.80452411e-01 -9.24799709e-01 -1.20870639e-03 -1.47914937e+02] [ 3.29897510e-03 5.01765058e-05 9.99994557e-01 -5.13350234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.01591077139732083 Centerline is valid? [True, True] Translation: X:70.27, Y:-148.53, Z:-4.12 [[-9.59678206e-01 2.81069929e-01 4.17559871e-03 7.02681663e+01] [ 2.81066901e-01 9.59687287e-01 -1.30713148e-03 -1.48531496e+02] [-4.37466436e-03 -8.08030095e-05 -9.99990428e-01 -4.11710205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.016553164321715243 Centerline is valid? [True, True] Translation: X:70.27, Y:-148.50, Z:-4.12 [[-9.77701558e-01 2.09917449e-01 5.85897188e-03 7.02705062e+01] [ 2.09912902e-01 9.77719105e-01 -1.38740197e-03 -1.48500425e+02] [-6.01966863e-03 -1.26591279e-04 -9.99981874e-01 -4.11588254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.016276659345738128 Centerline is valid? [True, True] Translation: X:70.42, Y:-147.87, Z:-5.14 [[-9.48550171e-01 -3.16506925e-01 8.71431493e-03 7.04176491e+01] [ 3.16497259e-01 -9.48590122e-01 -2.50318483e-03 -1.47869279e+02] [ 9.05858840e-03 3.83660384e-04 9.99958897e-01 -5.13672000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.016938655059347312 Centerline is valid? [True, True] Translation: X:70.23, Y:-148.49, Z:-4.11 [[-9.78484055e-01 2.06107895e-01 9.40688078e-03 7.02259330e+01] [ 2.06096342e-01 9.78529250e-01 -2.19198971e-03 -1.48487030e+02] [-9.65669438e-03 -2.06103260e-04 -9.99953352e-01 -4.11384791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.015708495730425227 Centerline is valid? [True, True] Translation: X:70.38, Y:-147.86, Z:-5.14 [[-9.51588912e-01 -3.07219104e-01 9.74496761e-03 7.03769822e+01] [ 3.07205631e-01 -9.51638777e-01 -2.88765609e-03 -1.47859917e+02] [ 1.01608322e-02 2.45847403e-04 9.99948347e-01 -5.13706716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.014574891051657463 Centerline is valid? [True, True] Translation: X:70.18, Y:-148.49, Z:-4.11 [[-9.77079690e-01 2.12652660e-01 9.70186760e-03 7.01838183e+01] [ 2.12641081e-01 9.77127850e-01 -2.22171333e-03 -1.48485073e+02] [-9.95241828e-03 -1.07775362e-04 -9.99950468e-01 -4.11467948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.013248460633575935 Centerline is valid? [True, True] Translation: X:70.34, Y:-147.84, Z:-5.13 [[-9.57062821e-01 -2.89742574e-01 8.94418620e-03 7.03420817e+01] [ 2.89730578e-01 -9.57104611e-01 -2.63739291e-03 -1.47840292e+02] [ 9.32468687e-03 6.72535404e-05 9.99956522e-01 -5.13395875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.01325777092770576 Centerline is valid? [True, True] Translation: X:70.15, Y:-148.49, Z:-4.12 [[-9.74786696e-01 2.22959596e-01 8.93955754e-03 7.01460582e+01] [ 2.22950519e-01 9.74827686e-01 -2.01208042e-03 -1.48490042e+02] [-9.16314083e-03 3.17297659e-05 -9.99958017e-01 -4.11891704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.013548291000435784 Centerline is valid? [True, True] Translation: X:70.30, Y:-147.82, Z:-5.13 [[-9.60689675e-01 -2.77469237e-01 9.28279991e-03 7.02973156e+01] [ 2.77456244e-01 -9.60734522e-01 -2.68519061e-03 -1.47824808e+02] [ 9.66336413e-03 -4.06409386e-06 9.99953309e-01 -5.13278430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.013800809126888459 Centerline is valid? [True, True] Translation: X:70.10, Y:-148.48, Z:-4.12 [[-9.74201499e-01 2.25407633e-01 1.10832733e-02 7.01009424e+01] [ 2.25394338e-01 9.74264536e-01 -2.45065083e-03 -1.48483404e+02] [-1.13504355e-02 1.10679320e-04 -9.99935576e-01 -4.11650138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.013712377901159045 Centerline is valid? [True, True] Translation: X:70.10, Y:-148.45, Z:-4.12 [[-9.87787885e-01 1.55272254e-01 1.28694053e-02 7.01037093e+01] [ 1.55260666e-01 9.87871709e-01 -1.90073536e-03 -1.48454406e+02] [-1.30084529e-02 1.20589082e-04 -9.99915379e-01 -4.11540400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.01351176291524126 Centerline is valid? [True, True] Translation: X:70.10, Y:-148.42, Z:-4.11 [[-9.96515851e-01 8.21511734e-02 1.43994067e-02 7.01004818e+01] [ 8.21439865e-02 9.96619875e-01 -1.09084900e-03 -1.48423630e+02] [-1.44403494e-02 9.57763515e-05 -9.99895728e-01 -4.11392805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.013292498133968204 Centerline is valid? [True, True] Translation: X:70.15, Y:-147.75, Z:-5.14 [[-9.90306371e-01 -1.38123115e-01 1.46729836e-02 7.01497647e+01] [ 1.38106868e-01 -9.90415064e-01 -2.11972895e-03 -1.47752383e+02] [ 1.48251275e-02 -7.27412790e-05 9.99890099e-01 -5.13749414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.012748408685064945 Centerline is valid? [True, True] Translation: X:70.05, Y:-148.41, Z:-4.12 [[-9.97280073e-01 7.25264204e-02 1.31291743e-02 7.00457240e+01] [ 7.25203204e-02 9.97366491e-01 -9.40729836e-04 -1.48414896e+02] [-1.31628263e-02 1.39608104e-05 -9.99913366e-01 -4.11597222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.012778389768603455 Centerline is valid? [True, True] Translation: X:70.04, Y:-148.39, Z:-4.12 [[-9.99939164e-01 -5.50258904e-04 1.10165813e-02 7.00419226e+01] [-5.50345526e-04 9.99999849e-01 -4.83127125e-06 -1.48386135e+02] [-1.10165769e-02 -1.08939035e-05 -9.99939316e-01 -4.11699929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.012674110128912187 Centerline is valid? [True, True] Translation: X:70.04, Y:-147.73, Z:-5.13 [[-9.97251858e-01 -7.36586125e-02 7.94612599e-03 7.00398144e+01] [ 7.36546449e-02 -9.97283494e-01 -7.91202760e-04 -1.47727797e+02] [ 7.98281919e-03 -2.03759334e-04 9.99968116e-01 -5.13114878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.013171274629286427 Centerline is valid? [True, True] Translation: X:69.97, Y:-148.38, Z:-4.12 [[-9.99875313e-01 -1.40287606e-02 7.24924393e-03 6.99746186e+01] [-1.40289269e-02 9.99901589e-01 2.79194278e-05 -1.48378824e+02] [-7.24892220e-03 -7.37831664e-05 -9.99973724e-01 -4.12013476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.014882504401230357 Centerline is valid? [True, True] Translation: X:69.97, Y:-147.74, Z:-5.13 [[-9.96689168e-01 -8.08976938e-02 8.14032517e-03 6.99727959e+01] [ 8.08962108e-02 -9.96722399e-01 -5.11816894e-04 -1.47740099e+02] [ 8.15504924e-03 1.48399107e-04 9.99966736e-01 -5.13264465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.015844392187879686 Centerline is valid? [True, True] Translation: X:69.91, Y:-148.37, Z:-4.12 [[-9.99531855e-01 -2.90785985e-02 9.51347149e-03 6.99131934e+01] [-2.90791904e-02 9.99577108e-01 7.61359089e-05 -1.48368083e+02] [-9.51166225e-03 -2.00543783e-04 -9.99954743e-01 -4.11708196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.016370872334315705 Centerline is valid? [True, True] Translation: X:69.91, Y:-148.34, Z:-4.12 [[-9.94691814e-01 -1.02223594e-01 1.17699708e-02 6.99086923e+01] [-1.02219703e-01 9.94761409e-01 9.33273640e-04 -1.48339273e+02] [-1.18037153e-02 -2.74803269e-04 -9.99930296e-01 -4.11509802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.016465280487218306 Centerline is valid? [True, True] Translation: X:69.90, Y:-148.31, Z:-4.11 [[-9.84899576e-01 -1.72656228e-01 1.27534809e-02 6.98958390e+01] [-1.72645688e-01 9.84982100e-01 1.93121561e-03 -1.48313341e+02] [-1.28953868e-02 -2.99780051e-04 -9.99916806e-01 -4.11376970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.014744662899288495 Centerline is valid? [True, True] Translation: X:69.89, Y:-148.29, Z:-4.12 [[-9.71177077e-01 -2.38096866e-01 1.11788463e-02 6.98882056e+01] [-2.38083638e-01 9.71241389e-01 2.51897577e-03 -1.48293248e+02] [-1.14571184e-02 -2.15128872e-04 -9.99934342e-01 -4.11522244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.014161803517338672 Centerline is valid? [True, True] Translation: X:69.87, Y:-148.27, Z:-4.12 [[-9.53361309e-01 -3.01694923e-01 9.07682570e-03 6.98718339e+01] [-3.01682508e-01 9.53404509e-01 2.73983629e-03 -1.48274605e+02] [-9.48048125e-03 -1.26265635e-04 -9.99955051e-01 -4.11553412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.01278467030895009 Centerline is valid? [True, True] Translation: X:69.85, Y:-148.26, Z:-4.12 [[-9.31377440e-01 -3.63988073e-01 6.98185276e-03 6.98469621e+01] [-3.63978286e-01 9.31403607e-01 2.66976225e-03 -1.48263409e+02] [-7.47468446e-03 -5.46864691e-05 -9.99972063e-01 -4.11746692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.012405197235023573 Centerline is valid? [True, True] Translation: X:69.80, Y:-148.27, Z:-4.12 [[-9.05777449e-01 -4.23721936e-01 5.18979355e-03 6.97983578e+01] [-4.23714949e-01 9.05792317e-01 2.43333624e-03 -1.48265500e+02] [-5.73193306e-03 5.06797960e-06 -9.99983572e-01 -4.11841745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.012833270128685605 Centerline is valid? [True, True] Translation: X:69.74, Y:-148.27, Z:-4.12 [[-8.74104887e-01 -4.85706186e-01 5.49065104e-03 6.97380658e+01] [-4.85696373e-01 8.74122131e-01 3.08762230e-03 -1.48271575e+02] [-6.29917684e-03 3.21164447e-05 -9.99980160e-01 -4.11661131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.012703220188999295 Centerline is valid? [True, True] Translation: X:69.66, Y:-148.28, Z:-4.12 [[-8.35663249e-01 -5.49205529e-01 6.34197352e-03 6.96643801e+01] [-5.49189363e-01 8.35687313e-01 4.21406276e-03 -1.48284342e+02] [-7.61429338e-03 3.85929853e-05 -9.99971010e-01 -4.11573398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.01256212494072234 Centerline is valid? [True, True] Translation: X:69.58, Y:-148.30, Z:-4.11 [[-7.90470281e-01 -6.12450125e-01 7.84723320e-03 6.95831656e+01] [-6.12419706e-01 7.90509231e-01 6.10400545e-03 -1.48304814e+02] [-9.94170918e-03 1.92346543e-05 -9.99950580e-01 -4.11380252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.012585973367392296 Centerline is valid? [True, True] Translation: X:69.50, Y:-148.34, Z:-4.11 [[-7.41435521e-01 -6.70978552e-01 7.81995755e-03 6.95009300e+01] [-6.70941157e-01 7.41476758e-01 7.08385087e-03 -1.48335397e+02] [-1.05514288e-02 5.48729609e-06 -9.99944332e-01 -4.11281446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.012596954873387092 Centerline is valid? [True, True] Translation: X:69.42, Y:-148.38, Z:-4.11 [[-6.88210278e-01 -7.25477596e-01 6.99083146e-03 6.94159915e+01] [-7.25440235e-01 6.88245783e-01 7.36255574e-03 -1.48377693e+02] [-1.01527795e-02 -4.44388346e-06 -9.99948459e-01 -4.11213231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.012458730358599549 Centerline is valid? [True, True] Translation: X:69.33, Y:-148.43, Z:-4.11 [[-6.31649006e-01 -7.75234323e-01 5.59261087e-03 6.93343521e+01] [-7.75203968e-01 6.31673764e-01 6.86035036e-03 -1.48426693e+02] [-8.85108463e-03 -2.08065686e-06 -9.99960828e-01 -4.11301617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.012329780361571212 Centerline is valid? [True, True] Translation: X:69.25, Y:-148.49, Z:-4.11 [[-5.71595422e-01 -8.20523349e-01 4.48416287e-03 6.92531656e+01] [-8.20498076e-01 5.71613010e-01 6.44002120e-03 -1.48488107e+02] [-7.84739360e-03 1.83962768e-06 -9.99969209e-01 -4.11478962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.012139424158759635 Centerline is valid? [True, True] Translation: X:69.18, Y:-148.56, Z:-4.12 [[-5.07355022e-01 -8.61731339e-01 3.15930633e-03 6.91750558e+01] [-8.61714647e-01 5.07364858e-01 5.36357271e-03 -1.48559332e+02] [-6.22487970e-03 -1.18498463e-06 -9.99980625e-01 -4.11687233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.012011418379908417 Centerline is valid? [True, True] Translation: X:69.10, Y:-148.64, Z:-4.12 [[-4.39787764e-01 -8.98098427e-01 2.43691319e-03 6.91016039e+01] [-8.98084697e-01 4.39794516e-01 4.96588016e-03 -1.48636740e+02] [-5.53159021e-03 -4.62111057e-06 -9.99984701e-01 -4.11829318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.012035206628742355 Centerline is valid? [True, True] Translation: X:69.03, Y:-148.73, Z:-4.12 [[-3.69726194e-01 -9.29138335e-01 2.12037233e-03 6.90306898e+01] [-9.29123162e-01 3.69732274e-01 5.30989782e-03 -1.48727953e+02] [-5.71759970e-03 -6.87873008e-06 -9.99983654e-01 -4.11761496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.012048855601784541 Centerline is valid? [True, True] Translation: X:68.97, Y:-148.82, Z:-4.12 [[-2.95660964e-01 -9.55290436e-01 2.18556497e-03 6.89669456e+01] [-9.55264945e-01 2.95669041e-01 6.97881450e-03 -1.48818567e+02] [-7.31299864e-03 -2.44305759e-05 -9.99973259e-01 -4.11757497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.012114475331314345 Centerline is valid? [True, True] Translation: X:68.91, Y:-148.91, Z:-4.12 [[-2.20073431e-01 -9.75481594e-01 1.82878542e-03 6.89108350e+01] [-9.75449511e-01 2.20081026e-01 7.91162561e-03 -1.48913349e+02] [-8.12012613e-03 -4.27492490e-05 -9.99967030e-01 -4.11733320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.012250876508892894 Centerline is valid? [True, True] Translation: X:68.86, Y:-149.02, Z:-4.12 [[-1.44221282e-01 -9.89544609e-01 1.29939772e-03 6.88608664e+01] [-9.89507596e-01 1.44227127e-01 8.55878511e-03 -1.49020151e+02] [-8.65670807e-03 -5.14049491e-05 -9.99962529e-01 -4.11706435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.012210176804712895 Centerline is valid? [True, True] Translation: X:68.82, Y:-149.13, Z:-4.12 [[-6.87384613e-02 -9.97634515e-01 6.31897633e-04 6.88211946e+01] [-9.97598166e-01 6.87413510e-02 8.51626337e-03 -1.49127879e+02] [-8.53955577e-03 -4.49850792e-05 -9.99963536e-01 -4.11688232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.012106739178781873 Centerline is valid? [True, True] Translation: X:68.79, Y:-149.24, Z:-4.12 [[ 6.11048379e-03 -9.99981331e-01 -2.42053175e-05 6.87909413e+01] [-9.99937834e-01 -6.11044376e-03 9.32691393e-03 -1.49242110e+02] [-9.32688771e-03 -3.27881436e-05 -9.99956503e-01 -4.11646475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.012055947991668562 Centerline is valid? [True, True] Translation: X:68.77, Y:-149.36, Z:-4.12 [[ 7.93723205e-02 -9.96844727e-01 -7.91072138e-04 6.87701932e+01] [-9.96795120e-01 -7.93762625e-02 9.94468873e-03 -1.49355794e+02] [-9.97610287e-03 -7.96174090e-07 -9.99950238e-01 -4.11542355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.012482453742984354 Centerline is valid? [True, True] Translation: X:68.76, Y:-149.47, Z:-4.11 [[ 1.52274116e-01 -9.88336908e-01 -1.65804278e-03 6.87588548e+01] [-9.88280775e-01 -1.52283139e-01 1.05335262e-02 -1.49470015e+02] [-1.06631647e-02 3.46284123e-05 -9.99943146e-01 -4.11374701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.012357222509783132 Centerline is valid? [True, True] Translation: X:68.75, Y:-149.59, Z:-4.12 [[ 2.25818725e-01 -9.74165894e-01 -2.59109246e-03 6.87548468e+01] [-9.74104653e-01 -2.25833583e-01 1.09233132e-02 -1.49588714e+02] [-1.12262749e-02 5.73065581e-05 -9.99936982e-01 -4.11505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.01261113445257052 Centerline is valid? [True, True] Translation: X:68.76, Y:-149.71, Z:-4.11 [[ 2.97683808e-01 -9.54658569e-01 -3.37152616e-03 6.87613609e+01] [-9.54600401e-01 -2.97702889e-01 1.05386853e-02 -1.49706679e+02] [-1.10645593e-02 8.12642589e-05 -9.99938783e-01 -4.11462065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.01303799457863754 Centerline is valid? [True, True] Translation: X:68.77, Y:-149.82, Z:-4.11 [[ 3.68609030e-01 -9.29574488e-01 -4.31913703e-03 6.87742696e+01] [-9.29513832e-01 -3.68634320e-01 1.06195414e-02 -1.49819327e+02] [-1.14638369e-02 1.00238761e-04 -9.99934283e-01 -4.11417448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.013323677326991003 Centerline is valid? [True, True] Translation: X:68.80, Y:-149.93, Z:-4.11 [[ 4.37230026e-01 -8.99334754e-01 -5.18689005e-03 6.87969198e+01] [-8.99274691e-01 -4.37260775e-01 1.03945036e-02 -1.49933290e+02] [-1.16161619e-02 1.19649866e-04 -9.99932523e-01 -4.11397256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.0136154318437894 Centerline is valid? [True, True] Translation: X:68.83, Y:-150.04, Z:-4.12 [[ 5.03847997e-01 -8.63774244e-01 -5.59023182e-03 6.88256638e+01] [-8.63723749e-01 -5.03878994e-01 9.34047925e-03 -1.50043701e+02] [-1.08848658e-02 1.22234221e-04 -9.99940751e-01 -4.11507517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.012634210226380409 Centerline is valid? [True, True] Translation: X:68.86, Y:-150.15, Z:-4.12 [[ 5.68527967e-01 -8.22641086e-01 -6.13151060e-03 6.88608222e+01] [-8.22595422e-01 -5.68561018e-01 8.66835814e-03 -1.50152790e+02] [-1.06170855e-02 1.15548525e-04 -9.99943631e-01 -4.11737749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.012279556513482873 Centerline is valid? [True, True] Translation: X:68.90, Y:-150.26, Z:-4.12 [[ 6.30885373e-01 -7.75844865e-01 -6.95639849e-03 6.88998469e+01] [-7.75799424e-01 -6.30923717e-01 8.39744933e-03 -1.50255444e+02] [-1.09040747e-02 9.89419886e-05 -9.99940544e-01 -4.11710785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.012066814921016713 Centerline is valid? [True, True] Translation: X:68.95, Y:-150.36, Z:-4.12 [[ 6.89368883e-01 -7.24374110e-01 -7.25883408e-03 6.89493212e+01] [-7.24335098e-01 -6.89407095e-01 7.51824058e-03 -1.50355795e+02] [-1.04503105e-02 7.49871775e-05 -9.99945391e-01 -4.11677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.011561232659381087 Centerline is valid? [True, True] Translation: X:69.00, Y:-150.45, Z:-4.12 [[ 7.44881637e-01 -6.67161285e-01 -6.86778876e-03 6.89985138e+01] [-6.67133298e-01 -7.44913296e-01 6.11103870e-03 -1.50448264e+02] [-9.19295559e-03 2.97300502e-05 -9.99957744e-01 -4.11767828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.011399268159642924 Centerline is valid? [True, True] Translation: X:69.02, Y:-150.48, Z:-4.12 [[ 7.97004217e-01 -6.03924408e-01 -7.71934469e-03 6.90177369e+01] [-6.03896026e-01 -7.97041598e-01 5.85500004e-03 -1.50481199e+02] [-9.68861626e-03 -4.77814140e-06 -9.99953064e-01 -4.11728732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.011839153126315304 Centerline is valid? [True, True] Translation: X:69.04, Y:-150.51, Z:-4.11 [[ 8.45819024e-01 -5.33376217e-01 -9.99951084e-03 6.90386263e+01] [-5.33337606e-01 -8.45878125e-01 6.41845730e-03 -1.50514812e+02] [-1.18818200e-02 -9.57381179e-05 -9.99929404e-01 -4.11497380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.012936044748965253 Centerline is valid? [True, True] Translation: X:69.06, Y:-150.54, Z:-4.11 [[ 8.87411345e-01 -4.60833252e-01 -1.15679866e-02 6.90631389e+01] [-4.60791506e-01 -8.87486723e-01 6.20524827e-03 -1.50542886e+02] [-1.31260192e-02 -1.76177766e-04 -9.99913835e-01 -4.11261441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.014464558893154317 Centerline is valid? [True, True] Translation: X:69.09, Y:-150.57, Z:-4.11 [[ 9.22528184e-01 -3.85738197e-01 -1.21570038e-02 6.90924348e+01] [-3.85701259e-01 -9.22608252e-01 5.34349244e-03 -1.50565296e+02] [-1.32773411e-02 -2.40550711e-04 -9.99911823e-01 -4.11198136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.014631223476346138 Centerline is valid? [True, True] Translation: X:69.13, Y:-150.58, Z:-4.11 [[ 9.49785062e-01 -3.12640153e-01 -1.28246228e-02 6.91267596e+01] [-3.12608191e-01 -9.49871610e-01 4.47702649e-03 -1.50580095e+02] [-1.35814433e-02 -2.43130766e-04 -9.99907738e-01 -4.11232043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.014148146446590489 Centerline is valid? [True, True] Translation: X:69.16, Y:-150.59, Z:-4.11 [[ 9.70862885e-01 -2.39256155e-01 -1.34814720e-02 6.91628270e+01] [-2.39229892e-01 -9.70956458e-01 3.55192513e-03 -1.50589884e+02] [-1.39397423e-02 -2.23261180e-04 -9.99902812e-01 -4.11209927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.013448881201517307 Centerline is valid? [True, True] Translation: X:69.20, Y:-150.59, Z:-4.11 [[ 9.85963757e-01 -1.66352506e-01 -1.42237200e-02 6.91987826e+01] [-1.66332606e-01 -9.86066333e-01 2.57912376e-03 -1.50592271e+02] [-1.44545751e-02 -1.77054137e-04 -9.99895512e-01 -4.11190161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.012699556966762197 Centerline is valid? [True, True] Translation: X:69.23, Y:-150.59, Z:-4.11 [[ 9.95699396e-01 -9.13817307e-02 -1.52345455e-02 6.92340739e+01] [-9.13687894e-02 -9.95815926e-01 1.54479565e-03 -1.50593278e+02] [-1.53119691e-02 -1.46190118e-04 -9.99882754e-01 -4.11180466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.012384507267093938 Centerline is valid? [True, True] Translation: X:69.27, Y:-150.59, Z:-4.11 [[ 9.99756076e-01 -1.54009120e-02 -1.58303500e-02 6.92664374e+01] [-1.53971474e-02 -9.99881392e-01 3.59663142e-04 -1.50590565e+02] [-1.58340115e-02 -1.15833179e-04 -9.99874628e-01 -4.11100777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.011856992303143802 Centerline is valid? [True, True] Translation: X:69.30, Y:-150.59, Z:-4.11 [[ 9.97849731e-01 6.35530028e-02 -1.60290410e-02 6.92990613e+01] [ 6.35468636e-02 -9.97978456e-01 -8.92563603e-04 -1.50593622e+02] [-1.60533627e-02 -1.27950929e-04 -9.99871128e-01 -4.11362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.012432623789264975 Centerline is valid? [True, True] Translation: X:69.33, Y:-150.60, Z:-4.11 [[ 9.89373015e-01 1.44582442e-01 -1.53933288e-02 6.93302919e+01] [ 1.44567660e-01 -9.89492743e-01 -2.07459316e-03 -1.50597375e+02] [-1.55315368e-02 -1.72831035e-04 -9.99879364e-01 -4.11386859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.013522104170102456 Centerline is valid? [True, True] Translation: X:69.36, Y:-150.60, Z:-4.11 [[ 9.74097346e-01 2.25649754e-01 -1.47156247e-02 6.93616172e+01] [ 2.25627571e-01 -9.74208466e-01 -3.17230126e-03 -1.50597278e+02] [-1.50519152e-02 -2.30120419e-04 -9.99886687e-01 -4.11430658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.012882162169935613 Centerline is valid? [True, True] Translation: X:69.39, Y:-150.59, Z:-4.12 [[ 9.53176243e-01 3.02046600e-01 -1.49298476e-02 6.93941697e+01] [ 3.02013679e-01 -9.53293128e-01 -4.46648575e-03 -1.50593673e+02] [-1.55816080e-02 -2.51670112e-04 -9.99878568e-01 -4.11552680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.013592434720029927 Centerline is valid? [True, True] Translation: X:69.42, Y:-150.59, Z:-4.11 [[ 9.27145290e-01 3.74406738e-01 -1.48729717e-02 6.94248948e+01] [ 3.74362620e-01 -9.27264547e-01 -5.75228547e-03 -1.50588913e+02] [-1.59448738e-02 -2.34680293e-04 -9.99872845e-01 -4.11306036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.011477537041763738 Centerline is valid? [True, True] Translation: X:69.45, Y:-150.58, Z:-4.12 [[ 8.97820213e-01 4.40148981e-01 -1.37017816e-02 6.94529667e+01] [ 4.40099879e-01 -8.97924751e-01 -6.57559678e-03 -1.50575370e+02] [-1.51974111e-02 -1.26448735e-04 -9.99884505e-01 -4.11587574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.011402473537633125 Centerline is valid? [True, True] Translation: X:69.48, Y:-150.56, Z:-4.12 [[ 8.62157613e-01 5.06490835e-01 -1.22998012e-02 6.94811703e+01] [ 5.06440542e-01 -8.62245341e-01 -7.13785760e-03 -1.50563999e+02] [-1.42207057e-02 -7.51597005e-05 -9.99898878e-01 -4.11572023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.011331151027421745 Centerline is valid? [True, True] Translation: X:69.50, Y:-150.54, Z:-4.12 [[ 8.25348621e-01 5.64554279e-01 -8.83851628e-03 6.95015725e+01] [ 5.64521310e-01 -8.25395944e-01 -6.10133672e-03 -1.50540749e+02] [-1.07398112e-02 4.61990583e-05 -9.99942326e-01 -4.11880078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.011956081862465844 Centerline is valid? [True, True] Translation: X:69.52, Y:-150.52, Z:-4.12 [[ 7.81999789e-01 6.23242905e-01 -6.67918513e-03 6.95248221e+01] [ 6.23219261e-01 -7.82028308e-01 -5.42942494e-03 -1.50522081e+02] [-8.60716242e-03 8.32123331e-05 -9.99962954e-01 -4.12080821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.012387110262372651 Centerline is valid? [True, True] Translation: X:69.55, Y:-150.51, Z:-4.12 [[ 7.33040804e-01 6.80162653e-01 -5.47225978e-03 6.95510707e+01] [ 6.80142697e-01 -7.33061222e-01 -5.21116487e-03 -1.50507127e+02] [-7.55594117e-03 9.80789642e-05 -9.99971449e-01 -4.12155526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.012471770160958956 Centerline is valid? [True, True] Translation: X:69.58, Y:-150.49, Z:-4.12 [[ 6.76495092e-01 7.36428077e-01 -5.29879162e-03 6.95761313e+01] [ 7.36404417e-01 -6.76515838e-01 -5.90384720e-03 -1.50491586e+02] [-7.93247529e-03 9.18701015e-05 -9.99968533e-01 -4.12028769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.012091553255860837 Centerline is valid? [True, True] Translation: X:69.60, Y:-150.47, Z:-4.12 [[ 6.13811549e-01 7.89436849e-01 -4.98441750e-03 6.96009160e+01] [ 7.89409964e-01 -6.13831783e-01 -6.51548890e-03 -1.50473786e+02] [-8.20316091e-03 6.45334948e-05 -9.99966352e-01 -4.11919536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.01142362760025249 Centerline is valid? [True, True] Translation: X:69.63, Y:-150.46, Z:-4.12 [[ 5.44252209e-01 8.38910087e-01 -4.40431047e-03 6.96278282e+01] [ 8.38882515e-01 -5.44270030e-01 -6.80157611e-03 -1.50456316e+02] [-8.10304500e-03 7.07378165e-06 -9.99967170e-01 -4.11957650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.011415029016008433 Centerline is valid? [True, True] Translation: X:69.65, Y:-150.44, Z:-4.12 [[ 4.73232518e-01 8.80931880e-01 -3.16316546e-03 6.96526799e+01] [ 8.80912511e-01 -4.73243089e-01 -5.84179601e-03 -1.50436090e+02] [-6.64317054e-03 -2.19441860e-05 -9.99977934e-01 -4.12072704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.011597492788645506 Centerline is valid? [True, True] Translation: X:69.68, Y:-150.41, Z:-4.12 [[ 4.00255993e-01 9.16400535e-01 -2.28028806e-03 6.96756193e+01] [ 9.16386145e-01 -4.00262487e-01 -5.13560160e-03 -1.50413802e+02] [-5.61898182e-03 -3.40690647e-05 -9.99984213e-01 -4.12140659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.011646284460704261 Centerline is valid? [True, True] Translation: X:69.70, Y:-150.39, Z:-4.12 [[ 3.26610399e-01 9.45158262e-01 -1.22752665e-03 6.96960219e+01] [ 9.45151872e-01 -3.26612704e-01 -3.47572714e-03 -1.50389270e+02] [-3.68603803e-03 -2.49904858e-05 -9.99993206e-01 -4.12068655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.011575884204655232 Centerline is valid? [True, True] Translation: X:69.71, Y:-150.36, Z:-4.12 [[ 2.52438345e-01 9.67612800e-01 -5.93593879e-04 6.97141313e+01] [ 9.67610250e-01 -2.52439042e-01 -2.22117654e-03 -1.50363835e+02] [-2.29908512e-03 -1.36573916e-05 -9.99997357e-01 -4.12130693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.011673479839222196 Centerline is valid? [True, True] Translation: X:69.73, Y:-150.34, Z:-4.12 [[ 1.76285703e-01 9.84339006e-01 -2.67916733e-04 6.97287876e+01] [ 9.84337939e-01 -1.76285906e-01 -1.44969356e-03 -1.50337749e+02] [-1.47421986e-03 -8.16035706e-06 -9.99998913e-01 -4.12198436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.011791422334218902 Centerline is valid? [True, True] Translation: X:69.74, Y:-150.31, Z:-4.12 [[ 9.73065653e-02 9.95254397e-01 -3.44435352e-04 6.97432881e+01] [ 9.95248954e-01 -9.73071723e-02 -3.29146121e-03 -1.50309387e+02] [-3.30935727e-03 -2.25181388e-05 -9.99994524e-01 -4.11936556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.012092834203205016 Centerline is valid? [True, True] Translation: X:69.75, Y:-150.28, Z:-4.12 [[ 1.70527589e-02 9.99854581e-01 -1.44140218e-04 6.97543074e+01] [ 9.99839033e-01 -1.70532976e-02 -5.57605507e-03 -1.50279951e+02] [-5.57770227e-03 -4.90298936e-05 -9.99984443e-01 -4.11631982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.012837773172878375 Centerline is valid? [True, True] Translation: X:69.76, Y:-150.25, Z:-4.11 [[-6.38919418e-02 9.97956750e-01 3.80348432e-04 6.97619400e+01] [ 9.97930543e-01 6.38930206e-02 -7.23282736e-03 -1.50250180e+02] [-7.24235050e-03 -8.25580676e-05 -9.99973771e-01 -4.11305134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.01310294964935113 Centerline is valid? [True, True] Translation: X:69.76, Y:-150.22, Z:-4.11 [[-1.42178793e-01 9.89840526e-01 9.60989111e-04 6.97628265e+01] [ 9.89813620e-01 1.42182014e-01 -7.29885787e-03 -1.50220618e+02] [-7.36134068e-03 -8.65426914e-05 -9.99972901e-01 -4.11253642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.012684158119982619 Centerline is valid? [True, True] Translation: X:69.76, Y:-150.19, Z:-4.11 [[-2.19434951e-01 9.75626054e-01 1.45064448e-03 6.97638347e+01] [ 9.75602162e-01 2.19439730e-01 -6.82829132e-03 -1.50189610e+02] [-6.98018795e-03 -8.31138803e-05 -9.99975635e-01 -4.11372790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.012716086295746817 Centerline is valid? [True, True] Translation: X:69.76, Y:-150.16, Z:-4.12 [[-2.94142757e-01 9.55760370e-01 1.46777255e-03 6.97609619e+01] [ 9.55747505e-01 2.94146414e-01 -4.95927701e-03 -1.50159802e+02] [-5.17162046e-03 -5.59154583e-05 -9.99986626e-01 -4.11535003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.012992723246736003 Centerline is valid? [True, True] Translation: X:69.76, Y:-150.13, Z:-4.12 [[-3.67766419e-01 9.29916968e-01 1.51426962e-03 6.97567524e+01] [ 9.29908587e-01 3.67769534e-01 -3.94850726e-03 -1.50130986e+02] [-4.22868613e-03 -4.39960483e-05 -9.99991058e-01 -4.11574335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.012770026787112448 Centerline is valid? [True, True] Translation: X:69.75, Y:-150.10, Z:-4.12 [[-4.39215080e-01 8.98379591e-01 2.05543740e-03 6.97497815e+01] [ 8.98369232e-01 4.39219886e-01 -4.31443621e-03 -1.50101360e+02] [-4.77879042e-03 -4.84237256e-05 -9.99988580e-01 -4.11524484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.013120591198551737 Centerline is valid? [True, True] Translation: X:69.74, Y:-150.07, Z:-4.11 [[-5.08070033e-01 8.61310893e-01 2.89605637e-03 6.97411940e+01] [ 8.61296249e-01 5.08078283e-01 -5.02293107e-03 -1.50073553e+02] [-5.79772859e-03 -5.76382625e-05 -9.99983191e-01 -4.11368802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.012716113638751995 Centerline is valid? [True, True] Translation: X:69.73, Y:-150.05, Z:-4.11 [[-5.73202609e-01 8.19407267e-01 3.24023983e-03 6.97290946e+01] [ 8.19393663e-01 5.73211765e-01 -4.72196169e-03 -1.50045977e+02] [-5.72655332e-03 -5.16087738e-05 -9.99983602e-01 -4.11388222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.012577460958353685 Centerline is valid? [True, True] Translation: X:69.71, Y:-150.02, Z:-4.11 [[-6.33564104e-01 7.73685005e-01 2.83541568e-03 6.97143356e+01] [ 7.73677053e-01 6.33570448e-01 -3.50782087e-03 -1.50019753e+02] [-4.51038399e-03 -2.87333356e-05 -9.99989828e-01 -4.11370307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.012528752220487585 Centerline is valid? [True, True] Translation: X:69.70, Y:-150.00, Z:-4.11 [[-6.90586728e-01 7.23242875e-01 3.11676594e-03 6.96967682e+01] [ 7.23235388e-01 6.90593761e-01 -3.29100659e-03 -1.49996505e+02] [-4.53261618e-03 -1.85700477e-05 -9.99989728e-01 -4.11381663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.01241548675010387 Centerline is valid? [True, True] Translation: X:69.67, Y:-149.98, Z:-4.11 [[-7.43243499e-01 6.69015125e-01 2.80414847e-03 6.96743232e+01] [ 6.69010339e-01 7.43248789e-01 -2.53068053e-03 -1.49977892e+02] [-3.77724351e-03 -4.90753552e-06 -9.99992866e-01 -4.11425345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.01251278388253784 Centerline is valid? [True, True] Translation: X:69.69, Y:-149.96, Z:-4.11 [[-7.86635994e-01 6.17412243e-01 2.43648221e-03 6.96931361e+01] [ 6.17409306e-01 7.86639767e-01 -1.90430086e-03 -1.49963653e+02] [-3.09237246e-03 6.31519014e-06 -9.99995219e-01 -4.11467320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.012846632183455282 Centerline is valid? [True, True] Translation: X:69.71, Y:-149.94, Z:-4.11 [[-8.27111535e-01 5.62031945e-01 2.56916963e-03 6.97092377e+01] [ 5.62029284e-01 8.27115525e-01 -1.72964880e-03 -1.49944770e+02] [-3.09711797e-03 1.33360934e-05 -9.99995204e-01 -4.11496267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.013172068236353899 Centerline is valid? [True, True] Translation: X:69.72, Y:-149.92, Z:-4.11 [[-8.63908838e-01 5.03640545e-01 2.77866527e-03 6.97220258e+01] [ 5.03638013e-01 8.63913306e-01 -1.59713549e-03 -1.49923549e+02] [-3.20490809e-03 1.96619874e-05 -9.99994864e-01 -4.11453561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.013356139374303981 Centerline is valid? [True, True] Translation: X:69.74, Y:-149.90, Z:-4.11 [[-8.96778436e-01 4.42460329e-01 4.15853211e-03 6.97368810e+01] [ 4.42455752e-01 8.96788077e-01 -2.01293070e-03 -1.49901639e+02] [-4.61996399e-03 3.48136048e-05 -9.99989327e-01 -4.11450656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.013425229182063292 Centerline is valid? [True, True] Translation: X:69.75, Y:-149.88, Z:-4.12 [[-9.26037038e-01 3.77408847e-01 4.23874438e-03 6.97489064e+01] [ 3.77405053e-01 9.26046738e-01 -1.69248566e-03 -1.49876814e+02] [-4.56403447e-03 3.24191423e-05 -9.99989584e-01 -4.11506105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.013215895139441668 Centerline is valid? [True, True] Translation: X:70.00, Y:-149.24, Z:-5.13 [[-9.03515982e-01 -4.28549368e-01 2.07594667e-03 7.00039038e+01] [ 4.28547831e-01 -9.03518353e-01 -1.15840850e-03 -1.49243189e+02] [ 2.37209115e-03 -1.56998152e-04 9.99997174e-01 -5.13486198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.012933316962152797 Centerline is valid? [True, True] Translation: X:69.70, Y:-149.85, Z:-4.12 [[-9.29914238e-01 3.67771933e-01 1.82083672e-03 6.97030955e+01] [ 3.67771231e-01 9.29916021e-01 -7.18631033e-04 -1.49853793e+02] [-1.95751756e-03 1.38613369e-06 -9.99998084e-01 -4.11626983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.01295457834934243 Centerline is valid? [True, True] Translation: X:69.71, Y:-149.83, Z:-4.12 [[-9.54341906e-01 2.98711713e-01 1.68499722e-03 6.97121597e+01] [ 2.98711242e-01 9.54343394e-01 -5.30480293e-04 -1.49826284e+02] [-1.76652664e-03 -2.93196268e-06 -9.99998440e-01 -4.11609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.013423559551644208 Centerline is valid? [True, True] Translation: X:69.71, Y:-149.79, Z:-4.12 [[-9.74463082e-01 2.24540115e-01 1.85439999e-03 6.97115370e+01] [ 2.24539680e-01 9.74464846e-01 -4.42153736e-04 -1.49794597e+02] [-1.90632885e-03 -1.44761115e-05 -9.99998183e-01 -4.11565860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.0149629541002996 Centerline is valid? [True, True] Translation: X:69.72, Y:-149.76, Z:-4.11 [[-9.89275966e-01 1.46035065e-01 2.61218811e-03 6.97157625e+01] [ 1.46034438e-01 9.89279414e-01 -4.30149893e-04 -1.49761265e+02] [-2.64700089e-03 -4.40675290e-05 -9.99996496e-01 -4.11426133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.016553438909771453 Centerline is valid? [True, True] Translation: X:69.71, Y:-149.73, Z:-4.11 [[-9.97548916e-01 6.98941684e-02 3.31128099e-03 6.97118563e+01] [ 6.98935359e-02 9.97554409e-01 -3.06518207e-04 -1.49729394e+02] [-3.32460679e-03 -7.43297685e-05 -9.99994471e-01 -4.11291150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.017316694597706017 Centerline is valid? [True, True] Translation: X:69.77, Y:-149.09, Z:-5.14 [[-9.82592320e-01 -1.85725414e-01 4.28992794e-03 6.97709037e+01] [ 1.85724379e-01 -9.82601671e-01 -6.41921565e-04 -1.49091970e+02] [ 4.33451151e-03 1.65997004e-04 9.99990592e-01 -5.13911015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.01931133047776688 Centerline is valid? [True, True] Translation: X:69.66, Y:-149.72, Z:-4.11 [[-9.98226463e-01 5.93036254e-02 5.19706868e-03 6.96591757e+01] [ 5.93020286e-02 9.98239980e-01 -4.60953113e-04 -1.49716935e+02] [-5.21525793e-03 -1.51938880e-04 -9.99986389e-01 -4.10991483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.01814427189405162 Centerline is valid? [True, True] Translation: X:69.66, Y:-149.69, Z:-4.11 [[-9.99937419e-01 -1.02263311e-02 4.53647251e-03 6.96585199e+01] [-1.02267957e-02 9.99947702e-01 -7.92138019e-05 -1.49691582e+02] [-4.53542520e-03 -1.25602422e-04 -9.99989707e-01 -4.10953653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.01758862258875301 Centerline is valid? [True, True] Translation: X:69.64, Y:-149.67, Z:-4.11 [[-9.96914982e-01 -7.84493957e-02 2.49218991e-03 6.96387510e+01] [-7.84493060e-02 9.96918095e-01 1.33910603e-04 -1.49667063e+02] [-2.49501442e-03 -6.20130821e-05 -9.99996886e-01 -4.11096935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.01538784640393406 Centerline is valid? [True, True] Translation: X:69.65, Y:-149.64, Z:-4.11 [[-9.89374442e-01 -1.45388649e-01 5.95348442e-04 6.96518492e+01] [-1.45388631e-01 9.89374621e-01 7.49909898e-05 -1.49644867e+02] [-5.99925478e-04 -1.23627261e-05 -9.99999820e-01 -4.11274729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.01473750354624189 Centerline is valid? [True, True] Translation: X:69.57, Y:-149.00, Z:-5.14 [[-9.99192461e-01 4.01757125e-02 -5.81711574e-04 6.95748561e+01] [-4.01756552e-02 -9.99192626e-01 -1.09893526e-04 -1.49002867e+02] [-5.85656966e-04 -8.64341395e-05 9.99999825e-01 -5.13735885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.014228318099028517 Centerline is valid? [True, True] Translation: X:69.58, Y:-149.66, Z:-4.11 [[-9.89867089e-01 -1.41995548e-01 6.40019470e-04 6.95775698e+01] [-1.41995523e-01 9.89867296e-01 8.44427114e-05 -1.49659590e+02] [-6.45524831e-04 -7.29283843e-06 -9.99999792e-01 -4.11244580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.013573691937248528 Centerline is valid? [True, True] Translation: X:69.57, Y:-149.64, Z:-4.11 [[-9.77726017e-01 -2.09864458e-01 2.95713502e-03 6.95668011e+01] [-2.09863590e-01 9.77730489e-01 6.04226050e-04 -1.49636050e+02] [-3.01808664e-03 -2.98274428e-05 -9.99995445e-01 -4.10969087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.013556202325365287 Centerline is valid? [True, True] Translation: X:69.55, Y:-149.61, Z:-4.11 [[-9.60612702e-01 -2.77827758e-01 5.91384125e-03 6.95507103e+01] [-2.77822832e-01 9.60630904e-01 1.65535029e-03 -1.49612431e+02] [-6.14092093e-03 -5.28496097e-05 -9.99981143e-01 -4.10671267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.01315888394016609 Centerline is valid? [True, True] Translation: X:69.52, Y:-149.59, Z:-4.10 [[-9.38817411e-01 -3.44289420e-01 9.30941544e-03 6.95219992e+01] [-3.44273185e-01 9.38863564e-01 3.34410827e-03 -1.49593767e+02] [-9.89161205e-03 -6.54750377e-05 -9.99951075e-01 -4.10382730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.01303941631591438 Centerline is valid? [True, True] Translation: X:69.48, Y:-149.58, Z:-4.10 [[-9.11862812e-01 -4.10400544e-01 8.80942245e-03 6.94765987e+01] [-4.10381954e-01 9.11905363e-01 3.90655967e-03 -1.49581792e+02] [-9.63661379e-03 -5.29815114e-05 -9.99953565e-01 -4.10454110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.012925768596815145 Centerline is valid? [True, True] Translation: X:69.41, Y:-149.58, Z:-4.11 [[-8.79679657e-01 -4.75512969e-01 7.14965588e-03 6.94111057e+01] [-4.75497624e-01 8.79708710e-01 3.82027893e-03 -1.49583385e+02] [-8.10620673e-03 -3.90227257e-05 -9.99967143e-01 -4.10647748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.01291709950374662 Centerline is valid? [True, True] Translation: X:69.35, Y:-149.59, Z:-4.11 [[-8.42551780e-01 -5.38585920e-01 5.63066538e-03 6.93506758e+01] [-5.38574101e-01 8.42570594e-01 3.56826421e-03 -1.49586538e+02] [-6.66604994e-03 -2.60831838e-05 -9.99977781e-01 -4.10760499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.013055877634573939 Centerline is valid? [True, True] Translation: X:69.28, Y:-149.60, Z:-4.11 [[-8.00332916e-01 -5.99544634e-01 3.66811834e-03 6.92768273e+01] [-5.99538435e-01 8.00341322e-01 2.72641365e-03 -1.49601699e+02] [-4.57035335e-03 -1.71393476e-05 -9.99989556e-01 -4.10805224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.013144780411536714 Centerline is valid? [True, True] Translation: X:69.20, Y:-149.63, Z:-4.11 [[-7.52506571e-01 -6.58576495e-01 3.29560398e-03 6.91973396e+01] [-6.58570309e-01 7.52513787e-01 2.85467699e-03 -1.49627945e+02] [-4.36001059e-03 -2.22237403e-05 -9.99990495e-01 -4.10784710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.013504198646644046 Centerline is valid? [True, True] Translation: X:69.11, Y:-149.66, Z:-4.11 [[-6.99067841e-01 -7.15047876e-01 3.26942041e-03 6.91141012e+01] [-7.15040303e-01 6.99075486e-01 3.29103496e-03 -1.49662804e+02] [-4.63881921e-03 -3.71106515e-05 -9.99989240e-01 -4.10686040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.014044892102193701 Centerline is valid? [True, True] Translation: X:69.03, Y:-149.71, Z:-4.11 [[-6.40146788e-01 -7.68246509e-01 3.06451076e-03 6.90292352e+01] [-7.68238134e-01 6.40154120e-01 3.58761396e-03 -1.49709953e+02] [-4.71793109e-03 -5.76744810e-05 -9.99988869e-01 -4.10689489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.015641863084369077 Centerline is valid? [True, True] Translation: X:68.95, Y:-149.76, Z:-4.11 [[-5.75552235e-01 -8.17757677e-01 3.46515327e-03 6.89458377e+01] [-8.17743962e-01 5.75562656e-01 4.73726692e-03 -1.49761757e+02] [-5.86834921e-03 -1.07063599e-04 -9.99982775e-01 -4.10585934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.01575318145735513 Centerline is valid? [True, True] Translation: X:68.87, Y:-149.83, Z:-4.11 [[-5.10916110e-01 -8.59625816e-01 2.86098625e-03 6.88683650e+01] [-8.59613492e-01 5.10924109e-01 4.60433265e-03 -1.49825276e+02] [-5.41975006e-03 -1.06914657e-04 -9.99985307e-01 -4.10563674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.015831972563338407 Centerline is valid? [True, True] Translation: X:68.79, Y:-149.90, Z:-4.11 [[-4.45142909e-01 -8.95456730e-01 2.24407677e-03 6.87948492e+01] [-8.95446367e-01 4.45148556e-01 4.30884910e-03 -1.49896599e+02] [-4.85733546e-03 -9.13967720e-05 -9.99988199e-01 -4.10504395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.014004319799035304 Centerline is valid? [True, True] Translation: X:68.73, Y:-149.98, Z:-4.11 [[-3.81491262e-01 -9.24371553e-01 1.28405828e-03 6.87316390e+01] [-9.24366675e-01 3.81493421e-01 3.00343455e-03 -1.49980845e+02] [-3.26614925e-03 -4.11566416e-05 -9.99994665e-01 -4.10615625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.01320266456158934 Centerline is valid? [True, True] Translation: X:68.67, Y:-150.07, Z:-4.11 [[-3.15593955e-01 -9.48894073e-01 7.03347759e-04 6.86738943e+01] [-9.48891816e-01 3.15594738e-01 2.06970229e-03 -1.50068776e+02] [-2.18590109e-03 -1.42154002e-05 -9.99997611e-01 -4.10654289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.012850603168760138 Centerline is valid? [True, True] Translation: X:68.62, Y:-150.16, Z:-4.11 [[-2.48362059e-01 -9.68667184e-01 4.18455955e-04 6.86233274e+01] [-9.68665814e-01 2.48362411e-01 1.62877005e-03 -1.50159191e+02] [-1.68166483e-03 -8.19295316e-07 -9.99998586e-01 -4.10609832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.013013107266570437 Centerline is valid? [True, True] Translation: X:68.58, Y:-150.26, Z:-4.10 [[-1.79389254e-01 -9.83777925e-01 6.99376940e-04 6.85769100e+01] [-9.83769987e-01 1.79390616e-01 3.95203249e-03 -1.50260305e+02] [-4.01338398e-03 2.09261170e-05 -9.99991946e-01 -4.10300386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.013401425663382108 Centerline is valid? [True, True] Translation: X:68.54, Y:-150.37, Z:-4.10 [[-1.05559120e-01 -9.94412849e-01 5.97803372e-04 6.85365158e+01] [-9.94394458e-01 1.05560804e-01 6.04801835e-03 -1.50368087e+02] [-6.07733177e-03 4.39711377e-05 -9.99981532e-01 -4.10062112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.013965810320798997 Centerline is valid? [True, True] Translation: X:68.50, Y:-150.48, Z:-4.10 [[-3.15032212e-02 -9.99503629e-01 2.09193455e-04 6.85041467e+01] [-9.99457902e-01 3.15037810e-02 9.56103145e-03 -1.50480674e+02] [-9.56287601e-03 9.21232372e-05 -9.99954270e-01 -4.09718700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.013908861929687147 Centerline is valid? [True, True] Translation: X:68.48, Y:-150.60, Z:-4.10 [[ 4.42078896e-02 -9.99022170e-01 -6.05188901e-04 6.84781246e+01] [-9.98961270e-01 -4.42118773e-02 1.10314077e-02 -1.50597791e+02] [-1.10473774e-02 1.16885019e-04 -9.99938969e-01 -4.09623910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.014086752372215176 Centerline is valid? [True, True] Translation: X:68.46, Y:-150.71, Z:-4.10 [[ 1.20266403e-01 -9.92740546e-01 -1.48376436e-03 6.84620586e+01] [-9.92677174e-01 -1.20275492e-01 1.12176024e-02 -1.50714534e+02] [-1.13146293e-02 1.23798315e-04 -9.99935980e-01 -4.09569915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.014153877082684653 Centerline is valid? [True, True] Translation: X:68.46, Y:-150.83, Z:-4.10 [[ 1.95648000e-01 -9.80671876e-01 -2.12881157e-03 6.84551810e+01] [-9.80620057e-01 -1.95659548e-01 1.00819272e-02 -1.50831018e+02] [-1.03035847e-02 1.15046433e-04 -9.99946910e-01 -4.09657075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.014134720381661626 Centerline is valid? [True, True] Translation: X:68.46, Y:-150.95, Z:-4.10 [[ 2.70905460e-01 -9.62603047e-01 -2.36757357e-03 6.84572584e+01] [-9.62569074e-01 -2.70915791e-01 8.08775887e-03 -1.50950176e+02] [-8.42671440e-03 8.79350578e-05 -9.99964491e-01 -4.09785381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.013597512692925999 Centerline is valid? [True, True] Translation: X:68.47, Y:-151.07, Z:-4.10 [[ 3.46159120e-01 -9.38173274e-01 -2.18427776e-03 6.84651175e+01] [-9.38155473e-01 -3.46166008e-01 5.77953008e-03 -1.51068233e+02] [-6.17832338e-03 4.85550930e-05 -9.99980913e-01 -4.09954348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.013316394625177228 Centerline is valid? [True, True] Translation: X:68.48, Y:-151.19, Z:-4.10 [[ 4.19559064e-01 -9.07724858e-01 -2.40297330e-03 6.84830181e+01] [-9.07710344e-01 -4.19565944e-01 5.13330253e-03 -1.51187495e+02] [-5.66783207e-03 2.74801154e-05 -9.99983937e-01 -4.09992586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.012958156990943638 Centerline is valid? [True, True] Translation: X:68.50, Y:-151.30, Z:-4.10 [[ 4.92334651e-01 -8.70402095e-01 -2.60482885e-03 6.85025913e+01] [-8.70389885e-01 -4.92341542e-01 4.61025871e-03 -1.51298429e+02] [-5.29524429e-03 -2.57343110e-06 -9.99985980e-01 -4.09971206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.013048839093423 Centerline is valid? [True, True] Translation: X:68.53, Y:-151.41, Z:-4.10 [[ 5.60454385e-01 -8.28180152e-01 -2.91871200e-03 6.85341190e+01] [-8.28168710e-01 -5.60461984e-01 4.35340892e-03 -1.51409858e+02] [-5.24123398e-03 -2.27011607e-05 -9.99986264e-01 -4.10034668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.013539742814203636 Centerline is valid? [True, True] Translation: X:68.57, Y:-151.52, Z:-4.10 [[ 6.25199099e-01 -7.80458140e-01 -3.34361079e-03 6.85748906e+01] [-7.80446578e-01 -6.25208038e-01 4.24835778e-03 -1.51519261e+02] [-5.40611775e-03 -4.65598540e-05 -9.99985386e-01 -4.10003339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.01445717127911215 Centerline is valid? [True, True] Translation: X:68.62, Y:-151.62, Z:-4.10 [[ 6.86277034e-01 -7.27330645e-01 -3.73703977e-03 6.86173555e+01] [-7.27319259e-01 -6.86287205e-01 4.07036705e-03 -1.51619952e+02] [-5.52518527e-03 -7.53784286e-05 -9.99984733e-01 -4.09898622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.014885566313172852 Centerline is valid? [True, True] Translation: X:68.67, Y:-151.71, Z:-4.10 [[ 7.40709818e-01 -6.71814077e-01 -3.84860565e-03 6.86676101e+01] [-6.71804427e-01 -7.40719811e-01 3.60189304e-03 -1.51712394e+02] [-5.27054090e-03 -8.24472221e-05 -9.99986107e-01 -4.09868167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.01474031590724544 Centerline is valid? [True, True] Translation: X:68.69, Y:-151.74, Z:-4.10 [[ 7.91384735e-01 -6.11304251e-01 -4.16100018e-03 6.86907065e+01] [-6.11295221e-01 -7.91395669e-01 3.32392090e-03 -1.51742313e+02] [-5.32492450e-03 -8.69007403e-05 -9.99985819e-01 -4.09892267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.014901288140405146 Centerline is valid? [True, True] Translation: X:68.72, Y:-151.77, Z:-4.10 [[ 8.36435769e-01 -5.48034387e-01 -5.78911222e-03 6.87171310e+01] [-5.48020342e-01 -8.36455796e-01 3.92520515e-03 -1.51768572e+02] [-6.99348387e-03 -1.10630739e-04 -9.99975539e-01 -4.09776694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.014642645212891381 Centerline is valid? [True, True] Translation: X:68.75, Y:-151.79, Z:-4.10 [[ 8.76054848e-01 -4.82157539e-01 -7.21181179e-03 6.87464829e+01] [-4.82140070e-01 -8.76084524e-01 4.10611650e-03 -1.51790734e+02] [-8.29795172e-03 -1.20079827e-04 -9.99965564e-01 -4.09712250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.014047843440876572 Centerline is valid? [True, True] Translation: X:68.78, Y:-151.81, Z:-4.10 [[ 9.10101526e-01 -4.14293093e-01 -8.74332272e-03 6.87765808e+01] [-4.14272726e-01 -9.10143516e-01 4.10957293e-03 -1.51811859e+02] [-9.66024616e-03 -1.18008456e-04 -9.99953332e-01 -4.09741295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.013440787253586849 Centerline is valid? [True, True] Translation: X:68.81, Y:-151.83, Z:-4.10 [[ 9.37770524e-01 -3.47145320e-01 -8.75054114e-03 6.88086512e+01] [-3.47129591e-01 -9.37811347e-01 3.30507820e-03 -1.51829480e+02] [-9.35369920e-03 -6.18331454e-05 -9.99956251e-01 -4.09780192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.013220084171597953 Centerline is valid? [True, True] Translation: X:68.84, Y:-151.84, Z:-4.10 [[ 9.60756045e-01 -2.77270586e-01 -8.29725355e-03 6.88403751e+01] [-2.77260096e-01 -9.60791872e-01 2.41183738e-03 -1.51844059e+02] [-8.64066534e-03 -1.66900277e-05 -9.99962669e-01 -4.09763382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.013179282953934446 Centerline is valid? [True, True] Translation: X:68.87, Y:-151.85, Z:-4.10 [[ 9.78392215e-01 -2.06610397e-01 -7.79858619e-03 6.88743233e+01] [-2.06604058e-01 -9.78423295e-01 1.61863232e-03 -1.51853606e+02] [-7.96474466e-03 2.75622920e-05 -9.99968281e-01 -4.09870458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.014167875147930891 Centerline is valid? [True, True] Translation: X:68.91, Y:-151.86, Z:-4.10 [[ 9.90586179e-01 -1.36639371e-01 -8.28882387e-03 6.89065459e+01] [-1.36635350e-01 -9.90620853e-01 1.05209696e-03 -1.51856921e+02] [-8.35483963e-03 9.03536452e-05 -9.99965094e-01 -4.09868885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.01388746192830827 Centerline is valid? [True, True] Translation: X:68.94, Y:-151.87, Z:-4.10 [[ 9.98218708e-01 -5.90669025e-02 -8.39711433e-03 6.89363697e+01] [-5.90656035e-02 -9.98254022e-01 4.02819228e-04 -1.51871697e+02] [-8.40624644e-03 9.38789367e-05 -9.99964663e-01 -4.09932651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.014095858929247262 Centerline is valid? [True, True] Translation: X:68.97, Y:-151.88, Z:-4.10 [[ 9.99737057e-01 2.07438954e-02 -9.77285279e-03 6.89662367e+01] [ 2.07419815e-02 -9.99784818e-01 -2.97162327e-04 -1.51881150e+02] [-9.77691415e-03 9.43758577e-05 -9.99952200e-01 -4.09812295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.013569927401948309 Centerline is valid? [True, True] Translation: X:69.00, Y:-151.89, Z:-4.10 [[ 9.94817907e-01 1.01059794e-01 -1.11467585e-02 6.89987282e+01] [ 1.01052496e-01 -9.94880350e-01 -1.21752064e-03 -1.51890197e+02] [-1.12127334e-02 8.48035692e-05 -9.99937132e-01 -4.09860130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.013305838495954785 Centerline is valid? [True, True] Translation: X:69.03, Y:-151.90, Z:-4.10 [[ 9.83104676e-01 1.82677036e-01 -1.15886702e-02 6.90315336e+01] [ 1.82663857e-01 -9.83172975e-01 -2.19470059e-03 -1.51897687e+02] [-1.17945888e-02 4.07892069e-05 -9.99930441e-01 -4.09821696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.013027358177644475 Centerline is valid? [True, True] Translation: X:69.07, Y:-151.90, Z:-4.10 [[ 9.64989906e-01 2.62075395e-01 -1.05341852e-02 6.90665103e+01] [ 2.62059734e-01 -9.65047402e-01 -2.86503739e-03 -1.51903869e+02] [-1.09168439e-02 4.14638304e-06 -9.99940410e-01 -4.09838922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.012991592296429889 Centerline is valid? [True, True] Translation: X:69.10, Y:-151.90, Z:-4.10 [[ 9.40680433e-01 3.39188378e-01 -8.45973798e-03 6.91008205e+01] [ 3.39174845e-01 -9.40718472e-01 -3.02994733e-03 -1.51903491e+02] [-8.98595471e-03 -1.91181508e-05 -9.99959625e-01 -4.09994248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.013058576323364567 Centerline is valid? [True, True] Translation: X:69.13, Y:-151.90, Z:-4.10 [[ 9.10086942e-01 4.14380138e-01 -5.55517742e-03 6.91329700e+01] [ 4.14372620e-01 -9.10103895e-01 -2.49620041e-03 -1.51898334e+02] [-6.09016449e-03 -3.01540255e-05 -9.99981454e-01 -4.10356111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.013067964553006956 Centerline is valid? [True, True] Translation: X:69.17, Y:-151.89, Z:-4.11 [[ 8.74206344e-01 4.85539950e-01 -3.77154690e-03 6.91666953e+01] [ 4.85535564e-01 -8.74214480e-01 -2.06386009e-03 -1.51892961e+02] [-4.29922743e-03 -2.69805694e-05 -9.99990758e-01 -4.10568042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.013117777428647174 Centerline is valid? [True, True] Translation: X:69.20, Y:-151.89, Z:-4.11 [[ 8.33279461e-01 5.52849158e-01 -1.77457879e-03 6.92008337e+01] [ 5.52847940e-01 -8.33281350e-01 -1.16074593e-03 -1.51886833e+02] [-2.12044082e-03 -1.38464846e-05 -9.99997752e-01 -4.10641741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.01297626920989198 Centerline is valid? [True, True] Translation: X:69.23, Y:-151.87, Z:-4.11 [[ 7.88648389e-01 6.14842702e-01 -1.47328101e-03 6.92333325e+01] [ 6.14841649e-01 -7.88649765e-01 -1.13787355e-03 -1.51874457e+02] [-1.86151597e-03 -8.45238268e-06 -9.99998267e-01 -4.10651727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.012858015246580218 Centerline is valid? [True, True] Translation: X:69.26, Y:-151.86, Z:-4.11 [[ 7.40466940e-01 6.72087490e-01 -2.66790355e-03 6.92640482e+01] [ 6.72083147e-01 -7.40471746e-01 -2.41588264e-03 -1.51858648e+02] [-3.59919170e-03 -4.17179089e-06 -9.99993523e-01 -4.10577374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.013246215490577844 Centerline is valid? [True, True] Translation: X:69.29, Y:-151.84, Z:-4.10 [[ 6.90568638e-01 7.23256616e-01 -3.85019550e-03 6.92928797e+01] [ 7.23245118e-01 -6.90579370e-01 -4.07833289e-03 -1.51840888e+02] [-5.60854683e-03 3.17336911e-05 -9.99984272e-01 -4.10388359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.0138653564008164 Centerline is valid? [True, True] Translation: X:69.32, Y:-151.82, Z:-4.10 [[ 6.34651851e-01 7.72788198e-01 -3.92793129e-03 6.93209518e+01] [ 7.72772825e-01 -6.34664003e-01 -4.87484002e-03 -1.51821961e+02] [-6.26013543e-03 5.84276857e-05 -9.99980404e-01 -4.10243469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.014407481055823148 Centerline is valid? [True, True] Translation: X:69.35, Y:-151.80, Z:-4.10 [[ 5.74327886e-01 8.18615701e-01 -3.97663326e-03 6.93463743e+01] [ 8.18595057e-01 -5.74341646e-01 -5.81424064e-03 -1.51799550e+02] [-7.04357478e-03 8.40282005e-05 -9.99975190e-01 -4.10162808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.01455912083065219 Centerline is valid? [True, True] Translation: X:69.37, Y:-151.78, Z:-4.10 [[ 5.08999395e-01 8.60756881e-01 -4.14812483e-03 6.93718015e+01] [ 8.60726609e-01 -5.09016287e-01 -7.21969735e-03 -1.51776739e+02] [-8.32586727e-03 1.04420165e-04 -9.99965334e-01 -4.10099700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.01430749130334471 Centerline is valid? [True, True] Translation: X:69.40, Y:-151.75, Z:-4.10 [[ 4.39110507e-01 8.98425702e-01 -3.63605193e-03 6.93953047e+01] [ 8.98393035e-01 -4.39125550e-01 -7.66195869e-03 -1.51752072e+02] [-8.48038392e-03 9.78428310e-05 -9.99964036e-01 -4.10064508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.013673643232581339 Centerline is valid? [True, True] Translation: X:69.42, Y:-151.73, Z:-4.10 [[ 3.63708799e-01 9.31506925e-01 -3.27997373e-03 6.94220479e+01] [ 9.31467302e-01 -3.63723582e-01 -8.59193247e-03 -1.51727676e+02] [-9.19644838e-03 6.97731625e-05 -9.99957709e-01 -4.10077432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.013295769092317208 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.70, Z:-4.10 [[ 2.79570719e-01 9.60119989e-01 -3.13367158e-03 6.94485024e+01] [ 9.60060969e-01 -2.79588279e-01 -1.06457091e-02 -1.51702606e+02] [-1.10972959e-02 -3.22872411e-05 -9.99938423e-01 -4.09952616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.014009191621249547 Centerline is valid? [True, True] Translation: X:69.47, Y:-151.67, Z:-4.10 [[ 1.96225363e-01 9.80555629e-01 -2.50294345e-03 6.94679171e+01] [ 9.80483858e-01 -1.96241285e-01 -1.18643275e-02 -1.51673807e+02] [-1.21248140e-02 -1.26013671e-04 -9.99926484e-01 -4.09872461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.014910804245872683 Centerline is valid? [True, True] Translation: X:69.48, Y:-151.64, Z:-4.10 [[ 1.12991267e-01 9.93594682e-01 -1.60665638e-03 6.94842320e+01] [ 9.93518128e-01 -1.13002508e-01 -1.23354651e-02 -1.51641913e+02] [-1.24380087e-02 -2.02442404e-04 -9.99922625e-01 -4.09892983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.015904264568236227 Centerline is valid? [True, True] Translation: X:69.50, Y:-151.61, Z:-4.10 [[ 3.07564930e-02 9.99526732e-01 -5.92207001e-04 6.94955256e+01] [ 9.99459653e-01 -3.07612912e-02 -1.15820969e-02 -1.51608041e+02] [-1.15948325e-02 -2.35662322e-04 -9.99932750e-01 -4.09895688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.016016133091951296 Centerline is valid? [True, True] Translation: X:69.50, Y:-151.57, Z:-4.10 [[-4.75807474e-02 9.98867350e-01 2.98971635e-04 6.94991536e+01] [ 9.98807411e-01 4.75811681e-02 -1.09448127e-02 -1.51574108e+02] [-1.09466414e-02 -2.22147282e-04 -9.99940059e-01 -4.09905842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.01568935795069171 Centerline is valid? [True, True] Translation: X:69.50, Y:-151.54, Z:-4.10 [[-1.24802725e-01 9.92180917e-01 1.14375972e-03 6.94994060e+01] [ 9.92122373e-01 1.24807788e-01 -1.07802399e-02 -1.51540373e+02] [-1.08386984e-02 -2.10653708e-04 -9.99941237e-01 -4.09914923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.01583231440203076 Centerline is valid? [True, True] Translation: X:69.49, Y:-151.51, Z:-4.10 [[-2.01224230e-01 9.79542954e-01 2.10009694e-03 6.94948498e+01] [ 9.79478031e-01 2.01235077e-01 -1.12796559e-02 -1.51508548e+02] [-1.14715206e-02 -2.12741256e-04 -9.99934177e-01 -4.09826495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.015749132329217312 Centerline is valid? [True, True] Translation: X:69.49, Y:-151.48, Z:-4.10 [[-2.77059614e-01 9.60848858e-01 2.72817184e-03 6.94870220e+01] [ 9.60795241e-01 2.77072979e-01 -1.01523168e-02 -1.51476967e+02] [-1.05107447e-02 -1.91582445e-04 -9.99944742e-01 -4.09896608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.01527667413014227 Centerline is valid? [True, True] Translation: X:69.47, Y:-151.45, Z:-4.10 [[-3.50400885e-01 9.36594736e-01 3.08561518e-03 6.94735650e+01] [ 9.36554367e-01 3.50414435e-01 -8.69720872e-03 -1.51447058e+02] [-9.22700400e-03 -1.57663268e-04 -9.99957418e-01 -4.09997662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.014217022151567983 Centerline is valid? [True, True] Translation: X:69.46, Y:-151.42, Z:-4.10 [[-4.20740160e-01 9.07173672e-01 3.69409319e-03 6.94615867e+01] [ 9.07135840e-01 4.20756355e-01 -8.28593364e-03 -1.51417297e+02] [-9.07109404e-03 -1.35180715e-04 -9.99958848e-01 -4.10070912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.01399521508888116 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.39, Z:-4.10 [[-4.87359427e-01 8.73190830e-01 4.30864221e-03 6.94480977e+01] [ 8.73154842e-01 4.87378462e-01 -7.92820787e-03 -1.51389329e+02] [-9.02277782e-03 -1.01775028e-04 -9.99959289e-01 -4.09977766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.012839211190598485 Centerline is valid? [True, True] Translation: X:69.42, Y:-151.37, Z:-4.10 [[-5.47450715e-01 8.36822194e-01 5.13134166e-03 6.94244552e+01] [ 8.36784930e-01 5.47474762e-01 -7.89722030e-03 -1.51367457e+02] [-9.41784927e-03 -2.95095263e-05 -9.99955651e-01 -4.09949117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.012878206472398344 Centerline is valid? [True, True] Translation: X:69.41, Y:-151.34, Z:-4.10 [[-6.06228850e-01 7.95266558e-01 6.13873067e-03 6.94066254e+01] [ 7.95226335e-01 6.06259929e-01 -7.99845660e-03 -1.51342586e+02] [-1.00825715e-02 3.27851468e-05 -9.99949169e-01 -4.10006200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.01338425462560549 Centerline is valid? [True, True] Translation: X:69.39, Y:-151.32, Z:-4.10 [[-6.62946433e-01 7.48636112e-01 6.78222627e-03 6.93907289e+01] [ 7.48598223e-01 6.62981119e-01 -7.53240194e-03 -1.51317037e+02] [-1.01355161e-02 8.35835386e-05 -9.99948631e-01 -4.10034842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.013475434753765728 Centerline is valid? [True, True] Translation: X:69.38, Y:-151.29, Z:-4.10 [[-7.19419691e-01 6.94520187e-01 8.77603499e-03 6.93750537e+01] [ 6.94470234e-01 7.19473210e-01 -8.33027550e-03 -1.51290583e+02] [-1.20996666e-02 1.01730849e-04 -9.99926791e-01 -4.09870275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.013446257247635039 Centerline is valid? [True, True] Translation: X:69.39, Y:-151.27, Z:-4.10 [[-7.67145103e-01 6.41383365e-01 1.07596467e-02 6.93912381e+01] [ 6.41322247e-01 7.67220547e-01 -8.85483043e-03 -1.51268171e+02] [-1.39343630e-02 1.07460991e-04 -9.99902906e-01 -4.09813095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.013160317193125805 Centerline is valid? [True, True] Translation: X:69.41, Y:-151.25, Z:-4.10 [[-8.11807106e-01 5.83817525e-01 1.12392540e-02 6.94079681e+01] [ 5.83762916e-01 8.11884900e-01 -7.98537105e-03 -1.51245727e+02] [-1.37869801e-02 7.84787095e-05 -9.99904952e-01 -4.09858033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.013087283563571452 Centerline is valid? [True, True] Translation: X:69.42, Y:-151.22, Z:-4.10 [[-8.51822473e-01 5.23689589e-01 1.21527083e-02 6.94230934e+01] [ 5.23637267e-01 8.51909157e-01 -7.40282023e-03 -1.51219105e+02] [-1.42297834e-02 5.77223194e-05 -9.99898750e-01 -4.09858483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.012827362344535867 Centerline is valid? [True, True] Translation: X:69.44, Y:-151.19, Z:-4.10 [[-8.87623502e-01 4.60423210e-01 1.16183718e-02 6.94367537e+01] [ 4.60384198e-01 8.87699537e-01 -5.99359593e-03 -1.51193044e+02] [-1.30732139e-02 2.88581794e-05 -9.99914542e-01 -4.09982114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.012837586768050815 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.16, Z:-4.10 [[-9.20319236e-01 3.91042616e-01 9.90842521e-03 6.94477707e+01] [ 3.91019498e-01 9.20372572e-01 -4.25219997e-03 -1.51163266e+02] [-1.07822342e-02 -3.89939805e-05 -9.99941869e-01 -4.10186155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.013318486799811485 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.13, Z:-4.10 [[-9.47658219e-01 3.19167466e-01 8.71950161e-03 6.94515795e+01] [ 3.19153094e-01 9.47698328e-01 -3.03012716e-03 -1.51130425e+02] [-9.23057511e-03 -8.86689913e-05 -9.99957393e-01 -4.10338117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.014527459098947485 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.10, Z:-4.10 [[-9.69322338e-01 2.45660530e-01 8.06901279e-03 6.94545374e+01] [ 2.45650920e-01 9.69355914e-01 -2.17656152e-03 -1.51096857e+02] [-8.35644053e-03 -1.27629279e-04 -9.99965076e-01 -4.10304861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.015972133227445357 Centerline is valid? [True, True] Translation: X:69.46, Y:-151.07, Z:-4.10 [[-9.85235499e-01 1.71001220e-01 8.34234937e-03 6.94567875e+01] [ 1.70993575e-01 9.85270801e-01 -1.62655390e-03 -1.51065899e+02] [-8.49761595e-03 -1.76050502e-04 -9.99963879e-01 -4.10193014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.015947049555549483 Centerline is valid? [True, True] Translation: X:69.57, Y:-150.47, Z:-5.15 [[-9.60591321e-01 -2.77842988e-01 8.22120804e-03 6.95702528e+01] [ 2.77834384e-01 -9.60626484e-01 -2.19373994e-03 -1.50474612e+02] [ 8.50702543e-03 1.76846722e-04 9.99963799e-01 -5.14905155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.01588019340985419 Centerline is valid? [True, True] Translation: X:69.41, Y:-151.06, Z:-4.10 [[-9.85902603e-01 1.67131271e-01 7.94958636e-03 6.94109751e+01] [ 1.67124455e-01 9.85934638e-01 -1.51879750e-03 -1.51060052e+02] [-8.09161110e-03 -1.68816117e-04 -9.99967248e-01 -4.10184833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.015726431613077928 Centerline is valid? [True, True] Translation: X:69.41, Y:-151.03, Z:-4.10 [[-9.95210933e-01 9.73865240e-02 8.42994297e-03 6.94109760e+01] [ 9.73815634e-02 9.95246620e-01 -9.97910321e-04 -1.51034543e+02] [-8.48705527e-03 -1.72210236e-04 -9.99963970e-01 -4.10119249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.015951380572755837 Centerline is valid? [True, True] Translation: X:69.41, Y:-151.01, Z:-4.10 [[-9.99610813e-01 2.64734448e-02 8.79660680e-03 6.94084185e+01] [ 2.64708421e-02 9.99649501e-01 -4.12197838e-04 -1.51007334e+02] [-8.80443590e-03 -1.79183826e-04 -9.99961224e-01 -4.09999685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.016245554266678792 Centerline is valid? [True, True] Translation: X:69.40, Y:-150.98, Z:-4.10 [[-9.98934866e-01 -4.50849348e-02 9.82257666e-03 6.94037592e+01] [-4.50847726e-02 9.98983136e-01 2.38051793e-04 -1.50980266e+02] [-9.82332098e-03 -2.05050400e-04 -9.99951729e-01 -4.09751111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.015585267028314836 Centerline is valid? [True, True] Translation: X:69.40, Y:-150.96, Z:-4.10 [[-9.93240110e-01 -1.15504355e-01 1.15251316e-02 6.93972334e+01] [-1.15499333e-01 9.93306946e-01 1.10264428e-03 -1.50955483e+02] [-1.15753535e-02 -2.35954481e-04 -9.99932976e-01 -4.09591819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.01581736815406497 Centerline is valid? [True, True] Translation: X:69.33, Y:-150.35, Z:-5.16 [[-9.99892591e-01 7.86702703e-03 1.23659089e-02 6.93346087e+01] [-7.86266481e-03 -9.99969008e-01 4.01339128e-04 -1.50347174e+02] [ 1.23686830e-02 3.04067024e-04 9.99923459e-01 -5.15665493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.015441337412510418 Centerline is valid? [True, True] Translation: X:69.33, Y:-150.96, Z:-4.09 [[-9.92924340e-01 -1.17715601e-01 1.56298445e-02 6.93251740e+01] [-1.17705427e-01 9.93047310e-01 1.57247808e-03 -1.50963241e+02] [-1.57062803e-02 -2.78365761e-04 -9.99876610e-01 -4.09148445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.015221888012893111 Centerline is valid? [True, True] Translation: X:69.31, Y:-150.94, Z:-4.09 [[-9.82380692e-01 -1.86176856e-01 1.63203702e-02 6.93133259e+01] [-1.86155570e-01 9.82516214e-01 2.82726257e-03 -1.50936740e+02] [-1.65613992e-02 -2.60679662e-04 -9.99862817e-01 -4.09041067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.01377810999470768 Centerline is valid? [True, True] Translation: X:69.30, Y:-150.92, Z:-4.09 [[-9.67902628e-01 -2.50747533e-01 1.70345974e-02 6.92978644e+01] [-2.50712059e-01 9.68052499e-01 4.22172761e-03 -1.50916096e+02] [-1.75489724e-02 -1.84557746e-04 -9.99845988e-01 -4.09181431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.013556522446889981 Centerline is valid? [True, True] Translation: X:69.28, Y:-150.90, Z:-4.09 [[-9.49207963e-01 -3.14194059e-01 1.69214635e-02 6.92771940e+01] [-3.14145699e-01 9.49358776e-01 5.51303684e-03 -1.50898025e+02] [-1.77967033e-02 -8.27864928e-05 -9.99841623e-01 -4.09041426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.013303993495359467 Centerline is valid? [True, True] Translation: X:69.24, Y:-150.89, Z:-4.09 [[-9.26570701e-01 -3.75747285e-01 1.67545430e-02 6.92379623e+01] [-3.75685013e-01 9.26722168e-01 6.84066330e-03 -1.50889673e+02] [-1.80971670e-02 4.39274901e-05 -9.99836232e-01 -4.09252549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.014061356106366786 Centerline is valid? [True, True] Translation: X:69.18, Y:-150.89, Z:-4.10 [[-9.00538219e-01 -4.34515238e-01 1.50805663e-02 6.91801706e+01] [-4.34450612e-01 9.00664459e-01 7.49648184e-03 -1.50891456e+02] [-1.68398656e-02 1.99107175e-04 -9.99858180e-01 -4.09511099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.01686269232622 Centerline is valid? [True, True] Translation: X:69.11, Y:-150.90, Z:-4.10 [[-8.68239256e-01 -4.95952693e-01 1.38391085e-02 6.91147061e+01] [-4.95884860e-01 8.68349502e-01 8.20659764e-03 -1.50897212e+02] [-1.60872671e-02 2.62685861e-04 -9.99870557e-01 -4.09545094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.014775583484299862 Centerline is valid? [True, True] Translation: X:69.04, Y:-150.91, Z:-4.10 [[-8.29421083e-01 -5.58514980e-01 1.10310452e-02 6.90396681e+01] [-5.58461923e-01 8.29494403e-01 7.70168634e-03 -1.50913036e+02] [-1.34516975e-02 2.27522291e-04 -9.99909496e-01 -4.09841472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.013890423462548733 Centerline is valid? [True, True] Translation: X:68.96, Y:-150.94, Z:-4.10 [[-7.82786942e-01 -6.22214853e-01 9.65817500e-03 6.89578546e+01] [-6.22165041e-01 7.82846506e-01 7.87458208e-03 -1.50936137e+02] [-1.24605505e-02 1.55141179e-04 -9.99922352e-01 -4.09998303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.013117797355321356 Centerline is valid? [True, True] Translation: X:68.87, Y:-150.97, Z:-4.10 [[-7.30330467e-01 -6.83036165e-01 8.88854252e-03 6.88733229e+01] [-6.82984156e-01 7.30384550e-01 8.42921770e-03 -1.50967079e+02] [-1.22495147e-02 8.53807902e-05 -9.99924968e-01 -4.09908180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.012615025229207436 Centerline is valid? [True, True] Translation: X:68.79, Y:-151.01, Z:-4.10 [[-6.72554536e-01 -7.40001504e-01 8.25654110e-03 6.87872776e+01] [-7.39945546e-01 6.72605214e-01 9.10028397e-03 -1.51009265e+02] [-1.22876164e-02 1.10464521e-05 -9.99924504e-01 -4.09950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.012947691490815481 Centerline is valid? [True, True] Translation: X:68.70, Y:-151.06, Z:-4.10 [[-6.09756093e-01 -7.92560979e-01 6.67843061e-03 6.86985651e+01] [-7.92514614e-01 6.09792662e-01 8.57302983e-03 -1.51063256e+02] [-1.08671069e-02 -6.52966864e-05 -9.99940949e-01 -4.09882153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.01305885415046476 Centerline is valid? [True, True] Translation: X:68.62, Y:-151.12, Z:-4.10 [[-5.46210579e-01 -8.37629334e-01 5.57687995e-03 6.86240292e+01] [-8.37587244e-01 5.46239043e-01 8.39746874e-03 -1.51118577e+02] [-1.00802757e-02 -8.43372385e-05 -9.99949189e-01 -4.10030601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.013250452677464183 Centerline is valid? [True, True] Translation: X:68.55, Y:-151.19, Z:-4.10 [[-4.79804619e-01 -8.77364702e-01 4.32523218e-03 6.85471601e+01] [-8.77330722e-01 4.79824105e-01 7.72215643e-03 -1.51189188e+02] [-8.85049814e-03 -8.95327501e-05 -9.99960830e-01 -4.10034171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.013305070624052942 Centerline is valid? [True, True] Translation: X:68.48, Y:-151.27, Z:-4.10 [[-4.11695838e-01 -9.11313424e-01 3.79206480e-03 6.84764758e+01] [-9.11276822e-01 4.11713291e-01 8.16823177e-03 -1.51267787e+02] [-9.00506275e-03 -9.27937371e-05 -9.99959449e-01 -4.09910558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.013560941791950625 Centerline is valid? [True, True] Translation: X:68.41, Y:-151.35, Z:-4.10 [[-3.40983031e-01 -9.40063950e-01 3.21612580e-03 6.84113872e+01] [-9.40024793e-01 3.40998183e-01 8.58065846e-03 -1.51352977e+02] [-9.16306074e-03 -9.73790621e-05 -9.99958014e-01 -4.09811328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.013351005841544004 Centerline is valid? [True, True] Translation: X:68.35, Y:-151.45, Z:-4.10 [[-2.68918983e-01 -9.63159118e-01 2.66338592e-03 6.83532347e+01] [-9.63115380e-01 2.68932154e-01 9.17941077e-03 -1.51446515e+02] [-9.55750329e-03 -9.66301383e-05 -9.99954321e-01 -4.09738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.01312955268811587 Centerline is valid? [True, True] Translation: X:68.30, Y:-151.55, Z:-4.10 [[-1.95930978e-01 -9.80615392e-01 2.12238356e-03 6.83023734e+01] [-9.80562870e-01 1.95942451e-01 1.01495589e-02 -1.51547437e+02] [-1.03686787e-02 -9.25175167e-05 -9.99946240e-01 -4.09681405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.012983811562132122 Centerline is valid? [True, True] Translation: X:68.26, Y:-151.65, Z:-4.09 [[-1.23450905e-01 -9.92349503e-01 1.52880537e-03 6.82606496e+01] [-9.92280233e-01 1.23460351e-01 1.17252521e-02 -1.51650440e+02] [-1.18242949e-02 -6.95103728e-05 -9.99930088e-01 -4.09476038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.01286017333267973 Centerline is valid? [True, True] Translation: X:68.23, Y:-151.76, Z:-4.09 [[-5.43332391e-02 -9.98522567e-01 7.62659902e-04 6.82319339e+01] [-9.98418998e-01 5.43385878e-02 1.43812954e-02 -1.51757750e+02] [-1.44014899e-02 1.99282285e-05 -9.99896293e-01 -4.09342931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.01336940173391156 Centerline is valid? [True, True] Translation: X:68.21, Y:-151.87, Z:-4.09 [[ 1.57973698e-02 -9.99875152e-01 -3.51423047e-04 6.82096103e+01] [-9.99765986e-01 -1.58008380e-02 1.47752016e-02 -1.51869747e+02] [-1.47789097e-02 1.17931487e-04 -9.99890779e-01 -4.09386179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.014434511597392619 Centerline is valid? [True, True] Translation: X:68.20, Y:-151.98, Z:-4.10 [[ 8.52448568e-02 -9.96359123e-01 -1.34631825e-03 6.81955261e+01] [-9.96269751e-01 -8.52552447e-02 1.33464189e-02 -1.51982976e+02] [-1.34126069e-02 2.03582577e-04 -9.99910026e-01 -4.09556925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.015544277966890034 Centerline is valid? [True, True] Translation: X:68.19, Y:-152.10, Z:-4.10 [[ 1.54353079e-01 -9.88013987e-01 -1.86788191e-03 6.81881894e+01] [-9.87959011e-01 -1.54364200e-01 1.04252389e-02 -1.52096473e+02] [-1.05886159e-02 2.36223044e-04 -9.99943911e-01 -4.09863482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.015740561841953393 Centerline is valid? [True, True] Translation: X:68.19, Y:-152.22, Z:-4.10 [[ 2.28206126e-01 -9.73609340e-01 -2.61079943e-03 6.81873563e+01] [-9.73557456e-01 -2.28220926e-01 1.00542923e-02 -1.52215977e+02] [-1.03847920e-02 2.47312142e-04 -9.99946046e-01 -4.09957071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.01567097617528061 Centerline is valid? [True, True] Translation: X:68.19, Y:-152.33, Z:-4.10 [[ 3.03558719e-01 -9.52805558e-01 -3.69759767e-03 6.81931281e+01] [-9.52744750e-01 -3.03581132e-01 1.07674736e-02 -1.52334850e+02] [-1.13818296e-02 2.54306280e-04 -9.99935193e-01 -4.09887795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.014707940618974149 Centerline is valid? [True, True] Translation: X:68.20, Y:-152.46, Z:-4.10 [[ 3.81626821e-01 -9.24303249e-01 -4.94699765e-03 6.82047194e+01] [-9.24232146e-01 -3.81658833e-01 1.14663167e-02 -1.52458665e+02] [-1.24864191e-02 1.96320263e-04 -9.99922022e-01 -4.09643638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.013588229967894718 Centerline is valid? [True, True] Translation: X:68.22, Y:-152.58, Z:-4.10 [[ 4.57362649e-01 -8.89262001e-01 -5.70097062e-03 6.82246491e+01] [-8.89195790e-01 -4.57398166e-01 1.08519674e-02 -1.52582490e+02] [-1.22578557e-02 1.05994518e-04 -9.99924864e-01 -4.09584464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.012612700658852609 Centerline is valid? [True, True] Translation: X:68.25, Y:-152.69, Z:-4.10 [[ 5.30567371e-01 -8.47621517e-01 -6.00243989e-03 6.82464482e+01] [-8.47567439e-01 -5.30601323e-01 9.57456417e-03 -1.52694093e+02] [-1.13005091e-02 7.52126513e-06 -9.99936147e-01 -4.09688286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.013317807926268417 Centerline is valid? [True, True] Translation: X:68.28, Y:-152.81, Z:-4.10 [[ 6.02073331e-01 -7.98418532e-01 -5.96258867e-03 6.82774964e+01] [-7.98377700e-01 -6.02102846e-01 8.07527233e-03 -1.52807292e+02] [-1.00375387e-02 -1.01508276e-04 -9.99949618e-01 -4.09759146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.014237924900750423 Centerline is valid? [True, True] Translation: X:68.32, Y:-152.91, Z:-4.10 [[ 6.64357337e-01 -7.47393505e-01 -5.68127198e-03 6.83185773e+01] [-7.47364515e-01 -6.64381616e-01 6.58410238e-03 -1.52910750e+02] [-8.69544802e-03 -1.28215654e-04 -9.99962186e-01 -4.09815399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.015067123347092785 Centerline is valid? [True, True] Translation: X:68.36, Y:-153.00, Z:-4.10 [[ 7.20797272e-01 -6.93127474e-01 -5.05933630e-03 6.83638973e+01] [-6.93109187e-01 -7.20815017e-01 5.03639027e-03 -1.53004423e+02] [-7.13770605e-03 -1.23543896e-04 -9.99974519e-01 -4.09872500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.015610544564861375 Centerline is valid? [True, True] Translation: X:68.39, Y:-153.03, Z:-4.10 [[ 7.73658764e-01 -6.33583540e-01 -4.90047838e-03 6.83886616e+01] [-6.33569836e-01 -7.73674275e-01 4.16882036e-03 -1.53033773e+02] [-6.43267001e-03 -1.20449124e-04 -9.99979303e-01 -4.09869541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.015755249884633282 Centerline is valid? [True, True] Translation: X:68.42, Y:-153.06, Z:-4.10 [[ 8.20995401e-01 -5.70914940e-01 -4.76263056e-03 6.84168790e+01] [-5.70904539e-01 -8.21009207e-01 3.44799527e-03 -1.53060404e+02] [-5.87867556e-03 -1.11780858e-04 -9.99982714e-01 -4.09856475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.01465447369933067 Centerline is valid? [True, True] Translation: X:68.45, Y:-153.09, Z:-4.10 [[ 8.62977799e-01 -5.05223513e-01 -4.30357445e-03 6.84456501e+01] [-5.05216684e-01 -8.62988524e-01 2.62869067e-03 -1.53085596e+02] [-5.04201169e-03 -9.42640749e-05 -9.99987285e-01 -4.09976197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.014581178390376167 Centerline is valid? [True, True] Translation: X:68.48, Y:-153.11, Z:-4.10 [[ 8.99350144e-01 -4.37204586e-01 -4.63342815e-03 6.84760632e+01] [-4.37198257e-01 -8.99362075e-01 2.35425715e-03 -1.53108262e+02] [-5.19642157e-03 -9.15747913e-05 -9.99986494e-01 -4.09987133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.014177570215174382 Centerline is valid? [True, True] Translation: X:68.51, Y:-153.13, Z:-4.10 [[ 9.30178489e-01 -3.67085986e-01 -3.98224433e-03 6.85089129e+01] [-3.67082304e-01 -9.30187011e-01 1.64542377e-03 -1.53127277e+02] [-4.30824396e-03 -6.87263697e-05 -9.99990717e-01 -4.10005551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.013581326029783307 Centerline is valid? [True, True] Translation: X:68.54, Y:-153.14, Z:-4.10 [[ 9.55354606e-01 -2.95438894e-01 -3.66550213e-03 6.85426146e+01] [-2.95436508e-01 -9.55361637e-01 1.18854508e-03 -1.53143848e+02] [-3.85302256e-03 -5.25588655e-05 -9.99992576e-01 -4.10053312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.012930599222063747 Centerline is valid? [True, True] Translation: X:68.58, Y:-153.16, Z:-4.10 [[ 9.74712382e-01 -2.23437371e-01 -3.39316249e-03 6.85783688e+01] [-2.23435892e-01 -9.74718288e-01 8.13594763e-04 -1.53155828e+02] [-3.48916501e-03 -3.48666019e-05 -9.99993912e-01 -4.10017731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.012654305789633969 Centerline is valid? [True, True] Translation: X:68.61, Y:-153.17, Z:-4.10 [[ 9.88882208e-01 -1.48638600e-01 -4.30655734e-03 6.86134896e+01] [-1.48637038e-01 -9.88891584e-01 6.82222781e-04 -1.53167868e+02] [-4.36012295e-03 -3.45240432e-05 -9.99990494e-01 -4.09977786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.01258556010915881 Centerline is valid? [True, True] Translation: X:68.65, Y:-153.18, Z:-4.10 [[ 9.97366669e-01 -7.22966989e-02 -5.73716341e-03 6.86458387e+01] [-7.22952898e-02 -9.97383169e-01 4.52893566e-04 -1.53175983e+02] [-5.75489294e-03 -3.69310557e-05 -9.99983440e-01 -4.09831467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.012658284368149949 Centerline is valid? [True, True] Translation: X:68.68, Y:-153.18, Z:-4.10 [[ 9.99950130e-01 5.37407853e-03 -8.41760586e-03 6.86776558e+01] [ 5.37430138e-03 -9.99985558e-01 3.85430090e-06 -1.53179137e+02] [-8.41746359e-03 -4.90928595e-05 -9.99964571e-01 -4.09685585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.012800790437386706 Centerline is valid? [True, True] Translation: X:68.71, Y:-153.18, Z:-4.10 [[ 9.96424833e-01 8.39270760e-02 -9.68492477e-03 6.87099487e+01] [ 8.39236922e-02 -9.96471897e-01 -7.55980187e-04 -1.53181776e+02] [-9.71420257e-03 -5.95172143e-05 -9.99952814e-01 -4.09673206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.01288474352890329 Centerline is valid? [True, True] Translation: X:68.74, Y:-153.18, Z:-4.10 [[ 9.86736049e-01 1.62024469e-01 -1.00020550e-02 6.87426709e+01] [ 1.62016821e-01 -9.86786738e-01 -1.57563122e-03 -1.53184932e+02] [-1.01251861e-02 -6.57690444e-05 -9.99948737e-01 -4.09710281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.012878784401256825 Centerline is valid? [True, True] Translation: X:68.77, Y:-153.18, Z:-4.10 [[ 9.71012417e-01 2.38909637e-01 -7.55451078e-03 6.87743465e+01] [ 2.38902816e-01 -9.71041803e-01 -1.80597794e-03 -1.53184347e+02] [-7.76721130e-03 -5.11668987e-05 -9.99969834e-01 -4.09937346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.012989636311519871 Centerline is valid? [True, True] Translation: X:68.81, Y:-153.18, Z:-4.10 [[ 9.49228966e-01 3.14534164e-01 -5.71223444e-03 6.88068530e+01] [ 3.14528732e-01 -9.49246153e-01 -1.84895985e-03 -1.53181946e+02] [-6.00387761e-03 -4.15756102e-05 -9.99981976e-01 -4.10118390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.013095043015568932 Centerline is valid? [True, True] Translation: X:68.84, Y:-153.18, Z:-4.10 [[ 9.21407110e-01 3.88566123e-01 -5.03043077e-03 6.88379285e+01] [ 3.88560578e-01 -9.21420841e-01 -2.07623806e-03 -1.53175900e+02] [-5.44189952e-03 -4.15665755e-05 -9.99985192e-01 -4.10208969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.013435145528106863 Centerline is valid? [True, True] Translation: X:68.87, Y:-153.17, Z:-4.10 [[ 8.87006036e-01 4.61722944e-01 -5.67579822e-03 6.88688890e+01] [ 4.61713956e-01 -8.87024193e-01 -2.88162865e-03 -1.53169239e+02] [-6.36508440e-03 -6.45732434e-05 -9.99979741e-01 -4.10156546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.014351449070305099 Centerline is valid? [True, True] Translation: X:68.90, Y:-153.16, Z:-4.10 [[ 8.46764689e-01 5.31936125e-01 -5.78971650e-03 6.88993298e+01] [ 5.31924385e-01 -8.46784478e-01 -3.53508424e-03 -1.53162014e+02] [-6.78308108e-03 -8.63068828e-05 -9.99976991e-01 -4.10097507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.01429180291981707 Centerline is valid? [True, True] Translation: X:68.93, Y:-153.15, Z:-4.10 [[ 8.01232894e-01 5.98319840e-01 -6.26247100e-03 6.89301783e+01] [ 5.98302681e-01 -8.01257359e-01 -4.53279168e-03 -1.53151131e+02] [-7.72991017e-03 -1.15031397e-04 -9.99970117e-01 -4.10073793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.014460956558544048 Centerline is valid? [True, True] Translation: X:68.96, Y:-153.14, Z:-4.10 [[ 7.51501571e-01 6.59690866e-01 -7.30417270e-03 6.89616341e+01] [ 6.59661622e-01 -7.51537051e-01 -6.21326117e-03 -1.53140303e+02] [-9.58818806e-03 -1.49006887e-04 -9.99954021e-01 -4.09862446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.01435362300412964 Centerline is valid? [True, True] Translation: X:68.99, Y:-153.12, Z:-4.10 [[ 6.98626151e-01 7.15452865e-01 -6.97852185e-03 6.89888684e+01] [ 7.15419137e-01 -6.98660990e-01 -6.94831811e-03 -1.53124995e+02] [-9.84681509e-03 -1.38291342e-04 -9.99951509e-01 -4.09737833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.013786591131793799 Centerline is valid? [True, True] Translation: X:69.01, Y:-153.10, Z:-4.10 [[ 6.42146451e-01 7.66560544e-01 -5.73302742e-03 6.90133814e+01] [ 7.66531439e-01 -6.42172034e-01 -6.68070174e-03 -1.53104976e+02] [-8.80275224e-03 -1.04556848e-04 -9.99961250e-01 -4.09877127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.013214987362562285 Centerline is valid? [True, True] Translation: X:69.03, Y:-153.08, Z:-4.10 [[ 5.83512661e-01 8.12096974e-01 -3.38797075e-03 6.90330523e+01] [ 8.12083726e-01 -5.83522495e-01 -4.63887044e-03 -1.53081699e+02] [-5.74416979e-03 -4.44762738e-05 -9.99983501e-01 -4.10168793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.012773182541627482 Centerline is valid? [True, True] Translation: X:69.05, Y:-153.06, Z:-4.10 [[ 5.20738691e-01 8.53713076e-01 -2.28052016e-03 6.90535822e+01] [ 8.53705058e-01 -5.20743684e-01 -3.69985523e-03 -1.53058807e+02] [-4.34618126e-03 -2.02338284e-05 -9.99990555e-01 -4.10245856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.012683594520427506 Centerline is valid? [True, True] Translation: X:69.07, Y:-153.03, Z:-4.10 [[ 4.54407592e-01 8.90791913e-01 -1.87319118e-03 6.90736561e+01] [ 8.90784428e-01 -4.54411453e-01 -3.65150221e-03 -1.53034845e+02] [-4.10392816e-03 -9.33920716e-06 -9.99991579e-01 -4.10144557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.012704907626466443 Centerline is valid? [True, True] Translation: X:69.09, Y:-153.01, Z:-4.10 [[ 3.83664415e-01 9.23470243e-01 -2.08017577e-03 6.90940412e+01] [ 9.23456810e-01 -3.83670054e-01 -4.98095634e-03 -1.53010822e+02] [-5.39786611e-03 -9.93677773e-06 -9.99985431e-01 -4.10006809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.01291347960443023 Centerline is valid? [True, True] Translation: X:69.11, Y:-152.99, Z:-4.10 [[ 3.08525616e-01 9.51212843e-01 -2.46425492e-03 6.91129331e+01] [ 9.51183232e-01 -3.08535455e-01 -7.50551085e-03 -1.52986665e+02] [-7.89964833e-03 -2.83156052e-05 -9.99968797e-01 -4.09691554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.013310806990086018 Centerline is valid? [True, True] Translation: X:69.13, Y:-152.96, Z:-4.09 [[ 2.30285185e-01 9.73119906e-01 -2.52622337e-03 6.91286048e+01] [ 9.73064609e-01 -2.30299031e-01 -1.03741395e-02 -1.52959058e+02] [-1.06770685e-02 -6.91679105e-05 -9.99942996e-01 -4.09430136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.013443560000050167 Centerline is valid? [True, True] Translation: X:69.14, Y:-152.93, Z:-4.09 [[ 1.50798356e-01 9.88562542e-01 -1.98907638e-03 6.91448988e+01] [ 9.88486179e-01 -1.50811431e-01 -1.22876453e-02 -1.52930531e+02] [-1.24470814e-02 -1.13217788e-04 -9.99922526e-01 -4.09287155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.013659299757195707 Centerline is valid? [True, True] Translation: X:69.16, Y:-152.90, Z:-4.09 [[ 7.18092021e-02 9.97417824e-01 -1.06008890e-03 6.91571225e+01] [ 9.97334576e-01 -7.18169054e-02 -1.28870081e-02 -1.52900775e+02] [-1.29298639e-02 -1.31857545e-04 -9.99916397e-01 -4.09324547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.013419576719904196 Centerline is valid? [True, True] Translation: X:69.16, Y:-152.87, Z:-4.09 [[-4.27388096e-03 9.99990866e-01 -4.44519931e-05 6.91629167e+01] [ 9.99915985e-01 4.27301692e-03 -1.22378238e-02 -1.52870459e+02] [-1.22375221e-02 -9.67512606e-05 -9.99925114e-01 -4.09409124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.013015108394744014 Centerline is valid? [True, True] Translation: X:69.16, Y:-152.84, Z:-4.10 [[-7.80971186e-02 9.96945432e-01 8.03308743e-04 6.91628819e+01] [ 9.96887788e-01 7.81012415e-02 -1.07207546e-02 -1.52840249e+02] [-1.07507468e-02 -3.64513713e-05 -9.99942208e-01 -4.09551109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.012851469699794813 Centerline is valid? [True, True] Translation: X:69.16, Y:-152.81, Z:-4.10 [[-1.50239441e-01 9.88648953e-01 1.16586530e-03 6.91582203e+01] [ 9.88620135e-01 1.50243963e-01 -7.54848675e-03 -1.52810412e+02] [-7.63796774e-03 1.85174834e-05 -9.99970830e-01 -4.09723524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.012948045000899678 Centerline is valid? [True, True] Translation: X:69.16, Y:-152.78, Z:-4.10 [[-2.25745722e-01 9.74184838e-01 1.66438712e-03 6.91550156e+01] [ 9.74159281e-01 2.25751855e-01 -7.05657805e-03 -1.52780520e+02] [-7.25014983e-03 2.83858611e-05 -9.99973717e-01 -4.09759854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.01305545914870134 Centerline is valid? [True, True] Translation: X:69.15, Y:-152.75, Z:-4.10 [[-2.99796574e-01 9.54001045e-01 2.00515834e-03 6.91478446e+01] [ 9.53980515e-01 2.99803277e-01 -6.25879902e-03 -1.52751678e+02] [-6.57205385e-03 3.65154857e-05 -9.99978403e-01 -4.09806915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.012945010275651985 Centerline is valid? [True, True] Translation: X:69.15, Y:-152.72, Z:-4.10 [[-3.75606865e-01 9.26775606e-01 2.54158826e-03 6.91467861e+01] [ 9.26754797e-01 3.75615464e-01 -6.21041355e-03 -1.52720000e+02] [-6.71031963e-03 2.27551431e-05 -9.99977485e-01 -4.09811225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.012896776082864382 Centerline is valid? [True, True] Translation: X:69.15, Y:-152.69, Z:-4.10 [[-4.50909068e-01 8.92562829e-01 3.55084176e-03 6.91456793e+01] [ 8.92535029e-01 4.50923049e-01 -7.04455872e-03 -1.52687337e+02] [-7.88886766e-03 -7.20475843e-06 -9.99968882e-01 -4.09642825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.013306331794934479 Centerline is valid? [True, True] Translation: X:69.14, Y:-152.65, Z:-4.09 [[-5.25064482e-01 8.51045836e-01 5.31738560e-03 6.91415902e+01] [ 8.51000700e-01 5.25091400e-01 -8.76525323e-03 -1.52654251e+02] [-1.02517457e-02 -7.72242726e-05 -9.99947447e-01 -4.09376180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.013447071366203833 Centerline is valid? [True, True] Translation: X:69.13, Y:-152.62, Z:-4.09 [[-5.91276248e-01 8.06444293e-01 6.32466087e-03 6.91331575e+01] [ 8.06396384e-01 5.91310065e-01 -8.79080265e-03 -1.52622336e+02] [-1.08291283e-02 -9.76091545e-05 -9.99941359e-01 -4.09291774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.013431597634202892 Centerline is valid? [True, True] Translation: X:69.12, Y:-152.59, Z:-4.09 [[-6.52228640e-01 7.57994574e-01 6.48290981e-03 6.91201629e+01] [ 7.57955830e-01 6.52260852e-01 -7.66425139e-03 -1.52594213e+02] [-1.00380092e-02 -8.50849721e-05 -9.99949614e-01 -4.09313085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.01320820811982002 Centerline is valid? [True, True] Translation: X:69.10, Y:-152.57, Z:-4.10 [[-7.08059615e-01 7.06131881e-01 5.41734147e-03 6.91023953e+01] [ 7.06110693e-01 7.08080337e-01 -5.47039568e-03 -1.52570133e+02] [-7.69873376e-03 -4.81235256e-05 -9.99970363e-01 -4.09513253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.013100753215324805 Centerline is valid? [True, True] Translation: X:69.08, Y:-152.55, Z:-4.10 [[-7.60441802e-01 6.49390884e-01 4.44359610e-03 6.90812180e+01] [ 6.49379570e-01 7.60454784e-01 -3.83347004e-03 -1.52547364e+02] [-5.86857441e-03 -2.95503428e-05 -9.99982779e-01 -4.09652813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.013034811329638345 Centerline is valid? [True, True] Translation: X:69.10, Y:-152.53, Z:-4.10 [[-8.04405897e-01 5.94065986e-01 4.09356420e-03 6.91006040e+01] [ 5.94058136e-01 8.04416313e-01 -3.05408231e-03 -1.52527572e+02] [-5.10725624e-03 -2.49067093e-05 -9.99986958e-01 -4.09698026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.013411613025634463 Centerline is valid? [True, True] Translation: X:69.12, Y:-152.50, Z:-4.09 [[-8.45434525e-01 5.34051855e-01 5.39257194e-03 6.91152647e+01] [ 5.34040663e-01 8.45451722e-01 -3.45786044e-03 -1.52500765e+02] [-6.40583601e-03 -4.35419032e-05 -9.99979482e-01 -4.09448181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.013691658166797915 Centerline is valid? [True, True] Translation: X:69.45, Y:-151.98, Z:-5.16 [[-7.98507472e-01 -6.01950146e-01 6.46829038e-03 6.94523298e+01] [ 6.01931927e-01 -7.98533656e-01 -4.68570187e-03 -1.51980290e+02] [ 7.98570649e-03 1.51902542e-04 9.99968102e-01 -5.15877507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.014055865416187866 Centerline is valid? [True, True] Translation: X:69.08, Y:-152.48, Z:-4.09 [[-8.48525205e-01 5.29091572e-01 8.19048472e-03 6.90830851e+01] [ 5.29065878e-01 8.48564729e-01 -5.21506891e-03 -1.52475987e+02] [-9.70940546e-03 -9.18114280e-05 -9.99952858e-01 -4.08971886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.014155400468061437 Centerline is valid? [True, True] Translation: X:69.10, Y:-152.45, Z:-4.09 [[-8.83750493e-01 4.67852394e-01 9.96011645e-03 6.90969541e+01] [ 4.67821349e-01 8.83806612e-01 -5.39062213e-03 -1.52452475e+02] [-1.13248322e-02 -1.04409856e-04 -9.99935867e-01 -4.08802035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.013355922897252641 Centerline is valid? [True, True] Translation: X:69.10, Y:-152.43, Z:-4.09 [[-9.12972668e-01 4.07880160e-01 1.07090173e-02 6.91040595e+01] [ 4.07851340e-01 9.13035471e-01 -4.84906238e-03 -1.52431763e+02] [-1.17555490e-02 -5.93743898e-05 -9.99930899e-01 -4.08829866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.013011778097347113 Centerline is valid? [True, True] Translation: X:69.11, Y:-152.41, Z:-4.09 [[-9.37638411e-01 3.47468821e-01 9.98138000e-03 6.91131396e+01] [ 3.47449203e-01 9.37691537e-01 -3.69231975e-03 -1.52411872e+02] [-1.06424215e-02 5.96169190e-06 -9.99943368e-01 -4.08990925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.013680173675409848 Centerline is valid? [True, True] Translation: X:69.35, Y:-151.82, Z:-5.16 [[-9.16406538e-01 -4.00159738e-01 8.44045767e-03 6.93469770e+01] [ 4.00141972e-01 -9.16445404e-01 -3.77148823e-03 -1.51815081e+02] [ 9.24441638e-03 -7.88350937e-05 9.99957266e-01 -5.16075339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.014019729543244156 Centerline is valid? [True, True] Translation: X:69.08, Y:-152.41, Z:-4.09 [[-9.34839107e-01 3.55021397e-01 5.97088321e-03 6.90760441e+01] [ 3.55014688e-01 9.34858172e-01 -2.18394316e-03 -1.52407014e+02] [-6.35727552e-03 7.81157669e-05 -9.99979789e-01 -4.09209316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.014670595367154812 Centerline is valid? [True, True] Translation: X:69.08, Y:-152.38, Z:-4.09 [[-9.57340535e-01 2.88908936e-01 5.54318397e-03 6.90840515e+01] [ 2.88904558e-01 9.57356580e-01 -1.59243681e-03 -1.52382493e+02] [-5.76687287e-03 7.69468078e-05 -9.99983369e-01 -4.09221996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.014633923727579804 Centerline is valid? [True, True] Translation: X:69.09, Y:-152.35, Z:-4.09 [[-9.75367783e-01 2.20423695e-01 8.43109989e-03 6.90894441e+01] [ 2.20416486e-01 9.75404214e-01 -1.78637110e-03 -1.52353882e+02] [-8.61748888e-03 1.15984595e-04 -9.99962862e-01 -4.08943416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.01387106345944236 Centerline is valid? [True, True] Translation: X:69.22, Y:-151.72, Z:-5.16 [[-9.65019259e-01 -2.61960231e-01 1.07083117e-02 6.92201010e+01] [ 2.61944249e-01 -9.65078669e-01 -2.89366931e-03 -1.51724737e+02] [ 1.10923895e-02 1.25340588e-05 9.99938478e-01 -5.16283143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.013756409722844242 Centerline is valid? [True, True] Translation: X:69.04, Y:-152.33, Z:-4.08 [[-9.77246458e-01 2.11629121e-01 1.42293856e-02 6.90404755e+01] [ 2.11608468e-01 9.77350040e-01 -2.95893011e-03 -1.52333496e+02] [-1.45332863e-02 1.19454509e-04 -9.99894379e-01 -4.08406565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.013519332534744114 Centerline is valid? [True, True] Translation: X:69.03, Y:-152.30, Z:-4.08 [[-9.90134850e-01 1.39233356e-01 1.57178968e-02 6.90337181e+01] [ 1.39217250e-01 9.90259595e-01 -2.11963311e-03 -1.52297963e+02] [-1.58599217e-02 8.94797545e-05 -9.99874220e-01 -4.08284255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.013348915786128918 Centerline is valid? [True, True] Translation: X:69.04, Y:-152.27, Z:-4.09 [[-9.97518384e-01 6.89414191e-02 1.42882396e-02 6.90369656e+01] [ 6.89355853e-02 9.97620706e-01 -9.00987470e-04 -1.52269124e+02] [-1.43163591e-02 8.62165956e-05 -9.99897512e-01 -4.08527925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.013346318809474218 Centerline is valid? [True, True] Translation: X:69.03, Y:-152.24, Z:-4.09 [[-9.99928952e-01 -1.15138857e-03 1.18644802e-02 6.90304695e+01] [-1.15031921e-03 9.99999334e-01 9.69549107e-05 -1.52241661e+02] [-1.18645839e-02 8.33000828e-05 -9.99929610e-01 -4.08791181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.013096896450357057 Centerline is valid? [True, True] Translation: X:69.03, Y:-151.63, Z:-5.16 [[-9.98578441e-01 -5.26593182e-02 8.25192156e-03 6.90285362e+01] [ 5.26550870e-02 -9.98612492e-01 -7.29332706e-04 -1.51633304e+02] [ 8.27887812e-03 -2.93790269e-04 9.99965686e-01 -5.16029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.012900613341554502 Centerline is valid? [True, True] Translation: X:68.97, Y:-152.24, Z:-4.09 [[-9.99937365e-01 -8.57296538e-03 7.19518617e-03 6.89739274e+01] [-8.57254415e-03 9.99963251e-01 8.93835502e-05 -1.52239277e+02] [-7.19568804e-03 2.76969005e-05 -9.99974110e-01 -4.09160680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.01272108595428747 Centerline is valid? [True, True] Translation: X:68.96, Y:-152.21, Z:-4.09 [[-9.96464515e-01 -8.37491104e-02 6.67507548e-03 6.89607816e+01] [-8.37472455e-02 9.96486872e-01 5.58899683e-04 -1.52208268e+02] [-6.69843244e-03 -2.09548342e-06 -9.99977565e-01 -4.09116227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.013345061139713323 Centerline is valid? [True, True] Translation: X:68.91, Y:-151.62, Z:-5.16 [[-9.99933624e-01 8.56171979e-03 7.70998453e-03 6.89062878e+01] [-8.56087849e-03 -9.99963345e-01 1.42115099e-04 -1.51624568e+02] [ 7.71091867e-03 7.61014256e-05 9.99970268e-01 -5.16173591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.013775115624343543 Centerline is valid? [True, True] Translation: X:68.89, Y:-152.21, Z:-4.09 [[-9.95033017e-01 -9.91208671e-02 9.18420577e-03 6.88869779e+01] [-9.91176147e-02 9.95075396e-01 8.09747763e-04 -1.52205041e+02] [-9.21924009e-03 -1.04590810e-04 -9.99957497e-01 -4.08866806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.013885870839669362 Centerline is valid? [True, True] Translation: X:68.84, Y:-151.63, Z:-5.16 [[-9.99922178e-01 7.05871422e-03 1.02865605e-02 6.88355108e+01] [-7.05639341e-03 -9.99975069e-01 2.61892325e-04 -1.51634011e+02] [ 1.02881527e-02 1.89285926e-04 9.99947058e-01 -5.16218542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.01417562721455153 Centerline is valid? [True, True] Translation: X:68.82, Y:-152.21, Z:-4.09 [[-9.94294859e-01 -1.06115678e-01 1.08257609e-02 6.88210434e+01] [-1.06111031e-01 9.94353780e-01 1.00435519e-03 -1.52209381e+02] [-1.08712141e-02 -1.50107451e-04 -9.99940895e-01 -4.08844833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.013711214670574878 Centerline is valid? [True, True] Translation: X:68.77, Y:-151.64, Z:-5.16 [[-9.99855325e-01 1.30566080e-02 1.09020008e-02 6.87706737e+01] [-1.30541664e-02 -9.99914747e-01 2.95097547e-04 -1.51640312e+02] [ 1.09049244e-02 1.52738321e-04 9.99940528e-01 -5.16282175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.013105357378790716 Centerline is valid? [True, True] Translation: X:68.76, Y:-152.22, Z:-4.09 [[-9.94349982e-01 -1.05614804e-01 1.06595981e-02 6.87578033e+01] [-1.05609746e-01 9.94407112e-01 1.03780063e-03 -1.52219678e+02] [-1.07095873e-02 -9.38204170e-05 -9.99942646e-01 -4.08878011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.012536456053884011 Centerline is valid? [True, True] Translation: X:68.71, Y:-151.64, Z:-5.16 [[-9.99528050e-01 2.87308541e-02 1.08726578e-02 6.87093720e+01] [-2.87280085e-02 -9.99587178e-01 4.17843905e-04 -1.51636205e+02] [ 1.08801744e-02 1.05296897e-04 9.99940804e-01 -5.16168902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.01271760193752025 Centerline is valid? [True, True] Translation: X:68.70, Y:-152.24, Z:-4.09 [[-9.95222181e-01 -9.70213685e-02 1.09391588e-02 6.86993085e+01] [-9.70149421e-02 9.95282297e-01 1.11784232e-03 -1.52238573e+02] [-1.09960057e-02 5.12396137e-05 -9.99939541e-01 -4.08964985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.01322594579802123 Centerline is valid? [True, True] Translation: X:68.69, Y:-152.22, Z:-4.09 [[-9.86584437e-01 -1.62848112e-01 1.14735278e-02 6.86901152e+01] [-1.62835791e-01 9.86651144e-01 2.00621160e-03 -1.52217827e+02] [-1.16470771e-02 1.10996157e-04 -9.99932164e-01 -4.08999701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.014255689984907748 Centerline is valid? [True, True] Translation: X:68.67, Y:-152.20, Z:-4.09 [[-9.73278418e-01 -2.29227348e-01 1.35625822e-02 6.86749475e+01] [-2.29202433e-01 9.73372893e-01 3.38476413e-03 -1.52197892e+02] [-1.39773303e-02 1.85741052e-04 -9.99902295e-01 -4.08842359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.014516867590749882 Centerline is valid? [True, True] Translation: X:68.65, Y:-152.18, Z:-4.09 [[-9.54483508e-01 -2.97930460e-01 1.40951949e-02 6.86459832e+01] [-2.97894756e-01 9.54587554e-01 4.61697601e-03 -1.52178839e+02] [-1.48306354e-02 2.07942806e-04 -9.99889999e-01 -4.08736726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.014285013475439225 Centerline is valid? [True, True] Translation: X:68.60, Y:-152.17, Z:-4.09 [[-9.30413991e-01 -3.66224660e-01 1.44673160e-02 6.86041894e+01] [-3.66176726e-01 9.30526437e-01 5.92912422e-03 -1.52165774e+02] [-1.56336115e-02 2.18945724e-04 -9.99877764e-01 -4.08732506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.014309945439771007 Centerline is valid? [True, True] Translation: X:68.54, Y:-152.16, Z:-4.09 [[-9.00932352e-01 -4.33753949e-01 1.33569986e-02 6.85437371e+01] [-4.33702942e-01 9.01031337e-01 6.65485597e-03 -1.52163641e+02] [-1.49216444e-02 2.02605430e-04 -9.99888646e-01 -4.08844216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.01433739728531582 Centerline is valid? [True, True] Translation: X:68.48, Y:-152.17, Z:-4.09 [[-8.66122056e-01 -4.99690079e-01 1.19335076e-02 6.84762044e+01] [-4.99639851e-01 8.66204245e-01 7.08693394e-03 -1.52169865e+02] [-1.38781255e-02 1.75693856e-04 -9.99903679e-01 -4.08943899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.01339552469549447 Centerline is valid? [True, True] Translation: X:68.40, Y:-152.18, Z:-4.09 [[-8.25717841e-01 -5.63989538e-01 1.02882402e-02 6.84016925e+01] [-5.63943716e-01 8.25781922e-01 7.19044864e-03 -1.52182662e+02] [-1.25511806e-02 1.35293324e-04 -9.99921222e-01 -4.09202993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.012869517610189108 Centerline is valid? [True, True] Translation: X:68.32, Y:-152.20, Z:-4.09 [[-7.78866485e-01 -6.27120539e-01 9.31812698e-03 6.83234337e+01] [-6.27074443e-01 7.78922219e-01 7.60391735e-03 -1.52204844e+02] [-1.20266689e-02 7.92770901e-05 -9.99927674e-01 -4.09311817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.01271625169417007 Centerline is valid? [True, True] Translation: X:68.24, Y:-152.24, Z:-4.09 [[-7.28000970e-01 -6.85525317e-01 8.34423388e-03 6.82431920e+01] [-6.85479591e-01 7.28048788e-01 7.91787476e-03 -1.52236493e+02] [-1.15029130e-02 4.44184790e-05 -9.99933838e-01 -4.09337906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.012568731624822612 Centerline is valid? [True, True] Translation: X:68.16, Y:-152.28, Z:-4.09 [[-6.72453430e-01 -7.40106224e-01 7.01155462e-03 6.81573375e+01] [-7.40065840e-01 6.72489983e-01 7.73142686e-03 -1.52281963e+02] [-1.04372774e-02 1.00124473e-05 -9.99945530e-01 -4.09433671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.01260661018179115 Centerline is valid? [True, True] Translation: X:68.08, Y:-152.33, Z:-4.09 [[-6.11834298e-01 -7.90965446e-01 5.69693065e-03 6.80761331e+01] [-7.90931572e-01 6.11860820e-01 7.32018624e-03 -1.52329072e+02] [-9.27574303e-03 -2.71413053e-05 -9.99956979e-01 -4.09493458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.01271462808986706 Centerline is valid? [True, True] Translation: X:68.00, Y:-152.39, Z:-4.10 [[-5.48599553e-01 -8.36067957e-01 5.37599383e-03 6.79964179e+01] [-8.36028716e-01 5.48625891e-01 8.10044034e-03 -1.52390742e+02] [-9.72192801e-03 -5.05872749e-05 -9.99952740e-01 -4.09513332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.012955572562234938 Centerline is valid? [True, True] Translation: X:67.92, Y:-152.46, Z:-4.09 [[-4.82218500e-01 -8.76035752e-01 5.16520901e-03 6.79194095e+01] [-8.75987148e-01 4.82246157e-01 9.22831593e-03 -1.52462722e+02] [-1.05752369e-02 -7.45920421e-05 -9.99944078e-01 -4.09414013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.01323098397712093 Centerline is valid? [True, True] Translation: X:67.85, Y:-152.54, Z:-4.09 [[-4.13064373e-01 -9.10690650e-01 4.51255783e-03 6.78489877e+01] [-9.10638703e-01 4.13089011e-01 9.72738133e-03 -1.52539769e+02] [-1.07227233e-02 -9.12751344e-05 -9.99942506e-01 -4.09425022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.013375527202585542 Centerline is valid? [True, True] Translation: X:67.78, Y:-152.63, Z:-4.10 [[-3.41638826e-01 -9.39825750e-01 3.23623501e-03 6.77836550e+01] [-9.39786037e-01 3.41654142e-01 8.64010414e-03 -1.52625226e+02] [-9.22586544e-03 -8.95734444e-05 -9.99957437e-01 -4.09524066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.013674167009604334 Centerline is valid? [True, True] Translation: X:67.72, Y:-152.72, Z:-4.10 [[-2.67939011e-01 -9.63433577e-01 2.10430061e-03 6.77241125e+01] [-9.63406260e-01 2.67947262e-01 7.25556839e-03 -1.52718619e+02] [-7.55409980e-03 -8.32465593e-05 -9.99971464e-01 -4.09614709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.013826092288597994 Centerline is valid? [True, True] Translation: X:67.67, Y:-152.82, Z:-4.10 [[-1.92519529e-01 -9.81292169e-01 1.38176435e-03 6.76719125e+01] [-9.81269898e-01 1.92524470e-01 6.61176435e-03 -1.52816205e+02] [-6.75409604e-03 -8.29900082e-05 -9.99977187e-01 -4.09674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.014260133545237611 Centerline is valid? [True, True] Translation: X:67.63, Y:-152.92, Z:-4.10 [[-1.15516358e-01 -9.93305158e-01 9.12993623e-04 6.76257569e+01] [-9.93280522e-01 1.15519924e-01 6.99650730e-03 -1.52922560e+02] [-7.05513574e-03 -9.86477425e-05 -9.99975107e-01 -4.09571434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.014776246768796993 Centerline is valid? [True, True] Translation: X:67.59, Y:-153.03, Z:-4.09 [[-3.77402817e-02 -9.99287509e-01 3.82160098e-04 6.75879686e+01] [-9.99261921e-01 3.77420505e-02 7.15197825e-03 -1.53030129e+02] [-7.16130604e-03 -1.11960359e-04 -9.99974351e-01 -4.09497222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.014393873722148868 Centerline is valid? [True, True] Translation: X:66.99, Y:-153.10, Z:-5.16 [[-1.38172076e-01 9.90407843e-01 8.84272796e-04 6.69909807e+01] [-9.90381583e-01 -1.38174853e-01 7.21324232e-03 -1.53102559e+02] [ 7.26623603e-03 1.20901178e-04 9.99973593e-01 -5.15593550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.015005337515915217 Centerline is valid? [True, True] Translation: X:67.57, Y:-153.29, Z:-4.09 [[-2.49527149e-02 -9.99688569e-01 3.57852222e-04 6.75708317e+01] [-9.99656080e-01 2.49547895e-02 8.06097652e-03 -1.53293529e+02] [-8.06739620e-03 -1.56585901e-04 -9.99967446e-01 -4.09346268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.01520329860891336 Centerline is valid? [True, True] Translation: X:67.54, Y:-153.41, Z:-4.09 [[ 5.17722434e-02 -9.98658879e-01 -2.81280355e-04 6.75433705e+01] [-9.98620280e-01 -5.17727159e-02 8.78197768e-03 -1.53408021e+02] [-8.78476263e-03 -1.73770419e-04 -9.99961398e-01 -4.09244308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.014954393930780465 Centerline is valid? [True, True] Translation: X:67.53, Y:-153.52, Z:-4.09 [[ 1.26661762e-01 -9.91945493e-01 -9.67805475e-04 6.75262393e+01] [-9.91905714e-01 -1.26665352e-01 8.88503370e-03 -1.53518141e+02] [-8.93605656e-03 -1.65422247e-04 -9.99960059e-01 -4.09246623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.0136958630781647 Centerline is valid? [True, True] Translation: X:67.52, Y:-153.63, Z:-4.09 [[ 1.96504819e-01 -9.80501896e-01 -1.37416747e-03 6.75214908e+01] [-9.80474408e-01 -1.96509601e-01 7.34243880e-03 -1.53632619e+02] [-7.46931227e-03 -9.54885666e-05 -9.99972100e-01 -4.09387509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.012986205906305648 Centerline is valid? [True, True] Translation: X:67.52, Y:-153.74, Z:-4.09 [[ 2.65945060e-01 -9.63986682e-01 -1.70378005e-03 6.75228681e+01] [-9.63965675e-01 -2.65950513e-01 6.36413517e-03 -1.53739413e+02] [-6.58806272e-03 -5.01248190e-05 -9.99978297e-01 -4.09488570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.012686823691096633 Centerline is valid? [True, True] Translation: X:67.53, Y:-153.85, Z:-4.10 [[ 3.34380757e-01 -9.42435494e-01 -2.20202841e-03 6.75329189e+01] [-9.42414693e-01 -3.34388007e-01 6.26166345e-03 -1.53850760e+02] [-6.63754577e-03 -1.85558356e-05 -9.99977971e-01 -4.09519287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.012713386561508153 Centerline is valid? [True, True] Translation: X:67.55, Y:-153.96, Z:-4.09 [[ 4.02263166e-01 -9.15518877e-01 -3.08723701e-03 6.75507553e+01] [-9.15492014e-01 -4.02275013e-01 7.01329012e-03 -1.53962764e+02] [-7.66271780e-03 5.15254282e-06 -9.99970641e-01 -4.09424935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.012676031408154794 Centerline is valid? [True, True] Translation: X:67.57, Y:-154.07, Z:-4.09 [[ 4.70711293e-01 -8.82278881e-01 -3.85418013e-03 6.75749950e+01] [-8.82249439e-01 -4.70727072e-01 7.20780403e-03 -1.54074722e+02] [-8.17356020e-03 7.55350077e-06 -9.99966596e-01 -4.09360166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.012908822592794184 Centerline is valid? [True, True] Translation: X:67.61, Y:-154.18, Z:-4.09 [[ 5.37300943e-01 -8.43372477e-01 -5.52819247e-03 6.76068298e+01] [-8.43327864e-01 -5.37329382e-01 8.67461487e-03 -1.54184261e+02] [-1.02863917e-02 1.19999261e-06 -9.99947094e-01 -4.09169985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.012851572910814436 Centerline is valid? [True, True] Translation: X:67.64, Y:-154.29, Z:-4.09 [[ 6.01686962e-01 -7.98697771e-01 -7.39396404e-03 6.76441087e+01] [-7.98636940e-01 -6.01732391e-01 9.85735006e-03 -1.54288482e+02] [-1.23222312e-02 -2.59461931e-05 -9.99924078e-01 -4.09117723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.013022085646227321 Centerline is valid? [True, True] Translation: X:67.69, Y:-154.39, Z:-4.09 [[ 6.63438236e-01 -7.48184831e-01 -8.31653825e-03 6.76881113e+01] [-7.48124648e-01 -6.63490356e-01 9.48993559e-03 -1.54392106e+02] [-1.26181688e-02 -7.41788789e-05 -9.99920385e-01 -4.09100886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.01324643923549975 Centerline is valid? [True, True] Translation: X:67.74, Y:-154.49, Z:-4.09 [[ 7.19703365e-01 -6.94235233e-01 -8.03174507e-03 6.77386188e+01] [-6.94190605e-01 -7.19748174e-01 7.87210065e-03 -1.54488254e+02] [-1.12459235e-02 -9.00153567e-05 -9.99936759e-01 -4.09187622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.013214694623639002 Centerline is valid? [True, True] Translation: X:67.76, Y:-154.52, Z:-4.09 [[ 7.72698370e-01 -6.34722787e-01 -8.01330628e-03 6.77609103e+01] [-6.34687327e-01 -7.72739914e-01 6.70989284e-03 -1.54519113e+02] [-1.04511235e-02 -9.87793234e-05 -9.99945381e-01 -4.09342142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.013306309747997248 Centerline is valid? [True, True] Translation: X:67.79, Y:-154.55, Z:-4.09 [[ 8.20487991e-01 -5.71615123e-01 -7.45712389e-03 6.77851285e+01] [-5.71590455e-01 -8.20521872e-01 5.31132016e-03 -1.54547363e+02] [-9.15476418e-03 -9.54535717e-05 -9.99958090e-01 -4.09428537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.013192586004952263 Centerline is valid? [True, True] Translation: X:67.81, Y:-154.57, Z:-4.10 [[ 8.62650232e-01 -5.05749182e-01 -7.23476693e-03 6.78115110e+01] [-5.05730539e-01 -8.62680565e-01 4.34335374e-03 -1.54574013e+02] [-8.43794042e-03 -8.79525370e-05 -9.99964396e-01 -4.09519876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.013500604351290336 Centerline is valid? [True, True] Translation: X:67.84, Y:-154.60, Z:-4.10 [[ 8.99755450e-01 -4.36342242e-01 -6.75109510e-03 6.78387272e+01] [-4.36329272e-01 -8.99780774e-01 3.36533304e-03 -1.54598156e+02] [-7.54294254e-03 -8.22763305e-05 -9.99971548e-01 -4.09515358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.01355370533181647 Centerline is valid? [True, True] Translation: X:67.87, Y:-154.62, Z:-4.09 [[ 9.31797556e-01 -3.62876302e-01 -8.60837054e-03 6.78692501e+01] [-3.62859632e-01 -9.31837312e-01 3.48018510e-03 -1.54621190e+02] [-9.28447756e-03 -1.19197804e-04 -9.99956891e-01 -4.09410704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.013936498721139173 Centerline is valid? [True, True] Translation: X:67.90, Y:-154.64, Z:-4.09 [[ 9.57807280e-01 -2.87218128e-01 -1.05338213e-02 6.79011803e+01] [-2.87198905e-01 -9.57865189e-01 3.32686795e-03 -1.54641795e+02] [-1.10455175e-02 -1.61196391e-04 -9.99938984e-01 -4.09202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.014220547585920253 Centerline is valid? [True, True] Translation: X:67.93, Y:-154.66, Z:-4.09 [[ 9.77519137e-01 -2.10517335e-01 -1.17808442e-02 6.79346865e+01] [-2.10499728e-01 -9.77590107e-01 2.72910299e-03 -1.54658284e+02] [-1.20913602e-02 -1.87885904e-04 -9.99926879e-01 -4.09061047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.01381988303257188 Centerline is valid? [True, True] Translation: X:67.97, Y:-154.67, Z:-4.09 [[ 9.90726916e-01 -1.35347111e-01 -1.18885264e-02 6.79703111e+01] [-1.35335385e-01 -9.90798230e-01 1.78908686e-03 -1.54669829e+02] [-1.20212787e-02 -1.63558215e-04 -9.99927729e-01 -4.09053786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.013490190828879797 Centerline is valid? [True, True] Translation: X:68.00, Y:-154.68, Z:-4.09 [[ 9.98130209e-01 -6.01152436e-02 -1.10564060e-02 6.80025150e+01] [-6.01102206e-02 -9.98191436e-01 7.86356375e-04 -1.54675884e+02] [-1.10836818e-02 -1.20283050e-04 -9.99938567e-01 -4.09046029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.013043782057594345 Centerline is valid? [True, True] Translation: X:68.04, Y:-154.68, Z:-4.09 [[ 9.99815493e-01 1.61877328e-02 -1.03410757e-02 6.80353917e+01] [ 1.61878138e-02 -9.99868966e-01 -7.58801107e-05 -1.54678540e+02] [-1.03409490e-02 -9.15332976e-05 -9.99946527e-01 -4.09138876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.012961833846420046 Centerline is valid? [True, True] Translation: X:68.07, Y:-154.68, Z:-4.09 [[ 9.95588908e-01 9.33015801e-02 -9.87632300e-03 6.80682845e+01] [ 9.32977542e-02 -9.95637891e-01 -8.48414386e-04 -1.54678265e+02] [-9.91239980e-03 -7.67668037e-05 -9.99950868e-01 -4.09094753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.012839009184816135 Centerline is valid? [True, True] Translation: X:68.10, Y:-154.68, Z:-4.09 [[ 9.85000247e-01 1.72240240e-01 -1.03833368e-02 6.81011227e+01] [ 1.72231685e-01 -9.85054968e-01 -1.71924582e-03 -1.54680761e+02] [-1.05242808e-02 -9.48820449e-05 -9.99944614e-01 -4.09093287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.013359955583928123 Centerline is valid? [True, True] Translation: X:68.13, Y:-154.68, Z:-4.09 [[ 9.68042998e-01 2.50510993e-01 -1.17045745e-02 6.81332330e+01] [ 2.50494303e-01 -9.68113746e-01 -2.89459589e-03 -1.54680886e+02] [-1.20564875e-02 -1.29835951e-04 -9.99927310e-01 -4.08941115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.01400976013943808 Centerline is valid? [True, True] Translation: X:68.17, Y:-154.68, Z:-4.09 [[ 9.44570244e-01 3.28018823e-01 -1.38096280e-02 6.81660034e+01] [ 3.27986777e-01 -9.44671167e-01 -4.58911963e-03 -1.54677238e+02] [-1.45508750e-02 -1.94629545e-04 -9.99894112e-01 -4.08834701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.013927774817341546 Centerline is valid? [True, True] Translation: X:68.20, Y:-154.67, Z:-4.09 [[ 9.15927026e-01 4.01090216e-01 -1.42941050e-02 6.81988039e+01] [ 4.01044938e-01 -9.16038534e-01 -6.03014848e-03 -1.54670923e+02] [-1.55125846e-02 -2.09402500e-04 -9.99879651e-01 -4.08800507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.013850948271208358 Centerline is valid? [True, True] Translation: X:68.23, Y:-154.66, Z:-4.09 [[ 8.82508640e-01 4.70080173e-01 -1.42523721e-02 6.82286547e+01] [ 4.70022330e-01 -8.82623699e-01 -7.37662490e-03 -1.54659642e+02] [-1.60470865e-02 -1.88997930e-04 -9.99871219e-01 -4.08766919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.013269321748535635 Centerline is valid? [True, True] Translation: X:68.26, Y:-154.64, Z:-4.09 [[ 8.45462633e-01 5.33880899e-01 -1.28110073e-02 6.82559111e+01] [ 5.33821562e-01 -8.45559681e-01 -7.96028417e-03 -1.54642258e+02] [-1.50823149e-02 -1.08669127e-04 -9.99886250e-01 -4.08811641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.012734473059700747 Centerline is valid? [True, True] Translation: X:68.28, Y:-154.63, Z:-4.09 [[ 8.02960023e-01 5.95918310e-01 -1.16862651e-02 6.82831912e+01] [ 5.95856267e-01 -8.03045057e-01 -8.59911942e-03 -1.54625224e+02] [-1.45089701e-02 -5.85851714e-05 -9.99894738e-01 -4.09006807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.012675894448724166 Centerline is valid? [True, True] Translation: X:68.31, Y:-154.61, Z:-4.09 [[ 7.55457842e-01 6.55106304e-01 -1.09169406e-02 6.83101574e+01] [ 6.55038343e-01 -7.55536717e-01 -9.43601095e-03 -1.54608661e+02] [-1.44297397e-02 -2.25062016e-05 -9.99895886e-01 -4.09131894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.012601460512983638 Centerline is valid? [True, True] Translation: X:68.34, Y:-154.59, Z:-4.09 [[ 7.01832749e-01 7.12276918e-01 -9.61167169e-03 6.83385590e+01] [ 7.12210560e-01 -7.01898562e-01 -9.72252725e-03 -1.54592813e+02] [-1.36715503e-02 -2.19460421e-05 -9.99906540e-01 -4.09252778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.012896871491256368 Centerline is valid? [True, True] Translation: X:68.37, Y:-154.58, Z:-4.09 [[ 6.41215667e-01 7.67311318e-01 -8.70688111e-03 6.83672210e+01] [ 7.67242045e-01 -6.41274775e-01 -1.03105312e-02 -1.54577713e+02] [-1.34948905e-02 -6.90111350e-05 -9.99908938e-01 -4.09128459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.013187195623309774 Centerline is valid? [True, True] Translation: X:68.40, Y:-154.56, Z:-4.09 [[ 5.75903119e-01 8.17474303e-01 -8.44759522e-03 6.83957868e+01] [ 8.17389711e-01 -5.75965057e-01 -1.17606766e-02 -1.54560142e+02] [-1.44795706e-02 -1.31967080e-04 -9.99895157e-01 -4.09167436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.01407882517360169 Centerline is valid? [True, True] Translation: X:68.42, Y:-154.54, Z:-4.09 [[ 5.06999163e-01 8.61905931e-01 -8.36745820e-03 6.84221025e+01] [ 8.61795208e-01 -5.07068164e-01 -1.38165238e-02 -1.54538552e+02] [-1.61514155e-02 -2.06069359e-04 -9.99869536e-01 -4.09052693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.01433358354263683 Centerline is valid? [True, True] Translation: X:68.44, Y:-154.51, Z:-4.09 [[ 4.37745955e-01 8.99067490e-01 -7.49184674e-03 6.84414296e+01] [ 8.98944197e-01 -4.37810006e-01 -1.48905819e-02 -1.54513556e+02] [-1.66676436e-02 -2.16460150e-04 -9.99861062e-01 -4.09023058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.013269558563460168 Centerline is valid? [True, True] Translation: X:68.46, Y:-154.49, Z:-4.09 [[ 3.68781473e-01 9.29500730e-01 -5.34958500e-03 6.84607134e+01] [ 9.29408429e-01 -3.68820244e-01 -1.30996110e-02 -1.54487245e+02] [-1.41491332e-02 -1.41055558e-04 -9.99899886e-01 -4.09394257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.013285853270771378 Centerline is valid? [True, True] Translation: X:68.48, Y:-154.46, Z:-4.09 [[ 2.97201675e-01 9.54806747e-01 -3.90386055e-03 6.84772321e+01] [ 9.54728608e-01 -2.97227298e-01 -1.22155098e-02 -1.54460550e+02] [-1.28237851e-02 -9.66573669e-05 -9.99917767e-01 -4.09351028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.012582263320167928 Centerline is valid? [True, True] Translation: X:68.49, Y:-154.43, Z:-4.10 [[ 2.23480229e-01 9.74704558e-01 -2.75911146e-03 6.84910645e+01] [ 9.74633923e-01 -2.23497251e-01 -1.17343231e-02 -1.54430834e+02] [-1.20541521e-02 -6.67344064e-05 -9.99927344e-01 -4.09653793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.01257158850194921 Centerline is valid? [True, True] Translation: X:68.50, Y:-154.40, Z:-4.10 [[ 1.47393950e-01 9.89076224e-01 -1.80201662e-03 6.85039630e+01] [ 9.89006783e-01 -1.47404955e-01 -1.17201937e-02 -1.54400900e+02] [-1.18577911e-02 -5.47210250e-05 -9.99929693e-01 -4.09704237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.012597079293133327 Centerline is valid? [True, True] Translation: X:68.51, Y:-154.37, Z:-4.10 [[ 7.01841670e-02 9.97533643e-01 -9.02703674e-04 6.85140851e+01] [ 9.97459728e-01 -7.01899555e-02 -1.21433515e-02 -1.54371584e+02] [-1.21767624e-02 -4.81395527e-05 -9.99925859e-01 -4.09546994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.01280256513285997 Centerline is valid? [True, True] Translation: X:68.52, Y:-154.34, Z:-4.09 [[-9.41046242e-03 9.99955719e-01 5.89826894e-05 6.85219890e+01] [ 9.99856792e-01 9.41036110e-03 -1.40655529e-02 -1.54340659e+02] [-1.40654851e-02 -7.33891144e-05 -9.99901074e-01 -4.09460287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.013075579375462923 Centerline is valid? [True, True] Translation: X:68.53, Y:-154.31, Z:-4.09 [[-8.95469475e-02 9.95981780e-01 1.27983851e-03 6.85271937e+01] [ 9.95861696e-01 8.95560250e-02 -1.54661098e-02 -1.54309065e+02] [-1.55185808e-02 -1.10400773e-04 -9.99879574e-01 -4.09256796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.014091651049229981 Centerline is valid? [True, True] Translation: X:68.53, Y:-154.28, Z:-4.09 [[-1.70531355e-01 9.85348470e-01 2.72942278e-03 6.85289883e+01] [ 9.85205123e-01 1.70553104e-01 -1.68078607e-02 -1.54278458e+02] [-1.70271114e-02 -1.77225964e-04 -9.99855013e-01 -4.09111936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.014872460838824804 Centerline is valid? [True, True] Translation: X:68.52, Y:-154.25, Z:-4.09 [[-2.49447383e-01 9.68379186e-01 4.21371402e-03 6.85247239e+01] [ 9.68225329e-01 2.49482867e-01 -1.72630243e-02 -1.54247751e+02] [-1.77684029e-02 -2.26391582e-04 -9.99842104e-01 -4.09095434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.014228906912557914 Centerline is valid? [True, True] Translation: X:68.52, Y:-154.22, Z:-4.09 [[-3.25574010e-01 9.45500433e-01 5.52222634e-03 6.85218393e+01] [ 9.45351452e-01 3.25620747e-01 -1.67857688e-02 -1.54215370e+02] [-1.76691031e-02 -2.44565372e-04 -9.99843859e-01 -4.09434815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.013689706517140082 Centerline is valid? [True, True] Translation: X:68.52, Y:-154.18, Z:-4.10 [[-3.96981889e-01 9.17802739e-01 6.59636393e-03 6.85167661e+01] [ 9.17667324e-01 3.97036635e-01 -1.57668518e-02 -1.54183105e+02] [-1.70898579e-02 -2.05886954e-04 -9.99853937e-01 -4.09590815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.012897754020603147 Centerline is valid? [True, True] Translation: X:68.50, Y:-154.15, Z:-4.10 [[-4.62526651e-01 8.86580726e-01 6.61166422e-03 6.85049372e+01] [ 8.86487359e-01 4.62573895e-01 -1.28667950e-02 -1.54154361e+02] [-1.44658357e-02 -9.00788346e-05 -9.99895360e-01 -4.09899267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.012604039404531336 Centerline is valid? [True, True] Translation: X:68.49, Y:-154.12, Z:-4.10 [[-5.27205007e-01 8.49710752e-01 6.82040304e-03 6.84932258e+01] [ 8.49638923e-01 5.27249122e-01 -1.10482752e-02 -1.54124987e+02] [-1.29838897e-02 -2.98260914e-05 -9.99915705e-01 -4.10051358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.012696493459853776 Centerline is valid? [True, True] Translation: X:68.48, Y:-154.10, Z:-4.10 [[-5.89387824e-01 8.07813130e-01 7.74211354e-03 6.84792537e+01] [ 8.07743773e-01 5.89438671e-01 -1.05853784e-02 -1.54097076e+02] [-1.31145088e-02 1.47508664e-05 -9.99914001e-01 -4.10067099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.012928599716057391 Centerline is valid? [True, True] Translation: X:68.46, Y:-154.07, Z:-4.10 [[-6.48642345e-01 7.61041581e-01 8.87810167e-03 6.84634934e+01] [ 7.60971448e-01 6.48703098e-01 -1.03317565e-02 -1.54071379e+02] [-1.36221483e-02 5.43671464e-05 -9.99907213e-01 -4.09979996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.013051473818351117 Centerline is valid? [True, True] Translation: X:68.45, Y:-154.05, Z:-4.10 [[-7.06435022e-01 7.07697369e-01 1.06767848e-02 6.84463102e+01] [ 7.07617756e-01 7.06515697e-01 -1.06151078e-02 -1.54045828e+02] [-1.50556000e-02 5.61985770e-05 -9.99886657e-01 -4.09857176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.013095871715321275 Centerline is valid? [True, True] Translation: X:68.89, Y:-153.60, Z:-5.15 [[-6.61768988e-01 -7.49632990e-01 1.05918089e-02 6.88875427e+01] [ 7.49536936e-01 -6.61853745e-01 -1.20000691e-02 -1.53604577e+02] [ 1.60058761e-02 -2.32161043e-06 9.99871898e-01 -5.15332383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.012872586585289064 Centerline is valid? [True, True] Translation: X:68.85, Y:-153.56, Z:-5.15 [[-6.60268780e-01 -7.50965013e-01 9.83298756e-03 6.88478813e+01] [ 7.50881764e-01 -6.60341994e-01 -1.11815704e-02 -1.53563560e+02] [ 1.48901028e-02 5.69183833e-07 9.99889136e-01 -5.15186242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.012657212310091018 Centerline is valid? [True, True] Translation: X:68.81, Y:-153.52, Z:-5.15 [[-6.56799563e-01 -7.54017248e-01 8.50436729e-03 6.88052585e+01] [ 7.53955311e-01 -6.56854615e-01 -9.66455288e-03 -1.53524652e+02] [ 1.28733725e-02 6.42387760e-05 9.99917133e-01 -5.14784627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.013050307560339536 Centerline is valid? [True, True] Translation: X:68.76, Y:-153.49, Z:-5.15 [[-6.54045352e-01 -7.56411209e-01 8.17072356e-03 6.87645182e+01] [ 7.56354269e-01 -6.54096378e-01 -9.28157467e-03 -1.53485105e+02] [ 1.23651278e-02 1.09390871e-04 9.99923543e-01 -5.14731993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.01382326363576219 Centerline is valid? [True, True] Translation: X:68.72, Y:-153.44, Z:-5.15 [[-6.49650498e-01 -7.60183922e-01 8.63920514e-03 6.87228512e+01] [ 7.60120675e-01 -6.49707909e-01 -9.80775495e-03 -1.53444919e+02] [ 1.30686575e-02 1.95225565e-04 9.99914582e-01 -5.14642504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.014671564903422465 Centerline is valid? [True, True] Translation: X:68.68, Y:-153.40, Z:-5.15 [[-6.47189098e-01 -7.62277104e-01 8.93795527e-03 6.86813407e+01] [ 7.62209685e-01 -6.47250766e-01 -1.01411436e-02 -1.53404112e+02] [ 1.35154600e-02 2.49358499e-04 9.99908631e-01 -5.14660671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.015792145212089773 Centerline is valid? [True, True] Translation: X:68.64, Y:-153.36, Z:-5.15 [[-6.45647678e-01 -7.63584026e-01 8.86067375e-03 6.86408055e+01] [ 7.63517970e-01 -6.45708416e-01 -1.00474593e-02 -1.53364241e+02] [ 1.33934910e-02 2.78164868e-04 9.99910265e-01 -5.14715230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.016028836284606912 Centerline is valid? [True, True] Translation: X:68.60, Y:-153.32, Z:-5.15 [[-6.44265031e-01 -7.64745410e-01 9.32892395e-03 6.86006883e+01] [ 7.64672393e-01 -6.44332488e-01 -1.05724540e-02 -1.53322161e+02] [ 1.40961645e-02 3.22108173e-04 9.99900592e-01 -5.14688537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.01672868901277947 Centerline is valid? [True, True] Translation: X:68.56, Y:-153.28, Z:-5.15 [[-6.43646422e-01 -7.65257721e-01 9.99520784e-03 6.85613110e+01] [ 7.65174033e-01 -6.43723925e-01 -1.13229312e-02 -1.53281269e+02] [ 1.50991149e-02 3.60109328e-04 9.99885937e-01 -5.14735825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.01659605017920424 Centerline is valid? [True, True] Translation: X:68.52, Y:-153.24, Z:-5.15 [[-6.43805407e-01 -7.65122185e-01 1.01311580e-02 6.85222776e+01] [ 7.65036298e-01 -6.43885012e-01 -1.14697330e-02 -1.53239243e+02] [ 1.52990479e-02 3.66427486e-04 9.99882896e-01 -5.14733571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.01594900418069826 Centerline is valid? [True, True] Translation: X:68.48, Y:-153.20, Z:-5.15 [[-6.45092521e-01 -7.64035235e-01 1.02858491e-02 6.84836535e+01] [ 7.63946682e-01 -6.45174423e-01 -1.16374697e-02 -1.53197049e+02] [ 1.55276036e-02 3.50595665e-04 9.99879378e-01 -5.14800609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.01529507502993755 Centerline is valid? [True, True] Translation: X:68.45, Y:-153.15, Z:-5.15 [[-6.47134388e-01 -7.62312680e-01 9.82151252e-03 6.84463838e+01] [ 7.62231830e-01 -6.47208845e-01 -1.11062250e-02 -1.53151997e+02] [ 1.48229860e-02 2.99049320e-04 9.99890089e-01 -5.14699072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.01481177912604132 Centerline is valid? [True, True] Translation: X:68.41, Y:-153.11, Z:-5.15 [[-6.49065961e-01 -7.60670784e-01 9.66114131e-03 6.84086780e+01] [ 7.60592460e-01 -6.49137806e-01 -1.09187613e-02 -1.53107980e+02] [ 1.45769948e-02 2.61194945e-04 9.99893716e-01 -5.14697113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.014287452070402579 Centerline is valid? [True, True] Translation: X:68.37, Y:-153.06, Z:-5.15 [[-6.51680512e-01 -7.58415828e-01 1.08600589e-02 6.83724216e+01] [ 7.58316669e-01 -6.51770951e-01 -1.22660983e-02 -1.53064197e+02] [ 1.63810740e-02 2.41786515e-04 9.99865792e-01 -5.14859170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.014046410601949147 Centerline is valid? [True, True] Translation: X:68.33, Y:-153.02, Z:-5.15 [[-6.53062215e-01 -7.57223490e-01 1.10602737e-02 6.83349012e+01] [ 7.57120598e-01 -6.53155829e-01 -1.24845145e-02 -1.53020407e+02] [ 1.66776499e-02 2.20796339e-04 9.99860894e-01 -5.14962063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.013753496240143485 Centerline is valid? [True, True] Translation: X:68.30, Y:-152.98, Z:-5.15 [[-6.55004421e-01 -7.55538678e-01 1.14243052e-02 6.82977362e+01] [ 7.55428779e-01 -6.55104015e-01 -1.28875545e-02 -1.52976325e+02] [ 1.72211541e-02 1.88843754e-04 9.99851687e-01 -5.15039631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.013786308094317662 Centerline is valid? [True, True] Translation: X:68.26, Y:-152.93, Z:-5.15 [[-6.55785159e-01 -7.54857456e-01 1.16638856e-02 6.82601925e+01] [ 7.54742932e-01 -6.55888854e-01 -1.31498565e-02 -1.52932690e+02] [ 1.75764798e-02 1.79754445e-04 9.99845506e-01 -5.15137129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.014055649540106881 Centerline is valid? [True, True] Translation: X:68.22, Y:-152.89, Z:-5.15 [[-6.56059974e-01 -7.54609205e-01 1.22580279e-02 6.82229416e+01] [ 7.54482824e-01 -6.56174453e-01 -1.38114417e-02 -1.52889181e+02] [ 1.84656458e-02 1.87337465e-04 9.99829478e-01 -5.15241179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.014218057410680381 Centerline is valid? [True, True] Translation: X:68.19, Y:-152.85, Z:-5.15 [[-6.56396866e-01 -7.54314706e-01 1.23482311e-02 6.81859665e+01] [ 7.54186558e-01 -6.56512978e-01 -1.39048569e-02 -1.52845935e+02] [ 1.85954120e-02 1.85765446e-04 9.99827073e-01 -5.15304278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.014239514552260071 Centerline is valid? [True, True] Translation: X:68.15, Y:-152.80, Z:-5.15 [[-6.56679609e-01 -7.54076785e-01 1.18361213e-02 6.81496500e+01] [ 7.53959162e-01 -6.56786244e-01 -1.33195565e-02 -1.52803181e+02] [ 1.78177700e-02 1.77270929e-04 9.99841235e-01 -5.15330530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.013189380416068954 Centerline is valid? [True, True] Translation: X:68.11, Y:-152.76, Z:-5.15 [[-6.57285432e-01 -7.53572210e-01 1.02364624e-02 6.81143710e+01] [ 7.53484266e-01 -6.57365121e-01 -1.15134126e-02 -1.52756149e+02] [ 1.54052811e-02 1.45414965e-04 9.99881321e-01 -5.14825074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.013853110869215403 Centerline is valid? [True, True] Translation: X:68.08, Y:-152.71, Z:-5.15 [[-6.58116392e-01 -7.52856556e-01 9.47742746e-03 6.80786626e+01] [ 7.52781169e-01 -6.58184618e-01 -1.06545865e-02 -1.52712331e+02] [ 1.42592723e-02 1.22470892e-04 9.99898324e-01 -5.14953757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.01304486190711489 Centerline is valid? [True, True] Translation: X:68.04, Y:-152.67, Z:-5.15 [[-6.58413224e-01 -7.52606085e-01 8.72395013e-03 6.80440815e+01] [ 7.52542267e-01 -6.58471008e-01 -9.80147135e-03 -1.52666770e+02] [ 1.31211152e-02 1.11722857e-04 9.99913908e-01 -5.14511043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.012908827957675378 Centerline is valid? [True, True] Translation: X:68.01, Y:-152.62, Z:-5.14 [[-6.58529008e-01 -7.52509083e-01 8.34416737e-03 6.80075639e+01] [ 7.52450766e-01 -6.58581861e-01 -9.36895699e-03 -1.52622581e+02] [ 1.25455425e-02 1.08845176e-04 9.99921296e-01 -5.14377911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.012921120726494928 Centerline is valid? [True, True] Translation: X:67.97, Y:-152.58, Z:-5.14 [[-6.57692050e-01 -7.53243707e-01 8.06754945e-03 6.79703028e+01] [ 7.53189317e-01 -6.57741516e-01 -9.05265284e-03 -1.52579514e+02] [ 1.21252160e-02 1.22534256e-04 9.99926479e-01 -5.14279910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.013141555415348173 Centerline is valid? [True, True] Translation: X:67.93, Y:-152.54, Z:-5.14 [[-6.57210931e-01 -7.53664729e-01 7.95414593e-03 6.79320423e+01] [ 7.53611954e-01 -6.57259050e-01 -8.91983673e-03 -1.52537213e+02] [ 1.19505007e-02 1.32125253e-04 9.99928582e-01 -5.14331482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.01329507023267152 Centerline is valid? [True, True] Translation: X:67.90, Y:-152.49, Z:-5.14 [[-6.57390838e-01 -7.53510211e-01 7.72315913e-03 6.78966090e+01] [ 7.53460512e-01 -6.57436191e-01 -8.65519046e-03 -1.52493987e+02] [ 1.15992587e-02 1.29252524e-04 9.99932718e-01 -5.14230563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.012976693195446126 Centerline is valid? [True, True] Translation: X:67.86, Y:-152.45, Z:-5.14 [[-6.57246805e-01 -7.53637217e-01 7.58833958e-03 6.78598545e+01] [ 7.53589308e-01 -6.57290596e-01 -8.49868664e-03 -1.52450635e+02] [ 1.13926708e-02 1.32756929e-04 9.99935093e-01 -5.14035645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.013248591939071576 Centerline is valid? [True, True] Translation: X:67.82, Y:-152.41, Z:-5.14 [[-6.55960948e-01 -7.54753525e-01 7.89621870e-03 6.78212139e+01] [ 7.54701790e-01 -6.56008453e-01 -8.83844825e-03 -1.52407785e+02] [ 1.18508362e-02 1.61613495e-04 9.99929763e-01 -5.13979912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.014664141490651886 Centerline is valid? [True, True] Translation: X:67.78, Y:-152.37, Z:-5.14 [[-6.53186375e-01 -7.57155245e-01 7.96840529e-03 6.77821306e+01] [ 7.57102801e-01 -6.53234943e-01 -8.91391196e-03 -1.52366619e+02] [ 1.19544560e-02 2.10456125e-04 9.99928521e-01 -5.13962818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.01526725749815768 Centerline is valid? [True, True] Translation: X:67.74, Y:-152.32, Z:-5.14 [[-6.51747372e-01 -7.58393165e-01 8.07282291e-03 6.77440412e+01] [ 7.58339493e-01 -6.51797322e-01 -9.02576593e-03 -1.52323307e+02] [ 1.21069236e-02 2.39421209e-04 9.99926680e-01 -5.13920629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.015382450443616417 Centerline is valid? [True, True] Translation: X:67.71, Y:-152.28, Z:-5.14 [[-6.50348430e-01 -7.59592516e-01 8.13201977e-03 6.77059961e+01] [ 7.59538209e-01 -6.50399215e-01 -9.08683255e-03 -1.52279578e+02] [ 1.21913493e-02 2.66972445e-04 9.99925647e-01 -5.13872034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.016896540601912056 Centerline is valid? [True, True] Translation: X:67.67, Y:-152.24, Z:-5.14 [[-6.47526350e-01 -7.61982406e-01 9.61446810e-03 6.76669801e+01] [ 7.61906843e-01 -6.47597617e-01 -1.07372854e-02 -1.52236920e+02] [ 1.44079292e-02 3.72653830e-04 9.99896131e-01 -5.13987146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.018050887826404165 Centerline is valid? [True, True] Translation: X:67.63, Y:-152.19, Z:-5.14 [[-6.45953606e-01 -7.63311558e-01 9.97016065e-03 6.76279829e+01] [ 7.63230549e-01 -6.46030408e-01 -1.11283750e-02 -1.52193692e+02] [ 1.49354442e-02 4.21117253e-04 9.99888371e-01 -5.13972777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.01862246231324697 Centerline is valid? [True, True] Translation: X:67.59, Y:-152.15, Z:-5.14 [[-6.45490132e-01 -7.63699399e-01 1.02819590e-02 6.75915855e+01] [ 7.63613390e-01 -6.45571862e-01 -1.14700886e-02 -1.52148842e+02] [ 1.53974431e-02 4.47612573e-04 9.99881352e-01 -5.13815720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.018047742632893764 Centerline is valid? [True, True] Translation: X:67.56, Y:-152.10, Z:-5.14 [[-6.46416467e-01 -7.62922643e-01 9.73607043e-03 6.75550201e+01] [ 7.62845525e-01 -6.46489653e-01 -1.08551182e-02 -1.52103835e+02] [ 1.45758843e-02 4.10190570e-04 9.99893682e-01 -5.13637676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.016965681863051838 Centerline is valid? [True, True] Translation: X:67.52, Y:-152.06, Z:-5.14 [[-6.48036398e-01 -7.61547585e-01 9.70065530e-03 6.75184780e+01] [ 7.61470955e-01 -6.48108888e-01 -1.08099559e-02 -1.52057877e+02] [ 1.45193768e-02 3.81522344e-04 9.99894516e-01 -5.13501691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.016539488914008884 Centerline is valid? [True, True] Translation: X:67.48, Y:-152.01, Z:-5.14 [[-6.50292666e-01 -7.59611951e-01 1.04466616e-02 6.74810396e+01] [ 7.59522930e-01 -6.50376467e-01 -1.16348471e-02 -1.52013464e+02] [ 1.56322317e-02 3.68423304e-04 9.99877741e-01 -5.13682722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.016165305729265687 Centerline is valid? [True, True] Translation: X:67.44, Y:-151.97, Z:-5.14 [[-6.51455107e-01 -7.58595655e-01 1.17845532e-02 6.74437498e+01] [ 7.58482349e-01 -6.51561569e-01 -1.31167441e-02 -1.51969853e+02] [ 1.76286670e-02 3.93405666e-04 9.99844526e-01 -5.13806444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.015661562620201155 Centerline is valid? [True, True] Translation: X:67.40, Y:-151.93, Z:-5.14 [[-6.51689051e-01 -7.58373698e-01 1.30657940e-02 6.74047369e+01] [ 7.58234529e-01 -6.51819872e-01 -1.45345647e-02 -1.51926284e+02] [ 1.95391757e-02 4.34919539e-04 9.99808998e-01 -5.13882944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.01654955573919019 Centerline is valid? [True, True] Translation: X:67.36, Y:-151.89, Z:-5.14 [[-6.49542412e-01 -7.60181651e-01 1.47821626e-02 6.73623814e+01] [ 7.60004201e-01 -6.49710354e-01 -1.64338377e-02 -1.51887081e+02] [ 2.20968259e-02 5.60031083e-04 9.99755679e-01 -5.14131510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.018564005213836204 Centerline is valid? [True, True] Translation: X:67.32, Y:-151.85, Z:-5.14 [[-6.46846630e-01 -7.62463524e-01 1.54535528e-02 6.73202327e+01] [ 7.62270451e-01 -6.47030851e-01 -1.71708285e-02 -1.51849077e+02] [ 2.30910558e-02 6.72894129e-04 9.99733140e-01 -5.14233957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.018206369036113054 Centerline is valid? [True, True] Translation: X:67.28, Y:-151.81, Z:-5.14 [[-6.46833586e-01 -7.62470117e-01 1.56726779e-02 6.72828161e+01] [ 7.62271789e-01 -6.47023064e-01 -1.74033005e-02 -1.51805883e+02] [ 2.34100806e-02 6.89800933e-04 9.99725709e-01 -5.14098812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.017703789195174707 Centerline is valid? [True, True] Translation: X:67.25, Y:-151.76, Z:-5.14 [[-6.48893024e-01 -7.60742890e-01 1.44256171e-02 6.72452188e+01] [ 7.60574569e-01 -6.49053093e-01 -1.60127410e-02 -1.51761450e+02] [ 2.15445702e-02 5.81201537e-04 9.99767720e-01 -5.13918976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.0178153183848135 Centerline is valid? [True, True] Translation: X:67.21, Y:-151.72, Z:-5.14 [[-6.51151627e-01 -7.58834688e-01 1.30948321e-02 6.72074104e+01] [ 7.58695728e-01 -6.51283111e-01 -1.45293031e-02 -1.51719159e+02] [ 1.95537821e-02 4.74213808e-04 9.99808694e-01 -5.13880605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.016328026486857095 Centerline is valid? [True, True] Translation: X:67.17, Y:-151.67, Z:-5.14 [[-6.53994130e-01 -7.56404296e-01 1.20091171e-02 6.71709050e+01] [ 7.56287157e-01 -6.54104274e-01 -1.33166711e-02 -1.51674854e+02] [ 1.79280021e-02 3.73316339e-04 9.99839211e-01 -5.13717297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.014268784210863339 Centerline is valid? [True, True] Translation: X:67.14, Y:-151.63, Z:-5.14 [[-6.57818616e-01 -7.53086084e-01 1.16627131e-02 6.71360064e+01] [ 7.52975208e-01 -6.57921935e-01 -1.29253262e-02 -1.51628121e+02] [ 1.74070381e-02 2.79213636e-04 9.99848447e-01 -5.13563937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.013294328522078581 Centerline is valid? [True, True] Translation: X:67.10, Y:-151.58, Z:-5.13 [[-6.59833965e-01 -7.51319737e-01 1.17384380e-02 6.70990310e+01] [ 7.51207264e-01 -6.59938327e-01 -1.30019330e-02 -1.51583139e+02] [ 1.75152540e-02 2.38882880e-04 9.99846568e-01 -5.13492490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.013332631588564785 Centerline is valid? [True, True] Translation: X:67.06, Y:-151.54, Z:-5.14 [[-6.61853347e-01 -7.49542761e-01 1.16532018e-02 6.70622088e+01] [ 7.49431788e-01 -6.61955898e-01 -1.28990090e-02 -1.51540494e+02] [ 1.73822645e-02 1.96027591e-04 9.99848898e-01 -5.13686029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.012729721545000803 Centerline is valid? [True, True] Translation: X:67.03, Y:-151.50, Z:-5.14 [[-6.63173048e-01 -7.48370004e-01 1.19936104e-02 6.70254240e+01] [ 7.48252409e-01 -6.63281469e-01 -1.32674364e-02 -1.51496787e+02] [ 1.78840910e-02 1.75641690e-04 9.99840052e-01 -5.13606123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.012833324218530518 Centerline is valid? [True, True] Translation: X:66.99, Y:-151.46, Z:-5.14 [[-6.63683949e-01 -7.47918872e-01 1.18734080e-02 6.69869485e+01] [ 7.47803663e-01 -6.63790128e-01 -1.31281067e-02 -1.51455402e+02] [ 1.77002098e-02 1.66064335e-04 9.99843325e-01 -5.13828592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.01296343575184289 Centerline is valid? [True, True] Translation: X:66.95, Y:-151.41, Z:-5.14 [[-6.63866483e-01 -7.47764045e-01 1.14116467e-02 6.69482859e+01] [ 7.47657731e-01 -6.63964538e-01 -1.26099475e-02 -1.51413119e+02] [ 1.70061941e-02 1.60684343e-04 9.99855371e-01 -5.13840949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.012154843858690484 Centerline is valid? [True, True] Translation: X:66.91, Y:-151.37, Z:-5.13 [[-6.64298597e-01 -7.47411438e-01 9.13874205e-03 6.69100944e+01] [ 7.47343302e-01 -6.64361443e-01 -1.00926660e-02 -1.51369113e+02] [ 1.36148019e-02 1.25233802e-04 9.99907307e-01 -5.13467585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.011874628048939458 Centerline is valid? [True, True] Translation: X:66.87, Y:-151.33, Z:-5.13 [[-6.64730149e-01 -7.47041858e-01 7.89248594e-03 6.68717867e+01] [ 7.46991078e-01 -6.64776993e-01 -8.71081647e-03 -1.51326292e+02] [ 1.17540876e-02 1.05274253e-04 9.99930913e-01 -5.13338668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.011923586846866957 Centerline is valid? [True, True] Translation: X:66.83, Y:-151.28, Z:-5.13 [[-6.64695058e-01 -7.47084486e-01 6.72690838e-03 6.68327058e+01] [ 7.47047646e-01 -6.64729090e-01 -7.41974626e-03 -1.51284769e+02] [ 1.00147490e-02 9.34524007e-05 9.99949847e-01 -5.13294358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.011870993107858465 Centerline is valid? [True, True] Translation: X:66.79, Y:-151.24, Z:-5.13 [[-6.64680796e-01 -7.47106747e-01 5.56307932e-03 6.67930234e+01] [ 7.47081586e-01 -6.64704071e-01 -6.13206056e-03 -1.51244246e+02] [ 8.27910529e-03 8.02112316e-05 9.99965724e-01 -5.13373877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.012197926637308643 Centerline is valid? [True, True] Translation: X:66.75, Y:-151.20, Z:-5.14 [[-6.63650038e-01 -7.48019270e-01 5.98327949e-03 6.67523938e+01] [ 7.47990233e-01 -6.63677001e-01 -6.59166850e-03 -1.51202897e+02] [ 8.90166004e-03 1.00873566e-04 9.99960374e-01 -5.13534370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.012290308624481019 Centerline is valid? [True, True] Translation: X:66.71, Y:-151.16, Z:-5.14 [[-6.62363581e-01 -7.49151940e-01 6.77182469e-03 6.67127424e+01] [ 7.49114846e-01 -6.62398183e-01 -7.45617316e-03 -1.51160990e+02] [ 1.00714510e-02 1.34176858e-04 9.99949273e-01 -5.13594256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.01305987884201469 Centerline is valid? [True, True] Translation: X:66.67, Y:-151.12, Z:-5.14 [[-6.61023997e-01 -7.50328366e-01 7.39044608e-03 6.66723924e+01] [ 7.50284308e-01 -6.61065288e-01 -8.13275769e-03 -1.51119466e+02] [ 1.09878062e-02 1.68987723e-04 9.99939618e-01 -5.13715287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.01365431959017 Centerline is valid? [True, True] Translation: X:66.63, Y:-151.08, Z:-5.14 [[-6.59400325e-01 -7.51755314e-01 7.42688523e-03 6.66322346e+01] [ 7.51710963e-01 -6.59442120e-01 -8.16822154e-03 -1.51077126e+02] [ 1.10381049e-02 1.96743102e-04 9.99939059e-01 -5.13740205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.014299111228357187 Centerline is valid? [True, True] Translation: X:66.59, Y:-151.04, Z:-5.14 [[-6.59107032e-01 -7.52011522e-01 7.52270006e-03 6.65938036e+01] [ 7.51966097e-01 -6.59149928e-01 -8.26811675e-03 -1.51036321e+02] [ 1.11763063e-02 2.07241504e-04 9.99937522e-01 -5.13752145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.014150079687609859 Centerline is valid? [True, True] Translation: X:66.55, Y:-150.99, Z:-5.14 [[-6.59443754e-01 -7.51717045e-01 7.44451765e-03 6.65548338e+01] [ 7.51672596e-01 -6.59485742e-01 -8.17705757e-03 -1.50993940e+02] [ 1.10563868e-02 2.03530373e-04 9.99938856e-01 -5.13747969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.014311248206222859 Centerline is valid? [True, True] Translation: X:66.52, Y:-150.95, Z:-5.14 [[-6.59925906e-01 -7.51292333e-01 7.59138703e-03 6.65155786e+01] [ 7.51246144e-01 -6.59969536e-01 -8.33319534e-03 -1.50951972e+02] [ 1.12707500e-02 2.03708754e-04 9.99936462e-01 -5.13896673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.014131703288171033 Centerline is valid? [True, True] Translation: X:66.48, Y:-150.91, Z:-5.14 [[-6.60108052e-01 -7.51137720e-01 7.03462315e-03 6.64771992e+01] [ 7.51098099e-01 -6.60145507e-01 -7.71724947e-03 -1.50910121e+02] [ 1.04405920e-02 1.89473554e-04 9.99945478e-01 -5.13877476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.014197870336306668 Centerline is valid? [True, True] Translation: X:66.44, Y:-150.87, Z:-5.14 [[-6.60276015e-01 -7.50991109e-01 6.92371279e-03 6.64379058e+01] [ 7.50952767e-01 -6.60312289e-01 -7.59090430e-03 -1.50867919e+02] [ 1.02725143e-02 1.87289239e-04 9.99947219e-01 -5.13941175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.01455738339102339 Centerline is valid? [True, True] Translation: X:66.40, Y:-150.83, Z:-5.14 [[-6.60681349e-01 -7.50636214e-01 6.74014812e-03 6.63988114e+01] [ 7.50599907e-01 -6.60715705e-01 -7.38492390e-03 -1.50826828e+02] [ 9.99671302e-03 1.80073063e-04 9.99950015e-01 -5.14043723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.0146431613245014 Centerline is valid? [True, True] Translation: X:66.36, Y:-150.79, Z:-5.14 [[-6.61033214e-01 -7.50330638e-01 6.24687574e-03 6.63599872e+01] [ 7.50299475e-01 -6.61062710e-01 -6.84038997e-03 -1.50785227e+02] [ 9.26213078e-03 1.65302620e-04 9.99957092e-01 -5.14041879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.014712064617275335 Centerline is valid? [True, True] Translation: X:66.32, Y:-150.74, Z:-5.14 [[-6.61536823e-01 -7.49885130e-01 6.42828375e-03 6.63210746e+01] [ 7.49852150e-01 -6.61568034e-01 -7.03488670e-03 -1.50743137e+02] [ 9.52810398e-03 1.66425789e-04 9.99954593e-01 -5.14095133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.013883659285968394 Centerline is valid? [True, True] Translation: X:66.28, Y:-150.70, Z:-5.14 [[-6.61846586e-01 -7.49610465e-01 6.57628681e-03 6.62836486e+01] [ 7.49575978e-01 -6.61879235e-01 -7.19243230e-03 -1.50700068e+02] [ 9.74423021e-03 1.69139864e-04 9.99952510e-01 -5.14130852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.013528731930708578 Centerline is valid? [True, True] Translation: X:66.25, Y:-150.66, Z:-5.14 [[-6.62517007e-01 -7.49018002e-01 6.57633682e-03 6.62455200e+01] [ 7.48983526e-01 -6.62549626e-01 -7.18828039e-03 -1.50656674e+02] [ 9.74130091e-03 1.63209929e-04 9.99952539e-01 -5.14091653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.012981158563204982 Centerline is valid? [True, True] Translation: X:66.21, Y:-150.61, Z:-5.14 [[-6.64524812e-01 -7.47236169e-01 6.69944854e-03 6.62069457e+01] [ 7.47200339e-01 -6.64558566e-01 -7.31887489e-03 -1.50612834e+02] [ 9.92110395e-03 1.42256262e-04 9.99950775e-01 -5.14131884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.012477125633248098 Centerline is valid? [True, True] Translation: X:66.17, Y:-150.57, Z:-5.14 [[-6.65806357e-01 -7.46096313e-01 6.49513034e-03 6.61685281e+01] [ 7.46062623e-01 -6.65838025e-01 -7.09129052e-03 -1.50570052e+02] [ 9.61549048e-03 1.24347675e-04 9.99953762e-01 -5.14102563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.011971355865519843 Centerline is valid? [True, True] Translation: X:66.13, Y:-150.53, Z:-5.14 [[-6.66328428e-01 -7.45633519e-01 6.08945992e-03 6.61304637e+01] [ 7.45603925e-01 -6.66356243e-01 -6.64414046e-03 -1.50527540e+02] [ 9.01184347e-03 1.13145551e-04 9.99959386e-01 -5.14031517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.012101190460417167 Centerline is valid? [True, True] Translation: X:66.09, Y:-150.49, Z:-5.14 [[-6.66517208e-01 -7.45473387e-01 4.92354637e-03 6.60920667e+01] [ 7.45454062e-01 -6.66535386e-01 -5.36846219e-03 -1.50486210e+02] [ 7.28376358e-03 9.21052123e-05 9.99973469e-01 -5.13938889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.011700384899890004 Centerline is valid? [True, True] Translation: X:66.05, Y:-150.44, Z:-5.14 [[-6.67508234e-01 -7.44597432e-01 2.72439573e-03 6.60538166e+01] [ 7.44591515e-01 -6.67513792e-01 -2.96870826e-03 -1.50444055e+02] [ 4.02906427e-03 4.69247344e-05 9.99991882e-01 -5.13673207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.011454218420148916 Centerline is valid? [True, True] Translation: X:66.02, Y:-150.40, Z:-5.14 [[-6.68483974e-01 -7.43723779e-01 2.02925658e-03 6.60160014e+01] [ 7.43720496e-01 -6.68487053e-01 -2.20982733e-03 -1.50401450e+02] [ 3.00003288e-03 3.19655561e-05 9.99995499e-01 -5.13575648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.011198453771239968 Centerline is valid? [True, True] Translation: X:65.98, Y:-150.36, Z:-5.14 [[-6.70264305e-01 -7.42118624e-01 2.38946826e-03 6.59787038e+01] [ 7.42114068e-01 -6.70268564e-01 -2.60044030e-03 -1.50358591e+02] [ 3.53142063e-03 3.02756996e-05 9.99993764e-01 -5.13686652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.01085068658144118 Centerline is valid? [True, True] Translation: X:65.94, Y:-150.32, Z:-5.14 [[-6.72227503e-01 -7.40337833e-01 3.17438517e-03 6.59407077e+01] [ 7.40329784e-01 -6.72234997e-01 -3.45245823e-03 -1.50316183e+02] [ 4.68991825e-03 2.92545099e-05 9.99989002e-01 -5.13865556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.010602399202705332 Centerline is valid? [True, True] Translation: X:65.90, Y:-150.27, Z:-5.14 [[-6.76076865e-01 -7.36817346e-01 4.50232803e-03 6.59037102e+01] [ 7.36801093e-01 -6.76091856e-01 -4.89395719e-03 -1.50271901e+02] [ 6.64993987e-03 8.62897845e-06 9.99977889e-01 -5.14012766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.010609629945730444 Centerline is valid? [True, True] Translation: X:65.87, Y:-150.23, Z:-5.14 [[-6.78871780e-01 -7.34243136e-01 4.48593393e-03 6.58659508e+01] [ 7.34226965e-01 -6.78886601e-01 -4.87303892e-03 -1.50228227e+02] [ 6.62343582e-03 -1.44749537e-05 9.99978065e-01 -5.14057336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.010849370489542258 Centerline is valid? [True, True] Translation: X:65.83, Y:-150.18, Z:-5.14 [[-6.81503517e-01 -7.31801664e-01 4.39099419e-03 6.58283134e+01] [ 7.31786140e-01 -6.81517661e-01 -4.76690552e-03 -1.50184400e+02] [ 6.48096948e-03 -3.53941870e-05 9.99978998e-01 -5.14025024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.011278471493794191 Centerline is valid? [True, True] Translation: X:65.79, Y:-150.14, Z:-5.14 [[-6.83943560e-01 -7.29520589e-01 4.57356677e-03 6.57896336e+01] [ 7.29503713e-01 -6.83958849e-01 -4.96236929e-03 -1.50141627e+02] [ 6.74828203e-03 -5.75465744e-05 9.99977229e-01 -5.14048080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.011388396771741152 Centerline is valid? [True, True] Translation: X:65.75, Y:-150.10, Z:-5.14 [[-6.84481379e-01 -7.29015946e-01 4.58166100e-03 6.57500223e+01] [ 7.28999020e-01 -6.84496711e-01 -4.96809068e-03 -1.50099800e+02] [ 6.75794921e-03 -6.05391849e-05 9.99977163e-01 -5.14094342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.011084438104684687 Centerline is valid? [True, True] Translation: X:65.71, Y:-150.06, Z:-5.14 [[-6.84380281e-01 -7.29112111e-01 4.37732679e-03 6.57082015e+01] [ 7.29096683e-01 -6.84394277e-01 -4.74352668e-03 -1.50060724e+02] [ 6.45438016e-03 -5.48816731e-05 9.99979169e-01 -5.14148842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.010867164777427721 Centerline is valid? [True, True] Translation: X:65.67, Y:-150.02, Z:-5.14 [[-6.83891329e-01 -7.29576095e-01 3.37213840e-03 6.56666187e+01] [ 7.29566956e-01 -6.83899642e-01 -3.65194942e-03 -1.50021341e+02] [ 4.97057924e-03 -3.73358020e-05 9.99987646e-01 -5.14146523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.010630820540535277 Centerline is valid? [True, True] Translation: X:65.63, Y:-149.98, Z:-5.14 [[-6.82662859e-01 -7.30727873e-01 2.86311183e-03 6.56251283e+01] [ 7.30721303e-01 -6.82668862e-01 -3.09872434e-03 -1.49981756e+02] [ 4.21888154e-03 -2.32472052e-05 9.99991100e-01 -5.14087175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.010465490542414345 Centerline is valid? [True, True] Translation: X:65.58, Y:-149.94, Z:-5.14 [[-6.79674945e-01 -7.33504922e-01 3.53523527e-03 6.55837092e+01] [ 7.33494956e-01 -6.79684139e-01 -3.82364710e-03 -1.49943792e+02] [ 5.20750731e-03 -5.75989114e-06 9.99986441e-01 -5.14138926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.010626402804939063 Centerline is valid? [True, True] Translation: X:65.54, Y:-149.90, Z:-5.14 [[-6.77303315e-01 -7.35691455e-01 4.27822979e-03 6.55423780e+01] [ 7.35676921e-01 -6.77316826e-01 -4.62440153e-03 -1.49903972e+02] [ 6.29984971e-03 1.52724323e-05 9.99980156e-01 -5.14241181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.011247092639349199 Centerline is valid? [True, True] Translation: X:65.50, Y:-149.87, Z:-5.14 [[-6.73159483e-01 -7.39478508e-01 5.27696439e-03 6.54992198e+01] [ 7.39456537e-01 -6.73180163e-01 -5.70080379e-03 -1.49865187e+02] [ 7.76796963e-03 6.45356788e-05 9.99969827e-01 -5.14423437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.012175979478308145 Centerline is valid? [True, True] Translation: X:65.46, Y:-149.82, Z:-5.14 [[-6.70273740e-01 -7.42097606e-01 4.92513419e-03 6.54577788e+01] [ 7.42078558e-01 -6.70291828e-01 -5.31776157e-03 -1.49824001e+02] [ 7.24757534e-03 9.04805443e-05 9.99973732e-01 -5.14340150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.012308248357090865 Centerline is valid? [True, True] Translation: X:65.42, Y:-149.78, Z:-5.14 [[-6.69595140e-01 -7.42710482e-01 4.84641928e-03 6.54188334e+01] [ 7.42692078e-01 -6.69612672e-01 -5.22950739e-03 -1.49781767e+02] [ 7.12923371e-03 9.77444690e-05 9.99974582e-01 -5.14272822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.01224375853177235 Centerline is valid? [True, True] Translation: X:65.38, Y:-149.74, Z:-5.14 [[-6.69533137e-01 -7.42768627e-01 4.48837652e-03 6.53810177e+01] [ 7.42752863e-01 -6.69548175e-01 -4.84009422e-03 -1.49738748e+02] [ 6.60025445e-03 9.31510392e-05 9.99978214e-01 -5.14199443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.012898421909911192 Centerline is valid? [True, True] Translation: X:65.34, Y:-149.70, Z:-5.14 [[-6.68993389e-01 -7.43254776e-01 4.49256200e-03 6.53430709e+01] [ 7.43239015e-01 -6.69008466e-01 -4.84141833e-03 -1.49696721e+02] [ 6.60396931e-03 1.00170498e-04 9.99978189e-01 -5.14307241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.013080162930808954 Centerline is valid? [True, True] Translation: X:65.30, Y:-149.65, Z:-5.14 [[-6.68610258e-01 -7.43599916e-01 4.41453405e-03 6.53046019e+01] [ 7.43584724e-01 -6.68624824e-01 -4.75437572e-03 -1.49653993e+02] [ 6.48702044e-03 1.03755703e-04 9.99978954e-01 -5.14390449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.013421245497487208 Centerline is valid? [True, True] Translation: X:65.27, Y:-149.61, Z:-5.15 [[-6.68641136e-01 -7.43572349e-01 4.38111534e-03 6.52670135e+01] [ 7.43557405e-01 -6.68655480e-01 -4.71533629e-03 -1.49612693e+02] [ 6.43565046e-03 1.04742935e-04 9.99979286e-01 -5.14521613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.013553052631215092 Centerline is valid? [True, True] Translation: X:65.23, Y:-149.57, Z:-5.15 [[-6.68930099e-01 -7.43304265e-01 5.59399803e-03 6.52312970e+01] [ 7.43279922e-01 -6.68953475e-01 -6.01709230e-03 -1.49568295e+02] [ 8.21465479e-03 1.32892274e-04 9.99966250e-01 -5.14799807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.013059551775629343 Centerline is valid? [True, True] Translation: X:65.20, Y:-149.52, Z:-5.15 [[-6.68892460e-01 -7.43325246e-01 7.10321141e-03 6.51952614e+01] [ 7.43286042e-01 -6.68930153e-01 -7.63612597e-03 -1.49522204e+02] [ 1.04276775e-02 1.71970809e-04 9.99945616e-01 -5.14917029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.013687336544580637 Centerline is valid? [True, True] Translation: X:65.15, Y:-149.48, Z:-5.15 [[-6.67768279e-01 -7.44329829e-01 7.65710558e-03 6.51548579e+01] [ 7.44284394e-01 -6.67812147e-01 -8.22665587e-03 -1.49481181e+02] [ 1.12368535e-02 2.05564354e-04 9.99936844e-01 -5.15073704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.013839076277697607 Centerline is valid? [True, True] Translation: X:65.11, Y:-149.44, Z:-5.15 [[-6.67994734e-01 -7.44123375e-01 7.96480699e-03 6.51145710e+01] [ 7.44074263e-01 -6.68042182e-01 -8.55183950e-03 -1.49440173e+02] [ 1.16844507e-02 2.13824144e-04 9.99931712e-01 -5.15174616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.013093970489253766 Centerline is valid? [True, True] Translation: X:65.08, Y:-149.40, Z:-5.15 [[-6.70529631e-01 -7.41855077e-01 6.40776735e-03 6.50755626e+01] [ 7.41823223e-01 -6.70560232e-01 -6.87617430e-03 -1.49397607e+02] [ 9.39791878e-03 1.42752013e-04 9.99955828e-01 -5.15057713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.011837332128864056 Centerline is valid? [True, True] Translation: X:65.04, Y:-149.35, Z:-5.15 [[-6.74722969e-01 -7.38057161e-01 4.53234338e-03 6.50390535e+01] [ 7.38041157e-01 -6.74738188e-01 -4.86083575e-03 -1.49352877e+02] [ 6.64571980e-03 6.53384233e-05 9.99977915e-01 -5.14769950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.011266994338010367 Centerline is valid? [True, True] Translation: X:65.00, Y:-149.31, Z:-5.15 [[-6.81939358e-01 -7.31402763e-01 2.95138331e-03 6.50035812e+01] [ 7.31395921e-01 -6.81945745e-01 -3.16351428e-03 -1.49307274e+02] [ 4.32648637e-03 1.30481869e-06 9.99990641e-01 -5.14634531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.012199132705831298 Centerline is valid? [True, True] Translation: X:64.97, Y:-149.26, Z:-5.15 [[-6.89558593e-01 -7.24225031e-01 2.65534575e-03 6.49667906e+01] [ 7.24219446e-01 -6.89563705e-01 -2.84461984e-03 -1.49262094e+02] [ 3.89117494e-03 -3.84790219e-05 9.99992429e-01 -5.14826042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.012953673064338509 Centerline is valid? [True, True] Translation: X:64.93, Y:-149.22, Z:-5.15 [[-6.94079283e-01 -7.19891941e-01 3.08921365e-03 6.49279449e+01] [ 7.19884346e-01 -6.94086154e-01 -3.30752590e-03 -1.49218824e+02] [ 4.52524166e-03 -7.18086558e-05 9.99989759e-01 -5.14901037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.014035797469330575 Centerline is valid? [True, True] Translation: X:64.89, Y:-149.18, Z:-5.15 [[-6.97322133e-01 -7.16748237e-01 3.71595185e-03 6.48899007e+01] [ 7.16737216e-01 -6.97332025e-01 -3.97615917e-03 -1.49175500e+02] [ 5.44115730e-03 -1.09302812e-04 9.99985191e-01 -5.14975979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.014807961864675378 Centerline is valid? [True, True] Translation: X:64.85, Y:-149.13, Z:-5.15 [[-6.98626210e-01 -7.15474348e-01 4.22800128e-03 6.48502980e+01] [ 7.15460073e-01 -6.98638991e-01 -4.52154154e-03 -1.49132854e+02] [ 6.18889353e-03 -1.33901320e-04 9.99980840e-01 -5.15032145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.014617314031424657 Centerline is valid? [True, True] Translation: X:64.81, Y:-149.09, Z:-5.15 [[-6.98043194e-01 -7.16045440e-01 3.82443982e-03 6.48091643e+01] [ 7.16033784e-01 -6.98053661e-01 -4.08740639e-03 -1.49093444e+02] [ 5.59643292e-03 -1.14758098e-04 9.99984333e-01 -5.15025104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.014077761492386045 Centerline is valid? [True, True] Translation: X:64.77, Y:-149.05, Z:-5.15 [[-6.96852695e-01 -7.17209544e-01 2.60604271e-03 6.47662463e+01] [ 7.17204143e-01 -6.96857565e-01 -2.78426398e-03 -1.49053437e+02] [ 3.81294128e-03 -7.11572368e-05 9.99992728e-01 -5.14824884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.013946053290080671 Centerline is valid? [True, True] Translation: X:64.73, Y:-149.01, Z:-5.15 [[-6.96393704e-01 -7.17657583e-01 1.84451940e-03 6.47260026e+01] [ 7.17654882e-01 -6.96396146e-01 -1.96941445e-03 -1.49012899e+02] [ 2.69788141e-03 -4.77594709e-05 9.99996360e-01 -5.14601985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.013960676592836058 Centerline is valid? [True, True] Translation: X:64.69, Y:-148.97, Z:-5.14 [[-6.94855859e-01 -7.19148847e-01 5.20564652e-04 6.46850091e+01] [ 7.19148633e-01 -6.94856054e-01 -5.55505733e-04 -1.48972712e+02] [ 7.61208807e-04 -1.16330557e-05 9.99999710e-01 -5.14383739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.013091646581683795 Centerline is valid? [True, True] Translation: X:64.64, Y:-148.94, Z:-5.14 [[-6.90203041e-01 -7.23615361e-01 -7.56824456e-04 6.46401657e+01] [ 7.23614910e-01 -6.90203455e-01 8.07218698e-04 -1.48937084e+02] [-1.10647870e-03 9.49533857e-06 9.99999388e-01 -5.14209222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.012451911514194383 Centerline is valid? [True, True] Translation: X:64.59, Y:-148.90, Z:-5.14 [[-6.86644301e-01 -7.26993537e-01 1.36480312e-05 6.45947100e+01] [ 7.26993537e-01 -6.86644301e-01 -1.45449049e-05 -1.48900584e+02] [ 1.99453952e-05 -6.51455413e-08 1.00000000e+00 -5.14309027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.012431264277243366 Centerline is valid? [True, True] Translation: X:64.55, Y:-148.87, Z:-5.15 [[-6.82059251e-01 -7.31294470e-01 1.89109977e-03 6.45476615e+01] [ 7.31291695e-01 -6.82061872e-01 -2.01459550e-03 -1.48865567e+02] [ 2.76310960e-03 8.87206287e-06 9.99996183e-01 -5.14569335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.012937084225543457 Centerline is valid? [True, True] Translation: X:64.50, Y:-148.83, Z:-5.15 [[-6.78847760e-01 -7.34273344e-01 2.89412420e-03 6.45012103e+01] [ 7.34266879e-01 -6.78853928e-01 -3.08131293e-03 -1.48830854e+02] [ 4.22721353e-03 3.33171651e-05 9.99991065e-01 -5.14677248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.012992988637387022 Centerline is valid? [True, True] Translation: X:64.46, Y:-148.79, Z:-5.15 [[-6.78127661e-01 -7.34939490e-01 2.61184698e-03 6.44596853e+01] [ 7.34934237e-01 -6.78132690e-01 -2.77904916e-03 -1.48791057e+02] [ 3.81361179e-03 3.49856549e-05 9.99992728e-01 -5.14623618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.013453539121886024 Centerline is valid? [True, True] Translation: X:64.42, Y:-148.75, Z:-5.14 [[-6.76676489e-01 -7.36279306e-01 1.30858963e-03 6.44170248e+01] [ 7.36277992e-01 -6.76677754e-01 -1.39150143e-03 -1.48752680e+02] [ 1.91002720e-03 2.18894461e-05 9.99998176e-01 -5.14403379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.013353216887895092 Centerline is valid? [True, True] Translation: X:64.37, Y:-148.71, Z:-5.14 [[-6.75634582e-01 -7.37236639e-01 2.24188482e-04 6.43744937e+01] [ 7.37236600e-01 -6.75634619e-01 -2.38251379e-04 -1.48712380e+02] [ 3.27117146e-04 4.30908367e-06 9.99999947e-01 -5.14233345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.013792114079536595 Centerline is valid? [True, True] Translation: X:64.33, Y:-148.67, Z:-5.14 [[-6.75520162e-01 -7.37341500e-01 1.52802798e-04 6.43331684e+01] [ 7.37341483e-01 -6.75520179e-01 -1.62319342e-04 -1.48673577e+02] [ 2.22906161e-04 3.01785374e-06 9.99999975e-01 -5.14226182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.013504016005845254 Centerline is valid? [True, True] Translation: X:64.29, Y:-148.63, Z:-5.14 [[-6.76231726e-01 -7.36688274e-01 1.01958203e-03 6.42919067e+01] [ 7.36687479e-01 -6.76232495e-01 -1.08248187e-03 -1.48633157e+02] [ 1.48692620e-03 1.91047260e-05 9.99998894e-01 -5.14308508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.013519733705551816 Centerline is valid? [True, True] Translation: X:64.25, Y:-148.59, Z:-5.14 [[-6.76374344e-01 -7.36555776e-01 1.82612207e-03 6.42512671e+01] [ 7.36553229e-01 -6.76376809e-01 -1.93755430e-03 -1.48593362e+02] [ 2.66226343e-03 3.45240864e-05 9.99996456e-01 -5.14360764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.013696575273780532 Centerline is valid? [True, True] Translation: X:64.21, Y:-148.55, Z:-5.15 [[-6.75874414e-01 -7.37001556e-01 4.74157727e-03 6.42092873e+01] [ 7.36984411e-01 -6.75891039e-01 -5.02809341e-03 -1.48553064e+02] [ 6.91050225e-03 9.61088411e-05 9.99976118e-01 -5.14675616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.013722592217454773 Centerline is valid? [True, True] Translation: X:64.17, Y:-148.51, Z:-5.15 [[-6.76801756e-01 -7.36142470e-01 5.80058403e-03 6.41695570e+01] [ 7.36116811e-01 -6.76826604e-01 -6.14723419e-03 -1.48511507e+02] [ 8.45122975e-03 1.09448526e-04 9.99964282e-01 -5.14788541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.012929656366251787 Centerline is valid? [True, True] Translation: X:64.13, Y:-148.47, Z:-5.15 [[-6.80140822e-01 -7.33045691e-01 7.24413503e-03 6.41314701e+01] [ 7.33005541e-01 -6.80179393e-01 -7.67266771e-03 -1.48467050e+02] [ 1.05517274e-02 9.14965994e-05 9.99944325e-01 -5.14829369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.012735292445275102 Centerline is valid? [True, True] Translation: X:64.09, Y:-148.42, Z:-5.15 [[-6.84139668e-01 -7.29310994e-01 7.64125412e-03 6.40946737e+01] [ 7.29266144e-01 -6.84182339e-01 -8.08815470e-03 -1.48422903e+02] [ 1.11267913e-02 3.90804532e-05 9.99938095e-01 -5.14843858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.01287771254483695 Centerline is valid? [True, True] Translation: X:64.06, Y:-148.37, Z:-5.15 [[-6.91931751e-01 -7.21921267e-01 7.75472434e-03 6.40608739e+01] [ 7.21874659e-01 -6.91975201e-01 -8.20358336e-03 -1.48374851e+02] [ 1.12884182e-02 -7.83808155e-05 9.99936281e-01 -5.14647767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.013852516411014268 Centerline is valid? [True, True] Translation: X:64.03, Y:-148.33, Z:-5.14 [[-6.97182979e-01 -7.16859141e-01 6.99044983e-03 6.40254610e+01] [ 7.16821053e-01 -6.97218009e-01 -7.39090034e-03 -1.48328663e+02] [ 1.01721020e-02 -1.41908309e-04 9.99948253e-01 -5.14494097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.014928478628843188 Centerline is valid? [True, True] Translation: X:63.99, Y:-148.28, Z:-5.14 [[-7.01588880e-01 -7.12548243e-01 6.93146060e-03 6.39890856e+01] [ 7.12510626e-01 -7.01623091e-01 -7.32435970e-03 -1.48283307e+02] [ 1.00822324e-02 -1.99949985e-04 9.99949153e-01 -5.14343322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.016398477300553303 Centerline is valid? [True, True] Translation: X:63.95, Y:-148.24, Z:-5.14 [[-7.05286181e-01 -7.08894189e-01 6.35864650e-03 6.39526108e+01] [ 7.08862421e-01 -7.05314807e-01 -6.71505286e-03 -1.48238708e+02] [ 9.24510948e-03 -2.28628428e-04 9.99957237e-01 -5.14276481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.016354086354707316 Centerline is valid? [True, True] Translation: X:63.91, Y:-148.20, Z:-5.14 [[-7.05451474e-01 -7.08729619e-01 6.36744837e-03 6.39128915e+01] [ 7.08697791e-01 -7.05480173e-01 -6.72057492e-03 -1.48196715e+02] [ 9.25517908e-03 -2.28442892e-04 9.99957144e-01 -5.14215583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.01569895072913758 Centerline is valid? [True, True] Translation: X:63.87, Y:-148.16, Z:-5.14 [[-7.02966814e-01 -7.11185224e-01 7.29633648e-03 6.38698423e+01] [ 7.11143606e-01 -7.03004643e-01 -7.69695010e-03 -1.48156723e+02] [ 1.06033156e-02 -2.21957450e-04 9.99943759e-01 -5.14315538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.014771604898492354 Centerline is valid? [True, True] Translation: X:63.83, Y:-148.12, Z:-5.14 [[-6.99877776e-01 -7.14218986e-01 7.89548173e-03 6.38272714e+01] [ 7.14170499e-01 -6.99922285e-01 -8.32434570e-03 -1.48117260e+02] [ 1.14716294e-02 -1.87304431e-04 9.99934181e-01 -5.14336793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.013322413636615188 Centerline is valid? [True, True] Translation: X:63.78, Y:-148.08, Z:-5.14 [[-6.94530144e-01 -7.19430522e-01 6.89947046e-03 6.37820040e+01] [ 7.19393791e-01 -6.94564408e-01 -7.27031162e-03 -1.48079953e+02] [ 1.00226107e-02 -8.60143605e-05 9.99949769e-01 -5.14228838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.01286115335158103 Centerline is valid? [True, True] Translation: X:63.74, Y:-148.04, Z:-5.14 [[-6.91201225e-01 -7.22631981e-01 6.62477930e-03 6.37377624e+01] [ 7.22598299e-01 -6.91232971e-01 -6.97702424e-03 -1.48041396e+02] [ 9.62108672e-03 -3.54734502e-05 9.99953716e-01 -5.14210034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.0126043096724411 Centerline is valid? [True, True] Translation: X:63.70, Y:-148.00, Z:-5.14 [[-6.88595459e-01 -7.25115682e-01 6.59865301e-03 6.36957065e+01] [ 7.25082419e-01 -6.88627075e-01 -6.94526261e-03 -1.48003064e+02] [ 9.58012995e-03 2.09099289e-06 9.99954110e-01 -5.14224810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.01258103043307971 Centerline is valid? [True, True] Translation: X:63.65, Y:-147.96, Z:-5.14 [[-6.86507042e-01 -7.27101284e-01 5.63954397e-03 6.36549429e+01] [ 7.27077085e-01 -6.86530205e-01 -5.93213122e-03 -1.47962990e+02] [ 8.18497750e-03 2.79333360e-05 9.99966502e-01 -5.14026665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.012762964016004286 Centerline is valid? [True, True] Translation: X:63.61, Y:-147.92, Z:-5.14 [[-6.84170011e-01 -7.29303837e-01 5.22593248e-03 6.36126047e+01] [ 7.29283147e-01 -6.84189967e-01 -5.49363415e-03 -1.47923929e+02] [ 7.58205903e-03 5.26047463e-05 9.99971254e-01 -5.14037934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.013127680802103919 Centerline is valid? [True, True] Translation: X:63.57, Y:-147.88, Z:-5.14 [[-6.81512198e-01 -7.31788138e-01 5.21965804e-03 6.35712428e+01] [ 7.31767595e-01 -6.81532181e-01 -5.48392279e-03 -1.47882839e+02] [ 7.57043458e-03 8.22163365e-05 9.99971341e-01 -5.14016919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.013776556616972288 Centerline is valid? [True, True] Translation: X:63.53, Y:-147.84, Z:-5.14 [[-6.78685998e-01 -7.34409860e-01 5.24158560e-03 6.35312635e+01] [ 7.34389239e-01 -6.78706229e-01 -5.50464534e-03 -1.47841472e+02] [ 7.60016261e-03 1.13438342e-04 9.99971112e-01 -5.13969554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.015586216418826494 Centerline is valid? [True, True] Translation: X:63.49, Y:-147.80, Z:-5.14 [[-6.74412700e-01 -7.38334323e-01 5.47151644e-03 6.34908876e+01] [ 7.38312005e-01 -6.74434875e-01 -5.74308730e-03 -1.47802088e+02] [ 7.93049997e-03 1.66475259e-04 9.99968539e-01 -5.14055261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.01685878832355979 Centerline is valid? [True, True] Translation: X:63.45, Y:-147.76, Z:-5.14 [[-6.71880532e-01 -7.40635262e-01 5.99665454e-03 6.34500709e+01] [ 7.40608576e-01 -6.71907257e-01 -6.29079728e-03 -1.47760811e+02] [ 8.68838200e-03 2.14509558e-04 9.99962232e-01 -5.14213630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.01860141976220265 Centerline is valid? [True, True] Translation: X:63.41, Y:-147.72, Z:-5.14 [[-6.69536340e-01 -7.42753282e-01 6.21707675e-03 6.34117660e+01] [ 7.42724723e-01 -6.69565156e-01 -6.51824174e-03 -1.47718655e+02] [ 9.00418341e-03 2.53376896e-04 9.99959430e-01 -5.14325333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.01790089113964056 Centerline is valid? [True, True] Translation: X:63.38, Y:-147.67, Z:-5.14 [[-6.69384059e-01 -7.42888421e-01 6.46335945e-03 6.33759659e+01] [ 7.42857601e-01 -6.69415209e-01 -6.77218729e-03 -1.47673363e+02] [ 9.35765064e-03 2.68161482e-04 9.99956180e-01 -5.14305628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.017418694413947663 Centerline is valid? [True, True] Translation: X:63.34, Y:-147.63, Z:-5.14 [[-6.70082307e-01 -7.42253459e-01 7.03594861e-03 6.33400755e+01] [ 7.42216949e-01 -6.70119185e-01 -7.36745864e-03 -1.47628602e+02] [ 1.01834458e-02 2.85396622e-04 9.99948107e-01 -5.14364880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.017107372090414876 Centerline is valid? [True, True] Translation: X:63.31, Y:-147.58, Z:-5.14 [[-6.71475026e-01 -7.40990673e-01 7.35608780e-03 6.33050464e+01] [ 7.40950735e-01 -6.71515259e-01 -7.69837339e-03 -1.47582041e+02] [ 1.06441481e-02 2.81233198e-04 9.99943310e-01 -5.14422447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.01611718470512978 Centerline is valid? [True, True] Translation: X:63.27, Y:-147.54, Z:-5.14 [[-6.73176902e-01 -7.39441565e-01 7.68306015e-03 6.32694879e+01] [ 7.39397948e-01 -6.73220690e-01 -8.03598290e-03 -1.47536005e+02] [ 1.11145348e-02 2.71200831e-04 9.99938195e-01 -5.14428654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.015009982106308394 Centerline is valid? [True, True] Translation: X:63.24, Y:-147.49, Z:-5.14 [[-6.76269049e-01 -7.36612323e-01 7.90304796e-03 6.32367311e+01] [ 7.36566033e-01 -6.76315186e-01 -8.26131370e-03 -1.47487499e+02] [ 1.14303368e-02 2.34245919e-04 9.99934644e-01 -5.14439248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.014606140574017771 Centerline is valid? [True, True] Translation: X:63.20, Y:-147.44, Z:-5.14 [[-6.77641611e-01 -7.35351003e-01 7.79425510e-03 6.31993184e+01] [ 7.35305946e-01 -6.77686401e-01 -8.14296474e-03 -1.47443073e+02] [ 1.12699980e-02 2.13150381e-04 9.99936469e-01 -5.14430819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.01391216456022785 Centerline is valid? [True, True] Translation: X:63.16, Y:-147.40, Z:-5.14 [[-6.80285367e-01 -7.32905700e-01 7.81373462e-03 6.31639537e+01] [ 7.32860308e-01 -6.80330217e-01 -8.15871388e-03 -1.47396235e+02] [ 1.12954877e-02 1.76122295e-04 9.99936189e-01 -5.14448285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.013381743335303814 Centerline is valid? [True, True] Translation: X:63.13, Y:-147.35, Z:-5.15 [[-6.83939001e-01 -7.29493605e-01 8.15614845e-03 6.31311373e+01] [ 7.29443958e-01 -6.83987619e-01 -8.51166078e-03 -1.47348403e+02] [ 1.17879067e-02 1.27996443e-04 9.99930512e-01 -5.14578602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.012969534517178999 Centerline is valid? [True, True] Translation: X:63.10, Y:-147.30, Z:-5.15 [[-6.85808211e-01 -7.27729566e-01 8.76221474e-03 6.30979031e+01] [ 7.27672194e-01 -6.85864175e-01 -9.13842830e-03 -1.47301423e+02] [ 1.26599936e-02 1.08810862e-04 9.99919853e-01 -5.14598961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.013289704035510871 Centerline is valid? [True, True] Translation: X:63.06, Y:-147.26, Z:-5.15 [[-6.84775361e-01 -7.28700138e-01 8.87767831e-03 6.30587180e+01] [ 7.28641399e-01 -6.84832893e-01 -9.25310019e-03 -1.47259313e+02] [ 1.28224615e-02 1.32348916e-04 9.99917780e-01 -5.14619838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.014059295349168091 Centerline is valid? [True, True] Translation: X:63.02, Y:-147.22, Z:-5.15 [[-6.81837836e-01 -7.31452680e-01 8.61059687e-03 6.30164403e+01] [ 7.31397702e-01 -6.81892179e-01 -8.96978651e-03 -1.47219769e+02] [ 1.24324730e-02 1.81830941e-04 9.99922697e-01 -5.14579635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.015036462118182718 Centerline is valid? [True, True] Translation: X:62.97, Y:-147.18, Z:-5.15 [[-6.80443894e-01 -7.32762757e-01 7.40601296e-03 6.29747790e+01] [ 7.32722217e-01 -6.80484172e-01 -7.70999130e-03 -1.47181770e+02] [ 1.06892691e-02 1.80333732e-04 9.99942852e-01 -5.14536936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.014514592225556934 Centerline is valid? [True, True] Translation: X:62.94, Y:-147.14, Z:-5.14 [[-6.81490809e-01 -7.31800342e-01 6.20775604e-03 6.29361553e+01] [ 7.31771851e-01 -6.81519067e-01 -6.45906268e-03 -1.47138416e+02] [ 8.95744838e-03 1.40869276e-04 9.99959871e-01 -5.14323336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.013563843651994036 Centerline is valid? [True, True] Translation: X:62.90, Y:-147.09, Z:-5.14 [[-6.83661023e-01 -7.29787516e-01 4.21743270e-03 6.28983008e+01] [ 7.29774342e-01 -6.83674027e-01 -4.38575427e-03 -1.47094434e+02] [ 6.08401791e-03 7.94049262e-05 9.99981489e-01 -5.14057123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.013457039807778735 Centerline is valid? [True, True] Translation: X:62.86, Y:-147.05, Z:-5.14 [[-6.84269938e-01 -7.29219563e-01 3.67164651e-03 6.28587237e+01] [ 7.29209582e-01 -6.84279786e-01 -3.81581930e-03 -1.47052822e+02] [ 5.29500357e-03 6.63493762e-05 9.99985979e-01 -5.14036241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.013556228104417612 Centerline is valid? [True, True] Translation: X:62.82, Y:-147.01, Z:-5.14 [[-6.84189281e-01 -7.29297475e-01 3.19695714e-03 6.28179238e+01] [ 7.29289919e-01 -6.84196748e-01 -3.32044551e-03 -1.47012251e+02] [ 4.60894020e-03 5.96953835e-05 9.99989377e-01 -5.14058548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.013725487809111078 Centerline is valid? [True, True] Translation: X:62.78, Y:-146.97, Z:-5.14 [[-6.83831370e-01 -7.29633974e-01 2.98685668e-03 6.27768997e+01] [ 7.29627390e-01 -6.83837890e-01 -3.10029145e-03 -1.46971906e+02] [ 4.30460375e-03 5.92158931e-05 9.99990733e-01 -5.14139660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.013918890867822659 Centerline is valid? [True, True] Translation: X:62.74, Y:-146.93, Z:-5.14 [[-6.83566739e-01 -7.29881605e-01 3.05886886e-03 6.27365031e+01] [ 7.29874710e-01 -6.83573580e-01 -3.17308239e-03 -1.46931390e+02] [ 4.40693641e-03 6.35774406e-05 9.99990287e-01 -5.14195613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.014476422349511844 Centerline is valid? [True, True] Translation: X:62.70, Y:-146.89, Z:-5.14 [[-6.82718978e-01 -7.30671851e-01 3.66650262e-03 6.26951983e+01] [ 7.30661964e-01 -6.82728818e-01 -3.80190028e-03 -1.46891984e+02] [ 5.28116852e-03 8.33445330e-05 9.99986051e-01 -5.14356002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.01488735403015293 Centerline is valid? [True, True] Translation: X:62.65, Y:-146.85, Z:-5.14 [[-6.82432706e-01 -7.30938362e-01 3.83589164e-03 6.26547395e+01] [ 7.30927558e-01 -6.82443480e-01 -3.97516851e-03 -1.46851279e+02] [ 5.52338240e-03 9.09739067e-05 9.99984742e-01 -5.14472589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.01485421197997813 Centerline is valid? [True, True] Translation: X:62.62, Y:-146.81, Z:-5.15 [[-6.83145001e-01 -7.30268592e-01 4.54863018e-03 6.26150445e+01] [ 7.30253404e-01 -6.83160137e-01 -4.71101077e-03 -1.46810299e+02] [ 6.54774602e-03 1.03349210e-04 9.99978558e-01 -5.14646974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.014415984153282673 Centerline is valid? [True, True] Translation: X:62.58, Y:-146.77, Z:-5.15 [[-6.84473133e-01 -7.29021896e-01 4.85866490e-03 6.25758461e+01] [ 7.29004555e-01 -6.84490369e-01 -5.02915344e-03 -1.46768594e+02] [ 6.99207231e-03 9.96684348e-05 9.99975550e-01 -5.14721615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.014001879846780663 Centerline is valid? [True, True] Translation: X:62.54, Y:-146.73, Z:-5.15 [[-6.86440724e-01 -7.27170488e-01 4.71309882e-03 6.25372489e+01] [ 7.27154148e-01 -6.86456899e-01 -4.87549544e-03 -1.46728003e+02] [ 6.78065560e-03 8.04107361e-05 9.99977008e-01 -5.14786519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.012628043840599588 Centerline is valid? [True, True] Translation: X:62.50, Y:-146.68, Z:-5.15 [[-6.89303442e-01 -7.24461998e-01 3.94690044e-03 6.24997414e+01] [ 7.24450507e-01 -6.89314741e-01 -4.08059239e-03 -1.46683081e+02] [ 5.67689077e-03 4.65676436e-05 9.99983885e-01 -5.14590002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.012480130092881866 Centerline is valid? [True, True] Translation: X:62.46, Y:-146.64, Z:-5.15 [[-6.90482676e-01 -7.23334349e-01 4.59267100e-03 6.24602198e+01] [ 7.23318784e-01 -6.90497949e-01 -4.74554366e-03 -1.46640669e+02] [ 6.60384464e-03 4.52495124e-05 9.99978193e-01 -5.14672570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.012566609905943292 Centerline is valid? [True, True] Translation: X:62.42, Y:-146.60, Z:-5.15 [[-6.92192161e-01 -7.21681976e-01 6.71852631e-03 6.24207274e+01] [ 7.21648629e-01 -6.92224764e-01 -6.93778463e-03 -1.46599577e+02] [ 9.65760441e-03 4.61351640e-05 9.99953363e-01 -5.15012169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.0125025286811468 Centerline is valid? [True, True] Translation: X:62.38, Y:-146.56, Z:-5.15 [[-6.93464882e-01 -7.20443652e-01 8.20994152e-03 6.23808684e+01] [ 7.20393825e-01 -6.93513478e-01 -8.47306375e-03 -1.46557401e+02] [ 1.17980701e-02 3.86190322e-05 9.99930400e-01 -5.15160945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.012470140955130177 Centerline is valid? [True, True] Translation: X:62.34, Y:-146.52, Z:-5.15 [[-6.95867090e-01 -7.18119544e-01 8.56235436e-03 6.23416968e+01] [ 7.18065240e-01 -6.95919766e-01 -8.83121700e-03 -1.46516182e+02] [ 1.23005812e-02 2.97575578e-06 9.99924345e-01 -5.15195669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.012523122682513646 Centerline is valid? [True, True] Translation: X:62.30, Y:-146.48, Z:-5.15 [[-6.96987931e-01 -7.17038289e-01 7.99474300e-03 6.23019961e+01] [ 7.16990937e-01 -6.97033781e-01 -8.24040197e-03 -1.46476180e+02] [ 1.14812897e-02 -1.13024415e-05 9.99934088e-01 -5.15188413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.012313798549444395 Centerline is valid? [True, True] Translation: X:62.26, Y:-146.44, Z:-5.15 [[-6.96269994e-01 -7.17743596e-01 7.22670696e-03 6.22600590e+01] [ 7.17704987e-01 -6.96307497e-01 -7.44452718e-03 -1.46436481e+02] [ 1.03752719e-02 3.24272572e-06 9.99946175e-01 -5.14892117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.012533924834078352 Centerline is valid? [True, True] Translation: X:62.22, Y:-146.40, Z:-5.15 [[-6.95135882e-01 -7.18847220e-01 6.69180817e-03 6.22187899e+01] [ 7.18814199e-01 -6.95168090e-01 -6.89012500e-03 -1.46397721e+02] [ 9.60487871e-03 2.05936123e-05 9.99953872e-01 -5.14920897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.012438497232669168 Centerline is valid? [True, True] Translation: X:62.18, Y:-146.36, Z:-5.15 [[-6.93444293e-01 -7.20487272e-01 5.75350005e-03 6.21757574e+01] [ 7.20462949e-01 -6.93468160e-01 -5.92033614e-03 -1.46359135e+02] [ 8.25539593e-03 3.97602973e-05 9.99965923e-01 -5.14830936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.012659071696824745 Centerline is valid? [True, True] Translation: X:62.13, Y:-146.32, Z:-5.15 [[-6.91951331e-01 -7.21925574e-01 5.17890285e-03 6.21334925e+01] [ 7.21905932e-01 -6.91970709e-01 -5.32575784e-03 -1.46319816e+02] [ 7.42844986e-03 5.35154664e-05 9.99972407e-01 -5.14775763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.012967319727571399 Centerline is valid? [True, True] Translation: X:62.09, Y:-146.28, Z:-5.15 [[-6.89782170e-01 -7.24001520e-01 4.72832151e-03 6.20907149e+01] [ 7.23985213e-01 -6.89798372e-01 -4.85967111e-03 -1.46280432e+02] [ 6.77999775e-03 7.11203742e-05 9.99977013e-01 -5.14710156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.014634044603522155 Centerline is valid? [True, True] Translation: X:62.05, Y:-146.24, Z:-5.15 [[-6.85130752e-01 -7.28395634e-01 5.97103044e-03 6.20458362e+01] [ 7.28369827e-01 -6.85156755e-01 -6.13327491e-03 -1.46244428e+02] [ 8.55854251e-03 1.47023157e-04 9.99963364e-01 -5.14947387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.016212524158390806 Centerline is valid? [True, True] Translation: X:62.00, Y:-146.21, Z:-5.15 [[-6.82939696e-01 -7.30440707e-01 7.05306485e-03 6.20020601e+01] [ 7.30404836e-01 -6.82976084e-01 -7.24185041e-03 -1.46207118e+02] [ 1.01068169e-02 2.05845556e-04 9.99948904e-01 -5.15197296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.01673249985923464 Centerline is valid? [True, True] Translation: X:61.96, Y:-146.17, Z:-5.15 [[-6.82308712e-01 -7.31025973e-01 7.47326040e-03 6.19602527e+01] [ 7.30985779e-01 -6.82349599e-01 -7.66921921e-03 -1.46167155e+02] [ 1.07057747e-02 2.30071990e-04 9.99942665e-01 -5.15284395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.015461632672072182 Centerline is valid? [True, True] Translation: X:61.92, Y:-146.12, Z:-5.15 [[-6.82629135e-01 -7.30725810e-01 7.56664261e-03 6.19212336e+01] [ 7.30684635e-01 -6.82671031e-01 -7.76062640e-03 -1.46124552e+02] [ 1.08364177e-02 2.31199805e-04 9.99941258e-01 -5.15238904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.01636391474353114 Centerline is valid? [True, True] Translation: X:61.88, Y:-146.09, Z:-5.15 [[-6.84512847e-01 -7.28964244e-01 7.30017894e-03 6.18796698e+01] [ 7.28925861e-01 -6.84551744e-01 -7.48321624e-03 -1.46085363e+02] [ 1.04523473e-02 1.98931566e-04 9.99945353e-01 -5.15369366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.013945357304715154 Centerline is valid? [True, True] Translation: X:61.84, Y:-146.04, Z:-5.15 [[-6.87263972e-01 -7.26369067e-01 7.49739728e-03 6.18434648e+01] [ 7.26328473e-01 -6.87304846e-01 -7.68108022e-03 -1.46039448e+02] [ 1.07322966e-02 1.66643405e-04 9.99942393e-01 -5.15232144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.013048154190039067 Centerline is valid? [True, True] Translation: X:61.81, Y:-145.99, Z:-5.15 [[-6.91521231e-01 -7.22304386e-01 8.64648287e-03 6.18074604e+01] [ 7.22250132e-01 -6.91575274e-01 -8.85366311e-03 -1.45992809e+02] [ 1.23747335e-02 1.22427386e-04 9.99923423e-01 -5.15388717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.012811401035347194 Centerline is valid? [True, True] Translation: X:61.77, Y:-145.95, Z:-5.16 [[-6.94174104e-01 -7.19741034e-01 9.75489626e-03 6.17707241e+01] [ 7.19671812e-01 -6.94242635e-01 -9.98234358e-03 -1.45948693e+02] [ 1.39569672e-02 9.08394573e-05 9.99902593e-01 -5.15511209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.012751329964130472 Centerline is valid? [True, True] Translation: X:61.73, Y:-145.90, Z:-5.16 [[-6.96425457e-01 -7.17560290e-01 9.94041853e-03 6.17345751e+01] [ 7.17488278e-01 -6.96496394e-01 -1.01658372e-02 -1.45903563e+02] [ 1.42180668e-02 5.23859241e-05 9.99898917e-01 -5.15548776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.012644023138884589 Centerline is valid? [True, True] Translation: X:61.70, Y:-145.86, Z:-5.16 [[-6.96685583e-01 -7.17312150e-01 9.61655088e-03 6.16955580e+01] [ 7.17244815e-01 -6.96751948e-01 -9.82844230e-03 -1.45861934e+02] [ 1.37504116e-02 5.00872151e-05 9.99905457e-01 -5.15527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.012580616698323069 Centerline is valid? [True, True] Translation: X:61.66, Y:-145.82, Z:-5.15 [[-6.96318439e-01 -7.17672242e-01 9.33725409e-03 6.16559867e+01] [ 7.17608875e-01 -6.96381038e-01 -9.53694836e-03 -1.45820509e+02] [ 1.33466898e-02 5.97434081e-05 9.99910927e-01 -5.15473160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.012813321253276048 Centerline is valid? [True, True] Translation: X:61.62, Y:-145.78, Z:-5.15 [[-6.94431100e-01 -7.19508442e-01 8.54688151e-03 6.16159228e+01] [ 7.19455556e-01 -6.94483688e-01 -8.72414254e-03 -1.45779270e+02] [ 1.22127640e-02 9.07854889e-05 9.99925417e-01 -5.15316147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.013458727754833115 Centerline is valid? [True, True] Translation: X:61.57, Y:-145.74, Z:-5.15 [[-6.91111921e-01 -7.22707083e-01 7.66711108e-03 6.15732165e+01] [ 7.22664771e-01 -6.91154435e-01 -7.82151478e-03 -1.45740855e+02] [ 1.09518220e-02 1.35208963e-04 9.99940018e-01 -5.15106528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.013778311872655557 Centerline is valid? [True, True] Translation: X:61.53, Y:-145.70, Z:-5.15 [[-6.90289656e-01 -7.23493977e-01 7.52700893e-03 6.15320163e+01] [ 7.23453295e-01 -6.90330677e-01 -7.67379318e-03 -1.45701045e+02] [ 1.07480683e-02 1.48299352e-04 9.99942227e-01 -5.15047970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.01409741737417293 Centerline is valid? [True, True] Translation: X:61.49, Y:-145.66, Z:-5.15 [[-6.89862453e-01 -7.23900478e-01 7.60884934e-03 6.14905535e+01] [ 7.23858983e-01 -6.89904394e-01 -7.75244380e-03 -1.45661705e+02] [ 1.08613764e-02 1.59614042e-04 9.99941001e-01 -5.15017552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.012985974004917172 Centerline is valid? [True, True] Translation: X:61.45, Y:-145.62, Z:-5.15 [[-6.93883851e-01 -7.20057488e-01 6.51262672e-03 6.14513650e+01] [ 7.20026950e-01 -6.93914408e-01 -6.63211572e-03 -1.45618200e+02] [ 9.29471010e-03 8.73487629e-05 9.99956800e-01 -5.15019060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.012457860347603175 Centerline is valid? [True, True] Translation: X:61.41, Y:-145.57, Z:-5.15 [[-6.97127710e-01 -7.16919236e-01 6.30591713e-03 6.14134895e+01] [ 7.16890510e-01 -6.97156228e-01 -6.41795297e-03 -1.45574435e+02] [ 8.99736334e-03 4.65192959e-05 9.99959522e-01 -5.15006713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.012190524202960235 Centerline is valid? [True, True] Translation: X:61.38, Y:-145.53, Z:-5.15 [[-6.99710976e-01 -7.14400569e-01 6.03130512e-03 6.13755576e+01] [ 7.14374230e-01 -6.99736969e-01 -6.13461711e-03 -1.45530996e+02] [ 8.60290113e-03 1.61500251e-05 9.99962994e-01 -5.14847303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.012142677504460032 Centerline is valid? [True, True] Translation: X:61.34, Y:-145.49, Z:-5.15 [[-7.01553919e-01 -7.12596085e-01 5.37758865e-03 6.13366047e+01] [ 7.12575120e-01 -7.01574529e-01 -5.46624200e-03 -1.45489624e+02] [ 7.66800187e-03 -2.92761607e-06 9.99970601e-01 -5.14733562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.01210216922740779 Centerline is valid? [True, True] Translation: X:61.30, Y:-145.45, Z:-5.15 [[-7.02118436e-01 -7.12045091e-01 4.63577302e-03 6.12954424e+01] [ 7.12029516e-01 -7.02133740e-01 -4.70952400e-03 -1.45449227e+02] [ 6.60832609e-03 -5.83640961e-06 9.99978165e-01 -5.14664973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.012060999906672702 Centerline is valid? [True, True] Translation: X:61.25, Y:-145.41, Z:-5.15 [[-7.00800858e-01 -7.13348560e-01 3.46261678e-03 6.12541009e+01] [ 7.13339897e-01 -7.00809412e-01 -3.51548844e-03 -1.45409899e+02] [ 4.93440305e-03 6.36537884e-06 9.99987826e-01 -5.14510456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.012291773642186985 Centerline is valid? [True, True] Translation: X:61.21, Y:-145.37, Z:-5.15 [[-6.98937006e-01 -7.15176626e-01 3.07497614e-03 6.12127959e+01] [ 7.15169821e-01 -6.98943770e-01 -3.11988400e-03 -1.45372146e+02] [ 4.38050352e-03 1.85277545e-05 9.99990405e-01 -5.14509456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.012828825164288404 Centerline is valid? [True, True] Translation: X:61.17, Y:-145.34, Z:-5.15 [[-6.95763352e-01 -7.18259822e-01 4.02315553e-03 6.11671040e+01] [ 7.18248238e-01 -6.95774982e-01 -4.07967622e-03 -1.45335120e+02] [ 5.72947849e-03 5.11351657e-05 9.99983585e-01 -5.14712696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.01300962473886123 Centerline is valid? [True, True] Translation: X:61.12, Y:-145.30, Z:-5.15 [[-6.94883294e-01 -7.19107802e-01 4.60191239e-03 6.11245853e+01] [ 7.19092680e-01 -6.94898529e-01 -4.66395629e-03 -1.45295205e+02] [ 6.55174951e-03 6.82962064e-05 9.99978535e-01 -5.14791637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.012973300673659635 Centerline is valid? [True, True] Translation: X:61.08, Y:-145.25, Z:-5.15 [[-6.95526585e-01 -7.18481855e-01 5.15687673e-03 6.10844232e+01] [ 7.18462873e-01 -6.95545699e-01 -5.22316680e-03 -1.45254529e+02] [ 7.33959400e-03 7.21731044e-05 9.99973062e-01 -5.14834298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.012350442687933847 Centerline is valid? [True, True] Translation: X:61.05, Y:-145.21, Z:-5.15 [[-6.99114203e-01 -7.14990911e-01 5.22768739e-03 6.10459756e+01] [ 7.14971328e-01 -6.99133747e-01 -5.29193075e-03 -1.45210378e+02] [ 7.43853506e-03 3.79826402e-05 9.99972333e-01 -5.14760638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.012171087696182201 Centerline is valid? [True, True] Translation: X:61.01, Y:-145.17, Z:-5.15 [[-7.03229980e-01 -7.10950638e-01 4.09714965e-03 6.10080730e+01] [ 7.10938555e-01 -7.03241915e-01 -4.14490545e-03 -1.45167704e+02] [ 5.82811054e-03 -2.00012827e-06 9.99983017e-01 -5.14606632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.012588014564851207 Centerline is valid? [True, True] Translation: X:60.97, Y:-145.12, Z:-5.14 [[-7.07356587e-01 -7.06848931e-01 3.35363523e-03 6.09710422e+01] [ 7.06840800e-01 -7.07364537e-01 -3.39061288e-03 -1.45124017e+02] [ 4.76889372e-03 -2.78861502e-05 9.99988628e-01 -5.14437146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.013510700454050117 Centerline is valid? [True, True] Translation: X:60.93, Y:-145.08, Z:-5.15 [[-7.11833427e-01 -7.02324338e-01 5.80490963e-03 6.09320348e+01] [ 7.02299850e-01 -7.11857089e-01 -5.86565254e-03 -1.45080392e+02] [ 8.25185661e-03 -9.85803872e-05 9.99965948e-01 -5.14667001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.01360344041090509 Centerline is valid? [True, True] Translation: X:60.89, Y:-145.04, Z:-5.15 [[-7.12721246e-01 -7.01412576e-01 6.98744736e-03 6.08903323e+01] [ 7.01377090e-01 -7.12755486e-01 -7.05655250e-03 -1.45040426e+02] [ 9.92989610e-03 -1.28519390e-04 9.99950689e-01 -5.14765763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.013580362004310663 Centerline is valid? [True, True] Translation: X:60.85, Y:-145.00, Z:-5.15 [[-7.12416625e-01 -7.01717450e-01 7.42780126e-03 6.08469583e+01] [ 7.01677413e-01 -7.12455334e-01 -7.49701390e-03 -1.45001297e+02] [ 1.05527621e-02 -1.29076969e-04 9.99944310e-01 -5.14845001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.013199699358651139 Centerline is valid? [True, True] Translation: X:60.80, Y:-144.96, Z:-5.15 [[-7.10265656e-01 -7.03905305e-01 6.32616019e-03 6.08031031e+01] [ 7.03876373e-01 -7.10293824e-01 -6.38248731e-03 -1.44964744e+02] [ 8.98609919e-03 -8.04268466e-05 9.99959621e-01 -5.14705941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.012552843510597789 Centerline is valid? [True, True] Translation: X:60.76, Y:-144.93, Z:-5.14 [[-7.07151773e-01 -7.07042740e-01 5.18981415e-03 6.07569030e+01] [ 7.07023374e-01 -7.07170816e-01 -5.23309766e-03 -1.44928810e+02] [ 7.37010882e-03 -3.12743809e-05 9.99972840e-01 -5.14478179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.01236990026730546 Centerline is valid? [True, True] Translation: X:60.71, Y:-144.89, Z:-5.14 [[-7.05067822e-01 -7.09124343e-01 4.69387616e-03 6.07129191e+01] [ 7.09108567e-01 -7.05083446e-01 -4.73004783e-03 -1.44891386e+02] [ 6.66376644e-03 -6.53672631e-06 9.99977797e-01 -5.14393658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.012380207321483226 Centerline is valid? [True, True] Translation: X:60.67, Y:-144.85, Z:-5.14 [[-7.03950203e-01 -7.10235585e-01 4.41877814e-03 6.06709344e+01] [ 7.10221643e-01 -7.03964072e-01 -4.45004203e-03 -1.44852917e+02] [ 6.27123926e-03 5.70388083e-06 9.99980336e-01 -5.14376562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.012916598051300184 Centerline is valid? [True, True] Translation: X:60.62, Y:-144.82, Z:-5.15 [[-6.99839325e-01 -7.14282779e-01 5.00311787e-03 6.06237829e+01] [ 7.14265031e-01 -6.99857206e-01 -5.03558073e-03 -1.44819350e+02] [ 7.09829670e-03 4.94547224e-05 9.99974806e-01 -5.14540164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.013384685648410024 Centerline is valid? [True, True] Translation: X:60.58, Y:-144.78, Z:-5.15 [[-6.97780632e-01 -7.16290778e-01 5.45074744e-03 6.05784298e+01] [ 7.16269796e-01 -6.97801917e-01 -5.48317809e-03 -1.44782052e+02] [ 7.73109191e-03 7.81502850e-05 9.99970112e-01 -5.14597619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.013812957714484066 Centerline is valid? [True, True] Translation: X:60.53, Y:-144.74, Z:-5.15 [[-6.96836886e-01 -7.17210121e-01 5.29120077e-03 6.05349535e+01] [ 7.17190399e-01 -6.96856969e-01 -5.31951125e-03 -1.44744348e+02] [ 7.50241744e-03 8.79667337e-05 9.99971853e-01 -5.14627831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.013545404032626697 Centerline is valid? [True, True] Translation: X:60.49, Y:-144.71, Z:-5.15 [[-6.96972638e-01 -7.17069418e-01 6.37125097e-03 6.04926794e+01] [ 7.17040852e-01 -6.97001750e-01 -6.40136160e-03 -1.44705819e+02] [ 9.03099371e-03 1.06873344e-04 9.99959214e-01 -5.14737745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.0134789592867312 Centerline is valid? [True, True] Translation: X:60.45, Y:-144.67, Z:-5.15 [[-6.97832375e-01 -7.16226025e-01 7.08923499e-03 6.04514334e+01] [ 7.16190659e-01 -6.97868375e-01 -7.11835026e-03 -1.44666365e+02] [ 1.00457006e-02 1.09828614e-04 9.99949535e-01 -5.14882189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.013268364277529974 Centerline is valid? [True, True] Translation: X:60.41, Y:-144.63, Z:-5.15 [[-6.99821788e-01 -7.14283054e-01 7.01315266e-03 6.04113159e+01] [ 7.14248390e-01 -6.99856923e-01 -7.03744800e-03 -1.44626370e+02] [ 9.93493329e-03 8.41735533e-05 9.99950644e-01 -5.14872317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.012755487877772774 Centerline is valid? [True, True] Translation: X:60.37, Y:-144.58, Z:-5.15 [[-7.01767568e-01 -7.12378619e-01 6.24376068e-03 6.03711319e+01] [ 7.12351097e-01 -7.01795341e-01 -6.26207237e-03 -1.44583802e+02] [ 8.84280862e-03 5.32304778e-05 9.99960900e-01 -5.14626470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.012638923837916845 Centerline is valid? [True, True] Translation: X:60.33, Y:-144.54, Z:-5.15 [[-7.04077046e-01 -7.10105096e-01 5.12497399e-03 6.03308412e+01] [ 7.10086518e-01 -7.04095698e-01 -5.13660562e-03 -1.44544180e+02] [ 7.25600197e-03 2.26088265e-05 9.99973675e-01 -5.14627198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.012547933031039881 Centerline is valid? [True, True] Translation: X:60.29, Y:-144.50, Z:-5.15 [[-7.04893405e-01 -7.09296333e-01 4.89897870e-03 6.02899082e+01] [ 7.09279359e-01 -7.04910429e-01 -4.90704718e-03 -1.44503929e+02] [ 6.93389174e-03 1.57992760e-05 9.99975960e-01 -5.14554781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.012638047764718838 Centerline is valid? [True, True] Translation: X:60.25, Y:-144.46, Z:-5.15 [[-7.04721843e-01 -7.09462443e-01 5.49233087e-03 6.02475803e+01] [ 7.09441137e-01 -7.04743245e-01 -5.49826643e-03 -1.44464092e+02] [ 7.77149661e-03 2.17370045e-05 9.99969801e-01 -5.14606162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.012833006008003476 Centerline is valid? [True, True] Translation: X:60.20, Y:-144.43, Z:-5.15 [[-7.02567264e-01 -7.11586202e-01 6.65712658e-03 6.02037010e+01] [ 7.11555022e-01 -7.02598800e-01 -6.66160007e-03 -1.44426730e+02] [ 9.41759184e-03 5.66897122e-05 9.99955652e-01 -5.14862369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.013270763158845967 Centerline is valid? [True, True] Translation: X:60.16, Y:-144.39, Z:-5.15 [[-7.00712222e-01 -7.13406472e-01 7.32031692e-03 6.01602454e+01] [ 7.13368911e-01 -7.00750453e-01 -7.32120105e-03 -1.44388420e+02] [ 1.03527076e-02 9.20314492e-05 9.99946405e-01 -5.15008258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.013934750295310182 Centerline is valid? [True, True] Translation: X:60.12, Y:-144.35, Z:-5.15 [[-6.97983016e-01 -7.16068411e-01 8.10800844e-03 6.01167850e+01] [ 7.16022562e-01 -6.98030091e-01 -8.10449573e-03 -1.44349624e+02] [ 1.14630073e-02 1.48716608e-04 9.99934287e-01 -5.15151047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.01408620159614279 Centerline is valid? [True, True] Translation: X:59.73, Y:-144.72, Z:-4.10 [[-7.64943067e-01 6.44031182e-01 9.27038361e-03 5.97312990e+01] [ 6.43981026e-01 7.64999218e-01 -8.03954165e-03 -1.44720518e+02] [-1.22695517e-02 -1.79840500e-04 -9.99924710e-01 -4.09978910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.014471842478778535 Centerline is valid? [True, True] Translation: X:59.74, Y:-144.70, Z:-4.10 [[-8.09109405e-01 5.87576507e-01 9.78875903e-03 5.97447475e+01] [ 5.87530664e-01 8.09168593e-01 -7.34206923e-03 -1.44697684e+02] [-1.22347838e-02 -1.89341169e-04 -9.99925134e-01 -4.10017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.014217331689467044 Centerline is valid? [True, True] Translation: X:60.07, Y:-144.27, Z:-5.15 [[-7.48203351e-01 -6.63424908e-01 7.69001776e-03 6.00671009e+01] [ 6.63390418e-01 -7.48242868e-01 -6.76491123e-03 -1.44271192e+02] [ 1.02420116e-02 3.99548467e-05 9.99947549e-01 -5.14970069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.013805130280077228 Centerline is valid? [True, True] Translation: X:59.71, Y:-144.68, Z:-4.10 [[-8.09574392e-01 5.86982521e-01 6.38932287e-03 5.97114109e+01] [ 5.86963259e-01 8.09599599e-01 -4.75636942e-03 -1.44679123e+02] [-7.96469895e-03 -1.00337113e-04 -9.99968276e-01 -4.10412345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.013457359496719702 Centerline is valid? [True, True] Translation: X:59.72, Y:-144.66, Z:-4.11 [[-8.47536764e-01 5.30713693e-01 4.94069386e-03 5.97230948e+01] [ 5.30704285e-01 8.47551162e-01 -3.16056557e-03 -1.44659604e+02] [-5.86484625e-03 -5.66481068e-05 -9.99982800e-01 -4.10565562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.01294317780879688 Centerline is valid? [True, True] Translation: X:59.73, Y:-144.64, Z:-4.11 [[-8.82283755e-01 4.70692105e-01 4.93133777e-03 5.97326970e+01] [ 4.70684463e-01 8.82297535e-01 -2.68253323e-03 -1.44638429e+02] [-5.61355438e-03 -4.56514229e-05 -9.99984243e-01 -4.10611433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.013126443814588669 Centerline is valid? [True, True] Translation: X:59.74, Y:-144.61, Z:-4.10 [[-9.13514503e-01 4.06762277e-01 5.97515026e-03 5.97392537e+01] [ 4.06753180e-01 9.13534043e-01 -2.72097898e-03 -1.44613177e+02] [-6.56529478e-03 -5.52423863e-05 -9.99978447e-01 -4.10497928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.013272228053579041 Centerline is valid? [True, True] Translation: X:59.74, Y:-144.59, Z:-4.10 [[-9.41005027e-01 3.38294725e-01 8.13744781e-03 5.97438319e+01] [ 3.38281174e-01 9.41040206e-01 -3.02949467e-03 -1.44587153e+02] [-8.68252763e-03 -9.80243165e-05 -9.99962301e-01 -4.10396885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.013615396525025686 Centerline is valid? [True, True] Translation: X:59.94, Y:-144.06, Z:-5.15 [[-9.06098807e-01 -4.22989137e-01 8.07111310e-03 5.99367421e+01] [ 4.22973445e-01 -9.06134746e-01 -3.64518403e-03 -1.44056683e+02] [ 8.85538927e-03 1.10969612e-04 9.99960784e-01 -5.14856954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.013625692110493163 Centerline is valid? [True, True] Translation: X:59.69, Y:-144.57, Z:-4.10 [[-9.42919151e-01 3.32907766e-01 8.71177478e-03 5.96946761e+01] [ 3.32892343e-01 9.42959386e-01 -3.20685991e-03 -1.44573595e+02] [-9.28243837e-03 -1.23726509e-04 -9.99956910e-01 -4.10232769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.01381051610506509 Centerline is valid? [True, True] Translation: X:59.70, Y:-144.55, Z:-4.10 [[-9.63992763e-01 2.65767994e-01 9.23726800e-03 5.96996183e+01] [ 2.65754569e-01 9.64037011e-01 -2.67411075e-03 -1.44547640e+02] [-9.61576128e-03 -1.22977229e-04 -9.99953760e-01 -4.10111504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.013352896723683406 Centerline is valid? [True, True] Translation: X:59.70, Y:-144.53, Z:-4.10 [[-9.79901726e-01 1.99244962e-01 9.69806726e-03 5.97037651e+01] [ 1.99234177e-01 9.79949710e-01 -2.07560579e-03 -1.44528397e+02] [-9.91717220e-03 -1.01703249e-04 -9.99950819e-01 -4.10108308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.012891793461456707 Centerline is valid? [True, True] Translation: X:59.83, Y:-143.95, Z:-5.15 [[-9.59758769e-01 -2.80708651e-01 8.10913332e-03 5.98336011e+01] [ 2.80698628e-01 -9.59793026e-01 -2.37208301e-03 -1.43948675e+02] [ 8.44895383e-03 -4.04872610e-07 9.99964307e-01 -5.14870744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.012972072105899108 Centerline is valid? [True, True] Translation: X:59.66, Y:-144.53, Z:-4.10 [[-9.79463856e-01 2.01481595e-01 7.46475862e-03 5.96595805e+01] [ 2.01475497e-01 9.79492300e-01 -1.56787082e-03 -1.44533560e+02] [-7.62757070e-03 -3.17068422e-05 -9.99970909e-01 -4.10411486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.012741843413726856 Centerline is valid? [True, True] Translation: X:59.79, Y:-143.93, Z:-5.15 [[-9.61940564e-01 -2.73174136e-01 6.80021291e-03 5.97886943e+01] [ 2.73167276e-01 -9.61964600e-01 -1.93597365e-03 -1.43930414e+02] [ 7.07042202e-03 -4.69594291e-06 9.99975004e-01 -5.14698699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.012809696720482688 Centerline is valid? [True, True] Translation: X:59.61, Y:-144.53, Z:-4.10 [[-9.79351738e-01 2.02024219e-01 7.50928273e-03 5.96130706e+01] [ 2.02018295e-01 9.79380526e-01 -1.54710168e-03 -1.44534469e+02] [-7.66699728e-03 1.85577224e-06 -9.99970608e-01 -4.10366384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.012734238281830738 Centerline is valid? [True, True] Translation: X:59.62, Y:-144.51, Z:-4.10 [[-9.90961149e-01 1.33809546e-01 9.53978601e-03 5.96154099e+01] [ 1.33803532e-01 9.91007066e-01 -1.26881693e-03 -1.44510889e+02] [-9.62377517e-03 1.91087851e-05 -9.99953690e-01 -4.10318726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.012834369475420056 Centerline is valid? [True, True] Translation: X:59.70, Y:-143.87, Z:-5.15 [[-9.80727134e-01 -1.95038918e-01 1.15805503e-02 5.97016330e+01] [ 1.95026665e-01 -9.80795498e-01 -2.18907865e-03 -1.43874223e+02] [ 1.17851071e-02 1.11627273e-04 9.99930547e-01 -5.14962507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.01328423665450867 Centerline is valid? [True, True] Translation: X:59.56, Y:-144.51, Z:-4.10 [[-9.91202229e-01 1.31729069e-01 1.28682909e-02 5.95639798e+01] [ 1.31718605e-01 9.91285756e-01 -1.66101706e-03 -1.44510379e+02] [-1.29749577e-02 4.85895166e-05 -9.99915821e-01 -4.09949844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.01349013972348447 Centerline is valid? [True, True] Translation: X:59.65, Y:-143.86, Z:-5.15 [[-9.81715725e-01 -1.89727994e-01 1.54118212e-02 5.96452698e+01] [ 1.89706387e-01 -9.81836685e-01 -2.86546912e-03 -1.43862188e+02] [ 1.56755512e-02 1.10644832e-04 9.99877125e-01 -5.15384552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.013971638835833836 Centerline is valid? [True, True] Translation: X:59.51, Y:-144.51, Z:-4.10 [[-9.91404914e-01 1.29691151e-01 1.72192583e-02 5.95132655e+01] [ 1.29673304e-01 9.91554434e-01 -2.15370803e-03 -1.44511412e+02] [-1.73531488e-02 9.76813897e-05 -9.99849418e-01 -4.09605158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.013222912104627354 Centerline is valid? [True, True] Translation: X:59.51, Y:-144.49, Z:-4.10 [[-9.98209578e-01 5.77065220e-02 1.57351608e-02 5.95109762e+01] [ 5.77004288e-02 9.98333588e-01 -8.41334172e-04 -1.44486752e+02] [-1.57574900e-02 6.80976962e-05 -9.99875841e-01 -4.09958713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.01269192139986336 Centerline is valid? [True, True] Translation: X:59.55, Y:-143.82, Z:-5.15 [[-9.92611178e-01 -1.20638173e-01 1.30184873e-02 5.95467873e+01] [ 1.20624664e-01 -9.92696517e-01 -1.82081964e-03 -1.43822632e+02] [ 1.31430674e-02 -2.37015268e-04 9.99913598e-01 -5.14903510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.013364331287943829 Centerline is valid? [True, True] Translation: X:59.45, Y:-144.47, Z:-4.10 [[-9.99161939e-01 3.90074360e-02 1.24032226e-02 5.94501575e+01] [ 3.90028319e-02 9.99238912e-01 -6.12967605e-04 -1.44472519e+02] [-1.24176930e-02 -1.28693093e-04 -9.99922889e-01 -4.10273635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.015038863538996092 Centerline is valid? [True, True] Translation: X:59.44, Y:-144.44, Z:-4.10 [[-9.99182869e-01 -3.85526244e-02 1.21363292e-02 5.94353001e+01] [-3.85522688e-02 9.99256550e-01 2.63334993e-04 -1.44440477e+02] [-1.21374587e-02 -2.04763214e-04 -9.99926317e-01 -4.10235639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.01607915471268811 Centerline is valid? [True, True] Translation: X:59.43, Y:-143.81, Z:-5.15 [[-9.97558106e-01 -6.85239398e-02 1.35016920e-02 5.94262599e+01] [ 6.85220814e-02 -9.97649419e-01 -6.00741882e-04 -1.43806427e+02] [ 1.35111203e-02 3.25889101e-04 9.99908668e-01 -5.14914970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.01685434349812149 Centerline is valid? [True, True] Translation: X:59.38, Y:-144.44, Z:-4.10 [[-9.98610778e-01 -5.09107233e-02 1.35872441e-02 5.93774087e+01] [-5.09106348e-02 9.98703151e-01 3.52621750e-04 -1.44437082e+02] [-1.35875757e-02 -3.39603342e-04 -9.99907627e-01 -4.10101703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.017544358381308457 Centerline is valid? [True, True] Translation: X:59.37, Y:-144.41, Z:-4.10 [[-9.92307593e-01 -1.23045314e-01 1.36195057e-02 5.93681888e+01] [-1.23038695e-01 9.92400988e-01 1.32600584e-03 -1.44407486e+02] [-1.36791697e-02 -3.59920549e-04 -9.99906371e-01 -4.09989911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.01718873338623931 Centerline is valid? [True, True] Translation: X:59.31, Y:-143.79, Z:-5.15 [[-9.99888967e-01 4.45162550e-03 1.42210241e-02 5.93065491e+01] [-4.44535147e-03 -9.99990008e-01 4.72760267e-04 -1.43789914e+02] [ 1.42229865e-02 4.09490325e-04 9.99898764e-01 -5.15234985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.016430602065496777 Centerline is valid? [True, True] Translation: X:59.30, Y:-144.42, Z:-4.10 [[-9.92191417e-01 -1.23868989e-01 1.45830487e-02 5.92981683e+01] [-1.23860433e-01 9.92298527e-01 1.49190713e-03 -1.44419789e+02] [-1.46555388e-02 -3.26005281e-04 -9.99892549e-01 -4.09866348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.01442901980553929 Centerline is valid? [True, True] Translation: X:59.29, Y:-144.40, Z:-4.10 [[-9.82034801e-01 -1.88206830e-01 1.36323020e-02 5.92899728e+01] [-1.88191858e-01 9.82129390e-01 2.38446795e-03 -1.44400848e+02] [-1.38374576e-02 -2.23857741e-04 -9.99904233e-01 -4.09974365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.01355830188165963 Centerline is valid? [True, True] Translation: X:59.28, Y:-144.38, Z:-4.10 [[-9.67158195e-01 -2.53855241e-01 1.27492047e-02 5.92771814e+01] [-2.53835352e-01 9.67242209e-01 3.18163429e-03 -1.44379994e+02] [-1.31392435e-02 -1.59055187e-04 -9.99913664e-01 -4.10014248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.012941018273456985 Centerline is valid? [True, True] Translation: X:59.26, Y:-144.36, Z:-4.10 [[-9.48601091e-01 -3.16266239e-01 1.14733160e-02 5.92600766e+01] [-3.16243912e-01 9.48670471e-01 3.75850717e-03 -1.44363044e+02] [-1.20730850e-02 -6.30423206e-05 -9.99927116e-01 -4.10100808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.012615251888713406 Centerline is valid? [True, True] Translation: X:59.22, Y:-144.35, Z:-4.10 [[-9.24646950e-01 -3.80657856e-01 1.12966957e-02 5.92197345e+01] [-3.80629667e-01 9.24715954e-01 4.63254145e-03 -1.44352136e+02] [-1.22096480e-02 -1.63921877e-05 -9.99925459e-01 -4.10159519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.012696511620130517 Centerline is valid? [True, True] Translation: X:59.16, Y:-144.35, Z:-4.10 [[-8.94750545e-01 -4.46412225e-01 1.17297542e-02 5.91630845e+01] [-4.46373915e-01 8.94827428e-01 5.84831601e-03 -1.44346990e+02] [-1.31068655e-02 -3.07235667e-06 -9.99914101e-01 -4.09975393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.013055637171892391 Centerline is valid? [True, True] Translation: X:59.09, Y:-144.35, Z:-4.10 [[-8.59862925e-01 -5.10338575e-01 1.37945041e-02 5.90942032e+01] [-5.10272670e-01 8.59973568e-01 8.20147303e-03 -1.44352013e+02] [-1.60484369e-02 1.31841792e-05 -9.99871216e-01 -4.09596625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.013015630633190311 Centerline is valid? [True, True] Translation: X:59.02, Y:-144.37, Z:-4.10 [[-8.20898448e-01 -5.70892982e-01 1.43854456e-02 5.90194201e+01] [-5.70804135e-01 8.21024482e-01 1.00717000e-02 -1.44367617e+02] [-1.75606659e-02 5.65710764e-05 -9.99845798e-01 -4.09624198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.013062791749812517 Centerline is valid? [True, True] Translation: X:58.94, Y:-144.39, Z:-4.10 [[-7.76691368e-01 -6.29746344e-01 1.30407779e-02 5.89405981e+01] [-6.29656017e-01 7.76800835e-01 1.06659935e-02 -1.44391897e+02] [-1.68469576e-02 7.29808297e-05 -9.99858077e-01 -4.09744243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.013137460270988057 Centerline is valid? [True, True] Translation: X:58.86, Y:-144.43, Z:-4.10 [[-7.27864680e-01 -6.85624273e-01 1.15049580e-02 5.88575356e+01] [-6.85536854e-01 7.27955596e-01 1.09486429e-02 -1.44426296e+02] [-1.58817539e-02 8.20577172e-05 -9.99873874e-01 -4.09833776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.013013112005467467 Centerline is valid? [True, True] Translation: X:58.77, Y:-144.47, Z:-4.10 [[-6.73341353e-01 -7.39277500e-01 8.95544014e-03 5.87717307e+01] [-7.39211099e-01 6.73400902e-01 9.90833357e-03 -1.44469978e+02] [-1.33556095e-02 5.17299780e-05 -9.99910809e-01 -4.10002990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.012903303741168418 Centerline is valid? [True, True] Translation: X:58.69, Y:-144.52, Z:-4.10 [[-6.14091661e-01 -7.89193734e-01 8.04255168e-03 5.86887159e+01] [-7.89125533e-01 6.14144323e-01 1.03751816e-02 -1.44522063e+02] [-1.31273158e-02 2.47296303e-05 -9.99913833e-01 -4.10036374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.012897808678882962 Centerline is valid? [True, True] Translation: X:58.60, Y:-144.59, Z:-4.10 [[-5.49221134e-01 -8.35645506e-01 7.26182605e-03 5.86042357e+01] [-8.35573200e-01 5.49269140e-01 1.09926788e-02 -1.44587038e+02] [-1.31746796e-02 -3.03757234e-05 -9.99913210e-01 -4.09993013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.013370779630454062 Centerline is valid? [True, True] Translation: X:58.52, Y:-144.66, Z:-4.10 [[-4.77807877e-01 -8.78447304e-01 5.47423955e-03 5.85193877e+01] [-8.78392311e-01 4.77839222e-01 9.82988508e-03 -1.44660331e+02] [-1.12508424e-02 -1.11733404e-04 -9.99936701e-01 -4.10206950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.014842413398126872 Centerline is valid? [True, True] Translation: X:58.44, Y:-144.74, Z:-4.10 [[-4.04897691e-01 -9.14353175e-01 4.01625786e-03 5.84446536e+01] [-9.14311741e-01 4.04917583e-01 8.70580512e-03 -1.44735398e+02] [-9.58643398e-03 -1.47151325e-04 -9.99954038e-01 -4.10276850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.014992476278849495 Centerline is valid? [True, True] Translation: X:58.38, Y:-144.82, Z:-4.10 [[-3.30908754e-01 -9.43656778e-01 3.35874465e-03 5.83791995e+01] [-9.43613604e-01 3.30925749e-01 9.02850907e-03 -1.44819615e+02] [-9.63130887e-03 -1.81744455e-04 -9.99953601e-01 -4.10378343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.016047616801287648 Centerline is valid? [True, True] Translation: X:58.32, Y:-144.92, Z:-4.10 [[-2.55225663e-01 -9.66877107e-01 2.91896295e-03 5.83154832e+01] [-9.66823837e-01 2.55242249e-01 1.01519319e-02 -1.44917697e+02] [-1.05607132e-02 -2.31089418e-04 -9.99944207e-01 -4.10249536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.01552206803172891 Centerline is valid? [True, True] Translation: X:58.27, Y:-145.01, Z:-4.10 [[-1.81198005e-01 -9.83443768e-01 2.37465342e-03 5.82662926e+01] [-9.83376594e-01 1.81213389e-01 1.14970294e-02 -1.45010980e+02] [-1.17370009e-02 -2.51939803e-04 -9.99931087e-01 -4.10181087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.014478661111244446 Centerline is valid? [True, True] Translation: X:58.23, Y:-145.12, Z:-4.10 [[-1.10655256e-01 -9.93857616e-01 1.56614808e-03 5.82266386e+01] [-9.93782244e-01 1.10666154e-01 1.22414743e-02 -1.45118356e+02] [-1.23396020e-02 -2.01826692e-04 -9.99923844e-01 -4.10145406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.01391417492668073 Centerline is valid? [True, True] Translation: X:58.20, Y:-145.22, Z:-4.10 [[-3.91656238e-02 -9.99232537e-01 6.25407728e-04 5.81954556e+01] [-9.99156748e-01 3.91703563e-02 1.23076075e-02 -1.45221200e+02] [-1.23226593e-02 -1.42845226e-04 -9.99924063e-01 -4.10172426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.013441720151395192 Centerline is valid? [True, True] Translation: X:57.56, Y:-145.29, Z:-5.15 [[-1.27223709e-01 9.91873027e-01 1.42324546e-03 5.75612658e+01] [-9.91798207e-01 -1.27231594e-01 1.21834830e-02 -1.45294327e+02] [ 1.22655500e-02 1.38455595e-04 9.99924766e-01 -5.14917166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.013045184109972118 Centerline is valid? [True, True] Translation: X:58.19, Y:-145.49, Z:-4.10 [[-3.95481762e-02 -9.99217529e-01 5.20900854e-04 5.81897185e+01] [-9.99138338e-01 3.95515999e-02 1.25798609e-02 -1.45487316e+02] [-1.25906199e-02 -2.29414595e-05 -9.99920735e-01 -4.10221463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.013250195845943722 Centerline is valid? [True, True] Translation: X:58.17, Y:-145.60, Z:-4.10 [[ 3.34518218e-02 -9.99440212e-01 -4.88235989e-04 5.81667197e+01] [-9.99345069e-01 -3.34553740e-02 1.37902395e-02 -1.45598012e+02] [-1.37988540e-02 2.66075934e-05 -9.99904791e-01 -4.10146878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.013611332346457424 Centerline is valid? [True, True] Translation: X:58.15, Y:-145.72, Z:-4.10 [[ 1.05502580e-01 -9.94417571e-01 -1.70283993e-03 5.81542791e+01] [-9.94302702e-01 -1.05516275e-01 1.51146451e-02 -1.45718800e+02] [-1.52099460e-02 9.85042906e-05 -9.99884317e-01 -4.10127758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.013949068153825189 Centerline is valid? [True, True] Translation: X:58.15, Y:-145.84, Z:-4.10 [[ 1.79924018e-01 -9.83675661e-01 -3.08905854e-03 5.81472731e+01] [-9.83543064e-01 -1.79950485e-01 1.61512859e-02 -1.45837100e+02] [-1.64435044e-02 1.32217847e-04 -9.99864788e-01 -4.10052807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.013871442567569291 Centerline is valid? [True, True] Translation: X:58.15, Y:-145.95, Z:-4.10 [[ 2.55618019e-01 -9.66767711e-01 -4.42962896e-03 5.81462046e+01] [-9.66630745e-01 -2.55656368e-01 1.62734034e-02 -1.45953541e+02] [-1.68650638e-02 1.22040397e-04 -9.99857767e-01 -4.10065939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.013402198583432189 Centerline is valid? [True, True] Translation: X:58.15, Y:-146.07, Z:-4.10 [[ 3.33154417e-01 -9.42857518e-01 -5.27596698e-03 5.81524661e+01] [-9.42741351e-01 -3.33196188e-01 1.48001899e-02 -1.46072463e+02] [-1.57124023e-02 4.31236143e-05 -9.99876552e-01 -4.10336545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.013292692798456416 Centerline is valid? [True, True] Translation: X:58.17, Y:-146.20, Z:-4.10 [[ 4.07939478e-01 -9.12988582e-01 -6.10171214e-03 5.81687569e+01] [-9.12885781e-01 -4.07985108e-01 1.37004365e-02 -1.46195372e+02] [-1.49977498e-02 -1.87826625e-05 -9.99887527e-01 -4.10420405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.013212961016447675 Centerline is valid? [True, True] Translation: X:58.19, Y:-146.31, Z:-4.11 [[ 4.82013198e-01 -8.76146285e-01 -5.56460574e-03 5.81886198e+01] [-8.76085779e-01 -4.82045309e-01 1.02969572e-02 -1.46311482e+02] [-1.17040329e-02 -8.81973029e-05 -9.99931502e-01 -4.10773737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.013468885752597621 Centerline is valid? [True, True] Translation: X:58.22, Y:-146.42, Z:-4.11 [[ 5.50325280e-01 -8.34932978e-01 -5.38606716e-03 5.82183299e+01] [-8.34891037e-01 -5.50351625e-01 8.36926354e-03 -1.46421192e+02] [-9.95200494e-03 -1.09038103e-04 -9.99950472e-01 -4.10951403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.014297904609560872 Centerline is valid? [True, True] Translation: X:58.25, Y:-146.53, Z:-4.11 [[ 6.14929987e-01 -7.88567144e-01 -4.79274827e-03 5.82544609e+01] [-7.88541748e-01 -6.14948654e-01 6.32969470e-03 -1.46528108e+02] [-7.93868336e-03 -1.13036983e-04 -9.99968482e-01 -4.11050051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.014098012200404795 Centerline is valid? [True, True] Translation: X:58.30, Y:-146.62, Z:-4.11 [[ 6.73861246e-01 -7.38841227e-01 -4.96609028e-03 5.82968664e+01] [-7.38819902e-01 -6.73879536e-01 5.61463804e-03 -1.46624833e+02] [-7.49487267e-03 -1.14440650e-04 -9.99971907e-01 -4.11118897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.014474317970588336 Centerline is valid? [True, True] Translation: X:58.35, Y:-146.72, Z:-4.11 [[ 7.28670341e-01 -6.84840367e-01 -5.76240332e-03 5.83467815e+01] [-6.84817519e-01 -7.28693114e-01 5.59560373e-03 -1.46721409e+02] [-8.03111893e-03 -1.31155735e-04 -9.99967742e-01 -4.11030793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.01451981027332246 Centerline is valid? [True, True] Translation: X:58.37, Y:-146.75, Z:-4.11 [[ 7.80312375e-01 -6.25337566e-01 -8.09475059e-03 5.83662883e+01] [-6.25301541e-01 -7.80354340e-01 6.71465957e-03 -1.46754504e+02] [-1.05157026e-02 -1.77871944e-04 -9.99944693e-01 -4.10778480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.014493709743484837 Centerline is valid? [True, True] Translation: X:58.39, Y:-146.78, Z:-4.11 [[ 8.25978034e-01 -5.63623329e-01 -9.43561714e-03 5.83901057e+01] [-5.63584077e-01 -8.26031907e-01 6.65406720e-03 -1.46781978e+02] [-1.15445083e-02 -1.78349766e-04 -9.99933344e-01 -4.10605627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.013708420532277464 Centerline is valid? [True, True] Translation: X:58.42, Y:-146.80, Z:-4.10 [[ 8.64925483e-01 -5.01780224e-01 -1.09779335e-02 5.84181528e+01] [-5.01737871e-01 -8.64995138e-01 6.52071994e-03 -1.46803990e+02] [-1.27678274e-02 -1.31891862e-04 -9.99918479e-01 -4.10437116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.012851502904507109 Centerline is valid? [True, True] Translation: X:58.45, Y:-146.82, Z:-4.10 [[ 8.98439513e-01 -4.38912162e-01 -1.27497095e-02 5.84495295e+01] [-4.38867221e-01 -8.98529973e-01 6.28097480e-03 -1.46822009e+02] [-1.42127924e-02 -4.76463761e-05 -9.99898992e-01 -4.10397685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.012872573366394703 Centerline is valid? [True, True] Translation: X:58.48, Y:-146.84, Z:-4.10 [[ 9.28699005e-01 -3.70574893e-01 -1.38710678e-02 5.84817172e+01] [-3.70533602e-01 -9.28802589e-01 5.53183137e-03 -1.46839687e+02] [-1.49334415e-02 2.29042505e-06 -9.99888490e-01 -4.10336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.013072127729089507 Centerline is valid? [True, True] Translation: X:58.51, Y:-146.85, Z:-4.10 [[ 9.54331209e-01 -2.98445803e-01 -1.34924835e-02 5.85140017e+01] [-2.98416367e-01 -9.54426583e-01 4.19163735e-03 -1.46852969e+02] [-1.41285615e-02 2.61675735e-05 -9.99900187e-01 -4.10308379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.012784581029796674 Centerline is valid? [True, True] Translation: X:58.55, Y:-146.87, Z:-4.10 [[ 9.75057754e-01 -2.21489343e-01 -1.43124644e-02 5.85468811e+01] [-2.21465569e-01 -9.75162792e-01 3.24516232e-03 -1.46868675e+02] [-1.46757516e-02 5.49738391e-06 -9.99892305e-01 -4.10439623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.012686144969240278 Centerline is valid? [True, True] Translation: X:58.58, Y:-146.88, Z:-4.10 [[ 9.89816200e-01 -1.41590061e-01 -1.47018612e-02 5.85795976e+01] [-1.41573864e-01 -9.89925378e-01 2.14195526e-03 -1.46884471e+02] [-1.48570251e-02 -3.87427215e-05 -9.99889628e-01 -4.10369916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.012923417873783247 Centerline is valid? [True, True] Translation: X:58.61, Y:-146.89, Z:-4.10 [[ 9.98109236e-01 -5.98198512e-02 -1.41257775e-02 5.86100757e+01] [-5.98125715e-02 -9.98209185e-01 9.37635709e-04 -1.46894221e+02] [-1.41565701e-02 -9.09637839e-05 -9.99899787e-01 -4.10417639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.013188233940553835 Centerline is valid? [True, True] Translation: X:58.64, Y:-146.90, Z:-4.11 [[ 9.99681994e-01 2.16842553e-02 -1.28725907e-02 5.86423756e+01] [ 2.16840558e-02 -9.99764861e-01 -1.55083875e-04 -1.46902422e+02] [-1.28729267e-02 -1.24095417e-04 -9.99917133e-01 -4.10542642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.013898432864163918 Centerline is valid? [True, True] Translation: X:58.67, Y:-146.91, Z:-4.11 [[ 9.94441985e-01 1.04490258e-01 -1.29199513e-02 5.86746554e+01] [ 1.04483857e-01 -9.94525893e-01 -1.17130025e-03 -1.46908635e+02] [-1.29716156e-02 -1.85136201e-04 -9.99915848e-01 -4.10554283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.014487811078205123 Centerline is valid? [True, True] Translation: X:58.71, Y:-146.91, Z:-4.11 [[ 9.82892487e-01 1.83719760e-01 -1.30157032e-02 5.87063192e+01] [ 1.83706494e-01 -9.82978639e-01 -2.21784738e-03 -1.46910094e+02] [-1.32016206e-02 -2.11163681e-04 -9.99912833e-01 -4.10514385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.014113857031140301 Centerline is valid? [True, True] Translation: X:58.74, Y:-146.91, Z:-4.11 [[ 9.65532642e-01 2.59993254e-01 -1.22566816e-02 5.87389542e+01] [ 2.59974940e-01 -9.65610412e-01 -3.09237871e-03 -1.46908112e+02] [-1.26391770e-02 -2.00637491e-04 -9.99920102e-01 -4.10628696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.013853414903041476 Centerline is valid? [True, True] Translation: X:58.77, Y:-146.90, Z:-4.11 [[ 9.42763662e-01 3.33254018e-01 -1.17659357e-02 5.87703309e+01] [ 3.33230397e-01 -9.42837064e-01 -3.97164964e-03 -1.46901743e+02] [-1.24169285e-02 -1.76440483e-04 -9.99922891e-01 -4.10695119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.01293901691922955 Centerline is valid? [True, True] Translation: X:58.80, Y:-146.89, Z:-4.11 [[ 9.15606542e-01 4.01956699e-01 -9.77100121e-03 5.87999824e+01] [ 4.01935014e-01 -9.15658671e-01 -4.17646374e-03 -1.46890442e+02] [-1.06256596e-02 -1.03309993e-04 -9.99943541e-01 -4.10938861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.012575224169206351 Centerline is valid? [True, True] Translation: X:58.83, Y:-146.88, Z:-4.11 [[ 8.82681527e-01 4.69883235e-01 -9.11414861e-03 5.88285038e+01] [ 4.69859011e-01 -8.82728577e-01 -4.77167185e-03 -1.46878725e+02] [-1.02874480e-02 -7.04982586e-05 -9.99947080e-01 -4.11016001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.012339485124034518 Centerline is valid? [True, True] Translation: X:58.86, Y:-146.87, Z:-4.11 [[ 8.44730823e-01 5.35109901e-01 -9.33974727e-03 5.88564953e+01] [ 5.35077768e-01 -8.44782453e-01 -5.86431441e-03 -1.46865047e+02] [-1.10281073e-02 -4.37239822e-05 -9.99939188e-01 -4.10893295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.012604087679003865 Centerline is valid? [True, True] Translation: X:58.88, Y:-146.85, Z:-4.11 [[ 7.99827367e-01 6.00128185e-01 -1.10609788e-02 5.88829962e+01] [ 6.00071902e-01 -7.99903843e-01 -8.21916835e-03 -1.46851496e+02] [-1.37802741e-02 -6.34668246e-05 -9.99905046e-01 -4.10590165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.012761084932470128 Centerline is valid? [True, True] Translation: X:58.91, Y:-146.84, Z:-4.11 [[ 7.48868228e-01 6.62630155e-01 -1.08468324e-02 5.89127976e+01] [ 6.62562577e-01 -7.48946772e-01 -9.46385989e-03 -1.46838522e+02] [-1.43947390e-02 -9.95212120e-05 -9.99896386e-01 -4.10560234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.013203822539528893 Centerline is valid? [True, True] Translation: X:58.94, Y:-146.82, Z:-4.11 [[ 6.92214708e-01 7.21618733e-01 -1.02568808e-02 5.89416789e+01] [ 7.21542752e-01 -6.92290677e-01 -1.04725615e-02 -1.46824391e+02] [-1.46579395e-02 -1.51516890e-04 -9.99892555e-01 -4.10653546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.013627362668948598 Centerline is valid? [True, True] Translation: X:58.97, Y:-146.81, Z:-4.11 [[ 6.32639319e-01 7.74396803e-01 -8.77971210e-03 5.89673412e+01] [ 7.74325691e-01 -6.32700218e-01 -1.04956033e-02 -1.46806516e+02] [-1.36826874e-02 -1.58425295e-04 -9.99906375e-01 -4.10720890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.013355100784137377 Centerline is valid? [True, True] Translation: X:58.99, Y:-146.79, Z:-4.11 [[ 5.69531104e-01 8.21937531e-01 -7.28130367e-03 5.89928108e+01] [ 8.21873781e-01 -5.69577626e-01 -1.02379420e-02 -1.46786766e+02] [-1.25622164e-02 -1.53486197e-04 -9.99921081e-01 -4.10927897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.013628332871029804 Centerline is valid? [True, True] Translation: X:59.02, Y:-146.77, Z:-4.11 [[ 5.02366819e-01 8.64634793e-01 -5.85267695e-03 5.90176428e+01] [ 8.64579639e-01 -5.02400887e-01 -9.76713432e-03 -1.46766065e+02] [-1.13853943e-02 -1.53421128e-04 -9.99935173e-01 -4.11097861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.013754553022039252 Centerline is valid? [True, True] Translation: X:59.04, Y:-146.74, Z:-4.11 [[ 4.32611529e-01 9.01567335e-01 -4.85859007e-03 5.90409081e+01] [ 9.01514404e-01 -4.32638784e-01 -9.77045454e-03 -1.46742879e+02] [-1.09107372e-02 -1.53277652e-04 -9.99940464e-01 -4.11116644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.014689399845773422 Centerline is valid? [True, True] Translation: X:59.06, Y:-146.72, Z:-4.11 [[ 3.60245087e-01 9.32848772e-01 -4.07999412e-03 5.90618572e+01] [ 9.32793831e-01 -3.60268156e-01 -1.01254660e-02 -1.46719224e+02] [-1.09154205e-02 -1.58143945e-04 -9.99940413e-01 -4.10881949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.013966716510281823 Centerline is valid? [True, True] Translation: X:59.08, Y:-146.69, Z:-4.11 [[ 2.87163798e-01 9.57874020e-01 -3.78337038e-03 5.90761126e+01] [ 9.57798461e-01 -2.87188671e-01 -1.20322844e-02 -1.46690842e+02] [-1.26119537e-02 -1.68469846e-04 -9.99920452e-01 -4.10752760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.013781443515448211 Centerline is valid? [True, True] Translation: X:59.09, Y:-146.66, Z:-4.11 [[ 2.13028742e-01 9.77041208e-01 -3.03867392e-03 5.90872648e+01] [ 9.76952042e-01 -2.13050356e-01 -1.32005413e-02 -1.46662179e+02] [-1.35448634e-02 -1.56543968e-04 -9.99908252e-01 -4.10646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.013295655867322875 Centerline is valid? [True, True] Translation: X:59.10, Y:-146.63, Z:-4.11 [[ 1.38159077e-01 9.90407698e-01 -2.15911374e-03 5.90980935e+01] [ 9.90301586e-01 -1.38175881e-01 -1.44980619e-02 -1.46632722e+02] [-1.46573295e-02 -1.35134917e-04 -9.99892567e-01 -4.10593361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.013151923985498621 Centerline is valid? [True, True] Translation: X:59.11, Y:-146.60, Z:-4.11 [[ 6.08087996e-02 9.98148867e-01 -1.06243728e-03 5.91089399e+01] [ 9.98031918e-01 -6.08179386e-02 -1.52796844e-02 -1.46603298e+02] [-1.53160150e-02 -1.31207046e-04 -9.99882694e-01 -4.10540730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.013096012134916587 Centerline is valid? [True, True] Translation: X:59.12, Y:-146.57, Z:-4.10 [[-1.72494654e-02 9.99851208e-01 1.36866859e-04 5.91169741e+01] [ 9.99735001e-01 1.72495473e-02 -1.52440626e-02 -1.46573464e+02] [-1.52441552e-02 -1.26121341e-04 -9.99883793e-01 -4.10488512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.012972568803286462 Centerline is valid? [True, True] Translation: X:59.12, Y:-146.54, Z:-4.11 [[-9.52357174e-02 9.95454098e-01 1.13909816e-03 5.91224649e+01] [ 9.95369173e-01 9.52424720e-02 -1.30030929e-02 -1.46543016e+02] [-1.30524726e-02 -1.04535684e-04 -9.99914807e-01 -4.10658845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.012728836177922422 Centerline is valid? [True, True] Translation: X:59.13, Y:-146.51, Z:-4.11 [[-1.72817952e-01 9.84952170e-01 1.78261730e-03 5.91272509e+01] [ 9.84894582e-01 1.72827125e-01 -1.06511219e-02 -1.46512362e+02] [-1.07989303e-02 -8.50149608e-05 -9.99941686e-01 -4.10864069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.012927275482520683 Centerline is valid? [True, True] Translation: X:59.13, Y:-146.48, Z:-4.11 [[-2.50082879e-01 9.68221543e-01 2.36585781e-03 5.91297878e+01] [ 9.68175019e-01 2.50094056e-01 -9.49188898e-03 -1.46482683e+02] [-9.78193837e-03 -8.31944961e-05 -9.99952152e-01 -4.10837793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.01333673468213912 Centerline is valid? [True, True] Translation: X:59.13, Y:-146.45, Z:-4.10 [[-3.26232372e-01 9.45281188e-01 3.98930820e-03 5.91283203e+01] [ 9.45205898e-01 3.26256740e-01 -1.19310551e-02 -1.46452152e+02] [-1.25797406e-02 -1.21578764e-04 -9.99920865e-01 -4.10452767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.013232022868720635 Centerline is valid? [True, True] Translation: X:59.12, Y:-146.42, Z:-4.10 [[-3.99767340e-01 9.16602145e-01 5.15574784e-03 5.91237824e+01] [ 9.16521518e-01 3.99800562e-01 -1.21580512e-02 -1.46421992e+02] [-1.32053667e-02 -1.35037949e-04 -9.99912796e-01 -4.10405646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.01417483050657763 Centerline is valid? [True, True] Translation: X:59.12, Y:-146.39, Z:-4.10 [[-4.72802092e-01 8.81138571e-01 7.28011908e-03 5.91189364e+01] [ 8.81027371e-01 4.72858093e-01 -1.39998654e-02 -1.46392324e+02] [-1.57782846e-02 -2.05181457e-04 -9.99875494e-01 -4.10093147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.015090177495242683 Centerline is valid? [True, True] Translation: X:59.11, Y:-146.36, Z:-4.10 [[-5.42646180e-01 8.39915339e-01 8.79471708e-03 5.91095244e+01] [ 8.39797158e-01 5.42717381e-01 -1.40917539e-02 -1.46364231e+02] [-1.66089260e-02 -2.61058000e-04 -9.99862028e-01 -4.09966292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.01440091016670432 Centerline is valid? [True, True] Translation: X:59.10, Y:-146.34, Z:-4.10 [[-6.06688296e-01 7.94889968e-01 8.90227452e-03 5.90961056e+01] [ 7.94798681e-01 6.06753561e-01 -1.20487779e-02 -1.46336652e+02] [-1.49789394e-02 -2.34336468e-04 -9.99887782e-01 -4.10290727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.013507034906718772 Centerline is valid? [True, True] Translation: X:59.08, Y:-146.31, Z:-4.11 [[-6.65065594e-01 7.46744331e-01 7.78846797e-03 5.90811398e+01] [ 7.46690410e-01 6.65111180e-01 -8.97501862e-03 -1.46308972e+02] [-1.18822414e-02 -1.53401756e-04 -9.99929392e-01 -4.10661129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.013130181231468077 Centerline is valid? [True, True] Translation: X:59.06, Y:-146.28, Z:-4.11 [[-7.19675077e-01 6.94277594e-01 6.81218646e-03 5.90643229e+01] [ 6.94245197e-01 7.19707310e-01 -6.70774012e-03 -1.46282709e+02] [-9.55981406e-03 -9.80656556e-05 -9.99954299e-01 -4.10766818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.01280614833817821 Centerline is valid? [True, True] Translation: X:59.52, Y:-145.83, Z:-5.14 [[-6.58662819e-01 -7.52423509e-01 4.70683909e-03 5.95203434e+01] [ 7.52403689e-01 -6.58679634e-01 -5.46155370e-03 -1.45826695e+02] [ 7.20970045e-03 -5.58792670e-05 9.99974008e-01 -5.14186110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.012730225819938523 Centerline is valid? [True, True] Translation: X:59.48, Y:-145.78, Z:-5.14 [[-6.59294645e-01 -7.51865806e-01 5.32740720e-03 5.94819702e+01] [ 7.51841873e-01 -6.59316166e-01 -5.99916578e-03 -1.45783743e+02] [ 8.02301331e-03 5.01499409e-05 9.99967814e-01 -5.14288563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.013021867901376114 Centerline is valid? [True, True] Translation: X:59.44, Y:-145.74, Z:-5.14 [[-6.58611410e-01 -7.52451211e-01 6.94154567e-03 5.94432115e+01] [ 7.52410658e-01 -6.58647985e-01 -7.81242433e-03 -1.45741052e+02] [ 1.04505032e-02 7.75411387e-05 9.99945389e-01 -5.14426982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.013462322618512913 Centerline is valid? [True, True] Translation: X:59.40, Y:-145.70, Z:-5.15 [[-6.57170137e-01 -7.53692490e-01 8.66260459e-03 5.94034295e+01] [ 7.53629493e-01 -6.57227217e-01 -9.74542514e-03 -1.45700171e+02] [ 1.30383533e-02 1.23991920e-04 9.99914989e-01 -5.14661413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.013719100784963995 Centerline is valid? [True, True] Translation: X:59.36, Y:-145.66, Z:-5.15 [[-6.56932096e-01 -7.53899629e-01 8.69312600e-03 5.93647113e+01] [ 7.53836288e-01 -6.56989598e-01 -9.77340157e-03 -1.45658727e+02] [ 1.30794572e-02 1.32732661e-04 9.99914452e-01 -5.14700223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.013544836974974587 Centerline is valid? [True, True] Translation: X:59.33, Y:-145.62, Z:-5.15 [[-6.57842354e-01 -7.53116658e-01 7.66396960e-03 5.93260352e+01] [ 7.53067416e-01 -6.57886987e-01 -8.61272870e-03 -1.45615908e+02] [ 1.15284153e-02 1.05668051e-04 9.99933540e-01 -5.14589302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.013122320802076117 Centerline is valid? [True, True] Translation: X:59.29, Y:-145.57, Z:-5.14 [[-6.58522960e-01 -7.52525337e-01 7.28893962e-03 5.92889823e+01] [ 7.52480812e-01 -6.58563291e-01 -8.18658493e-03 -1.45571090e+02] [ 1.09608406e-02 9.37330700e-05 9.99939924e-01 -5.14465488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.013177662099724687 Centerline is valid? [True, True] Translation: X:59.25, Y:-145.53, Z:-5.14 [[-6.58838431e-01 -7.52251458e-01 7.04736414e-03 5.92511784e+01] [ 7.52209873e-01 -6.58876115e-01 -7.91022647e-03 -1.45528394e+02] [ 1.05938193e-02 8.95356916e-05 9.99943880e-01 -5.14449776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.013331869510185883 Centerline is valid? [True, True] Translation: X:59.21, Y:-145.49, Z:-5.14 [[-6.57858186e-01 -7.53110343e-01 6.88613420e-03 5.92121599e+01] [ 7.53070736e-01 -6.57894217e-01 -7.72435516e-03 -1.45486026e+02] [ 1.03476396e-02 1.04215879e-04 9.99946456e-01 -5.14473961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.014063457081343687 Centerline is valid? [True, True] Translation: X:59.17, Y:-145.45, Z:-5.15 [[-6.55086725e-01 -7.55515037e-01 7.64275272e-03 5.91712184e+01] [ 7.55466470e-01 -6.55131287e-01 -8.56797976e-03 -1.45445325e+02] [ 1.14802440e-02 1.61073620e-04 9.99934087e-01 -5.14629184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.014902220058721896 Centerline is valid? [True, True] Translation: X:59.13, Y:-145.40, Z:-5.15 [[-6.53120535e-01 -7.57203632e-01 8.73080920e-03 5.91307115e+01] [ 7.57140472e-01 -6.53178851e-01 -9.78233267e-03 -1.45403836e+02] [ 1.31099977e-02 2.21406654e-04 9.99914036e-01 -5.14742758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.015171809269892943 Centerline is valid? [True, True] Translation: X:59.09, Y:-145.36, Z:-5.15 [[-6.51385906e-01 -7.58689120e-01 9.33923470e-03 5.90907443e+01] [ 7.58617086e-01 -6.51452796e-01 -1.04581016e-02 -1.45361599e+02] [ 1.40185185e-02 2.72643019e-04 9.99901699e-01 -5.14789238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.01605403009737911 Centerline is valid? [True, True] Translation: X:59.05, Y:-145.32, Z:-5.15 [[-6.50237606e-01 -7.59672395e-01 9.42912661e-03 5.90512574e+01] [ 7.59599159e-01 -6.50305899e-01 -1.05524953e-02 -1.45320371e+02] [ 1.41482560e-02 3.00727364e-04 9.99899863e-01 -5.14835678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.016523358979018955 Centerline is valid? [True, True] Translation: X:59.01, Y:-145.28, Z:-5.15 [[-6.50702172e-01 -7.59283307e-01 8.69159345e-03 5.90132397e+01] [ 7.59221124e-01 -6.50760160e-01 -9.72107319e-03 -1.45278212e+02] [ 1.30371913e-02 2.73317911e-04 9.99914975e-01 -5.14808946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.014661337641056954 Centerline is valid? [True, True] Translation: X:58.98, Y:-145.23, Z:-5.15 [[-6.53056916e-01 -7.57267055e-01 7.95438381e-03 5.89780688e+01] [ 7.57214862e-01 -6.53105322e-01 -8.89336375e-03 -1.45231143e+02] [ 1.19297018e-02 2.15304933e-04 9.99928815e-01 -5.14551417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.014529540470961303 Centerline is valid? [True, True] Translation: X:58.94, Y:-145.19, Z:-5.15 [[-6.53859441e-01 -7.56575843e-01 7.79905067e-03 5.89401634e+01] [ 7.56525678e-01 -6.53905921e-01 -8.71469103e-03 -1.45187565e+02] [ 1.16931701e-02 2.01999083e-04 9.99931612e-01 -5.14539636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.014452241054201481 Centerline is valid? [True, True] Translation: X:58.90, Y:-145.14, Z:-5.15 [[-6.55359539e-01 -7.55272307e-01 8.22301457e-03 5.89046963e+01] [ 7.55216512e-01 -6.55411097e-01 -9.18225539e-03 -1.45144320e+02] [ 1.23245582e-02 1.92477731e-04 9.99924031e-01 -5.14604269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.014847477450314273 Centerline is valid? [True, True] Translation: X:58.87, Y:-145.10, Z:-5.15 [[-6.56290602e-01 -7.54444625e-01 9.79561262e-03 5.88673351e+01] [ 7.54365451e-01 -6.56363666e-01 -1.09318471e-02 -1.45101170e+02] [ 1.46769575e-02 2.15003211e-04 9.99892265e-01 -5.14910195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.014323689745283795 Centerline is valid? [True, True] Translation: X:58.83, Y:-145.06, Z:-5.15 [[-6.56717959e-01 -7.54053403e-01 1.11798460e-02 5.88295186e+01] [ 7.53950332e-01 -6.56813070e-01 -1.24695268e-02 -1.45056917e+02] [ 1.67457581e-02 2.40086473e-04 9.99859751e-01 -5.14894855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.01501887742947355 Centerline is valid? [True, True] Translation: X:58.79, Y:-145.02, Z:-5.15 [[-6.54922766e-01 -7.55609593e-01 1.14155135e-02 5.87879030e+01] [ 7.55502497e-01 -6.55022181e-01 -1.27247263e-02 -1.45016803e+02] [ 1.70923399e-02 2.90736008e-04 9.99853873e-01 -5.15008503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.015380488169553045 Centerline is valid? [True, True] Translation: X:58.75, Y:-144.98, Z:-5.15 [[-6.54370276e-01 -7.56090917e-01 1.12279673e-02 5.87491100e+01] [ 7.55987515e-01 -6.54466526e-01 -1.25077690e-02 -1.44975193e+02] [ 1.68053393e-02 3.03490847e-04 9.99858734e-01 -5.14920397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.01584447627985656 Centerline is valid? [True, True] Translation: X:58.71, Y:-144.93, Z:-5.15 [[-6.55469110e-01 -7.55152094e-01 1.02742789e-02 5.87099942e+01] [ 7.55065493e-01 -6.55549577e-01 -1.14391037e-02 -1.44933187e+02] [ 1.53735623e-02 2.59774380e-04 9.99881786e-01 -5.14845632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.014741644694182281 Centerline is valid? [True, True] Translation: X:58.67, Y:-144.89, Z:-5.15 [[-6.57581387e-01 -7.53320814e-01 9.71962840e-03 5.86726520e+01] [ 7.53243197e-01 -6.57653182e-01 -1.08156207e-02 -1.44888564e+02] [ 1.45397768e-02 2.09093087e-04 9.99894270e-01 -5.14703255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.013659114503962642 Centerline is valid? [True, True] Translation: X:58.64, Y:-144.84, Z:-5.15 [[-6.62297472e-01 -7.49192514e-01 8.52263133e-03 5.86380715e+01] [ 7.49132561e-01 -6.62352297e-01 -9.47839515e-03 -1.44842004e+02] [ 1.27461271e-02 1.07063492e-04 9.99918759e-01 -5.14504393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.0129700445578009 Centerline is valid? [True, True] Translation: X:58.60, Y:-144.80, Z:-5.14 [[-6.66025438e-01 -7.45883444e-01 8.24646495e-03 5.86025399e+01] [ 7.45827124e-01 -6.66076486e-01 -9.16601075e-03 -1.44795426e+02] [ 1.23295521e-02 4.56409085e-05 9.99923987e-01 -5.14311358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.013085633977004843 Centerline is valid? [True, True] Translation: X:58.57, Y:-144.75, Z:-5.14 [[-6.68929838e-01 -7.43283579e-01 7.89898154e-03 5.85672043e+01] [ 7.43231792e-01 -6.68976473e-01 -8.77390878e-03 -1.44751241e+02] [ 1.18057351e-02 1.64483110e-06 9.99930310e-01 -5.14318438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.013001460186032255 Centerline is valid? [True, True] Translation: X:58.53, Y:-144.71, Z:-5.14 [[-6.71057614e-01 -7.41370653e-01 7.15775521e-03 5.85300089e+01] [ 7.41328075e-01 -6.71095786e-01 -7.94556429e-03 -1.44707530e+02] [ 1.06941476e-02 -2.56865239e-05 9.99942816e-01 -5.14187976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.013014156872261796 Centerline is valid? [True, True] Translation: X:58.49, Y:-144.67, Z:-5.14 [[-6.72360884e-01 -7.40198786e-01 6.04970045e-03 5.84918336e+01] [ 7.40168362e-01 -6.72388099e-01 -6.71115198e-03 -1.44666728e+02] [ 9.03533313e-03 -3.45192023e-05 9.99959180e-01 -5.14139058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.013087626518457534 Centerline is valid? [True, True] Translation: X:58.45, Y:-144.62, Z:-5.14 [[-6.74291639e-01 -7.38448381e-01 4.97746143e-03 5.84542428e+01] [ 7.38427764e-01 -6.74310008e-01 -5.51816392e-03 -1.44624057e+02] [ 7.43123127e-03 -4.53560715e-05 9.99972387e-01 -5.13959049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.013091948722024075 Centerline is valid? [True, True] Translation: X:58.42, Y:-144.58, Z:-5.14 [[-6.74989402e-01 -7.37813565e-01 4.52218596e-03 5.84158271e+01] [ 7.37796555e-01 -6.75004549e-01 -5.01023675e-03 -1.44581122e+02] [ 6.74911674e-03 -4.54034829e-05 9.99977224e-01 -5.13904756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.013083097988119673 Centerline is valid? [True, True] Translation: X:58.38, Y:-144.54, Z:-5.14 [[-6.74718907e-01 -7.38063046e-01 4.16374508e-03 5.83760744e+01] [ 7.38048647e-01 -6.74731753e-01 -4.61043886e-03 -1.44538870e+02] [ 6.21220556e-03 -3.77038415e-05 9.99980703e-01 -5.13824623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.012961797824851582 Centerline is valid? [True, True] Translation: X:58.33, Y:-144.50, Z:-5.14 [[-6.72064222e-01 -7.40477039e-01 4.84115374e-03 5.83337895e+01] [ 7.40457659e-01 -6.72081658e-01 -5.35729902e-03 -1.44500141e+02] [ 7.22060755e-03 -1.57796352e-05 9.99973931e-01 -5.14037535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.012969336483434226 Centerline is valid? [True, True] Translation: X:58.29, Y:-144.46, Z:-5.14 [[-6.69596492e-01 -7.42706810e-01 5.20886274e-03 5.82930545e+01] [ 7.42684464e-01 -6.69616751e-01 -5.76140875e-03 -1.44460776e+02] [ 7.76697927e-03 1.07223429e-05 9.99969837e-01 -5.14141748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.01310503919250233 Centerline is valid? [True, True] Translation: X:58.25, Y:-144.42, Z:-5.14 [[-6.67573068e-01 -7.44523050e-01 5.62381079e-03 5.82525218e+01] [ 7.44497097e-01 -6.67596755e-01 -6.21649389e-03 -1.44420237e+02] [ 8.38276082e-03 3.69469116e-05 9.99964863e-01 -5.14202855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.013617406925535177 Centerline is valid? [True, True] Translation: X:58.21, Y:-144.38, Z:-5.14 [[-6.66532377e-01 -7.45449659e-01 6.27675755e-03 5.82125089e+01] [ 7.45417409e-01 -6.66561928e-01 -6.93422713e-03 -1.44379127e+02] [ 9.35296486e-03 5.69174545e-05 9.99956259e-01 -5.14318468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.01348855855179775 Centerline is valid? [True, True] Translation: X:58.17, Y:-144.34, Z:-5.14 [[-6.67412608e-01 -7.44662911e-01 6.12865773e-03 5.81741358e+01] [ 7.44632171e-01 -6.67440744e-01 -6.76632407e-03 -1.44336860e+02] [ 9.12914645e-03 4.76657156e-05 9.99958327e-01 -5.14331926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.01342744916394707 Centerline is valid? [True, True] Translation: X:58.14, Y:-144.29, Z:-5.14 [[-6.69114803e-01 -7.43133015e-01 6.22110841e-03 5.81374368e+01] [ 7.43101315e-01 -6.69143722e-01 -6.86401625e-03 -1.44292712e+02] [ 9.26369273e-03 3.00989626e-05 9.99957091e-01 -5.14221349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.01357467394939524 Centerline is valid? [True, True] Translation: X:58.10, Y:-144.25, Z:-5.14 [[-6.69539606e-01 -7.42743916e-01 6.94196464e-03 5.80985398e+01] [ 7.42704468e-01 -6.69575593e-01 -7.65495738e-03 -1.44248934e+02] [ 1.03338431e-02 3.05310077e-05 9.99946604e-01 -5.14256792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.013584196563691803 Centerline is valid? [True, True] Translation: X:58.06, Y:-144.21, Z:-5.14 [[-6.69780750e-01 -7.42523283e-01 7.27467978e-03 5.80606523e+01] [ 7.42480009e-01 -6.69820255e-01 -8.01644710e-03 -1.44207430e+02] [ 1.08251265e-02 3.20423531e-05 9.99941406e-01 -5.14341574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.013563555969836103 Centerline is valid? [True, True] Translation: X:58.02, Y:-144.16, Z:-5.14 [[-6.70238062e-01 -7.42114289e-01 6.87919301e-03 5.80214012e+01] [ 7.42075615e-01 -6.70273363e-01 -7.57628533e-03 -1.44164376e+02] [ 1.02334094e-02 2.69665902e-05 9.99947637e-01 -5.14341946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.013702569734570331 Centerline is valid? [True, True] Translation: X:57.98, Y:-144.12, Z:-5.14 [[-6.70370121e-01 -7.41987248e-01 7.66976185e-03 5.79842670e+01] [ 7.41939217e-01 -6.70413994e-01 -8.44248419e-03 -1.44122807e+02] [ 1.14061313e-02 3.09079517e-05 9.99934948e-01 -5.14454204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.0136467440175824 Centerline is valid? [True, True] Translation: X:57.95, Y:-144.08, Z:-5.14 [[-6.71307090e-01 -7.41133948e-01 8.20136488e-03 5.79471147e+01] [ 7.41079034e-01 -6.71357186e-01 -9.02191665e-03 -1.44078678e+02] [ 1.21924940e-02 2.13829441e-05 9.99925669e-01 -5.14463087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.01355515127895722 Centerline is valid? [True, True] Translation: X:57.91, Y:-144.04, Z:-5.14 [[-6.72235243e-01 -7.40290378e-01 8.36273933e-03 5.79092833e+01] [ 7.40233289e-01 -6.72287258e-01 -9.19358168e-03 -1.44035537e+02] [ 1.24280831e-02 1.01284229e-05 9.99922768e-01 -5.14456903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.013599442151503466 Centerline is valid? [True, True] Translation: X:57.87, Y:-143.99, Z:-5.15 [[-6.72988225e-01 -7.39605601e-01 8.39077279e-03 5.78714218e+01] [ 7.39548147e-01 -6.73040531e-01 -9.21861376e-03 -1.43992861e+02] [ 1.24654685e-02 1.36195647e-06 9.99922303e-01 -5.14507699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.013570883364479676 Centerline is valid? [True, True] Translation: X:57.84, Y:-143.95, Z:-5.15 [[-6.74849538e-01 -7.37904196e-01 8.68903966e-03 5.78353889e+01] [ 7.37842519e-01 -6.74905473e-01 -9.54038568e-03 -1.43948110e+02] [ 1.29041710e-02 -2.71819587e-05 9.99916737e-01 -5.14502325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.013546535856812396 Centerline is valid? [True, True] Translation: X:57.80, Y:-143.90, Z:-5.14 [[-6.75473556e-01 -7.37327141e-01 9.17396201e-03 5.77977732e+01] [ 7.37258422e-01 -6.75535851e-01 -1.00664551e-02 -1.43904504e+02] [ 1.36196108e-02 -3.60434672e-05 9.99907248e-01 -5.14495538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.013457485027898227 Centerline is valid? [True, True] Translation: X:57.76, Y:-143.86, Z:-5.15 [[-6.74963114e-01 -7.37800846e-01 8.64326588e-03 5.77588981e+01] [ 7.37739963e-01 -6.75018452e-01 -9.47822529e-03 -1.43862498e+02] [ 1.28274066e-02 -2.09698089e-05 9.99917725e-01 -5.14531774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.013187585311261069 Centerline is valid? [True, True] Translation: X:57.72, Y:-143.82, Z:-5.14 [[-6.73163940e-01 -7.39449191e-01 8.07491324e-03 5.77196510e+01] [ 7.39396237e-01 -6.73212369e-01 -8.84935694e-03 -1.43821078e+02] [ 1.19797813e-02 1.34924736e-05 9.99928240e-01 -5.14391374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.01334154929714925 Centerline is valid? [True, True] Translation: X:57.68, Y:-143.78, Z:-5.14 [[-6.72655666e-01 -7.39915737e-01 7.68489231e-03 5.76813335e+01] [ 7.39867868e-01 -6.72699563e-01 -8.41638437e-03 -1.43780271e+02] [ 1.13970389e-02 2.44762569e-05 9.99935051e-01 -5.14461972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.013435910347011545 Centerline is valid? [True, True] Translation: X:57.64, Y:-143.74, Z:-5.14 [[-6.69616779e-01 -7.42671083e-01 7.28226893e-03 5.76408107e+01] [ 7.42628315e-01 -6.69656372e-01 -7.97049721e-03 -1.43740255e+02] [ 1.07960756e-02 7.08404429e-05 9.99941718e-01 -5.14400378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.014032454746897858 Centerline is valid? [True, True] Translation: X:57.60, Y:-143.70, Z:-5.14 [[-6.67302846e-01 -7.44751378e-01 7.23164006e-03 5.75998886e+01] [ 7.44709373e-01 -6.67342022e-01 -7.91051601e-03 -1.43700009e+02] [ 1.07173450e-02 1.06760283e-04 9.99942562e-01 -5.14490810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.014288827088328297 Centerline is valid? [True, True] Translation: X:57.56, Y:-143.66, Z:-5.14 [[-6.65038303e-01 -7.46776978e-01 6.94264820e-03 5.75598779e+01] [ 7.46738420e-01 -6.65074527e-01 -7.58986031e-03 -1.43658633e+02] [ 1.02853114e-02 1.36794326e-04 9.99947096e-01 -5.14361053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.014862135731815912 Centerline is valid? [True, True] Translation: X:57.52, Y:-143.62, Z:-5.15 [[-6.63106199e-01 -7.48476481e-01 8.55142353e-03 5.75190486e+01] [ 7.48418189e-01 -6.63161305e-01 -9.34332401e-03 -1.43617420e+02] [ 1.26642315e-02 2.04424838e-04 9.99919785e-01 -5.14596382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.014950135378111172 Centerline is valid? [True, True] Translation: X:57.48, Y:-143.58, Z:-5.15 [[-6.63101735e-01 -7.48477217e-01 8.82865540e-03 5.74805872e+01] [ 7.48415165e-01 -6.63160471e-01 -9.64009158e-03 -1.43575101e+02] [ 1.30702042e-02 2.15138136e-04 9.99914558e-01 -5.14617577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.014591562648025474 Centerline is valid? [True, True] Translation: X:57.44, Y:-143.53, Z:-5.14 [[-6.64304737e-01 -7.47417477e-01 8.14442836e-03 5.74425711e+01] [ 7.47364652e-01 -6.64354636e-01 -8.88792022e-03 -1.43531483e+02] [ 1.20537756e-02 1.82570356e-04 9.99927334e-01 -5.14499934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.013996554618708452 Centerline is valid? [True, True] Translation: X:57.40, Y:-143.49, Z:-5.14 [[-6.67036299e-01 -7.44993897e-01 6.83153164e-03 5.74048926e+01] [ 7.44956643e-01 -6.67071270e-01 -7.45123320e-03 -1.43486443e+02] [ 1.01082417e-02 1.18951856e-04 9.99948903e-01 -5.14377971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.013398873937056617 Centerline is valid? [True, True] Translation: X:57.37, Y:-143.44, Z:-5.14 [[-6.70622714e-01 -7.41779017e-01 5.39123602e-03 5.73682510e+01] [ 7.41755738e-01 -6.70644381e-01 -5.87702199e-03 -1.43440991e+02] [ 7.97505374e-03 5.77158177e-05 9.99968197e-01 -5.14263213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.013177365637234506 Centerline is valid? [True, True] Translation: X:57.33, Y:-143.40, Z:-5.14 [[-6.72116693e-01 -7.40431507e-01 4.50941708e-03 5.73308825e+01] [ 7.40415210e-01 -6.72131819e-01 -4.91270583e-03 -1.43397690e+02] [ 6.66844489e-03 3.69293946e-05 9.99977765e-01 -5.14131410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.013307725499243214 Centerline is valid? [True, True] Translation: X:57.29, Y:-143.36, Z:-5.14 [[-6.71788497e-01 -7.40731994e-01 4.04075192e-03 5.72914039e+01] [ 7.40718930e-01 -6.71800648e-01 -4.39942617e-03 -1.43356451e+02] [ 5.97337548e-03 3.75775489e-05 9.99982159e-01 -5.14144021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.013780617314844316 Centerline is valid? [True, True] Translation: X:57.25, Y:-143.32, Z:-5.14 [[-6.68680904e-01 -7.43531131e-01 5.22546790e-03 5.72485477e+01] [ 7.43509393e-01 -6.68701316e-01 -5.68608606e-03 -1.43316400e+02] [ 7.72205926e-03 8.30073049e-05 9.99970181e-01 -5.14353594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.01439075414961035 Centerline is valid? [True, True] Translation: X:57.21, Y:-143.28, Z:-5.15 [[-6.66501693e-01 -7.45477415e-01 6.23830856e-03 5.72067773e+01] [ 7.45446554e-01 -6.66530875e-01 -6.78436216e-03 -1.43275420e+02] [ 9.21561403e-03 1.28536753e-04 9.99957527e-01 -5.14566404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.01543265234869748 Centerline is valid? [True, True] Translation: X:57.17, Y:-143.24, Z:-5.15 [[-6.64050853e-01 -7.47649458e-01 7.53344012e-03 5.71650013e+01] [ 7.47604630e-01 -6.64093555e-01 -8.18950843e-03 -1.43235880e+02] [ 1.11257906e-02 1.93784657e-04 9.99938088e-01 -5.14810206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.015248848806087576 Centerline is valid? [True, True] Translation: X:57.13, Y:-143.19, Z:-5.15 [[-6.63872239e-01 -7.47807027e-01 7.63547813e-03 5.71259200e+01] [ 7.47761045e-01 -6.63916116e-01 -8.29517652e-03 -1.43194096e+02] [ 1.12725083e-02 2.02575693e-04 9.99936443e-01 -5.14772317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.015208819325481446 Centerline is valid? [True, True] Translation: X:57.09, Y:-143.15, Z:-5.15 [[-6.64515398e-01 -7.47244994e-01 6.64863527e-03 5.70871412e+01] [ 7.47210147e-01 -6.64548636e-01 -7.21852204e-03 -1.43152351e+02] [ 9.81234596e-03 1.71108685e-04 9.99951843e-01 -5.14619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.014726067176292214 Centerline is valid? [True, True] Translation: X:57.05, Y:-143.11, Z:-5.14 [[-6.66111482e-01 -7.45841546e-01 3.98519710e-03 5.70486916e+01] [ 7.45829015e-01 -6.66123397e-01 -4.32437649e-03 -1.43109285e+02] [ 5.87993267e-03 9.17588015e-05 9.99982709e-01 -5.14231706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.014511014262877424 Centerline is valid? [True, True] Translation: X:57.01, Y:-143.07, Z:-5.14 [[-6.67328828e-01 -7.44757732e-01 2.85595798e-03 5.70097971e+01] [ 7.44751295e-01 -6.67334936e-01 -3.09710297e-03 -1.43067117e+02] [ 4.21247192e-03 6.01923064e-05 9.99991126e-01 -5.14109175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.01407736255381042 Centerline is valid? [True, True] Translation: X:56.97, Y:-143.03, Z:-5.14 [[-6.68272702e-01 -7.43910951e-01 2.84482340e-03 5.69696177e+01] [ 7.43904564e-01 -6.68278755e-01 -3.08307979e-03 -1.43025895e+02] [ 4.19467186e-03 5.59390508e-05 9.99991201e-01 -5.14201807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.01389640656182329 Centerline is valid? [True, True] Translation: X:56.93, Y:-142.98, Z:-5.14 [[-6.68938176e-01 -7.43304245e-01 4.52944155e-03 5.69306900e+01] [ 7.43288062e-01 -6.68953505e-01 -4.90569349e-03 -1.42984335e+02] [ 6.67640860e-03 8.50741766e-05 9.99977709e-01 -5.14442785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.0138305792033019 Centerline is valid? [True, True] Translation: X:56.89, Y:-142.94, Z:-5.15 [[-6.69941355e-01 -7.42393378e-01 5.53651936e-03 5.68922304e+01] [ 7.42369198e-01 -6.69964226e-01 -5.99250034e-03 -1.42942762e+02] [ 8.15806247e-03 9.55176361e-05 9.99966718e-01 -5.14598571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.013722810404850624 Centerline is valid? [True, True] Translation: X:56.85, Y:-142.90, Z:-5.15 [[-6.70553533e-01 -7.41835163e-01 6.20894564e-03 5.68539247e+01] [ 7.41804767e-01 -6.70582270e-01 -6.71613661e-03 -1.42900858e+02] [ 9.14587515e-03 1.02296340e-04 9.99958170e-01 -5.14677854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.01367326905851508 Centerline is valid? [True, True] Translation: X:56.82, Y:-142.86, Z:-5.15 [[-6.71970030e-01 -7.40538684e-01 7.66399086e-03 5.68161145e+01] [ 7.40492349e-01 -6.72013724e-01 -8.28469461e-03 -1.42859750e+02] [ 1.12854439e-02 1.08060113e-04 9.99936312e-01 -5.14909769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.013141678160563356 Centerline is valid? [True, True] Translation: X:56.78, Y:-142.82, Z:-5.15 [[-6.75578842e-01 -7.37240730e-01 8.32678881e-03 5.67797807e+01] [ 7.37185848e-01 -6.75630153e-01 -8.99568238e-03 -1.42815625e+02] [ 1.22578130e-02 6.10981896e-05 9.99924868e-01 -5.15072834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.012826904350567804 Centerline is valid? [True, True] Translation: X:56.74, Y:-142.77, Z:-5.15 [[-6.79525165e-01 -7.33604256e-01 8.38721800e-03 5.67434420e+01] [ 7.33548367e-01 -6.79576924e-01 -9.05526768e-03 -1.42770776e+02] [ 1.23427427e-02 -8.52198694e-07 9.99923826e-01 -5.15005284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.012983880146762107 Centerline is valid? [True, True] Translation: X:56.71, Y:-142.72, Z:-5.15 [[-6.84355802e-01 -7.29113707e-01 7.09500413e-03 5.67073097e+01] [ 7.29073516e-01 -6.84392576e-01 -7.65572287e-03 -1.42724727e+02] [ 1.04376606e-02 -6.64587589e-05 9.99945524e-01 -5.14732668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.01374781617930658 Centerline is valid? [True, True] Translation: X:56.67, Y:-142.68, Z:-5.15 [[-6.88697369e-01 -7.25028573e-01 5.43169002e-03 5.66716712e+01] [ 7.25004918e-01 -6.88718781e-01 -5.85743962e-03 -1.42680025e+02] [ 7.98771802e-03 -9.60012770e-05 9.99968093e-01 -5.14555663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.014252928134244232 Centerline is valid? [True, True] Translation: X:56.63, Y:-142.64, Z:-5.14 [[-6.91633667e-01 -7.22233507e-01 4.65114084e-03 5.66336876e+01] [ 7.22216118e-01 -6.91649297e-01 -5.01289439e-03 -1.42636405e+02] [ 6.83743859e-03 -1.07957641e-04 9.99976619e-01 -5.14492025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.014562631360776125 Centerline is valid? [True, True] Translation: X:56.59, Y:-142.59, Z:-5.15 [[-6.92580943e-01 -7.21322654e-01 5.02652359e-03 5.65946180e+01] [ 7.21302343e-01 -6.92599172e-01 -5.41445037e-03 -1.42593820e+02] [ 7.38693179e-03 -1.24301895e-04 9.99972709e-01 -5.14520540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.014183067591083027 Centerline is valid? [True, True] Translation: X:56.55, Y:-142.55, Z:-5.15 [[-6.90814784e-01 -7.22999894e-01 6.78876332e-03 5.65528758e+01] [ 7.22962972e-01 -6.90848126e-01 -7.30806902e-03 -1.42554141e+02] [ 9.97373755e-03 -1.40497613e-04 9.99950251e-01 -5.14779539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.013479499699385564 Centerline is valid? [True, True] Translation: X:56.51, Y:-142.52, Z:-5.15 [[-6.87533203e-01 -7.26103953e-01 8.43476281e-03 5.65101838e+01] [ 7.26047258e-01 -6.87584931e-01 -9.07426586e-03 -1.42515890e+02] [ 1.23884761e-02 -1.14822667e-04 9.99923253e-01 -5.14915428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.013282951069600216 Centerline is valid? [True, True] Translation: X:56.47, Y:-142.48, Z:-5.15 [[-6.86056241e-01 -7.27495832e-01 8.75493836e-03 5.64691799e+01] [ 7.27434941e-01 -6.86112095e-01 -9.41280290e-03 -1.42475460e+02] [ 1.28546440e-02 -8.90641120e-05 9.99917372e-01 -5.14881792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.013147655646190921 Centerline is valid? [True, True] Translation: X:56.43, Y:-142.44, Z:-5.15 [[-6.84958070e-01 -7.28534335e-01 8.37653549e-03 5.64295882e+01] [ 7.28478724e-01 -6.85009284e-01 -9.00162617e-03 -1.42435708e+02] [ 1.22959983e-02 -6.36086015e-05 9.99924399e-01 -5.14839406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.01294265842874569 Centerline is valid? [True, True] Translation: X:56.39, Y:-142.40, Z:-5.15 [[-6.83319265e-01 -7.30082559e-01 7.36471584e-03 5.63879792e+01] [ 7.30039714e-01 -6.83358951e-01 -7.90945047e-03 -1.42395839e+02] [ 1.08072963e-02 -2.81448364e-05 9.99941599e-01 -5.14701621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.012855638497173735 Centerline is valid? [True, True] Translation: X:56.35, Y:-142.36, Z:-5.15 [[-6.81785509e-01 -7.31516272e-01 7.24318677e-03 5.63462741e+01] [ 7.31474960e-01 -6.81823983e-01 -7.77424106e-03 -1.42356012e+02] [ 1.06255623e-02 -2.15514614e-06 9.99943547e-01 -5.14672754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.012892333231675051 Centerline is valid? [True, True] Translation: X:56.30, Y:-142.32, Z:-5.15 [[-6.79630957e-01 -7.33515349e-01 7.54950662e-03 5.63041689e+01] [ 7.33470646e-01 -6.79672886e-01 -8.09819338e-03 -1.42317487e+02] [ 1.10713441e-02 3.35585780e-05 9.99938710e-01 -5.14680803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.012808540572254057 Centerline is valid? [True, True] Translation: X:56.26, Y:-142.28, Z:-5.15 [[-6.78708611e-01 -7.34371199e-01 7.31873302e-03 5.62630386e+01] [ 7.34329289e-01 -6.78748068e-01 -7.84570902e-03 -1.42277023e+02] [ 1.07292386e-02 4.94097361e-05 9.99942439e-01 -5.14544971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.013131256753290459 Centerline is valid? [True, True] Translation: X:56.22, Y:-142.24, Z:-5.15 [[-6.77560028e-01 -7.35424242e-01 7.97449407e-03 5.62214337e+01] [ 7.35374615e-01 -6.77606950e-01 -8.54383503e-03 -1.42236531e+02] [ 1.16869160e-02 7.52794052e-05 9.99931703e-01 -5.14536430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.013495661120338702 Centerline is valid? [True, True] Translation: X:56.18, Y:-142.20, Z:-5.15 [[-6.77249908e-01 -7.35705861e-01 8.33360819e-03 5.61806799e+01] [ 7.35651757e-01 -6.77301173e-01 -8.92266473e-03 -1.42198107e+02] [ 1.22088193e-02 8.77596379e-05 9.99925466e-01 -5.14720216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.01300646319115621 Centerline is valid? [True, True] Translation: X:56.14, Y:-142.16, Z:-5.15 [[-6.77424986e-01 -7.35533065e-01 9.30045726e-03 5.61400513e+01] [ 7.35465739e-01 -6.77488820e-01 -9.95220055e-03 -1.42155965e+02] [ 1.36211284e-02 9.82983518e-05 9.99907223e-01 -5.14520629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.013036845975091065 Centerline is valid? [True, True] Translation: X:56.10, Y:-142.12, Z:-5.15 [[-6.78137664e-01 -7.34871854e-01 9.62641516e-03 5.61011266e+01] [ 7.34799755e-01 -6.78205979e-01 -1.02941689e-02 -1.42116010e+02] [ 1.40935873e-02 9.26238619e-05 9.99900676e-01 -5.14615915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.013008692851800415 Centerline is valid? [True, True] Translation: X:56.06, Y:-142.08, Z:-5.15 [[-6.79219463e-01 -7.33858950e-01 1.05812737e-02 5.60604896e+01] [ 7.33771823e-01 -6.79301873e-01 -1.13082308e-02 -1.42075577e+02] [ 1.54865255e-02 8.34700169e-05 9.99880073e-01 -5.14714654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.012858391884212958 Centerline is valid? [True, True] Translation: X:56.02, Y:-142.03, Z:-5.15 [[-6.79632149e-01 -7.33475616e-01 1.06612933e-02 5.60198140e+01] [ 7.33387221e-01 -6.79715760e-01 -1.13872542e-02 -1.42033544e+02] [ 1.55989224e-02 7.97122287e-05 9.99878326e-01 -5.14545033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.012938217711090157 Centerline is valid? [True, True] Translation: X:55.98, Y:-141.99, Z:-5.15 [[-6.79697642e-01 -7.33408487e-01 1.10953267e-02 5.59790628e+01] [ 7.33312867e-01 -6.79788190e-01 -1.18429418e-02 -1.41994975e+02] [ 1.62281861e-02 8.67261858e-05 9.99868311e-01 -5.14504840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.01291382369065245 Centerline is valid? [True, True] Translation: X:55.94, Y:-141.96, Z:-5.15 [[-6.79563873e-01 -7.33521411e-01 1.18017779e-02 5.59358148e+01] [ 7.33413365e-01 -6.79666337e-01 -1.25899246e-02 -1.41955873e+02] [ 1.72562504e-02 9.99237008e-05 9.99851095e-01 -5.14572536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.01283330062060095 Centerline is valid? [True, True] Translation: X:55.89, Y:-141.92, Z:-5.15 [[-6.80232171e-01 -7.32896733e-01 1.21066978e-02 5.58942571e+01] [ 7.32783062e-01 -6.80339893e-01 -1.29078856e-02 -1.41915423e+02] [ 1.76968166e-02 9.12240589e-05 9.99843395e-01 -5.14606722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.012647615398203374 Centerline is valid? [True, True] Translation: X:55.85, Y:-141.87, Z:-5.15 [[-6.81046322e-01 -7.32143938e-01 1.18811597e-02 5.58534960e+01] [ 7.32034473e-01 -6.81149946e-01 -1.26602230e-02 -1.41874142e+02] [ 1.73619568e-02 7.52201499e-05 9.99849267e-01 -5.14506738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.012412798512950586 Centerline is valid? [True, True] Translation: X:55.81, Y:-141.83, Z:-5.14 [[-6.82908015e-01 -7.30419587e-01 1.11296904e-02 5.58119930e+01] [ 7.30323413e-01 -6.82998702e-01 -1.18526562e-02 -1.41833456e+02] [ 1.62589764e-02 3.39995582e-05 9.99867814e-01 -5.14276928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.012580735156095903 Centerline is valid? [True, True] Translation: X:55.77, Y:-141.79, Z:-5.14 [[-6.84336194e-01 -7.29080579e-01 1.12019120e-02 5.57716595e+01] [ 7.28983092e-01 -6.84427870e-01 -1.19223876e-02 -1.41792438e+02] [ 1.63592820e-02 7.08310635e-06 9.99866178e-01 -5.14335449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.012577492654566551 Centerline is valid? [True, True] Translation: X:55.73, Y:-141.75, Z:-5.14 [[-6.85457035e-01 -7.28019663e-01 1.16629204e-02 5.57308619e+01] [ 7.27913966e-01 -6.85556248e-01 -1.24051836e-02 -1.41752715e+02] [ 1.70268055e-02 -1.36177302e-05 9.99855033e-01 -5.14318394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.01291357708323886 Centerline is valid? [True, True] Translation: X:55.69, Y:-141.71, Z:-5.15 [[-6.85606097e-01 -7.27880006e-01 1.16179264e-02 5.56899768e+01] [ 7.27775241e-01 -6.85704526e-01 -1.23491925e-02 -1.41714019e+02] [ 1.69551950e-02 -1.14424620e-05 9.99856250e-01 -5.14514766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.012461476089066418 Centerline is valid? [True, True] Translation: X:55.65, Y:-141.68, Z:-5.14 [[-6.85066010e-01 -7.28384056e-01 1.18839432e-02 5.56482807e+01] [ 7.28274650e-01 -6.85169079e-01 -1.26240643e-02 -1.41675198e+02] [ 1.73376776e-02 6.45725389e-06 9.99849691e-01 -5.14332555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.012225599676444987 Centerline is valid? [True, True] Translation: X:55.61, Y:-141.64, Z:-5.14 [[-6.83902767e-01 -7.29478539e-01 1.17501431e-02 5.56053526e+01] [ 7.29371868e-01 -6.84003698e-01 -1.24747401e-02 -1.41636411e+02] [ 1.71371965e-02 3.87145990e-05 9.99853147e-01 -5.14156781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.012372478422136618 Centerline is valid? [True, True] Translation: X:55.56, Y:-141.60, Z:-5.14 [[-6.83590579e-01 -7.29780459e-01 1.11535575e-02 5.55646823e+01] [ 7.29684500e-01 -6.83681562e-01 -1.18343238e-02 -1.41596777e+02] [ 1.62619398e-02 4.87457399e-05 9.99867765e-01 -5.14186006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.014725080528167785 Centerline is valid? [True, True] Translation: X:55.52, Y:-141.56, Z:-5.14 [[-6.83704911e-01 -7.29663268e-01 1.17944762e-02 5.55225851e+01] [ 7.29556069e-01 -6.83806634e-01 -1.25071773e-02 -1.41556469e+02] [ 1.71911689e-02 5.35131288e-05 9.99852220e-01 -5.14065936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.012256666277952603 Centerline is valid? [True, True] Translation: X:55.48, Y:-141.52, Z:-5.14 [[-6.81824387e-01 -7.31451020e-01 9.74228219e-03 5.54789563e+01] [ 7.31378147e-01 -6.81893979e-01 -1.03250704e-02 -1.41518318e+02] [ 1.41954869e-02 8.54074870e-05 9.99899235e-01 -5.13875489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.01266988092192618 Centerline is valid? [True, True] Translation: X:55.44, Y:-141.48, Z:-5.14 [[-6.79976835e-01 -7.33181553e-01 8.73577332e-03 5.54362891e+01] [ 7.33123182e-01 -6.80032938e-01 -9.25216099e-03 -1.41480850e+02] [ 1.27241274e-02 1.13142787e-04 9.99919039e-01 -5.13893547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.013219949869212438 Centerline is valid? [True, True] Translation: X:55.39, Y:-141.44, Z:-5.14 [[-6.77679367e-01 -7.35297642e-01 9.38371702e-03 5.53921299e+01] [ 7.35230568e-01 -6.77744310e-01 -9.93284560e-03 -1.41442908e+02] [ 1.36633588e-02 1.67911083e-04 9.99906638e-01 -5.13927786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.013342872968729024 Centerline is valid? [True, True] Translation: X:55.35, Y:-141.40, Z:-5.14 [[-6.77232977e-01 -7.35701168e-01 9.96423007e-03 5.53514884e+01] [ 7.35625645e-01 -6.77306249e-01 -1.05429972e-02 -1.41402102e+02] [ 1.45053306e-02 1.89877794e-04 9.99894774e-01 -5.13994379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.01429061114491532 Centerline is valid? [True, True] Translation: X:55.31, Y:-141.36, Z:-5.14 [[-6.75511899e-01 -7.37272543e-01 1.06240976e-02 5.53091505e+01] [ 7.37186981e-01 -6.75595396e-01 -1.12346147e-02 -1.41363321e+02] [ 1.54605644e-02 2.42830566e-04 9.99880449e-01 -5.14123377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.013868954894183938 Centerline is valid? [True, True] Translation: X:55.27, Y:-141.32, Z:-5.14 [[-6.74255578e-01 -7.38428214e-01 1.01581603e-02 5.52683091e+01] [ 7.38350211e-01 -6.74332043e-01 -1.07360214e-02 -1.41322218e+02] [ 1.47777541e-02 2.61457469e-04 9.99890769e-01 -5.13950055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.014310332898764924 Centerline is valid? [True, True] Translation: X:55.23, Y:-141.28, Z:-5.14 [[-6.73394646e-01 -7.39225761e-01 9.21542729e-03 5.52267079e+01] [ 7.39161714e-01 -6.73457651e-01 -9.73410485e-03 -1.41282298e+02] [ 1.34019011e-02 2.56796938e-04 9.99910158e-01 -5.13891849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.014250954730147715 Centerline is valid? [True, True] Translation: X:55.19, Y:-141.24, Z:-5.14 [[-6.73093889e-01 -7.39520277e-01 7.37409191e-03 5.51863733e+01] [ 7.39479333e-01 -6.73134247e-01 -7.78463912e-03 -1.41240576e+02] [ 1.07206523e-02 2.13195556e-04 9.99942510e-01 -5.13717500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.015092286445879087 Centerline is valid? [True, True] Translation: X:55.15, Y:-141.20, Z:-5.14 [[-6.72895803e-01 -7.39708457e-01 6.52967445e-03 5.51468631e+01] [ 7.39676403e-01 -6.72927456e-01 -6.88904590e-03 -1.41200038e+02] [ 9.48988273e-03 1.94236034e-04 9.99954951e-01 -5.13733735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.01570849985002329 Centerline is valid? [True, True] Translation: X:55.11, Y:-141.16, Z:-5.14 [[-6.72404770e-01 -7.40154931e-01 6.51949617e-03 5.51058854e+01] [ 7.40123033e-01 -6.72436344e-01 -6.87452287e-03 -1.41158675e+02] [ 9.47215817e-03 2.02767307e-04 9.99955118e-01 -5.13808303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.015746610051502633 Centerline is valid? [True, True] Translation: X:55.07, Y:-141.12, Z:-5.14 [[-6.71338150e-01 -7.41128158e-01 5.84312561e-03 5.50661868e+01] [ 7.41102603e-01 -6.71363549e-01 -6.15763572e-03 -1.41117019e+02] [ 8.48645877e-03 1.96499829e-04 9.99963970e-01 -5.13745247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.016704702320525906 Centerline is valid? [True, True] Translation: X:55.03, Y:-141.08, Z:-5.14 [[-6.69632675e-01 -7.42673467e-01 5.31060785e-03 5.50251021e+01] [ 7.42652430e-01 -6.69653703e-01 -5.59331625e-03 -1.41076188e+02] [ 7.71027578e-03 1.98468506e-04 9.99970256e-01 -5.13777949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.01679350631927617 Centerline is valid? [True, True] Translation: X:54.99, Y:-141.03, Z:-5.14 [[-6.69820052e-01 -7.42499787e-01 5.92994392e-03 5.49863101e+01] [ 7.42473585e-01 -6.69846264e-01 -6.24169070e-03 -1.41033757e+02] [ 8.60660480e-03 2.22017136e-04 9.99962938e-01 -5.13859120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.016709821697139523 Centerline is valid? [True, True] Translation: X:54.95, Y:-140.99, Z:-5.14 [[-6.71439019e-01 -7.41033775e-01 6.21197931e-03 5.49488806e+01] [ 7.41004991e-01 -6.71467719e-01 -6.53498544e-03 -1.40990141e+02] [ 9.01378851e-03 2.15263464e-04 9.99959352e-01 -5.13961128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.016317233893369806 Centerline is valid? [True, True] Translation: X:54.91, Y:-140.95, Z:-5.14 [[-6.72509028e-01 -7.40061141e-01 6.41199760e-03 5.49108357e+01] [ 7.40030468e-01 -6.72539562e-01 -6.74124674e-03 -1.40947320e+02] [ 9.30125682e-03 2.11524293e-04 9.99956720e-01 -5.14041454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.016224955741807885 Centerline is valid? [True, True] Translation: X:54.87, Y:-140.91, Z:-5.14 [[-6.74224500e-01 -7.38498710e-01 6.40145330e-03 5.48725225e+01] [ 7.38468100e-01 -6.74254861e-01 -6.72658128e-03 -1.40905158e+02] [ 9.28378260e-03 1.92043157e-04 9.99956886e-01 -5.14159657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.015022765493466452 Centerline is valid? [True, True] Translation: X:54.84, Y:-140.86, Z:-5.14 [[-6.75368982e-01 -7.37456050e-01 5.94245460e-03 5.48363065e+01] [ 7.37429665e-01 -6.75395104e-01 -6.24038523e-03 -1.40861123e+02] [ 8.61551459e-03 1.67579680e-04 9.99962872e-01 -5.14067877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.0146443865673757 Centerline is valid? [True, True] Translation: X:54.80, Y:-140.82, Z:-5.14 [[-6.76355540e-01 -7.36551908e-01 5.87112314e-03 5.47994137e+01] [ 7.36526152e-01 -6.76381004e-01 -6.16163059e-03 -1.40817710e+02] [ 8.50947693e-03 1.56782751e-04 9.99963782e-01 -5.14042071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.014924674750691962 Centerline is valid? [True, True] Translation: X:54.76, Y:-140.78, Z:-5.14 [[-6.76571318e-01 -7.36354675e-01 5.74833810e-03 5.47621315e+01] [ 7.36330011e-01 -6.76595720e-01 -6.02886100e-03 -1.40776231e+02] [ 8.32868094e-03 1.53719422e-04 9.99965304e-01 -5.14040091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.014764449686216676 Centerline is valid? [True, True] Translation: X:54.72, Y:-140.73, Z:-5.14 [[-6.76008220e-01 -7.36873557e-01 5.49968009e-03 5.47231959e+01] [ 7.36851026e-01 -6.76030574e-01 -5.76444276e-03 -1.40733766e+02] [ 7.96561732e-03 1.55634226e-04 9.99968262e-01 -5.13995783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.014795051633713661 Centerline is valid? [True, True] Translation: X:54.68, Y:-140.69, Z:-5.14 [[-6.76028901e-01 -7.36850303e-01 6.04613237e-03 5.46848887e+01] [ 7.36823107e-01 -6.76055915e-01 -6.33319326e-03 -1.40690847e+02] [ 8.75413893e-03 1.73508358e-04 9.99961667e-01 -5.14023994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.014237013219114142 Centerline is valid? [True, True] Translation: X:54.65, Y:-140.65, Z:-5.14 [[-6.78453395e-01 -7.34610443e-01 6.96330965e-03 5.46491830e+01] [ 7.34574291e-01 -6.78489107e-01 -7.28986581e-03 -1.40645194e+02] [ 1.00797413e-02 1.69234040e-04 9.99949184e-01 -5.14133134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.01319043915203415 Centerline is valid? [True, True] Translation: X:54.61, Y:-140.60, Z:-5.14 [[-6.81130798e-01 -7.32135159e-01 6.24056078e-03 5.46132162e+01] [ 7.32106052e-01 -6.81159375e-01 -6.52951733e-03 -1.40599766e+02] [ 9.03130569e-03 1.21296965e-04 9.99959210e-01 -5.14045940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.012806090234088513 Centerline is valid? [True, True] Translation: X:54.58, Y:-140.56, Z:-5.14 [[-6.84075565e-01 -7.29384463e-01 6.23915105e-03 5.45772466e+01] [ 7.29355287e-01 -6.84104011e-01 -6.52442839e-03 -1.40555262e+02] [ 9.02704496e-03 8.73557642e-05 9.99959252e-01 -5.14055066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.012153329801363294 Centerline is valid? [True, True] Translation: X:54.54, Y:-140.51, Z:-5.14 [[-6.88237431e-01 -7.25456402e-01 6.49976091e-03 5.45428144e+01] [ 7.25424598e-01 -6.88268121e-01 -6.79308611e-03 -1.40507644e+02] [ 9.40166604e-03 3.98303162e-05 9.99955803e-01 -5.14008673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.012087697351271557 Centerline is valid? [True, True] Translation: X:54.51, Y:-140.46, Z:-5.14 [[-6.90560507e-01 -7.23250982e-01 5.84833374e-03 5.45058961e+01] [ 7.23225184e-01 -6.90585271e-01 -6.10880970e-03 -1.40462709e+02] [ 8.45697576e-03 1.11595168e-05 9.99964239e-01 -5.13985569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.012050571146021575 Centerline is valid? [True, True] Translation: X:54.47, Y:-140.42, Z:-5.14 [[-6.92921220e-01 -7.20992994e-01 5.41163465e-03 5.44691057e+01] [ 7.20970863e-01 -6.92942351e-01 -5.64912054e-03 -1.40418954e+02] [ 7.82292717e-03 -1.27645954e-05 9.99969400e-01 -5.13982858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.012501059159124313 Centerline is valid? [True, True] Translation: X:54.44, Y:-140.37, Z:-5.14 [[-6.96413606e-01 -7.17622855e-01 5.05243326e-03 5.44353714e+01] [ 7.17603493e-01 -6.96431932e-01 -5.27162524e-03 -1.40373652e+02] [ 7.30171461e-03 -4.55877862e-05 9.99973341e-01 -5.13967865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.013228779366730248 Centerline is valid? [True, True] Translation: X:54.40, Y:-140.33, Z:-5.14 [[-6.99250309e-01 -7.14863943e-01 4.30680060e-03 5.43993064e+01] [ 7.14849838e-01 -6.99263570e-01 -4.49108714e-03 -1.40328465e+02] [ 6.22210502e-03 -6.16783654e-05 9.99980641e-01 -5.13858310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.01335568404993594 Centerline is valid? [True, True] Translation: X:54.36, Y:-140.28, Z:-5.14 [[-7.01994688e-01 -7.12168599e-01 4.39835465e-03 5.43616905e+01] [ 7.12153851e-01 -7.02008462e-01 -4.58395714e-03 -1.40283630e+02] [ 6.35223251e-03 -8.56083613e-05 9.99979821e-01 -5.13742908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.013738126729101352 Centerline is valid? [True, True] Translation: X:54.32, Y:-140.24, Z:-5.14 [[-7.02702177e-01 -7.11466537e-01 5.00183226e-03 5.43236581e+01] [ 7.11447472e-01 -7.02719970e-01 -5.20944546e-03 -1.40241793e+02] [ 7.22123353e-03 -1.02147744e-04 9.99973921e-01 -5.13884806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.013322525221590019 Centerline is valid? [True, True] Translation: X:54.28, Y:-140.20, Z:-5.14 [[-7.01598475e-01 -7.12545451e-01 6.20963418e-03 5.42842082e+01] [ 7.12516146e-01 -7.01625946e-01 -6.46329778e-03 -1.40199979e+02] [ 8.96223389e-03 -1.10175252e-04 9.99959832e-01 -5.14027733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.012922285158362206 Centerline is valid? [True, True] Translation: X:54.24, Y:-140.16, Z:-5.14 [[-6.99719502e-01 -7.14392078e-01 6.04791327e-03 5.42428835e+01] [ 7.14364379e-01 -6.99745634e-01 -6.29145937e-03 -1.40158894e+02] [ 8.72656963e-03 -8.18430124e-05 9.99961920e-01 -5.14013612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.012384335207127164 Centerline is valid? [True, True] Translation: X:54.20, Y:-140.12, Z:-5.14 [[-6.97065059e-01 -7.16989570e-01 5.12451216e-03 5.42015132e+01] [ 7.16969776e-01 -6.97083894e-01 -5.32770397e-03 -1.40118597e+02] [ 7.39212307e-03 -3.96359473e-05 9.99972677e-01 -5.13897500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.012157810349060058 Centerline is valid? [True, True] Translation: X:54.16, Y:-140.08, Z:-5.14 [[-6.91285783e-01 -7.22570203e-01 4.03326814e-03 5.41578258e+01] [ 7.22558050e-01 -6.91297549e-01 -4.19081755e-03 -1.40080215e+02] [ 5.81634827e-03 1.72177730e-05 9.99983085e-01 -5.13753503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.012372094026569535 Centerline is valid? [True, True] Translation: X:54.12, Y:-140.04, Z:-5.14 [[-6.89144325e-01 -7.24614232e-01 3.78348645e-03 5.41167450e+01] [ 7.24603582e-01 -6.89154710e-01 -3.92880871e-03 -1.40040915e+02] [ 5.45427822e-03 3.40116071e-05 9.99985125e-01 -5.13775624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.013427466164023615 Centerline is valid? [True, True] Translation: X:54.07, Y:-140.00, Z:-5.14 [[-6.84203828e-01 -7.29278635e-01 4.21839165e-03 5.40731945e+01] [ 7.29265498e-01 -6.84216827e-01 -4.37797537e-03 -1.40002410e+02] [ 6.07905845e-03 8.08999878e-05 9.99981519e-01 -5.13888416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.016154453454217763 Centerline is valid? [True, True] Translation: X:54.03, Y:-139.97, Z:-5.14 [[-6.77718300e-01 -7.35297906e-01 5.90722213e-03 5.40302880e+01] [ 7.35272403e-01 -6.77744017e-01 -6.12701360e-03 -1.39965788e+02] [ 8.50876473e-03 1.91028165e-04 9.99963782e-01 -5.14207094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.016976806940573814 Centerline is valid? [True, True] Translation: X:53.99, Y:-139.92, Z:-5.14 [[-6.75147868e-01 -7.37654854e-01 6.37752429e-03 5.39908837e+01] [ 7.37625270e-01 -6.75177945e-01 -6.61087175e-03 -1.39923959e+02] [ 9.18250539e-03 2.40907109e-04 9.99957811e-01 -5.14231824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.017475401969971497 Centerline is valid? [True, True] Translation: X:53.95, Y:-139.88, Z:-5.14 [[-6.72944512e-01 -7.39661375e-01 6.83622862e-03 5.39525234e+01] [ 7.39627524e-01 -6.72979172e-01 -7.08231059e-03 -1.39879906e+02] [ 9.83915107e-03 2.90260799e-04 9.99951552e-01 -5.14189724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.018385910863716503 Centerline is valid? [True, True] Translation: X:53.91, Y:-139.84, Z:-5.14 [[-6.72101444e-01 -7.40424453e-01 7.16097487e-03 5.39134865e+01] [ 7.40387396e-01 -6.72139516e-01 -7.41456937e-03 -1.39837263e+02] [ 1.03031026e-02 3.18552756e-04 9.99946871e-01 -5.14231932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.018565023272263725 Centerline is valid? [True, True] Translation: X:53.88, Y:-139.79, Z:-5.14 [[-6.71871768e-01 -7.40630378e-01 7.41428205e-03 5.38756895e+01] [ 7.40590712e-01 -6.71912592e-01 -7.67251391e-03 -1.39793028e+02] [ 1.06642463e-02 3.36002935e-04 9.99943079e-01 -5.14218549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.01852496138064374 Centerline is valid? [True, True] Translation: X:53.84, Y:-139.75, Z:-5.14 [[-6.72896461e-01 -7.39696441e-01 7.71549573e-03 5.38383857e+01] [ 7.39653480e-01 -6.72940608e-01 -7.97919334e-03 -1.39749324e+02] [ 1.10942513e-02 3.37622312e-04 9.99938400e-01 -5.14343313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.017360189714865307 Centerline is valid? [True, True] Translation: X:53.81, Y:-139.70, Z:-5.14 [[-6.77229929e-01 -7.35723392e-01 8.40915156e-03 5.38066053e+01] [ 7.35672117e-01 -6.77282068e-01 -8.69117665e-03 -1.39701206e+02] [ 1.20896695e-02 3.00453393e-04 9.99926872e-01 -5.14429640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.01482002219515573 Centerline is valid? [True, True] Translation: X:53.77, Y:-139.65, Z:-5.14 [[-6.81482327e-01 -7.31791168e-01 7.97023767e-03 5.37748203e+01] [ 7.31744891e-01 -6.81528897e-01 -8.23269912e-03 -1.39651188e+02] [ 1.14565638e-02 2.21741746e-04 9.99934347e-01 -5.14208503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.013725130001458141 Centerline is valid? [True, True] Translation: X:53.74, Y:-139.60, Z:-5.14 [[-6.87452638e-01 -7.26190737e-01 7.47565233e-03 5.37440903e+01] [ 7.26149741e-01 -6.87493272e-01 -7.71713517e-03 -1.39601616e+02] [ 1.07435728e-02 1.23278080e-04 9.99942279e-01 -5.14201440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.012839135625915836 Centerline is valid? [True, True] Translation: X:53.71, Y:-139.56, Z:-5.14 [[-6.89952989e-01 -7.23812326e-01 7.78390188e-03 5.37087852e+01] [ 7.23767785e-01 -6.89996890e-01 -8.03027278e-03 -1.39555545e+02] [ 1.11832785e-02 9.32267132e-05 9.99937461e-01 -5.14088321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.01307088702070468 Centerline is valid? [True, True] Translation: X:53.67, Y:-139.52, Z:-5.14 [[-6.89272499e-01 -7.24462843e-01 7.55053186e-03 5.36681066e+01] [ 7.24421025e-01 -6.89313846e-01 -7.78461807e-03 -1.39515031e+02] [ 1.08443527e-02 1.04040878e-04 9.99941193e-01 -5.14076301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.013363274215987287 Centerline is valid? [True, True] Translation: X:53.63, Y:-139.48, Z:-5.14 [[-6.87624750e-01 -7.26018107e-01 8.36128920e-03 5.36253790e+01] [ 7.25967000e-01 -6.87675568e-01 -8.61559844e-03 -1.39475235e+02] [ 1.20049348e-02 1.45721315e-04 9.99927928e-01 -5.14089167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.013619798974577838 Centerline is valid? [True, True] Translation: X:53.59, Y:-139.44, Z:-5.14 [[-6.88548163e-01 -7.25144982e-01 8.13526289e-03 5.35850069e+01] [ 7.25096604e-01 -6.88596208e-01 -8.37712167e-03 -1.39435581e+02] [ 1.16765389e-02 1.30799758e-04 9.99931818e-01 -5.14161375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.012767958464042934 Centerline is valid? [True, True] Translation: X:53.55, Y:-139.39, Z:-5.14 [[-6.90884557e-01 -7.22928922e-01 7.23201822e-03 5.35464915e+01] [ 7.22890614e-01 -6.90922403e-01 -7.44273939e-03 -1.39392005e+02] [ 1.03773350e-02 8.58843774e-05 9.99946150e-01 -5.13886635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.012336586607880076 Centerline is valid? [True, True] Translation: X:53.51, Y:-139.35, Z:-5.14 [[-6.97199563e-01 -7.16855549e-01 5.55801941e-03 5.35097919e+01] [ 7.16832754e-01 -6.97221716e-01 -5.71680602e-03 -1.39347932e+02] [ 7.97329596e-03 -1.58430058e-06 9.99968213e-01 -5.13660092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.013071588296590792 Centerline is valid? [True, True] Translation: X:53.47, Y:-139.30, Z:-5.14 [[-7.03698861e-01 -7.10480906e-01 4.97953260e-03 5.34723891e+01] [ 7.10462468e-01 -7.03716476e-01 -5.11892981e-03 -1.39302921e+02] [ 7.14108102e-03 -6.44140565e-05 9.99974500e-01 -5.13576844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.013731142952310696 Centerline is valid? [True, True] Translation: X:53.43, Y:-139.26, Z:-5.14 [[-7.06696955e-01 -7.07497824e-01 5.12282776e-03 5.34324442e+01] [ 7.07478253e-01 -7.06715516e-01 -5.26330335e-03 -1.39260419e+02] [ 7.34415753e-03 -9.52712161e-05 9.99973027e-01 -5.13554006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.01388812675352924 Centerline is valid? [True, True] Translation: X:53.39, Y:-139.22, Z:-5.14 [[-7.07664039e-01 -7.06530942e-01 5.06315235e-03 5.33899205e+01] [ 7.06511823e-01 -7.07682145e-01 -5.19873383e-03 -1.39221476e+02] [ 7.25616883e-03 -1.01779987e-04 9.99973669e-01 -5.13501777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.013481031965093409 Centerline is valid? [True, True] Translation: X:53.35, Y:-139.18, Z:-5.14 [[-7.06170354e-01 -7.08024529e-01 4.96960704e-03 5.33464424e+01] [ 7.08006167e-01 -7.06187836e-01 -5.09986424e-03 -1.39182198e+02] [ 7.12030502e-03 -8.28605078e-05 9.99974647e-01 -5.13522161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.013101073818668546 Centerline is valid? [True, True] Translation: X:53.30, Y:-139.14, Z:-5.14 [[-7.03312852e-01 -7.10859637e-01 5.44131581e-03 5.33030963e+01] [ 7.10837732e-01 -7.03333899e-01 -5.58088635e-03 -1.39144216e+02] [ 7.79428871e-03 -5.72165145e-05 9.99969623e-01 -5.13646934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.012455193640818608 Centerline is valid? [True, True] Translation: X:53.26, Y:-139.11, Z:-5.14 [[-7.01130463e-01 -7.13009669e-01 5.76938472e-03 5.32590952e+01] [ 7.12985146e-01 -7.01154199e-01 -5.91362287e-03 -1.39106861e+02] [ 8.26169861e-03 -3.27355343e-05 9.99965871e-01 -5.13551224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.012261303108037974 Centerline is valid? [True, True] Translation: X:53.21, Y:-139.07, Z:-5.14 [[-6.98499004e-01 -7.15588828e-01 5.63656451e-03 5.32149087e+01] [ 7.15565532e-01 -6.98521746e-01 -5.77417055e-03 -1.39069312e+02] [ 8.06919482e-03 7.89017265e-08 9.99967444e-01 -5.13560804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.012714305082711718 Centerline is valid? [True, True] Translation: X:53.17, Y:-139.03, Z:-5.14 [[-6.95267726e-01 -7.18730678e-01 5.38542108e-03 5.31705556e+01] [ 7.18709530e-01 -6.95288582e-01 -5.51358562e-03 -1.39032317e+02] [ 7.70720491e-03 3.71353184e-05 9.99970298e-01 -5.13719870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.013377152987762025 Centerline is valid? [True, True] Translation: X:53.13, Y:-139.00, Z:-5.13 [[-6.89765621e-01 -7.24018209e-01 4.58498952e-03 5.31259770e+01] [ 7.24003013e-01 -6.89780854e-01 -4.69146284e-03 -1.38995077e+02] [ 6.55934251e-03 8.35364574e-05 9.99978484e-01 -5.13463092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.013985857257098354 Centerline is valid? [True, True] Translation: X:53.08, Y:-138.96, Z:-5.13 [[-6.87318155e-01 -7.26347567e-01 3.60087552e-03 5.30830531e+01] [ 7.26338237e-01 -6.87327582e-01 -3.68240353e-03 -1.38956147e+02] [ 5.14968591e-03 8.44707742e-05 9.99986737e-01 -5.13353287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.01549509657750882 Centerline is valid? [True, True] Translation: X:53.04, Y:-138.92, Z:-5.13 [[-6.85440543e-01 -7.28119379e-01 3.66483959e-03 5.30396768e+01] [ 7.28109752e-01 -6.85450333e-01 -3.74558998e-03 -1.38918988e+02] [ 5.23930217e-03 1.01026220e-04 9.99986270e-01 -5.13444934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.015618302793684152 Centerline is valid? [True, True] Translation: X:53.00, Y:-138.88, Z:-5.14 [[-6.84096825e-01 -7.29378693e-01 4.27275271e-03 5.29978592e+01] [ 7.29365646e-01 -6.84110156e-01 -4.36446273e-03 -1.38878633e+02] [ 6.10637964e-03 1.30683941e-04 9.99981347e-01 -5.13562346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.015459889547528046 Centerline is valid? [True, True] Translation: X:52.96, Y:-138.84, Z:-5.14 [[-6.83589880e-01 -7.29836686e-01 6.57934684e-03 5.29577613e+01] [ 7.29805810e-01 -6.83621509e-01 -6.71650269e-03 -1.38837302e+02] [ 9.39973308e-03 2.10312279e-04 9.99955800e-01 -5.13727280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.016016805828956086 Centerline is valid? [True, True] Translation: X:52.92, Y:-138.80, Z:-5.14 [[-6.84219817e-01 -7.29230204e-01 8.15793519e-03 5.29179582e+01] [ 7.29182742e-01 -6.84268402e-01 -8.32362990e-03 -1.38798254e+02] [ 1.16520596e-02 2.53433022e-04 9.99932080e-01 -5.14033544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.014929625288055784 Centerline is valid? [True, True] Translation: X:52.88, Y:-138.75, Z:-5.14 [[-6.86374198e-01 -7.27188795e-01 9.32295681e-03 5.28804022e+01] [ 7.27126691e-01 -6.86437465e-01 -9.50696619e-03 -1.38753403e+02] [ 1.33129861e-02 2.53634441e-04 9.99911346e-01 -5.14108896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.014335917585257428 Centerline is valid? [True, True] Translation: X:52.84, Y:-138.71, Z:-5.14 [[-6.87962482e-01 -7.25689810e-01 9.05113267e-03 5.28417811e+01] [ 7.25631213e-01 -6.88021984e-01 -9.22456956e-03 -1.38710373e+02] [ 1.29215544e-02 2.21626608e-04 9.99916489e-01 -5.14013948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.014185725979855809 Centerline is valid? [True, True] Translation: X:52.80, Y:-138.67, Z:-5.14 [[-6.91516630e-01 -7.22314490e-01 8.15648269e-03 5.28042732e+01] [ 7.22266723e-01 -6.91564716e-01 -8.30810403e-03 -1.38666511e+02] [ 1.16417996e-02 1.45963922e-04 9.99932221e-01 -5.14009363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.012586976884254728 Centerline is valid? [True, True] Translation: X:52.77, Y:-138.62, Z:-5.14 [[-6.97400517e-01 -7.16639253e-01 7.79098300e-03 5.27710947e+01] [ 7.16595364e-01 -6.97444032e-01 -7.93134746e-03 -1.38618132e+02] [ 1.11176895e-02 5.16564825e-05 9.99938195e-01 -5.13707863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.012459001888690164 Centerline is valid? [True, True] Translation: X:52.73, Y:-138.57, Z:-5.14 [[-7.01309580e-01 -7.12818682e-01 7.37558292e-03 5.27344022e+01] [ 7.12779186e-01 -7.01348363e-01 -7.50371424e-03 -1.38573596e+02] [ 1.05216407e-02 -5.26469497e-06 9.99944646e-01 -5.13631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.01261612702099669 Centerline is valid? [True, True] Translation: X:52.70, Y:-138.53, Z:-5.14 [[-7.04665789e-01 -7.09506597e-01 6.82018166e-03 5.26969035e+01] [ 7.09472707e-01 -7.04698792e-01 -6.93474007e-03 -1.38529234e+02] [ 9.72641760e-03 -4.79413385e-05 9.99952696e-01 -5.13502090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.013284787681905788 Centerline is valid? [True, True] Translation: X:52.66, Y:-138.48, Z:-5.14 [[-7.08784135e-01 -7.05385816e-01 7.47665598e-03 5.26597287e+01] [ 7.05344904e-01 -7.08823559e-01 -7.59797515e-03 -1.38483743e+02] [ 1.06591338e-02 -1.11703047e-04 9.99943184e-01 -5.13555251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.013669380135387554 Centerline is valid? [True, True] Translation: X:52.62, Y:-138.44, Z:-5.14 [[-7.10025357e-01 -7.04125796e-01 8.41757376e-03 5.26209843e+01] [ 7.04073907e-01 -7.10075237e-01 -8.54937329e-03 -1.38440824e+02] [ 1.19969450e-02 -1.43677785e-04 9.99928024e-01 -5.13656329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.014182020261372276 Centerline is valid? [True, True] Translation: X:52.58, Y:-138.40, Z:-5.14 [[-7.09766856e-01 -7.04380050e-01 8.93057738e-03 5.25824363e+01] [ 7.04321738e-01 -7.09823024e-01 -9.06447167e-03 -1.38399644e+02] [ 1.27239624e-02 -1.43661778e-04 9.99919037e-01 -5.13831928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.013003579626503635 Centerline is valid? [True, True] Translation: X:52.54, Y:-138.36, Z:-5.14 [[-7.07100626e-01 -7.07059302e-01 8.70906126e-03 5.25391771e+01] [ 7.07004111e-01 -7.07154251e-01 -8.83465420e-03 -1.38360411e+02] [ 1.24052741e-02 -8.96474034e-05 9.99923048e-01 -5.13682390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.012715942192649586 Centerline is valid? [True, True] Translation: X:52.50, Y:-138.32, Z:-5.14 [[-7.04868275e-01 -7.09288439e-01 8.40386073e-03 5.24972164e+01] [ 7.09237265e-01 -7.04918370e-01 -8.52022346e-03 -1.38320451e+02] [ 1.19673318e-02 -4.53040221e-05 9.99928388e-01 -5.13629635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.012536944942829007 Centerline is valid? [True, True] Translation: X:52.45, Y:-138.28, Z:-5.14 [[-6.99878940e-01 -7.14230479e-01 6.65519886e-03 5.24536980e+01] [ 7.14198648e-01 -6.99910581e-01 -6.74311561e-03 -1.38283635e+02] [ 9.47418279e-03 3.37694259e-05 9.99955118e-01 -5.13577939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.013143432391326496 Centerline is valid? [True, True] Translation: X:52.41, Y:-138.24, Z:-5.13 [[-6.95289700e-01 -7.18707553e-01 5.62905135e-03 5.24099060e+01] [ 7.18684953e-01 -6.95312481e-01 -5.70020508e-03 -1.38244676e+02] [ 8.01073010e-03 8.22206243e-05 9.99967910e-01 -5.13402843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.015236189103852061 Centerline is valid? [True, True] Translation: X:52.36, Y:-138.21, Z:-5.13 [[-6.88512866e-01 -7.25204053e-01 5.39588489e-03 5.23641993e+01] [ 7.25183509e-01 -6.88533992e-01 -5.46078934e-03 -1.38209240e+02] [ 7.67543672e-03 1.53183018e-04 9.99970532e-01 -5.13424067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.01615756077711832 Centerline is valid? [True, True] Translation: X:52.32, Y:-138.17, Z:-5.13 [[-6.85685268e-01 -7.27876904e-01 5.56111028e-03 5.23218400e+01] [ 7.27855195e-01 -6.85707792e-01 -5.62481235e-03 -1.38169293e+02] [ 7.90746765e-03 1.90832050e-04 9.99968717e-01 -5.13467240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.017178653442928335 Centerline is valid? [True, True] Translation: X:52.28, Y:-138.13, Z:-5.14 [[-6.84632740e-01 -7.28866251e-01 5.65676235e-03 5.22808419e+01] [ 7.28843842e-01 -6.84656078e-01 -5.71914496e-03 -1.38130222e+02] [ 8.04142848e-03 2.07382519e-04 9.99967646e-01 -5.13559421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.017041614257008737 Centerline is valid? [True, True] Translation: X:52.24, Y:-138.09, Z:-5.14 [[-6.85770817e-01 -7.27797495e-01 5.40299924e-03 5.22412214e+01] [ 7.27777041e-01 -6.85792076e-01 -5.45958183e-03 -1.38087887e+02] [ 7.67880404e-03 1.88156903e-04 9.99970500e-01 -5.13582046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.015609998562767818 Centerline is valid? [True, True] Translation: X:52.20, Y:-138.04, Z:-5.13 [[-6.88133361e-01 -7.25567157e-01 4.97785994e-03 5.22036981e+01] [ 7.25549757e-01 -6.88151348e-01 -5.02715121e-03 -1.38043810e+02] [ 7.07305684e-03 1.52334615e-04 9.99974974e-01 -5.13487952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.014482276431444476 Centerline is valid? [True, True] Translation: X:52.17, Y:-138.00, Z:-5.13 [[-6.90961813e-01 -7.22872832e-01 5.16167348e-03 5.21663092e+01] [ 7.22854069e-01 -6.90981079e-01 -5.20983181e-03 -1.37998825e+02] [ 7.33266458e-03 1.31341846e-04 9.99973107e-01 -5.13427951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.013550152325586266 Centerline is valid? [True, True] Translation: X:52.13, Y:-137.95, Z:-5.13 [[-6.95136893e-01 -7.18859112e-01 5.12616585e-03 5.21310432e+01] [ 7.18840519e-01 -6.95155788e-01 -5.17105921e-03 -1.37952557e+02] [ 7.28074689e-03 9.03016815e-05 9.99973491e-01 -5.13392697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.013095074046510096 Centerline is valid? [True, True] Translation: X:52.09, Y:-137.91, Z:-5.13 [[-6.97216181e-01 -7.16837650e-01 5.77768079e-03 5.20937049e+01] [ 7.16813990e-01 -6.97240115e-01 -5.82456805e-03 -1.37908537e+02] [ 8.20370049e-03 8.05393324e-05 9.99966346e-01 -5.13356148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.013225872410840554 Centerline is valid? [True, True] Translation: X:52.06, Y:-137.87, Z:-5.13 [[-6.98210692e-01 -7.15858237e-01 6.98677794e-03 5.20563241e+01] [ 7.15823636e-01 -6.98245643e-01 -7.03882407e-03 -1.37866757e+02] [ 9.91728744e-03 8.67185646e-05 9.99950819e-01 -5.13498925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.013630066304326834 Centerline is valid? [True, True] Translation: X:52.02, Y:-137.83, Z:-5.14 [[-6.97721385e-01 -7.16322546e-01 8.17790158e-03 5.20157451e+01] [ 7.16275228e-01 -6.97769301e-01 -8.23411812e-03 -1.37827218e+02] [ 1.16045731e-02 1.12508021e-04 9.99932658e-01 -5.13662840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.013702145633428461 Centerline is valid? [True, True] Translation: X:51.97, Y:-137.79, Z:-5.14 [[-6.95852481e-01 -7.18131139e-01 8.77451550e-03 5.19729186e+01] [ 7.18076870e-01 -6.95907783e-01 -8.82983844e-03 -1.37787811e+02] [ 1.24472356e-02 1.56511644e-04 9.99922518e-01 -5.13550435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.014622349560260501 Centerline is valid? [True, True] Translation: X:51.93, Y:-137.75, Z:-5.14 [[-6.94935788e-01 -7.19020861e-01 8.55874392e-03 5.19298119e+01] [ 7.18969358e-01 -6.94988469e-01 -8.60759925e-03 -1.37749748e+02] [ 1.21372718e-02 1.71745857e-04 9.99926326e-01 -5.13594942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.015089231308785462 Centerline is valid? [True, True] Translation: X:51.89, Y:-137.71, Z:-5.13 [[-6.94576475e-01 -7.19375490e-01 7.90091878e-03 5.18884842e+01] [ 7.19331664e-01 -6.94621391e-01 -7.94232582e-03 -1.37711093e+02] [ 1.12016617e-02 1.66828384e-04 9.99937246e-01 -5.13494401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.015398798360919046 Centerline is valid? [True, True] Translation: X:51.85, Y:-137.67, Z:-5.13 [[-6.94465663e-01 -7.19486873e-01 7.48883506e-03 5.18479988e+01] [ 7.19447552e-01 -6.94506021e-01 -7.52369057e-03 -1.37670999e+02] [ 1.06142376e-02 1.62879293e-04 9.99943654e-01 -5.13302724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.014355617436082619 Centerline is valid? [True, True] Translation: X:51.81, Y:-137.63, Z:-5.13 [[-6.94800401e-01 -7.19169296e-01 6.92287341e-03 5.18089537e+01] [ 7.19135722e-01 -6.94834873e-01 -6.95069389e-03 -1.37629163e+02] [ 9.80897950e-03 1.49140663e-04 9.99951880e-01 -5.13176296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.014082692614036382 Centerline is valid? [True, True] Translation: X:51.77, Y:-137.59, Z:-5.13 [[-6.95388382e-01 -7.18597728e-01 7.23207896e-03 5.17686134e+01] [ 7.18561099e-01 -6.95425972e-01 -7.25699883e-03 -1.37586890e+02] [ 1.02442384e-02 1.50257927e-04 9.99947515e-01 -5.13058263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.014127859719188729 Centerline is valid? [True, True] Translation: X:51.73, Y:-137.55, Z:-5.13 [[-6.95879924e-01 -7.18119984e-01 7.40407835e-03 5.17279506e+01] [ 7.18081614e-01 -6.95919296e-01 -7.42488859e-03 -1.37546239e+02] [ 1.04846019e-02 1.49901627e-04 9.99945024e-01 -5.13037069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.0142609021185111 Centerline is valid? [True, True] Translation: X:51.69, Y:-137.51, Z:-5.13 [[-6.95575680e-01 -7.18417228e-01 7.15257572e-03 5.16873566e+01] [ 7.18381483e-01 -6.95612437e-01 -7.16811851e-03 -1.37506124e+02] [ 1.01251205e-02 1.52309046e-04 9.99948728e-01 -5.12992776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.01445411281428419 Centerline is valid? [True, True] Translation: X:51.65, Y:-137.47, Z:-5.13 [[-6.94866886e-01 -7.19104016e-01 7.03025736e-03 5.16461706e+01] [ 7.19069562e-01 -6.94902431e-01 -7.04107633e-03 -1.37466353e+02] [ 9.94860919e-03 1.62633296e-04 9.99950498e-01 -5.12987503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.014774329647684391 Centerline is valid? [True, True] Translation: X:51.61, Y:-137.43, Z:-5.13 [[-6.94722474e-01 -7.19247317e-01 6.63180407e-03 5.16052630e+01] [ 7.19216706e-01 -6.94754109e-01 -6.63763699e-03 -1.37427151e+02] [ 9.38157572e-03 1.58388681e-04 9.99955980e-01 -5.13035089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.014688983408761184 Centerline is valid? [True, True] Translation: X:51.57, Y:-137.39, Z:-5.13 [[-6.94810402e-01 -7.19164531e-01 6.39396446e-03 5.15652486e+01] [ 7.19136109e-01 -6.94839805e-01 -6.39557766e-03 -1.37386746e+02] [ 9.04225362e-03 1.54416834e-04 9.99959106e-01 -5.13051112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.014274539104495233 Centerline is valid? [True, True] Translation: X:51.53, Y:-137.35, Z:-5.13 [[-6.95768988e-01 -7.18235127e-01 6.61954544e-03 5.15251924e+01] [ 7.18204661e-01 -6.95800460e-01 -6.61701928e-03 -1.37346055e+02] [ 9.35845844e-03 1.50271579e-04 9.99956197e-01 -5.13112326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.014108482482993154 Centerline is valid? [True, True] Translation: X:51.04, Y:-137.83, Z:-4.12 [[-7.64820631e-01 6.44199682e-01 7.49475983e-03 5.10443491e+01] [ 6.44166910e-01 7.64857339e-01 -6.49945347e-03 -1.37829700e+02] [-9.91936792e-03 -1.43039825e-04 -9.99950792e-01 -4.11940517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.013696666919678722 Centerline is valid? [True, True] Translation: X:51.06, Y:-137.81, Z:-4.12 [[-8.06970143e-01 5.90529160e-01 8.63128712e-03 5.10624040e+01] [ 5.90493673e-01 8.07016292e-01 -6.47513812e-03 -1.37811141e+02] [-1.07893472e-02 -1.28522703e-04 -9.99941785e-01 -4.11877530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.013145872434457374 Centerline is valid? [True, True] Translation: X:51.08, Y:-137.79, Z:-4.12 [[-8.45283923e-01 5.34244874e-01 8.80367787e-03 5.10810920e+01] [ 5.34214710e-01 8.45329762e-01 -5.67787618e-03 -1.37793659e+02] [-1.04753872e-02 -9.63632373e-05 -9.99945127e-01 -4.12002735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.012589008507317834 Centerline is valid? [True, True] Translation: X:51.46, Y:-137.22, Z:-5.13 [[-8.00177297e-01 -5.99713426e-01 7.75240892e-03 5.14604738e+01] [ 5.99685823e-01 -8.00214849e-01 -5.75397033e-03 -1.37218369e+02] [ 9.65432599e-03 4.48132993e-05 9.99953395e-01 -5.13109454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.012700438018672587 Centerline is valid? [True, True] Translation: X:51.05, Y:-137.78, Z:-4.12 [[-8.41280209e-01 5.40542963e-01 7.80477612e-03 5.10480744e+01] [ 5.40519890e-01 8.41316412e-01 -4.99443665e-03 -1.37781362e+02] [-9.26599383e-03 1.69160136e-05 -9.99957070e-01 -4.12070816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.012829531388065874 Centerline is valid? [True, True] Translation: X:51.06, Y:-137.76, Z:-4.12 [[-8.75842321e-01 4.82539226e-01 7.49166310e-03 5.10610267e+01] [ 4.82522005e-01 8.75874359e-01 -4.07698064e-03 -1.37758448e+02] [-8.52905870e-03 4.41001129e-05 -9.99963626e-01 -4.12106499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.013247063723257155 Centerline is valid? [True, True] Translation: X:51.08, Y:-137.74, Z:-4.12 [[-9.06443854e-01 4.22230618e-01 8.99135981e-03 5.10782898e+01] [ 4.22210751e-01 9.06488444e-01 -4.09677262e-03 -1.37736375e+02] [-9.88034660e-03 8.27544122e-05 -9.99951185e-01 -4.11988740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.01347676677532572 Centerline is valid? [True, True] Translation: X:51.09, Y:-137.71, Z:-4.12 [[-9.33850845e-01 3.57504788e-01 1.06266895e-02 5.10873903e+01] [ 3.57482882e-01 9.33911300e-01 -3.95891066e-03 -1.37709529e+02] [-1.13397149e-02 1.01827519e-04 -9.99935698e-01 -4.11818486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.013704500528075134 Centerline is valid? [True, True] Translation: X:51.10, Y:-137.68, Z:-4.12 [[-9.56775885e-01 2.90555986e-01 1.25349726e-02 5.10950512e+01] [ 2.90532680e-01 9.56857986e-01 -3.68200230e-03 -1.37681647e+02] [-1.30640165e-02 1.18968182e-04 -9.99914655e-01 -4.11672085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.013521575623648826 Centerline is valid? [True, True] Translation: X:51.10, Y:-137.65, Z:-4.12 [[-9.75287180e-01 2.20515568e-01 1.37040342e-02 5.11009360e+01] [ 2.20495325e-01 9.75383449e-01 -2.98967947e-03 -1.37650084e+02] [-1.40259590e-02 1.05879417e-04 -9.99901626e-01 -4.11583072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.013547610838580432 Centerline is valid? [True, True] Translation: X:51.25, Y:-136.99, Z:-5.13 [[-9.62540175e-01 -2.70881927e-01 1.18065149e-02 5.12523081e+01] [ 2.70858999e-01 -9.62612561e-01 -3.53000298e-03 -1.36985719e+02] [ 1.23213136e-02 -1.99868867e-04 9.99924070e-01 -5.13436128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.013404162477279232 Centerline is valid? [True, True] Translation: X:51.06, Y:-137.64, Z:-4.12 [[-9.75894166e-01 2.18020035e-01 9.89152557e-03 5.10583394e+01] [ 2.18009761e-01 9.75944290e-01 -2.11836064e-03 -1.37636716e+02] [-1.01154230e-02 8.91533400e-05 -9.99948834e-01 -4.11941558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.013207340347063033 Centerline is valid? [True, True] Translation: X:51.06, Y:-137.61, Z:-4.12 [[-9.88999899e-01 1.47750892e-01 6.99103941e-03 5.10596515e+01] [ 1.47747619e-01 9.89024606e-01 -9.85158295e-04 -1.37607842e+02] [-7.05986802e-03 5.85879757e-05 -9.99975077e-01 -4.12177977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.012770160495868942 Centerline is valid? [True, True] Translation: X:51.06, Y:-137.57, Z:-4.12 [[-9.97368565e-01 7.23753253e-02 4.21393228e-03 5.10643166e+01] [ 7.23747388e-02 9.97377467e-01 -2.91707381e-04 -1.37574276e+02] [-4.22399352e-03 1.40424760e-05 -9.99991079e-01 -4.12280581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.012728335809240156 Centerline is valid? [True, True] Translation: X:51.05, Y:-137.54, Z:-4.12 [[-9.99983060e-01 -4.56825636e-03 3.60694339e-03 5.10509562e+01] [-4.56826074e-03 9.99989565e-01 7.02551342e-06 -1.37539425e+02] [-3.60693785e-03 -9.45206345e-06 -9.99993495e-01 -4.12293143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.013478950742141848 Centerline is valid? [True, True] Translation: X:51.05, Y:-136.91, Z:-5.13 [[-9.96964574e-01 -7.77653936e-02 3.76596614e-03 5.10510501e+01] [ 7.77649239e-02 -9.96971686e-01 -2.71225609e-04 -1.36906557e+02] [ 3.77565358e-03 2.24577474e-05 9.99992872e-01 -5.13029605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.015564145429332515 Centerline is valid? [True, True] Translation: X:50.99, Y:-137.52, Z:-4.12 [[-9.99721619e-01 -2.31834879e-02 4.38288129e-03 5.09931542e+01] [-2.31835954e-02 9.99731224e-01 2.62663914e-05 -1.37520129e+02] [-4.38231223e-03 -7.53518675e-05 -9.99990395e-01 -4.11905965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.015419949212220358 Centerline is valid? [True, True] Translation: X:50.99, Y:-136.92, Z:-5.13 [[-9.96640182e-01 -8.17331358e-02 5.29557709e-03 5.09871471e+01] [ 8.17327997e-02 -9.96654238e-01 -2.80208039e-04 -1.36918153e+02] [ 5.30076163e-03 1.53555750e-04 9.99985939e-01 -5.13349010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.01536785772528767 Centerline is valid? [True, True] Translation: X:50.94, Y:-137.52, Z:-4.12 [[-9.99547160e-01 -2.94243071e-02 6.29957194e-03 5.09362988e+01] [-2.94244938e-02 9.99567004e-01 6.30567562e-05 -1.37518425e+02] [-6.29869965e-03 -1.22333514e-04 -9.99980156e-01 -4.11643858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.014265753275524332 Centerline is valid? [True, True] Translation: X:50.93, Y:-137.50, Z:-4.12 [[-9.95252512e-01 -9.71089196e-02 6.50349148e-03 5.09286608e+01] [-9.71075372e-02 9.95273755e-01 5.28749478e-04 -1.37495240e+02] [-6.52410068e-03 -1.05298795e-04 -9.99978712e-01 -4.11632421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.013325382407529882 Centerline is valid? [True, True] Translation: X:50.88, Y:-136.89, Z:-5.14 [[-9.99978296e-01 2.07357902e-03 6.25363062e-03 5.08838249e+01] [-2.07301095e-03 -9.99997847e-01 9.73185048e-05 -1.36886938e+02] [ 6.25381895e-03 8.43525478e-05 9.99980441e-01 -5.13528994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.01303488205421873 Centerline is valid? [True, True] Translation: X:50.87, Y:-137.51, Z:-4.12 [[-9.95484222e-01 -9.46894273e-02 6.71394589e-03 5.08693580e+01] [-9.46876916e-02 9.95506860e-01 5.76642579e-04 -1.37507660e+02] [-6.73838115e-03 -6.16894490e-05 -9.99977295e-01 -4.11527377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.012847613444674966 Centerline is valid? [True, True] Translation: X:50.81, Y:-136.89, Z:-5.14 [[-9.99909509e-01 1.14372238e-02 7.08262828e-03 5.08136241e+01] [-1.14363222e-02 -9.99934589e-01 1.67784841e-04 -1.36886350e+02] [ 7.08408399e-03 8.67704389e-05 9.99974904e-01 -5.13698638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.012590164603729503 Centerline is valid? [True, True] Translation: X:50.80, Y:-137.52, Z:-4.11 [[-9.95529447e-01 -9.41330423e-02 7.75176602e-03 5.07977382e+01] [-9.41304120e-02 9.95559626e-01 7.04279181e-04 -1.37524437e+02] [-7.78364122e-03 -2.85462647e-05 -9.99969707e-01 -4.11446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.015347682642774267 Centerline is valid? [True, True] Translation: X:50.75, Y:-136.88, Z:-5.14 [[-9.99704049e-01 2.27900984e-02 8.51039600e-03 5.07450294e+01] [-2.27886156e-02 -9.99740269e-01 2.71177365e-04 -1.36880476e+02] [ 8.51436575e-03 7.71569667e-05 9.99963749e-01 -5.13934319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.012663010483830409 Centerline is valid? [True, True] Translation: X:50.73, Y:-137.54, Z:-4.11 [[-9.95469163e-01 -9.47406988e-02 8.08366898e-03 5.07277482e+01] [-9.47375205e-02 9.95501984e-01 7.76065291e-04 -1.37540603e+02] [-8.12083348e-03 6.72231024e-06 -9.99967026e-01 -4.11445768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.012774227558498753 Centerline is valid? [True, True] Translation: X:50.72, Y:-137.52, Z:-4.11 [[-9.86543844e-01 -1.63280893e-01 8.40198018e-03 5.07185747e+01] [-1.63274752e-01 9.86579621e-01 1.41628695e-03 -1.37520047e+02] [-8.52047502e-03 2.53979434e-05 -9.99963700e-01 -4.11447291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.012850575830075182 Centerline is valid? [True, True] Translation: X:50.71, Y:-137.50, Z:-4.12 [[-9.72855546e-01 -2.31276735e-01 7.94722352e-03 5.07077943e+01] [-2.31268672e-01 9.72888005e-01 1.93157068e-03 -1.37501556e+02] [-8.17848580e-03 4.11954148e-05 -9.99966555e-01 -4.11615603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.012770751111963125 Centerline is valid? [True, True] Translation: X:50.54, Y:-136.84, Z:-5.14 [[-9.84969264e-01 1.72610557e-01 6.41442604e-03 5.05408447e+01] [-1.72607884e-01 -9.84990139e-01 9.72071219e-04 -1.36840004e+02] [ 6.48593615e-03 -1.49720235e-04 9.99978955e-01 -5.13536256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.012677975858326456 Centerline is valid? [True, True] Translation: X:50.59, Y:-137.52, Z:-4.12 [[-9.69703832e-01 -2.44243826e-01 4.40811827e-03 5.05942913e+01] [-2.44241347e-01 9.69713851e-01 1.10057385e-03 -1.37519088e+02] [-4.54342171e-03 -9.41406580e-06 -9.99989679e-01 -4.11708401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.012617894639544837 Centerline is valid? [True, True] Translation: X:50.57, Y:-137.50, Z:-4.12 [[-9.49413680e-01 -3.14002638e-01 4.00081186e-03 5.05719744e+01] [-3.13999906e-01 9.49422110e-01 1.30993603e-03 -1.37497197e+02] [-4.20978261e-03 -1.25833627e-05 -9.99991139e-01 -4.11799041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.012634445386934314 Centerline is valid? [True, True] Translation: X:50.53, Y:-137.48, Z:-4.12 [[-9.24403200e-01 -3.81400419e-01 3.52761089e-03 5.05336462e+01] [-3.81397686e-01 9.24409931e-01 1.44365835e-03 -1.37483205e+02] [-3.81157044e-03 -1.09002284e-05 -9.99992736e-01 -4.11873471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.012715215189211003 Centerline is valid? [True, True] Translation: X:50.48, Y:-137.48, Z:-4.12 [[-8.93860483e-01 -4.48334679e-01 3.07467082e-03 5.04788010e+01] [-4.48332063e-01 8.93865771e-01 1.53152902e-03 -1.37476739e+02] [-3.43498057e-03 -9.50024112e-06 -9.99994100e-01 -4.11845171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.012712510279927305 Centerline is valid? [True, True] Translation: X:50.41, Y:-137.48, Z:-4.12 [[-8.58029508e-01 -5.13591839e-01 2.96424300e-03 5.04123683e+01] [-5.13588824e-01 8.58034628e-01 1.75977880e-03 -1.37477927e+02] [-3.44723117e-03 -1.24599393e-05 -9.99994058e-01 -4.11762336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.012904067327395631 Centerline is valid? [True, True] Translation: X:50.34, Y:-137.49, Z:-4.12 [[-8.17180107e-01 -5.76374705e-01 2.97861023e-03 5.03393485e+01] [-5.76370949e-01 8.17185535e-01 2.08104025e-03 -1.37488114e+02] [-3.63353616e-03 -1.61997047e-05 -9.99993399e-01 -4.11663643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.012871244081694348 Centerline is valid? [True, True] Translation: X:50.26, Y:-137.51, Z:-4.12 [[-7.72525144e-01 -6.34975658e-01 3.28871316e-03 5.02616622e+01] [-6.34969991e-01 7.72532144e-01 2.68291555e-03 -1.37512575e+02] [-4.24422269e-03 -1.56144478e-05 -9.99990993e-01 -4.11593192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.012809887317451515 Centerline is valid? [True, True] Translation: X:50.18, Y:-137.55, Z:-4.12 [[-7.23828054e-01 -6.89973242e-01 3.14228121e-03 5.01831682e+01] [-6.89966799e-01 7.23834874e-01 2.98189558e-03 -1.37546323e+02] [-4.33192088e-03 -9.69003334e-06 -9.99990617e-01 -4.11531700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.012745524585600715 Centerline is valid? [True, True] Translation: X:50.10, Y:-137.59, Z:-4.11 [[-6.71046003e-01 -7.41411047e-01 2.63081875e-03 5.01029910e+01] [-7.41405365e-01 6.71051160e-01 2.90258490e-03 -1.37588158e+02] [-3.91742248e-03 -2.73514355e-06 -9.99992327e-01 -4.11487807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.012852757573173808 Centerline is valid? [True, True] Translation: X:50.02, Y:-137.64, Z:-4.11 [[-6.12558764e-01 -7.90421293e-01 2.43722663e-03 5.00198148e+01] [-7.90415077e-01 6.12563612e-01 3.13487219e-03 -1.37641268e+02] [-3.97082608e-03 -6.12723958e-06 -9.99992116e-01 -4.11387873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.01304675990547214 Centerline is valid? [True, True] Translation: X:49.93, Y:-137.71, Z:-4.11 [[-5.49103609e-01 -8.35752765e-01 1.59457662e-03 4.99345227e+01] [-8.35749301e-01 5.49105924e-01 2.40611608e-03 -1.37707847e+02] [-2.88650964e-03 -1.14592708e-05 -9.99995834e-01 -4.11456870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.012805883359919525 Centerline is valid? [True, True] Translation: X:49.86, Y:-137.77, Z:-4.12 [[-4.82248738e-01 -8.76033977e-01 7.91030334e-04 4.98630128e+01] [-8.76032832e-01 4.82249387e-01 1.41663520e-03 -1.37773436e+02] [-1.62249446e-03 -9.79800741e-06 -9.99998684e-01 -4.11677091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.013277188226083713 Centerline is valid? [True, True] Translation: X:49.79, Y:-137.85, Z:-4.12 [[-4.10966999e-01 -9.11650192e-01 2.32158311e-04 4.97871851e+01] [-9.11650053e-01 4.10967064e-01 5.02302792e-04 -1.37853459e+02] [-5.53333856e-04 -5.21726571e-06 -9.99999847e-01 -4.11704144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.013583750515038403 Centerline is valid? [True, True] Translation: X:49.72, Y:-137.94, Z:-4.12 [[-3.38208571e-01 -9.41071021e-01 5.43596430e-04 4.97188601e+01] [-9.41069894e-01 3.38209008e-01 1.45666432e-03 -1.37941151e+02] [-1.55467379e-03 -1.89058750e-05 -9.99998791e-01 -4.11520903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.013784347923214264 Centerline is valid? [True, True] Translation: X:49.66, Y:-138.04, Z:-4.11 [[-2.64547587e-01 -9.64371932e-01 1.16271709e-03 4.96587115e+01] [-9.64363521e-01 2.64550136e-01 4.02815371e-03 -1.38035735e+02] [-4.19223534e-03 -5.56436067e-05 -9.99991211e-01 -4.11193146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.013731938786843038 Centerline is valid? [True, True] Translation: X:49.61, Y:-138.14, Z:-4.11 [[-1.91378711e-01 -9.81515781e-01 9.80694200e-04 4.96061511e+01] [-9.81504411e-01 1.91381215e-01 4.72461457e-03 -1.38142312e+02] [-4.82497020e-03 -5.83650384e-05 -9.99988358e-01 -4.11060386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.013075514594704357 Centerline is valid? [True, True] Translation: X:49.57, Y:-138.24, Z:-4.11 [[-1.19412482e-01 -9.92844501e-01 6.74964839e-04 4.95689209e+01] [-9.92830653e-01 1.19414381e-01 5.24407842e-03 -1.38238135e+02] [-5.28715493e-03 -4.39173634e-05 -9.99986022e-01 -4.11100628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.012788962719208744 Centerline is valid? [True, True] Translation: X:49.54, Y:-138.35, Z:-4.11 [[-4.57914193e-02 -9.98950992e-01 2.48888608e-04 4.95357956e+01] [-9.98939264e-01 4.57920877e-02 4.84072397e-03 -1.38349282e+02] [-4.84704314e-03 -2.69609816e-05 -9.99988253e-01 -4.11158360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.012760483806711714 Centerline is valid? [True, True] Translation: X:49.51, Y:-138.46, Z:-4.11 [[ 2.93310333e-02 -9.99569746e-01 -1.15894325e-04 4.95100370e+01] [-9.99559262e-01 -2.93312565e-02 4.57804792e-03 -1.38463219e+02] [-4.57947752e-03 -1.84356295e-05 -9.99989514e-01 -4.11131362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.012923683812481159 Centerline is valid? [True, True] Translation: X:49.49, Y:-138.58, Z:-4.11 [[ 1.06946359e-01 -9.94264622e-01 -5.81748097e-04 4.94902808e+01] [-9.94248343e-01 -1.06947937e-01 5.68963578e-03 -1.38582699e+02] [-5.71922032e-03 -3.00837487e-05 -9.99983645e-01 -4.10968089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.013468748295559467 Centerline is valid? [True, True] Translation: X:49.48, Y:-138.70, Z:-4.11 [[ 1.86033962e-01 -9.82542520e-01 -1.24959907e-03 4.94766885e+01] [-9.82518148e-01 -1.86038149e-01 6.92065170e-03 -1.38696827e+02] [-7.03230766e-03 -5.97224889e-05 -9.99975271e-01 -4.10816541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.014185359607323119 Centerline is valid? [True, True] Translation: X:49.47, Y:-138.82, Z:-4.11 [[ 2.65741163e-01 -9.64042239e-01 -2.04831380e-03 4.94724079e+01] [-9.64010303e-01 -2.65749033e-01 7.84777829e-03 -1.38817123e+02] [-8.10992716e-03 -1.10882123e-04 -9.99967108e-01 -4.10704453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.014475501596673483 Centerline is valid? [True, True] Translation: X:49.48, Y:-138.94, Z:-4.11 [[ 3.41070092e-01 -9.40034075e-01 -2.67042468e-03 4.94806621e+01] [-9.40002160e-01 -3.41080520e-01 7.74710904e-03 -1.38939637e+02] [-8.19337631e-03 -1.32102227e-04 -9.99966425e-01 -4.10715049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.015415883515929174 Centerline is valid? [True, True] Translation: X:49.49, Y:-139.05, Z:-4.11 [[ 4.13565369e-01 -9.10468229e-01 -3.36004081e-03 4.94918968e+01] [-9.10435135e-01 -4.13578990e-01 7.76427896e-03 -1.39050993e+02] [-8.45877160e-03 -1.51937688e-04 -9.99964212e-01 -4.10587830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.015147331656434703 Centerline is valid? [True, True] Translation: X:49.52, Y:-139.16, Z:-4.11 [[ 4.82382487e-01 -8.75950908e-01 -4.14036743e-03 4.95160869e+01] [-8.75915685e-01 -4.82400227e-01 7.85701262e-03 -1.39162725e+02] [-8.87967154e-03 -1.63472512e-04 -9.99960562e-01 -4.10590480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.014850632148071734 Centerline is valid? [True, True] Translation: X:49.55, Y:-139.28, Z:-4.10 [[ 5.46227640e-01 -8.37619497e-01 -5.37990321e-03 4.95522052e+01] [-8.37575825e-01 -5.46254108e-01 8.55496498e-03 -1.39275539e+02] [-1.01045997e-02 -1.66881462e-04 -9.99948933e-01 -4.10478541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.014373025079727904 Centerline is valid? [True, True] Translation: X:49.59, Y:-139.37, Z:-4.11 [[ 6.07079994e-01 -7.94619569e-01 -5.79841853e-03 4.95866418e+01] [-7.94581047e-01 -6.07107667e-01 7.82560088e-03 -1.39371368e+02] [-9.73863995e-03 -1.43452263e-04 -9.99952568e-01 -4.10500269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.01381189165052052 Centerline is valid? [True, True] Translation: X:49.63, Y:-139.47, Z:-4.11 [[ 6.64042645e-01 -7.47671818e-01 -5.84966980e-03 4.96293965e+01] [-7.47641332e-01 -6.64068401e-01 6.75259086e-03 -1.39468427e+02] [-8.93330275e-03 -1.10553378e-04 -9.99960091e-01 -4.10555218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.013722951636662036 Centerline is valid? [True, True] Translation: X:49.68, Y:-139.56, Z:-4.10 [[ 7.17747725e-01 -6.96275860e-01 -6.17499761e-03 4.96792158e+01] [-6.96248976e-01 -7.17774281e-01 6.11917731e-03 -1.39563494e+02] [-8.69288991e-03 -9.26898256e-05 -9.99962212e-01 -4.10448950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.013406580556945562 Centerline is valid? [True, True] Translation: X:49.70, Y:-139.59, Z:-4.10 [[ 7.68703480e-01 -6.39567843e-01 -6.92348156e-03 4.97016818e+01] [-6.39540980e-01 -7.68734654e-01 5.86233299e-03 -1.39592210e+02] [-9.07167987e-03 -7.85455973e-05 -9.99958848e-01 -4.10432210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.013093746272020533 Centerline is valid? [True, True] Translation: X:49.73, Y:-139.62, Z:-4.10 [[ 8.14259243e-01 -5.80466246e-01 -6.38928766e-03 4.97275544e+01] [-5.80447994e-01 -8.14284309e-01 4.60335977e-03 -1.39615430e+02] [-7.87479166e-03 -3.96790359e-05 -9.99968993e-01 -4.10468775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.013093102053028716 Centerline is valid? [True, True] Translation: X:49.76, Y:-139.64, Z:-4.11 [[ 8.56244247e-01 -5.16541071e-01 -5.57779505e-03 4.97556540e+01] [-5.16529948e-01 -8.56262414e-01 3.38991826e-03 -1.39636799e+02] [-6.52708827e-03 -2.14998206e-05 -9.99978698e-01 -4.10510813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.012859698366467137 Centerline is valid? [True, True] Translation: X:49.78, Y:-139.66, Z:-4.11 [[ 8.93804683e-01 -4.48423317e-01 -5.45137990e-03 4.97835963e+01] [-4.48414859e-01 -8.93821307e-01 2.75421412e-03 -1.39657700e+02] [-6.10761334e-03 -1.72497283e-05 -9.99981348e-01 -4.10541204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.01284310912972758 Centerline is valid? [True, True] Translation: X:49.81, Y:-139.68, Z:-4.10 [[ 9.26250001e-01 -3.76875002e-01 -5.11552792e-03 4.98131535e+01] [-3.76869152e-01 -9.26264127e-01 2.10003761e-03 -1.39675773e+02] [-5.52978168e-03 -1.72751684e-05 -9.99984711e-01 -4.10473776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.012901104065015531 Centerline is valid? [True, True] Translation: X:49.84, Y:-139.69, Z:-4.10 [[ 9.53241928e-01 -3.02153276e-01 -5.76401063e-03 4.98447343e+01] [-3.02147585e-01 -9.53259355e-01 1.85466385e-03 -1.39692178e+02] [-6.05498982e-03 -2.63614540e-05 -9.99981668e-01 -4.10421671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.01321030907882958 Centerline is valid? [True, True] Translation: X:49.88, Y:-139.71, Z:-4.10 [[ 9.74857610e-01 -2.22701496e-01 -7.52891346e-03 4.98753726e+01] [-2.22694333e-01 -9.74886680e-01 1.78747235e-03 -1.39712530e+02] [-7.73791021e-03 -6.58846648e-05 -9.99970060e-01 -4.10220445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.013726420406819892 Centerline is valid? [True, True] Translation: X:49.91, Y:-139.73, Z:-4.10 [[ 9.89542432e-01 -1.43969921e-01 -8.85648751e-03 4.99080830e+01] [-1.43963310e-01 -9.89582060e-01 1.38282273e-03 -1.39728355e+02] [-8.96330603e-03 -9.33525094e-05 -9.99959824e-01 -4.10035197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.013292417798304826 Centerline is valid? [True, True] Translation: X:49.94, Y:-139.74, Z:-4.10 [[ 9.97711544e-01 -6.71634607e-02 -7.79389876e-03 4.99393093e+01] [-6.71608425e-02 -9.97741983e-01 5.97462654e-04 -1.39739159e+02] [-7.81642766e-03 -7.26505793e-05 -9.99969449e-01 -4.10177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.01304373844158024 Centerline is valid? [True, True] Translation: X:49.97, Y:-139.75, Z:-4.10 [[ 9.99947774e-01 8.14194856e-03 -6.17722548e-03 4.99695815e+01] [ 8.14203144e-03 -9.99966853e-01 -1.17325563e-05 -1.39746100e+02] [-6.17711625e-03 -3.85632205e-05 -9.99980921e-01 -4.10317884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.012690324381547583 Centerline is valid? [True, True] Translation: X:50.00, Y:-139.75, Z:-4.11 [[ 9.96627876e-01 8.19770394e-02 -3.55549372e-03 5.00012075e+01] [ 8.19765403e-02 -9.96634218e-01 -2.86111772e-04 -1.39747473e+02] [-3.56698130e-03 -6.32010730e-06 -9.99993638e-01 -4.10622658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.012684015967700349 Centerline is valid? [True, True] Translation: X:50.03, Y:-139.75, Z:-4.11 [[ 9.87509302e-01 1.57548149e-01 -1.98973828e-03 5.00323399e+01] [ 1.57547827e-01 -9.87511307e-01 -3.18574054e-04 -1.39748257e+02] [-2.01507981e-03 1.11589929e-06 -9.99997970e-01 -4.10764874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.01262406356585342 Centerline is valid? [True, True] Translation: X:50.06, Y:-139.75, Z:-4.11 [[ 9.72193130e-01 2.34176942e-01 -1.29512629e-03 5.00627568e+01] [ 2.34176732e-01 -9.72193993e-01 -3.13064593e-04 -1.39746000e+02] [-1.33242651e-03 1.07080467e-06 -9.99999112e-01 -4.10830286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.012631394760988342 Centerline is valid? [True, True] Translation: X:50.09, Y:-139.74, Z:-4.11 [[ 9.50090388e-01 3.11974259e-01 -5.63135620e-04 5.00943782e+01] [ 3.11974205e-01 -9.50090554e-01 -1.84029424e-04 -1.39743607e+02] [-5.92442277e-04 -8.39200994e-07 -9.99999825e-01 -4.10929541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.012768881906298945 Centerline is valid? [True, True] Translation: X:50.13, Y:-139.74, Z:-4.11 [[ 9.21435606e-01 3.88530990e-01 -3.05306451e-04 5.01280970e+01] [ 3.88530970e-01 -9.21435657e-01 -1.27165850e-04 -1.39743581e+02] [-3.30728124e-04 -1.44586902e-06 -9.99999945e-01 -4.10951265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.013188383087621837 Centerline is valid? [True, True] Translation: X:50.16, Y:-139.74, Z:-4.11 [[ 8.85981143e-01 4.63717974e-01 -1.74797139e-03 5.01629117e+01] [ 4.63717115e-01 -8.85982867e-01 -8.92749510e-04 -1.39743013e+02] [-1.96265670e-03 -1.96050190e-05 -9.99998074e-01 -4.10803162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.013362446002109413 Centerline is valid? [True, True] Translation: X:50.20, Y:-139.74, Z:-4.11 [[ 8.45939344e-01 5.33265057e-01 -3.87368616e-03 5.01968313e+01] [ 5.33259761e-01 -8.45948211e-01 -2.37737349e-03 -1.39737095e+02] [-4.54470809e-03 -5.45671792e-05 -9.99989671e-01 -4.10641493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.013456629306771519 Centerline is valid? [True, True] Translation: X:50.23, Y:-139.73, Z:-4.10 [[ 8.01581089e-01 5.97868791e-01 -4.54598523e-03 5.02280479e+01] [ 5.97859654e-01 -8.01593977e-01 -3.30614194e-03 -1.39726566e+02] [-5.62067347e-03 -6.77202947e-05 -9.99984202e-01 -4.10496803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.012928616717526474 Centerline is valid? [True, True] Translation: X:50.26, Y:-139.71, Z:-4.10 [[ 7.55338741e-01 6.55320321e-01 -4.32014125e-03 5.02553038e+01] [ 6.55309923e-01 -7.55351094e-01 -3.69178876e-03 -1.39711264e+02] [-5.68252761e-03 -4.24803614e-05 -9.99983853e-01 -4.10483632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.012388581956678683 Centerline is valid? [True, True] Translation: X:50.28, Y:-139.69, Z:-4.11 [[ 7.05059805e-01 7.09136875e-01 -3.94515283e-03 5.02817211e+01] [ 7.09125897e-01 -7.05070842e-01 -3.94590984e-03 -1.39692125e+02] [-5.57980240e-03 -1.55076108e-05 -9.99984433e-01 -4.10584315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.012376692788672315 Centerline is valid? [True, True] Translation: X:50.31, Y:-139.67, Z:-4.11 [[ 6.50827779e-01 7.59217125e-01 -3.54391527e-03 5.03057959e+01] [ 7.59205791e-01 -6.50837427e-01 -4.14862102e-03 -1.39671480e+02] [-5.45621682e-03 9.47680513e-06 -9.99985115e-01 -4.10635572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.012679202959148777 Centerline is valid? [True, True] Translation: X:50.33, Y:-139.65, Z:-4.11 [[ 5.93155783e-01 8.05080336e-01 -3.44525328e-03 5.03284154e+01] [ 8.05066388e-01 -5.93165787e-01 -4.73917138e-03 -1.39649845e+02] [-5.85902006e-03 3.74092920e-05 -9.99982835e-01 -4.10671526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.012888779540638235 Centerline is valid? [True, True] Translation: X:50.35, Y:-139.63, Z:-4.11 [[ 5.29615532e-01 8.48230880e-01 -3.42982205e-03 5.03507627e+01] [ 8.48212450e-01 -5.29626635e-01 -5.59165311e-03 -1.39628536e+02] [-6.55953794e-03 5.22085676e-05 -9.99978485e-01 -4.10616507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.012969455650123527 Centerline is valid? [True, True] Translation: X:50.37, Y:-139.61, Z:-4.11 [[ 4.62127496e-01 8.86805813e-01 -3.69163346e-03 5.03731161e+01] [ 8.86776300e-01 -4.62142236e-01 -7.23513343e-03 -1.39606656e+02] [-8.12221813e-03 6.99010356e-05 -9.99967012e-01 -4.10525092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.012887721166639976 Centerline is valid? [True, True] Translation: X:50.39, Y:-139.58, Z:-4.10 [[ 3.90455640e-01 9.20614584e-01 -3.63045162e-03 5.03932404e+01] [ 9.20573027e-01 -3.90472511e-01 -8.74756393e-03 -1.39582760e+02] [-9.47072649e-03 7.34398335e-05 -9.99955149e-01 -4.10461567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.012765336096398194 Centerline is valid? [True, True] Translation: X:50.41, Y:-139.56, Z:-4.10 [[ 3.15744976e-01 9.48838807e-01 -3.16693396e-03 5.04115189e+01] [ 9.48789040e-01 -3.15760851e-01 -9.71818534e-03 -1.39557350e+02] [-1.02209851e-02 6.37159619e-05 -9.99947762e-01 -4.10473612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.012592008543485975 Centerline is valid? [True, True] Translation: X:50.43, Y:-139.53, Z:-4.10 [[ 2.38352858e-01 9.71175111e-01 -2.61118766e-03 5.04283498e+01] [ 9.71114739e-01 -2.38367156e-01 -1.08287951e-02 -1.39530595e+02] [-1.11390777e-02 4.53114458e-05 -9.99937958e-01 -4.10423863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.012471789539773999 Centerline is valid? [True, True] Translation: X:50.44, Y:-139.50, Z:-4.10 [[ 1.61321643e-01 9.86900559e-01 -1.61681450e-03 5.04425073e+01] [ 9.86848531e-01 -1.61329740e-01 -1.01337143e-02 -1.39502829e+02] [-1.02618086e-02 3.92364276e-05 -9.99947346e-01 -4.10491848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.012512471421919047 Centerline is valid? [True, True] Translation: X:50.45, Y:-139.47, Z:-4.11 [[ 8.40145390e-02 9.96464356e-01 -5.87140807e-04 5.04514438e+01] [ 9.96437296e-01 -8.40165846e-02 -7.34361539e-03 -1.39474885e+02] [-7.36698054e-03 3.19214638e-05 -9.99972863e-01 -4.10737148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.012447962110474766 Centerline is valid? [True, True] Translation: X:50.46, Y:-139.45, Z:-4.11 [[ 5.30966876e-03 9.99985904e-01 -7.52228281e-06 5.04598433e+01] [ 9.99970485e-01 -5.30962866e-03 -5.55319355e-03 -1.39445532e+02] [-5.55315521e-03 2.19635575e-05 -9.99984581e-01 -4.10885819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.012410188751615122 Centerline is valid? [True, True] Translation: X:50.47, Y:-139.42, Z:-4.11 [[-7.57806520e-02 9.97124445e-01 3.65966483e-04 5.04680749e+01] [ 9.97113181e-01 7.57815355e-02 -4.73956104e-03 -1.39415003e+02] [-4.75366567e-03 5.74297880e-06 -9.99988701e-01 -4.10911253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.012380770398625906 Centerline is valid? [True, True] Translation: X:50.47, Y:-139.39, Z:-4.11 [[-1.56759634e-01 9.87636405e-01 8.65777073e-04 5.04724591e+01] [ 9.87620966e-01 1.56762024e-01 -5.52231370e-03 -1.39385677e+02] [-5.58975901e-03 -1.06162839e-05 -9.99984377e-01 -4.10784916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.012559285032216856 Centerline is valid? [True, True] Translation: X:50.48, Y:-139.35, Z:-4.11 [[-2.36917712e-01 9.71528523e-01 1.52531889e-03 5.04752770e+01] [ 9.71507431e-01 2.36922620e-01 -6.40190922e-03 -1.39354378e+02] [-6.58101995e-03 -3.48670515e-05 -9.99978344e-01 -4.10777283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.013157267199958566 Centerline is valid? [True, True] Translation: X:50.48, Y:-139.32, Z:-4.11 [[-3.16173711e-01 9.48697564e-01 2.66780171e-03 5.04755010e+01] [ 9.48661592e-01 3.16184955e-01 -8.26181583e-03 -1.39323472e+02] [-8.68148331e-03 -8.13279549e-05 -9.99962312e-01 -4.10588657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.013477004328954685 Centerline is valid? [True, True] Translation: X:50.47, Y:-139.29, Z:-4.10 [[-3.91277739e-01 9.20265719e-01 3.56889488e-03 5.04711583e+01] [ 9.20224950e-01 3.91294000e-01 -8.66296716e-03 -1.39292766e+02] [-9.36871886e-03 -1.05440084e-04 -9.99956107e-01 -4.10491030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.01338088352115657 Centerline is valid? [True, True] Translation: X:50.46, Y:-139.26, Z:-4.11 [[-4.62838586e-01 8.86433220e-01 4.07309454e-03 5.04648176e+01] [ 8.86396821e-01 4.62856495e-01 -8.03369429e-03 -1.39261470e+02] [-9.00659176e-03 -1.07925656e-04 -9.99959434e-01 -4.10530425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.013401045585692006 Centerline is valid? [True, True] Translation: X:50.46, Y:-139.23, Z:-4.11 [[-5.30939310e-01 8.47396404e-01 4.77330166e-03 5.04564735e+01] [ 8.47360265e-01 5.30960754e-01 -7.82675181e-03 -1.39230543e+02] [-9.16679719e-03 -1.10824043e-04 -9.99957978e-01 -4.10516643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.013143854368082195 Centerline is valid? [True, True] Translation: X:50.45, Y:-139.20, Z:-4.10 [[-5.95342829e-01 8.03451732e-01 5.67720819e-03 5.04452803e+01] [ 8.03413377e-01 5.95369887e-01 -7.85131663e-03 -1.39201285e+02] [-9.68819274e-03 -1.13080051e-04 -9.99953062e-01 -4.10479161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.012773875799337937 Centerline is valid? [True, True] Translation: X:50.43, Y:-139.17, Z:-4.11 [[-6.54351590e-01 7.56165612e-01 6.12896133e-03 5.04289570e+01] [ 7.56131238e-01 6.54380287e-01 -7.21045337e-03 -1.39174757e+02] [-9.46296836e-03 -8.38725046e-05 -9.99955222e-01 -4.10533270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.012553776582640994 Centerline is valid? [True, True] Translation: X:50.41, Y:-139.15, Z:-4.11 [[-7.09884552e-01 7.04291320e-01 6.13678894e-03 5.04113663e+01] [ 7.04264317e-01 7.09911075e-01 -6.16752600e-03 -1.39149592e+02] [-8.70030945e-03 -5.63099649e-05 -9.99962150e-01 -4.10639130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.012342381229284681 Centerline is valid? [True, True] Translation: X:50.39, Y:-139.13, Z:-4.11 [[-7.60957481e-01 6.48776413e-01 5.73396887e-03 5.03908976e+01] [ 6.48757733e-01 7.60979084e-01 -4.92323574e-03 -1.39127902e+02] [-7.55750960e-03 -2.64164239e-05 -9.99971441e-01 -4.10774586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.012305071287585592 Centerline is valid? [True, True] Translation: X:50.41, Y:-139.11, Z:-4.11 [[-8.04439427e-01 5.94002527e-01 6.18110489e-03 5.04061520e+01] [ 5.93984800e-01 8.04463174e-01 -4.58912953e-03 -1.39107615e+02] [-7.69842579e-03 -2.01943766e-05 -9.99970367e-01 -4.10719547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.012389188726348487 Centerline is valid? [True, True] Translation: X:50.42, Y:-139.09, Z:-4.11 [[-8.44467651e-01 5.35561234e-01 6.96783034e-03 5.04223506e+01] [ 5.35542790e-01 8.44496397e-01 -4.44477589e-03 -1.39085433e+02] [-8.26475728e-03 -2.18981604e-05 -9.99965846e-01 -4.10645482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.012732338581941593 Centerline is valid? [True, True] Translation: X:50.78, Y:-138.54, Z:-5.15 [[-8.01176513e-01 -5.98378321e-01 7.71876638e-03 5.07753597e+01] [ 5.98351838e-01 -8.01213688e-01 -5.63072128e-03 -1.38536186e+02] [ 9.55368282e-03 1.07336402e-04 9.99954357e-01 -5.14748909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.01311237041758848 Centerline is valid? [True, True] Translation: X:50.39, Y:-139.05, Z:-4.10 [[-8.49485813e-01 5.27544926e-01 8.37886798e-03 5.03888689e+01] [ 5.27518273e-01 8.49527130e-01 -5.30356597e-03 -1.39051706e+02] [-9.91594498e-03 -8.52980882e-05 -9.99950832e-01 -4.10319267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.013007810592118293 Centerline is valid? [True, True] Translation: X:50.40, Y:-139.03, Z:-4.10 [[-8.85419347e-01 4.64715444e-01 8.49333264e-03 5.04038513e+01] [ 4.64693007e-01 8.85460076e-01 -4.56751400e-03 -1.39027010e+02] [-9.64310126e-03 -9.73729803e-05 -9.99953500e-01 -4.10460289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.012755777611772545 Centerline is valid? [True, True] Translation: X:50.41, Y:-139.00, Z:-4.11 [[-9.15819488e-01 4.01521662e-01 7.41755083e-03 5.04131215e+01] [ 4.01507821e-01 9.15849523e-01 -3.33475377e-03 -1.39000548e+02] [-8.13233627e-03 -7.58278210e-05 -9.99966929e-01 -4.10729672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.012652472684162256 Centerline is valid? [True, True] Translation: X:50.42, Y:-138.97, Z:-4.11 [[-9.41292044e-01 3.37544923e-01 5.71958069e-03 5.04198919e+01] [ 3.37538405e-01 9.41309420e-01 -2.09813579e-03 -1.38973342e+02] [-6.09211026e-03 -4.43803837e-05 -9.99981442e-01 -4.10800597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.012174019460913928 Centerline is valid? [True, True] Translation: X:50.43, Y:-138.95, Z:-4.11 [[-9.61526695e-01 2.74671352e-01 4.69707586e-03 5.04288978e+01] [ 2.74668014e-01 9.61538168e-01 -1.35422396e-03 -1.38949422e+02] [-4.88838425e-03 -1.19859933e-05 -9.99988052e-01 -4.10833433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.012221940350507294 Centerline is valid? [True, True] Translation: X:50.44, Y:-138.93, Z:-4.11 [[-9.77818453e-01 2.09406949e-01 4.45000072e-03 5.04384391e+01] [ 2.09404806e-01 9.77828579e-01 -9.47257219e-04 -1.38925730e+02] [-4.54970012e-03 5.60594989e-06 -9.99989650e-01 -4.10780531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.012478908008694183 Centerline is valid? [True, True] Translation: X:50.57, Y:-138.30, Z:-5.14 [[-9.63255558e-01 -2.68560153e-01 3.76483938e-03 5.05730647e+01] [ 2.68557931e-01 -9.63262915e-01 -1.09320555e-03 -1.38301292e+02] [ 3.92012161e-03 -4.19588471e-05 9.99992316e-01 -5.14358459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.01308899506971318 Centerline is valid? [True, True] Translation: X:50.39, Y:-138.92, Z:-4.11 [[-9.76875662e-01 2.13761580e-01 4.46406764e-03 5.03944158e+01] [ 2.13759552e-01 9.76885861e-01 -9.32245534e-04 -1.38921812e+02] [-4.56016284e-03 4.35491255e-05 -9.99989602e-01 -4.10736416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.013223638461676995 Centerline is valid? [True, True] Translation: X:50.39, Y:-138.89, Z:-4.11 [[-9.89442174e-01 1.44827120e-01 5.41198541e-03 5.03919729e+01] [ 1.44825269e-01 9.89456973e-01 -7.34543972e-04 -1.38893324e+02] [-5.46130859e-03 5.70034561e-05 -9.99985085e-01 -4.10614204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.013005130892073523 Centerline is valid? [True, True] Translation: X:50.40, Y:-138.86, Z:-4.10 [[-9.97338301e-01 7.25607843e-02 7.15858792e-03 5.03969778e+01] [ 7.25593654e-02 9.97363990e-01 -4.58069855e-04 -1.38863396e+02] [-7.17295572e-03 6.25719858e-05 -9.99974272e-01 -4.10475910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.013067056093565297 Centerline is valid? [True, True] Translation: X:50.39, Y:-138.83, Z:-4.10 [[-9.99969242e-01 -2.17679288e-04 7.84017816e-03 5.03896077e+01] [-2.17244056e-04 9.99999975e-01 5.63647176e-05 -1.38834025e+02] [-7.84019024e-03 5.46597518e-05 -9.99969264e-01 -4.10305759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.01266918484946297 Centerline is valid? [True, True] Translation: X:50.39, Y:-138.20, Z:-5.15 [[-9.98486072e-01 -5.45700776e-02 6.90447418e-03 5.03854985e+01] [ 5.45680155e-02 -9.98509937e-01 -4.86826878e-04 -1.38202428e+02] [ 6.92075226e-03 -1.09326403e-04 9.99976045e-01 -5.14704393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.012944333576025016 Centerline is valid? [True, True] Translation: X:50.33, Y:-138.83, Z:-4.10 [[-9.99972878e-01 -5.19884835e-03 5.21683702e-03 5.03285823e+01] [-5.19860331e-03 9.99986485e-01 6.05299104e-05 -1.38832439e+02] [-5.21708120e-03 3.34080025e-05 -9.99986390e-01 -4.10440801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.012897359922361455 Centerline is valid? [True, True] Translation: X:50.32, Y:-138.20, Z:-5.15 [[-9.98820174e-01 -4.83061018e-02 4.97801756e-03 5.03239507e+01] [ 4.83052687e-02 -9.98832578e-01 -2.87524293e-04 -1.38203890e+02] [ 4.98609529e-03 -4.67205887e-05 9.99987568e-01 -5.14657630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.013001419012284486 Centerline is valid? [True, True] Translation: X:50.27, Y:-138.83, Z:-4.10 [[-9.99955507e-01 -7.39739600e-03 5.85344734e-03 5.02667821e+01] [-7.39697537e-03 9.99972638e-01 9.35060788e-05 -1.38833087e+02] [-5.85397888e-03 5.02041126e-05 -9.99982864e-01 -4.10399616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.013044292947378806 Centerline is valid? [True, True] Translation: X:50.26, Y:-138.21, Z:-5.15 [[-9.99065331e-01 -4.28300268e-02 5.83548844e-03 5.02594619e+01] [ 4.28289991e-02 -9.99082372e-01 -3.01033609e-04 -1.38206068e+02] [ 5.84302691e-03 -5.08241133e-05 9.99982928e-01 -5.14791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.013284285374007885 Centerline is valid? [True, True] Translation: X:50.20, Y:-138.83, Z:-4.10 [[-9.99924392e-01 -1.12066728e-02 5.06173283e-03 5.02047606e+01] [-1.12062956e-02 9.99937202e-01 1.02881040e-04 -1.38833552e+02] [-5.06256792e-03 4.61499873e-05 -9.99987184e-01 -4.10443184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.01310806679393404 Centerline is valid? [True, True] Translation: X:50.20, Y:-138.80, Z:-4.10 [[-9.96588463e-01 -8.23848671e-02 4.91617329e-03 5.01977835e+01] [-8.23836453e-02 9.96600588e-01 4.50862069e-04 -1.38804647e+02] [-4.93660541e-03 4.43116599e-05 -9.99987814e-01 -4.10442921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.012993195429887132 Centerline is valid? [True, True] Translation: X:50.19, Y:-138.78, Z:-4.10 [[-9.88119226e-01 -1.53594510e-01 5.39648015e-03 5.01855488e+01] [-1.53591964e-01 9.88133961e-01 8.85508219e-04 -1.38777231e+02] [-5.46845451e-03 4.61317081e-05 -9.99985047e-01 -4.10364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.012808157681066447 Centerline is valid? [True, True] Translation: X:50.17, Y:-138.75, Z:-4.10 [[-9.74411249e-01 -2.24702922e-01 5.59588088e-03 5.01728727e+01] [-2.24698967e-01 9.74427316e-01 1.33397421e-03 -1.38750279e+02] [-5.75252710e-03 4.24508269e-05 -9.99983453e-01 -4.10294956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.01251337985489819 Centerline is valid? [True, True] Translation: X:50.03, Y:-138.16, Z:-5.15 [[-9.85282023e-01 1.70831259e-01 6.00131920e-03 5.00275529e+01] [-1.70828226e-01 -9.85300300e-01 1.01831331e-03 -1.38155974e+02] [ 6.08706135e-03 -2.18689131e-05 9.99981474e-01 -5.14892989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.012445937394439098 Centerline is valid? [True, True] Translation: X:50.07, Y:-138.77, Z:-4.10 [[-9.71991062e-01 -2.34936773e-01 6.17159423e-03 5.00705443e+01] [-2.34931919e-01 9.72010654e-01 1.51043998e-03 -1.38767736e+02] [-6.35371325e-03 1.82296880e-05 -9.99979815e-01 -4.10091433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.012325415558713717 Centerline is valid? [True, True] Translation: X:50.04, Y:-138.74, Z:-4.10 [[-9.52023597e-01 -3.05960448e-01 6.26698915e-03 5.00445406e+01] [-3.05953803e-01 9.52044224e-01 2.01638598e-03 -1.38743591e+02] [-6.58338518e-03 2.23787067e-06 -9.99978329e-01 -4.10120123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.012309948225505364 Centerline is valid? [True, True] Translation: X:49.85, Y:-138.18, Z:-5.15 [[-9.70987569e-01 2.39044967e-01 6.37529097e-03 4.98450437e+01] [-2.39039839e-01 -9.71008498e-01 1.56585680e-03 -1.38184479e+02] [ 6.56477189e-03 -3.52103753e-06 9.99978452e-01 -5.15092027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.012351541988399396 Centerline is valid? [True, True] Translation: X:49.93, Y:-138.78, Z:-4.10 [[-9.48932146e-01 -3.15408446e-01 6.73006456e-03 4.99259287e+01] [-3.15400701e-01 9.48956011e-01 2.21049543e-03 -1.38776085e+02] [-7.08374416e-03 -2.50569068e-05 -9.99974910e-01 -4.09959389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.012302721551373968 Centerline is valid? [True, True] Translation: X:49.72, Y:-138.22, Z:-5.15 [[-9.69645334e-01 2.44403253e-01 7.41464160e-03 4.97210144e+01] [-2.44395593e-01 -9.69673680e-01 1.93620665e-03 -1.38224301e+02] [ 7.66299801e-03 6.53280107e-05 9.99970637e-01 -5.15282922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.012194399877493472 Centerline is valid? [True, True] Translation: X:49.81, Y:-138.82, Z:-4.10 [[-9.47962314e-01 -3.18293909e-01 7.51253026e-03 4.98051466e+01] [-3.18283942e-01 9.47992082e-01 2.51893595e-03 -1.38817648e+02] [-7.92358117e-03 -3.26139166e-06 -9.99968608e-01 -4.09837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.012427712273230465 Centerline is valid? [True, True] Translation: X:49.77, Y:-138.80, Z:-4.10 [[-9.23104585e-01 -3.84445711e-01 8.91183879e-03 4.97707273e+01] [-3.84427690e-01 9.23147602e-01 3.72234720e-03 -1.38803746e+02] [-9.65798303e-03 1.01581623e-05 -9.99953361e-01 -4.09612053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.012256746574498547 Centerline is valid? [True, True] Translation: X:49.72, Y:-138.80, Z:-4.10 [[-8.92327248e-01 -4.51285950e-01 9.64746620e-03 4.97162852e+01] [-4.51259517e-01 8.92379399e-01 4.88436518e-03 -1.38798987e+02] [-1.08134455e-02 4.94120635e-06 -9.99941533e-01 -4.09629209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.01252947794529373 Centerline is valid? [True, True] Translation: X:49.65, Y:-138.80, Z:-4.09 [[-8.56172222e-01 -5.16593487e-01 1.00147975e-02 4.96509596e+01] [-5.16558237e-01 8.56230792e-01 6.03481666e-03 -1.38804570e+02] [-1.16925250e-02 -6.38377090e-06 -9.99931640e-01 -4.09297646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.012492782313721593 Centerline is valid? [True, True] Translation: X:49.58, Y:-138.82, Z:-4.09 [[-8.14638139e-01 -5.79860129e-01 1.12664675e-02 4.95792402e+01] [-5.79805217e-01 8.14716042e-01 7.98001536e-03 -1.38820669e+02] [-1.38062645e-02 -3.15317625e-05 -9.99904689e-01 -4.09312780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.01250361335363283 Centerline is valid? [True, True] Translation: X:49.50, Y:-138.85, Z:-4.09 [[-7.68314546e-01 -6.39968313e-01 1.15463370e-02 4.95036449e+01] [-6.39897164e-01 7.68401299e-01 9.54271609e-03 -1.38846835e+02] [-1.49792563e-02 -5.66607486e-05 -9.99887803e-01 -4.09306395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.012833512186269104 Centerline is valid? [True, True] Translation: X:49.43, Y:-138.88, Z:-4.09 [[-7.17354735e-01 -6.96614642e-01 1.14116010e-02 4.94264486e+01] [-6.96528331e-01 7.17445492e-01 1.09658648e-02 -1.38882266e+02] [-1.58261837e-02 -8.20884050e-05 -9.99874755e-01 -4.09145433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.012935192409622813 Centerline is valid? [True, True] Translation: X:49.35, Y:-138.93, Z:-4.09 [[-6.61657379e-01 -7.49725488e-01 1.10093598e-02 4.93484966e+01] [-7.49624646e-01 6.61748955e-01 1.22967746e-02 -1.38930709e+02] [-1.65046376e-02 -1.16635778e-04 -9.99863782e-01 -4.09083744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.014103595141992891 Centerline is valid? [True, True] Translation: X:49.27, Y:-138.99, Z:-4.09 [[-5.99722001e-01 -8.00153320e-01 9.39072288e-03 4.92662442e+01] [-8.00059907e-01 5.99795491e-01 1.22275582e-02 -1.38985061e+02] [-1.54164345e-02 -1.80005234e-04 -9.99881144e-01 -4.09038870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.014980133849343838 Centerline is valid? [True, True] Translation: X:49.19, Y:-139.05, Z:-4.09 [[-5.34818819e-01 -8.44924180e-01 8.48296219e-03 4.91896994e+01] [-8.44824700e-01 5.34886041e-01 1.29672312e-02 -1.39046462e+02] [-1.54937453e-02 -2.31496690e-04 -9.99879938e-01 -4.09083353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.014895538570321555 Centerline is valid? [True, True] Translation: X:49.12, Y:-139.12, Z:-4.09 [[-4.66450106e-01 -8.84517663e-01 7.26651505e-03 4.91152309e+01] [-8.84419356e-01 4.66506622e-01 1.31899770e-02 -1.39119067e+02] [-1.50566451e-02 -2.74180376e-04 -9.99886605e-01 -4.09289772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.01578275343198566 Centerline is valid? [True, True] Translation: X:49.04, Y:-139.20, Z:-4.09 [[-3.93443565e-01 -9.19328353e-01 6.12700180e-03 4.90408380e+01] [-9.19230124e-01 3.93491120e-01 1.34431640e-02 -1.39201285e+02] [-1.47696026e-02 -3.42998247e-04 -9.99890865e-01 -4.09359264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.017360524362596153 Centerline is valid? [True, True] Translation: X:48.97, Y:-139.29, Z:-4.09 [[-3.19725077e-01 -9.47496099e-01 5.19791966e-03 4.89716146e+01] [-9.47390228e-01 3.19767083e-01 1.41692865e-02 -1.39288738e+02] [-1.50874673e-02 -3.94182083e-04 -9.99886100e-01 -4.09240579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.017649678090297053 Centerline is valid? [True, True] Translation: X:48.91, Y:-139.38, Z:-4.09 [[-2.44960538e-01 -9.69524408e-01 4.09352860e-03 4.89144106e+01] [-9.69416220e-01 2.44994381e-01 1.44894893e-02 -1.39377282e+02] [-1.50508050e-02 -4.18979924e-04 -9.99886643e-01 -4.09322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.017180851642117575 Centerline is valid? [True, True] Translation: X:48.86, Y:-139.48, Z:-4.09 [[-1.71443826e-01 -9.85190175e-01 2.70813814e-03 4.88642989e+01] [-9.85098728e-01 1.71464824e-01 1.34279698e-02 -1.39475592e+02] [-1.36934544e-02 -3.65640912e-04 -9.99906173e-01 -4.09471469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.016111618274201434 Centerline is valid? [True, True] Translation: X:48.82, Y:-139.58, Z:-4.10 [[-9.90938364e-02 -9.95077102e-01 1.40457922e-03 4.88234471e+01] [-9.95011850e-01 9.91034278e-02 1.13986143e-02 -1.39580534e+02] [-1.14816987e-02 -2.68040547e-04 -9.99934047e-01 -4.09717659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.015776432362131523 Centerline is valid? [True, True] Translation: X:48.79, Y:-139.69, Z:-4.10 [[-2.56060090e-02 -9.99672001e-01 4.71525863e-04 4.87898468e+01] [-9.99619669e-01 2.56094943e-02 1.02309393e-02 -1.39686500e+02] [-1.02396591e-02 -2.09373002e-04 -9.99947551e-01 -4.09803949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.014809423699095445 Centerline is valid? [True, True] Translation: X:48.77, Y:-139.80, Z:-4.10 [[ 4.78588926e-02 -9.98854054e-01 -3.23490888e-04 4.87658428e+01] [-9.98798031e-01 -4.78596349e-02 1.05805985e-02 -1.39799494e+02] [-1.05839559e-02 -1.83273665e-04 -9.99943972e-01 -4.09850072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.013512856455445478 Centerline is valid? [True, True] Translation: X:48.75, Y:-139.91, Z:-4.10 [[ 1.19457677e-01 -9.92838385e-01 -1.34367007e-03 4.87530603e+01] [-9.92759922e-01 -1.19465130e-01 1.24828298e-02 -1.39912204e+02] [-1.25539543e-02 -1.57228065e-04 -9.99921184e-01 -4.09754778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.013637511069355103 Centerline is valid? [True, True] Translation: X:48.74, Y:-140.03, Z:-4.10 [[ 1.92337584e-01 -9.81326010e-01 -2.34847305e-03 4.87435114e+01] [-9.81244810e-01 -1.92351881e-01 1.26244321e-02 -1.40025011e+02] [-1.28404168e-02 -1.23725791e-04 -9.99917551e-01 -4.09577886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.01331002531603297 Centerline is valid? [True, True] Translation: X:48.74, Y:-140.14, Z:-4.10 [[ 2.66427110e-01 -9.63849214e-01 -3.35963487e-03 4.87436006e+01] [-9.63766855e-01 -2.66448265e-01 1.26004411e-02 -1.40143083e+02] [-1.30400941e-02 -1.19194369e-04 -9.99914967e-01 -4.09686955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.013064277425438146 Centerline is valid? [True, True] Translation: X:48.75, Y:-140.26, Z:-4.10 [[ 3.39978608e-01 -9.40424476e-01 -4.04361847e-03 4.87496717e+01] [-9.40353713e-01 -3.40002633e-01 1.15371213e-02 -1.40258451e+02] [-1.22246322e-02 -1.19942795e-04 -9.99925269e-01 -4.09917583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.0132714409164396 Centerline is valid? [True, True] Translation: X:48.76, Y:-140.37, Z:-4.10 [[ 4.12203594e-01 -9.11082231e-01 -4.16722294e-03 4.87621787e+01] [-9.11032777e-01 -4.12224642e-01 9.49333642e-03 -1.40372252e+02] [-1.03670421e-02 -1.16710702e-04 -9.99946254e-01 -4.10090527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.013225956763979071 Centerline is valid? [True, True] Translation: X:48.79, Y:-140.49, Z:-4.10 [[ 4.80604112e-01 -8.76926415e-01 -4.44419331e-03 4.87907955e+01] [-8.76886855e-01 -4.80624647e-01 8.33022621e-03 -1.40494875e+02] [-9.44098425e-03 -1.06486275e-04 -9.99955427e-01 -4.10181802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.013031732817887071 Centerline is valid? [True, True] Translation: X:48.82, Y:-140.59, Z:-4.10 [[ 5.45012487e-01 -8.38414673e-01 -4.71445227e-03 4.88176583e+01] [-8.38381912e-01 -5.45032870e-01 7.41221185e-03 -1.40594190e+02] [-8.78403863e-03 -8.72365014e-05 -9.99961416e-01 -4.10279923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.012533695358939953 Centerline is valid? [True, True] Translation: X:48.86, Y:-140.69, Z:-4.11 [[ 6.03480551e-01 -7.97370353e-01 -3.42696029e-03 4.88554018e+01] [-7.97357225e-01 -6.03490281e-01 4.57572509e-03 -1.40691829e+02] [-5.71668476e-03 -2.88495553e-05 -9.99983659e-01 -4.10573611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.012500500404430865 Centerline is valid? [True, True] Translation: X:48.91, Y:-140.80, Z:-4.11 [[ 6.58824136e-01 -7.52286576e-01 -3.95794798e-03 4.89090502e+01] [-7.52272984e-01 -6.58836025e-01 4.52220361e-03 -1.40796618e+02] [-6.00963178e-03 -1.87955128e-06 -9.99981942e-01 -4.10553697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.013052974014938368 Centerline is valid? [True, True] Translation: X:48.96, Y:-140.88, Z:-4.10 [[ 7.08693741e-01 -7.05493676e-01 -5.64394806e-03 4.89564749e+01] [-7.05471952e-01 -7.08716213e-01 5.53670123e-03 -1.40877771e+02] [-7.90606519e-03 5.78215449e-05 -9.99968745e-01 -4.10360487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.013131742980840232 Centerline is valid? [True, True] Translation: X:48.98, Y:-140.91, Z:-4.10 [[ 7.60328410e-01 -6.49506656e-01 -6.46631503e-03 4.89760282e+01] [-6.49484049e-01 -7.60355902e-01 5.41964572e-03 -1.40908672e+02] [-8.43679676e-03 7.90578496e-05 -9.99964407e-01 -4.10354096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.01374611178980608 Centerline is valid? [True, True] Translation: X:49.00, Y:-140.94, Z:-4.10 [[ 8.06928925e-01 -5.90603228e-01 -7.31682507e-03 4.89987365e+01] [-5.90580204e-01 -8.06962090e-01 5.21624251e-03 -1.40935066e+02] [-8.98513012e-03 1.12035079e-04 -9.99959627e-01 -4.10248794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.013918829850753581 Centerline is valid? [True, True] Translation: X:49.02, Y:-140.96, Z:-4.10 [[ 8.49756604e-01 -5.27121995e-01 -7.49103479e-03 4.90224753e+01] [-5.27102792e-01 -8.49789613e-01 4.50114005e-03 -1.40962487e+02] [-8.73845348e-03 1.23671860e-04 -9.99961811e-01 -4.10331643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.013817920358293745 Centerline is valid? [True, True] Translation: X:49.05, Y:-140.99, Z:-4.10 [[ 8.88181005e-01 -4.59435178e-01 -7.33615192e-03 4.90472224e+01] [-4.59420611e-01 -8.88211294e-01 3.66047798e-03 -1.40990250e+02] [-8.19780534e-03 1.19212382e-04 -9.99966390e-01 -4.10431789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.014019937203702362 Centerline is valid? [True, True] Translation: X:49.07, Y:-141.01, Z:-4.10 [[ 9.22114186e-01 -3.86838464e-01 -7.83776949e-03 4.90746389e+01] [-3.86825474e-01 -9.22147489e-01 3.17199326e-03 -1.41013169e+02] [-8.45462845e-03 1.06908919e-04 -9.99964253e-01 -4.10387694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.01296279112681932 Centerline is valid? [True, True] Translation: X:49.10, Y:-141.04, Z:-4.10 [[ 9.51742435e-01 -3.06775980e-01 -8.65072435e-03 4.91020614e+01] [-3.06763784e-01 -9.51781748e-01 2.73591238e-03 -1.41040486e+02] [-9.07291374e-03 4.98450223e-05 -9.99958839e-01 -4.10308364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.012667417953309895 Centerline is valid? [True, True] Translation: X:49.13, Y:-141.07, Z:-4.10 [[ 9.74382083e-01 -2.24671689e-01 -1.01088086e-02 4.91321255e+01] [-2.24659436e-01 -9.74434519e-01 2.34641938e-03 -1.41067737e+02] [-1.03775461e-02 -1.52697582e-05 -9.99946152e-01 -4.10136072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.013950128879514908 Centerline is valid? [True, True] Translation: X:49.16, Y:-141.09, Z:-4.10 [[ 9.90400097e-01 -1.37806013e-01 -1.08236126e-02 4.91637803e+01] [-1.37796383e-01 -9.90459230e-01 1.63408404e-03 -1.41092411e+02] [-1.09455336e-02 -1.26942327e-04 -9.99940088e-01 -4.09992743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.01454077841782646 Centerline is valid? [True, True] Translation: X:49.20, Y:-141.11, Z:-4.10 [[ 9.98457184e-01 -5.46704673e-02 -9.71552055e-03 4.91954503e+01] [-5.46662880e-02 -9.98504438e-01 6.95408279e-04 -1.41107236e+02] [-9.73900868e-03 -1.63223948e-04 -9.99952561e-01 -4.10154922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.01580794046916383 Centerline is valid? [True, True] Translation: X:49.23, Y:-141.12, Z:-4.10 [[ 9.99565594e-01 2.83262973e-02 -8.13905161e-03 4.92292585e+01] [ 2.83267748e-02 -9.99598715e-01 -5.66206930e-05 -1.41119571e+02] [-8.13738938e-03 -1.73956986e-04 -9.99966876e-01 -4.10283900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.015399570922894115 Centerline is valid? [True, True] Translation: X:49.26, Y:-141.13, Z:-4.10 [[ 9.94224898e-01 1.06981371e-01 -8.47578142e-03 4.92635374e+01] [ 1.06979076e-01 -9.94261008e-01 -7.24992473e-04 -1.41127379e+02] [-8.50469967e-03 -1.85925701e-04 -9.99963817e-01 -4.10241783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.015847548379750498 Centerline is valid? [True, True] Translation: X:49.30, Y:-141.13, Z:-4.10 [[ 9.83133462e-01 1.82754217e-01 -7.03508902e-03 4.92975481e+01] [ 1.82750579e-01 -9.83158622e-01 -1.16204704e-03 -1.41131148e+02] [-7.12897742e-03 -1.43219264e-04 -9.99974578e-01 -4.10298854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.015308652452532507 Centerline is valid? [True, True] Translation: X:49.33, Y:-141.13, Z:-4.10 [[ 9.66119212e-01 2.58032276e-01 -5.74572311e-03 4.93315728e+01] [ 2.58028400e-01 -9.66136291e-01 -1.41865552e-03 -1.41129197e+02] [-5.91721052e-03 -1.11969392e-04 -9.99982487e-01 -4.10353498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.015118963120624 Centerline is valid? [True, True] Translation: X:49.37, Y:-141.13, Z:-4.10 [[ 9.43243851e-01 3.32054411e-01 -5.55934304e-03 4.93660349e+01] [ 3.32049302e-01 -9.43260228e-01 -1.84502238e-03 -1.41125513e+02] [-5.85655500e-03 -1.05669967e-04 -9.99982845e-01 -4.10329650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.015145922628862102 Centerline is valid? [True, True] Translation: X:49.40, Y:-141.12, Z:-4.10 [[ 9.15510014e-01 4.02231542e-01 -7.15548546e-03 4.93977242e+01] [ 4.02220259e-01 -9.15537969e-01 -3.01505374e-03 -1.41117537e+02] [-7.76386835e-03 -1.17769316e-04 -9.99969854e-01 -4.10111194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.014554943286462452 Centerline is valid? [True, True] Translation: X:49.43, Y:-141.10, Z:-4.10 [[ 8.82712778e-01 4.69851482e-01 -7.59850910e-03 4.94252195e+01] [ 4.69835074e-01 -8.82745476e-01 -3.92789547e-03 -1.41100247e+02] [-8.55307704e-03 -1.02842573e-04 -9.99963417e-01 -4.10021499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.01337660655805539 Centerline is valid? [True, True] Translation: X:49.46, Y:-141.09, Z:-4.10 [[ 8.45095274e-01 5.34557594e-01 -7.88393713e-03 4.94559171e+01] [ 5.34535207e-01 -8.45132045e-01 -4.89280872e-03 -1.41085572e+02] [-9.27845596e-03 -7.93524388e-05 -9.99956951e-01 -4.10103409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.013055434150360094 Centerline is valid? [True, True] Translation: X:49.48, Y:-141.07, Z:-4.10 [[ 8.04230685e-01 5.94254542e-01 -8.63392812e-03 4.94839792e+01] [ 5.94220659e-01 -8.04277029e-01 -6.34578354e-03 -1.41069056e+02] [-1.07150807e-02 -2.69846167e-05 -9.99942592e-01 -4.09978854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.013123249252442709 Centerline is valid? [True, True] Translation: X:49.51, Y:-141.05, Z:-4.10 [[ 7.57879256e-01 6.52337997e-01 -8.61228884e-03 4.95110203e+01] [ 6.52295625e-01 -7.57928188e-01 -7.43499350e-03 -1.41050755e+02] [-1.13776252e-02 1.70690094e-05 -9.99935273e-01 -4.09946484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.01387392182281402 Centerline is valid? [True, True] Translation: X:49.53, Y:-141.03, Z:-4.10 [[ 7.07236326e-01 7.06927232e-01 -8.40644053e-03 4.95327349e+01] [ 7.06876217e-01 -7.07286282e-01 -8.49291395e-03 -1.41028265e+02] [-1.19496322e-02 6.41843758e-05 -9.99928599e-01 -4.09745260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.013328829183355371 Centerline is valid? [True, True] Translation: X:49.56, Y:-141.01, Z:-4.10 [[ 6.49651533e-01 7.60194724e-01 -7.54102931e-03 4.95586298e+01] [ 7.60142401e-01 -6.49695296e-01 -8.91919751e-03 -1.41009994e+02] [-1.16796982e-02 6.21142059e-05 -9.99931788e-01 -4.10119414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.013292690886979423 Centerline is valid? [True, True] Translation: X:49.58, Y:-140.99, Z:-4.10 [[ 5.86698121e-01 8.09779498e-01 -6.51768525e-03 4.95842516e+01] [ 8.09728778e-01 -5.86734321e-01 -9.06322873e-03 -1.40990485e+02] [-1.11633664e-02 3.98219497e-05 -9.99937687e-01 -4.10161597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.013268537431079242 Centerline is valid? [True, True] Translation: X:49.61, Y:-140.97, Z:-4.10 [[ 5.16343894e-01 8.56364489e-01 -5.37070566e-03 4.96081966e+01] [ 8.56318685e-01 -5.16371824e-01 -8.85710795e-03 -1.40969205e+02] [-1.03581938e-02 -2.57219981e-05 -9.99946352e-01 -4.10192382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.013739609207040284 Centerline is valid? [True, True] Translation: X:49.63, Y:-140.95, Z:-4.10 [[ 4.42213974e-01 8.96898009e-01 -4.55672707e-03 4.96322268e+01] [ 8.96852404e-01 -4.42237442e-01 -9.04495472e-03 -1.40946592e+02] [-1.01275572e-02 -8.69062570e-05 -9.99948711e-01 -4.10263481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.015398727248947964 Centerline is valid? [True, True] Translation: X:49.66, Y:-140.92, Z:-4.10 [[ 3.61855092e-01 9.32226379e-01 -3.85624803e-03 4.96571439e+01] [ 9.32178725e-01 -3.61875593e-01 -9.42767311e-03 -1.40923299e+02] [-1.01842076e-02 -1.83260848e-04 -9.99948123e-01 -4.10229345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.01629997963962905 Centerline is valid? [True, True] Translation: X:49.68, Y:-140.90, Z:-4.10 [[ 2.83193117e-01 9.59057937e-01 -3.08739920e-03 4.96783017e+01] [ 9.59009486e-01 -2.83209853e-01 -9.64287410e-03 -1.40897362e+02] [-1.01224568e-02 -2.30049544e-04 -9.99948740e-01 -4.10232457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.017459925873733635 Centerline is valid? [True, True] Translation: X:49.70, Y:-140.87, Z:-4.10 [[ 2.03052751e-01 9.79165834e-01 -1.96197370e-03 4.96954079e+01] [ 9.79130483e-01 -2.03062098e-01 -8.32358133e-03 -1.40869056e+02] [-8.54856895e-03 -2.30902177e-04 -9.99963434e-01 -4.10358529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.017419315272501023 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.84, Z:-4.10 [[ 1.26549733e-01 9.91959617e-01 -1.13267912e-03 4.97066859e+01] [ 9.91932461e-01 -1.26554652e-01 -7.34255970e-03 -1.40839033e+02] [-7.42686852e-03 -1.94342222e-04 -9.99972402e-01 -4.10476394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.01621212015661627 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.81, Z:-4.10 [[ 5.17189905e-02 9.98661555e-01 -4.94256769e-04 4.97158273e+01] [ 9.98639682e-01 -5.17211298e-02 -6.61133247e-03 -1.40808539e+02] [-6.62804708e-03 -1.51652982e-04 -9.99978023e-01 -4.10486782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.014747012819611634 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.78, Z:-4.10 [[-2.01133054e-02 9.99797707e-01 3.01785055e-05 4.97202684e+01] [ 9.99766177e-01 2.01129108e-02 -7.94116324e-03 -1.40777627e+02] [-7.94016377e-03 -1.29551592e-04 -9.99968468e-01 -4.10211592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.01381982427184541 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.75, Z:-4.10 [[-9.43058399e-02 9.95543000e-01 7.37692028e-04 4.97227679e+01] [ 9.95502764e-01 9.43086612e-02 -8.95117358e-03 -1.40747181e+02] [-8.98084894e-03 -1.09773490e-04 -9.99959665e-01 -4.10116315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.013268677172571967 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.72, Z:-4.10 [[-1.67586914e-01 9.85856094e-01 1.54523331e-03 4.97215783e+01] [ 9.85809972e-01 1.67594021e-01 -9.53640326e-03 -1.40717286e+02] [-9.66049314e-03 -7.48699787e-05 -9.99953334e-01 -4.10032901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.013191347463201504 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.69, Z:-4.10 [[-2.43015211e-01 9.70019879e-01 2.24539148e-03 4.97220760e+01] [ 9.69976114e-01 2.43025576e-01 -9.21450382e-03 -1.40686271e+02] [-9.48393944e-03 -6.12884826e-05 -9.99955025e-01 -4.10025752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.01298508830091991 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.65, Z:-4.10 [[-3.16532271e-01 9.48577633e-01 2.79196287e-03 4.97212932e+01] [ 9.48539567e-01 3.16544581e-01 -8.49806312e-03 -1.40654994e+02] [-8.94485332e-03 -4.16239675e-05 -9.99959993e-01 -4.10042999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.013011945835698254 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.62, Z:-4.10 [[-3.88436219e-01 9.21470188e-01 3.16163485e-03 4.97197997e+01] [ 9.21439127e-01 3.88449085e-01 -7.56595406e-03 -1.40623757e+02] [-8.19993527e-03 -2.56365297e-05 -9.99966380e-01 -4.10022555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.013126795572529899 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.59, Z:-4.10 [[-4.59566807e-01 8.88132412e-01 4.37824253e-03 4.97143486e+01] [ 8.88091454e-01 4.59587661e-01 -8.52943961e-03 -1.40594754e+02] [-9.58745801e-03 -3.15675509e-05 -9.99954039e-01 -4.09848127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.013137223884139007 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.56, Z:-4.10 [[-5.28169486e-01 8.49115345e-01 6.33440726e-03 4.97074914e+01] [ 8.49053220e-01 5.28207468e-01 -1.02713343e-02 -1.40563128e+02] [-1.20674288e-02 -4.67564874e-05 -9.99927185e-01 -4.09749842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.013375423825683833 Centerline is valid? [True, True] Translation: X:49.70, Y:-140.53, Z:-4.10 [[-5.93003509e-01 8.05165066e-01 7.48701915e-03 4.96970509e+01] [ 8.05099867e-01 5.93050769e-01 -1.02464667e-02 -1.40534082e+02] [-1.26902795e-02 -4.83925963e-05 -9.99919474e-01 -4.09615947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.013149835562240832 Centerline is valid? [True, True] Translation: X:49.68, Y:-140.50, Z:-4.10 [[-6.53690446e-01 7.56720123e-01 7.96599257e-03 4.96843607e+01] [ 7.56663235e-01 6.53738980e-01 -9.27875358e-03 -1.40504449e+02] [-1.22290994e-02 -3.78588568e-05 -9.99925221e-01 -4.09747704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.013128046205833964 Centerline is valid? [True, True] Translation: X:49.67, Y:-140.48, Z:-4.10 [[-7.10781907e-01 7.03361016e-01 8.50656065e-03 4.96703200e+01] [ 7.03310071e-01 7.10832807e-01 -8.46544593e-03 -1.40475561e+02] [-1.20010070e-02 -3.43360258e-05 -9.99927985e-01 -4.09860490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.013149316351535868 Centerline is valid? [True, True] Translation: X:49.69, Y:-140.46, Z:-4.10 [[-7.58448023e-01 6.51682033e-01 8.19295511e-03 4.96899336e+01] [ 6.51643648e-01 7.58492273e-01 -7.07310849e-03 -1.40457007e+02] [-1.08237109e-02 -2.56979919e-05 -9.99941422e-01 -4.10064789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.013020071997471905 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.44, Z:-4.10 [[-8.01828331e-01 5.97506885e-01 7.53992235e-03 4.97087101e+01] [ 5.97480347e-01 8.01863780e-01 -5.63140123e-03 -1.40439205e+02] [-9.41079165e-03 -1.04616277e-05 -9.99955718e-01 -4.10240330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.013086435729066656 Centerline is valid? [True, True] Translation: X:49.73, Y:-140.42, Z:-4.10 [[-8.41038898e-01 5.40924739e-01 7.34847980e-03 4.97251146e+01] [ 5.40904170e-01 8.41071000e-01 -4.71715295e-03 -1.40417149e+02] [-8.73221798e-03 7.51425104e-06 -9.99961874e-01 -4.10226140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.01309371353595815 Centerline is valid? [True, True] Translation: X:49.74, Y:-140.39, Z:-4.10 [[-8.76970449e-01 4.80481594e-01 7.76336719e-03 4.97364142e+01] [ 4.80462889e-01 8.77004811e-01 -4.23961628e-03 -1.40391853e+02] [-8.84556796e-03 1.19916315e-05 -9.99960877e-01 -4.10160131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.013260868376269297 Centerline is valid? [True, True] Translation: X:50.04, Y:-139.84, Z:-5.15 [[-8.43681032e-01 -5.36761548e-01 9.45291855e-03 5.00388570e+01] [ 5.36729512e-01 -8.43733978e-01 -5.86564699e-03 -1.39842598e+02] [ 1.11242023e-02 1.24925260e-04 9.99938116e-01 -5.15158178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.013362968954881734 Centerline is valid? [True, True] Translation: X:49.69, Y:-140.37, Z:-4.10 [[-8.80023361e-01 4.74791734e-01 1.14758181e-02 4.96949694e+01] [ 4.74751062e-01 8.80098182e-01 -6.21448720e-03 -1.40367603e+02] [-1.30504338e-02 -2.07370726e-05 -9.99914839e-01 -4.09893626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.013441063438668858 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.34, Z:-4.10 [[-9.12514157e-01 4.08854194e-01 1.24964656e-02 4.97056080e+01] [ 4.08814988e-01 9.12599718e-01 -5.66225080e-03 -1.40339078e+02] [-1.37193060e-02 -5.81415678e-05 -9.99905884e-01 -4.09871460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.01366304337160697 Centerline is valid? [True, True] Translation: X:49.71, Y:-140.31, Z:-4.10 [[-9.40729973e-01 3.38876462e-01 1.37789984e-02 4.97140172e+01] [ 3.38838104e-01 9.40830870e-01 -5.10027661e-03 -1.40307460e+02] [-1.46920707e-02 -1.29133400e-04 -9.99892057e-01 -4.09817512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.013821040358723202 Centerline is valid? [True, True] Translation: X:49.72, Y:-140.28, Z:-4.10 [[-9.62826700e-01 2.69732715e-01 1.44571023e-02 4.97191849e+01] [ 2.69699852e-01 9.62935220e-01 -4.21332897e-03 -1.40279448e+02] [-1.50577257e-02 -1.57627270e-04 -9.99886614e-01 -4.09792093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.01352732288885701 Centerline is valid? [True, True] Translation: X:49.89, Y:-139.70, Z:-5.15 [[-9.35895000e-01 -3.52013644e-01 1.36727484e-02 4.98898870e+01] [ 3.51977990e-01 -9.35994861e-01 -5.01152225e-03 -1.39700118e+02] [ 1.45617464e-02 1.22247878e-04 9.99893965e-01 -5.15374097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.013409262485126193 Centerline is valid? [True, True] Translation: X:49.67, Y:-140.27, Z:-4.10 [[-9.62990830e-01 2.69179260e-01 1.38270417e-02 4.96732709e+01] [ 2.69149945e-01 9.63090087e-01 -3.97393088e-03 -1.40269700e+02] [-1.43863866e-02 -1.05311486e-04 -9.99896505e-01 -4.09766304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.013337236732159738 Centerline is valid? [True, True] Translation: X:49.85, Y:-139.68, Z:-5.16 [[-9.38430608e-01 -3.45174384e-01 1.42350946e-02 4.98468543e+01] [ 3.45137170e-01 -9.38538556e-01 -5.07080561e-03 -1.39684606e+02] [ 1.51104973e-02 1.54461066e-04 9.99885818e-01 -5.15537013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.013178249145404502 Centerline is valid? [True, True] Translation: X:49.62, Y:-140.26, Z:-4.10 [[-9.63008811e-01 2.69036032e-01 1.52854117e-02 4.96246516e+01] [ 2.69001153e-01 9.63130111e-01 -4.33236358e-03 -1.40260674e+02] [-1.58874022e-02 -6.03109226e-05 -9.99873786e-01 -4.09567087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.013411331436022108 Centerline is valid? [True, True] Translation: X:49.63, Y:-140.24, Z:-4.09 [[-9.79173033e-01 2.02378791e-01 1.62171594e-02 4.96347758e+01] [ 2.02350630e-01 9.79307319e-01 -3.37616112e-03 -1.40238191e+02] [-1.65648463e-02 -2.42935172e-05 -9.99862793e-01 -4.09302116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.013044687224592772 Centerline is valid? [True, True] Translation: X:49.64, Y:-140.21, Z:-4.10 [[-9.90911997e-01 1.33570137e-01 1.58881174e-02 4.96368505e+01] [ 1.33552893e-01 9.91039363e-01 -2.14624052e-03 -1.40212982e+02] [-1.60324234e-02 -4.83144069e-06 -9.99871473e-01 -4.09559509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.012937615003917777 Centerline is valid? [True, True] Translation: X:49.72, Y:-139.59, Z:-5.15 [[-9.79725850e-01 -1.99813889e-01 1.45488233e-02 4.97196464e+01] [ 1.99790811e-01 -9.79833866e-01 -3.03754758e-03 -1.39591601e+02] [ 1.48623740e-02 -6.92426644e-05 9.99889547e-01 -5.15437125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.012976244516709137 Centerline is valid? [True, True] Translation: X:49.58, Y:-140.21, Z:-4.10 [[-9.91438611e-01 1.29901174e-01 1.32350129e-02 4.95829438e+01] [ 1.29889574e-01 9.91526946e-01 -1.73595723e-03 -1.40207466e+02] [-1.33483748e-02 -2.00482882e-06 -9.99910907e-01 -4.09758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.01311985505423094 Centerline is valid? [True, True] Translation: X:49.59, Y:-140.18, Z:-4.10 [[-9.98241415e-01 5.78908607e-02 1.27563980e-02 4.95851226e+01] [ 5.78859022e-02 9.98322918e-01 -7.57898214e-04 -1.40180636e+02] [-1.27788798e-02 -1.81497798e-05 -9.99918347e-01 -4.09629274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.012925149560618986 Centerline is valid? [True, True] Translation: X:49.62, Y:-139.56, Z:-5.15 [[-9.91362359e-01 -1.30657198e-01 1.13740766e-02 4.96224202e+01] [ 1.30647778e-01 -9.91427603e-01 -1.57054133e-03 -1.39555069e+02] [ 1.14817761e-02 -7.09777197e-05 9.99934080e-01 -5.15247886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.013056324652817631 Centerline is valid? [True, True] Translation: X:49.53, Y:-140.18, Z:-4.10 [[-9.98744011e-01 4.87892627e-02 1.14021055e-02 4.95280695e+01] [ 4.87852338e-02 9.98809092e-01 -6.31382956e-04 -1.40175652e+02] [-1.14193313e-02 -7.43355660e-05 -9.99934795e-01 -4.09892834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.013437331666350026 Centerline is valid? [True, True] Translation: X:49.52, Y:-140.15, Z:-4.10 [[-9.99640824e-01 -2.39332842e-02 1.20590469e-02 4.95230094e+01] [-2.39327356e-02 9.99713553e-01 1.89816245e-04 -1.40147662e+02] [-1.20601355e-02 -9.88579139e-05 -9.99927269e-01 -4.09799291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.013779182765967684 Centerline is valid? [True, True] Translation: X:49.52, Y:-140.12, Z:-4.10 [[-9.95273865e-01 -9.60613146e-02 1.42181946e-02 4.95157993e+01] [-9.60534690e-02 9.95375409e-01 1.23524806e-03 -1.40120930e+02] [-1.42711008e-02 -1.36296798e-04 -9.99898153e-01 -4.09660085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.014071543211638757 Centerline is valid? [True, True] Translation: X:49.47, Y:-139.50, Z:-5.16 [[-9.99841300e-01 9.08446871e-03 1.53247093e-02 4.94653046e+01] [-9.08007906e-03 -9.99958712e-01 3.55998974e-04 -1.39501638e+02] [ 1.53273106e-02 2.16792906e-04 9.99882506e-01 -5.15598911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.014295362632214646 Centerline is valid? [True, True] Translation: X:49.45, Y:-140.13, Z:-4.10 [[-9.94565473e-01 -1.02699870e-01 1.70954950e-02 4.94494244e+01] [-1.02688095e-01 9.94712370e-01 1.56745133e-03 -1.40128117e+02] [-1.71660774e-02 -1.96570841e-04 -9.99852633e-01 -4.09584920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.01415645661538461 Centerline is valid? [True, True] Translation: X:49.44, Y:-140.10, Z:-4.10 [[-9.84715307e-01 -1.73324092e-01 1.71616926e-02 4.94356736e+01] [-1.73301337e-01 9.84864823e-01 2.81568722e-03 -1.40103205e+02] [-1.73899738e-02 -2.01493968e-04 -9.99848763e-01 -4.09694385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.013679489535665026 Centerline is valid? [True, True] Translation: X:49.33, Y:-139.49, Z:-5.15 [[-9.96412423e-01 8.30590550e-02 1.62319405e-02 4.93289581e+01] [-8.30461454e-02 -9.96544620e-01 1.46892285e-03 -1.39486654e+02] [ 1.62978603e-02 1.15652887e-04 9.99867174e-01 -5.15238532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.01353650922836257 Centerline is valid? [True, True] Translation: X:49.35, Y:-140.12, Z:-4.10 [[-9.83623810e-01 -1.79674066e-01 1.41926405e-02 4.93460672e+01] [-1.79657905e-01 9.83726181e-01 2.41598545e-03 -1.40119188e+02] [-1.43957620e-02 -1.73399246e-04 -9.99896361e-01 -4.10084888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.013652166264031857 Centerline is valid? [True, True] Translation: X:49.33, Y:-140.10, Z:-4.10 [[-9.68580203e-01 -2.48333100e-01 1.35300132e-02 4.93316570e+01] [-2.48311081e-01 9.68674686e-01 3.31044103e-03 -1.40096371e+02] [-1.39282734e-02 -1.53224550e-04 -9.99902985e-01 -4.10067071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.013353733094209603 Centerline is valid? [True, True] Translation: X:49.31, Y:-140.08, Z:-4.10 [[-9.48901024e-01 -3.15300414e-01 1.31337509e-02 4.93096244e+01] [-3.15272044e-01 9.48991904e-01 4.23143945e-03 -1.40076710e+02] [-1.37979978e-02 -1.25487249e-04 -9.99904795e-01 -4.10041589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.012961937711469761 Centerline is valid? [True, True] Translation: X:49.27, Y:-140.06, Z:-4.10 [[-9.24892481e-01 -3.79993787e-01 1.33648642e-02 4.92743771e+01] [-3.79955420e-01 9.24989035e-01 5.40034893e-03 -1.40063806e+02] [-1.44144519e-02 -8.33104845e-05 -9.99896103e-01 -4.10029054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.012707247158106087 Centerline is valid? [True, True] Translation: X:49.22, Y:-140.06, Z:-4.10 [[-8.96852793e-01 -4.42152561e-01 1.24972101e-02 4.92181602e+01] [-4.42109752e-01 8.96939860e-01 6.15259808e-03 -1.40063382e+02] [-1.39296329e-02 -7.16369034e-06 -9.99902978e-01 -4.10121060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.01279451284422199 Centerline is valid? [True, True] Translation: X:49.15, Y:-140.07, Z:-4.10 [[-8.62690396e-01 -5.05593965e-01 1.18331251e-02 4.91525609e+01] [-5.05546165e-01 8.62771547e-01 6.95214953e-03 -1.40066999e+02] [-1.37242485e-02 1.53616248e-05 -9.99905818e-01 -4.10104803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.012885573546335845 Centerline is valid? [True, True] Translation: X:49.08, Y:-140.08, Z:-4.10 [[-8.23659829e-01 -5.66966177e-01 1.15689303e-02 4.90807116e+01] [-5.66909629e-01 8.23741071e-01 8.00746472e-03 -1.40078577e+02] [-1.40697647e-02 3.68890226e-05 -9.99901015e-01 -4.10037639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.013014804755607874 Centerline is valid? [True, True] Translation: X:49.00, Y:-140.10, Z:-4.10 [[-7.80011879e-01 -6.25662702e-01 1.12983396e-02 4.90026311e+01] [-6.25595965e-01 7.80093699e-01 9.13829972e-03 -1.40103179e+02] [-1.45312568e-02 5.97866876e-05 -9.99894414e-01 -4.10029437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.013091257848714339 Centerline is valid? [True, True] Translation: X:48.92, Y:-140.14, Z:-4.10 [[-7.31872374e-01 -6.81366345e-01 1.01357139e-02 4.89209220e+01] [-6.81299580e-01 7.31942552e-01 9.53849321e-03 -1.40136779e+02] [-1.39179685e-02 7.55020428e-05 -9.99903138e-01 -4.10035588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.012901670962109221 Centerline is valid? [True, True] Translation: X:48.84, Y:-140.18, Z:-4.10 [[-6.78391765e-01 -7.34661018e-01 7.60275353e-03 4.88362350e+01] [-7.34613939e-01 6.78434364e-01 8.31713772e-03 -1.40175798e+02] [-1.12682461e-02 5.71890219e-05 -9.99936510e-01 -4.10163956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.01276412748923811 Centerline is valid? [True, True] Translation: X:48.75, Y:-140.22, Z:-4.10 [[-6.19309622e-01 -7.85119051e-01 6.60813483e-03 4.87534151e+01] [-7.85073883e-01 6.19344875e-01 8.42160253e-03 -1.40224905e+02] [-1.07046750e-02 2.77054097e-05 -9.99942703e-01 -4.10230889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.012847278137392707 Centerline is valid? [True, True] Translation: X:48.67, Y:-140.28, Z:-4.10 [[-5.52251462e-01 -8.33659120e-01 5.54931341e-03 4.86668251e+01] [-8.33617904e-01 5.52279341e-01 8.28976277e-03 -1.40284003e+02] [-9.97560748e-03 -4.79733962e-05 -9.99950241e-01 -4.10264161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.01354605839594064 Centerline is valid? [True, True] Translation: X:48.58, Y:-140.35, Z:-4.10 [[-4.82978588e-01 -8.75620265e-01 4.56464589e-03 4.85841613e+01] [-8.75583013e-01 4.83000148e-01 8.07737428e-03 -1.40350847e+02] [-9.27743725e-03 -9.55275774e-05 -9.99956959e-01 -4.10308757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.014450764670817033 Centerline is valid? [True, True] Translation: X:48.50, Y:-140.42, Z:-4.10 [[-4.09462189e-01 -9.12320271e-01 3.52681652e-03 4.85040124e+01] [-9.12289319e-01 4.09477353e-01 7.51635462e-03 -1.40422904e+02] [-8.30147418e-03 -1.39814030e-04 -9.99965532e-01 -4.10394854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.01531366669355006 Centerline is valid? [True, True] Translation: X:48.43, Y:-140.50, Z:-4.10 [[-3.34834130e-01 -9.42272887e-01 2.81275943e-03 4.84320588e+01] [-9.42243811e-01 3.34845900e-01 7.40435635e-03 -1.40504995e+02] [-7.91876520e-03 -1.71073946e-04 -9.99968632e-01 -4.10496901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.016288285370599027 Centerline is valid? [True, True] Translation: X:48.37, Y:-140.59, Z:-4.10 [[-2.61577969e-01 -9.65179835e-01 2.20267796e-03 4.83706178e+01] [-9.65151044e-01 2.61587185e-01 7.45700561e-03 -1.40593111e+02] [-7.77354377e-03 -1.75328549e-04 -9.99969770e-01 -4.10443813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.015352852585277783 Centerline is valid? [True, True] Translation: X:48.32, Y:-140.69, Z:-4.11 [[-1.89070329e-01 -9.81962238e-01 1.60423773e-03 4.83176592e+01] [-9.81933742e-01 1.89077067e-01 7.48258592e-03 -1.40685277e+02] [-7.65094138e-03 -1.60520172e-04 -9.99970718e-01 -4.10513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.013862270387914237 Centerline is valid? [True, True] Translation: X:48.27, Y:-140.78, Z:-4.10 [[-1.21464303e-01 -9.92595313e-01 9.84014683e-04 4.82740553e+01] [-9.92568912e-01 1.21468250e-01 7.24011828e-03 -1.40782886e+02] [-7.30603401e-03 -9.72864647e-05 -9.99973306e-01 -4.10479726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.012940150573671682 Centerline is valid? [True, True] Translation: X:48.24, Y:-140.88, Z:-4.10 [[-5.19469771e-02 -9.98649771e-01 3.82981810e-04 4.82396900e+01] [-9.98628624e-01 5.19483695e-02 6.49916005e-03 -1.40884191e+02] [-6.51027997e-03 -4.48448800e-05 -9.99978807e-01 -4.10490463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.0126577961859815 Centerline is valid? [True, True] Translation: X:48.21, Y:-140.99, Z:-4.11 [[ 1.85612998e-02 -9.99827719e-01 -1.04993947e-04 4.82120163e+01] [-9.99809527e-01 -1.85615955e-02 6.03132905e-03 -1.40988708e+02] [-6.03223882e-03 -6.97535804e-06 -9.99981806e-01 -4.10517997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.013018701897309928 Centerline is valid? [True, True] Translation: X:48.19, Y:-141.10, Z:-4.10 [[ 8.81120340e-02 -9.96110260e-01 -7.86481406e-04 4.81921139e+01] [-9.96075100e-01 -8.81155319e-02 8.36954205e-03 -1.41097310e+02] [-8.40628794e-03 4.59371720e-05 -9.99964666e-01 -4.10298620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.013697721002275745 Centerline is valid? [True, True] Translation: X:48.18, Y:-141.21, Z:-4.10 [[ 1.60438587e-01 -9.87044142e-01 -1.82262691e-03 4.81794879e+01] [-9.86986992e-01 -1.60448911e-01 1.06219189e-02 -1.41208263e+02] [-1.07767413e-02 9.47433929e-05 -9.99941925e-01 -4.10038116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.014375473972081299 Centerline is valid? [True, True] Translation: X:48.17, Y:-141.32, Z:-4.10 [[ 2.29972093e-01 -9.73191671e-01 -3.28751261e-03 4.81748153e+01] [-9.73103712e-01 -2.29995512e-01 1.30854839e-02 -1.41319717e+02] [-1.34907971e-02 1.89794599e-04 -9.99908977e-01 -4.09893413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.01524184781640091 Centerline is valid? [True, True] Translation: X:48.18, Y:-141.43, Z:-4.10 [[ 3.00340682e-01 -9.53820997e-01 -4.58035744e-03 4.81812766e+01] [-9.53722438e-01 -3.00375503e-01 1.37138515e-02 -1.41432349e+02] [-1.44563866e-02 2.49562164e-04 -9.99895470e-01 -4.09837668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.016162671215384356 Centerline is valid? [True, True] Translation: X:48.20, Y:-141.54, Z:-4.10 [[ 3.69695226e-01 -9.29137700e-01 -5.34553511e-03 4.81969347e+01] [-9.29051014e-01 -3.69733770e-01 1.26945932e-02 -1.41541729e+02] [-1.37714500e-02 2.73144307e-04 -9.99905132e-01 -4.09934366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.016073670317670437 Centerline is valid? [True, True] Translation: X:48.22, Y:-141.65, Z:-4.10 [[ 4.39951917e-01 -8.98003230e-01 -5.70170476e-03 4.82170603e+01] [-8.97934642e-01 -4.39988799e-01 1.11011484e-02 -1.41649785e+02] [-1.24775533e-02 2.35786722e-04 -9.99922125e-01 -4.10031181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.014862152944947044 Centerline is valid? [True, True] Translation: X:48.24, Y:-141.76, Z:-4.10 [[ 5.08401243e-01 -8.61100395e-01 -5.85544160e-03 4.82441036e+01] [-8.61047547e-01 -5.08434926e-01 9.54188154e-03 -1.41759205e+02] [-1.11936290e-02 1.90709196e-04 -9.99937331e-01 -4.10222123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.014735603842062829 Centerline is valid? [True, True] Translation: X:48.28, Y:-141.86, Z:-4.10 [[ 5.74879801e-01 -8.18221447e-01 -5.18444911e-03 4.82791778e+01] [-8.18190070e-01 -5.74903165e-01 7.16662406e-03 -1.41862004e+02] [-8.84444171e-03 1.21917364e-04 -9.99960880e-01 -4.10313341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.013102929135344688 Centerline is valid? [True, True] Translation: X:48.32, Y:-141.97, Z:-4.11 [[ 6.38609640e-01 -7.69520796e-01 -3.93332935e-03 4.83196519e+01] [-7.69506739e-01 -6.38621751e-01 4.65163704e-03 -1.41967545e+02] [-6.09144111e-03 5.61431853e-05 -9.99981446e-01 -4.10657107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.013074443712283716 Centerline is valid? [True, True] Translation: X:48.36, Y:-142.06, Z:-4.11 [[ 6.95557798e-01 -7.18459458e-01 -3.91872124e-03 4.83623305e+01] [-7.18448426e-01 -6.95568836e-01 3.98179284e-03 -1.42056340e+02] [-5.58649710e-03 4.58320489e-05 -9.99984394e-01 -4.10690822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.012919605818221295 Centerline is valid? [True, True] Translation: X:48.41, Y:-142.14, Z:-4.11 [[ 7.48699703e-01 -6.62896705e-01 -4.08827241e-03 4.84106982e+01] [-6.62887084e-01 -7.48710864e-01 3.57158395e-03 -1.42142658e+02] [-5.42852520e-03 3.60191363e-05 -9.99985265e-01 -4.10668548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.012828980863996491 Centerline is valid? [True, True] Translation: X:48.44, Y:-142.17, Z:-4.10 [[ 7.99156470e-01 -6.01097523e-01 -5.54115807e-03 4.84361906e+01] [-6.01083375e-01 -7.99175680e-01 4.12423586e-03 -1.42173610e+02] [-6.90742672e-03 3.47882220e-05 -9.99976143e-01 -4.10467805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.012896861864504727 Centerline is valid? [True, True] Translation: X:48.47, Y:-142.20, Z:-4.10 [[ 8.44337912e-01 -5.35759190e-01 -7.45527772e-03 4.84657962e+01] [-5.35738654e-01 -8.44370824e-01 4.69101034e-03 -1.42201203e+02] [-8.80827090e-03 3.32825779e-05 -9.99961206e-01 -4.10262510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.012861470515703277 Centerline is valid? [True, True] Translation: X:48.49, Y:-142.23, Z:-4.10 [[ 8.85216762e-01 -4.65098775e-01 -8.62633987e-03 4.84942920e+01] [-4.65076729e-01 -8.85258792e-01 4.52844440e-03 -1.42230432e+02] [-9.74271716e-03 3.25504259e-06 -9.99952539e-01 -4.10191497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.012966934811130202 Centerline is valid? [True, True] Translation: X:48.53, Y:-142.26, Z:-4.10 [[ 9.19866163e-01 -3.92140909e-01 -8.47054184e-03 4.85259445e+01] [-3.92124082e-01 -9.19905162e-01 3.63279608e-03 -1.42255727e+02] [-9.21666312e-03 -2.01827531e-05 -9.99957526e-01 -4.10211264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.012947165755091802 Centerline is valid? [True, True] Translation: X:48.56, Y:-142.28, Z:-4.10 [[ 9.48789002e-01 -3.15781042e-01 -9.04235143e-03 4.85606318e+01] [-3.15766159e-01 -9.48832088e-01 3.06627093e-03 -1.42276887e+02] [-9.54794341e-03 -5.39755577e-05 -9.99954416e-01 -4.10217144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.013069552720319979 Centerline is valid? [True, True] Translation: X:48.60, Y:-142.29, Z:-4.10 [[ 9.70872426e-01 -2.39386192e-01 -1.00491137e-02 4.85969996e+01] [-2.39372603e-01 -9.70924429e-01 2.55162176e-03 -1.42294525e+02] [-1.03677530e-02 -7.18166876e-05 -9.99946251e-01 -4.10097497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.013265292747495206 Centerline is valid? [True, True] Translation: X:48.63, Y:-142.31, Z:-4.10 [[ 9.86665940e-01 -1.62433661e-01 -1.02775518e-02 4.86347942e+01] [-1.62424048e-01 -9.86719464e-01 1.76884449e-03 -1.42305291e+02] [-1.04283803e-02 -7.59370470e-05 -9.99945620e-01 -4.10058576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.013242099294352239 Centerline is valid? [True, True] Translation: X:48.67, Y:-142.31, Z:-4.10 [[ 9.96336975e-01 -8.49102592e-02 -1.01430184e-02 4.86735853e+01] [-8.49051182e-02 -9.96388600e-01 9.37168530e-04 -1.42312355e+02] [-1.01859631e-02 -7.25414823e-05 -9.99948119e-01 -4.10107701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.0131436468783957 Centerline is valid? [True, True] Translation: X:48.71, Y:-142.32, Z:-4.10 [[ 9.99922935e-01 -7.47471922e-03 -9.91221412e-03 4.87088076e+01] [-7.47373353e-03 -9.99972062e-01 1.36479801e-04 -1.42317499e+02] [-9.91295734e-03 -6.23880364e-05 -9.99950864e-01 -4.10284653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.013146936629849082 Centerline is valid? [True, True] Translation: X:48.74, Y:-142.32, Z:-4.10 [[ 9.97575721e-01 6.87692238e-02 -1.06524683e-02 4.87432427e+01] [ 6.87657840e-02 -9.97632594e-01 -6.89282842e-04 -1.42317500e+02] [-1.06746510e-02 -4.49135046e-05 -9.99943023e-01 -4.10202332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.013133051539264758 Centerline is valid? [True, True] Translation: X:48.78, Y:-142.32, Z:-4.10 [[ 9.89284155e-01 1.45512980e-01 -1.19513293e-02 4.87776364e+01] [ 1.45502816e-01 -9.89356342e-01 -1.72027490e-03 -1.42315333e+02] [-1.20744458e-02 -3.71113789e-05 -9.99927101e-01 -4.10266424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.013065756487425003 Centerline is valid? [True, True] Translation: X:48.81, Y:-142.31, Z:-4.10 [[ 9.74911327e-01 2.22247823e-01 -1.24020170e-02 4.88118072e+01] [ 2.22230299e-01 -9.74990207e-01 -2.79108255e-03 -1.42310687e+02] [-1.27121572e-02 -3.50459607e-05 -9.99919197e-01 -4.10217579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.013098367634851955 Centerline is valid? [True, True] Translation: X:48.85, Y:-142.30, Z:-4.10 [[ 9.54710114e-01 2.97296804e-01 -1.19669639e-02 4.88450165e+01] [ 2.97273801e-01 -9.54785112e-01 -3.69836449e-03 -1.42303734e+02] [-1.25253909e-02 -2.65988472e-05 -9.99921554e-01 -4.10280291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.012982567905014055 Centerline is valid? [True, True] Translation: X:48.88, Y:-142.29, Z:-4.10 [[ 9.29064048e-01 3.69740560e-01 -1.14853413e-02 4.88771747e+01] [ 3.69712414e-01 -9.29135038e-01 -4.56213754e-03 -1.42293169e+02] [-1.23582403e-02 -7.75527207e-06 -9.99923634e-01 -4.10406350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.012933448932401777 Centerline is valid? [True, True] Translation: X:48.91, Y:-142.28, Z:-4.10 [[ 8.97195006e-01 4.41489776e-01 -1.13092229e-02 4.89094414e+01] [ 4.41454842e-01 -8.97266280e-01 -5.55381582e-03 -1.42284408e+02] [-1.25993373e-02 -9.65538457e-06 -9.99920625e-01 -4.10463165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.01298484581424455 Centerline is valid? [True, True] Translation: X:48.94, Y:-142.27, Z:-4.10 [[ 8.58513283e-01 5.12667365e-01 -1.12745441e-02 4.89388129e+01] [ 5.12623849e-01 -8.58587311e-01 -6.67975190e-03 -1.42272963e+02] [-1.31046713e-02 -4.49444585e-05 -9.99914129e-01 -4.10346303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.013320908118628953 Centerline is valid? [True, True] Translation: X:48.97, Y:-142.26, Z:-4.10 [[ 8.13979394e-01 5.80795324e-01 -1.06929008e-02 4.89671560e+01] [ 5.80746581e-01 -8.14049620e-01 -7.52492649e-03 -1.42259461e+02] [-1.30749939e-02 -8.47304730e-05 -9.99914515e-01 -4.10321269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.013347530843293546 Centerline is valid? [True, True] Translation: X:49.00, Y:-142.24, Z:-4.10 [[ 7.64805843e-01 6.44185439e-01 -9.85613912e-03 4.89956719e+01] [ 6.44133755e-01 -7.64869341e-01 -8.16071926e-03 -1.42243185e+02] [-1.27956752e-02 -1.07306132e-04 -9.99918126e-01 -4.10339461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.013379109975654845 Centerline is valid? [True, True] Translation: X:49.02, Y:-142.22, Z:-4.10 [[ 7.11527597e-01 7.02597574e-01 -9.22646497e-03 4.90199675e+01] [ 7.02540633e-01 -7.11587405e-01 -8.94559045e-03 -1.42223180e+02] [-1.28505864e-02 -1.16932071e-04 -9.99917421e-01 -4.10391147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.014402128892691574 Centerline is valid? [True, True] Translation: X:49.05, Y:-142.21, Z:-4.10 [[ 6.50295995e-01 7.59629221e-01 -8.86375722e-03 4.90480999e+01] [ 7.59562686e-01 -6.50356371e-01 -1.00556596e-02 -1.42207103e+02] [-1.34031739e-02 -1.93424049e-04 -9.99910155e-01 -4.10371204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.01526580571449752 Centerline is valid? [True, True] Translation: X:49.07, Y:-142.19, Z:-4.10 [[ 5.85043133e-01 8.10959121e-01 -8.35678423e-03 4.90749002e+01] [ 8.10882812e-01 -5.85102754e-01 -1.11279814e-02 -1.42188637e+02] [-1.39139155e-02 -2.66023564e-04 -9.99903161e-01 -4.10412286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.016308010309110922 Centerline is valid? [True, True] Translation: X:49.10, Y:-142.17, Z:-4.10 [[ 5.16713965e-01 8.56125205e-01 -7.50405950e-03 4.91007032e+01] [ 8.56043700e-01 -5.16768354e-01 -1.18174450e-02 -1.42168641e+02] [-1.39950730e-02 -3.17563996e-04 -9.99902014e-01 -4.10372060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.01589059832308423 Centerline is valid? [True, True] Translation: X:49.12, Y:-142.15, Z:-4.10 [[ 4.48162530e-01 8.93932250e-01 -5.95652162e-03 4.91232672e+01] [ 8.93861657e-01 -4.48202019e-01 -1.12378346e-02 -1.42145037e+02] [-1.27155878e-02 -2.87929899e-04 -9.99919112e-01 -4.10448447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.01568513289664679 Centerline is valid? [True, True] Translation: X:49.14, Y:-142.12, Z:-4.11 [[ 3.77883368e-01 9.25842530e-01 -4.44631389e-03 4.91441451e+01] [ 9.25785721e-01 -3.77909450e-01 -1.02589923e-02 -1.42119557e+02] [-1.11785154e-02 -2.39631357e-04 -9.99937490e-01 -4.10528997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.014884460674002807 Centerline is valid? [True, True] Translation: X:49.16, Y:-142.09, Z:-4.11 [[ 3.06380874e-01 9.51903780e-01 -3.15480885e-03 4.91607993e+01] [ 9.51859408e-01 -3.06397060e-01 -9.19285279e-03 -1.42092386e+02] [-9.71733548e-03 -1.86420210e-04 -9.99952768e-01 -4.10672180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.014966511436124652 Centerline is valid? [True, True] Translation: X:49.17, Y:-142.07, Z:-4.10 [[ 2.33255177e-01 9.72411461e-01 -2.82352119e-03 4.91747841e+01] [ 9.72349766e-01 -2.33272188e-01 -1.09553311e-02 -1.42065615e+02] [-1.13117385e-02 -1.90062470e-04 -9.99936002e-01 -4.10484866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.014317666454364839 Centerline is valid? [True, True] Translation: X:49.19, Y:-142.04, Z:-4.10 [[ 1.57675241e-01 9.87488458e-01 -2.25025716e-03 4.91863060e+01] [ 9.87405329e-01 -1.57691168e-01 -1.28145203e-02 -1.42036630e+02] [-1.30090366e-02 -2.01383332e-04 -9.99915359e-01 -4.10409887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.014009423082381992 Centerline is valid? [True, True] Translation: X:49.20, Y:-142.01, Z:-4.10 [[ 8.16676853e-02 9.96658659e-01 -1.38108721e-03 4.91964979e+01] [ 9.96554187e-01 -8.16791230e-02 -1.44317058e-02 -1.42007150e+02] [-1.44962906e-02 -1.97724232e-04 -9.99894904e-01 -4.10275139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.013518254783268768 Centerline is valid? [True, True] Translation: X:49.20, Y:-141.98, Z:-4.10 [[ 7.15239591e-03 9.99974394e-01 -2.34498061e-04 4.91994312e+01] [ 9.99879496e-01 -7.15494786e-03 -1.37767784e-02 -1.41976997e+02] [-1.37781034e-02 -1.35932830e-04 -9.99905068e-01 -4.10294603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.013396153681730296 Centerline is valid? [True, True] Translation: X:49.20, Y:-141.95, Z:-4.10 [[-6.95608844e-02 9.97577343e-01 8.53852328e-04 4.92018460e+01] [ 9.97480680e-01 6.95660308e-02 -1.38873879e-02 -1.41947481e+02] [-1.39131426e-02 -1.14317781e-04 -9.99903201e-01 -4.10357771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.013323316826952994 Centerline is valid? [True, True] Translation: X:49.21, Y:-141.92, Z:-4.11 [[-1.48707832e-01 9.88879545e-01 1.79642750e-03 4.92071557e+01] [ 9.88797212e-01 1.48718633e-01 -1.27609833e-02 -1.41916848e+02] [-1.28862376e-02 -1.21355661e-04 -9.99916962e-01 -4.10595553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.01348085155872451 Centerline is valid? [True, True] Translation: X:49.21, Y:-141.89, Z:-4.11 [[-2.27301043e-01 9.73820852e-01 2.68024788e-03 4.92113409e+01] [ 9.73745885e-01 2.27316804e-01 -1.20839852e-02 -1.41885827e+02] [-1.23769022e-02 -1.36822106e-04 -9.99923394e-01 -4.10659148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.013907212473336724 Centerline is valid? [True, True] Translation: X:49.21, Y:-141.85, Z:-4.11 [[-3.05604217e-01 9.52153770e-01 3.04325733e-03 4.92143364e+01] [ 9.52101745e-01 3.05619335e-01 -9.95437774e-03 -1.41853542e+02] [-1.04081766e-02 -1.44609197e-04 -9.99945823e-01 -4.10762553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.015287127347699835 Centerline is valid? [True, True] Translation: X:49.22, Y:-141.82, Z:-4.11 [[-3.81006397e-01 9.24567430e-01 3.03207403e-03 4.92153692e+01] [ 9.24535370e-01 3.81018439e-01 -7.70060115e-03 -1.41822558e+02] [-8.27500112e-03 -1.30718620e-04 -9.99965753e-01 -4.10745306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.014066324307525429 Centerline is valid? [True, True] Translation: X:49.21, Y:-141.79, Z:-4.11 [[-4.52074863e-01 8.91973173e-01 3.48952495e-03 4.92088747e+01] [ 8.91944446e-01 4.52088313e-01 -7.15981051e-03 -1.41792649e+02] [-7.96393235e-03 -1.24307962e-04 -9.99968280e-01 -4.10895995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.013787059775643363 Centerline is valid? [True, True] Translation: X:49.20, Y:-141.76, Z:-4.11 [[-5.18940222e-01 8.54794388e-01 5.25372280e-03 4.92008208e+01] [ 8.54747785e-01 5.18966796e-01 -8.92691934e-03 -1.41762513e+02] [-1.03571882e-02 -1.41929572e-04 -9.99946353e-01 -4.10701632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.013655734584357654 Centerline is valid? [True, True] Translation: X:49.19, Y:-141.74, Z:-4.10 [[-5.81994628e-01 8.13159669e-01 7.32155250e-03 4.91890737e+01] [ 8.13092298e-01 5.82040662e-01 -1.04681398e-02 -1.41735431e+02] [-1.27737103e-02 -1.39303163e-04 -9.99918403e-01 -4.10412147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.012833122886590408 Centerline is valid? [True, True] Translation: X:49.17, Y:-141.71, Z:-4.10 [[-6.39224615e-01 7.68961173e-01 9.51875438e-03 4.91722525e+01] [ 7.68874227e-01 6.39295479e-01 -1.15634751e-02 -1.41710288e+02] [-1.49771600e-02 -7.29329711e-05 -9.99887833e-01 -4.10338679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.012837627989938535 Centerline is valid? [True, True] Translation: X:49.15, Y:-141.69, Z:-4.10 [[-6.94033925e-01 7.19872573e-01 1.00194444e-02 4.91545019e+01] [ 7.19797544e-01 6.94106244e-01 -1.03931343e-02 -1.41687573e+02] [-1.44362913e-02 -1.21628838e-06 -9.99895791e-01 -4.10275248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.012768619395922866 Centerline is valid? [True, True] Translation: X:49.14, Y:-141.66, Z:-4.11 [[-7.44021963e-01 6.68105276e-01 8.16451504e-03 4.91353098e+01] [ 6.68066071e-01 7.44066755e-01 -7.23807413e-03 -1.41664498e+02] [-1.09107397e-02 6.91493647e-05 -9.99940474e-01 -4.10709954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.012846446650673252 Centerline is valid? [True, True] Translation: X:49.16, Y:-141.65, Z:-4.11 [[-7.87819199e-01 6.15862336e-01 7.38197921e-03 4.91557603e+01] [ 6.15836287e-01 7.87853779e-01 -5.66484088e-03 -1.41647307e+02] [-9.30468235e-03 8.32202641e-05 -9.99956707e-01 -4.10855250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.013011746461527151 Centerline is valid? [True, True] Translation: X:49.18, Y:-141.63, Z:-4.11 [[-8.27456797e-01 5.61482103e-01 7.28686814e-03 4.91752834e+01] [ 5.61461521e-01 8.27488874e-01 -4.80881960e-03 -1.41627369e+02] [-8.72986845e-03 1.12205609e-04 -9.99961888e-01 -4.10886614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.012588936501472046 Centerline is valid? [True, True] Translation: X:49.19, Y:-141.60, Z:-4.11 [[-8.67094284e-01 4.98076096e-01 8.22828689e-03 4.91894385e+01] [ 4.98054190e-01 8.67133323e-01 -4.67158595e-03 -1.41600486e+02] [-9.46182705e-03 4.74272819e-05 -9.99955235e-01 -4.10740494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.01237373226440557 Centerline is valid? [True, True] Translation: X:49.20, Y:-141.57, Z:-4.11 [[-9.01767769e-01 4.32123195e-01 9.18890844e-03 4.92021924e+01] [ 4.32100915e-01 9.01814584e-01 -4.38808092e-03 -1.41571181e+02] [-1.01828832e-02 1.35057965e-05 -9.99948153e-01 -4.10652978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.012472654848971067 Centerline is valid? [True, True] Translation: X:49.21, Y:-141.54, Z:-4.10 [[-9.31874757e-01 3.62605750e-01 1.12475746e-02 4.92107733e+01] [ 3.62578777e-01 9.31942631e-01 -4.42292746e-03 -1.41539956e+02] [-1.20858732e-02 -4.34826237e-05 -9.99926962e-01 -4.10496579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.012776086006003181 Centerline is valid? [True, True] Translation: X:49.45, Y:-140.93, Z:-5.15 [[-9.01701568e-01 -4.32189701e-01 1.20973095e-02 4.94494551e+01] [ 4.32152706e-01 -9.01782704e-01 -5.65622383e-03 -1.40934495e+02] [ 1.33537061e-02 1.27659131e-04 9.99910827e-01 -5.14665028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.012860340448265804 Centerline is valid? [True, True] Translation: X:49.16, Y:-141.52, Z:-4.10 [[-9.33217183e-01 3.59079625e-01 1.29426232e-02 4.91631015e+01] [ 3.59044327e-01 9.33306927e-01 -5.03497235e-03 -1.41522543e+02] [-1.38873959e-02 -5.17472803e-05 -9.99903564e-01 -4.10355772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.012707782284920999 Centerline is valid? [True, True] Translation: X:49.17, Y:-141.50, Z:-4.11 [[-9.54745473e-01 2.97219409e-01 1.10319940e-02 4.91691398e+01] [ 2.97199804e-01 9.54809208e-01 -3.41373424e-03 -1.41500731e+02] [-1.15480775e-02 1.94591348e-05 -9.99933319e-01 -4.10524690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.012781292408451937 Centerline is valid? [True, True] Translation: X:49.38, Y:-140.87, Z:-5.14 [[-9.35871244e-01 -3.52285630e-01 6.31266963e-03 4.93836179e+01] [ 3.52275596e-01 -9.35892492e-01 -2.67343937e-03 -1.40871891e+02] [ 6.84979439e-03 -2.78195570e-04 9.99976501e-01 -5.14045719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.012945809627099347 Centerline is valid? [True, True] Translation: X:49.14, Y:-141.50, Z:-4.11 [[-9.53710742e-01 3.00686780e-01 4.82501060e-03 4.91379278e+01] [ 3.00683178e-01 9.53722946e-01 -1.47250866e-03 -1.41499221e+02] [-5.04448722e-03 4.64521895e-05 -9.99987276e-01 -4.11153639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.012639973406667176 Centerline is valid? [True, True] Translation: X:49.14, Y:-141.47, Z:-4.11 [[-9.73285269e-01 2.29561421e-01 4.16403926e-03 4.91430557e+01] [ 2.29559440e-01 9.73294176e-01 -9.54088888e-04 -1.41469729e+02] [-4.27185716e-03 2.72938615e-05 -9.99990875e-01 -4.11114358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.01235202680042155 Centerline is valid? [True, True] Translation: X:49.29, Y:-140.82, Z:-5.14 [[-9.57527071e-01 -2.88301378e-01 4.92182110e-03 4.92907464e+01] [ 2.88297710e-01 -9.57539720e-01 -1.45447621e-03 -1.40823112e+02] [ 5.13216669e-03 2.62494028e-05 9.99986830e-01 -5.14179531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.012699466832601815 Centerline is valid? [True, True] Translation: X:49.09, Y:-141.45, Z:-4.11 [[-9.76888488e-01 2.13655169e-01 6.35218890e-03 4.90902375e+01] [ 2.13650381e-01 9.76909140e-01 -1.43101240e-03 -1.41447707e+02] [-6.51125459e-03 -4.07919652e-05 -9.99978801e-01 -4.10818514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.013678747781215589 Centerline is valid? [True, True] Translation: X:49.09, Y:-141.41, Z:-4.11 [[-9.90618181e-01 1.36526490e-01 6.01137936e-03 4.90906564e+01] [ 1.36523467e-01 9.90636417e-01 -9.12292342e-04 -1.41414465e+02] [-6.07964338e-03 -8.30390301e-05 -9.99981515e-01 -4.10805038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.014022116872713656 Centerline is valid? [True, True] Translation: X:49.09, Y:-141.39, Z:-4.11 [[-9.97921682e-01 6.41562249e-02 6.02458029e-03 4.90895052e+01] [ 6.41544920e-02 9.97939863e-01 -4.80653235e-04 -1.41385951e+02] [-6.04300573e-03 -9.31503971e-05 -9.99981737e-01 -4.10772130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.014013183548868276 Centerline is valid? [True, True] Translation: X:49.14, Y:-140.75, Z:-5.14 [[-9.86761201e-01 -1.62077077e-01 5.77529913e-03 4.91425756e+01] [ 1.62074757e-01 -9.86778098e-01 -8.70604389e-04 -1.40753795e+02] [ 5.84004371e-03 7.69515720e-05 9.99982944e-01 -5.14410429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.013520834924223102 Centerline is valid? [True, True] Translation: X:49.04, Y:-141.39, Z:-4.11 [[-9.98099093e-01 6.14786679e-02 4.30968934e-03 4.90403316e+01] [ 6.14778310e-02 9.98108396e-01 -3.26525901e-04 -1.41386019e+02] [-4.32161149e-03 -6.09548522e-05 -9.99990660e-01 -4.10869310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.01344513040657622 Centerline is valid? [True, True] Translation: X:49.04, Y:-141.36, Z:-4.11 [[-9.99962415e-01 -8.27429619e-03 2.58940384e-03 4.90359644e+01] [-8.27435410e-03 9.99965767e-01 -1.16508865e-05 -1.41359896e+02] [-2.58921879e-03 -3.30760928e-05 -9.99996648e-01 -4.10952630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.01407333338214866 Centerline is valid? [True, True] Translation: X:49.04, Y:-140.72, Z:-5.14 [[-9.96348347e-01 -8.53649877e-02 1.67042792e-03 4.90426603e+01] [ 8.53648038e-02 -9.96349747e-01 -1.81206187e-04 -1.40719891e+02] [ 1.67979910e-03 -3.79487332e-05 9.99998589e-01 -5.14222687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.013972615829252891 Centerline is valid? [True, True] Translation: X:48.98, Y:-141.36, Z:-4.11 [[-9.99890228e-01 -1.47026835e-02 1.83408333e-03 4.89801190e+01] [-1.47027088e-02 9.99891909e-01 -3.06962707e-07 -1.41358301e+02] [-1.83388057e-03 -2.72729220e-05 -9.99998318e-01 -4.10859869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.0146867498631698 Centerline is valid? [True, True] Translation: X:48.98, Y:-140.72, Z:-5.14 [[-9.96210679e-01 -8.69269223e-02 2.82737057e-03 4.89815216e+01] [ 8.69268864e-02 -9.96214685e-01 -1.35811442e-04 -1.40722623e+02] [ 2.82847375e-03 1.10477712e-04 9.99995994e-01 -5.14448047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.014883714496638374 Centerline is valid? [True, True] Translation: X:48.92, Y:-141.36, Z:-4.11 [[-9.99732451e-01 -2.28456599e-02 3.61985455e-03 4.89218260e+01] [-2.28457627e-02 9.99739001e-01 1.29513629e-05 -1.41356586e+02] [-3.61920566e-03 -6.97504404e-05 -9.99993448e-01 -4.10543851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.014778350929238217 Centerline is valid? [True, True] Translation: X:48.91, Y:-141.33, Z:-4.10 [[-9.95641328e-01 -9.31762499e-02 4.06598943e-03 4.89138851e+01] [-9.31757848e-02 9.95649628e-01 3.04087188e-04 -1.41331088e+02] [-4.07663457e-03 -7.60899842e-05 -9.99991688e-01 -4.10496279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.013867701006203376 Centerline is valid? [True, True] Translation: X:48.91, Y:-141.31, Z:-4.10 [[-9.87308115e-01 -1.58765469e-01 4.02637554e-03 4.89119143e+01] [-1.58764377e-01 9.87316324e-01 5.91459219e-04 -1.41311260e+02] [-4.06920959e-03 -5.52925184e-05 -9.99991719e-01 -4.10445687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.01289640245605572 Centerline is valid? [True, True] Translation: X:48.91, Y:-141.29, Z:-4.10 [[-9.74823696e-01 -2.22951963e-01 3.34431978e-03 4.89056995e+01] [-2.22950743e-01 9.74829432e-01 7.38074427e-04 -1.41292704e+02] [-3.42469649e-03 -2.61261397e-05 -9.99994135e-01 -4.10472939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.012912721835391673 Centerline is valid? [True, True] Translation: X:48.89, Y:-141.27, Z:-4.10 [[-9.56487712e-01 -2.91763633e-01 2.28891306e-03 4.88886848e+01] [-2.91762841e-01 9.56490451e-01 6.80175721e-04 -1.41268178e+02] [-2.38777402e-03 -1.72400564e-05 -9.99997149e-01 -4.10490160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.013052757476502783 Centerline is valid? [True, True] Translation: X:48.69, Y:-140.64, Z:-5.15 [[-9.77619081e-01 2.10367577e-01 2.53282823e-03 4.86857773e+01] [-2.10366783e-01 -9.77622361e-01 5.78933649e-04 -1.40639571e+02] [ 2.59793838e-03 3.31536571e-05 9.99996625e-01 -5.14710887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.013128915150012696 Centerline is valid? [True, True] Translation: X:48.77, Y:-141.30, Z:-4.10 [[-9.54129452e-01 -2.99386592e-01 2.15812314e-03 4.87674732e+01] [-2.99385873e-01 9.54131892e-01 6.56472463e-04 -1.41300158e+02] [-2.25567317e-03 -1.97518677e-05 -9.99997456e-01 -4.10424749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.01290961167635728 Centerline is valid? [True, True] Translation: X:48.74, Y:-141.28, Z:-4.10 [[-9.30195926e-01 -3.67060222e-01 1.52727068e-03 4.87370686e+01] [-3.67059752e-01 9.30197180e-01 5.87876106e-04 -1.41282969e+02] [-1.63644881e-03 -1.37596374e-05 -9.99998661e-01 -4.10469545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.012887553670890181 Centerline is valid? [True, True] Translation: X:48.69, Y:-141.27, Z:-4.10 [[-9.01088215e-01 -4.33634978e-01 8.57198175e-04 4.86902817e+01] [-4.33634790e-01 9.01088623e-01 4.03944689e-04 -1.41271211e+02] [-9.47576069e-04 -7.72115151e-06 -9.99999551e-01 -4.10420256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.012970478811325908 Centerline is valid? [True, True] Translation: X:48.63, Y:-141.27, Z:-4.10 [[-8.66703217e-01 -4.98820857e-01 1.81286836e-03 4.86273879e+01] [-4.98819809e-01 8.66705113e-01 1.02258212e-03 -1.41271332e+02] [-2.08130757e-03 -1.80194389e-05 -9.99997834e-01 -4.10326108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.012732596761900757 Centerline is valid? [True, True] Translation: X:48.56, Y:-141.28, Z:-4.10 [[-8.27887874e-01 -5.60877321e-01 4.27775455e-03 4.85568588e+01] [-5.60870094e-01 8.27898924e-01 2.84752986e-03 -1.41282907e+02] [-5.13866330e-03 -4.18291572e-05 -9.99986796e-01 -4.10048015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.012684995506945953 Centerline is valid? [True, True] Translation: X:48.49, Y:-141.30, Z:-4.10 [[-7.84990056e-01 -6.19484683e-01 5.41660744e-03 4.84850303e+01] [-6.19470311e-01 7.85008742e-01 4.21992242e-03 -1.41303212e+02] [-6.86626150e-03 -4.28303599e-05 -9.99976426e-01 -4.09852223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.012543205640826017 Centerline is valid? [True, True] Translation: X:48.41, Y:-141.33, Z:-4.10 [[-7.38408903e-01 -6.74332493e-01 5.28970321e-03 4.84081749e+01] [-6.74315426e-01 7.38427849e-01 4.79775138e-03 -1.41334526e+02] [-7.14134381e-03 -2.42261469e-05 -9.99974500e-01 -4.09693668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.012277896379821974 Centerline is valid? [True, True] Translation: X:48.33, Y:-141.38, Z:-4.10 [[-6.88260780e-01 -7.25455380e-01 3.40444539e-03 4.83289739e+01] [-7.25446496e-01 6.88269200e-01 3.59029862e-03 -1.41378172e+02] [-4.94777636e-03 1.31874679e-06 -9.99987760e-01 -4.09996614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.012262276871473674 Centerline is valid? [True, True] Translation: X:48.25, Y:-141.43, Z:-4.10 [[-6.32093850e-01 -7.74889403e-01 1.94355945e-03 4.82476840e+01] [-7.74885725e-01 6.32096838e-01 2.38755808e-03 -1.41429190e+02] [-3.07861124e-03 3.12431262e-06 -9.99995261e-01 -4.10139773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.012130869607669062 Centerline is valid? [True, True] Translation: X:48.17, Y:-141.49, Z:-4.10 [[-5.70083466e-01 -8.21586098e-01 1.06084254e-03 4.81650169e+01] [-8.21584681e-01 5.70084453e-01 1.52616556e-03 -1.41489061e+02] [-1.85864625e-03 -1.53022822e-06 -9.99998273e-01 -4.10161185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.012287254623741735 Centerline is valid? [True, True] Translation: X:48.09, Y:-141.56, Z:-4.10 [[-5.03954945e-01 -8.63729730e-01 6.05736196e-04 4.80864827e+01] [-8.63729115e-01 5.03955309e-01 1.03063063e-03 -1.41557880e+02] [-1.19545029e-03 -3.80058588e-06 -9.99999286e-01 -4.10205401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.012641743330441343 Centerline is valid? [True, True] Translation: X:48.01, Y:-141.64, Z:-4.10 [[-4.34213334e-01 -9.00809952e-01 4.59038687e-04 4.80103949e+01] [-9.00809464e-01 4.34213576e-01 9.37811239e-04 -1.41636523e+02] [-1.04411053e-03 -6.29624946e-06 -9.99999455e-01 -4.10175094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.013469913484897459 Centerline is valid? [True, True] Translation: X:47.94, Y:-141.72, Z:-4.10 [[-3.60599663e-01 -9.32719940e-01 1.18199944e-03 4.79369910e+01] [-9.32715235e-01 3.60601599e-01 2.96278020e-03 -1.41723274e+02] [-3.18967506e-03 -3.40913398e-05 -9.99994912e-01 -4.09914763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.014103772792125907 Centerline is valid? [True, True] Translation: X:47.87, Y:-141.82, Z:-4.10 [[-2.86369533e-01 -9.58117627e-01 1.76180229e-03 4.78734033e+01] [-9.58101106e-01 2.86374943e-01 5.62707779e-03 -1.41817497e+02] [-5.89593845e-03 -7.65610841e-05 -9.99982616e-01 -4.09704362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.014342438140887872 Centerline is valid? [True, True] Translation: X:47.82, Y:-141.91, Z:-4.10 [[-2.12521746e-01 -9.77155146e-01 1.52596739e-03 4.78185949e+01] [-9.77132814e-01 2.12527206e-01 6.60690946e-03 -1.41914759e+02] [-6.78028516e-03 -8.69608823e-05 -9.99977010e-01 -4.09631259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.013522331142805469 Centerline is valid? [True, True] Translation: X:47.77, Y:-142.02, Z:-4.10 [[-1.40599109e-01 -9.90066198e-01 9.01940166e-04 4.77725700e+01] [-9.90048313e-01 1.40601991e-01 5.95138023e-03 -1.42018128e+02] [-6.01907498e-03 -5.62055788e-05 -9.99981884e-01 -4.09583188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.012773822359704973 Centerline is valid? [True, True] Translation: X:47.74, Y:-142.13, Z:-4.10 [[-7.00325203e-02 -9.97544622e-01 4.15602836e-04 4.77393517e+01] [-9.97528734e-01 7.00337505e-02 5.63025175e-03 -1.42127743e+02] [-5.64553358e-03 -2.02750509e-05 -9.99984064e-01 -4.09660594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.012500441496386036 Centerline is valid? [True, True] Translation: X:47.72, Y:-142.24, Z:-4.10 [[ 7.67017650e-05 -9.99999997e-01 -1.47624793e-05 4.77165622e+01] [-9.99989104e-01 -7.67698328e-05 4.66746447e-03 -1.42237699e+02] [-4.66746559e-03 1.44043156e-05 -9.99989107e-01 -4.09940443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.013274968321045206 Centerline is valid? [True, True] Translation: X:47.70, Y:-142.35, Z:-4.10 [[ 6.96054267e-02 -9.97574592e-01 -1.33773652e-04 4.76992883e+01] [-9.97573208e-01 -6.96055529e-02 1.66199510e-03 -1.42347866e+02] [-1.66727547e-03 1.77651329e-05 -9.99998610e-01 -4.10314510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.013252429784126434 Centerline is valid? [True, True] Translation: X:47.69, Y:-142.47, Z:-4.10 [[ 1.44766767e-01 -9.89465758e-01 -3.11324095e-04 4.76854411e+01] [-9.89463804e-01 -1.44767099e-01 1.96648296e-03 -1.42470903e+02] [-1.99083704e-03 2.33625439e-05 -9.99998018e-01 -4.10278909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.012993693493885756 Centerline is valid? [True, True] Translation: X:47.68, Y:-142.59, Z:-4.10 [[ 2.23319715e-01 -9.74744339e-01 -1.33330571e-03 4.76792820e+01] [-9.74728233e-01 -2.23323690e-01 5.60370862e-03 -1.42589018e+02] [-5.75994200e-03 4.81921052e-05 -9.99983410e-01 -4.10050077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.012747105385707502 Centerline is valid? [True, True] Translation: X:47.68, Y:-142.71, Z:-4.10 [[ 3.00663738e-01 -9.53726865e-01 -2.52678867e-03 4.76808464e+01] [-9.53694313e-01 -3.00674353e-01 7.87982645e-03 -1.42711701e+02] [-8.27494272e-03 4.06059097e-05 -9.99965761e-01 -4.09763046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.01274198997670942 Centerline is valid? [True, True] Translation: X:47.69, Y:-142.83, Z:-4.09 [[ 3.76852179e-01 -9.26264353e-01 -4.09680229e-03 4.76883657e+01] [-9.26209759e-01 -3.76874447e-01 1.00565080e-02 -1.42832266e+02] [-1.08589650e-02 4.68131316e-06 -9.99941040e-01 -4.09382996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.012712959399885853 Centerline is valid? [True, True] Translation: X:47.71, Y:-142.95, Z:-4.09 [[ 4.48294095e-01 -8.93873866e-01 -4.68143772e-03 4.77088449e+01] [-8.93824753e-01 -4.48318538e-01 9.37016422e-03 -1.42948021e+02] [-1.04745202e-02 -1.62043785e-05 -9.99945141e-01 -4.09445627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.012652671882415884 Centerline is valid? [True, True] Translation: X:47.74, Y:-143.06, Z:-4.10 [[ 5.16919624e-01 -8.56022806e-01 -4.36545862e-03 4.77377270e+01] [-8.55991796e-01 -5.16938057e-01 7.28635053e-03 -1.43058791e+02] [-8.49395392e-03 -2.96608143e-05 -9.99963925e-01 -4.09746605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.01273970382204104 Centerline is valid? [True, True] Translation: X:47.77, Y:-143.17, Z:-4.10 [[ 5.81782148e-01 -8.13335660e-01 -3.82564861e-03 4.77731346e+01] [-8.13317709e-01 -5.81794726e-01 5.40380468e-03 -1.43165877e+02] [-6.62084923e-03 -3.23693330e-05 -9.99978082e-01 -4.09853512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.012784581875099475 Centerline is valid? [True, True] Translation: X:47.82, Y:-143.27, Z:-4.10 [[ 6.43965102e-01 -7.65050998e-01 -2.43274090e-03 4.78164743e+01] [-7.65045373e-01 -6.43969696e-01 2.93384113e-03 -1.43270851e+02] [-3.81114951e-03 -2.81341342e-05 -9.99992737e-01 -4.10033134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.013154256123994582 Centerline is valid? [True, True] Translation: X:47.86, Y:-143.36, Z:-4.10 [[ 7.01026375e-01 -7.13131955e-01 -2.19922253e-03 4.78611166e+01] [-7.13128325e-01 -7.01029824e-01 2.27554250e-03 -1.43363818e+02] [-3.16448266e-03 -2.68874328e-05 -9.99994993e-01 -4.10029535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.013312758379143004 Centerline is valid? [True, True] Translation: X:47.92, Y:-143.45, Z:-4.10 [[ 7.54675107e-01 -6.56094570e-01 -2.32342362e-03 4.79161137e+01] [-6.56091321e-01 -7.54678683e-01 2.06488601e-03 -1.43454235e+02] [-3.10819878e-03 -3.39399925e-05 -9.99995169e-01 -4.10099370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.014134148925752937 Centerline is valid? [True, True] Translation: X:47.94, Y:-143.48, Z:-4.10 [[ 8.05545642e-01 -5.92521620e-01 -3.78789748e-03 4.79366098e+01] [-5.92514675e-01 -8.05554545e-01 2.86979558e-03 -1.43483301e+02] [-4.75177396e-03 -6.73664776e-05 -9.99988708e-01 -4.09935586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.015000014539125823 Centerline is valid? [True, True] Translation: X:47.96, Y:-143.51, Z:-4.10 [[ 8.51926085e-01 -5.23620479e-01 -6.59838591e-03 4.79597694e+01] [-5.23603410e-01 -8.51951625e-01 4.23053047e-03 -1.43513247e+02] [-7.83669799e-03 -1.49161898e-04 -9.99969282e-01 -4.09657873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.016735407954870024 Centerline is valid? [True, True] Translation: X:47.99, Y:-143.54, Z:-4.09 [[ 8.91110980e-01 -4.53718266e-01 -7.80740999e-03 4.79853485e+01] [-4.53699016e-01 -8.91145162e-01 4.18365306e-03 -1.43540132e+02] [-8.85573546e-03 -1.85884953e-04 -9.99960770e-01 -4.09433054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.016792448208357843 Centerline is valid? [True, True] Translation: X:48.02, Y:-143.56, Z:-4.09 [[ 9.23805749e-01 -3.82783455e-01 -7.73079777e-03 4.80179094e+01] [-3.82768448e-01 -9.23838079e-01 3.39403651e-03 -1.43556791e+02] [-8.44118638e-03 -1.76324976e-04 -9.99964357e-01 -4.09452081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.014000186124064187 Centerline is valid? [True, True] Translation: X:48.05, Y:-143.57, Z:-4.10 [[ 9.49420641e-01 -3.13956232e-01 -5.65068564e-03 4.80513264e+01] [-3.13950068e-01 -9.49437452e-01 1.96974411e-03 -1.43571113e+02] [-5.98338602e-03 -9.60825748e-05 -9.99982095e-01 -4.09698684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.013264672913566289 Centerline is valid? [True, True] Translation: X:48.08, Y:-143.58, Z:-4.10 [[ 9.69940673e-01 -2.43296887e-01 -4.65993456e-03 4.80837271e+01] [-2.43293807e-01 -9.69951866e-01 1.22533898e-03 -1.43583413e+02] [-4.81803338e-03 -5.47728960e-05 -9.99988392e-01 -4.09748944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.012515208654735347 Centerline is valid? [True, True] Translation: X:48.12, Y:-143.59, Z:-4.10 [[ 9.84991727e-01 -1.72544768e-01 -4.42737726e-03 4.81184193e+01] [-1.72542913e-01 -9.85001676e-01 8.00535322e-04 -1.43591018e+02] [-4.49910220e-03 -2.46081000e-05 -9.99989879e-01 -4.09719899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.01246205470265343 Centerline is valid? [True, True] Translation: X:48.15, Y:-143.60, Z:-4.10 [[ 9.95389733e-01 -9.57091881e-02 -6.24748688e-03 4.81495104e+01] [-9.57071183e-02 -9.95409338e-01 6.30115154e-04 -1.43601730e+02] [-6.27911459e-03 -2.92811893e-05 -9.99980286e-01 -4.09592805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.013076868326622412 Centerline is valid? [True, True] Translation: X:48.18, Y:-143.62, Z:-4.09 [[ 9.99865657e-01 -1.28702381e-02 -1.01500772e-02 4.81791085e+01] [-1.28686133e-02 -9.99917171e-01 2.25377510e-04 -1.43616453e+02] [-1.01521371e-02 -9.47298136e-05 -9.99948461e-01 -4.09144920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.013860189340578725 Centerline is valid? [True, True] Translation: X:48.21, Y:-143.62, Z:-4.09 [[ 9.97635638e-01 6.74973425e-02 -1.29322691e-02 4.82113707e+01] [ 6.74935857e-02 -9.97719443e-01 -7.27221675e-04 -1.43622696e+02] [-1.29518619e-02 -1.47342955e-04 -9.99916110e-01 -4.08888583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.013702965224188396 Centerline is valid? [True, True] Translation: X:48.24, Y:-143.62, Z:-4.09 [[ 9.89413415e-01 1.44514732e-01 -1.32885632e-02 4.82437888e+01] [ 1.44503601e-01 -9.89502639e-01 -1.79911512e-03 -1.43621564e+02] [-1.34090670e-02 -1.40176594e-04 -9.99910085e-01 -4.08899792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.01300161437102461 Centerline is valid? [True, True] Translation: X:48.28, Y:-143.62, Z:-4.09 [[ 9.75911469e-01 2.17906210e-01 -1.06624757e-02 4.82754002e+01] [ 2.17894023e-01 -9.75969712e-01 -2.30574255e-03 -1.43615585e+02] [-1.09086889e-02 -7.30891217e-05 -9.99940496e-01 -4.09058064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.01238465216974932 Centerline is valid? [True, True] Translation: X:48.31, Y:-143.61, Z:-4.09 [[ 9.58259678e-01 2.85830196e-01 -6.28402456e-03 4.83059143e+01] [ 2.85823982e-01 -9.58280282e-01 -1.88471040e-03 -1.43605776e+02] [-6.56056397e-03 9.91705751e-06 -9.99978479e-01 -4.09486592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.012639890272268875 Centerline is valid? [True, True] Translation: X:48.34, Y:-143.59, Z:-4.10 [[ 9.34350463e-01 3.56314935e-01 -5.37397047e-03 4.83353969e+01] [ 3.56308848e-01 -9.34365917e-01 -2.08283533e-03 -1.43594816e+02] [-5.76340018e-03 3.13049203e-05 -9.99983391e-01 -4.09574400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.012742234272330613 Centerline is valid? [True, True] Translation: X:48.37, Y:-143.59, Z:-4.10 [[ 9.04184851e-01 4.27079401e-01 -7.27595221e-03 4.83680411e+01] [ 4.27065082e-01 -9.04214124e-01 -3.49766312e-03 -1.43590483e+02] [-8.07279863e-03 5.52288822e-05 -9.99967413e-01 -4.09562339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.012706397568632271 Centerline is valid? [True, True] Translation: X:48.40, Y:-143.58, Z:-4.09 [[ 8.67056775e-01 4.98133496e-01 -8.69304061e-03 4.84004829e+01] [ 4.98107877e-01 -8.67100351e-01 -5.05221653e-03 -1.43584454e+02] [-1.00544168e-02 5.04865682e-05 -9.99949452e-01 -4.09337846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.01264276758327122 Centerline is valid? [True, True] Translation: X:48.43, Y:-143.58, Z:-4.09 [[ 8.24143397e-01 5.66298845e-01 -9.65817150e-03 4.84323922e+01] [ 5.66259491e-01 -8.24199986e-01 -6.67623267e-03 -1.43575168e+02] [-1.17410077e-02 3.31417964e-05 -9.99931072e-01 -4.09323484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.012402986201379033 Centerline is valid? [True, True] Translation: X:48.47, Y:-143.56, Z:-4.09 [[ 7.76018808e-01 6.30636149e-01 -9.63625075e-03 4.84651677e+01] [ 6.30587371e-01 -7.76078635e-01 -7.84343790e-03 -1.43563931e+02] [-1.24248438e-02 1.01572972e-05 -9.99922809e-01 -4.09407162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.012533032191984062 Centerline is valid? [True, True] Translation: X:48.49, Y:-143.55, Z:-4.09 [[ 7.23482066e-01 6.90282845e-01 -9.12658291e-03 4.84937485e+01] [ 6.90227994e-01 -7.23539629e-01 -8.70184510e-03 -1.43548430e+02] [-1.26101788e-02 -3.79414487e-06 -9.99920489e-01 -4.09374686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.012301554765720698 Centerline is valid? [True, True] Translation: X:48.52, Y:-143.53, Z:-4.10 [[ 6.66013756e-01 7.45906160e-01 -7.04821381e-03 4.85226448e+01] [ 7.45864722e-01 -6.66051049e-01 -7.86229954e-03 -1.43530932e+02] [-1.05590079e-02 -2.06143886e-05 -9.99944252e-01 -4.09712546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.012336519476808493 Centerline is valid? [True, True] Translation: X:48.55, Y:-143.51, Z:-4.10 [[ 6.04090546e-01 7.96898172e-01 -5.28344737e-03 4.85508830e+01] [ 7.96868175e-01 -6.04113650e-01 -6.91443349e-03 -1.43512680e+02] [-8.70190209e-03 -3.32671644e-05 -9.99962137e-01 -4.09888680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.012483512338772495 Centerline is valid? [True, True] Translation: X:48.58, Y:-143.49, Z:-4.10 [[ 5.36775285e-01 8.43711257e-01 -4.85878957e-03 4.85784258e+01] [ 8.43677813e-01 -5.36797271e-01 -7.51257919e-03 -1.43492592e+02] [-8.94663261e-03 -6.66861236e-05 -9.99959976e-01 -4.10002322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.013013595655792406 Centerline is valid? [True, True] Translation: X:48.60, Y:-143.47, Z:-4.10 [[ 4.66145503e-01 8.84691182e-01 -5.46649206e-03 4.86043663e+01] [ 8.84633426e-01 -4.66177538e-01 -1.01096691e-02 -1.43469973e+02] [-1.14922909e-02 -1.23264798e-04 -9.99933954e-01 -4.09819362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.013562188167614685 Centerline is valid? [True, True] Translation: X:48.63, Y:-143.45, Z:-4.10 [[ 3.92215577e-01 9.19853423e-01 -6.05158963e-03 4.86290503e+01] [ 9.19752166e-01 -3.92262203e-01 -1.36498064e-02 -1.43445624e+02] [-1.49296310e-02 -2.12295959e-04 -9.99888524e-01 -4.09583284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.014964944149676489 Centerline is valid? [True, True] Translation: X:48.65, Y:-143.42, Z:-4.09 [[ 3.15800958e-01 9.48807977e-01 -5.75992894e-03 4.86512659e+01] [ 9.48667341e-01 -3.15853335e-01 -1.63384879e-02 -1.43420719e+02] [-1.73213804e-02 -3.04546323e-04 -9.99849927e-01 -4.09253353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.01492961709599416 Centerline is valid? [True, True] Translation: X:48.66, Y:-143.39, Z:-4.09 [[ 2.40774305e-01 9.70570431e-01 -4.55778564e-03 4.86644958e+01] [ 9.70419908e-01 -2.40817244e-01 -1.70955244e-02 -1.43391070e+02] [-1.76900039e-02 -3.06802913e-04 -9.99843473e-01 -4.09257820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.014196206398717824 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.36, Z:-4.09 [[ 1.67717481e-01 9.85828940e-01 -3.48537835e-03 4.86700767e+01] [ 9.85647365e-01 -1.67753488e-01 -1.89219299e-02 -1.43359822e+02] [-1.92384705e-02 -2.61815572e-04 -9.99814889e-01 -4.09160685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.013379518762679909 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.33, Z:-4.09 [[ 9.37860193e-02 9.95590533e-01 -1.91679377e-03 4.86723341e+01] [ 9.95420320e-01 -9.38054295e-02 -1.84099984e-02 -1.43328234e+02] [-1.85086258e-02 -1.81414999e-04 -9.99828684e-01 -4.09269263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.012216916371772609 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.30, Z:-4.10 [[ 2.13011402e-02 9.99773014e-01 -4.25966170e-04 4.86729723e+01] [ 9.99631466e-01 -2.13052920e-02 -1.68231202e-02 -1.43296319e+02] [-1.68283770e-02 -6.74575448e-05 -9.99858391e-01 -4.09562649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.012318498420750402 Centerline is valid? [True, True] Translation: X:48.68, Y:-143.27, Z:-4.10 [[-5.54031988e-02 9.98463669e-01 8.87154633e-04 4.86755805e+01] [ 9.98324172e-01 5.54102875e-02 -1.66897289e-02 -1.43265635e+02] [-1.67132455e-02 -3.89964561e-05 -9.99860323e-01 -4.09597684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.01215182199945425 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.24, Z:-4.10 [[-1.30289588e-01 9.91473788e-01 2.08602773e-03 4.86736442e+01] [ 9.91348373e-01 1.30306286e-01 -1.57694217e-02 -1.43235139e+02] [-1.59067908e-02 1.33887422e-05 -9.99873479e-01 -4.09728233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.012198448263533612 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.20, Z:-4.10 [[-2.07664623e-01 9.78193845e-01 3.49369770e-03 4.86724405e+01] [ 9.78056428e-01 2.07694009e-01 -1.63958208e-02 -1.43204201e+02] [-1.67639110e-02 1.22015555e-05 -9.99859476e-01 -4.09728426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.012508845098225746 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.18, Z:-4.09 [[-2.85077053e-01 9.58491415e-01 5.02812309e-03 4.86699802e+01] [ 9.58341526e-01 2.85121391e-01 -1.69502812e-02 -1.43175031e+02] [-1.76803244e-02 -1.34770471e-05 -9.99843691e-01 -4.09476071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.01252569819839137 Centerline is valid? [True, True] Translation: X:48.67, Y:-143.14, Z:-4.10 [[-3.61986810e-01 9.32159541e-01 6.64383978e-03 4.86667944e+01] [ 9.31999106e-01 3.62047768e-01 -1.72939154e-02 -1.43144734e+02] [-1.85260756e-02 -6.81165291e-05 -9.99828375e-01 -4.09533500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.012524199473054847 Centerline is valid? [True, True] Translation: X:48.66, Y:-143.11, Z:-4.10 [[-4.34154291e-01 9.00805189e-01 7.75005482e-03 4.86596758e+01] [ 9.00658744e-01 4.34223452e-01 -1.62425711e-02 -1.43114337e+02] [-1.79966478e-02 -7.16272718e-05 -9.99838045e-01 -4.09658839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.012320145061528585 Centerline is valid? [True, True] Translation: X:48.65, Y:-143.08, Z:-4.10 [[-5.01228364e-01 8.65272900e-01 8.54025954e-03 4.86508303e+01] [ 8.65146459e-01 5.01301116e-01 -1.47917299e-02 -1.43084755e+02] [-1.70801247e-02 -2.54592924e-05 -9.99854124e-01 -4.09871784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.01266724156733565 Centerline is valid? [True, True] Translation: X:48.64, Y:-143.06, Z:-4.10 [[-5.65656472e-01 8.24586892e-01 9.44532237e-03 4.86389393e+01] [ 8.24472316e-01 5.65735325e-01 -1.37456397e-02 -1.43057351e+02] [-1.66780268e-02 1.20967673e-05 -9.99860912e-01 -4.09765548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.013442082117040595 Centerline is valid? [True, True] Translation: X:48.62, Y:-143.04, Z:-4.10 [[-6.25575128e-01 7.80096267e-01 1.02749273e-02 4.86198825e+01] [ 7.79992988e-01 6.25659499e-01 -1.26937130e-02 -1.43035427e+02] [-1.63309240e-02 7.35001184e-05 -9.99866639e-01 -4.09801450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.013938406495434813 Centerline is valid? [True, True] Translation: X:48.60, Y:-143.01, Z:-4.10 [[-6.82863111e-01 7.30462415e-01 1.10739278e-02 4.85998253e+01] [ 7.30369073e-01 6.82952888e-01 -1.16777464e-02 -1.43013196e+02] [-1.60931258e-02 1.13752168e-04 -9.99870491e-01 -4.09851825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.014166119443250549 Centerline is valid? [True, True] Translation: X:48.58, Y:-142.99, Z:-4.10 [[-7.36988565e-01 6.75815119e-01 1.10353718e-02 4.85789948e+01] [ 6.75741953e-01 7.37071169e-01 -9.94503298e-03 -1.42992236e+02] [-1.48548581e-02 1.27688129e-04 -9.99889652e-01 -4.10002069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.013838345077087439 Centerline is valid? [True, True] Translation: X:48.60, Y:-142.97, Z:-4.10 [[-7.82399547e-01 6.22692028e-01 1.02755380e-02 4.86040781e+01] [ 6.22640293e-01 7.82467012e-01 -8.02753021e-03 -1.42973732e+02] [-1.30389486e-02 1.17227982e-04 -9.99914983e-01 -4.10287322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.013516144977828225 Centerline is valid? [True, True] Translation: X:49.00, Y:-142.47, Z:-5.15 [[-7.50216580e-01 -6.61136181e-01 8.60427308e-03 4.89984264e+01] [ 6.61089791e-01 -7.50265896e-01 -7.83416517e-03 -1.42467265e+02] [ 1.16349427e-02 -1.89123510e-04 9.99932294e-01 -5.14726462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.013600997840244019 Centerline is valid? [True, True] Translation: X:48.57, Y:-142.94, Z:-4.10 [[-7.85982800e-01 6.18202728e-01 7.51165730e-03 4.85713811e+01] [ 6.18175290e-01 7.86018691e-01 -5.82485128e-03 -1.42939569e+02] [-9.50524199e-03 6.52880107e-05 -9.99954822e-01 -4.10289660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.013305664870219558 Centerline is valid? [True, True] Translation: X:48.59, Y:-142.92, Z:-4.10 [[-8.28829576e-01 5.59460656e-01 6.73113121e-03 4.85901637e+01] [ 5.59442610e-01 8.28856907e-01 -4.49373265e-03 -1.42915690e+02] [-8.09321121e-03 4.11430843e-05 -9.99967249e-01 -4.10355449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.013197955079274284 Centerline is valid? [True, True] Translation: X:48.60, Y:-142.89, Z:-4.10 [[-8.68382012e-01 4.95861757e-01 5.81372568e-03 4.86035348e+01] [ 4.95850700e-01 8.68401473e-01 -3.31144948e-03 -1.42886603e+02] [-6.69066910e-03 7.13678637e-06 -9.99977617e-01 -4.10487415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.013346667458838096 Centerline is valid? [True, True] Translation: X:48.90, Y:-142.36, Z:-5.15 [[-8.30320794e-01 -5.57273216e-01 3.73376321e-03 4.88996275e+01] [ 5.57266782e-01 -8.30329177e-01 -2.68186337e-03 -1.42359089e+02] [ 4.59478316e-03 -1.46104719e-04 9.99989433e-01 -5.14619223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.013696715819797886 Centerline is valid? [True, True] Translation: X:48.88, Y:-142.39, Z:-5.15 [[-7.88963870e-01 -6.14431020e-01 3.24548828e-03 4.88800922e+01] [ 6.14426021e-01 -7.88970545e-01 -2.47892852e-03 -1.42388621e+02] [ 4.08372524e-03 3.83274093e-05 9.99991661e-01 -5.14712247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.013617305589665809 Centerline is valid? [True, True] Translation: X:48.86, Y:-142.41, Z:-5.15 [[-7.45883226e-01 -6.66068647e-01 3.28175440e-03 4.88607459e+01] [ 6.66062439e-01 -7.45890445e-01 -2.87596623e-03 -1.42414153e+02] [ 4.36342019e-03 4.07183673e-05 9.99990479e-01 -5.14810701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.013304241414085613 Centerline is valid? [True, True] Translation: X:48.47, Y:-142.85, Z:-4.10 [[-8.00686171e-01 5.99076425e-01 3.01521300e-03 4.84744365e+01] [ 5.99072065e-01 8.00691848e-01 -2.28584221e-03 -1.42847688e+02] [-3.78365066e-03 -2.39123712e-05 -9.99992842e-01 -4.10302367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.012908579327357918 Centerline is valid? [True, True] Translation: X:48.49, Y:-142.83, Z:-4.10 [[-8.39732307e-01 5.42996188e-01 2.18912653e-03 4.84935926e+01] [ 5.42994314e-01 8.39735160e-01 -1.42680831e-03 -1.42827149e+02] [-2.61303799e-03 -9.45377182e-06 -9.99996586e-01 -4.10318199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.012776164563368381 Centerline is valid? [True, True] Translation: X:48.51, Y:-142.80, Z:-4.10 [[-8.74757103e-01 4.84559739e-01 1.36775793e-03 4.85095645e+01] [ 4.84559145e-01 8.74758172e-01 -7.58889994e-04 -1.42803418e+02] [-1.56418496e-03 -1.08480185e-06 -9.99998777e-01 -4.10300336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.012557984005779954 Centerline is valid? [True, True] Translation: X:48.52, Y:-142.78, Z:-4.10 [[-9.06133043e-01 4.22988274e-01 1.95689915e-03 4.85201598e+01] [ 4.22987291e-01 9.06135156e-01 -9.11774116e-04 -1.42778244e+02] [-2.15888487e-03 1.55481432e-06 -9.99997670e-01 -4.10223001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.0127534287190035 Centerline is valid? [True, True] Translation: X:48.53, Y:-142.75, Z:-4.10 [[-9.32664497e-01 3.60729923e-01 3.29527561e-03 4.85280716e+01] [ 3.60727720e-01 9.32670318e-01 -1.26081365e-03 -1.42752897e+02] [-3.52821896e-03 1.27811232e-05 -9.99993776e-01 -4.10067664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.012947874235911037 Centerline is valid? [True, True] Translation: X:48.53, Y:-142.73, Z:-4.10 [[-9.55159013e-01 2.96063941e-01 4.17153768e-03 4.85342481e+01] [ 2.96061235e-01 9.55168122e-01 -1.26603197e-03 -1.42726332e+02] [-4.35934623e-03 2.57687501e-05 -9.99990498e-01 -4.09988349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.013372444981108126 Centerline is valid? [True, True] Translation: X:48.54, Y:-142.70, Z:-4.10 [[-9.73248682e-01 2.29714542e-01 4.26990787e-03 4.85398310e+01] [ 2.29712490e-01 9.73258048e-01 -9.71620879e-04 -1.42701210e+02] [-4.37891765e-03 3.52224290e-05 -9.99990412e-01 -4.09966082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.013490764823358072 Centerline is valid? [True, True] Translation: X:48.54, Y:-142.67, Z:-4.10 [[-9.86733743e-01 1.62300200e-01 3.89437415e-03 4.85372551e+01] [ 1.62299098e-01 9.86741427e-01 -5.99466903e-04 -1.42672319e+02] [-3.94003390e-03 4.05391886e-05 -9.99992237e-01 -4.10002316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.013726517692573317 Centerline is valid? [True, True] Translation: X:48.54, Y:-142.65, Z:-4.10 [[-9.95607513e-01 9.35299613e-02 4.22213005e-03 4.85382509e+01] [ 9.35293359e-02 9.95616464e-01 -3.45764226e-04 -1.42645311e+02] [-4.23596150e-03 5.06475580e-05 -9.99991027e-01 -4.10032024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.014063373896970292 Centerline is valid? [True, True] Translation: X:48.59, Y:-142.07, Z:-5.15 [[-9.90807253e-01 -1.35223585e-01 3.94593764e-03 4.85862351e+01] [ 1.35222259e-01 -9.90815108e-01 -6.02116799e-04 -1.42070959e+02] [ 3.99111502e-03 -6.30030900e-05 9.99992034e-01 -5.15075840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.014186317149565602 Centerline is valid? [True, True] Translation: X:48.49, Y:-142.64, Z:-4.10 [[-9.95701958e-01 9.24969217e-02 4.68294364e-03 4.84888772e+01] [ 9.24962263e-02 9.95712968e-01 -3.65330017e-04 -1.42640405e+02] [-4.69665961e-03 6.93948004e-05 -9.99988968e-01 -4.09986915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.014178804991003421 Centerline is valid? [True, True] Translation: X:48.53, Y:-142.07, Z:-5.15 [[-9.91079866e-01 -1.33115065e-01 6.40931821e-03 4.85302181e+01] [ 1.33112431e-01 -9.91100590e-01 -8.37779753e-04 -1.42072153e+02] [ 6.46380017e-03 2.28532799e-05 9.99979109e-01 -5.15335837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.013981180132630087 Centerline is valid? [True, True] Translation: X:48.43, Y:-142.63, Z:-4.10 [[-9.96349775e-01 8.49491256e-02 8.41255456e-03 4.84346260e+01] [ 8.49468743e-02 9.96385286e-01 -6.25216574e-04 -1.42630826e+02] [-8.43525718e-03 9.16858225e-05 -9.99964418e-01 -4.09674771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.013601561939039084 Centerline is valid? [True, True] Translation: X:48.43, Y:-142.60, Z:-4.10 [[-9.99868356e-01 1.33349451e-02 9.24395686e-03 4.84278265e+01] [ 1.33352477e-02 9.99911081e-01 -2.89039469e-05 -1.42601737e+02] [-9.24352033e-03 9.43703129e-05 -9.99957273e-01 -4.09735468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.013545653639679005 Centerline is valid? [True, True] Translation: X:48.41, Y:-142.57, Z:-4.10 [[-9.98234680e-01 -5.85594518e-02 9.91540524e-03 4.84145977e+01] [-5.85556332e-02 9.98283919e-01 6.75238267e-04 -1.42573694e+02] [-9.93793118e-03 9.34434226e-05 -9.99950613e-01 -4.09814712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.013222089340122376 Centerline is valid? [True, True] Translation: X:48.38, Y:-142.02, Z:-5.15 [[-9.99916511e-01 9.05047002e-03 9.22275986e-03 4.83769495e+01] [-9.05132406e-03 -9.99959035e-01 -5.08653813e-05 -1.42020922e+02] [ 9.22192169e-03 -1.34339323e-04 9.99957468e-01 -5.15123236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.013596096684334896 Centerline is valid? [True, True] Translation: X:48.35, Y:-142.58, Z:-4.10 [[-9.97898619e-01 -6.43863853e-02 7.26216025e-03 4.83531267e+01] [-6.43842564e-02 9.97925042e-01 5.26790124e-04 -1.42575241e+02] [-7.28100968e-03 5.81143497e-05 -9.99973492e-01 -4.09956753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.012844285243094911 Centerline is valid? [True, True] Translation: X:48.31, Y:-142.03, Z:-5.15 [[-9.99916673e-01 1.13178018e-02 6.20924633e-03 4.83122243e+01] [-1.13183383e-02 -9.99935944e-01 -5.12641933e-05 -1.42029626e+02] [ 6.20826839e-03 -1.21538272e-04 9.99980721e-01 -5.14873596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.012597893222285678 Centerline is valid? [True, True] Translation: X:48.29, Y:-142.58, Z:-4.10 [[-9.97312550e-01 -7.30142166e-02 6.04998186e-03 4.82905386e+01] [-7.30127387e-02 9.97330900e-01 4.65089541e-04 -1.42575717e+02] [-6.06779200e-03 2.21138916e-05 -9.99981591e-01 -4.10367231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.012406418916841617 Centerline is valid? [True, True] Translation: X:48.24, Y:-142.04, Z:-5.15 [[-9.99953619e-01 6.42788208e-03 7.17231190e-03 4.82392724e+01] [-6.42733686e-03 -9.99979340e-01 9.90653791e-05 -1.42040045e+02] [ 7.17280050e-03 5.29619197e-05 9.99974274e-01 -5.14761818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.012894407666567454 Centerline is valid? [True, True] Translation: X:48.22, Y:-142.57, Z:-4.10 [[-9.96098737e-01 -8.78612586e-02 8.22834918e-03 4.82232511e+01] [-8.78587515e-02 9.96132720e-01 6.66372313e-04 -1.42573365e+02] [-8.25507616e-03 -5.91598665e-05 -9.99965925e-01 -4.10215754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.013395889619640113 Centerline is valid? [True, True] Translation: X:48.17, Y:-142.05, Z:-5.15 [[-9.99949858e-01 4.46162054e-04 1.00041439e-02 4.81712744e+01] [-4.44180002e-04 -9.99999881e-01 2.00344188e-04 -1.42052135e+02] [ 1.00042321e-02 1.95890502e-04 9.99949937e-01 -5.14906297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.01479636574910485 Centerline is valid? [True, True] Translation: X:48.16, Y:-142.57, Z:-4.10 [[-9.94483353e-01 -1.04102847e-01 1.28630450e-02 4.81559428e+01] [-1.04097392e-01 9.94566506e-01 1.09471660e-03 -1.42574111e+02] [-1.29071168e-02 -2.50332002e-04 -9.99916668e-01 -4.10005452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.015685612356077985 Centerline is valid? [True, True] Translation: X:48.14, Y:-142.55, Z:-4.10 [[-9.83976788e-01 -1.77812182e-01 1.31342481e-02 4.81385540e+01] [-1.77800428e-01 9.84064397e-01 2.06660903e-03 -1.42548387e+02] [-1.32924142e-02 -3.01779617e-04 -9.99911607e-01 -4.09901390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.017144475796054853 Centerline is valid? [True, True] Translation: X:48.12, Y:-142.53, Z:-4.10 [[-9.68161261e-01 -2.49990671e-01 1.29783485e-02 4.81198545e+01] [-2.49972869e-01 9.68248187e-01 3.00230100e-03 -1.42525304e+02] [-1.33168096e-02 -3.37523480e-04 -9.99911270e-01 -4.09860126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.01655380606921875 Centerline is valid? [True, True] Translation: X:48.10, Y:-142.51, Z:-4.10 [[-9.47801125e-01 -3.18608544e-01 1.27131419e-02 4.81024153e+01] [-3.18584678e-01 9.47886322e-01 3.91446028e-03 -1.42507002e+02] [-1.32977938e-02 -3.40082368e-04 -9.99911523e-01 -4.09974436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.01659805550670092 Centerline is valid? [True, True] Translation: X:47.94, Y:-142.00, Z:-5.15 [[-9.78710884e-01 2.04825923e-01 1.30899212e-02 4.79392214e+01] [-2.04802758e-01 -9.78798353e-01 3.10066583e-03 -1.42004605e+02] [ 1.34474901e-02 3.53803422e-04 9.99909516e-01 -5.15149049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.015801616114295588 Centerline is valid? [True, True] Translation: X:48.01, Y:-142.55, Z:-4.10 [[-9.47074947e-01 -3.20692314e-01 1.43347174e-02 4.80078308e+01] [-3.20660769e-01 9.47183369e-01 4.50971147e-03 -1.42550132e+02] [-1.50238357e-02 -3.25546766e-04 -9.99887083e-01 -4.09891797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.015124977447996542 Centerline is valid? [True, True] Translation: X:47.82, Y:-142.02, Z:-5.15 [[-9.76132366e-01 2.16561915e-01 1.63261130e-02 4.78229277e+01] [-2.16523377e-01 -9.76268767e-01 4.11352151e-03 -1.42021811e+02] [ 1.68295063e-02 4.80356354e-04 9.99858259e-01 -5.15386739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.014107672280786979 Centerline is valid? [True, True] Translation: X:47.90, Y:-142.60, Z:-4.10 [[-9.46967840e-01 -3.20933866e-01 1.59173891e-02 4.79019553e+01] [-3.20893199e-01 9.47101570e-01 5.11568738e-03 -1.42600061e+02] [-1.67171816e-02 -2.63390489e-04 -9.99860224e-01 -4.09807080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.01364705385373886 Centerline is valid? [True, True] Translation: X:47.87, Y:-142.59, Z:-4.10 [[-9.22925324e-01 -3.84598721e-01 1.71076230e-02 4.78727806e+01] [-3.84536964e-01 9.23083841e-01 6.89533343e-03 -1.42594532e+02] [-1.84437068e-02 -2.14635586e-04 -9.99829877e-01 -4.09636598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.013719666731062794 Centerline is valid? [True, True] Translation: X:47.82, Y:-142.60, Z:-4.10 [[-8.93290508e-01 -4.49131332e-01 1.76950575e-02 4.78185634e+01] [-4.49047518e-01 8.93465729e-01 8.67855428e-03 -1.42596471e+02] [-1.97077381e-02 -1.93451498e-04 -9.99805765e-01 -4.09547467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.01381783355174809 Centerline is valid? [True, True] Translation: X:47.76, Y:-142.60, Z:-4.10 [[-8.56647792e-01 -5.15688998e-01 1.48127506e-02 4.77571036e+01] [-5.15616112e-01 8.56775825e-01 8.67244500e-03 -1.42597830e+02] [-1.71634911e-02 -2.08462023e-04 -9.99852675e-01 -4.09730760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.014467834475916415 Centerline is valid? [True, True] Translation: X:47.68, Y:-142.61, Z:-4.10 [[-8.14857519e-01 -5.79502445e-01 1.35698234e-02 4.76833686e+01] [-5.79427000e-01 8.14970465e-01 9.35381087e-03 -1.42610942e+02] [-1.64795615e-02 -2.40698918e-04 -9.99864174e-01 -4.09797379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.014303247287424844 Centerline is valid? [True, True] Translation: X:47.61, Y:-142.63, Z:-4.10 [[-7.69435238e-01 -6.38616787e-01 1.17479429e-02 4.76143609e+01] [-6.38546722e-01 7.69524886e-01 9.46219538e-03 -1.42629273e+02] [-1.50830512e-02 -2.21063873e-04 -9.99886220e-01 -4.09930138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.013717489128904959 Centerline is valid? [True, True] Translation: X:47.54, Y:-142.66, Z:-4.10 [[-7.21717106e-01 -6.92110909e-01 1.03396755e-02 4.75404525e+01] [-6.92043147e-01 7.21791149e-01 9.68610207e-03 -1.42661343e+02] [-1.41669432e-02 -1.64876042e-04 -9.99899630e-01 -4.09968368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.01347772008916787 Centerline is valid? [True, True] Translation: X:47.46, Y:-142.71, Z:-4.10 [[-6.69190895e-01 -7.43027268e-01 9.69666483e-03 4.74601380e+01] [-7.42952258e-01 6.69261130e-01 1.05585519e-02 -1.42705643e+02] [-1.43348928e-02 -1.38472220e-04 -9.99897241e-01 -4.09827709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.013582625173360669 Centerline is valid? [True, True] Translation: X:47.38, Y:-142.76, Z:-4.10 [[-6.11598042e-01 -7.91121790e-01 8.61100225e-03 4.73783231e+01] [-7.91046365e-01 6.11658644e-01 1.09248029e-02 -1.42759555e+02] [-1.39098435e-02 -1.30113992e-04 -9.99903245e-01 -4.09801271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.014287733468951142 Centerline is valid? [True, True] Translation: X:47.30, Y:-142.82, Z:-4.10 [[-5.48478342e-01 -8.36125998e-01 8.05129164e-03 4.72984333e+01] [-8.36040234e-01 5.48537409e-01 1.19765836e-02 -1.42816019e+02] [-1.44303676e-02 -1.62307015e-04 -9.99895864e-01 -4.09654659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.013914698481352496 Centerline is valid? [True, True] Translation: X:47.22, Y:-142.89, Z:-4.10 [[-4.83065179e-01 -8.75555251e-01 7.14396645e-03 4.72207273e+01] [-8.75464770e-01 4.83117970e-01 1.25882183e-02 -1.42890220e+02] [-1.44730592e-02 -1.73361002e-04 -9.99895245e-01 -4.09794760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.013964239536266304 Centerline is valid? [True, True] Translation: X:47.15, Y:-142.97, Z:-4.10 [[-4.15520920e-01 -9.09563939e-01 5.98381223e-03 4.71502871e+01] [-9.09475204e-01 4.15563971e-01 1.27058999e-02 -1.42966382e+02] [-1.40434851e-02 -1.62561646e-04 -9.99901372e-01 -4.09768551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.013829313371945862 Centerline is valid? [True, True] Translation: X:47.09, Y:-143.05, Z:-4.10 [[-3.46100535e-01 -9.38186601e-01 4.50788325e-03 4.70859158e+01] [-9.38111977e-01 3.46129865e-01 1.18336918e-02 -1.43050091e+02] [-1.26625241e-02 -1.33252203e-04 -9.99919818e-01 -4.09870703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.013411108497214498 Centerline is valid? [True, True] Translation: X:47.03, Y:-143.14, Z:-4.10 [[-2.73541678e-01 -9.61854887e-01 3.18237624e-03 4.70262128e+01] [-9.61794763e-01 2.73560163e-01 1.07550545e-02 -1.43142879e+02] [-1.12153731e-02 -1.18837150e-04 -9.99937099e-01 -4.10000308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.014014208302736243 Centerline is valid? [True, True] Translation: X:46.97, Y:-143.24, Z:-4.10 [[-1.99059485e-01 -9.79985032e-01 2.15837713e-03 4.69712413e+01] [-9.79933384e-01 1.99071154e-01 1.00617076e-02 -1.43242198e+02] [-1.02899934e-02 -1.12187481e-04 -9.99947050e-01 -4.09941538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.013646821660746667 Centerline is valid? [True, True] Translation: X:46.93, Y:-143.35, Z:-4.10 [[-1.21689186e-01 -9.92567453e-01 1.26263897e-03 4.69262205e+01] [-9.92523841e-01 1.21695676e-01 9.30522613e-03 -1.43345330e+02] [-9.38972230e-03 -1.20853892e-04 -9.99955908e-01 -4.10085239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.013915376776394017 Centerline is valid? [True, True] Translation: X:46.89, Y:-143.46, Z:-4.10 [[-4.50447476e-02 -9.98984825e-01 5.37841308e-04 4.68881640e+01] [-9.98942516e-01 4.50477903e-02 9.19496342e-03 -1.43456988e+02] [-9.20985749e-03 -1.23087743e-04 -9.99957581e-01 -4.10028827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.013891952135367326 Centerline is valid? [True, True] Translation: X:46.86, Y:-143.57, Z:-4.10 [[ 3.15064490e-02 -9.99503533e-01 -1.77993725e-04 4.68606420e+01] [-9.99455347e-01 -3.15066780e-02 9.81524612e-03 -1.43567567e+02] [-9.81598116e-03 -1.31346771e-04 -9.99951814e-01 -4.09976886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.013840080471702723 Centerline is valid? [True, True] Translation: X:46.84, Y:-143.68, Z:-4.10 [[ 1.06554352e-01 -9.94306422e-01 -9.53055353e-04 4.68417292e+01] [-9.94255639e-01 -1.06558543e-01 1.00499251e-02 -1.43679262e+02] [-1.00942613e-02 -1.23282602e-04 -9.99949044e-01 -4.09872293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.013978721163647135 Centerline is valid? [True, True] Translation: X:46.83, Y:-143.79, Z:-4.10 [[ 1.81851267e-01 -9.83324529e-01 -1.72848688e-03 4.68307795e+01] [-9.83273704e-01 -1.81859443e-01 9.99827085e-03 -1.43794687e+02] [-1.01458866e-02 -1.18622520e-04 -9.99948522e-01 -4.09805132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.01415478583815249 Centerline is valid? [True, True] Translation: X:46.83, Y:-143.91, Z:-4.10 [[ 2.57480830e-01 -9.66279990e-01 -2.56986353e-03 4.68263385e+01] [-9.66226585e-01 -2.57493620e-01 1.01598196e-02 -1.43914818e+02] [-1.04789539e-02 -1.32888316e-04 -9.99945086e-01 -4.09733381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.01429034162347975 Centerline is valid? [True, True] Translation: X:46.83, Y:-144.03, Z:-4.10 [[ 3.31777212e-01 -9.43351193e-01 -3.52260293e-03 4.68295555e+01] [-9.43292982e-01 -3.31795876e-01 1.04808111e-02 -1.44030159e+02] [-1.10558708e-02 -1.54447678e-04 -9.99938870e-01 -4.09670716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.014638425779466363 Centerline is valid? [True, True] Translation: X:46.84, Y:-144.14, Z:-4.10 [[ 4.03315190e-01 -9.15051799e-01 -4.13067843e-03 4.68413707e+01] [-9.14999867e-01 -4.03336313e-01 9.74996382e-03 -1.44144146e+02] [-1.05877745e-02 -1.52738293e-04 -9.99943936e-01 -4.09624962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.01463442374383077 Centerline is valid? [True, True] Translation: X:46.86, Y:-144.26, Z:-4.10 [[ 4.70483122e-01 -8.82397987e-01 -4.40739691e-03 4.68632103e+01] [-8.82356799e-01 -4.70503750e-01 8.52646932e-03 -1.44256308e+02] [-9.59743613e-03 -1.22663281e-04 -9.99953936e-01 -4.09582597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.013417663181148788 Centerline is valid? [True, True] Translation: X:46.90, Y:-144.36, Z:-4.10 [[ 5.34302355e-01 -8.45278076e-01 -5.09585201e-03 4.68962228e+01] [-8.45237830e-01 -5.34326646e-01 8.24905918e-03 -1.44362330e+02] [-9.69559839e-03 -1.00284858e-04 -9.99952992e-01 -4.09711356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.013273793137837962 Centerline is valid? [True, True] Translation: X:46.93, Y:-144.46, Z:-4.10 [[ 5.95228452e-01 -8.03534345e-01 -5.97050015e-03 4.69334411e+01] [-8.03492547e-01 -5.95258389e-01 8.19614771e-03 -1.44462501e+02] [-1.01398765e-02 -8.13279376e-05 -9.99948587e-01 -4.09572996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.01307070588520745 Centerline is valid? [True, True] Translation: X:46.98, Y:-144.56, Z:-4.09 [[ 6.52465224e-01 -7.57774400e-01 -8.19091449e-03 4.69778757e+01] [-7.57713419e-01 -6.52516632e-01 9.61351089e-03 -1.44558216e+02] [-1.26295804e-02 -6.61157039e-05 -9.99920242e-01 -4.09282309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.012907914885842071 Centerline is valid? [True, True] Translation: X:47.03, Y:-144.65, Z:-4.09 [[ 7.07272599e-01 -7.06877406e-01 -9.47647436e-03 4.70272323e+01] [-7.06812910e-01 -7.07336080e-01 9.54887455e-03 -1.44648944e+02] [-1.34529359e-02 -5.55628997e-05 -9.99909504e-01 -4.09269753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.01281135328351333 Centerline is valid? [True, True] Translation: X:47.08, Y:-144.74, Z:-4.09 [[ 7.58663876e-01 -6.51414003e-01 -9.42981310e-03 4.70803796e+01] [-6.51362871e-01 -7.58722476e-01 8.16179818e-03 -1.44735047e+02] [-1.24713208e-02 -4.98313014e-05 -9.99922229e-01 -4.09361001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.012925495770607087 Centerline is valid? [True, True] Translation: X:47.11, Y:-144.76, Z:-4.09 [[ 8.07367888e-01 -5.89981745e-01 -8.86762209e-03 4.71051573e+01] [-5.89945542e-01 -8.07416583e-01 6.53598758e-03 -1.44760614e+02] [-1.10159785e-02 -4.55323675e-05 -9.99939321e-01 -4.09454865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.01271682009001346 Centerline is valid? [True, True] Translation: X:47.13, Y:-144.79, Z:-4.10 [[ 8.50696543e-01 -5.25595399e-01 -8.05407611e-03 4.71319499e+01] [-5.25571472e-01 -8.50734668e-01 5.01518453e-03 -1.44785836e+02] [-9.48783968e-03 -3.34075063e-05 -9.99954989e-01 -4.09715375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.012640754711052268 Centerline is valid? [True, True] Translation: X:47.16, Y:-144.81, Z:-4.10 [[ 8.88724602e-01 -4.58394967e-01 -6.52961904e-03 4.71594652e+01] [-4.58382444e-01 -8.88748589e-01 3.38842117e-03 -1.44808413e+02] [-7.35642492e-03 -1.83105173e-05 -9.99972941e-01 -4.09725570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.01256193617744563 Centerline is valid? [True, True] Translation: X:47.19, Y:-144.83, Z:-4.10 [[ 9.21373907e-01 -3.88607712e-01 -7.35997017e-03 4.71880081e+01] [-3.88595226e-01 -9.21403302e-01 3.11527755e-03 -1.44832197e+02] [-7.99212170e-03 -1.02861828e-05 -9.99968063e-01 -4.09750920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.012747873058421129 Centerline is valid? [True, True] Translation: X:47.22, Y:-144.85, Z:-4.10 [[ 9.48439858e-01 -3.16852683e-01 -8.13720862e-03 4.72177475e+01] [-3.16841042e-01 -9.48474764e-01 2.71601329e-03 -1.44851723e+02] [-8.57851312e-03 2.22640099e-06 -9.99963204e-01 -4.09511558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.012687997225542083 Centerline is valid? [True, True] Translation: X:47.25, Y:-144.87, Z:-4.10 [[ 9.69539337e-01 -2.44722886e-01 -1.02070158e-02 4.72497677e+01] [-2.44709705e-01 -9.69593063e-01 2.54020632e-03 -1.44869078e+02] [-1.05182984e-02 3.49258772e-05 -9.99944681e-01 -4.09585859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.012911357016254198 Centerline is valid? [True, True] Translation: X:47.28, Y:-144.89, Z:-4.09 [[ 9.85373464e-01 -1.69981182e-01 -1.20637602e-02 4.72829608e+01] [-1.69969229e-01 -9.85447306e-01 2.01681285e-03 -1.44886662e+02] [-1.22310202e-02 6.31541511e-05 -9.99925196e-01 -4.09455466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.013332007431248852 Centerline is valid? [True, True] Translation: X:47.31, Y:-144.90, Z:-4.09 [[ 9.95397302e-01 -9.49301817e-02 -1.31328252e-02 4.73135014e+01] [-9.49232760e-02 -9.95483928e-01 1.14957911e-03 -1.44898134e+02] [-1.31826461e-02 1.02322844e-04 -9.99913100e-01 -4.09278095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.013683425488655728 Centerline is valid? [True, True] Translation: X:47.34, Y:-144.90, Z:-4.09 [[ 9.99754881e-01 -1.81341052e-02 -1.27016971e-02 4.73447961e+01] [-1.81341278e-02 -9.99835557e-01 1.13396862e-04 -1.44903803e+02] [-1.27016648e-02 1.16965133e-04 -9.99919324e-01 -4.09324080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.013394865934317086 Centerline is valid? [True, True] Translation: X:47.38, Y:-144.91, Z:-4.10 [[ 9.98106206e-01 6.05381609e-02 -1.09147801e-02 4.73771231e+01] [ 6.05334751e-02 -9.98165879e-01 -7.59472685e-04 -1.44910092e+02] [-1.09407381e-02 9.73248310e-05 -9.99940144e-01 -4.09525348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.012967727034571427 Centerline is valid? [True, True] Translation: X:47.41, Y:-144.92, Z:-4.10 [[ 9.89983829e-01 1.40890317e-01 -9.05185800e-03 4.74101817e+01] [ 1.40883880e-01 -9.90025209e-01 -1.34802230e-03 -1.44916856e+02] [-9.15149090e-03 5.92593971e-05 -9.99958123e-01 -4.09722245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.012506618594532566 Centerline is valid? [True, True] Translation: X:47.44, Y:-144.92, Z:-4.10 [[ 9.74185405e-01 2.25652184e-01 -6.62481022e-03 4.74431767e+01] [ 2.25647034e-01 -9.74207931e-01 -1.52446956e-03 -1.44923215e+02] [-6.79794254e-03 -9.75278505e-06 -9.99976894e-01 -4.09857771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.012880525598560878 Centerline is valid? [True, True] Translation: X:47.48, Y:-144.92, Z:-4.10 [[ 9.51739052e-01 3.06857289e-01 -5.60190543e-03 4.74767736e+01] [ 3.06852240e-01 -9.51755537e-01 -1.76076111e-03 -1.44922439e+02] [-5.87194689e-03 -4.31721191e-05 -9.99982759e-01 -4.09999062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.013755111645483828 Centerline is valid? [True, True] Translation: X:47.51, Y:-144.92, Z:-4.10 [[ 9.22932305e-01 3.84924578e-01 -5.38799310e-03 4.75097793e+01] [ 3.84918467e-01 -9.22948029e-01 -2.17010281e-03 -1.44917056e+02] [-5.80816352e-03 -7.10800560e-05 -9.99983130e-01 -4.10033113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.013906867703764134 Centerline is valid? [True, True] Translation: X:47.54, Y:-144.91, Z:-4.10 [[ 8.88033402e-01 4.59735616e-01 -6.31187902e-03 4.75442720e+01] [ 4.59724926e-01 -8.88055826e-01 -3.13717284e-03 -1.44912476e+02] [-7.04757102e-03 -1.15813849e-04 -9.99975159e-01 -4.10007836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.014846927604714465 Centerline is valid? [True, True] Translation: X:47.58, Y:-144.91, Z:-4.10 [[ 8.48950127e-01 5.28431194e-01 -6.64494603e-03 4.75778006e+01] [ 5.28416225e-01 -8.48976122e-01 -3.97970573e-03 -1.44906049e+02] [-7.74440116e-03 -1.32725616e-04 -9.99970003e-01 -4.09892961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.014920090107118015 Centerline is valid? [True, True] Translation: X:47.61, Y:-144.89, Z:-4.10 [[ 8.05145919e-01 5.93032657e-01 -7.23307356e-03 4.76063114e+01] [ 5.93010387e-01 -8.05178394e-01 -5.14147892e-03 -1.44888670e+02] [-8.87297945e-03 -1.49646989e-04 -9.99960623e-01 -4.09792321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.01415952194240453 Centerline is valid? [True, True] Translation: X:47.63, Y:-144.87, Z:-4.10 [[ 7.57774704e-01 6.52466282e-01 -8.07762180e-03 4.76315284e+01] [ 6.52431352e-01 -7.57817740e-01 -6.75312010e-03 -1.44867120e+02] [-1.05275483e-02 -1.52750127e-04 -9.99944572e-01 -4.09821536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.013498528413926212 Centerline is valid? [True, True] Translation: X:47.66, Y:-144.85, Z:-4.10 [[ 7.05750349e-01 7.08423363e-01 -7.26524848e-03 4.76574023e+01] [ 7.08387682e-01 -7.05787732e-01 -7.11121095e-03 -1.44846917e+02] [-1.01654712e-02 -1.27872923e-04 -9.99948322e-01 -4.09904652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.013378814589639998 Centerline is valid? [True, True] Translation: X:47.68, Y:-144.83, Z:-4.10 [[ 6.48615647e-01 7.61087463e-01 -6.60423633e-03 4.76829025e+01] [ 7.61049884e-01 -6.48649257e-01 -7.56408424e-03 -1.44826845e+02] [-1.00407627e-02 -1.19969903e-04 -9.99949583e-01 -4.09945440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.013338046767112425 Centerline is valid? [True, True] Translation: X:47.70, Y:-144.80, Z:-4.10 [[ 5.87931945e-01 8.08895072e-01 -4.97908817e-03 4.77031581e+01] [ 8.08867357e-01 -5.87953021e-01 -6.69658469e-03 -1.44803825e+02] [-8.34430428e-03 -9.02858286e-05 -9.99965182e-01 -4.10107301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.01333640442472959 Centerline is valid? [True, True] Translation: X:47.72, Y:-144.78, Z:-4.10 [[ 5.22701663e-01 8.52507387e-01 -3.75865807e-03 4.77226401e+01] [ 8.52486397e-01 -5.22715171e-01 -5.98277788e-03 -1.44779478e+02] [-7.06506993e-03 -7.69969238e-05 -9.99975039e-01 -4.10298084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.013355151938338689 Centerline is valid? [True, True] Translation: X:47.74, Y:-144.76, Z:-4.10 [[ 4.53503049e-01 8.91249306e-01 -3.10805384e-03 4.77433866e+01] [ 8.91229563e-01 -4.53513692e-01 -5.93275342e-03 -1.44755650e+02] [-6.69710734e-03 -7.94676993e-05 -9.99977571e-01 -4.10363317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.01384680644501041 Centerline is valid? [True, True] Translation: X:47.76, Y:-144.73, Z:-4.10 [[ 3.80373681e-01 9.24827228e-01 -3.23421649e-03 4.77647152e+01] [ 9.24796324e-01 -3.80387414e-01 -7.56138369e-03 -1.44731706e+02] [-8.22322877e-03 -1.14840170e-04 -9.99966182e-01 -4.10143007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.014730680127390655 Centerline is valid? [True, True] Translation: X:47.78, Y:-144.71, Z:-4.10 [[ 3.03819189e-01 9.52724083e-01 -3.27431709e-03 4.77838903e+01] [ 9.52674801e-01 -3.03836783e-01 -9.69187012e-03 -1.44705314e+02] [-1.02285360e-02 -1.74783262e-04 -9.99947672e-01 -4.09960759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.014892618072356922 Centerline is valid? [True, True] Translation: X:47.80, Y:-144.68, Z:-4.10 [[ 2.26276493e-01 9.74057913e-01 -3.18305951e-03 4.78023278e+01] [ 9.73976432e-01 -2.26298743e-01 -1.26011368e-02 -1.44678392e+02] [-1.29945594e-02 -2.48883905e-04 -9.99915536e-01 -4.09845543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.01528252509715144 Centerline is valid? [True, True] Translation: X:47.82, Y:-144.65, Z:-4.10 [[ 1.49885742e-01 9.88700694e-01 -2.28095520e-03 4.78164899e+01] [ 9.88610388e-01 -1.49902885e-01 -1.33651379e-02 -1.44650862e+02] [-1.35560429e-02 -2.51732399e-04 -9.99908081e-01 -4.09749084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.014363163035077984 Centerline is valid? [True, True] Translation: X:47.82, Y:-144.62, Z:-4.10 [[ 7.48148398e-02 9.97196776e-01 -1.15344623e-03 4.78241757e+01] [ 9.97116023e-01 -7.48234620e-02 -1.26919457e-02 -1.44620485e+02] [-1.27426722e-02 -2.00573825e-04 -9.99918789e-01 -4.09839789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.013112801882470665 Centerline is valid? [True, True] Translation: X:47.83, Y:-144.59, Z:-4.10 [[ 2.51872063e-03 9.99996821e-01 -1.22200263e-04 4.78258460e+01] [ 9.99946737e-01 -2.51981755e-03 -1.00086769e-02 -1.44589706e+02] [-1.00089530e-02 -9.69846933e-05 -9.99949905e-01 -4.10060946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.012533723243050729 Centerline is valid? [True, True] Translation: X:47.83, Y:-144.56, Z:-4.10 [[-7.20644024e-02 9.97399785e-01 6.24572106e-04 4.78267272e+01] [ 9.97355358e-01 7.20670876e-02 -9.41406629e-03 -1.44559187e+02] [-9.43459879e-03 -5.54987254e-05 -9.99955492e-01 -4.10136468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.0123342028493723 Centerline is valid? [True, True] Translation: X:47.83, Y:-144.53, Z:-4.10 [[-1.47143523e-01 9.89114217e-01 1.35968515e-03 4.78277576e+01] [ 9.89070178e-01 1.47149802e-01 -9.33376130e-03 -1.44529276e+02] [-9.43223340e-03 -2.85784901e-05 -9.99955515e-01 -4.10119733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.012363044247190126 Centerline is valid? [True, True] Translation: X:47.83, Y:-144.50, Z:-4.10 [[-2.24634016e-01 9.74440654e-01 2.22963555e-03 4.78277331e+01] [ 9.74391071e-01 2.24645079e-01 -9.83006637e-03 -1.44499671e+02] [-1.00796929e-02 -3.56303175e-05 -9.99949198e-01 -4.10047288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.012778099239685812 Centerline is valid? [True, True] Translation: X:47.83, Y:-144.47, Z:-4.10 [[-3.03086936e-01 9.52957005e-01 3.35495215e-03 4.78254742e+01] [ 9.52895921e-01 3.03105495e-01 -1.07899922e-02 -1.44470461e+02] [-1.12993031e-02 -7.33854492e-05 -9.99936158e-01 -4.09950318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.013589002307441365 Centerline is valid? [True, True] Translation: X:47.82, Y:-144.44, Z:-4.10 [[-3.80245593e-01 9.24872859e-01 4.84605352e-03 4.78201549e+01] [ 9.24793206e-01 3.80276448e-01 -1.21387359e-02 -1.44442098e+02] [-1.30696274e-02 -1.34103458e-04 -9.99914580e-01 -4.09797406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.014497229797044799 Centerline is valid? [True, True] Translation: X:47.81, Y:-144.41, Z:-4.09 [[-4.53670633e-01 8.91142719e-01 6.90010309e-03 4.78114227e+01] [ 8.91032939e-01 4.53723061e-01 -1.39887864e-02 -1.44414049e+02] [-1.55967410e-02 -1.98082434e-04 -9.99878344e-01 -4.09468770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.014404521108267648 Centerline is valid? [True, True] Translation: X:47.79, Y:-144.39, Z:-4.09 [[-5.21099304e-01 8.53455086e-01 8.36252454e-03 4.77946346e+01] [ 8.53339333e-01 5.21166365e-01 -1.40571006e-02 -1.44389106e+02] [-1.63553705e-02 -1.89074217e-04 -9.99866224e-01 -4.09377590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.01378826297238438 Centerline is valid? [True, True] Translation: X:47.77, Y:-144.37, Z:-4.09 [[-5.84039532e-01 8.11674532e-01 9.07082779e-03 4.77733727e+01] [ 8.11572984e-01 5.84109952e-01 -1.28396283e-02 -1.44368421e+02] [-1.57199601e-02 -1.37211740e-04 -9.99876424e-01 -4.09421905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.012175050405085864 Centerline is valid? [True, True] Translation: X:47.75, Y:-144.34, Z:-4.10 [[-6.41373055e-01 7.67195126e-01 7.22794422e-03 4.77548004e+01] [ 7.67145846e-01 6.41413781e-01 -8.69561507e-03 -1.44344048e+02] [-1.13073365e-02 -3.22458212e-05 -9.99936070e-01 -4.10154577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.011964949137115719 Centerline is valid? [True, True] Translation: X:47.74, Y:-144.32, Z:-4.10 [[-6.97368125e-01 7.16684735e-01 6.37877504e-03 4.77386065e+01] [ 7.16654772e-01 6.97397297e-01 -6.55343181e-03 -1.44318217e+02] [-9.14528501e-03 1.22512094e-06 -9.99958181e-01 -4.10333930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.011876407568666493 Centerline is valid? [True, True] Translation: X:47.72, Y:-144.29, Z:-4.10 [[-7.50688867e-01 6.60629794e-01 5.87365627e-03 4.77213151e+01] [ 6.60609668e-01 7.50711845e-01 -5.15678273e-03 -1.44291357e+02] [-7.81614765e-03 9.05472993e-06 -9.99969454e-01 -4.10467651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.01188947640667586 Centerline is valid? [True, True] Translation: X:47.74, Y:-144.27, Z:-4.10 [[-7.97556292e-01 6.03207779e-01 6.65852509e-03 4.77399853e+01] [ 6.03186569e-01 7.97584086e-01 -5.05855340e-03 -1.44268324e+02] [-8.36209241e-03 -1.81481896e-05 -9.99965037e-01 -4.10347525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.012247422308395232 Centerline is valid? [True, True] Translation: X:47.75, Y:-144.24, Z:-4.10 [[-8.40625101e-01 5.41556183e-01 8.14498115e-03 4.77534441e+01] [ 5.41530026e-01 8.40664557e-01 -5.32294837e-03 -1.44240324e+02] [-9.72987257e-03 -6.38521547e-05 -9.99952662e-01 -4.10141095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.012939883213777585 Centerline is valid? [True, True] Translation: X:47.77, Y:-144.21, Z:-4.10 [[-8.78779705e-01 4.77115792e-01 1.03320741e-02 4.77654674e+01] [ 4.77081116e-01 8.78840432e-01 -5.75356131e-03 -1.44212383e+02] [-1.18253594e-02 -1.26875469e-04 -9.99930070e-01 -4.09918090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.014170143748394638 Centerline is valid? [True, True] Translation: X:47.78, Y:-144.18, Z:-4.10 [[-9.12221059e-01 4.09513835e-01 1.22946334e-02 4.77755213e+01] [ 4.09473573e-01 9.12303884e-01 -5.74604548e-03 -1.44184203e+02] [-1.35695270e-02 -2.07336213e-04 -9.99907908e-01 -4.09730265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.014445737215752534 Centerline is valid? [True, True] Translation: X:48.04, Y:-143.62, Z:-5.15 [[-8.67044450e-01 -4.98109900e-01 1.09749342e-02 4.80350144e+01] [ 4.98071900e-01 -8.67113897e-01 -6.15401637e-03 -1.43620503e+02] [ 1.25818944e-02 1.30500571e-04 9.99920836e-01 -5.15244051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.014316652829641056 Centerline is valid? [True, True] Translation: X:48.03, Y:-143.65, Z:-5.15 [[-8.31658826e-01 -5.55209475e-01 9.27554929e-03 4.80290182e+01] [ 5.55177415e-01 -8.31710529e-01 -5.96939699e-03 -1.43651342e+02] [ 1.10288378e-02 1.85073782e-04 9.99939163e-01 -5.15122257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.013259263266593265 Centerline is valid? [True, True] Translation: X:47.69, Y:-144.18, Z:-4.10 [[-8.83523278e-01 4.68332520e-01 7.16024692e-03 4.76895754e+01] [ 4.68316121e-01 8.83552284e-01 -3.92068525e-03 -1.44176816e+02] [-8.16263692e-03 -1.10757612e-04 -9.99966679e-01 -4.10236500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.012810925658160796 Centerline is valid? [True, True] Translation: X:47.70, Y:-144.15, Z:-4.10 [[-9.13296854e-01 4.07243717e-01 6.43522143e-03 4.76993622e+01] [ 4.07233027e-01 9.13319522e-01 -2.95162859e-03 -1.44154421e+02] [-7.07944555e-03 -7.50783996e-05 -9.99974938e-01 -4.10267678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.012483624651960906 Centerline is valid? [True, True] Translation: X:47.71, Y:-144.13, Z:-4.10 [[-9.39045169e-01 3.43736578e-01 6.27175180e-03 4.77101534e+01] [ 3.43728518e-01 9.39066112e-01 -2.35465612e-03 -1.44132501e+02] [-6.69897101e-03 -5.53485073e-05 -9.99977560e-01 -4.10282265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.012457457325467658 Centerline is valid? [True, True] Translation: X:47.71, Y:-144.10, Z:-4.10 [[-9.61111719e-01 2.76064726e-01 7.24788871e-03 4.77090796e+01] [ 2.76056366e-01 9.61139045e-01 -2.14932959e-03 -1.44103824e+02] [-7.55958291e-03 -6.49200358e-05 -9.99971424e-01 -4.10205999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.012771642276013028 Centerline is valid? [True, True] Translation: X:47.72, Y:-144.08, Z:-4.10 [[-9.78521773e-01 2.05981291e-01 8.17607909e-03 4.77193006e+01] [ 2.05973396e-01 9.78555926e-01 -1.80537055e-03 -1.44076636e+02] [-8.37262320e-03 -8.25396169e-05 -9.99964946e-01 -4.10050235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.013209227422225314 Centerline is valid? [True, True] Translation: X:47.72, Y:-144.05, Z:-4.10 [[-9.91137679e-01 1.32451611e-01 1.01327182e-02 4.77171704e+01] [ 1.32443258e-01 9.91189463e-01 -1.49397020e-03 -1.44045623e+02] [-1.02413223e-02 -1.38719941e-04 -9.99947547e-01 -4.09922409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.014215481535780772 Centerline is valid? [True, True] Translation: X:47.81, Y:-143.43, Z:-5.16 [[-9.73640564e-01 -2.27763253e-01 1.21635501e-02 4.78120303e+01] [ 2.27749474e-01 -9.73716490e-01 -2.52468734e-03 -1.43429277e+02] [ 1.24188804e-02 3.12104139e-04 9.99922834e-01 -5.15513192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.0131378821618119 Centerline is valid? [True, True] Translation: X:47.67, Y:-144.04, Z:-4.10 [[-9.91603905e-01 1.28752093e-01 1.20247690e-02 4.76721052e+01] [ 1.28740626e-01 9.91676798e-01 -1.72612512e-03 -1.44038923e+02] [-1.21469267e-02 -1.63556122e-04 -9.99926210e-01 -4.09751840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.012984889097842046 Centerline is valid? [True, True] Translation: X:47.67, Y:-144.01, Z:-4.10 [[-9.98000152e-01 6.24421665e-02 9.83224910e-03 4.76696349e+01] [ 6.24382571e-02 9.98048580e-01 -7.04367942e-04 -1.44014209e+02] [-9.85704451e-03 -8.90508156e-05 -9.99951414e-01 -4.09736839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.011933493140697362 Centerline is valid? [True, True] Translation: X:47.72, Y:-143.38, Z:-5.15 [[-9.90190313e-01 -1.39563683e-01 6.71740308e-03 4.77242463e+01] [ 1.39559707e-01 -9.90213091e-01 -1.05934469e-03 -1.43377386e+02] [ 6.79950652e-03 -1.11474043e-04 9.99976877e-01 -5.15000857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.012033813897541344 Centerline is valid? [True, True] Translation: X:47.63, Y:-144.02, Z:-4.10 [[-9.97485921e-01 7.06392431e-02 5.65105478e-03 4.76274425e+01] [ 7.06382196e-02 9.97501928e-01 -3.80745316e-04 -1.44024225e+02] [-5.66383360e-03 1.93923564e-05 -9.99983960e-01 -4.10161931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.012161857452783979 Centerline is valid? [True, True] Translation: X:47.63, Y:-144.00, Z:-4.10 [[-9.99984249e-01 1.85322256e-03 5.29792576e-03 4.76258158e+01] [ 1.85335538e-03 9.99998282e-01 2.01599204e-05 -1.43998804e+02] [-5.29787930e-03 2.99785421e-05 -9.99985966e-01 -4.10179560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.01198492803100981 Centerline is valid? [True, True] Translation: X:47.62, Y:-143.97, Z:-4.10 [[-9.97445354e-01 -7.12058007e-02 5.70084900e-03 4.76159855e+01] [-7.12045183e-02 9.97461645e-01 4.27858143e-04 -1.43969260e+02] [-5.71684420e-03 2.08389098e-05 -9.99983659e-01 -4.10066498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.012031137237468171 Centerline is valid? [True, True] Translation: X:47.60, Y:-143.94, Z:-4.10 [[-9.89124569e-01 -1.46862625e-01 7.99722599e-03 4.76037593e+01] [-1.46857914e-01 9.89156898e-01 1.17634748e-03 -1.43937528e+02] [-8.08327274e-03 -1.09017280e-05 -9.99967330e-01 -4.09812890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.012581946954441316 Centerline is valid? [True, True] Translation: X:47.58, Y:-143.91, Z:-4.10 [[-9.74864917e-01 -2.22550858e-01 1.04646791e-02 4.75846608e+01] [-2.22538881e-01 9.74921079e-01 2.31015148e-03 -1.43906662e+02] [-1.07163624e-02 -7.67123470e-05 -9.99942575e-01 -4.09502599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.013310410569130874 Centerline is valid? [True, True] Translation: X:47.56, Y:-143.88, Z:-4.10 [[-9.54322145e-01 -2.98548634e-01 1.17455307e-02 4.75629304e+01] [-2.98528309e-01 9.54394406e-01 3.48816932e-03 -1.43878324e+02] [-1.22512570e-02 -1.77536199e-04 -9.99924935e-01 -4.09521674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.013884907701526708 Centerline is valid? [True, True] Translation: X:47.53, Y:-143.86, Z:-4.10 [[-9.29522366e-01 -3.68633099e-01 9.88984967e-03 4.75334400e+01] [-3.68614282e-01 9.29574960e-01 3.72899167e-03 -1.43856973e+02] [-1.05679864e-02 -1.79358669e-04 -9.99944141e-01 -4.09649260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.013908557225062965 Centerline is valid? [True, True] Translation: X:47.50, Y:-143.84, Z:-4.10 [[-9.00618655e-01 -4.34550370e-01 7.21209883e-03 4.74962774e+01] [-4.34537622e-01 9.00647522e-01 3.33126714e-03 -1.43842063e+02] [-7.94316231e-03 -1.33726942e-04 -9.99968444e-01 -4.09858076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.013605443092409419 Centerline is valid? [True, True] Translation: X:47.44, Y:-143.84, Z:-4.10 [[-8.67769038e-01 -4.96952440e-01 3.89473411e-03 4.74383418e+01] [-4.96947761e-01 8.67777776e-01 2.15732478e-03 -1.43842100e+02] [-4.45185151e-03 -6.34197481e-05 -9.99990089e-01 -4.10054302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.012659699280709511 Centerline is valid? [True, True] Translation: X:47.38, Y:-143.85, Z:-4.10 [[-8.30952943e-01 -5.56336559e-01 2.61548703e-03 4.73800300e+01] [-5.56333923e-01 8.30957058e-01 1.71271151e-03 -1.43852377e+02] [-3.12620144e-03 -3.19014936e-05 -9.99995113e-01 -4.10201423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.012339725486034991 Centerline is valid? [True, True] Translation: X:47.31, Y:-143.87, Z:-4.10 [[-7.88318799e-01 -6.15262102e-01 2.45311451e-03 4.73091043e+01] [-6.15259229e-01 7.88322615e-01 1.88033879e-03 -1.43872892e+02] [-3.09074684e-03 -2.69949272e-05 -9.99995223e-01 -4.10126869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.012654911818864122 Centerline is valid? [True, True] Translation: X:47.23, Y:-143.90, Z:-4.10 [[-7.40154880e-01 -6.72432116e-01 2.40885120e-03 4.72346582e+01] [-6.72428681e-01 7.40158800e-01 2.14960237e-03 -1.43899703e+02] [-3.22839408e-03 -2.87419458e-05 -9.99994788e-01 -4.10028814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.013040486627626911 Centerline is valid? [True, True] Translation: X:47.16, Y:-143.94, Z:-4.10 [[-6.86581318e-01 -7.27047539e-01 2.82303247e-03 4.71552816e+01] [-7.27041647e-01 6.86587121e-01 2.92723931e-03 -1.43939282e+02] [-4.06649987e-03 -4.26743530e-05 -9.99991731e-01 -4.09947686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.013562297302391595 Centerline is valid? [True, True] Translation: X:47.07, Y:-143.99, Z:-4.10 [[-6.28563222e-01 -7.77749615e-01 3.71652541e-03 4.70734267e+01] [-7.77736695e-01 6.28574205e-01 4.48356435e-03 -1.43988622e+02] [-5.82320245e-03 -7.22745363e-05 -9.99983042e-01 -4.09777513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.013476792689459737 Centerline is valid? [True, True] Translation: X:46.99, Y:-144.05, Z:-4.10 [[-5.66910802e-01 -8.23766417e-01 4.58606395e-03 4.69927263e+01] [-8.23741019e-01 5.66929341e-01 6.46966511e-03 -1.44049266e+02] [-7.92946706e-03 -1.10005958e-04 -9.99968555e-01 -4.09572981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.013526933941799886 Centerline is valid? [True, True] Translation: X:46.92, Y:-144.11, Z:-4.09 [[-5.03795870e-01 -8.63809119e-01 4.85056251e-03 4.69180897e+01] [-8.63771369e-01 5.03819205e-01 8.07650692e-03 -1.44114327e+02] [-9.42036687e-03 -1.20866200e-04 -9.99955620e-01 -4.09401648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.01318702560177442 Centerline is valid? [True, True] Translation: X:46.85, Y:-144.19, Z:-4.09 [[-4.39225602e-01 -8.98368591e-01 3.84002235e-03 4.68473812e+01] [-8.98335961e-01 4.39242380e-01 7.65727320e-03 -1.44189186e+02] [-8.56575429e-03 -8.63597330e-05 -9.99963310e-01 -4.09430552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.012325652077730275 Centerline is valid? [True, True] Translation: X:46.78, Y:-144.28, Z:-4.10 [[-3.72575638e-01 -9.27998167e-01 2.60695210e-03 4.67809271e+01] [-9.27976333e-01 3.72584755e-01 6.36603361e-03 -1.44276970e+02] [-6.87897813e-03 -4.73608168e-05 -9.99976339e-01 -4.09656768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.012044867478667027 Centerline is valid? [True, True] Translation: X:46.72, Y:-144.37, Z:-4.10 [[-3.03342343e-01 -9.52879914e-01 1.81466967e-03 4.67204128e+01] [-9.52863342e-01 3.03347770e-01 5.61976273e-03 -1.44366850e+02] [-5.90543502e-03 -2.44202128e-05 -9.99982563e-01 -4.09703368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.012099204796308341 Centerline is valid? [True, True] Translation: X:46.66, Y:-144.47, Z:-4.10 [[-2.29373318e-01 -9.73337244e-01 1.57821492e-03 4.66637945e+01] [-9.73315110e-01 2.29378745e-01 6.56419921e-03 -1.44465647e+02] [-6.75118853e-03 -3.04482732e-05 -9.99977210e-01 -4.09639076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.0123834376998898 Centerline is valid? [True, True] Translation: X:46.61, Y:-144.57, Z:-4.09 [[-1.52984106e-01 -9.88227783e-01 1.30827142e-03 4.66134016e+01] [-9.88194311e-01 1.52989692e-01 8.13371407e-03 -1.44567041e+02] [-8.23811426e-03 -4.84974021e-05 -9.99966065e-01 -4.09447527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.012839842816367141 Centerline is valid? [True, True] Translation: X:46.57, Y:-144.68, Z:-4.09 [[-7.33357037e-02 -9.97306870e-01 9.39358597e-04 4.65687074e+01] [-9.97243069e-01 7.33416379e-02 1.12812075e-02 -1.44678718e+02] [-1.13197198e-02 -1.09453563e-04 -9.99935924e-01 -4.09201932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.013467891374804827 Centerline is valid? [True, True] Translation: X:46.53, Y:-144.79, Z:-4.09 [[ 6.01323224e-03 -9.99981917e-01 8.24685921e-05 4.65333633e+01] [-9.99904578e-01 -6.01174145e-03 1.24375682e-02 -1.44792358e+02] [-1.24368475e-02 -1.57250709e-04 -9.99922647e-01 -4.09066916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.014289516827091505 Centerline is valid? [True, True] Translation: X:46.51, Y:-144.91, Z:-4.09 [[ 8.49882155e-02 -9.96381599e-01 -8.44129521e-04 4.65069574e+01] [-9.96308709e-01 -8.49922096e-02 1.20532158e-02 -1.44905146e+02] [-1.20813469e-02 -1.83367708e-04 -9.99927001e-01 -4.08988698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.014730995621450364 Centerline is valid? [True, True] Translation: X:46.49, Y:-145.02, Z:-4.09 [[ 1.63257707e-01 -9.86582146e-01 -1.60935785e-03 4.64925419e+01] [-9.86521855e-01 -1.63265525e-01 1.09086170e-02 -1.45020043e+02] [-1.10249994e-02 -1.93249103e-04 -9.99939204e-01 -4.09092059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.01582997839664116 Centerline is valid? [True, True] Translation: X:46.49, Y:-145.14, Z:-4.09 [[ 2.39495020e-01 -9.70895005e-01 -2.24171246e-03 4.64869153e+01] [-9.70844703e-01 -2.39505435e-01 9.88482432e-03 -1.45137398e+02] [-1.01340289e-02 -1.91011528e-04 -9.99948631e-01 -4.09085373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.015046754418435605 Centerline is valid? [True, True] Translation: X:46.49, Y:-145.25, Z:-4.09 [[ 3.13724428e-01 -9.49510561e-01 -2.58395063e-03 4.64925186e+01] [-9.49473712e-01 -3.13735023e-01 8.36690822e-03 -1.45251105e+02] [-8.75514353e-03 -1.71510305e-04 -9.99961658e-01 -4.09282469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.015388974896005323 Centerline is valid? [True, True] Translation: X:46.50, Y:-145.37, Z:-4.09 [[ 3.85667283e-01 -9.22633536e-01 -2.84685638e-03 4.65048403e+01] [-9.22605379e-01 -3.85677759e-01 7.20976416e-03 -1.45366960e+02] [-7.74993939e-03 -1.54045144e-04 -9.99969957e-01 -4.09271818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.014810833233825413 Centerline is valid? [True, True] Translation: X:46.53, Y:-145.48, Z:-4.09 [[ 4.54908256e-01 -8.90531882e-01 -3.38319386e-03 4.65268776e+01] [-8.90504714e-01 -4.54920811e-01 6.95774457e-03 -1.45476686e+02] [-7.73517866e-03 -1.52385364e-04 -9.99970072e-01 -4.09306298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.015413877723586444 Centerline is valid? [True, True] Translation: X:46.56, Y:-145.59, Z:-4.09 [[ 5.21539927e-01 -8.53214746e-01 -4.54992345e-03 4.65583876e+01] [-8.53179254e-01 -5.21559744e-01 7.78420493e-03 -1.45588596e+02] [-9.01465534e-03 -1.77873383e-04 -9.99959351e-01 -4.09069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.015966368444178185 Centerline is valid? [True, True] Translation: X:46.59, Y:-145.70, Z:-4.09 [[ 5.86625784e-01 -8.09837435e-01 -5.78952480e-03 4.65922000e+01] [-8.09794228e-01 -5.86654311e-01 8.36832450e-03 -1.45695486e+02] [-1.01734321e-02 -2.20751161e-04 -9.99948225e-01 -4.08929382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.016759254248769884 Centerline is valid? [True, True] Translation: X:46.63, Y:-145.80, Z:-4.09 [[ 6.47937988e-01 -7.61657542e-01 -7.35885052e-03 4.66303833e+01] [-7.61603527e-01 -6.47979717e-01 9.07495990e-03 -1.45795887e+02] [-1.16803975e-02 -2.75484749e-04 -9.99931744e-01 -4.08749472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.016852794404060588 Centerline is valid? [True, True] Translation: X:46.67, Y:-145.89, Z:-4.09 [[ 7.03819954e-01 -7.10318323e-01 -9.23862549e-03 4.66730307e+01] [-7.10251157e-01 -7.03880515e-01 9.77312829e-03 -1.45893711e+02] [-1.34449206e-02 -3.16778255e-04 -9.99909563e-01 -4.08519055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.01544850171891193 Centerline is valid? [True, True] Translation: X:46.72, Y:-145.98, Z:-4.09 [[ 7.53893752e-01 -6.56919734e-01 -1.00335920e-02 4.67246396e+01] [-6.56856481e-01 -7.53960464e-01 9.12042137e-03 -1.45981523e+02] [-1.35563164e-02 -2.85198785e-04 -9.99908068e-01 -4.08571988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.014682535559612499 Centerline is valid? [True, True] Translation: X:46.75, Y:-146.01, Z:-4.08 [[ 7.99851593e-01 -6.00100287e-01 -1.08201018e-02 4.67488375e+01] [-6.00041681e-01 -7.99924745e-01 8.38947058e-03 -1.46008074e+02] [-1.36897909e-02 -2.17819324e-04 -9.99906267e-01 -4.08496142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.01321996848374015 Centerline is valid? [True, True] Translation: X:46.78, Y:-146.03, Z:-4.08 [[ 8.38331442e-01 -5.45039785e-01 -1.14902530e-02 4.67800778e+01] [-5.44987503e-01 -8.38410179e-01 7.54933818e-03 -1.46025930e+02] [-1.37482347e-02 -6.68032802e-05 -9.99905486e-01 -4.08359776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.012958622064639262 Centerline is valid? [True, True] Translation: X:46.81, Y:-146.04, Z:-4.08 [[ 8.74858469e-01 -4.84238051e-01 -1.16691812e-02 4.68114252e+01] [-4.84195481e-01 -8.74936289e-01 6.42087372e-03 -1.46043077e+02] [-1.33190215e-02 3.28090480e-05 -9.99911297e-01 -4.08442669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.013057600109134811 Centerline is valid? [True, True] Translation: X:46.84, Y:-146.06, Z:-4.09 [[ 9.08428904e-01 -4.17877961e-01 -1.16162323e-02 4.68405559e+01] [-4.17844937e-01 -9.08503167e-01 5.25403880e-03 -1.46063538e+02] [-1.27489309e-02 8.08631485e-05 -9.99918726e-01 -4.08622996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.012918389210667545 Centerline is valid? [True, True] Translation: X:46.87, Y:-146.09, Z:-4.09 [[ 9.39078210e-01 -3.43528356e-01 -1.09719573e-02 4.68689022e+01] [-3.43505513e-01 -9.39142304e-01 3.96182508e-03 -1.46085142e+02] [-1.16652285e-02 4.84642103e-05 -9.99931958e-01 -4.08662312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.012694196013862907 Centerline is valid? [True, True] Translation: X:46.90, Y:-146.10, Z:-4.09 [[ 9.64005409e-01 -2.65638778e-01 -1.13846735e-02 4.69007536e+01] [-2.65620340e-01 -9.64072632e-01 3.12980937e-03 -1.46103394e+02] [-1.18070509e-02 6.84769677e-06 -9.99930294e-01 -4.08679410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.012572401578180504 Centerline is valid? [True, True] Translation: X:46.93, Y:-146.12, Z:-4.09 [[ 9.82649596e-01 -1.85173256e-01 -1.05183936e-02 4.69333176e+01] [-1.85162204e-01 -9.82705889e-01 2.02355552e-03 -1.46120992e+02] [-1.07111957e-02 -4.08370859e-05 -9.99942633e-01 -4.08872351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.012460454032370902 Centerline is valid? [True, True] Translation: X:46.96, Y:-146.14, Z:-4.09 [[ 9.94154884e-01 -1.07663441e-01 -8.04058801e-03 4.69645054e+01] [-1.07659673e-01 -9.94187398e-01 9.01275092e-04 -1.46135430e+02] [-8.09088565e-03 -3.03599566e-05 -9.99967268e-01 -4.09121880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.012336105221689406 Centerline is valid? [True, True] Translation: X:46.99, Y:-146.14, Z:-4.09 [[ 9.99479423e-01 -3.20553697e-02 -3.65189355e-03 4.69948264e+01] [-3.20551411e-02 -9.99486095e-01 1.21107929e-04 -1.46143772e+02] [-3.65389898e-03 -3.98292038e-06 -9.99993325e-01 -4.09449112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.012337969182357736 Centerline is valid? [True, True] Translation: X:47.03, Y:-146.15, Z:-4.10 [[ 9.99020354e-01 4.42031995e-02 -2.09975640e-03 4.70267225e+01] [ 4.42030966e-02 -9.99022561e-01 -9.54040501e-05 -1.46146164e+02] [-2.10192118e-03 2.49485302e-06 -9.99997791e-01 -4.09706600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.012572914169240224 Centerline is valid? [True, True] Translation: X:47.06, Y:-146.15, Z:-4.10 [[ 9.92756937e-01 1.20132446e-01 -1.36339201e-03 4.70592104e+01] [ 1.20132326e-01 -9.92757874e-01 -1.69925361e-04 -1.46151514e+02] [-1.37393170e-03 4.90712812e-06 -9.99999056e-01 -4.09768717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.012591602581809773 Centerline is valid? [True, True] Translation: X:47.09, Y:-146.16, Z:-4.10 [[ 9.80500471e-01 1.96494672e-01 -2.94459066e-03 4.70914079e+01] [ 1.96493747e-01 -9.80504892e-01 -6.03096726e-04 -1.46155359e+02] [-3.00569084e-03 1.27429725e-05 -9.99995483e-01 -4.09536392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.012580888426870008 Centerline is valid? [True, True] Translation: X:47.13, Y:-146.16, Z:-4.09 [[ 9.62161137e-01 2.72444631e-01 -4.45761530e-03 4.71250194e+01] [ 2.72441610e-01 -9.62171462e-01 -1.28315749e-03 -1.46158282e+02] [-4.63857960e-03 2.01643792e-05 -9.99989242e-01 -4.09449922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.012663148344812311 Centerline is valid? [True, True] Translation: X:47.16, Y:-146.16, Z:-4.09 [[ 9.37794407e-01 3.47145539e-01 -5.62362156e-03 4.71579621e+01] [ 3.47139140e-01 -9.37811268e-01 -2.10782389e-03 -1.46156526e+02] [-6.00561733e-03 2.45263032e-05 -9.99981966e-01 -4.09393741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.012543158126468855 Centerline is valid? [True, True] Translation: X:47.19, Y:-146.15, Z:-4.09 [[ 9.07465589e-01 4.20086731e-01 -5.77433674e-03 4.71912876e+01] [ 4.20078074e-01 -9.07483960e-01 -2.69704560e-03 -1.46151273e+02] [-6.37311104e-03 2.18038157e-05 -9.99979691e-01 -4.09488273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.01252281157632601 Centerline is valid? [True, True] Translation: X:47.22, Y:-146.14, Z:-4.10 [[ 8.71194676e-01 4.90916714e-01 -4.54049546e-03 4.72225803e+01] [ 4.90909977e-01 -8.71206508e-01 -2.57184060e-03 -1.46143246e+02] [-5.21826873e-03 1.15993179e-05 -9.99986385e-01 -4.09554725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.012349109958234338 Centerline is valid? [True, True] Translation: X:47.26, Y:-146.14, Z:-4.10 [[ 8.28697252e-01 5.59683443e-01 -3.91262422e-03 4.72583614e+01] [ 5.59677211e-01 -8.28706489e-01 -2.64104651e-03 -1.46138758e+02] [-4.72056708e-03 -1.17862645e-06 -9.99988858e-01 -4.09689590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.012415074493373205 Centerline is valid? [True, True] Translation: X:47.29, Y:-146.13, Z:-4.10 [[ 7.81024215e-01 6.24489223e-01 -3.79288134e-03 4.72907581e+01] [ 6.24481931e-01 -7.81033425e-01 -3.01791803e-03 -1.46128721e+02] [-4.84702439e-03 -1.15187972e-05 -9.99988253e-01 -4.09684563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.012376017436629591 Centerline is valid? [True, True] Translation: X:47.32, Y:-146.11, Z:-4.10 [[ 7.28473333e-01 6.85065523e-01 -3.43990003e-03 4.73211556e+01] [ 6.85058013e-01 -7.28481454e-01 -3.20787841e-03 -1.46114676e+02] [-4.70351028e-03 -1.96771995e-05 -9.99988938e-01 -4.09779687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.012642485228421242 Centerline is valid? [True, True] Translation: X:47.35, Y:-146.10, Z:-4.10 [[ 6.70902168e-01 7.41537732e-01 -3.47453737e-03 4.73545264e+01] [ 7.41528046e-01 -6.70911165e-01 -3.79025973e-03 -1.46099977e+02] [-5.14172652e-03 -3.35734335e-05 -9.99986781e-01 -4.09708091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.012898744415275986 Centerline is valid? [True, True] Translation: X:47.39, Y:-146.08, Z:-4.09 [[ 6.09668582e-01 7.92636512e-01 -5.61961633e-03 4.73856230e+01] [ 7.92603942e-01 -6.09694476e-01 -7.18586792e-03 -1.46081425e+02] [-9.12203032e-03 -7.31321509e-05 -9.99958391e-01 -4.09399340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.012925705813204786 Centerline is valid? [True, True] Translation: X:47.41, Y:-146.06, Z:-4.09 [[ 5.46177925e-01 8.37645664e-01 -6.27818575e-03 4.74107808e+01] [ 8.37592104e-01 -5.46214000e-01 -9.47275878e-03 -1.46057894e+02] [-1.13640483e-02 -8.47470844e-05 -9.99935424e-01 -4.09285923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.012671445266165355 Centerline is valid? [True, True] Translation: X:47.43, Y:-146.03, Z:-4.09 [[ 4.80798358e-01 8.76810955e-01 -5.95720318e-03 4.74343848e+01] [ 8.76745331e-01 -4.80835258e-01 -1.07275238e-02 -1.46031674e+02] [-1.22704437e-02 -6.51742269e-05 -9.99924713e-01 -4.09254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.012435382021818417 Centerline is valid? [True, True] Translation: X:47.45, Y:-146.00, Z:-4.09 [[ 4.15363008e-01 9.09644425e-01 -4.53772559e-03 4.74545006e+01] [ 9.09590191e-01 -4.15387794e-01 -9.93299530e-03 -1.46003323e+02] [-1.09204096e-02 -1.67187671e-06 -9.99940371e-01 -4.09314189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.012450103733361473 Centerline is valid? [True, True] Translation: X:47.47, Y:-145.97, Z:-4.09 [[ 3.44501071e-01 9.38779061e-01 -3.58991033e-03 4.74700520e+01] [ 9.38727588e-01 -3.44519775e-01 -9.83061224e-03 -1.45972545e+02] [-1.04655680e-02 1.67085848e-05 -9.99945234e-01 -4.09380001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.012639516973991185 Centerline is valid? [True, True] Translation: X:47.48, Y:-145.94, Z:-4.09 [[ 2.71872441e-01 9.62329666e-01 -2.64366667e-03 4.74813254e+01] [ 9.62282880e-01 -2.71885292e-01 -9.48932394e-03 -1.45940577e+02] [-9.85063202e-03 3.59304927e-05 -9.99951481e-01 -4.09480160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.012519518264876564 Centerline is valid? [True, True] Translation: X:47.49, Y:-145.91, Z:-4.10 [[ 1.95371951e-01 9.80727690e-01 -1.73164104e-03 4.74902973e+01] [ 9.80687781e-01 -1.95379623e-01 -8.84758881e-03 -1.45909217e+02] [-9.01540271e-03 3.03714766e-05 -9.99959360e-01 -4.09594973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.012423304903143351 Centerline is valid? [True, True] Translation: X:47.50, Y:-145.88, Z:-4.10 [[ 1.15398821e-01 9.93318721e-01 -1.01566608e-03 4.75000363e+01] [ 9.93279712e-01 -1.15403291e-01 -8.80305173e-03 -1.45876622e+02] [-8.86144729e-03 7.02127914e-06 -9.99960737e-01 -4.09523620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.012626356034918223 Centerline is valid? [True, True] Translation: X:47.51, Y:-145.84, Z:-4.09 [[ 3.25623602e-02 9.99469642e-01 -3.56351734e-04 4.75056953e+01] [ 9.99421859e-01 -3.25642880e-02 -9.77320020e-03 -1.45844419e+02] [-9.77962125e-03 -3.79072466e-05 -9.99952178e-01 -4.09361948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.013656807236720924 Centerline is valid? [True, True] Translation: X:47.51, Y:-145.81, Z:-4.09 [[-5.09060038e-02 9.98703332e-01 4.83611703e-04 4.75060255e+01] [ 9.98636977e-01 5.09081965e-02 -1.15127546e-02 -1.45810720e+02] [-1.15224462e-02 -1.03115799e-04 -9.99933609e-01 -4.09161073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.01352312357943256 Centerline is valid? [True, True] Translation: X:47.51, Y:-145.78, Z:-4.09 [[-1.33166744e-01 9.91092223e-01 1.68068218e-03 4.75115645e+01] [ 9.90994775e-01 1.33177220e-01 -1.38990590e-02 -1.45775762e+02] [-1.39990778e-02 -1.85345171e-04 -9.99901991e-01 -4.09256033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.015479230602690417 Centerline is valid? [True, True] Translation: X:47.52, Y:-145.74, Z:-4.09 [[-2.10269188e-01 9.77639512e-01 2.80237976e-03 4.75155011e+01] [ 9.77540513e-01 2.10287780e-01 -1.39138512e-02 -1.45740528e+02] [-1.41920369e-02 -1.86214443e-04 -9.99899271e-01 -4.08884954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.014284652516538437 Centerline is valid? [True, True] Translation: X:47.49, Y:-145.71, Z:-4.09 [[-2.82717739e-01 9.59197777e-01 3.21011718e-03 4.74946152e+01] [ 9.59131412e-01 2.82735941e-01 -1.12837303e-02 -1.45712223e+02] [-1.17309445e-02 -1.11186499e-04 -9.99931184e-01 -4.09291739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.012501045086611848 Centerline is valid? [True, True] Translation: X:47.49, Y:-145.68, Z:-4.10 [[-3.53944795e-01 9.35261065e-01 3.13416221e-03 4.74854527e+01] [ 9.35222990e-01 3.53958667e-01 -8.43925505e-03 -1.45678928e+02] [-9.00227054e-03 -5.58898434e-05 -9.99959477e-01 -4.09929783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.012280379525825405 Centerline is valid? [True, True] Translation: X:47.48, Y:-145.65, Z:-4.10 [[-4.23676944e-01 9.05808239e-01 3.04636138e-03 4.74765834e+01] [ 9.05784400e-01 4.23687896e-01 -6.57174994e-03 -1.45645452e+02] [-7.24345168e-03 -2.49523177e-05 -9.99973766e-01 -4.10029073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.012364500867677994 Centerline is valid? [True, True] Translation: X:47.47, Y:-145.61, Z:-4.10 [[-4.91967555e-01 8.70606520e-01 3.49457570e-03 4.74657871e+01] [ 8.70584364e-01 4.91979966e-01 -6.21113067e-03 -1.45613992e+02] [-7.12671210e-03 -1.33518091e-05 -9.99974605e-01 -4.09927671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.012390555498311912 Centerline is valid? [True, True] Translation: X:47.46, Y:-145.58, Z:-4.10 [[-5.60017209e-01 8.28466952e-01 4.82017477e-03 4.74561367e+01] [ 8.28435790e-01 5.60037952e-01 -7.18567387e-03 -1.45579852e+02] [-8.65257414e-03 -3.08957371e-05 -9.99962565e-01 -4.09843099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.012739241516971629 Centerline is valid? [True, True] Translation: X:47.44, Y:-145.55, Z:-4.10 [[-6.24973014e-01 7.80616124e-01 6.87012784e-03 4.74434324e+01] [ 7.80567807e-01 6.25010770e-01 -8.68540547e-03 -1.45547308e+02] [-1.10738714e-02 -6.55434101e-05 -9.99938681e-01 -4.09550226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.013516900452732749 Centerline is valid? [True, True] Translation: X:47.42, Y:-145.52, Z:-4.09 [[-6.86373409e-01 7.27195511e-01 8.84492802e-03 4.74246423e+01] [ 7.27132942e-01 6.86430386e-01 -9.53990034e-03 -1.45519629e+02] [-1.30088001e-02 -1.16495386e-04 -9.99915375e-01 -4.09257115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.014591066244901994 Centerline is valid? [True, True] Translation: X:47.40, Y:-145.50, Z:-4.09 [[-7.43327274e-01 6.68840153e-01 1.08357500e-02 4.74010407e+01] [ 6.68765565e-01 7.43406226e-01 -9.99011439e-03 -1.45496263e+02] [-1.47371537e-02 -1.79347992e-04 -9.99891386e-01 -4.09102488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.013594223080067224 Centerline is valid? [True, True] Translation: X:47.41, Y:-145.48, Z:-4.09 [[-7.89052976e-01 6.14229196e-01 1.08580004e-02 4.74137654e+01] [ 6.14167984e-01 7.89127660e-01 -8.67313912e-03 -1.45476956e+02] [-1.38956437e-02 -1.74930025e-04 -9.99903436e-01 -4.09488496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.01359075368270467 Centerline is valid? [True, True] Translation: X:47.43, Y:-145.46, Z:-4.10 [[-8.29764495e-01 5.58028667e-01 9.74115866e-03 4.74293687e+01] [ 5.57988349e-01 8.29821661e-01 -6.70914407e-03 -1.45458157e+02] [-1.18273192e-02 -1.31556496e-04 -9.99930046e-01 -4.09579106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.01292174108535544 Centerline is valid? [True, True] Translation: X:47.75, Y:-145.00, Z:-5.15 [[-7.78205555e-01 -6.27982049e-01 5.88732911e-03 4.77477517e+01] [ 6.27962577e-01 -7.78227809e-01 -4.94761354e-03 -1.45000540e+02] [ 7.68869572e-03 -1.53237982e-04 9.99970430e-01 -5.15103217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.01275521778263143 Centerline is valid? [True, True] Translation: X:47.38, Y:-145.44, Z:-4.10 [[-8.29656082e-01 5.58256124e-01 4.57007284e-03 4.73839588e+01] [ 5.58247396e-01 8.29668668e-01 -3.12188089e-03 -1.45438919e+02] [-5.53445538e-03 -3.88562034e-05 -9.99984684e-01 -4.10108057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.01286045744617019 Centerline is valid? [True, True] Translation: X:47.40, Y:-145.42, Z:-4.10 [[-8.67282365e-01 4.97803553e-01 3.59471618e-03 4.74016170e+01] [ 4.97799132e-01 8.67289814e-01 -2.09827641e-03 -1.45420749e+02] [-4.16219018e-03 -3.03515329e-05 -9.99991338e-01 -4.10149192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.013735749237505281 Centerline is valid? [True, True] Translation: X:47.41, Y:-145.39, Z:-4.10 [[-9.02274945e-01 4.31147727e-01 3.40009726e-03 4.74084511e+01] [ 4.31144480e-01 9.02281351e-01 -1.67381842e-03 -1.45392639e+02] [-3.78950735e-03 -4.43112644e-05 -9.99992819e-01 -4.10086242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.014410832089194591 Centerline is valid? [True, True] Translation: X:47.41, Y:-145.36, Z:-4.10 [[-9.32085126e-01 3.62215032e-01 4.19400546e-03 4.74147085e+01] [ 3.62211015e-01 9.32094558e-01 -1.70734161e-03 -1.45363899e+02] [-4.52763447e-03 -7.22727421e-05 -9.99989748e-01 -4.09957550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.015000914573812831 Centerline is valid? [True, True] Translation: X:47.63, Y:-144.84, Z:-5.15 [[-8.89598053e-01 -4.56705635e-01 5.93858260e-03 4.76280434e+01] [ 4.56697227e-01 -8.89617843e-01 -2.78153983e-03 -1.44837663e+02] [ 6.55341395e-03 2.37681787e-04 9.99978498e-01 -5.15287307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.015732081901090825 Centerline is valid? [True, True] Translation: X:47.37, Y:-145.35, Z:-4.09 [[-9.34750764e-01 3.55169805e-01 9.76822117e-03 4.73671858e+01] [ 3.55148035e-01 9.34801778e-01 -3.93811622e-03 -1.45346928e+02] [-1.05300505e-02 -2.11992591e-04 -9.99944535e-01 -4.09415476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.01438382759171258 Centerline is valid? [True, True] Translation: X:47.38, Y:-145.33, Z:-4.09 [[-9.56260333e-01 2.92322572e-01 1.06625647e-02 4.73766694e+01] [ 2.92302353e-01 9.56319760e-01 -3.44258201e-03 -1.45329299e+02] [-1.12031657e-02 -1.75311871e-04 -9.99937227e-01 -4.09322742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.012971129531620036 Centerline is valid? [True, True] Translation: X:47.38, Y:-145.31, Z:-4.09 [[-9.72916706e-01 2.30936068e-01 1.00804242e-02 4.73814504e+01] [ 2.30922758e-01 9.72968923e-01 -2.48084637e-03 -1.45312386e+02] [-1.03808564e-02 -8.58575170e-05 -9.99946114e-01 -4.09420179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.012806940921363008 Centerline is valid? [True, True] Translation: X:47.39, Y:-145.30, Z:-4.10 [[-9.84848988e-01 1.73249607e-01 7.55277909e-03 4.73885038e+01] [ 1.73244743e-01 9.84877948e-01 -1.29856817e-03 -1.45301998e+02] [-7.66354199e-03 2.95857212e-05 -9.99970634e-01 -4.09507984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.01325068986196105 Centerline is valid? [True, True] Translation: X:47.40, Y:-145.28, Z:-4.10 [[-9.93729950e-01 1.11625426e-01 6.36794203e-03 4.73962809e+01] [ 1.11623772e-01 9.93750348e-01 -6.15748182e-04 -1.45281352e+02] [-6.39687776e-03 9.89262966e-05 -9.99979535e-01 -4.09704559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.013047374878093014 Centerline is valid? [True, True] Translation: X:47.39, Y:-145.25, Z:-4.10 [[-9.99224887e-01 3.91331077e-02 4.26900846e-03 4.73913176e+01] [ 3.91328854e-02 9.99234006e-01 -1.35633267e-04 -1.45253837e+02] [-4.27104617e-03 3.15304826e-05 -9.99990879e-01 -4.09815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.012744565641482655 Centerline is valid? [True, True] Translation: X:47.38, Y:-145.22, Z:-4.10 [[-9.99078034e-01 -4.25230247e-02 5.90543679e-03 4.73829790e+01] [-4.25223957e-02 9.99095487e-01 2.32090939e-04 -1.45218930e+02] [-5.90996446e-03 -1.92363608e-05 -9.99982536e-01 -4.09629844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.013567244787201903 Centerline is valid? [True, True] Translation: X:47.37, Y:-145.19, Z:-4.09 [[-9.92651251e-01 -1.20721393e-01 8.35694824e-03 4.73699540e+01] [-1.20717874e-01 9.92686425e-01 9.26101063e-04 -1.45188191e+02] [-8.40762928e-03 -8.95376437e-05 -9.99964651e-01 -4.09478077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.01407915503937702 Centerline is valid? [True, True] Translation: X:47.35, Y:-145.16, Z:-4.09 [[-9.81009299e-01 -1.93734523e-01 9.36428876e-03 4.73524305e+01] [-1.93726940e-01 9.81053983e-01 1.71882117e-03 -1.45161656e+02] [-9.51986779e-03 -1.27935460e-04 -9.99954677e-01 -4.09343248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.015208324413631208 Centerline is valid? [True, True] Translation: X:47.34, Y:-145.13, Z:-4.09 [[-9.63510272e-01 -2.67397124e-01 1.21134225e-02 4.73367369e+01] [-2.67378897e-01 9.63586389e-01 3.12998262e-03 -1.45133344e+02] [-1.25092774e-02 -2.23103142e-04 -9.99921731e-01 -4.08998620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.01521248919095626 Centerline is valid? [True, True] Translation: X:47.31, Y:-145.11, Z:-4.09 [[-9.42131881e-01 -3.35013166e-01 1.23974489e-02 4.73114329e+01] [-3.34987281e-01 9.42213420e-01 4.17050974e-03 -1.45112918e+02] [-1.30782184e-02 -2.23817512e-04 -9.99914451e-01 -4.08949142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.014905245631566456 Centerline is valid? [True, True] Translation: X:47.28, Y:-145.10, Z:-4.09 [[-9.16605167e-01 -3.99641687e-01 1.10222129e-02 4.72792689e+01] [-3.99615035e-01 9.16671420e-01 4.61861368e-03 -1.45097266e+02] [-1.19495381e-02 -1.71196824e-04 -9.99928587e-01 -4.08954901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.013834946439588849 Centerline is valid? [True, True] Translation: X:47.23, Y:-145.10, Z:-4.09 [[-8.87354336e-01 -4.60999250e-01 9.05397264e-03 4.72262521e+01] [-4.60976326e-01 8.87400520e-01 4.59827350e-03 -1.45095799e+02] [-1.01543007e-02 -9.33691150e-05 -9.99948439e-01 -4.09067781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.012924370914760884 Centerline is valid? [True, True] Translation: X:47.17, Y:-145.10, Z:-4.09 [[-8.52831173e-01 -5.22137179e-01 7.19424233e-03 4.71665389e+01] [-5.22119079e-01 8.52861515e-01 4.34775641e-03 -1.45102408e+02] [-8.40581769e-03 -4.83489813e-05 -9.99964669e-01 -4.09270339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.012671899643443582 Centerline is valid? [True, True] Translation: X:47.10, Y:-145.12, Z:-4.09 [[-8.13999827e-01 -5.80833705e-01 6.04058017e-03 4.70965131e+01] [-5.80817852e-01 8.14022240e-01 4.29130895e-03 -1.45120635e+02] [-7.40970347e-03 -1.53520595e-05 -9.99972548e-01 -4.09365087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.01256753969587713 Centerline is valid? [True, True] Translation: X:47.02, Y:-145.15, Z:-4.09 [[-7.70827859e-01 -6.37030760e-01 4.02780031e-03 4.70217736e+01] [-6.37022003e-01 7.70838382e-01 3.34010450e-03 -1.45145829e+02] [-5.23253238e-03 8.84818386e-06 -9.99986310e-01 -4.09486796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.01264077364757531 Centerline is valid? [True, True] Translation: X:46.94, Y:-145.18, Z:-4.09 [[-7.20380815e-01 -6.93564307e-01 4.47583118e-03 4.69439757e+01] [-6.93550875e-01 7.20394720e-01 4.31645870e-03 -1.45176037e+02] [-6.21810684e-03 5.27740243e-06 -9.99980667e-01 -4.09424932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.012682362949999963 Centerline is valid? [True, True] Translation: X:46.86, Y:-145.22, Z:-4.09 [[-6.65029532e-01 -7.46799022e-01 5.19056685e-03 4.68604213e+01] [-7.46776353e-01 6.65049788e-01 5.81871085e-03 -1.45219609e+02] [-7.79739296e-03 -6.57802694e-06 -9.99969600e-01 -4.09199161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.012930889602017208 Centerline is valid? [True, True] Translation: X:46.77, Y:-145.28, Z:-4.09 [[-6.04378571e-01 -7.96665495e-01 7.11567988e-03 4.67744484e+01] [-7.96611215e-01 6.04420456e-01 9.29973758e-03 -1.45276313e+02] [-1.17096425e-02 -4.78682848e-05 -9.99931439e-01 -4.08830708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.013137030530270752 Centerline is valid? [True, True] Translation: X:46.69, Y:-145.34, Z:-4.09 [[-5.41017821e-01 -8.40982286e-01 6.96516029e-03 4.66948718e+01] [-8.40914323e-01 5.41062649e-01 1.06916022e-02 -1.45336320e+02] [-1.27600362e-02 -7.27557199e-05 -9.99918585e-01 -4.08667224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.013064595391851813 Centerline is valid? [True, True] Translation: X:46.62, Y:-145.41, Z:-4.09 [[-4.75626238e-01 -8.79624340e-01 6.37987470e-03 4.66180936e+01] [-8.79547395e-01 4.75669019e-01 1.16346412e-02 -1.45409200e+02] [-1.32688223e-02 -7.76615380e-05 -9.99911962e-01 -4.08657271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.013061382519465904 Centerline is valid? [True, True] Translation: X:46.55, Y:-145.49, Z:-4.09 [[-4.09032405e-01 -9.12506496e-01 4.93829260e-03 4.65470919e+01] [-9.12441457e-01 4.09062211e-01 1.08946833e-02 -1.45486057e+02] [-1.19615382e-02 -4.96243928e-05 -9.99928457e-01 -4.08675273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.012839151450480278 Centerline is valid? [True, True] Translation: X:46.48, Y:-145.58, Z:-4.09 [[-3.39353475e-01 -9.40650079e-01 4.08012498e-03 4.64814461e+01] [-9.40583459e-01 3.39378000e-01 1.11950708e-02 -1.45575932e+02] [-1.19153488e-02 -3.86118995e-05 -9.99929009e-01 -4.08844936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.012782625886982216 Centerline is valid? [True, True] Translation: X:46.42, Y:-145.67, Z:-4.09 [[-2.67001301e-01 -9.63690648e-01 3.26208479e-03 4.64239634e+01] [-9.63620327e-01 2.67021225e-01 1.16417932e-02 -1.45668659e+02] [-1.20901331e-02 -3.50372766e-05 -9.99926911e-01 -4.08938571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.012943224943227435 Centerline is valid? [True, True] Translation: X:46.37, Y:-145.77, Z:-4.09 [[-1.90143056e-01 -9.81753510e-01 2.38006269e-03 4.63700601e+01] [-9.81680983e-01 1.90157940e-01 1.19333682e-02 -1.45770012e+02] [-1.21682139e-02 -6.74151887e-05 -9.99925962e-01 -4.08916024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.013444542779246818 Centerline is valid? [True, True] Translation: X:46.32, Y:-145.88, Z:-4.09 [[-1.10684730e-01 -9.93854249e-01 1.61965311e-03 4.63210647e+01] [-9.93764222e-01 1.10696505e-01 1.33774101e-02 -1.45876139e+02] [-1.34744858e-02 -1.28878282e-04 -9.99909207e-01 -4.08701092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.014677215727803712 Centerline is valid? [True, True] Translation: X:46.28, Y:-145.99, Z:-4.08 [[-2.81071480e-02 -9.99604655e-01 7.21920264e-04 4.62802977e+01] [-9.99471228e-01 2.81151928e-02 1.63340040e-02 -1.45988097e+02] [-1.63478433e-02 -2.62436266e-04 -9.99866331e-01 -4.08442890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.015441567718291171 Centerline is valid? [True, True] Translation: X:46.25, Y:-146.10, Z:-4.08 [[ 5.10638658e-02 -9.98695230e-01 -5.64239762e-04 4.62517054e+01] [-9.98541608e-01 -5.10659091e-02 1.75194013e-02 -1.46104034e+02] [-1.75253559e-02 -3.31191476e-04 -9.99846364e-01 -4.08410529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.0158357314240947 Centerline is valid? [True, True] Translation: X:46.23, Y:-146.22, Z:-4.09 [[ 1.30393178e-01 -9.91460528e-01 -1.90802006e-03 4.62314988e+01] [-9.91306209e-01 -1.30406553e-01 1.74966026e-02 -1.46218521e+02] [-1.75960092e-02 -3.90005479e-04 -9.99845102e-01 -4.08532605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.017136840422822968 Centerline is valid? [True, True] Translation: X:46.22, Y:-146.33, Z:-4.09 [[ 2.06768529e-01 -9.78385269e-01 -3.00686686e-03 4.62180344e+01] [-9.78253462e-01 -2.06790042e-01 1.60636728e-02 -1.46330617e+02] [-1.63382510e-02 -3.79984092e-04 -9.99866450e-01 -4.08506570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.01727694929705945 Centerline is valid? [True, True] Translation: X:46.22, Y:-146.45, Z:-4.09 [[ 2.81120523e-01 -9.59663690e-01 -4.10532467e-03 4.62162402e+01] [-9.59541114e-01 -2.81150249e-01 1.53423759e-02 -1.46446552e+02] [-1.58777341e-02 -3.73828924e-04 -9.99873871e-01 -4.08565041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.015954578753644727 Centerline is valid? [True, True] Translation: X:46.23, Y:-146.56, Z:-4.09 [[ 3.51970344e-01 -9.35996563e-01 -5.22598527e-03 4.62260901e+01] [-9.35878390e-01 -3.52008970e-01 1.48769606e-02 -1.46561126e+02] [-1.57643777e-02 -3.45362256e-04 -9.99875675e-01 -4.08630601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.015702972460903825 Centerline is valid? [True, True] Translation: X:46.24, Y:-146.67, Z:-4.09 [[ 4.20459633e-01 -9.07289005e-01 -6.35286651e-03 4.62422706e+01] [-9.07173952e-01 -4.20507507e-01 1.44518719e-02 -1.46669329e+02] [-1.57834526e-02 -3.13273741e-04 -9.99875385e-01 -4.08612846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.014703894937576938 Centerline is valid? [True, True] Translation: X:46.27, Y:-146.77, Z:-4.09 [[ 4.86004122e-01 -8.73922619e-01 -7.69737520e-03 4.62682633e+01] [-8.73803802e-01 -4.86064994e-01 1.44130841e-02 -1.46774750e+02] [-1.63373449e-02 -2.78822591e-04 -9.99866498e-01 -4.08720283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.014233591880981838 Centerline is valid? [True, True] Translation: X:46.30, Y:-146.88, Z:-4.09 [[ 5.49378010e-01 -8.35523406e-01 -9.18913902e-03 4.62995111e+01] [-8.35398671e-01 -5.49454795e-01 1.44391271e-02 -1.46878915e+02] [-1.71132452e-02 -2.55944398e-04 -9.99853525e-01 -4.08650066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.013668335833550791 Centerline is valid? [True, True] Translation: X:46.34, Y:-146.98, Z:-4.09 [[ 6.09563561e-01 -7.92666189e-01 -1.06102854e-02 4.63391711e+01] [-7.92539672e-01 -6.09655856e-01 1.41635127e-02 -1.46978493e+02] [-1.76955603e-02 -2.24489164e-04 -9.99843396e-01 -4.08757195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.013341667071213544 Centerline is valid? [True, True] Translation: X:46.38, Y:-147.07, Z:-4.09 [[ 6.65988388e-01 -7.45891288e-01 -1.02788009e-02 4.63832075e+01] [-7.45798844e-01 -6.66067686e-01 1.17440039e-02 -1.47072161e+02] [-1.56061273e-02 -1.55452330e-04 -9.99878205e-01 -4.08948030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.013110488552426514 Centerline is valid? [True, True] Translation: X:46.43, Y:-147.16, Z:-4.09 [[ 7.19916882e-01 -6.93993676e-01 -9.61563766e-03 4.64336343e+01] [-6.93929529e-01 -7.19981085e-01 9.43643433e-03 -1.47163636e+02] [-1.34719030e-02 -1.20873470e-04 -9.99909243e-01 -4.09161708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.013006622719905794 Centerline is valid? [True, True] Translation: X:46.46, Y:-147.19, Z:-4.09 [[ 7.71670715e-01 -6.35951909e-01 -9.45925333e-03 4.64556210e+01] [-6.35902466e-01 -7.71728682e-01 7.93064719e-03 -1.47193988e+02] [-1.23434873e-02 -1.04685666e-04 -9.99923811e-01 -4.09207946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.01305485772262959 Centerline is valid? [True, True] Translation: X:46.48, Y:-147.22, Z:-4.09 [[ 8.19128228e-01 -5.73523422e-01 -9.99149828e-03 4.64815425e+01] [-5.73479173e-01 -8.19189156e-01 7.12495361e-03 -1.47220474e+02] [-1.22712548e-02 -1.06334452e-04 -9.99924700e-01 -4.09191215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.013316284675636043 Centerline is valid? [True, True] Translation: X:46.51, Y:-147.24, Z:-4.09 [[ 8.61591137e-01 -5.07493923e-01 -1.05180890e-02 4.65091969e+01] [-5.07454552e-01 -8.61655329e-01 6.32229156e-03 -1.47243171e+02] [-1.22714920e-02 -1.09778203e-04 -9.99924696e-01 -4.09115167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.01315199879094828 Centerline is valid? [True, True] Translation: X:46.54, Y:-147.26, Z:-4.09 [[ 8.98575922e-01 -4.38670791e-01 -1.13688177e-02 4.65402929e+01] [-4.38634095e-01 -8.98647831e-01 5.67508450e-03 -1.47263997e+02] [-1.27060572e-02 -1.12743223e-04 -9.99919269e-01 -4.09137240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.012843098519755018 Centerline is valid? [True, True] Translation: X:46.57, Y:-147.28, Z:-4.09 [[ 9.29655431e-01 -3.68242005e-01 -1.17731016e-02 4.65708083e+01] [-3.68211161e-01 -9.29729970e-01 4.76698839e-03 -1.47284383e+02] [-1.27012107e-02 -9.66692466e-05 -9.99919332e-01 -4.09328994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.012822551627812111 Centerline is valid? [True, True] Translation: X:46.60, Y:-147.30, Z:-4.09 [[ 9.55213638e-01 -2.95712702e-01 -1.09956227e-02 4.66029472e+01] [-2.95692238e-01 -9.55276919e-01 3.47964282e-03 -1.47301906e+02] [-1.15328392e-02 -7.24819883e-05 -9.99933492e-01 -4.09426312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.012508667578593969 Centerline is valid? [True, True] Translation: X:46.64, Y:-147.32, Z:-4.10 [[ 9.75262038e-01 -2.20902640e-01 -8.12282942e-03 4.66368385e+01] [-2.20894589e-01 -9.75295864e-01 1.88656004e-03 -1.47318457e+02] [-8.33890803e-03 -4.56013281e-05 -9.99965230e-01 -4.09891745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.012421585960196792 Centerline is valid? [True, True] Translation: X:46.67, Y:-147.33, Z:-4.10 [[ 9.89531124e-01 -1.44211838e-01 -5.57682115e-03 4.66714229e+01] [-1.44209382e-01 -9.89546838e-01 8.42274133e-04 -1.47333217e+02] [-5.63999164e-03 -2.92265397e-05 -9.99984095e-01 -4.10189545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.012514252920334354 Centerline is valid? [True, True] Translation: X:46.70, Y:-147.35, Z:-4.10 [[ 9.97838244e-01 -6.56792375e-02 -2.25313861e-03 4.67033153e+01] [-6.56790418e-02 -9.97840788e-01 1.60816069e-04 -1.47348685e+02] [-2.25883589e-03 -1.24844388e-05 -9.99997449e-01 -4.10469298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.012754031455941941 Centerline is valid? [True, True] Translation: X:46.74, Y:-147.36, Z:-4.10 [[ 9.99899800e-01 1.40788465e-02 -1.47551198e-03 4.67360118e+01] [ 1.40788459e-02 -9.99900888e-01 -1.07915841e-05 -1.47360554e+02] [-1.47551767e-03 -9.98300295e-06 -9.99998911e-01 -4.10477847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.013393504413495847 Centerline is valid? [True, True] Translation: X:46.77, Y:-147.37, Z:-4.10 [[ 9.95439394e-01 9.53707166e-02 -2.19984292e-03 4.67684854e+01] [ 9.53705332e-02 -9.95441825e-01 -1.88363512e-04 -1.47370555e+02] [-2.20778001e-03 -2.22957312e-05 -9.99997563e-01 -4.10431140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.013834696413763323 Centerline is valid? [True, True] Translation: X:46.80, Y:-147.38, Z:-4.10 [[ 9.84550017e-01 1.75066120e-01 -3.62179678e-03 4.68032396e+01] [ 1.75065105e-01 -9.84556678e-01 -5.97975860e-04 -1.47376270e+02] [-3.67054952e-03 -4.53130909e-05 -9.99993263e-01 -4.10266277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.014078718411783273 Centerline is valid? [True, True] Translation: X:46.84, Y:-147.38, Z:-4.10 [[ 9.67405024e-01 2.53193488e-01 -4.53613095e-03 4.68387890e+01] [ 2.53191023e-01 -9.67415657e-01 -1.11929255e-03 -1.47379977e+02] [-4.67172169e-03 -6.56984034e-05 -9.99989085e-01 -4.10122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.014068099002023793 Centerline is valid? [True, True] Translation: X:46.87, Y:-147.38, Z:-4.10 [[ 9.44602197e-01 3.28187856e-01 -4.40688483e-03 4.68733466e+01] [ 3.28184607e-01 -9.44612474e-01 -1.46190436e-03 -1.47377006e+02] [-4.64257764e-03 -6.53536907e-05 -9.99989221e-01 -4.10140954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.01373649825922148 Centerline is valid? [True, True] Translation: X:46.91, Y:-147.37, Z:-4.10 [[ 9.16447902e-01 4.00147858e-01 -2.22125507e-03 4.69079901e+01] [ 4.00146765e-01 -9.16450594e-01 -9.36109495e-04 -1.47371779e+02] [-2.41025274e-03 -3.09324464e-05 -9.99997095e-01 -4.10380955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.01378521601479928 Centerline is valid? [True, True] Translation: X:46.94, Y:-147.36, Z:-4.10 [[ 8.82652856e-01 4.70023981e-01 -1.18061650e-03 4.69415445e+01] [ 4.70023584e-01 -8.82653645e-01 -6.11002570e-04 -1.47364338e+02] [-1.32926131e-03 -1.56144343e-05 -9.99999117e-01 -4.10445603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.013712242088704672 Centerline is valid? [True, True] Translation: X:46.98, Y:-147.35, Z:-4.10 [[ 8.43372181e-01 5.37327444e-01 -1.60687040e-03 4.69750737e+01] [ 5.37326518e-01 -8.43373712e-01 -9.97781916e-04 -1.47352782e+02] [-1.89132786e-03 -2.19125622e-05 -9.99998211e-01 -4.10373570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.013606497164638229 Centerline is valid? [True, True] Translation: X:47.01, Y:-147.34, Z:-4.10 [[ 7.98639993e-01 6.01799143e-01 -3.45730570e-03 4.70092239e+01] [ 6.01793782e-01 -7.98647474e-01 -2.54074447e-03 -1.47340174e+02] [-4.29018631e-03 -5.14449300e-05 -9.99990796e-01 -4.10209140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.013360279996754406 Centerline is valid? [True, True] Translation: X:47.04, Y:-147.33, Z:-4.10 [[ 7.49308406e-01 6.62204989e-01 -4.63315501e-03 4.70441329e+01] [ 6.62192919e-01 -7.49322726e-01 -3.99881334e-03 -1.47327334e+02] [-6.11976248e-03 -7.16979947e-05 -9.99981272e-01 -4.10040389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.01310546823228837 Centerline is valid? [True, True] Translation: X:47.08, Y:-147.31, Z:-4.10 [[ 6.95949135e-01 7.18074012e-01 -4.95118060e-03 4.70769849e+01] [ 7.18056602e-01 -6.95966743e-01 -5.00083343e-03 -1.47311093e+02] [-7.03682556e-03 -7.49022170e-05 -9.99975239e-01 -4.10002238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.013000903788712227 Centerline is valid? [True, True] Translation: X:47.11, Y:-147.29, Z:-4.10 [[ 6.39243926e-01 7.68990585e-01 -4.54788017e-03 4.71062094e+01] [ 7.68971789e-01 -6.39260101e-01 -5.37689628e-03 -1.47289809e+02] [-7.04206095e-03 -6.00432637e-05 -9.99975203e-01 -4.10004686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.012538312639771015 Centerline is valid? [True, True] Translation: X:47.14, Y:-147.27, Z:-4.10 [[ 5.80946098e-01 8.13930945e-01 -4.24844196e-03 4.71359022e+01] [ 8.13909528e-01 -5.80961631e-01 -5.90453560e-03 -1.47268347e+02] [-7.27406601e-03 -2.76304769e-05 -9.99973543e-01 -4.10000014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.012486786538446759 Centerline is valid? [True, True] Translation: X:47.16, Y:-147.24, Z:-4.10 [[ 5.18693781e-01 8.54952094e-01 -3.69851371e-03 4.71614280e+01] [ 8.54930358e-01 -5.18706967e-01 -6.09634457e-03 -1.47244309e+02] [-7.13052739e-03 1.64363390e-07 -9.99974578e-01 -4.09992924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.01245816112408234 Centerline is valid? [True, True] Translation: X:47.18, Y:-147.22, Z:-4.10 [[ 4.53055658e-01 8.91478954e-01 -2.41769438e-03 4.71843523e+01] [ 8.91466050e-01 -4.53062109e-01 -4.79664773e-03 -1.47217366e+02] [-5.37147622e-03 1.78559414e-05 -9.99985573e-01 -4.10178251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.012654451219254589 Centerline is valid? [True, True] Translation: X:47.21, Y:-147.19, Z:-4.10 [[ 3.83969434e-01 9.23343379e-01 -2.11607061e-03 4.72057019e+01] [ 9.23328907e-01 -3.83975264e-01 -5.16977710e-03 -1.47190585e+02] [-5.58599823e-03 3.12072239e-05 -9.99984398e-01 -4.10173076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.01261601625932634 Centerline is valid? [True, True] Translation: X:47.23, Y:-147.16, Z:-4.10 [[ 3.09921210e-01 9.50759688e-01 -2.20418810e-03 4.72290802e+01] [ 9.50734812e-01 -3.09929046e-01 -6.87781866e-03 -1.47161965e+02] [-7.22229465e-03 3.59835232e-05 -9.99973918e-01 -4.09962461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.012861318540744201 Centerline is valid? [True, True] Translation: X:47.25, Y:-147.13, Z:-4.10 [[ 2.33407916e-01 9.72376002e-01 -2.37814707e-03 4.72468098e+01] [ 9.72323797e-01 -2.33420027e-01 -1.00759967e-02 -1.47131942e+02] [-1.03527645e-02 3.94883912e-05 -9.99946408e-01 -4.09624114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.01288668541289731 Centerline is valid? [True, True] Translation: X:47.26, Y:-147.10, Z:-4.10 [[ 1.56576175e-01 9.87664418e-01 -1.70266097e-03 4.72625723e+01] [ 9.87602997e-01 -1.56585426e-01 -1.10147719e-02 -1.47099519e+02] [-1.11455102e-02 4.30977699e-05 -9.99937886e-01 -4.09606746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.012822433500605055 Centerline is valid? [True, True] Translation: X:47.28, Y:-147.07, Z:-4.10 [[ 7.96159699e-02 9.96825352e-01 -7.17093367e-04 4.72793076e+01] [ 9.96779631e-01 -7.96191864e-02 -9.54740131e-03 -1.47065529e+02] [-9.57418607e-03 4.53415546e-05 -9.99954165e-01 -4.09825098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.012638152289826902 Centerline is valid? [True, True] Translation: X:47.29, Y:-147.03, Z:-4.10 [[ 2.03740941e-03 9.99997924e-01 2.56755125e-05 4.72932464e+01] [ 9.99970760e-01 -2.03716481e-03 -7.37089277e-03 -1.47030630e+02] [-7.37082517e-03 4.06922880e-05 -9.99972834e-01 -4.10047471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.012715510503289243 Centerline is valid? [True, True] Translation: X:47.30, Y:-146.99, Z:-4.10 [[-7.50786662e-02 9.97177550e-01 3.56523217e-04 4.73006352e+01] [ 9.97168112e-01 7.50795068e-02 -4.33868110e-03 -1.46994810e+02] [-4.35320298e-03 2.97711936e-05 -9.99990524e-01 -4.10276154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.012681799068259097 Centerline is valid? [True, True] Translation: X:47.31, Y:-146.96, Z:-4.10 [[-1.54330260e-01 9.88019093e-01 6.65608084e-04 4.73076664e+01] [ 9.88010531e-01 1.54331693e-01 -4.11327758e-03 -1.46958846e+02] [-4.16672121e-03 2.28245999e-05 -9.99991319e-01 -4.10212376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.01261882669210021 Centerline is valid? [True, True] Translation: X:47.32, Y:-146.92, Z:-4.10 [[-2.38593501e-01 9.71118523e-01 1.39861403e-03 4.73157619e+01] [ 9.71101521e-01 2.38597600e-01 -5.74646699e-03 -1.46920585e+02] [-5.91420648e-03 -1.28734610e-05 -9.99982511e-01 -4.09930417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.012825147780778026 Centerline is valid? [True, True] Translation: X:47.32, Y:-146.88, Z:-4.10 [[-3.17381892e-01 9.48295705e-01 1.99759373e-03 4.73168477e+01] [ 9.48276175e-01 3.17388177e-01 -6.08620247e-03 -1.46882872e+02] [-6.40553229e-03 -3.73799218e-05 -9.99979484e-01 -4.09872435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.014639496291105681 Centerline is valid? [True, True] Translation: X:47.32, Y:-146.84, Z:-4.10 [[-4.00601268e-01 9.16246523e-01 3.30641234e-03 4.73186770e+01] [ 9.16212309e-01 4.00614887e-01 -7.91935835e-03 -1.46842960e+02] [-8.58068257e-03 -1.43129314e-04 -9.99963175e-01 -4.09690420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.017079613344340976 Centerline is valid? [True, True] Translation: X:47.31, Y:-146.81, Z:-4.09 [[-4.76518526e-01 8.79153244e-01 4.43480038e-03 4.73125735e+01] [ 8.79110756e-01 4.76539111e-01 -8.64607839e-03 -1.46805999e+02] [-9.71458370e-03 -2.21335816e-04 -9.99952788e-01 -4.09487502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.017250234642648767 Centerline is valid? [True, True] Translation: X:47.30, Y:-146.77, Z:-4.10 [[-5.46714460e-01 8.37307559e-01 4.39901480e-03 4.72996821e+01] [ 8.37277169e-01 5.46732113e-01 -7.13711220e-03 -1.46770561e+02] [-8.38104066e-03 -2.18767778e-04 -9.99964855e-01 -4.09623095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.017499409435905198 Centerline is valid? [True, True] Translation: X:47.28, Y:-146.74, Z:-4.10 [[-6.09975823e-01 7.92414112e-01 3.06112091e-03 4.72811339e+01] [ 7.92403041e-01 6.09983490e-01 -4.19075973e-03 -1.46740473e+02] [-5.18805037e-03 -1.30620595e-04 -9.99986534e-01 -4.09854808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.01602236784163402 Centerline is valid? [True, True] Translation: X:47.26, Y:-146.71, Z:-4.10 [[-6.68962906e-01 7.43289184e-01 3.13352886e-03 4.72603291e+01] [ 7.43280226e-01 6.68970235e-01 -3.65096107e-03 -1.46710706e+02] [-4.80995741e-03 -1.13267489e-04 -9.99988426e-01 -4.09901989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.016844217374202695 Centerline is valid? [True, True] Translation: X:47.24, Y:-146.68, Z:-4.10 [[-7.25091810e-01 6.88641575e-01 3.82716828e-03 4.72377797e+01] [ 6.88631048e-01 7.25101900e-01 -3.80992504e-03 -1.46683670e+02] [-5.39875977e-03 -1.27038549e-04 -9.99985419e-01 -4.09787226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.016678957735137896 Centerline is valid? [True, True] Translation: X:47.25, Y:-146.66, Z:-4.10 [[-7.72854444e-01 6.34568243e-01 4.37646548e-03 4.72492449e+01] [ 6.34557003e-01 7.72866822e-01 -3.77967116e-03 -1.46663899e+02] [-5.78088426e-03 -1.44018835e-04 -9.99983280e-01 -4.09801423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.019938585596525577 Centerline is valid? [True, True] Translation: X:47.26, Y:-146.64, Z:-4.10 [[-8.18433789e-01 5.74576936e-01 5.24190903e-03 4.72589316e+01] [ 5.74563629e-01 8.18450553e-01 -3.91512610e-03 -1.46636350e+02] [-6.53978450e-03 -1.92461213e-04 -9.99978597e-01 -4.09586025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.021193698884990404 Centerline is valid? [True, True] Translation: X:47.27, Y:-146.61, Z:-4.10 [[-8.58151752e-01 5.13363045e-01 5.82709367e-03 4.72691371e+01] [ 5.13349464e-01 8.58171508e-01 -3.74048084e-03 -1.46613865e+02] [-6.92087039e-03 -2.18564773e-04 -9.99976027e-01 -4.09505914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.01913404037105919 Centerline is valid? [True, True] Translation: X:47.28, Y:-146.60, Z:-4.10 [[-8.92143810e-01 4.51717517e-01 5.54144116e-03 4.72776449e+01] [ 4.51707409e-01 8.92160997e-01 -3.02835096e-03 -1.46597882e+02] [-6.31181685e-03 -1.98614532e-04 -9.99980061e-01 -4.09609094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.01799660175286451 Centerline is valid? [True, True] Translation: X:47.54, Y:-146.12, Z:-5.15 [[-8.27426565e-01 -5.61545198e-01 5.68061900e-03 4.75402071e+01] [ 5.61533884e-01 -8.27446032e-01 -3.57239069e-03 -1.46115847e+02] [ 6.70646449e-03 2.33969090e-04 9.99977484e-01 -5.15498900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.017080119967300352 Centerline is valid? [True, True] Translation: X:47.24, Y:-146.60, Z:-4.09 [[-8.90084433e-01 4.55743836e-01 6.87445125e-03 4.72375652e+01] [ 4.55728625e-01 8.90110960e-01 -3.72807067e-03 -1.46602368e+02] [-7.81806963e-03 -1.85413454e-04 -9.99969421e-01 -4.09426932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.01573478034624568 Centerline is valid? [True, True] Translation: X:47.24, Y:-146.59, Z:-4.09 [[-9.19007748e-01 3.94170584e-01 7.36949530e-03 4.72446805e+01] [ 3.94156431e-01 9.19037280e-01 -3.34455236e-03 -1.46586481e+02] [-8.09116507e-03 -1.68935566e-04 -9.99967252e-01 -4.09439046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.014473460848862765 Centerline is valid? [True, True] Translation: X:47.25, Y:-146.57, Z:-4.09 [[-9.43587833e-01 3.31042065e-01 7.29058492e-03 4.72473189e+01] [ 3.31031051e-01 9.43615988e-01 -2.70386764e-03 -1.46567095e+02] [-7.77460642e-03 -1.37926619e-04 -9.99969768e-01 -4.09499681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.013653917614743693 Centerline is valid? [True, True] Translation: X:47.48, Y:-145.98, Z:-5.16 [[-9.07101760e-01 -4.20860796e-01 6.52585326e-03 4.74757423e+01] [ 4.20850633e-01 -9.07125229e-01 -2.92629817e-03 -1.45984984e+02] [ 7.15133031e-03 9.19592490e-05 9.99974425e-01 -5.15608982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.013156747890235477 Centerline is valid? [True, True] Translation: X:47.21, Y:-146.57, Z:-4.09 [[-9.41576284e-01 3.36731546e-01 6.77989688e-03 4.72116260e+01] [ 3.36722371e-01 9.41600692e-01 -2.48651291e-03 -1.46568980e+02] [-7.22124293e-03 -5.82986395e-05 -9.99973925e-01 -4.09443615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.013159405396637291 Centerline is valid? [True, True] Translation: X:47.22, Y:-146.54, Z:-4.09 [[-9.63301435e-01 2.68330285e-01 7.01456287e-03 4.72163744e+01] [ 2.68322674e-01 9.63326972e-01 -2.02196962e-03 -1.46538458e+02] [-7.29987329e-03 -6.55999703e-05 -9.99973354e-01 -4.09414140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.01332600745823567 Centerline is valid? [True, True] Translation: X:47.22, Y:-146.51, Z:-4.09 [[-9.79922951e-01 1.99191652e-01 8.58464624e-03 4.72209463e+01] [ 1.99183290e-01 9.79960550e-01 -1.82699518e-03 -1.46510190e+02] [-8.77653684e-03 -8.03964344e-05 -9.99961482e-01 -4.09319583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.013024334676185379 Centerline is valid? [True, True] Translation: X:47.22, Y:-146.49, Z:-4.09 [[-9.91234961e-01 1.31771245e-01 9.46524691e-03 4.72242777e+01] [ 1.31764633e-01 9.91280150e-01 -1.32156866e-03 -1.46485688e+02] [-9.55685612e-03 -6.28002785e-05 -9.99954330e-01 -4.09310896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.01265301040718876 Centerline is valid? [True, True] Translation: X:47.32, Y:-145.86, Z:-5.16 [[-9.78110734e-01 -2.07905100e-01 8.65231009e-03 4.73189308e+01] [ 2.07897101e-01 -9.78149002e-01 -1.82383644e-03 -1.45855207e+02] [ 8.84243337e-03 1.48761867e-05 9.99960905e-01 -5.15706563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.012681031578296056 Centerline is valid? [True, True] Translation: X:47.18, Y:-146.48, Z:-4.09 [[-9.90827661e-01 1.34878579e-01 8.26534562e-03 4.71803259e+01] [ 1.34873918e-01 9.90862134e-01 -1.12134448e-03 -1.46482092e+02] [-8.34106335e-03 3.72041476e-06 -9.99965213e-01 -4.09371019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.013007537235810638 Centerline is valid? [True, True] Translation: X:47.27, Y:-145.85, Z:-5.16 [[-9.80654373e-01 -1.95634682e-01 6.63867730e-03 4.72709238e+01] [ 1.95629547e-01 -9.80676839e-01 -1.42059211e-03 -1.45847641e+02] [ 6.78831416e-03 -9.43884245e-05 9.99976955e-01 -5.15561162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.015004745729162853 Centerline is valid? [True, True] Translation: X:47.14, Y:-146.48, Z:-4.10 [[-9.90175400e-01 1.39770801e-01 4.09882406e-03 4.71361610e+01] [ 1.39769766e-01 9.90183883e-01 -5.39276581e-04 -1.46480528e+02] [-4.13396464e-03 3.89132745e-05 -9.99991454e-01 -4.09573551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.013382557644768618 Centerline is valid? [True, True] Translation: X:47.22, Y:-145.84, Z:-5.15 [[-9.82153838e-01 -1.88051032e-01 3.26312227e-03 4.72211478e+01] [ 1.88049715e-01 -9.82159255e-01 -7.08503945e-04 -1.45840440e+02] [ 3.33814064e-03 -8.22306537e-05 9.99994425e-01 -5.15313958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.012977652057093387 Centerline is valid? [True, True] Translation: X:47.09, Y:-146.47, Z:-4.10 [[-9.91009386e-01 1.33728093e-01 4.14667640e-03 4.70859012e+01] [ 1.33727050e-01 9.91018061e-01 -5.28950743e-04 -1.46470039e+02] [-4.18016678e-03 3.03276532e-05 -9.99991263e-01 -4.09572091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.01308899380676655 Centerline is valid? [True, True] Translation: X:47.16, Y:-145.84, Z:-5.16 [[-9.82138677e-01 -1.88056549e-01 6.19296612e-03 4.71644942e+01] [ 1.88053404e-01 -9.82158198e-01 -1.09150027e-03 -1.45838964e+02] [ 6.28773622e-03 9.26037303e-05 9.99980228e-01 -5.15833060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.013098881947404816 Centerline is valid? [True, True] Translation: X:47.03, Y:-146.46, Z:-4.09 [[-9.91933925e-01 1.26503307e-01 8.00007715e-03 4.70287838e+01] [ 1.26499430e-01 9.91966185e-01 -9.90916753e-04 -1.46461021e+02] [-8.06116026e-03 2.90812525e-05 -9.99967508e-01 -4.09059661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.01297228496494442 Centerline is valid? [True, True] Translation: X:47.03, Y:-146.43, Z:-4.09 [[-9.98611442e-01 5.19747913e-02 8.59125257e-03 4.70274377e+01] [ 5.19728534e-02 9.98648397e-01 -4.48823454e-04 -1.46428913e+02] [-8.60296811e-03 -1.68832663e-06 -9.99962994e-01 -4.08869129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.01283425276002644 Centerline is valid? [True, True] Translation: X:47.02, Y:-146.40, Z:-4.09 [[-9.99715449e-01 -2.24847890e-02 7.96590045e-03 4.70216591e+01] [-2.24843036e-02 9.99747185e-01 1.50499206e-04 -1.46399456e+02] [-7.96727049e-03 -2.86513432e-05 -9.99968260e-01 -4.09059068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.013080092772932967 Centerline is valid? [True, True] Translation: X:47.01, Y:-145.78, Z:-5.16 [[-9.98387285e-01 -5.61541553e-02 8.33901216e-03 4.70081758e+01] [ 5.61526683e-02 -9.98422109e-01 -4.12524576e-04 -1.45784462e+02] [ 8.34901908e-03 5.63984924e-05 9.99965145e-01 -5.16092875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.013422086858802073 Centerline is valid? [True, True] Translation: X:46.96, Y:-146.40, Z:-4.09 [[-9.99428155e-01 -3.24706585e-02 9.43496115e-03 4.69589102e+01] [-3.24700380e-02 9.99472685e-01 2.18974350e-04 -1.46396902e+02] [-9.43709619e-03 -8.75044164e-05 -9.99955466e-01 -4.08816079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.013590635571384556 Centerline is valid? [True, True] Translation: X:46.94, Y:-145.79, Z:-5.16 [[-9.98421575e-01 -5.50924872e-02 1.09168222e-02 4.69409857e+01] [ 5.50913871e-02 -9.98481236e-01 -4.01692450e-04 -1.45786746e+02] [ 1.09223724e-02 2.00364471e-04 9.99940329e-01 -5.16444667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.014073889979281867 Centerline is valid? [True, True] Translation: X:46.89, Y:-146.40, Z:-4.08 [[-9.99087848e-01 -4.06331173e-02 1.31309797e-02 4.68934245e+01] [-4.06318691e-02 9.99174119e-01 3.61933740e-04 -1.46399273e+02] [-1.31348416e-02 -1.71932647e-04 -9.99913720e-01 -4.08424059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.014948400611416697 Centerline is valid? [True, True] Translation: X:46.88, Y:-146.37, Z:-4.08 [[-9.93299378e-01 -1.14627135e-01 1.47297438e-02 4.68848772e+01] [-1.14618111e-01 9.93408558e-01 1.45818201e-03 -1.46371835e+02] [-1.47998008e-02 -2.39884123e-04 -9.99890448e-01 -4.08237169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.015541348890834675 Centerline is valid? [True, True] Translation: X:46.82, Y:-145.77, Z:-5.17 [[-9.99819987e-01 1.10567567e-02 1.54188709e-02 4.68202344e+01] [-1.10509153e-02 -9.99938829e-01 4.63999805e-04 -1.45765836e+02] [ 1.54230581e-02 2.93523643e-04 9.99881015e-01 -5.16812387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.015708494758828385 Centerline is valid? [True, True] Translation: X:46.81, Y:-146.38, Z:-4.08 [[-9.92164106e-01 -1.24070864e-01 1.47243664e-02 4.68142281e+01] [-1.24061842e-01 9.92273311e-01 1.52811325e-03 -1.46380834e+02] [-1.48001901e-02 -3.10592892e-04 -9.99890423e-01 -4.08423449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.01537834989240243 Centerline is valid? [True, True] Translation: X:46.80, Y:-146.36, Z:-4.08 [[-9.81343463e-01 -1.91765514e-01 1.38200856e-02 4.68027109e+01] [-1.91750188e-01 9.81440738e-01 2.43798628e-03 -1.46357096e+02] [-1.40311167e-02 -2.57502119e-04 -9.99901526e-01 -4.08482161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.014304305507065341 Centerline is valid? [True, True] Translation: X:46.79, Y:-146.34, Z:-4.09 [[-9.66344897e-01 -2.56955559e-01 1.23036971e-02 4.67916133e+01] [-2.56937043e-01 9.66423204e-01 3.08971551e-03 -1.46335410e+02] [-1.26844980e-02 -1.75544739e-04 -9.99919533e-01 -4.08617220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.012851857465912423 Centerline is valid? [True, True] Translation: X:46.77, Y:-146.32, Z:-4.09 [[-9.48273922e-01 -3.17313718e-01 9.41132270e-03 4.67696311e+01] [-3.17298600e-01 9.48320622e-01 3.09772587e-03 -1.46320159e+02] [-9.90790230e-03 -4.87068625e-05 -9.99950914e-01 -4.08857545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.012442653790227352 Centerline is valid? [True, True] Translation: X:46.73, Y:-146.31, Z:-4.09 [[-9.25212607e-01 -3.79380936e-01 7.19284281e-03 4.67344271e+01] [-3.79369389e-01 9.25240566e-01 2.96000263e-03 -1.46309580e+02] [-7.77807852e-03 9.88736615e-06 -9.99969750e-01 -4.09120849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.012870693072387408 Centerline is valid? [True, True] Translation: X:46.68, Y:-146.31, Z:-4.09 [[-8.97732535e-01 -4.40490425e-01 6.66946037e-03 4.66773182e+01] [-4.40477788e-01 8.97757307e-01 3.33699803e-03 -1.46308566e+02] [-7.45747247e-03 5.79825495e-05 -9.99972191e-01 -4.09170262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.01328060353434575 Centerline is valid? [True, True] Translation: X:46.61, Y:-146.31, Z:-4.09 [[-8.62927519e-01 -5.05265902e-01 7.90347739e-03 4.66114583e+01] [-5.05243934e-01 8.62963709e-01 4.71206477e-03 -1.46311399e+02] [-9.20125982e-03 7.29863576e-05 -9.99957665e-01 -4.08928039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.012859034424757521 Centerline is valid? [True, True] Translation: X:46.53, Y:-146.32, Z:-4.09 [[-8.20486981e-01 -5.71565723e-01 1.06648112e-02 4.65334471e+01] [-5.71516753e-01 8.20556288e-01 7.48187996e-03 -1.46319618e+02] [-1.30274640e-02 4.36668435e-05 -9.99915138e-01 -4.08722337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.012964311592155109 Centerline is valid? [True, True] Translation: X:46.45, Y:-146.34, Z:-4.09 [[-7.73491605e-01 -6.33703743e-01 1.14150568e-02 4.64534437e+01] [-6.33634776e-01 7.73575831e-01 9.34902767e-03 -1.46340412e+02] [-1.47549259e-02 -1.58256464e-06 -9.99891140e-01 -4.08626171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.013177673457498556 Centerline is valid? [True, True] Translation: X:46.37, Y:-146.37, Z:-4.09 [[-7.22016986e-01 -6.91778890e-01 1.15516246e-02 4.63676003e+01] [-6.91691437e-01 7.22109386e-01 1.09995476e-02 -1.46370731e+02] [-1.59507913e-02 -4.82996119e-05 -9.99872777e-01 -4.08520597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.013049312759845859 Centerline is valid? [True, True] Translation: X:46.29, Y:-146.42, Z:-4.09 [[-6.68244715e-01 -7.43874165e-01 1.00113786e-02 4.62859247e+01] [-7.43791647e-01 6.68319703e-01 1.10797397e-02 -1.46415495e+02] [-1.49327337e-02 -4.24022829e-05 -9.99888500e-01 -4.08758481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.012748572749559544 Centerline is valid? [True, True] Translation: X:46.21, Y:-146.47, Z:-4.09 [[-6.11807710e-01 -7.90971394e-01 7.45523808e-03 4.62101629e+01] [-7.90912911e-01 6.11853131e-01 9.61836825e-03 -1.46466952e+02] [-1.21693649e-02 -1.18521965e-05 -9.99925951e-01 -4.09315024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.012573660622981058 Centerline is valid? [True, True] Translation: X:46.13, Y:-146.53, Z:-4.10 [[-5.50979203e-01 -8.34505077e-01 4.81605108e-03 4.61336210e+01] [-8.34473226e-01 5.51000251e-01 7.29102530e-03 -1.46528166e+02] [-8.73804298e-03 -1.66236917e-06 -9.99961823e-01 -4.09657860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.012535398951868292 Centerline is valid? [True, True] Translation: X:46.06, Y:-146.60, Z:-4.10 [[-4.84918183e-01 -8.74556427e-01 2.32616621e-03 4.60578603e+01] [-8.74546447e-01 4.84923763e-01 4.17819536e-03 -1.46598791e+02] [-4.78208088e-03 -8.25749273e-06 -9.99988566e-01 -4.10103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.012757574791354323 Centerline is valid? [True, True] Translation: X:45.98, Y:-146.68, Z:-4.10 [[-4.14779466e-01 -9.09920225e-01 1.78292935e-03 4.59840933e+01] [-9.09912013e-01 4.14783297e-01 3.86579225e-03 -1.46678462e+02] [-4.25709187e-03 -1.88575925e-05 -9.99990938e-01 -4.10108264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.01353157153491431 Centerline is valid? [True, True] Translation: X:45.91, Y:-146.76, Z:-4.10 [[-3.39192000e-01 -9.40716076e-01 1.43233809e-03 4.59142038e+01] [-9.40708205e-01 3.39195022e-01 3.84838720e-03 -1.46763609e+02] [-4.10608166e-03 -4.20700424e-05 -9.99991569e-01 -4.10102341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.013516254311161593 Centerline is valid? [True, True] Translation: X:45.85, Y:-146.86, Z:-4.10 [[-2.64462925e-01 -9.64394569e-01 1.57359089e-03 4.58538200e+01] [-9.64379080e-01 2.64467597e-01 5.46628207e-03 -1.46861932e+02] [-5.68781655e-03 -7.19091869e-05 -9.99983822e-01 -4.10041649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.013458128824890817 Centerline is valid? [True, True] Translation: X:45.80, Y:-146.95, Z:-4.10 [[-1.92509504e-01 -9.81293887e-01 1.54867297e-03 4.58046430e+01] [-9.81265322e-01 1.92515717e-01 7.48778197e-03 -1.46954349e+02] [-7.64585856e-03 -7.81898881e-05 -9.99970767e-01 -4.09848337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.012914891305622036 Centerline is valid? [True, True] Translation: X:45.76, Y:-147.06, Z:-4.10 [[-1.20972561e-01 -9.92655190e-01 1.14630042e-03 4.57624869e+01] [-9.92614959e-01 1.20977979e-01 8.93714192e-03 -1.47060685e+02] [-9.01017741e-03 -5.66860000e-05 -9.99959406e-01 -4.09731248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.012596490623855826 Centerline is valid? [True, True] Translation: X:45.73, Y:-147.16, Z:-4.10 [[-5.25698623e-02 -9.98617115e-01 5.16209341e-04 4.57331959e+01] [-9.98565960e-01 5.25723943e-02 1.01077223e-02 -1.47164357e+02] [-1.01208828e-02 1.58924926e-05 -9.99948783e-01 -4.09729117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.01288478496327328 Centerline is valid? [True, True] Translation: X:45.71, Y:-147.28, Z:-4.10 [[ 1.94151882e-02 -9.99811476e-01 -2.50326601e-04 4.57086564e+01] [-9.99763532e-01 -1.94167087e-02 9.79135689e-03 -1.47277776e+02] [-9.79437150e-03 6.01663697e-05 -9.99952032e-01 -4.09814996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.013219677407188164 Centerline is valid? [True, True] Translation: X:45.69, Y:-147.39, Z:-4.10 [[ 9.37105073e-02 -9.95599066e-01 -9.16758771e-04 4.56906004e+01] [-9.95558943e-01 -9.37149614e-02 8.93854791e-03 -1.47392133e+02] [-8.98512396e-03 7.50515341e-05 -9.99959630e-01 -4.09799446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.012838495748841359 Centerline is valid? [True, True] Translation: X:45.68, Y:-147.51, Z:-4.10 [[ 1.71303898e-01 -9.85216916e-01 -1.61319046e-03 4.56777847e+01] [-9.85176477e-01 -1.71311483e-01 8.92665441e-03 -1.47507817e+02] [-9.07104898e-03 6.01066007e-05 -9.99958855e-01 -4.09894690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.012391926517529435 Centerline is valid? [True, True] Translation: X:45.67, Y:-147.63, Z:-4.10 [[ 2.52604667e-01 -9.67566146e-01 -2.57591034e-03 4.56718769e+01] [-9.67515808e-01 -2.52617800e-01 9.86958075e-03 -1.47629169e+02] [-1.02001930e-02 -8.68180130e-07 -9.99947977e-01 -4.09843947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.012770121457058177 Centerline is valid? [True, True] Translation: X:45.67, Y:-147.75, Z:-4.10 [[ 3.32037807e-01 -9.43259121e-01 -3.62279817e-03 4.56746157e+01] [-9.43200502e-01 -3.32057562e-01 1.05161261e-02 -1.47751216e+02] [-1.11224094e-02 -7.47264029e-05 -9.99938141e-01 -4.09700398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.013867477440642062 Centerline is valid? [True, True] Translation: X:45.69, Y:-147.87, Z:-4.10 [[ 4.09039390e-01 -9.12503208e-01 -4.96723927e-03 4.56852319e+01] [-9.12430917e-01 -4.09069515e-01 1.14871372e-02 -1.47870055e+02] [-1.25139957e-02 -1.66428899e-04 -9.99921683e-01 -4.09556808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.015049357283750663 Centerline is valid? [True, True] Translation: X:45.71, Y:-147.99, Z:-4.09 [[ 4.82296393e-01 -8.75983763e-01 -6.52957978e-03 4.57058491e+01] [-8.75895911e-01 -4.82340518e-01 1.24087399e-02 -1.47985238e+02] [-1.40193356e-02 -2.65458266e-04 -9.99901689e-01 -4.09425846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.014986149392640247 Centerline is valid? [True, True] Translation: X:45.74, Y:-148.09, Z:-4.09 [[ 5.46706137e-01 -8.37292185e-01 -7.36184738e-03 4.57370524e+01] [-8.37210092e-01 -5.46755645e-01 1.17271713e-02 -1.48089123e+02] [-1.38442005e-02 -2.47903607e-04 -9.99904134e-01 -4.09437678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.014537797097561015 Centerline is valid? [True, True] Translation: X:45.77, Y:-148.19, Z:-4.10 [[ 6.07660715e-01 -7.94158848e-01 -7.75756431e-03 4.57745951e+01] [-7.94089581e-01 -6.07710192e-01 1.04909451e-02 -1.48188103e+02] [-1.30458278e-02 -2.14734204e-04 -9.99914877e-01 -4.09552357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.013568756348879458 Centerline is valid? [True, True] Translation: X:45.82, Y:-148.28, Z:-4.10 [[ 6.63282411e-01 -7.48339257e-01 -6.69328191e-03 4.58213817e+01] [-7.48299197e-01 -6.63316169e-01 7.74411732e-03 -1.48281619e+02] [-1.02349891e-02 -1.27959323e-04 -9.99947613e-01 -4.09804849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.012864983826142198 Centerline is valid? [True, True] Translation: X:45.87, Y:-148.37, Z:-4.10 [[ 7.13478569e-01 -7.00657898e-01 -5.18093451e-03 4.58719677e+01] [-7.00638992e-01 -7.13497378e-01 5.14722872e-03 -1.48367609e+02] [-7.30302965e-03 -4.24726459e-05 -9.99973332e-01 -4.09848977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.012393087004209392 Centerline is valid? [True, True] Translation: X:45.90, Y:-148.39, Z:-4.10 [[ 7.64627245e-01 -6.44450955e-01 -5.30491483e-03 4.58968449e+01] [-6.44435220e-01 -7.64645647e-01 4.50351795e-03 -1.48393476e+02] [-6.95867648e-03 -2.48385712e-05 -9.99975788e-01 -4.09953175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.01252753103764834 Centerline is valid? [True, True] Translation: X:45.92, Y:-148.42, Z:-4.10 [[ 8.13190151e-01 -5.81962789e-01 -6.41024056e-03 4.59228847e+01] [-5.81944362e-01 -8.13215415e-01 4.63131835e-03 -1.48419647e+02] [-7.90816138e-03 -3.57391127e-05 -9.99968729e-01 -4.09806630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.013132394993147837 Centerline is valid? [True, True] Translation: X:45.95, Y:-148.44, Z:-4.10 [[ 8.57634662e-01 -5.14196299e-01 -8.05932460e-03 4.59489025e+01] [-5.14172834e-01 -8.57672526e-01 4.91280312e-03 -1.48444768e+02] [-9.43840647e-03 -6.95044715e-05 -9.99955455e-01 -4.09518186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.013901594234015706 Centerline is valid? [True, True] Translation: X:45.98, Y:-148.47, Z:-4.09 [[ 8.97333652e-01 -4.41212662e-01 -1.11222074e-02 4.59770579e+01] [-4.41176658e-01 -8.97402565e-01 5.63854454e-03 -1.48469813e+02] [-1.24688947e-02 -1.52797496e-04 -9.99922249e-01 -4.09220511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.014150278051856416 Centerline is valid? [True, True] Translation: X:46.01, Y:-148.49, Z:-4.09 [[ 9.29853757e-01 -3.67734377e-01 -1.19757615e-02 4.60069861e+01] [-3.67701294e-01 -9.29930854e-01 4.93606550e-03 -1.48492784e+02] [-1.29517911e-02 -1.86316023e-04 -9.99916105e-01 -4.09189570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.01414047810047684 Centerline is valid? [True, True] Translation: X:46.04, Y:-148.51, Z:-4.09 [[ 9.55747961e-01 -2.93937212e-01 -1.21140741e-02 4.60385929e+01] [-2.93911173e-01 -9.55824713e-01 3.91663618e-03 -1.48511933e+02] [-1.27301765e-02 -1.82855301e-04 -9.99918951e-01 -4.09190209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.013244160426649281 Centerline is valid? [True, True] Translation: X:46.07, Y:-148.53, Z:-4.09 [[ 9.74857219e-01 -2.22553026e-01 -1.11154134e-02 4.60728950e+01] [-2.22537224e-01 -9.74920580e-01 2.65456906e-03 -1.48525284e+02] [-1.14274277e-02 -1.14232578e-04 -9.99934698e-01 -4.09277535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.012563659907366152 Centerline is valid? [True, True] Translation: X:46.11, Y:-148.54, Z:-4.09 [[ 9.88556355e-01 -1.50522294e-01 -9.96853875e-03 4.61075113e+01] [-1.50514121e-01 -9.88606614e-01 1.56937951e-03 -1.48537971e+02] [-1.00911899e-02 -5.10142460e-05 -9.99949081e-01 -4.09463572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.012569359321791453 Centerline is valid? [True, True] Translation: X:46.14, Y:-148.55, Z:-4.10 [[ 9.96862591e-01 -7.87002631e-02 -8.44057019e-03 4.61384122e+01] [-7.86975139e-02 -9.96898324e-01 6.57867268e-04 -1.48546106e+02] [-8.46616460e-03 8.44862096e-06 -9.99964161e-01 -4.09536733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.0125039542271956 Centerline is valid? [True, True] Translation: X:46.17, Y:-148.55, Z:-4.10 [[ 9.99962291e-01 -1.89800733e-03 -8.47435452e-03 4.61708535e+01] [-1.89811788e-03 -9.99998199e-01 -5.00188306e-06 -1.48554377e+02] [-8.47432976e-03 2.10870183e-05 -9.99964092e-01 -4.09535489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.012598542463382571 Centerline is valid? [True, True] Translation: X:46.20, Y:-148.56, Z:-4.09 [[ 9.96979223e-01 7.70842302e-02 -9.51050798e-03 4.62042502e+01] [ 7.70805556e-02 -9.97024584e-01 -7.52862624e-04 -1.48564675e+02] [-9.54024410e-03 1.75131560e-05 -9.99954491e-01 -4.09458377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.012653382593884925 Centerline is valid? [True, True] Translation: X:46.24, Y:-148.57, Z:-4.09 [[ 9.87620701e-01 1.56493215e-01 -1.07343243e-02 4.62360629e+01] [ 1.56483943e-01 -9.87679034e-01 -1.70342181e-03 -1.48569386e+02] [-1.08686410e-02 2.58524615e-06 -9.99940935e-01 -4.09354784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.01261213350587618 Centerline is valid? [True, True] Translation: X:46.27, Y:-148.57, Z:-4.09 [[ 9.71903597e-01 2.35135660e-01 -1.07060231e-02 4.62701004e+01] [ 2.35121598e-01 -9.71962562e-01 -2.57158970e-03 -1.48572765e+02] [-1.10105261e-02 -1.78799766e-05 -9.99939382e-01 -4.09406209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.012595047222515601 Centerline is valid? [True, True] Translation: X:46.30, Y:-148.57, Z:-4.09 [[ 9.49969357e-01 3.12194688e-01 -9.62792977e-03 4.63035738e+01] [ 3.12179019e-01 -9.50018145e-01 -3.12796549e-03 -1.48573573e+02] [-1.01232422e-02 -3.41663064e-05 -9.99948758e-01 -4.09312771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.012743757332945697 Centerline is valid? [True, True] Translation: X:46.34, Y:-148.57, Z:-4.09 [[ 9.21951670e-01 3.87199198e-01 -9.04979875e-03 4.63355162e+01] [ 3.87181073e-01 -9.21996084e-01 -3.74675492e-03 -1.48567029e+02] [-9.79461951e-03 -4.95838318e-05 -9.99952030e-01 -4.09336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.012912969507713644 Centerline is valid? [True, True] Translation: X:46.37, Y:-148.56, Z:-4.09 [[ 8.88293350e-01 4.59196778e-01 -8.55826584e-03 4.63673857e+01] [ 4.59176116e-01 -8.88334574e-01 -4.35647288e-03 -1.48556943e+02] [-9.60308175e-03 -5.99253782e-05 -9.99953888e-01 -4.09425406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.012969139017763854 Centerline is valid? [True, True] Translation: X:46.40, Y:-148.55, Z:-4.10 [[ 8.48921933e-01 5.28458348e-01 -7.95771567e-03 4.63989599e+01] [ 5.28435912e-01 -8.48959227e-01 -4.87015903e-03 -1.48545727e+02] [-9.32945234e-03 -7.07579167e-05 -9.99956477e-01 -4.09551597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.01315865783494599 Centerline is valid? [True, True] Translation: X:46.43, Y:-148.54, Z:-4.10 [[ 8.03545163e-01 5.95185327e-01 -8.34252057e-03 4.64317682e+01] [ 5.95154572e-01 -8.03588462e-01 -6.05142930e-03 -1.48535932e+02] [-1.03056752e-02 -1.02492518e-04 -9.99946890e-01 -4.09526071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.013883919677703535 Centerline is valid? [True, True] Translation: X:46.46, Y:-148.52, Z:-4.10 [[ 7.51329793e-01 6.59862899e-01 -9.19220675e-03 4.64644478e+01] [ 6.59816397e-01 -7.51386002e-01 -7.83571772e-03 -1.48523395e+02] [-1.20773949e-02 -1.77960564e-04 -9.99927050e-01 -4.09526641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.014897982934321175 Centerline is valid? [True, True] Translation: X:46.50, Y:-148.51, Z:-4.09 [[ 6.95174286e-01 7.18777898e-01 -9.54179473e-03 4.64952891e+01] [ 7.18714891e-01 -6.95239726e-01 -9.51995617e-03 -1.48508823e+02] [-1.34765688e-02 -2.39801228e-04 -9.99909158e-01 -4.09366019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.015621554741290263 Centerline is valid? [True, True] Translation: X:46.52, Y:-148.49, Z:-4.09 [[ 6.34962902e-01 7.72491387e-01 -8.89773868e-03 4.65247539e+01] [ 7.72421565e-01 -6.35025181e-01 -1.03896917e-02 -1.48490057e+02] [-1.36762355e-02 -2.75736422e-04 -9.99906438e-01 -4.09325886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.015840605659139553 Centerline is valid? [True, True] Translation: X:46.55, Y:-148.47, Z:-4.09 [[ 5.70837750e-01 8.21026230e-01 -7.75834274e-03 4.65548801e+01] [ 8.20957277e-01 -5.70890395e-01 -1.06445528e-02 -1.48470758e+02] [-1.31686204e-02 -2.92955346e-04 -9.99913247e-01 -4.09361678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.014956934653466062 Centerline is valid? [True, True] Translation: X:46.58, Y:-148.45, Z:-4.09 [[ 5.08078399e-01 8.61284132e-01 -6.78121356e-03 4.65767767e+01] [ 8.61213610e-01 -5.08123595e-01 -1.10241009e-02 -1.48445430e+02] [-1.29405778e-02 -2.38965859e-04 -9.99916239e-01 -4.09388511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.013969328457237548 Centerline is valid? [True, True] Translation: X:46.59, Y:-148.42, Z:-4.09 [[ 4.43781943e-01 8.96117452e-01 -5.57665660e-03 4.65914716e+01] [ 8.96051241e-01 -4.43816951e-01 -1.08944079e-02 -1.48416965e+02] [-1.22376838e-02 -1.62228569e-04 -9.99925104e-01 -4.09407531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.013148053476070495 Centerline is valid? [True, True] Translation: X:46.60, Y:-148.39, Z:-4.09 [[ 3.76713160e-01 9.26318153e-01 -4.67697654e-03 4.66031713e+01] [ 9.26250124e-01 -3.76742177e-01 -1.12267730e-02 -1.48386687e+02] [-1.21615780e-02 -1.02776976e-04 -9.99926040e-01 -4.09388947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.012766470078324746 Centerline is valid? [True, True] Translation: X:46.62, Y:-148.36, Z:-4.09 [[ 3.06002672e-01 9.52023865e-01 -3.59510411e-03 4.66216976e+01] [ 9.51960500e-01 -3.06023784e-01 -1.09840975e-02 -1.48358710e+02] [-1.15573103e-02 -6.12339113e-05 -9.99933210e-01 -4.09416527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.012673844429095332 Centerline is valid? [True, True] Translation: X:46.64, Y:-148.33, Z:-4.09 [[ 2.34646143e-01 9.72074431e-01 -3.53397736e-03 4.66405960e+01] [ 9.71965195e-01 -2.34672753e-01 -1.45725232e-02 -1.48329974e+02] [-1.49949054e-02 -1.55166247e-05 -9.99887570e-01 -4.09157591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.012967983578880678 Centerline is valid? [True, True] Translation: X:46.65, Y:-148.30, Z:-4.09 [[ 1.61406374e-01 9.86884613e-01 -2.59679026e-03 4.66523589e+01] [ 9.86752697e-01 -1.61427257e-01 -1.61355705e-02 -1.48300552e+02] [-1.63431389e-02 4.19941336e-05 -9.99866441e-01 -4.09132577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.01374532412668944 Centerline is valid? [True, True] Translation: X:46.66, Y:-148.27, Z:-4.09 [[ 8.53147351e-02 9.96353188e-01 -1.31167605e-03 4.66610431e+01] [ 9.96222717e-01 -8.53247900e-02 -1.61238667e-02 -1.48270589e+02] [-1.61769845e-02 6.88819438e-05 -9.99869142e-01 -4.08889510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.013565256846856088 Centerline is valid? [True, True] Translation: X:46.67, Y:-148.24, Z:-4.09 [[ 1.13706573e-02 9.99935351e-01 -3.68058046e-05 4.66697191e+01] [ 9.99844274e-01 -1.13701184e-02 -1.34962117e-02 -1.48239775e+02] [-1.34957576e-02 1.16660724e-04 -9.99908921e-01 -4.09372949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.013744773922007566 Centerline is valid? [True, True] Translation: X:46.68, Y:-148.21, Z:-4.10 [[-6.49324712e-02 9.97889245e-01 9.10410802e-04 4.66775086e+01] [ 9.97816950e-01 6.49387263e-02 -1.20123002e-02 -1.48207876e+02] [-1.20460661e-02 1.28434991e-04 -9.99927435e-01 -4.09521709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.013780422779079126 Centerline is valid? [True, True] Translation: X:46.68, Y:-148.18, Z:-4.09 [[-1.43268829e-01 9.89682461e-01 1.63393651e-03 4.66837086e+01] [ 9.89626518e-01 1.43278104e-01 -1.05232739e-02 -1.48176667e+02] [-1.06488070e-02 1.09329767e-04 -9.99943294e-01 -4.09482648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.013440498045850487 Centerline is valid? [True, True] Translation: X:46.69, Y:-148.14, Z:-4.10 [[-2.22754739e-01 9.74871673e-01 2.35539118e-03 4.66851725e+01] [ 9.74820898e-01 2.22767177e-01 -9.94993483e-03 -1.48143649e+02] [-1.02246135e-02 7.96894083e-05 -9.99947724e-01 -4.09550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.01282557501976294 Centerline is valid? [True, True] Translation: X:46.69, Y:-148.11, Z:-4.09 [[-3.03556968e-01 9.52807306e-01 3.37709580e-03 4.66880371e+01] [ 9.52749301e-01 3.03575752e-01 -1.05134369e-02 -1.48109933e+02] [-1.10424839e-02 2.60986329e-05 -9.99939030e-01 -4.09376064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.012733205436351681 Centerline is valid? [True, True] Translation: X:46.69, Y:-148.08, Z:-4.09 [[-3.81184707e-01 9.24488945e-01 4.29066529e-03 4.66870057e+01] [ 9.24429765e-01 3.81208854e-01 -1.04603499e-02 -1.48075548e+02] [-1.13061175e-02 -2.09067119e-05 -9.99936084e-01 -4.09429234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.012890158683413427 Centerline is valid? [True, True] Translation: X:46.68, Y:-148.04, Z:-4.09 [[-4.55378024e-01 8.90285255e-01 4.79794099e-03 4.66828441e+01] [ 8.90234563e-01 4.55403296e-01 -9.50058856e-03 -1.48042248e+02] [-1.06432320e-02 -5.50663481e-05 -9.99943358e-01 -4.09439385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.013135711454319849 Centerline is valid? [True, True] Translation: X:46.67, Y:-148.01, Z:-4.10 [[-5.25708010e-01 8.50654127e-01 4.31793216e-03 4.66742645e+01] [ 8.50624456e-01 5.25725739e-01 -7.10511202e-03 -1.48010640e+02] [-8.31404093e-03 -6.22756075e-05 -9.99965436e-01 -4.09607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.012738703859287437 Centerline is valid? [True, True] Translation: X:46.66, Y:-147.98, Z:-4.10 [[-5.89416840e-01 8.07821741e-01 3.43872034e-03 4.66578978e+01] [ 8.07807651e-01 5.89426869e-01 -4.77127069e-03 -1.47982772e+02] [-5.88121036e-03 -3.44426913e-05 -9.99982705e-01 -4.09823602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.012609927654024113 Centerline is valid? [True, True] Translation: X:46.64, Y:-147.96, Z:-4.10 [[-6.48870778e-01 7.60892824e-01 2.97046388e-03 4.66373516e+01] [ 7.60884748e-01 6.48877577e-01 -3.50573966e-03 -1.47957132e+02] [-4.59495955e-03 -1.45913584e-05 -9.99989443e-01 -4.09819623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.012346183661083945 Centerline is valid? [True, True] Translation: X:46.62, Y:-147.93, Z:-4.10 [[-7.04056341e-01 7.10135354e-01 3.52808971e-03 4.66180822e+01] [ 7.10126446e-01 7.04065181e-01 -3.55698334e-03 -1.47930720e+02] [-5.00994474e-03 1.07313184e-06 -9.99987450e-01 -4.09754882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.012632663004788942 Centerline is valid? [True, True] Translation: X:46.60, Y:-147.91, Z:-4.10 [[-7.54525947e-01 6.56255215e-01 4.43719193e-03 4.65957503e+01] [ 6.56244083e-01 7.54538994e-01 -3.82238239e-03 -1.47908337e+02] [-5.85649271e-03 2.77942564e-05 -9.99982850e-01 -4.09544630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.012945077387286818 Centerline is valid? [True, True] Translation: X:46.99, Y:-147.46, Z:-5.16 [[-7.16255392e-01 -6.97819498e-01 5.11489579e-03 4.69874190e+01] [ 6.97802092e-01 -7.16273654e-01 -4.92892599e-03 -1.47456905e+02] [ 7.10316575e-03 3.88151658e-05 9.99974772e-01 -5.15684403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.01290857528602021 Centerline is valid? [True, True] Translation: X:46.56, Y:-147.88, Z:-4.09 [[-7.56108899e-01 6.54417734e-01 6.06328253e-03 4.65616151e+01] [ 6.54397181e-01 7.56133208e-01 -5.18673883e-03 -1.47884564e+02] [-7.97894314e-03 4.60556049e-05 -9.99968167e-01 -4.09296922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.01281301229875461 Centerline is valid? [True, True] Translation: X:46.58, Y:-147.86, Z:-4.09 [[-8.01222470e-01 5.98322015e-01 7.30208556e-03 4.65774639e+01] [ 5.98297640e-01 8.01255743e-01 -5.40077119e-03 -1.47861925e+02] [-9.08223828e-03 4.16013289e-05 -9.99958755e-01 -4.09060874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.01255835818124213 Centerline is valid? [True, True] Translation: X:46.59, Y:-147.84, Z:-4.09 [[-8.42757207e-01 5.38223556e-01 8.70022775e-03 4.65864414e+01] [ 5.38195176e-01 8.42802114e-01 -5.52712913e-03 -1.47837014e+02] [-1.03074014e-02 2.43926938e-05 -9.99946877e-01 -4.08875664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.01256137769860429 Centerline is valid? [True, True] Translation: X:46.59, Y:-147.81, Z:-4.09 [[-8.79143939e-01 4.76472962e-01 8.91353037e-03 4.65946551e+01] [ 4.76448652e-01 8.79189124e-01 -4.81304149e-03 -1.47811480e+02] [-1.01299631e-02 1.54832757e-05 -9.99948691e-01 -4.08820152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.012781182114748622 Centerline is valid? [True, True] Translation: X:46.61, Y:-147.79, Z:-4.09 [[-9.11791586e-01 4.10560513e-01 8.72750866e-03 4.66056561e+01] [ 4.10541592e-01 9.11833354e-01 -3.94160825e-03 -1.47785577e+02] [-9.57630220e-03 -1.09199364e-05 -9.99954146e-01 -4.08744646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.012480712136588634 Centerline is valid? [True, True] Translation: X:46.85, Y:-147.24, Z:-5.16 [[-8.79771857e-01 -4.75322609e-01 8.36050171e-03 4.68544390e+01] [ 4.75301211e-01 -8.79811581e-01 -4.51007966e-03 -1.47235353e+02] [ 9.49940906e-03 5.91543749e-06 9.99954880e-01 -5.16206847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.012855074669291148 Centerline is valid? [True, True] Translation: X:46.57, Y:-147.77, Z:-4.09 [[-9.15675684e-01 4.01834987e-01 8.16609855e-03 4.65650453e+01] [ 4.01818391e-01 9.15712094e-01 -3.65258856e-03 -1.47765841e+02] [-8.94553308e-03 -6.32979486e-05 -9.99959986e-01 -4.08812441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.013171853748449222 Centerline is valid? [True, True] Translation: X:46.81, Y:-147.22, Z:-5.16 [[-8.79290524e-01 -4.76209957e-01 8.50011940e-03 4.68089987e+01] [ 4.76188907e-01 -8.79331601e-01 -4.47885116e-03 -1.47218990e+02] [ 9.60729712e-03 1.09451183e-04 9.99953843e-01 -5.16399098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.01322963329594133 Centerline is valid? [True, True] Translation: X:46.52, Y:-147.75, Z:-4.09 [[-9.18267270e-01 3.95866452e-01 8.65864587e-03 4.65227531e+01] [ 3.95847880e-01 9.18308087e-01 -3.83580227e-03 -1.47747447e+02] [-9.46976996e-03 -9.47850765e-05 -9.99955156e-01 -4.08786405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.01359141741000909 Centerline is valid? [True, True] Translation: X:46.53, Y:-147.72, Z:-4.09 [[-9.44365372e-01 3.28789598e-01 8.45241971e-03 4.65282525e+01] [ 3.28775483e-01 9.44403193e-01 -3.04818239e-03 -1.47720044e+02] [-8.98470283e-03 -9.96495161e-05 -9.99959632e-01 -4.08816508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.013940503667007576 Centerline is valid? [True, True] Translation: X:46.73, Y:-147.16, Z:-5.16 [[-9.10899575e-01 -4.12569250e-01 6.96982532e-03 4.67324310e+01] [ 4.12557184e-01 -9.10926239e-01 -3.15531226e-03 -1.47158720e+02] [ 7.65078158e-03 1.27891719e-06 9.99970732e-01 -5.16205410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.013549513982282662 Centerline is valid? [True, True] Translation: X:46.49, Y:-147.71, Z:-4.09 [[-9.45798839e-01 3.24704505e-01 5.61605572e-03 4.64872317e+01] [ 3.24698344e-01 9.45815510e-01 -2.00145411e-03 -1.47707728e+02] [-5.96163378e-03 -6.94489854e-05 -9.99982227e-01 -4.09033687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.013493727779975076 Centerline is valid? [True, True] Translation: X:46.49, Y:-147.68, Z:-4.09 [[-9.66057783e-01 2.58274951e-01 5.13894809e-03 4.64922671e+01] [ 2.58270997e-01 9.66071450e-01 -1.43016225e-03 -1.47683734e+02] [-5.33396612e-03 -5.43781279e-05 -9.99985773e-01 -4.09099760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.012984081278083752 Centerline is valid? [True, True] Translation: X:46.50, Y:-147.66, Z:-4.09 [[-9.81506015e-01 1.91354998e-01 5.40445480e-03 4.64985538e+01] [ 1.91351848e-01 9.81520893e-01 -1.09895706e-03 -1.47659434e+02] [-5.51487623e-03 -4.44805503e-05 -9.99984792e-01 -4.09126775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.01286809370011224 Centerline is valid? [True, True] Translation: X:46.49, Y:-147.63, Z:-4.09 [[-9.92261580e-01 1.24069237e-01 4.87672652e-03 4.64946424e+01] [ 1.24067612e-01 9.92273563e-01 -6.35475492e-04 -1.47631745e+02] [-4.91788975e-03 -2.55141033e-05 -9.99987907e-01 -4.09085420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.012615398300125995 Centerline is valid? [True, True] Translation: X:46.58, Y:-147.03, Z:-5.16 [[-9.80491724e-01 -1.96518983e-01 4.03346752e-03 4.65799512e+01] [ 1.96517210e-01 -9.80500020e-01 -8.35120613e-04 -1.47025521e+02] [ 4.11893203e-03 -2.61830653e-05 9.99991517e-01 -5.15893748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.012697464734853933 Centerline is valid? [True, True] Translation: X:46.45, Y:-147.63, Z:-4.09 [[-9.91804574e-01 1.27712921e-01 3.61898424e-03 4.64473976e+01] [ 1.27712102e-01 9.91811177e-01 -4.57387126e-04 -1.47629321e+02] [-3.64776326e-03 8.54944124e-06 -9.99993347e-01 -4.09182481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.01304109149022464 Centerline is valid? [True, True] Translation: X:46.46, Y:-147.60, Z:-4.09 [[-9.98147052e-01 6.07841191e-02 2.78440376e-03 4.64560575e+01] [ 6.07839310e-02 9.98150936e-01 -1.52223082e-04 -1.47603043e+02] [-2.78850796e-03 1.73059851e-05 -9.99996112e-01 -4.09146351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.013054448479093867 Centerline is valid? [True, True] Translation: X:46.49, Y:-146.99, Z:-5.16 [[-9.93425187e-01 -1.14435310e-01 3.31037301e-03 4.64910920e+01] [ 1.14434720e-01 -9.93430702e-01 -3.67612584e-04 -1.46989227e+02] [ 3.33069404e-03 1.36260100e-05 9.99994453e-01 -5.16031270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.013225253023237486 Centerline is valid? [True, True] Translation: X:46.40, Y:-147.60, Z:-4.09 [[-9.98281627e-01 5.84766864e-02 3.77764752e-03 4.64025221e+01] [ 5.84763796e-02 9.98288774e-01 -1.91716293e-04 -1.47597956e+02] [-3.78239405e-03 2.95162978e-05 -9.99992846e-01 -4.08888317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.013014997256730138 Centerline is valid? [True, True] Translation: X:46.40, Y:-147.57, Z:-4.09 [[-9.99917041e-01 -1.23916138e-02 3.51558645e-03 4.63986035e+01] [-1.23914386e-02 9.99923221e-01 7.16174685e-05 -1.47568186e+02] [-3.51620398e-03 2.80483536e-05 -9.99993818e-01 -4.08905550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.013065728817826599 Centerline is valid? [True, True] Translation: X:46.39, Y:-147.54, Z:-4.09 [[-9.96605281e-01 -8.22925184e-02 2.41975679e-03 4.63918094e+01] [-8.22922216e-02 9.96608218e-01 2.22151039e-04 -1.47544151e+02] [-2.42983088e-03 2.22697369e-05 -9.99997048e-01 -4.09122950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.013262056802577983 Centerline is valid? [True, True] Translation: X:46.33, Y:-146.94, Z:-5.16 [[-9.99411200e-01 3.42645754e-02 1.78666131e-03 4.63329754e+01] [-3.42646245e-02 -9.99412795e-01 3.15305305e-06 -1.46935291e+02] [ 1.78572022e-03 -5.80680824e-05 9.99998404e-01 -5.15853573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.013272364309861897 Centerline is valid? [True, True] Translation: X:46.32, Y:-147.55, Z:-4.09 [[-9.96410571e-01 -8.46496065e-02 -6.46000253e-04 4.63242942e+01] [-8.46495842e-02 9.96410781e-01 -6.18520756e-05 -1.47548752e+02] [ 6.48917370e-04 -6.94640917e-06 -9.99999790e-01 -4.09446714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.013255027598543632 Centerline is valid? [True, True] Translation: X:46.31, Y:-147.52, Z:-4.09 [[-9.87977705e-01 -1.54582209e-01 -2.09629950e-03 4.63126315e+01] [-1.54581807e-01 9.87979929e-01 -3.53703130e-04 -1.47520649e+02] [ 2.12577804e-03 -2.54010429e-05 -9.99997740e-01 -4.09471382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.013510762987062327 Centerline is valid? [True, True] Translation: X:46.30, Y:-147.50, Z:-4.10 [[-9.74748962e-01 -2.23275283e-01 -3.55095502e-03 4.62957835e+01] [-2.23273618e-01 9.74755429e-01 -8.63678761e-04 -1.47496142e+02] [ 3.65415080e-03 -4.90354019e-05 -9.99993322e-01 -4.09618978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.013731848952557479 Centerline is valid? [True, True] Translation: X:46.15, Y:-146.91, Z:-5.15 [[-9.82799682e-01 1.84624208e-01 -4.32291905e-03 4.61533032e+01] [-1.84622468e-01 -9.82809189e-01 -8.01639036e-04 -1.46910831e+02] [-4.39660654e-03 1.02573964e-05 9.99990335e-01 -5.15378373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.014033159653454669 Centerline is valid? [True, True] Translation: X:46.20, Y:-147.52, Z:-4.09 [[-9.73471743e-01 -2.28798499e-01 -2.00328850e-03 4.61974154e+01] [-2.28797956e-01 9.73473803e-01 -4.99223621e-04 -1.47515496e+02] [ 2.06437049e-03 -2.76317738e-05 -9.99997869e-01 -4.09455401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.013251690387575375 Centerline is valid? [True, True] Translation: X:46.05, Y:-146.94, Z:-5.16 [[-9.82355322e-01 1.87023692e-01 4.00887157e-04 4.60516885e+01] [-1.87023605e-01 -9.82355389e-01 2.46186519e-04 -1.46942112e+02] [ 4.39856371e-04 1.66867276e-04 9.99999889e-01 -5.15853484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.012731615233111499 Centerline is valid? [True, True] Translation: X:46.10, Y:-147.53, Z:-4.09 [[-9.70182391e-01 -2.42340461e-01 4.15076455e-03 4.60988480e+01] [-2.42338137e-01 9.70191270e-01 1.06162661e-03 -1.47529898e+02] [-4.28431061e-03 2.40828932e-05 -9.99990822e-01 -4.08813660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.012417121276270395 Centerline is valid? [True, True] Translation: X:45.95, Y:-146.98, Z:-5.16 [[-9.82835148e-01 1.84419692e-01 4.94469407e-03 4.59533281e+01] [-1.84417234e-01 -9.82847586e-01 9.52397820e-04 -1.46976351e+02] [ 5.03552154e-03 2.41632468e-05 9.99987321e-01 -5.16369365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.012253535660305844 Centerline is valid? [True, True] Translation: X:46.01, Y:-147.55, Z:-4.09 [[-9.67325482e-01 -2.53500869e-01 4.32690886e-03 4.60053319e+01] [-2.53498336e-01 9.67335159e-01 1.13342378e-03 -1.47546001e+02] [-4.47289498e-03 -4.74493603e-07 -9.99989997e-01 -4.08780469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.012280626345331313 Centerline is valid? [True, True] Translation: X:45.86, Y:-147.00, Z:-5.16 [[-9.82559506e-01 1.85921882e-01 3.14172822e-03 4.58614757e+01] [-1.85921218e-01 -9.82564525e-01 5.04788040e-04 -1.47001689e+02] [ 3.18080183e-03 -8.81296485e-05 9.99994937e-01 -5.16067494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.012241033940509242 Centerline is valid? [True, True] Translation: X:45.92, Y:-147.57, Z:-4.09 [[-9.65324585e-01 -2.61035260e-01 3.00647953e-03 4.59158352e+01] [-2.61034013e-01 9.65329267e-01 8.06703712e-04 -1.47568164e+02] [-3.11282080e-03 -6.06249323e-06 -9.99995155e-01 -4.09016063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.012165230775118595 Centerline is valid? [True, True] Translation: X:45.89, Y:-147.55, Z:-4.09 [[-9.44714488e-01 -3.27879617e-01 3.08124488e-03 4.58926407e+01] [-3.27877875e-01 9.44719512e-01 1.06865495e-03 -1.47547696e+02] [-3.26130234e-03 -6.98209068e-07 -9.99994682e-01 -4.08936894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.01220956306445376 Centerline is valid? [True, True] Translation: X:45.68, Y:-147.02, Z:-5.16 [[-9.64322164e-01 2.64715947e-01 2.86895928e-03 4.56842306e+01] [-2.64714832e-01 -9.64326432e-01 7.68628325e-04 -1.47020994e+02] [ 2.97008144e-03 -1.82507435e-05 9.99995589e-01 -5.16075499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.01229501963235553 Centerline is valid? [True, True] Translation: X:45.77, Y:-147.59, Z:-4.09 [[-9.44201751e-01 -3.29354263e-01 2.97016666e-03 4.57731960e+01] [-3.29352587e-01 9.44206423e-01 1.05087954e-03 -1.47593084e+02] [-3.15056210e-03 1.40102296e-05 -9.99995037e-01 -4.08940367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.012376103198528195 Centerline is valid? [True, True] Translation: X:45.74, Y:-147.58, Z:-4.09 [[-9.18529491e-01 -3.95332291e-01 3.99412544e-03 4.57387819e+01] [-3.95328435e-01 9.18538175e-01 1.74637280e-03 -1.47579865e+02] [-4.35915425e-03 2.51035654e-05 -9.99990499e-01 -4.08830652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.01252364706222197 Centerline is valid? [True, True] Translation: X:45.68, Y:-147.58, Z:-4.09 [[-8.87444983e-01 -4.60888662e-01 4.80031472e-03 4.56833821e+01] [-4.60881713e-01 8.87457965e-01 2.53108734e-03 -1.47579254e+02] [-5.42662699e-03 3.38234860e-05 -9.99985275e-01 -4.08690552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.012634473163866329 Centerline is valid? [True, True] Translation: X:45.62, Y:-147.59, Z:-4.09 [[-8.51432739e-01 -5.24417123e-01 6.99802728e-03 4.56157661e+01] [-5.24398861e-01 8.51461495e-01 4.37687096e-03 -1.47592031e+02] [-8.25385684e-03 5.68536967e-05 -9.99965935e-01 -4.08530393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.012995437689272225 Centerline is valid? [True, True] Translation: X:45.55, Y:-147.61, Z:-4.08 [[-8.10149848e-01 -5.86184868e-01 6.67257849e-03 4.55460404e+01] [-5.86164433e-01 8.10177325e-01 4.89492388e-03 -1.47611990e+02] [-8.27530210e-03 5.43936538e-05 -9.99965758e-01 -4.08287042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.012858321028322071 Centerline is valid? [True, True] Translation: X:45.47, Y:-147.64, Z:-4.08 [[-7.63656289e-01 -6.45600394e-01 5.40394313e-03 4.54727286e+01] [-6.45583855e-01 7.63675408e-01 4.62132531e-03 -1.47639808e+02] [-7.11038792e-03 4.04056966e-05 -9.99974720e-01 -4.08372275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.012556388452801928 Centerline is valid? [True, True] Translation: X:45.40, Y:-147.68, Z:-4.08 [[-7.12102279e-01 -7.02061356e-01 4.49410542e-03 4.53958728e+01] [-7.02047147e-01 7.12116459e-01 4.46666580e-03 -1.47677468e+02] [-6.33619989e-03 2.56490069e-05 -9.99979926e-01 -4.08471403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.012557737186840973 Centerline is valid? [True, True] Translation: X:45.32, Y:-147.72, Z:-4.08 [[-6.55914855e-01 -7.54822455e-01 4.33177469e-03 4.53167970e+01] [-7.54805853e-01 6.55929159e-01 5.00629946e-03 -1.47724955e+02] [-6.62020458e-03 1.40572972e-05 -9.99978086e-01 -4.08491416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.012679669832995748 Centerline is valid? [True, True] Translation: X:45.24, Y:-147.78, Z:-4.08 [[-5.93489503e-01 -8.04834361e-01 3.44411949e-03 4.52358090e+01] [-8.04820951e-01 5.93499496e-01 4.64594902e-03 -1.47783569e+02] [-5.78330260e-03 -1.45775497e-05 -9.99983277e-01 -4.08434241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.01282488626902387 Centerline is valid? [True, True] Translation: X:45.16, Y:-147.85, Z:-4.09 [[-5.28665978e-01 -8.48826214e-01 2.51856102e-03 4.51579366e+01] [-8.48816807e-01 5.28671977e-01 3.99624368e-03 -1.47851198e+02] [-4.72360902e-03 -2.51188481e-05 -9.99988843e-01 -4.08600525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.013415054666361627 Centerline is valid? [True, True] Translation: X:45.08, Y:-147.92, Z:-4.09 [[-4.60467871e-01 -8.87673844e-01 2.11811746e-03 4.50836395e+01] [-8.87664810e-01 4.60472741e-01 4.00506874e-03 -1.47923926e+02] [-4.53053012e-03 -3.59728626e-05 -9.99989737e-01 -4.08539172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.014303054609292525 Centerline is valid? [True, True] Translation: X:45.01, Y:-148.01, Z:-4.09 [[-3.87850884e-01 -9.21720524e-01 1.72267118e-03 4.50102603e+01] [-9.21712029e-01 3.87854706e-01 3.95756354e-03 -1.48011220e+02] [-4.31591366e-03 -5.28622356e-05 -9.99990685e-01 -4.08563556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.014028876441378558 Centerline is valid? [True, True] Translation: X:44.95, Y:-148.10, Z:-4.09 [[-3.16006738e-01 -9.48755902e-01 1.40689215e-03 4.49492651e+01] [-9.48747259e-01 3.16009865e-01 4.05011172e-03 -1.48096067e+02] [-4.28715920e-03 -5.49224791e-05 -9.99990809e-01 -4.08623873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.013829913568359406 Centerline is valid? [True, True] Translation: X:44.89, Y:-148.19, Z:-4.09 [[-2.44119767e-01 -9.69744485e-01 1.08297310e-03 4.48925864e+01] [-9.69735807e-01 2.44122164e-01 4.10297678e-03 -1.48190656e+02] [-4.24321684e-03 -4.85800629e-05 -9.99990996e-01 -4.08644545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.01359190401097157 Centerline is valid? [True, True] Translation: X:44.84, Y:-148.29, Z:-4.09 [[-1.70940980e-01 -9.85280954e-01 7.89789114e-04 4.48433676e+01] [-9.85271575e-01 1.70942799e-01 4.29915074e-03 -1.48290292e+02] [-4.37088010e-03 -4.32557242e-05 -9.99990447e-01 -4.08624329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.013014463813644956 Centerline is valid? [True, True] Translation: X:44.80, Y:-148.40, Z:-4.09 [[-1.00368179e-01 -9.94950293e-01 3.79755514e-04 4.48035807e+01] [-9.94943788e-01 1.00368896e-01 3.59760012e-03 -1.48397778e+02] [-3.61754894e-03 -1.67508168e-05 -9.99993457e-01 -4.08704215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.012920587522836667 Centerline is valid? [True, True] Translation: X:44.77, Y:-148.50, Z:-4.09 [[-2.74369839e-02 -9.99623532e-01 8.44055385e-05 4.47708862e+01] [-9.99619168e-01 2.74371135e-02 2.95374323e-03 -1.48504316e+02] [-2.95494708e-03 -3.33158876e-06 -9.99995634e-01 -4.08665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.012855537995774246 Centerline is valid? [True, True] Translation: X:44.75, Y:-148.62, Z:-4.09 [[ 4.61954089e-02 -9.98932410e-01 -1.59417031e-04 4.47464504e+01] [-9.98926900e-01 -4.61956836e-02 3.31784236e-03 -1.48617001e+02] [-3.32166464e-03 5.97687610e-06 -9.99994483e-01 -4.08561384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.012876247000682736 Centerline is valid? [True, True] Translation: X:44.73, Y:-148.73, Z:-4.09 [[ 1.21624760e-01 -9.92576018e-01 -5.15762679e-04 4.47300820e+01] [-9.92567477e-01 -1.21625853e-01 4.11762736e-03 -1.48734453e+02] [-4.14978825e-03 1.11238225e-05 -9.99991390e-01 -4.08522648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.012930971281784262 Centerline is valid? [True, True] Translation: X:44.72, Y:-148.85, Z:-4.08 [[ 1.99303436e-01 -9.79937222e-01 -1.08713359e-03 4.47199232e+01] [-9.79922726e-01 -1.99306401e-01 5.33009494e-03 -1.48851783e+02] [-5.43983111e-03 3.00067334e-06 -9.99985204e-01 -4.08400094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.013006268068593323 Centerline is valid? [True, True] Translation: X:44.72, Y:-148.97, Z:-4.08 [[ 2.77037738e-01 -9.60857651e-01 -1.63257058e-03 4.47173311e+01] [-9.60840593e-01 -2.77042548e-01 5.72545956e-03 -1.48972241e+02] [-5.95364314e-03 -1.75282802e-05 -9.99982277e-01 -4.08346389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.013342601491263015 Centerline is valid? [True, True] Translation: X:44.72, Y:-149.09, Z:-4.08 [[ 3.53170688e-01 -9.35556381e-01 -2.17303491e-03 4.47224092e+01] [-9.35537934e-01 -3.53177371e-01 5.87532207e-03 -1.49091149e+02] [-6.26416182e-03 -4.20349531e-05 -9.99980379e-01 -4.08193084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.013592157583958922 Centerline is valid? [True, True] Translation: X:44.74, Y:-149.21, Z:-4.08 [[ 4.25936746e-01 -9.04748546e-01 -2.82083346e-03 4.47390862e+01] [-9.04727715e-01 -4.25946082e-01 6.13978351e-03 -1.49207861e+02] [-6.75648317e-03 -6.30731963e-05 -9.99977173e-01 -4.08156271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.013484385701238756 Centerline is valid? [True, True] Translation: X:44.77, Y:-149.32, Z:-4.08 [[ 4.92966705e-01 -8.70042383e-01 -3.17485327e-03 4.47658253e+01] [-8.70023614e-01 -4.92976926e-01 5.71503595e-03 -1.49317719e+02] [-6.53745290e-03 -5.51251259e-05 -9.99978629e-01 -4.08131810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.013046591879983194 Centerline is valid? [True, True] Translation: X:44.80, Y:-149.42, Z:-4.08 [[ 5.54327003e-01 -8.32291176e-01 -3.60171389e-03 4.48016867e+01] [-8.32273283e-01 -5.54338704e-01 5.45748682e-03 -1.49421371e+02] [-6.53878753e-03 -2.76220738e-05 -9.99978622e-01 -4.08089568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.012941496016802773 Centerline is valid? [True, True] Translation: X:44.84, Y:-149.52, Z:-4.08 [[ 6.15145376e-01 -7.88404462e-01 -3.81721048e-03 4.48419314e+01] [-7.88389091e-01 -6.15157219e-01 4.92306726e-03 -1.49519829e+02] [-6.22955278e-03 -1.89549586e-05 -9.99980596e-01 -4.08165265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.012826513286604625 Centerline is valid? [True, True] Translation: X:44.89, Y:-149.62, Z:-4.08 [[ 6.73697562e-01 -7.39000460e-01 -3.14898570e-03 4.48874666e+01] [-7.38992269e-01 -6.73704921e-01 3.47936421e-03 -1.49616765e+02] [-4.69273891e-03 -1.69630968e-05 -9.99988989e-01 -4.08223566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.013033442216748976 Centerline is valid? [True, True] Translation: X:44.94, Y:-149.71, Z:-4.08 [[ 7.28809852e-01 -6.84705039e-01 -3.89998765e-03 4.49418666e+01] [-6.84695033e-01 -7.28820286e-01 3.70175532e-03 -1.49713377e+02] [-5.37700063e-03 -2.75735775e-05 -9.99985544e-01 -4.08102084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.013303316532023825 Centerline is valid? [True, True] Translation: X:44.96, Y:-149.74, Z:-4.08 [[ 7.82017202e-01 -6.23227876e-01 -6.00912028e-03 4.49638827e+01] [-6.23208848e-01 -7.82040287e-01 4.87048992e-03 -1.49744100e+02] [-7.73479924e-03 -6.38699746e-05 -9.99970084e-01 -4.07935396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.013661020949409696 Centerline is valid? [True, True] Translation: X:44.99, Y:-149.77, Z:-4.08 [[ 8.29759105e-01 -5.58077609e-01 -7.01501664e-03 4.49874253e+01] [-5.58056723e-01 -8.29788753e-01 4.82907926e-03 -1.49774053e+02] [-8.51598291e-03 -9.21952885e-05 -9.99963734e-01 -4.07836094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.014360488786707681 Centerline is valid? [True, True] Translation: X:45.01, Y:-149.80, Z:-4.08 [[ 8.72020442e-01 -4.89409455e-01 -7.66382531e-03 4.50122785e+01] [-4.89389370e-01 -8.72054111e-01 4.43540901e-03 -1.49802346e+02] [-8.85400146e-03 -1.17172686e-04 -9.99960796e-01 -4.07701881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.014399282985647134 Centerline is valid? [True, True] Translation: X:45.04, Y:-149.83, Z:-4.08 [[ 9.08336595e-01 -4.18168530e-01 -7.72727037e-03 4.50404678e+01] [-4.18152193e-01 -9.08369454e-01 3.69857685e-03 -1.49827917e+02] [-8.56584481e-03 -1.28377657e-04 -9.99963304e-01 -4.07708465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.014108539050590223 Centerline is valid? [True, True] Translation: X:45.07, Y:-149.85, Z:-4.08 [[ 9.37791387e-01 -3.47133709e-01 -6.74552115e-03 4.50731004e+01] [-3.47123972e-01 -9.37815642e-01 2.60186036e-03 -1.49847166e+02] [-7.22924869e-03 -9.84701438e-05 -9.99973864e-01 -4.07787835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.013231534494884541 Centerline is valid? [True, True] Translation: X:45.11, Y:-149.86, Z:-4.08 [[ 9.60721927e-01 -2.77450693e-01 -5.87302003e-03 4.51084393e+01] [-2.77445167e-01 -9.60739876e-01 1.75184261e-03 -1.49859214e+02] [-6.12849448e-03 -5.35925811e-05 -9.99981219e-01 -4.07844804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.012912231893640444 Centerline is valid? [True, True] Translation: X:45.14, Y:-149.87, Z:-4.08 [[ 9.78896165e-01 -2.04277296e-01 -5.75200006e-03 4.51440910e+01] [-2.04273560e-01 -9.78913063e-01 1.23586210e-03 -1.49869142e+02] [-5.88316657e-03 -3.47991394e-05 -9.99982694e-01 -4.07795769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.012906046200132294 Centerline is valid? [True, True] Translation: X:45.18, Y:-149.88, Z:-4.08 [[ 9.91905064e-01 -1.26827225e-01 -6.26092803e-03 4.51793818e+01] [-1.26824448e-01 -9.91924822e-01 8.40326760e-04 -1.49882945e+02] [-6.31694623e-03 -3.94856301e-05 -9.99980047e-01 -4.07748321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.01364235389264368 Centerline is valid? [True, True] Translation: X:45.21, Y:-149.90, Z:-4.07 [[ 9.98963406e-01 -4.43517950e-02 -1.02485018e-02 4.52108281e+01] [-4.43483370e-02 -9.99015969e-01 5.64541717e-04 -1.49896095e+02] [-1.02634554e-02 -1.09452506e-04 -9.99947323e-01 -4.07420865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.014237999208599885 Centerline is valid? [True, True] Translation: X:45.24, Y:-149.90, Z:-4.07 [[ 9.99280514e-01 3.59668482e-02 -1.20349716e-02 4.52438881e+01] [ 3.59660751e-02 -9.99352972e-01 -2.80728290e-04 -1.49903448e+02] [-1.20372816e-02 -1.52324383e-04 -9.99927538e-01 -4.07271837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.014204703112351781 Centerline is valid? [True, True] Translation: X:45.28, Y:-149.91, Z:-4.07 [[ 9.93323299e-01 1.14681211e-01 -1.25317258e-02 4.52785044e+01] [ 1.14674209e-01 -9.93402331e-01 -1.27831444e-03 -1.49909483e+02] [-1.25956443e-02 -1.67286217e-04 -9.99920658e-01 -4.07150233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.013754275302199533 Centerline is valid? [True, True] Translation: X:45.31, Y:-149.91, Z:-4.07 [[ 9.81655771e-01 1.90309988e-01 -1.15782157e-02 4.53126641e+01] [ 1.90298370e-01 -9.81724040e-01 -2.10715670e-03 -1.49909828e+02] [-1.17676256e-02 -1.34813033e-04 -9.99930750e-01 -4.07281080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.013184614089464293 Centerline is valid? [True, True] Translation: X:45.35, Y:-149.91, Z:-4.07 [[ 9.64620328e-01 2.63430341e-01 -1.05867204e-02 4.53461350e+01] [ 2.63415493e-01 -9.64678417e-01 -2.79833671e-03 -1.49906488e+02] [-1.09499475e-02 -8.93736943e-05 -9.99940044e-01 -4.07337764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.012657953258991243 Centerline is valid? [True, True] Translation: X:45.38, Y:-149.90, Z:-4.07 [[ 9.42824745e-01 3.33154266e-01 -9.47284802e-03 4.53771637e+01] [ 3.33137760e-01 -9.42872332e-01 -3.31648898e-03 -1.49897715e+02] [-1.00365888e-02 -2.88954827e-05 -9.99949632e-01 -4.07252744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.012477344477575135 Centerline is valid? [True, True] Translation: X:45.41, Y:-149.89, Z:-4.07 [[ 9.14617585e-01 4.04214171e-01 -9.25078303e-03 4.54097963e+01] [ 4.04193602e-01 -9.14664367e-01 -4.07780530e-03 -1.49889554e+02] [-1.01096683e-02 -9.47487517e-06 -9.99948896e-01 -4.07432778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.012513122663370057 Centerline is valid? [True, True] Translation: X:45.44, Y:-149.88, Z:-4.07 [[ 8.80241114e-01 4.74426044e-01 -9.77294333e-03 4.54425947e+01] [ 4.74396913e-01 -8.80295365e-01 -5.25736195e-03 -1.49880885e+02] [-1.10973061e-02 -8.50800354e-06 -9.99938423e-01 -4.07295691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.012584556887012347 Centerline is valid? [True, True] Translation: X:45.48, Y:-149.87, Z:-4.07 [[ 8.39928477e-01 5.42603950e-01 -1.00551712e-02 4.54751374e+01] [ 5.42565350e-01 -8.39988663e-01 -6.47208596e-03 -1.49871286e+02] [-1.19580092e-02 -1.94981633e-05 -9.99928500e-01 -4.07195603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.012588125874093458 Centerline is valid? [True, True] Translation: X:45.51, Y:-149.86, Z:-4.07 [[ 7.94136351e-01 6.07649562e-01 -1.04625918e-02 4.55073368e+01] [ 6.07597451e-01 -7.94205268e-01 -7.95796808e-03 -1.49858590e+02] [-1.31451014e-02 -3.73324021e-05 -9.99913599e-01 -4.07102667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.012593621809002073 Centerline is valid? [True, True] Translation: X:45.54, Y:-149.84, Z:-4.07 [[ 7.43845751e-01 6.68274698e-01 -1.01205743e-02 4.55368465e+01] [ 6.68213658e-01 -7.43914596e-01 -9.03227272e-03 -1.49842553e+02] [-1.35648822e-02 -4.40882658e-05 -9.99907992e-01 -4.07109859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.012631333343730886 Centerline is valid? [True, True] Translation: X:45.56, Y:-149.82, Z:-4.07 [[ 6.90960062e-01 7.22824030e-01 -9.98071173e-03 4.55622513e+01] [ 7.22748898e-01 -6.91032142e-01 -1.04215623e-02 -1.49822528e+02] [-1.44299483e-02 -1.26650429e-05 -9.99895883e-01 -4.07098051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.012475779958460676 Centerline is valid? [True, True] Translation: X:45.59, Y:-149.80, Z:-4.07 [[ 6.35151959e-01 7.72337609e-01 -8.75252691e-03 4.55886735e+01] [ 7.72263425e-01 -6.35212261e-01 -1.07044685e-02 -1.49802545e+02] [-1.38271760e-02 3.97076960e-05 -9.99904399e-01 -4.07266783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.01292004469140047 Centerline is valid? [True, True] Translation: X:45.61, Y:-149.78, Z:-4.07 [[ 5.76664995e-01 8.16952659e-01 -6.77023657e-03 4.56114922e+01] [ 8.16894493e-01 -5.76704729e-01 -9.74900909e-03 -1.49779996e+02] [-1.18689063e-02 9.13433155e-05 -9.99929558e-01 -4.07364090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.013790819810128094 Centerline is valid? [True, True] Translation: X:45.63, Y:-149.75, Z:-4.08 [[ 5.16852586e-01 8.56061321e-01 -4.73493299e-03 4.56310071e+01] [ 8.56022937e-01 -5.16874256e-01 -8.10769879e-03 -1.49754623e+02] [-9.38805230e-03 1.37273846e-04 -9.99955922e-01 -4.07604525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.014053061705823225 Centerline is valid? [True, True] Translation: X:45.65, Y:-149.73, Z:-4.08 [[ 4.50402156e-01 8.92818170e-01 -3.68974746e-03 4.56526830e+01] [ 8.92785541e-01 -4.50417246e-01 -7.63432141e-03 -1.49729774e+02] [-8.47798676e-03 1.44361637e-04 -9.99964051e-01 -4.07674173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.01405827947101687 Centerline is valid? [True, True] Translation: X:45.67, Y:-149.70, Z:-4.08 [[ 3.78723856e-01 9.25503331e-01 -3.43866501e-03 4.56741366e+01] [ 9.25461335e-01 -3.78739434e-01 -8.81804338e-03 -1.49704395e+02] [-9.46348656e-03 1.57251881e-04 -9.99955208e-01 -4.07569719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.013849097135006944 Centerline is valid? [True, True] Translation: X:45.69, Y:-149.68, Z:-4.08 [[ 3.03270354e-01 9.52899851e-01 -2.99454267e-03 4.56935991e+01] [ 9.52848328e-01 -3.03285100e-01 -9.91025124e-03 -1.49678064e+02] [-1.03516771e-02 1.52140427e-04 -9.99946408e-01 -4.07531614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.01359202644868317 Centerline is valid? [True, True] Translation: X:45.71, Y:-149.65, Z:-4.07 [[ 2.24498779e-01 9.74470803e-01 -2.63675081e-03 4.57102726e+01] [ 9.74396061e-01 -2.24514219e-01 -1.20698963e-02 -1.49650857e+02] [-1.23537496e-02 1.40437389e-04 -9.99923680e-01 -4.07310056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.012743792332996932 Centerline is valid? [True, True] Translation: X:45.72, Y:-149.62, Z:-4.07 [[ 1.39958243e-01 9.90155550e-01 -1.91758810e-03 4.57244011e+01] [ 9.90057337e-01 -1.39971369e-01 -1.39457839e-02 -1.49622693e+02] [-1.40769027e-02 5.33052345e-05 -9.99900914e-01 -4.07137849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.012483126632934098 Centerline is valid? [True, True] Translation: X:45.74, Y:-149.59, Z:-4.07 [[ 5.68951489e-02 9.98379827e-01 -8.13902065e-04 4.57394414e+01] [ 9.98282184e-01 -5.69009672e-02 -1.39628339e-02 -1.49591581e+02] [-1.39865235e-02 -1.80864201e-05 -9.99902184e-01 -4.07263254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.012729014268087898 Centerline is valid? [True, True] Translation: X:45.75, Y:-149.56, Z:-4.07 [[-2.57183535e-02 9.99669190e-01 2.75692583e-04 4.57507236e+01] [ 9.99575941e-01 2.57197200e-02 -1.36540917e-02 -1.49560709e+02] [-1.36566655e-02 -7.55850824e-05 -9.99906741e-01 -4.07170125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.013124536577726132 Centerline is valid? [True, True] Translation: X:45.76, Y:-149.53, Z:-4.07 [[-1.07806638e-01 9.94171229e-01 1.13868898e-03 4.57558200e+01] [ 9.94104570e-01 1.07812596e-01 -1.15129731e-02 -1.49528376e+02] [-1.15686316e-02 -1.09199004e-04 -9.99933075e-01 -4.07377223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.013174043464067278 Centerline is valid? [True, True] Translation: X:45.75, Y:-149.50, Z:-4.07 [[-1.85632209e-01 9.82617648e-01 1.80024788e-03 4.57547481e+01] [ 9.82566112e-01 1.85640912e-01 -1.00641273e-02 -1.49495546e+02] [-1.02233888e-02 -9.93636250e-05 -9.99947735e-01 -4.07486671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.01299561307077483 Centerline is valid? [True, True] Translation: X:45.75, Y:-149.47, Z:-4.08 [[-2.60404888e-01 9.65496418e-01 2.44149615e-03 4.57474927e+01] [ 9.65451145e-01 2.60416322e-01 -9.35016895e-03 -1.49465583e+02] [-9.66336007e-03 -7.76844448e-05 -9.99953306e-01 -4.07523401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.012508851705365857 Centerline is valid? [True, True] Translation: X:45.73, Y:-149.44, Z:-4.07 [[-3.30821196e-01 9.43687330e-01 3.39996665e-03 4.57330481e+01] [ 9.43636405e-01 3.30838665e-01 -9.80378285e-03 -1.49436930e+02] [-1.03765461e-02 -3.49668580e-05 -9.99946162e-01 -4.07462806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.012352809152116971 Centerline is valid? [True, True] Translation: X:45.73, Y:-149.41, Z:-4.08 [[-4.02398564e-01 9.15453199e-01 4.56467208e-03 4.57253002e+01] [ 9.15393683e-01 4.02424453e-01 -1.04385865e-02 -1.49405420e+02] [-1.13929730e-02 -2.20002134e-05 -9.99935098e-01 -4.07618002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.012707555689232361 Centerline is valid? [True, True] Translation: X:45.72, Y:-149.37, Z:-4.07 [[-4.72703363e-01 8.81199786e-01 6.20227166e-03 4.57171226e+01] [ 8.81123287e-01 4.72744050e-01 -1.16110303e-02 -1.49374788e+02] [-1.31637245e-02 -2.36070932e-05 -9.99913354e-01 -4.07320511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.01261596663707098 Centerline is valid? [True, True] Translation: X:45.71, Y:-149.34, Z:-4.07 [[-5.39083799e-01 8.42210576e-01 8.36685488e-03 4.57065674e+01] [ 8.42108962e-01 5.39148724e-01 -1.30824296e-02 -1.49343407e+02] [-1.55291397e-02 -6.72236908e-06 -9.99879416e-01 -4.07349132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.01284405157504219 Centerline is valid? [True, True] Translation: X:45.69, Y:-149.32, Z:-4.07 [[-6.01274558e-01 7.98988312e-01 9.30500102e-03 4.56906089e+01] [ 7.98893531e-01 6.01346552e-01 -1.23065338e-02 -1.49315403e+02] [-1.54283070e-02 3.40994202e-05 -9.99880976e-01 -4.07401910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.01302416516790139 Centerline is valid? [True, True] Translation: X:45.67, Y:-149.29, Z:-4.08 [[-6.60191570e-01 7.51038669e-01 9.38126666e-03 4.56737960e+01] [ 7.50964262e-01 6.60258217e-01 -1.05718393e-02 -1.49289004e+02] [-1.41339185e-02 6.55568248e-05 -9.99900109e-01 -4.07565470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.013347597295510685 Centerline is valid? [True, True] Translation: X:45.66, Y:-149.27, Z:-4.08 [[-7.15622890e-01 6.98439596e-01 8.12468056e-03 4.56550136e+01] [ 6.98395765e-01 7.15669005e-01 -7.82494270e-03 -1.49265060e+02] [-1.12798319e-02 7.45343916e-05 -9.99936378e-01 -4.07808740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.013157102458339079 Centerline is valid? [True, True] Translation: X:45.67, Y:-149.24, Z:-4.08 [[-7.63355422e-01 6.45940745e-01 7.00387339e-03 4.56721591e+01] [ 6.45914252e-01 7.63387549e-01 -5.85048972e-03 -1.49244731e+02] [-9.12573943e-03 5.78985952e-05 -9.99958358e-01 -4.08108737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.013074803432423569 Centerline is valid? [True, True] Translation: X:45.69, Y:-149.22, Z:-4.08 [[-8.07911545e-01 5.89275246e-01 5.79829943e-03 4.56870014e+01] [ 5.89260395e-01 8.07932350e-01 -4.18381177e-03 -1.49221816e+02] [-7.15005039e-03 3.65583843e-05 -9.99974437e-01 -4.08326322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.012815836190465875 Centerline is valid? [True, True] Translation: X:45.70, Y:-149.19, Z:-4.08 [[-8.49573565e-01 5.27437576e-01 5.86188415e-03 4.57007467e+01] [ 5.27425099e-01 8.49593787e-01 -3.62786984e-03 -1.49194052e+02] [-6.89369523e-03 9.56251694e-06 -9.99976238e-01 -4.08482178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.012904304465656257 Centerline is valid? [True, True] Translation: X:45.71, Y:-149.17, Z:-4.08 [[-8.86274061e-01 4.63113008e-01 6.68068211e-03 4.57119206e+01] [ 4.63099728e-01 8.86299240e-01 -3.50708535e-03 -1.49165078e+02] [-7.54526032e-03 -1.44167102e-05 -9.99971534e-01 -4.08357253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.012942620864893553 Centerline is valid? [True, True] Translation: X:46.00, Y:-148.62, Z:-5.17 [[-8.49768430e-01 -5.27094792e-01 8.04342102e-03 4.59988909e+01] [ 5.27072670e-01 -8.49806485e-01 -4.83088668e-03 -1.48624267e+02] [ 9.38168655e-03 1.34332408e-04 9.99955982e-01 -5.16773389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.01305198278127219 Centerline is valid? [True, True] Translation: X:45.68, Y:-149.14, Z:-4.08 [[-8.88910611e-01 4.57965598e-01 1.02682633e-02 4.56752468e+01] [ 4.57934421e-01 8.88969914e-01 -5.34395205e-03 -1.49142740e+02] [-1.15755234e-02 -4.81044614e-05 -9.99933000e-01 -4.08154635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.0128541735134525 Centerline is valid? [True, True] Translation: X:45.96, Y:-148.61, Z:-5.17 [[-8.53051131e-01 -5.21732915e-01 9.92646521e-03 4.59599256e+01] [ 5.21698276e-01 -8.53108881e-01 -6.01213857e-03 -1.48605420e+02] [ 1.16050862e-02 4.99581803e-05 9.99932658e-01 -5.16899576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.012730501949509702 Centerline is valid? [True, True] Translation: X:45.64, Y:-149.13, Z:-4.08 [[-8.87377791e-01 4.60965457e-01 8.45598325e-03 4.56397181e+01] [ 4.60944815e-01 8.87418079e-01 -4.36244095e-03 -1.49127618e+02] [-9.51492700e-03 2.66084138e-05 -9.99954732e-01 -4.08403859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.012727415964483678 Centerline is valid? [True, True] Translation: X:45.65, Y:-149.10, Z:-4.09 [[-9.16729038e-01 3.99462579e-01 6.12523966e-03 4.56520414e+01] [ 3.99453931e-01 9.16749501e-01 -2.62867945e-03 -1.49103515e+02] [-6.66536947e-03 3.69642730e-05 -9.99977786e-01 -4.08675378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.012949005657761723 Centerline is valid? [True, True] Translation: X:45.66, Y:-149.08, Z:-4.09 [[-9.42416130e-01 3.34403519e-01 5.11124239e-03 4.56604243e+01] [ 3.34398803e-01 9.42429990e-01 -1.77634318e-03 -1.49077144e+02] [-5.41100352e-03 3.51388671e-05 -9.99985360e-01 -4.08732431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.01284009204514403 Centerline is valid? [True, True] Translation: X:45.67, Y:-149.05, Z:-4.09 [[-9.63624732e-01 2.67218100e-01 4.67576265e-03 4.56660747e+01] [ 2.67215124e-01 9.63636075e-01 -1.26163064e-03 -1.49048751e+02] [-4.84286411e-03 3.36960133e-05 -9.99988273e-01 -4.08828881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.012508066018606084 Centerline is valid? [True, True] Translation: X:45.66, Y:-149.02, Z:-4.09 [[-9.80896822e-01 1.94394058e-01 7.23712332e-03 4.56649464e+01] [ 1.94388937e-01 9.80923519e-01 -1.41120024e-03 -1.49015594e+02] [-7.37339341e-03 2.25748797e-05 -9.99972816e-01 -4.08676333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.01255013517797851 Centerline is valid? [True, True] Translation: X:45.77, Y:-148.43, Z:-5.17 [[-9.65978215e-01 -2.58486636e-01 8.41109171e-03 4.57734039e+01] [ 2.58477402e-01 -9.66014832e-01 -2.18583469e-03 -1.48433973e+02] [ 8.69024840e-03 6.26084349e-05 9.99962237e-01 -5.16504286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.01291766393729828 Centerline is valid? [True, True] Translation: X:45.62, Y:-148.99, Z:-4.08 [[-9.83660199e-01 1.79745680e-01 1.02030845e-02 4.56154503e+01] [ 1.79735121e-01 9.83713110e-01 -1.95010882e-03 -1.48989735e+02] [-1.03874316e-02 -8.43918084e-05 -9.99946046e-01 -4.08498926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.013279045430290045 Centerline is valid? [True, True] Translation: X:45.61, Y:-148.96, Z:-4.08 [[-9.94050348e-01 1.08374045e-01 1.09074289e-02 4.56120487e+01] [ 1.08366401e-01 9.94110183e-01 -1.29117574e-03 -1.48957651e+02] [-1.09831160e-02 -1.01494879e-04 -9.99939679e-01 -4.08436377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.013018413504933803 Centerline is valid? [True, True] Translation: X:45.68, Y:-148.41, Z:-5.17 [[-9.81485517e-01 -1.91304409e-01 9.42353765e-03 4.56757007e+01] [ 1.91295620e-01 -9.81530755e-01 -1.83375870e-03 -1.48406447e+02] [ 9.60029815e-03 2.87387088e-06 9.99953916e-01 -5.16506977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.012825185020917172 Centerline is valid? [True, True] Translation: X:45.57, Y:-148.95, Z:-4.09 [[-9.93689566e-01 1.11911094e-01 7.54680349e-03 4.55658180e+01] [ 1.11907763e-01 9.93718223e-01 -8.63589974e-04 -1.48951141e+02] [-7.59604146e-03 -1.35944524e-05 -9.99971150e-01 -4.08807252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.012608136448176661 Centerline is valid? [True, True] Translation: X:45.57, Y:-148.92, Z:-4.09 [[-9.98952957e-01 4.52766621e-02 6.55845574e-03 4.55652253e+01] [ 4.52757889e-02 9.98974486e-01 -2.81638181e-04 -1.48924219e+02] [-6.56448159e-03 1.55959635e-05 -9.99978454e-01 -4.08847523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.012842859225698198 Centerline is valid? [True, True] Translation: X:45.59, Y:-148.37, Z:-5.16 [[-9.94539733e-01 -1.04202731e-01 5.70174972e-03 4.55911681e+01] [ 1.04200649e-01 -9.94556075e-01 -6.61910167e-04 -1.48372612e+02] [ 5.73968267e-03 -6.41699422e-05 9.99983526e-01 -5.16192184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.013155903094071962 Centerline is valid? [True, True] Translation: X:45.52, Y:-148.92, Z:-4.09 [[-9.98850196e-01 4.75549191e-02 6.06761824e-03 4.55180920e+01] [ 4.75543615e-02 9.98868624e-01 -2.36218130e-04 -1.48919017e+02] [-6.07198681e-03 5.25951854e-05 -9.99981564e-01 -4.08786094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.013258422148961606 Centerline is valid? [True, True] Translation: X:45.51, Y:-148.89, Z:-4.09 [[-9.99671956e-01 -2.41416305e-02 8.55350369e-03 4.55088871e+01] [-2.41401570e-02 9.99708546e-01 2.75486592e-04 -1.48888002e+02] [-8.55766143e-03 6.89132983e-05 -9.99963380e-01 -4.08564527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.013345939906386356 Centerline is valid? [True, True] Translation: X:45.49, Y:-148.36, Z:-5.17 [[-9.99515582e-01 -2.93246015e-02 1.04244276e-02 4.54859549e+01] [ 2.93234470e-02 -9.99569941e-01 -2.63614239e-04 -1.48355583e+02] [ 1.04276749e-02 4.21936114e-05 9.99945630e-01 -5.16785587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.01356521906197032 Centerline is valid? [True, True] Translation: X:45.45, Y:-148.88, Z:-4.08 [[-9.99372463e-01 -3.30186749e-02 1.28236998e-02 4.54480042e+01] [-3.30154263e-02 9.99454734e-01 4.65002777e-04 -1.48878235e+02] [-1.28320613e-02 4.13310538e-05 -9.99917665e-01 -4.08114233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.013626511992762146 Centerline is valid? [True, True] Translation: X:45.43, Y:-148.37, Z:-5.17 [[-9.99494811e-01 -2.88512348e-02 1.33315119e-02 4.54266107e+01] [ 2.88485432e-02 -9.99583716e-01 -3.94195410e-04 -1.48369289e+02] [ 1.33373352e-02 -9.40157100e-06 9.99911054e-01 -5.17090133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.013399823112180574 Centerline is valid? [True, True] Translation: X:45.39, Y:-148.87, Z:-4.08 [[-9.99178943e-01 -3.89088196e-02 1.12935467e-02 4.53918944e+01] [-3.89061719e-02 9.99242765e-01 4.54135835e-04 -1.48872562e+02] [-1.13026647e-02 1.43742964e-05 -9.99936123e-01 -4.08266288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.013249107210594318 Centerline is valid? [True, True] Translation: X:45.37, Y:-148.38, Z:-5.17 [[-9.99590721e-01 -2.70864051e-02 9.20415428e-03 4.53676751e+01] [ 2.70838677e-02 -9.99633085e-01 -4.00233247e-04 -1.48380148e+02] [ 9.21161801e-03 -1.50785343e-04 9.99957561e-01 -5.16678640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.01334922827855663 Centerline is valid? [True, True] Translation: X:45.33, Y:-148.87, Z:-4.08 [[-9.98893780e-01 -4.62856728e-02 8.29781608e-03 4.53345946e+01] [-4.62842217e-02 9.98928244e-01 3.66932714e-04 -1.48868909e+02] [-8.30590657e-03 -1.75311531e-05 -9.99965505e-01 -4.08343496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.013427863989596925 Centerline is valid? [True, True] Translation: X:45.32, Y:-148.84, Z:-4.08 [[-9.92436342e-01 -1.22478578e-01 8.31297300e-03 4.53191162e+01] [-1.22474805e-01 9.92471155e-01 9.63367892e-04 -1.48839030e+02] [-8.36837784e-03 -6.20484380e-05 -9.99964983e-01 -4.08405306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.014075082795183448 Centerline is valid? [True, True] Translation: X:45.30, Y:-148.81, Z:-4.08 [[-9.80309801e-01 -1.97272337e-01 8.73607865e-03 4.52992769e+01] [-1.97265473e-01 9.80348720e-01 1.64915393e-03 -1.48811020e+02] [-8.88973598e-03 -1.06644924e-04 -9.99960480e-01 -4.08360994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.015395785001005318 Centerline is valid? [True, True] Translation: X:45.27, Y:-148.78, Z:-4.08 [[-9.62162065e-01 -2.72300961e-01 9.81570216e-03 4.52743206e+01] [-2.72288729e-01 9.62212115e-01 2.58745286e-03 -1.48783986e+02] [-1.01493534e-02 -1.83156074e-04 -9.99948477e-01 -4.08235321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.018457541800605368 Centerline is valid? [True, True] Translation: X:45.24, Y:-148.76, Z:-4.08 [[-9.37073957e-01 -3.48964881e-01 1.07661629e-02 4.52448055e+01] [-3.48945658e-01 9.37135750e-01 3.67606194e-03 -1.48757744e+02] [-1.13721726e-02 -3.12063875e-04 -9.99935286e-01 -4.08193336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.01904825304705041 Centerline is valid? [True, True] Translation: X:45.22, Y:-148.74, Z:-4.08 [[-9.08450828e-01 -4.17862520e-01 1.03926488e-02 4.52168372e+01] [-4.17839487e-01 9.08510207e-01 4.40084375e-03 -1.48738226e+02] [-1.12807752e-02 -3.44508902e-04 -9.99936311e-01 -4.08193371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.019524671621771666 Centerline is valid? [True, True] Translation: X:45.18, Y:-148.73, Z:-4.08 [[-8.75920094e-01 -4.82346074e-01 1.03079503e-02 4.51788108e+01] [-4.82317444e-01 8.75980672e-01 5.26740606e-03 -1.48728467e+02] [-1.15702779e-02 -3.57877451e-04 -9.99932998e-01 -4.08124014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.018881832306898206 Centerline is valid? [True, True] Translation: X:45.14, Y:-148.73, Z:-4.08 [[-8.40853141e-01 -5.41179625e-01 9.51890518e-03 4.51361652e+01] [-5.41148957e-01 8.40906965e-01 5.76911922e-03 -1.48730610e+02] [-1.11266434e-02 -3.00163593e-04 -9.99938052e-01 -4.08122005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.017297373028745882 Centerline is valid? [True, True] Translation: X:45.08, Y:-148.75, Z:-4.08 [[-8.02390020e-01 -5.96757678e-01 7.10841809e-03 4.50801557e+01] [-5.96736288e-01 8.02421485e-01 5.05605001e-03 -1.48748413e+02] [-8.72118406e-03 -1.84926961e-04 -9.99961953e-01 -4.08283547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.0156444698293988 Centerline is valid? [True, True] Translation: X:45.02, Y:-148.77, Z:-4.08 [[-7.57251741e-01 -6.53087831e-01 6.78866756e-03 4.50211699e+01] [-6.53063617e-01 7.57282150e-01 5.62649679e-03 -1.48771832e+02] [-8.81553335e-03 -1.72757300e-04 -9.99961128e-01 -4.08389427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.016080917389639446 Centerline is valid? [True, True] Translation: X:44.95, Y:-148.80, Z:-4.08 [[-7.06028350e-01 -7.08145069e-01 7.38443027e-03 4.49527115e+01] [-7.08109446e-01 7.06066935e-01 7.10606535e-03 -1.48803310e+02] [-1.02460272e-02 -2.11901238e-04 -9.99947486e-01 -4.08200307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.017073192017387117 Centerline is valid? [True, True] Translation: X:44.88, Y:-148.85, Z:-4.08 [[-6.47732043e-01 -7.61817420e-01 8.79879700e-03 4.48806861e+01] [-7.61754083e-01 6.47791715e-01 9.82911094e-03 -1.48848395e+02] [-1.31877757e-02 -3.35889424e-04 -9.99912981e-01 -4.07946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.018033029381315967 Centerline is valid? [True, True] Translation: X:44.81, Y:-148.90, Z:-4.08 [[-5.86337323e-01 -8.10019938e-01 8.73179091e-03 4.48074162e+01] [-8.09940370e-01 5.86402193e-01 1.13607066e-02 -1.48899299e+02] [-1.43227402e-02 -4.11023695e-04 -9.99897340e-01 -4.07765131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.020428978143635673 Centerline is valid? [True, True] Translation: X:44.73, Y:-148.96, Z:-4.08 [[-5.21846575e-01 -8.52999097e-01 8.28806653e-03 4.47337058e+01] [-8.52905504e-01 5.21912176e-01 1.26444779e-02 -1.48960297e+02] [-1.51113711e-02 -4.70460066e-04 -9.99885706e-01 -4.07589939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.01925903019517622 Centerline is valid? [True, True] Translation: X:44.67, Y:-149.03, Z:-4.08 [[-4.55715452e-01 -8.90100181e-01 6.71523218e-03 4.46706761e+01] [-8.90017283e-01 4.55764716e-01 1.21556570e-02 -1.49030121e+02] [-1.38803184e-02 -4.37151962e-04 -9.99903568e-01 -4.07804136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.01923396623330032 Centerline is valid? [True, True] Translation: X:44.61, Y:-149.11, Z:-4.08 [[-3.88439145e-01 -9.21460181e-01 5.11513268e-03 4.46078528e+01] [-9.21392409e-01 3.88472647e-01 1.11817105e-02 -1.49110225e+02] [-1.22905901e-02 -3.69630373e-04 -9.99924400e-01 -4.07974633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.0190118345473778 Centerline is valid? [True, True] Translation: X:44.55, Y:-149.20, Z:-4.08 [[-3.19279228e-01 -9.47653559e-01 3.67514898e-03 4.45455013e+01] [-9.47601173e-01 3.19300239e-01 9.96864003e-03 -1.49196688e+02] [-1.06202932e-02 -2.99795793e-04 -9.99943558e-01 -4.08116683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.017357987129954528 Centerline is valid? [True, True] Translation: X:44.49, Y:-149.29, Z:-4.08 [[-2.49120859e-01 -9.68467818e-01 2.98043249e-03 4.44899849e+01] [-9.68411187e-01 2.49138533e-01 1.04768678e-02 -1.49286223e+02] [-1.08890499e-02 -2.76277857e-04 -9.99940674e-01 -4.08061490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.015643880149100273 Centerline is valid? [True, True] Translation: X:44.44, Y:-149.38, Z:-4.08 [[-1.78850533e-01 -9.83872955e-01 2.54848437e-03 4.44394591e+01] [-9.83793444e-01 1.78868486e-01 1.25109822e-02 -1.49376439e+02] [-1.27650605e-02 -2.69586387e-04 -9.99918487e-01 -4.07830646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.016124428780864737 Centerline is valid? [True, True] Translation: X:44.39, Y:-149.48, Z:-4.08 [[-1.04892739e-01 -9.94482222e-01 1.61954345e-03 4.43930455e+01] [-9.94398364e-01 1.04904930e-01 1.29170431e-02 -1.49478923e+02] [-1.30156678e-02 -2.55567324e-04 -9.99915260e-01 -4.07753744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.015966040306452253 Centerline is valid? [True, True] Translation: X:44.36, Y:-149.58, Z:-4.08 [[-2.92211291e-02 -9.99572825e-01 5.42060952e-04 4.43561180e+01] [-9.99510444e-01 2.92253624e-02 1.11691635e-02 -1.49581235e+02] [-1.11802343e-02 -2.15420013e-04 -9.99937476e-01 -4.07930439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.01507351805650441 Centerline is valid? [True, True] Translation: X:44.33, Y:-149.69, Z:-4.08 [[ 4.54326476e-02 -9.98967360e-01 -2.95804098e-04 4.43296938e+01] [-9.98910534e-01 -4.54332188e-02 1.06568239e-02 -1.49693852e+02] [-1.06592585e-02 -1.88685893e-04 -9.99943171e-01 -4.08057484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.014463445075450651 Centerline is valid? [True, True] Translation: X:44.31, Y:-149.80, Z:-4.08 [[ 1.18964056e-01 -9.92897831e-01 -1.20455225e-03 4.43136170e+01] [-9.92831011e-01 -1.18970026e-01 1.15202948e-02 -1.49804624e+02] [-1.15817814e-02 -1.74584164e-04 -9.99932914e-01 -4.08000965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.014335607085218072 Centerline is valid? [True, True] Translation: X:44.31, Y:-149.92, Z:-4.08 [[ 1.91431908e-01 -9.81502835e-01 -2.45152662e-03 4.43066162e+01] [-9.81411057e-01 -1.91447535e-01 1.34230563e-02 -1.49915743e+02] [-1.36441066e-02 -1.63645957e-04 -9.99906902e-01 -4.07872747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.013616129896455666 Centerline is valid? [True, True] Translation: X:44.31, Y:-150.03, Z:-4.08 [[ 2.62331222e-01 -9.64973044e-01 -3.05836532e-03 4.43058521e+01] [-9.64902914e-01 -2.62349030e-01 1.16341095e-02 -1.50026911e+02] [-1.20289612e-02 -1.00964557e-04 -9.99927644e-01 -4.08033393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.013045536976901292 Centerline is valid? [True, True] Translation: X:44.31, Y:-150.14, Z:-4.08 [[ 3.31258898e-01 -9.43534466e-01 -3.20223703e-03 4.43137925e+01] [-9.43489165e-01 -3.31274373e-01 9.24587654e-03 -1.50136976e+02] [-9.78462224e-03 -4.15029269e-05 -9.99952129e-01 -4.08266398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.012851837573095713 Centerline is valid? [True, True] Translation: X:44.33, Y:-150.25, Z:-4.08 [[ 4.00242830e-01 -9.16401486e-01 -3.74078942e-03 4.43314581e+01] [-9.16361015e-01 -4.00260310e-01 8.61242340e-03 -1.50248568e+02] [-9.38972713e-03 -1.91471220e-05 -9.99955915e-01 -4.08325500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.012976787656870999 Centerline is valid? [True, True] Translation: X:44.36, Y:-150.36, Z:-4.08 [[ 4.68096753e-01 -8.83665958e-01 -4.46147000e-03 4.43554375e+01] [-8.83625620e-01 -4.68118013e-01 8.44335001e-03 -1.50356050e+02] [-9.54959545e-03 -1.00355270e-05 -9.99954402e-01 -4.08320547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.013086346563832887 Centerline is valid? [True, True] Translation: X:44.39, Y:-150.47, Z:-4.08 [[ 5.34476432e-01 -8.45166557e-01 -5.33238755e-03 4.43869448e+01] [-8.45124197e-01 -5.34503031e-01 8.46181381e-03 -1.50465534e+02] [-1.00018194e-02 -1.61103047e-05 -9.99949981e-01 -4.08209735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.013193519815995355 Centerline is valid? [True, True] Translation: X:44.42, Y:-150.57, Z:-4.08 [[ 5.99217495e-01 -8.00566392e-01 -5.64320049e-03 4.44237224e+01] [-8.00530271e-01 -5.99244066e-01 7.60495836e-03 -1.50572874e+02] [-9.46992848e-03 -3.94712813e-05 -9.99955159e-01 -4.08242054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.01336081602949779 Centerline is valid? [True, True] Translation: X:44.46, Y:-150.67, Z:-4.08 [[ 6.60796114e-01 -7.50548026e-01 -5.11436163e-03 4.44634333e+01] [-7.50524846e-01 -6.60815903e-01 5.89893697e-03 -1.50672837e+02] [-7.80708699e-03 -5.95391543e-05 -9.99969523e-01 -4.08366731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.014101074325475537 Centerline is valid? [True, True] Translation: X:44.51, Y:-150.77, Z:-4.08 [[ 7.18639002e-01 -6.95367960e-01 -4.62429428e-03 4.45085092e+01] [-6.95352865e-01 -7.18653876e-01 4.58253934e-03 -1.50766849e+02] [-6.50981805e-03 -7.76752266e-05 -9.99978808e-01 -4.08460609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.014179561529572181 Centerline is valid? [True, True] Translation: X:44.53, Y:-150.80, Z:-4.08 [[ 7.71681296e-01 -6.35988833e-01 -5.11685531e-03 4.45330248e+01] [-6.35974081e-01 -7.71698255e-01 4.33260737e-03 -1.50795575e+02] [-6.70415822e-03 -8.92047152e-05 -9.99977523e-01 -4.08447472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.01463402361459528 Centerline is valid? [True, True] Translation: X:44.56, Y:-150.82, Z:-4.08 [[ 8.20037202e-01 -5.72268829e-01 -6.88285898e-03 4.45600657e+01] [-5.72247358e-01 -8.20066077e-01 4.95883055e-03 -1.50822752e+02] [-8.48218331e-03 -1.27727661e-04 -9.99964018e-01 -4.08252699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.015262376784877414 Centerline is valid? [True, True] Translation: X:44.59, Y:-150.85, Z:-4.08 [[ 8.63039639e-01 -5.05057601e-01 -8.91071178e-03 4.45885810e+01] [-5.05028600e-01 -8.63085621e-01 5.41521209e-03 -1.50847164e+02] [-1.04257012e-02 -1.73378401e-04 -9.99945636e-01 -4.07853193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.014853693020537516 Centerline is valid? [True, True] Translation: X:44.62, Y:-150.87, Z:-4.08 [[ 8.99784100e-01 -4.36226533e-01 -9.74600318e-03 4.46198048e+01] [-4.36198778e-01 -8.99836863e-01 4.92406051e-03 -1.50869130e+02] [-1.09178188e-02 -1.79396669e-04 -9.99940383e-01 -4.07818451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.01525986233790145 Centerline is valid? [True, True] Translation: X:44.65, Y:-150.89, Z:-4.08 [[ 9.30558925e-01 -3.65978422e-01 -1.09490288e-02 4.46512445e+01] [-3.65950857e-01 -9.30623320e-01 4.49514411e-03 -1.50889128e+02] [-1.18345473e-02 -1.76190000e-04 -9.99929954e-01 -4.07550350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.014600578674907123 Centerline is valid? [True, True] Translation: X:44.69, Y:-150.90, Z:-4.08 [[ 9.55973494e-01 -2.93226395e-01 -1.15308098e-02 4.46871246e+01] [-2.93202961e-01 -9.56043019e-01 3.71081408e-03 -1.50903153e+02] [-1.21120589e-02 -1.66572324e-04 -9.99926633e-01 -4.07584747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.014289020292565279 Centerline is valid? [True, True] Translation: X:44.72, Y:-150.92, Z:-4.08 [[ 9.75948883e-01 -2.17690823e-01 -1.15967377e-02 4.47223933e+01] [-2.17673470e-01 -9.76017766e-01 2.75343165e-03 -1.50918131e+02] [-1.19180188e-02 -1.62906403e-04 -9.99928965e-01 -4.07603487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.014342019363115945 Centerline is valid? [True, True] Translation: X:44.76, Y:-150.93, Z:-4.08 [[ 9.90020048e-01 -1.40343778e-01 -1.28034486e-02 4.47583471e+01] [-1.40329662e-01 -9.90102818e-01 1.99878580e-03 -1.50934575e+02] [-1.29572477e-02 -1.82134396e-04 -9.99916035e-01 -4.07532340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.014241850351577033 Centerline is valid? [True, True] Translation: X:44.79, Y:-150.95, Z:-4.07 [[ 9.97934273e-01 -6.27370842e-02 -1.38291616e-02 4.47912543e+01] [-6.27284301e-02 -9.98030071e-01 1.05908855e-03 -1.50946881e+02] [-1.38683633e-02 -1.89419166e-04 -9.99903812e-01 -4.07349168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.014191081777033291 Centerline is valid? [True, True] Translation: X:44.83, Y:-150.96, Z:-4.07 [[ 9.99780095e-01 1.46243346e-02 -1.50296827e-02 4.48257034e+01] [ 1.46255539e-02 -9.99893041e-01 -2.87875879e-05 -1.50955229e+02] [-1.50284961e-02 -1.91036177e-04 -9.99887048e-01 -4.07225164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.01436250370718657 Centerline is valid? [True, True] Translation: X:44.86, Y:-150.96, Z:-4.07 [[ 9.95546066e-01 9.24540902e-02 -1.84464669e-02 4.48608607e+01] [ 9.24424535e-02 -9.95716922e-01 -1.48436269e-03 -1.50960341e+02] [-1.85046947e-02 -2.27485220e-04 -9.99828748e-01 -4.06931231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.014788923091407736 Centerline is valid? [True, True] Translation: X:44.90, Y:-150.97, Z:-4.07 [[ 9.84804753e-01 1.72393087e-01 -2.09814570e-02 4.48971737e+01] [ 1.72360679e-01 -9.85028186e-01 -3.35691914e-03 -1.50967311e+02] [-2.12460361e-02 -3.10468248e-04 -9.99774229e-01 -4.06746715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.015491805216456973 Centerline is valid? [True, True] Translation: X:44.93, Y:-150.97, Z:-4.07 [[ 9.67601476e-01 2.51671090e-01 -2.02248872e-02 4.49333319e+01] [ 2.51623931e-01 -9.67812756e-01 -4.88530250e-03 -1.50969439e+02] [-2.08033932e-02 -3.62039694e-04 -9.99783521e-01 -4.06776434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.01627373900313253 Centerline is valid? [True, True] Translation: X:44.97, Y:-150.97, Z:-4.07 [[ 9.44180351e-01 3.28897219e-01 -1.87105533e-02 4.49681321e+01] [ 3.28840781e-01 -9.44365644e-01 -6.10507743e-03 -1.50966279e+02] [-1.96775467e-02 -3.88498806e-04 -9.99806303e-01 -4.06915568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.016450529597038487 Centerline is valid? [True, True] Translation: X:45.00, Y:-150.96, Z:-4.07 [[ 9.14766907e-01 4.03706263e-01 -1.49250991e-02 4.50029081e+01] [ 4.03658786e-01 -9.14888588e-01 -6.20123042e-03 -1.50958069e+02] [-1.61582784e-02 -3.51967029e-04 -9.99869385e-01 -4.07347489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.01614993617651505 Centerline is valid? [True, True] Translation: X:45.04, Y:-150.95, Z:-4.07 [[ 8.80453355e-01 4.73920957e-01 -1.41709588e-02 4.50374901e+01] [ 4.73865826e-01 -8.80567322e-01 -7.23675603e-03 -1.50948044e+02] [-1.59081336e-02 -3.43506986e-04 -9.99873399e-01 -4.07417614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.016233152339446635 Centerline is valid? [True, True] Translation: X:45.07, Y:-150.93, Z:-4.07 [[ 8.40773022e-01 5.41226132e-01 -1.32287701e-02 4.50698735e+01] [ 5.41165319e-01 -8.40877021e-01 -8.11993869e-03 -1.50934763e+02] [-1.55184918e-02 -3.31926188e-04 -9.99879526e-01 -4.07366021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.01605808586237705 Centerline is valid? [True, True] Translation: X:45.10, Y:-150.92, Z:-4.07 [[ 7.95763892e-01 6.05487404e-01 -1.20345927e-02 4.51009078e+01] [ 6.05424197e-01 -7.95854825e-01 -8.75443997e-03 -1.50917992e+02] [-1.48784918e-02 -3.19566383e-04 -9.99889258e-01 -4.07471531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.01618068541890778 Centerline is valid? [True, True] Translation: X:45.13, Y:-150.90, Z:-4.08 [[ 7.45066321e-01 6.66894670e-01 -1.12994237e-02 4.51298107e+01] [ 6.66824803e-01 -7.45151921e-01 -9.65905033e-03 -1.50898809e+02] [-1.48613564e-02 -3.38102859e-04 -9.99889507e-01 -4.07616483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.016705910462543917 Centerline is valid? [True, True] Translation: X:45.16, Y:-150.88, Z:-4.08 [[ 6.89598070e-01 7.24118588e-01 -1.03331285e-02 4.51587644e+01] [ 7.24044866e-01 -6.89675392e-01 -1.03385397e-02 -1.50880408e+02] [-1.46128332e-02 -3.52211568e-04 -9.99893165e-01 -4.07762720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.017075579519316045 Centerline is valid? [True, True] Translation: X:45.19, Y:-150.86, Z:-4.08 [[ 6.28708263e-01 7.77587131e-01 -9.17463945e-03 4.51903736e+01] [ 7.77512985e-01 -6.28775088e-01 -1.07446335e-02 -1.50862663e+02] [-1.41236734e-02 -3.78161473e-04 -9.99900185e-01 -4.07718150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.017756780035982387 Centerline is valid? [True, True] Translation: X:45.22, Y:-150.84, Z:-4.08 [[ 5.65008129e-01 8.25044487e-01 -8.21026243e-03 4.52169306e+01] [ 8.24967191e-01 -5.65067645e-01 -1.12999997e-02 -1.50840650e+02] [-1.39623561e-02 -3.88605449e-04 -9.99902446e-01 -4.07781146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.017358483599967778 Centerline is valid? [True, True] Translation: X:45.24, Y:-150.81, Z:-4.08 [[ 5.00481286e-01 8.65723455e-01 -6.43279984e-03 4.52370690e+01] [ 8.65659918e-01 -5.00522525e-01 -1.04932491e-02 -1.50812898e+02] [-1.23040131e-02 -3.16942184e-04 -9.99924253e-01 -4.08096567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.01587970703332652 Centerline is valid? [True, True] Translation: X:45.25, Y:-150.78, Z:-4.08 [[ 4.37357451e-01 8.99274694e-01 -4.84609227e-03 4.52495181e+01] [ 8.99224491e-01 -4.37384253e-01 -9.50420331e-03 -1.50782716e+02] [-1.06664940e-02 -2.00990722e-04 -9.99943091e-01 -4.08369950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.013947905253300632 Centerline is valid? [True, True] Translation: X:45.27, Y:-150.75, Z:-4.08 [[ 3.69800243e-01 9.29102087e-01 -4.13425837e-03 4.52651057e+01] [ 9.29048618e-01 -3.69823320e-01 -9.96886104e-03 -1.50753910e+02] [-1.07910348e-02 -1.54439790e-04 -9.99941763e-01 -4.08396416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.014122873504206273 Centerline is valid? [True, True] Translation: X:45.28, Y:-150.73, Z:-4.08 [[ 2.96558050e-01 9.55007832e-01 -3.65576198e-03 4.52841335e+01] [ 9.54941819e-01 -2.96580538e-01 -1.12297526e-02 -1.50727943e+02] [-1.18087295e-02 -1.60766462e-04 -9.99930262e-01 -4.08274778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.013715397560738377 Centerline is valid? [True, True] Translation: X:45.30, Y:-150.70, Z:-4.08 [[ 2.21853118e-01 9.75074259e-01 -3.37386131e-03 4.52978306e+01] [ 9.74973617e-01 -2.21878696e-01 -1.40103958e-02 -1.50698681e+02] [-1.44097643e-02 -1.81175762e-04 -9.99896158e-01 -4.08264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.013632314928749186 Centerline is valid? [True, True] Translation: X:45.31, Y:-150.67, Z:-4.08 [[ 1.47074959e-01 9.89122144e-01 -2.51790676e-03 4.53086515e+01] [ 9.88995740e-01 -1.47096419e-01 -1.58135764e-02 -1.50668812e+02] [-1.60119336e-02 -1.64417965e-04 -9.99871787e-01 -4.08103094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.0128429674768345 Centerline is valid? [True, True] Translation: X:45.31, Y:-150.64, Z:-4.08 [[ 7.40245594e-02 9.97255667e-01 -1.22471415e-03 4.53147164e+01] [ 9.97137251e-01 -7.40346428e-02 -1.53679914e-02 -1.50637946e+02] [-1.54164878e-02 -8.35993110e-05 -9.99881155e-01 -4.08326693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.012495596289300826 Centerline is valid? [True, True] Translation: X:45.32, Y:-150.61, Z:-4.08 [[-1.06908432e-03 9.99999428e-01 -1.62549088e-05 4.53241053e+01] [ 9.99891786e-01 1.06873075e-03 -1.46722056e-02 -1.50606490e+02] [-1.46721798e-02 -3.19389747e-05 -9.99892357e-01 -4.08491029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.012771416951788095 Centerline is valid? [True, True] Translation: X:45.33, Y:-150.57, Z:-4.09 [[-7.44256646e-02 9.97225918e-01 1.13514339e-03 4.53271444e+01] [ 9.97118196e-01 7.44343094e-02 -1.46573223e-02 -1.50574993e+02] [-1.47011553e-02 4.09911764e-05 -9.99891931e-01 -4.08611975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.013146036578958051 Centerline is valid? [True, True] Translation: X:45.33, Y:-150.54, Z:-4.09 [[-1.48483375e-01 9.88912058e-01 2.37260882e-03 4.53294651e+01] [ 9.88796543e-01 1.48502295e-01 -1.51150572e-02 -1.50543134e+02] [-1.52998002e-02 1.01692695e-04 -9.99882946e-01 -4.08603807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.014384854929544654 Centerline is valid? [True, True] Translation: X:45.33, Y:-150.51, Z:-4.08 [[-2.21813284e-01 9.75082153e-01 3.69634282e-03 4.53274960e+01] [ 9.74958974e-01 2.21844018e-01 -1.54993609e-02 -1.50512402e+02] [-1.59331617e-02 1.65818463e-04 -9.99873045e-01 -4.08347970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.014908731912474915 Centerline is valid? [True, True] Translation: X:45.32, Y:-150.48, Z:-4.08 [[-2.94489008e-01 9.55640165e-01 5.30085447e-03 4.53230645e+01] [ 9.55499371e-01 2.94536619e-01 -1.64052591e-02 -1.50481576e+02] [-1.72388203e-02 2.33794644e-04 -9.99851373e-01 -4.08316565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.014193532884720037 Centerline is valid? [True, True] Translation: X:45.32, Y:-150.45, Z:-4.09 [[-3.68972724e-01 9.29419224e-01 6.24771749e-03 4.53210092e+01] [ 9.29295642e-01 3.69025554e-01 -1.51574932e-02 -1.50448786e+02] [-1.63932330e-02 2.13275068e-04 -9.99865599e-01 -4.08595297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.01416837777932905 Centerline is valid? [True, True] Translation: X:45.32, Y:-150.42, Z:-4.09 [[-4.43232102e-01 8.96378184e-01 7.17317828e-03 4.53160726e+01] [ 8.96266604e-01 4.43290114e-01 -1.41438837e-02 -1.50418186e+02] [-1.58580678e-02 1.60056831e-04 -9.99874240e-01 -4.08649935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.012851279476239527 Centerline is valid? [True, True] Translation: X:45.31, Y:-150.38, Z:-4.09 [[-5.19518222e-01 8.54428341e-01 7.28201426e-03 4.53142694e+01] [ 8.54344937e-01 5.19569254e-01 -1.19381102e-02 -1.50382830e+02] [-1.39837704e-02 1.92862498e-05 -9.99902222e-01 -4.08729787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.013043399491282845 Centerline is valid? [True, True] Translation: X:45.31, Y:-150.35, Z:-4.09 [[-5.90374896e-01 8.07092953e-01 7.64506624e-03 4.53050446e+01] [ 8.07023723e-01 5.90424390e-01 -1.05712049e-02 -1.50349875e+02] [-1.30457786e-02 -7.12241859e-05 -9.99914898e-01 -4.08738719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.013762320061338618 Centerline is valid? [True, True] Translation: X:45.29, Y:-150.32, Z:-4.09 [[-6.55347255e-01 7.55282392e-01 8.27546767e-03 4.52907250e+01] [ 7.55219659e-01 6.55399490e-01 -9.73526292e-03 -1.50320921e+02] [-1.27766100e-02 -1.30181965e-04 -9.99918367e-01 -4.08713438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.013554244509520683 Centerline is valid? [True, True] Translation: X:45.28, Y:-150.29, Z:-4.09 [[-7.13853519e-01 7.00237487e-01 8.97859394e-03 4.52754609e+01] [ 7.00179357e-01 7.13909964e-01 -9.02393421e-03 -1.50289279e+02] [-1.27288047e-02 -1.55141056e-04 -9.99918974e-01 -4.08874754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.013591073477441455 Centerline is valid? [True, True] Translation: X:45.26, Y:-150.26, Z:-4.09 [[-7.65985739e-01 6.42772705e-01 1.04449580e-02 4.52565451e+01] [ 6.42710147e-01 7.66056933e-01 -8.96898650e-03 -1.50259575e+02] [-1.37664522e-02 -1.57035285e-04 -9.99905226e-01 -4.08685630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.013376902938724056 Centerline is valid? [True, True] Translation: X:45.27, Y:-150.24, Z:-4.09 [[-8.08385302e-01 5.88510186e-01 1.29986239e-02 4.52703177e+01] [ 5.88431064e-01 8.08489788e-01 -9.65117122e-03 -1.50238016e+02] [-1.61890672e-02 -1.53070894e-04 -9.99868937e-01 -4.08543764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.013488021787506329 Centerline is valid? [True, True] Translation: X:45.61, Y:-149.79, Z:-5.17 [[-7.55829369e-01 -6.54630828e-01 1.34329335e-02 4.56053495e+01] [ 6.54533218e-01 -7.55948688e-01 -1.13069589e-02 -1.49790809e+02] [ 1.75564923e-02 2.46169535e-04 9.99845843e-01 -5.16614502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.013389580951535661 Centerline is valid? [True, True] Translation: X:45.24, Y:-150.22, Z:-4.08 [[-8.08293504e-01 5.88579730e-01 1.53464250e-02 4.52350740e+01] [ 5.88471076e-01 8.08439169e-01 -1.13094533e-02 -1.50216204e+02] [-1.90631660e-02 -1.10430466e-04 -9.99818275e-01 -4.08341189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.013335072906228788 Centerline is valid? [True, True] Translation: X:45.25, Y:-150.19, Z:-4.08 [[-8.45944686e-01 5.33003265e-01 1.68851421e-02 4.52452004e+01] [ 5.32896132e-01 8.46113182e-01 -1.06861919e-02 -1.50194327e+02] [-1.99825165e-02 -4.19002596e-05 -9.99800329e-01 -4.08218732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.013193428914968901 Centerline is valid? [True, True] Translation: X:45.26, Y:-150.18, Z:-4.08 [[-8.80032467e-01 4.74599357e-01 1.72715913e-02 4.52589851e+01] [ 4.74508493e-01 8.80201937e-01 -9.28658842e-03 -1.50175450e+02] [-1.96098970e-02 2.30174288e-05 -9.99807707e-01 -4.08399036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.013915587504693067 Centerline is valid? [True, True] Translation: X:45.54, Y:-149.66, Z:-5.17 [[-8.49814150e-01 -5.26828080e-01 1.63733143e-02 4.55362967e+01] [ 5.26729398e-01 -8.49971866e-01 -1.01964881e-02 -1.49663491e+02] [ 1.92886528e-02 -4.08138714e-05 9.99813956e-01 -5.16757813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.014065636031098339 Centerline is valid? [True, True] Translation: X:45.22, Y:-150.17, Z:-4.09 [[-8.77355787e-01 4.79547650e-01 1.67593020e-02 4.52174816e+01] [ 4.79464485e-01 8.77515819e-01 -8.93283956e-03 -1.50166526e+02] [-1.89902749e-02 1.98211636e-04 -9.99819649e-01 -4.08522678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.014579984218560712 Centerline is valid? [True, True] Translation: X:45.23, Y:-150.15, Z:-4.09 [[-9.07678056e-01 4.19328451e-01 1.68581109e-02 4.52287677e+01] [ 4.19261370e-01 9.07834558e-01 -7.50464125e-03 -1.50147975e+02] [-1.84512853e-02 2.56156489e-04 -9.99829728e-01 -4.08655328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.014641891935882077 Centerline is valid? [True, True] Translation: X:45.23, Y:-150.12, Z:-4.09 [[-9.35330859e-01 3.53339506e-01 1.75321764e-02 4.52343924e+01] [ 3.53282375e-01 9.35495127e-01 -6.35851919e-03 -1.50122637e+02] [-1.86479817e-02 2.46489709e-04 -9.99826081e-01 -4.08673590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.0146328694729152 Centerline is valid? [True, True] Translation: X:45.44, Y:-149.55, Z:-5.17 [[-9.19032736e-01 -3.93777194e-01 1.78424397e-02 4.54422474e+01] [ 3.93698715e-01 -9.19205897e-01 -7.86393430e-03 -1.49546426e+02] [ 1.94975138e-02 -2.02667473e-04 9.99809885e-01 -5.16567574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.013432355765694695 Centerline is valid? [True, True] Translation: X:45.19, Y:-150.10, Z:-4.09 [[-9.39735499e-01 3.41352463e-01 1.93826653e-02 4.51875395e+01] [ 3.41281733e-01 9.39935364e-01 -6.94909251e-03 -1.50103399e+02] [-2.05905424e-02 8.46407122e-05 -9.99787989e-01 -4.08670839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.013151784023359146 Centerline is valid? [True, True] Translation: X:45.39, Y:-149.53, Z:-5.16 [[-9.16364942e-01 -3.99979316e-01 1.70833056e-02 4.53904039e+01] [ 3.99905750e-01 -9.16524144e-01 -7.67361320e-03 -1.49532843e+02] [ 1.87265486e-02 -2.00117994e-04 9.99824623e-01 -5.16273728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.012973759867290635 Centerline is valid? [True, True] Translation: X:45.14, Y:-150.09, Z:-4.09 [[-9.43426226e-01 3.31222936e-01 1.54377216e-02 4.51409073e+01] [ 3.31177772e-01 9.43552523e-01 -5.46981452e-03 -1.50085317e+02] [-1.63780292e-02 -4.77362257e-05 -9.99865870e-01 -4.08975476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.012940878266108097 Centerline is valid? [True, True] Translation: X:45.34, Y:-149.52, Z:-5.16 [[-9.15894090e-01 -4.01237630e-01 1.20987450e-02 4.53443768e+01] [ 4.01200316e-01 -9.15973984e-01 -5.47433463e-03 -1.49516562e+02] [ 1.32786447e-02 -1.59890410e-04 9.99911822e-01 -5.15787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.012860967991058852 Centerline is valid? [True, True] Translation: X:45.09, Y:-150.07, Z:-4.09 [[-9.45725381e-01 3.24778338e-01 1.10695752e-02 4.50949008e+01] [ 3.24755219e-01 9.45790160e-01 -3.87581726e-03 -1.50072318e+02] [-1.17282767e-02 -7.05564576e-05 -9.99931219e-01 -4.09416480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.013088510434475667 Centerline is valid? [True, True] Translation: X:45.09, Y:-150.04, Z:-4.09 [[-9.66747325e-01 2.55493787e-01 1.10695695e-02 4.50940834e+01] [ 2.55476013e-01 9.66810694e-01 -3.01489819e-03 -1.50043519e+02] [-1.14724659e-02 -8.66352855e-05 -9.99934185e-01 -4.09306545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.013588378833924386 Centerline is valid? [True, True] Translation: X:45.10, Y:-150.02, Z:-4.09 [[-9.83096966e-01 1.82642572e-01 1.27297254e-02 4.50990873e+01] [ 1.82625338e-01 9.83179368e-01 -2.51326819e-03 -1.50016879e+02] [-1.29746331e-02 -1.46015933e-04 -9.99915815e-01 -4.09233010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.014215129555300493 Centerline is valid? [True, True] Translation: X:45.21, Y:-149.42, Z:-5.16 [[-9.61898014e-01 -2.73071804e-01 1.35646952e-02 4.52101206e+01] [ 2.73047989e-01 -9.61993627e-01 -3.61352453e-03 -1.49421851e+02] [ 1.40359019e-02 2.27970667e-04 9.99901466e-01 -5.15946385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.014664256130996693 Centerline is valid? [True, True] Translation: X:45.05, Y:-150.00, Z:-4.09 [[-9.84643808e-01 1.73927742e-01 1.50237447e-02 4.50498612e+01] [ 1.73903615e-01 9.84758386e-01 -2.90767502e-03 -1.50004632e+02] [-1.53004839e-02 -2.50340684e-04 -9.99882910e-01 -4.08967256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.015589737604009533 Centerline is valid? [True, True] Translation: X:45.16, Y:-149.42, Z:-5.16 [[-9.61843587e-01 -2.73196828e-01 1.48461203e-02 4.51633527e+01] [ 2.73168375e-01 -9.61958122e-01 -3.95100314e-03 -1.49416203e+02] [ 1.53607475e-02 2.55243539e-04 9.99881984e-01 -5.16303841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.015675171194092365 Centerline is valid? [True, True] Translation: X:45.00, Y:-150.00, Z:-4.09 [[-9.85645548e-01 1.68191856e-01 1.46408255e-02 4.50002230e+01] [ 1.68169177e-01 9.85754242e-01 -2.77543338e-03 -1.49996913e+02] [-1.48990611e-02 -2.73457987e-04 -9.99888966e-01 -4.08813924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.01496478956439285 Centerline is valid? [True, True] Translation: X:45.12, Y:-149.40, Z:-5.16 [[-9.62940837e-01 -2.69318458e-01 1.45778252e-02 4.51162449e+01] [ 2.69292090e-01 -9.63051134e-01 -3.77945601e-03 -1.49403194e+02] [ 1.50570683e-02 2.86300479e-04 9.99886595e-01 -5.16135827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.015319815669395652 Centerline is valid? [True, True] Translation: X:44.96, Y:-149.99, Z:-4.09 [[-9.86049478e-01 1.65765081e-01 1.51117201e-02 4.49551927e+01] [ 1.65741532e-01 9.86165234e-01 -2.80633603e-03 -1.49992726e+02] [-1.53678455e-02 -2.62546538e-04 -9.99881873e-01 -4.08755908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.015327480441969986 Centerline is valid? [True, True] Translation: X:45.07, Y:-149.39, Z:-5.16 [[-9.64305655e-01 -2.64361785e-01 1.50814511e-02 4.50698572e+01] [ 2.64333957e-01 -9.64423542e-01 -3.84578636e-03 -1.49393843e+02] [ 1.55615854e-02 2.78026112e-04 9.99878873e-01 -5.16350010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.01525944517116157 Centerline is valid? [True, True] Translation: X:44.90, Y:-149.99, Z:-4.09 [[-9.86393979e-01 1.63706164e-01 1.50734938e-02 4.49035922e+01] [ 1.63683391e-01 9.86509116e-01 -2.74070186e-03 -1.49987456e+02] [-1.53188088e-02 -2.36131249e-04 -9.99882632e-01 -4.08770581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.014590098415625927 Centerline is valid? [True, True] Translation: X:45.02, Y:-149.38, Z:-5.16 [[-9.66430338e-01 -2.56556236e-01 1.38310935e-02 4.50219511e+01] [ 2.56532282e-01 -9.66529293e-01 -3.50929481e-03 -1.49381893e+02] [ 1.42684885e-02 1.56633000e-04 9.99898188e-01 -5.16281040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.013813594589002762 Centerline is valid? [True, True] Translation: X:44.87, Y:-149.98, Z:-4.09 [[-9.86040341e-01 1.65982449e-01 1.32012486e-02 4.48654741e+01] [ 1.65965886e-01 9.86128699e-01 -2.34811965e-03 -1.49984032e+02] [-1.34078767e-02 -1.24383790e-04 -9.99910103e-01 -4.08923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.013148536130157842 Centerline is valid? [True, True] Translation: X:44.98, Y:-149.37, Z:-5.16 [[-9.68998348e-01 -2.46714128e-01 1.32038260e-02 4.49769421e+01] [ 2.46693151e-01 -9.69088293e-01 -3.22011757e-03 -1.49372539e+02] [ 1.35901217e-02 1.37004836e-04 9.99907641e-01 -5.16055192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.013154066724701017 Centerline is valid? [True, True] Translation: X:44.82, Y:-149.98, Z:-4.09 [[-9.84703008e-01 1.73568238e-01 1.52987761e-02 4.48244419e+01] [ 1.73547857e-01 9.84821845e-01 -2.66004925e-03 -1.49984956e+02] [-1.55282690e-02 3.57113146e-05 -9.99879429e-01 -4.09018215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.013661087739206225 Centerline is valid? [True, True] Translation: X:44.82, Y:-149.96, Z:-4.09 [[-9.93976996e-01 1.08429022e-01 1.59021623e-02 4.48239071e+01] [ 1.08417080e-01 9.94104186e-01 -1.61373865e-03 -1.49958630e+02] [-1.59833823e-02 1.20046904e-04 -9.99872250e-01 -4.08913757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.014725217229577378 Centerline is valid? [True, True] Translation: X:44.83, Y:-149.93, Z:-4.09 [[-9.98978999e-01 4.21239167e-02 1.63259326e-02 4.48276951e+01] [ 4.21215294e-02 9.99112374e-01 -4.90215800e-04 -1.49933463e+02] [-1.63320911e-02 1.97957962e-04 -9.99866603e-01 -4.08810276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.014837348496486154 Centerline is valid? [True, True] Translation: X:44.85, Y:-149.30, Z:-5.16 [[-9.96388430e-01 -8.34226490e-02 1.58353758e-02 4.48479403e+01] [ 8.34086125e-02 -9.96514231e-01 -1.54593780e-03 -1.49295379e+02] [ 1.59091436e-02 -2.19547809e-04 9.99873418e-01 -5.16125876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.013507689895738566 Centerline is valid? [True, True] Translation: X:44.77, Y:-149.93, Z:-4.09 [[-9.99268598e-01 3.54208353e-02 1.44094844e-02 4.47671567e+01] [ 3.54191332e-02 9.99372476e-01 -3.73387195e-04 -1.49925067e+02] [-1.44136677e-02 1.37257347e-04 -9.99896108e-01 -4.09321525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.013031594912468906 Centerline is valid? [True, True] Translation: X:44.78, Y:-149.31, Z:-5.16 [[-9.95947924e-01 -8.91944543e-02 1.14927414e-02 4.47830444e+01] [ 8.91849196e-02 -9.96014183e-01 -1.34050587e-03 -1.49305321e+02] [ 1.15664991e-02 -3.10094821e-04 9.99933058e-01 -5.15658747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.012745608652409727 Centerline is valid? [True, True] Translation: X:44.71, Y:-149.91, Z:-4.09 [[-9.99756259e-01 1.97939720e-02 9.77857168e-03 4.47080093e+01] [ 1.97928401e-02 9.99804080e-01 -2.12525607e-04 -1.49911043e+02] [-9.78086259e-03 -1.89280994e-05 -9.99952166e-01 -4.09471771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.013274899141912197 Centerline is valid? [True, True] Translation: X:44.69, Y:-149.88, Z:-4.10 [[-9.98202425e-01 -5.93010211e-02 8.67804456e-03 4.46947082e+01] [-5.92995321e-02 9.98240142e-01 4.29010998e-04 -1.49877964e+02] [-8.68821323e-03 -8.63641633e-05 -9.99962253e-01 -4.09682195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.013950635869595314 Centerline is valid? [True, True] Translation: X:44.67, Y:-149.29, Z:-5.15 [[-9.99442832e-01 -3.23036102e-02 8.39662962e-03 4.46650099e+01] [ 3.23030029e-02 -9.99478100e-01 -2.07964177e-04 -1.49294773e+02] [ 8.39896541e-03 6.33880457e-05 9.99964726e-01 -5.15402060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.014565804279845346 Centerline is valid? [True, True] Translation: X:44.63, Y:-149.87, Z:-4.10 [[-9.97583475e-01 -6.89104672e-02 8.86329249e-03 4.46343605e+01] [-6.89089514e-02 9.97622839e-01 4.76650164e-04 -1.49874936e+02] [-8.87506921e-03 -1.35261865e-04 -9.99960607e-01 -4.09566029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.015135422401486126 Centerline is valid? [True, True] Translation: X:44.60, Y:-149.30, Z:-5.16 [[-9.99471522e-01 -3.08640839e-02 1.02022509e-02 4.46020954e+01] [ 3.08649710e-02 -9.99523561e-01 -7.05216044e-05 -1.49303742e+02] [ 1.01995667e-02 2.44407841e-04 9.99947953e-01 -5.15670717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.014827724355533057 Centerline is valid? [True, True] Translation: X:44.57, Y:-149.88, Z:-4.09 [[-9.97183716e-01 -7.41000015e-02 1.15683285e-02 4.45724882e+01] [-7.40972101e-02 9.97250798e-01 6.70311599e-04 -1.49876984e+02] [-1.15861949e-02 -1.88757053e-04 -9.99932860e-01 -4.09424935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.013978672103078226 Centerline is valid? [True, True] Translation: X:44.56, Y:-149.85, Z:-4.09 [[-9.89828720e-01 -1.41846818e-01 1.08897136e-02 4.45617238e+01] [-1.41839854e-01 9.89888609e-01 1.41308442e-03 -1.49853783e+02] [-1.09800450e-02 -1.45883842e-04 -9.99939707e-01 -4.09487642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.012970296414756373 Centerline is valid? [True, True] Translation: X:44.55, Y:-149.83, Z:-4.10 [[-9.78283435e-01 -2.07004209e-01 1.05251018e-02 4.45539747e+01] [-2.06993193e-01 9.78340048e-01 2.13731920e-03 -1.49832773e+02] [-1.07395627e-02 -8.77204562e-05 -9.99942325e-01 -4.09565951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.01243658531669403 Centerline is valid? [True, True] Translation: X:44.54, Y:-149.82, Z:-4.10 [[-9.63508670e-01 -2.67521560e-01 9.12457730e-03 4.45424059e+01] [-2.67509461e-01 9.63551874e-01 2.54437891e-03 -1.49817014e+02] [-9.47267978e-03 1.06203830e-05 -9.99955133e-01 -4.09647710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.012796773794375181 Centerline is valid? [True, True] Translation: X:44.51, Y:-149.80, Z:-4.10 [[-9.43791616e-01 -3.30421574e-01 8.88648627e-03 4.45132270e+01] [-3.30406246e-01 9.43833449e-01 3.18338486e-03 -1.49803990e+02] [-9.43922202e-03 6.83013782e-05 -9.99955447e-01 -4.09699035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.013542170068054856 Centerline is valid? [True, True] Translation: X:44.47, Y:-149.80, Z:-4.10 [[-9.19095979e-01 -3.93936984e-01 8.73125855e-03 4.44689231e+01] [-3.93918045e-01 9.19137444e-01 3.86435676e-03 -1.49796261e+02] [-9.54753971e-03 1.12314462e-04 -9.99954415e-01 -4.09599316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.014092534477058426 Centerline is valid? [True, True] Translation: X:44.41, Y:-149.80, Z:-4.09 [[-8.88312709e-01 -4.59109758e-01 1.08977668e-02 4.44086251e+01] [-4.59072934e-01 8.88379538e-01 5.81708505e-03 -1.49798999e+02] [-1.23520336e-02 1.64520798e-04 -9.99923697e-01 -4.09393748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.013836715946929768 Centerline is valid? [True, True] Translation: X:44.34, Y:-149.81, Z:-4.09 [[-8.50776531e-01 -5.25406884e-01 1.12650298e-02 4.43384737e+01] [-5.25358557e-01 8.50851094e-01 7.12756371e-03 -1.49806977e+02] [-1.33297340e-02 1.45784098e-04 -9.99911145e-01 -4.09276523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.013151366355578304 Centerline is valid? [True, True] Translation: X:44.26, Y:-149.82, Z:-4.09 [[-8.07472238e-01 -5.89792026e-01 1.15737219e-02 4.42616128e+01] [-5.89729520e-01 8.07555171e-01 8.58712918e-03 -1.49823726e+02] [-1.44110393e-02 1.08502971e-04 -9.99896150e-01 -4.09301745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.012971497705726235 Centerline is valid? [True, True] Translation: X:44.18, Y:-149.85, Z:-4.09 [[-7.58113311e-01 -6.52030092e-01 1.09985174e-02 4.41790676e+01] [-6.51960760e-01 7.58193088e-01 9.50838092e-03 -1.49850057e+02] [-1.45387503e-02 3.78283889e-05 -9.99894306e-01 -4.09177710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.012808910110626563 Centerline is valid? [True, True] Translation: X:44.10, Y:-149.88, Z:-4.09 [[-7.04504447e-01 -7.09631501e-01 9.82935037e-03 4.40981507e+01] [-7.09562828e-01 7.04573014e-01 9.87226694e-03 -1.49884818e+02] [-1.39311666e-02 -1.94856826e-05 -9.99902956e-01 -4.09328498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.012898138046000188 Centerline is valid? [True, True] Translation: X:44.02, Y:-149.93, Z:-4.09 [[-6.46309305e-01 -7.63028052e-01 8.51311364e-03 4.40172660e+01] [-7.62963264e-01 6.46365366e-01 9.94343162e-03 -1.49930076e+02] [-1.30896991e-02 -6.86605801e-05 -9.99914324e-01 -4.09463061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.01333133990864734 Centerline is valid? [True, True] Translation: X:43.93, Y:-149.99, Z:-4.10 [[-5.83628010e-01 -8.11994023e-01 6.63722509e-03 4.39340907e+01] [-8.11943586e-01 5.83665740e-01 9.05083669e-03 -1.49987533e+02] [-1.12231462e-02 -1.06730528e-04 -9.99937013e-01 -4.09612969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.013831289542902477 Centerline is valid? [True, True] Translation: X:43.86, Y:-150.05, Z:-4.10 [[-5.18476848e-01 -8.55072544e-01 5.71856402e-03 4.38555160e+01] [-8.55023289e-01 5.18508368e-01 9.17865848e-03 -1.50052951e+02] [-1.08135422e-02 -1.30583491e-04 -9.99941524e-01 -4.09704411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.014319933457933535 Centerline is valid? [True, True] Translation: X:43.78, Y:-150.12, Z:-4.10 [[-4.50636887e-01 -8.92695752e-01 4.54872624e-03 4.37828662e+01] [-8.92653302e-01 4.50659823e-01 8.70671329e-03 -1.50124893e+02] [-9.82237413e-03 -1.36869322e-04 -9.99951750e-01 -4.09835494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.014421293937107966 Centerline is valid? [True, True] Translation: X:43.72, Y:-150.21, Z:-4.10 [[-3.80696885e-01 -9.24694411e-01 3.18228912e-03 4.37157898e+01] [-9.24664691e-01 3.80710167e-01 7.41467156e-03 -1.50205994e+02] [-8.06783517e-03 -1.19808019e-04 -9.99967447e-01 -4.10035365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.014047530591217883 Centerline is valid? [True, True] Translation: X:43.65, Y:-150.30, Z:-4.10 [[-3.09436568e-01 -9.50917470e-01 2.23051964e-03 4.36536372e+01] [-9.50895077e-01 3.09444591e-01 6.52672660e-03 -1.50297264e+02] [-6.89660058e-03 -1.01382260e-04 -9.99976213e-01 -4.10082691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.014165552339984679 Centerline is valid? [True, True] Translation: X:43.60, Y:-150.39, Z:-4.10 [[-2.36409695e-01 -9.71651782e-01 1.80836694e-03 4.35983988e+01] [-9.71626622e-01 2.36416588e-01 6.99314740e-03 -1.50390662e+02] [-7.22243208e-03 -1.03809620e-04 -9.99973913e-01 -4.10065530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.013704641955850085 Centerline is valid? [True, True] Translation: X:43.55, Y:-150.49, Z:-4.10 [[-1.65304155e-01 -9.86241680e-01 1.37331546e-03 4.35537357e+01] [-9.86211680e-01 1.65309839e-01 7.69284942e-03 -1.50492097e+02] [-7.81403129e-03 -8.27197735e-05 -9.99969467e-01 -4.09999038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.013059483564956125 Centerline is valid? [True, True] Translation: X:43.52, Y:-150.60, Z:-4.10 [[-9.48559364e-02 -9.95490727e-01 7.50884227e-04 4.35183911e+01] [-9.95462669e-01 9.48589006e-02 7.47415270e-03 -1.50597029e+02] [-7.51167776e-03 -3.85094637e-05 -9.99971786e-01 -4.10020025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.012783090896025957 Centerline is valid? [True, True] Translation: X:43.49, Y:-150.71, Z:-4.10 [[-2.24736173e-02 -9.99747426e-01 1.45839848e-04 4.34904892e+01] [-9.99728028e-01 2.24740897e-02 6.22774745e-03 -1.50706407e+02] [-6.22945209e-03 -5.84017116e-06 -9.99980597e-01 -4.10230284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.012898833725519315 Centerline is valid? [True, True] Translation: X:42.84, Y:-150.80, Z:-5.15 [[-8.93378919e-02 9.96001235e-01 5.30949893e-04 4.28410175e+01] [-9.95986734e-01 -8.93394564e-02 5.37462519e-03 -1.50796461e+02] [ 5.40056810e-03 -4.86613665e-05 9.99985416e-01 -5.14738207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.013049817318441494 Centerline is valid? [True, True] Translation: X:43.49, Y:-150.98, Z:-4.10 [[-1.80164735e-02 -9.99837687e-01 7.60308332e-05 4.34908447e+01] [-9.99822753e-01 1.80166199e-02 5.46480459e-03 -1.50979509e+02] [-5.46528740e-03 2.24391500e-05 -9.99985065e-01 -4.10408773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.01299088121317815 Centerline is valid? [True, True] Translation: X:43.47, Y:-151.10, Z:-4.10 [[ 6.03722130e-02 -9.98175868e-01 -3.64861064e-04 4.34665765e+01] [-9.98159006e-01 -6.03733139e-02 5.80189476e-03 -1.51101845e+02] [-5.81333921e-03 1.39161300e-05 -9.99983102e-01 -4.10315503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.012987302788339114 Centerline is valid? [True, True] Translation: X:43.45, Y:-151.22, Z:-4.10 [[ 1.40238794e-01 -9.90117307e-01 -8.93448723e-04 4.34485743e+01] [-9.90096866e-01 -1.40241640e-01 6.36233968e-03 -1.51215733e+02] [-6.42476135e-03 -7.64606675e-06 -9.99979361e-01 -4.10238869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.013466167824717455 Centerline is valid? [True, True] Translation: X:43.44, Y:-151.34, Z:-4.10 [[ 2.21977755e-01 -9.75050863e-01 -1.30029586e-03 4.34369022e+01] [-9.75032887e-01 -2.21981559e-01 5.92095346e-03 -1.51337694e+02] [-6.06187249e-03 -4.64887328e-05 -9.99981626e-01 -4.10228323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.013980643765769123 Centerline is valid? [True, True] Translation: X:43.44, Y:-151.46, Z:-4.10 [[ 2.99532116e-01 -9.54084383e-01 -1.87139440e-03 4.34359781e+01] [-9.54064193e-01 -2.99537953e-01 6.20728292e-03 -1.51458414e+02] [-6.48282535e-03 -7.38501994e-05 -9.99978984e-01 -4.10222034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.014554373186324425 Centerline is valid? [True, True] Translation: X:43.45, Y:-151.58, Z:-4.10 [[ 3.73732429e-01 -9.27534237e-01 -2.07617500e-03 4.34452872e+01] [-9.27518744e-01 -3.73738187e-01 5.36160479e-03 -1.51576795e+02] [-5.74901789e-03 -7.81143517e-05 -9.99983471e-01 -4.10350451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.014390880944173953 Centerline is valid? [True, True] Translation: X:43.47, Y:-151.69, Z:-4.11 [[ 4.43246146e-01 -8.96398068e-01 -1.83218645e-03 4.34656183e+01] [-8.96389883e-01 -4.43249930e-01 3.83115477e-03 -1.51693547e+02] [-4.24635625e-03 -5.57911923e-05 -9.99990983e-01 -4.10531676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.013266869407186504 Centerline is valid? [True, True] Translation: X:43.49, Y:-151.80, Z:-4.11 [[ 5.06670995e-01 -8.62138308e-01 -1.42833535e-03 4.34912869e+01] [-8.62134746e-01 -5.06673008e-01 2.47849828e-03 -1.51796527e+02] [-2.86050728e-03 -2.43656573e-05 -9.99995909e-01 -4.10630686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.012966882095502898 Centerline is valid? [True, True] Translation: X:43.53, Y:-151.90, Z:-4.11 [[ 5.69358299e-01 -8.22088383e-01 -1.34818982e-03 4.35270573e+01] [-8.22086014e-01 -5.69359895e-01 1.97357474e-03 -1.51903365e+02] [-2.39005808e-03 -1.53431669e-05 -9.99997144e-01 -4.10602626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.012496423764651368 Centerline is valid? [True, True] Translation: X:43.57, Y:-152.00, Z:-4.11 [[ 6.24619922e-01 -7.80928768e-01 -4.60692153e-04 4.35677238e+01] [-7.80928558e-01 -6.24620092e-01 5.72631689e-04 -1.52000378e+02] [-7.34942135e-04 2.09049752e-06 -9.99999730e-01 -4.10634565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.012642285635052179 Centerline is valid? [True, True] Translation: X:43.62, Y:-152.10, Z:-4.11 [[ 6.79169388e-01 -7.33981539e-01 2.06708605e-04 4.36156068e+01] [-7.33981505e-01 -6.79169419e-01 -2.24437610e-04 -1.52095874e+02] [ 3.05123225e-04 7.10861739e-07 -9.99999954e-01 -4.10716325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.012737491686355839 Centerline is valid? [True, True] Translation: X:43.67, Y:-152.19, Z:-4.11 [[ 7.31328229e-01 -6.82025273e-01 7.40505387e-04 4.36662354e+01] [-6.82024930e-01 -7.31328604e-01 -6.84300984e-04 -1.52185676e+02] [ 1.00826334e-03 -4.59450871e-06 -9.99999492e-01 -4.10748422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.012773751747250065 Centerline is valid? [True, True] Translation: X:43.69, Y:-152.22, Z:-4.11 [[ 7.83031857e-01 -6.21981317e-01 5.93646626e-04 4.36863826e+01] [-6.21981140e-01 -7.83032082e-01 -4.68805567e-04 -1.52215362e+02] [ 7.56432657e-04 -2.14731110e-06 -9.99999714e-01 -4.10790127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.012486280901908424 Centerline is valid? [True, True] Translation: X:43.70, Y:-152.25, Z:-4.11 [[ 8.32774253e-01 -5.53612718e-01 -5.07883607e-05 4.37048048e+01] [-5.53612717e-01 -8.32774254e-01 3.13641268e-05 -1.52251767e+02] [-5.96588192e-05 1.99784511e-06 -9.99999998e-01 -4.10629574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.0127716689883152 Centerline is valid? [True, True] Translation: X:43.73, Y:-152.28, Z:-4.11 [[ 8.75953753e-01 -4.82393861e-01 -1.08845805e-03 4.37282161e+01] [-4.82393481e-01 -8.75954430e-01 6.05371350e-04 -1.52283609e+02] [-1.24546707e-03 -5.21223785e-06 -9.99999224e-01 -4.10514644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.013372218723965126 Centerline is valid? [True, True] Translation: X:43.76, Y:-152.31, Z:-4.10 [[ 9.12841111e-01 -4.08312763e-01 -1.33917921e-03 4.37552605e+01] [-4.08312302e-01 -9.12842094e-01 6.13509834e-04 -1.52312210e+02] [-1.47296305e-03 -1.32336517e-05 -9.99998915e-01 -4.10474963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.013433206115202368 Centerline is valid? [True, True] Translation: X:43.79, Y:-152.34, Z:-4.11 [[ 9.42275259e-01 -3.34838302e-01 -8.04436484e-04 4.37864614e+01] [-3.34838173e-01 -9.42275603e-01 2.93961281e-04 -1.52335583e+02] [-8.56430370e-04 -7.63639989e-06 -9.99999633e-01 -4.10548497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.013367746593041267 Centerline is valid? [True, True] Translation: X:43.82, Y:-152.36, Z:-4.10 [[ 9.65604106e-01 -2.60012701e-01 -1.45098565e-03 4.38184838e+01] [-2.60012384e-01 -9.65605196e-01 4.06415468e-04 -1.52356639e+02] [-1.50675247e-03 -1.51622053e-05 -9.99998865e-01 -4.10482041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.013358742953018319 Centerline is valid? [True, True] Translation: X:43.85, Y:-152.37, Z:-4.10 [[ 9.82879984e-01 -1.84223809e-01 -2.91967835e-03 4.38514504e+01] [-1.84222904e-01 -9.82884320e-01 5.78271473e-04 -1.52374052e+02] [-2.97623744e-03 -3.04998312e-05 -9.99995571e-01 -4.10314845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.012887550839432776 Centerline is valid? [True, True] Translation: X:43.89, Y:-152.38, Z:-4.10 [[ 9.93948997e-01 -1.09758087e-01 -4.30736842e-03 4.38873226e+01] [-1.09756914e-01 -9.93958330e-01 5.08470360e-04 -1.52384574e+02] [-4.33715345e-03 -3.26301383e-05 -9.99990594e-01 -4.10157837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.012508766166732807 Centerline is valid? [True, True] Translation: X:43.92, Y:-152.39, Z:-4.10 [[ 9.99351856e-01 -3.56846740e-02 -4.74041355e-03 4.39205889e+01] [-3.56841945e-02 -9.99363099e-01 1.85721855e-04 -1.52392364e+02] [-4.74402180e-03 -1.64436411e-05 -9.99988747e-01 -4.10209152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.01235394902677497 Centerline is valid? [True, True] Translation: X:43.95, Y:-152.40, Z:-4.10 [[ 9.99310358e-01 3.68287109e-02 -4.73872295e-03 4.39538599e+01] [ 3.68282433e-02 -9.99321593e-01 -1.85925032e-04 -1.52395295e+02] [-4.74235555e-03 1.12779683e-05 -9.99988755e-01 -4.10197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.013382128977202463 Centerline is valid? [True, True] Translation: X:43.99, Y:-152.40, Z:-4.10 [[ 9.94491593e-01 1.04715858e-01 -4.58928564e-03 4.39868155e+01] [ 1.04714471e-01 -9.94502180e-01 -5.42167449e-04 -1.52395400e+02] [-4.62082810e-03 5.86163523e-05 -9.99989322e-01 -4.10192344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.014687965155641894 Centerline is valid? [True, True] Translation: X:44.02, Y:-152.39, Z:-4.10 [[ 9.84197721e-01 1.76979647e-01 -5.74895168e-03 4.40191545e+01] [ 1.76976002e-01 -9.84214506e-01 -1.14074587e-03 -1.52393521e+02] [-5.86009044e-03 1.05293003e-04 -9.99982824e-01 -4.10068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.015623178073457457 Centerline is valid? [True, True] Translation: X:44.05, Y:-152.39, Z:-4.10 [[ 9.68011453e-01 2.50820400e-01 -6.55388310e-03 4.40515178e+01] [ 2.50813665e-01 -9.68033629e-01 -1.84344198e-03 -1.52388297e+02] [-6.80675210e-03 1.40669510e-04 -9.99976824e-01 -4.09998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.014767846462262013 Centerline is valid? [True, True] Translation: X:44.09, Y:-152.39, Z:-4.10 [[ 9.45150372e-01 3.26560796e-01 -6.98727904e-03 4.40856827e+01] [ 3.26550712e-01 -9.45176187e-01 -2.57050675e-03 -1.52390079e+02] [-7.44363650e-03 1.47814466e-04 -9.99972285e-01 -4.10023445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.014539897554880226 Centerline is valid? [True, True] Translation: X:44.12, Y:-152.39, Z:-4.10 [[ 9.16004920e-01 4.01109506e-01 -6.79338955e-03 4.41203121e+01] [ 4.01097375e-01 -9.16030101e-01 -3.12250109e-03 -1.52387186e+02] [-7.47541419e-03 1.35415649e-04 -9.99972050e-01 -4.10031968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.014824574315561246 Centerline is valid? [True, True] Translation: X:44.15, Y:-152.38, Z:-4.10 [[ 8.81272242e-01 4.72573623e-01 -5.77972774e-03 4.41512922e+01] [ 4.72562616e-01 -8.81291188e-01 -3.22737918e-03 -1.52378697e+02] [-6.61879740e-03 1.12916428e-04 -9.99978089e-01 -4.10035354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.013898159367406964 Centerline is valid? [True, True] Translation: X:44.19, Y:-152.37, Z:-4.10 [[ 8.40728046e-01 5.41441549e-01 -4.17144400e-03 4.41853627e+01] [ 5.41434420e-01 -8.40738392e-01 -2.77957159e-03 -1.52371089e+02] [-5.01206866e-03 7.83004281e-05 -9.99987437e-01 -4.10183669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.013402288683763093 Centerline is valid? [True, True] Translation: X:44.22, Y:-152.36, Z:-4.10 [[ 7.94158397e-01 6.07701473e-01 -3.37055962e-03 4.42192027e+01] [ 6.07695700e-01 -7.94165548e-01 -2.64931253e-03 -1.52361133e+02] [-4.28677346e-03 5.56992052e-05 -9.99990810e-01 -4.10203711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.012951539335289471 Centerline is valid? [True, True] Translation: X:44.25, Y:-152.35, Z:-4.10 [[ 7.41279703e-01 6.71193550e-01 -1.90275950e-03 4.42507074e+01] [ 6.71191258e-01 -7.41282144e-01 -1.75424603e-03 -1.52349206e+02] [-2.58792026e-03 2.32714326e-05 -9.99996651e-01 -4.10247713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.01240182535928468 Centerline is valid? [True, True] Translation: X:44.28, Y:-152.34, Z:-4.10 [[ 6.80531199e-01 7.32719100e-01 -8.31497117e-05 4.42837761e+01] [ 7.32719094e-01 -6.80531204e-01 -9.23876222e-05 -1.52335112e+02] [-1.24280149e-04 1.94727786e-06 -9.99999992e-01 -4.10378382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.012753465735466252 Centerline is valid? [True, True] Translation: X:44.31, Y:-152.32, Z:-4.10 [[ 6.17429529e-01 7.86626075e-01 4.40782763e-04 4.43130863e+01] [ 7.86625881e-01 -6.17429687e-01 5.53223195e-04 -1.52315803e+02] [ 7.07332153e-04 5.15479227e-06 -9.99999750e-01 -4.10416428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.013340339940720071 Centerline is valid? [True, True] Translation: X:44.34, Y:-152.29, Z:-4.10 [[ 5.50899532e-01 8.34571447e-01 4.53759165e-04 4.43390280e+01] [ 8.34571177e-01 -5.50899719e-01 6.71811629e-04 -1.52294218e+02] [ 8.10650599e-04 8.59360820e-06 -9.99999671e-01 -4.10392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.013869300141787272 Centerline is valid? [True, True] Translation: X:44.36, Y:-152.27, Z:-4.10 [[ 4.82280237e-01 8.76016988e-01 1.02847964e-04 4.43596244e+01] [ 8.76016969e-01 -4.82280248e-01 1.78559948e-04 -1.52268676e+02] [ 2.06023088e-04 3.98062744e-06 -9.99999979e-01 -4.10223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.013358119350655165 Centerline is valid? [True, True] Translation: X:44.38, Y:-152.24, Z:-4.10 [[ 4.13293158e-01 9.10597997e-01 -2.30149152e-04 4.43799475e+01] [ 9.10597860e-01 -4.13293222e-01 -4.99960981e-04 -1.52241216e+02] [-5.50382553e-04 -2.94287211e-06 -9.99999849e-01 -4.10093474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.013213279958325748 Centerline is valid? [True, True] Translation: X:44.40, Y:-152.21, Z:-4.10 [[ 3.42591650e-01 9.39484312e-01 -4.34126349e-04 4.43962662e+01] [ 9.39483582e-01 -3.42591925e-01 -1.17131002e-03 -1.52212322e+02] [-1.24915557e-03 -6.57354546e-06 -9.99999220e-01 -4.10020926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.013059853271801411 Centerline is valid? [True, True] Translation: X:44.41, Y:-152.18, Z:-4.10 [[ 2.71085301e-01 9.62555161e-01 -5.67006819e-04 4.44083822e+01] [ 9.62553097e-01 -2.71085894e-01 -1.99336073e-03 -1.52181460e+02] [-2.07242721e-03 -5.40337612e-06 -9.99997853e-01 -4.09847479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.012876364332292365 Centerline is valid? [True, True] Translation: X:44.42, Y:-152.15, Z:-4.10 [[ 1.95950472e-01 9.80613671e-01 -4.90681489e-04 4.44216290e+01] [ 9.80610648e-01 -1.95951087e-01 -2.43508301e-03 -1.52151374e+02] [-2.48402526e-03 -4.01182678e-06 -9.99996915e-01 -4.09771072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.012808452511608769 Centerline is valid? [True, True] Translation: X:44.43, Y:-152.12, Z:-4.10 [[ 1.19032332e-01 9.92890354e-01 -2.21959127e-04 4.44313460e+01] [ 9.92888652e-01 -1.19032539e-01 -1.83855442e-03 -1.52120044e+02] [-1.85190331e-03 -1.53327868e-06 -9.99998285e-01 -4.09855412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.012703101546018582 Centerline is valid? [True, True] Translation: X:44.44, Y:-152.09, Z:-4.10 [[ 4.15031402e-02 9.99138373e-01 -2.36504954e-05 4.44378035e+01] [ 9.99138195e-01 -4.15031469e-02 -5.96161285e-04 -1.52089136e+02] [-5.96629187e-04 1.11245212e-06 -9.99999822e-01 -4.09918149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.012729420833767689 Centerline is valid? [True, True] Translation: X:44.44, Y:-152.06, Z:-4.10 [[-3.62003866e-02 9.99344551e-01 3.55694552e-06 4.44402860e+01] [ 9.99344550e-01 3.62003867e-02 -4.71830084e-05 -1.52057621e+02] [-4.72808457e-05 1.84657098e-06 -9.99999999e-01 -4.09887343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.012777669554042831 Centerline is valid? [True, True] Translation: X:44.44, Y:-152.03, Z:-4.10 [[-1.14264432e-01 9.93450371e-01 4.54033103e-06 4.44389299e+01] [ 9.93450371e-01 1.14264432e-01 -2.32090682e-05 -1.52027155e+02] [-2.35758563e-05 1.85862255e-06 -1.00000000e+00 -4.09801066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.012753348455190971 Centerline is valid? [True, True] Translation: X:44.43, Y:-152.00, Z:-4.09 [[-1.93144741e-01 9.81170216e-01 3.42363680e-04 4.44337836e+01] [ 9.81168658e-01 1.93145044e-01 -1.74806696e-03 -1.51997572e+02] [-1.78127708e-03 -1.71342719e-06 -9.99998414e-01 -4.09482569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.012997159226741188 Centerline is valid? [True, True] Translation: X:44.43, Y:-151.97, Z:-4.09 [[-2.72312838e-01 9.62208465e-01 7.66823862e-04 4.44271264e+01] [ 9.62204520e-01 2.72313917e-01 -2.75536514e-03 -1.51968151e+02] [-2.86005247e-03 -1.24799127e-05 -9.99995910e-01 -4.09296524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.013716976880272283 Centerline is valid? [True, True] Translation: X:44.42, Y:-151.94, Z:-4.09 [[-3.50421454e-01 9.36591263e-01 1.26895469e-03 4.44196865e+01] [ 9.36584801e-01 3.50423750e-01 -3.47935081e-03 -1.51938724e+02] [-3.70340143e-03 -3.07554906e-05 -9.99993142e-01 -4.09134738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.015070763462396239 Centerline is valid? [True, True] Translation: X:44.42, Y:-151.91, Z:-4.09 [[-4.28442930e-01 9.03567306e-01 1.66715674e-03 4.44165837e+01] [ 9.03559922e-01 4.28446170e-01 -3.65337751e-03 -1.51906079e+02] [-4.01535939e-03 -5.88877527e-05 -9.99991937e-01 -4.09052455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.01586327327467563 Centerline is valid? [True, True] Translation: X:44.41, Y:-151.88, Z:-4.09 [[-4.99764532e-01 8.66159072e-01 1.96842719e-03 4.44065524e+01] [ 8.66151808e-01 4.99768404e-01 -3.54790316e-03 -1.51875281e+02] [-4.05680622e-03 -6.81593927e-05 -9.99991769e-01 -4.08947387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.01599943923303803 Centerline is valid? [True, True] Translation: X:44.39, Y:-151.85, Z:-4.09 [[-5.65934387e-01 8.24448588e-01 1.67223959e-03 4.43896371e+01] [ 8.24444725e-01 5.65936855e-01 -2.52418321e-03 -1.51848431e+02] [-3.02744130e-03 -4.98529669e-05 -9.99995416e-01 -4.08986757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.013766300193983672 Centerline is valid? [True, True] Translation: X:44.37, Y:-151.82, Z:-4.09 [[-6.24698021e-01 7.80866400e-01 2.19172651e-04 4.43695383e+01] [ 7.80866350e-01 6.24698060e-01 -2.77727051e-04 -1.51823337e+02] [-3.53784453e-04 -2.35099119e-06 -9.99999938e-01 -4.09164424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.013224435006102741 Centerline is valid? [True, True] Translation: X:44.35, Y:-151.80, Z:-4.09 [[-6.81181491e-01 7.32114522e-01 -3.19188759e-04 4.43496885e+01] [ 7.32114438e-01 6.81181566e-01 3.51355805e-04 -1.51798057e+02] [ 4.74658186e-04 5.65437282e-06 -9.99999887e-01 -4.09137040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.012913064801692796 Centerline is valid? [True, True] Translation: X:44.33, Y:-151.77, Z:-4.09 [[-7.34713017e-01 6.78377593e-01 -7.90005709e-04 4.43290430e+01] [ 6.78377190e-01 7.34713441e-01 7.40027916e-04 -1.51773994e+02] [ 1.08244617e-03 7.78628992e-06 -9.99999414e-01 -4.09062173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.012900795971924391 Centerline is valid? [True, True] Translation: X:44.34, Y:-151.75, Z:-4.09 [[-7.80504000e-01 6.25148981e-01 -1.50274485e-03 4.43449107e+01] [ 6.25147795e-01 7.80505446e-01 1.21790489e-03 -1.51754236e+02] [ 1.93427254e-03 1.11420098e-05 -9.99998129e-01 -4.09067856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.013001402531956788 Centerline is valid? [True, True] Translation: X:44.36, Y:-151.73, Z:-4.09 [[-8.22895308e-01 5.68191642e-01 -1.25335661e-03 4.43588557e+01] [ 5.68190965e-01 8.22896262e-01 8.76849124e-04 -1.51730350e+02] [ 1.52960082e-03 9.40912510e-06 -9.99998830e-01 -4.08988805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.01308879589901871 Centerline is valid? [True, True] Translation: X:44.37, Y:-151.71, Z:-4.09 [[-8.60518554e-01 5.09419058e-01 -2.04355390e-04 4.43732752e+01] [ 5.09419043e-01 8.60518578e-01 1.23982757e-04 -1.51705872e+02] [ 2.39010788e-04 2.58693546e-06 -9.99999972e-01 -4.08804916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.012968095926543953 Centerline is valid? [True, True] Translation: X:44.39, Y:-151.68, Z:-4.09 [[-8.93824716e-01 4.48416523e-01 5.26012667e-06 4.43860775e+01] [ 4.48416523e-01 8.93824716e-01 -8.31765536e-07 -1.51680941e+02] [-5.07460917e-06 1.61527512e-06 -1.00000000e+00 -4.08643428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.012979180009799408 Centerline is valid? [True, True] Translation: X:44.40, Y:-151.66, Z:-4.09 [[-9.22673742e-01 3.85580909e-01 -7.27784985e-04 4.43959518e+01] [ 3.85580787e-01 9.22674029e-01 3.06680926e-04 -1.51656483e+02] [ 7.89758614e-04 2.34653045e-06 -9.99999688e-01 -4.08661929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.012961733734248927 Centerline is valid? [True, True] Translation: X:44.63, Y:-151.10, Z:-5.16 [[-8.94319082e-01 -4.47426352e-01 -1.74305093e-03 4.46311773e+01] [ 4.47425656e-01 -8.94320778e-01 7.92504891e-04 -1.51099109e+02] [-1.91343423e-03 -7.11334568e-05 9.99998167e-01 -5.16350535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.012959147865363443 Centerline is valid? [True, True] Translation: X:44.36, Y:-151.64, Z:-4.09 [[-9.23128793e-01 3.84484881e-01 -2.14653759e-03 4.43590999e+01] [ 3.84483840e-01 9.23131289e-01 8.94890844e-04 -1.51638586e+02] [ 2.32560801e-03 7.90488305e-07 -9.99997296e-01 -4.08627869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.01293117326225919 Centerline is valid? [True, True] Translation: X:44.37, Y:-151.61, Z:-4.09 [[-9.48229855e-01 3.17571714e-01 -2.88945958e-03 4.43715118e+01] [ 3.17570233e-01 9.48234257e-01 9.69941576e-04 -1.51609951e+02] [ 3.04791056e-03 2.12120858e-06 -9.99995355e-01 -4.08593264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.012887937133875052 Centerline is valid? [True, True] Translation: X:44.38, Y:-151.58, Z:-4.08 [[-9.68263538e-01 2.49928312e-01 -1.24884798e-03 4.43753358e+01] [ 2.49928102e-01 9.68264344e-01 3.23934587e-04 -1.51581557e+02] [ 1.29017539e-03 1.53184439e-06 -9.99999168e-01 -4.08459644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.012920282360480165 Centerline is valid? [True, True] Translation: X:44.37, Y:-151.55, Z:-4.08 [[-9.83286578e-01 1.82064469e-01 1.85879743e-04 4.43740021e+01] [ 1.82064466e-01 9.83286596e-01 -3.20901625e-05 -1.51552275e+02] [-1.88615538e-04 2.28827015e-06 -9.99999982e-01 -4.08302129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.012991743579344926 Centerline is valid? [True, True] Translation: X:44.48, Y:-150.98, Z:-5.17 [[-9.70129457e-01 -2.42584186e-01 1.32247598e-03 4.44820979e+01] [ 2.42584054e-01 -9.70130356e-01 -2.61728556e-04 -1.50977611e+02] [ 1.34646531e-03 6.69010034e-05 9.99999091e-01 -5.16930741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.013019960571464815 Centerline is valid? [True, True] Translation: X:44.33, Y:-151.54, Z:-4.08 [[-9.83256827e-01 1.82224474e-01 5.03861035e-04 4.43296559e+01] [ 1.82224452e-01 9.83256956e-01 -8.87514629e-05 -1.51541967e+02] [-5.11597557e-04 4.55031940e-06 -9.99999869e-01 -4.08183423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.013383518738557459 Centerline is valid? [True, True] Translation: X:44.44, Y:-150.97, Z:-5.17 [[-9.72325434e-01 -2.33630340e-01 -3.38793836e-04 4.44353472e+01] [ 2.33630344e-01 -9.72325492e-01 2.93017525e-05 -1.50968973e+02] [-3.36263661e-04 -5.06616811e-05 9.99999942e-01 -5.16779003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.013725076979425682 Centerline is valid? [True, True] Translation: X:44.29, Y:-151.54, Z:-4.08 [[-9.82756740e-01 1.84895212e-01 -1.71784695e-03 4.42883452e+01] [ 1.84894964e-01 9.82758241e-01 3.03292516e-04 -1.51537681e+02] [ 1.74430559e-03 -1.95584865e-05 -9.99998479e-01 -4.08338194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.013667239330757041 Centerline is valid? [True, True] Translation: X:44.29, Y:-151.51, Z:-4.08 [[-9.93506549e-01 1.13755089e-01 -2.12530787e-03 4.42872263e+01] [ 1.13754877e-01 9.93508822e-01 2.20789914e-04 -1.51508067e+02] [ 2.13662809e-03 -2.24079095e-05 -9.99997717e-01 -4.08307349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.013159279775208333 Centerline is valid? [True, True] Translation: X:44.28, Y:-151.48, Z:-4.08 [[-9.99265331e-01 3.83244412e-02 -1.91122023e-04 4.42800804e+01] [ 3.83244404e-02 9.99265349e-01 7.90423785e-06 -1.51475026e+02] [ 1.91284540e-04 5.73786277e-07 -9.99999982e-01 -4.08133356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.012903824442007442 Centerline is valid? [True, True] Translation: X:44.27, Y:-151.44, Z:-4.08 [[-9.99395758e-01 -3.47412486e-02 1.07880818e-03 4.42689358e+01] [-3.47412208e-02 9.99396341e-01 4.44897332e-05 -1.51444273e+02] [-1.07970258e-03 6.98373746e-06 -9.99999417e-01 -4.07897980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.013956032830109013 Centerline is valid? [True, True] Translation: X:44.25, Y:-150.88, Z:-5.17 [[-9.99756898e-01 -2.18588579e-02 2.88708702e-03 4.42465807e+01] [ 2.18590562e-02 -9.99761062e-01 3.71467356e-05 -1.50880467e+02] [ 2.88558520e-03 1.00246703e-04 9.99995832e-01 -5.17329880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.013686643730700833 Centerline is valid? [True, True] Translation: X:44.21, Y:-151.45, Z:-4.08 [[-9.99476282e-01 -3.22531128e-02 2.62632988e-03 4.42117630e+01] [-3.22529177e-02 9.99479733e-01 1.16606493e-04 -1.51450325e+02] [-2.62872441e-03 3.18386220e-05 -9.99996544e-01 -4.07652838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.013883840436667808 Centerline is valid? [True, True] Translation: X:44.20, Y:-151.43, Z:-4.08 [[-9.94914299e-01 -1.00683826e-01 2.88167038e-03 4.42023521e+01] [-1.00683281e-01 9.94918472e-01 3.34276326e-04 -1.51425047e+02] [-2.90068331e-03 4.24402693e-05 -9.99995792e-01 -4.07725456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.014355153581898901 Centerline is valid? [True, True] Translation: X:44.19, Y:-151.40, Z:-4.08 [[-9.85367895e-01 -1.70430031e-01 1.92769630e-03 4.41903634e+01] [-1.70429644e-01 9.85369780e-01 3.64712851e-04 -1.51400148e+02] [-1.96165170e-03 3.08397404e-05 -9.99998076e-01 -4.07746217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.014411008328755937 Centerline is valid? [True, True] Translation: X:44.17, Y:-151.37, Z:-4.08 [[-9.70937436e-01 -2.39326313e-01 1.84681056e-03 4.41732820e+01] [-2.39325817e-01 9.70939192e-01 4.88146936e-04 -1.51373913e+02] [-1.90996716e-03 3.19706884e-05 -9.99998176e-01 -4.07644370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.014009007042939588 Centerline is valid? [True, True] Translation: X:44.15, Y:-151.35, Z:-4.08 [[-9.50523123e-01 -3.10644030e-01 2.46581759e-03 4.41465191e+01] [-3.10642885e-01 9.50526320e-01 8.44205216e-04 -1.51351163e+02] [-2.60607183e-03 3.64478899e-05 -9.99996604e-01 -4.07561020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.013201290160520057 Centerline is valid? [True, True] Translation: X:44.11, Y:-151.33, Z:-4.08 [[-9.23506932e-01 -3.83570799e-01 2.89645392e-03 4.41062466e+01] [-3.83568826e-01 9.23511473e-01 1.23052714e-03 -1.51332174e+02] [-3.14690270e-03 2.54109136e-05 -9.99995048e-01 -4.07507014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.012841206742330318 Centerline is valid? [True, True] Translation: X:44.06, Y:-151.31, Z:-4.07 [[-8.89403044e-01 -4.57108834e-01 3.70657139e-03 4.40586271e+01] [-4.57104885e-01 8.89410768e-01 1.90000872e-03 -1.51314277e+02] [-4.16517527e-03 -4.41835237e-06 -9.99991326e-01 -4.07301381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.012995252921497608 Centerline is valid? [True, True] Translation: X:44.00, Y:-151.32, Z:-4.07 [[-8.51705681e-01 -5.24000542e-01 4.56788256e-03 4.39981203e+01] [-5.23993170e-01 8.51717929e-01 2.77972680e-03 -1.51315227e+02] [-5.34712583e-03 -2.60301541e-05 -9.99985704e-01 -4.07216817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.013057047364437474 Centerline is valid? [True, True] Translation: X:43.93, Y:-151.33, Z:-4.07 [[-8.10643760e-01 -5.85518963e-01 4.92321321e-03 4.39322893e+01] [-5.85508403e-01 8.10658709e-01 3.51674631e-03 -1.51329160e+02] [-6.05016732e-03 -3.17542454e-05 -9.99981697e-01 -4.07263366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.012889596419261767 Centerline is valid? [True, True] Translation: X:43.86, Y:-151.35, Z:-4.07 [[-7.68307854e-01 -6.40060379e-01 5.07472394e-03 4.38639330e+01] [-6.40046427e-01 7.68324613e-01 4.22605923e-03 -1.51353420e+02] [-6.60396838e-03 -1.14443255e-06 -9.99978194e-01 -4.07228036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.013070540346689594 Centerline is valid? [True, True] Translation: X:43.79, Y:-151.39, Z:-4.07 [[-7.22472143e-01 -6.91385659e-01 4.45802637e-03 4.37938032e+01] [-6.91372198e-01 7.22485896e-01 4.31431269e-03 -1.51386846e+02] [-6.20371510e-03 3.48152426e-05 -9.99980756e-01 -4.07231155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.013608859173122762 Centerline is valid? [True, True] Translation: X:43.72, Y:-151.43, Z:-4.07 [[-6.72306501e-01 -7.40267852e-01 2.73426109e-03 4.37206469e+01] [-7.40261465e-01 6.72312060e-01 3.07541668e-03 -1.51432347e+02] [-4.11490880e-03 4.35545034e-05 -9.99991533e-01 -4.07456230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.014110698125857819 Centerline is valid? [True, True] Translation: X:43.65, Y:-151.49, Z:-4.08 [[-6.17320232e-01 -7.86711474e-01 8.87843369e-04 4.36473972e+01] [-7.86710610e-01 6.17320870e-01 1.16578482e-03 -1.51487085e+02] [-1.46522053e-03 2.11867544e-05 -9.99998926e-01 -4.07777562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.014062404937912951 Centerline is valid? [True, True] Translation: X:43.57, Y:-151.55, Z:-4.08 [[-5.55531716e-01 -8.31495340e-01 -1.06665474e-04 4.35704698e+01] [-8.31495325e-01 5.55531727e-01 -1.61634420e-04 -1.51549305e+02] [ 1.93654321e-04 -1.10120400e-06 -9.99999981e-01 -4.07938753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.013165080585446624 Centerline is valid? [True, True] Translation: X:43.49, Y:-151.62, Z:-4.08 [[-4.86378254e-01 -8.73748026e-01 -7.61799399e-04 4.34915843e+01] [-8.73746923e-01 4.86378851e-01 -1.38857045e-03 -1.51619391e+02] [ 1.58378380e-03 -9.75058932e-06 -9.99998746e-01 -4.08026139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.012827318373394646 Centerline is valid? [True, True] Translation: X:43.42, Y:-151.70, Z:-4.08 [[-4.15008361e-01 -9.09817597e-01 -3.94012092e-05 4.34187788e+01] [-9.09817593e-01 4.15008363e-01 -8.37944340e-05 -1.51697795e+02] [ 9.25894813e-05 1.07252262e-06 -9.99999996e-01 -4.07816123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.012774241254168667 Centerline is valid? [True, True] Translation: X:43.35, Y:-151.78, Z:-4.08 [[-3.43168830e-01 -9.39273678e-01 3.35122814e-04 4.33549543e+01] [-9.39273224e-01 3.43168993e-01 9.23636589e-04 -1.51784954e+02] [-9.82551295e-04 2.19140115e-06 -9.99999517e-01 -4.07665430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.012787300898076346 Centerline is valid? [True, True] Translation: X:43.30, Y:-151.88, Z:-4.08 [[-2.73066871e-01 -9.61995035e-01 1.91910079e-04 4.33017284e+01] [-9.61994788e-01 2.73066938e-01 6.89448175e-04 -1.51883108e+02] [-7.15650020e-04 3.64896026e-06 -9.99999744e-01 -4.07745367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.013025324536912386 Centerline is valid? [True, True] Translation: X:43.25, Y:-151.98, Z:-4.08 [[-2.01081690e-01 -9.79574472e-01 8.79575216e-05 4.32541882e+01] [-9.79574370e-01 2.01081709e-01 4.47324503e-04 -1.51980642e+02] [-4.55874313e-04 3.78783308e-06 -9.99999896e-01 -4.07792719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.013216305383742284 Centerline is valid? [True, True] Translation: X:43.21, Y:-152.08, Z:-4.08 [[-1.26455516e-01 -9.91972265e-01 1.68414847e-04 4.32141820e+01] [-9.91971278e-01 1.26455627e-01 1.39951111e-03 -1.52084807e+02] [-1.40957321e-03 9.91320849e-06 -9.99999007e-01 -4.07724166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.013081705398798778 Centerline is valid? [True, True] Translation: X:43.18, Y:-152.19, Z:-4.08 [[-4.99134952e-02 -9.98753543e-01 5.00301398e-05 4.31789359e+01] [-9.98752872e-01 4.99135197e-02 1.15829326e-03 -1.52194290e+02] [-1.15934668e-03 7.84671905e-06 -9.99999328e-01 -4.07803424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.013049587830383331 Centerline is valid? [True, True] Translation: X:43.15, Y:-152.31, Z:-4.08 [[ 2.71567691e-02 -9.99631187e-01 -3.58426765e-07 4.31516859e+01] [-9.99631187e-01 -2.71567690e-02 -2.96151310e-05 -1.52306789e+02] [ 2.95944743e-05 1.16254585e-06 -1.00000000e+00 -4.07884413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.013273609171753898 Centerline is valid? [True, True] Translation: X:43.13, Y:-152.42, Z:-4.08 [[ 1.01695456e-01 -9.94815573e-01 1.04349051e-04 4.31325282e+01] [-9.94815101e-01 -1.01695510e-01 -9.68272648e-04 -1.52421830e+02] [ 9.73864538e-04 -5.33908286e-06 -9.99999526e-01 -4.07886921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.013933816415293027 Centerline is valid? [True, True] Translation: X:43.13, Y:-152.54, Z:-4.08 [[ 1.73779580e-01 -9.84784544e-01 2.43602245e-04 4.31250462e+01] [-9.84783677e-01 -1.73779750e-01 -1.30685486e-03 -1.52535104e+02] [ 1.32930360e-03 -1.27908256e-05 -9.99999116e-01 -4.07900291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.014179513338805641 Centerline is valid? [True, True] Translation: X:43.13, Y:-152.65, Z:-4.08 [[ 2.47176710e-01 -9.68970398e-01 2.02774442e-04 4.31252786e+01] [-9.68970099e-01 -2.47176793e-01 -7.61941877e-04 -1.52654372e+02] [ 7.88420260e-04 -8.14808415e-06 -9.99999689e-01 -4.07835311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.014048427788165048 Centerline is valid? [True, True] Translation: X:43.13, Y:-152.77, Z:-4.07 [[ 3.22426207e-01 -9.46593960e-01 -1.10249136e-03 4.31288516e+01] [-9.46588784e-01 -3.22428090e-01 3.13063905e-03 -1.52769292e+02] [-3.31891820e-03 3.42058852e-05 -9.99994492e-01 -4.07392051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.013689003408464481 Centerline is valid? [True, True] Translation: X:43.14, Y:-152.89, Z:-4.07 [[ 3.96662768e-01 -9.17961466e-01 -2.32291692e-03 4.31420066e+01] [-9.17946303e-01 -3.96669567e-01 5.27622500e-03 -1.52887362e+02] [-5.76480169e-03 3.94309853e-05 -9.99983383e-01 -4.07113483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.013281593339067331 Centerline is valid? [True, True] Translation: X:43.16, Y:-153.00, Z:-4.07 [[ 4.68480325e-01 -8.83470179e-01 -2.57437731e-03 4.31603772e+01] [-8.83457057e-01 -4.68487398e-01 4.81521404e-03 -1.53000584e+02] [-5.46016134e-03 1.85187657e-05 -9.99985093e-01 -4.07141089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.013231704637716698 Centerline is valid? [True, True] Translation: X:43.19, Y:-153.11, Z:-4.07 [[ 5.34105933e-01 -8.45415082e-01 -2.04753446e-03 4.31901774e+01] [-8.45408972e-01 -5.34109857e-01 3.21401759e-03 -1.53106364e+02] [-3.81078728e-03 1.43781415e-05 -9.99992739e-01 -4.07339794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.013562576162364975 Centerline is valid? [True, True] Translation: X:43.23, Y:-153.21, Z:-4.08 [[ 5.94921103e-01 -8.03783457e-01 -1.01787136e-03 4.32304365e+01] [-8.03782312e-01 -5.94921974e-01 1.35669075e-03 -1.53207055e+02] [-1.69603962e-03 1.10230394e-05 -9.99998562e-01 -4.07535181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.013488438700666171 Centerline is valid? [True, True] Translation: X:43.27, Y:-153.30, Z:-4.08 [[ 6.52700777e-01 -7.57615419e-01 7.57312451e-04 4.32748239e+01] [-7.57614922e-01 -6.52701216e-01 -8.67374463e-04 -1.53302486e+02] [ 1.15143502e-03 -7.61522740e-06 -9.99999337e-01 -4.07761807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.013628363284012242 Centerline is valid? [True, True] Translation: X:43.33, Y:-153.39, Z:-4.08 [[ 7.07021268e-01 -7.07188304e-01 2.37255455e-03 4.33256619e+01] [-7.07184464e-01 -7.07025248e-01 -2.33056085e-03 -1.53392642e+02] [ 3.32560134e-03 -3.00776320e-05 -9.99994470e-01 -4.07876600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.013725698693219126 Centerline is valid? [True, True] Translation: X:43.35, Y:-153.42, Z:-4.08 [[ 7.60072878e-01 -6.49833421e-01 2.39702142e-03 4.33479373e+01] [-6.49830307e-01 -7.60076657e-01 -2.01195379e-03 -1.53421592e+02] [ 3.12935484e-03 -2.84256585e-05 -9.99995103e-01 -4.07803941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.013708636863553026 Centerline is valid? [True, True] Translation: X:43.37, Y:-153.45, Z:-4.08 [[ 8.08658009e-01 -5.88274833e-01 2.22395711e-03 4.33719204e+01] [-5.88272690e-01 -8.08661067e-01 -1.58811882e-03 -1.53449721e+02] [ 2.73267786e-03 -2.40482277e-05 -9.99996266e-01 -4.07813800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.013689003725756517 Centerline is valid? [True, True] Translation: X:43.40, Y:-153.48, Z:-4.08 [[ 8.52761327e-01 -5.22296818e-01 2.03801192e-03 4.33985657e+01] [-5.22295377e-01 -8.52763762e-01 -1.22696113e-03 -1.53476291e+02] [ 2.37878060e-03 -1.81392072e-05 -9.99997171e-01 -4.07738599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.013598536641289715 Centerline is valid? [True, True] Translation: X:43.43, Y:-153.50, Z:-4.08 [[ 8.91624698e-01 -4.52773571e-01 1.22104459e-03 4.34266182e+01] [-4.52773159e-01 -8.91625534e-01 -6.11176810e-04 -1.53501095e+02] [ 1.36543924e-03 -7.91587612e-06 -9.99999068e-01 -4.07594466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.013364721306495188 Centerline is valid? [True, True] Translation: X:43.46, Y:-153.53, Z:-4.07 [[ 9.25287756e-01 -3.79265568e-01 -4.43668986e-04 4.34556158e+01] [-3.79265526e-01 -9.25287863e-01 1.78326303e-04 -1.53528755e+02] [-4.78154555e-04 3.26520659e-06 -9.99999886e-01 -4.07342175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.013373298997316652 Centerline is valid? [True, True] Translation: X:43.49, Y:-153.55, Z:-4.07 [[ 9.52187118e-01 -3.05512324e-01 -1.38286281e-03 4.34877398e+01] [-3.05512013e-01 -9.52188122e-01 4.36455172e-04 -1.53548496e+02] [-1.45008798e-03 6.89420804e-06 -9.99998949e-01 -4.07233304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.013394511047712325 Centerline is valid? [True, True] Translation: X:43.52, Y:-153.56, Z:-4.07 [[ 9.73075369e-01 -2.30483287e-01 -1.33482604e-03 4.35219683e+01] [-2.30483080e-01 -9.73076284e-01 3.08941906e-04 -1.53559831e+02] [-1.37009351e-03 7.03105658e-06 -9.99999061e-01 -4.07201331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.013514247420118173 Centerline is valid? [True, True] Translation: X:43.56, Y:-153.56, Z:-4.07 [[ 9.87860040e-01 -1.55343494e-01 -9.69246550e-04 4.35578426e+01] [-1.55343427e-01 -9.87860516e-01 1.45329925e-04 -1.53564507e+02] [-9.80056456e-04 7.00045467e-06 -9.99999520e-01 -4.07210525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.013644261780159192 Centerline is valid? [True, True] Translation: X:43.59, Y:-153.57, Z:-4.07 [[ 9.96881458e-01 -7.89112407e-02 -6.12964481e-04 4.35916697e+01] [-7.89112293e-02 -9.96881646e-01 4.27869770e-05 -1.53571063e+02] [-6.14429414e-04 5.71623669e-06 -9.99999811e-01 -4.07189141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.013714226575126366 Centerline is valid? [True, True] Translation: X:43.62, Y:-153.57, Z:-4.07 [[ 9.99998563e-01 -1.12989593e-03 -1.26420249e-03 4.36244948e+01] [-1.12990903e-03 -9.99999362e-01 -9.64563828e-06 -1.53572233e+02] [-1.26419078e-03 1.10740582e-05 -9.99999201e-01 -4.07129091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.013579997058502302 Centerline is valid? [True, True] Translation: X:43.66, Y:-153.57, Z:-4.07 [[ 9.96905245e-01 7.85685471e-02 -2.62982639e-03 4.36580840e+01] [ 7.85682260e-02 -9.96908714e-01 -2.25348319e-04 -1.53572457e+02] [-2.63940213e-03 1.80301279e-05 -9.99996517e-01 -4.06966824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.013279227238476384 Centerline is valid? [True, True] Translation: X:43.69, Y:-153.57, Z:-4.07 [[ 9.87387474e-01 1.58308249e-01 -2.11543622e-03 4.36905395e+01] [ 1.58307863e-01 -9.87389740e-01 -3.49876356e-04 -1.53571274e+02] [-2.14414834e-03 1.05733432e-05 -9.99997701e-01 -4.06945828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.013281391144399572 Centerline is valid? [True, True] Translation: X:43.72, Y:-153.57, Z:-4.07 [[ 9.71864621e-01 2.35537216e-01 -1.17384882e-03 4.37244639e+01] [ 2.35537037e-01 -9.71865330e-01 -2.90662762e-04 -1.53565720e+02] [-1.20928487e-03 5.99998131e-06 -9.99999269e-01 -4.07034227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.013267804679762995 Centerline is valid? [True, True] Translation: X:43.76, Y:-153.56, Z:-4.07 [[ 9.50680244e-01 3.10171111e-01 9.77629026e-04 4.37570215e+01] [ 3.10170943e-01 -9.50680747e-01 3.22718852e-04 -1.53555487e+02] [ 1.02951116e-03 -3.57032067e-06 -9.99999470e-01 -4.07222947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.013724557527593273 Centerline is valid? [True, True] Translation: X:43.79, Y:-153.54, Z:-4.07 [[ 9.24367222e-01 3.81491442e-01 3.08531906e-03 4.37854210e+01] [ 3.81489236e-01 -9.24372371e-01 1.29744449e-03 -1.53537047e+02] [ 3.34694767e-03 -2.22991509e-05 -9.99994399e-01 -4.07471422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.013913128759548407 Centerline is valid? [True, True] Translation: X:43.81, Y:-153.52, Z:-4.07 [[ 8.91974992e-01 4.52075873e-01 2.83156373e-03 4.38113778e+01] [ 4.52073512e-01 -8.91979487e-01 1.46122721e-03 -1.53515768e+02] [ 3.18628233e-03 -2.33031653e-05 -9.99994924e-01 -4.07360442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.01327445772333188 Centerline is valid? [True, True] Translation: X:43.85, Y:-153.51, Z:-4.07 [[ 8.52879986e-01 5.22104798e-01 1.51991238e-03 4.38470588e+01] [ 5.22103949e-01 -8.52881340e-01 9.41208395e-04 -1.53509303e+02] [ 1.78771433e-03 -9.18554651e-06 -9.99998402e-01 -4.07011880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.013009216211550583 Centerline is valid? [True, True] Translation: X:43.88, Y:-153.50, Z:-4.07 [[ 8.08395221e-01 5.88639589e-01 7.75005930e-04 4.38819746e+01] [ 5.88639316e-01 -8.08395592e-01 5.67712129e-04 -1.53499656e+02] [ 9.60689212e-04 -2.73681206e-06 -9.99999539e-01 -4.06854323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.013112410975395533 Centerline is valid? [True, True] Translation: X:43.91, Y:-153.48, Z:-4.07 [[ 7.59275020e-01 6.50769276e-01 8.90432967e-04 4.39124090e+01] [ 6.50768825e-01 -7.59275542e-01 7.66639091e-04 -1.53483422e+02] [ 1.17498914e-03 -2.62389607e-06 -9.99999310e-01 -4.06881394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.012973087530229716 Centerline is valid? [True, True] Translation: X:43.94, Y:-153.47, Z:-4.07 [[ 7.05366294e-01 7.08841769e-01 1.31847599e-03 4.39430236e+01] [ 7.08840522e-01 -7.05367526e-01 1.32962179e-03 -1.53465509e+02] [ 1.87250161e-03 -3.28118814e-06 -9.99998247e-01 -4.07016012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.012989231495658221 Centerline is valid? [True, True] Translation: X:43.97, Y:-153.45, Z:-4.07 [[ 6.47341445e-01 7.62197520e-01 1.99883571e-03 4.39736653e+01] [ 7.62193864e-01 -6.47344531e-01 2.36075618e-03 -1.53446988e+02] [ 3.09329787e-03 -4.71499951e-06 -9.99995216e-01 -4.07037338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.012949396221651298 Centerline is valid? [True, True] Translation: X:44.00, Y:-153.43, Z:-4.07 [[ 5.85626849e-01 8.10578382e-01 1.96980564e-03 4.40033182e+01] [ 8.10573768e-01 -5.85630162e-01 2.73500950e-03 -1.53426670e+02] [ 3.37051717e-03 -5.02221681e-06 -9.99994320e-01 -4.06949601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.012914703699263645 Centerline is valid? [True, True] Translation: X:44.03, Y:-153.40, Z:-4.07 [[ 5.21491080e-01 8.53254978e-01 1.73073543e-03 4.40295306e+01] [ 8.53250219e-01 -5.21493952e-01 2.84974273e-03 -1.53403321e+02] [ 3.33412523e-03 -9.36503370e-06 -9.99994442e-01 -4.06883829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.013011544417526978 Centerline is valid? [True, True] Translation: X:44.05, Y:-153.38, Z:-4.07 [[ 4.54599455e-01 8.90694336e-01 1.71346229e-03 4.40522891e+01] [ 8.90687865e-01 -4.54602684e-01 3.39529258e-03 -1.53376922e+02] [ 3.80311242e-03 -1.73380874e-05 -9.99992768e-01 -4.06905548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.012972808652484003 Centerline is valid? [True, True] Translation: X:44.07, Y:-153.35, Z:-4.07 [[ 3.83921652e-01 9.23364626e-01 1.38985015e-03 4.40737481e+01] [ 9.23358399e-01 -3.83924168e-01 3.39132406e-03 -1.53349882e+02] [ 3.66502574e-03 -1.86729309e-05 -9.99993284e-01 -4.06810484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.012882036563210358 Centerline is valid? [True, True] Translation: X:44.10, Y:-153.32, Z:-4.07 [[ 3.08404069e-01 9.51255277e-01 5.72861306e-04 4.40956491e+01] [ 9.51253606e-01 -3.08404601e-01 1.78301341e-03 -1.53321592e+02] [ 1.87277397e-03 -4.95220556e-06 -9.99998246e-01 -4.06532357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.012807195595180933 Centerline is valid? [True, True] Translation: X:44.11, Y:-153.29, Z:-4.06 [[ 2.27871054e-01 9.73691177e-01 -5.23797121e-04 4.41149145e+01] [ 9.73688637e-01 -2.27871656e-01 -2.22412125e-03 -1.53293451e+02] [-2.28496576e-03 -3.20245037e-06 -9.99997390e-01 -4.06146632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.012958371101732985 Centerline is valid? [True, True] Translation: X:44.13, Y:-153.26, Z:-4.06 [[ 1.48297402e-01 9.88942677e-01 -5.12333243e-04 4.41292572e+01] [ 9.88937102e-01 -1.48298286e-01 -3.32074823e-03 -1.53261693e+02] [-3.36000779e-03 -1.42070172e-05 -9.99994355e-01 -4.05992639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.013048967931510022 Centerline is valid? [True, True] Translation: X:44.14, Y:-153.23, Z:-4.06 [[ 6.85764038e-02 9.97645825e-01 -2.90157367e-04 4.41413907e+01] [ 9.97638298e-01 -6.85770135e-02 -3.87543466e-03 -1.53228375e+02] [-3.88620934e-03 -2.37087299e-05 -9.99992448e-01 -4.05937738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.013012362698456762 Centerline is valid? [True, True] Translation: X:44.15, Y:-153.20, Z:-4.06 [[-9.23332026e-03 9.99957372e-01 1.31485510e-05 4.41463755e+01] [ 9.99951138e-01 9.23330913e-03 -3.53095222e-03 -1.53195714e+02] [-3.53092311e-03 -1.94545041e-05 -9.99993766e-01 -4.05991772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.012796450242114541 Centerline is valid? [True, True] Translation: X:44.15, Y:-153.16, Z:-4.06 [[-8.52042206e-02 9.96363495e-01 1.64642104e-04 4.41475854e+01] [ 9.96361498e-01 8.52043795e-02 -1.99453755e-03 -1.53163195e+02] [-2.00131264e-03 -5.89996431e-06 -9.99997997e-01 -4.06020409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.012633761043048426 Centerline is valid? [True, True] Translation: X:44.15, Y:-153.13, Z:-4.06 [[-1.60212032e-01 9.87082590e-01 2.55096140e-04 4.41483439e+01] [ 9.87081339e-01 1.60212235e-01 -1.57136137e-03 -1.53128754e+02] [-1.59193297e-03 4.96420116e-08 -9.99998733e-01 -4.06045448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.012758669788309189 Centerline is valid? [True, True] Translation: X:44.15, Y:-153.10, Z:-4.06 [[-2.32225343e-01 9.72661856e-01 5.51782856e-04 4.41453715e+01] [ 9.72659222e-01 2.32225998e-01 -2.26373374e-03 -1.53095077e+02] [-2.32998579e-03 1.10003397e-05 -9.99997286e-01 -4.05940406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.012861994204642914 Centerline is valid? [True, True] Translation: X:44.14, Y:-153.06, Z:-4.06 [[-3.06553413e-01 9.51853068e-01 8.61935269e-04 4.41413496e+01] [ 9.51849451e-01 3.06554624e-01 -2.62412414e-03 -1.53062389e+02] [-2.76201085e-03 1.59984026e-05 -9.99996186e-01 -4.05882039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.013158331027268636 Centerline is valid? [True, True] Translation: X:44.14, Y:-153.03, Z:-4.06 [[-3.78515080e-01 9.25593475e-01 1.74743805e-03 4.41361457e+01] [ 9.25584017e-01 3.78519112e-01 -4.18448954e-03 -1.53028983e+02] [-4.53457491e-03 3.35083345e-05 -9.99989718e-01 -4.05676710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.01363144055150467 Centerline is valid? [True, True] Translation: X:44.13, Y:-153.00, Z:-4.05 [[-4.47751365e-01 8.94152762e-01 3.09078953e-03 4.41266848e+01] [ 8.94132460e-01 4.47762028e-01 -6.02589363e-03 -1.52996337e+02] [-6.77200762e-03 6.54731486e-05 -9.99977068e-01 -4.05409194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.014575502539468472 Centerline is valid? [True, True] Translation: X:44.12, Y:-152.96, Z:-4.05 [[-5.10752989e-01 8.59715593e-01 4.52600582e-03 4.41164726e+01] [ 8.59684231e-01 5.10773023e-01 -7.34454023e-03 -1.52963696e+02] [-8.62597743e-03 1.39689958e-04 -9.99962786e-01 -4.05189317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.016596129546512354 Centerline is valid? [True, True] Translation: X:44.10, Y:-152.94, Z:-4.05 [[-5.73555379e-01 8.19143387e-01 6.19181861e-03 4.41009335e+01] [ 8.19099510e-01 5.73588762e-01 -8.48082049e-03 -1.52935358e+02] [-1.04985656e-02 2.07495378e-04 -9.99944867e-01 -4.04960507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.015851771001073475 Centerline is valid? [True, True] Translation: X:44.09, Y:-152.90, Z:-4.05 [[-6.37037069e-01 7.70795758e-01 7.59423738e-03 4.40867055e+01] [ 7.70744949e-01 6.37082297e-01 -8.85266921e-03 -1.52904373e+02] [-1.16617541e-02 2.13741655e-04 -9.99931977e-01 -4.04881816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.01508990648725789 Centerline is valid? [True, True] Translation: X:44.07, Y:-152.87, Z:-4.05 [[-6.98284799e-01 7.15765466e-01 8.83959702e-03 4.40696274e+01] [ 7.15711348e-01 6.98340724e-01 -8.80345801e-03 -1.52873979e+02] [-1.24742618e-02 1.79278993e-04 -9.99922177e-01 -4.04724519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.013853747212848306 Centerline is valid? [True, True] Translation: X:44.08, Y:-152.84, Z:-4.05 [[-7.50041489e-01 6.61324762e-01 9.34473900e-03 4.40846180e+01] [ 6.61275489e-01 7.50099690e-01 -8.07361709e-03 -1.52842275e+02] [-1.23487687e-02 1.23899071e-04 -9.99923743e-01 -4.04586934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.013332086681972374 Centerline is valid? [True, True] Translation: X:44.10, Y:-152.82, Z:-4.05 [[-7.95995764e-01 6.05239175e-01 8.73411588e-03 4.41001900e+01] [ 6.05204000e-01 7.96043675e-01 -6.52577244e-03 -1.52821247e+02] [-1.09023908e-02 9.14346457e-05 -9.99940563e-01 -4.04804545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.013003107681383205 Centerline is valid? [True, True] Translation: X:44.11, Y:-152.79, Z:-4.05 [[-8.38634348e-01 5.44623247e-01 8.82889189e-03 4.41055627e+01] [ 5.44593740e-01 8.38680819e-01 -5.66949826e-03 -1.52794677e+02] [-1.04923628e-02 5.35232771e-05 -9.99944952e-01 -4.04961300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.012777752511016002 Centerline is valid? [True, True] Translation: X:44.12, Y:-152.77, Z:-4.05 [[-8.76839219e-01 4.80698221e-01 9.06664952e-03 4.41150124e+01] [ 4.80672709e-01 8.76886093e-01 -4.95239562e-03 -1.52766341e+02] [-1.03310266e-02 1.56362791e-05 -9.99946633e-01 -4.04934741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.012684257883763494 Centerline is valid? [True, True] Translation: X:44.37, Y:-152.29, Z:-5.20 [[-8.41487590e-01 -5.40216861e-01 8.02369059e-03 4.43734683e+01] [ 5.40191574e-01 -8.41525840e-01 -5.22720977e-03 -1.52289106e+02] [ 9.57596982e-03 -6.43020978e-05 9.99954147e-01 -5.20051211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.012727925891456838 Centerline is valid? [True, True] Translation: X:44.35, Y:-152.31, Z:-5.20 [[-8.02999214e-01 -5.95938979e-01 6.99975337e-03 4.43549100e+01] [ 5.95916697e-01 -8.03029721e-01 -5.15342645e-03 -1.52309878e+02] [ 8.69213769e-03 3.30725245e-05 9.99962222e-01 -5.19986901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.012736704016724023 Centerline is valid? [True, True] Translation: X:44.03, Y:-152.75, Z:-4.05 [[-8.46027776e-01 5.33082840e-01 7.72584897e-03 4.40262851e+01] [ 5.33060471e-01 8.46063051e-01 -4.88351007e-03 -1.52749764e+02] [-9.13987076e-03 -1.32404699e-05 -9.99958231e-01 -4.04943144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.012902479490815693 Centerline is valid? [True, True] Translation: X:44.04, Y:-152.72, Z:-4.05 [[-8.81978626e-01 4.71201118e-01 9.12191057e-03 4.40396019e+01] [ 4.71175651e-01 8.82025797e-01 -4.89903348e-03 -1.52722507e+02] [-1.03541905e-02 -2.28206658e-05 -9.99946394e-01 -4.04721568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.012926451282576 Centerline is valid? [True, True] Translation: X:44.05, Y:-152.69, Z:-4.05 [[-9.13995719e-01 4.05605979e-01 9.77837323e-03 4.40475401e+01] [ 4.05582221e-01 9.14048023e-01 -4.39023167e-03 -1.52688505e+02] [-1.07186069e-02 -4.67186221e-05 -9.99942553e-01 -4.04719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.012938008096391212 Centerline is valid? [True, True] Translation: X:44.26, Y:-152.21, Z:-5.20 [[-8.80864356e-01 -4.73264479e-01 9.93572220e-03 4.42633027e+01] [ 4.73235405e-01 -8.80920386e-01 -5.24646586e-03 -1.52207364e+02] [ 1.12355462e-02 8.05107410e-05 9.99936876e-01 -5.20252583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.01309150765153008 Centerline is valid? [True, True] Translation: X:44.25, Y:-152.23, Z:-5.20 [[-8.49918764e-01 -5.26802854e-01 1.08096521e-02 4.42547769e+01] [ 5.26759885e-01 -8.49987502e-01 -6.72832228e-03 -1.52230379e+02] [ 1.27325686e-02 -2.44362303e-05 9.99918937e-01 -5.20387333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.013405951619655812 Centerline is valid? [True, True] Translation: X:43.96, Y:-152.69, Z:-4.05 [[-8.81687516e-01 4.71670666e-01 1.24059471e-02 4.39637613e+01] [ 4.71625196e-01 8.81774788e-01 -6.54968217e-03 -1.52689599e+02] [-1.40285443e-02 7.61842063e-05 -9.99901592e-01 -4.04590874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.013514370331250138 Centerline is valid? [True, True] Translation: X:44.22, Y:-152.21, Z:-5.20 [[-8.54177455e-01 -5.19818164e-01 1.30365796e-02 4.42188359e+01] [ 5.19757485e-01 -8.54276932e-01 -7.94231440e-03 -1.52206423e+02] [ 1.52654085e-02 -8.28605071e-06 9.99883477e-01 -5.20466371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.013419813051303056 Centerline is valid? [True, True] Translation: X:43.93, Y:-152.66, Z:-4.04 [[-8.84286017e-01 4.66744248e-01 1.37130282e-02 4.39258956e+01] [ 4.66689062e-01 8.84392336e-01 -7.17741060e-03 -1.52663401e+02] [-1.54777121e-02 5.28364267e-05 -9.99880212e-01 -4.04464782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.013189040855349289 Centerline is valid? [True, True] Translation: X:43.93, Y:-152.63, Z:-4.05 [[-9.16547458e-01 3.99696732e-01 1.35380633e-02 4.39293550e+01] [ 3.99653110e-01 9.16647436e-01 -5.90507569e-03 -1.52631584e+02] [-1.47698704e-02 -1.75303075e-06 -9.99890920e-01 -4.04651923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.012959707076370963 Centerline is valid? [True, True] Translation: X:43.94, Y:-152.61, Z:-4.05 [[-9.42457250e-01 3.34098151e-01 1.23594933e-02 4.39354054e+01] [ 3.34069478e-01 9.42538289e-01 -4.37705731e-03 -1.52606312e+02] [-1.31116624e-02 3.74008722e-06 -9.99914039e-01 -4.05012908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.013072262427983063 Centerline is valid? [True, True] Translation: X:43.94, Y:-152.58, Z:-4.05 [[-9.62743811e-01 2.70112480e-01 1.27906966e-02 4.39405248e+01] [ 2.70089393e-01 9.62828773e-01 -3.53192284e-03 -1.52582528e+02] [-1.32692672e-02 5.42946384e-05 -9.99911958e-01 -4.05098761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.013829538213077208 Centerline is valid? [True, True] Translation: X:43.94, Y:-152.56, Z:-4.05 [[-9.78854889e-01 2.04023349e-01 1.47505576e-02 4.39386082e+01] [ 2.04001808e-01 9.78966017e-01 -2.96656299e-03 -1.52559048e+02] [-1.50455427e-02 1.05305731e-04 -9.99886804e-01 -4.04834489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.01343715191225943 Centerline is valid? [True, True] Translation: X:44.05, Y:-152.02, Z:-5.20 [[-9.66117491e-01 -2.57711986e-01 1.41959972e-02 4.40457086e+01] [ 2.57682282e-01 -9.66221774e-01 -3.91465673e-03 -1.52024594e+02] [ 1.47253356e-02 -1.23961381e-04 9.99891569e-01 -5.20033527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.01299849858302229 Centerline is valid? [True, True] Translation: X:43.89, Y:-152.55, Z:-4.05 [[-9.81381853e-01 1.91689620e-01 1.20310986e-02 4.38892956e+01] [ 1.91674933e-01 9.81455597e-01 -2.37294526e-03 -1.52547503e+02] [-1.22628580e-02 -2.27054000e-05 -9.99924808e-01 -4.05361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.013453248916888087 Centerline is valid? [True, True] Translation: X:43.98, Y:-152.02, Z:-5.19 [[-9.63145103e-01 -2.68804640e-01 9.77630492e-03 4.39828529e+01] [ 2.68789431e-01 -9.63194710e-01 -2.86228510e-03 -1.52021067e+02] [ 1.01858807e-02 -1.29028434e-04 9.99948114e-01 -5.19372614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.013940959240658368 Centerline is valid? [True, True] Translation: X:43.84, Y:-152.53, Z:-4.06 [[-9.84082181e-01 1.77518042e-01 8.34305155e-03 4.38374024e+01] [ 1.77510755e-01 9.84117541e-01 -1.61189699e-03 -1.52531404e+02] [-8.49668417e-03 -1.05257729e-04 -9.99963897e-01 -4.05846019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.01328890947104101 Centerline is valid? [True, True] Translation: X:43.94, Y:-152.01, Z:-5.19 [[-9.64020026e-01 -2.65764535e-01 5.88230642e-03 4.39366690e+01] [ 2.65759142e-01 -9.64037970e-01 -1.69446294e-03 -1.52009035e+02] [ 6.12109489e-03 -7.02195024e-05 9.99981264e-01 -5.18778947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.01273255935570132 Centerline is valid? [True, True] Translation: X:43.79, Y:-152.53, Z:-4.06 [[-9.83474594e-01 1.80978028e-01 4.96747348e-03 4.37945780e+01] [ 1.80975596e-01 9.83487139e-01 -9.38549023e-04 -1.52530817e+02] [-5.05530303e-03 -2.40476459e-05 -9.99987222e-01 -4.06370432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.01249063589602128 Centerline is valid? [True, True] Translation: X:43.80, Y:-152.51, Z:-4.07 [[-9.93093582e-01 1.17266779e-01 3.69320601e-03 4.37965630e+01] [ 1.17265997e-01 9.93100449e-01 -4.28439543e-04 -1.52505668e+02] [-3.71796627e-03 7.60692354e-06 -9.99993088e-01 -4.06551569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.012582979008651763 Centerline is valid? [True, True] Translation: X:43.79, Y:-152.48, Z:-4.07 [[-9.98774795e-01 4.93818491e-02 3.21593232e-03 4.37899785e+01] [ 4.93816460e-02 9.98779972e-01 -1.42588286e-04 -1.52478881e+02] [-3.21905007e-03 1.63944451e-05 -9.99994819e-01 -4.06595785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.012893195055792915 Centerline is valid? [True, True] Translation: X:43.82, Y:-151.93, Z:-5.18 [[-9.94564516e-01 -1.04108678e-01 1.67519696e-03 4.38185439e+01] [ 1.04108356e-01 -9.94565922e-01 -2.78378327e-04 -1.51933307e+02] [ 1.69507541e-03 -1.02463205e-04 9.99998558e-01 -5.18172292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.012779127925223729 Centerline is valid? [True, True] Translation: X:43.74, Y:-152.47, Z:-4.07 [[-9.98859000e-01 4.77442146e-02 1.09022319e-03 4.37431682e+01] [ 4.77441974e-02 9.98859595e-01 -4.18048797e-05 -1.52473618e+02] [-1.09097584e-03 1.02946510e-05 -9.99999405e-01 -4.06862576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.01251624001090802 Centerline is valid? [True, True] Translation: X:43.75, Y:-151.94, Z:-5.18 [[-9.94437937e-01 -1.05292339e-01 2.59094233e-03 4.37545950e+01] [ 1.05292196e-01 -9.94441309e-01 -1.92063894e-04 -1.51940861e+02] [ 2.59676294e-03 8.18103846e-05 9.99996625e-01 -5.18406621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.012506737543403862 Centerline is valid? [True, True] Translation: X:43.69, Y:-152.46, Z:-4.06 [[-9.99311696e-01 3.68564987e-02 4.21110576e-03 4.36873426e+01] [ 3.68561755e-02 9.99320568e-01 -1.54351515e-04 -1.52461967e+02] [-4.21393345e-03 9.59978160e-07 -9.99991121e-01 -4.06447412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.012573722920360835 Centerline is valid? [True, True] Translation: X:43.68, Y:-152.43, Z:-4.06 [[-9.99376537e-01 -3.45619115e-02 7.21195531e-03 4.36756874e+01] [-3.45610309e-02 9.99402559e-01 2.46731064e-04 -1.52433291e+02] [-7.21617408e-03 -2.67537400e-06 -9.99973963e-01 -4.06232771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.01259132947597127 Centerline is valid? [True, True] Translation: X:43.66, Y:-151.92, Z:-5.19 [[-9.99455427e-01 -3.18215087e-02 8.73165884e-03 4.36584105e+01] [ 3.18211622e-02 -9.99493563e-01 -1.78648717e-04 -1.51916065e+02] [ 8.73292167e-03 9.93001024e-05 9.99961862e-01 -5.18804701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.012978498206048447 Centerline is valid? [True, True] Translation: X:43.63, Y:-152.44, Z:-4.06 [[-9.99485083e-01 -3.10756587e-02 7.99202163e-03 4.36254400e+01] [-3.10742078e-02 9.99517034e-01 3.05683518e-04 -1.52441341e+02] [-7.99766107e-03 5.71803758e-05 -9.99968017e-01 -4.06254912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.013097673354414422 Centerline is valid? [True, True] Translation: X:43.60, Y:-151.92, Z:-5.19 [[-9.99747761e-01 -2.09724553e-02 8.03562401e-03 4.36022644e+01] [ 2.09713368e-02 -9.99780052e-01 -2.23428335e-04 -1.51915346e+02] [ 8.03854244e-03 -5.48541996e-05 9.99967689e-01 -5.18812345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.013012808659246856 Centerline is valid? [True, True] Translation: X:43.57, Y:-152.44, Z:-4.06 [[-9.99403955e-01 -3.38549103e-02 6.75122976e-03 4.35689412e+01] [-3.38537493e-02 9.99426757e-01 2.86205393e-04 -1.52444395e+02] [-6.75704912e-03 5.74803618e-05 -9.99977169e-01 -4.06251578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.012719920658324536 Centerline is valid? [True, True] Translation: X:43.56, Y:-152.42, Z:-4.06 [[-9.94296326e-01 -1.06438528e-01 6.75690586e-03 4.35551106e+01] [-1.06435751e-01 9.94319284e-01 7.70296024e-04 -1.52416966e+02] [-6.80051097e-03 4.67261581e-05 -9.99976875e-01 -4.06242284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.012494958676232482 Centerline is valid? [True, True] Translation: X:43.54, Y:-152.39, Z:-4.06 [[-9.83450068e-01 -1.80993362e-01 8.20770250e-03 4.35374606e+01] [-1.80986875e-01 9.83484317e-01 1.53252902e-03 -1.52387813e+02] [-8.34952427e-03 2.16793429e-05 -9.99965142e-01 -4.06056884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.012460762865020358 Centerline is valid? [True, True] Translation: X:43.52, Y:-152.36, Z:-4.06 [[-9.67169402e-01 -2.53992449e-01 8.43703025e-03 4.35153096e+01] [-2.53982857e-01 9.67206201e-01 2.20735832e-03 -1.52361261e+02] [-8.72100033e-03 -7.97162751e-06 -9.99961971e-01 -4.05995859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.01247584931150882 Centerline is valid? [True, True] Translation: X:43.49, Y:-152.34, Z:-4.06 [[-9.45915299e-01 -3.24317512e-01 7.89924806e-03 4.34904428e+01] [-3.24306419e-01 9.45948281e-01 2.68246125e-03 -1.52338930e+02] [-8.34224928e-03 -2.43957162e-05 -9.99965203e-01 -4.06053490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.01241926227536324 Centerline is valid? [True, True] Translation: X:43.46, Y:-152.33, Z:-4.06 [[-9.21507187e-01 -3.88286351e-01 7.62986169e-03 4.34581428e+01] [-3.88273000e-01 9.21538773e-01 3.21990554e-03 -1.52325834e+02] [-8.28145875e-03 4.69680816e-06 -9.99965708e-01 -4.06094181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.012906410852352505 Centerline is valid? [True, True] Translation: X:43.41, Y:-152.32, Z:-4.06 [[-8.94190124e-01 -4.47626052e-01 7.41214282e-03 4.34128222e+01] [-4.47610053e-01 8.94220841e-01 3.78514160e-03 -1.52322456e+02] [-8.32242058e-03 6.68865937e-05 -9.99965366e-01 -4.06137976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.01412590540116039 Centerline is valid? [True, True] Translation: X:43.35, Y:-152.33, Z:-4.06 [[-8.61533527e-01 -5.07662364e-01 6.23749211e-03 4.33524373e+01] [-5.07648244e-01 8.61556101e-01 3.78746144e-03 -1.52331690e+02] [-7.29670101e-03 9.65730983e-05 -9.99973374e-01 -4.06151058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.01587761049021203 Centerline is valid? [True, True] Translation: X:43.29, Y:-152.35, Z:-4.06 [[-8.23922665e-01 -5.66681522e-01 4.84706180e-03 4.32888218e+01] [-5.66670988e-01 8.23936916e-01 3.45673288e-03 -1.52349908e+02] [-5.95253980e-03 1.01391262e-04 -9.99982278e-01 -4.06240006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.014202281961921874 Centerline is valid? [True, True] Translation: X:43.21, Y:-152.37, Z:-4.06 [[-7.79437847e-01 -6.26465690e-01 4.16912541e-03 4.32148238e+01] [-6.26456103e-01 7.79448992e-01 3.46695863e-03 -1.52369010e+02] [-5.42155124e-03 9.05047148e-05 -9.99985299e-01 -4.06377170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.013614740975020063 Centerline is valid? [True, True] Translation: X:43.14, Y:-152.40, Z:-4.07 [[-7.28623482e-01 -6.84908676e-01 2.81553966e-03 4.31367584e+01] [-6.84903277e-01 7.28628920e-01 2.72008057e-03 -1.52399480e+02] [-3.91449040e-03 5.35422370e-05 -9.99992337e-01 -4.06519390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.013114352163224872 Centerline is valid? [True, True] Translation: X:43.06, Y:-152.44, Z:-4.06 [[-6.73599288e-01 -7.39091334e-01 2.82816837e-03 4.30561219e+01] [-7.39084527e-01 6.73605224e-01 3.17241406e-03 -1.52440640e+02] [-4.24977273e-03 4.66803754e-05 -9.99990969e-01 -4.06490933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.012526395356715821 Centerline is valid? [True, True] Translation: X:42.98, Y:-152.49, Z:-4.06 [[-6.13449189e-01 -7.89727140e-01 3.33709799e-03 4.29767258e+01] [-7.89715107e-01 6.13458265e-01 4.35980594e-03 -1.52490368e+02] [-5.49022742e-03 3.91627303e-05 -9.99984928e-01 -4.06431857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.01243822250054191 Centerline is valid? [True, True] Translation: X:42.90, Y:-152.55, Z:-4.06 [[-5.50397007e-01 -8.34896534e-01 3.30352840e-03 4.28999472e+01] [-8.34881189e-01 5.50406920e-01 5.06187627e-03 -1.52547243e+02] [-6.04442784e-03 2.79878295e-05 -9.99981732e-01 -4.06317230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.012227212953298977 Centerline is valid? [True, True] Translation: X:42.82, Y:-152.61, Z:-4.06 [[-4.83031398e-01 -8.75596815e-01 3.29934787e-03 4.28224192e+01] [-8.75576287e-01 4.83042666e-01 5.99567216e-03 -1.52612758e+02] [-6.84351724e-03 7.26715102e-06 -9.99976583e-01 -4.06199935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.012183077293161438 Centerline is valid? [True, True] Translation: X:42.75, Y:-152.69, Z:-4.06 [[-4.14152624e-01 -9.10202539e-01 2.99028886e-03 4.27507686e+01] [-9.10178902e-01 4.14163419e-01 6.55966301e-03 -1.52686438e+02] [-7.20909018e-03 -4.99618509e-06 -9.99974014e-01 -4.06126580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.012236320945010194 Centerline is valid? [True, True] Translation: X:42.69, Y:-152.77, Z:-4.06 [[-3.43128166e-01 -9.39284386e-01 2.81154935e-03 4.26863284e+01] [-9.39253253e-01 3.43139684e-01 7.64748178e-03 -1.52767640e+02] [-8.14791438e-03 -1.66904717e-05 -9.99966805e-01 -4.05991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.012409655318587447 Centerline is valid? [True, True] Translation: X:42.63, Y:-152.86, Z:-4.06 [[-2.71662308e-01 -9.62388392e-01 2.85876846e-03 4.26306081e+01] [-9.62335744e-01 2.71677349e-01 1.00665128e-02 -1.52856640e+02] [-1.04645577e-02 -1.64029649e-05 -9.99945245e-01 -4.05739507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.012494408474364548 Centerline is valid? [True, True] Translation: X:42.58, Y:-152.95, Z:-4.06 [[-1.99479363e-01 -9.79899131e-01 2.38283947e-03 4.25825045e+01] [-9.79829359e-01 1.99493594e-01 1.16933175e-02 -1.52949976e+02] [-1.19336328e-02 -2.20055099e-06 -9.99928792e-01 -4.05557437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.012686596120607699 Centerline is valid? [True, True] Translation: X:42.54, Y:-153.06, Z:-4.05 [[-1.28776919e-01 -9.91672200e-01 1.65904245e-03 4.25421841e+01] [-9.91584494e-01 1.28787594e-01 1.31889143e-02 -1.53056259e+02] [-1.32927437e-02 5.33469728e-05 -9.99911646e-01 -4.05465003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.012989592750843413 Centerline is valid? [True, True] Translation: X:42.51, Y:-153.15, Z:-4.05 [[-5.51905907e-02 -9.98475610e-01 6.75207662e-04 4.25105116e+01] [-9.98380805e-01 5.51946550e-02 1.37592870e-02 -1.53153407e+02] [-1.37755803e-02 8.52688066e-05 -9.99905109e-01 -4.05412694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.012912110603574221 Centerline is valid? [True, True] Translation: X:42.49, Y:-153.26, Z:-4.05 [[ 2.12605379e-02 -9.99773891e-01 -3.94838508e-04 4.24850314e+01] [-9.99667529e-01 -2.12640355e-02 1.45832955e-02 -1.53264236e+02] [-1.45883939e-02 8.46585287e-05 -9.99893580e-01 -4.05481673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.012536395646066314 Centerline is valid? [True, True] Translation: X:42.46, Y:-153.38, Z:-4.06 [[ 1.01537327e-01 -9.94830771e-01 -1.38126127e-03 4.24629272e+01] [-9.94741412e-01 -1.01546720e-01 1.33337047e-02 -1.53375586e+02] [-1.34050422e-02 2.01290516e-05 -9.99910148e-01 -4.05554587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.012515484667046288 Centerline is valid? [True, True] Translation: X:42.45, Y:-153.49, Z:-4.06 [[ 1.78483026e-01 -9.83940286e-01 -2.30710222e-03 4.24497866e+01] [-9.83857968e-01 -1.78497936e-01 1.27273534e-02 -1.53490043e+02] [-1.29347687e-02 -1.75564006e-06 -9.99916342e-01 -4.05544001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.012508645820601494 Centerline is valid? [True, True] Translation: X:42.44, Y:-153.60, Z:-4.06 [[ 2.55242627e-01 -9.66872160e-01 -3.07046576e-03 4.24441435e+01] [-9.66800633e-01 -2.55261092e-01 1.17605806e-02 -1.53602777e+02] [-1.21547484e-02 -3.32732389e-05 -9.99926128e-01 -4.05541318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.0126263655501908 Centerline is valid? [True, True] Translation: X:42.45, Y:-153.71, Z:-4.06 [[ 3.29399094e-01 -9.44182853e-01 -3.87002270e-03 4.24485652e+01] [-9.44115855e-01 -3.29421824e-01 1.12478435e-02 -1.53713272e+02] [-1.18948909e-02 -5.12796545e-05 -9.99929252e-01 -4.05581167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.0125749690007336 Centerline is valid? [True, True] Translation: X:42.46, Y:-153.83, Z:-4.06 [[ 4.01084306e-01 -9.16032343e-01 -4.01562791e-03 4.24627268e+01] [-9.15985064e-01 -4.01104404e-01 9.30694272e-03 -1.53825504e+02] [-1.01361466e-02 -5.46134717e-05 -9.99948627e-01 -4.05663277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.012410263001929565 Centerline is valid? [True, True] Translation: X:42.49, Y:-153.93, Z:-4.06 [[ 4.68065685e-01 -8.83681344e-01 -4.66874897e-03 4.24862344e+01] [-8.83636561e-01 -4.68088967e-01 8.89650123e-03 -1.53929390e+02] [-1.00470620e-02 -3.86696628e-05 -9.99949526e-01 -4.05742050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.012295614053076425 Centerline is valid? [True, True] Translation: X:42.52, Y:-154.03, Z:-4.06 [[ 5.31035857e-01 -8.47328417e-01 -5.95590263e-03 4.25174192e+01] [-8.47274964e-01 -5.31069255e-01 9.51740462e-03 -1.54031572e+02] [-1.12273642e-02 -7.79593123e-06 -9.99936971e-01 -4.05548372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.012607987989829946 Centerline is valid? [True, True] Translation: X:42.55, Y:-154.13, Z:-4.05 [[ 5.93212159e-01 -8.05006623e-01 -7.97943300e-03 4.25532701e+01] [-8.04933750e-01 -5.93265823e-01 1.08314818e-02 -1.54131442e+02] [-1.34533394e-02 -2.45174628e-06 -9.99909500e-01 -4.05235146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.012494512016267603 Centerline is valid? [True, True] Translation: X:42.59, Y:-154.22, Z:-4.05 [[ 6.51368975e-01 -7.58696155e-01 -9.92985457e-03 4.25936545e+01] [-7.58608397e-01 -6.51444659e-01 1.15393463e-02 -1.54223888e+02] [-1.52236084e-02 1.64988995e-05 -9.99884114e-01 -4.05268002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.012604553498835434 Centerline is valid? [True, True] Translation: X:42.64, Y:-154.31, Z:-4.05 [[ 7.05427482e-01 -7.08692224e-01 -1.12871637e-02 4.26433272e+01] [-7.08602574e-01 -7.05517774e-01 1.12722158e-02 -1.54311414e+02] [-1.59518263e-02 4.63824013e-05 -9.99872761e-01 -4.05316875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.01236402938575647 Centerline is valid? [True, True] Translation: X:42.67, Y:-154.34, Z:-4.06 [[ 7.59062124e-01 -6.50914684e-01 -1.16089002e-02 4.26660185e+01] [-6.50839282e-01 -7.59150890e-01 9.90736405e-03 -1.54344885e+02] [-1.52617557e-02 3.52234793e-05 -9.99883532e-01 -4.05510430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.012604470045707961 Centerline is valid? [True, True] Translation: X:42.69, Y:-154.38, Z:-4.05 [[ 8.08695116e-01 -5.88100464e-01 -1.22496038e-02 4.26890744e+01] [-5.88033142e-01 -8.08787886e-01 8.89828250e-03 -1.54377071e+02] [-1.51404152e-02 7.17541271e-06 -9.99885377e-01 -4.05287691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.012382311959136635 Centerline is valid? [True, True] Translation: X:42.72, Y:-154.41, Z:-4.05 [[ 8.53827059e-01 -5.20404300e-01 -1.25983418e-02 4.27156314e+01] [-5.20346977e-01 -8.53919998e-01 7.72398048e-03 -1.54408641e+02] [-1.47775687e-02 -3.94344593e-05 -9.99890805e-01 -4.05341808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.012391445769961503 Centerline is valid? [True, True] Translation: X:42.75, Y:-154.43, Z:-4.05 [[ 8.92128591e-01 -4.51590887e-01 -1.31242985e-02 4.27485751e+01] [-4.51541258e-01 -8.92225122e-01 6.69510290e-03 -1.54431495e+02] [-1.47332763e-02 -4.67304502e-05 -9.99891458e-01 -4.05352864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.012206349987132721 Centerline is valid? [True, True] Translation: X:42.78, Y:-154.45, Z:-4.06 [[ 9.23052938e-01 -3.84468103e-01 -1.25519395e-02 4.27827469e+01] [-3.84432794e-01 -9.23138277e-01 5.21051165e-03 -1.54451412e+02] [-1.35904513e-02 1.57990647e-05 -9.99907646e-01 -4.05519061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.0126613472618415 Centerline is valid? [True, True] Translation: X:42.82, Y:-154.47, Z:-4.05 [[ 9.48937653e-01 -3.15207204e-01 -1.27180875e-02 4.28184684e+01] [-3.15179925e-01 -9.49022873e-01 4.14749576e-03 -1.54469827e+02] [-1.33770765e-02 7.27709635e-05 -9.99910520e-01 -4.05423043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.013729884533660242 Centerline is valid? [True, True] Translation: X:42.86, Y:-154.48, Z:-4.06 [[ 9.68818820e-01 -2.47465228e-01 -1.22904662e-02 4.28564686e+01] [-2.47447481e-01 -9.68896761e-01 2.96821621e-03 -1.54482661e+02] [-1.26427231e-02 1.65581168e-04 -9.99920064e-01 -4.05559610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.014674892501589808 Centerline is valid? [True, True] Translation: X:42.89, Y:-154.50, Z:-4.06 [[ 9.84386563e-01 -1.75604831e-01 -1.20846172e-02 4.28936779e+01] [-1.75594315e-01 -9.84460713e-01 1.93411529e-03 -1.54495539e+02] [-1.22364708e-02 2.18072974e-04 -9.99925108e-01 -4.05619607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.0160424397463817 Centerline is valid? [True, True] Translation: X:42.93, Y:-154.50, Z:-4.06 [[ 9.94721878e-01 -1.01855785e-01 -1.24009995e-02 4.29280188e+01] [-1.01851247e-01 -9.94799139e-01 9.98607666e-04 -1.54502241e+02] [-1.24382175e-02 2.69720368e-04 -9.99922606e-01 -4.05583829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.015960362067208776 Centerline is valid? [True, True] Translation: X:42.96, Y:-154.51, Z:-4.05 [[ 9.99671881e-01 -2.19287778e-02 -1.32385608e-02 4.29624957e+01] [-2.19303514e-02 -9.99759501e-01 2.63055168e-05 -1.54510460e+02] [-1.32359538e-02 2.64029405e-04 -9.99912366e-01 -4.05436812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.013641470992006605 Centerline is valid? [True, True] Translation: X:43.00, Y:-154.53, Z:-4.05 [[ 9.97725734e-01 6.56007224e-02 -1.54888977e-02 4.29990948e+01] [ 6.55902308e-02 -9.97845939e-01 -1.18492635e-03 -1.54526304e+02] [-1.55332657e-02 1.66311135e-04 -9.99879338e-01 -4.05251219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.012847398490284864 Centerline is valid? [True, True] Translation: X:43.04, Y:-154.53, Z:-4.05 [[ 9.88608286e-01 1.49829925e-01 -1.43056447e-02 4.30366857e+01] [ 1.49813325e-01 -9.88711783e-01 -2.23115144e-03 -1.54533508e+02] [-1.44784527e-02 6.25586083e-05 -9.99895180e-01 -4.05287756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.012581560100879048 Centerline is valid? [True, True] Translation: X:43.07, Y:-154.53, Z:-4.05 [[ 9.73069003e-01 2.30224898e-01 -1.15417186e-02 4.30728071e+01] [ 2.30208585e-01 -9.73137450e-01 -2.74062144e-03 -1.54533291e+02] [-1.18626379e-02 9.81106048e-06 -9.99929636e-01 -4.05478683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.01235892422928029 Centerline is valid? [True, True] Translation: X:43.11, Y:-154.53, Z:-4.06 [[ 9.52142016e-01 3.05563674e-01 -7.51153019e-03 4.31092182e+01] [ 3.05554097e-01 -9.52171645e-01 -2.41931381e-03 -1.54528607e+02] [-7.89152047e-03 8.35150670e-06 -9.99968862e-01 -4.05949246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.012341765404358107 Centerline is valid? [True, True] Translation: X:43.14, Y:-154.52, Z:-4.06 [[ 9.25859604e-01 3.77820531e-01 -5.97001044e-03 4.31446684e+01] [ 3.77812560e-01 -9.25878851e-01 -2.45426180e-03 -1.54520274e+02] [-6.45477690e-03 1.67569309e-05 -9.99979168e-01 -4.06150926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.012283866785988789 Centerline is valid? [True, True] Translation: X:43.18, Y:-154.51, Z:-4.06 [[ 8.93458215e-01 4.49120830e-01 -4.78518082e-03 4.31790657e+01] [ 4.49114302e-01 -8.93471029e-01 -2.42154577e-03 -1.54511239e+02] [-5.36298708e-03 1.44568203e-05 -9.99985619e-01 -4.06227525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.01230967291395595 Centerline is valid? [True, True] Translation: X:43.21, Y:-154.50, Z:-4.06 [[ 8.55514772e-01 5.17759288e-01 -4.44912363e-03 4.32139446e+01] [ 5.17752203e-01 -8.55526341e-01 -2.70859290e-03 -1.54499484e+02] [-5.20874159e-03 1.36976716e-05 -9.99986434e-01 -4.06163765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.012337436204131377 Centerline is valid? [True, True] Translation: X:43.25, Y:-154.48, Z:-4.06 [[ 8.12749504e-01 5.82587979e-01 -5.43052062e-03 4.32461495e+01] [ 5.82574797e-01 -8.12767646e-01 -3.91915297e-03 -1.54482925e+02] [-6.69700287e-03 2.16051855e-05 -9.99977575e-01 -4.06114432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.012323635675629987 Centerline is valid? [True, True] Translation: X:43.28, Y:-154.46, Z:-4.06 [[ 7.64989035e-01 6.44019670e-01 -5.51736069e-03 4.32763848e+01] [ 6.44002665e-01 -7.65008931e-01 -4.68006595e-03 -1.54463308e+02] [-7.23488473e-03 2.70041468e-05 -9.99973828e-01 -4.06174818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.012329597715787451 Centerline is valid? [True, True] Translation: X:43.31, Y:-154.44, Z:-4.06 [[ 7.12695960e-01 7.01457300e-01 -4.70371369e-03 4.33051719e+01] [ 7.01441750e-01 -7.12711481e-01 -4.67079925e-03 -1.54441574e+02] [-6.62875699e-03 2.94785958e-05 -9.99978029e-01 -4.06266579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.012465362658396636 Centerline is valid? [True, True] Translation: X:43.33, Y:-154.42, Z:-4.06 [[ 6.57255532e-01 7.53659528e-01 -3.53305176e-03 4.33343754e+01] [ 7.53648340e-01 -6.57265027e-01 -4.10670634e-03 -1.54420969e+02] [-5.41720972e-03 3.64768615e-05 -9.99985326e-01 -4.06331975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.012589907497826966 Centerline is valid? [True, True] Translation: X:43.36, Y:-154.40, Z:-4.06 [[ 5.96524036e-01 8.02589379e-01 -3.05991761e-03 4.33586228e+01] [ 8.02578501e-01 -5.96531883e-01 -4.17884221e-03 -1.54397090e+02] [-5.17923279e-03 3.69557362e-05 -9.99986587e-01 -4.06246718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.012627208222258287 Centerline is valid? [True, True] Translation: X:43.38, Y:-154.37, Z:-4.06 [[ 5.31078100e-01 8.47316079e-01 -3.39328127e-03 4.33803685e+01] [ 8.47298304e-01 -5.31088939e-01 -5.48842489e-03 -1.54369492e+02] [-6.45256480e-03 3.96607978e-05 -9.99979181e-01 -4.06174863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.012247924736115521 Centerline is valid? [True, True] Translation: X:43.41, Y:-154.34, Z:-4.06 [[ 4.61681926e-01 8.87039465e-01 -3.28433710e-03 4.34063604e+01] [ 8.87016517e-01 -4.61693607e-01 -6.38055557e-03 -1.54343516e+02] [-7.17616204e-03 3.25259321e-05 -9.99974251e-01 -4.06163941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.01215733028869662 Centerline is valid? [True, True] Translation: X:43.43, Y:-154.32, Z:-4.06 [[ 3.89270816e-01 9.21119070e-01 -2.80904837e-03 4.34294389e+01] [ 9.21094701e-01 -3.89280951e-01 -6.70016586e-03 -1.54316156e+02] [-7.26515957e-03 2.07794595e-05 -9.99973608e-01 -4.06123707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.012193440559529447 Centerline is valid? [True, True] Translation: X:43.45, Y:-154.29, Z:-4.06 [[ 3.14455558e-01 9.49269392e-01 -2.30735522e-03 4.34478721e+01] [ 9.49243611e-01 -3.14464023e-01 -6.99610440e-03 -1.54287270e+02] [-7.36676798e-03 9.72170584e-06 -9.99972865e-01 -4.06023501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.01208313337660792 Centerline is valid? [True, True] Translation: X:43.46, Y:-154.26, Z:-4.06 [[ 2.37133344e-01 9.71475886e-01 -1.54256503e-03 4.34633820e+01] [ 9.71455455e-01 -2.37138362e-01 -6.30059098e-03 -1.54255224e+02] [-6.48667355e-03 -4.45299759e-06 -9.99978961e-01 -4.06132759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.012113056163126221 Centerline is valid? [True, True] Translation: X:43.48, Y:-154.22, Z:-4.06 [[ 1.59172781e-01 9.87250317e-01 -9.15046513e-04 4.34792525e+01] [ 9.87234368e-01 -1.59175411e-01 -5.61174117e-03 -1.54222708e+02] [-5.68584615e-03 -1.01289187e-05 -9.99983835e-01 -4.06154419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.012277287250786272 Centerline is valid? [True, True] Translation: X:43.49, Y:-154.19, Z:-4.06 [[ 7.89228689e-02 9.96880638e-01 -4.17144399e-04 4.34920894e+01] [ 9.96868082e-01 -7.89239685e-02 -5.00350398e-03 -1.54190277e+02] [-5.02081893e-03 -2.09470478e-05 -9.99987395e-01 -4.06089370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.01233068222315359 Centerline is valid? [True, True] Translation: X:43.50, Y:-154.16, Z:-4.06 [[ 5.04129201e-04 9.99999873e-01 -2.09025037e-05 4.34972171e+01] [ 9.99990165e-01 -5.04216409e-04 -4.40629427e-03 -1.54155962e+02] [-4.40630424e-03 -1.86809565e-05 -9.99990292e-01 -4.06238731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.012287789538764905 Centerline is valid? [True, True] Translation: X:43.50, Y:-154.12, Z:-4.06 [[-7.27099376e-02 9.97353085e-01 2.97630881e-04 4.34971862e+01] [ 9.97344933e-01 7.27105467e-02 -4.03251773e-03 -1.54121369e+02] [-4.04348491e-03 3.63653879e-06 -9.99991825e-01 -4.06417264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.012564830313406508 Centerline is valid? [True, True] Translation: X:43.49, Y:-154.09, Z:-4.07 [[-1.45546224e-01 9.89351196e-01 7.12403963e-04 4.34949099e+01] [ 9.89340266e-01 1.45547964e-01 -4.65053236e-03 -1.54088368e+02] [-4.70469870e-03 2.79425038e-05 -9.99988933e-01 -4.06553076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.013253339544280126 Centerline is valid? [True, True] Translation: X:43.49, Y:-154.06, Z:-4.07 [[-2.17314780e-01 9.76100922e-01 1.12977193e-03 4.34919283e+01] [ 9.76089041e-01 2.17317710e-01 -4.81634245e-03 -1.54055037e+02] [-4.94675576e-03 5.60956006e-05 -9.99987763e-01 -4.06623491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.013539823161255618 Centerline is valid? [True, True] Translation: X:43.49, Y:-154.02, Z:-4.07 [[-2.90984467e-01 9.56726914e-01 1.28536746e-03 4.34906969e+01] [ 9.56718435e-01 2.90987300e-01 -4.02837765e-03 -1.54021414e+02] [-4.22808293e-03 5.75394208e-05 -9.99991060e-01 -4.06660559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.01348220453814425 Centerline is valid? [True, True] Translation: X:43.49, Y:-153.99, Z:-4.07 [[-3.65151162e-01 9.30947217e-01 1.38122474e-03 4.34872478e+01] [ 9.30941063e-01 3.65153771e-01 -3.38539772e-03 -1.53987400e+02] [-3.65598601e-03 4.96569200e-05 -9.99993316e-01 -4.06750981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.013088863625365864 Centerline is valid? [True, True] Translation: X:43.48, Y:-153.95, Z:-4.07 [[-4.38990922e-01 8.98490530e-01 1.31830347e-03 4.34801538e+01] [ 8.98486706e-01 4.38992900e-01 -2.62151106e-03 -1.53954259e+02] [-2.93412872e-03 3.36585837e-05 -9.99995695e-01 -4.06950513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.01310420847871736 Centerline is valid? [True, True] Translation: X:43.47, Y:-153.92, Z:-4.07 [[-5.09029384e-01 8.60748215e-01 1.26335765e-03 4.34705221e+01] [ 8.60745687e-01 5.09030951e-01 -2.08627617e-03 -1.53923084e+02] [-2.43884664e-03 2.54537774e-05 -9.99997026e-01 -4.07030742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.013197344851701417 Centerline is valid? [True, True] Translation: X:43.46, Y:-153.89, Z:-4.07 [[-5.74740939e-01 8.18334888e-01 9.29221719e-04 4.34557407e+01] [ 8.18333868e-01 5.74741690e-01 -1.29246113e-03 -1.53894230e+02] [-1.59172850e-03 1.75832799e-05 -9.99998733e-01 -4.07175295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.013394781178134627 Centerline is valid? [True, True] Translation: X:43.44, Y:-153.87, Z:-4.07 [[-6.36559146e-01 7.71227534e-01 7.37775669e-04 4.34373071e+01] [ 7.71227041e-01 6.36559573e-01 -8.71923545e-04 -1.53867186e+02] [-1.14208961e-03 1.39616390e-05 -9.99999348e-01 -4.07186362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.01401250010613052 Centerline is valid? [True, True] Translation: X:43.42, Y:-153.84, Z:-4.07 [[-6.93717959e-01 7.20244850e-01 1.65790318e-03 4.34169857e+01] [ 7.20242900e-01 6.93719940e-01 -1.67653626e-03 -1.53843217e+02] [-2.35763710e-03 3.10496777e-05 -9.99997220e-01 -4.07041938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.013793460621139706 Centerline is valid? [True, True] Translation: X:43.40, Y:-153.81, Z:-4.07 [[-7.46745337e-01 6.65108887e-01 1.25266656e-03 4.33983320e+01] [ 6.65108008e-01 7.46746388e-01 -1.08168539e-03 -1.53813971e+02] [-1.65486280e-03 2.54150410e-05 -9.99998630e-01 -4.07142098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.013837443247478627 Centerline is valid? [True, True] Translation: X:43.41, Y:-153.79, Z:-4.07 [[-7.91442029e-01 6.11244145e-01 3.32094557e-04 4.34124197e+01] [ 6.11244095e-01 7.91442099e-01 -2.46452035e-04 -1.53789114e+02] [-4.13475977e-04 7.93833894e-06 -9.99999915e-01 -4.07221250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.013375184374526726 Centerline is valid? [True, True] Translation: X:43.75, Y:-153.33, Z:-5.18 [[-7.66233451e-01 -6.42560874e-01 1.34988881e-03 4.37501797e+01] [ 6.42560000e-01 -7.66234638e-01 -1.06086196e-03 -1.53331751e+02] [ 1.71599995e-03 5.45166355e-05 9.99998526e-01 -5.17790648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.012601052352565806 Centerline is valid? [True, True] Translation: X:43.38, Y:-153.75, Z:-4.07 [[-7.98019878e-01 6.02622715e-01 3.18389623e-03 4.33789686e+01] [ 6.02618078e-01 7.98026229e-01 -2.36427124e-03 -1.53753851e+02] [-3.96559625e-03 3.19379798e-05 -9.99992137e-01 -4.07000515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.012340440532641666 Centerline is valid? [True, True] Translation: X:43.39, Y:-153.72, Z:-4.07 [[-8.41424804e-01 5.40344193e-01 5.69666592e-03 4.33912263e+01] [ 5.40331964e-01 8.41444088e-01 -3.63547243e-03 -1.53720943e+02] [-6.75783228e-03 1.91140065e-05 -9.99977166e-01 -4.06540990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.012338162784700207 Centerline is valid? [True, True] Translation: X:43.40, Y:-153.70, Z:-4.06 [[-8.77682197e-01 4.79182306e-01 7.63404398e-03 4.34028143e+01] [ 4.79164404e-01 8.77715397e-01 -4.14208064e-03 -1.53695406e+02] [-8.68532969e-03 2.25316908e-05 -9.99962282e-01 -4.06322979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.012834665880548289 Centerline is valid? [True, True] Translation: X:43.41, Y:-153.67, Z:-4.06 [[-9.07902872e-01 4.19075834e-01 9.37123214e-03 4.34053185e+01] [ 4.19054230e-01 9.07951233e-01 -4.25561584e-03 -1.53671256e+02] [-1.02920475e-02 6.33686311e-05 -9.99947034e-01 -4.06166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.012789985453972537 Centerline is valid? [True, True] Translation: X:43.41, Y:-153.65, Z:-4.06 [[-9.34413487e-01 3.56054105e-01 9.84428214e-03 4.34141395e+01] [ 3.56035376e-01 9.34465337e-01 -3.65304853e-03 -1.53649125e+02] [-1.04998234e-02 9.14548787e-05 -9.99944871e-01 -4.06312324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.012906219271273115 Centerline is valid? [True, True] Translation: X:43.42, Y:-153.62, Z:-4.06 [[-9.57035636e-01 2.89796450e-01 1.00403696e-02 4.34186691e+01] [ 2.89781606e-01 9.57088297e-01 -2.93492925e-03 -1.53624055e+02] [-1.04600523e-02 1.00682538e-04 -9.99945287e-01 -4.06317025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.012649762667175062 Centerline is valid? [True, True] Translation: X:43.42, Y:-153.60, Z:-4.06 [[-9.75578701e-01 2.19487607e-01 8.44918282e-03 4.34154398e+01] [ 2.19479982e-01 9.75615286e-01 -1.83080536e-03 -1.53596067e+02] [-8.64499100e-03 6.83317805e-05 -9.99962629e-01 -4.06350349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.01248478312429461 Centerline is valid? [True, True] Translation: X:43.42, Y:-153.57, Z:-4.06 [[-9.88987668e-01 1.47810553e-01 7.44536854e-03 4.34168041e+01] [ 1.47806696e-01 9.89015692e-01 -1.06863263e-03 -1.53569299e+02] [-7.52154149e-03 4.36108396e-05 -9.99971712e-01 -4.06376123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.012257655419164556 Centerline is valid? [True, True] Translation: X:43.41, Y:-153.54, Z:-4.06 [[-9.97203377e-01 7.43975177e-02 7.10172258e-03 4.34118526e+01] [ 7.43957840e-02 9.97228664e-01 -5.08352224e-04 -1.53544017e+02] [-7.11986147e-03 2.14076645e-05 -9.99974653e-01 -4.06358883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.012231224370753826 Centerline is valid? [True, True] Translation: X:43.45, Y:-152.97, Z:-5.19 [[-9.90531605e-01 -1.37106687e-01 6.99260328e-03 4.34487816e+01] [ 1.37103092e-01 -9.90556286e-01 -9.93102904e-04 -1.52973273e+02] [ 7.06272818e-03 -2.49922795e-05 9.99975058e-01 -5.18643234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.012582178358636158 Centerline is valid? [True, True] Translation: X:43.35, Y:-153.54, Z:-4.06 [[-9.98054125e-01 6.20200530e-02 6.44020229e-03 4.33544683e+01] [ 6.20185343e-02 9.98074903e-01 -4.35463058e-04 -1.53542279e+02] [-6.45481172e-03 -3.52037951e-05 -9.99979167e-01 -4.06365503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.012716721519754396 Centerline is valid? [True, True] Translation: X:43.39, Y:-152.97, Z:-5.19 [[-9.89877846e-01 -1.41740374e-01 7.17749538e-03 4.33922301e+01] [ 1.41737315e-01 -9.89903863e-01 -9.35648085e-04 -1.52973917e+02] [ 7.23764951e-03 9.11416139e-05 9.99973804e-01 -5.18698834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.012780797837139028 Centerline is valid? [True, True] Translation: X:43.30, Y:-153.54, Z:-4.06 [[-9.98252053e-01 5.82526764e-02 9.97320322e-03 4.33039170e+01] [ 5.82492307e-02 9.98301870e-01 -6.35867162e-04 -1.53536003e+02] [-9.99330838e-03 -5.38242844e-05 -9.99950064e-01 -4.05969240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.012598190693334203 Centerline is valid? [True, True] Translation: X:43.30, Y:-153.51, Z:-4.06 [[-9.99929011e-01 -7.20320342e-03 9.49142250e-03 4.33006307e+01] [-7.20285636e-03 9.99974057e-01 7.07479887e-05 -1.53513451e+02] [-9.49168588e-03 2.37761333e-06 -9.99954953e-01 -4.06060835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.012759932314749216 Centerline is valid? [True, True] Translation: X:43.29, Y:-153.49, Z:-4.06 [[-9.97166152e-01 -7.47988067e-02 8.05013155e-03 4.32936689e+01] [-7.47961237e-02 9.97198645e-01 6.34261508e-04 -1.53488423e+02] [-8.07502227e-03 3.03454716e-05 -9.99967396e-01 -4.06128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.012717416799447046 Centerline is valid? [True, True] Translation: X:43.28, Y:-153.46, Z:-4.06 [[-9.89638717e-01 -1.43407519e-01 7.03521285e-03 4.32834908e+01] [-1.43403590e-01 9.89663722e-01 1.06233000e-03 -1.53461952e+02] [-7.11484104e-03 4.24481174e-05 -9.99974688e-01 -4.06166490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.01620902000276374 Centerline is valid? [True, True] Translation: X:43.19, Y:-152.89, Z:-5.19 [[-9.96066855e-01 8.82096594e-02 8.35918236e-03 4.31946842e+01] [-8.82062593e-02 -9.96101930e-01 7.75264965e-04 -1.52893625e+02] [ 8.39498354e-03 3.48835284e-05 9.99964761e-01 -5.19133006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.01279122235009939 Centerline is valid? [True, True] Translation: X:43.21, Y:-153.47, Z:-4.06 [[-9.88721643e-01 -1.49570499e-01 7.62753075e-03 4.32076954e+01] [-1.49565771e-01 9.88751063e-01 1.18981620e-03 -1.53472858e+02] [-7.71969054e-03 3.55795067e-05 -9.99970202e-01 -4.06071575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.01293615205669401 Centerline is valid? [True, True] Translation: X:43.19, Y:-153.45, Z:-4.06 [[-9.75660183e-01 -2.19115973e-01 8.68323569e-03 4.31912164e+01] [-2.19106880e-01 9.75698821e-01 1.99672882e-03 -1.53449203e+02] [-8.90973800e-03 4.55721277e-05 -9.99960307e-01 -4.06027112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.013071766236942391 Centerline is valid? [True, True] Translation: X:43.06, Y:-152.89, Z:-5.19 [[-9.86341957e-01 1.64504880e-01 8.22728359e-03 4.30637970e+01] [-1.64499837e-01 -9.86376266e-01 1.29053350e-03 -1.52886627e+02] [ 8.32749633e-03 -8.04794701e-05 9.99965323e-01 -5.18972688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.01274933797564108 Centerline is valid? [True, True] Translation: X:43.10, Y:-153.47, Z:-4.06 [[-9.74489926e-01 -2.24305358e-01 7.51603983e-03 4.31036483e+01] [-2.24298352e-01 9.74518909e-01 1.77343619e-03 -1.53468449e+02] [-7.72231418e-03 4.23603590e-05 -9.99970182e-01 -4.05993891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.013985712186226466 Centerline is valid? [True, True] Translation: X:42.97, Y:-152.91, Z:-5.19 [[-9.85888866e-01 1.67267382e-01 6.69084022e-03 4.29669950e+01] [-1.67264233e-01 -9.85911564e-01 1.03144278e-03 -1.52909708e+02] [ 6.76910348e-03 -1.02250300e-04 9.99977084e-01 -5.18959362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.013859264405535268 Centerline is valid? [True, True] Translation: X:43.01, Y:-153.49, Z:-4.06 [[-9.72877675e-01 -2.31255903e-01 5.45311289e-03 4.30111390e+01] [-2.31252128e-01 9.72892957e-01 1.32161050e-03 -1.53490333e+02] [-5.61092535e-03 2.47213871e-05 -9.99984258e-01 -4.06130720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.016738268255193253 Centerline is valid? [True, True] Translation: X:42.87, Y:-152.93, Z:-5.19 [[-9.84789494e-01 1.73600867e-01 7.23815575e-03 4.28729309e+01] [-1.73595548e-01 -9.84816090e-01 1.36166800e-03 -1.52928117e+02] [ 7.36463899e-03 8.44447280e-05 9.99972877e-01 -5.19127669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.012568630232758638 Centerline is valid? [True, True] Translation: X:42.92, Y:-153.51, Z:-4.06 [[-9.71023805e-01 -2.38882642e-01 6.91765886e-03 4.29175089e+01] [-2.38876474e-01 9.71048445e-01 1.71673773e-03 -1.53514015e+02] [-7.12748072e-03 1.45272407e-05 -9.99974599e-01 -4.06160524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.014757289802165138 Centerline is valid? [True, True] Translation: X:42.89, Y:-153.49, Z:-4.06 [[-9.49913502e-01 -3.12421828e-01 7.54583317e-03 4.28941241e+01] [-3.12412165e-01 9.49943473e-01 2.45722446e-03 -1.53486666e+02] [-7.93580552e-03 -2.32593898e-05 -9.99968511e-01 -4.05859816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.012691239553439187 Centerline is valid? [True, True] Translation: X:42.86, Y:-153.47, Z:-4.06 [[-9.24470670e-01 -3.81188224e-01 7.03696930e-03 4.28585457e+01] [-3.81177454e-01 9.24497451e-01 2.86556263e-03 -1.53468587e+02] [-7.59797891e-03 -3.32054439e-05 -9.99971134e-01 -4.06039771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.012506520327232148 Centerline is valid? [True, True] Translation: X:42.81, Y:-153.46, Z:-4.06 [[-8.96339715e-01 -4.43336290e-01 5.29618823e-03 4.28140990e+01] [-4.43328548e-01 8.96355362e-01 2.61995611e-03 -1.53462187e+02] [-5.90878834e-03 4.19272151e-07 -9.99982543e-01 -4.06166424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.012615552297111428 Centerline is valid? [True, True] Translation: X:42.75, Y:-153.47, Z:-4.06 [[-8.62563466e-01 -5.05922565e-01 5.15998225e-03 4.27515078e+01] [-5.05913407e-01 8.62578900e-01 3.04413210e-03 -1.53467962e+02] [-5.99098693e-03 1.52529316e-05 -9.99982054e-01 -4.06209990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.01450922472319523 Centerline is valid? [True, True] Translation: X:42.68, Y:-153.48, Z:-4.06 [[-8.23036171e-01 -5.67959981e-01 5.73772390e-03 4.26823762e+01] [-5.67946021e-01 8.23056170e-01 3.98209186e-03 -1.53480533e+02] [-6.98413788e-03 1.86881748e-05 -9.99975611e-01 -4.05972754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.012522215597553166 Centerline is valid? [True, True] Translation: X:42.61, Y:-153.50, Z:-4.06 [[-7.76520719e-01 -6.30062396e-01 6.07864694e-03 4.26073634e+01] [-6.30043157e-01 7.76544510e-01 4.92379184e-03 -1.53496222e+02] [-7.82263600e-03 -6.38353166e-06 -9.99969403e-01 -4.05945257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.015426312202981383 Centerline is valid? [True, True] Translation: X:42.53, Y:-153.53, Z:-4.06 [[-7.26975482e-01 -6.86617757e-01 7.91861344e-03 4.25279205e+01] [-6.86577293e-01 7.27018608e-01 7.45420226e-03 -1.53527590e+02] [-1.08751670e-02 -1.77178924e-05 -9.99940864e-01 -4.05503591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.012702323689276332 Centerline is valid? [True, True] Translation: X:42.45, Y:-153.57, Z:-4.06 [[-6.72602424e-01 -7.39961212e-01 7.96140764e-03 4.24506813e+01] [-7.39910002e-01 6.72649540e-01 8.70550334e-03 -1.53566847e+02] [-1.17969720e-02 -3.53824891e-05 -9.99930413e-01 -4.05754408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.012828875611887567 Centerline is valid? [True, True] Translation: X:42.37, Y:-153.62, Z:-4.06 [[-6.14638837e-01 -7.88771095e-01 7.69804828e-03 4.23701003e+01] [-7.88710216e-01 6.14687040e-01 9.79991400e-03 -1.53616079e+02] [-1.24617794e-02 -4.81215738e-05 -9.99922348e-01 -4.05628961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.015786031656565957 Centerline is valid? [True, True] Translation: X:42.29, Y:-153.67, Z:-4.05 [[-5.53392040e-01 -8.32886654e-01 7.55460516e-03 4.22916423e+01] [-8.32810426e-01 5.53443600e-01 1.12683086e-02 -1.53670208e+02] [-1.35662717e-02 -5.57616686e-05 -9.99907972e-01 -4.05361952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.01745734042172768 Centerline is valid? [True, True] Translation: X:42.22, Y:-153.74, Z:-4.05 [[-4.90179983e-01 -8.71593643e-01 6.93582311e-03 4.22188058e+01] [-8.71507552e-01 4.90229048e-01 1.22501484e-02 -1.53738639e+02] [-1.40772934e-02 -3.98447014e-05 -9.99900909e-01 -4.05331605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.017204710042294624 Centerline is valid? [True, True] Translation: X:42.15, Y:-153.82, Z:-4.05 [[-4.23917157e-01 -9.05678849e-01 6.32977765e-03 4.21508196e+01] [-9.05578768e-01 4.23964411e-01 1.34637916e-02 -1.53815584e+02] [-1.48774717e-02 -2.45800006e-05 -9.99889324e-01 -4.05334601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.015904112936744392 Centerline is valid? [True, True] Translation: X:42.09, Y:-153.90, Z:-4.05 [[-3.53948954e-01 -9.35245561e-01 5.98989799e-03 4.20869259e+01] [-9.35113090e-01 3.53999632e-01 1.57407050e-02 -1.53899843e+02] [-1.68418462e-02 -2.98259469e-05 -9.99858166e-01 -4.05214338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.01584790275075612 Centerline is valid? [True, True] Translation: X:42.03, Y:-153.99, Z:-4.05 [[-2.82750547e-01 -9.59179018e-01 5.26683966e-03 4.20286012e+01] [-9.59013768e-01 2.82799596e-01 1.78039729e-02 -1.53991934e+02] [-1.85666574e-02 -1.68886694e-05 -9.99827625e-01 -4.05135430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.014562996298569731 Centerline is valid? [True, True] Translation: X:41.98, Y:-154.09, Z:-4.05 [[-2.10504504e-01 -9.77585869e-01 3.70450743e-03 4.19766287e+01] [-9.77433683e-01 2.10537098e-01 1.72489285e-02 -1.54089299e+02] [-1.76422450e-02 1.00668132e-05 -9.99844364e-01 -4.05307420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.016284257060040157 Centerline is valid? [True, True] Translation: X:41.93, Y:-154.19, Z:-4.05 [[-1.37494427e-01 -9.90499879e-01 2.29638837e-03 4.19322977e+01] [-9.90356300e-01 1.37513595e-01 1.68644646e-02 -1.54187823e+02] [-1.70200348e-02 4.45272022e-05 -9.99855148e-01 -4.05411622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.012766633192090392 Centerline is valid? [True, True] Translation: X:41.89, Y:-154.30, Z:-4.06 [[-6.13243630e-02 -9.98117509e-01 8.72254365e-04 4.18935725e+01] [-9.98008888e-01 6.13305574e-02 1.47248816e-02 -1.54295720e+02] [-1.47506580e-02 3.24763764e-05 -9.99891203e-01 -4.05798503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.017450938385057044 Centerline is valid? [True, True] Translation: X:41.86, Y:-154.41, Z:-4.05 [[ 1.47461236e-02 -9.99891228e-01 -2.91705243e-04 4.18634698e+01] [-9.99745361e-01 -1.47489549e-02 1.70787104e-02 -1.54406608e+02] [-1.70811550e-02 3.97861899e-05 -9.99854106e-01 -4.05152417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.016164819177561858 Centerline is valid? [True, True] Translation: X:41.84, Y:-154.52, Z:-4.05 [[ 9.10201725e-02 -9.95847771e-01 -1.59540681e-03 4.18420085e+01] [-9.95701776e-01 -9.10341463e-02 1.70516384e-02 -1.54519584e+02] [-1.71260726e-02 3.65063265e-05 -9.99853337e-01 -4.05265686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.012914221552809598 Centerline is valid? [True, True] Translation: X:41.83, Y:-154.63, Z:-4.06 [[ 1.67805392e-01 -9.85816625e-01 -2.63286005e-03 4.18318229e+01] [-9.85696745e-01 -1.67826045e-01 1.53735364e-02 -1.54631192e+02] [-1.55973502e-02 1.54392729e-05 -9.99878354e-01 -4.05655022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.015663700946968513 Centerline is valid? [True, True] Translation: X:41.83, Y:-154.75, Z:-4.06 [[ 2.45136021e-01 -9.69482576e-01 -3.44461546e-03 4.18266803e+01] [-9.69385392e-01 -2.45160220e-01 1.37269150e-02 -1.54749042e+02] [-1.41524876e-02 -2.58014140e-05 -9.99899848e-01 -4.05509687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.014628770042994118 Centerline is valid? [True, True] Translation: X:41.83, Y:-154.86, Z:-4.06 [[ 3.21565189e-01 -9.46878671e-01 -4.07565579e-03 4.18286318e+01] [-9.46799911e-01 -3.21591009e-01 1.22127443e-02 -1.54860339e+02] [-1.28746813e-02 -6.83628850e-05 -9.99917116e-01 -4.05723700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.014836283540741815 Centerline is valid? [True, True] Translation: X:41.84, Y:-154.98, Z:-4.06 [[ 3.94319055e-01 -9.18963005e-01 -4.41331681e-03 4.18408483e+01] [-9.18903130e-01 -3.94343744e-01 1.04904849e-02 -1.54976454e+02] [-1.13807314e-02 -8.11874869e-05 -9.99935234e-01 -4.05686223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.01607431637350253 Centerline is valid? [True, True] Translation: X:41.86, Y:-155.08, Z:-4.06 [[ 4.61354633e-01 -8.87200939e-01 -5.13767136e-03 4.18629349e+01] [-8.87144514e-01 -4.61383235e-01 1.00061115e-02 -1.55080979e+02] [-1.12478670e-02 -5.85089510e-05 -9.99936739e-01 -4.05592659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.012303675053088117 Centerline is valid? [True, True] Translation: X:41.89, Y:-155.19, Z:-4.06 [[ 5.25386708e-01 -8.50851434e-01 -4.54361339e-03 4.18946718e+01] [-8.50819211e-01 -5.25406353e-01 7.40505066e-03 -1.55185377e+02] [-8.68784131e-03 -2.47216289e-05 -9.99962260e-01 -4.05939275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.01321034007849026 Centerline is valid? [True, True] Translation: X:41.93, Y:-155.29, Z:-4.06 [[ 5.88621060e-01 -8.08392631e-01 -5.15765365e-03 4.19291119e+01] [-8.08361198e-01 -5.88643655e-01 7.12893593e-03 -1.55286560e+02] [-8.79899938e-03 -2.69947392e-05 -9.99961288e-01 -4.05841128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.017091894801404505 Centerline is valid? [True, True] Translation: X:41.97, Y:-155.39, Z:-4.05 [[ 6.50829176e-01 -7.59188525e-01 -7.35982594e-03 4.19701686e+01] [-7.59138664e-01 -6.50870784e-01 8.70128613e-03 -1.55388565e+02] [-1.13962123e-02 -7.59224470e-05 -9.99935058e-01 -4.05415661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.01626891292403524 Centerline is valid? [True, True] Translation: X:42.01, Y:-155.48, Z:-4.05 [[ 7.08585061e-01 -7.05571232e-01 -8.74343348e-03 4.20137406e+01] [-7.05515359e-01 -7.08638992e-01 8.88018908e-03 -1.55481577e+02] [-1.24615438e-02 -1.23742717e-04 -9.99922344e-01 -4.05285263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.015599686288349547 Centerline is valid? [True, True] Translation: X:42.06, Y:-155.57, Z:-4.05 [[ 7.60175989e-01 -6.49630758e-01 -1.05992215e-02 4.20626530e+01] [-6.49564837e-01 -7.60249864e-01 9.25565956e-03 -1.55567872e+02] [-1.40708178e-02 -1.51048599e-04 -9.99900990e-01 -4.05056648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.012515442326428977 Centerline is valid? [True, True] Translation: X:42.09, Y:-155.59, Z:-4.05 [[ 8.05266922e-01 -5.92791716e-01 -1.19651775e-02 4.20920662e+01] [-5.92724890e-01 -8.05355807e-01 8.90108933e-03 -1.55594370e+02] [-1.49127172e-02 -7.56943200e-05 -9.99888796e-01 -4.05235973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.014171225108410916 Centerline is valid? [True, True] Translation: X:42.12, Y:-155.62, Z:-4.05 [[ 8.46938823e-01 -5.31534766e-01 -1.28617083e-02 4.21221494e+01] [-5.31473227e-01 -8.47036477e-01 8.08807206e-03 -1.55616395e+02] [-1.51934276e-02 -1.44486279e-05 -9.99884573e-01 -4.04973853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.01697503850543115 Centerline is valid? [True, True] Translation: X:42.15, Y:-155.64, Z:-4.05 [[ 8.86314196e-01 -4.62866800e-01 -1.41940645e-02 4.21511326e+01] [-4.62806911e-01 -8.86427845e-01 7.44565195e-03 -1.55642632e+02] [-1.60283591e-02 -3.00758599e-05 -9.99871537e-01 -4.04899128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.01741636011820994 Centerline is valid? [True, True] Translation: X:42.18, Y:-155.67, Z:-4.05 [[ 9.21669502e-01 -3.87693565e-01 -1.47996443e-02 4.21809761e+01] [-3.87641696e-01 -9.21788310e-01 6.34253428e-03 -1.55671253e+02] [-1.61010989e-02 -1.08761180e-04 -9.99870363e-01 -4.04820909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.013276039656652286 Centerline is valid? [True, True] Translation: X:42.21, Y:-155.70, Z:-4.05 [[ 9.50763456e-01 -3.09601134e-01 -1.39995737e-02 4.22128853e+01] [-3.09564861e-01 -9.50866503e-01 4.74233582e-03 -1.55697913e+02] [-1.47799582e-02 -1.75063518e-04 -9.99890755e-01 -4.05219388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.015593089445409597 Centerline is valid? [True, True] Translation: X:42.25, Y:-155.72, Z:-4.05 [[ 9.72406015e-01 -2.32854140e-01 -1.43349925e-02 4.22478979e+01] [-2.32825848e-01 -9.72511651e-01 3.63508204e-03 -1.55715865e+02] [-1.47873911e-02 -1.97218860e-04 -9.99890641e-01 -4.05058361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.015416192326245656 Centerline is valid? [True, True] Translation: X:42.29, Y:-155.73, Z:-4.05 [[ 9.87151829e-01 -1.59105034e-01 -1.47259607e-02 4.22865524e+01] [-1.59084997e-01 -9.87261649e-01 2.52972765e-03 -1.55725326e+02] [-1.49408687e-02 -1.54545867e-04 -9.99888367e-01 -4.05032281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.012609909521342935 Centerline is valid? [True, True] Translation: X:42.32, Y:-155.73, Z:-4.05 [[ 9.95986093e-01 -8.81957787e-02 -1.52711248e-02 4.23232617e+01] [-8.81845918e-02 -9.96103158e-01 1.40570693e-03 -1.55727175e+02] [-1.53355931e-02 -5.33866394e-05 -9.99882402e-01 -4.05188510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.01579324424793335 Centerline is valid? [True, True] Translation: X:42.36, Y:-155.73, Z:-4.05 [[ 9.99797243e-01 -1.30299949e-02 -1.53522946e-02 4.23580036e+01] [-1.30283716e-02 -9.99915106e-01 2.05748106e-04 -1.55732805e+02] [-1.53536722e-02 -5.69099016e-06 -9.99882126e-01 -4.05024742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.012173752180017846 Centerline is valid? [True, True] Translation: X:42.39, Y:-155.74, Z:-4.06 [[ 9.97709178e-01 6.64415152e-02 -1.27247964e-02 4.23934960e+01] [ 6.64363534e-02 -9.97790321e-01 -8.28402663e-04 -1.55741140e+02] [-1.27517190e-02 -1.88841280e-05 -9.99918693e-01 -4.05611041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.013854512708338734 Centerline is valid? [True, True] Translation: X:42.43, Y:-155.75, Z:-4.06 [[ 9.89094636e-01 1.46763598e-01 -1.23388471e-02 4.24301020e+01] [ 1.46752795e-01 -9.89171595e-01 -1.78137070e-03 -1.55748714e+02] [-1.24666775e-02 -4.88161010e-05 -9.99922287e-01 -4.05512797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.012280167639830015 Centerline is valid? [True, True] Translation: X:42.47, Y:-155.75, Z:-4.06 [[ 9.74213442e-01 2.25390015e-01 -1.03686984e-02 4.24665208e+01] [ 2.25377904e-01 -9.74268617e-01 -2.33731582e-03 -1.55752481e+02] [-1.06287051e-02 -5.98310103e-05 -9.99943512e-01 -4.05711737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.012336578397828523 Centerline is valid? [True, True] Translation: X:42.50, Y:-155.75, Z:-4.06 [[ 9.53371059e-01 3.01694450e-01 -8.00511603e-03 4.25025908e+01] [ 3.01684283e-01 -9.53404665e-01 -2.47740649e-03 -1.55749735e+02] [-8.37953476e-03 -5.31300372e-05 -9.99964890e-01 -4.05912286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.012431957298477304 Centerline is valid? [True, True] Translation: X:42.54, Y:-155.74, Z:-4.06 [[ 9.27144269e-01 3.74640202e-01 -6.94440552e-03 4.25369944e+01] [ 3.74630026e-01 -9.27170274e-01 -2.76155193e-03 -1.55742214e+02] [-7.47323474e-03 -4.12257790e-05 -9.99972074e-01 -4.05942405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.012623598988297532 Centerline is valid? [True, True] Translation: X:42.57, Y:-155.74, Z:-4.06 [[ 8.93948831e-01 4.48127183e-01 -6.12493148e-03 4.25745891e+01] [ 4.48117072e-01 -8.93969812e-01 -3.01081549e-03 -1.55740531e+02] [-6.82473211e-03 -5.31713757e-05 -9.99976710e-01 -4.05847152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.01287253827348714 Centerline is valid? [True, True] Translation: X:42.61, Y:-155.73, Z:-4.06 [[ 8.55297339e-01 5.18089087e-01 -7.08239259e-03 4.26101959e+01] [ 5.18072073e-01 -8.55326658e-01 -4.19944889e-03 -1.55734111e+02] [-8.23344783e-03 -7.74123451e-05 -9.99966102e-01 -4.05683188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.015017041606284719 Centerline is valid? [True, True] Translation: X:42.65, Y:-155.72, Z:-4.05 [[ 8.12531137e-01 5.82864410e-01 -7.88872088e-03 4.26454170e+01] [ 5.82837938e-01 -8.12569427e-01 -5.55566395e-03 -1.55722798e+02] [-9.64833220e-03 -8.36958655e-05 -9.99953450e-01 -4.05290815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.012279346282734471 Centerline is valid? [True, True] Translation: X:42.68, Y:-155.71, Z:-4.05 [[ 7.67631810e-01 6.40849629e-01 -7.29086126e-03 4.26772907e+01] [ 6.40821158e-01 -7.67666432e-01 -6.04090532e-03 -1.55706278e+02] [-9.46826138e-03 -3.49470675e-05 -9.99955174e-01 -4.05268563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.01225317709228376 Centerline is valid? [True, True] Translation: X:42.71, Y:-155.69, Z:-4.05 [[ 7.18349194e-01 6.95651731e-01 -6.56534978e-03 4.27050110e+01] [ 6.95622568e-01 -7.18379196e-01 -6.36975044e-03 -1.55685835e+02] [-9.14753861e-03 8.69962416e-06 -9.99958160e-01 -4.05120568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.012334401868091593 Centerline is valid? [True, True] Translation: X:42.74, Y:-155.67, Z:-4.05 [[ 6.63086461e-01 7.48525612e-01 -5.07490173e-03 4.27384184e+01] [ 7.48503444e-01 -6.63105880e-01 -5.76078230e-03 -1.55668268e+02] [-7.67729027e-03 2.13153218e-05 -9.99970529e-01 -4.04971374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.012449872033931936 Centerline is valid? [True, True] Translation: X:42.77, Y:-155.65, Z:-4.05 [[ 6.02351325e-01 7.98216549e-01 -4.81894324e-03 4.27702781e+01] [ 7.98190726e-01 -6.02370601e-01 -6.42067540e-03 -1.55647767e+02] [-8.02787909e-03 2.10665296e-05 -9.99967776e-01 -4.04644192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.012543353988298821 Centerline is valid? [True, True] Translation: X:42.80, Y:-155.62, Z:-4.04 [[ 5.37805042e-01 8.43058224e-01 -4.30910072e-03 4.27969037e+01] [ 8.43030875e-01 -5.37822304e-01 -6.79064070e-03 -1.55622246e+02] [-8.04243597e-03 1.93358538e-05 -9.99967659e-01 -4.04499037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.01300022786094398 Centerline is valid? [True, True] Translation: X:42.82, Y:-155.59, Z:-4.04 [[ 4.69936433e-01 8.82689844e-01 -4.28824954e-03 4.28211015e+01] [ 8.82652711e-01 -4.69955997e-01 -8.09643490e-03 -1.55594741e+02] [-9.16192944e-03 1.97746479e-05 -9.99958029e-01 -4.04248124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.01267568365258871 Centerline is valid? [True, True] Translation: X:42.84, Y:-155.56, Z:-4.04 [[ 3.98833525e-01 9.17016243e-01 -3.60978018e-03 4.28419681e+01] [ 9.16978358e-01 -3.98849860e-01 -8.33552139e-03 -1.55564759e+02] [-9.08356882e-03 1.43950683e-05 -9.99958744e-01 -4.03987986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.012842656415035578 Centerline is valid? [True, True] Translation: X:42.86, Y:-155.53, Z:-4.04 [[ 3.24827722e-01 9.45767096e-01 -3.39881921e-03 4.28628647e+01] [ 9.45715134e-01 -3.24845503e-01 -9.91382748e-03 -1.55534963e+02] [-1.04802630e-02 5.97123649e-06 -9.99945081e-01 -4.03729266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.013056856621409077 Centerline is valid? [True, True] Translation: X:42.88, Y:-155.50, Z:-4.03 [[ 2.47041615e-01 9.69001275e-01 -2.64013424e-03 4.28812751e+01] [ 9.68946965e-01 -2.47055721e-01 -1.02591429e-02 -1.55503698e+02] [-1.05933828e-02 -2.37148240e-05 -9.99943888e-01 -4.03401064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.013420812310934338 Centerline is valid? [True, True] Translation: X:42.90, Y:-155.47, Z:-4.03 [[ 1.66897496e-01 9.85973279e-01 -1.38519226e-03 4.28965537e+01] [ 9.85941586e-01 -1.66903238e-01 -7.90552490e-03 -1.55471046e+02] [-8.02582939e-03 -4.63063399e-05 -9.99967792e-01 -4.03454249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.014597343600522682 Centerline is valid? [True, True] Translation: X:42.91, Y:-155.44, Z:-4.03 [[ 8.68324563e-02 9.96222817e-01 -4.72651789e-04 4.29096817e+01] [ 9.96210469e-01 -8.68337334e-02 -4.96023301e-03 -1.55436951e+02] [-4.98253942e-03 -4.01514446e-05 -9.99987586e-01 -4.03467569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.014236384049400249 Centerline is valid? [True, True] Translation: X:42.92, Y:-155.40, Z:-4.04 [[ 5.60765860e-03 9.99984277e-01 -2.56615514e-06 4.29205449e+01] [ 9.99984258e-01 -5.60765899e-03 -1.93881668e-04 -1.55401886e+02] [-1.93893011e-04 -1.47889254e-06 -9.99999981e-01 -4.03613114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.014321837681361936 Centerline is valid? [True, True] Translation: X:42.92, Y:-155.37, Z:-4.04 [[-7.31897320e-02 9.97318035e-01 -3.21033385e-05 4.29244167e+01] [ 9.97317894e-01 7.31897387e-02 5.30597027e-04 -1.55365862e+02] [ 5.31523618e-04 6.81702022e-06 -9.99999859e-01 -4.03506063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.013833114497049217 Centerline is valid? [True, True] Translation: X:42.92, Y:-155.33, Z:-4.03 [[-1.47373642e-01 9.89080884e-01 -1.24602649e-04 4.29185013e+01] [ 9.89080485e-01 1.47373694e-01 8.88440919e-04 -1.55331563e+02] [ 8.97103081e-04 7.69072532e-06 -9.99999598e-01 -4.03320623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.013433652518446054 Centerline is valid? [True, True] Translation: X:42.91, Y:-155.30, Z:-4.03 [[-2.19088324e-01 9.75705030e-01 -1.02752122e-05 4.29083479e+01] [ 9.75705029e-01 2.19088324e-01 4.93516205e-05 -1.55298301e+02] [ 5.04038029e-05 7.86787607e-07 -9.99999999e-01 -4.03286338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.013340431136947859 Centerline is valid? [True, True] Translation: X:42.90, Y:-155.26, Z:-4.03 [[-2.92472071e-01 9.56274058e-01 1.20354952e-04 4.29013404e+01] [ 9.56273978e-01 2.92472096e-01 -3.91075487e-04 -1.55264822e+02] [-4.09175808e-04 7.13650902e-07 -9.99999916e-01 -4.03288949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.01348013965155006 Centerline is valid? [True, True] Translation: X:42.89, Y:-155.23, Z:-4.03 [[-3.65882466e-01 9.30661017e-01 -3.04901083e-04 4.28947861e+01] [ 9.30660694e-01 3.65882593e-01 7.75556237e-04 -1.55233132e+02] [ 8.33337955e-04 2.97464662e-09 -9.99999653e-01 -4.03410779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.013424932985990004 Centerline is valid? [True, True] Translation: X:42.89, Y:-155.20, Z:-4.03 [[-4.37987404e-01 8.98980275e-01 -1.22431623e-03 4.28927107e+01] [ 8.98976767e-01 4.37989115e-01 2.51164988e-03 -1.55197711e+02] [ 2.79416088e-03 -5.60839796e-07 -9.99996096e-01 -4.03427999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.013535109152223161 Centerline is valid? [True, True] Translation: X:42.88, Y:-155.16, Z:-4.04 [[-5.06640832e-01 8.62154984e-01 -1.96247155e-03 4.28836778e+01] [ 8.62148538e-01 5.06644633e-01 3.33388410e-03 -1.55164167e+02] [ 3.86860047e-03 -2.86016364e-06 -9.99992517e-01 -4.03595987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.015201652794918821 Centerline is valid? [True, True] Translation: X:42.87, Y:-155.13, Z:-4.04 [[-5.70732940e-01 8.21133779e-01 -1.79699682e-03 4.28708001e+01] [ 8.21129760e-01 5.70735769e-01 2.56906804e-03 -1.55132015e+02] [ 3.13515891e-03 -9.31581354e-06 -9.99995085e-01 -4.03537288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.013795379544744952 Centerline is valid? [True, True] Translation: X:42.86, Y:-155.10, Z:-4.04 [[-6.32217169e-01 7.74786325e-01 -2.75715300e-03 4.28557914e+01] [ 7.74779090e-01 6.32223181e-01 3.34838915e-03 -1.55102410e+02] [ 4.33742217e-03 -1.92753797e-05 -9.99990593e-01 -4.03695167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.013921777954539468 Centerline is valid? [True, True] Translation: X:42.84, Y:-155.07, Z:-4.03 [[-6.89317018e-01 7.24458985e-01 -1.10794812e-03 4.28383924e+01] [ 7.24458073e-01 6.89317908e-01 1.14951397e-03 -1.55073028e+02] [ 1.59650421e-03 -1.02824131e-05 -9.99998726e-01 -4.03465477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.014279179193822943 Centerline is valid? [True, True] Translation: X:42.82, Y:-155.05, Z:-4.03 [[-7.41805042e-01 6.70607197e-01 3.35659671e-03 4.28180765e+01] [ 6.70600609e-01 7.41812635e-01 -2.97307837e-03 -1.55045417e+02] [-4.48373360e-03 4.54912666e-05 -9.99989947e-01 -4.03123294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.014714060350175476 Centerline is valid? [True, True] Translation: X:42.83, Y:-155.02, Z:-4.03 [[-7.85906501e-01 6.18321178e-01 5.46750159e-03 4.28328119e+01] [ 6.18306962e-01 7.85925514e-01 -4.19365811e-03 -1.55023540e+02] [-6.89007662e-03 8.47711318e-05 -9.99976260e-01 -4.02928800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.014803520950555694 Centerline is valid? [True, True] Translation: X:42.85, Y:-155.00, Z:-4.03 [[-8.27241670e-01 5.61763479e-01 9.64431802e-03 4.28472858e+01] [ 5.61727422e-01 8.27297873e-01 -6.36648224e-03 -1.54998808e+02] [-1.15551810e-02 1.50858493e-04 -9.99933225e-01 -4.02769304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.014626680643741806 Centerline is valid? [True, True] Translation: X:42.86, Y:-154.97, Z:-4.03 [[-8.66417428e-01 4.99213138e-01 1.03481153e-02 4.28612897e+01] [ 4.99179155e-01 8.66479214e-01 -5.82601109e-03 -1.54969812e+02] [-1.18748481e-02 1.17805900e-04 -9.99929485e-01 -4.02778719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.01425415269995766 Centerline is valid? [True, True] Translation: X:42.87, Y:-154.94, Z:-4.03 [[-9.00483412e-01 4.34765237e-01 1.04314097e-02 4.28702297e+01] [ 4.34737238e-01 9.00543825e-01 -4.93493658e-03 -1.54939649e+02] [-1.15394805e-02 9.10937246e-05 -9.99933414e-01 -4.02894986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.014431911943896912 Centerline is valid? [True, True] Translation: X:42.87, Y:-154.91, Z:-4.03 [[-9.29381225e-01 3.68940714e-01 1.15450443e-02 4.28712144e+01] [ 3.68913388e-01 9.29452927e-01 -4.49103938e-03 -1.54911767e+02] [-1.23875025e-02 8.52337448e-05 -9.99923268e-01 -4.02976413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.014827015109380328 Centerline is valid? [True, True] Translation: X:42.87, Y:-154.89, Z:-4.03 [[-9.53065982e-01 3.02419830e-01 1.44042041e-02 4.28733372e+01] [ 3.02387010e-01 9.53174819e-01 -4.45661882e-03 -1.54889889e+02] [-1.50774945e-02 1.08192407e-04 -9.99886322e-01 -4.02866805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.01493328545947713 Centerline is valid? [True, True] Translation: X:42.88, Y:-154.87, Z:-4.03 [[-9.72180582e-01 2.33657498e-01 1.64039786e-02 4.28757858e+01] [ 2.33626215e-01 9.72318960e-01 -3.82504993e-03 -1.54865070e+02] [-1.68436510e-02 1.13760156e-04 -9.99858129e-01 -4.02805034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.014956672361670413 Centerline is valid? [True, True] Translation: X:43.00, Y:-154.32, Z:-5.22 [[-9.57159974e-01 -2.89132869e-01 1.57152472e-02 4.29977646e+01] [ 2.89091556e-01 -9.57288966e-01 -4.88950468e-03 -1.54322138e+02] [ 1.64577493e-02 -1.36892900e-04 9.99864553e-01 -5.22076546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.014657404100721182 Centerline is valid? [True, True] Translation: X:42.82, Y:-154.85, Z:-4.03 [[-9.74666300e-01 2.23147070e-01 1.51983250e-02 4.28242419e+01] [ 2.23119869e-01 9.74784789e-01 -3.48410184e-03 -1.54846489e+02] [-1.55925631e-02 -4.78836567e-06 -9.99878429e-01 -4.03291020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.01484491767379729 Centerline is valid? [True, True] Translation: X:42.83, Y:-154.82, Z:-4.03 [[-9.88156496e-01 1.52682864e-01 1.53193346e-02 4.28256595e+01] [ 1.52664259e-01 9.88275236e-01 -2.38349345e-03 -1.54818012e+02] [-1.55036376e-02 -1.65496651e-05 -9.99879811e-01 -4.03426412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.014843965202680127 Centerline is valid? [True, True] Translation: X:42.91, Y:-154.28, Z:-5.21 [[-9.75166894e-01 -2.20876984e-01 1.62137772e-02 4.29073821e+01] [ 2.20847957e-01 -9.75301671e-01 -3.58188129e-03 -1.54279439e+02] [ 1.66044791e-02 8.78475034e-05 9.99862132e-01 -5.21296181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.014974163672448304 Centerline is valid? [True, True] Translation: X:42.78, Y:-154.82, Z:-4.04 [[-9.88705317e-01 1.48776929e-01 1.80892629e-02 4.27761972e+01] [ 1.48751621e-01 9.88870783e-01 -2.74413215e-03 -1.54815956e+02] [-1.82962071e-02 -2.23308669e-05 -9.99832610e-01 -4.03638889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.01489757523690287 Centerline is valid? [True, True] Translation: X:42.85, Y:-154.27, Z:-5.21 [[-9.75808064e-01 -2.17796492e-01 1.90607191e-02 4.28525268e+01] [ 2.17756984e-01 -9.75994200e-01 -4.14946914e-03 -1.54271251e+02] [ 1.95068911e-02 1.01519249e-04 9.99809717e-01 -5.21458267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.01489170362898167 Centerline is valid? [True, True] Translation: X:42.73, Y:-154.81, Z:-4.04 [[-9.89353764e-01 1.44217497e-01 1.95049828e-02 4.27252773e+01] [ 1.44188695e-01 9.89546013e-01 -2.88238561e-03 -1.54810537e+02] [-1.97167684e-02 -3.93010363e-05 -9.99805605e-01 -4.03673777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.014849644118861631 Centerline is valid? [True, True] Translation: X:42.81, Y:-154.26, Z:-5.21 [[-9.76719746e-01 -2.13666204e-01 1.91126099e-02 4.28060449e+01] [ 2.13625888e-01 -9.76906727e-01 -4.15061742e-03 -1.54258576e+02] [ 1.95580838e-02 2.89582698e-05 9.99808722e-01 -5.21130964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.015006519401207266 Centerline is valid? [True, True] Translation: X:42.68, Y:-154.81, Z:-4.04 [[-9.89190159e-01 1.45283449e-01 1.98884066e-02 4.26752412e+01] [ 1.45255296e-01 9.89390073e-01 -2.86058792e-03 -1.54814440e+02] [-2.00929881e-02 5.92309705e-05 -9.99798114e-01 -4.03895735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.015179949100159925 Centerline is valid? [True, True] Translation: X:42.76, Y:-154.24, Z:-5.21 [[-9.79529225e-01 -2.00365769e-01 1.93921835e-02 4.27622562e+01] [ 2.00324998e-01 -9.79721161e-01 -4.04254043e-03 -1.54243697e+02] [ 1.98089193e-02 -7.50473636e-05 9.99803781e-01 -5.20927893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.016612072337488598 Centerline is valid? [True, True] Translation: X:42.63, Y:-154.82, Z:-4.04 [[-9.87624378e-01 1.55689559e-01 1.89433333e-02 4.26346762e+01] [ 1.55667396e-01 9.87805978e-01 -2.64802400e-03 -1.54819400e+02] [-1.91246076e-02 3.33606303e-04 -9.99817052e-01 -4.04235803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.017083989521525664 Centerline is valid? [True, True] Translation: X:42.63, Y:-154.79, Z:-4.05 [[-9.95863917e-01 8.93102464e-02 1.66954791e-02 4.26275732e+01] [ 8.93037733e-02 9.96003790e-01 -1.13434010e-03 -1.54791411e+02] [-1.67300687e-02 3.61320911e-04 -9.99859977e-01 -4.04549014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.01791498350149284 Centerline is valid? [True, True] Translation: X:42.67, Y:-154.20, Z:-5.20 [[-9.93398772e-01 -1.13738753e-01 1.49122694e-02 4.26738060e+01] [ 1.13719371e-01 -9.93510598e-01 -2.14410158e-03 -1.54200836e+02] [ 1.50593651e-02 -4.34133975e-04 9.99886507e-01 -5.20411010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.01698837543210415 Centerline is valid? [True, True] Translation: X:42.58, Y:-154.78, Z:-4.05 [[-9.96412323e-01 8.35008527e-02 1.37873568e-02 4.25806082e+01] [ 8.34966431e-02 9.96507668e-01 -8.81674542e-04 -1.54782646e+02] [-1.38128273e-02 2.72686630e-04 -9.99904561e-01 -4.04812824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.01711637198644629 Centerline is valid? [True, True] Translation: X:42.62, Y:-154.21, Z:-5.20 [[-9.93590751e-01 -1.12176750e-01 1.39210994e-02 4.26163873e+01] [ 1.12162039e-01 -9.93688235e-01 -1.83550215e-03 -1.54205384e+02] [ 1.40391333e-02 -2.62319071e-04 9.99901412e-01 -5.20083229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.016788052103454583 Centerline is valid? [True, True] Translation: X:42.53, Y:-154.77, Z:-4.05 [[-9.96784361e-01 7.86869518e-02 1.51427216e-02 4.25255999e+01] [ 7.86822406e-02 9.96899334e-01 -9.07556279e-04 -1.54771429e+02] [-1.51671819e-02 2.86825362e-04 -9.99884931e-01 -4.04904724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.017211653237137147 Centerline is valid? [True, True] Translation: X:42.56, Y:-154.21, Z:-5.20 [[-9.94028936e-01 -1.07966709e-01 1.58007434e-02 4.25585330e+01] [ 1.07949034e-01 -9.94154478e-01 -1.96979380e-03 -1.54212280e+02] [ 1.59210520e-02 -2.52357058e-04 9.99873220e-01 -5.19947680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.018395717980737986 Centerline is valid? [True, True] Translation: X:42.47, Y:-154.76, Z:-4.05 [[-9.97018577e-01 7.57530623e-02 1.46775513e-02 4.24742365e+01] [ 7.57491762e-02 9.97126566e-01 -8.21322781e-04 -1.54763320e+02] [-1.46975941e-02 2.92938350e-04 -9.99891942e-01 -4.05149126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.017325095474348563 Centerline is valid? [True, True] Translation: X:42.47, Y:-154.72, Z:-4.06 [[-9.99889923e-01 5.44140750e-03 1.38033368e-02 4.24657093e+01] [ 5.44482171e-03 9.99985155e-01 2.09778492e-04 -1.54723312e+02] [-1.38019904e-02 2.84912109e-04 -9.99904707e-01 -4.05535809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.01754494289808364 Centerline is valid? [True, True] Translation: X:42.45, Y:-154.69, Z:-4.06 [[-9.97760826e-01 -6.56720814e-02 1.26693064e-02 4.24539124e+01] [-6.56634475e-02 9.97841224e-01 1.09670762e-03 -1.54686117e+02] [-1.27139792e-02 2.62341572e-04 -9.99919140e-01 -4.05731559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.017549863022428034 Centerline is valid? [True, True] Translation: X:42.41, Y:-154.19, Z:-5.19 [[-9.99164618e-01 3.85401572e-02 1.35912570e-02 4.24054133e+01] [-3.85396086e-02 -9.99257028e-01 3.02372025e-04 -1.54194031e+02] [ 1.35928125e-02 -2.21682295e-04 9.99907589e-01 -5.19179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.01799490262463334 Centerline is valid? [True, True] Translation: X:42.39, Y:-154.67, Z:-4.06 [[-9.97391776e-01 -7.09932544e-02 1.30231407e-02 4.23927567e+01] [-7.09838740e-02 9.97476763e-01 1.18170081e-03 -1.54672087e+02] [-1.30741730e-02 2.54185687e-04 -9.99914497e-01 -4.05956859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.018992151911186507 Centerline is valid? [True, True] Translation: X:42.35, Y:-154.22, Z:-5.19 [[-9.98960580e-01 4.42552223e-02 1.09194893e-02 4.23468886e+01] [-4.42564122e-02 -9.99020196e-01 1.32763261e-04 -1.54219553e+02] [ 1.09146658e-02 -3.50632154e-04 9.99940372e-01 -5.18720196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.018404365100411116 Centerline is valid? [True, True] Translation: X:42.34, Y:-154.65, Z:-4.07 [[-9.97460756e-01 -7.05814207e-02 9.50281150e-03 4.23396526e+01] [-7.05760447e-02 9.97505996e-01 9.00305179e-04 -1.54648639e+02] [-9.54265627e-03 2.27348235e-04 -9.99954442e-01 -4.06659625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.020217050045455386 Centerline is valid? [True, True] Translation: X:42.30, Y:-154.25, Z:-5.18 [[-9.98434022e-01 5.52373296e-02 8.85108530e-03 4.23005540e+01] [-5.52374076e-02 -9.98473221e-01 2.35835019e-04 -1.54253057e+02] [ 8.85059854e-03 -2.53445299e-04 9.99960801e-01 -5.18155507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.020731036217297563 Centerline is valid? [True, True] Translation: X:42.29, Y:-154.63, Z:-4.07 [[-9.97726773e-01 -6.68363693e-02 8.61313316e-03 4.22927090e+01] [-6.68315190e-02 9.97763913e-01 8.50037946e-04 -1.54630752e+02] [-8.65068690e-03 2.72476844e-04 -9.99962545e-01 -4.06904090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.02209431878977549 Centerline is valid? [True, True] Translation: X:42.25, Y:-154.29, Z:-5.18 [[-9.97912294e-01 6.41732425e-02 7.26973041e-03 4.22488748e+01] [-6.41738527e-02 -9.97938723e-01 1.49530500e-04 -1.54287141e+02] [ 7.26434134e-03 -3.17308285e-04 9.99973564e-01 -5.17867991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.02199815754546081 Centerline is valid? [True, True] Translation: X:42.24, Y:-154.61, Z:-4.07 [[-9.97542140e-01 -6.97884405e-02 6.26518036e-03 4.22397819e+01] [-6.97857760e-02 9.97561794e-01 6.43156530e-04 -1.54606126e+02] [-6.29478945e-03 2.04355268e-04 -9.99980167e-01 -4.07220604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.021313121629493698 Centerline is valid? [True, True] Translation: X:42.19, Y:-154.33, Z:-5.18 [[-9.97985148e-01 6.32533603e-02 4.96557056e-03 4.21948702e+01] [-6.32538391e-02 -9.97997469e-01 6.07237842e-05 -1.54330244e+02] [ 4.95946784e-03 -2.53489966e-04 9.99987670e-01 -5.17625678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.02092034555713704 Centerline is valid? [True, True] Translation: X:42.18, Y:-154.57, Z:-4.07 [[-9.96765005e-01 -8.02191582e-02 4.94071367e-03 4.21781064e+01] [-8.02175335e-02 9.96777242e-01 5.26452064e-04 -1.54567121e+02] [-4.96702249e-03 1.28417131e-04 -9.99987656e-01 -4.07243469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.021951721867850525 Centerline is valid? [True, True] Translation: X:42.14, Y:-154.38, Z:-5.18 [[-9.97832600e-01 6.54531056e-02 6.78182002e-03 4.21447517e+01] [-6.54519908e-02 -9.97855645e-01 3.86425989e-04 -1.54378387e+02] [ 6.79257017e-03 -5.82951721e-05 9.99976929e-01 -5.17890069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.024305850834126674 Centerline is valid? [True, True] Translation: X:42.13, Y:-154.54, Z:-4.07 [[-9.96863473e-01 -7.84656475e-02 1.03130209e-02 4.21266064e+01] [-7.84580890e-02 9.96916766e-01 1.13607651e-03 -1.54542596e+02] [-1.03703664e-02 3.23373263e-04 -9.99946174e-01 -4.06651199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.023943522257180026 Centerline is valid? [True, True] Translation: X:42.10, Y:-154.42, Z:-5.18 [[-9.96555381e-01 8.14791421e-02 1.54441685e-02 4.21049441e+01] [-8.14722834e-02 -9.96675029e-01 1.07379416e-03 -1.54416044e+02] [ 1.54803089e-02 -1.88176325e-04 9.99880155e-01 -5.18414157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.023869089489189855 Centerline is valid? [True, True] Translation: X:42.09, Y:-154.50, Z:-4.06 [[-9.97303721e-01 -7.07836805e-02 1.93638566e-02 4.20851357e+01] [-7.07542279e-02 9.97491347e-01 2.20276549e-03 -1.54503704e+02] [-1.94711993e-02 8.26751489e-04 -9.99810077e-01 -4.06431297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.022989278576143427 Centerline is valid? [True, True] Translation: X:42.04, Y:-154.45, Z:-4.06 [[-9.88815734e-01 -1.47767999e-01 2.02005571e-02 4.20439195e+01] [-1.47721796e-01 9.89021773e-01 3.76879352e-03 -1.54451181e+02] [-2.05356978e-02 7.42579763e-04 -9.99788845e-01 -4.06285175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.021429663932667428 Centerline is valid? [True, True] Translation: X:41.99, Y:-154.41, Z:-4.06 [[-9.74439821e-01 -2.23711358e-01 2.05003365e-02 4.19860238e+01] [-2.23648124e-01 9.74655234e-01 5.35640026e-03 -1.54414882e+02] [-2.11790479e-02 6.34627908e-04 -9.99775497e-01 -4.06300154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.020429068107121962 Centerline is valid? [True, True] Translation: X:41.98, Y:-154.48, Z:-5.19 [[-9.77513626e-01 2.09744771e-01 2.17770984e-02 4.19849790e+01] [-2.09706233e-01 -9.77755991e-01 4.06420292e-03 -1.54484550e+02] [ 2.21451337e-02 -5.93979533e-04 9.99754590e-01 -5.18707993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.019670533740312874 Centerline is valid? [True, True] Translation: X:41.93, Y:-154.39, Z:-4.06 [[-9.71622889e-01 -2.35579434e-01 2.12436420e-02 4.19320668e+01] [-2.35512482e-01 9.71854982e-01 5.63597357e-03 -1.54392388e+02] [-2.19734588e-02 4.72898061e-04 -9.99758443e-01 -4.06381890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.01964202430393163 Centerline is valid? [True, True] Translation: X:41.89, Y:-154.36, Z:-4.06 [[-9.52057962e-01 -3.05260672e-01 2.00389308e-02 4.18903273e+01] [-3.05183593e-01 9.52268733e-01 6.87277741e-03 -1.54361166e+02] [-2.11804359e-02 4.27729559e-04 -9.99775578e-01 -4.06436093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.02033310601331555 Centerline is valid? [True, True] Translation: X:41.83, Y:-154.34, Z:-4.07 [[-9.28759554e-01 -3.70344889e-01 1.58226111e-02 4.18312858e+01] [-3.70284171e-01 9.28894246e-01 6.71662173e-03 -1.54336807e+02] [-1.71849989e-02 3.79264182e-04 -9.99852255e-01 -4.06752440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.020545849003328228 Centerline is valid? [True, True] Translation: X:41.79, Y:-154.30, Z:-4.07 [[-9.02182980e-01 -4.31191099e-01 1.18366785e-02 4.17939502e+01] [-4.31148803e-01 9.02260556e-01 6.04975015e-03 -1.54304408e+02] [-1.32883665e-02 3.54611861e-04 -9.99911643e-01 -4.07154504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.02144155596443423 Centerline is valid? [True, True] Translation: X:41.76, Y:-154.28, Z:-4.07 [[-8.70567988e-01 -4.91957515e-01 9.44359999e-03 4.17565296e+01] [-4.91924611e-01 8.70619150e-01 5.69855879e-03 -1.54278876e+02] [-1.10252278e-02 3.15443611e-04 -9.99939171e-01 -4.07169401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.021529683547258913 Centerline is valid? [True, True] Translation: X:41.66, Y:-154.29, Z:-4.07 [[-8.32660888e-01 -5.53708142e-01 9.11802212e-03 4.16616455e+01] [-5.53670941e-01 8.32710755e-01 6.42548737e-03 -1.54294738e+02] [-1.11505198e-02 3.01868135e-04 -9.99937786e-01 -4.07147105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.01971004024131315 Centerline is valid? [True, True] Translation: X:41.61, Y:-154.27, Z:-4.07 [[-7.88282868e-01 -6.15250147e-01 8.79638780e-03 4.16085440e+01] [-6.15208252e-01 7.88331905e-01 7.18425809e-03 -1.54272930e+02] [-1.13545890e-02 2.51617205e-04 -9.99935503e-01 -4.07132258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.019094782984089308 Centerline is valid? [True, True] Translation: X:41.55, Y:-154.27, Z:-4.07 [[-7.41183733e-01 -6.71267473e-01 6.83032200e-03 4.15541628e+01] [-6.71236650e-01 7.41215182e-01 6.43540587e-03 -1.54265259e+02] [-9.38261700e-03 1.85055685e-04 -9.99955965e-01 -4.07173043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.01931305697595916 Centerline is valid? [True, True] Translation: X:41.50, Y:-154.26, Z:-4.07 [[-6.92140138e-01 -7.21751016e-01 4.18328000e-03 4.15014651e+01] [-7.21736733e-01 6.92152769e-01 4.54234703e-03 -1.54259419e+02] [-6.17391242e-03 1.24713860e-04 -9.99980934e-01 -4.07317118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.019297925552569168 Centerline is valid? [True, True] Translation: X:41.45, Y:-154.26, Z:-4.07 [[-6.39178375e-01 -7.69052342e-01 3.08207183e-03 4.14491178e+01] [-7.69042646e-01 6.39185798e-01 3.86322106e-03 -1.54262173e+02] [-4.94103575e-03 9.90426870e-05 -9.99987788e-01 -4.07402638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.018640282932118193 Centerline is valid? [True, True] Translation: X:41.39, Y:-154.26, Z:-4.08 [[-5.80725576e-01 -8.14099167e-01 5.92969290e-04 4.13914786e+01] [-8.14098712e-01 5.80725878e-01 8.60934041e-04 -1.54264499e+02] [-1.04523830e-03 1.72308812e-05 -9.99999454e-01 -4.07548173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.0184313424716155 Centerline is valid? [True, True] Translation: X:41.73, Y:-154.54, Z:-5.17 [[-6.07521816e-01 7.94302917e-01 3.44901964e-04 4.17348813e+01] [-7.94302825e-01 -6.07521912e-01 3.84664434e-04 -1.54539586e+02] [ 5.15075583e-04 -4.02645688e-05 9.99999867e-01 -5.17488519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.0190236051098448 Centerline is valid? [True, True] Translation: X:41.35, Y:-154.28, Z:-4.08 [[-5.78765291e-01 -8.15494157e-01 -1.36107824e-04 4.13458066e+01] [-8.15494132e-01 5.78765307e-01 -2.00661181e-04 -1.54284025e+02] [ 2.42412506e-04 -5.14059519e-06 -9.99999971e-01 -4.07537938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.021506601761438014 Centerline is valid? [True, True] Translation: X:41.29, Y:-154.30, Z:-4.08 [[-5.24600131e-01 -8.51348306e-01 -8.74101586e-04 4.12884366e+01] [-8.51346986e-01 5.24600857e-01 -1.50014358e-03 -1.54299000e+02] [ 1.73569914e-03 -4.28117670e-05 -9.99998493e-01 -4.07656030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.024291077453586673 Centerline is valid? [True, True] Translation: X:41.23, Y:-154.32, Z:-4.08 [[-4.67633171e-01 -8.83920279e-01 -2.03902783e-03 4.12320285e+01] [-8.83910565e-01 4.67637596e-01 -4.14628351e-03 -1.54321212e+02] [ 4.61851015e-03 -1.36621457e-04 -9.99989325e-01 -4.07784151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.026910361252709483 Centerline is valid? [True, True] Translation: X:41.70, Y:-154.59, Z:-5.17 [[-4.71268114e-01 8.81985030e-01 -2.96185883e-03 4.16964968e+01] [-8.81968923e-01 -4.71277411e-01 -5.33107448e-03 -1.54594146e+02] [-6.09778504e-03 9.99020307e-05 9.99981403e-01 -5.17078411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.030185212226871712 Centerline is valid? [True, True] Translation: X:41.19, Y:-154.35, Z:-4.08 [[-4.72595976e-01 -8.81274110e-01 -2.99765686e-03 4.11893802e+01] [-8.81252715e-01 4.72605410e-01 -6.14647680e-03 -1.54352463e+02] [ 6.83343972e-03 -2.63106957e-04 -9.99976617e-01 -4.07992237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.026303200132153415 Centerline is valid? [True, True] Translation: X:41.13, Y:-154.39, Z:-4.07 [[-4.02621093e-01 -9.15366260e-01 -9.29939866e-04 4.11319918e+01] [-9.15363353e-01 4.02622160e-01 -2.30852703e-03 -1.54386605e+02] [ 2.48756215e-03 -7.82288018e-05 -9.99996903e-01 -4.07172946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.02353445530561155 Centerline is valid? [True, True] Translation: X:41.69, Y:-154.64, Z:-5.18 [[-4.11560292e-01 9.11382477e-01 3.28257795e-04 4.16876504e+01] [-9.11381700e-01 -4.11560375e-01 1.20603322e-03 -1.54637444e+02] [ 1.23425545e-03 1.97187237e-04 9.99999219e-01 -5.18333265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.025167349566415687 Centerline is valid? [True, True] Translation: X:41.12, Y:-154.42, Z:-4.06 [[-3.97002235e-01 -9.17816547e-01 1.41829512e-03 4.11182126e+01] [-9.17809685e-01 3.97004754e-01 3.55072668e-03 -1.54417635e+02] [-3.82198561e-03 1.07921426e-04 -9.99992690e-01 -4.06343888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.032203143766759985 Centerline is valid? [True, True] Translation: X:41.10, Y:-154.45, Z:-4.06 [[-3.40613888e-01 -9.40201845e-01 1.63390164e-03 4.10954479e+01] [-9.40187975e-01 3.40617745e-01 5.11114201e-03 -1.54448415e+02] [-5.36204105e-03 2.04751273e-04 -9.99985603e-01 -4.05918741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.034077631244497975 Centerline is valid? [True, True] Translation: X:41.06, Y:-154.50, Z:-4.06 [[-2.74766769e-01 -9.61509549e-01 1.61533965e-03 4.10588182e+01] [-9.61486640e-01 2.74771383e-01 6.64285049e-03 -1.54496721e+02] [-6.83101329e-03 2.72107072e-04 -9.99976631e-01 -4.05587014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.032748508155931194 Centerline is valid? [True, True] Translation: X:41.02, Y:-154.53, Z:-4.06 [[-2.03416282e-01 -9.79091585e-01 1.21848757e-03 4.10207899e+01] [-9.79065175e-01 2.03419751e-01 7.19638766e-03 -1.54525114e+02] [-7.29378703e-03 2.70883677e-04 -9.99973363e-01 -4.05649296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.03223481819780253 Centerline is valid? [True, True] Translation: X:40.99, Y:-154.56, Z:-4.06 [[-1.32295794e-01 -9.91210175e-01 4.59718477e-04 4.09883701e+01] [-9.91198936e-01 1.32296484e-01 4.72331902e-03 -1.54558458e+02] [-4.74262101e-03 1.69202774e-04 -9.99988739e-01 -4.05991154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.030793262772185335 Centerline is valid? [True, True] Translation: X:40.96, Y:-154.60, Z:-4.07 [[-5.85080251e-02 -9.98286938e-01 -2.50830435e-05 4.09578467e+01] [-9.98286422e-01 5.85080204e-02 -1.01580394e-03 -1.54598624e+02] [ 1.01553136e-03 -3.43926206e-05 -9.99999484e-01 -4.06704403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.020392400273507208 Centerline is valid? [True, True] Translation: X:40.91, Y:-154.64, Z:-4.07 [[ 1.61659888e-02 -9.99869299e-01 2.12304087e-04 4.09149016e+01] [-9.99858268e-01 -1.61668081e-02 -4.69870442e-03 -1.54637700e+02] [ 4.70152258e-03 -1.36314794e-04 -9.99988939e-01 -4.07026690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.020935155438229117 Centerline is valid? [True, True] Translation: X:40.89, Y:-154.68, Z:-4.07 [[ 8.71630207e-02 -9.96193841e-01 6.62314850e-04 4.08943875e+01] [-9.96177594e-01 -8.71653834e-02 -5.69179480e-03 -1.54682484e+02] [ 5.72786185e-03 -1.63669186e-04 -9.99983582e-01 -4.06922763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.021581687444869147 Centerline is valid? [True, True] Translation: X:41.51, Y:-154.65, Z:-5.18 [[ 7.86633750e-02 9.96901179e-01 3.36702477e-04 4.15053058e+01] [-9.96877011e-01 7.86638135e-02 -6.94471920e-03 -1.54651903e+02] [-6.94968505e-03 2.10644092e-04 9.99975829e-01 -5.17929111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.02358513972512523 Centerline is valid? [True, True] Translation: X:41.53, Y:-154.69, Z:-5.18 [[ 1.46316439e-02 9.99892950e-01 -6.46649466e-05 4.15306505e+01] [-9.99860240e-01 1.46306421e-02 -8.08982513e-03 -1.54688031e+02] [-8.08801302e-03 1.83023350e-04 9.99967275e-01 -5.17724309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.024124060004101992 Centerline is valid? [True, True] Translation: X:40.93, Y:-154.72, Z:-4.07 [[ 1.62211898e-02 -9.99868377e-01 3.20307396e-04 4.09335615e+01] [-9.99849407e-01 -1.62228563e-02 -6.16296544e-03 -1.54722048e+02] [ 6.16735055e-03 -2.20288528e-04 -9.99980958e-01 -4.07071542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.02356474409408842 Centerline is valid? [True, True] Translation: X:40.91, Y:-154.77, Z:-4.07 [[ 8.50063656e-02 -9.96380211e-01 6.26994393e-04 4.09128783e+01] [-9.96367259e-01 -8.50084598e-02 -5.08391733e-03 -1.54772199e+02] [ 5.11881444e-03 -1.92551351e-04 -9.99986880e-01 -4.06845789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.02434812549433911 Centerline is valid? [True, True] Translation: X:40.89, Y:-154.82, Z:-4.07 [[ 1.55490219e-01 -9.87836960e-01 9.65043134e-04 4.08943029e+01] [-9.87824702e-01 -1.55493101e-01 -4.92478750e-03 -1.54818258e+02] [ 5.01494467e-03 -1.87537157e-04 -9.99987408e-01 -4.06899397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.025163679600469224 Centerline is valid? [True, True] Translation: X:40.88, Y:-154.87, Z:-4.07 [[ 2.24681863e-01 -9.74431017e-01 1.50115555e-03 4.08796640e+01] [-9.74415251e-01 -2.24686773e-01 -5.54736751e-03 -1.54867432e+02] [ 5.74281677e-03 -2.16355997e-04 -9.99983487e-01 -4.06947887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.024884847009471738 Centerline is valid? [True, True] Translation: X:40.87, Y:-154.92, Z:-4.07 [[ 2.90700236e-01 -9.56811681e-01 2.18631685e-03 4.08676801e+01] [-9.56791121e-01 -2.90708335e-01 -6.27806252e-03 -1.54916867e+02] [ 6.64250408e-03 -2.66814290e-04 -9.99977903e-01 -4.07061707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.026702649195625535 Centerline is valid? [True, True] Translation: X:40.86, Y:-154.97, Z:-4.07 [[ 3.54351661e-01 -9.35107483e-01 2.98268222e-03 4.08636143e+01] [-9.35081788e-01 -3.54364060e-01 -6.93995195e-03 -1.54968130e+02] [ 7.54655638e-03 -3.29868329e-04 -9.99971470e-01 -4.07225798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.02700084738875879 Centerline is valid? [True, True] Translation: X:40.86, Y:-155.03, Z:-4.07 [[ 4.17963080e-01 -9.08459441e-01 2.88238389e-03 4.08622475e+01] [-9.08442348e-01 -4.17972921e-01 -5.58018489e-03 -1.55026612e+02] [ 6.27413006e-03 -2.86168326e-04 -9.99980277e-01 -4.07221856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.027672766491738394 Centerline is valid? [True, True] Translation: X:40.86, Y:-155.07, Z:-4.07 [[ 4.82582887e-01 -8.75847484e-01 2.22296638e-03 4.08586355e+01] [-8.75839922e-01 -4.82587971e-01 -3.64435989e-03 -1.55072748e+02] [ 4.26468027e-03 -1.88256987e-04 -9.99990889e-01 -4.07082401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.028401385947197592 Centerline is valid? [True, True] Translation: X:41.37, Y:-154.80, Z:-5.18 [[ 5.01313875e-01 8.65264668e-01 1.20571350e-03 4.13708965e+01] [-8.65261580e-01 5.01315311e-01 -2.31470521e-03 -1.54802000e+02] [-2.60727527e-03 1.17136275e-04 9.99996594e-01 -5.17996021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.032474060527401254 Centerline is valid? [True, True] Translation: X:40.89, Y:-155.11, Z:-4.07 [[ 4.77734797e-01 -8.78503574e-01 -9.66751187e-04 4.08924716e+01] [-8.78502168e-01 -4.77735765e-01 1.57483567e-03 -1.55109858e+02] [-1.84535039e-03 9.69392128e-05 -9.99998293e-01 -4.06669765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.039132879997813556 Centerline is valid? [True, True] Translation: X:40.92, Y:-155.17, Z:-4.06 [[ 5.32127256e-01 -8.46657504e-01 -3.41399918e-03 4.09151968e+01] [-8.46644173e-01 -5.32138089e-01 4.76430241e-03 -1.55169851e+02] [-5.85045138e-03 3.55227346e-04 -9.99982823e-01 -4.06160709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.047888982384208634 Centerline is valid? [True, True] Translation: X:41.36, Y:-154.89, Z:-5.19 [[ 5.86749328e-01 8.09751776e-01 -5.22378847e-03 4.13626005e+01] [-8.09708162e-01 5.86772140e-01 8.43497371e-03 -1.54893089e+02] [ 9.89540848e-03 -7.19471000e-04 9.99950781e-01 -5.19227850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.0507833147423737 Centerline is valid? [True, True] Translation: X:40.95, Y:-155.20, Z:-4.06 [[ 5.20168135e-01 -8.54034978e-01 -7.02624584e-03 4.09543463e+01] [-8.53979981e-01 -5.20214746e-01 9.73701904e-03 -1.55196141e+02] [-1.19709115e-02 9.35386254e-04 -9.99927909e-01 -4.05627690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05398899670709087 Centerline is valid? [True, True] Translation: X:40.96, Y:-155.24, Z:-4.05 [[ 5.80974344e-01 -8.13850830e-01 -1.07535148e-02 4.09610087e+01] [-8.13750061e-01 -5.81072460e-01 1.28699259e-02 -1.55243522e+02] [-1.67227712e-02 1.27357656e-03 -9.99859354e-01 -4.04921744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.05128296987766821 Centerline is valid? [True, True] Translation: X:40.97, Y:-155.29, Z:-4.05 [[ 6.40354875e-01 -7.67981320e-01 -1.22607415e-02 4.09684450e+01] [-7.67877013e-01 -6.40470984e-01 1.27205218e-02 -1.55293577e+02] [-1.76217723e-02 1.26909340e-03 -9.99843919e-01 -4.04768711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.045004751318597984 Centerline is valid? [True, True] Translation: X:40.96, Y:-155.33, Z:-4.05 [[ 7.02099255e-01 -7.11949166e-01 -1.36022697e-02 4.09583510e+01] [-7.11844741e-01 -7.02230163e-01 1.22418537e-02 -1.55333847e+02] [-1.82675016e-02 1.08770784e-03 -9.99832544e-01 -4.04842729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.03952646200398949 Centerline is valid? [True, True] Translation: X:41.02, Y:-155.38, Z:-4.05 [[ 7.62448175e-01 -6.46922861e-01 -1.27903088e-02 4.10183394e+01] [-6.46848895e-01 -7.62555039e-01 9.81426463e-03 -1.55384021e+02] [-1.61023866e-02 7.90528957e-04 -9.99870036e-01 -4.05189722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.03848320593499493 Centerline is valid? [True, True] Translation: X:41.38, Y:-155.01, Z:-5.20 [[ 8.20358351e-01 5.71731518e-01 -1.16295778e-02 4.13826642e+01] [-5.71662337e-01 8.20440506e-01 8.91899053e-03 -1.55006570e+02] [ 1.46406447e-02 -6.68576714e-04 9.99892597e-01 -5.19714003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.033687875041112744 Centerline is valid? [True, True] Translation: X:41.43, Y:-155.04, Z:-5.20 [[ 8.15589780e-01 5.78515308e-01 -1.15477108e-02 4.14336520e+01] [-5.78447787e-01 8.15671346e-01 8.85518533e-03 -1.55036641e+02] [ 1.45419971e-02 -5.42450878e-04 9.99894113e-01 -5.19950455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.0317837635520041 Centerline is valid? [True, True] Translation: X:41.48, Y:-155.07, Z:-5.20 [[ 8.12235495e-01 5.83199913e-01 -1.23029136e-02 4.14823276e+01] [-5.83123822e-01 8.12328520e-01 9.43314805e-03 -1.55068340e+02] [ 1.54954187e-02 -4.87815677e-04 9.99879820e-01 -5.20261880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.029121648350166337 Centerline is valid? [True, True] Translation: X:41.53, Y:-155.10, Z:-5.20 [[ 8.09588068e-01 5.86876533e-01 -1.19622417e-02 4.15322764e+01] [-5.86805015e-01 8.09676337e-01 9.17083878e-03 -1.55100087e+02] [ 1.50676941e-02 -4.05098243e-04 9.99886394e-01 -5.20247876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.028000150406310147 Centerline is valid? [True, True] Translation: X:41.58, Y:-155.13, Z:-5.20 [[ 8.08266812e-01 5.88710913e-01 -1.11455101e-02 4.15810831e+01] [-5.88649043e-01 8.08343580e-01 8.54166802e-03 -1.55132328e+02] [ 1.40379747e-02 -3.43152936e-04 9.99901404e-01 -5.20206914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.024473598643545206 Centerline is valid? [True, True] Translation: X:41.63, Y:-155.16, Z:-5.20 [[ 8.09716103e-01 5.86750875e-01 -9.12373227e-03 4.16317167e+01] [-5.86709306e-01 8.09767445e-01 6.99101861e-03 -1.55162075e+02] [ 1.14900877e-02 -3.07761717e-04 9.99933939e-01 -5.19592436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.02972427418619155 Centerline is valid? [True, True] Translation: X:41.68, Y:-155.20, Z:-5.20 [[ 8.09670157e-01 5.86827458e-01 -8.23236914e-03 4.16750098e+01] [-5.86793629e-01 8.09711961e-01 6.30694540e-03 -1.55201236e+02] [ 1.03669365e-02 -2.75843710e-04 9.99946224e-01 -5.20110815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.029436994377446207 Centerline is valid? [True, True] Translation: X:41.72, Y:-155.24, Z:-5.20 [[ 8.09524836e-01 5.87054622e-01 -6.03413410e-03 4.17229852e+01] [-5.87036469e-01 8.09547300e-01 4.62096494e-03 -1.55235195e+02] [ 7.59767579e-03 -1.98529113e-04 9.99971118e-01 -5.19911694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.02370054664665128 Centerline is valid? [True, True] Translation: X:41.78, Y:-155.26, Z:-5.19 [[ 8.10731933e-01 5.85411565e-01 -2.65181823e-03 4.17775569e+01] [-5.85408054e-01 8.10736265e-01 2.02976510e-03 -1.55260596e+02] [ 3.33817317e-03 -9.31996378e-05 9.99994424e-01 -5.19312569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.02388702833478797 Centerline is valid? [True, True] Translation: X:41.82, Y:-155.30, Z:-5.19 [[ 8.11720542e-01 5.84043720e-01 1.64148195e-03 4.18239872e+01] [-5.84042373e-01 8.11722200e-01 -1.25580906e-03 -1.55295947e+02] [-2.06587473e-03 6.06709915e-05 9.99997864e-01 -5.19018784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.023654779298324165 Centerline is valid? [True, True] Translation: X:41.87, Y:-155.33, Z:-5.19 [[ 8.11566713e-01 5.84249810e-01 3.41014129e-03 4.18710541e+01] [-5.84244005e-01 8.11573868e-01 -2.60742436e-03 -1.55329954e+02] [-4.29096874e-03 1.23744213e-04 9.99990786e-01 -5.18924856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.0224797175671495 Centerline is valid? [True, True] Translation: X:41.92, Y:-155.37, Z:-5.19 [[ 8.09198981e-01 5.87513095e-01 5.03718458e-03 4.19174294e+01] [-5.87500495e-01 8.09214643e-01 -3.85093040e-03 -1.55366197e+02] [-6.33863556e-03 1.56820519e-04 9.99979898e-01 -5.19294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.021044144800112092 Centerline is valid? [True, True] Translation: X:41.97, Y:-155.40, Z:-5.20 [[ 8.06649941e-01 5.91018631e-01 3.58485940e-03 4.19653928e+01] [-5.91012285e-01 8.06657901e-01 -2.74024744e-03 -1.55400267e+02] [-4.51129245e-03 9.17244887e-05 9.99989820e-01 -5.19636192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.019692379211245475 Centerline is valid? [True, True] Translation: X:42.01, Y:-155.43, Z:-5.20 [[ 8.04314197e-01 5.94197509e-01 2.82732318e-03 4.20133597e+01] [-5.94193585e-01 8.04319164e-01 -2.16022571e-03 -1.55434947e+02] [-3.55767095e-03 5.75229066e-05 9.99993670e-01 -5.19976938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.019477667369205073 Centerline is valid? [True, True] Translation: X:42.06, Y:-155.47, Z:-5.20 [[ 8.04202382e-01 5.94345603e-01 3.43987498e-03 4.20575649e+01] [-5.94339800e-01 8.04209736e-01 -2.62726994e-03 -1.55471603e+02] [-4.32788729e-03 6.84021392e-05 9.99990632e-01 -5.20109304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.019812650730824437 Centerline is valid? [True, True] Translation: X:42.10, Y:-155.51, Z:-5.20 [[ 8.04494100e-01 5.93952994e-01 3.01395237e-03 4.21021198e+01] [-5.93948537e-01 8.04499744e-01 -2.30158171e-03 -1.55508374e+02] [-3.79175526e-03 6.14763044e-05 9.99992809e-01 -5.20336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.01872028148046219 Centerline is valid? [True, True] Translation: X:42.15, Y:-155.54, Z:-5.21 [[ 8.04470489e-01 5.93986137e-01 2.77513157e-03 4.21494600e+01] [-5.93982364e-01 8.04475274e-01 -2.11801105e-03 -1.55541592e+02] [-3.49059393e-03 5.54981793e-05 9.99993906e-01 -5.20540850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.017911475141620184 Centerline is valid? [True, True] Translation: X:42.20, Y:-155.57, Z:-5.21 [[ 8.02211439e-01 5.97035133e-01 2.42025616e-03 4.21976466e+01] [-5.97032278e-01 8.02215089e-01 -1.84669566e-03 -1.55573415e+02] [-3.04410820e-03 3.64693338e-05 9.99995366e-01 -5.20690726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.01755558343046698 Centerline is valid? [True, True] Translation: X:42.24, Y:-155.61, Z:-5.21 [[ 8.01646651e-01 5.97793815e-01 2.28069192e-03 4.22448320e+01] [-5.97791285e-01 8.01649895e-01 -1.73936494e-03 -1.55608374e+02] [-2.86809805e-03 3.09783268e-05 9.99995887e-01 -5.20717399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.01800861198996657 Centerline is valid? [True, True] Translation: X:42.29, Y:-155.64, Z:-5.21 [[ 8.02386748e-01 5.96795898e-01 3.18795596e-03 4.22894877e+01] [-5.96790949e-01 8.02393080e-01 -2.43087094e-03 -1.55644712e+02] [-4.00872760e-03 4.79553685e-05 9.99991964e-01 -5.20630109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.01934406476344152 Centerline is valid? [True, True] Translation: X:42.33, Y:-155.68, Z:-5.20 [[ 8.04847859e-01 5.93465449e-01 4.32264535e-03 4.23335219e+01] [-5.93456307e-01 8.04859462e-01 -3.29527013e-03 -1.55682649e+02] [-5.43475098e-03 8.68899695e-05 9.99985228e-01 -5.20491502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.019000923758329832 Centerline is valid? [True, True] Translation: X:42.38, Y:-155.72, Z:-5.20 [[ 8.04979018e-01 5.93267824e-01 6.48610758e-03 4.23815654e+01] [-5.93247252e-01 8.05005138e-01 -4.94217162e-03 -1.55717145e+02] [-8.15338133e-03 1.30478961e-04 9.99966752e-01 -5.20382611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.01813981293512109 Centerline is valid? [True, True] Translation: X:42.43, Y:-155.75, Z:-5.20 [[ 8.03607826e-01 5.95106563e-01 7.91455233e-03 4.24311640e+01] [-5.95076051e-01 8.03646789e-01 -6.02762258e-03 -1.55749523e+02] [-9.94758232e-03 1.34084130e-04 9.99950513e-01 -5.20327653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.017121159902814702 Centerline is valid? [True, True] Translation: X:42.48, Y:-155.78, Z:-5.20 [[ 8.00585192e-01 5.99163775e-01 8.13144215e-03 4.24818627e+01] [-5.99131806e-01 8.00626482e-01 -6.18992284e-03 -1.55780857e+02] [-1.02190255e-02 8.37549436e-05 9.99947781e-01 -5.20257333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.017528845586704922 Centerline is valid? [True, True] Translation: X:42.53, Y:-155.82, Z:-5.20 [[ 8.00137969e-01 5.99762644e-01 8.00008913e-03 4.25278342e+01] [-5.99731740e-01 8.00177959e-01 -6.08886010e-03 -1.55815945e+02] [-1.00533658e-02 7.40207777e-05 9.99949461e-01 -5.20126989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.017177614557404033 Centerline is valid? [True, True] Translation: X:42.57, Y:-155.85, Z:-5.20 [[ 7.98962643e-01 6.01323726e-01 8.27479533e-03 4.25741221e+01] [-6.01290783e-01 7.99005490e-01 -6.29445729e-03 -1.55850286e+02] [-1.03966134e-02 5.34780690e-05 9.99945952e-01 -5.20181134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.01702389047012652 Centerline is valid? [True, True] Translation: X:42.62, Y:-155.88, Z:-5.20 [[ 7.96599201e-01 6.04444943e-01 8.71919187e-03 4.26210473e+01] [-6.04408593e-01 7.96646918e-01 -6.62881035e-03 -1.55883937e+02] [-1.09528682e-02 1.05505345e-05 9.99940016e-01 -5.20252425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.017715793755334247 Centerline is valid? [True, True] Translation: X:42.67, Y:-155.91, Z:-5.20 [[ 7.90676664e-01 6.12166402e-01 9.09449621e-03 4.26732180e+01] [-6.12127376e-01 7.90728959e-01 -6.91295438e-03 -1.55910945e+02] [-1.14231599e-02 -1.01078391e-04 9.99934749e-01 -5.19988042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.018616132733236052 Centerline is valid? [True, True] Translation: X:42.72, Y:-155.94, Z:-5.20 [[ 7.88070986e-01 6.15517482e-01 9.07467715e-03 4.27218137e+01] [-6.15478885e-01 7.88123218e-01 -6.89464630e-03 -1.55944058e+02] [-1.13957391e-02 -1.51801462e-04 9.99935055e-01 -5.19916722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.01963913680746075 Centerline is valid? [True, True] Translation: X:42.77, Y:-155.98, Z:-5.20 [[ 7.85572574e-01 6.18706637e-01 8.82207291e-03 4.27690586e+01] [-6.18670371e-01 7.85622085e-01 -6.70159462e-03 -1.55978107e+02] [-1.10771364e-02 -1.93366185e-04 9.99938628e-01 -5.19758344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.019725606940184413 Centerline is valid? [True, True] Translation: X:42.81, Y:-156.01, Z:-5.20 [[ 7.85431968e-01 6.18881124e-01 9.09822687e-03 4.28149494e+01] [-6.18842602e-01 7.85484636e-01 -6.90808134e-03 -1.56014915e+02] [-1.14217986e-02 -2.04542465e-04 9.99934748e-01 -5.19565688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.019016789848218234 Centerline is valid? [True, True] Translation: X:42.86, Y:-156.05, Z:-5.19 [[ 7.88542042e-01 6.14907686e-01 9.48608976e-03 4.28571880e+01] [-6.14865535e-01 7.88599083e-01 -7.20136911e-03 -1.56054721e+02] [-1.19088989e-02 -1.54087356e-04 9.99929075e-01 -5.19205163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.017992877910342882 Centerline is valid? [True, True] Translation: X:42.90, Y:-156.10, Z:-5.19 [[ 7.91335528e-01 6.11318441e-01 8.82298632e-03 4.28997044e+01] [-6.11281790e-01 7.91384707e-01 -6.69467775e-03 -1.56096468e+02] [-1.10749564e-02 -9.55945175e-05 9.99938666e-01 -5.19328541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.017969475907450485 Centerline is valid? [True, True] Translation: X:42.94, Y:-156.14, Z:-5.19 [[ 7.94734657e-01 6.06905709e-01 7.89217189e-03 4.29416184e+01] [-6.06876194e-01 7.94773842e-01 -5.98548723e-03 -1.56137940e+02] [-9.90511814e-03 -3.26971008e-05 9.99950943e-01 -5.19218817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.01798358367384533 Centerline is valid? [True, True] Translation: X:42.99, Y:-156.18, Z:-5.19 [[ 7.96893321e-01 6.04081446e-01 6.82939728e-03 4.29852629e+01] [-6.04059249e-01 7.96922585e-01 -5.17858247e-03 -1.56176619e+02] [-8.57078652e-03 1.41719565e-06 9.99963270e-01 -5.19141452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.018803766673876572 Centerline is valid? [True, True] Translation: X:43.03, Y:-156.22, Z:-5.19 [[ 8.00709316e-01 5.99026783e-01 5.61284502e-03 4.30261628e+01] [-5.99011670e-01 8.00728988e-01 -4.25538383e-03 -1.56217982e+02] [-7.04345660e-03 4.51658090e-05 9.99975194e-01 -5.19041101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.019181412418385994 Centerline is valid? [True, True] Translation: X:43.07, Y:-156.26, Z:-5.19 [[ 8.03417625e-01 5.95406080e-01 3.42348190e-03 4.30710976e+01] [-5.95400431e-01 8.03424917e-01 -2.59420096e-03 -1.56255365e+02] [-4.29511369e-03 4.58841784e-05 9.99990775e-01 -5.19167304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.020144903438321784 Centerline is valid? [True, True] Translation: X:43.12, Y:-156.29, Z:-5.19 [[ 8.06359048e-01 5.91426112e-01 4.89579037e-04 4.31152625e+01] [-5.91425996e-01 8.06359197e-01 -3.70799589e-04 -1.56294666e+02] [-6.14077117e-04 9.44783385e-06 9.99999812e-01 -5.19234046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.020157293442586467 Centerline is valid? [True, True] Translation: X:43.16, Y:-156.33, Z:-5.19 [[ 8.05987176e-01 5.91926430e-01 -2.78824362e-03 4.31640976e+01] [-5.91922670e-01 8.05991997e-01 2.11051475e-03 -1.56325686e+02] [ 3.49657151e-03 -5.06232147e-05 9.99993886e-01 -5.19242978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.019679535167999057 Centerline is valid? [True, True] Translation: X:43.22, Y:-156.35, Z:-5.19 [[ 8.01607624e-01 5.97803981e-01 -7.45770142e-03 4.32193958e+01] [-5.97777341e-01 8.01642312e-01 5.64397897e-03 -1.56348067e+02] [ 9.35240210e-03 -6.62116470e-05 9.99956263e-01 -5.19314838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.019765953458393583 Centerline is valid? [True, True] Translation: X:43.27, Y:-156.38, Z:-5.19 [[ 7.99264898e-01 6.00896055e-01 -9.97766147e-03 4.32710892e+01] [-6.00848657e-01 7.99327173e-01 7.54735025e-03 -1.56377087e+02] [ 1.25105889e-02 -3.72676353e-05 9.99921739e-01 -5.19283076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.020025429120974245 Centerline is valid? [True, True] Translation: X:43.32, Y:-156.41, Z:-5.19 [[ 7.99238205e-01 6.00932945e-01 -9.89385563e-03 4.33200757e+01] [-6.00886394e-01 7.99299440e-01 7.47979377e-03 -1.56408731e+02] [ 1.24030078e-02 -3.30537115e-05 9.99923079e-01 -5.19098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.019978178813084183 Centerline is valid? [True, True] Translation: X:43.37, Y:-156.44, Z:-5.19 [[ 7.99052578e-01 6.01180072e-01 -9.87415436e-03 4.33684804e+01] [-6.01133776e-01 7.99113585e-01 7.46071854e-03 -1.56441346e+02] [ 1.23758062e-02 -2.58186886e-05 9.99923417e-01 -5.18845278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.020456918122086956 Centerline is valid? [True, True] Translation: X:43.42, Y:-156.47, Z:-5.19 [[ 7.98920397e-01 6.01359620e-01 -9.63362532e-03 4.34152127e+01] [-6.01315587e-01 7.98978477e-01 7.27722728e-03 -1.56474603e+02] [ 1.20732899e-02 -2.10762437e-05 9.99927115e-01 -5.18849422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.02019478884165032 Centerline is valid? [True, True] Translation: X:43.46, Y:-156.51, Z:-5.18 [[ 7.99962250e-01 5.99986499e-01 -8.75218342e-03 4.34629530e+01] [-5.99950111e-01 8.00010125e-01 6.60787992e-03 -1.56506741e+02] [ 1.09664741e-02 -3.51810740e-05 9.99939866e-01 -5.18459680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.020209171570685993 Centerline is valid? [True, True] Translation: X:43.51, Y:-156.54, Z:-5.18 [[ 8.01162167e-01 5.98394861e-01 -7.92286729e-03 4.35100011e+01] [-5.98364998e-01 8.01201340e-01 5.97837586e-03 -1.56540683e+02] [ 9.92524129e-03 -4.88820882e-05 9.99950742e-01 -5.18103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.020158213797437576 Centerline is valid? [True, True] Translation: X:43.56, Y:-156.57, Z:-5.18 [[ 8.00966451e-01 5.98633226e-01 -9.53965121e-03 4.35567100e+01] [-5.98589963e-01 8.01023257e-01 7.19711203e-03 -1.56574709e+02] [ 1.19499129e-02 -5.43058189e-05 9.99928596e-01 -5.18185667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.01995186847350983 Centerline is valid? [True, True] Translation: X:43.60, Y:-156.61, Z:-5.18 [[ 7.99137330e-01 6.01060183e-01 -1.03045829e-02 4.36049451e+01] [-6.01009962e-01 7.99203764e-01 7.76973313e-03 -1.56607624e+02] [ 1.29055387e-02 -1.59268106e-05 9.99916720e-01 -5.17986301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.019943630773142706 Centerline is valid? [True, True] Translation: X:43.65, Y:-156.64, Z:-5.18 [[ 7.96006198e-01 6.05207163e-01 -9.92082058e-03 4.36540036e+01] [-6.05160957e-01 7.96068017e-01 7.47852634e-03 -1.56636377e+02] [ 1.24237057e-02 5.07399606e-05 9.99922822e-01 -5.17727976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.020461344664820205 Centerline is valid? [True, True] Translation: X:43.71, Y:-156.67, Z:-5.17 [[ 7.90586634e-01 6.12322095e-01 -5.86728193e-03 4.37052450e+01] [-6.12306145e-01 7.90608400e-01 4.42070635e-03 -1.56665957e+02] [ 7.34561855e-03 9.76214220e-05 9.99973016e-01 -5.17119175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.02069610876585504 Centerline is valid? [True, True] Translation: X:43.75, Y:-156.70, Z:-5.17 [[ 7.88800084e-01 6.14629718e-01 -4.97360241e-03 4.37521824e+01] [-6.14618307e-01 7.88815757e-01 3.74669802e-03 -1.56700487e+02] [ 6.22608790e-03 1.01471380e-04 9.99980613e-01 -5.17037548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.021189764883358823 Centerline is valid? [True, True] Translation: X:43.80, Y:-156.73, Z:-5.17 [[ 7.85716666e-01 6.18583551e-01 -1.92635850e-03 4.38004478e+01] [-6.18581852e-01 7.85719026e-01 1.45076492e-03 -1.56733582e+02] [ 2.41099584e-03 5.17202306e-05 9.99997092e-01 -5.16694284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.021341202218436793 Centerline is valid? [True, True] Translation: X:43.85, Y:-156.77, Z:-5.17 [[ 7.86023588e-01 6.18195294e-01 -1.22369743e-03 4.38477263e+01] [-6.18194608e-01 7.86024540e-01 9.21419330e-04 -1.56767343e+02] [ 1.53147330e-03 3.22258231e-05 9.99998827e-01 -5.16601940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.02130150387405284 Centerline is valid? [True, True] Translation: X:43.89, Y:-156.81, Z:-5.17 [[ 7.87447873e-01 6.16376675e-01 -2.37517638e-03 4.38930103e+01] [-6.16374085e-01 7.87451453e-01 1.78757729e-03 -1.56805268e+02] [ 2.97215704e-03 5.63732392e-05 9.99995582e-01 -5.16815251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.022876057782337436 Centerline is valid? [True, True] Translation: X:43.94, Y:-156.84, Z:-5.17 [[ 7.86049140e-01 6.18156089e-01 -3.13056665e-03 4.39402000e+01] [-6.18151606e-01 7.86055369e-01 2.35560342e-03 -1.56837918e+02] [ 3.91692932e-03 8.35447629e-05 9.99992325e-01 -5.17179258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.020206914408683406 Centerline is valid? [True, True] Translation: X:43.99, Y:-156.88, Z:-5.17 [[ 7.86959823e-01 6.16994748e-01 -3.42318443e-03 4.39850132e+01] [-6.16989383e-01 7.86967263e-01 2.57448570e-03 -1.56875760e+02] [ 4.28237824e-03 8.60516421e-05 9.99990827e-01 -5.17027606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.020130676309883036 Centerline is valid? [True, True] Translation: X:44.03, Y:-156.91, Z:-5.17 [[ 7.86728719e-01 6.17286889e-01 -3.84964578e-03 4.40327945e+01] [-6.17280114e-01 7.86738131e-01 2.89376058e-03 -1.56910339e+02] [ 4.81494359e-03 9.97052324e-05 9.99988403e-01 -5.17074736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.022174746344456035 Centerline is valid? [True, True] Translation: X:44.08, Y:-156.94, Z:-5.17 [[ 7.83823514e-01 6.20977959e-01 -2.65963323e-03 4.40817240e+01] [-6.20974749e-01 7.83828022e-01 1.99838180e-03 -1.56944002e+02] [ 3.32564610e-03 8.51864296e-05 9.99994466e-01 -5.17182280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.022906337510180445 Centerline is valid? [True, True] Translation: X:44.13, Y:-156.98, Z:-5.17 [[ 7.82417825e-01 6.22752732e-01 -1.17572569e-03 4.41293031e+01] [-6.22752107e-01 7.82418707e-01 8.82971142e-04 -1.56977873e+02] [ 1.46978247e-03 4.13332906e-05 9.99998919e-01 -5.17088590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.02419494238683332 Centerline is valid? [True, True] Translation: X:44.18, Y:-157.01, Z:-5.17 [[ 7.79685795e-01 6.26167293e-01 2.14069073e-03 4.41784195e+01] [-6.26165237e-01 7.79688728e-01 -1.60699660e-03 -1.57011828e+02] [-2.67532115e-03 -8.74736996e-05 9.99996418e-01 -5.16821757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.024703461557369508 Centerline is valid? [True, True] Translation: X:44.23, Y:-157.04, Z:-5.17 [[ 7.78450082e-01 6.27700118e-01 2.83383385e-03 4.42269204e+01] [-6.27696528e-01 7.78455231e-01 -2.12677364e-03 -1.57044354e+02] [-3.54098886e-03 -1.23200551e-04 9.99993723e-01 -5.16746631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.023854966327147238 Centerline is valid? [True, True] Translation: X:44.27, Y:-157.08, Z:-5.17 [[ 7.79180912e-01 6.26780689e-01 4.80345456e-03 4.42727212e+01] [-6.26770366e-01 7.79195692e-01 -3.60316272e-03 -1.57081585e+02] [-6.00122391e-03 -2.03147359e-04 9.99981972e-01 -5.16795845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.021847451377307744 Centerline is valid? [True, True] Translation: X:44.32, Y:-157.12, Z:-5.16 [[ 7.81843943e-01 6.23441784e-01 6.35539120e-03 4.43190189e+01] [-6.23423607e-01 7.81869738e-01 -4.76650513e-03 -1.57116326e+02] [-7.94072651e-03 -2.35437739e-04 9.99968444e-01 -5.16418973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.02234298969739516 Centerline is valid? [True, True] Translation: X:44.37, Y:-157.15, Z:-5.16 [[ 7.83489192e-01 6.21345071e-01 8.65958247e-03 4.43660466e+01] [-6.21311230e-01 7.83536991e-01 -6.49143380e-03 -1.57152142e+02] [-1.08185236e-02 -2.94327615e-04 9.99941435e-01 -5.16378306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.021241215046450202 Centerline is valid? [True, True] Translation: X:44.41, Y:-157.19, Z:-5.16 [[ 7.85303065e-01 6.19041656e-01 9.30187031e-03 4.44130816e+01] [-6.19002487e-01 7.85358101e-01 -6.96950358e-03 -1.57187248e+02] [-1.16197122e-02 -2.84708335e-04 9.99932448e-01 -5.16220488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.020805378325224593 Centerline is valid? [True, True] Translation: X:44.46, Y:-157.22, Z:-5.16 [[ 7.86914236e-01 6.16974512e-01 1.04132868e-02 4.44584258e+01] [-6.16925260e-01 7.86983081e-01 -7.80090075e-03 -1.57223173e+02] [-1.30080375e-02 -2.85579807e-04 9.99915351e-01 -5.16122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.02183038008109991 Centerline is valid? [True, True] Translation: X:44.50, Y:-157.26, Z:-5.17 [[ 7.85642236e-01 6.18585696e-01 1.08634380e-02 4.45041256e+01] [-6.18532301e-01 7.85717270e-01 -8.13408741e-03 -1.57260773e+02] [-1.35672210e-02 -3.28904696e-04 9.99907907e-01 -5.16531129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.022448436311678227 Centerline is valid? [True, True] Translation: X:44.55, Y:-157.29, Z:-5.16 [[ 7.83082301e-01 6.21791354e-01 1.25547637e-02 4.45530651e+01] [-6.21720473e-01 7.83182810e-01 -9.39890930e-03 -1.57294364e+02] [-1.56768357e-02 -4.45434116e-04 9.99877012e-01 -5.16296631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.022591670671870765 Centerline is valid? [True, True] Translation: X:44.60, Y:-157.33, Z:-5.16 [[ 7.80464943e-01 6.25050202e-01 1.36644803e-02 4.46013834e+01] [-6.24966808e-01 7.80584353e-01 -1.02253173e-02 -1.57329167e+02] [-1.70576162e-02 -5.59344969e-04 9.99854352e-01 -5.16186879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.024779177622998968 Centerline is valid? [True, True] Translation: X:44.65, Y:-157.36, Z:-5.16 [[ 7.79710879e-01 6.25991883e-01 1.36054290e-02 4.46482583e+01] [-6.25909387e-01 7.79829358e-01 -1.01789919e-02 -1.57362256e+02] [-1.69818793e-02 -5.79094957e-04 9.99855630e-01 -5.16238068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.023357097996392132 Centerline is valid? [True, True] Translation: X:44.69, Y:-157.40, Z:-5.17 [[ 7.79578865e-01 6.26180198e-01 1.24560933e-02 4.46920656e+01] [-6.26111158e-01 7.79678184e-01 -9.31380408e-03 -1.57401070e+02] [-1.55438639e-02 -5.38054167e-04 9.99879042e-01 -5.16597018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.024149433597664815 Centerline is valid? [True, True] Translation: X:44.74, Y:-157.44, Z:-5.17 [[ 7.79636029e-01 6.26148256e-01 1.02968369e-02 4.47378816e+01] [-6.26101125e-01 7.79703894e-01 -7.69546518e-03 -1.57438393e+02] [-1.28469859e-02 -4.47199256e-04 9.99917374e-01 -5.16891190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.025434485978501516 Centerline is valid? [True, True] Translation: X:44.78, Y:-157.47, Z:-5.17 [[ 7.78157936e-01 6.27997032e-01 9.48440822e-03 4.47846577e+01] [-6.27957196e-01 7.78215608e-01 -7.08706110e-03 -1.57472754e+02] [-1.18315679e-02 -4.40949554e-04 9.99929907e-01 -5.16947117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.025260050928598104 Centerline is valid? [True, True] Translation: X:44.83, Y:-157.51, Z:-5.17 [[ 7.78423237e-01 6.27659177e-01 1.00608681e-02 4.48286176e+01] [-6.27614376e-01 7.78488112e-01 -7.51359886e-03 -1.57510051e+02] [-1.25482455e-02 -4.65585481e-04 9.99921159e-01 -5.16957091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.024809093288500478 Centerline is valid? [True, True] Translation: X:44.87, Y:-157.55, Z:-5.17 [[ 7.80420050e-01 6.25165918e-01 1.05886934e-02 4.48734776e+01] [-6.25116078e-01 7.80491751e-01 -7.90668895e-03 -1.57547729e+02] [-1.32073803e-02 -4.48623909e-04 9.99912678e-01 -5.16777123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.024458067088451742 Centerline is valid? [True, True] Translation: X:44.92, Y:-157.58, Z:-5.17 [[ 7.82385569e-01 6.22698368e-01 1.09345101e-02 4.49188023e+01] [-6.22644993e-01 7.82461862e-01 -8.16380033e-03 -1.57584627e+02] [-1.36394222e-02 -4.21078378e-04 9.99906890e-01 -5.16623511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.02255908334881536 Centerline is valid? [True, True] Translation: X:44.96, Y:-157.63, Z:-5.17 [[ 7.86737639e-01 6.17186944e-01 1.11428649e-02 4.49612970e+01] [-6.17131011e-01 7.86816474e-01 -8.31573750e-03 -1.57626624e+02] [-1.38997543e-02 -3.34303770e-04 9.99903338e-01 -5.16656445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.021438576891227638 Centerline is valid? [True, True] Translation: X:45.00, Y:-157.67, Z:-5.17 [[ 7.90950589e-01 6.11780177e-01 1.10535282e-02 4.50045417e+01] [-6.11724621e-01 7.91027786e-01 -8.24798425e-03 -1.57666738e+02] [-1.37896012e-02 -2.37967370e-04 9.99904891e-01 -5.16665291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.019458488807481404 Centerline is valid? [True, True] Translation: X:45.05, Y:-157.71, Z:-5.17 [[ 7.98410688e-01 6.02037030e-01 9.58061637e-03 4.50456071e+01] [-6.01994623e-01 7.98468165e-01 -7.14580998e-03 -1.57711010e+02] [-1.19518594e-02 -6.21884798e-05 9.99928572e-01 -5.16844019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.0197822442749661 Centerline is valid? [True, True] Translation: X:45.09, Y:-157.75, Z:-5.17 [[ 8.02163430e-01 5.97036766e-01 8.99616695e-03 4.50881605e+01] [-5.96999095e-01 8.02213874e-01 -6.70678492e-03 -1.57751437e+02] [-1.12210471e-02 9.23407223e-06 9.99937042e-01 -5.16944488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.020736876476841234 Centerline is valid? [True, True] Translation: X:45.13, Y:-157.79, Z:-5.17 [[ 8.05775187e-01 5.92176376e-01 7.31354949e-03 4.51319361e+01] [-5.92151306e-01 8.05808375e-01 -5.44923400e-03 -1.57788761e+02] [-9.12022707e-03 6.01296659e-05 9.99958408e-01 -5.17347693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.02066028329786229 Centerline is valid? [True, True] Translation: X:45.18, Y:-157.82, Z:-5.18 [[ 8.07333338e-01 5.90073667e-01 5.09391487e-03 4.51770159e+01] [-5.90061478e-01 8.07349406e-01 -3.79323501e-03 -1.57824521e+02] [-6.35085723e-03 5.66821478e-05 9.99979832e-01 -5.17525812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.020788974202327958 Centerline is valid? [True, True] Translation: X:45.22, Y:-157.86, Z:-5.18 [[ 8.07343334e-01 5.90066464e-01 4.27885754e-03 4.52224135e+01] [-5.90057873e-01 8.07354672e-01 -3.18448135e-03 -1.57860660e+02] [-5.33361127e-03 4.61962178e-05 9.99985775e-01 -5.17594256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.021026111271214724 Centerline is valid? [True, True] Translation: X:45.27, Y:-157.89, Z:-5.17 [[ 8.06161843e-01 5.91675845e-01 4.77259037e-03 4.52703815e+01] [-5.91665195e-01 8.06175969e-01 -3.55018311e-03 -1.57894606e+02] [-5.94810526e-03 3.82465501e-05 9.99982309e-01 -5.17417577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.020138909267513574 Centerline is valid? [True, True] Translation: X:45.32, Y:-157.92, Z:-5.17 [[ 8.02743563e-01 5.96320090e-01 2.26311424e-03 4.53227697e+01] [-5.96317717e-01 8.02746753e-01 -1.68263756e-03 -1.57922199e+02] [-2.82009819e-03 1.19135626e-06 9.99996024e-01 -5.17427146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.020168905188246364 Centerline is valid? [True, True] Translation: X:45.37, Y:-157.95, Z:-5.18 [[ 7.94825554e-01 6.06835929e-01 -1.57963623e-03 4.53739424e+01] [-6.06834794e-01 7.94827123e-01 1.17387229e-03 -1.57952047e+02] [ 1.96788560e-03 2.55545350e-05 9.99998063e-01 -5.17964202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.02388699849764128 Centerline is valid? [True, True] Translation: X:45.42, Y:-157.98, Z:-5.18 [[ 7.90363869e-01 6.12629268e-01 -3.21473836e-03 4.54242316e+01] [-6.12624617e-01 7.90370402e-01 2.38871638e-03 -1.57982682e+02] [ 4.00423162e-03 8.14727400e-05 9.99991980e-01 -5.18303350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.023593242573408016 Centerline is valid? [True, True] Translation: X:45.48, Y:-158.01, Z:-5.18 [[ 7.87269094e-01 6.16602518e-01 -2.95112099e-03 4.54756935e+01] [-6.16598626e-01 7.87274620e-01 2.19260276e-03 -1.58012506e+02] [ 3.67530704e-03 9.34887555e-05 9.99993242e-01 -5.17706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.02346601328877352 Centerline is valid? [True, True] Translation: X:45.53, Y:-158.05, Z:-5.18 [[ 7.84713683e-01 6.19848336e-01 -3.53213947e-03 4.55250049e+01] [-6.19842796e-01 7.84721622e-01 2.62399875e-03 -1.58045537e+02] [ 4.39822747e-03 1.30283481e-04 9.99990319e-01 -5.17589845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.024723272938080434 Centerline is valid? [True, True] Translation: X:45.57, Y:-158.08, Z:-5.18 [[ 7.81100779e-01 6.24396636e-01 -3.22706656e-03 4.55729535e+01] [-6.24392054e-01 7.81107433e-01 2.39632483e-03 -1.58079828e+02] [ 4.01694284e-03 1.43183522e-04 9.99991922e-01 -5.17732947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.025198445503909823 Centerline is valid? [True, True] Translation: X:45.62, Y:-158.11, Z:-5.17 [[ 7.82280535e-01 6.22920213e-01 -2.75187893e-03 4.56228731e+01] [-6.22916873e-01 7.82285367e-01 2.04309583e-03 -1.58110104e+02] [ 3.42544031e-03 1.15917726e-04 9.99994127e-01 -5.17367428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.02440231747592284 Centerline is valid? [True, True] Translation: X:45.67, Y:-158.14, Z:-5.17 [[ 7.83985380e-01 6.20770344e-01 -3.33237881e-03 4.56712230e+01] [-6.20765429e-01 7.83992451e-01 2.47348576e-03 -1.58144249e+02] [ 4.14802644e-03 1.29448886e-04 9.99991389e-01 -5.17185741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.024169366288108396 Centerline is valid? [True, True] Translation: X:45.72, Y:-158.18, Z:-5.17 [[ 7.85557220e-01 6.18784703e-01 -2.31210756e-03 4.57185055e+01] [-6.18782331e-01 7.85560618e-01 1.71534291e-03 -1.58179479e+02] [ 2.87772860e-03 8.31912992e-05 9.99995856e-01 -5.17054759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.024166437425503298 Centerline is valid? [True, True] Translation: X:45.77, Y:-158.21, Z:-5.17 [[ 7.86183339e-01 6.17992022e-01 -1.27175312e-03 4.57666804e+01] [-6.17991305e-01 7.86184367e-01 9.43036037e-04 -1.58213047e+02] [ 1.58262117e-03 4.45331507e-05 9.99998747e-01 -5.16889205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.023769825691381054 Centerline is valid? [True, True] Translation: X:45.82, Y:-158.24, Z:-5.17 [[ 7.88111158e-01 6.15532452e-01 7.76046945e-04 4.58155382e+01] [-6.15532184e-01 7.88111540e-01 -5.75360105e-04 -1.58243700e+02] [-9.65764369e-04 -2.42341525e-05 9.99999533e-01 -5.16527121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.023090144154357752 Centerline is valid? [True, True] Translation: X:45.86, Y:-158.28, Z:-5.17 [[ 7.89416845e-01 6.13853597e-01 2.19254976e-03 4.58613568e+01] [-6.13851449e-01 7.89419887e-01 -1.62512443e-03 -1.58281509e+02] [-2.72843086e-03 -6.29992488e-05 9.99996276e-01 -5.16500436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.021381664647631735 Centerline is valid? [True, True] Translation: X:45.91, Y:-158.32, Z:-5.16 [[ 7.92577090e-01 6.09764572e-01 2.95339368e-03 4.59086437e+01] [-6.09760650e-01 7.92582590e-01 -2.18804987e-03 -1.58316900e+02] [-3.67500370e-03 -6.66650528e-05 9.99993245e-01 -5.16147546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.021349721115156692 Centerline is valid? [True, True] Translation: X:45.95, Y:-158.35, Z:-5.16 [[ 7.95330130e-01 6.06165664e-01 3.62935512e-03 4.59548630e+01] [-6.06159709e-01 7.95338408e-01 -2.68751809e-03 -1.58352119e+02] [-4.51564671e-03 -6.25047341e-05 9.99989803e-01 -5.15992137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.020417810603696716 Centerline is valid? [True, True] Translation: X:46.00, Y:-158.39, Z:-5.16 [[ 7.97925549e-01 6.02749668e-01 2.76695198e-03 4.59988297e+01] [-6.02746190e-01 7.97930346e-01 -2.04790809e-03 -1.58391128e+02] [-3.44221087e-03 -3.36915723e-05 9.99994075e-01 -5.16292660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.0206959327518574 Centerline is valid? [True, True] Translation: X:46.04, Y:-158.43, Z:-5.17 [[ 7.96863439e-01 6.04158755e-01 9.26438877e-04 4.60437701e+01] [-6.04158366e-01 7.96863978e-01 -6.85340279e-04 -1.58428445e+02] [-1.15230010e-03 -1.35931872e-05 9.99999336e-01 -5.16772529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.02063485173476732 Centerline is valid? [True, True] Translation: X:46.09, Y:-158.46, Z:-5.17 [[ 7.94871832e-01 6.06776933e-01 7.23950552e-04 4.60925598e+01] [-6.06776697e-01 7.94872162e-01 -5.35279366e-04 -1.58460723e+02] [-9.00243312e-04 -1.37978340e-05 9.99999595e-01 -5.16691008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.02241728528469863 Centerline is valid? [True, True] Translation: X:46.14, Y:-158.49, Z:-5.17 [[ 7.89912309e-01 6.13215583e-01 2.27878288e-03 4.61438232e+01] [-6.13213274e-01 7.89915593e-01 -1.68417498e-03 -1.58491676e+02] [-2.83280848e-03 -6.70293612e-05 9.99995985e-01 -5.16593708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.022633568862897635 Centerline is valid? [True, True] Translation: X:46.19, Y:-158.53, Z:-5.17 [[ 7.87304524e-01 6.16560956e-01 2.04302726e-03 4.61924943e+01] [-6.16559113e-01 7.87307171e-01 -1.50928186e-03 -1.58526165e+02] [-2.53905428e-03 -7.13826438e-05 9.99996774e-01 -5.16602153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.023375837907520812 Centerline is valid? [True, True] Translation: X:46.24, Y:-158.56, Z:-5.17 [[ 7.85412543e-01 6.18968344e-01 2.30799259e-03 4.62411859e+01] [-6.18966003e-01 7.85415929e-01 -1.70480523e-03 -1.58559249e+02] [-2.86795461e-03 -8.95935387e-05 9.99995883e-01 -5.16544624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.024505683995999963 Centerline is valid? [True, True] Translation: X:46.29, Y:-158.59, Z:-5.17 [[ 7.84293207e-01 6.20387375e-01 1.91567514e-03 4.62885732e+01] [-6.20385767e-01 7.84295543e-01 -1.41476704e-03 -1.58593228e+02] [-2.38015908e-03 -7.88654114e-05 9.99997164e-01 -5.16756736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.023281868535701977 Centerline is valid? [True, True] Translation: X:46.33, Y:-158.63, Z:-5.17 [[ 7.85767322e-01 6.18522195e-01 -9.37450523e-05 4.63332701e+01] [-6.18522192e-01 7.85767328e-01 6.91975462e-05 -1.58632483e+02] [ 1.16462018e-04 3.61022463e-06 9.99999993e-01 -5.17138874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.022570325508128923 Centerline is valid? [True, True] Translation: X:46.38, Y:-158.67, Z:-5.17 [[ 7.86453059e-01 6.17649639e-01 -7.13693606e-04 4.63786083e+01] [-6.17649415e-01 7.86453382e-01 5.26564712e-04 -1.58670216e+02] [ 8.86519256e-04 2.66940100e-05 9.99999607e-01 -5.17284765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.024759963684991133 Centerline is valid? [True, True] Translation: X:46.43, Y:-158.70, Z:-5.17 [[ 7.84869126e-01 6.19661523e-01 -2.28417312e-04 4.64292509e+01] [-6.19661500e-01 7.84869159e-01 1.68500205e-04 -1.58699288e+02] [ 2.83690798e-04 9.29080572e-06 9.99999960e-01 -5.17212903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.02416922493531492 Centerline is valid? [True, True] Translation: X:46.48, Y:-158.73, Z:-5.17 [[ 7.84676373e-01 6.19905491e-01 -4.14709832e-04 4.64758216e+01] [-6.19905416e-01 7.84676482e-01 3.05772206e-04 -1.58734783e+02] [ 5.14962922e-04 1.71486456e-05 9.99999867e-01 -5.17214600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.0246015745456084 Centerline is valid? [True, True] Translation: X:46.52, Y:-158.77, Z:-5.17 [[ 7.84885693e-01 6.19637743e-01 -1.87501470e-03 4.65222871e+01] [-6.19636207e-01 7.84887929e-01 1.38171391e-03 -1.58769438e+02] [ 2.32783850e-03 7.73395224e-05 9.99997288e-01 -5.17492017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.02302562871014879 Centerline is valid? [True, True] Translation: X:46.57, Y:-158.81, Z:-5.17 [[ 7.87029478e-01 6.16912854e-01 -1.76974252e-03 4.65683436e+01] [-6.16911479e-01 7.87031465e-01 1.30395754e-03 -1.58806213e+02] [ 2.19727122e-03 6.55214499e-05 9.99997584e-01 -5.17467158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.022182061310463675 Centerline is valid? [True, True] Translation: X:46.61, Y:-158.84, Z:-5.17 [[ 7.89020439e-01 6.14366009e-01 -1.07441598e-03 4.66149807e+01] [-6.14365500e-01 7.89021170e-01 7.91526748e-04 -1.58841076e+02] [ 1.33402408e-03 3.55533273e-05 9.99999110e-01 -5.17367628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.021975935171733435 Centerline is valid? [True, True] Translation: X:46.66, Y:-158.88, Z:-5.17 [[ 7.90627354e-01 6.12292725e-01 2.45073783e-03 4.66628201e+01] [-6.12290068e-01 7.90631149e-01 -1.80502118e-03 -1.58876082e+02] [-3.04283100e-03 -7.34633167e-05 9.99995368e-01 -5.17027067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.021163184116689212 Centerline is valid? [True, True] Translation: X:46.71, Y:-158.91, Z:-5.17 [[ 7.92067274e-01 6.10424371e-01 3.39429470e-03 4.67093929e+01] [-6.10419264e-01 7.92074541e-01 -2.49871420e-03 -1.58911360e+02] [-4.21381046e-03 -9.27931232e-05 9.99991118e-01 -5.16875661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.01882919351538233 Centerline is valid? [True, True] Translation: X:46.76, Y:-158.95, Z:-5.17 [[ 7.99167767e-01 6.01075565e-01 6.24869436e-03 4.67558168e+01] [-6.01057985e-01 7.99192191e-01 -4.59784971e-03 -1.58948477e+02] [-7.75756284e-03 -8.13743537e-05 9.99969906e-01 -5.16535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.018825918927565268 Centerline is valid? [True, True] Translation: X:46.80, Y:-158.99, Z:-5.17 [[ 8.01892972e-01 5.97461286e-01 2.77001530e-03 4.67979391e+01] [-5.97457811e-01 8.01897756e-01 -2.03784501e-03 -1.58988138e+02] [-3.43880256e-03 -2.08336859e-05 9.99994087e-01 -5.17231296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.01905363941658305 Centerline is valid? [True, True] Translation: X:46.84, Y:-159.03, Z:-5.18 [[ 8.01633243e-01 5.97815028e-01 1.15588896e-03 4.68418340e+01] [-5.97814424e-01 8.01634076e-01 -8.49882078e-04 -1.59026701e+02] [-1.43467225e-03 -9.71336411e-06 9.99998971e-01 -5.17729491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.018614282716632076 Centerline is valid? [True, True] Translation: X:46.89, Y:-159.06, Z:-5.18 [[ 7.99835530e-01 6.00217525e-01 1.43096194e-03 4.68907736e+01] [-6.00216604e-01 7.99836810e-01 -1.05160812e-03 -1.59059796e+02] [-1.77572966e-03 -1.77735763e-05 9.99998423e-01 -5.17597074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.019792858692672298 Centerline is valid? [True, True] Translation: X:46.94, Y:-159.09, Z:-5.17 [[ 7.98068398e-01 6.02563994e-01 1.86178384e-03 4.69396530e+01] [-6.02562443e-01 7.98070569e-01 -1.36752377e-03 -1.59092691e+02] [-2.30985547e-03 -3.04635163e-05 9.99997332e-01 -5.17378039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.019564597344541988 Centerline is valid? [True, True] Translation: X:46.99, Y:-159.13, Z:-5.17 [[ 7.97231296e-01 6.03671343e-01 1.78072026e-03 4.69858909e+01] [-6.03669928e-01 7.97233284e-01 -1.30730882e-03 -1.59129123e+02] [-2.20883433e-03 -3.27397718e-05 9.99997560e-01 -5.17479436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.020366387268746663 Centerline is valid? [True, True] Translation: X:47.03, Y:-159.16, Z:-5.18 [[ 7.97107310e-01 6.03834982e-01 1.80318960e-03 4.70323833e+01] [-6.03833534e-01 7.97109348e-01 -1.32303973e-03 -1.59163995e+02] [-2.23623696e-03 -3.42217055e-05 9.99997499e-01 -5.17566131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.01986116534306875 Centerline is valid? [True, True] Translation: X:47.08, Y:-159.20, Z:-5.17 [[ 7.97184390e-01 6.03720838e-01 4.26596483e-03 4.70798624e+01] [-6.03712737e-01 7.97195800e-01 -3.12846416e-03 -1.59199364e+02] [-5.28952825e-03 -8.14545143e-05 9.99986007e-01 -5.17206305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.019287157466400036 Centerline is valid? [True, True] Translation: X:47.13, Y:-159.23, Z:-5.17 [[ 7.98114950e-01 6.02459364e-01 7.43248046e-03 4.71272936e+01] [-6.02434746e-01 7.98149546e-01 -5.44788960e-03 -1.59234535e+02] [-9.21436301e-03 -1.29542339e-04 9.99957539e-01 -5.16744398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.01962824770741718 Centerline is valid? [True, True] Translation: X:47.17, Y:-159.27, Z:-5.16 [[ 7.99171532e-01 6.01010439e-01 1.05505546e-02 4.71741846e+01] [-6.00960755e-01 7.99241156e-01 -7.72952694e-03 -1.59269859e+02] [-1.30779638e-02 -1.63251343e-04 9.99914467e-01 -5.16376730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.01968159177856867 Centerline is valid? [True, True] Translation: X:47.22, Y:-159.31, Z:-5.16 [[ 8.01770488e-01 5.97522633e-01 1.14361958e-02 4.72188634e+01] [-5.97463962e-01 8.01852037e-01 -8.37410930e-03 -1.59308729e+02] [-1.41738567e-02 -1.18601129e-04 9.99899539e-01 -5.16473946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.019655969524601462 Centerline is valid? [True, True] Translation: X:47.26, Y:-159.35, Z:-5.16 [[ 8.04608234e-01 5.93697622e-01 1.13456556e-02 4.72634419e+01] [-5.93639516e-01 8.04688220e-01 -8.30632702e-03 -1.59346014e+02] [-1.40611620e-02 -5.18903604e-05 9.99901136e-01 -5.16481890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.020412569779486002 Centerline is valid? [True, True] Translation: X:47.31, Y:-159.38, Z:-5.17 [[ 8.08974291e-01 5.87740628e-01 1.10250325e-02 4.73068591e+01] [-5.87685265e-01 8.09049413e-01 -8.06703276e-03 -1.59384061e+02] [-1.36611190e-02 4.67729631e-05 9.99906682e-01 -5.16529241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.02061372619867661 Centerline is valid? [True, True] Translation: X:47.35, Y:-159.42, Z:-5.17 [[ 8.10851391e-01 5.85168142e-01 9.91295461e-03 4.73506432e+01] [-5.85123227e-01 8.10911980e-01 -7.25055305e-03 -1.59420881e+02] [-1.22813263e-02 7.88210383e-05 9.99924579e-01 -5.16607958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.020983488951048977 Centerline is valid? [True, True] Translation: X:47.40, Y:-159.46, Z:-5.17 [[ 8.10029346e-01 5.86325190e-01 8.67353298e-03 4.73968090e+01] [-5.86290904e-01 8.10075780e-01 -6.34088472e-03 -1.59456599e+02] [-1.07440394e-02 5.10892097e-05 9.99942280e-01 -5.16936056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.020881964688941653 Centerline is valid? [True, True] Translation: X:47.45, Y:-159.49, Z:-5.17 [[ 8.06771962e-01 5.90807571e-01 8.08799073e-03 4.74456876e+01] [-5.90777992e-01 8.06812503e-01 -5.91179098e-03 -1.59487053e+02] [-1.00182229e-02 -8.73971568e-06 9.99949816e-01 -5.16960823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.024220852222513325 Centerline is valid? [True, True] Translation: X:47.51, Y:-159.50, Z:-5.17 [[ 7.93268326e-01 6.08840873e-01 6.17689743e-03 4.75104204e+01] [-6.08824163e-01 7.93292354e-01 -4.51428391e-03 -1.59497586e+02] [-7.64856606e-03 -1.79605969e-04 9.99970733e-01 -5.17146862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.025818387978570414 Centerline is valid? [True, True] Translation: X:47.56, Y:-159.53, Z:-5.17 [[ 7.86952506e-01 6.16946429e-01 9.10255661e-03 4.75606991e+01] [-6.16910691e-01 7.87005056e-01 -6.65136399e-03 -1.59528908e+02] [-1.12672933e-02 -3.81156924e-04 9.99936449e-01 -5.17335925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.027547798780329626 Centerline is valid? [True, True] Translation: X:47.61, Y:-159.56, Z:-5.17 [[ 7.84239064e-01 6.20363474e-01 1.08743122e-02 4.76096128e+01] [-6.20312812e-01 7.84314283e-01 -7.94488557e-03 -1.59560690e+02] [-1.34575952e-02 -5.14785548e-04 9.99909310e-01 -5.17299168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.02706555690851908 Centerline is valid? [True, True] Translation: X:47.66, Y:-159.59, Z:-5.17 [[ 7.85586736e-01 6.18638869e-01 1.18080200e-02 4.76576094e+01] [-6.18579001e-01 7.85675294e-01 -8.62269866e-03 -1.59594830e+02] [-1.46116062e-02 -5.30315538e-04 9.99893104e-01 -5.17460802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.025849874831916187 Centerline is valid? [True, True] Translation: X:47.71, Y:-159.63, Z:-5.18 [[ 7.86820458e-01 6.17089776e-01 1.06665924e-02 4.77050554e+01] [-6.17040796e-01 7.86892625e-01 -7.78805357e-03 -1.59629643e+02] [-1.31993911e-02 -4.53922769e-04 9.99912781e-01 -5.17508982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.027930056617718756 Centerline is valid? [True, True] Translation: X:47.75, Y:-159.66, Z:-5.17 [[ 7.87220033e-01 6.16580217e-01 1.06515399e-02 4.77541918e+01] [-6.16531347e-01 7.87291964e-01 -7.77567935e-03 -1.59660087e+02] [-1.31802019e-02 -4.45837707e-04 9.99913038e-01 -5.17433552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.02745127890411807 Centerline is valid? [True, True] Translation: X:47.80, Y:-159.69, Z:-5.18 [[ 7.83785875e-01 6.20930043e-01 1.12064323e-02 4.78026573e+01] [-6.20876443e-01 7.83865792e-01 -8.17697537e-03 -1.59694051e+02] [-1.38616686e-02 -5.48812016e-04 9.99903772e-01 -5.17655434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.02812980628806328 Centerline is valid? [True, True] Translation: X:47.85, Y:-159.73, Z:-5.18 [[ 7.83238844e-01 6.21588346e-01 1.28390750e-02 4.78502444e+01] [-6.21518151e-01 7.83343802e-01 -9.36354748e-03 -1.59728865e+02] [-1.58776818e-02 -6.45824025e-04 9.99873733e-01 -5.17608210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.02816535140209416 Centerline is valid? [True, True] Translation: X:47.90, Y:-159.76, Z:-5.17 [[ 7.84472025e-01 6.20016815e-01 1.35200397e-02 4.78984479e+01] [-6.19938826e-01 7.84588252e-01 -9.85528780e-03 -1.59762168e+02] [-1.67181085e-02 -6.50399949e-04 9.99860031e-01 -5.17431990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.027705242385983615 Centerline is valid? [True, True] Translation: X:47.95, Y:-159.80, Z:-5.17 [[ 7.85260921e-01 6.19011193e-01 1.37996264e-02 4.79458708e+01] [-6.18929874e-01 7.85381898e-01 -1.00540908e-02 -1.59796099e+02] [-1.70615715e-02 -6.45916482e-04 9.99854232e-01 -5.17379468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.027479421444007605 Centerline is valid? [True, True] Translation: X:47.99, Y:-159.83, Z:-5.18 [[ 7.85829742e-01 6.18283630e-01 1.40345857e-02 4.79918930e+01] [-6.18199492e-01 7.85954793e-01 -1.02201516e-02 -1.59833000e+02] [-1.73495023e-02 -6.44874690e-04 9.99849278e-01 -5.17556156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.026221646621344654 Centerline is valid? [True, True] Translation: X:48.04, Y:-159.87, Z:-5.18 [[ 7.87460050e-01 6.16242638e-01 1.23158856e-02 4.80370678e+01] [-6.16177615e-01 7.87556178e-01 -8.96734645e-03 -1.59870915e+02] [-1.52255130e-02 -5.27345901e-04 9.99883946e-01 -5.17872633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.025402059163139493 Centerline is valid? [True, True] Translation: X:48.08, Y:-159.91, Z:-5.19 [[ 7.87446108e-01 6.16318976e-01 8.91891851e-03 4.80811363e+01] [-6.16284918e-01 7.87496522e-01 -6.49064531e-03 -1.59910317e+02] [-1.10239252e-02 -3.85561577e-04 9.99939160e-01 -5.18508293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.026493515084576837 Centerline is valid? [True, True] Translation: X:48.13, Y:-159.95, Z:-5.19 [[ 7.86873005e-01 6.17084332e-01 6.14830055e-03 4.81278333e+01] [-6.17068188e-01 7.86896976e-01 -4.47209187e-03 -1.59946792e+02] [-7.59773693e-03 -2.74952314e-04 9.99971099e-01 -5.18869883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.027578884833746577 Centerline is valid? [True, True] Translation: X:48.18, Y:-159.98, Z:-5.19 [[ 7.84275530e-01 6.20383827e-01 5.98337180e-03 4.81753533e+01] [-6.20368637e-01 7.84298297e-01 -4.35160256e-03 -1.59981833e+02] [-7.39241215e-03 -2.99040805e-04 9.99972631e-01 -5.18955813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.028862060226618375 Centerline is valid? [True, True] Translation: X:48.23, Y:-160.01, Z:-5.19 [[ 7.81954531e-01 6.23315283e-01 5.01694539e-03 4.82252774e+01] [-6.23304666e-01 7.81970576e-01 -3.64834733e-03 -1.60013503e+02] [-6.19717433e-03 -2.74243747e-04 9.99980760e-01 -5.19041756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.03193939604949176 Centerline is valid? [True, True] Translation: X:48.28, Y:-160.04, Z:-5.19 [[ 7.72867757e-01 6.34556868e-01 3.60725573e-03 4.82764028e+01] [-6.34551505e-01 7.72876130e-01 -2.62196359e-03 -1.60044351e+02] [-4.45174685e-03 -2.62558433e-04 9.99990057e-01 -5.19174184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.03465085422452154 Centerline is valid? [True, True] Translation: X:48.33, Y:-160.08, Z:-5.19 [[ 7.66646889e-01 6.42055047e-01 4.22666294e-03 4.83265171e+01] [-6.42047800e-01 7.66658456e-01 -3.07156452e-03 -1.60075697e+02] [-5.21252038e-03 -3.58914258e-04 9.99986350e-01 -5.19105320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.043990881908075416 Centerline is valid? [True, True] Translation: X:48.38, Y:-160.10, Z:-5.19 [[ 7.57876769e-01 6.52368307e-01 6.19637696e-03 4.83826490e+01] [-6.52353077e-01 7.57901837e-01 -4.50196263e-03 -1.60097630e+02] [-7.63318322e-03 -6.30292686e-04 9.99970668e-01 -5.18776319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.041469342725361985 Centerline is valid? [True, True] Translation: X:48.43, Y:-160.14, Z:-5.19 [[ 7.55597074e-01 6.54995763e-01 7.32207702e-03 4.84281165e+01] [-6.54974641e-01 7.55632150e-01 -5.31734803e-03 -1.60135725e+02] [-9.01563723e-03 -7.78002156e-04 9.99959056e-01 -5.18766679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.04230985004077655 Centerline is valid? [True, True] Translation: X:48.47, Y:-160.17, Z:-5.19 [[ 7.55038703e-01 6.55652956e-01 5.97985863e-03 4.84742754e+01] [-6.55638904e-01 7.55062109e-01 -4.34048176e-03 -1.60172607e+02] [-7.36101436e-03 -6.43396235e-04 9.99972700e-01 -5.19100665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.03847289553278632 Centerline is valid? [True, True] Translation: X:48.52, Y:-160.21, Z:-5.19 [[ 7.57138436e-01 6.53243140e-01 3.84576326e-03 4.85184412e+01] [-6.53237299e-01 7.57148097e-01 -2.79091525e-03 -1.60212573e+02] [-4.73495857e-03 -3.99086803e-04 9.99988710e-01 -5.19274144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.03878742705143317 Centerline is valid? [True, True] Translation: X:48.57, Y:-160.25, Z:-5.20 [[ 7.59615096e-01 6.50369865e-01 1.98621534e-03 4.85656324e+01] [-6.50368299e-01 7.59617667e-01 -1.44073281e-03 -1.60247210e+02] [-2.44577347e-03 -1.97369103e-04 9.99996990e-01 -5.19569137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.03835766877554471 Centerline is valid? [True, True] Translation: X:48.61, Y:-160.28, Z:-5.20 [[ 7.61328917e-01 6.48365464e-01 7.11138162e-04 4.86125504e+01] [-6.48365262e-01 7.61329246e-01 -5.15762588e-04 -1.60282643e+02] [-8.75812930e-04 -6.84123078e-05 9.99999614e-01 -5.19629178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.037712333485721984 Centerline is valid? [True, True] Translation: X:48.66, Y:-160.32, Z:-5.20 [[ 7.62066720e-01 6.47498492e-01 -1.32775523e-04 4.86594465e+01] [-6.47498485e-01 7.62066731e-01 9.62461435e-05 -1.60317678e+02] [ 1.63503042e-04 1.26259672e-05 9.99999987e-01 -5.19650687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.037911346475491034 Centerline is valid? [True, True] Translation: X:48.71, Y:-160.35, Z:-5.20 [[ 7.63973061e-01 6.45248013e-01 -4.05774504e-04 4.87083700e+01] [-6.45247947e-01 7.63973168e-01 2.94104815e-04 -1.60350141e+02] [ 4.99771381e-04 3.71370091e-05 9.99999875e-01 -5.19578812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.035759503180426595 Centerline is valid? [True, True] Translation: X:48.75, Y:-160.39, Z:-5.20 [[ 7.68427057e-01 6.39937313e-01 3.05464802e-04 4.87541716e+01] [-6.39937275e-01 7.68427118e-01 -2.21360409e-04 -1.60387492e+02] [-3.76384222e-04 -2.53789853e-05 9.99999929e-01 -5.19501215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.030748870904755116 Centerline is valid? [True, True] Translation: X:48.80, Y:-160.43, Z:-5.20 [[ 7.76576496e-01 6.30022426e-01 -8.29579053e-04 4.87973028e+01] [-6.30022142e-01 7.76576937e-01 6.01053894e-04 -1.60428087e+02] [ 1.02290939e-03 5.58888446e-05 9.99999475e-01 -5.19560192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.028200965681380676 Centerline is valid? [True, True] Translation: X:48.84, Y:-160.47, Z:-5.20 [[ 7.80448637e-01 6.25218651e-01 -1.25032117e-03 4.88435206e+01] [-6.25218000e-01 7.80449635e-01 9.05458886e-04 -1.60465454e+02] [ 1.54192248e-03 7.50591455e-05 9.99998809e-01 -5.19568289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.026721299369818464 Centerline is valid? [True, True] Translation: X:48.89, Y:-160.50, Z:-5.20 [[ 7.83775105e-01 6.21044197e-01 -8.31076437e-04 4.88895567e+01] [-6.21043907e-01 7.83775544e-01 6.01566077e-04 -1.60503342e+02] [ 1.02497651e-03 4.46424428e-05 9.99999474e-01 -5.19544043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.027018837559328122 Centerline is valid? [True, True] Translation: X:48.94, Y:-160.54, Z:-5.19 [[ 7.86103895e-01 6.18093154e-01 -1.23239496e-03 4.89378989e+01] [-6.18092513e-01 7.86104859e-01 8.91934695e-04 -1.60536353e+02] [ 1.52009040e-03 6.05807619e-05 9.99998843e-01 -5.19465436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.025103598910622704 Centerline is valid? [True, True] Translation: X:48.98, Y:-160.57, Z:-5.20 [[ 7.88321156e-01 6.15258396e-01 -2.61944061e-03 4.89839260e+01] [-6.15255489e-01 7.88325499e-01 1.89492028e-03 -1.60574040e+02] [ 3.23083744e-03 1.17819473e-04 9.99994774e-01 -5.19534330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.024850181500181347 Centerline is valid? [True, True] Translation: X:49.03, Y:-160.61, Z:-5.20 [[ 7.89558573e-01 6.13664577e-01 -3.61202934e-03 4.90295687e+01] [-6.13659035e-01 7.89566820e-01 2.61250335e-03 -1.60609882e+02] [ 4.45513928e-03 1.53830020e-04 9.99990064e-01 -5.19683168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.02434675569494618 Centerline is valid? [True, True] Translation: X:49.07, Y:-160.65, Z:-5.20 [[ 7.90006195e-01 6.13065925e-01 -6.35482877e-03 4.90741181e+01] [-6.13048773e-01 7.90031709e-01 4.59366148e-03 -1.60646332e+02] [ 7.83673356e-03 2.66798953e-04 9.99969257e-01 -5.19955140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.025396508923690535 Centerline is valid? [True, True] Translation: X:49.12, Y:-160.68, Z:-5.20 [[ 7.89205951e-01 6.14087581e-01 -7.09994568e-03 4.91217070e+01] [-6.14066235e-01 7.89237826e-01 5.12972008e-03 -1.60680577e+02] [ 8.75364309e-03 3.11431297e-04 9.99961638e-01 -5.20031009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.02537134603485187 Centerline is valid? [True, True] Translation: X:49.17, Y:-160.72, Z:-5.20 [[ 7.88013221e-01 6.15614296e-01 -7.36222841e-03 4.91690314e+01] [-6.15591434e-01 7.88047537e-01 5.31651727e-03 -1.60715415e+02] [ 9.07471001e-03 3.42638847e-04 9.99958765e-01 -5.20073139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.02516231054767874 Centerline is valid? [True, True] Translation: X:49.21, Y:-160.75, Z:-5.20 [[ 7.88501904e-01 6.14968141e-01 -8.88439751e-03 4.92149514e+01] [-6.14934847e-01 7.88551850e-01 6.41202481e-03 -1.60750923e+02] [ 1.09489991e-02 4.07431846e-04 9.99939975e-01 -5.20342043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.02576145471462887 Centerline is valid? [True, True] Translation: X:49.26, Y:-160.79, Z:-5.21 [[ 7.87448007e-01 6.16276006e-01 -1.13807405e-02 4.92617343e+01] [-6.16221559e-01 7.87530053e-01 8.21008906e-03 -1.60787902e+02] [ 1.40223560e-02 5.48039365e-04 9.99901532e-01 -5.20543412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.02616562285157544 Centerline is valid? [True, True] Translation: X:49.31, Y:-160.82, Z:-5.21 [[ 7.84766118e-01 6.19668455e-01 -1.23752629e-02 4.93098552e+01] [-6.19604560e-01 7.84863405e-01 8.92331776e-03 -1.60821819e+02] [ 1.52423895e-02 6.65051912e-04 9.99883607e-01 -5.20538253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.03171629117119401 Centerline is valid? [True, True] Translation: X:49.36, Y:-160.85, Z:-5.21 [[ 7.76899534e-01 6.29471585e-01 -1.38793779e-02 4.93609767e+01] [-6.29392795e-01 7.77022907e-01 1.00056326e-02 -1.60850230e+02] [ 1.70828560e-02 9.62209143e-04 9.99853614e-01 -5.20710934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.03808242797864127 Centerline is valid? [True, True] Translation: X:49.41, Y:-160.88, Z:-5.21 [[ 7.72347090e-01 6.35075192e-01 -1.26282572e-02 4.94141161e+01] [-6.35010734e-01 7.72449689e-01 9.10194529e-03 -1.60876778e+02] [ 1.55351130e-02 9.89217892e-04 9.99878834e-01 -5.20521877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.03670838372619604 Centerline is valid? [True, True] Translation: X:49.46, Y:-160.91, Z:-5.20 [[ 7.67343780e-01 6.41182946e-01 -8.24336884e-03 4.94633260e+01] [-6.41155840e-01 7.67387712e-01 5.94036451e-03 -1.60909903e+02] [ 1.01347204e-02 7.26982317e-04 9.99948378e-01 -5.19616231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.0378528835473847 Centerline is valid? [True, True] Translation: X:49.51, Y:-160.94, Z:-5.19 [[ 7.66671541e-01 6.42017866e-01 -5.27334145e-03 4.95132021e+01] [-6.42006805e-01 7.66689530e-01 3.79822581e-03 -1.60940765e+02] [ 6.48154451e-03 4.73529463e-04 9.99978883e-01 -5.19099963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.035999611391338 Centerline is valid? [True, True] Translation: X:49.56, Y:-160.98, Z:-5.19 [[ 7.68031994e-01 6.40398189e-01 -4.12502669e-03 4.95598255e+01] [-6.40391400e-01 7.68042987e-01 2.97071538e-03 -1.60976472e+02] [ 5.07063857e-03 3.60027164e-04 9.99987080e-01 -5.18931668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.03408232738909731 Centerline is valid? [True, True] Translation: X:49.61, Y:-161.01, Z:-5.19 [[ 7.73469764e-01 6.33823439e-01 -3.51745314e-03 4.96073025e+01] [-6.33818440e-01 7.73477714e-01 2.53196290e-03 -1.61011110e+02] [ 4.32548905e-03 2.71029918e-04 9.99990608e-01 -5.18853378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.032133705056734164 Centerline is valid? [True, True] Translation: X:49.65, Y:-161.05, Z:-5.19 [[ 7.77726217e-01 6.28590948e-01 -3.91807657e-03 4.96540676e+01] [-6.28584680e-01 7.77736040e-01 2.81997226e-03 -1.61047184e+02] [ 4.81983839e-03 2.69676549e-04 9.99988348e-01 -5.18847653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.03220446163960034 Centerline is valid? [True, True] Translation: X:49.70, Y:-161.08, Z:-5.19 [[ 7.80411267e-01 6.25251513e-01 -4.33583311e-03 4.97027227e+01] [-6.25243788e-01 7.80423263e-01 3.12021517e-03 -1.61079375e+02] [ 5.33470428e-03 2.75901647e-04 9.99985732e-01 -5.18755911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.02681090246926467 Centerline is valid? [True, True] Translation: X:49.75, Y:-161.12, Z:-5.19 [[ 7.79681936e-01 6.26159258e-01 -4.54556147e-03 4.97459206e+01] [-6.26150793e-01 7.79695130e-01 3.26942150e-03 -1.61120320e+02] [ 5.59133068e-03 2.97098037e-04 9.99984324e-01 -5.18706232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.029516058546853196 Centerline is valid? [True, True] Translation: X:49.80, Y:-161.15, Z:-5.19 [[ 7.75672265e-01 6.31122936e-01 -4.04675421e-03 4.97972877e+01] [-6.31116296e-01 7.75682765e-01 2.91027864e-03 -1.61149077e+02] [ 4.97574110e-03 2.96550103e-04 9.99987577e-01 -5.18541581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.03711080892466586 Centerline is valid? [True, True] Translation: X:49.85, Y:-161.17, Z:-5.19 [[ 7.72640447e-01 6.34826964e-01 -4.63308500e-03 4.98508601e+01] [-6.34818330e-01 7.72654250e-01 3.33122929e-03 -1.61173671e+02] [ 5.69452700e-03 3.67324793e-04 9.99983719e-01 -5.18622019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.0320608148722155 Centerline is valid? [True, True] Translation: X:49.89, Y:-161.22, Z:-5.19 [[ 7.70219336e-01 6.37736554e-01 -7.36625915e-03 4.98927052e+01] [-6.37714869e-01 7.70254312e-01 5.29543529e-03 -1.61217495e+02] [ 9.05098552e-03 6.18926329e-04 9.99958848e-01 -5.18967772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.03422641216127226 Centerline is valid? [True, True] Translation: X:49.94, Y:-161.25, Z:-5.19 [[ 7.67598840e-01 6.40869139e-01 -8.87515262e-03 4.99420491e+01] [-6.40837899e-01 7.67649737e-01 6.37715633e-03 -1.61250128e+02] [ 1.08999313e-02 7.92436359e-04 9.99940280e-01 -5.19149473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.03567320789815474 Centerline is valid? [True, True] Translation: X:49.99, Y:-161.28, Z:-5.19 [[ 7.63295419e-01 6.45972601e-01 -9.97511324e-03 4.99917241e+01] [-6.45933584e-01 7.63359975e-01 7.16616379e-03 -1.61281744e+02] [ 1.22437477e-02 9.73360654e-04 9.99924569e-01 -5.19161193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.03648020193297033 Centerline is valid? [True, True] Translation: X:50.04, Y:-161.31, Z:-5.19 [[ 7.62497793e-01 6.46920511e-01 -9.53776417e-03 5.00406311e+01] [-6.46884923e-01 7.62556856e-01 6.85114719e-03 -1.61314594e+02] [ 1.17052351e-02 9.45851233e-04 9.99931044e-01 -5.19081150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.036261726797632066 Centerline is valid? [True, True] Translation: X:50.09, Y:-161.35, Z:-5.19 [[ 7.63127294e-01 6.46158814e-01 -1.07480372e-02 5.00873793e+01] [-6.46113598e-01 7.63202249e-01 7.71657694e-03 -1.61349468e+02] [ 1.31890603e-02 1.05572247e-03 9.99912463e-01 -5.19201987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.04521454570707475 Centerline is valid? [True, True] Translation: X:50.14, Y:-161.37, Z:-5.19 [[ 7.63256770e-01 6.46005377e-01 -1.07775485e-02 5.01416587e+01] [-6.45959916e-01 7.63332126e-01 7.73638117e-03 -1.61373186e+02] [ 1.32245928e-02 1.05701901e-03 9.99911993e-01 -5.19355343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.038737442331279154 Centerline is valid? [True, True] Translation: X:50.19, Y:-161.41, Z:-5.19 [[ 7.63218550e-01 6.46091419e-01 -7.95757008e-03 5.01854169e+01] [-6.46066672e-01 7.63259631e-01 5.70888603e-03 -1.61411332e+02] [ 9.76215428e-03 7.83993103e-04 9.99952042e-01 -5.18773588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.035394745728165825 Centerline is valid? [True, True] Translation: X:50.23, Y:-161.45, Z:-5.18 [[ 7.62348472e-01 6.47139992e-01 -5.88545434e-03 5.02318015e+01] [-6.47126492e-01 7.62370961e-01 4.22153236e-03 -1.61447875e+02] [ 7.21882190e-03 5.90354679e-04 9.99973770e-01 -5.18426892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10758.79 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%| | 0/46094 [00:00